+ python -m lidar_slam --no-model /working/ca7839dc-a585-45c2-803d-b45cec4266d4 Lidar SLAM 0.0.15 ===================================================== The recording path: /working/ca7839dc-a585-45c2-803d-b45cec4266d4 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 0.022755096 Adjusted end_distance from 9.223372036854776e+18 to 736.542755096 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022755096 meters Centerline goodness : 0.187464 Centerline is valid? [0, False] SLAMing on 0.052755096 meters Centerline goodness : 0.212720 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999400e-01 -9.05792681e-04 -6.16363952e-04 2.41627720e-03] [ 9.05291904e-04 9.99999260e-01 -8.12264261e-04 1.97811669e-03] [ 6.17099239e-04 8.11705785e-04 9.99999480e-01 -1.00538146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082755096 meters Centerline goodness : 0.182306 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 0.99999719 -0.00189271 -0.00142932 0.00548546] [ 0.00189046 0.99999698 -0.00156982 0.00353393] [ 0.00143229 0.00156711 0.99999775 -0.00223642] [ 0. 0. 0. 1. ]] SLAMing on 0.11275509600000001 meters Centerline goodness : 0.490439 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 0.99999526 -0.00287405 -0.00110812 0.03154096] [ 0.00286845 0.99998328 -0.0050212 0.00531478] [ 0.00112253 0.005018 0.99998678 -0.00425974] [ 0. 0. 0. 1. ]] SLAMing on 0.142755096 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.17275509600000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.20275509600000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.23275509600000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.262755096 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.292755096 meters Centerline goodness : 0.123106 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.01 [[ 0.99994856 -0.00970289 -0.00295421 0.14149755] [ 0.0096566 0.99983635 -0.0152978 0.0112751 ] [ 0.00310216 0.01526848 0.99987862 -0.01005317] [ 0. 0. 0. 1. ]] SLAMing on 0.322755096 meters Centerline goodness : 0.126848 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.01 [[ 0.99996755 -0.00726766 -0.00347483 0.14426968] [ 0.00722873 0.99991239 -0.01108889 0.00906606] [ 0.00355512 0.01106341 0.99993248 -0.01040882] [ 0. 0. 0. 1. ]] SLAMing on 0.352755096 meters Centerline goodness : 0.128049 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 0.99998156 -0.00471712 -0.00382577 0.1465138 ] [ 0.00469109 0.999966 -0.00678229 0.00658242] [ 0.00385763 0.00676422 0.99996968 -0.01044703] [ 0. 0. 0. 1. ]] SLAMing on 0.382755096 meters Centerline goodness : 0.126336 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.01 [[ 0.99997726 -0.00441123 -0.00510155 0.15335922] [ 0.00438941 0.99998121 -0.00427934 0.00697379] [ 0.00512033 0.00425685 0.99997783 -0.01231201] [ 0. 0. 0. 1. ]] SLAMing on 0.412755096 meters Centerline goodness : 0.128170 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.01 [[ 9.99982885e-01 -2.02067027e-03 -5.49066313e-03 1.56288578e-01] [ 2.01895112e-03 9.99997911e-01 -3.18629633e-04 5.20306332e-03] [ 5.49129551e-03 3.07538799e-04 9.99984875e-01 -1.30262037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.442755096 meters Centerline goodness : 0.130351 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.01 [[ 0.99997336 -0.003692 -0.00629654 0.1610808 ] [ 0.00368425 0.99999244 -0.00124213 0.00964661] [ 0.00630108 0.0012189 0.99997941 -0.01438191] [ 0. 0. 0. 1. ]] SLAMing on 0.472755096 meters Centerline goodness : 0.126472 Centerline is valid? [False, False] Translation: X:0.17, Y:0.01, Z:-0.02 [[ 9.99964470e-01 -4.22759139e-03 -7.29289010e-03 1.67897818e-01] [ 4.22603137e-03 9.99991044e-01 -2.29305736e-04 1.32234724e-02] [ 7.29379419e-03 1.98477606e-04 9.99973380e-01 -1.69011760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502755096 meters Centerline goodness : 0.856520 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.02 [[ 9.99956563e-01 -5.19386275e-03 -7.73930595e-03 1.70688969e-01] [ 5.18761329e-03 9.99986202e-01 -8.27352541e-04 1.54099779e-02] [ 7.74349632e-03 7.87168077e-04 9.99969709e-01 -1.78590021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.532755096 meters Centerline goodness : 0.852074 Centerline is valid? [False, False] Translation: X:0.17, Y:0.02, Z:-0.02 [[ 0.99994572 -0.00621406 -0.00836323 0.17393943] [ 0.00620331 0.9999799 -0.00131026 0.01711336] [ 0.0083712 0.00125831 0.99996417 -0.01892319] [ 0. 0. 0. 1. ]] SLAMing on 0.5627550960000001 meters Centerline goodness : 0.846094 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.02 [[ 0.99993591 -0.00715509 -0.00877415 0.1768791 ] [ 0.00714006 0.99997299 -0.00174331 0.01840252] [ 0.00878639 0.00168056 0.99995999 -0.02016674] [ 0. 0. 0. 1. ]] SLAMing on 0.5927550960000001 meters Centerline goodness : 0.842298 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.02 [[ 0.99990304 -0.00975813 -0.00993407 0.18299986] [ 0.00973214 0.9999491 -0.00266086 0.02151629] [ 0.00995953 0.00256392 0.99994712 -0.02156185] [ 0. 0. 0. 1. ]] SLAMing on 0.6227550960000001 meters Centerline goodness : 0.843294 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.02 [[ 0.9998819 -0.01114796 -0.01057855 0.18662836] [ 0.01111677 0.9999337 -0.00300295 0.02273892] [ 0.01061132 0.002885 0.99993954 -0.0224428 ] [ 0. 0. 0. 1. ]] SLAMing on 0.652755096 meters Centerline goodness : 0.132347 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.02 [[ 0.99985007 -0.01299004 -0.01144944 0.19112509] [ 0.01295127 0.99991016 -0.00345365 0.02382273] [ 0.01149327 0.00330484 0.99992849 -0.02352197] [ 0. 0. 0. 1. ]] SLAMing on 0.6827550960000001 meters Centerline goodness : 0.130458 Centerline is valid? [False, False] Translation: X:0.20, Y:0.02, Z:-0.02 [[ 0.99981351 -0.01486879 -0.01232354 0.19566754] [ 0.01482623 0.99988383 -0.0035382 0.02358265] [ 0.01237472 0.00335483 0.9999178 -0.02439008] [ 0. 0. 0. 1. ]] SLAMing on 0.7127550960000001 meters Centerline goodness : 0.132393 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.02 [[ 0.99953509 -0.02608853 -0.0157794 0.21412251] [ 0.02602309 0.99965193 -0.00433817 0.02442593] [ 0.01588708 0.00392553 0.99986609 -0.02390754] [ 0. 0. 0. 1. ]] SLAMing on 0.7427550960000001 meters Centerline goodness : 0.131486 Centerline is valid? [False, False] Translation: X:0.22, Y:0.02, Z:-0.02 [[ 0.9994123 -0.02974534 -0.01703735 0.22061165] [ 0.0296682 0.99954846 -0.00476241 0.02412766] [ 0.01717131 0.00425414 0.99984351 -0.02495543] [ 0. 0. 0. 1. ]] SLAMing on 0.7727550960000001 meters Centerline goodness : 0.131366 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:-0.02 [[ 0.99913541 -0.03659124 -0.01973631 0.23236306] [ 0.03651742 0.99932466 -0.00408767 0.02444109] [ 0.01987256 0.00336342 0.99979686 -0.02329862] [ 0. 0. 0. 1. ]] SLAMing on 0.8027550960000001 meters Centerline goodness : 0.126014 Centerline is valid? [False, False] Translation: X:0.26, Y:0.02, Z:-0.02 [[ 0.99858568 -0.05010929 -0.01776783 0.26040429] [ 0.05015358 0.9987394 0.00205577 0.02256365] [ 0.01764242 -0.00294399 0.99984003 -0.02417195] [ 0. 0. 0. 1. ]] SLAMing on 0.8327550960000001 meters Centerline goodness : 0.124745 Centerline is valid? [False, False] Translation: X:0.27, Y:0.02, Z:-0.02 [[ 0.99835207 -0.05396491 -0.01951733 0.26833941] [ 0.05401014 0.99853877 0.00179752 0.02398693] [ 0.01939181 -0.00284869 0.9998079 -0.02441268] [ 0. 0. 0. 1. ]] SLAMing on 0.8627550960000001 meters Centerline goodness : 0.123662 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.02 [[ 0.99770867 -0.0636145 -0.02303507 0.29001009] [ 0.06375267 0.99795158 0.00531362 0.02700823] [ 0.02264986 -0.00677 0.99972054 -0.0217948 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8927550960000001 meters Centerline goodness : 0.122826 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:-0.02 [[ 0.99782797 -0.06334869 -0.01806339 0.30967932] [ 0.06344591 0.99797344 0.00486062 0.0266779 ] [ 0.01771887 -0.00599611 0.99982503 -0.02192562] [ 0. 0. 0. 1. ]] SLAMing on 0.922755096 meters Centerline goodness : 0.120195 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.02 [[ 0.99756928 -0.0677603 -0.01625035 0.34210124] [ 0.06788172 0.99766854 0.00704006 0.02895435] [ 0.01573543 -0.00812605 0.99984317 -0.02033022] [ 0. 0. 0. 1. ]] SLAMing on 0.9527550960000001 meters Centerline goodness : 0.126588 Centerline is valid? [False, False] Translation: X:0.35, Y:0.03, Z:-0.02 [[ 0.99726055 -0.07166764 -0.01830718 0.35060534] [ 0.07179786 0.99739765 0.00655726 0.03391393] [ 0.0177896 -0.00785371 0.99981091 -0.01951387] [ 0. 0. 0. 1. ]] SLAMing on 0.9827550960000001 meters Centerline goodness : 0.123441 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:-0.02 [[ 0.99745501 -0.07018735 -0.0125394 0.36841836] [ 0.07025862 0.99751454 0.00533625 0.03695446] [ 0.0121337 -0.00620367 0.99990714 -0.02042443] [ 0. 0. 0. 1. ]] SLAMing on 1.012755096 meters Centerline goodness : 0.122576 Centerline is valid? [False, False] Translation: X:0.39, Y:0.04, Z:-0.02 [[ 0.99761492 -0.06866184 -0.00707202 0.38663056] [ 0.06868251 0.99763485 0.00272234 0.04192376] [ 0.00686838 -0.00320157 0.99997129 -0.02272576] [ 0. 0. 0. 1. ]] SLAMing on 1.042755096 meters Centerline goodness : 0.849528 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:-0.02 [[ 0.99767286 -0.06811538 -0.0030258 0.41397283] [ 0.06813342 0.99765617 0.00632412 0.04980869] [ 0.00258794 -0.00651556 0.99997542 -0.02110003] [ 0. 0. 0. 1. ]] SLAMing on 1.072755096 meters Centerline goodness : 0.850510 Centerline is valid? [False, False] Translation: X:0.43, Y:0.06, Z:-0.02 [[ 0.99781483 -0.06603827 0.002126 0.43162627] [ 0.06603041 0.99781121 0.00357456 0.05574296] [-0.0023574 -0.00342637 0.99999135 -0.02301359] [ 0. 0. 0. 1. ]] SLAMing on 1.102755096 meters Centerline goodness : 0.851245 Centerline is valid? [False, False] Translation: X:0.46, Y:0.07, Z:-0.02 [[ 0.9978945 -0.06460183 0.00575867 0.45950574] [ 0.06455605 0.99788352 0.00780988 0.06508589] [-0.00625102 -0.00742168 0.99995292 -0.02156303] [ 0. 0. 0. 1. ]] SLAMing on 1.1327550960000001 meters Centerline goodness : 0.131448 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99808746 -0.06091855 0.0105046 0.47721394] [ 0.06084992 0.99812421 0.00673466 0.07164187] [-0.01089516 -0.00608258 0.99992215 -0.02317082] [ 0. 0. 0. 1. ]] SLAMing on 1.1627550960000002 meters Centerline goodness : 0.131448 Centerline is valid? [False, False] Translation: X:0.48, Y:0.07, Z:-0.02 [[ 0.99808746 -0.06091855 0.0105046 0.47721394] [ 0.06084992 0.99812421 0.00673466 0.07164187] [-0.01089516 -0.00608258 0.99992215 -0.02317082] [ 0. 0. 0. 1. ]] SLAMing on 1.1927550960000002 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 1.2227550960000002 meters Centerline goodness : 0.123781 Centerline is valid? [False, False] Translation: X:0.53, Y:0.09, Z:-0.02 [[ 0.99851926 -0.05346596 0.01003358 0.53059407] [ 0.05334809 0.9985078 0.01166854 0.09011398] [-0.01064248 -0.01111599 0.99988158 -0.02125675] [ 0. 0. 0. 1. ]] SLAMing on 1.2527550960000002 meters Centerline goodness : 0.147125 Centerline is valid? [False, False] Translation: X:0.55, Y:0.10, Z:-0.02 [[ 0.99861407 -0.05065217 0.0142932 0.54857379] [ 0.05053874 0.99868853 0.00818849 0.09882801] [-0.01468922 -0.00745478 0.99986432 -0.02363048] [ 0. 0. 0. 1. ]] SLAMing on 1.282755096 meters Centerline goodness : 0.201686 Centerline is valid? [False, False] Translation: X:0.57, Y:0.11, Z:-0.03 [[ 0.99872069 -0.04717639 0.01820345 0.56709854] [ 0.04707259 0.99887291 0.00608934 0.10655552] [-0.0184702 -0.00522467 0.99981576 -0.02532691] [ 0. 0. 0. 1. ]] SLAMing on 1.312755096 meters Centerline goodness : 0.790266 Centerline is valid? [False, False] Translation: X:0.60, Y:0.12, Z:-0.03 [[ 0.99882418 -0.04474809 0.01865103 0.5997856 ] [ 0.04462717 0.99898023 0.00685001 0.12334447] [-0.01893853 -0.00600961 0.99980259 -0.02554122] [ 0. 0. 0. 1. ]] SLAMing on 1.342755096 meters Centerline goodness : 0.185057 Centerline is valid? [False, False] Translation: X:0.62, Y:0.13, Z:-0.03 [[ 0.9988942 -0.04107813 0.02286832 0.61816849] [ 0.04096813 0.99914662 0.00525827 0.13121181] [-0.02306481 -0.00431558 0.99972466 -0.02733479] [ 0. 0. 0. 1. ]] SLAMing on 1.3727550960000001 meters Centerline goodness : 0.746242 Centerline is valid? [False, False] Translation: X:0.66, Y:0.15, Z:-0.03 [[ 9.99096675e-01 -3.44417088e-02 2.48918129e-02 6.59029912e-01] [ 3.44067229e-02 9.99406233e-01 1.83257076e-03 1.46984014e-01] [-2.49401498e-02 -9.74469650e-04 9.99688471e-01 -2.89434906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4027550960000001 meters Centerline goodness : 0.811239 Centerline is valid? [False, False] Translation: X:0.67, Y:0.15, Z:-0.03 [[ 0.99918298 -0.03370603 0.02229985 0.66631738] [ 0.0336097 0.99942407 0.00468066 0.15314971] [-0.02244478 -0.00392734 0.99974037 -0.02768664] [ 0. 0. 0. 1. ]] SLAMing on 1.4327550960000002 meters Centerline goodness : 0.540754 Centerline is valid? [False, False] Translation: X:0.68, Y:0.16, Z:-0.03 [[ 9.99138422e-01 -3.20234662e-02 2.63990895e-02 6.84575975e-01] [ 3.20154773e-02 9.99487110e-01 7.25338741e-04 1.61871679e-01] [-2.64087776e-02 1.20465646e-04 9.99651220e-01 -2.96170320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4627550960000002 meters Centerline goodness : 0.666787 Centerline is valid? [False, False] Translation: X:0.70, Y:0.17, Z:-0.03 [[ 9.99130781e-01 -2.91442925e-02 2.98042293e-02 7.04013463e-01] [ 2.91819749e-02 9.99573771e-01 -8.30051674e-04 1.68312527e-01] [-2.97673346e-02 1.69907645e-03 9.99555411e-01 -3.10575713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4927550960000002 meters Centerline goodness : 0.629526 Centerline is valid? [False, False] Translation: X:0.73, Y:0.18, Z:-0.03 [[ 0.99932112 -0.02573853 0.0263597 0.7349156 ] [ 0.02578828 0.99966623 -0.00154931 0.17992328] [-0.02631102 0.00222803 0.99965132 -0.03084431] [ 0. 0. 0. 1. ]] SLAMing on 1.5227550960000003 meters Centerline goodness : 0.665130 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.03 [[ 9.99398991e-01 -2.67747941e-02 2.20174410e-02 7.46926834e-01] [ 2.67597048e-02 9.99641415e-01 9.79730770e-04 1.85267593e-01] [-2.20357780e-02 -3.89961721e-04 9.99757107e-01 -3.02800360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.552755096 meters Centerline goodness : 0.704474 Centerline is valid? [False, False] Translation: X:0.75, Y:0.19, Z:-0.03 [[ 0.99947297 -0.02498492 0.02072508 0.75172471] [ 0.02493927 0.99968595 0.0024579 0.18970963] [-0.02077998 -0.00193974 0.99978219 -0.03202341] [ 0. 0. 0. 1. ]] SLAMing on 1.582755096 meters Centerline goodness : 0.662904 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.03 [[ 0.999378 -0.02772649 0.02179129 0.78841406] [ 0.02767024 0.99961296 0.00287891 0.20106167] [-0.02186268 -0.00227415 0.9997584 -0.03474451] [ 0. 0. 0. 1. ]] SLAMing on 1.612755096 meters Centerline goodness : 0.504951 Centerline is valid? [False, False] Translation: X:0.79, Y:0.20, Z:-0.04 [[ 0.99942425 -0.02700447 0.02054111 0.79345122] [ 0.02693777 0.99963093 0.00351669 0.20476595] [-0.02062849 -0.00296133 0.99978282 -0.03668536] [ 0. 0. 0. 1. ]] SLAMing on 1.6427550960000001 meters Centerline goodness : 0.807140 Centerline is valid? [False, False] Translation: X:0.80, Y:0.21, Z:-0.04 [[ 0.99944599 -0.02719312 0.01918975 0.79857821] [ 0.0271479 0.99962801 0.00261319 0.2098398 ] [-0.01925367 -0.00209078 0.99981244 -0.03884302] [ 0. 0. 0. 1. ]] SLAMing on 1.6727550960000002 meters Centerline goodness : 0.769501 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.04 [[ 9.99473505e-01 -2.70688071e-02 1.78883520e-02 8.26291970e-01] [ 2.70784880e-02 9.99633266e-01 -2.99147605e-04 2.19466146e-01] [-1.78736941e-02 7.83379629e-04 9.99839946e-01 -3.91774938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7027550960000002 meters Centerline goodness : 0.573471 Centerline is valid? [False, False] Translation: X:0.83, Y:0.22, Z:-0.04 [[ 9.99504339e-01 -2.66445593e-02 1.67673137e-02 8.31188672e-01] [ 2.66470054e-02 9.99644902e-01 7.75554843e-05 2.22083328e-01] [-1.67634261e-02 3.69281655e-04 9.99859416e-01 -4.15536804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7327550960000002 meters Centerline goodness : 0.646168 Centerline is valid? [False, False] Translation: X:0.84, Y:0.22, Z:-0.04 [[ 0.99956066 -0.02515529 0.0156749 0.83520531] [ 0.0251285 0.99968242 0.00190415 0.2238438 ] [-0.01571783 -0.00150942 0.99987533 -0.04295998] [ 0. 0. 0. 1. ]] SLAMing on 1.7627550960000002 meters Centerline goodness : 0.875000 Centerline is valid? [False, False] Translation: X:0.85, Y:0.23, Z:-0.04 [[ 0.99945576 -0.03050257 0.01256106 0.85149859] [ 0.03042998 0.99951931 0.00593029 0.22922191] [-0.01273591 -0.00554482 0.99990352 -0.04179963] [ 0. 0. 0. 1. ]] SLAMing on 1.7927550960000003 meters Centerline goodness : 0.891751 Centerline is valid? [False, False] Translation: X:0.86, Y:0.23, Z:-0.04 [[ 0.99944801 -0.03144257 0.01072564 0.85660386] [ 0.03139848 0.99949789 0.004255 0.23263798] [-0.01085404 -0.00391588 0.99993343 -0.04342772] [ 0. 0. 0. 1. ]] SLAMing on 1.822755096 meters Centerline goodness : 0.944012 Centerline is valid? [False, False] Translation: X:0.87, Y:0.24, Z:-0.04 [[ 0.99930038 -0.03651719 0.00807772 0.87274649] [ 0.03645119 0.99930202 0.0081722 0.23774122] [-0.00837051 -0.00787204 0.99993398 -0.04356038] [ 0. 0. 0. 1. ]] SLAMing on 1.852755096 meters Centerline goodness : 0.909474 Centerline is valid? [False, False] Translation: X:0.88, Y:0.24, Z:-0.04 [[ 0.99928749 -0.0372304 0.00619704 0.87771351] [ 0.0371897 0.99928671 0.00655756 0.2413307 ] [-0.00643676 -0.00632243 0.9999593 -0.04499455] [ 0. 0. 0. 1. ]] SLAMing on 1.8827550960000001 meters Centerline goodness : 0.947867 Centerline is valid? [False, False] Translation: X:0.88, Y:0.24, Z:-0.05 [[ 0.99928464 -0.03756852 0.00433851 0.88262898] [ 0.03754484 0.99928027 0.00541489 0.24449251] [-0.00453881 -0.00524813 0.99997593 -0.0464735 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9127550960000002 meters Centerline goodness : 0.951404 Centerline is valid? [False, True] Translation: X:0.90, Y:0.25, Z:-0.04 [[ 0.99932572 -0.03624353 -0.00587438 0.90357031] [ 0.03626496 0.99933578 0.00358372 0.24961651] [ 0.0057406 -0.00379434 0.99997632 -0.04369942] [ 0. 0. 0. 1. ]] SLAMing on 1.9427550960000002 meters Centerline goodness : 0.948739 Centerline is valid? [True, False] Translation: X:0.91, Y:0.25, Z:-0.05 [[ 0.99933093 -0.03576572 -0.00764905 0.90869874] [ 0.03579238 0.99935354 0.00337638 0.25220757] [ 0.00752334 -0.0036479 0.99996505 -0.04552104] [ 0. 0. 0. 1. ]] SLAMing on 1.9727550960000002 meters Centerline goodness : 0.953874 Centerline is valid? [False, True] Translation: X:0.93, Y:0.26, Z:-0.05 [[ 9.99340744e-01 -3.59950470e-02 -4.73649378e-03 9.30335005e-01] [ 3.59937774e-02 9.99351952e-01 -3.53060602e-04 2.60019853e-01] [ 4.74613273e-03 1.82343542e-04 9.99988720e-01 -4.73979834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002755096 meters Centerline goodness : 0.955775 Centerline is valid? [True, True] Translation: X:0.95, Y:0.26, Z:-0.04 [[ 9.99490650e-01 -3.15599705e-02 -4.73389716e-03 9.51485976e-01] [ 3.15576010e-02 9.99501770e-01 -5.74411856e-04 2.61328316e-01] [ 4.74966701e-03 4.24728841e-04 9.99988630e-01 -4.38401329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0327550960000003 meters Centerline goodness : 0.957455 Centerline is valid? [True, True] Translation: X:0.97, Y:0.26, Z:-0.04 [[ 9.99563613e-01 -2.91579108e-02 -4.73287496e-03 9.73537876e-01] [ 2.91548359e-02 9.99574650e-01 -7.17395313e-04 2.60058427e-01] [ 4.75177958e-03 5.79096058e-04 9.99988543e-01 -3.96155367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.062755096 meters Centerline goodness : 0.959994 Centerline is valid? [True, True] Translation: X:1.01, Y:0.26, Z:-0.04 [[ 9.99585816e-01 -2.83867067e-02 -4.73193254e-03 1.00698136e+00] [ 2.83828698e-02 9.99596741e-01 -8.76066052e-04 2.61155337e-01] [ 4.75489298e-03 7.41397374e-04 9.99988421e-01 -3.91298638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0927550960000003 meters Centerline goodness : 0.960299 Centerline is valid? [True, True] Translation: X:1.04, Y:0.26, Z:-0.03 [[ 9.99642630e-01 -2.63100896e-02 -4.73202988e-03 1.04115412e+00] [ 2.63064321e-02 9.99653578e-01 -8.33537747e-04 2.55383330e-01] [ 4.75232106e-03 7.08757042e-04 9.99988456e-01 -2.99501830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.122755096 meters Centerline goodness : 0.964425 Centerline is valid? [True, True] Translation: X:1.07, Y:0.26, Z:-0.04 [[ 9.99653604e-01 -2.58897552e-02 -4.73214529e-03 1.07410205e+00] [ 2.58864973e-02 9.99664608e-01 -7.48432285e-04 2.58507668e-01] [ 4.74993490e-03 6.25674364e-04 9.99988523e-01 -3.85950301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1527550960000004 meters Centerline goodness : 0.964986 Centerline is valid? [True, True] Translation: X:1.10, Y:0.26, Z:-0.04 [[ 9.99800784e-01 -1.93907206e-02 -4.73200097e-03 1.09883293e+00] [ 1.93877980e-02 9.99811819e-01 -6.62736786e-04 2.55425277e-01] [ 4.74396144e-03 5.70861679e-04 9.99988584e-01 -4.22419192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.182755096 meters Centerline goodness : 0.964742 Centerline is valid? [True, True] Translation: X:1.13, Y:0.26, Z:-0.03 [[ 9.99824256e-01 -1.81401467e-02 -4.73209810e-03 1.13245699e+00] [ 1.81368919e-02 9.99835247e-01 -7.29825781e-04 2.55321373e-01] [ 4.74455761e-03 6.43871967e-04 9.99988537e-01 -3.05336379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2127550960000004 meters Centerline goodness : 0.967438 Centerline is valid? [True, True] Translation: X:1.16, Y:0.25, Z:-0.04 [[ 9.99759578e-01 -2.14101885e-02 -4.73174368e-03 1.16468564e+00] [ 2.14072646e-02 9.99770615e-01 -6.67719847e-04 2.54561156e-01] [ 4.74495429e-03 5.66265624e-04 9.99988582e-01 -4.34368036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2427550960000002 meters Centerline goodness : 0.971011 Centerline is valid? [True, True] Translation: X:1.20, Y:0.25, Z:-0.05 [[ 9.99841853e-01 -1.71430312e-02 -4.73138291e-03 1.19575773e+00] [ 1.71403054e-02 9.99852904e-01 -6.16060928e-04 2.53523099e-01] [ 4.74124809e-03 5.34866151e-04 9.99988617e-01 -4.60237234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.272755096 meters Centerline goodness : 0.969926 Centerline is valid? [True, True] Translation: X:1.23, Y:0.25, Z:-0.05 [[ 9.99848468e-01 -1.67528535e-02 -4.73104796e-03 1.22712469e+00] [ 1.67503002e-02 9.99859536e-01 -5.78811134e-04 2.54210894e-01] [ 4.74008015e-03 4.99476952e-04 9.99988641e-01 -4.76499546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3027550960000003 meters Centerline goodness : 0.971703 Centerline is valid? [True, True] Translation: X:1.25, Y:0.25, Z:-0.05 [[ 9.99911019e-01 -1.24729715e-02 -4.73070862e-03 1.25485896e+00] [ 1.24705376e-02 9.99922092e-01 -5.43656509e-04 2.52786830e-01] [ 4.73712108e-03 4.84613654e-04 9.99988662e-01 -4.87280852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.332755096 meters Centerline goodness : 0.972998 Centerline is valid? [True, True] Translation: X:1.29, Y:0.25, Z:-0.05 [[ 9.99884497e-01 -1.44434111e-02 -4.73086091e-03 1.28701625e+00] [ 1.44409195e-02 9.99895567e-01 -5.60403054e-04 2.51533602e-01] [ 4.73846099e-03 4.92020344e-04 9.99988652e-01 -4.84890291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3627550960000003 meters Centerline goodness : 0.975236 Centerline is valid? [True, True] Translation: X:1.33, Y:0.25, Z:-0.05 [[ 9.99767095e-01 -2.10566121e-02 -4.73029511e-03 1.32906527e+00] [ 2.10544361e-02 9.99778201e-01 -5.09346788e-04 2.52477008e-01] [ 4.73997105e-03 4.09634463e-04 9.99988682e-01 -4.64695818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.392755096 meters Centerline goodness : 0.976765 Centerline is valid? [True, True] Translation: X:1.36, Y:0.25, Z:-0.04 [[ 9.99745709e-01 -2.20491960e-02 -4.72770816e-03 1.35643353e+00] [ 2.20479532e-02 9.99756865e-01 -3.14829848e-04 2.50256910e-01] [ 4.73350043e-03 2.10513501e-04 9.99988775e-01 -4.35137109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4227550960000004 meters Centerline goodness : 0.978467 Centerline is valid? [True, True] Translation: X:1.39, Y:0.25, Z:-0.03 [[ 9.99524250e-01 -3.04781922e-02 -4.72789912e-03 1.39351636e+00] [ 3.04769785e-02 9.99535415e-01 -3.28574279e-04 2.50422333e-01] [ 4.73571696e-03 1.84325880e-04 9.99988769e-01 -3.41290516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.452755096 meters Centerline goodness : 0.979134 Centerline is valid? [True, True] Translation: X:1.42, Y:0.25, Z:-0.04 [[ 9.99650530e-01 -2.60092050e-02 -4.72632618e-03 1.42042098e+00] [ 2.60084526e-02 9.99661699e-01 -2.20588086e-04 2.46614421e-01] [ 4.73046458e-03 9.75865670e-05 9.99988807e-01 -3.62817363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4827550960000004 meters Centerline goodness : 0.980993 Centerline is valid? [True, True] Translation: X:1.45, Y:0.24, Z:-0.04 [[ 9.99594138e-01 -2.80930245e-02 -4.72667819e-03 1.44576317e+00] [ 2.80921789e-02 9.99605307e-01 -2.45204947e-04 2.44848373e-01] [ 4.73170115e-03 1.12322739e-04 9.99988799e-01 -3.97431647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5127550960000002 meters Centerline goodness : 0.982101 Centerline is valid? [True, True] Translation: X:1.48, Y:0.24, Z:-0.04 [[ 9.99636100e-01 -2.65577891e-02 -4.72763305e-03 1.47767664e+00] [ 2.65565955e-02 9.99647262e-01 -3.15070825e-04 2.43409457e-01] [ 4.73433302e-03 1.89406332e-04 9.99988775e-01 -4.25316711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.542755096 meters Centerline goodness : 0.982658 Centerline is valid? [True, True] Translation: X:1.51, Y:0.25, Z:-0.04 [[ 9.99602079e-01 -2.78089970e-02 -4.72691043e-03 1.50986931e+00] [ 2.78080289e-02 9.99613245e-01 -2.70418953e-04 2.45167211e-01] [ 4.73260236e-03 1.38865285e-04 9.99988792e-01 -4.21294844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5727550960000003 meters Centerline goodness : 0.984352 Centerline is valid? [True, True] Translation: X:1.54, Y:0.25, Z:-0.04 [[ 9.99559167e-01 -2.93109903e-02 -4.72631089e-03 1.54056128e+00] [ 2.93102325e-02 9.99570336e-01 -2.29537379e-04 2.45225086e-01] [ 4.73100814e-03 9.09069205e-05 9.99988805e-01 -3.82548085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.602755096 meters Centerline goodness : 0.984769 Centerline is valid? [True, True] Translation: X:1.58, Y:0.25, Z:-0.04 [[ 9.99550471e-01 -2.96060870e-02 -4.72611070e-03 1.57872470e+00] [ 2.96053966e-02 9.99561641e-01 -2.15978217e-04 2.47960469e-01] [ 4.73043324e-03 7.59627463e-05 9.99988809e-01 -3.96065015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6327550960000003 meters Centerline goodness : 0.984659 Centerline is valid? [True, True] Translation: X:1.61, Y:0.25, Z:-0.04 [[ 9.99568718e-01 -2.89838209e-02 -4.72401037e-03 1.61261708e+00] [ 2.89836860e-02 9.99579880e-01 -9.70248361e-05 2.48995981e-01] [ 4.72483787e-03 -3.99362424e-05 9.99988837e-01 -4.07494571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.662755096 meters Centerline goodness : 0.986671 Centerline is valid? [True, True] Translation: X:1.67, Y:0.26, Z:-0.03 [[ 9.99023443e-01 -4.39301005e-02 -4.72294279e-03 1.66744288e+00] [ 4.39304187e-02 9.99034592e-01 -3.63940085e-05 2.57400996e-01] [ 4.71998202e-03 -1.71122387e-04 9.99988846e-01 -3.42860542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6927550960000004 meters Centerline goodness : 0.986621 Centerline is valid? [True, True] Translation: X:1.67, Y:0.25, Z:-0.04 [[ 9.99661300e-01 -2.55938885e-02 -4.71568735e-03 1.66591159e+00] [ 2.55956862e-02 9.99672325e-01 3.21251498e-04 2.45898014e-01] [ 4.70592006e-03 -4.41843944e-04 9.99988829e-01 -3.97412192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.722755096 meters Centerline goodness : 0.986771 Centerline is valid? [True, True] Translation: X:1.72, Y:0.25, Z:-0.04 [[ 9.99304294e-01 -3.69948525e-02 -4.72314092e-03 1.71771960e+00] [ 3.69949081e-02 9.99315451e-01 -7.56245525e-05 2.54524611e-01] [ 4.72270542e-03 -9.91602244e-05 9.99988843e-01 -3.51945231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7527550960000005 meters Centerline goodness : 0.987520 Centerline is valid? [True, True] Translation: X:1.75, Y:0.25, Z:-0.04 [[ 9.99305967e-01 -3.69504229e-02 -4.71707716e-03 1.74687582e+00] [ 3.69518359e-02 9.99317025e-01 2.12709338e-04 2.54377397e-01] [ 4.70599581e-03 -3.86866372e-04 9.99988852e-01 -3.68876636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7827550960000003 meters Centerline goodness : 0.988249 Centerline is valid? [True, True] Translation: X:1.78, Y:0.26, Z:-0.03 [[ 9.99066828e-01 -4.29327299e-02 -4.71730069e-03 1.78320999e+00] [ 4.29341580e-02 9.99077884e-01 2.01842055e-04 2.57638534e-01] [ 4.70428516e-03 -4.04187035e-04 9.99988853e-01 -3.40091415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.812755096 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:1.82, Y:0.26, Z:-0.03 [[ 9.98987318e-01 -4.47448563e-02 -4.71560443e-03 1.81733406e+00] [ 4.47466615e-02 9.98998328e-01 2.77953715e-04 2.56005276e-01] [ 4.69844394e-03 -4.88679791e-04 9.99988843e-01 -3.27432982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8427550960000003 meters Centerline goodness : 0.990589 Centerline is valid? [True, True] Translation: X:1.85, Y:0.26, Z:-0.03 [[ 9.98924495e-01 -4.61261981e-02 -4.71447768e-03 1.84780916e+00] [ 4.61282503e-02 9.98935472e-01 3.27438660e-04 2.62566730e-01] [ 4.69435549e-03 -5.44557105e-04 9.99988833e-01 -3.22063481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.872755096 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:1.88, Y:0.27, Z:-0.03 [[ 9.98704859e-01 -5.06594309e-02 -4.71448605e-03 1.87650457e+00] [ 5.06615309e-02 9.98715827e-01 3.27027428e-04 2.69348966e-01] [ 4.69186481e-03 -5.65446962e-04 9.99988833e-01 -3.11377868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9027550960000004 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:1.93, Y:0.27, Z:-0.02 [[ 9.98070442e-01 -6.19125139e-02 -4.71514230e-03 1.92564201e+00] [ 6.19145670e-02 9.98081410e-01 2.90579051e-04 2.74982124e-01] [ 4.68810540e-03 -5.81954356e-04 9.99988841e-01 -2.43317227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.932755096 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:1.96, Y:0.28, Z:-0.02 [[ 9.97865986e-01 -6.51250545e-02 -4.71180790e-03 1.96294261e+00] [ 6.51280516e-02 9.97876797e-01 4.85303188e-04 2.76174479e-01] [ 4.67019838e-03 -7.91138412e-04 9.99988782e-01 -1.84247871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9627550960000004 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:1.97, Y:0.27, Z:-0.03 [[ 9.98577566e-01 -5.31098533e-02 -4.71033314e-03 1.97266537e+00] [ 5.31131132e-02 9.98588340e-01 5.69619954e-04 2.70721232e-01] [ 4.67343132e-03 -8.18990164e-04 9.99988744e-01 -3.10117629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9927550960000002 meters Centerline goodness : 0.993861 Centerline is valid? [True, True] Translation: X:2.01, Y:0.28, Z:-0.02 [[ 9.98125867e-01 -6.10125384e-02 -4.71414850e-03 2.01104545e+00] [ 6.10148214e-02 9.98136802e-01 3.41869182e-04 2.75540349e-01] [ 4.68450680e-03 -6.28861402e-04 9.99988830e-01 -2.37804952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0227550960000005 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:2.07, Y:0.29, Z:-0.02 [[ 9.97078772e-01 -7.62345595e-02 -4.71328385e-03 2.06513838e+00] [ 7.62373209e-02 9.97089617e-01 4.08754105e-04 2.85612566e-01] [ 4.66840520e-03 -7.66888174e-04 9.99988809e-01 -1.88417450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0527550960000003 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:2.09, Y:0.29, Z:-0.02 [[ 9.96870668e-01 -7.89094284e-02 -4.70887961e-03 2.09443742e+00] [ 7.89135566e-02 9.96881219e-01 6.97120973e-04 2.88269130e-01] [ 4.63918423e-03 -1.06653389e-03 9.99988670e-01 -1.87083722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.082755096 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:2.06, Y:0.27, Z:-0.02 [[ 9.98731170e-01 -5.01385567e-02 -4.70909436e-03 2.06306870e+00] [ 5.01422870e-02 9.98741855e-01 6.77382050e-04 2.68428441e-01] [ 4.66920667e-03 -9.12647328e-04 9.99988683e-01 -1.60457028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1127550960000003 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:2.13, Y:0.28, Z:-0.03 [[ 9.97474070e-01 -7.08750694e-02 -4.71214991e-03 2.12827588e+00] [ 7.08759595e-02 9.97485137e-01 2.19605851e-05 2.83655143e-01] [ 4.69874304e-03 -3.55883260e-04 9.99988898e-01 -2.65508131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.142755096 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:2.12, Y:0.27, Z:-0.02 [[ 9.98735502e-01 -5.00522612e-02 -4.70823729e-03 2.11930531e+00] [ 5.00550954e-02 9.98746340e-01 4.85992815e-04 2.68104609e-01] [ 4.67800972e-03 -7.21049545e-04 9.99988798e-01 -1.56357886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1727550960000004 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:2.15, Y:0.27, Z:-0.02 [[ 9.98710374e-01 -5.05509766e-02 -4.71042937e-03 2.14621791e+00] [ 5.05516421e-02 9.98721448e-01 2.22613025e-05 2.69417727e-01] [ 4.70328151e-03 -2.60352534e-04 9.99988906e-01 -1.53926874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.202755096 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:2.23, Y:0.29, Z:-0.01 [[ 9.96909998e-01 -7.84108845e-02 -4.71043195e-03 2.23221997e+00] [ 7.84118563e-02 9.96921050e-01 2.17030031e-05 2.90260599e-01] [ 4.69422701e-03 -3.90989654e-04 9.99988906e-01 -1.32729325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2327550960000004 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:2.25, Y:0.29, Z:-0.01 [[ 9.97362151e-01 -7.24332869e-02 -4.70720981e-03 2.25029251e+00] [ 7.24372417e-02 9.97372744e-01 6.74946279e-04 2.87998522e-01] [ 4.64595419e-03 -1.01414317e-03 9.99988693e-01 -1.28555455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2627550960000002 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:2.23, Y:0.28, Z:-0.01 [[ 9.97796796e-01 -6.61770351e-02 -4.70686123e-03 2.23498613e+00] [ 6.61799154e-02 9.97807601e-01 4.58676529e-04 2.75186413e-01] [ 4.66618806e-03 -7.69165649e-04 9.99988817e-01 -1.13138650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2927550960000005 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:2.26, Y:0.28, Z:-0.01 [[ 9.97506699e-01 -7.04149111e-02 -4.70383683e-03 2.26191320e+00] [ 7.04155532e-02 9.97517744e-01 -2.91670211e-05 2.75541187e-01] [ 4.69421449e-03 -3.02128973e-04 9.99988936e-01 -1.06930417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3227550960000003 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:2.29, Y:0.28, Z:-0.01 [[ 9.97331916e-01 -7.28486285e-02 -4.70383302e-03 2.29085575e+00] [ 7.28492948e-02 9.97342960e-01 -2.97686597e-05 2.75865849e-01] [ 4.69350335e-03 -3.12981684e-04 9.99988936e-01 -9.96343103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.352755096 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:2.32, Y:0.28, Z:-0.01 [[ 9.97136595e-01 -7.54750552e-02 -4.70382519e-03 2.31860365e+00] [ 7.54757449e-02 9.97147637e-01 -3.09586117e-05 2.76313975e-01] [ 4.69274478e-03 -3.24154746e-04 9.99988936e-01 -9.17515093e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3827550960000003 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:2.35, Y:0.28, Z:-0.01 [[ 9.96970488e-01 -7.76383885e-02 -4.70381587e-03 2.34645262e+00] [ 7.76390958e-02 9.96981529e-01 -3.23156193e-05 2.76140789e-01] [ 4.69212647e-03 -3.32982292e-04 9.99988936e-01 -8.94965829e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.412755096 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:2.38, Y:0.27, Z:-0.01 [[ 9.96700300e-01 -8.10332422e-02 -4.70380623e-03 2.37639083e+00] [ 8.10339808e-02 9.96711339e-01 -3.36618374e-05 2.73546240e-01] [ 4.69106473e-03 -3.47617380e-04 9.99988936e-01 -9.48994519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4427550960000004 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:2.40, Y:0.27, Z:-0.01 [[ 9.96659151e-01 -8.15377683e-02 -4.70407560e-03 2.40382921e+00] [ 8.15386911e-02 9.96670177e-01 4.40169221e-06 2.73217692e-01] [ 4.68805296e-03 -3.87951154e-04 9.99988936e-01 -7.08167818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.472755096 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:2.43, Y:0.27, Z:-0.01 [[ 9.96712280e-01 -8.08857374e-02 -4.70407326e-03 2.43299343e+00] [ 8.08866515e-02 9.96723306e-01 4.08295002e-06 2.74080388e-01] [ 4.68832921e-03 -3.84566261e-04 9.99988936e-01 -5.97668087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5027550960000005 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:2.46, Y:0.28, Z:-0.00 [[ 9.96905595e-01 -7.84672333e-02 -4.70408434e-03 2.46063968e+00] [ 7.84681276e-02 9.96916623e-01 5.56480319e-06 2.76537611e-01] [ 4.68914322e-03 -3.74668274e-04 9.99988936e-01 -4.85471486e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5327550960000003 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:2.49, Y:0.28, Z:-0.00 [[ 9.97068013e-01 -7.63757087e-02 -4.70409607e-03 2.48845101e+00] [ 7.63765871e-02 9.97079042e-01 7.10627497e-06 2.77870161e-01] [ 4.68981286e-03 -3.66368242e-04 9.99988936e-01 -4.04843351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5627550960000005 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:2.52, Y:0.28, Z:-0.00 [[ 9.97225698e-01 -7.42884846e-02 -4.70406640e-03 2.51651560e+00] [ 7.42893223e-02 9.97236730e-01 3.35952384e-06 2.78692923e-01] [ 4.69081822e-03 -3.52812108e-04 9.99988936e-01 -3.16941002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5927550960000003 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:2.55, Y:0.28, Z:-0.00 [[ 9.97313961e-01 -7.30940147e-02 -4.70401502e-03 2.54701024e+00] [ 7.30948097e-02 9.97324997e-01 -2.91182255e-06 2.79780802e-01] [ 4.69164460e-03 -3.40935082e-04 9.99988936e-01 -2.05395574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.622755096 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:2.57, Y:0.28, Z:0.00 [[ 9.97591649e-01 -6.92009541e-02 -4.70418866e-03 2.57117089e+00] [ 6.92017954e-02 9.97602682e-01 1.61153294e-05 2.80320445e-01] [ 4.69179602e-03 -3.41614819e-04 9.99988935e-01 9.43651577e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6527550960000004 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:2.60, Y:0.28, Z:0.00 [[ 9.97553905e-01 -6.97429750e-02 -4.70358874e-03 2.60215215e+00] [ 6.97435321e-02 9.97564954e-01 -4.56707869e-05 2.79859794e-01] [ 4.69532050e-03 -2.82485820e-04 9.99988937e-01 9.60342561e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.682755096 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:2.63, Y:0.28, Z:-0.00 [[ 9.97616970e-01 -6.88349831e-02 -4.70394727e-03 2.62720960e+00] [ 6.88357040e-02 9.97628010e-01 -8.65838237e-06 2.80567165e-01] [ 4.69338555e-03 -3.15161773e-04 9.99988936e-01 -4.45974658e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7127550960000004 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:2.66, Y:0.28, Z:-0.00 [[ 9.97338848e-01 -7.27536925e-02 -4.70355693e-03 2.65867528e+00] [ 7.27542748e-02 9.97349895e-01 -4.73957545e-05 2.80011228e-01] [ 4.69454023e-03 -2.94934247e-04 9.99988937e-01 -9.29423046e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7427550960000002 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:2.69, Y:0.28, Z:-0.00 [[ 9.97233630e-01 -7.41819365e-02 -4.70399456e-03 2.68599597e+00] [ 7.41827421e-02 9.97244664e-01 -3.23309428e-06 2.79606271e-01] [ 4.69127331e-03 -3.45731065e-04 9.99988936e-01 -2.45131631e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7727550960000005 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:2.71, Y:0.28, Z:-0.00 [[ 9.97288965e-01 -7.34342761e-02 -4.70387899e-03 2.71224148e+00] [ 7.34350204e-02 9.97300004e-01 -1.45285076e-05 2.78587981e-01] [ 4.69224543e-03 -3.30940329e-04 9.99988937e-01 -2.99073599e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8027550960000003 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:2.74, Y:0.28, Z:0.00 [[ 9.96953324e-01 -7.78585042e-02 -4.70349810e-03 2.74455341e+00] [ 7.78591299e-02 9.96964369e-01 -5.02099077e-05 2.78125550e-01] [ 4.69312928e-03 -3.16153335e-04 9.99988937e-01 5.48115218e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8327550960000005 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:2.77, Y:0.27, Z:0.00 [[ 9.96952592e-01 -7.78678452e-02 -4.70393804e-03 2.76880085e+00] [ 7.78686677e-02 9.96963625e-01 -8.29863744e-06 2.74909020e-01] [ 4.69030132e-03 -3.58016040e-04 9.99988936e-01 1.31309727e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8627550960000003 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:2.80, Y:0.27, Z:0.00 [[ 9.96781551e-01 -8.00276038e-02 -4.70345858e-03 2.79693605e+00] [ 8.00282460e-02 9.96792595e-01 -5.18185666e-05 2.71966243e-01] [ 4.69251960e-03 -3.24757749e-04 9.99988937e-01 1.99377975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892755096 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:2.83, Y:0.27, Z:0.00 [[ 9.96688960e-01 -8.11726231e-02 -4.70345413e-03 2.82520626e+00] [ 8.11732761e-02 9.96700003e-01 -5.22191775e-05 2.71538007e-01] [ 4.69217152e-03 -3.29748503e-04 9.99988937e-01 2.09433581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9227550960000004 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:2.85, Y:0.27, Z:0.00 [[ 9.96655276e-01 -8.15851654e-02 -4.70343983e-03 2.85276903e+00] [ 8.15858171e-02 9.96666319e-01 -5.34769971e-05 2.71764042e-01] [ 4.69212300e-03 -3.30435851e-04 9.99988937e-01 3.20958537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.952755096 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:2.88, Y:0.27, Z:0.00 [[ 9.96650645e-01 -8.16417182e-02 -4.70342527e-03 2.88079956e+00] [ 8.16423646e-02 9.96661688e-01 -5.47284209e-05 2.71666272e-01] [ 4.69219190e-03 -3.29453645e-04 9.99988937e-01 3.54895434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9827550960000004 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:2.91, Y:0.27, Z:0.00 [[ 9.96806900e-01 -7.97112459e-02 -4.70342072e-03 2.90821128e+00] [ 7.97118690e-02 9.96817945e-01 -5.51168951e-05 2.69894314e-01] [ 4.69284761e-03 -3.19977555e-04 9.99988937e-01 3.44169050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.012755096 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:2.94, Y:0.27, Z:0.00 [[ 9.96903300e-01 -7.84964253e-02 -4.70341053e-03 2.93655159e+00] [ 7.84970310e-02 9.96914346e-01 -5.59728743e-05 2.68854677e-01] [ 4.69329111e-03 -3.13404219e-04 9.99988937e-01 3.81628337e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0427550960000005 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:2.96, Y:0.27, Z:0.00 [[ 9.97196626e-01 -7.46777609e-02 -4.70339556e-03 2.96430025e+00] [ 7.46783185e-02 9.97207674e-01 -5.72039579e-05 2.65787635e-01] [ 4.69453401e-03 -2.94198078e-04 9.99988937e-01 4.47560419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.072755096000001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:2.99, Y:0.27, Z:0.01 [[ 9.97340408e-01 -7.27323076e-02 -4.70338040e-03 2.99220366e+00] [ 7.27328379e-02 9.97351458e-01 -5.84246379e-05 2.65198303e-01] [ 4.69517266e-03 -2.83820952e-04 9.99988937e-01 5.25041356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.102755096 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:3.02, Y:0.27, Z:0.01 [[ 9.97509157e-01 -7.03801053e-02 -4.70336488e-03 3.02004274e+00] [ 7.03806038e-02 9.97520209e-01 -5.96477897e-05 2.65148885e-01] [ 4.69589954e-03 -2.71526444e-04 9.99988937e-01 6.15296056e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.132755096 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.05, Y:0.26, Z:0.01 [[ 9.97822474e-01 -6.57889685e-02 -4.70334900e-03 3.04745749e+00] [ 6.57894103e-02 9.97833528e-01 -6.08752305e-05 2.64701470e-01] [ 4.69716424e-03 -2.48687884e-04 9.99988937e-01 6.75466022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.162755096000001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.08, Y:0.26, Z:0.01 [[ 9.97989960e-01 -6.31974544e-02 -4.70334404e-03 3.07594557e+00] [ 6.31978658e-02 9.98001015e-01 -6.12561550e-05 2.63864286e-01] [ 4.69781336e-03 -2.36108278e-04 9.99988937e-01 5.94403943e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.192755096 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:3.10, Y:0.26, Z:0.01 [[ 9.98257259e-01 -5.88245079e-02 -4.70332802e-03 3.10249842e+00] [ 5.88248652e-02 9.98268316e-01 -6.24618796e-05 2.60673860e-01] [ 4.69885764e-03 -2.14319612e-04 9.99988937e-01 5.14545721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.222755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.13, Y:0.26, Z:0.01 [[ 9.98369798e-01 -5.68825619e-02 -4.70331646e-03 3.13043582e+00] [ 5.68828936e-02 9.98380855e-01 -6.33211423e-05 2.59391584e-01] [ 4.69930298e-03 -2.04320334e-04 9.99988937e-01 5.03657795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.16, Y:0.25, Z:0.00 [[ 9.98556526e-01 -5.35046033e-02 -4.70329997e-03 3.15862697e+00] [ 5.35048919e-02 9.98567585e-01 -6.45231078e-05 2.54946657e-01] [ 4.70001517e-03 -1.87219586e-04 9.99988937e-01 4.70734306e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.282755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.19, Y:0.25, Z:0.00 [[ 9.98629525e-01 -5.21243742e-02 -4.70328325e-03 3.18628679e+00] [ 5.21246419e-02 9.98640585e-01 -6.57194971e-05 2.52685977e-01] [ 4.70031512e-03 -1.79527525e-04 9.99988937e-01 4.77077256e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.312755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:3.21, Y:0.25, Z:0.00 [[ 9.98665729e-01 -5.14260793e-02 -4.70326408e-03 3.21339595e+00] [ 5.14263329e-02 9.98676788e-01 -6.70642129e-05 2.50424661e-01] [ 4.70048951e-03 -1.74896893e-04 9.99988937e-01 3.31968408e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.24, Y:0.25, Z:0.00 [[ 9.98739085e-01 -4.99811921e-02 -4.70325568e-03 3.24185025e+00] [ 4.99814270e-02 9.98750145e-01 -6.76478533e-05 2.45394204e-01] [ 4.70075841e-03 -1.67512875e-04 9.99988937e-01 3.86281683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.372755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.27, Y:0.24, Z:0.00 [[ 9.98756068e-01 -4.96406697e-02 -4.70323637e-03 3.26949075e+00] [ 4.96408947e-02 9.98767128e-01 -6.89647838e-05 2.42866647e-01] [ 4.70086134e-03 -1.64593865e-04 9.99988937e-01 4.56848455e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.402755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.30, Y:0.24, Z:0.01 [[ 9.98822548e-01 -4.82845476e-02 -4.70321666e-03 3.29651165e+00] [ 4.82847514e-02 9.98833609e-01 -7.02837955e-05 2.36621752e-01] [ 4.70112449e-03 -1.56892607e-04 9.99988937e-01 6.14642956e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.32, Y:0.23, Z:0.01 [[ 9.98818244e-01 -4.83734931e-02 -4.70320805e-03 3.32418105e+00] [ 4.83736951e-02 9.98829305e-01 -7.08552848e-05 2.33726828e-01] [ 4.70112955e-03 -1.56740001e-04 9.99988937e-01 6.17122268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.35, Y:0.23, Z:0.01 [[ 9.98810819e-01 -4.85265735e-02 -4.70318816e-03 3.35258571e+00] [ 4.85267711e-02 9.98821880e-01 -7.21517195e-05 2.30582077e-01] [ 4.70114851e-03 -1.56164617e-04 9.99988937e-01 6.40596520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.492755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.38, Y:0.22, Z:0.01 [[ 9.98756766e-01 -4.96266356e-02 -4.70316599e-03 3.38019949e+00] [ 4.96268387e-02 9.98767827e-01 -7.35690644e-05 2.23383901e-01] [ 4.70102186e-03 -1.59925659e-04 9.99988937e-01 6.32462881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.41, Y:0.22, Z:0.01 [[ 9.98702921e-01 -5.06986741e-02 -4.70315064e-03 3.40798304e+00] [ 5.06988846e-02 9.98713982e-01 -7.45373967e-05 2.20274433e-01] [ 4.70088125e-03 -1.64003776e-04 9.99988937e-01 6.33925998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.44, Y:0.22, Z:0.01 [[ 9.98629971e-01 -5.21158409e-02 -4.70312824e-03 3.43589276e+00] [ 5.21160606e-02 9.98641032e-01 -7.59251426e-05 2.16994048e-01] [ 4.70069374e-03 -1.69287393e-04 9.99988937e-01 5.90521585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.46, Y:0.21, Z:0.01 [[ 9.98550435e-01 -5.36181879e-02 -4.70310567e-03 3.46379572e+00] [ 5.36184177e-02 9.98561495e-01 -7.72986265e-05 2.13558134e-01] [ 4.70048484e-03 -1.74986507e-04 9.99988937e-01 6.04422138e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.49, Y:0.21, Z:0.01 [[ 9.98418937e-01 -5.60134636e-02 -4.70308285e-03 3.49127505e+00] [ 5.60137136e-02 9.98429996e-01 -7.86625939e-05 2.05595964e-01] [ 4.70010516e-03 -1.84898912e-04 9.99988937e-01 7.31581788e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.52, Y:0.20, Z:0.01 [[ 9.98253781e-01 -5.88835197e-02 -4.70307284e-03 3.51819650e+00] [ 5.88837987e-02 9.98264841e-01 -7.92569243e-05 1.98363286e-01] [ 4.69957918e-03 -1.97816270e-04 9.99988937e-01 8.39411004e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.55, Y:0.20, Z:0.01 [[ 9.98159276e-01 -6.04643708e-02 -4.70306289e-03 3.54632750e+00] [ 6.04646645e-02 9.98170335e-01 -7.98429218e-05 1.95004912e-01] [ 4.69928551e-03 -2.04673167e-04 9.99988937e-01 8.66689231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.702755096000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.57, Y:0.19, Z:0.01 [[ 9.98067036e-01 -6.19683295e-02 -4.70303993e-03 3.57400485e+00] [ 6.19686336e-02 9.98078094e-01 -8.11730464e-05 1.92004120e-01] [ 4.69903129e-03 -2.10424817e-04 9.99988937e-01 8.66824319e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.60, Y:0.19, Z:0.01 [[ 9.98004422e-01 -6.29686912e-02 -4.70301661e-03 3.60187954e+00] [ 6.29690001e-02 9.98015480e-01 -8.25023563e-05 1.89210179e-01] [ 4.69887845e-03 -2.13806537e-04 9.99988937e-01 8.72313114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.63, Y:0.18, Z:0.00 [[ 9.97899074e-01 -6.46167134e-02 -4.70299309e-03 3.62786600e+00] [ 6.46170344e-02 9.97910132e-01 -8.38221008e-05 1.84107450e-01] [ 4.69858076e-03 -2.20247470e-04 9.99988937e-01 4.84138680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.66, Y:0.18, Z:0.01 [[ 9.97854085e-01 -6.53078377e-02 -4.70227421e-03 3.65824622e+00] [ 6.53079832e-02 9.97865147e-01 -1.22777020e-04 1.77788789e-01] [ 4.70025385e-03 -1.84582494e-04 9.99988937e-01 6.29146884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.69, Y:0.18, Z:0.01 [[ 9.97837643e-01 -6.55585272e-02 -4.70293728e-03 3.68594814e+00] [ 6.55588442e-02 9.97848701e-01 -8.68870939e-05 1.75255415e-01] [ 4.69851605e-03 -2.21619919e-04 9.99988937e-01 6.00165519e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.71, Y:0.17, Z:0.01 [[ 9.97803641e-01 -6.60740284e-02 -4.70291321e-03 3.71391945e+00] [ 6.60743451e-02 9.97814699e-01 -8.81706973e-05 1.73021625e-01] [ 4.69846173e-03 -2.22764868e-04 9.99988937e-01 5.53413146e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.74, Y:0.17, Z:0.01 [[ 9.97804856e-01 -6.60556772e-02 -4.70288895e-03 3.74093039e+00] [ 6.60559877e-02 9.97815914e-01 -8.94462869e-05 1.68448865e-01] [ 4.69852588e-03 -2.21404036e-04 9.99988937e-01 6.05701694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912755096000001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:3.77, Y:0.17, Z:0.01 [[ 9.97786487e-01 -6.63325596e-02 -4.70287836e-03 3.76852174e+00] [ 6.63328705e-02 9.97797546e-01 -8.99996697e-05 1.66666124e-01] [ 4.69849040e-03 -2.22154967e-04 9.99988937e-01 6.46332852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.942755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.80, Y:0.16, Z:0.01 [[ 9.97776369e-01 -6.64845834e-02 -4.70285390e-03 3.79661446e+00] [ 6.64848901e-02 9.97787428e-01 -9.12602569e-05 1.64736349e-01] [ 4.69851590e-03 -2.21611397e-04 9.99988937e-01 7.12337170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.83, Y:0.17, Z:0.01 [[ 9.97758641e-01 -6.67501206e-02 -4.70282920e-03 3.82512759e+00] [ 6.67504244e-02 9.97769699e-01 -9.25157223e-05 1.65582854e-01] [ 4.69851591e-03 -2.21607484e-04 9.99988937e-01 7.25735008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0027550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.85, Y:0.16, Z:0.01 [[ 9.97764101e-01 -6.66684498e-02 -4.70280425e-03 3.85286762e+00] [ 6.66687467e-02 9.97775160e-01 -9.37672723e-05 1.60846801e-01] [ 4.69859258e-03 -2.19972447e-04 9.99988937e-01 7.30434244e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.88, Y:0.16, Z:0.01 [[ 9.97767002e-01 -6.66250291e-02 -4.70277287e-03 3.88118838e+00] [ 6.66253183e-02 9.97778060e-01 -9.53155360e-05 1.58976549e-01] [ 4.69867399e-03 -2.18221043e-04 9.99988937e-01 7.81677712e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.91, Y:0.15, Z:0.01 [[ 9.97866367e-01 -6.51198745e-02 -4.70274089e-03 3.90939865e+00] [ 6.51201397e-02 9.97877426e-01 -9.68682238e-05 1.54374392e-01] [ 4.69906702e-03 -2.09581601e-04 9.99988937e-01 9.60753752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.94, Y:0.15, Z:0.01 [[ 9.97899513e-01 -6.46099487e-02 -4.70273096e-03 3.93773410e+00] [ 6.46102060e-02 9.97910573e-01 -9.73475694e-05 1.53267026e-01] [ 4.69919457e-03 -2.06701324e-04 9.99988937e-01 1.00711607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.97, Y:0.15, Z:0.01 [[ 9.97969105e-01 -6.35259730e-02 -4.70269903e-03 3.96612894e+00] [ 6.35262112e-02 9.97980165e-01 -9.88667141e-05 1.52272372e-01] [ 4.69948096e-03 -2.00078725e-04 9.99988937e-01 9.92270719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:3.99, Y:0.15, Z:0.01 [[ 9.98208650e-01 -5.96437424e-02 -4.70266683e-03 3.99332961e+00] [ 5.96439305e-02 9.98219711e-01 -1.00375068e-04 1.49140195e-01] [ 4.70028147e-03 -1.80290272e-04 9.99988937e-01 1.05971704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.02, Y:0.15, Z:0.01 [[ 9.98317290e-01 -5.77968365e-02 -4.70265286e-03 4.02104156e+00] [ 5.77970010e-02 9.98328351e-01 -1.01025291e-04 1.47562012e-01] [ 4.70063062e-03 -1.70943938e-04 9.99988937e-01 1.03298367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.05, Y:0.15, Z:0.01 [[ 9.98426543e-01 -5.58777514e-02 -4.70261804e-03 4.04775054e+00] [ 5.58778871e-02 9.98437605e-01 -1.02621169e-04 1.46124686e-01] [ 4.70100493e-03 -1.60312661e-04 9.99988937e-01 1.04828005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.07, Y:0.14, Z:0.01 [[ 9.98773764e-01 -4.92833995e-02 -4.70259421e-03 4.07228558e+00] [ 4.92834571e-02 9.98784827e-01 -1.03701896e-04 1.42044135e-01] [ 4.70199052e-03 -1.28185367e-04 9.99988937e-01 9.11596289e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.272755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:4.10, Y:0.14, Z:0.01 [[ 9.98614762e-01 -5.24066557e-02 -4.70109077e-03 4.10387013e+00] [ 5.24064389e-02 9.98625824e-01 -1.69370527e-04 1.42581568e-01] [ 4.70350679e-03 -7.72315175e-05 9.99988935e-01 9.13883711e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.13, Y:0.14, Z:0.01 [[ 9.98566993e-01 -5.33089691e-02 -4.70252082e-03 4.13176164e+00] [ 5.33090613e-02 9.98578055e-01 -1.05823757e-04 1.40163714e-01] [ 4.70147545e-03 -1.45014860e-04 9.99988937e-01 9.22144621e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3327550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.16, Y:0.14, Z:0.01 [[ 9.98494620e-01 -5.46477903e-02 -4.70248578e-03 4.15965580e+00] [ 5.46478901e-02 9.98505682e-01 -1.07358336e-04 1.38467957e-01] [ 4.70132567e-03 -1.49784206e-04 9.99988937e-01 9.33167461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.19, Y:0.14, Z:0.01 [[ 9.98353184e-01 -5.71734878e-02 -4.70247487e-03 4.18786814e+00] [ 5.71736134e-02 9.98364245e-01 -1.07834006e-04 1.36555979e-01] [ 4.70094802e-03 -1.61201057e-04 9.99988937e-01 9.81330814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.22, Y:0.13, Z:0.01 [[ 9.98187164e-01 -6.00022662e-02 -4.70243937e-03 4.21607327e+00] [ 6.00024160e-02 9.98198226e-01 -1.09360562e-04 1.34499504e-01] [ 4.70052852e-03 -1.72995414e-04 9.99988937e-01 9.98388724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.24, Y:0.13, Z:0.01 [[ 9.97817195e-01 -6.58690519e-02 -4.70240354e-03 4.24461054e+00] [ 6.58692595e-02 9.97828256e-01 -1.10880041e-04 1.29556730e-01] [ 4.69949469e-03 -1.99105828e-04 9.99988937e-01 1.03659331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.452755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.27, Y:0.12, Z:0.01 [[ 9.97531263e-01 -7.00661563e-02 -4.70236693e-03 4.27303589e+00] [ 7.00664033e-02 9.97542323e-01 -1.12411757e-04 1.23802590e-01] [ 4.69868629e-03 -2.17343696e-04 9.99988937e-01 8.83317694e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.482755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.30, Y:0.12, Z:0.01 [[ 9.97337962e-01 -7.27659161e-02 -4.70232631e-03 4.30059354e+00] [ 7.27661851e-02 9.97349021e-01 -1.14085701e-04 1.23851708e-01] [ 4.69816210e-03 -2.28388346e-04 9.99988937e-01 9.63875419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.33, Y:0.12, Z:0.01 [[ 9.97259198e-01 -7.38375256e-02 -4.70231371e-03 4.32757911e+00] [ 7.38378041e-02 9.97270257e-01 -1.14602860e-04 1.22856309e-01] [ 4.69793959e-03 -2.32919762e-04 9.99988937e-01 9.70131298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5427550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.36, Y:0.12, Z:0.01 [[ 9.97225612e-01 -7.42897458e-02 -4.70229625e-03 4.35903301e+00] [ 7.42900259e-02 9.97236671e-01 -1.15314949e-04 1.17488320e-01] [ 4.69786898e-03 -2.34338689e-04 9.99988937e-01 6.31146823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.38, Y:0.12, Z:0.01 [[ 9.97164518e-01 -7.51052872e-02 -4.70326025e-03 4.38350643e+00] [ 7.51057603e-02 9.97175571e-01 -7.62101450e-05 1.16760228e-01] [ 4.69570001e-03 -2.77247885e-04 9.99988937e-01 7.79310923e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.41, Y:0.11, Z:0.01 [[ 9.97173147e-01 -7.49906941e-02 -4.70218022e-03 4.41045521e+00] [ 7.49909651e-02 9.97184206e-01 -1.18916753e-04 1.12964152e-01] [ 4.69785750e-03 -2.34040439e-04 9.99988938e-01 7.41375617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.44, Y:0.11, Z:0.01 [[ 9.97174368e-01 -7.49744567e-02 -4.70216237e-03 4.43808819e+00] [ 7.49747242e-02 9.97185427e-01 -1.19618385e-04 1.11847690e-01] [ 4.69789612e-03 -2.33262940e-04 9.99988938e-01 7.24136991e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.47, Y:0.11, Z:0.01 [[ 9.97154615e-01 -7.52367237e-02 -4.70212186e-03 4.46661568e+00] [ 7.52369867e-02 9.97165674e-01 -1.21190239e-04 1.11201157e-01] [ 4.69791247e-03 -2.32928074e-04 9.99988938e-01 7.05099924e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.692755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.50, Y:0.11, Z:0.01 [[ 9.97269969e-01 -7.36919207e-02 -4.70208068e-03 4.49973488e+00] [ 7.36921591e-02 9.97281029e-01 -1.22767575e-04 1.07782347e-01] [ 4.69834283e-03 -2.24074061e-04 9.99988938e-01 6.34294483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.52, Y:0.11, Z:0.01 [[ 9.97282884e-01 -7.35168112e-02 -4.70394737e-03 4.52182644e+00] [ 7.35173890e-02 9.97293934e-01 -5.01912424e-05 1.06882768e-01] [ 4.69490808e-03 -2.95767062e-04 9.99988935e-01 6.91253819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.55, Y:0.10, Z:0.01 [[ 9.97340848e-01 -7.27264084e-02 -4.70134163e-03 4.55054613e+00] [ 7.27265254e-02 9.97351909e-01 -1.46300513e-04 1.03622700e-01] [ 4.69953196e-03 -1.96000763e-04 9.99988938e-01 8.78472808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.58, Y:0.10, Z:0.01 [[ 9.97385964e-01 -7.21049985e-02 -4.70184849e-03 4.57818227e+00] [ 7.21051964e-02 9.97397024e-01 -1.27627451e-04 1.02334183e-01] [ 4.69881227e-03 -2.11733881e-04 9.99988938e-01 9.98567118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.61, Y:0.10, Z:0.01 [[ 9.97506227e-01 -7.04217235e-02 -4.70180438e-03 4.60950043e+00] [ 7.04218953e-02 9.97517288e-01 -1.29232504e-04 9.92645683e-02] [ 4.69923193e-03 -2.02199748e-04 9.99988938e-01 1.04714496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.64, Y:0.10, Z:0.01 [[ 9.97620504e-01 -6.87838007e-02 -4.70313793e-03 4.63857167e+00] [ 6.87841775e-02 9.97631560e-01 -8.17869683e-05 9.79317262e-02] [ 4.69762445e-03 -2.41909118e-04 9.99988937e-01 1.08384175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.67, Y:0.10, Z:0.01 [[ 9.97744836e-01 -6.69561174e-02 -4.70324285e-03 4.66550712e+00] [ 6.69564913e-02 9.97755893e-01 -7.80903428e-05 9.71327315e-02] [ 4.69791690e-03 -2.36998403e-04 9.99988937e-01 1.01040922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.69, Y:0.10, Z:0.01 [[ 9.97785370e-01 -6.63493656e-02 -4.70295817e-03 4.69447474e+00] [ 6.63496862e-02 9.97796428e-01 -8.79849820e-05 9.66756818e-02] [ 4.69843261e-03 -2.24249671e-04 9.99988937e-01 1.04852446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.72, Y:0.09, Z:0.01 [[ 9.98002826e-01 -6.29939629e-02 -4.70322257e-03 4.72282047e+00] [ 6.29942890e-02 9.98013884e-01 -7.89239137e-05 9.27610618e-02] [ 4.69885315e-03 -2.17509873e-04 9.99988937e-01 9.97268968e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:4.75, Y:0.09, Z:0.01 [[ 9.98214001e-01 -5.95540871e-02 -4.70310109e-03 4.74542451e+00] [ 5.95543553e-02 9.98225061e-01 -8.31078581e-05 9.17625444e-02] [ 4.69970279e-03 -1.97130726e-04 9.99988937e-01 1.02748724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.77, Y:0.09, Z:0.01 [[ 9.98523598e-01 -5.41158594e-02 -4.70078622e-03 4.77453418e+00] [ 5.41157036e-02 9.98534659e-01 -1.60414396e-04 8.80329986e-02] [ 4.70257892e-03 -9.42087936e-05 9.99988938e-01 9.19984532e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.022755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.81, Y:0.09, Z:0.01 [[ 9.98483571e-01 -5.48494334e-02 -4.70084105e-03 4.80622739e+00] [ 5.48492944e-02 9.98494632e-01 -1.58580968e-04 8.90203850e-02] [ 4.70246263e-03 -9.94973234e-05 9.99988938e-01 9.93238114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.83, Y:0.09, Z:0.01 [[ 9.98687845e-01 -5.09948632e-02 -4.70238057e-03 4.83091030e+00] [ 5.09949249e-02 9.98698907e-01 -1.06865211e-04 8.74343908e-02] [ 4.70171191e-03 -1.33072557e-04 9.99988938e-01 9.79917654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.86, Y:0.08, Z:0.01 [[ 9.98966191e-01 -4.52155652e-02 -4.70132138e-03 4.85733096e+00] [ 4.52153978e-02 9.98977251e-01 -1.41946192e-04 8.28901892e-02] [ 4.70293129e-03 -7.07726698e-05 9.99988939e-01 1.12306780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.112755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.89, Y:0.08, Z:0.01 [[ 9.98961995e-01 -4.53082857e-02 -4.70016103e-03 4.88884130e+00] [ 4.53079400e-02 9.98973052e-01 -1.80060544e-04 7.84067991e-02] [ 4.70349244e-03 -3.30809732e-05 9.99988938e-01 1.12063141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.92, Y:0.08, Z:0.01 [[ 9.98947155e-01 -4.56341890e-02 -4.70129587e-03 4.91726583e+00] [ 4.56340229e-02 9.98958215e-01 -1.42663147e-04 7.63171655e-02] [ 4.70290845e-03 -7.20260990e-05 9.99988939e-01 1.16160208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:0.07, Z:0.01 [[ 9.98909671e-01 -4.64474606e-02 -4.70125056e-03 4.94434327e+00] [ 4.64472965e-02 9.98920732e-01 -1.44141204e-04 7.43072362e-02] [ 4.70287164e-03 -7.43763360e-05 9.99988939e-01 1.06163436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202755096000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:4.97, Y:0.07, Z:0.01 [[ 9.98889792e-01 -4.68730377e-02 -4.70121962e-03 4.97451338e+00] [ 4.68728736e-02 9.98900852e-01 -1.45143108e-04 7.01801994e-02] [ 4.70285559e-03 -7.53777037e-05 9.99988939e-01 1.08566065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.232755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:0.07, Z:0.01 [[ 9.98701444e-01 -5.07278468e-02 -4.70224341e-03 5.00123174e+00] [ 5.07278789e-02 9.98712506e-01 -1.12518402e-04 6.76837819e-02] [ 4.70189712e-03 -1.26162544e-04 9.99988938e-01 1.17477896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:0.07, Z:0.01 [[ 9.98624892e-01 -5.22132742e-02 -4.70106209e-03 5.02785058e+00] [ 5.22131481e-02 9.98635952e-01 -1.49632481e-04 6.54141692e-02] [ 4.70246242e-03 -9.60305307e-05 9.99988939e-01 1.28458094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.06, Y:0.06, Z:0.01 [[ 9.98424539e-01 -5.59136956e-02 -4.70092907e-03 5.05650695e+00] [ 5.59135910e-02 9.98435600e-01 -1.53777957e-04 6.05053517e-02] [ 4.70217323e-03 -1.09310140e-04 9.99988939e-01 1.40860986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.08, Y:0.06, Z:0.01 [[ 9.98313786e-01 -5.78574623e-02 -4.70100372e-03 5.08477196e+00] [ 5.78573902e-02 9.98324847e-01 -1.51460982e-04 5.85843649e-02] [ 4.70189197e-03 -1.20782220e-04 9.99988939e-01 1.46666897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.11, Y:0.06, Z:0.01 [[ 9.98167360e-01 -6.03309339e-02 -4.70095765e-03 5.11020361e+00] [ 6.03308825e-02 9.98178422e-01 -1.52877662e-04 5.75426046e-02] [ 4.70161774e-03 -1.31015432e-04 9.99988939e-01 1.47700508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.14, Y:0.06, Z:0.02 [[ 9.98043205e-01 -6.23511951e-02 -4.69990691e-03 5.14027665e+00] [ 6.23510180e-02 9.98054265e-01 -1.84331643e-04 5.52793649e-02] [ 4.70225544e-03 -1.09073037e-04 9.99988938e-01 1.51552990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.17, Y:0.05, Z:0.01 [[ 9.97648314e-01 -6.83793911e-02 -4.70111356e-03 5.16812576e+00] [ 6.83794516e-02 9.97659375e-01 -1.48051914e-04 5.43043145e-02] [ 4.70023372e-03 -1.73755825e-04 9.99988939e-01 1.48292549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.442755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.19, Y:0.06, Z:0.01 [[ 9.97801048e-01 -6.61133167e-02 -4.70077717e-03 5.19309038e+00] [ 6.61133050e-02 9.97812110e-01 -1.58056758e-04 5.50339774e-02] [ 4.70094204e-03 -1.53074716e-04 9.99988939e-01 1.41270687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.22, Y:0.05, Z:0.01 [[ 9.98092762e-01 -6.15528835e-02 -4.69907781e-03 5.22170858e+00] [ 6.15525864e-02 9.98103820e-01 -2.07959464e-04 5.28846291e-02] [ 4.70296802e-03 -8.16775573e-05 9.99988938e-01 1.40246019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5027550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.25, Y:0.05, Z:0.01 [[ 9.98307148e-01 -5.79720043e-02 -4.69936801e-03 5.25395998e+00] [ 5.79717076e-02 9.98318206e-01 -1.99435198e-04 5.05444225e-02] [ 4.70302630e-03 -7.33328036e-05 9.99988938e-01 1.36149206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.28, Y:0.05, Z:0.01 [[ 9.98435485e-01 -5.57179138e-02 -4.70071458e-03 5.28063715e+00] [ 5.57177786e-02 9.98446545e-01 -1.59832013e-04 5.05009183e-02] [ 4.70231774e-03 -1.02331421e-04 9.99988939e-01 1.32996770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562755096000001 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:5.31, Y:0.05, Z:0.01 [[ 9.98630447e-01 -5.21069711e-02 -4.70031111e-03 5.30944456e+00] [ 5.21067406e-02 9.98641506e-01 -1.71567763e-04 5.17943761e-02] [ 4.70286564e-03 -7.35850998e-05 9.99988939e-01 1.15034159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.34, Y:0.05, Z:0.01 [[ 9.98687654e-01 -5.09987616e-02 -4.70064751e-03 5.33629414e+00] [ 5.09985648e-02 9.98698713e-01 -1.61793988e-04 5.36396033e-02] [ 4.70278192e-03 -7.81446188e-05 9.99988939e-01 1.44953995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622755096000001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.36, Y:0.06, Z:0.01 [[ 9.98779581e-01 -4.91656268e-02 -4.70000728e-03 5.36389933e+00] [ 4.91653211e-02 9.98790638e-01 -1.80630098e-04 5.66864966e-02] [ 4.70320406e-03 -5.06677137e-05 9.99988939e-01 1.29349361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.652755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.39, Y:0.05, Z:0.01 [[ 9.98823674e-01 -4.82615984e-02 -4.69965294e-03 5.39363199e+00] [ 4.82612349e-02 9.98834729e-01 -1.90802950e-04 5.49072064e-02] [ 4.70338503e-03 -3.62325510e-05 9.99988938e-01 9.37878852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.682755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:5.42, Y:0.06, Z:0.01 [[ 9.98851618e-01 -4.76796473e-02 -4.70076676e-03 5.42143342e+00] [ 4.76794281e-02 9.98862677e-01 -1.58749019e-04 5.57312190e-02] [ 4.70298956e-03 -6.55631560e-05 9.99988939e-01 8.64242933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.712755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:5.45, Y:0.06, Z:0.01 [[ 9.98628134e-01 -5.21512639e-02 -4.70056965e-03 5.44928659e+00] [ 5.21510677e-02 9.98639194e-01 -1.64385364e-04 5.80285093e-02] [ 4.70274599e-03 -8.09798767e-05 9.99988939e-01 9.19571912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.742755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.48, Y:0.06, Z:0.01 [[ 9.98484071e-01 -5.48403655e-02 -4.70055264e-03 5.47602339e+00] [ 5.48401968e-02 9.98495130e-01 -1.64870297e-04 5.99328931e-02] [ 4.70252047e-03 -9.31588670e-05 9.99988939e-01 1.05962794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.50, Y:0.06, Z:0.01 [[ 9.98313009e-01 -5.78709634e-02 -4.69974375e-03 5.50462486e+00] [ 5.78707189e-02 9.98324068e-01 -1.88116502e-04 6.05697330e-02] [ 4.70275378e-03 -8.41783978e-05 9.99988938e-01 1.28789643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.53, Y:0.06, Z:0.01 [[ 9.97821955e-01 -6.57970683e-02 -4.70028969e-03 5.53143365e+00] [ 6.57969856e-02 9.97833016e-01 -1.72403539e-04 6.37852271e-02] [ 4.70144788e-03 -1.37236857e-04 9.99988939e-01 1.11573699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8327550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.56, Y:0.06, Z:0.01 [[ 9.97454809e-01 -7.11464517e-02 -4.69964870e-03 5.55908766e+00] [ 7.11463422e-02 9.97465870e-01 -1.90676239e-04 6.29915769e-02] [ 4.70130512e-03 -1.44171883e-04 9.99988938e-01 1.32332223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.59, Y:0.06, Z:0.01 [[ 9.97442700e-01 -7.13160278e-02 -4.69945604e-03 5.58760583e+00] [ 7.13158945e-02 9.97453761e-01 -1.96155521e-04 6.40648563e-02] [ 4.70147914e-03 -1.39492018e-04 9.99988938e-01 1.33657188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.62, Y:0.06, Z:0.02 [[ 9.97247847e-01 -7.39908521e-02 -4.69941224e-03 5.61908818e+00] [ 7.39907426e-02 9.97258909e-01 -1.97393626e-04 6.31160964e-02] [ 4.70113604e-03 -1.50862632e-04 9.99988938e-01 1.55387942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.65, Y:0.06, Z:0.02 [[ 9.96959527e-01 -7.77792223e-02 -4.70050793e-03 5.64701854e+00] [ 7.77793004e-02 9.96970588e-01 -1.66451935e-04 6.47868717e-02] [ 4.69921465e-03 -1.99656376e-04 9.99988939e-01 1.65441951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.67, Y:0.07, Z:0.02 [[ 9.96878306e-01 -7.88133851e-02 -4.70045604e-03 5.67350926e+00] [ 7.88134679e-02 9.96889367e-01 -1.67904558e-04 6.60487679e-02] [ 4.69906777e-03 -2.03078830e-04 9.99988939e-01 1.81466986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.982755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.70, Y:0.07, Z:0.02 [[ 9.96610187e-01 -8.21342994e-02 -4.70012054e-03 5.70242494e+00] [ 8.21343745e-02 9.96621249e-01 -1.77366412e-04 6.57747531e-02] [ 4.69880786e-03 -2.09276287e-04 9.99988939e-01 1.74420754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.73, Y:0.07, Z:0.02 [[ 9.96436494e-01 -8.42153142e-02 -4.70048775e-03 5.72899606e+00] [ 8.42154610e-02 9.96447554e-01 -1.67032607e-04 6.68431121e-02] [ 4.69785623e-03 -2.29416358e-04 9.99988939e-01 1.54306949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0427550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.76, Y:0.07, Z:0.02 [[ 9.96357484e-01 -8.51449880e-02 -4.70046355e-03 5.76226677e+00] [ 8.51451420e-02 9.96368545e-01 -1.67710870e-04 6.62443511e-02] [ 4.69767377e-03 -2.33121656e-04 9.99988939e-01 1.61529435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.79, Y:0.07, Z:0.02 [[ 9.95836724e-01 -9.10335351e-02 -4.70269070e-03 5.78552926e+00] [ 9.10340487e-02 9.95847775e-01 -1.05165462e-04 7.10647151e-02] [ 4.69273766e-03 -3.23377345e-04 9.99988937e-01 1.75005365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.81, Y:0.07, Z:0.02 [[ 9.95743483e-01 -9.20479397e-02 -4.70029267e-03 5.81351274e+00] [ 9.20481546e-02 9.95754542e-01 -1.71058246e-04 7.25756161e-02] [ 4.69608334e-03 -2.62323133e-04 9.99988939e-01 1.82691819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.84, Y:0.07, Z:0.02 [[ 9.95598954e-01 -9.35982348e-02 -4.70024098e-03 5.84072678e+00] [ 9.35984603e-02 9.95610013e-01 -1.72466973e-04 7.42161816e-02] [ 4.69574959e-03 -2.68227381e-04 9.99988939e-01 1.85671659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.87, Y:0.08, Z:0.02 [[ 9.95810671e-01 -9.13182087e-02 -4.70021850e-03 5.86803352e+00] [ 9.13184059e-02 9.95821730e-01 -1.73077524e-04 7.71924404e-02] [ 4.69638485e-03 -2.56864015e-04 9.99988939e-01 2.02118718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.192755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.90, Y:0.08, Z:0.02 [[ 9.95753663e-01 -9.19378074e-02 -4.69924664e-03 5.89804056e+00] [ 9.19378886e-02 9.95764724e-01 -1.99205822e-04 8.05007166e-02] [ 4.69765858e-03 -2.33678887e-04 9.99988939e-01 2.03998716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.93, Y:0.08, Z:0.02 [[ 9.95861658e-01 -9.07604923e-02 -4.70013841e-03 5.92593592e+00] [ 9.07606729e-02 9.95872718e-01 -1.75295035e-04 8.18971448e-02] [ 4.69664948e-03 -2.52018120e-04 9.99988939e-01 1.88987507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2527550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.96, Y:0.08, Z:0.02 [[ 9.95950199e-01 -8.97836879e-02 -4.70008680e-03 5.95631267e+00] [ 8.97838512e-02 9.95961259e-01 -1.76667988e-04 8.24262690e-02] [ 4.69696627e-03 -2.46039376e-04 9.99988939e-01 1.64427180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.98, Y:0.09, Z:0.02 [[ 9.95942506e-01 -8.98689361e-02 -4.70087682e-03 5.98297721e+00] [ 8.98691985e-02 9.95953565e-01 -1.55797341e-04 8.50191563e-02] [ 4.69585636e-03 -2.67298837e-04 9.99988939e-01 1.90525958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.01, Y:0.09, Z:0.02 [[ 9.95996306e-01 -8.92707602e-02 -4.69997786e-03 6.01369922e+00] [ 8.92709051e-02 9.96007366e-01 -1.79354451e-04 8.51670550e-02] [ 4.69722368e-03 -2.40934907e-04 9.99988939e-01 1.75823509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.04, Y:0.09, Z:0.02 [[ 9.95959366e-01 -8.96818952e-02 -4.70093153e-03 6.04325387e+00] [ 8.96821615e-02 9.95970424e-01 -1.54543985e-04 8.69870123e-02] [ 4.69584857e-03 -2.67670171e-04 9.99988939e-01 1.88794974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.07, Y:0.09, Z:0.02 [[ 9.95825677e-01 -9.11543687e-02 -4.70118357e-03 6.06765135e+00] [ 9.11546820e-02 9.95836735e-01 -1.48032143e-04 9.18291631e-02] [ 4.69510507e-03 -2.81120684e-04 9.99988938e-01 2.06767460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.10, Y:0.09, Z:0.02 [[ 9.95936085e-01 -8.99401331e-02 -4.69978315e-03 6.09938827e+00] [ 8.99402644e-02 9.95947145e-01 -1.83834378e-04 9.05788043e-02] [ 4.69726970e-03 -2.39612448e-04 9.99988939e-01 1.98730702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.12, Y:0.09, Z:0.02 [[ 9.95774453e-01 -9.17122170e-02 -4.70185383e-03 6.12361847e+00] [ 9.17126176e-02 9.95785508e-01 -1.30791802e-04 9.27289439e-02] [ 4.69403312e-03 -3.00980188e-04 9.99988938e-01 2.19470500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.15, Y:0.09, Z:0.02 [[ 9.96036856e-01 -8.88171936e-02 -4.69967214e-03 6.15428641e+00] [ 8.88173025e-02 9.96047917e-01 -1.85935909e-04 9.09015115e-02] [ 4.69761295e-03 -2.32213184e-04 9.99988939e-01 2.09902424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.492755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.18, Y:0.09, Z:0.02 [[ 9.96064204e-01 -8.85099238e-02 -4.70060072e-03 6.18372654e+00] [ 8.85101388e-02 9.96075263e-01 -1.62674343e-04 9.17914004e-02] [ 4.69655039e-03 -2.54016732e-04 9.99988939e-01 2.14170331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.522755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.21, Y:0.09, Z:0.02 [[ 9.95933183e-01 -8.99721931e-02 -4.70110176e-03 6.21170344e+00] [ 8.99724832e-02 9.95944240e-01 -1.50178436e-04 9.46280263e-02] [ 4.69554711e-03 -2.73402111e-04 9.99988938e-01 2.02483197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.24, Y:0.10, Z:0.02 [[ 9.95958789e-01 -8.96882738e-02 -4.70144315e-03 6.23835905e+00] [ 8.96886003e-02 9.95969846e-01 -1.41764585e-04 9.62452868e-02] [ 4.69521023e-03 -2.80474171e-04 9.99988938e-01 2.16356025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5827550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.26, Y:0.10, Z:0.02 [[ 9.95686756e-01 -9.26595491e-02 -4.70030550e-03 6.26435906e+00] [ 9.26597785e-02 9.95697814e-01 -1.69400398e-04 9.99680443e-02] [ 4.69578047e-03 -2.66859534e-04 9.99988939e-01 2.12589854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.30, Y:0.10, Z:0.02 [[ 9.95597470e-01 -9.36140698e-02 -4.69924261e-03 6.29558312e+00] [ 9.36141893e-02 9.95608530e-01 -1.95012977e-04 9.98117909e-02] [ 4.69686198e-03 -2.45761360e-04 9.99988939e-01 2.09245516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.32, Y:0.10, Z:0.02 [[ 9.95513540e-01 -9.45023704e-02 -4.70031275e-03 6.32456352e+00] [ 9.45026202e-02 9.95524598e-01 -1.69417204e-04 9.96089390e-02] [ 4.69528729e-03 -2.75534750e-04 9.99988939e-01 2.19876208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.35, Y:0.10, Z:0.02 [[ 9.95365994e-01 -9.60439677e-02 -4.70048309e-03 6.34993413e+00] [ 9.60442538e-02 9.95377051e-01 -1.65366111e-04 1.00334524e-01] [ 4.69463541e-03 -2.86854586e-04 9.99988939e-01 2.43091229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.38, Y:0.10, Z:0.03 [[ 9.95310624e-01 -9.66161568e-02 -4.69902974e-03 6.37780596e+00] [ 9.66162881e-02 9.95321683e-01 -1.99583940e-04 1.01275004e-01] [ 4.69632922e-03 -2.55354795e-04 9.99988940e-01 2.51910902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.732755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.40, Y:0.10, Z:0.03 [[ 9.95302723e-01 -9.66975156e-02 -4.69896769e-03 6.40477006e+00] [ 9.66976410e-02 9.95313783e-01 -2.01034353e-04 1.02010159e-01] [ 4.69638683e-03 -2.54289051e-04 9.99988940e-01 2.63956426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:6.44, Y:0.10, Z:0.02 [[ 9.95341170e-01 -9.63009665e-02 -4.69892537e-03 6.43581518e+00] [ 9.63010828e-02 9.95352229e-01 -2.02018553e-04 1.01349243e-01] [ 4.69654043e-03 -2.51434218e-04 9.99988940e-01 2.28964819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7927550960000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.47, Y:0.10, Z:0.02 [[ 9.95479601e-01 -9.48592157e-02 -4.70043472e-03 6.46630746e+00] [ 9.48594794e-02 9.95490659e-01 -1.67302221e-04 1.02529622e-01] [ 4.69510901e-03 -2.79334842e-04 9.99988939e-01 2.38552605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.49, Y:0.11, Z:0.03 [[ 9.95597818e-01 -9.36103042e-02 -4.70070560e-03 6.49474160e+00] [ 9.36105829e-02 9.95608875e-01 -1.61187867e-04 1.05230163e-01] [ 4.69515307e-03 -2.79557503e-04 9.99988939e-01 2.53112052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.852755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.52, Y:0.11, Z:0.03 [[ 9.95619519e-01 -9.33792423e-02 -4.70015149e-03 6.51939301e+00] [ 9.33794600e-02 9.95630577e-01 -1.73588479e-04 1.08192753e-01] [ 4.69582410e-03 -2.66069530e-04 9.99988939e-01 2.50752873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:6.55, Y:0.11, Z:0.03 [[ 9.95911179e-01 -9.02155633e-02 -4.69838487e-03 6.54767908e+00] [ 9.02155621e-02 9.95922240e-01 -2.12625522e-04 1.09480080e-01] [ 4.69840811e-03 -2.12111297e-04 9.99988940e-01 2.54895648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912755096000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:6.57, Y:0.11, Z:0.02 [[ 9.96033968e-01 -8.88496555e-02 -4.69831776e-03 6.57448924e+00] [ 8.88496322e-02 9.96045028e-01 -2.14098236e-04 1.10722755e-01] [ 4.69875860e-03 -2.04194690e-04 9.99988940e-01 2.45105280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.942755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.60, Y:0.11, Z:0.03 [[ 9.96097346e-01 -8.81362755e-02 -4.69828859e-03 6.60361197e+00] [ 8.81362413e-02 9.96108406e-01 -2.14736592e-04 1.12098231e-01] [ 4.69893084e-03 -2.00190947e-04 9.99988940e-01 2.55215694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.972755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.63, Y:0.11, Z:0.02 [[ 9.96349550e-01 -8.52378902e-02 -4.69852982e-03 6.63035141e+00] [ 8.52378485e-02 9.96360610e-01 -2.09477942e-04 1.12457261e-01] [ 4.69928550e-03 -1.91779319e-04 9.99988940e-01 2.37197902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.66, Y:0.11, Z:0.03 [[ 9.96395925e-01 -8.46940862e-02 -4.69820087e-03 6.65941780e+00] [ 8.46940050e-02 9.96406984e-01 -2.16612772e-04 1.12915742e-01] [ 4.69966598e-03 -1.82077365e-04 9.99988940e-01 2.59347040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.69, Y:0.12, Z:0.03 [[ 9.96720692e-01 -8.07823422e-02 -4.69853636e-03 6.68632296e+00] [ 8.07822515e-02 9.96731751e-01 -2.09376419e-04 1.16141350e-01] [ 4.70009429e-03 -1.70868537e-04 9.99988940e-01 2.59654192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.71, Y:0.12, Z:0.03 [[ 9.96854712e-01 -7.91113799e-02 -4.69810133e-03 6.71438957e+00] [ 7.91112268e-02 9.96865771e-01 -2.18720772e-04 1.17211687e-01] [ 4.70067971e-03 -1.53639728e-04 9.99988940e-01 2.54383536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.74, Y:0.12, Z:0.03 [[ 9.96821647e-01 -7.95269705e-02 -4.69742054e-03 6.74290212e+00] [ 7.95267533e-02 9.96832705e-01 -2.33297733e-04 1.18338314e-01] [ 4.70109588e-03 -1.41014374e-04 9.99988940e-01 2.56290920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.77, Y:0.12, Z:0.02 [[ 9.96749683e-01 -8.04238625e-02 -4.69804045e-03 6.77072384e+00] [ 8.04237176e-02 9.96760742e-01 -2.20063418e-04 1.19572219e-01] [ 4.70052064e-03 -1.58485736e-04 9.99988940e-01 2.48914756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.80, Y:0.12, Z:0.03 [[ 9.96721952e-01 -8.07668242e-02 -4.69782566e-03 6.79837693e+00] [ 8.07666617e-02 9.96733011e-01 -2.24623805e-04 1.21511030e-01] [ 4.70062007e-03 -1.55540218e-04 9.99988940e-01 2.66616060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.83, Y:0.12, Z:0.03 [[ 9.96553656e-01 -8.28175049e-02 -4.69794667e-03 6.82654491e+00] [ 8.28173771e-02 9.96564716e-01 -2.22063779e-04 1.19526741e-01] [ 4.70019866e-03 -1.67773150e-04 9.99988940e-01 2.75833851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.86, Y:0.12, Z:0.03 [[ 9.96360925e-01 -8.51049021e-02 -4.69709875e-03 6.85569955e+00] [ 8.51047157e-02 9.96371984e-01 -2.39901873e-04 1.21843299e-01] [ 4.70047443e-03 -1.60716402e-04 9.99988940e-01 2.70795392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.88, Y:0.12, Z:0.03 [[ 9.96210096e-01 -8.68526081e-02 -4.69787978e-03 6.88382605e+00] [ 8.68525184e-02 9.96221155e-01 -2.23483828e-04 1.24250682e-01] [ 4.69953738e-03 -1.85385845e-04 9.99988940e-01 2.86412506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.91, Y:0.13, Z:0.03 [[ 9.96068589e-01 -8.84607116e-02 -4.69781017e-03 6.91145065e+00] [ 8.84606330e-02 9.96079648e-01 -2.24937596e-04 1.26406185e-01] [ 4.69929124e-03 -1.91517987e-04 9.99988940e-01 2.92620272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.94, Y:0.13, Z:0.03 [[ 9.95828393e-01 -9.11248714e-02 -4.69773929e-03 6.93898415e+00] [ 9.11248154e-02 9.95839453e-01 -2.26408330e-04 1.26796467e-01] [ 4.69882556e-03 -2.02616782e-04 9.99988940e-01 2.95564589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.97, Y:0.13, Z:0.03 [[ 9.95342278e-01 -9.62895745e-02 -4.69766951e-03 6.96688013e+00] [ 9.62895691e-02 9.95353338e-01 -2.27846965e-04 1.31404099e-01] [ 4.69778032e-03 -2.25550856e-04 9.99988940e-01 2.84458267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.00, Y:0.13, Z:0.03 [[ 9.95292078e-01 -9.68071145e-02 -4.69697512e-03 6.99643213e+00] [ 9.68070469e-02 9.95303138e-01 -2.42270914e-04 1.29613512e-01] [ 4.69836762e-03 -2.13569968e-04 9.99988940e-01 3.28095944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.03, Y:0.13, Z:0.03 [[ 9.94980212e-01 -9.99615346e-02 -4.69771870e-03 7.02614121e+00] [ 9.99615746e-02 9.94991272e-01 -2.26874156e-04 1.31681849e-01] [ 4.69686779e-03 -2.43856062e-04 9.99988940e-01 3.17215586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.05, Y:0.13, Z:0.03 [[ 9.95036165e-01 -9.94029447e-02 -4.69951689e-03 7.05256942e+00] [ 9.94031538e-02 9.95047224e-01 -1.89647359e-04 1.33334388e-01] [ 4.69509274e-03 -2.78440820e-04 9.99988939e-01 3.13742999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.08, Y:0.14, Z:0.03 [[ 9.95021012e-01 -9.95546042e-02 -4.69755761e-03 7.08027764e+00] [ 9.95546263e-02 9.95032072e-01 -2.29713942e-04 1.35629247e-01] [ 4.69708956e-03 -2.39093393e-04 9.99988940e-01 2.96138588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.11, Y:0.14, Z:0.03 [[ 9.95015143e-01 -9.96132427e-02 -4.69753569e-03 7.10795227e+00] [ 9.96132633e-02 9.95026203e-01 -2.30161447e-04 1.37580056e-01] [ 4.69709823e-03 -2.38922735e-04 9.99988940e-01 3.01224611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.14, Y:0.14, Z:0.03 [[ 9.95134723e-01 -9.84114678e-02 -4.69746341e-03 7.13615461e+00] [ 9.84114682e-02 9.95145783e-01 -2.31627310e-04 1.38847370e-01] [ 4.69745568e-03 -2.31783892e-04 9.99988940e-01 3.01566494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.16, Y:0.14, Z:0.03 [[ 9.95239268e-01 -9.73485192e-02 -4.69739103e-03 7.16453772e+00] [ 9.73485009e-02 9.95250328e-01 -2.33085835e-04 1.40543803e-01] [ 4.69777053e-03 -2.25307799e-04 9.99988940e-01 3.08242088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.19, Y:0.14, Z:0.03 [[ 9.95531237e-01 -9.43159093e-02 -4.69731749e-03 7.19239177e+00] [ 9.43158504e-02 9.95542297e-01 -2.34558639e-04 1.43164139e-01] [ 4.69850086e-03 -2.09521042e-04 9.99988940e-01 3.07859416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.22, Y:0.14, Z:0.03 [[ 9.95675320e-01 -9.27825063e-02 -4.69715665e-03 7.22084479e+00] [ 9.27824153e-02 9.95686380e-01 -2.37763502e-04 1.44631949e-01] [ 4.69895520e-03 -1.99078289e-04 9.99988940e-01 3.19670389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.25, Y:0.15, Z:0.03 [[ 9.95858916e-01 -9.07907192e-02 -4.69739861e-03 7.24947058e+00] [ 9.07906286e-02 9.95869975e-01 -2.32961068e-04 1.45060445e-01] [ 4.69914894e-03 -1.94483416e-04 9.99988940e-01 3.07786705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.28, Y:0.15, Z:0.03 [[ 9.96069242e-01 -8.84533232e-02 -4.69836449e-03 7.27662431e+00] [ 8.84532965e-02 9.96080302e-01 -2.13878535e-04 1.47060649e-01] [ 4.69886659e-03 -2.02547998e-04 9.99988940e-01 3.22110652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.30, Y:0.15, Z:0.03 [[ 9.96034977e-01 -8.88384069e-02 -4.69706520e-03 7.30392078e+00] [ 8.88382645e-02 9.96046036e-01 -2.39373706e-04 1.49768055e-01] [ 4.69975875e-03 -1.78854537e-04 9.99988940e-01 3.23620904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.33, Y:0.15, Z:0.03 [[ 9.96104902e-01 -8.80509093e-02 -4.69704032e-03 7.33302446e+00] [ 8.80507558e-02 9.96115961e-01 -2.39860874e-04 1.49924632e-01] [ 4.69991680e-03 -1.74651358e-04 9.99988940e-01 3.49552094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.36, Y:0.15, Z:0.04 [[ 9.96078083e-01 -8.83537886e-02 -4.69697623e-03 7.36155709e+00] [ 8.83536325e-02 9.96089141e-01 -2.41109420e-04 1.51557424e-01] [ 4.69990995e-03 -1.74831103e-04 9.99988940e-01 3.50892278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.39, Y:0.15, Z:0.04 [[ 9.96161826e-01 -8.74045514e-02 -4.69690248e-03 7.39136534e+00] [ 8.74043781e-02 9.96172885e-01 -2.42537584e-04 1.51217633e-01] [ 4.70012578e-03 -1.68923157e-04 9.99988940e-01 3.56449976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.42, Y:0.15, Z:0.04 [[ 9.96049766e-01 -8.86723743e-02 -4.69817453e-03 7.41695736e+00] [ 8.86723308e-02 9.96060827e-01 -2.17964108e-04 1.54142755e-01] [ 4.69899500e-03 -1.99494987e-04 9.99988940e-01 3.70850245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.44, Y:0.16, Z:0.04 [[ 9.96004932e-01 -8.91746399e-02 -4.69679105e-03 7.44365291e+00] [ 8.91744769e-02 9.96015990e-01 -2.44536556e-04 1.56044554e-01] [ 4.69988545e-03 -1.75274269e-04 9.99988940e-01 3.70396297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.47, Y:0.16, Z:0.04 [[ 9.95925038e-01 -9.00625253e-02 -4.69673921e-03 7.47187460e+00] [ 9.00623674e-02 9.95936097e-01 -2.45528164e-04 1.57684303e-01] [ 4.69976500e-03 -1.78471806e-04 9.99988940e-01 3.83249677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.50, Y:0.16, Z:0.04 [[ 9.95877362e-01 -9.05882011e-02 -4.69666248e-03 7.49836837e+00] [ 9.05880423e-02 9.95888420e-01 -2.46987255e-04 1.59298479e-01] [ 4.69972591e-03 -1.79492443e-04 9.99988940e-01 3.85229853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.53, Y:0.16, Z:0.04 [[ 9.95741039e-01 -9.20745672e-02 -4.69662439e-03 7.52878460e+00] [ 9.20744215e-02 9.95752097e-01 -2.47709423e-04 1.59921775e-01] [ 4.69948133e-03 -1.85784535e-04 9.99988940e-01 3.66635303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.56, Y:0.16, Z:0.04 [[ 9.95658756e-01 -9.29600764e-02 -4.69739100e-03 7.55512280e+00] [ 9.29600087e-02 9.95669816e-01 -2.33214688e-04 1.61249918e-01] [ 4.69873008e-03 -2.04467261e-04 9.99988940e-01 3.90541024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.58, Y:0.16, Z:0.04 [[ 9.95568680e-01 -9.39198931e-02 -4.69650712e-03 7.58290419e+00] [ 9.39197578e-02 9.95579739e-01 -2.49830466e-04 1.62441071e-01] [ 4.69921138e-03 -1.92371424e-04 9.99988940e-01 3.87024482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.61, Y:0.17, Z:0.04 [[ 9.95242063e-01 -9.73199903e-02 -4.69642905e-03 7.61063390e+00] [ 9.73198859e-02 9.95253122e-01 -2.51289485e-04 1.65387981e-01] [ 4.69859117e-03 -2.06962074e-04 9.99988940e-01 3.56496414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.63, Y:0.17, Z:0.03 [[ 9.94642975e-01 -1.03263247e-01 -4.69622309e-03 7.63047232e+00] [ 1.03263191e-01 9.94654034e-01 -2.55120470e-04 1.73205304e-01] [ 4.69746182e-03 -2.31193199e-04 9.99988940e-01 3.46106116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.67, Y:0.17, Z:0.04 [[ 9.95013378e-01 -9.96312267e-02 -4.69008888e-03 7.66769325e+00] [ 9.96305998e-02 9.95024426e-01 -3.67699493e-04 1.68108699e-01] [ 4.70338735e-03 -1.01410453e-04 9.99988934e-01 3.57692583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.70, Y:0.17, Z:0.04 [[ 9.94898805e-01 -1.00768611e-01 -4.69629617e-03 7.69567197e+00] [ 1.00768542e-01 9.94909864e-01 -2.52037716e-04 1.69548254e-01] [ 4.69778888e-03 -2.22486895e-04 9.99988941e-01 3.55116578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.72, Y:0.17, Z:0.04 [[ 9.94809747e-01 -1.01644054e-01 -4.69622049e-03 7.72348180e+00] [ 1.01643988e-01 9.94820806e-01 -2.53440120e-04 1.70592386e-01] [ 4.69765853e-03 -2.25217877e-04 9.99988941e-01 3.55965678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.75, Y:0.17, Z:0.04 [[ 9.94699990e-01 -1.02712587e-01 -4.69614449e-03 7.75065926e+00] [ 1.02712526e-01 9.94711050e-01 -2.54840505e-04 1.71337932e-01] [ 4.69748215e-03 -2.28863014e-04 9.99988941e-01 3.57819225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:7.78, Y:0.17, Z:0.04 [[ 9.94638855e-01 -1.03302931e-01 -4.69611153e-03 7.77866462e+00] [ 1.03302874e-01 9.94649914e-01 -2.55446556e-04 1.73438027e-01] [ 4.69737530e-03 -2.31044747e-04 9.99988941e-01 3.56792344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.81, Y:0.18, Z:0.04 [[ 9.94719113e-01 -1.02527230e-01 -4.69603614e-03 7.80596692e+00] [ 1.02527157e-01 9.94730172e-01 -2.56824959e-04 1.76693045e-01] [ 4.69762039e-03 -2.26002541e-04 9.99988941e-01 3.52123226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.83, Y:0.18, Z:0.03 [[ 9.94869414e-01 -1.01058383e-01 -4.69600343e-03 7.83279588e+00] [ 1.01058291e-01 9.94880473e-01 -2.57421688e-04 1.78553510e-01] [ 4.69797674e-03 -2.18469118e-04 9.99988941e-01 3.48952127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.86, Y:0.18, Z:0.04 [[ 9.95001837e-01 -9.97461377e-02 -4.69597108e-03 7.86081253e+00] [ 9.97460287e-02 9.95012896e-01 -2.58010559e-04 1.80539227e-01] [ 4.69828734e-03 -2.11683486e-04 9.99988941e-01 3.54672787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.89, Y:0.18, Z:0.04 [[ 9.95433796e-01 -9.53389021e-02 -4.69589341e-03 7.88755251e+00] [ 9.53387374e-02 9.95444854e-01 -2.59416507e-04 1.82369617e-01] [ 4.69923542e-03 -1.89468590e-04 9.99988941e-01 3.50733811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:7.92, Y:0.18, Z:0.04 [[ 9.95657041e-01 -9.29785199e-02 -4.69585967e-03 7.91562070e+00] [ 9.29783261e-02 9.95668099e-01 -2.60025896e-04 1.84303370e-01] [ 4.69969449e-03 -1.77716557e-04 9.99988941e-01 3.51197878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:7.94, Y:0.19, Z:0.04 [[ 9.95874602e-01 -9.06185764e-02 -4.69578601e-03 7.94388408e+00] [ 9.06183502e-02 9.95885659e-01 -2.61349262e-04 1.86473473e-01] [ 4.70014905e-03 -1.65253289e-04 9.99988941e-01 3.54232285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:7.97, Y:0.19, Z:0.03 [[ 9.96214076e-01 -8.68070561e-02 -4.69571220e-03 7.97031411e+00] [ 8.68067814e-02 9.96225132e-01 -2.62668732e-04 1.89837040e-01] [ 4.70078801e-03 -1.45945375e-04 9.99988941e-01 3.49457087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442755095999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.00, Y:0.19, Z:0.04 [[ 9.96338721e-01 -8.53645355e-02 -4.69568017e-03 7.99833823e+00] [ 8.53642421e-02 9.96349776e-01 -2.63240064e-04 1.92381469e-01] [ 4.70101126e-03 -1.38566911e-04 9.99988941e-01 3.56323888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.03, Y:0.19, Z:0.04 [[ 9.96506680e-01 -8.33809810e-02 -4.69560388e-03 8.02500903e+00] [ 8.33806592e-02 9.96517735e-01 -2.64594019e-04 1.94368930e-01] [ 4.70131465e-03 -1.27852840e-04 9.99988941e-01 3.59643484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.05, Y:0.20, Z:0.04 [[ 9.96523349e-01 -8.31815326e-02 -4.69557078e-03 8.05310058e+00] [ 8.31812059e-02 9.96534403e-01 -2.65180185e-04 1.95137339e-01] [ 4.70135592e-03 -1.26324994e-04 9.99988941e-01 3.68280489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.08, Y:0.20, Z:0.04 [[ 9.96483678e-01 -8.36554361e-02 -4.69549499e-03 8.08126427e+00] [ 8.36551083e-02 9.96494732e-01 -2.66515388e-04 1.95767328e-01] [ 4.70133149e-03 -1.27223908e-04 9.99988941e-01 3.77217235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.11, Y:0.20, Z:0.04 [[ 9.96348018e-01 -8.52559716e-02 -4.69541942e-03 8.10867216e+00] [ 8.52556553e-02 9.96359073e-01 -2.67840107e-04 1.96411118e-01] [ 4.70115871e-03 -1.33449100e-04 9.99988941e-01 3.91762903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.14, Y:0.20, Z:0.04 [[ 9.96185455e-01 -8.71349085e-02 -4.69539601e-03 8.13683614e+00] [ 8.71346112e-02 9.96196511e-01 -2.68250003e-04 1.98826723e-01] [ 4.70091106e-03 -1.41904754e-04 9.99988941e-01 3.93633831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.16, Y:0.20, Z:0.04 [[ 9.96006819e-01 -8.91536313e-02 -4.69532101e-03 8.16489894e+00] [ 8.91533502e-02 9.96017875e-01 -2.69556305e-04 2.01208412e-01] [ 4.70065558e-03 -1.50123681e-04 9.99988941e-01 3.95675848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.19, Y:0.20, Z:0.04 [[ 9.95638154e-01 -9.31805848e-02 -4.69524617e-03 8.19339513e+00] [ 9.31803423e-02 9.95649211e-01 -2.70853652e-04 2.02012021e-01] [ 4.70005645e-03 -1.67832415e-04 9.99988941e-01 4.07732785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:8.23, Y:0.20, Z:0.04 [[ 9.95791967e-01 -9.15222034e-02 -4.69516205e-03 8.22924997e+00] [ 9.15219357e-02 9.95803023e-01 -2.72304066e-04 1.97310331e-01] [ 4.70037844e-03 -1.58552118e-04 9.99988941e-01 3.98681465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.25, Y:0.20, Z:0.04 [[ 9.94808783e-01 -1.01653307e-01 -4.70005809e-03 8.25124966e+00] [ 1.01653552e-01 9.94819843e-01 -1.87352838e-04 2.02106115e-01] [ 4.69475609e-03 -2.91397352e-04 9.99988937e-01 4.08791527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.28, Y:0.20, Z:0.04 [[ 9.94551880e-01 -1.04137001e-01 -4.69496174e-03 8.27892342e+00] [ 1.04136863e-01 9.94562938e-01 -2.74514786e-04 2.04423883e-01] [ 4.69802209e-03 -2.15899392e-04 9.99988941e-01 4.15863255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.31, Y:0.21, Z:0.04 [[ 9.94401660e-01 -1.05561815e-01 -4.69487547e-03 8.30555004e+00] [ 1.05561686e-01 9.94412718e-01 -2.75982430e-04 2.06604974e-01] [ 4.69777709e-03 -2.21161585e-04 9.99988941e-01 4.15600681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.33, Y:0.21, Z:0.04 [[ 9.94148178e-01 -1.07922928e-01 -4.69483804e-03 8.33364554e+00] [ 1.07922822e-01 9.94159237e-01 -2.76617782e-04 2.09437070e-01] [ 4.69727000e-03 -2.31681107e-04 9.99988941e-01 4.07995682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.36, Y:0.21, Z:0.04 [[ 9.94015902e-01 -1.09134533e-01 -4.69475233e-03 8.36068547e+00] [ 1.09134434e-01 9.94026960e-01 -2.78064761e-04 2.11226013e-01] [ 4.69705686e-03 -2.35958345e-04 9.99988941e-01 4.00962717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.39, Y:0.21, Z:0.04 [[ 9.93834676e-01 -1.10772722e-01 -4.69471517e-03 8.38911267e+00] [ 1.10772639e-01 9.93845735e-01 -2.78690849e-04 2.13333822e-01] [ 4.69669399e-03 -2.43073357e-04 9.99988941e-01 3.90931271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.41, Y:0.21, Z:0.04 [[ 9.93992308e-01 -1.09349219e-01 -4.69462921e-03 8.41464012e+00] [ 1.09349112e-01 9.94003367e-01 -2.80131430e-04 2.14350357e-01] [ 4.69710939e-03 -2.34905050e-04 9.99988941e-01 3.79114403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.45, Y:0.22, Z:0.04 [[ 9.93854903e-01 -1.10591203e-01 -4.69230981e-03 8.44554962e+00] [ 1.10590928e-01 9.93865959e-01 -3.18782329e-04 2.17037971e-01] [ 4.69878151e-03 -2.02103516e-04 9.99988940e-01 3.87643595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.47, Y:0.22, Z:0.04 [[ 9.94061222e-01 -1.08720962e-01 -4.69456974e-03 8.47416843e+00] [ 1.08720845e-01 9.94072281e-01 -2.81030480e-04 2.20018351e-01] [ 4.69729556e-03 -2.31036086e-04 9.99988941e-01 4.00333543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.50, Y:0.22, Z:0.04 [[ 9.94205494e-01 -1.07393664e-01 -4.69423740e-03 8.50186305e+00] [ 1.07393505e-01 9.94216552e-01 -2.86565872e-04 2.23127047e-01] [ 4.69786388e-03 -2.19225244e-04 9.99988941e-01 4.04875431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.53, Y:0.23, Z:0.04 [[ 9.94270211e-01 -1.06792848e-01 -4.69425756e-03 8.53036746e+00] [ 1.06792685e-01 9.94281268e-01 -2.86230604e-04 2.26560557e-01] [ 4.69797975e-03 -2.16721805e-04 9.99988941e-01 3.99365718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.56, Y:0.23, Z:0.04 [[ 9.94679632e-01 -1.02909611e-01 -4.69476724e-03 8.55703389e+00] [ 1.02909444e-01 9.94690690e-01 -2.77789957e-04 2.29683015e-01] [ 4.69842853e-03 -2.06823874e-04 9.99988941e-01 4.21971127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.58, Y:0.23, Z:0.04 [[ 9.94819798e-01 -1.01545714e-01 -4.69435392e-03 8.58471882e+00] [ 1.01545499e-01 9.94830855e-01 -2.84607334e-04 2.31981117e-01] [ 4.69898878e-03 -1.93557503e-04 9.99988941e-01 4.31033150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.61, Y:0.23, Z:0.04 [[ 9.95101237e-01 -9.87496384e-02 -4.69426934e-03 8.61259024e+00] [ 9.87493864e-02 9.95112294e-01 -2.85995661e-04 2.34982092e-01] [ 4.69956710e-03 -1.78961580e-04 9.99988941e-01 4.37629328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.64, Y:0.24, Z:0.04 [[ 9.95210070e-01 -9.76467117e-02 -4.69417977e-03 8.64078458e+00] [ 9.76464406e-02 9.95221126e-01 -2.87458321e-04 2.37825322e-01] [ 4.69981624e-03 -1.72288530e-04 9.99988941e-01 4.35991524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:8.67, Y:0.24, Z:0.04 [[ 9.95230500e-01 -9.74383026e-02 -4.69345386e-03 8.66940434e+00] [ 9.74379736e-02 9.95241554e-01 -2.99244507e-04 2.40754614e-01] [ 4.70027819e-03 -1.59503373e-04 9.99988941e-01 4.30833186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192755095999999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.70, Y:0.24, Z:0.04 [[ 9.95216436e-01 -9.75818246e-02 -4.69399884e-03 8.69702292e+00] [ 9.75815387e-02 9.95227491e-01 -2.90436544e-04 2.43373653e-01] [ 4.69993802e-03 -1.69000408e-04 9.99988941e-01 4.24216840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:8.72, Y:0.25, Z:0.04 [[ 9.95097292e-01 -9.87894062e-02 -4.69390798e-03 8.72410219e+00] [ 9.87891269e-02 9.95108347e-01 -2.91897741e-04 2.45143490e-01] [ 4.69978342e-03 -1.73240419e-04 9.99988941e-01 4.23478285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:8.75, Y:0.25, Z:0.04 [[ 9.94937147e-01 -1.00389451e-01 -4.69386854e-03 8.75252853e+00] [ 1.00389186e-01 9.94948203e-01 -2.92530516e-04 2.46427445e-01] [ 4.69952305e-03 -1.80164167e-04 9.99988941e-01 4.31250488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.78, Y:0.25, Z:0.04 [[ 9.94506932e-01 -1.04565435e-01 -4.69377602e-03 8.78053114e+00] [ 1.04565210e-01 9.94517989e-01 -2.94007628e-04 2.47077243e-01] [ 4.69878772e-03 -1.98413052e-04 9.99988941e-01 4.36892252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.81, Y:0.25, Z:0.04 [[ 9.94310310e-01 -1.06418866e-01 -4.69395942e-03 8.80833469e+00] [ 1.06418676e-01 9.94321367e-01 -2.91086094e-04 2.48428700e-01] [ 4.69828120e-03 -2.10095041e-04 9.99988941e-01 4.39991421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.84, Y:0.25, Z:0.04 [[ 9.93748138e-01 -1.11546453e-01 -4.69332612e-03 8.83695708e+00] [ 1.11546272e-01 9.93759195e-01 -3.01135041e-04 2.50458638e-01] [ 4.69762654e-03 -2.24270644e-04 9.99988941e-01 4.42377368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.86, Y:0.25, Z:0.04 [[ 9.93530263e-01 -1.13470628e-01 -4.69384633e-03 8.86426411e+00] [ 1.13470507e-01 9.93541322e-01 -2.92916999e-04 2.52352945e-01] [ 4.69676776e-03 -2.41591220e-04 9.99988941e-01 4.46799047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:8.89, Y:0.25, Z:0.04 [[ 9.93208335e-01 -1.16254783e-01 -4.69352523e-03 8.89277371e+00] [ 1.16254669e-01 9.93219393e-01 -2.97974780e-04 2.54766015e-01] [ 4.69634127e-03 -2.49693188e-04 9.99988941e-01 4.35003947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:8.92, Y:0.26, Z:0.04 [[ 9.92905563e-01 -1.18812904e-01 -4.69440339e-03 8.92104010e+00] [ 1.18812884e-01 9.92916622e-01 -2.84184807e-04 2.56114894e-01] [ 4.69491598e-03 -2.75586930e-04 9.99988941e-01 4.05130281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:8.95, Y:0.26, Z:0.04 [[ 9.92834745e-01 -1.19403243e-01 -4.69416514e-03 8.94831130e+00] [ 1.19403212e-01 9.92845804e-01 -2.87908229e-04 2.58499713e-01] [ 4.69495934e-03 -2.74653104e-04 9.99988941e-01 4.20611523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:8.98, Y:0.26, Z:0.04 [[ 9.92502066e-01 -1.22137727e-01 -4.69294831e-03 8.97706453e+00] [ 1.22137637e-01 9.92513125e-01 -3.06879491e-04 2.62090300e-01] [ 4.69529436e-03 -2.68607087e-04 9.99988941e-01 3.83877383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.00, Y:0.26, Z:0.04 [[ 9.92627674e-01 -1.21112627e-01 -4.69380315e-03 9.00423097e+00] [ 1.21112588e-01 9.92638733e-01 -2.93638299e-04 2.63158153e-01] [ 4.69481412e-03 -2.77005145e-04 9.99988941e-01 4.15192780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.03, Y:0.26, Z:0.04 [[ 9.92631656e-01 -1.21080015e-01 -4.69314571e-03 9.03093803e+00] [ 1.21079928e-01 9.92642715e-01 -3.03794767e-04 2.64941103e-01] [ 4.69540037e-03 -2.66689441e-04 9.99988941e-01 4.19733643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.06, Y:0.27, Z:0.04 [[ 9.92767506e-01 -1.19961051e-01 -4.69310602e-03 9.05888582e+00] [ 1.19960948e-01 9.92778565e-01 -3.04406730e-04 2.67155407e-01] [ 4.69573200e-03 -2.60784336e-04 9.99988941e-01 4.24422724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.08, Y:0.27, Z:0.04 [[ 9.92632795e-01 -1.21070683e-01 -4.69301519e-03 9.08464997e+00] [ 1.21070586e-01 9.92643853e-01 -3.05800591e-04 2.72302065e-01] [ 4.69551617e-03 -2.64638405e-04 9.99988941e-01 4.23090422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.11, Y:0.27, Z:0.04 [[ 9.92611844e-01 -1.21242417e-01 -4.69074249e-03 9.11312215e+00] [ 1.21242158e-01 9.92622901e-01 -3.40464598e-04 2.74234566e-01] [ 4.69741716e-03 -2.30766550e-04 9.99988940e-01 4.24326995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.14, Y:0.27, Z:0.04 [[ 9.93083065e-01 -1.17320175e-01 -4.69062902e-03 9.14339368e+00] [ 1.17319865e-01 9.93094121e-01 -3.42188544e-04 2.74169964e-01] [ 4.69838172e-03 -2.10482315e-04 9.99988940e-01 4.26383723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.17, Y:0.28, Z:0.04 [[ 9.93512273e-01 -1.13628078e-01 -4.69286060e-03 9.17018830e+00] [ 1.13627887e-01 9.93523331e-01 -3.08210129e-04 2.77509533e-01] [ 4.69748782e-03 -2.27029288e-04 9.99988941e-01 4.23330732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.20, Y:0.28, Z:0.04 [[ 9.93741686e-01 -1.11603934e-01 -4.69281901e-03 9.19762080e+00] [ 1.11603717e-01 9.93752743e-01 -3.08842119e-04 2.79573347e-01] [ 4.69796976e-03 -2.16826756e-04 9.99988941e-01 4.24323847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.22, Y:0.29, Z:0.04 [[ 9.93857000e-01 -1.10572336e-01 -4.69277981e-03 9.22210800e+00] [ 1.10572105e-01 9.93868057e-01 -3.09436536e-04 2.85205047e-01] [ 4.69821907e-03 -2.11354873e-04 9.99988941e-01 4.27056309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.25, Y:0.29, Z:0.04 [[ 9.94273577e-01 -1.06761699e-01 -4.68965600e-03 9.25213907e+00] [ 1.06761208e-01 9.94284626e-01 -3.55714292e-04 2.85831540e-01] [ 4.70082953e-03 -1.46996017e-04 9.99988940e-01 4.38894040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:9.28, Y:0.29, Z:0.04 [[ 9.94252836e-01 -1.06954594e-01 -4.69170579e-03 9.27877767e+00] [ 1.06954247e-01 9.94263890e-01 -3.25332869e-04 2.90615876e-01] [ 4.69958950e-03 -1.78334735e-04 9.99988941e-01 4.26837003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.31, Y:0.29, Z:0.04 [[ 9.94453000e-01 -1.05077264e-01 -4.69031302e-03 9.30550473e+00] [ 1.05076800e-01 9.94464050e-01 -3.46059965e-04 2.93410635e-01] [ 4.70071072e-03 -1.48702711e-04 9.99988941e-01 4.18481052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.34, Y:0.29, Z:0.04 [[ 9.95094756e-01 -9.88151347e-02 -4.68991587e-03 9.33690030e+00] [ 9.88145729e-02 9.95105802e-01 -3.51923683e-04 2.92918464e-01] [ 4.70173787e-03 -1.13234622e-04 9.99988940e-01 4.45662046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.36, Y:0.30, Z:0.04 [[ 9.95081804e-01 -9.89453680e-02 -4.69224922e-03 9.36427448e+00] [ 9.89449701e-02 9.95092856e-01 -3.17432416e-04 2.96400121e-01] [ 4.70063214e-03 -1.48403237e-04 9.99988941e-01 4.37776901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.39, Y:0.30, Z:0.05 [[ 9.95149049e-01 -9.82667845e-02 -4.69149321e-03 9.39386408e+00] [ 9.82663268e-02 9.95160098e-01 -3.28543714e-04 2.98218936e-01] [ 4.70107178e-03 -1.34065841e-04 9.99988941e-01 4.52478913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.42, Y:0.30, Z:0.04 [[ 9.95178751e-01 -9.79654175e-02 -4.69376892e-03 9.41855968e+00] [ 9.79651133e-02 9.95189806e-01 -2.95238346e-04 3.01712916e-01] [ 4.70011413e-03 -1.66010675e-04 9.99988941e-01 4.45661915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:9.45, Y:0.30, Z:0.05 [[ 9.95273864e-01 -9.69945251e-02 -4.69024673e-03 9.44758277e+00] [ 9.69939678e-02 9.95284909e-01 -3.46678462e-04 3.02290271e-01] [ 4.70175770e-03 -1.09885628e-04 9.99988941e-01 4.55695599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.48, Y:0.31, Z:0.04 [[ 9.94858756e-01 -1.01163439e-01 -4.69198136e-03 9.47682459e+00] [ 1.01163048e-01 9.94869808e-01 -3.21351515e-04 3.06680851e-01] [ 4.70041962e-03 -1.54955767e-04 9.99988941e-01 4.43778646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.50, Y:0.31, Z:0.05 [[ 9.94743041e-01 -1.02294969e-01 -4.69274476e-03 9.50327781e+00] [ 1.02294642e-01 9.94754095e-01 -3.10290453e-04 3.09240991e-01] [ 4.69986822e-03 -1.71383374e-04 9.99988941e-01 4.59411329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.53, Y:0.31, Z:0.05 [[ 9.94589566e-01 -1.03776656e-01 -4.69059083e-03 9.53147469e+00] [ 1.03776199e-01 9.94600615e-01 -3.41301792e-04 3.10860757e-01] [ 4.70068369e-03 -1.47316486e-04 9.99988941e-01 4.63656766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.56, Y:0.31, Z:0.05 [[ 9.94182848e-01 -1.07603243e-01 -4.69116552e-03 9.55831641e+00] [ 1.07602868e-01 9.94193901e-01 -3.33036074e-04 3.13167493e-01] [ 4.69976391e-03 -1.73684110e-04 9.99988941e-01 4.52390754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.58, Y:0.31, Z:0.05 [[ 9.94282061e-01 -1.06682602e-01 -4.69093207e-03 9.58244122e+00] [ 1.06682201e-01 9.94293113e-01 -3.36381404e-04 3.13997740e-01] [ 4.70004750e-03 -1.65980962e-04 9.99988941e-01 4.55360194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.61, Y:0.32, Z:0.04 [[ 9.93834702e-01 -1.10772794e-01 -4.68751223e-03 9.61438433e+00] [ 1.10772210e-01 9.93845747e-01 -3.84954194e-04 3.17504062e-01] [ 4.70130655e-03 -1.36665252e-04 9.99988939e-01 4.37674396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.64, Y:0.32, Z:0.04 [[ 9.93718154e-01 -1.11813350e-01 -4.69095978e-03 9.64293106e+00] [ 1.11813009e-01 9.93729208e-01 -3.35844789e-04 3.20213616e-01] [ 4.69909568e-03 -1.90775262e-04 9.99988941e-01 4.40819383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.67, Y:0.32, Z:0.04 [[ 9.93649700e-01 -1.12420052e-01 -4.69108281e-03 9.67197851e+00] [ 1.12419726e-01 9.93660754e-01 -3.34094697e-04 3.23470157e-01] [ 4.69890383e-03 -1.95397147e-04 9.99988941e-01 4.32325824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.70, Y:0.33, Z:0.04 [[ 9.93568698e-01 -1.13133704e-01 -4.69127178e-03 9.70043340e+00] [ 1.13133398e-01 9.93579752e-01 -3.31412234e-04 3.26432332e-01] [ 4.69864654e-03 -2.01458697e-04 9.99988941e-01 4.33386935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.73, Y:0.33, Z:0.04 [[ 9.93332972e-01 -1.15185062e-01 -4.69120590e-03 9.72783643e+00] [ 1.15184774e-01 9.93344028e-01 -3.32342876e-04 3.30143132e-01] [ 4.69826230e-03 -2.10228354e-04 9.99988941e-01 4.09622413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.76, Y:0.33, Z:0.04 [[ 9.93257524e-01 -1.15833900e-01 -4.69026670e-03 9.75604850e+00] [ 1.15833557e-01 9.93268578e-01 -3.45555331e-04 3.31216199e-01] [ 4.69872156e-03 -2.00064842e-04 9.99988941e-01 4.31078589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.78, Y:0.33, Z:0.04 [[ 9.93152991e-01 -1.16726730e-01 -4.69108457e-03 9.78429802e+00] [ 1.16726451e-01 9.93164047e-01 -3.34070649e-04 3.33412492e-01] [ 4.69801151e-03 -2.15790391e-04 9.99988941e-01 4.43322338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.81, Y:0.34, Z:0.05 [[ 9.93067249e-01 -1.17453961e-01 -4.69098064e-03 9.81243404e+00] [ 1.17453684e-01 9.93078305e-01 -3.35523664e-04 3.36749439e-01] [ 4.69791969e-03 -2.17775396e-04 9.99988941e-01 4.59150344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.84, Y:0.34, Z:0.05 [[ 9.93098790e-01 -1.17186980e-01 -4.69087459e-03 9.83963326e+00] [ 1.17186693e-01 9.93109846e-01 -3.36999863e-04 3.39796638e-01] [ 4.69804574e-03 -2.15033925e-04 9.99988941e-01 4.61438354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.87, Y:0.34, Z:0.05 [[ 9.93147005e-01 -1.16777661e-01 -4.69082863e-03 9.86757497e+00] [ 1.16777366e-01 9.93158060e-01 -3.37638445e-04 3.42863086e-01] [ 4.69816289e-03 -2.12458002e-04 9.99988941e-01 4.71543350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.90, Y:0.35, Z:0.05 [[ 9.93563328e-01 -1.13180878e-01 -4.69072571e-03 9.89752789e+00] [ 1.13180536e-01 9.93574381e-01 -3.39062285e-04 3.45785609e-01] [ 4.69896026e-03 -1.94018997e-04 9.99988941e-01 4.92992652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.93, Y:0.35, Z:0.05 [[ 9.93692638e-01 -1.12039843e-01 -4.69193093e-03 9.92535731e+00] [ 1.12039567e-01 9.93703694e-01 -3.22429438e-04 3.48821673e-01] [ 4.69851404e-03 -2.05286152e-04 9.99988941e-01 5.01926655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.95, Y:0.35, Z:0.05 [[ 9.93825770e-01 -1.10852704e-01 -4.69224758e-03 9.95313553e+00] [ 1.10852435e-01 9.93836826e-01 -3.18090477e-04 3.52940240e-01] [ 4.69858963e-03 -2.04020559e-04 9.99988941e-01 5.11329023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:9.98, Y:0.36, Z:0.05 [[ 9.94150184e-01 -1.07904596e-01 -4.69139224e-03 9.98176948e+00] [ 1.07904240e-01 9.94161238e-01 -3.29734776e-04 3.58438903e-01] [ 4.69958021e-03 -1.78415226e-04 9.99988941e-01 5.10998643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.01, Y:0.36, Z:0.05 [[ 9.94105805e-01 -1.08312683e-01 -4.69166443e-03 1.00073960e+01] [ 1.08312348e-01 9.94116859e-01 -3.26039953e-04 3.63088650e-01] [ 4.69937696e-03 -1.84046981e-04 9.99988941e-01 5.11191698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.04, Y:0.37, Z:0.05 [[ 9.94107015e-01 -1.08301643e-01 -4.69006469e-03 1.00373745e+01] [ 1.08301207e-01 9.94118065e-01 -3.47623331e-04 3.67661458e-01] [ 4.70012621e-03 -1.62364873e-04 9.99988941e-01 5.20879966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.06, Y:0.37, Z:0.05 [[ 9.94204245e-01 -1.07405356e-01 -4.69139112e-03 1.00631031e+01] [ 1.07404994e-01 9.94215298e-01 -3.29763123e-04 3.69993019e-01] [ 4.69967115e-03 -1.76026939e-04 9.99988941e-01 5.14389442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.09, Y:0.37, Z:0.05 [[ 9.94153556e-01 -1.07873595e-01 -4.68991040e-03 1.00912046e+01] [ 1.07873144e-01 9.94164605e-01 -3.49625730e-04 3.72991216e-01] [ 4.70025830e-03 -1.58333719e-04 9.99988941e-01 5.16832102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.12, Y:0.38, Z:0.05 [[ 9.94066481e-01 -1.08673071e-01 -4.68980149e-03 1.01195945e+01] [ 1.08672623e-01 9.94077531e-01 -3.51080532e-04 3.76199801e-01] [ 4.70017929e-03 -1.60655639e-04 9.99988941e-01 5.20022223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.15, Y:0.38, Z:0.05 [[ 9.93804167e-01 -1.11046317e-01 -4.68969068e-03 1.01466817e+01] [ 1.11045888e-01 9.93815217e-01 -3.52554549e-04 3.80536699e-01] [ 4.69983585e-03 -1.70400685e-04 9.99988941e-01 5.20435490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.17, Y:0.38, Z:0.05 [[ 9.93595162e-01 -1.12901117e-01 -4.68961543e-03 1.01743901e+01] [ 1.12900704e-01 9.93606213e-01 -3.53552638e-04 3.83676033e-01] [ 4.69954752e-03 -1.78172694e-04 9.99988941e-01 5.16814802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.20, Y:0.39, Z:0.05 [[ 9.93094179e-01 -1.17226105e-01 -4.68950574e-03 1.02014173e+01] [ 1.17225734e-01 9.93105232e-01 -3.55001695e-04 3.86666913e-01] [ 4.69878815e-03 -1.97180633e-04 9.99988941e-01 5.19295043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.23, Y:0.39, Z:0.05 [[ 9.92817572e-01 -1.19546130e-01 -4.68945817e-03 1.02279635e+01] [ 1.19545782e-01 9.92828626e-01 -3.55628976e-04 3.89410198e-01] [ 4.69834238e-03 -2.07530245e-04 9.99988941e-01 5.20982886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.26, Y:0.39, Z:0.05 [[ 9.92527457e-01 -1.21931362e-01 -4.68941145e-03 1.02559140e+01] [ 1.21931037e-01 9.92538511e-01 -3.56243958e-04 3.92790443e-01] [ 4.69785877e-03 -2.18202891e-04 9.99988941e-01 5.27980875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.28, Y:0.40, Z:0.05 [[ 9.92121048e-01 -1.25195191e-01 -4.68930441e-03 1.02840434e+01] [ 1.25194895e-01 9.92132103e-01 -3.57647398e-04 3.97278589e-01] [ 4.69718518e-03 -2.32247462e-04 9.99988941e-01 5.38754452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.31, Y:0.40, Z:0.05 [[ 9.91939161e-01 -1.26628244e-01 -4.68918918e-03 1.03113238e+01] [ 1.26627957e-01 9.91950216e-01 -3.59151851e-04 4.00426392e-01] [ 4.69692099e-03 -2.37525660e-04 9.99988941e-01 5.27762679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.34, Y:0.40, Z:0.05 [[ 9.91729824e-01 -1.28257431e-01 -4.68906487e-03 1.03390289e+01] [ 1.28257155e-01 9.91740880e-01 -3.60767654e-04 4.03762956e-01] [ 4.69660845e-03 -2.43622076e-04 9.99988941e-01 5.34968680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.37, Y:0.41, Z:0.05 [[ 9.91496123e-01 -1.30051729e-01 -4.68893910e-03 1.03654816e+01] [ 1.30051465e-01 9.91507179e-01 -3.62394838e-04 4.07313375e-01] [ 4.69624686e-03 -2.50490324e-04 9.99988941e-01 5.31432781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.41, Z:0.05 [[ 9.91339784e-01 -1.31238164e-01 -4.68796697e-03 1.03931392e+01] [ 1.31237855e-01 9.91350838e-01 -3.74891919e-04 4.11121409e-01] [ 4.69662011e-03 -2.43593454e-04 9.99988941e-01 5.12193993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.42, Y:0.42, Z:0.05 [[ 9.91353728e-01 -1.31132797e-01 -4.68787008e-03 1.04214638e+01] [ 1.31132481e-01 9.91364782e-01 -3.76133335e-04 4.16119079e-01] [ 4.69671272e-03 -2.41850849e-04 9.99988941e-01 5.17883887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.45, Y:0.42, Z:0.05 [[ 9.91433598e-01 -1.30527538e-01 -4.68856595e-03 1.04485974e+01] [ 1.30527257e-01 9.91444653e-01 -3.67249463e-04 4.19956829e-01] [ 4.69638981e-03 -2.47882193e-04 9.99988941e-01 5.20046264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.48, Y:0.42, Z:0.05 [[ 9.91497719e-01 -1.30039576e-01 -4.68851325e-03 1.04766573e+01] [ 1.30039286e-01 9.91508774e-01 -3.67921041e-04 4.23674216e-01] [ 4.69654632e-03 -2.44898041e-04 9.99988941e-01 5.30808032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.50, Y:0.43, Z:0.05 [[ 9.91820478e-01 -1.27554531e-01 -4.68839064e-03 1.05038189e+01] [ 1.27554206e-01 9.91831532e-01 -3.69476798e-04 4.28012231e-01] [ 4.69722211e-03 -2.31569290e-04 9.99988941e-01 5.39981434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.53, Y:0.43, Z:0.05 [[ 9.91980413e-01 -1.26304707e-01 -4.68833754e-03 1.05305199e+01] [ 1.26304365e-01 9.91991467e-01 -3.70149401e-04 4.31402364e-01] [ 4.69754244e-03 -2.24976540e-04 9.99988941e-01 5.41891049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.56, Y:0.44, Z:0.05 [[ 9.92173447e-01 -1.24779291e-01 -4.68828601e-03 1.05587639e+01] [ 1.24778929e-01 9.92184500e-01 -3.70800890e-04 4.35224678e-01] [ 4.69791298e-03 -2.17100510e-04 9.99988941e-01 5.47106933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.58, Y:0.44, Z:0.05 [[ 9.93018174e-01 -1.17868262e-01 -4.68816693e-03 1.05830864e+01] [ 1.17867815e-01 9.93029224e-01 -3.72300421e-04 4.38646058e-01] [ 4.69936917e-03 -1.82882910e-04 9.99988941e-01 5.49130450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.61, Y:0.44, Z:0.06 [[ 9.92887704e-01 -1.18962446e-01 -4.68436899e-03 1.06146096e+01] [ 1.18961786e-01 9.92898744e-01 -4.20273840e-04 4.43713114e-01] [ 4.70110089e-03 -1.39976175e-04 9.99988940e-01 5.58138448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.64, Y:0.45, Z:0.06 [[ 9.93108478e-01 -1.17104952e-01 -4.68832211e-03 1.06411437e+01] [ 1.17104507e-01 9.93119528e-01 -3.70212075e-04 4.46643028e-01] [ 4.69941791e-03 -1.81362900e-04 9.99988941e-01 5.57350123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.67, Y:0.45, Z:0.06 [[ 9.93409615e-01 -1.14522295e-01 -4.68826834e-03 1.06689431e+01] [ 1.14521819e-01 9.93420664e-01 -3.70891790e-04 4.50454042e-01] [ 4.69989802e-03 -1.68461546e-04 9.99988941e-01 5.61623655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.70, Y:0.45, Z:0.06 [[ 9.93569014e-01 -1.13131054e-01 -4.68814737e-03 1.06961650e+01] [ 1.13130554e-01 9.93580062e-01 -3.72414572e-04 4.53542603e-01] [ 4.70018141e-03 -1.60353132e-04 9.99988941e-01 5.65764190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.72, Y:0.46, Z:0.06 [[ 9.93862769e-01 -1.10520673e-01 -4.68809492e-03 1.07240341e+01] [ 1.10520141e-01 9.93873815e-01 -3.73073723e-04 4.56513725e-01] [ 4.70060714e-03 -1.47344829e-04 9.99988941e-01 5.68468936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.75, Y:0.46, Z:0.06 [[ 9.93979999e-01 -1.09461342e-01 -4.68797618e-03 1.07515234e+01] [ 1.09460792e-01 9.93991044e-01 -3.74559847e-04 4.59037465e-01] [ 4.70080616e-03 -1.40844588e-04 9.99988941e-01 5.76190043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.78, Y:0.46, Z:0.06 [[ 9.94114426e-01 -1.08233690e-01 -4.68784442e-03 1.07788316e+01] [ 1.08233118e-01 9.94125470e-01 -3.76201750e-04 4.61570949e-01] [ 4.70102324e-03 -1.33392431e-04 9.99988941e-01 5.75533607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.81, Y:0.46, Z:0.06 [[ 9.94221991e-01 -1.07241117e-01 -4.68779202e-03 1.08071829e+01] [ 1.07240531e-01 9.94233034e-01 -3.76853549e-04 4.64348117e-01] [ 4.70117188e-03 -1.28045221e-04 9.99988941e-01 5.74913262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.84, Y:0.47, Z:0.06 [[ 9.94425353e-01 -1.05338708e-01 -4.68767293e-03 1.08351475e+01] [ 1.05338095e-01 9.94436394e-01 -3.78329146e-04 4.67021019e-01] [ 4.70144527e-03 -1.17570439e-04 9.99988941e-01 5.66409584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.86, Y:0.47, Z:0.06 [[ 9.94497201e-01 -1.04658227e-01 -4.68755134e-03 1.08619502e+01] [ 1.04657598e-01 9.94508242e-01 -3.79829672e-04 4.68632487e-01] [ 4.70156074e-03 -1.12848319e-04 9.99988941e-01 5.75846196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.89, Y:0.47, Z:0.06 [[ 9.94464648e-01 -1.04967094e-01 -4.68749462e-03 1.08904028e+01] [ 1.04966465e-01 9.94475689e-01 -3.80528412e-04 4.71107087e-01] [ 4.70154240e-03 -1.13607687e-04 9.99988941e-01 5.77187604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.92, Y:0.47, Z:0.06 [[ 9.94418833e-01 -1.05400249e-01 -4.68737598e-03 1.09185448e+01] [ 1.05399618e-01 9.94429874e-01 -3.81984223e-04 4.72354120e-01] [ 4.70152794e-03 -1.14195334e-04 9.99988941e-01 5.80359820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.95, Y:0.47, Z:0.06 [[ 9.94338677e-01 -1.06153778e-01 -4.68725682e-03 1.09474510e+01] [ 1.06153149e-01 9.94349718e-01 -3.83440788e-04 4.73870128e-01] [ 4.70147619e-03 -1.16297065e-04 9.99988941e-01 5.80471443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.97, Y:0.48, Z:0.06 [[ 9.94202981e-01 -1.07417207e-01 -4.68794187e-03 1.09738430e+01] [ 1.07416632e-01 9.94214024e-01 -3.75091969e-04 4.75651844e-01] [ 4.70110888e-03 -1.30645373e-04 9.99988941e-01 5.77752997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.00, Y:0.48, Z:0.06 [[ 9.93834647e-01 -1.10773304e-01 -4.68707411e-03 1.10029470e+01] [ 1.10772716e-01 9.93845691e-01 -3.85638754e-04 4.76347754e-01] [ 4.70094689e-03 -1.35938775e-04 9.99988941e-01 5.81476031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.03, Y:0.48, Z:0.06 [[ 9.93727745e-01 -1.11728254e-01 -4.68688365e-03 1.10302559e+01] [ 1.11727666e-01 9.93738788e-01 -3.87946370e-04 4.77489665e-01] [ 4.70088265e-03 -1.38141501e-04 9.99988941e-01 5.70846464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.06, Y:0.48, Z:0.06 [[ 9.93526602e-01 -1.13502967e-01 -4.68691606e-03 1.10579753e+01] [ 1.13502401e-01 9.93537646e-01 -3.87554401e-04 4.78831718e-01] [ 4.70061613e-03 -1.46930617e-04 9.99988941e-01 5.63220567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.09, Y:0.48, Z:0.06 [[ 9.93173875e-01 -1.16549082e-01 -4.68679657e-03 1.10860556e+01] [ 1.16548542e-01 9.93184920e-01 -3.88994068e-04 4.78373420e-01] [ 4.70019258e-03 -1.59900563e-04 9.99988941e-01 5.56200319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.11, Y:0.48, Z:0.06 [[ 9.92925536e-01 -1.18646177e-01 -4.68675677e-03 1.11143516e+01] [ 1.18645658e-01 9.92936582e-01 -3.89473047e-04 4.79605664e-01] [ 4.69986174e-03 -1.69345608e-04 9.99988941e-01 5.65722827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.14, Y:0.48, Z:0.06 [[ 9.92764526e-01 -1.19985965e-01 -4.68663114e-03 1.11422471e+01] [ 1.19985454e-01 9.92775573e-01 -3.90978987e-04 4.80426533e-01] [ 4.69968490e-03 -1.74177497e-04 9.99988941e-01 5.62977410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.17, Y:0.48, Z:0.06 [[ 9.92440683e-01 -1.22635790e-01 -4.68549346e-03 1.11704563e+01] [ 1.22635245e-01 9.92451728e-01 -4.04565512e-04 4.81870504e-01] [ 4.69974029e-03 -1.73099365e-04 9.99988941e-01 5.55802566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.20, Y:0.48, Z:0.06 [[ 9.92142136e-01 -1.25028071e-01 -4.68646163e-03 1.11974817e+01] [ 1.25027607e-01 9.92153185e-01 -3.93020758e-04 4.80928361e-01] [ 4.69882647e-03 -1.96004627e-04 9.99988941e-01 5.64427953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.23, Y:0.48, Z:0.06 [[ 9.91790209e-01 -1.27789836e-01 -4.68393123e-03 1.12268752e+01] [ 1.27789261e-01 9.91801253e-01 -4.23028621e-04 4.82263536e-01] [ 4.69958763e-03 -1.79000465e-04 9.99988941e-01 5.69900034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.25, Y:0.48, Z:0.06 [[ 9.91471011e-01 -1.30243130e-01 -4.68630675e-03 1.12549847e+01] [ 1.30242716e-01 9.91482062e-01 -3.94833469e-04 4.81372367e-01] [ 4.69781343e-03 -2.18891379e-04 9.99988941e-01 5.64759239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.28, Y:0.48, Z:0.06 [[ 9.91577885e-01 -1.29426959e-01 -4.68618522e-03 1.12800003e+01] [ 1.29426529e-01 9.91588935e-01 -3.96270700e-04 4.81717404e-01] [ 4.69805752e-03 -2.13583423e-04 9.99988941e-01 5.67104017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.31, Y:0.48, Z:0.06 [[ 9.91404590e-01 -1.30747921e-01 -4.68189295e-03 1.13100419e+01] [ 1.30747268e-01 9.91415631e-01 -4.46532986e-04 4.83456382e-01] [ 4.70008511e-03 -1.69449860e-04 9.99988940e-01 5.69654359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.34, Y:0.48, Z:0.06 [[ 9.91301941e-01 -1.31523861e-01 -4.68353918e-03 1.13396332e+01] [ 1.31523308e-01 9.91312986e-01 -4.27237771e-04 4.84469495e-01] [ 4.69904517e-03 -1.92472932e-04 9.99988941e-01 5.81695372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.37, Y:0.49, Z:0.06 [[ 9.91346771e-01 -1.31185445e-01 -4.68590258e-03 1.13688631e+01] [ 1.31185019e-01 9.91357822e-01 -3.99517664e-04 4.86352218e-01] [ 4.69781708e-03 -2.18659674e-04 9.99988941e-01 6.07826450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.40, Y:0.49, Z:0.06 [[ 9.91503410e-01 -1.29996270e-01 -4.68581708e-03 1.13974032e+01] [ 1.29995826e-01 9.91514460e-01 -4.00518573e-04 4.86435742e-01] [ 4.69812132e-03 -2.12021129e-04 9.99988941e-01 6.00622122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:11.43, Y:0.49, Z:0.06 [[ 9.91557784e-01 -1.29580883e-01 -4.68571545e-03 1.14251781e+01] [ 1.29580428e-01 9.91568833e-01 -4.01704129e-04 4.88034655e-01] [ 4.69826257e-03 -2.08864158e-04 9.99988941e-01 6.15902915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.45, Y:0.49, Z:0.06 [[ 9.91989595e-01 -1.26232655e-01 -4.68609304e-03 1.14518845e+01] [ 1.26232185e-01 9.92000644e-01 -3.97308892e-04 4.88277724e-01] [ 4.69876067e-03 -1.97409474e-04 9.99988941e-01 6.26148032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.48, Y:0.49, Z:0.06 [[ 9.92127037e-01 -1.25147867e-01 -4.68553138e-03 1.14822456e+01] [ 1.25147353e-01 9.92138084e-01 -4.03825745e-04 4.90023953e-01] [ 4.69923206e-03 -1.85735411e-04 9.99988941e-01 6.00729822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.51, Y:0.49, Z:0.06 [[ 9.92338064e-01 -1.23463345e-01 -4.68706355e-03 1.15080710e+01] [ 1.23462896e-01 9.92349114e-01 -3.86077405e-04 4.91942863e-01] [ 4.69886977e-03 -1.95559136e-04 9.99988941e-01 6.22799669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.54, Y:0.49, Z:0.06 [[ 9.92677084e-01 -1.20707306e-01 -4.68535859e-03 1.15361777e+01] [ 1.20706734e-01 9.92688128e-01 -4.05764538e-04 4.93130666e-01] [ 4.70007860e-03 -1.62761173e-04 9.99988941e-01 6.21573133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.56, Y:0.49, Z:0.06 [[ 9.92814944e-01 -1.19568120e-01 -4.68523852e-03 1.15639239e+01] [ 1.19567529e-01 9.92825987e-01 -4.07146292e-04 4.94693836e-01] [ 4.70030828e-03 -1.55981469e-04 9.99988941e-01 6.25759014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:11.59, Y:0.50, Z:0.06 [[ 9.92977976e-01 -1.18206552e-01 -4.68511855e-03 1.15910420e+01] [ 1.18205939e-01 9.92989018e-01 -4.08522198e-04 4.95973787e-01] [ 4.70056126e-03 -1.48155293e-04 9.99988941e-01 6.26730781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.62, Y:0.50, Z:0.06 [[ 9.93202855e-01 -1.16301926e-01 -4.68506648e-03 1.16177412e+01] [ 1.16301289e-01 9.93213896e-01 -4.09118425e-04 4.95651713e-01] [ 4.70085439e-03 -1.38541685e-04 9.99988941e-01 6.37899780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.65, Y:0.50, Z:0.06 [[ 9.93235681e-01 -1.16021256e-01 -4.68501485e-03 1.16459559e+01] [ 1.16020613e-01 9.93246721e-01 -4.09708845e-04 4.97076633e-01] [ 4.70091057e-03 -1.36620850e-04 9.99988941e-01 6.41519228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.67, Y:0.50, Z:0.06 [[ 9.93197151e-01 -1.16350636e-01 -4.68489708e-03 1.16736261e+01] [ 1.16349990e-01 9.93208191e-01 -4.11051149e-04 4.97861968e-01] [ 4.70090421e-03 -1.36832899e-04 9.99988941e-01 6.48942026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.71, Y:0.50, Z:0.06 [[ 9.92683945e-01 -1.20650891e-01 -4.68477377e-03 1.17075304e+01] [ 1.20650286e-01 9.92694988e-01 -4.12451766e-04 5.01937275e-01] [ 4.70031411e-03 -1.55785049e-04 9.99988941e-01 6.43990902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:11.73, Y:0.50, Z:0.06 [[ 9.92787526e-01 -1.19795353e-01 -4.69049022e-03 1.17345201e+01] [ 1.19795040e-01 9.92798583e-01 -3.48514136e-04 5.01720433e-01] [ 4.69846242e-03 -2.15896978e-04 9.99988939e-01 6.24110220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:11.76, Y:0.50, Z:0.07 [[ 9.92601990e-01 -1.21323221e-01 -4.68665466e-03 1.17592077e+01] [ 1.21322727e-01 9.92613038e-01 -3.90681347e-04 5.03923649e-01] [ 4.69943324e-03 -1.80806641e-04 9.99988941e-01 6.55604771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.79, Y:0.50, Z:0.07 [[ 9.92320820e-01 -1.23602013e-01 -4.68317326e-03 1.17861699e+01] [ 1.23601364e-01 9.92331859e-01 -4.28711620e-04 5.03246416e-01] [ 4.70025164e-03 -1.53427137e-04 9.99988942e-01 6.55551899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.82, Y:0.51, Z:0.07 [[ 9.91826904e-01 -1.27504746e-01 -4.68311448e-03 1.18181087e+01] [ 1.27504138e-01 9.91837946e-01 -4.29352668e-04 5.05795009e-01] [ 4.69963515e-03 -1.71272948e-04 9.99988942e-01 6.61277328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.84, Y:0.51, Z:0.07 [[ 9.91950657e-01 -1.26538223e-01 -4.68747416e-03 1.18425336e+01] [ 1.26537830e-01 9.91961709e-01 -3.81686347e-04 5.05640060e-01] [ 4.69809279e-03 -2.14528784e-04 9.99988941e-01 6.56379013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.87, Y:0.51, Z:0.07 [[ 9.91567697e-01 -1.29505109e-01 -4.68291611e-03 1.18705960e+01] [ 1.29504515e-01 9.91578739e-01 -4.31188995e-04 5.06302965e-01] [ 4.69932123e-03 -1.78905700e-04 9.99988942e-01 6.50168392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.90, Y:0.51, Z:0.06 [[ 9.91142635e-01 -1.32719057e-01 -4.68278352e-03 1.19029169e+01] [ 1.32718492e-01 9.91153679e-01 -4.32624223e-04 5.07854264e-01] [ 4.69877559e-03 -1.92699654e-04 9.99988942e-01 6.11756964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.93, Y:0.51, Z:0.06 [[ 9.90994049e-01 -1.33823873e-01 -4.68674386e-03 1.19283985e+01] [ 1.33823521e-01 9.91005102e-01 -3.89959698e-04 5.07523541e-01] [ 4.69677300e-03 -2.40748826e-04 9.99988941e-01 6.48935106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.95, Y:0.51, Z:0.06 [[ 9.90897325e-01 -1.34538349e-01 -4.68230033e-03 1.19549334e+01] [ 1.34537781e-01 9.90908368e-01 -4.37514587e-04 5.09228867e-01] [ 4.69859307e-03 -1.96414262e-04 9.99988942e-01 6.46547394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:11.99, Y:0.51, Z:0.06 [[ 9.90757958e-01 -1.35560852e-01 -4.68223938e-03 1.19859525e+01] [ 1.35560292e-01 9.90769002e-01 -4.38165919e-04 5.09983099e-01] [ 4.69841579e-03 -2.00609368e-04 9.99988942e-01 6.09706772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.01, Y:0.51, Z:0.07 [[ 9.90716197e-01 -1.35865552e-01 -4.68714847e-03 1.20114351e+01] [ 1.35865243e-01 9.90727252e-01 -3.85673951e-04 5.11709043e-01] [ 4.69608552e-03 -2.54727137e-04 9.99988941e-01 6.50436971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.04, Y:0.51, Z:0.07 [[ 9.90694704e-01 -1.36022364e-01 -4.68195771e-03 1.20388215e+01] [ 1.36021797e-01 9.90705747e-01 -4.40806791e-04 5.13906040e-01] [ 4.69840199e-03 -2.00143349e-04 9.99988942e-01 6.55923189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.07, Y:0.51, Z:0.06 [[ 9.90861083e-01 -1.34805025e-01 -4.68182035e-03 1.20706802e+01] [ 1.34804438e-01 9.90872125e-01 -4.42260876e-04 5.14381611e-01] [ 4.69870427e-03 -1.92911069e-04 9.99988942e-01 6.48757826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852755096000001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:12.09, Y:0.52, Z:0.07 [[ 9.90847906e-01 -1.34901676e-01 -4.68667510e-03 1.20944756e+01] [ 1.34901332e-01 9.90858960e-01 -3.90932813e-04 5.18378609e-01] [ 4.69657151e-03 -2.44883752e-04 9.99988941e-01 6.62924273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.13, Y:0.52, Z:0.06 [[ 9.91084582e-01 -1.33151924e-01 -4.68151024e-03 1.21265201e+01] [ 1.33151304e-01 9.91095622e-01 -4.45239277e-04 5.18578618e-01] [ 4.69910877e-03 -1.82079411e-04 9.99988943e-01 6.48272067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.15, Y:0.52, Z:0.07 [[ 9.91170978e-01 -1.32507090e-01 -4.68642237e-03 1.21497278e+01] [ 1.32506706e-01 9.91182031e-01 -3.93597071e-04 5.23249870e-01] [ 4.69725204e-03 -2.30860399e-04 9.99988941e-01 6.65392985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.18, Y:0.53, Z:0.07 [[ 9.91280105e-01 -1.31688419e-01 -4.68125556e-03 1.21776763e+01] [ 1.31687772e-01 9.91291143e-01 -4.47630869e-04 5.26255018e-01] [ 4.69943498e-03 -1.72736539e-04 9.99988943e-01 6.63539137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.21, Y:0.53, Z:0.07 [[ 9.91388087e-01 -1.30873021e-01 -4.68111333e-03 1.22056285e+01] [ 1.30872357e-01 9.91399125e-01 -4.49113315e-04 5.29210119e-01] [ 4.69962847e-03 -1.67382747e-04 9.99988943e-01 6.60977924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.23, Y:0.53, Z:0.07 [[ 9.91519117e-01 -1.29876594e-01 -4.68097085e-03 1.22325204e+01] [ 1.29875913e-01 9.91530153e-01 -4.50593477e-04 5.31861313e-01] [ 4.69984529e-03 -1.61173315e-04 9.99988943e-01 6.64466931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.26, Y:0.53, Z:0.07 [[ 9.91715888e-01 -1.28365439e-01 -4.68090914e-03 1.22601916e+01] [ 1.28364737e-01 9.91726923e-01 -4.51233633e-04 5.34550347e-01] [ 4.70010642e-03 -1.53368109e-04 9.99988943e-01 6.70677447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.29, Y:0.54, Z:0.07 [[ 9.91788099e-01 -1.27806328e-01 -4.68076826e-03 1.22866366e+01] [ 1.27805613e-01 9.91799133e-01 -4.52690343e-04 5.37207671e-01] [ 4.70023859e-03 -1.49255562e-04 9.99988943e-01 6.74267114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.32, Y:0.54, Z:0.07 [[ 9.91714142e-01 -1.28378941e-01 -4.68070717e-03 1.23164582e+01] [ 1.28378230e-01 9.91725176e-01 -4.53321057e-04 5.40198555e-01] [ 4.70017202e-03 -1.51335998e-04 9.99988943e-01 6.83492165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.35, Y:0.54, Z:0.07 [[ 9.91837611e-01 -1.27421458e-01 -4.68237826e-03 1.23458707e+01] [ 1.27420817e-01 9.91848650e-01 -4.36131393e-04 5.41676934e-01] [ 4.69978306e-03 -1.64060945e-04 9.99988943e-01 6.65444159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.37, Y:0.55, Z:0.07 [[ 9.91605755e-01 -1.29213390e-01 -4.68253509e-03 1.23728687e+01] [ 1.29212777e-01 9.91616796e-01 -4.34522289e-04 5.45346581e-01] [ 4.69942654e-03 -1.74168560e-04 9.99988942e-01 6.83832825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.40, Y:0.55, Z:0.07 [[ 9.91581937e-01 -1.29396088e-01 -4.68141407e-03 1.23991223e+01] [ 1.29395423e-01 9.91592974e-01 -4.45996158e-04 5.47819374e-01] [ 4.69976746e-03 -1.63511817e-04 9.99988943e-01 6.69555793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.43, Y:0.55, Z:0.07 [[ 9.91306874e-01 -1.31486795e-01 -4.68024480e-03 1.24273238e+01] [ 1.31486096e-01 9.91317909e-01 -4.57946215e-04 5.49700883e-01] [ 4.69982436e-03 -1.61421888e-04 9.99988943e-01 6.60668125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.46, Y:0.55, Z:0.07 [[ 9.91078610e-01 -1.33196420e-01 -4.68010305e-03 1.24572929e+01] [ 1.33195734e-01 9.91089645e-01 -4.59390236e-04 5.53349870e-01] [ 4.69959081e-03 -1.68077926e-04 9.99988943e-01 6.78325043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.49, Y:0.56, Z:0.07 [[ 9.90910347e-01 -1.34442400e-01 -4.68242629e-03 1.24855652e+01] [ 1.34441839e-01 9.90921390e-01 -4.35715004e-04 5.55716667e-01] [ 4.69849494e-03 -1.97759496e-04 9.99988942e-01 6.87392451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.51, Y:0.56, Z:0.07 [[ 9.90790640e-01 -1.35321813e-01 -4.68129299e-03 1.25132137e+01] [ 1.35321208e-01 9.90801681e-01 -4.47191559e-04 5.58808646e-01] [ 4.69874773e-03 -1.90405010e-04 9.99988943e-01 6.78850804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.54, Y:0.56, Z:0.07 [[ 9.90617333e-01 -1.36584775e-01 -4.67957354e-03 1.25410214e+01] [ 1.36584102e-01 9.90628370e-01 -4.64560099e-04 5.61742766e-01] [ 4.69917015e-03 -1.78954063e-04 9.99988943e-01 6.68494187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.57, Y:0.56, Z:0.06 [[ 9.90799267e-01 -1.35258694e-01 -4.67957973e-03 1.25733156e+01] [ 1.35258007e-01 9.90810303e-01 -4.64497738e-04 5.62194615e-01] [ 4.69940316e-03 -1.72726608e-04 9.99988943e-01 6.46715160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.60, Y:0.57, Z:0.07 [[ 9.90447939e-01 -1.37807644e-01 -4.68335960e-03 1.25999849e+01] [ 1.37807164e-01 9.90458986e-01 -4.26576133e-04 5.67601018e-01] [ 4.69746105e-03 -2.22899054e-04 9.99988942e-01 6.56064740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.63, Y:0.57, Z:0.07 [[ 9.90254909e-01 -1.39188051e-01 -4.68000301e-03 1.26280014e+01] [ 1.39187428e-01 9.90265948e-01 -4.60123955e-04 5.71367299e-01] [ 4.69849138e-03 -1.95757579e-04 9.99988943e-01 6.87961370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.66, Y:0.57, Z:0.07 [[ 9.90393440e-01 -1.38198881e-01 -4.68016062e-03 1.26591803e+01] [ 1.38198255e-01 9.90404479e-01 -4.58552403e-04 5.72888692e-01] [ 4.69862347e-03 -1.92642738e-04 9.99988943e-01 6.59355018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.69, Y:0.58, Z:0.07 [[ 9.90351056e-01 -1.38502183e-01 -4.68300102e-03 1.26866127e+01] [ 1.38501693e-01 9.90362103e-01 -4.30292535e-04 5.75852628e-01] [ 4.69746319e-03 -2.22462902e-04 9.99988942e-01 6.60742884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.71, Y:0.58, Z:0.07 [[ 9.90009511e-01 -1.40922807e-01 -4.68291144e-03 1.27106131e+01] [ 1.40922341e-01 9.90020559e-01 -4.31181781e-04 5.81584543e-01] [ 4.69694195e-03 -2.33052775e-04 9.99988942e-01 6.76765740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.74, Y:0.59, Z:0.07 [[ 9.90005299e-01 -1.40952542e-01 -4.67859171e-03 1.27388057e+01] [ 1.40951874e-01 9.90016336e-01 -4.73834348e-04 5.86381329e-01] [ 4.69867038e-03 -1.90357756e-04 9.99988943e-01 6.74181212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.77, Y:0.59, Z:0.07 [[ 9.90308965e-01 -1.38802975e-01 -4.67844597e-03 1.27704352e+01] [ 1.38802276e-01 9.90320000e-01 -4.75269016e-04 5.88049642e-01] [ 4.69912736e-03 -1.78715782e-04 9.99988943e-01 6.69950090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.79, Y:0.59, Z:0.07 [[ 9.90045377e-01 -1.40670616e-01 -4.68296812e-03 1.27945202e+01] [ 1.40670148e-01 9.90056425e-01 -4.30755344e-04 5.94373650e-01] [ 4.69699730e-03 -2.32286484e-04 9.99988942e-01 6.76299310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.82, Y:0.60, Z:0.07 [[ 9.90054382e-01 -1.40607377e-01 -4.67821559e-03 1.28221117e+01] [ 1.40606688e-01 9.90065418e-01 -4.77333660e-04 5.98572215e-01] [ 4.69885611e-03 -1.85202120e-04 9.99988943e-01 6.82085759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.85, Y:0.60, Z:0.07 [[ 9.90364895e-01 -1.38403362e-01 -4.67806186e-03 1.28530956e+01] [ 1.38402642e-01 9.90375928e-01 -4.78835579e-04 6.01024162e-01] [ 4.69931231e-03 -1.73234171e-04 9.99988943e-01 6.76602069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.88, Y:0.60, Z:0.07 [[ 9.90347590e-01 -1.38527000e-01 -4.68207854e-03 1.28819009e+01] [ 1.38526467e-01 9.90358634e-01 -4.39649298e-04 6.04565337e-01] [ 4.69784021e-03 -2.13186174e-04 9.99988942e-01 6.75660851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.91, Y:0.61, Z:0.07 [[ 9.90148551e-01 -1.39942562e-01 -4.68257111e-03 1.29050355e+01] [ 1.39942067e-01 9.90159598e-01 -4.34857883e-04 6.10681171e-01] [ 4.69734785e-03 -2.24714778e-04 9.99988942e-01 6.93064679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.94, Y:0.61, Z:0.07 [[ 9.90452617e-01 -1.37774214e-01 -4.67750285e-03 1.29354844e+01] [ 1.37773464e-01 9.90463648e-01 -4.83853682e-04 6.14637479e-01] [ 4.69955910e-03 -1.65201625e-04 9.99988943e-01 6.89325590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.96, Y:0.62, Z:0.07 [[ 9.90589094e-01 -1.36789397e-01 -4.68061515e-03 1.29645958e+01] [ 1.36788777e-01 9.90600134e-01 -4.53870084e-04 6.18821920e-01] [ 4.69870261e-03 -1.90656864e-04 9.99988943e-01 6.89842464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:12.99, Y:0.62, Z:0.07 [[ 9.90729452e-01 -1.35769079e-01 -4.68080195e-03 1.29894001e+01] [ 1.35768456e-01 9.90740492e-01 -4.52074030e-04 6.24495117e-01] [ 4.69883770e-03 -1.87622196e-04 9.99988943e-01 7.02674333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.02, Y:0.63, Z:0.07 [[ 9.90829536e-01 -1.35036867e-01 -4.67701820e-03 1.30168657e+01] [ 1.35036065e-01 9.90840564e-01 -4.88314389e-04 6.27804611e-01] [ 4.70011979e-03 -1.47729815e-04 9.99988943e-01 7.13639677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.05, Y:0.63, Z:0.07 [[ 9.90881693e-01 -1.34653618e-01 -4.67686218e-03 1.30458806e+01] [ 1.34652804e-01 9.90892720e-01 -4.89804086e-04 6.31220647e-01] [ 4.70022258e-03 -1.44414706e-04 9.99988943e-01 7.28735205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.07, Y:0.63, Z:0.07 [[ 9.91044346e-01 -1.33451218e-01 -4.67725278e-03 1.30725771e+01] [ 1.33450409e-01 9.91055373e-01 -4.86079530e-04 6.34657461e-01] [ 4.70028441e-03 -1.42454927e-04 9.99988943e-01 7.27320369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.10, Y:0.64, Z:0.07 [[ 9.91087916e-01 -1.33127274e-01 -4.67666523e-03 1.31001128e+01] [ 1.33126435e-01 9.91098941e-01 -4.91668243e-04 6.38045505e-01] [ 4.70049241e-03 -1.35301315e-04 9.99988943e-01 7.31481067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.13, Y:0.64, Z:0.07 [[ 9.91144639e-01 -1.32704317e-01 -4.67651061e-03 1.31286100e+01] [ 1.32703466e-01 9.91155662e-01 -4.93134523e-04 6.41178120e-01] [ 4.70059105e-03 -1.31821530e-04 9.99988943e-01 7.36866272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.16, Y:0.64, Z:0.07 [[ 9.91152208e-01 -1.32647752e-01 -4.67710268e-03 1.31578332e+01] [ 1.32646927e-01 9.91163233e-01 -4.87537178e-04 6.44546147e-01] [ 4.70044292e-03 -1.37179746e-04 9.99988943e-01 7.41578002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022755096000001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:13.18, Y:0.65, Z:0.07 [[ 9.91063885e-01 -1.33305992e-01 -4.67846983e-03 1.31840647e+01] [ 1.33305235e-01 9.91074916e-01 -4.74624702e-04 6.48340506e-01] [ 4.69998441e-03 -1.53281120e-04 9.99988943e-01 7.35893870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:13.21, Y:0.65, Z:0.07 [[ 9.91019034e-01 -1.33639103e-01 -4.67603043e-03 1.32123026e+01] [ 1.33638241e-01 9.91030056e-01 -4.97572318e-04 6.51662315e-01] [ 4.70058182e-03 -1.31792845e-04 9.99988944e-01 7.39725079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.24, Y:0.66, Z:0.07 [[ 9.90905337e-01 -1.34479528e-01 -4.67654131e-03 1.32398464e+01] [ 1.34478698e-01 9.90916362e-01 -4.92775214e-04 6.55212059e-01] [ 4.70032948e-03 -1.40601597e-04 9.99988944e-01 7.39746151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.27, Y:0.66, Z:0.07 [[ 9.90761339e-01 -1.35536361e-01 -4.67586713e-03 1.32671887e+01] [ 1.35535513e-01 9.90772363e-01 -4.99091407e-04 6.58318537e-01] [ 4.70036496e-03 -1.39265581e-04 9.99988944e-01 7.41893338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.29, Y:0.66, Z:0.07 [[ 9.90574282e-01 -1.36896784e-01 -4.67580074e-03 1.32949084e+01] [ 1.36895949e-01 9.90585306e-01 -4.99712606e-04 6.61498330e-01] [ 4.70018856e-03 -1.45095724e-04 9.99988944e-01 7.44509141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.32, Y:0.66, Z:0.07 [[ 9.90406026e-01 -1.38108803e-01 -4.67564925e-03 1.33219154e+01] [ 1.38107974e-01 9.90417052e-01 -5.01126100e-04 6.64494831e-01] [ 4.70005267e-03 -1.49426137e-04 9.99988944e-01 7.42550650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:13.35, Y:0.67, Z:0.07 [[ 9.90092319e-01 -1.40340080e-01 -4.67558361e-03 1.33494656e+01] [ 1.40339274e-01 9.90103346e-01 -5.01737787e-04 6.67544252e-01] [ 4.69972490e-03 -1.59401278e-04 9.99988944e-01 7.26052045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.38, Y:0.67, Z:0.08 [[ 9.89892155e-01 -1.41745055e-01 -4.67553725e-03 1.33786399e+01] [ 1.41744262e-01 9.89903183e-01 -5.02169375e-04 6.71216950e-01] [ 4.69950923e-03 -1.65637054e-04 9.99988944e-01 7.60820270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.41, Y:0.67, Z:0.08 [[ 9.89909870e-01 -1.41621260e-01 -4.67632255e-03 1.34061794e+01] [ 1.41620500e-01 9.89920900e-01 -4.94879960e-04 6.73496613e-01] [ 4.69927495e-03 -1.72376580e-04 9.99988943e-01 7.67885618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.44, Y:0.68, Z:0.07 [[ 9.89729827e-01 -1.42874112e-01 -4.67516963e-03 1.34353094e+01] [ 1.42873316e-01 9.89740855e-01 -5.05541944e-04 6.77523238e-01] [ 4.69943524e-03 -1.67607046e-04 9.99988944e-01 7.28312585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.46, Y:0.68, Z:0.07 [[ 9.89640469e-01 -1.43491649e-01 -4.67858375e-03 1.34610613e+01] [ 1.43491009e-01 9.89651507e-01 -4.73879844e-04 6.81870836e-01] [ 4.69816526e-03 -2.02364031e-04 9.99988943e-01 7.38294666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.49, Y:0.69, Z:0.07 [[ 9.89604234e-01 -1.43741445e-01 -4.67510114e-03 1.34881792e+01] [ 1.43740656e-01 9.89615262e-01 -5.06053420e-04 6.85751429e-01] [ 4.69929229e-03 -1.71209498e-04 9.99988944e-01 7.42573965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:13.52, Y:0.69, Z:0.08 [[ 9.89568765e-01 -1.43985428e-01 -4.67505177e-03 1.35155175e+01] [ 1.43984639e-01 9.89579793e-01 -5.06509142e-04 6.89652018e-01] [ 4.69926670e-03 -1.71910016e-04 9.99988944e-01 7.52459250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.54, Y:0.69, Z:0.08 [[ 9.89479279e-01 -1.44599110e-01 -4.67488996e-03 1.35432295e+01] [ 1.44598321e-01 9.89490307e-01 -5.07998211e-04 6.93729761e-01] [ 4.69921439e-03 -1.73327536e-04 9.99988944e-01 7.59982592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.57, Y:0.70, Z:0.08 [[ 9.89420722e-01 -1.44999249e-01 -4.67472624e-03 1.35703597e+01] [ 1.44998458e-01 9.89431750e-01 -5.09500325e-04 6.97606555e-01] [ 4.69919973e-03 -1.73717916e-04 9.99988944e-01 7.64970282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.60, Y:0.70, Z:0.08 [[ 9.89329079e-01 -1.45623216e-01 -4.67465551e-03 1.35980528e+01] [ 1.45622429e-01 9.89340107e-01 -5.10148410e-04 7.02162310e-01] [ 4.69911364e-03 -1.76030032e-04 9.99988944e-01 7.79430023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.63, Y:0.71, Z:0.08 [[ 9.89414046e-01 -1.45044802e-01 -4.67449413e-03 1.36262999e+01] [ 1.45044002e-01 9.89425073e-01 -5.11622887e-04 7.06036684e-01] [ 4.69926994e-03 -1.71800463e-04 9.99988944e-01 7.87718660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.65, Y:0.71, Z:0.08 [[ 9.89514856e-01 -1.44355469e-01 -4.67432955e-03 1.36533659e+01] [ 1.44354653e-01 9.89525882e-01 -5.13122152e-04 7.10329400e-01] [ 4.69944206e-03 -1.67019229e-04 9.99988944e-01 7.88945874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.68, Y:0.71, Z:0.08 [[ 9.89687206e-01 -1.43169084e-01 -4.67421757e-03 1.36808394e+01] [ 1.43168251e-01 9.89698231e-01 -5.14140223e-04 7.14782605e-01] [ 4.69967384e-03 -1.60361554e-04 9.99988944e-01 7.94689954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.71, Y:0.72, Z:0.08 [[ 9.90111063e-01 -1.40207833e-01 -4.67405526e-03 1.37087584e+01] [ 1.40206959e-01 9.90122085e-01 -5.15611534e-04 7.20740283e-01] [ 4.70017812e-03 -1.44822393e-04 9.99988944e-01 8.04869015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.74, Y:0.73, Z:0.08 [[ 9.90373163e-01 -1.38344327e-01 -4.67388945e-03 1.37358319e+01] [ 1.38343426e-01 9.90384183e-01 -5.17110237e-04 7.25222068e-01] [ 4.70048545e-03 -1.34469779e-04 9.99988944e-01 8.00395393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.76, Y:0.73, Z:0.08 [[ 9.90559438e-01 -1.37004217e-01 -4.67381758e-03 1.37634549e+01] [ 1.37003298e-01 9.90570456e-01 -5.17759035e-04 7.29879742e-01] [ 4.70068078e-03 -1.27457323e-04 9.99988944e-01 8.05729106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.79, Y:0.73, Z:0.08 [[ 9.90923587e-01 -1.34345081e-01 -4.67365546e-03 1.37906186e+01] [ 1.34344125e-01 9.90934603e-01 -5.19218266e-04 7.34255538e-01] [ 4.70104134e-03 -1.13372527e-04 9.99988944e-01 8.06700452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.82, Y:0.74, Z:0.08 [[ 9.91094247e-01 -1.33080241e-01 -4.67358521e-03 1.38177307e+01] [ 1.33079269e-01 9.91105261e-01 -5.19849878e-04 7.37485480e-01] [ 4.70119663e-03 -1.06737079e-04 9.99988944e-01 7.98592933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.85, Y:0.74, Z:0.08 [[ 9.91328837e-01 -1.31321344e-01 -4.67351579e-03 1.38459738e+01] [ 1.31320349e-01 9.91339848e-01 -5.20473206e-04 7.41731300e-01] [ 4.70139168e-03 -9.77676259e-05 9.99988944e-01 8.13313715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.87, Y:0.75, Z:0.08 [[ 9.91374532e-01 -1.30975943e-01 -4.67335349e-03 1.38738243e+01] [ 1.30974938e-01 9.91385542e-01 -5.21926422e-04 7.45628280e-01] [ 4.70145489e-03 -9.46676197e-05 9.99988944e-01 8.13898359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.90, Y:0.75, Z:0.08 [[ 9.91406517e-01 -1.30733617e-01 -4.67319186e-03 1.39013337e+01] [ 1.30732602e-01 9.91417527e-01 -5.23369658e-04 7.49433165e-01] [ 4.70150633e-03 -9.20664425e-05 9.99988944e-01 8.19542044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.93, Y:0.75, Z:0.08 [[ 9.91370366e-01 -1.31007482e-01 -4.67302910e-03 1.39295009e+01] [ 1.31006463e-01 9.91381375e-01 -5.24818864e-04 7.53432062e-01] [ 4.70150922e-03 -9.19071457e-05 9.99988944e-01 8.22681815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.96, Y:0.76, Z:0.08 [[ 9.91290075e-01 -1.31613648e-01 -4.67286673e-03 1.39575102e+01] [ 1.31612629e-01 9.91301084e-01 -5.26260653e-04 7.57000753e-01] [ 4.70148094e-03 -9.33313108e-05 9.99988944e-01 8.31590418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:13.99, Y:0.76, Z:0.08 [[ 9.91161511e-01 -1.32578373e-01 -4.67269561e-03 1.39851514e+01] [ 1.32577357e-01 9.91172521e-01 -5.27775635e-04 7.60805402e-01] [ 4.70141912e-03 -9.63827399e-05 9.99988944e-01 8.32630203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922755096000001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.01, Y:0.76, Z:0.08 [[ 9.91024505e-01 -1.33598677e-01 -4.67162128e-03 1.40142361e+01] [ 1.33597628e-01 9.91035511e-01 -5.37257553e-04 7.62159618e-01] [ 4.70151948e-03 -9.16821238e-05 9.99988944e-01 8.39128944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.04, Y:0.76, Z:0.08 [[ 9.90822454e-01 -1.35088953e-01 -4.67319460e-03 1.40413375e+01] [ 1.35087986e-01 9.90833468e-01 -5.23391883e-04 7.64531825e-01] [ 4.70106208e-03 -1.12704019e-04 9.99988944e-01 8.29708576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.07, Y:0.77, Z:0.08 [[ 9.90633010e-01 -1.36471276e-01 -4.67230671e-03 1.40694751e+01] [ 1.36470287e-01 9.90644022e-01 -5.31201517e-04 7.67096606e-01] [ 4.70108647e-03 -1.11405283e-04 9.99988944e-01 8.31062800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.10, Y:0.77, Z:0.08 [[ 9.90471529e-01 -1.37638373e-01 -4.67213569e-03 1.40988894e+01] [ 1.37637390e-01 9.90482541e-01 -5.32701534e-04 7.69077248e-01] [ 4.70098900e-03 -1.15434862e-04 9.99988944e-01 8.13100759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.13, Y:0.77, Z:0.08 [[ 9.90284542e-01 -1.38977268e-01 -4.67380947e-03 1.41250906e+01] [ 1.38976370e-01 9.90295562e-01 -5.18032437e-04 7.72381034e-01] [ 4.70044751e-03 -1.36549558e-04 9.99988944e-01 8.14063492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.15, Y:0.77, Z:0.08 [[ 9.90127378e-01 -1.40092643e-01 -4.67192390e-03 1.41536022e+01] [ 1.40091679e-01 9.90138392e-01 -5.34513287e-04 7.74482606e-01] [ 4.70073260e-03 -1.25261425e-04 9.99988944e-01 8.13959775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.18, Y:0.78, Z:0.08 [[ 9.90039696e-01 -1.40710964e-01 -4.67176667e-03 1.41817510e+01] [ 1.40710001e-01 9.90050710e-01 -5.35884003e-04 7.77089473e-01] [ 4.70069067e-03 -1.26817857e-04 9.99988944e-01 8.16924019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.21, Y:0.78, Z:0.08 [[ 9.89973234e-01 -1.41177801e-01 -4.67159645e-03 1.42100150e+01] [ 1.41176836e-01 9.89984248e-01 -5.37363844e-04 7.79624615e-01] [ 4.70067075e-03 -1.27545384e-04 9.99988944e-01 8.19917225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.24, Y:0.78, Z:0.08 [[ 9.89866061e-01 -1.41927303e-01 -4.67142254e-03 1.42371867e+01] [ 1.41926339e-01 9.89877075e-01 -5.38871412e-04 7.82042265e-01] [ 4.70061465e-03 -1.29587376e-04 9.99988944e-01 8.20296814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.26, Y:0.78, Z:0.08 [[ 9.89641486e-01 -1.43484872e-01 -4.67130430e-03 1.42641280e+01] [ 1.43483920e-01 9.89652501e-01 -5.39894475e-04 7.83365529e-01] [ 4.70043467e-03 -1.35955084e-04 9.99988944e-01 8.23916569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.29, Y:0.79, Z:0.08 [[ 9.89484304e-01 -1.44564836e-01 -4.67122979e-03 1.42920035e+01] [ 1.44563893e-01 9.89495320e-01 -5.40538409e-04 7.85915137e-01] [ 4.70030286e-03 -1.40436892e-04 9.99988944e-01 8.28884716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.32, Y:0.79, Z:0.08 [[ 9.89287374e-01 -1.45906386e-01 -4.67105620e-03 1.43188820e+01] [ 1.45905451e-01 9.89298391e-01 -5.42034333e-04 7.88711153e-01] [ 4.70015465e-03 -1.45304840e-04 9.99988944e-01 8.28639608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.34, Y:0.79, Z:0.08 [[ 9.89221330e-01 -1.46353487e-01 -4.67093792e-03 1.43448425e+01] [ 1.46352552e-01 9.89232347e-01 -5.43051690e-04 7.89594846e-01] [ 4.70012039e-03 -1.46405372e-04 9.99988944e-01 8.24563726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.37, Y:0.79, Z:0.09 [[ 9.88890041e-01 -1.48575587e-01 -4.66709145e-03 1.43740441e+01] [ 1.48574523e-01 9.88901046e-01 -5.75989742e-04 7.92578114e-01] [ 4.70086963e-03 -1.23820364e-04 9.99988943e-01 8.53372040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.40, Y:0.79, Z:0.09 [[ 9.88623232e-01 -1.50340576e-01 -4.67073263e-03 1.44022466e+01] [ 1.50339678e-01 9.88634252e-01 -5.44771192e-04 7.93795083e-01] [ 4.69954747e-03 -1.63622984e-04 9.99988944e-01 8.78391480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.43, Y:0.80, Z:0.09 [[ 9.88512056e-01 -1.51069853e-01 -4.67056360e-03 1.44304098e+01] [ 1.51068957e-01 9.88523076e-01 -5.46216530e-04 7.96330420e-01] [ 4.69947674e-03 -1.65635544e-04 9.99988944e-01 8.88683296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.46, Y:0.80, Z:0.09 [[ 9.88464809e-01 -1.51378695e-01 -4.67039239e-03 1.44587722e+01] [ 1.51377794e-01 9.88475828e-01 -5.47676519e-04 7.99817768e-01] [ 4.69947654e-03 -1.65634733e-04 9.99988944e-01 8.90022669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.49, Y:0.80, Z:0.09 [[ 9.88417392e-01 -1.51687999e-01 -4.67022082e-03 1.44868469e+01] [ 1.51687095e-01 9.88428411e-01 -5.49135658e-04 8.02876281e-01] [ 4.69947623e-03 -1.65636996e-04 9.99988944e-01 8.98424766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.51, Y:0.81, Z:0.09 [[ 9.88406754e-01 -1.51757301e-01 -4.67004900e-03 1.45142485e+01] [ 1.51756391e-01 9.88417773e-01 -5.50592966e-04 8.06465851e-01] [ 4.69951594e-03 -1.64499978e-04 9.99988944e-01 8.99491107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.54, Y:0.81, Z:0.09 [[ 9.88629936e-01 -1.50296515e-01 -4.66987674e-03 1.45418229e+01] [ 1.50295582e-01 9.88640953e-01 -5.52050222e-04 8.10488185e-01] [ 4.69980261e-03 -1.56088469e-04 9.99988944e-01 8.85856144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.57, Y:0.81, Z:0.09 [[ 9.88773739e-01 -1.49347532e-01 -4.66982354e-03 1.45696801e+01] [ 1.49346587e-01 9.88784755e-01 -5.52499869e-04 8.13712683e-01] [ 4.69996481e-03 -1.51124843e-04 9.99988944e-01 8.83062821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552755096000002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.60, Y:0.82, Z:0.09 [[ 9.89065633e-01 -1.47402066e-01 -4.66965271e-03 1.45966062e+01] [ 1.47401092e-01 9.89076646e-01 -5.53939889e-04 8.16141615e-01] [ 4.70029633e-03 -1.40429000e-04 9.99988944e-01 8.83501163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.62, Y:0.82, Z:0.09 [[ 9.89210532e-01 -1.46426497e-01 -4.66957872e-03 1.46245244e+01] [ 1.46425509e-01 9.89221544e-01 -5.54562972e-04 8.19240237e-01] [ 4.70045058e-03 -1.35165907e-04 9.99988944e-01 8.93488228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.65, Y:0.82, Z:0.09 [[ 9.89347611e-01 -1.45497428e-01 -4.66940253e-03 1.46525742e+01] [ 1.45496423e-01 9.89358621e-01 -5.56042529e-04 8.22443309e-01] [ 4.70061640e-03 -1.29262018e-04 9.99988944e-01 8.98637005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.69, Y:0.82, Z:0.09 [[ 9.89604425e-01 -1.43740322e-01 -4.66922640e-03 1.46850947e+01] [ 1.43739291e-01 9.89615433e-01 -5.57517566e-04 8.23862765e-01] [ 4.70087626e-03 -1.19429440e-04 9.99988944e-01 8.62100810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.71, Y:0.83, Z:0.09 [[ 9.89784365e-01 -1.42495769e-01 -4.67625980e-03 1.47095696e+01] [ 1.42495002e-01 9.89795396e-01 -4.98425108e-04 8.28941507e-01] [ 4.69956389e-03 -1.73010272e-04 9.99988942e-01 9.13072805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.74, Y:0.83, Z:0.09 [[ 9.89861370e-01 -1.41960094e-01 -4.66913154e-03 1.47377790e+01] [ 1.41959040e-01 9.89872375e-01 -5.58064832e-04 8.32095311e-01] [ 4.70106726e-03 -1.10418610e-04 9.99988944e-01 9.13666999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.77, Y:0.84, Z:0.09 [[ 9.89932676e-01 -1.41462003e-01 -4.66895531e-03 1.47656548e+01] [ 1.41460936e-01 9.89943680e-01 -5.59535348e-04 8.35255778e-01] [ 4.70115579e-03 -1.06572465e-04 9.99988944e-01 9.18381498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.79, Y:0.84, Z:0.09 [[ 9.90005638e-01 -1.40950487e-01 -4.66877915e-03 1.47941015e+01] [ 1.40949408e-01 9.90016641e-01 -5.61001398e-04 8.37510958e-01] [ 4.70124247e-03 -1.02667108e-04 9.99988944e-01 9.28237613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:14.82, Y:0.84, Z:0.09 [[ 9.90112694e-01 -1.40196493e-01 -4.66860341e-03 1.48218988e+01] [ 1.40195399e-01 9.90123696e-01 -5.62460031e-04 8.40215083e-01] [ 4.70134979e-03 -9.76179020e-05 9.99988944e-01 9.32861913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.85, Y:0.84, Z:0.09 [[ 9.90121668e-01 -1.40133107e-01 -4.66854905e-03 1.48498679e+01] [ 1.40132010e-01 9.90132669e-01 -5.62910883e-04 8.43784960e-01] [ 4.70136539e-03 -9.68629015e-05 9.99988944e-01 9.33582827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852755096000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:14.88, Y:0.85, Z:0.09 [[ 9.90158349e-01 -1.39873692e-01 -4.66837027e-03 1.48766572e+01] [ 1.39872585e-01 9.90169350e-01 -5.64389702e-04 8.46792767e-01] [ 4.70142042e-03 -9.41418409e-05 9.99988944e-01 9.29035229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.91, Y:0.85, Z:0.09 [[ 9.90134401e-01 -1.40043115e-01 -4.66829284e-03 1.49050559e+01] [ 1.40042007e-01 9.90145402e-01 -5.65029382e-04 8.49836414e-01] [ 4.70141717e-03 -9.43020704e-05 9.99988944e-01 9.37334914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.93, Y:0.85, Z:0.09 [[ 9.90143701e-01 -1.39977355e-01 -4.66811511e-03 1.49321969e+01] [ 1.39976239e-01 9.90154701e-01 -5.66494017e-04 8.52436145e-01] [ 4.70145245e-03 -9.25147137e-05 9.99988944e-01 9.40574530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.96, Y:0.85, Z:0.10 [[ 9.89992196e-01 -1.41044893e-01 -4.66803812e-03 1.49600973e+01] [ 1.41043787e-01 9.90003196e-01 -5.67127684e-04 8.54882459e-01] [ 4.70136312e-03 -9.69457914e-05 9.99988944e-01 9.53549040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.99, Y:0.86, Z:0.10 [[ 9.90031128e-01 -1.40771383e-01 -4.66724405e-03 1.49877972e+01] [ 1.40770242e-01 9.90042125e-01 -5.73651786e-04 8.56751574e-01] [ 4.70152198e-03 -8.90759518e-05 9.99988944e-01 9.57042925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.02, Y:0.86, Z:0.10 [[ 9.89979453e-01 -1.41134316e-01 -4.66779716e-03 1.50158133e+01] [ 1.41133200e-01 9.89990452e-01 -5.69115277e-04 8.59548664e-01] [ 4.70139632e-03 -9.53687214e-05 9.99988944e-01 9.58943514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.04, Y:0.86, Z:0.09 [[ 9.89958522e-01 -1.41281064e-01 -4.66761701e-03 1.50427015e+01] [ 1.41279943e-01 9.89969521e-01 -5.70588991e-04 8.62758217e-01] [ 4.70141199e-03 -9.45812320e-05 9.99988944e-01 9.43520844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.07, Y:0.87, Z:0.09 [[ 9.89865316e-01 -1.41932624e-01 -4.66753910e-03 1.50701449e+01] [ 1.41931508e-01 9.89876316e-01 -5.71225600e-04 8.66375675e-01] [ 4.70136195e-03 -9.70344518e-05 9.99988944e-01 9.38465703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.10, Y:0.87, Z:0.09 [[ 9.89724016e-01 -1.42914614e-01 -4.66736511e-03 1.50980861e+01] [ 1.42913502e-01 9.89735017e-01 -5.72643651e-04 8.68281008e-01] [ 4.70129384e-03 -1.00270321e-04 9.99988944e-01 9.28146225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.13, Y:0.87, Z:0.09 [[ 9.89551456e-01 -1.44104589e-01 -4.66731131e-03 1.51259651e+01] [ 1.44103488e-01 9.89562457e-01 -5.73081851e-04 8.70915518e-01] [ 4.70117977e-03 -1.05481859e-04 9.99988944e-01 9.39385458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.15, Y:0.87, Z:0.09 [[ 9.89417335e-01 -1.45022604e-01 -4.66713239e-03 1.51530028e+01] [ 1.45021506e-01 9.89428336e-01 -5.74535290e-04 8.73209347e-01] [ 4.70111364e-03 -1.08379394e-04 9.99988944e-01 9.42264175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.18, Y:0.88, Z:0.10 [[ 9.89263196e-01 -1.46070352e-01 -4.66701072e-03 1.51805904e+01] [ 1.46069262e-01 9.89274198e-01 -5.75521940e-04 8.75988147e-01] [ 4.70101998e-03 -1.12364136e-04 9.99988944e-01 9.53167751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.21, Y:0.88, Z:0.10 [[ 9.88986004e-01 -1.47935472e-01 -4.66683374e-03 1.52103907e+01] [ 1.47934395e-01 9.88997008e-01 -5.76953432e-04 8.78545726e-01] [ 4.70083649e-03 -1.19786358e-04 9.99988944e-01 9.81815244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.24, Y:0.88, Z:0.10 [[ 9.89020581e-01 -1.47704084e-01 -4.66839473e-03 1.52370348e+01] [ 1.47703064e-01 9.89031590e-01 -5.64332178e-04 8.81128206e-01] [ 4.70054403e-03 -1.31400066e-04 9.99988944e-01 9.83939279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.27, Y:0.88, Z:0.10 [[ 9.88935742e-01 -1.48271105e-01 -4.66661254e-03 1.52653230e+01] [ 1.48270024e-01 9.88946745e-01 -5.78703595e-04 8.84865784e-01] [ 4.70083630e-03 -1.19618081e-04 9.99988944e-01 9.88848707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.29, Y:0.89, Z:0.10 [[ 9.88931089e-01 -1.48302145e-01 -4.66643058e-03 1.52923033e+01] [ 1.48301057e-01 9.88942091e-01 -5.80167116e-04 8.88254664e-01] [ 4.70086964e-03 -1.18291291e-04 9.99988944e-01 9.84081410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.32, Y:0.89, Z:0.10 [[ 9.88851011e-01 -1.48835153e-01 -4.66635170e-03 1.53197993e+01] [ 1.48834069e-01 9.88862014e-01 -5.80800843e-04 8.91843612e-01] [ 4.70082153e-03 -1.20186608e-04 9.99988944e-01 9.79812369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.35, Y:0.90, Z:0.10 [[ 9.88802179e-01 -1.49159237e-01 -4.66617399e-03 1.53472740e+01] [ 1.49158149e-01 9.88813181e-01 -5.82225110e-04 8.95200693e-01] [ 4.70081860e-03 -1.20292420e-04 9.99988944e-01 9.76623594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.38, Y:0.90, Z:0.10 [[ 9.88728276e-01 -1.49648335e-01 -4.66599645e-03 1.53751663e+01] [ 1.49647246e-01 9.88739279e-01 -5.83644427e-04 8.98583059e-01] [ 4.70079538e-03 -1.21187772e-04 9.99988944e-01 9.73894537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.40, Y:0.90, Z:0.10 [[ 9.88754226e-01 -1.49476789e-01 -4.66581959e-03 1.54028223e+01] [ 1.49475692e-01 9.88765228e-01 -5.85054949e-04 9.01849791e-01] [ 4.70085230e-03 -1.18951057e-04 9.99988944e-01 9.73329956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.43, Y:0.91, Z:0.10 [[ 9.88733866e-01 -1.49611407e-01 -4.66576480e-03 1.54301887e+01] [ 1.49610309e-01 9.88744867e-01 -5.85491557e-04 9.05553773e-01] [ 4.70084721e-03 -1.19151181e-04 9.99988944e-01 9.81751230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.46, Y:0.91, Z:0.10 [[ 9.88750467e-01 -1.49501659e-01 -4.66558390e-03 1.54581161e+01] [ 1.49500553e-01 9.88761468e-01 -5.86929546e-04 9.08842994e-01] [ 4.70089653e-03 -1.17180512e-04 9.99988944e-01 9.97450710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.48, Y:0.91, Z:0.10 [[ 9.88810459e-01 -1.49104360e-01 -4.66539665e-03 1.54848827e+01] [ 1.49103242e-01 9.88821459e-01 -5.88414160e-04 9.11700558e-01] [ 4.70097944e-03 -1.13795690e-04 9.99988944e-01 9.98509425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.51, Y:0.92, Z:0.10 [[ 9.88824206e-01 -1.49013169e-01 -4.66531550e-03 1.55129597e+01] [ 1.49012047e-01 9.88835205e-01 -5.89056909e-04 9.15133884e-01] [ 4.70100545e-03 -1.12714483e-04 9.99988944e-01 1.00293805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.54, Y:0.92, Z:0.10 [[ 9.88884801e-01 -1.48610523e-01 -4.66513832e-03 1.55398888e+01] [ 1.48609390e-01 9.88895799e-01 -5.90456751e-04 9.18493544e-01] [ 4.70108378e-03 -1.09389656e-04 9.99988944e-01 9.99858675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.57, Y:0.92, Z:0.10 [[ 9.88844847e-01 -1.48876144e-01 -4.66506150e-03 1.55680543e+01] [ 1.48875012e-01 9.88855845e-01 -5.91063065e-04 9.22381322e-01] [ 4.70106852e-03 -1.10041421e-04 9.99988944e-01 9.98826767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.60, Y:0.93, Z:0.10 [[ 9.88819240e-01 -1.49046134e-01 -4.66487404e-03 1.55954554e+01] [ 1.49044997e-01 9.88830237e-01 -5.92538954e-04 9.26563792e-01] [ 4.70108414e-03 -1.09362218e-04 9.99988944e-01 9.94449668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.62, Y:0.93, Z:0.10 [[ 9.88889671e-01 -1.48578122e-01 -4.66468774e-03 1.56219108e+01] [ 1.48576972e-01 9.88900668e-01 -5.94001928e-04 9.30591113e-01] [ 4.70116851e-03 -1.05662811e-04 9.99988944e-01 9.89165585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.65, Y:0.93, Z:0.10 [[ 9.88937011e-01 -1.48262704e-01 -4.66460702e-03 1.56495611e+01] [ 1.48261548e-01 9.88948007e-01 -5.94635128e-04 9.33909689e-01] [ 4.70121603e-03 -1.03525169e-04 9.99988944e-01 9.86712516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.68, Y:0.94, Z:0.10 [[ 9.88943748e-01 -1.48217757e-01 -4.66477115e-03 1.56770549e+01] [ 1.48216606e-01 9.88954744e-01 -5.93348958e-04 9.37153082e-01] [ 4.70119241e-03 -1.04607807e-04 9.99988944e-01 9.97888053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.70, Y:0.94, Z:0.10 [[ 9.88910661e-01 -1.48438367e-01 -4.66434875e-03 1.57049133e+01] [ 1.48437204e-01 9.88921655e-01 -5.96651064e-04 9.40174742e-01] [ 4.70124140e-03 -1.02328287e-04 9.99988944e-01 9.94978510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.73, Y:0.94, Z:0.10 [[ 9.88837699e-01 -1.48923638e-01 -4.66416409e-03 1.57323867e+01] [ 1.48922473e-01 9.88848694e-01 -5.98091124e-04 9.43783363e-01] [ 4.70122248e-03 -1.03183799e-04 9.99988944e-01 9.88621689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.76, Y:0.95, Z:0.10 [[ 9.88788437e-01 -1.49250371e-01 -4.66397829e-03 1.57590810e+01] [ 1.49249203e-01 9.88799432e-01 -5.99536559e-04 9.47446780e-01] [ 4.70122013e-03 -1.03280225e-04 9.99988944e-01 9.80813316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.79, Y:0.95, Z:0.10 [[ 9.88733952e-01 -1.49610897e-01 -4.66389789e-03 1.57858879e+01] [ 1.49609729e-01 9.88744946e-01 -6.00161332e-04 9.50684510e-01] [ 4.70119614e-03 -1.04364615e-04 9.99988944e-01 9.74496892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.81, Y:0.95, Z:0.10 [[ 9.88681647e-01 -1.49956159e-01 -4.66377379e-03 1.58140676e+01] [ 1.49954991e-01 9.88692641e-01 -6.01124163e-04 9.54208329e-01] [ 4.70118110e-03 -1.05035729e-04 9.99988944e-01 9.73148687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.84, Y:0.96, Z:0.10 [[ 9.88614036e-01 -1.50401258e-01 -4.66359360e-03 1.58410742e+01] [ 1.50400088e-01 9.88625030e-01 -6.02518813e-04 9.57023197e-01] [ 4.70116496e-03 -1.05746333e-04 9.99988944e-01 9.77475237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:15.87, Y:0.96, Z:0.10 [[ 9.88531442e-01 -1.50943168e-01 -4.66347110e-03 1.58692847e+01] [ 1.50942000e-01 9.88542436e-01 -6.03465539e-04 9.60753715e-01] [ 4.70112808e-03 -1.07368995e-04 9.99988944e-01 9.75218336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.90, Y:0.96, Z:0.10 [[ 9.88430554e-01 -1.51602416e-01 -4.66329442e-03 1.58968536e+01] [ 1.51601249e-01 9.88441549e-01 -6.04827744e-04 9.64248852e-01] [ 4.70108730e-03 -1.09131036e-04 9.99988944e-01 9.73808838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.92, Y:0.97, Z:0.10 [[ 9.88330923e-01 -1.52250589e-01 -4.66311853e-03 1.59244610e+01] [ 1.52249423e-01 9.88341917e-01 -6.06180808e-04 9.67738972e-01] [ 4.70104689e-03 -1.10849865e-04 9.99988944e-01 9.70761953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:15.95, Y:0.97, Z:0.10 [[ 9.88116019e-01 -1.53639154e-01 -4.66294302e-03 1.59517286e+01] [ 1.53637997e-01 9.88127015e-01 -6.07527880e-04 9.70639211e-01] [ 4.70092003e-03 -1.16097193e-04 9.99988944e-01 9.67072205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:15.98, Y:0.97, Z:0.10 [[ 9.87938000e-01 -1.54779733e-01 -4.66286704e-03 1.59795598e+01] [ 1.54778586e-01 9.87948996e-01 -6.08110454e-04 9.73794449e-01] [ 4.70079799e-03 -1.20936542e-04 9.99988944e-01 9.71218950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.01, Y:0.98, Z:0.10 [[ 9.87817193e-01 -1.55548874e-01 -4.66269479e-03 1.60070317e+01] [ 1.55547729e-01 9.87828190e-01 -6.09428366e-04 9.76717619e-01] [ 4.70073725e-03 -1.23267766e-04 9.99988944e-01 9.67086411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.03, Y:0.98, Z:0.10 [[ 9.87582850e-01 -1.57029858e-01 -4.66250444e-03 1.60347238e+01] [ 1.57028723e-01 9.87593847e-01 -6.10881156e-04 9.79603959e-01] [ 4.70058728e-03 -1.28851365e-04 9.99988944e-01 9.76402375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.06, Y:0.98, Z:0.10 [[ 9.87428874e-01 -1.57995191e-01 -4.66244552e-03 1.60623787e+01] [ 1.57994064e-01 9.87439873e-01 -6.11330502e-04 9.83466503e-01] [ 4.70047189e-03 -1.32993329e-04 9.99988944e-01 9.79366560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:16.09, Y:0.99, Z:0.10 [[ 9.87274383e-01 -1.58957720e-01 -4.66225767e-03 1.60904919e+01] [ 1.58956597e-01 9.87285382e-01 -6.12759822e-04 9.87281427e-01] [ 4.70038175e-03 -1.36134540e-04 9.99988944e-01 9.80900379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.12, Y:0.99, Z:0.10 [[ 9.87020081e-01 -1.60529204e-01 -4.66207085e-03 1.61183032e+01] [ 1.60528092e-01 9.87031081e-01 -6.14177945e-04 9.90385374e-01] [ 4.70020232e-03 -1.42187371e-04 9.99988944e-01 9.87009052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.15, Y:0.99, Z:0.10 [[ 9.86871119e-01 -1.61442440e-01 -4.66188426e-03 1.61457509e+01] [ 1.61441331e-01 9.86882119e-01 -6.15590983e-04 9.94001510e-01] [ 4.70011273e-03 -1.45111840e-04 9.99988944e-01 9.88454642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.17, Y:1.00, Z:0.10 [[ 9.86809447e-01 -1.61818986e-01 -4.66169886e-03 1.61723552e+01] [ 1.61817875e-01 9.86820447e-01 -6.16991800e-04 9.97466052e-01] [ 4.70010074e-03 -1.45492865e-04 9.99988944e-01 9.89108925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.20, Y:1.00, Z:0.10 [[ 9.86761411e-01 -1.62111653e-01 -4.66161847e-03 1.62006621e+01] [ 1.62110543e-01 9.86772411e-01 -6.17598527e-04 1.00139667e+00] [ 4.70007642e-03 -1.46275106e-04 9.99988944e-01 9.90450801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.23, Y:1.00, Z:0.10 [[ 9.86715926e-01 -1.62388278e-01 -4.66143489e-03 1.62270281e+01] [ 1.62387164e-01 9.86726926e-01 -6.18981048e-04 1.00496462e+00] [ 4.70007859e-03 -1.46198735e-04 9.99988944e-01 9.87308982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.25, Y:1.01, Z:0.10 [[ 9.86695166e-01 -1.62514372e-01 -4.66135535e-03 1.62548853e+01] [ 1.62513256e-01 9.86706166e-01 -6.19579502e-04 1.00892919e+00] [ 4.70007863e-03 -1.46195937e-04 9.99988944e-01 9.83451034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.28, Y:1.01, Z:0.10 [[ 9.86647068e-01 -1.62806131e-01 -4.66117556e-03 1.62828998e+01] [ 1.62805013e-01 9.86658068e-01 -6.20929104e-04 1.01374298e+00] [ 4.70007754e-03 -1.46224866e-04 9.99988944e-01 9.74830131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.31, Y:1.02, Z:0.10 [[ 9.86633688e-01 -1.62887204e-01 -4.66099642e-03 1.63108961e+01] [ 1.62886080e-01 9.86644687e-01 -6.22270894e-04 1.01815019e+00] [ 4.70010732e-03 -1.45258011e-04 9.99988944e-01 9.64445745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.34, Y:1.02, Z:0.10 [[ 9.86650318e-01 -1.62786444e-01 -4.66080447e-03 1.63387039e+01] [ 1.62785313e-01 9.86661316e-01 -6.23705299e-04 1.02226357e+00] [ 4.70016624e-03 -1.43331481e-04 9.99988944e-01 9.66182677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.37, Y:1.03, Z:0.10 [[ 9.86694832e-01 -1.62516424e-01 -4.66061333e-03 1.63658536e+01] [ 1.62515283e-01 9.86705829e-01 -6.25130326e-04 1.02626367e+00] [ 4.70024829e-03 -1.40608033e-04 9.99988944e-01 9.81001242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.39, Y:1.03, Z:0.10 [[ 9.86785839e-01 -1.61962918e-01 -4.66053049e-03 1.63935257e+01] [ 1.61961767e-01 9.86796835e-01 -6.25747364e-04 1.03052972e+00] [ 4.70034460e-03 -1.37349116e-04 9.99988944e-01 9.73513099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.43, Y:1.03, Z:0.09 [[ 9.87076433e-01 -1.60182384e-01 -4.66034104e-03 1.64254865e+01] [ 1.60181207e-01 9.87087427e-01 -6.27155112e-04 1.03255310e+00] [ 4.70062325e-03 -1.27449019e-04 9.99988944e-01 9.40116891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562755096000004 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:16.45, Y:1.04, Z:0.10 [[ 9.86897148e-01 -1.61283087e-01 -4.66750593e-03 1.64481678e+01] [ 1.61282174e-01 9.86908167e-01 -5.73914235e-04 1.03932288e+00] [ 4.69896239e-03 -1.86391182e-04 9.99988942e-01 9.73199745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.48, Y:1.04, Z:0.10 [[ 9.86954266e-01 -1.60933407e-01 -4.65999199e-03 1.64751080e+01] [ 1.60932227e-01 9.86965259e-01 -6.29534608e-04 1.04341045e+00] [ 4.70056335e-03 -1.28621025e-04 9.99988944e-01 9.74015317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.51, Y:1.05, Z:0.10 [[ 9.87123791e-01 -1.59890297e-01 -4.65991048e-03 1.65068897e+01] [ 1.59889102e-01 9.87134782e-01 -6.30137360e-04 1.04546980e+00] [ 4.70071257e-03 -1.23045324e-04 9.99988944e-01 9.61947157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.54, Y:1.05, Z:0.09 [[ 9.87125405e-01 -1.59880196e-01 -4.66443180e-03 1.65370848e+01] [ 1.59879157e-01 9.87136413e-01 -5.97065034e-04 1.05084710e+00] [ 4.69988935e-03 -1.56367361e-04 9.99988943e-01 9.29664664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.56, Y:1.06, Z:0.09 [[ 9.87156902e-01 -1.59685555e-01 -4.66624813e-03 1.65636022e+01] [ 1.59684577e-01 9.87167916e-01 -5.83799947e-04 1.05530287e+00] [ 4.69959486e-03 -1.68825713e-04 9.99988943e-01 9.32399342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712755096000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:16.59, Y:1.06, Z:0.09 [[ 9.87167471e-01 -1.59620252e-01 -4.66466254e-03 1.65925892e+01] [ 1.59619219e-01 9.87178480e-01 -5.95327682e-04 1.05988669e+00] [ 4.69988083e-03 -1.56881669e-04 9.99988943e-01 9.30633487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.62, Y:1.07, Z:0.10 [[ 9.87050807e-01 -1.60340085e-01 -4.66499471e-03 1.66163432e+01] [ 1.60339071e-01 9.87061817e-01 -5.92917334e-04 1.06624892e+00] [ 4.69970657e-03 -1.62741384e-04 9.99988943e-01 9.51509198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.64, Y:1.07, Z:0.10 [[ 9.87189153e-01 -1.59486301e-01 -4.65784829e-03 1.66439939e+01] [ 1.59485034e-01 9.87200136e-01 -6.44560266e-04 1.07151766e+00] [ 4.70102699e-03 -1.06554191e-04 9.99988944e-01 9.50188962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.67, Y:1.08, Z:0.09 [[ 9.87236018e-01 -1.59195951e-01 -4.65764554e-03 1.66714088e+01] [ 1.59194674e-01 9.87247000e-01 -6.46022017e-04 1.07579996e+00] [ 4.70109067e-03 -1.03696159e-04 9.99988944e-01 9.47625056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.70, Y:1.08, Z:0.09 [[ 9.87240381e-01 -1.59168898e-01 -4.65744208e-03 1.66986700e+01] [ 1.59167613e-01 9.87251362e-01 -6.47485496e-04 1.07985969e+00] [ 4.70112559e-03 -1.02090113e-04 9.99988944e-01 9.44922456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.73, Y:1.08, Z:0.09 [[ 9.87184450e-01 -1.59515429e-01 -4.65730370e-03 1.67267331e+01] [ 1.59514144e-01 9.87195430e-01 -6.48479378e-04 1.08462904e+00] [ 4.70111139e-03 -1.02737055e-04 9.99988944e-01 9.41826582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.75, Y:1.09, Z:0.09 [[ 9.87097780e-01 -1.60050879e-01 -4.65710179e-03 1.67549152e+01] [ 1.60049593e-01 9.87108761e-01 -6.49926180e-04 1.08931473e+00] [ 4.70108723e-03 -1.03826558e-04 9.99988944e-01 9.37557948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.78, Y:1.09, Z:0.09 [[ 9.86937108e-01 -1.61038684e-01 -4.65689750e-03 1.67825209e+01] [ 1.61037402e-01 9.86948089e-01 -6.51386711e-04 1.09407594e+00] [ 4.70101454e-03 -1.07056956e-04 9.99988944e-01 9.35982139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.81, Y:1.10, Z:0.09 [[ 9.86758458e-01 -1.62129768e-01 -4.65669218e-03 1.68093323e+01] [ 1.62128492e-01 9.86769439e-01 -6.52851161e-04 1.09818214e+00] [ 4.70092814e-03 -1.10776074e-04 9.99988944e-01 9.37645318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.84, Y:1.10, Z:0.09 [[ 9.86630332e-01 -1.62907654e-01 -4.65660322e-03 1.68360846e+01] [ 1.62906383e-01 9.86641314e-01 -6.53485084e-04 1.10207361e+00] [ 4.70085485e-03 -1.13842184e-04 9.99988944e-01 9.40696215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.86, Y:1.11, Z:0.09 [[ 9.86266396e-01 -1.65096675e-01 -4.65651641e-03 1.68638139e+01] [ 1.65095426e-01 9.86277381e-01 -6.54103102e-04 1.10668814e+00] [ 4.70060706e-03 -1.23649649e-04 9.99988944e-01 9.36575978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.89, Y:1.11, Z:0.09 [[ 9.86013896e-01 -1.66598066e-01 -4.65631743e-03 1.68915000e+01] [ 1.66596826e-01 9.86024882e-01 -6.55516498e-04 1.11071881e+00] [ 4.70045263e-03 -1.29379331e-04 9.99988944e-01 9.42429112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.92, Y:1.11, Z:0.09 [[ 9.85900795e-01 -1.67266064e-01 -4.65690887e-03 1.69182647e+01] [ 1.67264852e-01 9.85911784e-01 -6.51320253e-04 1.11449028e+00] [ 4.70024511e-03 -1.36800019e-04 9.99988944e-01 9.42839740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.95, Y:1.12, Z:0.09 [[ 9.85468679e-01 -1.69793415e-01 -4.65606389e-03 1.69462759e+01] [ 1.69792202e-01 9.85479668e-01 -6.57305758e-04 1.11826358e+00] [ 4.70006248e-03 -1.42809104e-04 9.99988944e-01 9.26712560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:16.97, Y:1.12, Z:0.09 [[ 9.85201766e-01 -1.71335351e-01 -4.65584658e-03 1.69734515e+01] [ 1.71334149e-01 9.85212756e-01 -6.58841429e-04 1.12260746e+00] [ 4.69988227e-03 -1.48613769e-04 9.99988944e-01 9.33769998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.00, Y:1.13, Z:0.09 [[ 9.85076358e-01 -1.72054915e-01 -4.65569941e-03 1.69996141e+01] [ 1.72053715e-01 9.85087348e-01 -6.59879739e-04 1.12682311e+00] [ 4.69980614e-03 -1.50998451e-04 9.99988944e-01 9.42671441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.03, Y:1.13, Z:0.09 [[ 9.84855043e-01 -1.73317290e-01 -4.65414264e-03 1.70289665e+01] [ 1.73316054e-01 9.84866029e-01 -6.70840342e-04 1.13182262e+00] [ 4.69997521e-03 -1.45957141e-04 9.99988944e-01 9.36176412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.06, Y:1.14, Z:0.09 [[ 9.84656194e-01 -1.74443383e-01 -4.65677009e-03 1.70573484e+01] [ 1.74442246e-01 9.84667191e-01 -6.52351715e-04 1.13657020e+00] [ 4.69916716e-03 -1.69995277e-04 9.99988944e-01 9.31222146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.08, Y:1.14, Z:0.09 [[ 9.84623390e-01 -1.74628415e-01 -4.65787196e-03 1.70846530e+01] [ 1.74627317e-01 9.84634391e-01 -6.44597296e-04 1.14054167e+00] [ 4.69886593e-03 -1.78706109e-04 9.99988944e-01 9.33409439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.11, Y:1.15, Z:0.09 [[ 9.84346809e-01 -1.76180768e-01 -4.65798654e-03 1.71132479e+01] [ 1.76179691e-01 9.84357812e-01 -6.43791455e-04 1.14574722e+00] [ 4.69854911e-03 -1.86928563e-04 9.99988944e-01 9.24413065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.14, Y:1.15, Z:0.09 [[ 9.84710845e-01 -1.74134527e-01 -4.66018609e-03 1.71419777e+01] [ 1.74133500e-01 9.84721854e-01 -6.28403292e-04 1.14827192e+00] [ 4.69841379e-03 -1.92698978e-04 9.99988944e-01 9.23324079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.17, Y:1.15, Z:0.09 [[ 9.84620282e-01 -1.74645880e-01 -4.66021034e-03 1.71680491e+01] [ 1.74644859e-01 9.84631291e-01 -6.28233424e-04 1.15367527e+00] [ 4.69830730e-03 -1.95310409e-04 9.99988944e-01 9.30211720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.20, Y:1.16, Z:0.09 [[ 9.84844158e-01 -1.73379071e-01 -4.65645243e-03 1.71960414e+01] [ 1.73377912e-01 9.84855152e-01 -6.54441968e-04 1.15878004e+00] [ 4.69939771e-03 -1.62802651e-04 9.99988945e-01 9.25384099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.22, Y:1.16, Z:0.09 [[ 9.84872257e-01 -1.73219439e-01 -4.65438505e-03 1.72222666e+01] [ 1.73218211e-01 9.84883244e-01 -6.68828943e-04 1.16304949e+00] [ 4.69988002e-03 -1.47513180e-04 9.99988945e-01 9.27633190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.25, Y:1.17, Z:0.09 [[ 9.84700730e-01 -1.74191875e-01 -4.65429403e-03 1.72516606e+01] [ 1.74190654e-01 9.84711718e-01 -6.69461681e-04 1.16839034e+00] [ 4.69975266e-03 -1.51515117e-04 9.99988945e-01 9.38142977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.28, Y:1.17, Z:0.09 [[ 9.84698260e-01 -1.74205785e-01 -4.65622221e-03 1.72806626e+01] [ 1.74204628e-01 9.84709255e-01 -6.56078103e-04 1.17299699e+00] [ 4.69931771e-03 -1.65096492e-04 9.99988945e-01 9.37686524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.31, Y:1.18, Z:0.09 [[ 9.84736469e-01 -1.73989657e-01 -4.65680015e-03 1.73086387e+01] [ 1.73988516e-01 9.84747466e-01 -6.52071828e-04 1.17815735e+00] [ 4.69922590e-03 -1.68110839e-04 9.99988944e-01 9.32013497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.34, Y:1.18, Z:0.09 [[ 9.85084812e-01 -1.72006425e-01 -4.65860408e-03 1.73365181e+01] [ 1.72005321e-01 9.85095813e-01 -6.39565372e-04 1.18087414e+00] [ 4.69918073e-03 -1.71278559e-04 9.99988944e-01 9.23826523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.36, Y:1.19, Z:0.09 [[ 9.85055457e-01 -1.72174461e-01 -4.65840348e-03 1.73611183e+01] [ 1.72173353e-01 9.85066458e-01 -6.40950574e-04 1.18643300e+00] [ 4.69919233e-03 -1.70681085e-04 9.99988944e-01 9.27542095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.39, Y:1.19, Z:0.09 [[ 9.85260074e-01 -1.70999827e-01 -4.65250997e-03 1.73885735e+01] [ 1.70998514e-01 9.85271051e-01 -6.81525264e-04 1.19003969e+00] [ 4.70052409e-03 -1.24092657e-04 9.99988945e-01 9.31374944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.42, Y:1.19, Z:0.09 [[ 9.85082154e-01 -1.72021865e-01 -4.65047876e-03 1.74186155e+01] [ 1.72020498e-01 9.85093125e-01 -6.95520732e-04 1.19429747e+00] [ 4.70079943e-03 -1.14832609e-04 9.99988945e-01 9.41056035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.45, Y:1.20, Z:0.09 [[ 9.85038939e-01 -1.72269079e-01 -4.65336372e-03 1.74460701e+01] [ 1.72267808e-01 9.85049921e-01 -6.75651368e-04 1.19780646e+00] [ 4.70018940e-03 -1.36081860e-04 9.99988945e-01 9.41451803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.48, Y:1.20, Z:0.09 [[ 9.85000224e-01 -1.72490312e-01 -4.65314884e-03 1.74756036e+01] [ 1.72489036e-01 9.85011205e-01 -6.77128009e-04 1.20129887e+00] [ 4.70020176e-03 -1.35645916e-04 9.99988945e-01 9.41854409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.50, Y:1.21, Z:0.09 [[ 9.85120545e-01 -1.71801650e-01 -4.65885076e-03 1.75041881e+01] [ 1.71800552e-01 9.85131546e-01 -6.37955850e-04 1.20533439e+00] [ 4.69918272e-03 -1.71929717e-04 9.99988944e-01 9.36227333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.53, Y:1.21, Z:0.09 [[ 9.85068648e-01 -1.72098953e-01 -4.65932359e-03 1.75294035e+01] [ 1.72097873e-01 9.85079651e-01 -6.34697295e-04 1.21081053e+00] [ 4.69903559e-03 -1.76639272e-04 9.99988944e-01 9.39655289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.56, Y:1.21, Z:0.09 [[ 9.85116534e-01 -1.71824738e-01 -4.65563583e-03 1.75591248e+01] [ 1.71823535e-01 9.85127523e-01 -6.59995965e-04 1.21416202e+00] [ 4.69979863e-03 -1.49774869e-04 9.99988945e-01 9.23123464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.58, Y:1.22, Z:0.09 [[ 9.84987473e-01 -1.72562975e-01 -4.65798773e-03 1.75848077e+01] [ 1.72561857e-01 9.84998473e-01 -6.43880184e-04 1.21842980e+00] [ 4.69922068e-03 -1.69577097e-04 9.99988944e-01 9.34520145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.61, Y:1.22, Z:0.09 [[ 9.85040014e-01 -1.72262883e-01 -4.65506406e-03 1.76120619e+01] [ 1.72261667e-01 9.85051002e-01 -6.63869010e-04 1.22130755e+00] [ 4.69983551e-03 -1.47951558e-04 9.99988945e-01 9.33298400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.64, Y:1.23, Z:0.09 [[ 9.84828365e-01 -1.73468869e-01 -4.65228872e-03 1.76399794e+01] [ 1.73467577e-01 9.84839344e-01 -6.82779473e-04 1.22582972e+00] [ 4.70019796e-03 -1.34600663e-04 9.99988945e-01 9.27213204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.67, Y:1.23, Z:0.09 [[ 9.84724082e-01 -1.74059837e-01 -4.65349679e-03 1.76676673e+01] [ 1.74058591e-01 9.84735067e-01 -6.74553845e-04 1.22994547e+00] [ 4.69987421e-03 -1.45731680e-04 9.99988945e-01 9.17072518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:17.69, Y:1.23, Z:0.09 [[ 9.84702452e-01 -1.74182202e-01 -4.65198760e-03 1.76949341e+01] [ 1.74180909e-01 9.84713431e-01 -6.84806008e-04 1.23436124e+00] [ 4.70015569e-03 -1.35957275e-04 9.99988945e-01 9.32786390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.72, Y:1.24, Z:0.09 [[ 9.84327354e-01 -1.76289595e-01 -4.65177351e-03 1.77226468e+01] [ 1.76288319e-01 9.84338335e-01 -6.86257218e-04 1.23931089e+00] [ 4.69989900e-03 -1.44551581e-04 9.99988945e-01 9.35427610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.75, Y:1.24, Z:0.09 [[ 9.84232741e-01 -1.76817009e-01 -4.65365251e-03 1.77507121e+01] [ 1.76815799e-01 9.84243730e-01 -6.73516773e-04 1.24321426e+00] [ 4.69941753e-03 -1.59942027e-04 9.99988945e-01 9.33823651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.78, Y:1.25, Z:0.09 [[ 9.84241765e-01 -1.76766781e-01 -4.65325264e-03 1.77777102e+01] [ 1.76765558e-01 9.84252752e-01 -6.76222725e-04 1.24642775e+00] [ 4.69951043e-03 -1.56968149e-04 9.99988945e-01 9.35604325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.80, Y:1.25, Z:0.09 [[ 9.84097482e-01 -1.77568326e-01 -4.65135227e-03 1.78046582e+01] [ 1.77567051e-01 9.84108463e-01 -6.89050896e-04 1.24999641e+00] [ 4.69978875e-03 -1.47833654e-04 9.99988945e-01 9.39670721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.83, Y:1.25, Z:0.09 [[ 9.83989454e-01 -1.78166003e-01 -4.65072756e-03 1.78326122e+01] [ 1.78164714e-01 9.84000434e-01 -6.93261632e-04 1.25493211e+00] [ 4.69983359e-03 -1.46433412e-04 9.99988945e-01 9.44067736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.86, Y:1.26, Z:0.09 [[ 9.83871213e-01 -1.78817806e-01 -4.65057502e-03 1.78601268e+01] [ 1.78816520e-01 9.83882193e-01 -6.94287262e-04 1.26002000e+00] [ 4.69976888e-03 -1.48510388e-04 9.99988945e-01 9.42274640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.89, Y:1.27, Z:0.09 [[ 9.83888689e-01 -1.78721588e-01 -4.65204965e-03 1.78880031e+01] [ 1.78720347e-01 9.83899674e-01 -6.84381394e-04 1.26511775e+00] [ 4.69946387e-03 -1.58060815e-04 9.99988945e-01 9.42354603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.91, Y:1.27, Z:0.09 [[ 9.83992677e-01 -1.78148206e-01 -4.65058241e-03 1.79145339e+01] [ 1.78146913e-01 9.84003656e-01 -6.94210547e-04 1.26982372e+00] [ 4.69986246e-03 -1.45388806e-04 9.99988945e-01 9.32020617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.94, Y:1.27, Z:0.09 [[ 9.83939143e-01 -1.78443654e-01 -4.65036456e-03 1.79427650e+01] [ 1.78442357e-01 9.83950121e-01 -6.95666848e-04 1.27425143e+00] [ 4.69986411e-03 -1.45328170e-04 9.99988945e-01 9.33359749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:17.97, Y:1.28, Z:0.09 [[ 9.83904431e-01 -1.78634953e-01 -4.65015526e-03 1.79726991e+01] [ 1.78633651e-01 9.83915409e-01 -6.97063095e-04 1.27910034e+00] [ 4.69987925e-03 -1.44830746e-04 9.99988945e-01 9.41673915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.00, Y:1.28, Z:0.09 [[ 9.84076375e-01 -1.77685255e-01 -4.65170733e-03 1.79999484e+01] [ 1.77683992e-01 9.84087358e-01 -6.86720922e-04 1.28331018e+00] [ 4.69970656e-03 -1.50748092e-04 9.99988945e-01 9.39292307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.03, Y:1.29, Z:0.09 [[ 9.84064362e-01 -1.77751824e-01 -4.64982514e-03 1.80265353e+01] [ 1.77750502e-01 9.84075338e-01 -6.99237194e-04 1.28739391e+00] [ 4.70006893e-03 -1.38414351e-04 9.99988945e-01 9.39911362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.05, Y:1.29, Z:0.09 [[ 9.84086941e-01 -1.77626781e-01 -4.64973162e-03 1.80531162e+01] [ 1.77625456e-01 9.84097916e-01 -6.99858534e-04 1.29141762e+00] [ 4.70010482e-03 -1.37189054e-04 9.99988945e-01 9.38647786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.08, Y:1.30, Z:0.09 [[ 9.84018131e-01 -1.78007583e-01 -4.64963980e-03 1.80810981e+01] [ 1.78006259e-01 9.84029106e-01 -7.00468031e-04 1.29603786e+00] [ 4.70006952e-03 -1.38391743e-04 9.99988945e-01 9.37755916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.11, Y:1.30, Z:0.09 [[ 9.83966113e-01 -1.78294899e-01 -4.64942996e-03 1.81087440e+01] [ 1.78293571e-01 9.83977088e-01 -7.01858081e-04 1.30058473e+00] [ 4.70007027e-03 -1.38358905e-04 9.99988945e-01 9.42290929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.14, Y:1.30, Z:0.09 [[ 9.83912754e-01 -1.78589130e-01 -4.64921767e-03 1.81360682e+01] [ 1.78587799e-01 9.83923728e-01 -7.03261558e-04 1.30472169e+00] [ 4.70007045e-03 -1.38345534e-04 9.99988945e-01 9.47543782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.16, Y:1.31, Z:0.10 [[ 9.83865091e-01 -1.78851528e-01 -4.64900388e-03 1.81631338e+01] [ 1.78850193e-01 9.83876065e-01 -7.04671984e-04 1.30845199e+00] [ 4.70007531e-03 -1.38173078e-04 9.99988945e-01 9.58374313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:18.19, Y:1.31, Z:0.09 [[ 9.83810225e-01 -1.79153089e-01 -4.64891126e-03 1.81913802e+01] [ 1.79151755e-01 9.83821199e-01 -7.05282529e-04 1.31224804e+00] [ 4.70005099e-03 -1.38996445e-04 9.99988945e-01 9.47551181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.22, Y:1.32, Z:0.10 [[ 9.83826113e-01 -1.79065825e-01 -4.64870156e-03 1.82178982e+01] [ 1.79064483e-01 9.83837086e-01 -7.06661989e-04 1.31654907e+00] [ 4.70010401e-03 -1.37184825e-04 9.99988945e-01 9.63605299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.25, Y:1.32, Z:0.10 [[ 9.83771444e-01 -1.79365929e-01 -4.64861072e-03 1.82453308e+01] [ 1.79364588e-01 9.83782417e-01 -7.07259065e-04 1.32098353e+00] [ 4.70007967e-03 -1.38014875e-04 9.99988945e-01 9.68081567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542755096000004 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:18.28, Y:1.33, Z:0.10 [[ 9.83592014e-01 -1.80347281e-01 -4.64840417e-03 1.82753821e+01] [ 1.80345945e-01 9.83602988e-01 -7.08613992e-04 1.32706894e+00] [ 4.69998084e-03 -1.41333778e-04 9.99988945e-01 9.51918656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.30, Y:1.33, Z:0.10 [[ 9.83976639e-01 -1.78236716e-01 -4.65262803e-03 1.83009121e+01] [ 1.78235487e-01 9.83987626e-01 -6.80878193e-04 1.33045640e+00] [ 4.69948591e-03 -1.59295188e-04 9.99988945e-01 9.56742618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.33, Y:1.33, Z:0.09 [[ 9.84105547e-01 -1.77523705e-01 -4.64828092e-03 1.83277333e+01] [ 1.77522333e-01 9.84116517e-01 -7.09363766e-04 1.33494572e+00] [ 4.70037891e-03 -1.27084856e-04 9.99988945e-01 9.49843506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:18.36, Y:1.34, Z:0.09 [[ 9.84227860e-01 -1.76844318e-01 -4.64819273e-03 1.83551185e+01] [ 1.76842936e-01 9.84238829e-01 -7.09941115e-04 1.33906664e+00] [ 4.70048083e-03 -1.23256227e-04 9.99988945e-01 9.36738208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.38, Y:1.34, Z:0.09 [[ 9.84257211e-01 -1.76680894e-01 -4.64797517e-03 1.83822274e+01] [ 1.76679503e-01 9.84268178e-01 -7.11362658e-04 1.34307593e+00] [ 4.70053825e-03 -1.21038118e-04 9.99988945e-01 9.31642365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.41, Y:1.35, Z:0.09 [[ 9.84373881e-01 -1.76029711e-01 -4.64782734e-03 1.84089485e+01] [ 1.76028309e-01 9.84384847e-01 -7.12327224e-04 1.34702398e+00] [ 4.70064156e-03 -1.16952871e-04 9.99988945e-01 9.29424553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.44, Y:1.35, Z:0.09 [[ 9.84392408e-01 -1.75926079e-01 -4.64769127e-03 1.84367312e+01] [ 1.75924671e-01 9.84403373e-01 -7.13213917e-04 1.35172152e+00] [ 4.70067590e-03 -1.15561192e-04 9.99988945e-01 9.31951816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.46, Y:1.36, Z:0.09 [[ 9.84392247e-01 -1.75926986e-01 -4.64747083e-03 1.84640862e+01] [ 1.75925571e-01 9.84403211e-01 -7.14647483e-04 1.35647040e+00] [ 4.70071099e-03 -1.14115519e-04 9.99988945e-01 9.34791200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.49, Y:1.36, Z:0.09 [[ 9.84414118e-01 -1.75804573e-01 -4.64724798e-03 1.84905662e+01] [ 1.75803151e-01 9.84425081e-01 -7.16093762e-04 1.36083599e+00] [ 4.70076002e-03 -1.12068027e-04 9.99988945e-01 9.37463884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.52, Y:1.37, Z:0.09 [[ 9.84349764e-01 -1.76164543e-01 -4.64715140e-03 1.85180685e+01] [ 1.76163122e-01 9.84360727e-01 -7.16719954e-04 1.36503574e+00] [ 4.70073397e-03 -1.13153580e-04 9.99988945e-01 9.40224829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.55, Y:1.37, Z:0.09 [[ 9.84264824e-01 -1.76638506e-01 -4.64693176e-03 1.85450331e+01] [ 1.76637083e-01 9.84275787e-01 -7.18141178e-04 1.36902256e+00] [ 4.70071380e-03 -1.13979372e-04 9.99988945e-01 9.40193989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.57, Y:1.37, Z:0.09 [[ 9.84155001e-01 -1.77249373e-01 -4.64683674e-03 1.85724754e+01] [ 1.77247954e-01 9.84165965e-01 -7.18755516e-04 1.37305569e+00] [ 4.70065753e-03 -1.16275467e-04 9.99988945e-01 9.39709006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.60, Y:1.38, Z:0.09 [[ 9.83803005e-01 -1.79192791e-01 -4.64661971e-03 1.85991695e+01] [ 1.79191387e-01 9.83813970e-01 -7.20155820e-04 1.37886457e+00] [ 4.70045612e-03 -1.24142770e-04 9.99988945e-01 9.36814842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.63, Y:1.38, Z:0.09 [[ 9.83881446e-01 -1.78761674e-01 -4.64370800e-03 1.86284453e+01] [ 1.78760177e-01 9.83892399e-01 -7.38880319e-04 1.38234626e+00] [ 4.70099249e-03 -1.03139426e-04 9.99988945e-01 9.48326493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.66, Y:1.39, Z:0.09 [[ 9.83847140e-01 -1.78950304e-01 -4.64699767e-03 1.86569720e+01] [ 1.78948909e-01 9.83858106e-01 -7.17731325e-04 1.38674011e+00] [ 4.70042456e-03 -1.25437251e-04 9.99988945e-01 9.46540092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.68, Y:1.39, Z:0.09 [[ 9.83740127e-01 -1.79537650e-01 -4.64709160e-03 1.86846665e+01] [ 1.79536264e-01 9.83751094e-01 -7.17128037e-04 1.39117600e+00] [ 4.70033293e-03 -1.28853836e-04 9.99988945e-01 9.49009207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:18.71, Y:1.40, Z:0.10 [[ 9.83713827e-01 -1.79681654e-01 -4.64865208e-03 1.87116993e+01] [ 1.79680317e-01 9.83724801e-01 -7.07117261e-04 1.39545826e+00] [ 4.70005034e-03 -1.39670253e-04 9.99988945e-01 9.52453192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.74, Y:1.40, Z:0.10 [[ 9.83706973e-01 -1.79719253e-01 -4.64566065e-03 1.87398850e+01] [ 1.79717826e-01 9.83717935e-01 -7.26252691e-04 1.39951808e+00] [ 4.70054130e-03 -1.20488196e-04 9.99988945e-01 9.59662025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.77, Y:1.40, Z:0.09 [[ 9.83453183e-01 -1.81102891e-01 -4.64542843e-03 1.87673997e+01] [ 1.81101473e-01 9.83464146e-01 -7.27735043e-04 1.40430317e+00] [ 4.70040723e-03 -1.25600587e-04 9.99988945e-01 9.43249983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.79, Y:1.41, Z:0.09 [[ 9.83660213e-01 -1.79975062e-01 -4.64357642e-03 1.87948413e+01] [ 1.79973576e-01 9.83671167e-01 -7.39514038e-04 1.40766843e+00] [ 4.70084632e-03 -1.08290515e-04 9.99988945e-01 9.44980480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.82, Y:1.41, Z:0.10 [[ 9.83444937e-01 -1.81147679e-01 -4.64482309e-03 1.88233673e+01] [ 1.81146243e-01 9.83455898e-01 -7.31599059e-04 1.41294609e+00] [ 4.70050614e-03 -1.21904862e-04 9.99988945e-01 9.52600768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.85, Y:1.42, Z:0.10 [[ 9.83240595e-01 -1.82253522e-01 -4.64597437e-03 1.88494403e+01] [ 1.82252133e-01 9.83251563e-01 -7.24311932e-04 1.41786508e+00] [ 4.70016996e-03 -1.34565841e-04 9.99988945e-01 9.59830049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.88, Y:1.42, Z:0.10 [[ 9.83115455e-01 -1.82927399e-01 -4.64422036e-03 1.88768614e+01] [ 1.82925965e-01 9.83126416e-01 -7.35389031e-04 1.42193492e+00] [ 4.70037853e-03 -1.26576168e-04 9.99988945e-01 9.67013848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.90, Y:1.43, Z:0.10 [[ 9.82903795e-01 -1.84061301e-01 -4.64399882e-03 1.89046350e+01] [ 1.84059873e-01 9.82914757e-01 -7.36785431e-04 1.42662293e+00] [ 4.70026866e-03 -1.30584635e-04 9.99988945e-01 9.65760759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.93, Y:1.43, Z:0.10 [[ 9.83313917e-01 -1.81857572e-01 -4.64368974e-03 1.89270770e+01] [ 1.81856110e-01 9.83324875e-01 -7.38729270e-04 1.42783136e+00] [ 4.70059914e-03 -1.18080581e-04 9.99988945e-01 9.86876281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.96, Y:1.44, Z:0.10 [[ 9.82568841e-01 -1.85841639e-01 -4.62136853e-03 1.89610982e+01] [ 1.85839574e-01 9.82579709e-01 -8.76095483e-04 1.43537706e+00] [ 4.70367797e-03 1.99096540e-06 9.99988938e-01 9.72403569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:18.99, Y:1.44, Z:0.10 [[ 9.82536085e-01 -1.86014306e-01 -4.63898310e-03 1.89899060e+01] [ 1.86012758e-01 9.82547030e-01 -7.66833365e-04 1.43940871e+00] [ 4.70066104e-03 -1.09468586e-04 9.99988946e-01 9.90966770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.02, Y:1.44, Z:0.10 [[ 9.82599676e-01 -1.85678027e-01 -4.64194838e-03 1.90171217e+01] [ 1.85676562e-01 9.82610632e-01 -7.48442229e-04 1.44400273e+00] [ 4.70019711e-03 -1.26481925e-04 9.99988946e-01 9.89339057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.04, Y:1.45, Z:0.10 [[ 9.82582529e-01 -1.85768705e-01 -4.64347634e-03 1.90441653e+01] [ 1.85767285e-01 9.82593492e-01 -7.38982705e-04 1.44907053e+00] [ 4.69992949e-03 -1.36494499e-04 9.99988946e-01 9.99957812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.07, Y:1.45, Z:0.10 [[ 9.82590849e-01 -1.85724743e-01 -4.64151113e-03 1.90710768e+01] [ 1.85723265e-01 9.82601804e-01 -7.51126506e-04 1.45362796e+00] [ 4.70025998e-03 -1.23986571e-04 9.99988946e-01 9.98309517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.10, Y:1.46, Z:0.10 [[ 9.82620150e-01 -1.85569662e-01 -4.64135339e-03 1.90983255e+01] [ 1.85568178e-01 9.82631104e-01 -7.52099934e-04 1.45815236e+00] [ 4.70030514e-03 -1.22258942e-04 9.99988946e-01 1.00109654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.13, Y:1.46, Z:0.10 [[ 9.82857158e-01 -1.84310247e-01 -4.64112346e-03 1.91257427e+01] [ 1.84308743e-01 9.82868109e-01 -7.53516176e-04 1.46253487e+00] [ 4.70049299e-03 -1.14800861e-04 9.99988946e-01 1.01074256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.15, Y:1.47, Z:0.10 [[ 9.82830559e-01 -1.84452056e-01 -4.64012719e-03 1.91537944e+01] [ 1.84450524e-01 9.82841507e-01 -7.59646455e-04 1.46733375e+00] [ 4.70062795e-03 -1.09270143e-04 9.99988946e-01 1.00392849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.18, Y:1.47, Z:0.10 [[ 9.82946311e-01 -1.83834200e-01 -4.64086697e-03 1.91814274e+01] [ 1.83832682e-01 9.82957260e-01 -7.55099757e-04 1.47241305e+00] [ 4.70058704e-03 -1.10920504e-04 9.99988946e-01 1.00807935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.21, Y:1.48, Z:0.10 [[ 9.83069546e-01 -1.83174069e-01 -4.63974897e-03 1.92081580e+01] [ 1.83172512e-01 9.83080490e-01 -7.61961686e-04 1.47688320e+00] [ 4.70081831e-03 -1.00813145e-04 9.99988946e-01 1.01457420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.24, Y:1.48, Z:0.10 [[ 9.82841998e-01 -1.84391154e-01 -4.63782888e-03 1.92373784e+01] [ 1.84389555e-01 9.82852936e-01 -7.73744117e-04 1.48205523e+00] [ 4.70097530e-03 -9.46989896e-05 9.99988946e-01 1.00410484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.26, Y:1.49, Z:0.10 [[ 9.82660467e-01 -1.85356065e-01 -4.64054931e-03 1.92647034e+01] [ 1.85354556e-01 9.82671418e-01 -7.57068842e-04 1.48626301e+00] [ 4.70046248e-03 -1.16205334e-04 9.99988946e-01 1.01283408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.29, Y:1.49, Z:0.10 [[ 9.82545473e-01 -1.85964679e-01 -4.64030873e-03 1.92910936e+01] [ 1.85963169e-01 9.82556423e-01 -7.58540591e-04 1.49072394e+00] [ 4.70042691e-03 -1.17625893e-04 9.99988946e-01 1.01774890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:19.32, Y:1.50, Z:0.10 [[ 9.82377432e-01 -1.86850341e-01 -4.64014488e-03 1.93186109e+01] [ 1.86848836e-01 9.82388383e-01 -7.59541603e-04 1.49572665e+00] [ 4.70034503e-03 -1.20849139e-04 9.99988946e-01 1.02124114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.35, Y:1.50, Z:0.10 [[ 9.82273585e-01 -1.87395506e-01 -4.63990770e-03 1.93460567e+01] [ 1.87394000e-01 9.82284536e-01 -7.60987746e-04 1.50132364e+00] [ 4.70031526e-03 -1.21992703e-04 9.99988946e-01 1.02589536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.37, Y:1.51, Z:0.10 [[ 9.82161784e-01 -1.87980594e-01 -4.63966667e-03 1.93737324e+01] [ 1.87979089e-01 9.82172735e-01 -7.62454442e-04 1.50633285e+00] [ 4.70028074e-03 -1.23306697e-04 9.99988946e-01 1.03022540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.40, Y:1.51, Z:0.10 [[ 9.82101272e-01 -1.88296490e-01 -4.63942140e-03 1.94019095e+01] [ 1.88294981e-01 9.82112222e-01 -7.63943956e-04 1.51113153e+00] [ 4.70028042e-03 -1.23309433e-04 9.99988946e-01 1.03156468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.43, Y:1.52, Z:0.10 [[ 9.82009503e-01 -1.88774507e-01 -4.63917520e-03 1.94287326e+01] [ 1.88772996e-01 9.82020453e-01 -7.65436097e-04 1.51549682e+00] [ 4.70025976e-03 -1.24085482e-04 9.99988946e-01 1.03263752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832755096000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:19.46, Y:1.52, Z:0.10 [[ 9.81912026e-01 -1.89280880e-01 -4.63906864e-03 1.94568664e+01] [ 1.89279371e-01 9.81922977e-01 -7.66081423e-04 1.52005868e+00] [ 4.70021265e-03 -1.25855433e-04 9.99988946e-01 1.03387906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862755096000004 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:19.48, Y:1.52, Z:0.10 [[ 9.81881526e-01 -1.89439042e-01 -4.63882251e-03 1.94839023e+01] [ 1.89437528e-01 9.81892476e-01 -7.67568882e-04 1.52477675e+00] [ 4.70023244e-03 -1.25105366e-04 9.99988946e-01 1.03171712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892755096000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:19.51, Y:1.53, Z:0.10 [[ 9.81886567e-01 -1.89412912e-01 -4.63871603e-03 1.95110059e+01] [ 1.89411395e-01 9.81897517e-01 -7.68211833e-04 1.53002629e+00] [ 4.70025300e-03 -1.24328797e-04 9.99988946e-01 1.03283673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922755096000003 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:19.54, Y:1.54, Z:0.10 [[ 9.81818032e-01 -1.89767852e-01 -4.63847563e-03 1.95388418e+01] [ 1.89766332e-01 9.81828980e-01 -7.69660657e-04 1.53538534e+00] [ 4.70024665e-03 -1.24559795e-04 9.99988946e-01 1.03402794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952755096000004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.57, Y:1.54, Z:0.10 [[ 9.81906404e-01 -1.89310064e-01 -4.63823500e-03 1.95664114e+01] [ 1.89308532e-01 9.81917351e-01 -7.71108038e-04 1.54031823e+00] [ 4.70034194e-03 -1.20901540e-04 9.99988946e-01 1.02294444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:19.59, Y:1.55, Z:0.10 [[ 9.81794616e-01 -1.89889016e-01 -4.63621779e-03 1.95947650e+01] [ 1.89887433e-01 9.81805556e-01 -7.83231756e-04 1.54576299e+00] [ 4.70059149e-03 -1.11386774e-04 9.99988946e-01 1.03595760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012755096000003 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:19.62, Y:1.55, Z:0.10 [[ 9.81684180e-01 -1.90459076e-01 -4.63806831e-03 1.96220108e+01] [ 1.90457552e-01 9.81695128e-01 -7.72115743e-04 1.55043021e+00] [ 4.70022551e-03 -1.25381326e-04 9.99988946e-01 1.03711012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042755096000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:19.65, Y:1.55, Z:0.10 [[ 9.81470498e-01 -1.91557175e-01 -4.63781833e-03 1.96486223e+01] [ 1.91555656e-01 9.81481448e-01 -7.73614353e-04 1.55463630e+00] [ 4.70012403e-03 -1.29120670e-04 9.99988946e-01 1.03671641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.68, Y:1.56, Z:0.10 [[ 9.81273376e-01 -1.92564413e-01 -4.63771019e-03 1.96762742e+01] [ 1.92562902e-01 9.81284326e-01 -7.74262137e-04 1.55927874e+00] [ 4.70000765e-03 -1.33288111e-04 9.99988946e-01 1.04505351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.70, Y:1.56, Z:0.10 [[ 9.81212125e-01 -1.92876278e-01 -4.63746347e-03 1.97044375e+01] [ 1.92874764e-01 9.81223075e-01 -7.75737042e-04 1.56415004e+00] [ 4.70000744e-03 -1.33287083e-04 9.99988946e-01 1.04639278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.73, Y:1.57, Z:0.11 [[ 9.81136647e-01 -1.93259867e-01 -4.63721645e-03 1.97307363e+01] [ 1.93258350e-01 9.81147596e-01 -7.77210859e-04 1.56869916e+00] [ 4.69999744e-03 -1.33630745e-04 9.99988946e-01 1.05033643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.76, Y:1.57, Z:0.11 [[ 9.81154571e-01 -1.93168852e-01 -4.63710950e-03 1.97582692e+01] [ 1.93167332e-01 9.81165520e-01 -7.77848468e-04 1.57390362e+00] [ 4.70002805e-03 -1.32548489e-04 9.99988946e-01 1.05134283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.79, Y:1.58, Z:0.11 [[ 9.81129612e-01 -1.93295589e-01 -4.63686300e-03 1.97854689e+01] [ 1.93294063e-01 9.81140560e-01 -7.79315088e-04 1.57872946e+00] [ 4.70005253e-03 -1.31668981e-04 9.99988946e-01 1.05034718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.81, Y:1.58, Z:0.10 [[ 9.81191957e-01 -1.92978872e-01 -4.63661536e-03 1.98121274e+01] [ 1.92977335e-01 9.81202904e-01 -7.80785666e-04 1.58332214e+00] [ 4.70013560e-03 -1.28661061e-04 9.99988946e-01 1.04963254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.84, Y:1.59, Z:0.10 [[ 9.81519198e-01 -1.91307518e-01 -4.63650813e-03 1.98392570e+01] [ 1.91305960e-01 9.81530142e-01 -7.81421942e-04 1.58834535e+00] [ 4.70036437e-03 -1.20011001e-04 9.99988946e-01 1.04878642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282755096000002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:19.87, Y:1.59, Z:0.11 [[ 9.81760108e-01 -1.90067360e-01 -4.63553631e-03 1.98666682e+01] [ 1.90065761e-01 9.81771046e-01 -7.87179405e-04 1.59336018e+00] [ 4.70065244e-03 -1.08235397e-04 9.99988946e-01 1.05080348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.89, Y:1.60, Z:0.11 [[ 9.81915157e-01 -1.89264753e-01 -4.63429519e-03 1.98946008e+01] [ 1.89263110e-01 9.81926089e-01 -7.94521857e-04 1.59873893e+00] [ 4.70091033e-03 -9.69480682e-05 9.99988946e-01 1.05573034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:19.92, Y:1.60, Z:0.11 [[ 9.82287719e-01 -1.87321505e-01 -4.63582859e-03 1.99218887e+01] [ 1.87319883e-01 9.82298653e-01 -7.85453024e-04 1.60363171e+00] [ 4.70090043e-03 -9.68420111e-05 9.99988946e-01 1.06758959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.95, Y:1.61, Z:0.11 [[ 9.82769071e-01 -1.84779544e-01 -4.63395447e-03 1.99502417e+01] [ 1.84777842e-01 9.82779993e-01 -7.96530036e-04 1.60990938e+00] [ 4.70134020e-03 -7.34470252e-05 9.99988946e-01 1.05604004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.98, Y:1.62, Z:0.11 [[ 9.82913398e-01 -1.84010218e-01 -4.63592100e-03 1.99773980e+01] [ 1.84008562e-01 9.82924327e-01 -7.84915190e-04 1.61537967e+00] [ 4.70119195e-03 -8.15455005e-05 9.99988946e-01 1.05315546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.00, Y:1.62, Z:0.11 [[ 9.83112710e-01 -1.82942370e-01 -4.63568105e-03 2.00039049e+01] [ 1.82940696e-01 9.83123636e-01 -7.86329771e-04 1.62036218e+00] [ 4.70130064e-03 -7.50039249e-05 9.99988946e-01 1.05274143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.03, Y:1.63, Z:0.10 [[ 9.83282302e-01 -1.82028640e-01 -4.63557715e-03 2.00310831e+01] [ 1.82026953e-01 9.83293226e-01 -7.86941803e-04 1.62535158e+00] [ 4.70137756e-03 -7.00140366e-05 9.99988946e-01 1.04859395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.06, Y:1.63, Z:0.11 [[ 9.83248828e-01 -1.82209376e-01 -4.63533977e-03 2.00593715e+01] [ 1.82207684e-01 9.83259751e-01 -7.88337604e-04 1.63007612e+00] [ 4.70138553e-03 -6.94624992e-05 9.99988946e-01 1.06207919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.09, Y:1.63, Z:0.11 [[ 9.83309762e-01 -1.81880211e-01 -4.63681094e-03 2.00866860e+01] [ 1.81878555e-01 9.83320692e-01 -7.79692659e-04 1.63465734e+00] [ 4.70128281e-03 -7.66570730e-05 9.99988946e-01 1.05819719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.11, Y:1.64, Z:0.11 [[ 9.83324709e-01 -1.81799433e-01 -4.63498727e-03 2.01141290e+01] [ 1.81797726e-01 9.83335630e-01 -7.90387045e-04 1.63938397e+00] [ 4.70144004e-03 -6.54230366e-05 9.99988946e-01 1.05951709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.14, Y:1.64, Z:0.11 [[ 9.83213670e-01 -1.82399008e-01 -4.63474417e-03 2.01424772e+01] [ 1.82397302e-01 9.83224591e-01 -7.91810014e-04 1.64482449e+00] [ 4.70141980e-03 -6.68464009e-05 9.99988946e-01 1.07177801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.17, Y:1.65, Z:0.11 [[ 9.83319198e-01 -1.81829214e-01 -4.63583834e-03 2.01697823e+01] [ 1.81827531e-01 9.83330124e-01 -7.85416741e-04 1.64984819e+00] [ 4.70137119e-03 -7.06076814e-05 9.99988946e-01 1.05607185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.20, Y:1.65, Z:0.11 [[ 9.83305206e-01 -1.81904909e-01 -4.63420153e-03 2.01974564e+01] [ 1.81903182e-01 9.83316124e-01 -7.94958510e-04 1.65450939e+00] [ 4.70149194e-03 -6.12891608e-05 9.99988946e-01 1.05682300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672755096000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.23, Y:1.66, Z:0.11 [[ 9.83264228e-01 -1.82126266e-01 -4.63466637e-03 2.02254979e+01] [ 1.82124555e-01 9.83275149e-01 -7.92251323e-04 1.65935325e+00] [ 4.70144204e-03 -6.50941633e-05 9.99988946e-01 1.05806229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.25, Y:1.66, Z:0.11 [[ 9.83062979e-01 -1.83209463e-01 -4.63386132e-03 2.02523278e+01] [ 1.83207742e-01 9.83073898e-01 -7.96932404e-04 1.66401573e+00] [ 4.70143367e-03 -6.55245238e-05 9.99988946e-01 1.05593594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.28, Y:1.67, Z:0.11 [[ 9.82868093e-01 -1.84252112e-01 -4.63375099e-03 2.02800638e+01] [ 1.84250399e-01 9.82879013e-01 -7.97573399e-04 1.66860494e+00] [ 4.70137118e-03 -6.98610252e-05 9.99988946e-01 1.05524299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762755096000003 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:20.31, Y:1.67, Z:0.11 [[ 9.82596331e-01 -1.85695936e-01 -4.63350313e-03 2.03096664e+01] [ 1.85694232e-01 9.82607253e-01 -7.99010736e-04 1.67402948e+00] [ 4.70128683e-03 -7.53097887e-05 9.99988946e-01 1.05966191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.34, Y:1.68, Z:0.11 [[ 9.82620440e-01 -1.85568261e-01 -4.63598397e-03 2.03357963e+01] [ 1.85566624e-01 9.82631372e-01 -7.84633245e-04 1.67784127e+00] [ 4.70106631e-03 -8.92872283e-05 9.99988946e-01 1.05609598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.36, Y:1.68, Z:0.11 [[ 9.82500667e-01 -1.86201432e-01 -4.63316689e-03 2.03637854e+01] [ 1.86199725e-01 9.82511588e-01 -8.00929309e-04 1.68240394e+00] [ 4.70127434e-03 -7.57808197e-05 9.99988946e-01 1.05248968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852755096000003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.39, Y:1.69, Z:0.11 [[ 9.82351460e-01 -1.86987022e-01 -4.63284014e-03 2.03916425e+01] [ 1.86985315e-01 9.82362381e-01 -8.02816426e-04 1.68725030e+00] [ 4.70124413e-03 -7.76251863e-05 9.99988946e-01 1.05533247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.42, Y:1.69, Z:0.11 [[ 9.82464516e-01 -1.86392096e-01 -4.63267868e-03 2.04187684e+01] [ 1.86390378e-01 9.82475435e-01 -8.03747077e-04 1.69044932e+00] [ 4.70130511e-03 -7.38337461e-05 9.99988946e-01 1.05713367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.45, Y:1.70, Z:0.11 [[ 9.82097511e-01 -1.88316275e-01 -4.63241961e-03 2.04462158e+01] [ 1.88314572e-01 9.82108433e-01 -8.05237465e-04 1.69503843e+00] [ 4.70117769e-03 -8.15304043e-05 9.99988946e-01 1.06235942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.47, Y:1.70, Z:0.11 [[ 9.81866613e-01 -1.89516482e-01 -4.63215675e-03 2.04748742e+01] [ 1.89514784e-01 9.81877536e-01 -8.06746741e-04 1.69997132e+00] [ 4.70110246e-03 -8.57444961e-05 9.99988946e-01 1.06661731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.50, Y:1.70, Z:0.11 [[ 9.81892082e-01 -1.89384420e-01 -4.63484348e-03 2.05007555e+01] [ 1.89382793e-01 9.81903015e-01 -7.91322390e-04 1.70397561e+00] [ 4.70083092e-03 -1.00766416e-04 9.99988946e-01 1.06642885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.53, Y:1.71, Z:0.11 [[ 9.81804093e-01 -1.89840115e-01 -4.63185917e-03 2.05285107e+01] [ 1.89838413e-01 9.81815015e-01 -8.08421058e-04 1.70899745e+00] [ 4.70109963e-03 -8.55936900e-05 9.99988946e-01 1.07345054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.032755096000002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.56, Y:1.71, Z:0.11 [[ 9.81751895e-01 -1.90109875e-01 -4.63161270e-03 2.05564068e+01] [ 1.90108170e-01 9.81762817e-01 -8.09830666e-04 1.71360759e+00] [ 4.70110194e-03 -8.54546217e-05 9.99988946e-01 1.07398887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.062755096000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.58, Y:1.72, Z:0.11 [[ 9.81842184e-01 -1.89643025e-01 -4.63136222e-03 2.05841289e+01] [ 1.89641308e-01 9.81853103e-01 -8.11260598e-04 1.71714932e+00] [ 4.70116729e-03 -8.17677112e-05 9.99988946e-01 1.06894553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.092755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:20.61, Y:1.72, Z:0.11 [[ 9.81741211e-01 -1.90165054e-01 -4.63110070e-03 2.06112324e+01] [ 1.90163335e-01 9.81752130e-01 -8.12750766e-04 1.72173757e+00] [ 4.70114977e-03 -8.27546339e-05 9.99988946e-01 1.07687469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.64, Y:1.73, Z:0.11 [[ 9.81714032e-01 -1.90305337e-01 -4.63016649e-03 2.06395657e+01] [ 1.90303595e-01 9.81724947e-01 -8.18066168e-04 1.72650760e+00] [ 4.70123231e-03 -7.80302915e-05 9.99988946e-01 1.07989516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.152755096000003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.67, Y:1.73, Z:0.11 [[ 9.81731781e-01 -1.90213740e-01 -4.63076105e-03 2.06660963e+01] [ 1.90212013e-01 9.81742699e-01 -8.14686618e-04 1.73089696e+00] [ 4.70118044e-03 -8.10226358e-05 9.99988946e-01 1.08013092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.69, Y:1.74, Z:0.11 [[ 9.81889177e-01 -1.89399581e-01 -4.63064843e-03 2.06937375e+01] [ 1.89397842e-01 9.81900093e-01 -8.15326218e-04 1.73631227e+00] [ 4.70125657e-03 -7.64748300e-05 9.99988946e-01 1.08431383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.212755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.72, Y:1.74, Z:0.11 [[ 9.81963765e-01 -1.89012496e-01 -4.63039055e-03 2.07206690e+01] [ 1.89010745e-01 9.81974679e-01 -8.16788179e-04 1.74145069e+00] [ 4.70130945e-03 -7.31371733e-05 9.99988946e-01 1.08588341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.242755096000003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.75, Y:1.75, Z:0.11 [[ 9.82027137e-01 -1.88682971e-01 -4.63027887e-03 2.07475938e+01] [ 1.88681213e-01 9.82038050e-01 -8.17420758e-04 1.74588027e+00] [ 4.70134341e-03 -7.09172702e-05 9.99988946e-01 1.08360516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.272755096000004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:20.78, Y:1.75, Z:0.11 [[ 9.82027286e-01 -1.88682198e-01 -4.63002358e-03 2.07750001e+01] [ 1.88680434e-01 9.82038198e-01 -8.18864214e-04 1.75088358e+00] [ 4.70136512e-03 -6.94478590e-05 9.99988946e-01 1.08386626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.302755096000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:20.80, Y:1.76, Z:0.11 [[ 9.81958296e-01 -1.89040921e-01 -4.62976684e-03 2.08031297e+01] [ 1.89039154e-01 9.81969208e-01 -8.20313270e-04 1.75592666e+00] [ 4.70136125e-03 -6.96937848e-05 9.99988946e-01 1.08751857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.332755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.83, Y:1.76, Z:0.11 [[ 9.81849650e-01 -1.89604411e-01 -4.62950932e-03 2.08311790e+01] [ 1.89602643e-01 9.81860562e-01 -8.21764018e-04 1.76056078e+00] [ 4.70134270e-03 -7.09184912e-05 9.99988946e-01 1.09342155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.86, Y:1.77, Z:0.11 [[ 9.81706611e-01 -1.90343638e-01 -4.62925358e-03 2.08590270e+01] [ 1.90341871e-01 9.81717523e-01 -8.23202167e-04 1.76576552e+00] [ 4.70131065e-03 -7.29977802e-05 9.99988946e-01 1.09939892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.89, Y:1.77, Z:0.11 [[ 9.81406384e-01 -1.91885596e-01 -4.62898899e-03 2.08872052e+01] [ 1.91883840e-01 9.81417298e-01 -8.24687306e-04 1.77140918e+00] [ 4.70121548e-03 -7.88747944e-05 9.99988946e-01 1.11116995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.91, Y:1.78, Z:0.11 [[ 9.81382319e-01 -1.92008551e-01 -4.63259919e-03 2.09133226e+01] [ 1.92006892e-01 9.81393248e-01 -8.04423500e-04 1.77648172e+00] [ 4.70085776e-03 -1.00043974e-04 9.99988946e-01 1.11044040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.94, Y:1.78, Z:0.11 [[ 9.81249395e-01 -1.92686791e-01 -4.62868797e-03 2.09399413e+01] [ 1.92685036e-01 9.81260309e-01 -8.26332192e-04 1.78162229e+00] [ 4.70117108e-03 -8.10409457e-05 9.99988946e-01 1.11182438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.97, Y:1.79, Z:0.11 [[ 9.81149516e-01 -1.93194733e-01 -4.62851330e-03 2.09662586e+01] [ 1.93192979e-01 9.81160430e-01 -8.27309399e-04 1.78635566e+00] [ 4.70114591e-03 -8.24820561e-05 9.99988946e-01 1.11015218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.00, Y:1.79, Z:0.11 [[ 9.80608022e-01 -1.95924693e-01 -4.62834004e-03 2.09970306e+01] [ 1.95922965e-01 9.80618940e-01 -8.28277534e-04 1.79251678e+00] [ 4.70091793e-03 -9.45825112e-05 9.99988946e-01 1.11244475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.02, Y:1.80, Z:0.11 [[ 9.80635980e-01 -1.95784557e-01 -4.63481869e-03 2.10237829e+01] [ 1.95782998e-01 9.80646924e-01 -7.92069606e-04 1.79825216e+00] [ 4.70019569e-03 -1.30686744e-04 9.99988945e-01 1.11133453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.05, Y:1.80, Z:0.11 [[ 9.80648433e-01 -1.95722250e-01 -4.63159203e-03 2.10514537e+01] [ 1.95720605e-01 9.80659364e-01 -8.10040259e-04 1.80392075e+00] [ 4.70055700e-03 -1.12133285e-04 9.99988946e-01 1.11346555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.602755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.08, Y:1.81, Z:0.11 [[ 9.80764795e-01 -1.95138377e-01 -4.62934477e-03 2.10774684e+01] [ 1.95136667e-01 9.80775716e-01 -8.22525252e-04 1.80897447e+00] [ 4.70085517e-03 -9.66510991e-05 9.99988946e-01 1.10884653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.11, Y:1.81, Z:0.11 [[ 9.80595735e-01 -1.95986210e-01 -4.62718324e-03 2.11057545e+01] [ 1.95984453e-01 9.80606648e-01 -8.34510477e-04 1.81449323e+00] [ 4.70099919e-03 -8.85385626e-05 9.99988946e-01 1.11181629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.13, Y:1.82, Z:0.11 [[ 9.80595704e-01 -1.95986325e-01 -4.62880453e-03 2.11331277e+01] [ 1.95984610e-01 9.80606624e-01 -8.25530844e-04 1.81953487e+00] [ 4.70082914e-03 -9.76624545e-05 9.99988946e-01 1.10745749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.16, Y:1.83, Z:0.11 [[ 9.80375342e-01 -1.97085720e-01 -4.62674127e-03 2.11618455e+01] [ 1.97083964e-01 9.80386256e-01 -8.36936968e-04 1.82503751e+00] [ 4.70094187e-03 -9.13441434e-05 9.99988946e-01 1.11069797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.722755096000004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:21.19, Y:1.83, Z:0.11 [[ 9.80497701e-01 -1.96476013e-01 -4.62975359e-03 2.11900911e+01] [ 1.96474328e-01 9.80508626e-01 -8.20273620e-04 1.82992457e+00] [ 4.70067742e-03 -1.05351329e-04 9.99988946e-01 1.11419330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.22, Y:1.84, Z:0.11 [[ 9.80511188e-01 -1.96408689e-01 -4.62993619e-03 2.12169210e+01] [ 1.96407009e-01 9.80522114e-01 -8.19264002e-04 1.83510873e+00] [ 4.70066539e-03 -1.06054401e-04 9.99988946e-01 1.11806256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.24, Y:1.84, Z:0.11 [[ 9.80911542e-01 -1.94399397e-01 -4.62819678e-03 2.12441651e+01] [ 1.94397649e-01 9.80922457e-01 -8.28859724e-04 1.83919740e+00] [ 4.70103199e-03 -8.66725046e-05 9.99988946e-01 1.09552043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.27, Y:1.85, Z:0.11 [[ 9.80755682e-01 -1.95184257e-01 -4.62583664e-03 2.12726640e+01] [ 1.95182457e-01 9.80766588e-01 -8.41860921e-04 1.84554711e+00] [ 4.70118402e-03 -7.72222811e-05 9.99988946e-01 1.11382957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.30, Y:1.85, Z:0.11 [[ 9.80768399e-01 -1.95120337e-01 -4.62613129e-03 2.13002049e+01] [ 1.95118544e-01 9.80779306e-01 -8.40238690e-04 1.85133450e+00] [ 4.70116149e-03 -7.85644464e-05 9.99988946e-01 1.12163592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.33, Y:1.86, Z:0.11 [[ 9.81029503e-01 -1.93803293e-01 -4.62588067e-03 2.13288703e+01] [ 1.93801478e-01 9.81040406e-01 -8.41616160e-04 1.85746817e+00] [ 4.70128384e-03 -7.08522290e-05 9.99988946e-01 1.12430333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.35, Y:1.86, Z:0.11 [[ 9.81209852e-01 -1.92888066e-01 -4.62820738e-03 2.13545352e+01] [ 1.92886302e-01 9.81220764e-01 -8.28841098e-04 1.86307394e+00] [ 4.70116674e-03 -7.94507552e-05 9.99988946e-01 1.13032634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.38, Y:1.87, Z:0.11 [[ 9.81400418e-01 -1.91916191e-01 -4.62548526e-03 2.13818922e+01] [ 1.91914346e-01 9.81411316e-01 -8.43763664e-04 1.86796966e+00] [ 4.70143549e-03 -5.96269664e-05 9.99988946e-01 1.13026192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.962755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.41, Y:1.87, Z:0.11 [[ 9.81407651e-01 -1.91879205e-01 -4.62522223e-03 2.14098907e+01] [ 1.91877352e-01 9.81418549e-01 -8.45203087e-04 1.87301687e+00] [ 4.70145578e-03 -5.79866168e-05 9.99988946e-01 1.12484057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.44, Y:1.88, Z:0.11 [[ 9.81346533e-01 -1.92191536e-01 -4.62547504e-03 2.14376054e+01] [ 1.92189693e-01 9.81357432e-01 -8.43820285e-04 1.87804058e+00] [ 4.70141943e-03 -6.08885176e-05 9.99988946e-01 1.12726043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.47, Y:1.88, Z:0.11 [[ 9.81276200e-01 -1.92550305e-01 -4.62602615e-03 2.14656859e+01] [ 1.92548481e-01 9.81287102e-01 -8.40807086e-04 1.88344876e+00] [ 4.70135746e-03 -6.56703244e-05 9.99988946e-01 1.12861431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.49, Y:1.89, Z:0.11 [[ 9.81211799e-01 -1.92878222e-01 -4.62573515e-03 2.14928914e+01] [ 1.92876393e-01 9.81222700e-01 -8.42394961e-04 1.88912860e+00] [ 4.70135598e-03 -6.56272373e-05 9.99988946e-01 1.12743520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.082755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.52, Y:1.89, Z:0.11 [[ 9.81298394e-01 -1.92437122e-01 -4.62766286e-03 2.15196861e+01] [ 1.92435338e-01 9.81309303e-01 -8.31885071e-04 1.89433000e+00] [ 4.70125418e-03 -7.41983800e-05 9.99988946e-01 1.13501047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.55, Y:1.90, Z:0.11 [[ 9.81055356e-01 -1.93672416e-01 -4.62426871e-03 2.15489318e+01] [ 1.93670559e-01 9.81066252e-01 -8.50342852e-04 1.90015353e+00] [ 4.70140193e-03 -6.13512980e-05 9.99988946e-01 1.14545323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.58, Y:1.90, Z:0.11 [[ 9.81099463e-01 -1.93448761e-01 -4.62821885e-03 2.15761211e+01] [ 1.93447003e-01 9.81110376e-01 -8.28840061e-04 1.90464657e+00] [ 4.70113162e-03 -8.21405288e-05 9.99988946e-01 1.13813452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.60, Y:1.91, Z:0.11 [[ 9.80448093e-01 -1.96723518e-01 -4.62548236e-03 2.16026588e+01] [ 1.96721726e-01 9.80459000e-01 -8.43712488e-04 1.91153880e+00] [ 4.70107389e-03 -8.27165718e-05 9.99988946e-01 1.13017167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.63, Y:1.92, Z:0.11 [[ 9.80502548e-01 -1.96451942e-01 -4.62480099e-03 2.16290286e+01] [ 1.96450130e-01 9.80513451e-01 -8.47407911e-04 1.91523699e+00] [ 4.70115451e-03 -7.76571378e-05 9.99988946e-01 1.13361399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.66, Y:1.92, Z:0.11 [[ 9.80183203e-01 -1.98039176e-01 -4.62312285e-03 2.16564725e+01] [ 1.98037339e-01 9.80194103e-01 -8.56506490e-04 1.92024994e+00] [ 4.70117960e-03 -7.60176714e-05 9.99988947e-01 1.13603866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.69, Y:1.92, Z:0.11 [[ 9.80010369e-01 -1.98892754e-01 -4.62045798e-03 2.16853097e+01] [ 1.98890858e-01 9.80021259e-01 -8.70934256e-04 1.92297389e+00] [ 4.70136956e-03 -6.54422473e-05 9.99988946e-01 1.13776589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.292755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.71, Y:1.93, Z:0.12 [[ 9.79705255e-01 -2.00390209e-01 -4.62360455e-03 2.17132246e+01] [ 2.00388409e-01 9.79716161e-01 -8.53896443e-04 1.92861207e+00] [ 4.70093259e-03 -8.99499301e-05 9.99988947e-01 1.15342158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:21.74, Y:1.93, Z:0.12 [[ 9.79684598e-01 -2.00491180e-01 -4.62331338e-03 2.17404275e+01] [ 2.00489374e-01 9.79695503e-01 -8.55470042e-04 1.93290183e+00] [ 4.70095353e-03 -8.88343837e-05 9.99988947e-01 1.15445269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.77, Y:1.94, Z:0.12 [[ 9.79481408e-01 -2.01481506e-01 -4.62318815e-03 2.17675934e+01] [ 2.01479709e-01 9.79492314e-01 -8.56146332e-04 1.93788470e+00] [ 4.70087491e-03 -9.28991851e-05 9.99988947e-01 1.16710834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.80, Y:1.94, Z:0.12 [[ 9.79352826e-01 -2.02105594e-01 -4.62292928e-03 2.17954127e+01] [ 2.02103797e-01 9.79363732e-01 -8.57541873e-04 1.94271325e+00] [ 4.70084328e-03 -9.44755038e-05 9.99988947e-01 1.17062866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:21.82, Y:1.95, Z:0.12 [[ 9.79264799e-01 -2.02531686e-01 -4.62267019e-03 2.18243193e+01] [ 2.02529887e-01 9.79275705e-01 -8.58936231e-04 1.94754241e+00] [ 4.70083042e-03 -9.51028564e-05 9.99988947e-01 1.17107389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.85, Y:1.95, Z:0.12 [[ 9.79165276e-01 -2.03012292e-01 -4.62282988e-03 2.18518445e+01] [ 2.03010503e-01 9.79176184e-01 -8.58077251e-04 1.95197466e+00] [ 4.70076515e-03 -9.82835691e-05 9.99988947e-01 1.18875940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.88, Y:1.96, Z:0.12 [[ 9.78989160e-01 -2.03859917e-01 -4.62164195e-03 2.18800670e+01] [ 2.03858107e-01 9.79000064e-01 -8.64459584e-04 1.95699429e+00] [ 4.70081642e-03 -9.58626175e-05 9.99988947e-01 1.18413381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.91, Y:1.96, Z:0.12 [[ 9.78892360e-01 -2.04324210e-01 -4.62226151e-03 2.19074689e+01] [ 2.04322420e-01 9.78903267e-01 -8.61134021e-04 1.96172963e+00] [ 4.70069742e-03 -1.01474145e-04 9.99988947e-01 1.18607637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.532755096000002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:21.94, Y:1.97, Z:0.12 [[ 9.78639326e-01 -2.05532740e-01 -4.62198942e-03 2.19350251e+01] [ 2.05530957e-01 9.78650235e-01 -8.62591936e-04 1.96667976e+00] [ 4.70060191e-03 -1.05795516e-04 9.99988947e-01 1.18970023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:21.96, Y:1.97, Z:0.12 [[ 9.78698246e-01 -2.05251966e-01 -4.62312290e-03 2.19626515e+01] [ 2.05250208e-01 9.78709159e-01 -8.56527249e-04 1.97085923e+00] [ 4.70049662e-03 -1.10615220e-04 9.99988946e-01 1.19484740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.592755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:21.99, Y:1.98, Z:0.12 [[ 9.78594182e-01 -2.05747584e-01 -4.62156874e-03 2.19903769e+01] [ 2.05745793e-01 9.78605089e-01 -8.64832508e-04 1.97555659e+00] [ 4.70062788e-03 -1.04548266e-04 9.99988947e-01 1.19619613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.02, Y:1.98, Z:0.12 [[ 9.78465440e-01 -2.06358976e-01 -4.62129630e-03 2.20185427e+01] [ 2.06357185e-01 9.78476347e-01 -8.66285827e-04 1.97960993e+00] [ 4.70059498e-03 -1.06006953e-04 9.99988947e-01 1.20075370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.652755096000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:22.05, Y:1.98, Z:0.12 [[ 9.78467026e-01 -2.06351462e-01 -4.62101890e-03 2.20463248e+01] [ 2.06349664e-01 9.78477932e-01 -8.67763053e-04 1.98411403e+00] [ 4.70062919e-03 -1.04468164e-04 9.99988947e-01 1.19802178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.682755096000005 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:22.07, Y:1.98, Z:0.12 [[ 9.78889502e-01 -2.04337965e-01 -4.61941245e-03 2.20685358e+01] [ 2.04336104e-01 9.78900398e-01 -8.76307175e-04 1.98443096e+00] [ 4.70100751e-03 -8.61048481e-05 9.99988946e-01 1.21039194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.712755096000002 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.10, Y:1.99, Z:0.12 [[ 9.78853727e-01 -2.04509739e-01 -4.59875181e-03 2.20997256e+01] [ 2.04507368e-01 9.78864529e-01 -9.84989848e-04 1.98993073e+00] [ 4.70299504e-03 2.36823524e-05 9.99988941e-01 1.18129859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.742755096000003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:22.13, Y:2.00, Z:0.12 [[ 9.78507575e-01 -2.06159312e-01 -4.61128652e-03 2.21305602e+01] [ 2.06157273e-01 9.78518439e-01 -9.18432230e-04 1.99609755e+00] [ 4.70157224e-03 -5.19573591e-05 9.99988946e-01 1.20607325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.16, Y:2.00, Z:0.12 [[ 9.78501118e-01 -2.06189748e-01 -4.62057405e-03 2.21570408e+01] [ 2.06187942e-01 9.78512022e-01 -8.69052366e-04 1.99992162e+00] [ 4.70047695e-03 -1.02337943e-04 9.99988947e-01 1.20811788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.802755096000002 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:22.18, Y:2.00, Z:0.12 [[ 9.78749433e-01 -2.05007801e-01 -4.62038376e-03 2.21831719e+01] [ 2.05005977e-01 9.78760334e-01 -8.70062880e-04 2.00355623e+00] [ 4.70061803e-03 -9.56327364e-05 9.99988947e-01 1.20052486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.21, Y:2.01, Z:0.12 [[ 9.78571888e-01 -2.05853705e-01 -4.61641020e-03 2.22116370e+01] [ 2.05851791e-01 9.78582774e-01 -8.91117560e-04 2.00824789e+00] [ 4.70097935e-03 -7.82737141e-05 9.99988947e-01 1.21348711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.862755096000004 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.24, Y:2.01, Z:0.12 [[ 9.78504543e-01 -2.06173508e-01 -4.62002732e-03 2.22392733e+01] [ 2.06171688e-01 9.78515444e-01 -8.71952306e-04 2.01280871e+00] [ 4.70054155e-03 -9.93095403e-05 9.99988947e-01 1.21684798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.892755096000002 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.27, Y:2.02, Z:0.12 [[ 9.78749744e-01 -2.05006332e-01 -4.61975686e-03 2.22669670e+01] [ 2.05004492e-01 9.78760643e-01 -8.73382872e-04 2.01609917e+00] [ 4.70068522e-03 -9.22476473e-05 9.99988947e-01 1.21669457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.922755096000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:22.30, Y:2.02, Z:0.12 [[ 9.78911008e-01 -2.04234963e-01 -4.61719802e-03 2.22959545e+01] [ 2.04233051e-01 9.78921894e-01 -8.86902913e-04 2.02044474e+00] [ 4.70101281e-03 -7.47854149e-05 9.99988947e-01 1.21765487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.33, Y:2.02, Z:0.12 [[ 9.79218618e-01 -2.02754968e-01 -4.61748059e-03 2.23250868e+01] [ 2.02753047e-01 9.79229502e-01 -8.85409192e-04 2.02457604e+00] [ 4.70109433e-03 -6.91990920e-05 9.99988947e-01 1.20836558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.35, Y:2.03, Z:0.12 [[ 9.79196102e-01 -2.02863625e-01 -4.61986013e-03 2.23524453e+01] [ 2.02861764e-01 9.79206997e-01 -8.72841086e-04 2.03055795e+00] [ 4.70086707e-03 -8.25103859e-05 9.99988947e-01 1.21558227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.012755096000003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:22.38, Y:2.04, Z:0.12 [[ 9.79434634e-01 -2.01708847e-01 -4.61929640e-03 2.23800758e+01] [ 2.01706960e-01 9.79445524e-01 -8.75814364e-04 2.03531250e+00] [ 4.70100869e-03 -7.39413103e-05 9.99988947e-01 1.21286185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.042755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.41, Y:2.04, Z:0.12 [[ 9.79466689e-01 -2.01553144e-01 -4.61911267e-03 2.24064466e+01] [ 2.01551250e-01 9.79477578e-01 -8.76782272e-04 2.03951517e+00] [ 4.70103552e-03 -7.22089045e-05 9.99988947e-01 1.22332412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.072755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:22.43, Y:2.04, Z:0.12 [[ 9.79574423e-01 -2.01028892e-01 -4.61891064e-03 2.24339119e+01] [ 2.01026987e-01 9.79585310e-01 -8.77845309e-04 2.04408138e+00] [ 4.70108928e-03 -6.86108755e-05 9.99988947e-01 1.21637485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.102755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:22.46, Y:2.05, Z:0.12 [[ 9.79447550e-01 -2.01646180e-01 -4.61673869e-03 2.24622123e+01] [ 2.01644228e-01 9.79458429e-01 -8.89258448e-04 2.04937453e+00] [ 4.70121920e-03 -5.99567005e-05 9.99988947e-01 1.22443901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.49, Y:2.05, Z:0.12 [[ 9.79419955e-01 -2.01780129e-01 -4.61863755e-03 2.24887771e+01] [ 2.01778226e-01 9.79430842e-01 -8.79284244e-04 2.05384249e+00] [ 4.70105816e-03 -7.07519573e-05 9.99988947e-01 1.22311718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.162755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.52, Y:2.06, Z:0.12 [[ 9.79144804e-01 -2.03111106e-01 -4.61851846e-03 2.25156317e+01] [ 2.03109214e-01 9.79155694e-01 -8.79909336e-04 2.05902872e+00] [ 4.70096801e-03 -7.65050009e-05 9.99988947e-01 1.24167860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.55, Y:2.06, Z:0.12 [[ 9.79405979e-01 -2.01848015e-01 -4.61599220e-03 2.25466543e+01] [ 2.01846047e-01 9.79416855e-01 -8.93164932e-04 2.06209131e+00] [ 4.70126413e-03 -5.69487030e-05 9.99988947e-01 1.22955016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.222755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.57, Y:2.07, Z:0.12 [[ 9.79147190e-01 -2.03099489e-01 -4.62358165e-03 2.25714020e+01] [ 2.03097723e-01 9.79158101e-01 -8.53333703e-04 2.06818642e+00] [ 4.70052907e-03 -1.03499605e-04 9.99988947e-01 1.24951470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.60, Y:2.07, Z:0.13 [[ 9.79210239e-01 -2.02795415e-01 -4.61812047e-03 2.25974933e+01] [ 2.02793510e-01 9.79221126e-01 -8.81930521e-04 2.07363637e+00] [ 4.70101259e-03 -7.29294637e-05 9.99988948e-01 1.25153169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.282755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.62, Y:2.08, Z:0.12 [[ 9.79343532e-01 -2.02150739e-01 -4.61799745e-03 2.26241899e+01] [ 2.02148824e-01 9.79354417e-01 -8.82574195e-04 2.07945229e+00] [ 4.70106923e-03 -6.91794264e-05 9.99988948e-01 1.24753971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.312755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:22.65, Y:2.08, Z:0.12 [[ 9.79475936e-01 -2.01508227e-01 -4.61787576e-03 2.26535160e+01] [ 2.01506302e-01 9.79486820e-01 -8.83210479e-04 2.08400038e+00] [ 4.70112262e-03 -6.54476572e-05 9.99988948e-01 1.24567113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.68, Y:2.09, Z:0.13 [[ 9.79400008e-01 -2.01876864e-01 -4.62128421e-03 2.26795726e+01] [ 2.01875027e-01 9.79410907e-01 -8.65426530e-04 2.09035711e+00] [ 4.70084576e-03 -8.53231263e-05 9.99988947e-01 1.25809653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.372755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.71, Y:2.10, Z:0.13 [[ 9.79274747e-01 -2.02483708e-01 -4.61713931e-03 2.27056838e+01] [ 2.02481776e-01 9.79285629e-01 -8.87002131e-04 2.09597158e+00] [ 4.70110165e-03 -6.62677800e-05 9.99988948e-01 1.26032400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.402755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.73, Y:2.10, Z:0.13 [[ 9.79187624e-01 -2.02904611e-01 -4.61700769e-03 2.27319110e+01] [ 2.02902680e-01 9.79198506e-01 -8.87686679e-04 2.10247764e+00] [ 4.70108276e-03 -6.75914261e-05 9.99988948e-01 1.25433913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.432755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.76, Y:2.11, Z:0.13 [[ 9.79254194e-01 -2.02583103e-01 -4.61629028e-03 2.27601326e+01] [ 2.02581151e-01 9.79265073e-01 -8.91412773e-04 2.10719080e+00] [ 4.70115700e-03 -6.22537004e-05 9.99988948e-01 1.25117591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.462755096000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:22.79, Y:2.11, Z:0.12 [[ 9.78842957e-01 -2.04560875e-01 -4.61665123e-03 2.27872392e+01] [ 2.04558954e-01 9.78853841e-01 -8.89539464e-04 2.11457765e+00] [ 4.70099176e-03 -7.36579088e-05 9.99988948e-01 1.24511919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.492755096000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.81, Y:2.12, Z:0.13 [[ 9.78232685e-01 -2.07459636e-01 -4.61656230e-03 2.28149382e+01] [ 2.07457745e-01 9.78243575e-01 -8.90000740e-04 2.11947168e+00] [ 4.70076164e-03 -8.71137909e-05 9.99988948e-01 1.25028025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.84, Y:2.12, Z:0.13 [[ 9.77883533e-01 -2.09099224e-01 -4.61628006e-03 2.28425018e+01] [ 2.09097345e-01 9.77894425e-01 -8.91462249e-04 2.12466375e+00] [ 4.70063860e-03 -9.35056520e-05 9.99988948e-01 1.25450439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.552755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:22.87, Y:2.13, Z:0.13 [[ 9.77538847e-01 -2.10704757e-01 -4.61599600e-03 2.28695329e+01] [ 2.10702889e-01 9.77549741e-01 -8.92930734e-04 2.12989042e+00] [ 4.70051044e-03 -9.97292106e-05 9.99988948e-01 1.25530077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.582755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.90, Y:2.14, Z:0.13 [[ 9.77132317e-01 -2.12582051e-01 -4.61587306e-03 2.28972182e+01] [ 2.12580200e-01 9.77143214e-01 -8.93565787e-04 2.13530810e+00] [ 4.70032508e-03 -1.08111210e-04 9.99988948e-01 1.25711754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.612755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.92, Y:2.14, Z:0.13 [[ 9.76680007e-01 -2.14650554e-01 -4.61559426e-03 2.29212750e+01] [ 2.14648719e-01 9.76690906e-01 -8.95003568e-04 2.13987616e+00] [ 4.70012195e-03 -1.16599306e-04 9.99988948e-01 1.25175794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.642755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.95, Y:2.15, Z:0.13 [[ 9.75939476e-01 -2.17992928e-01 -4.60673103e-03 2.29518960e+01] [ 2.17990916e-01 9.75950345e-01 -9.40554704e-04 2.14704998e+00] [ 4.70097502e-03 -8.63010527e-05 9.99988947e-01 1.26509343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.672755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:22.98, Y:2.15, Z:0.13 [[ 9.75281112e-01 -2.20919566e-01 -4.61505123e-03 2.29796508e+01] [ 2.20917789e-01 9.75292020e-01 -8.97784864e-04 2.15231148e+00] [ 4.69936088e-03 -1.43954293e-04 9.99988948e-01 1.26840106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.01, Y:2.16, Z:0.13 [[ 9.74994441e-01 -2.22181330e-01 -4.61476766e-03 2.30065183e+01] [ 2.22179560e-01 9.75005351e-01 -8.99240100e-04 2.15725473e+00] [ 4.69921753e-03 -1.48552950e-04 9.99988948e-01 1.27110476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.04, Y:2.16, Z:0.13 [[ 9.75177263e-01 -2.21377530e-01 -4.61464496e-03 2.30403640e+01] [ 2.21375748e-01 9.75188171e-01 -8.99869315e-04 2.15975263e+00] [ 4.69935803e-03 -1.44038383e-04 9.99988948e-01 1.26926332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.762755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.06, Y:2.17, Z:0.13 [[ 9.74637036e-01 -2.23743655e-01 -4.62863506e-03 2.30615516e+01] [ 2.23742240e-01 9.74648000e-01 -8.28011489e-04 2.17025535e+00] [ 4.69655222e-03 -2.28610512e-04 9.99988945e-01 1.28364730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.792755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.09, Y:2.18, Z:0.13 [[ 9.74610085e-01 -2.23861324e-01 -4.61417248e-03 2.30886476e+01] [ 2.23859560e-01 9.74620995e-01 -9.01995123e-04 2.17614284e+00] [ 4.69899120e-03 -1.53833079e-04 9.99988948e-01 1.27904887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.11, Y:2.18, Z:0.13 [[ 9.74463154e-01 -2.24500053e-01 -4.61389273e-03 2.31147424e+01] [ 2.24498289e-01 9.74474064e-01 -9.03423874e-04 2.18150456e+00] [ 4.69893751e-03 -1.55457747e-04 9.99988948e-01 1.27371227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.852755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.14, Y:2.19, Z:0.13 [[ 9.74324210e-01 -2.25102303e-01 -4.61377162e-03 2.31426631e+01] [ 2.25100543e-01 9.74335121e-01 -9.04041933e-04 2.18758007e+00] [ 4.69886165e-03 -1.57732556e-04 9.99988948e-01 1.27674534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.882755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.17, Y:2.19, Z:0.13 [[ 9.74195095e-01 -2.25660437e-01 -4.61349660e-03 2.31705303e+01] [ 2.25658677e-01 9.74206006e-01 -9.05443245e-04 2.19315700e+00] [ 4.69881882e-03 -1.58997170e-04 9.99988948e-01 1.28391774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.912755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.20, Y:2.20, Z:0.13 [[ 9.74122887e-01 -2.25971943e-01 -4.61320652e-03 2.31985512e+01] [ 2.25970179e-01 9.74133798e-01 -9.06918799e-04 2.19882350e+00] [ 4.69881859e-03 -1.58996742e-04 9.99988948e-01 1.28525689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.23, Y:2.20, Z:0.13 [[ 9.74029044e-01 -2.26376110e-01 -4.61291605e-03 2.32250681e+01] [ 2.26374344e-01 9.74039954e-01 -9.08393848e-04 2.20437613e+00] [ 4.69880320e-03 -1.59443853e-04 9.99988948e-01 1.28968697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.972755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:23.25, Y:2.21, Z:0.13 [[ 9.73625406e-01 -2.28105875e-01 -4.61279030e-03 2.32546925e+01] [ 2.28104125e-01 9.73636319e-01 -9.09031943e-04 2.21104948e+00] [ 4.69853569e-03 -1.67139900e-04 9.99988948e-01 1.29753039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.29, Y:2.21, Z:0.13 [[ 9.74183790e-01 -2.25709140e-01 -4.61818092e-03 2.32858815e+01] [ 2.25707492e-01 9.74194719e-01 -8.81711071e-04 2.21454523e+00] [ 4.69801771e-03 -1.83409400e-04 9.99988947e-01 1.27937553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.032755096000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:23.31, Y:2.22, Z:0.13 [[ 9.73361016e-01 -2.29231221e-01 -4.62377110e-03 2.33098062e+01] [ 2.29229747e-01 9.73371971e-01 -8.53403804e-04 2.22317952e+00] [ 4.69627599e-03 -2.29235885e-04 9.99988946e-01 1.30550309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.062755096000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:23.34, Y:2.23, Z:0.13 [[ 9.73907042e-01 -2.26900330e-01 -4.61677124e-03 2.33401610e+01] [ 2.26898662e-01 9.73917967e-01 -8.88744318e-04 2.22623550e+00] [ 4.69801284e-03 -1.81984867e-04 9.99988948e-01 1.30059378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.36, Y:2.23, Z:0.13 [[ 9.73710628e-01 -2.27741647e-01 -4.62124448e-03 2.33637102e+01] [ 2.27740097e-01 9.73721571e-01 -8.66069548e-04 2.23245777e+00] [ 4.69704554e-03 -2.09141541e-04 9.99988947e-01 1.30871715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.39, Y:2.24, Z:0.13 [[ 9.73800202e-01 -2.27358513e-01 -4.61229720e-03 2.33931057e+01] [ 2.27356744e-01 9.73811111e-01 -9.11299261e-04 2.23833545e+00] [ 4.69869791e-03 -1.61213468e-04 9.99988948e-01 1.31919399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.152755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.42, Y:2.24, Z:0.13 [[ 9.73907227e-01 -2.26899549e-01 -4.61598028e-03 2.34199680e+01] [ 2.26897862e-01 9.73918150e-01 -8.92755000e-04 2.24407695e+00] [ 4.69815268e-03 -1.77895512e-04 9.99988948e-01 1.31739040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.182755096000005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:23.45, Y:2.25, Z:0.13 [[ 9.73884740e-01 -2.26996051e-01 -4.61588344e-03 2.34466002e+01] [ 2.26994363e-01 9.73895662e-01 -8.93242033e-04 2.25052564e+00] [ 4.69815128e-03 -1.77864739e-04 9.99988948e-01 1.30506582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.212755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.47, Y:2.26, Z:0.13 [[ 9.74012304e-01 -2.26448097e-01 -4.61420642e-03 2.34718627e+01] [ 2.26446363e-01 9.74023219e-01 -9.01671100e-04 2.25660837e+00] [ 4.69852590e-03 -1.66631517e-04 9.99988948e-01 1.30833286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.50, Y:2.26, Z:0.13 [[ 9.73580696e-01 -2.28296669e-01 -4.61076333e-03 2.35025479e+01] [ 2.28294874e-01 9.73591601e-01 -9.18946636e-04 2.26472822e+00] [ 4.69879291e-03 -1.57944927e-04 9.99988948e-01 1.30785136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.53, Y:2.27, Z:0.13 [[ 9.73985859e-01 -2.26561720e-01 -4.61887086e-03 2.35284718e+01] [ 2.26560098e-01 9.73996792e-01 -8.78339822e-04 2.26931464e+00] [ 4.69776358e-03 -1.90961267e-04 9.99988947e-01 1.31150991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.302755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.56, Y:2.27, Z:0.13 [[ 9.73927418e-01 -2.26812991e-01 -4.60996216e-03 2.35553776e+01] [ 2.26811161e-01 9.73938317e-01 -9.22842319e-04 2.27450996e+00] [ 4.69913142e-03 -1.46809432e-04 9.99988948e-01 1.30870912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.332755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.59, Y:2.28, Z:0.13 [[ 9.73087796e-01 -2.30388564e-01 -4.60983588e-03 2.35854545e+01] [ 2.30386771e-01 9.73098701e-01 -9.23472685e-04 2.28056049e+00] [ 4.69858286e-03 -1.63425205e-04 9.99988948e-01 1.30949631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.61, Y:2.29, Z:0.13 [[ 9.73219650e-01 -2.29830808e-01 -4.61647968e-03 2.36109686e+01] [ 2.29829166e-01 9.73230580e-01 -8.90364821e-04 2.28505410e+00] [ 4.69753246e-03 -1.94481133e-04 9.99988948e-01 1.32146940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.392755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.64, Y:2.29, Z:0.13 [[ 9.72750866e-01 -2.31807054e-01 -4.60902115e-03 2.36382661e+01] [ 2.31805259e-01 9.72761770e-01 -9.27431204e-04 2.29133605e+00] [ 4.69846467e-03 -1.66235834e-04 9.99988948e-01 1.33495339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.422755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.67, Y:2.30, Z:0.13 [[ 9.72573567e-01 -2.32549813e-01 -4.60873086e-03 2.36651002e+01] [ 2.32548019e-01 9.72584472e-01 -9.28871524e-04 2.29709074e+00] [ 4.69838897e-03 -1.68355341e-04 9.99988948e-01 1.33844805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.452755096000004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:23.69, Y:2.30, Z:0.13 [[ 9.72293405e-01 -2.33718410e-01 -4.60860513e-03 2.36927429e+01] [ 2.33716626e-01 9.72304312e-01 -9.29494922e-04 2.30300308e+00] [ 4.69820671e-03 -1.73365859e-04 9.99988948e-01 1.34066110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.72, Y:2.31, Z:0.13 [[ 9.72090542e-01 -2.34560740e-01 -4.60832065e-03 2.37200225e+01] [ 2.34558959e-01 9.72101450e-01 -9.30903206e-04 2.30850702e+00] [ 4.69810853e-03 -1.76000691e-04 9.99988948e-01 1.34600299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.512755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.75, Y:2.31, Z:0.14 [[ 9.71867768e-01 -2.35482075e-01 -4.60803799e-03 2.37466366e+01] [ 2.35480298e-01 9.71878676e-01 -9.32300293e-04 2.31359369e+00] [ 4.69799387e-03 -1.79029553e-04 9.99988948e-01 1.35296692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.77, Y:2.32, Z:0.13 [[ 9.71660776e-01 -2.36334729e-01 -4.60791554e-03 2.37746441e+01] [ 2.36332958e-01 9.71671685e-01 -9.32905122e-04 2.31964700e+00] [ 4.69785893e-03 -1.82534995e-04 9.99988948e-01 1.34511401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.572755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:23.80, Y:2.33, Z:0.13 [[ 9.71696638e-01 -2.36187205e-01 -4.60966109e-03 2.38014140e+01] [ 2.36185473e-01 9.71707553e-01 -9.24291066e-04 2.32597347e+00] [ 4.69754822e-03 -1.90604462e-04 9.99988948e-01 1.34843279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.602755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:23.83, Y:2.33, Z:0.13 [[ 9.71599681e-01 -2.36585780e-01 -4.60742812e-03 2.38289592e+01] [ 2.36584001e-01 9.71610588e-01 -9.35291112e-04 2.33218590e+00] [ 4.69790252e-03 -1.81315232e-04 9.99988948e-01 1.34563471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.632755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:23.86, Y:2.34, Z:0.13 [[ 9.71634907e-01 -2.36441073e-01 -4.60712597e-03 2.38557538e+01] [ 2.36439285e-01 9.71645813e-01 -9.36777091e-04 2.33817864e+00] [ 4.69798724e-03 -1.79100249e-04 9.99988948e-01 1.34775936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.88, Y:2.34, Z:0.13 [[ 9.71688725e-01 -2.36219808e-01 -4.60699525e-03 2.38819699e+01] [ 2.36218015e-01 9.71699630e-01 -9.37419533e-04 2.34424451e+00] [ 4.69805264e-03 -1.77375281e-04 9.99988948e-01 1.34784173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.91, Y:2.35, Z:0.13 [[ 9.71600421e-01 -2.36582752e-01 -4.60686940e-03 2.39092593e+01] [ 2.36580960e-01 9.71611326e-01 -9.38037571e-04 2.35094140e+00] [ 4.69801000e-03 -1.78499887e-04 9.99988948e-01 1.34868324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.94, Y:2.36, Z:0.14 [[ 9.72067995e-01 -2.34654220e-01 -4.60552306e-03 2.39361391e+01] [ 2.34652375e-01 9.72078891e-01 -9.44642307e-04 2.35657922e+00] [ 4.69859605e-03 -1.62440369e-04 9.99988948e-01 1.35224487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.96, Y:2.36, Z:0.14 [[ 9.72187601e-01 -2.34158168e-01 -4.60654401e-03 2.39638944e+01] [ 2.34156340e-01 9.72198501e-01 -9.39637134e-04 2.36287323e+00] [ 4.69849889e-03 -1.65147915e-04 9.99988948e-01 1.35883315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:23.99, Y:2.37, Z:0.14 [[ 9.72364691e-01 -2.33421701e-01 -4.60624261e-03 2.39916019e+01] [ 2.33419859e-01 9.72375588e-01 -9.41112301e-04 2.36917389e+00] [ 4.69867390e-03 -1.60084127e-04 9.99988948e-01 1.35976751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.02, Y:2.38, Z:0.14 [[ 9.72499793e-01 -2.32858192e-01 -4.60594183e-03 2.40190578e+01] [ 2.32856336e-01 9.72510688e-01 -9.42582053e-04 2.37592606e+00] [ 4.69881561e-03 -1.55861890e-04 9.99988948e-01 1.36571502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.05, Y:2.38, Z:0.14 [[ 9.73000335e-01 -2.30757741e-01 -4.60564188e-03 2.40451133e+01] [ 2.30755855e-01 9.73011225e-01 -9.44045429e-04 2.38301160e+00] [ 4.69918704e-03 -1.44222312e-04 9.99988948e-01 1.37268235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.07, Y:2.39, Z:0.14 [[ 9.73203319e-01 -2.29900172e-01 -4.60551198e-03 2.40710668e+01] [ 2.29898274e-01 9.73214206e-01 -9.44678692e-04 2.38921349e+00] [ 4.69933148e-03 -1.39434816e-04 9.99988948e-01 1.37654951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.10, Y:2.40, Z:0.14 [[ 9.73316982e-01 -2.29418490e-01 -4.60538368e-03 2.40981561e+01] [ 2.29416583e-01 9.73327868e-01 -9.45303785e-04 2.39551050e+00] [ 4.69941844e-03 -1.36471158e-04 9.99988948e-01 1.37425145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.932755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.13, Y:2.40, Z:0.14 [[ 9.73448529e-01 -2.28859685e-01 -4.60509027e-03 2.41251452e+01] [ 2.28857765e-01 9.73459412e-01 -9.46730970e-04 2.40206978e+00] [ 4.69953702e-03 -1.32316798e-04 9.99988948e-01 1.36665705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.15, Y:2.41, Z:0.14 [[ 9.73397521e-01 -2.29076540e-01 -4.60479543e-03 2.41510951e+01] [ 2.29074615e-01 9.73408404e-01 -9.48162867e-04 2.40782337e+00] [ 4.69954844e-03 -1.31902358e-04 9.99988948e-01 1.36711937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.18, Y:2.41, Z:0.14 [[ 9.73381751e-01 -2.29143546e-01 -4.60466790e-03 2.41809185e+01] [ 2.29141620e-01 9.73392633e-01 -9.48781795e-04 2.41275520e+00] [ 4.69955704e-03 -1.31594176e-04 9.99988948e-01 1.36744280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.20, Y:2.42, Z:0.14 [[ 9.72824786e-01 -2.31496593e-01 -4.61111560e-03 2.42048740e+01] [ 2.31494841e-01 9.72835699e-01 -9.17476996e-04 2.42075640e+00] [ 4.69825067e-03 -1.74905111e-04 9.99988948e-01 1.35382541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.052755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.23, Y:2.43, Z:0.14 [[ 9.72526172e-01 -2.32748026e-01 -4.60439596e-03 2.42321746e+01] [ 2.32746134e-01 9.72537061e-01 -9.50043804e-04 2.42695653e+00] [ 4.69906654e-03 -1.47712897e-04 9.99988948e-01 1.35127406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.082755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.26, Y:2.43, Z:0.14 [[ 9.72199437e-01 -2.34109072e-01 -4.60411563e-03 2.42584232e+01] [ 2.34107189e-01 9.72210326e-01 -9.51400423e-04 2.43279930e+00] [ 4.69890023e-03 -1.52905613e-04 9.99988948e-01 1.35195422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.112755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.28, Y:2.44, Z:0.14 [[ 9.71637514e-01 -2.36430421e-01 -4.60399415e-03 2.42848499e+01] [ 2.36428561e-01 9.71648408e-01 -9.51987905e-04 2.43851179e+00] [ 4.69854249e-03 -1.63528550e-04 9.99988948e-01 1.35669847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.31, Y:2.44, Z:0.14 [[ 9.71311352e-01 -2.37766823e-01 -4.60387366e-03 2.43119680e+01] [ 2.37764976e-01 9.71322248e-01 -9.52570255e-04 2.44403439e+00] [ 4.69833452e-03 -1.69397607e-04 9.99988948e-01 1.35534833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.172755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.34, Y:2.45, Z:0.14 [[ 9.70953591e-01 -2.39223600e-01 -4.60358542e-03 2.43380449e+01] [ 2.39221762e-01 9.70964489e-01 -9.53961226e-04 2.44923398e+00] [ 4.69812801e-03 -1.75025737e-04 9.99988948e-01 1.35912152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.37, Y:2.45, Z:0.14 [[ 9.70185222e-01 -2.42320950e-01 -4.60346067e-03 2.43657276e+01] [ 2.42319144e-01 9.70196125e-01 -9.54562885e-04 2.45496624e+00] [ 4.69757028e-03 -1.89403842e-04 9.99988948e-01 1.35225089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.39, Y:2.46, Z:0.14 [[ 9.69801376e-01 -2.43852623e-01 -4.60317299e-03 2.43933081e+01] [ 2.43850827e-01 9.69812281e-01 -9.55948102e-04 2.46112056e+00] [ 4.69732415e-03 -1.95407759e-04 9.99988948e-01 1.35052452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.262755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.42, Y:2.47, Z:0.14 [[ 9.69510928e-01 -2.45004845e-01 -4.60288415e-03 2.44194013e+01] [ 2.45003056e-01 9.69521834e-01 -9.57336859e-04 2.46694003e+00] [ 4.69714885e-03 -1.99572140e-04 9.99988948e-01 1.35560950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.45, Y:2.47, Z:0.13 [[ 9.69290282e-01 -2.45876317e-01 -4.60275901e-03 2.44470114e+01] [ 2.45874535e-01 9.69301189e-01 -9.57938160e-04 2.47328194e+00] [ 4.69699409e-03 -2.03181083e-04 9.99988948e-01 1.34700010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.47, Y:2.48, Z:0.14 [[ 9.69241514e-01 -2.46068495e-01 -4.60247544e-03 2.44745490e+01] [ 2.46066709e-01 9.69252420e-01 -9.59298635e-04 2.47952268e+00] [ 4.69701363e-03 -2.02723924e-04 9.99988948e-01 1.35068355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.50, Y:2.49, Z:0.13 [[ 9.69033240e-01 -2.46887424e-01 -4.60219285e-03 2.45034958e+01] [ 2.46885640e-01 9.69044147e-01 -9.60652434e-04 2.48678276e+00] [ 4.69690105e-03 -2.05311188e-04 9.99988948e-01 1.34842440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.54, Y:2.49, Z:0.13 [[ 9.69935123e-01 -2.43320036e-01 -4.60615028e-03 2.45358675e+01] [ 2.43318302e-01 9.69946038e-01 -9.41712657e-04 2.49184805e+00] [ 4.69685478e-03 -2.07360485e-04 9.99988948e-01 1.34503858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.56, Y:2.50, Z:0.13 [[ 9.69561449e-01 -2.44804563e-01 -4.61759786e-03 2.45581034e+01] [ 2.44803105e-01 9.69572407e-01 -8.87004564e-04 2.50076581e+00] [ 4.69423824e-03 -2.70396864e-04 9.99988945e-01 1.33888670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.442755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.58, Y:2.51, Z:0.13 [[ 9.69901772e-01 -2.43453013e-01 -4.60252208e-03 2.45847910e+01] [ 2.43451199e-01 9.69912674e-01 -9.58806045e-04 2.50671165e+00] [ 4.69746872e-03 -1.90541838e-04 9.99988949e-01 1.32966776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.472755096000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:24.62, Y:2.51, Z:0.13 [[ 9.70714107e-01 -2.40193578e-01 -4.60078615e-03 2.46152133e+01] [ 2.40191689e-01 9.70724996e-01 -9.67064678e-04 2.51203019e+00] [ 4.69838085e-03 -1.66327272e-04 9.99988949e-01 1.32352866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.502755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:24.65, Y:2.52, Z:0.13 [[ 9.71076361e-01 -2.38724640e-01 -4.60946652e-03 2.46460308e+01] [ 2.38722930e-01 9.71087280e-01 -9.25868080e-04 2.51857318e+00] [ 4.69722183e-03 -2.01296745e-04 9.99988948e-01 1.33307484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.67, Y:2.53, Z:0.13 [[ 9.70509765e-01 -2.41017622e-01 -4.61539281e-03 2.46666837e+01] [ 2.41016069e-01 9.70520710e-01 -8.98010462e-04 2.52869808e+00] [ 4.69577065e-03 -2.40855909e-04 9.99988946e-01 1.32766949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.69, Y:2.54, Z:0.13 [[ 9.71162349e-01 -2.38374821e-01 -4.59739517e-03 2.46933693e+01] [ 2.38372840e-01 9.71173221e-01 -9.82248188e-04 2.53509780e+00] [ 4.69901031e-03 -1.41971683e-04 9.99988950e-01 1.32763027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.72, Y:2.54, Z:0.13 [[ 9.71405896e-01 -2.37380390e-01 -4.59726294e-03 2.47210417e+01] [ 2.37378394e-01 9.71416765e-01 -9.82866681e-04 2.54137313e+00] [ 4.69917157e-03 -1.36528406e-04 9.99988950e-01 1.33022450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.75, Y:2.55, Z:0.13 [[ 9.71595221e-01 -2.36604300e-01 -4.59695985e-03 2.47470992e+01] [ 2.36602289e-01 9.71606087e-01 -9.84282199e-04 2.54731581e+00] [ 4.69931958e-03 -1.31327343e-04 9.99988950e-01 1.33521805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.77, Y:2.55, Z:0.13 [[ 9.72158132e-01 -2.34280681e-01 -4.59663169e-03 2.47726453e+01] [ 2.34278637e-01 9.72168992e-01 -9.85812357e-04 2.55246854e+00] [ 4.69965959e-03 -1.18527109e-04 9.99988950e-01 1.33742920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.682755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.80, Y:2.56, Z:0.13 [[ 9.71944185e-01 -2.35166807e-01 -4.59067187e-03 2.48010043e+01] [ 2.35164641e-01 9.71955022e-01 -1.01353593e-03 2.55912257e+00] [ 4.70027658e-03 -9.44633468e-05 9.99988949e-01 1.34513896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.83, Y:2.56, Z:0.13 [[ 9.71845563e-01 -2.35573929e-01 -4.59618885e-03 2.48282225e+01] [ 2.35571889e-01 9.71856424e-01 -9.87867410e-04 2.56498462e+00] [ 4.69955147e-03 -1.22678332e-04 9.99988950e-01 1.34452085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.86, Y:2.57, Z:0.13 [[ 9.71772843e-01 -2.35873742e-01 -4.59548861e-03 2.48561782e+01] [ 2.35871691e-01 9.71783702e-01 -9.91121254e-04 2.57074635e+00] [ 4.69960041e-03 -1.20800948e-04 9.99988950e-01 1.34480787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.88, Y:2.58, Z:0.13 [[ 9.71498346e-01 -2.37001776e-01 -4.59580876e-03 2.48834876e+01] [ 2.36999744e-01 9.71509208e-01 -9.89634470e-04 2.57610829e+00] [ 4.69941566e-03 -1.27777250e-04 9.99988950e-01 1.33883929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.802755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.91, Y:2.58, Z:0.13 [[ 9.71275172e-01 -2.37914738e-01 -4.59548417e-03 2.49113977e+01] [ 2.37912709e-01 9.71286034e-01 -9.91139447e-04 2.58141359e+00] [ 4.69933628e-03 -1.30654954e-04 9.99988950e-01 1.33722622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.832755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.94, Y:2.59, Z:0.13 [[ 9.71200253e-01 -2.38220386e-01 -4.59517211e-03 2.49392991e+01] [ 2.38218354e-01 9.71211115e-01 -9.92584153e-04 2.58760740e+00] [ 4.69933601e-03 -1.30656354e-04 9.99988950e-01 1.33856526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.862755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.97, Y:2.59, Z:0.13 [[ 9.70643227e-01 -2.40479965e-01 -4.59485929e-03 2.49672989e+01] [ 2.40477952e-01 9.70654092e-01 -9.94030137e-04 2.59224803e+00] [ 4.69906331e-03 -1.40113731e-04 9.99988950e-01 1.33731194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.892755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:24.99, Y:2.60, Z:0.13 [[ 9.70309724e-01 -2.41822104e-01 -4.59454114e-03 2.49942104e+01] [ 2.41820099e-01 9.70320591e-01 -9.95498488e-04 2.59756265e+00] [ 4.69891142e-03 -1.45110531e-04 9.99988950e-01 1.33581916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.922755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.02, Y:2.60, Z:0.13 [[ 9.69957579e-01 -2.43230725e-01 -4.59440362e-03 2.50212862e+01] [ 2.43228733e-01 9.69968449e-01 -9.96132786e-04 2.60289717e+00] [ 4.69871665e-03 -1.51284423e-04 9.99988950e-01 1.33064846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.05, Y:2.61, Z:0.13 [[ 9.69379309e-01 -2.45525253e-01 -4.59408817e-03 2.50496237e+01] [ 2.45523279e-01 9.69390182e-01 -9.97585476e-04 2.60700732e+00] [ 4.69839640e-03 -1.60916872e-04 9.99988950e-01 1.32770619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.08, Y:2.61, Z:0.13 [[ 9.69089428e-01 -2.46666936e-01 -4.59377520e-03 2.50761869e+01] [ 2.46664968e-01 9.69100302e-01 -9.99024630e-04 2.61172910e+00] [ 4.69825528e-03 -1.64979204e-04 9.99988950e-01 1.32767433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.012755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.10, Y:2.62, Z:0.13 [[ 9.68747732e-01 -2.48005505e-01 -4.59356265e-03 2.51035289e+01] [ 2.48003547e-01 9.68758608e-01 -1.00000096e-03 2.61673303e+00] [ 4.69805911e-03 -1.70471165e-04 9.99988950e-01 1.32251282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.042755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.13, Y:2.62, Z:0.13 [[ 9.68456577e-01 -2.49140042e-01 -4.59324646e-03 2.51297901e+01] [ 2.49138090e-01 9.68467454e-01 -1.00145120e-03 2.62102756e+00] [ 4.69791130e-03 -1.74490652e-04 9.99988950e-01 1.31391319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.16, Y:2.63, Z:0.13 [[ 9.68325006e-01 -2.49650929e-01 -4.59310956e-03 2.51559708e+01] [ 2.49648980e-01 9.68335883e-01 -1.00207870e-03 2.62616307e+00] [ 4.69784268e-03 -1.76327256e-04 9.99988950e-01 1.31178386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.102755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.18, Y:2.63, Z:0.13 [[ 9.68267309e-01 -2.49874614e-01 -4.59297405e-03 2.51834252e+01] [ 2.49872665e-01 9.68278186e-01 -1.00269942e-03 2.63132647e+00] [ 4.69782571e-03 -1.76777599e-04 9.99988950e-01 1.30399106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.21, Y:2.64, Z:0.13 [[ 9.68153762e-01 -2.50314205e-01 -4.59265530e-03 2.52100118e+01] [ 2.50312254e-01 9.68164639e-01 -1.00415726e-03 2.63649930e+00] [ 4.69780129e-03 -1.77419265e-04 9.99988950e-01 1.31034645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.162755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.24, Y:2.64, Z:0.13 [[ 9.68363901e-01 -2.49500031e-01 -4.59229368e-03 2.52375225e+01] [ 2.49498063e-01 9.68374775e-01 -1.00580836e-03 2.64000896e+00] [ 4.69801057e-03 -1.71779863e-04 9.99988950e-01 1.29047895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.192755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.27, Y:2.65, Z:0.13 [[ 9.68287014e-01 -2.49798268e-01 -4.59176680e-03 2.52668576e+01] [ 2.49796291e-01 9.68297886e-01 -1.00821035e-03 2.64590883e+00] [ 4.69804729e-03 -1.70769327e-04 9.99988950e-01 1.31012939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.222755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.29, Y:2.65, Z:0.13 [[ 9.68718273e-01 -2.48120515e-01 -4.59530757e-03 2.52935808e+01] [ 2.48118597e-01 9.68729156e-01 -9.92077281e-04 2.65100564e+00] [ 4.69776315e-03 -1.79137873e-04 9.99988949e-01 1.30336735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.252755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.32, Y:2.66, Z:0.13 [[ 9.69109005e-01 -2.46590009e-01 -4.59386748e-03 2.53209549e+01] [ 2.46588042e-01 9.69119879e-01 -9.98622948e-04 2.65627629e+00] [ 4.69825874e-03 -1.65018295e-04 9.99988950e-01 1.30342856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.282755096000002 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:25.35, Y:2.66, Z:0.13 [[ 9.69478250e-01 -2.45134309e-01 -4.59275821e-03 2.53473965e+01] [ 2.45132302e-01 9.69489117e-01 -1.00365896e-03 2.66133481e+00] [ 4.69866035e-03 -1.52807862e-04 9.99988950e-01 1.29347236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.37, Y:2.67, Z:0.13 [[ 9.70279150e-01 -2.41944818e-01 -4.59085562e-03 2.53741571e+01] [ 2.41942734e-01 9.70290002e-01 -1.01228746e-03 2.66661747e+00] [ 4.69937902e-03 -1.28522741e-04 9.99988950e-01 1.30786586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.342755096000005 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.40, Y:2.67, Z:0.13 [[ 9.70490884e-01 -2.41094110e-01 -4.59072021e-03 2.54026862e+01] [ 2.41092015e-01 9.70501733e-01 -1.01290119e-03 2.67291794e+00] [ 4.69950643e-03 -1.23774608e-04 9.99988950e-01 1.30705177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.372755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.43, Y:2.68, Z:0.13 [[ 9.70826100e-01 -2.39740663e-01 -4.59322540e-03 2.54292941e+01] [ 2.39738605e-01 9.70836958e-01 -1.00155321e-03 2.67829034e+00] [ 4.69938601e-03 -1.28839459e-04 9.99988950e-01 1.30383452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.402755096000003 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:25.46, Y:2.68, Z:0.13 [[ 9.71158398e-01 -2.38391054e-01 -4.59030561e-03 2.54573098e+01] [ 2.38388919e-01 9.71169240e-01 -1.01476099e-03 2.68342989e+00] [ 4.69987356e-03 -1.08784336e-04 9.99988950e-01 1.30239522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.432755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.48, Y:2.69, Z:0.13 [[ 9.71089847e-01 -2.38670152e-01 -4.58999170e-03 2.54849372e+01] [ 2.38668013e-01 9.71100688e-01 -1.01617892e-03 2.68939994e+00] [ 4.69987567e-03 -1.08683170e-04 9.99988950e-01 1.30163080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.462755096000002 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.51, Y:2.70, Z:0.13 [[ 9.71051740e-01 -2.38825152e-01 -4.58967462e-03 2.55127026e+01] [ 2.38823008e-01 9.71062580e-01 -1.01760901e-03 2.69535097e+00] [ 4.69989191e-03 -1.07968897e-04 9.99988950e-01 1.30347119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.492755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.54, Y:2.70, Z:0.13 [[ 9.70988844e-01 -2.39080744e-01 -4.58935558e-03 2.55391664e+01] [ 2.39078597e-01 9.70999684e-01 -1.01904581e-03 2.70073374e+00] [ 4.69989705e-03 -1.07734575e-04 9.99988950e-01 1.30671783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.522755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.57, Y:2.71, Z:0.13 [[ 9.71177232e-01 -2.38314336e-01 -4.58921751e-03 2.55659540e+01] [ 2.38312177e-01 9.71188070e-01 -1.01966722e-03 2.70817524e+00] [ 4.69999462e-03 -1.03388822e-04 9.99988950e-01 1.30810816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.552755096000002 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:25.59, Y:2.71, Z:0.13 [[ 9.71087588e-01 -2.38679364e-01 -4.58889714e-03 2.55925545e+01] [ 2.38677202e-01 9.71098425e-01 -1.02110700e-03 2.71434292e+00] [ 4.69998795e-03 -1.03680793e-04 9.99988950e-01 1.30642295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.582755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.62, Y:2.72, Z:0.13 [[ 9.71076401e-01 -2.38724877e-01 -4.58875832e-03 2.56194230e+01] [ 2.38722713e-01 9.71087237e-01 -1.02173048e-03 2.72155615e+00] [ 4.69999712e-03 -1.03262478e-04 9.99988950e-01 1.31085677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.612755096000004 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:25.65, Y:2.73, Z:0.13 [[ 9.70876700e-01 -2.39535758e-01 -4.58843536e-03 2.56462633e+01] [ 2.39533596e-01 9.70887537e-01 -1.02317879e-03 2.72729556e+00] [ 4.69994261e-03 -1.05703972e-04 9.99988950e-01 1.31528758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.642755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.67, Y:2.73, Z:0.13 [[ 9.70633668e-01 -2.40518668e-01 -4.58829555e-03 2.56737437e+01] [ 2.40516514e-01 9.70644507e-01 -1.02380535e-03 2.73337286e+00] [ 4.69984817e-03 -1.09820909e-04 9.99988950e-01 1.31544793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.672755096000003 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.70, Y:2.74, Z:0.13 [[ 9.70527791e-01 -2.40945547e-01 -4.58796536e-03 2.57002485e+01] [ 2.40943391e-01 9.70538629e-01 -1.02528287e-03 2.74148363e+00] [ 4.69983496e-03 -1.10374410e-04 9.99988950e-01 1.31860206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.73, Y:2.75, Z:0.13 [[ 9.70167059e-01 -2.42393954e-01 -4.58786334e-03 2.57287426e+01] [ 2.42391812e-01 9.70177900e-01 -1.02573919e-03 2.74806739e+00] [ 4.69967660e-03 -1.16922135e-04 9.99988950e-01 1.31298579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.75, Y:2.75, Z:0.13 [[ 9.69975439e-01 -2.43159588e-01 -4.58933926e-03 2.57549369e+01] [ 2.43157485e-01 9.69986288e-01 -1.01914518e-03 2.75384989e+00] [ 4.69941107e-03 -1.27386396e-04 9.99988950e-01 1.30864474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.762755096000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:25.78, Y:2.76, Z:0.13 [[ 9.69600887e-01 -2.44648881e-01 -4.58742322e-03 2.57817429e+01] [ 2.44646755e-01 9.69611731e-01 -1.02769795e-03 2.76042724e+00] [ 4.69944453e-03 -1.25841360e-04 9.99988950e-01 1.30364883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.792755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:25.81, Y:2.77, Z:0.13 [[ 9.69024070e-01 -2.46923693e-01 -4.58709463e-03 2.58092280e+01] [ 2.46921585e-01 9.69034918e-01 -1.02916251e-03 2.76749457e+00] [ 4.69917948e-03 -1.35369435e-04 9.99988950e-01 1.29401243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.822755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.83, Y:2.77, Z:0.13 [[ 9.68974680e-01 -2.47117443e-01 -4.58676365e-03 2.58344111e+01] [ 2.47115331e-01 9.68985527e-01 -1.03063553e-03 2.77320472e+00] [ 4.69919561e-03 -1.34799883e-04 9.99988950e-01 1.29334183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.852755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.86, Y:2.78, Z:0.13 [[ 9.68598422e-01 -2.48588211e-01 -4.58235830e-03 2.58633402e+01] [ 2.48586022e-01 9.68609254e-01 -1.05019950e-03 2.78014331e+00] [ 4.69958186e-03 -1.21888645e-04 9.99988949e-01 1.29404313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.882755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:25.89, Y:2.79, Z:0.13 [[ 9.68448911e-01 -2.49169966e-01 -4.58630435e-03 2.58892144e+01] [ 2.49167867e-01 9.68459760e-01 -1.03267433e-03 2.78764631e+00] [ 4.69896264e-03 -1.42667343e-04 9.99988950e-01 1.29235853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.912755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:25.92, Y:2.79, Z:0.13 [[ 9.68425291e-01 -2.49261755e-01 -4.58616431e-03 2.59166918e+01] [ 2.49259654e-01 9.68436140e-01 -1.03329589e-03 2.79402350e+00] [ 4.69896840e-03 -1.42475851e-04 9.99988950e-01 1.29215925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.94, Y:2.80, Z:0.13 [[ 9.68483341e-01 -2.49036117e-01 -4.58583534e-03 2.59432235e+01] [ 2.49034007e-01 9.68494188e-01 -1.03475379e-03 2.79969697e+00] [ 4.69904594e-03 -1.39887147e-04 9.99988950e-01 1.29796613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:25.97, Y:2.81, Z:0.13 [[ 9.68565729e-01 -2.48715499e-01 -4.58569291e-03 2.59708553e+01] [ 2.48713382e-01 9.68576575e-01 -1.03538462e-03 2.80584627e+00] [ 4.69911094e-03 -1.37685135e-04 9.99988950e-01 1.30367201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.002755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.00, Y:2.81, Z:0.13 [[ 9.69031133e-01 -2.46896004e-01 -4.58536546e-03 2.59971414e+01] [ 2.46893860e-01 9.69041974e-01 -1.03683276e-03 2.81256508e+00] [ 4.69940146e-03 -1.27375353e-04 9.99988950e-01 1.30555446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.032755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.02, Y:2.82, Z:0.13 [[ 9.69192886e-01 -2.46260280e-01 -4.58522366e-03 2.60242825e+01] [ 2.46258126e-01 9.69203724e-01 -1.03745947e-03 2.81921092e+00] [ 4.69950091e-03 -1.23650244e-04 9.99988950e-01 1.30639294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.05, Y:2.83, Z:0.13 [[ 9.69278461e-01 -2.45923247e-01 -4.58489868e-03 2.60515997e+01] [ 2.45921082e-01 9.69289297e-01 -1.03889370e-03 2.82570648e+00] [ 4.69958133e-03 -1.20545957e-04 9.99988950e-01 1.30353003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.092755096000005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.08, Y:2.83, Z:0.13 [[ 9.69543941e-01 -2.44874514e-01 -4.58457093e-03 2.60798365e+01] [ 2.44872330e-01 9.69554774e-01 -1.04033804e-03 2.83389934e+00] [ 4.69974490e-03 -1.13981126e-04 9.99988950e-01 1.32247800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.122755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.11, Y:2.84, Z:0.13 [[ 9.69735489e-01 -2.44114835e-01 -4.58566021e-03 2.61071654e+01] [ 2.44112665e-01 9.69746325e-01 -1.03554162e-03 2.84039195e+00] [ 4.69971820e-03 -1.15216277e-04 9.99988950e-01 1.31838627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.152755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.13, Y:2.85, Z:0.13 [[ 9.69607781e-01 -2.44621621e-01 -4.58417308e-03 2.61346478e+01] [ 2.44619426e-01 9.69618611e-01 -1.04208356e-03 2.84545553e+00] [ 4.69981570e-03 -1.10965457e-04 9.99988950e-01 1.31973654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.182755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.17, Y:2.85, Z:0.13 [[ 9.69787840e-01 -2.43906815e-01 -4.58384301e-03 2.61652503e+01] [ 2.43904606e-01 9.69798667e-01 -1.04353341e-03 2.85140651e+00] [ 4.69992976e-03 -1.06014410e-04 9.99988950e-01 1.33273107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.212755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.19, Y:2.86, Z:0.13 [[ 9.69867605e-01 -2.43589315e-01 -4.59068221e-03 2.61920908e+01] [ 2.43587244e-01 9.69878460e-01 -1.01355411e-03 2.85915355e+00] [ 4.69929475e-03 -1.35218330e-04 9.99988949e-01 1.31925773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.242755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.22, Y:2.87, Z:0.13 [[ 9.69664137e-01 -2.44398068e-01 -4.58749474e-03 2.62170629e+01] [ 2.44395940e-01 9.69674981e-01 -1.02750485e-03 2.86504964e+00] [ 4.69949908e-03 -1.24830484e-04 9.99988950e-01 1.32793349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.272755096000004 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:26.24, Y:2.87, Z:0.13 [[ 9.69373349e-01 -2.45548996e-01 -4.58267497e-03 2.62447173e+01] [ 2.45546781e-01 9.69384175e-01 -1.04856922e-03 2.87208102e+00] [ 4.69984771e-03 -1.08806029e-04 9.99988950e-01 1.32121405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.302755096000002 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:26.27, Y:2.88, Z:0.13 [[ 9.69301393e-01 -2.45832896e-01 -4.58233514e-03 2.62702052e+01] [ 2.45830677e-01 9.69312218e-01 -1.05005219e-03 2.87983791e+00] [ 4.69985081e-03 -1.08661500e-04 9.99988950e-01 1.32201938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.332755096000003 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.30, Y:2.89, Z:0.13 [[ 9.68395743e-01 -2.49376598e-01 -4.58218795e-03 2.62952433e+01] [ 2.49374416e-01 9.68406576e-01 -1.05069410e-03 2.88937869e+00] [ 4.69943947e-03 -1.25192747e-04 9.99988950e-01 1.34395233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.362755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.33, Y:2.89, Z:0.13 [[ 9.68920546e-01 -2.47329861e-01 -4.57329658e-03 2.63259930e+01] [ 2.47327474e-01 9.68931336e-01 -1.08939005e-03 2.89493151e+00] [ 4.70064906e-03 -7.55694827e-05 9.99988949e-01 1.31959742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.392755096000002 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:26.35, Y:2.90, Z:0.13 [[ 9.68453510e-01 -2.49152172e-01 -4.58184043e-03 2.63513340e+01] [ 2.49149981e-01 9.68464341e-01 -1.05218505e-03 2.90323275e+00] [ 4.69950327e-03 -1.22573154e-04 9.99988950e-01 1.32392469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.422755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:26.38, Y:2.91, Z:0.13 [[ 9.67873329e-01 -2.51396592e-01 -4.57960810e-03 2.63796548e+01] [ 2.51394380e-01 9.67884155e-01 -1.06189286e-03 2.90906243e+00] [ 4.69948637e-03 -1.23509965e-04 9.99988950e-01 1.31914768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.41, Y:2.92, Z:0.13 [[ 9.67494903e-01 -2.52849016e-01 -4.58129603e-03 2.64073892e+01] [ 2.52846854e-01 9.67505740e-01 -1.05456004e-03 2.91501947e+00] [ 4.69907467e-03 -1.38084827e-04 9.99988950e-01 1.30575254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.43, Y:2.92, Z:0.13 [[ 9.67321641e-01 -2.53511055e-01 -4.58118315e-03 2.64341529e+01] [ 2.53508898e-01 9.67332479e-01 -1.05505019e-03 2.92256894e+00] [ 4.69899414e-03 -1.40797812e-04 9.99988950e-01 1.31082236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.512755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.46, Y:2.93, Z:0.13 [[ 9.66803145e-01 -2.55481299e-01 -4.58086183e-03 2.64604663e+01] [ 2.55479158e-01 9.66813986e-01 -1.05644348e-03 2.93011255e+00] [ 4.69874283e-03 -1.48941849e-04 9.99988950e-01 1.30080642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.542755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.49, Y:2.94, Z:0.13 [[ 9.66541288e-01 -2.56470184e-01 -4.58071212e-03 2.64874201e+01] [ 2.56468052e-01 9.66552131e-01 -1.05709220e-03 2.93701868e+00] [ 4.69860969e-03 -1.53083057e-04 9.99988950e-01 1.29730467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.51, Y:2.94, Z:0.13 [[ 9.66529446e-01 -2.56514814e-01 -4.58038666e-03 2.65146508e+01] [ 2.56512675e-01 9.66540287e-01 -1.05850054e-03 2.94415826e+00] [ 4.69864931e-03 -1.51855291e-04 9.99988950e-01 1.29814451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.602755096000003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.54, Y:2.95, Z:0.13 [[ 9.66262455e-01 -2.57518763e-01 -4.57761039e-03 2.65417955e+01] [ 2.57516578e-01 9.66273287e-01 -1.07049541e-03 2.95188658e+00] [ 4.69889529e-03 -1.44431046e-04 9.99988950e-01 1.29167758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.632755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.57, Y:2.96, Z:0.13 [[ 9.66134603e-01 -2.57997971e-01 -4.57992318e-03 2.65688776e+01] [ 2.57995839e-01 9.66145446e-01 -1.06050738e-03 2.95824369e+00] [ 4.69848067e-03 -1.57008243e-04 9.99988950e-01 1.29029602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.662755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.59, Y:2.97, Z:0.13 [[ 9.66231066e-01 -2.57636478e-01 -4.57959394e-03 2.65947172e+01] [ 2.57634336e-01 9.66241906e-01 -1.06192723e-03 2.96536162e+00] [ 4.69858677e-03 -1.53793566e-04 9.99988950e-01 1.29902655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.692755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.62, Y:2.97, Z:0.13 [[ 9.66863211e-01 -2.55253914e-01 -4.57936983e-03 2.66186057e+01] [ 2.55251740e-01 9.66874045e-01 -1.06289277e-03 2.97128438e+00] [ 4.69898137e-03 -1.41220202e-04 9.99988950e-01 1.30238098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.722755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.65, Y:2.98, Z:0.13 [[ 9.66822159e-01 -2.55409523e-01 -4.57048211e-03 2.66463719e+01] [ 2.55407170e-01 9.66832956e-01 -1.10108459e-03 2.97786063e+00] [ 4.70012022e-03 -1.02780921e-04 9.99988949e-01 1.30359979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.752755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.67, Y:2.98, Z:0.13 [[ 9.66966460e-01 -2.54862668e-01 -4.57006844e-03 2.66736562e+01] [ 2.54860301e-01 9.66977254e-01 -1.10286019e-03 2.98460466e+00] [ 4.70023012e-03 -9.83002094e-05 9.99988949e-01 1.29734756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.782755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.71, Y:2.99, Z:0.13 [[ 9.67544169e-01 -2.52660580e-01 -4.57289386e-03 2.67051592e+01] [ 2.52658246e-01 9.67554971e-01 -1.09071570e-03 2.98927139e+00] [ 4.70010704e-03 -1.00063728e-04 9.99988949e-01 1.28485109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.73, Y:3.00, Z:0.13 [[ 9.67449496e-01 -2.53022692e-01 -4.58148550e-03 2.67319753e+01] [ 2.53020536e-01 9.67460334e-01 -1.05379153e-03 2.99837957e+00] [ 4.69903866e-03 -1.39719832e-04 9.99988950e-01 1.31505690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.76, Y:3.01, Z:0.13 [[ 9.67944929e-01 -2.51120790e-01 -4.57850563e-03 2.67587883e+01] [ 2.51118552e-01 9.67955751e-01 -1.06658315e-03 3.00515078e+00] [ 4.69963206e-03 -1.17353954e-04 9.99988950e-01 1.31990558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.872755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.79, Y:3.01, Z:0.13 [[ 9.68396219e-01 -2.49374875e-01 -4.57541891e-03 2.67871102e+01] [ 2.49372556e-01 9.68407023e-01 -1.07981781e-03 3.01248588e+00] [ 4.70014724e-03 -9.52924217e-05 9.99988950e-01 1.31875972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.902755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.82, Y:3.02, Z:0.13 [[ 9.68481689e-01 -2.49042684e-01 -4.57822528e-03 2.68153725e+01] [ 2.49040418e-01 9.68492504e-01 -1.06778526e-03 3.01915961e+00] [ 4.69990097e-03 -1.06032659e-04 9.99988950e-01 1.31507690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.932755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.84, Y:3.03, Z:0.13 [[ 9.68796239e-01 -2.47816193e-01 -4.58052822e-03 2.68425533e+01] [ 2.47813959e-01 9.68807062e-01 -1.05791805e-03 3.02553186e+00] [ 4.69981730e-03 -1.10211805e-04 9.99988950e-01 1.30826320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.962755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.87, Y:3.03, Z:0.13 [[ 9.69133294e-01 -2.46494833e-01 -4.57771968e-03 2.68677318e+01] [ 2.46492527e-01 9.69144101e-01 -1.06993439e-03 3.03108657e+00] [ 4.70020332e-03 -9.14646537e-05 9.99988950e-01 1.31981453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.992755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.90, Y:3.04, Z:0.13 [[ 9.69171956e-01 -2.46342883e-01 -4.57196389e-03 2.68977217e+01] [ 2.46340460e-01 9.69182738e-01 -1.09451134e-03 3.03626085e+00] [ 4.70069356e-03 -6.54899954e-05 9.99988950e-01 1.31347400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.022755096000004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.93, Y:3.04, Z:0.13 [[ 9.69146491e-01 -2.46442954e-01 -4.57716240e-03 2.69257421e+01] [ 2.46440637e-01 9.69157295e-01 -1.07232168e-03 3.04149622e+00] [ 4.70025646e-03 -8.87620254e-05 9.99988950e-01 1.31514999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.052755096000002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:26.95, Y:3.05, Z:0.13 [[ 9.69140739e-01 -2.46465579e-01 -4.57682901e-03 2.69519408e+01] [ 2.46463255e-01 9.69151542e-01 -1.07374277e-03 3.04667383e+00] [ 4.70028152e-03 -8.74123165e-05 9.99988950e-01 1.31715233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.082755096000003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:26.98, Y:3.05, Z:0.13 [[ 9.69277828e-01 -2.45925894e-01 -4.57668468e-03 2.69790008e+01] [ 2.45923562e-01 9.69288630e-01 -1.07435759e-03 3.05278721e+00] [ 4.70034078e-03 -8.41636048e-05 9.99988950e-01 1.31104950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.112755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.01, Y:3.06, Z:0.13 [[ 9.69500660e-01 -2.45045970e-01 -4.57634215e-03 2.70053904e+01] [ 2.45043621e-01 9.69511458e-01 -1.07581468e-03 3.05966073e+00] [ 4.70044020e-03 -7.84004079e-05 9.99988950e-01 1.32583797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.142755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.03, Y:3.07, Z:0.13 [[ 9.69742322e-01 -2.44087868e-01 -4.57619383e-03 2.70327008e+01] [ 2.44085505e-01 9.69753117e-01 -1.07644522e-03 3.06529373e+00] [ 4.70052545e-03 -7.31080939e-05 9.99988950e-01 1.32716359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.172755096000003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:27.06, Y:3.07, Z:0.13 [[ 9.70030728e-01 -2.42939205e-01 -4.57481687e-03 2.70605567e+01] [ 2.42936802e-01 9.70041514e-01 -1.08229421e-03 3.07165599e+00] [ 4.70069398e-03 -6.15327383e-05 9.99988950e-01 1.31259316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.202755096000004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:27.09, Y:3.08, Z:0.13 [[ 9.70294817e-01 -2.41882266e-01 -4.57581027e-03 2.70862170e+01] [ 2.41879871e-01 9.70305604e-01 -1.07807779e-03 3.07860864e+00] [ 4.70070225e-03 -6.07431046e-05 9.99988950e-01 1.32598422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.11, Y:3.09, Z:0.13 [[ 9.70511378e-01 -2.41011884e-01 -4.57558062e-03 2.71139501e+01] [ 2.41009475e-01 9.70522163e-01 -1.07905161e-03 3.08501489e+00] [ 4.70076666e-03 -5.55264146e-05 9.99988950e-01 1.32382747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.262755096000003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:27.14, Y:3.09, Z:0.13 [[ 9.70926640e-01 -2.39333508e-01 -4.57523606e-03 2.71409780e+01] [ 2.39331073e-01 9.70937418e-01 -1.08051056e-03 3.09161402e+00] [ 4.70087027e-03 -4.58996640e-05 9.99988950e-01 1.34255029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.292755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.17, Y:3.10, Z:0.13 [[ 9.70888424e-01 -2.39488488e-01 -4.57512947e-03 2.71677882e+01] [ 2.39486053e-01 9.70899203e-01 -1.08096171e-03 3.09836490e+00] [ 4.70086744e-03 -4.61864827e-05 9.99988950e-01 1.33773524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.19, Y:3.11, Z:0.13 [[ 9.70788828e-01 -2.39891899e-01 -4.57479079e-03 2.71948742e+01] [ 2.39889462e-01 9.70799606e-01 -1.08239317e-03 3.10504589e+00] [ 4.70086245e-03 -4.66689017e-05 9.99988950e-01 1.33313700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.352755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.22, Y:3.11, Z:0.13 [[ 9.70715659e-01 -2.40187809e-01 -4.57444570e-03 2.72231833e+01] [ 2.40185368e-01 9.70726436e-01 -1.08384966e-03 3.11204512e+00] [ 4.70086284e-03 -4.66050899e-05 9.99988950e-01 1.34036934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.25, Y:3.12, Z:0.13 [[ 9.70838225e-01 -2.39691904e-01 -4.57506673e-03 2.72500275e+01] [ 2.39689470e-01 9.70849004e-01 -1.08123040e-03 3.11978852e+00] [ 4.70086115e-03 -4.68955163e-05 9.99988950e-01 1.33805114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.412755096000005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:27.28, Y:3.13, Z:0.13 [[ 9.70784315e-01 -2.39910175e-01 -4.57400169e-03 2.72769612e+01] [ 2.39907723e-01 9.70795090e-01 -1.08571729e-03 3.12658090e+00] [ 4.70089300e-03 -4.33410130e-05 9.99988950e-01 1.33774615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.442755096000003 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:27.30, Y:3.13, Z:0.13 [[ 9.70808142e-01 -2.39813742e-01 -4.57389512e-03 2.73048718e+01] [ 2.39811286e-01 9.70818916e-01 -1.08616603e-03 3.13435526e+00] [ 4.70090144e-03 -4.24128461e-05 9.99988950e-01 1.32554191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.472755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.33, Y:3.14, Z:0.13 [[ 9.70595273e-01 -2.40673841e-01 -4.57359245e-03 2.73322882e+01] [ 2.40671389e-01 9.70606048e-01 -1.08743902e-03 3.14106536e+00] [ 4.70087462e-03 -4.52696708e-05 9.99988950e-01 1.32066924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.502755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.36, Y:3.15, Z:0.13 [[ 9.70284995e-01 -2.41921707e-01 -4.57343752e-03 2.73598560e+01] [ 2.41919265e-01 9.70295772e-01 -1.08809021e-03 3.14743292e+00] [ 4.70081973e-03 -5.06450346e-05 9.99988950e-01 1.31711166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.532755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.39, Y:3.16, Z:0.13 [[ 9.69947573e-01 -2.43271027e-01 -4.57308673e-03 2.73864668e+01] [ 2.43268593e-01 9.69958352e-01 -1.08956253e-03 3.15578065e+00] [ 4.70076267e-03 -5.56698420e-05 9.99988950e-01 1.32935770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.41, Y:3.16, Z:0.13 [[ 9.69485079e-01 -2.45107669e-01 -4.57297832e-03 2.74137991e+01] [ 2.45105253e-01 9.69495862e-01 -1.09001737e-03 3.16218431e+00] [ 4.70065517e-03 -6.41054330e-05 9.99988950e-01 1.32538815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.44, Y:3.17, Z:0.13 [[ 9.69035140e-01 -2.46880513e-01 -4.57263764e-03 2.74409116e+01] [ 2.46878111e-01 9.69045926e-01 -1.09144467e-03 3.16993789e+00] [ 4.70055229e-03 -7.12359025e-05 9.99988950e-01 1.33078264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.622755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.47, Y:3.18, Z:0.13 [[ 9.68152775e-01 -2.50318396e-01 -4.57229558e-03 2.74682283e+01] [ 2.50316025e-01 9.68163567e-01 -1.09287574e-03 3.17908078e+00] [ 4.70029690e-03 -8.64481745e-05 9.99988950e-01 1.34399390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.652755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.49, Y:3.19, Z:0.14 [[ 9.67508405e-01 -2.52797513e-01 -4.57199709e-03 2.74943292e+01] [ 2.52795164e-01 9.67519203e-01 -1.09412303e-03 3.18561576e+00] [ 4.70008656e-03 -9.72055232e-05 9.99988950e-01 1.35642996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.682755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.52, Y:3.19, Z:0.14 [[ 9.67097520e-01 -2.54364869e-01 -4.57176496e-03 2.75188759e+01] [ 2.54362533e-01 9.67108320e-01 -1.09509213e-03 3.19282960e+00] [ 4.69994489e-03 -1.03824830e-04 9.99988950e-01 1.37393129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.712755096000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.55, Y:3.20, Z:0.14 [[ 9.66243778e-01 -2.57589072e-01 -4.56424271e-03 2.75476004e+01] [ 2.57586624e-01 9.66254554e-01 -1.12643570e-03 3.20172263e+00] [ 4.70037783e-03 -8.72763852e-05 9.99988949e-01 1.35921532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.742755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.58, Y:3.21, Z:0.13 [[ 9.65638287e-01 -2.59849576e-01 -4.57130404e-03 2.75754056e+01] [ 2.59847292e-01 9.65649099e-01 -1.09701079e-03 3.20846798e+00] [ 4.69933341e-03 -1.28525358e-04 9.99988950e-01 1.34247478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.60, Y:3.22, Z:0.14 [[ 9.65243974e-01 -2.61310498e-01 -4.57100664e-03 2.76015354e+01] [ 2.61308225e-01 9.65254788e-01 -1.09824859e-03 3.21507330e+00] [ 4.69916993e-03 -1.34363791e-04 9.99988950e-01 1.37952061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.802755096000002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:27.63, Y:3.22, Z:0.13 [[ 9.64211254e-01 -2.65095793e-01 -4.56937184e-03 2.76291550e+01] [ 2.65093530e-01 9.64222070e-01 -1.10504814e-03 3.22428219e+00] [ 4.69883279e-03 -1.45811055e-04 9.99988950e-01 1.33091720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.832755096000003 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:27.66, Y:3.23, Z:0.13 [[ 9.63804632e-01 -2.66570332e-01 -4.57061055e-03 2.76558456e+01] [ 2.66568110e-01 9.63815456e-01 -1.09990073e-03 3.23163353e+00] [ 4.69842599e-03 -1.58289597e-04 9.99988950e-01 1.32148563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.862755096000004 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:27.69, Y:3.24, Z:0.13 [[ 9.63714155e-01 -2.66897247e-01 -4.57026051e-03 2.76888828e+01] [ 2.66895021e-01 9.63724979e-01 -1.10135327e-03 3.23759884e+00] [ 4.69842237e-03 -1.58390044e-04 9.99988950e-01 1.34711057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.892755096000002 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:27.71, Y:3.25, Z:0.13 [[ 9.62762331e-01 -2.70310275e-01 -4.58790835e-03 2.77105556e+01] [ 2.70308436e-01 9.62773230e-01 -1.02801223e-03 3.24671859e+00] [ 4.69499761e-03 -2.50418880e-04 9.99988947e-01 1.30264003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.922755096000003 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:27.74, Y:3.25, Z:0.13 [[ 9.62313516e-01 -2.71904054e-01 -4.56977435e-03 2.77387738e+01] [ 2.71901877e-01 9.62324349e-01 -1.10313313e-03 3.25387917e+00] [ 4.69755149e-03 -1.80970298e-04 9.99988950e-01 1.29270260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.952755096000004 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:27.76, Y:3.26, Z:0.13 [[ 9.62387886e-01 -2.71640712e-01 -4.56947544e-03 2.77643075e+01] [ 2.71638526e-01 9.62398718e-01 -1.10436992e-03 3.26325081e+00] [ 4.69764913e-03 -1.78413337e-04 9.99988950e-01 1.30607937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.982755096 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:27.79, Y:3.27, Z:0.13 [[ 9.62077570e-01 -2.72737784e-01 -4.56616127e-03 2.77924978e+01] [ 2.72735545e-01 9.62088391e-01 -1.11807273e-03 3.27030269e+00] [ 4.69799143e-03 -1.69681791e-04 9.99988950e-01 1.27563727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.012755096000003 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:27.82, Y:3.28, Z:0.12 [[ 9.61708577e-01 -2.74036034e-01 -4.56777192e-03 2.78203895e+01] [ 2.74033841e-01 9.61719407e-01 -1.11141988e-03 3.27951550e+00] [ 4.69748400e-03 -1.82862058e-04 9.99988950e-01 1.23339008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.042755096000004 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:27.85, Y:3.29, Z:0.12 [[ 9.61777599e-01 -2.73793674e-01 -4.56883914e-03 2.78470793e+01] [ 2.73791500e-01 9.61788433e-01 -1.10701529e-03 3.28778906e+00] [ 4.69735042e-03 -1.86206809e-04 9.99988950e-01 1.22046472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.072755096 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:27.87, Y:3.30, Z:0.12 [[ 9.61728051e-01 -2.73967671e-01 -4.56848781e-03 2.78745872e+01] [ 2.73965491e-01 9.61738884e-01 -1.10846328e-03 3.29554517e+00] [ 4.69737547e-03 -1.85567781e-04 9.99988950e-01 1.21159112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.102755096000003 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:27.90, Y:3.30, Z:0.12 [[ 9.61815536e-01 -2.73660385e-01 -4.56813853e-03 2.79017068e+01] [ 2.73658195e-01 9.61826367e-01 -1.10990085e-03 3.30234207e+00] [ 4.69749198e-03 -1.82588663e-04 9.99988950e-01 1.20395163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.132755096000004 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:27.93, Y:3.31, Z:0.12 [[ 9.62196590e-01 -2.72317567e-01 -4.56778998e-03 2.79286103e+01] [ 2.72315355e-01 9.62207416e-01 -1.11133343e-03 3.31142952e+00] [ 4.69779702e-03 -1.74558111e-04 9.99988950e-01 1.18334839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.162755096000005 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:27.96, Y:3.32, Z:0.12 [[ 9.62406849e-01 -2.71573553e-01 -4.56743888e-03 2.79555753e+01] [ 2.71571326e-01 9.62417673e-01 -1.11277454e-03 3.31921568e+00] [ 4.69798404e-03 -1.69443594e-04 9.99988950e-01 1.17269643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.192755096000003 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:27.98, Y:3.33, Z:0.12 [[ 9.62646535e-01 -2.70722721e-01 -4.56695862e-03 2.79820359e+01] [ 2.70720475e-01 9.62657354e-01 -1.11474338e-03 3.32638387e+00] [ 4.69820266e-03 -1.63265355e-04 9.99988950e-01 1.16687485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.222755096000004 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:28.01, Y:3.34, Z:0.12 [[ 9.63044059e-01 -2.69305185e-01 -4.56699645e-03 2.80073920e+01] [ 2.69302924e-01 9.63054875e-01 -1.11458837e-03 3.33601383e+00] [ 4.69843262e-03 -1.56507792e-04 9.99988950e-01 1.15613133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.252755096000005 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:28.04, Y:3.34, Z:0.12 [[ 9.63673541e-01 -2.67044029e-01 -4.55984464e-03 2.80367660e+01] [ 2.67041604e-01 9.63684322e-01 -1.14384334e-03 3.34316206e+00] [ 4.69970733e-03 -1.15376671e-04 9.99988950e-01 1.15122861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.282755096000002 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:28.06, Y:3.35, Z:0.11 [[ 9.64127356e-01 -2.65400806e-01 -4.56662817e-03 2.80633413e+01] [ 2.65398494e-01 9.64138161e-01 -1.11608759e-03 3.35080687e+00] [ 4.69907103e-03 -1.35925664e-04 9.99988950e-01 1.13443194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.312755096000004 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:28.09, Y:3.36, Z:0.11 [[ 9.64588524e-01 -2.63719811e-01 -4.56506494e-03 2.80905556e+01] [ 2.63717450e-01 9.64599319e-01 -1.12247762e-03 3.36007221e+00] [ 4.69947812e-03 -1.21158259e-04 9.99988950e-01 1.13844714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.342755096000005 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:28.12, Y:3.37, Z:0.11 [[ 9.64652317e-01 -2.63486352e-01 -4.56616663e-03 2.81171151e+01] [ 2.63484010e-01 9.64663116e-01 -1.11797799e-03 3.36915536e+00] [ 4.69938447e-03 -1.24651831e-04 9.99988950e-01 1.13282327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.372755096000002 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:28.14, Y:3.38, Z:0.11 [[ 9.65067039e-01 -2.61963344e-01 -4.56248654e-03 2.81445394e+01] [ 2.61960913e-01 9.65077819e-01 -1.13299393e-03 3.37675286e+00] [ 4.69995744e-03 -1.01778042e-04 9.99988950e-01 1.12282832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.402755096000003 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:28.17, Y:3.39, Z:0.11 [[ 9.65394515e-01 -2.60753874e-01 -4.56586157e-03 2.81706695e+01] [ 2.60751495e-01 9.65405306e-01 -1.11922558e-03 3.38634879e+00] [ 4.69974939e-03 -1.10060998e-04 9.99988950e-01 1.12915387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.432755096000005 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:28.19, Y:3.40, Z:0.12 [[ 9.65103275e-01 -2.61829764e-01 -4.56551323e-03 2.81944307e+01] [ 2.61827390e-01 9.65114067e-01 -1.12064470e-03 3.39646129e+00] [ 4.69965918e-03 -1.13838550e-04 9.99988950e-01 1.15120213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.462755096000002 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:28.22, Y:3.40, Z:0.11 [[ 9.65480133e-01 -2.60436887e-01 -4.55414828e-03 2.82218342e+01] [ 2.60434280e-01 9.65490872e-01 -1.16684503e-03 3.40441433e+00] [ 4.70087808e-03 -5.94906331e-05 9.99988949e-01 1.13728373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.492755096000003 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:28.25, Y:3.41, Z:0.11 [[ 9.66314082e-01 -2.57325347e-01 -4.55648866e-03 2.82508273e+01] [ 2.57322750e-01 9.66324823e-01 -1.15734195e-03 3.41256641e+00] [ 4.70086151e-03 -5.41323697e-05 9.99988949e-01 1.11263126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.522755096000004 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:28.28, Y:3.42, Z:0.11 [[ 9.66230832e-01 -2.57637616e-01 -4.56481823e-03 2.82753541e+01] [ 2.57635183e-01 9.66241611e-01 -1.12349856e-03 3.42170149e+00] [ 4.70017282e-03 -9.04988267e-05 9.99988950e-01 1.12328793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.552755096000002 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:28.30, Y:3.43, Z:0.11 [[ 9.66711731e-01 -2.55827441e-01 -4.55527415e-03 2.83045485e+01] [ 2.55824804e-01 9.66722462e-01 -1.16219530e-03 3.42857508e+00] [ 4.70100729e-03 -4.18442872e-05 9.99988949e-01 1.11458950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.582755096000003 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:28.33, Y:3.44, Z:0.11 [[ 9.66887141e-01 -2.55163523e-01 -4.56437113e-03 2.83309712e+01] [ 2.55161053e-01 9.66897911e-01 -1.12529657e-03 3.43700380e+00] [ 4.70041555e-03 -7.66149596e-05 9.99988950e-01 1.11139948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.612755096000004 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:28.36, Y:3.45, Z:0.11 [[ 9.67099969e-01 -2.54355694e-01 -4.56400918e-03 2.83571885e+01] [ 2.54353208e-01 9.67110736e-01 -1.12676270e-03 3.44689302e+00] [ 4.70050078e-03 -7.11782067e-05 9.99988950e-01 1.11194353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.642755096000002 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:28.38, Y:3.45, Z:0.11 [[ 9.67018063e-01 -2.54666917e-01 -4.56364629e-03 2.83848825e+01] [ 2.54664428e-01 9.67028829e-01 -1.12823055e-03 3.45390001e+00] [ 4.70050053e-03 -7.11790542e-05 9.99988950e-01 1.11328248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.672755096000003 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:28.41, Y:3.46, Z:0.11 [[ 9.67033877e-01 -2.54606868e-01 -4.56328273e-03 2.84110895e+01] [ 2.54604371e-01 9.67044641e-01 -1.12969910e-03 3.46169256e+00] [ 4.70052726e-03 -6.93744260e-05 9.99988950e-01 1.10857255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.702755096000004 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:28.44, Y:3.47, Z:0.11 [[ 9.66992903e-01 -2.54762445e-01 -4.56312535e-03 2.84379109e+01] [ 2.54759947e-01 9.67003667e-01 -1.13033446e-03 3.47026475e+00] [ 4.70052571e-03 -6.94761701e-05 9.99988950e-01 1.11797077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.732755096 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:28.46, Y:3.48, Z:0.11 [[ 9.66974388e-01 -2.54832719e-01 -4.56276208e-03 2.84644964e+01] [ 2.54830215e-01 9.66985150e-01 -1.13179895e-03 3.47765524e+00] [ 4.70054258e-03 -6.83090448e-05 9.99988950e-01 1.11250037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.762755096000003 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:28.49, Y:3.49, Z:0.11 [[ 9.66851141e-01 -2.55299952e-01 -4.56137082e-03 2.84918319e+01] [ 2.55297426e-01 9.66861898e-01 -1.13740216e-03 3.48524414e+00] [ 4.70059437e-03 -6.48076533e-05 9.99988950e-01 1.11823125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.792755096000004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:28.52, Y:3.49, Z:0.11 [[ 9.66958759e-01 -2.54892023e-01 -4.56238700e-03 2.85217922e+01] [ 2.54889512e-01 9.66969520e-01 -1.13331130e-03 3.49129209e+00] [ 4.70056118e-03 -6.70393125e-05 9.99988950e-01 1.10885289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.822755096000005 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:28.55, Y:3.50, Z:0.11 [[ 9.66097653e-01 -2.58136505e-01 -4.56826962e-03 2.85471971e+01] [ 2.58134143e-01 9.66108448e-01 -1.10964513e-03 3.50014638e+00] [ 4.69988378e-03 -1.07200802e-04 9.99988950e-01 1.13218746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.852755096000003 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:28.57, Y:3.51, Z:0.11 [[ 9.65785025e-01 -2.59303831e-01 -4.56167246e-03 2.85730200e+01] [ 2.59301356e-01 9.65795794e-01 -1.13613327e-03 3.50668484e+00] [ 4.70024779e-03 -8.55873565e-05 9.99988950e-01 1.12692449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.882755096000004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:28.60, Y:3.51, Z:0.11 [[ 9.65500640e-01 -2.60360725e-01 -4.56151739e-03 2.86001196e+01] [ 2.60358259e-01 9.65511411e-01 -1.13675553e-03 3.51304850e+00] [ 4.70016359e-03 -9.00905343e-05 9.99988950e-01 1.13874689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.912755096000005 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:28.63, Y:3.52, Z:0.11 [[ 9.65193350e-01 -2.61497596e-01 -4.56115520e-03 2.86313730e+01] [ 2.61495135e-01 9.65204123e-01 -1.13820697e-03 3.51737885e+00] [ 4.70008419e-03 -9.41300943e-05 9.99988950e-01 1.13525838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.942755096000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.66, Y:3.52, Z:0.11 [[ 9.64259831e-01 -2.64919054e-01 -4.56874329e-03 2.86556693e+01] [ 2.64916776e-01 9.64270644e-01 -1.10779788e-03 3.52494924e+00] [ 4.69898180e-03 -1.42131745e-04 9.99988950e-01 1.14837458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.972755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.69, Y:3.53, Z:0.11 [[ 9.63839754e-01 -2.66443480e-01 -4.56067022e-03 2.86866152e+01] [ 2.66441066e-01 9.63850537e-01 -1.14009230e-03 3.52781061e+00] [ 4.69957460e-03 -1.16283550e-04 9.99988950e-01 1.14985750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.71, Y:3.53, Z:0.12 [[ 9.62887023e-01 -2.69866103e-01 -4.56810338e-03 2.87121018e+01] [ 2.69863868e-01 9.62897845e-01 -1.11034580e-03 3.53444015e+00] [ 4.69826159e-03 -1.63628488e-04 9.99988950e-01 1.16620703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.74, Y:3.54, Z:0.12 [[ 9.62447062e-01 -2.71431130e-01 -4.56022670e-03 2.87398109e+01] [ 2.71428764e-01 9.62457855e-01 -1.14180429e-03 3.53962172e+00] [ 4.69894724e-03 -1.38850509e-04 9.99988950e-01 1.17393309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.062755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:28.77, Y:3.54, Z:0.12 [[ 9.61669565e-01 -2.74173035e-01 -4.56005797e-03 2.87676003e+01] [ 2.74170696e-01 9.61680365e-01 -1.14247776e-03 3.54263313e+00] [ 4.69855481e-03 -1.51548182e-04 9.99988950e-01 1.18137380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.80, Y:3.55, Z:0.12 [[ 9.61233206e-01 -2.75698984e-01 -4.55994787e-03 2.87953488e+01] [ 2.75696661e-01 9.61244009e-01 -1.14291702e-03 3.54714030e+00] [ 4.69832364e-03 -1.58552607e-04 9.99988950e-01 1.18819216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.82, Y:3.55, Z:0.12 [[ 9.60746169e-01 -2.77391437e-01 -4.55960213e-03 2.88227014e+01] [ 2.77389126e-01 9.60756974e-01 -1.14429471e-03 3.55192722e+00] [ 4.69808709e-03 -1.65407292e-04 9.99988950e-01 1.20381995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.85, Y:3.56, Z:0.12 [[ 9.61289958e-01 -2.75501053e-01 -4.55923773e-03 2.88503402e+01] [ 2.75498714e-01 9.61300757e-01 -1.14574473e-03 3.55903126e+00] [ 4.69845256e-03 -1.54671226e-04 9.99988950e-01 1.22618753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.88, Y:3.56, Z:0.12 [[ 9.61455923e-01 -2.74921304e-01 -4.55891945e-03 2.88779775e+01] [ 2.74918953e-01 9.61466720e-01 -1.14700980e-03 3.56359650e+00] [ 4.69858676e-03 -1.50533995e-04 9.99988950e-01 1.22601219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:28.90, Y:3.57, Z:0.12 [[ 9.61683091e-01 -2.74125613e-01 -4.55855129e-03 2.89046491e+01] [ 2.74123246e-01 9.61693884e-01 -1.14847111e-03 3.56769899e+00] [ 4.69875624e-03 -1.45139632e-04 9.99988950e-01 1.22688949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.93, Y:3.57, Z:0.12 [[ 9.62322807e-01 -2.71871359e-01 -4.55839176e-03 2.89327647e+01] [ 2.71868963e-01 9.62333594e-01 -1.14910395e-03 3.57209753e+00] [ 4.69910197e-03 -1.33476299e-04 9.99988950e-01 1.23381741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.96, Y:3.58, Z:0.12 [[ 9.62531150e-01 -2.71132827e-01 -4.55802729e-03 2.89586257e+01] [ 2.71130417e-01 9.62541933e-01 -1.15054782e-03 3.57842136e+00] [ 4.69924368e-03 -1.28381722e-04 9.99988950e-01 1.21862524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:28.99, Y:3.59, Z:0.12 [[ 9.62797883e-01 -2.70184130e-01 -4.55763300e-03 2.89863406e+01] [ 2.70181702e-01 9.62808663e-01 -1.15210760e-03 3.58519064e+00] [ 4.69940972e-03 -1.22142284e-04 9.99988950e-01 1.23395591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.01, Y:3.59, Z:0.12 [[ 9.63028199e-01 -2.69362062e-01 -4.55723611e-03 2.90133084e+01] [ 2.69359616e-01 9.63038974e-01 -1.15367539e-03 3.59231009e+00] [ 4.69955237e-03 -1.16513434e-04 9.99988950e-01 1.23779877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.04, Y:3.60, Z:0.12 [[ 9.63456092e-01 -2.67827545e-01 -4.55686695e-03 2.90390055e+01] [ 2.67825076e-01 9.63466862e-01 -1.15513170e-03 3.60037564e+00] [ 4.69976639e-03 -1.07524557e-04 9.99988950e-01 1.24282543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.392755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:29.07, Y:3.61, Z:0.12 [[ 9.63512923e-01 -2.67623026e-01 -4.55670707e-03 2.90665541e+01] [ 2.67620551e-01 9.63523692e-01 -1.15576204e-03 3.60739400e+00] [ 4.69980375e-03 -1.05876797e-04 9.99988950e-01 1.24505865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.09, Y:3.61, Z:0.13 [[ 9.63485915e-01 -2.67720248e-01 -4.55634150e-03 2.90947857e+01] [ 2.67717768e-01 9.63496683e-01 -1.15720142e-03 3.61204603e+00] [ 4.69982617e-03 -1.04866310e-04 9.99988950e-01 1.26439697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.12, Y:3.62, Z:0.13 [[ 9.63355877e-01 -2.68187802e-01 -4.55597867e-03 2.91227064e+01] [ 2.68185320e-01 9.63366645e-01 -1.15862816e-03 3.61794651e+00] [ 4.69980782e-03 -1.05675347e-04 9.99988950e-01 1.27288209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.15, Y:3.62, Z:0.13 [[ 9.63107323e-01 -2.69079041e-01 -4.55561657e-03 2.91500740e+01] [ 2.69076563e-01 9.63118091e-01 -1.16005015e-03 3.62455392e+00] [ 4.69974192e-03 -1.08556854e-04 9.99988950e-01 1.27944057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.18, Y:3.63, Z:0.13 [[ 9.62784990e-01 -2.70230112e-01 -4.55525540e-03 2.91765185e+01] [ 2.70227639e-01 9.62795759e-01 -1.16146664e-03 3.63094209e+00] [ 4.69964384e-03 -1.12713265e-04 9.99988950e-01 1.29150691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.20, Y:3.64, Z:0.13 [[ 9.62590406e-01 -2.70922427e-01 -4.55509897e-03 2.92032643e+01] [ 2.70919959e-01 9.62601177e-01 -1.16207981e-03 3.63843798e+00] [ 4.69957711e-03 -1.15460355e-04 9.99988950e-01 1.30096361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.23, Y:3.65, Z:0.13 [[ 9.62377017e-01 -2.71679465e-01 -4.55473999e-03 2.92291238e+01] [ 2.71676999e-01 9.62387788e-01 -1.16348515e-03 3.64546617e+00] [ 4.69952116e-03 -1.17706725e-04 9.99988950e-01 1.30393289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.26, Y:3.65, Z:0.13 [[ 9.61909129e-01 -2.73331456e-01 -4.55449609e-03 2.92560963e+01] [ 2.73329004e-01 9.61919903e-01 -1.16443910e-03 3.65198548e+00] [ 4.69933827e-03 -1.24791283e-04 9.99988950e-01 1.30192511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.29, Y:3.66, Z:0.13 [[ 9.62130122e-01 -2.72552540e-01 -4.55413109e-03 2.92860351e+01] [ 2.72550073e-01 9.62140893e-01 -1.16586487e-03 3.65825443e+00] [ 4.69947519e-03 -1.19515051e-04 9.99988950e-01 1.31016874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.31, Y:3.67, Z:0.13 [[ 9.61708868e-01 -2.74035113e-01 -4.56177931e-03 2.93092710e+01] [ 2.74032804e-01 9.61719674e-01 -1.13598652e-03 3.66632081e+00] [ 4.69845311e-03 -1.57588867e-04 9.99988950e-01 1.31430043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.34, Y:3.67, Z:0.13 [[ 9.61438050e-01 -2.74983891e-01 -4.55364424e-03 2.93356909e+01] [ 2.74981442e-01 9.61448825e-01 -1.16771036e-03 3.67285165e+00] [ 4.69919744e-03 -1.29486487e-04 9.99988950e-01 1.30660648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.36, Y:3.68, Z:0.13 [[ 9.61213544e-01 -2.75767636e-01 -4.55348850e-03 2.93624823e+01] [ 2.75765193e-01 9.61224320e-01 -1.16831734e-03 3.68088193e+00] [ 4.69910800e-03 -1.32691183e-04 9.99988950e-01 1.30901508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.39, Y:3.69, Z:0.13 [[ 9.61109216e-01 -2.76131027e-01 -4.55313009e-03 2.93897120e+01] [ 2.76128581e-01 9.61119992e-01 -1.16971246e-03 3.68931510e+00] [ 4.69909826e-03 -1.33027927e-04 9.99988950e-01 1.30757541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:3.70, Z:0.13 [[ 9.61157052e-01 -2.75964479e-01 -4.55276334e-03 2.94190257e+01] [ 2.75962025e-01 9.61167826e-01 -1.17113820e-03 3.69738546e+00] [ 4.69916218e-03 -1.30742053e-04 9.99988950e-01 1.28290947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.44, Y:3.71, Z:0.13 [[ 9.60942442e-01 -2.76710725e-01 -4.56036433e-03 2.94435118e+01] [ 2.76708420e-01 9.60953249e-01 -1.14157811e-03 3.70537924e+00] [ 4.69818383e-03 -1.64900354e-04 9.99988950e-01 1.28995880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.47, Y:3.71, Z:0.13 [[ 9.60921520e-01 -2.76783507e-01 -4.55223810e-03 2.94695720e+01] [ 2.76781052e-01 9.60932294e-01 -1.17311182e-03 3.71377241e+00] [ 4.69909060e-03 -1.32704854e-04 9.99988950e-01 1.28144289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.50, Y:3.72, Z:0.13 [[ 9.60731162e-01 -2.77443531e-01 -4.55208026e-03 2.94963728e+01] [ 2.77441081e-01 9.60741937e-01 -1.17372396e-03 3.72164166e+00] [ 4.69901653e-03 -1.35300885e-04 9.99988950e-01 1.27981771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:3.73, Z:0.13 [[ 9.60667482e-01 -2.77663955e-01 -4.55170438e-03 2.95224013e+01] [ 2.77661501e-01 9.60678255e-01 -1.17517984e-03 3.72871757e+00] [ 4.69902850e-03 -1.34876008e-04 9.99988950e-01 1.28251256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.55, Y:3.73, Z:0.13 [[ 9.60910487e-01 -2.76821818e-01 -4.55154155e-03 2.95542585e+01] [ 2.76819351e-01 9.60921258e-01 -1.17581012e-03 3.73488188e+00] [ 4.69916293e-03 -1.30106502e-04 9.99988950e-01 1.26597864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.58, Y:3.74, Z:0.13 [[ 9.60657860e-01 -2.77697037e-01 -4.56417351e-03 2.95817790e+01] [ 2.77694812e-01 9.60668685e-01 -1.12690817e-03 3.74261837e+00] [ 4.69759762e-03 -1.84874115e-04 9.99988949e-01 1.26453054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.61, Y:3.75, Z:0.13 [[ 9.60244269e-01 -2.79123805e-01 -4.56569237e-03 2.96084320e+01] [ 2.79121624e-01 9.60255103e-01 -1.12103939e-03 3.75107407e+00] [ 4.69713817e-03 -1.97911820e-04 9.99988949e-01 1.28570379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.63, Y:3.76, Z:0.13 [[ 9.60060458e-01 -2.79755446e-01 -4.56162279e-03 2.96340047e+01] [ 2.79753197e-01 9.60071277e-01 -1.13674398e-03 3.75854496e+00] [ 4.69749334e-03 -1.84785613e-04 9.99988950e-01 1.29488673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.66, Y:3.77, Z:0.13 [[ 9.59803792e-01 -2.80634794e-01 -4.55998384e-03 2.96574942e+01] [ 2.80632525e-01 9.59814607e-01 -1.14306600e-03 3.76667839e+00] [ 4.69752318e-03 -1.82560702e-04 9.99988950e-01 1.30955841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.68, Y:3.78, Z:0.13 [[ 9.59694480e-01 -2.81008547e-01 -4.54988794e-03 2.96842947e+01] [ 2.81006098e-01 9.59705255e-01 -1.18193056e-03 3.77508753e+00] [ 4.69868395e-03 -1.44254027e-04 9.99988951e-01 1.31170476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.72, Y:3.78, Z:0.13 [[ 9.60144147e-01 -2.79468279e-01 -4.54951308e-03 2.97168281e+01] [ 2.79465806e-01 9.60154916e-01 -1.18337172e-03 3.78058934e+00] [ 4.69895221e-03 -1.35225904e-04 9.99988951e-01 1.29581592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.74, Y:3.79, Z:0.13 [[ 9.60073310e-01 -2.79711244e-01 -4.56732303e-03 2.97407184e+01] [ 2.79709099e-01 9.60084151e-01 -1.11486243e-03 3.78838691e+00] [ 4.69685401e-03 -2.07172147e-04 9.99988948e-01 1.31080011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.77, Y:3.80, Z:0.13 [[ 9.59283928e-01 -2.82406765e-01 -4.55682940e-03 2.97659172e+01] [ 2.82404459e-01 9.59294734e-01 -1.15515509e-03 3.79847298e+00] [ 4.69756606e-03 -1.78747226e-04 9.99988950e-01 1.31478490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.80, Y:3.81, Z:0.13 [[ 9.59329432e-01 -2.82252282e-01 -4.54868682e-03 2.97972247e+01] [ 2.82249827e-01 9.59340204e-01 -1.18637463e-03 3.80502168e+00] [ 4.69859509e-03 -1.45741963e-04 9.99988951e-01 1.30371886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.83, Y:3.81, Z:0.13 [[ 9.58819471e-01 -2.83979608e-01 -4.56111596e-03 2.98250558e+01] [ 2.83977397e-01 9.58830298e-01 -1.13873330e-03 3.81277689e+00] [ 4.69671321e-03 -2.03414175e-04 9.99988950e-01 1.29342794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.85, Y:3.82, Z:0.13 [[ 9.58356017e-01 -2.85539750e-01 -4.56024056e-03 2.98515406e+01] [ 2.85537542e-01 9.58366844e-01 -1.14207896e-03 3.82098962e+00] [ 4.69649229e-03 -2.07601636e-04 9.99988950e-01 1.30005262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.88, Y:3.83, Z:0.13 [[ 9.58161974e-01 -2.86190250e-01 -4.55760024e-03 2.98778259e+01] [ 2.86188001e-01 9.58172793e-01 -1.15215204e-03 3.82859231e+00] [ 4.69670323e-03 -2.00382234e-04 9.99988950e-01 1.29974652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.90, Y:3.84, Z:0.13 [[ 9.57908531e-01 -2.87037433e-01 -4.55617814e-03 2.99047625e+01] [ 2.87035168e-01 9.57919345e-01 -1.15757395e-03 3.83710508e+00] [ 4.69671823e-03 -1.98933398e-04 9.99988951e-01 1.29734183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.93, Y:3.84, Z:0.13 [[ 9.58118422e-01 -2.86336103e-01 -4.55260239e-03 2.99315779e+01] [ 2.86333765e-01 9.58129221e-01 -1.17118793e-03 3.84339928e+00] [ 4.69733477e-03 -1.81427050e-04 9.99988951e-01 1.30966656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:3.85, Z:0.13 [[ 9.58185548e-01 -2.86111368e-01 -4.55415277e-03 2.99552230e+01] [ 2.86109055e-01 9.58196353e-01 -1.16528428e-03 3.84978767e+00] [ 4.69717366e-03 -1.86425790e-04 9.99988951e-01 1.32383616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.98, Y:3.86, Z:0.13 [[ 9.57948587e-01 -2.86903881e-01 -4.54609434e-03 2.99843141e+01] [ 2.86901432e-01 9.57959361e-01 -1.19591716e-03 3.85884794e+00] [ 4.69808691e-03 -1.58653822e-04 9.99988951e-01 1.30779118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.01, Y:3.87, Z:0.13 [[ 9.57777459e-01 -2.87474572e-01 -4.55085362e-03 3.00089886e+01] [ 2.87472216e-01 9.57788253e-01 -1.17782809e-03 3.86812863e+00] [ 4.69734976e-03 -1.80146777e-04 9.99988951e-01 1.31446578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.04, Y:3.87, Z:0.13 [[ 9.58287691e-01 -2.85769207e-01 -4.54558972e-03 3.00363257e+01] [ 2.85766736e-01 9.58298460e-01 -1.19780423e-03 3.87328615e+00] [ 4.69832719e-03 -1.51137295e-04 9.99988951e-01 1.31219636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.06, Y:3.88, Z:0.13 [[ 9.58659195e-01 -2.84520453e-01 -4.54523041e-03 3.00645470e+01] [ 2.84517962e-01 9.58669959e-01 -1.19916614e-03 3.88095079e+00] [ 4.69856315e-03 -1.43608052e-04 9.99988951e-01 1.30130134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.09, Y:3.89, Z:0.13 [[ 9.58595718e-01 -2.84734226e-01 -4.54630644e-03 3.00911439e+01] [ 2.84731757e-01 9.58606488e-01 -1.19509078e-03 3.88813577e+00] [ 4.69840209e-03 -1.48868915e-04 9.99988951e-01 1.30260795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.12, Y:3.89, Z:0.13 [[ 9.58766916e-01 -2.84157233e-01 -4.54606035e-03 3.01177206e+01] [ 2.84154753e-01 9.58777683e-01 -1.19602201e-03 3.89487166e+00] [ 4.69851952e-03 -1.45078319e-04 9.99988951e-01 1.29736233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.15, Y:3.90, Z:0.13 [[ 9.58710758e-01 -2.84346671e-01 -4.54450598e-03 3.01458314e+01] [ 2.84344166e-01 9.58721519e-01 -1.20189924e-03 3.90201226e+00] [ 4.69867173e-03 -1.39930029e-04 9.99988951e-01 1.28816222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.17, Y:3.91, Z:0.13 [[ 9.59165644e-01 -2.82808386e-01 -4.54793433e-03 3.01726411e+01] [ 2.82805924e-01 9.59176415e-01 -1.18893919e-03 3.90734320e+00] [ 4.69851332e-03 -1.45793148e-04 9.99988951e-01 1.28819659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.21, Y:3.91, Z:0.13 [[ 9.59533479e-01 -2.81557872e-01 -4.54612021e-03 3.02056142e+01] [ 2.81555364e-01 9.59544239e-01 -1.19579188e-03 3.91391018e+00] [ 4.69888808e-03 -1.32582186e-04 9.99988951e-01 1.30015783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.23, Y:3.92, Z:0.13 [[ 9.58896061e-01 -2.83720892e-01 -4.56065771e-03 3.02307975e+01] [ 2.83718668e-01 9.58906886e-01 -1.14117826e-03 3.92368942e+00] [ 4.69702219e-03 -1.99672387e-04 9.99988949e-01 1.28641970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.25, Y:3.93, Z:0.13 [[ 9.59383731e-01 -2.82067609e-01 -4.55191871e-03 3.02548618e+01] [ 2.82065211e-01 9.59394517e-01 -1.17389468e-03 3.93268876e+00] [ 4.69820352e-03 -1.57722448e-04 9.99988951e-01 1.32323032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.28, Y:3.94, Z:0.13 [[ 9.58985114e-01 -2.83420069e-01 -4.54051707e-03 3.02823692e+01] [ 2.83417484e-01 9.58995855e-01 -1.21648226e-03 3.93999210e+00] [ 4.69911254e-03 -1.20273543e-04 9.99988952e-01 1.31055534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.31, Y:3.95, Z:0.13 [[ 9.59023888e-01 -2.83288723e-01 -4.54769038e-03 3.03093740e+01] [ 2.83286263e-01 9.59034659e-01 -1.18966111e-03 3.94663837e+00] [ 4.69841027e-03 -1.47384790e-04 9.99988952e-01 1.32104994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.802755096 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:30.34, Y:3.95, Z:0.13 [[ 9.58408961e-01 -2.85362242e-01 -4.54481958e-03 3.03378671e+01] [ 2.85359754e-01 9.58419725e-01 -1.20038043e-03 3.95314344e+00] [ 4.69838798e-03 -1.46453235e-04 9.99988952e-01 1.31089581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.37, Y:3.96, Z:0.13 [[ 9.57627025e-01 -2.87975335e-01 -4.54834844e-03 3.03671518e+01] [ 2.87972939e-01 9.57637811e-01 -1.18721339e-03 3.96145984e+00] [ 4.69755862e-03 -1.72893638e-04 9.99988951e-01 1.30740271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.39, Y:3.97, Z:0.13 [[ 9.56958150e-01 -2.90190242e-01 -4.55225696e-03 3.03939868e+01] [ 2.90187940e-01 9.56968957e-01 -1.17266786e-03 3.96892071e+00] [ 4.69666536e-03 -1.98815999e-04 9.99988951e-01 1.30174898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.42, Y:3.98, Z:0.13 [[ 9.57192952e-01 -2.89414757e-01 -4.55523943e-03 3.04197700e+01] [ 2.89412500e-01 9.57203769e-01 -1.16155924e-03 3.97657175e+00] [ 4.69646473e-03 -2.06506912e-04 9.99988950e-01 1.29922088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.45, Y:3.98, Z:0.13 [[ 9.57128459e-01 -2.89628054e-01 -4.55004286e-03 3.04467298e+01] [ 2.89625707e-01 9.57139256e-01 -1.18085792e-03 3.98474268e+00] [ 4.69703422e-03 -1.87576662e-04 9.99988951e-01 1.29527769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:30.47, Y:3.99, Z:0.13 [[ 9.57160933e-01 -2.89520749e-01 -4.54805247e-03 3.04715880e+01] [ 2.89518366e-01 9.57171721e-01 -1.18824104e-03 3.99117979e+00] [ 4.69728765e-03 -1.79406820e-04 9.99988952e-01 1.28784991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.982755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:30.50, Y:4.00, Z:0.13 [[ 9.57394816e-01 -2.88746470e-01 -4.54346612e-03 3.04972875e+01] [ 2.88743998e-01 9.57405583e-01 -1.20523076e-03 3.99598250e+00] [ 4.69794596e-03 -1.58016889e-04 9.99988952e-01 1.29717608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.012755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:30.53, Y:4.01, Z:0.13 [[ 9.56781656e-01 -2.90771854e-01 -4.53773343e-03 3.05271290e+01] [ 2.90769304e-01 9.56792406e-01 -1.22644125e-03 4.00548187e+00] [ 4.69828348e-03 -1.45997095e-04 9.99988952e-01 1.31781598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.042755096 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:30.55, Y:4.01, Z:0.13 [[ 9.57288921e-01 -2.89097367e-01 -4.54255382e-03 3.05535406e+01] [ 2.89094883e-01 9.57299686e-01 -1.20866127e-03 4.01218989e+00] [ 4.69800614e-03 -1.56191023e-04 9.99988952e-01 1.31302137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.072755096 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:30.58, Y:4.02, Z:0.13 [[ 9.57189180e-01 -2.89427532e-01 -4.53631671e-03 3.05808324e+01] [ 2.89424942e-01 9.57199919e-01 -1.23163362e-03 4.01989943e+00] [ 4.69863067e-03 -1.34016828e-04 9.99988952e-01 1.31432212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.102755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:30.61, Y:4.03, Z:0.13 [[ 9.57419110e-01 -2.88666022e-01 -4.53592941e-03 3.06122981e+01] [ 2.88663417e-01 9.57429847e-01 -1.23305835e-03 4.02680142e+00] [ 4.69877625e-03 -1.28803259e-04 9.99988952e-01 1.31173734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.132755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.63, Y:4.04, Z:0.13 [[ 9.57115328e-01 -2.89671417e-01 -4.55175022e-03 3.06340450e+01] [ 2.89669100e-01 9.57126132e-01 -1.17482777e-03 4.03600846e+00] [ 4.69691311e-03 -1.94055721e-04 9.99988951e-01 1.30315805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:30.67, Y:4.04, Z:0.13 [[ 9.57702715e-01 -2.87723723e-01 -4.53535075e-03 3.06673577e+01] [ 2.87721098e-01 9.57713446e-01 -1.23504995e-03 4.04095005e+00] [ 4.69891957e-03 -1.22105413e-04 9.99988953e-01 1.29903814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.192755096 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:30.69, Y:4.05, Z:0.13 [[ 9.56675579e-01 -2.91120457e-01 -4.55138324e-03 3.06888838e+01] [ 2.91118150e-01 9.56686385e-01 -1.17616169e-03 4.05114016e+00] [ 4.69665111e-03 -1.99785098e-04 9.99988951e-01 1.30751740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.222755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.72, Y:4.06, Z:0.13 [[ 9.56160983e-01 -2.92806438e-01 -4.53473879e-03 3.07161283e+01] [ 2.92803860e-01 9.56171726e-01 -1.23717049e-03 4.05872471e+00] [ 4.69824050e-03 -1.44854867e-04 9.99988953e-01 1.31107676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.252755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:30.74, Y:4.07, Z:0.13 [[ 9.55727663e-01 -2.94217709e-01 -4.53573020e-03 3.07443120e+01] [ 2.94215165e-01 9.55738414e-01 -1.23353875e-03 4.06658863e+00] [ 4.69790053e-03 -1.55553503e-04 9.99988953e-01 1.32607962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.282755096 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:30.77, Y:4.07, Z:0.13 [[ 9.55816474e-01 -2.93929038e-01 -4.53751697e-03 3.07710927e+01] [ 2.93926521e-01 9.55827231e-01 -1.22700207e-03 4.07332042e+00] [ 4.69773381e-03 -1.60907783e-04 9.99988953e-01 1.31829688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.312755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.80, Y:4.08, Z:0.13 [[ 9.56042606e-01 -2.93192715e-01 -4.53502103e-03 3.07976528e+01] [ 2.93190147e-01 9.56053351e-01 -1.23612321e-03 4.08021820e+00] [ 4.69814437e-03 -1.47837023e-04 9.99988953e-01 1.33704985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.342755096 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:30.83, Y:4.09, Z:0.13 [[ 9.56652192e-01 -2.91197581e-01 -4.53353411e-03 3.08287344e+01] [ 2.91194964e-01 9.56662925e-01 -1.24155269e-03 4.08616764e+00] [ 4.69860114e-03 -1.32408195e-04 9.99988953e-01 1.31864171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.372755096 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:30.86, Y:4.10, Z:0.13 [[ 9.56338110e-01 -2.92227241e-01 -4.54525173e-03 3.08561939e+01] [ 2.92224839e-01 9.56348894e-01 -1.19886331e-03 4.09552235e+00] [ 4.69718698e-03 -1.81716783e-04 9.99988952e-01 1.33253663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.402755096 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:30.88, Y:4.10, Z:0.13 [[ 9.56219074e-01 -2.92616530e-01 -4.54404981e-03 3.08797257e+01] [ 2.92614111e-01 9.56229854e-01 -1.20323708e-03 4.10439789e+00] [ 4.69724315e-03 -1.79094847e-04 9.99988952e-01 1.33548979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.432755096 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:30.91, Y:4.11, Z:0.13 [[ 9.56374850e-01 -2.92107187e-01 -4.53189530e-03 3.09059171e+01] [ 2.92104553e-01 9.56385578e-01 -1.24739548e-03 4.11189613e+00] [ 4.69861249e-03 -1.30809584e-04 9.99988953e-01 1.33571443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.462755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.93, Y:4.12, Z:0.13 [[ 9.56490840e-01 -2.91727160e-01 -4.53172723e-03 3.09331899e+01] [ 2.91724519e-01 9.56501567e-01 -1.24800578e-03 4.11964446e+00] [ 4.69868138e-03 -1.28309853e-04 9.99988953e-01 1.33646763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.492755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:30.96, Y:4.13, Z:0.13 [[ 9.56427256e-01 -2.91935560e-01 -4.53134374e-03 3.09619873e+01] [ 2.91932915e-01 9.56437981e-01 -1.24939663e-03 4.12761861e+00] [ 4.69869257e-03 -1.27891401e-04 9.99988953e-01 1.32629643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.522755096 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:30.99, Y:4.13, Z:0.13 [[ 9.57058445e-01 -2.89859566e-01 -4.53482871e-03 3.09930046e+01] [ 2.89856957e-01 9.57069180e-01 -1.23677807e-03 4.13375170e+00] [ 4.69863675e-03 -1.30782759e-04 9.99988953e-01 1.32066607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.552755096 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:31.02, Y:4.14, Z:0.13 [[ 9.57069416e-01 -2.89823203e-01 -4.54351051e-03 3.10202666e+01] [ 2.89820742e-01 9.57080187e-01 -1.20539382e-03 4.14156453e+00] [ 4.69785499e-03 -1.63158026e-04 9.99988952e-01 1.31464618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.582755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:31.05, Y:4.15, Z:0.13 [[ 9.57395211e-01 -2.88745191e-01 -4.54134565e-03 3.10474826e+01] [ 2.88742681e-01 9.57405970e-01 -1.21321358e-03 4.14853923e+00] [ 4.69822102e-03 -1.49755448e-04 9.99988952e-01 1.32808755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.612755096 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:31.08, Y:4.16, Z:0.13 [[ 9.57600172e-01 -2.88064747e-01 -4.54012730e-03 3.10751009e+01] [ 2.88062208e-01 9.57610924e-01 -1.21760814e-03 4.15557882e+00] [ 4.69842548e-03 -1.41857333e-04 9.99988952e-01 1.33361974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.642755096 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:31.10, Y:4.16, Z:0.13 [[ 9.57855518e-01 -2.87214573e-01 -4.53832459e-03 3.11014116e+01] [ 2.87211994e-01 9.57866260e-01 -1.22410173e-03 4.16249723e+00] [ 4.69868786e-03 -1.30948654e-04 9.99988953e-01 1.33543415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.672755096 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:31.13, Y:4.17, Z:0.13 [[ 9.58292586e-01 -2.85752919e-01 -4.53750175e-03 3.11258487e+01] [ 2.85750310e-01 9.58303321e-01 -1.22705737e-03 4.17061294e+00] [ 4.69893822e-03 -1.20712554e-04 9.99988953e-01 1.33980850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.702755096 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.15, Y:4.18, Z:0.13 [[ 9.58505120e-01 -2.85039359e-01 -4.52765020e-03 3.11521922e+01] [ 2.85036575e-01 9.58515810e-01 -1.26239066e-03 4.17779913e+00] [ 4.69965532e-03 -8.05379913e-05 9.99988953e-01 1.33365196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.732755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:31.18, Y:4.19, Z:0.13 [[ 9.58554694e-01 -2.84872605e-01 -4.52748558e-03 3.11793630e+01] [ 2.84869817e-01 9.58565382e-01 -1.26298077e-03 4.18515468e+00] [ 4.69967957e-03 -7.91078439e-05 9.99988953e-01 1.32967186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.762755096 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.21, Y:4.19, Z:0.13 [[ 9.58522232e-01 -2.84981817e-01 -4.52711471e-03 3.12062499e+01] [ 2.84979023e-01 9.58532919e-01 -1.26430875e-03 4.19188227e+00] [ 4.69969349e-03 -7.82646824e-05 9.99988953e-01 1.32703879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.792755096 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:31.23, Y:4.20, Z:0.13 [[ 9.58380879e-01 -2.85456826e-01 -4.52674645e-03 3.12332293e+01] [ 2.85454032e-01 9.58391566e-01 -1.26562590e-03 4.19884432e+00] [ 4.69967717e-03 -7.92263665e-05 9.99988953e-01 1.32786995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.822755096 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:31.26, Y:4.21, Z:0.13 [[ 9.58343184e-01 -2.85583353e-01 -4.52663248e-03 3.12608246e+01] [ 2.85580557e-01 9.58353871e-01 -1.26603339e-03 4.20730615e+00] [ 4.69967382e-03 -7.94237545e-05 9.99988953e-01 1.33859591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.852755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.29, Y:4.21, Z:0.13 [[ 9.58118655e-01 -2.86335739e-01 -4.52631520e-03 3.12874219e+01] [ 2.86332947e-01 9.58129343e-01 -1.26716671e-03 4.21419476e+00] [ 4.69963053e-03 -8.19371057e-05 9.99988953e-01 1.34171953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.882755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.31, Y:4.22, Z:0.13 [[ 9.57945663e-01 -2.86913960e-01 -4.52615795e-03 3.13142977e+01] [ 2.86911171e-01 9.57956352e-01 -1.26772814e-03 4.22245227e+00] [ 4.69959066e-03 -8.41906073e-05 9.99988953e-01 1.34891865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.912755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.34, Y:4.23, Z:0.13 [[ 9.57510237e-01 -2.88363769e-01 -4.52578359e-03 3.13404569e+01] [ 2.88360990e-01 9.57520929e-01 -1.26906321e-03 4.22940346e+00] [ 4.69948435e-03 -8.99184206e-05 9.99988953e-01 1.34097362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.942755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:31.37, Y:4.24, Z:0.13 [[ 9.56885057e-01 -2.90431589e-01 -4.52552904e-03 3.13674346e+01] [ 2.90428829e-01 9.56895753e-01 -1.26997031e-03 4.23696112e+00] [ 4.69929901e-03 -9.91284928e-05 9.99988953e-01 1.34146818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.972755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.39, Y:4.24, Z:0.13 [[ 9.56331917e-01 -2.92247813e-01 -4.52541577e-03 3.13948120e+01] [ 2.92245072e-01 9.56342619e-01 -1.27037381e-03 4.24447118e+00] [ 4.69911193e-03 -1.07631436e-04 9.99988953e-01 1.34641318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.002755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.42, Y:4.25, Z:0.13 [[ 9.55811137e-01 -2.93946585e-01 -4.52506741e-03 3.14222937e+01] [ 2.93943857e-01 9.55821841e-01 -1.27161342e-03 4.25211473e+00] [ 4.69894469e-03 -1.14693500e-04 9.99988953e-01 1.34583735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.032755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.45, Y:4.26, Z:0.13 [[ 9.55195661e-01 -2.95940496e-01 -4.52472091e-03 3.14486455e+01] [ 2.95937784e-01 9.55206369e-01 -1.27284518e-03 4.26075469e+00] [ 4.69872867e-03 -1.23219688e-04 9.99988953e-01 1.34645337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.062755096000004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:31.47, Y:4.27, Z:0.13 [[ 9.54539760e-01 -2.98049287e-01 -4.52437382e-03 3.14749528e+01] [ 2.98046593e-01 9.54550473e-01 -1.27407772e-03 4.27049393e+00] [ 4.69848113e-03 -1.32316359e-04 9.99988953e-01 1.34247187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.092755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:31.50, Y:4.28, Z:0.13 [[ 9.54235403e-01 -2.99022288e-01 -4.52401537e-03 3.15006618e+01] [ 2.99019599e-01 9.54246118e-01 -1.27534926e-03 4.27846522e+00] [ 4.69838195e-03 -1.35785845e-04 9.99988953e-01 1.34320972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.122755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.53, Y:4.29, Z:0.14 [[ 9.53927092e-01 -3.00004398e-01 -4.52385998e-03 3.15289777e+01] [ 3.00001717e-01 9.53937808e-01 -1.27590019e-03 4.28673052e+00] [ 4.69825675e-03 -1.40050005e-04 9.99988953e-01 1.35238722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.152755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:31.55, Y:4.29, Z:0.13 [[ 9.53871530e-01 -3.00180956e-01 -4.52749501e-03 3.15546541e+01] [ 3.00178338e-01 9.53882262e-01 -1.26302674e-03 4.29398089e+00] [ 4.69783375e-03 -1.54290681e-04 9.99988953e-01 1.34998289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.182755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.58, Y:4.30, Z:0.13 [[ 9.53809128e-01 -3.00379242e-01 -4.52310286e-03 3.15801927e+01] [ 3.00376553e-01 9.53819842e-01 -1.27856458e-03 4.30128981e+00] [ 4.69827952e-03 -1.39127476e-04 9.99988953e-01 1.34896307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.61, Y:4.31, Z:0.13 [[ 9.53794820e-01 -3.00424673e-01 -4.52292844e-03 3.16066919e+01] [ 3.00421982e-01 9.53805534e-01 -1.27918129e-03 4.30967468e+00] [ 4.69829180e-03 -1.38710636e-04 9.99988953e-01 1.33342723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.242755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:31.63, Y:4.32, Z:0.13 [[ 9.53512277e-01 -3.01320237e-01 -4.52252801e-03 3.16342514e+01] [ 3.01317549e-01 9.53522991e-01 -1.28059544e-03 4.31840309e+00] [ 4.69820376e-03 -1.41653577e-04 9.99988953e-01 1.33135399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.66, Y:4.33, Z:0.13 [[ 9.53044111e-01 -3.02797651e-01 -4.52826974e-03 3.16638648e+01] [ 3.02795076e-01 9.53054854e-01 -1.26029606e-03 4.32788051e+00] [ 4.69730415e-03 -1.70020038e-04 9.99988953e-01 1.32276556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.302755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.69, Y:4.33, Z:0.13 [[ 9.53113216e-01 -3.02579916e-01 -4.53777026e-03 3.16903046e+01] [ 3.02577498e-01 9.53123997e-01 -1.22670698e-03 4.33405528e+00] [ 4.69623462e-03 -2.03836536e-04 9.99988952e-01 1.31897835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.332755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:31.72, Y:4.34, Z:0.13 [[ 9.53191013e-01 -3.02334851e-01 -4.53108205e-03 3.17153564e+01] [ 3.02332318e-01 9.53201766e-01 -1.25027947e-03 4.34023169e+00] [ 4.69703847e-03 -1.78137386e-04 9.99988953e-01 1.32233344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.362755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:31.74, Y:4.35, Z:0.13 [[ 9.52829626e-01 -3.03472012e-01 -4.52124716e-03 3.17423783e+01] [ 3.03469328e-01 9.52840341e-01 -1.28488640e-03 4.34761503e+00] [ 4.69795375e-03 -1.47782011e-04 9.99988954e-01 1.32270621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.392755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:31.77, Y:4.36, Z:0.13 [[ 9.52118226e-01 -3.05696658e-01 -4.52083760e-03 3.17696587e+01] [ 3.05693992e-01 9.52128945e-01 -1.28632581e-03 4.35504785e+00] [ 4.69764584e-03 -1.57258641e-04 9.99988954e-01 1.31338446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.422755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.80, Y:4.36, Z:0.13 [[ 9.51848170e-01 -3.06536483e-01 -4.52174823e-03 3.17962596e+01] [ 3.06533842e-01 9.51858896e-01 -1.28312708e-03 4.36270742e+00] [ 4.69739154e-03 -1.64726697e-04 9.99988954e-01 1.32715133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:31.82, Y:4.37, Z:0.13 [[ 9.51754037e-01 -3.06828649e-01 -4.52031579e-03 3.18236900e+01] [ 3.06825987e-01 9.51764758e-01 -1.28815372e-03 4.37070096e+00] [ 4.69751973e-03 -1.60944851e-04 9.99988954e-01 1.32847932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.482755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.85, Y:4.38, Z:0.13 [[ 9.51644411e-01 -3.07168498e-01 -4.51991998e-03 3.18502071e+01] [ 3.07165833e-01 9.51655131e-01 -1.28954106e-03 4.37974135e+00] [ 4.69751143e-03 -1.61180442e-04 9.99988954e-01 1.33752866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.512755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.88, Y:4.39, Z:0.13 [[ 9.51595278e-01 -3.07320680e-01 -4.51951735e-03 3.18767902e+01] [ 3.07318011e-01 9.51605997e-01 -1.29095063e-03 4.38744642e+00] [ 4.69753564e-03 -1.60466561e-04 9.99988954e-01 1.34161177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.90, Y:4.39, Z:0.13 [[ 9.51664002e-01 -3.07107806e-01 -4.51911646e-03 3.19034163e+01] [ 3.07105127e-01 9.51674719e-01 -1.29235248e-03 4.39485075e+00] [ 4.69762042e-03 -1.57958499e-04 9.99988954e-01 1.34552285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.93, Y:4.40, Z:0.13 [[ 9.52093533e-01 -3.05773585e-01 -4.51871442e-03 3.19291832e+01] [ 3.05770885e-01 9.52104244e-01 -1.29375667e-03 4.40263065e+00] [ 4.69788380e-03 -1.49913946e-04 9.99988954e-01 1.34899750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:31.96, Y:4.41, Z:0.14 [[ 9.52295654e-01 -3.05143524e-01 -4.51854027e-03 3.19563678e+01] [ 3.05140814e-01 9.52306363e-01 -1.29436464e-03 4.41121859e+00] [ 4.69800163e-03 -1.46173234e-04 9.99988954e-01 1.35098315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.632755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:31.98, Y:4.42, Z:0.14 [[ 9.52551309e-01 -3.04344527e-01 -4.51814440e-03 3.19824561e+01] [ 3.04341801e-01 9.52562013e-01 -1.29574500e-03 4.41933002e+00] [ 4.69816562e-03 -1.40796609e-04 9.99988954e-01 1.36069796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:4.43, Z:0.14 [[ 9.53083530e-01 -3.02673708e-01 -4.51797292e-03 3.20089743e+01] [ 3.02670961e-01 9.53094229e-01 -1.29634263e-03 4.42929051e+00] [ 4.69842274e-03 -1.31936396e-04 9.99988954e-01 1.35392984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.692755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:32.03, Y:4.44, Z:0.14 [[ 9.53202713e-01 -3.02298162e-01 -4.51757958e-03 3.20346999e+01] [ 3.02295404e-01 9.53213410e-01 -1.29771193e-03 4.43868257e+00] [ 4.69851336e-03 -1.28661014e-04 9.99988954e-01 1.35607717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.06, Y:4.45, Z:0.14 [[ 9.53346361e-01 -3.01844843e-01 -4.51740924e-03 3.20612691e+01] [ 3.01842077e-01 9.53357055e-01 -1.29830461e-03 4.44794356e+00] [ 4.69859052e-03 -1.25810206e-04 9.99988954e-01 1.35706565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.09, Y:4.46, Z:0.14 [[ 9.53639622e-01 -3.00917046e-01 -4.51702178e-03 3.20874909e+01] [ 3.00914263e-01 9.53650312e-01 -1.29965123e-03 4.45609993e+00] [ 4.69874644e-03 -1.19837371e-04 9.99988954e-01 1.35165379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.11, Y:4.46, Z:0.13 [[ 9.53556708e-01 -3.01179684e-01 -4.51690190e-03 3.21138690e+01] [ 3.01176902e-01 9.53567399e-01 -1.30006777e-03 4.46352543e+00] [ 4.69872439e-03 -1.20698174e-04 9.99988954e-01 1.34874868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.14, Y:4.47, Z:0.13 [[ 9.53429378e-01 -3.01582525e-01 -4.51673545e-03 3.21413123e+01] [ 3.01579745e-01 9.53440069e-01 -1.30064579e-03 4.47140102e+00] [ 4.69868860e-03 -1.22082022e-04 9.99988954e-01 1.33990704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.17, Y:4.48, Z:0.13 [[ 9.53069542e-01 -3.02717773e-01 -4.51640206e-03 3.21684425e+01] [ 3.02715000e-01 9.53080235e-01 -1.30180243e-03 4.47954277e+00] [ 4.69857227e-03 -1.26474400e-04 9.99988954e-01 1.34009630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.20, Y:4.49, Z:0.13 [[ 9.52733117e-01 -3.03774939e-01 -4.51602289e-03 3.21951054e+01] [ 3.03772172e-01 9.52743811e-01 -1.30311646e-03 4.48765352e+00] [ 4.69846698e-03 -1.30319882e-04 9.99988954e-01 1.33864117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.22, Y:4.50, Z:0.14 [[ 9.52323392e-01 -3.05056987e-01 -4.51562598e-03 3.22205518e+01] [ 3.05054228e-01 9.52334089e-01 -1.30449040e-03 4.49546867e+00] [ 4.69832847e-03 -1.35214077e-04 9.99988954e-01 1.35253772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.25, Y:4.50, Z:0.14 [[ 9.51850747e-01 -3.06528573e-01 -4.51535648e-03 3.22463105e+01] [ 3.06525826e-01 9.51861447e-01 -1.30542259e-03 4.50283847e+00] [ 4.69814307e-03 -1.41505909e-04 9.99988954e-01 1.35864145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.27, Y:4.51, Z:0.14 [[ 9.50853718e-01 -3.09607525e-01 -4.51519514e-03 3.22740299e+01] [ 3.09604809e-01 9.50864426e-01 -1.30598039e-03 4.50977785e+00] [ 4.69767979e-03 -1.56129818e-04 9.99988954e-01 1.35144232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.30, Y:4.52, Z:0.14 [[ 9.50326757e-01 -3.11221258e-01 -4.51478936e-03 3.22997310e+01] [ 3.11218554e-01 9.50337467e-01 -1.30738167e-03 4.51662529e+00] [ 4.69745846e-03 -1.62646440e-04 9.99988954e-01 1.37303652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.33, Y:4.52, Z:0.14 [[ 9.49122361e-01 -3.14875154e-01 -4.51461373e-03 3.23271112e+01] [ 3.14872489e-01 9.49133081e-01 -1.30798787e-03 4.52471008e+00] [ 4.69682212e-03 -1.80087120e-04 9.99988954e-01 1.35950634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.35, Y:4.53, Z:0.14 [[ 9.48671435e-01 -3.16231134e-01 -4.51421349e-03 3.23530310e+01] [ 3.16228478e-01 9.48682157e-01 -1.30936777e-03 4.53234971e+00] [ 4.69661664e-03 -1.85363057e-04 9.99988954e-01 1.36673174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.38, Y:4.54, Z:0.14 [[ 9.48294886e-01 -3.17358523e-01 -4.51404038e-03 3.23789383e+01] [ 3.17355876e-01 9.48305611e-01 -1.30996429e-03 4.54007029e+00] [ 4.69641815e-03 -1.90324807e-04 9.99988954e-01 1.37012520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.40, Y:4.55, Z:0.14 [[ 9.48007910e-01 -3.18214752e-01 -4.51387245e-03 3.24045337e+01] [ 3.18212112e-01 9.48018636e-01 -1.31054268e-03 4.54775153e+00] [ 4.69626922e-03 -1.93964056e-04 9.99988954e-01 1.37793485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.43, Y:4.56, Z:0.14 [[ 9.47778904e-01 -3.18896184e-01 -4.51370598e-03 3.24305179e+01] [ 3.18893549e-01 9.47789631e-01 -1.31111576e-03 4.55551408e+00] [ 4.69615354e-03 -1.96743867e-04 9.99988954e-01 1.38452256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.46, Y:4.56, Z:0.14 [[ 9.47703797e-01 -3.19119324e-01 -4.51344726e-03 3.24569993e+01] [ 3.19116687e-01 9.47714524e-01 -1.31200578e-03 4.56373368e+00] [ 4.69614592e-03 -1.96923476e-04 9.99988954e-01 1.36845207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.48, Y:4.57, Z:0.14 [[ 9.48316308e-01 -3.17294520e-01 -4.51303080e-03 3.24830263e+01] [ 3.17291856e-01 9.48327028e-01 -1.31343677e-03 4.57229471e+00] [ 4.69657538e-03 -1.86394413e-04 9.99988954e-01 1.36860764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.51, Y:4.58, Z:0.14 [[ 9.48604552e-01 -3.16431727e-01 -4.51290202e-03 3.25099365e+01] [ 3.16429051e-01 9.48615269e-01 -1.31387912e-03 4.58120415e+00] [ 4.69676080e-03 -1.81661593e-04 9.99988954e-01 1.35846679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.54, Y:4.59, Z:0.14 [[ 9.49079011e-01 -3.15005823e-01 -4.51249783e-03 3.25362354e+01] [ 3.15003125e-01 9.49089722e-01 -1.31526584e-03 4.58977746e+00] [ 4.69708171e-03 -1.73159715e-04 9.99988954e-01 1.35333004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.56, Y:4.60, Z:0.14 [[ 9.50165065e-01 -3.11714596e-01 -4.51208634e-03 3.25623926e+01] [ 3.11711854e-01 9.50175766e-01 -1.31667596e-03 4.59841937e+00] [ 4.69770221e-03 -1.55411302e-04 9.99988954e-01 1.35668337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.59, Y:4.61, Z:0.13 [[ 9.50561670e-01 -3.10503066e-01 -4.51195908e-03 3.25894317e+01] [ 3.10500308e-01 9.50572367e-01 -1.31711189e-03 4.60657810e+00] [ 4.69791090e-03 -1.48968611e-04 9.99988954e-01 1.34776944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.62, Y:4.61, Z:0.13 [[ 9.50820421e-01 -3.09709822e-01 -4.51155897e-03 3.26160282e+01] [ 3.09707049e-01 9.50831113e-01 -1.31848098e-03 4.61417829e+00] [ 4.69807715e-03 -1.43622978e-04 9.99988954e-01 1.34309275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.64, Y:4.62, Z:0.14 [[ 9.51058849e-01 -3.08976886e-01 -4.51114074e-03 3.26422239e+01] [ 3.08974097e-01 9.51069537e-01 -1.31991039e-03 4.62155492e+00] [ 4.69823034e-03 -1.38513188e-04 9.99988954e-01 1.35100871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.67, Y:4.63, Z:0.14 [[ 9.51297458e-01 -3.08241462e-01 -4.51085657e-03 3.26687286e+01] [ 3.08238660e-01 9.51308143e-01 -1.32088086e-03 4.62830788e+00] [ 4.69836483e-03 -1.33869777e-04 9.99988954e-01 1.36440526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.70, Y:4.64, Z:0.14 [[ 9.51300656e-01 -3.08231594e-01 -4.51068176e-03 3.26957173e+01] [ 3.08228790e-01 9.51311341e-01 -1.32147753e-03 4.63587927e+00] [ 4.69838384e-03 -1.33199538e-04 9.99988954e-01 1.37544866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.72, Y:4.64, Z:0.14 [[ 9.50890181e-01 -3.09495627e-01 -4.50796345e-03 3.27228452e+01] [ 3.09492793e-01 9.50900857e-01 -1.33074705e-03 4.64343781e+00] [ 4.69848671e-03 -1.29787893e-04 9.99988954e-01 1.37685805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.75, Y:4.65, Z:0.14 [[ 9.50429558e-01 -3.10907243e-01 -4.51014497e-03 3.27514522e+01] [ 3.10904460e-01 9.50440248e-01 -1.32331196e-03 4.65145991e+00] [ 4.69805058e-03 -1.44509386e-04 9.99988954e-01 1.39375775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.78, Y:4.66, Z:0.14 [[ 9.50368259e-01 -3.11094508e-01 -4.51436582e-03 3.27839345e+01] [ 3.11091795e-01 9.50378967e-01 -1.30893172e-03 4.65724783e+00] [ 4.69755979e-03 -1.60415008e-04 9.99988954e-01 1.38105471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.81, Y:4.66, Z:0.14 [[ 9.50229747e-01 -3.11517150e-01 -4.52700536e-03 3.28105730e+01] [ 3.11514646e-01 9.50240508e-01 -1.26605531e-03 4.66469945e+00] [ 4.69614182e-03 -2.07185061e-04 9.99988952e-01 1.39151918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.84, Y:4.67, Z:0.14 [[ 9.49207914e-01 -3.14617013e-01 -4.52456704e-03 3.28376658e+01] [ 3.14614505e-01 9.49218673e-01 -1.27429797e-03 4.67457476e+00] [ 4.69571935e-03 -2.13920705e-04 9.99988952e-01 1.39419411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.86, Y:4.68, Z:0.14 [[ 9.48794819e-01 -3.15860569e-01 -4.52692816e-03 3.28584119e+01] [ 3.15858113e-01 9.48805590e-01 -1.26632925e-03 4.68383711e+00] [ 4.69515822e-03 -2.28380352e-04 9.99988952e-01 1.39295520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.89, Y:4.69, Z:0.14 [[ 9.48485569e-01 -3.16788300e-01 -4.50547415e-03 3.28850233e+01] [ 3.16785511e-01 9.48496256e-01 -1.33854253e-03 4.69202792e+00] [ 4.69745997e-03 -1.57680660e-04 9.99988954e-01 1.39151030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.91, Y:4.70, Z:0.14 [[ 9.48405105e-01 -3.17029118e-01 -4.50505613e-03 3.29109216e+01] [ 3.17026325e-01 9.48415792e-01 -1.33994797e-03 4.69995875e+00] [ 4.69746889e-03 -1.57407897e-04 9.99988954e-01 1.39656320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.94, Y:4.71, Z:0.14 [[ 9.48330251e-01 -3.17252962e-01 -4.50477227e-03 3.29374154e+01] [ 3.17250167e-01 9.48340937e-01 -1.34090159e-03 4.70805831e+00] [ 4.69746496e-03 -1.57522214e-04 9.99988954e-01 1.38976238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.96, Y:4.72, Z:0.14 [[ 9.48473813e-01 -3.16823510e-01 -4.50434822e-03 3.29642010e+01] [ 3.16820704e-01 9.48484496e-01 -1.34232454e-03 4.71586336e+00] [ 4.69758442e-03 -1.53911099e-04 9.99988954e-01 1.38876298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.99, Y:4.72, Z:0.14 [[ 9.48577883e-01 -3.16511792e-01 -4.50392552e-03 3.29911010e+01] [ 3.16508975e-01 9.48588564e-01 -1.34374134e-03 4.72411732e+00] [ 4.69768222e-03 -1.50889535e-04 9.99988954e-01 1.38472011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.01, Y:4.74, Z:0.14 [[ 9.47367973e-01 -3.20115040e-01 -4.50379474e-03 3.30078198e+01] [ 3.20112262e-01 9.47378664e-01 -1.34417951e-03 4.73644481e+00] [ 4.69709113e-03 -1.68287304e-04 9.99988954e-01 1.36805327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.04, Y:4.74, Z:0.14 [[ 9.49551023e-01 -3.13580710e-01 -4.47134442e-03 3.30449155e+01] [ 3.13577344e-01 9.49561550e-01 -1.45295724e-03 4.74125679e+00] [ 4.70143611e-03 -2.24552769e-05 9.99988948e-01 1.35678111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.07, Y:4.75, Z:0.13 [[ 9.49304122e-01 -3.14326897e-01 -4.50398351e-03 3.30709363e+01] [ 3.14324058e-01 9.49314796e-01 -1.34328620e-03 4.75039162e+00] [ 4.69792917e-03 -1.40523250e-04 9.99988955e-01 1.33149989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.10, Y:4.76, Z:0.13 [[ 9.49817466e-01 -3.12772296e-01 -4.50249391e-03 3.30977219e+01] [ 3.12769416e-01 9.49828129e-01 -1.34828661e-03 4.75836916e+00] [ 4.69830207e-03 -1.27616221e-04 9.99988955e-01 1.33728699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.13, Y:4.77, Z:0.14 [[ 9.50113325e-01 -3.11872461e-01 -4.49864676e-03 3.31262781e+01] [ 3.11869510e-01 9.50123969e-01 -1.36118782e-03 4.76507434e+00] [ 4.69878911e-03 -1.09708072e-04 9.99988955e-01 1.35428939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.15, Y:4.77, Z:0.14 [[ 9.49354821e-01 -3.14173739e-01 -4.50400657e-03 3.31500848e+01] [ 3.14170899e-01 9.49365494e-01 -1.34321557e-03 4.77485819e+00] [ 4.69795148e-03 -1.39839615e-04 9.99988955e-01 1.35722351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.18, Y:4.78, Z:0.14 [[ 9.49500592e-01 -3.13733077e-01 -4.49249148e-03 3.31802200e+01] [ 3.13730049e-01 9.49511215e-01 -1.38177176e-03 4.77922283e+00] [ 4.69917855e-03 -9.74364723e-05 9.99988954e-01 1.35791362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.21, Y:4.79, Z:0.14 [[ 9.49157402e-01 -3.14769667e-01 -4.50366419e-03 3.32064574e+01] [ 3.14766828e-01 9.49168076e-01 -1.34434220e-03 4.78624645e+00] [ 4.69789242e-03 -1.41611745e-04 9.99988955e-01 1.36238410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.23, Y:4.80, Z:0.14 [[ 9.48715130e-01 -3.16100176e-01 -4.50348569e-03 3.32321333e+01] [ 3.16097350e-01 9.48725807e-01 -1.34493990e-03 4.79591913e+00] [ 4.69770884e-03 -1.47575055e-04 9.99988955e-01 1.37299613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.26, Y:4.81, Z:0.14 [[ 9.48701833e-01 -3.16140147e-01 -4.49880054e-03 3.32574871e+01] [ 3.16137246e-01 9.48712491e-01 -1.36061331e-03 4.80657793e+00] [ 4.69821276e-03 -1.31422076e-04 9.99988955e-01 1.38967467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.28, Y:4.82, Z:0.14 [[ 9.48740945e-01 -3.16022770e-01 -4.49764879e-03 3.32842532e+01] [ 3.16019850e-01 9.48751597e-01 -1.36446240e-03 4.81602909e+00] [ 4.69835266e-03 -1.26824953e-04 9.99988955e-01 1.38490540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.31, Y:4.82, Z:0.14 [[ 9.48848382e-01 -3.15700057e-01 -4.49687481e-03 3.33106315e+01] [ 3.15697121e-01 9.48859030e-01 -1.36704642e-03 4.82468709e+00] [ 4.69847691e-03 -1.22530649e-04 9.99988955e-01 1.37955811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.34, Y:4.83, Z:0.14 [[ 9.48720832e-01 -3.16083130e-01 -4.49866172e-03 3.33386156e+01] [ 3.16080226e-01 9.48731489e-01 -1.36108316e-03 4.83233237e+00] [ 4.69823745e-03 -1.30650071e-04 9.99988955e-01 1.37906538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.37, Y:4.84, Z:0.14 [[ 9.48420188e-01 -3.16984043e-01 -4.50139913e-03 3.33658962e+01] [ 3.16981193e-01 9.48430860e-01 -1.35194992e-03 4.84019163e+00] [ 4.69781239e-03 -1.44642265e-04 9.99988955e-01 1.37839776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.39, Y:4.85, Z:0.14 [[ 9.48370604e-01 -3.17132354e-01 -4.50195096e-03 3.33940060e+01] [ 3.17129514e-01 9.48381278e-01 -1.35010974e-03 4.84678593e+00] [ 4.69772949e-03 -1.47297127e-04 9.99988955e-01 1.39240689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.42, Y:4.86, Z:0.14 [[ 9.47898622e-01 -3.18540325e-01 -4.50158103e-03 3.34203519e+01] [ 3.18537495e-01 9.47909298e-01 -1.35134206e-03 4.85580706e+00] [ 4.69754745e-03 -1.52987075e-04 9.99988955e-01 1.39107719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.44, Y:4.87, Z:0.14 [[ 9.47402250e-01 -3.20013620e-01 -4.50113981e-03 3.34449542e+01] [ 3.20010800e-01 9.47412929e-01 -1.35281009e-03 4.86623256e+00] [ 4.69735571e-03 -1.58758031e-04 9.99988955e-01 1.37997380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.48, Y:4.87, Z:0.13 [[ 9.47908652e-01 -3.18510484e-01 -4.50094873e-03 3.34775864e+01] [ 3.18507644e-01 9.47919326e-01 -1.35344555e-03 4.87459924e+00] [ 4.69762288e-03 -1.50643828e-04 9.99988955e-01 1.33784605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.50, Y:4.88, Z:0.13 [[ 9.47780552e-01 -3.18891200e-01 -4.51967434e-03 3.35047484e+01] [ 3.18888660e-01 9.47791304e-01 -1.29115993e-03 4.88301844e+00] [ 4.69544757e-03 -2.17536626e-04 9.99988953e-01 1.33936305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.53, Y:4.90, Z:0.14 [[ 9.46796410e-01 -3.21801396e-01 -4.51878332e-03 3.35263453e+01] [ 3.21798875e-01 9.46807166e-01 -1.29411865e-03 4.89534231e+00] [ 4.69486562e-03 -2.28872495e-04 9.99988953e-01 1.38766509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.55, Y:4.90, Z:0.14 [[ 9.46861650e-01 -3.21609697e-01 -4.49647359e-03 3.35531444e+01] [ 3.21606823e-01 9.46872314e-01 -1.36802677e-03 4.90380281e+00] [ 4.69755703e-03 -1.50764498e-04 9.99988955e-01 1.37793013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.58, Y:4.91, Z:0.14 [[ 9.47196960e-01 -3.20620765e-01 -4.49930712e-03 3.35815864e+01] [ 3.20617924e-01 9.47207633e-01 -1.35864321e-03 4.91163305e+00] [ 4.69738727e-03 -1.55655794e-04 9.99988955e-01 1.39141199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.61, Y:4.92, Z:0.14 [[ 9.47252801e-01 -3.20455697e-01 -4.50301123e-03 3.36068135e+01] [ 3.20452913e-01 9.47263489e-01 -1.34638056e-03 4.92023557e+00] [ 4.69699345e-03 -1.67640307e-04 9.99988955e-01 1.38464073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.63, Y:4.93, Z:0.14 [[ 9.47632605e-01 -3.19330905e-01 -4.49656806e-03 3.36336505e+01] [ 3.19328007e-01 9.47643263e-01 -1.36767673e-03 4.92841560e+00] [ 4.69788388e-03 -1.39825052e-04 9.99988955e-01 1.39241957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.67, Y:4.93, Z:0.13 [[ 9.49027082e-01 -3.15162440e-01 -4.49824078e-03 3.36704057e+01] [ 3.15159521e-01 9.49037734e-01 -1.36215291e-03 4.93433461e+00] [ 4.69829967e-03 -1.24943411e-04 9.99988955e-01 1.34675812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.69, Y:4.95, Z:0.14 [[ 9.47825187e-01 -3.18758407e-01 -4.52697027e-03 3.36890914e+01] [ 3.18755980e-01 9.47835967e-01 -1.26715248e-03 4.94683511e+00] [ 4.69474075e-03 -2.41959812e-04 9.99988950e-01 1.39835494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.72, Y:4.95, Z:0.14 [[ 9.47887411e-01 -3.18573743e-01 -4.49741303e-03 3.37158531e+01] [ 3.18570851e-01 9.47898070e-01 -1.36456877e-03 4.95495834e+00] [ 4.69780491e-03 -1.39287135e-04 9.99988956e-01 1.41377132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.74, Y:4.96, Z:0.14 [[ 9.47779916e-01 -3.18893407e-01 -4.49728506e-03 3.37428688e+01] [ 3.18890517e-01 9.47790576e-01 -1.36499040e-03 4.96276935e+00] [ 4.69777083e-03 -1.40431065e-04 9.99988956e-01 1.42091160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.77, Y:4.97, Z:0.14 [[ 9.47860425e-01 -3.18654033e-01 -4.49687751e-03 3.37690710e+01] [ 3.18651133e-01 9.47871082e-01 -1.36633172e-03 4.96954226e+00] [ 4.69784727e-03 -1.37843351e-04 9.99988956e-01 1.43231737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.80, Y:4.98, Z:0.14 [[ 9.47780788e-01 -3.18890824e-01 -4.49660066e-03 3.37961401e+01] [ 3.18887923e-01 9.47791445e-01 -1.36724223e-03 4.97764309e+00] [ 4.69784064e-03 -1.38065723e-04 9.99988956e-01 1.43970824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.82, Y:4.99, Z:0.14 [[ 9.47709003e-01 -3.19104104e-01 -4.49619997e-03 3.38227796e+01] [ 3.19101199e-01 9.47719659e-01 -1.36855863e-03 4.98586692e+00] [ 4.69784978e-03 -1.37747470e-04 9.99988956e-01 1.44406186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.85, Y:4.99, Z:0.14 [[ 9.47662502e-01 -3.19242180e-01 -4.49580214e-03 3.38492924e+01] [ 3.19239270e-01 9.47673157e-01 -1.36986429e-03 4.99427985e+00] [ 4.69786947e-03 -1.37067575e-04 9.99988956e-01 1.44722902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.88, Y:5.00, Z:0.14 [[ 9.48611582e-01 -3.16410901e-01 -4.49540623e-03 3.38829195e+01] [ 3.16407954e-01 9.48622226e-01 -1.37116231e-03 5.00012990e+00] [ 4.69829296e-03 -1.21681841e-04 9.99988956e-01 1.42655013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.90, Y:5.01, Z:0.15 [[ 9.47827770e-01 -3.18750842e-01 -4.51884453e-03 3.39049152e+01] [ 3.18748288e-01 9.47838517e-01 -1.29383587e-03 5.00920036e+00] [ 4.69554617e-03 -2.14040391e-04 9.99988953e-01 1.46438314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:33.93, Y:5.02, Z:0.15 [[ 9.47896929e-01 -3.18545356e-01 -4.50200819e-03 3.39349527e+01] [ 3.18542537e-01 9.47907607e-01 -1.34923518e-03 5.01538273e+00] [ 4.69728041e-03 -1.55145225e-04 9.99988956e-01 1.45045517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.96, Y:5.02, Z:0.14 [[ 9.47662361e-01 -3.19242419e-01 -4.50857346e-03 3.39583110e+01] [ 3.19239710e-01 9.47673069e-01 -1.32763647e-03 5.02265554e+00] [ 4.69649153e-03 -1.81164572e-04 9.99988955e-01 1.44895842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:33.98, Y:5.03, Z:0.14 [[ 9.47809674e-01 -3.18804973e-01 -4.49575987e-03 3.39847807e+01] [ 3.18802059e-01 9.47820326e-01 -1.36969463e-03 5.02973157e+00] [ 4.69783805e-03 -1.35047681e-04 9.99988956e-01 1.44148045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.01, Y:5.04, Z:0.14 [[ 9.48376991e-01 -3.17113344e-01 -4.49558921e-03 3.40115793e+01] [ 3.17110409e-01 9.48387638e-01 -1.37025454e-03 5.03665213e+00] [ 4.69808723e-03 -1.26080250e-04 9.99988956e-01 1.44047863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.04, Y:5.05, Z:0.14 [[ 9.48297043e-01 -3.17352417e-01 -4.49020268e-03 3.40385872e+01] [ 3.17349401e-01 9.48307667e-01 -1.38790394e-03 5.04500047e+00] [ 4.69854830e-03 -1.08817931e-04 9.99988956e-01 1.39978654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.07, Y:5.05, Z:0.14 [[ 9.48057191e-01 -3.18068220e-01 -4.49107878e-03 3.40666465e+01] [ 3.18065225e-01 9.48067821e-01 -1.38503480e-03 5.05352239e+00] [ 4.69838282e-03 -1.15363784e-04 9.99988956e-01 1.41732517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:34.09, Y:5.06, Z:0.14 [[ 9.48314236e-01 -3.17300972e-01 -4.49472394e-03 3.40923440e+01] [ 3.17298026e-01 9.48324880e-01 -1.37310269e-03 5.06076942e+00] [ 4.69814536e-03 -1.24034199e-04 9.99988956e-01 1.41313224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.12, Y:5.07, Z:0.14 [[ 9.48550736e-01 -3.16593272e-01 -4.49455589e-03 3.41193859e+01] [ 3.16590314e-01 9.48561377e-01 -1.37365253e-03 5.06942938e+00] [ 4.69825128e-03 -1.19953744e-04 9.99988956e-01 1.43158570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.15, Y:5.08, Z:0.14 [[ 9.48707435e-01 -3.16123404e-01 -4.49412084e-03 3.41453630e+01] [ 3.16120435e-01 9.48718072e-01 -1.37507440e-03 5.07700210e+00] [ 4.69834686e-03 -1.16140132e-04 9.99988956e-01 1.41630458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.17, Y:5.09, Z:0.14 [[ 9.48932110e-01 -3.15448340e-01 -4.49393253e-03 3.41720014e+01] [ 3.15445360e-01 9.48942745e-01 -1.37568955e-03 5.08533927e+00] [ 4.69844365e-03 -1.12154180e-04 9.99988956e-01 1.44448684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.20, Y:5.09, Z:0.14 [[ 9.49179245e-01 -3.14703940e-01 -4.49349708e-03 3.41986069e+01] [ 3.14700945e-01 9.49189875e-01 -1.37711043e-03 5.09262380e+00] [ 4.69856401e-03 -1.06983139e-04 9.99988956e-01 1.44730707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.23, Y:5.10, Z:0.15 [[ 9.49160732e-01 -3.14759776e-01 -4.49306486e-03 3.42251816e+01] [ 3.14756775e-01 9.49171361e-01 -1.37851919e-03 5.10030545e+00] [ 4.69859088e-03 -1.05786318e-04 9.99988956e-01 1.45224191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.25, Y:5.11, Z:0.15 [[ 9.49281532e-01 -3.14395274e-01 -4.49263296e-03 3.42521069e+01] [ 3.14392263e-01 9.49292158e-01 -1.37992533e-03 5.10786264e+00] [ 4.69866324e-03 -1.02511413e-04 9.99988956e-01 1.45649033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.28, Y:5.12, Z:0.15 [[ 9.49656731e-01 -3.13260133e-01 -4.49249933e-03 3.42784976e+01] [ 3.13257106e-01 9.49667352e-01 -1.38036021e-03 5.11680433e+00] [ 4.69879177e-03 -9.64389715e-05 9.99988956e-01 1.47799618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.30, Y:5.13, Z:0.15 [[ 9.49905062e-01 -3.12506338e-01 -4.49012315e-03 3.43044914e+01] [ 3.12503267e-01 9.49915671e-01 -1.38808878e-03 5.12520042e+00] [ 4.69902488e-03 -8.46255938e-05 9.99988956e-01 1.48317219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.33, Y:5.14, Z:0.15 [[ 9.49851351e-01 -3.12669588e-01 -4.48765753e-03 3.43319959e+01] [ 3.12666481e-01 9.49861949e-01 -1.39610708e-03 5.13606464e+00] [ 4.69917535e-03 -7.70458922e-05 9.99988956e-01 1.49446946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.36, Y:5.15, Z:0.15 [[ 9.49826916e-01 -3.12743748e-01 -4.49202687e-03 3.43586242e+01] [ 3.12740708e-01 9.49837533e-01 -1.38190408e-03 5.14504983e+00] [ 4.69887758e-03 -9.22699740e-05 9.99988956e-01 1.50008883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.38, Y:5.15, Z:0.15 [[ 9.49869979e-01 -3.12612936e-01 -4.49159444e-03 3.43848232e+01] [ 3.12609889e-01 9.49880595e-01 -1.38330818e-03 5.15348311e+00] [ 4.69891843e-03 -9.01539279e-05 9.99988956e-01 1.50966641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.41, Y:5.16, Z:0.15 [[ 9.49662821e-01 -3.13241703e-01 -4.49026990e-03 3.44116429e+01] [ 3.13238642e-01 9.49673432e-01 -1.38760491e-03 5.16168726e+00] [ 4.69894576e-03 -8.87692507e-05 9.99988956e-01 1.51244637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.44, Y:5.17, Z:0.15 [[ 9.49585777e-01 -3.13475171e-01 -4.49099467e-03 3.44382261e+01] [ 3.13472124e-01 9.49596393e-01 -1.38525521e-03 5.16966509e+00] [ 4.69887545e-03 -9.23829911e-05 9.99988956e-01 1.50965240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.46, Y:5.18, Z:0.15 [[ 9.49636801e-01 -3.13320572e-01 -4.49056980e-03 3.44648107e+01] [ 3.13317517e-01 9.49647414e-01 -1.38663116e-03 5.17785573e+00] [ 4.69891806e-03 -9.01781991e-05 9.99988956e-01 1.51050984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.49, Y:5.19, Z:0.15 [[ 9.49540779e-01 -3.13611500e-01 -4.48728763e-03 3.44920526e+01] [ 3.13608397e-01 9.49551379e-01 -1.39725073e-03 5.18532505e+00] [ 4.69910405e-03 -8.05045342e-05 9.99988956e-01 1.50254519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.52, Y:5.19, Z:0.15 [[ 9.49568836e-01 -3.13526559e-01 -4.48587951e-03 3.45175771e+01] [ 3.13523434e-01 9.49579429e-01 -1.40180252e-03 5.19267844e+00] [ 4.69920122e-03 -7.53203670e-05 9.99988956e-01 1.48717786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.54, Y:5.20, Z:0.15 [[ 9.49106313e-01 -3.14924024e-01 -4.47944918e-03 3.45449923e+01] [ 3.14920817e-01 9.49116882e-01 -1.42254568e-03 5.20105777e+00] [ 4.69951464e-03 -6.05247093e-05 9.99988955e-01 1.49149997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.57, Y:5.21, Z:0.15 [[ 9.48848956e-01 -3.15698495e-01 -4.48532734e-03 3.45721386e+01] [ 3.15695387e-01 9.48859554e-01 -1.40357569e-03 5.21060826e+00] [ 4.69905243e-03 -8.42158191e-05 9.99988956e-01 1.47890191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.60, Y:5.22, Z:0.15 [[ 9.48511660e-01 -3.16710404e-01 -4.48905950e-03 3.45970065e+01] [ 3.16707363e-01 9.48522277e-01 -1.39153583e-03 5.21996158e+00] [ 4.69868681e-03 -1.01830241e-04 9.99988956e-01 1.46270763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.63, Y:5.22, Z:0.15 [[ 9.49881247e-01 -3.12578808e-01 -4.48391653e-03 3.46293058e+01] [ 3.12575643e-01 9.49891828e-01 -1.40810873e-03 5.22411756e+00] [ 4.69938062e-03 -6.40270163e-05 9.99988956e-01 1.46352768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.65, Y:5.24, Z:0.15 [[ 9.48703756e-01 -3.16134306e-01 -4.50364297e-03 3.46543374e+01] [ 3.16131483e-01 9.48714435e-01 -1.34432625e-03 5.23507094e+00] [ 4.69765874e-03 -1.48375965e-04 9.99988955e-01 1.48947434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.68, Y:5.24, Z:0.15 [[ 9.48927858e-01 -3.15461033e-01 -4.50069106e-03 3.46787569e+01] [ 3.15458157e-01 9.48938522e-01 -1.35387685e-03 5.24407547e+00] [ 4.69797451e-03 -1.35048244e-04 9.99988955e-01 1.49273874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.71, Y:5.25, Z:0.15 [[ 9.49363714e-01 -3.14147107e-01 -4.48703945e-03 3.47075757e+01] [ 3.14144007e-01 9.49374314e-01 -1.39795988e-03 5.24869567e+00] [ 4.69904505e-03 -8.24041732e-05 9.99988956e-01 1.49834069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.73, Y:5.26, Z:0.15 [[ 9.47874209e-01 -3.18613138e-01 -4.48908931e-03 3.47327748e+01] [ 3.18610119e-01 9.47884833e-01 -1.39134614e-03 5.25935367e+00] [ 4.69844083e-03 -1.11448162e-04 9.99988956e-01 1.49729031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.76, Y:5.27, Z:0.15 [[ 9.47799501e-01 -3.18835354e-01 -4.48596591e-03 3.47641224e+01] [ 3.18832290e-01 9.47810111e-01 -1.40141094e-03 5.26700550e+00] [ 4.69866320e-03 -1.02014197e-04 9.99988956e-01 1.46772853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.79, Y:5.28, Z:0.15 [[ 9.46332988e-01 -3.23161920e-01 -4.49996625e-03 3.47880181e+01] [ 3.23159119e-01 9.46343671e-01 -1.35639488e-03 5.27857129e+00] [ 4.69684976e-03 -1.70603911e-04 9.99988955e-01 1.49600368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.82, Y:5.29, Z:0.15 [[ 9.46111563e-01 -3.23809786e-01 -4.48693845e-03 3.48168974e+01] [ 3.23806793e-01 9.46122194e-01 -1.39820210e-03 5.28574084e+00] [ 4.69794358e-03 -1.30045981e-04 9.99988956e-01 1.47988397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.85, Y:5.30, Z:0.15 [[ 9.44410878e-01 -3.28736827e-01 -4.49360764e-03 3.48469022e+01] [ 3.28733991e-01 9.44421552e-01 -1.37681352e-03 5.29802796e+00] [ 4.69646921e-03 -1.76923912e-04 9.99988956e-01 1.47844809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.87, Y:5.31, Z:0.15 [[ 9.44096908e-01 -3.29637277e-01 -4.50494617e-03 3.48680634e+01] [ 3.29634625e-01 9.44107630e-01 -1.34044721e-03 5.30690776e+00] [ 4.69501543e-03 -2.19474176e-04 9.99988954e-01 1.49460322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.89, Y:5.32, Z:0.15 [[ 9.43684403e-01 -3.30816604e-01 -4.48573915e-03 3.48947169e+01] [ 3.30813673e-01 9.43695050e-01 -1.40190485e-03 5.31520136e+00] [ 4.69694323e-03 -1.60988101e-04 9.99988956e-01 1.49727474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.92, Y:5.32, Z:0.15 [[ 9.43451438e-01 -3.31480416e-01 -4.48532119e-03 3.49215893e+01] [ 3.31477486e-01 9.43462086e-01 -1.40324081e-03 5.32186181e+00] [ 4.69687733e-03 -1.62893426e-04 9.99988956e-01 1.50999654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.94, Y:5.33, Z:0.15 [[ 9.42788849e-01 -3.33360274e-01 -4.48489257e-03 3.49427662e+01] [ 3.33357359e-01 9.42799501e-01 -1.40460938e-03 5.33272435e+00] [ 4.69659544e-03 -1.70821879e-04 9.99988956e-01 1.48889777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:34.98, Y:5.34, Z:0.15 [[ 9.43793060e-01 -3.30506771e-01 -4.46483130e-03 3.49762086e+01] [ 3.30503520e-01 9.43803616e-01 -1.46860126e-03 5.33932774e+00] [ 4.69930659e-03 -8.95867834e-05 9.99988954e-01 1.50249057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.00, Y:5.35, Z:0.15 [[ 9.44685223e-01 -3.27947732e-01 -4.48503913e-03 3.50011294e+01] [ 3.27944758e-01 9.44695858e-01 -1.40405028e-03 5.34813528e+00] [ 4.69745299e-03 -1.44459521e-04 9.99988956e-01 1.47982219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.03, Y:5.36, Z:0.15 [[ 9.44513966e-01 -3.28440723e-01 -4.47873577e-03 3.50288284e+01] [ 3.28437660e-01 9.44524576e-01 -1.42414614e-03 5.35829518e+00] [ 4.69802359e-03 -1.25859573e-04 9.99988956e-01 1.47077908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.06, Y:5.37, Z:0.15 [[ 9.45322624e-01 -3.26105822e-01 -4.48662643e-03 3.50554953e+01] [ 3.26102851e-01 9.45333260e-01 -1.39899448e-03 5.36644947e+00] [ 4.69757744e-03 -1.40600537e-04 9.99988956e-01 1.46272520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.08, Y:5.37, Z:0.15 [[ 9.45542513e-01 -3.25467744e-01 -4.48360647e-03 3.50822218e+01] [ 3.25464721e-01 9.45553135e-01 -1.40860704e-03 5.37427542e+00] [ 4.69794431e-03 -1.27357888e-04 9.99988956e-01 1.46558063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.11, Y:5.38, Z:0.15 [[ 9.45697811e-01 -3.25016233e-01 -4.48316755e-03 3.51083854e+01] [ 3.25013198e-01 9.45708429e-01 -1.41000263e-03 5.38161669e+00] [ 4.69804308e-03 -1.23652218e-04 9.99988956e-01 1.47401784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.13, Y:5.39, Z:0.15 [[ 9.46374169e-01 -3.23041538e-01 -4.48297749e-03 3.51337566e+01] [ 3.23038478e-01 9.46384780e-01 -1.41060664e-03 5.38938248e+00] [ 4.69830620e-03 -1.13212541e-04 9.99988956e-01 1.48760850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.16, Y:5.40, Z:0.15 [[ 9.46162791e-01 -3.23660228e-01 -4.47540196e-03 3.51613759e+01] [ 3.23657061e-01 9.46173371e-01 -1.43465345e-03 5.39958818e+00] [ 4.69884642e-03 -9.10797349e-05 9.99988956e-01 1.49296289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.19, Y:5.41, Z:0.15 [[ 9.46061074e-01 -3.23957329e-01 -4.48245882e-03 3.51885598e+01] [ 3.23954272e-01 9.46071686e-01 -1.41225935e-03 5.40838923e+00] [ 4.69823915e-03 -1.16028088e-04 9.99988956e-01 1.49437115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.22, Y:5.42, Z:0.15 [[ 9.46062691e-01 -3.23952615e-01 -4.48201335e-03 3.52159349e+01] [ 3.23949550e-01 9.46073301e-01 -1.41367145e-03 5.41818095e+00] [ 4.69827573e-03 -1.14524391e-04 9.99988956e-01 1.49954142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.24, Y:5.43, Z:0.15 [[ 9.46070749e-01 -3.23929074e-01 -4.48258911e-03 3.52415547e+01] [ 3.23926018e-01 9.46081361e-01 -1.41184720e-03 5.42670726e+00] [ 4.69823236e-03 -1.16319900e-04 9.99988956e-01 1.50580987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.27, Y:5.44, Z:0.15 [[ 9.45918867e-01 -3.24372340e-01 -4.48118335e-03 3.52679336e+01] [ 3.24369268e-01 9.45929475e-01 -1.41629683e-03 5.43586443e+00] [ 4.69829093e-03 -1.13856273e-04 9.99988956e-01 1.52706576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.29, Y:5.44, Z:0.15 [[ 9.45629654e-01 -3.25214507e-01 -4.48119668e-03 3.52944346e+01] [ 3.25211445e-01 9.45640265e-01 -1.41625464e-03 5.44460566e+00] [ 4.69818657e-03 -1.18084057e-04 9.99988956e-01 1.52816105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.32, Y:5.45, Z:0.15 [[ 9.45381518e-01 -3.25935129e-01 -4.48076004e-03 3.53202519e+01] [ 3.25932068e-01 9.45392129e-01 -1.41763475e-03 5.45319326e+00] [ 4.69813224e-03 -1.20217692e-04 9.99988956e-01 1.53405598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.36, Y:5.46, Z:0.15 [[ 9.46215136e-01 -3.23507095e-01 -4.48057090e-03 3.53562773e+01] [ 3.23504005e-01 9.46225738e-01 -1.41823228e-03 5.45985510e+00] [ 4.69843972e-03 -1.07529777e-04 9.99988956e-01 1.53434762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.37, Y:5.47, Z:0.15 [[ 9.43999129e-01 -3.29917105e-01 -4.51089203e-03 3.53747702e+01] [ 3.29914540e-01 9.44009876e-01 -1.32270479e-03 5.47420552e+00] [ 4.69470956e-03 -2.39576695e-04 9.99988951e-01 1.52502891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.41, Y:5.48, Z:0.15 [[ 9.45183006e-01 -3.26510387e-01 -4.47802893e-03 3.54091475e+01] [ 3.26507294e-01 9.45193607e-01 -1.42591044e-03 5.48175019e+00] [ 4.69817889e-03 -1.14362797e-04 9.99988957e-01 1.53452901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.43, Y:5.49, Z:0.15 [[ 9.44590087e-01 -3.28221428e-01 -4.50137323e-03 3.54305774e+01] [ 3.28218704e-01 9.44600791e-01 -1.35217510e-03 5.49231327e+00] [ 4.69581355e-03 -2.00183692e-04 9.99988955e-01 1.50674514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.46, Y:5.50, Z:0.15 [[ 9.43888624e-01 -3.30233556e-01 -4.47919391e-03 3.54563075e+01] [ 3.30230523e-01 9.43899242e-01 -1.42203654e-03 5.50284522e+00] [ 4.69751192e-03 -1.36922434e-04 9.99988957e-01 1.48171205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.48, Y:5.51, Z:0.15 [[ 9.44128510e-01 -3.29547112e-01 -4.47868970e-03 3.54829553e+01] [ 3.29544063e-01 9.44139123e-01 -1.42362278e-03 5.51229282e+00] [ 4.69765694e-03 -1.31842744e-04 9.99988957e-01 1.46024698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:35.51, Y:5.52, Z:0.15 [[ 9.44237668e-01 -3.29234216e-01 -4.47854807e-03 3.55088376e+01] [ 3.29231161e-01 9.44248280e-01 -1.42406818e-03 5.52128455e+00] [ 4.69771328e-03 -1.29818767e-04 9.99988957e-01 1.45090813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.54, Y:5.53, Z:0.14 [[ 9.44594675e-01 -3.28208537e-01 -4.47836105e-03 3.55377461e+01] [ 3.28205468e-01 9.44605283e-01 -1.42465606e-03 5.53007533e+00] [ 4.69786779e-03 -1.24100053e-04 9.99988957e-01 1.43833042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.56, Y:5.54, Z:0.14 [[ 9.44395977e-01 -3.28779733e-01 -4.48628277e-03 3.55622551e+01] [ 3.28776788e-01 9.44406620e-01 -1.39975918e-03 5.53976205e+00] [ 4.69708760e-03 -1.53058700e-04 9.99988957e-01 1.43981335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.59, Y:5.55, Z:0.14 [[ 9.44479440e-01 -3.28540010e-01 -4.47770937e-03 3.55885388e+01] [ 3.28536935e-01 9.44490046e-01 -1.42666750e-03 5.54846989e+00] [ 4.69786928e-03 -1.23634786e-04 9.99988957e-01 1.43439556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.63, Y:5.55, Z:0.14 [[ 9.45931461e-01 -3.24335666e-01 -4.47725448e-03 3.56252141e+01] [ 3.24332538e-01 9.45942052e-01 -1.42809362e-03 5.55358981e+00] [ 4.69840499e-03 -1.01240623e-04 9.99988957e-01 1.44914064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.64, Y:5.57, Z:0.14 [[ 9.44196597e-01 -3.29351557e-01 -4.50979361e-03 3.56438582e+01] [ 3.29348971e-01 9.44207338e-01 -1.32589390e-03 5.56544597e+00] [ 4.69486544e-03 -2.33391374e-04 9.99988952e-01 1.43802742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.67, Y:5.57, Z:0.14 [[ 9.44082088e-01 -3.29680103e-01 -4.47668234e-03 3.56712217e+01] [ 3.29677028e-01 9.44092693e-01 -1.42958076e-03 5.57350101e+00] [ 4.69770742e-03 -1.26217739e-04 9.99988958e-01 1.44144092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.70, Y:5.58, Z:0.14 [[ 9.44315613e-01 -3.29010617e-01 -4.47623312e-03 3.56968191e+01] [ 3.29007527e-01 9.44326214e-01 -1.43098596e-03 5.57936008e+00] [ 4.69783385e-03 -1.21412001e-04 9.99988958e-01 1.44238761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.73, Y:5.59, Z:0.14 [[ 9.44624315e-01 -3.28123390e-01 -4.46582213e-03 3.57310725e+01] [ 3.28120137e-01 9.44634868e-01 -1.46348561e-03 5.58699262e+00] [ 4.69877516e-03 -8.28820726e-05 9.99988957e-01 1.43828032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.75, Y:5.60, Z:0.15 [[ 9.43005374e-01 -3.32747210e-01 -4.48990775e-03 3.57536478e+01] [ 3.32744364e-01 9.43016044e-01 -1.38854394e-03 5.59918188e+00] [ 4.69608917e-03 -1.84587101e-04 9.99988956e-01 1.47617309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.79, Y:5.60, Z:0.15 [[ 9.44275753e-01 -3.29125041e-01 -4.47316506e-03 3.57885329e+01] [ 3.29121908e-01 9.44286341e-01 -1.44053362e-03 5.60483326e+00] [ 4.69806436e-03 -1.11955645e-04 9.99988958e-01 1.48433732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.81, Y:5.62, Z:0.15 [[ 9.43416697e-01 -3.31579086e-01 -4.49948048e-03 3.58122311e+01] [ 3.31576367e-01 9.43427404e-01 -1.35890677e-03 5.61617387e+00] [ 4.69551825e-03 -2.09906056e-04 9.99988954e-01 1.49280232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.84, Y:5.63, Z:0.15 [[ 9.43435346e-01 -3.31526232e-01 -4.48388552e-03 3.58391917e+01] [ 3.31523284e-01 9.43445988e-01 -1.40713262e-03 5.62565112e+00] [ 4.69680518e-03 -1.58973796e-04 9.99988957e-01 1.46962699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.86, Y:5.63, Z:0.15 [[ 9.43279291e-01 -3.31969966e-01 -4.48571963e-03 3.58622067e+01] [ 3.31967049e-01 9.43289942e-01 -1.40144656e-03 5.63492028e+00] [ 4.69657237e-03 -1.67155596e-04 9.99988957e-01 1.48632938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.90, Y:5.64, Z:0.15 [[ 9.43975553e-01 -3.29985113e-01 -4.47003022e-03 3.58951011e+01] [ 3.29981945e-01 9.43986130e-01 -1.44998033e-03 5.64258446e+00] [ 4.69811845e-03 -1.06283278e-04 9.99988958e-01 1.45668191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.92, Y:5.65, Z:0.15 [[ 9.43153083e-01 -3.32328264e-01 -4.49294240e-03 3.59150985e+01] [ 3.32325457e-01 9.43163765e-01 -1.37945367e-03 5.65364808e+00] [ 4.69601192e-03 -1.92083153e-04 9.99988955e-01 1.45723413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.95, Y:5.66, Z:0.14 [[ 9.44683438e-01 -3.27953102e-01 -4.46818099e-03 3.59508580e+01] [ 3.27949885e-01 9.44694001e-01 -1.45546938e-03 5.66115551e+00] [ 4.69838948e-03 -9.03816234e-05 9.99988958e-01 1.44179896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.98, Y:5.67, Z:0.14 [[ 9.44835370e-01 -3.27514733e-01 -4.49707421e-03 3.59758022e+01] [ 3.27511932e-01 9.44846055e-01 -1.36668312e-03 5.67260892e+00] [ 4.69665168e-03 -1.81554914e-04 9.99988954e-01 1.42140687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:35.99, Y:5.69, Z:0.14 [[ 9.45122712e-01 -3.26684707e-01 -4.49023399e-03 3.59949295e+01] [ 3.26681797e-01 9.45133365e-01 -1.38766397e-03 5.68627279e+00] [ 4.69719856e-03 -1.55364973e-04 9.99988956e-01 1.41623749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.02, Y:5.70, Z:0.14 [[ 9.45448161e-01 -3.25741961e-01 -4.46657612e-03 3.60209836e+01] [ 3.25738697e-01 9.45458708e-01 -1.46003860e-03 5.69616922e+00] [ 4.69855912e-03 -7.45458772e-05 9.99988959e-01 1.41246474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.05, Y:5.71, Z:0.14 [[ 9.45604433e-01 -3.25288041e-01 -4.46614292e-03 3.60468232e+01] [ 3.25284766e-01 9.45614977e-01 -1.46136251e-03 5.70535591e+00] [ 4.69861539e-03 -7.08973849e-05 9.99988959e-01 1.40767624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.07, Y:5.72, Z:0.14 [[ 9.46095678e-01 -3.23856488e-01 -4.46584871e-03 3.60712730e+01] [ 3.23853193e-01 9.46106216e-01 -1.46226106e-03 5.71716758e+00] [ 4.69872995e-03 -6.28405007e-05 9.99988959e-01 1.42094319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.10, Y:5.73, Z:0.14 [[ 9.45810118e-01 -3.24689510e-01 -4.46566872e-03 3.60973378e+01] [ 3.24686222e-01 9.45820658e-01 -1.46281052e-03 5.72692846e+00] [ 4.69868096e-03 -6.64001151e-05 9.99988959e-01 1.42591233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.12, Y:5.74, Z:0.14 [[ 9.44687021e-01 -3.27942820e-01 -4.46525602e-03 3.61235471e+01] [ 3.27939562e-01 9.44697571e-01 -1.46406923e-03 5.73678371e+00] [ 4.69844750e-03 -8.12469038e-05 9.99988959e-01 1.43269457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.15, Y:5.75, Z:0.14 [[ 9.43826741e-01 -3.30410576e-01 -4.46482446e-03 3.61505919e+01] [ 3.30407339e-01 9.43837297e-01 -1.46538413e-03 5.74590030e+00] [ 4.69824626e-03 -9.21420458e-05 9.99988959e-01 1.43477219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.342755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.18, Y:5.75, Z:0.14 [[ 9.42942992e-01 -3.32924289e-01 -4.46436730e-03 3.61765334e+01] [ 3.32921074e-01 9.42953555e-01 -1.46677556e-03 5.75407910e+00] [ 4.69801623e-03 -1.03196224e-04 9.99988959e-01 1.43571103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.20, Y:5.76, Z:0.14 [[ 9.41034803e-01 -3.38280314e-01 -4.46416958e-03 3.62042360e+01] [ 3.38277156e-01 9.41045383e-01 -1.46737709e-03 5.76120600e+00] [ 4.69737095e-03 -1.29273675e-04 9.99988959e-01 1.43949961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.23, Y:5.77, Z:0.14 [[ 9.40133037e-01 -3.40778443e-01 -4.46371030e-03 3.62308491e+01] [ 3.40775307e-01 9.40143624e-01 -1.46877285e-03 5.77004147e+00] [ 4.69705491e-03 -1.40280363e-04 9.99988959e-01 1.44226718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.26, Y:5.78, Z:0.14 [[ 9.38813649e-01 -3.44396590e-01 -4.46324446e-03 3.62561859e+01] [ 3.44393488e-01 9.38824246e-01 -1.47018709e-03 5.77948743e+00] [ 4.69652953e-03 -1.56880621e-04 9.99988959e-01 1.44001205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.28, Y:5.79, Z:0.14 [[ 9.38172261e-01 -3.46139988e-01 -4.46292838e-03 3.62828933e+01] [ 3.46136900e-01 9.38182862e-01 -1.47114595e-03 5.78877638e+00] [ 4.69626536e-03 -1.64595872e-04 9.99988959e-01 1.44362835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.31, Y:5.80, Z:0.14 [[ 9.37495699e-01 -3.47968247e-01 -4.46247159e-03 3.63101625e+01] [ 3.47965173e-01 9.37506304e-01 -1.47253023e-03 5.79796299e+00] [ 4.69598901e-03 -1.72293941e-04 9.99988959e-01 1.44831374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.34, Y:5.81, Z:0.15 [[ 9.37778926e-01 -3.47204168e-01 -4.46675064e-03 3.63362970e+01] [ 3.47201148e-01 9.37789546e-01 -1.45956787e-03 5.80535305e+00] [ 4.69564010e-03 -1.82108959e-04 9.99988959e-01 1.45476423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.36, Y:5.81, Z:0.15 [[ 9.37518587e-01 -3.47906624e-01 -4.45875730e-03 3.63640458e+01] [ 3.47903497e-01 9.37529176e-01 -1.48376042e-03 5.81360672e+00] [ 4.69642514e-03 -1.60164286e-04 9.99988959e-01 1.46121450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.39, Y:5.82, Z:0.15 [[ 9.37570368e-01 -3.47767024e-01 -4.46117585e-03 3.63905736e+01] [ 3.47763930e-01 9.37580967e-01 -1.47644656e-03 5.82203672e+00] [ 4.69617299e-03 -1.67163501e-04 9.99988959e-01 1.45966204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.42, Y:5.83, Z:0.15 [[ 9.37777358e-01 -3.47208476e-01 -4.46102321e-03 3.64169380e+01] [ 3.47205373e-01 9.37787954e-01 -1.47690760e-03 5.83072898e+00] [ 4.69628867e-03 -1.63880720e-04 9.99988959e-01 1.46226356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.44, Y:5.84, Z:0.15 [[ 9.38753541e-01 -3.44560425e-01 -4.46126992e-03 3.64426107e+01] [ 3.44557296e-01 9.38764129e-01 -1.47616271e-03 5.84054865e+00] [ 4.69670742e-03 -1.51410130e-04 9.99988959e-01 1.46829459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.47, Y:5.85, Z:0.15 [[ 9.38826064e-01 -3.44362815e-01 -4.45790167e-03 3.64697607e+01] [ 3.44359636e-01 9.38836638e-01 -1.48632715e-03 5.85057912e+00] [ 4.69707722e-03 -1.39718726e-04 9.99988959e-01 1.46143728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.50, Y:5.86, Z:0.15 [[ 9.39021272e-01 -3.43830129e-01 -4.46025955e-03 3.64951924e+01] [ 3.43826977e-01 9.39031853e-01 -1.47921749e-03 5.85956767e+00] [ 4.69692533e-03 -1.44540872e-04 9.99988959e-01 1.46192023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.52, Y:5.87, Z:0.15 [[ 9.39040765e-01 -3.43776889e-01 -4.46006501e-03 3.65222279e+01] [ 3.43773734e-01 9.39051346e-01 -1.47980381e-03 5.86763342e+00] [ 4.69695240e-03 -1.43657098e-04 9.99988959e-01 1.46293943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.55, Y:5.88, Z:0.15 [[ 9.38865449e-01 -3.44255400e-01 -4.45962299e-03 3.65489493e+01] [ 3.44252244e-01 9.38876030e-01 -1.48113471e-03 5.87551793e+00] [ 4.69692175e-03 -1.44649019e-04 9.99988959e-01 1.46368954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.58, Y:5.88, Z:0.15 [[ 9.38522863e-01 -3.45188284e-01 -4.45918269e-03 3.65758064e+01] [ 3.45185133e-01 9.38533445e-01 -1.48245912e-03 5.88302944e+00] [ 4.69681961e-03 -1.47921792e-04 9.99988959e-01 1.46814655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.60, Y:5.89, Z:0.15 [[ 9.38230449e-01 -3.45982290e-01 -4.45873629e-03 3.66018518e+01] [ 3.45979141e-01 9.38241031e-01 -1.48380052e-03 5.89042577e+00] [ 4.69673804e-03 -1.50482926e-04 9.99988959e-01 1.47216533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.63, Y:5.90, Z:0.15 [[ 9.38557806e-01 -3.45093272e-01 -4.45854311e-03 3.66264369e+01] [ 3.45090110e-01 9.38568385e-01 -1.48438075e-03 5.89549028e+00] [ 4.69689742e-03 -1.45421993e-04 9.99988959e-01 1.49003701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.66, Y:5.91, Z:0.15 [[ 9.37456786e-01 -3.48073305e-01 -4.44392647e-03 3.66564942e+01] [ 3.48069968e-01 9.37467312e-01 -1.52824857e-03 5.90637468e+00] [ 4.69797833e-03 -1.14130352e-04 9.99988958e-01 1.50205793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.68, Y:5.91, Z:0.15 [[ 9.38349137e-01 -3.45660264e-01 -4.45851789e-03 3.66786858e+01] [ 3.45657108e-01 9.38359718e-01 -1.48442271e-03 5.91178123e+00] [ 4.69679954e-03 -1.48211634e-04 9.99988959e-01 1.51798913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.71, Y:5.92, Z:0.15 [[ 9.36875245e-01 -3.49635655e-01 -4.43661623e-03 3.67092511e+01] [ 3.49632233e-01 9.36885745e-01 -1.54993371e-03 5.92273355e+00] [ 4.69851459e-03 -9.90895192e-05 9.99988957e-01 1.51975263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.74, Y:5.93, Z:0.15 [[ 9.36746025e-01 -3.49981456e-01 -4.45701414e-03 3.67358186e+01] [ 3.49978328e-01 9.36756614e-01 -1.48887155e-03 5.93133591e+00] [ 4.69621490e-03 -1.65163847e-04 9.99988959e-01 1.52219850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.76, Y:5.94, Z:0.15 [[ 9.36770610e-01 -3.49915652e-01 -4.45657466e-03 3.67615496e+01] [ 3.49912517e-01 9.36781196e-01 -1.49018587e-03 5.93963401e+00] [ 4.69627470e-03 -1.63448928e-04 9.99988959e-01 1.52510821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.79, Y:5.95, Z:0.15 [[ 9.37021893e-01 -3.49242199e-01 -4.45627578e-03 3.67868482e+01] [ 3.49239053e-01 9.37032476e-01 -1.49107908e-03 5.94853440e+00] [ 4.69642287e-03 -1.59131788e-04 9.99988959e-01 1.52871966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.81, Y:5.96, Z:0.15 [[ 9.37118656e-01 -3.48982475e-01 -4.45609500e-03 3.68133403e+01] [ 3.48979322e-01 9.37129237e-01 -1.49161917e-03 5.95800079e+00] [ 4.69648586e-03 -1.57260865e-04 9.99988959e-01 1.52916840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.092755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.84, Y:5.97, Z:0.15 [[ 9.37041525e-01 -3.49189530e-01 -4.45565471e-03 3.68405315e+01] [ 3.49186374e-01 9.37052105e-01 -1.49293321e-03 5.96826289e+00] [ 4.69649727e-03 -1.56913497e-04 9.99988959e-01 1.52315453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:36.87, Y:5.98, Z:0.15 [[ 9.36912900e-01 -3.49534410e-01 -4.46255385e-03 3.68675511e+01] [ 3.49531355e-01 9.36923510e-01 -1.47234416e-03 5.97758800e+00] [ 4.69570657e-03 -1.80344257e-04 9.99988959e-01 1.52455620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.152755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:36.89, Y:5.99, Z:0.15 [[ 9.37213022e-01 -3.48728905e-01 -4.46118440e-03 3.68930685e+01] [ 3.48725822e-01 9.37223624e-01 -1.47642228e-03 5.98623557e+00] [ 4.69599854e-03 -1.72008012e-04 9.99988959e-01 1.52994581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.92, Y:6.00, Z:0.15 [[ 9.37336318e-01 -3.48397457e-01 -4.45412997e-03 3.69189342e+01] [ 3.48394271e-01 9.37346889e-01 -1.49740616e-03 5.99506490e+00] [ 4.69675736e-03 -1.48220189e-04 9.99988959e-01 1.53527078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.95, Y:6.00, Z:0.15 [[ 9.37785586e-01 -3.47186344e-01 -4.45393306e-03 3.69458245e+01] [ 3.47183141e-01 9.37796152e-01 -1.49799161e-03 6.00450832e+00] [ 4.69696352e-03 -1.41535529e-04 9.99988959e-01 1.54385645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:36.97, Y:6.01, Z:0.15 [[ 9.38136266e-01 -3.46237653e-01 -4.45347137e-03 3.69715722e+01] [ 3.46234433e-01 9.38146827e-01 -1.49936295e-03 6.01379172e+00] [ 4.69714594e-03 -1.35338375e-04 9.99988959e-01 1.54092554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.00, Y:6.02, Z:0.15 [[ 9.38402695e-01 -3.45514907e-01 -4.45327160e-03 3.69975219e+01] [ 3.45511676e-01 9.38413252e-01 -1.49995604e-03 6.02346211e+00] [ 4.69726626e-03 -1.31094549e-04 9.99988959e-01 1.53917508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.02, Y:6.03, Z:0.15 [[ 9.38635683e-01 -3.44881469e-01 -4.45283083e-03 3.70239419e+01] [ 3.44878225e-01 9.38646236e-01 -1.50126339e-03 6.03314394e+00] [ 4.69739082e-03 -1.26545007e-04 9.99988959e-01 1.54121203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.332755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:37.05, Y:6.04, Z:0.15 [[ 9.39181052e-01 -3.43393547e-01 -4.45237261e-03 3.70503379e+01] [ 3.43390280e-01 9.39191598e-01 -1.50262114e-03 6.04254014e+00] [ 4.69762135e-03 -1.17668169e-04 9.99988959e-01 1.54454639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.08, Y:6.05, Z:0.15 [[ 9.39418113e-01 -3.42744497e-01 -4.45190812e-03 3.70756354e+01] [ 3.42741216e-01 9.39428655e-01 -1.50399604e-03 6.05080085e+00] [ 4.69773643e-03 -1.12971280e-04 9.99988959e-01 1.54871760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.10, Y:6.06, Z:0.16 [[ 9.39659419e-01 -3.42082387e-01 -4.45170716e-03 3.71021956e+01] [ 3.42079096e-01 9.39669957e-01 -1.50459065e-03 6.05942597e+00] [ 4.69782944e-03 -1.09033182e-04 9.99988959e-01 1.55773750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.13, Y:6.07, Z:0.16 [[ 9.39773738e-01 -3.41768208e-01 -4.45122865e-03 3.71277402e+01] [ 3.41764907e-01 9.39784273e-01 -1.50600496e-03 6.06773431e+00] [ 4.69789930e-03 -1.05969828e-04 9.99988959e-01 1.55760052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.15, Y:6.08, Z:0.16 [[ 9.40234609e-01 -3.40498266e-01 -4.45102168e-03 3.71528063e+01] [ 3.40494947e-01 9.40245139e-01 -1.50661642e-03 6.07546510e+00] [ 4.69805177e-03 -9.89774917e-05 9.99988959e-01 1.56098121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.18, Y:6.08, Z:0.16 [[ 9.40150667e-01 -3.40730051e-01 -4.44473846e-03 3.71810103e+01] [ 3.40726647e-01 9.40161170e-01 -1.52516713e-03 6.08484549e+00] [ 4.69844079e-03 -8.05539406e-05 9.99988959e-01 1.56542726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.21, Y:6.09, Z:0.16 [[ 9.40158026e-01 -3.40709669e-01 -4.45045594e-03 3.72069268e+01] [ 3.40706345e-01 9.40168555e-01 -1.50829686e-03 6.09357497e+00] [ 4.69807005e-03 -9.82611747e-05 9.99988959e-01 1.56967939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.24, Y:6.10, Z:0.16 [[ 9.40708974e-01 -3.39185528e-01 -4.45024939e-03 3.72383072e+01] [ 3.39182184e-01 9.40719496e-01 -1.50890604e-03 6.10111236e+00] [ 4.69823545e-03 -9.00038595e-05 9.99988959e-01 1.56745143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.26, Y:6.11, Z:0.16 [[ 9.40293633e-01 -3.40335090e-01 -4.46214727e-03 3.72649189e+01] [ 3.40331924e-01 9.40304211e-01 -1.47388774e-03 6.11068283e+00] [ 4.69739158e-03 -1.32723909e-04 9.99988958e-01 1.56724775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.29, Y:6.12, Z:0.16 [[ 9.39716219e-01 -3.41926206e-01 -4.46063160e-03 3.72923438e+01] [ 3.41923037e-01 9.39726796e-01 -1.47834881e-03 6.11943739e+00] [ 4.69726124e-03 -1.35964350e-04 9.99988959e-01 1.56598226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.32, Y:6.13, Z:0.16 [[ 9.39155868e-01 -3.43462308e-01 -4.46076829e-03 3.73185515e+01] [ 3.43459158e-01 9.39166451e-01 -1.47794660e-03 6.12854034e+00] [ 4.69702287e-03 -1.44069501e-04 9.99988959e-01 1.56208575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.35, Y:6.14, Z:0.16 [[ 9.39007322e-01 -3.43868253e-01 -4.45797728e-03 3.73484438e+01] [ 3.43865069e-01 9.39017894e-01 -1.48614806e-03 6.13681463e+00] [ 4.69715958e-03 -1.37438757e-04 9.99988959e-01 1.55054188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.37, Y:6.15, Z:0.16 [[ 9.37751434e-01 -3.47278390e-01 -4.46851612e-03 3.73707828e+01] [ 3.47275392e-01 9.37762062e-01 -1.45516645e-03 6.14553208e+00] [ 4.69575275e-03 -1.87221260e-04 9.99988957e-01 1.55084755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.40, Y:6.15, Z:0.16 [[ 9.37286980e-01 -3.48530271e-01 -4.44600007e-03 3.73968404e+01] [ 3.48526973e-01 9.37297517e-01 -1.52118541e-03 6.15452763e+00] [ 4.69740399e-03 -1.23763670e-04 9.99988959e-01 1.55194301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.42, Y:6.16, Z:0.15 [[ 9.36921673e-01 -3.49511089e-01 -4.44719212e-03 3.74229237e+01] [ 3.49507819e-01 9.36932218e-01 -1.51769244e-03 6.16365744e+00] [ 4.69716791e-03 -1.32369482e-04 9.99988959e-01 1.53559902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.45, Y:6.17, Z:0.15 [[ 9.36829685e-01 -3.49757584e-01 -4.44673774e-03 3.74483588e+01] [ 3.49754310e-01 9.36840229e-01 -1.51902258e-03 6.17255262e+00] [ 4.69717247e-03 -1.32200242e-04 9.99988959e-01 1.52380111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.48, Y:6.18, Z:0.15 [[ 9.37461543e-01 -3.48060459e-01 -4.44654107e-03 3.74801875e+01] [ 3.48057164e-01 9.37472080e-01 -1.51959805e-03 6.17992665e+00] [ 4.69742010e-03 -1.23085746e-04 9.99988959e-01 1.51258785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.50, Y:6.19, Z:0.15 [[ 9.36570731e-01 -3.50450174e-01 -4.46556761e-03 3.75016990e+01] [ 3.50447170e-01 9.36581357e-01 -1.46390943e-03 6.18991851e+00] [ 4.69539468e-03 -1.93890808e-04 9.99988958e-01 1.51619675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.53, Y:6.20, Z:0.15 [[ 9.36973402e-01 -3.49372408e-01 -4.44572195e-03 3.75333376e+01] [ 3.49369117e-01 9.36983940e-01 -1.52188257e-03 6.19699350e+00] [ 4.69727385e-03 -1.27234466e-04 9.99988960e-01 1.52615936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.56, Y:6.21, Z:0.15 [[ 9.36158151e-01 -3.51550841e-01 -4.46346439e-03 3.75550502e+01] [ 3.51547820e-01 9.36168772e-01 -1.47002243e-03 6.20706523e+00] [ 4.69534359e-03 -1.92947697e-04 9.99988958e-01 1.52846641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.58, Y:6.22, Z:0.15 [[ 9.35993134e-01 -3.51990192e-01 -4.44496994e-03 3.75813103e+01] [ 3.51986920e-01 9.36003678e-01 -1.52396544e-03 6.21550533e+00] [ 4.69692910e-03 -1.38150095e-04 9.99988960e-01 1.53572504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.61, Y:6.22, Z:0.15 [[ 9.35392931e-01 -3.53582115e-01 -4.44449395e-03 3.76071175e+01] [ 3.53578854e-01 9.35403478e-01 -1.52535236e-03 6.22349338e+00] [ 4.69673241e-03 -1.44675264e-04 9.99988960e-01 1.52851789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.64, Y:6.23, Z:0.15 [[ 9.35652221e-01 -3.52895409e-01 -4.44428772e-03 3.76395862e+01] [ 3.52892138e-01 9.35662765e-01 -1.52595298e-03 6.22996828e+00] [ 4.69685634e-03 -1.40592896e-04 9.99988960e-01 1.51498844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.67, Y:6.24, Z:0.15 [[ 9.35214273e-01 -3.54054133e-01 -4.46476547e-03 3.76670407e+01] [ 3.54051158e-01 9.35224907e-01 -1.46628023e-03 6.23815598e+00] [ 4.69470245e-03 -2.09469187e-04 9.99988958e-01 1.51570810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.69, Y:6.24, Z:0.15 [[ 9.34340568e-01 -3.56353444e-01 -4.46384637e-03 3.76937275e+01] [ 3.56350483e-01 9.34351206e-01 -1.46895565e-03 6.24466809e+00] [ 4.69426764e-03 -2.18188953e-04 9.99988958e-01 1.50945104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.71, Y:6.25, Z:0.15 [[ 9.33257951e-01 -3.59179181e-01 -4.46234503e-03 3.77146005e+01] [ 3.59176231e-01 9.33268592e-01 -1.47332086e-03 6.25460665e+00] [ 4.69375264e-03 -2.27779864e-04 9.99988958e-01 1.53607833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.74, Y:6.26, Z:0.15 [[ 9.32833591e-01 -3.60280108e-01 -4.44235659e-03 3.77413291e+01] [ 3.60276895e-01 9.32844153e-01 -1.53130776e-03 6.26296724e+00] [ 4.69572610e-03 -1.72023123e-04 9.99988960e-01 1.53940471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:37.77, Y:6.27, Z:0.15 [[ 9.32775151e-01 -3.60431392e-01 -4.44189459e-03 3.77673023e+01] [ 3.60428174e-01 9.32785711e-01 -1.53264672e-03 6.27139865e+00] [ 4.69574980e-03 -1.71369180e-04 9.99988960e-01 1.53969295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.79, Y:6.28, Z:0.16 [[ 9.32657911e-01 -3.60734691e-01 -4.43896306e-03 3.77946361e+01] [ 3.60731436e-01 9.32668460e-01 -1.54113312e-03 6.28145119e+00] [ 4.69602102e-03 -1.63923526e-04 9.99988960e-01 1.55751677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.82, Y:6.29, Z:0.16 [[ 9.32785522e-01 -3.60404562e-01 -4.44102515e-03 3.78209902e+01] [ 3.60401332e-01 9.32796078e-01 -1.53516777e-03 6.29106086e+00] [ 4.69585231e-03 -1.68569111e-04 9.99988960e-01 1.57199943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.85, Y:6.30, Z:0.16 [[ 9.33203970e-01 -3.59319681e-01 -4.44053780e-03 3.78477703e+01] [ 3.59316432e-01 9.33214520e-01 -1.53657616e-03 6.30023425e+00] [ 4.69609641e-03 -1.61619229e-04 9.99988960e-01 1.57708175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.87, Y:6.31, Z:0.16 [[ 9.33503890e-01 -3.58539775e-01 -4.44038708e-03 3.78734132e+01] [ 3.58536515e-01 9.33514438e-01 -1.53701160e-03 6.30880679e+00] [ 4.69624524e-03 -1.57234600e-04 9.99988960e-01 1.57377414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.90, Y:6.32, Z:0.16 [[ 9.34024047e-01 -3.57182537e-01 -4.44018019e-03 3.78999021e+01] [ 3.57179259e-01 9.34034589e-01 -1.53760902e-03 6.31784764e+00] [ 4.69648897e-03 -1.49776470e-04 9.99988960e-01 1.58055799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.92, Y:6.33, Z:0.16 [[ 9.34798903e-01 -3.55149686e-01 -4.43969327e-03 3.79239953e+01] [ 3.55146378e-01 9.34809436e-01 -1.53901367e-03 6.32604063e+00] [ 4.69684739e-03 -1.38072699e-04 9.99988960e-01 1.58123159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.95, Y:6.34, Z:0.16 [[ 9.34572973e-01 -3.55743907e-01 -4.43063365e-03 3.79521209e+01] [ 3.55740482e-01 9.34583468e-01 -1.56511877e-03 6.33697204e+00] [ 4.69757843e-03 -1.13438053e-04 9.99988960e-01 1.58117233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:37.98, Y:6.35, Z:0.16 [[ 9.34764071e-01 -3.55241364e-01 -4.43897548e-03 3.79785928e+01] [ 3.55238047e-01 9.34774601e-01 -1.54109089e-03 6.34729361e+00] [ 4.69690076e-03 -1.36336581e-04 9.99988960e-01 1.58205777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.00, Y:6.36, Z:0.16 [[ 9.35524443e-01 -3.53234082e-01 -4.43850204e-03 3.80045384e+01] [ 3.53230736e-01 9.35534963e-01 -1.54245324e-03 6.35808100e+00] [ 4.69722090e-03 -1.24812630e-04 9.99988960e-01 1.57768798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.03, Y:6.37, Z:0.16 [[ 9.35936293e-01 -3.52141408e-01 -4.43665406e-03 3.80296631e+01] [ 3.52138025e-01 9.35946802e-01 -1.54776813e-03 6.36721848e+00] [ 4.69750543e-03 -1.13702229e-04 9.99988960e-01 1.58969504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.06, Y:6.38, Z:0.16 [[ 9.35718373e-01 -3.52720139e-01 -4.43057582e-03 3.80554838e+01] [ 3.52716680e-01 9.35728857e-01 -1.56520381e-03 6.37727932e+00] [ 4.69789655e-03 -9.81480243e-05 9.99988960e-01 1.57664102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.08, Y:6.39, Z:0.16 [[ 9.34758577e-01 -3.55255940e-01 -4.42939208e-03 3.80839618e+01] [ 3.55252493e-01 9.34769065e-01 -1.56859588e-03 6.38784317e+00] [ 4.69771169e-03 -1.07294127e-04 9.99988960e-01 1.58487072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.11, Y:6.40, Z:0.16 [[ 9.34292312e-01 -3.56480285e-01 -4.43647302e-03 3.81107270e+01] [ 3.56476948e-01 9.34302835e-01 -1.54830634e-03 6.39698027e+00] [ 4.69695001e-03 -1.34929652e-04 9.99988960e-01 1.58532274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.14, Y:6.41, Z:0.16 [[ 9.33284650e-01 -3.59110128e-01 -4.43598898e-03 3.81374955e+01] [ 3.59106815e-01 9.33295181e-01 -1.54969192e-03 6.40650075e+00] [ 4.69659720e-03 -1.46690191e-04 9.99988960e-01 1.58491268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.16, Y:6.42, Z:0.16 [[ 9.32792310e-01 -3.60387060e-01 -4.43550639e-03 3.81629237e+01] [ 3.60383754e-01 9.32802843e-01 -1.55107192e-03 6.41598068e+00] [ 4.69643923e-03 -1.51656482e-04 9.99988960e-01 1.58703366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.19, Y:6.43, Z:0.16 [[ 9.32231328e-01 -3.61835710e-01 -4.43517872e-03 3.81893418e+01] [ 3.61832416e-01 9.32241864e-01 -1.55200831e-03 6.42614453e+00] [ 4.69623131e-03 -1.57960663e-04 9.99988960e-01 1.59334651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.22, Y:6.44, Z:0.16 [[ 9.31078154e-01 -3.64792826e-01 -4.43469555e-03 3.82172114e+01] [ 3.64789558e-01 9.31088699e-01 -1.55338769e-03 6.43726713e+00] [ 4.69575960e-03 -1.71405288e-04 9.99988960e-01 1.60787082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.24, Y:6.45, Z:0.16 [[ 9.30808295e-01 -3.65480705e-01 -4.44661502e-03 3.82421963e+01] [ 3.65477608e-01 9.30818892e-01 -1.51930943e-03 6.44712418e+00] [ 4.69427155e-03 -2.10952401e-04 9.99988960e-01 1.60814369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.27, Y:6.46, Z:0.16 [[ 9.30838113e-01 -3.65404832e-01 -4.44035047e-03 3.82666338e+01] [ 3.65401649e-01 9.30848684e-01 -1.53719972e-03 6.45618581e+00] [ 4.69499460e-03 -1.91627297e-04 9.99988960e-01 1.60191620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.29, Y:6.47, Z:0.16 [[ 9.30749254e-01 -3.65631185e-01 -4.43428304e-03 3.82920357e+01] [ 3.65627922e-01 9.30759801e-01 -1.55450726e-03 6.46582293e+00] [ 4.69562873e-03 -1.74441220e-04 9.99988960e-01 1.60121933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.32, Y:6.48, Z:0.16 [[ 9.30766357e-01 -3.65587648e-01 -4.43407832e-03 3.83184484e+01] [ 3.65584382e-01 9.30776902e-01 -1.55509101e-03 6.47638090e+00] [ 4.69565974e-03 -1.73603389e-04 9.99988960e-01 1.60326812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.34, Y:6.49, Z:0.16 [[ 9.30745581e-01 -3.65640542e-01 -4.43360829e-03 3.83449657e+01] [ 3.65637270e-01 9.30756125e-01 -1.55642991e-03 6.48626352e+00] [ 4.69570195e-03 -1.72452167e-04 9.99988960e-01 1.60517972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.37, Y:6.50, Z:0.16 [[ 9.30797897e-01 -3.65507349e-01 -4.43313804e-03 3.83697746e+01] [ 3.65504069e-01 9.30808438e-01 -1.55776816e-03 6.49612356e+00] [ 4.69577801e-03 -1.70362666e-04 9.99988960e-01 1.60484391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.40, Y:6.51, Z:0.16 [[ 9.30804499e-01 -3.65490540e-01 -4.43293475e-03 3.83959960e+01] [ 3.65487257e-01 9.30815039e-01 -1.55834645e-03 6.50642346e+00] [ 4.69580322e-03 -1.69665274e-04 9.99988960e-01 1.60688797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.42, Y:6.52, Z:0.16 [[ 9.30871499e-01 -3.65319867e-01 -4.43247062e-03 3.84217537e+01] [ 3.65316576e-01 9.30882037e-01 -1.55966549e-03 6.51701248e+00] [ 4.69588407e-03 -1.67406842e-04 9.99988960e-01 1.60562582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.45, Y:6.53, Z:0.16 [[ 9.31350774e-01 -3.64096270e-01 -4.43199231e-03 3.84466732e+01] [ 3.64092958e-01 9.31361305e-01 -1.56102348e-03 6.52789599e+00] [ 4.69614897e-03 -1.59796761e-04 9.99988960e-01 1.60153620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.47, Y:6.54, Z:0.16 [[ 9.31499425e-01 -3.63715797e-01 -4.43178526e-03 3.84730835e+01] [ 3.63712479e-01 9.31509954e-01 -1.56161109e-03 6.53791104e+00] [ 4.69623470e-03 -1.57255771e-04 9.99988960e-01 1.60420995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.50, Y:6.55, Z:0.16 [[ 9.31850358e-01 -3.62815757e-01 -4.43130724e-03 3.84990279e+01] [ 3.62812422e-01 9.31860882e-01 -1.56296636e-03 6.54725918e+00] [ 4.69643069e-03 -1.51282544e-04 9.99988960e-01 1.60772099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.53, Y:6.56, Z:0.16 [[ 9.31884006e-01 -3.62729329e-01 -4.43083020e-03 3.85257855e+01] [ 3.62725987e-01 9.31894528e-01 -1.56431755e-03 6.55844804e+00] [ 4.69649027e-03 -1.49414752e-04 9.99988960e-01 1.58072218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.55, Y:6.57, Z:0.16 [[ 9.32412947e-01 -3.61367408e-01 -4.43771588e-03 3.85517594e+01] [ 3.61364143e-01 9.32423493e-01 -1.54482238e-03 6.56725114e+00] [ 4.69607900e-03 -1.63219012e-04 9.99988960e-01 1.61773956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.58, Y:6.58, Z:0.16 [[ 9.32295571e-01 -3.61670209e-01 -4.43048423e-03 3.85786085e+01] [ 3.61666850e-01 9.32306087e-01 -1.56526820e-03 6.57702596e+00] [ 4.69667829e-03 -1.43066666e-04 9.99988960e-01 1.61902337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.61, Y:6.59, Z:0.16 [[ 9.32633940e-01 -3.60796771e-01 -4.42987232e-03 3.86073681e+01] [ 3.60793394e-01 9.32644451e-01 -1.56699625e-03 6.58697858e+00] [ 4.69686302e-03 -1.36834785e-04 9.99988960e-01 1.59840854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.63, Y:6.60, Z:0.16 [[ 9.32222332e-01 -3.61858836e-01 -4.43921484e-03 3.86305189e+01] [ 3.61855596e-01 9.32232886e-01 -1.54068890e-03 6.59689454e+00] [ 4.69589395e-03 -1.70090134e-04 9.99988960e-01 1.61263740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.66, Y:6.61, Z:0.16 [[ 9.32078844e-01 -3.62228415e-01 -4.42765771e-03 3.86566875e+01] [ 3.62225025e-01 9.32089350e-01 -1.57318944e-03 6.60585098e+00] [ 4.69682652e-03 -1.37471825e-04 9.99988960e-01 1.59994527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.68, Y:6.61, Z:0.16 [[ 9.31599540e-01 -3.63459353e-01 -4.42680845e-03 3.86832794e+01] [ 3.63455965e-01 9.31610047e-01 -1.57557556e-03 6.61427819e+00] [ 4.69671690e-03 -1.41144473e-04 9.99988960e-01 1.60390398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.71, Y:6.62, Z:0.16 [[ 9.31397539e-01 -3.63976692e-01 -4.42632013e-03 3.87093178e+01] [ 3.63973304e-01 9.31408046e-01 -1.57694623e-03 6.62308893e+00] [ 4.69668185e-03 -1.42298527e-04 9.99988960e-01 1.60138738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.74, Y:6.63, Z:0.16 [[ 9.30588634e-01 -3.66039893e-01 -4.42610840e-03 3.87378105e+01] [ 3.66036526e-01 9.30599147e-01 -1.57754028e-03 6.63348219e+00] [ 4.69637538e-03 -1.52076284e-04 9.99988960e-01 1.60940774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.76, Y:6.64, Z:0.16 [[ 9.30615014e-01 -3.65972724e-01 -4.43409422e-03 3.87631601e+01] [ 3.65969462e-01 9.30625561e-01 -1.55513137e-03 6.64132130e+00] [ 4.69561709e-03 -1.75514474e-04 9.99988960e-01 1.61771698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.79, Y:6.65, Z:0.16 [[ 9.29700667e-01 -3.68289402e-01 -4.42568587e-03 3.87899469e+01] [ 3.68286054e-01 9.29711186e-01 -1.57870307e-03 6.64932950e+00] [ 4.69602927e-03 -1.62197086e-04 9.99988960e-01 1.64196609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.82, Y:6.66, Z:0.16 [[ 9.29060616e-01 -3.69901052e-01 -4.42518595e-03 3.88167969e+01] [ 3.69897716e-01 9.29071140e-01 -1.58010313e-03 6.65844995e+00] [ 4.69579437e-03 -1.68854589e-04 9.99988960e-01 1.64805137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.84, Y:6.67, Z:0.16 [[ 9.28713666e-01 -3.70771258e-01 -4.42734670e-03 3.88425239e+01] [ 3.70767960e-01 9.28724201e-01 -1.57405288e-03 6.66702190e+00] [ 4.69539760e-03 -1.79673887e-04 9.99988960e-01 1.64814209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.87, Y:6.68, Z:0.17 [[ 9.28599998e-01 -3.71055879e-01 -4.42476680e-03 3.88690355e+01] [ 3.71052550e-01 9.28610524e-01 -1.58127205e-03 6.67554767e+00] [ 4.69562531e-03 -1.73451782e-04 9.99988960e-01 1.65197991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.90, Y:6.69, Z:0.17 [[ 9.28848447e-01 -3.70433555e-01 -4.42089100e-03 3.88961448e+01] [ 3.70430167e-01 9.28858954e-01 -1.59211854e-03 6.68638695e+00] [ 4.69615832e-03 -1.58794559e-04 9.99988960e-01 1.67159560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.92, Y:6.70, Z:0.17 [[ 9.28970953e-01 -3.70126202e-01 -4.42303782e-03 3.89234092e+01] [ 3.70122840e-01 9.28981468e-01 -1.58611445e-03 6.69551349e+00] [ 4.69598268e-03 -1.63613071e-04 9.99988960e-01 1.67565216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.95, Y:6.70, Z:0.17 [[ 9.29731263e-01 -3.68212180e-01 -4.42377002e-03 3.89498165e+01] [ 3.68208805e-01 9.29741774e-01 -1.58406754e-03 6.70453176e+00] [ 4.69623674e-03 -1.56113962e-04 9.99988960e-01 1.67110471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:38.98, Y:6.71, Z:0.17 [[ 9.30090736e-01 -3.67303213e-01 -4.42407766e-03 3.89763531e+01] [ 3.67299832e-01 9.30101245e-01 -1.58320787e-03 6.71483463e+00] [ 4.69635748e-03 -1.52436004e-04 9.99988960e-01 1.65596492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.00, Y:6.72, Z:0.16 [[ 9.30620336e-01 -3.65959300e-01 -4.42504194e-03 3.90020390e+01] [ 3.65955917e-01 9.30630845e-01 -1.58051464e-03 6.72457306e+00] [ 4.69648455e-03 -1.48511216e-04 9.99988960e-01 1.64242660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.03, Y:6.74, Z:0.16 [[ 9.31897652e-01 -3.62694363e-01 -4.42339773e-03 3.90279710e+01] [ 3.62690921e-01 9.31908141e-01 -1.58510281e-03 6.73528555e+00] [ 4.69710821e-03 -1.27172605e-04 9.99988960e-01 1.62735383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.05, Y:6.75, Z:0.16 [[ 9.32460680e-01 -3.61244358e-01 -4.42660419e-03 3.90537185e+01] [ 3.61240943e-01 9.32471178e-01 -1.57616482e-03 6.74608675e+00] [ 4.69706147e-03 -1.29358951e-04 9.99988960e-01 1.63493253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.08, Y:6.76, Z:0.16 [[ 9.32553120e-01 -3.61005715e-01 -4.42173209e-03 3.90806320e+01] [ 3.61002233e-01 9.32563596e-01 -1.58973401e-03 6.75799451e+00] [ 4.69744944e-03 -1.13743749e-04 9.99988960e-01 1.63557645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.11, Y:6.77, Z:0.16 [[ 9.33905201e-01 -3.57493383e-01 -4.42227399e-03 3.91113257e+01] [ 3.57489868e-01 9.33915666e-01 -1.58822539e-03 6.76595920e+00] [ 4.69781103e-03 -9.76661894e-05 9.99988960e-01 1.64556120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.13, Y:6.78, Z:0.17 [[ 9.33325941e-01 -3.59002790e-01 -4.43682975e-03 3.91342089e+01] [ 3.58999484e-01 9.33336475e-01 -1.54771170e-03 6.77625635e+00] [ 4.69668786e-03 -1.48300115e-04 9.99988960e-01 1.66194633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.16, Y:6.79, Z:0.17 [[ 9.33348670e-01 -3.58943885e-01 -4.42126305e-03 3.91624447e+01] [ 3.58940374e-01 9.33359136e-01 -1.59097113e-03 6.78546888e+00] [ 4.69769562e-03 -1.02039020e-04 9.99988961e-01 1.65934732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.19, Y:6.80, Z:0.16 [[ 9.32695219e-01 -3.60638350e-01 -4.42821274e-03 3.91889284e+01] [ 3.60634949e-01 9.32705722e-01 -1.57166376e-03 6.79560587e+00] [ 4.69702158e-03 -1.31085003e-04 9.99988960e-01 1.64762455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.22, Y:6.81, Z:0.17 [[ 9.32204404e-01 -3.61905188e-01 -4.42544214e-03 3.92150844e+01] [ 3.61901765e-01 9.32214899e-01 -1.57935335e-03 6.80537472e+00] [ 4.69703927e-03 -1.29295175e-04 9.99988960e-01 1.65050851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.24, Y:6.81, Z:0.17 [[ 9.31598661e-01 -3.63461649e-01 -4.42308605e-03 3.92402873e+01] [ 3.63458213e-01 9.31609152e-01 -1.58589072e-03 6.81499458e+00] [ 4.69699790e-03 -1.30193281e-04 9.99988961e-01 1.65280073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.27, Y:6.82, Z:0.17 [[ 9.31056834e-01 -3.64847406e-01 -4.42066999e-03 3.92656480e+01] [ 3.64843954e-01 9.31067319e-01 -1.59258909e-03 6.82448956e+00] [ 4.69699336e-03 -1.30063759e-04 9.99988961e-01 1.65326586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.29, Y:6.83, Z:0.17 [[ 9.30496239e-01 -3.66274790e-01 -4.41906481e-03 3.92927759e+01] [ 3.66271332e-01 9.30506723e-01 -1.59703462e-03 6.83281743e+00] [ 4.69692303e-03 -1.32542049e-04 9.99988961e-01 1.69355873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.32, Y:6.84, Z:0.17 [[ 9.30030334e-01 -3.67456184e-01 -4.41927773e-03 3.93186236e+01] [ 3.67452743e-01 9.30040823e-01 -1.59644521e-03 6.84186464e+00] [ 4.69673236e-03 -1.39133253e-04 9.99988961e-01 1.70045420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.942755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.34, Y:6.85, Z:0.17 [[ 9.29263129e-01 -3.69392079e-01 -4.41906029e-03 3.93447422e+01] [ 3.69388657e-01 9.29273625e-01 -1.59704686e-03 6.85134801e+00] [ 4.69645263e-03 -1.48273983e-04 9.99988961e-01 1.71565276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.37, Y:6.86, Z:0.17 [[ 9.28911606e-01 -3.70275175e-01 -4.41856784e-03 3.93705768e+01] [ 3.70271755e-01 9.28922102e-01 -1.59840818e-03 6.86143391e+00] [ 4.69635619e-03 -1.51290960e-04 9.99988961e-01 1.72030582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.40, Y:6.87, Z:0.17 [[ 9.28876297e-01 -3.70363753e-01 -4.41751830e-03 3.93975891e+01] [ 3.70360322e-01 9.28886790e-01 -1.60130683e-03 6.87164883e+00] [ 4.69644040e-03 -1.48657535e-04 9.99988961e-01 1.73056007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.42, Y:6.88, Z:0.17 [[ 9.28741175e-01 -3.70702457e-01 -4.41790782e-03 3.94233908e+01] [ 3.70699034e-01 9.28751671e-01 -1.60023143e-03 6.88189086e+00] [ 4.69634899e-03 -1.51513340e-04 9.99988961e-01 1.73898462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.45, Y:6.89, Z:0.17 [[ 9.28674741e-01 -3.70868861e-01 -4.41739766e-03 3.94495966e+01] [ 3.70865433e-01 9.28685235e-01 -1.60163848e-03 6.89204262e+00] [ 4.69636982e-03 -1.50858893e-04 9.99988961e-01 1.74312486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.48, Y:6.90, Z:0.17 [[ 9.28396736e-01 -3.71564249e-01 -4.41688895e-03 3.94751164e+01] [ 3.71560823e-01 9.28407230e-01 -1.60304015e-03 6.90321917e+00] [ 4.69630404e-03 -1.52885651e-04 9.99988961e-01 1.71478567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.50, Y:6.91, Z:0.17 [[ 9.29083542e-01 -3.69843606e-01 -4.41355419e-03 3.95014855e+01] [ 3.69840116e-01 9.29094015e-01 -1.61221761e-03 6.91328231e+00] [ 4.69687516e-03 -1.34424546e-04 9.99988961e-01 1.73447361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.53, Y:6.92, Z:0.17 [[ 9.28786163e-01 -3.70589748e-01 -4.41605988e-03 3.95289412e+01] [ 3.70586300e-01 9.28796650e-01 -1.60532475e-03 6.92472153e+00] [ 4.69653852e-03 -1.45527872e-04 9.99988961e-01 1.72581081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.56, Y:6.93, Z:0.17 [[ 9.29061010e-01 -3.69900117e-01 -4.42078856e-03 3.95550574e+01] [ 3.69896723e-01 9.29071515e-01 -1.59232086e-03 6.93488858e+00] [ 4.69622840e-03 -1.55871973e-04 9.99988961e-01 1.72363152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.58, Y:6.95, Z:0.17 [[ 9.28735360e-01 -3.70717056e-01 -4.41541772e-03 3.95826364e+01] [ 3.70713601e-01 9.28745844e-01 -1.60707715e-03 6.94580325e+00] [ 4.69657177e-03 -1.44306023e-04 9.99988961e-01 1.69477328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.242755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:39.61, Y:6.96, Z:0.17 [[ 9.28933697e-01 -3.70219685e-01 -4.42406658e-03 3.96066986e+01] [ 3.70216337e-01 9.28944216e-01 -1.58331557e-03 6.95590988e+00] [ 4.69588565e-03 -1.67066537e-04 9.99988960e-01 1.70923656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.63, Y:6.97, Z:0.17 [[ 9.28811553e-01 -3.70526123e-01 -4.41483750e-03 3.96326124e+01] [ 3.70522658e-01 9.28822035e-01 -1.60864429e-03 6.96624863e+00] [ 4.69664308e-03 -1.41669923e-04 9.99988961e-01 1.71407046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.66, Y:6.98, Z:0.17 [[ 9.28738065e-01 -3.70710276e-01 -4.41567841e-03 3.96587739e+01] [ 3.70706824e-01 9.28748551e-01 -1.60633749e-03 6.97842857e+00] [ 4.69654074e-03 -1.45055347e-04 9.99988961e-01 1.70547897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.68, Y:6.99, Z:0.17 [[ 9.28550920e-01 -3.71178802e-01 -4.41422956e-03 3.96842999e+01] [ 3.71175337e-01 9.28561402e-01 -1.61030912e-03 6.98919477e+00] [ 4.69659580e-03 -1.43199126e-04 9.99988961e-01 1.70758513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.71, Y:7.00, Z:0.17 [[ 9.28241066e-01 -3.71953010e-01 -4.41373229e-03 3.97085384e+01] [ 3.71949547e-01 9.28251548e-01 -1.61167096e-03 7.00083375e+00] [ 4.69651970e-03 -1.45666557e-04 9.99988961e-01 1.70280707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.73, Y:7.01, Z:0.17 [[ 9.28049104e-01 -3.72431714e-01 -4.41351706e-03 3.97345816e+01] [ 3.72428253e-01 9.28059587e-01 -1.61226014e-03 7.01156865e+00] [ 4.69646363e-03 -1.47461876e-04 9.99988961e-01 1.70294786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.76, Y:7.02, Z:0.17 [[ 9.27730065e-01 -3.73225753e-01 -4.41166014e-03 3.97615542e+01] [ 3.73222278e-01 9.27740543e-01 -1.61734262e-03 7.02274733e+00] [ 4.69650990e-03 -1.46072469e-04 9.99988961e-01 1.72030009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.79, Y:7.03, Z:0.17 [[ 9.27401235e-01 -3.74042073e-01 -4.41313244e-03 3.97862385e+01] [ 3.74038626e-01 9.27411723e-01 -1.61331524e-03 7.03320281e+00] [ 4.69623853e-03 -1.54491451e-04 9.99988961e-01 1.72526603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.81, Y:7.04, Z:0.17 [[ 9.27977889e-01 -3.72609129e-01 -4.41291435e-03 3.98079903e+01] [ 3.72605663e-01 9.27988370e-01 -1.61391155e-03 7.04218046e+00] [ 4.69649138e-03 -1.46602637e-04 9.99988961e-01 1.70711394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.84, Y:7.06, Z:0.17 [[ 9.27132170e-01 -3.74708748e-01 -4.39250338e-03 3.98391563e+01] [ 3.74705040e-01 9.27142570e-01 -1.66982638e-03 7.05540400e+00] [ 4.69817542e-03 -9.77434054e-05 9.99988959e-01 1.73746451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.86, Y:7.07, Z:0.17 [[ 9.26217899e-01 -3.76962637e-01 -4.42433311e-03 3.98632295e+01] [ 3.76959369e-01 9.26228444e-01 -1.58268496e-03 7.06778755e+00] [ 4.69455626e-03 -2.01882678e-04 9.99988960e-01 1.71627100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.89, Y:7.08, Z:0.17 [[ 9.26149662e-01 -3.77130300e-01 -4.42043305e-03 3.98889578e+01] [ 3.77126983e-01 9.26160191e-01 -1.59335307e-03 7.07898243e+00] [ 4.69493084e-03 -1.91381172e-04 9.99988960e-01 1.71867918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.602755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:39.91, Y:7.09, Z:0.17 [[ 9.25833904e-01 -3.77904856e-01 -4.41622237e-03 3.99138284e+01] [ 3.77901492e-01 9.25844418e-01 -1.60485594e-03 7.09206217e+00] [ 4.69521768e-03 -1.83066985e-04 9.99988961e-01 1.72537987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.94, Y:7.10, Z:0.17 [[ 9.25899117e-01 -3.77745082e-01 -4.41339482e-03 3.99390378e+01] [ 3.77741680e-01 9.25909619e-01 -1.61257524e-03 7.10254844e+00] [ 4.69554708e-03 -1.74041181e-04 9.99988961e-01 1.74372010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.96, Y:7.12, Z:0.17 [[ 9.25984204e-01 -3.77536477e-01 -4.41156574e-03 3.99641820e+01] [ 3.77533049e-01 9.25994698e-01 -1.61756367e-03 7.11524007e+00] [ 4.69577578e-03 -1.67673461e-04 9.99988961e-01 1.74489203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:39.99, Y:7.13, Z:0.17 [[ 9.25962454e-01 -3.77589808e-01 -4.41260384e-03 3.99902719e+01] [ 3.77586394e-01 9.25972952e-01 -1.61473544e-03 7.12719294e+00] [ 4.69565945e-03 -1.70954778e-04 9.99988961e-01 1.73341318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.01, Y:7.14, Z:0.18 [[ 9.26308302e-01 -3.76740554e-01 -4.41412799e-03 4.00146049e+01] [ 3.76737150e-01 9.26318803e-01 -1.61058583e-03 7.13815042e+00] [ 4.69566276e-03 -1.71066974e-04 9.99988961e-01 1.75084425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.04, Y:7.15, Z:0.17 [[ 9.26673668e-01 -3.75841007e-01 -4.41031094e-03 4.00407853e+01] [ 3.75837544e-01 9.26684150e-01 -1.62097120e-03 7.15216186e+00] [ 4.69619269e-03 -1.55449103e-04 9.99988961e-01 1.72707466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.07, Y:7.16, Z:0.17 [[ 9.27074241e-01 -3.74851801e-01 -4.41345626e-03 4.00651973e+01] [ 3.74848367e-01 9.27084733e-01 -1.61242037e-03 7.16266545e+00] [ 4.69606659e-03 -1.59543487e-04 9.99988961e-01 1.73797979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.09, Y:7.17, Z:0.17 [[ 9.27284625e-01 -3.74331109e-01 -4.40955844e-03 4.00933628e+01] [ 3.74327619e-01 9.27295098e-01 -1.62301035e-03 7.17400892e+00] [ 4.69650519e-03 -1.45626966e-04 9.99988961e-01 1.73211732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.12, Y:7.18, Z:0.17 [[ 9.28458594e-01 -3.71409676e-01 -4.41489573e-03 4.01198731e+01] [ 3.71406222e-01 9.28469079e-01 -1.60851645e-03 7.18348489e+00] [ 4.69651275e-03 -1.46278822e-04 9.99988961e-01 1.74218276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.15, Y:7.20, Z:0.18 [[ 9.28169456e-01 -3.72131622e-01 -4.41784672e-03 4.01465782e+01] [ 3.72128214e-01 9.28179956e-01 -1.60051153e-03 7.19519173e+00] [ 4.69615773e-03 -1.58459496e-04 9.99988960e-01 1.75571395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.17, Y:7.21, Z:0.18 [[ 9.27993321e-01 -3.72570602e-01 -4.42072690e-03 4.01692820e+01] [ 3.72567236e-01 9.28003835e-01 -1.59270438e-03 7.20646801e+00] [ 4.69584635e-03 -1.68998974e-04 9.99988960e-01 1.75651679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.19, Y:7.22, Z:0.18 [[ 9.27910787e-01 -3.72776268e-01 -4.40750549e-03 4.01947007e+01] [ 3.72772734e-01 9.27921245e-01 -1.62848815e-03 7.21904935e+00] [ 4.69687972e-03 -1.31906151e-04 9.99988961e-01 1.76141275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.22, Y:7.23, Z:0.18 [[ 9.27781640e-01 -3.73097583e-01 -4.40698174e-03 4.02214109e+01] [ 3.73094046e-01 9.27792098e-01 -1.62990429e-03 7.22916894e+00] [ 4.69687618e-03 -1.32023373e-04 9.99988961e-01 1.76275139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.25, Y:7.24, Z:0.18 [[ 9.27223933e-01 -3.74481458e-01 -4.40641678e-03 4.02480947e+01] [ 3.74477930e-01 9.27234393e-01 -1.63143023e-03 7.24055656e+00] [ 4.69672155e-03 -1.37404682e-04 9.99988961e-01 1.77719968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.27, Y:7.25, Z:0.18 [[ 9.27501525e-01 -3.73793301e-01 -4.41472745e-03 4.02734551e+01] [ 3.73789871e-01 9.27512018e-01 -1.60899760e-03 7.25010627e+00] [ 4.69614529e-03 -1.57832678e-04 9.99988961e-01 1.77658240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.30, Y:7.26, Z:0.18 [[ 9.27124617e-01 -3.74727284e-01 -4.40545300e-03 4.02980819e+01] [ 3.74723746e-01 9.27135073e-01 -1.63400257e-03 7.26053470e+00] [ 4.69675533e-03 -1.35903846e-04 9.99988961e-01 1.78300883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.32, Y:7.27, Z:0.18 [[ 9.26756920e-01 -3.75635734e-01 -4.40520813e-03 4.03237989e+01] [ 3.75632203e-01 9.26767379e-01 -1.63466245e-03 7.27114488e+00] [ 4.69664083e-03 -1.39803300e-04 9.99988961e-01 1.78853409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.35, Y:7.28, Z:0.18 [[ 9.26329728e-01 -3.76687980e-01 -4.40462030e-03 4.03487177e+01] [ 3.76684453e-01 9.26340189e-01 -1.63624485e-03 7.28156631e+00] [ 4.69653056e-03 -1.43449741e-04 9.99988961e-01 1.78373085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.37, Y:7.29, Z:0.18 [[ 9.25543076e-01 -3.78616716e-01 -4.40422328e-03 4.03748154e+01] [ 3.78613207e-01 9.25553542e-01 -1.63731279e-03 7.29321284e+00] [ 4.69625845e-03 -1.52093578e-04 9.99988961e-01 1.77955483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.40, Y:7.30, Z:0.18 [[ 9.25134212e-01 -3.79614671e-01 -4.40365796e-03 4.04009507e+01] [ 3.79611165e-01 9.25144679e-01 -1.63883183e-03 7.30354395e+00] [ 4.69614534e-03 -1.55538335e-04 9.99988961e-01 1.78212657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.43, Y:7.31, Z:0.18 [[ 9.24731976e-01 -3.80593465e-01 -4.40309136e-03 4.04268930e+01] [ 3.80589963e-01 9.24742445e-01 -1.64035272e-03 7.31383607e+00] [ 4.69603300e-03 -1.58885766e-04 9.99988961e-01 1.78462212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.45, Y:7.32, Z:0.18 [[ 9.24386299e-01 -3.81432284e-01 -4.40252745e-03 4.04523882e+01] [ 3.81428785e-01 9.24396769e-01 -1.64186481e-03 7.32400023e+00] [ 4.69594239e-03 -1.61533359e-04 9.99988961e-01 1.78215313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.48, Y:7.33, Z:0.18 [[ 9.24329862e-01 -3.81569031e-01 -4.40228367e-03 4.04782531e+01] [ 3.81565530e-01 9.24340331e-01 -1.64251818e-03 7.33416329e+00] [ 4.69594242e-03 -1.61531106e-04 9.99988961e-01 1.78340756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.50, Y:7.34, Z:0.18 [[ 9.24180767e-01 -3.81930013e-01 -4.40172740e-03 4.05043541e+01] [ 3.81926509e-01 9.24191235e-01 -1.64400756e-03 7.34471162e+00] [ 4.69593371e-03 -1.61776212e-04 9.99988961e-01 1.78328576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.53, Y:7.36, Z:0.18 [[ 9.24535119e-01 -3.81071441e-01 -4.40116037e-03 4.05296332e+01] [ 3.81067920e-01 9.24545582e-01 -1.64552415e-03 7.35515252e+00] [ 4.69613564e-03 -1.55796157e-04 9.99988961e-01 1.77602910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.56, Y:7.36, Z:0.18 [[ 9.24760792e-01 -3.80523468e-01 -4.40091418e-03 4.05557368e+01] [ 3.80519937e-01 9.24771251e-01 -1.64618232e-03 7.36482294e+00] [ 4.69624992e-03 -1.52310727e-04 9.99988961e-01 1.77181706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.58, Y:7.37, Z:0.18 [[ 9.25014830e-01 -3.79905517e-01 -4.40035790e-03 4.05818808e+01] [ 3.79901972e-01 9.25025284e-01 -1.64766796e-03 7.37415679e+00] [ 4.69640046e-03 -1.47587351e-04 9.99988961e-01 1.77023033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.61, Y:7.38, Z:0.18 [[ 9.25280991e-01 -3.79256811e-01 -4.39980396e-03 4.06087387e+01] [ 3.79253253e-01 9.25291441e-01 -1.64914583e-03 7.38378085e+00] [ 4.69655074e-03 -1.42716678e-04 9.99988961e-01 1.76612346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.64, Y:7.39, Z:0.18 [[ 9.25378833e-01 -3.79018023e-01 -4.39925434e-03 4.06382634e+01] [ 3.79014455e-01 9.25389279e-01 -1.65061071e-03 7.39452005e+00] [ 4.69663401e-03 -1.39940775e-04 9.99988961e-01 1.77009109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.66, Y:7.40, Z:0.18 [[ 9.26326086e-01 -3.76696863e-01 -4.41087086e-03 4.06618536e+01] [ 3.76693415e-01 9.26336574e-01 -1.61964581e-03 7.40227541e+00] [ 4.69606649e-03 -1.61225845e-04 9.99988960e-01 1.75817967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.69, Y:7.41, Z:0.18 [[ 9.26689885e-01 -3.75801156e-01 -4.39856446e-03 4.06875255e+01] [ 3.75797543e-01 9.26700316e-01 -1.65240443e-03 7.41197359e+00] [ 4.69712657e-03 -1.21703241e-04 9.99988961e-01 1.75614816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.71, Y:7.42, Z:0.18 [[ 9.27424435e-01 -3.73984722e-01 -4.39833097e-03 4.07139261e+01] [ 3.73981085e-01 9.27434858e-01 -1.65302570e-03 7.42101871e+00] [ 4.69737181e-03 -1.11836160e-04 9.99988961e-01 1.76490877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.74, Y:7.43, Z:0.18 [[ 9.27688553e-01 -3.73329088e-01 -4.39779152e-03 4.07398180e+01] [ 3.73325438e-01 9.27698971e-01 -1.65445962e-03 7.42997101e+00] [ 4.69748457e-03 -1.06984191e-04 9.99988961e-01 1.76921630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.77, Y:7.44, Z:0.18 [[ 9.27983204e-01 -3.72596075e-01 -4.39755824e-03 4.07665041e+01] [ 3.72592413e-01 9.27993618e-01 -1.65507946e-03 7.43831857e+00] [ 4.69758209e-03 -1.02610895e-04 9.99988961e-01 1.79880278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.79, Y:7.45, Z:0.18 [[ 9.27838758e-01 -3.72955635e-01 -4.39699590e-03 4.07923619e+01] [ 3.72951970e-01 9.27849171e-01 -1.65657207e-03 7.44758478e+00] [ 4.69757689e-03 -1.02836511e-04 9.99988961e-01 1.80117728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.82, Y:7.46, Z:0.18 [[ 9.27688962e-01 -3.73328087e-01 -4.39644252e-03 4.08188308e+01] [ 3.73324420e-01 9.27699374e-01 -1.65803940e-03 7.45709027e+00] [ 4.69756965e-03 -1.03154507e-04 9.99988961e-01 1.81286992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.84, Y:7.47, Z:0.18 [[ 9.27342652e-01 -3.74187495e-01 -4.39587642e-03 4.08449220e+01] [ 3.74183830e-01 9.27353065e-01 -1.65953891e-03 7.46547872e+00] [ 4.69750818e-03 -1.05904656e-04 9.99988961e-01 1.82042649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.87, Y:7.47, Z:0.18 [[ 9.26836697e-01 -3.75438964e-01 -4.39565040e-03 4.08713271e+01] [ 3.75435310e-01 9.26847114e-01 -1.66013738e-03 7.47455019e+00] [ 4.69737614e-03 -1.11606126e-04 9.99988961e-01 1.82304668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.90, Y:7.48, Z:0.18 [[ 9.26380278e-01 -3.76563758e-01 -4.39513283e-03 4.08970589e+01] [ 3.76560110e-01 9.26390697e-01 -1.66150648e-03 7.48319851e+00] [ 4.69727329e-03 -1.15844863e-04 9.99988961e-01 1.82929617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.92, Y:7.49, Z:0.18 [[ 9.25841564e-01 -3.77886337e-01 -4.39478043e-03 4.09239981e+01] [ 3.77882700e-01 9.25851987e-01 -1.66243807e-03 7.49208876e+00] [ 4.69712883e-03 -1.21557232e-04 9.99988961e-01 1.83650256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.95, Y:7.50, Z:0.18 [[ 9.24734744e-01 -3.80586842e-01 -4.39429701e-03 4.09503919e+01] [ 3.80583229e-01 9.24745175e-01 -1.66371490e-03 7.50014217e+00] [ 4.69679296e-03 -1.33900775e-04 9.99988961e-01 1.83668106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:40.98, Y:7.51, Z:0.18 [[ 9.24228377e-01 -3.81814841e-01 -4.39699073e-03 4.09773696e+01] [ 3.81811276e-01 9.24238825e-01 -1.65660671e-03 7.50957309e+00] [ 4.69638657e-03 -1.47737707e-04 9.99988961e-01 1.84675951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.00, Y:7.52, Z:0.19 [[ 9.24484444e-01 -3.81194393e-01 -4.39853152e-03 4.10035994e+01] [ 3.81190840e-01 9.24494896e-01 -1.65254328e-03 7.51700610e+00] [ 4.69636017e-03 -1.48929370e-04 9.99988961e-01 1.85691674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.03, Y:7.53, Z:0.18 [[ 9.24665412e-01 -3.80755273e-01 -4.39291778e-03 4.10301035e+01] [ 3.80751645e-01 9.24675838e-01 -1.66733379e-03 7.52642360e+00] [ 4.69687106e-03 -1.30884790e-04 9.99988961e-01 1.84742444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.06, Y:7.54, Z:0.18 [[ 9.24994694e-01 -3.79954646e-01 -4.39135089e-03 4.10562461e+01] [ 3.79950989e-01 9.25005109e-01 -1.67145908e-03 7.53547108e+00] [ 4.69710066e-03 -1.22407339e-04 9.99988961e-01 1.84926085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.08, Y:7.54, Z:0.18 [[ 9.25461560e-01 -3.78816117e-01 -4.38741945e-03 4.10843756e+01] [ 3.78812399e-01 9.25471954e-01 -1.68179931e-03 7.54400823e+00] [ 4.69752634e-03 -1.05568275e-04 9.99988961e-01 1.84895905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.11, Y:7.55, Z:0.19 [[ 9.25605699e-01 -3.78463765e-01 -4.38953154e-03 4.11104848e+01] [ 3.78460068e-01 9.25616101e-01 -1.67624738e-03 7.55268696e+00] [ 4.69741996e-03 -1.09718278e-04 9.99988961e-01 1.85033853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.14, Y:7.56, Z:0.18 [[ 9.25987616e-01 -3.77528345e-01 -4.39128926e-03 4.11362237e+01] [ 3.77524660e-01 9.25998022e-01 -1.67162993e-03 7.56078363e+00] [ 4.69741285e-03 -1.09911370e-04 9.99988961e-01 1.84501847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.16, Y:7.57, Z:0.18 [[ 9.26023732e-01 -3.77439830e-01 -4.38439787e-03 4.11647904e+01] [ 3.77436058e-01 9.26034107e-01 -1.68972679e-03 7.56930609e+00] [ 4.69787215e-03 -9.01027434e-05 9.99988961e-01 1.84714724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.19, Y:7.58, Z:0.18 [[ 9.26134217e-01 -3.77168574e-01 -4.39079010e-03 4.11907760e+01] [ 3.77164879e-01 9.26144619e-01 -1.67294987e-03 7.57809920e+00] [ 4.69749074e-03 -1.06675701e-04 9.99988961e-01 1.84860229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.22, Y:7.59, Z:0.18 [[ 9.26067363e-01 -3.77332695e-01 -4.39055493e-03 4.12178971e+01] [ 3.77328998e-01 9.26077765e-01 -1.67356682e-03 7.58726393e+00] [ 4.69748677e-03 -1.06848080e-04 9.99988961e-01 1.84433026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.24, Y:7.59, Z:0.19 [[ 9.26454629e-01 -3.76380828e-01 -4.39240289e-03 4.12438006e+01] [ 3.76377144e-01 9.26465035e-01 -1.66872131e-03 7.59461248e+00] [ 4.69748240e-03 -1.07205477e-04 9.99988961e-01 1.85321438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.27, Y:7.60, Z:0.19 [[ 9.26316197e-01 -3.76721450e-01 -4.38768061e-03 4.12710954e+01] [ 3.76717711e-01 9.26326584e-01 -1.68109303e-03 7.60466754e+00] [ 4.69772899e-03 -9.56932948e-05 9.99988961e-01 1.86030548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.30, Y:7.62, Z:0.19 [[ 9.25814390e-01 -3.77952971e-01 -4.38944792e-03 4.13000046e+01] [ 3.77949268e-01 9.25824789e-01 -1.67646573e-03 7.61562440e+00] [ 4.69748489e-03 -1.06892531e-04 9.99988961e-01 1.86348071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.32, Y:7.62, Z:0.19 [[ 9.26344869e-01 -3.76650709e-01 -4.40757664e-03 4.13242457e+01] [ 3.76647217e-01 9.26355343e-01 -1.62897010e-03 7.62339091e+00] [ 4.69653491e-03 -1.51113377e-04 9.99988960e-01 1.86832659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.35, Y:7.63, Z:0.19 [[ 9.26279702e-01 -3.76811162e-01 -4.38869916e-03 4.13505186e+01] [ 3.76807438e-01 9.26290094e-01 -1.67833312e-03 7.63298294e+00] [ 4.69762321e-03 -9.90885861e-05 9.99988961e-01 1.86684167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.38, Y:7.64, Z:0.19 [[ 9.26051027e-01 -3.77372809e-01 -4.38850113e-03 4.13769632e+01] [ 3.77369088e-01 9.26061420e-01 -1.67885062e-03 7.64199123e+00] [ 4.69757416e-03 -1.01383331e-04 9.99988961e-01 1.86782807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.40, Y:7.65, Z:0.19 [[ 9.25892239e-01 -3.77762238e-01 -4.38777203e-03 4.14032027e+01] [ 3.77758513e-01 9.25902630e-01 -1.68075401e-03 7.65140284e+00] [ 4.69757506e-03 -1.01321139e-04 9.99988961e-01 1.86788516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.43, Y:7.66, Z:0.19 [[ 9.25586963e-01 -3.78509612e-01 -4.38725022e-03 4.14295557e+01] [ 3.78505889e-01 9.25597355e-01 -1.68211496e-03 7.66097708e+00] [ 4.69752388e-03 -1.03656369e-04 9.99988961e-01 1.86239778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.46, Y:7.67, Z:0.19 [[ 9.25424996e-01 -3.78905452e-01 -4.38579044e-03 4.14561230e+01] [ 3.78901715e-01 9.25435383e-01 -1.68591929e-03 7.67010790e+00] [ 4.69756966e-03 -1.01591661e-04 9.99988961e-01 1.86992237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.48, Y:7.68, Z:0.19 [[ 9.24582237e-01 -3.80957335e-01 -4.38128250e-03 4.14839886e+01] [ 3.80953565e-01 9.24592612e-01 -1.69765545e-03 7.68055288e+00] [ 4.69763572e-03 -9.94431113e-05 9.99988961e-01 1.87175583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.51, Y:7.69, Z:0.19 [[ 9.23939921e-01 -3.82512448e-01 -4.38741266e-03 4.15099000e+01] [ 3.82508771e-01 9.23950330e-01 -1.68170371e-03 7.68910795e+00] [ 4.69702398e-03 -1.24430631e-04 9.99988961e-01 1.87453229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.54, Y:7.70, Z:0.19 [[ 9.23708223e-01 -3.83071629e-01 -4.38690050e-03 4.15366185e+01] [ 3.83067953e-01 9.23718632e-01 -1.68303529e-03 7.69861910e+00] [ 4.69698480e-03 -1.25847460e-04 9.99988961e-01 1.87845237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.56, Y:7.71, Z:0.19 [[ 9.23214372e-01 -3.84260323e-01 -4.38501594e-03 4.15632729e+01] [ 3.84256636e-01 9.23224777e-01 -1.68793113e-03 7.70727624e+00] [ 4.69696032e-03 -1.26649192e-04 9.99988961e-01 1.85295157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.59, Y:7.72, Z:0.19 [[ 9.22692584e-01 -3.85511613e-01 -4.38089379e-03 4.15921004e+01] [ 3.85507890e-01 9.22702976e-01 -1.69862489e-03 7.71648252e+00] [ 4.69710336e-03 -1.21560534e-04 9.99988961e-01 1.86748542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.62, Y:7.72, Z:0.19 [[ 9.22795348e-01 -3.85265455e-01 -4.39025715e-03 4.16182886e+01] [ 3.85261844e-01 9.22805780e-01 -1.67434480e-03 7.72452229e+00] [ 4.69642188e-03 -1.46320970e-04 9.99988961e-01 1.87949060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.65, Y:7.73, Z:0.19 [[ 9.23321519e-01 -3.84002814e-01 -4.38314961e-03 4.16478560e+01] [ 3.83999102e-01 9.23331914e-01 -1.69274883e-03 7.73057150e+00] [ 4.69712224e-03 -1.20174092e-04 9.99988961e-01 1.86283712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.67, Y:7.74, Z:0.19 [[ 9.23055778e-01 -3.84640999e-01 -4.39698121e-03 4.16714171e+01] [ 3.84637464e-01 9.23066236e-01 -1.65694150e-03 7.74086400e+00] [ 4.69603253e-03 -1.61794278e-04 9.99988960e-01 1.87673949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.70, Y:7.75, Z:0.19 [[ 9.23987209e-01 -3.82398266e-01 -4.38229640e-03 4.16972968e+01] [ 3.82394525e-01 9.23997594e-01 -1.69491000e-03 7.74876639e+00] [ 4.69736198e-03 -1.09690991e-04 9.99988961e-01 1.87539231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.73, Y:7.76, Z:0.19 [[ 9.24639557e-01 -3.80818182e-01 -4.38207095e-03 4.17258763e+01] [ 3.80814421e-01 9.24649935e-01 -1.69549270e-03 7.75872223e+00] [ 4.69755606e-03 -1.01036194e-04 9.99988961e-01 1.86002897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.75, Y:7.77, Z:0.19 [[ 9.25189711e-01 -3.79479565e-01 -4.38848989e-03 4.17515134e+01] [ 3.79475868e-01 9.25200112e-01 -1.67890544e-03 7.76814905e+00] [ 4.69734164e-03 -1.12019968e-04 9.99988961e-01 1.87674674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.78, Y:7.78, Z:0.19 [[ 9.25968824e-01 -3.77574550e-01 -4.38134418e-03 4.17796603e+01] [ 3.77570744e-01 9.25979186e-01 -1.69735054e-03 7.77739654e+00] [ 4.69790988e-03 -8.25736961e-05 9.99988961e-01 1.87477039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.80, Y:7.79, Z:0.19 [[ 9.26993210e-01 -3.75052434e-01 -4.38864532e-03 4.18041947e+01] [ 3.75048689e-01 9.27003594e-01 -1.67850660e-03 7.78512838e+00] [ 4.69781797e-03 -8.99914537e-05 9.99988961e-01 1.88567373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.83, Y:7.79, Z:0.19 [[ 9.27299641e-01 -3.74294252e-01 -4.38054402e-03 4.18311525e+01] [ 3.74290400e-01 9.27309985e-01 -1.69938946e-03 7.79448254e+00] [ 4.69819392e-03 -6.37523376e-05 9.99988961e-01 1.89025477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.86, Y:7.80, Z:0.19 [[ 9.27497829e-01 -3.73802879e-01 -4.38000754e-03 4.18573236e+01] [ 3.73799015e-01 9.27508169e-01 -1.70077105e-03 7.80329835e+00] [ 4.69824589e-03 -5.97810512e-05 9.99988961e-01 1.89258478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.88, Y:7.81, Z:0.19 [[ 9.27455938e-01 -3.73906811e-01 -4.37947093e-03 4.18844632e+01] [ 3.73902941e-01 9.27466276e-01 -1.70215170e-03 7.81064102e+00] [ 4.69825771e-03 -5.88263576e-05 9.99988961e-01 1.89927324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.91, Y:7.82, Z:0.19 [[ 9.27335745e-01 -3.74204812e-01 -4.37892315e-03 4.19110362e+01] [ 3.74200938e-01 9.27346082e-01 -1.70355974e-03 7.82115075e+00] [ 4.69825748e-03 -5.88253106e-05 9.99988961e-01 1.90061159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.94, Y:7.83, Z:0.19 [[ 9.27372605e-01 -3.74113462e-01 -4.37837530e-03 4.19401613e+01] [ 3.74109581e-01 9.27382938e-01 -1.70496663e-03 7.82986608e+00] [ 4.69828152e-03 -5.68528046e-05 9.99988961e-01 1.89598411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.97, Y:7.84, Z:0.19 [[ 9.26768914e-01 -3.75606338e-01 -4.38845286e-03 4.19652078e+01] [ 3.75602596e-01 9.26779300e-01 -1.67908851e-03 7.83954896e+00] [ 4.69780355e-03 -9.21872502e-05 9.99988961e-01 1.90013250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:41.99, Y:7.85, Z:0.19 [[ 9.25966971e-01 -3.77579077e-01 -4.38286725e-03 4.19937129e+01] [ 3.77575289e-01 9.25977339e-01 -1.69341916e-03 7.84653238e+00] [ 4.69783540e-03 -8.68121560e-05 9.99988961e-01 1.90441511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.02, Y:7.85, Z:0.19 [[ 9.25326830e-01 -3.79145135e-01 -4.38456020e-03 4.20186137e+01] [ 3.79141386e-01 9.25337212e-01 -1.68907832e-03 7.85445996e+00] [ 4.69760254e-03 -9.94187401e-05 9.99988961e-01 1.90905536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.05, Y:7.86, Z:0.19 [[ 9.24730025e-01 -3.80598507e-01 -4.37680267e-03 4.20472757e+01] [ 3.80594680e-01 9.24740379e-01 -1.70894624e-03 7.86020663e+00] [ 4.69782854e-03 -8.54739160e-05 9.99988961e-01 1.90497181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.07, Y:7.87, Z:0.19 [[ 9.24074794e-01 -3.82186605e-01 -4.37876146e-03 4.20741488e+01] [ 3.82182819e-01 9.24085164e-01 -1.70393263e-03 7.86863607e+00] [ 4.69756872e-03 -9.89262019e-05 9.99988961e-01 1.90921513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.10, Y:7.88, Z:0.19 [[ 9.23943020e-01 -3.82505013e-01 -4.38305166e-03 4.21007853e+01] [ 3.82501283e-01 9.23953409e-01 -1.69295832e-03 7.87683188e+00] [ 4.69730057e-03 -1.12325861e-04 9.99988961e-01 1.90016260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.13, Y:7.89, Z:0.19 [[ 9.23438775e-01 -3.83720772e-01 -4.38156791e-03 4.21256043e+01] [ 3.83717038e-01 9.23449163e-01 -1.69675345e-03 7.88562640e+00] [ 4.69723476e-03 -1.14434332e-04 9.99988961e-01 1.91329910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.15, Y:7.90, Z:0.19 [[ 9.23031366e-01 -3.84699848e-01 -4.37313403e-03 4.21528045e+01] [ 3.84696023e-01 9.23041720e-01 -1.71830426e-03 7.89534232e+00] [ 4.69761655e-03 -9.62785416e-05 9.99988962e-01 1.92020662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.18, Y:7.91, Z:0.19 [[ 9.23234498e-01 -3.84212076e-01 -4.37511549e-03 4.21774322e+01] [ 3.84208269e-01 9.23244859e-01 -1.71324421e-03 7.90531556e+00] [ 4.69755200e-03 -9.92293889e-05 9.99988962e-01 1.92387968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.21, Y:7.91, Z:0.19 [[ 9.24100066e-01 -3.82125541e-01 -4.37488355e-03 4.22086606e+01] [ 3.82121707e-01 9.24110417e-01 -1.71383626e-03 7.91394510e+00] [ 4.69777607e-03 -8.79817679e-05 9.99988962e-01 1.91278999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.24, Y:7.92, Z:0.19 [[ 9.23891346e-01 -3.82629712e-01 -4.39141901e-03 4.22350121e+01] [ 3.82626085e-01 9.23901772e-01 -1.67163353e-03 7.92417102e+00] [ 4.69685646e-03 -1.35863710e-04 9.99988960e-01 1.91091448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.26, Y:7.94, Z:0.19 [[ 9.24179564e-01 -3.81933056e-01 -4.39018518e-03 4.22595290e+01] [ 3.81929405e-01 9.24189983e-01 -1.67477893e-03 7.93630148e+00] [ 4.69701860e-03 -1.28944353e-04 9.99988961e-01 1.91946486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.28, Y:7.95, Z:0.19 [[ 9.24041013e-01 -3.82268202e-01 -4.38511521e-03 4.22843719e+01] [ 3.82264494e-01 9.24051410e-01 -1.68769188e-03 7.94578821e+00] [ 4.69722284e-03 -1.16777332e-04 9.99988961e-01 1.91136901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.31, Y:7.96, Z:0.19 [[ 9.24148293e-01 -3.82008821e-01 -4.38092676e-03 4.23092978e+01] [ 3.82005060e-01 9.24158671e-01 -1.69834576e-03 7.95900658e+00] [ 4.69745452e-03 -1.04012851e-04 9.99988961e-01 1.92185037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.33, Y:7.97, Z:0.19 [[ 9.23872747e-01 -3.82674767e-01 -4.37847921e-03 4.23347952e+01] [ 3.82670984e-01 9.23883116e-01 -1.70456683e-03 7.97137935e+00] [ 4.69749773e-03 -1.00714112e-04 9.99988962e-01 1.90412549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.36, Y:7.98, Z:0.19 [[ 9.24642697e-01 -3.80810590e-01 -4.37918428e-03 4.23629589e+01] [ 3.80806794e-01 9.24653063e-01 -1.70277482e-03 7.98021688e+00] [ 4.69766084e-03 -9.31648281e-05 9.99988962e-01 1.90497351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.39, Y:7.99, Z:0.19 [[ 9.23263874e-01 -3.84141433e-01 -4.37923307e-03 4.23863017e+01] [ 3.84137675e-01 9.23274254e-01 -1.70265099e-03 7.99146443e+00] [ 4.69729193e-03 -1.10232263e-04 9.99988962e-01 1.88901065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.41, Y:8.00, Z:0.19 [[ 9.22438638e-01 -3.86119007e-01 -4.36715220e-03 4.24116556e+01] [ 3.86115127e-01 9.22448971e-01 -1.73327348e-03 8.00312717e+00] [ 4.69772489e-03 -8.73850974e-05 9.99988962e-01 1.88346319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.44, Y:8.02, Z:0.19 [[ 9.21650751e-01 -3.87995883e-01 -4.36887268e-03 4.24358763e+01] [ 3.87992045e-01 9.21661100e-01 -1.72891529e-03 8.01565345e+00] [ 4.69743202e-03 -1.01631768e-04 9.99988962e-01 1.88069939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.46, Y:8.03, Z:0.19 [[ 9.21411406e-01 -3.88564018e-01 -4.36165136e-03 4.24620894e+01] [ 3.88560099e-01 9.21421726e-01 -1.74718099e-03 8.02679427e+00] [ 4.69781199e-03 -8.48911938e-05 9.99988962e-01 1.89328453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.49, Y:8.04, Z:0.19 [[ 9.21034619e-01 -3.89456290e-01 -4.36217247e-03 4.24890313e+01] [ 3.89452387e-01 9.21044945e-01 -1.74586333e-03 8.03773882e+00] [ 4.69769436e-03 -9.08579100e-05 9.99988962e-01 1.91551989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.52, Y:8.05, Z:0.19 [[ 9.20515893e-01 -3.90680688e-01 -4.36928472e-03 4.25151552e+01] [ 3.90676884e-01 9.20526255e-01 -1.72787858e-03 8.04843605e+00] [ 4.69709010e-03 -1.16438845e-04 9.99988962e-01 1.91736984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.54, Y:8.06, Z:0.19 [[ 9.20476078e-01 -3.90774492e-01 -4.36874319e-03 4.25421092e+01] [ 3.90770683e-01 9.20486438e-01 -1.72924669e-03 8.05751142e+00] [ 4.69711436e-03 -1.15446546e-04 9.99988962e-01 1.92540441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.57, Y:8.07, Z:0.19 [[ 9.19479390e-01 -3.93113942e-01 -4.36818794e-03 4.25672929e+01] [ 3.93110152e-01 9.19489757e-01 -1.73064816e-03 8.06856976e+00] [ 4.69684599e-03 -1.25883716e-04 9.99988962e-01 1.92507072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.59, Y:8.08, Z:0.19 [[ 9.19472794e-01 -3.93129371e-01 -4.36801742e-03 4.25932627e+01] [ 3.93125579e-01 9.19483160e-01 -1.73107844e-03 8.07799727e+00] [ 4.69685624e-03 -1.25499853e-04 9.99988962e-01 1.92125557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.62, Y:8.09, Z:0.19 [[ 9.18884161e-01 -3.94503262e-01 -4.36744309e-03 4.26174185e+01] [ 3.94499479e-01 9.18894531e-01 -1.73252624e-03 8.08908104e+00] [ 4.69670682e-03 -1.30963105e-04 9.99988962e-01 1.91845717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.64, Y:8.10, Z:0.19 [[ 9.18638789e-01 -3.95074301e-01 -4.36719510e-03 4.26419705e+01] [ 3.95070522e-01 9.18649160e-01 -1.73315112e-03 8.09928304e+00] [ 4.69664358e-03 -1.33210209e-04 9.99988962e-01 1.91556078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.752755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:42.67, Y:8.11, Z:0.19 [[ 9.17953418e-01 -3.96664155e-01 -4.36696010e-03 4.26694269e+01] [ 3.96660391e-01 9.17963795e-01 -1.73374303e-03 8.11136824e+00] [ 4.69642498e-03 -1.40704756e-04 9.99988962e-01 1.91294430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.70, Y:8.12, Z:0.19 [[ 9.18320633e-01 -3.95813201e-01 -4.37306796e-03 4.26973274e+01] [ 3.95809501e-01 9.18331033e-01 -1.71837870e-03 8.12182431e+00] [ 4.69608099e-03 -1.52879234e-04 9.99988962e-01 1.92064147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.72, Y:8.13, Z:0.19 [[ 9.18077552e-01 -3.96376636e-01 -4.37836664e-03 4.27210050e+01] [ 3.96373005e-01 9.18087977e-01 -1.70510940e-03 8.13216611e+00] [ 4.69559130e-03 -1.70043677e-04 9.99988961e-01 1.92514815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.75, Y:8.14, Z:0.19 [[ 9.18159175e-01 -3.96187597e-01 -4.37224706e-03 4.27451009e+01] [ 3.96183891e-01 9.18169573e-01 -1.72043038e-03 8.14256552e+00] [ 4.69607740e-03 -1.52584913e-04 9.99988962e-01 1.93646362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.77, Y:8.15, Z:0.19 [[ 9.18362563e-01 -3.95716021e-01 -4.36277862e-03 4.27715804e+01] [ 3.95712197e-01 9.18372917e-01 -1.74411501e-03 8.15325839e+00] [ 4.69683198e-03 -1.24674784e-04 9.99988962e-01 1.93981420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.80, Y:8.16, Z:0.19 [[ 9.18915668e-01 -3.94429925e-01 -4.36223746e-03 4.27997108e+01] [ 3.94426080e-01 9.18926015e-01 -1.74546746e-03 8.16299651e+00] [ 4.69703809e-03 -1.16642823e-04 9.99988962e-01 1.93920917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.932755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:42.82, Y:8.17, Z:0.19 [[ 9.19234294e-01 -3.93686685e-01 -4.37105777e-03 4.28225420e+01] [ 3.93682936e-01 9.19244677e-01 -1.72343321e-03 8.17452265e+00] [ 4.69656429e-03 -1.36571945e-04 9.99988962e-01 1.93409458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.85, Y:8.19, Z:0.19 [[ 9.18863642e-01 -3.94551119e-01 -4.36148148e-03 4.28502065e+01] [ 3.94547267e-01 9.18873986e-01 -1.74733633e-03 8.18696517e+00] [ 4.69706538e-03 -1.15246774e-04 9.99988962e-01 1.92669809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.87, Y:8.20, Z:0.19 [[ 9.19447995e-01 -3.93187347e-01 -4.36971615e-03 4.28741624e+01] [ 3.93183577e-01 9.19458370e-01 -1.72678308e-03 8.19638339e+00] [ 4.69672135e-03 -1.30413381e-04 9.99988962e-01 1.91712180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.90, Y:8.21, Z:0.19 [[ 9.19903982e-01 -3.92119429e-01 -4.36075993e-03 4.29027176e+01] [ 3.92115541e-01 9.19914313e-01 -1.74911208e-03 8.20525279e+00] [ 4.69738631e-03 -1.00906576e-04 9.99988962e-01 1.89503284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:42.93, Y:8.22, Z:0.19 [[ 9.19840160e-01 -3.92269026e-01 -4.36923299e-03 4.29305728e+01] [ 3.92265240e-01 9.19850529e-01 -1.72803808e-03 8.21564951e+00] [ 4.69689709e-03 -1.24379398e-04 9.99988962e-01 1.89697875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.95, Y:8.23, Z:0.19 [[ 9.19094728e-01 -3.94012355e-01 -4.37557544e-03 4.29527423e+01] [ 3.94008663e-01 9.19105131e-01 -1.71227494e-03 8.22750579e+00] [ 4.69627132e-03 -1.50271755e-04 9.99988961e-01 1.90897475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:42.98, Y:8.24, Z:0.19 [[ 9.19426815e-01 -3.93237003e-01 -4.35777388e-03 4.29803605e+01] [ 3.93233093e-01 9.19437137e-01 -1.75644107e-03 8.23870570e+00] [ 4.69739676e-03 -9.87018863e-05 9.99988962e-01 1.92458195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.00, Y:8.25, Z:0.19 [[ 9.17960852e-01 -3.96646982e-01 -4.36408356e-03 4.29991737e+01] [ 3.96643184e-01 9.17971216e-01 -1.74079813e-03 8.25143868e+00] [ 4.69658542e-03 -1.32999462e-04 9.99988962e-01 1.91123978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.03, Y:8.26, Z:0.19 [[ 9.19460385e-01 -3.93158834e-01 -4.32791878e-03 4.30309437e+01] [ 3.93154574e-01 9.19470571e-01 -1.83029613e-03 8.25991423e+00] [ 4.69899104e-03 -1.86562774e-05 9.99988960e-01 1.91168051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.06, Y:8.27, Z:0.19 [[ 9.19775554e-01 -3.92420628e-01 -4.35673133e-03 4.30605202e+01] [ 3.92416697e-01 9.19785867e-01 -1.75892973e-03 8.26986234e+00] [ 4.69750021e-03 -9.18335496e-05 9.99988962e-01 1.89999500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.08, Y:8.28, Z:0.19 [[ 9.19197957e-01 -3.93771528e-01 -4.37029091e-03 4.30841711e+01] [ 3.93767771e-01 9.19208336e-01 -1.72534661e-03 8.28154477e+00] [ 4.69660020e-03 -1.34944633e-04 9.99988962e-01 1.92299632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.11, Y:8.29, Z:0.19 [[ 9.19742472e-01 -3.92498169e-01 -4.35579300e-03 4.31141425e+01] [ 3.92494228e-01 9.19752782e-01 -1.76120273e-03 8.29050240e+00] [ 4.69752157e-03 -8.97706633e-05 9.99988963e-01 1.90463657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.292755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.14, Y:8.30, Z:0.19 [[ 9.19327460e-01 -3.93469072e-01 -4.37150182e-03 4.31417000e+01] [ 3.93465326e-01 9.19337844e-01 -1.72238384e-03 8.30188728e+00] [ 4.69659182e-03 -1.36599628e-04 9.99988962e-01 1.90701751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.17, Y:8.31, Z:0.19 [[ 9.19085320e-01 -3.94034292e-01 -4.37611497e-03 4.31676111e+01] [ 3.94030607e-01 9.19095726e-01 -1.71099121e-03 8.31278369e+00] [ 4.69625778e-03 -1.51776329e-04 9.99988961e-01 1.92612084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.19, Y:8.32, Z:0.20 [[ 9.17905559e-01 -3.96774817e-01 -4.37368576e-03 4.31888134e+01] [ 3.96771134e-01 9.17915965e-01 -1.71698632e-03 8.32407417e+00] [ 4.69593291e-03 -1.59320975e-04 9.99988961e-01 1.95846567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.22, Y:8.33, Z:0.20 [[ 9.18187677e-01 -3.96121748e-01 -4.35325079e-03 4.32194483e+01] [ 3.96117819e-01 9.18197991e-01 -1.76732156e-03 8.33334672e+00] [ 4.69722064e-03 -1.01667328e-04 9.99988963e-01 1.95899696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.25, Y:8.34, Z:0.20 [[ 9.17903492e-01 -3.96779619e-01 -4.37197201e-03 4.32450603e+01] [ 3.96775916e-01 9.17913890e-01 -1.72119902e-03 8.34329464e+00] [ 4.69603053e-03 -1.54798610e-04 9.99988962e-01 1.95945261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.27, Y:8.35, Z:0.20 [[ 9.16722072e-01 -3.99501603e-01 -4.37167596e-03 4.32658875e+01] [ 3.99497927e-01 9.16732481e-01 -1.72192816e-03 8.35460785e+00] [ 4.69557040e-03 -1.67945936e-04 9.99988962e-01 1.97570719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.29, Y:8.37, Z:0.20 [[ 9.16380247e-01 -4.00285274e-01 -4.35224602e-03 4.32919000e+01] [ 4.00281380e-01 9.16390574e-01 -1.76971213e-03 8.36537191e+00] [ 4.69674694e-03 -1.20393806e-04 9.99988963e-01 1.97794987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.32, Y:8.38, Z:0.20 [[ 9.15811779e-01 -4.01584174e-01 -4.35170097e-03 4.33173261e+01] [ 4.01580288e-01 9.15822109e-01 -1.77105141e-03 8.37623672e+00] [ 4.69661017e-03 -1.25607587e-04 9.99988963e-01 1.97398639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.34, Y:8.39, Z:0.20 [[ 9.15575693e-01 -4.02122139e-01 -4.35153246e-03 4.33420688e+01] [ 4.02118257e-01 9.15586025e-01 -1.77146535e-03 8.38688714e+00] [ 4.69654774e-03 -1.27920035e-04 9.99988963e-01 1.97084760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.37, Y:8.40, Z:0.20 [[ 9.15295202e-01 -4.02760177e-01 -4.35130017e-03 4.33680097e+01] [ 4.02756300e-01 9.15305535e-01 -1.77203574e-03 8.39801031e+00] [ 4.69647456e-03 -1.30577749e-04 9.99988963e-01 1.97794976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.39, Y:8.41, Z:0.20 [[ 9.14982066e-01 -4.03471053e-01 -4.35075780e-03 4.33928528e+01] [ 4.03467177e-01 9.14992400e-01 -1.77336638e-03 8.40870984e+00] [ 4.69641232e-03 -1.32789538e-04 9.99988963e-01 1.97685436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.42, Y:8.42, Z:0.20 [[ 9.14359292e-01 -4.04880426e-01 -4.35038958e-03 4.34190395e+01] [ 4.04876562e-01 9.14369630e-01 -1.77426922e-03 8.41960764e+00] [ 4.69623099e-03 -1.39051236e-04 9.99988963e-01 1.97605156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.44, Y:8.43, Z:0.20 [[ 9.13418113e-01 -4.06999298e-01 -4.34986861e-03 4.34444628e+01] [ 4.06995452e-01 9.13428459e-01 -1.77554553e-03 8.43140309e+00] [ 4.69593957e-03 -1.48561292e-04 9.99988963e-01 2.00404714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.47, Y:8.44, Z:0.20 [[ 9.13896629e-01 -4.05923726e-01 -4.34515495e-03 4.34713474e+01] [ 4.05919813e-01 9.13906949e-01 -1.78708350e-03 8.44154778e+00] [ 4.69648690e-03 -1.30574901e-04 9.99988963e-01 1.97750990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.50, Y:8.46, Z:0.20 [[ 9.13116994e-01 -4.07674428e-01 -4.34920602e-03 4.34960012e+01] [ 4.07670582e-01 9.13127340e-01 -1.77716947e-03 8.45544060e+00] [ 4.69588546e-03 -1.50279704e-04 9.99988963e-01 1.98707160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.52, Y:8.47, Z:0.20 [[ 9.12944836e-01 -4.08059896e-01 -4.34145825e-03 4.35215990e+01] [ 4.08055964e-01 9.12955149e-01 -1.79611737e-03 8.46685673e+00] [ 4.69648013e-03 -1.31801860e-04 9.99988963e-01 1.98455739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.55, Y:8.48, Z:0.20 [[ 9.12847409e-01 -4.08277817e-01 -4.33967160e-03 4.35479753e+01] [ 4.08273867e-01 9.12857715e-01 -1.80048454e-03 8.47779312e+00] [ 4.69660060e-03 -1.28206861e-04 9.99988963e-01 1.98588505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.57, Y:8.49, Z:0.20 [[ 9.12947234e-01 -4.08054556e-01 -4.33904282e-03 4.35743615e+01] [ 4.08050597e-01 9.12957536e-01 -1.80202018e-03 8.48909391e+00] [ 4.69668438e-03 -1.25399673e-04 9.99988963e-01 1.98541448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.832755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:43.60, Y:8.50, Z:0.20 [[ 9.12297971e-01 -4.09503978e-01 -4.34781133e-03 4.35988562e+01] [ 4.09500137e-01 9.12308318e-01 -1.78060962e-03 8.50169969e+00] [ 4.69571117e-03 -1.55982794e-04 9.99988963e-01 1.97755420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.63, Y:8.51, Z:0.20 [[ 9.12381140e-01 -4.09318757e-01 -4.33712093e-03 4.36268955e+01] [ 4.09314789e-01 9.12391440e-01 -1.80669175e-03 8.51212750e+00] [ 4.69666483e-03 -1.26856265e-04 9.99988963e-01 2.00923130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.65, Y:8.52, Z:0.20 [[ 9.12158306e-01 -4.09814988e-01 -4.34750827e-03 4.36521645e+01] [ 4.09811146e-01 9.12168653e-01 -1.78134058e-03 8.52278055e+00] [ 4.69568083e-03 -1.56792741e-04 9.99988963e-01 1.98050331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.68, Y:8.53, Z:0.20 [[ 9.12288113e-01 -4.09525945e-01 -4.34733829e-03 4.36782120e+01] [ 4.09522098e-01 9.12298458e-01 -1.78175533e-03 8.53417815e+00] [ 4.69574505e-03 -1.54856891e-04 9.99988963e-01 1.99857186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.71, Y:8.55, Z:0.20 [[ 9.12253884e-01 -4.09602193e-01 -4.34679432e-03 4.37054670e+01] [ 4.09598340e-01 9.12264227e-01 -1.78308140e-03 8.54639763e+00] [ 4.69577902e-03 -1.53816806e-04 9.99988963e-01 1.98576473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.73, Y:8.56, Z:0.20 [[ 9.13526366e-01 -4.06756253e-01 -4.35075836e-03 4.37308305e+01] [ 4.06752414e-01 9.13536714e-01 -1.77341824e-03 8.55700997e+00] [ 4.69592646e-03 -1.49617150e-04 9.99988963e-01 2.00008870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.76, Y:8.57, Z:0.20 [[ 9.13986416e-01 -4.05721509e-01 -4.34614107e-03 4.37564289e+01] [ 4.05717606e-01 9.13996739e-01 -1.78466260e-03 8.56806303e+00] [ 4.69643477e-03 -1.32148578e-04 9.99988963e-01 2.00047022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.78, Y:8.58, Z:0.20 [[ 9.14404970e-01 -4.04777304e-01 -4.34560116e-03 4.37821926e+01] [ 4.04773383e-01 9.14415288e-01 -1.78597632e-03 8.57918360e+00] [ 4.69660681e-03 -1.25878062e-04 9.99988963e-01 2.00712487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.81, Y:8.59, Z:0.20 [[ 9.14902878e-01 -4.03650647e-01 -4.34504969e-03 4.38081127e+01] [ 4.03646707e-01 9.14913188e-01 -1.78731696e-03 8.59040879e+00] [ 4.69679491e-03 -1.18643571e-04 9.99988963e-01 2.00841889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.83, Y:8.60, Z:0.20 [[ 9.15724450e-01 -4.01783345e-01 -4.34449958e-03 4.38333010e+01] [ 4.01779378e-01 9.15734750e-01 -1.78865313e-03 8.60143488e+00] [ 4.69706027e-03 -1.07616930e-04 9.99988963e-01 2.01530869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.86, Y:8.61, Z:0.20 [[ 9.15959919e-01 -4.01246250e-01 -4.34432915e-03 4.38593351e+01] [ 4.01242275e-01 9.15970216e-01 -1.78906699e-03 8.61271136e+00] [ 4.69713253e-03 -1.04414852e-04 9.99988963e-01 2.02268193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.89, Y:8.62, Z:0.20 [[ 9.16285001e-01 -4.00503343e-01 -4.34377850e-03 4.38850879e+01] [ 4.00499354e-01 9.16295292e-01 -1.79040294e-03 8.62368749e+00] [ 4.69724615e-03 -9.91611181e-05 9.99988963e-01 2.02191103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:43.91, Y:8.63, Z:0.20 [[ 9.17043331e-01 -3.98763918e-01 -4.34360816e-03 4.39090839e+01] [ 3.98759906e-01 9.17053613e-01 -1.79081609e-03 8.63307328e+00] [ 4.69743440e-03 -8.98008372e-05 9.99988963e-01 2.02966986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.94, Y:8.65, Z:0.20 [[ 9.16081041e-01 -4.00969806e-01 -4.32918779e-03 4.39375266e+01] [ 4.00965654e-01 9.16091268e-01 -1.82575135e-03 8.64568383e+00] [ 4.69800229e-03 -6.33194137e-05 9.99988962e-01 2.02673394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.96, Y:8.66, Z:0.20 [[ 9.15586315e-01 -4.02098047e-01 -4.34296606e-03 4.39621521e+01] [ 4.02094066e-01 9.15596609e-01 -1.79236613e-03 8.65624156e+00] [ 4.69711191e-03 -1.05214979e-04 9.99988963e-01 2.02849832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:43.99, Y:8.67, Z:0.20 [[ 9.14931020e-01 -4.03586879e-01 -4.34273642e-03 4.39898637e+01] [ 4.03582912e-01 9.14941320e-01 -1.79292236e-03 8.66802207e+00] [ 4.69694893e-03 -1.12253926e-04 9.99988963e-01 2.04510970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.02, Y:8.68, Z:0.20 [[ 9.14613630e-01 -4.04305604e-01 -4.34597424e-03 4.40152595e+01] [ 4.04301682e-01 9.14623946e-01 -1.78508315e-03 8.67854656e+00] [ 4.69665123e-03 -1.24423313e-04 9.99988963e-01 2.03457804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.04, Y:8.69, Z:0.20 [[ 9.14188490e-01 -4.05266028e-01 -4.34184865e-03 4.40413615e+01] [ 4.05262070e-01 9.14198793e-01 -1.79506202e-03 8.68950295e+00] [ 4.69679045e-03 -1.18561536e-04 9.99988963e-01 2.03822253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.07, Y:8.70, Z:0.20 [[ 9.12718408e-01 -4.08566152e-01 -4.33662629e-03 4.40683441e+01] [ 4.08562171e-01 9.12728703e-01 -1.80768501e-03 8.70085104e+00] [ 4.69672220e-03 -1.21874063e-04 9.99988963e-01 2.03877353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.09, Y:8.71, Z:0.21 [[ 9.12107038e-01 -4.09929148e-01 -4.34099074e-03 4.40932440e+01] [ 4.09925233e-01 9.12117357e-01 -1.79713844e-03 8.71109718e+00] [ 4.69619244e-03 -1.40299019e-04 9.99988963e-01 2.05780523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.12, Y:8.72, Z:0.21 [[ 9.10720632e-01 -4.13000135e-01 -4.33800192e-03 4.41193531e+01] [ 4.12996220e-01 9.10730952e-01 -1.80435688e-03 8.72214857e+00] [ 4.69595225e-03 -1.48313354e-04 9.99988963e-01 2.05298666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.14, Y:8.73, Z:0.20 [[ 9.09898326e-01 -4.14808665e-01 -4.33678494e-03 4.41449671e+01] [ 4.14804757e-01 9.09908648e-01 -1.80729414e-03 8.73315756e+00] [ 4.69575939e-03 -1.54465105e-04 9.99988963e-01 2.04564850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.17, Y:8.74, Z:0.20 [[ 9.08895768e-01 -4.17000849e-01 -4.33302265e-03 4.41714817e+01] [ 4.16996922e-01 9.08906083e-01 -1.81636510e-03 8.74478841e+00] [ 4.69573643e-03 -1.55970552e-04 9.99988963e-01 2.03303941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.20, Y:8.76, Z:0.20 [[ 9.07651434e-01 -4.19702341e-01 -4.33805808e-03 4.41971709e+01] [ 4.19698503e-01 9.07661782e-01 -1.80422834e-03 8.75586337e+00] [ 4.69472838e-03 -1.83066042e-04 9.99988963e-01 2.00829555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.22, Y:8.77, Z:0.20 [[ 9.07151762e-01 -4.20781239e-01 -4.33944276e-03 4.42231705e+01] [ 4.20777429e-01 9.07162120e-01 -1.80089180e-03 8.76707331e+00] [ 4.69435957e-03 -1.92257399e-04 9.99988963e-01 2.00525820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.25, Y:8.78, Z:0.20 [[ 9.06948469e-01 -4.21219241e-01 -4.33892070e-03 4.42489305e+01] [ 4.21215430e-01 9.06958827e-01 -1.80214873e-03 8.77824696e+00] [ 4.69432215e-03 -1.93164315e-04 9.99988963e-01 2.00930738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.27, Y:8.79, Z:0.20 [[ 9.06819648e-01 -4.21496507e-01 -4.33838138e-03 4.42741337e+01] [ 4.21492693e-01 9.06830005e-01 -1.80344613e-03 8.79061074e+00] [ 4.69432064e-03 -1.93195667e-04 9.99988963e-01 2.00725789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.30, Y:8.80, Z:0.20 [[ 9.06706512e-01 -4.21739826e-01 -4.33821456e-03 4.42998945e+01] [ 4.21736013e-01 9.06716870e-01 -1.80384732e-03 8.80242857e+00] [ 4.69428658e-03 -1.94021202e-04 9.99988963e-01 2.01507188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.33, Y:8.81, Z:0.20 [[ 9.06637104e-01 -4.21889021e-01 -4.33765951e-03 4.43252599e+01] [ 4.21885203e-01 9.06647460e-01 -1.80518103e-03 8.81388152e+00] [ 4.69431404e-03 -1.93350263e-04 9.99988963e-01 2.02126824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.35, Y:8.83, Z:0.20 [[ 9.06275229e-01 -4.22665825e-01 -4.33709069e-03 4.43501991e+01] [ 4.22662010e-01 9.06285585e-01 -1.80654664e-03 8.82502444e+00] [ 4.69420830e-03 -1.95894993e-04 9.99988963e-01 2.01599153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.38, Y:8.84, Z:0.20 [[ 9.05859906e-01 -4.23555220e-01 -4.33670392e-03 4.43756569e+01] [ 4.23551410e-01 9.05870265e-01 -1.80747461e-03 8.83626511e+00] [ 4.69405644e-03 -1.99498278e-04 9.99988963e-01 2.02472047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.40, Y:8.85, Z:0.20 [[ 9.05407514e-01 -4.24521415e-01 -4.33613539e-03 4.43998483e+01] [ 4.24517610e-01 9.05417874e-01 -1.80883750e-03 8.84807288e+00] [ 4.69390474e-03 -2.03030763e-04 9.99988963e-01 2.02579473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.43, Y:8.86, Z:0.20 [[ 9.05231016e-01 -4.24897646e-01 -4.33574918e-03 4.44251455e+01] [ 4.24893841e-01 9.05241376e-01 -1.80976277e-03 8.86001058e+00] [ 4.69386349e-03 -2.03979735e-04 9.99988963e-01 2.03491483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.45, Y:8.87, Z:0.20 [[ 9.05201248e-01 -4.24961065e-01 -4.33524167e-03 4.44505558e+01] [ 4.24957255e-01 9.05211606e-01 -1.81097769e-03 8.87219287e+00] [ 4.69390608e-03 -2.02993138e-04 9.99988963e-01 2.04127477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.48, Y:8.89, Z:0.20 [[ 9.05422138e-01 -4.24490238e-01 -4.33473560e-03 4.44760564e+01] [ 4.24486417e-01 9.05432492e-01 -1.81218820e-03 8.88651141e+00] [ 4.69406666e-03 -1.99241070e-04 9.99988963e-01 2.02743077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.50, Y:8.90, Z:0.21 [[ 9.05561613e-01 -4.24192589e-01 -4.33734330e-03 4.44998974e+01] [ 4.24188794e-01 9.05571977e-01 -1.80595464e-03 8.89862155e+00] [ 4.69384912e-03 -2.04449226e-04 9.99988963e-01 2.05914783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.53, Y:8.91, Z:0.21 [[ 9.05642419e-01 -4.24020077e-01 -4.33388854e-03 4.45253744e+01] [ 4.24016240e-01 9.05652768e-01 -1.81420759e-03 8.91073241e+00] [ 4.69425859e-03 -1.94615771e-04 9.99988963e-01 2.06673636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.55, Y:8.92, Z:0.21 [[ 9.06031767e-01 -4.23187500e-01 -4.33334391e-03 4.45493166e+01] [ 4.23183647e-01 9.06042110e-01 -1.81550753e-03 8.92319699e+00] [ 4.69449215e-03 -1.88892784e-04 9.99988963e-01 2.07442344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.57, Y:8.94, Z:0.21 [[ 9.05923246e-01 -4.23419764e-01 -4.33310790e-03 4.45745575e+01] [ 4.23415911e-01 9.05933589e-01 -1.81607064e-03 8.93510918e+00] [ 4.69446820e-03 -1.89486218e-04 9.99988963e-01 2.07973009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.60, Y:8.95, Z:0.21 [[ 9.06214921e-01 -4.22795159e-01 -4.33257194e-03 4.46003266e+01] [ 4.22791294e-01 9.06225259e-01 -1.81734839e-03 8.94835266e+00] [ 4.69465223e-03 -1.84865467e-04 9.99988963e-01 2.06342258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.62, Y:8.96, Z:0.21 [[ 9.06278706e-01 -4.22658396e-01 -4.33449992e-03 4.46239377e+01] [ 4.22654551e-01 9.06289051e-01 -1.81275467e-03 8.96056186e+00] [ 4.69448580e-03 -1.89135156e-04 9.99988963e-01 2.08110479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.65, Y:8.97, Z:0.21 [[ 9.06740127e-01 -4.21667615e-01 -4.33178336e-03 4.46502167e+01] [ 4.21663728e-01 9.06750457e-01 -1.81922311e-03 8.97312045e+00] [ 4.69495401e-03 -1.76993328e-04 9.99988963e-01 2.07804883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.68, Y:8.99, Z:0.21 [[ 9.06684288e-01 -4.21787656e-01 -4.33299276e-03 4.46751836e+01] [ 4.21783784e-01 9.06694623e-01 -1.81634439e-03 8.98651018e+00] [ 4.69481288e-03 -1.80735166e-04 9.99988963e-01 2.08577109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.70, Y:9.00, Z:0.21 [[ 9.08160462e-01 -4.18599829e-01 -4.33104961e-03 4.47049079e+01] [ 4.18595898e-01 9.08170776e-01 -1.82096606e-03 8.99816968e+00] [ 4.69558876e-03 -1.59230227e-04 9.99988963e-01 2.05474027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.73, Y:9.01, Z:0.21 [[ 9.07392215e-01 -4.20262386e-01 -4.34686270e-03 4.47291549e+01] [ 4.20258654e-01 9.07402603e-01 -1.78329891e-03 9.01204709e+00] [ 4.69380799e-03 -2.08655119e-04 9.99988962e-01 2.07796439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.75, Y:9.02, Z:0.21 [[ 9.08017883e-01 -4.18908931e-01 -4.33962882e-03 4.47524982e+01] [ 4.18905102e-01 9.08028234e-01 -1.80052092e-03 9.02298635e+00] [ 4.69475978e-03 -1.82987457e-04 9.99988963e-01 2.08322658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.78, Y:9.04, Z:0.21 [[ 9.08838784e-01 -4.17125052e-01 -4.33087430e-03 4.47770753e+01] [ 4.17121103e-01 9.08849090e-01 -1.82133787e-03 9.03585358e+00] [ 4.69583682e-03 -1.51196572e-04 9.99988963e-01 2.07803794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.80, Y:9.05, Z:0.21 [[ 9.09450629e-01 -4.15789371e-01 -4.33031336e-03 4.48016402e+01] [ 4.15785400e-01 9.09460928e-01 -1.82267056e-03 9.04739583e+00] [ 4.69609785e-03 -1.42852185e-04 9.99988963e-01 2.07371401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:44.83, Y:9.06, Z:0.21 [[ 9.09979049e-01 -4.14631620e-01 -4.33007021e-03 4.48272425e+01] [ 4.14627634e-01 9.09989341e-01 -1.82324802e-03 9.05970586e+00] [ 4.69629402e-03 -1.36249265e-04 9.99988963e-01 2.07449497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.302755096 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:44.85, Y:9.07, Z:0.21 [[ 9.11911798e-01 -4.10363411e-01 -4.32951718e-03 4.48537883e+01] [ 4.10359370e-01 9.11922068e-01 -1.82456032e-03 9.07142892e+00] [ 4.69691505e-03 -1.12819864e-04 9.99988963e-01 2.08552073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.332755096 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:44.88, Y:9.09, Z:0.21 [[ 9.11820865e-01 -4.10565427e-01 -4.32899042e-03 4.48784142e+01] [ 4.10561382e-01 9.11831134e-01 -1.82580925e-03 9.08552236e+00] [ 4.69692240e-03 -1.12505319e-04 9.99988963e-01 2.06069507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.362755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:44.90, Y:9.10, Z:0.21 [[ 9.12247882e-01 -4.09615750e-01 -4.32878797e-03 4.49034312e+01] [ 4.09611693e-01 9.12258146e-01 -1.82628912e-03 9.09747111e+00] [ 4.69704888e-03 -1.07093792e-04 9.99988963e-01 2.06120704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.392755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:44.93, Y:9.11, Z:0.21 [[ 9.12584635e-01 -4.08864953e-01 -4.32822961e-03 4.49283330e+01] [ 4.08860881e-01 9.12594894e-01 -1.82761145e-03 9.11035011e+00] [ 4.69716651e-03 -1.01793640e-04 9.99988963e-01 2.06545584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.422755096 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:44.96, Y:9.12, Z:0.21 [[ 9.13125000e-01 -4.07656725e-01 -4.32766004e-03 4.49586440e+01] [ 4.07652633e-01 9.13135251e-01 -1.82895917e-03 9.12200659e+00] [ 4.69732644e-03 -9.41136634e-05 9.99988963e-01 2.05522910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.452755096000004 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:44.98, Y:9.13, Z:0.21 [[ 9.12578223e-01 -4.08879042e-01 -4.34910924e-03 4.49844522e+01] [ 4.08875205e-01 9.12588574e-01 -1.77816199e-03 9.13332697e+00] [ 4.69600058e-03 -1.55531022e-04 9.99988962e-01 2.06689975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.482755096 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:45.01, Y:9.15, Z:0.21 [[ 9.11695916e-01 -4.10842579e-01 -4.35101655e-03 4.50110111e+01] [ 4.10838786e-01 9.11706283e-01 -1.77365196e-03 9.14508030e+00] [ 4.69554087e-03 -1.70535109e-04 9.99988961e-01 2.07811163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.512755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:45.04, Y:9.16, Z:0.21 [[ 9.10269941e-01 -4.13992426e-01 -4.34805271e-03 4.50376162e+01] [ 4.13988635e-01 9.10280308e-01 -1.78064472e-03 9.15746174e+00] [ 4.69512019e-03 -1.79177039e-04 9.99988962e-01 2.09364787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.542755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.06, Y:9.17, Z:0.21 [[ 9.08583573e-01 -4.17680530e-01 -4.34341256e-03 4.50613763e+01] [ 4.17676730e-01 9.08593936e-01 -1.79158439e-03 9.16958669e+00] [ 4.69470822e-03 -1.86338207e-04 9.99988962e-01 2.09598969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.572755096 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:45.09, Y:9.18, Z:0.21 [[ 9.07297986e-01 -4.20465909e-01 -4.33411871e-03 4.50853890e+01] [ 4.20462036e-01 9.07308320e-01 -1.81345797e-03 9.18164510e+00] [ 4.69487922e-03 -1.76985611e-04 9.99988963e-01 2.10710962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.11, Y:9.19, Z:0.21 [[ 9.05917975e-01 -4.23431148e-01 -4.32262537e-03 4.51107177e+01] [ 4.23427179e-01 9.05928273e-01 -1.84047807e-03 9.19440433e+00] [ 4.69530428e-03 -1.62994900e-04 9.99988964e-01 2.12106144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.14, Y:9.21, Z:0.21 [[ 9.04384409e-01 -4.26696792e-01 -4.32299211e-03 4.51363746e+01] [ 4.26692865e-01 9.04394723e-01 -1.83961623e-03 9.20537191e+00] [ 4.69464960e-03 -1.80869649e-04 9.99988964e-01 2.13889809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.16, Y:9.22, Z:0.21 [[ 9.04249938e-01 -4.26981695e-01 -4.32233982e-03 4.51625860e+01] [ 4.26977763e-01 9.04260250e-01 -1.84114758e-03 9.21671453e+00] [ 4.69465640e-03 -1.80685407e-04 9.99988964e-01 2.14023583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.692755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.19, Y:9.23, Z:0.21 [[ 9.02048855e-01 -4.31612309e-01 -4.32175935e-03 4.51880310e+01] [ 4.31608424e-01 9.02059185e-01 -1.84250912e-03 9.23038021e+00] [ 4.69373233e-03 -2.03274502e-04 9.99988964e-01 2.13731164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.722755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.21, Y:9.24, Z:0.21 [[ 9.01055115e-01 -4.33683071e-01 -4.32143247e-03 4.52130199e+01] [ 4.33679206e-01 9.01065452e-01 -1.84327548e-03 9.24191371e+00] [ 4.69329087e-03 -2.13222606e-04 9.99988964e-01 2.13091104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.752755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:45.24, Y:9.25, Z:0.21 [[ 9.01744389e-01 -4.32248060e-01 -4.32097688e-03 4.52393595e+01] [ 4.32244174e-01 9.01754719e-01 -1.84434285e-03 9.25112086e+00] [ 4.69367491e-03 -2.04591269e-04 9.99988964e-01 2.13351282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.26, Y:9.27, Z:0.21 [[ 9.00057271e-01 -4.35750204e-01 -4.32067125e-03 4.52648769e+01] [ 4.35746355e-01 9.00067614e-01 -1.84505856e-03 9.26614767e+00] [ 4.69288090e-03 -2.22058376e-04 9.99988964e-01 2.11971079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.812755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.29, Y:9.28, Z:0.21 [[ 9.00932868e-01 -4.33936981e-01 -4.32009959e-03 4.52926222e+01] [ 4.33933105e-01 9.00943201e-01 -1.84639610e-03 9.27678211e+00] [ 4.69338390e-03 -2.11155293e-04 9.99988964e-01 2.13994341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.32, Y:9.29, Z:0.21 [[ 9.01332923e-01 -4.33105303e-01 -4.33116190e-03 4.53171952e+01] [ 4.33101540e-01 9.01343298e-01 -1.82052023e-03 9.28833657e+00] [ 4.69234072e-03 -2.34938066e-04 9.99988963e-01 2.13110124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.34, Y:9.30, Z:0.21 [[ 9.02073815e-01 -4.31560115e-01 -4.32431378e-03 4.53376091e+01] [ 4.31556259e-01 9.02084155e-01 -1.83652764e-03 9.30039696e+00] [ 4.69346702e-03 -2.09501184e-04 9.99988964e-01 2.11764296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.37, Y:9.31, Z:0.21 [[ 9.02908801e-01 -4.29810624e-01 -4.30394312e-03 4.53669393e+01] [ 4.29806520e-01 9.02919047e-01 -1.88413780e-03 9.31205872e+00] [ 4.69593466e-03 -1.48658213e-04 9.99988963e-01 2.13714206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.39, Y:9.33, Z:0.21 [[ 9.02960742e-01 -4.29701275e-01 -4.32583219e-03 4.53901468e+01] [ 4.29697414e-01 9.02971081e-01 -1.83295915e-03 9.32522275e+00] [ 4.69372626e-03 -2.03708752e-04 9.99988964e-01 2.11862379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.42, Y:9.34, Z:0.22 [[ 9.05238192e-01 -4.24882526e-01 -4.31904878e-03 4.54158290e+01] [ 4.24878534e-01 9.05248481e-01 -1.84880607e-03 9.33548412e+00] [ 4.69533775e-03 -1.61461252e-04 9.99988964e-01 2.16973778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.44, Y:9.35, Z:0.22 [[ 9.05746374e-01 -4.23798128e-01 -4.31884886e-03 4.54412592e+01] [ 4.23794122e-01 9.05756657e-01 -1.84927297e-03 9.34790075e+00] [ 4.69554453e-03 -1.55330477e-04 9.99988964e-01 2.17814097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.47, Y:9.36, Z:0.22 [[ 9.06314760e-01 -4.22581246e-01 -4.31826295e-03 4.54658413e+01] [ 4.22577219e-01 9.06325035e-01 -1.85064013e-03 9.35999952e+00] [ 4.69579563e-03 -1.47537090e-04 9.99988964e-01 2.17670649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.49, Y:9.37, Z:0.22 [[ 9.07205412e-01 -4.20665778e-01 -4.31786514e-03 4.54903053e+01] [ 4.20661726e-01 9.07215677e-01 -1.85156782e-03 9.37294715e+00] [ 4.69612617e-03 -1.36608254e-04 9.99988964e-01 2.17226819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.52, Y:9.39, Z:0.22 [[ 9.07264291e-01 -4.20538778e-01 -4.31768461e-03 4.55151763e+01] [ 4.20534722e-01 9.07274555e-01 -1.85198871e-03 9.38510760e+00] [ 4.69615845e-03 -1.35493074e-04 9.99988964e-01 2.18047069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.54, Y:9.40, Z:0.22 [[ 9.07308438e-01 -4.20443528e-01 -4.31711194e-03 4.55404639e+01] [ 4.20439464e-01 9.07318699e-01 -1.85332270e-03 9.39803610e+00] [ 4.69621392e-03 -1.33548908e-04 9.99988964e-01 2.18933992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.57, Y:9.41, Z:0.22 [[ 9.07154300e-01 -4.20775997e-01 -4.31692988e-03 4.55661037e+01] [ 4.20771935e-01 9.07164562e-01 -1.85374667e-03 9.41012596e+00] [ 4.69617790e-03 -1.34808677e-04 9.99988964e-01 2.18756308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.59, Y:9.42, Z:0.22 [[ 9.06780953e-01 -4.21579968e-01 -4.31674940e-03 4.55915558e+01] [ 4.21575913e-01 9.06791217e-01 -1.85416684e-03 9.42207435e+00] [ 4.69607004e-03 -1.38514402e-04 9.99988964e-01 2.19331651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.62, Y:9.43, Z:0.22 [[ 9.06201370e-01 -4.22824370e-01 -4.31620120e-03 4.56158569e+01] [ 4.22820323e-01 9.06211637e-01 -1.85544209e-03 9.43428562e+00] [ 4.69591789e-03 -1.43573423e-04 9.99988964e-01 2.17117814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.64, Y:9.45, Z:0.22 [[ 9.05563248e-01 -4.24189361e-01 -4.31152944e-03 4.56408559e+01] [ 4.24185279e-01 9.05573501e-01 -1.86629561e-03 9.44652556e+00] [ 4.69606955e-03 -1.38838596e-04 9.99988964e-01 2.17427113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.67, Y:9.46, Z:0.22 [[ 9.05052693e-01 -4.25277589e-01 -4.31223338e-03 4.56660764e+01] [ 4.25273527e-01 9.05062954e-01 -1.86466109e-03 9.45881754e+00] [ 4.69584125e-03 -1.46262157e-04 9.99988964e-01 2.19395276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.69, Y:9.47, Z:0.22 [[ 9.04163552e-01 -4.27164729e-01 -4.30887431e-03 4.56921266e+01] [ 4.27160650e-01 9.04173807e-01 -1.87245939e-03 9.47105423e+00] [ 4.69581990e-03 -1.47572014e-04 9.99988964e-01 2.20477524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.72, Y:9.48, Z:0.22 [[ 9.02983382e-01 -4.29653831e-01 -4.31243995e-03 4.57188823e+01] [ 4.29649820e-01 9.02993664e-01 -1.86418627e-03 9.48291342e+00] [ 4.69506073e-03 -1.69509826e-04 9.99988964e-01 2.19998403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.74, Y:9.49, Z:0.22 [[ 9.02985808e-01 -4.29648716e-01 -4.31412418e-03 4.57425625e+01] [ 4.29644724e-01 9.02996096e-01 -1.86028044e-03 9.49322903e+00] [ 4.69490439e-03 -1.73733854e-04 9.99988964e-01 2.20888636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.77, Y:9.51, Z:0.22 [[ 9.02437347e-01 -4.30799619e-01 -4.30394293e-03 4.57689360e+01] [ 4.30795527e-01 9.02447597e-01 -1.88387311e-03 9.50534212e+00] [ 4.69565477e-03 -1.54041913e-04 9.99988963e-01 2.20535743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.80, Y:9.52, Z:0.22 [[ 9.01794938e-01 -4.32142753e-01 -4.30483010e-03 4.57960533e+01] [ 4.32138686e-01 9.01805198e-01 -1.88181772e-03 9.51842247e+00] [ 4.69533204e-03 -1.63269934e-04 9.99988964e-01 2.20442939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.82, Y:9.53, Z:0.22 [[ 9.02458748e-01 -4.30754689e-01 -4.31340031e-03 4.58198138e+01] [ 4.30750702e-01 9.02469039e-01 -1.86196407e-03 9.52897420e+00] [ 4.69475999e-03 -1.77654447e-04 9.99988964e-01 2.20408057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.84, Y:9.54, Z:0.22 [[ 9.03130783e-01 -4.29343974e-01 -4.30598456e-03 4.58443972e+01] [ 4.29339888e-01 9.03141035e-01 -1.87912870e-03 9.54130609e+00] [ 4.69570394e-03 -1.51631960e-04 9.99988964e-01 2.18790222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.87, Y:9.55, Z:0.22 [[ 9.03591061e-01 -4.28374457e-01 -4.30349511e-03 4.58722219e+01] [ 4.28370333e-01 9.03601298e-01 -1.88489287e-03 9.55312660e+00] [ 4.69608373e-03 -1.40317285e-04 9.99988963e-01 2.19879435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.532755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:45.90, Y:9.56, Z:0.22 [[ 9.04644917e-01 -4.26144301e-01 -4.31394354e-03 4.58974499e+01] [ 4.26140267e-01 9.04655189e-01 -1.86070014e-03 9.56340502e+00] [ 4.69555817e-03 -1.55072131e-04 9.99988964e-01 2.20676366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.92, Y:9.58, Z:0.22 [[ 9.06230216e-01 -4.22762658e-01 -4.30464894e-03 4.59247490e+01] [ 4.22758484e-01 9.06240433e-01 -1.88220853e-03 9.57645730e+00] [ 4.69677440e-03 -1.14112617e-04 9.99988964e-01 2.18766900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.95, Y:9.59, Z:0.22 [[ 9.07011454e-01 -4.21083867e-01 -4.31264131e-03 4.59506414e+01] [ 4.21079762e-01 9.07021698e-01 -1.86371417e-03 9.58833373e+00] [ 4.69643921e-03 -1.25555877e-04 9.99988964e-01 2.18424111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:45.98, Y:9.60, Z:0.22 [[ 9.07565393e-01 -4.19888646e-01 -4.31065132e-03 4.59769607e+01] [ 4.19884505e-01 9.07575623e-01 -1.86831637e-03 9.60035586e+00] [ 4.69672689e-03 -1.14356414e-04 9.99988964e-01 2.17584546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.00, Y:9.61, Z:0.22 [[ 9.08148585e-01 -4.18625789e-01 -4.31224375e-03 4.60014045e+01] [ 4.18621651e-01 9.08158817e-01 -1.86463538e-03 9.61060397e+00] [ 4.69678664e-03 -1.11832616e-04 9.99988964e-01 2.17477009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.03, Y:9.62, Z:0.22 [[ 9.08674281e-01 -4.17483511e-01 -4.30914026e-03 4.60284784e+01] [ 4.17479326e-01 9.08684493e-01 -1.87180611e-03 9.62153751e+00] [ 4.69709712e-03 -9.81149041e-05 9.99988964e-01 2.17905324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.05, Y:9.63, Z:0.22 [[ 9.09332894e-01 -4.16046994e-01 -4.31124862e-03 4.60529576e+01] [ 4.16042817e-01 9.09343109e-01 -1.86693737e-03 9.63049225e+00] [ 4.69713790e-03 -9.59964587e-05 9.99988964e-01 2.17456143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.08, Y:9.64, Z:0.22 [[ 9.08491553e-01 -4.17881065e-01 -4.30276355e-03 4.60808909e+01] [ 4.17876815e-01 9.08501738e-01 -1.88649991e-03 9.64092854e+00] [ 4.69740075e-03 -8.41558908e-05 9.99988964e-01 2.18217325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.11, Y:9.65, Z:0.22 [[ 9.07834057e-01 -4.19307478e-01 -4.30867027e-03 4.61074940e+01] [ 4.19303309e-01 9.07844275e-01 -1.87288290e-03 9.65188808e+00] [ 4.69691545e-03 -1.06372818e-04 9.99988964e-01 2.18529014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.13, Y:9.66, Z:0.22 [[ 9.07407164e-01 -4.20230490e-01 -4.30979550e-03 4.61344032e+01] [ 4.20226344e-01 9.07417391e-01 -1.87028998e-03 9.66260893e+00] [ 4.69673627e-03 -1.13975080e-04 9.99988964e-01 2.18697263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.16, Y:9.67, Z:0.22 [[ 9.06923284e-01 -4.21273694e-01 -4.31635547e-03 4.61604591e+01] [ 4.21269631e-01 9.06933546e-01 -1.85518053e-03 9.67097262e+00] [ 4.69618632e-03 -1.35843059e-04 9.99988964e-01 2.19843632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.19, Y:9.68, Z:0.22 [[ 9.06081767e-01 -4.23080692e-01 -4.30804287e-03 4.61872323e+01] [ 4.23076559e-01 9.06092000e-01 -1.87430402e-03 9.68186886e+00] [ 4.69646502e-03 -1.24359251e-04 9.99988964e-01 2.20124984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.21, Y:9.69, Z:0.22 [[ 9.05725630e-01 -4.23842514e-01 -4.31345213e-03 4.62134529e+01] [ 4.23838448e-01 9.05735890e-01 -1.86186914e-03 9.69149386e+00] [ 4.69598770e-03 -1.41864254e-04 9.99988964e-01 2.19399318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.24, Y:9.70, Z:0.22 [[ 9.04824649e-01 -4.25762609e-01 -4.30757452e-03 4.62392902e+01] [ 4.25758501e-01 9.04834892e-01 -1.87536955e-03 9.69975831e+00] [ 4.69610595e-03 -1.37105877e-04 9.99988964e-01 2.19927515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.27, Y:9.71, Z:0.22 [[ 9.04477383e-01 -4.26499845e-01 -4.30642745e-03 4.62655187e+01] [ 4.26495733e-01 9.04487625e-01 -1.87800199e-03 9.70961539e+00] [ 4.69607789e-03 -1.38062604e-04 9.99988964e-01 2.21078944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.29, Y:9.72, Z:0.22 [[ 9.03752052e-01 -4.28034714e-01 -4.30259340e-03 4.62922211e+01] [ 4.28030577e-01 9.03762284e-01 -1.88679317e-03 9.72000045e+00] [ 4.69613461e-03 -1.36448333e-04 9.99988964e-01 2.20921617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.32, Y:9.73, Z:0.22 [[ 9.03563405e-01 -4.28432764e-01 -4.30588189e-03 4.63177708e+01] [ 4.28428667e-01 9.03573652e-01 -1.87925835e-03 9.72924106e+00] [ 4.69581728e-03 -1.46734167e-04 9.99988964e-01 2.21461470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.35, Y:9.74, Z:0.22 [[ 9.03459493e-01 -4.28651846e-01 -4.30561717e-03 4.63450279e+01] [ 4.28647750e-01 9.03469741e-01 -1.87986466e-03 9.73793037e+00] [ 4.69580229e-03 -1.47211542e-04 9.99988964e-01 2.21175325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.37, Y:9.75, Z:0.22 [[ 9.02664240e-01 -4.30323992e-01 -4.30491139e-03 4.63738494e+01] [ 4.30319907e-01 9.02674492e-01 -1.88147985e-03 9.75077888e+00] [ 4.69557962e-03 -1.54144494e-04 9.99988964e-01 2.21566077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.40, Y:9.76, Z:0.22 [[ 9.03707718e-01 -4.28128124e-01 -4.32095035e-03 4.63981502e+01] [ 4.28124188e-01 9.03718029e-01 -1.84484128e-03 9.75885091e+00] [ 4.69474917e-03 -1.82706064e-04 9.99988963e-01 2.20793997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.42, Y:9.77, Z:0.22 [[ 9.03943258e-01 -4.27630766e-01 -4.30279761e-03 4.64228023e+01] [ 4.27626627e-01 9.03953489e-01 -1.88625020e-03 9.76879062e+00] [ 4.69614753e-03 -1.34927681e-04 9.99988964e-01 2.19879178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.45, Y:9.78, Z:0.22 [[ 9.04095846e-01 -4.27308073e-01 -4.30253581e-03 4.64484632e+01] [ 4.27303928e-01 9.04106074e-01 -1.88684718e-03 9.77894288e+00] [ 4.69621379e-03 -1.32599759e-04 9.99988964e-01 2.19365399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.48, Y:9.79, Z:0.22 [[ 9.03805722e-01 -4.27921382e-01 -4.30199333e-03 4.64752055e+01] [ 4.27917238e-01 9.03815951e-01 -1.88808322e-03 9.78846910e+00] [ 4.69616137e-03 -1.34436687e-04 9.99988964e-01 2.17769257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.50, Y:9.80, Z:0.22 [[ 9.03998567e-01 -4.27513864e-01 -4.29962422e-03 4.65015851e+01] [ 4.27509690e-01 9.04008783e-01 -1.89347748e-03 9.79717093e+00] [ 4.69638594e-03 -1.26430090e-04 9.99988964e-01 2.20249346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.53, Y:9.81, Z:0.22 [[ 9.03893671e-01 -4.27735587e-01 -4.30113393e-03 4.65270018e+01] [ 4.27731431e-01 9.03903894e-01 -1.89004186e-03 9.80637118e+00] [ 4.69624988e-03 -1.31333298e-04 9.99988964e-01 2.20416829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.55, Y:9.82, Z:0.22 [[ 9.03102183e-01 -4.29404179e-01 -4.30087463e-03 4.65536434e+01] [ 4.29400039e-01 9.03112414e-01 -1.89063174e-03 9.81506763e+00] [ 4.69601844e-03 -1.39362082e-04 9.99988964e-01 2.21343657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.58, Y:9.83, Z:0.22 [[ 9.03283096e-01 -4.29023525e-01 -4.29696563e-03 4.65810190e+01] [ 4.29019339e-01 9.03293307e-01 -1.89951902e-03 9.82584863e+00] [ 4.69635864e-03 -1.27677931e-04 9.99988964e-01 2.21237795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.61, Y:9.84, Z:0.22 [[ 9.03143613e-01 -4.29317044e-01 -4.29999650e-03 4.66071362e+01] [ 4.29312894e-01 9.03153839e-01 -1.89263299e-03 9.83597074e+00] [ 4.69609795e-03 -1.36724545e-04 9.99988964e-01 2.21647617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.372755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.63, Y:9.84, Z:0.22 [[ 9.03705828e-01 -4.28132330e-01 -4.29939777e-03 4.66333340e+01] [ 4.28128160e-01 9.03716046e-01 -1.89399212e-03 9.84414698e+00] [ 4.69631401e-03 -1.29081541e-04 9.99988964e-01 2.22398506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.66, Y:9.85, Z:0.22 [[ 9.04135007e-01 -4.27225242e-01 -4.29913970e-03 4.66599542e+01] [ 4.27221059e-01 9.04145219e-01 -1.89457771e-03 9.85453174e+00] [ 4.69645803e-03 -1.23728985e-04 9.99988964e-01 2.23231772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.69, Y:9.86, Z:0.22 [[ 9.05275482e-01 -4.24803277e-01 -4.29855879e-03 4.66869217e+01] [ 4.24799061e-01 9.05285681e-01 -1.89589483e-03 9.86376652e+00] [ 4.69680605e-03 -1.09716632e-04 9.99988964e-01 2.24175512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.71, Y:9.87, Z:0.22 [[ 9.05800403e-01 -4.23682850e-01 -4.29797097e-03 4.67123288e+01] [ 4.23678614e-01 9.05810594e-01 -1.89722647e-03 9.87392408e+00] [ 4.69696995e-03 -1.02449884e-04 9.99988964e-01 2.24042113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.74, Y:9.88, Z:0.22 [[ 9.06145622e-01 -4.22944017e-01 -4.29771662e-03 4.67370335e+01] [ 4.22939771e-01 9.06155808e-01 -1.89780245e-03 9.88393857e+00] [ 4.69706507e-03 -9.79899037e-05 9.99988964e-01 2.23803164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.522755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.76, Y:9.89, Z:0.22 [[ 9.06523344e-01 -4.22133815e-01 -4.29746695e-03 4.67635413e+01] [ 4.22129557e-01 9.06533526e-01 -1.89836765e-03 9.89454940e+00] [ 4.69716305e-03 -9.31732302e-05 9.99988964e-01 2.23360733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.552755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:46.79, Y:9.91, Z:0.22 [[ 9.06396340e-01 -4.22406452e-01 -4.29689529e-03 4.67895951e+01] [ 4.22402191e-01 9.06406520e-01 -1.89966070e-03 9.90625940e+00] [ 4.69716285e-03 -9.31724820e-05 9.99988964e-01 2.23494550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.82, Y:9.92, Z:0.22 [[ 9.06672323e-01 -4.21813751e-01 -4.29632355e-03 4.68160222e+01] [ 4.21809477e-01 9.06682498e-01 -1.90095290e-03 9.91581661e+00] [ 4.69724944e-03 -8.86886100e-05 9.99988964e-01 2.23575778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.84, Y:9.93, Z:0.22 [[ 9.06652646e-01 -4.21856048e-01 -4.29575178e-03 4.68415746e+01] [ 4.21851768e-01 9.06662819e-01 -1.90224409e-03 9.92532171e+00] [ 4.69727159e-03 -8.74958496e-05 9.99988964e-01 2.23711355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.87, Y:9.94, Z:0.22 [[ 9.06538299e-01 -4.22101719e-01 -4.29550377e-03 4.68679326e+01] [ 4.22097439e-01 9.06548471e-01 -1.90280396e-03 9.93522091e+00] [ 4.69725920e-03 -8.81564790e-05 9.99988964e-01 2.23941871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.89, Y:9.94, Z:0.22 [[ 9.06526640e-01 -4.22126764e-01 -4.29493934e-03 4.68940857e+01] [ 4.22122479e-01 9.06536810e-01 -1.90407712e-03 9.94324185e+00] [ 4.69728252e-03 -8.68938068e-05 9.99988964e-01 2.24545712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.92, Y:9.95, Z:0.22 [[ 9.06893574e-01 -4.21337871e-01 -4.29469560e-03 4.69207182e+01] [ 4.21333574e-01 9.06903739e-01 -1.90462672e-03 9.95321179e+00] [ 4.69736687e-03 -8.22057114e-05 9.99988964e-01 2.24754310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:46.94, Y:9.96, Z:0.22 [[ 9.07646696e-01 -4.19713039e-01 -4.29410067e-03 4.69438988e+01] [ 4.19708718e-01 9.07656851e-01 -1.90596710e-03 9.96085831e+00] [ 4.69752913e-03 -7.23267412e-05 9.99988964e-01 2.22869728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.762755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:46.97, Y:9.97, Z:0.22 [[ 9.07130594e-01 -4.20827430e-01 -4.28475512e-03 4.69720423e+01] [ 4.20823021e-01 9.07140712e-01 -1.92711386e-03 9.97319623e+00] [ 4.69785819e-03 -5.49796543e-05 9.99988963e-01 2.23820913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.00, Y:9.98, Z:0.22 [[ 9.07296054e-01 -4.20470463e-01 -4.29649475e-03 4.69981261e+01] [ 4.20466176e-01 9.07306223e-01 -1.90054345e-03 9.98295285e+00] [ 4.69735881e-03 -8.21751389e-05 9.99988964e-01 2.24727020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.02, Y:9.99, Z:0.22 [[ 9.07083621e-01 -4.20928546e-01 -4.29704733e-03 4.70243743e+01] [ 4.20924270e-01 9.07093794e-01 -1.89929326e-03 9.99249226e+00] [ 4.69729172e-03 -8.59137040e-05 9.99988964e-01 2.23115763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.05, Y:10.00, Z:0.22 [[ 9.06810252e-01 -4.21517149e-01 -4.29651074e-03 4.70504214e+01] [ 4.21512873e-01 9.06820426e-01 -1.90050633e-03 1.00032368e+01] [ 4.69725971e-03 -8.76359618e-05 9.99988964e-01 2.22149541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.882755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:47.08, Y:10.01, Z:0.22 [[ 9.06195825e-01 -4.22836460e-01 -4.29592496e-03 4.70769791e+01] [ 4.22832194e-01 9.06206003e-01 -1.90182951e-03 1.00143376e+01] [ 4.69715585e-03 -9.30254138e-05 9.99988964e-01 2.22492997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.10, Y:10.02, Z:0.22 [[ 9.06066734e-01 -4.23112932e-01 -4.30356188e-03 4.71024968e+01] [ 4.23108750e-01 9.06076947e-01 -1.88456349e-03 1.00227793e+01] [ 4.69674139e-03 -1.13334398e-04 9.99988964e-01 2.20249188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.13, Y:10.03, Z:0.22 [[ 9.05287823e-01 -4.24777005e-01 -4.29574288e-03 4.71299728e+01] [ 4.24772758e-01 9.05298009e-01 -1.90222759e-03 1.00349899e+01] [ 4.69695002e-03 -1.02651082e-04 9.99988964e-01 2.20135517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.16, Y:10.05, Z:0.22 [[ 9.05447934e-01 -4.24435557e-01 -4.30079180e-03 4.71560063e+01] [ 4.24431360e-01 9.05458141e-01 -1.89084670e-03 1.00455417e+01] [ 4.69672952e-03 -1.13327672e-04 9.99988964e-01 2.20005968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.18, Y:10.06, Z:0.22 [[ 9.04944503e-01 -4.25507940e-01 -4.29402709e-03 4.71820387e+01] [ 4.25503683e-01 9.04954685e-01 -1.90608624e-03 1.00555681e+01] [ 4.69695476e-03 -1.02222079e-04 9.99988964e-01 2.20006643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.21, Y:10.07, Z:0.22 [[ 9.04661141e-01 -4.26110063e-01 -4.29342485e-03 4.72068716e+01] [ 4.26105807e-01 9.04671323e-01 -1.90744181e-03 1.00653735e+01] [ 4.69691849e-03 -1.03864776e-04 9.99988964e-01 2.19837338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.24, Y:10.07, Z:0.22 [[ 9.03495132e-01 -4.28576849e-01 -4.29316430e-03 4.72350627e+01] [ 4.28572618e-01 9.03505324e-01 -1.90802806e-03 1.00746456e+01] [ 4.69663345e-03 -1.16038598e-04 9.99988964e-01 2.21835452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.26, Y:10.08, Z:0.22 [[ 9.02754497e-01 -4.30134672e-01 -4.29911114e-03 4.72596890e+01] [ 4.30130521e-01 9.02764723e-01 -1.89466196e-03 1.00848792e+01] [ 4.69604568e-03 -1.38764307e-04 9.99988964e-01 2.21269095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.28, Y:10.10, Z:0.22 [[ 9.01940242e-01 -4.31839579e-01 -4.28707475e-03 4.72835865e+01] [ 4.31835319e-01 9.01950422e-01 -1.92168270e-03 1.00952192e+01] [ 4.69658753e-03 -1.18067334e-04 9.99988964e-01 2.20660829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.31, Y:10.10, Z:0.22 [[ 9.01820508e-01 -4.32089638e-01 -4.27976149e-03 4.73117281e+01] [ 4.32085303e-01 9.01830657e-01 -1.93808683e-03 1.01043959e+01] [ 4.69704735e-03 -1.01415594e-04 9.99988964e-01 2.22137785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.34, Y:10.11, Z:0.22 [[ 9.01221565e-01 -4.33337372e-01 -4.29106743e-03 4.73386712e+01] [ 4.33333172e-01 9.01231770e-01 -1.91272271e-03 1.01139975e+01] [ 4.69610053e-03 -1.35674912e-04 9.99988964e-01 2.23669483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.36, Y:10.12, Z:0.22 [[ 9.01015669e-01 -4.33765324e-01 -4.29046441e-03 4.73648272e+01] [ 4.33761122e-01 9.01025874e-01 -1.91407439e-03 1.01248989e+01] [ 4.69607854e-03 -1.36425644e-04 9.99988964e-01 2.24551359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.39, Y:10.13, Z:0.23 [[ 9.01347189e-01 -4.33076024e-01 -4.28986023e-03 4.73906601e+01] [ 4.33071808e-01 9.01357388e-01 -1.91542754e-03 1.01348685e+01] [ 4.69622295e-03 -1.31352298e-04 9.99988964e-01 2.25721062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.42, Y:10.15, Z:0.22 [[ 9.01899622e-01 -4.31924384e-01 -4.28925246e-03 4.74187259e+01] [ 4.31920149e-01 9.01909813e-01 -1.91678757e-03 1.01461510e+01] [ 4.69642617e-03 -1.23864578e-04 9.99988964e-01 2.24375696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.44, Y:10.16, Z:0.23 [[ 9.02209766e-01 -4.31276101e-01 -4.29690681e-03 4.74433709e+01] [ 4.31271940e-01 9.02219987e-01 -1.89966255e-03 1.01574173e+01] [ 4.69603426e-03 -1.39241229e-04 9.99988964e-01 2.26190305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.47, Y:10.17, Z:0.23 [[ 9.04273927e-01 -4.26931230e-01 -4.28833885e-03 4.74686031e+01] [ 4.26926928e-01 9.04284090e-01 -1.91881103e-03 1.01666771e+01] [ 4.69707695e-03 -9.56765472e-05 9.99988964e-01 2.26177479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.49, Y:10.18, Z:0.23 [[ 9.05252934e-01 -4.24851429e-01 -4.28807278e-03 4.74933631e+01] [ 4.24847102e-01 9.05263087e-01 -1.91940545e-03 1.01797015e+01] [ 4.69729615e-03 -8.42278805e-05 9.99988964e-01 2.25972222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.52, Y:10.19, Z:0.22 [[ 9.06360839e-01 -4.22482718e-01 -4.28746948e-03 4.75210368e+01] [ 4.22478358e-01 9.06370977e-01 -1.92075213e-03 1.01916239e+01] [ 4.69752248e-03 -7.04685485e-05 9.99988964e-01 2.24620155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.55, Y:10.20, Z:0.23 [[ 9.07737867e-01 -4.19515801e-01 -4.29626231e-03 4.75450155e+01] [ 4.19511500e-01 9.07748030e-01 -1.90114125e-03 1.02035675e+01] [ 4.69748245e-03 -7.65935473e-05 9.99988964e-01 2.26085488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.57, Y:10.22, Z:0.23 [[ 9.08688170e-01 -4.17453517e-01 -4.28623935e-03 4.75677621e+01] [ 4.17449087e-01 9.08698278e-01 -1.92347623e-03 1.02152463e+01] [ 4.69786023e-03 -4.14466085e-05 9.99988964e-01 2.26902336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.59, Y:10.23, Z:0.23 [[ 9.08625117e-01 -4.17590847e-01 -4.27574143e-03 4.75948132e+01] [ 4.17586309e-01 9.08635177e-01 -1.94684108e-03 1.02280786e+01] [ 4.69807209e-03 -1.65423784e-05 9.99988964e-01 2.26693659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.62, Y:10.24, Z:0.23 [[ 9.09104706e-01 -4.16545639e-01 -4.28524849e-03 4.76193403e+01] [ 4.16541189e-01 9.09114805e-01 -1.92568492e-03 1.02386325e+01] [ 4.69791850e-03 -3.43332775e-05 9.99988964e-01 2.26555755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.64, Y:10.25, Z:0.23 [[ 9.09035461e-01 -4.16696735e-01 -4.28498665e-03 4.76447498e+01] [ 4.16692284e-01 9.09045560e-01 -1.92626739e-03 1.02504577e+01] [ 4.69791742e-03 -3.44755100e-05 9.99988964e-01 2.26658549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.67, Y:10.26, Z:0.23 [[ 9.09225691e-01 -4.16281499e-01 -4.28438942e-03 4.76682849e+01] [ 4.16277037e-01 9.09235785e-01 -1.92759482e-03 1.02607979e+01] [ 4.69794224e-03 -3.08741951e-05 9.99988964e-01 2.25428159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.70, Y:10.27, Z:0.23 [[ 9.09239762e-01 -4.16250874e-01 -4.27387886e-03 4.76963973e+01] [ 4.16246302e-01 9.09249806e-01 -1.95093668e-03 1.02714709e+01] [ 4.69810262e-03 -5.11706472e-06 9.99988964e-01 2.26031588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.73, Y:10.29, Z:0.23 [[ 9.08223581e-01 -4.18463353e-01 -4.28363181e-03 4.77259983e+01] [ 4.18458908e-01 9.08233681e-01 -1.92928197e-03 1.02854023e+01] [ 4.69787249e-03 -4.03045133e-05 9.99988964e-01 2.25031919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.662755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.75, Y:10.30, Z:0.23 [[ 9.07406349e-01 -4.20232278e-01 -4.30699054e-03 4.77524506e+01] [ 4.20228097e-01 9.07416564e-01 -1.87740598e-03 1.02975065e+01] [ 4.69718115e-03 -1.06348337e-04 9.99988963e-01 2.25128038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.77, Y:10.31, Z:0.23 [[ 9.04277811e-01 -4.26922789e-01 -4.30968974e-03 4.77718128e+01] [ 4.26918713e-01 9.04288068e-01 -1.87141713e-03 1.03102628e+01] [ 4.69615163e-03 -1.47606210e-04 9.99988962e-01 2.26588722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.80, Y:10.32, Z:0.23 [[ 9.03022002e-01 -4.29572965e-01 -4.28161463e-03 4.77975253e+01] [ 4.29568623e-01 9.03032147e-01 -1.93358500e-03 1.03216447e+01] [ 4.69705149e-03 -9.31774999e-05 9.99988964e-01 2.27285892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.82, Y:10.33, Z:0.23 [[ 9.01860843e-01 -4.32005432e-01 -4.28099948e-03 4.78220602e+01] [ 4.32001111e-01 9.01870997e-01 -1.93494599e-03 1.03323803e+01] [ 4.69681645e-03 -1.04344515e-04 9.99988964e-01 2.28012980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.85, Y:10.34, Z:0.23 [[ 8.99813243e-01 -4.36254287e-01 -4.28073322e-03 4.78465009e+01] [ 4.36250011e-01 8.99823417e-01 -1.93553486e-03 1.03435065e+01] [ 4.69628938e-03 -1.25850011e-04 9.99988964e-01 2.28316224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.87, Y:10.35, Z:0.23 [[ 8.99221424e-01 -4.37472866e-01 -4.28047195e-03 4.78706540e+01] [ 4.37468601e-01 8.99231602e-01 -1.93611250e-03 1.03546182e+01] [ 4.69613233e-03 -1.31578239e-04 9.99988964e-01 2.28524920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.90, Y:10.36, Z:0.23 [[ 8.99410139e-01 -4.37084821e-01 -4.27320666e-03 4.78997163e+01] [ 4.37080476e-01 8.99420283e-01 -1.95216621e-03 1.03635539e+01] [ 4.69667096e-03 -1.11937115e-04 9.99988964e-01 2.29879590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.92, Y:10.38, Z:0.23 [[ 8.97233557e-01 -4.41535534e-01 -4.27980028e-03 4.79227111e+01] [ 4.41531309e-01 8.97243751e-01 -1.93760213e-03 1.03799387e+01] [ 4.69554425e-03 -1.51184170e-04 9.99988964e-01 2.28346766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.95, Y:10.39, Z:0.23 [[ 8.96735950e-01 -4.42545277e-01 -4.27951371e-03 4.79481810e+01] [ 4.42541060e-01 8.96746148e-01 -1.93823486e-03 1.03926746e+01] [ 4.69539412e-03 -1.55775655e-04 9.99988964e-01 2.28726941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:47.97, Y:10.41, Z:0.23 [[ 8.96553185e-01 -4.42915430e-01 -4.27890789e-03 4.79738427e+01] [ 4.42911210e-01 8.96563382e-01 -1.93957138e-03 1.04052993e+01] [ 4.69537822e-03 -1.56247378e-04 9.99988964e-01 2.29352342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.00, Y:10.42, Z:0.23 [[ 8.97010137e-01 -4.41989255e-01 -4.27932770e-03 4.80032975e+01] [ 4.41985029e-01 8.97020332e-01 -1.93864546e-03 1.04168741e+01] [ 4.69550441e-03 -1.52414151e-04 9.99988964e-01 2.28507547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.03, Y:10.43, Z:0.23 [[ 8.96594990e-01 -4.42830617e-01 -4.29753268e-03 4.80285553e+01] [ 4.42826593e-01 8.96605267e-01 -1.89859309e-03 1.04297292e+01] [ 4.69394559e-03 -2.00792698e-04 9.99988963e-01 2.28534025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.022755096000004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:48.05, Y:10.44, Z:0.23 [[ 8.96871437e-01 -4.42270440e-01 -4.29920405e-03 4.80529660e+01] [ 4.42266426e-01 8.96881719e-01 -1.89491883e-03 1.04420052e+01] [ 4.69394410e-03 -2.01895034e-04 9.99988963e-01 2.29303091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.052755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:48.08, Y:10.45, Z:0.23 [[ 8.97763795e-01 -4.40456294e-01 -4.29205491e-03 4.80776281e+01] [ 4.40452185e-01 8.97774038e-01 -1.91061180e-03 1.04546336e+01] [ 4.69483646e-03 -1.75166861e-04 9.99988964e-01 2.29850604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.10, Y:10.47, Z:0.23 [[ 8.98063772e-01 -4.39844390e-01 -4.28637483e-03 4.81049827e+01] [ 4.39840215e-01 8.98073988e-01 -1.92304222e-03 1.04678222e+01] [ 4.69532106e-03 -1.58305479e-04 9.99988964e-01 2.30202039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.13, Y:10.48, Z:0.23 [[ 9.00213820e-01 -4.35426958e-01 -4.29450228e-03 4.81270533e+01] [ 4.35422818e-01 9.00224050e-01 -1.90525899e-03 1.04787002e+01] [ 4.69561537e-03 -1.54783809e-04 9.99988964e-01 2.30526742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.15, Y:10.49, Z:0.23 [[ 9.00581321e-01 -4.34666490e-01 -4.28089216e-03 4.81491542e+01] [ 4.34662199e-01 9.00591488e-01 -1.93506073e-03 1.04913922e+01] [ 4.69644110e-03 -1.18062455e-04 9.99988965e-01 2.32876881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.18, Y:10.50, Z:0.23 [[ 9.01308591e-01 -4.33156592e-01 -4.26515067e-03 4.81795838e+01] [ 4.33152120e-01 9.01318679e-01 -1.96954100e-03 1.05046029e+01] [ 4.69737964e-03 -7.22948361e-05 9.99988965e-01 2.32671488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:48.20, Y:10.52, Z:0.23 [[ 9.02009836e-01 -4.31694142e-01 -4.29231516e-03 4.82042404e+01] [ 4.31689936e-01 9.02020039e-01 -1.91017169e-03 1.05179728e+01] [ 4.69636422e-03 -1.29955601e-04 9.99988964e-01 2.33395356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.232755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:48.22, Y:10.53, Z:0.23 [[ 9.02643099e-01 -4.30368495e-01 -4.28876013e-03 4.82247400e+01] [ 4.30364237e-01 9.02653281e-01 -1.91794891e-03 1.05281781e+01] [ 4.69668819e-03 -1.14505634e-04 9.99988964e-01 2.33553340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.262755096 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:48.26, Y:10.54, Z:0.23 [[ 9.02665063e-01 -4.30322724e-01 -4.25872752e-03 4.82553662e+01] [ 4.30318155e-01 9.02675108e-01 -1.98356466e-03 1.05415549e+01] [ 4.69782028e-03 -4.21132542e-05 9.99988964e-01 2.33397346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.292755096 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:48.28, Y:10.55, Z:0.23 [[ 9.02788731e-01 -4.30062885e-01 -4.29203231e-03 4.82798574e+01] [ 4.30058657e-01 9.02798926e-01 -1.91074853e-03 1.05525436e+01] [ 4.69658418e-03 -1.20823407e-04 9.99988964e-01 2.33767893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.322755096 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:48.30, Y:10.56, Z:0.23 [[ 9.02511336e-01 -4.30644763e-01 -4.28680176e-03 4.83025072e+01] [ 4.30640487e-01 9.02521510e-01 -1.92217471e-03 1.05637757e+01] [ 4.69670526e-03 -1.11285934e-04 9.99988964e-01 2.33815596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.352755096 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:48.33, Y:10.57, Z:0.23 [[ 9.02886590e-01 -4.29857635e-01 -4.26851997e-03 4.83294615e+01] [ 4.29853161e-01 9.02896677e-01 -1.96204902e-03 1.05737483e+01] [ 4.69743425e-03 -6.33290520e-05 9.99988965e-01 2.33890225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.382755096000004 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:48.36, Y:10.59, Z:0.24 [[ 9.02203583e-01 -4.31289302e-01 -4.27009092e-03 4.83552301e+01] [ 4.31284861e-01 9.02213685e-01 -1.95862411e-03 1.05863031e+01] [ 4.69726809e-03 -7.45478789e-05 9.99988965e-01 2.35474229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.412755096000005 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:48.38, Y:10.60, Z:0.23 [[ 9.01188650e-01 -4.33405983e-01 -4.27456960e-03 4.83778059e+01] [ 4.33401612e-01 9.01198782e-01 -1.94886098e-03 1.05977618e+01] [ 4.69688493e-03 -9.63139603e-05 9.99988965e-01 2.33566210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.442755096 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:48.41, Y:10.61, Z:0.24 [[ 9.01946125e-01 -4.31827616e-01 -4.25410027e-03 4.84078016e+01] [ 4.31823016e-01 9.01956157e-01 -1.99347200e-03 1.06074754e+01] [ 4.69784819e-03 -3.90140645e-05 9.99988964e-01 2.35428733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.472755096 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:48.43, Y:10.62, Z:0.24 [[ 9.01809217e-01 -4.32113300e-01 -4.27000451e-03 4.84337200e+01] [ 4.32108867e-01 9.01819322e-01 -1.95880226e-03 1.06195168e+01] [ 4.69719708e-03 -7.86408802e-05 9.99988965e-01 2.35574476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.502755096 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:48.46, Y:10.63, Z:0.24 [[ 9.00446121e-01 -4.34946612e-01 -4.26938324e-03 4.84562193e+01] [ 4.34942205e-01 9.00456238e-01 -1.96015544e-03 1.06328280e+01] [ 4.69695574e-03 -9.19205961e-05 9.99988965e-01 2.36477762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.532755096 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:48.48, Y:10.64, Z:0.24 [[ 9.00846748e-01 -4.34116401e-01 -4.25298943e-03 4.84844272e+01] [ 4.34111816e-01 9.00856786e-01 -1.99575092e-03 1.06431479e+01] [ 4.69772259e-03 -4.84072413e-05 9.99988964e-01 2.35248186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.562755096000004 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:48.51, Y:10.65, Z:0.24 [[ 8.99643264e-01 -4.36604843e-01 -4.26713166e-03 4.85105485e+01] [ 4.36600431e-01 8.99653379e-01 -1.96504073e-03 1.06541170e+01] [ 4.69688572e-03 -9.51958691e-05 9.99988965e-01 2.35190588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.592755096000005 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:48.54, Y:10.67, Z:0.23 [[ 8.99051106e-01 -4.37822912e-01 -4.26692509e-03 4.85372922e+01] [ 4.37818512e-01 8.99061226e-01 -1.96548919e-03 1.06657335e+01] [ 4.69676310e-03 -1.01063564e-04 9.99988965e-01 2.33702205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.622755096 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:48.56, Y:10.68, Z:0.23 [[ 8.97643685e-01 -4.40701251e-01 -4.26877503e-03 4.85623868e+01] [ 4.40696902e-01 8.97653827e-01 -1.96147516e-03 1.06759884e+01] [ 4.69630680e-03 -1.20530138e-04 9.99988965e-01 2.33907158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.652755096 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:48.59, Y:10.69, Z:0.23 [[ 8.97017556e-01 -4.41974326e-01 -4.26606977e-03 4.85882205e+01] [ 4.41969964e-01 8.97027692e-01 -1.96734136e-03 1.06875484e+01] [ 4.69629710e-03 -1.20734968e-04 9.99988965e-01 2.33822207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.682755096 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:48.61, Y:10.70, Z:0.23 [[ 8.96761047e-01 -4.42494555e-01 -4.26544235e-03 4.86128370e+01] [ 4.42490192e-01 8.96771183e-01 -1.96870077e-03 1.06984654e+01] [ 4.69626515e-03 -1.21962245e-04 9.99988965e-01 2.32222058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.712755096 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:48.64, Y:10.71, Z:0.23 [[ 8.96114190e-01 -4.43803131e-01 -4.25891331e-03 4.86404786e+01] [ 4.43798716e-01 8.96124304e-01 -1.98283056e-03 1.07108661e+01] [ 4.69650214e-03 -1.13257659e-04 9.99988965e-01 2.32107072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.742755096 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:48.67, Y:10.72, Z:0.23 [[ 8.96109223e-01 -4.43813110e-01 -4.26437588e-03 4.86651940e+01] [ 4.43808751e-01 8.96119360e-01 -1.97101204e-03 1.07218385e+01] [ 4.69615077e-03 -1.26325264e-04 9.99988965e-01 2.31855319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.772755096000004 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:48.69, Y:10.73, Z:0.23 [[ 8.95744192e-01 -4.44549389e-01 -4.26412216e-03 4.86913170e+01] [ 4.44545036e-01 8.95754332e-01 -1.97156080e-03 1.07338659e+01] [ 4.69606204e-03 -1.29580206e-04 9.99988965e-01 2.29904593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.802755096 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:48.72, Y:10.74, Z:0.23 [[ 8.96070940e-01 -4.43890359e-01 -4.26841068e-03 4.87167548e+01] [ 4.43886042e-01 8.96081096e-01 -1.96229244e-03 1.07446771e+01] [ 4.69588481e-03 -1.36334692e-04 9.99988965e-01 2.32949930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.832755096 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:48.74, Y:10.75, Z:0.23 [[ 8.96675075e-01 -4.42668767e-01 -4.26288290e-03 4.87408525e+01] [ 4.42664380e-01 8.96685201e-01 -1.97422838e-03 1.07548110e+01] [ 4.69639325e-03 -1.16785033e-04 9.99988965e-01 2.32799104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.862755096 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:48.77, Y:10.77, Z:0.23 [[ 8.96280614e-01 -4.43466970e-01 -4.25531529e-03 4.87677820e+01] [ 4.43462514e-01 8.96290710e-01 -1.99055833e-03 1.07675461e+01] [ 4.69674643e-03 -1.02973977e-04 9.99988965e-01 2.34460975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.892755096 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:48.79, Y:10.78, Z:0.24 [[ 8.96517986e-01 -4.42986815e-01 -4.26414137e-03 4.87930150e+01] [ 4.42982445e-01 8.96528118e-01 -1.97151700e-03 1.07783823e+01] [ 4.69627867e-03 -1.21439315e-04 9.99988965e-01 2.35255560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.922755096 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:48.82, Y:10.79, Z:0.24 [[ 8.96471039e-01 -4.43081836e-01 -4.26174344e-03 4.88182041e+01] [ 4.43077442e-01 8.96481162e-01 -1.97668695e-03 1.07895587e+01] [ 4.69640679e-03 -1.16239776e-04 9.99988965e-01 2.35914296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.952755096000004 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:48.84, Y:10.80, Z:0.24 [[ 8.96283982e-01 -4.43460104e-01 -4.26133195e-03 4.88438612e+01] [ 4.43455710e-01 8.96294105e-01 -1.97757363e-03 1.08012618e+01] [ 4.69638171e-03 -1.17244421e-04 9.99988965e-01 2.36913615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.982755096 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:48.87, Y:10.81, Z:0.24 [[ 8.95850449e-01 -4.44335254e-01 -4.26072705e-03 4.88721481e+01] [ 4.44330864e-01 8.95860574e-01 -1.97887604e-03 1.08127584e+01] [ 4.69630177e-03 -1.20395546e-04 9.99988965e-01 2.37825067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.012755096 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:48.90, Y:10.82, Z:0.24 [[ 8.95472666e-01 -4.45095992e-01 -4.27357422e-03 4.88955084e+01] [ 4.45091742e-01 8.95482850e-01 -1.95122275e-03 1.08242823e+01] [ 4.69539385e-03 -1.54865959e-04 9.99988965e-01 2.37990114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.042755096 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:48.92, Y:10.84, Z:0.24 [[ 8.94559315e-01 -4.46928954e-01 -4.25942382e-03 4.89207851e+01] [ 4.46924580e-01 8.94569446e-01 -1.98163827e-03 1.08355938e+01] [ 4.69600192e-03 -1.30948230e-04 9.99988965e-01 2.39309698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.072755096 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:48.95, Y:10.85, Z:0.24 [[ 8.94065541e-01 -4.47915921e-01 -4.25879584e-03 4.89457074e+01] [ 4.47911551e-01 8.94075674e-01 -1.98298697e-03 1.08471680e+01] [ 4.69589719e-03 -1.34643531e-04 9.99988965e-01 2.38833955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.102755096 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:48.97, Y:10.86, Z:0.24 [[ 8.93302231e-01 -4.49436302e-01 -4.25852419e-03 4.89718599e+01] [ 4.49431947e-01 8.93312370e-01 -1.98357017e-03 1.08593093e+01] [ 4.69568078e-03 -1.41989163e-04 9.99988965e-01 2.38981439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.132755096000004 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:49.00, Y:10.87, Z:0.24 [[ 8.93013088e-01 -4.50010489e-01 -4.26428329e-03 4.89962292e+01] [ 4.50006200e-01 8.93023255e-01 -1.97120926e-03 1.08707545e+01] [ 4.69516899e-03 -1.58638242e-04 9.99988965e-01 2.40209557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.162755096000005 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:49.02, Y:10.88, Z:0.24 [[ 8.92433302e-01 -4.51159256e-01 -4.25761374e-03 4.90207542e+01] [ 4.51154911e-01 8.92443446e-01 -1.98551105e-03 1.08823687e+01] [ 4.69546116e-03 -1.48907161e-04 9.99988965e-01 2.40243588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.192755096 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:49.05, Y:10.89, Z:0.24 [[ 8.92232039e-01 -4.51557154e-01 -4.25734413e-03 4.90462841e+01] [ 4.51552811e-01 8.92242184e-01 -1.98608897e-03 1.08946246e+01] [ 4.69541471e-03 -1.50363498e-04 9.99988965e-01 2.40373117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.222755096 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:49.07, Y:10.91, Z:0.24 [[ 8.92316041e-01 -4.51391142e-01 -4.25672546e-03 4.90710985e+01] [ 4.51386791e-01 8.92326182e-01 -1.98741407e-03 1.09069032e+01] [ 4.69548869e-03 -1.48028188e-04 9.99988965e-01 2.40547901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.252755096 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:49.10, Y:10.92, Z:0.24 [[ 8.92535542e-01 -4.50956973e-01 -4.25609755e-03 4.90953121e+01] [ 4.50952611e-01 8.92545678e-01 -1.98875786e-03 1.09187001e+01] [ 4.69560569e-03 -1.44261224e-04 9.99988965e-01 2.40063280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.282755096 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:49.12, Y:10.93, Z:0.24 [[ 8.92697378e-01 -4.50636526e-01 -4.25582577e-03 4.91204249e+01] [ 4.50632157e-01 8.92707512e-01 -1.98933928e-03 1.09309876e+01] [ 4.69567657e-03 -1.41933984e-04 9.99988965e-01 2.40363670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.312755096000004 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:49.15, Y:10.94, Z:0.24 [[ 8.93338458e-01 -4.49364320e-01 -4.25519343e-03 4.91452651e+01] [ 4.49359930e-01 8.93348583e-01 -1.99069093e-03 1.09432926e+01] [ 4.69591649e-03 -1.33752654e-04 9.99988965e-01 2.40804053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.342755096000005 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:49.17, Y:10.96, Z:0.24 [[ 8.93585348e-01 -4.48873169e-01 -4.25499779e-03 4.91693102e+01] [ 4.48868772e-01 8.93595469e-01 -1.99110901e-03 1.09550141e+01] [ 4.69600215e-03 -1.30709791e-04 9.99988965e-01 2.40936544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.372755096 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:49.19, Y:10.97, Z:0.24 [[ 8.93738664e-01 -4.48567830e-01 -4.25458111e-03 4.91945839e+01] [ 4.48563425e-01 8.93748782e-01 -1.99199897e-03 1.09672357e+01] [ 4.69607334e-03 -1.28122980e-04 9.99988965e-01 2.41884509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.402755096 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:49.22, Y:10.98, Z:0.24 [[ 8.94511815e-01 -4.47024067e-01 -4.25395407e-03 4.92191513e+01] [ 4.47019639e-01 8.94521922e-01 -1.99333713e-03 1.09799882e+01] [ 4.69632484e-03 -1.18537395e-04 9.99988965e-01 2.42451955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.432755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:49.24, Y:10.99, Z:0.24 [[ 8.94935411e-01 -4.46175436e-01 -4.25332089e-03 4.92445573e+01] [ 4.46170991e-01 8.94945511e-01 -1.99468726e-03 1.09929067e+01] [ 4.69647090e-03 -1.12592133e-04 9.99988965e-01 2.42578956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.462755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:49.27, Y:11.01, Z:0.24 [[ 8.96252668e-01 -4.43523472e-01 -4.25268938e-03 4.92690966e+01] [ 4.43518992e-01 8.96262752e-01 -1.99603275e-03 1.10060757e+01] [ 4.69681446e-03 -9.71988337e-05 9.99988965e-01 2.42945029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.492755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:49.29, Y:11.02, Z:0.24 [[ 8.96568037e-01 -4.42885619e-01 -4.25249408e-03 4.92940283e+01] [ 4.42881129e-01 8.96578117e-01 -1.99644875e-03 1.10188507e+01] [ 4.69689157e-03 -9.33972406e-05 9.99988965e-01 2.43487098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.522755096000004 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:49.32, Y:11.03, Z:0.24 [[ 8.96893810e-01 -4.42225525e-01 -4.25187801e-03 4.93192133e+01] [ 4.42221022e-01 8.96903884e-01 -1.99775994e-03 1.10316725e+01] [ 4.69698634e-03 -8.84913132e-05 9.99988965e-01 2.43925513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.552755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:49.34, Y:11.04, Z:0.24 [[ 8.96969241e-01 -4.42072514e-01 -4.25126458e-03 4.93440789e+01] [ 4.42068003e-01 8.96979311e-01 -1.99906447e-03 1.10441434e+01] [ 4.69702783e-03 -8.62487015e-05 9.99988965e-01 2.44575260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.582755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:49.37, Y:11.06, Z:0.25 [[ 8.96825029e-01 -4.42365008e-01 -4.25064480e-03 4.93692117e+01] [ 4.42360493e-01 8.96835098e-01 -2.00038145e-03 1.10570345e+01] [ 4.69702620e-03 -8.63251792e-05 9.99988965e-01 2.46205045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.612755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:49.39, Y:11.07, Z:0.25 [[ 8.97074564e-01 -4.41858761e-01 -4.25001036e-03 4.93926904e+01] [ 4.41854234e-01 8.97084627e-01 -2.00172849e-03 1.10686192e+01] [ 4.69710023e-03 -8.21853584e-05 9.99988965e-01 2.46100673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.642755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:49.42, Y:11.08, Z:0.25 [[ 8.95642186e-01 -4.44755113e-01 -4.23847339e-03 4.94192071e+01] [ 4.44750503e-01 8.95652212e-01 -2.02619440e-03 1.10830494e+01] [ 4.69735839e-03 -7.03179894e-05 9.99988965e-01 2.47103104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.672755096 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:49.44, Y:11.09, Z:0.25 [[ 8.94823961e-01 -4.46398954e-01 -4.24885244e-03 4.94429879e+01] [ 4.46394467e-01 8.94834042e-01 -2.00419099e-03 1.10948652e+01] [ 4.69668657e-03 -1.03266101e-04 9.99988965e-01 2.47501510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.702755096000004 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:49.47, Y:11.11, Z:0.25 [[ 8.94266651e-01 -4.47514365e-01 -4.24858154e-03 4.94681476e+01] [ 4.47509888e-01 8.94276737e-01 -2.00476510e-03 1.11070239e+01] [ 4.69656881e-03 -1.08487673e-04 9.99988965e-01 2.48027355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.732755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:49.49, Y:11.12, Z:0.25 [[ 8.92001269e-01 -4.52012968e-01 -4.24409537e-03 4.94928837e+01] [ 4.52008496e-01 8.92011358e-01 -2.01426642e-03 1.11193933e+01] [ 4.69625581e-03 -1.21638962e-04 9.99988965e-01 2.48861713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.762755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:49.52, Y:11.13, Z:0.25 [[ 8.91449625e-01 -4.53099903e-01 -4.24783049e-03 4.95176277e+01] [ 4.53095482e-01 8.91459735e-01 -2.00635847e-03 1.11311257e+01] [ 4.69585067e-03 -1.36105294e-04 9.99988965e-01 2.48821450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.792755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:49.54, Y:11.14, Z:0.25 [[ 8.89999095e-01 -4.55942592e-01 -4.23835985e-03 4.95439094e+01] [ 4.55938107e-01 8.90009178e-01 -2.02639297e-03 1.11442073e+01] [ 4.69609802e-03 -1.28941857e-04 9.99988965e-01 2.49830173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.822755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:49.57, Y:11.16, Z:0.25 [[ 8.88394987e-01 -4.59060245e-01 -4.24705699e-03 4.95685921e+01] [ 4.59055884e-01 8.88405124e-01 -2.00799790e-03 1.11567484e+01] [ 4.69489920e-03 -1.65741228e-04 9.99988965e-01 2.50102182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.59, Y:11.17, Z:0.25 [[ 8.87630766e-01 -4.60536200e-01 -4.24644692e-03 4.95938766e+01] [ 4.60531849e-01 8.87640906e-01 -2.00928723e-03 1.11693651e+01] [ 4.69466950e-03 -1.72118892e-04 9.99988965e-01 2.49803602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.882755096000004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:49.62, Y:11.18, Z:0.25 [[ 8.87147926e-01 -4.61465634e-01 -4.24583911e-03 4.96184904e+01] [ 4.61461287e-01 8.87158068e-01 -2.01057078e-03 1.11814175e+01] [ 4.69453974e-03 -1.75616678e-04 9.99988965e-01 2.49225912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.64, Y:11.19, Z:0.25 [[ 8.86714566e-01 -4.62297798e-01 -4.24557562e-03 4.96422448e+01] [ 4.62293458e-01 8.86724711e-01 -2.01112701e-03 1.11939962e+01] [ 4.69439641e-03 -1.79406224e-04 9.99988965e-01 2.48315557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.67, Y:11.21, Z:0.25 [[ 8.86637831e-01 -4.62444954e-01 -4.24516665e-03 4.96668261e+01] [ 4.62440612e-01 8.86647976e-01 -2.01198992e-03 1.12066373e+01] [ 4.69440300e-03 -1.79231080e-04 9.99988965e-01 2.47651465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.69, Y:11.22, Z:0.25 [[ 8.86677894e-01 -4.62368139e-01 -4.24453779e-03 4.96909308e+01] [ 4.62363790e-01 8.86688036e-01 -2.01331570e-03 1.12211143e+01] [ 4.69447391e-03 -1.77358052e-04 9.99988965e-01 2.46272409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.002755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:49.71, Y:11.23, Z:0.25 [[ 8.86686975e-01 -4.62350729e-01 -4.24390877e-03 4.97146199e+01] [ 4.62346373e-01 8.86697114e-01 -2.01464075e-03 1.12340859e+01] [ 4.69453228e-03 -1.75800112e-04 9.99988965e-01 2.45791286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:49.74, Y:11.25, Z:0.25 [[ 8.86708027e-01 -4.62310359e-01 -4.24348152e-03 4.97397374e+01] [ 4.62305998e-01 8.86718164e-01 -2.01554027e-03 1.12473144e+01] [ 4.69457729e-03 -1.74591229e-04 9.99988965e-01 2.45514528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.062755096000004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.76, Y:11.26, Z:0.25 [[ 8.87036758e-01 -4.61679312e-01 -4.24286157e-03 4.97631622e+01] [ 4.61674938e-01 8.87046889e-01 -2.01684448e-03 1.12607421e+01] [ 4.69475253e-03 -1.69807661e-04 9.99988965e-01 2.45323241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.79, Y:11.27, Z:0.25 [[ 8.87326565e-01 -4.61122074e-01 -4.24259304e-03 4.97870153e+01] [ 4.61117691e-01 8.87336692e-01 -2.01740920e-03 1.12733203e+01] [ 4.69488038e-03 -1.66233929e-04 9.99988965e-01 2.45881483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.81, Y:11.29, Z:0.25 [[ 8.87587612e-01 -4.60619402e-01 -4.24233373e-03 4.98123410e+01] [ 4.60615011e-01 8.87597735e-01 -2.01795433e-03 1.12865786e+01] [ 4.69499473e-03 -1.62971338e-04 9.99988965e-01 2.46625923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.152755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:49.84, Y:11.30, Z:0.25 [[ 8.88246389e-01 -4.59347755e-01 -4.24168740e-03 4.98367415e+01] [ 4.59343343e-01 8.88256503e-01 -2.01931198e-03 1.13007706e+01] [ 4.69527285e-03 -1.54744293e-04 9.99988965e-01 2.47977567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.86, Y:11.31, Z:0.25 [[ 8.88680368e-01 -4.58507598e-01 -4.24103829e-03 4.98619300e+01] [ 4.58503169e-01 8.88690475e-01 -2.02067436e-03 1.13141475e+01] [ 4.69546488e-03 -1.48795865e-04 9.99988965e-01 2.48474983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.89, Y:11.33, Z:0.25 [[ 8.89845993e-01 -4.56241304e-01 -4.24039171e-03 4.98855188e+01] [ 4.56236843e-01 8.89856086e-01 -2.02203029e-03 1.13283703e+01] [ 4.69587211e-03 -1.35327382e-04 9.99988965e-01 2.49955228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.91, Y:11.34, Z:0.25 [[ 8.90352907e-01 -4.55251273e-01 -4.24011176e-03 4.99100138e+01] [ 4.55246799e-01 8.90362994e-01 -2.02261717e-03 1.13417327e+01] [ 4.69603764e-03 -1.29454230e-04 9.99988965e-01 2.50418886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.93, Y:11.36, Z:0.25 [[ 8.90705090e-01 -4.54561843e-01 -4.23951626e-03 4.99345668e+01] [ 4.54557354e-01 8.90715171e-01 -2.02386460e-03 1.13551576e+01] [ 4.69617307e-03 -1.24436794e-04 9.99988965e-01 2.50489802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.96, Y:11.37, Z:0.25 [[ 8.91073014e-01 -4.53840187e-01 -4.23887649e-03 4.99589615e+01] [ 4.53835684e-01 8.91083088e-01 -2.02520369e-03 1.13683143e+01] [ 4.69630997e-03 -1.19149056e-04 9.99988965e-01 2.50644265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.98, Y:11.38, Z:0.25 [[ 8.91796240e-01 -4.52417400e-01 -4.23823761e-03 4.99829950e+01] [ 4.52412875e-01 8.91806304e-01 -2.02653982e-03 1.13817629e+01] [ 4.69652889e-03 -1.10172670e-04 9.99988965e-01 2.51125783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.01, Y:11.39, Z:0.25 [[ 8.92823314e-01 -4.50387133e-01 -4.23796108e-03 5.00058315e+01] [ 4.50382582e-01 8.92833367e-01 -2.02711794e-03 1.13924472e+01] [ 4.69678089e-03 -9.88456942e-05 9.99988965e-01 2.50601449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.03, Y:11.40, Z:0.25 [[ 8.92818813e-01 -4.50396203e-01 -4.22223289e-03 5.00306089e+01] [ 4.50391497e-01 8.92828795e-01 -2.05996103e-03 1.14043681e+01] [ 4.69752973e-03 -6.24858306e-05 9.99988965e-01 2.50720454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.06, Y:11.42, Z:0.25 [[ 8.92419227e-01 -4.51187398e-01 -4.22551069e-03 5.00579985e+01] [ 4.51182733e-01 8.92429227e-01 -2.05310102e-03 1.14186547e+01] [ 4.69730255e-03 -7.42506351e-05 9.99988965e-01 2.50197785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.08, Y:11.43, Z:0.25 [[ 8.92136936e-01 -4.51745192e-01 -4.23891339e-03 5.00814534e+01] [ 4.51740666e-01 8.92147000e-01 -2.02504593e-03 1.14318927e+01] [ 4.69653863e-03 -1.08271283e-04 9.99988965e-01 2.48978787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.482755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.11, Y:11.44, Z:0.25 [[ 8.91941972e-01 -4.52130018e-01 -4.23848163e-03 5.01057379e+01] [ 4.52125493e-01 8.91952036e-01 -2.02594922e-03 1.14448723e+01] [ 4.69651477e-03 -1.09296448e-04 9.99988965e-01 2.48706103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.13, Y:11.46, Z:0.25 [[ 8.91196275e-01 -4.53598101e-01 -4.23820936e-03 5.01293942e+01] [ 4.53593589e-01 8.91206345e-01 -2.02651864e-03 1.14578355e+01] [ 4.69634408e-03 -1.16398732e-04 9.99988965e-01 2.47954252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.15, Y:11.47, Z:0.25 [[ 8.90439947e-01 -4.55081027e-01 -4.23794238e-03 5.01542589e+01] [ 4.55076529e-01 8.90450023e-01 -2.02707681e-03 1.14698874e+01] [ 4.69616008e-03 -1.23597940e-04 9.99988965e-01 2.47540410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.18, Y:11.48, Z:0.25 [[ 8.89828527e-01 -4.56275396e-01 -4.23733095e-03 5.01783227e+01] [ 4.56270906e-01 8.89838607e-01 -2.02835411e-03 1.14812101e+01] [ 4.69602874e-03 -1.28483484e-04 9.99988965e-01 2.47151291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.20, Y:11.49, Z:0.25 [[ 8.88518451e-01 -4.58821408e-01 -4.22820260e-03 5.02040255e+01] [ 4.58816856e-01 8.88528503e-01 -2.04740280e-03 1.14937187e+01] [ 4.69627076e-03 -1.20815461e-04 9.99988965e-01 2.47366082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.23, Y:11.51, Z:0.25 [[ 8.86402759e-01 -4.62895454e-01 -4.23645376e-03 5.02280680e+01] [ 4.62891030e-01 8.86412868e-01 -2.03018484e-03 1.15054338e+01] [ 4.69501046e-03 -1.61455000e-04 9.99988965e-01 2.47126431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.662755096000005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:50.25, Y:11.52, Z:0.25 [[ 8.85256056e-01 -4.65084691e-01 -4.23619008e-03 5.02534366e+01] [ 4.65080289e-01 8.85266175e-01 -2.03073487e-03 1.15178788e+01] [ 4.69461949e-03 -1.72448165e-04 9.99988965e-01 2.46723247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.28, Y:11.53, Z:0.25 [[ 8.83327135e-01 -4.68737915e-01 -4.23558312e-03 5.02776690e+01] [ 4.68733549e-01 8.83337269e-01 -2.03200005e-03 1.15302752e+01] [ 4.69392389e-03 -1.90439126e-04 9.99988965e-01 2.46496732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.30, Y:11.54, Z:0.25 [[ 8.82767846e-01 -4.69790372e-01 -4.23517043e-03 5.03028460e+01] [ 4.69786014e-01 8.82777984e-01 -2.03285983e-03 1.15426235e+01] [ 4.69373319e-03 -1.95080544e-04 9.99988965e-01 2.46714967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.33, Y:11.55, Z:0.25 [[ 8.81267589e-01 -4.72598673e-01 -4.23456022e-03 5.03276018e+01] [ 4.72594341e-01 8.81277738e-01 -2.03413013e-03 1.15548198e+01] [ 4.69315085e-03 -2.08616240e-04 9.99988965e-01 2.46945827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.35, Y:11.57, Z:0.24 [[ 8.80707798e-01 -4.73641054e-01 -4.23392694e-03 5.03523402e+01] [ 4.73636729e-01 8.80717949e-01 -2.03544742e-03 1.15677850e+01] [ 4.69296691e-03 -2.12708886e-04 9.99988965e-01 2.44609901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.38, Y:11.58, Z:0.25 [[ 8.80799767e-01 -4.73470015e-01 -4.23270476e-03 5.03785093e+01] [ 4.73465675e-01 8.80809912e-01 -2.03798798e-03 1.15803559e+01] [ 4.69313451e-03 -2.08981076e-04 9.99988965e-01 2.45220825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.842755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:50.40, Y:11.59, Z:0.25 [[ 8.80969737e-01 -4.73153677e-01 -4.23325029e-03 5.04029422e+01] [ 4.73149338e-01 8.80979883e-01 -2.03685432e-03 1.15930415e+01] [ 4.69315346e-03 -2.08552552e-04 9.99988965e-01 2.47116456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.43, Y:11.61, Z:0.25 [[ 8.81328716e-01 -4.72484685e-01 -4.23289268e-03 5.04270000e+01] [ 4.72480335e-01 8.81338857e-01 -2.03759721e-03 1.16051425e+01] [ 4.69334627e-03 -2.04165620e-04 9.99988965e-01 2.46944710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.45, Y:11.62, Z:0.25 [[ 8.81673600e-01 -4.71840810e-01 -4.23247184e-03 5.04517441e+01] [ 4.71836449e-01 8.81683736e-01 -2.03847100e-03 1.16177300e+01] [ 4.69353539e-03 -1.99768419e-04 9.99988965e-01 2.46959883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.48, Y:11.63, Z:0.25 [[ 8.82722917e-01 -4.69874816e-01 -4.23186241e-03 5.04766651e+01] [ 4.69870427e-01 8.82733041e-01 -2.03973540e-03 1.16304855e+01] [ 4.69402507e-03 -1.87905815e-04 9.99988965e-01 2.48225717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.50, Y:11.64, Z:0.25 [[ 8.83018005e-01 -4.69320055e-01 -4.22947764e-03 5.05009627e+01] [ 4.69315635e-01 8.83028116e-01 -2.04468028e-03 1.16423554e+01] [ 4.69435713e-03 -1.79470478e-04 9.99988965e-01 2.47643965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.52, Y:11.65, Z:0.25 [[ 8.84658898e-01 -4.66219643e-01 -4.22826602e-03 5.05249510e+01] [ 4.66215176e-01 8.84668988e-01 -2.04719059e-03 1.16534552e+01] [ 4.69505629e-03 -1.60216411e-04 9.99988965e-01 2.49034642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.55, Y:11.67, Z:0.25 [[ 8.84014985e-01 -4.67439566e-01 -4.21405088e-03 5.05512685e+01] [ 4.67434973e-01 8.84025019e-01 -2.07661769e-03 1.16680558e+01] [ 4.69601968e-03 -1.34033599e-04 9.99988965e-01 2.49550450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.58, Y:11.68, Z:0.25 [[ 8.83638969e-01 -4.68149845e-01 -4.23024457e-03 5.05780559e+01] [ 4.68145419e-01 8.83649078e-01 -2.04308842e-03 1.16822944e+01] [ 4.69452324e-03 -1.75017070e-04 9.99988965e-01 2.49973917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.60, Y:11.69, Z:0.25 [[ 8.84610099e-01 -4.66312117e-01 -4.24056496e-03 5.06015474e+01] [ 4.66307772e-01 8.84620243e-01 -2.02172373e-03 1.16934725e+01] [ 4.69404388e-03 -1.88971166e-04 9.99988965e-01 2.50461851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.63, Y:11.71, Z:0.25 [[ 8.84553135e-01 -4.66420264e-01 -4.22944370e-03 5.06281353e+01] [ 4.66415811e-01 8.84563231e-01 -2.04472766e-03 1.17073291e+01] [ 4.69491280e-03 -1.64009152e-04 9.99988965e-01 2.50666458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.142755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.65, Y:11.72, Z:0.25 [[ 8.84719700e-01 -4.66104185e-01 -4.23575590e-03 5.06527443e+01] [ 4.66099790e-01 8.84729822e-01 -2.03169002e-03 1.17198011e+01] [ 4.69447878e-03 -1.76808755e-04 9.99988965e-01 2.49349501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.68, Y:11.73, Z:0.25 [[ 8.85010406e-01 -4.65552047e-01 -4.22754457e-03 5.06776110e+01] [ 4.65547566e-01 8.85020490e-01 -2.04863778e-03 1.17316322e+01] [ 4.69521107e-03 -1.55057328e-04 9.99988965e-01 2.50638120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.202755096000004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.70, Y:11.75, Z:0.25 [[ 8.84798922e-01 -4.65953847e-01 -4.22844246e-03 5.07015565e+01] [ 4.65949379e-01 8.84809012e-01 -2.04678524e-03 1.17452537e+01] [ 4.69507145e-03 -1.59246764e-04 9.99988965e-01 2.49645909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.73, Y:11.76, Z:0.25 [[ 8.85256115e-01 -4.65084702e-01 -4.22275870e-03 5.07274429e+01] [ 4.65080168e-01 8.85266175e-01 -2.05850717e-03 1.17565629e+01] [ 4.69564564e-03 -1.41615264e-04 9.99988965e-01 2.51353493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.75, Y:11.77, Z:0.25 [[ 8.84213146e-01 -4.67064498e-01 -4.22689221e-03 5.07505773e+01] [ 4.67060027e-01 8.84223235e-01 -2.04998423e-03 1.17712154e+01] [ 4.69499116e-03 -1.61589384e-04 9.99988965e-01 2.49170795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.292755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:50.78, Y:11.78, Z:0.25 [[ 8.85718865e-01 -4.64202910e-01 -4.21324921e-03 5.07819649e+01] [ 4.64198273e-01 8.85728878e-01 -2.07808752e-03 1.17819654e+01] [ 4.69645077e-03 -1.15181689e-04 9.99988965e-01 2.50877004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.80, Y:11.79, Z:0.25 [[ 8.84979359e-01 -4.65610944e-01 -4.24059281e-03 5.08041085e+01] [ 4.65606592e-01 8.84989500e-01 -2.02174629e-03 1.17944630e+01] [ 4.69422731e-03 -1.85244233e-04 9.99988965e-01 2.51524057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.83, Y:11.81, Z:0.25 [[ 8.85006287e-01 -4.65559898e-01 -4.22539103e-03 5.08291015e+01] [ 4.65555396e-01 8.85016361e-01 -2.05303339e-03 1.18062817e+01] [ 4.69535021e-03 -1.50206133e-04 9.99988966e-01 2.51084322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.85, Y:11.82, Z:0.25 [[ 8.84856896e-01 -4.65843777e-01 -4.22473792e-03 5.08538387e+01] [ 4.65839271e-01 8.84866969e-01 -2.05437649e-03 1.18185819e+01] [ 4.69534954e-03 -1.50219630e-04 9.99988966e-01 2.50727738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.412755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.88, Y:11.83, Z:0.25 [[ 8.85002596e-01 -4.65566925e-01 -4.22407810e-03 5.08784693e+01] [ 4.65562410e-01 8.85012665e-01 -2.05573228e-03 1.18306795e+01] [ 4.69544357e-03 -1.47243579e-04 9.99988966e-01 2.50391181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.90, Y:11.84, Z:0.25 [[ 8.85301810e-01 -4.64997705e-01 -4.22379309e-03 5.09035951e+01] [ 4.64993180e-01 8.85311874e-01 -2.05631772e-03 1.18434198e+01] [ 4.69555719e-03 -1.43573185e-04 9.99988966e-01 2.49626741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.93, Y:11.86, Z:0.25 [[ 8.85399004e-01 -4.64812616e-01 -4.22314226e-03 5.09286579e+01] [ 4.64808083e-01 8.85409065e-01 -2.05765348e-03 1.18558647e+01] [ 4.69563173e-03 -1.41106317e-04 9.99988966e-01 2.49398118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.502755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:50.95, Y:11.87, Z:0.25 [[ 8.85684028e-01 -4.64269289e-01 -4.22249722e-03 5.09547921e+01] [ 4.64264743e-01 8.85694083e-01 -2.05897632e-03 1.18678445e+01] [ 4.69576027e-03 -1.36754146e-04 9.99988966e-01 2.47491547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:50.98, Y:11.88, Z:0.25 [[ 8.85817874e-01 -4.64013740e-01 -4.23598748e-03 5.09777684e+01] [ 4.64009324e-01 8.85827986e-01 -2.03130638e-03 1.18795294e+01] [ 4.69491033e-03 -1.66170189e-04 9.99988965e-01 2.49316708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.00, Y:11.89, Z:0.25 [[ 8.85947177e-01 -4.63766943e-01 -4.22156677e-03 5.10035118e+01] [ 4.63762383e-01 8.85957225e-01 -2.06084668e-03 1.18917685e+01] [ 4.69588014e-03 -1.32002568e-04 9.99988966e-01 2.49129194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.03, Y:11.90, Z:0.25 [[ 8.85964790e-01 -4.63733302e-01 -4.22093750e-03 5.10288716e+01] [ 4.63728735e-01 8.85974835e-01 -2.06213470e-03 1.19041291e+01] [ 4.69592494e-03 -1.30391277e-04 9.99988966e-01 2.49320778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.06, Y:11.92, Z:0.25 [[ 8.86559105e-01 -4.62596091e-01 -4.22030985e-03 5.10577319e+01] [ 4.62591505e-01 8.86569141e-01 -2.06341844e-03 1.19162772e+01] [ 4.69612578e-03 -1.22937074e-04 9.99988966e-01 2.50401964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.08, Y:11.93, Z:0.25 [[ 8.86088682e-01 -4.63496416e-01 -4.23330082e-03 5.10791505e+01] [ 4.63491967e-01 8.86098780e-01 -2.03685035e-03 1.19287945e+01] [ 4.69519553e-03 -1.57270879e-04 9.99988965e-01 2.50136865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.11, Y:11.94, Z:0.25 [[ 8.86984538e-01 -4.61779847e-01 -4.21931558e-03 5.11082739e+01] [ 4.61775242e-01 8.86994566e-01 -2.06541991e-03 1.19400891e+01] [ 4.69627928e-03 -1.16379949e-04 9.99988966e-01 2.50875602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.13, Y:11.95, Z:0.25 [[ 8.86232135e-01 -4.63222041e-01 -4.23593202e-03 5.11292035e+01] [ 4.63217615e-01 8.86242243e-01 -2.03147301e-03 1.19528513e+01] [ 4.69508497e-03 -1.61801663e-04 9.99988965e-01 2.50797945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.15, Y:11.97, Z:0.25 [[ 8.86230146e-01 -4.63226007e-01 -4.21836780e-03 5.11547245e+01] [ 4.63221410e-01 8.86240177e-01 -2.06731295e-03 1.19650028e+01] [ 4.69612015e-03 -1.21923229e-04 9.99988966e-01 2.50802061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.18, Y:11.98, Z:0.25 [[ 8.85972581e-01 -4.63718446e-01 -4.21769482e-03 5.11811249e+01] [ 4.63713848e-01 8.85982611e-01 -2.06868504e-03 1.19778111e+01] [ 4.69609168e-03 -1.23005267e-04 9.99988966e-01 2.50975919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.21, Y:11.99, Z:0.25 [[ 8.86259762e-01 -4.63169261e-01 -4.22738556e-03 5.12060416e+01] [ 4.63164751e-01 8.86269832e-01 -2.04892575e-03 1.19894108e+01] [ 4.69560372e-03 -1.42095530e-04 9.99988965e-01 2.51307585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.24, Y:12.00, Z:0.25 [[ 8.86912090e-01 -4.61919001e-01 -4.21684658e-03 5.12416682e+01] [ 4.61914375e-01 8.86922107e-01 -2.07039092e-03 1.20004962e+01] [ 4.69636736e-03 -1.11567316e-04 9.99988966e-01 2.51330102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.26, Y:12.01, Z:0.25 [[ 8.86498537e-01 -4.62711675e-01 -4.27203439e-03 5.12648167e+01] [ 4.62707595e-01 8.86508797e-01 -1.95796746e-03 1.20125427e+01] [ 4.69317047e-03 -2.40967465e-04 9.99988958e-01 2.50941962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.28, Y:12.03, Z:0.25 [[ 8.85480605e-01 -4.64656866e-01 -4.25381196e-03 5.12823225e+01] [ 4.64652630e-01 8.85490798e-01 -1.99503096e-03 1.20258163e+01] [ 4.69371618e-03 -2.09983700e-04 9.99988962e-01 2.51186524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.31, Y:12.04, Z:0.25 [[ 8.84034876e-01 -4.67401949e-01 -4.21387668e-03 5.13108637e+01] [ 4.67397357e-01 8.84044908e-01 -2.07608841e-03 1.20408839e+01] [ 4.69562399e-03 -1.34220271e-04 9.99988966e-01 2.50831289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.34, Y:12.05, Z:0.25 [[ 8.84987898e-01 -4.65594768e-01 -4.23480877e-03 5.13388794e+01] [ 4.65590358e-01 8.84998013e-01 -2.03361362e-03 1.20512946e+01] [ 4.69463721e-03 -1.71962691e-04 9.99988965e-01 2.51457821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.36, Y:12.06, Z:0.25 [[ 8.84138134e-01 -4.67206403e-01 -4.23527937e-03 5.13585197e+01] [ 4.67202016e-01 8.84148259e-01 -2.03266277e-03 1.20645800e+01] [ 4.69428794e-03 -1.81576388e-04 9.99988965e-01 2.50455930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.38, Y:12.08, Z:0.25 [[ 8.84105053e-01 -4.67269237e-01 -4.20886216e-03 5.13834842e+01] [ 4.67264597e-01 8.84115063e-01 -2.08596492e-03 1.20769236e+01] [ 4.69582567e-03 -1.22440160e-04 9.99988967e-01 2.49890628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.41, Y:12.09, Z:0.25 [[ 8.84375634e-01 -4.66756927e-01 -4.20821100e-03 5.14084581e+01] [ 4.66752275e-01 8.84385638e-01 -2.08727775e-03 1.20884126e+01] [ 4.69593272e-03 -1.18254476e-04 9.99988967e-01 2.49463819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.43, Y:12.10, Z:0.25 [[ 8.84422438e-01 -4.66668239e-01 -4.20792842e-03 5.14339861e+01] [ 4.66663583e-01 8.84432440e-01 -2.08784727e-03 1.21009602e+01] [ 4.69596041e-03 -1.17147981e-04 9.99988967e-01 2.49443803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.46, Y:12.11, Z:0.25 [[ 8.84934552e-01 -4.65696401e-01 -4.20728829e-03 5.14584904e+01] [ 4.65691728e-01 8.84944546e-01 -2.08913642e-03 1.21129307e+01] [ 4.69612014e-03 -1.10550353e-04 9.99988967e-01 2.48909580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.48, Y:12.13, Z:0.25 [[ 8.85046888e-01 -4.65482876e-01 -4.20685455e-03 5.14831165e+01] [ 4.65478197e-01 8.85056880e-01 -2.09000947e-03 1.21256202e+01] [ 4.69616918e-03 -1.08442694e-04 9.99988967e-01 2.48917579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.162755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.51, Y:12.14, Z:0.25 [[ 8.85092888e-01 -4.65395409e-01 -4.20622523e-03 5.15078979e+01] [ 4.65390722e-01 8.85102877e-01 -2.09127523e-03 1.21384020e+01] [ 4.69621194e-03 -1.06565361e-04 9.99988967e-01 2.49001644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.53, Y:12.15, Z:0.25 [[ 8.84582480e-01 -4.66364824e-01 -4.20559783e-03 5.15301874e+01] [ 4.66360142e-01 8.84592471e-01 -2.09253619e-03 1.21520100e+01] [ 4.69612544e-03 -1.10302348e-04 9.99988967e-01 2.47823162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.56, Y:12.16, Z:0.25 [[ 8.85298229e-01 -4.65004791e-01 -4.19393435e-03 5.15580413e+01] [ 4.64999983e-01 8.85308160e-01 -2.11597766e-03 1.21633507e+01] [ 4.69686405e-03 -7.69081292e-05 9.99988967e-01 2.49093242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.58, Y:12.18, Z:0.25 [[ 8.85297616e-01 -4.65005884e-01 -4.20229382e-03 5.15835580e+01] [ 4.65001156e-01 8.85307584e-01 -2.09917649e-03 1.21750110e+01] [ 4.69645201e-03 -9.56755386e-05 9.99988967e-01 2.49885390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.61, Y:12.19, Z:0.25 [[ 8.84890237e-01 -4.65780615e-01 -4.20551759e-03 5.16084442e+01] [ 4.65775926e-01 8.84900224e-01 -2.09269795e-03 1.21866958e+01] [ 4.69620160e-03 -1.07020862e-04 9.99988967e-01 2.50519389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.63, Y:12.20, Z:0.25 [[ 8.84756115e-01 -4.66035336e-01 -4.20510321e-03 5.16339300e+01] [ 4.66030646e-01 8.84766101e-01 -2.09353029e-03 1.21995934e+01] [ 4.69619186e-03 -1.07443239e-04 9.99988967e-01 2.50653304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.66, Y:12.21, Z:0.25 [[ 8.83978336e-01 -4.67508955e-01 -4.20450018e-03 5.16608856e+01] [ 4.67504276e-01 8.83988328e-01 -2.09474067e-03 1.22133383e+01] [ 4.69603911e-03 -1.13916446e-04 9.99988967e-01 2.51094234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.68, Y:12.22, Z:0.25 [[ 8.84252924e-01 -4.66989288e-01 -4.21560117e-03 5.16840015e+01] [ 4.66984709e-01 8.84262962e-01 -2.07246194e-03 1.22242188e+01] [ 4.69551750e-03 -1.36040757e-04 9.99988967e-01 2.51252767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.71, Y:12.24, Z:0.25 [[ 8.83629176e-01 -4.68168570e-01 -4.20359260e-03 5.17102170e+01] [ 4.68163890e-01 8.83639167e-01 -2.09653929e-03 1.22375484e+01] [ 4.69599286e-03 -1.15406984e-04 9.99988967e-01 2.51301562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.74, Y:12.25, Z:0.25 [[ 8.83794249e-01 -4.67856820e-01 -4.20969276e-03 5.17356962e+01] [ 4.67852194e-01 8.83804266e-01 -2.08431183e-03 1.22494903e+01] [ 4.69570392e-03 -1.27411185e-04 9.99988967e-01 2.51496989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.76, Y:12.26, Z:0.25 [[ 8.83820331e-01 -4.67807596e-01 -4.20431694e-03 5.17609264e+01] [ 4.67802919e-01 8.83830323e-01 -2.09507569e-03 1.22617062e+01] [ 4.69599512e-03 -1.15121245e-04 9.99988967e-01 2.51363357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.79, Y:12.27, Z:0.25 [[ 8.83497637e-01 -4.68416770e-01 -4.20193383e-03 5.17869307e+01] [ 4.68412076e-01 8.83507622e-01 -2.09984429e-03 1.22740511e+01] [ 4.69604285e-03 -1.13029083e-04 9.99988967e-01 2.50223553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.81, Y:12.29, Z:0.25 [[ 8.83927749e-01 -4.67604545e-01 -4.20998361e-03 5.18112454e+01] [ 4.67599919e-01 8.83937766e-01 -2.08374469e-03 1.22855580e+01] [ 4.69573200e-03 -1.26708242e-04 9.99988967e-01 2.50029516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.84, Y:12.30, Z:0.25 [[ 8.84402036e-01 -4.66706973e-01 -4.20006709e-03 5.18357904e+01] [ 4.66702243e-01 8.84412003e-01 -2.10355464e-03 1.22971752e+01] [ 4.69633337e-03 -9.97927256e-05 9.99988967e-01 2.49757684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.86, Y:12.31, Z:0.25 [[ 8.84218397e-01 -4.67054834e-01 -4.19611699e-03 5.18619114e+01] [ 4.67050071e-01 8.84228349e-01 -2.11144197e-03 1.23103247e+01] [ 4.69648478e-03 -9.28209006e-05 9.99988967e-01 2.49645374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.89, Y:12.32, Z:0.25 [[ 8.84296049e-01 -4.66907765e-01 -4.19956119e-03 5.18874996e+01] [ 4.66903032e-01 8.84306016e-01 -2.10456924e-03 1.23226917e+01] [ 4.69633694e-03 -9.97255919e-05 9.99988967e-01 2.49759440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.91, Y:12.33, Z:0.25 [[ 8.85182821e-01 -4.65224394e-01 -4.19968865e-03 5.19131159e+01] [ 4.65219643e-01 8.85192779e-01 -2.10431500e-03 1.23342395e+01] [ 4.69651274e-03 -9.10741681e-05 9.99988967e-01 2.50501280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.94, Y:12.35, Z:0.25 [[ 8.85232102e-01 -4.65130625e-01 -4.19856007e-03 5.19410129e+01] [ 4.65125863e-01 8.85242054e-01 -2.10656436e-03 1.23476417e+01] [ 4.69656954e-03 -8.80604765e-05 9.99988967e-01 2.50917327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.96, Y:12.36, Z:0.25 [[ 8.85668990e-01 -4.64298054e-01 -4.21391278e-03 5.19641502e+01] [ 4.64293427e-01 8.85679007e-01 -2.07603691e-03 1.23589847e+01] [ 4.69607399e-03 -1.17810495e-04 9.99988966e-01 2.50093064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.732755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:51.99, Y:12.37, Z:0.25 [[ 8.85942888e-01 -4.63775276e-01 -4.20621780e-03 5.19897627e+01] [ 4.63770571e-01 8.85952867e-01 -2.09133131e-03 1.23706386e+01] [ 4.69641848e-03 -9.79199292e-05 9.99988967e-01 2.50795294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.762755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:52.01, Y:12.38, Z:0.25 [[ 8.86051610e-01 -4.63567478e-01 -4.21156667e-03 5.20148349e+01] [ 4.63562821e-01 8.86061613e-01 -2.08070599e-03 1.23826903e+01] [ 4.69625518e-03 -1.08712832e-04 9.99988967e-01 2.50037443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.04, Y:12.39, Z:0.25 [[ 8.86387395e-01 -4.62925115e-01 -4.20989638e-03 5.20421261e+01] [ 4.62920435e-01 8.86397387e-01 -2.08401933e-03 1.23941953e+01] [ 4.69638604e-03 -1.01598596e-04 9.99988967e-01 2.51536679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.07, Y:12.41, Z:0.25 [[ 8.86007905e-01 -4.63650932e-01 -4.21976315e-03 5.20675594e+01] [ 4.63646353e-01 8.86017944e-01 -2.06445558e-03 1.24068977e+01] [ 4.69597262e-03 -1.27353833e-04 9.99988966e-01 2.50120906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.09, Y:12.42, Z:0.25 [[ 8.84801460e-01 -4.65949156e-01 -4.21435418e-03 5.20940777e+01] [ 4.65944552e-01 8.84811487e-01 -2.07514866e-03 1.24212527e+01] [ 4.69582275e-03 -1.27560810e-04 9.99988966e-01 2.51040019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.12, Y:12.43, Z:0.25 [[ 8.84852849e-01 -4.65851508e-01 -4.21988451e-03 5.21176941e+01] [ 4.65846956e-01 8.84862901e-01 -2.06422032e-03 1.24311871e+01] [ 4.69563939e-03 -1.39289122e-04 9.99988966e-01 2.48729746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.14, Y:12.45, Z:0.25 [[ 8.82885527e-01 -4.69569410e-01 -4.20905772e-03 5.21381037e+01] [ 4.69564797e-01 8.82895549e-01 -2.08562129e-03 1.24450432e+01] [ 4.69550228e-03 -1.35060487e-04 9.99988967e-01 2.50835553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.17, Y:12.46, Z:0.25 [[ 8.84086447e-01 -4.67304605e-01 -4.19052803e-03 5.21714922e+01] [ 4.67299793e-01 8.84096374e-01 -2.12221013e-03 1.24559824e+01] [ 4.69654920e-03 -8.20156716e-05 9.99988968e-01 2.52221101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.19, Y:12.47, Z:0.25 [[ 8.82973194e-01 -4.69404384e-01 -4.22638153e-03 5.21924111e+01] [ 4.69399935e-01 8.82983292e-01 -2.05102025e-03 1.24668780e+01] [ 4.69458217e-03 -1.72867314e-04 9.99988965e-01 2.52300354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.002755096 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:52.22, Y:12.48, Z:0.25 [[ 8.82482526e-01 -4.70326505e-01 -4.19166502e-03 5.22172962e+01] [ 4.70321739e-01 8.82492475e-01 -2.11980735e-03 1.24799355e+01] [ 4.69611442e-03 -1.00738235e-04 9.99988968e-01 2.52306715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.032755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:52.24, Y:12.49, Z:0.25 [[ 8.82412942e-01 -4.70457056e-01 -4.19023982e-03 5.22425330e+01] [ 4.70452278e-01 8.82422885e-01 -2.12262867e-03 1.24904634e+01] [ 4.69616915e-03 -9.82728669e-05 9.99988968e-01 2.52434878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.27, Y:12.50, Z:0.25 [[ 8.81961998e-01 -4.71301964e-01 -4.18233378e-03 5.22688477e+01] [ 4.71297121e-01 8.81971911e-01 -2.13826136e-03 1.25031272e+01] [ 4.69646769e-03 -8.52566031e-05 9.99988968e-01 2.53310835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.29, Y:12.51, Z:0.25 [[ 8.81811907e-01 -4.71582676e-01 -4.18815809e-03 5.22930558e+01] [ 4.71577891e-01 8.81821847e-01 -2.12674263e-03 1.25144452e+01] [ 4.69614429e-03 -9.96557807e-05 9.99988968e-01 2.53328192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.32, Y:12.53, Z:0.25 [[ 8.80736310e-01 -4.73588501e-01 -4.18144889e-03 5.23197951e+01] [ 4.73583676e-01 8.80746230e-01 -2.14000922e-03 1.25279372e+01] [ 4.69627911e-03 -9.54821183e-05 9.99988968e-01 2.53680829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.34, Y:12.54, Z:0.25 [[ 8.80602573e-01 -4.73837057e-01 -4.18950866e-03 5.23437739e+01] [ 4.73832310e-01 8.80612531e-01 -2.12407659e-03 1.25365508e+01] [ 4.69580003e-03 -1.14657257e-04 9.99988968e-01 2.53227888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.37, Y:12.55, Z:0.25 [[ 8.79117555e-01 -4.76586728e-01 -4.17313490e-03 5.23715839e+01] [ 4.76581858e-01 8.79127455e-01 -2.15637779e-03 1.25502172e+01] [ 4.69641849e-03 -9.31308170e-05 9.99988967e-01 2.52656509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.40, Y:12.56, Z:0.25 [[ 8.78834398e-01 -4.77108530e-01 -4.18954117e-03 5.23978888e+01] [ 4.77103820e-01 8.78844374e-01 -2.12401705e-03 1.25620473e+01] [ 4.69534134e-03 -1.32186849e-04 9.99988968e-01 2.52551553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.42, Y:12.57, Z:0.25 [[ 8.78398184e-01 -4.77911134e-01 -4.19271140e-03 5.24240940e+01] [ 4.77906463e-01 8.78408178e-01 -2.11776927e-03 1.25733949e+01] [ 4.69501750e-03 -1.43479200e-04 9.99988968e-01 2.51028637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.45, Y:12.58, Z:0.25 [[ 8.78570058e-01 -4.77595074e-01 -4.19497006e-03 5.24468765e+01] [ 4.77590421e-01 8.78580061e-01 -2.11331738e-03 1.25841774e+01] [ 4.69492702e-03 -1.46780139e-04 9.99988968e-01 2.51162781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.48, Y:12.60, Z:0.25 [[ 8.77676710e-01 -4.79234991e-01 -4.17322183e-03 5.24750111e+01] [ 4.79230153e-01 8.77686625e-01 -2.15611619e-03 1.25969276e+01] [ 4.69606730e-03 -1.07560767e-04 9.99988968e-01 2.50311602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.50, Y:12.61, Z:0.25 [[ 8.77811697e-01 -4.78987536e-01 -4.19099986e-03 5.24976648e+01] [ 4.78982862e-01 8.77821690e-01 -2.12111652e-03 1.26072192e+01] [ 4.69493895e-03 -1.45476215e-04 9.99988968e-01 2.51686079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.52, Y:12.62, Z:0.25 [[ 8.77524545e-01 -4.79513547e-01 -4.17500801e-03 5.25236947e+01] [ 4.79508729e-01 8.77534470e-01 -2.15256341e-03 1.26221184e+01] [ 4.69589676e-03 -1.13025558e-04 9.99988968e-01 2.52891575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.55, Y:12.64, Z:0.25 [[ 8.77907478e-01 -4.78812001e-01 -4.18668724e-03 5.25486543e+01] [ 4.78807284e-01 8.77917450e-01 -2.12960267e-03 1.26356746e+01] [ 4.69524510e-03 -1.35022238e-04 9.99988968e-01 2.53274450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.57, Y:12.65, Z:0.25 [[ 8.78176131e-01 -4.78319098e-01 -4.18601665e-03 5.25744334e+01] [ 4.78314369e-01 8.78186098e-01 -2.13091999e-03 1.26478164e+01] [ 4.69536136e-03 -1.30908836e-04 9.99988968e-01 2.52949754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.60, Y:12.66, Z:0.25 [[ 8.78369423e-01 -4.77964054e-01 -4.18565153e-03 5.25985764e+01] [ 4.77959318e-01 8.78379386e-01 -2.13163665e-03 1.26601692e+01] [ 4.69543572e-03 -1.28206703e-04 9.99988968e-01 2.53005209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.482755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:52.62, Y:12.67, Z:0.25 [[ 8.78976416e-01 -4.76846888e-01 -4.18393213e-03 5.26239494e+01] [ 4.76842123e-01 8.78986366e-01 -2.13500883e-03 1.26733407e+01] [ 4.69569161e-03 -1.18452665e-04 9.99988968e-01 2.53177367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.65, Y:12.69, Z:0.25 [[ 8.79123170e-01 -4.76576272e-01 -4.18437087e-03 5.26479796e+01] [ 4.76571508e-01 8.79133120e-01 -2.13414861e-03 1.26859539e+01] [ 4.69570360e-03 -1.17972443e-04 9.99988968e-01 2.53166945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.67, Y:12.70, Z:0.25 [[ 8.78954842e-01 -4.76886653e-01 -4.18407481e-03 5.26716791e+01] [ 4.76881890e-01 8.78964792e-01 -2.13472888e-03 1.26999571e+01] [ 4.69567816e-03 -1.18979216e-04 9.99988968e-01 2.53397099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.70, Y:12.71, Z:0.25 [[ 8.79985329e-01 -4.74982485e-01 -4.17838429e-03 5.26952843e+01] [ 4.74977647e-01 8.79995244e-01 -2.14586629e-03 1.27143583e+01] [ 4.69620720e-03 -9.63082854e-05 9.99988968e-01 2.54366560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.72, Y:12.73, Z:0.25 [[ 8.80153763e-01 -4.74670334e-01 -4.17464027e-03 5.27223451e+01] [ 4.74665458e-01 8.80163659e-01 -2.15319086e-03 1.27292676e+01] [ 4.69642248e-03 -8.64184988e-05 9.99988968e-01 2.53048161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.75, Y:12.74, Z:0.25 [[ 8.80774509e-01 -4.73517361e-01 -4.19203796e-03 5.27467505e+01] [ 4.73512634e-01 8.80784477e-01 -2.11921579e-03 1.27419374e+01] [ 4.69576744e-03 -1.18431688e-04 9.99988968e-01 2.53687548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.662755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.77, Y:12.76, Z:0.26 [[ 8.80477906e-01 -4.74068628e-01 -4.19429218e-03 5.27681080e+01] [ 4.74063928e-01 8.80487887e-01 -2.11481252e-03 1.27553621e+01] [ 4.69558973e-03 -1.26316930e-04 9.99988968e-01 2.55210316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.79, Y:12.77, Z:0.25 [[ 8.79960214e-01 -4.75029071e-01 -4.17167059e-03 5.27931258e+01] [ 4.75024172e-01 8.79970099e-01 -2.15894226e-03 1.27691196e+01] [ 4.69650572e-03 -8.18610702e-05 9.99988968e-01 2.54908042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.82, Y:12.78, Z:0.25 [[ 8.79841946e-01 -4.75248018e-01 -4.17996476e-03 5.28174672e+01] [ 4.75243198e-01 8.79851869e-01 -2.14276253e-03 1.27821454e+01] [ 4.69609345e-03 -1.01207464e-04 9.99988968e-01 2.54977792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.85, Y:12.80, Z:0.25 [[ 8.80342233e-01 -4.74320659e-01 -4.17928519e-03 5.28460411e+01] [ 4.74315822e-01 8.80352148e-01 -2.14408716e-03 1.27956503e+01] [ 4.69622753e-03 -9.47706177e-05 9.99988968e-01 2.54398022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.87, Y:12.81, Z:0.25 [[ 8.78764035e-01 -4.77238013e-01 -4.20109520e-03 5.28661865e+01] [ 4.77233412e-01 8.78774063e-01 -2.10156349e-03 1.28110172e+01] [ 4.69475948e-03 -1.58124583e-04 9.99988967e-01 2.54600148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.89, Y:12.82, Z:0.25 [[ 8.78559971e-01 -4.77613777e-01 -4.17826373e-03 5.28902242e+01] [ 4.77608969e-01 8.78569899e-01 -2.14601605e-03 1.28240708e+01] [ 4.69586358e-03 -1.10172435e-04 9.99988968e-01 2.54622755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.91, Y:12.84, Z:0.25 [[ 8.78361261e-01 -4.77979123e-01 -4.17780681e-03 5.29139389e+01] [ 4.77974314e-01 8.78371189e-01 -2.14690521e-03 1.28366929e+01] [ 4.69584100e-03 -1.11125975e-04 9.99988968e-01 2.54680985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.94, Y:12.85, Z:0.25 [[ 8.78119784e-01 -4.78422609e-01 -4.17752122e-03 5.29389022e+01] [ 4.78417803e-01 8.78129714e-01 -2.14746077e-03 1.28501793e+01] [ 4.69579930e-03 -1.12872738e-04 9.99988968e-01 2.54866420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.96, Y:12.86, Z:0.25 [[ 8.77677307e-01 -4.79233866e-01 -4.17686536e-03 5.29632311e+01] [ 4.79229063e-01 8.77687238e-01 -2.14873568e-03 1.28644220e+01] [ 4.69572833e-03 -1.15778723e-04 9.99988968e-01 2.54719277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:52.99, Y:12.88, Z:0.25 [[ 8.77686969e-01 -4.79216177e-01 -4.17619123e-03 5.29873909e+01] [ 4.79211368e-01 8.77696897e-01 -2.15004509e-03 1.28772492e+01] [ 4.69576647e-03 -1.14211752e-04 9.99988968e-01 2.54440692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.01, Y:12.89, Z:0.25 [[ 8.77303004e-01 -4.79918744e-01 -4.17589973e-03 5.30121439e+01] [ 4.79913939e-01 8.77312935e-01 -2.15061111e-03 1.28910642e+01] [ 4.69568943e-03 -1.17334898e-04 9.99988968e-01 2.54702411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.04, Y:12.90, Z:0.25 [[ 8.77148802e-01 -4.80200528e-01 -4.17521843e-03 5.30360886e+01] [ 4.80195721e-01 8.77158731e-01 -2.15193298e-03 1.29040029e+01] [ 4.69568865e-03 -1.17356585e-04 9.99988968e-01 2.54648427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.06, Y:12.92, Z:0.25 [[ 8.76678561e-01 -4.81058490e-01 -4.17492365e-03 5.30610161e+01] [ 4.81053690e-01 8.76688493e-01 -2.15250473e-03 1.29174648e+01] [ 4.69558820e-03 -1.21307677e-04 9.99988968e-01 2.54657948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.052755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.08, Y:12.93, Z:0.26 [[ 8.76106805e-01 -4.82098996e-01 -4.17425218e-03 5.30849820e+01] [ 4.82094202e-01 8.76116740e-01 -2.15380610e-03 1.29299774e+01] [ 4.69547997e-03 -1.25418594e-04 9.99988968e-01 2.55061372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.11, Y:12.94, Z:0.26 [[ 8.75813587e-01 -4.82631475e-01 -4.17379666e-03 5.31087559e+01] [ 4.82626682e-01 8.75823523e-01 -2.15468848e-03 1.29424202e+01] [ 4.69542977e-03 -1.27280187e-04 9.99988968e-01 2.55376193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.13, Y:12.96, Z:0.26 [[ 8.75426046e-01 -4.83334066e-01 -4.17350878e-03 5.31322212e+01] [ 4.83329278e-01 8.75435985e-01 -2.15524593e-03 1.29554412e+01] [ 4.69534355e-03 -1.30420565e-04 9.99988968e-01 2.55642386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.16, Y:12.97, Z:0.26 [[ 8.75456337e-01 -4.83279201e-01 -4.17308467e-03 5.31563183e+01] [ 4.83274409e-01 8.75466274e-01 -2.15606679e-03 1.29689155e+01] [ 4.69537713e-03 -1.29202691e-04 9.99988968e-01 2.56635959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.18, Y:12.98, Z:0.26 [[ 8.76222514e-01 -4.81888677e-01 -4.17240333e-03 5.31849702e+01] [ 4.81883863e-01 8.76232440e-01 -2.15738452e-03 1.29810988e+01] [ 4.69561432e-03 -1.20264948e-04 9.99988968e-01 2.56025878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.21, Y:12.99, Z:0.26 [[ 8.76074458e-01 -4.82157573e-01 -4.19734400e-03 5.32093618e+01] [ 4.82152993e-01 8.76084496e-01 -2.10907014e-03 1.29939826e+01] [ 4.69413215e-03 -1.76059490e-04 9.99988967e-01 2.56171378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.23, Y:13.01, Z:0.26 [[ 8.75737442e-01 -4.82769450e-01 -4.19407147e-03 5.32301504e+01] [ 4.82764847e-01 8.75747468e-01 -2.11539586e-03 1.30090412e+01] [ 4.69419596e-03 -1.72218907e-04 9.99988967e-01 2.58027503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.26, Y:13.02, Z:0.26 [[ 8.76569001e-01 -4.81258138e-01 -4.17039057e-03 5.32605116e+01] [ 4.81253299e-01 8.76578914e-01 -2.16109429e-03 1.30221017e+01] [ 4.69572065e-03 -1.12665961e-04 9.99988969e-01 2.56143103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.28, Y:13.04, Z:0.26 [[ 8.76662260e-01 -4.81088010e-01 -4.19630023e-03 5.32846999e+01] [ 4.81083407e-01 8.76672287e-01 -2.11112645e-03 1.30357383e+01] [ 4.69441774e-03 -1.68025528e-04 9.99988967e-01 2.57937147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.31, Y:13.05, Z:0.26 [[ 8.76750265e-01 -4.80927665e-01 -4.18981402e-03 5.33083167e+01] [ 4.80923000e-01 8.76760262e-01 -2.12363136e-03 1.30498197e+01] [ 4.69477551e-03 -1.53083575e-04 9.99988968e-01 2.56540850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.33, Y:13.06, Z:0.26 [[ 8.76542652e-01 -4.81306013e-01 -4.18355382e-03 5.33327680e+01] [ 4.81301295e-01 8.76552624e-01 -2.13568720e-03 1.30640428e+01] [ 4.69502417e-03 -1.41528949e-04 9.99988968e-01 2.57302357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.36, Y:13.08, Z:0.26 [[ 8.76459023e-01 -4.81458330e-01 -4.17817231e-03 5.33551222e+01] [ 4.81453565e-01 8.76468972e-01 -2.14603832e-03 1.30768165e+01] [ 4.69526642e-03 -1.30681303e-04 9.99988969e-01 2.58233221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.412755096000005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:53.38, Y:13.09, Z:0.26 [[ 8.77278187e-01 -4.79964189e-01 -4.16652020e-03 5.33831247e+01] [ 4.79959301e-01 8.77288075e-01 -2.16842725e-03 1.30889306e+01] [ 4.69600591e-03 -9.74461915e-05 9.99988969e-01 2.58743826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.442755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:53.41, Y:13.10, Z:0.26 [[ 8.76377186e-01 -4.81607258e-01 -4.18041327e-03 5.34063368e+01] [ 4.81602516e-01 8.76387146e-01 -2.14167505e-03 1.31026226e+01] [ 4.69510671e-03 -1.36382398e-04 9.99988969e-01 2.59566450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.43, Y:13.11, Z:0.26 [[ 8.76658448e-01 -4.81095115e-01 -4.17802801e-03 5.34298853e+01] [ 4.81090345e-01 8.76668394e-01 -2.14626818e-03 1.31146149e+01] [ 4.69530424e-03 -1.28464804e-04 9.99988969e-01 2.60285947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.45, Y:13.13, Z:0.26 [[ 8.76580109e-01 -4.81237897e-01 -4.17113661e-03 5.34549920e+01] [ 4.81233066e-01 8.76590026e-01 -2.15952475e-03 1.31277731e+01] [ 4.69562190e-03 -1.14292413e-04 9.99988969e-01 2.59944493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.48, Y:13.14, Z:0.26 [[ 8.76363533e-01 -4.81632220e-01 -4.16675017e-03 5.34807270e+01] [ 4.81627353e-01 8.76373432e-01 -2.16795537e-03 1.31412172e+01] [ 4.69578630e-03 -1.06903829e-04 9.99988969e-01 2.60205754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.51, Y:13.15, Z:0.26 [[ 8.76486655e-01 -4.81408106e-01 -4.16897163e-03 5.35051666e+01] [ 4.81403256e-01 8.76496562e-01 -2.16368675e-03 1.31535833e+01] [ 4.69570564e-03 -1.10513961e-04 9.99988969e-01 2.60381736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.53, Y:13.17, Z:0.26 [[ 8.76570389e-01 -4.81255646e-01 -4.16611890e-03 5.35288326e+01] [ 4.81250768e-01 8.76580283e-01 -2.16916573e-03 1.31656080e+01] [ 4.69586094e-03 -1.03521469e-04 9.99988969e-01 2.60986557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.55, Y:13.18, Z:0.26 [[ 8.76621883e-01 -4.81161843e-01 -4.16583849e-03 5.35539064e+01] [ 4.81156962e-01 8.76631776e-01 -2.16970411e-03 1.31784027e+01] [ 4.69588523e-03 -1.02412091e-04 9.99988969e-01 2.61026224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.58, Y:13.19, Z:0.26 [[ 8.76894924e-01 -4.80664066e-01 -4.16519337e-03 5.35779393e+01] [ 4.80659173e-01 8.76904810e-01 -2.17094185e-03 1.31909534e+01] [ 4.69597184e-03 -9.83505174e-05 9.99988969e-01 2.60643712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.60, Y:13.20, Z:0.26 [[ 8.76930396e-01 -4.80599349e-01 -4.16491419e-03 5.36030014e+01] [ 4.80594454e-01 8.76940281e-01 -2.17147732e-03 1.32042013e+01] [ 4.69599161e-03 -9.74001998e-05 9.99988969e-01 2.60564465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.63, Y:13.22, Z:0.26 [[ 8.76787641e-01 -4.80859741e-01 -4.16428289e-03 5.36264372e+01] [ 4.80854843e-01 8.76797525e-01 -2.17268731e-03 1.32166880e+01] [ 4.69599079e-03 -9.74302089e-05 9.99988969e-01 2.60493485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.65, Y:13.23, Z:0.26 [[ 8.76757815e-01 -4.80914125e-01 -4.16385481e-03 5.36503921e+01] [ 4.80909223e-01 8.76767697e-01 -2.17350738e-03 1.32287326e+01] [ 4.69600380e-03 -9.67965994e-05 9.99988969e-01 2.60165491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.68, Y:13.24, Z:0.26 [[ 8.76631858e-01 -4.81143689e-01 -4.16358382e-03 5.36752855e+01] [ 4.81138787e-01 8.76641740e-01 -2.17402638e-03 1.32413813e+01] [ 4.69599044e-03 -9.74408861e-05 9.99988969e-01 2.60353625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.802755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.70, Y:13.25, Z:0.26 [[ 8.76414242e-01 -4.81539973e-01 -4.16296718e-03 5.37003857e+01] [ 4.81535071e-01 8.76424124e-01 -2.17520652e-03 1.32543179e+01] [ 4.69597375e-03 -9.82327206e-05 9.99988969e-01 2.60401880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.73, Y:13.27, Z:0.26 [[ 8.76066733e-01 -4.82171913e-01 -4.16235270e-03 5.37254112e+01] [ 4.82167011e-01 8.76076616e-01 -2.17638172e-03 1.32676838e+01] [ 4.69593000e-03 -1.00293542e-04 9.99988969e-01 2.60973834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.75, Y:13.28, Z:0.26 [[ 8.75854835e-01 -4.82556721e-01 -4.16174082e-03 5.37500615e+01] [ 4.82551818e-01 8.75864716e-01 -2.17755114e-03 1.32809206e+01] [ 4.69591388e-03 -1.01036904e-04 9.99988969e-01 2.60957853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.77, Y:13.29, Z:0.26 [[ 8.75566167e-01 -4.83080296e-01 -4.16107867e-03 5.37743181e+01] [ 4.83075393e-01 8.75576049e-01 -2.17881571e-03 1.32940497e+01] [ 4.69588376e-03 -1.02417398e-04 9.99988969e-01 2.60721686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.80, Y:13.31, Z:0.26 [[ 8.75115354e-01 -4.83896485e-01 -4.16041578e-03 5.37985772e+01] [ 4.83891585e-01 8.75125237e-01 -2.18008075e-03 1.33060757e+01] [ 4.69581826e-03 -1.05368056e-04 9.99988969e-01 2.60772934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.82, Y:13.32, Z:0.26 [[ 8.74814671e-01 -4.84439868e-01 -4.16012874e-03 5.38236782e+01] [ 4.84434972e-01 8.74824556e-01 -2.18062837e-03 1.33185187e+01] [ 4.69576609e-03 -1.07666159e-04 9.99988969e-01 2.61304926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.85, Y:13.33, Z:0.26 [[ 8.74418440e-01 -4.85154708e-01 -4.15947962e-03 5.38490921e+01] [ 4.85149815e-01 8.74428326e-01 -2.18186584e-03 1.33307965e+01] [ 4.69570928e-03 -1.10107040e-04 9.99988969e-01 2.61600875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.87, Y:13.34, Z:0.26 [[ 8.74395165e-01 -4.85196660e-01 -4.15883397e-03 5.38727874e+01] [ 4.85191761e-01 8.74405049e-01 -2.18309581e-03 1.33432437e+01] [ 4.69573621e-03 -1.08943551e-04 9.99988969e-01 2.61530052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.042755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:53.90, Y:13.36, Z:0.26 [[ 8.74259551e-01 -4.85440978e-01 -4.15855440e-03 5.38971094e+01] [ 4.85436079e-01 8.74269435e-01 -2.18362822e-03 1.33563849e+01] [ 4.69571963e-03 -1.09654515e-04 9.99988969e-01 2.61581648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.92, Y:13.37, Z:0.26 [[ 8.74321643e-01 -4.85329143e-01 -4.15788537e-03 5.39218535e+01] [ 4.85324237e-01 8.74331523e-01 -2.18490139e-03 1.33701342e+01] [ 4.69576657e-03 -1.07615967e-04 9.99988969e-01 2.61343621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.95, Y:13.38, Z:0.26 [[ 8.74429471e-01 -4.85134846e-01 -4.15721533e-03 5.39467640e+01] [ 4.85129931e-01 8.74439346e-01 -2.18617554e-03 1.33832068e+01] [ 4.69582259e-03 -1.05133266e-04 9.99988969e-01 2.61216296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.132755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:53.97, Y:13.40, Z:0.26 [[ 8.74344602e-01 -4.85287790e-01 -4.15654845e-03 5.39719425e+01] [ 4.85282872e-01 8.74354476e-01 -2.18744274e-03 1.33966677e+01] [ 4.69583599e-03 -1.04523009e-04 9.99988969e-01 2.61247807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.162755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.00, Y:13.41, Z:0.26 [[ 8.74348905e-01 -4.85280044e-01 -4.15585001e-03 5.39955941e+01] [ 4.85275119e-01 8.74358775e-01 -2.18876887e-03 1.34093392e+01] [ 4.69586978e-03 -1.02982942e-04 9.99988969e-01 2.61383062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.02, Y:13.42, Z:0.26 [[ 8.74318529e-01 -4.85334773e-01 -4.15554730e-03 5.40206630e+01] [ 4.85329846e-01 8.74328398e-01 -2.18934345e-03 1.34227378e+01] [ 4.69587752e-03 -1.02627584e-04 9.99988969e-01 2.61032196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.05, Y:13.44, Z:0.26 [[ 8.74286758e-01 -4.85392009e-01 -4.15485297e-03 5.40450296e+01] [ 4.85387076e-01 8.74296624e-01 -2.19066033e-03 1.34357434e+01] [ 4.69590294e-03 -1.01446617e-04 9.99988969e-01 2.60979448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.07, Y:13.45, Z:0.26 [[ 8.73966143e-01 -4.85969056e-01 -4.15415841e-03 5.40689731e+01] [ 4.85964124e-01 8.73976010e-01 -2.19197662e-03 1.34495297e+01] [ 4.69586761e-03 -1.03058597e-04 9.99988969e-01 2.60666445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.09, Y:13.46, Z:0.26 [[ 8.73548824e-01 -4.86718811e-01 -4.15346047e-03 5.40946073e+01] [ 4.86713881e-01 8.73558692e-01 -2.19329833e-03 1.34636280e+01] [ 4.69581105e-03 -1.05593684e-04 9.99988969e-01 2.61124417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.312755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.12, Y:13.48, Z:0.26 [[ 8.73755596e-01 -4.86347468e-01 -4.15923942e-03 5.41189333e+01] [ 4.86342585e-01 8.73765488e-01 -2.18235731e-03 1.34767853e+01] [ 4.69558381e-03 -1.15968343e-04 9.99988969e-01 2.60313864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.342755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.14, Y:13.49, Z:0.26 [[ 8.73908945e-01 -4.86071920e-01 -4.15259788e-03 5.41425258e+01] [ 4.86066975e-01 8.73918805e-01 -2.19492251e-03 1.34933414e+01] [ 4.69592358e-03 -1.00278275e-04 9.99988969e-01 2.60570997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.17, Y:13.51, Z:0.26 [[ 8.74408031e-01 -4.85173470e-01 -4.15928124e-03 5.41665792e+01] [ 4.85168575e-01 8.74417916e-01 -2.18228524e-03 1.35068178e+01] [ 4.69573694e-03 -1.09744812e-04 9.99988969e-01 2.60884492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.19, Y:13.52, Z:0.26 [[ 8.74384751e-01 -4.85215492e-01 -4.15135816e-03 5.41905444e+01] [ 4.85210526e-01 8.74394601e-01 -2.19725463e-03 1.35195081e+01] [ 4.69606714e-03 -9.30367337e-05 9.99988969e-01 2.61091030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.22, Y:13.53, Z:0.26 [[ 8.73829847e-01 -4.86214116e-01 -4.15105820e-03 5.42155602e+01] [ 4.86209159e-01 8.73839701e-01 -2.19782115e-03 1.35325350e+01] [ 4.69597113e-03 -9.77607980e-05 9.99988969e-01 2.60767382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.24, Y:13.55, Z:0.26 [[ 8.73442721e-01 -4.86909219e-01 -4.15036803e-03 5.42389471e+01] [ 4.86904263e-01 8.73452576e-01 -2.19912370e-03 1.35450678e+01] [ 4.69592325e-03 -1.00023303e-04 9.99988969e-01 2.60844537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.27, Y:13.56, Z:0.26 [[ 8.74163367e-01 -4.85614235e-01 -4.15006943e-03 5.42699745e+01] [ 4.85609262e-01 8.74173213e-01 -2.19968705e-03 1.35574926e+01] [ 4.69607888e-03 -9.24263141e-05 9.99988969e-01 2.60254495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.522755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.29, Y:13.57, Z:0.26 [[ 8.71932094e-01 -4.89609030e-01 -4.17394361e-03 5.42901828e+01] [ 4.89604316e-01 8.71942069e-01 -2.15466190e-03 1.35723252e+01] [ 4.69437895e-03 -1.64861946e-04 9.99988968e-01 2.61135314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.552755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.31, Y:13.59, Z:0.26 [[ 8.71472493e-01 -4.90426838e-01 -4.14855284e-03 5.43142674e+01] [ 4.90421906e-01 8.71482360e-01 -2.20248736e-03 1.35858953e+01] [ 4.69554954e-03 -1.15134036e-04 9.99988969e-01 2.61124018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.34, Y:13.60, Z:0.26 [[ 8.70923261e-01 -4.91401536e-01 -4.14786102e-03 5.43377440e+01] [ 4.91396608e-01 8.70933130e-01 -2.20378948e-03 1.35988824e+01] [ 4.69545511e-03 -1.18913314e-04 9.99988969e-01 2.60539379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.36, Y:13.61, Z:0.26 [[ 8.70870634e-01 -4.91494798e-01 -4.14756134e-03 5.43626962e+01] [ 4.91489869e-01 8.70880502e-01 -2.20435333e-03 1.36115594e+01] [ 4.69545850e-03 -1.18777799e-04 9.99988969e-01 2.61286446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.39, Y:13.62, Z:0.26 [[ 8.70808831e-01 -4.91604296e-01 -4.14687446e-03 5.43867160e+01] [ 4.91599362e-01 8.70818697e-01 -2.20564475e-03 1.36239083e+01] [ 4.69548025e-03 -1.17905910e-04 9.99988969e-01 2.61985255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.41, Y:13.64, Z:0.26 [[ 8.70944277e-01 -4.91364298e-01 -4.14640798e-03 5.44117969e+01] [ 4.91359358e-01 8.70954139e-01 -2.20652134e-03 1.36372290e+01] [ 4.69553701e-03 -1.15619227e-04 9.99988969e-01 2.62362380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.702755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.44, Y:13.65, Z:0.26 [[ 8.71729709e-01 -4.89969516e-01 -4.14571404e-03 5.44357336e+01] [ 4.89964554e-01 8.71739561e-01 -2.20782438e-03 1.36504057e+01] [ 4.69574958e-03 -1.06626822e-04 9.99988969e-01 2.61865227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.732755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.46, Y:13.66, Z:0.26 [[ 8.72150720e-01 -4.89219722e-01 -4.14541340e-03 5.44605794e+01] [ 4.89214748e-01 8.72160566e-01 -2.20838871e-03 1.36639902e+01] [ 4.69585341e-03 -1.01949565e-04 9.99988969e-01 2.61569738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.48, Y:13.68, Z:0.26 [[ 8.73078546e-01 -4.87561970e-01 -4.14472712e-03 5.44841505e+01] [ 4.87556971e-01 8.73088379e-01 -2.20967599e-03 1.36772521e+01] [ 4.69606706e-03 -9.15699011e-05 9.99988969e-01 2.60944329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.51, Y:13.69, Z:0.26 [[ 8.73462095e-01 -4.86874513e-01 -4.14443003e-03 5.45089198e+01] [ 4.86869504e-01 8.73471923e-01 -2.21023306e-03 1.36907647e+01] [ 4.69614942e-03 -8.72418002e-05 9.99988969e-01 2.60741088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.53, Y:13.70, Z:0.26 [[ 8.74010812e-01 -4.85888804e-01 -4.14374768e-03 5.45327707e+01] [ 4.85883777e-01 8.74020631e-01 -2.21151159e-03 1.37029026e+01] [ 4.69626969e-03 -8.04947379e-05 9.99988969e-01 2.61138475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:54.56, Y:13.71, Z:0.26 [[ 8.74375027e-01 -4.85233081e-01 -4.14345225e-03 5.45565209e+01] [ 4.85228045e-01 8.74384841e-01 -2.21206496e-03 1.37148150e+01] [ 4.69633894e-03 -7.63448732e-05 9.99988969e-01 2.61608012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.882755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.58, Y:13.73, Z:0.26 [[ 8.74046805e-01 -4.85824128e-01 -4.13514497e-03 5.45830122e+01] [ 4.85819024e-01 8.74056585e-01 -2.22760999e-03 1.37290146e+01] [ 4.69657737e-03 -6.18967030e-05 9.99988969e-01 2.62017671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.912755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.61, Y:13.74, Z:0.26 [[ 8.73818756e-01 -4.86234123e-01 -4.14224336e-03 5.46065955e+01] [ 4.86229088e-01 8.73828571e-01 -2.21433138e-03 1.37418034e+01] [ 4.69629407e-03 -7.91549205e-05 9.99988969e-01 2.62710532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.63, Y:13.75, Z:0.26 [[ 8.73639544e-01 -4.86556053e-01 -4.14178484e-03 5.46303033e+01] [ 4.86551017e-01 8.73649358e-01 -2.21518868e-03 1.37544156e+01] [ 4.69628113e-03 -7.99132006e-05 9.99988969e-01 2.62888714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.66, Y:13.77, Z:0.26 [[ 8.73216715e-01 -4.87314495e-01 -4.14150314e-03 5.46552085e+01] [ 4.87309465e-01 8.73226532e-01 -2.21571523e-03 1.37677919e+01] [ 4.69622057e-03 -8.33941095e-05 9.99988969e-01 2.63146103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.68, Y:13.78, Z:0.26 [[ 8.72475823e-01 -4.88639736e-01 -4.14080820e-03 5.46793461e+01] [ 4.88634715e-01 8.72485645e-01 -2.21701318e-03 1.37809299e+01] [ 4.69611645e-03 -8.90522320e-05 9.99988969e-01 2.63678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.70, Y:13.79, Z:0.26 [[ 8.71961718e-01 -4.89556556e-01 -4.14005291e-03 5.47042802e+01] [ 4.89551539e-01 8.71971542e-01 -2.21842272e-03 1.37931687e+01] [ 4.69605171e-03 -9.23895877e-05 9.99988969e-01 2.63386544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.062755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.73, Y:13.81, Z:0.26 [[ 8.71433105e-01 -4.90496900e-01 -4.13928464e-03 5.47284306e+01] [ 4.90491886e-01 8.71442931e-01 -2.21985528e-03 1.38064742e+01] [ 4.69598248e-03 -9.58301531e-05 9.99988969e-01 2.62862142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.092755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.75, Y:13.82, Z:0.26 [[ 8.71148432e-01 -4.91002340e-01 -4.13662997e-03 5.47533606e+01] [ 4.90997308e-01 8.71158248e-01 -2.22480279e-03 1.38194274e+01] [ 4.69604269e-03 -9.29407139e-05 9.99988969e-01 2.63769436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.78, Y:13.83, Z:0.26 [[ 8.70995586e-01 -4.91273409e-01 -4.13843648e-03 5.47784594e+01] [ 4.91268396e-01 8.71005412e-01 -2.22143734e-03 1.38330859e+01] [ 4.69593367e-03 -9.82209394e-05 9.99988969e-01 2.63904763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.80, Y:13.85, Z:0.26 [[ 8.71240220e-01 -4.90839442e-01 -4.13774474e-03 5.48027563e+01] [ 4.90834418e-01 8.71250041e-01 -2.22272505e-03 1.38460099e+01] [ 4.69601140e-03 -9.44200701e-05 9.99988969e-01 2.64121310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.83, Y:13.86, Z:0.26 [[ 8.71081424e-01 -4.91121268e-01 -4.12951667e-03 5.48274521e+01] [ 4.91116175e-01 8.71091209e-01 -2.23803173e-03 1.38596470e+01] [ 4.69633065e-03 -7.85645642e-05 9.99988969e-01 2.64082895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.85, Y:13.87, Z:0.26 [[ 8.71013220e-01 -4.91242225e-01 -4.12871690e-03 5.48524212e+01] [ 4.91237126e-01 8.71023002e-01 -2.23951848e-03 1.38735503e+01] [ 4.69635343e-03 -7.75288233e-05 9.99988969e-01 2.63500164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.88, Y:13.89, Z:0.26 [[ 8.71638620e-01 -4.90131668e-01 -4.13090161e-03 5.48767846e+01] [ 4.90126576e-01 8.71648405e-01 -2.23545617e-03 1.38860566e+01] [ 4.69636166e-03 -7.61547328e-05 9.99988969e-01 2.63082188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.272755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.90, Y:13.90, Z:0.26 [[ 8.71061730e-01 -4.91156200e-01 -4.12904493e-03 5.49011489e+01] [ 4.91151103e-01 8.71071513e-01 -2.23890372e-03 1.39006171e+01] [ 4.69634486e-03 -7.77616219e-05 9.99988969e-01 2.63080183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.302755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.93, Y:13.91, Z:0.26 [[ 8.71075204e-01 -4.91132326e-01 -4.12631238e-03 5.49263123e+01] [ 4.91127205e-01 8.71084974e-01 -2.24397596e-03 1.39144690e+01] [ 4.69645785e-03 -7.18724481e-05 9.99988969e-01 2.63049039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.332755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:54.95, Y:13.93, Z:0.26 [[ 8.71170788e-01 -4.90962738e-01 -4.12883533e-03 5.49497554e+01] [ 4.90957637e-01 8.71180569e-01 -2.23929619e-03 1.39282302e+01] [ 4.69637210e-03 -7.62738136e-05 9.99988969e-01 2.61685182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:54.97, Y:13.94, Z:0.26 [[ 8.71966052e-01 -4.89548945e-01 -4.12723120e-03 5.49738993e+01] [ 4.89543814e-01 8.71975818e-01 -2.24226958e-03 1.39407319e+01] [ 4.69654651e-03 -6.52775501e-05 9.99988969e-01 2.61983681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.00, Y:13.95, Z:0.26 [[ 8.72241931e-01 -4.89057333e-01 -4.11554878e-03 5.49993113e+01] [ 4.89052095e-01 8.72251640e-01 -2.26391757e-03 1.39546788e+01] [ 4.69697966e-03 -3.80339133e-05 9.99988968e-01 2.62529071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.02, Y:13.97, Z:0.26 [[ 8.72709951e-01 -4.88221664e-01 -4.11669138e-03 5.50233119e+01] [ 4.88216426e-01 8.72719660e-01 -2.26180065e-03 1.39666812e+01] [ 4.69697758e-03 -3.59404219e-05 9.99988968e-01 2.63421188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.452755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.05, Y:13.98, Z:0.26 [[ 8.71144096e-01 -4.91010206e-01 -4.11615370e-03 5.50474829e+01] [ 4.91004994e-01 8.71153818e-01 -2.26279878e-03 1.39824107e+01] [ 4.69686031e-03 -4.98282288e-05 9.99988968e-01 2.62591218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.482755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.07, Y:13.99, Z:0.26 [[ 8.71906247e-01 -4.89655531e-01 -4.11802705e-03 5.50725094e+01] [ 4.89650321e-01 8.71915970e-01 -2.25931609e-03 1.39938812e+01] [ 4.69686017e-03 -4.64814561e-05 9.99988969e-01 2.63631062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.512755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:55.10, Y:14.01, Z:0.26 [[ 8.71354643e-01 -4.90636497e-01 -4.11268254e-03 5.50996380e+01] [ 4.90631251e-01 8.71364348e-01 -2.26924626e-03 1.40087296e+01] [ 4.69701998e-03 -4.04923097e-05 9.99988968e-01 2.63597394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.12, Y:14.02, Z:0.26 [[ 8.71610526e-01 -4.90181654e-01 -4.12767315e-03 5.51243945e+01] [ 4.90176534e-01 8.71620297e-01 -2.24136368e-03 1.40217388e+01] [ 4.69643905e-03 -6.96923480e-05 9.99988969e-01 2.64906738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.15, Y:14.03, Z:0.27 [[ 8.73212909e-01 -4.87321465e-01 -4.12379261e-03 5.51529200e+01] [ 4.87316280e-01 8.73222645e-01 -2.24857900e-03 1.40323598e+01] [ 4.69676990e-03 -4.61030620e-05 9.99988969e-01 2.65007739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.18, Y:14.05, Z:0.26 [[ 8.71643402e-01 -4.90123114e-01 -4.13675601e-03 5.51751118e+01] [ 4.90118074e-01 8.71653214e-01 -2.22447151e-03 1.40485458e+01] [ 4.69608157e-03 -8.85529740e-05 9.99988969e-01 2.64537525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.632755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.20, Y:14.06, Z:0.26 [[ 8.71676181e-01 -4.90064930e-01 -4.12295020e-03 5.51997298e+01] [ 4.90059768e-01 8.71685930e-01 -2.25011830e-03 1.40611367e+01] [ 4.69662174e-03 -5.91174955e-05 9.99988969e-01 2.64014258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.662755096000005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:55.23, Y:14.07, Z:0.26 [[ 8.71972388e-01 -4.89537648e-01 -4.12849295e-03 5.52265213e+01] [ 4.89532529e-01 8.71982159e-01 -2.23983034e-03 1.40736225e+01] [ 4.69645347e-03 -6.79613811e-05 9.99988969e-01 2.64324297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.25, Y:14.09, Z:0.26 [[ 8.70281626e-01 -4.92537101e-01 -4.13475376e-03 5.52494783e+01] [ 4.92532071e-01 8.70291442e-01 -2.22821254e-03 1.40878682e+01] [ 4.69591816e-03 -9.73263993e-05 9.99988969e-01 2.64238748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.27, Y:14.10, Z:0.26 [[ 8.69628024e-01 -4.93690302e-01 -4.12134047e-03 5.52747469e+01] [ 4.93685167e-01 8.69637787e-01 -2.25307864e-03 1.41014484e+01] [ 4.69639648e-03 -7.53043269e-05 9.99988969e-01 2.63934219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.30, Y:14.11, Z:0.27 [[ 8.68815027e-01 -4.95119579e-01 -4.12921769e-03 5.52999905e+01] [ 4.95114529e-01 8.68824834e-01 -2.23847679e-03 1.41131119e+01] [ 4.69588056e-03 -9.96134036e-05 9.99988969e-01 2.65606635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.32, Y:14.13, Z:0.27 [[ 8.68319607e-01 -4.95987951e-01 -4.12468514e-03 5.53246534e+01] [ 4.95982871e-01 8.68329398e-01 -2.24686268e-03 1.41269773e+01] [ 4.69600218e-03 -9.47782603e-05 9.99988969e-01 2.66889677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.812755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.35, Y:14.14, Z:0.27 [[ 8.68073078e-01 -4.96419240e-01 -4.13164256e-03 5.53473972e+01] [ 4.96414225e-01 8.68082903e-01 -2.23399533e-03 1.41409404e+01] [ 4.69560653e-03 -1.11734940e-04 9.99988969e-01 2.67295710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.842755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.37, Y:14.15, Z:0.27 [[ 8.67027534e-01 -4.98243178e-01 -4.12208330e-03 5.53709035e+01] [ 4.98238100e-01 8.67037326e-01 -2.25167932e-03 1.41544079e+01] [ 4.69588394e-03 -1.01510980e-04 9.99988969e-01 2.66815893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.40, Y:14.16, Z:0.27 [[ 8.69050292e-01 -4.94706628e-01 -4.11603585e-03 5.54009266e+01] [ 4.94701458e-01 8.69060037e-01 -2.26286000e-03 1.41626022e+01] [ 4.69653411e-03 -6.96697935e-05 9.99988969e-01 2.69887749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.43, Y:14.18, Z:0.27 [[ 8.68656407e-01 -4.95397795e-01 -4.13160732e-03 5.54310543e+01] [ 4.95392769e-01 8.68666227e-01 -2.23406261e-03 1.41793611e+01] [ 4.69573743e-03 -1.06135590e-04 9.99988969e-01 2.68195877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.45, Y:14.19, Z:0.27 [[ 8.67881951e-01 -4.96752997e-01 -4.16882729e-03 5.54490974e+01] [ 4.96748317e-01 8.67891942e-01 -2.16489973e-03 1.41933589e+01] [ 4.69351205e-03 -1.91980534e-04 9.99988967e-01 2.67082030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.47, Y:14.21, Z:0.27 [[ 8.67410599e-01 -4.97575941e-01 -4.12741268e-03 5.54734597e+01] [ 4.97570903e-01 8.67420412e-01 -2.24175740e-03 1.42086161e+01] [ 4.69564656e-03 -1.09156324e-04 9.99988969e-01 2.66952183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.50, Y:14.22, Z:0.27 [[ 8.67191325e-01 -4.97957943e-01 -4.13444125e-03 5.54967398e+01] [ 4.97952971e-01 8.67201171e-01 -2.22871888e-03 1.42223423e+01] [ 4.69520056e-03 -1.26031631e-04 9.99988970e-01 2.66065268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.022755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.52, Y:14.24, Z:0.27 [[ 8.66764641e-01 -4.98700276e-01 -4.13413362e-03 5.55214048e+01] [ 4.98695310e-01 8.66774491e-01 -2.22928936e-03 1.42366160e+01] [ 4.69510879e-03 -1.29403854e-04 9.99988970e-01 2.65778574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.052755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.56, Y:14.25, Z:0.26 [[ 8.68238908e-01 -4.96129130e-01 -4.13345638e-03 5.55557483e+01] [ 4.96124129e-01 8.68248739e-01 -2.23054438e-03 1.42504926e+01] [ 4.69550633e-03 -1.14062025e-04 9.99988970e-01 2.64736049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.58, Y:14.26, Z:0.26 [[ 8.67625948e-01 -4.97199877e-01 -4.18281266e-03 5.55791633e+01] [ 4.97195327e-01 8.67636002e-01 -2.13897112e-03 1.42645055e+01] [ 4.69265503e-03 -2.23848060e-04 9.99988964e-01 2.64586630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.60, Y:14.28, Z:0.26 [[ 8.66345492e-01 -4.99427699e-01 -4.17877300e-03 5.56002742e+01] [ 4.99423138e-01 8.66355540e-01 -2.14645532e-03 1.42797536e+01] [ 4.69230238e-03 -2.27404034e-04 9.99988965e-01 2.64633273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.62, Y:14.30, Z:0.27 [[ 8.66450683e-01 -4.99245336e-01 -4.16028560e-03 5.56233591e+01] [ 4.99240608e-01 8.66460651e-01 -2.18065461e-03 1.42956141e+01] [ 4.69340541e-03 -1.87553833e-04 9.99988968e-01 2.65015073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.65, Y:14.31, Z:0.27 [[ 8.66325094e-01 -4.99463224e-01 -4.16173558e-03 5.56456380e+01] [ 4.99458512e-01 8.66335069e-01 -2.17797275e-03 1.43105063e+01] [ 4.69327477e-03 -1.91781814e-04 9.99988968e-01 2.65237108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.202755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.67, Y:14.33, Z:0.27 [[ 8.66312635e-01 -4.99484896e-01 -4.15410853e-03 5.56651107e+01] [ 4.99480116e-01 8.66322577e-01 -2.19211309e-03 1.43253024e+01] [ 4.69372539e-03 -1.75839347e-04 9.99988969e-01 2.67311054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.232755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.69, Y:14.34, Z:0.27 [[ 8.67224460e-01 -4.97900229e-01 -4.13492160e-03 5.56935496e+01] [ 4.97895262e-01 8.67234308e-01 -2.22762939e-03 1.43407200e+01] [ 4.69508306e-03 -1.26903180e-04 9.99988970e-01 2.66931972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.71, Y:14.36, Z:0.27 [[ 8.64577145e-01 -5.02482906e-01 -4.15808604e-03 5.57078412e+01] [ 5.02478195e-01 8.64587121e-01 -2.18493418e-03 1.43587271e+01] [ 4.69291971e-03 -2.00303411e-04 9.99988968e-01 2.65369756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.74, Y:14.37, Z:0.27 [[ 8.67402377e-01 -4.97590377e-01 -4.11494565e-03 5.57352986e+01] [ 4.97585233e-01 8.67412134e-01 -2.26425160e-03 1.43708528e+01] [ 4.69602360e-03 -8.35189715e-05 9.99988970e-01 2.67935198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.76, Y:14.38, Z:0.27 [[ 8.68549069e-01 -4.95585968e-01 -4.13075603e-03 5.57597834e+01] [ 4.95580939e-01 8.68558885e-01 -2.23518675e-03 1.43841537e+01] [ 4.69553204e-03 -1.05754587e-04 9.99988970e-01 2.69096773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.78, Y:14.40, Z:0.27 [[ 8.68814556e-01 -4.95120439e-01 -4.12525034e-03 5.57842528e+01] [ 4.95115357e-01 8.68824345e-01 -2.24530059e-03 1.43996500e+01] [ 4.69581213e-03 -9.17249614e-05 9.99988970e-01 2.68889092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.382755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.81, Y:14.41, Z:0.27 [[ 8.69759937e-01 -4.93457817e-01 -4.12734620e-03 5.58073072e+01] [ 4.93452734e-01 8.69769725e-01 -2.24145224e-03 1.44146751e+01] [ 4.69590290e-03 -8.71249030e-05 9.99988970e-01 2.70293885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.412755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.83, Y:14.43, Z:0.27 [[ 8.70563548e-01 -4.92038662e-01 -4.13095825e-03 5.58305323e+01] [ 4.92033594e-01 8.70573344e-01 -2.23482244e-03 1.44282191e+01] [ 4.69592119e-03 -8.70152815e-05 9.99988970e-01 2.70377009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.85, Y:14.44, Z:0.27 [[ 8.70632009e-01 -4.91917607e-01 -4.11985953e-03 5.58542932e+01] [ 4.91912442e-01 8.70641754e-01 -2.25517883e-03 1.44423106e+01] [ 4.69628390e-03 -6.31792864e-05 9.99988970e-01 2.71250875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.88, Y:14.46, Z:0.27 [[ 8.70397078e-01 -4.92333153e-01 -4.12213271e-03 5.58792909e+01] [ 4.92328012e-01 8.70406837e-01 -2.25101155e-03 1.44572639e+01] [ 4.69618011e-03 -7.01675292e-05 9.99988970e-01 2.71693425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.90, Y:14.47, Z:0.27 [[ 8.70297542e-01 -4.92509032e-01 -4.12815379e-03 5.59032783e+01] [ 4.92503946e-01 8.70307329e-01 -2.23998377e-03 1.44723222e+01] [ 4.69597474e-03 -8.36796591e-05 9.99988970e-01 2.72313798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.93, Y:14.49, Z:0.27 [[ 8.70264040e-01 -4.92568259e-01 -4.12449246e-03 5.59255758e+01] [ 4.92563141e-01 8.70273810e-01 -2.24668595e-03 1.44860600e+01] [ 4.69608396e-03 -7.63629684e-05 9.99988970e-01 2.74078081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.562755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.96, Y:14.50, Z:0.27 [[ 8.71358375e-01 -4.90629888e-01 -4.11050747e-03 5.59571799e+01] [ 4.90624627e-01 8.71368069e-01 -2.27224732e-03 1.44984855e+01] [ 4.69659740e-03 -3.67744621e-05 9.99988970e-01 2.73346684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.592755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:55.98, Y:14.52, Z:0.27 [[ 8.68634314e-01 -4.95436423e-01 -4.14480802e-03 5.59755446e+01] [ 4.95431514e-01 8.68644192e-01 -2.20959197e-03 1.45159185e+01] [ 4.69507576e-03 -1.34141106e-04 9.99988969e-01 2.72718822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.622755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.00, Y:14.53, Z:0.27 [[ 8.68171062e-01 -4.96247987e-01 -4.11615564e-03 5.60000546e+01] [ 4.96242838e-01 8.68180816e-01 -2.26185554e-03 1.45303037e+01] [ 4.69600862e-03 -7.89352356e-05 9.99988971e-01 2.73053000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.02, Y:14.54, Z:0.27 [[ 8.67746075e-01 -4.96990739e-01 -4.11767502e-03 5.60232604e+01] [ 4.96985612e-01 8.67755840e-01 -2.25908529e-03 1.45433002e+01] [ 4.69588101e-03 -8.61128445e-05 9.99988971e-01 2.72509344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.06, Y:14.56, Z:0.27 [[ 8.69001274e-01 -4.94792746e-01 -4.11406588e-03 5.60595955e+01] [ 4.94787563e-01 8.69011009e-01 -2.26566425e-03 1.45552821e+01] [ 4.69620278e-03 -6.67235142e-05 9.99988971e-01 2.73386489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.07, Y:14.57, Z:0.27 [[ 8.65778517e-01 -5.00409987e-01 -4.17192533e-03 5.60736838e+01] [ 5.00405373e-01 8.65788541e-01 -2.16002705e-03 1.45711939e+01] [ 4.69290425e-03 -2.17548835e-04 9.99988965e-01 2.72324893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.10, Y:14.58, Z:0.27 [[ 8.65462829e-01 -5.00956245e-01 -4.11488727e-03 5.60979215e+01] [ 5.00951140e-01 8.65472605e-01 -2.26391811e-03 1.45840366e+01] [ 4.69544612e-03 -1.02020493e-04 9.99988971e-01 2.72440421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.772755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.13, Y:14.60, Z:0.27 [[ 8.63633218e-01 -5.04103937e-01 -4.10913474e-03 5.61257575e+01] [ 5.04098818e-01 8.63642987e-01 -2.27438726e-03 1.45990419e+01] [ 4.69535297e-03 -1.07173576e-04 9.99988971e-01 2.72876897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.802755096000006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.15, Y:14.61, Z:0.27 [[ 8.63043017e-01 -5.05113511e-01 -4.13415193e-03 5.61482217e+01] [ 5.05108621e-01 8.63052903e-01 -2.22879399e-03 1.46118914e+01] [ 4.69378578e-03 -1.64650685e-04 9.99988971e-01 2.73079727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.17, Y:14.63, Z:0.27 [[ 8.63015803e-01 -5.05160177e-01 -4.11339457e-03 5.61737968e+01] [ 5.05155107e-01 8.63025597e-01 -2.26658141e-03 1.46257512e+01] [ 4.69495147e-03 -1.21806695e-04 9.99988971e-01 2.71447006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.20, Y:14.64, Z:0.27 [[ 8.62153056e-01 -5.06631193e-01 -4.11615820e-03 5.62000593e+01] [ 5.06626164e-01 8.62162871e-01 -2.26155358e-03 1.46394781e+01] [ 4.69457236e-03 -1.35548113e-04 9.99988971e-01 2.71768221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.22, Y:14.65, Z:0.27 [[ 8.61856297e-01 -5.07135777e-01 -4.12645952e-03 5.62231277e+01] [ 5.07130843e-01 8.61866160e-01 -2.24279574e-03 1.46521090e+01] [ 4.69385778e-03 -1.59687260e-04 9.99988971e-01 2.72275956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.25, Y:14.66, Z:0.27 [[ 8.62540224e-01 -5.05971771e-01 -4.11460818e-03 5.62482802e+01] [ 5.05966720e-01 8.62550028e-01 -2.26435042e-03 1.46647297e+01] [ 4.69475279e-03 -1.28761488e-04 9.99988971e-01 2.72693840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.952755096000004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.27, Y:14.68, Z:0.27 [[ 8.60928763e-01 -5.08708914e-01 -4.11174094e-03 5.62737227e+01] [ 5.08703869e-01 8.60938571e-01 -2.26956221e-03 1.46801550e+01] [ 4.69450290e-03 -1.37727139e-04 9.99988971e-01 2.72200795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.982755096000005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.30, Y:14.69, Z:0.27 [[ 8.61507558e-01 -5.07727950e-01 -4.12989489e-03 5.62972957e+01] [ 5.07723052e-01 8.61517440e-01 -2.23654331e-03 1.46923962e+01] [ 4.69353203e-03 -1.70043875e-04 9.99988971e-01 2.71720769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.32, Y:14.71, Z:0.27 [[ 8.61416419e-01 -5.07882653e-01 -4.11863905e-03 5.63213182e+01] [ 5.07877660e-01 8.61426253e-01 -2.25699581e-03 1.47058673e+01] [ 4.69419282e-03 -1.47551509e-04 9.99988971e-01 2.71843966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.34, Y:14.72, Z:0.27 [[ 8.62120781e-01 -5.06686098e-01 -4.11780711e-03 5.63448362e+01] [ 5.06681084e-01 8.62130604e-01 -2.25850648e-03 1.47183543e+01] [ 4.69444136e-03 -1.39309596e-04 9.99988971e-01 2.72632800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.37, Y:14.73, Z:0.27 [[ 8.61891903e-01 -5.07075438e-01 -4.10445876e-03 5.63693078e+01] [ 5.07070313e-01 8.61901669e-01 -2.28272635e-03 1.47320629e+01] [ 4.69515432e-03 -1.13785831e-04 9.99988971e-01 2.71622976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.40, Y:14.75, Z:0.27 [[ 8.61668930e-01 -5.07454212e-01 -4.10830276e-03 5.63950598e+01] [ 5.07449124e-01 8.61678715e-01 -2.27575224e-03 1.47458513e+01] [ 4.69487710e-03 -1.23809637e-04 9.99988971e-01 2.74394936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.42, Y:14.76, Z:0.28 [[ 8.61501984e-01 -5.07737549e-01 -4.11246870e-03 5.64188393e+01] [ 5.07732500e-01 8.61511789e-01 -2.26819900e-03 1.47587300e+01] [ 4.69459006e-03 -1.33976079e-04 9.99988971e-01 2.75069411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.162755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:56.44, Y:14.77, Z:0.27 [[ 8.61736264e-01 -5.07339829e-01 -4.11216026e-03 5.64419662e+01] [ 5.07334773e-01 8.61746065e-01 -2.26875803e-03 1.47709309e+01] [ 4.69466924e-03 -1.31170824e-04 9.99988971e-01 2.74413374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.47, Y:14.78, Z:0.28 [[ 8.61057288e-01 -5.08491405e-01 -4.10348272e-03 5.64675360e+01] [ 5.08486287e-01 8.61067057e-01 -2.28447613e-03 1.47845427e+01] [ 4.69501027e-03 -1.19499870e-04 9.99988971e-01 2.76488768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.49, Y:14.80, Z:0.28 [[ 8.60823044e-01 -5.08887792e-01 -4.11113766e-03 5.64920218e+01] [ 5.08882745e-01 8.60832850e-01 -2.27061624e-03 1.47973768e+01] [ 4.69449124e-03 -1.37488232e-04 9.99988971e-01 2.76836116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.52, Y:14.81, Z:0.28 [[ 8.60614922e-01 -5.09239688e-01 -4.11041728e-03 5.65153503e+01] [ 5.09234639e-01 8.60624727e-01 -2.27191957e-03 1.48101329e+01] [ 4.69447837e-03 -1.37918980e-04 9.99988971e-01 2.76896353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.54, Y:14.82, Z:0.28 [[ 8.60344954e-01 -5.09695661e-01 -4.11010510e-03 5.65398803e+01] [ 5.09690615e-01 8.60354760e-01 -2.27248419e-03 1.48230148e+01] [ 4.69442382e-03 -1.39761692e-04 9.99988971e-01 2.77622933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:14.84, Z:0.28 [[ 8.60314713e-01 -5.09746710e-01 -4.10938134e-03 5.65647969e+01] [ 5.09741657e-01 8.60324516e-01 -2.27379223e-03 1.48364648e+01] [ 4.69445962e-03 -1.38545944e-04 9.99988971e-01 2.77726163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.59, Y:14.85, Z:0.28 [[ 8.60284609e-01 -5.09797520e-01 -4.10865293e-03 5.65889431e+01] [ 5.09792462e-01 8.60294409e-01 -2.27510768e-03 1.48495266e+01] [ 4.69449540e-03 -1.37320175e-04 9.99988971e-01 2.77575735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.61, Y:14.86, Z:0.28 [[ 8.58566404e-01 -5.12685919e-01 -4.10833813e-03 5.66123136e+01] [ 5.12680891e-01 8.58576220e-01 -2.27567599e-03 1.48644906e+01] [ 4.69402846e-03 -1.52447505e-04 9.99988971e-01 2.75754578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.64, Y:14.88, Z:0.28 [[ 8.58008918e-01 -5.13618364e-01 -4.10761398e-03 5.66426409e+01] [ 5.13613340e-01 8.58018737e-01 -2.27698235e-03 1.48822328e+01] [ 4.69390970e-03 -1.56054168e-04 9.99988971e-01 2.75754184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.66, Y:14.89, Z:0.28 [[ 8.60067630e-01 -5.10163062e-01 -4.16187309e-03 5.66629599e+01] [ 5.10158469e-01 8.60077664e-01 -2.17922743e-03 1.48903874e+01] [ 4.69129543e-03 -2.48931829e-04 9.99988965e-01 2.75570962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.69, Y:14.90, Z:0.27 [[ 8.60807088e-01 -5.08914841e-01 -4.10385617e-03 5.66871485e+01] [ 5.08909733e-01 8.60816862e-01 -2.28349450e-03 1.49032846e+01] [ 4.69477283e-03 -1.22844099e-04 9.99988972e-01 2.74772425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.71, Y:14.92, Z:0.27 [[ 8.60927181e-01 -5.08711658e-01 -4.10354413e-03 5.67114273e+01] [ 5.08706545e-01 8.60936952e-01 -2.28405511e-03 1.49171506e+01] [ 4.69481824e-03 -1.21094623e-04 9.99988972e-01 2.74950931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.74, Y:14.93, Z:0.27 [[ 8.60881661e-01 -5.08788691e-01 -4.10283223e-03 5.67362743e+01] [ 5.08783572e-01 8.60891430e-01 -2.28533317e-03 1.49314888e+01] [ 4.69484478e-03 -1.20052227e-04 9.99988972e-01 2.73063286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.76, Y:14.94, Z:0.27 [[ 8.61278898e-01 -5.08115907e-01 -4.10922915e-03 5.67598175e+01] [ 5.08110835e-01 8.61288691e-01 -2.27385140e-03 1.49445215e+01] [ 4.69461266e-03 -1.29523625e-04 9.99988972e-01 2.74609544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.78, Y:14.96, Z:0.27 [[ 8.61708291e-01 -5.07387422e-01 -4.10179700e-03 5.67833543e+01] [ 5.07382279e-01 8.61718046e-01 -2.28718012e-03 1.49569978e+01] [ 4.69507892e-03 -1.10297043e-04 9.99988972e-01 2.73923169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.81, Y:14.97, Z:0.27 [[ 8.61841071e-01 -5.07161853e-01 -4.10148828e-03 5.68083415e+01] [ 5.07156705e-01 8.61850824e-01 -2.28773360e-03 1.49705829e+01] [ 4.69512227e-03 -1.08434510e-04 9.99988972e-01 2.74420141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.84, Y:14.98, Z:0.27 [[ 8.63101578e-01 -5.05013712e-01 -4.10076665e-03 5.68382154e+01] [ 5.05008533e-01 8.63111315e-01 -2.28902639e-03 1.49830894e+01] [ 4.69540781e-03 -9.52598636e-05 9.99988972e-01 2.72525366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.86, Y:15.00, Z:0.28 [[ 8.62373705e-01 -5.06255441e-01 -4.12576388e-03 5.68611239e+01] [ 5.06250490e-01 8.62383560e-01 -2.24424336e-03 1.49975459e+01] [ 4.69415135e-03 -1.53293531e-04 9.99988971e-01 2.76113960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.88, Y:15.01, Z:0.28 [[ 8.61917569e-01 -5.07031687e-01 -4.11982122e-03 5.68831956e+01] [ 5.07026694e-01 8.61927402e-01 -2.25487830e-03 1.50114070e+01] [ 4.69428155e-03 -1.45340116e-04 9.99988971e-01 2.75747464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:56.91, Y:15.02, Z:0.28 [[ 8.62058446e-01 -5.06792305e-01 -4.09833167e-03 5.69069517e+01] [ 5.06787126e-01 8.62068182e-01 -2.29328235e-03 1.50245108e+01] [ 4.69525918e-03 -1.00038314e-04 9.99988972e-01 2.76038548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.93, Y:15.04, Z:0.28 [[ 8.62391230e-01 -5.06225811e-01 -4.09801862e-03 5.69300878e+01] [ 5.06220623e-01 8.62400962e-01 -2.29384163e-03 1.50371089e+01] [ 4.69533704e-03 -9.63126289e-05 9.99988972e-01 2.77082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.96, Y:15.05, Z:0.28 [[ 8.62671240e-01 -5.05748570e-01 -4.08840061e-03 5.69569789e+01] [ 5.05743295e-01 8.62680925e-01 -2.31102338e-03 1.50502636e+01] [ 4.69578199e-03 -7.40277918e-05 9.99988972e-01 2.76997524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82275509600001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:56.98, Y:15.06, Z:0.27 [[ 8.61626690e-01 -5.07526013e-01 -4.09784824e-03 5.69806545e+01] [ 5.07520839e-01 8.61636429e-01 -2.29414786e-03 1.50643451e+01] [ 4.69519504e-03 -1.03044346e-04 9.99988972e-01 2.74358511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.01, Y:15.08, Z:0.28 [[ 8.60803926e-01 -5.08920242e-01 -4.09727951e-03 5.70085769e+01] [ 5.08915079e-01 8.60813670e-01 -2.29516314e-03 1.50793584e+01] [ 4.69504919e-03 -1.09481884e-04 9.99988972e-01 2.77002701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.03, Y:15.09, Z:0.28 [[ 8.62277414e-01 -5.06419500e-01 -4.11709795e-03 5.70309544e+01] [ 5.06414477e-01 8.62287232e-01 -2.25974973e-03 1.50894544e+01] [ 4.69450232e-03 -1.36426852e-04 9.99988971e-01 2.78016225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.06, Y:15.10, Z:0.28 [[ 8.61914342e-01 -5.07037419e-01 -4.08935035e-03 5.70558436e+01] [ 5.07032167e-01 8.61924039e-01 -2.30925485e-03 1.51033260e+01] [ 4.69558799e-03 -8.30522919e-05 9.99988972e-01 2.77618533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.08, Y:15.12, Z:0.28 [[ 8.61026533e-01 -5.08543596e-01 -4.08909332e-03 5.70804420e+01] [ 5.08538359e-01 8.61036238e-01 -2.30971305e-03 1.51161009e+01] [ 4.69544730e-03 -9.07365897e-05 9.99988972e-01 2.78012915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.11, Y:15.13, Z:0.28 [[ 8.60596708e-01 -5.09270589e-01 -4.09551971e-03 5.71052719e+01] [ 5.09265414e-01 8.60606447e-01 -2.29826117e-03 1.51295792e+01] [ 4.69506748e-03 -1.07830538e-04 9.99988972e-01 2.78399632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.13, Y:15.14, Z:0.28 [[ 8.60181198e-01 -5.09972097e-01 -4.09481267e-03 5.71290671e+01] [ 5.09966925e-01 8.60190937e-01 -2.29952022e-03 1.51420226e+01] [ 4.69501189e-03 -1.10214968e-04 9.99988972e-01 2.78664950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.15, Y:15.16, Z:0.28 [[ 8.59537870e-01 -5.11055657e-01 -4.09450696e-03 5.71535867e+01] [ 5.11050494e-01 8.59547615e-01 -2.30006443e-03 1.51556165e+01] [ 4.69488463e-03 -1.15507320e-04 9.99988972e-01 2.78871004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.18, Y:15.17, Z:0.28 [[ 8.59054020e-01 -5.11868585e-01 -4.09168296e-03 5.71793618e+01] [ 5.11863407e-01 8.59063757e-01 -2.30508898e-03 1.51673577e+01] [ 4.69491916e-03 -1.14186827e-04 9.99988972e-01 2.79211099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.20, Y:15.18, Z:0.28 [[ 8.58669867e-01 -5.12512732e-01 -4.09376888e-03 5.72043794e+01] [ 5.12507579e-01 8.58679617e-01 -2.30137847e-03 1.51809742e+01] [ 4.69472166e-03 -1.21963238e-04 9.99988972e-01 2.79404667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.23, Y:15.19, Z:0.28 [[ 8.58372574e-01 -5.13010498e-01 -4.09306790e-03 5.72292417e+01] [ 5.13005346e-01 8.58382324e-01 -2.30262450e-03 1.51943366e+01] [ 4.69468768e-03 -1.23255992e-04 9.99988972e-01 2.79310077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:15.21, Z:0.28 [[ 8.58480963e-01 -5.12829103e-01 -4.09234876e-03 5.72529436e+01] [ 5.12823942e-01 8.58490709e-01 -2.30390189e-03 1.52076034e+01] [ 4.69475132e-03 -1.20798512e-04 9.99988972e-01 2.79158530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.28, Y:15.22, Z:0.28 [[ 8.58603417e-01 -5.12624062e-01 -4.09186021e-03 5.72775095e+01] [ 5.12618894e-01 8.58613159e-01 -2.30476926e-03 1.52212527e+01] [ 4.69480520e-03 -1.18682093e-04 9.99988972e-01 2.78772562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.30, Y:15.24, Z:0.28 [[ 8.57634599e-01 -5.14243286e-01 -4.09113321e-03 5.73047154e+01] [ 5.14238131e-01 8.57644348e-01 -2.30605901e-03 1.52373489e+01] [ 4.69461264e-03 -1.26060695e-04 9.99988972e-01 2.78434057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.33, Y:15.25, Z:0.28 [[ 8.58326221e-01 -5.13087798e-01 -4.12433154e-03 5.73307816e+01] [ 5.13082912e-01 8.58336109e-01 -2.24691127e-03 1.52509390e+01] [ 4.69292544e-03 -1.87541173e-04 9.99988971e-01 2.77794103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.35, Y:15.26, Z:0.28 [[ 8.60128779e-01 -5.10060236e-01 -4.12791676e-03 5.73527888e+01] [ 5.10055346e-01 8.60138666e-01 -2.24054020e-03 1.52613675e+01] [ 4.69339127e-03 -1.78312907e-04 9.99988970e-01 2.77223155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.38, Y:15.27, Z:0.28 [[ 8.60447459e-01 -5.09522753e-01 -4.09067100e-03 5.73762979e+01] [ 5.09517542e-01 8.60457177e-01 -2.30659438e-03 1.52746281e+01] [ 4.69510954e-03 -9.95653618e-05 9.99988973e-01 2.76935859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.40, Y:15.29, Z:0.28 [[ 8.61590903e-01 -5.07586824e-01 -4.09036301e-03 5.74044139e+01] [ 5.07581589e-01 8.61600608e-01 -2.30714042e-03 1.52881811e+01] [ 4.69533334e-03 -8.83817594e-05 9.99988973e-01 2.77104354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.43, Y:15.30, Z:0.28 [[ 8.60900967e-01 -5.08755982e-01 -4.10794262e-03 5.74251546e+01] [ 5.08750908e-01 8.60910758e-01 -2.27596934e-03 1.53027380e+01] [ 4.69448501e-03 -1.30535335e-04 9.99988972e-01 2.77450706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.45, Y:15.32, Z:0.28 [[ 8.60332207e-01 -5.09717345e-01 -4.08926813e-03 5.74512581e+01] [ 5.09712125e-01 8.60341919e-01 -2.30904150e-03 1.53182602e+01] [ 4.69512730e-03 -9.78067790e-05 9.99988973e-01 2.77774482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.422755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:57.47, Y:15.33, Z:0.28 [[ 8.59452376e-01 -5.11199395e-01 -4.09769129e-03 5.74730241e+01] [ 5.11194262e-01 8.59462136e-01 -2.29415179e-03 1.53313628e+01] [ 4.69457952e-03 -1.23002064e-04 9.99988973e-01 2.77451452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.50, Y:15.34, Z:0.28 [[ 8.59465716e-01 -5.11177169e-01 -4.07246392e-03 5.75005489e+01] [ 5.11171823e-01 8.59475362e-01 -2.33873342e-03 1.53440730e+01] [ 4.69568953e-03 -7.16676117e-05 9.99988973e-01 2.78925201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.52, Y:15.36, Z:0.28 [[ 8.58630967e-01 -5.12577952e-01 -4.08721938e-03 5.75249473e+01] [ 5.12572746e-01 8.58640688e-01 -2.31265571e-03 1.53572217e+01] [ 4.69486919e-03 -1.09279452e-04 9.99988973e-01 2.79690848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.55, Y:15.37, Z:0.28 [[ 8.56570929e-01 -5.16013124e-01 -4.08648436e-03 5.75483981e+01] [ 5.16007952e-01 8.56580667e-01 -2.31395377e-03 1.53711256e+01] [ 4.69443401e-03 -1.26592891e-04 9.99988973e-01 2.80707395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:15.38, Z:0.28 [[ 8.56035608e-01 -5.16900772e-01 -4.07801342e-03 5.75738300e+01] [ 5.16895538e-01 8.56045313e-01 -2.32889251e-03 1.53842537e+01] [ 4.69477061e-03 -1.14292026e-04 9.99988973e-01 2.81603359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.60, Y:15.40, Z:0.28 [[ 8.54694634e-01 -5.19115016e-01 -4.08449614e-03 5.75978113e+01] [ 5.19109862e-01 8.54704382e-01 -2.31746359e-03 1.53979736e+01] [ 4.69406690e-03 -1.39578533e-04 9.99988973e-01 2.80799619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.62, Y:15.41, Z:0.28 [[ 8.54037070e-01 -5.20196121e-01 -4.08394455e-03 5.76224525e+01] [ 5.20190974e-01 8.54046823e-01 -2.31843523e-03 1.54121798e+01] [ 4.69392088e-03 -1.44401459e-04 9.99988973e-01 2.80582759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.65, Y:15.43, Z:0.28 [[ 8.53517382e-01 -5.21048373e-01 -4.08322603e-03 5.76471649e+01] [ 5.21043230e-01 8.53527136e-01 -2.31970000e-03 1.54261868e+01] [ 4.69382013e-03 -1.47633010e-04 9.99988973e-01 2.79950299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:15.44, Z:0.28 [[ 8.54214636e-01 -5.19904500e-01 -4.08249100e-03 5.76759758e+01] [ 5.19899338e-01 8.54224380e-01 -2.32099287e-03 1.54394263e+01] [ 4.69405798e-03 -1.39858290e-04 9.99988973e-01 2.80805360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.70, Y:15.45, Z:0.28 [[ 8.52252192e-01 -5.23115047e-01 -4.10480951e-03 5.76966750e+01] [ 5.23110110e-01 8.52262053e-01 -2.28174060e-03 1.54536522e+01] [ 4.69198622e-03 -2.02648925e-04 9.99988972e-01 2.78617958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.72, Y:15.47, Z:0.28 [[ 8.51069403e-01 -5.25037345e-01 -4.08139289e-03 5.77197283e+01] [ 5.25032233e-01 8.51079173e-01 -2.32288446e-03 1.54675167e+01] [ 4.69318958e-03 -1.65926935e-04 9.99988973e-01 2.78206426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.74, Y:15.48, Z:0.28 [[ 8.51465299e-01 -5.24395074e-01 -4.08059768e-03 5.77446091e+01] [ 5.24389947e-01 8.51475062e-01 -2.32428056e-03 1.54810518e+01] [ 4.69336844e-03 -1.60780164e-04 9.99988973e-01 2.77743846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.77, Y:15.49, Z:0.28 [[ 8.51331341e-01 -5.24612526e-01 -4.07978743e-03 5.77678053e+01] [ 5.24607395e-01 8.51341102e-01 -2.32570192e-03 1.54942389e+01] [ 4.69338308e-03 -1.60343716e-04 9.99988973e-01 2.77274781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.80, Y:15.51, Z:0.28 [[ 8.53081288e-01 -5.21762085e-01 -4.07946885e-03 5.78001604e+01] [ 5.21756919e-01 8.53091030e-01 -2.32626060e-03 1.55068094e+01] [ 4.69391286e-03 -1.44001711e-04 9.99988973e-01 2.77224475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.82, Y:15.52, Z:0.28 [[ 8.51923873e-01 -5.23649489e-01 -4.11423983e-03 5.78228269e+01] [ 5.23644637e-01 8.51933778e-01 -2.26539342e-03 1.55220489e+01] [ 4.69133199e-03 -2.24456886e-04 9.99988970e-01 2.76990337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.85, Y:15.54, Z:0.28 [[ 8.51766197e-01 -5.23906024e-01 -4.10167517e-03 5.78468250e+01] [ 5.23901069e-01 8.51776049e-01 -2.28736623e-03 1.55354905e+01] [ 4.69207362e-03 -2.00570773e-04 9.99988972e-01 2.76975779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.87, Y:15.55, Z:0.28 [[ 8.49985153e-01 -5.26790669e-01 -4.10251225e-03 5.78660502e+01] [ 5.26785754e-01 8.49995026e-01 -2.28590255e-03 1.55501742e+01] [ 4.69130714e-03 -2.18161781e-04 9.99988972e-01 2.78144955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.89, Y:15.56, Z:0.28 [[ 8.49821008e-01 -5.27055641e-01 -4.07498599e-03 5.78907486e+01] [ 5.27050499e-01 8.49830762e-01 -2.33396209e-03 1.55645449e+01] [ 4.69317634e-03 -1.64273388e-04 9.99988973e-01 2.78262947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.92, Y:15.58, Z:0.28 [[ 8.52220859e-01 -5.23166330e-01 -4.07425856e-03 5.79231903e+01] [ 5.23161137e-01 8.52230586e-01 -2.33523124e-03 1.55762190e+01] [ 4.69392211e-03 -1.41360969e-04 9.99988973e-01 2.78362394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.94, Y:15.59, Z:0.28 [[ 8.49341750e-01 -5.27827323e-01 -4.11197376e-03 5.79405945e+01] [ 5.27822500e-01 8.49351669e-01 -2.26937980e-03 1.55929938e+01] [ 4.69035244e-03 -2.42913261e-04 9.99988971e-01 2.79097244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.96, Y:15.61, Z:0.28 [[ 8.49130138e-01 -5.28167983e-01 -4.07322703e-03 5.79638131e+01] [ 5.28162839e-01 8.49139891e-01 -2.33691512e-03 1.56068267e+01] [ 4.69302330e-03 -1.66982095e-04 9.99988974e-01 2.79207086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.99, Y:15.62, Z:0.28 [[ 8.48889898e-01 -5.28554020e-01 -4.07291738e-03 5.79884566e+01] [ 5.28548879e-01 8.48899652e-01 -2.33745466e-03 1.56212022e+01] [ 4.69296921e-03 -1.68494270e-04 9.99988974e-01 2.78846499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.01, Y:15.63, Z:0.28 [[ 8.48559776e-01 -5.29083854e-01 -4.07220833e-03 5.80117409e+01] [ 5.29078712e-01 8.48569530e-01 -2.33868929e-03 1.56347402e+01] [ 4.69291465e-03 -1.70001081e-04 9.99988974e-01 2.78465189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.04, Y:15.65, Z:0.28 [[ 8.48224089e-01 -5.29621860e-01 -4.07190112e-03 5.80361258e+01] [ 5.29616722e-01 8.48233845e-01 -2.33922405e-03 1.56486002e+01] [ 4.69282853e-03 -1.72360732e-04 9.99988974e-01 2.79024639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.06, Y:15.66, Z:0.28 [[ 8.47813714e-01 -5.30278542e-01 -4.07117830e-03 5.80606420e+01] [ 5.30273405e-01 8.47823471e-01 -2.34048137e-03 1.56625387e+01] [ 4.69274756e-03 -1.74545379e-04 9.99988974e-01 2.79296152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.09, Y:15.68, Z:0.28 [[ 8.47613461e-01 -5.30598579e-01 -4.07046144e-03 5.80853419e+01] [ 5.30593441e-01 8.47623216e-01 -2.34172744e-03 1.56766224e+01] [ 4.69273487e-03 -1.74880444e-04 9.99988974e-01 2.79745598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.11, Y:15.69, Z:0.28 [[ 8.47539977e-01 -5.30715955e-01 -4.06974381e-03 5.81090365e+01] [ 5.30710812e-01 8.47549730e-01 -2.34297395e-03 1.56903750e+01] [ 4.69276393e-03 -1.74092954e-04 9.99988974e-01 2.79815449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.13, Y:15.70, Z:0.28 [[ 8.47597034e-01 -5.30624828e-01 -4.06943323e-03 5.81338852e+01] [ 5.30619681e-01 8.47606785e-01 -2.34351327e-03 1.57048806e+01] [ 4.69280554e-03 -1.72966464e-04 9.99988974e-01 2.80589879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.16, Y:15.72, Z:0.28 [[ 8.47859621e-01 -5.30205116e-01 -4.07417805e-03 5.81570238e+01] [ 5.30200003e-01 8.47869390e-01 -2.33527568e-03 1.57188310e+01] [ 4.69254597e-03 -1.80143270e-04 9.99988974e-01 2.79994944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.18, Y:15.73, Z:0.28 [[ 8.48905793e-01 -5.28528525e-01 -4.06865303e-03 5.81843535e+01] [ 5.28523347e-01 8.48915528e-01 -2.34486234e-03 1.57325999e+01] [ 4.69326937e-03 -1.59810895e-04 9.99988974e-01 2.78929637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.20, Y:15.75, Z:0.28 [[ 8.49289446e-01 -5.27911678e-01 -4.08628212e-03 5.82045662e+01] [ 5.27906640e-01 8.49299254e-01 -2.31426937e-03 1.57470283e+01] [ 4.69220619e-03 -1.91690912e-04 9.99988973e-01 2.80146545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.23, Y:15.76, Z:0.28 [[ 8.49828233e-01 -5.27044048e-01 -4.06754859e-03 5.82282077e+01] [ 5.27038845e-01 8.49837954e-01 -2.34673978e-03 1.57612421e+01] [ 4.69359240e-03 -1.49430386e-04 9.99988974e-01 2.80093485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.25, Y:15.77, Z:0.28 [[ 8.51956222e-01 -5.23597227e-01 -4.06686877e-03 5.82523371e+01] [ 5.23591979e-01 8.51965919e-01 -2.34791731e-03 1.57748938e+01] [ 4.69419658e-03 -1.29057106e-04 9.99988974e-01 2.80630817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.28, Y:15.79, Z:0.28 [[ 8.52069341e-01 -5.23413180e-01 -4.05969211e-03 5.82767467e+01] [ 5.23407870e-01 8.52079005e-01 -2.36034137e-03 1.57898190e+01] [ 4.69461219e-03 -1.13700280e-04 9.99988974e-01 2.80404209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.30, Y:15.80, Z:0.28 [[ 8.53619142e-01 -5.20881778e-01 -4.06604308e-03 5.83007059e+01] [ 5.20876492e-01 8.53628819e-01 -2.34934968e-03 1.58044119e+01] [ 4.69462499e-03 -1.12456404e-04 9.99988974e-01 2.82032501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.33, Y:15.82, Z:0.28 [[ 8.54312061e-01 -5.19744529e-01 -4.06529641e-03 5.83251372e+01] [ 5.19739224e-01 8.54321727e-01 -2.35064101e-03 1.58191522e+01] [ 4.69480385e-03 -1.04713035e-04 9.99988974e-01 2.82257426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.35, Y:15.83, Z:0.28 [[ 8.55019340e-01 -5.18580184e-01 -4.06455046e-03 5.83488398e+01] [ 5.18574860e-01 8.55028995e-01 -2.35193014e-03 1.58332817e+01] [ 4.69497286e-03 -9.68279246e-05 9.99988974e-01 2.82712789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.37, Y:15.85, Z:0.28 [[ 8.55779298e-01 -5.17325118e-01 -4.06380409e-03 5.83724496e+01] [ 5.17319774e-01 8.55788943e-01 -2.35321904e-03 1.58472236e+01] [ 4.69513793e-03 -8.84500711e-05 9.99988974e-01 2.83112861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.40, Y:15.86, Z:0.28 [[ 8.57089072e-01 -5.15152221e-01 -4.06348108e-03 5.83970050e+01] [ 5.15146850e-01 8.57098701e-01 -2.35377668e-03 1.58614838e+01] [ 4.69535764e-03 -7.58932046e-05 9.99988974e-01 2.83890715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.42, Y:15.88, Z:0.28 [[ 8.57452641e-01 -5.14546852e-01 -4.06274308e-03 5.84215482e+01] [ 5.14541468e-01 8.57462263e-01 -2.35504982e-03 1.58760250e+01] [ 4.69543235e-03 -7.11060972e-05 9.99988974e-01 2.84368719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.44, Y:15.89, Z:0.28 [[ 8.57818077e-01 -5.13937396e-01 -4.06197139e-03 5.84449656e+01] [ 5.13931998e-01 8.57827692e-01 -2.35638008e-03 1.58897660e+01] [ 4.69550338e-03 -6.62316433e-05 9.99988974e-01 2.83667035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.47, Y:15.90, Z:0.28 [[ 8.58271759e-01 -5.13179395e-01 -4.06163759e-03 5.84694812e+01] [ 5.13173986e-01 8.58281367e-01 -2.35695529e-03 1.59034722e+01] [ 4.69556876e-03 -6.14185913e-05 9.99988974e-01 2.83083371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.49, Y:15.92, Z:0.28 [[ 8.58161769e-01 -5.13363310e-01 -4.06087982e-03 5.84939734e+01] [ 5.13357897e-01 8.58171375e-01 -2.35826016e-03 1.59175762e+01] [ 4.69557506e-03 -6.09160131e-05 9.99988974e-01 2.82604818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.52, Y:15.93, Z:0.28 [[ 8.58024877e-01 -5.13592081e-01 -4.06012395e-03 5.85184601e+01] [ 5.13586665e-01 8.58034481e-01 -2.35956080e-03 1.59315903e+01] [ 4.69557809e-03 -6.06636580e-05 9.99988974e-01 2.82443771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.742755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.54, Y:15.94, Z:0.28 [[ 8.57332705e-01 -5.14746690e-01 -4.05937175e-03 5.85422967e+01] [ 5.14741280e-01 8.57342312e-01 -2.36085417e-03 1.59442231e+01] [ 4.69551303e-03 -6.54887256e-05 9.99988974e-01 2.82063390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.57, Y:15.96, Z:0.28 [[ 8.56647344e-01 -5.15886474e-01 -4.05886156e-03 5.85666348e+01] [ 5.15881073e-01 8.56656956e-01 -2.36173097e-03 1.59576757e+01] [ 4.69543706e-03 -7.07192929e-05 9.99988974e-01 2.82466592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.59, Y:15.97, Z:0.28 [[ 8.55338906e-01 -5.18052977e-01 -4.05811661e-03 5.85917390e+01] [ 5.18047595e-01 8.55348529e-01 -2.36301032e-03 1.59704469e+01] [ 4.69526861e-03 -8.11228856e-05 9.99988974e-01 2.83894376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.62, Y:15.98, Z:0.29 [[ 8.54116455e-01 -5.20065975e-01 -4.05737217e-03 5.86152971e+01] [ 5.20060609e-01 8.54126087e-01 -2.36428786e-03 1.59848162e+01] [ 4.69509309e-03 -9.07022719e-05 9.99988974e-01 2.85371042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.64, Y:16.00, Z:0.28 [[ 8.53858714e-01 -5.20489090e-01 -4.05012479e-03 5.86400422e+01] [ 5.20483669e-01 8.53868316e-01 -2.37671740e-03 1.59972691e+01] [ 4.69532871e-03 -7.86429461e-05 9.99988974e-01 2.84540136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.66, Y:16.01, Z:0.28 [[ 8.53177818e-01 -5.21604405e-01 -4.05658688e-03 5.86649750e+01] [ 5.21599050e-01 8.53187456e-01 -2.36563622e-03 1.60110232e+01] [ 4.69495532e-03 -9.76035129e-05 9.99988974e-01 2.84598904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.922755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:58.69, Y:16.03, Z:0.29 [[ 8.52093171e-01 -5.23374434e-01 -4.05338630e-03 5.86899716e+01] [ 5.23369073e-01 8.52102806e-01 -2.37112180e-03 1.60251582e+01] [ 4.69488637e-03 -1.01000335e-04 9.99988974e-01 2.85731394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.71, Y:16.04, Z:0.29 [[ 8.51522413e-01 -5.24302520e-01 -4.05561743e-03 5.87143328e+01] [ 5.24297187e-01 8.51532064e-01 -2.36729946e-03 1.60392910e+01] [ 4.69466935e-03 -1.10540259e-04 9.99988974e-01 2.85815444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.74, Y:16.05, Z:0.29 [[ 8.50855855e-01 -5.25383548e-01 -4.05486046e-03 5.87378358e+01] [ 5.25378221e-01 8.50865509e-01 -2.36859534e-03 1.60541418e+01] [ 4.69456193e-03 -1.15002162e-04 9.99988974e-01 2.85566688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.76, Y:16.07, Z:0.29 [[ 8.51104775e-01 -5.24980251e-01 -4.04949922e-03 5.87619290e+01] [ 5.24974876e-01 8.51114402e-01 -2.37776572e-03 1.60688329e+01] [ 4.69486715e-03 -1.02157597e-04 9.99988974e-01 2.85977807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.79, Y:16.08, Z:0.29 [[ 8.50651896e-01 -5.25713723e-01 -4.05384236e-03 5.87862676e+01] [ 5.25708392e-01 8.50661547e-01 -2.37033791e-03 1.60829826e+01] [ 4.69456699e-03 -1.14806514e-04 9.99988974e-01 2.85337727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.81, Y:16.10, Z:0.28 [[ 8.50573821e-01 -5.25840040e-01 -4.05309603e-03 5.88097609e+01] [ 5.25834704e-01 8.50583470e-01 -2.37161340e-03 1.60967352e+01] [ 4.69458577e-03 -1.14026273e-04 9.99988974e-01 2.84513071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.84, Y:16.11, Z:0.28 [[ 8.51568549e-01 -5.24227605e-01 -4.05277306e-03 5.88399991e+01] [ 5.24222248e-01 8.51578187e-01 -2.37216519e-03 1.61099807e+01] [ 4.69480760e-03 -1.04492537e-04 9.99988974e-01 2.81351478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.86, Y:16.13, Z:0.28 [[ 8.49942331e-01 -5.26859892e-01 -4.08508624e-03 5.88578484e+01] [ 5.26854829e-01 8.49952129e-01 -2.31693554e-03 1.61253959e+01] [ 4.69282816e-03 -1.82985817e-04 9.99988972e-01 2.84059380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.88, Y:16.14, Z:0.28 [[ 8.49706747e-01 -5.27240011e-01 -4.05153358e-03 5.88819102e+01] [ 5.27234679e-01 8.49716398e-01 -2.37419280e-03 1.61403539e+01] [ 4.69442396e-03 -1.18741366e-04 9.99988974e-01 2.83551946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.91, Y:16.16, Z:0.28 [[ 8.50410699e-01 -5.26103824e-01 -4.05078878e-03 5.89095748e+01] [ 5.26098473e-01 8.50420339e-01 -2.37546289e-03 1.61557799e+01] [ 4.69461328e-03 -1.10994731e-04 9.99988974e-01 2.81959145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.93, Y:16.17, Z:0.28 [[ 8.50810071e-01 -5.25457507e-01 -4.07808772e-03 5.89344599e+01] [ 5.25452371e-01 8.50819829e-01 -2.32888927e-03 1.61698402e+01] [ 4.69345025e-03 -1.61398414e-04 9.99988973e-01 2.80243168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.95, Y:16.19, Z:0.28 [[ 8.48887431e-01 -5.28557863e-01 -4.08845800e-03 5.89517645e+01] [ 5.28552848e-01 8.48897253e-01 -2.31118312e-03 1.61859236e+01] [ 4.69227477e-03 -1.99031818e-04 9.99988971e-01 2.83722918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.98, Y:16.20, Z:0.29 [[ 8.47337692e-01 -5.31039013e-01 -4.04998908e-03 5.89762498e+01] [ 5.31033712e-01 8.47347359e-01 -2.37673471e-03 1.62014155e+01] [ 4.69388641e-03 -1.36783831e-04 9.99988974e-01 2.86175533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.00, Y:16.22, Z:0.29 [[ 8.47439735e-01 -5.30876085e-01 -4.05933220e-03 5.89998934e+01] [ 5.30870858e-01 8.47449443e-01 -2.36082177e-03 1.62154950e+01] [ 4.69338263e-03 -1.54326997e-04 9.99988974e-01 2.86110828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.02, Y:16.23, Z:0.29 [[ 8.46989862e-01 -5.31593627e-01 -4.04837200e-03 5.90231292e+01] [ 5.31588319e-01 8.46999526e-01 -2.37946919e-03 1.62297682e+01] [ 4.69387982e-03 -1.36680990e-04 9.99988974e-01 2.86346218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.05, Y:16.25, Z:0.29 [[ 8.46245681e-01 -5.32777496e-01 -4.04804782e-03 5.90462505e+01] [ 5.32772199e-01 8.46255351e-01 -2.38002058e-03 1.62460634e+01] [ 4.69370353e-03 -1.42605203e-04 9.99988974e-01 2.86330849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.07, Y:16.26, Z:0.29 [[ 8.45873238e-01 -5.33368620e-01 -4.04732376e-03 5.90697571e+01] [ 5.33363324e-01 8.45882908e-01 -2.38125123e-03 1.62613801e+01] [ 4.69364668e-03 -1.44457368e-04 9.99988974e-01 2.86911189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.10, Y:16.28, Z:0.29 [[ 8.46716251e-01 -5.32029337e-01 -4.04657111e-03 5.90960966e+01] [ 5.32024020e-01 8.46725910e-01 -2.38252957e-03 1.62755781e+01] [ 4.69391223e-03 -1.35546524e-04 9.99988974e-01 2.87859841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.12, Y:16.29, Z:0.29 [[ 8.45118517e-01 -5.34563532e-01 -4.06466017e-03 5.91163435e+01] [ 5.34558391e-01 8.45128272e-01 -2.35181281e-03 1.62919976e+01] [ 4.69235259e-03 -1.85237644e-04 9.99988974e-01 2.87502403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.14, Y:16.31, Z:0.29 [[ 8.44430138e-01 -5.35650425e-01 -4.04518513e-03 5.91385448e+01] [ 5.35645138e-01 8.44439814e-01 -2.38484645e-03 1.63072246e+01] [ 4.69335939e-03 -1.52947528e-04 9.99988974e-01 2.88121586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.16, Y:16.32, Z:0.29 [[ 8.43869031e-01 -5.36533968e-01 -4.04486184e-03 5.91618295e+01] [ 5.36528688e-01 8.43878710e-01 -2.38539465e-03 1.63221120e+01] [ 4.69321805e-03 -1.57223742e-04 9.99988974e-01 2.88583911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.18, Y:16.34, Z:0.29 [[ 8.43174653e-01 -5.37624543e-01 -4.04412733e-03 5.91847006e+01] [ 5.37619270e-01 8.43184336e-01 -2.38663927e-03 1.63377924e+01] [ 4.69306066e-03 -1.61847042e-04 9.99988974e-01 2.89136052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.21, Y:16.35, Z:0.29 [[ 8.42697310e-01 -5.38372449e-01 -4.04338589e-03 5.92083344e+01] [ 5.38367179e-01 8.42706995e-01 -2.38789473e-03 1.63535428e+01] [ 4.69296631e-03 -1.64553791e-04 9.99988974e-01 2.89067726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.23, Y:16.37, Z:0.29 [[ 8.42443659e-01 -5.38769282e-01 -4.04264436e-03 5.92320871e+01] [ 5.38764010e-01 8.42453342e-01 -2.38914946e-03 1.63691209e+01] [ 4.69293959e-03 -1.65307476e-04 9.99988974e-01 2.88850336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:59.25, Y:16.39, Z:0.29 [[ 8.41076935e-01 -5.40900409e-01 -4.04190850e-03 5.92541184e+01] [ 5.40895155e-01 8.41086629e-01 -2.39039373e-03 1.63860694e+01] [ 4.69256014e-03 -1.75743695e-04 9.99988974e-01 2.87728092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.28, Y:16.40, Z:0.29 [[ 8.41471216e-01 -5.40286833e-01 -4.04106681e-03 5.92784279e+01] [ 5.40281566e-01 8.41480902e-01 -2.39181580e-03 1.64006652e+01] [ 4.69274713e-03 -1.70669755e-04 9.99988974e-01 2.88467413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.31, Y:16.42, Z:0.29 [[ 8.42235844e-01 -5.39094111e-01 -4.04021774e-03 5.93077473e+01] [ 5.39088823e-01 8.42245518e-01 -2.39324917e-03 1.64157229e+01] [ 4.69304182e-03 -1.62355993e-04 9.99988974e-01 2.87014712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.33, Y:16.43, Z:0.29 [[ 8.40401088e-01 -5.41949695e-01 -4.06688249e-03 5.93270467e+01] [ 5.41944657e-01 8.40410896e-01 -2.34823116e-03 1.64315478e+01] [ 4.69047552e-03 -2.30569211e-04 9.99988973e-01 2.89660881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.35, Y:16.45, Z:0.29 [[ 8.40092065e-01 -5.42428808e-01 -4.03879422e-03 5.93507496e+01] [ 5.42423547e-01 8.40101754e-01 -2.39558608e-03 1.64466987e+01] [ 4.69243301e-03 -1.78224236e-04 9.99988975e-01 2.89848892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.37, Y:16.46, Z:0.29 [[ 8.39808009e-01 -5.42868494e-01 -4.03804830e-03 5.93746807e+01] [ 5.42863232e-01 8.39817698e-01 -2.39684276e-03 1.64620932e+01] [ 4.69239485e-03 -1.79220200e-04 9.99988975e-01 2.89840370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:59.40, Y:16.48, Z:0.29 [[ 8.39614432e-01 -5.43167829e-01 -4.03933049e-03 5.93991134e+01] [ 5.43162581e-01 8.39624128e-01 -2.39468327e-03 1.64769274e+01] [ 4.69223425e-03 -1.83402543e-04 9.99988975e-01 2.89975275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.42, Y:16.49, Z:0.29 [[ 8.39926165e-01 -5.42685663e-01 -4.03850999e-03 5.94221209e+01] [ 5.42680403e-01 8.39935854e-01 -2.39606407e-03 1.64904703e+01] [ 4.69239896e-03 -1.79103327e-04 9.99988975e-01 2.91145632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.44, Y:16.51, Z:0.29 [[ 8.40026538e-01 -5.42530298e-01 -4.03611012e-03 5.94446372e+01] [ 5.42525017e-01 8.40036217e-01 -2.40009979e-03 1.65070782e+01] [ 4.69260554e-03 -1.73543193e-04 9.99988975e-01 2.90757067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.47, Y:16.52, Z:0.29 [[ 8.40021469e-01 -5.42538163e-01 -4.03403479e-03 5.94684040e+01] [ 5.42532865e-01 8.40031138e-01 -2.40358750e-03 1.65225413e+01] [ 4.69275278e-03 -1.69531352e-04 9.99988975e-01 2.91162930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.49, Y:16.54, Z:0.29 [[ 8.40597785e-01 -5.41644763e-01 -4.03901135e-03 5.94913618e+01] [ 5.41639495e-01 8.40607471e-01 -2.39522544e-03 1.65368608e+01] [ 4.69258443e-03 -1.74266867e-04 9.99988975e-01 2.90952375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.972755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:59.52, Y:16.55, Z:0.29 [[ 8.44260132e-01 -5.35918419e-01 -4.03468641e-03 5.95239881e+01] [ 5.35913050e-01 8.44269762e-01 -2.40248865e-03 1.65517855e+01] [ 4.69390165e-03 -1.33915719e-04 9.99988975e-01 2.91104031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.54, Y:16.57, Z:0.29 [[ 8.43736346e-01 -5.36742296e-01 -4.08475264e-03 5.95403188e+01] [ 5.36737343e-01 8.43746201e-01 -2.31799468e-03 1.65660526e+01] [ 4.69066031e-03 -2.36662913e-04 9.99988971e-01 2.91053030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.57, Y:16.58, Z:0.29 [[ 8.45688485e-01 -5.33661676e-01 -4.02513455e-03 5.95696104e+01] [ 5.33656207e-01 8.45698057e-01 -2.41824551e-03 1.65828928e+01] [ 4.69457342e-03 -1.02955659e-04 9.99988975e-01 2.88302890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.59, Y:16.60, Z:0.29 [[ 8.44707973e-01 -5.35212023e-01 -4.06575395e-03 5.95862566e+01] [ 5.35206897e-01 8.44717736e-01 -2.35008640e-03 1.65988682e+01] [ 4.69220897e-03 -1.90882835e-04 9.99988973e-01 2.89608694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.61, Y:16.61, Z:0.29 [[ 8.45477969e-01 -5.33995079e-01 -4.03224491e-03 5.96098065e+01] [ 5.33989671e-01 8.45487576e-01 -2.40623904e-03 1.66133382e+01] [ 4.69413279e-03 -1.18755035e-04 9.99988975e-01 2.89795281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.63, Y:16.63, Z:0.29 [[ 8.46633760e-01 -5.32160711e-01 -4.03153292e-03 5.96335594e+01] [ 5.32155277e-01 8.46643352e-01 -2.40743137e-03 1.66285696e+01] [ 4.69441093e-03 -1.07188845e-04 9.99988975e-01 2.90235223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.66, Y:16.64, Z:0.29 [[ 8.47853574e-01 -5.30215117e-01 -4.03074647e-03 5.96570366e+01] [ 5.30209654e-01 8.47863150e-01 -2.40874739e-03 1.66422516e+01] [ 4.69467568e-03 -9.48756063e-05 9.99988975e-01 2.91840788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.68, Y:16.66, Z:0.29 [[ 8.46765290e-01 -5.31951468e-01 -4.02227055e-03 5.96827794e+01] [ 5.31945957e-01 8.46774839e-01 -2.42292537e-03 1.66595271e+01] [ 4.69483620e-03 -8.79814486e-05 9.99988975e-01 2.91801628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.71, Y:16.67, Z:0.29 [[ 8.47297997e-01 -5.31102389e-01 -4.04423029e-03 5.97063140e+01] [ 5.31097044e-01 8.47307640e-01 -2.38620060e-03 1.66735030e+01] [ 4.69402406e-03 -1.26055761e-04 9.99988975e-01 2.92349148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.73, Y:16.69, Z:0.29 [[ 8.47313806e-01 -5.31077285e-01 -4.02881893e-03 5.97300260e+01] [ 5.31071817e-01 8.47323379e-01 -2.41194316e-03 1.66885030e+01] [ 4.69464069e-03 -9.59194525e-05 9.99988976e-01 2.92988882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.75, Y:16.70, Z:0.29 [[ 8.46036686e-01 -5.33109502e-01 -4.02303169e-03 5.97546671e+01] [ 5.33104011e-01 8.46046245e-01 -2.42160523e-03 1.67044863e+01] [ 4.69465162e-03 -9.59274617e-05 9.99988975e-01 2.93204106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.78, Y:16.72, Z:0.29 [[ 8.45744162e-01 -5.33573412e-01 -4.02819621e-03 5.97785672e+01] [ 5.33567966e-01 8.45753748e-01 -2.41298367e-03 1.67176741e+01] [ 4.69436597e-03 -1.08549604e-04 9.99988976e-01 2.92896664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.80, Y:16.73, Z:0.29 [[ 8.44788438e-01 -5.35085321e-01 -4.02414176e-03 5.98032545e+01] [ 5.35079861e-01 8.44798016e-01 -2.41975034e-03 1.67328543e+01] [ 4.69435986e-03 -1.09060096e-04 9.99988975e-01 2.93366680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.83, Y:16.75, Z:0.29 [[ 8.44173772e-01 -5.36054496e-01 -4.02736445e-03 5.98254470e+01] [ 5.36049072e-01 8.44183370e-01 -2.41437465e-03 1.67464129e+01] [ 4.69407048e-03 -1.20713222e-04 9.99988976e-01 2.93474012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.85, Y:16.76, Z:0.29 [[ 8.41998462e-01 -5.39464984e-01 -4.01518250e-03 5.98510886e+01] [ 5.39459502e-01 8.42008027e-01 -2.43467397e-03 1.67622713e+01] [ 4.69423725e-03 -1.16036613e-04 9.99988975e-01 2.94232436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.87, Y:16.78, Z:0.29 [[ 8.40925619e-01 -5.41135743e-01 -4.02625552e-03 5.98749067e+01] [ 5.41130368e-01 8.40935245e-01 -2.41622251e-03 1.67764993e+01] [ 4.69332454e-03 -1.46865720e-04 9.99988976e-01 2.94264991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.90, Y:16.79, Z:0.29 [[ 8.39295605e-01 -5.43660448e-01 -4.02548345e-03 5.99006042e+01] [ 5.43655097e-01 8.39305243e-01 -2.41750812e-03 1.67925892e+01] [ 4.69291291e-03 -1.59470656e-04 9.99988976e-01 2.94215448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.92, Y:16.81, Z:0.29 [[ 8.38184997e-01 -5.45371089e-01 -4.03570508e-03 5.99239734e+01] [ 5.45365838e-01 8.38194691e-01 -2.40048592e-03 1.68058301e+01] [ 4.69186219e-03 -1.88884404e-04 9.99988975e-01 2.93910469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.95, Y:16.82, Z:0.29 [[ 8.37883985e-01 -5.45833526e-01 -4.02371403e-03 5.99526422e+01] [ 5.45828185e-01 8.37893629e-01 -2.42043994e-03 1.68214081e+01] [ 4.69260162e-03 -1.68208662e-04 9.99988976e-01 2.91517754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:59.97, Y:16.84, Z:0.29 [[ 8.35069441e-01 -5.50129604e-01 -4.05566756e-03 5.99730452e+01] [ 5.50124569e-01 8.35079250e-01 -2.36733555e-03 1.68376035e+01] [ 4.68914519e-03 -2.54232797e-04 9.99988974e-01 2.93101115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.00, Y:16.85, Z:0.29 [[ 8.34597712e-01 -5.50845152e-01 -4.03457877e-03 5.99962228e+01] [ 5.50839956e-01 8.34607435e-01 -2.40232969e-03 1.68516559e+01] [ 4.69060110e-03 -2.17428333e-04 9.99988975e-01 2.93547669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.02, Y:16.87, Z:0.29 [[ 8.33770690e-01 -5.52096227e-01 -4.02395423e-03 6.00196341e+01] [ 5.52090961e-01 8.33780376e-01 -2.41994017e-03 1.68659517e+01] [ 4.69113391e-03 -2.03913573e-04 9.99988976e-01 2.92303794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.05, Y:16.88, Z:0.29 [[ 8.35400829e-01 -5.49626505e-01 -4.01998155e-03 6.00511514e+01] [ 5.49621179e-01 8.35410481e-01 -2.42652166e-03 1.68790475e+01] [ 4.69201534e-03 -1.82348791e-04 9.99988976e-01 2.90477925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.08, Y:16.89, Z:0.29 [[ 8.35769400e-01 -5.49065558e-01 -4.06479097e-03 6.00755218e+01] [ 5.49060584e-01 8.35779243e-01 -2.35224098e-03 1.68923859e+01] [ 4.68880243e-03 -2.65885472e-04 9.99988972e-01 2.89403001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.09, Y:16.91, Z:0.29 [[ 8.33573403e-01 -5.52393725e-01 -4.06864381e-03 6.00918188e+01] [ 5.52388821e-01 8.33583282e-01 -2.34584335e-03 1.69086710e+01] [ 4.68738260e-03 -2.92040732e-04 9.99988972e-01 2.93225782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.12, Y:16.92, Z:0.29 [[ 8.34219414e-01 -5.51417995e-01 -4.02045121e-03 6.01160414e+01] [ 5.51412694e-01 8.34229079e-01 -2.42571907e-03 1.69235122e+01] [ 4.69156246e-03 -1.93345890e-04 9.99988976e-01 2.94469707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.752755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:60.14, Y:16.94, Z:0.29 [[ 8.35071505e-01 -5.50126735e-01 -4.01966455e-03 6.01396800e+01] [ 5.50121412e-01 8.35081159e-01 -2.42702196e-03 1.69379776e+01] [ 4.69191579e-03 -1.84566657e-04 9.99988976e-01 2.94515247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.782755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:60.16, Y:16.95, Z:0.30 [[ 8.36325122e-01 -5.48219108e-01 -4.01248174e-03 6.01630500e+01] [ 5.48213706e-01 8.36334732e-01 -2.43890858e-03 1.69530014e+01] [ 4.69283413e-03 -1.59976966e-04 9.99988976e-01 2.95306596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.19, Y:16.97, Z:0.30 [[ 8.37078527e-01 -5.47068001e-01 -4.01761193e-03 6.01866078e+01] [ 5.47062627e-01 8.37088153e-01 -2.43042031e-03 1.69677460e+01] [ 4.69270053e-03 -1.63432677e-04 9.99988976e-01 2.96050976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.21, Y:16.98, Z:0.30 [[ 8.38994879e-01 -5.44124477e-01 -4.01826610e-03 6.02103360e+01] [ 5.44119074e-01 8.39004488e-01 -2.42933828e-03 1.69821000e+01] [ 4.69320571e-03 -1.48212850e-04 9.99988976e-01 2.96863005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.23, Y:17.00, Z:0.30 [[ 8.39727612e-01 -5.42993000e-01 -4.01750286e-03 6.02338854e+01] [ 5.42987578e-01 8.39737210e-01 -2.43059983e-03 1.69965445e+01] [ 4.69344533e-03 -1.40412360e-04 9.99988976e-01 2.97350320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.26, Y:17.01, Z:0.30 [[ 8.40557421e-01 -5.41707566e-01 -4.01673017e-03 6.02577226e+01] [ 5.41702124e-01 8.40567008e-01 -2.43187608e-03 1.70114327e+01] [ 4.69369653e-03 -1.31739771e-04 9.99988976e-01 2.97679134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.28, Y:17.03, Z:0.30 [[ 8.42078905e-01 -5.39339401e-01 -4.01595546e-03 6.02808381e+01] [ 5.39333925e-01 8.42088473e-01 -2.43315475e-03 1.70264101e+01] [ 4.69408603e-03 -1.17032738e-04 9.99988976e-01 2.97073208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.30, Y:17.04, Z:0.30 [[ 8.42434336e-01 -5.38784061e-01 -4.01562032e-03 6.03043349e+01] [ 5.38778576e-01 8.42443899e-01 -2.43370773e-03 1.70410666e+01] [ 4.69417777e-03 -1.13291245e-04 9.99988976e-01 2.97554354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.33, Y:17.06, Z:0.30 [[ 8.42605548e-01 -5.38516268e-01 -4.01486120e-03 6.03285291e+01] [ 5.38510774e-01 8.42615106e-01 -2.43495940e-03 1.70557847e+01] [ 4.69424794e-03 -1.10335709e-04 9.99988976e-01 2.97795659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.35, Y:17.07, Z:0.30 [[ 8.42865269e-01 -5.38109677e-01 -4.01409848e-03 6.03525509e+01] [ 5.38104173e-01 8.42874821e-01 -2.43621611e-03 1.70700908e+01] [ 4.69433400e-03 -1.06601199e-04 9.99988976e-01 2.98143394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.38, Y:17.09, Z:0.30 [[ 8.42442219e-01 -5.38771789e-01 -4.00840925e-03 6.03770272e+01] [ 5.38766247e-01 8.42451749e-01 -2.44558356e-03 1.70855086e+01] [ 4.69450282e-03 -9.93327646e-05 9.99988976e-01 2.98440692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.40, Y:17.10, Z:0.30 [[ 8.41460546e-01 -5.40303663e-01 -4.01268419e-03 6.04010446e+01] [ 5.40298172e-01 8.41470105e-01 -2.43854907e-03 1.71011491e+01] [ 4.69411078e-03 -1.16103102e-04 9.99988976e-01 2.98139286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.42, Y:17.12, Z:0.30 [[ 8.41690462e-01 -5.39945306e-01 -4.02894901e-03 6.04230173e+01] [ 5.39939940e-01 8.41700092e-01 -2.41177857e-03 1.71150748e+01] [ 4.69339527e-03 -1.45419460e-04 9.99988975e-01 2.97172227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.45, Y:17.13, Z:0.30 [[ 8.41044479e-01 -5.40951137e-01 -4.00646343e-03 6.04462720e+01] [ 5.40945605e-01 8.41054015e-01 -2.44876585e-03 1.71302932e+01] [ 4.69431482e-03 -1.07757785e-04 9.99988976e-01 2.96076882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.47, Y:17.14, Z:0.30 [[ 8.41085677e-01 -5.40887078e-01 -4.00671063e-03 6.04709127e+01] [ 5.40881547e-01 8.41095213e-01 -2.44835930e-03 1.71446443e+01] [ 4.69431103e-03 -1.07875904e-04 9.99988976e-01 2.97364824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.49, Y:17.16, Z:0.30 [[ 8.40500673e-01 -5.41795648e-01 -4.01191344e-03 6.04938239e+01] [ 5.41790168e-01 8.40510239e-01 -2.43980401e-03 1.71585044e+01] [ 4.69392951e-03 -1.22958343e-04 9.99988976e-01 2.96888610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.52, Y:17.17, Z:0.30 [[ 8.39767628e-01 -5.42931155e-01 -4.01158187e-03 6.05170483e+01] [ 5.42925686e-01 8.39777199e-01 -2.44034906e-03 1.71732520e+01] [ 4.69377652e-03 -1.28664692e-04 9.99988976e-01 2.95072601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.262755096 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:60.54, Y:17.19, Z:0.30 [[ 8.38826117e-01 -5.44384678e-01 -4.00853996e-03 6.05424030e+01] [ 5.44379202e-01 8.38835684e-01 -2.44534498e-03 1.71897284e+01] [ 4.69371470e-03 -1.30946548e-04 9.99988976e-01 2.96499126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.56, Y:17.20, Z:0.30 [[ 8.40197347e-01 -5.42265643e-01 -4.04857330e-03 6.05640809e+01] [ 5.42260459e-01 8.40207078e-01 -2.37935843e-03 1.72011361e+01] [ 4.69188428e-03 -1.96250573e-04 9.99988974e-01 2.95535741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.59, Y:17.22, Z:0.30 [[ 8.40972339e-01 -5.41063238e-01 -4.01225536e-03 6.05867484e+01] [ 5.41057753e-01 8.40981902e-01 -2.43910051e-03 1.72151376e+01] [ 4.69394176e-03 -1.19645805e-04 9.99988976e-01 2.95315331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.61, Y:17.23, Z:0.29 [[ 8.40310675e-01 -5.42090375e-01 -3.99939488e-03 6.06093111e+01] [ 5.42084802e-01 8.40320186e-01 -2.46023770e-03 1.72313866e+01] [ 4.69444342e-03 -1.00647180e-04 9.99988976e-01 2.92489157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.63, Y:17.25, Z:0.30 [[ 8.41318543e-01 -5.40524830e-01 -4.00216859e-03 6.06347361e+01] [ 5.40519261e-01 8.41328056e-01 -2.45567827e-03 1.72463373e+01] [ 4.69449180e-03 -9.72415391e-05 9.99988976e-01 2.95831166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.66, Y:17.26, Z:0.30 [[ 8.41650834e-01 -5.40007207e-01 -4.01108931e-03 6.06576144e+01] [ 5.40001702e-01 8.41660385e-01 -2.44101972e-03 1.72605882e+01] [ 4.69414322e-03 -1.11508764e-04 9.99988976e-01 2.96125175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.68, Y:17.28, Z:0.29 [[ 8.41481010e-01 -5.40271806e-01 -4.01075207e-03 6.06797189e+01] [ 5.40266301e-01 8.41490560e-01 -2.44157370e-03 1.72761337e+01] [ 4.69412344e-03 -1.12336280e-04 9.99988976e-01 2.93323527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.71, Y:17.29, Z:0.29 [[ 8.43016542e-01 -5.37872760e-01 -4.00050823e-03 6.07051994e+01] [ 5.37867147e-01 8.43026031e-01 -2.45838974e-03 1.72907227e+01] [ 4.69483345e-03 -7.92787306e-05 9.99988976e-01 2.94814603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.73, Y:17.31, Z:0.29 [[ 8.43419467e-01 -5.37240683e-01 -4.00639271e-03 6.07287096e+01] [ 5.37235109e-01 8.43428978e-01 -2.44873167e-03 1.73050790e+01] [ 4.69466599e-03 -8.70668619e-05 9.99988976e-01 2.94988420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.75, Y:17.32, Z:0.30 [[ 8.44142226e-01 -5.36104330e-01 -4.00617443e-03 6.07526989e+01] [ 5.36098742e-01 8.44151729e-01 -2.44908976e-03 1.73186759e+01] [ 4.69478669e-03 -8.03249833e-05 9.99988976e-01 2.96099870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:60.77, Y:17.33, Z:0.30 [[ 8.43457362e-01 -5.37181142e-01 -4.01247131e-03 6.07749137e+01] [ 5.37175615e-01 8.43466900e-01 -2.43876418e-03 1.73342522e+01] [ 4.69444487e-03 -9.84081453e-05 9.99988976e-01 2.98796842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.80, Y:17.35, Z:0.30 [[ 8.44309002e-01 -5.35841707e-01 -3.99668955e-03 6.08007423e+01] [ 5.35836043e-01 8.44318459e-01 -2.46461920e-03 1.73476576e+01] [ 4.69512453e-03 -6.06701365e-05 9.99988976e-01 2.98857190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.82, Y:17.36, Z:0.30 [[ 8.44425331e-01 -5.35658286e-01 -4.00770081e-03 6.08241201e+01] [ 5.35652705e-01 8.44434837e-01 -2.44658187e-03 1.73615918e+01] [ 4.69477403e-03 -8.07800725e-05 9.99988976e-01 2.97752447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.85, Y:17.38, Z:0.30 [[ 8.43106442e-01 -5.37731789e-01 -4.00644219e-03 6.08470811e+01] [ 5.37726221e-01 8.43115956e-01 -2.44864210e-03 1.73751691e+01] [ 4.69460803e-03 -8.99030945e-05 9.99988976e-01 3.00042415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.86, Y:17.39, Z:0.30 [[ 8.40727153e-01 -5.41444191e-01 -4.00519704e-03 6.08614352e+01] [ 5.41438656e-01 8.40736687e-01 -2.45067920e-03 1.73873992e+01] [ 4.69422211e-03 -1.08215954e-04 9.99988976e-01 2.97818933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.90, Y:17.41, Z:0.30 [[ 8.40166241e-01 -5.42314747e-01 -3.92462085e-03 6.08978398e+01] [ 5.42308603e-01 8.40175406e-01 -2.58185391e-03 1.74076314e+01] [ 4.69754737e-03 4.08308393e-05 9.99988966e-01 3.01083845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.92, Y:17.42, Z:0.30 [[ 8.39903789e-01 -5.42720256e-01 -4.04330701e-03 6.09220827e+01] [ 5.42715038e-01 8.39913500e-01 -2.38738498e-03 1.74228414e+01] [ 4.69171033e-03 -1.89189831e-04 9.99988976e-01 3.01277884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.94, Y:17.44, Z:0.30 [[ 8.38012693e-01 -5.45635806e-01 -4.03657107e-03 6.09430362e+01] [ 5.45630569e-01 8.38022392e-01 -2.39838943e-03 1.74363021e+01] [ 4.69138409e-03 -1.92595786e-04 9.99988977e-01 3.01430661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.97, Y:17.45, Z:0.30 [[ 8.37788035e-01 -5.45980922e-01 -4.00523979e-03 6.09666956e+01] [ 5.45975444e-01 8.37797598e-01 -2.44945677e-03 1.74496152e+01] [ 4.69293694e-03 -1.34637004e-04 9.99988979e-01 3.02044465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:60.99, Y:17.46, Z:0.30 [[ 8.36543464e-01 -5.47886046e-01 -3.98906667e-03 6.09927035e+01] [ 5.47880464e-01 8.36552967e-01 -2.47579534e-03 1.74620550e+01] [ 4.69351928e-03 -1.14421287e-04 9.99988979e-01 3.02800660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.02, Y:17.48, Z:0.30 [[ 8.35529244e-01 -5.49431413e-01 -4.00059416e-03 6.10164906e+01] [ 5.49425939e-01 8.35538809e-01 -2.45702599e-03 1.74755472e+01] [ 4.69261894e-03 -1.45113136e-04 9.99988979e-01 3.02849415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.05, Y:17.49, Z:0.30 [[ 8.35862421e-01 -5.48924456e-01 -3.99448483e-03 6.10487989e+01] [ 5.48918928e-01 8.35871955e-01 -2.46696905e-03 1.74915558e+01] [ 4.69305749e-03 -1.30601609e-04 9.99988979e-01 3.02539263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.07, Y:17.51, Z:0.30 [[ 8.31437701e-01 -5.55603260e-01 -4.04558971e-03 6.10656151e+01] [ 5.55598207e-01 8.31447501e-01 -2.38433955e-03 1.75078881e+01] [ 4.68844228e-03 -2.65292599e-04 9.99988974e-01 3.00582182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.09, Y:17.52, Z:0.30 [[ 8.31015015e-01 -5.56235636e-01 -3.99538124e-03 6.10902354e+01] [ 5.56230199e-01 8.31024601e-01 -2.46533941e-03 1.75229040e+01] [ 4.69156973e-03 -1.73617638e-04 9.99988979e-01 3.01146556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.11, Y:17.54, Z:0.30 [[ 8.29797874e-01 -5.58049746e-01 -3.99611067e-03 6.11130923e+01] [ 5.58044336e-01 8.29807476e-01 -2.46416299e-03 1.75381749e+01] [ 4.69112804e-03 -1.85249718e-04 9.99988979e-01 3.04235830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.14, Y:17.55, Z:0.30 [[ 8.30375839e-01 -5.57189422e-01 -3.98922834e-03 6.11389804e+01] [ 5.57183949e-01 8.30385404e-01 -2.47525486e-03 1.75529084e+01] [ 4.69178281e-03 -1.67342173e-04 9.99988980e-01 3.03267673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.16, Y:17.57, Z:0.31 [[ 8.29733580e-01 -5.58145329e-01 -3.99738873e-03 6.11612376e+01] [ 5.58139930e-01 8.29743187e-01 -2.46210864e-03 1.75674192e+01] [ 4.69102051e-03 -1.88208053e-04 9.99988979e-01 3.05810291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.18, Y:17.58, Z:0.31 [[ 8.29524051e-01 -5.58456737e-01 -3.99032372e-03 6.11847940e+01] [ 5.58451287e-01 8.29533629e-01 -2.47348228e-03 1.75825988e+01] [ 4.69144056e-03 -1.76588380e-04 9.99988980e-01 3.08163958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.21, Y:17.60, Z:0.31 [[ 8.30400104e-01 -5.57153281e-01 -3.98609410e-03 6.12068874e+01] [ 5.57147784e-01 8.30409655e-01 -2.48028850e-03 1.75973552e+01] [ 4.69199190e-03 -1.61211664e-04 9.99988980e-01 3.07730552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.23, Y:17.61, Z:0.31 [[ 8.30957627e-01 -5.56321473e-01 -3.98019893e-03 6.12300829e+01] [ 5.56315920e-01 8.30967146e-01 -2.48977010e-03 1.76128980e+01] [ 4.69252712e-03 -1.45354579e-04 9.99988979e-01 3.06683886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.25, Y:17.63, Z:0.31 [[ 8.31827652e-01 -5.55019761e-01 -3.97776201e-03 6.12527728e+01] [ 5.55014175e-01 8.31837152e-01 -2.49368736e-03 1.76280992e+01] [ 4.69289599e-03 -1.33396196e-04 9.99988979e-01 3.06054175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.28, Y:17.64, Z:0.31 [[ 8.34799139e-01 -5.50540276e-01 -3.97513324e-03 6.12773724e+01] [ 5.50534619e-01 8.34808597e-01 -2.49791074e-03 1.76436949e+01] [ 4.69367588e-03 -1.03194729e-04 9.99988979e-01 3.06822716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.30, Y:17.66, Z:0.31 [[ 8.36313517e-01 -5.48237039e-01 -3.98130909e-03 6.13012076e+01] [ 5.48231403e-01 8.36322987e-01 -2.48799084e-03 1.76581063e+01] [ 4.69366904e-03 -1.01938302e-04 9.99988979e-01 3.09381886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.33, Y:17.67, Z:0.31 [[ 8.37913780e-01 -5.45788068e-01 -3.98515895e-03 6.13256385e+01] [ 5.45782434e-01 8.37923252e-01 -2.48180894e-03 1.76736319e+01] [ 4.69379905e-03 -9.54878403e-05 9.99988980e-01 3.08666624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.282755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.35, Y:17.69, Z:0.31 [[ 8.41578072e-01 -5.40120746e-01 -3.99100648e-03 6.13533228e+01] [ 5.40115092e-01 8.41587532e-01 -2.47242230e-03 1.76884388e+01] [ 4.69418787e-03 -7.48664381e-05 9.99988979e-01 3.12213801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.37, Y:17.70, Z:0.31 [[ 8.41898807e-01 -5.39620543e-01 -4.00866821e-03 6.13729217e+01] [ 5.39615018e-01 8.41908343e-01 -2.44402110e-03 1.77035919e+01] [ 4.69377520e-03 -1.05519123e-04 9.99988979e-01 3.11772266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.40, Y:17.72, Z:0.31 [[ 8.42891745e-01 -5.38068418e-01 -3.98538345e-03 6.13963751e+01] [ 5.38062699e-01 8.42901165e-01 -2.48141855e-03 1.77186226e+01] [ 4.69445730e-03 -5.28189657e-05 9.99988980e-01 3.12769565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.42, Y:17.73, Z:0.31 [[ 8.44543551e-01 -5.35472049e-01 -3.98450503e-03 6.14185524e+01] [ 5.35466294e-01 8.44552949e-01 -2.48282825e-03 1.77335975e+01] [ 4.69461060e-03 -3.67115541e-05 9.99988980e-01 3.12823091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:61.44, Y:17.75, Z:0.31 [[ 8.45144861e-01 -5.34522489e-01 -3.98416392e-03 6.14410982e+01] [ 5.34516721e-01 8.45154251e-01 -2.48337551e-03 1.77481570e+01] [ 4.69465313e-03 -3.07901819e-05 9.99988980e-01 3.12587961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:61.47, Y:17.77, Z:0.31 [[ 8.44416095e-01 -5.35673023e-01 -3.98384154e-03 6.14664691e+01] [ 5.35667265e-01 8.44425492e-01 -2.48389255e-03 1.77651703e+01] [ 4.69461159e-03 -3.65746524e-05 9.99988980e-01 3.12770185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46275509600001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:61.49, Y:17.78, Z:0.31 [[ 8.44994650e-01 -5.34759787e-01 -4.00136500e-03 6.14885015e+01] [ 5.34754152e-01 8.45004122e-01 -2.45579733e-03 1.77783099e+01] [ 4.69443157e-03 -6.46109381e-05 9.99988979e-01 3.12853117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.492755096 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:61.51, Y:17.79, Z:0.31 [[ 8.44188020e-01 -5.36032398e-01 -3.98189092e-03 6.15124504e+01] [ 5.36026630e-01 8.44197410e-01 -2.48697721e-03 1.77935003e+01] [ 4.69460236e-03 -3.49232023e-05 9.99988980e-01 3.12736316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.522755096 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:61.54, Y:17.81, Z:0.31 [[ 8.43610233e-01 -5.36941268e-01 -3.98109769e-03 6.15355038e+01] [ 5.36935504e-01 8.43619626e-01 -2.48824635e-03 1.78074079e+01] [ 4.69457430e-03 -3.84826078e-05 9.99988980e-01 3.12198957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.552755096 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:61.56, Y:17.82, Z:0.31 [[ 8.41357301e-01 -5.40464657e-01 -3.98075393e-03 6.15600364e+01] [ 5.40458929e-01 8.41366717e-01 -2.48879619e-03 1.78209591e+01] [ 4.69438024e-03 -5.74671618e-05 9.99988980e-01 3.11244935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.582755096 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:61.58, Y:17.83, Z:0.31 [[ 8.39811117e-01 -5.42864115e-01 -3.97997574e-03 6.15830892e+01] [ 5.42858409e-01 8.39820545e-01 -2.49004001e-03 1.78347625e+01] [ 4.69421876e-03 -6.94000165e-05 9.99988980e-01 3.10805781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.612755096 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:61.61, Y:17.85, Z:0.31 [[ 8.38266329e-01 -5.45246481e-01 -3.97944703e-03 6.16076436e+01] [ 5.45240798e-01 8.38275771e-01 -2.49088468e-03 1.78491685e+01] [ 4.69402014e-03 -8.17321124e-05 9.99988980e-01 3.10842293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.642755096 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:61.63, Y:17.86, Z:0.31 [[ 8.34839824e-01 -5.50478545e-01 -3.98000579e-03 6.16312526e+01] [ 5.50472925e-01 8.34849303e-01 -2.48999223e-03 1.78627192e+01] [ 4.69339236e-03 -1.12140752e-04 9.99988980e-01 3.10486725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.672755096 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:61.65, Y:17.88, Z:0.31 [[ 8.32759836e-01 -5.53620103e-01 -3.97956256e-03 6.16544083e+01] [ 5.53614515e-01 8.32769335e-01 -2.49070000e-03 1.78780384e+01] [ 4.69295925e-03 -1.28988671e-04 9.99988980e-01 3.09480721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.702755096 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:61.68, Y:17.89, Z:0.31 [[ 8.31527953e-01 -5.55468706e-01 -3.97241544e-03 6.16804498e+01] [ 5.55463085e-01 8.31537432e-01 -2.50210418e-03 1.78917744e+01] [ 4.69305271e-03 -1.25960572e-04 9.99988980e-01 3.09035508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.732755096 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:61.70, Y:17.91, Z:0.31 [[ 8.30774933e-01 -5.56594280e-01 -3.97733633e-03 6.17038775e+01] [ 5.56588709e-01 8.30784441e-01 -2.49425734e-03 1.79063914e+01] [ 4.69259851e-03 -1.41574014e-04 9.99988980e-01 3.08820250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.762755096 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:61.73, Y:17.92, Z:0.31 [[ 8.29852673e-01 -5.57968394e-01 -3.97653979e-03 6.17252733e+01] [ 5.57962833e-01 8.29862187e-01 -2.49552661e-03 1.79216821e+01] [ 4.69240498e-03 -1.47841978e-04 9.99988980e-01 3.05682781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79275509600001 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:61.75, Y:17.94, Z:0.31 [[ 8.30411656e-01 -5.57136292e-01 -3.95395664e-03 6.17516483e+01] [ 5.57130550e-01 8.30421063e-01 -2.53141578e-03 1.79362018e+01] [ 4.69379248e-03 -1.00752867e-04 9.99988979e-01 3.07508786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82275509600001 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:61.77, Y:17.95, Z:0.31 [[ 8.30713874e-01 -5.56685412e-01 -3.97634953e-03 6.17728516e+01] [ 5.56679835e-01 8.30723379e-01 -2.49582438e-03 1.79505026e+01] [ 4.69263554e-03 -1.40237661e-04 9.99988980e-01 3.06442685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85275509600001 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:61.80, Y:17.97, Z:0.31 [[ 8.30533730e-01 -5.56954274e-01 -3.95726558e-03 6.17985747e+01] [ 5.56948555e-01 8.30543151e-01 -2.52617356e-03 1.79665614e+01] [ 4.69364298e-03 -1.05920993e-04 9.99988979e-01 3.05709384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.882755096 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:61.82, Y:17.98, Z:0.31 [[ 8.32191998e-01 -5.54473306e-01 -3.97890902e-03 6.18203848e+01] [ 5.54467723e-01 8.32201499e-01 -2.49175300e-03 1.79797440e+01] [ 4.69286457e-03 -1.32559713e-04 9.99988980e-01 3.06377659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.912755096 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:61.84, Y:18.00, Z:0.31 [[ 8.33193463e-01 -5.52967446e-01 -3.95696285e-03 6.18448412e+01] [ 5.52961680e-01 8.33202855e-01 -2.52655907e-03 1.79950638e+01] [ 4.69405766e-03 -8.29363245e-05 9.99988979e-01 3.07797337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.942755096 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:61.87, Y:18.01, Z:0.31 [[ 8.33061686e-01 -5.53165851e-01 -3.97096119e-03 6.18686205e+01] [ 5.53160193e-01 8.33071143e-01 -2.50436308e-03 1.80107815e+01] [ 4.69342131e-03 -1.10288728e-04 9.99988980e-01 3.09390226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.972755096 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:61.89, Y:18.02, Z:0.31 [[ 8.34342279e-01 -5.51232362e-01 -3.98046659e-03 6.18921906e+01] [ 5.51226754e-01 8.34351766e-01 -2.48930112e-03 1.80241059e+01] [ 4.69329266e-03 -1.17210505e-04 9.99988980e-01 3.09756127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.002755096 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:61.92, Y:18.04, Z:0.31 [[ 8.34502095e-01 -5.50990472e-01 -3.96904886e-03 6.19155013e+01] [ 5.50984775e-01 8.34511528e-01 -2.50737482e-03 1.80382879e+01] [ 4.69375666e-03 -9.44759517e-05 9.99988980e-01 3.10360605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.032755096 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:61.94, Y:18.05, Z:0.31 [[ 8.34524686e-01 -5.50956258e-01 -3.96870744e-03 6.19391340e+01] [ 5.50950558e-01 8.34534117e-01 -2.50791510e-03 1.80527949e+01] [ 4.69377328e-03 -9.36445235e-05 9.99988980e-01 3.10908555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.062755096 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:61.96, Y:18.07, Z:0.31 [[ 8.34763857e-01 -5.50593823e-01 -3.96793595e-03 6.19630065e+01] [ 5.50588113e-01 8.34773283e-01 -2.50913513e-03 1.80668120e+01] [ 4.69384122e-03 -9.01630502e-05 9.99988980e-01 3.11118991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.092755096 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:61.99, Y:18.08, Z:0.31 [[ 8.34741795e-01 -5.50627276e-01 -3.96715817e-03 6.19867476e+01] [ 5.50621561e-01 8.34751217e-01 -2.51036428e-03 1.80814921e+01] [ 4.69386515e-03 -8.88968386e-05 9.99988980e-01 3.11096441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.122755096 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:62.01, Y:18.10, Z:0.31 [[ 8.34728711e-01 -5.50647116e-01 -3.96636058e-03 6.20100856e+01] [ 5.50641395e-01 8.34738130e-01 -2.51162383e-03 1.80957849e+01] [ 4.69389083e-03 -8.75177987e-05 9.99988980e-01 3.11141078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.152755096 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:62.04, Y:18.11, Z:0.31 [[ 8.35910448e-01 -5.48851524e-01 -3.96581930e-03 6.20384726e+01] [ 5.48845779e-01 8.35919852e-01 -2.51247821e-03 1.81097090e+01] [ 4.69408457e-03 -7.64164001e-05 9.99988980e-01 3.12061674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18275509600001 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:62.06, Y:18.13, Z:0.31 [[ 8.34532994e-01 -5.50943512e-01 -3.99106180e-03 6.20588872e+01] [ 5.50937981e-01 8.34542526e-01 -2.47262822e-03 1.81250575e+01] [ 4.69298927e-03 -1.35337698e-04 9.99988979e-01 3.11142987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21275509600001 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:62.08, Y:18.14, Z:0.31 [[ 8.34152925e-01 -5.51518957e-01 -3.96708114e-03 6.20819401e+01] [ 5.51513252e-01 8.34162353e-01 -2.51044574e-03 1.81387040e+01] [ 4.69374815e-03 -9.38021626e-05 9.99988980e-01 3.11026365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.242755096 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:62.11, Y:18.15, Z:0.31 [[ 8.33220972e-01 -5.52925942e-01 -3.96428792e-03 6.21068488e+01] [ 5.52920231e-01 8.33230397e-01 -2.51484884e-03 1.81522622e+01] [ 4.69369035e-03 -9.65101985e-05 9.99988980e-01 3.11163379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.272755096 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:62.13, Y:18.17, Z:0.31 [[ 8.32505262e-01 -5.54002960e-01 -3.96350699e-03 6.21313643e+01] [ 5.53997255e-01 8.32514691e-01 -2.51607901e-03 1.81667757e+01] [ 4.69359301e-03 -1.01122982e-04 9.99988980e-01 3.11074300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.302755096 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:62.16, Y:18.18, Z:0.31 [[ 8.32568861e-01 -5.53907382e-01 -3.96272379e-03 6.21590819e+01] [ 5.53901671e-01 8.32578286e-01 -2.51731192e-03 1.81813064e+01] [ 4.69363543e-03 -9.91238119e-05 9.99988980e-01 3.11724417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.332755096 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:62.18, Y:18.19, Z:0.31 [[ 8.30372335e-01 -5.57194710e-01 -3.98010506e-03 6.21796573e+01] [ 5.57189167e-01 8.30381860e-01 -2.48995268e-03 1.81946244e+01] [ 4.69239550e-03 -1.50083601e-04 9.99988979e-01 3.11165263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.362755096 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:62.20, Y:18.21, Z:0.31 [[ 8.29796510e-01 -5.58052020e-01 -3.96167031e-03 6.22038911e+01] [ 5.58046347e-01 8.29805959e-01 -2.51894592e-03 1.82092590e+01] [ 4.69312049e-03 -1.20583117e-04 9.99988980e-01 3.10846875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.392755096 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:62.23, Y:18.22, Z:0.31 [[ 8.29159617e-01 -5.58997890e-01 -3.96088013e-03 6.22283805e+01] [ 5.58992223e-01 8.29169068e-01 -2.52018782e-03 1.82231466e+01] [ 4.69301896e-03 -1.24463226e-04 9.99988980e-01 3.10166113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.422755096 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:62.25, Y:18.24, Z:0.31 [[ 8.29033465e-01 -5.59184970e-01 -3.96009288e-03 6.22522865e+01] [ 5.59179299e-01 8.29042914e-01 -2.52142426e-03 1.82372965e+01] [ 4.69302949e-03 -1.24056873e-04 9.99988980e-01 3.09926112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.452755096 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:62.28, Y:18.25, Z:0.31 [[ 8.28849377e-01 -5.59457804e-01 -3.95929541e-03 6.22760614e+01] [ 5.59452130e-01 8.28858824e-01 -2.52267587e-03 1.82516312e+01] [ 4.69302764e-03 -1.24117925e-04 9.99988980e-01 3.10159484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.482755096 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:62.30, Y:18.26, Z:0.31 [[ 8.30280227e-01 -5.57332104e-01 -3.95848282e-03 6.23016485e+01] [ 5.57326400e-01 8.30289656e-01 -2.52395032e-03 1.82644916e+01] [ 4.69336588e-03 -1.10580937e-04 9.99988980e-01 3.11294830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.512755096 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:62.32, Y:18.28, Z:0.31 [[ 8.29380933e-01 -5.58669496e-01 -3.95762558e-03 6.23240827e+01] [ 5.58663800e-01 8.29390367e-01 -2.52529377e-03 1.82795642e+01] [ 4.69322113e-03 -1.16551641e-04 9.99988980e-01 3.10769345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54275509600001 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:62.35, Y:18.29, Z:0.31 [[ 8.29793599e-01 -5.58056380e-01 -3.95725491e-03 6.23476955e+01] [ 5.58050675e-01 8.29803027e-01 -2.52587450e-03 1.82934557e+01] [ 4.69332248e-03 -1.12394277e-04 9.99988980e-01 3.10600416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57275509600001 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.37, Y:18.31, Z:0.31 [[ 8.30100020e-01 -5.57600484e-01 -3.95691266e-03 6.23717102e+01] [ 5.57594771e-01 8.30109444e-01 -2.52641054e-03 1.83076608e+01] [ 4.69339830e-03 -1.09180366e-04 9.99988980e-01 3.10733118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60275509600001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:62.40, Y:18.32, Z:0.31 [[ 8.32826930e-01 -5.53519335e-01 -3.95611536e-03 6.24032068e+01] [ 5.53513570e-01 8.32836322e-01 -2.52765842e-03 1.83207102e+01] [ 4.69390437e-03 -8.46615352e-05 9.99988980e-01 3.10348573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.632755096 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:62.43, Y:18.34, Z:0.31 [[ 8.32583599e-01 -5.53884965e-01 -3.99956999e-03 6.24264910e+01] [ 5.53879529e-01 8.32593189e-01 -2.45961516e-03 1.83359337e+01] [ 4.69235859e-03 -1.67444696e-04 9.99988977e-01 3.10503551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.662755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:62.44, Y:18.35, Z:0.31 [[ 8.31184887e-01 -5.55981741e-01 -3.99853026e-03 6.24423141e+01] [ 5.55976321e-01 8.31194485e-01 -2.46124210e-03 1.83516956e+01] [ 4.69196197e-03 -1.77340903e-04 9.99988977e-01 3.10892692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.692755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:62.47, Y:18.37, Z:0.31 [[ 8.32229471e-01 -5.54417241e-01 -3.95357221e-03 6.24660122e+01] [ 5.54411468e-01 8.32238857e-01 -2.53145661e-03 1.83656924e+01] [ 4.69379960e-03 -8.51529810e-05 9.99988980e-01 3.11033146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:18.38, Z:0.31 [[ 8.32455054e-01 -5.54078474e-01 -3.95322542e-03 6.24899893e+01] [ 5.54072695e-01 8.32464436e-01 -2.53199805e-03 1.83801957e+01] [ 4.69384519e-03 -8.25996875e-05 9.99988980e-01 3.11360850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.752755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.51, Y:18.40, Z:0.31 [[ 8.32395580e-01 -5.54167824e-01 -3.95244076e-03 6.25143540e+01] [ 5.54162040e-01 8.32404960e-01 -2.53322231e-03 1.83951052e+01] [ 4.69386158e-03 -8.16495807e-05 9.99988980e-01 3.11871942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.54, Y:18.41, Z:0.31 [[ 8.32530265e-01 -5.53965471e-01 -3.95164349e-03 6.25378374e+01] [ 5.53959679e-01 8.32539639e-01 -2.53446537e-03 1.84089943e+01] [ 4.69390615e-03 -7.90320323e-05 9.99988980e-01 3.12339740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.812755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.56, Y:18.42, Z:0.31 [[ 8.32536679e-01 -5.53955835e-01 -3.95110245e-03 6.25623496e+01] [ 5.53950039e-01 8.32546051e-01 -2.53530855e-03 1.84232642e+01] [ 4.69392371e-03 -7.79759976e-05 9.99988980e-01 3.13320121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.842755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.59, Y:18.44, Z:0.31 [[ 8.32686498e-01 -5.53730613e-01 -3.95031677e-03 6.25890980e+01] [ 5.53724808e-01 8.32695864e-01 -2.53653215e-03 1.84386966e+01] [ 4.69396794e-03 -7.52523249e-05 9.99988980e-01 3.13207441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.872755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:62.61, Y:18.45, Z:0.31 [[ 8.32424129e-01 -5.54124841e-01 -3.96616102e-03 6.26094652e+01] [ 5.54119158e-01 8.32433570e-01 -2.51185813e-03 1.84532156e+01] [ 4.69344857e-03 -1.06794486e-04 9.99988980e-01 3.13849941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:18.46, Z:0.31 [[ 8.33397601e-01 -5.52659789e-01 -3.94917103e-03 6.26293518e+01] [ 5.52653964e-01 8.33406955e-01 -2.53829182e-03 1.84644882e+01] [ 4.69407842e-03 -6.71187134e-05 9.99988981e-01 3.12903362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93275509600001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:62.66, Y:18.48, Z:0.31 [[ 8.31790767e-01 -5.55075485e-01 -3.91486291e-03 6.26562423e+01] [ 5.55069436e-01 8.31799979e-01 -2.59158531e-03 1.84827908e+01] [ 4.69490836e-03 -1.73640136e-05 9.99988979e-01 3.14230908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.68, Y:18.50, Z:0.31 [[ 8.30910747e-01 -5.56391717e-01 -3.94818741e-03 6.26807005e+01] [ 5.56385927e-01 8.30920122e-01 -2.53978111e-03 1.84968397e+01] [ 4.69374154e-03 -8.63844889e-05 9.99988981e-01 3.13729485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:18.51, Z:0.31 [[ 8.30203922e-01 -5.57445791e-01 -3.95445304e-03 6.27039341e+01] [ 5.57440060e-01 8.30213333e-01 -2.53003925e-03 1.85114912e+01] [ 4.69339938e-03 -1.03922027e-04 9.99988981e-01 3.13993364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:62.73, Y:18.53, Z:0.31 [[ 8.29789076e-01 -5.58063140e-01 -3.95240451e-03 6.27291442e+01] [ 5.58057400e-01 8.29798482e-01 -2.53322228e-03 1.85269320e+01] [ 4.69339725e-03 -1.03628410e-04 9.99988981e-01 3.14725012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:18.54, Z:0.31 [[ 8.28936995e-01 -5.59328013e-01 -3.95388093e-03 6.27513433e+01] [ 5.59322298e-01 8.28946416e-01 -2.53093253e-03 1.85419623e+01] [ 4.69317689e-03 -1.13510165e-04 9.99988981e-01 3.13773738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.082755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:62.78, Y:18.56, Z:0.31 [[ 8.29351738e-01 -5.58712929e-01 -3.94430077e-03 6.27782980e+01] [ 5.58707137e-01 8.29361112e-01 -2.54577556e-03 1.85574869e+01] [ 4.69360739e-03 -9.23656111e-05 9.99988981e-01 3.13408787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.80, Y:18.57, Z:0.31 [[ 8.28449080e-01 -5.60050376e-01 -3.96200695e-03 6.28028714e+01] [ 5.60044730e-01 8.28458544e-01 -2.51834609e-03 1.85744350e+01] [ 4.69275918e-03 -1.32579604e-04 9.99988980e-01 3.13649855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.82, Y:18.59, Z:0.31 [[ 8.28972224e-01 -5.59275629e-01 -3.97765234e-03 6.28221747e+01] [ 5.59270090e-01 8.28981752e-01 -2.49412686e-03 1.85888599e+01] [ 4.69230558e-03 -1.57020094e-04 9.99988979e-01 3.12462250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.85, Y:18.60, Z:0.31 [[ 8.29549801e-01 -5.58418883e-01 -3.93421278e-03 6.28475254e+01] [ 5.58413014e-01 8.29559127e-01 -2.56125726e-03 1.86047502e+01] [ 4.69391654e-03 -7.22251635e-05 9.99988981e-01 3.12629015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.87, Y:18.62, Z:0.31 [[ 8.32716764e-01 -5.53685074e-01 -3.95329072e-03 6.28694159e+01] [ 5.53679292e-01 8.32726145e-01 -2.53177681e-03 1.86214114e+01] [ 4.69381557e-03 -8.06022090e-05 9.99988981e-01 3.12798300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:62.89, Y:18.64, Z:0.31 [[ 8.33909154e-01 -5.51887668e-01 -3.94021760e-03 6.28912857e+01] [ 5.51881770e-01 8.33918461e-01 -2.55196166e-03 1.86390116e+01] [ 4.69421636e-03 -4.64300766e-05 9.99988981e-01 3.11407509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.91, Y:18.66, Z:0.31 [[ 8.35326956e-01 -5.49739350e-01 -3.93995985e-03 6.29147380e+01] [ 5.49733426e-01 8.35336247e-01 -2.55235953e-03 1.86553859e+01] [ 4.69432375e-03 -3.38729019e-05 9.99988981e-01 3.10793215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.94, Y:18.67, Z:0.31 [[ 8.37716745e-01 -5.46090757e-01 -3.94205406e-03 6.29367062e+01] [ 5.46084808e-01 8.37726020e-01 -2.54912808e-03 1.86720561e+01] [ 4.69441654e-03 -1.72485595e-05 9.99988981e-01 3.11346504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.96, Y:18.69, Z:0.31 [[ 8.38153352e-01 -5.45420429e-01 -3.93886085e-03 6.29603659e+01] [ 5.45414449e-01 8.38162607e-01 -2.55405265e-03 1.86887028e+01] [ 4.69443837e-03 -7.62383432e-06 9.99988981e-01 3.11033110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.98, Y:18.70, Z:0.31 [[ 8.38875535e-01 -5.44308981e-01 -3.94596914e-03 6.29838370e+01] [ 5.44303040e-01 8.38884815e-01 -2.54309310e-03 1.87045432e+01] [ 4.69444201e-03 -1.44644172e-05 9.99988981e-01 3.11921047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.01, Y:18.72, Z:0.31 [[ 8.39015250e-01 -5.44093605e-01 -3.94442975e-03 6.30087305e+01] [ 5.44087651e-01 8.39024522e-01 -2.54546484e-03 1.87216519e+01] [ 4.69444443e-03 -1.04317001e-05 9.99988981e-01 3.11367895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.412755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:63.03, Y:18.74, Z:0.31 [[ 8.39561908e-01 -5.43249650e-01 -3.95233538e-03 6.30299525e+01] [ 5.43243744e-01 8.39571210e-01 -2.53328719e-03 1.87378652e+01] [ 4.69447438e-03 -2.02300438e-05 9.99988981e-01 3.13159895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.05, Y:18.75, Z:0.31 [[ 8.39799382e-01 -5.42882522e-01 -3.94536110e-03 6.30518257e+01] [ 5.42876561e-01 8.39808649e-01 -2.54401593e-03 1.87530847e+01] [ 4.69445016e-03 -5.38106174e-06 9.99988981e-01 3.13467181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.07, Y:18.77, Z:0.31 [[ 8.39066727e-01 -5.44014287e-01 -3.93493493e-03 6.30746435e+01] [ 5.44008264e-01 8.39075953e-01 -2.56004157e-03 1.87689375e+01] [ 4.69440847e-03 7.40858030e-06 9.99988981e-01 3.13958237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.10, Y:18.78, Z:0.31 [[ 8.36954663e-01 -5.47258087e-01 -3.93418631e-03 6.30987675e+01] [ 5.47252094e-01 8.36963910e-01 -2.56119152e-03 1.87846526e+01] [ 4.69440472e-03 -9.39051016e-06 9.99988981e-01 3.14919095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.12, Y:18.80, Z:0.32 [[ 8.36149711e-01 -5.48487124e-01 -3.94149588e-03 6.31220404e+01] [ 5.48481198e-01 8.36159000e-01 -2.54996787e-03 1.87991100e+01] [ 4.69434180e-03 -2.96814821e-05 9.99988981e-01 3.15054145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.14, Y:18.81, Z:0.32 [[ 8.34885309e-01 -5.50409896e-01 -3.93290994e-03 6.31446596e+01] [ 5.50403929e-01 8.34894572e-01 -2.56314221e-03 1.88130572e+01] [ 4.69434400e-03 -2.47593050e-05 9.99988981e-01 3.15142552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.17, Y:18.83, Z:0.32 [[ 8.32144323e-01 -5.54545184e-01 -3.93256751e-03 6.31684150e+01] [ 5.54539260e-01 8.32153613e-01 -2.56366748e-03 1.88271923e+01] [ 4.69416972e-03 -4.74217405e-05 9.99988981e-01 3.15405089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.19, Y:18.84, Z:0.32 [[ 8.31057966e-01 -5.56171915e-01 -3.93178649e-03 6.31910734e+01] [ 5.56166003e-01 8.31067265e-01 -2.56486474e-03 1.88412922e+01] [ 4.69408478e-03 -5.51747078e-05 9.99988981e-01 3.15122386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.21, Y:18.85, Z:0.31 [[ 8.30904301e-01 -5.56401461e-01 -3.93144876e-03 6.32125930e+01] [ 5.56395550e-01 8.30913600e-01 -2.56538231e-03 1.88549319e+01] [ 4.69407671e-03 -5.58533956e-05 9.99988981e-01 3.14820443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.24, Y:18.87, Z:0.31 [[ 8.28313187e-01 -5.60251689e-01 -3.91265993e-03 6.32383795e+01] [ 5.60245685e-01 8.28322427e-01 -2.59415966e-03 1.88720170e+01] [ 4.69432630e-03 -4.32741805e-05 9.99988981e-01 3.13874979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.26, Y:18.89, Z:0.31 [[ 8.27695581e-01 -5.61163590e-01 -3.93065677e-03 6.32606214e+01] [ 5.61157726e-01 8.27704910e-01 -2.56659812e-03 1.88866873e+01] [ 4.69370533e-03 -8.13564875e-05 9.99988981e-01 3.13612962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.28, Y:18.90, Z:0.31 [[ 8.26625698e-01 -5.62738402e-01 -3.93031307e-03 6.32848835e+01] [ 5.62732553e-01 8.26635036e-01 -2.56712433e-03 1.89017732e+01] [ 4.69355393e-03 -8.96641654e-05 9.99988981e-01 3.12784046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.31, Y:18.92, Z:0.31 [[ 8.26184828e-01 -5.63385471e-01 -3.92955418e-03 6.33079474e+01] [ 5.63379624e-01 8.26194168e-01 -2.56828546e-03 1.89162646e+01] [ 4.69350946e-03 -9.19522770e-05 9.99988981e-01 3.12237378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.33, Y:18.93, Z:0.31 [[ 8.25538223e-01 -5.64332530e-01 -3.92903924e-03 6.33314217e+01] [ 5.64326690e-01 8.25547568e-01 -2.56907299e-03 1.89313975e+01] [ 4.69342025e-03 -9.63937546e-05 9.99988981e-01 3.12144722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.36, Y:18.95, Z:0.31 [[ 8.25131613e-01 -5.64926889e-01 -3.92828797e-03 6.33552638e+01] [ 5.64921051e-01 8.25140958e-01 -2.57022121e-03 1.89467113e+01] [ 4.69337837e-03 -9.84017904e-05 9.99988981e-01 3.12396177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.38, Y:18.96, Z:0.31 [[ 8.25599473e-01 -5.64242931e-01 -3.92747563e-03 6.33774019e+01] [ 5.64237080e-01 8.25608809e-01 -2.57146193e-03 1.89620526e+01] [ 4.69348769e-03 -9.30297672e-05 9.99988981e-01 3.12660818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.40, Y:18.98, Z:0.31 [[ 8.26849655e-01 -5.62409304e-01 -3.92712409e-03 6.33990089e+01] [ 5.62403429e-01 8.26858977e-01 -2.57199869e-03 1.89784562e+01] [ 4.69369380e-03 -8.19718199e-05 9.99988981e-01 3.13268915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.42, Y:18.99, Z:0.31 [[ 8.27236746e-01 -5.61839787e-01 -3.92678251e-03 6.34217763e+01] [ 5.61833903e-01 8.27246062e-01 -2.57252009e-03 1.89938093e+01] [ 4.69375951e-03 -7.81163945e-05 9.99988981e-01 3.12878321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.45, Y:19.01, Z:0.31 [[ 8.27886375e-01 -5.60882103e-01 -3.92644860e-03 6.34495626e+01] [ 5.60876206e-01 8.27895683e-01 -2.57302963e-03 1.90101834e+01] [ 4.69385612e-03 -7.20754191e-05 9.99988981e-01 3.11137872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.47, Y:19.03, Z:0.31 [[ 8.27647780e-01 -5.61233960e-01 -3.94893502e-03 6.34715146e+01] [ 5.61228230e-01 8.27657193e-01 -2.53874835e-03 1.90264270e+01] [ 4.69319627e-03 -1.15064374e-04 9.99988980e-01 3.12085646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.50, Y:19.04, Z:0.31 [[ 8.27348473e-01 -5.61675167e-01 -3.93852415e-03 6.34955109e+01] [ 5.61669366e-01 8.27357841e-01 -2.55460182e-03 1.90431475e+01] [ 4.69342524e-03 -9.86024466e-05 9.99988981e-01 3.12030796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.52, Y:19.06, Z:0.31 [[ 8.26902734e-01 -5.62331189e-01 -3.93737799e-03 6.35196039e+01] [ 5.62325387e-01 8.26912102e-01 -2.55634525e-03 1.90597457e+01] [ 4.69337817e-03 -1.00238725e-04 9.99988981e-01 3.12414434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.54, Y:19.08, Z:0.31 [[ 8.25723912e-01 -5.64060722e-01 -3.93995249e-03 6.35386668e+01] [ 5.64054959e-01 8.25733304e-01 -2.55243126e-03 1.90753321e+01] [ 4.69307620e-03 -1.14746217e-04 9.99988981e-01 3.13305385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.56, Y:19.09, Z:0.31 [[ 8.24564239e-01 -5.65754755e-01 -3.92088005e-03 6.35603977e+01] [ 5.65748873e-01 8.24573556e-01 -2.58140033e-03 1.90917543e+01] [ 4.69349352e-03 -8.97030735e-05 9.99988981e-01 3.14037050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.58, Y:19.11, Z:0.31 [[ 8.24017568e-01 -5.66550683e-01 -3.92053672e-03 6.35823702e+01] [ 5.66544808e-01 8.24026889e-01 -2.58192165e-03 1.91066712e+01] [ 4.69341716e-03 -9.36109236e-05 9.99988981e-01 3.14824529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.61, Y:19.12, Z:0.32 [[ 8.22944190e-01 -5.68108697e-01 -3.92020112e-03 6.36052587e+01] [ 5.68102837e-01 8.22953521e-01 -2.58243110e-03 1.91228899e+01] [ 4.69324489e-03 -1.01880706e-04 9.99988981e-01 3.16144104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.63, Y:19.14, Z:0.32 [[ 8.22303814e-01 -5.69035215e-01 -3.91939586e-03 6.36277238e+01] [ 5.69029359e-01 8.22313148e-01 -2.58365268e-03 1.91387158e+01] [ 4.69316011e-03 -1.05703863e-04 9.99988981e-01 3.16247470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.65, Y:19.15, Z:0.32 [[ 8.21829523e-01 -5.69719998e-01 -3.91904718e-03 6.36499454e+01] [ 5.69714147e-01 8.21838860e-01 -2.58418148e-03 1.91542288e+01] [ 4.69308513e-03 -1.08979982e-04 9.99988981e-01 3.16153335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.67, Y:19.17, Z:0.32 [[ 8.20936025e-01 -5.71006730e-01 -3.91870821e-03 6.36722266e+01] [ 5.71000892e-01 8.20945370e-01 -2.58469539e-03 1.91702985e+01] [ 4.69292383e-03 -1.15716322e-04 9.99988981e-01 3.16359873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:19.19, Z:0.32 [[ 8.20404700e-01 -5.71769862e-01 -3.91837971e-03 6.36956842e+01] [ 5.71764030e-01 8.20414048e-01 -2.58519331e-03 1.91867600e+01] [ 4.69282938e-03 -1.19483834e-04 9.99988981e-01 3.17194039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.72, Y:19.20, Z:0.32 [[ 8.19743914e-01 -5.72716807e-01 -3.92099957e-03 6.37170123e+01] [ 5.72711005e-01 8.19753281e-01 -2.58122633e-03 1.92030872e+01] [ 4.69256397e-03 -1.29655027e-04 9.99988981e-01 3.17480597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.74, Y:19.22, Z:0.32 [[ 8.20302938e-01 -5.71915910e-01 -3.90910218e-03 6.37403561e+01] [ 5.71910013e-01 8.20312246e-01 -2.59923469e-03 1.92182868e+01] [ 4.69322806e-03 -1.03494827e-04 9.99988981e-01 3.16367418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.76, Y:19.23, Z:0.32 [[ 8.20185716e-01 -5.72083957e-01 -3.91634584e-03 6.37631892e+01] [ 5.72078114e-01 8.20195058e-01 -2.58827424e-03 1.92344488e+01] [ 4.69287767e-03 -1.17590181e-04 9.99988981e-01 3.16768686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.78, Y:19.25, Z:0.32 [[ 8.20504738e-01 -5.71626314e-01 -3.91557196e-03 6.37845877e+01] [ 5.71620460e-01 8.20514073e-01 -2.58944444e-03 1.92504243e+01] [ 4.69297648e-03 -1.13569613e-04 9.99988981e-01 3.16437285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.81, Y:19.27, Z:0.32 [[ 8.20381299e-01 -5.71803458e-01 -3.91523710e-03 6.38076404e+01] [ 5.71797604e-01 8.20390634e-01 -2.58995065e-03 1.92665966e+01] [ 4.69296658e-03 -1.13976116e-04 9.99988981e-01 3.17112291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.83, Y:19.28, Z:0.32 [[ 8.21281044e-01 -5.70510371e-01 -3.91959725e-03 6.38306476e+01] [ 5.70504534e-01 8.21290389e-01 -2.58336317e-03 1.92823611e+01] [ 4.69296304e-03 -1.14480801e-04 9.99988981e-01 3.18151624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.86, Y:19.30, Z:0.32 [[ 8.22043297e-01 -5.69411540e-01 -3.91362562e-03 6.38558939e+01] [ 5.69405647e-01 8.22052607e-01 -2.59237834e-03 1.92986416e+01] [ 4.69333629e-03 -9.73932945e-05 9.99988981e-01 3.17171522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.88, Y:19.31, Z:0.32 [[ 8.21936131e-01 -5.69566155e-01 -3.92328420e-03 6.38787581e+01] [ 5.69560333e-01 8.21945486e-01 -2.57779939e-03 1.93140074e+01] [ 4.69295302e-03 -1.15760597e-04 9.99988981e-01 3.17305848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.90, Y:19.33, Z:0.32 [[ 8.22376832e-01 -5.68929660e-01 -3.92286943e-03 6.39008964e+01] [ 5.68923828e-01 8.22386180e-01 -2.57842522e-03 1.93303072e+01] [ 4.69305619e-03 -1.11376729e-04 9.99988981e-01 3.18625913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.92, Y:19.35, Z:0.32 [[ 8.23926440e-01 -5.66683259e-01 -3.91208851e-03 6.39235658e+01] [ 5.66677325e-01 8.23935724e-01 -2.59467999e-03 1.93472333e+01] [ 4.69367119e-03 -7.90664011e-05 9.99988982e-01 3.18737992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.95, Y:19.36, Z:0.32 [[ 8.24858959e-01 -5.65325039e-01 -3.91129689e-03 6.39469442e+01] [ 5.65319083e-01 8.24868229e-01 -2.59587274e-03 1.93634202e+01] [ 4.69381640e-03 -6.99018849e-05 9.99988982e-01 3.18824258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.97, Y:19.38, Z:0.32 [[ 8.25647406e-01 -5.64172907e-01 -3.91049083e-03 6.39696385e+01] [ 5.64166932e-01 8.25656664e-01 -2.59708646e-03 1.93794351e+01] [ 4.69392863e-03 -6.18919156e-05 9.99988982e-01 3.18827680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.99, Y:19.39, Z:0.32 [[ 8.26571761e-01 -5.62817767e-01 -3.90967925e-03 6.39918591e+01] [ 5.62811771e-01 8.26581006e-01 -2.59830764e-03 1.93948307e+01] [ 4.69404031e-03 -5.27257791e-05 9.99988982e-01 3.18493158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.01, Y:19.41, Z:0.32 [[ 8.28504517e-01 -5.59968733e-01 -3.90932787e-03 6.40142602e+01] [ 5.59962704e-01 8.28513739e-01 -2.59883621e-03 1.94106071e+01] [ 4.69419887e-03 -3.59302640e-05 9.99988982e-01 3.18230914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.04, Y:19.43, Z:0.32 [[ 8.29809012e-01 -5.58033802e-01 -3.90898253e-03 6.40368531e+01] [ 5.58027748e-01 8.29818219e-01 -2.59935553e-03 1.94258037e+01] [ 4.69427317e-03 -2.43520723e-05 9.99988982e-01 3.17741835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.762755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:64.06, Y:19.44, Z:0.32 [[ 8.30198973e-01 -5.57453545e-01 -3.90000974e-03 6.40610242e+01] [ 5.57447422e-01 8.30208134e-01 -2.61284319e-03 1.94428375e+01] [ 4.69435851e-03 -4.87063816e-06 9.99988981e-01 3.18474725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.08, Y:19.46, Z:0.32 [[ 8.31268893e-01 -5.55856775e-01 -3.90813440e-03 6.40831870e+01] [ 5.55850691e-01 8.31278080e-01 -2.60063376e-03 1.94575998e+01] [ 4.69432635e-03 -1.05132617e-05 9.99988982e-01 3.18920228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.11, Y:19.47, Z:0.32 [[ 8.31261854e-01 -5.55867342e-01 -3.90245952e-03 6.41070691e+01] [ 5.55861218e-01 8.31271014e-01 -2.60915458e-03 1.94732568e+01] [ 4.69434530e-03 -3.35226537e-07 9.99988981e-01 3.19321036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.13, Y:19.49, Z:0.32 [[ 8.31113281e-01 -5.56089429e-01 -3.90649151e-03 6.41306929e+01] [ 5.56083336e-01 8.31122462e-01 -2.60310375e-03 1.94877102e+01] [ 4.69433132e-03 -8.86073641e-06 9.99988982e-01 3.19927458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.15, Y:19.50, Z:0.32 [[ 8.30829044e-01 -5.56514012e-01 -3.90569470e-03 6.41545462e+01] [ 5.56507919e-01 8.30838224e-01 -2.60429874e-03 1.95028294e+01] [ 4.69432919e-03 -9.82299950e-06 9.99988982e-01 3.20648573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.18, Y:19.52, Z:0.32 [[ 8.31087219e-01 -5.56128391e-01 -3.90487943e-03 6.41767024e+01] [ 5.56122287e-01 8.31096392e-01 -2.60552058e-03 1.95168858e+01] [ 4.69433517e-03 -6.17562818e-06 9.99988982e-01 3.21289324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.20, Y:19.53, Z:0.32 [[ 8.29615521e-01 -5.58321528e-01 -3.89335493e-03 6.42020804e+01] [ 5.58315368e-01 8.29624657e-01 -2.62278168e-03 1.95321108e+01] [ 4.69437872e-03 2.18049712e-06 9.99988981e-01 3.21403577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.22, Y:19.55, Z:0.32 [[ 8.30226489e-01 -5.57412536e-01 -3.90409179e-03 6.42242899e+01] [ 5.57406441e-01 8.30235668e-01 -2.60670094e-03 1.95450129e+01] [ 4.69432404e-03 -1.20137444e-05 9.99988982e-01 3.20643074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.25, Y:19.56, Z:0.32 [[ 8.28349540e-01 -5.60198163e-01 -3.88042827e-03 6.42498142e+01] [ 5.60191933e-01 8.28358629e-01 -2.64210599e-03 1.95616710e+01] [ 4.69448916e-03 1.48026629e-05 9.99988981e-01 3.21468023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.032755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:64.27, Y:19.57, Z:0.32 [[ 8.26981676e-01 -5.62215328e-01 -3.90296319e-03 6.42735761e+01] [ 5.62209279e-01 8.26990885e-01 -2.60838671e-03 1.95743383e+01] [ 4.69418997e-03 -3.71941087e-05 9.99988982e-01 3.21472682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.30, Y:19.59, Z:0.32 [[ 8.26187065e-01 -5.63382377e-01 -3.90263378e-03 6.42973672e+01] [ 5.63376338e-01 8.26196281e-01 -2.60887947e-03 1.95888163e+01] [ 4.69413823e-03 -4.32290609e-05 9.99988982e-01 3.21319937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.32, Y:19.60, Z:0.32 [[ 8.25373009e-01 -5.64574328e-01 -3.90189905e-03 6.43208341e+01] [ 5.64568297e-01 8.25382230e-01 -2.60997789e-03 1.96035137e+01] [ 4.69408465e-03 -4.86831931e-05 9.99988982e-01 3.21918580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.34, Y:19.62, Z:0.32 [[ 8.24084203e-01 -5.66453889e-01 -3.90108948e-03 6.43445158e+01] [ 5.66447873e-01 8.24093434e-01 -2.61118737e-03 1.96178480e+01] [ 4.69397947e-03 -5.79255741e-05 9.99988982e-01 3.21019995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.37, Y:19.63, Z:0.32 [[ 8.23408374e-01 -5.67435844e-01 -3.90028388e-03 6.43678680e+01] [ 5.67429834e-01 8.23417609e-01 -2.61239014e-03 1.96330051e+01] [ 4.69392623e-03 -6.20735172e-05 9.99988982e-01 3.20985369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.39, Y:19.65, Z:0.32 [[ 8.22716882e-01 -5.68437971e-01 -3.89944275e-03 6.43910098e+01] [ 5.68431966e-01 8.22726120e-01 -2.61364506e-03 1.96478350e+01] [ 4.69386850e-03 -6.62779987e-05 9.99988982e-01 3.20113627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.42, Y:19.66, Z:0.32 [[ 8.21381906e-01 -5.70365288e-01 -3.89907872e-03 6.44153758e+01] [ 5.70359302e-01 8.21391157e-01 -2.61418802e-03 1.96626836e+01] [ 4.69371088e-03 -7.66290802e-05 9.99988982e-01 3.20531038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.44, Y:19.68, Z:0.32 [[ 8.21649639e-01 -5.69979538e-01 -3.89825566e-03 6.44435918e+01] [ 5.69973542e-01 8.21658883e-01 -2.61541478e-03 1.96777259e+01] [ 4.69376930e-03 -7.29479756e-05 9.99988982e-01 3.19168336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.46, Y:19.69, Z:0.32 [[ 8.20270708e-01 -5.71962051e-01 -3.92150882e-03 6.44639156e+01] [ 5.71956243e-01 8.20280072e-01 -2.58070164e-03 1.96919488e+01] [ 4.69279894e-03 -1.26057492e-04 9.99988981e-01 3.18931281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.49, Y:19.71, Z:0.32 [[ 8.18901676e-01 -5.73920638e-01 -3.89193526e-03 6.44888070e+01] [ 5.73914642e-01 8.18910920e-01 -2.62477202e-03 1.97067050e+01] [ 4.69355911e-03 -8.42084274e-05 9.99988982e-01 3.21122505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.51, Y:19.72, Z:0.32 [[ 8.18389081e-01 -5.74651302e-01 -3.89776514e-03 6.45115590e+01] [ 5.74645356e-01 8.18398357e-01 -2.61608594e-03 1.97214186e+01] [ 4.69326178e-03 -9.88564676e-05 9.99988982e-01 3.20492699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.54, Y:19.74, Z:0.32 [[ 8.17829945e-01 -5.75446775e-01 -3.89741918e-03 6.45361732e+01] [ 5.75440835e-01 8.17839225e-01 -2.61660126e-03 1.97388206e+01] [ 4.69317703e-03 -1.02799285e-04 9.99988982e-01 3.22561972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.56, Y:19.76, Z:0.32 [[ 8.19247574e-01 -5.73426687e-01 -3.90462295e-03 6.45582782e+01] [ 5.73420776e-01 8.19256873e-01 -2.60587551e-03 1.97556487e+01] [ 4.69316775e-03 -1.04134731e-04 9.99988982e-01 3.23835829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.58, Y:19.77, Z:0.32 [[ 8.19421656e-01 -5.73177957e-01 -3.89608630e-03 6.45812155e+01] [ 5.73171982e-01 8.19430914e-01 -2.61857690e-03 1.97715050e+01] [ 4.69348411e-03 -8.74088870e-05 9.99988982e-01 3.24256903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.60, Y:19.79, Z:0.32 [[ 8.19784652e-01 -5.72658669e-01 -3.89523582e-03 6.46038897e+01] [ 5.72652682e-01 8.19793902e-01 -2.61984141e-03 1.97864661e+01] [ 4.69356546e-03 -8.29114603e-05 9.99988982e-01 3.23090707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:64.62, Y:19.80, Z:0.32 [[ 8.18810265e-01 -5.74051025e-01 -3.89486760e-03 6.46222893e+01] [ 5.74045052e-01 8.18819524e-01 -2.62038871e-03 1.98043690e+01] [ 4.69343046e-03 -9.02283000e-05 9.99988982e-01 3.21663160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.65, Y:19.82, Z:0.33 [[ 8.21321154e-01 -5.70452998e-01 -3.86522237e-03 6.46512072e+01] [ 5.70446776e-01 8.21330248e-01 -2.66439750e-03 1.98195936e+01] [ 4.69453759e-03 -1.65776155e-05 9.99988980e-01 3.25072242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.67, Y:19.84, Z:0.33 [[ 8.21975932e-01 -5.69508914e-01 -3.89402312e-03 6.46735333e+01] [ 5.69502884e-01 8.21985153e-01 -2.62161830e-03 1.98370523e+01] [ 4.69386418e-03 -6.27502529e-05 9.99988982e-01 3.25392783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.70, Y:19.85, Z:0.33 [[ 8.22587772e-01 -5.68624879e-01 -3.88632144e-03 6.46972056e+01] [ 5.68618785e-01 8.22596952e-01 -2.63305208e-03 1.98538367e+01] [ 4.69409509e-03 -4.39189294e-05 9.99988982e-01 3.25179511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.72, Y:19.87, Z:0.32 [[ 8.22606899e-01 -5.68597204e-01 -3.88709919e-03 6.47188538e+01] [ 5.68591114e-01 8.22616082e-01 -2.63189767e-03 1.98707247e+01] [ 4.69407996e-03 -4.51528780e-05 9.99988982e-01 3.23406377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.74, Y:19.89, Z:0.32 [[ 8.23069886e-01 -5.67926855e-01 -3.87946680e-03 6.47433786e+01] [ 5.67920704e-01 8.23079028e-01 -2.64322019e-03 1.98873420e+01] [ 4.69426349e-03 -2.76745758e-05 9.99988982e-01 3.24027563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.77, Y:19.90, Z:0.33 [[ 8.23966424e-01 -5.66625245e-01 -3.89397770e-03 6.47674235e+01] [ 5.66619182e-01 8.23975624e-01 -2.62169176e-03 1.99017743e+01] [ 4.69405944e-03 -4.62164756e-05 9.99988982e-01 3.25669341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.79, Y:19.92, Z:0.33 [[ 8.23203426e-01 -5.67733187e-01 -3.89188279e-03 6.47891257e+01] [ 5.67727122e-01 8.23212625e-01 -2.62479796e-03 1.99176269e+01] [ 4.69403196e-03 -4.87847430e-05 9.99988982e-01 3.25591359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.722755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:64.81, Y:19.94, Z:0.32 [[ 8.21329148e-01 -5.70441309e-01 -3.89152342e-03 6.48099959e+01] [ 5.70435271e-01 8.21338364e-01 -2.62533065e-03 1.99351569e+01] [ 4.69385454e-03 -6.36016346e-05 9.99988982e-01 3.23595224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.84, Y:19.95, Z:0.33 [[ 8.21470166e-01 -5.70238343e-01 -3.87281489e-03 6.48365201e+01] [ 5.70232172e-01 8.21479294e-01 -2.65304249e-03 1.99497670e+01] [ 4.69430380e-03 -2.90083925e-05 9.99988981e-01 3.26087573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.86, Y:19.96, Z:0.33 [[ 8.19208345e-01 -5.73482825e-01 -3.89061693e-03 6.48591565e+01] [ 5.73476815e-01 8.19217580e-01 -2.62667420e-03 1.99647999e+01] [ 4.69361432e-03 -7.93851759e-05 9.99988982e-01 3.26499783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.88, Y:19.98, Z:0.33 [[ 8.17849116e-01 -5.75419576e-01 -3.89026013e-03 6.48821085e+01] [ 5.75413586e-01 8.17858364e-01 -2.62720253e-03 1.99805600e+01] [ 4.69342555e-03 -8.98532623e-05 9.99988982e-01 3.27134588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.91, Y:20.00, Z:0.33 [[ 8.16478384e-01 -5.77362902e-01 -3.88945455e-03 6.49056169e+01] [ 5.77356928e-01 8.16487642e-01 -2.62839461e-03 1.99964608e+01] [ 4.69322912e-03 -9.95761464e-05 9.99988982e-01 3.27931566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:20.01, Z:0.33 [[ 8.12936664e-01 -5.82339126e-01 -3.88862555e-03 6.49251102e+01] [ 5.82333203e-01 8.12945955e-01 -2.62962053e-03 2.00130109e+01] [ 4.69257333e-03 -1.26760833e-04 9.99988982e-01 3.26402434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.95, Y:20.03, Z:0.33 [[ 8.12259292e-01 -5.83283707e-01 -3.86778352e-03 6.49482495e+01] [ 5.83277647e-01 8.12268495e-01 -2.66041881e-03 2.00279203e+01] [ 4.69345765e-03 -9.50417740e-05 9.99988981e-01 3.26572348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.97, Y:20.04, Z:0.33 [[ 8.11176818e-01 -5.84788149e-01 -3.87173087e-03 6.49739967e+01] [ 5.84782134e-01 8.11186051e-01 -2.65458667e-03 2.00430567e+01] [ 4.69306489e-03 -1.10779873e-04 9.99988981e-01 3.29051128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.00, Y:20.06, Z:0.33 [[ 8.09763188e-01 -5.86743951e-01 -3.88779496e-03 6.49950887e+01] [ 5.86738073e-01 8.09772507e-01 -2.63084759e-03 2.00594407e+01] [ 4.69186338e-03 -1.50753793e-04 9.99988982e-01 3.26388723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.02, Y:20.07, Z:0.33 [[ 8.09425201e-01 -5.87210206e-01 -3.87539671e-03 6.50195696e+01] [ 5.87204245e-01 8.09434467e-01 -2.64915578e-03 2.00744701e+01] [ 4.69249098e-03 -1.31355949e-04 9.99988982e-01 3.29072565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.04, Y:20.09, Z:0.33 [[ 8.09315686e-01 -5.87361059e-01 -3.88674844e-03 6.50417651e+01] [ 5.87355180e-01 8.09325005e-01 -2.63239487e-03 2.00893146e+01] [ 4.69180894e-03 -1.52463368e-04 9.99988982e-01 3.27281041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.07, Y:20.11, Z:0.33 [[ 8.07553990e-01 -5.89780925e-01 -3.87473170e-03 6.50660440e+01] [ 5.89774989e-01 8.07563273e-01 -2.65013031e-03 2.01069153e+01] [ 4.69208732e-03 -1.45096544e-04 9.99988982e-01 3.28932424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.09, Y:20.12, Z:0.33 [[ 8.07362443e-01 -5.90043035e-01 -3.88625414e-03 6.50884126e+01] [ 5.90037183e-01 8.07371779e-01 -2.63312423e-03 2.01222809e+01] [ 4.69130853e-03 -1.67148829e-04 9.99988982e-01 3.28283812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.11, Y:20.14, Z:0.33 [[ 8.06775075e-01 -5.90845904e-01 -3.88533839e-03 6.51107837e+01] [ 5.90840055e-01 8.06784413e-01 -2.63447479e-03 2.01387652e+01] [ 4.69119909e-03 -1.70184953e-04 9.99988982e-01 3.28666044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.13, Y:20.16, Z:0.33 [[ 8.06870403e-01 -5.90715721e-01 -3.88445342e-03 6.51335454e+01] [ 5.90709865e-01 8.06879736e-01 -2.63577899e-03 2.01550074e+01] [ 4.69128284e-03 -1.67852898e-04 9.99988982e-01 3.29124549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.16, Y:20.17, Z:0.33 [[ 8.08016122e-01 -5.89147575e-01 -3.88362707e-03 6.51558044e+01] [ 5.89141694e-01 8.08025439e-01 -2.63699600e-03 2.01713623e+01] [ 4.69164927e-03 -1.57271347e-04 9.99988982e-01 3.30148686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.18, Y:20.19, Z:0.33 [[ 8.08726500e-01 -5.88172060e-01 -3.88278904e-03 6.51779109e+01] [ 5.88166162e-01 8.08735807e-01 -2.63822936e-03 2.01875928e+01] [ 4.69188333e-03 -1.50119132e-04 9.99988982e-01 3.30044175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.20, Y:20.20, Z:0.33 [[ 8.09531056e-01 -5.87064218e-01 -3.88242566e-03 6.52005519e+01] [ 5.87058305e-01 8.09540353e-01 -2.63876400e-03 2.02039843e+01] [ 4.69210417e-03 -1.43048823e-04 9.99988982e-01 3.30617823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.22, Y:20.22, Z:0.33 [[ 8.11507794e-01 -5.84328704e-01 -3.88158429e-03 6.52218545e+01] [ 5.84322753e-01 8.11517067e-01 -2.64000107e-03 2.02206646e+01] [ 4.69260030e-03 -1.25716573e-04 9.99988982e-01 3.31311021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.24, Y:20.24, Z:0.33 [[ 8.12556857e-01 -5.82869018e-01 -3.88101303e-03 6.52446023e+01] [ 5.82863047e-01 8.12566117e-01 -2.64084060e-03 2.02371870e+01] [ 4.69284386e-03 -1.16265940e-04 9.99988982e-01 3.32190364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.27, Y:20.25, Z:0.33 [[ 8.13471776e-01 -5.81591449e-01 -3.88017227e-03 6.52659978e+01] [ 5.81585458e-01 8.13481023e-01 -2.64207535e-03 2.02533872e+01] [ 4.69305494e-03 -1.07398041e-04 9.99988982e-01 3.32509192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:20.27, Z:0.33 [[ 8.14493973e-01 -5.80159044e-01 -3.87980836e-03 6.52885948e+01] [ 5.80153033e-01 8.14503207e-01 -2.64260963e-03 2.02699480e+01] [ 4.69325023e-03 -9.84929788e-05 9.99988982e-01 3.33124831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.31, Y:20.29, Z:0.33 [[ 8.15410567e-01 -5.78870072e-01 -3.87899860e-03 6.53117724e+01] [ 5.78864042e-01 8.15419788e-01 -2.64379772e-03 2.02870539e+01] [ 4.69342759e-03 -8.96322100e-05 9.99988982e-01 3.32836755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.33, Y:20.30, Z:0.33 [[ 8.15308692e-01 -5.79013526e-01 -3.88250604e-03 6.53344526e+01] [ 5.79007522e-01 8.15317930e-01 -2.63865442e-03 2.03026836e+01] [ 4.69329339e-03 -9.66823167e-05 9.99988982e-01 3.32967837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.36, Y:20.32, Z:0.33 [[ 8.16526678e-01 -5.77294650e-01 -3.88211783e-03 6.53551125e+01] [ 5.77288624e-01 8.16535902e-01 -2.63922349e-03 2.03196934e+01] [ 4.69349819e-03 -8.61060764e-05 9.99988982e-01 3.34677686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.38, Y:20.34, Z:0.33 [[ 8.17135044e-01 -5.76433246e-01 -3.87733533e-03 6.53765395e+01] [ 5.76427176e-01 8.17144239e-01 -2.64623096e-03 2.03357905e+01] [ 4.69371772e-03 -7.26734063e-05 9.99988982e-01 3.34958963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.40, Y:20.35, Z:0.33 [[ 8.18138809e-01 -5.75007703e-01 -3.87698906e-03 6.53990680e+01] [ 5.75001615e-01 8.18147993e-01 -2.64673817e-03 2.03534953e+01] [ 4.69384565e-03 -6.38757608e-05 9.99988982e-01 3.34223920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:20.37, Z:0.33 [[ 8.18012855e-01 -5.75186832e-01 -3.88303214e-03 6.54205778e+01] [ 5.75180788e-01 8.18022067e-01 -2.63788785e-03 2.03698211e+01] [ 4.69368433e-03 -7.56193178e-05 9.99988982e-01 3.34595942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.44, Y:20.39, Z:0.33 [[ 8.17429743e-01 -5.76015271e-01 -3.87583261e-03 6.54428424e+01] [ 5.76009186e-01 8.17438929e-01 -2.64842399e-03 2.03873953e+01] [ 4.69378912e-03 -6.76146483e-05 9.99988982e-01 3.34308175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.47, Y:20.40, Z:0.33 [[ 8.16786273e-01 -5.76927351e-01 -3.87501113e-03 6.54655035e+01] [ 5.76921271e-01 8.16795462e-01 -2.64962538e-03 2.04035823e+01] [ 4.69373286e-03 -7.13987023e-05 9.99988982e-01 3.34228566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:20.42, Z:0.33 [[ 8.15773025e-01 -5.78359198e-01 -3.87419269e-03 6.54880781e+01] [ 5.78353128e-01 8.15782221e-01 -2.65082154e-03 2.04198941e+01] [ 4.69362454e-03 -7.81827531e-05 9.99988982e-01 3.34170724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:20.44, Z:0.33 [[ 8.14626717e-01 -5.79972679e-01 -3.87337868e-03 6.55109044e+01] [ 5.79966622e-01 8.14635921e-01 -2.65201043e-03 2.04362634e+01] [ 4.69348701e-03 -8.60317944e-05 9.99988982e-01 3.33889652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:20.45, Z:0.33 [[ 8.11985860e-01 -5.83664258e-01 -3.87252134e-03 6.55335187e+01] [ 5.83658237e-01 8.11995088e-01 -2.65326175e-03 2.04529127e+01] [ 4.69308236e-03 -1.05817949e-04 9.99988982e-01 3.33720787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:20.47, Z:0.33 [[ 8.10547895e-01 -5.85659560e-01 -3.87165826e-03 6.55559095e+01] [ 5.85653556e-01 8.10557133e-01 -2.65452056e-03 2.04687498e+01] [ 4.69284557e-03 -1.15834373e-04 9.99988982e-01 3.33619310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.742755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:65.58, Y:20.48, Z:0.33 [[ 8.08879704e-01 -5.87961427e-01 -3.87107347e-03 6.55786149e+01] [ 5.87955445e-01 8.08888957e-01 -2.65537308e-03 2.04848198e+01] [ 4.69252553e-03 -1.28141333e-04 9.99988982e-01 3.33139165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:20.50, Z:0.33 [[ 8.05864005e-01 -5.92088023e-01 -3.87020345e-03 6.56003230e+01] [ 5.92082082e-01 8.05873284e-01 -2.65664054e-03 2.05005296e+01] [ 4.69185861e-03 -1.50587135e-04 9.99988982e-01 3.32904939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:20.52, Z:0.33 [[ 8.04434771e-01 -5.94028386e-01 -3.86982718e-03 6.56226283e+01] [ 5.94022465e-01 8.04444063e-01 -2.65718852e-03 2.05162943e+01] [ 4.69150491e-03 -1.61229442e-04 9.99988982e-01 3.32935777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.65, Y:20.53, Z:0.33 [[ 8.02203783e-01 -5.97037786e-01 -3.86945821e-03 6.56451678e+01] [ 5.97031897e-01 8.02213096e-01 -2.65772572e-03 2.05330404e+01] [ 4.69089273e-03 -1.78152343e-04 9.99988982e-01 3.32824244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.67, Y:20.55, Z:0.33 [[ 8.00924422e-01 -5.98753000e-01 -3.86210492e-03 6.56683145e+01] [ 5.98747079e-01 8.00933714e-01 -2.66842454e-03 2.05501272e+01] [ 4.69101723e-03 -1.75217659e-04 9.99988982e-01 3.33084099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.69, Y:20.57, Z:0.33 [[ 8.00434498e-01 -5.99407750e-01 -3.86842481e-03 6.56903243e+01] [ 5.99401881e-01 8.00443823e-01 -2.65923089e-03 2.05661458e+01] [ 4.69042035e-03 -1.90200970e-04 9.99988982e-01 3.32820036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.71, Y:20.58, Z:0.33 [[ 7.99066184e-01 -6.01230690e-01 -3.85902727e-03 6.57134151e+01] [ 6.01224776e-01 7.99075481e-01 -2.67289236e-03 2.05837340e+01] [ 4.69067899e-03 -1.84324910e-04 9.99988982e-01 3.32744479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.74, Y:20.60, Z:0.33 [[ 7.98382865e-01 -6.02137730e-01 -3.86717331e-03 6.57359675e+01] [ 6.02131885e-01 7.98392205e-01 -2.66105413e-03 2.06009058e+01] [ 4.68984212e-03 -2.04008332e-04 9.99988982e-01 3.32475401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.76, Y:20.62, Z:0.33 [[ 7.97488847e-01 -6.03321351e-01 -3.85826500e-03 6.57579999e+01] [ 6.03315457e-01 7.97498156e-01 -2.67399232e-03 2.06178577e+01] [ 4.69023588e-03 -1.95271862e-04 9.99988982e-01 3.32376687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.78, Y:20.63, Z:0.33 [[ 7.98258733e-01 -6.02302290e-01 -3.86598664e-03 6.57832745e+01] [ 6.02296439e-01 7.98268069e-01 -2.66278158e-03 2.06346589e+01] [ 4.68989313e-03 -2.02881340e-04 9.99988982e-01 3.31829867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.81, Y:20.65, Z:0.33 [[ 7.97496365e-01 -6.03311275e-01 -3.87984012e-03 6.58074699e+01] [ 6.03305533e-01 7.97505768e-01 -2.64268871e-03 2.06531811e+01] [ 4.68855877e-03 -2.33194372e-04 9.99988981e-01 3.31810483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.83, Y:20.67, Z:0.33 [[ 7.98686685e-01 -6.01734542e-01 -3.88839491e-03 6.58330903e+01] [ 6.01728841e-01 7.98696115e-01 -2.63029393e-03 2.06712421e+01] [ 4.68838462e-03 -2.38978624e-04 9.99988981e-01 3.33023710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.85, Y:20.69, Z:0.33 [[ 7.98694010e-01 -6.01724684e-01 -3.90929951e-03 6.58546208e+01] [ 6.01719130e-01 7.98703530e-01 -2.60001953e-03 2.06882565e+01] [ 4.68686725e-03 -2.75680278e-04 9.99988979e-01 3.33271538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.132755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:65.87, Y:20.71, Z:0.33 [[ 7.96683151e-01 -6.04384562e-01 -3.90621082e-03 6.58690255e+01] [ 6.04379017e-01 7.96692676e-01 -2.60448923e-03 2.07053791e+01] [ 4.68616263e-03 -2.85879173e-04 9.99988979e-01 3.32821519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.89, Y:20.72, Z:0.33 [[ 7.97532827e-01 -6.03263204e-01 -3.85962814e-03 6.58912076e+01] [ 6.03257319e-01 7.97542142e-01 -2.67178209e-03 2.07222994e+01] [ 4.69000392e-03 -1.97514999e-04 9.99988982e-01 3.34112854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.91, Y:20.74, Z:0.34 [[ 7.98291354e-01 -6.02259140e-01 -3.85254498e-03 6.59112913e+01] [ 6.02253195e-01 7.98300630e-01 -2.68200704e-03 2.07399141e+01] [ 4.69075234e-03 -1.79184496e-04 9.99988982e-01 3.35704319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.94, Y:20.76, Z:0.34 [[ 7.98759974e-01 -6.01637503e-01 -3.84951439e-03 6.59386876e+01] [ 6.01631529e-01 7.98769232e-01 -2.68638120e-03 2.07589469e+01] [ 4.69110133e-03 -1.70215447e-04 9.99988982e-01 3.35492832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.96, Y:20.78, Z:0.34 [[ 7.98142958e-01 -6.02455541e-01 -3.89091022e-03 6.59605105e+01] [ 6.02449865e-01 7.98152404e-01 -2.62690066e-03 2.07769398e+01] [ 4.68813020e-03 -2.47436073e-04 9.99988980e-01 3.35521921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.98, Y:20.79, Z:0.33 [[ 7.99129295e-01 -6.01146636e-01 -3.88480288e-03 6.59814216e+01] [ 6.01140902e-01 7.99138705e-01 -2.63566975e-03 2.07935993e+01] [ 4.68892034e-03 -2.29072995e-04 9.99988981e-01 3.34805282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.00, Y:20.81, Z:0.34 [[ 7.98175338e-01 -6.02412693e-01 -3.88293221e-03 6.59994080e+01] [ 6.02406960e-01 7.98184749e-01 -2.63836083e-03 2.08110700e+01] [ 4.68867932e-03 -2.33230839e-04 9.99988981e-01 3.35261830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.02, Y:20.83, Z:0.33 [[ 7.99239678e-01 -6.01000076e-01 -3.85293185e-03 6.60195794e+01] [ 6.00994119e-01 7.99248946e-01 -2.68146759e-03 2.08289328e+01] [ 4.69101395e-03 -1.72454094e-04 9.99988982e-01 3.34626954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:20.85, Z:0.33 [[ 7.99643179e-01 -6.00463108e-01 -3.85253636e-03 6.60405130e+01] [ 6.00457142e-01 7.99652442e-01 -2.68203568e-03 2.08457549e+01] [ 4.69115359e-03 -1.68611434e-04 9.99988982e-01 3.34660728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.06, Y:20.86, Z:0.33 [[ 8.00125403e-01 -5.99820391e-01 -3.85198032e-03 6.60629151e+01] [ 5.99814414e-01 8.00134658e-01 -2.68283404e-03 2.08632814e+01] [ 4.69132152e-03 -1.63869651e-04 9.99988982e-01 3.34189985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:20.88, Z:0.33 [[ 8.01042890e-01 -5.98594568e-01 -3.85115631e-03 6.60845321e+01] [ 5.98588571e-01 8.01052132e-01 -2.68401637e-03 2.08817884e+01] [ 4.69161459e-03 -1.55245920e-04 9.99988982e-01 3.33502539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.11, Y:20.90, Z:0.33 [[ 8.00728157e-01 -5.99015530e-01 -3.84867274e-03 6.61065609e+01] [ 5.99009521e-01 8.00737392e-01 -2.68757776e-03 2.08991454e+01] [ 4.69167699e-03 -1.53372425e-04 9.99988982e-01 3.33931053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:20.92, Z:0.33 [[ 8.00616297e-01 -5.99165022e-01 -3.84996090e-03 6.61287676e+01] [ 5.99159023e-01 8.00625538e-01 -2.68573121e-03 2.09160973e+01] [ 4.69157321e-03 -1.56498636e-04 9.99988982e-01 3.34223481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:20.93, Z:0.33 [[ 8.01555450e-01 -5.97908058e-01 -3.84912785e-03 6.61490083e+01] [ 5.97902039e-01 8.01564678e-01 -2.68692458e-03 2.09318233e+01] [ 4.69185878e-03 -1.47682350e-04 9.99988982e-01 3.33199785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:20.95, Z:0.33 [[ 8.00413165e-01 -5.99436454e-01 -3.83437105e-03 6.61727281e+01] [ 5.99430352e-01 8.00422338e-01 -2.70807753e-03 2.09506050e+01] [ 4.69243664e-03 -1.30857479e-04 9.99988982e-01 3.33272005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.20, Y:20.97, Z:0.33 [[ 7.99903561e-01 -6.00116217e-01 -3.84957783e-03 6.61950882e+01] [ 6.00110226e-01 7.99912808e-01 -2.68628549e-03 2.09679077e+01] [ 4.69141010e-03 -1.61401689e-04 9.99988982e-01 3.32846296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.22, Y:20.99, Z:0.33 [[ 7.98944684e-01 -6.01392202e-01 -3.84862593e-03 6.62161914e+01] [ 6.01386220e-01 7.98953936e-01 -2.68764858e-03 2.09850198e+01] [ 4.69120573e-03 -1.67228051e-04 9.99988982e-01 3.32608267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.24, Y:21.00, Z:0.33 [[ 7.98389609e-01 -6.02128913e-01 -3.84769530e-03 6.62381808e+01] [ 6.02122933e-01 7.98398862e-01 -2.68898023e-03 2.10015422e+01] [ 4.69110829e-03 -1.69931707e-04 9.99988982e-01 3.32934996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:21.02, Z:0.33 [[ 7.97606772e-01 -6.03165514e-01 -3.84706149e-03 6.62603754e+01] [ 6.03159541e-01 7.97616031e-01 -2.68988670e-03 2.10186160e+01] [ 4.69092481e-03 -1.74919990e-04 9.99988982e-01 3.32425352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.28, Y:21.03, Z:0.33 [[ 7.97359798e-01 -6.03491971e-01 -3.84611544e-03 6.62821081e+01] [ 6.03485996e-01 7.97369055e-01 -2.69123873e-03 2.10347350e+01] [ 4.69091440e-03 -1.75191235e-04 9.99988982e-01 3.32586773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.30, Y:21.05, Z:0.33 [[ 7.97000586e-01 -6.03966287e-01 -3.84570619e-03 6.63041282e+01] [ 6.03960315e-01 7.97009845e-01 -2.69182340e-03 2.10512806e+01] [ 4.69083628e-03 -1.77269090e-04 9.99988982e-01 3.32598316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.33, Y:21.07, Z:0.33 [[ 7.96358845e-01 -6.04812205e-01 -3.84530288e-03 6.63271698e+01] [ 6.04806239e-01 7.96368108e-01 -2.69239941e-03 2.10689343e+01] [ 4.69067261e-03 -1.81547085e-04 9.99988982e-01 3.32296541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.35, Y:21.09, Z:0.33 [[ 7.96939528e-01 -6.04046833e-01 -3.84869981e-03 6.63494308e+01] [ 6.04040882e-01 7.96948800e-01 -2.68755045e-03 2.10866245e+01] [ 4.69062304e-03 -1.82956834e-04 9.99988982e-01 3.32605066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.37, Y:21.10, Z:0.33 [[ 7.96746323e-01 -6.04301680e-01 -3.84401925e-03 6.63721112e+01] [ 6.04295699e-01 7.96755577e-01 -2.69422850e-03 2.11037297e+01] [ 4.69087058e-03 -1.76307651e-04 9.99988982e-01 3.32577678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.39, Y:21.12, Z:0.33 [[ 7.96704289e-01 -6.04357101e-01 -3.84308382e-03 6.63948401e+01] [ 6.04351115e-01 7.96713539e-01 -2.69556215e-03 2.11204218e+01] [ 4.69091903e-03 -1.75006066e-04 9.99988982e-01 3.32435219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.42, Y:21.14, Z:0.33 [[ 7.97155331e-01 -6.03762053e-01 -3.84214267e-03 6.64171949e+01] [ 6.03756053e-01 7.97164572e-01 -2.69690295e-03 2.11371036e+01] [ 4.69110768e-03 -1.69866333e-04 9.99988982e-01 3.32547946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.44, Y:21.15, Z:0.33 [[ 7.97569021e-01 -6.03215469e-01 -3.84120234e-03 6.64400834e+01] [ 6.03209457e-01 7.97578254e-01 -2.69824160e-03 2.11541653e+01] [ 4.69128053e-03 -1.65015662e-04 9.99988982e-01 3.32654223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.46, Y:21.17, Z:0.33 [[ 7.97832851e-01 -6.02866482e-01 -3.84026438e-03 6.64627137e+01] [ 6.02860459e-01 7.97842077e-01 -2.69957589e-03 2.11714850e+01] [ 4.69140833e-03 -1.61333214e-04 9.99988982e-01 3.32644545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.48, Y:21.19, Z:0.33 [[ 7.99141614e-01 -6.01130552e-01 -3.83933396e-03 6.64843883e+01] [ 6.01124503e-01 7.99150823e-01 -2.70089849e-03 2.11887854e+01] [ 4.69179949e-03 -1.49517336e-04 9.99988982e-01 3.32592575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.51, Y:21.21, Z:0.33 [[ 7.99707241e-01 -6.00377878e-01 -3.83840821e-03 6.65065765e+01] [ 6.00371814e-01 7.99716439e-01 -2.70221348e-03 2.12055858e+01] [ 4.69198734e-03 -1.43492408e-04 9.99988982e-01 3.32487978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.53, Y:21.22, Z:0.33 [[ 8.00388854e-01 -5.99468895e-01 -3.83748831e-03 6.65293788e+01] [ 5.99462814e-01 8.00398042e-01 -2.70351923e-03 2.12222788e+01] [ 4.69219381e-03 -1.36564881e-04 9.99988982e-01 3.32383576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:21.24, Z:0.33 [[ 8.01619511e-01 -5.97822248e-01 -3.83655806e-03 6.65529903e+01] [ 5.97816142e-01 8.01628683e-01 -2.70483870e-03 2.12397789e+01] [ 4.69250773e-03 -1.25304860e-04 9.99988982e-01 3.32715137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.58, Y:21.26, Z:0.33 [[ 8.02742328e-01 -5.96313661e-01 -3.84352761e-03 6.65755536e+01] [ 5.96307585e-01 8.02751519e-01 -2.69495552e-03 2.12558968e+01] [ 4.69243642e-03 -1.28569795e-04 9.99988982e-01 3.32649502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.60, Y:21.27, Z:0.33 [[ 8.03403560e-01 -5.95422548e-01 -3.83530040e-03 6.65971012e+01] [ 5.95416406e-01 8.03412707e-01 -2.70661357e-03 2.12716167e+01] [ 4.69290782e-03 -1.09097804e-04 9.99988982e-01 3.32734383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.62, Y:21.29, Z:0.33 [[ 8.04568208e-01 -5.93847871e-01 -3.83465765e-03 6.66193247e+01] [ 5.93841707e-01 8.04577341e-01 -2.70752389e-03 2.12880717e+01] [ 4.69313595e-03 -9.87920003e-05 9.99988982e-01 3.32349157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.64, Y:21.30, Z:0.33 [[ 8.04829733e-01 -5.93493390e-01 -3.83372534e-03 6.66425808e+01] [ 5.93487216e-01 8.04838858e-01 -2.70884336e-03 2.13046233e+01] [ 4.69321175e-03 -9.51093007e-05 9.99988982e-01 3.32170158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.67, Y:21.32, Z:0.33 [[ 8.03139395e-01 -5.95778836e-01 -3.83286435e-03 6.66691068e+01] [ 5.95772682e-01 8.03148533e-01 -2.71006106e-03 2.13240301e+01] [ 4.69295641e-03 -1.06959075e-04 9.99988982e-01 3.31634104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.69, Y:21.34, Z:0.33 [[ 8.04754016e-01 -5.93595763e-01 -3.87867073e-03 6.66901650e+01] [ 5.93589894e-01 8.04763344e-01 -2.64529439e-03 2.13359395e+01] [ 4.69164757e-03 -1.73528470e-04 9.99988979e-01 3.31655101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.71, Y:21.35, Z:0.33 [[ 8.04463041e-01 -5.93990358e-01 -3.83022980e-03 6.67136130e+01] [ 5.93984166e-01 8.04472154e-01 -2.71366681e-03 2.13513616e+01] [ 4.69320514e-03 -9.20512018e-05 9.99988983e-01 3.31781882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.74, Y:21.37, Z:0.33 [[ 8.02965872e-01 -5.96012705e-01 -3.82936636e-03 6.67363064e+01] [ 5.96006530e-01 8.02974997e-01 -2.71488471e-03 2.13656708e+01] [ 4.69299122e-03 -1.02367589e-04 9.99988983e-01 3.31613141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:21.38, Z:0.33 [[ 8.02759955e-01 -5.96290028e-01 -3.82842532e-03 6.67594564e+01] [ 5.96283850e-01 8.02769078e-01 -2.71621107e-03 2.13824011e+01] [ 4.69299104e-03 -1.02362711e-04 9.99988983e-01 3.31746845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:21.40, Z:0.33 [[ 8.02971237e-01 -5.96005489e-01 -3.82748665e-03 6.67838617e+01] [ 5.95999302e-01 8.02980353e-01 -2.71753314e-03 2.13977479e+01] [ 4.69306125e-03 -9.90784254e-05 9.99988983e-01 3.31978332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.392755096 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:66.81, Y:21.41, Z:0.33 [[ 8.01775238e-01 -5.97613417e-01 -3.83024952e-03 6.68075455e+01] [ 5.97607267e-01 8.01784379e-01 -2.71364318e-03 2.14141607e+01] [ 4.69274381e-03 -1.13253038e-04 9.99988983e-01 3.32492042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.83, Y:21.43, Z:0.33 [[ 8.01928433e-01 -5.97407730e-01 -3.84609446e-03 6.68286861e+01] [ 5.97401684e-01 8.01937644e-01 -2.69133923e-03 2.14268411e+01] [ 4.69215479e-03 -1.39401861e-04 9.99988982e-01 3.32853949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.85, Y:21.44, Z:0.33 [[ 8.00957325e-01 -5.98709220e-01 -3.82539257e-03 6.68538793e+01] [ 5.98703050e-01 8.00966452e-01 -2.72044946e-03 2.14415774e+01] [ 4.69276928e-03 -1.11310278e-04 9.99988983e-01 3.33251570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.88, Y:21.46, Z:0.33 [[ 8.00471330e-01 -5.99358832e-01 -3.82635611e-03 6.68770320e+01] [ 5.99352675e-01 8.00480467e-01 -2.71909494e-03 2.14563998e+01] [ 4.69263689e-03 -1.16779234e-04 9.99988983e-01 3.33045000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.90, Y:21.47, Z:0.33 [[ 8.00605708e-01 -5.99179332e-01 -3.82456944e-03 6.68992819e+01] [ 5.99173162e-01 8.00614836e-01 -2.72160530e-03 2.14700050e+01] [ 4.69273668e-03 -1.12646627e-04 9.99988983e-01 3.33188943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:21.49, Z:0.33 [[ 7.99972953e-01 -6.00023943e-01 -3.81335897e-03 6.69236609e+01] [ 6.00017707e-01 7.99982036e-01 -2.73734920e-03 2.14850790e+01] [ 4.69309373e-03 -9.82775818e-05 9.99988983e-01 3.33245181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.95, Y:21.50, Z:0.33 [[ 7.99082511e-01 -6.01209236e-01 -3.82044457e-03 6.69468544e+01] [ 6.01203061e-01 7.99091635e-01 -2.72740122e-03 2.15012013e+01] [ 4.69262410e-03 -1.17444351e-04 9.99988983e-01 3.33129111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.97, Y:21.52, Z:0.33 [[ 7.99332616e-01 -6.00876638e-01 -3.82562470e-03 6.69705321e+01] [ 6.00870494e-01 7.99341761e-01 -2.72013276e-03 2.15151311e+01] [ 4.69244581e-03 -1.24414168e-04 9.99988983e-01 3.33220717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.99, Y:21.53, Z:0.33 [[ 7.99256333e-01 -6.00978126e-01 -3.82184523e-03 6.69949263e+01] [ 6.00971958e-01 7.99265462e-01 -2.72543267e-03 2.15314796e+01] [ 4.69259431e-03 -1.18502490e-04 9.99988983e-01 3.33235573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.02, Y:21.55, Z:0.33 [[ 7.99435453e-01 -6.00739828e-01 -3.82293439e-03 6.70183391e+01] [ 6.00733664e-01 7.99444585e-01 -2.72390583e-03 2.15469934e+01] [ 4.69258292e-03 -1.18978488e-04 9.99988983e-01 3.33456643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.04, Y:21.56, Z:0.33 [[ 8.00113525e-01 -5.99836436e-01 -3.82058820e-03 6.70412989e+01] [ 5.99830246e-01 8.00122640e-01 -2.72719267e-03 2.15612327e+01] [ 4.69280864e-03 -1.09640617e-04 9.99988983e-01 3.33208460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.07, Y:21.58, Z:0.33 [[ 8.01139506e-01 -5.98465452e-01 -3.82020782e-03 6.70699370e+01] [ 5.98459245e-01 8.01148608e-01 -2.72772539e-03 2.15774521e+01] [ 4.69300359e-03 -1.00950109e-04 9.99988983e-01 3.32845318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.09, Y:21.59, Z:0.33 [[ 8.00733060e-01 -5.99008949e-01 -3.85298874e-03 6.70891891e+01] [ 5.99002967e-01 8.00742314e-01 -2.68180714e-03 2.15938393e+01] [ 4.69167759e-03 -1.60540053e-04 9.99988981e-01 3.33716265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.11, Y:21.61, Z:0.33 [[ 8.01067734e-01 -5.98561518e-01 -3.82015986e-03 6.71123190e+01] [ 5.98555312e-01 8.01076837e-01 -2.72773894e-03 2.16097498e+01] [ 4.69296113e-03 -1.01473324e-04 9.99988983e-01 3.32990571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.14, Y:21.63, Z:0.33 [[ 8.01119734e-01 -5.98491932e-01 -3.81817637e-03 6.71370089e+01] [ 5.98485711e-01 8.01128827e-01 -2.73051252e-03 2.16261734e+01] [ 4.69304087e-03 -9.76565319e-05 9.99988983e-01 3.33667804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.16, Y:21.64, Z:0.33 [[ 8.02078082e-01 -5.97206890e-01 -3.83149403e-03 6.71596138e+01] [ 5.97200743e-01 8.02087226e-01 -2.71189409e-03 2.16412969e+01] [ 4.69275425e-03 -1.13020276e-04 9.99988983e-01 3.33445684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.18, Y:21.66, Z:0.33 [[ 8.01717738e-01 -5.97690638e-01 -3.81702884e-03 6.71846530e+01] [ 5.97684400e-01 8.01726820e-01 -2.73210346e-03 2.16583561e+01] [ 4.69316705e-03 -9.10027875e-05 9.99988983e-01 3.33935280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.21, Y:21.67, Z:0.33 [[ 8.02636993e-01 -5.96455513e-01 -3.83127038e-03 6.72065244e+01] [ 5.96449357e-01 8.02646129e-01 -2.71220879e-03 2.16726510e+01] [ 4.69286622e-03 -1.08239647e-04 9.99988983e-01 3.34178202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.23, Y:21.69, Z:0.33 [[ 8.01849321e-01 -5.97514105e-01 -3.81587606e-03 6.72313322e+01] [ 5.97507858e-01 8.01858395e-01 -2.73369720e-03 2.16900569e+01] [ 4.69321489e-03 -8.80026904e-05 9.99988983e-01 3.34483411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.25, Y:21.70, Z:0.34 [[ 8.02992503e-01 -5.95976799e-01 -3.83351651e-03 6.72525585e+01] [ 5.95970652e-01 8.03001646e-01 -2.70906985e-03 2.17031955e+01] [ 4.69286284e-03 -1.09300549e-04 9.99988982e-01 3.35146650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.28, Y:21.72, Z:0.34 [[ 8.02765597e-01 -5.96282519e-01 -3.81499072e-03 6.72760113e+01] [ 5.96276252e-01 8.02774658e-01 -2.73491190e-03 2.17194624e+01] [ 4.69335803e-03 -7.92951891e-05 9.99988983e-01 3.35552157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.30, Y:21.73, Z:0.34 [[ 8.02925850e-01 -5.96066672e-01 -3.82131438e-03 6.72996435e+01] [ 5.96060445e-01 8.02934938e-01 -2.72609199e-03 2.17345593e+01] [ 4.69319941e-03 -8.88846203e-05 9.99988983e-01 3.36136090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.32, Y:21.75, Z:0.34 [[ 8.02622814e-01 -5.96474705e-01 -3.81387103e-03 6.73221333e+01] [ 5.96468433e-01 8.02631871e-01 -2.73646596e-03 2.17499381e+01] [ 4.69336716e-03 -7.85036706e-05 9.99988983e-01 3.36169017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.35, Y:21.77, Z:0.34 [[ 8.01944823e-01 -5.97385937e-01 -3.81349953e-03 6.73455432e+01] [ 5.97379673e-01 8.01953886e-01 -2.73698356e-03 2.17663670e+01] [ 4.69328626e-03 -8.31973023e-05 9.99988983e-01 3.36360264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.37, Y:21.78, Z:0.34 [[ 8.01412868e-01 -5.98099356e-01 -3.81778878e-03 6.73682373e+01] [ 5.98093129e-01 8.01421956e-01 -2.73100957e-03 2.17817505e+01] [ 4.69307481e-03 -9.47270263e-05 9.99988983e-01 3.36702628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.39, Y:21.80, Z:0.34 [[ 8.00170948e-01 -5.99759873e-01 -3.81425740e-03 6.73923731e+01] [ 5.99753641e-01 8.00180033e-01 -2.73592520e-03 2.17975276e+01] [ 4.69299076e-03 -9.84068981e-05 9.99988983e-01 3.36122610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.41, Y:21.81, Z:0.34 [[ 8.00100946e-01 -5.99853224e-01 -3.81908788e-03 6.74144485e+01] [ 5.99847025e-01 8.00110054e-01 -2.72920651e-03 2.18120647e+01] [ 4.69281394e-03 -1.07227791e-04 9.99988983e-01 3.36428878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.44, Y:21.83, Z:0.34 [[ 7.98893993e-01 -6.01459780e-01 -3.81063474e-03 6.74378951e+01] [ 6.01453543e-01 7.98903074e-01 -2.74095855e-03 2.18271600e+01] [ 4.69290414e-03 -1.02184443e-04 9.99988983e-01 3.36920638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.46, Y:21.84, Z:0.34 [[ 7.98281248e-01 -6.02272807e-01 -3.80977108e-03 6.74603294e+01] [ 6.02266574e-01 7.98290332e-01 -2.74215846e-03 2.18424494e+01] [ 4.69283089e-03 -1.05484095e-04 9.99988983e-01 3.36714816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.48, Y:21.86, Z:0.34 [[ 7.97676666e-01 -6.03073317e-01 -3.80939659e-03 6.74833457e+01] [ 6.03067090e-01 7.97685754e-01 -2.74267860e-03 2.18580360e+01] [ 4.69273767e-03 -1.09550999e-04 9.99988983e-01 3.37043568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.51, Y:21.87, Z:0.34 [[ 7.96372109e-01 -6.04794972e-01 -3.80852895e-03 6.75068071e+01] [ 6.04788759e-01 7.96381207e-01 -2.74388289e-03 2.18732837e+01] [ 4.69252746e-03 -1.18203700e-04 9.99988983e-01 3.36941096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.53, Y:21.89, Z:0.34 [[ 7.95615649e-01 -6.05789767e-01 -3.80765324e-03 6.75298054e+01] [ 6.05783559e-01 7.95624751e-01 -2.74509757e-03 2.18891512e+01] [ 4.69241517e-03 -1.22571152e-04 9.99988983e-01 3.36929278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.55, Y:21.90, Z:0.34 [[ 7.95161695e-01 -6.06385511e-01 -3.80677616e-03 6.75522890e+01] [ 6.06379305e-01 7.95170797e-01 -2.74631332e-03 2.19045484e+01] [ 4.69236184e-03 -1.24587124e-04 9.99988983e-01 3.36835966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.57, Y:21.92, Z:0.34 [[ 7.94655885e-01 -6.07048216e-01 -3.80639636e-03 6.75741452e+01] [ 6.07042015e-01 7.94664991e-01 -2.74683962e-03 2.19196325e+01] [ 4.69227402e-03 -1.27850246e-04 9.99988983e-01 3.36803521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.60, Y:21.93, Z:0.34 [[ 7.93752581e-01 -6.08228867e-01 -3.80602746e-03 6.75975280e+01] [ 6.08222677e-01 7.93761694e-01 -2.74735069e-03 2.19346017e+01] [ 4.69209680e-03 -1.34195510e-04 9.99988983e-01 3.37364677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.62, Y:21.95, Z:0.34 [[ 7.93250315e-01 -6.08883781e-01 -3.80514661e-03 6.76200243e+01] [ 6.08877592e-01 7.93259430e-01 -2.74857014e-03 2.19500648e+01] [ 4.69202821e-03 -1.36564377e-04 9.99988983e-01 3.37170059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.64, Y:21.97, Z:0.34 [[ 7.92725315e-01 -6.09567142e-01 -3.80454860e-03 6.76435131e+01] [ 6.09560957e-01 7.92734432e-01 -2.74939765e-03 2.19651846e+01] [ 4.69193914e-03 -1.39587165e-04 9.99988983e-01 3.37366418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.67, Y:21.98, Z:0.34 [[ 7.91957205e-01 -6.10564753e-01 -3.80366203e-03 6.76675861e+01] [ 6.10558574e-01 7.91966326e-01 -2.75062363e-03 2.19821508e+01] [ 4.69180608e-03 -1.43982261e-04 9.99988983e-01 3.36700149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.69, Y:22.00, Z:0.34 [[ 7.92826051e-01 -6.09436016e-01 -3.82027189e-03 6.76912324e+01] [ 6.09429935e-01 7.92835238e-01 -2.72765540e-03 2.19967477e+01] [ 4.69117761e-03 -1.65631788e-04 9.99988983e-01 3.37125736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.71, Y:22.01, Z:0.34 [[ 7.92394927e-01 -6.09996502e-01 -3.81400176e-03 6.77124519e+01] [ 6.09990385e-01 7.92404090e-01 -2.73631153e-03 2.20117433e+01] [ 4.69137105e-03 -1.58265024e-04 9.99988983e-01 3.36863263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.74, Y:22.03, Z:0.34 [[ 7.92613624e-01 -6.09712391e-01 -3.80044635e-03 6.77353345e+01] [ 6.09706181e-01 7.92622724e-01 -2.75501076e-03 2.20275548e+01] [ 4.69208434e-03 -1.33496568e-04 9.99988983e-01 3.37400775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.76, Y:22.04, Z:0.34 [[ 7.93000224e-01 -6.09209494e-01 -3.79956095e-03 6.77579936e+01] [ 6.09203273e-01 7.93009316e-01 -2.75623132e-03 2.20430481e+01] [ 4.69220952e-03 -1.29012915e-04 9.99988983e-01 3.37215157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.79, Y:22.06, Z:0.34 [[ 7.95478412e-01 -6.05970018e-01 -3.79917823e-03 6.77871438e+01] [ 6.05963757e-01 7.95487476e-01 -2.75675876e-03 2.20581513e+01] [ 4.69271186e-03 -1.09222232e-04 9.99988983e-01 3.36028490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.81, Y:22.07, Z:0.34 [[ 7.95058963e-01 -6.06520033e-01 -3.83335894e-03 6.78058473e+01] [ 6.06514005e-01 7.95068186e-01 -2.70953321e-03 2.20737127e+01] [ 4.69116791e-03 -1.70747222e-04 9.99988982e-01 3.36464991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.83, Y:22.09, Z:0.34 [[ 7.96804759e-01 -6.04224885e-01 -3.80322857e-03 6.78333672e+01] [ 6.04218631e-01 7.96813829e-01 -2.75110042e-03 2.20895765e+01] [ 4.69274845e-03 -1.05891655e-04 9.99988983e-01 3.37766047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.85, Y:22.11, Z:0.34 [[ 7.96525878e-01 -6.04592328e-01 -3.82657220e-03 6.78522255e+01] [ 6.04586233e-01 7.96535055e-01 -2.71892112e-03 2.21050161e+01] [ 4.69183775e-03 -1.47801841e-04 9.99988982e-01 3.38750917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.88, Y:22.12, Z:0.34 [[ 7.97885701e-01 -6.02796800e-01 -3.79811730e-03 6.78800944e+01] [ 6.02790496e-01 7.97894736e-01 -2.75810565e-03 2.21216627e+01] [ 4.69307506e-03 -8.88159549e-05 9.99988984e-01 3.39262033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.90, Y:22.14, Z:0.34 [[ 7.98676144e-01 -6.01748894e-01 -3.83218973e-03 6.79025207e+01] [ 6.01742803e-01 7.98685325e-01 -2.71116433e-03 2.21373025e+01] [ 4.69215384e-03 -1.40650319e-04 9.99988982e-01 3.40358520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.92, Y:22.15, Z:0.34 [[ 7.98647291e-01 -6.01787216e-01 -3.82760945e-03 6.79209869e+01] [ 6.01781095e-01 7.98656452e-01 -2.71747262e-03 2.21524750e+01] [ 4.69228527e-03 -1.33080863e-04 9.99988982e-01 3.40988756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.94, Y:22.17, Z:0.34 [[ 7.99194714e-01 -6.01060225e-01 -3.79663416e-03 6.79439437e+01] [ 6.01053893e-01 7.99203729e-01 -2.76008074e-03 2.21685314e+01] [ 4.69325893e-03 -7.61398023e-05 9.99988984e-01 3.41537008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.97, Y:22.18, Z:0.34 [[ 8.00592172e-01 -5.99197603e-01 -3.79574552e-03 6.79660859e+01] [ 5.99191244e-01 8.00601167e-01 -2.76130229e-03 2.21835549e+01] [ 4.69344401e-03 -6.37004791e-05 9.99988984e-01 3.41072791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.99, Y:22.20, Z:0.34 [[ 8.01419960e-01 -5.98089995e-01 -3.79536093e-03 6.79881830e+01] [ 5.98083621e-01 8.01428945e-01 -2.76183081e-03 2.21989115e+01] [ 4.69353548e-03 -5.65568695e-05 9.99988984e-01 3.40874303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.01, Y:22.22, Z:0.34 [[ 8.01836602e-01 -5.97531322e-01 -3.79236767e-03 6.80117790e+01] [ 5.97524922e-01 8.01845569e-01 -2.76594227e-03 2.22157039e+01] [ 4.69363036e-03 -4.82004419e-05 9.99988984e-01 3.40760999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.04, Y:22.23, Z:0.34 [[ 8.02660455e-01 -5.96424176e-01 -3.79429941e-03 6.80352502e+01] [ 5.96417776e-01 8.02669422e-01 -2.76328979e-03 2.22319719e+01] [ 4.69366094e-03 -4.50041757e-05 9.99988984e-01 3.39954055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.06, Y:22.25, Z:0.34 [[ 8.02942791e-01 -5.96044028e-01 -3.79343698e-03 6.80573915e+01] [ 5.96037619e-01 8.02951751e-01 -2.76447322e-03 2.22477435e+01] [ 4.69369462e-03 -4.13172980e-05 9.99988984e-01 3.39672022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.08, Y:22.26, Z:0.34 [[ 8.02863997e-01 -5.96150161e-01 -3.79306334e-03 6.80802424e+01] [ 5.96143750e-01 8.02872956e-01 -2.76498578e-03 2.22641401e+01] [ 4.69369470e-03 -4.13034699e-05 9.99988984e-01 3.39269370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.10, Y:22.28, Z:0.34 [[ 8.02363211e-01 -5.96824009e-01 -3.79220757e-03 6.81030608e+01] [ 5.96817600e-01 8.02372171e-01 -2.76615899e-03 2.22790726e+01] [ 4.69367191e-03 -4.37920134e-05 9.99988984e-01 3.38550416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.13, Y:22.30, Z:0.34 [[ 8.01713998e-01 -5.97695815e-01 -3.79183786e-03 6.81265258e+01] [ 5.97689414e-01 8.01722964e-01 -2.76666569e-03 2.22952387e+01] [ 4.69362799e-03 -4.82667400e-05 9.99988984e-01 3.39186641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.15, Y:22.31, Z:0.34 [[ 8.00920434e-01 -5.98758788e-01 -3.79097002e-03 6.81488238e+01] [ 5.98752393e-01 8.00929404e-01 -2.76785431e-03 2.23106738e+01] [ 4.69357646e-03 -5.30212951e-05 9.99988984e-01 3.39098919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.17, Y:22.33, Z:0.34 [[ 7.98285853e-01 -6.02266825e-01 -3.79059483e-03 6.81733426e+01] [ 6.02260466e-01 7.98294849e-01 -2.76836805e-03 2.23274648e+01] [ 4.69330856e-03 -7.29763561e-05 9.99988984e-01 3.39491680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.20, Y:22.34, Z:0.34 [[ 7.97581984e-01 -6.03198577e-01 -3.80199811e-03 6.81961140e+01] [ 6.03192304e-01 7.97591040e-01 -2.75275483e-03 2.23428446e+01] [ 4.69289742e-03 -9.77883441e-05 9.99988984e-01 3.39509396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.22, Y:22.36, Z:0.34 [[ 7.97392586e-01 -6.03449008e-01 -3.78924557e-03 6.82190793e+01] [ 6.03442655e-01 7.97401586e-01 -2.77019853e-03 2.23598512e+01] [ 4.69322398e-03 -7.76566331e-05 9.99988984e-01 3.39637127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.24, Y:22.38, Z:0.34 [[ 7.96021513e-01 -6.05256474e-01 -3.78837556e-03 6.82411004e+01] [ 6.05250136e-01 7.96030523e-01 -2.77138780e-03 2.23753874e+01] [ 4.69306298e-03 -8.68305133e-05 9.99988984e-01 3.39871714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.26, Y:22.39, Z:0.34 [[ 7.93402522e-01 -6.08685541e-01 -3.78799911e-03 6.82647618e+01] [ 6.08679239e-01 7.93411558e-01 -2.77190224e-03 2.23912876e+01] [ 4.69265909e-03 -1.06442190e-04 9.99988984e-01 3.40458798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.29, Y:22.41, Z:0.34 [[ 7.92324012e-01 -6.10088778e-01 -3.78712091e-03 6.82866319e+01] [ 6.10082486e-01 7.92333055e-01 -2.77310157e-03 2.24066171e+01] [ 4.69249922e-03 -1.13261180e-04 9.99988984e-01 3.40287153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.31, Y:22.42, Z:0.34 [[ 7.90821959e-01 -6.12034550e-01 -3.78674102e-03 6.83101249e+01] [ 6.12028277e-01 7.90831015e-01 -2.77362021e-03 2.24222149e+01] [ 4.69222364e-03 -1.24152817e-04 9.99988984e-01 3.41595665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.33, Y:22.44, Z:0.34 [[ 7.90316662e-01 -6.12686903e-01 -3.78587666e-03 6.83327130e+01] [ 6.12680633e-01 7.90325719e-01 -2.77479953e-03 2.24381911e+01] [ 4.69215903e-03 -1.26563005e-04 9.99988984e-01 3.41864358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.36, Y:22.45, Z:0.34 [[ 7.90225514e-01 -6.12804464e-01 -3.78498540e-03 6.83550959e+01] [ 6.12798190e-01 7.90234568e-01 -2.77601472e-03 2.24541934e+01] [ 4.69218052e-03 -1.25754543e-04 9.99988984e-01 3.41820159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.38, Y:22.47, Z:0.34 [[ 7.90861439e-01 -6.11983547e-01 -3.78459939e-03 6.83778415e+01] [ 6.11977260e-01 7.90870485e-01 -2.77654088e-03 2.24707393e+01] [ 4.69232529e-03 -1.20229650e-04 9.99988984e-01 3.42029590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.40, Y:22.49, Z:0.34 [[ 7.91646638e-01 -6.10967498e-01 -3.78378501e-03 6.84003198e+01] [ 6.10961194e-01 7.91655673e-01 -2.77765025e-03 2.24872588e+01] [ 4.69250889e-03 -1.12828330e-04 9.99988984e-01 3.41748123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.42, Y:22.50, Z:0.34 [[ 7.92403930e-01 -6.09985001e-01 -3.78297648e-03 6.84225335e+01] [ 6.09978681e-01 7.92412953e-01 -2.77875098e-03 2.25039837e+01] [ 4.69267598e-03 -1.05641811e-04 9.99988984e-01 3.42036207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.45, Y:22.52, Z:0.34 [[ 7.96067094e-01 -6.05196562e-01 -3.78208458e-03 6.84465628e+01] [ 6.05190182e-01 7.96076074e-01 -2.77996440e-03 2.25192034e+01] [ 4.69325194e-03 -7.58422720e-05 9.99988984e-01 3.43631886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.47, Y:22.54, Z:0.34 [[ 7.96946749e-01 -6.04037690e-01 -3.78774998e-03 6.84711442e+01] [ 6.04031334e-01 7.96955747e-01 -2.77225909e-03 2.25370332e+01] [ 4.69321809e-03 -7.85768055e-05 9.99988984e-01 3.41251217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.49, Y:22.55, Z:0.34 [[ 7.97296523e-01 -6.03575863e-01 -3.79892156e-03 6.84905907e+01] [ 6.03569573e-01 7.97305568e-01 -2.75706768e-03 2.25548295e+01] [ 4.69300082e-03 -9.47129949e-05 9.99988983e-01 3.43608169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.51, Y:22.57, Z:0.34 [[ 7.97794353e-01 -6.02917803e-01 -3.78052653e-03 6.85128185e+01] [ 6.02911387e-01 7.97803308e-01 -2.78206455e-03 2.25718086e+01] [ 4.69347282e-03 -5.98071064e-05 9.99988984e-01 3.44185797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:68.54, Y:22.59, Z:0.35 [[ 7.98060450e-01 -6.02565570e-01 -3.77509870e-03 6.85356302e+01] [ 6.02559116e-01 7.98069377e-01 -2.78943648e-03 2.25888758e+01] [ 4.69360906e-03 -4.85812007e-05 9.99988984e-01 3.45000798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.56, Y:22.61, Z:0.35 [[ 7.98423094e-01 -6.02084945e-01 -3.77915540e-03 6.85605785e+01] [ 6.02078511e-01 7.98432036e-01 -2.78392956e-03 2.26054952e+01] [ 4.69356081e-03 -5.25946025e-05 9.99988984e-01 3.45624034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.58, Y:22.62, Z:0.35 [[ 7.97730180e-01 -6.03002652e-01 -3.78957008e-03 6.85813258e+01] [ 6.02996296e-01 7.97739178e-01 -2.76979816e-03 2.26217517e+01] [ 4.69328416e-03 -7.55451343e-05 9.99988984e-01 3.45744637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.61, Y:22.64, Z:0.35 [[ 7.98352401e-01 -6.02178692e-01 -3.77724902e-03 6.86086180e+01] [ 6.02172247e-01 7.98361335e-01 -2.78650001e-03 2.26388602e+01] [ 4.69358050e-03 -4.99455584e-05 9.99988984e-01 3.45409310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.63, Y:22.66, Z:0.35 [[ 7.97054559e-01 -6.03895342e-01 -3.80073240e-03 6.86313292e+01] [ 6.03889067e-01 7.97063615e-01 -2.75468867e-03 2.26556317e+01] [ 4.69296916e-03 -9.95835782e-05 9.99988983e-01 3.45809702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.65, Y:22.67, Z:0.35 [[ 7.95530269e-01 -6.05901951e-01 -3.79705566e-03 6.86500285e+01] [ 6.05895675e-01 7.95539323e-01 -2.75966612e-03 2.26716358e+01] [ 4.69279418e-03 -1.05221672e-04 9.99988983e-01 3.46280234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.67, Y:22.69, Z:0.35 [[ 7.93917531e-01 -6.08013761e-01 -3.77103022e-03 6.86726586e+01] [ 6.08007342e-01 7.93926483e-01 -2.79485981e-03 2.26882550e+01] [ 4.69323398e-03 -7.39258595e-05 9.99988984e-01 3.46798628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.69, Y:22.70, Z:0.35 [[ 7.93970474e-01 -6.07944597e-01 -3.77521355e-03 6.86945473e+01] [ 6.07938204e-01 7.93979446e-01 -2.78920613e-03 2.27040876e+01] [ 4.69312476e-03 -8.05492319e-05 9.99988984e-01 3.47587754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.72, Y:22.72, Z:0.35 [[ 7.92775626e-01 -6.09501986e-01 -3.75984790e-03 6.87174228e+01] [ 6.09495512e-01 7.92784539e-01 -2.80995704e-03 2.27214829e+01] [ 4.69342368e-03 -6.39449740e-05 9.99988984e-01 3.46615691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.75, Y:22.74, Z:0.35 [[ 7.93735059e-01 -6.08251933e-01 -3.77378064e-03 6.87479836e+01] [ 6.08245534e-01 7.93744027e-01 -2.79114293e-03 2.27401083e+01] [ 4.69313392e-03 -7.99572246e-05 9.99988984e-01 3.46289031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.76, Y:22.76, Z:0.35 [[ 7.90027915e-01 -6.13058914e-01 -3.82912428e-03 6.87603591e+01] [ 6.13052927e-01 7.90037169e-01 -2.71677874e-03 2.27594119e+01] [ 4.69069593e-03 -2.01124810e-04 9.99988978e-01 3.46112143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.78, Y:22.78, Z:0.35 [[ 7.89868567e-01 -6.13264617e-01 -3.76267027e-03 6.87822971e+01] [ 6.13258204e-01 7.89877523e-01 -2.80589286e-03 2.27756253e+01] [ 4.69280348e-03 -9.12018415e-05 9.99988985e-01 3.45864542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.81, Y:22.79, Z:0.35 [[ 7.90514851e-01 -6.12431338e-01 -3.75856081e-03 6.88115572e+01] [ 6.12424890e-01 7.90523782e-01 -2.81140270e-03 2.27943681e+01] [ 4.69302282e-03 -7.93806065e-05 9.99988985e-01 3.46586295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.84, Y:22.81, Z:0.35 [[ 7.91171533e-01 -6.11582468e-01 -3.80656151e-03 6.88360436e+01] [ 6.11576317e-01 7.91180676e-01 -2.74723469e-03 2.28125785e+01] [ 4.69183848e-03 -1.54468983e-04 9.99988981e-01 3.48805112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.85, Y:22.83, Z:0.35 [[ 7.88294316e-01 -6.15286500e-01 -3.82008550e-03 6.88478998e+01] [ 6.15280480e-01 7.88303547e-01 -2.72916027e-03 2.28308238e+01] [ 4.69060242e-03 -1.99042510e-04 9.99988979e-01 3.46940466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.87, Y:22.85, Z:0.35 [[ 7.88141223e-01 -6.15482989e-01 -3.75537670e-03 6.88698829e+01] [ 6.15476557e-01 7.88150164e-01 -2.81547124e-03 2.28488962e+01] [ 4.69267542e-03 -9.23573821e-05 9.99988985e-01 3.46038644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.90, Y:22.87, Z:0.34 [[ 7.89656584e-01 -6.13537598e-01 -3.75447816e-03 6.88967500e+01] [ 6.13531137e-01 7.89665505e-01 -2.81666895e-03 2.28656574e+01] [ 4.69291419e-03 -7.92880729e-05 9.99988985e-01 3.42802084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.92, Y:22.88, Z:0.35 [[ 7.88817177e-01 -6.14616262e-01 -3.78315442e-03 6.89151805e+01] [ 6.14609997e-01 7.88826237e-01 -2.77836740e-03 2.28827332e+01] [ 4.69188125e-03 -1.33540595e-04 9.99988984e-01 3.45602109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.94, Y:22.90, Z:0.35 [[ 7.88898013e-01 -6.14512696e-01 -3.75122492e-03 6.89367765e+01] [ 6.14506226e-01 7.88906927e-01 -2.82096040e-03 2.28999626e+01] [ 4.69288331e-03 -7.97010210e-05 9.99988985e-01 3.45024460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.96, Y:22.92, Z:0.35 [[ 7.88595021e-01 -6.14901516e-01 -3.74417775e-03 6.89595709e+01] [ 6.14895006e-01 7.88603906e-01 -2.83035372e-03 2.29182543e+01] [ 4.69306199e-03 -7.02733428e-05 9.99988985e-01 3.45996515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.98, Y:22.94, Z:0.35 [[ 7.89236467e-01 -6.14077904e-01 -3.75861815e-03 6.89809107e+01] [ 6.14071477e-01 7.89245411e-01 -2.81111508e-03 2.29367883e+01] [ 4.69271579e-03 -8.94256682e-05 9.99988985e-01 3.46324101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.00, Y:22.95, Z:0.35 [[ 7.89189635e-01 -6.14138127e-01 -3.75258973e-03 6.90033037e+01] [ 6.14131661e-01 7.89198552e-01 -2.81913958e-03 2.29549895e+01] [ 4.69287949e-03 -7.97484313e-05 9.99988985e-01 3.47100161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.302755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.02, Y:22.97, Z:0.35 [[ 7.89104861e-01 -6.14247037e-01 -3.75444223e-03 6.90248858e+01] [ 6.14240585e-01 7.89113788e-01 -2.81667451e-03 2.29724260e+01] [ 4.69281610e-03 -8.34792451e-05 9.99988985e-01 3.47351992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.332755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:69.05, Y:22.99, Z:0.35 [[ 7.89560724e-01 -6.13660962e-01 -3.75327790e-03 6.90483293e+01] [ 6.13654495e-01 7.89569641e-01 -2.81822259e-03 2.29904844e+01] [ 4.69290746e-03 -7.80579895e-05 9.99988985e-01 3.47373810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.07, Y:23.01, Z:0.35 [[ 7.90068647e-01 -6.13006850e-01 -3.75967471e-03 6.90736511e+01] [ 6.13000417e-01 7.90077587e-01 -2.80972572e-03 2.30080027e+01] [ 4.69281584e-03 -8.48059631e-05 9.99988985e-01 3.47756003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.09, Y:23.02, Z:0.35 [[ 7.89534169e-01 -6.13694968e-01 -3.77905756e-03 6.90932848e+01] [ 6.13688666e-01 7.89543204e-01 -2.78391032e-03 2.30246399e+01] [ 4.69220097e-03 -1.21172464e-04 9.99988984e-01 3.48137525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.12, Y:23.04, Z:0.35 [[ 7.89833792e-01 -6.13309430e-01 -3.75821392e-03 6.91182305e+01] [ 6.13302990e-01 7.89842729e-01 -2.81164894e-03 2.30428697e+01] [ 4.69280875e-03 -8.41884886e-05 9.99988985e-01 3.48941302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:69.14, Y:23.06, Z:0.35 [[ 7.89426185e-01 -6.13833893e-01 -3.77492437e-03 6.91374827e+01] [ 6.13827565e-01 7.89435203e-01 -2.78946797e-03 2.30603697e+01] [ 4.69232816e-03 -1.15073576e-04 9.99988984e-01 3.48732541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.16, Y:23.08, Z:0.35 [[ 7.89310668e-01 -6.13982547e-01 -3.75518120e-03 6.91616462e+01] [ 6.13976096e-01 7.89319596e-01 -2.81564974e-03 2.30789867e+01] [ 4.69279791e-03 -8.31691200e-05 9.99988985e-01 3.48327465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.18, Y:23.10, Z:0.35 [[ 7.89308377e-01 -6.13985406e-01 -3.76909779e-03 6.91813798e+01] [ 6.13979044e-01 7.89317369e-01 -2.79718553e-03 2.30950811e+01] [ 4.69244544e-03 -1.06305087e-04 9.99988985e-01 3.48151767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.20, Y:23.11, Z:0.35 [[ 7.88935483e-01 -6.14464580e-01 -3.75274152e-03 6.92039688e+01] [ 6.14458120e-01 7.88944404e-01 -2.81887177e-03 2.31119246e+01] [ 4.69280128e-03 -8.19945321e-05 9.99988985e-01 3.47517754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57275509600001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:69.23, Y:23.13, Z:0.35 [[ 7.86991021e-01 -6.16953077e-01 -3.74613772e-03 6.92273814e+01] [ 6.16946603e-01 7.86999933e-01 -2.82762074e-03 2.31291277e+01] [ 4.69271944e-03 -8.58548056e-05 9.99988985e-01 3.46883258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.25, Y:23.15, Z:0.34 [[ 7.84820054e-01 -6.19712340e-01 -3.75476790e-03 6.92477163e+01] [ 6.19705952e-01 7.84829027e-01 -2.81618817e-03 2.31465289e+01] [ 4.69207740e-03 -1.16651064e-04 9.99988985e-01 3.44700930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.27, Y:23.16, Z:0.35 [[ 7.84403719e-01 -6.20239284e-01 -3.74666364e-03 6.92729335e+01] [ 6.20232850e-01 7.84412659e-01 -2.82691624e-03 2.31630803e+01] [ 4.69229489e-03 -1.06360261e-04 9.99988985e-01 3.47248252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.662755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:69.29, Y:23.18, Z:0.34 [[ 7.81515920e-01 -6.23874012e-01 -3.75295546e-03 6.92905564e+01] [ 6.23867660e-01 7.81524918e-01 -2.81860222e-03 2.31790609e+01] [ 4.69148088e-03 -1.38565032e-04 9.99988985e-01 3.44918167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.32, Y:23.20, Z:0.35 [[ 7.82502910e-01 -6.22635889e-01 -3.70757764e-03 6.93183502e+01] [ 6.22629237e-01 7.82511691e-01 -2.87863655e-03 2.31951830e+01] [ 4.69356528e-03 -5.59047623e-05 9.99988984e-01 3.47197683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.34, Y:23.21, Z:0.35 [[ 7.80405954e-01 -6.25261961e-01 -3.74525822e-03 6.93378028e+01] [ 6.25255576e-01 7.80414930e-01 -2.82874753e-03 2.32139242e+01] [ 4.69156366e-03 -1.34172169e-04 9.99988986e-01 3.46463510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.36, Y:23.23, Z:0.35 [[ 7.81168135e-01 -6.24309549e-01 -3.73251009e-03 6.93626472e+01] [ 6.24303073e-01 7.81177045e-01 -2.84562944e-03 2.32309939e+01] [ 4.69230483e-03 -1.07302479e-04 9.99988985e-01 3.46370566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.38, Y:23.25, Z:0.35 [[ 7.81354040e-01 -6.24076781e-01 -3.74643353e-03 6.93840388e+01] [ 6.24070391e-01 7.81363011e-01 -2.82719399e-03 2.32471010e+01] [ 4.69171071e-03 -1.28998793e-04 9.99988986e-01 3.46422793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.41, Y:23.26, Z:0.35 [[ 7.82262042e-01 -6.22938261e-01 -3.74442427e-03 6.94065834e+01] [ 6.22931844e-01 7.82270995e-01 -2.82985263e-03 2.32645169e+01] [ 4.69197797e-03 -1.18834820e-04 9.99988986e-01 3.45090692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.43, Y:23.28, Z:0.34 [[ 7.83052330e-01 -6.21944559e-01 -3.74353395e-03 6.94278923e+01] [ 6.21938125e-01 7.83061271e-01 -2.83102990e-03 2.32807781e+01] [ 4.69216010e-03 -1.11401926e-04 9.99988986e-01 3.44329950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.45, Y:23.30, Z:0.34 [[ 7.83850567e-01 -6.20938225e-01 -3.74293045e-03 6.94493326e+01] [ 6.20931776e-01 7.83859497e-01 -2.83182758e-03 2.32972953e+01] [ 4.69232157e-03 -1.04374793e-04 9.99988986e-01 3.42661198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.47, Y:23.31, Z:0.34 [[ 7.85676690e-01 -6.18626003e-01 -3.74254884e-03 6.94715824e+01] [ 6.18619526e-01 7.85685599e-01 -2.83233183e-03 2.33145386e+01] [ 4.69262084e-03 -8.99166942e-05 9.99988986e-01 3.42128813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.49, Y:23.33, Z:0.34 [[ 7.86559709e-01 -6.17502894e-01 -3.74166150e-03 6.94933493e+01] [ 6.17496398e-01 7.86568604e-01 -2.83350356e-03 2.33310623e+01] [ 4.69277012e-03 -8.17427661e-05 9.99988986e-01 3.41644627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.51, Y:23.35, Z:0.34 [[ 7.88838054e-01 -6.14589722e-01 -3.74127719e-03 6.95137563e+01] [ 6.14583192e-01 7.88846924e-01 -2.83401090e-03 2.33452206e+01] [ 4.69304898e-03 -6.37504304e-05 9.99988986e-01 3.42657688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.54, Y:23.36, Z:0.34 [[ 7.88533800e-01 -6.14980221e-01 -3.71126575e-03 6.95387373e+01] [ 6.14973508e-01 7.88542533e-01 -2.87361644e-03 2.33644091e+01] [ 4.69370817e-03 -1.63864321e-05 9.99988984e-01 3.42783065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.56, Y:23.38, Z:0.35 [[ 7.88880493e-01 -6.14535253e-01 -3.74035871e-03 6.95611604e+01] [ 6.14528716e-01 7.88889358e-01 -2.83520371e-03 2.33805150e+01] [ 4.69306181e-03 -6.19209366e-05 9.99988986e-01 3.45027565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.58, Y:23.40, Z:0.35 [[ 7.88751959e-01 -6.14700262e-01 -3.73311366e-03 6.95840741e+01] [ 6.14693681e-01 7.88760791e-01 -2.84476362e-03 2.33971429e+01] [ 4.69321063e-03 -5.09085002e-05 9.99988986e-01 3.45148802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.61, Y:23.41, Z:0.35 [[ 7.88097561e-01 -6.15539018e-01 -3.73507830e-03 6.96076955e+01] [ 6.15532459e-01 7.88106410e-01 -2.84217167e-03 2.34131225e+01] [ 4.69310671e-03 -5.91533702e-05 9.99988986e-01 3.46070421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.63, Y:23.43, Z:0.35 [[ 7.88657638e-01 -6.14821230e-01 -3.73969138e-03 6.96289471e+01] [ 6.14814692e-01 7.88666502e-01 -2.83608883e-03 2.34279124e+01] [ 4.69305694e-03 -6.25140806e-05 9.99988986e-01 3.47341892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.65, Y:23.45, Z:0.35 [[ 7.88536782e-01 -6.14976338e-01 -3.72117867e-03 6.96516022e+01] [ 6.14969686e-01 7.88545562e-01 -2.86047064e-03 2.34452747e+01] [ 4.69344068e-03 -3.28257663e-05 9.99988985e-01 3.47466775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.67, Y:23.46, Z:0.35 [[ 7.88019993e-01 -6.15638409e-01 -3.72015974e-03 6.96744099e+01] [ 6.15631759e-01 7.88028773e-01 -2.86181173e-03 2.34621670e+01] [ 4.69343414e-03 -3.50836288e-05 9.99988985e-01 3.46855120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.70, Y:23.48, Z:0.35 [[ 7.87433482e-01 -6.16388390e-01 -3.72348355e-03 6.96980960e+01] [ 6.16381768e-01 7.87442284e-01 -2.85743873e-03 2.34794590e+01] [ 4.69332045e-03 -4.50444466e-05 9.99988985e-01 3.47698994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:23.50, Z:0.35 [[ 7.85818445e-01 -6.18446049e-01 -3.72231442e-03 6.97220630e+01] [ 6.18439444e-01 7.85827259e-01 -2.85897634e-03 2.34968896e+01] [ 4.69321876e-03 -5.53897122e-05 9.99988985e-01 3.48480216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.74, Y:23.51, Z:0.35 [[ 7.85413485e-01 -6.18960177e-01 -3.73594940e-03 6.97446912e+01] [ 6.18953662e-01 7.85422366e-01 -2.84104647e-03 2.35135258e+01] [ 4.69279284e-03 -8.09833590e-05 9.99988986e-01 3.48776437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.77, Y:23.53, Z:0.35 [[ 7.84936888e-01 -6.19564468e-01 -3.73507911e-03 6.97672855e+01] [ 6.19557955e-01 7.84945771e-01 -2.84219017e-03 2.35303610e+01] [ 4.69275459e-03 -8.31580605e-05 9.99988986e-01 3.49225292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.79, Y:23.55, Z:0.35 [[ 7.84518927e-01 -6.20093629e-01 -3.73419887e-03 6.97892352e+01] [ 6.20087116e-01 7.84527810e-01 -2.84334620e-03 2.35461847e+01] [ 4.69272372e-03 -8.48696935e-05 9.99988986e-01 3.48420429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.81, Y:23.56, Z:0.35 [[ 7.84419405e-01 -6.20219530e-01 -3.73249373e-03 6.98117934e+01] [ 6.20213008e-01 7.84428281e-01 -2.84558431e-03 2.35636180e+01] [ 4.69276061e-03 -8.28096089e-05 9.99988986e-01 3.49264146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.83, Y:23.58, Z:0.35 [[ 7.85262964e-01 -6.19151145e-01 -3.73311466e-03 6.98326678e+01] [ 6.19144615e-01 7.85271834e-01 -2.84476948e-03 2.35815183e+01] [ 4.69285208e-03 -7.74457209e-05 9.99988986e-01 3.48768892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.86, Y:23.60, Z:0.35 [[ 7.85333003e-01 -6.19062309e-01 -3.73251389e-03 6.98550567e+01] [ 6.19055774e-01 7.85341869e-01 -2.84555752e-03 2.35989891e+01] [ 4.69287684e-03 -7.59240399e-05 9.99988986e-01 3.48499227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.88, Y:23.62, Z:0.35 [[ 7.86303881e-01 -6.17828683e-01 -3.73162975e-03 6.98756305e+01] [ 6.17822128e-01 7.86312733e-01 -2.84671649e-03 2.36167857e+01] [ 4.69301109e-03 -6.70992027e-05 9.99988986e-01 3.48385530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.90, Y:23.63, Z:0.35 [[ 7.87078009e-01 -6.16842189e-01 -3.73124722e-03 6.98968408e+01] [ 6.16835621e-01 7.87086851e-01 -2.84721780e-03 2.36335571e+01] [ 4.69309968e-03 -6.05836808e-05 9.99988986e-01 3.47137557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.92, Y:23.65, Z:0.35 [[ 7.87229534e-01 -6.16648799e-01 -3.73078111e-03 6.99193762e+01] [ 6.16642226e-01 7.87238372e-01 -2.84782843e-03 2.36500537e+01] [ 4.69312402e-03 -5.86625201e-05 9.99988986e-01 3.46223780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.94, Y:23.67, Z:0.35 [[ 7.87213113e-01 -6.16669768e-01 -3.72993473e-03 6.99410156e+01] [ 6.16663190e-01 7.87221947e-01 -2.84893653e-03 2.36671952e+01] [ 4.69313951e-03 -5.73932511e-05 9.99988986e-01 3.46681052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.96, Y:23.69, Z:0.35 [[ 7.87063769e-01 -6.16860372e-01 -3.72903756e-03 6.99624511e+01] [ 6.16853790e-01 7.87072600e-01 -2.85011037e-03 2.36853694e+01] [ 4.69314343e-03 -5.70523488e-05 9.99988986e-01 3.46973600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.98, Y:23.70, Z:0.35 [[ 7.86303953e-01 -6.17828612e-01 -3.72814515e-03 6.99845878e+01] [ 6.17822036e-01 7.86312789e-01 -2.85127723e-03 2.37027691e+01] [ 4.69308887e-03 -6.13596711e-05 9.99988986e-01 3.47565429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.01, Y:23.72, Z:0.35 [[ 7.84342197e-01 -6.20317197e-01 -3.72724429e-03 7.00062549e+01] [ 6.20310643e-01 7.84351050e-01 -2.85245436e-03 2.37206440e+01] [ 4.69289447e-03 -7.47489830e-05 9.99988986e-01 3.48402921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.03, Y:23.74, Z:0.35 [[ 7.83356107e-01 -6.21562004e-01 -3.72634084e-03 7.00276479e+01] [ 6.21555459e-01 7.83364965e-01 -2.85363412e-03 2.37375527e+01] [ 4.69279540e-03 -8.07157746e-05 9.99988986e-01 3.48762449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.05, Y:23.76, Z:0.35 [[ 7.82711480e-01 -6.22373566e-01 -3.72594974e-03 7.00523936e+01] [ 6.22367028e-01 7.82720344e-01 -2.85414467e-03 2.37551595e+01] [ 4.69272086e-03 -8.49364658e-05 9.99988986e-01 3.48410178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.07, Y:23.77, Z:0.35 [[ 7.80513220e-01 -6.25128091e-01 -3.73940691e-03 7.00720432e+01] [ 6.25121667e-01 7.80522168e-01 -2.83658163e-03 2.37720528e+01] [ 4.69191685e-03 -1.23594823e-04 9.99988985e-01 3.51199322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.09, Y:23.79, Z:0.35 [[ 7.79783382e-01 -6.26038341e-01 -3.72460106e-03 7.00930032e+01] [ 6.26031835e-01 7.79792270e-01 -2.85589116e-03 2.37892588e+01] [ 4.69231248e-03 -1.04742372e-04 9.99988986e-01 3.51798561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.11, Y:23.81, Z:0.35 [[ 7.79066774e-01 -6.26929894e-01 -3.72421238e-03 7.01141461e+01] [ 6.26923397e-01 7.79075667e-01 -2.85639792e-03 2.38066777e+01] [ 4.69220449e-03 -1.09471170e-04 9.99988986e-01 3.52150620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.14, Y:23.82, Z:0.35 [[ 7.79334312e-01 -6.26597291e-01 -3.72372112e-03 7.01391278e+01] [ 6.26590786e-01 7.79343200e-01 -2.85703821e-03 2.38244014e+01] [ 4.69226913e-03 -1.06661436e-04 9.99988986e-01 3.51790987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.16, Y:23.84, Z:0.35 [[ 7.78925097e-01 -6.27105796e-01 -3.74350856e-03 7.01601094e+01] [ 6.27099421e-01 7.78934079e-01 -2.83125031e-03 2.38416729e+01] [ 4.69143987e-03 -1.42220131e-04 9.99988985e-01 3.51326240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.18, Y:23.86, Z:0.35 [[ 7.78953760e-01 -6.27070194e-01 -3.74311838e-03 7.01818780e+01] [ 6.27063816e-01 7.78962741e-01 -2.83175869e-03 2.38590852e+01] [ 4.69146122e-03 -1.41365012e-04 9.99988985e-01 3.51969533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.20, Y:23.88, Z:0.35 [[ 7.76739534e-01 -6.29810860e-01 -3.73848223e-03 7.01995579e+01] [ 6.29804485e-01 7.76748516e-01 -2.83779623e-03 2.38778584e+01] [ 4.69113541e-03 -1.50284350e-04 9.99988985e-01 3.51343803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.22, Y:23.89, Z:0.35 [[ 7.77955682e-01 -6.28308132e-01 -3.72126024e-03 7.02241608e+01] [ 6.28301632e-01 7.77964574e-01 -2.86020286e-03 2.38945522e+01] [ 4.69209736e-03 -1.12962809e-04 9.99988986e-01 3.50947650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.25, Y:23.91, Z:0.35 [[ 7.77591309e-01 -6.28758933e-01 -3.73630089e-03 7.02460906e+01] [ 6.28752532e-01 7.77600273e-01 -2.84064263e-03 2.39127475e+01] [ 4.69142802e-03 -1.40349626e-04 9.99988985e-01 3.51279324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.26, Y:23.93, Z:0.35 [[ 7.77060214e-01 -6.29415172e-01 -3.73696985e-03 7.02638568e+01] [ 6.29408783e-01 7.77069186e-01 -2.83977294e-03 2.39316581e+01] [ 4.69128030e-03 -1.45407077e-04 9.99988985e-01 3.51832102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.29, Y:23.95, Z:0.35 [[ 7.77398607e-01 -6.28997279e-01 -3.71880732e-03 7.02853690e+01] [ 6.28990771e-01 7.77407493e-01 -2.86336164e-03 2.39498621e+01] [ 4.69207535e-03 -1.13122134e-04 9.99988986e-01 3.52328408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.31, Y:23.97, Z:0.35 [[ 7.79179090e-01 -6.26790335e-01 -3.71789185e-03 7.03104873e+01] [ 6.26783797e-01 7.79187953e-01 -2.86454983e-03 2.39679832e+01] [ 4.69240868e-03 -9.83170421e-05 9.99988986e-01 3.51910331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.33, Y:23.99, Z:0.35 [[ 7.78704449e-01 -6.27379775e-01 -3.74152436e-03 7.03269660e+01] [ 6.27373390e-01 7.78713425e-01 -2.83387456e-03 2.39868878e+01] [ 4.69149083e-03 -1.40582101e-04 9.99988985e-01 3.53022606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.36, Y:24.00, Z:0.35 [[ 7.80858720e-01 -6.24696604e-01 -3.71651364e-03 7.03554704e+01] [ 6.24690033e-01 7.80867560e-01 -2.86630403e-03 2.40047547e+01] [ 4.69267533e-03 -8.34905344e-05 9.99988986e-01 3.51897631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.37, Y:24.02, Z:0.35 [[ 7.79260259e-01 -6.26689177e-01 -3.75819235e-03 7.03707260e+01] [ 6.26682888e-01 7.79269305e-01 -2.81223472e-03 2.40225301e+01] [ 4.69104100e-03 -1.63732077e-04 9.99988984e-01 3.53317959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.39, Y:24.04, Z:0.35 [[ 7.79742697e-01 -6.26089070e-01 -3.71530921e-03 7.03916676e+01] [ 6.26082508e-01 7.79751543e-01 -2.86779113e-03 2.40399130e+01] [ 4.69251077e-03 -8.99509251e-05 9.99988986e-01 3.52064071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.41, Y:24.06, Z:0.35 [[ 7.79830494e-01 -6.25979713e-01 -3.71469122e-03 7.04137136e+01] [ 6.25973146e-01 7.79839337e-01 -2.86859140e-03 2.40577829e+01] [ 4.69254236e-03 -8.82818977e-05 9.99988986e-01 3.52272933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.43, Y:24.08, Z:0.35 [[ 7.80737362e-01 -6.24848285e-01 -3.71379679e-03 7.04343498e+01] [ 6.24841700e-01 7.80746191e-01 -2.86974890e-03 2.40752953e+01] [ 4.69269037e-03 -8.00149115e-05 9.99988986e-01 3.52203750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.46, Y:24.09, Z:0.35 [[ 7.83020456e-01 -6.21984867e-01 -3.71340950e-03 7.04643785e+01] [ 6.21978248e-01 7.83029259e-01 -2.87024995e-03 2.40927588e+01] [ 4.69296033e-03 -6.21955065e-05 9.99988986e-01 3.50080205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.48, Y:24.11, Z:0.35 [[ 7.81726111e-01 -6.23610569e-01 -3.76102286e-03 7.04794683e+01] [ 6.23604263e-01 7.81735144e-01 -2.80860133e-03 2.41109871e+01] [ 4.69159722e-03 -1.49832892e-04 9.99988983e-01 3.52844218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.50, Y:24.13, Z:0.35 [[ 7.82224355e-01 -6.22985750e-01 -3.71658425e-03 7.05008632e+01] [ 6.22979162e-01 7.82233181e-01 -2.86606386e-03 2.41284774e+01] [ 4.69275246e-03 -7.34495880e-05 9.99988986e-01 3.52989179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.52, Y:24.15, Z:0.35 [[ 7.82797140e-01 -6.22265906e-01 -3.71212136e-03 7.05217265e+01] [ 6.22259282e-01 7.82805939e-01 -2.87183257e-03 2.41454209e+01] [ 4.69291414e-03 -6.18396504e-05 9.99988986e-01 3.53162683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.54, Y:24.16, Z:0.35 [[ 7.82844667e-01 -6.22206116e-01 -3.71164851e-03 7.05437886e+01] [ 6.22199489e-01 7.82853464e-01 -2.87244357e-03 2.41628811e+01] [ 4.69292885e-03 -6.07086757e-05 9.99988986e-01 3.53161890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.56, Y:24.18, Z:0.35 [[ 7.82761228e-01 -6.22311088e-01 -3.71078626e-03 7.05648196e+01] [ 6.22304456e-01 7.82770022e-01 -2.87355704e-03 2.41792318e+01] [ 4.69293865e-03 -5.99297833e-05 9.99988986e-01 3.53275900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.59, Y:24.20, Z:0.35 [[ 7.82412283e-01 -6.22749752e-01 -3.71020049e-03 7.05870858e+01] [ 6.22743121e-01 7.82421078e-01 -2.87431315e-03 2.41961470e+01] [ 4.69291687e-03 -6.16039201e-05 9.99988986e-01 3.54399490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.61, Y:24.21, Z:0.35 [[ 7.81750068e-01 -6.23580847e-01 -3.70929373e-03 7.06089521e+01] [ 6.23574221e-01 7.81758865e-01 -2.87548285e-03 2.42136379e+01] [ 4.69286929e-03 -6.51110324e-05 9.99988986e-01 3.51836910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.63, Y:24.23, Z:0.35 [[ 7.81900541e-01 -6.23392108e-01 -3.71804830e-03 7.06309348e+01] [ 6.23385533e-01 7.81909377e-01 -2.86418957e-03 2.42303923e+01] [ 4.69269000e-03 -7.82661404e-05 9.99988986e-01 3.53276982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.65, Y:24.25, Z:0.35 [[ 7.80940109e-01 -6.24594902e-01 -3.70855113e-03 7.06541996e+01] [ 6.24588283e-01 7.80948912e-01 -2.87643416e-03 2.42480747e+01] [ 4.69279508e-03 -6.99947736e-05 9.99988986e-01 3.53379570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.68, Y:24.27, Z:0.36 [[ 7.79574648e-01 -6.26298334e-01 -3.71026853e-03 7.06772005e+01] [ 6.26291744e-01 7.79583472e-01 -2.87422028e-03 2.42662074e+01] [ 4.69258339e-03 -8.30412868e-05 9.99988986e-01 3.55729372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.70, Y:24.28, Z:0.36 [[ 7.78505604e-01 -6.27626612e-01 -3.72304790e-03 7.06998370e+01] [ 6.27620115e-01 7.78514498e-01 -2.85775928e-03 2.42826798e+01] [ 4.69205254e-03 -1.11878142e-04 9.99988986e-01 3.55880854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.72, Y:24.30, Z:0.35 [[ 7.77730453e-01 -6.28586937e-01 -3.71551434e-03 7.07227177e+01] [ 6.28580405e-01 7.77739321e-01 -2.86745477e-03 2.43001452e+01] [ 4.69214621e-03 -1.05392614e-04 9.99988986e-01 3.54832630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.74, Y:24.32, Z:0.36 [[ 7.76947119e-01 -6.29554905e-01 -3.71434386e-03 7.07440188e+01] [ 6.29548377e-01 7.76955990e-01 -2.86896037e-03 2.43163832e+01] [ 4.69204978e-03 -1.09328656e-04 9.99988986e-01 3.57052330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.77, Y:24.33, Z:0.35 [[ 7.76179926e-01 -6.30500569e-01 -3.70880557e-03 7.07657291e+01] [ 6.30494019e-01 7.76188779e-01 -2.87608134e-03 2.43329011e+01] [ 4.69210419e-03 -1.06023133e-04 9.99988986e-01 3.54154932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.79, Y:24.35, Z:0.36 [[ 7.74124979e-01 -6.33021955e-01 -3.70415735e-03 7.07884410e+01] [ 6.33015404e-01 7.74133833e-01 -2.88205545e-03 2.43497759e+01] [ 4.69191791e-03 -1.13717545e-04 9.99988986e-01 3.55537322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.81, Y:24.37, Z:0.36 [[ 7.73134173e-01 -6.34231690e-01 -3.70322622e-03 7.08099987e+01] [ 6.34225148e-01 7.73143032e-01 -2.88325139e-03 2.43660020e+01] [ 4.69177296e-03 -1.19539015e-04 9.99988986e-01 3.55450423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.83, Y:24.38, Z:0.36 [[ 7.72208376e-01 -6.35358571e-01 -3.70275412e-03 7.08327590e+01] [ 6.35352039e-01 7.72217243e-01 -2.88385755e-03 2.43830772e+01] [ 4.69161419e-03 -1.25613431e-04 9.99988986e-01 3.55799071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.85, Y:24.40, Z:0.36 [[ 7.71459032e-01 -6.36268228e-01 -3.70188743e-03 7.08540277e+01] [ 6.36261700e-01 7.71467903e-01 -2.88496965e-03 2.43992195e+01] [ 4.69150186e-03 -1.29733296e-04 9.99988986e-01 3.55738324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.88, Y:24.42, Z:0.36 [[ 7.71220701e-01 -6.36557091e-01 -3.70140313e-03 7.08762820e+01] [ 6.36550564e-01 7.71229572e-01 -2.88559087e-03 2.44167626e+01] [ 4.69147489e-03 -1.30702837e-04 9.99988986e-01 3.56073879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.90, Y:24.44, Z:0.36 [[ 7.70831821e-01 -6.37027951e-01 -3.70055798e-03 7.08997523e+01] [ 6.37021424e-01 7.70840692e-01 -2.88667432e-03 2.44361301e+01] [ 4.69143290e-03 -1.32194292e-04 9.99988986e-01 3.55911151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.92, Y:24.45, Z:0.36 [[ 7.71960401e-01 -6.35659794e-01 -3.71020120e-03 7.09207374e+01] [ 6.35653311e-01 7.71969304e-01 -2.87431518e-03 2.44521382e+01] [ 4.69124804e-03 -1.39544176e-04 9.99988986e-01 3.55678615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.94, Y:24.47, Z:0.36 [[ 7.72122740e-01 -6.35462657e-01 -3.69938393e-03 7.09421239e+01] [ 6.35456105e-01 7.72131593e-01 -2.88817075e-03 2.44694015e+01] [ 4.69173587e-03 -1.20773785e-04 9.99988986e-01 3.56683730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.97, Y:24.49, Z:0.36 [[ 7.72391865e-01 -6.35135519e-01 -3.69856103e-03 7.09662161e+01] [ 6.35128958e-01 7.72400711e-01 -2.88922416e-03 2.44878345e+01] [ 4.69182006e-03 -1.17449977e-04 9.99988986e-01 3.56472017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:70.99, Y:24.50, Z:0.36 [[ 7.73278266e-01 -6.34055957e-01 -3.71037715e-03 7.09872325e+01] [ 6.34049456e-01 7.73287157e-01 -2.87409669e-03 2.45038951e+01] [ 4.69152512e-03 -1.30086109e-04 9.99988986e-01 3.57437739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.01, Y:24.52, Z:0.36 [[ 7.71611556e-01 -6.36083277e-01 -3.69735548e-03 7.10101879e+01] [ 6.36076720e-01 7.71620405e-01 -2.89075179e-03 2.45241979e+01] [ 4.69171380e-03 -1.21264257e-04 9.99988986e-01 3.57992312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.03, Y:24.54, Z:0.36 [[ 7.71307984e-01 -6.36451221e-01 -3.71972286e-03 7.10324872e+01] [ 6.36444806e-01 7.71316937e-01 -2.86214805e-03 2.45421397e+01] [ 4.69070287e-03 -1.59800647e-04 9.99988986e-01 3.58136835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.05, Y:24.56, Z:0.36 [[ 7.71370178e-01 -6.36375851e-01 -3.71820966e-03 7.10545152e+01] [ 6.36369425e-01 7.71379123e-01 -2.86408128e-03 2.45598127e+01] [ 4.69078147e-03 -1.56888058e-04 9.99988986e-01 3.57911950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.08, Y:24.58, Z:0.36 [[ 7.71832596e-01 -6.35814969e-01 -3.71056982e-03 7.10761274e+01] [ 6.35808490e-01 7.71841503e-01 -2.87382499e-03 2.45763266e+01] [ 4.69119273e-03 -1.41099997e-04 9.99988986e-01 3.58209086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.10, Y:24.59, Z:0.36 [[ 7.71088722e-01 -6.36717011e-01 -3.69186424e-03 7.10971117e+01] [ 6.36710429e-01 7.71097551e-01 -2.89765751e-03 2.45931415e+01] [ 4.69177530e-03 -1.16297437e-04 9.99988987e-01 3.58302846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.12, Y:24.61, Z:0.36 [[ 7.70558443e-01 -6.37358658e-01 -3.69147412e-03 7.11185567e+01] [ 6.37352080e-01 7.70567276e-01 -2.89815442e-03 2.46104083e+01] [ 4.69169297e-03 -1.19571347e-04 9.99988987e-01 3.59092736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.14, Y:24.63, Z:0.36 [[ 7.68838780e-01 -6.39432019e-01 -3.69107852e-03 7.11422938e+01] [ 6.39425462e-01 7.68847629e-01 -2.89865817e-03 2.46302167e+01] [ 4.69137181e-03 -1.31568777e-04 9.99988987e-01 3.60098371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.16, Y:24.65, Z:0.36 [[ 7.69234406e-01 -6.38955883e-01 -3.71597495e-03 7.11629456e+01] [ 6.38949473e-01 7.69243363e-01 -2.86696685e-03 2.46460253e+01] [ 4.69035440e-03 -1.68950692e-04 9.99988986e-01 3.59940995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.18, Y:24.66, Z:0.36 [[ 7.67952478e-01 -6.40496200e-01 -3.68900187e-03 7.11839761e+01] [ 6.40489643e-01 7.67961327e-01 -2.90126355e-03 2.46640598e+01] [ 4.69125905e-03 -1.34734954e-04 9.99988987e-01 3.60496543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.21, Y:24.68, Z:0.36 [[ 7.67617027e-01 -6.40898165e-01 -3.69360514e-03 7.12059309e+01] [ 6.40891641e-01 7.67625899e-01 -2.89541411e-03 2.46820913e+01] [ 4.69097255e-03 -1.44631490e-04 9.99988987e-01 3.59772766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.23, Y:24.70, Z:0.36 [[ 7.67235139e-01 -6.41355322e-01 -3.68694527e-03 7.12271509e+01] [ 6.41348762e-01 7.67243985e-01 -2.90386991e-03 2.47000678e+01] [ 4.69119900e-03 -1.36666757e-04 9.99988987e-01 3.58726266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.25, Y:24.72, Z:0.36 [[ 7.67069094e-01 -6.41553910e-01 -3.68602894e-03 7.12486252e+01] [ 6.41547347e-01 7.67077938e-01 -2.90503259e-03 2.47175841e+01] [ 4.69120649e-03 -1.36401369e-04 9.99988987e-01 3.58438109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.27, Y:24.74, Z:0.36 [[ 7.67335008e-01 -6.41235843e-01 -3.68511336e-03 7.12697751e+01] [ 6.41229271e-01 7.67343845e-01 -2.90619356e-03 2.47350781e+01] [ 4.69130453e-03 -1.32978497e-04 9.99988987e-01 3.57567156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.29, Y:24.75, Z:0.36 [[ 7.67148033e-01 -6.41459522e-01 -3.68471707e-03 7.12914614e+01] [ 6.41452950e-01 7.67156871e-01 -2.90669592e-03 2.47530697e+01] [ 4.69128380e-03 -1.33706576e-04 9.99988987e-01 3.57249163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.31, Y:24.77, Z:0.36 [[ 7.67236667e-01 -6.41353512e-01 -3.68379480e-03 7.13132877e+01] [ 6.41346933e-01 7.67245499e-01 -2.90786430e-03 2.47712211e+01] [ 4.69134396e-03 -1.31570385e-04 9.99988987e-01 3.56862652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.33, Y:24.79, Z:0.36 [[ 7.67344122e-01 -6.41224948e-01 -3.68287355e-03 7.13338916e+01] [ 6.41218363e-01 7.67352949e-01 -2.90903061e-03 2.47885042e+01] [ 4.69140688e-03 -1.29298602e-04 9.99988987e-01 3.56331055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.36, Y:24.81, Z:0.36 [[ 7.67892439e-01 -6.40568217e-01 -3.68247408e-03 7.13552024e+01] [ 6.40561622e-01 7.67901259e-01 -2.90953620e-03 2.48067582e+01] [ 4.69153290e-03 -1.24640719e-04 9.99988987e-01 3.56529540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.38, Y:24.82, Z:0.36 [[ 7.68071333e-01 -6.40353709e-01 -3.68157937e-03 7.13769391e+01] [ 6.40347106e-01 7.68080147e-01 -2.91066788e-03 2.48245131e+01] [ 4.69160500e-03 -1.21888134e-04 9.99988987e-01 3.56911570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.40, Y:24.84, Z:0.36 [[ 7.69138583e-01 -6.39071430e-01 -3.68068383e-03 7.13973988e+01] [ 6.39064806e-01 7.69147382e-01 -2.91179990e-03 2.48414571e+01] [ 4.69183646e-03 -1.12617853e-04 9.99988987e-01 3.57111947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:71.42, Y:24.86, Z:0.36 [[ 7.69648891e-01 -6.38456765e-01 -3.68018302e-03 7.14193493e+01] [ 6.38450131e-01 7.69657682e-01 -2.91243273e-03 2.48594755e+01] [ 4.69194351e-03 -1.08062708e-04 9.99988987e-01 3.57311743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.44, Y:24.88, Z:0.36 [[ 7.69957064e-01 -6.38085090e-01 -3.67930522e-03 7.14408165e+01] [ 6.38078447e-01 7.69965848e-01 -2.91354123e-03 2.48772853e+01] [ 4.69202659e-03 -1.04383706e-04 9.99988987e-01 3.57440337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.46, Y:24.89, Z:0.36 [[ 7.70481784e-01 -6.37451402e-01 -3.67842503e-03 7.14613623e+01] [ 6.37444746e-01 7.70490558e-01 -2.91465208e-03 2.48947762e+01] [ 4.69214081e-03 -9.91063747e-05 9.99988987e-01 3.57656865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.48, Y:24.91, Z:0.36 [[ 7.70546543e-01 -6.37373123e-01 -3.67793138e-03 7.14832165e+01] [ 6.37366463e-01 7.70555314e-01 -2.91527487e-03 2.49126007e+01] [ 4.69216742e-03 -9.78351445e-05 9.99988987e-01 3.57677259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.50, Y:24.93, Z:0.36 [[ 7.70450145e-01 -6.37489649e-01 -3.67707807e-03 7.15047420e+01] [ 6.37482986e-01 7.70458914e-01 -2.91635076e-03 2.49299147e+01] [ 4.69218100e-03 -9.71718391e-05 9.99988987e-01 3.57801503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.53, Y:24.95, Z:0.36 [[ 7.70045566e-01 -6.37978301e-01 -3.67623315e-03 7.15269040e+01] [ 6.37971638e-01 7.70054334e-01 -2.91741546e-03 2.49473980e+01] [ 4.69214702e-03 -9.87896473e-05 9.99988987e-01 3.57659450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.55, Y:24.96, Z:0.36 [[ 7.69745937e-01 -6.38339787e-01 -3.67539393e-03 7.15487721e+01] [ 6.38333123e-01 7.69754705e-01 -2.91847233e-03 2.49647314e+01] [ 4.69212877e-03 -9.96434683e-05 9.99988987e-01 3.57471860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.57, Y:24.98, Z:0.36 [[ 7.69128544e-01 -6.39083547e-01 -3.67456065e-03 7.15703332e+01] [ 6.39076887e-01 7.69137315e-01 -2.91952111e-03 2.49822516e+01] [ 4.69205962e-03 -1.02839755e-04 9.99988987e-01 3.57343827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.59, Y:25.00, Z:0.36 [[ 7.68204293e-01 -6.40194243e-01 -3.67371903e-03 7.15925657e+01] [ 6.40187590e-01 7.68213069e-01 -2.92057975e-03 2.49997102e+01] [ 4.69193732e-03 -1.08267429e-04 9.99988987e-01 3.57360554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.62, Y:25.02, Z:0.36 [[ 7.67392310e-01 -6.41167336e-01 -3.67281513e-03 7.16156287e+01] [ 6.41160689e-01 7.67401091e-01 -2.92171602e-03 2.50179193e+01] [ 4.69183122e-03 -1.12762270e-04 9.99988987e-01 3.57175765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.64, Y:25.03, Z:0.36 [[ 7.67001148e-01 -6.41635192e-01 -3.67693816e-03 7.16378035e+01] [ 6.41628575e-01 7.67009951e-01 -2.91653573e-03 2.50348572e+01] [ 4.69160012e-03 -1.22242340e-04 9.99988987e-01 3.56850440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.66, Y:25.05, Z:0.36 [[ 7.66134037e-01 -6.42670334e-01 -3.67144202e-03 7.16598145e+01] [ 6.42663696e-01 7.66142824e-01 -2.92343814e-03 2.50519624e+01] [ 4.69165592e-03 -1.19757036e-04 9.99988987e-01 3.56645274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.68, Y:25.07, Z:0.36 [[ 7.64564992e-01 -6.44536190e-01 -3.67049699e-03 7.16818246e+01] [ 6.44529567e-01 7.64573792e-01 -2.92462418e-03 2.50683108e+01] [ 4.69139193e-03 -1.29678575e-04 9.99988987e-01 3.56636599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.70, Y:25.08, Z:0.36 [[ 7.63631558e-01 -6.45641831e-01 -3.67008822e-03 7.17033134e+01] [ 6.45635219e-01 7.63640365e-01 -2.92513705e-03 2.50849384e+01] [ 4.69121835e-03 -1.35811250e-04 9.99988987e-01 3.56408752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.73, Y:25.10, Z:0.36 [[ 7.62601590e-01 -6.46858059e-01 -3.66968692e-03 7.17255300e+01] [ 6.46851459e-01 7.62610406e-01 -2.92564041e-03 2.51022979e+01] [ 4.69101551e-03 -1.42644303e-04 9.99988987e-01 3.56667380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.75, Y:25.12, Z:0.36 [[ 7.61486569e-01 -6.48170306e-01 -3.66876372e-03 7.17468058e+01] [ 6.48163716e-01 7.61495392e-01 -2.92679765e-03 2.51189874e+01] [ 4.69080999e-03 -1.49242419e-04 9.99988987e-01 3.55830690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.77, Y:25.14, Z:0.36 [[ 7.59700053e-01 -6.50263311e-01 -3.66836379e-03 7.17699494e+01] [ 6.50256742e-01 7.59708892e-01 -2.92729882e-03 2.51353487e+01] [ 4.69040361e-03 -1.61509222e-04 9.99988987e-01 3.56854516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.79, Y:25.15, Z:0.36 [[ 7.59003740e-01 -6.51075935e-01 -3.66743074e-03 7.17925862e+01] [ 6.51069370e-01 7.59012582e-01 -2.92846731e-03 2.51523745e+01] [ 4.69028067e-03 -1.65034182e-04 9.99988987e-01 3.57234523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.82, Y:25.17, Z:0.36 [[ 7.57080281e-01 -6.53311568e-01 -3.66649447e-03 7.18165764e+01] [ 6.53305023e-01 7.57089139e-01 -2.92963907e-03 2.51724052e+01] [ 4.68983024e-03 -1.77367282e-04 9.99988987e-01 3.56811053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.84, Y:25.19, Z:0.36 [[ 7.58404184e-01 -6.51774035e-01 -3.70151143e-03 7.18363583e+01] [ 6.51767685e-01 7.58413184e-01 -2.88579057e-03 2.51863930e+01] [ 4.68815843e-03 -2.23929893e-04 9.99988985e-01 3.57838402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.86, Y:25.20, Z:0.36 [[ 7.58589945e-01 -6.51558025e-01 -3.66548837e-03 7.18580322e+01] [ 6.51551454e-01 7.58598783e-01 -2.93084318e-03 2.52039665e+01] [ 4.69024941e-03 -1.64946113e-04 9.99988987e-01 3.58647097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.88, Y:25.22, Z:0.36 [[ 7.58930673e-01 -6.51161121e-01 -3.66455225e-03 7.18799033e+01] [ 6.51154540e-01 7.58939503e-01 -2.93201319e-03 2.52217444e+01] [ 4.69038645e-03 -1.60995090e-04 9.99988987e-01 3.59024916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.90, Y:25.24, Z:0.36 [[ 7.60796192e-01 -6.48980533e-01 -3.66360908e-03 7.19010128e+01] [ 6.48973920e-01 7.60804999e-01 -2.93319122e-03 2.52386804e+01] [ 4.69087610e-03 -1.46026039e-04 9.99988987e-01 3.59340630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.92, Y:25.25, Z:0.36 [[ 7.62861935e-01 -6.46551086e-01 -3.65537221e-03 7.19218107e+01] [ 6.46544397e-01 7.62870683e-01 -2.94346903e-03 2.52537265e+01] [ 4.69167939e-03 -1.17899948e-04 9.99988987e-01 3.58637890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.94, Y:25.27, Z:0.36 [[ 7.62951165e-01 -6.46445850e-01 -3.64458296e-03 7.19449327e+01] [ 6.46439095e-01 7.62959864e-01 -2.95693625e-03 2.52726468e+01] [ 4.69216968e-03 -1.00002952e-04 9.99988987e-01 3.60253620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:71.97, Y:25.29, Z:0.36 [[ 7.65639842e-01 -6.43259062e-01 -3.66223411e-03 7.19667562e+01] [ 6.43252376e-01 7.65648593e-01 -2.93491083e-03 2.52888735e+01] [ 4.69189238e-03 -1.08656125e-04 9.99988987e-01 3.60400732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:71.99, Y:25.30, Z:0.36 [[ 7.67474087e-01 -6.41069511e-01 -3.66182682e-03 7.19864807e+01] [ 6.41062797e-01 7.67482816e-01 -2.93541891e-03 2.53044422e+01] [ 4.69219672e-03 -9.46029914e-05 9.99988987e-01 3.60332270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.01, Y:25.32, Z:0.36 [[ 7.68591811e-01 -6.39729150e-01 -3.63897885e-03 7.20093728e+01] [ 6.39722286e-01 7.68600424e-01 -2.96388526e-03 2.53219293e+01] [ 4.69300449e-03 -4.99179274e-05 9.99988987e-01 3.61088773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.03, Y:25.34, Z:0.36 [[ 7.70290043e-01 -6.37683266e-01 -3.64731344e-03 7.20318251e+01] [ 6.37676428e-01 7.70298676e-01 -2.95350877e-03 2.53399252e+01] [ 4.69292383e-03 -5.07474096e-05 9.99988987e-01 3.62154209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.05, Y:25.36, Z:0.36 [[ 7.71279890e-01 -6.36485664e-01 -3.65108403e-03 7.20545194e+01] [ 6.36478835e-01 7.71288530e-01 -2.94881510e-03 2.53574643e+01] [ 4.69291777e-03 -4.94759306e-05 9.99988987e-01 3.63016084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.08, Y:25.37, Z:0.36 [[ 7.71520155e-01 -6.36194398e-01 -3.65204400e-03 7.20763524e+01] [ 6.36187572e-01 7.71528797e-01 -2.94761980e-03 2.53744592e+01] [ 4.69291632e-03 -4.92369110e-05 9.99988987e-01 3.63359648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.10, Y:25.39, Z:0.36 [[ 7.72041708e-01 -6.35561338e-01 -3.65882815e-03 7.20989873e+01] [ 6.35554544e-01 7.72050376e-01 -2.93917456e-03 2.53918184e+01] [ 4.69282536e-03 -5.62195067e-05 9.99988987e-01 3.63817749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.12, Y:25.41, Z:0.36 [[ 7.73104157e-01 -6.34268527e-01 -3.66026116e-03 7.21240397e+01] [ 6.34261727e-01 7.73112820e-01 -2.93739135e-03 2.54083853e+01] [ 4.69288971e-03 -5.06540943e-05 9.99988987e-01 3.64501289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.14, Y:25.42, Z:0.37 [[ 7.72914035e-01 -6.34500105e-01 -3.67569630e-03 7.21429732e+01] [ 6.34493399e-01 7.72922772e-01 -2.91818904e-03 2.54237622e+01] [ 4.69262062e-03 -7.66957674e-05 9.99988987e-01 3.65119207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.592755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:72.17, Y:25.44, Z:0.37 [[ 7.72134985e-01 -6.35448062e-01 -3.65042315e-03 7.21656122e+01] [ 6.35441218e-01 7.72143613e-01 -2.94958868e-03 2.54419952e+01] [ 4.69296133e-03 -4.21487172e-05 9.99988987e-01 3.65532408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.19, Y:25.46, Z:0.37 [[ 7.72388190e-01 -6.35140223e-01 -3.65800786e-03 7.21872136e+01] [ 6.35133420e-01 7.72396850e-01 -2.94016782e-03 2.54574794e+01] [ 4.69285260e-03 -5.23721358e-05 9.99988987e-01 3.65551614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.21, Y:25.47, Z:0.37 [[ 7.72826683e-01 -6.34606676e-01 -3.64476580e-03 7.22073058e+01] [ 6.34599789e-01 7.72835277e-01 -2.95660773e-03 2.54726351e+01] [ 4.69308659e-03 -2.80222689e-05 9.99988987e-01 3.66057738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.23, Y:25.49, Z:0.37 [[ 7.71805192e-01 -6.35848733e-01 -3.62405150e-03 7.22307254e+01] [ 6.35841739e-01 7.71813701e-01 -2.98230702e-03 2.54917899e+01] [ 4.69338874e-03 -2.56316323e-06 9.99988986e-01 3.65803253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.25, Y:25.51, Z:0.37 [[ 7.70103990e-01 -6.37907975e-01 -3.64143390e-03 7.22536761e+01] [ 6.37901105e-01 7.70112598e-01 -2.96072344e-03 2.55090548e+01] [ 4.69298322e-03 -4.28097766e-05 9.99988987e-01 3.66316712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.27, Y:25.53, Z:0.37 [[ 7.67089734e-01 -6.41529439e-01 -3.64944267e-03 7.22716573e+01] [ 6.41522658e-01 7.67098411e-01 -2.95077535e-03 2.55276265e+01] [ 4.69249093e-03 -7.76906764e-05 9.99988987e-01 3.66513989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.30, Y:25.54, Z:0.37 [[ 7.68210294e-01 -6.40187350e-01 -3.61945363e-03 7.22989694e+01] [ 6.40180378e-01 7.68218820e-01 -2.98799403e-03 2.55440688e+01] [ 4.69340838e-03 -2.16954154e-05 9.99988986e-01 3.66556768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.32, Y:25.56, Z:0.37 [[ 7.67779844e-01 -6.40703325e-01 -3.65523961e-03 7.23204952e+01] [ 6.40696569e-01 7.67788540e-01 -2.94355584e-03 2.55607884e+01] [ 4.69239710e-03 -8.18966290e-05 9.99988987e-01 3.66731325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.34, Y:25.58, Z:0.37 [[ 7.65702961e-01 -6.43184022e-01 -3.64552237e-03 7.23428976e+01] [ 6.43177236e-01 7.65711635e-01 -2.95561647e-03 2.55794240e+01] [ 4.69242418e-03 -8.15927254e-05 9.99988987e-01 3.65758591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.36, Y:25.59, Z:0.37 [[ 7.66290747e-01 -6.42483570e-01 -3.65410440e-03 7.23619339e+01] [ 6.42476827e-01 7.66299454e-01 -2.94496793e-03 2.55940788e+01] [ 4.69223171e-03 -9.09757294e-05 9.99988987e-01 3.65112387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.38, Y:25.61, Z:0.36 [[ 7.63140532e-01 -6.46222414e-01 -3.62214421e-03 7.23848054e+01] [ 6.46215525e-01 7.63149125e-01 -2.98455763e-03 2.56135675e+01] [ 4.69292423e-03 -6.30489260e-05 9.99988986e-01 3.63636665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.922755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:72.41, Y:25.63, Z:0.36 [[ 7.61906594e-01 -6.47676668e-01 -3.64348208e-03 7.24075287e+01] [ 6.47669922e-01 7.61915299e-01 -2.95812322e-03 2.56319965e+01] [ 4.69193213e-03 -1.05960163e-04 9.99988987e-01 3.63445743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.43, Y:25.65, Z:0.36 [[ 7.62732919e-01 -6.46703302e-01 -3.65147821e-03 7.24262401e+01] [ 6.46696591e-01 7.62741651e-01 -2.94821973e-03 2.56463318e+01] [ 4.69175795e-03 -1.12694273e-04 9.99988987e-01 3.63993201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.45, Y:25.66, Z:0.36 [[ 7.62729987e-01 -6.46706944e-01 -3.61875010e-03 7.24483879e+01] [ 6.46700041e-01 7.62738569e-01 -2.98871047e-03 2.56642548e+01] [ 4.69298009e-03 -6.06667404e-05 9.99988986e-01 3.64111483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.47, Y:25.68, Z:0.36 [[ 7.59754973e-01 -6.50199414e-01 -3.61984053e-03 7.24703700e+01] [ 6.50192557e-01 7.59763591e-01 -2.98736314e-03 2.56844038e+01] [ 4.69260481e-03 -8.39293640e-05 9.99988986e-01 3.62636854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.49, Y:25.70, Z:0.36 [[ 7.58939095e-01 -6.51151466e-01 -3.63577390e-03 7.24921640e+01] [ 6.51144714e-01 7.58947795e-01 -2.96767812e-03 2.57029657e+01] [ 4.69177054e-03 -1.15128004e-04 9.99988987e-01 3.62460274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.51, Y:25.72, Z:0.36 [[ 7.58369555e-01 -6.51814659e-01 -3.64254523e-03 7.25144158e+01] [ 6.51807954e-01 7.58378292e-01 -2.95931281e-03 2.57217072e+01] [ 4.69135070e-03 -1.29987220e-04 9.99988987e-01 3.63779162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.54, Y:25.74, Z:0.37 [[ 7.58380172e-01 -6.51802281e-01 -3.64712002e-03 7.25353128e+01] [ 6.51795603e-01 7.58388929e-01 -2.95366395e-03 2.57405133e+01] [ 4.69114035e-03 -1.37176619e-04 9.99988987e-01 3.65087197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.56, Y:25.76, Z:0.36 [[ 7.58492528e-01 -6.51671541e-01 -3.64538526e-03 7.25556319e+01] [ 6.51664851e-01 7.58501276e-01 -2.95580485e-03 2.57599551e+01] [ 4.69124327e-03 -1.33613550e-04 9.99988987e-01 3.64864751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.162755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:72.58, Y:25.78, Z:0.37 [[ 7.57798784e-01 -6.52478143e-01 -3.64362980e-03 7.25787044e+01] [ 6.52471452e-01 7.57807531e-01 -2.95796966e-03 2.57807431e+01] [ 4.69118066e-03 -1.35818618e-04 9.99988987e-01 3.66442939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.60, Y:25.80, Z:0.37 [[ 7.59660284e-01 -6.50309737e-01 -3.67404918e-03 7.25982822e+01] [ 6.50303202e-01 7.59669149e-01 -2.92046666e-03 2.57968594e+01] [ 4.69026972e-03 -1.70683412e-04 9.99988986e-01 3.65922669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.62, Y:25.81, Z:0.37 [[ 7.61735970e-01 -6.47877339e-01 -3.64221627e-03 7.26231843e+01] [ 6.47870587e-01 7.61744670e-01 -2.95965344e-03 2.58149169e+01] [ 4.69193122e-03 -1.05210310e-04 9.99988987e-01 3.67603025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.64, Y:25.83, Z:0.37 [[ 7.63038363e-01 -6.46342785e-01 -3.66879596e-03 7.26434745e+01] [ 6.46336172e-01 7.63047171e-01 -2.92695425e-03 2.58345359e+01] [ 4.69128014e-03 -1.37897158e-04 9.99988986e-01 3.67671283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.67, Y:25.85, Z:0.37 [[ 7.64760393e-01 -6.44304387e-01 -3.66045852e-03 7.26657851e+01] [ 6.44297702e-01 7.64769144e-01 -2.93720263e-03 2.58521570e+01] [ 4.69185827e-03 -1.12168776e-04 9.99988987e-01 3.68350239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.69, Y:25.87, Z:0.37 [[ 7.64926325e-01 -6.44107312e-01 -3.67259788e-03 7.26863108e+01] [ 6.44100696e-01 7.64935130e-01 -2.92227661e-03 2.58711941e+01] [ 4.69155887e-03 -1.30196537e-04 9.99988986e-01 3.68254348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.70, Y:25.89, Z:0.37 [[ 7.65254510e-01 -6.43717410e-01 -3.66471711e-03 7.27032717e+01] [ 6.43710744e-01 7.65263276e-01 -2.93196025e-03 2.58899837e+01] [ 4.69182729e-03 -1.15321968e-04 9.99988987e-01 3.67739950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.72, Y:25.91, Z:0.37 [[ 7.65766128e-01 -6.43108836e-01 -3.64160306e-03 7.27239616e+01] [ 6.43102027e-01 7.65774783e-01 -2.96033015e-03 2.59074757e+01] [ 4.69246227e-03 -7.50017514e-05 9.99988988e-01 3.68128783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.74, Y:25.93, Z:0.37 [[ 7.66242947e-01 -6.42540671e-01 -3.63764222e-03 7.27443753e+01] [ 6.42533833e-01 7.66251579e-01 -2.96518923e-03 2.59250916e+01] [ 4.69260377e-03 -6.52528599e-05 9.99988988e-01 3.67076319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.77, Y:25.94, Z:0.37 [[ 7.65831351e-01 -6.43031192e-01 -3.63713901e-03 7.27668042e+01] [ 6.43024356e-01 7.65839985e-01 -2.96580634e-03 2.59440617e+01] [ 4.69257247e-03 -6.74614912e-05 9.99988988e-01 3.67107676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.79, Y:25.96, Z:0.37 [[ 7.65897618e-01 -6.42952247e-01 -3.63965634e-03 7.27885700e+01] [ 6.42945425e-01 7.65906263e-01 -2.96272077e-03 2.59613887e+01] [ 4.69252356e-03 -7.09596131e-05 9.99988988e-01 3.66416026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.81, Y:25.98, Z:0.37 [[ 7.64982506e-01 -6.44040785e-01 -3.63767052e-03 7.28092401e+01] [ 6.44033963e-01 7.64991152e-01 -2.96515312e-03 2.59785913e+01] [ 4.69246530e-03 -7.44931023e-05 9.99988988e-01 3.66242806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.83, Y:26.00, Z:0.37 [[ 7.63246056e-01 -6.46097718e-01 -3.63278046e-03 7.28315063e+01] [ 6.46090891e-01 7.63254697e-01 -2.97113998e-03 2.59963982e+01] [ 4.69238351e-03 -7.93954939e-05 9.99988988e-01 3.65819369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.86, Y:26.01, Z:0.37 [[ 7.63546485e-01 -6.45742621e-01 -3.63763591e-03 7.28562056e+01] [ 6.45735819e-01 7.63555145e-01 -2.96519887e-03 2.60136972e+01] [ 4.69229091e-03 -8.48846331e-05 9.99988988e-01 3.65979452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.87, Y:26.03, Z:0.37 [[ 7.60639203e-01 -6.49164584e-01 -3.65318479e-03 7.28746105e+01] [ 6.49157912e-01 7.60647964e-01 -2.94620951e-03 2.60323342e+01] [ 4.69136244e-03 -1.30491357e-04 9.99988987e-01 3.65826673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.90, Y:26.05, Z:0.37 [[ 7.58691973e-01 -6.51439420e-01 -3.62944434e-03 7.28967790e+01] [ 6.51432635e-01 7.58700647e-01 -2.97517075e-03 2.60489199e+01] [ 4.69180528e-03 -1.07100323e-04 9.99988988e-01 3.65292357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.92, Y:26.07, Z:0.37 [[ 7.59069701e-01 -6.50999216e-01 -3.63457907e-03 7.29204341e+01] [ 6.50992456e-01 7.59078394e-01 -2.96891003e-03 2.60653943e+01] [ 4.69168855e-03 -1.12473907e-04 9.99988988e-01 3.66446539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.94, Y:26.08, Z:0.37 [[ 7.56497674e-01 -6.53986257e-01 -3.63933632e-03 7.29395637e+01] [ 6.53979559e-01 7.56506416e-01 -2.96311774e-03 2.60841705e+01] [ 4.69101955e-03 -1.38459880e-04 9.99988988e-01 3.66032975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.96, Y:26.10, Z:0.37 [[ 7.55729134e-01 -6.54874286e-01 -3.62554396e-03 7.29644934e+01] [ 6.54867518e-01 7.55737821e-01 -2.97989846e-03 2.61026008e+01] [ 4.69141956e-03 -1.22254890e-04 9.99988988e-01 3.66364223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:72.98, Y:26.12, Z:0.37 [[ 7.54815527e-01 -6.55926989e-01 -3.64770580e-03 7.29838556e+01] [ 6.55920362e-01 7.54824323e-01 -2.95293091e-03 2.61190198e+01] [ 4.69028414e-03 -1.63686412e-04 9.99988987e-01 3.66101438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.01, Y:26.14, Z:0.37 [[ 7.53904874e-01 -6.56973597e-01 -3.62417224e-03 7.30064767e+01] [ 6.56966845e-01 7.53913573e-01 -2.98153686e-03 2.61377255e+01] [ 4.69110364e-03 -1.33165837e-04 9.99988988e-01 3.65033314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.03, Y:26.16, Z:0.36 [[ 7.53446343e-01 -6.57499394e-01 -3.62697473e-03 7.30276970e+01] [ 6.57492665e-01 7.53455059e-01 -2.97813169e-03 2.61550978e+01] [ 4.69088224e-03 -1.40846851e-04 9.99988988e-01 3.64714802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.05, Y:26.17, Z:0.36 [[ 7.53702392e-01 -6.57205885e-01 -3.62342430e-03 7.30495973e+01] [ 6.57199131e-01 7.53711090e-01 -2.98244323e-03 2.61710559e+01] [ 4.69109432e-03 -1.33436705e-04 9.99988988e-01 3.64704361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.07, Y:26.19, Z:0.36 [[ 7.53742735e-01 -6.57159623e-01 -3.62209881e-03 7.30711147e+01] [ 6.57152861e-01 7.53751426e-01 -2.98405214e-03 2.61883280e+01] [ 4.69116072e-03 -1.31064975e-04 9.99988988e-01 3.64519020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.09, Y:26.20, Z:0.36 [[ 7.53981641e-01 -6.56885510e-01 -3.62113569e-03 7.30919731e+01] [ 6.56878739e-01 7.53990325e-01 -2.98522043e-03 2.62049014e+01] [ 4.69124932e-03 -1.27845648e-04 9.99988988e-01 3.63467954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.11, Y:26.22, Z:0.36 [[ 7.56070808e-01 -6.54479812e-01 -3.62048262e-03 7.31115449e+01] [ 6.54473010e-01 7.56079469e-01 -2.98601225e-03 2.62239601e+01] [ 4.69165732e-03 -1.11871461e-04 9.99988988e-01 3.62759189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.13, Y:26.24, Z:0.36 [[ 7.57244323e-01 -6.53121682e-01 -3.61995551e-03 7.31334341e+01] [ 6.53114861e-01 7.57252969e-01 -2.98665114e-03 2.62422705e+01] [ 4.69186867e-03 -1.02622120e-04 9.99988988e-01 3.62642081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.16, Y:26.26, Z:0.36 [[ 7.58994935e-01 -6.51086470e-01 -3.61902177e-03 7.31593745e+01] [ 6.51079620e-01 7.59003558e-01 -2.98778215e-03 2.62602519e+01] [ 4.69215493e-03 -8.85597951e-05 9.99988988e-01 3.60242704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.18, Y:26.28, Z:0.36 [[ 7.60433247e-01 -6.49405880e-01 -3.64402848e-03 7.31841070e+01] [ 6.49399156e-01 7.60441970e-01 -2.95749490e-03 2.62780082e+01] [ 4.69168677e-03 -1.17451569e-04 9.99988987e-01 3.60942030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.20, Y:26.30, Z:0.36 [[ 7.59461370e-01 -6.50542120e-01 -3.65756291e-03 7.31999569e+01] [ 6.50535488e-01 7.59470163e-01 -2.94110837e-03 2.62955160e+01] [ 4.69112477e-03 -1.45716286e-04 9.99988986e-01 3.62816774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.22, Y:26.31, Z:0.36 [[ 7.59300755e-01 -6.50729810e-01 -3.61628344e-03 7.32215732e+01] [ 6.50722941e-01 7.59309362e-01 -2.99101724e-03 2.63129564e+01] [ 4.69222196e-03 -8.21169506e-05 9.99988988e-01 3.64484730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.24, Y:26.33, Z:0.37 [[ 7.59187994e-01 -6.50861367e-01 -3.61534922e-03 7.32427993e+01] [ 6.50854495e-01 7.59196598e-01 -2.99214604e-03 2.63304888e+01] [ 4.69223309e-03 -8.14649430e-05 9.99988988e-01 3.65431334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.26, Y:26.35, Z:0.37 [[ 7.59123854e-01 -6.50936177e-01 -3.61482070e-03 7.32636140e+01] [ 6.50929302e-01 7.59132456e-01 -2.99278441e-03 2.63498965e+01] [ 4.69223936e-03 -8.10986844e-05 9.99988988e-01 3.66811244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.29, Y:26.37, Z:0.37 [[ 7.58754685e-01 -6.51366461e-01 -3.61389831e-03 7.32852339e+01] [ 6.51359586e-01 7.58763287e-01 -2.99389782e-03 2.63684892e+01] [ 4.69221799e-03 -8.23133118e-05 9.99988988e-01 3.67175451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.31, Y:26.39, Z:0.37 [[ 7.59717951e-01 -6.50242710e-01 -3.61295899e-03 7.33115385e+01] [ 6.50235817e-01 7.59726538e-01 -2.99503094e-03 2.63863002e+01] [ 4.69235786e-03 -7.38965695e-05 9.99988988e-01 3.68086408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.33, Y:26.40, Z:0.37 [[ 7.57462109e-01 -6.52868956e-01 -3.64427251e-03 7.33265144e+01] [ 6.52862273e-01 7.57470862e-01 -2.95725187e-03 2.64037003e+01] [ 4.69112818e-03 -1.39201793e-04 9.99988987e-01 3.67794734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.35, Y:26.42, Z:0.37 [[ 7.57992855e-01 -6.52252930e-01 -3.59825551e-03 7.33497645e+01] [ 6.52245975e-01 7.58001393e-01 -3.01268030e-03 2.64209225e+01] [ 4.69251224e-03 -6.33575354e-05 9.99988988e-01 3.68048925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.37, Y:26.44, Z:0.37 [[ 7.57719500e-01 -6.52570396e-01 -3.61060756e-03 7.33701785e+01] [ 6.52563516e-01 7.57728098e-01 -2.99780328e-03 2.64382221e+01] [ 4.69213647e-03 -8.46567590e-05 9.99988988e-01 3.67432217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.40, Y:26.46, Z:0.37 [[ 7.58472379e-01 -6.51695188e-01 -3.61007706e-03 7.33950634e+01] [ 6.51688295e-01 7.58480966e-01 -2.99844199e-03 2.64567022e+01] [ 4.69224495e-03 -7.84095309e-05 9.99988988e-01 3.67446850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.41, Y:26.47, Z:0.37 [[ 7.56891827e-01 -6.53530058e-01 -3.63664575e-03 7.34120644e+01] [ 6.53523338e-01 7.56900552e-01 -2.96645564e-03 2.64748799e+01] [ 4.69124710e-03 -1.31346839e-04 9.99988987e-01 3.66848214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.43, Y:26.49, Z:0.37 [[ 7.56429167e-01 -6.54065665e-01 -3.60849761e-03 7.34324878e+01] [ 6.54058789e-01 7.56437769e-01 -3.00030965e-03 2.64927497e+01] [ 4.69200340e-03 -9.06478470e-05 9.99988988e-01 3.66365990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.45, Y:26.51, Z:0.37 [[ 7.55214120e-01 -6.55468241e-01 -3.60797245e-03 7.34538692e+01] [ 6.55461379e-01 7.55222732e-01 -3.00094103e-03 2.65104258e+01] [ 4.69184435e-03 -9.85335630e-05 9.99988988e-01 3.66139242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.48, Y:26.53, Z:0.37 [[ 7.54439723e-01 -6.56359424e-01 -3.60700861e-03 7.34751095e+01] [ 6.56352567e-01 7.54448338e-01 -3.00209908e-03 2.65279118e+01] [ 4.69175768e-03 -1.02566564e-04 9.99988988e-01 3.66420007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.50, Y:26.55, Z:0.37 [[ 7.52993281e-01 -6.58018322e-01 -3.60647411e-03 7.34965642e+01] [ 6.58011480e-01 7.53001910e-01 -3.00274105e-03 2.65462580e+01] [ 4.69154052e-03 -1.12057528e-04 9.99988988e-01 3.67132964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.52, Y:26.57, Z:0.37 [[ 7.51923676e-01 -6.59240309e-01 -3.60554367e-03 7.35186222e+01] [ 6.59233476e-01 7.51932312e-01 -3.00385786e-03 2.65655752e+01] [ 4.69138897e-03 -1.18223246e-04 9.99988988e-01 3.67248435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:26.58, Z:0.37 [[ 7.52004544e-01 -6.59148025e-01 -3.61191987e-03 7.35396483e+01] [ 6.59141228e-01 7.52013208e-01 -2.99620657e-03 2.65829585e+01] [ 4.69115509e-03 -1.27604344e-04 9.99988988e-01 3.67907143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.56, Y:26.60, Z:0.37 [[ 7.51954334e-01 -6.59205346e-01 -3.60432408e-03 7.35609393e+01] [ 6.59198506e-01 7.51962963e-01 -3.00531632e-03 2.66010300e+01] [ 4.69143880e-03 -1.16104419e-04 9.99988988e-01 3.67455352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.58, Y:26.62, Z:0.37 [[ 7.52162045e-01 -6.58968340e-01 -3.60338080e-03 7.35819704e+01] [ 6.58961492e-01 7.52170668e-01 -3.00644689e-03 2.66185958e+01] [ 4.69151066e-03 -1.13153947e-04 9.99988988e-01 3.67118651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.60, Y:26.64, Z:0.37 [[ 7.52387620e-01 -6.58710778e-01 -3.60285739e-03 7.36037734e+01] [ 6.58703924e-01 7.52396238e-01 -3.00707400e-03 2.66369303e+01] [ 4.69156840e-03 -1.10731046e-04 9.99988988e-01 3.66544317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.63, Y:26.65, Z:0.37 [[ 7.53929704e-01 -6.56945223e-01 -3.60220410e-03 7.36250730e+01] [ 6.56938344e-01 7.53938303e-01 -3.00785638e-03 2.66549488e+01] [ 4.69183653e-03 -9.87137278e-05 9.99988988e-01 3.66933182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.65, Y:26.67, Z:0.37 [[ 7.55782933e-01 -6.54812331e-01 -3.60112152e-03 7.36507653e+01] [ 6.54805423e-01 7.55791508e-01 -3.00915193e-03 2.66731601e+01] [ 4.69212686e-03 -8.37682249e-05 9.99988988e-01 3.67883918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.67, Y:26.69, Z:0.37 [[ 7.57893673e-01 -6.52367967e-01 -3.63522754e-03 7.36718142e+01] [ 6.52361226e-01 7.57902382e-01 -2.96831615e-03 2.66910750e+01] [ 4.69158199e-03 -1.21813459e-04 9.99988987e-01 3.65874909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.69, Y:26.71, Z:0.37 [[ 7.59142077e-01 -6.50914826e-01 -3.63282136e-03 7.36928389e+01] [ 6.50908054e-01 7.59150761e-01 -2.97119485e-03 2.67091551e+01] [ 4.69185388e-03 -1.09073657e-04 9.99988987e-01 3.66855608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.71, Y:26.73, Z:0.37 [[ 7.58768017e-01 -6.51350877e-01 -3.62380482e-03 7.37117041e+01] [ 6.51344058e-01 7.58776664e-01 -2.98197418e-03 2.67282798e+01] [ 4.69197003e-03 -9.77171049e-05 9.99988988e-01 3.66191213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.73, Y:26.75, Z:0.37 [[ 7.61417492e-01 -6.48251765e-01 -3.61265604e-03 7.37313555e+01] [ 6.48244848e-01 7.61426060e-01 -2.99529115e-03 2.67451542e+01] [ 4.69247323e-03 -6.12185896e-05 9.99988988e-01 3.67118676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.75, Y:26.76, Z:0.37 [[ 7.62063357e-01 -6.47492471e-01 -3.59725423e-03 7.37530261e+01] [ 6.47485459e-01 7.62071846e-01 -3.01367542e-03 2.67632384e+01] [ 4.69269832e-03 -3.25581959e-05 9.99988989e-01 3.67798214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.77, Y:26.78, Z:0.37 [[ 7.62755750e-01 -6.46676683e-01 -3.59629750e-03 7.37738049e+01] [ 6.46669656e-01 7.62764228e-01 -3.01481668e-03 2.67804642e+01] [ 4.69273874e-03 -2.60477080e-05 9.99988989e-01 3.68128895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.80, Y:26.80, Z:0.37 [[ 7.62560376e-01 -6.46907059e-01 -3.59576384e-03 7.37955835e+01] [ 6.46900032e-01 7.62568853e-01 -3.01545304e-03 2.67989584e+01] [ 4.69273537e-03 -2.66347376e-05 9.99988989e-01 3.68262733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.902755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:73.82, Y:26.82, Z:0.37 [[ 7.62864720e-01 -6.46548139e-01 -3.59485264e-03 7.38165424e+01] [ 6.46541103e-01 7.62873189e-01 -3.01653894e-03 2.68164273e+01] [ 4.69275433e-03 -2.30088567e-05 9.99988989e-01 3.67249392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.84, Y:26.84, Z:0.37 [[ 7.61888102e-01 -6.47698696e-01 -3.59434737e-03 7.38396148e+01] [ 6.47691669e-01 7.61896580e-01 -3.01714087e-03 2.68369337e+01] [ 4.69271917e-03 -2.93051160e-05 9.99988989e-01 3.68848241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.86, Y:26.85, Z:0.37 [[ 7.62083034e-01 -6.47469239e-01 -3.61026541e-03 7.38605955e+01] [ 6.47462299e-01 7.62091584e-01 -2.99819419e-03 2.68542231e+01] [ 4.69259140e-03 -5.26378196e-05 9.99988988e-01 3.69377413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.88, Y:26.87, Z:0.37 [[ 7.60721233e-01 -6.49068800e-01 -3.59145332e-03 7.38829568e+01] [ 6.49061772e-01 7.60729710e-01 -3.02056181e-03 2.68732777e+01] [ 4.69267767e-03 -3.32695497e-05 9.99988989e-01 3.69954448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:73.91, Y:26.89, Z:0.37 [[ 7.58454849e-01 -6.51715572e-01 -3.61327674e-03 7.39065991e+01] [ 6.51708698e-01 7.58463451e-01 -2.99457325e-03 2.68922072e+01] [ 4.69214836e-03 -8.35552792e-05 9.99988988e-01 3.70829964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.93, Y:26.91, Z:0.37 [[ 7.58646408e-01 -6.51492512e-01 -3.62421466e-03 7.39272145e+01] [ 6.51485696e-01 7.58655058e-01 -2.98159265e-03 2.69084623e+01] [ 4.69201407e-03 -9.91494574e-05 9.99988988e-01 3.71543502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.95, Y:26.93, Z:0.37 [[ 7.57542911e-01 -6.52775481e-01 -3.59293628e-03 7.39485536e+01] [ 6.52768504e-01 7.57551429e-01 -3.01865196e-03 2.69260293e+01] [ 4.69233600e-03 -5.85972411e-05 9.99988989e-01 3.72131391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.97, Y:26.94, Z:0.37 [[ 7.56907709e-01 -6.53511949e-01 -3.58509453e-03 7.39696355e+01] [ 6.53504936e-01 7.56916198e-01 -3.02793663e-03 2.69440394e+01] [ 4.69240889e-03 -5.10083902e-05 9.99988989e-01 3.71524170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.99, Y:26.96, Z:0.37 [[ 7.56347137e-01 -6.54160655e-01 -3.58412566e-03 7.39904277e+01] [ 6.54153644e-01 7.56355627e-01 -3.02908303e-03 2.69618941e+01] [ 4.69238056e-03 -5.35305878e-05 9.99988989e-01 3.70662375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.02, Y:26.98, Z:0.37 [[ 7.56819588e-01 -6.53614006e-01 -3.58358632e-03 7.40166562e+01] [ 6.53606986e-01 7.56828071e-01 -3.02972097e-03 2.69798572e+01] [ 4.69242679e-03 -4.93048786e-05 9.99988989e-01 3.70034346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.03, Y:27.00, Z:0.37 [[ 7.54290625e-01 -6.56530706e-01 -3.61726887e-03 7.40347907e+01] [ 6.56523909e-01 7.54299289e-01 -2.98985623e-03 2.69988839e+01] [ 4.69143576e-03 -1.19602967e-04 9.99988988e-01 3.69319829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.06, Y:27.02, Z:0.37 [[ 7.54367533e-01 -6.56442466e-01 -3.59370312e-03 7.40554481e+01] [ 6.56435535e-01 7.54376088e-01 -3.01772820e-03 2.70157212e+01] [ 4.69196864e-03 -8.25582514e-05 9.99988989e-01 3.68231195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.262755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:74.08, Y:27.03, Z:0.36 [[ 7.52691060e-01 -6.58364137e-01 -3.58205897e-03 7.40771474e+01] [ 6.58357162e-01 7.52699580e-01 -3.03148714e-03 2.70335058e+01] [ 4.69203670e-03 -7.65009089e-05 9.99988989e-01 3.64414564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.10, Y:27.05, Z:0.37 [[ 7.52631426e-01 -6.58432314e-01 -3.58108027e-03 7.40983404e+01] [ 6.58425335e-01 7.52639942e-01 -3.03264283e-03 2.70513412e+01] [ 4.69205408e-03 -7.54116777e-05 9.99988989e-01 3.67367307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.12, Y:27.07, Z:0.37 [[ 7.51537435e-01 -6.59680731e-01 -3.58010896e-03 7.41206054e+01] [ 6.59673760e-01 7.51545957e-01 -3.03378905e-03 2.70703016e+01] [ 4.69194860e-03 -8.16978964e-05 9.99988989e-01 3.67541839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.14, Y:27.09, Z:0.37 [[ 7.51072838e-01 -6.60209621e-01 -3.58430703e-03 7.41418874e+01] [ 6.60202680e-01 7.51081385e-01 -3.02883734e-03 2.70884114e+01] [ 4.69177384e-03 -9.14916518e-05 9.99988989e-01 3.67168890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.16, Y:27.11, Z:0.37 [[ 7.50268281e-01 -6.61123818e-01 -3.57820544e-03 7.41624215e+01] [ 6.61116853e-01 7.50276809e-01 -3.03602856e-03 2.71059340e+01] [ 4.69183535e-03 -8.77759845e-05 9.99988989e-01 3.66955247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.18, Y:27.12, Z:0.37 [[ 7.50398361e-01 -6.60976172e-01 -3.57766327e-03 7.41836479e+01] [ 6.60969202e-01 7.50406885e-01 -3.03666732e-03 2.71240258e+01] [ 4.69186789e-03 -8.60150494e-05 9.99988989e-01 3.66591628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.20, Y:27.14, Z:0.37 [[ 7.50361630e-01 -6.61017895e-01 -3.57310954e-03 7.42043573e+01] [ 6.61010900e-01 7.50370133e-01 -3.04203004e-03 2.71427284e+01] [ 4.69199097e-03 -7.92417303e-05 9.99988989e-01 3.66876146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.23, Y:27.16, Z:0.37 [[ 7.49816488e-01 -6.61636216e-01 -3.57099552e-03 7.42259100e+01] [ 6.61629217e-01 7.49824987e-01 -3.04451907e-03 2.71623629e+01] [ 4.69198575e-03 -7.98443769e-05 9.99988989e-01 3.67337241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.25, Y:27.18, Z:0.37 [[ 7.49944220e-01 -6.61491404e-01 -3.57631895e-03 7.42464088e+01] [ 6.61484432e-01 7.49952742e-01 -3.03825288e-03 2.71805886e+01] [ 4.69184836e-03 -8.71591251e-05 9.99988989e-01 3.66596747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.27, Y:27.20, Z:0.37 [[ 7.49678687e-01 -6.61792324e-01 -3.57564967e-03 7.42666772e+01] [ 6.61785352e-01 7.49687209e-01 -3.03904034e-03 2.71995460e+01] [ 4.69183239e-03 -8.80088060e-05 9.99988989e-01 3.66807682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:74.29, Y:27.22, Z:0.37 [[ 7.48890111e-01 -6.62684558e-01 -3.57468049e-03 7.42874951e+01] [ 6.62677590e-01 7.48898637e-01 -3.04017991e-03 2.72177432e+01] [ 4.69175362e-03 -9.20999772e-05 9.99988989e-01 3.65244013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.592755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:74.31, Y:27.24, Z:0.37 [[ 7.48106387e-01 -6.63569166e-01 -3.57712130e-03 7.43088233e+01] [ 6.63562223e-01 7.48114932e-01 -3.03731096e-03 2.72361298e+01] [ 4.69156376e-03 -1.01410839e-04 9.99988989e-01 3.65226755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.33, Y:27.25, Z:0.37 [[ 7.47905780e-01 -6.63795281e-01 -3.57344350e-03 7.43291195e+01] [ 6.63788319e-01 7.47914310e-01 -3.04163180e-03 2.72539864e+01] [ 4.69165037e-03 -9.71560516e-05 9.99988989e-01 3.67540436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.35, Y:27.27, Z:0.37 [[ 7.46179264e-01 -6.65735500e-01 -3.57088680e-03 7.43505049e+01] [ 6.65728546e-01 7.46187800e-01 -3.04463411e-03 2.72736808e+01] [ 4.69147318e-03 -1.05398442e-04 9.99988989e-01 3.68060076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.37, Y:27.29, Z:0.37 [[ 7.45516847e-01 -6.66477209e-01 -3.57231880e-03 7.43702501e+01] [ 6.66470272e-01 7.45525397e-01 -3.04295299e-03 2.72914240e+01] [ 4.69131321e-03 -1.12271566e-04 9.99988989e-01 3.67647051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.39, Y:27.31, Z:0.37 [[ 7.44391859e-01 -6.67733495e-01 -3.56921941e-03 7.43920922e+01] [ 6.67726555e-01 7.44400407e-01 -3.04658976e-03 2.73107695e+01] [ 4.69123841e-03 -1.15405960e-04 9.99988989e-01 3.67202362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.41, Y:27.33, Z:0.37 [[ 7.43826022e-01 -6.68363745e-01 -3.57111234e-03 7.44125882e+01] [ 6.68356823e-01 7.43834584e-01 -3.04436931e-03 2.73297291e+01] [ 4.69106294e-03 -1.22296190e-04 9.99988989e-01 3.68064083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.43, Y:27.35, Z:0.37 [[ 7.43197040e-01 -6.69063115e-01 -3.56473483e-03 7.44330026e+01] [ 6.69056165e-01 7.43205580e-01 -3.05184529e-03 2.73478838e+01] [ 4.69120793e-03 -1.16885425e-04 9.99988989e-01 3.67772799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.45, Y:27.37, Z:0.37 [[ 7.41523999e-01 -6.70916884e-01 -3.56282554e-03 7.44545911e+01] [ 6.70909944e-01 7.41532548e-01 -3.05408233e-03 2.73679660e+01] [ 4.69098649e-03 -1.25659741e-04 9.99988989e-01 3.67818531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.832755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.47, Y:27.39, Z:0.37 [[ 7.40879400e-01 -6.71628602e-01 -3.56851021e-03 7.44748343e+01] [ 6.71621703e-01 7.40887981e-01 -3.04742561e-03 2.73858369e+01] [ 4.69060454e-03 -1.38914045e-04 9.99988989e-01 3.65413568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.50, Y:27.41, Z:0.37 [[ 7.40609455e-01 -6.71926302e-01 -3.56072292e-03 7.44962831e+01] [ 6.71919363e-01 7.40618004e-01 -3.05653890e-03 2.74054263e+01] [ 4.69090438e-03 -1.28817065e-04 9.99988989e-01 3.67912281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.52, Y:27.42, Z:0.37 [[ 7.40134874e-01 -6.72448995e-01 -3.56607822e-03 7.45172337e+01] [ 6.72442092e-01 7.40143452e-01 -3.05027489e-03 2.74246421e+01] [ 4.69056373e-03 -1.40366274e-04 9.99988989e-01 3.67472380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.54, Y:27.44, Z:0.37 [[ 7.40182003e-01 -6.72397121e-01 -3.56576870e-03 7.45377706e+01] [ 6.72390215e-01 7.40190578e-01 -3.05063669e-03 2.74428905e+01] [ 4.69058772e-03 -1.39561608e-04 9.99988989e-01 3.67504127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.952755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:74.56, Y:27.46, Z:0.37 [[ 7.39716630e-01 -6.72909055e-01 -3.56522138e-03 7.45580580e+01] [ 6.72902152e-01 7.39725208e-01 -3.05127619e-03 2.74609790e+01] [ 4.69051551e-03 -1.41965404e-04 9.99988989e-01 3.65412112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.58, Y:27.48, Z:0.37 [[ 7.40762340e-01 -6.71757731e-01 -3.56469840e-03 7.45784591e+01] [ 6.71750811e-01 7.40770905e-01 -3.05188706e-03 2.74805162e+01] [ 4.69075358e-03 -1.33866043e-04 9.99988989e-01 3.67437358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:27.50, Z:0.37 [[ 7.42152725e-01 -6.70221331e-01 -3.56372861e-03 7.45985996e+01] [ 6.70214388e-01 7.42161271e-01 -3.05301906e-03 2.74982749e+01] [ 4.69105986e-03 -1.22655774e-04 9.99988989e-01 3.67184402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:74.62, Y:27.52, Z:0.37 [[ 7.41863492e-01 -6.70541546e-01 -3.54893782e-03 7.46199148e+01] [ 6.70534524e-01 7.41871973e-01 -3.07026929e-03 2.75182139e+01] [ 4.69160062e-03 -1.01964643e-04 9.99988989e-01 3.65867496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.64, Y:27.54, Z:0.37 [[ 7.44723783e-01 -6.67363317e-01 -3.56236297e-03 7.46389357e+01] [ 6.67356334e-01 7.44732296e-01 -3.05461256e-03 2.75367489e+01] [ 4.69154312e-03 -1.02522871e-04 9.99988989e-01 3.66429199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:74.66, Y:27.56, Z:0.37 [[ 7.45495119e-01 -6.66501631e-01 -3.55014868e-03 7.46602330e+01] [ 6.66494571e-01 7.45503568e-01 -3.06885894e-03 2.75561262e+01] [ 4.69204799e-03 -7.83354625e-05 9.99988989e-01 3.66296967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.68, Y:27.58, Z:0.37 [[ 7.46135062e-01 -6.65785139e-01 -3.55222697e-03 7.46796258e+01] [ 6.65778082e-01 7.46143513e-01 -3.06643629e-03 2.75765975e+01] [ 4.69205882e-03 -7.70192356e-05 9.99988989e-01 3.67672777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.70, Y:27.60, Z:0.37 [[ 7.47917200e-01 -6.63782479e-01 -3.56122749e-03 7.47008828e+01] [ 6.63775449e-01 7.47925674e-01 -3.05594759e-03 2.75952482e+01] [ 4.69201794e-03 -7.82596136e-05 9.99988989e-01 3.68279473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.73, Y:27.61, Z:0.37 [[ 7.49763988e-01 -6.61695782e-01 -3.55734533e-03 7.47253240e+01] [ 6.61688707e-01 7.49772424e-01 -3.06046997e-03 2.76133973e+01] [ 4.69229950e-03 -5.92250651e-05 9.99988989e-01 3.65736976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.222755096 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:74.74, Y:27.63, Z:0.37 [[ 7.49578394e-01 -6.61905898e-01 -3.57957041e-03 7.47432168e+01] [ 6.61898949e-01 7.49586935e-01 -3.03453783e-03 2.76309296e+01] [ 4.69177770e-03 -9.46899004e-05 9.99988989e-01 3.67200200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.77, Y:27.65, Z:0.37 [[ 7.49263609e-01 -6.62262353e-01 -3.55232463e-03 7.47653195e+01] [ 6.62255257e-01 7.49272028e-01 -3.06631135e-03 2.76504359e+01] [ 4.69236005e-03 -5.50701501e-05 9.99988989e-01 3.68623049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.79, Y:27.67, Z:0.37 [[ 7.48782496e-01 -6.62806222e-01 -3.56188497e-03 7.47859777e+01] [ 6.62799184e-01 7.48790964e-01 -3.05516536e-03 2.76682584e+01] [ 4.69208989e-03 -7.31601085e-05 9.99988989e-01 3.69496899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:27.69, Z:0.37 [[ 7.48642276e-01 -6.62964603e-01 -3.56058917e-03 7.48071214e+01] [ 6.62957560e-01 7.48650740e-01 -3.05667509e-03 2.76867398e+01] [ 4.69210511e-03 -7.21633111e-05 9.99988989e-01 3.69393657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.342755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.83, Y:27.70, Z:0.37 [[ 7.47952990e-01 -6.63742154e-01 -3.56056676e-03 7.48275440e+01] [ 6.63735120e-01 7.47961461e-01 -3.05670120e-03 2.77042579e+01] [ 4.69202815e-03 -7.70044084e-05 9.99988989e-01 3.68260135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:74.85, Y:27.72, Z:0.37 [[ 7.47755994e-01 -6.63964081e-01 -3.56004312e-03 7.48472141e+01] [ 6.63957046e-01 7.47764464e-01 -3.05731094e-03 2.77210742e+01] [ 4.69201838e-03 -7.75931400e-05 9.99988989e-01 3.70263967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.87, Y:27.74, Z:0.37 [[ 7.45354893e-01 -6.66658524e-01 -3.53487441e-03 7.48700337e+01] [ 6.66651381e-01 7.45363273e-01 -3.08658568e-03 2.77420397e+01] [ 4.69246421e-03 -5.59271624e-05 9.99988989e-01 3.71092827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43275509600001 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:74.89, Y:27.76, Z:0.37 [[ 7.43499480e-01 -6.68727048e-01 -3.55795950e-03 7.48910163e+01] [ 6.68720056e-01 7.43507985e-01 -3.05973450e-03 2.77589146e+01] [ 4.69149852e-03 -1.04367871e-04 9.99988989e-01 3.72453490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.91, Y:27.78, Z:0.37 [[ 7.42347949e-01 -6.70005163e-01 -3.55026304e-03 7.49122268e+01] [ 6.69998143e-01 7.42356431e-01 -3.06868098e-03 2.77762354e+01] [ 4.69159271e-03 -1.00640616e-04 9.99988989e-01 3.72361570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.93, Y:27.79, Z:0.37 [[ 7.41007467e-01 -6.71487445e-01 -3.54180433e-03 7.49332901e+01] [ 6.71480395e-01 7.41015925e-01 -3.07851025e-03 2.77944419e+01] [ 4.69171439e-03 -9.70530833e-05 9.99988989e-01 3.72591729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.522755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:74.96, Y:27.81, Z:0.37 [[ 7.37911791e-01 -6.74887870e-01 -3.54281964e-03 7.49554110e+01] [ 6.74880865e-01 7.37920286e-01 -3.07733085e-03 2.78132129e+01] [ 4.69117174e-03 -1.20182464e-04 9.99988989e-01 3.71085613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.98, Y:27.83, Z:0.37 [[ 7.37370133e-01 -6.75479563e-01 -3.55631530e-03 7.49763109e+01] [ 6.75472640e-01 7.37378694e-01 -3.06165474e-03 2.78314168e+01] [ 4.69043634e-03 -1.44620918e-04 9.99988989e-01 3.72520462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.00, Y:27.85, Z:0.37 [[ 7.36452811e-01 -6.76479576e-01 -3.55536853e-03 7.49971599e+01] [ 6.76472659e-01 7.36461378e-01 -3.06275379e-03 2.78504808e+01] [ 4.69028199e-03 -1.49535970e-04 9.99988989e-01 3.71319663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.612755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:75.02, Y:27.87, Z:0.37 [[ 7.35933506e-01 -6.77044489e-01 -3.55442143e-03 7.50182729e+01] [ 6.77037574e-01 7.35942074e-01 -3.06385253e-03 2.78688967e+01] [ 4.69021275e-03 -1.51685122e-04 9.99988989e-01 3.68443892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.04, Y:27.89, Z:0.37 [[ 7.36222379e-01 -6.76730361e-01 -3.55348180e-03 7.50379003e+01] [ 6.76723437e-01 7.36230939e-01 -3.06494194e-03 2.78869664e+01] [ 4.69032251e-03 -1.48245577e-04 9.99988989e-01 3.69966882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:27.90, Z:0.37 [[ 7.36324425e-01 -6.76619329e-01 -3.55295631e-03 7.50578491e+01] [ 6.76612401e-01 7.36332983e-01 -3.06555098e-03 2.79045805e+01] [ 4.69036996e-03 -1.46734239e-04 9.99988989e-01 3.69263902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.08, Y:27.92, Z:0.37 [[ 7.36991944e-01 -6.75892191e-01 -3.55244887e-03 7.50787895e+01] [ 6.75885251e-01 7.37000493e-01 -3.06613890e-03 2.79230108e+01] [ 4.69053591e-03 -1.41328124e-04 9.99988989e-01 3.68910061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.10, Y:27.94, Z:0.37 [[ 7.37512094e-01 -6.75324586e-01 -3.55153707e-03 7.50990172e+01] [ 6.75317635e-01 7.37520633e-01 -3.06719468e-03 2.79402272e+01] [ 4.69068385e-03 -1.36322439e-04 9.99988989e-01 3.68800158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:27.96, Z:0.37 [[ 7.37917367e-01 -6.74881730e-01 -3.55104089e-03 7.51204973e+01] [ 6.74874771e-01 7.37925899e-01 -3.06776902e-03 2.79589278e+01] [ 4.69078631e-03 -1.32747870e-04 9.99988989e-01 3.69109368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.14, Y:27.98, Z:0.37 [[ 7.37719367e-01 -6.75098164e-01 -3.55013966e-03 7.51419895e+01] [ 6.75091202e-01 7.37727898e-01 -3.06881161e-03 2.79777437e+01] [ 4.69078615e-03 -1.32746288e-04 9.99988989e-01 3.69243030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.16, Y:28.00, Z:0.37 [[ 7.38928960e-01 -6.73773994e-01 -3.54923915e-03 7.51630898e+01] [ 6.73767012e-01 7.38937474e-01 -3.06985275e-03 2.79969107e+01] [ 4.69105276e-03 -1.22957157e-04 9.99988989e-01 3.69956579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.18, Y:28.02, Z:0.37 [[ 7.39476552e-01 -6.73172963e-01 -3.54826191e-03 7.51830466e+01] [ 6.73165968e-01 7.39485056e-01 -3.07098187e-03 2.80151806e+01] [ 4.69118862e-03 -1.17650078e-04 9.99988989e-01 3.70198793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.20, Y:28.03, Z:0.37 [[ 7.40631169e-01 -6.71902437e-01 -3.54772127e-03 7.52038215e+01] [ 6.71895425e-01 7.40639658e-01 -3.07160630e-03 2.80344348e+01] [ 4.69140283e-03 -1.08770323e-04 9.99988989e-01 3.71296946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.22, Y:28.05, Z:0.37 [[ 7.41116892e-01 -6.71366646e-01 -3.54674293e-03 7.52242389e+01] [ 6.71359622e-01 7.41125372e-01 -3.07273557e-03 2.80523738e+01] [ 4.69151334e-03 -1.03883755e-04 9.99988989e-01 3.72261226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.24, Y:28.07, Z:0.37 [[ 7.41416365e-01 -6.71035914e-01 -3.54607898e-03 7.52449241e+01] [ 6.71028883e-01 7.41424839e-01 -3.07350160e-03 2.80706088e+01] [ 4.69158100e-03 -1.00777030e-04 9.99988989e-01 3.73279533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.27, Y:28.09, Z:0.37 [[ 7.44120562e-01 -6.68035943e-01 -3.54510233e-03 7.52744520e+01] [ 6.68028873e-01 7.44129002e-01 -3.07462769e-03 2.80897149e+01] [ 4.69197528e-03 -8.03370281e-05 9.99988989e-01 3.71274004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.29, Y:28.11, Z:0.37 [[ 7.42272489e-01 -6.70088484e-01 -3.60217970e-03 7.52873642e+01] [ 6.70081754e-01 7.42281207e-01 -3.00876713e-03 2.81079624e+01] [ 4.68997050e-03 -1.80429824e-04 9.99988986e-01 3.74896225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.31, Y:28.13, Z:0.37 [[ 7.42414069e-01 -6.69931932e-01 -3.54365425e-03 7.53081757e+01] [ 6.69924875e-01 7.42422520e-01 -3.07618634e-03 2.81265200e+01] [ 4.69172418e-03 -9.01781144e-05 9.99988990e-01 3.74997923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.33, Y:28.15, Z:0.37 [[ 7.42563286e-01 -6.69766538e-01 -3.54270196e-03 7.53289531e+01] [ 6.69759474e-01 7.42571732e-01 -3.07728265e-03 2.81454295e+01] [ 4.69177128e-03 -8.76810835e-05 9.99988990e-01 3.74785912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.35, Y:28.16, Z:0.37 [[ 7.42748966e-01 -6.69560624e-01 -3.54175709e-03 7.53493183e+01] [ 6.69553552e-01 7.42757406e-01 -3.07836976e-03 2.81642685e+01] [ 4.69182148e-03 -8.49400844e-05 9.99988990e-01 3.74703581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.37, Y:28.18, Z:0.37 [[ 7.42447793e-01 -6.69894572e-01 -3.54078719e-03 7.53698749e+01] [ 6.69887499e-01 7.42456232e-01 -3.07948495e-03 2.81828416e+01] [ 4.69180976e-03 -8.55722660e-05 9.99988990e-01 3.74889244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.39, Y:28.20, Z:0.37 [[ 7.42322699e-01 -6.70033193e-01 -3.53979606e-03 7.53902287e+01] [ 6.70026117e-01 7.42331134e-01 -3.08062381e-03 2.82004661e+01] [ 4.69182103e-03 -8.49388250e-05 9.99988990e-01 3.74810335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.41, Y:28.22, Z:0.38 [[ 7.41805364e-01 -6.70605901e-01 -3.53929036e-03 7.54111588e+01] [ 6.70598828e-01 7.41813802e-01 -3.08120469e-03 2.82188641e+01] [ 4.69176849e-03 -8.77897955e-05 9.99988990e-01 3.75197755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.43, Y:28.24, Z:0.38 [[ 7.41210578e-01 -6.71263256e-01 -3.53831302e-03 7.54323196e+01] [ 6.71256185e-01 7.41219018e-01 -3.08232662e-03 2.82375903e+01] [ 4.69171750e-03 -9.04614056e-05 9.99988990e-01 3.75788884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.45, Y:28.26, Z:0.38 [[ 7.39999771e-01 -6.72597820e-01 -3.53730891e-03 7.54521320e+01] [ 6.72590759e-01 7.40008219e-01 -3.08347851e-03 2.82558887e+01] [ 4.69157859e-03 -9.73878981e-05 9.99988990e-01 3.76114830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.47, Y:28.28, Z:0.37 [[ 7.38530599e-01 -6.74210684e-01 -3.53662683e-03 7.54732536e+01] [ 6.74203638e-01 7.38539059e-01 -3.08426063e-03 2.82758967e+01] [ 4.69137852e-03 -1.06585819e-04 9.99988990e-01 3.72716542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.49, Y:28.29, Z:0.38 [[ 7.38155966e-01 -6.74620812e-01 -3.53987390e-03 7.54949157e+01] [ 6.74613788e-01 7.38164445e-01 -3.08053887e-03 2.82938063e+01] [ 4.69120469e-03 -1.14129601e-04 9.99988990e-01 3.77868123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.51, Y:28.31, Z:0.38 [[ 7.37409062e-01 -6.75437175e-01 -3.53533342e-03 7.55148353e+01] [ 6.75430136e-01 7.37417528e-01 -3.08574090e-03 2.83117825e+01] [ 4.69124095e-03 -1.12417433e-04 9.99988990e-01 3.77660654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.54, Y:28.33, Z:0.38 [[ 7.36832359e-01 -6.76066254e-01 -3.53479725e-03 7.55359470e+01] [ 6.76059219e-01 7.36840828e-01 -3.08635497e-03 2.83306278e+01] [ 4.69116338e-03 -1.15606057e-04 9.99988990e-01 3.78562678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.392755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:75.55, Y:28.35, Z:0.38 [[ 7.34775225e-01 -6.78301467e-01 -3.53382016e-03 7.55544198e+01] [ 6.78294452e-01 7.34783712e-01 -3.08747332e-03 2.83505060e+01] [ 4.69083118e-03 -1.28371701e-04 9.99988990e-01 3.75571468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.58, Y:28.37, Z:0.38 [[ 7.36136869e-01 -6.76823562e-01 -3.51794658e-03 7.55777955e+01] [ 6.76816444e-01 7.36145269e-01 -3.10563150e-03 2.83680322e+01] [ 4.69168431e-03 -9.48342452e-05 9.99988989e-01 3.79472403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.60, Y:28.39, Z:0.38 [[ 7.35831466e-01 -6.77155502e-01 -3.53264213e-03 7.55984804e+01] [ 6.77148468e-01 7.35839936e-01 -3.08882443e-03 2.83876203e+01] [ 4.69107362e-03 -1.19268993e-04 9.99988990e-01 3.81861266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.482755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:75.61, Y:28.41, Z:0.37 [[ 7.34314397e-01 -6.78800320e-01 -3.53451863e-03 7.56138677e+01] [ 6.78793315e-01 7.34322891e-01 -3.08667906e-03 2.84062152e+01] [ 4.69071667e-03 -1.32614747e-04 9.99988990e-01 3.73462816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.64, Y:28.43, Z:0.38 [[ 7.35435328e-01 -6.77585909e-01 -3.49498074e-03 7.56364178e+01] [ 6.77578675e-01 7.35443629e-01 -3.13178113e-03 2.84260069e+01] [ 4.69241208e-03 -6.49019371e-05 9.99988988e-01 3.76357112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:75.66, Y:28.44, Z:0.38 [[ 7.37036430e-01 -6.75843908e-01 -3.50903161e-03 7.56578869e+01] [ 6.75836730e-01 7.37044779e-01 -3.11572915e-03 2.84443716e+01] [ 4.69206000e-03 -7.51265628e-05 9.99988989e-01 3.79599370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.68, Y:28.46, Z:0.38 [[ 7.37284705e-01 -6.75573041e-01 -3.51142619e-03 7.56784009e+01] [ 6.75565873e-01 7.37293063e-01 -3.11299415e-03 2.84630348e+01] [ 4.69200509e-03 -7.70367243e-05 9.99988990e-01 3.78192327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.70, Y:28.48, Z:0.38 [[ 7.38087128e-01 -6.74696291e-01 -3.50809274e-03 7.57015960e+01] [ 6.74689095e-01 7.38095462e-01 -3.11679696e-03 2.84823715e+01] [ 4.69219868e-03 -6.64041969e-05 9.99988989e-01 3.81207431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.72, Y:28.50, Z:0.38 [[ 7.39204793e-01 -6.73471518e-01 -3.51977193e-03 7.57230514e+01] [ 6.73464371e-01 7.39213169e-01 -3.10346923e-03 2.85015328e+01] [ 4.69195989e-03 -7.63416579e-05 9.99988990e-01 3.82790275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.74, Y:28.52, Z:0.38 [[ 7.40680662e-01 -6.71848019e-01 -3.52080748e-03 7.57438329e+01] [ 6.71840860e-01 7.40689027e-01 -3.10228777e-03 2.85190448e+01] [ 4.69208936e-03 -6.76177617e-05 9.99988990e-01 3.82548439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.77, Y:28.54, Z:0.38 [[ 7.40819308e-01 -6.71695186e-01 -3.51135325e-03 7.57672179e+01] [ 6.71687974e-01 7.40827628e-01 -3.11305689e-03 2.85395060e+01] [ 4.69233283e-03 -5.23211062e-05 9.99988990e-01 3.84184042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.722755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.79, Y:28.56, Z:0.38 [[ 7.40029710e-01 -6.72564898e-01 -3.53346682e-03 7.57876936e+01] [ 6.72557816e-01 7.40038141e-01 -3.08788054e-03 2.85592251e+01] [ 4.69170027e-03 -9.13373879e-05 9.99988990e-01 3.84301479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.81, Y:28.58, Z:0.39 [[ 7.40480692e-01 -6.72068367e-01 -3.52928859e-03 7.58082779e+01] [ 6.72061256e-01 7.40489098e-01 -3.09263467e-03 2.85787625e+01] [ 4.69186166e-03 -8.18618606e-05 9.99988990e-01 3.87322750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.83, Y:28.60, Z:0.38 [[ 7.40926969e-01 -6.71576352e-01 -3.52564130e-03 7.58280965e+01] [ 6.71569216e-01 7.40935354e-01 -3.09678262e-03 2.85973048e+01] [ 4.69199826e-03 -7.32224012e-05 9.99988990e-01 3.84866286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.812755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:75.85, Y:28.62, Z:0.39 [[ 7.40629749e-01 -6.71904132e-01 -3.52306959e-03 7.58485641e+01] [ 6.71896986e-01 7.40638125e-01 -3.09970558e-03 2.86164733e+01] [ 4.69202464e-03 -7.14056767e-05 9.99988990e-01 3.85183407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.842755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:75.87, Y:28.64, Z:0.38 [[ 7.39444799e-01 -6.73207979e-01 -3.52220318e-03 7.58688964e+01] [ 6.73200843e-01 7.39453183e-01 -3.10068978e-03 2.86364338e+01] [ 4.69191345e-03 -7.83612237e-05 9.99988990e-01 3.84710622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.872755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:75.89, Y:28.66, Z:0.39 [[ 7.39416993e-01 -6.73238553e-01 -3.51579859e-03 7.58885620e+01] [ 6.73231383e-01 7.39425348e-01 -3.10795936e-03 2.86550434e+01] [ 4.69206866e-03 -6.88679836e-05 9.99988990e-01 3.86092975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.91, Y:28.67, Z:0.39 [[ 7.39155381e-01 -6.73525784e-01 -3.51295835e-03 7.59094736e+01] [ 6.73518601e-01 7.39163726e-01 -3.11118129e-03 2.86729464e+01] [ 4.69211220e-03 -6.63964037e-05 9.99988990e-01 3.87152176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.93, Y:28.69, Z:0.39 [[ 7.37853406e-01 -6.74951822e-01 -3.51977003e-03 7.59280764e+01] [ 6.74944693e-01 7.37861796e-01 -3.10345585e-03 2.86925470e+01] [ 4.69178702e-03 -8.57546304e-05 9.99988990e-01 3.87054089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:75.95, Y:28.71, Z:0.39 [[ 7.38203216e-01 -6.74569292e-01 -3.50459587e-03 7.59505101e+01] [ 6.74562076e-01 7.38211533e-01 -3.12065389e-03 2.87104614e+01] [ 4.69223037e-03 -6.03907307e-05 9.99988990e-01 3.88377985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.97, Y:28.73, Z:0.39 [[ 7.37642504e-01 -6.75182309e-01 -3.51921511e-03 7.59705992e+01] [ 6.75175179e-01 7.37650894e-01 -3.10408764e-03 2.87283196e+01] [ 4.69177724e-03 -8.63797161e-05 9.99988990e-01 3.89652203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.99, Y:28.75, Z:0.39 [[ 7.36776075e-01 -6.76127681e-01 -3.51777194e-03 7.59906178e+01] [ 6.76120554e-01 7.36784467e-01 -3.10572229e-03 2.87467867e+01] [ 4.69170453e-03 -9.02160356e-05 9.99988990e-01 3.88427058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.01, Y:28.77, Z:0.39 [[ 7.36476130e-01 -6.76454388e-01 -3.51722086e-03 7.60109654e+01] [ 6.76447261e-01 7.36484523e-01 -3.10634626e-03 2.87651903e+01] [ 4.69168028e-03 -9.14645397e-05 9.99988990e-01 3.87983918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.03, Y:28.79, Z:0.39 [[ 7.35637816e-01 -6.77365955e-01 -3.51671513e-03 7.60308941e+01] [ 6.77358836e-01 7.35646215e-01 -3.10691869e-03 2.87853057e+01] [ 4.69157912e-03 -9.65111841e-05 9.99988990e-01 3.85730616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.05, Y:28.80, Z:0.39 [[ 7.35713547e-01 -6.77283735e-01 -3.50979898e-03 7.60528315e+01] [ 6.77276578e-01 7.35721914e-01 -3.11474193e-03 2.88043742e+01] [ 4.69180008e-03 -8.55468079e-05 9.99988990e-01 3.88259708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.07, Y:28.82, Z:0.39 [[ 7.35314915e-01 -6.77716476e-01 -3.51493205e-03 7.60723643e+01] [ 6.77709351e-01 7.35323310e-01 -3.10893854e-03 2.88238670e+01] [ 4.69159034e-03 -9.60534383e-05 9.99988990e-01 3.85677378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.09, Y:28.84, Z:0.39 [[ 7.35064296e-01 -6.77988318e-01 -3.51009620e-03 7.60934854e+01] [ 6.77981171e-01 7.35072671e-01 -3.11440394e-03 2.88428263e+01] [ 4.69170528e-03 -9.04919912e-05 9.99988990e-01 3.88161916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.12, Y:28.86, Z:0.39 [[ 7.35239050e-01 -6.77798783e-01 -3.51399260e-03 7.61171575e+01] [ 6.77791655e-01 7.35247441e-01 -3.11000140e-03 2.88625476e+01] [ 4.69160923e-03 -9.51603866e-05 9.99988990e-01 3.87688124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.13, Y:28.88, Z:0.39 [[ 7.33877707e-01 -6.79272420e-01 -3.53437417e-03 7.61344777e+01] [ 6.79265419e-01 7.33886205e-01 -3.08697362e-03 2.88811296e+01] [ 4.69072448e-03 -1.35317032e-04 9.99988989e-01 3.89074738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.15, Y:28.90, Z:0.39 [[ 7.32383858e-01 -6.80882917e-01 -3.51254954e-03 7.61542301e+01] [ 6.80875817e-01 7.32392272e-01 -3.11161041e-03 2.89010502e+01] [ 4.69120651e-03 -1.12716807e-04 9.99988990e-01 3.90792097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.17, Y:28.92, Z:0.39 [[ 7.31556932e-01 -6.81771311e-01 -3.51206716e-03 7.61745360e+01] [ 6.81764218e-01 7.31565353e-01 -3.11215478e-03 2.89202226e+01] [ 4.69108449e-03 -1.17683322e-04 9.99988990e-01 3.92136454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.19, Y:28.94, Z:0.39 [[ 7.30752789e-01 -6.82633162e-01 -3.51108514e-03 7.61949983e+01] [ 6.82626073e-01 7.30761214e-01 -3.11326228e-03 2.89395140e+01] [ 4.69098091e-03 -1.21733172e-04 9.99988990e-01 3.93072530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.21, Y:28.96, Z:0.39 [[ 7.29223394e-01 -6.84266703e-01 -3.51009709e-03 7.62141436e+01] [ 6.84259628e-01 7.29231830e-01 -3.11437587e-03 2.89586379e+01] [ 4.69073824e-03 -1.30741991e-04 9.99988990e-01 3.93692759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.23, Y:28.98, Z:0.39 [[ 7.28427511e-01 -6.85113892e-01 -3.50954913e-03 7.62345419e+01] [ 6.85106823e-01 7.28435953e-01 -3.11499325e-03 2.89775194e+01] [ 4.69060691e-03 -1.35369278e-04 9.99988990e-01 3.93475091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.412755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:76.26, Y:29.00, Z:0.39 [[ 7.27685725e-01 -6.85901724e-01 -3.50858224e-03 7.62555827e+01] [ 6.85894660e-01 7.27694170e-01 -3.11608192e-03 2.89967337e+01] [ 4.69050081e-03 -1.38989489e-04 9.99988990e-01 3.92713061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.28, Y:29.02, Z:0.39 [[ 7.27146544e-01 -6.86473306e-01 -3.50761528e-03 7.62751590e+01] [ 6.86466243e-01 7.27154991e-01 -3.11717000e-03 2.90158577e+01] [ 4.69043395e-03 -1.41220084e-04 9.99988990e-01 3.93089244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.472755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.29, Y:29.03, Z:0.39 [[ 7.27060571e-01 -6.86564364e-01 -3.50707663e-03 7.62949545e+01] [ 6.86557300e-01 7.27069016e-01 -3.11777590e-03 2.90345244e+01] [ 4.69044059e-03 -1.40997133e-04 9.99988990e-01 3.93072961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.32, Y:29.05, Z:0.39 [[ 7.27379348e-01 -6.86226631e-01 -3.50655075e-03 7.63150589e+01] [ 6.86219559e-01 7.27387787e-01 -3.11836725e-03 2.90541435e+01] [ 4.69052884e-03 -1.38027772e-04 9.99988990e-01 3.91819396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.34, Y:29.07, Z:0.39 [[ 7.27631988e-01 -6.85958746e-01 -3.50558762e-03 7.63351247e+01] [ 6.85951666e-01 7.27640420e-01 -3.11944960e-03 2.90725849e+01] [ 4.69062098e-03 -1.34852353e-04 9.99988990e-01 3.91418632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:76.36, Y:29.09, Z:0.39 [[ 7.28202938e-01 -6.85352608e-01 -3.50493323e-03 7.63559022e+01] [ 6.85345517e-01 7.28211361e-01 -3.12018469e-03 2.90907621e+01] [ 4.69075891e-03 -1.29962619e-04 9.99988990e-01 3.90627221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.38, Y:29.11, Z:0.39 [[ 7.28677160e-01 -6.84848391e-01 -3.50398379e-03 7.63762178e+01] [ 6.84841290e-01 7.28685574e-01 -3.12125054e-03 2.91084917e+01] [ 4.69088585e-03 -1.25288800e-04 9.99988990e-01 3.90772846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.40, Y:29.13, Z:0.39 [[ 7.29631152e-01 -6.83831930e-01 -3.50345580e-03 7.63977582e+01] [ 6.83824814e-01 7.29639553e-01 -3.12184308e-03 2.91270265e+01] [ 4.69107590e-03 -1.17956053e-04 9.99988990e-01 3.90711182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.42, Y:29.15, Z:0.39 [[ 7.30225145e-01 -6.83197606e-01 -3.50252274e-03 7.64188910e+01] [ 6.83190478e-01 7.30233537e-01 -3.12288956e-03 2.91455540e+01] [ 4.69121024e-03 -1.12477707e-04 9.99988990e-01 3.90614983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.44, Y:29.16, Z:0.39 [[ 7.30020858e-01 -6.83415895e-01 -3.50159070e-03 7.64400820e+01] [ 6.83408765e-01 7.30029247e-01 -3.12393427e-03 2.91646990e+01] [ 4.69120996e-03 -1.12480600e-04 9.99988990e-01 3.90748644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.46, Y:29.18, Z:0.39 [[ 7.31048572e-01 -6.82316445e-01 -3.50065642e-03 7.64612264e+01] [ 6.82309296e-01 7.31056946e-01 -3.12498087e-03 2.91831870e+01] [ 4.69140503e-03 -1.04017616e-04 9.99988990e-01 3.91072020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.48, Y:29.20, Z:0.39 [[ 7.31605900e-01 -6.81718828e-01 -3.49966793e-03 7.64812960e+01] [ 6.81711667e-01 7.31614263e-01 -3.12608750e-03 2.92008843e+01] [ 4.69151968e-03 -9.87004018e-05 9.99988990e-01 3.91592515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.50, Y:29.22, Z:0.39 [[ 7.31928895e-01 -6.81372035e-01 -3.49899794e-03 7.65026535e+01] [ 6.81364867e-01 7.31937252e-01 -3.12683723e-03 2.92194763e+01] [ 4.69158638e-03 -9.54717514e-05 9.99988990e-01 3.92222681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.52, Y:29.24, Z:0.39 [[ 7.32439281e-01 -6.80823372e-01 -3.49802476e-03 7.65231223e+01] [ 6.80816192e-01 7.32447628e-01 -3.12792556e-03 2.92369329e+01] [ 4.69168476e-03 -9.04963511e-05 9.99988990e-01 3.93487946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.54, Y:29.26, Z:0.39 [[ 7.32547537e-01 -6.80706893e-01 -3.49750582e-03 7.65445121e+01] [ 6.80699710e-01 7.32555880e-01 -3.12850571e-03 2.92556982e+01] [ 4.69171385e-03 -8.89720424e-05 9.99988990e-01 3.93572616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.57, Y:29.27, Z:0.39 [[ 7.32476901e-01 -6.80782905e-01 -3.49655585e-03 7.65656402e+01] [ 6.80775717e-01 7.32485242e-01 -3.12956707e-03 2.92744488e+01] [ 4.69173132e-03 -8.80347316e-05 9.99988990e-01 3.92997859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.59, Y:29.29, Z:0.39 [[ 7.32321706e-01 -6.80949851e-01 -3.49556564e-03 7.65856622e+01] [ 6.80942660e-01 7.32330044e-01 -3.13067270e-03 2.92925980e+01] [ 4.69173884e-03 -8.76201880e-05 9.99988990e-01 3.93706034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.61, Y:29.31, Z:0.39 [[ 7.31912829e-01 -6.81389313e-01 -3.49501454e-03 7.66061694e+01] [ 6.81382124e-01 7.31921168e-01 -3.13128781e-03 2.93115032e+01] [ 4.69170117e-03 -8.96107111e-05 9.99988990e-01 3.92806990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.63, Y:29.33, Z:0.39 [[ 7.31670172e-01 -6.81649875e-01 -3.49402731e-03 7.66262130e+01] [ 6.81642683e-01 7.31678509e-01 -3.13238902e-03 2.93294103e+01] [ 4.69169727e-03 -8.98025379e-05 9.99988990e-01 3.92963898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.65, Y:29.35, Z:0.39 [[ 7.30996109e-01 -6.82372687e-01 -3.49346754e-03 7.66475181e+01] [ 6.82365501e-01 7.31004451e-01 -3.13301319e-03 2.93478698e+01] [ 4.69162295e-03 -9.36012806e-05 9.99988990e-01 3.93627815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.67, Y:29.37, Z:0.39 [[ 7.30312505e-01 -6.83104273e-01 -3.49249937e-03 7.66682493e+01] [ 6.83097090e-01 7.30320850e-01 -3.13409208e-03 2.93663208e+01] [ 4.69155680e-03 -9.68495187e-05 9.99988990e-01 3.93824902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.69, Y:29.38, Z:0.39 [[ 7.29207636e-01 -6.84283591e-01 -3.49153629e-03 7.66892897e+01] [ 6.84276417e-01 7.29215987e-01 -3.13516463e-03 2.93840602e+01] [ 4.69142579e-03 -1.02989949e-04 9.99988990e-01 3.93352101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.71, Y:29.40, Z:0.39 [[ 7.28291077e-01 -6.85259017e-01 -3.49098822e-03 7.67097415e+01] [ 6.85251851e-01 7.28299436e-01 -3.13577478e-03 2.94021086e+01] [ 4.69130270e-03 -1.08449344e-04 9.99988990e-01 3.93117321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.73, Y:29.42, Z:0.39 [[ 7.27426294e-01 -6.86176948e-01 -3.49044991e-03 7.67306683e+01] [ 6.86169789e-01 7.27434659e-01 -3.13637386e-03 2.94209495e+01] [ 4.69118169e-03 -1.13560468e-04 9.99988990e-01 3.92445714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.75, Y:29.44, Z:0.39 [[ 7.26001773e-01 -6.87683974e-01 -3.48951567e-03 7.67507037e+01] [ 6.87676828e-01 7.26010149e-01 -3.13741295e-03 2.94386156e+01] [ 4.69097240e-03 -1.21891704e-04 9.99988990e-01 3.91548783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.77, Y:29.46, Z:0.39 [[ 7.25280574e-01 -6.88444562e-01 -3.48899103e-03 7.67713967e+01] [ 6.88437422e-01 7.25288955e-01 -3.13799628e-03 2.94570217e+01] [ 4.69086313e-03 -1.26024250e-04 9.99988990e-01 3.91445746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.79, Y:29.47, Z:0.39 [[ 7.24769927e-01 -6.88982138e-01 -3.48806917e-03 7.67915090e+01] [ 6.88974999e-01 7.24778309e-01 -3.13902064e-03 2.94749191e+01] [ 4.69080603e-03 -1.28124701e-04 9.99988990e-01 3.91845212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.81, Y:29.49, Z:0.39 [[ 7.24445301e-01 -6.89323468e-01 -3.48756072e-03 7.68123139e+01] [ 6.89316330e-01 7.24453684e-01 -3.13958544e-03 2.94932097e+01] [ 4.69076614e-03 -1.29574636e-04 9.99988990e-01 3.92786248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.83, Y:29.51, Z:0.39 [[ 7.24499279e-01 -6.89266740e-01 -3.48665116e-03 7.68326797e+01] [ 6.89259597e-01 7.24507657e-01 -3.14059523e-03 2.95115191e+01] [ 4.69081330e-03 -1.27848794e-04 9.99988990e-01 3.93246027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.85, Y:29.53, Z:0.39 [[ 7.24508493e-01 -6.89257059e-01 -3.48583132e-03 7.68536087e+01] [ 6.89249911e-01 7.24516867e-01 -3.14150492e-03 2.95305720e+01] [ 4.69084803e-03 -1.26561933e-04 9.99988990e-01 3.93193240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.87, Y:29.55, Z:0.39 [[ 7.24823344e-01 -6.88925958e-01 -3.48486222e-03 7.68744984e+01] [ 6.88918801e-01 7.24831711e-01 -3.14257958e-03 2.95493391e+01] [ 4.69094329e-03 -1.22972061e-04 9.99988990e-01 3.93446780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.90, Y:29.57, Z:0.39 [[ 7.26782549e-01 -6.86858784e-01 -3.48389872e-03 7.69002574e+01] [ 6.86851598e-01 7.26790891e-01 -3.14364736e-03 2.95680074e+01] [ 4.69130766e-03 -1.08173363e-04 9.99988990e-01 3.94228279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.92, Y:29.59, Z:0.39 [[ 7.25731241e-01 -6.87969307e-01 -3.52107927e-03 7.69165991e+01] [ 6.87962333e-01 7.25739763e-01 -3.10236135e-03 2.95854501e+01] [ 4.68971662e-03 -1.70889350e-04 9.99988989e-01 3.93102452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.94, Y:29.60, Z:0.39 [[ 7.26285995e-01 -6.87383854e-01 -3.47710576e-03 7.69380031e+01] [ 6.87376639e-01 7.26294311e-01 -3.15110085e-03 2.96038133e+01] [ 4.69141798e-03 -1.01480856e-04 9.99988990e-01 3.92861116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.96, Y:29.62, Z:0.39 [[ 7.25807544e-01 -6.87889051e-01 -3.47308814e-03 7.69590193e+01] [ 6.87881820e-01 7.25815847e-01 -3.15555180e-03 2.96230824e+01] [ 4.69149195e-03 -9.87508912e-05 9.99988990e-01 3.93459003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:76.98, Y:29.64, Z:0.39 [[ 7.25793154e-01 -6.87904185e-01 -3.48275795e-03 7.69802873e+01] [ 6.87897005e-01 7.25801502e-01 -3.14484297e-03 2.96421511e+01] [ 4.69114159e-03 -1.13273269e-04 9.99988990e-01 3.93120703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.00, Y:29.66, Z:0.39 [[ 7.25634331e-01 -6.88071722e-01 -3.48173567e-03 7.70004712e+01] [ 6.88064540e-01 7.25642675e-01 -3.14597436e-03 2.96603490e+01] [ 4.69115198e-03 -1.12831853e-04 9.99988990e-01 3.93366767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.02, Y:29.68, Z:0.39 [[ 7.25386010e-01 -6.88333508e-01 -3.48116619e-03 7.70221408e+01] [ 6.88326325e-01 7.25394354e-01 -3.14660438e-03 2.96788722e+01] [ 4.69113153e-03 -1.13675530e-04 9.99988990e-01 3.93704597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.04, Y:29.70, Z:0.39 [[ 7.25207429e-01 -6.88521658e-01 -3.48016757e-03 7.70422152e+01] [ 6.88514472e-01 7.25215771e-01 -3.14770848e-03 2.96968307e+01] [ 4.69113787e-03 -1.13404160e-04 9.99988990e-01 3.93715990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.06, Y:29.72, Z:0.39 [[ 7.25331550e-01 -6.88390903e-01 -3.47961475e-03 7.70635009e+01] [ 6.88383713e-01 7.25339887e-01 -3.14831947e-03 2.97154567e+01] [ 4.69117785e-03 -1.11734676e-04 9.99988990e-01 3.93383732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.08, Y:29.73, Z:0.39 [[ 7.25333703e-01 -6.88388639e-01 -3.47862701e-03 7.70841919e+01] [ 6.88381443e-01 7.25342036e-01 -3.14941047e-03 2.97340853e+01] [ 4.69121278e-03 -1.10248724e-04 9.99988990e-01 3.93244553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.11, Y:29.75, Z:0.39 [[ 7.25377880e-01 -6.88342093e-01 -3.47764067e-03 7.71051226e+01] [ 6.88334892e-01 7.25386208e-01 -3.15049922e-03 2.97530180e+01] [ 4.69125381e-03 -1.08478968e-04 9.99988990e-01 3.93328911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.13, Y:29.77, Z:0.39 [[ 7.27036490e-01 -6.86590020e-01 -3.47663500e-03 7.71312390e+01] [ 6.86582793e-01 7.27044796e-01 -3.15160861e-03 2.97723596e+01] [ 4.69153240e-03 -9.56633040e-05 9.99988990e-01 3.93138015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.15, Y:29.79, Z:0.39 [[ 7.26118827e-01 -6.87560278e-01 -3.50899791e-03 7.71500658e+01] [ 6.87553234e-01 7.26127290e-01 -3.11587090e-03 2.97903672e+01] [ 4.69032821e-03 -1.50130339e-04 9.99988989e-01 3.92949579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.17, Y:29.81, Z:0.39 [[ 7.24866309e-01 -6.88880795e-01 -3.47612174e-03 7.71709937e+01] [ 6.88873592e-01 7.24874636e-01 -3.15212631e-03 2.98087805e+01] [ 4.69119176e-03 -1.09738308e-04 9.99988990e-01 3.92355948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.19, Y:29.83, Z:0.39 [[ 7.24290089e-01 -6.89486560e-01 -3.48585384e-03 7.71928991e+01] [ 6.89479415e-01 7.24298466e-01 -3.14140167e-03 2.98276765e+01] [ 4.69075282e-03 -1.28138370e-04 9.99988990e-01 3.91820193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.21, Y:29.85, Z:0.39 [[ 7.23225035e-01 -6.90603625e-01 -3.49038475e-03 7.72119500e+01] [ 6.90596517e-01 7.23233443e-01 -3.13641138e-03 2.98455486e+01] [ 4.69038004e-03 -1.42116325e-04 9.99988990e-01 3.91911710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.23, Y:29.86, Z:0.39 [[ 7.22858105e-01 -6.90987770e-01 -3.47304786e-03 7.72327727e+01] [ 6.90980575e-01 7.22866438e-01 -3.15549297e-03 2.98632600e+01] [ 4.69095679e-03 -1.18834939e-04 9.99988990e-01 3.91475043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.25, Y:29.88, Z:0.39 [[ 7.22256768e-01 -6.91616297e-01 -3.47249081e-03 7.72543091e+01] [ 6.91609107e-01 7.22265105e-01 -3.15610587e-03 2.98805853e+01] [ 4.69087319e-03 -1.22087441e-04 9.99988990e-01 3.90894600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.28, Y:29.90, Z:0.39 [[ 7.21989100e-01 -6.91895721e-01 -3.47151315e-03 7.72754169e+01] [ 6.91888529e-01 7.21997435e-01 -3.15718087e-03 2.98989067e+01] [ 4.69086352e-03 -1.22449952e-04 9.99988990e-01 3.90571641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.30, Y:29.92, Z:0.39 [[ 7.22050108e-01 -6.91832058e-01 -3.47052639e-03 7.72973819e+01] [ 6.91824860e-01 7.22058439e-01 -3.15826518e-03 2.99167409e+01] [ 4.69091197e-03 -1.20570723e-04 9.99988990e-01 3.90655385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.32, Y:29.93, Z:0.39 [[ 7.22308295e-01 -6.91562499e-01 -3.46953106e-03 7.73187616e+01] [ 6.91555292e-01 7.22316618e-01 -3.15935823e-03 2.99349188e+01] [ 4.69099361e-03 -1.17341911e-04 9.99988990e-01 3.90657646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.34, Y:29.95, Z:0.39 [[ 7.22549670e-01 -6.91310310e-01 -3.46854537e-03 7.73398523e+01] [ 6.91303095e-01 7.22557986e-01 -3.16044001e-03 2.99532548e+01] [ 4.69106992e-03 -1.14241263e-04 9.99988990e-01 3.90756389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.36, Y:29.97, Z:0.39 [[ 7.24204253e-01 -6.89576810e-01 -3.46756174e-03 7.73616996e+01] [ 6.89569570e-01 7.24212547e-01 -3.16151886e-03 2.99702280e+01] [ 4.69136181e-03 -1.01539649e-04 9.99988990e-01 3.90790148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.38, Y:29.99, Z:0.39 [[ 7.25083249e-01 -6.88652500e-01 -3.46658187e-03 7.73823797e+01] [ 6.88645244e-01 7.25091529e-01 -3.16259292e-03 2.99877551e+01] [ 4.69151667e-03 -9.41019693e-05 9.99988990e-01 3.90512485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.40, Y:30.01, Z:0.39 [[ 7.26103958e-01 -6.87576198e-01 -3.46604459e-03 7.74031087e+01] [ 6.87568928e-01 7.26112226e-01 -3.16318164e-03 3.00050420e+01] [ 4.69166576e-03 -8.63458506e-05 9.99988990e-01 3.90284740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.43, Y:30.02, Z:0.39 [[ 7.28003501e-01 -6.85564653e-01 -3.46552418e-03 7.74252478e+01] [ 6.85557356e-01 7.28011746e-01 -3.16375169e-03 3.00221534e+01] [ 4.69189863e-03 -7.25932938e-05 9.99988990e-01 3.90842387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.45, Y:30.04, Z:0.39 [[ 7.28898554e-01 -6.84612953e-01 -3.46453979e-03 7.74459084e+01] [ 6.84605641e-01 7.28906785e-01 -3.16482930e-03 3.00393582e+01] [ 4.69200969e-03 -6.50039756e-05 9.99988990e-01 3.90847209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.47, Y:30.06, Z:0.39 [[ 7.30171866e-01 -6.83254745e-01 -3.46400068e-03 7.74675346e+01] [ 6.83247415e-01 7.30180081e-01 -3.16541926e-03 3.00557973e+01] [ 4.69213203e-03 -5.54694258e-05 9.99988990e-01 3.91036327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.49, Y:30.08, Z:0.39 [[ 7.29943218e-01 -6.83499014e-01 -3.46346531e-03 7.74897736e+01] [ 6.83491684e-01 7.29951433e-01 -3.16600493e-03 3.00751907e+01] [ 4.69212272e-03 -5.62459115e-05 9.99988990e-01 3.91253021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.51, Y:30.09, Z:0.39 [[ 7.30673133e-01 -6.82718614e-01 -3.47362361e-03 7.75099591e+01] [ 6.82711328e-01 7.30681387e-01 -3.15489522e-03 3.00914769e+01] [ 4.69201781e-03 -6.62850187e-05 9.99988990e-01 3.92195899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.53, Y:30.11, Z:0.39 [[ 7.30294556e-01 -6.83123617e-01 -3.46209769e-03 7.75331976e+01] [ 6.83116275e-01 7.30302760e-01 -3.16749315e-03 3.01080181e+01] [ 4.69216888e-03 -5.18122729e-05 9.99988990e-01 3.92981877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.56, Y:30.13, Z:0.39 [[ 7.29656497e-01 -6.83805102e-01 -3.46115819e-03 7.75555487e+01] [ 6.83797763e-01 7.29664704e-01 -3.16851942e-03 3.01258179e+01] [ 4.69213471e-03 -5.48014460e-05 9.99988990e-01 3.93917270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.58, Y:30.14, Z:0.39 [[ 7.28868172e-01 -6.84645320e-01 -3.46022212e-03 7.75769319e+01] [ 6.84637986e-01 7.28876383e-01 -3.16954134e-03 3.01427532e+01] [ 4.69208583e-03 -5.88217049e-05 9.99988990e-01 3.94011040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.60, Y:30.16, Z:0.40 [[ 7.28308888e-01 -6.85240248e-01 -3.45938408e-03 7.75989493e+01] [ 6.85232916e-01 7.28317101e-01 -3.17045575e-03 3.01592819e+01] [ 4.69205247e-03 -6.14127369e-05 9.99988990e-01 3.95344885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.63, Y:30.18, Z:0.40 [[ 7.30384572e-01 -6.83027390e-01 -3.45854611e-03 7.76251311e+01] [ 6.83020029e-01 7.30392759e-01 -3.17136961e-03 3.01788989e+01] [ 4.69222934e-03 -4.59368289e-05 9.99988990e-01 3.95164540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.64, Y:30.20, Z:0.40 [[ 7.28904119e-01 -6.84606879e-01 -3.49372953e-03 7.76411862e+01] [ 6.84599719e-01 7.28912484e-01 -3.13300554e-03 3.01974791e+01] [ 4.69150021e-03 -1.08145608e-04 9.99988989e-01 3.97020734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.67, Y:30.22, Z:0.40 [[ 7.31391723e-01 -6.81948826e-01 -3.45624282e-03 7.76654649e+01] [ 6.81941442e-01 7.31399889e-01 -3.17382791e-03 3.02171388e+01] [ 4.69228383e-03 -3.56437487e-05 9.99988991e-01 3.95349053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.69, Y:30.24, Z:0.40 [[ 7.31392311e-01 -6.81948076e-01 -3.47982687e-03 7.76857566e+01] [ 6.81940813e-01 7.31400586e-01 -3.14815583e-03 3.02367094e+01] [ 4.69202623e-03 -7.04989971e-05 9.99988990e-01 3.95677319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:77.70, Y:30.25, Z:0.40 [[ 7.31509738e-01 -6.81822138e-01 -3.47489827e-03 7.77042359e+01] [ 6.81814848e-01 7.31517989e-01 -3.15351818e-03 3.02548329e+01] [ 4.69208911e-03 -6.24079768e-05 9.99988990e-01 3.96499964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.73, Y:30.28, Z:0.40 [[ 7.32016255e-01 -6.81278413e-01 -3.45350172e-03 7.77269443e+01] [ 6.81271007e-01 7.32024401e-01 -3.17677856e-03 3.02750406e+01] [ 4.69231818e-03 -2.73170490e-05 9.99988991e-01 3.95255742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.75, Y:30.29, Z:0.40 [[ 7.31959674e-01 -6.81339140e-01 -3.46585116e-03 7.77460783e+01] [ 6.81331798e-01 7.31967878e-01 -3.16335510e-03 3.02938075e+01] [ 4.69220937e-03 -4.59462368e-05 9.99988990e-01 3.96620804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.77, Y:30.31, Z:0.40 [[ 7.31826216e-01 -6.81482556e-01 -3.45180541e-03 7.77657467e+01] [ 6.81475144e-01 7.31834356e-01 -3.17860807e-03 3.03129424e+01] [ 4.69231575e-03 -2.61308736e-05 9.99988991e-01 3.95481310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.79, Y:30.33, Z:0.40 [[ 7.31614899e-01 -6.81709417e-01 -3.45124108e-03 7.77866487e+01] [ 6.81702004e-01 7.31623038e-01 -3.17922069e-03 3.03324269e+01] [ 4.69231217e-03 -2.67527363e-05 9.99988991e-01 3.95615147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.81, Y:30.35, Z:0.39 [[ 7.31282096e-01 -6.82066413e-01 -3.45025507e-03 7.78071962e+01] [ 6.82058999e-01 7.31290235e-01 -3.18029040e-03 3.03519166e+01] [ 4.69230710e-03 -2.75880914e-05 9.99988991e-01 3.93965797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.83, Y:30.37, Z:0.39 [[ 7.30841747e-01 -6.82538234e-01 -3.44974285e-03 7.78272991e+01] [ 6.82530823e-01 7.30849888e-01 -3.18084592e-03 3.03709437e+01] [ 4.69229313e-03 -2.98608381e-05 9.99988991e-01 3.92775492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.85, Y:30.39, Z:0.39 [[ 7.29751772e-01 -6.83703492e-01 -3.44761853e-03 7.78483553e+01] [ 6.83696083e-01 7.29759915e-01 -3.18314854e-03 3.03907980e+01] [ 4.69226358e-03 -3.42149947e-05 9.99988991e-01 3.94120627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.87, Y:30.41, Z:0.39 [[ 7.29280715e-01 -6.84205924e-01 -3.44847752e-03 7.78694634e+01] [ 6.84198525e-01 7.29288867e-01 -3.18221768e-03 3.04095355e+01] [ 4.69222845e-03 -3.87132463e-05 9.99988991e-01 3.94284736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.89, Y:30.43, Z:0.39 [[ 7.28532547e-01 -6.85002513e-01 -3.44746144e-03 7.78889101e+01] [ 6.84995118e-01 7.28540702e-01 -3.18331807e-03 3.04286710e+01] [ 4.69219686e-03 -4.23434341e-05 9.99988991e-01 3.94574367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.91, Y:30.45, Z:0.40 [[ 7.27760809e-01 -6.85822371e-01 -3.44687848e-03 7.79090759e+01] [ 6.85814981e-01 7.27768970e-01 -3.18394917e-03 3.04478784e+01] [ 4.69215477e-03 -4.67674765e-05 9.99988991e-01 3.95310864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.93, Y:30.47, Z:0.40 [[ 7.27322350e-01 -6.86287346e-01 -3.44636320e-03 7.79302701e+01] [ 6.86279959e-01 7.27330514e-01 -3.18450682e-03 3.04673522e+01] [ 4.69213185e-03 -4.90070096e-05 9.99988991e-01 3.96810143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.95, Y:30.49, Z:0.40 [[ 7.26644826e-01 -6.87004650e-01 -3.45077230e-03 7.79498755e+01] [ 6.86997294e-01 7.26653017e-01 -3.17973860e-03 3.04867026e+01] [ 4.69200930e-03 -6.01306272e-05 9.99988991e-01 3.98107181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:30.51, Z:0.40 [[ 7.26638599e-01 -6.87011270e-01 -3.44401711e-03 7.79696738e+01] [ 6.87003880e-01 7.26646759e-01 -3.18703847e-03 3.05053437e+01] [ 4.69211522e-03 -5.02279492e-05 9.99988991e-01 3.98327960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.99, Y:30.52, Z:0.40 [[ 7.26528021e-01 -6.87128210e-01 -3.44343201e-03 7.79895496e+01] [ 6.87120818e-01 7.26536180e-01 -3.18767052e-03 3.05242990e+01] [ 4.69211627e-03 -5.01218635e-05 9.99988991e-01 3.97769308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.01, Y:30.54, Z:0.40 [[ 7.26849187e-01 -6.86788473e-01 -3.44274418e-03 7.80102763e+01] [ 6.86781074e-01 7.26857338e-01 -3.18841322e-03 3.05438562e+01] [ 4.69214932e-03 -4.69159880e-05 9.99988991e-01 3.97859794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.03, Y:30.56, Z:0.40 [[ 7.26373354e-01 -6.87291718e-01 -3.44177028e-03 7.80293936e+01] [ 6.87284319e-01 7.26381506e-01 -3.18946415e-03 3.05624393e+01] [ 4.69213058e-03 -4.87329677e-05 9.99988991e-01 3.98388296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.05, Y:30.58, Z:0.40 [[ 7.25998156e-01 -6.87688036e-01 -3.44116582e-03 7.80494764e+01] [ 6.87680639e-01 7.26006310e-01 -3.19011618e-03 3.05820655e+01] [ 4.69211283e-03 -5.04046455e-05 9.99988991e-01 3.99133515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.07, Y:30.60, Z:0.40 [[ 7.25316055e-01 -6.88407428e-01 -3.44015646e-03 7.80683234e+01] [ 6.88400033e-01 7.25324211e-01 -3.19120429e-03 3.06011317e+01] [ 4.69207750e-03 -5.35721157e-05 9.99988991e-01 3.99403178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.09, Y:30.62, Z:0.40 [[ 7.24799781e-01 -6.88950976e-01 -3.43957734e-03 7.80883848e+01] [ 6.88943584e-01 7.24807940e-01 -3.19182836e-03 3.06201786e+01] [ 4.69204623e-03 -5.62382429e-05 9.99988991e-01 4.00162019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.11, Y:30.64, Z:0.40 [[ 7.24230116e-01 -6.89549791e-01 -3.43857322e-03 7.81080618e+01] [ 6.89542402e-01 7.24238277e-01 -3.19290973e-03 3.06388308e+01] [ 4.69201659e-03 -5.86406508e-05 9.99988991e-01 4.00414262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.13, Y:30.66, Z:0.40 [[ 7.22820071e-01 -6.91027731e-01 -3.43801074e-03 7.81283615e+01] [ 6.91020355e-01 7.22828244e-01 -3.19351528e-03 3.06580432e+01] [ 4.69189888e-03 -6.73984607e-05 9.99988991e-01 4.00334356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.15, Y:30.68, Z:0.40 [[ 7.21787870e-01 -6.92105814e-01 -3.43701829e-03 7.81494768e+01] [ 6.92098445e-01 7.21796050e-01 -3.19458304e-03 3.06779493e+01] [ 4.69181572e-03 -7.29437273e-05 9.99988991e-01 4.01011023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.17, Y:30.70, Z:0.40 [[ 7.20915926e-01 -6.93013995e-01 -3.43962833e-03 7.81688303e+01] [ 6.93006649e-01 7.20924127e-01 -3.19177589e-03 3.06964567e+01] [ 4.69165641e-03 -8.26832348e-05 9.99988991e-01 3.99943177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.19, Y:30.72, Z:0.40 [[ 7.18921608e-01 -6.95082670e-01 -3.43570854e-03 7.81884754e+01] [ 6.95075328e-01 7.18929812e-01 -3.19598969e-03 3.07154292e+01] [ 4.69151034e-03 -9.04101903e-05 9.99988991e-01 3.99003713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.21, Y:30.73, Z:0.40 [[ 7.17446896e-01 -6.96604731e-01 -3.43516496e-03 7.82076374e+01] [ 6.96597403e-01 7.17455113e-01 -3.19657384e-03 3.07339594e+01] [ 4.69132512e-03 -9.95550072e-05 9.99988991e-01 3.98525251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.23, Y:30.75, Z:0.40 [[ 7.16138491e-01 -6.97949759e-01 -3.43463268e-03 7.82278678e+01] [ 6.97942444e-01 7.16146719e-01 -3.19714566e-03 3.07530725e+01] [ 4.69114796e-03 -1.07576857e-04 9.99988991e-01 3.99388062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.25, Y:30.77, Z:0.40 [[ 7.13538816e-01 -7.00607285e-01 -3.43361127e-03 7.82485028e+01] [ 7.00599996e-01 7.13547067e-01 -3.19824224e-03 3.07726591e+01] [ 4.69075506e-03 -1.23518056e-04 9.99988991e-01 4.00295798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.27, Y:30.79, Z:0.40 [[ 7.12740832e-01 -7.01419041e-01 -3.44019299e-03 7.82682738e+01] [ 7.01411795e-01 7.12749121e-01 -3.19117676e-03 3.07912425e+01] [ 4.69034667e-03 -1.38509959e-04 9.99988991e-01 3.99452686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.29, Y:30.81, Z:0.40 [[ 7.11919757e-01 -7.02252432e-01 -3.43235452e-03 7.82881840e+01] [ 7.02245155e-01 7.11928019e-01 -3.19958547e-03 3.08099882e+01] [ 4.69050604e-03 -1.32506223e-04 9.99988991e-01 3.99176607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.31, Y:30.83, Z:0.40 [[ 7.10830730e-01 -7.03354745e-01 -3.43151041e-03 7.83082357e+01] [ 7.03347477e-01 7.10838999e-01 -3.20049051e-03 3.08298290e+01] [ 4.69033162e-03 -1.38537186e-04 9.99988991e-01 3.98936327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.33, Y:30.85, Z:0.40 [[ 7.10686338e-01 -7.03500647e-01 -3.43051405e-03 7.83284844e+01] [ 7.03493376e-01 7.10694604e-01 -3.20155813e-03 3.08489622e+01] [ 4.69034604e-03 -1.38040288e-04 9.99988991e-01 3.98840471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.35, Y:30.87, Z:0.40 [[ 7.11660070e-01 -7.02515610e-01 -3.42950743e-03 7.83478223e+01] [ 7.02508322e-01 7.11668322e-01 -3.20263606e-03 3.08681726e+01] [ 4.69057362e-03 -1.30069310e-04 9.99988991e-01 3.99002253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.37, Y:30.89, Z:0.40 [[ 7.12410243e-01 -7.01754864e-01 -3.42894671e-03 7.83670123e+01] [ 7.01747564e-01 7.12418484e-01 -3.20323629e-03 3.08872279e+01] [ 4.69073166e-03 -1.24236659e-04 9.99988991e-01 3.98309971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.39, Y:30.91, Z:0.40 [[ 7.13228995e-01 -7.00922711e-01 -3.42840178e-03 7.83869934e+01] [ 7.00915399e-01 7.13237225e-01 -3.20381942e-03 3.09072240e+01] [ 4.69089356e-03 -1.17962701e-04 9.99988991e-01 3.99762616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.41, Y:30.93, Z:0.40 [[ 7.14270168e-01 -6.99861687e-01 -3.42738445e-03 7.84064898e+01] [ 6.99854357e-01 7.14278382e-01 -3.20490737e-03 3.09286458e+01] [ 4.69109850e-03 -1.09500211e-04 9.99988991e-01 3.98786304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.43, Y:30.95, Z:0.40 [[ 7.15701862e-01 -6.98397439e-01 -3.44403072e-03 7.84250312e+01] [ 6.98390178e-01 7.15710138e-01 -3.18709926e-03 3.09465015e+01] [ 4.69078966e-03 -1.24264357e-04 9.99988990e-01 3.99422736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.45, Y:30.97, Z:0.40 [[ 7.15822663e-01 -6.98273709e-01 -3.42678823e-03 7.84457156e+01] [ 6.98266358e-01 7.15830858e-01 -3.20553188e-03 3.09675588e+01] [ 4.69133940e-03 -9.82185684e-05 9.99988991e-01 4.00052410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.46, Y:30.99, Z:0.40 [[ 7.16559523e-01 -6.97517500e-01 -3.43311943e-03 7.84648768e+01] [ 6.97510173e-01 7.16567740e-01 -3.19876650e-03 3.09860890e+01] [ 4.69125825e-03 -1.02529131e-04 9.99988991e-01 4.00356841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.48, Y:31.01, Z:0.40 [[ 7.17392739e-01 -6.96660554e-01 -3.42489757e-03 7.84845659e+01] [ 6.96653175e-01 7.17400910e-01 -3.20754551e-03 3.10065257e+01] [ 4.69159506e-03 -8.48959060e-05 9.99988991e-01 4.01638058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.50, Y:31.03, Z:0.40 [[ 7.17651743e-01 -6.96393748e-01 -3.42391534e-03 7.85044029e+01] [ 6.96386361e-01 7.17659906e-01 -3.20859365e-03 3.10262082e+01] [ 4.69165132e-03 -8.17151140e-05 9.99988991e-01 4.02626518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.52, Y:31.05, Z:0.40 [[ 7.17982729e-01 -6.96052502e-01 -3.42289212e-03 7.85228786e+01] [ 6.96045106e-01 7.17990883e-01 -3.20968484e-03 3.10460637e+01] [ 4.69171450e-03 -7.79890258e-05 9.99988991e-01 4.02988242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.54, Y:31.06, Z:0.40 [[ 7.18053967e-01 -6.95979015e-01 -3.42231418e-03 7.85418857e+01] [ 6.95971615e-01 7.18062118e-01 -3.21030095e-03 3.10649651e+01] [ 4.69173626e-03 -7.66641942e-05 9.99988991e-01 4.02556583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.56, Y:31.09, Z:0.40 [[ 7.17476798e-01 -6.96574013e-01 -3.41871233e-03 7.85624585e+01] [ 6.96566602e-01 7.17484939e-01 -3.21413891e-03 3.10852349e+01] [ 4.69176025e-03 -7.52907361e-05 9.99988991e-01 4.03443852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.58, Y:31.10, Z:0.40 [[ 7.15912684e-01 -6.98181442e-01 -3.42104658e-03 7.85818483e+01] [ 6.98174061e-01 7.15920852e-01 -3.21165248e-03 3.11041690e+01] [ 4.69151474e-03 -8.92232332e-05 9.99988991e-01 4.04015752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.60, Y:31.12, Z:0.40 [[ 7.14583523e-01 -6.99541771e-01 -3.42045385e-03 7.86022893e+01] [ 6.99534402e-01 7.14591702e-01 -3.21228362e-03 3.11238069e+01] [ 4.69135451e-03 -9.72801995e-05 9.99988991e-01 4.04704488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.62, Y:31.14, Z:0.40 [[ 7.11455233e-01 -7.02723102e-01 -3.41944482e-03 7.86214069e+01] [ 7.02715765e-01 7.11463441e-01 -3.21335736e-03 3.11428483e+01] [ 4.69091043e-03 -1.16737872e-04 9.99988991e-01 4.03400235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.64, Y:31.16, Z:0.40 [[ 7.11293797e-01 -7.02886512e-01 -3.41833746e-03 7.86416347e+01] [ 7.02879171e-01 7.11302001e-01 -3.21453493e-03 3.11609207e+01] [ 4.69092352e-03 -1.16199445e-04 9.99988991e-01 4.03873698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.66, Y:31.18, Z:0.40 [[ 7.10891468e-01 -7.03293494e-01 -3.40317239e-03 7.86605739e+01] [ 7.03286081e-01 7.10899607e-01 -3.23065098e-03 3.11780114e+01] [ 4.69140973e-03 -9.67615586e-05 9.99988991e-01 4.04404575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.68, Y:31.20, Z:0.41 [[ 7.07363914e-01 -7.06841437e-01 -3.38758765e-03 7.86822601e+01] [ 7.06833985e-01 7.07372019e-01 -3.24721722e-03 3.11999487e+01] [ 4.69155240e-03 -9.74978014e-05 9.99988990e-01 4.05354361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.70, Y:31.22, Z:0.41 [[ 7.06471824e-01 -7.07732915e-01 -3.41783616e-03 7.87018198e+01] [ 7.07725628e-01 7.06480077e-01 -3.21506093e-03 3.12187160e+01] [ 4.69003760e-03 -1.47540283e-04 9.99988991e-01 4.05147658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.72, Y:31.24, Z:0.40 [[ 7.05430013e-01 -7.08771345e-01 -3.41713670e-03 7.87209796e+01] [ 7.08764066e-01 7.05438273e-01 -3.21580418e-03 3.12374902e+01] [ 4.68984887e-03 -1.53418920e-04 9.99988991e-01 4.04031352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.74, Y:31.26, Z:0.40 [[ 7.05035863e-01 -7.09163422e-01 -3.41660771e-03 7.87411574e+01] [ 7.09156145e-01 7.05044124e-01 -3.21636611e-03 3.12569484e+01] [ 4.68978838e-03 -1.55254899e-04 9.99988991e-01 4.03951025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.76, Y:31.28, Z:0.40 [[ 7.04853499e-01 -7.09344683e-01 -3.41560519e-03 7.87605196e+01] [ 7.09337403e-01 7.04861757e-01 -3.21743038e-03 3.12753382e+01] [ 4.68979661e-03 -1.54999458e-04 9.99988991e-01 4.03535711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.78, Y:31.29, Z:0.40 [[ 7.04996338e-01 -7.09202722e-01 -3.41505750e-03 7.87806726e+01] [ 7.09195437e-01 7.05004593e-01 -3.21801160e-03 3.12943499e+01] [ 4.68985381e-03 -1.53256798e-04 9.99988991e-01 4.03280071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.80, Y:31.31, Z:0.40 [[ 7.05102025e-01 -7.09097651e-01 -3.41403594e-03 7.88005158e+01] [ 7.09090360e-01 7.05110274e-01 -3.21909502e-03 3.13131581e+01] [ 4.68992454e-03 -1.51069561e-04 9.99988991e-01 4.03235908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.82, Y:31.33, Z:0.40 [[ 7.05942061e-01 -7.08261361e-01 -3.41346807e-03 7.88201363e+01] [ 7.08254057e-01 7.05950299e-01 -3.21969707e-03 3.13320830e+01] [ 4.69012583e-03 -1.44683021e-04 9.99988991e-01 4.03019879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.84, Y:31.35, Z:0.40 [[ 7.06339684e-01 -7.07864820e-01 -3.41290852e-03 7.88406131e+01] [ 7.07857509e-01 7.06347915e-01 -3.22029009e-03 3.13519116e+01] [ 4.69023088e-03 -1.41234240e-04 9.99988991e-01 4.04003491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.86, Y:31.37, Z:0.41 [[ 7.07459587e-01 -7.06745563e-01 -3.41188933e-03 7.88603670e+01] [ 7.06738234e-01 7.07467802e-01 -3.22136956e-03 3.13709827e+01] [ 4.69049049e-03 -1.32323864e-04 9.99988991e-01 4.05264393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.88, Y:31.39, Z:0.41 [[ 7.07933441e-01 -7.06270953e-01 -3.40352965e-03 7.88805709e+01] [ 7.06263576e-01 7.07941612e-01 -3.23022002e-03 3.13903564e+01] [ 4.69091084e-03 -1.17008248e-04 9.99988991e-01 4.05492990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.90, Y:31.41, Z:0.41 [[ 7.09674371e-01 -7.04521577e-01 -3.41089706e-03 7.88999578e+01] [ 7.04514217e-01 7.09682559e-01 -3.22242170e-03 3.14098157e+01] [ 4.69091977e-03 -1.16155377e-04 9.99988991e-01 4.06612106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.92, Y:31.43, Z:0.41 [[ 7.10246925e-01 -7.03944369e-01 -3.41030876e-03 7.89200814e+01] [ 7.03936999e-01 7.10255104e-01 -3.22304418e-03 3.14293508e+01] [ 4.69103301e-03 -1.11485297e-04 9.99988991e-01 4.07596121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.94, Y:31.45, Z:0.41 [[ 7.10915503e-01 -7.03269169e-01 -3.40929759e-03 7.89398558e+01] [ 7.03261787e-01 7.10923670e-01 -3.22411343e-03 3.14484131e+01] [ 4.69116993e-03 -1.05556495e-04 9.99988991e-01 4.08361970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.96, Y:31.47, Z:0.41 [[ 7.11559490e-01 -7.02617587e-01 -3.40873572e-03 7.89600535e+01] [ 7.02610194e-01 7.11567647e-01 -3.22470736e-03 3.14681470e+01] [ 4.69128216e-03 -1.00441341e-04 9.99988991e-01 4.09889613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:78.98, Y:31.49, Z:0.41 [[ 7.11133873e-01 -7.03048364e-01 -3.40771078e-03 7.89807694e+01] [ 7.03040971e-01 7.11142030e-01 -3.22579011e-03 3.14888339e+01] [ 4.69125282e-03 -1.01791677e-04 9.99988991e-01 4.10828512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.00, Y:31.51, Z:0.41 [[ 7.11347584e-01 -7.02832063e-01 -3.42133878e-03 7.89999252e+01] [ 7.02824736e-01 7.11355802e-01 -3.21139489e-03 3.15074937e+01] [ 4.69086048e-03 -1.20183530e-04 9.99988991e-01 4.11840247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.02, Y:31.53, Z:0.41 [[ 7.11520022e-01 -7.02657549e-01 -3.40985515e-03 7.90186487e+01] [ 7.02650162e-01 7.11528186e-01 -3.22351673e-03 3.15263173e+01] [ 4.69123641e-03 -1.02338583e-04 9.99988991e-01 4.11814234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.04, Y:31.55, Z:0.41 [[ 7.11329926e-01 -7.02850055e-01 -3.39664090e-03 7.90392351e+01] [ 7.02842603e-01 7.11338030e-01 -3.23745146e-03 3.15461132e+01] [ 4.69160279e-03 -8.44078253e-05 9.99988991e-01 4.11942928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.06, Y:31.57, Z:0.41 [[ 7.10723605e-01 -7.03463166e-01 -3.39575532e-03 7.90596080e+01] [ 7.03455717e-01 7.10731712e-01 -3.23838483e-03 3.15667655e+01] [ 4.69155544e-03 -8.71669535e-05 9.99988991e-01 4.12120980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.08, Y:31.59, Z:0.41 [[ 7.10302810e-01 -7.03888012e-01 -3.40365848e-03 7.90787185e+01] [ 7.03880608e-01 7.10310957e-01 -3.23005691e-03 3.15862460e+01] [ 4.69125425e-03 -1.01450702e-04 9.99988991e-01 4.12380291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.10, Y:31.61, Z:0.41 [[ 7.08935133e-01 -7.05265479e-01 -3.40310024e-03 7.90985293e+01] [ 7.05258088e-01 7.08943293e-01 -3.23064495e-03 3.16066149e+01] [ 4.69106745e-03 -1.09746266e-04 9.99988991e-01 4.12695205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.12, Y:31.63, Z:0.41 [[ 7.08108796e-01 -7.06095149e-01 -3.40209122e-03 7.91184681e+01] [ 7.06087762e-01 7.08116959e-01 -3.23170716e-03 3.16261087e+01] [ 4.69097124e-03 -1.13774711e-04 9.99988991e-01 4.12800491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.14, Y:31.65, Z:0.41 [[ 7.05868486e-01 -7.08334747e-01 -3.40107941e-03 7.91373549e+01] [ 7.08327381e-01 7.05876668e-01 -3.23277166e-03 3.16450742e+01] [ 4.69062709e-03 -1.27166038e-04 9.99988991e-01 4.12137592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.16, Y:31.67, Z:0.41 [[ 7.04384305e-01 -7.09810670e-01 -3.40052132e-03 7.91572768e+01] [ 7.09803319e-01 7.04392500e-01 -3.23335860e-03 3.16650268e+01] [ 4.69037415e-03 -1.36174271e-04 9.99988991e-01 4.12045980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.18, Y:31.68, Z:0.41 [[ 7.02984586e-01 -7.11196959e-01 -3.39950539e-03 7.91773305e+01] [ 7.11189619e-01 7.02992791e-01 -3.23442638e-03 3.16847307e+01] [ 4.69014199e-03 -1.43941058e-04 9.99988991e-01 4.11637645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.20, Y:31.70, Z:0.41 [[ 7.00953816e-01 -7.13198569e-01 -3.39847365e-03 7.91966765e+01] [ 7.13191246e-01 7.00962037e-01 -3.23551008e-03 3.17042637e+01] [ 4.68976217e-03 -1.55818520e-04 9.99988991e-01 4.10617455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.22, Y:31.72, Z:0.41 [[ 7.00493502e-01 -7.13650690e-01 -3.39791283e-03 7.92156515e+01] [ 7.13643370e-01 7.00501726e-01 -3.23609895e-03 3.17230982e+01] [ 4.68968805e-03 -1.58031675e-04 9.99988991e-01 4.10341514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.24, Y:31.74, Z:0.41 [[ 6.99146610e-01 -7.14970323e-01 -3.38444087e-03 7.92355688e+01] [ 7.14962951e-01 6.99154786e-01 -3.25023114e-03 3.17440305e+01] [ 4.69006684e-03 -1.47361750e-04 9.99988991e-01 4.11311283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.25, Y:31.76, Z:0.41 [[ 6.99099470e-01 -7.15016362e-01 -3.39601456e-03 7.92543325e+01] [ 7.15009048e-01 6.99107699e-01 -3.23809300e-03 3.17628568e+01] [ 4.68946940e-03 -1.64432042e-04 9.99988991e-01 4.11094796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.27, Y:31.78, Z:0.41 [[ 6.99294982e-01 -7.14825153e-01 -3.39546557e-03 7.92743501e+01] [ 7.14817835e-01 6.99303206e-01 -3.23866857e-03 3.17830601e+01] [ 4.68954172e-03 -1.62354666e-04 9.99988991e-01 4.11350985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.29, Y:31.80, Z:0.41 [[ 6.99810907e-01 -7.14320076e-01 -3.39447526e-03 7.92933908e+01] [ 7.14312747e-01 6.99819122e-01 -3.23970619e-03 3.18023745e+01] [ 4.68970587e-03 -1.57535224e-04 9.99988991e-01 4.10664002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.32, Y:31.82, Z:0.41 [[ 7.02887544e-01 -7.11292895e-01 -3.39392543e-03 7.93162392e+01] [ 7.11285527e-01 7.02895724e-01 -3.24028209e-03 3.18230503e+01] [ 4.69036530e-03 -1.36496123e-04 9.99988991e-01 4.12293866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.33, Y:31.84, Z:0.41 [[ 7.02733847e-01 -7.11444609e-01 -3.42175539e-03 7.93321544e+01] [ 7.11437384e-01 7.02742155e-01 -3.21112825e-03 3.18426763e+01] [ 4.68915164e-03 -1.77796193e-04 9.99988990e-01 4.12096575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.972755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:79.35, Y:31.86, Z:0.41 [[ 7.03922405e-01 -7.10268778e-01 -3.39273465e-03 7.93515249e+01] [ 7.10261392e-01 7.03930570e-01 -3.24150296e-03 3.18624270e+01] [ 4.69058798e-03 -1.27961879e-04 9.99988991e-01 4.12548428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.37, Y:31.88, Z:0.41 [[ 7.05919252e-01 -7.08284198e-01 -3.39176560e-03 7.93720104e+01] [ 7.08276785e-01 7.05927391e-01 -3.24251661e-03 3.18844432e+01] [ 4.69096352e-03 -1.13353930e-04 9.99988991e-01 4.13026221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.39, Y:31.90, Z:0.41 [[ 7.08474913e-01 -7.05727763e-01 -3.40915743e-03 7.93906006e+01] [ 7.05720408e-01 7.08483105e-01 -3.22432700e-03 3.19022317e+01] [ 4.69082752e-03 -1.21557181e-04 9.99988991e-01 4.13539214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.41, Y:31.92, Z:0.41 [[ 7.11274798e-01 -7.02905874e-01 -3.39042670e-03 7.94094746e+01] [ 7.02898392e-01 7.11282874e-01 -3.24390377e-03 3.19227888e+01] [ 4.69171146e-03 -7.58184752e-05 9.99988991e-01 4.14399698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.43, Y:31.94, Z:0.41 [[ 7.12214764e-01 -7.01953447e-01 -3.38944818e-03 7.94289325e+01] [ 7.01945950e-01 7.12222826e-01 -3.24492588e-03 3.19427098e+01] [ 4.69182926e-03 -6.81252993e-05 9.99988991e-01 4.14912082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.45, Y:31.96, Z:0.41 [[ 7.12159843e-01 -7.02009171e-01 -3.38843374e-03 7.94489246e+01] [ 7.02001669e-01 7.12167901e-01 -3.24598483e-03 3.19634607e+01] [ 4.69184487e-03 -6.70260921e-05 9.99988991e-01 4.14878469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.47, Y:31.98, Z:0.42 [[ 7.13279382e-01 -7.00871540e-01 -3.40694544e-03 7.94684501e+01] [ 7.00864118e-01 7.13287513e-01 -3.22666881e-03 3.19818751e+01] [ 4.69161198e-03 -8.62894744e-05 9.99988991e-01 4.15255770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.49, Y:32.00, Z:0.42 [[ 7.13623116e-01 -7.00521651e-01 -3.38607232e-03 7.94888993e+01] [ 7.00514121e-01 7.13631147e-01 -3.24842639e-03 3.20011833e+01] [ 4.69199969e-03 -5.38393145e-05 9.99988991e-01 4.15304289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.51, Y:32.02, Z:0.42 [[ 7.13573160e-01 -7.00572542e-01 -3.38506404e-03 7.95091870e+01] [ 7.00565008e-01 7.13581187e-01 -3.24947674e-03 3.20203531e+01] [ 4.69201220e-03 -5.27180331e-05 9.99988991e-01 4.15590766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.53, Y:32.04, Z:0.42 [[ 7.12210413e-01 -7.01957921e-01 -3.37712601e-03 7.95295275e+01] [ 7.01950363e-01 7.12218418e-01 -3.25774023e-03 3.20396832e+01] [ 4.69204791e-03 -5.03783188e-05 9.99988991e-01 4.16054866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.55, Y:32.06, Z:0.42 [[ 7.11471767e-01 -7.02706536e-01 -3.38366677e-03 7.95502925e+01] [ 7.02699019e-01 7.11479810e-01 -3.25093242e-03 3.20592556e+01] [ 4.69186205e-03 -6.47526924e-05 9.99988991e-01 4.16448404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.57, Y:32.08, Z:0.42 [[ 7.10521746e-01 -7.03667113e-01 -3.38265799e-03 7.95710106e+01] [ 7.03659602e-01 7.10529795e-01 -3.25198174e-03 3.20787095e+01] [ 4.69179189e-03 -6.96360339e-05 9.99988991e-01 4.16646060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.59, Y:32.10, Z:0.42 [[ 7.08566579e-01 -7.05635854e-01 -3.38293635e-03 7.95940609e+01] [ 7.05628367e-01 7.08574650e-01 -3.25169229e-03 3.20980809e+01] [ 4.69157361e-03 -8.30553688e-05 9.99988991e-01 4.16967285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.61, Y:32.12, Z:0.42 [[ 7.07503289e-01 -7.06701870e-01 -3.40053893e-03 7.96127905e+01] [ 7.06694482e-01 7.07511452e-01 -3.23339028e-03 3.21161504e+01] [ 4.69096319e-03 -1.15507842e-04 9.99988991e-01 4.16258141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.63, Y:32.13, Z:0.42 [[ 7.06183400e-01 -7.08020887e-01 -3.38069279e-03 7.96326648e+01] [ 7.08013416e-01 7.06191486e-01 -3.25400906e-03 3.21348411e+01] [ 4.69132285e-03 -9.56486684e-05 9.99988991e-01 4.15520497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.65, Y:32.15, Z:0.42 [[ 7.03704486e-01 -7.10484745e-01 -3.37999822e-03 7.96537236e+01] [ 7.10477298e-01 7.03712594e-01 -3.25473036e-03 3.21534550e+01] [ 4.69098359e-03 -1.11043650e-04 9.99988991e-01 4.15299219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.67, Y:32.17, Z:0.41 [[ 7.02748040e-01 -7.11430794e-01 -3.37894455e-03 7.96732874e+01] [ 7.11423354e-01 7.02756154e-01 -3.25582388e-03 3.21716852e+01] [ 4.69086745e-03 -1.15836212e-04 9.99988991e-01 4.14830429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.69, Y:32.19, Z:0.41 [[ 7.01237586e-01 -7.12919655e-01 -3.37836864e-03 7.96936087e+01] [ 7.12912229e-01 7.01245713e-01 -3.25642136e-03 3.21898261e+01] [ 4.69063332e-03 -1.24955261e-04 9.99988991e-01 4.14226046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.71, Y:32.21, Z:0.41 [[ 7.00754035e-01 -7.13394962e-01 -3.37783285e-03 7.97146977e+01] [ 7.13387539e-01 7.00762165e-01 -3.25697703e-03 3.22088500e+01] [ 4.69056847e-03 -1.27364064e-04 9.99988991e-01 4.13915327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.74, Y:32.23, Z:0.41 [[ 7.00020653e-01 -7.14114614e-01 -3.37684934e-03 7.97350412e+01] [ 7.14107194e-01 7.00028786e-01 -3.25799642e-03 3.22276940e+01] [ 4.69047460e-03 -1.30767629e-04 9.99988991e-01 4.14195318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:79.76, Y:32.25, Z:0.41 [[ 6.98998158e-01 -7.15115501e-01 -3.37584081e-03 7.97567714e+01] [ 7.15108087e-01 6.99006296e-01 -3.25904109e-03 3.22462280e+01] [ 4.69032479e-03 -1.36027347e-04 9.99988991e-01 4.13936138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.78, Y:32.26, Z:0.41 [[ 6.98779397e-01 -7.15329270e-01 -3.37482924e-03 7.97764515e+01] [ 7.15321854e-01 6.98787534e-01 -3.26008827e-03 3.22644998e+01] [ 4.69032516e-03 -1.36006596e-04 9.99988991e-01 4.13832349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.80, Y:32.28, Z:0.41 [[ 6.98852290e-01 -7.15258059e-01 -3.37426865e-03 7.97968968e+01] [ 7.15250640e-01 6.98860423e-01 -3.26066839e-03 3.22835944e+01] [ 4.69036216e-03 -1.34722240e-04 9.99988991e-01 4.13919934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.662755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.82, Y:32.30, Z:0.42 [[ 6.99478659e-01 -7.14645525e-01 -3.37328339e-03 7.98174946e+01] [ 7.14638094e-01 6.99486781e-01 -3.26168736e-03 3.23026830e+01] [ 4.69051742e-03 -1.29196116e-04 9.99988991e-01 4.15161169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.84, Y:32.32, Z:0.42 [[ 7.00013614e-01 -7.14121535e-01 -3.37227872e-03 7.98372847e+01] [ 7.14114093e-01 7.00021726e-01 -3.26272576e-03 3.23213793e+01] [ 4.69065110e-03 -1.24239301e-04 9.99988991e-01 4.15469505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.722755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.86, Y:32.34, Z:0.42 [[ 7.00622206e-01 -7.13524462e-01 -3.37159609e-03 7.98578235e+01] [ 7.13517008e-01 7.00630308e-01 -3.26343102e-03 3.23405074e+01] [ 4.69078027e-03 -1.19258915e-04 9.99988991e-01 4.15863788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.88, Y:32.36, Z:0.42 [[ 7.01387876e-01 -7.12771833e-01 -3.37061026e-03 7.98773915e+01] [ 7.12764367e-01 7.01395966e-01 -3.26444891e-03 3.23586861e+01] [ 4.69093967e-03 -1.12805997e-04 9.99988991e-01 4.16146477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.782755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:79.90, Y:32.38, Z:0.42 [[ 7.02861371e-01 -7.11318872e-01 -3.36972684e-03 7.98977941e+01] [ 7.11311385e-01 7.02869441e-01 -3.26536056e-03 3.23766695e+01] [ 4.69119062e-03 -1.01829270e-04 9.99988991e-01 4.16811474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.812755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:79.92, Y:32.39, Z:0.42 [[ 7.04433308e-01 -7.09762190e-01 -3.36884053e-03 7.99180883e+01] [ 7.09754680e-01 7.04441357e-01 -3.26627470e-03 3.23948607e+01] [ 4.69142888e-03 -9.01776384e-05 9.99988991e-01 4.17435524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.842755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:79.94, Y:32.41, Z:0.42 [[ 7.06457814e-01 -7.07747196e-01 -3.35622429e-03 7.99386015e+01] [ 7.07739601e-01 7.06465783e-01 -3.27927881e-03 3.24139770e+01] [ 4.69195800e-03 -5.86607014e-05 9.99988991e-01 4.17942175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.96, Y:32.43, Z:0.42 [[ 7.06516648e-01 -7.07688465e-01 -3.35605562e-03 7.99590465e+01] [ 7.07680869e-01 7.06524616e-01 -3.27945261e-03 3.24344206e+01] [ 4.69196669e-03 -5.80284865e-05 9.99988991e-01 4.18646707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:79.98, Y:32.45, Z:0.42 [[ 7.07154619e-01 -7.07050925e-01 -3.36672192e-03 7.99796854e+01] [ 7.07043374e-01 7.07162630e-01 -3.26846566e-03 3.24538253e+01] [ 4.69179160e-03 -6.91078347e-05 9.99988991e-01 4.20315053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:80.00, Y:32.47, Z:0.42 [[ 7.08142763e-01 -7.06061258e-01 -3.36569610e-03 7.99996528e+01] [ 7.06053690e-01 7.08150759e-01 -3.26952166e-03 3.24719279e+01] [ 4.69190282e-03 -6.10740476e-05 9.99988991e-01 4.21719202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.02, Y:32.49, Z:0.42 [[ 7.08135058e-01 -7.06068988e-01 -3.36510237e-03 8.00204245e+01] [ 7.06061418e-01 7.08143051e-01 -3.27013262e-03 3.24911782e+01] [ 4.69191310e-03 -6.02733973e-05 9.99988991e-01 4.22813113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99275509600001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:80.04, Y:32.51, Z:0.42 [[ 7.08064280e-01 -7.06139970e-01 -3.36408764e-03 8.00406573e+01] [ 7.06132396e-01 7.08072269e-01 -3.27117618e-03 3.25100687e+01] [ 4.69192542e-03 -5.92882546e-05 9.99988991e-01 4.23354398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.06, Y:32.53, Z:0.42 [[ 7.08321637e-01 -7.05881824e-01 -3.36308031e-03 8.00607015e+01] [ 7.05874241e-01 7.08329618e-01 -3.27221148e-03 3.25286809e+01] [ 4.69196400e-03 -5.61335741e-05 9.99988991e-01 4.23726584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.08, Y:32.55, Z:0.42 [[ 7.07107188e-01 -7.07098443e-01 -3.34917296e-03 8.00815994e+01] [ 7.07090806e-01 7.07115118e-01 -3.28649262e-03 3.25488510e+01] [ 4.69212465e-03 -4.42668504e-05 9.99988991e-01 4.23545293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.10, Y:32.57, Z:0.42 [[ 7.06392884e-01 -7.07811975e-01 -3.36169392e-03 8.01018109e+01] [ 7.07804408e-01 7.06400880e-01 -3.27363485e-03 3.25680523e+01] [ 4.69182149e-03 -6.69494105e-05 9.99988991e-01 4.23211676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.12, Y:32.59, Z:0.42 [[ 7.04853833e-01 -7.09344613e-01 -3.36071464e-03 8.01215803e+01] [ 7.09337059e-01 7.04861840e-01 -3.27463988e-03 3.25860306e+01] [ 4.69168766e-03 -7.57369689e-05 9.99988991e-01 4.22768950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.14, Y:32.61, Z:0.42 [[ 7.04024879e-01 -7.10167361e-01 -3.35983454e-03 8.01419881e+01] [ 7.10159812e-01 7.04032892e-01 -3.27554262e-03 3.26051438e+01] [ 4.69161749e-03 -7.99559673e-05 9.99988991e-01 4.22793676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.172755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:80.16, Y:32.62, Z:0.42 [[ 7.03145534e-01 -7.11038027e-01 -3.35885277e-03 8.01625248e+01] [ 7.11030483e-01 7.03153552e-01 -3.27654905e-03 3.26247314e+01] [ 4.69154023e-03 -8.43558757e-05 9.99988991e-01 4.22469038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.18, Y:32.64, Z:0.42 [[ 7.01707207e-01 -7.12457522e-01 -3.35786193e-03 8.01823317e+01] [ 7.12449989e-01 7.01715235e-01 -3.27756416e-03 3.26433612e+01] [ 4.69138812e-03 -9.24183052e-05 9.99988991e-01 4.21470633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.20, Y:32.66, Z:0.42 [[ 7.01136133e-01 -7.13019533e-01 -3.35697445e-03 8.02024037e+01] [ 7.13012002e-01 7.01144163e-01 -3.27847289e-03 3.26625739e+01] [ 4.69133825e-03 -9.49072692e-05 9.99988991e-01 4.21664162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.22, Y:32.68, Z:0.42 [[ 7.00315475e-01 -7.13825590e-01 -3.35594155e-03 8.02220003e+01] [ 7.13818063e-01 7.00323509e-01 -3.27952987e-03 3.26807733e+01] [ 4.69125710e-03 -9.88261756e-05 9.99988991e-01 4.20112016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.24, Y:32.70, Z:0.42 [[ 6.99988635e-01 -7.14146101e-01 -3.35537246e-03 8.02428094e+01] [ 7.14138575e-01 6.99996669e-01 -3.28011201e-03 3.27000687e+01] [ 4.69122875e-03 -1.00159784e-04 9.99988991e-01 4.20513109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.26, Y:32.72, Z:0.42 [[ 6.99807148e-01 -7.14323949e-01 -3.35434271e-03 8.02627241e+01] [ 7.14316420e-01 6.99815179e-01 -3.28116473e-03 3.27183188e+01] [ 4.69123449e-03 -9.98795444e-05 9.99988991e-01 4.19779612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.28, Y:32.74, Z:0.42 [[ 6.99734133e-01 -7.14395476e-01 -3.35364423e-03 8.02833767e+01] [ 7.14387945e-01 6.99742162e-01 -3.28187849e-03 3.27373389e+01] [ 4.69124541e-03 -9.93606102e-05 9.99988991e-01 4.19845845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.30, Y:32.76, Z:0.42 [[ 6.99465132e-01 -7.14658861e-01 -3.35270153e-03 8.03039947e+01] [ 7.14651328e-01 6.99473160e-01 -3.28284124e-03 3.27560296e+01] [ 4.69123632e-03 -9.97796162e-05 9.99988991e-01 4.20719168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:80.32, Y:32.78, Z:0.42 [[ 6.99242960e-01 -7.14876247e-01 -3.35168106e-03 8.03242895e+01] [ 7.14868712e-01 6.99250986e-01 -3.28388278e-03 3.27761456e+01] [ 4.69123608e-03 -9.97800079e-05 9.99988991e-01 4.20852822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.35, Y:32.80, Z:0.42 [[ 7.00987953e-01 -7.13165243e-01 -3.35065999e-03 8.03489647e+01] [ 7.13157682e-01 7.00995955e-01 -3.28492428e-03 3.27957747e+01] [ 4.69149292e-03 -8.68565695e-05 9.99988991e-01 4.20667542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.37, Y:32.82, Z:0.42 [[ 6.99260960e-01 -7.14858546e-01 -3.37187253e-03 8.03651016e+01] [ 7.14851109e-01 6.99269078e-01 -3.26328860e-03 3.28151145e+01] [ 4.69063594e-03 -1.28496500e-04 9.99988991e-01 4.21197947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.39, Y:32.83, Z:0.42 [[ 6.99167763e-01 -7.14949804e-01 -3.34919906e-03 8.03852975e+01] [ 7.14942257e-01 6.99175778e-01 -3.28639538e-03 3.28333398e+01] [ 4.69128659e-03 -9.67422283e-05 9.99988991e-01 4.21174489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.41, Y:32.85, Z:0.42 [[ 6.99044478e-01 -7.15070351e-01 -3.34828987e-03 8.04058885e+01] [ 7.15062801e-01 6.99052490e-01 -3.28732143e-03 3.28524054e+01] [ 4.69129646e-03 -9.62536424e-05 9.99988991e-01 4.22055841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.43, Y:32.87, Z:0.42 [[ 6.98792603e-01 -7.15316499e-01 -3.34729486e-03 8.04255041e+01] [ 7.15308947e-01 6.98800613e-01 -3.28833427e-03 3.28705926e+01] [ 4.69129146e-03 -9.64863031e-05 9.99988991e-01 4.22791311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.45, Y:32.89, Z:0.42 [[ 6.98400877e-01 -7.15698971e-01 -3.34639841e-03 8.04467526e+01] [ 7.15691419e-01 6.98408887e-01 -3.28924631e-03 3.28884780e+01] [ 4.69126458e-03 -9.77761188e-05 9.99988991e-01 4.24364141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.47, Y:32.91, Z:0.43 [[ 6.98136003e-01 -7.15957352e-01 -3.34537443e-03 8.04671745e+01] [ 7.15949798e-01 6.98144011e-01 -3.29028743e-03 3.29075700e+01] [ 4.69125860e-03 -9.80520378e-05 9.99988991e-01 4.25062339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.49, Y:32.93, Z:0.43 [[ 6.97786429e-01 -7.16298063e-01 -3.34435591e-03 8.04879694e+01] [ 7.16290508e-01 6.97794436e-01 -3.29132236e-03 3.29273425e+01] [ 4.69124078e-03 -9.88903182e-05 9.99988991e-01 4.25890209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.51, Y:32.95, Z:0.43 [[ 6.98046745e-01 -7.16044364e-01 -3.34820590e-03 8.05086162e+01] [ 7.16036825e-01 6.98054767e-01 -3.28741124e-03 3.29460353e+01] [ 4.69116338e-03 -1.02672006e-04 9.99988991e-01 4.26084136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.54, Y:32.97, Z:0.43 [[ 7.00249465e-01 -7.13890404e-01 -3.34330057e-03 8.05364025e+01] [ 7.13882817e-01 7.00257442e-01 -3.29239241e-03 3.29657794e+01] [ 4.69157845e-03 -8.12288025e-05 9.99988991e-01 4.25533613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.55, Y:32.98, Z:0.43 [[ 6.98141826e-01 -7.15951414e-01 -3.40062371e-03 8.05490269e+01] [ 7.15944131e-01 6.98150085e-01 -3.23414408e-03 3.29840797e+01] [ 4.68963576e-03 -1.76765338e-04 9.99988988e-01 4.26816094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.58, Y:33.00, Z:0.43 [[ 7.00950102e-01 -7.13202488e-01 -3.34163483e-03 8.05800843e+01] [ 7.13194885e-01 7.00958063e-01 -3.29398628e-03 3.30043381e+01] [ 4.69162508e-03 -7.43168545e-05 9.99988992e-01 4.26442755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.60, Y:33.02, Z:0.43 [[ 7.00843154e-01 -7.13307244e-01 -3.41319991e-03 8.05999121e+01] [ 7.13299992e-01 7.00851443e-01 -3.22135817e-03 3.30234407e+01] [ 4.68996419e-03 -1.76968652e-04 9.99988986e-01 4.25060551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.62, Y:33.05, Z:0.43 [[ 6.99223311e-01 -7.14895279e-01 -3.39131749e-03 8.06219629e+01] [ 7.14887938e-01 6.99231518e-01 -3.24349835e-03 3.30458649e+01] [ 4.69007773e-03 -1.56482306e-04 9.99988989e-01 4.26300364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.64, Y:33.06, Z:0.43 [[ 6.99415445e-01 -7.14707199e-01 -3.41390327e-03 8.06384294e+01] [ 7.14699967e-01 6.99423752e-01 -3.22065051e-03 3.30643679e+01] [ 4.68958714e-03 -1.87343845e-04 9.99988986e-01 4.25773382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.65, Y:33.08, Z:0.43 [[ 6.97097003e-01 -7.16968821e-01 -3.38805647e-03 8.06512197e+01] [ 7.16961488e-01 6.97105216e-01 -3.24679211e-03 3.30834165e+01] [ 4.68968054e-03 -1.65776959e-04 9.99988990e-01 4.26487867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.67, Y:33.10, Z:0.43 [[ 6.96889225e-01 -7.17171107e-01 -3.31850347e-03 8.06699802e+01] [ 7.17163439e-01 6.96897122e-01 -3.31694405e-03 3.31049764e+01] [ 4.69147195e-03 -6.83667947e-05 9.99988993e-01 4.26707493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.69, Y:33.12, Z:0.43 [[ 6.97638085e-01 -7.16442631e-01 -3.32557342e-03 8.06903851e+01] [ 7.16434989e-01 6.97646007e-01 -3.30981425e-03 3.31231806e+01] [ 4.69136505e-03 -7.35046876e-05 9.99988993e-01 4.26053070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.71, Y:33.14, Z:0.43 [[ 6.97059867e-01 -7.17005238e-01 -3.32122398e-03 8.07115947e+01] [ 7.16997582e-01 6.97067776e-01 -3.31420300e-03 3.31449660e+01] [ 4.69141912e-03 -7.11116590e-05 9.99988993e-01 4.25849200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.73, Y:33.16, Z:0.43 [[ 6.97799114e-01 -7.16285763e-01 -3.33209020e-03 8.07291562e+01] [ 7.16278151e-01 6.97807065e-01 -3.30324188e-03 3.31645107e+01] [ 4.69122122e-03 -8.17041477e-05 9.99988993e-01 4.26284170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.75, Y:33.19, Z:0.43 [[ 6.96703218e-01 -7.17351829e-01 -3.31363171e-03 8.07497966e+01] [ 7.17344140e-01 6.96711095e-01 -3.32184768e-03 3.31863876e+01] [ 4.69157749e-03 -6.26723266e-05 9.99988993e-01 4.25252506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.77, Y:33.21, Z:0.43 [[ 6.96187332e-01 -7.17852427e-01 -3.33045076e-03 8.07691627e+01] [ 7.17844824e-01 6.96195293e-01 -3.30489860e-03 3.32065713e+01] [ 4.69107362e-03 -8.99183038e-05 9.99988993e-01 4.25618910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.79, Y:33.23, Z:0.43 [[ 6.96493151e-01 -7.17555716e-01 -3.32944115e-03 8.07878857e+01] [ 7.17548105e-01 6.96501104e-01 -3.30591539e-03 3.32256087e+01] [ 4.69113792e-03 -8.64867584e-05 9.99988993e-01 4.26038616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.81, Y:33.25, Z:0.43 [[ 6.95689180e-01 -7.18335283e-01 -3.31459554e-03 8.08107969e+01] [ 7.18327610e-01 6.95697072e-01 -3.32086155e-03 3.32480695e+01] [ 4.69144644e-03 -7.06780457e-05 9.99988993e-01 4.25915267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.83, Y:33.27, Z:0.43 [[ 6.94296234e-01 -7.19681509e-01 -3.35637787e-03 8.08268891e+01] [ 7.19674053e-01 6.94304333e-01 -3.27880037e-03 3.32676744e+01] [ 4.69003970e-03 -1.39039316e-04 9.99988992e-01 4.26718746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.85, Y:33.29, Z:0.43 [[ 6.93550506e-01 -7.20400325e-01 -3.32676191e-03 8.08451494e+01] [ 7.20392734e-01 6.93558478e-01 -3.30857910e-03 3.32873230e+01] [ 4.69080538e-03 -1.01908400e-04 9.99988993e-01 4.27284958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.86, Y:33.31, Z:0.43 [[ 6.93217482e-01 -7.20720792e-01 -3.32599693e-03 8.08641092e+01] [ 7.20713201e-01 6.93225454e-01 -3.30934793e-03 3.33081816e+01] [ 4.69078159e-03 -1.02992059e-04 9.99988993e-01 4.28458030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.88, Y:33.33, Z:0.43 [[ 6.92011101e-01 -7.21879232e-01 -3.31819591e-03 8.08833322e+01] [ 7.21871617e-01 6.92019050e-01 -3.31718454e-03 3.33297688e+01] [ 4.69086141e-03 -9.97829195e-05 9.99988993e-01 4.28400284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.91, Y:33.35, Z:0.43 [[ 6.93064594e-01 -7.20867822e-01 -3.32446260e-03 8.09067522e+01] [ 7.20860226e-01 6.93072560e-01 -3.31089098e-03 3.33512687e+01] [ 4.69080857e-03 -1.01811551e-04 9.99988993e-01 4.27909798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.92, Y:33.37, Z:0.43 [[ 6.90559893e-01 -7.23267420e-01 -3.35757336e-03 8.09213758e+01] [ 7.23260012e-01 6.90568035e-01 -3.27764991e-03 3.33710579e+01] [ 4.68925023e-03 -1.64984985e-04 9.99988992e-01 4.29319319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.94, Y:33.39, Z:0.43 [[ 6.91221201e-01 -7.22635578e-01 -3.32765084e-03 8.09398639e+01] [ 7.22628017e-01 6.91229201e-01 -3.30765895e-03 3.33892235e+01] [ 4.69040146e-03 -1.18329734e-04 9.99988993e-01 4.29788317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.96, Y:33.41, Z:0.43 [[ 6.90798424e-01 -7.23039836e-01 -3.30645883e-03 8.09589426e+01] [ 7.23032179e-01 6.90806331e-01 -3.32889752e-03 3.34091928e+01] [ 4.69104821e-03 -9.10789741e-05 9.99988993e-01 4.29911689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:80.98, Y:33.43, Z:0.43 [[ 6.89568586e-01 -7.24212843e-01 -3.30496471e-03 8.09781780e+01] [ 7.24205192e-01 6.89576499e-01 -3.33039396e-03 3.34304754e+01] [ 4.69094008e-03 -9.69375481e-05 9.99988993e-01 4.30823449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.00, Y:33.45, Z:0.43 [[ 6.87788943e-01 -7.25903169e-01 -3.31040643e-03 8.09979253e+01] [ 7.25895564e-01 6.87796900e-01 -3.32494641e-03 3.34527462e+01] [ 4.69047642e-03 -1.16147964e-04 9.99988993e-01 4.31360352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.02, Y:33.47, Z:0.43 [[ 6.89024654e-01 -7.24730223e-01 -3.33608920e-03 8.10201626e+01] [ 7.24722728e-01 6.89032715e-01 -3.29923996e-03 3.34727649e+01] [ 4.68973351e-03 -1.44481991e-04 9.99988993e-01 4.31099656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.03, Y:33.49, Z:0.43 [[ 6.87042891e-01 -7.26609155e-01 -3.34705610e-03 8.10339153e+01] [ 7.26601734e-01 6.87051022e-01 -3.28828818e-03 3.34926875e+01] [ 4.68889861e-03 -1.72781752e-04 9.99988992e-01 4.33747504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.05, Y:33.51, Z:0.43 [[ 6.86866302e-01 -7.26776240e-01 -3.31366596e-03 8.10533681e+01] [ 7.26768660e-01 6.86874284e-01 -3.32159859e-03 3.35127593e+01] [ 4.69013086e-03 -1.26774431e-04 9.99988993e-01 4.32873532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.08, Y:33.53, Z:0.43 [[ 6.88176575e-01 -7.25535699e-01 -3.30915925e-03 8.10764706e+01] [ 7.25528084e-01 6.88184522e-01 -3.32609344e-03 3.35349238e+01] [ 4.69051170e-03 -1.11948377e-04 9.99988993e-01 4.34502482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.09, Y:33.55, Z:0.43 [[ 6.86863599e-01 -7.26778633e-01 -3.34869955e-03 8.10906125e+01] [ 7.26771223e-01 6.86871740e-01 -3.28674615e-03 3.35549061e+01] [ 4.68886396e-03 -1.76192172e-04 9.99988992e-01 4.32662983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.11, Y:33.57, Z:0.43 [[ 6.87269351e-01 -7.26395140e-01 -3.30754590e-03 8.11086800e+01] [ 7.26387527e-01 6.87277300e-01 -3.32765116e-03 3.35748003e+01] [ 4.69039085e-03 -1.15567437e-04 9.99988993e-01 4.32448464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.13, Y:33.60, Z:0.43 [[ 6.88698800e-01 -7.25040018e-01 -3.30682395e-03 8.11270793e+01] [ 7.25032386e-01 6.88706731e-01 -3.32836845e-03 3.35960316e+01] [ 4.69063223e-03 -1.05311099e-04 9.99988993e-01 4.31343705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.15, Y:33.62, Z:0.43 [[ 6.90550763e-01 -7.23276375e-01 -3.30588315e-03 8.11535574e+01] [ 7.23268719e-01 6.90558670e-01 -3.32930263e-03 3.36185752e+01] [ 4.69091221e-03 -9.19894039e-05 9.99988993e-01 4.30637248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.17, Y:33.64, Z:0.43 [[ 6.90564282e-01 -7.23263193e-01 -3.36543726e-03 8.11669639e+01] [ 7.23255822e-01 6.90572460e-01 -3.26997590e-03 3.36354923e+01] [ 4.68913150e-03 -1.75943540e-04 9.99988990e-01 4.30715613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.19, Y:33.66, Z:0.43 [[ 6.90704386e-01 -7.23129646e-01 -3.31142346e-03 8.11879358e+01] [ 7.23122015e-01 6.90712317e-01 -3.32368650e-03 3.36582041e+01] [ 4.69069722e-03 -9.88783606e-05 9.99988994e-01 4.31669342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.21, Y:33.68, Z:0.43 [[ 6.93013074e-01 -7.20917306e-01 -3.33418957e-03 8.12068142e+01] [ 7.20909758e-01 6.93021085e-01 -3.30105315e-03 3.36759688e+01] [ 4.69045002e-03 -1.15976800e-04 9.99988993e-01 4.32275351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.23, Y:33.70, Z:0.43 [[ 6.93461692e-01 -7.20485914e-01 -3.30594589e-03 8.12258028e+01] [ 7.20478227e-01 6.93469568e-01 -3.32910039e-03 3.36960125e+01] [ 4.69114281e-03 -7.32584451e-05 9.99988994e-01 4.32425551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.25, Y:33.72, Z:0.43 [[ 6.96506744e-01 -7.17542635e-01 -3.30490544e-03 8.12534286e+01] [ 7.17534909e-01 6.96514583e-01 -3.33013296e-03 3.37172699e+01] [ 4.69142721e-03 -5.19249668e-05 9.99988994e-01 4.32517772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.27, Y:33.74, Z:0.43 [[ 6.97156067e-01 -7.16911550e-01 -3.35383868e-03 8.12739665e+01] [ 7.16904048e-01 6.97164124e-01 -3.28166656e-03 3.37397838e+01] [ 4.69084066e-03 -1.16546775e-04 9.99988991e-01 4.33814475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.29, Y:33.76, Z:0.43 [[ 6.94944504e-01 -7.19055512e-01 -3.36261627e-03 8.12851075e+01] [ 7.19048077e-01 6.94952625e-01 -3.27297820e-03 3.37586727e+01] [ 4.69031201e-03 -1.43344550e-04 9.99988990e-01 4.33182645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.30, Y:33.78, Z:0.43 [[ 6.95202750e-01 -7.18806137e-01 -3.29751898e-03 8.13039693e+01] [ 7.18798392e-01 6.95210569e-01 -3.33729955e-03 3.37776699e+01] [ 4.69134144e-03 -5.01515111e-05 9.99988994e-01 4.32866284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.33, Y:33.80, Z:0.43 [[ 6.96818554e-01 -7.17239873e-01 -3.29660051e-03 8.13299634e+01] [ 7.17232106e-01 6.96826351e-01 -3.33820657e-03 3.37988398e+01] [ 4.69145296e-03 -3.83034505e-05 9.99988994e-01 4.31706667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.34, Y:33.82, Z:0.43 [[ 6.95132638e-01 -7.18873742e-01 -3.34028060e-03 8.13438320e+01] [ 7.18866199e-01 6.95140655e-01 -3.29506230e-03 3.38171802e+01] [ 4.69069862e-03 -1.10709468e-04 9.99988992e-01 4.33236562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.36, Y:33.84, Z:0.43 [[ 6.94854917e-01 -7.19142400e-01 -3.29432528e-03 8.13634698e+01] [ 7.19134644e-01 6.94862725e-01 -3.34038399e-03 3.38363326e+01] [ 4.69131560e-03 -4.79811943e-05 9.99988995e-01 4.34568281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.39, Y:33.86, Z:0.43 [[ 6.96002178e-01 -7.18032117e-01 -3.29343671e-03 8.13886932e+01] [ 7.18024344e-01 6.96009969e-01 -3.34125984e-03 3.38571479e+01] [ 4.69139666e-03 -3.92436030e-05 9.99988995e-01 4.34599418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.41, Y:33.88, Z:0.43 [[ 6.94951608e-01 -7.19048773e-01 -3.33556153e-03 8.14069998e+01] [ 7.19041209e-01 6.94959604e-01 -3.29972920e-03 3.38776663e+01] [ 4.69074675e-03 -1.05254083e-04 9.99988993e-01 4.34790248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.43, Y:33.90, Z:0.44 [[ 6.95981528e-01 -7.18051991e-01 -3.32431470e-03 8.14319439e+01] [ 7.18044363e-01 6.95989463e-01 -3.31081046e-03 3.38971737e+01] [ 4.69102204e-03 -8.27425038e-05 9.99988994e-01 4.36418806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.44, Y:33.92, Z:0.43 [[ 6.92213380e-01 -7.21685067e-01 -3.36157138e-03 8.14418737e+01] [ 7.21677658e-01 6.92221524e-01 -3.27409198e-03 3.39160180e+01] [ 4.68981535e-03 -1.59600691e-04 9.99988990e-01 4.34814631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.47, Y:33.94, Z:0.43 [[ 6.92862838e-01 -7.21061899e-01 -3.29009486e-03 8.14676989e+01] [ 7.21054145e-01 6.92870648e-01 -3.34440776e-03 3.39370901e+01] [ 4.69113517e-03 -5.51206887e-05 9.99988995e-01 4.34296458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.48, Y:33.96, Z:0.43 [[ 6.90655906e-01 -7.23175850e-01 -3.33297886e-03 8.14822084e+01] [ 7.23168322e-01 6.90663936e-01 -3.30220466e-03 3.39560846e+01] [ 4.69004297e-03 -1.29617576e-04 9.99988993e-01 4.34919884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.50, Y:33.98, Z:0.43 [[ 6.88821540e-01 -7.24923494e-01 -3.28844534e-03 8.15015240e+01] [ 7.24915776e-01 6.88829385e-01 -3.34597254e-03 3.39750600e+01] [ 4.69075188e-03 -7.90679494e-05 9.99988995e-01 4.34902788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.52, Y:34.00, Z:0.43 [[ 6.87278269e-01 -7.26386793e-01 -3.28753720e-03 8.15207327e+01] [ 7.26379088e-01 6.87286126e-01 -3.34686458e-03 3.39955982e+01] [ 4.69059693e-03 -8.77709823e-05 9.99988995e-01 4.34833648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.54, Y:34.02, Z:0.44 [[ 6.86724638e-01 -7.26910221e-01 -3.28654873e-03 8.15429035e+01] [ 7.26902518e-01 6.86732497e-01 -3.34783495e-03 3.40165723e+01] [ 4.69055526e-03 -8.99598062e-05 9.99988995e-01 4.35956686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.56, Y:34.04, Z:0.44 [[ 6.86470597e-01 -7.27150061e-01 -3.30280713e-03 8.15620572e+01] [ 7.27142436e-01 6.86478533e-01 -3.33187600e-03 3.40364267e+01] [ 4.69008003e-03 -1.14376318e-04 9.99988995e-01 4.36092724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.58, Y:34.06, Z:0.44 [[ 6.83090760e-01 -7.30326031e-01 -3.30183552e-03 8.15787634e+01] [ 7.30318438e-01 6.83098727e-01 -3.33282913e-03 3.40560878e+01] [ 4.68953151e-03 -1.34766572e-04 9.99988995e-01 4.35368030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.60, Y:34.08, Z:0.44 [[ 6.81386581e-01 -7.31916349e-01 -3.28406747e-03 8.15984903e+01] [ 7.31908691e-01 6.81394485e-01 -3.35024620e-03 3.40765992e+01] [ 4.68984543e-03 -1.20824724e-04 9.99988995e-01 4.35729847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.62, Y:34.10, Z:0.44 [[ 6.78638093e-01 -7.34465492e-01 -3.28310142e-03 8.16179924e+01] [ 7.34457860e-01 6.78646021e-01 -3.35119262e-03 3.40955456e+01] [ 4.68939905e-03 -1.37052668e-04 9.99988995e-01 4.36411199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.64, Y:34.12, Z:0.44 [[ 6.77372468e-01 -7.35632902e-01 -3.28223607e-03 8.16376616e+01] [ 7.35625279e-01 6.77380405e-01 -3.35203995e-03 3.41155215e+01] [ 4.68919328e-03 -1.43916246e-04 9.99988995e-01 4.36535224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.66, Y:34.14, Z:0.44 [[ 6.76341634e-01 -7.36580767e-01 -3.28128731e-03 8.16570833e+01] [ 7.36573151e-01 6.76349577e-01 -3.35296843e-03 3.41354990e+01] [ 4.68902934e-03 -1.49155979e-04 9.99988995e-01 4.36600824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.68, Y:34.16, Z:0.44 [[ 6.74785557e-01 -7.38006566e-01 -3.28034511e-03 8.16753042e+01] [ 7.37998962e-01 6.74793512e-01 -3.35388997e-03 3.41569284e+01] [ 4.68874842e-03 -1.57734777e-04 9.99988995e-01 4.35256862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.70, Y:34.18, Z:0.44 [[ 6.75196070e-01 -7.37631050e-01 -3.27122975e-03 8.16954380e+01] [ 7.37623398e-01 6.75203980e-01 -3.36280029e-03 3.41768971e+01] [ 4.68925325e-03 -1.42386059e-04 9.99988995e-01 4.35641614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.71, Y:34.20, Z:0.43 [[ 6.75520270e-01 -7.37334126e-01 -3.27898202e-03 8.17144366e+01] [ 7.37326507e-01 6.75528211e-01 -3.35522417e-03 3.41969878e+01] [ 4.68896614e-03 -1.51158424e-04 9.99988995e-01 4.34794316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.74, Y:34.22, Z:0.43 [[ 6.76785422e-01 -7.36173042e-01 -3.27791502e-03 8.17351073e+01] [ 7.36165405e-01 6.76793345e-01 -3.35626626e-03 3.42176367e+01] [ 4.68926382e-03 -1.41615564e-04 9.99988995e-01 4.34170152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.75, Y:34.24, Z:0.43 [[ 6.78306378e-01 -7.34771838e-01 -3.28705167e-03 8.17532516e+01] [ 7.34764227e-01 6.78314327e-01 -3.34734463e-03 3.42380075e+01] [ 4.68918881e-03 -1.44682773e-04 9.99988995e-01 4.33931717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.77, Y:34.26, Z:0.43 [[ 6.79370663e-01 -7.33787958e-01 -3.27648020e-03 8.17724254e+01] [ 7.33780286e-01 6.79378553e-01 -3.35766051e-03 3.42576901e+01] [ 4.68978122e-03 -1.23120531e-04 9.99988995e-01 4.33575158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.79, Y:34.28, Z:0.43 [[ 6.80658350e-01 -7.32593667e-01 -3.27553862e-03 8.17914782e+01] [ 7.32585977e-01 6.80666222e-01 -3.35857881e-03 3.42769304e+01] [ 4.69002206e-03 -1.13568943e-04 9.99988995e-01 4.33637316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.81, Y:34.30, Z:0.43 [[ 6.82783197e-01 -7.30613702e-01 -3.27483315e-03 8.18108903e+01] [ 7.30605986e-01 6.82791043e-01 -3.35926655e-03 3.42961640e+01] [ 4.69035291e-03 -9.89619423e-05 9.99988995e-01 4.33186573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.83, Y:34.32, Z:0.43 [[ 6.83487903e-01 -7.29954497e-01 -3.27398224e-03 8.18305031e+01] [ 7.29946770e-01 6.83495737e-01 -3.36009565e-03 3.43158850e+01] [ 4.69046984e-03 -9.32480341e-05 9.99988995e-01 4.32709277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.85, Y:34.34, Z:0.43 [[ 6.84184483e-01 -7.29301640e-01 -3.27292968e-03 8.18500317e+01] [ 7.29293900e-01 6.84192305e-01 -3.36112059e-03 3.43357103e+01] [ 4.69058406e-03 -8.73010930e-05 9.99988995e-01 4.32811077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.782755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:81.87, Y:34.36, Z:0.43 [[ 6.84588881e-01 -7.28922070e-01 -3.26812981e-03 8.18701598e+01] [ 7.28914303e-01 6.84596677e-01 -3.36579245e-03 3.43557479e+01] [ 4.69075120e-03 -7.80024780e-05 9.99988995e-01 4.32469095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.812755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:81.89, Y:34.38, Z:0.43 [[ 6.84563347e-01 -7.28946035e-01 -3.27145506e-03 8.18907598e+01] [ 7.28938284e-01 6.84571159e-01 -3.36255728e-03 3.43763625e+01] [ 4.69066658e-03 -8.28053721e-05 9.99988995e-01 4.32570696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.91, Y:34.40, Z:0.43 [[ 6.83848285e-01 -7.29616894e-01 -3.27290627e-03 8.19114180e+01] [ 7.29609157e-01 6.83856111e-01 -3.36114578e-03 3.43974788e+01] [ 4.69054569e-03 -8.94286091e-05 9.99988995e-01 4.32592010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.93, Y:34.42, Z:0.43 [[ 6.84593948e-01 -7.28917268e-01 -3.27762244e-03 8.19335063e+01] [ 7.28909546e-01 6.84601788e-01 -3.35656482e-03 3.44171684e+01] [ 4.69052424e-03 -9.12063288e-05 9.99988995e-01 4.32809114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.96, Y:34.44, Z:0.43 [[ 6.84789674e-01 -7.28733377e-01 -3.28131342e-03 8.19553062e+01] [ 7.28725670e-01 6.84797529e-01 -3.35298149e-03 3.44376422e+01] [ 4.69046484e-03 -9.50902179e-05 9.99988995e-01 4.32447896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.97, Y:34.46, Z:0.43 [[ 6.83120049e-01 -7.30298600e-01 -3.30976888e-03 8.19706129e+01] [ 7.30291043e-01 6.83128051e-01 -3.32530699e-03 3.44574727e+01] [ 4.68946301e-03 -1.45510697e-04 9.99988994e-01 4.31942379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:81.99, Y:34.48, Z:0.43 [[ 6.84200685e-01 -7.29286389e-01 -3.28424131e-03 8.19906486e+01] [ 7.29278701e-01 6.84208559e-01 -3.35007953e-03 3.44771425e+01] [ 4.69027342e-03 -1.03000530e-04 9.99988995e-01 4.33357991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.01, Y:34.50, Z:0.43 [[ 6.83543104e-01 -7.29902780e-01 -3.27978765e-03 8.20076777e+01] [ 7.29895079e-01 6.83550965e-01 -3.35439784e-03 3.44969955e+01] [ 4.69028632e-03 -1.01025351e-04 9.99988995e-01 4.32485471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.03, Y:34.52, Z:0.43 [[ 6.83229672e-01 -7.30196246e-01 -3.26452874e-03 8.20267775e+01] [ 7.30188478e-01 6.83237466e-01 -3.36918278e-03 3.45175531e+01] [ 4.69061296e-03 -8.17956276e-05 9.99988996e-01 4.32310261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.05, Y:34.54, Z:0.43 [[ 6.82683525e-01 -7.30706887e-01 -3.26349458e-03 8.20456095e+01] [ 7.30699120e-01 6.82691320e-01 -3.37018420e-03 3.45380049e+01] [ 4.69057623e-03 -8.38633818e-05 9.99988996e-01 4.31906799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.06, Y:34.56, Z:0.43 [[ 6.81547565e-01 -7.31766543e-01 -3.26246463e-03 8.20640439e+01] [ 7.31758783e-01 6.81555367e-01 -3.37118093e-03 3.45592037e+01] [ 4.69046770e-03 -8.97169916e-05 9.99988996e-01 4.30434900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.08, Y:34.58, Z:0.43 [[ 6.80734550e-01 -7.32522925e-01 -3.26138331e-03 8.20825231e+01] [ 7.32515169e-01 6.80742356e-01 -3.37222671e-03 3.45794083e+01] [ 4.69039514e-03 -9.34215149e-05 9.99988996e-01 4.29721396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.10, Y:34.60, Z:0.43 [[ 6.79070140e-01 -7.34066150e-01 -3.26078847e-03 8.21011053e+01] [ 7.34058409e-01 6.79077961e-01 -3.37280180e-03 3.46006989e+01] [ 4.69018922e-03 -1.03240204e-04 9.99988996e-01 4.28999150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.12, Y:34.62, Z:0.43 [[ 6.77949984e-01 -7.35100805e-01 -3.25970467e-03 8.21204369e+01] [ 7.35093071e-01 6.77957811e-01 -3.37384894e-03 3.46214108e+01] [ 4.69006131e-03 -1.08885483e-04 9.99988996e-01 4.28994966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.14, Y:34.64, Z:0.43 [[ 6.76907844e-01 -7.36060563e-01 -3.25862519e-03 8.21395641e+01] [ 7.36052835e-01 6.76915678e-01 -3.37489122e-03 3.46420577e+01] [ 4.68993881e-03 -1.14029971e-04 9.99988996e-01 4.28793121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.16, Y:34.66, Z:0.43 [[ 6.74995064e-01 -7.37815053e-01 -3.25754494e-03 8.21572713e+01] [ 7.37807340e-01 6.75002913e-01 -3.37593359e-03 3.46630274e+01] [ 4.68966694e-03 -1.24702065e-04 9.99988996e-01 4.28108617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.18, Y:34.68, Z:0.43 [[ 6.74083200e-01 -7.38648246e-01 -3.25694210e-03 8.21763257e+01] [ 7.38640540e-01 6.74091056e-01 -3.37651508e-03 3.46840852e+01] [ 4.68953248e-03 -1.29657376e-04 9.99988996e-01 4.28935626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.20, Y:34.71, Z:0.43 [[ 6.73380769e-01 -7.39288671e-01 -3.25589068e-03 8.21950205e+01] [ 7.39280967e-01 6.73388628e-01 -3.37752863e-03 3.47054009e+01] [ 4.68944841e-03 -1.32655185e-04 9.99988996e-01 4.29162765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.21, Y:34.73, Z:0.43 [[ 6.72875813e-01 -7.39748299e-01 -3.25484672e-03 8.22122150e+01] [ 7.39740596e-01 6.72883672e-01 -3.37853438e-03 3.47265434e+01] [ 4.68939827e-03 -1.34408183e-04 9.99988996e-01 4.29934158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.23, Y:34.75, Z:0.43 [[ 6.73001264e-01 -7.39634174e-01 -3.25390293e-03 8.22310293e+01] [ 7.39626465e-01 6.73009117e-01 -3.37944311e-03 3.47472591e+01] [ 4.68945795e-03 -1.32303237e-04 9.99988996e-01 4.30977786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.25, Y:34.77, Z:0.43 [[ 6.73062667e-01 -7.39578302e-01 -3.25286297e-03 8.22494927e+01] [ 7.39570588e-01 6.73070515e-01 -3.38044382e-03 3.47681289e+01] [ 4.68950905e-03 -1.30471249e-04 9.99988996e-01 4.31907466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.27, Y:34.79, Z:0.43 [[ 6.74417043e-01 -7.38343468e-01 -3.25182728e-03 8.22665846e+01] [ 7.38335735e-01 6.74424872e-01 -3.38143981e-03 3.47889982e+01] [ 4.68977719e-03 -1.20439640e-04 9.99988996e-01 4.33382153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.28, Y:34.81, Z:0.43 [[ 6.74896277e-01 -7.37905445e-01 -3.25089667e-03 8.22849754e+01] [ 7.37897703e-01 6.74904097e-01 -3.38233426e-03 3.48100655e+01] [ 4.68988635e-03 -1.16104383e-04 9.99988996e-01 4.33773621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.30, Y:34.83, Z:0.43 [[ 6.75795780e-01 -7.37081747e-01 -3.24982165e-03 8.23028753e+01] [ 7.37073990e-01 6.75803586e-01 -3.38336684e-03 3.48308091e+01] [ 4.69005907e-03 -1.08893977e-04 9.99988996e-01 4.34011497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.32, Y:34.85, Z:0.43 [[ 6.76800224e-01 -7.36159561e-01 -3.24922278e-03 8.23205895e+01] [ 7.36151790e-01 6.76808016e-01 -3.38394187e-03 3.48513739e+01] [ 4.69022119e-03 -1.01668548e-04 9.99988996e-01 4.34567620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.34, Y:34.87, Z:0.43 [[ 6.78726809e-01 -7.34383665e-01 -3.24830796e-03 8.23375526e+01] [ 7.34375869e-01 6.78734577e-01 -3.38481980e-03 3.48737747e+01] [ 4.69049529e-03 -8.81110357e-05 9.99988996e-01 4.34777156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.36, Y:34.90, Z:0.44 [[ 6.79418899e-01 -7.33743426e-01 -3.24722783e-03 8.23558685e+01] [ 7.33735618e-01 6.79426654e-01 -3.38585570e-03 3.48951646e+01] [ 4.69060250e-03 -8.21923707e-05 9.99988996e-01 4.35313934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.38, Y:34.92, Z:0.44 [[ 6.82367340e-01 -7.31002241e-01 -3.24615525e-03 8.23817117e+01] [ 7.30994397e-01 6.82375058e-01 -3.38688371e-03 3.49181468e+01] [ 4.69091496e-03 -6.18224719e-05 9.99988996e-01 4.37374750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.39, Y:34.94, Z:0.44 [[ 6.80094236e-01 -7.33117256e-01 -3.30436099e-03 8.23912085e+01] [ 7.33109705e-01 6.80102246e-01 -3.33106269e-03 3.49383395e+01] [ 4.68936287e-03 -1.57022575e-04 9.99988993e-01 4.36306082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.41, Y:34.96, Z:0.44 [[ 6.79638875e-01 -7.33539688e-01 -3.24421163e-03 8.24098716e+01] [ 7.33531865e-01 6.79646614e-01 -3.38864828e-03 3.49595314e+01] [ 4.69062546e-03 -7.66754996e-05 9.99988996e-01 4.36673016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.44, Y:34.98, Z:0.44 [[ 6.82197220e-01 -7.31161019e-01 -3.24314971e-03 8.24408141e+01] [ 7.31153164e-01 6.82204926e-01 -3.38966431e-03 3.49834882e+01] [ 4.69088311e-03 -5.88195995e-05 9.99988996e-01 4.38382002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.45, Y:35.00, Z:0.44 [[ 6.76655991e-01 -7.36291691e-01 -3.34894525e-03 8.24476301e+01] [ 7.36284388e-01 6.76664236e-01 -3.28829369e-03 3.50012370e+01] [ 4.68725480e-03 -2.40732478e-04 9.99988986e-01 4.37204925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.47, Y:35.02, Z:0.44 [[ 6.75177456e-01 -7.37648222e-01 -3.24083959e-03 8.24664644e+01] [ 7.37640432e-01 6.75185226e-01 -3.39159419e-03 3.50217359e+01] [ 4.68997044e-03 -1.00646375e-04 9.99988997e-01 4.36677130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.48, Y:35.04, Z:0.44 [[ 6.72479498e-01 -7.40108660e-01 -3.23976945e-03 8.24849683e+01] [ 7.40100894e-01 6.72487291e-01 -3.39261611e-03 3.50418276e+01] [ 4.68960835e-03 -1.16291488e-04 9.99988997e-01 4.36207398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.50, Y:35.06, Z:0.44 [[ 6.71103014e-01 -7.41357034e-01 -3.23916828e-03 8.25041069e+01] [ 7.41349280e-01 6.71110819e-01 -3.39319000e-03 3.50622174e+01] [ 4.68940615e-03 -1.24175038e-04 9.99988997e-01 4.35995654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.52, Y:35.08, Z:0.44 [[ 6.69614968e-01 -7.42701359e-01 -3.23811126e-03 8.25233900e+01] [ 7.42693615e-01 6.69622785e-01 -3.39419841e-03 3.50831539e+01] [ 4.68918885e-03 -1.32118497e-04 9.99988997e-01 4.35776920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.54, Y:35.10, Z:0.44 [[ 6.68150318e-01 -7.44019270e-01 -3.23705748e-03 8.25427250e+01] [ 7.44011537e-01 6.68158145e-01 -3.39520311e-03 3.51040323e+01] [ 4.68896286e-03 -1.39902072e-04 9.99988997e-01 4.35634296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.56, Y:35.12, Z:0.43 [[ 6.66096361e-01 -7.45858657e-01 -3.24061746e-03 8.25614294e+01] [ 7.45850961e-01 6.66104225e-01 -3.39181047e-03 3.51245596e+01] [ 4.68840018e-03 -1.57745035e-04 9.99988997e-01 4.34873666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.58, Y:35.15, Z:0.43 [[ 6.65191084e-01 -7.46666159e-01 -3.23550702e-03 8.25806914e+01] [ 7.46658449e-01 6.65198935e-01 -3.39667842e-03 3.51450913e+01] [ 4.68844065e-03 -1.56378448e-04 9.99988997e-01 4.34791512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.61, Y:35.17, Z:0.44 [[ 6.68529321e-01 -7.43678752e-01 -3.23444358e-03 8.26114704e+01] [ 7.43671002e-01 6.68537132e-01 -3.39769076e-03 3.51678174e+01] [ 4.68913606e-03 -1.33906003e-04 9.99988997e-01 4.36270044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.63, Y:35.19, Z:0.44 [[ 6.66725152e-01 -7.45296288e-01 -3.31888264e-03 8.26321348e+01] [ 7.45288950e-01 6.66733361e-01 -3.31741033e-03 3.51902794e+01] [ 4.68526338e-03 -2.61725654e-04 9.99988990e-01 4.35608917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.65, Y:35.21, Z:0.44 [[ 6.65286354e-01 -7.46580878e-01 -3.32560649e-03 8.26496875e+01] [ 7.46573589e-01 6.65294607e-01 -3.31103056e-03 3.52109079e+01] [ 4.68446016e-03 -2.80026522e-04 9.99988989e-01 4.35815474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.67, Y:35.23, Z:0.44 [[ 6.64659283e-01 -7.47139265e-01 -3.30990615e-03 8.26671758e+01] [ 7.47131909e-01 6.64667473e-01 -3.32590276e-03 3.52310144e+01] [ 4.68489950e-03 -2.62344356e-04 9.99988991e-01 4.35566717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.68, Y:35.25, Z:0.43 [[ 6.60743524e-01 -7.50604488e-01 -3.30118821e-03 8.26759386e+01] [ 7.50597133e-01 6.60751713e-01 -3.33415696e-03 3.52501165e+01] [ 4.68389894e-03 -2.74839789e-04 9.99988993e-01 4.33416887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.70, Y:35.27, Z:0.43 [[ 6.64013992e-01 -7.47713208e-01 -3.22124287e-03 8.27047859e+01] [ 7.47705448e-01 6.64021790e-01 -3.40968404e-03 3.52723844e+01] [ 4.68844125e-03 -1.44462930e-04 9.99988999e-01 4.34923642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.72, Y:35.29, Z:0.43 [[ 6.62100917e-01 -7.49407453e-01 -3.29322574e-03 8.27206143e+01] [ 7.49400046e-01 6.62109058e-01 -3.34169482e-03 3.52928106e+01] [ 4.68476560e-03 -2.55404317e-04 9.99988994e-01 4.34546820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.74, Y:35.31, Z:0.44 [[ 6.61436253e-01 -7.49994292e-01 -3.26268758e-03 8.27382582e+01] [ 7.49986750e-01 6.61444264e-01 -3.37049418e-03 3.53130187e+01] [ 4.68593738e-03 -2.17605417e-04 9.99988997e-01 4.35300413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.76, Y:35.33, Z:0.44 [[ 6.61124523e-01 -7.50269144e-01 -3.25204064e-03 8.27569788e+01] [ 7.50261556e-01 6.61132490e-01 -3.38052753e-03 3.53332989e+01] [ 4.68633522e-03 -2.04931419e-04 9.99988998e-01 4.35426002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.222755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:82.77, Y:35.35, Z:0.44 [[ 6.60632980e-01 -7.50702001e-01 -3.25142549e-03 8.27713701e+01] [ 7.50694415e-01 6.60640948e-01 -3.38110848e-03 3.53509408e+01] [ 4.68622972e-03 -2.07155184e-04 9.99988998e-01 4.35474796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.79, Y:35.38, Z:0.43 [[ 6.59397384e-01 -7.51787773e-01 -3.19928515e-03 8.27926656e+01] [ 7.51779961e-01 6.59405129e-01 -3.43021829e-03 3.53754536e+01] [ 4.68842120e-03 -1.43281500e-04 9.99988999e-01 4.34984901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.81, Y:35.40, Z:0.44 [[ 6.59745588e-01 -7.51482053e-01 -3.23792803e-03 8.28106491e+01] [ 7.51474414e-01 6.59753505e-01 -3.39395286e-03 3.53964320e+01] [ 4.68672903e-03 -1.94074648e-04 9.99988998e-01 4.36333822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.83, Y:35.42, Z:0.44 [[ 6.59302276e-01 -7.51871060e-01 -3.22784363e-03 8.28262085e+01] [ 7.51863379e-01 6.59310152e-01 -3.40341185e-03 3.54163354e+01] [ 4.68707695e-03 -1.83020239e-04 9.99988999e-01 4.36586448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.85, Y:35.44, Z:0.44 [[ 6.60412560e-01 -7.50896108e-01 -3.20719323e-03 8.28468016e+01] [ 7.50888321e-01 6.60420331e-01 -3.42276167e-03 3.54378520e+01] [ 4.68823404e-03 -1.47809143e-04 9.99988999e-01 4.36379547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.86, Y:35.46, Z:0.44 [[ 6.61578922e-01 -7.49868632e-01 -3.21941645e-03 8.28632940e+01] [ 7.49860889e-01 6.61586737e-01 -3.41130399e-03 3.54576943e+01] [ 4.68795308e-03 -1.57267661e-04 9.99988999e-01 4.36302300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.88, Y:35.48, Z:0.44 [[ 6.62072969e-01 -7.49432527e-01 -3.20495606e-03 8.28826419e+01] [ 7.49424713e-01 6.62080713e-01 -3.42484570e-03 3.54798124e+01] [ 4.68863036e-03 -1.34375518e-04 9.99988999e-01 4.35013935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.90, Y:35.50, Z:0.44 [[ 6.63192858e-01 -7.48441678e-01 -3.20747908e-03 8.29030326e+01] [ 7.48433864e-01 6.63200602e-01 -3.42248409e-03 3.55011006e+01] [ 4.68873179e-03 -1.30818957e-04 9.99988999e-01 4.36007328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.92, Y:35.52, Z:0.44 [[ 6.65815761e-01 -7.46109260e-01 -3.21617190e-03 8.29236359e+01] [ 7.46101458e-01 6.65823517e-01 -3.41434990e-03 3.55222927e+01] [ 4.68888096e-03 -1.26262570e-04 9.99988999e-01 4.35767882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.94, Y:35.54, Z:0.44 [[ 6.64671175e-01 -7.47129063e-01 -3.22374909e-03 8.29400644e+01] [ 7.47121307e-01 6.64678977e-01 -3.40726497e-03 3.55441444e+01] [ 4.68842493e-03 -1.43820823e-04 9.99988999e-01 4.36487021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.96, Y:35.57, Z:0.44 [[ 6.65580210e-01 -7.46319421e-01 -3.21043931e-03 8.29574551e+01] [ 7.46311596e-01 6.65587942e-01 -3.41970054e-03 3.55652241e+01] [ 4.68901862e-03 -1.19903079e-04 9.99988999e-01 4.35689035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:82.98, Y:35.59, Z:0.43 [[ 6.65631940e-01 -7.46273307e-01 -3.20480602e-03 8.29753127e+01] [ 7.46265457e-01 6.65639646e-01 -3.42496103e-03 3.55853130e+01] [ 4.68920294e-03 -1.11872575e-04 9.99988999e-01 4.34817484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.00, Y:35.61, Z:0.44 [[ 6.68189463e-01 -7.43984257e-01 -3.20415155e-03 8.30015867e+01] [ 7.43976377e-01 6.68197138e-01 -3.42557169e-03 3.56072346e+01] [ 4.68957631e-03 -9.48821497e-05 9.99988999e-01 4.37515054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.01, Y:35.63, Z:0.44 [[ 6.65332595e-01 -7.46539963e-01 -3.25917228e-03 8.30129129e+01] [ 7.46532361e-01 6.65340551e-01 -3.37420475e-03 3.56261056e+01] [ 4.68743816e-03 -1.88109174e-04 9.99988996e-01 4.37390058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.03, Y:35.65, Z:0.44 [[ 6.63848160e-01 -7.47860544e-01 -3.19796104e-03 8.30310819e+01] [ 7.47852681e-01 6.63855853e-01 -3.43125422e-03 3.56465491e+01] [ 4.68908480e-03 -1.13771939e-04 9.99989000e-01 4.37996318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.05, Y:35.67, Z:0.44 [[ 6.64070466e-01 -7.47663157e-01 -3.19699942e-03 8.30542782e+01] [ 7.47655287e-01 6.64078152e-01 -3.43214995e-03 3.56679254e+01] [ 4.68914953e-03 -1.11064108e-04 9.99989000e-01 4.37354621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.07, Y:35.69, Z:0.44 [[ 6.62390131e-01 -7.49152107e-01 -3.23033971e-03 8.30675995e+01] [ 7.49144405e-01 6.62397986e-01 -3.40108172e-03 3.56857572e+01] [ 4.68769806e-03 -1.67147956e-04 9.99988999e-01 4.38445816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.09, Y:35.71, Z:0.44 [[ 6.59946516e-01 -7.51305885e-01 -3.17231389e-03 8.30860331e+01] [ 7.51297948e-01 6.59954132e-01 -3.45498766e-03 3.57078795e+01] [ 4.68933422e-03 -1.03245849e-04 9.99989000e-01 4.38986244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.11, Y:35.73, Z:0.44 [[ 6.57249560e-01 -7.53666270e-01 -3.18896798e-03 8.31052482e+01] [ 7.53658435e-01 6.57257281e-01 -3.43951714e-03 3.57298468e+01] [ 4.68822048e-03 -1.42771493e-04 9.99989000e-01 4.37858561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.13, Y:35.75, Z:0.44 [[ 6.57850285e-01 -7.53141944e-01 -3.19588361e-03 8.31303411e+01] [ 7.53134134e-01 6.57858031e-01 -3.43309721e-03 3.57522876e+01] [ 4.68804721e-03 -1.48465056e-04 9.99989000e-01 4.36167451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.14, Y:35.77, Z:0.44 [[ 6.54514300e-01 -7.56042605e-01 -3.25736915e-03 8.31423187e+01] [ 7.56035110e-01 6.54522357e-01 -3.37600449e-03 3.57713984e+01] [ 4.68442417e-03 -2.53042228e-04 9.99988996e-01 4.37215661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.16, Y:35.79, Z:0.44 [[ 6.53675168e-01 -7.56768531e-01 -3.18839131e-03 8.31616937e+01] [ 7.56760730e-01 6.53682923e-01 -3.43992784e-03 3.57931075e+01] [ 4.68742609e-03 -1.64253924e-04 9.99989000e-01 4.36388119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.18, Y:35.81, Z:0.44 [[ 6.52687122e-01 -7.57620842e-01 -3.19070370e-03 8.31804663e+01] [ 7.57613062e-01 6.52694898e-01 -3.43778554e-03 3.58146237e+01] [ 4.68709400e-03 -1.73520448e-04 9.99989000e-01 4.36202354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.20, Y:35.83, Z:0.44 [[ 6.53129487e-01 -7.57239492e-01 -3.19774780e-03 8.31983867e+01] [ 7.57231739e-01 6.53137290e-01 -3.43126154e-03 3.58340466e+01] [ 4.68685508e-03 -1.80378046e-04 9.99989000e-01 4.35577346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.22, Y:35.86, Z:0.43 [[ 6.52197074e-01 -7.58042776e-01 -3.18235901e-03 8.32174071e+01] [ 7.58034963e-01 6.52204817e-01 -3.44550416e-03 3.58558322e+01] [ 4.68738941e-03 -1.65191666e-04 9.99989000e-01 4.34383855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.24, Y:35.88, Z:0.43 [[ 6.51822255e-01 -7.58365025e-01 -3.19940898e-03 8.32358270e+01] [ 7.58357294e-01 6.51830079e-01 -3.42972815e-03 3.58762185e+01] [ 4.68645688e-03 -1.90722001e-04 9.99989000e-01 4.34217535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.25, Y:35.90, Z:0.43 [[ 6.52776179e-01 -7.57544070e-01 -3.20028094e-03 8.32542910e+01] [ 7.57536333e-01 6.52783997e-01 -3.42892203e-03 3.58954553e+01] [ 4.68665174e-03 -1.86010468e-04 9.99989000e-01 4.34279065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.27, Y:35.92, Z:0.43 [[ 6.54121517e-01 -7.56382789e-01 -3.18073034e-03 8.32748115e+01] [ 7.56374950e-01 6.54129233e-01 -3.44697689e-03 3.59167915e+01] [ 4.68784269e-03 -1.51083005e-04 9.99989001e-01 4.34224049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.29, Y:35.94, Z:0.43 [[ 6.54296531e-01 -7.56231339e-01 -3.19543431e-03 8.32929440e+01] [ 7.56223564e-01 6.54304312e-01 -3.43339977e-03 3.59368796e+01] [ 4.68723096e-03 -1.70001162e-04 9.99989000e-01 4.34921243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.31, Y:35.96, Z:0.44 [[ 6.55313478e-01 -7.55350347e-01 -3.17797008e-03 8.33117075e+01] [ 7.55342483e-01 6.55321169e-01 -3.44951642e-03 3.59570449e+01] [ 4.68818449e-03 -1.39941212e-04 9.99989001e-01 4.36681537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.33, Y:35.98, Z:0.44 [[ 6.55787838e-01 -7.54938538e-01 -3.18028555e-03 8.33310765e+01] [ 7.54930680e-01 6.55795535e-01 -3.44738036e-03 3.59775141e+01] [ 4.68817735e-03 -1.40145019e-04 9.99989001e-01 4.37402846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.35, Y:36.00, Z:0.44 [[ 6.56074951e-01 -7.54689042e-01 -3.17927825e-03 8.33504545e+01] [ 7.54681177e-01 6.56082640e-01 -3.44830906e-03 3.59978273e+01] [ 4.68827033e-03 -1.36992251e-04 9.99989001e-01 4.38091474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.37, Y:36.02, Z:0.44 [[ 6.56640395e-01 -7.54197116e-01 -3.17833792e-03 8.33698019e+01] [ 7.54189241e-01 6.56648073e-01 -3.44917556e-03 3.60175620e+01] [ 4.68840773e-03 -1.32200257e-04 9.99989001e-01 4.38835283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.39, Y:36.04, Z:0.44 [[ 6.56827602e-01 -7.54034088e-01 -3.17723727e-03 8.33894653e+01] [ 7.54026206e-01 6.56835274e-01 -3.45018913e-03 3.60382792e+01] [ 4.68848173e-03 -1.29540710e-04 9.99989001e-01 4.39192201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.41, Y:36.06, Z:0.44 [[ 6.56793560e-01 -7.54063745e-01 -3.17613675e-03 8.34083694e+01] [ 7.54055858e-01 6.56801227e-01 -3.45120194e-03 3.60587862e+01] [ 4.68851677e-03 -1.28257316e-04 9.99989001e-01 4.39057252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.43, Y:36.08, Z:0.44 [[ 6.56790674e-01 -7.54066264e-01 -3.17505596e-03 8.34264770e+01] [ 7.54058372e-01 6.56798336e-01 -3.45219596e-03 3.60784012e+01] [ 4.68855598e-03 -1.26807419e-04 9.99989001e-01 4.39069731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.44, Y:36.10, Z:0.44 [[ 6.57215826e-01 -7.53695750e-01 -3.17408353e-03 8.34449677e+01] [ 7.53687850e-01 6.57223479e-01 -3.45308982e-03 3.60982329e+01] [ 4.68866134e-03 -1.22842914e-04 9.99989001e-01 4.38428457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.46, Y:36.12, Z:0.44 [[ 6.57214060e-01 -7.53697294e-01 -3.17312051e-03 8.34643719e+01] [ 7.53689389e-01 6.57221709e-01 -3.45397453e-03 3.61190755e+01] [ 4.68869494e-03 -1.21546634e-04 9.99989001e-01 4.38013710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.48, Y:36.14, Z:0.44 [[ 6.57285456e-01 -7.53635036e-01 -3.17203071e-03 8.34831245e+01] [ 7.53627126e-01 6.57293100e-01 -3.45497509e-03 3.61388838e+01] [ 4.68874417e-03 -1.19623508e-04 9.99989001e-01 4.37812139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.50, Y:36.16, Z:0.44 [[ 6.57369608e-01 -7.53561638e-01 -3.17105079e-03 8.35017704e+01] [ 7.53553723e-01 6.57377246e-01 -3.45587425e-03 3.61581427e+01] [ 4.68879089e-03 -1.17770426e-04 9.99989001e-01 4.37077980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.52, Y:36.18, Z:0.44 [[ 6.57290499e-01 -7.53630646e-01 -3.17011736e-03 8.35211721e+01] [ 7.53622728e-01 6.57298133e-01 -3.45673028e-03 3.61786855e+01] [ 4.68881010e-03 -1.16996518e-04 9.99989001e-01 4.37221701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.55, Y:36.20, Z:0.44 [[ 6.59031949e-01 -7.52108268e-01 -3.16909304e-03 8.35463743e+01] [ 7.52100327e-01 6.59039561e-01 -3.45766911e-03 3.61998909e+01] [ 4.68909921e-03 -1.04761501e-04 9.99989001e-01 4.37196553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.57, Y:36.22, Z:0.44 [[ 6.58300420e-01 -7.52748459e-01 -3.21164162e-03 8.35667343e+01] [ 7.52740714e-01 6.58308234e-01 -3.41866324e-03 3.62194992e+01] [ 4.68764360e-03 -1.67025956e-04 9.99988999e-01 4.36160279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.58, Y:36.24, Z:0.44 [[ 6.55129183e-01 -7.55510030e-01 -3.21684384e-03 8.35788657e+01] [ 7.55502342e-01 6.55137052e-01 -3.41389656e-03 3.62382010e+01] [ 4.68670668e-03 -1.93789789e-04 9.99988999e-01 4.36063665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.60, Y:36.26, Z:0.44 [[ 6.54023711e-01 -7.56467424e-01 -3.16587645e-03 8.35984134e+01] [ 7.56459520e-01 6.54031360e-01 -3.46052432e-03 3.62583928e+01] [ 4.68835640e-03 -1.31592421e-04 9.99989001e-01 4.36355950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.62, Y:36.28, Z:0.44 [[ 6.52381313e-01 -7.57884296e-01 -3.16485075e-03 8.36178093e+01] [ 7.57876404e-01 6.52388975e-01 -3.46146214e-03 3.62771468e+01] [ 4.68810153e-03 -1.40372489e-04 9.99989001e-01 4.36954653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.64, Y:36.30, Z:0.44 [[ 6.51450012e-01 -7.58684961e-01 -3.16392741e-03 8.36371503e+01] [ 7.58677075e-01 6.51457680e-01 -3.46230590e-03 3.62975247e+01] [ 4.68796423e-03 -1.44879972e-04 9.99989001e-01 4.37421592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.66, Y:36.32, Z:0.44 [[ 6.50014700e-01 -7.59915052e-01 -3.16291935e-03 8.36563342e+01] [ 7.59907176e-01 6.50022377e-01 -3.46322655e-03 3.63174395e+01] [ 4.68772634e-03 -1.52376939e-04 9.99989001e-01 4.37379609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.67, Y:36.34, Z:0.44 [[ 6.49489998e-01 -7.60363561e-01 -3.16181635e-03 8.36748119e+01] [ 7.60355685e-01 6.49497676e-01 -3.46423326e-03 3.63368611e+01] [ 4.68766911e-03 -1.54120182e-04 9.99989001e-01 4.37060735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.69, Y:36.36, Z:0.44 [[ 6.49079946e-01 -7.60713634e-01 -3.16072092e-03 8.36931465e+01] [ 7.60705758e-01 6.49087623e-01 -3.46523243e-03 3.63561701e+01] [ 4.68763438e-03 -1.55165719e-04 9.99989001e-01 4.36771238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.71, Y:36.38, Z:0.44 [[ 6.48717711e-01 -7.61022566e-01 -3.16001002e-03 8.37124915e+01] [ 7.61014690e-01 6.48725388e-01 -3.46588059e-03 3.63763982e+01] [ 4.68759207e-03 -1.56435928e-04 9.99989001e-01 4.37164050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.74, Y:36.40, Z:0.44 [[ 6.50457476e-01 -7.59536099e-01 -3.16011072e-03 8.37364232e+01] [ 7.59528206e-01 6.50465136e-01 -3.46578884e-03 3.63975968e+01] [ 4.68793358e-03 -1.45844965e-04 9.99989001e-01 4.37449733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.75, Y:36.42, Z:0.44 [[ 6.48501477e-01 -7.61206665e-01 -3.20115946e-03 8.37490403e+01] [ 7.61198974e-01 6.48509343e-01 -3.42851041e-03 3.64172630e+01] [ 4.68578679e-03 -2.13325232e-04 9.99988999e-01 4.37166880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.77, Y:36.44, Z:0.44 [[ 6.51588985e-01 -7.58565664e-01 -3.15081803e-03 8.37734233e+01] [ 7.58557719e-01 6.51596591e-01 -3.47416647e-03 3.64382334e+01] [ 4.68844568e-03 -1.26348736e-04 9.99989001e-01 4.36911630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.79, Y:36.46, Z:0.44 [[ 6.52977305e-01 -7.57370772e-01 -3.18652236e-03 8.37918234e+01] [ 7.57362969e-01 6.52985059e-01 -3.44181586e-03 3.64591040e+01] [ 4.68748223e-03 -1.65926391e-04 9.99989000e-01 4.36330853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.81, Y:36.48, Z:0.44 [[ 6.53413339e-01 -7.56994667e-01 -3.17542682e-03 8.38078154e+01] [ 7.56986811e-01 6.53421038e-01 -3.45186169e-03 3.64779291e+01] [ 4.68793158e-03 -1.48263745e-04 9.99989001e-01 4.38217426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.83, Y:36.50, Z:0.44 [[ 6.54775430e-01 -7.55816935e-01 -3.14589472e-03 8.38283758e+01] [ 7.55808937e-01 6.54782980e-01 -3.47856947e-03 3.64993304e+01] [ 4.68904004e-03 -1.00013524e-04 9.99989001e-01 4.36713494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.85, Y:36.52, Z:0.44 [[ 6.57642438e-01 -7.53323587e-01 -3.16180756e-03 8.38518161e+01] [ 7.53315629e-01 6.57650030e-01 -3.46418987e-03 3.65204185e+01] [ 4.68901878e-03 -1.03640774e-04 9.99989001e-01 4.36434461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.87, Y:36.54, Z:0.44 [[ 6.57578418e-01 -7.53379379e-01 -3.18352247e-03 8.38694191e+01] [ 7.53371517e-01 6.57586111e-01 -3.44457363e-03 3.65412530e+01] [ 4.68851090e-03 -1.33297870e-04 9.99989000e-01 4.37638210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.89, Y:36.56, Z:0.44 [[ 6.57097151e-01 -7.53799267e-01 -3.16222753e-03 8.38856749e+01] [ 7.53791316e-01 6.57104751e-01 -3.46378957e-03 3.65608949e+01] [ 4.68891677e-03 -1.07613386e-04 9.99989001e-01 4.38207883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.90, Y:36.58, Z:0.44 [[ 6.58480963e-01 -7.52590831e-01 -3.14038811e-03 8.39046618e+01] [ 7.52582772e-01 6.58488448e-01 -3.48347802e-03 3.65798271e+01] [ 4.68954291e-03 -6.95980272e-05 9.99989002e-01 4.39452081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.92, Y:36.60, Z:0.44 [[ 6.58665127e-01 -7.52429660e-01 -3.13967716e-03 8.39236371e+01] [ 7.52421596e-01 6.58672606e-01 -3.48411868e-03 3.65999922e+01] [ 4.68957357e-03 -6.74934245e-05 9.99989002e-01 4.39849618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.94, Y:36.62, Z:0.44 [[ 6.58440726e-01 -7.52626042e-01 -3.13863819e-03 8.39426210e+01] [ 7.52617976e-01 6.58448203e-01 -3.48505438e-03 3.66213380e+01] [ 4.68957336e-03 -6.74937863e-05 9.99989002e-01 4.39983206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.97, Y:36.64, Z:0.44 [[ 6.59485081e-01 -7.51711104e-01 -3.13759867e-03 8.39655620e+01] [ 7.51703023e-01 6.59492542e-01 -3.48599001e-03 3.66428917e+01] [ 4.68968032e-03 -5.95840072e-05 9.99989002e-01 4.40079091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:83.98, Y:36.66, Z:0.44 [[ 6.58029094e-01 -7.52985877e-01 -3.15916313e-03 8.39821465e+01] [ 7.52977903e-01 6.58036670e-01 -3.46658044e-03 3.66618611e+01] [ 4.68913130e-03 -9.76692457e-05 9.99989001e-01 4.40723545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.00, Y:36.68, Z:0.44 [[ 6.58210078e-01 -7.52827774e-01 -3.13604207e-03 8.40042021e+01] [ 7.52819700e-01 6.58217546e-01 -3.48737220e-03 3.66827378e+01] [ 4.68958857e-03 -6.54507198e-05 9.99989002e-01 4.40836051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.02, Y:36.70, Z:0.44 [[ 6.56954014e-01 -7.53924061e-01 -3.15164381e-03 8.40211008e+01] [ 7.53916066e-01 6.56961567e-01 -3.47334438e-03 3.67017640e+01] [ 4.68914676e-03 -9.42473699e-05 9.99989001e-01 4.40797747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.04, Y:36.72, Z:0.44 [[ 6.56799798e-01 -7.54058486e-01 -3.13456247e-03 8.40421873e+01] [ 7.54050419e-01 6.56807273e-01 -3.48869184e-03 3.67222100e+01] [ 4.68948112e-03 -7.22460533e-05 9.99989002e-01 4.41589062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.06, Y:36.74, Z:0.44 [[ 6.55447872e-01 -7.55233872e-01 -3.14407596e-03 8.40630357e+01] [ 7.55225860e-01 6.55455406e-01 -3.48014724e-03 3.67423277e+01] [ 4.68912667e-03 -9.34323657e-05 9.99989002e-01 4.40668024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.08, Y:36.76, Z:0.44 [[ 6.53876516e-01 -7.56594742e-01 -3.14605395e-03 8.40820604e+01] [ 7.56586754e-01 6.53884076e-01 -3.47837239e-03 3.67635436e+01] [ 4.68887284e-03 -1.05836722e-04 9.99989002e-01 4.41299367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.10, Y:36.78, Z:0.44 [[ 6.52520476e-01 -7.57764598e-01 -3.13737920e-03 8.41004181e+01] [ 7.57756585e-01 6.52528010e-01 -3.48615058e-03 3.67832278e+01] [ 4.68890930e-03 -1.02585118e-04 9.99989002e-01 4.40398949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.12, Y:36.80, Z:0.44 [[ 6.50566769e-01 -7.59442611e-01 -3.13033509e-03 8.41222940e+01] [ 7.59434588e-01 6.50574292e-01 -3.49246430e-03 3.68023025e+01] [ 4.68884174e-03 -1.05203524e-04 9.99989002e-01 4.40158301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.14, Y:36.82, Z:0.44 [[ 6.49390406e-01 -7.60448713e-01 -3.13933883e-03 8.41429920e+01] [ 7.60440740e-01 6.49397982e-01 -3.48439686e-03 3.68229892e+01] [ 4.68838541e-03 -1.24547250e-04 9.99989002e-01 4.39266704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.16, Y:36.84, Z:0.44 [[ 6.46541863e-01 -7.62872044e-01 -3.14055927e-03 8.41634129e+01] [ 7.62864105e-01 6.46549475e-01 -3.48330389e-03 3.68423313e+01] [ 4.68784211e-03 -1.43718144e-04 9.99989002e-01 4.39612535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.18, Y:36.86, Z:0.44 [[ 6.45166279e-01 -7.64035741e-01 -3.13991833e-03 8.41800872e+01] [ 7.64027813e-01 6.45173902e-01 -3.48387747e-03 3.68619706e+01] [ 4.68760026e-03 -1.51304666e-04 9.99989002e-01 4.40046515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.20, Y:36.88, Z:0.44 [[ 6.45398281e-01 -7.63839829e-01 -3.12639619e-03 8.42007623e+01] [ 7.63831840e-01 6.45405840e-01 -3.49597012e-03 3.68837812e+01] [ 4.68815558e-03 -1.31747844e-04 9.99989002e-01 4.41057050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.22, Y:36.90, Z:0.44 [[ 6.44208843e-01 -7.64843195e-01 -3.13886933e-03 8.42176031e+01] [ 7.64835272e-01 6.44216471e-01 -3.48481997e-03 3.69030353e+01] [ 4.68745217e-03 -1.55766141e-04 9.99989002e-01 4.41093397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.24, Y:36.92, Z:0.44 [[ 6.44173487e-01 -7.64873033e-01 -3.12454915e-03 8.42362430e+01] [ 7.64865048e-01 6.44181050e-01 -3.49761273e-03 3.69229411e+01] [ 4.68800501e-03 -1.36789054e-04 9.99989002e-01 4.40630396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.25, Y:36.94, Z:0.44 [[ 6.44793085e-01 -7.64350784e-01 -3.12352938e-03 8.42544950e+01] [ 7.64342789e-01 6.44800637e-01 -3.49852319e-03 3.69440207e+01] [ 4.68815268e-03 -1.31623597e-04 9.99989002e-01 4.41221592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.27, Y:36.97, Z:0.44 [[ 6.45845870e-01 -7.63461435e-01 -3.12243794e-03 8.42726947e+01] [ 7.63453425e-01 6.45853406e-01 -3.49949703e-03 3.69653335e+01] [ 4.68836821e-03 -1.23700236e-04 9.99989002e-01 4.41678289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.29, Y:36.99, Z:0.44 [[ 6.47721428e-01 -7.61870861e-01 -3.12132171e-03 8.42906417e+01] [ 7.61862827e-01 6.47728939e-01 -3.50049236e-03 3.69856654e+01] [ 4.68869353e-03 -1.10675069e-04 9.99989002e-01 4.41016932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.31, Y:37.01, Z:0.44 [[ 6.48716057e-01 -7.61024139e-01 -3.12032269e-03 8.43087969e+01] [ 7.61016092e-01 6.48723553e-01 -3.50138265e-03 3.70069301e+01] [ 4.68886354e-03 -1.03212627e-04 9.99989002e-01 4.41160954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.33, Y:37.03, Z:0.44 [[ 6.49810024e-01 -7.60090260e-01 -3.11925423e-03 8.43268012e+01] [ 7.60082197e-01 6.49817503e-01 -3.50233424e-03 3.70286394e+01] [ 4.68903614e-03 -9.50377137e-05 9.99989002e-01 4.41593836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.34, Y:37.05, Z:0.44 [[ 6.51586255e-01 -7.58568144e-01 -3.11817288e-03 8.43446797e+01] [ 7.58560059e-01 6.51593711e-01 -3.50329672e-03 3.70505060e+01] [ 4.68927113e-03 -8.26214158e-05 9.99989002e-01 4.42250824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.36, Y:37.07, Z:0.44 [[ 6.52406841e-01 -7.57862519e-01 -3.11708453e-03 8.43628197e+01] [ 7.57854421e-01 6.52414283e-01 -3.50426482e-03 3.70712317e+01] [ 4.68938143e-03 -7.60899445e-05 9.99989002e-01 4.42547184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.38, Y:37.09, Z:0.44 [[ 6.53705417e-01 -7.56742703e-01 -3.11610141e-03 8.43810238e+01] [ 7.56734588e-01 6.53712840e-01 -3.50513882e-03 3.70932672e+01] [ 4.68952373e-03 -6.67334859e-05 9.99989002e-01 4.43812100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:37.11, Z:0.44 [[ 6.54157937e-01 -7.56351565e-01 -3.11501248e-03 8.43989433e+01] [ 7.56343441e-01 6.54165351e-01 -3.50610628e-03 3.71135893e+01] [ 4.68958221e-03 -6.24720068e-05 9.99989002e-01 4.44058535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.42, Y:37.13, Z:0.44 [[ 6.54289974e-01 -7.56237351e-01 -3.11427309e-03 8.44177082e+01] [ 7.56229223e-01 6.54297383e-01 -3.50676292e-03 3.71347066e+01] [ 4.68960584e-03 -6.06645041e-05 9.99989002e-01 4.44500510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.44, Y:37.16, Z:0.44 [[ 6.54446993e-01 -7.56101476e-01 -3.11320058e-03 8.44363529e+01] [ 7.56093341e-01 6.54454395e-01 -3.50771481e-03 3.71560187e+01] [ 4.68963614e-03 -5.82568190e-05 9.99989002e-01 4.44644016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.45, Y:37.18, Z:0.44 [[ 6.54259881e-01 -7.56263395e-01 -3.11211916e-03 8.44542457e+01] [ 7.56255258e-01 6.54267280e-01 -3.50867400e-03 3.71770618e+01] [ 4.68963945e-03 -5.79718468e-05 9.99989002e-01 4.44495610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.47, Y:37.20, Z:0.44 [[ 6.53965603e-01 -7.56517885e-01 -3.11102722e-03 8.44716092e+01] [ 7.56509747e-01 6.53973001e-01 -3.50964193e-03 3.71972187e+01] [ 4.68963469e-03 -5.83373118e-05 9.99989002e-01 4.43931078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.49, Y:37.22, Z:0.44 [[ 6.53417015e-01 -7.56991764e-01 -3.11028610e-03 8.44905362e+01] [ 7.56983627e-01 6.53424415e-01 -3.51029859e-03 3.72185678e+01] [ 4.68960400e-03 -6.07468215e-05 9.99989002e-01 4.44933505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:37.24, Z:0.45 [[ 6.51971000e-01 -7.58237528e-01 -3.10917655e-03 8.45097834e+01] [ 7.58229401e-01 6.51978410e-01 -3.51128107e-03 3.72393701e+01] [ 4.68950107e-03 -6.82156432e-05 9.99989002e-01 4.45283053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.53, Y:37.26, Z:0.44 [[ 6.51115118e-01 -7.58972624e-01 -3.10804687e-03 8.45280296e+01] [ 7.58964500e-01 6.51122532e-01 -3.51228074e-03 3.72596777e+01] [ 4.68944428e-03 -7.19981464e-05 9.99989002e-01 4.44471766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.55, Y:37.28, Z:0.44 [[ 6.50009697e-01 -7.59919561e-01 -3.10703430e-03 8.45472004e+01] [ 7.59911444e-01 6.50017119e-01 -3.51317626e-03 3.72808196e+01] [ 4.68935684e-03 -7.74722846e-05 9.99989002e-01 4.43886682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.57, Y:37.30, Z:0.44 [[ 6.48022792e-01 -7.61614610e-01 -3.10595438e-03 8.45660409e+01] [ 7.61606508e-01 6.48030229e-01 -3.51413074e-03 3.73013194e+01] [ 4.68916564e-03 -8.82782541e-05 9.99989002e-01 4.44029943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.58, Y:37.32, Z:0.44 [[ 6.47195085e-01 -7.62318098e-01 -3.10484652e-03 8.45841017e+01] [ 7.62309999e-01 6.47202526e-01 -3.51510929e-03 3.73218095e+01] [ 4.68909594e-03 -9.18940918e-05 9.99989002e-01 4.43872652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.60, Y:37.34, Z:0.44 [[ 6.46303555e-01 -7.63074099e-01 -3.10385047e-03 8.46020822e+01] [ 7.63066005e-01 6.46311001e-01 -3.51598859e-03 3.73423398e+01] [ 4.68901253e-03 -9.60468482e-05 9.99989002e-01 4.43486213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.62, Y:37.36, Z:0.44 [[ 6.44730562e-01 -7.64403607e-01 -3.10286682e-03 8.46210833e+01] [ 7.64395524e-01 6.44738020e-01 -3.51685645e-03 3.73632187e+01] [ 4.68883396e-03 -1.04392674e-04 9.99989002e-01 4.43603868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.64, Y:37.38, Z:0.44 [[ 6.43698514e-01 -7.65272894e-01 -3.10174970e-03 8.46391628e+01] [ 7.65264816e-01 6.43705978e-01 -3.51784144e-03 3.73837004e+01] [ 4.68872352e-03 -1.09230606e-04 9.99989002e-01 4.42869406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.66, Y:37.41, Z:0.44 [[ 6.42285133e-01 -7.66459518e-01 -3.10074420e-03 8.46575464e+01] [ 7.66451450e-01 6.42292607e-01 -3.51872749e-03 3.74050209e+01] [ 4.68854725e-03 -1.16543528e-04 9.99989002e-01 4.42645269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.68, Y:37.43, Z:0.44 [[ 6.41602115e-01 -7.67031367e-01 -3.09962955e-03 8.46754436e+01] [ 7.67023301e-01 6.41609591e-01 -3.51970911e-03 3.74254705e+01] [ 4.68847934e-03 -1.19235285e-04 9.99989002e-01 4.42305684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.69, Y:37.45, Z:0.44 [[ 6.40962721e-01 -7.67565755e-01 -3.09862848e-03 8.46939398e+01] [ 7.67557691e-01 6.40970200e-01 -3.52059019e-03 3.74464012e+01] [ 4.68841299e-03 -1.21809049e-04 9.99989002e-01 4.42574102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.71, Y:37.47, Z:0.44 [[ 6.40152753e-01 -7.68241406e-01 -3.09751294e-03 8.47121134e+01] [ 7.68233345e-01 6.40160235e-01 -3.52157141e-03 3.74668548e+01] [ 4.68832158e-03 -1.25269092e-04 9.99989002e-01 4.42364265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.73, Y:37.49, Z:0.44 [[ 6.39629602e-01 -7.68677035e-01 -3.09651030e-03 8.47303610e+01] [ 7.68668974e-01 6.39637085e-01 -3.52245280e-03 3.74877761e+01] [ 4.68827140e-03 -1.27126316e-04 9.99989002e-01 4.42632576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.75, Y:37.51, Z:0.44 [[ 6.39196676e-01 -7.69037078e-01 -3.09541214e-03 8.47494878e+01] [ 7.69029018e-01 6.39204158e-01 -3.52341756e-03 3.75098268e+01] [ 4.68823906e-03 -1.28304966e-04 9.99989002e-01 4.43500466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:84.77, Y:37.53, Z:0.44 [[ 6.39759092e-01 -7.68569255e-01 -3.09899156e-03 8.47671712e+01] [ 7.68561204e-01 6.39766585e-01 -3.52027407e-03 3.75300562e+01] [ 4.68820567e-03 -1.29637346e-04 9.99989002e-01 4.42074793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.79, Y:37.55, Z:0.44 [[ 6.40226782e-01 -7.68179729e-01 -3.09387184e-03 8.47852338e+01] [ 7.68171651e-01 6.40234246e-01 -3.52476791e-03 3.75511296e+01] [ 4.68845796e-03 -1.19973825e-04 9.99989002e-01 4.42211202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.80, Y:37.57, Z:0.44 [[ 6.40620762e-01 -7.67851205e-01 -3.09280404e-03 8.48030926e+01] [ 7.67843120e-01 6.40628217e-01 -3.52570461e-03 3.75717203e+01] [ 4.68855407e-03 -1.16148727e-04 9.99989002e-01 4.42049321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.82, Y:37.59, Z:0.44 [[ 6.40998374e-01 -7.67536009e-01 -3.09184554e-03 8.48214101e+01] [ 7.67527916e-01 6.41005820e-01 -3.52654496e-03 3.75928500e+01] [ 4.68864123e-03 -1.12568179e-04 9.99989002e-01 4.42773898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.84, Y:37.61, Z:0.44 [[ 6.41823186e-01 -7.66846429e-01 -3.09072842e-03 8.48391357e+01] [ 7.66838323e-01 6.41830619e-01 -3.52752375e-03 3.76134166e+01] [ 4.68879312e-03 -1.06042462e-04 9.99989002e-01 4.42903241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.86, Y:37.64, Z:0.44 [[ 6.43540916e-01 -7.65405475e-01 -3.08996935e-03 8.48564044e+01] [ 7.65397350e-01 6.43548327e-01 -3.52818853e-03 3.76350484e+01] [ 4.68903943e-03 -9.45206732e-05 9.99989002e-01 4.43639773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.87, Y:37.66, Z:0.44 [[ 6.44329301e-01 -7.64741924e-01 -3.08887753e-03 8.48747614e+01] [ 7.64733786e-01 6.44336699e-01 -3.52914415e-03 3.76567628e+01] [ 4.68916164e-03 -8.82380257e-05 9.99989002e-01 4.44058901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.89, Y:37.68, Z:0.44 [[ 6.45800409e-01 -7.63500031e-01 -3.08778630e-03 8.48922518e+01] [ 7.63491874e-01 6.45807787e-01 -3.53009865e-03 3.76779443e+01] [ 4.68934686e-03 -7.77605941e-05 9.99989002e-01 4.44494686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.91, Y:37.70, Z:0.44 [[ 6.45364920e-01 -7.63868176e-01 -3.08704580e-03 8.49112705e+01] [ 7.63860020e-01 6.45372298e-01 -3.53074609e-03 3.77011833e+01] [ 4.68931842e-03 -7.94511949e-05 9.99989002e-01 4.44664437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.93, Y:37.72, Z:0.45 [[ 6.44882906e-01 -7.64275082e-01 -3.10435364e-03 8.49290679e+01] [ 7.64267003e-01 6.44890369e-01 -3.51561408e-03 3.77227137e+01] [ 4.68886401e-03 -1.05395632e-04 9.99989002e-01 4.46763235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.95, Y:37.74, Z:0.45 [[ 6.46400608e-01 -7.62991884e-01 -3.10486372e-03 8.49464499e+01] [ 7.62983792e-01 6.46408057e-01 -3.51516898e-03 3.77424102e+01] [ 4.68905433e-03 -9.67533320e-05 9.99989002e-01 4.46210806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.96, Y:37.76, Z:0.45 [[ 6.45144400e-01 -7.64054452e-01 -3.08199613e-03 8.49636692e+01] [ 7.64046277e-01 6.45151757e-01 -3.53510553e-03 3.77634951e+01] [ 4.68936834e-03 -7.41341359e-05 9.99989002e-01 4.46790830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.98, Y:37.79, Z:0.45 [[ 6.43872579e-01 -7.65126531e-01 -3.08097643e-03 8.49829503e+01] [ 7.65118365e-01 6.43879946e-01 -3.53599402e-03 3.77867237e+01] [ 4.68926178e-03 -8.05820563e-05 9.99989002e-01 4.47702659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.00, Y:37.81, Z:0.45 [[ 6.43024640e-01 -7.65839229e-01 -3.09646344e-03 8.49996010e+01] [ 7.65831135e-01 6.43032086e-01 -3.52250049e-03 3.78059432e+01] [ 4.68879441e-03 -1.06313506e-04 9.99989002e-01 4.46826033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.02, Y:37.83, Z:0.45 [[ 6.40544581e-01 -7.67914810e-01 -3.07973137e-03 8.50192745e+01] [ 7.67906670e-01 6.40551977e-01 -3.53706913e-03 3.78295882e+01] [ 4.68889579e-03 -9.92957958e-05 9.99989002e-01 4.47330774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.04, Y:37.85, Z:0.45 [[ 6.40144500e-01 -7.68248252e-01 -3.10500349e-03 8.50371972e+01] [ 7.68240223e-01 6.40152017e-01 -3.51508579e-03 3.78502513e+01] [ 4.68813276e-03 -1.35225741e-04 9.99989002e-01 4.47572929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.05, Y:37.87, Z:0.45 [[ 6.38547840e-01 -7.69575933e-01 -3.08843937e-03 8.50539232e+01] [ 7.69567850e-01 6.38555297e-01 -3.52948150e-03 3.78700827e+01] [ 4.68834334e-03 -1.23020851e-04 9.99989002e-01 4.46463198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.07, Y:37.89, Z:0.45 [[ 6.37163308e-01 -7.70722687e-01 -3.07541259e-03 8.50720358e+01] [ 7.70714562e-01 6.37170720e-01 -3.54079612e-03 3.78916594e+01] [ 4.68853475e-03 -1.14199898e-04 9.99989002e-01 4.46169552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.09, Y:37.91, Z:0.45 [[ 6.33691359e-01 -7.73579867e-01 -3.07431524e-03 8.50910441e+01] [ 7.73571770e-01 6.33698802e-01 -3.54174863e-03 3.79141942e+01] [ 4.68801532e-03 -1.33827981e-04 9.99989002e-01 4.45952676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.11, Y:37.93, Z:0.45 [[ 6.32759566e-01 -7.74342163e-01 -3.08964369e-03 8.51079832e+01] [ 7.74334140e-01 6.32767089e-01 -3.52844307e-03 3.79337729e+01] [ 4.68724708e-03 -1.59760483e-04 9.99989002e-01 4.45450905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.13, Y:37.96, Z:0.45 [[ 6.32517110e-01 -7.74540291e-01 -3.07290299e-03 8.51265744e+01] [ 7.74532200e-01 6.32524560e-01 -3.54296271e-03 3.79554736e+01] [ 4.68785398e-03 -1.39077779e-04 9.99989002e-01 4.45578443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.15, Y:37.98, Z:0.45 [[ 6.30911445e-01 -7.75848769e-01 -3.07179348e-03 8.51458907e+01] [ 7.75840689e-01 6.30918905e-01 -3.54392440e-03 3.79776653e+01] [ 4.68760197e-03 -1.47319909e-04 9.99989002e-01 4.46250006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.16, Y:38.00, Z:0.45 [[ 6.28329729e-01 -7.77941057e-01 -3.07628126e-03 8.51638132e+01] [ 7.77933021e-01 6.28337237e-01 -3.54003518e-03 3.79984231e+01] [ 4.68688078e-03 -1.68831429e-04 9.99989002e-01 4.46538259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.18, Y:38.02, Z:0.45 [[ 6.26899605e-01 -7.79093997e-01 -3.07068348e-03 8.51810514e+01] [ 7.79085951e-01 6.26907103e-01 -3.54488415e-03 3.80188663e+01] [ 4.68683124e-03 -1.70039882e-04 9.99989002e-01 4.47139848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.20, Y:38.04, Z:0.45 [[ 6.25759360e-01 -7.80010128e-01 -3.06968557e-03 8.51989200e+01] [ 7.80002089e-01 6.25766865e-01 -3.54574807e-03 3.80399251e+01] [ 4.68662692e-03 -1.75576115e-04 9.99989002e-01 4.47617267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.22, Y:38.06, Z:0.45 [[ 6.24462178e-01 -7.81049020e-01 -3.06853597e-03 8.52165457e+01] [ 7.81040989e-01 6.24469691e-01 -3.54674267e-03 3.80610915e+01] [ 4.68638760e-03 -1.81845718e-04 9.99989002e-01 4.47735154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.23, Y:38.08, Z:0.45 [[ 6.23442742e-01 -7.81862956e-01 -3.07667499e-03 8.52343306e+01] [ 7.81854968e-01 6.23450302e-01 -3.53970136e-03 3.80831885e+01] [ 4.68571532e-03 -1.98712500e-04 9.99989002e-01 4.47914375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.25, Y:38.10, Z:0.45 [[ 6.23810678e-01 -7.81569411e-01 -3.08122893e-03 8.52527759e+01] [ 7.81561439e-01 6.23818255e-01 -3.53576489e-03 3.81046019e+01] [ 4.68557254e-03 -2.02521822e-04 9.99989002e-01 4.48691233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.27, Y:38.13, Z:0.45 [[ 6.24596014e-01 -7.80941987e-01 -3.07126017e-03 8.52717489e+01] [ 7.80933965e-01 6.24603538e-01 -3.54437540e-03 3.81261495e+01] [ 4.68627154e-03 -1.84648637e-04 9.99989002e-01 4.48266958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.29, Y:38.15, Z:0.45 [[ 6.25977848e-01 -7.79834728e-01 -3.08709313e-03 8.52891010e+01] [ 7.79826761e-01 6.25985429e-01 -3.53069920e-03 3.81471876e+01] [ 4.68583717e-03 -1.97258348e-04 9.99989002e-01 4.49295547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.31, Y:38.17, Z:0.45 [[ 6.25550256e-01 -7.80177827e-01 -3.07158390e-03 8.53068224e+01] [ 7.80169798e-01 6.25557772e-01 -3.54408063e-03 3.81696108e+01] [ 4.68646630e-03 -1.79356441e-04 9.99989002e-01 4.50260582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.32, Y:38.19, Z:0.45 [[ 6.27230859e-01 -7.78827319e-01 -3.07504387e-03 8.53219290e+01] [ 7.78819289e-01 6.27238373e-01 -3.54109672e-03 3.81906649e+01] [ 4.68668838e-03 -1.73818344e-04 9.99989002e-01 4.50744867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.34, Y:38.21, Z:0.45 [[ 6.28378984e-01 -7.77901328e-01 -3.06189168e-03 8.53402591e+01] [ 7.77893231e-01 6.28386426e-01 -3.55243279e-03 3.82134408e+01] [ 4.68749335e-03 -1.49550704e-04 9.99989002e-01 4.51027872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.36, Y:38.24, Z:0.45 [[ 6.29696241e-01 -7.76835413e-01 -3.06344533e-03 8.53577162e+01] [ 7.76827310e-01 6.29703677e-01 -3.55109397e-03 3.82352619e+01] [ 4.68767833e-03 -1.43657469e-04 9.99989002e-01 4.51719615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.37, Y:38.26, Z:0.45 [[ 6.31515229e-01 -7.75357433e-01 -3.06054408e-03 8.53749208e+01] [ 7.75349300e-01 6.31522632e-01 -3.55359268e-03 3.82568409e+01] [ 4.68810735e-03 -1.28842813e-04 9.99989002e-01 4.52644651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.39, Y:38.28, Z:0.45 [[ 6.34211308e-01 -7.73153735e-01 -3.05246555e-03 8.53917237e+01] [ 7.73145544e-01 6.34218646e-01 -3.56054486e-03 3.82796005e+01] [ 4.68877913e-03 -1.01862326e-04 9.99989002e-01 4.52897789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.41, Y:38.30, Z:0.45 [[ 6.35621259e-01 -7.71994989e-01 -3.05816706e-03 8.54092661e+01] [ 7.71986807e-01 6.35628608e-01 -3.55564105e-03 3.83015395e+01] [ 4.68879555e-03 -1.00823581e-04 9.99989002e-01 4.52983153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.43, Y:38.32, Z:0.45 [[ 6.37632803e-01 -7.70334384e-01 -3.05702375e-03 8.54254016e+01] [ 7.70326178e-01 6.37640125e-01 -3.55662376e-03 3.83232129e+01] [ 4.68907058e-03 -8.70854493e-05 9.99989002e-01 4.53053100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:85.44, Y:38.34, Z:0.45 [[ 6.37985029e-01 -7.70042703e-01 -3.05599701e-03 8.54420021e+01] [ 7.70034490e-01 6.37992343e-01 -3.55750576e-03 3.83443192e+01] [ 4.68913404e-03 -8.35876878e-05 9.99989002e-01 4.53396570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.46, Y:38.37, Z:0.45 [[ 6.38327662e-01 -7.69758703e-01 -3.05523564e-03 8.54595622e+01] [ 7.69750484e-01 6.38334969e-01 -3.55815952e-03 3.83660067e+01] [ 4.68918800e-03 -8.04974641e-05 9.99989002e-01 4.53566110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.48, Y:38.39, Z:0.45 [[ 6.38299011e-01 -7.69782466e-01 -3.05412138e-03 8.54765747e+01] [ 7.69774242e-01 6.38306313e-01 -3.55911568e-03 3.83872028e+01] [ 4.68920980e-03 -7.92039487e-05 9.99989002e-01 4.53789100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.49, Y:38.41, Z:0.45 [[ 6.37346102e-01 -7.70571622e-01 -3.05311947e-03 8.54937948e+01] [ 7.70563403e-01 6.37353410e-01 -3.55997494e-03 3.84097132e+01] [ 4.68913177e-03 -8.36859773e-05 9.99989002e-01 4.53916821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.51, Y:38.43, Z:0.45 [[ 6.36584579e-01 -7.71200855e-01 -3.05197301e-03 8.55106906e+01] [ 7.71192639e-01 6.36591889e-01 -3.56095753e-03 3.84303264e+01] [ 4.68907476e-03 -8.68084704e-05 9.99989002e-01 4.54602302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.53, Y:38.45, Z:0.45 [[ 6.34545355e-01 -7.72879604e-01 -3.05119513e-03 8.55282139e+01] [ 7.72871404e-01 6.34552684e-01 -3.56162393e-03 3.84523033e+01] [ 4.68885055e-03 -9.81695414e-05 9.99989002e-01 4.54528635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.55, Y:38.47, Z:0.45 [[ 6.32792558e-01 -7.74315359e-01 -3.05009783e-03 8.55454042e+01] [ 7.74307171e-01 6.32799900e-01 -3.56256338e-03 3.84739729e+01] [ 4.68864915e-03 -1.07349026e-04 9.99989002e-01 4.54139584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.56, Y:38.50, Z:0.45 [[ 6.31902132e-01 -7.75042167e-01 -3.05540922e-03 8.55629334e+01] [ 7.75034009e-01 6.31909507e-01 -3.55801916e-03 3.84955881e+01] [ 4.68835702e-03 -1.19726164e-04 9.99989002e-01 4.54398618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.58, Y:38.52, Z:0.45 [[ 6.29252698e-01 -7.77194804e-01 -3.04610277e-03 8.55791072e+01] [ 7.77186633e-01 6.29260059e-01 -3.56597588e-03 3.85168479e+01] [ 4.68824873e-03 -1.23490413e-04 9.99989002e-01 4.53291974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.60, Y:38.54, Z:0.45 [[ 6.28358235e-01 -7.77918147e-01 -3.04697511e-03 8.55968968e+01] [ 7.77909989e-01 6.28365609e-01 -3.56523034e-03 3.85384982e+01] [ 4.68807175e-03 -1.30030528e-04 9.99989002e-01 4.53081746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.61, Y:38.56, Z:0.45 [[ 6.26354656e-01 -7.79532300e-01 -3.03940675e-03 8.56141785e+01] [ 7.79524129e-01 6.26362016e-01 -3.57169379e-03 3.85600792e+01] [ 4.68801962e-03 -1.32143865e-04 9.99989002e-01 4.53115802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.63, Y:38.58, Z:0.45 [[ 6.25036604e-01 -7.80589504e-01 -3.04475659e-03 8.56319417e+01] [ 7.80581367e-01 6.25044003e-01 -3.56712739e-03 3.85816150e+01] [ 4.68756904e-03 -1.47095070e-04 9.99989002e-01 4.53098498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.65, Y:38.60, Z:0.45 [[ 6.22648090e-01 -7.82496065e-01 -3.04368287e-03 8.56493658e+01] [ 7.82487947e-01 6.22655508e-01 -3.56804332e-03 3.86038710e+01] [ 4.68714576e-03 -1.60009804e-04 9.99989002e-01 4.52626522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.67, Y:38.63, Z:0.45 [[ 6.21446181e-01 -7.83450947e-01 -3.04257709e-03 8.56667748e+01] [ 7.83442836e-01 6.21453607e-01 -3.56898600e-03 3.86257781e+01] [ 4.68694597e-03 -1.65752502e-04 9.99989002e-01 4.52489577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.68, Y:38.65, Z:0.45 [[ 6.20228963e-01 -7.84414930e-01 -3.04143835e-03 8.56841958e+01] [ 7.84406825e-01 6.20236397e-01 -3.56995615e-03 3.86479829e+01] [ 4.68673767e-03 -1.71534800e-04 9.99989002e-01 4.52889371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.70, Y:38.67, Z:0.45 [[ 6.18741639e-01 -7.85588660e-01 -3.04014878e-03 8.56998897e+01] [ 7.85580563e-01 6.18749082e-01 -3.57105400e-03 3.86698627e+01] [ 4.68646879e-03 -1.78721989e-04 9.99989002e-01 4.53022867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.72, Y:38.69, Z:0.45 [[ 6.18144158e-01 -7.86058881e-01 -3.03909522e-03 8.57169407e+01] [ 7.86050786e-01 6.18151602e-01 -3.57195039e-03 3.86916360e+01] [ 4.68638491e-03 -1.80902922e-04 9.99989002e-01 4.53295919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.73, Y:38.71, Z:0.45 [[ 6.17638165e-01 -7.86456527e-01 -3.03797695e-03 8.57334314e+01] [ 7.86448432e-01 6.17645609e-01 -3.57290124e-03 3.87142294e+01] [ 4.68632462e-03 -1.82452043e-04 9.99989002e-01 4.53657443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.75, Y:38.74, Z:0.45 [[ 6.17068911e-01 -7.86903257e-01 -3.03690133e-03 8.57503871e+01] [ 7.86895163e-01 6.17076356e-01 -3.57381526e-03 3.87359899e+01] [ 4.68624688e-03 -1.84432681e-04 9.99989002e-01 4.53994999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.77, Y:38.76, Z:0.45 [[ 6.17292950e-01 -7.86727524e-01 -3.03582045e-03 8.57672398e+01] [ 7.86719424e-01 6.17300389e-01 -3.57473311e-03 3.87577852e+01] [ 4.68635407e-03 -1.81681368e-04 9.99989002e-01 4.54098591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.78, Y:38.78, Z:0.45 [[ 6.17964547e-01 -7.86200109e-01 -3.03433920e-03 8.57833083e+01] [ 7.86191996e-01 6.17971972e-01 -3.57598999e-03 3.87804018e+01] [ 4.68658030e-03 -1.75738155e-04 9.99989002e-01 4.54505488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.80, Y:38.80, Z:0.45 [[ 6.18795091e-01 -7.85546584e-01 -3.03320377e-03 8.58018383e+01] [ 7.85538458e-01 6.18802502e-01 -3.57695282e-03 3.88025265e+01] [ 4.68681715e-03 -1.69297364e-04 9.99989002e-01 4.52614117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.82, Y:38.82, Z:0.45 [[ 6.20158756e-01 -7.84470396e-01 -3.05206077e-03 8.58164222e+01] [ 7.84462336e-01 6.20166238e-01 -3.56095091e-03 3.88221968e+01] [ 4.68624562e-03 -1.85871841e-04 9.99989002e-01 4.54893763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.83, Y:38.85, Z:0.46 [[ 6.20325699e-01 -7.84338509e-01 -3.02171429e-03 8.58338319e+01] [ 7.84330322e-01 6.20333041e-01 -3.58667764e-03 3.88456929e+01] [ 4.68763861e-03 -1.45113830e-04 9.99989002e-01 4.55305488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.85, Y:38.87, Z:0.46 [[ 6.22130659e-01 -7.82907561e-01 -3.03220740e-03 8.58502837e+01] [ 7.82899400e-01 6.22138031e-01 -3.57778463e-03 3.88686060e+01] [ 4.68752617e-03 -1.48063840e-04 9.99989003e-01 4.55825063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.87, Y:38.89, Z:0.46 [[ 6.23071885e-01 -7.82158704e-01 -3.03107265e-03 8.58677001e+01] [ 7.82150530e-01 6.23079242e-01 -3.57874572e-03 3.88908474e+01] [ 4.68774556e-03 -1.40939242e-04 9.99989003e-01 4.56229276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.88, Y:38.91, Z:0.46 [[ 6.24763498e-01 -7.80808165e-01 -3.02994659e-03 8.58830723e+01] [ 7.80799970e-01 6.24770832e-01 -3.57969885e-03 3.89130091e+01] [ 4.68808034e-03 -1.29317033e-04 9.99989003e-01 4.56453876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.90, Y:38.94, Z:0.45 [[ 6.24727623e-01 -7.80836874e-01 -3.02893774e-03 8.58994799e+01] [ 7.80828675e-01 6.24734952e-01 -3.58055227e-03 3.89359165e+01] [ 4.68811052e-03 -1.28211537e-04 9.99989003e-01 4.53946332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.92, Y:38.96, Z:0.45 [[ 6.26525897e-01 -7.79394729e-01 -3.02587042e-03 8.59171764e+01] [ 7.79386501e-01 6.26533194e-01 -3.58314594e-03 3.89587374e+01] [ 4.68849332e-03 -1.13388837e-04 9.99989003e-01 4.54434721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.93, Y:38.98, Z:0.45 [[ 6.26739278e-01 -7.79223121e-01 -3.03394221e-03 8.59335014e+01] [ 7.79214924e-01 6.26746609e-01 -3.57632184e-03 3.89798522e+01] [ 4.68826566e-03 -1.22671677e-04 9.99989002e-01 4.53930422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.95, Y:39.00, Z:0.46 [[ 6.26719222e-01 -7.79239255e-01 -3.03312299e-03 8.59502786e+01] [ 7.79231054e-01 6.26726550e-01 -3.57701415e-03 3.90011078e+01] [ 4.68828855e-03 -1.21720097e-04 9.99989003e-01 4.56674597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.97, Y:39.02, Z:0.45 [[ 6.27120729e-01 -7.78916191e-01 -3.02645551e-03 8.59699871e+01] [ 7.78907959e-01 6.27128022e-01 -3.58264652e-03 3.90241968e+01] [ 4.68855644e-03 -1.10578391e-04 9.99989003e-01 4.54371787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:85.99, Y:39.05, Z:0.46 [[ 6.25911880e-01 -7.79887851e-01 -3.04283476e-03 8.59854106e+01] [ 7.79879698e-01 6.25919261e-01 -3.56881240e-03 3.90455154e+01] [ 4.68784232e-03 -1.39282969e-04 9.99989002e-01 4.56049781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.00, Y:39.07, Z:0.45 [[ 6.25613068e-01 -7.80127644e-01 -3.02475189e-03 8.60049245e+01] [ 7.80119420e-01 6.25620369e-01 -3.58407331e-03 3.90680978e+01] [ 4.68838106e-03 -1.17424593e-04 9.99989003e-01 4.54604205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.02, Y:39.09, Z:0.46 [[ 6.23921678e-01 -7.81480953e-01 -3.04301913e-03 8.60205285e+01] [ 7.81472820e-01 6.23929080e-01 -3.56865121e-03 3.90893857e+01] [ 4.68746108e-03 -1.51477887e-04 9.99989002e-01 4.56006793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.04, Y:39.11, Z:0.46 [[ 6.23810123e-01 -7.81570077e-01 -3.02401838e-03 8.60406889e+01] [ 7.81561867e-01 6.23817440e-01 -3.58468015e-03 3.91120986e+01] [ 4.68811415e-03 -1.27297683e-04 9.99989003e-01 4.55128477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.05, Y:39.13, Z:0.46 [[ 6.21923523e-01 -7.83072056e-01 -3.04740257e-03 8.60546833e+01] [ 7.83063959e-01 6.21930966e-01 -3.56497453e-03 3.91327604e+01] [ 4.68690596e-03 -1.69169599e-04 9.99989002e-01 4.56453819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:39.15, Z:0.45 [[ 6.20373393e-01 -7.84300790e-01 -3.02046089e-03 8.60709450e+01] [ 7.84292598e-01 6.20380730e-01 -3.58765683e-03 3.91537058e+01] [ 4.68763782e-03 -1.43238281e-04 9.99989003e-01 4.53927874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.09, Y:39.18, Z:0.46 [[ 6.19083194e-01 -7.85319641e-01 -3.01009250e-03 8.60896152e+01] [ 7.85311418e-01 6.19090496e-01 -3.59638277e-03 3.91766706e+01] [ 4.68782969e-03 -1.37399879e-04 9.99989003e-01 4.56777866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.11, Y:39.20, Z:0.46 [[ 6.18007479e-01 -7.86166419e-01 -3.01938985e-03 8.61069630e+01] [ 7.86158245e-01 6.18014835e-01 -3.58856005e-03 3.91974799e+01] [ 4.68723312e-03 -1.55961275e-04 9.99989003e-01 4.56867005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.12, Y:39.22, Z:0.46 [[ 6.15272291e-01 -7.88308885e-01 -3.01815697e-03 8.61242871e+01] [ 7.88300731e-01 6.15279670e-01 -3.58959666e-03 3.92198679e+01] [ 4.68672157e-03 -1.70635980e-04 9.99989003e-01 4.56245311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.14, Y:39.24, Z:0.46 [[ 6.14430297e-01 -7.88965340e-01 -3.01690845e-03 8.61410573e+01] [ 7.88957189e-01 6.14437679e-01 -3.59064568e-03 3.92408000e+01] [ 4.68659722e-03 -1.74010122e-04 9.99989003e-01 4.56188899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.16, Y:39.26, Z:0.46 [[ 6.13457731e-01 -7.89721812e-01 -3.01198925e-03 8.61584564e+01] [ 7.89713649e-01 6.13465100e-01 -3.59477677e-03 3.92623802e+01] [ 4.68662391e-03 -1.73365425e-04 9.99989003e-01 4.56187868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.18, Y:39.28, Z:0.46 [[ 6.12310656e-01 -7.90611513e-01 -3.01602871e-03 8.61756360e+01] [ 7.90603378e-01 6.12318056e-01 -3.59138614e-03 3.92848926e+01] [ 4.68616007e-03 -1.85438480e-04 9.99989003e-01 4.56636889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.19, Y:39.31, Z:0.46 [[ 6.11941946e-01 -7.90896941e-01 -3.01395638e-03 8.61931254e+01] [ 7.90888801e-01 6.11949340e-01 -3.59312443e-03 3.93067726e+01] [ 4.68617974e-03 -1.84920794e-04 9.99989003e-01 4.56666323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.21, Y:39.33, Z:0.46 [[ 6.11663676e-01 -7.91112173e-01 -3.01278326e-03 8.62113059e+01] [ 7.91104031e-01 6.11671068e-01 -3.59410781e-03 3.93288086e+01] [ 4.68617480e-03 -1.85039787e-04 9.99989003e-01 4.56799935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.23, Y:39.35, Z:0.46 [[ 6.12103072e-01 -7.90772255e-01 -3.01151850e-03 8.62284031e+01] [ 7.90764104e-01 6.12110454e-01 -3.59516725e-03 3.93505222e+01] [ 4.68634047e-03 -1.80787805e-04 9.99989003e-01 4.57208021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.25, Y:39.37, Z:0.46 [[ 6.12522202e-01 -7.90447652e-01 -3.01025587e-03 8.62453438e+01] [ 7.90439491e-01 6.12529573e-01 -3.59622415e-03 3.93712684e+01] [ 4.68649767e-03 -1.76657984e-04 9.99989003e-01 4.57703504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.26, Y:39.39, Z:0.46 [[ 6.13271034e-01 -7.89866815e-01 -3.00901704e-03 8.62632278e+01] [ 7.89858641e-01 6.13278392e-01 -3.59726040e-03 3.93931890e+01] [ 4.68672174e-03 -1.70602504e-04 9.99989003e-01 4.58126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.28, Y:39.42, Z:0.46 [[ 6.13911046e-01 -7.89369483e-01 -3.00777301e-03 8.62807906e+01] [ 7.89361299e-01 6.13918391e-01 -3.59830027e-03 3.94153243e+01] [ 4.68691559e-03 -1.65183328e-04 9.99989003e-01 4.58391987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.30, Y:39.44, Z:0.46 [[ 6.16219599e-01 -7.87568642e-01 -3.00651062e-03 8.62975459e+01] [ 7.87560432e-01 6.16226915e-01 -3.59935473e-03 3.94377052e+01] [ 4.68743168e-03 -1.49815872e-04 9.99989003e-01 4.58937239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.32, Y:39.46, Z:0.46 [[ 6.17215535e-01 -7.86788378e-01 -3.00526081e-03 8.63152510e+01] [ 7.86780153e-01 6.17222835e-01 -3.60039795e-03 3.94601079e+01] [ 4.68766686e-03 -1.42258012e-04 9.99989003e-01 4.59190073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.33, Y:39.48, Z:0.46 [[ 6.18933195e-01 -7.85437888e-01 -3.00401979e-03 8.63323866e+01] [ 7.85429642e-01 6.18940471e-01 -3.60143310e-03 3.94821680e+01] [ 4.68801144e-03 -1.30399694e-04 9.99989003e-01 4.59495246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.35, Y:39.50, Z:0.46 [[ 6.19091364e-01 -7.85313229e-01 -3.00277917e-03 8.63494932e+01] [ 7.85304976e-01 6.19098633e-01 -3.60246721e-03 3.95045859e+01] [ 4.68808163e-03 -1.27841087e-04 9.99989003e-01 4.59549876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.37, Y:39.53, Z:0.46 [[ 6.20713539e-01 -7.84031719e-01 -2.99442238e-03 8.63681773e+01] [ 7.84023418e-01 6.20720752e-01 -3.60942775e-03 3.95254186e+01] [ 4.68860595e-03 -1.07276596e-04 9.99989003e-01 4.59587419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.39, Y:39.55, Z:0.46 [[ 6.22426666e-01 -7.82672370e-01 -3.00114579e-03 8.63850404e+01] [ 7.82664080e-01 6.22433892e-01 -3.60382872e-03 3.95461584e+01] [ 4.68863202e-03 -1.05769920e-04 9.99989003e-01 4.60671780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.40, Y:39.57, Z:0.46 [[ 6.22906986e-01 -7.82290155e-01 -3.00013512e-03 8.64026026e+01] [ 7.82281856e-01 6.22914202e-01 -3.60466989e-03 3.95681560e+01] [ 4.68872454e-03 -1.01577213e-04 9.99989003e-01 4.61377161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.42, Y:39.59, Z:0.46 [[ 6.23211308e-01 -7.82047742e-01 -2.99901945e-03 8.64193368e+01] [ 7.82039437e-01 6.23218516e-01 -3.60559787e-03 3.95894338e+01] [ 4.68879412e-03 -9.83021188e-05 9.99989003e-01 4.61218659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.44, Y:39.61, Z:0.46 [[ 6.23786706e-01 -7.81588869e-01 -2.99775295e-03 8.64371107e+01] [ 7.81580553e-01 6.23793902e-01 -3.60665055e-03 3.96114136e+01] [ 4.68889793e-03 -9.32047449e-05 9.99989003e-01 4.61444055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.46, Y:39.63, Z:0.46 [[ 6.23765057e-01 -7.81606150e-01 -2.99666393e-03 8.64552304e+01] [ 7.81597830e-01 6.23772248e-01 -3.60755516e-03 3.96331577e+01] [ 4.68892309e-03 -9.19191724e-05 9.99989003e-01 4.58690116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.47, Y:39.65, Z:0.46 [[ 6.23343947e-01 -7.81942025e-01 -2.99896689e-03 8.64730388e+01] [ 7.81933718e-01 6.23351153e-01 -3.60564287e-03 3.96548202e+01] [ 4.68881316e-03 -9.74376720e-05 9.99989003e-01 4.61253060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.49, Y:39.67, Z:0.46 [[ 6.22017594e-01 -7.82997536e-01 -2.99520133e-03 8.64909427e+01] [ 7.82989226e-01 6.22024797e-01 -3.60876821e-03 3.96749053e+01] [ 4.68874612e-03 -1.00493056e-04 9.99989003e-01 4.60353236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.51, Y:39.70, Z:0.46 [[ 6.20209096e-01 -7.84430820e-01 -2.99422874e-03 8.65087842e+01] [ 7.84422523e-01 6.20216314e-01 -3.60957499e-03 3.96960994e+01] [ 4.68853139e-03 -1.10049220e-04 9.99989003e-01 4.59690569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.53, Y:39.72, Z:0.46 [[ 6.19280923e-01 -7.85163804e-01 -2.98989200e-03 8.65271654e+01] [ 7.85155498e-01 6.19288131e-01 -3.61317061e-03 3.97174522e+01] [ 4.68853541e-03 -1.09962516e-04 9.99989003e-01 4.59371381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.55, Y:39.74, Z:0.46 [[ 6.16118691e-01 -7.87647639e-01 -2.99262873e-03 8.65453426e+01] [ 7.87639373e-01 6.16125945e-01 -3.61090247e-03 3.97377630e+01] [ 4.68795501e-03 -1.32367713e-04 9.99989003e-01 4.58541136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.56, Y:39.76, Z:0.46 [[ 6.14221109e-01 -7.89128304e-01 -2.99162093e-03 8.65637376e+01] [ 7.89120051e-01 6.14228378e-01 -3.61173724e-03 3.97589424e+01] [ 4.68766255e-03 -1.42342811e-04 9.99989003e-01 4.58124029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.58, Y:39.78, Z:0.46 [[ 6.12499923e-01 -7.90464991e-01 -2.99048790e-03 8.65823753e+01] [ 7.90456750e-01 6.12507204e-01 -3.61267514e-03 3.97802252e+01] [ 4.68738860e-03 -1.51088100e-04 9.99989003e-01 4.57965823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.60, Y:39.80, Z:0.46 [[ 6.10023766e-01 -7.92377479e-01 -2.98931182e-03 8.66010659e+01] [ 7.92369255e-01 6.10031069e-01 -3.61364803e-03 3.97998078e+01] [ 4.68694639e-03 -1.64227602e-04 9.99989003e-01 4.58371520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.62, Y:39.82, Z:0.46 [[ 6.08788440e-01 -7.93326985e-01 -2.98851585e-03 8.66189795e+01] [ 7.93318770e-01 6.08795751e-01 -3.61430618e-03 3.98207982e+01] [ 4.68672237e-03 -1.70497896e-04 9.99989003e-01 4.58618002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.612755096 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:86.64, Y:39.84, Z:0.46 [[ 6.07016169e-01 -7.94683866e-01 -2.98735692e-03 8.66368607e+01] [ 7.94675663e-01 6.07023493e-01 -3.61526382e-03 3.98429175e+01] [ 4.68638766e-03 -1.79456250e-04 9.99989003e-01 4.58558354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.65, Y:39.86, Z:0.46 [[ 6.06019503e-01 -7.95444108e-01 -3.00562910e-03 8.66545380e+01] [ 7.95435988e-01 6.06026920e-01 -3.60016885e-03 3.98636461e+01] [ 4.68522525e-03 -2.09013014e-04 9.99989002e-01 4.56320473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.67, Y:39.88, Z:0.46 [[ 6.04985606e-01 -7.96230791e-01 -2.99070267e-03 8.66712754e+01] [ 7.96222620e-01 6.04992967e-01 -3.61248510e-03 3.98845288e+01] [ 4.68572595e-03 -1.95763629e-04 9.99989003e-01 4.55341041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.69, Y:39.91, Z:0.46 [[ 6.06895236e-01 -7.94776235e-01 -2.98459347e-03 8.66925105e+01] [ 7.94768022e-01 6.06902549e-01 -3.61752341e-03 3.99059776e+01] [ 4.68647902e-03 -1.76601724e-04 9.99989003e-01 4.58131017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.71, Y:39.93, Z:0.46 [[ 6.07622036e-01 -7.94220684e-01 -2.99450744e-03 8.67107391e+01] [ 7.94212504e-01 6.07629386e-01 -3.60934918e-03 3.99263938e+01] [ 4.68617049e-03 -1.85155155e-04 9.99989003e-01 4.56564609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.73, Y:39.95, Z:0.46 [[ 6.08863919e-01 -7.93269057e-01 -2.98865478e-03 8.67309224e+01] [ 7.93260842e-01 6.08871230e-01 -3.61417362e-03 3.99479948e+01] [ 4.68671801e-03 -1.70242891e-04 9.99989003e-01 4.58593945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.75, Y:39.97, Z:0.46 [[ 6.09815031e-01 -7.92538092e-01 -3.00029856e-03 8.67493475e+01] [ 7.92529915e-01 6.09822385e-01 -3.60457916e-03 3.99689695e+01] [ 4.68641551e-03 -1.79699815e-04 9.99989003e-01 4.58849241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.77, Y:39.99, Z:0.46 [[ 6.10382629e-01 -7.92101009e-01 -3.00630292e-03 8.67681669e+01] [ 7.92092851e-01 6.10390005e-01 -3.59963669e-03 3.99908607e+01] [ 4.68629311e-03 -1.84115343e-04 9.99989002e-01 4.60484389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.79, Y:40.01, Z:0.46 [[ 6.10523767e-01 -7.91992212e-01 -3.01108141e-03 8.67858096e+01] [ 7.91984072e-01 6.10531163e-01 -3.59570549e-03 4.00118505e+01] [ 4.68612978e-03 -1.89464859e-04 9.99989002e-01 4.58271562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.80, Y:40.03, Z:0.46 [[ 6.11443253e-01 -7.91282541e-01 -3.01482850e-03 8.68017418e+01] [ 7.91274408e-01 6.11450656e-01 -3.59262295e-03 4.00324632e+01] [ 4.68619868e-03 -1.88871571e-04 9.99989002e-01 4.60979181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.82, Y:40.05, Z:0.46 [[ 6.11653674e-01 -7.91120010e-01 -2.98528328e-03 8.68188978e+01] [ 7.91111756e-01 6.11660941e-01 -3.61691281e-03 4.00530786e+01] [ 4.68739327e-03 -1.49394687e-04 9.99989003e-01 4.63052827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.84, Y:40.08, Z:0.46 [[ 6.11747325e-01 -7.91047628e-01 -2.97683758e-03 8.68376898e+01] [ 7.91039339e-01 6.11754552e-01 -3.62385102e-03 4.00755558e+01] [ 4.68773269e-03 -1.37914466e-04 9.99989003e-01 4.62215860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.972755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.86, Y:40.10, Z:0.46 [[ 6.12687572e-01 -7.90319578e-01 -2.98394567e-03 8.68552619e+01] [ 7.90311309e-01 6.12694822e-01 -3.61801855e-03 4.00962329e+01] [ 4.68763896e-03 -1.41531006e-04 9.99989003e-01 4.61755439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.87, Y:40.12, Z:0.46 [[ 6.13191905e-01 -7.89928363e-01 -2.97802627e-03 8.68732956e+01] [ 7.89920066e-01 6.13199123e-01 -3.62287340e-03 4.01175933e+01] [ 4.68793355e-03 -1.30886063e-04 9.99989003e-01 4.61883233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.89, Y:40.14, Z:0.46 [[ 6.13427779e-01 -7.89745204e-01 -2.97864825e-03 8.68924802e+01] [ 7.89736908e-01 6.13434997e-01 -3.62236330e-03 4.01394931e+01] [ 4.68795112e-03 -1.30290181e-04 9.99989003e-01 4.62155494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.91, Y:40.16, Z:0.46 [[ 6.13490015e-01 -7.89696800e-01 -2.99439444e-03 8.69102204e+01] [ 7.89688565e-01 6.13497304e-01 -3.60945446e-03 4.01604021e+01] [ 4.68742755e-03 -1.50274777e-04 9.99989003e-01 4.60730370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.93, Y:40.18, Z:0.46 [[ 6.15029808e-01 -7.88498237e-01 -2.97755705e-03 8.69311680e+01] [ 7.88489921e-01 6.15037004e-01 -3.62324080e-03 4.01813281e+01] [ 4.68822676e-03 -1.19372634e-04 9.99989003e-01 4.62290291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.95, Y:40.20, Z:0.46 [[ 6.13375746e-01 -7.89785546e-01 -2.99755854e-03 8.69462566e+01] [ 7.89777325e-01 6.13383051e-01 -3.60686671e-03 4.02023679e+01] [ 4.68730280e-03 -1.55039202e-04 9.99989003e-01 4.61864488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.152755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.97, Y:40.22, Z:0.46 [[ 6.12732520e-01 -7.90284791e-01 -2.96781618e-03 8.69662875e+01] [ 7.90276458e-01 6.12739695e-01 -3.63118771e-03 4.02239262e+01] [ 4.68817120e-03 -1.20448465e-04 9.99989003e-01 4.60744537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.98, Y:40.24, Z:0.46 [[ 6.12911115e-01 -7.90146238e-01 -2.98107272e-03 8.69846957e+01] [ 7.90137956e-01 6.12918350e-01 -3.62035088e-03 4.02443326e+01] [ 4.68776080e-03 -1.36505405e-04 9.99989003e-01 4.62464683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.00, Y:40.26, Z:0.46 [[ 6.11850644e-01 -7.90967756e-01 -2.96623775e-03 8.70033464e+01] [ 7.90959425e-01 6.11857821e-01 -3.63246498e-03 4.02643129e+01] [ 4.68807844e-03 -1.23647668e-04 9.99989003e-01 4.61945900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.02, Y:40.29, Z:0.46 [[ 6.10998181e-01 -7.91626446e-01 -2.96521111e-03 8.70216897e+01] [ 7.91618119e-01 6.11005363e-01 -3.63330284e-03 4.02855794e+01] [ 4.68797851e-03 -1.27373412e-04 9.99989003e-01 4.61906039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.04, Y:40.31, Z:0.46 [[ 6.10121724e-01 -7.92302150e-01 -2.96409144e-03 8.70399648e+01] [ 7.92293826e-01 6.10128910e-01 -3.63421605e-03 4.03065766e+01] [ 4.68787507e-03 -1.31117186e-04 9.99989003e-01 4.61700041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.06, Y:40.33, Z:0.46 [[ 6.10979121e-01 -7.91641165e-01 -2.96297671e-03 8.70648400e+01] [ 7.91632829e-01 6.10986293e-01 -3.63512466e-03 4.03286769e+01] [ 4.68805248e-03 -1.24604363e-04 9.99989003e-01 4.61174371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.08, Y:40.35, Z:0.46 [[ 6.09330272e-01 -7.92910811e-01 -3.01087094e-03 8.70791403e+01] [ 7.92902681e-01 6.09337679e-01 -3.59598284e-03 4.03476260e+01] [ 4.68593078e-03 -1.96186436e-04 9.99989002e-01 4.61991135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.10, Y:40.37, Z:0.46 [[ 6.09293521e-01 -7.92939210e-01 -2.96898465e-03 8.70968077e+01] [ 7.92930913e-01 6.09300738e-01 -3.63017075e-03 4.03680500e+01] [ 4.68750926e-03 -1.42360194e-04 9.99989003e-01 4.61677426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.12, Y:40.39, Z:0.46 [[ 6.10036398e-01 -7.92367847e-01 -2.96436167e-03 8.71157210e+01] [ 7.92359525e-01 6.10043586e-01 -3.63394191e-03 4.03884509e+01] [ 4.68780855e-03 -1.32003376e-04 9.99989003e-01 4.61785188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.13, Y:40.41, Z:0.46 [[ 6.10546834e-01 -7.91974610e-01 -2.96322909e-03 8.71338164e+01] [ 7.91966279e-01 6.10554011e-01 -3.63486522e-03 4.04093672e+01] [ 4.68793237e-03 -1.27522063e-04 9.99989003e-01 4.61902866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.15, Y:40.43, Z:0.46 [[ 6.12190521e-01 -7.90704744e-01 -2.96208974e-03 8.71521942e+01] [ 7.90696394e-01 6.12197676e-01 -3.63579345e-03 4.04292270e+01] [ 4.68822358e-03 -1.16315391e-04 9.99989003e-01 4.61619592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.17, Y:40.45, Z:0.46 [[ 6.12883767e-01 -7.90167527e-01 -2.96106990e-03 8.71704002e+01] [ 7.90159166e-01 6.12890910e-01 -3.63662384e-03 4.04507200e+01] [ 4.68835489e-03 -1.10888806e-04 9.99989003e-01 4.61674191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.19, Y:40.47, Z:0.46 [[ 6.13711955e-01 -7.89524461e-01 -2.96001496e-03 8.71884302e+01] [ 7.89516089e-01 6.13719084e-01 -3.63748230e-03 4.04717653e+01] [ 4.68849892e-03 -1.04613059e-04 9.99989003e-01 4.62153496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.21, Y:40.49, Z:0.46 [[ 6.15454467e-01 -7.88166889e-01 -2.95892817e-03 8.72072485e+01] [ 7.88158496e-01 6.15461572e-01 -3.63836614e-03 4.04921473e+01] [ 4.68874630e-03 -9.28556866e-05 9.99989003e-01 4.62638243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.23, Y:40.51, Z:0.46 [[ 6.16266195e-01 -7.87532366e-01 -2.95784140e-03 8.72256195e+01] [ 7.87523962e-01 6.16273287e-01 -3.63924942e-03 4.05133345e+01] [ 4.68886535e-03 -8.66245897e-05 9.99989003e-01 4.63389215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.24, Y:40.53, Z:0.46 [[ 6.17180970e-01 -7.86815677e-01 -2.95668829e-03 8.72432361e+01] [ 7.86807260e-01 6.17188047e-01 -3.64018602e-03 4.05336443e+01] [ 4.68898810e-03 -7.96902700e-05 9.99989003e-01 4.63572237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.26, Y:40.55, Z:0.46 [[ 6.18575272e-01 -7.85719987e-01 -2.95565446e-03 8.72627222e+01] [ 7.85711553e-01 6.18582329e-01 -3.64102524e-03 4.05544943e+01] [ 4.68914193e-03 -7.00436780e-05 9.99989003e-01 4.64360052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.28, Y:40.57, Z:0.46 [[ 6.19054546e-01 -7.85342435e-01 -2.95452471e-03 8.72803607e+01] [ 7.85333993e-01 6.19061592e-01 -3.64194175e-03 4.05747475e+01] [ 4.68920418e-03 -6.57280926e-05 9.99989003e-01 4.64551767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.30, Y:40.60, Z:0.46 [[ 6.20629126e-01 -7.84098696e-01 -2.95351212e-03 8.73045842e+01] [ 7.84090236e-01 6.20636151e-01 -3.64276275e-03 4.05979434e+01] [ 4.68934192e-03 -5.50153581e-05 9.99989003e-01 4.64212293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.32, Y:40.62, Z:0.47 [[ 6.19191028e-01 -7.85234663e-01 -2.99915575e-03 8.73184248e+01] [ 7.85226393e-01 6.19198280e-01 -3.60576471e-03 4.06171840e+01] [ 4.68844352e-03 -1.22359099e-04 9.99989002e-01 4.66013444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.34, Y:40.64, Z:0.47 [[ 6.18890960e-01 -7.85471372e-01 -2.95020916e-03 8.73361850e+01] [ 7.85462915e-01 6.18897989e-01 -3.64537727e-03 4.06374322e+01] [ 4.68921800e-03 -6.11888448e-05 9.99989004e-01 4.66331968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.36, Y:40.66, Z:0.47 [[ 6.17752952e-01 -7.86366704e-01 -2.94915375e-03 8.73551029e+01] [ 7.86358253e-01 6.17759988e-01 -3.64623091e-03 4.06584491e+01] [ 4.68914377e-03 -6.66214872e-05 9.99989004e-01 4.66171726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:40.68, Z:0.47 [[ 6.17153582e-01 -7.86837219e-01 -2.94060587e-03 8.73733794e+01] [ 7.86828741e-01 6.17160585e-01 -3.65314020e-03 4.06797755e+01] [ 4.68925271e-03 -5.92046583e-05 9.99989004e-01 4.65956841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.39, Y:40.70, Z:0.47 [[ 6.16959051e-01 -7.86989776e-01 -2.93612641e-03 8.73912371e+01] [ 7.86981283e-01 6.16966035e-01 -3.65675969e-03 4.07020588e+01] [ 4.68932276e-03 -5.46055371e-05 9.99989004e-01 4.66089107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.41, Y:40.72, Z:0.47 [[ 6.17461348e-01 -7.86595748e-01 -2.93498753e-03 8.74109152e+01] [ 7.86587245e-01 6.17468321e-01 -3.65767939e-03 4.07221697e+01] [ 4.68937688e-03 -5.01481065e-05 9.99989004e-01 4.67004581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.43, Y:40.75, Z:0.47 [[ 6.15175487e-01 -7.88384705e-01 -2.94574060e-03 8.74298248e+01] [ 7.88376264e-01 6.15182534e-01 -3.64899872e-03 4.07464176e+01] [ 4.68898295e-03 -7.75774094e-05 9.99989004e-01 4.66784111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.45, Y:40.76, Z:0.47 [[ 6.15974535e-01 -7.87760403e-01 -2.98658641e-03 8.74484083e+01] [ 7.87752114e-01 6.15981762e-01 -3.61604004e-03 4.07634598e+01] [ 4.68825592e-03 -1.25301180e-04 9.99989002e-01 4.66048749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:87.47, Y:40.78, Z:0.47 [[ 6.15499666e-01 -7.88131654e-01 -2.94244163e-03 8.74668484e+01] [ 7.88123198e-01 6.15506695e-01 -3.65161159e-03 4.07845090e+01] [ 4.68904320e-03 -7.14407928e-05 9.99989004e-01 4.65490618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.49, Y:40.81, Z:0.46 [[ 6.14453872e-01 -7.88947266e-01 -2.94127009e-03 8.74862295e+01] [ 7.88938814e-01 6.14460907e-01 -3.65255498e-03 4.08054244e+01] [ 4.68896875e-03 -7.61555838e-05 9.99989004e-01 4.64778473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.50, Y:40.83, Z:0.46 [[ 6.14706768e-01 -7.88750199e-01 -2.95193082e-03 8.75048962e+01] [ 7.88741786e-01 6.14713849e-01 -3.64397252e-03 4.08263726e+01] [ 4.68877681e-03 -8.83366148e-05 9.99989004e-01 4.64652366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.52, Y:40.85, Z:0.47 [[ 6.13511581e-01 -7.89680251e-01 -2.93968751e-03 8.75225214e+01] [ 7.89671802e-01 6.13518619e-01 -3.65382289e-03 4.08477083e+01] [ 4.68890480e-03 -7.97256722e-05 9.99989004e-01 4.65371077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.54, Y:40.87, Z:0.46 [[ 6.13383127e-01 -7.89780045e-01 -2.93599147e-03 8.75429575e+01] [ 7.89771583e-01 6.13390149e-01 -3.65679493e-03 4.08675810e+01] [ 4.68897191e-03 -7.57463212e-05 9.99989004e-01 4.64100379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.56, Y:40.89, Z:0.46 [[ 6.15454538e-01 -7.88166901e-01 -2.94067531e-03 8.75623617e+01] [ 7.88158438e-01 6.15461560e-01 -3.65303025e-03 4.08866664e+01] [ 4.68907014e-03 -6.94440152e-05 9.99989004e-01 4.64732083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.58, Y:40.91, Z:0.47 [[ 6.10739658e-01 -7.91826019e-01 -2.93693149e-03 8.75799623e+01] [ 7.91817584e-01 6.10746713e-01 -3.65603769e-03 4.09087719e+01] [ 4.68866702e-03 -9.26267892e-05 9.99989004e-01 4.65385110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.60, Y:40.93, Z:0.47 [[ 6.09839455e-01 -7.92519539e-01 -2.93577259e-03 8.75981668e+01] [ 7.92511108e-01 6.09846514e-01 -3.65696805e-03 4.09300582e+01] [ 4.68858931e-03 -9.64689867e-05 9.99989004e-01 4.65832652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.62, Y:40.95, Z:0.47 [[ 6.09148852e-01 -7.93050480e-01 -2.93461736e-03 8.76166211e+01] [ 7.93042050e-01 6.09155913e-01 -3.65789485e-03 4.09515376e+01] [ 4.68853478e-03 -9.90725139e-05 9.99989004e-01 4.66373444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.63, Y:40.97, Z:0.47 [[ 6.10663124e-01 -7.91885057e-01 -2.93346531e-03 8.76343132e+01] [ 7.91876610e-01 6.10670163e-01 -3.65881851e-03 4.09696874e+01] [ 4.68874344e-03 -8.86370199e-05 9.99989004e-01 4.65487170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.65, Y:40.99, Z:0.47 [[ 6.09245681e-01 -7.92976224e-01 -2.89953194e-03 8.76526963e+01] [ 7.92967659e-01 6.09252579e-01 -3.68599894e-03 4.09943839e+01] [ 4.68945684e-03 -5.35561226e-05 9.99989003e-01 4.67274122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.67, Y:41.02, Z:0.47 [[ 6.09119007e-01 -7.93073413e-01 -2.93203989e-03 8.76700157e+01] [ 7.93064973e-01 6.09126057e-01 -3.65995640e-03 4.10171174e+01] [ 4.68859601e-03 -9.59491248e-05 9.99989004e-01 4.67737323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.69, Y:41.04, Z:0.47 [[ 6.10477129e-01 -7.92028452e-01 -2.93384485e-03 8.76870532e+01] [ 7.92020007e-01 6.10484172e-01 -3.65851084e-03 4.10376261e+01] [ 4.68871052e-03 -9.02266261e-05 9.99989004e-01 4.68287941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.71, Y:41.06, Z:0.47 [[ 6.11123312e-01 -7.91529981e-01 -2.93040365e-03 8.77065685e+01] [ 7.91521517e-01 6.11130332e-01 -3.66126511e-03 4.10604065e+01] [ 4.68885966e-03 -8.19930840e-05 9.99989004e-01 4.68197289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.72, Y:41.08, Z:0.47 [[ 6.10752114e-01 -7.91816377e-01 -2.94626917e-03 8.77221707e+01] [ 7.91807978e-01 6.10759211e-01 -3.64856816e-03 4.10807815e+01] [ 4.68845706e-03 -1.04508721e-04 9.99989004e-01 4.68582019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.74, Y:41.10, Z:0.47 [[ 6.10274289e-01 -7.92184773e-01 -2.92876521e-03 8.77395096e+01] [ 7.92176311e-01 6.10281311e-01 -3.66256518e-03 4.11029285e+01] [ 4.68879904e-03 -8.49290523e-05 9.99989004e-01 4.70222943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:41.12, Z:0.47 [[ 6.09991936e-01 -7.92402214e-01 -2.92736461e-03 8.77563212e+01] [ 7.92393749e-01 6.09998954e-01 -3.66368445e-03 4.11243857e+01] [ 4.68880102e-03 -8.48074467e-05 9.99989004e-01 4.68540948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.77, Y:41.15, Z:0.47 [[ 6.09035492e-01 -7.93137569e-01 -2.92672152e-03 8.77732391e+01] [ 7.93129110e-01 6.09042517e-01 -3.66419811e-03 4.11465082e+01] [ 4.68871102e-03 -8.96413401e-05 9.99989004e-01 4.68763229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.79, Y:41.17, Z:0.47 [[ 6.08270321e-01 -7.93724548e-01 -2.92562361e-03 8.77903480e+01] [ 7.93716091e-01 6.08277349e-01 -3.66507451e-03 4.11688145e+01] [ 4.68865018e-03 -9.27584890e-05 9.99989004e-01 4.69371072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.81, Y:41.19, Z:0.47 [[ 6.10026612e-01 -7.92375529e-01 -2.92447962e-03 8.78133089e+01] [ 7.92367053e-01 6.10033617e-01 -3.66598710e-03 4.11932312e+01] [ 4.68886935e-03 -8.09116044e-05 9.99989004e-01 4.66847716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.82, Y:41.22, Z:0.47 [[ 6.06886605e-01 -7.94782851e-01 -2.97812500e-03 8.78236749e+01] [ 7.94774610e-01 6.06893888e-01 -3.62318601e-03 4.12150080e+01] [ 4.68705197e-03 -1.68075075e-04 9.99989002e-01 4.69729031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.84, Y:41.24, Z:0.47 [[ 6.05957074e-01 -7.95491979e-01 -2.92160904e-03 8.78403801e+01] [ 7.95483528e-01 6.05964109e-01 -3.66819926e-03 4.12369084e+01] [ 4.68841331e-03 -1.01320577e-04 9.99989004e-01 4.69651469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.86, Y:41.26, Z:0.47 [[ 6.04683299e-01 -7.96460657e-01 -2.92057209e-03 8.78573598e+01] [ 7.96452213e-01 6.04690343e-01 -3.66902469e-03 4.12593443e+01] [ 4.68827555e-03 -1.07498149e-04 9.99989004e-01 4.69622181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.87, Y:41.28, Z:0.47 [[ 6.03824149e-01 -7.97112222e-01 -2.91575544e-03 8.78746782e+01] [ 7.97103768e-01 6.03831180e-01 -3.67285701e-03 4.12816879e+01] [ 4.68830326e-03 -1.06399885e-04 9.99989004e-01 4.69432656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:87.89, Y:41.30, Z:0.47 [[ 6.02961204e-01 -7.97765169e-01 -2.91932822e-03 8.78912766e+01] [ 7.97756735e-01 6.02968260e-01 -3.67001502e-03 4.13037034e+01] [ 4.68807241e-03 -1.16037079e-04 9.99989004e-01 4.68846041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:41.33, Z:0.47 [[ 6.02326768e-01 -7.98244274e-01 -2.92298909e-03 8.79067364e+01] [ 7.98235860e-01 6.02333847e-01 -3.66710459e-03 4.13267619e+01] [ 4.68786051e-03 -1.24439453e-04 9.99989004e-01 4.69908993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.92, Y:41.35, Z:0.47 [[ 6.02032123e-01 -7.98466538e-01 -2.91741739e-03 8.79239023e+01] [ 7.98458105e-01 6.02039180e-01 -3.67153190e-03 4.13502286e+01] [ 4.68799493e-03 -1.19055416e-04 9.99989004e-01 4.70655685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77275509600001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:87.94, Y:41.37, Z:0.47 [[ 6.02299741e-01 -7.98264681e-01 -2.91892511e-03 8.79397893e+01] [ 7.98256252e-01 6.02306802e-01 -3.67033405e-03 4.13715438e+01] [ 4.68798649e-03 -1.19408974e-04 9.99989004e-01 4.68983031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.96, Y:41.40, Z:0.47 [[ 6.01803421e-01 -7.98638939e-01 -2.91322120e-03 8.79567862e+01] [ 7.98630493e-01 6.01810461e-01 -3.67486327e-03 4.13950317e+01] [ 4.68809590e-03 -1.15041999e-04 9.99989004e-01 4.70361261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.97, Y:41.42, Z:0.47 [[ 6.01127597e-01 -7.99147741e-01 -2.91560009e-03 8.79732659e+01] [ 7.99139309e-01 6.01134655e-01 -3.67297491e-03 4.14173957e+01] [ 4.68791786e-03 -1.22044054e-04 9.99989004e-01 4.70673807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.99, Y:41.44, Z:0.47 [[ 5.99402100e-01 -8.00442770e-01 -2.91446653e-03 8.79908145e+01] [ 8.00434350e-01 5.99409171e-01 -3.67387416e-03 4.14417550e+01] [ 4.68768398e-03 -1.30711239e-04 9.99989004e-01 4.70819064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.01, Y:41.47, Z:0.47 [[ 5.99579706e-01 -8.00309680e-01 -2.93114489e-03 8.80104877e+01] [ 8.00301322e-01 5.99586852e-01 -3.66065198e-03 4.14655540e+01] [ 4.68713115e-03 -1.50946491e-04 9.99989004e-01 4.70491310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.03, Y:41.49, Z:0.47 [[ 5.98375659e-01 -8.01210265e-01 -2.94654937e-03 8.80279751e+01] [ 8.01201977e-01 5.98382888e-01 -3.64849924e-03 4.14893802e+01] [ 4.68637976e-03 -1.77608044e-04 9.99989003e-01 4.71535733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.04, Y:41.51, Z:0.47 [[ 5.96987888e-01 -8.02244818e-01 -2.95174295e-03 8.80398749e+01] [ 8.02236563e-01 5.96995155e-01 -3.64439410e-03 4.15086650e+01] [ 4.68587252e-03 -1.92336981e-04 9.99989003e-01 4.72093553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.982755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:88.06, Y:41.53, Z:0.47 [[ 5.95574408e-01 -8.03294942e-01 -2.89163827e-03 8.80593803e+01] [ 8.03286467e-01 5.95581415e-01 -3.69183135e-03 4.15337412e+01] [ 4.68783546e-03 -1.24053620e-04 9.99989004e-01 4.74485509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.012755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:88.08, Y:41.56, Z:0.48 [[ 5.94814800e-01 -8.03857418e-01 -2.93352338e-03 8.80755196e+01] [ 8.03849112e-01 5.94822006e-01 -3.65882550e-03 4.15556341e+01] [ 4.68609828e-03 -1.81786605e-04 9.99989004e-01 4.75009590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.09, Y:41.58, Z:0.48 [[ 5.92923957e-01 -8.05253144e-01 -2.92495807e-03 8.80892169e+01] [ 8.05244822e-01 5.92931143e-01 -3.66557415e-03 4.15787802e+01] [ 4.68601384e-03 -1.81900610e-04 9.99989004e-01 4.76273186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.11, Y:41.60, Z:0.47 [[ 5.92546642e-01 -8.05530858e-01 -2.91783444e-03 8.81055425e+01] [ 8.05522512e-01 5.92553800e-01 -3.67118943e-03 4.16011787e+01] [ 4.68623026e-03 -1.75030352e-04 9.99989004e-01 4.73891116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.12, Y:41.62, Z:0.48 [[ 5.93618911e-01 -8.04740970e-01 -2.92585597e-03 8.81209723e+01] [ 8.04732644e-01 5.93626094e-01 -3.66486862e-03 4.16215379e+01] [ 4.68613438e-03 -1.78996490e-04 9.99989004e-01 4.75126487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.14, Y:41.64, Z:0.48 [[ 5.93363618e-01 -8.04929316e-01 -2.90063854e-03 8.81374722e+01] [ 8.04920896e-01 5.93370689e-01 -3.68471997e-03 4.16448681e+01] [ 4.68709302e-03 -1.48405802e-04 9.99989005e-01 4.76119335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.15, Y:41.67, Z:0.48 [[ 5.92637492e-01 -8.05464087e-01 -2.89950894e-03 8.81532412e+01] [ 8.05455669e-01 5.92644565e-01 -3.68560864e-03 4.16677084e+01] [ 4.68700362e-03 -1.51196052e-04 9.99989005e-01 4.76460933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.17, Y:41.69, Z:0.48 [[ 5.93152554e-01 -8.05084910e-01 -2.88710106e-03 8.81708211e+01] [ 8.05076440e-01 5.93159566e-01 -3.69536494e-03 4.16904169e+01] [ 4.68759416e-03 -1.32421894e-04 9.99989004e-01 4.76310645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.19, Y:41.71, Z:0.48 [[ 5.93035216e-01 -8.05171307e-01 -2.89799920e-03 8.81869272e+01] [ 8.05162880e-01 5.93042279e-01 -3.68679849e-03 4.17128446e+01] [ 4.68714041e-03 -1.46960042e-04 9.99989004e-01 4.77587880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.20, Y:41.74, Z:0.48 [[ 5.92470374e-01 -8.05587031e-01 -2.89688744e-03 8.82042187e+01] [ 8.05578604e-01 5.92477437e-01 -3.68767184e-03 4.17367352e+01] [ 4.68708105e-03 -1.48834224e-04 9.99989005e-01 4.76513969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.22, Y:41.76, Z:0.48 [[ 5.93723895e-01 -8.04663584e-01 -2.90748031e-03 8.82205769e+01] [ 8.04655187e-01 5.93730994e-01 -3.67935730e-03 4.17577097e+01] [ 4.68690601e-03 -1.54996761e-04 9.99989004e-01 4.77598779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.312755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:88.24, Y:41.78, Z:0.48 [[ 5.94440937e-01 -8.04134095e-01 -2.88607477e-03 8.82376014e+01] [ 8.04125610e-01 5.94447930e-01 -3.69614081e-03 4.17820619e+01] [ 4.68781401e-03 -1.23629228e-04 9.99989004e-01 4.79087505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.342755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.25, Y:41.80, Z:0.48 [[ 5.94651931e-01 -8.03978009e-01 -2.90536188e-03 8.82524892e+01] [ 8.03969596e-01 5.94659011e-01 -3.68101869e-03 4.18030038e+01] [ 4.68715770e-03 -1.46897746e-04 9.99989004e-01 4.79867085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.27, Y:41.83, Z:0.48 [[ 5.96699624e-01 -8.02459466e-01 -2.89205488e-03 8.82686284e+01] [ 8.02450984e-01 5.96706621e-01 -3.69144403e-03 4.18263214e+01] [ 4.68794250e-03 -1.18049020e-04 9.99989005e-01 4.80039210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.28, Y:41.85, Z:0.48 [[ 5.97726763e-01 -8.01694679e-01 -2.89089020e-03 8.82846999e+01] [ 8.01686184e-01 5.97733744e-01 -3.69235591e-03 4.18479597e+01] [ 4.68812471e-03 -1.10566788e-04 9.99989005e-01 4.79530267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.30, Y:41.87, Z:0.48 [[ 5.98850157e-01 -8.00855879e-01 -2.88984663e-03 8.83016332e+01] [ 8.00847369e-01 5.98857121e-01 -3.69317248e-03 4.18702475e+01] [ 4.68830413e-03 -1.02669148e-04 9.99989005e-01 4.79679279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.32, Y:41.89, Z:0.48 [[ 5.99521972e-01 -8.00353085e-01 -2.88868554e-03 8.83173209e+01] [ 8.00344565e-01 5.99528924e-01 -3.69408043e-03 4.18918858e+01] [ 4.68841920e-03 -9.72613902e-05 9.99989005e-01 4.79377290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.33, Y:41.91, Z:0.48 [[ 6.00934579e-01 -7.99292996e-01 -2.88764491e-03 8.83330546e+01] [ 7.99284460e-01 6.00941511e-01 -3.69489371e-03 4.19138454e+01] [ 4.68860835e-03 -8.76603079e-05 9.99989005e-01 4.79389992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.35, Y:41.94, Z:0.48 [[ 6.01190488e-01 -7.99100534e-01 -2.88686365e-03 8.83493512e+01] [ 7.99091993e-01 6.01197413e-01 -3.69550401e-03 4.19354344e+01] [ 4.68865419e-03 -8.51677653e-05 9.99989005e-01 4.79526903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.37, Y:41.96, Z:0.48 [[ 6.00871851e-01 -7.99340159e-01 -2.88584492e-03 8.83660203e+01] [ 7.99331618e-01 6.00878775e-01 -3.69629937e-03 4.19578957e+01] [ 4.68864349e-03 -8.57448452e-05 9.99989005e-01 4.79664343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.38, Y:41.98, Z:0.48 [[ 6.00153662e-01 -7.99879529e-01 -2.88471208e-03 8.83824753e+01] [ 7.99870989e-01 6.00160588e-01 -3.69718327e-03 4.19793210e+01] [ 4.68859171e-03 -8.85194237e-05 9.99989005e-01 4.79695668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.40, Y:42.00, Z:0.48 [[ 5.98337311e-01 -8.01239132e-01 -2.88369331e-03 8.83992531e+01] [ 8.01230604e-01 5.98344252e-01 -3.69797771e-03 4.20015245e+01] [ 4.68840577e-03 -9.78652890e-05 9.99989005e-01 4.81003196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.42, Y:42.02, Z:0.48 [[ 5.97046509e-01 -8.02201444e-01 -2.88250060e-03 8.84155260e+01] [ 8.02192923e-01 5.97053459e-01 -3.69890717e-03 4.20230589e+01] [ 4.68827562e-03 -1.03901969e-04 9.99989005e-01 4.80511311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.43, Y:42.04, Z:0.48 [[ 5.95804792e-01 -8.03124117e-01 -2.88142475e-03 8.84317188e+01] [ 8.03115602e-01 5.95811750e-01 -3.69974506e-03 4.20445419e+01] [ 4.68814120e-03 -1.09791340e-04 9.99989005e-01 4.80752813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.45, Y:42.07, Z:0.48 [[ 5.94607529e-01 -8.04010939e-01 -2.88027894e-03 8.84488727e+01] [ 8.04002431e-01 5.94614494e-01 -3.70063686e-03 4.20673031e+01] [ 4.68800813e-03 -1.15324732e-04 9.99989005e-01 4.81314911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.47, Y:42.09, Z:0.48 [[ 5.94372702e-01 -8.04184557e-01 -2.87919728e-03 8.84662668e+01] [ 8.04176047e-01 5.94379664e-01 -3.70147824e-03 4.20899613e+01] [ 4.68800795e-03 -1.15323865e-04 9.99989005e-01 4.81448479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.48, Y:42.11, Z:0.48 [[ 5.91732253e-01 -8.06129430e-01 -2.87811605e-03 8.84825570e+01] [ 8.06120938e-01 5.91739238e-01 -3.70231877e-03 4.21127336e+01] [ 4.68764231e-03 -1.29328182e-04 9.99989005e-01 4.81501864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.50, Y:42.13, Z:0.48 [[ 5.90296546e-01 -8.07181335e-01 -2.87742312e-03 8.84988912e+01] [ 8.07172854e-01 5.90303543e-01 -3.70285705e-03 4.21344882e+01] [ 4.68743016e-03 -1.36794108e-04 9.99989005e-01 4.81469978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.52, Y:42.16, Z:0.48 [[ 5.89150047e-01 -8.08018536e-01 -2.87546997e-03 8.85157243e+01] [ 8.08010057e-01 5.89157047e-01 -3.70437315e-03 4.21571228e+01] [ 4.68730557e-03 -1.40977043e-04 9.99989005e-01 4.81481766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.53, Y:42.18, Z:0.48 [[ 5.87107439e-01 -8.09503918e-01 -2.87441152e-03 8.85307006e+01] [ 8.09495452e-01 5.87114456e-01 -3.70519428e-03 4.21791318e+01] [ 4.68697784e-03 -1.51475926e-04 9.99989005e-01 4.81256759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.55, Y:42.20, Z:0.48 [[ 5.85938139e-01 -8.10350691e-01 -2.87329575e-03 8.85469523e+01] [ 8.10342231e-01 5.85945163e-01 -3.70605933e-03 4.22020303e+01] [ 4.68680148e-03 -1.56831382e-04 9.99989005e-01 4.82317858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.56, Y:42.22, Z:0.48 [[ 5.85786381e-01 -8.10460404e-01 -2.87216652e-03 8.85633583e+01] [ 8.10451941e-01 5.85793402e-01 -3.70693427e-03 4.22242236e+01] [ 4.68681964e-03 -1.56281324e-04 9.99989005e-01 4.82483740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.58, Y:42.25, Z:0.48 [[ 5.84166255e-01 -8.11628945e-01 -2.87095687e-03 8.85785662e+01] [ 8.11620492e-01 5.84173287e-01 -3.70787089e-03 4.22466752e+01] [ 4.68655165e-03 -1.64114372e-04 9.99989005e-01 4.82151587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.972755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:88.59, Y:42.27, Z:0.48 [[ 5.83546704e-01 -8.12074508e-01 -2.87013443e-03 8.85949791e+01] [ 8.12066058e-01 5.83553738e-01 -3.70850740e-03 4.22689840e+01] [ 4.68646200e-03 -1.66651482e-04 9.99989005e-01 4.81996118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.61, Y:42.29, Z:0.48 [[ 5.83381131e-01 -8.12193465e-01 -2.86902700e-03 8.86113406e+01] [ 8.12185011e-01 5.83388162e-01 -3.70936395e-03 4.22922823e+01] [ 4.68647755e-03 -1.66207787e-04 9.99989005e-01 4.82607835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.63, Y:42.31, Z:0.48 [[ 5.83222091e-01 -8.12307681e-01 -2.86785022e-03 8.86274961e+01] [ 8.12299224e-01 5.83229118e-01 -3.71027353e-03 4.23147517e+01] [ 4.68649745e-03 -1.65639024e-04 9.99989005e-01 4.82651320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.64, Y:42.34, Z:0.48 [[ 5.84121572e-01 -8.11661118e-01 -2.86667672e-03 8.86426568e+01] [ 8.11652650e-01 5.84128585e-01 -3.71118000e-03 4.23371506e+01] [ 4.68672832e-03 -1.58965456e-04 9.99989005e-01 4.80673812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.66, Y:42.36, Z:0.48 [[ 5.84834631e-01 -8.11147485e-01 -2.86562513e-03 8.86588950e+01] [ 8.11139006e-01 5.84841632e-01 -3.71199182e-03 4.23595557e+01] [ 4.68690970e-03 -1.53518952e-04 9.99989005e-01 4.81779361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.67, Y:42.38, Z:0.48 [[ 5.84611047e-01 -8.11308646e-01 -2.86445108e-03 8.86737594e+01] [ 8.11300164e-01 5.84618045e-01 -3.71289758e-03 4.23817013e+01] [ 4.68691570e-03 -1.53328689e-04 9.99989005e-01 4.79954113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.69, Y:42.40, Z:0.48 [[ 5.88337125e-01 -8.08610678e-01 -2.86316224e-03 8.86901456e+01] [ 8.08602160e-01 5.88344078e-01 -3.71389119e-03 4.24045855e+01] [ 4.68761662e-03 -1.30139108e-04 9.99989005e-01 4.81910299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.71, Y:42.43, Z:0.48 [[ 5.89694324e-01 -8.07621455e-01 -2.86186366e-03 8.87057035e+01] [ 8.07612920e-01 5.89701256e-01 -3.71489158e-03 4.24261517e+01] [ 4.68787074e-03 -1.20627590e-04 9.99989005e-01 4.82080121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.72, Y:42.45, Z:0.48 [[ 5.91177493e-01 -8.06536414e-01 -2.86081581e-03 8.87215942e+01] [ 8.06527862e-01 5.91184405e-01 -3.71569835e-03 4.24477391e+01] [ 4.68811572e-03 -1.10690420e-04 9.99989005e-01 4.82298800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:88.74, Y:42.47, Z:0.48 [[ 5.94472487e-01 -8.04110865e-01 -2.85978802e-03 8.87373330e+01] [ 8.04102282e-01 5.94479359e-01 -3.71648922e-03 4.24696628e+01] [ 4.68855431e-03 -9.02114791e-05 9.99989005e-01 4.83267979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.76, Y:42.49, Z:0.48 [[ 5.97962080e-01 -8.01519300e-01 -2.85684513e-03 8.87587906e+01] [ 8.01510676e-01 5.97968901e-01 -3.71875245e-03 4.24939155e+01] [ 4.68895640e-03 -6.61189231e-05 9.99989005e-01 4.80356444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:88.77, Y:42.52, Z:0.48 [[ 5.96398332e-01 -8.02683377e-01 -2.90259730e-03 8.87690402e+01] [ 8.02674936e-01 5.96405381e-01 -3.68362097e-03 4.25157515e+01] [ 4.68790597e-03 -1.32936695e-04 9.99989003e-01 4.84540705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.79, Y:42.54, Z:0.49 [[ 5.99083842e-01 -8.00681215e-01 -2.85332981e-03 8.87853106e+01] [ 8.00672569e-01 5.99090635e-01 -3.72139616e-03 4.25390342e+01] [ 4.68905517e-03 -5.51545976e-05 9.99989005e-01 4.85237994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.362755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:88.80, Y:42.56, Z:0.48 [[ 6.01168525e-01 -7.99117181e-01 -2.85220410e-03 8.88005022e+01] [ 7.99108513e-01 6.01175290e-01 -3.72225874e-03 4.25590307e+01] [ 4.68919554e-03 -4.15157808e-05 9.99989005e-01 4.84184185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.82, Y:42.58, Z:0.49 [[ 6.01345546e-01 -7.98984053e-01 -2.83142014e-03 8.88181100e+01] [ 7.98975309e-01 6.01352211e-01 -3.73818164e-03 4.25831395e+01] [ 4.68942829e-03 -1.42959027e-05 9.99989004e-01 4.85124962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.83, Y:42.60, Z:0.49 [[ 6.01325156e-01 -7.98999328e-01 -2.85143204e-03 8.88344195e+01] [ 7.98990656e-01 6.01331915e-01 -3.72285401e-03 4.26044122e+01] [ 4.68921494e-03 -3.96217891e-05 9.99989005e-01 4.85229503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.85, Y:42.63, Z:0.49 [[ 6.00843818e-01 -7.99361358e-01 -2.85038171e-03 8.88518179e+01] [ 7.99352687e-01 6.00850578e-01 -3.72365801e-03 4.26268339e+01] [ 4.68920182e-03 -4.11233811e-05 9.99989005e-01 4.85297796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.87, Y:42.65, Z:0.49 [[ 6.00038708e-01 -7.99965894e-01 -2.84922354e-03 8.88688346e+01] [ 7.99957224e-01 6.00045471e-01 -3.72454400e-03 4.26486431e+01] [ 4.68917185e-03 -4.43863830e-05 9.99989005e-01 4.85555635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.89, Y:42.67, Z:0.48 [[ 5.97934169e-01 -8.01540154e-01 -2.84803950e-03 8.88859678e+01] [ 8.01531498e-01 5.97940949e-01 -3.72544917e-03 4.26692665e+01] [ 4.68905655e-03 -5.52200117e-05 9.99989005e-01 4.84756940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.90, Y:42.69, Z:0.49 [[ 5.96292486e-01 -8.02762210e-01 -2.84697588e-03 8.89031069e+01] [ 8.02753564e-01 5.96299279e-01 -3.72626181e-03 4.26910531e+01] [ 4.68895183e-03 -6.34781179e-05 9.99989005e-01 4.85292445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.92, Y:42.71, Z:0.49 [[ 5.92984344e-01 -8.05208960e-01 -2.84582141e-03 8.89210004e+01] [ 8.05200338e-01 5.92991167e-01 -3.72714329e-03 4.27123300e+01] [ 4.68867614e-03 -8.13187445e-05 9.99989005e-01 4.85782876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.94, Y:42.73, Z:0.49 [[ 5.91081186e-01 -8.06607054e-01 -2.84465665e-03 8.89374351e+01] [ 8.06598444e-01 5.91088024e-01 -3.72803206e-03 4.27333169e+01] [ 4.68849943e-03 -9.09260143e-05 9.99989005e-01 4.85917054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.95, Y:42.75, Z:0.49 [[ 5.89189502e-01 -8.07989879e-01 -2.84361117e-03 8.89540024e+01] [ 8.07981281e-01 5.89196355e-01 -3.72882935e-03 4.27541888e+01] [ 4.68830171e-03 -1.00597490e-04 9.99989005e-01 4.86135543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.97, Y:42.78, Z:0.49 [[ 5.85504912e-01 -8.10663874e-01 -2.84283003e-03 8.89721865e+01] [ 8.10655304e-01 5.85511801e-01 -3.72942478e-03 4.27761956e+01] [ 4.68782047e-03 -1.20958715e-04 9.99989005e-01 4.85738607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.99, Y:42.80, Z:0.49 [[ 5.83272000e-01 -8.12271937e-01 -2.84170158e-03 8.89891622e+01] [ 8.12263382e-01 5.83278907e-01 -3.73028443e-03 4.27982433e+01] [ 4.68750995e-03 -1.32439681e-04 9.99989005e-01 4.85379848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.01, Y:42.82, Z:0.48 [[ 5.81450358e-01 -8.13576925e-01 -2.84056990e-03 8.90061611e+01] [ 8.13568381e-01 5.81457279e-01 -3.73114599e-03 4.28195823e+01] [ 4.68724433e-03 -1.41521686e-04 9.99989005e-01 4.84475905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.02, Y:42.84, Z:0.48 [[ 5.77657678e-01 -8.16274185e-01 -2.83937788e-03 8.90232296e+01] [ 8.16265669e-01 5.77664634e-01 -3.73205289e-03 4.28404303e+01] [ 4.68658661e-03 -1.61837673e-04 9.99989005e-01 4.84037750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.04, Y:42.86, Z:0.48 [[ 5.75882051e-01 -8.17527864e-01 -2.83819342e-03 8.90407890e+01] [ 8.17519359e-01 5.75889020e-01 -3.73295345e-03 4.28627033e+01] [ 4.68627788e-03 -1.70537176e-04 9.99989005e-01 4.84118014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.06, Y:42.88, Z:0.49 [[ 5.72836277e-01 -8.19664902e-01 -2.83709069e-03 8.90584180e+01] [ 8.19656419e-01 5.72843272e-01 -3.73379134e-03 4.28845684e+01] [ 4.68566603e-03 -1.86588467e-04 9.99989005e-01 4.85071174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.07, Y:42.91, Z:0.49 [[ 5.71584345e-01 -8.20538417e-01 -2.83590372e-03 8.90747125e+01] [ 8.20529940e-01 5.71591348e-01 -3.73469266e-03 4.29056738e+01] [ 4.68543683e-03 -1.92252051e-04 9.99989005e-01 4.85394572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.09, Y:42.93, Z:0.49 [[ 5.70862131e-01 -8.21041040e-01 -2.83509791e-03 8.90919325e+01] [ 8.21032567e-01 5.70869137e-01 -3.73530427e-03 4.29281531e+01] [ 4.68530800e-03 -1.95363955e-04 9.99989005e-01 4.85789504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.11, Y:42.95, Z:0.49 [[ 5.70457272e-01 -8.21322391e-01 -2.83392710e-03 8.91081485e+01] [ 8.21313917e-01 5.70464277e-01 -3.73619234e-03 4.29499136e+01] [ 4.68527260e-03 -1.96205677e-04 9.99989005e-01 4.86498002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.12, Y:42.97, Z:0.49 [[ 5.70547780e-01 -8.21259524e-01 -2.83287365e-03 8.91246693e+01] [ 8.21251045e-01 5.70554780e-01 -3.73699092e-03 4.29722863e+01] [ 4.68534898e-03 -1.94368569e-04 9.99989005e-01 4.86884511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.14, Y:42.99, Z:0.49 [[ 5.71142429e-01 -8.20846092e-01 -2.83170612e-03 8.91404505e+01] [ 8.20837603e-01 5.71149417e-01 -3.73787540e-03 4.29937298e+01] [ 4.68554772e-03 -1.89511633e-04 9.99989005e-01 4.87055861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.16, Y:43.02, Z:0.49 [[ 5.73234449e-01 -8.19386510e-01 -2.83065757e-03 8.91564727e+01] [ 8.19378000e-01 5.73241411e-01 -3.73866929e-03 4.30168769e+01] [ 4.68606533e-03 -1.76244504e-04 9.99989005e-01 4.87210115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.17, Y:43.04, Z:0.49 [[ 5.74458909e-01 -8.18528531e-01 -2.82945511e-03 8.91725589e+01] [ 8.18520006e-01 5.74465852e-01 -3.73957910e-03 4.30394506e+01] [ 4.68637753e-03 -1.67731086e-04 9.99989005e-01 4.87278821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.19, Y:43.06, Z:0.49 [[ 5.76026532e-01 -8.17426104e-01 -2.82825051e-03 8.91881287e+01] [ 8.17417561e-01 5.76033453e-01 -3.74048992e-03 4.30613215e+01] [ 4.68674101e-03 -1.57240201e-04 9.99989005e-01 4.87029183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.20, Y:43.08, Z:0.49 [[ 5.79860557e-01 -8.14710833e-01 -2.82716367e-03 8.92041812e+01] [ 8.14702253e-01 5.79867434e-01 -3.74131120e-03 4.30845831e+01] [ 4.68746691e-03 -1.33857816e-04 9.99989005e-01 4.87248533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.22, Y:43.11, Z:0.49 [[ 5.81957449e-01 -8.13214327e-01 -2.82598181e-03 8.92208023e+01] [ 8.13205726e-01 5.81964298e-01 -3.74220370e-03 4.31073644e+01] [ 4.68783419e-03 -1.20301274e-04 9.99989005e-01 4.87323434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.24, Y:43.13, Z:0.49 [[ 5.86368066e-01 -8.10039821e-01 -2.82480788e-03 8.92361497e+01] [ 8.10031178e-01 5.86374863e-01 -3.74308964e-03 4.31292928e+01] [ 4.68844799e-03 -9.33542219e-05 9.99989005e-01 4.87657961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.25, Y:43.15, Z:0.49 [[ 5.88149270e-01 -8.08747466e-01 -2.82375399e-03 8.92527584e+01] [ 8.08738804e-01 5.88156042e-01 -3.74388451e-03 4.31519566e+01] [ 4.68866508e-03 -8.17164818e-05 9.99989005e-01 4.87678541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.27, Y:43.17, Z:0.49 [[ 5.89623078e-01 -8.07673609e-01 -2.82258652e-03 8.92693612e+01] [ 8.07664931e-01 5.89629829e-01 -3.74476448e-03 4.31749541e+01] [ 4.68882866e-03 -7.17045890e-05 9.99989005e-01 4.88102411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.29, Y:43.20, Z:0.49 [[ 5.89643000e-01 -8.07659069e-01 -2.82140778e-03 8.92863162e+01] [ 8.07650387e-01 5.89649746e-01 -3.74565237e-03 4.31989554e+01] [ 4.68885249e-03 -7.01133835e-05 9.99989005e-01 4.88730112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.30, Y:43.22, Z:0.49 [[ 5.92879289e-01 -8.05286308e-01 -2.84774017e-03 8.93014852e+01] [ 8.05277694e-01 5.92886123e-01 -3.72581338e-03 4.32190134e+01] [ 4.68873213e-03 -8.42640436e-05 9.99989004e-01 4.89352390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.32, Y:43.24, Z:0.49 [[ 5.93379387e-01 -8.04917979e-01 -2.81968069e-03 8.93182962e+01] [ 8.04909259e-01 5.93386085e-01 -3.74692902e-03 4.32414431e+01] [ 4.68912982e-03 -4.62366439e-05 9.99989005e-01 4.89623771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.34, Y:43.26, Z:0.49 [[ 5.93591067e-01 -8.04761891e-01 -2.81855507e-03 8.93356413e+01] [ 8.04753165e-01 5.93597757e-01 -3.74777555e-03 4.32637844e+01] [ 4.68915491e-03 -4.35950296e-05 9.99989005e-01 4.89753524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.35, Y:43.28, Z:0.49 [[ 5.93271313e-01 -8.04997647e-01 -2.81738813e-03 8.93519588e+01] [ 8.04988920e-01 5.93278001e-01 -3.74865259e-03 4.32847843e+01] [ 4.68915092e-03 -4.39981808e-05 9.99989005e-01 4.89697448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38275509600001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:89.37, Y:43.31, Z:0.49 [[ 5.92541069e-01 -8.05535319e-01 -2.81634156e-03 8.93704111e+01] [ 8.05526594e-01 5.92547760e-01 -3.74943872e-03 4.33069601e+01] [ 4.68912219e-03 -4.69415997e-05 9.99989005e-01 4.87935069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.39, Y:43.33, Z:0.49 [[ 5.90078540e-01 -8.07340902e-01 -2.82585016e-03 8.93855575e+01] [ 8.07332232e-01 5.90085301e-01 -3.74229916e-03 4.33296915e+01] [ 4.68880383e-03 -7.31494924e-05 9.99989005e-01 4.87680151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.40, Y:43.35, Z:0.49 [[ 5.90224530e-01 -8.07234218e-01 -2.81438314e-03 8.94031695e+01] [ 8.07225506e-01 5.90231237e-01 -3.75090399e-03 4.33502127e+01] [ 4.68899489e-03 -5.79663071e-05 9.99989005e-01 4.87753333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.42, Y:43.37, Z:0.49 [[ 5.87974231e-01 -8.08874766e-01 -2.81364825e-03 8.94184693e+01] [ 8.08866070e-01 5.87980959e-01 -3.75145517e-03 4.33722666e+01] [ 4.68882902e-03 -7.01056355e-05 9.99989005e-01 4.87509531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.44, Y:43.39, Z:0.49 [[ 5.85761664e-01 -8.10478520e-01 -2.80034008e-03 8.94375009e+01] [ 8.10469794e-01 5.85768354e-01 -3.76142386e-03 4.33944893e+01] [ 4.68890384e-03 -6.62931439e-05 9.99989005e-01 4.87235890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.46, Y:43.42, Z:0.49 [[ 5.84366457e-01 -8.11485040e-01 -2.80612402e-03 8.94551673e+01] [ 8.11476346e-01 5.84373189e-01 -3.75709337e-03 4.34159363e+01] [ 4.68864870e-03 -8.15839295e-05 9.99989005e-01 4.87568733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.47, Y:43.44, Z:0.49 [[ 5.82607236e-01 -8.12748986e-01 -2.80969911e-03 8.94717956e+01] [ 8.12740320e-01 5.82614003e-01 -3.75441787e-03 4.34367742e+01] [ 4.68836937e-03 -9.62047374e-05 9.99989005e-01 4.87254554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.49, Y:43.46, Z:0.49 [[ 5.79498676e-01 -8.14968341e-01 -2.80850277e-03 8.94891313e+01] [ 8.14959697e-01 5.79505470e-01 -3.75531259e-03 4.34567424e+01] [ 4.68800359e-03 -1.12617893e-04 9.99989005e-01 4.86161363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.51, Y:43.48, Z:0.49 [[ 5.76605774e-01 -8.17017721e-01 -2.79721007e-03 8.95065025e+01] [ 8.17009060e-01 5.76612547e-01 -3.76375297e-03 4.34798059e+01] [ 4.68795930e-03 -1.15144277e-04 9.99989005e-01 4.86353660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.52, Y:43.50, Z:0.49 [[ 5.76343866e-01 -8.17202455e-01 -2.81002146e-03 8.95234025e+01] [ 8.17193842e-01 5.76350701e-01 -3.75418213e-03 4.35028459e+01] [ 4.68748469e-03 -1.32632392e-04 9.99989005e-01 4.86492066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.54, Y:43.53, Z:0.49 [[ 5.71314818e-01 -8.20726196e-01 -2.80881424e-03 8.95418869e+01] [ 8.20717622e-01 5.71321700e-01 -3.75508339e-03 4.35259898e+01] [ 4.68663184e-03 -1.59908558e-04 9.99989005e-01 4.85305473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.56, Y:43.54, Z:0.49 [[ 5.71863211e-01 -8.20344101e-01 -2.83246557e-03 8.95570385e+01] [ 8.20335609e-01 5.71870196e-01 -3.73742578e-03 4.35426916e+01] [ 4.68577784e-03 -1.86276055e-04 9.99989004e-01 4.85407349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.57, Y:43.56, Z:0.49 [[ 5.70955425e-01 -8.20976348e-01 -2.78176010e-03 8.95734749e+01] [ 8.20967678e-01 5.70962187e-01 -3.77520668e-03 4.35630314e+01] [ 4.68763522e-03 -1.28260395e-04 9.99989005e-01 4.86022743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.59, Y:43.59, Z:0.49 [[ 5.67030032e-01 -8.23692488e-01 -2.76176806e-03 8.95912085e+01] [ 8.23683778e-01 5.67036744e-01 -3.79009099e-03 4.35885389e+01] [ 4.68789344e-03 -1.25728133e-04 9.99989004e-01 4.87321998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.61, Y:43.61, Z:0.49 [[ 5.64940897e-01 -8.25126620e-01 -2.80075243e-03 8.96084621e+01] [ 8.25118069e-01 5.64947808e-01 -3.76106046e-03 4.36104076e+01] [ 4.68563006e-03 -1.86174572e-04 9.99989005e-01 4.88573805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.63, Y:43.63, Z:0.49 [[ 5.64552375e-01 -8.25392500e-01 -2.79957851e-03 8.96250419e+01] [ 8.25383948e-01 5.64559285e-01 -3.76193408e-03 4.36318932e+01] [ 4.68560022e-03 -1.86918341e-04 9.99989005e-01 4.88808113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.64, Y:43.65, Z:0.49 [[ 5.64330352e-01 -8.25544347e-01 -2.79023482e-03 8.96419601e+01] [ 8.25535763e-01 5.64337222e-01 -3.76887938e-03 4.36535615e+01] [ 4.68601043e-03 -1.76545603e-04 9.99989005e-01 4.89341001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.66, Y:43.68, Z:0.49 [[ 5.64755484e-01 -8.25253585e-01 -2.78635905e-03 8.96596616e+01] [ 8.25244983e-01 5.64762333e-01 -3.77176008e-03 4.36762305e+01] [ 4.68628916e-03 -1.69306638e-04 9.99989005e-01 4.89657556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.68, Y:43.70, Z:0.49 [[ 5.65493546e-01 -8.24747978e-01 -2.79682146e-03 8.96759880e+01] [ 8.24739408e-01 5.65500434e-01 -3.76398600e-03 4.36976023e+01] [ 4.68594360e-03 -1.78139089e-04 9.99989005e-01 4.89780612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.69, Y:43.72, Z:0.49 [[ 5.66426576e-01 -8.24107468e-01 -2.79560675e-03 8.96929631e+01] [ 8.24098886e-01 5.66433449e-01 -3.76488799e-03 4.37199169e+01] [ 4.68619748e-03 -1.71323792e-04 9.99989005e-01 4.90239586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.71, Y:43.74, Z:0.49 [[ 5.69449841e-01 -8.22021332e-01 -2.79440692e-03 8.97099795e+01] [ 8.22012720e-01 5.69456677e-01 -3.76577832e-03 4.37428071e+01] [ 4.68684379e-03 -1.52616161e-04 9.99989005e-01 4.90372644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.73, Y:43.77, Z:0.49 [[ 5.70978284e-01 -8.20960411e-01 -2.79321587e-03 8.97263240e+01] [ 8.20951783e-01 5.70985099e-01 -3.76666156e-03 4.37655969e+01] [ 4.68716466e-03 -1.42413589e-04 9.99989005e-01 4.90448627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.74, Y:43.79, Z:0.49 [[ 5.74954349e-01 -8.18180726e-01 -2.79200034e-03 8.97420039e+01] [ 8.18172060e-01 5.74961116e-01 -3.76756235e-03 4.37874293e+01] [ 4.68783853e-03 -1.18160313e-04 9.99989005e-01 4.90784974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.76, Y:43.81, Z:0.49 [[ 5.76874610e-01 -8.16827946e-01 -2.79117507e-03 8.97587434e+01] [ 8.16819261e-01 5.76881353e-01 -3.76817364e-03 4.38104254e+01] [ 4.68812639e-03 -1.06121858e-04 9.99989005e-01 4.91125008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.78, Y:43.83, Z:0.49 [[ 5.77700379e-01 -8.16244135e-01 -2.78999332e-03 8.97751088e+01] [ 8.16235439e-01 5.77707107e-01 -3.76904842e-03 4.38337996e+01] [ 4.68826264e-03 -9.99107208e-05 9.99989005e-01 4.91609625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.79, Y:43.86, Z:0.49 [[ 5.79938163e-01 -8.14655660e-01 -2.80783351e-03 8.97909921e+01] [ 8.14647009e-01 5.79944950e-01 -3.75584615e-03 4.38550910e+01] [ 4.68811018e-03 -1.09234658e-04 9.99989005e-01 4.91846019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.81, Y:43.88, Z:0.49 [[ 5.82233479e-01 -8.13016853e-01 -2.78807018e-03 8.98074231e+01] [ 8.13008113e-01 5.82240150e-01 -3.77046016e-03 4.38778485e+01] [ 4.68877405e-03 -7.14355447e-05 9.99989005e-01 4.92241412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.82, Y:43.90, Z:0.49 [[ 5.82830425e-01 -8.12589028e-01 -2.78690030e-03 8.98245080e+01] [ 8.12580279e-01 5.82837084e-01 -3.77132467e-03 4.39010873e+01] [ 4.68884589e-03 -6.65374650e-05 9.99989005e-01 4.92039990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.84, Y:43.92, Z:0.49 [[ 5.83338841e-01 -8.12224119e-01 -2.78883233e-03 8.98400778e+01] [ 8.12215373e-01 5.83345504e-01 -3.76989737e-03 4.39226320e+01] [ 4.68885437e-03 -6.60049305e-05 9.99989005e-01 4.92395523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.86, Y:43.94, Z:0.49 [[ 5.83706366e-01 -8.11960047e-01 -2.78570379e-03 8.98556050e+01] [ 8.11951287e-01 5.83713010e-01 -3.77220774e-03 4.39442400e+01] [ 4.68893352e-03 -5.99941069e-05 9.99989005e-01 4.92470990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.87, Y:43.97, Z:0.49 [[ 5.83386154e-01 -8.12190152e-01 -2.78447394e-03 8.98728835e+01] [ 8.12181390e-01 5.83392795e-01 -3.77311534e-03 4.39680828e+01] [ 4.68892916e-03 -6.03146647e-05 9.99989005e-01 4.92526012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.89, Y:43.99, Z:0.49 [[ 5.82507980e-01 -8.12820197e-01 -2.78932321e-03 8.98884664e+01] [ 8.12811460e-01 5.82514654e-01 -3.76953813e-03 4.39897807e+01] [ 4.68877837e-03 -7.14078291e-05 9.99989005e-01 4.92869207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.342755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:89.90, Y:44.01, Z:0.49 [[ 5.82124260e-01 -8.13095059e-01 -2.78774776e-03 8.99048100e+01] [ 8.13086318e-01 5.82130931e-01 -3.77069929e-03 4.40119128e+01] [ 4.68877116e-03 -7.16640321e-05 9.99989005e-01 4.92650145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.92, Y:44.04, Z:0.49 [[ 5.80604076e-01 -8.14181290e-01 -2.78081999e-03 8.99220896e+01] [ 8.14172538e-01 5.80610731e-01 -3.77580149e-03 4.40359160e+01] [ 4.68876086e-03 -7.18215383e-05 9.99989005e-01 4.91905787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.94, Y:44.06, Z:0.49 [[ 5.79151168e-01 -8.15215385e-01 -2.79299701e-03 8.99389056e+01] [ 8.15206688e-01 5.79157895e-01 -3.76683847e-03 4.40575684e+01] [ 4.68837094e-03 -9.53009408e-05 9.99989005e-01 4.92110360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.96, Y:44.08, Z:0.49 [[ 5.77902601e-01 -8.16101015e-01 -2.77793730e-03 8.99557198e+01] [ 8.16092275e-01 5.77909271e-01 -3.77791203e-03 4.40803997e+01] [ 4.68855356e-03 -8.37879796e-05 9.99989005e-01 4.91761197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.97, Y:44.10, Z:0.49 [[ 5.75892391e-01 -8.17520791e-01 -2.77680533e-03 8.99720282e+01] [ 8.17512063e-01 5.75899078e-01 -3.77874385e-03 4.41031922e+01] [ 4.68836129e-03 -9.39220238e-05 9.99989005e-01 4.90571293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:89.99, Y:44.12, Z:0.49 [[ 5.73591641e-01 -8.19136668e-01 -2.78358624e-03 8.99882845e+01] [ 8.19127983e-01 5.73598384e-01 -3.77376394e-03 4.41245837e+01] [ 4.68788899e-03 -1.15513930e-04 9.99989005e-01 4.90204249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.00, Y:44.15, Z:0.49 [[ 5.71878754e-01 -8.20333465e-01 -2.77423542e-03 9.00049184e+01] [ 8.20324761e-01 5.71885472e-01 -3.78062560e-03 4.41476301e+01] [ 4.68791863e-03 -1.13714547e-04 9.99989005e-01 4.90032772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.02, Y:44.17, Z:0.49 [[ 5.69711165e-01 -8.21840312e-01 -2.77308953e-03 9.00222514e+01] [ 8.21831622e-01 5.69717900e-01 -3.78146593e-03 4.41721417e+01] [ 4.68763988e-03 -1.24669305e-04 9.99989005e-01 4.90040211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.04, Y:44.19, Z:0.49 [[ 5.68644892e-01 -8.22578382e-01 -2.79153883e-03 9.00378869e+01] [ 8.22569767e-01 5.68651723e-01 -3.76793741e-03 4.41927645e+01] [ 4.68683722e-03 -1.53617083e-04 9.99989005e-01 4.90221843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.05, Y:44.21, Z:0.49 [[ 5.67391899e-01 -8.23443229e-01 -2.77154813e-03 9.00535223e+01] [ 8.23434553e-01 5.67398651e-01 -3.78258485e-03 4.42147996e+01] [ 4.68731655e-03 -1.35980499e-04 9.99989005e-01 4.90349131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.07, Y:44.24, Z:0.49 [[ 5.66034298e-01 -8.24377037e-01 -2.77037474e-03 9.00696532e+01] [ 8.24368367e-01 5.66041059e-01 -3.78344404e-03 4.42371577e+01] [ 4.68713025e-03 -1.42250211e-04 9.99989005e-01 4.90376031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.09, Y:44.26, Z:0.49 [[ 5.65369405e-01 -8.24833176e-01 -2.76926239e-03 9.00857848e+01] [ 8.24824507e-01 5.65376168e-01 -3.78425804e-03 4.42592842e+01] [ 4.68705654e-03 -1.44651772e-04 9.99989005e-01 4.90481859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.10, Y:44.28, Z:0.49 [[ 5.65106825e-01 -8.25013100e-01 -2.76808981e-03 9.01024780e+01] [ 8.25004429e-01 5.65113586e-01 -3.78511557e-03 4.42822591e+01] [ 4.68705508e-03 -1.44691714e-04 9.99989005e-01 4.90826027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.12, Y:44.31, Z:0.49 [[ 5.64894572e-01 -8.25158449e-01 -2.76697754e-03 9.01191101e+01] [ 8.25149777e-01 5.64901330e-01 -3.78592848e-03 4.43052169e+01] [ 4.68706016e-03 -1.44520451e-04 9.99989005e-01 4.91567941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.14, Y:44.33, Z:0.49 [[ 5.64414627e-01 -8.25486813e-01 -2.76579022e-03 9.01354188e+01] [ 8.25478141e-01 5.64421385e-01 -3.78679567e-03 4.43283730e+01] [ 4.68702104e-03 -1.45776506e-04 9.99989005e-01 4.91990615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79275509600001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:90.15, Y:44.35, Z:0.49 [[ 5.63576409e-01 -8.26059313e-01 -2.76461495e-03 9.01515194e+01] [ 8.26050643e-01 5.63583170e-01 -3.78765350e-03 4.43514509e+01] [ 4.68691691e-03 -1.49079802e-04 9.99989005e-01 4.91333045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82275509600001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:90.17, Y:44.37, Z:0.49 [[ 5.62921795e-01 -8.26505546e-01 -2.76324894e-03 9.01674621e+01] [ 8.26496876e-01 5.62928557e-01 -3.78864980e-03 4.43742063e+01] [ 4.68685181e-03 -1.51103071e-04 9.99989005e-01 4.91778225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.18, Y:44.40, Z:0.49 [[ 5.62142167e-01 -8.27035971e-01 -2.77250897e-03 9.01837559e+01] [ 8.27027340e-01 5.62148980e-01 -3.78189757e-03 4.43976574e+01] [ 4.68632842e-03 -1.66976627e-04 9.99989005e-01 4.92019076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.20, Y:44.42, Z:0.49 [[ 5.62443661e-01 -8.26830963e-01 -2.77246420e-03 9.01997996e+01] [ 8.26822330e-01 5.62450470e-01 -3.78193018e-03 4.44198320e+01] [ 4.68639076e-03 -1.65212655e-04 9.99989005e-01 4.92369950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.22, Y:44.44, Z:0.49 [[ 5.62108291e-01 -8.27059042e-01 -2.75877622e-03 9.02150079e+01] [ 8.27050363e-01 5.62115040e-01 -3.79188882e-03 4.44425312e+01] [ 4.68686554e-03 -1.50194733e-04 9.99989005e-01 4.92606999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.23, Y:44.47, Z:0.49 [[ 5.61909454e-01 -8.27194150e-01 -2.75756654e-03 9.02309510e+01] [ 8.27185468e-01 5.61916200e-01 -3.79276833e-03 4.44658784e+01] [ 4.68687709e-03 -1.49826590e-04 9.99989005e-01 4.93128455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.25, Y:44.49, Z:0.49 [[ 5.61755968e-01 -8.27298395e-01 -2.75644097e-03 9.02468483e+01] [ 8.27289711e-01 5.61762711e-01 -3.79358618e-03 4.44891482e+01] [ 4.68689351e-03 -1.49305577e-04 9.99989005e-01 4.93698130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.26, Y:44.51, Z:0.49 [[ 5.61422524e-01 -8.27524717e-01 -2.75532121e-03 9.02630468e+01] [ 8.27516031e-01 5.61429266e-01 -3.79439929e-03 4.45126375e+01] [ 4.68687717e-03 -1.49811246e-04 9.99989005e-01 4.93968446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.28, Y:44.54, Z:0.49 [[ 5.61218440e-01 -8.27663143e-01 -2.75413624e-03 9.02786541e+01] [ 8.27654455e-01 5.61225178e-01 -3.79525920e-03 4.45363573e+01] [ 4.68688676e-03 -1.49503679e-04 9.99989005e-01 4.94579882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.29, Y:44.56, Z:0.49 [[ 5.61785667e-01 -8.27278200e-01 -2.76471761e-03 9.02942043e+01] [ 8.27269545e-01 5.61792448e-01 -3.78758257e-03 4.45590071e+01] [ 4.68658197e-03 -1.59357079e-04 9.99989005e-01 4.94491053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.31, Y:44.58, Z:0.49 [[ 5.60977726e-01 -8.27826299e-01 -2.75839557e-03 9.03105785e+01] [ 8.27817628e-01 5.60984486e-01 -3.79216654e-03 4.45836967e+01] [ 4.68667232e-03 -1.56127516e-04 9.99989005e-01 4.94190430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.33, Y:44.61, Z:0.49 [[ 5.63440874e-01 -8.26151716e-01 -2.77915374e-03 9.03250277e+01] [ 8.26143098e-01 5.63447703e-01 -3.77713208e-03 4.46058409e+01] [ 4.68639194e-03 -1.67788079e-04 9.99989005e-01 4.93566615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.152755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.35, Y:44.63, Z:0.49 [[ 5.69009228e-01 -8.22326544e-01 -2.74855796e-03 9.03519962e+01] [ 8.22317773e-01 5.69015857e-01 -3.79926643e-03 4.46323918e+01] [ 4.68821070e-03 -9.83704016e-05 9.99989005e-01 4.93419762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.36, Y:44.65, Z:0.49 [[ 5.66120324e-01 -8.24317687e-01 -2.85106536e-03 9.03556813e+01] [ 8.24309306e-01 5.66127452e-01 -3.72501297e-03 4.46528130e+01] [ 4.68466045e-03 -2.41354156e-04 9.99988998e-01 4.91975670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:90.38, Y:44.68, Z:0.49 [[ 5.70091992e-01 -8.21576277e-01 -2.74638217e-03 9.03797120e+01] [ 8.21567490e-01 5.70098600e-01 -3.80065783e-03 4.46784311e+01] [ 4.68823894e-03 -8.96137109e-05 9.99989006e-01 4.92474416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.40, Y:44.70, Z:0.49 [[ 5.70227209e-01 -8.21482208e-01 -2.81276079e-03 9.03956327e+01] [ 8.21473654e-01 5.70234121e-01 -3.75273122e-03 4.47023247e+01] [ 4.68673411e-03 -1.70699433e-04 9.99989003e-01 4.92741156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.40, Y:44.72, Z:0.49 [[ 5.68694781e-01 -8.22543824e-01 -2.81134372e-03 9.04025315e+01] [ 8.22535278e-01 5.68701703e-01 -3.75375334e-03 4.47233927e+01] [ 4.68644258e-03 -1.77689457e-04 9.99989003e-01 4.92766012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.42, Y:44.75, Z:0.49 [[ 5.69472698e-01 -8.22005682e-01 -2.73950657e-03 9.04179882e+01] [ 8.21996878e-01 5.69479281e-01 -3.80546799e-03 4.47459728e+01] [ 4.68820854e-03 -8.47557223e-05 9.99989007e-01 4.92257662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.43, Y:44.77, Z:0.49 [[ 5.70095422e-01 -8.21573923e-01 -2.73842485e-03 9.04329941e+01] [ 8.21565110e-01 5.70101993e-01 -3.80624623e-03 4.47679886e+01] [ 4.68829412e-03 -7.98707587e-05 9.99989007e-01 4.92143796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.45, Y:44.79, Z:0.49 [[ 5.71018052e-01 -8.20932939e-01 -2.73753542e-03 9.04490163e+01] [ 8.20924115e-01 5.71024610e-01 -3.80688582e-03 4.47915395e+01] [ 4.68839806e-03 -7.35083119e-05 9.99989007e-01 4.92975638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.46, Y:44.81, Z:0.49 [[ 5.71254993e-01 -8.20768083e-01 -2.73634252e-03 9.04647181e+01] [ 8.20759253e-01 5.71261542e-01 -3.80774308e-03 4.48138271e+01] [ 4.68844123e-03 -7.06861975e-05 9.99989007e-01 4.93036389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.48, Y:44.84, Z:0.49 [[ 5.71102504e-01 -8.20874198e-01 -2.73527175e-03 9.04799609e+01] [ 8.20865366e-01 5.71109050e-01 -3.80851210e-03 4.48356393e+01] [ 4.68844776e-03 -7.02390490e-05 9.99989007e-01 4.92561934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.50, Y:44.86, Z:0.49 [[ 5.70930594e-01 -8.20993776e-01 -2.73441346e-03 9.04961496e+01] [ 8.20984942e-01 5.70937138e-01 -3.80912823e-03 4.48580075e+01] [ 4.68844876e-03 -7.01644321e-05 9.99989007e-01 4.93338153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.51, Y:44.88, Z:0.49 [[ 5.69880541e-01 -8.21723006e-01 -2.73324401e-03 9.05131349e+01] [ 8.21714177e-01 5.69887091e-01 -3.80996718e-03 4.48807476e+01] [ 4.68837816e-03 -7.47191907e-05 9.99989007e-01 4.93681627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.53, Y:44.90, Z:0.49 [[ 5.68897467e-01 -8.22403920e-01 -2.73206946e-03 9.05295016e+01] [ 8.22395094e-01 5.68904022e-01 -3.81080925e-03 4.49030940e+01] [ 4.68830977e-03 -7.88807855e-05 9.99989007e-01 4.93872948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.55, Y:44.93, Z:0.49 [[ 5.68645448e-01 -8.22578201e-01 -2.73090152e-03 9.05460003e+01] [ 8.22569373e-01 5.68652000e-01 -3.81164604e-03 4.49264154e+01] [ 4.68830955e-03 -7.88807819e-05 9.99989007e-01 4.94006505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.56, Y:44.95, Z:0.49 [[ 5.67490911e-01 -8.23375136e-01 -2.72973332e-03 9.05621238e+01] [ 8.23366313e-01 5.67497470e-01 -3.81248246e-03 4.49483786e+01] [ 4.68822002e-03 -8.40213169e-05 9.99989007e-01 4.94317333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.58, Y:44.97, Z:0.49 [[ 5.65093118e-01 -8.25022620e-01 -2.72850263e-03 9.05785972e+01] [ 8.25013812e-01 5.65099697e-01 -3.81336304e-03 4.49702124e+01] [ 4.68798677e-03 -9.61471432e-05 9.99989007e-01 4.94288429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.60, Y:45.00, Z:0.49 [[ 5.61727807e-01 -8.27317613e-01 -2.72728402e-03 9.05962643e+01] [ 8.27308828e-01 5.61734416e-01 -3.81423438e-03 4.49958101e+01] [ 4.68759258e-03 -1.13744638e-04 9.99989007e-01 4.94469471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.61, Y:45.02, Z:0.49 [[ 5.60235383e-01 -8.28328872e-01 -2.75607980e-03 9.06134877e+01] [ 8.28320200e-01 5.60242140e-01 -3.79365308e-03 4.50154039e+01] [ 4.68646442e-03 -1.57577888e-04 9.99989006e-01 4.94884495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.63, Y:45.04, Z:0.50 [[ 5.57919687e-01 -8.29890475e-01 -2.72433165e-03 9.06309636e+01] [ 8.29881711e-01 5.57926323e-01 -3.81631695e-03 4.50390735e+01] [ 4.68710143e-03 -1.31674656e-04 9.99989007e-01 4.95426884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.65, Y:45.06, Z:0.49 [[ 5.57089857e-01 -8.30447713e-01 -2.73608213e-03 9.06466898e+01] [ 8.30438997e-01 5.57096556e-01 -3.80793102e-03 4.50593629e+01] [ 4.68654954e-03 -1.50789552e-04 9.99989007e-01 4.94903405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.66, Y:45.08, Z:0.49 [[ 5.54702432e-01 -8.32044349e-01 -2.72256906e-03 9.06640671e+01] [ 8.32035604e-01 5.54709094e-01 -3.81756812e-03 4.50836543e+01] [ 4.68661980e-03 -1.47660066e-04 9.99989007e-01 4.94663428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.68, Y:45.11, Z:0.49 [[ 5.54025906e-01 -8.32494940e-01 -2.73319073e-03 9.06825374e+01] [ 8.32486238e-01 5.54032624e-01 -3.81000044e-03 4.51059710e+01] [ 4.68608292e-03 -1.64504725e-04 9.99989007e-01 4.94428792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.70, Y:45.13, Z:0.50 [[ 5.51791153e-01 -8.33977821e-01 -2.74190576e-03 9.06962577e+01] [ 8.33969167e-01 5.51797933e-01 -3.80379349e-03 4.51279009e+01] [ 4.68525734e-03 -1.87765274e-04 9.99989006e-01 4.95682358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.71, Y:45.15, Z:0.50 [[ 5.51052748e-01 -8.34465984e-01 -2.71848358e-03 9.07132272e+01] [ 8.34457255e-01 5.51059429e-01 -3.82045976e-03 4.51504396e+01] [ 4.68608972e-03 -1.63183492e-04 9.99989007e-01 4.96397719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.73, Y:45.17, Z:0.50 [[ 5.50945908e-01 -8.34536532e-01 -2.71726199e-03 9.07292939e+01] [ 8.34527799e-01 5.50952584e-01 -3.82132840e-03 4.51726525e+01] [ 4.68612067e-03 -1.62285424e-04 9.99989007e-01 4.96878473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.74, Y:45.19, Z:0.50 [[ 5.52985963e-01 -8.33186142e-01 -2.71616545e-03 9.07443882e+01] [ 8.33177389e-01 5.52992613e-01 -3.82210766e-03 4.51923720e+01] [ 4.68654656e-03 -1.49475758e-04 9.99989007e-01 4.97386218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.76, Y:45.22, Z:0.50 [[ 5.52554338e-01 -8.33472568e-01 -2.68016202e-03 9.07608726e+01] [ 8.33463693e-01 5.52560827e-01 -3.84767137e-03 4.52181511e+01] [ 4.68788108e-03 -1.07770228e-04 9.99989006e-01 4.97538039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.78, Y:45.24, Z:0.50 [[ 5.53334752e-01 -8.32954550e-01 -2.71479634e-03 9.07762637e+01] [ 8.32945789e-01 5.53341392e-01 -3.82307728e-03 4.52408907e+01] [ 4.68665880e-03 -1.45836659e-04 9.99989007e-01 4.97590225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.79, Y:45.26, Z:0.50 [[ 5.54702975e-01 -8.32044016e-01 -2.71382978e-03 9.07928778e+01] [ 8.32035241e-01 5.54709597e-01 -3.82376327e-03 4.52633808e+01] [ 4.68692677e-03 -1.36949152e-04 9.99989007e-01 4.97184307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.81, Y:45.29, Z:0.50 [[ 5.56676773e-01 -8.30724751e-01 -2.71260117e-03 9.08092156e+01] [ 8.30715956e-01 5.56683368e-01 -3.82463466e-03 4.52877571e+01] [ 4.68727863e-03 -1.24315794e-04 9.99989007e-01 4.97539438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.82, Y:45.31, Z:0.50 [[ 5.56577649e-01 -8.30791111e-01 -2.72942932e-03 9.08237318e+01] [ 8.30782375e-01 5.56584323e-01 -3.81269723e-03 4.53111410e+01] [ 4.68671254e-03 -1.45499710e-04 9.99989007e-01 4.96699174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:45.33, Z:0.50 [[ 5.57341618e-01 -8.30278843e-01 -2.71373523e-03 9.08396855e+01] [ 8.30270046e-01 5.57348211e-01 -3.82382057e-03 4.53339095e+01] [ 4.68733280e-03 -1.21958736e-04 9.99989007e-01 4.96511918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.86, Y:45.36, Z:0.50 [[ 5.57644761e-01 -8.30075301e-01 -2.70473664e-03 9.08556453e+01] [ 8.30066471e-01 5.57651310e-01 -3.83019334e-03 4.53568815e+01] [ 4.68764882e-03 -1.09223948e-04 9.99989007e-01 4.97826012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.87, Y:45.38, Z:0.50 [[ 5.57837143e-01 -8.29946032e-01 -2.70299688e-03 9.08709089e+01] [ 8.29937194e-01 5.57843682e-01 -3.83142461e-03 4.53790976e+01] [ 4.68772538e-03 -1.06006685e-04 9.99989007e-01 4.97175558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.89, Y:45.40, Z:0.50 [[ 5.56871437e-01 -8.30594327e-01 -2.69572942e-03 9.08860535e+01] [ 8.30585473e-01 5.56877952e-01 -3.83656469e-03 4.54017340e+01] [ 4.68782115e-03 -1.02560401e-04 9.99989007e-01 4.98907392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.90, Y:45.42, Z:0.50 [[ 5.55815657e-01 -8.31301181e-01 -2.70226821e-03 9.09012444e+01] [ 8.31292357e-01 5.55822213e-01 -3.83194324e-03 4.54248974e+01] [ 4.68747964e-03 -1.16520867e-04 9.99989007e-01 4.99968296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.92, Y:45.45, Z:0.50 [[ 5.55302182e-01 -8.31644252e-01 -2.70649525e-03 9.09161632e+01] [ 8.31635447e-01 5.55308763e-01 -3.82895708e-03 4.54458165e+01] [ 4.68727068e-03 -1.24589162e-04 9.99989007e-01 5.02035248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.93, Y:45.47, Z:0.50 [[ 5.52933601e-01 -8.33220963e-01 -2.69436429e-03 9.09320032e+01] [ 8.33212135e-01 5.52940151e-01 -3.83752658e-03 4.54703222e+01] [ 4.68732980e-03 -1.23079634e-04 9.99989007e-01 5.01945208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.95, Y:45.49, Z:0.50 [[ 5.51677850e-01 -8.34052896e-01 -2.70489447e-03 9.09472261e+01] [ 8.34044114e-01 5.51684462e-01 -3.83008994e-03 4.54936319e+01] [ 4.68674586e-03 -1.43025537e-04 9.99989007e-01 5.01654568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:90.96, Y:45.52, Z:0.50 [[ 5.50959232e-01 -8.34527781e-01 -2.70309695e-03 9.09632564e+01] [ 8.34518999e-01 5.50965844e-01 -3.83135854e-03 4.55169432e+01] [ 4.68668923e-03 -1.44863408e-04 9.99989007e-01 5.01783650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.98, Y:45.54, Z:0.50 [[ 5.49946278e-01 -8.35195656e-01 -2.70324091e-03 9.09789264e+01] [ 8.35186882e-01 5.49952901e-01 -3.83125697e-03 4.55405919e+01] [ 4.68650436e-03 -1.50725833e-04 9.99989007e-01 5.01343882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.99, Y:45.56, Z:0.50 [[ 5.48778943e-01 -8.35963140e-01 -2.70202448e-03 9.09942942e+01] [ 8.35954371e-01 5.48785572e-01 -3.83211467e-03 4.55647109e+01] [ 4.68633866e-03 -1.55785334e-04 9.99989007e-01 5.00256885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.01, Y:45.59, Z:0.50 [[ 5.48453831e-01 -8.36176477e-01 -2.70079284e-03 9.10096740e+01] [ 8.36167707e-01 5.48460458e-01 -3.83298251e-03 4.55877216e+01] [ 4.68632789e-03 -1.56101814e-04 9.99989007e-01 4.99810112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.02, Y:45.61, Z:0.50 [[ 5.48201644e-01 -8.36341838e-01 -2.69956691e-03 9.10248909e+01] [ 8.36333065e-01 5.48208268e-01 -3.83384574e-03 4.56103205e+01] [ 4.68633049e-03 -1.56016534e-04 9.99989007e-01 4.99641516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.04, Y:45.63, Z:0.50 [[ 5.48138044e-01 -8.36383526e-01 -2.69873632e-03 9.10400579e+01] [ 8.36374751e-01 5.48144665e-01 -3.83443032e-03 4.56336383e+01] [ 4.68635226e-03 -1.55357782e-04 9.99989007e-01 4.99357793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.06, Y:45.66, Z:0.50 [[ 5.48166582e-01 -8.36364826e-01 -2.69750958e-03 9.10559390e+01] [ 8.36356046e-01 5.48173197e-01 -3.83529313e-03 4.56572701e+01] [ 4.68640672e-03 -1.53698927e-04 9.99989007e-01 4.99144559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.07, Y:45.68, Z:0.50 [[ 5.48152890e-01 -8.36373803e-01 -2.69628479e-03 9.10716392e+01] [ 8.36365020e-01 5.48159500e-01 -3.83615399e-03 4.56804141e+01] [ 4.68645283e-03 -1.52279381e-04 9.99989007e-01 4.99387594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.09, Y:45.70, Z:0.50 [[ 5.49079749e-01 -8.35765617e-01 -2.69506815e-03 9.10865994e+01] [ 8.35756821e-01 5.49086344e-01 -3.83700854e-03 4.57029602e+01] [ 4.68666493e-03 -1.45597909e-04 9.99989007e-01 4.99126314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.10, Y:45.73, Z:0.50 [[ 5.49649754e-01 -8.35390861e-01 -2.69397486e-03 9.11022719e+01] [ 8.35382057e-01 5.49656338e-01 -3.83777599e-03 4.57259723e+01] [ 4.68680334e-03 -1.41065633e-04 9.99989007e-01 4.99254406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.12, Y:45.75, Z:0.50 [[ 5.49823804e-01 -8.35276322e-01 -2.69278152e-03 9.11172211e+01] [ 8.35267513e-01 5.49830381e-01 -3.83861312e-03 4.57487100e+01] [ 4.68687573e-03 -1.38632058e-04 9.99989007e-01 4.99579650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.13, Y:45.77, Z:0.50 [[ 5.51198048e-01 -8.34370103e-01 -2.69152345e-03 9.11322329e+01] [ 8.34361278e-01 5.51204604e-01 -3.83949504e-03 4.57712163e+01] [ 4.68713998e-03 -1.29380779e-04 9.99989007e-01 4.99757705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.15, Y:45.79, Z:0.50 [[ 5.51787663e-01 -8.33980298e-01 -2.69035840e-03 9.11481574e+01] [ 8.33971465e-01 5.51794208e-01 -3.84031122e-03 4.57944031e+01] [ 4.68726808e-03 -1.24645788e-04 9.99989007e-01 4.99413088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.16, Y:45.82, Z:0.50 [[ 5.53073057e-01 -8.33128419e-01 -2.68913608e-03 9.11634544e+01] [ 8.33119572e-01 5.53079582e-01 -3.84116695e-03 4.58164268e+01] [ 4.68749160e-03 -1.15925951e-04 9.99989007e-01 4.99751647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.18, Y:45.84, Z:0.50 [[ 5.53824336e-01 -8.32629197e-01 -2.68804000e-03 9.11797172e+01] [ 8.32620340e-01 5.53830848e-01 -3.84193382e-03 4.58395583e+01] [ 4.68762575e-03 -1.10360335e-04 9.99989007e-01 4.99844042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.20, Y:45.86, Z:0.50 [[ 5.54592636e-01 -8.32117653e-01 -2.68684214e-03 9.11959773e+01] [ 8.32108787e-01 5.54599135e-01 -3.84277136e-03 4.58627193e+01] [ 4.68775822e-03 -1.04572253e-04 9.99989007e-01 4.99877675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.21, Y:45.89, Z:0.50 [[ 5.54816029e-01 -8.31968726e-01 -2.68564547e-03 9.12127018e+01] [ 8.31959854e-01 5.54822520e-01 -3.84360751e-03 4.58866351e+01] [ 4.68781783e-03 -1.01854155e-04 9.99989007e-01 5.00011637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.23, Y:45.91, Z:0.50 [[ 5.56444648e-01 -8.30880294e-01 -2.70002526e-03 9.12283422e+01] [ 8.30871458e-01 5.56451188e-01 -3.83356047e-03 4.59088164e+01] [ 4.68766212e-03 -1.10209717e-04 9.99989007e-01 4.99917017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.24, Y:45.93, Z:0.50 [[ 5.56682092e-01 -8.30721280e-01 -2.68403317e-03 9.12443193e+01] [ 8.30712387e-01 5.56688555e-01 -3.84472468e-03 4.59313402e+01] [ 4.68806516e-03 -8.93702225e-05 9.99989007e-01 4.99730080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.26, Y:45.95, Z:0.50 [[ 5.56878146e-01 -8.30589871e-01 -2.68281934e-03 9.12603401e+01] [ 8.30580973e-01 5.56884601e-01 -3.84557150e-03 4.59540325e+01] [ 4.68811351e-03 -8.67839678e-05 9.99989007e-01 4.99742653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.28, Y:45.98, Z:0.50 [[ 5.56655560e-01 -8.30739066e-01 -2.68160206e-03 9.12762331e+01] [ 8.30730166e-01 5.56662012e-01 -3.84642015e-03 4.59755849e+01] [ 4.68811748e-03 -8.65565600e-05 9.99989007e-01 4.99412092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.29, Y:46.00, Z:0.50 [[ 5.56183894e-01 -8.31054926e-01 -2.68050880e-03 9.12926052e+01] [ 8.31046026e-01 5.56190347e-01 -3.84718187e-03 4.59982311e+01] [ 4.68809256e-03 -8.78855962e-05 9.99989007e-01 4.99329686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.31, Y:46.02, Z:0.50 [[ 5.54653364e-01 -8.32077200e-01 -2.67931640e-03 9.13089629e+01] [ 8.32068308e-01 5.54659827e-01 -3.84801212e-03 4.60192991e+01] [ 4.68795232e-03 -9.50614026e-05 9.99989007e-01 4.99562627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.32, Y:46.04, Z:0.50 [[ 5.53447996e-01 -8.32879430e-01 -2.67806080e-03 9.13248163e+01] [ 8.32870542e-01 5.53454466e-01 -3.84888577e-03 4.60407708e+01] [ 4.68784249e-03 -1.00319840e-04 9.99989007e-01 4.99606713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.34, Y:46.06, Z:0.50 [[ 5.51819775e-01 -8.33959094e-01 -2.67682663e-03 9.13420260e+01] [ 8.33950215e-01 5.51826257e-01 -3.84974392e-03 4.60639419e+01] [ 4.68767217e-03 -1.07975322e-04 9.99989007e-01 4.98455884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.36, Y:46.09, Z:0.50 [[ 5.50795277e-01 -8.34636065e-01 -2.68344552e-03 9.13582370e+01] [ 8.34627217e-01 5.50801801e-01 -3.84514439e-03 4.60853816e+01] [ 4.68734281e-03 -1.21789297e-04 9.99989007e-01 4.99178169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.38, Y:46.11, Z:0.50 [[ 5.49547736e-01 -8.35458037e-01 -2.67473136e-03 9.13792027e+01] [ 8.35449169e-01 5.49554233e-01 -3.85119654e-03 4.61084193e+01] [ 4.68742304e-03 -1.18185754e-04 9.99989007e-01 4.98565331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.39, Y:46.13, Z:0.50 [[ 5.47184519e-01 -8.37007619e-01 -2.71072133e-03 9.13918330e+01] [ 8.36998892e-01 5.47191205e-01 -3.82619445e-03 4.61293225e+01] [ 4.68583678e-03 -1.75236378e-04 9.99989006e-01 4.99566715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.41, Y:46.15, Z:0.50 [[ 5.46083216e-01 -8.37726672e-01 -2.67279948e-03 9.14081634e+01] [ 8.37717825e-01 5.46089740e-01 -3.85250397e-03 4.61517937e+01] [ 4.68693370e-03 -1.35264008e-04 9.99989007e-01 4.99850095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.43, Y:46.17, Z:0.50 [[ 5.44140117e-01 -8.38990105e-01 -2.67160301e-03 9.14256161e+01] [ 8.38981268e-01 5.44146656e-01 -3.85333351e-03 4.61742694e+01] [ 4.68665253e-03 -1.44671539e-04 9.99989007e-01 4.99865916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.44, Y:46.20, Z:0.50 [[ 5.43093302e-01 -8.39668110e-01 -2.67040451e-03 9.14421742e+01] [ 8.39659277e-01 5.43099847e-01 -3.85416390e-03 4.61967642e+01] [ 4.68651480e-03 -1.49059322e-04 9.99989007e-01 4.99364951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.46, Y:46.22, Z:0.50 [[ 5.41626906e-01 -8.40614757e-01 -2.66919679e-03 9.14596051e+01] [ 8.40605932e-01 5.41633460e-01 -3.85500013e-03 4.62187005e+01] [ 4.68629629e-03 -1.55770860e-04 9.99989007e-01 4.98858657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.48, Y:46.24, Z:0.50 [[ 5.40994368e-01 -8.41021983e-01 -2.66798186e-03 9.14761982e+01] [ 8.41013158e-01 5.41000924e-01 -3.85584078e-03 4.62415805e+01] [ 4.68622751e-03 -1.57819704e-04 9.99989007e-01 4.98620864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.49, Y:46.26, Z:0.50 [[ 5.40766027e-01 -8.41168825e-01 -2.66676300e-03 9.14923153e+01] [ 8.41159999e-01 5.40772579e-01 -3.85668358e-03 4.62633155e+01] [ 4.68623430e-03 -1.57610907e-04 9.99989007e-01 4.98290405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.51, Y:46.29, Z:0.50 [[ 5.40830236e-01 -8.41127548e-01 -2.66548084e-03 9.15084399e+01] [ 8.41118716e-01 5.40836781e-01 -3.85756951e-03 4.62861883e+01] [ 4.68629807e-03 -1.55695597e-04 9.99989007e-01 4.98054845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.52, Y:46.31, Z:0.50 [[ 5.41154953e-01 -8.40918675e-01 -2.66428346e-03 9.15243083e+01] [ 8.40909837e-01 5.41161490e-01 -3.85839633e-03 4.63090108e+01] [ 4.68640513e-03 -1.52431881e-04 9.99989007e-01 4.98131275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.54, Y:46.33, Z:0.50 [[ 5.41547873e-01 -8.40665694e-01 -2.66308758e-03 9.15400432e+01] [ 8.40656849e-01 5.41554400e-01 -3.85922155e-03 4.63312202e+01] [ 4.68652196e-03 -1.48789595e-04 9.99989007e-01 4.98078453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.56, Y:46.35, Z:0.50 [[ 5.42884161e-01 -8.39803371e-01 -2.66182753e-03 9.15564079e+01] [ 8.39794512e-01 5.42890669e-01 -3.86009045e-03 4.63527720e+01] [ 4.68679830e-03 -1.39806187e-04 9.99989007e-01 4.98411667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.57, Y:46.38, Z:0.50 [[ 5.42631119e-01 -8.39966897e-01 -2.66096749e-03 9.15724793e+01] [ 8.39958036e-01 5.42637626e-01 -3.86068323e-03 4.63763947e+01] [ 4.68678720e-03 -1.40174166e-04 9.99989007e-01 4.98545330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.59, Y:46.40, Z:0.50 [[ 5.43282572e-01 -8.39545694e-01 -2.65980409e-03 9.15889267e+01] [ 8.39536825e-01 5.43289066e-01 -3.86148459e-03 4.63988786e+01] [ 4.68693524e-03 -1.35126199e-04 9.99989007e-01 4.99068022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.60, Y:46.42, Z:0.50 [[ 5.43844415e-01 -8.39181854e-01 -2.65864770e-03 9.16048592e+01] [ 8.39172976e-01 5.43850898e-01 -3.86228060e-03 4.64214727e+01] [ 4.68706374e-03 -1.30585573e-04 9.99989007e-01 4.99863094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.62, Y:46.44, Z:0.50 [[ 5.45589461e-01 -8.38048375e-01 -2.65749706e-03 9.16204085e+01] [ 8.38039479e-01 5.45595920e-01 -3.86307215e-03 4.64434325e+01] [ 4.68736089e-03 -1.19436003e-04 9.99989007e-01 5.00678344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.64, Y:46.47, Z:0.50 [[ 5.46336443e-01 -8.37561600e-01 -2.65665662e-03 9.16363393e+01] [ 8.37552696e-01 5.46342890e-01 -3.86365004e-03 4.64662668e+01] [ 4.68749037e-03 -1.14237093e-04 9.99989007e-01 5.01197940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.65, Y:46.49, Z:0.50 [[ 5.47594771e-01 -8.36739455e-01 -2.65552705e-03 9.16521138e+01] [ 8.36730538e-01 5.47601200e-01 -3.86442625e-03 4.64887217e+01] [ 4.68768771e-03 -1.05820964e-04 9.99989007e-01 5.02650595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.67, Y:46.51, Z:0.50 [[ 5.47194504e-01 -8.37001271e-01 -2.65470230e-03 9.16677622e+01] [ 8.36992354e-01 5.47200933e-01 -3.86499274e-03 4.65118977e+01] [ 4.68765941e-03 -1.07062741e-04 9.99989007e-01 5.04599105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.68, Y:46.54, Z:0.50 [[ 5.47250280e-01 -8.36964786e-01 -2.66052282e-03 9.16835928e+01] [ 8.36955888e-01 5.47256735e-01 -3.86099968e-03 4.65350119e+01] [ 4.68750981e-03 -1.13807083e-04 9.99989007e-01 5.04268027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.702755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:91.70, Y:46.56, Z:0.51 [[ 5.47567921e-01 -8.36757012e-01 -2.65987609e-03 9.16993447e+01] [ 8.36748109e-01 5.47574370e-01 -3.86144305e-03 4.65574231e+01] [ 4.68756952e-03 -1.11243942e-04 9.99989007e-01 5.05196143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:91.71, Y:46.58, Z:0.51 [[ 5.46960306e-01 -8.37154328e-01 -2.65624501e-03 9.17148527e+01] [ 8.37145418e-01 5.46966744e-01 -3.86393173e-03 4.65808147e+01] [ 4.68758486e-03 -1.10246056e-04 9.99989007e-01 5.05181348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.73, Y:46.60, Z:0.50 [[ 5.47444161e-01 -8.36837970e-01 -2.66527149e-03 9.17299459e+01] [ 8.36829086e-01 5.47450636e-01 -3.85775635e-03 4.66024703e+01] [ 4.68742156e-03 -1.18470520e-04 9.99989007e-01 5.03366905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.75, Y:46.63, Z:0.50 [[ 5.47960996e-01 -8.36499686e-01 -2.64998487e-03 9.17458526e+01] [ 8.36490748e-01 5.47967395e-01 -3.86819898e-03 4.66259482e+01] [ 4.68785253e-03 -9.70656603e-05 9.99989007e-01 5.03063629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.76, Y:46.65, Z:0.50 [[ 5.47847574e-01 -8.36573998e-01 -2.64217057e-03 9.17615573e+01] [ 8.36565035e-01 5.47853938e-01 -3.87353274e-03 4.66491523e+01] [ 4.68802033e-03 -8.82420001e-05 9.99989007e-01 5.01208624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.78, Y:46.67, Z:0.50 [[ 5.47706745e-01 -8.36666199e-01 -2.64449028e-03 9.17773383e+01] [ 8.36657245e-01 5.47713121e-01 -3.87195036e-03 4.66722894e+01] [ 4.68795202e-03 -9.18386237e-05 9.99989007e-01 5.00931026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88275509600001 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:91.79, Y:46.69, Z:0.50 [[ 5.47360815e-01 -8.36892563e-01 -2.64118841e-03 9.17935387e+01] [ 8.36883601e-01 5.47367180e-01 -3.87420137e-03 4.66947024e+01] [ 4.68799017e-03 -8.97812447e-05 9.99989007e-01 5.01104770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.81, Y:46.72, Z:0.50 [[ 5.47531812e-01 -8.36780718e-01 -2.63511236e-03 9.18108996e+01] [ 8.36771735e-01 5.47538147e-01 -3.87834159e-03 4.67177428e+01] [ 4.68814600e-03 -8.14721408e-05 9.99989007e-01 5.01643273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.82, Y:46.74, Z:0.50 [[ 5.45788045e-01 -8.37919061e-01 -2.65665167e-03 9.18242265e+01] [ 8.37910161e-01 5.45794498e-01 -3.86367601e-03 4.67381242e+01] [ 4.68743364e-03 -1.17287254e-04 9.99989007e-01 5.01469084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.972755096 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:91.84, Y:46.76, Z:0.50 [[ 5.43179204e-01 -8.39612699e-01 -2.62058022e-03 9.18399902e+01] [ 8.39603701e-01 5.43185518e-01 -3.88819526e-03 4.67644415e+01] [ 4.68803935e-03 -8.82620477e-05 9.99989007e-01 5.02006181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.86, Y:46.79, Z:0.50 [[ 5.43522024e-01 -8.39390718e-01 -2.65194291e-03 9.18551775e+01] [ 8.39381820e-01 5.43528479e-01 -3.86688220e-03 4.67858730e+01] [ 4.68723152e-03 -1.24257025e-04 9.99989007e-01 5.00291087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.87, Y:46.81, Z:0.50 [[ 5.43013212e-01 -8.39720023e-01 -2.63340111e-03 9.18704302e+01] [ 8.39711068e-01 5.43019587e-01 -3.87946846e-03 4.68084199e+01] [ 4.68765573e-03 -1.04693432e-04 9.99989007e-01 5.00191704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.89, Y:46.83, Z:0.50 [[ 5.42674587e-01 -8.39938905e-01 -2.63215174e-03 9.18856164e+01] [ 8.39929949e-01 5.42680960e-01 -3.88031595e-03 4.68308471e+01] [ 4.68764697e-03 -1.05074220e-04 9.99989007e-01 5.00274432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.91, Y:46.86, Z:0.50 [[ 5.44477705e-01 -8.38771189e-01 -2.63091674e-03 9.19101470e+01] [ 8.38762214e-01 5.44484053e-01 -3.88115313e-03 4.68581540e+01] [ 4.68789163e-03 -9.35122010e-05 9.99989007e-01 5.02474124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.122755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:91.92, Y:46.88, Z:0.50 [[ 5.43193688e-01 -8.39603047e-01 -2.70944642e-03 9.19207857e+01] [ 8.39594345e-01 5.43200410e-01 -3.82766874e-03 4.68777122e+01] [ 4.68549475e-03 -1.95670394e-04 9.99989004e-01 5.01415417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.94, Y:46.90, Z:0.50 [[ 5.44875243e-01 -8.38512928e-01 -2.65320401e-03 9.19357934e+01] [ 8.38504024e-01 5.44881690e-01 -3.86590186e-03 4.68993635e+01] [ 4.68729097e-03 -1.18288022e-04 9.99989008e-01 5.00550090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18275509600001 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:91.95, Y:46.92, Z:0.50 [[ 5.44358530e-01 -8.38848528e-01 -2.63403617e-03 9.19503515e+01] [ 8.38839565e-01 5.44364894e-01 -3.87891806e-03 4.69230501e+01] [ 4.68770153e-03 -9.80116192e-05 9.99989008e-01 5.00926502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.97, Y:46.95, Z:0.50 [[ 5.46400228e-01 -8.37520020e-01 -2.64706970e-03 9.19698925e+01] [ 8.37511085e-01 5.46406630e-01 -3.87007191e-03 4.69500573e+01] [ 4.68763913e-03 -1.02342044e-04 9.99989008e-01 5.02540342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.99, Y:46.97, Z:0.50 [[ 5.46194652e-01 -8.37653889e-01 -2.71397621e-03 9.19852350e+01] [ 8.37645176e-01 5.46201363e-01 -3.82499137e-03 4.69736596e+01] [ 4.68639640e-03 -1.84159252e-04 9.99989002e-01 5.01821667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.00, Y:47.00, Z:0.50 [[ 5.43280059e-01 -8.39547143e-01 -2.71518271e-03 9.19957944e+01] [ 8.39538458e-01 5.43286806e-01 -3.82417905e-03 4.69971962e+01] [ 4.68570153e-03 -2.01900088e-04 9.99989002e-01 5.01160725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.02, Y:47.02, Z:0.50 [[ 5.46229806e-01 -8.37631078e-01 -2.67873547e-03 9.20162537e+01] [ 8.37622248e-01 5.46236356e-01 -3.84867819e-03 4.70201340e+01] [ 4.68699516e-03 -1.41505685e-04 9.99989006e-01 5.02247927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.03, Y:47.04, Z:0.50 [[ 5.45763926e-01 -8.37934593e-01 -2.71193326e-03 9.20304825e+01] [ 8.37925877e-01 5.45770633e-01 -3.82636300e-03 4.70429950e+01] [ 4.68633546e-03 -1.84108162e-04 9.99989002e-01 5.01053996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.04, Y:47.07, Z:0.50 [[ 5.42195934e-01 -8.40247791e-01 -2.68683591e-03 9.20407220e+01] [ 8.40239019e-01 5.42202564e-01 -3.84322092e-03 4.70653559e+01] [ 4.68606721e-03 -1.73805612e-04 9.99989005e-01 5.01123265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.06, Y:47.09, Z:0.50 [[ 5.41605503e-01 -8.40628648e-01 -2.63718069e-03 9.20553053e+01] [ 8.40619718e-01 5.41611911e-01 -3.87652345e-03 4.70868304e+01] [ 4.68704514e-03 -1.17319658e-04 9.99989009e-01 5.01033698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.422755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:92.07, Y:47.11, Z:0.50 [[ 5.41449972e-01 -8.40728843e-01 -2.63422167e-03 9.20708819e+01] [ 8.40719905e-01 5.41456368e-01 -3.87850753e-03 4.71076687e+01] [ 4.68708925e-03 -1.14624799e-04 9.99989009e-01 5.02758135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.09, Y:47.13, Z:0.50 [[ 5.39682510e-01 -8.41864536e-01 -2.62523744e-03 9.20866880e+01] [ 8.41855581e-01 5.39688883e-01 -3.88452732e-03 4.71319277e+01] [ 4.68705725e-03 -1.13659337e-04 9.99989009e-01 5.02583771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.482755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:92.10, Y:47.16, Z:0.50 [[ 5.39694352e-01 -8.41856926e-01 -2.63112121e-03 9.21041274e+01] [ 8.41847991e-01 5.39700752e-01 -3.88059409e-03 4.71558183e+01] [ 4.68692310e-03 -1.20669396e-04 9.99989009e-01 5.04476943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.12, Y:47.18, Z:0.50 [[ 5.37580826e-01 -8.43208104e-01 -2.63605347e-03 9.21172247e+01] [ 8.43199201e-01 5.37587271e-01 -3.87730917e-03 4.71778041e+01] [ 4.68648730e-03 -1.38351110e-04 9.99989009e-01 5.02425837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.14, Y:47.20, Z:0.50 [[ 5.37620159e-01 -8.43183149e-01 -2.59655232e-03 9.21363733e+01] [ 8.43174118e-01 5.37626421e-01 -3.90358421e-03 4.72029716e+01] [ 4.68741156e-03 -9.07001493e-05 9.99989010e-01 5.03053200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.15, Y:47.23, Z:0.50 [[ 5.36192165e-01 -8.44091833e-01 -2.63437905e-03 9.21506997e+01] [ 8.44082935e-01 5.36198617e-01 -3.87842046e-03 4.72256940e+01] [ 4.68629344e-03 -1.44055739e-04 9.99989009e-01 5.04954446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.16, Y:47.25, Z:0.50 [[ 5.35125916e-01 -8.44768244e-01 -2.62051768e-03 9.21641761e+01] [ 8.44759309e-01 5.35132316e-01 -3.88762926e-03 4.72486720e+01] [ 4.68646944e-03 -1.33335539e-04 9.99989010e-01 5.03200659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.18, Y:47.27, Z:0.50 [[ 5.36925237e-01 -8.43625846e-01 -2.59272636e-03 9.21838519e+01] [ 8.43616808e-01 5.36931489e-01 -3.90607624e-03 4.72719237e+01] [ 4.68738329e-03 -8.99966238e-05 9.99989010e-01 5.02830569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.20, Y:47.30, Z:0.50 [[ 5.35859788e-01 -8.44302925e-01 -2.61881216e-03 9.21965946e+01] [ 8.44293979e-01 5.35866172e-01 -3.88876479e-03 4.72950403e+01] [ 4.68662833e-03 -1.27214661e-04 9.99989010e-01 5.01970452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.21, Y:47.32, Z:0.50 [[ 5.33626855e-01 -8.45716060e-01 -2.59331928e-03 9.22135522e+01] [ 8.45707049e-01 5.33633145e-01 -3.90566590e-03 4.73228585e+01] [ 4.68696550e-03 -1.09020189e-04 9.99989010e-01 5.01819523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.23, Y:47.35, Z:0.50 [[ 5.34244755e-01 -8.45325676e-01 -2.65405314e-03 9.22276957e+01] [ 8.45316857e-01 5.34251317e-01 -3.86542891e-03 4.73450791e+01] [ 4.68547769e-03 -1.78430741e-04 9.99989007e-01 5.00995973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.24, Y:47.37, Z:0.50 [[ 5.34172733e-01 -8.45371296e-01 -2.61977323e-03 9.22430188e+01] [ 8.45362366e-01 5.34179139e-01 -3.88811251e-03 4.73696077e+01] [ 4.68632692e-03 -1.37734009e-04 9.99989010e-01 5.01463311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.26, Y:47.39, Z:0.50 [[ 5.35239313e-01 -8.44696365e-01 -2.63215560e-03 9.22583835e+01] [ 8.44687467e-01 5.35245765e-01 -3.87994004e-03 4.73940294e+01] [ 4.68622139e-03 -1.46652400e-04 9.99989009e-01 4.99132198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.27, Y:47.42, Z:0.50 [[ 5.33843037e-01 -8.45579523e-01 -2.62332408e-03 9.22684150e+01] [ 8.45570607e-01 5.33849463e-01 -3.88576436e-03 4.74156761e+01] [ 4.68618293e-03 -1.43817487e-04 9.99989009e-01 4.99345790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.28, Y:47.44, Z:0.50 [[ 5.34794032e-01 -8.44978520e-01 -2.57747901e-03 9.22825008e+01] [ 8.44969450e-01 5.34800237e-01 -3.91595547e-03 4.74393167e+01] [ 4.68733464e-03 -8.36614061e-05 9.99989011e-01 4.96809991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.30, Y:47.46, Z:0.50 [[ 5.34888642e-01 -8.44918686e-01 -2.56018007e-03 9.22973173e+01] [ 8.44909561e-01 5.34894766e-01 -3.92733901e-03 4.74626542e+01] [ 4.68770904e-03 -6.24315882e-05 9.99989011e-01 4.97425116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.31, Y:47.48, Z:0.50 [[ 5.35677389e-01 -8.44418844e-01 -2.55948971e-03 9.23109634e+01] [ 8.44409711e-01 5.35683500e-01 -3.92779312e-03 4.74834644e+01] [ 4.68777893e-03 -5.72280053e-05 9.99989011e-01 4.98061668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.33, Y:47.51, Z:0.50 [[ 5.33877119e-01 -8.45558289e-01 -2.53012895e-03 9.23266876e+01] [ 8.45549077e-01 5.33883114e-01 -3.94708575e-03 4.75107546e+01] [ 4.68828419e-03 -3.20894304e-05 9.99989009e-01 4.99684317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.34, Y:47.53, Z:0.50 [[ 5.33683362e-01 -8.45680458e-01 -2.57518075e-03 9.23419493e+01] [ 8.45671389e-01 5.33689568e-01 -3.91747059e-03 4.75348173e+01] [ 4.68727543e-03 -8.70678055e-05 9.99989011e-01 5.00359250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.36, Y:47.56, Z:0.50 [[ 5.33396188e-01 -8.45861621e-01 -2.57395570e-03 9.23565767e+01] [ 8.45852550e-01 5.33402391e-01 -3.91827534e-03 4.75584683e+01] [ 4.68727285e-03 -8.71938665e-05 9.99989011e-01 5.01194678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.37, Y:47.58, Z:0.50 [[ 5.33543821e-01 -8.45768510e-01 -2.57270615e-03 9.23707082e+01] [ 8.45759434e-01 5.33550016e-01 -3.91909561e-03 4.75812031e+01] [ 4.68731507e-03 -8.48812505e-05 9.99989011e-01 5.00276080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.38, Y:47.61, Z:0.50 [[ 5.33244044e-01 -8.45957551e-01 -2.57134168e-03 9.23848066e+01] [ 8.45948473e-01 5.33250237e-01 -3.91999064e-03 4.76059041e+01] [ 4.68731424e-03 -8.49109033e-05 9.99989011e-01 5.02395790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.40, Y:47.63, Z:0.50 [[ 5.32193683e-01 -8.46618733e-01 -2.56995617e-03 9.23998408e+01] [ 8.46609658e-01 5.32199881e-01 -3.92089878e-03 4.76310779e+01] [ 4.68723672e-03 -8.90721541e-05 9.99989011e-01 5.02409625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.41, Y:47.65, Z:0.50 [[ 5.33105868e-01 -8.46044614e-01 -2.57761885e-03 9.24133294e+01] [ 8.46035557e-01 5.33112091e-01 -3.91587908e-03 4.76532091e+01] [ 4.68716818e-03 -9.31790850e-05 9.99989011e-01 5.03002667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.43, Y:47.68, Z:0.50 [[ 5.34429767e-01 -8.45208988e-01 -2.56726197e-03 9.24333541e+01] [ 8.45199889e-01 5.34435928e-01 -3.92265734e-03 4.76793689e+01] [ 4.68750228e-03 -7.34646804e-05 9.99989011e-01 5.00925986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.44, Y:47.70, Z:0.50 [[ 5.32751220e-01 -8.46267862e-01 -2.61603910e-03 9.24427532e+01] [ 8.46258930e-01 5.32757624e-01 -3.89073319e-03 4.77013479e+01] [ 4.68631724e-03 -1.41053595e-04 9.99989009e-01 5.03787594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.46, Y:47.72, Z:0.50 [[ 5.32626460e-01 -8.46346547e-01 -2.56445607e-03 9.24571469e+01] [ 8.46337452e-01 5.32632627e-01 -3.92444054e-03 4.77244003e+01] [ 4.68734967e-03 -8.01343477e-05 9.99989011e-01 5.03804854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.47, Y:47.75, Z:0.50 [[ 5.32468707e-01 -8.46445807e-01 -2.56358046e-03 9.24720870e+01] [ 8.46436710e-01 5.32474873e-01 -3.92501243e-03 4.77483884e+01] [ 4.68735249e-03 -7.99623112e-05 9.99989011e-01 5.04032308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.49, Y:47.77, Z:0.50 [[ 5.33449260e-01 -8.45828187e-01 -2.56238422e-03 9.24896189e+01] [ 8.45819079e-01 5.33455409e-01 -3.92579322e-03 4.77737156e+01] [ 4.68746429e-03 -7.31019767e-05 9.99989011e-01 5.04077307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.50, Y:47.80, Z:0.51 [[ 5.31672837e-01 -8.46945868e-01 -2.58660680e-03 9.25010697e+01] [ 8.46936850e-01 5.31679117e-01 -3.90999079e-03 4.77977115e+01] [ 4.68679537e-03 -1.11856721e-04 9.99989011e-01 5.05776147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.52, Y:47.82, Z:0.50 [[ 5.32847840e-01 -8.46207199e-01 -2.56053513e-03 9.25167612e+01] [ 8.46198090e-01 5.32853987e-01 -3.92698038e-03 4.78202730e+01] [ 4.68743042e-03 -7.42369243e-05 9.99989011e-01 5.04434879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.53, Y:47.84, Z:0.50 [[ 5.32545250e-01 -8.46397622e-01 -2.57329275e-03 9.25321947e+01] [ 8.46388556e-01 5.32551459e-01 -3.91866259e-03 4.78443356e+01] [ 4.68715751e-03 -9.11403874e-05 9.99989011e-01 5.04573299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.55, Y:47.87, Z:0.50 [[ 5.32110575e-01 -8.46670972e-01 -2.56919340e-03 9.25484840e+01] [ 8.46661896e-01 5.32116770e-01 -3.92133119e-03 4.78691090e+01] [ 4.68718818e-03 -8.86563568e-05 9.99989011e-01 5.03374001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.56, Y:47.89, Z:0.50 [[ 5.29454485e-01 -8.48334391e-01 -2.59014791e-03 9.25595970e+01] [ 8.48325401e-01 5.29460805e-01 -3.90769537e-03 4.78914770e+01] [ 4.68641417e-03 -1.28341428e-04 9.99989010e-01 5.03711777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.58, Y:47.92, Z:0.50 [[ 5.29077592e-01 -8.48569605e-01 -2.55491711e-03 9.25789308e+01] [ 8.48560506e-01 5.29083753e-01 -3.93059566e-03 4.79177368e+01] [ 4.68714914e-03 -8.84116650e-05 9.99989011e-01 5.01028300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.59, Y:47.94, Z:0.50 [[ 5.26388268e-01 -8.50240312e-01 -2.60828211e-03 9.25891936e+01] [ 8.50231403e-01 5.26394703e-01 -3.89589829e-03 4.79383167e+01] [ 4.68543566e-03 -1.66888209e-04 9.99989009e-01 5.02849657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.60, Y:47.96, Z:0.50 [[ 5.25084974e-01 -8.51045977e-01 -2.55260594e-03 9.26036776e+01] [ 8.51036900e-01 5.25091167e-01 -3.93204220e-03 4.79607293e+01] [ 4.68669952e-03 -1.07705568e-04 9.99989012e-01 5.02614233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.62, Y:47.98, Z:0.50 [[ 5.23548520e-01 -8.51992041e-01 -2.55139832e-03 9.26190942e+01] [ 8.51982972e-01 5.23554724e-01 -3.93282563e-03 4.79844061e+01] [ 4.68653278e-03 -1.14722884e-04 9.99989012e-01 5.03212133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.64, Y:48.01, Z:0.50 [[ 5.23268648e-01 -8.52163962e-01 -2.55023451e-03 9.26379559e+01] [ 8.52154891e-01 5.23274850e-01 -3.93358016e-03 4.80093824e+01] [ 4.68652883e-03 -1.14875638e-04 9.99989012e-01 5.03005250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.65, Y:48.03, Z:0.50 [[ 5.21882354e-01 -8.53013576e-01 -2.57823164e-03 9.26522301e+01] [ 8.53004604e-01 5.21888700e-01 -3.91543159e-03 4.80307142e+01] [ 4.68546626e-03 -1.55848807e-04 9.99989011e-01 5.03018224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.67, Y:48.06, Z:0.50 [[ 5.19956952e-01 -8.54188623e-01 -2.56209077e-03 9.26692899e+01] [ 8.54179614e-01 5.19963244e-01 -3.92587801e-03 4.80572607e+01] [ 4.68563336e-03 -1.47198145e-04 9.99989012e-01 5.03128250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.69, Y:48.08, Z:0.51 [[ 5.18359658e-01 -8.55158795e-01 -2.58857193e-03 9.26855200e+01] [ 8.55149882e-01 5.18366087e-01 -3.90874681e-03 4.80810193e+01] [ 4.68442712e-03 -1.87480325e-04 9.99989010e-01 5.05424381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.70, Y:48.11, Z:0.50 [[ 5.14950235e-01 -8.57216152e-01 -2.59311023e-03 9.26976032e+01] [ 8.57207280e-01 5.14956721e-01 -3.90580512e-03 4.81057178e+01] [ 4.68345877e-03 -2.11537700e-04 9.99989010e-01 5.03645148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.72, Y:48.13, Z:0.50 [[ 5.16274654e-01 -8.56419135e-01 -2.59757599e-03 9.27172219e+01] [ 8.56410267e-01 5.16281146e-01 -3.90291569e-03 4.81303572e+01] [ 4.68361119e-03 -2.09614302e-04 9.99989010e-01 5.03291573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.73, Y:48.15, Z:0.50 [[ 5.16255343e-01 -8.56430728e-01 -2.61337389e-03 9.27314032e+01] [ 8.56421911e-01 5.16261907e-01 -3.89274878e-03 4.81520384e+01] [ 4.68305506e-03 -2.28498306e-04 9.99989008e-01 5.02963477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:48.18, Z:0.50 [[ 5.15971124e-01 -8.56602004e-01 -2.60870417e-03 9.27479483e+01] [ 8.56593175e-01 5.15977670e-01 -3.89575959e-03 4.81763470e+01] [ 4.68314857e-03 -2.24498734e-04 9.99989009e-01 5.03401434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.75, Y:48.20, Z:0.51 [[ 5.11656408e-01 -8.59186166e-01 -2.61768423e-03 9.27540366e+01] [ 8.59177399e-01 5.11663039e-01 -3.88997831e-03 4.81970204e+01] [ 4.68158782e-03 -2.58722798e-04 9.99989008e-01 5.07378959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:92.77, Y:48.22, Z:0.50 [[ 5.13500038e-01 -8.58085830e-01 -2.53361064e-03 9.27683600e+01] [ 8.58076779e-01 5.13506266e-01 -3.94398707e-03 4.82178146e+01] [ 4.68530436e-03 -1.48794955e-04 9.99989013e-01 5.04710138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.78, Y:48.24, Z:0.51 [[ 5.11514669e-01 -8.59270923e-01 -2.49471649e-03 9.27836350e+01] [ 8.59261764e-01 5.11520740e-01 -3.96893708e-03 4.82439223e+01] [ 4.68649145e-03 -1.13444958e-04 9.99989012e-01 5.08173095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.892755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:92.80, Y:48.27, Z:0.51 [[ 5.11394533e-01 -8.59342321e-01 -2.53116876e-03 9.27982042e+01] [ 8.59333278e-01 5.11400773e-01 -3.94555205e-03 4.82677886e+01] [ 4.68502152e-03 -1.57383797e-04 9.99989013e-01 5.08515189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.82, Y:48.29, Z:0.51 [[ 5.11456210e-01 -8.59305618e-01 -2.52992122e-03 9.28155438e+01] [ 8.59296570e-01 5.11462444e-01 -3.94635183e-03 4.82932766e+01] [ 4.68508198e-03 -1.55566471e-04 9.99989013e-01 5.09171327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.952755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:92.83, Y:48.32, Z:0.51 [[ 5.11183343e-01 -8.59467847e-01 -2.57090759e-03 9.28292296e+01] [ 8.59458932e-01 5.11189766e-01 -3.92007280e-03 4.83169847e+01] [ 4.68339818e-03 -2.05713572e-04 9.99989012e-01 5.09342497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.982755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:92.84, Y:48.34, Z:0.51 [[ 5.11240528e-01 -8.59433864e-01 -2.56048720e-03 9.28417927e+01] [ 8.59424915e-01 5.11246903e-01 -3.92674745e-03 4.83382032e+01] [ 4.68382089e-03 -1.93034060e-04 9.99989012e-01 5.07943406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.86, Y:48.36, Z:0.51 [[ 5.13813830e-01 -8.57897994e-01 -2.52578205e-03 9.28608564e+01] [ 8.57888917e-01 5.13820019e-01 -3.94894519e-03 4.83638543e+01] [ 4.68558954e-03 -1.37817778e-04 9.99989013e-01 5.08146522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:92.87, Y:48.39, Z:0.51 [[ 5.13059366e-01 -8.58349296e-01 -2.56400706e-03 9.28715567e+01] [ 8.58340344e-01 5.13065738e-01 -3.92449197e-03 4.83863862e+01] [ 4.68408909e-03 -1.87293342e-04 9.99989012e-01 5.09662453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.89, Y:48.41, Z:0.51 [[ 5.18262297e-01 -8.55217997e-01 -2.52377622e-03 9.28909952e+01] [ 8.55208881e-01 5.18268430e-01 -3.95019543e-03 4.84128776e+01] [ 4.68627176e-03 -1.11118481e-04 9.99989013e-01 5.08902408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.90, Y:48.43, Z:0.51 [[ 5.17566509e-01 -8.55639096e-01 -2.57797680e-03 9.28993451e+01] [ 8.55630156e-01 5.17572898e-01 -3.91554170e-03 4.84342015e+01] [ 4.68458149e-03 -1.79241441e-04 9.99989011e-01 5.10045307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.91, Y:48.46, Z:0.51 [[ 5.19142818e-01 -8.54683785e-01 -2.52240004e-03 9.29136177e+01] [ 8.54674659e-01 5.19148935e-01 -3.95102286e-03 4.84581959e+01] [ 4.68637647e-03 -1.04686250e-04 9.99989013e-01 5.10239707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.93, Y:48.48, Z:0.51 [[ 5.22980866e-01 -8.52340693e-01 -2.52115299e-03 9.29275074e+01] [ 8.52331536e-01 5.22986937e-01 -3.95181844e-03 4.84815446e+01] [ 4.68682575e-03 -8.21327712e-05 9.99989013e-01 5.09204894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.94, Y:48.51, Z:0.51 [[ 5.24460326e-01 -8.51431158e-01 -2.51984078e-03 9.29422035e+01] [ 8.51421986e-01 5.24466374e-01 -3.95265499e-03 4.85059752e+01] [ 4.68698537e-03 -7.24371171e-05 9.99989013e-01 5.10336337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.96, Y:48.53, Z:0.51 [[ 5.29172494e-01 -8.48510535e-01 -2.51860035e-03 9.29620468e+01] [ 8.48501326e-01 5.29178485e-01 -3.95344522e-03 4.85326408e+01] [ 4.68732904e-03 -4.49812770e-05 9.99989013e-01 5.10839938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.98, Y:48.56, Z:0.51 [[ 5.29548091e-01 -8.48276007e-01 -2.57610075e-03 9.29757656e+01] [ 8.48266971e-01 5.29554345e-01 -3.91679399e-03 4.85556821e+01] [ 4.68670771e-03 -1.11090403e-04 9.99989011e-01 5.10727105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:92.99, Y:48.58, Z:0.51 [[ 5.29441527e-01 -8.48342553e-01 -2.56558719e-03 9.29901295e+01] [ 8.48333486e-01 5.29447733e-01 -3.92349350e-03 4.85802149e+01] [ 4.68681082e-03 -9.92131342e-05 9.99989012e-01 5.11037867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.00, Y:48.60, Z:0.51 [[ 5.27723193e-01 -8.49412544e-01 -2.56149213e-03 9.30002241e+01] [ 8.49403477e-01 5.27729400e-01 -3.92610095e-03 4.86022855e+01] [ 4.68665411e-03 -1.03845792e-04 9.99989012e-01 5.11647962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.02, Y:48.63, Z:0.51 [[ 5.26798521e-01 -8.49986467e-01 -2.51489693e-03 9.30154026e+01] [ 8.49977264e-01 5.26804521e-01 -3.95572440e-03 4.86267047e+01] [ 4.68717128e-03 -5.37354524e-05 9.99989014e-01 5.10844483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.03, Y:48.65, Z:0.51 [[ 5.26215328e-01 -8.50347614e-01 -2.52266685e-03 9.30294591e+01] [ 8.50338439e-01 5.26221371e-01 -3.95078737e-03 4.86484971e+01] [ 4.68702382e-03 -6.61557174e-05 9.99989014e-01 5.11811478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.04, Y:48.67, Z:0.51 [[ 5.25341554e-01 -8.50887737e-01 -2.51222235e-03 9.30443149e+01] [ 8.50878536e-01 5.25347558e-01 -3.95741767e-03 4.86719726e+01] [ 4.68710804e-03 -5.86001252e-05 9.99989014e-01 5.12044613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.06, Y:48.70, Z:0.51 [[ 5.23093879e-01 -8.52271370e-01 -2.51100482e-03 9.30593751e+01] [ 8.52262181e-01 5.23099902e-01 -3.95819005e-03 4.86953717e+01] [ 4.68695843e-03 -6.95294533e-05 9.99989014e-01 5.12925282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.07, Y:48.72, Z:0.51 [[ 5.21610749e-01 -8.53179892e-01 -2.50978672e-03 9.30742689e+01] [ 8.53170710e-01 5.21616782e-01 -3.95896227e-03 4.87186023e+01] [ 4.68685387e-03 -7.62392434e-05 9.99989014e-01 5.13286889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.09, Y:48.74, Z:0.51 [[ 5.18934870e-01 -8.54810100e-01 -2.50855970e-03 9.30894418e+01] [ 8.54800934e-01 5.18940926e-01 -3.95973961e-03 4.87416363e+01] [ 4.68661970e-03 -8.94722160e-05 9.99989014e-01 5.14057646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.10, Y:48.77, Z:0.51 [[ 5.17332197e-01 -8.55780995e-01 -2.50733901e-03 9.31046893e+01] [ 8.55771836e-01 5.17338264e-01 -3.96051241e-03 4.87657372e+01] [ 4.68647366e-03 -9.68095180e-05 9.99989014e-01 5.14865135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.12, Y:48.79, Z:0.51 [[ 5.15857300e-01 -8.56670862e-01 -2.50610902e-03 9.31193681e+01] [ 8.56661710e-01 5.15863377e-01 -3.96129056e-03 4.87885540e+01] [ 4.68633206e-03 -1.03426986e-04 9.99989014e-01 5.14479930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.582755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.13, Y:48.81, Z:0.52 [[ 5.13489782e-01 -8.58092052e-01 -2.50481304e-03 9.31347428e+01] [ 8.58082913e-01 5.13495878e-01 -3.96210987e-03 4.88121361e+01] [ 4.68606616e-03 -1.14834341e-04 9.99989014e-01 5.15516728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.612755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.15, Y:48.84, Z:0.51 [[ 5.12507077e-01 -8.58679351e-01 -2.50355803e-03 9.31492940e+01] [ 8.58670215e-01 5.12513178e-01 -3.96290272e-03 4.88352604e+01] [ 4.68596922e-03 -1.18715016e-04 9.99989014e-01 5.14629619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.642755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:93.16, Y:48.86, Z:0.52 [[ 5.10430785e-01 -8.59915201e-01 -2.50223626e-03 9.31646481e+01] [ 8.59906075e-01 5.10436902e-01 -3.96373713e-03 4.88611895e+01] [ 4.68571153e-03 -1.28474705e-04 9.99989014e-01 5.15535081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.18, Y:48.88, Z:0.52 [[ 5.11256536e-01 -8.59424451e-01 -2.52351209e-03 9.31775225e+01] [ 8.59415385e-01 5.11262742e-01 -3.95030785e-03 4.88822862e+01] [ 4.68516887e-03 -1.49124406e-04 9.99989013e-01 5.15002356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.702755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.19, Y:48.91, Z:0.52 [[ 5.11522161e-01 -8.59266448e-01 -2.49988210e-03 9.31918790e+01] [ 8.59257307e-01 5.11528256e-01 -3.96520549e-03 4.89058547e+01] [ 4.68592837e-03 -1.19751478e-04 9.99989014e-01 5.15278980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.21, Y:48.93, Z:0.52 [[ 5.11904273e-01 -8.59038866e-01 -2.49862800e-03 9.32058953e+01] [ 8.59029718e-01 5.11910357e-01 -3.96599559e-03 4.89292618e+01] [ 4.68601791e-03 -1.16185619e-04 9.99989014e-01 5.15154609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.22, Y:48.95, Z:0.51 [[ 5.13331001e-01 -8.58187069e-01 -2.49771343e-03 9.32194727e+01] [ 8.58177909e-01 5.13337066e-01 -3.96657149e-03 4.89530060e+01] [ 4.68622924e-03 -1.07318377e-04 9.99989014e-01 5.14810932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.23, Y:48.98, Z:0.52 [[ 5.14267186e-01 -8.57626392e-01 -2.49680671e-03 9.32336530e+01] [ 8.57617222e-01 5.14273237e-01 -3.96714215e-03 4.89769836e+01] [ 4.68636668e-03 -1.01133406e-04 9.99989014e-01 5.15960758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.25, Y:49.00, Z:0.52 [[ 5.16307873e-01 -8.56399412e-01 -2.49558944e-03 9.32471692e+01] [ 8.56390224e-01 5.16313897e-01 -3.96790775e-03 4.90010391e+01] [ 4.68662137e-03 -8.85363876e-05 9.99989014e-01 5.16583225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.26, Y:49.03, Z:0.52 [[ 5.16894711e-01 -8.56045347e-01 -2.49430710e-03 9.32610758e+01] [ 8.56036151e-01 5.16900722e-01 -3.96871369e-03 4.90250238e+01] [ 4.68670803e-03 -8.38099345e-05 9.99989014e-01 5.16980795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.28, Y:49.05, Z:0.52 [[ 5.17377887e-01 -8.55753415e-01 -2.49310281e-03 9.32751725e+01] [ 8.55744212e-01 5.17383887e-01 -3.96947006e-03 4.90493947e+01] [ 4.68677879e-03 -7.97422713e-05 9.99989014e-01 5.17243729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.29, Y:49.07, Z:0.52 [[ 5.17681646e-01 -8.55569695e-01 -2.49190837e-03 9.32885821e+01] [ 8.55560487e-01 5.17687638e-01 -3.97021976e-03 4.90726876e+01] [ 4.68682986e-03 -7.66684331e-05 9.99989014e-01 5.17430774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.30, Y:49.10, Z:0.52 [[ 5.17526864e-01 -8.55663334e-01 -2.49064871e-03 9.33016268e+01] [ 8.55654123e-01 5.17532851e-01 -3.97100982e-03 4.90976763e+01] [ 4.68684004e-03 -7.60295834e-05 9.99989014e-01 5.18725966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.32, Y:49.12, Z:0.52 [[ 5.17138065e-01 -8.55898373e-01 -2.48945552e-03 9.33156547e+01] [ 8.55889161e-01 5.17144051e-01 -3.97175770e-03 4.91214632e+01] [ 4.68682807e-03 -7.67508987e-05 9.99989014e-01 5.19365055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.33, Y:49.15, Z:0.52 [[ 5.15490359e-01 -8.56891766e-01 -2.48823650e-03 9.33286407e+01] [ 8.56882562e-01 5.15496357e-01 -3.97252125e-03 4.91450717e+01] [ 4.68669760e-03 -8.43300647e-05 9.99989014e-01 5.20297027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.34, Y:49.17, Z:0.52 [[ 5.14165497e-01 -8.57687389e-01 -2.48695267e-03 9.33423137e+01] [ 8.57678190e-01 5.14171504e-01 -3.97332481e-03 4.91683885e+01] [ 4.68659078e-03 -9.00585400e-05 9.99989014e-01 5.20826903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.062755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:93.36, Y:49.19, Z:0.52 [[ 5.11720807e-01 -8.59148204e-01 -2.48568593e-03 9.33559940e+01] [ 8.59139019e-01 5.11726834e-01 -3.97411712e-03 4.91930337e+01] [ 4.68634778e-03 -1.01911353e-04 9.99989014e-01 5.20852812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.092755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:93.37, Y:49.22, Z:0.52 [[ 5.10124999e-01 -8.60096688e-01 -2.48443996e-03 9.33698665e+01] [ 8.60087510e-01 5.10131038e-01 -3.97489589e-03 4.92171300e+01] [ 4.68618473e-03 -1.09142014e-04 9.99989014e-01 5.20870371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.122755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:93.38, Y:49.24, Z:0.52 [[ 5.08247034e-01 -8.61207748e-01 -2.48316709e-03 9.33834236e+01] [ 8.61198580e-01 5.08253087e-01 -3.97569091e-03 4.92408335e+01] [ 4.68597316e-03 -1.17866851e-04 9.99989014e-01 5.20630331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.40, Y:49.27, Z:0.52 [[ 5.06561986e-01 -8.62199974e-01 -2.48182574e-03 9.33977988e+01] [ 8.62190813e-01 5.06568050e-01 -3.97652807e-03 4.92653385e+01] [ 4.68577603e-03 -1.25449392e-04 9.99989014e-01 5.20601194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.41, Y:49.29, Z:0.52 [[ 5.04824510e-01 -8.63218432e-01 -2.48064839e-03 9.34114139e+01] [ 8.63209279e-01 5.04830587e-01 -3.97726239e-03 4.92882783e+01] [ 4.68555339e-03 -1.33499174e-04 9.99989014e-01 5.20524675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.42, Y:49.31, Z:0.52 [[ 5.01290837e-01 -8.65275301e-01 -2.47979025e-03 9.34241388e+01] [ 8.65266171e-01 5.01296948e-01 -3.97779737e-03 4.93115938e+01] [ 4.68500110e-03 -1.51645245e-04 9.99989014e-01 5.20889712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.44, Y:49.34, Z:0.52 [[ 4.99770925e-01 -8.66154074e-01 -2.47843971e-03 9.34386249e+01] [ 8.66144950e-01 4.99777046e-01 -3.97863867e-03 4.93355129e+01] [ 4.68478137e-03 -1.58280111e-04 9.99989014e-01 5.21157503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.45, Y:49.36, Z:0.52 [[ 4.99499696e-01 -8.66310520e-01 -2.47719453e-03 9.34535831e+01] [ 8.66301395e-01 4.99505814e-01 -3.97941380e-03 4.93598505e+01] [ 4.68478110e-03 -1.58281092e-04 9.99989014e-01 5.21291017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.47, Y:49.38, Z:0.52 [[ 4.96911040e-01 -8.67797953e-01 -2.47594826e-03 9.34675661e+01] [ 8.67788842e-01 4.96917179e-01 -3.98018906e-03 4.93844722e+01] [ 4.68434115e-03 -1.70800393e-04 9.99989014e-01 5.21361977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.48, Y:49.41, Z:0.52 [[ 4.95672886e-01 -8.68505766e-01 -2.47467103e-03 9.34813263e+01] [ 8.68496660e-01 4.95679033e-01 -3.98098302e-03 4.94077829e+01] [ 4.68414925e-03 -1.75978179e-04 9.99989014e-01 5.21249458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.49, Y:49.43, Z:0.52 [[ 4.93869234e-01 -8.69532669e-01 -2.47332586e-03 9.34943637e+01] [ 8.69523571e-01 4.93875393e-01 -3.98181858e-03 4.94320611e+01] [ 4.68383611e-03 -1.84117440e-04 9.99989014e-01 5.20470794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.51, Y:49.46, Z:0.52 [[ 4.93492721e-01 -8.69746414e-01 -2.47200138e-03 9.35084446e+01] [ 8.69737315e-01 4.93498877e-01 -3.98264067e-03 4.94564216e+01] [ 4.68381735e-03 -1.84587658e-04 9.99989014e-01 5.20562461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.52, Y:49.48, Z:0.52 [[ 4.93415688e-01 -8.69790121e-01 -2.47076885e-03 9.35221721e+01] [ 8.69781018e-01 4.93421840e-01 -3.98340517e-03 4.94804255e+01] [ 4.68385777e-03 -1.83553240e-04 9.99989014e-01 5.20739165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.53, Y:49.51, Z:0.52 [[ 4.95051100e-01 -8.68860351e-01 -2.46952555e-03 9.35349997e+01] [ 8.68851234e-01 4.95057229e-01 -3.98417581e-03 4.95050160e+01] [ 4.68424887e-03 -1.73279705e-04 9.99989014e-01 5.21202459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.55, Y:49.53, Z:0.52 [[ 4.96146929e-01 -8.68235067e-01 -2.46828303e-03 9.35481276e+01] [ 8.68225938e-01 4.96153041e-01 -3.98494543e-03 4.95290453e+01] [ 4.68451549e-03 -1.65908911e-04 9.99989014e-01 5.21443987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.56, Y:49.55, Z:0.52 [[ 4.97652091e-01 -8.67373225e-01 -2.46697621e-03 9.35613667e+01] [ 8.67364081e-01 4.97658181e-01 -3.98575428e-03 4.95534167e+01] [ 4.68484743e-03 -1.56247600e-04 9.99989014e-01 5.21695286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.57, Y:49.58, Z:0.52 [[ 5.02596166e-01 -8.64517793e-01 -2.46575143e-03 9.35749930e+01] [ 8.64508611e-01 5.02602198e-01 -3.98651183e-03 4.95785587e+01] [ 4.68570250e-03 -1.28057784e-04 9.99989014e-01 5.21364880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.59, Y:49.60, Z:0.52 [[ 5.03405395e-01 -8.64046836e-01 -2.46444268e-03 9.35873272e+01] [ 8.64037644e-01 5.03411413e-01 -3.98732074e-03 4.96032071e+01] [ 4.68586044e-03 -1.22132474e-04 9.99989014e-01 5.21421062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.60, Y:49.63, Z:0.52 [[ 5.07217449e-01 -8.61814593e-01 -2.46295688e-03 9.36008383e+01] [ 8.61805371e-01 5.07223419e-01 -3.98823830e-03 4.96281049e+01] [ 4.68639138e-03 -9.96854100e-05 9.99989014e-01 5.21679520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.62, Y:49.65, Z:0.52 [[ 5.08745020e-01 -8.60913727e-01 -2.46175506e-03 9.36151453e+01] [ 8.60904490e-01 5.08750968e-01 -3.98897999e-03 4.96525531e+01] [ 4.68658790e-03 -8.99622827e-05 9.99989014e-01 5.22024272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.63, Y:49.68, Z:0.52 [[ 5.09987405e-01 -8.60178349e-01 -2.46053757e-03 9.36283569e+01] [ 8.60169100e-01 5.09993334e-01 -3.98973083e-03 4.96758296e+01] [ 4.68673784e-03 -8.17659173e-05 9.99989014e-01 5.22163658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:49.69, Z:0.52 [[ 5.14443142e-01 -8.57520965e-01 -2.45925458e-03 9.36401493e+01] [ 8.57511682e-01 5.14449017e-01 -3.99052151e-03 4.96930814e+01] [ 4.68711696e-03 -5.59431039e-05 9.99989014e-01 5.22571915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.65, Y:49.72, Z:0.52 [[ 5.12536619e-01 -8.58662034e-01 -2.39267529e-03 9.36549257e+01] [ 8.58652571e-01 5.12542204e-01 -4.03144478e-03 4.97218357e+01] [ 4.68799564e-03 1.17862874e-05 9.99989011e-01 5.21933589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.67, Y:49.74, Z:0.52 [[ 5.12976800e-01 -8.58398970e-01 -2.45164847e-03 9.36688204e+01] [ 8.58389675e-01 5.12982655e-01 -3.99518248e-03 4.97445565e+01] [ 4.68711367e-03 -5.50338136e-05 9.99989014e-01 5.22214653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.68, Y:49.77, Z:0.52 [[ 5.13140201e-01 -8.58301324e-01 -2.44356807e-03 9.36836414e+01] [ 8.58292004e-01 5.13146017e-01 -4.00014600e-03 4.97670687e+01] [ 4.68723783e-03 -4.46592131e-05 9.99989014e-01 5.23127102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.70, Y:49.79, Z:0.52 [[ 5.12836306e-01 -8.58482910e-01 -2.45280312e-03 9.36986281e+01] [ 8.58473619e-01 5.12842168e-01 -3.99447523e-03 4.97906797e+01] [ 4.68708959e-03 -5.71548542e-05 9.99989014e-01 5.23461652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.71, Y:49.81, Z:0.52 [[ 5.11703139e-01 -8.59158826e-01 -2.45157926e-03 9.37139214e+01] [ 8.59149539e-01 5.11709008e-01 -3.99522622e-03 4.98140706e+01] [ 4.68702906e-03 -6.19033947e-05 9.99989014e-01 5.23715351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.73, Y:49.84, Z:0.52 [[ 5.10906841e-01 -8.59632593e-01 -2.45030112e-03 9.37285210e+01] [ 8.59623308e-01 5.10912713e-01 -3.99600996e-03 4.98372400e+01] [ 4.68699040e-03 -6.47471273e-05 9.99989014e-01 5.24025974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.75, Y:49.86, Z:0.52 [[ 5.11478051e-01 -8.59292852e-01 -2.44895496e-03 9.37469874e+01] [ 8.59283559e-01 5.11483910e-01 -3.99683478e-03 4.98618990e+01] [ 4.68705262e-03 -6.00534717e-05 9.99989014e-01 5.23169009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.76, Y:49.88, Z:0.52 [[ 5.08771728e-01 -8.60897876e-01 -2.48499565e-03 9.37576711e+01] [ 8.60888709e-01 5.08777783e-01 -3.97475466e-03 4.98833692e+01] [ 4.68616843e-03 -1.17061900e-04 9.99989013e-01 5.23894665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.77, Y:49.91, Z:0.52 [[ 5.07104513e-01 -8.61881099e-01 -2.44640898e-03 9.37730897e+01] [ 8.61871828e-01 5.07110407e-01 -3.99836402e-03 4.99062264e+01] [ 4.68671383e-03 -8.09025443e-05 9.99989014e-01 5.23372072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.79, Y:49.93, Z:0.52 [[ 5.06056082e-01 -8.62497109e-01 -2.44517010e-03 9.37880269e+01] [ 8.62487842e-01 5.06061982e-01 -3.99912150e-03 4.99299061e+01] [ 4.68663836e-03 -8.51497232e-05 9.99989014e-01 5.23175878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.80, Y:49.95, Z:0.52 [[ 5.04085524e-01 -8.63650283e-01 -2.44400964e-03 9.38032319e+01] [ 8.63641026e-01 5.04091440e-01 -3.99983058e-03 4.99537762e+01] [ 4.68645915e-03 -9.44902972e-05 9.99989014e-01 5.22784972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.82, Y:49.98, Z:0.52 [[ 5.03162090e-01 -8.64188604e-01 -2.44274875e-03 9.38186179e+01] [ 8.64179350e-01 5.03168010e-01 -4.00060047e-03 4.99781928e+01] [ 4.68638636e-03 -9.80225356e-05 9.99989014e-01 5.22436070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.83, Y:50.00, Z:0.52 [[ 5.01856159e-01 -8.64947629e-01 -2.44848563e-03 9.38332125e+01] [ 8.64938401e-01 5.01862119e-01 -3.99709950e-03 5.00017769e+01] [ 4.68608392e-03 -1.11820243e-04 9.99989014e-01 5.22229605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.85, Y:50.02, Z:0.52 [[ 4.99379357e-01 -8.66379999e-01 -2.44030456e-03 9.38476397e+01] [ 8.66370763e-01 4.99385306e-01 -4.00208797e-03 5.00245318e+01] [ 4.68598121e-03 -1.15648406e-04 9.99989014e-01 5.21702961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.86, Y:50.05, Z:0.52 [[ 4.97949944e-01 -8.67202344e-01 -2.43897966e-03 9.38624556e+01] [ 8.67193114e-01 4.97955902e-01 -4.00289524e-03 5.00481977e+01] [ 4.68582445e-03 -1.21824911e-04 9.99989014e-01 5.21957274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.88, Y:50.07, Z:0.52 [[ 4.96709104e-01 -8.67913661e-01 -2.43774270e-03 9.38768117e+01] [ 8.67904436e-01 4.96715070e-01 -4.00364840e-03 5.00716667e+01] [ 4.68568468e-03 -1.27079090e-04 9.99989014e-01 5.22088895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.89, Y:50.10, Z:0.52 [[ 4.94182409e-01 -8.69354823e-01 -2.43684175e-03 9.38916799e+01] [ 8.69345613e-01 4.94188397e-01 -4.00419670e-03 5.00953650e+01] [ 4.68532663e-03 -1.39654112e-04 9.99989014e-01 5.22924712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.91, Y:50.12, Z:0.52 [[ 4.93060739e-01 -8.69991480e-01 -2.43559518e-03 9.39060704e+01] [ 8.69982274e-01 4.93066734e-01 -4.00495479e-03 5.01186764e+01] [ 4.68518750e-03 -1.44238666e-04 9.99989014e-01 5.23013766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.92, Y:50.14, Z:0.52 [[ 4.91122011e-01 -8.71087392e-01 -2.43428107e-03 9.39203142e+01] [ 8.71078195e-01 4.91128020e-01 -4.00575337e-03 5.01416737e+01] [ 4.68490490e-03 -1.53135508e-04 9.99989014e-01 5.23215476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.93, Y:50.17, Z:0.52 [[ 4.90338867e-01 -8.71528471e-01 -2.43298737e-03 9.39348017e+01] [ 8.71519276e-01 4.90344879e-01 -4.00653897e-03 5.01655132e+01] [ 4.68481568e-03 -1.55833611e-04 9.99989014e-01 5.23757894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.95, Y:50.19, Z:0.52 [[ 4.89798404e-01 -8.71832329e-01 -2.43173822e-03 9.39490838e+01] [ 8.71823134e-01 4.89804415e-01 -4.00729699e-03 5.01890137e+01] [ 4.68476719e-03 -1.57277969e-04 9.99989014e-01 5.23775090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.96, Y:50.21, Z:0.52 [[ 4.88636935e-01 -8.72483833e-01 -2.43042140e-03 9.39639161e+01] [ 8.72474641e-01 4.88642953e-01 -4.00809548e-03 5.02128040e+01] [ 4.68460680e-03 -1.61977543e-04 9.99989014e-01 5.23998940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.98, Y:50.24, Z:0.52 [[ 4.89446585e-01 -8.72029857e-01 -2.44305062e-03 9.39783459e+01] [ 8.72020698e-01 4.89452652e-01 -4.00044487e-03 5.02359389e+01] [ 4.68426498e-03 -1.72386624e-04 9.99989014e-01 5.24566597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.99, Y:50.26, Z:0.53 [[ 4.89795255e-01 -8.71834112e-01 -2.42687419e-03 9.39923331e+01] [ 8.71824902e-01 4.89801244e-01 -4.01023436e-03 5.02588226e+01] [ 4.68494511e-03 -1.51615593e-04 9.99989014e-01 5.25002497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.01, Y:50.28, Z:0.53 [[ 4.90756274e-01 -8.71293519e-01 -2.42552529e-03 9.40062246e+01] [ 8.71284299e-01 4.90762246e-01 -4.01105006e-03 5.02825732e+01] [ 4.68515816e-03 -1.44874119e-04 9.99989014e-01 5.25941983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.02, Y:50.31, Z:0.53 [[ 4.91549026e-01 -8.70846530e-01 -2.42419109e-03 9.40201208e+01] [ 8.70837300e-01 4.91554984e-01 -4.01185626e-03 5.03061053e+01] [ 4.68533431e-03 -1.39051992e-04 9.99989014e-01 5.27132618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.03, Y:50.33, Z:0.53 [[ 4.90899422e-01 -8.71212892e-01 -2.41963076e-03 9.40338647e+01] [ 8.71203653e-01 4.90905366e-01 -4.01461013e-03 5.03305210e+01] [ 4.68538982e-03 -1.37221362e-04 9.99989014e-01 5.27808772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.05, Y:50.35, Z:0.53 [[ 4.91380022e-01 -8.70941846e-01 -2.44445841e-03 9.40450224e+01] [ 8.70932677e-01 4.91386075e-01 -3.99962202e-03 5.03520491e+01] [ 4.68461100e-03 -1.63624352e-04 9.99989014e-01 5.26059497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.06, Y:50.38, Z:0.53 [[ 4.93161369e-01 -8.69934535e-01 -2.40192106e-03 9.40627595e+01] [ 8.69925229e-01 4.93167207e-01 -4.02529489e-03 5.03761423e+01] [ 4.68629174e-03 -1.04371793e-04 9.99989014e-01 5.28864890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.08, Y:50.40, Z:0.53 [[ 4.93681629e-01 -8.69639342e-01 -2.42136405e-03 9.40774791e+01] [ 8.69630090e-01 4.93687552e-01 -4.01356294e-03 5.04005827e+01] [ 4.68574952e-03 -1.24268744e-04 9.99989014e-01 5.28531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.09, Y:50.42, Z:0.53 [[ 4.92346191e-01 -8.70396100e-01 -2.42040431e-03 9.40892454e+01] [ 8.70386853e-01 4.92352123e-01 -4.01414163e-03 5.04238351e+01] [ 4.68558442e-03 -1.30340755e-04 9.99989014e-01 5.26203315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.10, Y:50.45, Z:0.53 [[ 4.91766948e-01 -8.70723563e-01 -2.39695664e-03 9.41032161e+01] [ 8.70714251e-01 4.91772778e-01 -4.02826087e-03 5.04477392e+01] [ 4.68625969e-03 -1.06098753e-04 9.99989014e-01 5.26077085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.12, Y:50.47, Z:0.53 [[ 4.91242244e-01 -8.71019686e-01 -2.40109590e-03 9.41178759e+01] [ 8.71010390e-01 4.91248098e-01 -4.02577138e-03 5.04717628e+01] [ 4.68605992e-03 -1.13750516e-04 9.99989014e-01 5.27993985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.13, Y:50.50, Z:0.53 [[ 4.90213765e-01 -8.71598897e-01 -2.41401202e-03 9.41317876e+01] [ 8.71589646e-01 4.90219690e-01 -4.01800620e-03 5.04960809e+01] [ 4.68548600e-03 -1.34345939e-04 9.99989014e-01 5.28457480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.15, Y:50.52, Z:0.53 [[ 4.89062524e-01 -8.72245391e-01 -2.41367634e-03 9.41454346e+01] [ 8.72236147e-01 4.89068460e-01 -4.01820784e-03 5.05202478e+01] [ 4.68531624e-03 -1.40140883e-04 9.99989014e-01 5.28388101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.16, Y:50.54, Z:0.53 [[ 4.88947088e-01 -8.72310072e-01 -2.42569117e-03 9.41587649e+01] [ 8.72300864e-01 4.88953080e-01 -4.01099513e-03 5.05432564e+01] [ 4.68488062e-03 -1.54768118e-04 9.99989014e-01 5.29617758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.17, Y:50.57, Z:0.53 [[ 4.88078752e-01 -8.72796273e-01 -2.40774474e-03 9.41716679e+01] [ 8.72787018e-01 4.88084671e-01 -4.02175731e-03 5.05667320e+01] [ 4.68535809e-03 -1.38514063e-04 9.99989014e-01 5.28742400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.19, Y:50.59, Z:0.53 [[ 4.87195794e-01 -8.73289443e-01 -2.40984398e-03 9.41851718e+01] [ 8.73280200e-01 4.87201732e-01 -4.02049905e-03 5.05908842e+01] [ 4.68513953e-03 -1.45698810e-04 9.99989014e-01 5.28817626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.20, Y:50.61, Z:0.53 [[ 4.86015743e-01 -8.73946725e-01 -2.41258634e-03 9.41980817e+01] [ 8.73937498e-01 4.86021706e-01 -4.01885599e-03 5.06142999e+01] [ 4.68483536e-03 -1.55222388e-04 9.99989014e-01 5.26753534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.21, Y:50.64, Z:0.53 [[ 4.84905781e-01 -8.74563083e-01 -2.40791728e-03 9.42126103e+01] [ 8.74553850e-01 4.84911735e-01 -4.02165153e-03 5.06386814e+01] [ 4.68481531e-03 -1.55731250e-04 9.99989014e-01 5.26816987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.23, Y:50.66, Z:0.53 [[ 4.83646120e-01 -8.75260326e-01 -2.40664605e-03 9.42267309e+01] [ 8.75251098e-01 4.83652081e-01 -4.02241213e-03 5.06631544e+01] [ 4.68463712e-03 -1.60995577e-04 9.99989014e-01 5.26098343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.24, Y:50.69, Z:0.53 [[ 4.82354131e-01 -8.75973028e-01 -2.39734216e-03 9.42409539e+01] [ 8.75963781e-01 4.82360063e-01 -4.02797385e-03 5.06861973e+01] [ 4.68477857e-03 -1.57075079e-04 9.99989014e-01 5.26745659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.25, Y:50.71, Z:0.53 [[ 4.80324951e-01 -8.77087318e-01 -2.40377733e-03 9.42544991e+01] [ 8.77078104e-01 4.80330934e-01 -4.02412986e-03 5.07091933e+01] [ 4.68412188e-03 -1.75410481e-04 9.99989014e-01 5.27161903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.27, Y:50.73, Z:0.53 [[ 4.79571307e-01 -8.77499623e-01 -2.40286146e-03 9.42687200e+01] [ 8.77490411e-01 4.79577293e-01 -4.02467667e-03 5.07335223e+01] [ 4.68401005e-03 -1.78368441e-04 9.99989014e-01 5.28072661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.28, Y:50.76, Z:0.53 [[ 4.78736001e-01 -8.77955622e-01 -2.40162769e-03 9.42825503e+01] [ 8.77946412e-01 4.78741990e-01 -4.02541276e-03 5.07578223e+01] [ 4.68389378e-03 -1.81390410e-04 9.99989014e-01 5.28597387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.30, Y:50.78, Z:0.53 [[ 4.78689885e-01 -8.77980770e-01 -2.40039074e-03 9.42958828e+01] [ 8.77971557e-01 4.78695869e-01 -4.02615023e-03 5.07820920e+01] [ 4.68393961e-03 -1.80197406e-04 9.99989014e-01 5.29082094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.31, Y:50.81, Z:0.53 [[ 4.79080360e-01 -8.77767767e-01 -2.39916548e-03 9.43100701e+01] [ 8.77758547e-01 4.79086335e-01 -4.02688022e-03 5.08067568e+01] [ 4.68407305e-03 -1.76688785e-04 9.99989014e-01 5.29104757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.32, Y:50.83, Z:0.53 [[ 4.81078189e-01 -8.76674413e-01 -2.39793921e-03 9.43238480e+01] [ 8.76665176e-01 4.81084137e-01 -4.02761031e-03 5.08316658e+01] [ 4.68451342e-03 -1.64594322e-04 9.99989014e-01 5.28957927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.34, Y:50.86, Z:0.53 [[ 4.80812409e-01 -8.76820211e-01 -2.39671948e-03 9.43383052e+01] [ 8.76810973e-01 4.80818355e-01 -4.02833601e-03 5.08562975e+01] [ 4.68451315e-03 -1.64595992e-04 9.99989014e-01 5.29091438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.35, Y:50.88, Z:0.53 [[ 4.82077722e-01 -8.76125181e-01 -2.39549808e-03 9.43521786e+01] [ 8.76115930e-01 4.82083648e-01 -4.02906220e-03 5.08812252e+01] [ 4.68479330e-03 -1.56412907e-04 9.99989014e-01 5.28705471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.36, Y:50.91, Z:0.53 [[ 4.84889899e-01 -8.74571926e-01 -2.39427935e-03 9.43644648e+01] [ 8.74562653e-01 4.84895790e-01 -4.02978630e-03 5.09052108e+01] [ 4.68531394e-03 -1.39944627e-04 9.99989014e-01 5.27389677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.38, Y:50.93, Z:0.53 [[ 4.86157617e-01 -8.73867865e-01 -2.39299383e-03 9.43770286e+01] [ 8.73858579e-01 4.86163489e-01 -4.03054953e-03 5.09280030e+01] [ 4.68555394e-03 -1.31655835e-04 9.99989014e-01 5.27639482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.39, Y:50.95, Z:0.53 [[ 4.87379215e-01 -8.73187140e-01 -2.39163283e-03 9.43908143e+01] [ 8.73177843e-01 4.87385067e-01 -4.03135696e-03 5.09519301e+01] [ 4.68577518e-03 -1.23521205e-04 9.99989014e-01 5.28119338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.41, Y:50.98, Z:0.53 [[ 4.87811292e-01 -8.72945834e-01 -2.39043757e-03 9.44050986e+01] [ 8.72936531e-01 4.87817134e-01 -4.03206557e-03 5.09769417e+01] [ 4.68587125e-03 -1.19813166e-04 9.99989014e-01 5.29449762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.42, Y:51.00, Z:0.53 [[ 4.89569867e-01 -8.71960768e-01 -2.40088043e-03 9.44194206e+01] [ 8.71951483e-01 4.89575739e-01 -4.02587293e-03 5.10007037e+01] [ 4.68581606e-03 -1.22505179e-04 9.99989014e-01 5.28754592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.43, Y:51.02, Z:0.53 [[ 4.90607067e-01 -8.71377597e-01 -2.40627169e-03 9.44332411e+01] [ 8.71368320e-01 4.90612952e-01 -4.02267797e-03 5.10234333e+01] [ 4.68581952e-03 -1.23194679e-04 9.99989014e-01 5.30176342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.45, Y:51.05, Z:0.53 [[ 4.90126460e-01 -8.71648064e-01 -2.38869671e-03 9.44469577e+01] [ 8.71638740e-01 4.90132270e-01 -4.03308128e-03 5.10476266e+01] [ 4.68620483e-03 -1.05360744e-04 9.99989014e-01 5.29744114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.46, Y:51.07, Z:0.53 [[ 4.90310610e-01 -8.71544472e-01 -2.39562068e-03 9.44610860e+01] [ 8.71535167e-01 4.90316449e-01 -4.02898806e-03 5.10708888e+01] [ 4.68605450e-03 -1.12412079e-04 9.99989014e-01 5.30832316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.47, Y:51.09, Z:0.53 [[ 4.89732324e-01 -8.71869582e-01 -2.38381387e-03 9.44746226e+01] [ 8.71860247e-01 4.89738115e-01 -4.03596168e-03 5.10940440e+01] [ 4.68627673e-03 -1.01811662e-04 9.99989014e-01 5.30548812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.49, Y:51.12, Z:0.53 [[ 4.88674761e-01 -8.72462780e-01 -2.38247140e-03 9.44897114e+01] [ 8.72453447e-01 4.88680557e-01 -4.03675400e-03 5.11177272e+01] [ 4.68618506e-03 -1.05935589e-04 9.99989014e-01 5.30716014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.50, Y:51.14, Z:0.53 [[ 4.88451229e-01 -8.72587948e-01 -2.38119958e-03 9.45038185e+01] [ 8.72578613e-01 4.88457022e-01 -4.03750408e-03 5.11401214e+01] [ 4.68619105e-03 -1.05659998e-04 9.99989014e-01 5.30214857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.52, Y:51.16, Z:0.53 [[ 4.88022577e-01 -8.72827794e-01 -2.36770666e-03 9.45170652e+01] [ 8.72818424e-01 4.88028312e-01 -4.04545220e-03 5.11610892e+01] [ 4.68649101e-03 -9.23059914e-05 9.99989014e-01 5.30357555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.53, Y:51.19, Z:0.53 [[ 4.86589188e-01 -8.73627749e-01 -2.34900383e-03 9.45308761e+01] [ 8.73618335e-01 4.86594851e-01 -4.05645028e-03 5.11852494e+01] [ 4.68684070e-03 -7.83079686e-05 9.99989014e-01 5.30097496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.55, Y:51.21, Z:0.53 [[ 4.85941945e-01 -8.73987866e-01 -2.37390923e-03 9.45452027e+01] [ 8.73978528e-01 4.85947731e-01 -4.04180393e-03 5.12084199e+01] [ 4.68608340e-03 -1.10663630e-04 9.99989014e-01 5.28208478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.56, Y:51.23, Z:0.53 [[ 4.83604402e-01 -8.75283491e-01 -2.36515550e-03 9.45593672e+01] [ 8.75274142e-01 4.83610172e-01 -4.04694683e-03 5.12346812e+01] [ 4.68603901e-03 -1.13038156e-04 9.99989014e-01 5.27042158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.57, Y:51.25, Z:0.53 [[ 4.84798212e-01 -8.74622713e-01 -2.40890027e-03 9.45732041e+01] [ 8.74613483e-01 4.84804171e-01 -4.02121895e-03 5.12548119e+01] [ 4.68489433e-03 -1.57376896e-04 9.99989013e-01 5.28890594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.59, Y:51.28, Z:0.53 [[ 4.84148654e-01 -8.74982571e-01 -2.36245343e-03 9.45874870e+01] [ 8.74973212e-01 4.84154406e-01 -4.04848984e-03 5.12790050e+01] [ 4.68615029e-03 -1.07012558e-04 9.99989014e-01 5.30527082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.60, Y:51.30, Z:0.53 [[ 4.82906725e-01 -8.75668600e-01 -2.36616055e-03 9.46015254e+01] [ 8.75659259e-01 4.82912507e-01 -4.04631340e-03 5.13030337e+01] [ 4.68587811e-03 -1.17958446e-04 9.99989014e-01 5.30635226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.62, Y:51.33, Z:0.53 [[ 4.81769840e-01 -8.76294582e-01 -2.37208945e-03 9.46152505e+01] [ 8.76285266e-01 4.81775662e-01 -4.04283468e-03 5.13260446e+01] [ 4.68552909e-03 -1.30911214e-04 9.99989014e-01 5.31155577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.63, Y:51.35, Z:0.53 [[ 4.81151944e-01 -8.76634009e-01 -2.37082801e-03 9.46294932e+01] [ 8.76624693e-01 4.81157767e-01 -4.04357429e-03 5.13507333e+01] [ 4.68547705e-03 -1.32752752e-04 9.99989014e-01 5.31475875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.64, Y:51.37, Z:0.53 [[ 4.80749837e-01 -8.76854594e-01 -2.36961192e-03 9.46433697e+01] [ 8.76845278e-01 4.80755658e-01 -4.04428681e-03 5.13745848e+01] [ 4.68545581e-03 -1.33492799e-04 9.99989014e-01 5.31646190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.66, Y:51.40, Z:0.53 [[ 4.81594203e-01 -8.76391131e-01 -2.36837823e-03 9.46565898e+01] [ 8.76381805e-01 4.81600009e-01 -4.04500915e-03 5.13965165e+01] [ 4.68562112e-03 -1.27550628e-04 9.99989014e-01 5.32640122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.67, Y:51.42, Z:0.53 [[ 4.81145511e-01 -8.76637593e-01 -2.35112865e-03 9.46704326e+01] [ 8.76628221e-01 4.81151243e-01 -4.05510356e-03 5.14216736e+01] [ 4.68610469e-03 -1.09970856e-04 9.99989014e-01 5.32145704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.68, Y:51.45, Z:0.53 [[ 4.81450895e-01 -8.76469891e-01 -2.35906470e-03 9.46844195e+01] [ 8.76460540e-01 4.81456661e-01 -4.05046101e-03 5.14459903e+01] [ 4.68589453e-03 -1.17529039e-04 9.99989014e-01 5.32400786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.69, Y:51.47, Z:0.53 [[ 4.82574012e-01 -8.75851999e-01 -2.36617016e-03 9.46937879e+01] [ 8.75842661e-01 4.82579798e-01 -4.04630593e-03 5.14687373e+01] [ 4.68583105e-03 -1.19750687e-04 9.99989014e-01 5.29875763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.71, Y:51.49, Z:0.53 [[ 4.85087061e-01 -8.74462746e-01 -2.33442897e-03 9.47111561e+01] [ 8.74453301e-01 4.85092673e-01 -4.06485681e-03 5.14945418e+01] [ 4.68698024e-03 -6.95396768e-05 9.99989014e-01 5.32729016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.72, Y:51.51, Z:0.53 [[ 4.91068285e-01 -8.71117870e-01 -2.36556667e-03 9.47219123e+01] [ 8.71108474e-01 4.91073977e-01 -4.04665455e-03 5.15121517e+01] [ 4.68678132e-03 -7.34814599e-05 9.99989014e-01 5.33168112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.74, Y:51.54, Z:0.53 [[ 4.89099880e-01 -8.72224764e-01 -2.29538254e-03 9.47365506e+01] [ 8.72215185e-01 4.89105266e-01 -4.08771686e-03 5.15417369e+01] [ 4.68809156e-03 -2.76568456e-06 9.99989011e-01 5.29966976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.75, Y:51.56, Z:0.53 [[ 4.90866717e-01 -8.71231465e-01 -2.36672366e-03 9.47501034e+01] [ 8.71222073e-01 4.90872417e-01 -4.04594322e-03 5.15638708e+01] [ 4.68671240e-03 -7.59230307e-05 9.99989014e-01 5.33162918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.76, Y:51.59, Z:0.53 [[ 4.90954073e-01 -8.71182287e-01 -2.34961572e-03 9.47639705e+01] [ 8.71172847e-01 4.90959693e-01 -4.05594715e-03 5.15894789e+01] [ 4.68703593e-03 -5.56376372e-05 9.99989014e-01 5.33471458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.78, Y:51.61, Z:0.53 [[ 4.90871491e-01 -8.71228779e-01 -2.36515232e-03 9.47773306e+01] [ 8.71219383e-01 4.90877183e-01 -4.04686694e-03 5.16132883e+01] [ 4.68674625e-03 -7.40749381e-05 9.99989014e-01 5.33807079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.79, Y:51.64, Z:0.53 [[ 4.90714180e-01 -8.71317397e-01 -2.36379443e-03 9.47899578e+01] [ 8.71307998e-01 4.90719868e-01 -4.04765993e-03 5.16358393e+01] [ 4.68675741e-03 -7.33488643e-05 9.99989014e-01 5.33728229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.80, Y:51.66, Z:0.53 [[ 4.89867474e-01 -8.71793733e-01 -2.35478808e-03 9.48036452e+01] [ 8.71784315e-01 4.89873129e-01 -4.05291500e-03 5.16604831e+01] [ 4.68685330e-03 -6.74760798e-05 9.99989014e-01 5.34365071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.82, Y:51.69, Z:0.53 [[ 4.88253115e-01 -8.72698872e-01 -2.36108814e-03 9.48178462e+01] [ 8.72689482e-01 4.88258817e-01 -4.04924146e-03 5.16852136e+01] [ 4.68659056e-03 -8.34420315e-05 9.99989014e-01 5.34954205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.83, Y:51.71, Z:0.53 [[ 4.86991517e-01 -8.73403511e-01 -2.35984055e-03 9.48325548e+01] [ 8.73394126e-01 4.86997226e-01 -4.04996841e-03 5.17104728e+01] [ 4.68649244e-03 -8.87706135e-05 9.99989014e-01 5.32696291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.85, Y:51.73, Z:0.53 [[ 4.84983844e-01 -8.74519904e-01 -2.36828612e-03 9.48466076e+01] [ 8.74510556e-01 4.84989614e-01 -4.04504880e-03 5.17346562e+01] [ 4.68606986e-03 -1.09307899e-04 9.99989014e-01 5.34673705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30275509600001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:94.86, Y:51.76, Z:0.53 [[ 4.83850175e-01 -8.75147655e-01 -2.36453385e-03 9.48603707e+01] [ 8.75138303e-01 4.83855940e-01 -4.04723425e-03 5.17588184e+01] [ 4.68602131e-03 -1.11039137e-04 9.99989014e-01 5.34553395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.87, Y:51.78, Z:0.53 [[ 4.83884463e-01 -8.75128696e-01 -2.36464366e-03 9.48736340e+01] [ 8.75119345e-01 4.83890228e-01 -4.04717035e-03 5.17813561e+01] [ 4.68602287e-03 -1.10982554e-04 9.99989014e-01 5.33180396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.89, Y:51.81, Z:0.53 [[ 4.82559444e-01 -8.75860077e-01 -2.34713473e-03 9.48872746e+01] [ 8.75850684e-01 4.82565142e-01 -4.05735334e-03 5.18053049e+01] [ 4.68631921e-03 -9.78253867e-05 9.99989014e-01 5.32079827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.90, Y:51.83, Z:0.53 [[ 4.80788813e-01 -8.76833280e-01 -2.34883864e-03 9.49017762e+01] [ 8.76823904e-01 4.80794538e-01 -4.05636239e-03 5.18314905e+01] [ 4.68606232e-03 -1.09264206e-04 9.99989014e-01 5.30881883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.91, Y:51.86, Z:0.53 [[ 4.79415924e-01 -8.77584622e-01 -2.36720290e-03 9.49148190e+01] [ 8.77575307e-01 4.79421748e-01 -4.04568401e-03 5.18551391e+01] [ 4.68531863e-03 -1.37833474e-04 9.99989014e-01 5.29792076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:51.88, Z:0.53 [[ 4.79235895e-01 -8.77682942e-01 -2.36863609e-03 9.49278779e+01] [ 8.77673633e-01 4.79241728e-01 -4.04485084e-03 5.18776922e+01] [ 4.68524584e-03 -1.40451728e-04 9.99989014e-01 5.30247159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.94, Y:51.90, Z:0.53 [[ 4.77318928e-01 -8.78726990e-01 -2.34906849e-03 9.49424246e+01] [ 8.78717637e-01 4.77324692e-01 -4.05621599e-03 5.19032489e+01] [ 4.68557486e-03 -1.28059239e-04 9.99989014e-01 5.30375130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:51.93, Z:0.53 [[ 4.76435915e-01 -8.79206044e-01 -2.35608841e-03 9.49564448e+01] [ 8.79196717e-01 4.76441720e-01 -4.05214122e-03 5.19276960e+01] [ 4.68520587e-03 -1.40879586e-04 9.99989014e-01 5.29710727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.97, Y:51.95, Z:0.53 [[ 4.76341022e-01 -8.79257453e-01 -2.35845160e-03 9.49699804e+01] [ 8.79248134e-01 4.76346839e-01 -4.05076966e-03 5.19511693e+01] [ 4.68511038e-03 -1.44116412e-04 9.99989014e-01 5.32151284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.98, Y:51.98, Z:0.53 [[ 4.76504417e-01 -8.79168925e-01 -2.35414642e-03 9.49839897e+01] [ 8.79159592e-01 4.76510212e-01 -4.05326662e-03 5.19759703e+01] [ 4.68528087e-03 -1.38270957e-04 9.99989014e-01 5.29947741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.00, Y:52.00, Z:0.53 [[ 4.77312592e-01 -8.78730398e-01 -2.36163593e-03 9.49974734e+01] [ 8.78721081e-01 4.77318414e-01 -4.04892567e-03 5.19997954e+01] [ 4.68516638e-03 -1.42616069e-04 9.99989014e-01 5.32268885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.01, Y:52.02, Z:0.53 [[ 4.78880347e-01 -8.77877038e-01 -2.34937077e-03 9.50114385e+01] [ 8.77867676e-01 4.78886095e-01 -4.05602878e-03 5.20243314e+01] [ 4.68577553e-03 -1.20084186e-04 9.99989014e-01 5.33023424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.02, Y:52.05, Z:0.53 [[ 4.79729884e-01 -8.77413088e-01 -2.34761913e-03 9.50246775e+01] [ 8.77403716e-01 4.79735614e-01 -4.05704238e-03 5.20477497e+01] [ 4.68593859e-03 -1.13525284e-04 9.99989014e-01 5.33256703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.04, Y:52.07, Z:0.53 [[ 4.80555091e-01 -8.76961401e-01 -2.34626066e-03 9.50387147e+01] [ 8.76952020e-01 4.80560807e-01 -4.05782785e-03 5.20720912e+01] [ 4.68607932e-03 -1.07548186e-04 9.99989014e-01 5.33607100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.05, Y:52.10, Z:0.53 [[ 4.82286507e-01 -8.76010403e-01 -2.34497887e-03 9.50523789e+01] [ 8.76001007e-01 4.82292198e-01 -4.05856845e-03 5.20969097e+01] [ 4.68631320e-03 -9.68110439e-05 9.99989014e-01 5.32095088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.07, Y:52.12, Z:0.53 [[ 4.83818810e-01 -8.75165052e-01 -2.34329556e-03 9.50661175e+01] [ 8.75155641e-01 4.83824477e-01 -4.05954031e-03 5.21202139e+01] [ 4.68651156e-03 -8.66663646e-05 9.99989014e-01 5.33469413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.08, Y:52.14, Z:0.53 [[ 4.84812138e-01 -8.74615174e-01 -2.34274350e-03 9.50802875e+01] [ 8.74605755e-01 4.84817792e-01 -4.05985888e-03 5.21448723e+01] [ 4.68661791e-03 -8.07080816e-05 9.99989014e-01 5.33828768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.09, Y:52.17, Z:0.53 [[ 4.87073668e-01 -8.73357750e-01 -2.34153358e-03 9.50940580e+01] [ 8.73348313e-01 4.87079292e-01 -4.06055659e-03 5.21695112e+01] [ 4.68683108e-03 -6.71842041e-05 9.99989014e-01 5.34303245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.11, Y:52.19, Z:0.53 [[ 4.87882357e-01 -8.72906254e-01 -2.34030645e-03 9.51073164e+01] [ 8.72896809e-01 4.87887966e-01 -4.06126372e-03 5.21928937e+01] [ 4.68690986e-03 -6.14271120e-05 9.99989014e-01 5.34495099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.12, Y:52.22, Z:0.53 [[ 4.88404574e-01 -8.72614176e-01 -2.33901828e-03 9.51210800e+01] [ 8.72604724e-01 4.88410172e-01 -4.06200548e-03 5.22168638e+01] [ 4.68696389e-03 -5.71363422e-05 9.99989014e-01 5.34769730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.14, Y:52.24, Z:0.53 [[ 4.90021767e-01 -8.71707063e-01 -2.33770858e-03 9.51388154e+01] [ 8.71697596e-01 4.90027341e-01 -4.06275908e-03 5.22425580e+01] [ 4.68707691e-03 -4.69345681e-05 9.99989014e-01 5.33992054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.15, Y:52.26, Z:0.54 [[ 4.88574039e-01 -8.72519236e-01 -2.36469644e-03 9.51495861e+01] [ 8.72509853e-01 4.88579754e-01 -4.04723272e-03 5.22649476e+01] [ 4.68663121e-03 -8.58481103e-05 9.99989014e-01 5.36016196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.16, Y:52.29, Z:0.54 [[ 4.87066458e-01 -8.73361787e-01 -2.33545190e-03 9.51636191e+01] [ 8.73352334e-01 4.87072053e-01 -4.06403848e-03 5.22892202e+01] [ 4.68690926e-03 -6.02155412e-05 9.99989015e-01 5.36872009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.18, Y:52.31, Z:0.54 [[ 4.85776971e-01 -8.74079646e-01 -2.34652648e-03 9.51763639e+01] [ 8.74070232e-01 4.85782632e-01 -4.05767643e-03 5.23120105e+01] [ 4.68663419e-03 -7.99031817e-05 9.99989014e-01 5.36956668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.19, Y:52.33, Z:0.54 [[ 4.85624902e-01 -8.74164150e-01 -2.34376698e-03 9.51904309e+01] [ 8.74154729e-01 4.85630551e-01 -4.05925981e-03 5.23349135e+01] [ 4.68666425e-03 -7.75373440e-05 9.99989015e-01 5.36717939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.20, Y:52.36, Z:0.54 [[ 4.84352372e-01 -8.74869902e-01 -2.33129046e-03 9.52049990e+01] [ 8.74860454e-01 4.84357977e-01 -4.06641264e-03 5.23600334e+01] [ 4.68676116e-03 -6.99772260e-05 9.99989015e-01 5.36774422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.22, Y:52.38, Z:0.54 [[ 4.84064200e-01 -8.75029368e-01 -2.33571752e-03 9.52190490e+01] [ 8.75019934e-01 4.84069829e-01 -4.06387569e-03 5.23849099e+01] [ 4.68666096e-03 -7.66226539e-05 9.99989015e-01 5.36909656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.23, Y:52.41, Z:0.53 [[ 4.82580019e-01 -8.75848776e-01 -2.33376709e-03 9.52348565e+01] [ 8.75839347e-01 4.82585656e-01 -4.06499235e-03 5.24093367e+01] [ 4.68656109e-03 -8.23209574e-05 9.99989015e-01 5.33868153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:52.43, Z:0.53 [[ 4.81386828e-01 -8.76505119e-01 -2.34482602e-03 9.52496277e+01] [ 8.76495728e-01 4.81392529e-01 -4.05866468e-03 5.24342909e+01] [ 4.68622210e-03 -1.01442267e-04 9.99989014e-01 5.33654487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.26, Y:52.46, Z:0.54 [[ 4.78038463e-01 -8.78335768e-01 -2.34679568e-03 9.52616971e+01] [ 8.78326404e-01 4.78044208e-01 -4.05753818e-03 5.24568341e+01] [ 4.68575299e-03 -1.21593300e-04 9.99989014e-01 5.35308132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:52.48, Z:0.54 [[ 4.76687011e-01 -8.79070012e-01 -2.32545817e-03 9.52751600e+01] [ 8.79060598e-01 4.76692672e-01 -4.06973050e-03 5.24804464e+01] [ 4.68610691e-03 -1.04230982e-04 9.99989015e-01 5.35320390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.29, Y:52.50, Z:0.54 [[ 4.76114410e-01 -8.79380262e-01 -2.32876928e-03 9.52896000e+01] [ 8.79370861e-01 4.76120092e-01 -4.06783970e-03 5.25049841e+01] [ 4.68595179e-03 -1.11094746e-04 9.99989015e-01 5.35350872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.30, Y:52.53, Z:0.53 [[ 4.74674417e-01 -8.80158395e-01 -2.32333241e-03 9.53032442e+01] [ 8.80148988e-01 4.74680089e-01 -4.07094258e-03 5.25281227e+01] [ 4.68591393e-03 -1.12506376e-04 9.99989015e-01 5.34974508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.32, Y:52.55, Z:0.53 [[ 4.74072111e-01 -8.80482959e-01 -2.32196311e-03 9.53174215e+01] [ 8.80473552e-01 4.74077784e-01 -4.07172345e-03 5.25527495e+01] [ 4.68587424e-03 -1.14136570e-04 9.99989015e-01 5.34934876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.33, Y:52.58, Z:0.54 [[ 4.73585668e-01 -8.80744701e-01 -2.32069792e-03 9.53315600e+01] [ 8.80735294e-01 4.73591340e-01 -4.07244442e-03 5.25773284e+01] [ 4.68584629e-03 -1.15269250e-04 9.99989015e-01 5.35180521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.35, Y:52.60, Z:0.54 [[ 4.73446240e-01 -8.80819663e-01 -2.31942305e-03 9.53450433e+01] [ 8.80810252e-01 4.73451908e-01 -4.07317038e-03 5.26022184e+01] [ 4.68586383e-03 -1.14544401e-04 9.99989015e-01 5.35550570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.36, Y:52.63, Z:0.54 [[ 4.73395696e-01 -8.80846832e-01 -2.31814135e-03 9.53585249e+01] [ 8.80837418e-01 4.73401358e-01 -4.07389970e-03 5.26268907e+01] [ 4.68589291e-03 -1.13339054e-04 9.99989015e-01 5.35956551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:52.65, Z:0.53 [[ 4.74295799e-01 -8.80362498e-01 -2.31682007e-03 9.53738895e+01] [ 8.80353075e-01 4.74301446e-01 -4.07465097e-03 5.26531245e+01] [ 4.68604102e-03 -1.07029831e-04 9.99989015e-01 5.34831893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.39, Y:52.68, Z:0.54 [[ 4.74859285e-01 -8.80058647e-01 -2.33192153e-03 9.53873684e+01] [ 8.80049262e-01 4.74864995e-01 -4.06606806e-03 5.26765358e+01] [ 4.68572626e-03 -1.21395646e-04 9.99989015e-01 5.35908581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.40, Y:52.70, Z:0.54 [[ 4.74986471e-01 -8.79990005e-01 -2.33311190e-03 9.53997548e+01] [ 8.79980623e-01 4.74992185e-01 -4.06539161e-03 5.27005034e+01] [ 4.68571390e-03 -1.22087250e-04 9.99989015e-01 5.38058018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.41, Y:52.72, Z:0.54 [[ 4.76248412e-01 -8.79307736e-01 -2.31425197e-03 9.54128222e+01] [ 8.79298293e-01 4.76254026e-01 -4.07609955e-03 5.27244419e+01] [ 4.68631768e-03 -9.36818672e-05 9.99989015e-01 5.38756393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.43, Y:52.75, Z:0.54 [[ 4.76558346e-01 -8.79139803e-01 -2.31276310e-03 9.54258717e+01] [ 8.79130355e-01 4.76563950e-01 -4.07694421e-03 5.27488200e+01] [ 4.68638345e-03 -9.03184536e-05 9.99989015e-01 5.38862492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.44, Y:52.77, Z:0.54 [[ 4.77139803e-01 -8.78824365e-01 -2.31158873e-03 9.54393084e+01] [ 8.78814910e-01 4.77145395e-01 -4.07760997e-03 5.27733108e+01] [ 4.68646691e-03 -8.58686245e-05 9.99989015e-01 5.38946871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.45, Y:52.80, Z:0.54 [[ 4.77086522e-01 -8.78853294e-01 -2.31029982e-03 9.54526474e+01] [ 8.78843836e-01 4.77092108e-01 -4.07834011e-03 5.27982502e+01] [ 4.68648845e-03 -8.46716527e-05 9.99989015e-01 5.38623733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.47, Y:52.82, Z:0.54 [[ 4.78446868e-01 -8.78113452e-01 -2.31528887e-03 9.54658900e+01] [ 8.78103998e-01 4.78452462e-01 -4.07551468e-03 5.28215322e+01] [ 4.68651992e-03 -8.31471829e-05 9.99989015e-01 5.38565635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.48, Y:52.85, Z:0.54 [[ 4.77720260e-01 -8.78508990e-01 -2.30361443e-03 9.54790461e+01] [ 8.78499509e-01 4.77725809e-01 -4.08212121e-03 5.28463875e+01] [ 4.68667625e-03 -7.36121385e-05 9.99989015e-01 5.38883388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.49, Y:52.87, Z:0.54 [[ 4.78142311e-01 -8.78279332e-01 -2.31189182e-03 9.54920006e+01] [ 8.78269871e-01 4.78147893e-01 -4.07744221e-03 5.28709829e+01] [ 4.68655942e-03 -8.08672858e-05 9.99989015e-01 5.39140148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.51, Y:52.90, Z:0.54 [[ 4.77819440e-01 -8.78455045e-01 -2.30574708e-03 9.55053848e+01] [ 8.78445569e-01 4.77824997e-01 -4.08091403e-03 5.28957797e+01] [ 4.68664311e-03 -7.55332480e-05 9.99989015e-01 5.39008232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.52, Y:52.92, Z:0.54 [[ 4.77905386e-01 -8.78408295e-01 -2.30444767e-03 9.55184662e+01] [ 8.78398815e-01 4.77910936e-01 -4.08164766e-03 5.29194113e+01] [ 4.68667390e-03 -7.35827069e-05 9.99989015e-01 5.39266121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.53, Y:52.94, Z:0.54 [[ 4.77077149e-01 -8.78858417e-01 -2.29704298e-03 9.55312702e+01] [ 8.78848923e-01 4.77082673e-01 -4.08582290e-03 5.29429937e+01] [ 4.68673925e-03 -6.95010070e-05 9.99989015e-01 5.39428421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.54, Y:52.97, Z:0.54 [[ 4.75661785e-01 -8.79625286e-01 -2.28548753e-03 9.55444450e+01] [ 8.79615768e-01 4.75667271e-01 -4.09233369e-03 5.29676485e+01] [ 4.68685181e-03 -6.37841261e-05 9.99989015e-01 5.39842542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.56, Y:52.99, Z:0.54 [[ 4.74898140e-01 -8.80037764e-01 -2.29988595e-03 9.55577541e+01] [ 8.80028291e-01 4.74903702e-01 -4.08422574e-03 5.29914056e+01] [ 4.68649724e-03 -8.43734920e-05 9.99989015e-01 5.39928599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.57, Y:53.01, Z:0.54 [[ 4.74651491e-01 -8.80170823e-01 -2.29853388e-03 9.55701173e+01] [ 8.80161348e-01 4.74657049e-01 -4.08498652e-03 5.30140708e+01] [ 4.68650125e-03 -8.41357338e-05 9.99989015e-01 5.39204651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.58, Y:53.04, Z:0.54 [[ 4.74607642e-01 -8.80194491e-01 -2.29025063e-03 9.55831957e+01] [ 8.80184993e-01 4.74613162e-01 -4.08964280e-03 5.30381440e+01] [ 4.68666416e-03 -7.48685064e-05 9.99989015e-01 5.39242135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.60, Y:53.06, Z:0.54 [[ 4.74450336e-01 -8.80279296e-01 -2.28905579e-03 9.55958803e+01] [ 8.80269796e-01 4.74455852e-01 -4.09031388e-03 5.30615294e+01] [ 4.68667454e-03 -7.43358790e-05 9.99989015e-01 5.39108626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.61, Y:53.09, Z:0.54 [[ 4.73981834e-01 -8.80531651e-01 -2.28777532e-03 9.56093323e+01] [ 8.80522150e-01 4.73987349e-01 -4.09103244e-03 5.30866347e+01] [ 4.68666011e-03 -7.53617844e-05 9.99989015e-01 5.39518422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.62, Y:53.11, Z:0.54 [[ 4.74351625e-01 -8.80332482e-01 -2.29280179e-03 9.56222261e+01] [ 8.80322993e-01 4.74357159e-01 -4.08821343e-03 5.31095471e+01] [ 4.68659403e-03 -7.91554494e-05 9.99989015e-01 5.38828597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.64, Y:53.13, Z:0.54 [[ 4.73857191e-01 -8.80598738e-01 -2.28606079e-03 9.56355496e+01] [ 8.80589233e-01 4.73862699e-01 -4.09199052e-03 5.31337325e+01] [ 4.68668063e-03 -7.40613841e-05 9.99989015e-01 5.38823157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.65, Y:53.15, Z:0.54 [[ 4.74628441e-01 -8.80183276e-01 -2.29012397e-03 9.56483759e+01] [ 8.80173777e-01 4.74633960e-01 -4.08971526e-03 5.31549458e+01] [ 4.68666958e-03 -7.46118861e-05 9.99989015e-01 5.38807185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.66, Y:53.18, Z:0.54 [[ 4.72081725e-01 -8.81551904e-01 -2.25520205e-03 9.56627679e+01] [ 8.81542328e-01 4.72087110e-01 -4.10922395e-03 5.31825911e+01] [ 4.68714601e-03 -4.81665311e-05 9.99989014e-01 5.38998152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.68, Y:53.21, Z:0.54 [[ 4.71826629e-01 -8.81688361e-01 -2.29487229e-03 9.56760508e+01] [ 8.81678893e-01 4.71832200e-01 -4.08705555e-03 5.32059509e+01] [ 4.68630395e-03 -9.49588207e-05 9.99989015e-01 5.39171904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.69, Y:53.23, Z:0.54 [[ 4.72350157e-01 -8.81408026e-01 -2.28496317e-03 9.56897365e+01] [ 8.81398528e-01 4.72355677e-01 -4.09258799e-03 5.32283728e+01] [ 4.68655522e-03 -8.08285943e-05 9.99989015e-01 5.40666887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:95.70, Y:53.25, Z:0.54 [[ 4.70323385e-01 -8.82491254e-01 -2.25820373e-03 9.57025716e+01] [ 8.82481697e-01 4.70328803e-01 -4.10750900e-03 5.32530772e+01] [ 4.68693902e-03 -6.09659186e-05 9.99989014e-01 5.40954695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.72, Y:53.28, Z:0.54 [[ 4.69750477e-01 -8.82796286e-01 -2.28187933e-03 9.57153456e+01] [ 8.82786796e-01 4.69756010e-01 -4.09431391e-03 5.32760698e+01] [ 4.68637164e-03 -9.11070314e-05 9.99989015e-01 5.41244930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.73, Y:53.30, Z:0.54 [[ 4.69045710e-01 -8.83170947e-01 -2.28049343e-03 9.57295823e+01] [ 8.83161458e-01 4.69051244e-01 -4.09508570e-03 5.33005526e+01] [ 4.68632899e-03 -9.32615224e-05 9.99989015e-01 5.41570178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.74, Y:53.32, Z:0.54 [[ 4.68476237e-01 -8.83473158e-01 -2.27920712e-03 9.57434257e+01] [ 8.83463669e-01 4.68481772e-01 -4.09580149e-03 5.33249655e+01] [ 4.68629767e-03 -9.48110084e-05 9.99989015e-01 5.41969295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.76, Y:53.35, Z:0.54 [[ 4.67875711e-01 -8.83791339e-01 -2.27787423e-03 9.57571956e+01] [ 8.83781850e-01 4.67881246e-01 -4.09654264e-03 5.33493958e+01] [ 4.68626354e-03 -9.64711067e-05 9.99989015e-01 5.41929305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.77, Y:53.37, Z:0.54 [[ 4.66870845e-01 -8.84322583e-01 -2.27655268e-03 9.57710846e+01] [ 8.84313097e-01 4.66876384e-01 -4.09727693e-03 5.33730123e+01] [ 4.68618320e-03 -1.00286213e-04 9.99989015e-01 5.42088588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.79, Y:53.40, Z:0.54 [[ 4.65568116e-01 -8.85009145e-01 -2.26781946e-03 9.57850526e+01] [ 8.84999643e-01 4.65573629e-01 -4.10212513e-03 5.33978164e+01] [ 4.68625519e-03 -9.72007440e-05 9.99989015e-01 5.42233309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.372755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:95.80, Y:53.42, Z:0.54 [[ 4.64483201e-01 -8.85579011e-01 -2.27403556e-03 9.57992314e+01] [ 8.85569533e-01 4.64488755e-01 -4.09867630e-03 5.34219289e+01] [ 4.68596565e-03 -1.10050314e-04 9.99989015e-01 5.41102139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.81, Y:53.45, Z:0.54 [[ 4.63040370e-01 -8.86334277e-01 -2.27271332e-03 9.58143747e+01] [ 8.86324804e-01 4.63045933e-01 -4.09940935e-03 5.34470586e+01] [ 4.68581768e-03 -1.16170161e-04 9.99989015e-01 5.42380706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:53.47, Z:0.54 [[ 4.61798757e-01 -8.86981792e-01 -2.28212545e-03 9.58273308e+01] [ 8.86972353e-01 4.61804377e-01 -4.09419260e-03 5.34707624e+01] [ 4.68536981e-03 -1.33489125e-04 9.99989015e-01 5.43404514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.84, Y:53.49, Z:0.54 [[ 4.61855264e-01 -8.86952399e-01 -2.27091182e-03 9.58404195e+01] [ 8.86942929e-01 4.61860831e-01 -4.10040300e-03 5.34920570e+01] [ 4.68570750e-03 -1.20376471e-04 9.99989015e-01 5.43801479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.85, Y:53.52, Z:0.54 [[ 4.60032144e-01 -8.87899435e-01 -2.24050040e-03 9.58541604e+01] [ 8.87889894e-01 4.60037590e-01 -4.11722445e-03 5.35181732e+01] [ 4.68639567e-03 -9.52620731e-05 9.99989014e-01 5.44339256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.87, Y:53.54, Z:0.54 [[ 4.59343343e-01 -8.88255902e-01 -2.26864172e-03 9.58679677e+01] [ 8.88246441e-01 4.59348926e-01 -4.10165940e-03 5.35427345e+01] [ 4.68542130e-03 -1.31042993e-04 9.99989015e-01 5.44549193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.88, Y:53.56, Z:0.54 [[ 4.60395879e-01 -8.87710817e-01 -2.26734289e-03 9.58805230e+01] [ 8.87701346e-01 4.60401445e-01 -4.10237724e-03 5.35637042e+01] [ 4.68561260e-03 -1.24005758e-04 9.99989015e-01 5.44700072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:53.59, Z:0.54 [[ 4.58535077e-01 -8.88673502e-01 -2.23374169e-03 9.58942923e+01] [ 8.88663953e-01 4.58540508e-01 -4.12091448e-03 5.35899627e+01] [ 4.68640856e-03 -9.54618792e-05 9.99989014e-01 5.44624998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.90, Y:53.61, Z:0.54 [[ 4.56141898e-01 -8.89904177e-01 -2.26388474e-03 9.59031802e+01] [ 8.89894723e-01 4.56147494e-01 -4.10428788e-03 5.36130470e+01] [ 4.68508827e-03 -1.42481417e-04 9.99989015e-01 5.40936623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.92, Y:53.64, Z:0.54 [[ 4.58407909e-01 -8.88739131e-01 -2.22405052e-03 9.59209687e+01] [ 8.88729556e-01 4.58413296e-01 -4.12623452e-03 5.36379299e+01] [ 4.68668041e-03 -8.50808912e-05 9.99989014e-01 5.44653951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.93, Y:53.66, Z:0.54 [[ 4.57781443e-01 -8.89061883e-01 -2.26246500e-03 9.59349297e+01] [ 8.89052415e-01 4.57787015e-01 -4.10506276e-03 5.36618636e+01] [ 4.68538193e-03 -1.32228413e-04 9.99989015e-01 5.44783059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.95, Y:53.69, Z:0.54 [[ 4.57240141e-01 -8.89340396e-01 -2.26119015e-03 9.59485321e+01] [ 8.89330929e-01 4.57245713e-01 -4.10576487e-03 5.36859093e+01] [ 4.68534205e-03 -1.33625831e-04 9.99989015e-01 5.44904673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.96, Y:53.71, Z:0.55 [[ 4.56663500e-01 -8.89636634e-01 -2.25992565e-03 9.59626310e+01] [ 8.89627167e-01 4.56669072e-01 -4.10646076e-03 5.37096749e+01] [ 4.68529608e-03 -1.35220507e-04 9.99989015e-01 5.45592238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.98, Y:53.73, Z:0.55 [[ 4.55980584e-01 -8.89986875e-01 -2.25142818e-03 9.59755509e+01] [ 8.89977389e-01 4.55986124e-01 -4.11113243e-03 5.37332398e+01] [ 4.68547391e-03 -1.29123607e-04 9.99989015e-01 5.46230715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.99, Y:53.76, Z:0.55 [[ 4.55481166e-01 -8.90242559e-01 -2.25692764e-03 9.59891253e+01] [ 8.90233091e-01 4.55486736e-01 -4.10811111e-03 5.37575922e+01] [ 4.68521596e-03 -1.38024431e-04 9.99989015e-01 5.46627204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.01, Y:53.78, Z:0.55 [[ 4.56281038e-01 -8.89832864e-01 -2.25564650e-03 9.60054596e+01] [ 8.89823388e-01 4.56286594e-01 -4.10881443e-03 5.37825217e+01] [ 4.68537937e-03 -1.32352895e-04 9.99989015e-01 5.46163649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:53.81, Z:0.55 [[ 4.55189128e-01 -8.90391836e-01 -2.28841677e-03 9.60159831e+01] [ 8.90382455e-01 4.55194846e-01 -4.09081401e-03 5.38050263e+01] [ 4.68410291e-03 -1.75472084e-04 9.99989014e-01 5.47064825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.03, Y:53.83, Z:0.55 [[ 4.54864989e-01 -8.90557555e-01 -2.25463394e-03 9.60292154e+01] [ 8.90548085e-01 4.54870555e-01 -4.10934929e-03 5.38284580e+01] [ 4.68517864e-03 -1.38660817e-04 9.99989015e-01 5.46512030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.04, Y:53.85, Z:0.55 [[ 4.54931572e-01 -8.90523554e-01 -2.25043780e-03 9.60429618e+01] [ 8.90514072e-01 4.54937119e-01 -4.11165019e-03 5.38523355e+01] [ 4.68532903e-03 -1.33527047e-04 9.99989015e-01 5.47959271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.06, Y:53.88, Z:0.55 [[ 4.53778775e-01 -8.91111559e-01 -2.23912485e-03 9.60573841e+01] [ 8.91102053e-01 4.53784281e-01 -4.11784877e-03 5.38774973e+01] [ 4.68554229e-03 -1.26696381e-04 9.99989015e-01 5.48934347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.07, Y:53.90, Z:0.55 [[ 4.53507693e-01 -8.91249518e-01 -2.25162807e-03 9.60709650e+01] [ 8.91240048e-01 4.53513260e-01 -4.11100066e-03 5.39026284e+01] [ 4.68507054e-03 -1.42370685e-04 9.99989015e-01 5.49072141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:53.93, Z:0.55 [[ 4.52486350e-01 -8.91768489e-01 -2.25037734e-03 9.60840040e+01] [ 8.91759022e-01 4.52491922e-01 -4.11168519e-03 5.39278246e+01] [ 4.68494886e-03 -1.46312875e-04 9.99989015e-01 5.48263829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.10, Y:53.95, Z:0.55 [[ 4.52526467e-01 -8.91748143e-01 -2.24643509e-03 9.60979909e+01] [ 8.91738665e-01 4.52532021e-01 -4.11384138e-03 5.39516076e+01] [ 4.68509422e-03 -1.41610923e-04 9.99989015e-01 5.49232065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:53.98, Z:0.55 [[ 4.52262662e-01 -8.91881959e-01 -2.24844417e-03 9.61109829e+01] [ 8.91872488e-01 4.52268228e-01 -4.11274301e-03 5.39760689e+01] [ 4.68498115e-03 -1.45285390e-04 9.99989015e-01 5.50020396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.12, Y:54.00, Z:0.55 [[ 4.52313641e-01 -8.91856110e-01 -2.24707038e-03 9.61232589e+01] [ 8.91846635e-01 4.52319200e-01 -4.11349346e-03 5.39990595e+01] [ 4.68503736e-03 -1.43452952e-04 9.99989015e-01 5.50103194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.14, Y:54.02, Z:0.55 [[ 4.52695121e-01 -8.91662540e-01 -2.24563177e-03 9.61361859e+01] [ 8.91653059e-01 4.52700669e-01 -4.11427868e-03 5.40236490e+01] [ 4.68514718e-03 -1.39810549e-04 9.99989015e-01 5.51828163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.15, Y:54.05, Z:0.55 [[ 4.52462150e-01 -8.91780783e-01 -2.24434574e-03 9.61494192e+01] [ 8.91771300e-01 4.52467695e-01 -4.11498009e-03 5.40485052e+01] [ 4.68515411e-03 -1.39570374e-04 9.99989015e-01 5.52055683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.16, Y:54.07, Z:0.55 [[ 4.51950551e-01 -8.92040172e-01 -2.24304036e-03 9.61618787e+01] [ 8.92030689e-01 4.51956095e-01 -4.11569152e-03 5.40722287e+01] [ 4.68511793e-03 -1.40771786e-04 9.99989015e-01 5.51577000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.17, Y:54.10, Z:0.55 [[ 4.51089846e-01 -8.92475729e-01 -2.24166315e-03 9.61745018e+01] [ 8.92466247e-01 4.51095393e-01 -4.11644150e-03 5.40961665e+01] [ 4.68502804e-03 -1.43723737e-04 9.99989015e-01 5.52025541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.19, Y:54.12, Z:0.55 [[ 4.49958906e-01 -8.93046451e-01 -2.24037145e-03 9.61866206e+01] [ 8.93036973e-01 4.49964459e-01 -4.11714428e-03 5.41207251e+01] [ 4.68488862e-03 -1.48188796e-04 9.99989015e-01 5.49755383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.20, Y:54.14, Z:0.55 [[ 4.50291461e-01 -8.92878850e-01 -2.22685862e-03 9.62008882e+01] [ 8.92869334e-01 4.50296948e-01 -4.12449052e-03 5.41448255e+01] [ 4.68541799e-03 -1.31070912e-04 9.99989015e-01 5.52526400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.21, Y:54.17, Z:0.55 [[ 4.49861306e-01 -8.93095625e-01 -2.23816173e-03 9.62134835e+01] [ 8.93086142e-01 4.49866850e-01 -4.11834772e-03 5.41697785e+01] [ 4.68495310e-03 -1.46185939e-04 9.99989015e-01 5.52442482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:54.19, Z:0.55 [[ 4.50845732e-01 -8.92599083e-01 -2.23684769e-03 9.62256828e+01] [ 8.92589589e-01 4.50851260e-01 -4.11906131e-03 5.41917922e+01] [ 4.68515594e-03 -1.39525747e-04 9.99989015e-01 5.50749257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.23, Y:54.21, Z:0.55 [[ 4.48655654e-01 -8.93701961e-01 -2.21541179e-03 9.62337477e+01] [ 8.93692424e-01 4.48661106e-01 -4.13068935e-03 5.42144360e+01] [ 4.68557428e-03 -1.26639606e-04 9.99989015e-01 5.46864724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:54.24, Z:0.55 [[ 4.50085445e-01 -8.92982811e-01 -2.18885940e-03 9.62495283e+01] [ 8.92973195e-01 4.50090759e-01 -4.14516923e-03 5.42403386e+01] [ 4.68675026e-03 -8.89124343e-05 9.99989013e-01 5.49208109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.27, Y:54.27, Z:0.55 [[ 4.52517952e-01 -8.91752540e-01 -2.21608292e-03 9.62664290e+01] [ 8.91742981e-01 4.52523366e-01 -4.13032071e-03 5.42651379e+01] [ 4.68605328e-03 -1.07132122e-04 9.99989015e-01 5.54281020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.28, Y:54.29, Z:0.55 [[ 4.50524885e-01 -8.92761019e-01 -2.25628019e-03 9.62752711e+01] [ 8.92751581e-01 4.50530505e-01 -4.10838515e-03 5.42891664e+01] [ 4.68432917e-03 -1.63367957e-04 9.99989015e-01 5.49204308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.29, Y:54.31, Z:0.55 [[ 4.51837840e-01 -8.92097341e-01 -2.21386118e-03 9.62875137e+01] [ 8.92087780e-01 4.51843250e-01 -4.13150634e-03 5.43129092e+01] [ 4.68602404e-03 -1.08187605e-04 9.99989015e-01 5.49037601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.30, Y:54.34, Z:0.55 [[ 4.52429686e-01 -8.91797347e-01 -2.20706383e-03 9.63009865e+01] [ 8.91787765e-01 4.52435059e-01 -4.13521037e-03 5.43380538e+01] [ 4.68632270e-03 -9.73405912e-05 9.99989014e-01 5.49504641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.32, Y:54.36, Z:0.55 [[ 4.55025790e-01 -8.90475505e-01 -2.21494179e-03 9.63181952e+01] [ 8.90465928e-01 4.55031171e-01 -4.13091934e-03 5.43641675e+01] [ 4.68635005e-03 -9.26553617e-05 9.99989015e-01 5.53863443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.33, Y:54.39, Z:0.55 [[ 4.57159545e-01 -8.89381877e-01 -2.24232418e-03 9.63313580e+01] [ 8.89372360e-01 4.57165030e-01 -4.11600191e-03 5.43900901e+01] [ 4.68580971e-03 -1.12591584e-04 9.99989015e-01 5.54766538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.35, Y:54.41, Z:0.55 [[ 4.58946327e-01 -8.88461133e-01 -2.25473048e-03 9.63453937e+01] [ 8.88451638e-01 4.58951850e-01 -4.10924505e-03 5.44145607e+01] [ 4.68571723e-03 -1.17296066e-04 9.99989015e-01 5.53694329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.36, Y:54.44, Z:0.56 [[ 4.60095792e-01 -8.87866409e-01 -2.25886371e-03 9.63564027e+01] [ 8.87856917e-01 4.60101323e-01 -4.10699364e-03 5.44385283e+01] [ 4.68576787e-03 -1.15937280e-04 9.99989015e-01 5.55122565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.37, Y:54.46, Z:0.55 [[ 4.59208232e-01 -8.88325851e-01 -2.23209952e-03 9.63685377e+01] [ 8.88316294e-01 4.59213648e-01 -4.12155034e-03 5.44642815e+01] [ 4.68629028e-03 -9.01605283e-05 9.99989015e-01 5.54823160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.38, Y:54.49, Z:0.55 [[ 4.60768818e-01 -8.87517363e-01 -2.24211974e-03 9.63803850e+01] [ 8.87507823e-01 4.60774264e-01 -4.11610437e-03 5.44851211e+01] [ 4.68622517e-03 -9.33262651e-05 9.99989015e-01 5.54441199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:54.51, Z:0.56 [[ 4.59697042e-01 -8.88073060e-01 -2.20663665e-03 9.63934792e+01] [ 8.88063434e-01 4.59702335e-01 -4.13536082e-03 5.45123579e+01] [ 4.68689856e-03 -5.86201799e-05 9.99989015e-01 5.56042494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.41, Y:54.54, Z:0.56 [[ 4.59377034e-01 -8.88238562e-01 -2.23563261e-03 9.64062825e+01] [ 8.88229013e-01 4.59382464e-01 -4.11962533e-03 5.45373774e+01] [ 4.68622050e-03 -9.32924806e-05 9.99989015e-01 5.56239369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.42, Y:54.56, Z:0.56 [[ 4.58806160e-01 -8.88533595e-01 -2.22686352e-03 9.64197987e+01] [ 8.88524026e-01 4.58811556e-01 -4.12438276e-03 5.45624131e+01] [ 4.68636336e-03 -8.63295230e-05 9.99989015e-01 5.57566731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.43, Y:54.59, Z:0.56 [[ 4.57543824e-01 -8.89184261e-01 -2.23603052e-03 9.64320236e+01] [ 8.89174724e-01 4.57549276e-01 -4.11941001e-03 5.45853477e+01] [ 4.68600869e-03 -1.03411213e-04 9.99989015e-01 5.56327197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:54.61, Z:0.56 [[ 4.55478209e-01 -8.90244182e-01 -2.21312436e-03 9.64452657e+01] [ 8.90234598e-01 4.55483577e-01 -4.13181403e-03 5.46117161e+01] [ 4.68636520e-03 -8.82486183e-05 9.99989015e-01 5.57547343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.46, Y:54.64, Z:0.56 [[ 4.53226611e-01 -8.91392534e-01 -2.23346048e-03 9.64566574e+01] [ 8.91383018e-01 4.53232098e-01 -4.12080590e-03 5.46361696e+01] [ 4.68553160e-03 -1.23209852e-04 9.99989015e-01 5.58222356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.902755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:96.47, Y:54.66, Z:0.56 [[ 4.53071001e-01 -8.91471680e-01 -2.21611211e-03 9.64704741e+01] [ 8.91462119e-01 4.53076409e-01 -4.13017782e-03 5.46592404e+01] [ 4.68600467e-03 -1.04316197e-04 9.99989015e-01 5.56661506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.48, Y:54.68, Z:0.56 [[ 4.52949353e-01 -8.91533492e-01 -2.21717019e-03 9.64833684e+01] [ 8.91523934e-01 4.52954767e-01 -4.12960654e-03 5.46821799e+01] [ 4.68596035e-03 -1.06157674e-04 9.99989015e-01 5.57844119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96275509600001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:96.50, Y:54.71, Z:0.56 [[ 4.51754563e-01 -8.92139522e-01 -2.21085495e-03 9.64964247e+01] [ 8.92129955e-01 4.51759961e-01 -4.13301517e-03 5.47066633e+01] [ 4.68600193e-03 -1.05261462e-04 9.99989015e-01 5.56793516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:54.74, Z:0.55 [[ 4.56155793e-01 -8.89897152e-01 -2.22533953e-03 9.65182212e+01] [ 8.89887596e-01 4.56161210e-01 -4.12520147e-03 5.47352526e+01] [ 4.68611861e-03 -9.85675034e-05 9.99989015e-01 5.54882224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.52, Y:54.76, Z:0.56 [[ 4.51708732e-01 -8.92162459e-01 -2.31683913e-03 9.65227339e+01] [ 8.92153178e-01 4.51714617e-01 -4.07579934e-03 5.47553579e+01] [ 4.68282526e-03 -2.25901241e-04 9.99989010e-01 5.56987755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.54, Y:54.78, Z:0.56 [[ 4.52685563e-01 -8.91667451e-01 -2.22222255e-03 9.65357657e+01] [ 8.91657908e-01 4.52691003e-01 -4.12674966e-03 5.47785950e+01] [ 4.68566850e-03 -1.13342324e-04 9.99989016e-01 5.57264244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:54.80, Z:0.56 [[ 4.52430224e-01 -8.91797075e-01 -2.20682024e-03 9.65485457e+01] [ 8.91787494e-01 4.52435595e-01 -4.13503454e-03 5.48027268e+01] [ 4.68605573e-03 -9.72000845e-05 9.99989016e-01 5.55802276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.56, Y:54.83, Z:0.56 [[ 4.52583276e-01 -8.91719391e-01 -2.21500837e-03 9.65622963e+01] [ 8.91709830e-01 4.52588684e-01 -4.13063291e-03 5.48269565e+01] [ 4.68585318e-03 -1.05689362e-04 9.99989016e-01 5.57125203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:54.85, Z:0.56 [[ 4.52397789e-01 -8.91813500e-01 -2.21832028e-03 9.65751505e+01] [ 8.91803949e-01 4.52403215e-01 -4.12885350e-03 5.48503431e+01] [ 4.68574252e-03 -1.10422591e-04 9.99989016e-01 5.57247148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.59, Y:54.88, Z:0.56 [[ 4.53182248e-01 -8.91415130e-01 -2.21698013e-03 9.65918026e+01] [ 8.91405571e-01 4.53187659e-01 -4.12957297e-03 5.48760414e+01] [ 4.68587187e-03 -1.04779275e-04 9.99989016e-01 5.59494480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.60, Y:54.90, Z:0.56 [[ 4.51253159e-01 -8.92393159e-01 -2.24417380e-03 9.66031607e+01] [ 8.92383683e-01 4.51258716e-01 -4.11497129e-03 5.48981556e+01] [ 4.68487522e-03 -1.45770289e-04 9.99989015e-01 5.59257948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.62, Y:54.92, Z:0.56 [[ 4.50508486e-01 -8.92769397e-01 -2.21529990e-03 9.66172279e+01] [ 8.92759850e-01 4.50513918e-01 -4.13045732e-03 5.49226457e+01] [ 4.68556933e-03 -1.16924731e-04 9.99989016e-01 5.59977130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.63, Y:54.95, Z:0.56 [[ 4.50016453e-01 -8.93017520e-01 -2.21396816e-03 9.66315096e+01] [ 8.93007972e-01 4.50021884e-01 -4.13117102e-03 5.49473428e+01] [ 4.68554222e-03 -1.17996291e-04 9.99989016e-01 5.60270618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.65, Y:54.97, Z:0.56 [[ 4.48435648e-01 -8.93812382e-01 -2.21264195e-03 9.66451753e+01] [ 8.93802840e-01 4.48441089e-01 -4.13188121e-03 5.49704073e+01] [ 4.68536615e-03 -1.24782834e-04 9.99989016e-01 5.60693374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.66, Y:54.99, Z:0.56 [[ 4.47873222e-01 -8.94094339e-01 -2.21124371e-03 9.66585189e+01] [ 8.94084797e-01 4.47878663e-01 -4.13262937e-03 5.49940761e+01] [ 4.68532940e-03 -1.26145351e-04 9.99989016e-01 5.60813728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:55.02, Z:0.56 [[ 4.47633009e-01 -8.94214631e-01 -2.20990974e-03 9.66722624e+01] [ 8.94205087e-01 4.47638446e-01 -4.13334258e-03 5.50187136e+01] [ 4.68533597e-03 -1.25891960e-04 9.99989016e-01 5.61917639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.69, Y:55.05, Z:0.56 [[ 4.50855250e-01 -8.92594346e-01 -2.20860876e-03 9.66949858e+01] [ 8.92584779e-01 4.50860647e-01 -4.13403763e-03 5.50467223e+01] [ 4.68579339e-03 -1.07517993e-04 9.99989016e-01 5.61709829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.71, Y:55.07, Z:0.56 [[ 4.51415640e-01 -8.92310848e-01 -2.29548801e-03 9.67088184e+01] [ 8.92301509e-01 4.51421431e-01 -4.08756468e-03 5.50704849e+01] [ 4.68361079e-03 -2.03076792e-04 9.99989011e-01 5.60594814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.72, Y:55.10, Z:0.56 [[ 4.51049303e-01 -8.92496067e-01 -2.30134800e-03 9.67214498e+01] [ 8.92486746e-01 4.51055124e-01 -4.08442796e-03 5.50955248e+01] [ 4.68337070e-03 -2.11644207e-04 9.99989011e-01 5.61063701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:55.12, Z:0.56 [[ 4.50472378e-01 -8.92787439e-01 -2.28602969e-03 9.67337412e+01] [ 8.92778080e-01 4.50478135e-01 -4.09260589e-03 5.51205107e+01] [ 4.68363352e-03 -1.97311289e-04 9.99989012e-01 5.60548350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.74, Y:55.14, Z:0.56 [[ 4.49175276e-01 -8.93440747e-01 -2.28121982e-03 9.67446478e+01] [ 8.93431383e-01 4.49181025e-01 -4.09517068e-03 5.51448514e+01] [ 4.68347301e-03 -1.98663954e-04 9.99989013e-01 5.61800784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.76, Y:55.17, Z:0.56 [[ 4.48338486e-01 -8.93861019e-01 -2.25417564e-03 9.67558664e+01] [ 8.93851588e-01 4.48344119e-01 -4.10957080e-03 5.51687646e+01] [ 4.68403153e-03 -1.72419732e-04 9.99989015e-01 5.62585631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:96.77, Y:55.19, Z:0.56 [[ 4.46479983e-01 -8.94790828e-01 -2.23591640e-03 9.67656248e+01] [ 8.94781360e-01 4.46485553e-01 -4.11927937e-03 5.51932402e+01] [ 4.68419777e-03 -1.61480533e-04 9.99989016e-01 5.60772311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.78, Y:55.22, Z:0.56 [[ 4.46904240e-01 -8.94579079e-01 -2.20711882e-03 9.67802542e+01] [ 8.94569534e-01 4.46909672e-01 -4.13458152e-03 5.52190382e+01] [ 4.68509288e-03 -1.26659243e-04 9.99989017e-01 5.61098296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.79, Y:55.24, Z:0.56 [[ 4.49984992e-01 -8.93033249e-01 -2.26340917e-03 9.67923770e+01] [ 8.93023833e-01 4.49990651e-01 -4.10464541e-03 5.52388988e+01] [ 4.68409779e-03 -1.74249495e-04 9.99989014e-01 5.63570421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.80, Y:55.26, Z:0.56 [[ 4.50887469e-01 -8.92578101e-01 -2.19657686e-03 9.68048070e+01] [ 8.92568504e-01 4.50892809e-01 -4.14010403e-03 5.52624218e+01] [ 4.68578690e-03 -9.38742986e-05 9.99989017e-01 5.63587862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.82, Y:55.29, Z:0.56 [[ 4.51463011e-01 -8.92287134e-01 -2.19562635e-03 9.68181998e+01] [ 8.92277531e-01 4.51468341e-01 -4.14060805e-03 5.52872231e+01] [ 4.68586708e-03 -8.97766795e-05 9.99989017e-01 5.63745771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.83, Y:55.31, Z:0.56 [[ 4.49792156e-01 -8.93130562e-01 -2.19435062e-03 9.68303732e+01] [ 8.93120966e-01 4.49797499e-01 -4.14128403e-03 5.53131337e+01] [ 4.68572075e-03 -9.71034772e-05 9.99989017e-01 5.62488866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.84, Y:55.34, Z:0.56 [[ 4.50689315e-01 -8.92678178e-01 -2.19356914e-03 9.68421975e+01] [ 8.92668575e-01 4.50694644e-01 -4.14169778e-03 5.53364334e+01] [ 4.68583309e-03 -9.15113026e-05 9.99989017e-01 5.61729654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:96.86, Y:55.36, Z:0.56 [[ 4.53206586e-01 -8.91402901e-01 -2.15834759e-03 9.68595767e+01] [ 8.91393193e-01 4.53211724e-01 -4.16032152e-03 5.53609377e+01] [ 4.68671111e-03 -3.84512342e-05 9.99989017e-01 5.64395212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.87, Y:55.39, Z:0.56 [[ 4.52754453e-01 -8.91632550e-01 -2.19125702e-03 9.68731420e+01] [ 8.91622928e-01 4.52759749e-01 -4.14291518e-03 5.53861963e+01] [ 4.68607100e-03 -7.80517072e-05 9.99989017e-01 5.63692887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.89, Y:55.41, Z:0.56 [[ 4.51197552e-01 -8.92421349e-01 -2.21475983e-03 9.68860832e+01] [ 8.92411797e-01 4.51202973e-01 -4.13048200e-03 5.54120172e+01] [ 4.68543654e-03 -1.12814438e-04 9.99989017e-01 5.63307890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.90, Y:55.44, Z:0.56 [[ 4.50654201e-01 -8.92695783e-01 -2.24264670e-03 9.68986349e+01] [ 8.92686308e-01 4.50659757e-01 -4.11573348e-03 5.54368500e+01] [ 4.68476854e-03 -1.47207414e-04 9.99989016e-01 5.63447201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.91, Y:55.46, Z:0.56 [[ 4.51746303e-01 -8.92143639e-01 -2.23712200e-03 9.69102605e+01] [ 8.92134142e-01 4.51751822e-01 -4.11864854e-03 5.54576693e+01] [ 4.68505004e-03 -1.35228668e-04 9.99989016e-01 5.63978419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.92, Y:55.48, Z:0.57 [[ 4.52238453e-01 -8.91894395e-01 -2.18401766e-03 9.69234882e+01] [ 8.91884759e-01 4.52243721e-01 -4.14661853e-03 5.54815966e+01] [ 4.68605409e-03 -7.26317183e-05 9.99989018e-01 5.65198012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.952755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.94, Y:55.50, Z:0.56 [[ 4.51391638e-01 -8.92323275e-01 -2.18239679e-03 9.69364430e+01] [ 8.92313639e-01 4.51396907e-01 -4.14747143e-03 5.55048492e+01] [ 4.68601245e-03 -7.52484975e-05 9.99989018e-01 5.63803499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:96.95, Y:55.53, Z:0.57 [[ 4.51558718e-01 -8.92238739e-01 -2.18101764e-03 9.69502748e+01] [ 8.92229099e-01 4.51563980e-01 -4.14819655e-03 5.55308048e+01] [ 4.68605066e-03 -7.28130869e-05 9.99989018e-01 5.65758673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.96, Y:55.55, Z:0.57 [[ 4.52138843e-01 -8.91944893e-01 -2.18509395e-03 9.69631670e+01] [ 8.91935260e-01 4.52144116e-01 -4.14605411e-03 5.55544852e+01] [ 4.68602916e-03 -7.43702379e-05 9.99989018e-01 5.65642359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.98, Y:55.58, Z:0.57 [[ 4.51760582e-01 -8.92136553e-01 -2.17892911e-03 9.69762257e+01] [ 8.92126906e-01 4.51765831e-01 -4.14929146e-03 5.55776845e+01] [ 4.68610031e-03 -6.93949632e-05 9.99989018e-01 5.65325385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07275509600001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:96.99, Y:55.60, Z:0.56 [[ 4.50186075e-01 -8.92932122e-01 -2.17328669e-03 9.69895221e+01] [ 8.92922471e-01 4.50191315e-01 -4.15225218e-03 5.56026277e+01] [ 4.68607414e-03 -7.12904180e-05 9.99989018e-01 5.64767961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.00, Y:55.63, Z:0.57 [[ 4.50510081e-01 -8.92768688e-01 -2.17642844e-03 9.70041162e+01] [ 8.92759043e-01 4.50515332e-01 -4.15060432e-03 5.56281663e+01] [ 4.68604396e-03 -7.31370865e-05 9.99989018e-01 5.67375134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.02, Y:55.65, Z:0.57 [[ 4.50249588e-01 -8.92900083e-01 -2.17953059e-03 9.70161958e+01] [ 8.92890447e-01 4.50254857e-01 -4.14897832e-03 5.56517086e+01] [ 4.68596732e-03 -7.80062637e-05 9.99989018e-01 5.67833588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.03, Y:55.68, Z:0.57 [[ 4.50466844e-01 -8.92790527e-01 -2.16733301e-03 9.70301649e+01] [ 8.92780859e-01 4.50472053e-01 -4.15536630e-03 5.56758427e+01] [ 4.68619462e-03 -6.30986802e-05 9.99989018e-01 5.66409628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.04, Y:55.70, Z:0.57 [[ 4.50301045e-01 -8.92874148e-01 -2.17366551e-03 9.70437180e+01] [ 8.92864497e-01 4.50306286e-01 -4.15205113e-03 5.57008934e+01] [ 4.68607436e-03 -7.11157934e-05 9.99989018e-01 5.66501251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.06, Y:55.72, Z:0.57 [[ 4.50521926e-01 -8.92762721e-01 -2.17234072e-03 9.70570639e+01] [ 8.92753065e-01 4.50527158e-01 -4.15274414e-03 5.57244364e+01] [ 4.68611365e-03 -6.84615466e-05 9.99989018e-01 5.65413590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.07, Y:55.75, Z:0.56 [[ 4.50575391e-01 -8.92735740e-01 -2.17137603e-03 9.70698565e+01] [ 8.92726082e-01 4.50580618e-01 -4.15324850e-03 5.57478804e+01] [ 4.68613332e-03 -6.70924465e-05 9.99989018e-01 5.64982035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.08, Y:55.77, Z:0.56 [[ 4.49406877e-01 -8.93324549e-01 -2.16989733e-03 9.70803973e+01] [ 8.93314894e-01 4.49412110e-01 -4.15402091e-03 5.57716392e+01] [ 4.68606699e-03 -7.15560401e-05 9.99989018e-01 5.64398920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.10, Y:55.80, Z:0.57 [[ 4.51400558e-01 -8.92318857e-01 -2.14328647e-03 9.70971021e+01] [ 8.92309124e-01 4.51405645e-01 -4.16790612e-03 5.57962262e+01] [ 4.68659283e-03 -3.10789225e-05 9.99989017e-01 5.65221052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.11, Y:55.82, Z:0.57 [[ 4.51634234e-01 -8.92200548e-01 -2.16813878e-03 9.71106265e+01] [ 8.92190875e-01 4.51639435e-01 -4.15493763e-03 5.58212505e+01] [ 4.68625460e-03 -5.78815573e-05 9.99989018e-01 5.65367836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:97.12, Y:55.85, Z:0.57 [[ 4.51761869e-01 -8.92135930e-01 -2.16684304e-03 9.71223124e+01] [ 8.92126254e-01 4.51767062e-01 -4.15561326e-03 5.58452251e+01] [ 4.68628022e-03 -5.57499501e-05 9.99989018e-01 5.65194703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.402755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:97.14, Y:55.87, Z:0.56 [[ 4.51647377e-01 -8.92193941e-01 -2.14889085e-03 9.71369209e+01] [ 8.92184221e-01 4.51652488e-01 -4.16496478e-03 5.58705731e+01] [ 4.68650824e-03 -3.61110909e-05 9.99989018e-01 5.62238931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.15, Y:55.90, Z:0.57 [[ 4.52979304e-01 -8.91518403e-01 -2.16511289e-03 9.71504858e+01] [ 8.91508715e-01 4.52984476e-01 -4.15651477e-03 5.58953260e+01] [ 4.68637194e-03 -4.74018447e-05 9.99989018e-01 5.65006772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.17, Y:55.92, Z:0.57 [[ 4.54242807e-01 -8.90875294e-01 -2.16382969e-03 9.71652294e+01] [ 8.90865596e-01 4.54247959e-01 -4.15718269e-03 5.59202730e+01] [ 4.68644657e-03 -3.93110953e-05 9.99989018e-01 5.65694851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.18, Y:55.94, Z:0.57 [[ 4.53463162e-01 -8.91272369e-01 -2.17348382e-03 9.71772136e+01] [ 8.91262699e-01 4.53468368e-01 -4.15215903e-03 5.59444589e+01] [ 4.68631078e-03 -5.42938941e-05 9.99989018e-01 5.66034328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.19, Y:55.97, Z:0.57 [[ 4.53209228e-01 -8.91401548e-01 -2.16240634e-03 9.71923926e+01] [ 8.91391852e-01 4.53214384e-01 -4.15792009e-03 5.59715144e+01] [ 4.68641006e-03 -4.31436376e-05 9.99989018e-01 5.65946924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.20, Y:55.99, Z:0.57 [[ 4.53805037e-01 -8.91098278e-01 -2.20188685e-03 9.72032230e+01] [ 8.91088677e-01 4.53810371e-01 -4.13738376e-03 5.59928753e+01] [ 4.68605463e-03 -8.45108487e-05 9.99989017e-01 5.66863142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.22, Y:56.02, Z:0.57 [[ 4.53728702e-01 -8.91137250e-01 -2.16035303e-03 9.72158402e+01] [ 8.91127545e-01 4.53733843e-01 -4.15895833e-03 5.60165961e+01] [ 4.68642797e-03 -3.81113308e-05 9.99989018e-01 5.67055693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:97.23, Y:56.04, Z:0.57 [[ 4.53253642e-01 -8.91378974e-01 -2.15895668e-03 9.72288813e+01] [ 8.91369269e-01 4.53258782e-01 -4.15968306e-03 5.60418630e+01] [ 4.68642009e-03 -3.90361457e-05 9.99989018e-01 5.66690627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.24, Y:56.07, Z:0.57 [[ 4.53597563e-01 -8.91204014e-01 -2.15765982e-03 9.72431631e+01] [ 8.91194304e-01 4.53602694e-01 -4.16035564e-03 5.60658471e+01] [ 4.68644596e-03 -3.57669615e-05 9.99989018e-01 5.66481877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.26, Y:56.09, Z:0.57 [[ 4.52934261e-01 -8.91541272e-01 -2.17147784e-03 9.72558332e+01] [ 8.91531600e-01 4.52939463e-01 -4.15319392e-03 5.60901438e+01] [ 4.68629180e-03 -5.48172900e-05 9.99989018e-01 5.68603971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.27, Y:56.12, Z:0.57 [[ 4.53102690e-01 -8.91455713e-01 -2.15951442e-03 9.72682184e+01] [ 8.91446011e-01 4.53107834e-01 -4.15938729e-03 5.61169985e+01] [ 4.68640247e-03 -4.04609479e-05 9.99989018e-01 5.68459011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.28, Y:56.14, Z:0.57 [[ 4.52029318e-01 -8.92000430e-01 -2.17475660e-03 9.72787432e+01] [ 8.91990771e-01 4.52034545e-01 -4.15150031e-03 5.61406515e+01] [ 4.68620517e-03 -6.32629643e-05 9.99989018e-01 5.67463083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.29, Y:56.17, Z:0.57 [[ 4.53549708e-01 -8.91228383e-01 -2.15217140e-03 9.72939405e+01] [ 8.91218660e-01 4.53554813e-01 -4.16317582e-03 5.61671642e+01] [ 4.68646815e-03 -2.98481314e-05 9.99989018e-01 5.67193711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.30, Y:56.19, Z:0.57 [[ 4.52134240e-01 -8.91947222e-01 -2.18699999e-03 9.73030423e+01] [ 8.91937593e-01 4.52139523e-01 -4.14516686e-03 5.61906315e+01] [ 4.68609919e-03 -7.64956352e-05 9.99989017e-01 5.67125005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.31, Y:56.22, Z:0.57 [[ 4.51766407e-01 -8.92133673e-01 -2.15021854e-03 9.73145489e+01] [ 8.92123955e-01 4.51771522e-01 -4.16415945e-03 5.62159550e+01] [ 4.68639436e-03 -3.70341192e-05 9.99989018e-01 5.67520129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.33, Y:56.24, Z:0.57 [[ 4.52210040e-01 -8.91908886e-01 -2.14887969e-03 9.73255028e+01] [ 8.91899163e-01 4.52215145e-01 -4.16485023e-03 5.62408910e+01] [ 4.68642287e-03 -3.31969093e-05 9.99989018e-01 5.67451554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.34, Y:56.27, Z:0.57 [[ 4.52063794e-01 -8.91983024e-01 -2.14746949e-03 9.73368617e+01] [ 8.91973298e-01 4.52068893e-01 -4.16557723e-03 5.62662191e+01] [ 4.68642833e-03 -3.23787918e-05 9.99989018e-01 5.67319239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.35, Y:56.29, Z:0.57 [[ 4.51136070e-01 -8.92452598e-01 -2.14615909e-03 9.73475983e+01] [ 8.92442874e-01 4.51141173e-01 -4.16625226e-03 5.62921365e+01] [ 4.68640338e-03 -3.57777135e-05 9.99989018e-01 5.66295461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.36, Y:56.32, Z:0.57 [[ 4.50014630e-01 -8.93018607e-01 -2.14485523e-03 9.73600453e+01] [ 8.93008886e-01 4.50019739e-01 -4.16692340e-03 5.63172004e+01] [ 4.68636732e-03 -4.01982904e-05 9.99989018e-01 5.65631788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.37, Y:56.34, Z:0.56 [[ 4.47016467e-01 -8.94523160e-01 -2.14353248e-03 9.73715769e+01] [ 8.94513453e-01 4.47021603e-01 -4.16760373e-03 5.63414807e+01] [ 4.68622338e-03 -5.44311500e-05 9.99989018e-01 5.64656948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.38, Y:56.37, Z:0.56 [[ 4.45442705e-01 -8.95307873e-01 -2.14702064e-03 9.73834820e+01] [ 8.95298183e-01 4.45447875e-01 -4.16581068e-03 5.63656380e+01] [ 4.68606888e-03 -6.65937022e-05 9.99989018e-01 5.64956640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.40, Y:56.39, Z:0.56 [[ 4.45750693e-01 -8.95154587e-01 -2.14136858e-03 9.74007119e+01] [ 8.95144882e-01 4.45755832e-01 -4.16871401e-03 5.63926237e+01] [ 4.68617100e-03 -5.86279711e-05 9.99989018e-01 5.63833220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.41, Y:56.42, Z:0.57 [[ 4.42396927e-01 -8.96816669e-01 -2.19594613e-03 9.74076657e+01] [ 8.96807120e-01 4.42402355e-01 -4.14066259e-03 5.64164345e+01] [ 4.68490697e-03 -1.37523721e-04 9.99989016e-01 5.65677443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.42, Y:56.44, Z:0.57 [[ 4.39827785e-01 -8.98079586e-01 -2.13937735e-03 9.74179979e+01] [ 8.98069910e-01 4.39832980e-01 -4.16968684e-03 5.64418596e+01] [ 4.68567934e-03 -8.73662921e-05 9.99989018e-01 5.66191895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.43, Y:56.47, Z:0.57 [[ 4.38644395e-01 -8.98658179e-01 -2.13843635e-03 9.74300888e+01] [ 8.98648508e-01 4.38649597e-01 -4.17016937e-03 5.64674219e+01] [ 4.68558106e-03 -9.24812174e-05 9.99989018e-01 5.67380452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.44, Y:56.49, Z:0.57 [[ 4.36890746e-01 -8.99512039e-01 -2.13713163e-03 9.74416000e+01] [ 8.99502375e-01 4.36895962e-01 -4.17083791e-03 5.64930215e+01] [ 4.68542309e-03 -1.00154490e-04 9.99989018e-01 5.68859527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.45, Y:56.52, Z:0.57 [[ 4.36226481e-01 -8.99834371e-01 -2.13579064e-03 9.74536005e+01] [ 8.99824708e-01 4.36231697e-01 -4.17152449e-03 5.65179129e+01] [ 4.68538069e-03 -1.02107740e-04 9.99989018e-01 5.69500766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.47, Y:56.54, Z:0.57 [[ 4.35793103e-01 -9.00044341e-01 -2.13443352e-03 9.74650632e+01] [ 9.00034676e-01 4.35798318e-01 -4.17221877e-03 5.65424634e+01] [ 4.68536443e-03 -1.02840020e-04 9.99989018e-01 5.69208650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.48, Y:56.57, Z:0.57 [[ 4.35693435e-01 -9.00092595e-01 -2.13344531e-03 9.74752940e+01] [ 9.00082928e-01 4.35698646e-01 -4.17272402e-03 5.65682896e+01] [ 4.68537723e-03 -1.02249242e-04 9.99989018e-01 5.70143052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.49, Y:56.59, Z:0.57 [[ 4.35641623e-01 -9.00117676e-01 -2.13213463e-03 9.74861176e+01] [ 9.00108007e-01 4.35646829e-01 -4.17339363e-03 5.65938111e+01] [ 4.68540307e-03 -1.01047479e-04 9.99989018e-01 5.70466267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.50, Y:56.62, Z:0.57 [[ 4.37690139e-01 -8.99123352e-01 -2.13080782e-03 9.75016222e+01] [ 8.99113668e-01 4.37695316e-01 -4.17407095e-03 5.66233823e+01] [ 4.68564927e-03 -8.88887443e-05 9.99989018e-01 5.69963301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.51, Y:56.65, Z:0.57 [[ 4.36110380e-01 -8.99890505e-01 -2.19443588e-03 9.75072930e+01] [ 8.99880990e-01 4.36115869e-01 -4.14157935e-03 5.66455023e+01] [ 4.68399624e-03 -1.68545385e-04 9.99989016e-01 5.71828209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.52, Y:56.67, Z:0.57 [[ 4.36001299e-01 -8.99943520e-01 -2.12813104e-03 9.75188062e+01] [ 8.99933839e-01 4.36006482e-01 -4.17537403e-03 5.66711040e+01] [ 4.68547973e-03 -9.47086400e-05 9.99989019e-01 5.72553209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.53, Y:56.70, Z:0.57 [[ 4.36338838e-01 -8.99779915e-01 -2.12682541e-03 9.75296074e+01] [ 8.99770228e-01 4.36344012e-01 -4.17603898e-03 5.66955400e+01] [ 4.68554353e-03 -9.14861851e-05 9.99989019e-01 5.72688326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:56.72, Z:0.57 [[ 4.35922765e-01 -8.99981570e-01 -2.12522020e-03 9.75390019e+01] [ 8.99971882e-01 4.35927935e-01 -4.17685572e-03 5.67209775e+01] [ 4.68553603e-03 -9.18519268e-05 9.99989019e-01 5.73686252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.55, Y:56.75, Z:0.57 [[ 4.35725424e-01 -9.00077153e-01 -2.11495769e-03 9.75494317e+01] [ 9.00067441e-01 4.35730549e-01 -4.18207251e-03 5.67457586e+01] [ 4.68573959e-03 -8.13692350e-05 9.99989019e-01 5.74343565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:56.77, Z:0.57 [[ 4.34855979e-01 -9.00497536e-01 -2.11297372e-03 9.75591838e+01] [ 9.00487824e-01 4.34861104e-01 -4.18308023e-03 5.67706008e+01] [ 4.68570353e-03 -8.36696624e-05 9.99989019e-01 5.72887815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.57, Y:56.80, Z:0.57 [[ 4.33489559e-01 -9.01156115e-01 -2.11154915e-03 9.75690059e+01] [ 9.01146407e-01 4.33494693e-01 -4.18380389e-03 5.67981229e+01] [ 4.68560581e-03 -8.91796270e-05 9.99989019e-01 5.73607500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.58, Y:56.82, Z:0.57 [[ 4.33510101e-01 -9.01146216e-01 -2.11907402e-03 9.75805122e+01] [ 9.01136526e-01 4.33515269e-01 -4.17998382e-03 5.68229628e+01] [ 4.68542754e-03 -9.75097896e-05 9.99989019e-01 5.73412904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:56.85, Z:0.57 [[ 4.31409027e-01 -9.02153981e-01 -2.10861674e-03 9.75895147e+01] [ 9.02144278e-01 4.31414169e-01 -4.18528685e-03 5.68500166e+01] [ 4.68546033e-03 -9.67059981e-05 9.99989018e-01 5.72265662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.60, Y:56.87, Z:0.57 [[ 4.31575471e-01 -9.02074365e-01 -2.11011311e-03 9.76014855e+01] [ 9.02064665e-01 4.31580618e-01 -4.18452852e-03 5.68749420e+01] [ 4.68543983e-03 -9.75186096e-05 9.99989019e-01 5.73838173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.61, Y:56.90, Z:0.57 [[ 4.31261689e-01 -9.02224402e-01 -2.11755080e-03 9.76128198e+01] [ 9.02214722e-01 4.31266874e-01 -4.18076134e-03 5.69008754e+01] [ 4.68521441e-03 -1.07483309e-04 9.99989019e-01 5.73725141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.62, Y:56.93, Z:0.57 [[ 4.30609094e-01 -9.02536055e-01 -2.11623418e-03 9.76232296e+01] [ 9.02526375e-01 4.30614280e-01 -4.18142769e-03 5.69254403e+01] [ 4.68516990e-03 -1.09396374e-04 9.99989019e-01 5.73880328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.63, Y:56.95, Z:0.57 [[ 4.29794859e-01 -9.02924087e-01 -2.11484829e-03 9.76330747e+01] [ 9.02914409e-01 4.29800047e-01 -4.18212851e-03 5.69516386e+01] [ 4.68510646e-03 -1.12069656e-04 9.99989019e-01 5.74251204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:56.98, Z:0.57 [[ 4.29073565e-01 -9.03267075e-01 -2.11352726e-03 9.76438451e+01] [ 9.03257397e-01 4.29078755e-01 -4.18279602e-03 5.69770235e+01] [ 4.68505157e-03 -1.14331934e-04 9.99989019e-01 5.74906231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.65, Y:57.00, Z:0.57 [[ 4.28315056e-01 -9.03626998e-01 -2.11213924e-03 9.76548401e+01] [ 9.03617322e-01 4.28320248e-01 -4.18349679e-03 5.70027488e+01] [ 4.68499265e-03 -1.16710946e-04 9.99989019e-01 5.74615444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.67, Y:57.03, Z:0.57 [[ 4.28021565e-01 -9.03766056e-01 -2.11079174e-03 9.76675600e+01] [ 9.03756378e-01 4.28026754e-01 -4.18417657e-03 5.70283242e+01] [ 4.68499209e-03 -1.16723694e-04 9.99989019e-01 5.74748932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.68, Y:57.05, Z:0.58 [[ 4.26430729e-01 -9.04517763e-01 -2.10943262e-03 9.76764581e+01] [ 9.04508091e-01 4.26435928e-01 -4.18486165e-03 5.70545195e+01] [ 4.68481955e-03 -1.23445268e-04 9.99989019e-01 5.75740498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.69, Y:57.08, Z:0.58 [[ 4.25490453e-01 -9.04960457e-01 -2.10844291e-03 9.76874500e+01] [ 9.04950788e-01 4.25495658e-01 -4.18536023e-03 5.70804231e+01] [ 4.68471881e-03 -1.27206254e-04 9.99989019e-01 5.75612245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.70, Y:57.11, Z:0.58 [[ 4.23891982e-01 -9.05710300e-01 -2.10710879e-03 9.76960839e+01] [ 9.05700636e-01 4.23897198e-01 -4.18603178e-03 5.71055118e+01] [ 4.68452961e-03 -1.33984465e-04 9.99989019e-01 5.77121459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.71, Y:57.13, Z:0.58 [[ 4.22831848e-01 -9.06205714e-01 -2.10551226e-03 9.77064432e+01] [ 9.06196052e-01 4.22837067e-01 -4.18683466e-03 5.71308623e+01] [ 4.68442212e-03 -1.37679859e-04 9.99989019e-01 5.76712980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.932755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.72, Y:57.16, Z:0.58 [[ 4.22423835e-01 -9.06395983e-01 -2.10392468e-03 9.77175077e+01] [ 9.06386319e-01 4.22429052e-01 -4.18763228e-03 5.71562955e+01] [ 4.68441198e-03 -1.38012862e-04 9.99989019e-01 5.75157758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:57.18, Z:0.57 [[ 4.21780215e-01 -9.06695666e-01 -2.10233374e-03 9.77258439e+01] [ 9.06686003e-01 4.21785431e-01 -4.18843083e-03 5.71809046e+01] [ 4.68436583e-03 -1.39559319e-04 9.99989019e-01 5.74976293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.73, Y:57.21, Z:0.58 [[ 4.21440232e-01 -9.06853746e-01 -2.10110421e-03 9.77344122e+01] [ 9.06844081e-01 4.21445446e-01 -4.18904753e-03 5.72050355e+01] [ 4.68435425e-03 -1.39940753e-04 9.99989019e-01 5.75635486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.75, Y:57.23, Z:0.58 [[ 4.21576537e-01 -9.06790455e-01 -2.07212955e-03 9.77464905e+01] [ 9.06780719e-01 4.21581615e-01 -4.20356148e-03 5.72303835e+01] [ 4.68532115e-03 -1.06844231e-04 9.99989018e-01 5.76061967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.76, Y:57.26, Z:0.58 [[ 4.21476753e-01 -9.06836778e-01 -2.09872523e-03 9.77551937e+01] [ 9.06827107e-01 4.21481956e-01 -4.19024076e-03 5.72550225e+01] [ 4.68443925e-03 -1.37091859e-04 9.99989019e-01 5.75119028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.77, Y:57.28, Z:0.57 [[ 4.21081761e-01 -9.07020260e-01 -2.09752778e-03 9.77663306e+01] [ 9.07010588e-01 4.21086962e-01 -4.19084009e-03 5.72804356e+01] [ 4.68441846e-03 -1.37793581e-04 9.99989019e-01 5.74253611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.78, Y:57.30, Z:0.57 [[ 4.20453977e-01 -9.07311446e-01 -2.09592528e-03 9.77769477e+01] [ 9.07301774e-01 4.20459178e-01 -4.19164138e-03 5.73049369e+01] [ 4.68437522e-03 -1.39244441e-04 9.99989019e-01 5.74995073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.79, Y:57.33, Z:0.57 [[ 4.19825217e-01 -9.07602557e-01 -2.09425288e-03 9.77868454e+01] [ 9.07592885e-01 4.19830416e-01 -4.19247678e-03 5.73295727e+01] [ 4.68433371e-03 -1.40621543e-04 9.99989019e-01 5.72880649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.80, Y:57.36, Z:0.57 [[ 4.18224785e-01 -9.08341159e-01 -2.09015006e-03 9.77980851e+01] [ 9.08331485e-01 4.18229983e-01 -4.19452516e-03 5.73552573e+01] [ 4.68422327e-03 -1.44294725e-04 9.99989019e-01 5.72866533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.81, Y:57.38, Z:0.57 [[ 4.16079794e-01 -9.09325699e-01 -2.09252287e-03 9.78076635e+01] [ 9.09316044e-01 4.16085025e-01 -4.19334110e-03 5.73796640e+01] [ 4.68378026e-03 -1.58000119e-04 9.99989019e-01 5.74897731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.82, Y:57.40, Z:0.57 [[ 4.15186076e-01 -9.09734110e-01 -2.09093434e-03 9.78189639e+01] [ 9.09724456e-01 4.15191309e-01 -4.19413304e-03 5.74049709e+01] [ 4.68368366e-03 -1.60828468e-04 9.99989019e-01 5.74918835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.83, Y:57.43, Z:0.57 [[ 4.14024274e-01 -9.10263443e-01 -2.08938393e-03 9.78301498e+01] [ 9.10253791e-01 4.14029513e-01 -4.19490527e-03 5.74301142e+01] [ 4.68353552e-03 -1.65077031e-04 9.99989019e-01 5.74970345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.84, Y:57.45, Z:0.58 [[ 4.12938002e-01 -9.10756744e-01 -2.08778507e-03 9.78405825e+01] [ 9.10747096e-01 4.12943246e-01 -4.19570086e-03 5.74538366e+01] [ 4.68339960e-03 -1.68879854e-04 9.99989019e-01 5.75105886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.85, Y:57.48, Z:0.58 [[ 4.11873106e-01 -9.11238823e-01 -2.08611481e-03 9.78515432e+01] [ 9.11229176e-01 4.11878352e-01 -4.19653115e-03 5.74791385e+01] [ 4.68326764e-03 -1.72490367e-04 9.99989019e-01 5.75330730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.86, Y:57.50, Z:0.57 [[ 4.11375897e-01 -9.11463398e-01 -2.08455076e-03 9.78627965e+01] [ 9.11453750e-01 4.11381142e-01 -4.19730792e-03 5.75035542e+01] [ 4.68323741e-03 -1.73300297e-04 9.99989019e-01 5.74896464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.87, Y:57.53, Z:0.58 [[ 4.10789190e-01 -9.11727976e-01 -2.08298540e-03 9.78735410e+01] [ 9.11718328e-01 4.10794434e-01 -4.19808461e-03 5.75273660e+01] [ 4.68319000e-03 -1.74568191e-04 9.99989019e-01 5.75757160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.88, Y:57.55, Z:0.57 [[ 4.10503843e-01 -9.11856493e-01 -2.08134723e-03 9.78841508e+01] [ 9.11846842e-01 4.10509082e-01 -4.19889664e-03 5.75527280e+01] [ 4.68320310e-03 -1.74206690e-04 9.99989019e-01 5.74415861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:57.58, Z:0.57 [[ 4.10456470e-01 -9.11877821e-01 -2.07980086e-03 9.78953105e+01] [ 9.11868166e-01 4.10461703e-01 -4.19966245e-03 5.75780330e+01] [ 4.68325765e-03 -1.72725570e-04 9.99989019e-01 5.74288686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47275509600001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.91, Y:57.60, Z:0.57 [[ 4.10737769e-01 -9.11751154e-01 -2.07826143e-03 9.79054873e+01] [ 9.11741494e-01 4.10742992e-01 -4.20042412e-03 5.76032567e+01] [ 4.68337285e-03 -1.69564348e-04 9.99989019e-01 5.74317422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.92, Y:57.63, Z:0.57 [[ 4.10843399e-01 -9.11703564e-01 -2.07673831e-03 9.79168500e+01] [ 9.11693900e-01 4.10848613e-01 -4.20117703e-03 5.76281988e+01] [ 4.68345313e-03 -1.67323795e-04 9.99989019e-01 5.73946620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.93, Y:57.65, Z:0.57 [[ 4.10769371e-01 -9.11736923e-01 -2.07522004e-03 9.79283985e+01] [ 9.11727256e-01 4.10774580e-01 -4.20192686e-03 5.76533050e+01] [ 4.68349951e-03 -1.66011822e-04 9.99989019e-01 5.74361762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.94, Y:57.68, Z:0.57 [[ 4.10840380e-01 -9.11704932e-01 -2.07371217e-03 9.79397181e+01] [ 9.11695260e-01 4.10845580e-01 -4.20267089e-03 5.76779811e+01] [ 4.68357126e-03 -1.63966648e-04 9.99989019e-01 5.74100298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.95, Y:57.70, Z:0.57 [[ 4.11731817e-01 -9.11302703e-01 -2.07221133e-03 9.79502835e+01] [ 9.11293023e-01 4.11737001e-01 -4.20341078e-03 5.77026906e+01] [ 4.68378568e-03 -1.57713768e-04 9.99989019e-01 5.74108077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.96, Y:57.73, Z:0.57 [[ 4.12343660e-01 -9.11026025e-01 -2.07071972e-03 9.79609647e+01] [ 9.11016337e-01 4.12348831e-01 -4.20414546e-03 5.77268544e+01] [ 4.68394478e-03 -1.52906764e-04 9.99989019e-01 5.74485334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.97, Y:57.75, Z:0.57 [[ 4.14161174e-01 -9.10201209e-01 -2.06916458e-03 9.79706759e+01] [ 9.10191507e-01 4.14166318e-01 -4.20491072e-03 5.77511260e+01] [ 4.68429309e-03 -1.41825269e-04 9.99989019e-01 5.74329953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:57.78, Z:0.57 [[ 4.15478749e-01 -9.09600535e-01 -2.06763599e-03 9.79817535e+01] [ 9.09590822e-01 4.15483873e-01 -4.20566222e-03 5.77754671e+01] [ 4.68454202e-03 -1.33339436e-04 9.99989019e-01 5.74304186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.99, Y:57.80, Z:0.57 [[ 4.16642433e-01 -9.09068102e-01 -2.06620067e-03 9.79929814e+01] [ 9.09058379e-01 4.16647537e-01 -4.20636726e-03 5.78004816e+01] [ 4.68475172e-03 -1.25745936e-04 9.99989019e-01 5.74462651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.00, Y:57.82, Z:0.57 [[ 4.18073028e-01 -9.08411075e-01 -2.06476093e-03 9.80039744e+01] [ 9.08401340e-01 4.18078110e-01 -4.20707386e-03 5.78246769e+01] [ 4.68498383e-03 -1.16767493e-04 9.99989019e-01 5.74966687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.02, Y:57.85, Z:0.57 [[ 4.20776485e-01 -9.07161998e-01 -2.06365523e-03 9.80154499e+01] [ 9.07152246e-01 4.20781533e-01 -4.20761616e-03 5.78511526e+01] [ 4.68533749e-03 -1.01583544e-04 9.99989019e-01 5.74163005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.03, Y:57.88, Z:0.57 [[ 4.24503215e-01 -9.05424066e-01 -2.06911665e-03 9.80269907e+01] [ 9.05414306e-01 4.24508249e-01 -4.20493894e-03 5.78758863e+01] [ 4.68560999e-03 -8.83977199e-05 9.99989019e-01 5.72614649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.04, Y:57.90, Z:0.57 [[ 4.25537259e-01 -9.04938556e-01 -2.06175644e-03 9.80389869e+01] [ 9.04928773e-01 4.25542247e-01 -4.20854469e-03 5.79015881e+01] [ 4.68583882e-03 -7.48501516e-05 9.99989019e-01 5.72567683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:57.93, Z:0.57 [[ 4.26719087e-01 -9.04381875e-01 -2.06042654e-03 9.80505310e+01] [ 9.04372082e-01 4.26724056e-01 -4.20919568e-03 5.79261277e+01] [ 4.68595385e-03 -6.72480975e-05 9.99989019e-01 5.73680872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.06, Y:57.95, Z:0.57 [[ 4.27734379e-01 -9.03902131e-01 -2.05902145e-03 9.80619454e+01] [ 9.03892329e-01 4.27739330e-01 -4.20988290e-03 5.79505772e+01] [ 4.68604658e-03 -6.04220499e-05 9.99989019e-01 5.73072055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.07, Y:57.97, Z:0.57 [[ 4.29594862e-01 -9.03019391e-01 -2.05744141e-03 9.80734038e+01] [ 9.03009576e-01 4.29599786e-01 -4.21065495e-03 5.79746482e+01] [ 4.68617946e-03 -4.90135559e-05 9.99989019e-01 5.73155715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.09, Y:58.00, Z:0.57 [[ 4.30112020e-01 -9.02773185e-01 -2.05606266e-03 9.80852378e+01] [ 9.02763363e-01 4.30116932e-01 -4.21132809e-03 5.79995713e+01] [ 4.68622143e-03 -4.47952081e-05 9.99989019e-01 5.73827911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.10, Y:58.02, Z:0.57 [[ 4.30192007e-01 -9.02735075e-01 -2.05475073e-03 9.80968553e+01] [ 9.02725249e-01 4.30196912e-01 -4.21196809e-03 5.80240948e+01] [ 4.68623875e-03 -4.29203582e-05 9.99989019e-01 5.73786444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.11, Y:58.05, Z:0.57 [[ 4.30238915e-01 -9.02712723e-01 -2.05326157e-03 9.81084687e+01] [ 9.02702894e-01 4.30243813e-01 -4.21269391e-03 5.80483392e+01] [ 4.68625548e-03 -4.10203032e-05 9.99989019e-01 5.73511645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.12, Y:58.07, Z:0.57 [[ 4.30456494e-01 -9.02608995e-01 -2.05170574e-03 9.81211505e+01] [ 9.02599161e-01 4.30461381e-01 -4.21345151e-03 5.80724863e+01] [ 4.68627932e-03 -3.81603170e-05 9.99989019e-01 5.73874149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.13, Y:58.10, Z:0.57 [[ 4.28515175e-01 -9.03532295e-01 -2.03400373e-03 9.81338612e+01] [ 9.03522431e-01 4.28520002e-01 -4.22206205e-03 5.80988806e+01] [ 4.68638069e-03 -2.85503322e-05 9.99989018e-01 5.72832245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.15, Y:58.12, Z:0.57 [[ 4.26174261e-01 -9.04638768e-01 -2.04903518e-03 9.81469397e+01] [ 9.04628952e-01 4.26179183e-01 -4.21475439e-03 5.81232893e+01] [ 4.68608636e-03 -5.73967130e-05 9.99989019e-01 5.73302401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.16, Y:58.15, Z:0.57 [[ 4.24264999e-01 -9.05535763e-01 -2.04762457e-03 9.81584139e+01] [ 9.05525954e-01 4.24269935e-01 -4.21543959e-03 5.81474214e+01] [ 4.68597684e-03 -6.57137219e-05 9.99989019e-01 5.74100372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.162755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.17, Y:58.17, Z:0.57 [[ 4.22319784e-01 -9.06444601e-01 -2.04596083e-03 9.81703239e+01] [ 9.06434798e-01 4.22324734e-01 -4.21624693e-03 5.81719920e+01] [ 4.68585412e-03 -7.39255953e-05 9.99989019e-01 5.73353066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.18, Y:58.20, Z:0.57 [[ 4.19200960e-01 -9.07891169e-01 -2.04438243e-03 9.81824797e+01] [ 9.07881380e-01 4.19205936e-01 -4.21701212e-03 5.81956440e+01] [ 4.68560532e-03 -8.82812135e-05 9.99989019e-01 5.72030420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.20, Y:58.22, Z:0.57 [[ 4.17424071e-01 -9.08709515e-01 -2.04012998e-03 9.81952890e+01] [ 9.08699725e-01 4.17429047e-01 -4.21907197e-03 5.82210460e+01] [ 4.68552036e-03 -9.27233516e-05 9.99989019e-01 5.72099915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.21, Y:58.25, Z:0.57 [[ 4.14791348e-01 -9.09914264e-01 -2.04220367e-03 9.82082253e+01] [ 9.09904493e-01 4.14796361e-01 -4.21806798e-03 5.82450597e+01] [ 4.68517887e-03 -1.08592188e-04 9.99989019e-01 5.70858120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.22, Y:58.27, Z:0.57 [[ 4.13704469e-01 -9.10408946e-01 -2.04063106e-03 9.82203491e+01] [ 9.10399178e-01 4.13709486e-01 -4.21882864e-03 5.82694790e+01] [ 4.68508777e-03 -1.12440578e-04 9.99989019e-01 5.71007791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.23, Y:58.29, Z:0.57 [[ 4.13691109e-01 -9.10415020e-01 -2.03907201e-03 9.82323137e+01] [ 9.10405248e-01 4.13696119e-01 -4.21958204e-03 5.82925076e+01] [ 4.68512705e-03 -1.10778284e-04 9.99989019e-01 5.70620638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.24, Y:58.32, Z:0.57 [[ 4.13007104e-01 -9.10725560e-01 -2.02147993e-03 9.82444401e+01] [ 9.10715750e-01 4.13012041e-01 -4.22807323e-03 5.83165316e+01] [ 4.68550991e-03 -9.47693286e-05 9.99989018e-01 5.70473207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.26, Y:58.34, Z:0.57 [[ 4.11595415e-01 -9.11364452e-01 -2.01261654e-03 9.82569799e+01] [ 9.11354629e-01 4.11600325e-01 -4.23234834e-03 5.83433196e+01] [ 4.68560544e-03 -9.21922295e-05 9.99989018e-01 5.71210502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.27, Y:58.37, Z:0.57 [[ 4.11624170e-01 -9.11351414e-01 -2.03532892e-03 9.82691996e+01] [ 9.11341645e-01 4.11629185e-01 -4.22139766e-03 5.83664654e+01] [ 4.68497751e-03 -1.17250699e-04 9.99989019e-01 5.71592716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.28, Y:58.39, Z:0.57 [[ 4.11281628e-01 -9.11506054e-01 -2.03367387e-03 9.82815297e+01] [ 9.11496283e-01 4.11286639e-01 -4.22219484e-03 5.83914237e+01] [ 4.68497905e-03 -1.17175004e-04 9.99989019e-01 5.71495904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.29, Y:58.41, Z:0.57 [[ 4.11257243e-01 -9.11517060e-01 -2.03222563e-03 9.82932924e+01] [ 9.11507285e-01 4.11262248e-01 -4.22289179e-03 5.84147142e+01] [ 4.68501559e-03 -1.15693633e-04 9.99989019e-01 5.72280090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.31, Y:58.44, Z:0.57 [[ 4.11156524e-01 -9.11562499e-01 -2.03051999e-03 9.83054324e+01] [ 9.11552721e-01 4.11161522e-01 -4.22371176e-03 5.84395327e+01] [ 4.68504894e-03 -1.14319378e-04 9.99989019e-01 5.72470563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.32, Y:58.46, Z:0.57 [[ 4.11639984e-01 -9.11344284e-01 -2.02982518e-03 9.83175204e+01] [ 9.11334501e-01 4.11644973e-01 -4.22404546e-03 5.84637089e+01] [ 4.68512701e-03 -1.11063713e-04 9.99989019e-01 5.71966438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.33, Y:58.49, Z:0.57 [[ 4.11014407e-01 -9.11626594e-01 -2.02729472e-03 9.83291366e+01] [ 9.11616809e-01 4.11019392e-01 -4.22525958e-03 5.84893892e+01] [ 4.68511644e-03 -1.11473379e-04 9.99989019e-01 5.70824998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.34, Y:58.51, Z:0.57 [[ 4.11467228e-01 -9.11422304e-01 -2.02577012e-03 9.83419337e+01] [ 9.11412513e-01 4.11472200e-01 -4.22599042e-03 5.85138292e+01] [ 4.68521002e-03 -1.07455671e-04 9.99989019e-01 5.72358447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.35, Y:58.54, Z:0.57 [[ 4.11520914e-01 -9.11398069e-01 -2.02422489e-03 9.83542868e+01] [ 9.11388274e-01 4.11525879e-01 -4.22673045e-03 5.85367329e+01] [ 4.68525489e-03 -1.05466851e-04 9.99989019e-01 5.72322535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.37, Y:58.56, Z:0.57 [[ 4.10422031e-01 -9.11893451e-01 -2.02253689e-03 9.83656621e+01] [ 9.11883658e-01 4.10427000e-01 -4.22753802e-03 5.85622593e+01] [ 4.68516798e-03 -1.09243602e-04 9.99989019e-01 5.70234328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.38, Y:58.59, Z:0.57 [[ 4.10131021e-01 -9.12024404e-01 -2.00801742e-03 9.83773842e+01] [ 9.12014579e-01 4.10135925e-01 -4.23447966e-03 5.85871930e+01] [ 4.68550887e-03 -9.46496904e-05 9.99989018e-01 5.70359991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.39, Y:58.61, Z:0.57 [[ 4.09472325e-01 -9.12320331e-01 -2.00721525e-03 9.83895876e+01] [ 9.12310507e-01 4.09477233e-01 -4.23486293e-03 5.86118209e+01] [ 4.68546050e-03 -9.71443943e-05 9.99989018e-01 5.70308329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.40, Y:58.64, Z:0.57 [[ 4.10286628e-01 -9.11954433e-01 -1.99854253e-03 9.84047572e+01] [ 9.11944585e-01 4.10291487e-01 -4.23900219e-03 5.86369265e+01] [ 4.68576183e-03 -8.33541260e-05 9.99989018e-01 5.71900903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.762755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.41, Y:58.66, Z:0.57 [[ 4.07669017e-01 -9.13127537e-01 -2.01839409e-03 9.84145697e+01] [ 9.13117749e-01 4.07673997e-01 -4.22952873e-03 5.86622681e+01] [ 4.68494594e-03 -1.18783650e-04 9.99989019e-01 5.69370912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.43, Y:58.69, Z:0.57 [[ 4.08950512e-01 -9.12554336e-01 -2.01551014e-03 9.84285611e+01] [ 9.12544535e-01 4.08955465e-01 -4.23090379e-03 5.86856065e+01] [ 4.68518349e-03 -1.09012489e-04 9.99989019e-01 5.71937174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.44, Y:58.71, Z:0.57 [[ 4.07921196e-01 -9.13014914e-01 -2.01602112e-03 9.84409629e+01] [ 9.13005120e-01 4.07926161e-01 -4.23066030e-03 5.87085292e+01] [ 4.68504370e-03 -1.14861597e-04 9.99989019e-01 5.72095374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.45, Y:58.73, Z:0.57 [[ 4.05649166e-01 -9.14026639e-01 -2.01435929e-03 9.84512040e+01] [ 9.14016852e-01 4.05654149e-01 -4.23145140e-03 5.87340546e+01] [ 4.68479250e-03 -1.24673602e-04 9.99989019e-01 5.69496213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.46, Y:58.76, Z:0.57 [[ 4.05818779e-01 -9.13951387e-01 -1.99519825e-03 9.84632669e+01] [ 9.13941555e-01 4.05823671e-01 -4.24056252e-03 5.87577614e+01] [ 4.68536667e-03 -1.02594680e-04 9.99989018e-01 5.69751592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.912755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.48, Y:58.78, Z:0.57 [[ 4.05328133e-01 -9.14169128e-01 -1.97734070e-03 9.84788845e+01] [ 9.14159257e-01 4.05332947e-01 -4.24904435e-03 5.87831312e+01] [ 4.68582650e-03 -8.53470915e-05 9.99989018e-01 5.72670496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.942755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.49, Y:58.81, Z:0.57 [[ 4.03204886e-01 -9.15107523e-01 -2.01027843e-03 9.84884021e+01] [ 9.15097741e-01 4.03209875e-01 -4.23340351e-03 5.88069682e+01] [ 4.68458352e-03 -1.32672267e-04 9.99989018e-01 5.69405851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.50, Y:58.83, Z:0.57 [[ 4.02757776e-01 -9.15304408e-01 -2.00353915e-03 9.85022780e+01] [ 9.15294612e-01 4.02762739e-01 -4.23660106e-03 5.88321873e+01] [ 4.68473054e-03 -1.27504571e-04 9.99989018e-01 5.72685752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.51, Y:58.86, Z:0.57 [[ 4.03017587e-01 -9.15189977e-01 -2.03256066e-03 9.85146831e+01] [ 9.15180248e-01 4.03022682e-01 -4.22283678e-03 5.88551167e+01] [ 4.68386594e-03 -1.58281879e-04 9.99989018e-01 5.73569147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.53, Y:58.88, Z:0.57 [[ 4.02944745e-01 -9.15222109e-01 -2.00590528e-03 9.85264124e+01] [ 9.15212318e-01 4.02949717e-01 -4.23546071e-03 5.88796574e+01] [ 4.68466625e-03 -1.29172591e-04 9.99989019e-01 5.72955261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.54, Y:58.91, Z:0.57 [[ 4.01825533e-01 -9.15714061e-01 -1.99982121e-03 9.85377321e+01] [ 9.15704261e-01 4.01830489e-01 -4.23833959e-03 5.89055895e+01] [ 4.68469629e-03 -1.28171738e-04 9.99989019e-01 5.70164268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.55, Y:58.93, Z:0.57 [[ 4.01692898e-01 -9.15772203e-01 -2.02163501e-03 9.85500236e+01] [ 9.15762456e-01 4.01697956e-01 -4.22802301e-03 5.89313358e+01] [ 4.68399260e-03 -1.52970626e-04 9.99989018e-01 5.73933822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.56, Y:58.95, Z:0.57 [[ 4.03395078e-01 -9.15023670e-01 -2.02372585e-03 9.85613447e+01] [ 9.15013918e-01 4.03400127e-01 -4.22703688e-03 5.89543319e+01] [ 4.68421006e-03 -1.46571449e-04 9.99989018e-01 5.72355705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.57, Y:58.98, Z:0.57 [[ 4.04428231e-01 -9.14567572e-01 -1.99036646e-03 9.85726771e+01] [ 9.14557737e-01 4.04433115e-01 -4.24275271e-03 5.89798329e+01] [ 4.68525416e-03 -1.04416072e-04 9.99989019e-01 5.73895164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:59.01, Z:0.57 [[ 4.07304175e-01 -9.13290383e-01 -1.99626612e-03 9.85871728e+01] [ 9.13280546e-01 4.07309055e-01 -4.23997503e-03 5.90061792e+01] [ 4.68542569e-03 -9.61914791e-05 9.99989019e-01 5.72223173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.59, Y:59.03, Z:0.57 [[ 4.06413687e-01 -9.13686911e-01 -2.03577842e-03 9.85949443e+01] [ 9.13677170e-01 4.06418760e-01 -4.22138101e-03 5.90288063e+01] [ 4.68439911e-03 -1.44417250e-04 9.99989018e-01 5.73562970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.61, Y:59.05, Z:0.57 [[ 4.10291987e-01 -9.11952036e-01 -1.99248915e-03 9.86062185e+01] [ 9.11942174e-01 4.10296818e-01 -4.24171557e-03 5.90521106e+01] [ 4.68575311e-03 -7.66929714e-05 9.99989019e-01 5.73291746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.62, Y:59.08, Z:0.57 [[ 4.11181982e-01 -9.11551152e-01 -1.96868753e-03 9.86176891e+01] [ 9.11541232e-01 4.11186692e-01 -4.25288532e-03 5.90773258e+01] [ 4.68622062e-03 -4.58300383e-05 9.99989019e-01 5.73612951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.63, Y:59.10, Z:0.57 [[ 4.12371843e-01 -9.11013484e-01 -1.97382271e-03 9.86294571e+01] [ 9.11003569e-01 4.12376564e-01 -4.25047684e-03 5.91020377e+01] [ 4.68619994e-03 -4.53825663e-05 9.99989019e-01 5.74221157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.64, Y:59.13, Z:0.57 [[ 4.14184287e-01 -9.10190897e-01 -1.97682143e-03 9.86437053e+01] [ 9.10180980e-01 4.14189002e-01 -4.24907084e-03 5.91287575e+01] [ 4.68624329e-03 -3.93668926e-05 9.99989019e-01 5.73851167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.362755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:98.65, Y:59.15, Z:0.57 [[ 4.13446496e-01 -9.10526174e-01 -2.02019140e-03 9.86531635e+01] [ 9.10516359e-01 4.13451421e-01 -4.22874950e-03 5.91511273e+01] [ 4.68563811e-03 -9.10556542e-05 9.99989018e-01 5.72850577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.66, Y:59.17, Z:0.58 [[ 4.14166957e-01 -9.10198780e-01 -1.97794768e-03 9.86641227e+01] [ 9.10188866e-01 4.14171678e-01 -4.24850321e-03 5.91744155e+01] [ 4.68619235e-03 -4.07163053e-05 9.99989019e-01 5.75803164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.68, Y:59.20, Z:0.57 [[ 4.15118534e-01 -9.09765213e-01 -1.96444769e-03 9.86799525e+01] [ 9.09755264e-01 4.15123182e-01 -4.25481014e-03 5.92017893e+01] [ 4.68636603e-03 -2.09160810e-05 9.99989019e-01 5.74769184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.69, Y:59.22, Z:0.58 [[ 4.13892024e-01 -9.10323751e-01 -2.01516637e-03 9.86883056e+01] [ 9.10313922e-01 4.13896922e-01 -4.23111048e-03 5.92232938e+01] [ 4.68575152e-03 -8.32111176e-05 9.99989018e-01 5.76950636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.70, Y:59.25, Z:0.58 [[ 4.13524062e-01 -9.10491091e-01 -1.95552500e-03 9.87005582e+01] [ 9.10481130e-01 4.13528685e-01 -4.25891939e-03 5.92481351e+01] [ 4.68637384e-03 -1.93029654e-05 9.99989019e-01 5.77250324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.71, Y:59.27, Z:0.58 [[ 4.13092196e-01 -9.10687097e-01 -1.96186797e-03 9.87120482e+01] [ 9.10677152e-01 4.13096854e-01 -4.25596308e-03 5.92717648e+01] [ 4.68629215e-03 -2.85231989e-05 9.99989019e-01 5.77647341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.72, Y:59.30, Z:0.58 [[ 4.11508398e-01 -9.11403876e-01 -1.95255869e-03 9.87245559e+01] [ 9.11393919e-01 4.11513029e-01 -4.26029840e-03 5.92966561e+01] [ 4.68635581e-03 -2.64015489e-05 9.99989019e-01 5.77825727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.74, Y:59.32, Z:0.58 [[ 4.11523690e-01 -9.11396959e-01 -1.95834729e-03 9.87394201e+01] [ 9.11387015e-01 4.11528349e-01 -4.25760423e-03 5.93238670e+01] [ 4.68628297e-03 -3.27072851e-05 9.99989019e-01 5.77492233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.75, Y:59.35, Z:0.58 [[ 4.09031904e-01 -9.12517884e-01 -2.00305095e-03 9.87481916e+01] [ 9.12508054e-01 4.09036798e-01 -4.23680121e-03 5.93453932e+01] [ 4.68547842e-03 -9.48132624e-05 9.99989019e-01 5.77531448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.76, Y:59.37, Z:0.58 [[ 4.09836290e-01 -9.12157003e-01 -1.95399697e-03 9.87637622e+01] [ 9.12147058e-01 4.09840946e-01 -4.25957958e-03 5.93691517e+01] [ 4.68623331e-03 -3.66023003e-05 9.99989019e-01 5.76808190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.77, Y:59.39, Z:0.58 [[ 4.06675303e-01 -9.13570635e-01 -1.97321610e-03 9.87716101e+01] [ 9.13560749e-01 4.06680083e-01 -4.25065778e-03 5.93944452e+01] [ 4.68574382e-03 -7.40152355e-05 9.99989019e-01 5.76873633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.79, Y:59.42, Z:0.58 [[ 4.07536943e-01 -9.13186624e-01 -1.95685482e-03 9.87897440e+01] [ 9.13176698e-01 4.07541638e-01 -4.25824358e-03 5.94217376e+01] [ 4.68607090e-03 -5.15626565e-05 9.99989019e-01 5.75135138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.80, Y:59.44, Z:0.58 [[ 4.04583714e-01 -9.14498757e-01 -2.01036622e-03 9.87962719e+01] [ 9.14488967e-01 4.04588689e-01 -4.23343414e-03 5.94415329e+01] [ 4.68484169e-03 -1.25679215e-04 9.99989018e-01 5.75365016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.81, Y:59.47, Z:0.58 [[ 4.02731650e-01 -9.15316042e-01 -1.93939882e-03 9.88085893e+01] [ 9.15306101e-01 4.02736315e-01 -4.26629167e-03 5.94673402e+01] [ 4.68607154e-03 -5.69728917e-05 9.99989019e-01 5.76569335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.82, Y:59.49, Z:0.58 [[ 3.99928373e-01 -9.16544320e-01 -1.95071721e-03 9.88214451e+01] [ 9.16534419e-01 3.99933122e-01 -4.26105366e-03 5.94926864e+01] [ 4.68560095e-03 -8.37832050e-05 9.99989019e-01 5.75467288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.83, Y:59.52, Z:0.58 [[ 3.98699160e-01 -9.17079663e-01 -1.96766775e-03 9.88337306e+01] [ 9.17069806e-01 3.98704001e-01 -4.25321181e-03 5.95173496e+01] [ 4.68505106e-03 -1.08736701e-04 9.99989019e-01 5.76529389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:98.85, Y:59.54, Z:0.58 [[ 3.97515274e-01 -9.17593451e-01 -1.96621071e-03 9.88462605e+01] [ 9.17583597e-01 3.97520121e-01 -4.25388527e-03 5.95398900e+01] [ 4.68494559e-03 -1.13178327e-04 9.99989019e-01 5.77171163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.86, Y:59.57, Z:0.58 [[ 3.96234244e-01 -9.18147368e-01 -1.95838219e-03 9.88585568e+01] [ 9.18137503e-01 3.96239068e-01 -4.25750048e-03 5.95655503e+01] [ 4.68500040e-03 -1.11096650e-04 9.99989019e-01 5.78117479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.87, Y:59.59, Z:0.58 [[ 3.95899728e-01 -9.18291648e-01 -1.96362527e-03 9.88714408e+01] [ 9.18281797e-01 3.95904579e-01 -4.25508092e-03 5.95903897e+01] [ 4.68481350e-03 -1.18575966e-04 9.99989019e-01 5.79283548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.932755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:98.88, Y:59.61, Z:0.58 [[ 3.94993722e-01 -9.18681724e-01 -1.96224915e-03 9.88829496e+01] [ 9.18671874e-01 3.94998577e-01 -4.25571543e-03 5.96143113e+01] [ 4.68473361e-03 -1.21682231e-04 9.99989019e-01 5.77080821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.90, Y:59.64, Z:0.58 [[ 3.96149779e-01 -9.18183810e-01 -1.96056330e-03 9.88965889e+01] [ 9.18173951e-01 3.96154614e-01 -4.25649194e-03 5.96412073e+01] [ 4.68492818e-03 -1.13929809e-04 9.99989019e-01 5.79087096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.91, Y:59.66, Z:0.58 [[ 3.95470973e-01 -9.18476327e-01 -1.98657684e-03 9.89058250e+01] [ 9.18466531e-01 3.95475936e-01 -4.24453790e-03 5.96639497e+01] [ 4.68415092e-03 -1.46012800e-04 9.99989019e-01 5.80621965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.022755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.92, Y:59.69, Z:0.57 [[ 3.99030564e-01 -9.16935541e-01 -1.95495404e-03 9.89234388e+01] [ 9.16925655e-01 3.99035342e-01 -4.25905313e-03 5.96915184e+01] [ 4.68537294e-03 -9.30551378e-05 9.99989019e-01 5.74794852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.93, Y:59.72, Z:0.58 [[ 3.97575673e-01 -9.17567208e-01 -2.00063139e-03 9.89311110e+01] [ 9.17557433e-01 3.97580678e-01 -4.23810521e-03 5.97162412e+01] [ 4.68415875e-03 -1.50726669e-04 9.99989018e-01 5.79092360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.082755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:98.94, Y:59.74, Z:0.58 [[ 3.98430867e-01 -9.17196272e-01 -1.96019481e-03 9.89430680e+01] [ 9.17186401e-01 3.98435676e-01 -4.25662329e-03 5.97404718e+01] [ 4.68517056e-03 -1.01893914e-04 9.99989019e-01 5.80758004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.112755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:98.96, Y:59.77, Z:0.58 [[ 4.00447614e-01 -9.16317579e-01 -1.95009202e-03 9.89560618e+01] [ 9.16307674e-01 4.00452354e-01 -4.26124668e-03 5.97656506e+01] [ 4.68557418e-03 -8.04782146e-05 9.99989019e-01 5.79844651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.97, Y:59.79, Z:0.58 [[ 4.01477443e-01 -9.15866838e-01 -1.94874639e-03 9.89675857e+01] [ 9.15856925e-01 4.01482166e-01 -4.26186197e-03 5.97905376e+01] [ 4.68568497e-03 -7.37314300e-05 9.99989019e-01 5.82214136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.99, Y:59.82, Z:0.58 [[ 4.06930514e-01 -9.13457040e-01 -1.94732752e-03 9.89876078e+01] [ 9.13447096e-01 4.06935171e-01 -4.26251018e-03 5.98187146e+01] [ 4.68605599e-03 -4.42352140e-05 9.99989019e-01 5.81412486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:98.99, Y:59.84, Z:0.58 [[ 4.03446793e-01 -9.15000856e-01 -2.02943988e-03 9.89928337e+01] [ 9.14991114e-01 4.03451868e-01 -4.22497357e-03 5.98394413e+01] [ 4.68463575e-03 -1.52367417e-04 9.99989015e-01 5.80466608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.00, Y:59.86, Z:0.58 [[ 4.03918487e-01 -9.14792914e-01 -1.94418734e-03 9.90049043e+01] [ 9.14782979e-01 4.03923162e-01 -4.26384622e-03 5.98642131e+01] [ 4.68583861e-03 -5.62631707e-05 9.99989020e-01 5.81983588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.02, Y:59.89, Z:0.58 [[ 4.06204493e-01 -9.13780135e-01 -1.94278913e-03 9.90229322e+01] [ 9.13770185e-01 4.06209137e-01 -4.26448321e-03 5.98914766e+01] [ 4.68597874e-03 -4.30105452e-05 9.99989020e-01 5.79786694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.03, Y:59.91, Z:0.58 [[ 4.04015155e-01 -9.14750130e-01 -1.98850173e-03 9.90303984e+01] [ 9.14740292e-01 4.04020035e-01 -4.24365699e-03 5.99135731e+01] [ 4.68528032e-03 -1.04460920e-04 9.99989019e-01 5.81765776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.04, Y:59.94, Z:0.58 [[ 4.03285376e-01 -9.15072205e-01 -1.94024677e-03 9.90426090e+01] [ 9.15062265e-01 4.03290040e-01 -4.26560617e-03 5.99389633e+01] [ 4.68581984e-03 -5.51900149e-05 9.99989020e-01 5.81653457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.06, Y:59.96, Z:0.58 [[ 4.02036374e-01 -9.15621644e-01 -1.93893185e-03 9.90550150e+01] [ 9.15611707e-01 4.02041045e-01 -4.26620378e-03 5.99620362e+01] [ 4.68575871e-03 -6.01396088e-05 9.99989020e-01 5.81309371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.07, Y:59.99, Z:0.58 [[ 4.01701795e-01 -9.15768483e-01 -1.93738418e-03 9.90688183e+01] [ 9.15758544e-01 4.01706463e-01 -4.26690650e-03 5.99880861e+01] [ 4.68575824e-03 -6.01521124e-05 9.99989020e-01 5.82004147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.412755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:99.08, Y:60.01, Z:0.58 [[ 3.99250579e-01 -9.16839777e-01 -1.94872639e-03 9.90797008e+01] [ 9.16829876e-01 3.99255326e-01 -4.26175826e-03 6.00117978e+01] [ 4.68538888e-03 -8.51411176e-05 9.99989020e-01 5.77963676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:60.04, Z:0.58 [[ 3.98603294e-01 -9.17121403e-01 -1.93549954e-03 9.90975359e+01] [ 9.17111476e-01 3.98607986e-01 -4.26775686e-03 6.00395115e+01] [ 4.68555673e-03 -7.39268981e-05 9.99989020e-01 5.80570114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.10, Y:60.06, Z:0.58 [[ 3.95665821e-01 -9.18392389e-01 -1.99461412e-03 9.91046950e+01] [ 9.18382610e-01 3.95670818e-01 -4.24093291e-03 6.00606560e+01] [ 4.68405111e-03 -1.53826726e-04 9.99989018e-01 5.80810105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.12, Y:60.09, Z:0.58 [[ 3.91347947e-01 -9.20240756e-01 -1.93286476e-03 9.91215427e+01] [ 9.20230860e-01 3.91352705e-01 -4.26889174e-03 6.00935190e+01] [ 4.68484001e-03 -1.08059784e-04 9.99989020e-01 5.78839413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.13, Y:60.11, Z:0.58 [[ 3.89219078e-01 -9.21142983e-01 -2.02852439e-03 9.91302720e+01] [ 9.21133317e-01 3.89224300e-01 -4.22579297e-03 6.01123413e+01] [ 4.68211052e-03 -2.23782158e-04 9.99989014e-01 5.81352768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.14, Y:60.14, Z:0.58 [[ 3.87651152e-01 -9.21804154e-01 -1.91979059e-03 9.91419331e+01] [ 9.21794250e-01 3.87655889e-01 -4.27462677e-03 6.01367891e+01] [ 4.68458684e-03 -1.12587937e-04 9.99989021e-01 5.80951919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.15, Y:60.16, Z:0.58 [[ 3.87359891e-01 -9.21926589e-01 -1.91833967e-03 9.91534820e+01] [ 9.21916683e-01 3.87364624e-01 -4.27527780e-03 6.01629185e+01] [ 4.68458921e-03 -1.12478204e-04 9.99989021e-01 5.81085354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.17, Y:60.19, Z:0.58 [[ 3.85407426e-01 -9.22744516e-01 -1.91698870e-03 9.91664181e+01] [ 9.22734617e-01 3.85412174e-01 -4.27588348e-03 6.01879734e+01] [ 4.68437881e-03 -1.20914590e-04 9.99989021e-01 5.81221539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.18, Y:60.21, Z:0.58 [[ 3.84439184e-01 -9.23148333e-01 -1.91562501e-03 9.91783840e+01] [ 9.23138435e-01 3.84443937e-01 -4.27649433e-03 6.02131368e+01] [ 4.68428904e-03 -1.24335082e-04 9.99989021e-01 5.81553803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.19, Y:60.24, Z:0.58 [[ 3.83628929e-01 -9.23485344e-01 -1.91426301e-03 9.91903902e+01] [ 9.23475448e-01 3.83633684e-01 -4.27710391e-03 6.02387813e+01] [ 4.68421855e-03 -1.26954095e-04 9.99989021e-01 5.81904790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.20, Y:60.26, Z:0.58 [[ 3.83131623e-01 -9.23691778e-01 -1.91288442e-03 9.92033000e+01] [ 9.23681881e-01 3.83136377e-01 -4.27772038e-03 6.02624863e+01] [ 4.68419075e-03 -1.27966723e-04 9.99989021e-01 5.79073854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.21, Y:60.29, Z:0.58 [[ 3.82783901e-01 -9.23835933e-01 -1.91146560e-03 9.92138657e+01] [ 9.23826035e-01 3.82788652e-01 -4.27835427e-03 6.02872560e+01] [ 4.68418476e-03 -1.28176552e-04 9.99989021e-01 5.79624246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.772755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:99.23, Y:60.31, Z:0.58 [[ 3.83327314e-01 -9.23610592e-01 -1.90901294e-03 9.92274526e+01] [ 9.23600686e-01 3.83332047e-01 -4.27944932e-03 6.03140138e+01] [ 4.68433056e-03 -1.22735854e-04 9.99989021e-01 5.80747715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.24, Y:60.34, Z:0.58 [[ 3.82545081e-01 -9.23934793e-01 -1.93873753e-03 9.92366627e+01] [ 9.23924958e-01 3.82549960e-01 -4.26622246e-03 6.03370750e+01] [ 4.68337533e-03 -1.59225578e-04 9.99989020e-01 5.82757101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.832755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.25, Y:60.36, Z:0.58 [[ 3.82801681e-01 -9.23828583e-01 -1.90296602e-03 9.92476855e+01] [ 9.23818667e-01 3.82806393e-01 -4.28211926e-03 6.03617233e+01] [ 4.68441173e-03 -1.18793076e-04 9.99989021e-01 5.81379162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.26, Y:60.39, Z:0.59 [[ 3.83522820e-01 -9.23529432e-01 -1.90659867e-03 9.92594939e+01] [ 9.23519519e-01 3.83527541e-01 -4.28050594e-03 6.03890179e+01] [ 4.68440631e-03 -1.19109381e-04 9.99989021e-01 5.85185336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.27, Y:60.41, Z:0.59 [[ 3.85835648e-01 -9.22565539e-01 -1.91813372e-03 9.92717457e+01] [ 9.22555640e-01 3.85840397e-01 -4.27539818e-03 6.04136269e+01] [ 4.68442851e-03 -1.19984057e-04 9.99989021e-01 5.86109799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:60.44, Z:0.59 [[ 3.88561473e-01 -9.21420853e-01 -1.89570722e-03 9.92856986e+01] [ 9.21410891e-01 3.88566089e-01 -4.28531905e-03 6.04408492e+01] [ 4.68518988e-03 -8.16153960e-05 9.99989021e-01 5.85380577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.29, Y:60.46, Z:0.59 [[ 3.89236731e-01 -9.21135704e-01 -1.94482399e-03 9.92934184e+01] [ 9.21125846e-01 3.89241567e-01 -4.26354948e-03 6.04626364e+01] [ 4.68431399e-03 -1.31897587e-04 9.99989020e-01 5.86469872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.982755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:99.31, Y:60.49, Z:0.58 [[ 3.92873201e-01 -9.19590699e-01 -1.89569474e-03 9.93084237e+01] [ 9.19580716e-01 3.92877770e-01 -4.28528296e-03 6.04894468e+01] [ 4.68548267e-03 -5.96714944e-05 9.99989021e-01 5.84739753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.32, Y:60.51, Z:0.59 [[ 3.93224509e-01 -9.19440452e-01 -1.93410507e-03 9.93173408e+01] [ 9.19430550e-01 3.93229252e-01 -4.26829137e-03 6.05130419e+01] [ 4.68498644e-03 -9.98785083e-05 9.99989020e-01 5.87982080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.33, Y:60.54, Z:0.59 [[ 3.93506104e-01 -9.19320023e-01 -1.90819282e-03 9.93271123e+01] [ 9.19310064e-01 3.93510725e-01 -4.27973826e-03 6.05369400e+01] [ 4.68534341e-03 -7.01177372e-05 9.99989021e-01 5.86733831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:99.34, Y:60.56, Z:0.59 [[ 3.94895886e-01 -9.18723931e-01 -1.89163447e-03 9.93381053e+01] [ 9.18713929e-01 3.94900414e-01 -4.28704454e-03 6.05616339e+01] [ 4.68561765e-03 -4.49346814e-05 9.99989021e-01 5.86585674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.35, Y:60.59, Z:0.59 [[ 3.95535008e-01 -9.18448956e-01 -1.89015075e-03 9.93487307e+01] [ 9.18438949e-01 3.95539522e-01 -4.28769861e-03 6.05857850e+01] [ 4.68566164e-03 -4.00531684e-05 9.99989021e-01 5.87029766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.36, Y:60.61, Z:0.59 [[ 3.93541469e-01 -9.19304924e-01 -1.88900414e-03 9.93594027e+01] [ 9.19294924e-01 3.93546000e-01 -4.28820370e-03 6.06119463e+01] [ 4.68557681e-03 -4.89659354e-05 9.99989021e-01 5.86377214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.37, Y:60.63, Z:0.59 [[ 3.94847007e-01 -9.18744883e-01 -1.91875330e-03 9.93707098e+01] [ 9.18734939e-01 3.94851662e-01 -4.27510922e-03 6.06346398e+01] [ 4.68535765e-03 -7.48116128e-05 9.99989021e-01 5.87936104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.38, Y:60.66, Z:0.59 [[ 3.92975125e-01 -9.19547170e-01 -1.88501103e-03 9.93821427e+01] [ 9.19537164e-01 3.92979643e-01 -4.28993569e-03 6.06605907e+01] [ 4.68556918e-03 -4.74996810e-05 9.99989022e-01 5.86799260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.39, Y:60.69, Z:0.59 [[ 3.87979506e-01 -9.21666032e-01 -1.90493971e-03 9.93937249e+01] [ 9.21656094e-01 3.87984171e-01 -4.28117664e-03 6.06874267e+01] [ 4.68490154e-03 -9.46904954e-05 9.99989021e-01 5.86995346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.40, Y:60.71, Z:0.59 [[ 3.88629655e-01 -9.21391991e-01 -1.94677018e-03 9.94034274e+01] [ 9.21382140e-01 3.88634507e-01 -4.26279053e-03 6.07051414e+01] [ 4.68428312e-03 -1.37072463e-04 9.99989019e-01 5.87625100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.42, Y:60.73, Z:0.59 [[ 3.84945738e-01 -9.22937288e-01 -1.88170260e-03 9.94158649e+01] [ 9.22927315e-01 3.84950328e-01 -4.29132203e-03 6.07302741e+01] [ 4.68498315e-03 -8.47485984e-05 9.99989022e-01 5.89267173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.43, Y:60.75, Z:0.59 [[ 3.83428885e-01 -9.23568460e-01 -1.89479265e-03 9.94268816e+01] [ 9.23558523e-01 3.83433552e-01 -4.28558565e-03 6.07531978e+01] [ 4.68455881e-03 -1.06734573e-04 9.99989022e-01 5.89104492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.44, Y:60.78, Z:0.59 [[ 3.81205871e-01 -9.24488266e-01 -1.87858265e-03 9.94382132e+01] [ 9.24478306e-01 3.81210487e-01 -4.29267954e-03 6.07782462e+01] [ 4.68466728e-03 -1.00314263e-04 9.99989022e-01 5.89017313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.45, Y:60.80, Z:0.59 [[ 3.76464221e-01 -9.26429256e-01 -1.87714269e-03 9.94507479e+01] [ 9.26419316e-01 3.76468881e-01 -4.29330913e-03 6.08048688e+01] [ 4.68413299e-03 -1.22743974e-04 9.99989022e-01 5.89521882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.46, Y:60.83, Z:0.59 [[ 3.76272419e-01 -9.26507122e-01 -1.90270201e-03 9.94642818e+01] [ 9.26497238e-01 3.76277199e-01 -4.28213856e-03 6.08294608e+01] [ 4.68337526e-03 -1.51597521e-04 9.99989021e-01 5.88454864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:60.86, Z:0.59 [[ 3.74592641e-01 -9.27187534e-01 -1.90536537e-03 9.94774816e+01] [ 9.27177665e-01 3.74597451e-01 -4.28098306e-03 6.08565965e+01] [ 4.68301913e-03 -1.62987470e-04 9.99989021e-01 5.88419145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.48, Y:60.88, Z:0.59 [[ 3.69634948e-01 -9.29175070e-01 -1.92186259e-03 9.94839494e+01] [ 9.29165264e-01 3.69639887e-01 -4.27382666e-03 6.08784641e+01] [ 4.68153026e-03 -2.05972264e-04 9.99989020e-01 5.88568413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.49, Y:60.91, Z:0.59 [[ 3.66345296e-01 -9.30477113e-01 -1.86155762e-03 9.94946846e+01] [ 9.30467191e-01 3.66349992e-01 -4.29993432e-03 6.09065143e+01] [ 4.68297210e-03 -1.56857580e-04 9.99989023e-01 5.88966109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.51, Y:60.93, Z:0.59 [[ 3.67958421e-01 -9.29840299e-01 -1.90208131e-03 9.95055728e+01] [ 9.29830458e-01 3.67963287e-01 -4.28239162e-03 6.09270249e+01] [ 4.68183639e-03 -1.92871082e-04 9.99989022e-01 5.89403881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.552755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:99.52, Y:60.95, Z:0.59 [[ 3.67290205e-01 -9.30104538e-01 -1.85849871e-03 9.95161861e+01] [ 9.30094604e-01 3.67294877e-01 -4.30122306e-03 6.09525095e+01] [ 4.68320414e-03 -1.48782526e-04 9.99989023e-01 5.88654575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.53, Y:60.98, Z:0.59 [[ 3.65631189e-01 -9.30757963e-01 -1.85711650e-03 9.95268447e+01] [ 9.30748034e-01 3.65635872e-01 -4.30181976e-03 6.09815398e+01] [ 4.68298141e-03 -1.55628063e-04 9.99989023e-01 5.89630738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.54, Y:61.00, Z:0.59 [[ 3.69291333e-01 -9.29311714e-01 -1.91037444e-03 9.95367877e+01] [ 9.29301884e-01 3.69296223e-01 -4.27881827e-03 6.10009764e+01] [ 4.68185000e-03 -1.95184067e-04 9.99989021e-01 5.90653937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.55, Y:61.03, Z:0.59 [[ 3.70173669e-01 -9.28960719e-01 -1.85398992e-03 9.95476154e+01] [ 9.28950762e-01 3.70178289e-01 -4.30311148e-03 6.10264860e+01] [ 4.68372835e-03 -1.29366783e-04 9.99989023e-01 5.91214725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.56, Y:61.05, Z:0.59 [[ 3.72314873e-01 -9.28104629e-01 -1.85255829e-03 9.95582862e+01] [ 9.28094658e-01 3.72319464e-01 -4.30372773e-03 6.10527170e+01] [ 4.68405314e-03 -1.17007606e-04 9.99989023e-01 5.92338315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.57, Y:61.08, Z:0.59 [[ 3.73766399e-01 -9.27521025e-01 -1.85119139e-03 9.95687552e+01] [ 9.27511044e-01 3.73770968e-01 -4.30431560e-03 6.10781108e+01] [ 4.68426482e-03 -1.08191917e-04 9.99989023e-01 5.92510709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:61.10, Z:0.59 [[ 3.77252032e-01 -9.26108786e-01 -1.84974978e-03 9.95784263e+01] [ 9.26098784e-01 3.77256556e-01 -4.30493503e-03 6.11040707e+01] [ 4.68466839e-03 -8.90055309e-05 9.99989023e-01 5.94048626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.59, Y:61.13, Z:0.59 [[ 3.79038192e-01 -9.25379183e-01 -1.84838495e-03 9.95883031e+01] [ 9.25369170e-01 3.79042691e-01 -4.30552096e-03 6.11291743e+01] [ 4.68485628e-03 -7.84815634e-05 9.99989023e-01 5.94496219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.60, Y:61.15, Z:0.59 [[ 3.81044194e-01 -9.24554979e-01 -1.84738920e-03 9.95980664e+01] [ 9.24544954e-01 3.81048666e-01 -4.30594817e-03 6.11535277e+01] [ 4.68503101e-03 -6.72378180e-05 9.99989023e-01 5.94173481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.61, Y:61.18, Z:0.59 [[ 3.85111236e-01 -9.22868316e-01 -1.84580915e-03 9.96074970e+01] [ 9.22858269e-01 3.85115657e-01 -4.30662538e-03 6.11783030e+01] [ 4.68529811e-03 -4.48904182e-05 9.99989023e-01 5.93953461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.62, Y:61.20, Z:0.59 [[ 3.88118423e-01 -9.21607665e-01 -1.84430938e-03 9.96170771e+01] [ 9.21597600e-01 3.88122804e-01 -4.30726756e-03 6.12048327e+01] [ 4.68542932e-03 -2.79812107e-05 9.99989023e-01 5.93664230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.63, Y:61.23, Z:0.59 [[ 3.89310177e-01 -9.21104874e-01 -1.84295776e-03 9.96275332e+01] [ 9.21094801e-01 3.89314538e-01 -4.30784580e-03 6.12306587e+01] [ 4.68546801e-03 -2.04506055e-05 9.99989023e-01 5.93720545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.64, Y:61.26, Z:0.59 [[ 3.89975383e-01 -9.20823441e-01 -1.84158083e-03 9.96377915e+01] [ 9.20813362e-01 3.89979731e-01 -4.30843435e-03 6.12559876e+01] [ 4.68548654e-03 -1.55688977e-05 9.99989023e-01 5.93621171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.65, Y:61.28, Z:0.59 [[ 3.90479142e-01 -9.20609935e-01 -1.84057702e-03 9.96485980e+01] [ 9.20599851e-01 3.90483480e-01 -4.30886314e-03 6.12822702e+01] [ 4.68549713e-03 -1.19137510e-05 9.99989023e-01 5.93347996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.66, Y:61.31, Z:0.59 [[ 3.90430748e-01 -9.20630463e-01 -1.83921750e-03 9.96591953e+01] [ 9.20620376e-01 3.90435080e-01 -4.30944336e-03 6.13085564e+01] [ 4.68549987e-03 -1.06819118e-05 9.99989023e-01 5.93290086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:61.33, Z:0.59 [[ 3.90068413e-01 -9.20784044e-01 -1.83785217e-03 9.96694847e+01] [ 9.20773957e-01 3.90072743e-01 -4.31002556e-03 6.13332845e+01] [ 4.68549880e-03 -1.10415886e-05 9.99989023e-01 5.93325158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.68, Y:61.36, Z:0.59 [[ 3.89097850e-01 -9.21194599e-01 -1.83685685e-03 9.96797842e+01] [ 9.21184514e-01 3.89102185e-01 -4.31044970e-03 6.13578844e+01] [ 4.68548800e-03 -1.48973800e-05 9.99989023e-01 5.93149893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.69, Y:61.38, Z:0.59 [[ 3.86358017e-01 -9.22347068e-01 -1.83528212e-03 9.96903421e+01] [ 9.22336993e-01 3.86362375e-01 -4.31112008e-03 6.13823741e+01] [ 4.68543293e-03 -2.71127903e-05 9.99989023e-01 5.92839022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.70, Y:61.41, Z:0.59 [[ 3.84407454e-01 -9.23161712e-01 -1.83372318e-03 9.97011485e+01] [ 9.23151643e-01 3.84411826e-01 -4.31178307e-03 6.14078596e+01] [ 4.68537792e-03 -3.53230143e-05 9.99989023e-01 5.93462079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.71, Y:61.43, Z:0.59 [[ 3.82679389e-01 -9.23879390e-01 -1.83220959e-03 9.97120529e+01] [ 9.23869327e-01 3.82683773e-01 -4.31242615e-03 6.14326570e+01] [ 4.68531852e-03 -4.24456326e-05 9.99989023e-01 5.93839405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.72, Y:61.46, Z:0.59 [[ 3.79197819e-01 -9.25313819e-01 -1.83070784e-03 9.97224121e+01] [ 9.25303768e-01 3.79202233e-01 -4.31306357e-03 6.14569097e+01] [ 4.68514583e-03 -5.84565631e-05 9.99989023e-01 5.93817962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.73, Y:61.48, Z:0.59 [[ 3.77463556e-01 -9.26022634e-01 -1.82914225e-03 9.97325740e+01] [ 9.26012589e-01 3.77467982e-01 -4.31372743e-03 6.14819148e+01] [ 4.68505187e-03 -6.55338605e-05 9.99989023e-01 5.93660547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.74, Y:61.51, Z:0.59 [[ 3.75469895e-01 -9.26832788e-01 -1.82769483e-03 9.97425689e+01] [ 9.26822750e-01 3.75474336e-01 -4.31434060e-03 6.15070900e+01] [ 4.68492483e-03 -7.40441373e-05 9.99989023e-01 5.93317095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:61.53, Z:0.59 [[ 3.72043357e-01 -9.28213556e-01 -1.82622671e-03 9.97526282e+01] [ 9.28203531e-01 3.72047828e-01 -4.31496196e-03 6.15336881e+01] [ 4.68464986e-03 -8.97571483e-05 9.99989023e-01 5.92611053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.76, Y:61.56, Z:0.59 [[ 3.70562129e-01 -9.28805888e-01 -1.82487544e-03 9.97622143e+01] [ 9.28795867e-01 3.70566610e-01 -4.31553335e-03 6.15577417e+01] [ 4.68453070e-03 -9.57635401e-05 9.99989023e-01 5.92056683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.77, Y:61.58, Z:0.59 [[ 3.67797447e-01 -9.29904142e-01 -1.82328719e-03 9.97726987e+01] [ 9.29894132e-01 3.67801950e-01 -4.31620428e-03 6.15835661e+01] [ 4.68426482e-03 -1.07975147e-04 9.99989023e-01 5.91784704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.78, Y:61.61, Z:0.59 [[ 3.65935623e-01 -9.30638383e-01 -1.82191084e-03 9.97827944e+01] [ 9.30628379e-01 3.65940140e-01 -4.31678517e-03 6.16086433e+01] [ 4.68407628e-03 -1.15856461e-04 9.99989023e-01 5.91756619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.79, Y:61.63, Z:0.59 [[ 3.64453935e-01 -9.31219639e-01 -1.82046027e-03 9.97935234e+01] [ 9.31209638e-01 3.64458461e-01 -4.31739681e-03 6.16345764e+01] [ 4.68392685e-03 -1.21737894e-04 9.99989023e-01 5.91971637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.80, Y:61.66, Z:0.59 [[ 3.62017869e-01 -9.32169380e-01 -1.81908695e-03 9.98036892e+01] [ 9.32159389e-01 3.62022415e-01 -4.31797537e-03 6.16600867e+01] [ 4.68363467e-03 -1.32494743e-04 9.99989023e-01 5.92178603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.81, Y:61.69, Z:0.59 [[ 3.60650290e-01 -9.32699342e-01 -1.81808686e-03 9.98138938e+01] [ 9.32689355e-01 3.60654847e-01 -4.31839642e-03 6.16855713e+01] [ 4.68346733e-03 -1.38279340e-04 9.99989023e-01 5.92208554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.82, Y:61.71, Z:0.59 [[ 3.59262719e-01 -9.33234697e-01 -1.81659101e-03 9.98235103e+01] [ 9.33224713e-01 3.59267283e-01 -4.31902557e-03 6.17097991e+01] [ 4.68330624e-03 -1.43622754e-04 9.99989023e-01 5.92514505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.83, Y:61.74, Z:0.59 [[ 3.59226028e-01 -9.33248823e-01 -1.81502601e-03 9.98337616e+01] [ 9.33238837e-01 3.59230585e-01 -4.31968315e-03 6.17353489e+01] [ 4.68335207e-03 -1.42110140e-04 9.99989023e-01 5.92844346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.84, Y:61.76, Z:0.59 [[ 3.58898942e-01 -9.33374663e-01 -1.81351235e-03 9.98443129e+01] [ 9.33364675e-01 3.58903496e-01 -4.32031853e-03 6.17610152e+01] [ 4.68335177e-03 -1.42110612e-04 9.99989023e-01 5.92973898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.85, Y:61.79, Z:0.59 [[ 3.58702472e-01 -9.33450188e-01 -1.81199802e-03 9.98539303e+01] [ 9.33440198e-01 3.58707021e-01 -4.32095357e-03 6.17858598e+01] [ 4.68337133e-03 -1.41455063e-04 9.99989023e-01 5.93043348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.86, Y:61.81, Z:0.59 [[ 3.59738196e-01 -9.33051528e-01 -1.81041338e-03 9.98631590e+01] [ 9.33041529e-01 3.59742726e-01 -4.32161740e-03 6.18117800e+01] [ 4.68357476e-03 -1.34540023e-04 9.99989023e-01 5.93607790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.87, Y:61.84, Z:0.59 [[ 3.61167413e-01 -9.32499237e-01 -1.80892602e-03 9.98718795e+01] [ 9.32489229e-01 3.61171921e-01 -4.32223989e-03 6.18370721e+01] [ 4.68381868e-03 -1.25751835e-04 9.99989023e-01 5.93876822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.88, Y:61.86, Z:0.59 [[ 3.62210942e-01 -9.32094398e-01 -1.80736713e-03 9.98817080e+01] [ 9.32084381e-01 3.62215431e-01 -4.32289164e-03 6.18629526e+01] [ 4.68399935e-03 -1.18820023e-04 9.99989023e-01 5.93619344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.89, Y:61.89, Z:0.59 [[ 3.63096759e-01 -9.31749689e-01 -1.80597262e-03 9.98911146e+01] [ 9.31739664e-01 3.63101233e-01 -4.32347415e-03 6.18885328e+01] [ 4.68414658e-03 -1.12856874e-04 9.99989023e-01 5.93921590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.90, Y:61.91, Z:0.60 [[ 3.66154654e-01 -9.30552262e-01 -1.80450737e-03 9.98994968e+01] [ 9.30542221e-01 3.66159088e-01 -4.32408562e-03 6.19135961e+01] [ 4.68452443e-03 -9.58862248e-05 9.99989023e-01 5.95116374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.91, Y:61.94, Z:0.59 [[ 3.66247765e-01 -9.30515636e-01 -1.79610716e-03 9.99096007e+01] [ 9.30505576e-01 3.66252159e-01 -4.32758761e-03 6.19413979e+01] [ 4.68471606e-03 -8.63184364e-05 9.99989023e-01 5.93456939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.92, Y:61.97, Z:0.60 [[ 3.68752457e-01 -9.29525874e-01 -1.80968765e-03 9.99178219e+01] [ 9.29515830e-01 3.68756887e-01 -4.32192919e-03 6.19663465e+01] [ 4.68467979e-03 -8.84113080e-05 9.99989023e-01 5.95067992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.93, Y:61.99, Z:0.59 [[ 3.69211370e-01 -9.29343705e-01 -1.80048838e-03 9.99270895e+01] [ 9.29333641e-01 3.69215752e-01 -4.32575816e-03 6.19925213e+01] [ 4.68488478e-03 -7.61353244e-05 9.99989023e-01 5.94738063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.94, Y:62.02, Z:0.59 [[ 3.69292310e-01 -9.29311548e-01 -1.79905770e-03 9.99364880e+01] [ 9.29301480e-01 3.69296685e-01 -4.32635309e-03 6.20184995e+01] [ 4.68491593e-03 -7.41780578e-05 9.99989023e-01 5.94251790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:62.05, Z:0.59 [[ 3.69144918e-01 -9.29370108e-01 -1.79753900e-03 9.99462252e+01] [ 9.29360038e-01 3.69149287e-01 -4.32698399e-03 6.20452406e+01] [ 4.68492982e-03 -7.32767601e-05 9.99989023e-01 5.93888555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:62.07, Z:0.59 [[ 3.68819238e-01 -9.29499405e-01 -1.79617226e-03 9.99549268e+01] [ 9.29489334e-01 3.68823604e-01 -4.32755127e-03 6.20714326e+01] [ 4.68492705e-03 -7.34387924e-05 9.99989023e-01 5.93854835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.96, Y:62.10, Z:0.59 [[ 3.68078002e-01 -9.29793183e-01 -1.79473328e-03 9.99644099e+01] [ 9.29783112e-01 3.68082370e-01 -4.32814796e-03 6.20974728e+01] [ 4.68489215e-03 -7.56166456e-05 9.99989023e-01 5.93723956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.97, Y:62.12, Z:0.59 [[ 3.66726473e-01 -9.30327081e-01 -1.79336730e-03 9.99731916e+01] [ 9.30317014e-01 3.66730849e-01 -4.32871388e-03 6.21238706e+01] [ 4.68480286e-03 -8.09461455e-05 9.99989023e-01 5.93706653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.98, Y:62.15, Z:0.59 [[ 3.65953320e-01 -9.30631483e-01 -1.79198907e-03 9.99829948e+01] [ 9.30621416e-01 3.65957698e-01 -4.32928436e-03 6.21495780e+01] [ 4.68476052e-03 -8.33474166e-05 9.99989023e-01 5.94473374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.99, Y:62.18, Z:0.59 [[ 3.64215083e-01 -9.31313141e-01 -1.79053827e-03 9.99920000e+01] [ 9.31303080e-01 3.64219473e-01 -4.32988431e-03 6.21763770e+01] [ 4.68462706e-03 -9.05246277e-05 9.99989023e-01 5.93638198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.00, Y:62.20, Z:0.59 [[ 3.63328372e-01 -9.31659430e-01 -1.78914618e-03 1.00001399e+02] [ 9.31649370e-01 3.63332765e-01 -4.33045946e-03 6.22016801e+01] [ 4.68456882e-03 -9.34781303e-05 9.99989023e-01 5.93753239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.01, Y:62.23, Z:0.59 [[ 3.62135974e-01 -9.32123564e-01 -1.78812971e-03 1.00010722e+02] [ 9.32113508e-01 3.62140375e-01 -4.33087914e-03 6.22278279e+01] [ 4.68446846e-03 -9.83727237e-05 9.99989023e-01 5.93521782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.02, Y:62.25, Z:0.59 [[ 3.61121523e-01 -9.32517053e-01 -1.78675798e-03 1.00020500e+02] [ 9.32506998e-01 3.61125929e-01 -4.33144499e-03 6.22541638e+01] [ 4.68439095e-03 -1.01986312e-04 9.99989023e-01 5.94458444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.03, Y:62.28, Z:0.59 [[ 3.59315695e-01 -9.33214358e-01 -1.78705413e-03 1.00028099e+02] [ 9.33204313e-01 3.59320121e-01 -4.33132294e-03 6.22795932e+01] [ 4.68417726e-03 -1.11374310e-04 9.99989023e-01 5.93877679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.04, Y:62.31, Z:0.59 [[ 3.61385823e-01 -9.32414667e-01 -1.78196168e-03 1.00044257e+02] [ 9.32404602e-01 3.61390204e-01 -4.33342013e-03 6.23108862e+01] [ 4.68452798e-03 -9.54726742e-05 9.99989023e-01 5.92530963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.05, Y:62.33, Z:0.59 [[ 3.57517599e-01 -9.33904526e-01 -1.87162453e-03 1.00046256e+02] [ 9.33894667e-01 3.57522435e-01 -4.29645501e-03 6.23325303e+01] [ 4.68162654e-03 -2.11841886e-04 9.99989019e-01 5.91563541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:62.36, Z:0.59 [[ 3.56945608e-01 -9.34123471e-01 -1.78145290e-03 1.00055798e+02] [ 9.34113427e-01 3.56950034e-01 -4.33352337e-03 6.23585713e+01] [ 4.68393557e-03 -1.17246939e-04 9.99989023e-01 5.90603609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.06, Y:62.38, Z:0.59 [[ 3.56838447e-01 -9.34164415e-01 -1.78006313e-03 1.00064884e+02] [ 9.34154368e-01 3.56842868e-01 -4.33409417e-03 6.23843406e+01] [ 4.68395937e-03 -1.16282319e-04 9.99989023e-01 5.90792141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:62.41, Z:0.59 [[ 3.56853350e-01 -9.34158725e-01 -1.77859970e-03 1.00074429e+02] [ 9.34148675e-01 3.56857764e-01 -4.33469464e-03 6.24103466e+01] [ 4.68399993e-03 -1.14626252e-04 9.99989023e-01 5.90920484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.08, Y:62.44, Z:0.59 [[ 3.57827804e-01 -9.33785898e-01 -1.77723782e-03 1.00082359e+02] [ 9.33775841e-01 3.57832201e-01 -4.33525294e-03 6.24359127e+01] [ 4.68415098e-03 -1.08267697e-04 9.99989023e-01 5.92862456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.09, Y:62.46, Z:0.59 [[ 3.58378383e-01 -9.33574733e-01 -1.77563423e-03 1.00091597e+02] [ 9.33564670e-01 3.58382767e-01 -4.33590964e-03 6.24616068e+01] [ 4.68425239e-03 -1.03773102e-04 9.99989023e-01 5.93352000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.10, Y:62.49, Z:0.59 [[ 3.59308124e-01 -9.33217298e-01 -1.77421416e-03 1.00101182e+02] [ 9.33207227e-01 3.59312491e-01 -4.33649064e-03 6.24871779e+01] [ 4.68438539e-03 -9.75731570e-05 9.99989023e-01 5.94136840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.382755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.11, Y:62.51, Z:0.59 [[ 3.61641033e-01 -9.32315730e-01 -1.77279898e-03 1.00109452e+02] [ 9.32305646e-01 3.61645369e-01 -4.33706910e-03 6.25116561e+01] [ 4.68464229e-03 -8.43283510e-05 9.99989023e-01 5.94127336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.12, Y:62.54, Z:0.59 [[ 3.62978715e-01 -9.31795747e-01 -1.77131645e-03 1.00119087e+02] [ 9.31785654e-01 3.62983029e-01 -4.33767450e-03 6.25368969e+01] [ 4.68478447e-03 -7.60037424e-05 9.99989023e-01 5.94984580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.13, Y:62.56, Z:0.59 [[ 3.65234925e-01 -9.30913700e-01 -1.76991873e-03 1.00128936e+02] [ 9.30903594e-01 3.65239208e-01 -4.33824475e-03 6.25617407e+01] [ 4.68497518e-03 -6.31452111e-05 9.99989023e-01 5.94595025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.14, Y:62.59, Z:0.59 [[ 3.65882564e-01 -9.30659348e-01 -1.76845392e-03 1.00139586e+02] [ 9.30649236e-01 3.65886833e-01 -4.33884178e-03 6.25877130e+01] [ 4.68503767e-03 -5.83037314e-05 9.99989023e-01 5.92459400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.15, Y:62.61, Z:0.59 [[ 3.66399978e-01 -9.30455767e-01 -1.76705817e-03 1.00149958e+02] [ 9.30445649e-01 3.66404235e-01 -4.33941015e-03 6.26124729e+01] [ 4.68508679e-03 -5.41918049e-05 9.99989023e-01 5.94384474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.16, Y:62.64, Z:0.59 [[ 3.66439488e-01 -9.30440210e-01 -1.76559072e-03 1.00160652e+02] [ 9.30430090e-01 3.66443738e-01 -4.34000713e-03 6.26376440e+01] [ 4.68510681e-03 -5.24087419e-05 9.99989023e-01 5.92582971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.17, Y:62.66, Z:0.59 [[ 3.66103798e-01 -9.30572349e-01 -1.76408296e-03 1.00173324e+02] [ 9.30562227e-01 3.66108045e-01 -4.34061991e-03 6.26624352e+01] [ 4.68510583e-03 -5.24715303e-05 9.99989023e-01 5.92075276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.19, Y:62.69, Z:0.59 [[ 3.64842212e-01 -9.31067695e-01 -1.76265584e-03 1.00186680e+02] [ 9.31057577e-01 3.64846465e-01 -4.34119936e-03 6.26874905e+01] [ 4.68504924e-03 -5.72812957e-05 9.99989023e-01 5.92723481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.20, Y:62.71, Z:0.59 [[ 3.63640079e-01 -9.31537875e-01 -1.75509823e-03 1.00198461e+02] [ 9.31527747e-01 3.63644311e-01 -4.34426489e-03 6.27125485e+01] [ 4.68507877e-03 -5.51738735e-05 9.99989023e-01 5.90849336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.21, Y:62.74, Z:0.59 [[ 3.62306456e-01 -9.32057366e-01 -1.75999818e-03 1.00209678e+02] [ 9.32047254e-01 3.62310725e-01 -4.34227886e-03 6.27371139e+01] [ 4.68491921e-03 -6.71658113e-05 9.99989023e-01 5.91022259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.22, Y:62.76, Z:0.59 [[ 3.61188591e-01 -9.32491131e-01 -1.75848020e-03 1.00221229e+02] [ 9.32481020e-01 3.61192865e-01 -4.34289350e-03 6.27616861e+01] [ 4.68486018e-03 -7.11458276e-05 9.99989023e-01 5.90911418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.23, Y:62.79, Z:0.59 [[ 3.59143246e-01 -9.33280795e-01 -1.75697187e-03 1.00234323e+02] [ 9.33270691e-01 3.59147535e-01 -4.34350363e-03 6.27858012e+01] [ 4.68472064e-03 -7.97903617e-05 9.99989023e-01 5.90803297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.25, Y:62.81, Z:0.59 [[ 3.58002000e-01 -9.33719169e-01 -1.75547261e-03 1.00245309e+02] [ 9.33709067e-01 3.58006294e-01 -4.34410949e-03 6.28094326e+01] [ 4.68464854e-03 -8.39008095e-05 9.99989023e-01 5.91009675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.26, Y:62.83, Z:0.59 [[ 3.56885954e-01 -9.34146315e-01 -1.75431599e-03 1.00258500e+02] [ 9.34136216e-01 3.56890255e-01 -4.34457652e-03 6.28320357e+01] [ 4.68456843e-03 -8.82517646e-05 9.99989023e-01 5.92649017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.27, Y:62.86, Z:0.59 [[ 3.55833749e-01 -9.34547658e-01 -1.73716741e-03 1.00270240e+02] [ 9.34537530e-01 3.55837982e-01 -4.35149344e-03 6.28570984e+01] [ 4.68482815e-03 -7.50399150e-05 9.99989023e-01 5.89591242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.28, Y:62.88, Z:0.59 [[ 3.54524345e-01 -9.35045171e-01 -1.73708083e-03 1.00282971e+02] [ 9.35035049e-01 3.54528591e-01 -4.35152833e-03 6.28803854e+01] [ 4.68472037e-03 -8.15087270e-05 9.99989023e-01 5.89550391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.29, Y:62.91, Z:0.59 [[ 3.53592724e-01 -9.35397876e-01 -1.73164521e-03 1.00293996e+02] [ 9.35387748e-01 3.53596955e-01 -4.35371834e-03 6.29050923e+01] [ 4.68476336e-03 -8.03165838e-05 9.99989023e-01 5.91560439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.30, Y:62.93, Z:0.59 [[ 3.52300715e-01 -9.35885258e-01 -1.72943988e-03 1.00304631e+02] [ 9.35875131e-01 3.52304949e-01 -4.35460612e-03 6.29301514e+01] [ 4.68470190e-03 -8.44089195e-05 9.99989023e-01 5.91101322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.32, Y:62.96, Z:0.59 [[ 3.52098418e-01 -9.35961368e-01 -1.73828568e-03 1.00316581e+02] [ 9.35951259e-01 3.52102696e-01 -4.35104457e-03 6.29560147e+01] [ 4.68446471e-03 -9.49547627e-05 9.99989023e-01 5.89622481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.33, Y:62.98, Z:0.59 [[ 3.52066195e-01 -9.35973471e-01 -1.74801961e-03 1.00326776e+02] [ 9.35963382e-01 3.52070519e-01 -4.34712956e-03 6.29804302e+01] [ 4.68422412e-03 -1.05604976e-04 9.99989023e-01 5.91117741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.982755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:100.34, Y:63.01, Z:0.58 [[ 3.52633546e-01 -9.35759884e-01 -1.73823506e-03 1.00339999e+02] [ 9.35749773e-01 3.52637818e-01 -4.35106075e-03 6.30092551e+01] [ 4.68451552e-03 -9.22230819e-05 9.99989023e-01 5.84747344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.35, Y:63.03, Z:0.59 [[ 3.53362337e-01 -9.35484826e-01 -1.78891959e-03 1.00348012e+02] [ 9.35474812e-01 3.53366836e-01 -4.33070159e-03 6.30307989e+01] [ 4.68345048e-03 -1.43182389e-04 9.99989022e-01 5.90433795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.042755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:100.36, Y:63.06, Z:0.59 [[ 3.54522748e-01 -9.35045784e-01 -1.73314974e-03 1.00359410e+02] [ 9.35035654e-01 3.54526976e-01 -4.35305059e-03 6.30564955e+01] [ 4.68474994e-03 -7.73013409e-05 9.99989024e-01 5.88618201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.37, Y:63.08, Z:0.59 [[ 3.56378501e-01 -9.34340025e-01 -1.75572732e-03 1.00373060e+02] [ 9.34329931e-01 3.56382813e-01 -4.34401561e-03 6.30843848e+01] [ 4.68449870e-03 -9.23148176e-05 9.99989023e-01 5.86202174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.38, Y:63.10, Z:0.59 [[ 3.56916739e-01 -9.34134491e-01 -1.78740713e-03 1.00379635e+02] [ 9.34124457e-01 3.56921193e-01 -4.33131002e-03 6.31048638e+01] [ 4.68398957e-03 -1.23743670e-04 9.99989022e-01 5.90959113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:63.13, Z:0.59 [[ 3.58209817e-01 -9.33639518e-01 -1.72556385e-03 1.00389052e+02] [ 9.33629357e-01 3.58213970e-01 -4.35602677e-03 6.31312724e+01] [ 4.68507981e-03 -5.06655193e-05 9.99989024e-01 5.94263417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.162755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:100.40, Y:63.16, Z:0.59 [[ 3.60240100e-01 -9.32857998e-01 -1.73973819e-03 1.00399896e+02] [ 9.32847855e-01 3.60244296e-01 -4.35036537e-03 6.31568074e+01] [ 4.68500388e-03 -5.57349872e-05 9.99989024e-01 5.92926977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.41, Y:63.18, Z:0.59 [[ 3.62426935e-01 -9.32010571e-01 -1.73573065e-03 1.00411743e+02] [ 9.32000411e-01 3.62431089e-01 -4.35196456e-03 6.31846419e+01] [ 4.68515972e-03 -4.04325077e-05 9.99989024e-01 5.94009678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.42, Y:63.21, Z:0.59 [[ 3.63206085e-01 -9.31707152e-01 -1.76714280e-03 1.00421638e+02] [ 9.31697049e-01 3.63210378e-01 -4.33948764e-03 6.32125009e+01] [ 4.68497628e-03 -7.03134095e-05 9.99989023e-01 5.92732950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.43, Y:63.24, Z:0.60 [[ 3.64623679e-01 -9.31153278e-01 -1.77351521e-03 1.00430854e+02] [ 9.31143181e-01 3.64627986e-01 -4.33695899e-03 6.32359664e+01] [ 4.68504685e-03 -7.00386487e-05 9.99989023e-01 5.95743557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.44, Y:63.26, Z:0.60 [[ 3.64539774e-01 -9.31186177e-01 -1.74866484e-03 1.00438457e+02] [ 9.31176032e-01 3.64543965e-01 -4.34682437e-03 6.32599142e+01] [ 4.68516798e-03 -4.37244151e-05 9.99989024e-01 5.97396087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.45, Y:63.29, Z:0.59 [[ 3.63997025e-01 -9.31398517e-01 -1.72276471e-03 1.00448143e+02] [ 9.31388326e-01 3.64001101e-01 -4.35709317e-03 6.32866999e+01] [ 4.68527837e-03 -1.85939938e-05 9.99989024e-01 5.94111221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.46, Y:63.31, Z:0.59 [[ 3.64939028e-01 -9.31029815e-01 -1.72889706e-03 1.00458794e+02] [ 9.31019631e-01 3.64943123e-01 -4.35466443e-03 6.33119719e+01] [ 4.68527151e-03 -2.04500977e-05 9.99989024e-01 5.94264436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.47, Y:63.34, Z:0.59 [[ 3.64430507e-01 -9.31228975e-01 -1.73270220e-03 1.00468873e+02] [ 9.31218800e-01 3.64434625e-01 -4.35315775e-03 6.33370873e+01] [ 4.68524330e-03 -2.71013782e-05 9.99989024e-01 5.90722101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.48, Y:63.36, Z:0.59 [[ 3.64093186e-01 -9.31360931e-01 -1.72294704e-03 1.00478511e+02] [ 9.31350739e-01 3.64097262e-01 -4.35701620e-03 6.33620426e+01] [ 4.68527497e-03 -1.83080894e-05 9.99989024e-01 5.90844463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.49, Y:63.39, Z:0.60 [[ 3.62665012e-01 -9.31917982e-01 -1.72138440e-03 1.00488281e+02] [ 9.31907795e-01 3.62669096e-01 -4.35763361e-03 6.33871640e+01] [ 4.68525005e-03 -2.38102956e-05 9.99989024e-01 5.95572533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.50, Y:63.41, Z:0.59 [[ 3.62695513e-01 -9.31906133e-01 -1.70992863e-03 1.00499733e+02] [ 9.31895924e-01 3.62699543e-01 -4.36215477e-03 6.34123101e+01] [ 4.68530912e-03 -1.13415579e-05 9.99989024e-01 5.93352494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.51, Y:63.44, Z:0.59 [[ 3.59688876e-01 -9.33070725e-01 -1.71306775e-03 1.00513892e+02] [ 9.33060535e-01 3.59692954e-01 -4.36091612e-03 6.34407938e+01] [ 4.68522156e-03 -2.98228919e-05 9.99989024e-01 5.90294612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.52, Y:63.46, Z:0.59 [[ 3.57188126e-01 -9.34030798e-01 -1.76378411e-03 1.00521629e+02] [ 9.34020716e-01 3.57192468e-01 -4.34090104e-03 6.34636627e+01] [ 4.68454566e-03 -9.68925846e-05 9.99989023e-01 5.91319941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.53, Y:63.49, Z:0.59 [[ 3.53538759e-01 -9.35418269e-01 -1.73406049e-03 1.00533588e+02] [ 9.35408147e-01 3.53543002e-01 -4.35260993e-03 6.34917652e+01] [ 4.68457580e-03 -8.32379956e-05 9.99989024e-01 5.91302282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.54, Y:63.51, Z:0.59 [[ 3.51715357e-01 -9.36105336e-01 -1.76288840e-03 1.00542457e+02] [ 9.36095278e-01 3.51719753e-01 -4.34125748e-03 6.35149008e+01] [ 4.68391696e-03 -1.23344585e-04 9.99989023e-01 5.90891891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.55, Y:63.54, Z:0.59 [[ 3.49576391e-01 -9.36906244e-01 -1.74287539e-03 1.00553905e+02] [ 9.36896156e-01 3.49580718e-01 -4.34912653e-03 6.35419969e+01] [ 4.68399943e-03 -1.12541302e-04 9.99989024e-01 5.91151485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:63.56, Z:0.59 [[ 3.44191605e-01 -9.38897771e-01 -1.76482797e-03 1.00560382e+02] [ 9.38887752e-01 3.44196091e-01 -4.34046739e-03 6.35623851e+01] [ 4.68270204e-03 -1.63022928e-04 9.99989023e-01 5.91483966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.57, Y:63.59, Z:0.59 [[ 3.41797210e-01 -9.39772184e-01 -1.70580628e-03 1.00570745e+02] [ 9.39762059e-01 3.41801448e-01 -4.36368950e-03 6.35885764e+01] [ 4.68392107e-03 -1.11555126e-04 9.99989024e-01 5.92580778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.58, Y:63.61, Z:0.59 [[ 3.38432867e-01 -9.40988979e-01 -1.71323421e-03 1.00580023e+02] [ 9.40978885e-01 3.38437176e-01 -4.36076956e-03 6.36131021e+01] [ 4.68325825e-03 -1.36289473e-04 9.99989024e-01 5.91887627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.59, Y:63.64, Z:0.59 [[ 3.37078224e-01 -9.41475086e-01 -1.71280584e-03 1.00589635e+02] [ 9.41464997e-01 3.37082546e-01 -4.36093781e-03 6.36390796e+01] [ 4.68307125e-03 -1.42569573e-04 9.99989024e-01 5.92500777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:63.67, Z:0.59 [[ 3.35659123e-01 -9.41981965e-01 -1.71164108e-03 1.00598916e+02] [ 9.41971880e-01 3.35663455e-01 -4.36139481e-03 6.36652718e+01] [ 4.68289062e-03 -1.48375805e-04 9.99989024e-01 5.92098266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.61, Y:63.69, Z:0.59 [[ 3.35060683e-01 -9.42194989e-01 -1.71475023e-03 1.00609333e+02] [ 9.42184913e-01 3.35065036e-01 -4.36017573e-03 6.36932054e+01] [ 4.68268857e-03 -1.54688340e-04 9.99989024e-01 5.90728458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.62, Y:63.71, Z:0.59 [[ 3.35546581e-01 -9.42021989e-01 -1.75035607e-03 1.00615887e+02] [ 9.42011982e-01 3.35551092e-01 -4.34621689e-03 6.37140558e+01] [ 4.68156577e-03 -1.90498169e-04 9.99989023e-01 5.92185475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:63.75, Z:0.59 [[ 3.36387962e-01 -9.41721973e-01 -1.69249787e-03 1.00628718e+02] [ 9.41711847e-01 3.36392197e-01 -4.36888456e-03 6.37469206e+01] [ 4.68361767e-03 -1.24205126e-04 9.99989024e-01 5.90857534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.64, Y:63.77, Z:0.59 [[ 3.38906795e-01 -9.40818239e-01 -1.79606707e-03 1.00639045e+02] [ 9.40808307e-01 3.38911481e-01 -4.32858269e-03 6.37707463e+01] [ 4.68111729e-03 -2.22768731e-04 9.99989019e-01 5.92394742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:63.79, Z:0.59 [[ 3.40338977e-01 -9.40301075e-01 -1.80814651e-03 1.00645466e+02] [ 9.40291161e-01 3.40343704e-01 -4.32384707e-03 6.37936734e+01] [ 4.68110933e-03 -2.28610490e-04 9.99989017e-01 5.92914156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.65, Y:63.81, Z:0.59 [[ 3.39447212e-01 -9.40623464e-01 -1.75754495e-03 1.00651080e+02] [ 9.40613452e-01 3.39451715e-01 -4.34363414e-03 6.38144531e+01] [ 4.68232584e-03 -1.78735920e-04 9.99989022e-01 5.91265466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.66, Y:63.85, Z:0.59 [[ 3.37527657e-01 -9.41314071e-01 -1.70326144e-03 1.00659257e+02] [ 9.41303960e-01 3.37531929e-01 -4.36481694e-03 6.38450475e+01] [ 4.68356872e-03 -1.30040307e-04 9.99989024e-01 5.90657013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.67, Y:63.87, Z:0.59 [[ 3.36047183e-01 -9.41843562e-01 -1.73058667e-03 1.00667053e+02] [ 9.41833512e-01 3.36051598e-01 -4.35420290e-03 6.38744389e+01] [ 4.68254439e-03 -1.66706902e-04 9.99989023e-01 5.91229530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:63.90, Z:0.59 [[ 3.38598299e-01 -9.40929390e-01 -1.75345525e-03 1.00680927e+02] [ 9.40919374e-01 3.38602792e-01 -4.34532549e-03 6.39045514e+01] [ 4.68236930e-03 -1.78540196e-04 9.99989022e-01 5.93868910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.69, Y:63.93, Z:0.59 [[ 3.38611095e-01 -9.40924664e-01 -1.81709243e-03 1.00687499e+02] [ 9.40914777e-01 3.38615881e-01 -4.32060559e-03 6.39300523e+01] [ 4.68066072e-03 -2.46724132e-04 9.99989015e-01 5.94527760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:100.69, Y:63.95, Z:0.59 [[ 3.35098142e-01 -9.42181511e-01 -1.79875494e-03 1.00689995e+02] [ 9.42171604e-01 3.35102880e-01 -4.32771412e-03 6.39530776e+01] [ 4.68026019e-03 -2.44526865e-04 9.99989018e-01 5.94042064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.70, Y:63.98, Z:0.59 [[ 3.36544794e-01 -9.41665886e-01 -1.72079153e-03 1.00700424e+02] [ 9.41655815e-01 3.36549158e-01 -4.35784773e-03 6.39806303e+01] [ 4.68276749e-03 -1.53782388e-04 9.99989024e-01 5.93740680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.71, Y:64.01, Z:0.60 [[ 3.37854548e-01 -9.41196707e-01 -1.75012963e-03 1.00708776e+02] [ 9.41186688e-01 3.37859034e-01 -4.34651309e-03 6.40078295e+01] [ 4.68222091e-03 -1.78709492e-04 9.99989022e-01 5.96094145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.72, Y:64.03, Z:0.59 [[ 3.36526989e-01 -9.41672165e-01 -1.76625928e-03 1.00715543e+02] [ 9.41662184e-01 3.36531563e-01 -4.34028273e-03 6.40334749e+01] [ 4.68152543e-03 -2.02597298e-04 9.99989021e-01 5.93173980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:64.06, Z:0.59 [[ 3.38071640e-01 -9.41118771e-01 -1.73933420e-03 1.00725293e+02] [ 9.41108729e-01 3.38076073e-01 -4.35066101e-03 6.40603804e+01] [ 4.68251602e-03 -1.66067495e-04 9.99989023e-01 5.94698986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:64.09, Z:0.59 [[ 3.36520976e-01 -9.41674314e-01 -1.76640910e-03 1.00732248e+02] [ 9.41664333e-01 3.36525550e-01 -4.34022450e-03 6.40862032e+01] [ 4.68151972e-03 -2.02787861e-04 9.99989021e-01 5.93411976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.74, Y:64.11, Z:0.59 [[ 3.33707282e-01 -9.42675144e-01 -1.73866135e-03 1.00735975e+02] [ 9.42665122e-01 3.33711759e-01 -4.35089537e-03 6.41095057e+01] [ 4.68169265e-03 -1.87049948e-04 9.99989023e-01 5.93606003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.75, Y:64.14, Z:0.59 [[ 3.33171577e-01 -9.42864722e-01 -1.67845919e-03 1.00745561e+02] [ 9.42854584e-01 3.33175781e-01 -4.37399710e-03 6.41370732e+01] [ 4.68330951e-03 -1.25251425e-04 9.99989025e-01 5.91376724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.332755096 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:100.76, Y:64.17, Z:0.59 [[ 3.34326123e-01 -9.42455925e-01 -1.69485085e-03 1.00759012e+02] [ 9.42445814e-01 3.34330391e-01 -4.36771185e-03 6.41651091e+01] [ 4.68301606e-03 -1.37064926e-04 9.99989025e-01 5.87725338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.76, Y:64.19, Z:0.59 [[ 3.32271638e-01 -9.43182140e-01 -1.73445967e-03 1.00763591e+02] [ 9.43172117e-01 3.32276111e-01 -4.35253039e-03 6.41908319e+01] [ 4.68154844e-03 -1.89671592e-04 9.99989024e-01 5.91805805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.77, Y:64.22, Z:0.59 [[ 3.31088681e-01 -9.43598098e-01 -1.70735981e-03 1.00771487e+02] [ 9.43588026e-01 3.31093041e-01 -4.36290163e-03 6.42169745e+01] [ 4.68212063e-03 -1.66536922e-04 9.99989025e-01 5.91640124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:64.24, Z:0.59 [[ 3.28621059e-01 -9.44460305e-01 -1.71208639e-03 1.00777329e+02] [ 9.44450254e-01 3.28625467e-01 -4.36109489e-03 6.42421144e+01] [ 4.68151620e-03 -1.83832809e-04 9.99989025e-01 5.90018433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.79, Y:64.27, Z:0.59 [[ 3.28085728e-01 -9.44646462e-01 -1.67820551e-03 1.00786744e+02] [ 9.44636347e-01 3.28089986e-01 -4.37402452e-03 6.42679303e+01] [ 4.68250922e-03 -1.50238903e-04 9.99989026e-01 5.92896491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.482755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:100.80, Y:64.29, Z:0.59 [[ 3.27061283e-01 -9.45001657e-01 -1.66874886e-03 1.00797156e+02] [ 9.44991529e-01 3.27065508e-01 -4.37762939e-03 6.42944819e+01] [ 4.68265723e-03 -1.45200447e-04 9.99989026e-01 5.89803061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.80, Y:64.32, Z:0.59 [[ 3.24608049e-01 -9.45847105e-01 -1.69367645e-03 1.00802453e+02] [ 9.45837036e-01 3.24612416e-01 -4.36812865e-03 6.43181152e+01] [ 4.68137024e-03 -1.84012192e-04 9.99989025e-01 5.92504530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.542755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.81, Y:64.34, Z:0.59 [[ 3.23463340e-01 -9.46239236e-01 -1.66644495e-03 1.00812189e+02] [ 9.46229119e-01 3.23467592e-01 -4.37849290e-03 6.43448662e+01] [ 4.68214271e-03 -1.60556807e-04 9.99989026e-01 5.87851966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.82, Y:64.37, Z:0.59 [[ 3.22665501e-01 -9.46511589e-01 -1.66941658e-03 1.00819413e+02] [ 9.46501482e-01 3.22669776e-01 -4.37736256e-03 6.43714619e+01] [ 4.68189467e-03 -1.67681383e-04 9.99989026e-01 5.89664887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:64.40, Z:0.59 [[ 3.22132385e-01 -9.46693177e-01 -1.65991382e-03 1.00827585e+02] [ 9.46683054e-01 3.22136622e-01 -4.38097358e-03 6.43971364e+01] [ 4.68215682e-03 -1.60158815e-04 9.99989026e-01 5.89485260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.83, Y:64.42, Z:0.59 [[ 3.22750931e-01 -9.46482483e-01 -1.65689081e-03 1.00834175e+02] [ 9.46472351e-01 3.22755147e-01 -4.38212132e-03 6.44214948e+01] [ 4.68237111e-03 -1.53867606e-04 9.99989026e-01 5.89874084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.84, Y:64.44, Z:0.59 [[ 3.25359933e-01 -9.45588810e-01 -1.64809097e-03 1.00843274e+02] [ 9.45578650e-01 3.25364080e-01 -4.38545939e-03 6.44444364e+01] [ 4.68307093e-03 -1.31546858e-04 9.99989026e-01 5.88216210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.692755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.85, Y:64.47, Z:0.59 [[ 3.30081504e-01 -9.43951034e-01 -1.62686857e-03 1.00853587e+02] [ 9.43940813e-01 3.30085502e-01 -4.39353586e-03 6.44734825e+01] [ 4.68428845e-03 -8.54427225e-05 9.99989025e-01 5.92822796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.86, Y:64.50, Z:0.60 [[ 3.32375082e-01 -9.43145804e-01 -1.67260399e-03 1.00863957e+02] [ 9.43135659e-01 3.32379267e-01 -4.37612699e-03 6.45010575e+01] [ 4.68326469e-03 -1.22976902e-04 9.99989026e-01 5.96544345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.87, Y:64.53, Z:0.59 [[ 3.33653188e-01 -9.42694402e-01 -1.67763708e-03 1.00871427e+02] [ 9.42684261e-01 3.33657383e-01 -4.37421231e-03 6.45265426e+01] [ 4.68330145e-03 -1.22012187e-04 9.99989026e-01 5.93080474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.88, Y:64.55, Z:0.59 [[ 3.37269918e-01 -9.41406516e-01 -1.66542938e-03 1.00878447e+02] [ 9.41396337e-01 3.37274017e-01 -4.37885144e-03 6.45528023e+01] [ 4.68398534e-03 -9.09742508e-05 9.99989026e-01 5.92861578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:64.58, Z:0.60 [[ 3.39864702e-01 -9.40472895e-01 -1.64900138e-03 1.00889092e+02] [ 9.40462673e-01 3.39868697e-01 -4.38509009e-03 6.45798009e+01] [ 4.68450232e-03 -6.04869114e-05 9.99989026e-01 5.95349192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.90, Y:64.61, Z:0.59 [[ 3.39175616e-01 -9.40721613e-01 -1.65773532e-03 1.00898549e+02] [ 9.40711411e-01 3.39179659e-01 -4.38177620e-03 6.46103684e+01] [ 4.68430168e-03 -7.32588890e-05 9.99989026e-01 5.94114410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.91, Y:64.63, Z:0.59 [[ 3.39981758e-01 -9.40430416e-01 -1.74284622e-03 1.00905714e+02] [ 9.40420372e-01 3.39986188e-01 -4.34921649e-03 6.46334264e+01] [ 4.68267912e-03 -1.60353821e-04 9.99989023e-01 5.93553130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.92, Y:64.66, Z:0.60 [[ 3.45715230e-01 -9.38337933e-01 -1.70411017e-03 1.00916618e+02] [ 9.38327789e-01 3.45719418e-01 -4.36396811e-03 6.46573358e+01] [ 4.68402079e-03 -9.03236870e-05 9.99989026e-01 5.96465237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:64.68, Z:0.60 [[ 3.47117121e-01 -9.37820287e-01 -1.67734248e-03 1.00925399e+02] [ 9.37810088e-01 3.47121169e-01 -4.37413436e-03 6.46822833e+01] [ 4.68439302e-03 -5.46917714e-05 9.99989027e-01 5.98360759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:64.71, Z:0.60 [[ 3.47814629e-01 -9.37561887e-01 -1.64062269e-03 1.00934432e+02] [ 9.37551618e-01 3.47818498e-01 -4.38805868e-03 6.47078827e+01] [ 4.68471549e-03 -1.19374578e-05 9.99989027e-01 5.97511458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.95, Y:64.74, Z:0.60 [[ 3.49174137e-01 -9.37056431e-01 -1.63316516e-03 1.00946292e+02] [ 9.37046143e-01 3.49177956e-01 -4.39088538e-03 6.47356069e+01] [ 4.68477265e-03 2.83249832e-06 9.99989026e-01 5.98923077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:100.96, Y:64.76, Z:0.60 [[ 3.49016941e-01 -9.37114964e-01 -1.64897167e-03 1.00956793e+02] [ 9.37104705e-01 3.49020836e-01 -4.38489709e-03 6.47618018e+01] [ 4.68467815e-03 -1.48557399e-05 9.99989027e-01 5.99485278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.97, Y:64.79, Z:0.60 [[ 3.48328934e-01 -9.37370908e-01 -1.65397025e-03 1.00967961e+02] [ 9.37360661e-01 3.48332860e-01 -4.38300442e-03 6.47874319e+01] [ 4.68463302e-03 -2.36393935e-05 9.99989027e-01 6.00155114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.98, Y:64.81, Z:0.60 [[ 3.47221455e-01 -9.37781706e-01 -1.65297518e-03 1.00977659e+02] [ 9.37771462e-01 3.47225389e-01 -4.38338082e-03 6.48125971e+01] [ 4.68460929e-03 -2.81090895e-05 9.99989027e-01 6.00467560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:64.84, Z:0.60 [[ 3.46566159e-01 -9.38024075e-01 -1.65265831e-03 1.00990022e+02] [ 9.38013834e-01 3.46570098e-01 -4.38350058e-03 6.48381382e+01] [ 4.68459103e-03 -3.10433953e-05 9.99989027e-01 6.01293996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.00, Y:64.86, Z:0.60 [[ 3.46426812e-01 -9.38075542e-01 -1.65541856e-03 1.01002654e+02] [ 9.38065306e-01 3.46430766e-01 -4.38245793e-03 6.48631922e+01] [ 4.68456451e-03 -3.46897885e-05 9.99989027e-01 6.01218415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.01, Y:64.89, Z:0.60 [[ 3.44612421e-01 -9.38743598e-01 -1.65403186e-03 1.01012727e+02] [ 9.38733367e-01 3.44616388e-01 -4.38298123e-03 6.48910770e+01] [ 4.68450206e-03 -4.22651206e-05 9.99989027e-01 6.00008405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:64.92, Z:0.60 [[ 3.43205954e-01 -9.39258687e-01 -1.67091553e-03 1.01023627e+02] [ 9.39248493e-01 3.43210015e-01 -4.37661964e-03 6.49180170e+01] [ 4.68425295e-03 -6.73229706e-05 9.99989027e-01 5.99918948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.03, Y:64.94, Z:0.60 [[ 3.42352492e-01 -9.39570095e-01 -1.67600028e-03 1.01034718e+02] [ 9.39559913e-01 3.42356585e-01 -4.37470538e-03 6.49416609e+01] [ 4.68413208e-03 -7.70113854e-05 9.99989026e-01 5.99473863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.262755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.04, Y:64.97, Z:0.60 [[ 3.37106843e-01 -9.41464954e-01 -1.64818629e-03 1.01044846e+02] [ 9.41454744e-01 3.37110864e-01 -4.38515943e-03 6.49722174e+01] [ 4.68409542e-03 -7.34255501e-05 9.99989027e-01 5.97671692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:64.99, Z:0.60 [[ 3.35625097e-01 -9.41994094e-01 -1.70931279e-03 1.01056157e+02] [ 9.41984005e-01 3.35629418e-01 -4.36209159e-03 6.49935775e+01] [ 4.68276016e-03 -1.46117895e-04 9.99989025e-01 5.99340634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.07, Y:65.02, Z:0.60 [[ 3.35198881e-01 -9.42145942e-01 -1.65349778e-03 1.01065213e+02] [ 9.42135750e-01 3.35202948e-01 -4.38309987e-03 6.50187627e+01] [ 4.68377709e-03 -8.86091945e-05 9.99989027e-01 5.99451132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.352755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.08, Y:65.05, Z:0.60 [[ 3.32812884e-01 -9.42991441e-01 -1.65101948e-03 1.01076092e+02] [ 9.42981255e-01 3.32816965e-01 -4.38403122e-03 6.50450439e+01] [ 4.68359121e-03 -9.78183473e-05 9.99989027e-01 5.98295628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.09, Y:65.07, Z:0.60 [[ 3.28519352e-01 -9.44495790e-01 -1.65477460e-03 1.01087796e+02] [ 9.44485630e-01 3.28523497e-01 -4.38262171e-03 6.50686144e+01] [ 4.68300009e-03 -1.23134786e-04 9.99989027e-01 6.00809839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.10, Y:65.10, Z:0.60 [[ 3.28759362e-01 -9.44412289e-01 -1.64641362e-03 1.01101497e+02] [ 9.44402112e-01 3.28763465e-01 -4.38575553e-03 6.50952256e+01] [ 4.68324207e-03 -1.13018306e-04 9.99989027e-01 6.00068607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.11, Y:65.12, Z:0.60 [[ 3.23780810e-01 -9.46130657e-01 -1.66323558e-03 1.01107860e+02] [ 9.46120534e-01 3.23785044e-01 -4.37946380e-03 6.51197893e+01] [ 4.68207577e-03 -1.55634997e-04 9.99989027e-01 6.01515378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:65.15, Z:0.60 [[ 3.20885849e-01 -9.47116458e-01 -1.63884217e-03 1.01119297e+02] [ 9.47106302e-01 3.20890002e-01 -4.38857312e-03 6.51454284e+01] [ 4.68237790e-03 -1.43926732e-04 9.99989027e-01 6.01807513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.13, Y:65.17, Z:0.60 [[ 3.21279494e-01 -9.46983002e-01 -1.63745334e-03 1.01133232e+02] [ 9.46972841e-01 3.21283636e-01 -4.38909126e-03 6.51738682e+01] [ 4.68248178e-03 -1.40498819e-04 9.99989027e-01 6.00499354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.14, Y:65.20, Z:0.60 [[ 3.17672601e-01 -9.48198978e-01 -1.67848275e-03 1.01140186e+02] [ 9.48188912e-01 3.17676971e-01 -4.37378641e-03 6.51972808e+01] [ 4.68043512e-03 -2.02086631e-04 9.99989026e-01 6.03091656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:65.23, Z:0.60 [[ 3.12445027e-01 -9.49934437e-01 -1.63420586e-03 1.01150358e+02] [ 9.49924309e-01 3.12449248e-01 -4.39026777e-03 6.52312422e+01] [ 4.68107294e-03 -1.80654540e-04 9.99989027e-01 6.03117658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.16, Y:65.25, Z:0.60 [[ 3.16681220e-01 -9.48530406e-01 -1.75345061e-03 1.01159943e+02] [ 9.48520493e-01 3.16685945e-01 -4.34579167e-03 6.52487919e+01] [ 4.67740870e-03 -2.86953231e-04 9.99989020e-01 6.03609882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.17, Y:65.28, Z:0.60 [[ 3.19134899e-01 -9.47707896e-01 -1.63125154e-03 1.01174710e+02] [ 9.47697733e-01 3.19139035e-01 -4.39118660e-03 6.52779246e+01] [ 4.68215825e-03 -1.44552493e-04 9.99989028e-01 6.00942064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:65.30, Z:0.60 [[ 3.18185605e-01 -9.48026935e-01 -1.68862589e-03 1.01180848e+02] [ 9.48016887e-01 3.18190016e-01 -4.36986566e-03 6.53016703e+01] [ 4.68005425e-03 -2.10417512e-04 9.99989026e-01 6.03504004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.19, Y:65.33, Z:0.60 [[ 3.20183500e-01 -9.47354144e-01 -1.62835053e-03 1.01190364e+02] [ 9.47343972e-01 3.20187612e-01 -4.39221191e-03 6.53280581e+01] [ 4.68235782e-03 -1.36294272e-04 9.99989028e-01 6.02788819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.20, Y:65.35, Z:0.60 [[ 3.21708952e-01 -9.46837184e-01 -1.64205809e-03 1.01199056e+02] [ 9.46827031e-01 3.21713111e-01 -4.38712750e-03 6.53524539e+01] [ 4.68216706e-03 -1.43366802e-04 9.99989028e-01 6.03108292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.21, Y:65.38, Z:0.60 [[ 3.24238425e-01 -9.45973973e-01 -1.63906964e-03 1.01208046e+02] [ 9.45963803e-01 3.24242543e-01 -4.38823420e-03 6.53775578e+01] [ 4.68261145e-03 -1.27666405e-04 9.99989028e-01 6.03290749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.772755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:101.22, Y:65.40, Z:0.60 [[ 3.27809966e-01 -9.44742285e-01 -1.62493690e-03 1.01216190e+02] [ 9.44732074e-01 3.27813979e-01 -4.39346125e-03 6.54029725e+01] [ 4.68336565e-03 -9.49096225e-05 9.99989028e-01 6.01822669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.23, Y:65.43, Z:0.60 [[ 3.30022843e-01 -9.43971563e-01 -1.61628690e-03 1.01226854e+02] [ 9.43961326e-01 3.30026792e-01 -4.39665596e-03 6.54293070e+01] [ 4.68373618e-03 -7.47154323e-05 9.99989028e-01 6.00501977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.24, Y:65.46, Z:0.60 [[ 3.32482353e-01 -9.43108080e-01 -1.62310802e-03 1.01237426e+02] [ 9.43097846e-01 3.32486307e-01 -4.39414012e-03 6.54568815e+01] [ 4.68381025e-03 -6.97756342e-05 9.99989028e-01 6.03408830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:65.49, Z:0.60 [[ 3.31807235e-01 -9.43345775e-01 -1.64542577e-03 1.01247645e+02] [ 9.43335584e-01 3.31811301e-01 -4.38589986e-03 6.54869748e+01] [ 4.68339096e-03 -9.69153747e-05 9.99989028e-01 6.01807348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.26, Y:65.51, Z:0.60 [[ 3.36230088e-01 -9.41778259e-01 -1.74344183e-03 1.01256957e+02] [ 9.41768232e-01 3.36234560e-01 -4.34936954e-03 6.55064486e+01] [ 4.68234707e-03 -1.79529232e-04 9.99989022e-01 6.02557157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:65.53, Z:0.60 [[ 3.37862113e-01 -9.41194170e-01 -1.65117986e-03 1.01266624e+02] [ 9.41183965e-01 3.37866140e-01 -4.38363522e-03 6.55330314e+01] [ 4.68372968e-03 -7.29997486e-05 9.99989029e-01 6.02339782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.28, Y:65.56, Z:0.60 [[ 3.36280985e-01 -9.41760236e-01 -1.66072938e-03 1.01275559e+02] [ 9.41750054e-01 3.36285073e-01 -4.38009291e-03 6.55617556e+01] [ 4.68347584e-03 -9.10500223e-05 9.99989028e-01 6.02121690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.28, Y:65.58, Z:0.60 [[ 3.39920851e-01 -9.40452507e-01 -1.70215895e-03 1.01284744e+02] [ 9.40442385e-01 3.39925093e-01 -4.36474169e-03 6.55810631e+01] [ 4.68343880e-03 -1.17115714e-04 9.99989026e-01 6.00635304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.29, Y:65.62, Z:0.60 [[ 3.34026906e-01 -9.42562142e-01 -1.62323315e-03 1.01294385e+02] [ 9.42551903e-01 3.34030844e-01 -4.39389918e-03 6.56171539e+01] [ 4.68373296e-03 -6.23009457e-05 9.99989029e-01 6.01857340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.30, Y:65.63, Z:0.60 [[ 3.38646990e-01 -9.40911845e-01 -1.76530774e-03 1.01304881e+02] [ 9.40901848e-01 3.38651537e-01 -4.34140893e-03 6.56320503e+01] [ 4.68270727e-03 -1.90776254e-04 9.99989018e-01 6.01832102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:65.66, Z:0.60 [[ 3.37867178e-01 -9.41192413e-01 -1.61593731e-03 1.01314917e+02] [ 9.41182146e-01 3.37871041e-01 -4.39631256e-03 6.56580006e+01] [ 4.68375445e-03 -3.55216211e-05 9.99989031e-01 6.02131619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.32, Y:65.68, Z:0.60 [[ 3.37694103e-01 -9.41254528e-01 -1.61453465e-03 1.01324110e+02] [ 9.41244259e-01 3.37697961e-01 -4.39682762e-03 6.56809551e+01] [ 4.68375897e-03 -3.48887124e-05 9.99989031e-01 6.02511566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.33, Y:65.71, Z:0.60 [[ 3.35219863e-01 -9.42138591e-01 -1.58728111e-03 1.01334063e+02] [ 9.42128284e-01 3.35223620e-01 -4.40681511e-03 6.57058023e+01] [ 4.68392469e-03 -1.81704713e-05 9.99989030e-01 6.02477781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.34, Y:65.73, Z:0.60 [[ 3.33657239e-01 -9.42693105e-01 -1.59894014e-03 1.01344231e+02] [ 9.42682825e-01 3.33661068e-01 -4.40254304e-03 6.57325107e+01] [ 4.68375104e-03 -3.83530513e-05 9.99989030e-01 6.01793120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.35, Y:65.76, Z:0.60 [[ 3.31169068e-01 -9.43570058e-01 -1.61045614e-03 1.01353231e+02] [ 9.43559809e-01 3.31172978e-01 -4.39832643e-03 6.57576951e+01] [ 4.68346868e-03 -6.29720236e-05 9.99989031e-01 6.01675403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.36, Y:65.78, Z:0.60 [[ 3.29289398e-01 -9.44227676e-01 -1.60857460e-03 1.01362967e+02] [ 9.44217432e-01 3.29293320e-01 -4.39901445e-03 6.57828206e+01] [ 4.68336406e-03 -7.02953561e-05 9.99989031e-01 6.01531764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.37, Y:65.81, Z:0.60 [[ 3.26907704e-01 -9.45054903e-01 -1.60710069e-03 1.01373702e+02] [ 9.45044666e-01 3.26911645e-01 -4.39955285e-03 6.58070980e+01] [ 4.68319892e-03 -8.05342112e-05 9.99989031e-01 6.01333779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.38, Y:65.83, Z:0.60 [[ 3.24412679e-01 -9.45914308e-01 -1.59246986e-03 1.01383384e+02] [ 9.45904055e-01 3.24416578e-01 -4.40489429e-03 6.58334654e+01] [ 4.68327616e-03 -7.73201394e-05 9.99989030e-01 6.01699505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.39, Y:65.86, Z:0.60 [[ 3.22729265e-01 -9.46489960e-01 -1.60544373e-03 1.01393252e+02] [ 9.46479737e-01 3.22733242e-01 -4.40016065e-03 6.58589685e+01] [ 4.68283793e-03 -9.94593481e-05 9.99989031e-01 6.01768438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.40, Y:65.88, Z:0.60 [[ 3.19656663e-01 -9.47532081e-01 -1.60388287e-03 1.01402986e+02] [ 9.47521869e-01 3.19660667e-01 -4.40072951e-03 6.58839453e+01] [ 4.68253066e-03 -1.12991579e-04 9.99989031e-01 6.00598793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:65.91, Z:0.60 [[ 3.17626547e-01 -9.48214527e-01 -1.60836425e-03 1.01412471e+02] [ 9.48204331e-01 3.17630593e-01 -4.39909742e-03 6.59104195e+01] [ 4.68215377e-03 -1.27787823e-04 9.99989030e-01 6.01477069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.42, Y:65.94, Z:0.60 [[ 3.17467358e-01 -9.48267823e-01 -1.61613854e-03 1.01422600e+02] [ 9.48257642e-01 3.17471442e-01 -4.39626945e-03 6.59350475e+01] [ 4.68191869e-03 -1.36843671e-04 9.99989030e-01 5.99695571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:65.96, Z:0.60 [[ 3.15976272e-01 -9.48765745e-01 -1.59908097e-03 1.01431966e+02] [ 9.48755539e-01 3.15980293e-01 -4.40246516e-03 6.59616926e+01] [ 4.68218621e-03 -1.26062400e-04 9.99989031e-01 5.99654543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.44, Y:65.99, Z:0.60 [[ 3.16956548e-01 -9.48438681e-01 -1.61706047e-03 1.01441174e+02] [ 9.48428504e-01 3.16960642e-01 -4.39594100e-03 6.59861357e+01] [ 4.68182501e-03 -1.40343955e-04 9.99989030e-01 5.99413254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.45, Y:66.01, Z:0.60 [[ 3.17786032e-01 -9.48161111e-01 -1.59564860e-03 1.01450209e+02] [ 9.48150891e-01 3.17790018e-01 -4.40369944e-03 6.60114460e+01] [ 4.68249775e-03 -1.13481464e-04 9.99989031e-01 6.00407233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.522755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:101.46, Y:66.04, Z:0.60 [[ 3.18521195e-01 -9.47914399e-01 -1.59409815e-03 1.01459606e+02] [ 9.47904173e-01 3.18525166e-01 -4.40426062e-03 6.60375871e+01] [ 4.68262243e-03 -1.08201936e-04 9.99989031e-01 6.01298561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.47, Y:66.06, Z:0.60 [[ 3.20358262e-01 -9.47295122e-01 -1.59268612e-03 1.01468761e+02] [ 9.47284886e-01 3.20362206e-01 -4.40477118e-03 6.60626115e+01] [ 4.68285469e-03 -9.76226487e-05 9.99989031e-01 6.01565204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.48, Y:66.09, Z:0.60 [[ 3.21840576e-01 -9.46792526e-01 -1.59902356e-03 1.01477863e+02] [ 9.46782295e-01 3.21844533e-01 -4.40248046e-03 6.60868625e+01] [ 4.68287258e-03 -9.70303496e-05 9.99989031e-01 6.01770740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.49, Y:66.11, Z:0.60 [[ 3.24589753e-01 -9.45853564e-01 -1.59010873e-03 1.01487123e+02] [ 9.45843306e-01 3.24593639e-01 -4.40569800e-03 6.61121762e+01] [ 4.68328434e-03 -7.39492699e-05 9.99989031e-01 6.03337579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.50, Y:66.14, Z:0.60 [[ 3.25913335e-01 -9.45398315e-01 -1.58858355e-03 1.01496173e+02] [ 9.45388049e-01 3.25917200e-01 -4.40624788e-03 6.61377992e+01] [ 4.68340602e-03 -6.57729646e-05 9.99989031e-01 6.03438385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.51, Y:66.16, Z:0.60 [[ 3.28574454e-01 -9.44476738e-01 -1.58706844e-03 1.01505737e+02] [ 9.44466459e-01 3.28578283e-01 -4.40679353e-03 6.61633426e+01] [ 4.68359020e-03 -5.09731247e-05 9.99989031e-01 6.04311986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:66.19, Z:0.61 [[ 3.30609968e-01 -9.43766145e-01 -1.58551038e-03 1.01516355e+02] [ 9.43755854e-01 3.30613767e-01 -4.40735403e-03 6.61896633e+01] [ 4.68370308e-03 -3.92195280e-05 9.99989031e-01 6.06028276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.52, Y:66.22, Z:0.60 [[ 3.30546510e-01 -9.43788374e-01 -1.58408387e-03 1.01524681e+02] [ 9.43778082e-01 3.30550304e-01 -4.40786668e-03 6.62153980e+01] [ 4.68371274e-03 -3.80186881e-05 9.99989031e-01 6.04704206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.53, Y:66.24, Z:0.60 [[ 3.31951488e-01 -9.43295132e-01 -1.58258188e-03 1.01534848e+02] [ 9.43284831e-01 3.31955259e-01 -4.40840589e-03 6.62409822e+01] [ 4.68377419e-03 -2.94485914e-05 9.99989031e-01 6.04653267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.54, Y:66.27, Z:0.60 [[ 3.32407576e-01 -9.43134510e-01 -1.58107483e-03 1.01544410e+02] [ 9.43124205e-01 3.32411335e-01 -4.40894632e-03 6.62653856e+01] [ 4.68379662e-03 -2.55827772e-05 9.99989031e-01 6.04332462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.55, Y:66.29, Z:0.60 [[ 3.32482208e-01 -9.43108205e-01 -1.57949750e-03 1.01554259e+02] [ 9.43097897e-01 3.32485959e-01 -4.40951133e-03 6.62909744e+01] [ 4.68380705e-03 -2.35367036e-05 9.99989031e-01 6.04396023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:66.32, Z:0.60 [[ 3.31741378e-01 -9.43369052e-01 -1.57797459e-03 1.01564425e+02] [ 9.43358744e-01 3.31745130e-01 -4.41005624e-03 6.63161882e+01] [ 4.68379596e-03 -2.55979932e-05 9.99989031e-01 6.04552553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.57, Y:66.34, Z:0.60 [[ 3.31144637e-01 -9.43578690e-01 -1.57644026e-03 1.01574137e+02] [ 9.43568382e-01 3.31148389e-01 -4.41060465e-03 6.63416786e+01] [ 4.68378820e-03 -2.69311066e-05 9.99989031e-01 6.04834826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.58, Y:66.37, Z:0.61 [[ 3.30049619e-01 -9.43962271e-01 -1.57487755e-03 1.01584833e+02] [ 9.43951965e-01 3.30053374e-01 -4.41116257e-03 6.63676220e+01] [ 4.68376468e-03 -3.07062339e-05 9.99989031e-01 6.05997982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:66.39, Z:0.61 [[ 3.29055805e-01 -9.44309161e-01 -1.57683405e-03 1.01594082e+02] [ 9.44298862e-01 3.29059581e-01 -4.41046456e-03 6.63925821e+01] [ 4.68371444e-03 -3.77136339e-05 9.99989031e-01 6.05629978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.60, Y:66.42, Z:0.61 [[ 3.28414600e-01 -9.44532359e-01 -1.57240073e-03 1.01604151e+02] [ 9.44522055e-01 3.28418363e-01 -4.41204455e-03 6.64183791e+01] [ 4.68372412e-03 -3.61873188e-05 9.99989031e-01 6.05711193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.61, Y:66.44, Z:0.61 [[ 3.27488311e-01 -9.44853924e-01 -1.57099946e-03 1.01614187e+02] [ 9.44843621e-01 3.27492077e-01 -4.41254344e-03 6.64442457e+01] [ 4.68369886e-03 -3.92924211e-05 9.99989031e-01 6.05729983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:66.47, Z:0.61 [[ 3.25768713e-01 -9.45448192e-01 -1.56942281e-03 1.01624588e+02] [ 9.45437893e-01 3.25772490e-01 -4.41310414e-03 6.64686832e+01] [ 4.68363610e-03 -4.61405423e-05 9.99989031e-01 6.05122524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.63, Y:66.49, Z:0.61 [[ 3.25083448e-01 -9.45684035e-01 -1.56777329e-03 1.01634570e+02] [ 9.45673736e-01 3.25087225e-01 -4.41369006e-03 6.64941228e+01] [ 4.68361929e-03 -4.77844437e-05 9.99989031e-01 6.05377831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.64, Y:66.52, Z:0.60 [[ 3.24200358e-01 -9.45987143e-01 -1.56621605e-03 1.01644564e+02] [ 9.45976845e-01 3.24204137e-01 -4.41424258e-03 6.65183400e+01] [ 4.68359045e-03 -5.05050965e-05 9.99989031e-01 6.04594714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.65, Y:66.54, Z:0.60 [[ 3.24202003e-01 -9.45986581e-01 -1.56501459e-03 1.01654220e+02] [ 9.45976281e-01 3.24205777e-01 -4.41466850e-03 6.65442547e+01] [ 4.68360394e-03 -4.92223131e-05 9.99989031e-01 6.04113812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.66, Y:66.57, Z:0.60 [[ 3.24459024e-01 -9.45898460e-01 -1.56351411e-03 1.01662967e+02] [ 9.45888157e-01 3.24462788e-01 -4.41519986e-03 6.65686472e+01] [ 4.68363289e-03 -4.63580381e-05 9.99989031e-01 6.03683765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.67, Y:66.59, Z:0.60 [[ 3.25789003e-01 -9.45441212e-01 -1.56194270e-03 1.01672639e+02] [ 9.45430901e-01 3.25792745e-01 -4.41575570e-03 6.65942491e+01] [ 4.68370702e-03 -3.81042469e-05 9.99989031e-01 6.02615074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:66.62, Z:0.60 [[ 3.25468328e-01 -9.45551655e-01 -1.56044400e-03 1.01681677e+02] [ 9.45541342e-01 3.25472067e-01 -4.41628524e-03 6.66204843e+01] [ 4.68370676e-03 -3.81033436e-05 9.99989031e-01 6.02744573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.69, Y:66.65, Z:0.60 [[ 3.26742969e-01 -9.45111952e-01 -1.55894598e-03 1.01691321e+02] [ 9.45101632e-01 3.26746686e-01 -4.41681398e-03 6.66458382e+01] [ 4.68376412e-03 -3.01994766e-05 9.99989031e-01 6.02638764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.70, Y:66.67, Z:0.60 [[ 3.27217162e-01 -9.44947884e-01 -1.55739230e-03 1.01700713e+02] [ 9.44937559e-01 3.27220867e-01 -4.41736175e-03 6.66715077e+01] [ 4.68378790e-03 -2.62019018e-05 9.99989031e-01 6.02787103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:66.70, Z:0.60 [[ 3.27427014e-01 -9.44875193e-01 -1.55584214e-03 1.01709449e+02] [ 9.44864865e-01 3.27430710e-01 -4.41790767e-03 6.66957531e+01] [ 4.68380185e-03 -2.35182532e-05 9.99989031e-01 6.02499106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.72, Y:66.72, Z:0.60 [[ 3.27226450e-01 -9.44944673e-01 -1.55422056e-03 1.01719007e+02] [ 9.44934343e-01 3.27230140e-01 -4.41847806e-03 6.67211446e+01] [ 4.68380512e-03 -2.27934966e-05 9.99989031e-01 6.03650924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.73, Y:66.75, Z:0.60 [[ 3.26775910e-01 -9.45100573e-01 -1.55269185e-03 1.01728775e+02] [ 9.45090243e-01 3.26779598e-01 -4.41901520e-03 6.67469279e+01] [ 4.68380182e-03 -2.34062029e-05 9.99989031e-01 6.04608429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:66.77, Z:0.61 [[ 3.25900752e-01 -9.45402715e-01 -1.55113602e-03 1.01740062e+02] [ 9.45392385e-01 3.25904442e-01 -4.41956125e-03 6.67729579e+01] [ 4.68378733e-03 -2.60938489e-05 9.99989031e-01 6.05613744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.75, Y:66.80, Z:0.61 [[ 3.25144380e-01 -9.45663117e-01 -1.54971948e-03 1.01749676e+02] [ 9.45652788e-01 3.25148072e-01 -4.42005790e-03 6.67974402e+01] [ 4.68377404e-03 -2.83395646e-05 9.99989031e-01 6.05742386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.76, Y:66.82, Z:0.61 [[ 3.24764718e-01 -9.45793572e-01 -1.54805233e-03 1.01759997e+02] [ 9.45783242e-01 3.24768406e-01 -4.42064172e-03 6.68238311e+01] [ 4.68377301e-03 -2.84534943e-05 9.99989031e-01 6.06839978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.77, Y:66.85, Z:0.61 [[ 3.24459278e-01 -9.45898401e-01 -1.54663368e-03 1.01770213e+02] [ 9.45888069e-01 3.24462963e-01 -4.42113800e-03 6.68482716e+01] [ 4.68377271e-03 -2.84630972e-05 9.99989031e-01 6.07278495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:66.88, Z:0.61 [[ 3.24145818e-01 -9.46005868e-01 -1.54496461e-03 1.01779973e+02] [ 9.45995534e-01 3.24149499e-01 -4.42172118e-03 6.68750430e+01] [ 4.68377369e-03 -2.82471947e-05 9.99989031e-01 6.08349337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.79, Y:66.90, Z:0.61 [[ 3.24403798e-01 -9.45917435e-01 -1.54354915e-03 1.01790137e+02] [ 9.45907098e-01 3.24407470e-01 -4.42221524e-03 6.68995869e+01] [ 4.68378937e-03 -2.54706802e-05 9.99989031e-01 6.08769742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.80, Y:66.93, Z:0.61 [[ 3.24306833e-01 -9.45950686e-01 -1.54188321e-03 1.01799845e+02] [ 9.45940347e-01 3.24310498e-01 -4.42279602e-03 6.69250398e+01] [ 4.68379584e-03 -2.41865615e-05 9.99989031e-01 6.09494575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:66.95, Z:0.61 [[ 3.24183604e-01 -9.45992927e-01 -1.54033940e-03 1.01809239e+02] [ 9.45982586e-01 3.24187262e-01 -4.42333362e-03 6.69491731e+01] [ 4.68380074e-03 -2.31620134e-05 9.99989031e-01 6.09538939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.82, Y:66.97, Z:0.61 [[ 3.24513623e-01 -9.45879771e-01 -1.53872299e-03 1.01819124e+02] [ 9.45869426e-01 3.24517270e-01 -4.42389584e-03 6.69731980e+01] [ 4.68381577e-03 -1.98165664e-05 9.99989031e-01 6.09965994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.83, Y:67.00, Z:0.61 [[ 3.24693319e-01 -9.45818104e-01 -1.53718286e-03 1.01828465e+02] [ 9.45807756e-01 3.24696957e-01 -4.42443093e-03 6.69984647e+01] [ 4.68382547e-03 -1.72963107e-05 9.99989031e-01 6.11156272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:67.02, Z:0.61 [[ 3.24744826e-01 -9.45800423e-01 -1.53561950e-03 1.01837178e+02] [ 9.45790072e-01 3.24748457e-01 -4.42497347e-03 6.70228139e+01] [ 4.68383184e-03 -1.53864351e-05 9.99989031e-01 6.11330999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.85, Y:67.05, Z:0.61 [[ 3.25162314e-01 -9.45656976e-01 -1.53398326e-03 1.01845861e+02] [ 9.45646621e-01 3.25165932e-01 -4.42554063e-03 6.70471372e+01] [ 4.68384246e-03 -1.15870551e-05 9.99989031e-01 6.11384240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.85, Y:67.07, Z:0.61 [[ 3.25010469e-01 -9.45709177e-01 -1.53236983e-03 1.01854298e+02] [ 9.45698819e-01 3.25014081e-01 -4.42609922e-03 6.70728187e+01] [ 4.68384442e-03 -1.06317581e-05 9.99989031e-01 6.11661419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.86, Y:67.10, Z:0.61 [[ 3.24580321e-01 -9.45856898e-01 -1.53082992e-03 1.01861771e+02] [ 9.45846540e-01 3.24583931e-01 -4.42663175e-03 6.70980526e+01] [ 4.68384297e-03 -1.11326249e-05 9.99989031e-01 6.11549876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:67.12, Z:0.61 [[ 3.24187754e-01 -9.45991523e-01 -1.52921753e-03 1.01870312e+02] [ 9.45981163e-01 3.24191361e-01 -4.42718870e-03 6.71244532e+01] [ 4.68384209e-03 -1.13706133e-05 9.99989031e-01 6.12273026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.88, Y:67.15, Z:0.61 [[ 3.23523978e-01 -9.46218739e-01 -1.52765507e-03 1.01878274e+02] [ 9.46208380e-01 3.23527584e-01 -4.42772778e-03 6.71490689e+01] [ 4.68383755e-03 -1.30039285e-05 9.99989031e-01 6.12370125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:101.89, Y:67.17, Z:0.61 [[ 3.22159923e-01 -9.46684031e-01 -1.52602267e-03 1.01885804e+02] [ 9.46673674e-01 3.22163537e-01 -4.42829031e-03 6.71746542e+01] [ 4.68382059e-03 -1.80278207e-05 9.99989031e-01 6.12317623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:101.89, Y:67.20, Z:0.61 [[ 3.21239222e-01 -9.46996852e-01 -1.52447278e-03 1.01894517e+02] [ 9.46986496e-01 3.21242839e-01 -4.42882381e-03 6.72014408e+01] [ 4.68380817e-03 -2.09432169e-05 9.99989031e-01 6.12960436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.90, Y:67.23, Z:0.61 [[ 3.19260634e-01 -9.47665726e-01 -1.52304313e-03 1.01902380e+02] [ 9.47655375e-01 3.19264266e-01 -4.42931540e-03 6.72267433e+01] [ 4.68376364e-03 -2.92139678e-05 9.99989031e-01 6.12460655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.91, Y:67.25, Z:0.61 [[ 3.17940710e-01 -9.48109377e-01 -1.52136025e-03 1.01911212e+02] [ 9.48099028e-01 3.17944348e-01 -4.42989336e-03 6.72527657e+01] [ 4.68373132e-03 -3.39567371e-05 9.99989031e-01 6.11972752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.92, Y:67.28, Z:0.61 [[ 3.15331259e-01 -9.48980446e-01 -1.51980060e-03 1.01919007e+02] [ 9.48970105e-01 3.15334918e-01 -4.43042837e-03 6.72783593e+01] [ 4.68363609e-03 -4.51927748e-05 9.99989031e-01 6.10997235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:67.30, Z:0.61 [[ 3.13923202e-01 -9.49447165e-01 -1.51816864e-03 1.01927610e+02] [ 9.49436826e-01 3.13926869e-01 -4.43098752e-03 6.73044213e+01] [ 4.68358247e-03 -5.04154213e-05 9.99989031e-01 6.11305426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:67.33, Z:0.61 [[ 3.11093397e-01 -9.50378134e-01 -1.51659872e-03 1.01936054e+02] [ 9.50367804e-01 3.11097087e-01 -4.43152480e-03 6.73303926e+01] [ 4.68343371e-03 -6.27084894e-05 9.99989031e-01 6.11576214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.94, Y:67.36, Z:0.61 [[ 3.09806880e-01 -9.50798297e-01 -1.51501289e-03 1.01944389e+02] [ 9.50787970e-01 3.09810577e-01 -4.43206688e-03 6.73564245e+01] [ 4.68336866e-03 -6.73712140e-05 9.99989031e-01 6.11877178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.95, Y:67.38, Z:0.61 [[ 3.08795414e-01 -9.51127279e-01 -1.51343785e-03 1.01952206e+02] [ 9.51116953e-01 3.08799115e-01 -4.43260465e-03 6.73815304e+01] [ 4.68331947e-03 -7.06884022e-05 9.99989031e-01 6.12283134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:67.41, Z:0.61 [[ 3.08143207e-01 -9.51338782e-01 -1.51222237e-03 1.01960707e+02] [ 9.51328456e-01 3.08146909e-01 -4.43301929e-03 6.74079094e+01] [ 4.68328981e-03 -7.26153887e-05 9.99989031e-01 6.12996583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.97, Y:67.43, Z:0.61 [[ 3.07736925e-01 -9.51470285e-01 -1.51063841e-03 1.01968540e+02] [ 9.51459958e-01 3.07740624e-01 -4.43355899e-03 6.74340364e+01] [ 4.68328444e-03 -7.29421500e-05 9.99989031e-01 6.13975493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:67.46, Z:0.61 [[ 3.08325359e-01 -9.51279767e-01 -1.50905807e-03 1.01975433e+02] [ 9.51269436e-01 3.08329045e-01 -4.43409682e-03 6.74589271e+01] [ 4.68335303e-03 -6.83763221e-05 9.99989031e-01 6.14938717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.98, Y:67.48, Z:0.62 [[ 3.08943216e-01 -9.51079291e-01 -1.50740370e-03 1.01983203e+02] [ 9.51068954e-01 3.08946887e-01 -4.43465917e-03 6.74841020e+01] [ 4.68342017e-03 -6.35869969e-05 9.99989031e-01 6.15303391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.99, Y:67.51, Z:0.62 [[ 3.09743552e-01 -9.50818944e-01 -1.50577117e-03 1.01991431e+02] [ 9.50808602e-01 3.09747206e-01 -4.43521342e-03 6.75104913e+01] [ 4.68349335e-03 -5.79214227e-05 9.99989031e-01 6.16135714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.00, Y:67.54, Z:0.62 [[ 3.10366622e-01 -9.50615746e-01 -1.50419216e-03 1.01998939e+02] [ 9.50605399e-01 3.10370263e-01 -4.43574887e-03 6.75354124e+01] [ 4.68354924e-03 -5.31847946e-05 9.99989031e-01 6.16562406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:67.56, Z:0.62 [[ 3.12067758e-01 -9.50058659e-01 -1.50297217e-03 1.02006442e+02] [ 9.50048303e-01 3.12071374e-01 -4.43616220e-03 6.75620600e+01] [ 4.68364890e-03 -4.35129668e-05 9.99989031e-01 6.17559804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.01, Y:67.59, Z:0.62 [[ 3.13559584e-01 -9.49567340e-01 -1.50140041e-03 1.02013883e+02] [ 9.49556976e-01 3.13563177e-01 -4.43669409e-03 6.75879549e+01] [ 4.68372369e-03 -3.44972813e-05 9.99989031e-01 6.18079582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.02, Y:67.62, Z:0.62 [[ 3.12496847e-01 -9.49917613e-01 -1.49981609e-03 1.02021889e+02] [ 9.49907250e-01 3.12500444e-01 -4.43722961e-03 6.76153185e+01] [ 4.68369575e-03 -3.80659172e-05 9.99989031e-01 6.18304826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.03, Y:67.64, Z:0.62 [[ 3.14112023e-01 -9.49384700e-01 -1.52571748e-03 1.02030222e+02] [ 9.49374373e-01 3.14115723e-01 -4.42848253e-03 6.76394323e+01] [ 4.68358541e-03 -5.74374712e-05 9.99989030e-01 6.18428730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.04, Y:67.67, Z:0.62 [[ 3.14519482e-01 -9.49249839e-01 -1.49611061e-03 1.02039099e+02] [ 9.49239463e-01 3.14523040e-01 -4.43846237e-03 6.76655968e+01] [ 4.68377095e-03 -2.41843428e-05 9.99989031e-01 6.18609515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.05, Y:67.69, Z:0.62 [[ 3.14823677e-01 -9.49148997e-01 -1.49453142e-03 1.02048031e+02] [ 9.49138617e-01 3.14827224e-01 -4.43899406e-03 6.76912245e+01] [ 4.68378593e-03 -2.10170572e-05 9.99989031e-01 6.19832982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.06, Y:67.72, Z:0.62 [[ 3.14677438e-01 -9.49197488e-01 -1.49613301e-03 1.02056701e+02] [ 9.49187111e-01 3.14680994e-01 -4.43845517e-03 6.77166329e+01] [ 4.68377512e-03 -2.34284672e-05 9.99989031e-01 6.19609464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:67.74, Z:0.62 [[ 3.14157947e-01 -9.49369558e-01 -1.49233323e-03 1.02065494e+02] [ 9.49359177e-01 3.14161490e-01 -4.43973239e-03 6.77417343e+01] [ 4.68378041e-03 -2.19830327e-05 9.99989031e-01 6.19894950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.07, Y:67.77, Z:0.62 [[ 3.12707674e-01 -9.49848245e-01 -1.49069834e-03 1.02074488e+02] [ 9.49837867e-01 3.12711226e-01 -4.44028126e-03 6.77670918e+01] [ 4.68375147e-03 -2.74117025e-05 9.99989031e-01 6.19118446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.08, Y:67.79, Z:0.62 [[ 3.11642597e-01 -9.50198229e-01 -1.48917685e-03 1.02083640e+02] [ 9.50187852e-01 3.11646153e-01 -4.44079148e-03 6.77930661e+01] [ 4.68372843e-03 -3.10579637e-05 9.99989031e-01 6.18567460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.09, Y:67.82, Z:0.62 [[ 3.09613433e-01 -9.50861351e-01 -1.48764716e-03 1.02093276e+02] [ 9.50850980e-01 3.09617005e-01 -4.44130386e-03 6.78171696e+01] [ 4.68366504e-03 -3.94434286e-05 9.99989031e-01 6.17848998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.10, Y:67.84, Z:0.62 [[ 3.08239114e-01 -9.51307753e-01 -1.48604723e-03 1.02102856e+02] [ 9.51297384e-01 3.08242693e-01 -4.44183912e-03 6.78430479e+01] [ 4.68361920e-03 -4.45242863e-05 9.99989031e-01 6.17515378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.11, Y:67.87, Z:0.62 [[ 3.07016698e-01 -9.51702970e-01 -1.48454703e-03 1.02112042e+02] [ 9.51692603e-01 3.07020283e-01 -4.44234046e-03 6.78678198e+01] [ 4.68357466e-03 -4.89597257e-05 9.99989031e-01 6.17012890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.12, Y:67.89, Z:0.62 [[ 3.04979637e-01 -9.52357717e-01 -1.48338785e-03 1.02122041e+02] [ 9.52347356e-01 3.04983239e-01 -4.44272750e-03 6.78922935e+01] [ 4.68347425e-03 -5.77590819e-05 9.99989031e-01 6.16842796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.13, Y:67.92, Z:0.62 [[ 3.03539467e-01 -9.52817714e-01 -1.48183421e-03 1.02131487e+02] [ 9.52807356e-01 3.03543078e-01 -4.44324565e-03 6.79168684e+01] [ 4.68340368e-03 -6.32021215e-05 9.99989031e-01 6.16799577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.14, Y:67.94, Z:0.62 [[ 3.03617687e-01 -9.52792794e-01 -1.48022937e-03 1.02139351e+02] [ 9.52782434e-01 3.03621289e-01 -4.44378022e-03 6.79431074e+01] [ 4.68343092e-03 -6.11262724e-05 9.99989031e-01 6.17103694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.15, Y:67.97, Z:0.62 [[ 3.04200323e-01 -9.52606937e-01 -1.47877520e-03 1.02146974e+02] [ 9.52596572e-01 3.04203912e-01 -4.44426408e-03 6.79688018e+01] [ 4.68348599e-03 -5.67296164e-05 9.99989031e-01 6.17638104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:67.99, Z:0.62 [[ 3.06068311e-01 -9.52008407e-01 -1.47731641e-03 1.02155192e+02] [ 9.51998032e-01 3.06071873e-01 -4.44474894e-03 6.79946341e+01] [ 4.68360336e-03 -4.60055146e-05 9.99989031e-01 6.17221138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.862755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.16, Y:68.02, Z:0.62 [[ 3.07310719e-01 -9.51608083e-01 -1.47574305e-03 1.02162622e+02] [ 9.51597701e-01 3.07314260e-01 -4.44527127e-03 6.80209123e+01] [ 4.68367295e-03 -3.82341865e-05 9.99989031e-01 6.18426929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.17, Y:68.05, Z:0.62 [[ 3.10696926e-01 -9.50507875e-01 -1.48319657e-03 1.02170593e+02] [ 9.50497492e-01 3.10700464e-01 -4.44279942e-03 6.80460640e+01] [ 4.68374569e-03 -2.94105007e-05 9.99989031e-01 6.17559307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.18, Y:68.07, Z:0.62 [[ 3.12141579e-01 -9.50034456e-01 -1.47235935e-03 1.02178920e+02] [ 9.50024051e-01 3.12145051e-01 -4.44638801e-03 6.80724551e+01] [ 4.68381150e-03 -1.08742254e-05 9.99989031e-01 6.19087439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:68.10, Z:0.62 [[ 3.13776609e-01 -9.49495694e-01 -1.47196281e-03 1.02186634e+02] [ 9.49485282e-01 3.13780062e-01 -4.44651916e-03 6.80971883e+01] [ 4.68382338e-03 -2.39331869e-06 9.99989031e-01 6.18068467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.19, Y:68.12, Z:0.62 [[ 3.14971156e-01 -9.49100107e-01 -1.46899428e-03 1.02194770e+02] [ 9.49089687e-01 3.14974581e-01 -4.44749966e-03 6.81229283e+01] [ 4.68381826e-03 6.62678337e-06 9.99989031e-01 6.18200356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.20, Y:68.15, Z:0.62 [[ 3.17213225e-01 -9.48353107e-01 -1.46747431e-03 1.02202756e+02] [ 9.48342676e-01 3.17216619e-01 -4.44800112e-03 6.81479434e+01] [ 4.68378292e-03 1.92962686e-05 9.99989031e-01 6.19486252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.21, Y:68.17, Z:0.62 [[ 3.17852297e-01 -9.48139108e-01 -1.46588302e-03 1.02211445e+02] [ 9.48128673e-01 3.17855676e-01 -4.44852548e-03 6.81737369e+01] [ 4.68376023e-03 2.41283175e-05 9.99989031e-01 6.20771804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.22, Y:68.20, Z:0.62 [[ 3.18262796e-01 -9.48001397e-01 -1.46438570e-03 1.02219718e+02] [ 9.47990957e-01 3.18266164e-01 -4.44901832e-03 6.81982201e+01] [ 4.68374001e-03 2.77326084e-05 9.99989031e-01 6.22473212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.102755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.23, Y:68.22, Z:0.63 [[ 3.17298853e-01 -9.48324469e-01 -1.46281530e-03 1.02226701e+02] [ 9.48314031e-01 3.17302224e-01 -4.44953460e-03 6.82235982e+01] [ 4.68375709e-03 2.46239501e-05 9.99989031e-01 6.25355645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.132755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:102.24, Y:68.25, Z:0.63 [[ 3.16986553e-01 -9.48428906e-01 -1.46126147e-03 1.02235135e+02] [ 9.48418466e-01 3.16989920e-01 -4.45004484e-03 6.82500336e+01] [ 4.68375631e-03 2.47170156e-05 9.99989031e-01 6.25485108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.24, Y:68.28, Z:0.63 [[ 3.15598630e-01 -9.48891655e-01 -1.45979590e-03 1.02243565e+02] [ 9.48881218e-01 3.15602006e-01 -4.45052555e-03 6.82755704e+01] [ 4.68378107e-03 1.94068590e-05 9.99989031e-01 6.26884234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.25, Y:68.30, Z:0.63 [[ 3.11774256e-01 -9.50155086e-01 -1.45825697e-03 1.02252353e+02] [ 9.50144660e-01 3.11777666e-01 -4.45102974e-03 6.82998303e+01] [ 4.68382050e-03 2.16140622e-06 9.99989031e-01 6.33954992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:68.32, Z:0.63 [[ 3.09984460e-01 -9.50740496e-01 -1.46408737e-03 1.02261302e+02] [ 9.50730086e-01 3.09987917e-01 -4.44912149e-03 6.83248594e+01] [ 4.68380936e-03 -1.27933858e-05 9.99989031e-01 6.32341908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.27, Y:68.35, Z:0.63 [[ 3.07549779e-01 -9.51530880e-01 -1.45496093e-03 1.02269611e+02] [ 9.51520465e-01 3.07553220e-01 -4.45210403e-03 6.83484238e+01] [ 4.68379239e-03 -1.51814924e-05 9.99989031e-01 6.34559423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.28, Y:68.38, Z:0.63 [[ 3.03023441e-01 -9.52981995e-01 -1.45330316e-03 1.02281852e+02] [ 9.52971593e-01 3.03026924e-01 -4.45264512e-03 6.83782696e+01] [ 4.68368061e-03 -3.57007787e-05 9.99989031e-01 6.31832406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:68.40, Z:0.64 [[ 3.01780704e-01 -9.53376176e-01 -1.50769216e-03 1.02288211e+02] [ 9.53365867e-01 3.01784454e-01 -4.43483983e-03 6.83989803e+01] [ 4.68306869e-03 -9.90331538e-05 9.99989029e-01 6.43821756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.30, Y:68.43, Z:0.64 [[ 2.97892332e-01 -9.54598373e-01 -1.45058899e-03 1.02296726e+02] [ 9.54587987e-01 2.97895858e-01 -4.45348254e-03 6.84258075e+01] [ 4.68341164e-03 -5.80565217e-05 9.99989031e-01 6.35967692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.31, Y:68.45, Z:0.64 [[ 2.97144094e-01 -9.54831544e-01 -1.45278452e-03 1.02307360e+02] [ 9.54821163e-01 2.97147638e-01 -4.45276621e-03 6.84534215e+01] [ 4.68333312e-03 -6.40362246e-05 9.99989031e-01 6.35518972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:68.48, Z:0.63 [[ 2.96209242e-01 -9.55121932e-01 -1.47621450e-03 1.02317670e+02] [ 9.55111593e-01 2.96212906e-01 -4.44513631e-03 6.84816689e+01] [ 4.68292097e-03 -9.32591241e-05 9.99989031e-01 6.31187612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:68.51, Z:0.65 [[ 2.91398968e-01 -9.56600442e-01 -1.49509472e-03 1.02321198e+02] [ 9.56590153e-01 2.91402771e-01 -4.43898787e-03 6.85051024e+01] [ 4.68201250e-03 -1.36676403e-04 9.99989030e-01 6.48451948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.33, Y:68.53, Z:0.65 [[ 2.91578428e-01 -9.56545821e-01 -1.45389803e-03 1.02328043e+02] [ 9.56535463e-01 2.91582038e-01 -4.45238393e-03 6.85287912e+01] [ 4.68283979e-03 -9.24859181e-05 9.99989031e-01 6.48186433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.33, Y:68.56, Z:0.64 [[ 2.89621342e-01 -9.57140227e-01 -1.43680399e-03 1.02334573e+02] [ 9.57129849e-01 2.89624894e-01 -4.45794242e-03 6.85566178e+01] [ 4.68301022e-03 -8.40927179e-05 9.99989031e-01 6.37671059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.34, Y:68.58, Z:0.64 [[ 2.88534696e-01 -9.57468346e-01 -1.44770655e-03 1.02342144e+02] [ 9.57457990e-01 2.88538310e-01 -4.45439902e-03 6.85833030e+01] [ 4.68266486e-03 -1.00869536e-04 9.99989031e-01 6.40711565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.35, Y:68.61, Z:0.64 [[ 2.88142826e-01 -9.57586345e-01 -1.45067773e-03 1.02349651e+02] [ 9.57575995e-01 2.88146458e-01 -4.45343401e-03 6.86082105e+01] [ 4.68255524e-03 -1.05909112e-04 9.99989031e-01 6.39283025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:68.63, Z:0.64 [[ 2.85015408e-01 -9.58521864e-01 -1.43324098e-03 1.02355651e+02] [ 9.58511497e-01 2.85018993e-01 -4.45908673e-03 6.86349589e+01] [ 4.68263302e-03 -1.02869538e-04 9.99989031e-01 6.42396222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.36, Y:68.66, Z:0.64 [[ 2.86452165e-01 -9.58093468e-01 -1.43665918e-03 1.02363926e+02] [ 9.58083102e-01 2.86455750e-01 -4.45798025e-03 6.86599933e+01] [ 4.68270104e-03 -9.94407857e-05 9.99989031e-01 6.39945432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.37, Y:68.69, Z:0.63 [[ 2.85061229e-01 -9.58508232e-01 -1.43709798e-03 1.02370808e+02] [ 9.58497871e-01 2.85064832e-01 -4.45783818e-03 6.86877330e+01] [ 4.68254069e-03 -1.06698522e-04 9.99989031e-01 6.29717705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:68.71, Z:0.62 [[ 2.85510278e-01 -9.58374563e-01 -1.44169118e-03 1.02377149e+02] [ 9.58364208e-01 2.85513897e-01 -4.45635222e-03 6.87144248e+01] [ 4.68247748e-03 -1.09330865e-04 9.99989031e-01 6.23635835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:68.74, Z:0.63 [[ 2.85217035e-01 -9.58461882e-01 -1.43690130e-03 1.02384971e+02] [ 9.58451520e-01 2.85220635e-01 -4.45790030e-03 6.87405855e+01] [ 4.68256141e-03 -1.05731133e-04 9.99989031e-01 6.25422002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.39, Y:68.77, Z:0.62 [[ 2.83280307e-01 -9.59036076e-01 -1.43944953e-03 1.02392740e+02] [ 9.59025726e-01 2.83283940e-01 -4.45707733e-03 6.87685732e+01] [ 4.68227089e-03 -1.17866892e-04 9.99989031e-01 6.18339053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.40, Y:68.79, Z:0.62 [[ 2.78789270e-01 -9.60351187e-01 -1.46295862e-03 1.02396812e+02] [ 9.60340893e-01 2.78793060e-01 -4.44949099e-03 6.87933689e+01] [ 4.68093666e-03 -1.64468637e-04 9.99989031e-01 6.23296916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:68.82, Z:0.62 [[ 2.80052477e-01 -9.59983619e-01 -1.43599285e-03 1.02406575e+02] [ 9.59973276e-01 2.80056128e-01 -4.45817675e-03 6.88205787e+01] [ 4.68193525e-03 -1.29991321e-04 9.99989031e-01 6.17370929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.41, Y:68.85, Z:0.62 [[ 2.76582116e-01 -9.60989180e-01 -1.45884397e-03 1.02410035e+02] [ 9.60978888e-01 2.76585911e-01 -4.45082183e-03 6.88455108e+01] [ 4.68068731e-03 -1.70900535e-04 9.99989031e-01 6.17770694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:68.87, Z:0.61 [[ 2.76030685e-01 -9.61147755e-01 -1.43332057e-03 1.02416202e+02] [ 9.61137423e-01 2.76034367e-01 -4.45902438e-03 6.88720373e+01] [ 4.68142701e-03 -1.46790487e-04 9.99989031e-01 6.12710031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:68.90, Z:0.61 [[ 2.75792777e-01 -9.61216059e-01 -1.42541527e-03 1.02424002e+02] [ 9.61205715e-01 2.75796425e-01 -4.46156175e-03 6.88989470e+01] [ 4.68164924e-03 -1.39650802e-04 9.99989031e-01 6.09900972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.43, Y:68.92, Z:0.61 [[ 2.73618153e-01 -9.61837336e-01 -1.43034197e-03 1.02426986e+02] [ 9.61827008e-01 2.73621848e-01 -4.45998173e-03 6.89241847e+01] [ 4.68114976e-03 -1.55409568e-04 9.99989031e-01 6.08941031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:68.95, Z:0.61 [[ 2.75916185e-01 -9.61180682e-01 -1.39861584e-03 1.02438163e+02] [ 9.61170293e-01 2.75919708e-01 -4.47012786e-03 6.89536857e+01] [ 4.68250622e-03 -1.10927371e-04 9.99989031e-01 6.05141067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:68.98, Z:0.60 [[ 2.73777625e-01 -9.61791902e-01 -1.46589859e-03 1.02441515e+02] [ 9.61781633e-01 2.73781482e-01 -4.44866964e-03 6.89763574e+01] [ 4.68003032e-03 -1.91928131e-04 9.99989030e-01 6.00845799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.44, Y:69.00, Z:0.59 [[ 2.71351574e-01 -9.62479250e-01 -1.42026143e-03 1.02444726e+02] [ 9.62468914e-01 2.71355246e-01 -4.46319214e-03 6.90049379e+01] [ 4.68112521e-03 -1.55863262e-04 9.99989031e-01 5.94930304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:69.03, Z:0.59 [[ 2.70593376e-01 -9.62692679e-01 -1.42531148e-03 1.02446166e+02] [ 9.62682354e-01 2.70597079e-01 -4.46158622e-03 6.90310363e+01] [ 4.68082151e-03 -1.64846531e-04 9.99989031e-01 5.91464010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:69.06, Z:0.59 [[ 2.69462024e-01 -9.63010011e-01 -1.39161602e-03 1.02451356e+02] [ 9.62999636e-01 2.69465583e-01 -4.47227706e-03 6.90587002e+01] [ 4.68184020e-03 -1.35016888e-04 9.99989031e-01 5.89187796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:69.08, Z:0.59 [[ 2.72224868e-01 -9.62232621e-01 -1.41567504e-03 1.02456590e+02] [ 9.62222274e-01 2.72228510e-01 -4.46464830e-03 6.90816453e+01] [ 4.68141734e-03 -1.46805760e-04 9.99989031e-01 5.87862287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:69.11, Z:0.58 [[ 2.72271955e-01 -9.62219362e-01 -1.37206996e-03 1.02458175e+02] [ 9.62208945e-01 2.72275394e-01 -4.47843340e-03 6.91118943e+01] [ 4.68281622e-03 -1.00866172e-04 9.99989030e-01 5.83930320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.46, Y:69.14, Z:0.58 [[ 2.74477664e-01 -9.61592441e-01 -1.41043638e-03 1.02462395e+02] [ 9.61582078e-01 2.74481257e-01 -4.46630422e-03 6.91353548e+01] [ 4.68190272e-03 -1.30349593e-04 9.99989031e-01 5.81269356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:69.16, Z:0.58 [[ 2.75414379e-01 -9.61324613e-01 -1.38131671e-03 1.02467176e+02] [ 9.61314200e-01 2.75417826e-01 -4.47549483e-03 6.91625861e+01] [ 4.68284258e-03 -9.52637369e-05 9.99989031e-01 5.81349729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:69.19, Z:0.58 [[ 2.76946442e-01 -9.60884355e-01 -1.38745177e-03 1.02469817e+02] [ 9.60873946e-01 2.76949901e-01 -4.47355956e-03 6.91907620e+01] [ 4.68282803e-03 -9.42298553e-05 9.99989031e-01 5.78569794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:69.22, Z:0.58 [[ 2.75275605e-01 -9.61364321e-01 -1.40827416e-03 1.02473786e+02] [ 9.61353951e-01 2.75279180e-01 -4.46699505e-03 6.92207466e+01] [ 4.68207822e-03 -1.24195159e-04 9.99989031e-01 5.79684930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.47, Y:69.25, Z:0.58 [[ 2.75065790e-01 -9.61424339e-01 -1.43266185e-03 1.02473278e+02] [ 9.61414009e-01 2.75069480e-01 -4.45931112e-03 6.92470400e+01] [ 4.68137179e-03 -1.50777236e-04 9.99989031e-01 5.79215616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:69.28, Z:0.58 [[ 2.72671546e-01 -9.62106169e-01 -1.39552320e-03 1.02476933e+02] [ 9.62095788e-01 2.72675090e-01 -4.47097993e-03 6.92756010e+01] [ 4.68208178e-03 -1.23517987e-04 9.99989031e-01 5.76780911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:69.30, Z:0.58 [[ 2.73204967e-01 -9.61954805e-01 -1.41374635e-03 1.02480595e+02] [ 9.61944452e-01 2.73208589e-01 -4.46525864e-03 6.93012855e+01] [ 4.68162465e-03 -1.40014611e-04 9.99989031e-01 5.75951914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:69.33, Z:0.57 [[ 2.72999062e-01 -9.62013295e-01 -1.38977351e-03 1.02480088e+02] [ 9.62002905e-01 2.73002575e-01 -4.47277515e-03 6.93301144e+01] [ 4.68228091e-03 -1.15902729e-04 9.99989031e-01 5.74782874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:69.36, Z:0.58 [[ 2.72841359e-01 -9.62058036e-01 -1.38833939e-03 1.02483845e+02] [ 9.62047644e-01 2.72844867e-01 -4.47322477e-03 6.93574647e+01] [ 4.68230312e-03 -1.15167914e-04 9.99989031e-01 5.77662512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:69.38, Z:0.58 [[ 2.73823427e-01 -9.61778982e-01 -1.38621669e-03 1.02485422e+02] [ 9.61768582e-01 2.73826914e-01 -4.47388951e-03 6.93837661e+01] [ 4.68247633e-03 -1.08163904e-04 9.99989031e-01 5.75720165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.49, Y:69.41, Z:0.58 [[ 2.71358348e-01 -9.62477445e-01 -1.34722824e-03 1.02490426e+02] [ 9.62466993e-01 2.71361681e-01 -4.48604233e-03 6.94134946e+01] [ 4.68330068e-03 -7.93376796e-05 9.99989030e-01 5.76882462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:69.44, Z:0.58 [[ 2.71419022e-01 -9.62460286e-01 -1.38261822e-03 1.02495304e+02] [ 9.62449890e-01 2.71422519e-01 -4.47501518e-03 6.94397765e+01] [ 4.68229811e-03 -1.16096512e-04 9.99989031e-01 5.77263766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:69.47, Z:0.58 [[ 2.73511586e-01 -9.61867718e-01 -1.38019539e-03 1.02498229e+02] [ 9.61857310e-01 2.73515049e-01 -4.47576914e-03 6.94668059e+01] [ 4.68260206e-03 -1.03376314e-04 9.99989031e-01 5.80802395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.50, Y:69.49, Z:0.58 [[ 2.74274581e-01 -9.61650453e-01 -1.36408559e-03 1.02504158e+02] [ 9.61640017e-01 2.74277960e-01 -4.48077595e-03 6.94930014e+01] [ 4.68307884e-03 -8.27963399e-05 9.99989031e-01 5.81990964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.51, Y:69.52, Z:0.59 [[ 2.74058328e-01 -9.61712102e-01 -1.36559995e-03 1.02511084e+02] [ 9.61701670e-01 2.74061717e-01 -4.48030537e-03 6.95215662e+01] [ 4.68302256e-03 -8.54347506e-05 9.99989031e-01 5.85312263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.52, Y:69.55, Z:0.59 [[ 2.76596873e-01 -9.60985036e-01 -1.38933682e-03 1.02518348e+02] [ 9.60974631e-01 2.76600345e-01 -4.47293247e-03 6.95482944e+01] [ 4.68271221e-03 -9.79183055e-05 9.99989031e-01 5.89357114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:69.57, Z:0.59 [[ 2.78123705e-01 -9.60544262e-01 -1.38759663e-03 1.02525459e+02] [ 9.60533849e-01 2.78127153e-01 -4.47347224e-03 6.95733389e+01] [ 4.68289640e-03 -8.86548567e-05 9.99989031e-01 5.91225810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.53, Y:69.60, Z:0.59 [[ 2.81946196e-01 -9.59429217e-01 -1.38578402e-03 1.02532873e+02] [ 9.59418787e-01 2.81949594e-01 -4.47403368e-03 6.96000109e+01] [ 4.68323987e-03 -6.81104462e-05 9.99989031e-01 5.93962300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:69.63, Z:0.60 [[ 2.83915886e-01 -9.58848191e-01 -1.38402656e-03 1.02540639e+02] [ 9.58837752e-01 2.83919254e-01 -4.47457728e-03 6.96256171e+01] [ 4.68339212e-03 -5.66533463e-05 9.99989031e-01 5.95357384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.55, Y:69.65, Z:0.60 [[ 2.85878220e-01 -9.58264961e-01 -1.38149110e-03 1.02549388e+02] [ 9.58254511e-01 2.85881555e-01 -4.47536071e-03 6.96523142e+01] [ 4.68352417e-03 -4.44119250e-05 9.99989031e-01 5.95591265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.56, Y:69.68, Z:0.60 [[ 2.87257449e-01 -9.57852416e-01 -1.38103502e-03 1.02558261e+02] [ 9.57841961e-01 2.87260767e-01 -4.47550144e-03 6.96790556e+01] [ 4.68358705e-03 -3.71921652e-05 9.99989031e-01 5.96908527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.57, Y:69.70, Z:0.60 [[ 2.91857318e-01 -9.56460850e-01 -1.39574363e-03 1.02567978e+02] [ 9.56450401e-01 2.91860653e-01 -4.47096664e-03 6.97011874e+01] [ 4.68366720e-03 -3.00752270e-05 9.99989031e-01 5.99859756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.58, Y:69.73, Z:0.60 [[ 2.92738973e-01 -9.56191436e-01 -1.35312225e-03 1.02577207e+02] [ 9.56180922e-01 2.92742099e-01 -4.48407421e-03 6.97287052e+01] [ 4.68374921e-03 1.88335929e-05 9.99989031e-01 6.00364482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.59, Y:69.75, Z:0.60 [[ 2.95571078e-01 -9.55319760e-01 -1.37615337e-03 1.02586949e+02] [ 9.55309270e-01 2.95574282e-01 -4.47699483e-03 6.97542404e+01] [ 4.68371717e-03 8.61811345e-06 9.99989031e-01 6.01143553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.60, Y:69.78, Z:0.60 [[ 2.96622493e-01 -9.54993826e-01 -1.37454786e-03 1.02596283e+02] [ 9.54983329e-01 2.96625678e-01 -4.47748771e-03 6.97812499e+01] [ 4.68369931e-03 1.54532795e-05 9.99989031e-01 6.01817290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.61, Y:69.81, Z:0.60 [[ 2.98354778e-01 -9.54454046e-01 -1.37882011e-03 1.02607783e+02] [ 9.54443550e-01 2.98357963e-01 -4.47617715e-03 6.98063070e+01] [ 4.68368735e-03 1.94828810e-05 9.99989031e-01 6.01927426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.62, Y:69.83, Z:0.60 [[ 2.99126896e-01 -9.54212354e-01 -1.37232444e-03 1.02617337e+02] [ 9.54201846e-01 2.99130043e-01 -4.47816773e-03 6.98295342e+01] [ 4.68362644e-03 3.00658987e-05 9.99989031e-01 6.02333487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:69.86, Z:0.60 [[ 2.96276711e-01 -9.55101187e-01 -1.35436713e-03 1.02627210e+02] [ 9.55090663e-01 2.96279804e-01 -4.48365949e-03 6.98591323e+01] [ 4.68362012e-03 3.48604817e-05 9.99989031e-01 6.02121172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.63, Y:69.89, Z:0.60 [[ 2.95741648e-01 -9.55266905e-01 -1.42077166e-03 1.02634910e+02] [ 9.55256478e-01 2.95745058e-01 -4.46331840e-03 6.98858131e+01] [ 4.68384655e-03 -3.72121960e-05 9.99989030e-01 6.02265598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.65, Y:69.91, Z:0.60 [[ 2.96261406e-01 -9.55105847e-01 -1.41430144e-03 1.02645031e+02] [ 9.55095409e-01 2.96264780e-01 -4.46529411e-03 6.99085529e+01] [ 4.68383622e-03 -2.78985068e-05 9.99989030e-01 6.03445185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.66, Y:69.93, Z:0.60 [[ 2.93588070e-01 -9.55931051e-01 -1.36813160e-03 1.02657483e+02] [ 9.55920556e-01 2.93591257e-01 -4.47935448e-03 6.99324299e+01] [ 4.68362552e-03 7.25991556e-06 9.99989032e-01 6.03658106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.67, Y:69.96, Z:0.60 [[ 2.91432135e-01 -9.56590536e-01 -1.36292835e-03 1.02667796e+02] [ 9.56580041e-01 2.91435322e-01 -4.48093711e-03 6.99576121e+01] [ 4.68362750e-03 2.13901467e-06 9.99989032e-01 6.03883163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.68, Y:69.98, Z:0.60 [[ 2.89288891e-01 -9.57240871e-01 -1.36131651e-03 1.02678269e+02] [ 9.57230381e-01 2.89292094e-01 -4.48142674e-03 6.99826499e+01] [ 4.68362294e-03 -6.66655115e-06 9.99989032e-01 6.03897014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.69, Y:70.01, Z:0.60 [[ 2.85614552e-01 -9.58343612e-01 -1.35970450e-03 1.02691800e+02] [ 9.58333132e-01 2.85617787e-01 -4.48191578e-03 7.00074237e+01] [ 4.68357115e-03 -2.29495026e-05 9.99989032e-01 6.04434655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.70, Y:70.03, Z:0.60 [[ 2.84182303e-01 -9.58769302e-01 -1.35824978e-03 1.02702825e+02] [ 9.58758824e-01 2.84185548e-01 -4.48235660e-03 7.00325898e+01] [ 4.68354086e-03 -2.84275400e-05 9.99989032e-01 6.04915381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.72, Y:70.06, Z:0.61 [[ 2.81282650e-01 -9.59624004e-01 -1.35671673e-03 1.02716483e+02] [ 9.59613535e-01 2.81285919e-01 -4.48282057e-03 7.00567376e+01] [ 4.68344754e-03 -4.09840907e-05 9.99989032e-01 6.05332432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.73, Y:70.08, Z:0.61 [[ 2.79781781e-01 -9.60062664e-01 -1.35514363e-03 1.02726931e+02] [ 9.60052197e-01 2.79785059e-01 -4.48329606e-03 7.00816970e+01] [ 4.68339410e-03 -4.66640630e-05 9.99989032e-01 6.06004458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.74, Y:70.11, Z:0.61 [[ 2.77970652e-01 -9.60588614e-01 -1.35304994e-03 1.02737097e+02] [ 9.60578150e-01 2.77973940e-01 -4.48392807e-03 7.01062854e+01] [ 4.68332287e-03 -5.33098013e-05 9.99989032e-01 6.06315658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.75, Y:70.13, Z:0.61 [[ 2.75082580e-01 -9.61419652e-01 -1.35154149e-03 1.02751068e+02] [ 9.61409196e-01 2.75085892e-01 -4.48438270e-03 7.01308872e+01] [ 4.68316365e-03 -6.58088539e-05 9.99989032e-01 6.07572064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.76, Y:70.15, Z:0.61 [[ 2.74559975e-01 -9.61569029e-01 -1.34993821e-03 1.02761845e+02] [ 9.61558572e-01 2.74563286e-01 -4.48486528e-03 7.01542771e+01] [ 4.68315102e-03 -6.66801524e-05 9.99989032e-01 6.08402564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.78, Y:70.18, Z:0.61 [[ 2.71643382e-01 -9.62397066e-01 -1.32682174e-03 1.02775871e+02] [ 9.62386585e-01 2.71646616e-01 -4.49181476e-03 7.01798855e+01] [ 4.68333598e-03 -5.67436877e-05 9.99989032e-01 6.09809479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.79, Y:70.20, Z:0.61 [[ 2.71201290e-01 -9.62521719e-01 -1.34183617e-03 1.02786226e+02] [ 9.62511262e-01 2.71204599e-01 -4.48730452e-03 7.02041371e+01] [ 4.68304021e-03 -7.45696522e-05 9.99989032e-01 6.10223934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.80, Y:70.23, Z:0.61 [[ 2.69900403e-01 -9.62887318e-01 -1.33631927e-03 1.02798763e+02] [ 9.62876857e-01 2.69903701e-01 -4.48896083e-03 7.02301197e+01] [ 4.68304097e-03 -7.51385576e-05 9.99989032e-01 6.10661309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.81, Y:70.26, Z:0.61 [[ 2.70204034e-01 -9.62802145e-01 -1.34529757e-03 1.02808570e+02] [ 9.62791696e-01 2.70207370e-01 -4.48626851e-03 7.02554498e+01] [ 4.68289826e-03 -8.30334809e-05 9.99989032e-01 6.10830972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.82, Y:70.28, Z:0.61 [[ 2.70647853e-01 -9.62677482e-01 -1.34372514e-03 1.02817794e+02] [ 9.62667029e-01 2.70651177e-01 -4.48673943e-03 7.02806591e+01] [ 4.68296381e-03 -7.92334908e-05 9.99989032e-01 6.10891169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.83, Y:70.31, Z:0.61 [[ 2.71855197e-01 -9.62337233e-01 -1.34216135e-03 1.02827521e+02] [ 9.62326774e-01 2.71858500e-01 -4.48720717e-03 7.03060981e+01] [ 4.68308451e-03 -7.17272173e-05 9.99989032e-01 6.10967476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.84, Y:70.33, Z:0.61 [[ 2.74172211e-01 -9.61679681e-01 -1.33812388e-03 1.02839238e+02] [ 9.61669208e-01 2.74175471e-01 -4.48841366e-03 7.03315564e+01] [ 4.68329695e-03 -5.62342337e-05 9.99989032e-01 6.12325688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.85, Y:70.36, Z:0.61 [[ 2.74310247e-01 -9.61640313e-01 -1.34019037e-03 1.02848078e+02] [ 9.61629843e-01 2.74313514e-01 -4.48779654e-03 7.03573217e+01] [ 4.68327840e-03 -5.77184854e-05 9.99989032e-01 6.12222972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.86, Y:70.38, Z:0.61 [[ 2.76148214e-01 -9.61114112e-01 -1.35230584e-03 1.02858557e+02] [ 9.61103653e-01 2.76151518e-01 -4.48418149e-03 7.03813457e+01] [ 4.68325142e-03 -6.14073739e-05 9.99989032e-01 6.11973426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.87, Y:70.41, Z:0.61 [[ 2.76252969e-01 -9.61084028e-01 -1.33747321e-03 1.02867913e+02] [ 9.61073547e-01 2.76256203e-01 -4.48860119e-03 7.04074704e+01] [ 4.68340818e-03 -4.54207147e-05 9.99989032e-01 6.11244028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.88, Y:70.43, Z:0.61 [[ 2.75947649e-01 -9.61171738e-01 -1.33588290e-03 1.02877104e+02] [ 9.61161256e-01 2.75950879e-01 -4.48907444e-03 7.04330487e+01] [ 4.68340954e-03 -4.52493443e-05 9.99989032e-01 6.10662425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.89, Y:70.46, Z:0.61 [[ 2.75077635e-01 -9.61421091e-01 -1.33430243e-03 1.02887853e+02] [ 9.61410610e-01 2.75080866e-01 -4.48954416e-03 7.04575334e+01] [ 4.68338351e-03 -4.78393281e-05 9.99989032e-01 6.09678906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.90, Y:70.48, Z:0.61 [[ 2.74075182e-01 -9.61707345e-01 -1.33308231e-03 1.02897087e+02] [ 9.61696865e-01 2.74078420e-01 -4.48990642e-03 7.04829983e+01] [ 4.68334508e-03 -5.14491550e-05 9.99989032e-01 6.10020181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.91, Y:70.51, Z:0.61 [[ 2.72853497e-01 -9.62054674e-01 -1.33149965e-03 1.02906200e+02] [ 9.62044196e-01 2.72856741e-01 -4.49037572e-03 7.05088263e+01] [ 4.68329560e-03 -5.57467920e-05 9.99989032e-01 6.10673773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:70.53, Z:0.61 [[ 2.70135665e-01 -9.62821351e-01 -1.32988789e-03 1.02915615e+02] [ 9.62810880e-01 2.70138930e-01 -4.49085301e-03 7.05340162e+01] [ 4.68314366e-03 -6.72909661e-05 9.99989032e-01 6.11866645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.92, Y:70.56, Z:0.61 [[ 2.68778462e-01 -9.63201108e-01 -1.32826257e-03 1.02924179e+02] [ 9.63190639e-01 2.68781734e-01 -4.49133368e-03 7.05593531e+01] [ 4.68307030e-03 -7.21963134e-05 9.99989032e-01 6.12434737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.93, Y:70.59, Z:0.61 [[ 2.66344142e-01 -9.63877086e-01 -1.32700848e-03 1.02933275e+02] [ 9.63866624e-01 2.66347435e-01 -4.49170418e-03 7.05853814e+01] [ 4.68289605e-03 -8.27200881e-05 9.99989032e-01 6.13598754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.94, Y:70.61, Z:0.61 [[ 2.67214897e-01 -9.63636053e-01 -1.32540210e-03 1.02939841e+02] [ 9.63625585e-01 2.67218173e-01 -4.49217814e-03 7.06118289e+01] [ 4.68299634e-03 -7.68144595e-05 9.99989032e-01 6.14476597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:102.95, Y:70.64, Z:0.62 [[ 2.71276003e-01 -9.62500690e-01 -1.32379899e-03 1.02954546e+02] [ 9.62490206e-01 2.71279228e-01 -4.49265051e-03 7.06436535e+01] [ 4.68329838e-03 -5.53952839e-05 9.99989032e-01 6.15328381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.96, Y:70.66, Z:0.61 [[ 2.67413346e-01 -9.63580874e-01 -1.41504499e-03 1.02955446e+02] [ 9.63570540e-01 2.67417037e-01 -4.46574042e-03 7.06641059e+01] [ 4.68150919e-03 -1.69297075e-04 9.99989027e-01 6.13659010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:70.70, Z:0.61 [[ 2.73887121e-01 -9.61760938e-01 -1.32001759e-03 1.02967846e+02] [ 9.61750441e-01 2.73890299e-01 -4.49365488e-03 7.06962299e+01] [ 4.68336175e-03 -3.87733032e-05 9.99989032e-01 6.13067312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.97, Y:70.72, Z:0.61 [[ 2.75576025e-01 -9.61278258e-01 -1.40184842e-03 1.02973099e+02] [ 9.61267874e-01 2.75579566e-01 -4.46958765e-03 7.07192069e+01] [ 4.68283821e-03 -1.15840647e-04 9.99989029e-01 6.12382105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:70.74, Z:0.61 [[ 2.74970611e-01 -9.61451665e-01 -1.36375793e-03 1.02975962e+02] [ 9.61441227e-01 2.74973981e-01 -4.48079711e-03 7.07408252e+01] [ 4.68306779e-03 -7.90855824e-05 9.99989031e-01 6.09875709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.98, Y:70.77, Z:0.61 [[ 2.73931605e-01 -9.61748301e-01 -1.29669676e-03 1.02982565e+02] [ 9.61737771e-01 2.73934673e-01 -4.50045509e-03 7.07694759e+01] [ 4.68351524e-03 -1.42653675e-05 9.99989032e-01 6.09236854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.99, Y:70.79, Z:0.61 [[ 2.73820288e-01 -9.61779971e-01 -1.31824028e-03 1.02988724e+02] [ 9.61769472e-01 2.73823458e-01 -4.49414156e-03 7.07946662e+01] [ 4.68334046e-03 -3.72561259e-05 9.99989032e-01 6.09616276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.00, Y:70.82, Z:0.61 [[ 2.70993712e-01 -9.62580219e-01 -1.31537418e-03 1.02995736e+02] [ 9.62569725e-01 2.70996900e-01 -4.49498028e-03 7.08249876e+01] [ 4.68324142e-03 -4.80279690e-05 9.99989032e-01 6.08628582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.00, Y:70.85, Z:0.61 [[ 2.72109662e-01 -9.62265281e-01 -1.36400314e-03 1.03002950e+02] [ 9.62254853e-01 2.72113065e-01 -4.48076315e-03 7.08483505e+01] [ 4.68284589e-03 -9.32596918e-05 9.99989031e-01 6.10109380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.162755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:103.01, Y:70.87, Z:0.61 [[ 2.71357145e-01 -9.62477834e-01 -1.31090295e-03 1.03009922e+02] [ 9.62467333e-01 2.71360309e-01 -4.49624479e-03 7.08745932e+01] [ 4.68326297e-03 -4.16131151e-05 9.99989033e-01 6.10582000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.192755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:103.02, Y:70.90, Z:0.61 [[ 2.69742786e-01 -9.62931522e-01 -1.30931377e-03 1.03016697e+02] [ 9.62921023e-01 2.69745959e-01 -4.49670751e-03 7.09009471e+01] [ 4.68320350e-03 -4.78113479e-05 9.99989033e-01 6.11455331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22275509600001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:103.02, Y:70.93, Z:0.61 [[ 2.68358063e-01 -9.63318348e-01 -1.30771678e-03 1.03024138e+02] [ 9.63307852e-01 2.68361244e-01 -4.49717189e-03 7.09282083e+01] [ 4.68314870e-03 -5.28815017e-05 9.99989033e-01 6.11627167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25275509600002 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:103.03, Y:70.95, Z:0.61 [[ 2.67992205e-01 -9.63420182e-01 -1.31597647e-03 1.03030967e+02] [ 9.63409699e-01 2.67995428e-01 -4.49477165e-03 7.09525762e+01] [ 4.68302939e-03 -6.32607263e-05 9.99989033e-01 6.12172965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.04, Y:70.98, Z:0.61 [[ 2.65441470e-01 -9.64126092e-01 -1.30524671e-03 1.03036591e+02] [ 9.64115603e-01 2.65444672e-01 -4.49788533e-03 7.09790404e+01] [ 4.68299939e-03 -6.44834215e-05 9.99989033e-01 6.12885277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:103.05, Y:71.01, Z:0.61 [[ 2.65945814e-01 -9.63987086e-01 -1.31253043e-03 1.03046393e+02] [ 9.63976604e-01 2.65949044e-01 -4.49577517e-03 7.10084002e+01] [ 4.68293541e-03 -6.96160363e-05 9.99989033e-01 6.10224806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34275509600002 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:103.05, Y:71.03, Z:0.61 [[ 2.61388993e-01 -9.65232599e-01 -1.35046724e-03 1.03048842e+02] [ 9.65222189e-01 2.61392448e-01 -4.48483701e-03 7.10310957e+01] [ 4.68191282e-03 -1.31213920e-04 9.99989031e-01 6.12552179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37275509600002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:103.06, Y:71.06, Z:0.61 [[ 2.59388275e-01 -9.65772254e-01 -1.29437537e-03 1.03055677e+02] [ 9.65761770e-01 2.59391491e-01 -4.50096776e-03 7.10572898e+01] [ 4.68265973e-03 -8.25599855e-05 9.99989033e-01 6.12106493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.06, Y:71.08, Z:0.61 [[ 2.58335519e-01 -9.66054373e-01 -1.30714464e-03 1.03062761e+02] [ 9.66043910e-01 2.58338806e-01 -4.49729973e-03 7.10829432e+01] [ 4.68232225e-03 -1.00946861e-04 9.99989033e-01 6.12938225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.07, Y:71.11, Z:0.61 [[ 2.55753166e-01 -9.66741254e-01 -1.29035915e-03 1.03069671e+02] [ 9.66730776e-01 2.55756403e-01 -4.50211065e-03 7.11080380e+01] [ 4.68239371e-03 -9.60008526e-05 9.99989033e-01 6.13231796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.08, Y:71.13, Z:0.61 [[ 2.54121064e-01 -9.67171559e-01 -1.28867641e-03 1.03076751e+02] [ 9.67161083e-01 2.54124311e-01 -4.50259227e-03 7.11347420e+01] [ 4.68226318e-03 -1.02154131e-04 9.99989033e-01 6.13753320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.492755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.09, Y:71.17, Z:0.61 [[ 2.56490982e-01 -9.66545767e-01 -1.28709638e-03 1.03090613e+02] [ 9.66535281e-01 2.56494196e-01 -4.50304388e-03 7.11661491e+01] [ 4.68253075e-03 -8.90339095e-05 9.99989033e-01 6.13348522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.522755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.09, Y:71.19, Z:0.61 [[ 2.50840476e-01 -9.68027463e-01 -1.37347907e-03 1.03090966e+02] [ 9.68017126e-01 2.50844152e-01 -4.47833058e-03 7.11876764e+01] [ 4.67967619e-03 -2.06204689e-04 9.99989029e-01 6.14787499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.552755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:103.10, Y:71.21, Z:0.62 [[ 2.48172202e-01 -9.68715083e-01 -1.28340715e-03 1.03098665e+02] [ 9.68704620e-01 2.48175488e-01 -4.50399647e-03 7.12131302e+01] [ 4.68159951e-03 -1.25475712e-04 9.99989033e-01 6.15415312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.11, Y:71.24, Z:0.62 [[ 2.46670674e-01 -9.69098517e-01 -1.28175207e-03 1.03106193e+02] [ 9.69088057e-01 2.46673969e-01 -4.50446742e-03 7.12396200e+01] [ 4.68144757e-03 -1.31010606e-04 9.99989033e-01 6.16607394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.612755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.11, Y:71.27, Z:0.62 [[ 2.44553802e-01 -9.69634879e-01 -1.28016569e-03 1.03113786e+02] [ 9.69624424e-01 2.44557112e-01 -4.50491823e-03 7.12659062e+01] [ 4.68119946e-03 -1.39585038e-04 9.99989033e-01 6.16648697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:103.12, Y:71.29, Z:0.62 [[ 2.43365911e-01 -9.69933708e-01 -1.27854920e-03 1.03120898e+02] [ 9.69923255e-01 2.43369227e-01 -4.50537696e-03 7.12913998e+01] [ 4.68107651e-03 -1.43639433e-04 9.99989033e-01 6.16840552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:71.32, Z:0.62 [[ 2.47237029e-01 -9.68954189e-01 -1.27730259e-03 1.03136785e+02] [ 9.68943721e-01 2.47240297e-01 -4.50573035e-03 7.13240620e+01] [ 4.68164697e-03 -1.23650940e-04 9.99989033e-01 6.15840875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.13, Y:71.34, Z:0.62 [[ 2.40510237e-01 -9.70645600e-01 -1.39495332e-03 1.03134769e+02] [ 9.70635336e-01 2.40514121e-01 -4.47231426e-03 7.13434591e+01] [ 4.67653813e-03 -2.78353620e-04 9.99989026e-01 6.16379987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.14, Y:71.37, Z:0.62 [[ 2.40197669e-01 -9.70723162e-01 -1.27378964e-03 1.03141876e+02] [ 9.70712713e-01 2.40200997e-01 -4.50656148e-03 7.13694907e+01] [ 4.68058915e-03 -1.54018234e-04 9.99989034e-01 6.16775286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.15, Y:71.39, Z:0.62 [[ 2.39731077e-01 -9.70838500e-01 -1.27217651e-03 1.03148735e+02] [ 9.70828050e-01 2.39734402e-01 -4.50701681e-03 7.13943332e+01] [ 4.68056991e-03 -1.54592646e-04 9.99989034e-01 6.16274293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:71.42, Z:0.62 [[ 2.40317640e-01 -9.70693473e-01 -1.27048685e-03 1.03155717e+02] [ 9.70683019e-01 2.40320952e-01 -4.50749306e-03 7.14207769e+01] [ 4.68071870e-03 -1.50009917e-04 9.99989034e-01 6.16049323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.16, Y:71.44, Z:0.61 [[ 2.42136923e-01 -9.70241259e-01 -1.26885605e-03 1.03162085e+02] [ 9.70230796e-01 2.42140207e-01 -4.50795208e-03 7.14444577e+01] [ 4.68104217e-03 -1.39541567e-04 9.99989034e-01 6.14523345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.17, Y:71.47, Z:0.62 [[ 2.44509911e-01 -9.69645997e-01 -1.24285626e-03 1.03170480e+02] [ 9.69635489e-01 2.44513048e-01 -4.51526362e-03 7.14734864e+01] [ 4.68210186e-03 -1.01090832e-04 9.99989034e-01 6.16526665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:71.50, Z:0.62 [[ 2.44155115e-01 -9.69735363e-01 -1.26723004e-03 1.03176009e+02] [ 9.69724891e-01 2.44158370e-01 -4.50841261e-03 7.15004521e+01] [ 4.68137196e-03 -1.28112518e-04 9.99989034e-01 6.15351374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.18, Y:71.53, Z:0.62 [[ 2.45361987e-01 -9.69430706e-01 -1.26566995e-03 1.03182775e+02] [ 9.69420228e-01 2.45365222e-01 -4.50885054e-03 7.15266377e+01] [ 4.68156955e-03 -1.20665519e-04 9.99989034e-01 6.16360692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.19, Y:71.55, Z:0.62 [[ 2.45027103e-01 -9.69515405e-01 -1.26411323e-03 1.03190062e+02] [ 9.69504926e-01 2.45030334e-01 -4.50928694e-03 7.15534115e+01] [ 4.68156924e-03 -1.20666482e-04 9.99989034e-01 6.16490172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:71.58, Z:0.62 [[ 2.50441144e-01 -9.68131003e-01 -1.26255542e-03 1.03199353e+02] [ 9.68120504e-01 2.50444309e-01 -4.50972307e-03 7.15803696e+01] [ 4.68220254e-03 -9.28855869e-05 9.99989034e-01 6.18636600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.20, Y:71.61, Z:0.62 [[ 2.50043152e-01 -9.68233872e-01 -1.26103805e-03 1.03204389e+02] [ 9.68223372e-01 2.50046315e-01 -4.51014733e-03 7.16074259e+01] [ 4.68219533e-03 -9.32350613e-05 9.99989034e-01 6.17699244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:103.21, Y:71.63, Z:0.62 [[ 2.53492247e-01 -9.67336598e-01 -1.25969238e-03 1.03210575e+02] [ 9.67326085e-01 2.53495366e-01 -4.51052314e-03 7.16340832e+01] [ 4.68252029e-03 -7.51506576e-05 9.99989034e-01 6.18638233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:71.66, Z:0.62 [[ 2.53854078e-01 -9.67241712e-01 -1.25640829e-03 1.03216156e+02] [ 9.67231193e-01 2.53857177e-01 -4.51143928e-03 7.16612638e+01] [ 4.68260051e-03 -6.99900346e-05 9.99989034e-01 6.19465178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.22, Y:71.69, Z:0.62 [[ 2.56745190e-01 -9.66478276e-01 -1.28458915e-03 1.03223406e+02] [ 9.66467786e-01 2.56748390e-01 -4.50360014e-03 7.16868011e+01] [ 4.68244789e-03 -8.52363588e-05 9.99989034e-01 6.19912857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.23, Y:71.71, Z:0.62 [[ 2.57490396e-01 -9.66280046e-01 -1.25248518e-03 1.03229314e+02] [ 9.66269510e-01 2.57493438e-01 -4.51251086e-03 7.17146441e+01] [ 4.68285592e-03 -4.83100324e-05 9.99989034e-01 6.20891732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:71.74, Z:0.62 [[ 2.57117318e-01 -9.66379369e-01 -1.26465344e-03 1.03235640e+02] [ 9.66368851e-01 2.57120421e-01 -4.50913506e-03 7.17398415e+01] [ 4.68270332e-03 -6.27449746e-05 9.99989034e-01 6.20532217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.24, Y:71.77, Z:0.62 [[ 2.55916349e-01 -9.66698122e-01 -1.25033226e-03 1.03242556e+02] [ 9.66687589e-01 2.55919398e-01 -4.51310267e-03 7.17673410e+01] [ 4.68279215e-03 -5.37039214e-05 9.99989034e-01 6.20507303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.25, Y:71.79, Z:0.62 [[ 2.53158771e-01 -9.67423931e-01 -1.25478420e-03 1.03249154e+02] [ 9.67413412e-01 2.53161871e-01 -4.51187072e-03 7.17931880e+01] [ 4.68255523e-03 -7.16754135e-05 9.99989034e-01 6.19324576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:71.82, Z:0.62 [[ 2.49521780e-01 -9.68368390e-01 -1.24179296e-03 1.03256727e+02] [ 9.68357865e-01 2.49524859e-01 -4.51545926e-03 7.18219483e+01] [ 4.68248623e-03 -7.57945410e-05 9.99989034e-01 6.20391741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.26, Y:71.85, Z:0.62 [[ 2.47747364e-01 -9.68823796e-01 -1.30235821e-03 1.03264345e+02] [ 9.68813362e-01 2.47750743e-01 -4.49874119e-03 7.18450954e+01] [ 4.68114773e-03 -1.47190762e-04 9.99989033e-01 6.17842645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.27, Y:71.87, Z:0.62 [[ 2.46031167e-01 -9.69261125e-01 -1.23977167e-03 1.03271973e+02] [ 9.69250609e-01 2.46034274e-01 -4.51596840e-03 7.18713624e+01] [ 4.68217893e-03 -9.05804684e-05 9.99989034e-01 6.17392199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.28, Y:71.90, Z:0.62 [[ 2.45076831e-01 -9.69502867e-01 -1.24035452e-03 1.03279297e+02] [ 9.69492354e-01 2.45079951e-01 -4.51580814e-03 7.18953511e+01] [ 4.68207496e-03 -9.57942721e-05 9.99989034e-01 6.19398562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:71.92, Z:0.62 [[ 2.41825652e-01 -9.70318955e-01 -1.21674668e-03 1.03285999e+02] [ 9.70308420e-01 2.41828698e-01 -4.52227991e-03 7.19213898e+01] [ 4.68229818e-03 -8.70162628e-05 9.99989034e-01 6.19441566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.29, Y:71.95, Z:0.62 [[ 2.40341395e-01 -9.70687636e-01 -1.23601676e-03 1.03292586e+02] [ 9.70677133e-01 2.40344546e-01 -4.51699925e-03 7.19474935e+01] [ 4.68166521e-03 -1.14151304e-04 9.99989034e-01 6.19148761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.30, Y:71.97, Z:0.62 [[ 2.39384671e-01 -9.70924020e-01 -1.23578030e-03 1.03299519e+02] [ 9.70913520e-01 2.39387831e-01 -4.51706394e-03 7.19732199e+01] [ 4.68155664e-03 -1.18519940e-04 9.99989034e-01 6.19096457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:72.00, Z:0.62 [[ 2.38346364e-01 -9.71179431e-01 -1.23411451e-03 1.03306966e+02] [ 9.71168932e-01 2.38349528e-01 -4.51751900e-03 7.19994448e+01] [ 4.68147215e-03 -1.21799441e-04 9.99989034e-01 6.18757058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.31, Y:72.03, Z:0.62 [[ 2.38015299e-01 -9.71260623e-01 -1.23257063e-03 1.03314218e+02] [ 9.71250123e-01 2.38018459e-01 -4.51794020e-03 7.20255278e+01] [ 4.68147198e-03 -1.21795493e-04 9.99989034e-01 6.18597195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.32, Y:72.05, Z:0.62 [[ 2.38036969e-01 -9.71255315e-01 -1.23103553e-03 1.03321831e+02] [ 9.71244812e-01 2.38040122e-01 -4.51835844e-03 7.20515577e+01] [ 4.68151550e-03 -1.20100520e-04 9.99989034e-01 6.18008843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.33, Y:72.08, Z:0.62 [[ 2.38505786e-01 -9.71140298e-01 -1.22943133e-03 1.03328914e+02] [ 9.71129792e-01 2.38508926e-01 -4.51879490e-03 7.20782056e+01] [ 4.68161417e-03 -1.16178658e-04 9.99989034e-01 6.17288460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:72.10, Z:0.62 [[ 2.38859474e-01 -9.71053368e-01 -1.22781527e-03 1.03335855e+02] [ 9.71042859e-01 2.38862603e-01 -4.51923396e-03 7.21034741e+01] [ 4.68169651e-03 -1.12799409e-04 9.99989034e-01 6.16910611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.34, Y:72.13, Z:0.62 [[ 2.39560059e-01 -9.70880773e-01 -1.22612308e-03 1.03342581e+02] [ 9.70870259e-01 2.39563172e-01 -4.51969302e-03 7.21291183e+01] [ 4.68181699e-03 -1.07668504e-04 9.99989034e-01 6.16416620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.35, Y:72.15, Z:0.62 [[ 2.40891619e-01 -9.70551249e-01 -1.22490739e-03 1.03348987e+02] [ 9.70540729e-01 2.40894713e-01 -4.52002247e-03 7.21541886e+01] [ 4.68198717e-03 -9.99869787e-05 9.99989034e-01 6.15944473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:72.18, Z:0.61 [[ 2.43966717e-01 -9.69782834e-01 -1.22316344e-03 1.03360945e+02] [ 9.69772302e-01 2.43969769e-01 -4.52049435e-03 7.21837675e+01] [ 4.68231273e-03 -8.33398582e-05 9.99989034e-01 6.14428745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.36, Y:72.21, Z:0.62 [[ 2.41586947e-01 -9.70378342e-01 -1.27291513e-03 1.03364199e+02] [ 9.70367886e-01 2.41590257e-01 -4.50704202e-03 7.22082067e+01] [ 4.68105986e-03 -1.46353445e-04 9.99989033e-01 6.17128168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.37, Y:72.23, Z:0.62 [[ 2.41652859e-01 -9.70361999e-01 -1.21944168e-03 1.03373194e+02] [ 9.70351469e-01 2.41655919e-01 -4.52146385e-03 7.22335648e+01] [ 4.68214200e-03 -9.06623587e-05 9.99989035e-01 6.18001459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.38, Y:72.26, Z:0.62 [[ 2.41274872e-01 -9.70456054e-01 -1.21781133e-03 1.03381503e+02] [ 9.70445523e-01 2.41277928e-01 -4.52190293e-03 7.22586779e+01] [ 4.68213907e-03 -9.07980011e-05 9.99989035e-01 6.18068867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.39, Y:72.29, Z:0.62 [[ 2.40643103e-01 -9.70612908e-01 -1.21610115e-03 1.03388760e+02] [ 9.70602377e-01 2.40646158e-01 -4.52236281e-03 7.22851022e+01] [ 4.68211379e-03 -9.20752509e-05 9.99989035e-01 6.18295655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:72.31, Z:0.62 [[ 2.40233057e-01 -9.70714481e-01 -1.21450421e-03 1.03395457e+02] [ 9.70703949e-01 2.40236109e-01 -4.52279164e-03 7.23109505e+01] [ 4.68210710e-03 -9.23999726e-05 9.99989035e-01 6.17713779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.40, Y:72.34, Z:0.62 [[ 2.40071606e-01 -9.70754424e-01 -1.21327323e-03 1.03401515e+02] [ 9.70743891e-01 2.40074654e-01 -4.52312183e-03 7.23367941e+01] [ 4.68211668e-03 -9.19044590e-05 9.99989035e-01 6.18103561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.41, Y:72.36, Z:0.62 [[ 2.39701443e-01 -9.70845894e-01 -1.21162279e-03 1.03409015e+02] [ 9.70835360e-01 2.39704488e-01 -4.52356390e-03 7.23632944e+01] [ 4.68211486e-03 -9.19814499e-05 9.99989035e-01 6.19224526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:72.39, Z:0.62 [[ 2.38899920e-01 -9.71043441e-01 -1.21007865e-03 1.03416563e+02] [ 9.71032907e-01 2.38902966e-01 -4.52397692e-03 7.23894147e+01] [ 4.68206950e-03 -9.42484637e-05 9.99989035e-01 6.20200629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.42, Y:72.41, Z:0.62 [[ 2.38168553e-01 -9.71223085e-01 -1.20845829e-03 1.03423649e+02] [ 9.71212551e-01 2.38171599e-01 -4.52440972e-03 7.24143016e+01] [ 4.68203161e-03 -9.60977427e-05 9.99989035e-01 6.21180763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.43, Y:72.44, Z:0.62 [[ 2.36837291e-01 -9.71548579e-01 -1.20676416e-03 1.03430594e+02] [ 9.71538047e-01 2.36840344e-01 -4.52486154e-03 7.24409698e+01] [ 4.68193324e-03 -1.00761345e-04 9.99989035e-01 6.22180880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:72.47, Z:0.62 [[ 2.36061190e-01 -9.71737445e-01 -1.20517205e-03 1.03436613e+02] [ 9.71726914e-01 2.36064244e-01 -4.52528555e-03 7.24665263e+01] [ 4.68188744e-03 -1.02853824e-04 9.99989035e-01 6.22367645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.44, Y:72.49, Z:0.62 [[ 2.35327845e-01 -9.71915304e-01 -1.20350373e-03 1.03442502e+02] [ 9.71904772e-01 2.35330899e-01 -4.52572920e-03 7.24938187e+01] [ 4.68184708e-03 -1.04660919e-04 9.99989035e-01 6.21810889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.45, Y:72.52, Z:0.62 [[ 2.34571654e-01 -9.72098089e-01 -1.20202291e-03 1.03448673e+02] [ 9.72087558e-01 2.34574709e-01 -4.52612246e-03 7.25198629e+01] [ 4.68179917e-03 -1.06771485e-04 9.99989035e-01 6.21507485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:72.55, Z:0.62 [[ 2.33941368e-01 -9.72249966e-01 -1.20037270e-03 1.03455200e+02] [ 9.72239434e-01 2.33944423e-01 -4.52656007e-03 7.25455214e+01] [ 4.68176837e-03 -1.08100024e-04 9.99989035e-01 6.20956525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.46, Y:72.57, Z:0.62 [[ 2.33312298e-01 -9.72401118e-01 -1.19871180e-03 1.03461778e+02] [ 9.72390587e-01 2.33315351e-01 -4.52699987e-03 7.25716463e+01] [ 4.68173760e-03 -1.09411330e-04 9.99989035e-01 6.20679071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:72.60, Z:0.62 [[ 2.33135926e-01 -9.72443421e-01 -1.19707646e-03 1.03467778e+02] [ 9.72432888e-01 2.33138974e-01 -4.52743226e-03 7.25970327e+01] [ 4.68175689e-03 -1.08569406e-04 9.99989035e-01 6.19329515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.47, Y:72.62, Z:0.62 [[ 2.33117153e-01 -9.72447924e-01 -1.19536574e-03 1.03474117e+02] [ 9.72437388e-01 2.33120193e-01 -4.52788389e-03 7.26225113e+01] [ 4.68179518e-03 -1.06890942e-04 9.99989035e-01 6.18741088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.202755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:103.48, Y:72.65, Z:0.62 [[ 2.33343416e-01 -9.72393658e-01 -1.19367187e-03 1.03479756e+02] [ 9.72383119e-01 2.33346446e-01 -4.52833040e-03 7.26488455e+01] [ 4.68185884e-03 -1.04050287e-04 9.99989035e-01 6.18914904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.49, Y:72.67, Z:0.62 [[ 2.33346804e-01 -9.72392847e-01 -1.19210198e-03 1.03485509e+02] [ 9.72382306e-01 2.33349826e-01 -4.52874364e-03 7.26745154e+01] [ 4.68189471e-03 -1.02411021e-04 9.99989035e-01 6.18650427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.49, Y:72.70, Z:0.62 [[ 2.32732014e-01 -9.72540176e-01 -1.19007068e-03 1.03491260e+02] [ 9.72529634e-01 2.32735034e-01 -4.52927736e-03 7.27003940e+01] [ 4.68187534e-03 -1.03271159e-04 9.99989035e-01 6.20174987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:72.73, Z:0.62 [[ 2.31309213e-01 -9.72879563e-01 -1.18468267e-03 1.03497145e+02] [ 9.72869019e-01 2.31312223e-01 -4.53069128e-03 7.27272067e+01] [ 4.68184853e-03 -1.04550439e-04 9.99989035e-01 6.21335708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.50, Y:72.75, Z:0.62 [[ 2.29830542e-01 -9.73229952e-01 -1.17613850e-03 1.03503037e+02] [ 9.73219401e-01 2.29833529e-01 -4.53292930e-03 7.27529151e+01] [ 4.68189862e-03 -1.02835210e-04 9.99989035e-01 6.21398111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.51, Y:72.78, Z:0.62 [[ 2.28418770e-01 -9.73562254e-01 -1.18493766e-03 1.03509954e+02] [ 9.73551719e-01 2.28421812e-01 -4.53062797e-03 7.27803277e+01] [ 4.68151398e-03 -1.18717631e-04 9.99989035e-01 6.22687333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:72.81, Z:0.62 [[ 2.26531593e-01 -9.74003089e-01 -1.19197424e-03 1.03516755e+02] [ 9.73992569e-01 2.26534689e-01 -4.52879004e-03 7.28066120e+01] [ 4.68107900e-03 -1.35060030e-04 9.99989035e-01 6.22548206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.52, Y:72.83, Z:0.62 [[ 2.25879331e-01 -9.74154573e-01 -1.18169593e-03 1.03523195e+02] [ 9.74144042e-01 2.25882386e-01 -4.53147037e-03 7.28317302e+01] [ 4.68127687e-03 -1.27576552e-04 9.99989035e-01 6.22895092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:72.86, Z:0.62 [[ 2.23948229e-01 -9.74600334e-01 -1.17426172e-03 1.03528808e+02] [ 9.74589799e-01 2.23951270e-01 -4.53340507e-03 7.28589742e+01] [ 4.68123550e-03 -1.29175460e-04 9.99989035e-01 6.22731238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.53, Y:72.88, Z:0.62 [[ 2.23183915e-01 -9.74775642e-01 -1.17819616e-03 1.03534841e+02] [ 9.74765114e-01 2.23186983e-01 -4.53238231e-03 7.28847683e+01] [ 4.68101392e-03 -1.36909688e-04 9.99989035e-01 6.22797906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.54, Y:72.91, Z:0.62 [[ 2.21164405e-01 -9.75235829e-01 -1.17652820e-03 1.03540329e+02] [ 9.75225305e-01 2.21167487e-01 -4.53281524e-03 7.29120778e+01] [ 4.68077361e-03 -1.44882692e-04 9.99989035e-01 6.22859530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:72.94, Z:0.62 [[ 2.20935910e-01 -9.75287592e-01 -1.19876691e-03 1.03546094e+02] [ 9.75277100e-01 2.20939098e-01 -4.52704673e-03 7.29373569e+01] [ 4.68002698e-03 -1.68942727e-04 9.99989034e-01 6.23480247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.55, Y:72.96, Z:0.62 [[ 2.21601482e-01 -9.75136602e-01 -1.17946239e-03 1.03552180e+02] [ 9.75126081e-01 2.21604573e-01 -4.53204161e-03 7.29610500e+01] [ 4.68073391e-03 -1.45817400e-04 9.99989035e-01 6.23355601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:72.99, Z:0.62 [[ 2.20664384e-01 -9.75349113e-01 -1.15650548e-03 1.03557348e+02] [ 9.75338564e-01 2.20667378e-01 -4.53796899e-03 7.29877561e+01] [ 4.68130706e-03 -1.26616261e-04 9.99989035e-01 6.24016309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.56, Y:73.01, Z:0.62 [[ 2.20041801e-01 -9.75489750e-01 -1.16353493e-03 1.03563104e+02] [ 9.75479212e-01 2.20044835e-01 -4.53615620e-03 7.30145824e+01] [ 4.68100373e-03 -1.36860159e-04 9.99989035e-01 6.23837635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:73.04, Z:0.62 [[ 2.19124433e-01 -9.75696222e-01 -1.16814208e-03 1.03568529e+02] [ 9.75685694e-01 2.19127498e-01 -4.53496947e-03 7.30418595e+01] [ 4.68072463e-03 -1.46016906e-04 9.99989035e-01 6.23654217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.57, Y:73.07, Z:0.62 [[ 2.19025691e-01 -9.75718387e-01 -1.17345047e-03 1.03574349e+02] [ 9.75707866e-01 2.19028782e-01 -4.53360381e-03 7.30672021e+01] [ 4.68054002e-03 -1.51969153e-04 9.99989035e-01 6.23993740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.58, Y:73.09, Z:0.62 [[ 2.19213021e-01 -9.75676327e-01 -1.16441093e-03 1.03579860e+02] [ 9.75665794e-01 2.19216068e-01 -4.53592434e-03 7.30915168e+01] [ 4.68085158e-03 -1.41742235e-04 9.99989035e-01 6.23786138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:73.12, Z:0.62 [[ 2.18380202e-01 -9.75863091e-01 -1.14718333e-03 1.03585115e+02] [ 9.75852537e-01 2.18383177e-01 -4.54033536e-03 7.31173183e+01] [ 4.68127124e-03 -1.27962406e-04 9.99989035e-01 6.23388041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.59, Y:73.14, Z:0.62 [[ 2.18895260e-01 -9.75747672e-01 -1.16038895e-03 1.03590856e+02] [ 9.75737134e-01 2.18898291e-01 -4.53695785e-03 7.31416699e+01] [ 4.68093321e-03 -1.39116016e-04 9.99989035e-01 6.23334724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:73.17, Z:0.62 [[ 2.18547581e-01 -9.75825605e-01 -1.15868061e-03 1.03597246e+02] [ 9.75815066e-01 2.18550608e-01 -4.53739409e-03 7.31678148e+01] [ 4.68093569e-03 -1.39021496e-04 9.99989035e-01 6.23460267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.60, Y:73.19, Z:0.62 [[ 2.19282127e-01 -9.75660807e-01 -1.15706375e-03 1.03603382e+02] [ 9.75650263e-01 2.19285138e-01 -4.53780636e-03 7.31942106e+01] [ 4.68108670e-03 -1.33829720e-04 9.99989035e-01 6.24115405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.61, Y:73.22, Z:0.62 [[ 2.19835847e-01 -9.75536194e-01 -1.15552146e-03 1.03609561e+02] [ 9.75525646e-01 2.19838846e-01 -4.53819906e-03 7.32198605e+01] [ 4.68120594e-03 -1.29581983e-04 9.99989035e-01 6.24434120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:73.25, Z:0.62 [[ 2.20483349e-01 -9.75390055e-01 -1.15433051e-03 1.03615831e+02] [ 9.75379505e-01 2.20486335e-01 -4.53850197e-03 7.32466589e+01] [ 4.68132379e-03 -1.25246209e-04 9.99989035e-01 6.24625615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.62, Y:73.27, Z:0.62 [[ 2.21154586e-01 -9.75238084e-01 -1.15276905e-03 1.03621993e+02] [ 9.75227529e-01 2.21157557e-01 -4.53889855e-03 7.32735987e+01] [ 4.68145031e-03 -1.20413882e-04 9.99989035e-01 6.24668281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:73.30, Z:0.62 [[ 2.22551597e-01 -9.74920233e-01 -1.15121065e-03 1.03626843e+02] [ 9.74909672e-01 2.22554546e-01 -4.53929377e-03 7.33009535e+01] [ 4.68165651e-03 -1.12099323e-04 9.99989035e-01 6.24905213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.63, Y:73.33, Z:0.63 [[ 2.22863838e-01 -9.74848905e-01 -1.14960533e-03 1.03632432e+02] [ 9.74838341e-01 2.22866776e-01 -4.53970029e-03 7.33264096e+01] [ 4.68173069e-03 -1.08944327e-04 9.99989035e-01 6.25087898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:73.35, Z:0.63 [[ 2.22741880e-01 -9.74876781e-01 -1.14792474e-03 1.03638448e+02] [ 9.74866215e-01 2.22744811e-01 -4.54012521e-03 7.33526193e+01] [ 4.68175693e-03 -1.07797022e-04 9.99989035e-01 6.25400624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.64, Y:73.38, Z:0.63 [[ 2.22271073e-01 -9.74984234e-01 -1.14640919e-03 1.03644728e+02] [ 9.74973667e-01 2.22274003e-01 -4.54050787e-03 7.33791018e+01] [ 4.68174054e-03 -1.08495215e-04 9.99989035e-01 6.25626019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.65, Y:73.41, Z:0.63 [[ 2.21945220e-01 -9.75058464e-01 -1.14484016e-03 1.03651088e+02] [ 9.75047897e-01 2.21948146e-01 -4.54090344e-03 7.34052817e+01] [ 4.68174149e-03 -1.08442180e-04 9.99989035e-01 6.25570347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:73.43, Z:0.63 [[ 2.21672484e-01 -9.75120507e-01 -1.14324241e-03 1.03657235e+02] [ 9.75109938e-01 2.21675406e-01 -4.54130567e-03 7.34309161e+01] [ 4.68174901e-03 -1.08104532e-04 9.99989035e-01 6.26033484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.66, Y:73.46, Z:0.63 [[ 2.21388963e-01 -9.75184918e-01 -1.14156967e-03 1.03662610e+02] [ 9.75174348e-01 2.21391880e-01 -4.54172611e-03 7.34577538e+01] [ 4.68175706e-03 -1.07741423e-04 9.99989035e-01 6.26163741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:73.48, Z:0.63 [[ 2.20986343e-01 -9.75276236e-01 -1.13999237e-03 1.03667629e+02] [ 9.75265665e-01 2.20989257e-01 -4.54212199e-03 7.34841207e+01] [ 4.68174970e-03 -1.08048492e-04 9.99989035e-01 6.26380444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.67, Y:73.51, Z:0.63 [[ 2.21141531e-01 -9.75241058e-01 -1.14066356e-03 1.03672992e+02] [ 9.75230488e-01 2.21144447e-01 -4.54195385e-03 7.35103787e+01] [ 4.68175129e-03 -1.07995252e-04 9.99989035e-01 6.26336912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:73.54, Z:0.63 [[ 2.20766027e-01 -9.75326135e-01 -1.13624568e-03 1.03677274e+02] [ 9.75315560e-01 2.20768925e-01 -4.54305879e-03 7.35369891e+01] [ 4.68181171e-03 -1.05245060e-04 9.99989035e-01 6.26394770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.68, Y:73.56, Z:0.63 [[ 2.20175856e-01 -9.75459535e-01 -1.13468765e-03 1.03682312e+02] [ 9.75448960e-01 2.20178754e-01 -4.54344789e-03 7.35628983e+01] [ 4.68178368e-03 -1.06472361e-04 9.99989035e-01 6.27076929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:73.59, Z:0.63 [[ 2.19239971e-01 -9.75670309e-01 -1.13305666e-03 1.03687488e+02] [ 9.75659734e-01 2.19242872e-01 -4.54385460e-03 7.35891720e+01] [ 4.68171861e-03 -1.09283203e-04 9.99989035e-01 6.27400526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.69, Y:73.61, Z:0.63 [[ 2.18270755e-01 -9.75887595e-01 -1.13151719e-03 1.03692010e+02] [ 9.75877021e-01 2.18273659e-01 -4.54423792e-03 7.36142060e+01] [ 4.68164581e-03 -1.12347384e-04 9.99989035e-01 6.27643158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.70, Y:73.64, Z:0.63 [[ 2.17766788e-01 -9.76000192e-01 -1.11839051e-03 1.03697687e+02] [ 9.75989603e-01 2.17769636e-01 -4.54750050e-03 7.36382753e+01] [ 4.68191286e-03 -1.01242935e-04 9.99989035e-01 6.27633090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:73.67, Z:0.63 [[ 2.14653118e-01 -9.76689718e-01 -1.11040939e-03 1.03705692e+02] [ 9.76679128e-01 2.14655962e-01 -4.54948664e-03 7.36716136e+01] [ 4.68179282e-03 -1.07952188e-04 9.99989035e-01 6.25716866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:73.69, Z:0.62 [[ 2.13935376e-01 -9.76847082e-01 -1.19675621e-03 1.03709359e+02] [ 9.76836609e-01 2.13938630e-01 -4.52788467e-03 7.36913364e+01] [ 4.67908332e-03 -2.00360569e-04 9.99989033e-01 6.24731332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.71, Y:73.72, Z:0.63 [[ 2.11519339e-01 -9.77373178e-01 -1.11378573e-03 1.03714642e+02] [ 9.77362602e-01 2.11522234e-01 -4.54851860e-03 7.37195915e+01] [ 4.68119052e-03 -1.26472876e-04 9.99989035e-01 6.25109301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:73.75, Z:0.62 [[ 2.09572247e-01 -9.77792513e-01 -1.12902400e-03 1.03718561e+02] [ 9.77781963e-01 2.09575234e-01 -4.54473304e-03 7.37465394e+01] [ 4.68042140e-03 -1.51489385e-04 9.99989035e-01 6.24486878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.72, Y:73.78, Z:0.62 [[ 2.07356447e-01 -9.78264807e-01 -1.12743629e-03 1.03723581e+02] [ 9.78254262e-01 2.07359450e-01 -4.54512687e-03 7.37756592e+01] [ 4.68012223e-03 -1.60457996e-04 9.99989035e-01 6.24409694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:73.80, Z:0.62 [[ 2.07181265e-01 -9.78301877e-01 -1.16622225e-03 1.03729619e+02] [ 9.78291384e-01 2.07184450e-01 -4.53553057e-03 7.38000738e+01] [ 4.67874119e-03 -2.01228222e-04 9.99989034e-01 6.24922674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.73, Y:73.83, Z:0.63 [[ 2.05976902e-01 -9.78556211e-01 -1.12175507e-03 1.03734539e+02] [ 9.78545662e-01 2.05979894e-01 -4.54650193e-03 7.38258177e+01] [ 4.68006669e-03 -1.61214176e-04 9.99989035e-01 6.26583505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.74, Y:73.86, Z:0.63 [[ 2.07728495e-01 -9.78185880e-01 -1.12048753e-03 1.03743717e+02] [ 9.78175325e-01 2.07731462e-01 -4.54681429e-03 7.38569927e+01] [ 4.68039006e-03 -1.51530360e-04 9.99989035e-01 6.27036934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:73.88, Z:0.63 [[ 2.06649811e-01 -9.78414273e-01 -1.16839760e-03 1.03748008e+02] [ 9.78403785e-01 2.06653011e-01 -4.53502423e-03 7.38846275e+01] [ 4.67858532e-03 -2.06002730e-04 9.99989034e-01 6.27382778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:73.91, Z:0.63 [[ 2.05516977e-01 -9.78652871e-01 -1.15371654e-03 1.03748956e+02] [ 9.78642366e-01 2.05520121e-01 -4.53863092e-03 7.39099716e+01] [ 4.67885614e-03 -1.96310177e-04 9.99989035e-01 6.26444955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.75, Y:73.94, Z:0.63 [[ 2.05644606e-01 -9.78626105e-01 -1.11466058e-03 1.03754360e+02] [ 9.78615548e-01 2.05647568e-01 -4.54820265e-03 7.39367886e+01] [ 4.68021708e-03 -1.55510831e-04 9.99989036e-01 6.26329730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:73.96, Z:0.63 [[ 2.06324575e-01 -9.78482974e-01 -1.11306884e-03 1.03759757e+02] [ 9.78472414e-01 2.06327522e-01 -4.54859216e-03 7.39622370e+01] [ 4.68037672e-03 -1.50620812e-04 9.99989036e-01 6.26828946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.76, Y:73.99, Z:0.63 [[ 2.04327807e-01 -9.78901891e-01 -1.11139936e-03 1.03762288e+02] [ 9.78891334e-01 2.04330768e-01 -4.54900004e-03 7.39880393e+01] [ 4.68011783e-03 -1.58452003e-04 9.99989036e-01 6.25605876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.77, Y:74.02, Z:0.63 [[ 2.07058212e-01 -9.78328039e-01 -1.07003724e-03 1.03771112e+02] [ 9.78317421e-01 2.07060952e-01 -4.55908443e-03 7.40172586e+01] [ 4.68184306e-03 -1.02840198e-04 9.99989035e-01 6.27259636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:74.04, Z:0.63 [[ 2.09374551e-01 -9.77834887e-01 -1.10977307e-03 1.03775609e+02] [ 9.77824313e-01 2.09377450e-01 -4.54939132e-03 7.40415355e+01] [ 4.68091500e-03 -1.32636324e-04 9.99989036e-01 6.27814488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:74.07, Z:0.63 [[ 2.06823910e-01 -9.78377597e-01 -1.07176417e-03 1.03781446e+02] [ 9.78366982e-01 2.06826660e-01 -4.55865465e-03 7.40707307e+01] [ 4.68175498e-03 -1.05739894e-04 9.99989035e-01 6.27410314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.78, Y:74.09, Z:0.62 [[ 2.02959378e-01 -9.79186531e-01 -1.10826820e-03 1.03782482e+02] [ 9.79175974e-01 2.02962339e-01 -4.54976270e-03 7.40940271e+01] [ 4.68000307e-03 -1.61772590e-04 9.99989036e-01 6.23893499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.79, Y:74.12, Z:0.63 [[ 2.03702265e-01 -9.79032317e-01 -1.05338090e-03 1.03793878e+02] [ 9.79021688e-01 2.03704964e-01 -4.56311098e-03 7.41231675e+01] [ 4.68201203e-03 -1.01766702e-04 9.99989034e-01 6.28040156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.80, Y:74.15, Z:0.63 [[ 2.02287366e-01 -9.79325582e-01 -1.10724989e-03 1.03799916e+02] [ 9.79315026e-01 2.02290330e-01 -4.55000189e-03 7.41486487e+01] [ 4.67991919e-03 -1.63938559e-04 9.99989036e-01 6.28160640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:74.17, Z:0.63 [[ 1.99885738e-01 -9.79818590e-01 -1.10554875e-03 1.03805831e+02] [ 9.79808039e-01 1.99888719e-01 -4.55041519e-03 7.41749112e+01] [ 4.67956812e-03 -1.73662460e-04 9.99989036e-01 6.28272783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.81, Y:74.20, Z:0.62 [[ 1.96118357e-01 -9.80579610e-01 -1.10392879e-03 1.03807194e+02] [ 9.80569068e-01 1.96121371e-01 -4.55080816e-03 7.41985933e+01] [ 4.67893372e-03 -1.89981405e-04 9.99989036e-01 6.23746942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:74.23, Z:0.62 [[ 1.96734645e-01 -9.80456211e-01 -1.04733531e-03 1.03815862e+02] [ 9.80445595e-01 1.96737391e-01 -4.56450232e-03 7.42261207e+01] [ 4.68134467e-03 -1.28859550e-04 9.99989034e-01 6.23496039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.82, Y:74.25, Z:0.62 [[ 1.96436633e-01 -9.80515946e-01 -1.06272445e-03 1.03821861e+02] [ 9.80505350e-01 1.96439453e-01 -4.56078277e-03 7.42528336e+01] [ 4.68068124e-03 -1.46102200e-04 9.99989035e-01 6.23948017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.83, Y:74.28, Z:0.63 [[ 1.98476450e-01 -9.80105078e-01 -1.06541156e-03 1.03830520e+02] [ 9.80094479e-01 1.98479260e-01 -4.56013216e-03 7.42817721e+01] [ 4.68087078e-03 -1.39125150e-04 9.99989035e-01 6.27088773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:74.31, Z:0.63 [[ 2.00629938e-01 -9.79666495e-01 -1.08894178e-03 1.03838054e+02] [ 9.79655921e-01 2.00632835e-01 -4.55443488e-03 7.43085731e+01] [ 4.68030473e-03 -1.53032274e-04 9.99989036e-01 6.29314988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.84, Y:74.33, Z:0.63 [[ 2.02738266e-01 -9.79232343e-01 -1.10147134e-03 1.03843526e+02] [ 9.79221778e-01 2.02741198e-01 -4.55140263e-03 7.43318731e+01] [ 4.68019429e-03 -1.55841247e-04 9.99989036e-01 6.29185970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.85, Y:74.36, Z:0.63 [[ 2.04109322e-01 -9.78947502e-01 -1.08343870e-03 1.03847560e+02] [ 9.78936910e-01 2.04112156e-01 -4.55576450e-03 7.43586581e+01] [ 4.68099728e-03 -1.30744129e-04 9.99989036e-01 6.26987262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:74.39, Z:0.63 [[ 2.07749923e-01 -9.78181381e-01 -1.07474866e-03 1.03856328e+02] [ 9.78170768e-01 2.07752676e-01 -4.55786976e-03 7.43878062e+01] [ 4.68170525e-03 -1.04390634e-04 9.99989035e-01 6.26080324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.86, Y:74.41, Z:0.63 [[ 2.11282270e-01 -9.77424465e-01 -1.10321940e-03 1.03862965e+02] [ 9.77413877e-01 2.11285118e-01 -4.55097108e-03 7.44127973e+01] [ 4.68132432e-03 -1.16762452e-04 9.99989036e-01 6.29130089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.87, Y:74.44, Z:0.63 [[ 2.11397027e-01 -9.77399676e-01 -1.08196505e-03 1.03869295e+02] [ 9.77389061e-01 2.11399775e-01 -4.55610084e-03 7.44408220e+01] [ 4.68185865e-03 -9.43546348e-05 9.99989036e-01 6.28901213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:74.47, Z:0.63 [[ 2.12131132e-01 -9.77240594e-01 -1.09753711e-03 1.03875702e+02] [ 9.77229996e-01 2.12133945e-01 -4.55234653e-03 7.44673034e+01] [ 4.68156270e-03 -1.06851760e-04 9.99989036e-01 6.28550718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.88, Y:74.49, Z:0.63 [[ 2.11572514e-01 -9.77361689e-01 -1.09593102e-03 1.03880217e+02] [ 9.77351091e-01 2.11575325e-01 -4.55273315e-03 7.44927134e+01] [ 4.68153892e-03 -1.07876176e-04 9.99989036e-01 6.25521066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:74.52, Z:0.63 [[ 2.11371523e-01 -9.77405198e-01 -1.07585960e-03 1.03886961e+02] [ 9.77394577e-01 2.11374242e-01 -4.55755590e-03 7.45187747e+01] [ 4.68198784e-03 -8.82018054e-05 9.99989036e-01 6.25262082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.89, Y:74.55, Z:0.63 [[ 2.11246770e-01 -9.77432171e-01 -1.07363360e-03 1.03894832e+02] [ 9.77421547e-01 2.11249481e-01 -4.55808928e-03 7.45454359e+01] [ 4.68202764e-03 -8.65109755e-05 9.99989036e-01 6.26693287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.90, Y:74.57, Z:0.63 [[ 2.10850952e-01 -9.77517615e-01 -1.08999285e-03 1.03901744e+02] [ 9.77507012e-01 2.10853743e-01 -4.55417387e-03 7.45716244e+01] [ 4.68161425e-03 -1.05223758e-04 9.99989036e-01 6.28141865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.91, Y:74.60, Z:0.63 [[ 2.11283369e-01 -9.77424244e-01 -1.08822636e-03 1.03913407e+02] [ 9.77413638e-01 2.11286148e-01 -4.55459593e-03 7.46015527e+01] [ 4.68169964e-03 -1.01336911e-04 9.99989036e-01 6.26629853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.452755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.92, Y:74.63, Z:0.63 [[ 2.07725179e-01 -9.78186566e-01 -1.13684654e-03 1.03920277e+02] [ 9.78176031e-01 2.07728222e-01 -4.54302104e-03 7.46254832e+01] [ 4.68007726e-03 -1.68336175e-04 9.99989034e-01 6.31248237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.92, Y:74.65, Z:0.63 [[ 2.03612573e-01 -9.79050944e-01 -1.08117516e-03 1.03923855e+02] [ 9.79040351e-01 2.03615401e-01 -4.55623164e-03 7.46537464e+01] [ 4.68092680e-03 -1.30808065e-04 9.99989036e-01 6.29644951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.93, Y:74.68, Z:0.63 [[ 2.01886613e-01 -9.79408303e-01 -1.08250762e-03 1.03930549e+02] [ 9.79397716e-01 2.01889467e-01 -4.55591562e-03 7.46799632e+01] [ 4.68064847e-03 -1.40427117e-04 9.99989036e-01 6.29714797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.94, Y:74.71, Z:0.63 [[ 2.00150325e-01 -9.79764607e-01 -1.07852641e-03 1.03937532e+02] [ 9.79754020e-01 2.00153179e-01 -4.55685860e-03 7.47059104e+01] [ 4.68051927e-03 -1.44633854e-04 9.99989036e-01 6.30270849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.95, Y:74.73, Z:0.63 [[ 1.98617005e-01 -9.80076592e-01 -1.07625940e-03 1.03947272e+02] [ 9.80066008e-01 1.98619865e-01 -4.55739473e-03 7.47331604e+01] [ 4.68036240e-03 -1.49629156e-04 9.99989036e-01 6.32302890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.602755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.95, Y:74.76, Z:0.63 [[ 1.97613425e-01 -9.80279421e-01 -1.09092350e-03 1.03954581e+02] [ 9.80268858e-01 1.97616364e-01 -4.55392962e-03 7.47593756e+01] [ 4.67970783e-03 -1.69480701e-04 9.99989036e-01 6.33410839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.632755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:103.96, Y:74.78, Z:0.63 [[ 1.96368722e-01 -9.80529506e-01 -1.10180893e-03 1.03959940e+02] [ 9.80518960e-01 1.96371724e-01 -4.55137054e-03 7.47841926e+01] [ 4.67911722e-03 -1.86597738e-04 9.99989035e-01 6.33605772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:74.81, Z:0.63 [[ 1.96909082e-01 -9.80421170e-01 -1.06862589e-03 1.03966130e+02] [ 9.80410581e-01 1.96911925e-01 -4.55914836e-03 7.48107293e+01] [ 4.68031076e-03 -1.49954412e-04 9.99989036e-01 6.34881003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.97, Y:74.83, Z:0.63 [[ 1.98628103e-01 -9.80074340e-01 -1.07955245e-03 1.03972333e+02] [ 9.80063759e-01 1.98630978e-01 -4.55658884e-03 7.48349999e+01] [ 4.68022836e-03 -1.52963633e-04 9.99989036e-01 6.34225452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.98, Y:74.86, Z:0.63 [[ 2.01615740e-01 -9.79464117e-01 -1.06611407e-03 1.03979813e+02] [ 9.79453512e-01 2.01618520e-01 -4.55973088e-03 7.48595296e+01] [ 4.68104112e-03 -1.24895651e-04 9.99989036e-01 6.33646946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:103.99, Y:74.89, Z:0.63 [[ 2.01257160e-01 -9.79537862e-01 -1.06435077e-03 1.03985669e+02] [ 9.79527255e-01 2.01259936e-01 -4.56014244e-03 7.48857957e+01] [ 4.68104334e-03 -1.24799267e-04 9.99989036e-01 6.33772485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:103.99, Y:74.91, Z:0.63 [[ 2.02999965e-01 -9.79178168e-01 -1.06268121e-03 1.03994342e+02] [ 9.79167554e-01 2.03002714e-01 -4.56053148e-03 7.49143988e+01] [ 4.68130003e-03 -1.14755231e-04 9.99989036e-01 6.29882084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.00, Y:74.94, Z:0.63 [[ 2.08045470e-01 -9.78118541e-01 -1.09638060e-03 1.04004310e+02] [ 9.78107954e-01 2.08048322e-01 -4.55270511e-03 7.49385309e+01] [ 4.68118542e-03 -1.25208911e-04 9.99989035e-01 6.30845369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.01, Y:74.97, Z:0.63 [[ 2.07770138e-01 -9.78177107e-01 -1.05675579e-03 1.04010626e+02] [ 9.78166473e-01 2.07772807e-01 -4.56188416e-03 7.49681454e+01] [ 4.68189577e-03 -8.58597819e-05 9.99989036e-01 6.30329884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.02, Y:74.99, Z:0.63 [[ 2.07214927e-01 -9.78294829e-01 -1.09652586e-03 1.04015088e+02] [ 9.78284244e-01 2.07217788e-01 -4.55264818e-03 7.49932040e+01] [ 4.68105183e-03 -1.29337313e-04 9.99989035e-01 6.32853177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:104.02, Y:75.02, Z:0.63 [[ 2.08500857e-01 -9.78021614e-01 -1.05622027e-03 1.04024170e+02] [ 9.78010977e-01 2.08503516e-01 -4.56198001e-03 7.50227982e+01] [ 4.68194069e-03 -8.18182775e-05 9.99989036e-01 6.29658450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.03, Y:75.05, Z:0.63 [[ 2.10964884e-01 -9.77493030e-01 -1.09263891e-03 1.04033128e+02] [ 9.77482430e-01 2.10967686e-01 -4.55355443e-03 7.50485415e+01] [ 4.68157922e-03 -1.07395250e-04 9.99989036e-01 6.31903015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.04, Y:75.07, Z:0.64 [[ 2.10540642e-01 -9.77584510e-01 -1.07904548e-03 1.04040858e+02] [ 9.77573895e-01 2.10543385e-01 -4.55669431e-03 7.50744827e+01] [ 4.68173967e-03 -9.54773490e-05 9.99989036e-01 6.35213025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.05, Y:75.10, Z:0.63 [[ 2.10523172e-01 -9.77588302e-01 -1.05155698e-03 1.04049860e+02] [ 9.77577655e-01 2.10525787e-01 -4.56302908e-03 7.51042458e+01] [ 4.68214371e-03 -6.73552535e-05 9.99989036e-01 6.32750511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.06, Y:75.13, Z:0.64 [[ 2.09777365e-01 -9.77748533e-01 -1.12437264e-03 1.04056367e+02] [ 9.77737975e-01 2.09780327e-01 -4.54605436e-03 7.51251935e+01] [ 4.68076924e-03 -1.45682528e-04 9.99989035e-01 6.36969919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.07, Y:75.15, Z:0.64 [[ 2.12707233e-01 -9.77115394e-01 -1.06721728e-03 1.04067090e+02] [ 9.77104760e-01 2.12709898e-01 -4.55932772e-03 7.51501080e+01] [ 4.68199698e-03 -7.29810998e-05 9.99989037e-01 6.36610582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:75.18, Z:0.64 [[ 2.11063839e-01 -9.77471707e-01 -1.05706062e-03 1.04076250e+02] [ 9.77461066e-01 2.11066474e-01 -4.56168128e-03 7.51759804e+01] [ 4.68202445e-03 -7.04296384e-05 9.99989037e-01 6.37371096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.08, Y:75.20, Z:0.64 [[ 2.07915597e-01 -9.78146201e-01 -1.05549986e-03 1.04079711e+02] [ 9.78135566e-01 2.07918259e-01 -4.56204239e-03 7.52014818e+01] [ 4.68180212e-03 -8.39021878e-05 9.99989037e-01 6.37907020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.09, Y:75.23, Z:0.64 [[ 2.06383355e-01 -9.78470662e-01 -1.03696105e-03 1.04086393e+02] [ 9.78460009e-01 2.06385948e-01 -4.56631971e-03 7.52268637e+01] [ 4.68202406e-03 -7.22125379e-05 9.99989037e-01 6.38786176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:75.25, Z:0.64 [[ 2.08229535e-01 -9.78079425e-01 -1.04854365e-03 1.04097431e+02] [ 9.78068781e-01 2.08232162e-01 -4.56364995e-03 7.52521093e+01] [ 4.68195262e-03 -7.52610973e-05 9.99989037e-01 6.38309662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.10, Y:75.28, Z:0.64 [[ 2.05995478e-01 -9.78552380e-01 -1.04964015e-03 1.04099301e+02] [ 9.78541744e-01 2.05998134e-01 -4.56339774e-03 7.52779142e+01] [ 4.68174763e-03 -8.70774021e-05 9.99989037e-01 6.41106491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.232755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:104.11, Y:75.30, Z:0.64 [[ 2.06443408e-01 -9.78457996e-01 -1.03420602e-03 1.04105048e+02] [ 9.78447340e-01 2.06445987e-01 -4.56693800e-03 7.53024499e+01] [ 4.68206469e-03 -6.91018852e-05 9.99989037e-01 6.37128702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.11, Y:75.33, Z:0.64 [[ 2.08420166e-01 -9.78038850e-01 -1.02064198e-03 1.04113358e+02] [ 9.78028174e-01 2.08422660e-01 -4.57004773e-03 7.53293980e+01] [ 4.68240915e-03 -4.57265051e-05 9.99989036e-01 6.40213312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:75.36, Z:0.64 [[ 2.09174374e-01 -9.77877798e-01 -1.04556369e-03 1.04120309e+02] [ 9.77867148e-01 2.09176977e-01 -4.56433886e-03 7.53599018e+01] [ 4.68207349e-03 -6.76796608e-05 9.99989037e-01 6.38179642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.12, Y:75.39, Z:0.64 [[ 2.09721126e-01 -9.77760630e-01 -1.09531600e-03 1.04124144e+02] [ 9.77750037e-01 2.09723954e-01 -4.55294382e-03 7.53857091e+01] [ 4.68140322e-03 -1.16096754e-04 9.99989035e-01 6.38494887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:75.41, Z:0.64 [[ 2.09159010e-01 -9.77881037e-01 -1.08905702e-03 1.04126231e+02] [ 9.77870438e-01 2.09161815e-01 -4.55438031e-03 7.54089365e+01] [ 4.68143128e-03 -1.12366988e-04 9.99989036e-01 6.39751180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.13, Y:75.43, Z:0.64 [[ 2.10957128e-01 -9.77494760e-01 -1.04160824e-03 1.04130634e+02] [ 9.77484101e-01 2.10959692e-01 -4.56523370e-03 7.54338106e+01] [ 4.68222937e-03 -5.50869007e-05 9.99989037e-01 6.38787161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:75.46, Z:0.64 [[ 2.10976347e-01 -9.77490635e-01 -1.01969599e-03 1.04135398e+02] [ 9.77479951e-01 2.10978809e-01 -4.57023678e-03 7.54611158e+01] [ 4.68249790e-03 -3.25205244e-05 9.99989037e-01 6.38617975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.14, Y:75.49, Z:0.63 [[ 2.10310450e-01 -9.77634107e-01 -1.03315850e-03 1.04143415e+02] [ 9.77623440e-01 2.10312982e-01 -4.56716144e-03 7.54927017e+01] [ 4.68229944e-03 -4.95181892e-05 9.99989037e-01 6.34176301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.15, Y:75.52, Z:0.63 [[ 2.07574839e-01 -9.78218520e-01 -1.10164459e-03 1.04148082e+02] [ 9.78207940e-01 2.07577720e-01 -4.55160739e-03 7.55178908e+01] [ 4.68114351e-03 -1.32838317e-04 9.99989035e-01 6.33292748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.15, Y:75.54, Z:0.64 [[ 2.02347808e-01 -9.79313123e-01 -1.08257027e-03 1.04150553e+02] [ 9.79302535e-01 2.02350656e-01 -4.55593051e-03 7.55420075e+01] [ 4.68074134e-03 -1.38281264e-04 9.99989036e-01 6.36489228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:75.57, Z:0.64 [[ 2.01098550e-01 -9.79570471e-01 -1.03227274e-03 1.04155519e+02] [ 9.79559828e-01 2.01101178e-01 -4.56729845e-03 7.55665528e+01] [ 4.68158196e-03 -9.26958102e-05 9.99989037e-01 6.36890212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.16, Y:75.59, Z:0.64 [[ 1.98884002e-01 -9.80022508e-01 -1.01886781e-03 1.04160472e+02] [ 9.80011855e-01 1.98886592e-01 -4.57032317e-03 7.55940686e+01] [ 4.68165872e-03 -8.95383728e-05 9.99989037e-01 6.38603989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:75.62, Z:0.64 [[ 1.96748858e-01 -9.80453379e-01 -1.02900467e-03 1.04165159e+02] [ 9.80442744e-01 1.96751518e-01 -4.56803972e-03 7.56201885e+01] [ 4.68120821e-03 -1.10123561e-04 9.99989037e-01 6.39227054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.17, Y:75.65, Z:0.64 [[ 1.95715999e-01 -9.80660080e-01 -1.02727707e-03 1.04170795e+02] [ 9.80649445e-01 1.95718662e-01 -4.56842819e-03 7.56472186e+01] [ 4.68113245e-03 -1.13284205e-04 9.99989037e-01 6.38905180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.18, Y:75.67, Z:0.64 [[ 1.94627506e-01 -9.80876691e-01 -1.02564232e-03 1.04176821e+02] [ 9.80866057e-01 1.94630173e-01 -4.56879518e-03 7.56739389e+01] [ 4.68104564e-03 -1.16804528e-04 9.99989037e-01 6.39021445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:75.70, Z:0.64 [[ 1.95758549e-01 -9.80651591e-01 -1.02398937e-03 1.04188014e+02] [ 9.80640952e-01 1.95761196e-01 -4.56916562e-03 7.57041382e+01] [ 4.68121691e-03 -1.09712681e-04 9.99989037e-01 6.37792001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:75.73, Z:0.64 [[ 1.92625691e-01 -9.81271716e-01 -1.07790807e-03 1.04189434e+02] [ 9.81261151e-01 1.92628623e-01 -4.55708542e-03 7.57274013e+01] [ 4.67937498e-03 -1.79897586e-04 9.99989035e-01 6.39431163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.19, Y:75.75, Z:0.64 [[ 1.92487008e-01 -9.81298991e-01 -1.02035000e-03 1.04194996e+02] [ 9.81288358e-01 1.92489674e-01 -4.56993667e-03 7.57541628e+01] [ 4.68088109e-03 -1.21604141e-04 9.99989037e-01 6.39009380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.20, Y:75.78, Z:0.64 [[ 1.92520587e-01 -9.81292406e-01 -1.01870973e-03 1.04200507e+02] [ 9.81281770e-01 1.92523245e-01 -4.57030229e-03 7.57800857e+01] [ 4.68092823e-03 -1.19764007e-04 9.99989037e-01 6.38624966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.21, Y:75.81, Z:0.64 [[ 1.92109420e-01 -9.81372985e-01 -1.01744327e-03 1.04206564e+02] [ 9.81362349e-01 1.92112076e-01 -4.57058421e-03 7.58071353e+01] [ 4.68091101e-03 -1.20428235e-04 9.99989037e-01 6.39125071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:75.84, Z:0.64 [[ 1.93021915e-01 -9.81193920e-01 -1.01581859e-03 1.04216186e+02] [ 9.81183280e-01 1.93024554e-01 -4.57094527e-03 7.58360178e+01] [ 4.68106164e-03 -1.14411603e-04 9.99989037e-01 6.38506589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.22, Y:75.86, Z:0.64 [[ 1.91913380e-01 -9.81411309e-01 -1.04754988e-03 1.04220735e+02] [ 9.81400709e-01 1.91916179e-01 -4.56389646e-03 7.58600025e+01] [ 4.68010137e-03 -1.52193396e-04 9.99989037e-01 6.41017889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:75.89, Z:0.64 [[ 1.91671505e-01 -9.81458613e-01 -1.01251215e-03 1.04227404e+02] [ 9.81447973e-01 1.91674143e-01 -4.57165648e-03 7.58861808e+01] [ 4.68096402e-03 -1.17471725e-04 9.99989037e-01 6.41584932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.23, Y:75.91, Z:0.64 [[ 1.91983428e-01 -9.81397647e-01 -1.01087523e-03 1.04234815e+02] [ 9.81387004e-01 1.91986055e-01 -4.57201840e-03 7.59131369e+01] [ 4.68104205e-03 -1.14308051e-04 9.99989037e-01 6.39828511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.24, Y:75.94, Z:0.64 [[ 1.91282734e-01 -9.81534435e-01 -1.03365996e-03 1.04240390e+02] [ 9.81523820e-01 1.91285475e-01 -4.56698588e-03 7.59384734e+01] [ 4.68037804e-03 -1.40976332e-04 9.99989037e-01 6.41573248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:75.97, Z:0.64 [[ 1.90157726e-01 -9.81753036e-01 -1.00748221e-03 1.04246815e+02] [ 9.81742394e-01 1.90160358e-01 -4.57275344e-03 7.59659513e+01] [ 4.68089775e-03 -1.19543597e-04 9.99989037e-01 6.38654798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.25, Y:75.99, Z:0.64 [[ 1.90692689e-01 -9.81649260e-01 -1.01465071e-03 1.04254845e+02] [ 9.81638624e-01 1.90695348e-01 -4.57117680e-03 7.59930470e+01] [ 4.68078149e-03 -1.24330335e-04 9.99989037e-01 6.39464142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.26, Y:76.02, Z:0.64 [[ 1.89185776e-01 -9.81940774e-01 -1.02871439e-03 1.04259497e+02] [ 9.81930159e-01 1.89188517e-01 -4.56808734e-03 7.60182488e+01] [ 4.68021217e-03 -1.45908533e-04 9.99989037e-01 6.42605564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:76.04, Z:0.64 [[ 1.89489540e-01 -9.81882219e-01 -1.01058823e-03 1.04266469e+02] [ 9.81871583e-01 1.89492193e-01 -4.57206152e-03 7.60446304e+01] [ 4.68072449e-03 -1.25910026e-04 9.99989037e-01 6.42616996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.27, Y:76.07, Z:0.64 [[ 1.90689980e-01 -9.81649800e-01 -1.00097309e-03 1.04270744e+02] [ 9.81639149e-01 1.90692576e-01 -4.57416562e-03 7.60720218e+01] [ 4.68110690e-03 -1.10346820e-04 9.99989037e-01 6.43833400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.132755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:104.28, Y:76.10, Z:0.64 [[ 1.95307322e-01 -9.80741575e-01 -1.00640100e-03 1.04280798e+02] [ 9.80730918e-01 1.95309892e-01 -4.57297990e-03 7.61013759e+01] [ 4.68147158e-03 -9.38721186e-05 9.99989037e-01 6.38870217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:76.13, Z:0.64 [[ 1.96863645e-01 -9.80430311e-01 -1.05354835e-03 1.04285836e+02] [ 9.80419704e-01 1.96866418e-01 -4.56268075e-03 7.61265450e+01] [ 4.68079879e-03 -1.34693601e-04 9.99989036e-01 6.40438934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:76.15, Z:0.64 [[ 1.96078830e-01 -9.80587575e-01 -1.04859520e-03 1.04287337e+02] [ 9.80576964e-01 1.96081589e-01 -4.56376406e-03 7.61498173e+01] [ 4.68078055e-03 -1.33370780e-04 9.99989036e-01 6.41331789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.29, Y:76.18, Z:0.64 [[ 1.98470626e-01 -9.80106329e-01 -9.97048021e-04 1.04291375e+02] [ 9.80095654e-01 1.98473118e-01 -4.57500020e-03 7.61764207e+01] [ 4.68187389e-03 -6.91992785e-05 9.99989038e-01 6.43007914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.30, Y:76.20, Z:0.64 [[ 2.00481108e-01 -9.79697047e-01 -1.01065582e-03 1.04296923e+02] [ 9.79686381e-01 2.00483642e-01 -4.57203676e-03 7.62008224e+01] [ 4.68183087e-03 -7.35187479e-05 9.99989037e-01 6.42207482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:76.23, Z:0.64 [[ 2.05011493e-01 -9.78759061e-01 -9.93978262e-04 1.04306049e+02] [ 9.78748366e-01 2.05013900e-01 -4.57565965e-03 7.62338368e+01] [ 4.68224770e-03 -3.47917814e-05 9.99989038e-01 6.41112252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:76.26, Z:0.64 [[ 2.01742225e-01 -9.79438066e-01 -1.07246347e-03 1.04305590e+02] [ 9.79427466e-01 2.01745033e-01 -4.55859319e-03 7.62567987e+01] [ 4.68122388e-03 -1.30739451e-04 9.99989034e-01 6.42514214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.31, Y:76.28, Z:0.64 [[ 2.00976702e-01 -9.79595520e-01 -9.90903731e-04 1.04310599e+02] [ 9.79584832e-01 2.00979138e-01 -4.57625348e-03 7.62821867e+01] [ 4.68202838e-03 -5.09539358e-05 9.99989038e-01 6.42752727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:76.31, Z:0.64 [[ 1.99552238e-01 -9.79886690e-01 -9.89160148e-04 1.04316424e+02] [ 9.79876004e-01 1.99554682e-01 -4.57663032e-03 7.63083777e+01] [ 4.68197068e-03 -5.59774706e-05 9.99989038e-01 6.43429438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.32, Y:76.33, Z:0.64 [[ 1.96355583e-01 -9.80532258e-01 -9.87506818e-04 1.04321743e+02] [ 9.80521578e-01 1.96358054e-01 -4.57698704e-03 7.63337811e+01] [ 4.68178835e-03 -6.95547848e-05 9.99989038e-01 6.44741959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:76.36, Z:0.65 [[ 1.94460046e-01 -9.80909944e-01 -9.85807339e-04 1.04327230e+02] [ 9.80899267e-01 1.94462529e-01 -4.57735305e-03 7.63605952e+01] [ 4.68167371e-03 -7.68654133e-05 9.99989038e-01 6.45265841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.33, Y:76.39, Z:0.65 [[ 1.91324675e-01 -9.81526312e-01 -9.84187588e-04 1.04333026e+02] [ 9.81515641e-01 1.91327185e-01 -4.57770129e-03 7.63863098e+01] [ 4.68143610e-03 -9.01683012e-05 9.99989038e-01 6.45746266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:76.42, Z:0.65 [[ 1.88390160e-01 -9.82093774e-01 -9.82937973e-04 1.04338173e+02] [ 9.82083110e-01 1.88392696e-01 -4.57796959e-03 7.64152376e+01] [ 4.68117377e-03 -1.02882357e-04 9.99989038e-01 6.47042384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.34, Y:76.44, Z:0.65 [[ 1.87736355e-01 -9.82218936e-01 -1.01110624e-03 1.04342931e+02] [ 9.82208305e-01 1.87739030e-01 -4.57193014e-03 7.64388422e+01] [ 4.68046046e-03 -1.34799446e-04 9.99989038e-01 6.46707454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:76.46, Z:0.65 [[ 1.83594342e-01 -9.83001613e-01 -9.72454953e-04 1.04347603e+02] [ 9.82990950e-01 1.83596882e-01 -4.58018958e-03 7.64648858e+01] [ 4.68087344e-03 -1.15017524e-04 9.99989038e-01 6.46746352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.35, Y:76.49, Z:0.65 [[ 1.80310853e-01 -9.83609192e-01 -9.77052831e-04 1.04352934e+02] [ 9.83598541e-01 1.80313450e-01 -4.57920854e-03 7.64911430e+01] [ 4.68032738e-03 -1.35346740e-04 9.99989038e-01 6.46538228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:76.52, Z:0.65 [[ 1.79968566e-01 -9.83671878e-01 -9.75458760e-04 1.04358511e+02] [ 9.83661227e-01 1.79971159e-01 -4.57954808e-03 7.65183235e+01] [ 4.68032711e-03 -1.35346258e-04 9.99989038e-01 6.46667687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.36, Y:76.54, Z:0.65 [[ 1.78350124e-01 -9.83966608e-01 -9.73865035e-04 1.04363637e+02] [ 9.83955959e-01 1.78352727e-01 -4.57988697e-03 7.65448459e+01] [ 4.68014733e-03 -1.41416895e-04 9.99989038e-01 6.46446509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:76.57, Z:0.65 [[ 1.75297795e-01 -9.84514976e-01 -9.72241951e-04 1.04367939e+02] [ 9.84504334e-01 1.75300423e-01 -4.58023150e-03 7.65704792e+01] [ 4.67974093e-03 -1.54271933e-04 9.99989038e-01 6.46003916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.37, Y:76.60, Z:0.65 [[ 1.73078325e-01 -9.84907582e-01 -9.73628359e-04 1.04372376e+02] [ 9.84896948e-01 1.73080984e-01 -4.57993784e-03 7.65961691e+01] [ 4.67933206e-03 -1.66235627e-04 9.99989038e-01 6.45427185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:76.62, Z:0.65 [[ 1.73426196e-01 -9.84846376e-01 -9.85037182e-04 1.04377190e+02] [ 9.84835754e-01 1.73428904e-01 -4.57752537e-03 7.66213669e+01] [ 4.67899319e-03 -1.76237023e-04 9.99989038e-01 6.45255038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.38, Y:76.65, Z:0.65 [[ 1.73043655e-01 -9.84913681e-01 -9.66290722e-04 1.04382409e+02] [ 9.84903038e-01 1.73046280e-01 -4.58147923e-03 7.66480121e+01] [ 4.67957459e-03 -1.58906753e-04 9.99989038e-01 6.45366626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.39, Y:76.68, Z:0.64 [[ 1.76614305e-01 -9.84279664e-01 -9.64745635e-04 1.04394309e+02] [ 9.84269010e-01 1.76616885e-01 -4.58180457e-03 7.66799174e+01] [ 4.68016743e-03 -1.40357000e-04 9.99989038e-01 6.44914551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:76.71, Z:0.65 [[ 1.76050408e-01 -9.84380596e-01 -1.04731822e-03 1.04399471e+02] [ 9.84370040e-01 1.76053376e-01 -4.56441540e-03 7.67062349e+01] [ 4.67750586e-03 -2.27381485e-04 9.99989035e-01 6.45064048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:76.73, Z:0.65 [[ 1.72945336e-01 -9.84930870e-01 -1.04468946e-03 1.04396981e+02] [ 9.84920321e-01 1.72948325e-01 -4.56496777e-03 7.67273858e+01] [ 4.67685497e-03 -2.39445995e-04 9.99989035e-01 6.45452375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.40, Y:76.75, Z:0.64 [[ 1.74362647e-01 -9.84681039e-01 -9.58443828e-04 1.04402083e+02] [ 9.84670384e-01 1.74365221e-01 -4.58300434e-03 7.67538076e+01] [ 4.67991675e-03 -1.44646485e-04 9.99989039e-01 6.44712269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:76.78, Z:0.65 [[ 1.75674819e-01 -9.84447786e-01 -9.56657489e-04 1.04406803e+02] [ 9.84437126e-01 1.75677370e-01 -4.58337719e-03 7.67805386e+01] [ 4.68015860e-03 -1.36585190e-04 9.99989039e-01 6.45021955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.41, Y:76.81, Z:0.65 [[ 1.75020779e-01 -9.84564277e-01 -9.54864939e-04 1.04411291e+02] [ 9.84553616e-01 1.75023330e-01 -4.58375061e-03 7.68074107e+01] [ 4.68012074e-03 -1.37864126e-04 9.99989039e-01 6.45808826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:76.83, Z:0.65 [[ 1.76878795e-01 -9.84232154e-01 -9.79490016e-04 1.04416519e+02] [ 9.84221516e-01 1.76881439e-01 -4.57863112e-03 7.68322387e+01] [ 4.67968958e-03 -1.54172394e-04 9.99989038e-01 6.45227344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.42, Y:76.86, Z:0.64 [[ 1.78655261e-01 -9.83911268e-01 -9.56152505e-04 1.04421553e+02] [ 9.83900600e-01 1.78657778e-01 -4.58346968e-03 7.68569150e+01] [ 4.68055154e-03 -1.21898052e-04 9.99989039e-01 6.44080040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:76.88, Z:0.64 [[ 1.79176230e-01 -9.83816537e-01 -9.48912578e-04 1.04426864e+02] [ 9.83805859e-01 1.79178708e-01 -4.58496806e-03 7.68833963e+01] [ 4.68079233e-03 -1.12028462e-04 9.99989039e-01 6.43975828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.43, Y:76.91, Z:0.64 [[ 1.79243470e-01 -9.83804290e-01 -9.47290138e-04 1.04431938e+02] [ 9.83793611e-01 1.79245940e-01 -4.58530325e-03 7.69100174e+01] [ 4.68083892e-03 -1.10052319e-04 9.99989039e-01 6.43465455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:76.94, Z:0.64 [[ 1.80010529e-01 -9.83664229e-01 -9.45658258e-04 1.04437533e+02] [ 9.83653546e-01 1.80012982e-01 -4.58563978e-03 7.69361742e+01] [ 4.68096058e-03 -1.04736656e-04 9.99989039e-01 6.43407520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.44, Y:76.96, Z:0.64 [[ 1.79891264e-01 -9.83686049e-01 -9.44042382e-04 1.04443431e+02] [ 9.83675364e-01 1.79893711e-01 -4.58597241e-03 7.69631612e+01] [ 4.68098437e-03 -1.03654862e-04 9.99989039e-01 6.43912560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:76.99, Z:0.64 [[ 1.79122858e-01 -9.83826262e-01 -9.42439827e-04 1.04448797e+02] [ 9.83815577e-01 1.79125306e-01 -4.58630172e-03 7.69891078e+01] [ 4.68093890e-03 -1.05675510e-04 9.99989039e-01 6.43909665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.45, Y:77.02, Z:0.64 [[ 1.77369444e-01 -9.84143889e-01 -9.41202612e-04 1.04454276e+02] [ 9.84133208e-01 1.77371905e-01 -4.58655561e-03 7.70158112e+01] [ 4.68077358e-03 -1.12753927e-04 9.99989039e-01 6.44705294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.46, Y:77.04, Z:0.65 [[ 1.76361154e-01 -9.84325079e-01 -9.39617239e-04 1.04459936e+02] [ 9.84314398e-01 1.76363619e-01 -4.58688037e-03 7.70428632e+01] [ 4.68069568e-03 -1.15931261e-04 9.99989039e-01 6.45248336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.47, Y:77.07, Z:0.64 [[ 1.74852618e-01 -9.84594171e-01 -9.37960801e-04 1.04465233e+02] [ 9.84583493e-01 1.74855091e-01 -4.58721907e-03 7.70682253e+01] [ 4.68055638e-03 -1.21413459e-04 9.99989039e-01 6.44797052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.47, Y:77.10, Z:0.65 [[ 1.72670830e-01 -9.84979141e-01 -9.36225434e-04 1.04471990e+02] [ 9.84968466e-01 1.72673319e-01 -4.58757322e-03 7.70950006e+01] [ 4.68032508e-03 -1.30012453e-04 9.99989039e-01 6.45187778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:77.12, Z:0.65 [[ 1.71762728e-01 -9.85137905e-01 -9.34596215e-04 1.04477873e+02] [ 9.85127231e-01 1.71765219e-01 -4.58790510e-03 7.71203405e+01] [ 4.68025035e-03 -1.32665085e-04 9.99989039e-01 6.46255631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.48, Y:77.15, Z:0.65 [[ 1.70619215e-01 -9.85336599e-01 -9.32891702e-04 1.04483771e+02] [ 9.85325926e-01 1.70621710e-01 -4.58825167e-03 7.71472846e+01] [ 4.68014387e-03 -1.36358484e-04 9.99989039e-01 6.46680949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.49, Y:77.17, Z:0.65 [[ 1.69504530e-01 -9.85528968e-01 -9.31288820e-04 1.04489476e+02] [ 9.85518296e-01 1.69507030e-01 -4.58857699e-03 7.71728529e+01] [ 4.68003555e-03 -1.40017587e-04 9.99989039e-01 6.45594151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:77.20, Z:0.64 [[ 1.71392847e-01 -9.85202328e-01 -9.29612118e-04 1.04499811e+02] [ 9.85191650e-01 1.71395320e-01 -4.58891665e-03 7.72038900e+01] [ 4.68034253e-03 -1.29338605e-04 9.99989039e-01 6.42006721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.50, Y:77.23, Z:0.64 [[ 1.70406523e-01 -9.85373347e-01 -9.91756049e-04 1.04504298e+02] [ 9.85362740e-01 1.70409295e-01 -4.57632651e-03 7.72302407e+01] [ 4.67839462e-03 -1.97403569e-04 9.99989037e-01 6.41360536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:77.25, Z:0.64 [[ 1.68043188e-01 -9.85779145e-01 -9.81702837e-04 1.04506314e+02] [ 9.85768533e-01 1.68045938e-01 -4.57836556e-03 7.72540672e+01] [ 4.67822846e-03 -1.98368623e-04 9.99989037e-01 6.44419873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.51, Y:77.28, Z:0.64 [[ 1.66624867e-01 -9.86019912e-01 -9.41817741e-04 1.04511116e+02] [ 9.86009259e-01 1.66627448e-01 -4.58643077e-03 7.72816605e+01] [ 4.67924475e-03 -1.64427594e-04 9.99989039e-01 6.42958203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.52, Y:77.31, Z:0.64 [[ 1.71172742e-01 -9.85240539e-01 -9.85862120e-04 1.04519788e+02] [ 9.85229924e-01 1.71175478e-01 -4.57750611e-03 7.73069926e+01] [ 4.67870001e-03 -1.87756591e-04 9.99989037e-01 6.39380772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:77.34, Z:0.64 [[ 1.71557908e-01 -9.85173564e-01 -9.66057742e-04 1.04525328e+02] [ 9.85162925e-01 1.71560547e-01 -4.58145096e-03 7.73365285e+01] [ 4.67926176e-03 -1.65740131e-04 9.99989038e-01 6.43187071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:77.36, Z:0.64 [[ 1.72355633e-01 -9.85034299e-01 -9.82173673e-04 1.04530186e+02] [ 9.85023676e-01 1.72358340e-01 -4.57824488e-03 7.73610903e+01] [ 4.67901407e-03 -1.78378025e-04 9.99989037e-01 6.41052231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:77.39, Z:0.64 [[ 1.71992698e-01 -9.85097758e-01 -9.58417112e-04 1.04534748e+02] [ 9.85087110e-01 1.71995298e-01 -4.58295759e-03 7.73888334e+01] [ 4.67950449e-03 -1.55889101e-04 9.99989039e-01 6.44635892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.53, Y:77.41, Z:0.65 [[ 1.71658322e-01 -9.85156076e-01 -9.62778023e-04 1.04534873e+02] [ 9.85145433e-01 1.71660946e-01 -4.58209410e-03 7.74120387e+01] [ 4.67934923e-03 -1.61921787e-04 9.99989039e-01 6.48236661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.54, Y:77.44, Z:0.65 [[ 1.72533022e-01 -9.85003317e-01 -9.06272026e-04 1.04539638e+02] [ 9.84992613e-01 1.72535373e-01 -4.59324305e-03 7.74386161e+01] [ 4.68072363e-03 -1.00185146e-04 9.99989040e-01 6.49207820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.692755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:104.55, Y:77.46, Z:0.65 [[ 1.72897826e-01 -9.84939350e-01 -9.04691303e-04 1.04545021e+02] [ 9.84928643e-01 1.72900166e-01 -4.59355437e-03 7.74643904e+01] [ 4.68079373e-03 -9.68408119e-05 9.99989040e-01 6.48393771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.55, Y:77.49, Z:0.65 [[ 1.73969416e-01 -9.84750642e-01 -9.03037091e-04 1.04550471e+02] [ 9.84739931e-01 1.73971737e-01 -4.59387955e-03 7.74918169e+01] [ 4.68092876e-03 -9.00621387e-05 9.99989040e-01 6.52049310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:77.52, Z:0.65 [[ 1.74627890e-01 -9.84634085e-01 -9.04609538e-04 1.04556432e+02] [ 9.84623374e-01 1.74630210e-01 -4.59357082e-03 7.75202433e+01] [ 4.68095856e-03 -8.85341170e-05 9.99989040e-01 6.52852846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.56, Y:77.55, Z:0.65 [[ 1.73731480e-01 -9.84792640e-01 -9.10890377e-04 1.04560825e+02] [ 9.84781937e-01 1.73733839e-01 -4.59233939e-03 7.75476666e+01] [ 4.68075452e-03 -9.91944728e-05 9.99989040e-01 6.51592825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:77.57, Z:0.65 [[ 1.73223956e-01 -9.84882052e-01 -8.96899033e-04 1.04566261e+02] [ 9.84871337e-01 1.73226256e-01 -4.59507814e-03 7.75741149e+01] [ 4.68097645e-03 -8.73525346e-05 9.99989040e-01 6.51493828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.57, Y:77.60, Z:0.65 [[ 1.73163976e-01 -9.84892600e-01 -8.96621853e-04 1.04571924e+02] [ 9.84881884e-01 1.73166275e-01 -4.59513232e-03 7.76017925e+01] [ 4.68097648e-03 -8.73552401e-05 9.99989040e-01 6.53062825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:77.63, Z:0.65 [[ 1.72007229e-01 -9.85095275e-01 -9.01848395e-04 1.04576094e+02] [ 9.85084567e-01 1.72009565e-01 -4.59411222e-03 7.76281378e+01] [ 4.68076479e-03 -9.81764229e-05 9.99989040e-01 6.51681898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.58, Y:77.65, Z:0.65 [[ 1.70753813e-01 -9.85313317e-01 -8.95639186e-04 1.04581173e+02] [ 9.85302606e-01 1.70756134e-01 -4.59532241e-03 7.76537412e+01] [ 4.68076825e-03 -9.78068028e-05 9.99989040e-01 6.51764568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:77.68, Z:0.65 [[ 1.68840183e-01 -9.85643036e-01 -8.93922183e-04 1.04586902e+02] [ 9.85632327e-01 1.68842517e-01 -4.59565639e-03 7.76789722e+01] [ 4.68060879e-03 -1.05147134e-04 9.99989040e-01 6.52273947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.59, Y:77.71, Z:0.65 [[ 1.66514596e-01 -9.86038592e-01 -8.85153956e-04 1.04591034e+02] [ 9.86027881e-01 1.66516914e-01 -4.59735762e-03 7.77061301e+01] [ 4.68056514e-03 -1.07259332e-04 9.99989040e-01 6.52446636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:77.73, Z:0.65 [[ 1.65833360e-01 -9.86153379e-01 -8.99408243e-04 1.04595677e+02] [ 9.86142684e-01 1.65835752e-01 -4.59459661e-03 7.77321159e+01] [ 4.68013102e-03 -1.25007463e-04 9.99989040e-01 6.53237778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.60, Y:77.76, Z:0.65 [[ 1.65255152e-01 -9.86250448e-01 -8.88052185e-04 1.04600553e+02] [ 9.86239742e-01 1.65257497e-01 -4.59679049e-03 7.77578353e+01] [ 4.68034396e-03 -1.16189047e-04 9.99989040e-01 6.53027724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:77.78, Z:0.65 [[ 1.64058142e-01 -9.86450274e-01 -8.84781811e-04 1.04606047e+02] [ 9.86439568e-01 1.64060485e-01 -4.59742113e-03 7.77847325e+01] [ 4.68028507e-03 -1.18539420e-04 9.99989040e-01 6.52696129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.61, Y:77.81, Z:0.65 [[ 1.63447458e-01 -9.86551644e-01 -8.84698732e-04 1.04610918e+02] [ 9.86540939e-01 1.63449807e-01 -4.59743712e-03 7.78103294e+01] [ 4.68021298e-03 -1.21352107e-04 9.99989040e-01 6.52631132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:77.84, Z:0.65 [[ 1.63077183e-01 -9.86612919e-01 -8.83029109e-04 1.04615389e+02] [ 9.86602214e-01 1.63079528e-01 -4.59775778e-03 7.78373288e+01] [ 4.68021120e-03 -1.21409088e-04 9.99989040e-01 6.52701644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:77.86, Z:0.65 [[ 1.64020275e-01 -9.86456574e-01 -8.81461957e-04 1.04619689e+02] [ 9.86445864e-01 1.64022603e-01 -4.59805821e-03 7.78645748e+01] [ 4.68036443e-03 -1.15339730e-04 9.99989040e-01 6.53371338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.62, Y:77.89, Z:0.65 [[ 1.64688834e-01 -9.86345180e-01 -8.79830997e-04 1.04624150e+02] [ 9.86334467e-01 1.64691148e-01 -4.59837027e-03 7.78911908e+01] [ 4.68048073e-03 -1.10507398e-04 9.99989040e-01 6.53107605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:77.92, Z:0.65 [[ 1.66789561e-01 -9.85992125e-01 -8.78213064e-04 1.04629074e+02] [ 9.85981406e-01 1.66791844e-01 -4.59867925e-03 7.79177675e+01] [ 4.68074030e-03 -9.88900600e-05 9.99989040e-01 6.52560844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.63, Y:77.94, Z:0.65 [[ 1.67630701e-01 -9.85849471e-01 -8.76581362e-04 1.04634006e+02] [ 9.85838748e-01 1.67632967e-01 -4.59899025e-03 7.79443024e+01] [ 4.68085605e-03 -9.32359110e-05 9.99989040e-01 6.52679873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:77.97, Z:0.65 [[ 1.68510960e-01 -9.85699392e-01 -8.74960314e-04 1.04638607e+02] [ 9.85688665e-01 1.68513209e-01 -4.59929864e-03 7.79705586e+01] [ 4.68096824e-03 -8.74062361e-05 9.99989040e-01 6.52711566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.64, Y:78.00, Z:0.65 [[ 1.69536867e-01 -9.85523459e-01 -8.73265264e-04 1.04642670e+02] [ 9.85512729e-01 1.69539097e-01 -4.59962045e-03 7.79977488e+01] [ 4.68108646e-03 -8.08087909e-05 9.99989040e-01 6.53184557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:78.02, Z:0.65 [[ 1.72382162e-01 -9.85029761e-01 -8.71644472e-04 1.04645725e+02] [ 9.85019023e-01 1.72384353e-01 -4.59992758e-03 7.80241620e+01] [ 4.68132343e-03 -6.56409244e-05 9.99989040e-01 6.52782016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:78.05, Z:0.65 [[ 1.73220622e-01 -9.84882662e-01 -8.70392528e-04 1.04649639e+02] [ 9.84871921e-01 1.73222798e-01 -4.60016446e-03 7.80496498e+01] [ 4.68139405e-03 -6.03818120e-05 9.99989040e-01 6.53170080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.65, Y:78.08, Z:0.66 [[ 1.74465878e-01 -9.84662837e-01 -8.68583626e-04 1.04653651e+02] [ 9.84652091e-01 1.74468032e-01 -4.60050598e-03 7.80760534e+01] [ 4.68148735e-03 -5.26213704e-05 9.99989040e-01 6.55120849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:78.10, Z:0.66 [[ 1.74525728e-01 -9.84652232e-01 -8.66855826e-04 1.04658471e+02] [ 9.84641485e-01 1.74527873e-01 -4.60083152e-03 7.81032959e+01] [ 4.68150953e-03 -5.05787372e-05 9.99989040e-01 6.55931851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.66, Y:78.13, Z:0.66 [[ 1.74499776e-01 -9.84656833e-01 -8.65283078e-04 1.04663011e+02] [ 9.84646084e-01 1.74501915e-01 -4.60112729e-03 7.81279838e+01] [ 4.68152498e-03 -4.91019112e-05 9.99989040e-01 6.55934611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:78.15, Z:0.66 [[ 1.73714610e-01 -9.84795658e-01 -8.63461879e-04 1.04666805e+02] [ 9.84784909e-01 1.73716749e-01 -4.60146904e-03 7.81547800e+01] [ 4.68150452e-03 -5.09818272e-05 9.99989040e-01 6.56726900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:78.18, Z:0.66 [[ 1.72769193e-01 -9.84961960e-01 -8.61835092e-04 1.04670962e+02] [ 9.84951212e-01 1.72771334e-01 -4.60177371e-03 7.81819066e+01] [ 4.68147245e-03 -5.38207901e-05 9.99989040e-01 6.57180612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.67, Y:78.21, Z:0.66 [[ 1.71770769e-01 -9.85136571e-01 -8.60186912e-04 1.04674846e+02] [ 9.85125823e-01 1.71772913e-01 -4.60208177e-03 7.82074812e+01] [ 4.68143587e-03 -5.68892156e-05 9.99989040e-01 6.57283887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:78.23, Z:0.66 [[ 1.71431068e-01 -9.85195743e-01 -8.58915500e-04 1.04679724e+02] [ 9.85184994e-01 1.71433210e-01 -4.60231905e-03 7.82347940e+01] [ 4.68143178e-03 -5.72101921e-05 9.99989040e-01 6.57413423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:78.26, Z:0.66 [[ 1.69215314e-01 -9.85578735e-01 -8.57328429e-04 1.04683613e+02] [ 9.85567990e-01 1.69217473e-01 -4.60261468e-03 7.82613553e+01] [ 4.68131410e-03 -6.61225701e-05 9.99989040e-01 6.58213982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:78.29, Z:0.66 [[ 1.67551985e-01 -9.85862871e-01 -8.55681467e-04 1.04688044e+02] [ 9.85852128e-01 1.67554154e-01 -4.60292085e-03 7.82878949e+01] [ 4.68122175e-03 -7.23468716e-05 9.99989040e-01 6.58263083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.69, Y:78.31, Z:0.66 [[ 1.65499130e-01 -9.86209566e-01 -8.54018746e-04 1.04692246e+02] [ 9.86198827e-01 1.65501314e-01 -4.60322932e-03 7.83134896e+01] [ 4.68109002e-03 -8.04018389e-05 9.99989040e-01 6.57809104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:78.34, Z:0.66 [[ 1.63629258e-01 -9.86521535e-01 -8.52279979e-04 1.04696707e+02] [ 9.86510798e-01 1.63631454e-01 -4.60355123e-03 7.83386537e+01] [ 4.68096224e-03 -8.75077310e-05 9.99989040e-01 6.58127115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:104.70, Y:78.36, Z:0.66 [[ 1.61672677e-01 -9.86844105e-01 -8.11678256e-04 1.04700693e+02] [ 9.86833334e-01 1.61674705e-01 -4.61103772e-03 7.83647580e+01] [ 4.68160323e-03 -5.55123479e-05 9.99989040e-01 6.58060031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.70, Y:78.39, Z:0.66 [[ 1.57972626e-01 -9.87443157e-01 -8.13408476e-04 1.04704352e+02] [ 9.87432395e-01 1.57974703e-01 -4.61071895e-03 7.83941200e+01] [ 4.68132084e-03 -7.48184964e-05 9.99989040e-01 6.57923836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:78.42, Z:0.66 [[ 1.53808450e-01 -9.88100320e-01 -8.47968248e-04 1.04707325e+02] [ 9.88089600e-01 1.53810733e-01 -4.60435420e-03 7.84206856e+01] [ 4.67999047e-03 -1.29680024e-04 9.99989040e-01 6.56305329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:78.45, Z:0.66 [[ 1.51738813e-01 -9.88420263e-01 -8.46202786e-04 1.04711836e+02] [ 9.88409547e-01 1.51741110e-01 -4.60467864e-03 7.84468253e+01] [ 4.67976142e-03 -1.37686439e-04 9.99989040e-01 6.55828942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:78.48, Z:0.65 [[ 1.49191167e-01 -9.88808011e-01 -8.44455511e-04 1.04718668e+02] [ 9.88797299e-01 1.49193483e-01 -4.60499905e-03 7.84758072e+01] [ 4.67944721e-03 -1.47970148e-04 9.99989040e-01 6.52399062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:78.50, Z:0.66 [[ 1.45636514e-01 -9.89337780e-01 -8.73347587e-04 1.04720361e+02] [ 9.89327106e-01 1.45639003e-01 -4.59970349e-03 7.85005448e+01] [ 4.67785391e-03 -1.94141659e-04 9.99989040e-01 6.55210116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.72, Y:78.53, Z:0.66 [[ 1.43302352e-01 -9.89678598e-01 -8.41698610e-04 1.04724385e+02] [ 9.89667897e-01 1.43304719e-01 -4.60548766e-03 7.85276629e+01] [ 4.67857195e-03 -1.73024880e-04 9.99989040e-01 6.55091515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:78.55, Z:0.66 [[ 1.41323191e-01 -9.89963156e-01 -8.40089248e-04 1.04728436e+02] [ 9.89952458e-01 1.41325572e-01 -4.60578120e-03 7.85532074e+01] [ 4.67827979e-03 -1.80744720e-04 9.99989040e-01 6.55080822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.73, Y:78.58, Z:0.66 [[ 1.38803117e-01 -9.90319641e-01 -8.38405771e-04 1.04733679e+02] [ 9.90308948e-01 1.38805518e-01 -4.60608763e-03 7.85799616e+01] [ 4.67787440e-03 -1.90941414e-04 9.99989040e-01 6.55737373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:78.61, Z:0.66 [[ 1.36382402e-01 -9.90655914e-01 -8.36822493e-04 1.04736280e+02] [ 9.90645225e-01 1.36384821e-01 -4.60637526e-03 7.86058088e+01] [ 4.67746278e-03 -2.00765686e-04 9.99989040e-01 6.56716094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:78.63, Z:0.66 [[ 1.36817103e-01 -9.90595994e-01 -8.11094090e-04 1.04742471e+02] [ 9.90585277e-01 1.36819399e-01 -4.61103548e-03 7.86332466e+01] [ 4.67864668e-03 -1.72589345e-04 9.99989040e-01 6.56572956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:78.66, Z:0.66 [[ 1.36431474e-01 -9.90649160e-01 -8.33703645e-04 1.04746600e+02] [ 9.90638467e-01 1.36433879e-01 -4.60694390e-03 7.86600473e+01] [ 4.67761053e-03 -1.97366752e-04 9.99989040e-01 6.57161075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.75, Y:78.69, Z:0.66 [[ 1.37780688e-01 -9.90462412e-01 -8.32053618e-04 1.04750837e+02] [ 9.90451715e-01 1.37783071e-01 -4.60724189e-03 7.86860659e+01] [ 4.67794282e-03 -1.89319973e-04 9.99989040e-01 6.56943342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:78.71, Z:0.66 [[ 1.38777544e-01 -9.90323232e-01 -8.30773060e-04 1.04755255e+02] [ 9.90312530e-01 1.38779909e-01 -4.60747279e-03 7.87132402e+01] [ 4.67818195e-03 -1.83311214e-04 9.99989040e-01 6.58182703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.132755096 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:104.76, Y:78.74, Z:0.66 [[ 1.43407697e-01 -9.89663349e-01 -8.29133831e-04 1.04759132e+02] [ 9.89652636e-01 1.43410005e-01 -4.60776776e-03 7.87381291e+01] [ 4.67904496e-03 -1.59765121e-04 9.99989040e-01 6.59769102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.76, Y:78.76, Z:0.66 [[ 1.45679149e-01 -9.89331572e-01 -7.90745856e-04 1.04763604e+02] [ 9.89320816e-01 1.45681254e-01 -4.61464887e-03 7.87641860e+01] [ 4.68061467e-03 -1.10043215e-04 9.99989040e-01 6.59733240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:78.79, Z:0.66 [[ 1.47326151e-01 -9.89087653e-01 -7.87410810e-04 1.04768037e+02] [ 9.89076890e-01 1.47328222e-01 -4.61524774e-03 7.87918240e+01] [ 4.68089239e-03 -9.88631480e-05 9.99989040e-01 6.60447960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.77, Y:78.82, Z:0.66 [[ 1.48960047e-01 -9.88842896e-01 -7.94142845e-04 1.04772287e+02] [ 9.88832136e-01 1.48962131e-01 -4.61403946e-03 7.88197671e+01] [ 4.68085736e-03 -9.79664320e-05 9.99989040e-01 6.60316557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:78.85, Z:0.66 [[ 1.52742115e-01 -9.88265735e-01 -8.26806353e-04 1.04780526e+02] [ 9.88254998e-01 1.52744311e-01 -4.60817893e-03 7.88505200e+01] [ 4.68039530e-03 -1.13232513e-04 9.99989040e-01 6.60751398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:78.87, Z:0.66 [[ 1.54483607e-01 -9.87994958e-01 -8.82041659e-04 1.04782824e+02] [ 9.87984271e-01 1.54486041e-01 -4.59819143e-03 7.88710606e+01] [ 4.67925308e-03 -1.61098086e-04 9.99989039e-01 6.62383112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:78.90, Z:0.66 [[ 1.53064850e-01 -9.88215852e-01 -7.62595001e-04 1.04786288e+02] [ 9.88205056e-01 1.53066743e-01 -4.61951509e-03 7.89008883e+01] [ 4.68180598e-03 -4.65148506e-05 9.99989039e-01 6.62025260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:78.93, Z:0.66 [[ 1.54314530e-01 -9.88021431e-01 -8.23221400e-04 1.04791376e+02] [ 9.88010687e-01 1.54316692e-01 -4.60868578e-03 7.89276924e+01] [ 4.68051712e-03 -1.02164361e-04 9.99989041e-01 6.61649330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:78.96, Z:0.66 [[ 1.53831760e-01 -9.88096713e-01 -8.21596942e-04 1.04794207e+02] [ 9.88085969e-01 1.53833920e-01 -4.60897536e-03 7.89555420e+01] [ 4.68050288e-03 -1.02801619e-04 9.99989041e-01 6.60223622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:78.98, Z:0.66 [[ 1.52275815e-01 -9.88337690e-01 -8.28951201e-04 1.04798371e+02] [ 9.88326956e-01 1.52278026e-01 -4.60766669e-03 7.89817796e+01] [ 4.68016170e-03 -1.17638615e-04 9.99989041e-01 6.60656970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:79.01, Z:0.66 [[ 1.51929128e-01 -9.88391052e-01 -8.18252768e-04 1.04804326e+02] [ 9.88380309e-01 1.51931292e-01 -4.60956579e-03 7.90096525e+01] [ 4.68037178e-03 -1.08417615e-04 9.99989041e-01 6.60378057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:79.04, Z:0.66 [[ 1.49350612e-01 -9.88783964e-01 -8.16716197e-04 1.04808240e+02] [ 9.88773225e-01 1.49352797e-01 -4.60983802e-03 7.90363180e+01] [ 4.68011276e-03 -1.19064980e-04 9.99989041e-01 6.59496868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:79.06, Z:0.66 [[ 1.48554571e-01 -9.88903872e-01 -8.18959731e-04 1.04812378e+02] [ 9.88893138e-01 1.48556775e-01 -4.60944077e-03 7.90593390e+01] [ 4.67995584e-03 -1.25110163e-04 9.99989041e-01 6.60282947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:79.09, Z:0.66 [[ 1.45303498e-01 -9.89386821e-01 -7.82476018e-04 1.04816390e+02] [ 9.89376059e-01 1.45305568e-01 -4.61587184e-03 7.90872985e+01] [ 4.68058089e-03 -1.03460714e-04 9.99989041e-01 6.59885710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:79.11, Z:0.66 [[ 1.42114308e-01 -9.89849920e-01 -8.11443762e-04 1.04821864e+02] [ 9.89839193e-01 1.42116548e-01 -4.61077385e-03 7.91130678e+01] [ 4.67929371e-03 -1.47941903e-04 9.99989041e-01 6.59298822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.582755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.83, Y:79.14, Z:0.66 [[ 1.40922065e-01 -9.90020361e-01 -8.10196282e-04 1.04826948e+02] [ 9.90009635e-01 1.40924311e-01 -4.61099304e-03 7.91391597e+01] [ 4.67915335e-03 -1.52311466e-04 9.99989041e-01 6.59688339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.83, Y:79.17, Z:0.66 [[ 1.38722156e-01 -9.90331021e-01 -7.95465030e-04 1.04831410e+02] [ 9.90320285e-01 1.38724358e-01 -4.61357543e-03 7.91657009e+01] [ 4.67931724e-03 -1.47760026e-04 9.99989041e-01 6.60254241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:79.19, Z:0.66 [[ 1.37374366e-01 -9.90518874e-01 -8.02489916e-04 1.04835972e+02] [ 9.90508148e-01 1.37376615e-01 -4.61234625e-03 7.91905096e+01] [ 4.67885937e-03 -1.61254659e-04 9.99989041e-01 6.60240559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:79.22, Z:0.66 [[ 1.34502516e-01 -9.90912930e-01 -7.98308567e-04 1.04840422e+02] [ 9.90902207e-01 1.34504777e-01 -4.61307626e-03 7.92164895e+01] [ 4.67853323e-03 -1.70575356e-04 9.99989041e-01 6.58839558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:79.25, Z:0.66 [[ 1.35842610e-01 -9.90730104e-01 -8.03639907e-04 1.04848827e+02] [ 9.90719383e-01 1.35844881e-01 -4.61214730e-03 7.92470948e+01] [ 4.67856355e-03 -1.69655505e-04 9.99989041e-01 6.56309001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:79.27, Z:0.66 [[ 1.35297307e-01 -9.90804676e-01 -8.55470006e-04 1.04854693e+02] [ 9.90794009e-01 1.35299825e-01 -4.60312353e-03 7.92749119e+01] [ 4.67654126e-03 -2.24804338e-04 9.99989040e-01 6.56674514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:79.30, Z:0.66 [[ 1.32115457e-01 -9.91233959e-01 -8.62779842e-04 1.04854557e+02] [ 9.91223308e-01 1.32118043e-01 -4.60185365e-03 7.92973939e+01] [ 4.67550239e-03 -2.47231492e-04 9.99989039e-01 6.60124445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:79.33, Z:0.66 [[ 1.34133842e-01 -9.90962903e-01 -7.97739725e-04 1.04862439e+02] [ 9.90952181e-01 1.34136105e-01 -4.61310099e-03 7.93279912e+01] [ 4.67841765e-03 -1.71748959e-04 9.99989041e-01 6.59036768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.86, Y:79.35, Z:0.66 [[ 1.33051630e-01 -9.91108749e-01 -8.43021963e-04 1.04863440e+02] [ 9.91098075e-01 1.33054115e-01 -4.60526655e-03 7.93513399e+01] [ 4.67648751e-03 -2.22779222e-04 9.99989040e-01 6.61356103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:79.38, Z:0.66 [[ 1.34540937e-01 -9.90907717e-01 -7.95217670e-04 1.04868681e+02] [ 9.90896991e-01 1.34543184e-01 -4.61350645e-03 7.93798209e+01] [ 4.67855026e-03 -1.67273314e-04 9.99989042e-01 6.62088833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.87, Y:79.41, Z:0.66 [[ 1.35879511e-01 -9.90725037e-01 -8.11594830e-04 1.04872624e+02] [ 9.90714325e-01 1.35881819e-01 -4.61068760e-03 7.94050675e+01] [ 4.67820462e-03 -1.77560648e-04 9.99989041e-01 6.62769614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:79.43, Z:0.66 [[ 1.38527938e-01 -9.90358208e-01 -7.94269070e-04 1.04876221e+02] [ 9.90347472e-01 1.38530136e-01 -4.61366250e-03 7.94317045e+01] [ 4.67920873e-03 -1.47481213e-04 9.99989042e-01 6.64877863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.88, Y:79.46, Z:0.66 [[ 1.40125953e-01 -9.90133371e-01 -7.90809269e-04 1.04880211e+02] [ 9.90122628e-01 1.40128118e-01 -4.61425545e-03 7.94569405e+01] [ 4.67954292e-03 -1.36421210e-04 9.99989042e-01 6.64190684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:79.48, Z:0.67 [[ 1.44023306e-01 -9.89573987e-01 -7.81792908e-04 1.04886680e+02] [ 9.89563228e-01 1.44025387e-01 -4.61579677e-03 7.94836930e+01] [ 4.68027044e-03 -1.08851205e-04 9.99989042e-01 6.66485407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:79.51, Z:0.66 [[ 1.44355439e-01 -9.89525587e-01 -7.87418415e-04 1.04891111e+02] [ 9.89514832e-01 1.44357542e-01 -4.61483690e-03 7.95138219e+01] [ 4.68016898e-03 -1.12985394e-04 9.99989042e-01 6.63865765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.89, Y:79.54, Z:0.66 [[ 1.42979922e-01 -9.89725243e-01 -8.27241914e-04 1.04892097e+02] [ 9.89714529e-01 1.42982226e-01 -4.60804508e-03 7.95368303e+01] [ 4.67897943e-03 -1.59875414e-04 9.99989041e-01 6.64827542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:79.56, Z:0.66 [[ 1.42875466e-01 -9.89740363e-01 -7.83830109e-04 1.04896220e+02] [ 9.89729609e-01 1.42877569e-01 -4.61541765e-03 7.95639539e+01] [ 4.68005688e-03 -1.16349918e-04 9.99989042e-01 6.64423190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:79.59, Z:0.66 [[ 1.44524034e-01 -9.89500981e-01 -7.82231011e-04 1.04904937e+02] [ 9.89490221e-01 1.44526112e-01 -4.61568865e-03 7.95933053e+01] [ 4.68028126e-03 -1.06931990e-04 9.99989042e-01 6.61858042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:79.61, Z:0.66 [[ 1.41226172e-01 -9.89977005e-01 -8.34906544e-04 1.04905137e+02] [ 9.89966302e-01 1.41228530e-01 -4.60675881e-03 7.96147067e+01] [ 4.67849792e-03 -1.75934431e-04 9.99989040e-01 6.64956192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:79.64, Z:0.66 [[ 1.39376161e-01 -9.90239203e-01 -7.78552484e-04 1.04909732e+02] [ 9.90228451e-01 1.39378277e-01 -4.61626317e-03 7.96395094e+01] [ 4.67971807e-03 -1.27547781e-04 9.99989042e-01 6.64385107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.91, Y:79.66, Z:0.66 [[ 1.38928714e-01 -9.90302079e-01 -7.77181141e-04 1.04914356e+02] [ 9.90291327e-01 1.38930829e-01 -4.61649403e-03 7.96641126e+01] [ 4.67969806e-03 -1.28272162e-04 9.99989042e-01 6.63680592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:79.69, Z:0.66 [[ 1.38117510e-01 -9.90415555e-01 -7.62557688e-04 1.04918552e+02] [ 9.90404792e-01 1.38119565e-01 -4.61894790e-03 7.96886136e+01] [ 4.68000198e-03 -1.17283206e-04 9.99989042e-01 6.62764136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.92, Y:79.72, Z:0.66 [[ 1.37127219e-01 -9.90553154e-01 -7.58049828e-04 1.04922900e+02] [ 9.90542388e-01 1.37129264e-01 -4.61970275e-03 7.97151222e+01] [ 4.68001194e-03 -1.17393498e-04 9.99989042e-01 6.63617862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.93, Y:79.74, Z:0.66 [[ 1.35315107e-01 -9.90802323e-01 -7.60974432e-04 1.04927212e+02] [ 9.90791563e-01 1.35317186e-01 -4.61921358e-03 7.97414811e+01] [ 4.67970047e-03 -1.28917665e-04 9.99989042e-01 6.63767950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.302755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:104.93, Y:79.77, Z:0.66 [[ 1.35427102e-01 -9.90787013e-01 -7.71363776e-04 1.04931571e+02] [ 9.90776263e-01 1.35429227e-01 -4.61747801e-03 7.97662777e+01] [ 4.67940245e-03 -1.38917254e-04 9.99989042e-01 6.62966834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:79.79, Z:0.66 [[ 1.36358574e-01 -9.90659263e-01 -7.51408111e-04 1.04937131e+02] [ 9.90648493e-01 1.36360596e-01 -4.62080101e-03 7.97900852e+01] [ 4.68010178e-03 -1.14295477e-04 9.99989042e-01 6.60680927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.94, Y:79.82, Z:0.66 [[ 1.32842717e-01 -9.91136858e-01 -7.35610271e-04 1.04942423e+02] [ 9.91126081e-01 1.32844704e-01 -4.62344343e-03 7.98183243e+01] [ 4.68018713e-03 -1.14891739e-04 9.99989041e-01 6.63706007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:79.84, Z:0.66 [[ 1.32833749e-01 -9.91138033e-01 -7.71555833e-04 1.04947560e+02] [ 9.91127289e-01 1.32835903e-01 -4.61743707e-03 7.98426970e+01] [ 4.67900781e-03 -1.51358564e-04 9.99989042e-01 6.63405352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:79.87, Z:0.66 [[ 1.32521917e-01 -9.91179794e-01 -7.46408786e-04 1.04951709e+02] [ 9.91169028e-01 1.32523958e-01 -4.62162387e-03 7.98692766e+01] [ 4.67977724e-03 -1.27350816e-04 9.99989042e-01 6.63524342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:79.90, Z:0.66 [[ 1.31458960e-01 -9.91321334e-01 -7.44647272e-04 1.04956566e+02] [ 9.91310568e-01 1.31461004e-01 -4.62191654e-03 7.98959921e+01] [ 4.67969655e-03 -1.30584370e-04 9.99989042e-01 6.63467536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:79.92, Z:0.66 [[ 1.29196616e-01 -9.91618717e-01 -7.44376806e-04 1.04960556e+02] [ 9.91607956e-01 1.29198683e-01 -4.62196137e-03 7.99217015e+01] [ 4.67939591e-03 -1.40988196e-04 9.99989042e-01 6.63503935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.96, Y:79.95, Z:0.67 [[ 1.28354197e-01 -9.91728105e-01 -7.52178259e-04 1.04964794e+02] [ 9.91717352e-01 1.28356310e-01 -4.62067066e-03 7.99487785e+01] [ 4.67899578e-03 -1.52865759e-04 9.99989042e-01 6.65389757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:79.97, Z:0.67 [[ 1.28483356e-01 -9.91711377e-01 -7.56962089e-04 1.04968616e+02] [ 9.91700628e-01 1.28485490e-01 -4.61988047e-03 7.99748215e+01] [ 4.67884666e-03 -1.57102033e-04 9.99989042e-01 6.65939074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:80.00, Z:0.67 [[ 1.28812576e-01 -9.91668665e-01 -7.61534632e-04 1.04972570e+02] [ 9.91657920e-01 1.28814727e-01 -4.61912661e-03 8.00002638e+01] [ 4.67873999e-03 -1.60180251e-04 9.99989042e-01 6.66342410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:80.03, Z:0.67 [[ 1.29278947e-01 -9.91607975e-01 -7.59773191e-04 1.04976966e+02] [ 9.91597228e-01 1.29281085e-01 -4.61941632e-03 8.00259197e+01] [ 4.67887437e-03 -1.56195711e-04 9.99989042e-01 6.66875165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.98, Y:80.05, Z:0.67 [[ 1.30032559e-01 -9.91509435e-01 -7.58107599e-04 1.04981545e+02] [ 9.91498684e-01 1.30034681e-01 -4.61968965e-03 8.00523734e+01] [ 4.67904615e-03 -1.50952621e-04 9.99989042e-01 6.68156203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:80.08, Z:0.67 [[ 1.32016887e-01 -9.91247179e-01 -7.56371672e-04 1.04985333e+02] [ 9.91236422e-01 1.32018980e-01 -4.61997385e-03 8.00775679e+01] [ 4.67939146e-03 -1.39828583e-04 9.99989042e-01 6.67434826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:80.10, Z:0.67 [[ 1.33714802e-01 -9.91019567e-01 -7.54563310e-04 1.04989034e+02] [ 9.91008805e-01 1.33716868e-01 -4.62026919e-03 8.01023707e+01] [ 4.67967501e-03 -1.29980503e-04 9.99989042e-01 6.69120501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.99, Y:80.13, Z:0.67 [[ 1.34240151e-01 -9.90948558e-01 -7.33569059e-04 1.04992488e+02] [ 9.90937776e-01 1.34242113e-01 -4.62368735e-03 8.01295259e+01] [ 4.68031217e-03 -1.06236803e-04 9.99989042e-01 6.69735045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:80.16, Z:0.67 [[ 1.35849223e-01 -9.90729246e-01 -7.41552523e-04 1.04996733e+02] [ 9.90718468e-01 1.35851205e-01 -4.62239015e-03 8.01566712e+01] [ 4.68027791e-03 -1.06721668e-04 9.99989042e-01 6.69634052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.00, Y:80.19, Z:0.67 [[ 1.37518995e-01 -9.90498839e-01 -7.59324787e-04 1.05003047e+02] [ 9.90488073e-01 1.37521042e-01 -4.61951001e-03 8.01860884e+01] [ 4.68004244e-03 -1.16831769e-04 9.99989042e-01 6.69446012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.01, Y:80.21, Z:0.67 [[ 1.38493832e-01 -9.90362982e-01 -7.88564879e-04 1.05005601e+02] [ 9.90352241e-01 1.38496005e-01 -4.61480706e-03 8.02087062e+01] [ 4.67954717e-03 -1.41834679e-04 9.99989041e-01 6.70469113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:80.24, Z:0.67 [[ 1.42442661e-01 -9.89802778e-01 -7.40358606e-04 1.05015407e+02] [ 9.89791987e-01 1.42444566e-01 -4.62252793e-03 8.02410878e+01] [ 4.68085105e-03 -7.43558344e-05 9.99989042e-01 6.68243510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.02, Y:80.27, Z:0.67 [[ 1.41126318e-01 -9.89991256e-01 -8.22088169e-04 1.05017973e+02] [ 9.89980538e-01 1.41128618e-01 -4.60943098e-03 8.02672500e+01] [ 4.67931653e-03 -1.63339265e-04 9.99989039e-01 6.70868003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.02, Y:80.29, Z:0.67 [[ 1.40475966e-01 -9.90083764e-01 -8.02463119e-04 1.05021289e+02] [ 9.90073030e-01 1.40478182e-01 -4.61256416e-03 8.02926776e+01] [ 4.67955344e-03 -1.46542684e-04 9.99989040e-01 6.72200415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:80.32, Z:0.67 [[ 1.40108283e-01 -9.90135877e-01 -7.84130716e-04 1.05025559e+02] [ 9.90125128e-01 1.40110418e-01 -4.61547960e-03 8.03195371e+01] [ 4.67981683e-03 -1.29720601e-04 9.99989041e-01 6.72134480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.03, Y:80.35, Z:0.67 [[ 1.39231824e-01 -9.90259507e-01 -7.79142133e-04 1.05030246e+02] [ 9.90248756e-01 1.39233945e-01 -4.61627074e-03 8.03468184e+01] [ 4.67978902e-03 -1.28812731e-04 9.99989041e-01 6.72090649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:80.37, Z:0.67 [[ 1.38578592e-01 -9.90351135e-01 -7.76986108e-04 1.05035149e+02] [ 9.90340383e-01 1.38580709e-01 -4.61661171e-03 8.03741958e+01] [ 4.67974193e-03 -1.29717170e-04 9.99989042e-01 6.71617030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:80.40, Z:0.67 [[ 1.36044927e-01 -9.90702364e-01 -7.76674116e-04 1.05037380e+02] [ 9.90691618e-01 1.36047070e-01 -4.61666091e-03 8.03975869e+01] [ 4.67940111e-03 -1.41371241e-04 9.99989042e-01 6.71901459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.04, Y:80.43, Z:0.67 [[ 1.36260415e-01 -9.90672788e-01 -7.26106916e-04 1.05044998e+02] [ 9.90661997e-01 1.36262320e-01 -4.62460045e-03 8.04290202e+01] [ 4.68040683e-03 -8.91765522e-05 9.99989043e-01 6.67729134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:80.45, Z:0.67 [[ 1.33872599e-01 -9.90998234e-01 -7.91756982e-04 1.05046201e+02] [ 9.90987506e-01 1.33874836e-01 -4.61430380e-03 8.04508974e+01] [ 4.67876325e-03 -1.66892434e-04 9.99989041e-01 6.71541372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:80.48, Z:0.67 [[ 1.32697130e-01 -9.91156371e-01 -7.21519050e-04 1.05050161e+02] [ 9.91145584e-01 1.32699053e-01 -4.62526060e-03 8.04755944e+01] [ 4.68010140e-03 -1.01371614e-04 9.99989043e-01 6.71138690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.05, Y:80.50, Z:0.67 [[ 1.32229789e-01 -9.91218828e-01 -7.19676015e-04 1.05054662e+02] [ 9.91208040e-01 1.32231709e-01 -4.62554735e-03 8.05019727e+01] [ 4.68009361e-03 -1.01713500e-04 9.99989043e-01 6.72134705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:80.53, Z:0.67 [[ 1.32634131e-01 -9.91164806e-01 -7.17931322e-04 1.05061693e+02] [ 9.91154016e-01 1.32636037e-01 -4.62581813e-03 8.05310824e+01] [ 4.68017169e-03 -9.80391477e-05 9.99989043e-01 6.71651205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.06, Y:80.55, Z:0.67 [[ 1.30786900e-01 -9.91410218e-01 -7.53036342e-04 1.05063720e+02] [ 9.91399461e-01 1.30788991e-01 -4.62037595e-03 8.05546950e+01] [ 4.67917679e-03 -1.42275175e-04 9.99989042e-01 6.72866877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:80.59, Z:0.67 [[ 1.33708329e-01 -9.91020470e-01 -7.14785626e-04 1.05074200e+02] [ 9.91009676e-01 1.33710210e-01 -4.62628589e-03 8.05870951e+01] [ 4.68031816e-03 -8.97865136e-05 9.99989043e-01 6.69190310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.07, Y:80.61, Z:0.67 [[ 1.29900093e-01 -9.91526772e-01 -7.91770389e-04 1.05073576e+02] [ 9.91516052e-01 1.29902373e-01 -4.61438059e-03 8.06082701e+01] [ 4.67813474e-03 -1.85644584e-04 9.99989040e-01 6.73372226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:80.64, Z:0.67 [[ 1.30124043e-01 -9.91497467e-01 -7.11092884e-04 1.05077422e+02] [ 9.91486677e-01 1.30125945e-01 -4.62677999e-03 8.06352480e+01] [ 4.67997227e-03 -1.02983801e-04 9.99989044e-01 6.73477488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.08, Y:80.66, Z:0.67 [[ 1.29859260e-01 -9.91532183e-01 -7.09461581e-04 1.05080893e+02] [ 9.91521392e-01 1.29861158e-01 -4.62703011e-03 8.06625649e+01] [ 4.67998077e-03 -1.02583626e-04 9.99989044e-01 6.72447604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:80.69, Z:0.67 [[ 1.32075121e-01 -9.91239437e-01 -7.35815776e-04 1.05085305e+02] [ 9.91228663e-01 1.32077118e-01 -4.62299109e-03 8.06860735e+01] [ 4.67967551e-03 -1.18779579e-04 9.99989043e-01 6.74399101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.09, Y:80.71, Z:0.68 [[ 1.32738508e-01 -9.91150841e-01 -7.06265247e-04 1.05089480e+02] [ 9.91140042e-01 1.32740359e-01 -4.62750119e-03 8.07127277e+01] [ 4.68030160e-03 -8.57601647e-05 9.99989044e-01 6.75351282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:80.74, Z:0.67 [[ 1.37646250e-01 -9.90481203e-01 -7.04654400e-04 1.05098285e+02] [ 9.90470394e-01 1.37648041e-01 -4.62774647e-03 8.07443500e+01] [ 4.68069019e-03 -6.09473715e-05 9.99989044e-01 6.73805404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:80.77, Z:0.67 [[ 1.38589597e-01 -9.90349612e-01 -7.54643785e-04 1.05102006e+02] [ 9.90338841e-01 1.38591610e-01 -4.62017166e-03 8.07728435e+01] [ 4.68017251e-03 -1.07045322e-04 9.99989042e-01 6.74516782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.10, Y:80.80, Z:0.68 [[ 1.37633087e-01 -9.90482994e-01 -7.56931758e-04 1.05101983e+02] [ 9.90472226e-01 1.37635121e-01 -4.61982564e-03 8.07953574e+01] [ 4.68003912e-03 -1.13879020e-04 9.99989042e-01 6.76174669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:80.82, Z:0.68 [[ 1.39427019e-01 -9.90232105e-01 -6.96323323e-04 1.05105665e+02] [ 9.90221287e-01 1.39428750e-01 -4.62894286e-03 8.08221048e+01] [ 4.68081533e-03 -4.41144743e-05 9.99989044e-01 6.76284585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:80.85, Z:0.68 [[ 1.44119917e-01 -9.89559987e-01 -6.94730340e-04 1.05110920e+02] [ 9.89549159e-01 1.44121590e-01 -4.62918193e-03 8.08523034e+01] [ 4.68097885e-03 -2.03125090e-05 9.99989044e-01 6.76233053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.11, Y:80.88, Z:0.68 [[ 1.45431830e-01 -9.89368008e-01 -7.26568725e-04 1.05114050e+02] [ 9.89357201e-01 1.45433638e-01 -4.62440921e-03 8.08797010e+01] [ 4.68091006e-03 -4.62997048e-05 9.99989043e-01 6.76413204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:80.90, Z:0.68 [[ 1.47872046e-01 -9.89006238e-01 -7.20243724e-04 1.05115905e+02] [ 9.88995423e-01 1.47873798e-01 -4.62535524e-03 8.09039205e+01] [ 4.68101036e-03 -2.83570014e-05 9.99989044e-01 6.76376848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:80.93, Z:0.68 [[ 1.48725811e-01 -9.88878232e-01 -6.90012521e-04 1.05119847e+02] [ 9.88867393e-01 1.48727412e-01 -4.62986076e-03 8.09298157e+01] [ 4.68099230e-03 6.24891471e-06 9.99989044e-01 6.77064042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.12, Y:80.96, Z:0.68 [[ 1.49287803e-01 -9.88793547e-01 -6.88300232e-04 1.05124118e+02] [ 9.88782706e-01 1.49289389e-01 -4.63011530e-03 8.09563464e+01] [ 4.68098405e-03 1.06403730e-05 9.99989044e-01 6.78603739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:80.98, Z:0.68 [[ 1.50387871e-01 -9.88626834e-01 -6.86614237e-04 1.05128205e+02] [ 9.88615991e-01 1.50389438e-01 -4.63036531e-03 8.09818740e+01] [ 4.68096293e-03 1.75529691e-05 9.99989044e-01 6.78541914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.13, Y:81.01, Z:0.68 [[ 1.50377177e-01 -9.88628462e-01 -6.85313453e-04 1.05132287e+02] [ 9.88617617e-01 1.50378738e-01 -4.63055783e-03 8.10096896e+01] [ 4.68095783e-03 1.88172619e-05 9.99989044e-01 6.79429346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:81.04, Z:0.68 [[ 1.49873493e-01 -9.88704944e-01 -6.85222779e-04 1.05135763e+02] [ 9.88694101e-01 1.49875058e-01 -4.63057121e-03 8.10357202e+01] [ 4.68096645e-03 1.65241612e-05 9.99989044e-01 6.79129901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:81.06, Z:0.68 [[ 1.47852094e-01 -9.89009248e-01 -6.81932097e-04 1.05140341e+02] [ 9.88998406e-01 1.47853666e-01 -4.63105577e-03 8.10611581e+01] [ 4.68098315e-03 1.02815363e-05 9.99989044e-01 6.78662182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:81.09, Z:0.68 [[ 1.46537085e-01 -9.89204943e-01 -6.80183383e-04 1.05144665e+02] [ 9.89194102e-01 1.46538664e-01 -4.63131260e-03 8.10872600e+01] [ 4.68099048e-03 5.82565903e-06 9.99989044e-01 6.78382186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:81.11, Z:0.68 [[ 1.44932671e-01 -9.89441287e-01 -6.78481095e-04 1.05149170e+02] [ 9.89430447e-01 1.44934260e-01 -4.63156197e-03 8.11137589e+01] [ 4.68099379e-03 -4.52043389e-08 9.99989044e-01 6.79246287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.15, Y:81.14, Z:0.68 [[ 1.41406598e-01 -9.89951370e-01 -6.77152374e-04 1.05154189e+02] [ 9.89940535e-01 1.41408218e-01 -4.63175611e-03 8.11393237e+01] [ 4.68096822e-03 -1.53797097e-05 9.99989044e-01 6.79294604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:81.17, Z:0.68 [[ 1.39729803e-01 -9.90189440e-01 -6.75046563e-04 1.05159090e+02] [ 9.90178606e-01 1.39731432e-01 -4.63206299e-03 8.11658733e+01] [ 4.68094508e-03 -2.11794142e-05 9.99989044e-01 6.78754469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:81.19, Z:0.68 [[ 1.37851708e-01 -9.90452651e-01 -6.73404541e-04 1.05163445e+02] [ 9.90441818e-01 1.37853350e-01 -4.63230170e-03 8.11928426e+01] [ 4.68090657e-03 -2.83973176e-05 9.99989044e-01 6.78374928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:81.22, Z:0.68 [[ 1.34532193e-01 -9.90908996e-01 -6.71777126e-04 1.05166693e+02] [ 9.90898168e-01 1.34533863e-01 -4.63253769e-03 8.12184858e+01] [ 4.68080005e-03 -4.24372692e-05 9.99989044e-01 6.77271171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:81.25, Z:0.68 [[ 1.32565004e-01 -9.91174087e-01 -6.70074389e-04 1.05170252e+02] [ 9.91163261e-01 1.32566688e-01 -4.63278397e-03 8.12452064e+01] [ 4.68072497e-03 -5.00080935e-05 9.99989044e-01 6.76677413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.17, Y:81.27, Z:0.68 [[ 1.32621590e-01 -9.91166518e-01 -6.68474494e-04 1.05171577e+02] [ 9.91155691e-01 1.32623266e-01 -4.63301481e-03 8.12717599e+01] [ 4.68074443e-03 -4.81245054e-05 9.99989044e-01 6.77588166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:81.30, Z:0.68 [[ 1.32834214e-01 -9.91138047e-01 -6.66710255e-04 1.05175614e+02] [ 9.91127218e-01 1.32835879e-01 -4.63326868e-03 8.12987375e+01] [ 4.68077191e-03 -4.53380789e-05 9.99989044e-01 6.76450219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.072755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:105.18, Y:81.32, Z:0.68 [[ 1.30430669e-01 -9.91457194e-01 -6.87691040e-04 1.05178444e+02] [ 9.91446385e-01 1.30432458e-01 -4.63025361e-03 8.13230621e+01] [ 4.68039548e-03 -7.78817209e-05 9.99989044e-01 6.77592007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:81.35, Z:0.68 [[ 1.28766791e-01 -9.91674681e-01 -6.63221235e-04 1.05182248e+02] [ 9.91663857e-01 1.28768485e-01 -4.63375593e-03 8.13495782e+01] [ 4.68058043e-03 -6.10186469e-05 9.99989044e-01 6.77571087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:81.38, Z:0.68 [[ 1.24684931e-01 -9.92196165e-01 -6.61499804e-04 1.05185332e+02] [ 9.92185347e-01 1.24686661e-01 -4.63400166e-03 8.13786211e+01] [ 4.68031888e-03 -7.85402354e-05 9.99989044e-01 6.77202332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:81.40, Z:0.68 [[ 1.24656294e-01 -9.92199743e-01 -6.91113569e-04 1.05188852e+02] [ 9.92188948e-01 1.24658163e-01 -4.62977472e-03 8.14020187e+01] [ 4.67981424e-03 -1.08584685e-04 9.99989044e-01 6.77834811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:81.43, Z:0.68 [[ 1.23472925e-01 -9.92347723e-01 -6.58680731e-04 1.05191813e+02] [ 9.92336905e-01 1.23474655e-01 -4.63438437e-03 8.14293684e+01] [ 4.68025116e-03 -8.14122055e-05 9.99989044e-01 6.80018345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.19, Y:81.46, Z:0.68 [[ 1.22670662e-01 -9.92447216e-01 -6.57033908e-04 1.05192679e+02] [ 9.92436398e-01 1.22672393e-01 -4.63461784e-03 8.14552895e+01] [ 4.68021349e-03 -8.35327253e-05 9.99989044e-01 6.81212323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:81.48, Z:0.68 [[ 1.22434044e-01 -9.92476435e-01 -6.55763102e-04 1.05195133e+02] [ 9.92465617e-01 1.22435772e-01 -4.63479764e-03 8.14812990e+01] [ 4.68021630e-03 -8.33653138e-05 9.99989044e-01 6.84284206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:81.51, Z:0.69 [[ 1.24678652e-01 -9.92196960e-01 -6.52833151e-04 1.05199626e+02] [ 9.92186135e-01 1.24680342e-01 -4.63521124e-03 8.15087205e+01] [ 4.68043796e-03 -6.98201104e-05 9.99989044e-01 6.85544893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:81.54, Z:0.69 [[ 1.25597670e-01 -9.92081045e-01 -6.52410775e-04 1.05204199e+02] [ 9.92070218e-01 1.25599347e-01 -4.63527068e-03 8.15386659e+01] [ 4.68050655e-03 -6.50581032e-05 9.99989044e-01 6.85227107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:81.56, Z:0.69 [[ 1.24511930e-01 -9.92217876e-01 -6.82855749e-04 1.05204858e+02] [ 9.92207074e-01 1.24513762e-01 -4.63098691e-03 8.15628062e+01] [ 4.67997294e-03 -1.00921183e-04 9.99989044e-01 6.86093345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:81.59, Z:0.69 [[ 1.24170683e-01 -9.92260661e-01 -6.49807933e-04 1.05208481e+02] [ 9.92249835e-01 1.24172364e-01 -4.63561946e-03 8.15903157e+01] [ 4.68043102e-03 -6.91637781e-05 9.99989044e-01 6.86213722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:81.62, Z:0.69 [[ 1.27833219e-01 -9.91795467e-01 -6.48213574e-04 1.05212216e+02] [ 9.91784634e-01 1.27834852e-01 -4.63584240e-03 8.16206299e+01] [ 4.68067176e-03 -5.02736076e-05 9.99989044e-01 6.85895142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.21, Y:81.65, Z:0.69 [[ 1.27162948e-01 -9.91881603e-01 -6.85472107e-04 1.05211875e+02] [ 9.91870798e-01 1.27164763e-01 -4.63063156e-03 8.16451268e+01] [ 4.68020615e-03 -9.10550046e-05 9.99989044e-01 6.86457178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:81.68, Z:0.68 [[ 1.29880449e-01 -9.91529451e-01 -6.45850825e-04 1.05217438e+02] [ 9.91518613e-01 1.29882049e-01 -4.63615111e-03 8.16755234e+01] [ 4.68076479e-03 -3.82277278e-05 9.99989044e-01 6.84846802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:81.70, Z:0.69 [[ 1.27987748e-01 -9.91775505e-01 -6.96255225e-04 1.05216729e+02] [ 9.91764706e-01 1.27989604e-01 -4.62912806e-03 8.16986560e+01] [ 4.68016925e-03 -9.80496839e-05 9.99989043e-01 6.85786456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:81.72, Z:0.69 [[ 1.27473283e-01 -9.91841797e-01 -6.42447356e-04 1.05219797e+02] [ 9.91830960e-01 1.27474894e-01 -4.63658371e-03 8.17239304e+01] [ 4.68065343e-03 -4.61586291e-05 9.99989045e-01 6.85888093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:81.75, Z:0.69 [[ 1.24597270e-01 -9.92207191e-01 -6.40640230e-04 1.05223036e+02] [ 9.92196358e-01 1.24598904e-01 -4.63683339e-03 8.17532504e+01] [ 4.68052251e-03 -5.79041191e-05 9.99989045e-01 6.86095237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:81.78, Z:0.69 [[ 1.23563673e-01 -9.92336417e-01 -6.73347920e-04 1.05226111e+02] [ 9.92325610e-01 1.23565470e-01 -4.63231606e-03 8.17762016e+01] [ 4.68001847e-03 -9.57944005e-05 9.99989044e-01 6.88047616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:81.80, Z:0.69 [[ 1.22066183e-01 -9.92521759e-01 -6.37060754e-04 1.05229196e+02] [ 9.92510927e-01 1.22067827e-01 -4.63730110e-03 8.18033345e+01] [ 4.68038686e-03 -6.62321158e-05 9.99989045e-01 6.88790890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.23, Y:81.83, Z:0.69 [[ 1.21384052e-01 -9.92605414e-01 -6.35446034e-04 1.05234556e+02] [ 9.92594583e-01 1.21385697e-01 -4.63752235e-03 8.18303027e+01] [ 4.68036386e-03 -6.78190355e-05 9.99989045e-01 6.88611221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:81.86, Z:0.69 [[ 1.21291539e-01 -9.92616724e-01 -6.33811916e-04 1.05240278e+02] [ 9.92605892e-01 1.21293176e-01 -4.63774568e-03 8.18595813e+01] [ 4.68038098e-03 -6.66061338e-05 9.99989045e-01 6.86080425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:81.89, Z:0.69 [[ 1.17661686e-01 -9.93053515e-01 -6.66404916e-04 1.05241450e+02] [ 9.93042713e-01 1.17663515e-01 -4.63329522e-03 8.18856904e+01] [ 4.67952165e-03 -1.16607220e-04 9.99989044e-01 6.88216757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:81.91, Z:0.69 [[ 1.14492727e-01 -9.93423863e-01 -6.65659808e-04 1.05242424e+02] [ 9.93413067e-01 1.14494587e-01 -4.63339677e-03 8.19094017e+01] [ 4.67914136e-03 -1.30784920e-04 9.99989044e-01 6.88496787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:81.94, Z:0.69 [[ 1.11400912e-01 -9.93775347e-01 -6.29255809e-04 1.05246258e+02] [ 9.93764529e-01 1.11402636e-01 -4.63833549e-03 8.19361889e+01] [ 4.67956422e-03 -1.08617299e-04 9.99989045e-01 6.88963563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:81.96, Z:0.69 [[ 1.09826785e-01 -9.93950544e-01 -6.27637867e-04 1.05249197e+02] [ 9.93939727e-01 1.09828518e-01 -4.63855441e-03 8.19632086e+01] [ 4.67942622e-03 -1.14396694e-04 9.99989045e-01 6.89512774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.25, Y:81.99, Z:0.69 [[ 1.08598550e-01 -9.94085491e-01 -6.25963317e-04 1.05251696e+02] [ 9.94074675e-01 1.08600290e-01 -4.63878038e-03 8.19889517e+01] [ 4.67932407e-03 -1.18489457e-04 9.99989045e-01 6.89488958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:82.02, Z:0.69 [[ 1.08349962e-01 -9.94112617e-01 -6.24672051e-04 1.05256803e+02] [ 9.94101800e-01 1.08351698e-01 -4.63895426e-03 8.20198985e+01] [ 4.67932723e-03 -1.18357095e-04 9.99989045e-01 6.90015875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:82.04, Z:0.69 [[ 1.07034068e-01 -9.94255129e-01 -6.68017360e-04 1.05258804e+02] [ 9.94244349e-01 1.07036020e-01 -4.63307430e-03 8.20447929e+01] [ 4.67795980e-03 -1.68275696e-04 9.99989044e-01 6.89187629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:82.07, Z:0.69 [[ 1.05361668e-01 -9.94433761e-01 -6.42943015e-04 1.05259973e+02] [ 9.94422964e-01 1.05363522e-01 -4.63646554e-03 8.20701103e+01] [ 4.67840060e-03 -1.50851554e-04 9.99989045e-01 6.88352732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:82.10, Z:0.69 [[ 1.04527404e-01 -9.94521812e-01 -6.23059729e-04 1.05262926e+02] [ 9.94511000e-01 1.04529175e-01 -4.63914342e-03 8.20982086e+01] [ 4.67885723e-03 -1.34722135e-04 9.99989045e-01 6.89386077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:82.12, Z:0.69 [[ 1.05497018e-01 -9.94419420e-01 -6.29765114e-04 1.05266495e+02] [ 9.94408612e-01 1.05498809e-01 -4.63824219e-03 8.21235139e+01] [ 4.67879758e-03 -1.36923133e-04 9.99989045e-01 6.90807351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:82.15, Z:0.69 [[ 1.04293640e-01 -9.94546366e-01 -6.01920106e-04 1.05268756e+02] [ 9.94535540e-01 1.04295314e-01 -4.64196356e-03 8.21512904e+01] [ 4.67942543e-03 -1.14503663e-04 9.99989045e-01 6.92021426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:82.18, Z:0.69 [[ 1.04221990e-01 -9.94553867e-01 -6.18855975e-04 1.05270500e+02] [ 9.94543053e-01 1.04223744e-01 -4.63970461e-03 8.21775891e+01] [ 4.67893564e-03 -1.31919663e-04 9.99989045e-01 6.91829019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:82.20, Z:0.69 [[ 1.03822466e-01 -9.94595654e-01 -6.17100799e-04 1.05273631e+02] [ 9.94584840e-01 1.03824216e-01 -4.63993804e-03 8.22046023e+01] [ 4.67893222e-03 -1.32029291e-04 9.99989045e-01 6.92271267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:82.23, Z:0.69 [[ 1.04523570e-01 -9.94522219e-01 -6.15469751e-04 1.05276743e+02] [ 9.94511402e-01 1.04525305e-01 -4.64015438e-03 8.22287330e+01] [ 4.67906880e-03 -1.27086184e-04 9.99989045e-01 6.93013305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:82.26, Z:0.69 [[ 1.03533488e-01 -9.94625790e-01 -5.95814231e-04 1.05279378e+02] [ 9.94614960e-01 1.03535141e-01 -4.64274949e-03 8.22561388e+01] [ 4.67948609e-03 -1.11925701e-04 9.99989045e-01 6.93649996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:82.28, Z:0.69 [[ 1.03211655e-01 -9.94659228e-01 -6.11381277e-04 1.05280970e+02] [ 9.94648411e-01 1.03213384e-01 -4.64069864e-03 8.22833028e+01] [ 4.67901646e-03 -1.29135231e-04 9.99989045e-01 6.91316422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:82.31, Z:0.69 [[ 1.05636813e-01 -9.94404599e-01 -5.98160712e-04 1.05284299e+02] [ 9.94393767e-01 1.05638455e-01 -4.64243601e-03 8.23103244e+01] [ 4.67964849e-03 -1.04395137e-04 9.99989045e-01 6.94004849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:82.34, Z:0.69 [[ 1.04806102e-01 -9.94492489e-01 -6.09113201e-04 1.05286357e+02] [ 9.94481667e-01 1.04807804e-01 -4.64099854e-03 8.23390655e+01] [ 4.67927801e-03 -1.19346947e-04 9.99989045e-01 6.93816549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:82.37, Z:0.69 [[ 1.07760032e-01 -9.94176734e-01 -6.30133354e-04 1.05289147e+02] [ 9.94165922e-01 1.07761800e-01 -4.63825637e-03 8.23658132e+01] [ 4.67915087e-03 -1.26638454e-04 9.99989045e-01 6.92798190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:82.39, Z:0.69 [[ 1.07856910e-01 -9.94166239e-01 -6.12853070e-04 1.05291460e+02] [ 9.94155415e-01 1.07858596e-01 -4.64050269e-03 8.23908173e+01] [ 4.67953258e-03 -1.08760917e-04 9.99989045e-01 6.94262693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:82.42, Z:0.69 [[ 1.06974333e-01 -9.94261606e-01 -5.92870539e-04 1.05293848e+02] [ 9.94250769e-01 1.06975935e-01 -4.64308575e-03 8.24185264e+01] [ 4.67986477e-03 -9.27709891e-05 9.99989045e-01 6.93473530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:82.44, Z:0.69 [[ 1.08018865e-01 -9.94148653e-01 -6.16669603e-04 1.05297207e+02] [ 9.94137831e-01 1.08020567e-01 -4.64001587e-03 8.24440487e+01] [ 4.67947853e-03 -1.11845335e-04 9.99989045e-01 6.93198819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:82.47, Z:0.69 [[ 1.07542778e-01 -9.94200283e-01 -5.89644628e-04 1.05300381e+02] [ 9.94189443e-01 1.07544360e-01 -4.64348487e-03 8.24704069e+01] [ 4.67996693e-03 -8.68452006e-05 9.99989045e-01 6.91961191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:82.50, Z:0.69 [[ 1.06847562e-01 -9.94275245e-01 -5.78780584e-04 1.05303581e+02] [ 9.94264399e-01 1.06849100e-01 -4.64487417e-03 8.24951668e+01] [ 4.68012559e-03 -7.91674499e-05 9.99989045e-01 6.91980850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:82.52, Z:0.69 [[ 1.05096589e-01 -9.94461854e-01 -5.72027124e-04 1.05305949e+02] [ 9.94451006e-01 1.05098115e-01 -4.64573510e-03 8.25210877e+01] [ 4.68012532e-03 -8.06020343e-05 9.99989045e-01 6.91053338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:82.55, Z:0.69 [[ 1.04259362e-01 -9.94549981e-01 -5.66736556e-04 1.05310158e+02] [ 9.94539130e-01 1.04260872e-01 -4.64641109e-03 8.25466264e+01] [ 4.68017651e-03 -7.92098278e-05 9.99989045e-01 6.92452195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:82.58, Z:0.69 [[ 1.01199605e-01 -9.94865979e-01 -5.68863326e-04 1.05313871e+02] [ 9.94855135e-01 1.01201159e-01 -4.64614010e-03 8.25756750e+01] [ 4.67985635e-03 -9.57490574e-05 9.99989045e-01 6.91088122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:82.60, Z:0.69 [[ 9.65569593e-02 -9.95327275e-01 -6.07419087e-04 1.05314522e+02] [ 9.95316466e-01 9.65587432e-02 -4.64123514e-03 8.25998508e+01] [ 4.67819955e-03 -1.56430667e-04 9.99989045e-01 6.91967249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:82.63, Z:0.69 [[ 9.60631559e-02 -9.95375074e-01 -5.75734301e-04 1.05319732e+02] [ 9.95364243e-01 9.60647975e-02 -4.64524573e-03 8.26272155e+01] [ 4.67906961e-03 -1.26828371e-04 9.99989045e-01 6.92540147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:82.65, Z:0.69 [[ 9.33955901e-02 -9.95628906e-01 -5.86883562e-04 1.05322042e+02] [ 9.95618088e-01 9.33973126e-02 -4.64383670e-03 8.26540127e+01] [ 4.67835140e-03 -1.50598020e-04 9.99989045e-01 6.91692044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:82.68, Z:0.69 [[ 9.14845705e-02 -9.95806333e-01 -5.66017355e-04 1.05325512e+02] [ 9.95795502e-01 9.14862166e-02 -4.64646469e-03 8.26806929e+01] [ 4.67876175e-03 -1.38557710e-04 9.99989045e-01 6.91558833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:82.71, Z:0.69 [[ 8.85622671e-02 -9.96070486e-01 -5.58465445e-04 1.05328554e+02] [ 9.96059655e-01 8.85639097e-02 -4.64741385e-03 8.27071377e+01] [ 4.67861165e-03 -1.44679392e-04 9.99989045e-01 6.91184725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:82.73, Z:0.69 [[ 8.68679853e-02 -9.96219674e-01 -5.61260023e-04 1.05331201e+02] [ 9.96208847e-01 8.68696593e-02 -4.64706320e-03 8.27335818e+01] [ 4.67825225e-03 -1.55451183e-04 9.99989045e-01 6.90562762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:82.76, Z:0.69 [[ 8.59151280e-02 -9.96302304e-01 -5.57251994e-04 1.05335427e+02] [ 9.96291476e-01 8.59167938e-02 -4.64756468e-03 8.27600774e+01] [ 4.67825670e-03 -1.55889297e-04 9.99989045e-01 6.91533936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:82.79, Z:0.69 [[ 8.39050626e-02 -9.96473600e-01 -5.51915584e-04 1.05338950e+02] [ 9.96462772e-01 8.39067253e-02 -4.64823111e-03 8.27876826e+01] [ 4.67814901e-03 -1.59953211e-04 9.99989045e-01 6.90355248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:82.81, Z:0.69 [[ 8.45581213e-02 -9.96418379e-01 -5.80703988e-04 1.05342628e+02] [ 9.96407572e-01 8.45599110e-02 -4.64463767e-03 8.28137883e+01] [ 4.67710661e-03 -1.85876016e-04 9.99989045e-01 6.91880951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:82.84, Z:0.69 [[ 8.57669124e-02 -9.96315073e-01 -5.58325664e-04 1.05346300e+02] [ 9.96304246e-01 8.57685847e-02 -4.64742179e-03 8.28405921e+01] [ 4.67818318e-03 -1.57667212e-04 9.99989045e-01 6.92510478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:82.87, Z:0.69 [[ 8.71973468e-02 -9.96190898e-01 -5.63710393e-04 1.05349226e+02] [ 9.96180073e-01 8.71990287e-02 -4.64675347e-03 8.28665999e+01] [ 4.67820851e-03 -1.56372486e-04 9.99989045e-01 6.92302246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:82.89, Z:0.70 [[ 8.90626517e-02 -9.96025871e-01 -5.54722939e-04 1.05352450e+02] [ 9.96015036e-01 8.90642714e-02 -4.64786562e-03 8.28945938e+01] [ 4.67880040e-03 -1.38561151e-04 9.99989045e-01 6.95013245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:82.92, Z:0.69 [[ 8.96863073e-02 -9.95969897e-01 -5.74382992e-04 1.05355104e+02] [ 9.95959076e-01 8.96880119e-02 -4.64543476e-03 8.29227625e+01] [ 4.67822845e-03 -1.55430064e-04 9.99989045e-01 6.94435368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:82.95, Z:0.69 [[ 9.12395892e-02 -9.95828811e-01 -5.63323278e-04 1.05358757e+02] [ 9.95817978e-01 9.12412253e-02 -4.64679823e-03 8.29498761e+01] [ 4.67881386e-03 -1.36995486e-04 9.99989045e-01 6.94959371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.36, Y:82.98, Z:0.70 [[ 9.21206777e-02 -9.95747688e-01 -5.67167841e-04 1.05362580e+02] [ 9.95736858e-01 9.21223222e-02 -4.64632523e-03 8.29768552e+01] [ 4.67881643e-03 -1.36727295e-04 9.99989045e-01 6.96787784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:83.00, Z:0.70 [[ 9.43841456e-02 -9.95535689e-01 -5.70512334e-04 1.05366097e+02] [ 9.95524856e-01 9.43857811e-02 -4.64591453e-03 8.30038595e+01] [ 4.67902197e-03 -1.29458536e-04 9.99989045e-01 6.97518090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:83.03, Z:0.70 [[ 9.62047796e-02 -9.95361400e-01 -5.68846349e-04 1.05369260e+02] [ 9.95350564e-01 9.62063875e-02 -4.64611850e-03 8.30284916e+01] [ 4.67929367e-03 -1.19222728e-04 9.99989045e-01 6.98407595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.37, Y:83.06, Z:0.70 [[ 9.69349608e-02 -9.95290568e-01 -5.45825972e-04 1.05371737e+02] [ 9.95279715e-01 9.69364533e-02 -4.64892399e-03 8.30566942e+01] [ 4.67994064e-03 -9.26062523e-05 9.99989045e-01 6.98998216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:83.08, Z:0.70 [[ 9.84315404e-02 -9.95143664e-01 -5.64827978e-04 1.05375906e+02] [ 9.95132822e-01 9.84331053e-02 -4.64661417e-03 8.30849077e+01] [ 4.67964642e-03 -1.04705469e-04 9.99989045e-01 6.98551170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:83.11, Z:0.70 [[ 9.80985327e-02 -9.95176540e-01 -5.76410002e-04 1.05378670e+02] [ 9.95165706e-01 9.81001552e-02 -4.64520571e-03 8.31104194e+01] [ 4.67934566e-03 -1.17935602e-04 9.99989045e-01 6.99286267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:83.14, Z:0.70 [[ 9.95428074e-02 -9.95033120e-01 -5.65476758e-04 1.05382615e+02] [ 9.95022276e-01 9.95443632e-02 -4.64653017e-03 8.31364779e+01] [ 4.67974143e-03 -1.00133313e-04 9.99989045e-01 6.98883104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:83.16, Z:0.70 [[ 9.98666468e-02 -9.95000672e-01 -5.61201498e-04 1.05385555e+02] [ 9.94989825e-01 9.98681791e-02 -4.64704647e-03 8.31623076e+01] [ 4.67986053e-03 -9.43048314e-05 9.99989045e-01 6.99161913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:83.19, Z:0.70 [[ 1.00283869e-01 -9.94958712e-01 -5.53323097e-04 1.05389904e+02] [ 9.94947859e-01 1.00285360e-01 -4.64799386e-03 8.31896300e+01] [ 4.68005220e-03 -8.44088234e-05 9.99989045e-01 6.98629058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.39, Y:83.21, Z:0.70 [[ 9.96602941e-02 -9.95021349e-01 -5.83553150e-04 1.05391578e+02] [ 9.95010517e-01 9.96619330e-02 -4.64436095e-03 8.32128995e+01] [ 4.67939633e-03 -1.17783144e-04 9.99989045e-01 6.98731209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:83.24, Z:0.70 [[ 9.81860139e-02 -9.95167932e-01 -5.42400199e-04 1.05395640e+02] [ 9.95157075e-01 9.81874767e-02 -4.64928162e-03 8.32397016e+01] [ 4.68007288e-03 -8.32789658e-05 9.99989045e-01 6.97818540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:83.27, Z:0.70 [[ 9.78143071e-02 -9.95204529e-01 -5.54714882e-04 1.05398577e+02] [ 9.95193680e-01 9.78158315e-02 -4.64781186e-03 8.32664577e+01] [ 4.67978331e-03 -9.74262476e-05 9.99989045e-01 6.97947881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:83.29, Z:0.70 [[ 9.70184781e-02 -9.95282427e-01 -5.52978805e-04 1.05402325e+02] [ 9.95271578e-01 9.70200031e-02 -4.64801840e-03 8.32929053e+01] [ 4.67974104e-03 -9.94204162e-05 9.99989045e-01 6.97291240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:83.32, Z:0.70 [[ 9.48616358e-02 -9.95490314e-01 -5.51249637e-04 1.05407586e+02] [ 9.95479468e-01 9.48631762e-02 -4.64822347e-03 8.33199690e+01] [ 4.67955474e-03 -1.07819613e-04 9.99989045e-01 6.97144449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.41, Y:83.35, Z:0.70 [[ 9.34855995e-02 -9.95620480e-01 -5.49620030e-04 1.05411707e+02] [ 9.95609635e-01 9.34871473e-02 -4.64841615e-03 8.33474170e+01] [ 4.67944073e-03 -1.12647027e-04 9.99989045e-01 6.97562933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:83.37, Z:0.70 [[ 9.21895840e-02 -9.95741322e-01 -5.47996178e-04 1.05415249e+02] [ 9.95730478e-01 9.21911384e-02 -4.64860758e-03 8.33742182e+01] [ 4.67933105e-03 -1.17103297e-04 9.99989045e-01 6.97643906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:83.40, Z:0.70 [[ 8.99644404e-02 -9.95944828e-01 -5.46336313e-04 1.05419020e+02] [ 9.95933987e-01 8.99660112e-02 -4.64880265e-03 8.34017013e+01] [ 4.67910266e-03 -1.25887973e-04 9.99989045e-01 6.97477354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:83.43, Z:0.70 [[ 8.86296167e-02 -9.96064503e-01 -5.44682417e-04 1.05422351e+02] [ 9.96053662e-01 8.86311944e-02 -4.64899642e-03 8.34272428e+01] [ 4.67897617e-03 -1.30494145e-04 9.99989045e-01 6.97648731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:83.45, Z:0.70 [[ 8.70482288e-02 -9.96203955e-01 -5.34722756e-04 1.05426216e+02] [ 9.96193110e-01 8.70497772e-02 -4.65015683e-03 8.34546910e+01] [ 4.67905213e-03 -1.27899209e-04 9.99989045e-01 6.97713558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:83.48, Z:0.70 [[ 8.22316404e-02 -9.96613097e-01 -5.40334921e-04 1.05427723e+02] [ 9.96602264e-01 8.22332673e-02 -4.64950463e-03 8.34803500e+01] [ 4.67819071e-03 -1.56162613e-04 9.99989045e-01 6.95594074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:83.51, Z:0.70 [[ 8.42286042e-02 -9.96446332e-01 -4.99015126e-04 1.05434957e+02] [ 9.96435468e-01 8.42300167e-02 -4.65428352e-03 8.35090232e+01] [ 4.67977579e-03 -1.05212566e-04 9.99989044e-01 6.98218861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:83.54, Z:0.70 [[ 8.34501785e-02 -9.96511805e-01 -5.37951135e-04 1.05438811e+02] [ 9.96500968e-01 8.34517811e-02 -4.64977886e-03 8.35363376e+01] [ 4.67845251e-03 -1.48043951e-04 9.99989045e-01 6.98200856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:83.56, Z:0.70 [[ 8.23243839e-02 -9.96605443e-01 -5.36282769e-04 1.05440386e+02] [ 9.96594606e-01 8.23259909e-02 -4.64997127e-03 8.35615560e+01] [ 4.67833669e-03 -1.51650495e-04 9.99989045e-01 6.97179565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:83.59, Z:0.70 [[ 8.35309309e-02 -9.96505054e-01 -5.11420964e-04 1.05445165e+02] [ 9.96494199e-01 8.35324089e-02 -4.65282433e-03 8.35885274e+01] [ 4.67928319e-03 -1.20973276e-04 9.99989045e-01 6.99208040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:83.61, Z:0.70 [[ 8.50458921e-02 -9.96376893e-01 -5.32986749e-04 1.05448887e+02] [ 9.96366050e-01 8.50474542e-02 -4.65035264e-03 8.36141574e+01] [ 4.67883307e-03 -1.35556514e-04 9.99989045e-01 6.99769641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:83.64, Z:0.70 [[ 8.58967481e-02 -9.96303903e-01 -5.31271385e-04 1.05451772e+02] [ 9.96293057e-01 8.58982929e-02 -4.65054860e-03 8.36390424e+01] [ 4.67899502e-03 -1.29834991e-04 9.99989045e-01 6.99545583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:83.67, Z:0.70 [[ 8.66884954e-02 -9.96235326e-01 -5.29400472e-04 1.05454698e+02] [ 9.96224478e-01 8.66900228e-02 -4.65076156e-03 8.36658574e+01] [ 4.67914670e-03 -1.24234187e-04 9.99989045e-01 6.99239811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:83.69, Z:0.70 [[ 8.92971384e-02 -9.96004889e-01 -5.31566493e-04 1.05457961e+02] [ 9.95994038e-01 8.92986475e-02 -4.65051583e-03 8.36916038e+01] [ 4.67940467e-03 -1.14159302e-04 9.99989045e-01 6.98709102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:83.72, Z:0.70 [[ 9.10935900e-02 -9.95842192e-01 -5.35728096e-04 1.05461133e+02] [ 9.95831341e-01 9.10950990e-02 -4.65004533e-03 8.37167166e+01] [ 4.67951354e-03 -1.09905506e-04 9.99989045e-01 6.99055311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.46, Y:83.74, Z:0.70 [[ 9.20684506e-02 -9.95752543e-01 -5.23713491e-04 1.05464079e+02] [ 9.95741683e-01 9.20698929e-02 -4.65139809e-03 8.37431433e+01] [ 4.67985972e-03 -9.32363379e-05 9.99989045e-01 6.98690936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:83.77, Z:0.70 [[ 9.35641100e-02 -9.95613120e-01 -5.21979068e-04 1.05468589e+02] [ 9.95602257e-01 9.35655279e-02 -4.65159272e-03 8.37694925e+01] [ 4.68002598e-03 -8.44614056e-05 9.99989045e-01 6.98667454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:83.80, Z:0.70 [[ 9.31224390e-02 -9.95654530e-01 -5.17057574e-04 1.05472295e+02] [ 9.95643665e-01 9.31238387e-02 -4.65214314e-03 8.37966658e+01] [ 4.68007778e-03 -8.15861822e-05 9.99989045e-01 6.98784748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:83.82, Z:0.70 [[ 9.27647695e-02 -9.95687918e-01 -5.18126524e-04 1.05477768e+02] [ 9.95677054e-01 9.27661781e-02 -4.65202408e-03 8.38219939e+01] [ 4.68002879e-03 -8.43427490e-05 9.99989045e-01 6.98334597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:83.85, Z:0.70 [[ 9.19547937e-02 -9.95763049e-01 -5.16821670e-04 1.05481957e+02] [ 9.95752185e-01 9.19562051e-02 -4.65216904e-03 8.38491205e+01] [ 4.67998299e-03 -8.68370624e-05 9.99989045e-01 6.98241157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:83.87, Z:0.70 [[ 9.09339369e-02 -9.95856794e-01 -5.15133440e-04 1.05485870e+02] [ 9.95845931e-01 9.09353515e-02 -4.65235597e-03 8.38748111e+01] [ 4.67992414e-03 -8.99364958e-05 9.99989045e-01 6.98384999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.49, Y:83.90, Z:0.70 [[ 8.94425268e-02 -9.95991853e-01 -5.13828493e-04 1.05489604e+02] [ 9.95980991e-01 8.94439516e-02 -4.65250009e-03 8.39017862e+01] [ 4.67981104e-03 -9.56320477e-05 9.99989045e-01 6.98487736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:83.93, Z:0.70 [[ 8.89092426e-02 -9.96039600e-01 -5.12146854e-04 1.05499504e+02] [ 9.96028738e-01 8.89106653e-02 -4.65268520e-03 8.39332911e+01] [ 4.67979402e-03 -9.64462676e-05 9.99989045e-01 6.99181343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:83.96, Z:0.70 [[ 8.71172635e-02 -9.96197900e-01 -5.71395747e-04 1.05504283e+02] [ 9.96187079e-01 8.71189822e-02 -4.64620557e-03 8.39625811e+01] [ 4.67831965e-03 -1.64452345e-04 9.99989043e-01 6.99825763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.50, Y:83.98, Z:0.70 [[ 8.27646323e-02 -9.96568955e-01 -5.78226049e-04 1.05503671e+02] [ 9.96558146e-01 8.27664300e-02 -4.64546123e-03 8.39849522e+01] [ 4.67738014e-03 -1.91755989e-04 9.99989043e-01 6.99184128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:84.02, Z:0.70 [[ 8.28695555e-02 -9.96560276e-01 -5.02815413e-04 1.05511412e+02] [ 9.96549417e-01 8.28710005e-02 -4.65360924e-03 8.40152557e+01] [ 4.67927093e-03 -1.15437878e-04 9.99989045e-01 6.98993948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:84.04, Z:0.70 [[ 8.23617308e-02 -9.96602349e-01 -5.51133946e-04 1.05509754e+02] [ 9.96591522e-01 8.23634066e-02 -4.64838620e-03 8.40382315e+01] [ 4.67798587e-03 -1.66406285e-04 9.99989044e-01 6.99162687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:84.06, Z:0.70 [[ 8.28491955e-02 -9.96561970e-01 -4.99837138e-04 1.05513144e+02] [ 9.96551110e-01 8.28506268e-02 -4.65389558e-03 8.40637950e+01] [ 4.67930717e-03 -1.12541750e-04 9.99989046e-01 6.97931533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:84.09, Z:0.70 [[ 8.30105614e-02 -9.96548542e-01 -4.99265845e-04 1.05516843e+02] [ 9.96537681e-01 8.30119883e-02 -4.65395667e-03 8.40896749e+01] [ 4.67933879e-03 -1.11209672e-04 9.99989046e-01 6.98317385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:84.12, Z:0.70 [[ 8.29714636e-02 -9.96551800e-01 -4.95872661e-04 1.05520080e+02] [ 9.96540937e-01 8.29728751e-02 -4.65431819e-03 8.41166443e+01] [ 4.67941315e-03 -1.07981814e-04 9.99989046e-01 6.98011694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:84.14, Z:0.70 [[ 8.28434709e-02 -9.96562449e-01 -4.94234610e-04 1.05523184e+02] [ 9.96551585e-01 8.28448761e-02 -4.65449212e-03 8.41441910e+01] [ 4.67943687e-03 -1.06936002e-04 9.99989046e-01 6.97779757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:84.17, Z:0.70 [[ 8.21680518e-02 -9.96618367e-01 -4.92584660e-04 1.05526106e+02] [ 9.96607503e-01 8.21694567e-02 -4.65466673e-03 8.41706385e+01] [ 4.67940177e-03 -1.08448672e-04 9.99989046e-01 6.97816965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:84.20, Z:0.70 [[ 8.19464362e-02 -9.96636614e-01 -4.90857986e-04 1.05528257e+02] [ 9.96625750e-01 8.19478355e-02 -4.65484881e-03 8.41980102e+01] [ 4.67941750e-03 -1.07753437e-04 9.99989046e-01 6.97929028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:84.22, Z:0.70 [[ 8.20001742e-02 -9.96632195e-01 -4.89222673e-04 1.05529269e+02] [ 9.96621329e-01 8.20015652e-02 -4.65502067e-03 8.42248880e+01] [ 4.67946049e-03 -1.05857245e-04 9.99989046e-01 6.98079957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:84.25, Z:0.70 [[ 8.18656301e-02 -9.96643260e-01 -4.80071207e-04 1.05533200e+02] [ 9.96632389e-01 8.18669799e-02 -4.65597881e-03 8.42541849e+01] [ 4.67965188e-03 -9.72898748e-05 9.99989046e-01 6.98179663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:84.28, Z:0.70 [[ 8.08182549e-02 -9.96728726e-01 -5.06343473e-04 1.05534760e+02] [ 9.96717872e-01 8.08197387e-02 -4.65324866e-03 8.42814014e+01] [ 4.67894915e-03 -1.28614154e-04 9.99989045e-01 6.98470241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:84.31, Z:0.70 [[ 8.11549100e-02 -9.96701379e-01 -4.92066656e-04 1.05536817e+02] [ 9.96690516e-01 8.11563235e-02 -4.65472675e-03 8.43072793e+01] [ 4.67930689e-03 -1.12684238e-04 9.99989046e-01 6.99875710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:84.34, Z:0.70 [[ 8.17082682e-02 -9.96656172e-01 -4.84508518e-04 1.05539386e+02] [ 9.96645303e-01 8.17096404e-02 -4.65550703e-03 8.43353490e+01] [ 4.67952883e-03 -1.02489723e-04 9.99989046e-01 6.99615689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:84.36, Z:0.70 [[ 8.21662270e-02 -9.96618518e-01 -4.91465665e-04 1.05540608e+02] [ 9.96607653e-01 8.21676267e-02 -4.65479093e-03 8.43604344e+01] [ 4.67943340e-03 -1.07331834e-04 9.99989046e-01 6.99756144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:84.39, Z:0.70 [[ 8.21029174e-02 -9.96623742e-01 -4.77304423e-04 1.05542669e+02] [ 9.96612869e-01 8.21042517e-02 -4.65624258e-03 8.43872372e+01] [ 4.67971062e-03 -9.33966310e-05 9.99989046e-01 6.99920902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:84.41, Z:0.70 [[ 8.22243113e-02 -9.96613735e-01 -4.75624520e-04 1.05544815e+02] [ 9.96602861e-01 8.22256364e-02 -4.65641417e-03 8.44139149e+01] [ 4.67975484e-03 -9.11383099e-05 9.99989046e-01 6.99870331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:84.44, Z:0.70 [[ 8.13257124e-02 -9.96687466e-01 -4.73868386e-04 1.05545801e+02] [ 9.96676592e-01 8.13270391e-02 -4.65659288e-03 8.44408460e+01] [ 4.67970607e-03 -9.35927950e-05 9.99989046e-01 6.99569106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:84.47, Z:0.70 [[ 8.05126429e-02 -9.96753477e-01 -4.69404411e-04 1.05548363e+02] [ 9.96742602e-01 8.05139576e-02 -4.65704572e-03 8.44671870e+01] [ 4.67972012e-03 -9.29243147e-05 9.99989046e-01 7.00200559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:84.50, Z:0.70 [[ 7.87447271e-02 -9.96894704e-01 -4.66270076e-04 1.05551025e+02] [ 9.96883829e-01 7.87460465e-02 -4.65736271e-03 8.44960388e+01] [ 4.67961715e-03 -9.80743428e-05 9.99989046e-01 7.00921555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.55, Y:84.52, Z:0.70 [[ 7.74297073e-02 -9.96997701e-01 -4.73024374e-04 1.05553243e+02] [ 9.96986833e-01 7.74310725e-02 -4.65668133e-03 8.45242611e+01] [ 4.67932737e-03 -1.11033600e-04 9.99989046e-01 7.01037676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:84.55, Z:0.70 [[ 7.60010949e-02 -9.97107624e-01 -4.69615427e-04 1.05555504e+02] [ 9.97096755e-01 7.60024598e-02 -4.65702416e-03 8.45522422e+01] [ 4.67924622e-03 -1.14313082e-04 9.99989046e-01 7.01161614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:84.58, Z:0.70 [[ 7.42432971e-02 -9.97240050e-01 -4.64147340e-04 1.05558270e+02] [ 9.97229180e-01 7.42446556e-02 -4.65757268e-03 8.45787617e+01] [ 4.67917847e-03 -1.17067720e-04 9.99989046e-01 7.02011636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:84.61, Z:0.70 [[ 7.16622722e-02 -9.97428845e-01 -4.66117412e-04 1.05560990e+02] [ 9.97417980e-01 7.16636681e-02 -4.65737551e-03 8.46057551e+01] [ 4.67880436e-03 -1.31155776e-04 9.99989046e-01 7.02054998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.56, Y:84.63, Z:0.70 [[ 7.05388282e-02 -9.97508926e-01 -4.64458958e-04 1.05563534e+02] [ 9.97498062e-01 7.05402286e-02 -4.65754089e-03 8.46322016e+01] [ 4.67870166e-03 -1.34759433e-04 9.99989046e-01 7.02077588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:84.66, Z:0.70 [[ 6.94763442e-02 -9.97583492e-01 -4.62725526e-04 1.05565848e+02] [ 9.97572628e-01 6.94777481e-02 -4.65771310e-03 8.46589240e+01] [ 4.67860683e-03 -1.38001440e-04 9.99989046e-01 7.01808796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:84.68, Z:0.70 [[ 6.80182621e-02 -9.97683970e-01 -4.61075416e-04 1.05567352e+02] [ 9.97673107e-01 6.80196741e-02 -4.65787645e-03 8.46847591e+01] [ 4.67845086e-03 -1.43181882e-04 9.99989046e-01 7.01093920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:84.71, Z:0.70 [[ 6.72821385e-02 -9.97733884e-01 -4.59347033e-04 1.05569258e+02] [ 9.97723021e-01 6.72835505e-02 -4.65804689e-03 8.47122566e+01] [ 4.67839771e-03 -1.44897753e-04 9.99989046e-01 7.00888414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:84.74, Z:0.70 [[ 6.63752624e-02 -9.97794626e-01 -4.57709119e-04 1.05571069e+02] [ 9.97783763e-01 6.63766766e-02 -4.65820783e-03 8.47396203e+01] [ 4.67831595e-03 -1.47504961e-04 9.99989046e-01 7.00609623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.57, Y:84.77, Z:0.70 [[ 6.50921940e-02 -9.97879150e-01 -4.56075067e-04 1.05573014e+02] [ 9.97868288e-01 6.50936145e-02 -4.65836781e-03 8.47662529e+01] [ 4.67817568e-03 -1.51879465e-04 9.99989046e-01 7.00153610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:84.79, Z:0.70 [[ 6.45140992e-02 -9.97916692e-01 -4.54365392e-04 1.05575730e+02] [ 9.97905830e-01 6.45155180e-02 -4.65853456e-03 8.47928873e+01] [ 4.67814302e-03 -1.52872714e-04 9.99989046e-01 7.00369495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:84.82, Z:0.70 [[ 6.40825478e-02 -9.97944499e-01 -4.52703026e-04 1.05578714e+02] [ 9.97933636e-01 6.40839636e-02 -4.65869610e-03 8.48199417e+01] [ 4.67813115e-03 -1.53226461e-04 9.99989046e-01 7.00486479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:84.85, Z:0.70 [[ 6.41806507e-02 -9.97938195e-01 -4.51017077e-04 1.05580756e+02] [ 9.97927331e-01 6.41820576e-02 -4.65885931e-03 8.48464832e+01] [ 4.67820086e-03 -1.51073646e-04 9.99989046e-01 7.00578373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:84.87, Z:0.70 [[ 6.43355256e-02 -9.97928223e-01 -4.49254136e-04 1.05582198e+02] [ 9.97917358e-01 6.43369225e-02 -4.65902931e-03 8.48733802e+01] [ 4.67828047e-03 -1.48577402e-04 9.99989046e-01 7.01137375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.58, Y:84.90, Z:0.70 [[ 6.45013541e-02 -9.97917519e-01 -4.47602584e-04 1.05583622e+02] [ 9.97906653e-01 6.45027415e-02 -4.65918797e-03 8.49005864e+01] [ 4.67835689e-03 -1.46141663e-04 9.99989046e-01 7.01219873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:84.93, Z:0.70 [[ 6.59619878e-02 -9.97822037e-01 -4.45961339e-04 1.05585283e+02] [ 9.97811168e-01 6.59633517e-02 -4.65934506e-03 8.49271758e+01] [ 4.67861428e-03 -1.37645543e-04 9.99989046e-01 7.01504286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:84.95, Z:0.70 [[ 6.65003142e-02 -9.97786305e-01 -4.44243187e-04 1.05587933e+02] [ 9.97775434e-01 6.65016642e-02 -4.65950887e-03 8.49546882e+01] [ 4.67873705e-03 -1.33396135e-04 9.99989046e-01 7.01827125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:84.98, Z:0.70 [[ 6.61524859e-02 -9.97809427e-01 -4.42620285e-04 1.05590350e+02] [ 9.97798556e-01 6.61538322e-02 -4.65966303e-03 8.49823344e+01] [ 4.67873672e-03 -1.33397588e-04 9.99989046e-01 7.01956539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:85.01, Z:0.70 [[ 6.67204737e-02 -9.97771609e-01 -4.40995874e-04 1.05592798e+02] [ 9.97760736e-01 6.67218062e-02 -4.65981676e-03 8.50071750e+01] [ 4.67885691e-03 -1.29103186e-04 9.99989046e-01 7.02355638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:85.03, Z:0.70 [[ 6.84422401e-02 -9.97654984e-01 -4.39116330e-04 1.05595319e+02] [ 9.97644108e-01 6.84435451e-02 -4.65999387e-03 8.50346075e+01] [ 4.67912079e-03 -1.19141400e-04 9.99989046e-01 7.03132712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:85.06, Z:0.70 [[ 6.92420008e-02 -9.97599796e-01 -4.37486983e-04 1.05597154e+02] [ 9.97588918e-01 6.92432894e-02 -4.66014683e-03 8.50597828e+01] [ 4.67925457e-03 -1.13754276e-04 9.99989046e-01 7.03208604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:85.09, Z:0.70 [[ 6.99280922e-02 -9.97551940e-01 -4.35601184e-04 1.05598780e+02] [ 9.97541059e-01 6.99293645e-02 -4.66032310e-03 8.50866270e+01] [ 4.67937566e-03 -1.08642564e-04 9.99989046e-01 7.03472665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:85.11, Z:0.70 [[ 7.10702278e-02 -9.97471220e-01 -4.33816738e-04 1.05600651e+02] [ 9.97460337e-01 7.10714793e-02 -4.66048920e-03 8.51132791e+01] [ 4.67953585e-03 -1.01492961e-04 9.99989046e-01 7.04051077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:85.14, Z:0.70 [[ 7.23097030e-02 -9.97382136e-01 -4.26786789e-04 1.05602945e+02] [ 9.97371248e-01 7.23109082e-02 -4.66114017e-03 8.51397681e+01] [ 4.67979928e-03 -8.86192116e-05 9.99989046e-01 7.04629247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:85.17, Z:0.70 [[ 7.28181505e-02 -9.97345138e-01 -4.38120286e-04 1.05605402e+02] [ 9.97334256e-01 7.28194030e-02 -4.66009300e-03 8.51654864e+01] [ 4.67962476e-03 -9.76130154e-05 9.99989046e-01 7.04418531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:85.19, Z:0.70 [[ 7.33430298e-02 -9.97306682e-01 -4.27358749e-04 1.05608915e+02] [ 9.97295793e-01 7.33442263e-02 -4.66108204e-03 8.51921101e+01] [ 4.67987256e-03 -8.43452035e-05 9.99989046e-01 7.04694848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:85.22, Z:0.71 [[ 7.36026109e-02 -9.97287558e-01 -4.26531775e-04 1.05611474e+02] [ 9.97276669e-01 7.36038007e-02 -4.66115772e-03 8.52179181e+01] [ 4.67990896e-03 -8.22968099e-05 9.99989046e-01 7.05179783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:85.24, Z:0.70 [[ 7.30315504e-02 -9.97329541e-01 -4.22663046e-04 1.05613350e+02] [ 9.97318651e-01 7.30327284e-02 -4.66151029e-03 8.52437238e+01] [ 4.67993015e-03 -8.10924156e-05 9.99989046e-01 7.03924121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:85.27, Z:0.70 [[ 7.28997669e-02 -9.97339183e-01 -4.23086616e-04 1.05615460e+02] [ 9.97328292e-01 7.29009484e-02 -4.66147184e-03 8.52711755e+01] [ 4.67991193e-03 -8.21360409e-05 9.99989046e-01 7.02835672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:85.30, Z:0.70 [[ 7.21902208e-02 -9.97390793e-01 -4.21437659e-04 1.05617573e+02] [ 9.97379903e-01 7.21914023e-02 -4.66162092e-03 8.52972021e+01] [ 4.67988196e-03 -8.38100077e-05 9.99989046e-01 7.02766167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:85.32, Z:0.70 [[ 7.12926361e-02 -9.97455354e-01 -4.20165178e-04 1.05620149e+02] [ 9.97444464e-01 7.12938215e-02 -4.66173561e-03 8.53231110e+01] [ 4.67982832e-03 -8.67440111e-05 9.99989046e-01 7.03160483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:85.35, Z:0.70 [[ 6.93667523e-02 -9.97591138e-01 -4.18374411e-04 1.05623953e+02] [ 9.97580250e-01 6.93679503e-02 -4.66189632e-03 8.53504490e+01] [ 4.67968823e-03 -9.39814425e-05 9.99989046e-01 7.03991774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:85.38, Z:0.70 [[ 6.68643957e-02 -9.97761985e-01 -4.16752607e-04 1.05626513e+02] [ 9.97751099e-01 6.68656135e-02 -4.66204129e-03 8.53773653e+01] [ 4.67947399e-03 -1.04090797e-04 9.99989046e-01 7.04943463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:85.41, Z:0.70 [[ 6.75672946e-02 -9.97714622e-01 -4.39134992e-04 1.05632758e+02] [ 9.97703747e-01 6.75686092e-02 -4.66005280e-03 8.54058695e+01] [ 4.67907456e-03 -1.23259467e-04 9.99989045e-01 7.02597771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:85.43, Z:0.71 [[ 6.35803408e-02 -9.97976621e-01 -4.51822933e-04 1.05632272e+02] [ 9.97965758e-01 6.35817581e-02 -4.65892950e-03 8.54314453e+01] [ 4.67823042e-03 -1.54687491e-04 9.99989045e-01 7.05011792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:85.46, Z:0.70 [[ 6.26997595e-02 -9.98032350e-01 -4.09971382e-04 1.05634404e+02] [ 9.98021466e-01 6.27009910e-02 -4.66260941e-03 8.54556173e+01] [ 4.67914064e-03 -1.16815751e-04 9.99989046e-01 7.04361587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:85.48, Z:0.70 [[ 6.07115767e-02 -9.98155275e-01 -3.89813876e-04 1.05636104e+02] [ 9.98144382e-01 6.07127358e-02 -4.66437170e-03 8.54836574e+01] [ 4.67943388e-03 -1.05909170e-04 9.99989046e-01 7.04589951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:85.51, Z:0.70 [[ 6.13735710e-02 -9.98114783e-01 -4.06458669e-04 1.05641789e+02] [ 9.98103898e-01 6.13748006e-02 -4.66292080e-03 8.55144872e+01] [ 4.67907651e-03 -1.19507880e-04 9.99989046e-01 7.01724651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:85.54, Z:0.70 [[ 5.88623991e-02 -9.98266000e-01 -4.58684345e-04 1.05641415e+02] [ 9.98255148e-01 5.88638996e-02 -4.65836911e-03 8.55379676e+01] [ 4.67729145e-03 -1.83681227e-04 9.99989045e-01 7.03021005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:85.56, Z:0.70 [[ 5.81777889e-02 -9.98306157e-01 -4.02667234e-04 1.05642737e+02] [ 9.98295274e-01 5.81790356e-02 -4.66320619e-03 8.55640687e+01] [ 4.67873424e-03 -1.30685771e-04 9.99989046e-01 7.02060872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:85.59, Z:0.70 [[ 5.97910766e-02 -9.98210830e-01 -4.08244004e-04 1.05644811e+02] [ 9.98199948e-01 5.97923317e-02 -4.66272683e-03 8.55891727e+01] [ 4.67879428e-03 -1.28719687e-04 9.99989046e-01 7.03818565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:85.62, Z:0.70 [[ 5.89261537e-02 -9.98262269e-01 -3.87759158e-04 1.05646428e+02] [ 9.98251378e-01 5.89273227e-02 -4.66448599e-03 8.56177680e+01] [ 4.67922998e-03 -1.12220895e-04 9.99989046e-01 7.04548858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:85.64, Z:0.70 [[ 5.95813312e-02 -9.98223374e-01 -3.99700679e-04 1.05648204e+02] [ 9.98212488e-01 5.95825488e-02 -4.66346250e-03 8.56449076e+01] [ 4.67899246e-03 -1.21130906e-04 9.99989046e-01 7.04503848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:85.67, Z:0.70 [[ 6.00541311e-02 -9.98195043e-01 -3.98041054e-04 1.05650231e+02] [ 9.98184155e-01 6.00553358e-02 -4.66360415e-03 8.56711163e+01] [ 4.67909103e-03 -1.17249578e-04 9.99989046e-01 7.04440122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:85.70, Z:0.71 [[ 6.11337309e-02 -9.98129505e-01 -3.96760404e-04 1.05652982e+02] [ 9.98118616e-01 6.11349177e-02 -4.66371310e-03 8.56983563e+01] [ 4.67924556e-03 -1.10903764e-04 9.99989046e-01 7.05131740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:85.73, Z:0.71 [[ 6.10275686e-02 -9.98136003e-01 -3.95111671e-04 1.05654819e+02] [ 9.98125113e-01 6.10287489e-02 -4.66385278e-03 8.57256107e+01] [ 4.67927254e-03 -1.09747286e-04 9.99989046e-01 7.05464686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.75, Z:0.71 [[ 6.19012998e-02 -9.98082198e-01 -3.93475166e-04 1.05656197e+02] [ 9.98071306e-01 6.19024630e-02 -4.66399084e-03 8.57514429e+01] [ 4.67940331e-03 -1.04009178e-04 9.99989046e-01 7.06727512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.78, Z:0.71 [[ 6.15686001e-02 -9.98102783e-01 -3.77372576e-04 1.05655889e+02] [ 9.98091883e-01 6.15696917e-02 -4.66534163e-03 8.57797118e+01] [ 4.67972518e-03 -8.94139520e-05 9.99989046e-01 7.06236085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.81, Z:0.71 [[ 6.13340319e-02 -9.98117220e-01 -3.90378821e-04 1.05657359e+02] [ 9.98106327e-01 6.13351868e-02 -4.66425307e-03 8.58073801e+01] [ 4.67941526e-03 -1.03562124e-04 9.99989046e-01 7.06866734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.83, Z:0.71 [[ 6.09286843e-02 -9.98142046e-01 -3.88704277e-04 1.05659001e+02] [ 9.98131153e-01 6.09298358e-02 -4.66439261e-03 8.58339185e+01] [ 4.67941007e-03 -1.03782543e-04 9.99989046e-01 7.07518089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.86, Z:0.71 [[ 5.96424897e-02 -9.98219727e-01 -3.87411790e-04 1.05661189e+02] [ 9.98208835e-01 5.96436492e-02 -4.66449996e-03 8.58612671e+01] [ 4.67930253e-03 -1.08515481e-04 9.99989046e-01 7.08770890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.89, Z:0.71 [[ 5.87002595e-02 -9.98275579e-01 -3.85745773e-04 1.05663086e+02] [ 9.98264686e-01 5.87014215e-02 -4.66463773e-03 8.58882866e+01] [ 4.67923776e-03 -1.11260938e-04 9.99989046e-01 7.09027129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:85.92, Z:0.71 [[ 5.77857314e-02 -9.98328935e-01 -3.84054575e-04 1.05664811e+02] [ 9.98318043e-01 5.77868955e-02 -4.66477697e-03 8.59153798e+01] [ 4.67917515e-03 -1.13851063e-04 9.99989046e-01 7.08914946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:85.94, Z:0.71 [[ 5.62264692e-02 -9.98417968e-01 -3.82368515e-04 1.05666908e+02] [ 9.98407077e-01 5.62276424e-02 -4.66491517e-03 8.59428147e+01] [ 4.67903481e-03 -1.19467722e-04 9.99989046e-01 7.08781737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:85.97, Z:0.71 [[ 5.48286193e-02 -9.98495707e-01 -3.80686550e-04 1.05668516e+02] [ 9.98484817e-01 5.48297999e-02 -4.66505243e-03 8.59702871e+01] [ 4.67890779e-03 -1.24331357e-04 9.99989046e-01 7.08703004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:86.00, Z:0.71 [[ 5.24531204e-02 -9.98623316e-01 -3.78998862e-04 1.05668910e+02] [ 9.98612428e-01 5.24543190e-02 -4.66518953e-03 8.59971026e+01] [ 4.67864717e-03 -1.33769226e-04 9.99989046e-01 7.07160795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:86.02, Z:0.71 [[ 5.03712226e-02 -9.98730497e-01 -3.67159920e-04 1.05672019e+02] [ 9.98719605e-01 5.03723887e-02 -4.66614681e-03 8.60242090e+01] [ 4.67871784e-03 -1.31650291e-04 9.99989046e-01 7.09432034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:86.05, Z:0.71 [[ 4.87945009e-02 -9.98808768e-01 -3.76001940e-04 1.05674337e+02] [ 9.98797883e-01 4.87957255e-02 -4.66543420e-03 8.60504787e+01] [ 4.67822387e-03 -1.47902408e-04 9.99989046e-01 7.09968266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:86.08, Z:0.71 [[ 4.73078510e-02 -9.98880289e-01 -3.67717406e-04 1.05676802e+02] [ 9.98869401e-01 4.73090531e-02 -4.66609740e-03 8.60763690e+01] [ 4.67826908e-03 -1.46558625e-04 9.99989046e-01 7.09256770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:86.10, Z:0.71 [[ 4.29658224e-02 -9.99076479e-01 -3.55537028e-04 1.05678513e+02] [ 9.99065590e-01 4.29670150e-02 -4.66706802e-03 8.61033388e+01] [ 4.67803425e-03 -1.54680395e-04 9.99989046e-01 7.06323942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:86.13, Z:0.71 [[ 4.21490428e-02 -9.99111267e-01 -3.66947018e-04 1.05681525e+02] [ 9.99100385e-01 4.21502975e-02 -4.66616284e-03 8.61302372e+01] [ 4.67748279e-03 -1.69942609e-04 9.99989046e-01 7.08493407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:86.16, Z:0.71 [[ 4.04738605e-02 -9.99180529e-01 -3.69218285e-04 1.05683093e+02] [ 9.99169651e-01 4.04751440e-02 -4.66598312e-03 8.61568159e+01] [ 4.67710364e-03 -1.80061356e-04 9.99989046e-01 7.08237389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:86.18, Z:0.71 [[ 3.98757640e-02 -9.99204578e-01 -3.67495659e-04 1.05684680e+02] [ 9.99193699e-01 3.98770460e-02 -4.66611879e-03 8.61838785e+01] [ 4.67706190e-03 -1.81134296e-04 9.99989046e-01 7.08041545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.21, Z:0.71 [[ 4.03208064e-02 -9.99186719e-01 -3.65864179e-04 1.05686656e+02] [ 9.99175839e-01 4.03220760e-02 -4.66624671e-03 8.62091995e+01] [ 4.67720414e-03 -1.77415818e-04 9.99989046e-01 7.07314010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.24, Z:0.71 [[ 3.97338430e-02 -9.99210236e-01 -3.55307572e-04 1.05688235e+02] [ 9.99199351e-01 3.97350697e-02 -4.66707200e-03 8.62378671e+01] [ 4.67750428e-03 -1.69582389e-04 9.99989046e-01 7.06311180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.26, Z:0.71 [[ 4.00241413e-02 -9.99198643e-01 -3.72857706e-04 1.05689110e+02] [ 9.99187768e-01 4.00254467e-02 -4.66570580e-03 8.62630339e+01] [ 4.67689070e-03 -1.85813991e-04 9.99989046e-01 7.08851641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.29, Z:0.71 [[ 4.05286517e-02 -9.99178311e-01 -3.60967955e-04 1.05690753e+02] [ 9.99167428e-01 4.05298961e-02 -4.66662548e-03 8.62898153e+01] [ 4.67742096e-03 -1.71535385e-04 9.99989046e-01 7.10296369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.31, Z:0.71 [[ 4.23297271e-02 -9.99103631e-01 -3.58941532e-04 1.05692401e+02] [ 9.99092745e-01 4.23309425e-02 -4.66678134e-03 8.63148149e+01] [ 4.67779252e-03 -1.61072299e-04 9.99989046e-01 7.10816428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.34, Z:0.71 [[ 4.34411150e-02 -9.99055928e-01 -3.50757033e-04 1.05694480e+02] [ 9.99045036e-01 4.34422801e-02 -4.66740678e-03 8.63432563e+01] [ 4.67823810e-03 -1.47664718e-04 9.99989046e-01 7.09643409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.37, Z:0.71 [[ 4.34836434e-02 -9.99054070e-01 -3.71040628e-04 1.05694454e+02] [ 9.99043189e-01 4.34849026e-02 -4.66587030e-03 8.63685598e+01] [ 4.67759138e-03 -1.67796572e-04 9.99989046e-01 7.11585889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.69, Y:86.40, Z:0.71 [[ 4.68689456e-02 -9.98900985e-01 -3.51287634e-04 1.05694830e+02] [ 9.98890090e-01 4.68700758e-02 -4.66735701e-03 8.63958869e+01] [ 4.67869239e-03 -1.32143635e-04 9.99989046e-01 7.11660030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.42, Z:0.71 [[ 4.93725140e-02 -9.98780373e-01 -3.49600136e-04 1.05696002e+02] [ 9.98769474e-01 4.93736090e-02 -4.66748340e-03 8.64199926e+01] [ 4.67905183e-03 -1.18724554e-04 9.99989046e-01 7.11718386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.45, Z:0.71 [[ 4.97013121e-02 -9.98764075e-01 -3.20432462e-04 1.05696950e+02] [ 9.98753162e-01 4.97022673e-02 -4.66965031e-03 8.64477233e+01] [ 4.67980519e-03 -8.79451875e-05 9.99989046e-01 7.12257559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.47, Z:0.71 [[ 5.19249841e-02 -9.98650929e-01 -3.44347387e-04 1.05698021e+02] [ 9.98640025e-01 5.19260267e-02 -4.66787701e-03 8.64748562e+01] [ 4.67946031e-03 -1.01499643e-04 9.99989046e-01 7.12814630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.50, Z:0.71 [[ 5.24739795e-02 -9.98622232e-01 -3.44084929e-04 1.05699698e+02] [ 9.98611328e-01 5.24750149e-02 -4.66789636e-03 8.65013460e+01] [ 4.67952095e-03 -9.86640092e-05 9.99989046e-01 7.12836430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.53, Z:0.71 [[ 5.27866209e-02 -9.98605756e-01 -3.42338796e-04 1.05701236e+02] [ 9.98594850e-01 5.27876447e-02 -4.66802442e-03 8.65290379e+01] [ 4.67958731e-03 -9.54485236e-05 9.99989046e-01 7.13033259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.56, Z:0.71 [[ 5.31358952e-02 -9.98587232e-01 -3.40678088e-04 1.05702366e+02] [ 9.98576325e-01 5.31369074e-02 -4.66814561e-03 8.65559710e+01] [ 4.67965319e-03 -9.21469768e-05 9.99989046e-01 7.13145342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.58, Z:0.71 [[ 5.24962745e-02 -9.98621062e-01 -3.39026292e-04 1.05703923e+02] [ 9.98610155e-01 5.24972860e-02 -4.66826557e-03 8.65840471e+01] [ 4.67962629e-03 -9.34885472e-05 9.99989046e-01 7.12943202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:86.61, Z:0.71 [[ 4.96016787e-02 -9.98769020e-01 -3.44743550e-04 1.05704751e+02] [ 9.98758118e-01 4.96027485e-02 -4.66785194e-03 8.66116748e+01] [ 4.67920613e-03 -1.12782127e-04 9.99989046e-01 7.12344232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.64, Z:0.71 [[ 4.93099289e-02 -9.98783460e-01 -3.61521648e-04 1.05707058e+02] [ 9.98772567e-01 4.93110802e-02 -4.66664075e-03 8.66382787e+01] [ 4.67879062e-03 -1.30966180e-04 9.99989046e-01 7.14145176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.67, Z:0.71 [[ 4.89470457e-02 -9.98801319e-01 -3.34484167e-04 1.05708832e+02] [ 9.98790414e-01 4.89480748e-02 -4.66857788e-03 8.66659760e+01] [ 4.67935410e-03 -1.05566485e-04 9.99989046e-01 7.14267292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.69, Z:0.71 [[ 4.75919450e-02 -9.98866806e-01 -3.32787909e-04 1.05710876e+02] [ 9.98855901e-01 4.75929809e-02 -4.66869879e-03 8.66945210e+01] [ 4.67924662e-03 -1.10214711e-04 9.99989046e-01 7.14545398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.72, Z:0.71 [[ 4.64893645e-02 -9.98918728e-01 -3.37700519e-04 1.05714509e+02] [ 9.98907827e-01 4.64904353e-02 -4.66835018e-03 8.67241887e+01] [ 4.67900227e-03 -1.20303059e-04 9.99989046e-01 7.14459308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:86.75, Z:0.71 [[ 4.31908575e-02 -9.99066772e-01 -3.67241486e-04 1.05713545e+02] [ 9.99055889e-01 4.31921022e-02 -4.66625638e-03 8.67484536e+01] [ 4.67776364e-03 -1.65355155e-04 9.99989046e-01 7.13497108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.78, Z:0.71 [[ 4.28278194e-02 -9.99082414e-01 -3.28507137e-04 1.05716853e+02] [ 9.99071512e-01 4.28288873e-02 -4.66898172e-03 8.67775376e+01] [ 4.67876712e-03 -1.28239816e-04 9.99989046e-01 7.13280098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.80, Z:0.71 [[ 3.84836172e-02 -9.99259168e-01 -3.56884674e-04 1.05716148e+02] [ 9.99248285e-01 3.84848649e-02 -4.66698782e-03 8.68015672e+01] [ 4.67726503e-03 -1.77013825e-04 9.99989046e-01 7.11952904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.83, Z:0.71 [[ 3.69147726e-02 -9.99318364e-01 -3.25799100e-04 1.05717319e+02] [ 9.99307468e-01 3.69158923e-02 -4.66915688e-03 8.68281203e+01] [ 4.67800138e-03 -1.53212610e-04 9.99989046e-01 7.11796737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.85, Z:0.71 [[ 3.44781894e-02 -9.99405398e-01 -3.23994353e-04 1.05717950e+02] [ 9.99394504e-01 3.44793273e-02 -4.66928211e-03 8.68531254e+01] [ 4.67767685e-03 -1.62809783e-04 9.99989046e-01 7.11070219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:105.72, Y:86.88, Z:0.71 [[ 3.34033227e-02 -9.99441901e-01 -3.22114768e-04 1.05718973e+02] [ 9.99431007e-01 3.34044636e-02 -4.66941177e-03 8.68800682e+01] [ 4.67756585e-03 -1.65957619e-04 9.99989046e-01 7.11356596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.91, Z:0.71 [[ 3.26161483e-02 -9.99467901e-01 -3.20448537e-04 1.05719742e+02] [ 9.99457007e-01 3.26172899e-02 -4.66952612e-03 8.69062576e+01] [ 4.67749363e-03 -1.67972579e-04 9.99989046e-01 7.11388822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.93, Z:0.71 [[ 3.23213757e-02 -9.99477477e-01 -3.19162412e-04 1.05720264e+02] [ 9.99466583e-01 3.23225145e-02 -4.66961402e-03 8.69326050e+01] [ 4.67749017e-03 -1.68063816e-04 9.99989046e-01 7.11768395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.96, Z:0.71 [[ 3.14721136e-02 -9.99504584e-01 -3.04093403e-04 1.05719478e+02] [ 9.99493684e-01 3.14731914e-02 -4.67063723e-03 8.69610613e+01] [ 4.67789411e-03 -1.56944610e-04 9.99989046e-01 7.11379169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:86.99, Z:0.71 [[ 3.11460454e-02 -9.99514794e-01 -3.16291596e-04 1.05720181e+02] [ 9.99503900e-01 3.11471837e-02 -4.66981103e-03 8.69875922e+01] [ 4.67739681e-03 -1.70688537e-04 9.99989046e-01 7.11755444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.02, Z:0.71 [[ 3.18201745e-02 -9.99493561e-01 -3.14565521e-04 1.05719868e+02] [ 9.99482665e-01 3.18212973e-02 -4.66992730e-03 8.70151173e+01] [ 4.67757215e-03 -1.65804884e-04 9.99989046e-01 7.12054501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.04, Z:0.71 [[ 3.19611476e-02 -9.99489063e-01 -3.12915576e-04 1.05720036e+02] [ 9.99478166e-01 3.19622613e-02 -4.67003786e-03 8.70413488e+01] [ 4.67765325e-03 -1.63492517e-04 9.99989046e-01 7.12133530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.07, Z:0.71 [[ 3.31396789e-02 -9.99450682e-01 -3.11189418e-04 1.05721576e+02] [ 9.99439783e-01 3.31407716e-02 -4.67015288e-03 8.70699137e+01] [ 4.67790053e-03 -1.56247717e-04 9.99989046e-01 7.11959315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.09, Z:0.71 [[ 3.39168633e-02 -9.99424604e-01 -3.27195528e-04 1.05719058e+02] [ 9.99413712e-01 3.39180222e-02 -4.66908906e-03 8.70942103e+01] [ 4.67750031e-03 -1.68642842e-04 9.99989046e-01 7.13520610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.12, Z:0.71 [[ 3.46190579e-02 -9.99400533e-01 -3.07920386e-04 1.05719042e+02] [ 9.99389631e-01 3.46201192e-02 -4.67035988e-03 8.71210538e+01] [ 4.67822040e-03 -1.46048982e-04 9.99989046e-01 7.14256410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.15, Z:0.72 [[ 3.55463553e-02 -9.99367982e-01 -3.06147672e-04 1.05719139e+02] [ 9.99357078e-01 3.55473983e-02 -4.67047608e-03 8.71475540e+01] [ 4.67840701e-03 -1.39932441e-04 9.99989046e-01 7.15167987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.17, Z:0.72 [[ 3.74444471e-02 -9.99298664e-01 -3.04368685e-04 1.05718306e+02] [ 9.99287758e-01 3.74454610e-02 -4.67059201e-03 8.71728882e+01] [ 4.67871359e-03 -1.29264165e-04 9.99989046e-01 7.15795803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.20, Z:0.72 [[ 3.75448202e-02 -9.99294899e-01 -3.02514742e-04 1.05718500e+02] [ 9.99283991e-01 3.75458244e-02 -4.67071209e-03 8.71981958e+01] [ 4.67877693e-03 -1.26937093e-04 9.99989046e-01 7.16112819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.22, Z:0.72 [[ 3.83723468e-02 -9.99263465e-01 -3.00706098e-04 1.05717618e+02] [ 9.99252556e-01 3.83733335e-02 -4.67082853e-03 8.72235157e+01] [ 4.67892740e-03 -1.21250685e-04 9.99989046e-01 7.16072090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.26, Z:0.71 [[ 4.10462972e-02 -9.99157201e-01 -2.98927477e-04 1.05722192e+02] [ 9.99146289e-01 4.10472464e-02 -4.67094236e-03 8.72554814e+01] [ 4.67927584e-03 -1.06947391e-04 9.99989046e-01 7.14921079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.28, Z:0.72 [[ 3.86976033e-02 -9.99250901e-01 -3.65186077e-04 1.05718274e+02] [ 9.99240020e-01 3.86988874e-02 -4.66668448e-03 8.72779476e+01] [ 4.67732096e-03 -1.84319038e-04 9.99989044e-01 7.15706884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.31, Z:0.72 [[ 3.81914194e-02 -9.99270398e-01 -2.96433213e-04 1.05717126e+02] [ 9.99259487e-01 3.81923880e-02 -4.67104767e-03 8.73051770e+01] [ 4.67896116e-03 -1.17819759e-04 9.99989047e-01 7.16399835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.33, Z:0.72 [[ 3.75306278e-02 -9.99295434e-01 -2.94775908e-04 1.05717986e+02] [ 9.99284524e-01 3.75315959e-02 -4.67115226e-03 8.73322832e+01] [ 4.67892453e-03 -1.19253726e-04 9.99989047e-01 7.16162410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.36, Z:0.72 [[ 3.63135372e-02 -9.99340403e-01 -2.93120568e-04 1.05719062e+02] [ 9.99329493e-01 3.63145109e-02 -4.67125613e-03 8.73598130e+01] [ 4.67881951e-03 -1.23294195e-04 9.99989047e-01 7.15748209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.39, Z:0.72 [[ 3.53662187e-02 -9.99374377e-01 -2.91447577e-04 1.05720345e+02] [ 9.99363467e-01 3.53671949e-02 -4.67136051e-03 8.73862875e+01] [ 4.67874568e-03 -1.26053704e-04 9.99989047e-01 7.15546773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.41, Z:0.72 [[ 3.32079822e-02 -9.99448421e-01 -2.89697524e-04 1.05719631e+02] [ 9.99437513e-01 3.32089738e-02 -4.67146903e-03 8.74120231e+01] [ 4.67851291e-03 -1.34404512e-04 9.99989047e-01 7.15046065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.44, Z:0.72 [[ 3.17143994e-02 -9.99496930e-01 -2.87807759e-04 1.05720038e+02] [ 9.99486023e-01 3.17153985e-02 -4.67158546e-03 8.74392849e+01] [ 4.67836326e-03 -1.39503305e-04 9.99989047e-01 7.15453675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.47, Z:0.71 [[ 3.04344770e-02 -9.99536722e-01 -2.89060725e-04 1.05721080e+02] [ 9.99525816e-01 3.04354959e-02 -4.67150875e-03 8.74660975e+01] [ 4.67814225e-03 -1.46748731e-04 9.99989047e-01 7.14585387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.49, Z:0.71 [[ 2.65969231e-02 -9.99646199e-01 -2.84542171e-04 1.05719751e+02] [ 9.99635295e-01 2.65979628e-02 -4.67178396e-03 8.74937454e+01] [ 4.67769932e-03 -1.60183318e-04 9.99989047e-01 7.12523545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.52, Z:0.71 [[ 2.61291159e-02 -9.99658539e-01 -2.72604336e-04 1.05721584e+02] [ 9.99647631e-01 2.61301050e-02 -4.67250586e-03 8.75202635e+01] [ 4.67803357e-03 -1.50419831e-04 9.99989047e-01 7.14122676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.55, Z:0.71 [[ 2.40381205e-02 -9.99711003e-01 -2.80670063e-04 1.05722126e+02] [ 9.99700100e-01 2.40391700e-02 -4.67202132e-03 8.75455987e+01] [ 4.67741820e-03 -1.68279279e-04 9.99989047e-01 7.13447897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.57, Z:0.71 [[ 2.27020606e-02 -9.99742236e-01 -2.78728916e-04 1.05722757e+02] [ 9.99731334e-01 2.27031156e-02 -4.67213712e-03 8.75724780e+01] [ 4.67726083e-03 -1.72586891e-04 9.99989047e-01 7.14049472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.60, Z:0.71 [[ 1.98985267e-02 -9.99801966e-01 -2.76781539e-04 1.05722070e+02] [ 9.99791066e-01 1.98996032e-02 -4.67225248e-03 8.75998293e+01] [ 4.67683506e-03 -1.83752769e-04 9.99989047e-01 7.14386724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.63, Z:0.72 [[ 1.93633262e-02 -9.99812471e-01 -2.89940249e-04 1.05722620e+02] [ 9.99801578e-01 1.93644699e-02 -4.67147740e-03 8.76265954e+01] [ 4.67621590e-03 -1.99427378e-04 9.99989047e-01 7.15635756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.65, Z:0.72 [[ 1.93584505e-02 -9.99812568e-01 -2.80496219e-04 1.05723072e+02] [ 9.99801670e-01 1.93595503e-02 -4.67202855e-03 8.76533209e+01] [ 4.67658314e-03 -1.89997355e-04 9.99989047e-01 7.15894088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.68, Z:0.72 [[ 1.93659705e-02 -9.99812425e-01 -2.70271167e-04 1.05723198e+02] [ 9.99801523e-01 1.93670224e-02 -4.67261998e-03 8.76801370e+01] [ 4.67697787e-03 -1.79727704e-04 9.99989047e-01 7.16139763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.71, Z:0.72 [[ 1.89149825e-02 -9.99821060e-01 -2.67215591e-04 1.05721427e+02] [ 9.99810156e-01 1.89160251e-02 -4.67279552e-03 8.77059939e+01] [ 4.67701403e-03 -1.78779017e-04 9.99989047e-01 7.16116797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.73, Z:0.72 [[ 1.99767550e-02 -9.99800409e-01 -2.66300264e-04 1.05721917e+02] [ 9.99789504e-01 1.99777817e-02 -4.67284769e-03 8.77321692e+01] [ 4.67723512e-03 -1.72895875e-04 9.99989047e-01 7.15598568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.76, Z:0.72 [[ 2.08536340e-02 -9.99782505e-01 -2.60802447e-04 1.05721659e+02] [ 9.99771597e-01 2.08546255e-02 -4.67315912e-03 8.77595877e+01] [ 4.67758167e-03 -1.63290529e-04 9.99989047e-01 7.16288275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.79, Z:0.72 [[ 2.10905785e-02 -9.99777529e-01 -2.82965845e-04 1.05721049e+02] [ 9.99766630e-01 2.10916708e-02 -4.67191403e-03 8.77851335e+01] [ 4.67684288e-03 -1.84366440e-04 9.99989047e-01 7.16660524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.362755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:105.72, Y:87.81, Z:0.71 [[ 2.02942606e-02 -9.99794015e-01 -2.66935440e-04 1.05720368e+02] [ 9.99783110e-01 2.02952869e-02 -4.67280630e-03 8.78109736e+01] [ 4.67726130e-03 -1.72046395e-04 9.99989047e-01 7.14425407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.84, Z:0.72 [[ 2.18907480e-02 -9.99760334e-01 -2.65114030e-04 1.05721641e+02] [ 9.99749426e-01 2.18917483e-02 -4.67290671e-03 8.78378103e+01] [ 4.67759058e-03 -1.62754176e-04 9.99989047e-01 7.16353669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.86, Z:0.72 [[ 2.10150370e-02 -9.99779124e-01 -2.69194601e-04 1.05720540e+02] [ 9.99768219e-01 2.10160659e-02 -4.67268331e-03 8.78645700e+01] [ 4.67730864e-03 -1.70935594e-04 9.99989047e-01 7.16369488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.89, Z:0.72 [[ 2.08727788e-02 -9.99782110e-01 -2.43456649e-04 1.05721740e+02] [ 9.99771195e-01 2.08736891e-02 -4.67408022e-03 8.78913606e+01] [ 4.67814362e-03 -1.45839903e-04 9.99989047e-01 7.17675811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.92, Z:0.72 [[ 2.03178130e-02 -9.99793540e-01 -2.51764725e-04 1.05721644e+02] [ 9.99782629e-01 2.03187681e-02 -4.67363267e-03 8.79170614e+01] [ 4.67778330e-03 -1.56752004e-04 9.99989047e-01 7.17961259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.94, Z:0.72 [[ 1.93973233e-02 -9.99811823e-01 -2.50277224e-04 1.05722364e+02] [ 9.99800912e-01 1.93982816e-02 -4.67371233e-03 8.79434188e+01] [ 4.67768779e-03 -1.59569887e-04 9.99989047e-01 7.18109968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.97, Z:0.72 [[ 1.86368267e-02 -9.99826288e-01 -2.48436993e-04 1.05723421e+02] [ 9.99815377e-01 1.86377847e-02 -4.67381014e-03 8.79698254e+01] [ 4.67762856e-03 -1.61286136e-04 9.99989047e-01 7.18121690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:87.99, Z:0.72 [[ 1.73402600e-02 -9.99849616e-01 -2.46611593e-04 1.05723876e+02] [ 9.99838705e-01 1.73412236e-02 -4.67390646e-03 8.79946366e+01] [ 4.67748012e-03 -1.65525062e-04 9.99989047e-01 7.17968215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.72, Y:88.02, Z:0.72 [[ 1.66101363e-02 -9.99862012e-01 -2.44520043e-04 1.05724603e+02] [ 9.99851101e-01 1.66110981e-02 -4.67401588e-03 8.80210919e+01] [ 4.67743267e-03 -1.66847594e-04 9.99989047e-01 7.18430836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.05, Z:0.72 [[ 1.53206565e-02 -9.99882602e-01 -2.42485786e-04 1.05725471e+02] [ 9.99871692e-01 1.53216229e-02 -4.67412141e-03 8.80489767e+01] [ 4.67728796e-03 -1.70844065e-04 9.99989047e-01 7.18257402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.07, Z:0.72 [[ 1.46884479e-02 -9.99892087e-01 -2.53147487e-04 1.05726334e+02] [ 9.99881182e-01 1.46894709e-02 -4.67357242e-03 8.80746565e+01] [ 4.67678669e-03 -1.84469884e-04 9.99989047e-01 7.17941087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.10, Z:0.72 [[ 1.39266561e-02 -9.99902991e-01 -2.38533553e-04 1.05727037e+02] [ 9.99892080e-01 1.39276192e-02 -4.67431818e-03 8.80997050e+01] [ 4.67718694e-03 -1.73410189e-04 9.99989047e-01 7.17565853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72275509600001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:105.73, Y:88.13, Z:0.72 [[ 1.25813514e-02 -9.99920824e-01 -2.36931400e-04 1.05727619e+02] [ 9.99909914e-01 1.25823217e-02 -4.67439939e-03 8.81270227e+01] [ 4.67701044e-03 -1.78099794e-04 9.99989047e-01 7.16860813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.15, Z:0.72 [[ 1.21769859e-02 -9.99925828e-01 -2.42626493e-04 1.05728804e+02] [ 9.99914921e-01 1.21779872e-02 -4.67411237e-03 8.81519684e+01] [ 4.67672038e-03 -1.85689250e-04 9.99989047e-01 7.15577162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.18, Z:0.72 [[ 1.11751986e-02 -9.99937528e-01 -2.33166097e-04 1.05729910e+02] [ 9.99926618e-01 1.11761667e-02 -4.67458425e-03 8.81788511e+01] [ 4.67689812e-03 -1.80909579e-04 9.99989047e-01 7.16506421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.21, Z:0.72 [[ 9.89844586e-03 -9.99950982e-01 -2.31114541e-04 1.05730851e+02] [ 9.99940073e-01 9.89941831e-03 -4.67468568e-03 8.82068883e+01] [ 4.67674443e-03 -1.84828568e-04 9.99989047e-01 7.16857061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.23, Z:0.72 [[ 8.69449604e-03 -9.99962174e-01 -2.36269207e-04 1.05731398e+02] [ 9.99951268e-01 8.69550568e-03 -4.67443211e-03 8.82342820e+01] [ 4.67630977e-03 -1.95615862e-04 9.99989047e-01 7.17245916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.26, Z:0.72 [[ 8.93624387e-03 -9.99960039e-01 -2.53236694e-04 1.05732714e+02] [ 9.99949140e-01 8.93733004e-03 -4.67359710e-03 8.82601231e+01] [ 4.67567360e-03 -2.11459411e-04 9.99989047e-01 7.16096790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.29, Z:0.72 [[ 8.97281590e-03 -9.99959717e-01 -2.29372016e-04 1.05734063e+02] [ 9.99948808e-01 8.97379031e-03 -4.67475805e-03 8.82855764e+01] [ 4.67662807e-03 -1.87414531e-04 9.99989047e-01 7.17360017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.73, Y:88.31, Z:0.72 [[ 8.44685063e-03 -9.99964299e-01 -2.27769931e-04 1.05734529e+02] [ 9.99953389e-01 8.44782329e-03 -4.67483523e-03 8.83114847e+01] [ 4.67659250e-03 -1.88271679e-04 9.99989047e-01 7.17313549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.34, Z:0.72 [[ 8.64309493e-03 -9.99962624e-01 -2.19694333e-04 1.05735323e+02] [ 9.99951710e-01 8.64402776e-03 -4.67521973e-03 8.83365596e+01] [ 4.67694403e-03 -1.79275356e-04 9.99989047e-01 7.17599913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.36, Z:0.72 [[ 8.24289565e-03 -9.99966003e-01 -2.15803748e-04 1.05736284e+02] [ 9.99955089e-01 8.24381468e-03 -4.67540335e-03 8.83634523e+01] [ 4.67702344e-03 -1.77255194e-04 9.99989047e-01 7.17724957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.39, Z:0.72 [[ 8.87851226e-03 -9.99960562e-01 -2.13964452e-04 1.05736076e+02] [ 9.99949647e-01 8.87941577e-03 -4.67548942e-03 8.83893138e+01] [ 4.67720491e-03 -1.72442288e-04 9.99989047e-01 7.17158304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.41, Z:0.72 [[ 1.09453576e-02 -9.99940077e-01 -2.01997996e-04 1.05738011e+02] [ 9.99929155e-01 1.09461827e-02 -4.67604403e-03 8.84142971e+01] [ 4.67797493e-03 -1.50802712e-04 9.99989047e-01 7.18104277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.44, Z:0.72 [[ 1.03574644e-02 -9.99946341e-01 -1.94242467e-04 1.05738246e+02] [ 9.99935417e-01 1.03582596e-02 -4.67639834e-03 8.84420747e+01] [ 4.67815943e-03 -1.45794293e-04 9.99989047e-01 7.17531638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.47, Z:0.72 [[ 1.24243120e-02 -9.99922793e-01 -2.12663764e-04 1.05739573e+02] [ 9.99911873e-01 1.24251707e-02 -4.67556047e-03 8.84688169e+01] [ 4.67784186e-03 -1.54554400e-04 9.99989047e-01 7.17771580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.49, Z:0.72 [[ 1.35109136e-02 -9.99908701e-01 -2.10758080e-04 1.05740527e+02] [ 9.99897780e-01 1.35117515e-02 -4.67564637e-03 8.84942742e+01] [ 4.67806720e-03 -1.47564282e-04 9.99989047e-01 7.18413488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.52, Z:0.72 [[ 1.61469236e-02 -9.99869608e-01 -2.09246977e-04 1.05740425e+02] [ 9.99858684e-01 1.61477257e-02 -4.67571399e-03 8.85211061e+01] [ 4.67848318e-03 -1.33719011e-04 9.99989047e-01 7.19174957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.55, Z:0.72 [[ 1.72110823e-02 -9.99851857e-01 -2.07209304e-04 1.05740564e+02] [ 9.99840932e-01 1.72118633e-02 -4.67580429e-03 8.85464339e+01] [ 4.67867806e-03 -1.26700691e-04 9.99989047e-01 7.18260504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.74, Y:88.57, Z:0.72 [[ 1.82450244e-02 -9.99833525e-01 -2.05091398e-04 1.05741355e+02] [ 9.99822598e-01 1.82457841e-02 -4.67589719e-03 8.85743304e+01] [ 4.67886082e-03 -1.19743156e-04 9.99989047e-01 7.16484705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.60, Z:0.72 [[ 1.94272648e-02 -9.99811253e-01 -2.01929755e-04 1.05742943e+02] [ 9.99800324e-01 1.94279969e-02 -4.67603489e-03 8.86017074e+01] [ 4.67907539e-03 -1.11046867e-04 9.99989047e-01 7.16521789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.74, Y:88.63, Z:0.72 [[ 2.02163691e-02 -9.99795607e-01 -2.06900767e-04 1.05744938e+02] [ 9.99784679e-01 2.02171158e-02 -4.67581927e-03 8.86278984e+01] [ 4.67904650e-03 -1.12328129e-04 9.99989047e-01 7.17824786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:88.65, Z:0.72 [[ 1.98921618e-02 -9.99802111e-01 -2.01314487e-04 1.05746172e+02] [ 9.99791182e-01 1.98928859e-02 -4.67605977e-03 8.86545156e+01] [ 4.67913916e-03 -1.08255511e-04 9.99989047e-01 7.18767263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:88.68, Z:0.72 [[ 1.92405070e-02 -9.99814864e-01 -1.99267727e-04 1.05748082e+02] [ 9.99803935e-01 1.92412286e-02 -4.67614699e-03 8.86797370e+01] [ 4.67911543e-03 -1.09257219e-04 9.99989047e-01 7.19572197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.382755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:105.75, Y:88.71, Z:0.72 [[ 1.80545090e-02 -9.99836985e-01 -1.95013104e-04 1.05749514e+02] [ 9.99826055e-01 1.80552238e-02 -4.67632669e-03 8.87069174e+01] [ 4.67908538e-03 -1.10550400e-04 9.99989047e-01 7.18560060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:88.73, Z:0.72 [[ 1.67303979e-02 -9.99860017e-01 -1.99852347e-04 1.05750745e+02] [ 9.99849090e-01 1.67311497e-02 -4.67612386e-03 8.87317991e+01] [ 4.67881305e-03 -1.21588775e-04 9.99989047e-01 7.20499233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:88.76, Z:0.72 [[ 1.35777906e-02 -9.99907799e-01 -1.94208299e-04 1.05753432e+02] [ 9.99896872e-01 1.35785505e-02 -4.67635826e-03 8.87591094e+01] [ 4.67856416e-03 -1.30693658e-04 9.99989047e-01 7.21008722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:88.78, Z:0.72 [[ 1.24938211e-02 -9.99921928e-01 -2.03557274e-04 1.05755760e+02] [ 9.99911006e-01 1.24946366e-02 -4.67597195e-03 8.87845689e+01] [ 4.67815026e-03 -1.45118401e-04 9.99989047e-01 7.20526852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:88.81, Z:0.72 [[ 1.07620082e-02 -9.99942070e-01 -1.89969291e-04 1.05757694e+02] [ 9.99931144e-01 1.07627791e-02 -4.67652736e-03 8.88121626e+01] [ 4.67830105e-03 -1.39627385e-04 9.99989047e-01 7.20517833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:88.84, Z:0.72 [[ 8.66446609e-03 -9.99962445e-01 -1.89177755e-04 1.05759144e+02] [ 9.99951520e-01 8.66525616e-03 -4.67655938e-03 8.88400460e+01] [ 4.67802302e-03 -1.48648694e-04 9.99989047e-01 7.18906386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:88.87, Z:0.72 [[ 6.34504630e-03 -9.99979851e-01 -1.96705228e-04 1.05760976e+02] [ 9.99968931e-01 6.34589687e-03 -4.67625749e-03 8.88660677e+01] [ 4.67741154e-03 -1.67028046e-04 9.99989047e-01 7.19391274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:88.89, Z:0.72 [[ 5.19487403e-03 -9.99986489e-01 -1.85363278e-04 1.05762512e+02] [ 9.99975566e-01 5.19568418e-03 -4.67670704e-03 8.88922273e+01] [ 4.67760694e-03 -1.61063845e-04 9.99989047e-01 7.19063192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:88.92, Z:0.72 [[ 4.30478097e-03 -9.99990718e-01 -1.83296220e-04 1.05765207e+02] [ 9.99979795e-01 4.30559119e-03 -4.67678805e-03 8.89169613e+01] [ 4.67753384e-03 -1.63159968e-04 9.99989047e-01 7.19095179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:88.94, Z:0.72 [[ 2.71171811e-03 -9.99996310e-01 -1.64565952e-04 1.05766535e+02] [ 9.99985382e-01 2.71245823e-03 -4.67751022e-03 8.89446295e+01] [ 4.67793933e-03 -1.51879457e-04 9.99989047e-01 7.17754455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:88.97, Z:0.71 [[ 9.12695599e-04 -9.99999567e-01 -1.79112768e-04 1.05767176e+02] [ 9.99988646e-01 9.13523333e-04 -4.67695312e-03 8.89713253e+01] [ 4.67711472e-03 -1.74842100e-04 9.99989047e-01 7.14931293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:89.00, Z:0.72 [[ 1.76048406e-03 -9.99998434e-01 -1.78690392e-04 1.05770573e+02] [ 9.99987512e-01 1.76130056e-03 -4.67696912e-03 8.89967259e+01] [ 4.67727653e-03 -1.70454431e-04 9.99989047e-01 7.16858693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:89.02, Z:0.72 [[ 1.69974463e-03 -9.99998540e-01 -1.75264083e-04 1.05771439e+02] [ 9.99987616e-01 1.70054579e-03 -4.67709752e-03 8.90226380e+01] [ 4.67738873e-03 -1.67312041e-04 9.99989047e-01 7.16719024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:89.05, Z:0.72 [[ 2.39559678e-03 -9.99997115e-01 -1.73649398e-04 1.05772420e+02] [ 9.99986191e-01 2.39638280e-03 -4.67715746e-03 8.90482548e+01] [ 4.67756010e-03 -1.62442417e-04 9.99989047e-01 7.16387010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.77, Y:89.07, Z:0.72 [[ 1.90909577e-03 -9.99998163e-01 -1.72054112e-04 1.05773115e+02] [ 9.99987238e-01 1.90987965e-03 -4.67721615e-03 8.90749921e+01] [ 4.67753616e-03 -1.63122663e-04 9.99989047e-01 7.16134309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.10, Z:0.72 [[ 3.09289315e-03 -9.99995205e-01 -1.57006984e-04 1.05775797e+02] [ 9.99984274e-01 3.09359379e-03 -4.67776303e-03 8.91010536e+01] [ 4.67822632e-03 -1.42536694e-04 9.99989047e-01 7.17549694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.13, Z:0.72 [[ 3.27959840e-03 -9.99994608e-01 -1.68939989e-04 1.05777318e+02] [ 9.99983681e-01 3.28035276e-03 -4.67733202e-03 8.91281524e+01] [ 4.67786099e-03 -1.53597461e-04 9.99989047e-01 7.19497649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.15, Z:0.72 [[ 5.81543364e-03 -9.99983075e-01 -1.74300484e-04 1.05778237e+02] [ 9.99972148e-01 5.81618533e-03 -4.67714035e-03 8.91536066e+01] [ 4.67807495e-03 -1.47096030e-04 9.99989047e-01 7.18055715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.18, Z:0.72 [[ 8.06341946e-03 -9.99967478e-01 -1.55268764e-04 1.05779733e+02] [ 9.99956544e-01 8.06405762e-03 -4.67780963e-03 8.91799871e+01] [ 4.67890960e-03 -1.17542876e-04 9.99989047e-01 7.18708115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.21, Z:0.72 [[ 9.72700001e-03 -9.99952678e-01 -1.63259560e-04 1.05780760e+02] [ 9.99941745e-01 9.72765734e-03 -4.67753073e-03 8.92065009e+01] [ 4.67889752e-03 -1.17751708e-04 9.99989047e-01 7.19237857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:89.23, Z:0.72 [[ 1.39531153e-02 -9.99902638e-01 -1.61251194e-04 1.05781867e+02] [ 9.99891701e-01 1.39537170e-02 -4.67759997e-03 8.92325750e+01] [ 4.67939460e-03 -9.59666389e-05 9.99989047e-01 7.19091220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.79, Y:89.26, Z:0.72 [[ 1.73923954e-02 -9.99848728e-01 -1.59509317e-04 1.05785402e+02] [ 9.99837789e-01 1.73929513e-02 -4.67765936e-03 8.92624864e+01] [ 4.67972610e-03 -7.81277419e-05 9.99989047e-01 7.16562664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.78, Y:89.29, Z:0.72 [[ 1.78483408e-02 -9.99840687e-01 -1.92774041e-04 1.05784634e+02] [ 9.99829756e-01 1.78490473e-02 -4.67652931e-03 8.92869759e+01] [ 4.67922511e-03 -1.09272933e-04 9.99989046e-01 7.18606411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:89.31, Z:0.72 [[ 2.10997963e-02 -9.99777362e-01 -1.56131873e-04 1.05786858e+02] [ 9.99766421e-01 2.11002959e-02 -4.67775234e-03 8.93119269e+01] [ 4.68000532e-03 -5.73957819e-05 9.99989047e-01 7.19430909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:89.34, Z:0.72 [[ 2.19661119e-02 -9.99758704e-01 -1.54254986e-04 1.05787722e+02] [ 9.99747762e-01 2.19665933e-02 -4.67781423e-03 8.93380596e+01] [ 4.68007395e-03 -5.14626865e-05 9.99989047e-01 7.19715898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:89.37, Z:0.72 [[ 2.08378552e-02 -9.99782857e-01 -1.52459622e-04 1.05788102e+02] [ 9.99771915e-01 2.08383405e-02 -4.67787274e-03 8.93667186e+01] [ 4.68003398e-03 -5.49480130e-05 9.99989047e-01 7.19863952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:89.39, Z:0.72 [[ 2.16818708e-02 -9.99764905e-01 -1.79159000e-04 1.05791343e+02] [ 9.99753968e-01 2.16824717e-02 -4.67700772e-03 8.93896408e+01] [ 4.67979279e-03 -7.77086440e-05 9.99989047e-01 7.18798062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.79, Y:89.42, Z:0.72 [[ 2.08444862e-02 -9.99782719e-01 -1.48638050e-04 1.05793367e+02] [ 9.99771776e-01 2.08449536e-02 -4.67797749e-03 8.94158799e+01] [ 4.68005941e-03 -5.10940899e-05 9.99989047e-01 7.18941711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.44, Z:0.72 [[ 1.94507728e-02 -9.99810805e-01 -1.46884296e-04 1.05795341e+02] [ 9.99799862e-01 1.94512472e-02 -4.67803256e-03 8.94407969e+01] [ 4.68000458e-03 -5.58635508e-05 9.99989047e-01 7.18944273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.47, Z:0.72 [[ 1.59044904e-02 -9.99873505e-01 -1.45059992e-04 1.05797589e+02] [ 9.99862564e-01 1.59049950e-02 -4.67808913e-03 8.94675385e+01] [ 4.67980455e-03 -7.06374316e-05 9.99989047e-01 7.18711173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.49, Z:0.72 [[ 1.49086330e-02 -9.99888848e-01 -1.56484259e-04 1.05799220e+02] [ 9.99877910e-01 1.49092019e-02 -4.67773709e-03 8.94931447e+01] [ 4.67955021e-03 -8.67264881e-05 9.99989047e-01 7.18158300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.52, Z:0.72 [[ 1.00620880e-02 -9.99949366e-01 -1.42219248e-04 1.05800714e+02] [ 9.99938427e-01 1.00626432e-02 -4.67817076e-03 8.95194744e+01] [ 4.67936499e-03 -9.51383255e-05 9.99989047e-01 7.17299796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.55, Z:0.72 [[ 8.69731720e-03 -9.99962164e-01 -1.63706924e-04 1.05802301e+02] [ 9.99951232e-01 8.69798789e-03 -4.67752189e-03 8.95452389e+01] [ 4.67876883e-03 -1.23017049e-04 9.99989047e-01 7.17092993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.80, Y:89.57, Z:0.72 [[ 5.47661937e-03 -9.99984992e-01 -1.51442849e-04 1.05803037e+02] [ 9.99974058e-01 5.47726793e-03 -4.67788569e-03 8.95729472e+01] [ 4.67864498e-03 -1.25819921e-04 9.99989047e-01 7.17528701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.60, Z:0.72 [[ 4.94819099e-03 -9.99987742e-01 -1.74216330e-04 1.05805917e+02] [ 9.99976816e-01 4.94895178e-03 -4.67721399e-03 8.95952235e+01] [ 4.67801885e-03 -1.51068543e-04 9.99989047e-01 7.17132484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.62, Z:0.72 [[ 3.45185462e-03 -9.99994033e-01 -1.34874600e-04 1.05806956e+02] [ 9.99983097e-01 3.45244786e-03 -4.67834820e-03 8.96214950e+01] [ 4.67878593e-03 -1.18723342e-04 9.99989047e-01 7.17232813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.65, Z:0.72 [[ 2.37781780e-03 -9.99997164e-01 -1.33076945e-04 1.05808205e+02] [ 9.99986228e-01 2.37841439e-03 -4.67839933e-03 8.96489495e+01] [ 4.67870258e-03 -1.21950731e-04 9.99989047e-01 7.17575623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.68, Z:0.72 [[ 2.36726025e-03 -9.99997189e-01 -1.31398363e-04 1.05810931e+02] [ 9.99986253e-01 2.36784910e-03 -4.67844648e-03 8.96775467e+01] [ 4.67874446e-03 -1.20321456e-04 9.99989047e-01 7.17300276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.70, Z:0.72 [[ 1.03907731e-03 -9.99999449e-01 -1.47888986e-04 1.05810884e+02] [ 9.99988518e-01 1.03975777e-03 -4.67798165e-03 8.97034430e+01] [ 4.67813284e-03 -1.43026503e-04 9.99989047e-01 7.17448287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.73, Z:0.72 [[ 1.85364825e-03 -9.99998270e-01 -1.52135463e-04 1.05812113e+02] [ 9.99987339e-01 1.85433966e-03 -4.67786261e-03 8.97292237e+01] [ 4.67813663e-03 -1.43462425e-04 9.99989047e-01 7.18693080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.76, Z:0.72 [[ 3.11627627e-03 -9.99995136e-01 -1.31349501e-04 1.05812729e+02] [ 9.99984199e-01 3.11685670e-03 -4.67843368e-03 8.97560395e+01] [ 4.67882032e-03 -1.16768134e-04 9.99989047e-01 7.18754070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:89.78, Z:0.72 [[ 3.78844214e-03 -9.99992816e-01 -1.26828424e-04 1.05813537e+02] [ 9.99981877e-01 3.78899407e-03 -4.67855624e-03 8.97823659e+01] [ 4.67900318e-03 -1.09101686e-04 9.99989047e-01 7.19389278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.81, Z:0.72 [[ 5.92187522e-03 -9.99982458e-01 -1.25038572e-04 1.05815131e+02] [ 9.99971518e-01 5.92239545e-03 -4.67860408e-03 8.98078818e+01] [ 4.67926253e-03 -9.73289014e-05 9.99989047e-01 7.20469652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.83, Z:0.72 [[ 6.60741474e-03 -9.99978163e-01 -1.23175525e-04 1.05815700e+02] [ 9.99967222e-01 6.60791875e-03 -4.67865313e-03 8.98346468e+01] [ 4.67936489e-03 -9.22576860e-05 9.99989047e-01 7.20936964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.86, Z:0.72 [[ 8.02674508e-03 -9.99967778e-01 -1.21991935e-04 1.05816866e+02] [ 9.99956836e-01 8.02722803e-03 -4.67868383e-03 8.98608347e+01] [ 4.67951233e-03 -8.44320667e-05 9.99989047e-01 7.21271440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.89, Z:0.72 [[ 9.02036024e-03 -9.99959309e-01 -1.19634755e-04 1.05817779e+02] [ 9.99948366e-01 9.02082129e-03 -4.67874411e-03 8.98880011e+01] [ 4.67963293e-03 -7.74246200e-05 9.99989047e-01 7.21788119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.91, Z:0.72 [[ 1.16339628e-02 -9.99932316e-01 -1.17975272e-04 1.05818390e+02] [ 9.99921372e-01 1.16343875e-02 -4.67878595e-03 8.99138409e+01] [ 4.67984184e-03 -6.35331744e-05 9.99989047e-01 7.22347907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.94, Z:0.72 [[ 1.27296678e-02 -9.99918968e-01 -1.16055345e-04 1.05818709e+02] [ 9.99908023e-01 1.27300715e-02 -4.67883357e-03 8.99406606e+01] [ 4.67993183e-03 -5.64846732e-05 9.99989047e-01 7.22517170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.97, Z:0.72 [[ 1.43504012e-02 -9.99897021e-01 -1.14238843e-04 1.05819444e+02] [ 9.99886075e-01 1.43507787e-02 -4.67887792e-03 8.99656424e+01] [ 4.68003552e-03 -4.70820525e-05 9.99989047e-01 7.22694738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:89.99, Z:0.72 [[ 1.47223704e-02 -9.99891614e-01 -1.12347709e-04 1.05820715e+02] [ 9.99880667e-01 1.47227349e-02 -4.67892333e-03 8.99916626e+01] [ 4.68007027e-03 -4.34494602e-05 9.99989047e-01 7.22805245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:90.02, Z:0.72 [[ 1.43406435e-02 -9.99897162e-01 -1.10560873e-04 1.05821092e+02] [ 9.99886215e-01 1.43410039e-02 -4.67896556e-03 9.00185799e+01] [ 4.68006993e-03 -4.34489154e-05 9.99989047e-01 7.22930742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:90.04, Z:0.72 [[ 1.41938557e-02 -9.99899256e-01 -1.08774562e-04 1.05822277e+02] [ 9.99888309e-01 1.41942093e-02 -4.67900708e-03 9.00442999e+01] [ 4.68007967e-03 -4.23492615e-05 9.99989047e-01 7.23042913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:90.07, Z:0.72 [[ 1.39596563e-02 -9.99902554e-01 -1.07356481e-04 1.05823740e+02] [ 9.99891607e-01 1.39600058e-02 -4.67903962e-03 9.00708856e+01] [ 4.68008236e-03 -4.20270590e-05 9.99989047e-01 7.23040535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:90.10, Z:0.72 [[ 1.33171440e-02 -9.99911317e-01 -1.05611292e-04 1.05824919e+02] [ 9.99900370e-01 1.33174924e-02 -4.67907901e-03 9.00984731e+01] [ 4.68007053e-03 -4.32888016e-05 9.99989047e-01 7.22961823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.12, Z:0.72 [[ 1.21139237e-02 -9.99926618e-01 -1.03953167e-04 1.05825980e+02] [ 9.99915672e-01 1.21142775e-02 -4.67911585e-03 9.01237207e+01] [ 4.68003180e-03 -4.72619490e-05 9.99989047e-01 7.23239591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.16, Z:0.72 [[ 1.29964637e-02 -9.99915537e-01 -1.02035969e-04 1.05830999e+02] [ 9.99904590e-01 1.29967989e-02 -4.67915765e-03 9.01553255e+01] [ 4.68008858e-03 -4.12137306e-05 9.99989047e-01 7.23071670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.18, Z:0.72 [[ 8.56116797e-03 -9.99963339e-01 -1.65172534e-04 1.05829798e+02] [ 9.99952405e-01 8.56184704e-03 -4.67777848e-03 9.01773838e+01] [ 4.67902117e-03 -1.25117425e-04 9.99989045e-01 7.23467191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.20, Z:0.72 [[ 6.85610578e-03 -9.99976492e-01 -9.86852471e-05 1.05831179e+02] [ 9.99965546e-01 6.85649251e-03 -4.67918073e-03 9.02035488e+01] [ 4.67974736e-03 -6.66008890e-05 9.99989048e-01 7.23755218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.23, Z:0.72 [[ 3.11558465e-03 -9.99995142e-01 -9.68966876e-05 1.05833683e+02] [ 9.99984198e-01 3.11600395e-03 -4.67921776e-03 9.02290907e+01] [ 4.67949696e-03 -8.23166573e-05 9.99989048e-01 7.23839978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.26, Z:0.72 [[ 7.20677133e-04 -9.99999736e-01 -9.50349507e-05 1.05834603e+02] [ 9.99988792e-01 7.21113939e-04 -4.67925557e-03 9.02556154e+01] [ 4.67932287e-03 -9.16616531e-05 9.99989048e-01 7.23324120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.29, Z:0.72 [[ 3.30391685e-04 -9.99999941e-01 -9.22637645e-05 1.05838750e+02] [ 9.99988997e-01 3.30819800e-04 -4.67931090e-03 9.02886474e+01] [ 4.67934115e-03 -9.07167439e-05 9.99989048e-01 7.24138327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.31, Z:0.72 [[-6.62658580e-03 -9.99978028e-01 -1.78657880e-04 1.05835663e+02] [ 9.99967109e-01 -6.62567771e-03 -4.67773594e-03 9.03090444e+01] [ 4.67644943e-03 -2.09649423e-04 9.99989043e-01 7.24375310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.34, Z:0.72 [[-8.13982969e-03 -9.99966868e-01 -8.06964602e-05 1.05836820e+02] [ 9.99955926e-01 -8.13936300e-03 -4.67942530e-03 9.03365182e+01] [ 4.67861344e-03 -1.18782629e-04 9.99989048e-01 7.24637318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.36, Z:0.72 [[-1.11658734e-02 -9.99937657e-01 -7.90113740e-05 1.05837903e+02] [ 9.99926716e-01 -1.11653814e-02 -4.67945375e-03 9.03631254e+01] [ 4.67827983e-03 -1.31255772e-04 9.99989048e-01 7.23820017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.39, Z:0.72 [[-1.25363784e-02 -9.99921414e-01 -7.77108048e-05 1.05839006e+02] [ 9.99910473e-01 -1.25358775e-02 -4.67947535e-03 9.03904551e+01] [ 4.67813343e-03 -1.36367521e-04 9.99989048e-01 7.23816347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.42, Z:0.72 [[-1.35754404e-02 -9.99907847e-01 -7.60470454e-05 1.05839913e+02] [ 9.99896906e-01 -1.35749360e-02 -4.67950239e-03 9.04169163e+01] [ 4.67803882e-03 -1.39565511e-04 9.99989048e-01 7.23884298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.44, Z:0.72 [[-1.47643974e-02 -9.99890998e-01 -7.47639765e-05 1.05841003e+02] [ 9.99880058e-01 -1.47638860e-02 -4.67952289e-03 9.04449584e+01] [ 4.67790900e-03 -1.43845345e-04 9.99989048e-01 7.24515463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.47, Z:0.72 [[-1.57992157e-02 -9.99875181e-01 -8.46707005e-05 1.05841549e+02] [ 9.99864244e-01 -1.57986467e-02 -4.67936804e-03 9.04710035e+01] [ 4.67744629e-03 -1.58589551e-04 9.99989048e-01 7.24526816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.50, Z:0.73 [[-1.58013261e-02 -9.99875148e-01 -7.83457556e-05 1.05841950e+02] [ 9.99864210e-01 -1.58007865e-02 -4.67946432e-03 9.04981098e+01] [ 4.67764215e-03 -1.52276858e-04 9.99989048e-01 7.25061811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.53, Z:0.72 [[-1.27347707e-02 -9.99918907e-01 -7.44865641e-05 1.05845163e+02] [ 9.99907966e-01 -1.27342828e-02 -4.67952176e-03 9.05259060e+01] [ 4.67819375e-03 -1.34072345e-04 9.99989048e-01 7.24419184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.55, Z:0.73 [[-1.30189225e-02 -9.99915245e-01 -1.01876075e-04 1.05845012e+02] [ 9.99904310e-01 -1.30183034e-02 -4.67911061e-03 9.05524196e+01] [ 4.67738778e-03 -1.62783305e-04 9.99989048e-01 7.25288425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.58, Z:0.73 [[-1.27218058e-02 -9.99919069e-01 -1.03513135e-04 1.05844825e+02] [ 9.99908135e-01 -1.27211823e-02 -4.67908720e-03 9.05797214e+01] [ 4.67739171e-03 -1.63030064e-04 9.99989048e-01 7.25554697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.61, Z:0.73 [[-1.02508531e-02 -9.99947454e-01 -9.29133345e-05 1.05846137e+02] [ 9.99936516e-01 -1.02503062e-02 -4.67923013e-03 9.06090866e+01] [ 4.67803186e-03 -1.40873537e-04 9.99989048e-01 7.27564898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.63, Z:0.73 [[-1.13346684e-02 -9.99935755e-01 -1.06857838e-04 1.05844041e+02] [ 9.99924820e-01 -1.13340444e-02 -4.67904518e-03 9.06320912e+01] [ 4.67753344e-03 -1.59885230e-04 9.99989048e-01 7.28485880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.66, Z:0.73 [[-9.95259566e-03 -9.99950470e-01 -5.90824399e-05 1.05844559e+02] [ 9.99939525e-01 -9.95221023e-03 -4.67964837e-03 9.06588384e+01] [ 4.67882859e-03 -1.05653515e-04 9.99989049e-01 7.29263911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.68, Z:0.73 [[-7.42088397e-03 -9.99972463e-01 -5.72921799e-05 1.05844065e+02] [ 9.99961517e-01 -7.42053462e-03 -4.67967029e-03 9.06848237e+01] [ 4.67911629e-03 -9.20172654e-05 9.99989049e-01 7.29222817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.71, Z:0.73 [[-5.70066346e-03 -9.99983750e-01 -5.54700371e-05 1.05844102e+02] [ 9.99972803e-01 -5.70034147e-03 -4.67969189e-03 9.07117139e+01] [ 4.67929964e-03 -8.21458770e-05 9.99989049e-01 7.30275703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.74, Z:0.73 [[-3.02584169e-03 -9.99995421e-01 -5.34867847e-05 1.05843706e+02] [ 9.99984473e-01 -3.02555827e-03 -4.67971455e-03 9.07391776e+01] [ 4.67953130e-03 -6.76460296e-05 9.99989049e-01 7.30137309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.77, Z:0.73 [[-2.28216731e-03 -9.99997395e-01 -5.18041696e-05 1.05843868e+02] [ 9.99986446e-01 -2.28189989e-03 -4.67973318e-03 9.07665087e+01] [ 4.67960278e-03 -6.24834015e-05 9.99989049e-01 7.29595943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.79, Z:0.73 [[-1.91706229e-03 -9.99998161e-01 -5.01122366e-05 1.05844091e+02] [ 9.99987213e-01 -1.91680679e-03 -4.67975130e-03 9.07940777e+01] [ 4.67964664e-03 -5.90829705e-05 9.99989049e-01 7.29396066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:90.82, Z:0.73 [[-1.91234465e-03 -9.99998170e-01 -4.84275439e-05 1.05844697e+02] [ 9.99987222e-01 -1.91209708e-03 -4.67976873e-03 9.08209009e+01] [ 4.67966757e-03 -5.73762557e-05 9.99989049e-01 7.29296859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.85, Z:0.73 [[-2.48982902e-03 -9.99996899e-01 -4.67576518e-05 1.05845705e+02] [ 9.99985951e-01 -2.48958294e-03 -4.67978542e-03 9.08476856e+01] [ 4.67965450e-03 -5.84088604e-05 9.99989049e-01 7.29301964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.87, Z:0.73 [[-5.06140075e-03 -9.99987190e-01 -4.50806344e-05 1.05845925e+02] [ 9.99976242e-01 -5.06113437e-03 -4.67980157e-03 9.08747089e+01] [ 4.67951346e-03 -6.87659145e-05 9.99989049e-01 7.29144677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.90, Z:0.73 [[-7.83087982e-03 -9.99969337e-01 -4.33782280e-05 1.05846047e+02] [ 9.99958390e-01 -7.83059108e-03 -4.67981735e-03 9.09023724e+01] [ 4.67933418e-03 -8.00235103e-05 9.99989049e-01 7.29564903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.93, Z:0.73 [[-9.28440954e-03 -9.99956897e-01 -5.43640992e-05 1.05846877e+02] [ 9.99945952e-01 -9.28405349e-03 -4.67971741e-03 9.09289687e+01] [ 4.67901098e-03 -9.78095739e-05 9.99989049e-01 7.28764097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.96, Z:0.73 [[-1.13271825e-02 -9.99935845e-01 -4.07251040e-05 1.05847619e+02] [ 9.99924898e-01 -1.13268679e-02 -4.67983610e-03 9.09555565e+01] [ 4.67907457e-03 -9.37314030e-05 9.99989049e-01 7.28974110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.98, Z:0.73 [[-1.51951167e-02 -9.99884547e-01 -3.89559207e-05 1.05848526e+02] [ 9.99873601e-01 -1.51947681e-02 -4.67985082e-03 9.09810337e+01] [ 4.67871859e-03 -1.10061876e-04 9.99989049e-01 7.28405148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.01, Z:0.73 [[-1.72056293e-02 -9.99851972e-01 -3.70566220e-05 1.05848934e+02] [ 9.99841026e-01 -1.72052675e-02 -4.67986586e-03 9.10073240e+01] [ 4.67853554e-03 -1.17570768e-04 9.99989049e-01 7.28202859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.03, Z:0.73 [[-1.98577977e-02 -9.99802814e-01 -3.52239888e-05 1.05848241e+02] [ 9.99791869e-01 -1.98574154e-02 -4.67987966e-03 9.10335793e+01] [ 4.67825739e-03 -1.28148761e-04 9.99989049e-01 7.28367637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.06, Z:0.73 [[-2.23599454e-02 -9.99749985e-01 -1.37191018e-05 1.05848778e+02] [ 9.99739038e-01 -2.23596364e-02 -4.68003303e-03 9.10611976e+01] [ 4.67855620e-03 -1.18360805e-04 9.99989048e-01 7.27790073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.09, Z:0.73 [[-2.26449419e-02 -9.99743570e-01 -1.19995899e-05 1.05850149e+02] [ 9.99732623e-01 -2.26446378e-02 -4.68004470e-03 9.10893475e+01] [ 4.67857287e-03 -1.17975722e-04 9.99989048e-01 7.26357558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.12, Z:0.73 [[-2.59724461e-02 -9.99662659e-01 -3.14287325e-05 1.05848641e+02] [ 9.99651716e-01 -2.59720147e-02 -4.67991422e-03 9.11158659e+01] [ 4.67751922e-03 -1.52966606e-04 9.99989049e-01 7.27086796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.14, Z:0.73 [[-2.63860773e-02 -9.99651826e-01 -2.93837463e-05 1.05850917e+02] [ 9.99640883e-01 -2.63856509e-02 -4.67992719e-03 9.11427506e+01] [ 4.67752245e-03 -1.52858115e-04 9.99989049e-01 7.26643920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.17, Z:0.73 [[-2.72987703e-02 -9.99627319e-01 -2.78566479e-05 1.05851071e+02] [ 9.99616376e-01 -2.72983410e-02 -4.67993628e-03 9.11694244e+01] [ 4.67743171e-03 -1.55602467e-04 9.99989049e-01 7.26998316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.19, Z:0.72 [[-2.94677114e-02 -9.99565732e-01 -2.60542071e-05 1.05847692e+02] [ 9.99554790e-01 -2.94672669e-02 -4.67994631e-03 9.11931983e+01] [ 4.67714621e-03 -1.63949915e-04 9.99989049e-01 7.24842856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.22, Z:0.73 [[-2.84021200e-02 -9.99596578e-01 1.73779358e-05 1.05847571e+02] [ 9.99585628e-01 -2.84018902e-02 -4.68016816e-03 9.12214157e+01] [ 4.67877364e-03 -1.15555963e-04 9.99989048e-01 7.25424414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.25, Z:0.73 [[-2.58974265e-02 -9.99664605e-01 1.42681161e-05 1.05849598e+02] [ 9.99653655e-01 -2.58972097e-02 -4.68015252e-03 9.12511660e+01] [ 4.67895233e-03 -1.06940732e-04 9.99989048e-01 7.28392461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.28, Z:0.73 [[-2.51555115e-02 -9.99683550e-01 -2.37717594e-05 1.05846527e+02] [ 9.99672605e-01 -2.51551248e-02 -4.67995930e-03 9.12763215e+01] [ 4.67788035e-03 -1.41490747e-04 9.99989049e-01 7.25683182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.31, Z:0.73 [[-2.25951657e-02 -9.99744697e-01 1.08465059e-05 1.05848585e+02] [ 9.99733747e-01 -2.25949690e-02 -4.68011216e-03 9.13051190e+01] [ 4.67916238e-03 -9.49042916e-05 9.99989048e-01 7.28777828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.33, Z:0.73 [[-2.13571850e-02 -9.99771909e-01 -2.04320145e-05 1.05848470e+02] [ 9.99760963e-01 -2.13568555e-02 -4.67997560e-03 9.13312498e+01] [ 4.67847178e-03 -1.20378235e-04 9.99989049e-01 7.29164740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.36, Z:0.73 [[-1.92832887e-02 -9.99814060e-01 -1.91391480e-05 1.05847719e+02] [ 9.99803113e-01 -1.92829880e-02 -4.67998089e-03 9.13586568e+01] [ 4.67874163e-03 -1.09380802e-04 9.99989049e-01 7.29752179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.39, Z:0.73 [[-1.84630812e-02 -9.99829543e-01 -1.74502316e-05 1.05847212e+02] [ 9.99818595e-01 -1.84627974e-02 -4.67998719e-03 9.13854478e+01] [ 4.67886727e-03 -1.03854050e-04 9.99989049e-01 7.30058542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.41, Z:0.73 [[-1.63443857e-02 -9.99866422e-01 -1.57608038e-05 1.05845836e+02] [ 9.99855473e-01 -1.63441330e-02 -4.67999287e-03 9.14131638e+01] [ 4.67911013e-03 -9.22501346e-05 9.99989049e-01 7.30593274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.44, Z:0.73 [[-1.53079437e-02 -9.99882826e-01 -1.40821681e-05 1.05845246e+02] [ 9.99871878e-01 -1.53077102e-02 -4.67999793e-03 9.14391581e+01] [ 4.67923399e-03 -8.57215087e-05 9.99989049e-01 7.31429960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.47, Z:0.73 [[-1.49672695e-02 -9.99887984e-01 -5.34448707e-06 1.05845027e+02] [ 9.99877034e-01 -1.49670806e-02 -4.68002035e-03 9.14666771e+01] [ 4.67941613e-03 -7.53909558e-05 9.99989049e-01 7.31421560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.49, Z:0.73 [[-1.38850971e-02 -9.99903597e-01 -1.06537107e-05 1.05845192e+02] [ 9.99892648e-01 -1.38848952e-02 -4.68000827e-03 9.14931099e+01] [ 4.67940918e-03 -7.56349363e-05 9.99989049e-01 7.32104654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.52, Z:0.73 [[-1.35613796e-02 -9.99908040e-01 -9.36472221e-06 1.05845011e+02] [ 9.99897091e-01 -1.35611873e-02 -4.68001085e-03 9.15196420e+01] [ 4.67945348e-03 -7.28311621e-05 9.99989049e-01 7.32488116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.54, Z:0.73 [[-1.20018549e-02 -9.99927975e-01 -7.54349978e-06 1.05844839e+02] [ 9.99917025e-01 -1.20016881e-02 -4.68001378e-03 9.15447657e+01] [ 4.67958617e-03 -6.37117200e-05 9.99989049e-01 7.32076742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.57, Z:0.73 [[-1.22873822e-02 -9.99924507e-01 1.74241931e-05 1.05844324e+02] [ 9.99913556e-01 -1.22873292e-02 -4.68004082e-03 9.15729322e+01] [ 4.67990161e-03 -4.00827637e-05 9.99989048e-01 7.32133940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.60, Z:0.73 [[-1.26461076e-02 -9.99920035e-01 -8.90210345e-06 1.05842043e+02] [ 9.99909085e-01 -1.26459275e-02 -4.68001989e-03 9.15991087e+01] [ 4.67953307e-03 -6.80853294e-05 9.99989049e-01 7.31446056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.62, Z:0.73 [[-1.19598305e-02 -9.99928479e-01 -1.47205304e-06 1.05841767e+02] [ 9.99917528e-01 -1.19596926e-02 -4.68002222e-03 9.16233307e+01] [ 4.67966990e-03 -5.74442040e-05 9.99989049e-01 7.30566965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.33, Z:0.73 [[-1.15424177e-02 -9.99933384e-01 7.06248596e-07 1.05841105e+02] [ 9.99922433e-01 -1.15422946e-02 -4.68002706e-03 9.13332177e+01] [ 4.67972345e-03 -5.33126332e-05 9.99989049e-01 7.29467527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.36, Z:0.73 [[-1.23959543e-02 -9.99923167e-01 -8.63371745e-06 1.05841144e+02] [ 9.99912217e-01 -1.23957782e-02 -4.68000983e-03 9.13584218e+01] [ 4.67954323e-03 -6.66461477e-05 9.99989049e-01 7.29249696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.39, Z:0.73 [[-1.27737417e-02 -9.99918412e-01 -6.76471378e-06 1.05840922e+02] [ 9.99907462e-01 -1.27735702e-02 -4.68001253e-03 9.13853472e+01] [ 4.67954429e-03 -6.65453592e-05 9.99989049e-01 7.29375159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.41, Z:0.73 [[-1.41306807e-02 -9.99900157e-01 -4.99650373e-06 1.05840876e+02] [ 9.99889207e-01 -1.41305026e-02 -4.68001442e-03 9.14116141e+01] [ 4.67947655e-03 -7.11277396e-05 9.99989049e-01 7.29574366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-1.55003813e-02 -9.99879862e-01 -3.18225053e-06 1.05840863e+02] [ 9.99868912e-01 -1.55001966e-02 -4.68001566e-03 9.14383640e+01] [ 4.67940408e-03 -7.57238603e-05 9.99989049e-01 7.29554350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.47, Z:0.73 [[-1.83233955e-02 -9.99832113e-01 -1.37491369e-06 1.05840215e+02] [ 9.99821163e-01 -1.83231884e-02 -4.68001619e-03 9.14652508e+01] [ 4.67920528e-03 -8.71284553e-05 9.99989049e-01 7.29358640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.46, Z:0.73 [[-2.01704478e-02 -9.99796556e-01 4.47435417e-07 1.05839886e+02] [ 9.99785607e-01 -2.01702290e-02 -4.68001601e-03 9.14599841e+01] [ 4.67907291e-03 -9.39506790e-05 9.99989049e-01 7.29038498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.922755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:105.84, Y:91.45, Z:0.73 [[-2.35925909e-02 -9.99721656e-01 3.05325004e-06 1.05840125e+02] [ 9.99710707e-01 -2.35923468e-02 -4.68001431e-03 9.14547996e+01] [ 4.67878369e-03 -1.07361296e-04 9.99989049e-01 7.28812194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.45, Z:0.73 [[-2.59139879e-02 -9.99664176e-01 5.65089517e-06 1.05840811e+02] [ 9.99653228e-01 -2.59137305e-02 -4.68001118e-03 9.14511863e+01] [ 4.67858595e-03 -1.15628817e-04 9.99989049e-01 7.29051592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.45, Z:0.73 [[-2.78299601e-02 -9.99612672e-01 8.24292325e-06 1.05841710e+02] [ 9.99601724e-01 -2.78296939e-02 -4.68000661e-03 9.14486956e+01] [ 4.67842331e-03 -1.22004757e-04 9.99989049e-01 7.29842941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.10752104e-02 -9.99517049e-01 1.08336963e-05 1.05841829e+02] [ 9.99506101e-01 -3.10749208e-02 -4.68000061e-03 9.14439819e+01] [ 4.67807706e-03 -1.34603658e-04 9.99989049e-01 7.30194963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.21087166e-02 -9.99484382e-01 1.34201269e-05 1.05841344e+02] [ 9.99473435e-01 -3.21084277e-02 -4.67999320e-03 9.14408871e+01] [ 4.67801101e-03 -1.36855515e-04 9.99989049e-01 7.29415632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.27176579e-02 -9.99464634e-01 1.60028170e-05 1.05840197e+02] [ 9.99453686e-01 -3.27173744e-02 -4.67998436e-03 9.14383743e+01] [ 4.67800243e-03 -1.37124053e-04 9.99989049e-01 7.29044183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.29498889e-02 -9.99457005e-01 1.85836710e-05 1.05839599e+02] [ 9.99446057e-01 -3.29496150e-02 -4.67997412e-03 9.14370659e+01] [ 4.67804524e-03 -1.35631251e-04 9.99989049e-01 7.29452284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.26758467e-02 -9.99466002e-01 2.11663491e-05 1.05839144e+02] [ 9.99455053e-01 -3.26755879e-02 -4.67996244e-03 9.14376080e+01] [ 4.67815497e-03 -1.31766921e-04 9.99989049e-01 7.29383254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.72, Z:0.73 [[-3.23460380e-02 -9.99476730e-01 2.37540031e-05 1.05837011e+02] [ 9.99465781e-01 -3.23457949e-02 -4.67994930e-03 9.17226178e+01] [ 4.67826877e-03 -1.27636505e-04 9.99989049e-01 7.30271808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.44, Z:0.73 [[-3.03216604e-02 -9.99540192e-01 2.87138373e-05 1.05837679e+02] [ 9.99529243e-01 -3.03214627e-02 -4.67992109e-03 9.14363832e+01] [ 4.67863987e-03 -1.13202658e-04 9.99989049e-01 7.29550997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.43, Z:0.73 [[-2.98266726e-02 -9.99555085e-01 2.98729535e-05 1.05837504e+02] [ 9.99544136e-01 -2.98264857e-02 -4.67991369e-03 9.14339578e+01] [ 4.67872253e-03 -1.09726918e-04 9.99989049e-01 7.29769156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.72, Z:0.73 [[-2.89778487e-02 -9.99580053e-01 3.24743134e-05 1.05834081e+02] [ 9.99569103e-01 -2.89776833e-02 -4.67989564e-03 9.17159860e+01] [ 4.67887136e-03 -1.03152988e-04 9.99989049e-01 7.31105872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.84, Y:91.43, Z:0.73 [[-2.78899478e-02 -9.99610999e-01 3.62362112e-05 1.05835128e+02] [ 9.99600049e-01 -2.78898119e-02 -4.67986748e-03 9.14314965e+01] [ 4.67905763e-03 -9.42995410e-05 9.99989049e-01 7.31058686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.43, Z:0.73 [[-2.74199440e-02 -9.99624002e-01 3.59120927e-05 1.05834344e+02] [ 9.99613052e-01 -2.74198118e-02 -4.67986997e-03 9.14313231e+01] [ 4.67909505e-03 -9.24235760e-05 9.99989049e-01 7.31064598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.83, Y:91.43, Z:0.73 [[-2.71526942e-02 -9.99631297e-01 3.85178150e-05 1.05833147e+02] [ 9.99620346e-01 -2.71525771e-02 -4.67984852e-03 9.14298266e+01] [ 4.67916890e-03 -8.85673042e-05 9.99989049e-01 7.28809133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.43, Z:0.73 [[-2.73010785e-02 -9.99627255e-01 4.11279283e-05 1.05832622e+02] [ 9.99616304e-01 -2.73009720e-02 -4.67982558e-03 9.14308355e+01] [ 4.67920403e-03 -8.66521378e-05 9.99989049e-01 7.31121418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.81, Z:0.73 [[-2.79713033e-02 -9.99608726e-01 4.37449974e-05 1.05828243e+02] [ 9.99597775e-01 -2.79712017e-02 -4.67980112e-03 9.18051609e+01] [ 4.67919363e-03 -8.71727345e-05 9.99989049e-01 7.31722377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.42, Z:0.73 [[-2.90278747e-02 -9.99578601e-01 4.75513173e-05 1.05830954e+02] [ 9.99567650e-01 -2.90277793e-02 -4.67976328e-03 9.14229987e+01] [ 4.67917155e-03 -8.83128237e-05 9.99989049e-01 7.31067629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.46, Z:0.73 [[-3.04398643e-02 -9.99536599e-01 4.94707231e-05 1.05829845e+02] [ 9.99525648e-01 -3.04397625e-02 -4.67974299e-03 9.14579500e+01] [ 4.67908027e-03 -9.30034852e-05 9.99989049e-01 7.30159585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.73, Z:0.73 [[-3.31140325e-02 -9.99451579e-01 5.41578893e-05 1.05825406e+02] [ 9.99440628e-01 -3.31139232e-02 -4.67969175e-03 9.17290611e+01] [ 4.67891869e-03 -1.00835870e-04 9.99989049e-01 7.30397342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.42, Z:0.73 [[-3.32575116e-02 -9.99446814e-01 6.64579217e-05 1.05828189e+02] [ 9.99435863e-01 -3.32574583e-02 -4.67955014e-03 9.14173354e+01] [ 4.67917170e-03 -8.92097626e-05 9.99989049e-01 7.28734419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:91.73, Z:0.73 [[-3.67956680e-02 -9.99322809e-01 5.57827355e-05 1.05824022e+02] [ 9.99311858e-01 -3.67955260e-02 -4.67967739e-03 9.17277461e+01] [ 4.67856091e-03 -1.16447507e-04 9.99989049e-01 7.29553528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.41, Z:0.73 [[-3.75279982e-02 -9.99295574e-01 7.73550197e-05 1.05827228e+02] [ 9.99284622e-01 -3.75279492e-02 -4.67940398e-03 9.14128376e+01] [ 4.67901066e-03 -9.83089827e-05 9.99989049e-01 7.27194898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.42, Z:0.72 [[-4.03435268e-02 -9.99185867e-01 6.17077585e-05 1.05825929e+02] [ 9.99174916e-01 -4.03433736e-02 -4.67961032e-03 9.14197971e+01] [ 4.67828999e-03 -1.27135140e-04 9.99989049e-01 7.24369600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:91.72, Z:0.73 [[-4.20003405e-02 -9.99117594e-01 6.47491483e-05 1.05822330e+02] [ 9.99106644e-01 -4.20001834e-02 -4.67956895e-03 9.17192978e+01] [ 4.67815914e-03 -1.31852185e-04 9.99989049e-01 7.27547701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.40, Z:0.73 [[-4.40754640e-02 -9.99028202e-01 7.60539556e-05 1.05826454e+02] [ 9.99017251e-01 -4.40753371e-02 -4.67941021e-03 9.13998495e+01] [ 4.67821487e-03 -1.30267962e-04 9.99989049e-01 7.25692978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.41, Z:0.72 [[-4.79308478e-02 -9.98850654e-01 6.74115072e-05 1.05825578e+02] [ 9.98839705e-01 -4.79306382e-02 -4.67953471e-03 9.14087624e+01] [ 4.67738738e-03 -1.56960776e-04 9.99989049e-01 7.24056230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.41, Z:0.72 [[-4.79066462e-02 -9.98851814e-01 8.11209918e-05 1.05825481e+02] [ 9.98840864e-01 -4.79065010e-02 -4.67933303e-03 9.14093657e+01] [ 4.67784651e-03 -1.43144190e-04 9.99989049e-01 7.22948984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:91.78, Z:0.73 [[-5.11685561e-02 -9.98690029e-01 6.63399477e-05 1.05819564e+02] [ 9.98679081e-01 -5.11683060e-02 -4.67955672e-03 9.17790782e+01] [ 4.67682114e-03 -1.73193843e-04 9.99989049e-01 7.28922318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:91.41, Z:0.73 [[-4.93844843e-02 -9.98779839e-01 8.10509880e-05 1.05826161e+02] [ 9.98768888e-01 -4.93843226e-02 -4.67932734e-03 9.14092267e+01] [ 4.67762045e-03 -1.50134962e-04 9.99989049e-01 7.25491014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:91.82, Z:0.73 [[-5.28172206e-02 -9.98604194e-01 6.63731689e-05 1.05819657e+02] [ 9.98593246e-01 -5.28169526e-02 -4.67956464e-03 9.18216119e+01] [ 4.67653850e-03 -1.80881800e-04 9.99989049e-01 7.28179800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:91.68, Z:1.88 [[-5.78680278e-02 9.98324239e-01 -7.71683748e-05 1.05290359e+02] [ 9.98313291e-01 5.78677550e-02 4.67938358e-03 9.16754869e+01] [ 4.67600761e-03 1.93748485e-04 -9.99989049e-01 1.88018059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:91.67, Z:1.88 [[-1.34982446e-01 9.90847890e-01 -4.44991591e-04 1.05306774e+02] [ 9.90837024e-01 1.34983052e-01 4.64414349e-03 9.16732951e+01] [ 4.66170610e-03 1.85963706e-04 -9.99989117e-01 1.87974666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:91.32, Z:1.88 [[-2.13234556e-01 9.77000714e-01 -7.93013223e-04 1.05403811e+02] [ 9.76989985e-01 2.13235934e-01 4.58316454e-03 9.13215382e+01] [ 4.64685394e-03 2.02523079e-04 -9.99989183e-01 1.87843205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.942755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.31, Y:91.69, Z:1.88 [[-2.90826365e-01 9.56775149e-01 -1.15729821e-03 1.05314604e+02] [ 9.56764638e-01 2.90828600e-01 4.48925478e-03 9.16893486e+01] [ 4.63178283e-03 1.98331649e-04 -9.99989254e-01 1.88134169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.34, Y:91.66, Z:1.88 [[-3.59480268e-01 9.33151479e-01 -1.50122749e-03 1.05341754e+02] [ 9.33141257e-01 3.59483362e-01 4.37112579e-03 9.16607055e+01] [ 4.61858880e-03 1.70476164e-04 -9.99989320e-01 1.87962913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:91.67, Z:1.88 [[-4.37918314e-01 8.99012988e-01 -1.78838809e-03 1.05353895e+02] [ 8.99002992e-01 4.37921893e-01 4.24691495e-03 9.16704023e+01] [ 4.60120599e-03 2.52035591e-04 -9.99989383e-01 1.87999502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.59, Y:91.31, Z:1.88 [[-5.08758890e-01 8.60906427e-01 -2.12504781e-03 1.05587454e+02] [ 8.60896846e-01 5.08763271e-01 4.06876402e-03 9.13072222e+01] [ 4.58397138e-03 2.40572906e-04 -9.99989465e-01 1.87795445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:91.30, Z:1.88 [[-5.75469622e-01 8.17819484e-01 -2.45071654e-03 1.05621848e+02] [ 8.17810394e-01 5.75474799e-01 3.86211011e-03 9.13012681e+01] [ 4.56883450e-03 2.18305588e-04 -9.99989539e-01 1.87778903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:91.30, Z:1.88 [[-6.38705785e-01 7.69446181e-01 -2.73743505e-03 1.05655660e+02] [ 7.69437571e-01 6.38711613e-01 3.64689353e-03 9.13004646e+01] [ 4.55451985e-03 2.23006618e-04 -9.99989603e-01 1.87800571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.68, Y:91.31, Z:1.88 [[-6.97390318e-01 7.16685225e-01 -3.00550848e-03 1.05684738e+02] [ 7.16677145e-01 6.97396758e-01 3.41066523e-03 9.13059675e+01] [ 4.54040524e-03 2.24585674e-04 -9.99989667e-01 1.87812084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.71, Y:91.31, Z:1.88 [[-7.51451278e-01 6.59780562e-01 -3.25364055e-03 1.05713501e+02] [ 6.59773058e-01 7.51458288e-01 3.15475597e-03 9.13130377e+01] [ 4.52642183e-03 2.23981029e-04 -9.99989731e-01 1.87786202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:91.31, Z:1.88 [[-8.01011067e-01 5.98639424e-01 -3.48008950e-03 1.05752622e+02] [ 5.98632532e-01 8.01018595e-01 2.88124146e-03 9.13135376e+01] [ 4.51244113e-03 2.24611512e-04 -9.99989794e-01 1.87738781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.42, Y:91.55, Z:1.88 [[-8.46076980e-01 5.33048002e-01 -3.68383206e-03 1.05423107e+02] [ 5.33041751e-01 8.46084969e-01 2.59163593e-03 9.15488451e+01] [ 4.49830129e-03 2.29087210e-04 -9.99989856e-01 1.87942203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.06, Y:91.79, Z:0.73 [[-8.74180004e-01 -4.85586614e-01 3.86803168e-03 1.06055857e+02] [ 4.85581272e-01 -8.74188554e-01 -2.28055622e-03 9.17921137e+01] [ 4.48879660e-03 -1.15372898e-04 9.99989919e-01 7.28982289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:91.35, Z:1.88 [[-8.84991830e-01 4.65590532e-01 -3.86228226e-03 1.05816340e+02] [ 4.65584955e-01 8.85000228e-01 2.29025205e-03 9.13457396e+01] [ 4.48444035e-03 2.28633845e-04 -9.99989919e-01 1.87694155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:91.36, Z:1.88 [[-9.18897427e-01 3.94476081e-01 -4.01747600e-03 1.05849078e+02] [ 3.94471206e-01 9.18906181e-01 1.97447984e-03 9.13578970e+01] [ 4.47056859e-03 2.29565844e-04 -9.99989981e-01 1.87697140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:91.37, Z:1.88 [[-9.50285749e-01 3.11351564e-01 -4.14713667e-03 1.05882782e+02] [ 3.11347323e-01 9.50294758e-01 1.64824169e-03 9.13680770e+01] [ 4.45418487e-03 2.75100684e-04 -9.99990042e-01 1.87813943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.91, Y:91.39, Z:1.88 [[-9.70681101e-01 2.40332879e-01 -4.27872340e-03 1.05906233e+02] [ 2.40329833e-01 9.70690519e-01 1.21986138e-03 9.13893640e+01] [ 4.44648903e-03 1.55791505e-04 -9.99990102e-01 1.87850681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.93, Y:91.41, Z:1.88 [[-9.85707573e-01 1.68409408e-01 -4.34181774e-03 1.05925260e+02] [ 1.68406905e-01 9.85717117e-01 9.38346737e-04 9.14134489e+01] [ 4.43783048e-03 1.93743398e-04 -9.99990134e-01 1.88067638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.95, Y:91.44, Z:1.88 [[-9.95808059e-01 9.13622505e-02 -4.38734955e-03 1.05945986e+02] [ 9.13603968e-02 9.95817700e-01 6.21521939e-04 9.14355652e+01] [ 4.42578398e-03 2.18086560e-04 -9.99990182e-01 1.87998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:91.46, Z:1.88 [[-9.99936029e-01 1.04163299e-02 -4.40891435e-03 1.05611095e+02] [ 1.04151623e-02 9.99945719e-01 2.87700683e-04 9.14631160e+01] [ 4.41167182e-03 2.41762719e-04 -9.99990239e-01 1.88074381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.96, Y:91.99, Z:0.73 [[-9.99232331e-01 3.89275581e-02 4.40383066e-03 1.05955179e+02] [-3.89276146e-02 -9.99242031e-01 7.29078144e-05 9.19925315e+01] [ 4.40333082e-03 -9.85787777e-05 9.99990300e-01 7.25236206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.99, Y:91.50, Z:1.88 [[-9.97901357e-01 -6.46025218e-02 -4.40410470e-03 1.05993458e+02] [-6.46029260e-02 9.97911048e-01 -5.05657692e-05 9.14965025e+01] [ 4.39817142e-03 2.34058401e-04 -9.99990301e-01 1.88290127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:92.02, Z:0.73 [[-9.94173517e-01 1.07702862e-01 4.37157298e-03 1.05936405e+02] [-1.07702111e-01 -9.94183127e-01 4.07511204e-04 9.20181727e+01] [ 4.39003422e-03 -6.56907922e-05 9.99990362e-01 7.27012827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:91.52, Z:1.88 [[-9.89952405e-01 -1.41333280e-01 -4.37501542e-03 1.06008154e+02] [-1.41333025e-01 9.89962040e-01 -3.68888710e-04 9.15228372e+01] [ 4.38323544e-03 2.53151898e-04 -9.99990362e-01 1.88144529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:91.55, Z:1.88 [[-9.76309258e-01 -2.16336799e-01 -4.31539292e-03 1.06008803e+02] [-2.16335725e-01 9.76318768e-01 -7.19522603e-04 9.15485981e+01] [ 4.36885832e-03 2.31097080e-04 -9.99990430e-01 1.88190939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:106.03, Y:91.58, Z:1.88 [[-9.56029043e-01 -2.93241421e-01 -4.23524136e-03 1.06034774e+02] [-2.93239689e-01 9.56038392e-01 -1.03831412e-03 9.15811360e+01] [ 4.35353005e-03 2.49282406e-04 -9.99990492e-01 1.88274827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:91.61, Z:1.88 [[-9.29995685e-01 -3.67547373e-01 -4.11754591e-03 1.06034201e+02] [-3.67544822e-01 9.30004773e-01 -1.38747530e-03 9.16074100e+01] [ 4.33930026e-03 2.23036641e-04 -9.99990560e-01 1.88162700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.82, Y:92.08, Z:0.72 [[-9.09092131e-01 4.16576106e-01 3.98051597e-03 1.05823662e+02] [-4.16572615e-01 -9.09100840e-01 1.70862592e-03 9.20795092e+01] [ 4.33046315e-03 -1.04875565e-04 9.99990618e-01 7.24791358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.03, Y:91.63, Z:1.88 [[-8.99968248e-01 -4.35937200e-01 -3.98881009e-03 1.06025837e+02] [-4.35933982e-01 8.99977061e-01 -1.68912809e-03 9.16288724e+01] [ 4.32619135e-03 2.18696217e-04 -9.99990618e-01 1.87886179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:105.46, Y:91.92, Z:0.73 [[-8.73734266e-01 4.86388470e-01 3.83272890e-03 1.05458025e+02] [-4.86384416e-01 -8.73742663e-01 1.98977424e-03 9.19177411e+01] [ 4.31662200e-03 -1.25645674e-04 9.99990675e-01 7.27741649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.65, Y:91.45, Z:1.88 [[-8.61925027e-01 -5.07021268e-01 -3.83155665e-03 1.05653658e+02] [-5.07017405e-01 8.61933514e-01 -1.99202886e-03 9.14490328e+01] [ 4.31254809e-03 2.25686376e-04 -9.99990675e-01 1.88414155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:91.93, Z:0.73 [[-8.32459294e-01 5.54074208e-01 3.64634338e-03 1.05450984e+02] [-5.54069492e-01 -8.32467272e-01 2.28892249e-03 9.19341776e+01] [ 4.30369444e-03 -1.14892823e-04 9.99990732e-01 7.28206723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:91.95, Z:0.73 [[-8.34193237e-01 5.51460152e-01 3.65292253e-03 1.05481525e+02] [-5.51455457e-01 -8.34201228e-01 2.27835805e-03 9.19524922e+01] [ 4.30369614e-03 -1.13833190e-04 9.99990733e-01 7.28617266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:91.66, Z:1.88 [[-8.28351371e-01 -5.60196985e-01 -3.65292253e-03 1.05935562e+02] [-5.60192374e-01 8.28359410e-01 -2.27835805e-03 9.16575751e+01] [ 4.30226206e-03 1.59058335e-04 -9.99990733e-01 1.87929554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:92.07, Z:0.73 [[-7.94752298e-01 6.06923908e-01 3.48640156e-03 1.05630679e+02] [-6.06918731e-01 -7.94759936e-01 2.50968571e-03 9.20747719e+01] [ 4.29404054e-03 -1.21383924e-04 9.99990773e-01 7.27789896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.63, Y:92.07, Z:0.73 [[-7.95355089e-01 6.06133746e-01 3.48778794e-03 1.05627811e+02] [-6.06128570e-01 -7.95362727e-01 2.50775753e-03 9.20724295e+01] [ 4.29409300e-03 -1.19490198e-04 9.99990773e-01 7.27911000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.07, Z:0.73 [[-7.96323082e-01 6.04861450e-01 3.48917160e-03 1.05624510e+02] [-6.04856271e-01 -7.96330718e-01 2.50583089e-03 9.20699618e+01] [ 4.29421504e-03 -1.14996342e-04 9.99990773e-01 7.27875912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.63, Y:92.07, Z:0.73 [[-7.94865950e-01 6.06775030e-01 3.49055652e-03 1.05632692e+02] [-6.06769877e-01 -7.94873604e-01 2.50390026e-03 9.20733087e+01] [ 4.29385539e-03 -1.27699491e-04 9.99990773e-01 7.26123516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.022755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:105.63, Y:92.07, Z:0.72 [[-7.95223568e-01 6.06306304e-01 3.48461511e-03 1.05632770e+02] [-6.06301110e-01 -7.95231194e-01 2.51218936e-03 9.20734544e+01] [ 4.29423088e-03 -1.14973822e-04 9.99990773e-01 7.24594145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.06, Z:0.73 [[-7.95279064e-01 6.06233516e-01 3.48343037e-03 1.05621453e+02] [-6.06228314e-01 -7.95286685e-01 2.51384303e-03 9.20638068e+01] [ 4.29430169e-03 -1.12547386e-04 9.99990773e-01 7.25064619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.082755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:105.61, Y:92.06, Z:0.73 [[-7.96513252e-01 6.04611045e-01 3.48190869e-03 1.05613335e+02] [-6.04605819e-01 -7.96520856e-01 2.51596828e-03 9.20587445e+01] [ 4.29459511e-03 -1.01180176e-04 9.99990773e-01 7.25681750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.06, Z:0.73 [[-7.95511672e-01 6.05928243e-01 3.48480375e-03 1.05616015e+02] [-6.05923047e-01 -7.95519297e-01 2.51192053e-03 9.20591852e+01] [ 4.29427222e-03 -1.13260803e-04 9.99990773e-01 7.26190548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.142755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:105.60, Y:92.05, Z:0.73 [[-7.93533769e-01 6.08516261e-01 3.48090694e-03 1.05603162e+02] [-6.08511066e-01 -7.93541395e-01 2.51737308e-03 9.20496247e+01] [ 4.29410621e-03 -1.20549847e-04 9.99990773e-01 7.25185241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.07, Z:0.73 [[-7.98853789e-01 6.01515229e-01 3.47178025e-03 1.05622489e+02] [-6.01509912e-01 -7.98861330e-01 2.53014303e-03 9.20677523e+01] [ 4.29539055e-03 -6.70958808e-05 9.99990773e-01 7.28604446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:92.05, Z:0.73 [[-7.95630547e-01 6.05772104e-01 3.49162226e-03 1.05597409e+02] [-6.05766948e-01 -7.95638198e-01 2.50234544e-03 9.20470558e+01] [ 4.29391911e-03 -1.24166886e-04 9.99990773e-01 7.26911628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.62, Y:92.07, Z:0.73 [[-7.97688850e-01 6.03059177e-01 3.48257407e-03 1.05620694e+02] [-6.03053940e-01 -7.97696446e-01 2.51502325e-03 9.20661328e+01] [ 4.29474481e-03 -9.39740046e-05 9.99990773e-01 7.25805125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.61, Y:92.06, Z:0.73 [[-8.00168898e-01 5.99764584e-01 3.48973696e-03 1.05605990e+02] [-5.99759360e-01 -8.00176503e-01 2.50498074e-03 9.20590888e+01] [ 4.29480425e-03 -8.85947237e-05 9.99990773e-01 7.27895115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:91.84, Z:0.73 [[-7.98751708e-01 6.01650619e-01 3.49880584e-03 1.05298283e+02] [-6.01645468e-01 -7.98759363e-01 2.49224917e-03 9.18412540e+01] [ 4.29416718e-03 -1.14352400e-04 9.99990773e-01 7.28642168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:92.06, Z:0.73 [[-8.06596821e-01 5.91091668e-01 3.49420069e-03 1.05603469e+02] [-5.91086388e-01 -8.06604387e-01 2.49870638e-03 9.20632231e+01] [ 4.29540213e-03 -4.99258401e-05 9.99990773e-01 7.26697868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.86, Y:91.62, Z:1.88 [[-7.89551234e-01 -6.13674576e-01 -3.51636131e-03 1.05860295e+02] [-6.13669652e-01 7.89559036e-01 -2.46728908e-03 9.16211801e+01] [ 4.29048743e-03 2.09833081e-04 -9.99990774e-01 1.88086726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.53, Y:92.03, Z:0.72 [[-7.59630918e-01 6.50345968e-01 3.31499044e-03 1.05529381e+02] [-6.50340315e-01 -7.59638146e-01 2.71331420e-03 9.20349780e+01] [ 4.28278614e-03 -9.47545761e-05 9.99990824e-01 7.24752655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:91.61, Z:1.88 [[-7.47596484e-01 -6.64144885e-01 -3.32693148e-03 1.05806468e+02] [-6.64139430e-01 7.47603862e-01 -2.69868681e-03 9.16058301e+01] [ 4.27954586e-03 1.92017613e-04 -9.99990824e-01 1.88373564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:91.99, Z:0.73 [[-7.07751070e-01 7.06455061e-01 3.10955753e-03 1.05443950e+02] [-7.06448999e-01 -7.07757890e-01 2.92942737e-03 9.19898000e+01] [ 4.27032267e-03 -1.23438446e-04 9.99990875e-01 7.25208843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.44, Y:91.99, Z:0.72 [[-7.06084365e-01 7.08120907e-01 3.10650634e-03 1.05439875e+02] [-7.08114846e-01 -7.06091187e-01 2.93266785e-03 9.19865868e+01] [ 4.27016017e-03 -1.29052339e-04 9.99990875e-01 7.22935250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.76, Y:91.58, Z:1.89 [[-6.95384190e-01 -7.18631439e-01 -3.11181725e-03 1.05760192e+02] [-7.18625506e-01 6.95391124e-01 -2.92702247e-03 9.15781959e+01] [ 4.26738046e-03 2.00826099e-04 -9.99990875e-01 1.88726883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:91.93, Z:0.72 [[-6.62348491e-01 7.49190355e-01 2.87896655e-03 1.05347556e+02] [-7.49183765e-01 -6.62354744e-01 3.14313101e-03 9.19347254e+01] [ 4.26170059e-03 -7.50269137e-05 9.99990916e-01 7.22789529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.67, Y:91.51, Z:1.88 [[-6.55712014e-01 -7.55005512e-01 -2.90377967e-03 1.05665517e+02] [-7.54999079e-01 6.55718427e-01 -3.12003077e-03 9.15092676e+01] [ 4.25970227e-03 1.46509311e-04 -9.99990917e-01 1.88430119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.64, Y:91.50, Z:1.89 [[-5.96766176e-01 -8.02409932e-01 -2.90377967e-03 1.05636662e+02] [-8.02404003e-01 5.96773057e-01 -3.12003077e-03 9.15018356e+01] [ 4.23644115e-03 4.68075591e-04 -9.99990917e-01 1.88504409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:91.50, Z:0.73 [[-5.48381241e-01 8.36224950e-01 2.41806887e-03 1.04971867e+02] [-8.36217795e-01 -5.48386558e-01 3.46156769e-03 9.15023776e+01] [ 4.22068574e-03 -1.23773428e-04 9.99991085e-01 7.28415964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:105.33, Y:91.09, Z:1.89 [[-5.45357385e-01 -8.38200141e-01 -2.41806887e-03 1.05332357e+02] [-8.38193004e-01 5.45362728e-01 -3.46156769e-03 9.10857020e+01] [ 4.22021116e-03 1.39016904e-04 -9.99991085e-01 1.88646291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:104.85, Y:91.35, Z:0.73 [[-4.90548757e-01 8.71411027e-01 2.17682700e-03 1.04854279e+02] [-8.71403570e-01 -4.90553571e-01 3.60723814e-03 9.13451924e+01] [ 4.21123735e-03 -1.27368628e-04 9.99991125e-01 7.29499748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:91.15, Z:1.89 [[-4.86614436e-01 -8.73614132e-01 -2.17682700e-03 1.05352826e+02] [-8.73606697e-01 4.86619283e-01 -3.60723814e-03 9.11458347e+01] [ 4.21062021e-03 1.46356490e-04 -9.99991125e-01 1.88590673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.47, Y:91.42, Z:1.88 [[-4.13587240e-01 -9.10461892e-01 -2.17682700e-03 1.05468903e+02] [-9.10454878e-01 4.13592678e-01 -3.60723814e-03 9.14234021e+01] [ 4.18457257e-03 4.89995090e-04 -9.99991125e-01 1.88415933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.63, Z:0.73 [[-3.70983817e-01 9.28637905e-01 1.62780190e-03 1.04954666e+02] [-9.28629952e-01 -3.70987379e-01 3.84413802e-03 9.16261269e+01] [ 4.17370624e-03 -8.55126052e-05 9.99991286e-01 7.28013729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:91.63, Z:0.73 [[-3.82086666e-01 9.24125011e-01 1.65628190e-03 1.04950111e+02] [-9.24117069e-01 -3.82090250e-01 3.83182774e-03 9.16266649e+01] [ 4.17393702e-03 -6.65080854e-05 9.99991287e-01 7.27039406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.832755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:105.30, Y:91.04, Z:1.89 [[-3.49976576e-01 -9.36756960e-01 -1.67175256e-03 1.05297434e+02] [-9.36749177e-01 3.49980495e-01 -3.82513267e-03 9.10434165e+01] [ 4.16830044e-03 2.27306002e-04 -9.99991287e-01 1.88942997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:91.38, Z:1.89 [[-2.77573701e-01 -9.60702891e-01 -1.67175256e-03 1.05381596e+02] [-9.60695430e-01 2.77578202e-01 -3.82513267e-03 9.13794384e+01] [ 4.13885809e-03 5.44288815e-04 -9.99991287e-01 1.88509833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.85, Y:91.51, Z:0.73 [[-2.37712830e-01 9.71334898e-01 1.06087774e-03 1.04845103e+02] [-9.71326717e-01 -2.37715183e-01 3.98765113e-03 9.15142117e+01] [ 4.12553145e-03 -8.25430545e-05 9.99991487e-01 7.28596721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:91.51, Z:0.73 [[-2.39152549e-01 9.70981425e-01 1.06310602e-03 1.04843240e+02] [-9.70973243e-01 -2.39154899e-01 3.98705698e-03 9.15098397e+01] [ 4.12560528e-03 -7.87326596e-05 9.99991487e-01 7.28534036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.84, Y:91.50, Z:0.73 [[-2.53298217e-01 9.67387656e-01 1.06590208e-03 1.04835230e+02] [-9.67379443e-01 -2.53300459e-01 3.98630934e-03 9.15045888e+01] [ 4.12629994e-03 -2.14067076e-05 9.99991487e-01 7.29575089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.35, Y:91.29, Z:1.89 [[-2.01362415e-01 -9.79516228e-01 -1.06590208e-03 1.05346679e+02] [-9.79508147e-01 2.01365091e-01 -3.98630934e-03 9.12906065e+01] [ 4.11929016e-03 2.41366892e-04 -9.99991487e-01 1.88631522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:91.40, Z:0.73 [[-1.88488317e-01 9.82075140e-01 7.57346916e-04 1.04785432e+02] [-9.82066801e-01 -1.88489837e-01 4.04712520e-03 9.13972243e+01] [ 4.11733324e-03 1.90705528e-05 9.99991524e-01 7.29445593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:91.21, Z:1.88 [[-1.38044455e-01 -9.90425744e-01 -7.57346916e-04 1.05313813e+02] [-9.90417494e-01 1.38046400e-01 -4.04712520e-03 9.12148872e+01] [ 4.11292600e-03 1.91406441e-04 -9.99991524e-01 1.88393190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.74, Y:91.28, Z:0.73 [[-1.15880731e-01 9.93263015e-01 4.89091492e-04 1.04742098e+02] [-9.93254628e-01 -1.15881763e-01 4.08185889e-03 9.12798402e+01] [ 4.11103626e-03 -1.27835939e-05 9.99991550e-01 7.29494754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.29, Y:91.14, Z:1.89 [[-7.89039074e-02 -9.96882106e-01 -4.89091492e-04 1.05285206e+02] [-9.96873763e-01 7.89052496e-02 -4.08185889e-03 9.11377237e+01] [ 4.10772398e-03 1.65487860e-04 -9.99991550e-01 1.88664206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.71, Y:91.16, Z:0.73 [[-4.07233765e-02 9.99170433e-01 2.29737335e-04 1.04707189e+02] [-9.99162031e-01 -4.07239763e-02 4.09807905e-03 9.11565083e+01] [ 4.10403523e-03 -6.26572064e-05 9.99991576e-01 7.31243335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.26, Y:91.04, Z:1.89 [[-2.01671653e-02 -9.99796596e-01 -2.29737335e-04 1.05259833e+02] [-9.99788208e-01 2.01679377e-02 -4.09807905e-03 9.10425956e+01] [ 4.10187881e-03 1.47042041e-04 -9.99991576e-01 1.88532195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:91.00, Z:0.73 [[ 3.49434978e-02 9.99389288e-01 -4.73452165e-05 1.04681260e+02] [-9.99380899e-01 3.49433985e-02 4.09608139e-03 9.10041963e+01] [ 4.09523427e-03 -9.58155061e-05 9.99991610e-01 7.31342433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:90.98, Z:0.73 [[ 3.71427475e-02 9.99309970e-01 -3.29026294e-05 1.04682107e+02] [-9.99301581e-01 3.71425706e-02 4.09618598e-03 9.09758666e+01] [ 4.09458158e-03 -1.19263952e-04 9.99991610e-01 7.30910142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:90.95, Z:0.73 [[ 3.63875847e-02 9.99337752e-01 -3.95336828e-05 1.04681816e+02] [-9.99329363e-01 3.63874413e-02 4.09613793e-03 9.09493063e+01] [ 4.09486380e-03 -1.09541396e-04 9.99991610e-01 7.30783710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:90.92, Z:0.73 [[ 3.74665627e-02 9.99297881e-01 -5.03379128e-05 1.04682130e+02] [-9.99289491e-01 3.74664544e-02 4.09606198e-03 9.09204530e+01] [ 4.09507204e-03 -1.03163215e-04 9.99991610e-01 7.30591686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:90.89, Z:0.73 [[ 3.75229194e-02 9.99295766e-01 -4.34826241e-05 1.04682155e+02] [-9.99287377e-01 3.75227826e-02 4.09611143e-03 9.08929484e+01] [ 4.09485840e-03 -1.10246422e-04 9.99991610e-01 7.29925401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.68, Y:90.86, Z:0.73 [[ 3.50503664e-02 9.99385546e-01 -5.34163516e-05 1.04679088e+02] [-9.99377156e-01 3.50502911e-02 4.09603643e-03 9.08636816e+01] [ 4.09539186e-03 -9.01844960e-05 9.99991610e-01 7.32690000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:90.87, Z:1.89 [[ 5.94918975e-02 -9.98228788e-01 3.10042627e-05 1.05282914e+02] [-9.98220406e-01 -5.94915252e-02 -4.09620607e-03 9.08695864e+01] [ 4.09079531e-03 2.12741984e-04 -9.99991610e-01 1.88549709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:90.87, Z:1.88 [[ 1.38115838e-01 -9.90416020e-01 3.50447576e-04 1.05295679e+02] [-9.90407686e-01 -1.38116116e-01 -4.06869175e-03 9.08656241e+01] [ 4.07809995e-03 2.14864799e-04 -9.99991661e-01 1.88464753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.31, Y:90.86, Z:1.88 [[ 2.15550530e-01 -9.76492461e-01 6.65749059e-04 1.05309016e+02] [-9.76484224e-01 -2.15551451e-01 -4.01642870e-03 9.08640097e+01] [ 4.06551552e-03 2.15649882e-04 -9.99991713e-01 1.88483046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.32, Y:90.86, Z:1.88 [[ 2.92681197e-01 -9.56209583e-01 9.75104157e-04 1.05324388e+02] [-9.56201492e-01 -2.92682738e-01 -3.93986449e-03 9.08631454e+01] [ 4.05273233e-03 2.20728205e-04 -9.99991763e-01 1.88335519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.78, Y:90.65, Z:0.74 [[ 3.37415578e-01 9.41354927e-01 -1.27667572e-03 1.04778797e+02] [-9.41347101e-01 3.37417980e-01 3.83959125e-03 9.06475933e+01] [ 4.04519148e-03 -9.37429175e-05 9.99991814e-01 7.37384134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.79, Y:90.62, Z:0.74 [[ 3.38114563e-01 9.41104091e-01 -1.27787700e-03 1.04788280e+02] [-9.41096265e-01 3.38116964e-01 3.83919140e-03 9.06207044e+01] [ 4.04515062e-03 -9.54812506e-05 9.99991814e-01 7.37506611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.80, Y:90.59, Z:0.74 [[ 3.37553467e-01 9.41305488e-01 -1.27901463e-03 1.04797424e+02] [-9.41297664e-01 3.37555878e-01 3.83881237e-03 9.05942203e+01] [ 4.04523405e-03 -9.18709441e-05 9.99991814e-01 7.38326790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.81, Y:90.57, Z:0.74 [[ 3.37852699e-01 9.41198127e-01 -1.28025231e-03 1.04806618e+02] [-9.41190305e-01 3.37855112e-01 3.83839955e-03 9.05671625e+01] [ 4.04523426e-03 -9.18525902e-05 9.99991814e-01 7.38442038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.82, Y:90.54, Z:0.74 [[ 3.36705892e-01 9.41608995e-01 -1.28147245e-03 1.04815690e+02] [-9.41601177e-01 3.36708319e-01 3.83799216e-03 9.05421925e+01] [ 4.04537037e-03 -8.56386057e-05 9.99991814e-01 7.38367615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:90.73, Z:1.88 [[ 3.71217576e-01 -9.28545027e-01 1.28200040e-03 1.05384080e+02] [-9.28537126e-01 -3.71219716e-01 -3.83781580e-03 9.07321048e+01] [ 4.03948860e-03 2.34279715e-04 -9.99991814e-01 1.88236341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.40, Y:90.73, Z:1.88 [[ 4.44291876e-01 -8.95880713e-01 1.57372228e-03 1.05398536e+02] [-8.95873046e-01 -4.44294598e-01 -3.71421264e-03 9.07330274e+01] [ 4.02668778e-03 2.40339132e-04 -9.99991864e-01 1.88295945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.90, Y:90.44, Z:0.74 [[ 4.77081756e-01 8.78856963e-01 -1.85386299e-03 1.04899711e+02] [-8.78849720e-01 4.77085352e-01 3.56868518e-03 9.04361185e+01] [ 4.02081470e-03 -7.32876190e-05 9.99991914e-01 7.38548215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.43, Y:90.71, Z:1.88 [[ 5.14115326e-01 -8.57719085e-01 1.84433666e-03 1.05428979e+02] [-8.57711679e-01 -5.14118571e-01 -3.57362727e-03 9.07105179e+01] [ 4.01337604e-03 2.55347451e-04 -9.99991914e-01 1.88352781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.95, Y:90.38, Z:0.74 [[ 5.43310923e-01 8.39528882e-01 -2.12073343e-03 1.04954466e+02] [-8.39521994e-01 5.43315058e-01 3.40129186e-03 9.03778411e+01] [ 4.00770916e-03 -6.75566645e-05 9.99991967e-01 7.38669731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:104.97, Y:90.35, Z:0.74 [[ 5.43726836e-01 8.39259540e-01 -2.13348825e-03 1.04969719e+02] [-8.39252682e-01 5.43731019e-01 3.39333274e-03 9.03535203e+01] [ 4.00793062e-03 -5.45103373e-05 9.99991967e-01 7.38259085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.48, Y:90.68, Z:1.88 [[ 5.81450406e-01 -8.13579082e-01 2.12211478e-03 1.05483479e+02] [-8.13572014e-01 -5.81454224e-01 -3.40043061e-03 9.06757389e+01] [ 4.00043182e-03 2.50688568e-04 -9.99991967e-01 1.88360616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.51, Y:90.69, Z:1.88 [[ 6.40807093e-01 -7.67698377e-01 2.33920965e-03 1.05508822e+02] [-7.67691589e-01 -6.40811301e-01 -3.24042869e-03 9.06879303e+01] [ 3.98666383e-03 2.80698116e-04 -9.99992014e-01 1.88484293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.52, Y:90.69, Z:1.89 [[ 6.98581568e-01 -7.15525671e-01 2.60899249e-03 1.05523151e+02] [-7.15519393e-01 -6.98586401e-01 -3.00630025e-03 9.06925208e+01] [ 3.97369168e-03 2.33361222e-04 -9.99992078e-01 1.88556100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.14, Y:90.25, Z:0.74 [[ 7.27227410e-01 6.86390721e-01 -2.84118832e-03 1.05141898e+02] [-6.86385132e-01 7.27232958e-01 2.77059245e-03 9.02523181e+01] [ 3.96791473e-03 -6.47013492e-05 9.99992126e-01 7.37097740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.16, Y:90.23, Z:0.74 [[ 7.28982986e-01 6.84525980e-01 -2.82652119e-03 1.05163552e+02] [-6.84520319e-01 7.28988460e-01 2.78547571e-03 9.02305913e+01] [ 3.96723181e-03 -9.57532147e-05 9.99992126e-01 7.37202327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.18, Y:90.21, Z:0.74 [[ 7.29853538e-01 6.83597708e-01 -2.82607364e-03 1.05183379e+02] [-6.83592039e-01 7.29859002e-01 2.78592970e-03 9.02109177e+01] [ 3.96709045e-03 -1.01439208e-04 9.99992126e-01 7.37202407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.20, Y:90.19, Z:0.74 [[ 7.30918855e-01 6.82458526e-01 -2.82634518e-03 1.05203723e+02] [-6.82452849e-01 7.30924311e-01 2.78565419e-03 9.01900746e+01] [ 3.96693786e-03 -1.07239849e-04 9.99992126e-01 7.36917470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.22, Y:90.17, Z:0.74 [[ 7.31391244e-01 6.81952241e-01 -2.82656122e-03 1.05224397e+02] [-6.81946561e-01 7.31396697e-01 2.78543497e-03 9.01695421e+01] [ 3.96687116e-03 -1.09679043e-04 9.99992126e-01 7.36319802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.24, Y:90.15, Z:0.74 [[ 7.31606373e-01 6.81721441e-01 -2.82677907e-03 1.05244248e+02] [-6.81715761e-01 7.31611826e-01 2.78521386e-03 9.01497917e+01] [ 3.96684501e-03 -1.10620366e-04 9.99992126e-01 7.35562684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09275509600002 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:105.26, Y:90.13, Z:0.73 [[ 7.31737528e-01 6.81580662e-01 -2.82704894e-03 1.05263397e+02] [-6.81574981e-01 7.31742980e-01 2.78493992e-03 9.01300427e+01] [ 3.96683441e-03 -1.10999222e-04 9.99992126e-01 7.34403860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.28, Y:90.11, Z:0.74 [[ 7.31378588e-01 6.81965811e-01 -2.82731616e-03 1.05284179e+02] [-6.81960134e-01 7.31384045e-01 2.78466860e-03 9.01105197e+01] [ 3.96690271e-03 -1.08530082e-04 9.99992126e-01 7.35638822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:90.09, Z:0.74 [[ 7.31096402e-01 6.82268317e-01 -2.82763229e-03 1.05304065e+02] [-6.82262644e-01 7.31101862e-01 2.78434756e-03 9.00908412e+01] [ 3.96695936e-03 -1.06438605e-04 9.99992126e-01 7.35756591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.33, Y:90.06, Z:0.74 [[ 7.27928408e-01 6.85647311e-01 -2.82794820e-03 1.05326332e+02] [-6.85641664e-01 7.27933896e-01 2.78402667e-03 9.00603035e+01] [ 3.96741975e-03 -8.76129876e-05 9.99992126e-01 7.35769834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.75, Y:90.49, Z:1.89 [[ 7.48595650e-01 -6.63020980e-01 2.78093693e-03 1.05752524e+02] [-6.63014992e-01 -7.48600764e-01 -2.83129093e-03 9.04903211e+01] [ 3.95901680e-03 2.75689202e-04 -9.99992125e-01 1.88922836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:90.50, Z:1.89 [[ 8.00719084e-01 -5.99032400e-01 3.02196752e-03 1.05776535e+02] [-5.99027037e-01 -8.00724754e-01 -2.54509957e-03 9.04958922e+01] [ 3.94436130e-03 2.27669553e-04 -9.99992195e-01 1.88756146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.78, Y:90.50, Z:1.89 [[ 8.43855416e-01 -5.36559754e-01 3.41572661e-03 1.05783677e+02] [-5.36556088e-01 -8.43862315e-01 -1.98944049e-03 9.04988865e+01] [ 3.94985667e-03 -1.53928780e-04 -9.99992187e-01 1.88868249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.81, Y:90.52, Z:1.89 [[ 8.82822394e-01 -4.69694772e-01 3.38264286e-03 1.05807489e+02] [-4.69690373e-01 -8.82828848e-01 -2.04418626e-03 9.05221237e+01] [ 3.94643830e-03 2.15858619e-04 -9.99992189e-01 1.88940572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:90.55, Z:1.89 [[ 9.17518906e-01 -3.97676437e-01 3.53681648e-03 1.05828583e+02] [-3.97672689e-01 -9.17525704e-01 -1.73659411e-03 9.05494206e+01] [ 3.93572259e-03 1.86862605e-04 -9.99992238e-01 1.88818411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:90.58, Z:1.89 [[ 9.46725399e-01 -3.22021383e-01 3.63973202e-03 1.05846122e+02] [-3.22018047e-01 -9.46732367e-01 -1.48421537e-03 9.05782264e+01] [ 3.92380119e-03 2.33084995e-04 -9.99992275e-01 1.88778780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.87, Y:90.60, Z:1.89 [[ 9.68587002e-01 -2.48647092e-01 3.72068325e-03 1.05867991e+02] [-2.48644188e-01 -9.68594111e-01 -1.23110345e-03 9.06029778e+01] [ 3.90994218e-03 2.67304538e-04 -9.99992320e-01 1.88723373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:90.61, Z:1.89 [[ 9.84610362e-01 -1.74721320e-01 3.85943248e-03 1.05876602e+02] [-1.74720169e-01 -9.84617925e-01 -6.36163018e-04 9.06061798e+01] [ 3.91121764e-03 -4.79479931e-05 -9.99992350e-01 1.88789295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:90.61, Z:1.89 [[ 9.95197197e-01 -9.78139158e-02 3.87011819e-03 1.05880912e+02] [-9.78124482e-02 -9.95204704e-01 -5.67148529e-04 9.06146861e+01] [ 3.90703484e-03 1.85878892e-04 -9.99992350e-01 1.88905427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:90.63, Z:1.89 [[ 9.99798787e-01 -1.96786324e-02 3.89072222e-03 1.05885774e+02] [-1.96776158e-02 -9.99806332e-01 -2.99396507e-04 9.06289579e+01] [ 3.89586042e-03 2.22776128e-04 -9.99992386e-01 1.88938026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:90.64, Z:1.89 [[ 9.98219525e-01 5.95201256e-02 3.89024170e-03 1.05892340e+02] [ 5.95205522e-02 -9.98227080e-01 6.12085680e-06 9.06410797e+01] [ 3.88370893e-03 2.25439376e-04 -9.99992433e-01 1.88944741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:90.65, Z:1.89 [[ 9.90767592e-01 1.35516420e-01 3.85718825e-03 1.05893963e+02] [ 1.35515858e-01 -9.90775093e-01 4.08018701e-04 9.06489297e+01] [ 3.87689929e-03 1.18458469e-04 -9.99992478e-01 1.89126466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:90.67, Z:1.89 [[ 9.77237050e-01 2.12115815e-01 3.82478720e-03 1.05894682e+02] [ 2.12115044e-01 -9.77244511e-01 6.10884348e-04 9.06658606e+01] [ 3.86733053e-03 2.14316086e-04 -9.99992499e-01 1.89180331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:90.70, Z:1.89 [[ 9.58488645e-01 2.85105993e-01 3.75368759e-03 1.05892636e+02] [ 2.85104626e-01 -9.58495974e-01 9.05593259e-04 9.06970649e+01] [ 3.85608451e-03 2.02192842e-04 -9.99992545e-01 1.89258572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:90.73, Z:1.89 [[ 9.32676923e-01 3.60694415e-01 3.64642830e-03 1.05884483e+02] [ 3.60692344e-01 -9.32684036e-01 1.23347850e-03 9.07301170e+01] [ 3.84587427e-03 1.64801834e-04 -9.99992591e-01 1.89262930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:90.75, Z:1.89 [[ 9.01982156e-01 4.31758739e-01 3.54708202e-03 1.05883740e+02] [ 4.31756275e-01 -9.01989108e-01 1.47275162e-03 9.07489542e+01] [ 3.83530273e-03 2.03079236e-04 -9.99992625e-01 1.89270528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.88, Y:90.76, Z:1.89 [[ 8.65830049e-01 5.00326904e-01 3.36382641e-03 1.05879436e+02] [ 5.00323567e-01 -8.65836578e-01 1.83002388e-03 9.07630681e+01] [ 3.82813413e-03 9.85119615e-05 -9.99992668e-01 1.89290482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.22, Y:90.27, Z:0.74 [[ 8.37630631e-01 -5.46227333e-01 -3.26000824e-03 1.06218767e+02] [ 5.46223684e-01 8.37636968e-01 -1.99930675e-03 9.02712483e+01] [ 3.82277941e-03 -1.06013131e-04 9.99992688e-01 7.36274118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.25, Y:90.29, Z:0.74 [[ 8.38587112e-01 -5.44757741e-01 -3.26478780e-03 1.06247688e+02] [ 5.44754111e-01 8.38593461e-01 -1.99151453e-03 9.02866447e+01] [ 3.82272265e-03 -1.08448161e-04 9.99992687e-01 7.36921143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.28, Y:90.30, Z:0.74 [[ 8.38860711e-01 -5.44336233e-01 -3.28223189e-03 1.06275981e+02] [ 5.44332710e-01 8.38867121e-01 -1.96314850e-03 9.03025796e+01] [ 3.82196928e-03 -1.39818035e-04 9.99992686e-01 7.36774808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.30, Y:90.32, Z:0.74 [[ 8.37213786e-01 -5.46865794e-01 -3.29861370e-03 1.06298381e+02] [ 5.46862395e-01 8.37220264e-01 -1.93652161e-03 9.03204019e+01] [ 3.82068366e-03 -1.82605201e-04 9.99992684e-01 7.35419139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.32, Y:90.34, Z:0.74 [[ 8.37852218e-01 -5.45887249e-01 -3.28222330e-03 1.06324916e+02] [ 5.45883739e-01 8.37858634e-01 -1.96300223e-03 9.03371342e+01] [ 3.82161701e-03 -1.47006556e-04 9.99992687e-01 7.35516654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:106.35, Y:90.35, Z:0.74 [[ 8.37970374e-01 -5.45705794e-01 -3.29218754e-03 1.06346251e+02] [ 5.45702346e-01 8.37976825e-01 -1.94691110e-03 9.03523496e+01] [ 3.82121753e-03 -1.65100641e-04 9.99992685e-01 7.35232740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:90.37, Z:0.74 [[ 8.37783356e-01 -5.45992915e-01 -3.28414159e-03 1.06368969e+02] [ 5.45989419e-01 8.37789779e-01 -1.95992164e-03 9.03680574e+01] [ 3.82152359e-03 -1.51116830e-04 9.99992687e-01 7.35347573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.39, Y:90.38, Z:0.73 [[ 8.38901483e-01 -5.44273373e-01 -3.28575271e-03 1.06388481e+02] [ 5.44269873e-01 8.38907905e-01 -1.95731672e-03 9.03831377e+01] [ 3.82175929e-03 -1.46340311e-04 9.99992686e-01 7.34292346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.41, Y:90.40, Z:0.74 [[ 8.39231688e-01 -5.43764178e-01 -3.26984087e-03 1.06413362e+02] [ 5.43760574e-01 8.39238051e-01 -1.98303836e-03 9.03989811e+01] [ 3.82248010e-03 -1.13781919e-04 9.99992688e-01 7.36641052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.43, Y:90.41, Z:0.74 [[ 8.40667390e-01 -5.41541853e-01 -3.28026410e-03 1.06434245e+02] [ 5.41538298e-01 8.40673781e-01 -1.96620326e-03 9.04148788e+01] [ 3.82241338e-03 -1.23465675e-04 9.99992687e-01 7.38997389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.46, Y:90.43, Z:0.74 [[ 8.40464766e-01 -5.41856404e-01 -3.25796515e-03 1.06457935e+02] [ 5.41852711e-01 8.40471077e-01 -2.00210261e-03 9.04325563e+01] [ 3.82307759e-03 -8.26405493e-05 9.99992689e-01 7.39037782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.48, Y:90.45, Z:0.74 [[ 8.39817222e-01 -5.42859455e-01 -3.26282328e-03 1.06477010e+02] [ 5.42855800e-01 8.39823555e-01 -1.99428443e-03 9.04482739e+01] [ 3.82281201e-03 -9.64081303e-05 9.99992688e-01 7.38533002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:90.46, Z:0.74 [[ 8.41045604e-01 -5.40954481e-01 -3.24695566e-03 1.06501669e+02] [ 5.40950713e-01 8.41051869e-01 -2.01979273e-03 9.04623092e+01] [ 3.82347405e-03 -5.77051790e-05 9.99992689e-01 7.39228228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:90.48, Z:0.74 [[ 8.42611462e-01 -5.38512193e-01 -3.24673963e-03 1.06531565e+02] [ 5.38508406e-01 8.42617716e-01 -2.02013993e-03 9.04787491e+01] [ 3.82363031e-03 -4.62035192e-05 9.99992689e-01 7.39528507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:90.49, Z:0.74 [[ 8.40889099e-01 -5.41197533e-01 -3.27931275e-03 1.06548224e+02] [ 5.41193969e-01 8.40895485e-01 -1.96774974e-03 9.04949497e+01] [ 3.82250059e-03 -1.20084975e-04 9.99992687e-01 7.38742327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.57, Y:90.51, Z:0.74 [[ 8.40915815e-01 -5.41156222e-01 -3.24570544e-03 1.06570947e+02] [ 5.41152449e-01 8.40922077e-01 -2.02170396e-03 9.05104832e+01] [ 3.82344304e-03 -5.63386088e-05 9.99992689e-01 7.38449082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.60, Y:90.53, Z:0.74 [[ 8.41882284e-01 -5.39651451e-01 -3.24529905e-03 1.06598338e+02] [ 5.39647664e-01 8.41888537e-01 -2.02235610e-03 9.05261278e+01] [ 3.82354747e-03 -4.87322808e-05 9.99992689e-01 7.38540728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.62, Y:90.54, Z:0.74 [[ 8.41792791e-01 -5.39790933e-01 -3.26282044e-03 1.06622936e+02] [ 5.39787255e-01 8.41799110e-01 -1.99424698e-03 9.05416754e+01] [ 3.82311578e-03 -8.24861640e-05 9.99992688e-01 7.38756099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.64, Y:90.56, Z:0.74 [[ 8.40254552e-01 -5.42182287e-01 -3.26418321e-03 1.06641718e+02] [ 5.42178636e-01 8.40260887e-01 -1.99206195e-03 9.05577507e+01] [ 3.82282618e-03 -9.59312799e-05 9.99992688e-01 7.37419970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.67, Y:90.57, Z:0.74 [[ 8.39879670e-01 -5.42762952e-01 -3.24328959e-03 1.06665191e+02] [ 5.42759176e-01 8.39885930e-01 -2.02551714e-03 9.05725995e+01] [ 3.82336896e-03 -5.91345178e-05 9.99992689e-01 7.36739392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.69, Y:90.59, Z:0.74 [[ 8.40164881e-01 -5.42321360e-01 -3.24265798e-03 1.06694832e+02] [ 5.42317576e-01 8.40171137e-01 -2.02652779e-03 9.05879707e+01] [ 3.82341695e-03 -5.59329323e-05 9.99992689e-01 7.36325763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.71, Y:90.60, Z:0.74 [[ 8.38696027e-01 -5.44590039e-01 -3.26542190e-03 1.06714508e+02] [ 5.44586414e-01 8.38702377e-01 -1.99013168e-03 9.06039000e+01] [ 3.82252299e-03 -1.09188867e-04 9.99992688e-01 7.36255645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.74, Y:90.62, Z:0.74 [[ 8.37351997e-01 -5.46654490e-01 -3.24067636e-03 1.06737012e+02] [ 5.46650727e-01 8.37358265e-01 -2.02964222e-03 9.06199904e+01] [ 3.82312017e-03 -7.19931202e-05 9.99992689e-01 7.36212029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.77, Y:90.63, Z:0.74 [[ 8.38162192e-01 -5.45411463e-01 -3.23658494e-03 1.06766030e+02] [ 5.45407665e-01 8.38168439e-01 -2.03616921e-03 9.06345354e+01] [ 3.82335338e-03 -5.86181871e-05 9.99992689e-01 7.36241122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.78, Y:90.65, Z:0.74 [[ 8.34142120e-01 -5.51539916e-01 -3.26260143e-03 1.06782864e+02] [ 5.51536326e-01 8.34148490e-01 -1.99462826e-03 9.06513189e+01] [ 3.82161116e-03 -1.35639754e-04 9.99992688e-01 7.35862144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.81, Y:90.67, Z:0.74 [[ 8.34420227e-01 -5.51119255e-01 -3.23300448e-03 1.06809450e+02] [ 5.51115478e-01 8.34426486e-01 -2.04181257e-03 9.06654338e+01] [ 3.82298679e-03 -7.80291023e-05 9.99992689e-01 7.35572180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.83, Y:90.68, Z:0.74 [[ 8.34259412e-01 -5.51362623e-01 -3.23899564e-03 1.06833566e+02] [ 5.51358885e-01 8.34265695e-01 -2.03226393e-03 9.06807467e+01] [ 3.82269732e-03 -9.04137115e-05 9.99992689e-01 7.35684600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.86, Y:90.70, Z:0.74 [[ 8.33267197e-01 -5.52861005e-01 -3.23840248e-03 1.06857320e+02] [ 5.52857274e-01 8.33273485e-01 -2.03320869e-03 9.06957936e+01] [ 3.82255672e-03 -9.61682616e-05 9.99992689e-01 7.35860241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.88, Y:90.71, Z:0.74 [[ 8.31711535e-01 -5.55198558e-01 -3.23776829e-03 1.06880913e+02] [ 5.55194842e-01 8.31717831e-01 -2.03421809e-03 9.07106271e+01] [ 3.82230457e-03 -1.05709603e-04 9.99992689e-01 7.36157261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.90, Y:90.72, Z:0.74 [[ 8.30878479e-01 -5.56444493e-01 -3.23713525e-03 1.06903472e+02] [ 5.56440782e-01 8.30884778e-01 -2.03522497e-03 9.07248514e+01] [ 3.82217614e-03 -1.10249441e-04 9.99992689e-01 7.36225187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.93, Y:90.74, Z:0.74 [[ 8.29580437e-01 -5.58377850e-01 -3.23670542e-03 1.06926733e+02] [ 5.58374151e-01 8.29586742e-01 -2.03590833e-03 9.07398730e+01] [ 3.82193402e-03 -1.18342918e-04 9.99992689e-01 7.36037961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.95, Y:90.75, Z:0.74 [[ 8.28954719e-01 -5.59306357e-01 -3.23608534e-03 1.06950041e+02] [ 5.59302661e-01 8.28961027e-01 -2.03689347e-03 9.07548761e+01] [ 3.82183609e-03 -1.21458683e-04 9.99992689e-01 7.35641552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.97, Y:90.77, Z:0.74 [[ 8.28541032e-01 -5.59919003e-01 -3.23546960e-03 1.06973197e+02] [ 5.59915308e-01 8.28547341e-01 -2.03787107e-03 9.07697725e+01] [ 3.82178247e-03 -1.23129158e-04 9.99992689e-01 7.35712828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.00, Y:90.78, Z:0.74 [[ 8.28229863e-01 -5.60379182e-01 -3.23505147e-03 1.06996606e+02] [ 5.60375488e-01 8.28236172e-01 -2.03853461e-03 9.07846612e+01] [ 3.82173901e-03 -1.24468307e-04 9.99992689e-01 7.35866614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:107.02, Y:90.80, Z:0.73 [[ 8.27935685e-01 -5.60813730e-01 -3.23444330e-03 1.07019673e+02] [ 5.60810035e-01 8.27941994e-01 -2.03949911e-03 9.07990191e+01] [ 3.82171054e-03 -1.25334164e-04 9.99992689e-01 7.33956998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.04, Y:90.81, Z:0.74 [[ 8.29473449e-01 -5.58536783e-01 -3.23402966e-03 1.07044615e+02] [ 5.58533069e-01 8.29479746e-01 -2.04015481e-03 9.08141520e+01] [ 3.82206361e-03 -1.14058265e-04 9.99992689e-01 7.36005106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.07, Y:90.83, Z:0.74 [[ 8.29821952e-01 -5.58018866e-01 -3.23606603e-03 1.07067318e+02] [ 5.58015161e-01 8.29828254e-01 -2.03692819e-03 9.08287527e+01] [ 3.82202338e-03 -1.15486181e-04 9.99992689e-01 7.35345268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.832755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.09, Y:90.84, Z:0.73 [[ 8.30911189e-01 -5.56395670e-01 -3.23322021e-03 1.07093226e+02] [ 5.56391935e-01 8.30917473e-01 -2.04143539e-03 9.08438759e+01] [ 3.82238498e-03 -1.02686141e-04 9.99992689e-01 7.34360635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.12, Y:90.86, Z:0.74 [[ 8.31251079e-01 -5.55887707e-01 -3.24047204e-03 1.07115295e+02] [ 5.55884012e-01 8.31257388e-01 -2.02995524e-03 9.08596211e+01] [ 3.82209349e-03 -1.13924112e-04 9.99992689e-01 7.36450795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:107.14, Y:90.87, Z:0.74 [[ 8.33235612e-01 -5.52908643e-01 -3.23223829e-03 1.07142933e+02] [ 5.52904875e-01 8.33241877e-01 -2.04298201e-03 9.08746099e+01] [ 3.82281871e-03 -8.48349446e-05 9.99992689e-01 7.36475201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.17, Y:90.89, Z:0.74 [[ 8.33452463e-01 -5.52581635e-01 -3.24484252e-03 1.07166433e+02] [ 5.52577942e-01 8.33458773e-01 -2.02304797e-03 9.08898493e+01] [ 3.82234162e-03 -1.06914081e-04 9.99992689e-01 7.37328541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.19, Y:90.90, Z:0.74 [[ 8.32988299e-01 -5.53281099e-01 -3.24341184e-03 1.07187561e+02] [ 5.53277402e-01 8.32994606e-01 -2.02530892e-03 9.09049904e+01] [ 3.82230972e-03 -1.07447845e-04 9.99992689e-01 7.38512371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.982755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:107.22, Y:90.92, Z:0.74 [[ 8.33965634e-01 -5.51806928e-01 -3.23044786e-03 1.07215407e+02] [ 5.51803141e-01 8.33971887e-01 -2.04578007e-03 9.09187957e+01] [ 3.82297832e-03 -7.64610048e-05 9.99992689e-01 7.36166739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.012755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.24, Y:90.93, Z:0.74 [[ 8.34108057e-01 -5.51591521e-01 -3.24718748e-03 1.07239367e+02] [ 5.51587835e-01 8.34114370e-01 -2.01934905e-03 9.09338723e+01] [ 3.82238156e-03 -1.06753800e-04 9.99992689e-01 7.36376876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.26, Y:90.95, Z:0.74 [[ 8.34732394e-01 -5.50646262e-01 -3.24413974e-03 1.07263815e+02] [ 5.50642550e-01 8.34738692e-01 -2.02415529e-03 9.09489567e+01] [ 3.82260251e-03 -9.67333877e-05 9.99992689e-01 7.37952877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.29, Y:90.96, Z:0.74 [[ 8.33962952e-01 -5.51810876e-01 -3.24824501e-03 1.07286277e+02] [ 5.51807198e-01 8.33969271e-01 -2.01768516e-03 9.09644718e+01] [ 3.82231713e-03 -1.09730302e-04 9.99992689e-01 7.38255963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.102755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:107.31, Y:90.98, Z:0.74 [[ 8.34017699e-01 -5.51728177e-01 -3.23985543e-03 1.07310541e+02] [ 5.51724447e-01 8.34023986e-01 -2.03089210e-03 9.09780517e+01] [ 3.82261754e-03 -9.37074857e-05 9.99992689e-01 7.35127577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.33, Y:90.99, Z:0.74 [[ 8.34139154e-01 -5.51544505e-01 -3.24508679e-03 1.07334817e+02] [ 5.51540806e-01 8.34145460e-01 -2.02265770e-03 9.09937625e+01] [ 3.82246015e-03 -1.02619801e-04 9.99992689e-01 7.37197048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.36, Y:91.01, Z:0.74 [[ 8.33560132e-01 -5.52419202e-01 -3.24524421e-03 1.07358160e+02] [ 5.52415510e-01 8.33566442e-01 -2.02241000e-03 9.10073669e+01] [ 3.82234479e-03 -1.06922883e-04 9.99992689e-01 7.36322807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.192755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:107.38, Y:91.02, Z:0.74 [[ 8.34072858e-01 -5.51644759e-01 -3.24463464e-03 1.07375705e+02] [ 5.51641058e-01 8.34079162e-01 -2.02337058e-03 9.10181089e+01] [ 3.82246391e-03 -1.02235204e-04 9.99992689e-01 7.35830584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:107.40, Y:91.04, Z:0.74 [[ 8.31741131e-01 -5.55154444e-01 -3.19900262e-03 1.07402725e+02] [ 5.55150492e-01 8.31747283e-01 -2.09509310e-03 9.10358540e+01] [ 3.82386198e-03 -3.33527681e-05 9.99992688e-01 7.35039189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.43, Y:91.05, Z:0.73 [[ 8.33173563e-01 -5.53002172e-01 -3.22682049e-03 1.07433665e+02] [ 5.52998372e-01 8.33179808e-01 -2.05133462e-03 9.10503236e+01] [ 3.82291418e-03 -7.53087041e-05 9.99992690e-01 7.34448223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.45, Y:91.07, Z:0.73 [[ 8.30900964e-01 -5.56410781e-01 -3.26047546e-03 1.07450477e+02] [ 5.56407214e-01 8.30907347e-01 -1.99836069e-03 9.10654532e+01] [ 3.82106245e-03 -1.53712240e-04 9.99992688e-01 7.34084782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:91.08, Z:0.74 [[ 8.31292270e-01 -5.55826192e-01 -3.22572031e-03 1.07473949e+02] [ 5.55822408e-01 8.31298524e-01 -2.05296960e-03 9.10796869e+01] [ 3.82263081e-03 -8.63098748e-05 9.99992690e-01 7.36104734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.50, Y:91.09, Z:0.74 [[ 8.31227733e-01 -5.55922704e-01 -3.22544632e-03 1.07498079e+02] [ 5.55918919e-01 8.31233986e-01 -2.05339998e-03 9.10946890e+01] [ 3.82263227e-03 -8.62436200e-05 9.99992690e-01 7.36282484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.52, Y:91.11, Z:0.74 [[ 8.31281011e-01 -5.55843037e-01 -3.22482592e-03 1.07521517e+02] [ 5.55839247e-01 8.31287262e-01 -2.05437384e-03 9.11088334e+01] [ 3.82266610e-03 -8.47228472e-05 9.99992690e-01 7.36469581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.55, Y:91.12, Z:0.74 [[ 8.31727068e-01 -5.55175366e-01 -3.22455698e-03 1.07545210e+02] [ 5.55171570e-01 8.31733314e-01 -2.05479588e-03 9.11227114e+01] [ 3.82274352e-03 -8.11530089e-05 9.99992690e-01 7.36866151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:107.57, Y:91.14, Z:0.74 [[ 8.31622069e-01 -5.55332638e-01 -3.22429126e-03 1.07569091e+02] [ 5.55328841e-01 8.31628315e-01 -2.05521275e-03 9.11378438e+01] [ 3.82273863e-03 -8.13816443e-05 9.99992690e-01 7.35290096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.59, Y:91.15, Z:0.74 [[ 8.31928196e-01 -5.54873935e-01 -3.22366147e-03 1.07592361e+02] [ 5.54870131e-01 8.31934438e-01 -2.05620012e-03 9.11526897e+01] [ 3.82280685e-03 -7.81026048e-05 9.99992690e-01 7.37011553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.62, Y:91.17, Z:0.74 [[ 8.32310708e-01 -5.54300007e-01 -3.22302392e-03 1.07615704e+02] [ 5.54296194e-01 8.32316945e-01 -2.05719898e-03 9.11665506e+01] [ 3.82288283e-03 -7.42811515e-05 9.99992690e-01 7.37772016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.64, Y:91.18, Z:0.74 [[ 8.32333775e-01 -5.54265371e-01 -3.22259118e-03 1.07639635e+02] [ 5.54261556e-01 8.32340010e-01 -2.05787664e-03 9.11812682e+01] [ 3.82290134e-03 -7.33181648e-05 9.99992690e-01 7.38372322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.66, Y:91.19, Z:0.74 [[ 8.32499151e-01 -5.54016951e-01 -3.22196746e-03 1.07662611e+02] [ 5.54013130e-01 8.32505383e-01 -2.05885272e-03 9.11949597e+01] [ 3.82294456e-03 -7.10191397e-05 9.99992690e-01 7.39353906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.69, Y:91.21, Z:0.74 [[ 8.32465268e-01 -5.54067865e-01 -3.22169741e-03 1.07686110e+02] [ 5.54064043e-01 8.32471499e-01 -2.05927522e-03 9.12098635e+01] [ 3.82294949e-03 -7.07515953e-05 9.99992690e-01 7.39869240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:91.22, Z:0.74 [[ 8.32455407e-01 -5.54082683e-01 -3.22107815e-03 1.07709178e+02] [ 5.54078857e-01 8.32461636e-01 -2.06024338e-03 9.12247856e+01] [ 3.82296917e-03 -6.96705549e-05 9.99992690e-01 7.39952190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.73, Y:91.24, Z:0.74 [[ 8.32332181e-01 -5.54267775e-01 -3.22080998e-03 1.07732870e+02] [ 5.54263949e-01 8.32338410e-01 -2.06066254e-03 9.12402639e+01] [ 3.82296270e-03 -7.00231120e-05 9.99992690e-01 7.40148290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.76, Y:91.26, Z:0.74 [[ 8.32147364e-01 -5.54545215e-01 -3.22020707e-03 1.07756558e+02] [ 5.54541387e-01 8.32153592e-01 -2.06160427e-03 9.12555662e+01] [ 3.82295966e-03 -7.01795385e-05 9.99992690e-01 7.40341613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.78, Y:91.27, Z:0.74 [[ 8.31231405e-01 -5.55917247e-01 -3.21955664e-03 1.07778974e+02] [ 5.55913426e-01 8.31237637e-01 -2.06261953e-03 9.12700422e+01] [ 3.82286243e-03 -7.52806311e-05 9.99992690e-01 7.40960335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:91.29, Z:0.74 [[ 8.30487104e-01 -5.57028551e-01 -3.21927521e-03 1.07803099e+02] [ 5.57024737e-01 8.30493339e-01 -2.06305869e-03 9.12853154e+01] [ 3.82276921e-03 -7.98722942e-05 9.99992690e-01 7.40470147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:91.30, Z:0.74 [[ 8.29748730e-01 -5.58127840e-01 -3.21863794e-03 1.07825860e+02] [ 5.58124030e-01 8.29754968e-01 -2.06405244e-03 9.12994755e+01] [ 3.82268595e-03 -8.37542895e-05 9.99992690e-01 7.40883884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.85, Y:91.31, Z:0.74 [[ 8.28267188e-01 -5.60324110e-01 -3.21820548e-03 1.07850166e+02] [ 5.60320314e-01 8.28273435e-01 -2.06472649e-03 9.13144341e+01] [ 3.82247014e-03 -9.30806971e-05 9.99992690e-01 7.39896306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.87, Y:91.33, Z:0.74 [[ 8.27506069e-01 -5.61447552e-01 -3.21755469e-03 1.07873614e+02] [ 5.61443760e-01 8.27512318e-01 -2.06574016e-03 9.13297639e+01] [ 3.82237089e-03 -9.70634842e-05 9.99992690e-01 7.39748071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.90, Y:91.34, Z:0.74 [[ 8.26977688e-01 -5.62225537e-01 -3.21690747e-03 1.07896375e+02] [ 5.62221748e-01 8.26983939e-01 -2.06674756e-03 9.13444449e+01] [ 3.82230906e-03 -9.94612236e-05 9.99992690e-01 7.39515685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.92, Y:91.36, Z:0.74 [[ 8.26369412e-01 -5.63119213e-01 -3.21662756e-03 1.07919925e+02] [ 5.63115428e-01 8.26375666e-01 -2.06718311e-03 9.13598233e+01] [ 3.82221327e-03 -1.03075715e-04 9.99992690e-01 7.38879277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.94, Y:91.38, Z:0.74 [[ 8.26152686e-01 -5.63437128e-01 -3.21599072e-03 1.07943487e+02] [ 5.63433341e-01 8.26158939e-01 -2.06817339e-03 9.13754812e+01] [ 3.82220515e-03 -1.03369400e-04 9.99992690e-01 7.38357927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.97, Y:91.39, Z:0.74 [[ 8.26276611e-01 -5.63255380e-01 -3.21535527e-03 1.07965541e+02] [ 5.63251588e-01 8.26282861e-01 -2.06916083e-03 9.13906738e+01] [ 3.82225893e-03 -1.01354764e-04 9.99992690e-01 7.38006254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:91.41, Z:0.74 [[ 8.26346938e-01 -5.63152201e-01 -3.21492459e-03 1.07988040e+02] [ 5.63148406e-01 8.26353186e-01 -2.06982978e-03 9.14056479e+01] [ 3.82229238e-03 -1.00082161e-04 9.99992690e-01 7.37504912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.01, Y:91.42, Z:0.74 [[ 8.26443929e-01 -5.63009858e-01 -3.21449714e-03 1.08011161e+02] [ 5.63006059e-01 8.26450174e-01 -2.07049340e-03 9.14210743e+01] [ 3.82232992e-03 -9.86346667e-05 9.99992690e-01 7.36676509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.03, Y:91.44, Z:0.74 [[ 8.26920918e-01 -5.62309049e-01 -3.21387574e-03 1.08033223e+02] [ 5.62305242e-01 8.26927158e-01 -2.07145752e-03 9.14360446e+01] [ 3.82244044e-03 -9.42476221e-05 9.99992690e-01 7.35720995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.06, Y:91.45, Z:0.74 [[ 8.27172648e-01 -5.61938683e-01 -3.21360687e-03 1.08056310e+02] [ 5.61934871e-01 8.27178885e-01 -2.07187455e-03 9.14514807e+01] [ 3.82249420e-03 -9.20398063e-05 9.99992690e-01 7.35544516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.08, Y:91.47, Z:0.74 [[ 8.27882324e-01 -5.60892623e-01 -3.21298755e-03 1.08079340e+02] [ 5.60888800e-01 8.27888554e-01 -2.07283452e-03 9.14668025e+01] [ 3.82263321e-03 -8.60656689e-05 9.99992690e-01 7.35527677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.10, Y:91.48, Z:0.73 [[ 8.27950597e-01 -5.60791873e-01 -3.20672169e-03 1.08102849e+02] [ 5.60788011e-01 8.27956804e-01 -2.08254010e-03 9.14849414e+01] [ 3.82289861e-03 -7.40507544e-05 9.99992690e-01 7.34706602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:108.12, Y:91.50, Z:0.73 [[ 8.28866498e-01 -5.59437179e-01 -3.22039205e-03 1.08124952e+02] [ 5.59433389e-01 8.28872749e-01 -2.06137296e-03 9.14998726e+01] [ 3.82250388e-03 -9.29918494e-05 9.99992690e-01 7.34740897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.15, Y:91.52, Z:0.73 [[ 8.28239301e-01 -5.60365384e-01 -3.20884474e-03 1.08148434e+02] [ 5.60361532e-01 8.28245514e-01 -2.07923868e-03 9.15171391e+01] [ 3.82284465e-03 -7.60059618e-05 9.99992690e-01 7.34999772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.17, Y:91.53, Z:0.74 [[ 8.28885649e-01 -5.59408808e-01 -3.21971912e-03 1.08170188e+02] [ 5.59405014e-01 8.28891897e-01 -2.06242870e-03 9.15323959e+01] [ 3.82253987e-03 -9.16094696e-05 9.99992690e-01 7.35665921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.19, Y:91.55, Z:0.74 [[ 8.28692110e-01 -5.59695529e-01 -3.20964494e-03 1.08193536e+02] [ 5.59691677e-01 8.28698322e-01 -2.07798920e-03 9.15481908e+01] [ 3.82286864e-03 -7.43983084e-05 9.99992690e-01 7.36162921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.22, Y:91.56, Z:0.74 [[ 8.28393367e-01 -5.60137602e-01 -3.20897765e-03 1.08216232e+02] [ 5.60133748e-01 8.28399579e-01 -2.07901916e-03 9.15635664e+01] [ 3.82285254e-03 -7.52109951e-05 9.99992690e-01 7.36530940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.24, Y:91.58, Z:0.74 [[ 8.27991530e-01 -5.60731425e-01 -3.20852468e-03 1.08238647e+02] [ 5.60727574e-01 8.27997743e-01 -2.07971800e-03 9.15786758e+01] [ 3.82281443e-03 -7.71193723e-05 9.99992690e-01 7.36749789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.26, Y:91.60, Z:0.74 [[ 8.27041096e-01 -5.62132310e-01 -3.20808778e-03 1.08261677e+02] [ 5.62128466e-01 8.27047314e-01 -2.08039172e-03 9.15953736e+01] [ 3.82269578e-03 -8.27880203e-05 9.99992690e-01 7.36951896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.29, Y:91.61, Z:0.74 [[ 8.26600034e-01 -5.62780682e-01 -3.20743143e-03 1.08285296e+02] [ 5.62776840e-01 8.26606252e-01 -2.08140315e-03 9.16118948e+01] [ 3.82265636e-03 -8.45802040e-05 9.99992690e-01 7.37598112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.31, Y:91.63, Z:0.74 [[ 8.26505514e-01 -5.62919477e-01 -3.20890638e-03 1.08308304e+02] [ 5.62915644e-01 8.26511739e-01 -2.07913100e-03 9.16270357e+01] [ 3.82258213e-03 -8.79303621e-05 9.99992690e-01 7.37704202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.33, Y:91.64, Z:0.74 [[ 8.25790987e-01 -5.63967155e-01 -3.20849943e-03 1.08331123e+02] [ 5.63963327e-01 8.25797215e-01 -2.07975766e-03 9.16435199e+01] [ 3.82248490e-03 -9.20308781e-05 9.99992690e-01 7.37232084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.35, Y:91.66, Z:0.74 [[ 8.25865957e-01 -5.63857377e-01 -3.20616337e-03 1.08353977e+02] [ 5.63853535e-01 8.25872176e-01 -2.08335272e-03 9.16586548e+01] [ 3.82259492e-03 -8.72364626e-05 9.99992690e-01 7.36807067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.38, Y:91.68, Z:0.74 [[ 8.24882831e-01 -5.65294663e-01 -3.20303427e-03 1.08377607e+02] [ 5.65290814e-01 8.24889045e-01 -2.08816624e-03 9.16755958e+01] [ 3.82257711e-03 -8.81533634e-05 9.99992690e-01 7.36617763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.40, Y:91.69, Z:0.74 [[ 8.24589832e-01 -5.65721959e-01 -3.20534270e-03 1.08400652e+02] [ 5.65718126e-01 8.24596056e-01 -2.08461676e-03 9.16916018e+01] [ 3.82242642e-03 -9.43666809e-05 9.99992690e-01 7.36366910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.42, Y:91.71, Z:0.74 [[ 8.24569510e-01 -5.65751582e-01 -3.20467458e-03 1.08422542e+02] [ 5.65747745e-01 8.24575732e-01 -2.08564335e-03 9.17067587e+01] [ 3.82245291e-03 -9.32794984e-05 9.99992690e-01 7.36001723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.45, Y:91.72, Z:0.74 [[ 8.24503168e-01 -5.65848265e-01 -3.20438544e-03 1.08445393e+02] [ 5.65844427e-01 8.24509389e-01 -2.08608750e-03 9.17237128e+01] [ 3.82245487e-03 -9.31978914e-05 9.99992690e-01 7.35338308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.47, Y:91.74, Z:0.73 [[ 8.24482589e-01 -5.65878253e-01 -3.20372266e-03 1.08467951e+02] [ 5.65874412e-01 8.24488808e-01 -2.08710486e-03 9.17394074e+01] [ 3.82248073e-03 -9.21230536e-05 9.99992690e-01 7.34945128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.49, Y:91.76, Z:0.74 [[ 8.24462505e-01 -5.65907515e-01 -3.20343562e-03 1.08491456e+02] [ 5.65903672e-01 8.24468723e-01 -2.08754534e-03 9.17555436e+01] [ 3.82249007e-03 -9.17331223e-05 9.99992690e-01 7.35257034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.51, Y:91.77, Z:0.73 [[ 8.24775256e-01 -5.65451606e-01 -3.20276489e-03 1.08514497e+02] [ 5.65447756e-01 8.24781470e-01 -2.08857389e-03 9.17709666e+01] [ 3.82256859e-03 -8.83921499e-05 9.99992690e-01 7.34783184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.54, Y:91.79, Z:0.74 [[ 8.24974540e-01 -5.65160823e-01 -3.20209363e-03 1.08537760e+02] [ 5.65156966e-01 8.24980749e-01 -2.08960252e-03 9.17860935e+01] [ 3.82262708e-03 -8.58166498e-05 9.99992690e-01 7.35057828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.56, Y:91.80, Z:0.74 [[ 8.25759062e-01 -5.64013938e-01 -3.20141951e-03 1.08560055e+02] [ 5.64010069e-01 8.25765264e-01 -2.09063480e-03 9.18010920e+01] [ 3.82276820e-03 -7.92722053e-05 9.99992690e-01 7.36168838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.58, Y:91.82, Z:0.74 [[ 8.26183549e-01 -5.63391957e-01 -3.20096212e-03 1.08583472e+02] [ 5.63388080e-01 8.26189747e-01 -2.09133488e-03 9.18169071e+01] [ 3.82284333e-03 -7.55574348e-05 9.99992690e-01 7.36630112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.61, Y:91.83, Z:0.74 [[ 8.26582853e-01 -5.62805957e-01 -3.20029204e-03 1.08606692e+02] [ 5.62802073e-01 8.26589045e-01 -2.09235978e-03 9.18326670e+01] [ 3.82291889e-03 -7.16222775e-05 9.99992690e-01 7.37121397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.63, Y:91.85, Z:0.74 [[ 8.26991416e-01 -5.62205443e-01 -3.19962284e-03 1.08628898e+02] [ 5.62201550e-01 8.26997603e-01 -2.09338262e-03 9.18478735e+01] [ 3.82299152e-03 -6.76234653e-05 9.99992690e-01 7.37184820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.65, Y:91.86, Z:0.74 [[ 8.27448630e-01 -5.61532305e-01 -3.19933320e-03 1.08652107e+02] [ 5.61528404e-01 8.27454813e-01 -2.09382518e-03 9.18629344e+01] [ 3.82305413e-03 -6.39836868e-05 9.99992690e-01 7.37281113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.68, Y:91.88, Z:0.74 [[ 8.27391777e-01 -5.61616076e-01 -3.19868703e-03 1.08675296e+02] [ 5.61612173e-01 8.27397957e-01 -2.09481185e-03 9.18781686e+01] [ 3.82306713e-03 -6.31914736e-05 9.99992690e-01 7.37710113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.70, Y:91.89, Z:0.74 [[ 8.26988366e-01 -5.62209939e-01 -3.19802550e-03 1.08697502e+02] [ 5.62206037e-01 8.26994547e-01 -2.09582129e-03 9.18927909e+01] [ 3.82304121e-03 -6.47294204e-05 9.99992690e-01 7.38167895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.72, Y:91.91, Z:0.74 [[ 8.26587391e-01 -5.62799307e-01 -3.19773954e-03 1.08719913e+02] [ 5.62795407e-01 8.26593574e-01 -2.09625750e-03 9.19072812e+01] [ 3.82300322e-03 -6.69331051e-05 9.99992690e-01 7.38864715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.74, Y:91.92, Z:0.74 [[ 8.25873314e-01 -5.63846651e-01 -3.19745580e-03 1.08743869e+02] [ 5.63842757e-01 8.25879500e-01 -2.09669021e-03 9.19223210e+01] [ 3.82292495e-03 -7.12617972e-05 9.99992690e-01 7.39266016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.77, Y:91.94, Z:0.74 [[ 8.24466664e-01 -5.65901494e-01 -3.19678400e-03 1.08767625e+02] [ 5.65897611e-01 8.24472858e-01 -2.09771399e-03 9.19361574e+01] [ 3.82276112e-03 -7.95571724e-05 9.99992690e-01 7.40458447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.79, Y:91.95, Z:0.74 [[ 8.23746580e-01 -5.66949164e-01 -3.19649332e-03 1.08791059e+02] [ 5.66945288e-01 8.23752777e-01 -2.09815683e-03 9.19503773e+01] [ 3.82266851e-03 -8.38873088e-05 9.99992690e-01 7.41098682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.81, Y:91.97, Z:0.74 [[ 8.20946375e-01 -5.70996352e-01 -3.19621099e-03 1.08808705e+02] [ 5.70992504e-01 8.20952591e-01 -2.09858684e-03 9.19671009e+01] [ 3.82222312e-03 -1.02185261e-04 9.99992690e-01 7.40531517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.83, Y:91.98, Z:0.74 [[ 8.19976872e-01 -5.72387907e-01 -3.16445561e-03 1.08833584e+02] [ 5.72383883e-01 8.19982976e-01 -2.14688445e-03 9.19811972e+01] [ 3.82365043e-03 -5.08877952e-05 9.99992689e-01 7.41898815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.86, Y:92.00, Z:0.74 [[ 8.20809781e-01 -5.71192840e-01 -3.16912432e-03 1.08862998e+02] [ 5.71188834e-01 8.20815897e-01 -2.13978292e-03 9.19950141e+01] [ 3.82349630e-03 -5.38136770e-05 9.99992689e-01 7.42465654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.89, Y:92.01, Z:0.74 [[ 8.20111749e-01 -5.72194466e-01 -3.19567824e-03 1.08886742e+02] [ 5.72190624e-01 8.20117968e-01 -2.09936218e-03 9.20101549e+01] [ 3.82207657e-03 -1.06825535e-04 9.99992690e-01 7.42398050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.91, Y:92.02, Z:0.74 [[ 8.19239534e-01 -5.73442567e-01 -3.19503209e-03 1.08909598e+02] [ 5.73438731e-01 8.19245757e-01 -2.10034509e-03 9.20248904e+01] [ 3.82194377e-03 -1.11469413e-04 9.99992690e-01 7.42838345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.93, Y:92.04, Z:0.74 [[ 8.18760607e-01 -5.74126173e-01 -3.19475247e-03 1.08933133e+02] [ 5.74122341e-01 8.18766832e-01 -2.10077034e-03 9.20407041e+01] [ 3.82186459e-03 -1.14150770e-04 9.99992690e-01 7.42313378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.96, Y:92.06, Z:0.74 [[ 8.18728779e-01 -5.74171563e-01 -3.19410564e-03 1.08956407e+02] [ 5.74167728e-01 8.18735002e-01 -2.10175335e-03 9.20560127e+01] [ 3.82189309e-03 -1.13186425e-04 9.99992690e-01 7.41327591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.98, Y:92.07, Z:0.74 [[ 8.18807432e-01 -5.74059397e-01 -3.19343156e-03 1.08979829e+02] [ 5.74055557e-01 8.18813652e-01 -2.10277704e-03 9.20719603e+01] [ 3.82194428e-03 -1.11437663e-04 9.99992690e-01 7.41028683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.00, Y:92.09, Z:0.74 [[ 8.19193762e-01 -5.73507970e-01 -3.19217330e-03 1.09003441e+02] [ 5.73504117e-01 8.19199974e-01 -2.10468672e-03 9.20873037e+01] [ 3.82208289e-03 -1.06578300e-04 9.99992690e-01 7.40672110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.02, Y:92.10, Z:0.74 [[ 8.19146420e-01 -5.73575583e-01 -3.19255098e-03 1.09024755e+02] [ 5.73571734e-01 8.19152635e-01 -2.10411367e-03 9.21031914e+01] [ 3.82205477e-03 -1.07579820e-04 9.99992690e-01 7.40150398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.05, Y:92.12, Z:0.74 [[ 8.21068664e-01 -5.70820552e-01 -3.18542627e-03 1.09048789e+02] [ 5.70816639e-01 8.21074839e-01 -2.11491715e-03 9.21183399e+01] [ 3.82271154e-03 -8.18021182e-05 9.99992690e-01 7.39885097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.07, Y:92.13, Z:0.74 [[ 8.22109348e-01 -5.69320676e-01 -3.19179817e-03 1.09072345e+02] [ 5.69316790e-01 8.22115539e-01 -2.10525666e-03 9.21340743e+01] [ 3.82259302e-03 -8.63931080e-05 9.99992690e-01 7.39379747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.10, Y:92.15, Z:0.74 [[ 8.23802628e-01 -5.66867756e-01 -3.19036332e-03 1.09095604e+02] [ 5.66863843e-01 8.23808802e-01 -2.10743088e-03 9.21503658e+01] [ 3.82288400e-03 -7.23945116e-05 9.99992690e-01 7.39781717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.12, Y:92.17, Z:0.74 [[ 8.24496754e-01 -5.65857686e-01 -3.19099335e-03 1.09119015e+02] [ 5.65853770e-01 8.24502926e-01 -2.10647648e-03 9.21665025e+01] [ 3.82294926e-03 -6.88525926e-05 9.99992690e-01 7.39941074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.14, Y:92.18, Z:0.74 [[ 8.24889266e-01 -5.65285345e-01 -3.19036638e-03 1.09141999e+02] [ 5.65281420e-01 8.24895433e-01 -2.10742564e-03 9.21821682e+01] [ 3.82301548e-03 -6.50620522e-05 9.99992690e-01 7.40158302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.16, Y:92.20, Z:0.74 [[ 8.25620430e-01 -5.64216919e-01 -3.18974339e-03 1.09164481e+02] [ 5.64212983e-01 8.25626589e-01 -2.10836815e-03 9.21964211e+01] [ 3.82311394e-03 -5.89828092e-05 9.99992690e-01 7.40890242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.19, Y:92.21, Z:0.74 [[ 8.27082184e-01 -5.62071960e-01 -3.18947341e-03 1.09192771e+02] [ 5.62068006e-01 8.27088333e-01 -2.10877649e-03 9.22110189e+01] [ 3.82326038e-03 -4.85694912e-05 9.99992690e-01 7.42230754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.21, Y:92.23, Z:0.74 [[ 8.25943190e-01 -5.63744192e-01 -3.21458669e-03 1.09211042e+02] [ 5.63740397e-01 8.25949439e-01 -2.07077891e-03 9.22268733e+01] [ 3.82247566e-03 -1.01846638e-04 9.99992689e-01 7.42071086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.23, Y:92.24, Z:0.74 [[ 8.26408028e-01 -5.63062701e-01 -3.18848323e-03 1.09233692e+02] [ 5.63058749e-01 8.26414177e-01 -2.11022051e-03 9.22419033e+01] [ 3.82319420e-03 -5.14002045e-05 9.99992690e-01 7.43241006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62275509600002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:109.26, Y:92.26, Z:0.74 [[ 8.26108489e-01 -5.63502085e-01 -3.18819730e-03 1.09257385e+02] [ 5.63498134e-01 8.26114640e-01 -2.11065241e-03 9.22590048e+01] [ 3.82317350e-03 -5.29153586e-05 9.99992690e-01 7.42762288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.28, Y:92.27, Z:0.74 [[ 8.27338305e-01 -5.61694891e-01 -3.19052691e-03 1.09280729e+02] [ 5.61690941e-01 8.27344455e-01 -2.10713658e-03 9.22730944e+01] [ 3.82323260e-03 -4.87752554e-05 9.99992690e-01 7.44205516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.31, Y:92.29, Z:0.74 [[ 8.26901056e-01 -5.62338449e-01 -3.17991348e-03 1.09305378e+02] [ 5.62334442e-01 8.26907170e-01 -2.12316101e-03 9.22904935e+01] [ 3.82342832e-03 -3.25307869e-05 9.99992690e-01 7.44089514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.32, Y:92.30, Z:0.74 [[ 8.28497222e-01 -5.59984101e-01 -3.18738693e-03 1.09324654e+02] [ 5.59980120e-01 8.28503353e-01 -2.11188160e-03 9.23021844e+01] [ 3.82338087e-03 -3.51852764e-05 9.99992690e-01 7.43266583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.35, Y:92.32, Z:0.74 [[ 8.26405102e-01 -5.63067203e-01 -3.15172479e-03 1.09351685e+02] [ 5.63063038e-01 8.26411111e-01 -2.16562987e-03 9.23215488e+01] [ 3.82401554e-03 1.50678387e-05 9.99992688e-01 7.43625774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.37, Y:92.34, Z:0.74 [[ 8.26001731e-01 -5.63658570e-01 -3.18699011e-03 1.09373520e+02] [ 5.63654614e-01 8.26007877e-01 -2.11242555e-03 9.23368310e+01] [ 3.82316570e-03 -5.14945219e-05 9.99992690e-01 7.43195209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.40, Y:92.35, Z:0.74 [[ 8.25509905e-01 -5.64378633e-01 -3.18670076e-03 1.09396655e+02] [ 5.64374681e-01 8.25516054e-01 -2.11286196e-03 9.23532557e+01] [ 3.82312678e-03 -5.43047461e-05 9.99992690e-01 7.42493864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.42, Y:92.37, Z:0.74 [[ 8.24833164e-01 -5.65367226e-01 -3.18603252e-03 1.09418991e+02] [ 5.65363277e-01 8.24839316e-01 -2.11386913e-03 9.23704410e+01] [ 3.82307721e-03 -5.76764251e-05 9.99992690e-01 7.41275695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.44, Y:92.39, Z:0.74 [[ 8.24620220e-01 -5.65677776e-01 -3.18536661e-03 1.09441353e+02] [ 5.65673826e-01 8.24626370e-01 -2.11487210e-03 9.23864478e+01] [ 3.82307345e-03 -5.79122266e-05 9.99992690e-01 7.40723748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.46, Y:92.40, Z:0.74 [[ 8.24741827e-01 -5.65500464e-01 -3.18507862e-03 1.09464613e+02] [ 5.65496510e-01 8.24747975e-01 -2.11530574e-03 9.24030491e+01] [ 3.82309352e-03 -5.65697220e-05 9.99992690e-01 7.40981325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.49, Y:92.42, Z:0.74 [[ 8.24333765e-01 -5.66095137e-01 -3.18438764e-03 1.09485259e+02] [ 5.66091184e-01 8.24339913e-01 -2.11634543e-03 9.24215802e+01] [ 3.82307069e-03 -5.80787756e-05 9.99992690e-01 7.40628173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.51, Y:92.44, Z:0.74 [[ 8.24086543e-01 -5.66454969e-01 -3.18406581e-03 1.09507904e+02] [ 5.66451017e-01 8.24092692e-01 -2.11682951e-03 9.24379583e+01] [ 3.82305396e-03 -5.91666064e-05 9.99992690e-01 7.39877467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.53, Y:92.45, Z:0.74 [[ 8.23736469e-01 -5.66963928e-01 -3.18338860e-03 1.09528812e+02] [ 5.66959975e-01 8.23742618e-01 -2.11784744e-03 9.24528716e+01] [ 3.82303597e-03 -6.03057511e-05 9.99992690e-01 7.38210124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.55, Y:92.47, Z:0.74 [[ 8.22719653e-01 -5.68438471e-01 -3.17436925e-03 1.09553213e+02] [ 5.68434478e-01 8.22725776e-01 -2.13139062e-03 9.24695142e+01] [ 3.82319983e-03 -5.08839712e-05 9.99992690e-01 7.37388412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.58, Y:92.48, Z:0.74 [[ 8.22186459e-01 -5.69209365e-01 -3.18202348e-03 1.09576357e+02] [ 5.69205421e-01 8.22192614e-01 -2.11990143e-03 9.24849705e+01] [ 3.82290395e-03 -6.82707646e-05 9.99992690e-01 7.36938616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.60, Y:92.50, Z:0.74 [[ 8.21684202e-01 -5.69934164e-01 -3.18135805e-03 1.09599797e+02] [ 5.69930222e-01 8.21690358e-01 -2.12089959e-03 9.25011022e+01] [ 3.82286436e-03 -7.04424107e-05 9.99992690e-01 7.37006234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.62, Y:92.52, Z:0.74 [[ 8.21514993e-01 -5.70178041e-01 -3.18069293e-03 1.09620476e+02] [ 5.70174097e-01 8.21521148e-01 -2.12189659e-03 9.25172806e+01] [ 3.82286535e-03 -7.03788550e-05 9.99992690e-01 7.35853278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.64, Y:92.53, Z:0.74 [[ 8.21438395e-01 -5.70288454e-01 -3.16906778e-03 1.09642948e+02] [ 5.70284444e-01 8.21444506e-01 -2.13929668e-03 9.25332984e+01] [ 3.82322951e-03 -4.99696236e-05 9.99992690e-01 7.36038852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.67, Y:92.55, Z:0.74 [[ 8.19903154e-01 -5.72493495e-01 -3.16476325e-03 1.09667055e+02] [ 5.72489476e-01 8.19909261e-01 -2.14573674e-03 9.25515902e+01] [ 3.82323902e-03 -5.24973360e-05 9.99992690e-01 7.35941888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.69, Y:92.57, Z:0.74 [[ 8.18701944e-01 -5.74209911e-01 -3.17874926e-03 1.09690155e+02] [ 5.74205986e-01 8.18708111e-01 -2.12481350e-03 9.25669511e+01] [ 3.82255677e-03 -8.56679108e-05 9.99992690e-01 7.37431351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.71, Y:92.58, Z:0.74 [[ 8.18140398e-01 -5.75009730e-01 -3.17813700e-03 1.09713568e+02] [ 5.75005807e-01 8.18146566e-01 -2.12572886e-03 9.25822440e+01] [ 3.82249665e-03 -8.83025736e-05 9.99992690e-01 7.38780398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.74, Y:92.60, Z:0.74 [[ 8.17577804e-01 -5.75809376e-01 -3.17748196e-03 1.09736749e+02] [ 5.75805456e-01 8.17583974e-01 -2.12670755e-03 9.25976100e+01] [ 3.82243648e-03 -9.08625599e-05 9.99992690e-01 7.39911871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.76, Y:92.61, Z:0.74 [[ 8.17205382e-01 -5.76337810e-01 -3.17682256e-03 1.09759577e+02] [ 5.76333890e-01 8.17211551e-01 -2.12769209e-03 9.26134835e+01] [ 3.82240549e-03 -9.21490795e-05 9.99992690e-01 7.41563035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.78, Y:92.63, Z:0.74 [[ 8.17026658e-01 -5.76591148e-01 -3.17616286e-03 1.09783215e+02] [ 5.76587226e-01 8.17032827e-01 -2.12867643e-03 9.26295263e+01] [ 3.82240530e-03 -9.21495434e-05 9.99992690e-01 7.41671942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.81, Y:92.65, Z:0.74 [[ 8.16966820e-01 -5.76675933e-01 -3.17550258e-03 1.09806179e+02] [ 5.76672008e-01 8.16972986e-01 -2.12966095e-03 9.26462325e+01] [ 3.82242404e-03 -9.13611204e-05 9.99992690e-01 7.42271127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.83, Y:92.66, Z:0.74 [[ 8.17197000e-01 -5.76349706e-01 -3.17482625e-03 1.09827683e+02] [ 5.76345774e-01 8.17203163e-01 -2.13066873e-03 9.26620720e+01] [ 3.82248834e-03 -8.86215987e-05 9.99992690e-01 7.42687087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.85, Y:92.68, Z:0.74 [[ 8.17613762e-01 -5.75758334e-01 -3.17453352e-03 1.09849361e+02] [ 5.75754396e-01 8.17619920e-01 -2.13110478e-03 9.26788669e+01] [ 3.82256318e-03 -8.53310382e-05 9.99992690e-01 7.43440688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.87, Y:92.69, Z:0.74 [[ 8.17724581e-01 -5.75600932e-01 -3.17424318e-03 1.09872115e+02] [ 5.75596992e-01 8.17730738e-01 -2.13153714e-03 9.26946987e+01] [ 3.82259099e-03 -8.40745103e-05 9.99992690e-01 7.43706023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.89, Y:92.71, Z:0.74 [[ 8.18172952e-01 -5.74963432e-01 -3.17358592e-03 1.09894188e+02] [ 5.74959483e-01 8.18179104e-01 -2.13251528e-03 9.27097187e+01] [ 3.82267999e-03 -7.99169990e-05 9.99992690e-01 7.44112979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.92, Y:92.73, Z:0.74 [[ 8.17958440e-01 -5.75268602e-01 -3.16631773e-03 1.09917629e+02] [ 5.75264613e-01 8.17964566e-01 -2.14332491e-03 9.27256532e+01] [ 3.82292324e-03 -6.83198469e-05 9.99992690e-01 7.44220986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.94, Y:92.74, Z:0.74 [[ 8.17747457e-01 -5.75568442e-01 -3.17259438e-03 1.09940565e+02] [ 5.75564492e-01 8.17753607e-01 -2.13399347e-03 9.27412896e+01] [ 3.82265979e-03 -8.09649411e-05 9.99992690e-01 7.44085189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.96, Y:92.76, Z:0.74 [[ 8.17575951e-01 -5.75812038e-01 -3.17195175e-03 1.09962647e+02] [ 5.75808086e-01 8.17582100e-01 -2.13494824e-03 9.27567543e+01] [ 3.82265987e-03 -8.09531281e-05 9.99992690e-01 7.43782706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:109.99, Y:92.77, Z:0.74 [[ 8.17412888e-01 -5.76043497e-01 -3.17167331e-03 1.09985495e+02] [ 5.76039545e-01 8.17419037e-01 -2.13536181e-03 9.27735291e+01] [ 3.82264743e-03 -8.15369844e-05 9.99992690e-01 7.43334279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.01, Y:92.79, Z:0.74 [[ 8.16805486e-01 -5.76904448e-01 -3.17104150e-03 1.10008421e+02] [ 5.76900499e-01 8.16811637e-01 -2.13629964e-03 9.27906795e+01] [ 3.82258436e-03 -8.44341556e-05 9.99992690e-01 7.39710542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.03, Y:92.81, Z:0.74 [[ 8.17331446e-01 -5.76159028e-01 -3.17520862e-03 1.10031548e+02] [ 5.76155097e-01 8.17337609e-01 -2.13011520e-03 9.28053979e+01] [ 3.82250252e-03 -8.84024975e-05 9.99992690e-01 7.43130098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.05, Y:92.82, Z:0.74 [[ 8.17229454e-01 -5.76303712e-01 -3.17039457e-03 1.10054110e+02] [ 5.76299755e-01 8.17235599e-01 -2.13725633e-03 9.28209173e+01] [ 3.82266806e-03 -8.04687886e-05 9.99992690e-01 7.42266749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.08, Y:92.84, Z:0.74 [[ 8.17026116e-01 -5.76591949e-01 -3.17012354e-03 1.10077273e+02] [ 5.76587992e-01 8.17032263e-01 -2.13765826e-03 9.28365177e+01] [ 3.82264975e-03 -8.13325395e-05 9.99992690e-01 7.41877605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.10, Y:92.85, Z:0.74 [[ 8.16323156e-01 -5.77586754e-01 -3.16947905e-03 1.10101304e+02] [ 5.77582801e-01 8.16329305e-01 -2.13861341e-03 9.28536964e+01] [ 3.82257341e-03 -8.48369389e-05 9.99992690e-01 7.36926323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.12, Y:92.87, Z:0.74 [[ 8.16895941e-01 -5.76776319e-01 -3.17813388e-03 1.10122752e+02] [ 5.76772409e-01 8.16902117e-01 -2.12578789e-03 9.28675903e+01] [ 3.82232841e-03 -9.65124377e-05 9.99992690e-01 7.40733590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.14, Y:92.89, Z:0.74 [[ 8.16033799e-01 -5.77995501e-01 -3.16859048e-03 1.10144993e+02] [ 5.77991546e-01 8.16039946e-01 -2.13991887e-03 9.28853436e+01] [ 3.82255988e-03 -8.51723863e-05 9.99992690e-01 7.36067682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.17, Y:92.90, Z:0.74 [[ 8.17418067e-01 -5.76036183e-01 -3.16529359e-03 1.10168269e+02] [ 5.76032194e-01 8.17424193e-01 -2.14479729e-03 9.28987903e+01] [ 3.82286840e-03 -7.01149538e-05 9.99992690e-01 7.40165427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.19, Y:92.92, Z:0.74 [[ 8.15846876e-01 -5.78259390e-01 -3.15474202e-03 1.10194854e+02] [ 5.78255357e-01 8.15852973e-01 -2.16039912e-03 9.29170228e+01] [ 3.82307674e-03 -6.16916016e-05 9.99992690e-01 7.40938729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.22, Y:92.93, Z:0.74 [[ 8.16526414e-01 -5.77299334e-01 -3.17728446e-03 1.10217759e+02] [ 5.77295423e-01 8.16532590e-01 -2.12706372e-03 9.29314930e+01] [ 3.82230878e-03 -9.74280731e-05 9.99992690e-01 7.41574588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.24, Y:92.95, Z:0.74 [[ 8.16388532e-01 -5.77494367e-01 -3.16566440e-03 1.10239849e+02] [ 5.77490391e-01 8.16394666e-01 -2.14423288e-03 9.29464155e+01] [ 3.82271394e-03 -7.76136427e-05 9.99992690e-01 7.42476157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.26, Y:92.96, Z:0.74 [[ 8.16572156e-01 -5.77234699e-01 -3.16502566e-03 1.10263925e+02] [ 5.77230718e-01 8.16578286e-01 -2.14517593e-03 9.29625599e+01] [ 3.82276121e-03 -7.52591027e-05 9.99992690e-01 7.43162881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.29, Y:92.98, Z:0.74 [[ 8.16599707e-01 -5.77195719e-01 -3.16544956e-03 1.10286376e+02] [ 5.77191740e-01 8.16605839e-01 -2.14455024e-03 9.29780903e+01] [ 3.82274981e-03 -7.58322455e-05 9.99992690e-01 7.43617722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.31, Y:92.99, Z:0.74 [[ 8.17278534e-01 -5.76234147e-01 -3.16334267e-03 1.10310180e+02] [ 5.76230148e-01 8.17284653e-01 -2.14765816e-03 9.29933859e+01] [ 3.82290538e-03 -6.75785045e-05 9.99992690e-01 7.44643408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.33, Y:93.01, Z:0.74 [[ 8.17097552e-01 -5.76490768e-01 -3.16007090e-03 1.10333142e+02] [ 5.76486753e-01 8.17103660e-01 -2.15248255e-03 9.30091117e+01] [ 3.82299182e-03 -6.29507881e-05 9.99992690e-01 7.44704486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.36, Y:93.02, Z:0.74 [[ 8.17002049e-01 -5.76626090e-01 -3.16295790e-03 1.10356926e+02] [ 5.76622092e-01 8.17008169e-01 -2.14822762e-03 9.30248647e+01] [ 3.82288654e-03 -6.87250312e-05 9.99992690e-01 7.44688057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.38, Y:93.04, Z:0.74 [[ 8.17027650e-01 -5.76589803e-01 -3.16499454e-03 1.10378718e+02] [ 5.76585817e-01 8.17033777e-01 -2.14522749e-03 9.30398097e+01] [ 3.82282374e-03 -7.21807879e-05 9.99992690e-01 7.41213896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.40, Y:93.05, Z:0.74 [[ 8.18295867e-01 -5.74788608e-01 -3.15139686e-03 1.10402404e+02] [ 5.74784531e-01 8.18301934e-01 -2.16523560e-03 9.30538041e+01] [ 3.82334690e-03 -3.95708219e-05 9.99992690e-01 7.44261995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.43, Y:93.07, Z:0.74 [[ 8.17980884e-01 -5.75236811e-01 -3.14400369e-03 1.10425261e+02] [ 5.75232695e-01 8.17986926e-01 -2.17610177e-03 9.30693445e+01] [ 3.82352776e-03 -2.85240699e-05 9.99992690e-01 7.43401232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.45, Y:93.09, Z:0.74 [[ 8.17213752e-01 -5.76326089e-01 -3.14996030e-03 1.10449484e+02] [ 5.76322016e-01 8.17219822e-01 -2.16733922e-03 9.30864048e+01] [ 3.82330413e-03 -4.42120510e-05 9.99992690e-01 7.43572842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.47, Y:93.10, Z:0.74 [[ 8.16525278e-01 -5.77301025e-01 -3.16185672e-03 1.10473497e+02] [ 5.77297026e-01 8.16531397e-01 -2.14984270e-03 9.31010669e+01] [ 3.82286168e-03 -6.99295716e-05 9.99992690e-01 7.43482490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.50, Y:93.12, Z:0.74 [[ 8.16334662e-01 -5.77570538e-01 -3.16116790e-03 1.10499160e+02] [ 5.77566538e-01 8.16340780e-01 -2.15085507e-03 9.31162379e+01] [ 3.82286079e-03 -6.99672494e-05 9.99992690e-01 7.42522059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.52, Y:93.13, Z:0.74 [[ 8.14642274e-01 -5.79955085e-01 -3.17237805e-03 1.10519627e+02] [ 5.79951167e-01 8.14648445e-01 -2.13438408e-03 9.31317253e+01] [ 3.82221974e-03 -1.01064848e-04 9.99992690e-01 7.42566288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.54, Y:93.15, Z:0.74 [[ 8.14563256e-01 -5.80066159e-01 -3.15469235e-03 1.10544409e+02] [ 5.80062141e-01 8.14569362e-01 -2.16033950e-03 9.31459377e+01] [ 3.82285557e-03 -7.01844144e-05 9.99992690e-01 7.42693366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.57, Y:93.16, Z:0.74 [[ 8.12781543e-01 -5.82560023e-01 -3.15967128e-03 1.10567414e+02] [ 5.82556052e-01 8.12787679e-01 -2.15303270e-03 9.31615753e+01] [ 3.82241266e-03 -9.07403872e-05 9.99992690e-01 7.41842315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.362755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:110.59, Y:93.18, Z:0.74 [[ 8.12787770e-01 -5.82551370e-01 -3.15307585e-03 1.10592486e+02] [ 5.82547361e-01 8.12793882e-01 -2.16270647e-03 9.31765568e+01] [ 3.82268837e-03 -7.89946460e-05 9.99992690e-01 7.42052722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.62, Y:93.19, Z:0.74 [[ 8.11744181e-01 -5.84004629e-01 -3.15888311e-03 1.10615345e+02] [ 5.84000664e-01 8.11750322e-01 -2.15419075e-03 9.31934307e+01] [ 3.82228175e-03 -9.61380266e-05 9.99992690e-01 7.41741165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.64, Y:93.21, Z:0.74 [[ 8.11664561e-01 -5.84115311e-01 -3.15356372e-03 1.10639469e+02] [ 5.84111316e-01 8.11670682e-01 -2.16198609e-03 9.32078440e+01] [ 3.82250440e-03 -8.72247668e-05 9.99992690e-01 7.42408406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.66, Y:93.22, Z:0.74 [[ 8.11211084e-01 -5.84744905e-01 -3.15804346e-03 1.10662114e+02] [ 5.84740941e-01 8.11217225e-01 -2.15542255e-03 9.32241331e+01] [ 3.82223161e-03 -9.81346414e-05 9.99992690e-01 7.41949026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.68, Y:93.24, Z:0.74 [[ 8.12625185e-01 -5.82778135e-01 -3.15486789e-03 1.10684757e+02] [ 5.82774138e-01 8.12631305e-01 -2.16007331e-03 9.32403766e+01] [ 3.82258791e-03 -8.32454433e-05 9.99992690e-01 7.42775062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.71, Y:93.26, Z:0.74 [[ 8.12621421e-01 -5.82783372e-01 -3.15716994e-03 1.10706129e+02] [ 5.82779388e-01 8.12627549e-01 -2.15670337e-03 9.32570887e+01] [ 3.82249414e-03 -8.73502086e-05 9.99992690e-01 7.40236403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.73, Y:93.27, Z:0.74 [[ 8.13124515e-01 -5.82081274e-01 -3.14859195e-03 1.10730111e+02] [ 5.82077236e-01 8.13130608e-01 -2.16925036e-03 9.32731643e+01] [ 3.82289650e-03 -6.88530547e-05 9.99992690e-01 7.39709900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.76, Y:93.29, Z:0.74 [[ 8.15388134e-01 -5.78906103e-01 -3.14878033e-03 1.10756504e+02] [ 5.78902042e-01 8.15394212e-01 -2.16897484e-03 9.32876005e+01] [ 3.82313003e-03 -5.42790162e-05 9.99992690e-01 7.41128840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.78, Y:93.30, Z:0.74 [[ 8.15946355e-01 -5.78119008e-01 -3.15590905e-03 1.10778699e+02] [ 5.78114981e-01 8.15952455e-01 -2.15855231e-03 9.33047092e+01] [ 3.82297186e-03 -6.32154096e-05 9.99992690e-01 7.39529459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.80, Y:93.32, Z:0.74 [[ 8.15766831e-01 -5.78372276e-01 -3.16044481e-03 1.10801565e+02] [ 5.78368277e-01 8.15772949e-01 -2.15192250e-03 9.33206882e+01] [ 3.82281770e-03 -7.24340210e-05 9.99992690e-01 7.40381140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.82, Y:93.34, Z:0.74 [[ 8.15791254e-01 -5.78337856e-01 -3.15504095e-03 1.10823905e+02] [ 5.78333826e-01 8.15797353e-01 -2.15981641e-03 9.33359228e+01] [ 3.82297765e-03 -6.27075698e-05 9.99992690e-01 7.40748837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.85, Y:93.35, Z:0.74 [[ 8.15426080e-01 -5.78852619e-01 -3.15476415e-03 1.10845560e+02] [ 5.78848592e-01 8.15432180e-01 -2.16022065e-03 9.33525721e+01] [ 3.82294559e-03 -6.46305276e-05 9.99992690e-01 7.41401912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.87, Y:93.37, Z:0.74 [[ 8.15050755e-01 -5.79380977e-01 -3.15433483e-03 1.10868198e+02] [ 5.79376951e-01 8.15056856e-01 -2.16084735e-03 9.33687555e+01] [ 3.82291608e-03 -6.63486347e-05 9.99992690e-01 7.41407781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.89, Y:93.39, Z:0.74 [[ 8.14063301e-01 -5.80767607e-01 -3.15109258e-03 1.10891344e+02] [ 5.80763573e-01 8.14069396e-01 -2.16557890e-03 9.33855995e+01] [ 3.82290611e-03 -6.71214811e-05 9.99992690e-01 7.42290201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.92, Y:93.40, Z:0.74 [[ 8.13468777e-01 -5.81600037e-01 -3.15379078e-03 1.10917952e+02] [ 5.81596025e-01 8.13474887e-01 -2.16164305e-03 9.34024289e+01] [ 3.82274128e-03 -7.58030537e-05 9.99992690e-01 7.43481751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.94, Y:93.42, Z:0.74 [[ 8.11413599e-01 -5.84463781e-01 -3.17184247e-03 1.10936152e+02] [ 5.84459893e-01 8.11419789e-01 -2.13538302e-03 9.34188056e+01] [ 3.82174978e-03 -1.21135889e-04 9.99992690e-01 7.44795729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.96, Y:93.43, Z:0.74 [[ 8.11478141e-01 -5.84374288e-01 -3.14932670e-03 1.10962540e+02] [ 5.84370272e-01 8.11484248e-01 -2.16808902e-03 9.34345629e+01] [ 3.82260448e-03 -8.10160499e-05 9.99992691e-01 7.44311170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.98, Y:93.45, Z:0.74 [[ 8.09826109e-01 -5.86661431e-01 -3.16830416e-03 1.10980919e+02] [ 5.86657539e-01 8.09832297e-01 -2.14052331e-03 9.34512281e+01] [ 3.82155750e-03 -1.25257862e-04 9.99992690e-01 7.44939770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.00, Y:93.47, Z:0.74 [[ 8.09230053e-01 -5.87483455e-01 -3.14822704e-03 1.11003795e+02] [ 5.87479457e-01 8.09236171e-01 -2.16965573e-03 9.34680814e+01] [ 3.82229605e-03 -9.37680897e-05 9.99992691e-01 7.44491907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.03, Y:93.48, Z:0.74 [[ 8.09803726e-01 -5.86692440e-01 -3.14755006e-03 1.11031526e+02] [ 5.86688431e-01 8.09809838e-01 -2.17063740e-03 9.34844420e+01] [ 3.82241355e-03 -8.88409521e-05 9.99992691e-01 7.44070789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.05, Y:93.50, Z:0.74 [[ 8.09051326e-01 -5.87729440e-01 -3.17130653e-03 1.11053324e+02] [ 5.87725573e-01 8.09057530e-01 -2.13618696e-03 9.35006215e+01] [ 3.82126940e-03 -1.35573059e-04 9.99992690e-01 7.43709054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.08, Y:93.52, Z:0.74 [[ 8.07987631e-01 -5.89190935e-01 -3.16690509e-03 1.11077040e+02] [ 5.89187055e-01 8.07993826e-01 -2.14256674e-03 9.35183782e+01] [ 3.82122066e-03 -1.34732056e-04 9.99992690e-01 7.43126867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.09, Y:93.54, Z:0.74 [[ 8.06536093e-01 -5.91176355e-01 -3.16988248e-03 1.11093950e+02] [ 5.91172507e-01 8.06542308e-01 -2.13825399e-03 9.35353199e+01] [ 3.82072954e-03 -1.49368353e-04 9.99992690e-01 7.43135852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.12, Y:93.55, Z:0.74 [[ 8.07797520e-01 -5.89451671e-01 -3.14531677e-03 1.11122222e+02] [ 5.89447671e-01 8.07803638e-01 -2.17379866e-03 9.35512474e+01] [ 3.82214759e-03 -9.80104788e-05 9.99992691e-01 7.42200031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.14, Y:93.57, Z:0.74 [[ 8.06563401e-01 -5.91139100e-01 -3.16931268e-03 1.11140463e+02] [ 5.91135248e-01 8.06569614e-01 -2.13906525e-03 9.35693454e+01] [ 3.82075641e-03 -1.48200700e-04 9.99992690e-01 7.43255936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.17, Y:93.59, Z:0.74 [[ 8.07396377e-01 -5.90001020e-01 -3.14432993e-03 1.11167492e+02] [ 5.89997019e-01 8.07402494e-01 -2.17517908e-03 9.35862344e+01] [ 3.82209770e-03 -9.89135782e-05 9.99992691e-01 7.43480073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.18, Y:93.60, Z:0.74 [[ 8.06958987e-01 -5.90598995e-01 -3.16545035e-03 1.11184982e+02] [ 5.90595118e-01 8.06965184e-01 -2.14464191e-03 9.36021508e+01] [ 3.82103157e-03 -1.38861458e-04 9.99992690e-01 7.43155211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.21, Y:93.62, Z:0.74 [[ 8.07545668e-01 -5.89796672e-01 -3.14327288e-03 1.11207194e+02] [ 5.89792663e-01 8.07551779e-01 -2.17666785e-03 9.36181778e+01] [ 3.82214706e-03 -9.61205916e-05 9.99992691e-01 7.43720272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.23, Y:93.63, Z:0.74 [[ 8.07604896e-01 -5.89715571e-01 -3.14298630e-03 1.11230310e+02] [ 5.89711560e-01 8.07611006e-01 -2.17708158e-03 9.36347021e+01] [ 3.82216923e-03 -9.52336124e-05 9.99992691e-01 7.44259389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.25, Y:93.65, Z:0.74 [[ 8.07420386e-01 -5.89968174e-01 -3.14230524e-03 1.11253695e+02] [ 5.89964161e-01 8.07426495e-01 -2.17806414e-03 9.36511104e+01] [ 3.82216903e-03 -9.52340846e-05 9.99992691e-01 7.44368291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.28, Y:93.67, Z:0.74 [[ 8.07606892e-01 -5.89712844e-01 -3.14162360e-03 1.11275429e+02] [ 5.89708825e-01 8.07612997e-01 -2.17904689e-03 9.36666183e+01] [ 3.82222799e-03 -9.28298788e-05 9.99992691e-01 7.44403587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.30, Y:93.68, Z:0.75 [[ 8.07462140e-01 -5.89911040e-01 -3.13966399e-03 1.11298300e+02] [ 5.89907012e-01 8.07468239e-01 -2.18187046e-03 9.36830530e+01] [ 3.82228843e-03 -9.03320122e-05 9.99992691e-01 7.45586131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.32, Y:93.70, Z:0.75 [[ 8.07893169e-01 -5.89320601e-01 -3.13935827e-03 1.11321909e+02] [ 5.89316567e-01 8.07899264e-01 -2.18231064e-03 9.37000350e+01] [ 3.82236586e-03 -8.70019765e-05 9.99992691e-01 7.45473168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.34, Y:93.72, Z:0.75 [[ 8.08280567e-01 -5.88789152e-01 -3.13999759e-03 1.11343881e+02] [ 5.88785117e-01 8.08286662e-01 -2.18139038e-03 9.37157562e+01] [ 3.82239716e-03 -8.56084009e-05 9.99992691e-01 7.45508267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.37, Y:93.73, Z:0.75 [[ 8.08447256e-01 -5.88560257e-01 -3.13970744e-03 1.11366205e+02] [ 5.88556219e-01 8.08453349e-01 -2.18180792e-03 9.37320539e+01] [ 3.82243242e-03 -8.40177177e-05 9.99992691e-01 7.45378935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.39, Y:93.75, Z:0.75 [[ 8.08197844e-01 -5.88902700e-01 -3.13905111e-03 1.11389588e+02] [ 5.88898661e-01 8.08203936e-01 -2.18275179e-03 9.37483902e+01] [ 3.82242189e-03 -8.44877070e-05 9.99992691e-01 7.45388834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.41, Y:93.76, Z:0.75 [[ 8.07885483e-01 -5.89331143e-01 -3.13839791e-03 1.11412520e+02] [ 5.89327104e-01 8.07891575e-01 -2.18369057e-03 9.37642909e+01] [ 3.82240209e-03 -8.53710392e-05 9.99992691e-01 7.45413140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47275509600001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:111.44, Y:93.78, Z:0.74 [[ 8.07051050e-01 -5.90473333e-01 -3.13774873e-03 1.11435086e+02] [ 5.90469299e-01 8.07057145e-01 -2.18462299e-03 9.37798691e+01] [ 3.82230415e-03 -8.96420148e-05 9.99992691e-01 7.44087319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.46, Y:93.80, Z:0.74 [[ 8.06129058e-01 -5.91731464e-01 -3.13311393e-03 1.11458657e+02] [ 5.91727413e-01 8.06135142e-01 -2.19127482e-03 9.37966267e+01] [ 3.82235950e-03 -8.74990968e-05 9.99992691e-01 7.44693458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:111.48, Y:93.81, Z:0.75 [[ 8.05641120e-01 -5.92395610e-01 -3.13478333e-03 1.11481486e+02] [ 5.92391573e-01 8.05647213e-01 -2.18887924e-03 9.38129222e+01] [ 3.82221191e-03 -9.35681101e-05 9.99992691e-01 7.45642777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.50, Y:93.83, Z:0.75 [[ 8.04670004e-01 -5.93714056e-01 -3.13124511e-03 1.11504656e+02] [ 5.93710009e-01 8.04676091e-01 -2.19395519e-03 9.38295849e+01] [ 3.82222011e-03 -9.36416296e-05 9.99992691e-01 7.45418518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.53, Y:93.85, Z:0.75 [[ 8.03076909e-01 -5.95867134e-01 -3.13637869e-03 1.11527384e+02] [ 5.95863132e-01 8.03083026e-01 -2.18659175e-03 9.38450434e+01] [ 3.82169065e-03 -1.12851089e-04 9.99992691e-01 7.45025529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.55, Y:93.86, Z:0.75 [[ 8.03101866e-01 -5.95833498e-01 -3.13629524e-03 1.11550884e+02] [ 5.95829496e-01 8.03107982e-01 -2.18671136e-03 9.38608704e+01] [ 3.82169962e-03 -1.12545233e-04 9.99992691e-01 7.45185546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:93.88, Z:0.74 [[ 8.03010769e-01 -5.95956271e-01 -3.13485476e-03 1.11573697e+02] [ 5.95952262e-01 8.03016880e-01 -2.18877448e-03 9.38761206e+01] [ 3.82175516e-03 -1.10614306e-04 9.99992691e-01 7.44846115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.60, Y:93.89, Z:0.74 [[ 8.03318755e-01 -5.95541059e-01 -3.13437524e-03 1.11597707e+02] [ 5.95537045e-01 8.03324863e-01 -2.18946094e-03 9.38925851e+01] [ 3.82183545e-03 -1.07801535e-04 9.99992691e-01 7.44960695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.62, Y:93.91, Z:0.74 [[ 8.03669352e-01 -5.95067830e-01 -3.13859216e-03 1.11618595e+02] [ 5.95063835e-01 8.03675472e-01 -2.18342534e-03 9.39073886e+01] [ 3.82169571e-03 -1.12910661e-04 9.99992691e-01 7.44305011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.64, Y:93.92, Z:0.74 [[ 8.03896856e-01 -5.94760535e-01 -3.12264989e-03 1.11641930e+02] [ 5.94756450e-01 8.03902916e-01 -2.20619899e-03 9.39238873e+01] [ 3.82246744e-03 -8.36597335e-05 9.99992691e-01 7.44026622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.66, Y:93.94, Z:0.74 [[ 8.04252992e-01 -5.94278819e-01 -3.13211800e-03 1.11663814e+02] [ 5.94274782e-01 8.04259085e-01 -2.19267429e-03 9.39392815e+01] [ 3.82209425e-03 -9.78738840e-05 9.99992691e-01 7.44012560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.69, Y:93.96, Z:0.74 [[ 8.04627598e-01 -5.93771521e-01 -3.13182178e-03 1.11686835e+02] [ 5.93767479e-01 8.04633688e-01 -2.19309730e-03 9.39555042e+01] [ 3.82216803e-03 -9.49473096e-05 9.99992691e-01 7.44288558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.71, Y:93.97, Z:0.74 [[ 8.05561597e-01 -5.92503763e-01 -3.13112058e-03 1.11709689e+02] [ 5.92499707e-01 8.05567678e-01 -2.19409796e-03 9.39707897e+01] [ 3.82234083e-03 -8.77069706e-05 9.99992691e-01 7.44310677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.73, Y:93.99, Z:0.74 [[ 8.05916083e-01 -5.92021507e-01 -3.13081701e-03 1.11732232e+02] [ 5.92017445e-01 8.05922160e-01 -2.19453105e-03 9.39860411e+01] [ 3.82240439e-03 -8.48904205e-05 9.99992691e-01 7.43937024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.75, Y:94.00, Z:0.74 [[ 8.06201147e-01 -5.91633257e-01 -3.13051865e-03 1.11754988e+02] [ 5.91629191e-01 8.06207220e-01 -2.19495659e-03 9.40013495e+01] [ 3.82245605e-03 -8.25296990e-05 9.99992691e-01 7.43826506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.78, Y:94.02, Z:0.74 [[ 8.06270127e-01 -5.91539250e-01 -3.13022838e-03 1.11778622e+02] [ 5.91535182e-01 8.06276199e-01 -2.19537046e-03 9.40173965e+01] [ 3.82247644e-03 -8.15785915e-05 9.99992691e-01 7.44612690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.80, Y:94.03, Z:0.74 [[ 8.05950870e-01 -5.91974156e-01 -3.12953616e-03 1.11801625e+02] [ 5.91970087e-01 8.05956942e-01 -2.19635679e-03 9.40333143e+01] [ 3.82245785e-03 -8.24361208e-05 9.99992691e-01 7.44957058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.82, Y:94.05, Z:0.75 [[ 8.05536657e-01 -5.92537682e-01 -3.12883943e-03 1.11823969e+02] [ 5.92533614e-01 8.05542729e-01 -2.19734888e-03 9.40479471e+01] [ 3.82242586e-03 -8.38974638e-05 9.99992691e-01 7.45296511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.85, Y:94.06, Z:0.75 [[ 8.04825806e-01 -5.93502851e-01 -3.12853796e-03 1.11846781e+02] [ 5.93498788e-01 8.04831882e-01 -2.19777801e-03 9.40637524e+01] [ 3.82233461e-03 -8.79550296e-05 9.99992691e-01 7.45819105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.87, Y:94.08, Z:0.75 [[ 8.04214581e-01 -5.94330821e-01 -3.12785452e-03 1.11869989e+02] [ 5.94326761e-01 8.04220658e-01 -2.19875025e-03 9.40794443e+01] [ 3.82227026e-03 -9.07006310e-05 9.99992691e-01 7.46313968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.89, Y:94.09, Z:0.75 [[ 8.02895225e-01 -5.96111969e-01 -3.12714828e-03 1.11892554e+02] [ 5.96107918e-01 8.02901309e-01 -2.19975424e-03 9.40942598e+01] [ 3.82209127e-03 -9.79456743e-05 9.99992691e-01 7.46398680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.92, Y:94.11, Z:0.75 [[ 8.02275013e-01 -5.96946418e-01 -3.12684300e-03 1.11916202e+02] [ 5.96942372e-01 8.02281100e-01 -2.20018809e-03 9.41101526e+01] [ 3.82200144e-03 -1.01389151e-04 9.99992691e-01 7.46567258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.94, Y:94.13, Z:0.75 [[ 8.01542290e-01 -5.97929916e-01 -3.12615266e-03 1.11939530e+02] [ 5.97925874e-01 8.01548379e-01 -2.20116853e-03 9.41261504e+01] [ 3.82190711e-03 -1.04877893e-04 9.99992691e-01 7.46280819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.96, Y:94.14, Z:0.74 [[ 8.00311485e-01 -5.99576316e-01 -3.12546379e-03 1.11962527e+02] [ 5.99572283e-01 8.00317580e-01 -2.20214622e-03 9.41425762e+01] [ 3.82171834e-03 -1.11538547e-04 9.99992691e-01 7.44749199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.99, Y:94.16, Z:0.75 [[ 8.00189715e-01 -5.99738853e-01 -3.11919521e-03 1.11985921e+02] [ 5.99734785e-01 8.00195788e-01 -2.21103738e-03 9.41576268e+01] [ 3.82201189e-03 -1.01440506e-04 9.99992691e-01 7.45496103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.01, Y:94.17, Z:0.74 [[ 7.99142981e-01 -6.01132875e-01 -3.12452402e-03 1.12008766e+02] [ 6.01128848e-01 7.99149081e-01 -2.20348115e-03 9.41742590e+01] [ 3.82154546e-03 -1.17345029e-04 9.99992691e-01 7.43822877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.03, Y:94.19, Z:0.74 [[ 7.98544847e-01 -6.01927242e-01 -3.11793914e-03 1.12031207e+02] [ 6.01923185e-01 7.98550927e-01 -2.21281254e-03 9.41901553e+01] [ 3.82178534e-03 -1.09729810e-04 9.99992691e-01 7.42680487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.06, Y:94.21, Z:0.74 [[ 7.98252570e-01 -6.02314801e-01 -3.11688093e-03 1.12055049e+02] [ 6.02310741e-01 7.98258648e-01 -2.21431027e-03 9.42065661e+01] [ 3.82178900e-03 -1.09751998e-04 9.99992691e-01 7.44148343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.08, Y:94.22, Z:0.75 [[ 7.98324001e-01 -6.02220105e-01 -3.12001724e-03 1.12079890e+02] [ 6.02216061e-01 7.98330090e-01 -2.20987105e-03 9.42228446e+01] [ 3.82163242e-03 -1.14731391e-04 9.99992691e-01 7.45907042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.10, Y:94.24, Z:0.75 [[ 7.97867129e-01 -6.02825228e-01 -3.12880881e-03 1.12101943e+02] [ 6.02821237e-01 7.97873253e-01 -2.19743305e-03 9.42384026e+01] [ 3.82106094e-03 -1.32852799e-04 9.99992691e-01 7.45054883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.12, Y:94.25, Z:0.75 [[ 7.97481021e-01 -6.03335951e-01 -3.12267890e-03 1.12123935e+02] [ 6.03331931e-01 7.97487125e-01 -2.20609941e-03 9.42545452e+01] [ 3.82131531e-03 -1.24689477e-04 9.99992691e-01 7.46320061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.15, Y:94.27, Z:0.75 [[ 7.98549016e-01 -6.01921697e-01 -3.12098108e-03 1.12145958e+02] [ 6.01917656e-01 7.98555106e-01 -2.20849872e-03 9.42703606e+01] [ 3.82161867e-03 -1.14979140e-04 9.99992691e-01 7.45551673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:94.29, Z:0.74 [[ 7.99248128e-01 -6.00993127e-01 -3.11302734e-03 1.12168014e+02] [ 6.00989036e-01 7.99254185e-01 -2.21973085e-03 9.42861355e+01] [ 3.82214311e-03 -9.67795724e-05 9.99992691e-01 7.44318985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.19, Y:94.30, Z:0.75 [[ 7.99735985e-01 -6.00343815e-01 -3.10773199e-03 1.12191927e+02] [ 6.00339690e-01 7.99742018e-01 -2.22721291e-03 9.43046839e+01] [ 3.82247736e-03 -8.45125488e-05 9.99992691e-01 7.45936458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.21, Y:94.32, Z:0.75 [[ 8.00377374e-01 -5.99488383e-01 -3.12054183e-03 1.12214019e+02] [ 5.99484322e-01 8.00383451e-01 -2.20911808e-03 9.43207113e+01] [ 3.82197066e-03 -1.02587773e-04 9.99992691e-01 7.45651011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.24, Y:94.34, Z:0.75 [[ 8.01039844e-01 -5.98602900e-01 -3.12023179e-03 1.12236437e+02] [ 5.98598830e-01 8.01045915e-01 -2.20955591e-03 9.43368429e+01] [ 3.82209550e-03 -9.78247763e-05 9.99992691e-01 7.46124626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.26, Y:94.35, Z:0.75 [[ 8.01676483e-01 -5.97750018e-01 -3.11954441e-03 1.12259498e+02] [ 5.97745938e-01 8.01682548e-01 -2.21052595e-03 9.43533479e+01] [ 3.82222624e-03 -9.25683277e-05 9.99992691e-01 7.46801714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.28, Y:94.37, Z:0.75 [[ 8.02196132e-01 -5.97052458e-01 -3.11885571e-03 1.12282408e+02] [ 5.97048369e-01 8.02202190e-01 -2.21149722e-03 9.43699799e+01] [ 3.82233273e-03 -8.80531938e-05 9.99992691e-01 7.47650555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.30, Y:94.39, Z:0.75 [[ 8.03294672e-01 -5.95573628e-01 -3.11814990e-03 1.12304243e+02] [ 5.95569524e-01 8.03300720e-01 -2.21249194e-03 9.43865241e+01] [ 3.82251391e-03 -7.97920637e-05 9.99992691e-01 7.48770220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.33, Y:94.40, Z:0.75 [[ 8.03797735e-01 -5.94894512e-01 -3.11782009e-03 1.12327064e+02] [ 5.94890400e-01 8.03803779e-01 -2.21295661e-03 9.44030503e+01] [ 3.82259131e-03 -7.59917308e-05 9.99992691e-01 7.49446683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.35, Y:94.42, Z:0.75 [[ 8.04929713e-01 -5.93361981e-01 -3.11710621e-03 1.12348610e+02] [ 5.93357854e-01 8.04935746e-01 -2.21396171e-03 9.44187493e+01] [ 3.82275092e-03 -6.74758848e-05 9.99992691e-01 7.49619024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.37, Y:94.44, Z:0.75 [[ 8.05268854e-01 -5.92901643e-01 -3.11679738e-03 1.12371338e+02] [ 5.92897512e-01 8.05274883e-01 -2.21439639e-03 9.44351790e+01] [ 3.82279790e-03 -6.47569616e-05 9.99992691e-01 7.49765166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:112.39, Y:94.45, Z:0.75 [[ 8.05370189e-01 -5.92763991e-01 -3.11609025e-03 1.12393576e+02] [ 5.92759854e-01 8.05376215e-01 -2.21539101e-03 9.44525369e+01] [ 3.82282899e-03 -6.28833270e-05 9.99992691e-01 7.49939535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.42, Y:94.47, Z:0.75 [[ 8.05632725e-01 -5.92407100e-01 -3.12100056e-03 1.12415473e+02] [ 5.92402987e-01 8.05638767e-01 -2.20848488e-03 9.44683666e+01] [ 3.82272117e-03 -6.96623599e-05 9.99992691e-01 7.51145260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:94.48, Z:0.75 [[ 8.05663190e-01 -5.92365689e-01 -3.11681396e-03 1.12438103e+02] [ 5.92361553e-01 8.05669217e-01 -2.21436889e-03 9.44846353e+01] [ 3.82283721e-03 -6.22452513e-05 9.99992691e-01 7.50234312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.46, Y:94.50, Z:0.75 [[ 8.05036368e-01 -5.93217283e-01 -3.11467639e-03 1.12460060e+02] [ 5.93213142e-01 8.05042391e-01 -2.21737146e-03 9.45003924e+01] [ 3.82282960e-03 -6.26023005e-05 9.99992691e-01 7.50658165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.48, Y:94.52, Z:0.75 [[ 8.05292652e-01 -5.92869334e-01 -3.11420686e-03 1.12484191e+02] [ 5.92865188e-01 8.05298671e-01 -2.21803071e-03 9.45155203e+01] [ 3.82286903e-03 -6.01409986e-05 9.99992691e-01 7.50891535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.51, Y:94.53, Z:0.75 [[ 8.03757404e-01 -5.94949024e-01 -3.11345523e-03 1.12505246e+02] [ 5.94944890e-01 8.03763431e-01 -2.21908527e-03 9.45325231e+01] [ 3.82272408e-03 -6.87280664e-05 9.99992691e-01 7.51396630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.53, Y:94.55, Z:0.75 [[ 8.02728742e-01 -5.96336211e-01 -3.11294286e-03 1.12528569e+02] [ 5.96332084e-01 8.02734774e-01 -2.21980379e-03 9.45489996e+01] [ 3.82261687e-03 -7.44473949e-05 9.99992691e-01 7.51118607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.55, Y:94.57, Z:0.75 [[ 8.01605334e-01 -5.97845467e-01 -3.11223850e-03 1.12548634e+02] [ 5.97841347e-01 8.01611372e-01 -2.22079089e-03 9.45659486e+01] [ 3.82249554e-03 -8.04270366e-05 9.99992691e-01 7.48687255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.57, Y:94.58, Z:0.75 [[ 8.00760085e-01 -5.98977210e-01 -3.09633635e-03 1.12571405e+02] [ 5.98973013e-01 8.00766070e-01 -2.24306052e-03 9.45822689e+01] [ 3.82298322e-03 -5.84685746e-05 9.99992691e-01 7.49193255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.59, Y:94.60, Z:0.75 [[ 8.01819213e-01 -5.97558643e-01 -3.10132054e-03 1.12594132e+02] [ 5.97554462e-01 8.01825208e-01 -2.23608751e-03 9.45965072e+01] [ 3.82291041e-03 -6.02700070e-05 9.99992691e-01 7.50410585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.62, Y:94.62, Z:0.75 [[ 8.00439586e-01 -5.99405485e-01 -3.08755836e-03 1.12619680e+02] [ 5.99401244e-01 8.00445540e-01 -2.25532146e-03 9.46161070e+01] [ 3.82327437e-03 -4.54377480e-05 9.99992690e-01 7.51308767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.64, Y:94.63, Z:0.75 [[ 7.99231921e-01 -6.01014696e-01 -3.10988147e-03 1.12640465e+02] [ 6.01010588e-01 7.99237966e-01 -2.22410795e-03 9.46331792e+01] [ 3.82225690e-03 -9.14936229e-05 9.99992691e-01 7.49561186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.66, Y:94.65, Z:0.75 [[ 7.99392038e-01 -6.00801787e-01 -3.09558983e-03 1.12664906e+02] [ 6.00797599e-01 7.99398029e-01 -2.24407174e-03 9.46489592e+01] [ 3.82285072e-03 -6.59298586e-05 9.99992691e-01 7.49771885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.69, Y:94.67, Z:0.75 [[ 7.99324926e-01 -6.00891030e-01 -3.10361154e-03 1.12687219e+02] [ 6.00886887e-01 7.99330947e-01 -2.23287108e-03 9.46650752e+01] [ 3.82252495e-03 -8.01299640e-05 9.99992691e-01 7.49880894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.71, Y:94.68, Z:0.75 [[ 7.99283671e-01 -6.00945906e-01 -3.10328242e-03 1.12709890e+02] [ 6.00941762e-01 7.99289692e-01 -2.23333050e-03 9.46807522e+01] [ 3.82253247e-03 -7.98274045e-05 9.99992691e-01 7.50509369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.73, Y:94.70, Z:0.75 [[ 7.99203299e-01 -6.01052766e-01 -3.10791552e-03 1.12732379e+02] [ 6.01048647e-01 7.99209337e-01 -2.22686432e-03 9.46973057e+01] [ 3.82233806e-03 -8.82911090e-05 9.99992691e-01 7.50075697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.75, Y:94.71, Z:0.75 [[ 7.99883100e-01 -6.00147792e-01 -3.10719826e-03 1.12753872e+02] [ 6.00143663e-01 7.99889130e-01 -2.22786469e-03 9.47131177e+01] [ 3.82246219e-03 -8.27340314e-05 9.99992691e-01 7.49437100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.78, Y:94.73, Z:0.75 [[ 8.00193638e-01 -5.99733682e-01 -3.10688796e-03 1.12776892e+02] [ 5.99729548e-01 8.00199665e-01 -2.22829733e-03 9.47298505e+01] [ 3.82251567e-03 -8.02231678e-05 9.99992691e-01 7.49576320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.80, Y:94.75, Z:0.75 [[ 8.01270930e-01 -5.98293613e-01 -3.10618305e-03 1.12800029e+02] [ 5.98289464e-01 8.01276948e-01 -2.22927953e-03 9.47464368e+01] [ 3.82267658e-03 -7.21397111e-05 9.99992691e-01 7.49812775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.82, Y:94.76, Z:0.75 [[ 8.01728810e-01 -5.97679906e-01 -3.10547937e-03 1.12822645e+02] [ 5.97675749e-01 8.01734822e-01 -2.23025936e-03 9.47629955e+01] [ 3.82275215e-03 -6.80065247e-05 9.99992691e-01 7.49842994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.84, Y:94.78, Z:0.75 [[ 8.02128429e-01 -5.97143486e-01 -3.10477431e-03 1.12844131e+02] [ 5.97139321e-01 8.02134436e-01 -2.23124044e-03 9.47787125e+01] [ 3.82281709e-03 -6.42414325e-05 9.99992691e-01 7.49492886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.87, Y:94.80, Z:0.75 [[ 8.02036712e-01 -5.97266670e-01 -3.10447002e-03 1.12868417e+02] [ 5.97262505e-01 8.02042717e-01 -2.23166374e-03 9.47964703e+01] [ 3.82281594e-03 -6.43072922e-05 9.99992691e-01 7.49738747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.89, Y:94.81, Z:0.75 [[ 8.02988935e-01 -5.95985797e-01 -3.11460933e-03 1.12890876e+02] [ 5.95981676e-01 8.02994972e-01 -2.21756475e-03 9.48115853e+01] [ 3.82265273e-03 -7.55701360e-05 9.99992691e-01 7.50374457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.91, Y:94.83, Z:0.75 [[ 8.02991798e-01 -5.95982000e-01 -3.10305334e-03 1.12912786e+02] [ 5.95977817e-01 8.02997791e-01 -2.23361890e-03 9.48273412e+01] [ 3.82294164e-03 -5.57733003e-05 9.99992691e-01 7.51158011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.94, Y:94.84, Z:0.75 [[ 8.03046395e-01 -5.95908434e-01 -3.10257069e-03 1.12936224e+02] [ 5.95904248e-01 8.03052387e-01 -2.23428912e-03 9.48435422e+01] [ 3.82295853e-03 -5.45972244e-05 9.99992691e-01 7.51673459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.96, Y:94.86, Z:0.75 [[ 8.02627875e-01 -5.96472022e-01 -3.10186261e-03 1.12959399e+02] [ 5.96467836e-01 8.02633867e-01 -2.23527171e-03 9.48598713e+01] [ 3.82293702e-03 -5.60698967e-05 9.99992691e-01 7.51888916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.98, Y:94.88, Z:0.75 [[ 8.02229128e-01 -5.97008215e-01 -3.10115031e-03 1.12982622e+02] [ 5.97004029e-01 8.02235120e-01 -2.23625950e-03 9.48764701e+01] [ 3.82291699e-03 -5.74067216e-05 9.99992691e-01 7.52150113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.00, Y:94.89, Z:0.75 [[ 8.01330823e-01 -5.98213422e-01 -3.10044375e-03 1.13004534e+02] [ 5.98209242e-01 8.01336819e-01 -2.23723868e-03 9.48923175e+01] [ 3.82284594e-03 -6.19457966e-05 9.99992691e-01 7.51847656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:94.91, Z:0.75 [[ 8.00593577e-01 -5.99199728e-01 -3.10013805e-03 1.13027255e+02] [ 5.99195553e-01 8.00599577e-01 -2.23766221e-03 9.49087016e+01] [ 3.82277580e-03 -6.61309417e-05 9.99992691e-01 7.51505639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.05, Y:94.92, Z:0.75 [[ 8.00096149e-01 -5.99863772e-01 -3.09943037e-03 1.13049307e+02] [ 5.99859599e-01 8.00102150e-01 -2.23864200e-03 9.49237739e+01] [ 3.82274114e-03 -6.80942142e-05 9.99992691e-01 7.51724297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.07, Y:94.94, Z:0.75 [[ 7.98370962e-01 -6.02157954e-01 -3.09912416e-03 1.13073554e+02] [ 6.02153796e-01 7.98376974e-01 -2.23906583e-03 9.49400763e+01] [ 3.82254067e-03 -7.85442360e-05 9.99992691e-01 7.51849215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.10, Y:94.96, Z:0.75 [[ 7.98121902e-01 -6.02488009e-01 -3.10308815e-03 1.13095790e+02] [ 6.02483875e-01 7.98127929e-01 -2.23358200e-03 9.49552950e+01] [ 3.82236769e-03 -8.68898594e-05 9.99992691e-01 7.52105977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.12, Y:94.97, Z:0.75 [[ 7.97186484e-01 -6.03725195e-01 -3.09816217e-03 1.13118280e+02] [ 6.03721043e-01 7.97192500e-01 -2.24039396e-03 9.49713462e+01] [ 3.82241392e-03 -8.44139119e-05 9.99992691e-01 7.51721391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.15, Y:94.99, Z:0.75 [[ 7.97433678e-01 -6.03398654e-01 -3.09738173e-03 1.13146329e+02] [ 6.03394496e-01 7.97439689e-01 -2.24147240e-03 9.49875652e+01] [ 3.82247656e-03 -8.15175088e-05 9.99992691e-01 7.52196926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.16, Y:95.00, Z:0.75 [[ 7.95759079e-01 -6.05605277e-01 -3.12036061e-03 1.13164543e+02] [ 6.05601260e-01 7.95765186e-01 -2.20971285e-03 9.50039246e+01] [ 3.82128810e-03 -1.31295254e-04 9.99992690e-01 7.51365178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.19, Y:95.02, Z:0.75 [[ 7.96438070e-01 -6.04712175e-01 -3.09615538e-03 1.13189943e+02] [ 6.04708021e-01 7.96444083e-01 -2.24312304e-03 9.50184324e+01] [ 3.82235844e-03 -8.57614115e-05 9.99992691e-01 7.49567118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.21, Y:95.03, Z:0.75 [[ 7.95984079e-01 -6.05309595e-01 -3.10483762e-03 1.13211713e+02] [ 6.05305491e-01 7.95990128e-01 -2.23114524e-03 9.50342519e+01] [ 3.82195372e-03 -1.03419173e-04 9.99992691e-01 7.50718739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.23, Y:95.05, Z:0.75 [[ 7.95337506e-01 -6.06158950e-01 -3.09478637e-03 1.13233107e+02] [ 6.06154800e-01 7.95343522e-01 -2.24500113e-03 9.50519513e+01] [ 3.82224582e-03 -9.03860147e-05 9.99992691e-01 7.49238225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.26, Y:95.07, Z:0.75 [[ 7.96128111e-01 -6.05120186e-01 -3.09704287e-03 1.13255921e+02] [ 6.05116040e-01 7.96134130e-01 -2.24189126e-03 9.50684630e+01] [ 3.82227519e-03 -8.92376599e-05 9.99992691e-01 7.48505384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.28, Y:95.08, Z:0.75 [[ 7.96377107e-01 -6.04792469e-01 -3.09395503e-03 1.13278027e+02] [ 6.04788303e-01 7.96383113e-01 -2.24614461e-03 9.50847204e+01] [ 3.82242488e-03 -8.24096647e-05 9.99992691e-01 7.47567412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.30, Y:95.10, Z:0.75 [[ 7.96821396e-01 -6.04206994e-01 -3.09364916e-03 1.13301517e+02] [ 6.04202823e-01 7.96827398e-01 -2.24656581e-03 9.51008411e+01] [ 3.82249518e-03 -7.90798537e-05 9.99992691e-01 7.47612860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.33, Y:95.12, Z:0.75 [[ 7.96504347e-01 -6.04624891e-01 -3.09293484e-03 1.13325802e+02] [ 6.04620719e-01 7.96510348e-01 -2.24754881e-03 9.51189353e+01] [ 3.82247856e-03 -7.98700876e-05 9.99992691e-01 7.48762070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.35, Y:95.14, Z:0.75 [[ 7.98605541e-01 -6.01846753e-01 -3.11056013e-03 1.13346608e+02] [ 6.01842654e-01 7.98611593e-01 -2.22328405e-03 9.51351722e+01] [ 3.82220567e-03 -9.65408059e-05 9.99992691e-01 7.49270238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.37, Y:95.15, Z:0.75 [[ 7.98673194e-01 -6.01757068e-01 -3.09195706e-03 1.13369481e+02] [ 6.01752869e-01 7.98679176e-01 -2.24886140e-03 9.51518414e+01] [ 3.82274996e-03 -6.44887115e-05 9.99992691e-01 7.48523960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.39, Y:95.17, Z:0.75 [[ 7.99014895e-01 -6.01303285e-01 -3.09149238e-03 1.13392509e+02] [ 6.01299080e-01 7.99020873e-01 -2.24950000e-03 9.51680532e+01] [ 3.82279869e-03 -6.15275175e-05 9.99992691e-01 7.49995365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.42, Y:95.18, Z:0.75 [[ 8.00398330e-01 -5.99460558e-01 -3.09072137e-03 1.13420532e+02] [ 5.99456335e-01 8.00404296e-01 -2.25055885e-03 9.51845077e+01] [ 3.82294792e-03 -5.14089645e-05 9.99992691e-01 7.49027972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.44, Y:95.20, Z:0.75 [[ 7.99299099e-01 -6.00925323e-01 -3.11557793e-03 1.13437886e+02] [ 6.00921244e-01 7.99305164e-01 -2.21642337e-03 9.52017580e+01] [ 3.82220246e-03 -1.00631764e-04 9.99992690e-01 7.50484248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.46, Y:95.22, Z:0.75 [[ 7.99190481e-01 -6.01069904e-01 -3.08952328e-03 1.13459170e+02] [ 6.01065688e-01 7.99196451e-01 -2.25216518e-03 9.52176484e+01] [ 3.82284475e-03 -5.70974620e-05 9.99992691e-01 7.50630872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.48, Y:95.24, Z:0.75 [[ 7.99256953e-01 -6.00981514e-01 -3.08922037e-03 1.13484978e+02] [ 6.00977295e-01 7.99262921e-01 -2.25258060e-03 9.52352479e+01] [ 3.82285859e-03 -5.61605977e-05 9.99992691e-01 7.50062169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.50, Y:95.25, Z:0.75 [[ 7.97429184e-01 -6.03404540e-01 -3.10755150e-03 1.13503071e+02] [ 6.03400437e-01 7.97435233e-01 -2.22743950e-03 9.52520508e+01] [ 3.82211816e-03 -9.88726770e-05 9.99992691e-01 7.50541229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.52, Y:95.27, Z:0.75 [[ 7.96294228e-01 -6.04901617e-01 -3.08803336e-03 1.13524991e+02] [ 6.04897421e-01 7.96300213e-01 -2.25417771e-03 9.52688507e+01] [ 3.82255736e-03 -7.29547140e-05 9.99992691e-01 7.50772534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.55, Y:95.28, Z:0.75 [[ 7.94048561e-01 -6.07846487e-01 -3.08732944e-03 1.13546758e+02] [ 6.07842309e-01 7.94054558e-01 -2.25514138e-03 9.52842674e+01] [ 3.82228779e-03 -8.59176877e-05 9.99992691e-01 7.52086733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.57, Y:95.30, Z:0.75 [[ 7.92850180e-01 -6.09408781e-01 -3.08702479e-03 1.13569001e+02] [ 6.09404614e-01 7.92856184e-01 -2.25555834e-03 9.53006817e+01] [ 3.82212376e-03 -9.29273102e-05 9.99992691e-01 7.52799027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.59, Y:95.32, Z:0.75 [[ 7.91949934e-01 -6.10578231e-01 -3.08632462e-03 1.13590748e+02] [ 6.10574069e-01 7.91955942e-01 -2.25651600e-03 9.53169102e+01] [ 3.82201267e-03 -9.73820874e-05 9.99992691e-01 7.53163727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.61, Y:95.33, Z:0.75 [[ 7.90570278e-01 -6.12363546e-01 -3.08602157e-03 1.13611702e+02] [ 6.12359396e-01 7.90576294e-01 -2.25693038e-03 9.53337065e+01] [ 3.82179738e-03 -1.05492228e-04 9.99992691e-01 7.52692029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.63, Y:95.35, Z:0.75 [[ 7.90090790e-01 -6.12982072e-01 -3.08572567e-03 1.13633630e+02] [ 6.12977926e-01 7.90096809e-01 -2.25733487e-03 9.53508773e+01] [ 3.82172780e-03 -1.07982229e-04 9.99992691e-01 7.52192545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.66, Y:95.37, Z:0.75 [[ 7.90008677e-01 -6.13087900e-01 -3.08506044e-03 1.13655135e+02] [ 6.13083750e-01 7.90014694e-01 -2.25824365e-03 9.53689180e+01] [ 3.82174493e-03 -1.07368343e-04 9.99992691e-01 7.50731363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.68, Y:95.39, Z:0.75 [[ 7.90232131e-01 -6.12799858e-01 -3.08436441e-03 1.13677441e+02] [ 6.12795702e-01 7.90238143e-01 -2.25919391e-03 9.53865206e+01] [ 3.82181611e-03 -1.04797632e-04 9.99992691e-01 7.50000114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.70, Y:95.40, Z:0.75 [[ 7.90674837e-01 -6.12228547e-01 -3.08367114e-03 1.13698852e+02] [ 6.12224383e-01 7.90680843e-01 -2.26013979e-03 9.54029476e+01] [ 3.82192179e-03 -1.00863005e-04 9.99992691e-01 7.49132623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.72, Y:95.42, Z:0.75 [[ 7.91191328e-01 -6.11560934e-01 -3.08337082e-03 1.13720753e+02] [ 6.11556764e-01 7.91197330e-01 -2.26054942e-03 9.54197516e+01] [ 3.82201847e-03 -9.71291778e-05 9.99992691e-01 7.48502323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.74, Y:95.44, Z:0.75 [[ 7.91633373e-01 -6.10988624e-01 -3.08271874e-03 1.13744044e+02] [ 6.10984446e-01 7.91639370e-01 -2.26143831e-03 9.54390571e+01] [ 3.82211460e-03 -9.32631696e-05 9.99992691e-01 7.47494286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.77, Y:95.45, Z:0.75 [[ 7.92978482e-01 -6.09241793e-01 -3.09258408e-03 1.13765783e+02] [ 6.09237654e-01 7.92984506e-01 -2.24800413e-03 9.54544669e+01] [ 3.82194933e-03 -1.01499765e-04 9.99992691e-01 7.47704765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.79, Y:95.47, Z:0.75 [[ 7.94039844e-01 -6.07857908e-01 -3.08068033e-03 1.13787280e+02] [ 6.07853695e-01 7.94045816e-01 -2.26420042e-03 9.54704483e+01] [ 3.82251346e-03 -7.47375718e-05 9.99992691e-01 7.47590291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.81, Y:95.49, Z:0.75 [[ 7.94327640e-01 -6.07481779e-01 -3.08021092e-03 1.13809619e+02] [ 6.07477562e-01 7.94333609e-01 -2.26483882e-03 9.54871752e+01] [ 3.82256338e-03 -7.21349428e-05 9.99992691e-01 7.48070883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.83, Y:95.50, Z:0.75 [[ 7.94455276e-01 -6.07314852e-01 -3.07987018e-03 1.13832334e+02] [ 6.07310631e-01 7.94461243e-01 -2.26530209e-03 9.55039092e+01] [ 3.82258909e-03 -7.07567015e-05 9.99992691e-01 7.50222191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.85, Y:95.52, Z:0.75 [[ 7.94634663e-01 -6.07080119e-01 -3.07916423e-03 1.13854364e+02] [ 6.07075892e-01 7.94640626e-01 -2.26626127e-03 9.55199524e+01] [ 3.82263115e-03 -6.84366146e-05 9.99992691e-01 7.49849323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.88, Y:95.54, Z:0.75 [[ 7.94300608e-01 -6.07517131e-01 -3.07885852e-03 1.13876926e+02] [ 6.07512907e-01 7.94306572e-01 -2.26667651e-03 9.55371391e+01] [ 3.82260237e-03 -7.00237618e-05 9.99992691e-01 7.50684497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.90, Y:95.55, Z:0.75 [[ 7.93658409e-01 -6.08355861e-01 -3.07837881e-03 1.13898872e+02] [ 6.08351640e-01 7.93664375e-01 -2.26732782e-03 9.55530544e+01] [ 3.82254177e-03 -7.32530111e-05 9.99992691e-01 7.50495338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.93, Y:95.57, Z:0.75 [[ 7.94007947e-01 -6.07899587e-01 -3.07785146e-03 1.13926429e+02] [ 6.07895360e-01 7.94013909e-01 -2.26804346e-03 9.55697993e+01] [ 3.82259955e-03 -7.01670904e-05 9.99992691e-01 7.51144169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.95, Y:95.59, Z:0.75 [[ 7.92511408e-01 -6.09849221e-01 -3.09774608e-03 1.13945407e+02] [ 6.09845114e-01 7.92517454e-01 -2.24104572e-03 9.55857824e+01] [ 3.82171782e-03 -1.13091018e-04 9.99992691e-01 7.51462204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.97, Y:95.60, Z:0.75 [[ 7.91959220e-01 -6.10566234e-01 -3.07685753e-03 1.13968504e+02] [ 6.10562022e-01 7.91965193e-01 -2.26936689e-03 9.56020998e+01] [ 3.82236286e-03 -8.13663241e-05 9.99992691e-01 7.53168393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.99, Y:95.62, Z:0.75 [[ 7.92278234e-01 -6.10152225e-01 -3.07617255e-03 1.13989963e+02] [ 6.10148006e-01 7.92284202e-01 -2.27029501e-03 9.56161279e+01] [ 3.82242846e-03 -7.82152261e-05 9.99992691e-01 7.54551586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.01, Y:95.63, Z:0.76 [[ 7.91252584e-01 -6.11481781e-01 -3.06259677e-03 1.14013542e+02] [ 6.11477501e-01 7.91258509e-01 -2.28869511e-03 9.56339933e+01] [ 3.82280112e-03 -6.17730962e-05 9.99992691e-01 7.55164128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.04, Y:95.65, Z:0.75 [[ 7.91415560e-01 -6.11270766e-01 -3.07615935e-03 1.14036622e+02] [ 6.11266555e-01 7.91421534e-01 -2.27031855e-03 9.56503226e+01] [ 3.82231811e-03 -8.35879020e-05 9.99992691e-01 7.53972182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.06, Y:95.67, Z:0.75 [[ 7.90708122e-01 -6.12185599e-01 -3.07541741e-03 1.14058768e+02] [ 6.12181392e-01 7.90714098e-01 -2.27132315e-03 9.56676946e+01] [ 3.82224723e-03 -8.67596480e-05 9.99992691e-01 7.54790719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.08, Y:95.68, Z:0.76 [[ 7.90526123e-01 -6.12420591e-01 -3.07721629e-03 1.14080800e+02] [ 6.12416394e-01 7.90532107e-01 -2.26888839e-03 9.56840352e+01] [ 3.82215225e-03 -9.09221619e-05 9.99992691e-01 7.55365985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.10, Y:95.70, Z:0.75 [[ 7.90614415e-01 -6.12306627e-01 -3.07283440e-03 1.14104369e+02] [ 6.12302407e-01 7.90620382e-01 -2.27481717e-03 9.56996075e+01] [ 3.82233113e-03 -8.30006548e-05 9.99992691e-01 7.54673693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.13, Y:95.72, Z:0.75 [[ 7.90417795e-01 -6.12560411e-01 -3.07453673e-03 1.14127252e+02] [ 6.12556201e-01 7.90423770e-01 -2.27251430e-03 9.57167194e+01] [ 3.82223920e-03 -8.70907994e-05 9.99992691e-01 7.54783742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.15, Y:95.73, Z:0.75 [[ 7.90418873e-01 -6.12559023e-01 -3.07380903e-03 1.14149335e+02] [ 6.12554810e-01 7.90424845e-01 -2.27349805e-03 9.57321328e+01] [ 3.82226677e-03 -8.58607402e-05 9.99992691e-01 7.54339220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.17, Y:95.75, Z:0.75 [[ 7.91028451e-01 -6.11771644e-01 -3.07338225e-03 1.14170971e+02] [ 6.11767423e-01 7.91034417e-01 -2.27407484e-03 9.57493328e+01] [ 3.82236564e-03 -8.13372336e-05 9.99992691e-01 7.54775506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.19, Y:95.77, Z:0.75 [[ 7.91384429e-01 -6.11311086e-01 -3.07266932e-03 1.14192181e+02] [ 6.11306858e-01 7.91390390e-01 -2.27503772e-03 9.57653223e+01] [ 3.82243675e-03 -7.79144006e-05 9.99992691e-01 7.54566408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.21, Y:95.78, Z:0.75 [[ 7.90614075e-01 -6.12307067e-01 -3.07236061e-03 1.14212475e+02] [ 6.12302844e-01 7.90620041e-01 -2.27545454e-03 9.57836295e+01] [ 3.82234677e-03 -8.22087527e-05 9.99992691e-01 7.53642390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.24, Y:95.80, Z:0.75 [[ 7.90679301e-01 -6.12222911e-01 -3.05784241e-03 1.14237362e+02] [ 6.12218612e-01 7.90685212e-01 -2.29501453e-03 9.58018657e+01] [ 3.82285125e-03 -5.74475571e-05 9.99992691e-01 7.53418408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.26, Y:95.82, Z:0.76 [[ 7.90310012e-01 -6.12699472e-01 -3.07274354e-03 1.14258066e+02] [ 6.12695255e-01 7.90315981e-01 -2.27494312e-03 9.58183907e+01] [ 3.82229478e-03 -8.47450635e-05 9.99992691e-01 7.55658675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.28, Y:95.84, Z:0.75 [[ 7.89730924e-01 -6.13445768e-01 -3.05892224e-03 1.14279856e+02] [ 6.13441484e-01 7.89736846e-01 -2.29358041e-03 9.58351157e+01] [ 3.82273080e-03 -6.51584131e-05 9.99992691e-01 7.54324655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:95.85, Z:0.75 [[ 7.89349782e-01 -6.13936158e-01 -3.05208315e-03 1.14302317e+02] [ 6.13931842e-01 7.89355681e-01 -2.30279697e-03 9.58521221e+01] [ 3.82294950e-03 -5.60587453e-05 9.99992691e-01 7.52595957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.33, Y:95.87, Z:0.76 [[ 7.90038901e-01 -6.13049099e-01 -3.05559320e-03 1.14328289e+02] [ 6.13044795e-01 7.90044808e-01 -2.29807094e-03 9.58689736e+01] [ 3.82288586e-03 -5.76500663e-05 9.99992691e-01 7.55434194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.35, Y:95.88, Z:0.76 [[ 7.90138300e-01 -6.12920913e-01 -3.06944017e-03 1.14348384e+02] [ 6.12916679e-01 7.90144258e-01 -2.27942482e-03 9.58846050e+01] [ 3.82240766e-03 -8.02502223e-05 9.99992691e-01 7.55337819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.37, Y:95.90, Z:0.76 [[ 7.88715142e-01 -6.14751250e-01 -3.05367144e-03 1.14372679e+02] [ 6.14746948e-01 7.88721051e-01 -2.30063923e-03 9.59040438e+01] [ 3.82281579e-03 -6.26861944e-05 9.99992691e-01 7.55905614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.39, Y:95.92, Z:0.75 [[ 7.88646862e-01 -6.14838769e-01 -3.06842124e-03 1.14393231e+02] [ 6.14834545e-01 7.88652826e-01 -2.28079590e-03 9.59212709e+01] [ 3.82224082e-03 -8.78288439e-05 9.99992691e-01 7.54998440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.42, Y:95.94, Z:0.76 [[ 7.88097019e-01 -6.15543444e-01 -3.05895417e-03 1.14416704e+02] [ 6.15539176e-01 7.88102952e-01 -2.29352546e-03 9.59391034e+01] [ 3.82253537e-03 -7.53855562e-05 9.99992691e-01 7.56777046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.44, Y:95.95, Z:0.76 [[ 7.88601206e-01 -6.14897332e-01 -3.06745902e-03 1.14437450e+02] [ 6.14893103e-01 7.88607167e-01 -2.28209373e-03 9.59546992e+01] [ 3.82227352e-03 -8.64975299e-05 9.99992691e-01 7.57611313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:95.97, Z:0.76 [[ 7.88238069e-01 -6.15362854e-01 -3.05033719e-03 1.14459284e+02] [ 6.15358540e-01 7.88243969e-01 -2.30507416e-03 9.59713745e+01] [ 3.82286691e-03 -6.01038393e-05 9.99992691e-01 7.57105539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.48, Y:95.99, Z:0.76 [[ 7.87481402e-01 -6.16330881e-01 -3.04729915e-03 1.14481796e+02] [ 6.16326558e-01 7.87487296e-01 -2.30914947e-03 9.59893495e+01] [ 3.82290950e-03 -5.97191338e-05 9.99992691e-01 7.59969954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.50, Y:96.01, Z:0.76 [[ 7.87358498e-01 -6.16487820e-01 -3.05985075e-03 1.14502990e+02] [ 6.16483564e-01 7.87364440e-01 -2.29230821e-03 9.60077068e+01] [ 3.82239776e-03 -8.14793455e-05 9.99992691e-01 7.59929871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:96.03, Z:0.76 [[ 7.86431503e-01 -6.17669936e-01 -3.05630156e-03 1.14525548e+02] [ 6.17665670e-01 7.86437438e-01 -2.29706929e-03 9.60274225e+01] [ 3.82242061e-03 -8.12848967e-05 9.99992691e-01 7.59768926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.55, Y:96.04, Z:0.76 [[ 7.86843515e-01 -6.17144950e-01 -3.06487297e-03 1.14546912e+02] [ 6.17140725e-01 7.86849479e-01 -2.28557533e-03 9.60441098e+01] [ 3.82212498e-03 -9.30678010e-05 9.99992691e-01 7.59602513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.57, Y:96.06, Z:0.76 [[ 7.87184572e-01 -6.16709903e-01 -3.05699279e-03 1.14568603e+02] [ 6.16705633e-01 7.87190504e-01 -2.29613490e-03 9.60610406e+01] [ 3.82248482e-03 -7.77827060e-05 9.99992691e-01 7.59553576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:96.08, Z:0.76 [[ 7.86123566e-01 -6.18061822e-01 -3.05356065e-03 1.14591762e+02] [ 6.18057544e-01 7.86129492e-01 -2.30073706e-03 9.60802451e+01] [ 3.82249182e-03 -7.86125768e-05 9.99992691e-01 7.57981988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.61, Y:96.10, Z:0.76 [[ 7.87239004e-01 -6.16640389e-01 -3.06274712e-03 1.14613529e+02] [ 6.16636149e-01 7.87244957e-01 -2.28842320e-03 9.60955608e+01] [ 3.82226640e-03 -8.70645855e-05 9.99992691e-01 7.59566376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.64, Y:96.11, Z:0.76 [[ 7.86377213e-01 -6.17739095e-01 -3.04793573e-03 1.14636792e+02] [ 6.17734786e-01 7.86383117e-01 -2.30823979e-03 9.61139653e+01] [ 3.82273516e-03 -6.76687552e-05 9.99992691e-01 7.59480104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.66, Y:96.13, Z:0.76 [[ 7.88054951e-01 -6.15597276e-01 -3.06397795e-03 1.14657381e+02] [ 6.15593035e-01 7.88060903e-01 -2.28677849e-03 9.61297297e+01] [ 3.82233584e-03 -8.40563732e-05 9.99992691e-01 7.59352020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:96.15, Z:0.76 [[ 7.88506290e-01 -6.15019165e-01 -3.04259676e-03 1.14679440e+02] [ 6.15014808e-01 7.88512159e-01 -2.31536024e-03 9.61470632e+01] [ 3.82311546e-03 -4.55659553e-05 9.99992691e-01 7.58900792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.70, Y:96.17, Z:0.76 [[ 7.87856753e-01 -6.15851024e-01 -3.04182288e-03 1.14703462e+02] [ 6.15846670e-01 7.87862624e-01 -2.31639501e-03 9.61666362e+01] [ 3.82309280e-03 -4.83090371e-05 9.99992691e-01 7.58920767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.72, Y:96.18, Z:0.76 [[ 7.88891520e-01 -6.14524865e-01 -3.05944779e-03 1.14723970e+02] [ 6.14520592e-01 7.88897449e-01 -2.29282998e-03 9.61834423e+01] [ 3.82259159e-03 -7.12995445e-05 9.99992691e-01 7.57918928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.75, Y:96.20, Z:0.76 [[ 7.88627774e-01 -6.14863335e-01 -3.05175554e-03 1.14747777e+02] [ 6.14859024e-01 7.88633677e-01 -2.30311052e-03 9.62022261e+01] [ 3.82281540e-03 -6.01025113e-05 9.99992691e-01 7.57098205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.77, Y:96.22, Z:0.76 [[ 7.88863925e-01 -6.14560279e-01 -3.06125014e-03 1.14769057e+02] [ 6.14556016e-01 7.88869861e-01 -2.29042055e-03 9.62183878e+01] [ 3.82252947e-03 -7.44795441e-05 9.99992691e-01 7.56725574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.79, Y:96.24, Z:0.76 [[ 7.89195131e-01 -6.14134902e-01 -3.06075318e-03 1.14791208e+02] [ 6.14130632e-01 7.89201063e-01 -2.29108446e-03 9.62350974e+01] [ 3.82258459e-03 -7.15895913e-05 9.99992691e-01 7.57309812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.81, Y:96.25, Z:0.75 [[ 7.87636471e-01 -6.16132636e-01 -3.06001689e-03 1.14807374e+02] [ 6.16128378e-01 7.87642411e-01 -2.29206744e-03 9.62526141e+01] [ 3.82241664e-03 -8.00473336e-05 9.99992691e-01 7.51874701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.83, Y:96.27, Z:0.76 [[ 7.88902996e-01 -6.14510270e-01 -3.03158348e-03 1.14834770e+02] [ 6.14505854e-01 7.88908821e-01 -2.32993325e-03 9.62694736e+01] [ 3.82341086e-03 -2.48344750e-05 9.99992690e-01 7.58529550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.86, Y:96.29, Z:0.76 [[ 7.88424915e-01 -6.15123405e-01 -3.05773696e-03 1.14856253e+02] [ 6.15119127e-01 7.88430842e-01 -2.29508527e-03 9.62868843e+01] [ 3.82257479e-03 -7.13700748e-05 9.99992691e-01 7.55753292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:114.88, Y:96.31, Z:0.76 [[ 7.86956658e-01 -6.17000741e-01 -3.05020496e-03 1.14877346e+02] [ 6.16996439e-01 7.86962566e-01 -2.30511513e-03 9.63052118e+01] [ 3.82265487e-03 -6.79399020e-05 9.99992691e-01 7.55723910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.90, Y:96.32, Z:0.76 [[ 7.87153887e-01 -6.16749115e-01 -3.04747563e-03 1.14901697e+02] [ 6.16744797e-01 7.87159784e-01 -2.30874545e-03 9.63228291e+01] [ 3.82276697e-03 -6.21767862e-05 9.99992691e-01 7.56779367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.93, Y:96.34, Z:0.76 [[ 7.88353432e-01 -6.15215026e-01 -3.05582021e-03 1.14927331e+02] [ 6.15210739e-01 7.88359352e-01 -2.29765014e-03 9.63388884e+01] [ 3.82263333e-03 -6.86130361e-05 9.99992691e-01 7.56115392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.95, Y:96.36, Z:0.76 [[ 7.88771863e-01 -6.14678417e-01 -3.06451650e-03 1.14948359e+02] [ 6.14674171e-01 7.88777812e-01 -2.28609123e-03 9.63552293e+01] [ 3.82243357e-03 -8.04746994e-05 9.99992691e-01 7.59239918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.98, Y:96.37, Z:0.76 [[ 7.89575204e-01 -6.13646233e-01 -3.04933435e-03 1.14975039e+02] [ 6.13641901e-01 7.89581090e-01 -2.30625640e-03 9.63733368e+01] [ 3.82292229e-03 -5.02364557e-05 9.99992691e-01 7.57637698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.00, Y:96.39, Z:0.76 [[ 7.87483313e-01 -6.16328303e-01 -3.07500683e-03 1.14995533e+02] [ 6.16324123e-01 7.87489309e-01 -2.27222557e-03 9.63920872e+01] [ 3.82197194e-03 -1.05861169e-04 9.99992691e-01 7.56378377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.02, Y:96.41, Z:0.76 [[ 7.89329331e-01 -6.13962319e-01 -3.07877448e-03 1.15018121e+02] [ 6.13958141e-01 7.89335328e-01 -2.26723269e-03 9.64059302e+01] [ 3.82218090e-03 -1.00645391e-04 9.99992690e-01 7.56100305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.04, Y:96.42, Z:0.76 [[ 7.87818018e-01 -6.15900481e-01 -3.06087772e-03 1.15038110e+02] [ 6.15896225e-01 7.87823960e-01 -2.29091283e-03 9.64239720e+01] [ 3.82240712e-03 -8.03606353e-05 9.99992691e-01 7.57916139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.06, Y:96.44, Z:0.76 [[ 7.88191318e-01 -6.15422739e-01 -3.04931782e-03 1.15062614e+02] [ 6.15418421e-01 7.88197214e-01 -2.30619765e-03 9.64414687e+01] [ 3.82275029e-03 -5.88813909e-05 9.99992692e-01 7.57581825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.08, Y:96.46, Z:0.76 [[ 7.88635143e-01 -6.14853857e-01 -3.05703605e-03 1.15083841e+02] [ 6.14849574e-01 7.88641065e-01 -2.29599523e-03 9.64573687e+01] [ 3.82260569e-03 -6.89147885e-05 9.99992691e-01 7.56897787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.11, Y:96.47, Z:0.76 [[ 7.88481117e-01 -6.15051380e-01 -3.05423897e-03 1.15105908e+02] [ 6.15047084e-01 7.88487030e-01 -2.29969005e-03 9.64741016e+01] [ 3.82265535e-03 -6.52385974e-05 9.99992692e-01 7.57057140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:96.49, Z:0.76 [[ 7.89002366e-01 -6.14382569e-01 -3.05390790e-03 1.15126958e+02] [ 6.14378266e-01 7.89008273e-01 -2.30012704e-03 9.64899818e+01] [ 3.82271656e-03 -6.14489645e-05 9.99992692e-01 7.56424945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.15, Y:96.51, Z:0.76 [[ 7.89384848e-01 -6.13891113e-01 -3.04362815e-03 1.15149390e+02] [ 6.13886754e-01 7.89390714e-01 -2.31368140e-03 9.65072315e+01] [ 3.82296025e-03 -4.20579668e-05 9.99992692e-01 7.58029997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.17, Y:96.53, Z:0.76 [[ 7.89285359e-01 -6.14019030e-01 -3.04200123e-03 1.15172900e+02] [ 6.14014664e-01 7.89291220e-01 -2.31582547e-03 9.65255099e+01] [ 3.82298577e-03 -3.99862262e-05 9.99992692e-01 7.56627356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.20, Y:96.54, Z:0.76 [[ 7.89204205e-01 -6.14123301e-01 -3.04859002e-03 1.15195242e+02] [ 6.14118969e-01 7.89210092e-01 -2.30714259e-03 9.65425123e+01] [ 3.82284803e-03 -5.13903213e-05 9.99992692e-01 7.57209192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.22, Y:96.56, Z:0.76 [[ 7.89991513e-01 -6.13110189e-01 -3.05067965e-03 1.15221558e+02] [ 6.13105860e-01 7.89997401e-01 -2.30439057e-03 9.65597850e+01] [ 3.82287434e-03 -4.99405808e-05 9.99992692e-01 7.57668827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.24, Y:96.58, Z:0.76 [[ 7.88766782e-01 -6.14684918e-01 -3.06860224e-03 1.15241496e+02] [ 6.14680692e-01 7.88772746e-01 -2.28085259e-03 9.65775500e+01] [ 3.82243550e-03 -8.71497899e-05 9.99992691e-01 7.57367550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.27, Y:96.59, Z:0.75 [[ 7.89856692e-01 -6.13283851e-01 -3.05362603e-03 1.15267876e+02] [ 6.13279539e-01 7.89862592e-01 -2.30050128e-03 9.65934476e+01] [ 3.82280526e-03 -5.56600299e-05 9.99992692e-01 7.53589603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.29, Y:96.61, Z:0.76 [[ 7.89505762e-01 -6.13735432e-01 -3.07751078e-03 1.15286430e+02] [ 6.13731244e-01 7.89511755e-01 -2.26915560e-03 9.66066868e+01] [ 3.82239212e-03 -9.72531031e-05 9.99992690e-01 7.59388252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.632755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:115.31, Y:96.63, Z:0.76 [[ 7.86047033e-01 -6.18159224e-01 -3.03889467e-03 1.15307706e+02] [ 6.18154874e-01 7.86052906e-01 -2.31974323e-03 9.66289378e+01] [ 3.82270266e-03 -5.50802656e-05 9.99992692e-01 7.56898899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.662755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.33, Y:96.64, Z:0.76 [[ 7.86593548e-01 -6.17463594e-01 -3.04967979e-03 1.15328776e+02] [ 6.17459293e-01 7.86599457e-01 -2.30561447e-03 9.66444559e+01] [ 3.82250946e-03 -6.94716672e-05 9.99992692e-01 7.55649374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.36, Y:96.66, Z:0.76 [[ 7.87161842e-01 -6.16739024e-01 -3.03487594e-03 1.15357816e+02] [ 6.16734643e-01 7.87167692e-01 -2.32499399e-03 9.66641672e+01] [ 3.82287081e-03 -4.15665741e-05 9.99992692e-01 7.55993988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.38, Y:96.68, Z:0.76 [[ 7.85369343e-01 -6.19019817e-01 -3.07584557e-03 1.15381482e+02] [ 6.19015661e-01 7.85375357e-01 -2.27165240e-03 9.66846502e+01] [ 3.82189117e-03 -1.19910419e-04 9.99992689e-01 7.55600483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.40, Y:96.70, Z:0.76 [[ 7.84198264e-01 -6.20502731e-01 -3.07301236e-03 1.15403731e+02] [ 6.20498572e-01 7.84204275e-01 -2.27531900e-03 9.67022278e+01] [ 3.82171108e-03 -1.22498566e-04 9.99992690e-01 7.58792934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.42, Y:96.72, Z:0.76 [[ 7.83927557e-01 -6.20844732e-01 -3.06672699e-03 1.15422546e+02] [ 6.20840543e-01 7.83933547e-01 -2.28344397e-03 9.67175924e+01] [ 3.82177433e-03 -1.13893802e-04 9.99992691e-01 7.56992567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.45, Y:96.73, Z:0.76 [[ 7.84934794e-01 -6.19570858e-01 -3.05306199e-03 1.15448407e+02] [ 6.19566590e-01 7.84940727e-01 -2.30113805e-03 9.67344995e+01] [ 3.82219077e-03 -8.53318908e-05 9.99992692e-01 7.55429024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.47, Y:96.76, Z:0.76 [[ 7.83626844e-01 -6.21224299e-01 -3.05606949e-03 1.15468522e+02] [ 6.21220059e-01 7.83632797e-01 -2.29726280e-03 9.67560894e+01] [ 3.82195175e-03 -9.82948718e-05 9.99992691e-01 7.58467331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.49, Y:96.77, Z:0.76 [[ 7.83588160e-01 -6.21273091e-01 -3.05664657e-03 1.15486639e+02] [ 6.21268854e-01 7.83594115e-01 -2.29651958e-03 9.67725491e+01] [ 3.82193608e-03 -9.94737634e-05 9.99992691e-01 7.55278872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.50, Y:96.79, Z:0.76 [[ 7.83105528e-01 -6.21881418e-01 -3.03881699e-03 1.15504463e+02] [ 6.21877097e-01 7.83111420e-01 -2.31951922e-03 9.67898996e+01] [ 3.82219819e-03 -7.33423712e-05 9.99992693e-01 7.58351356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.53, Y:96.81, Z:0.76 [[ 7.82939935e-01 -6.22090010e-01 -3.01292522e-03 1.15526888e+02] [ 6.22085562e-01 7.82945731e-01 -2.35288060e-03 9.68075814e+01] [ 3.82266046e-03 -3.21330943e-05 9.99992693e-01 7.58449132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.55, Y:96.83, Z:0.76 [[ 7.83447444e-01 -6.21450747e-01 -3.01209900e-03 1.15549099e+02] [ 6.21446289e-01 7.83453233e-01 -2.35394455e-03 9.68269340e+01] [ 3.82269929e-03 -2.76659059e-05 9.99992693e-01 7.58702285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.57, Y:96.85, Z:0.76 [[ 7.83576915e-01 -6.21287470e-01 -3.01631326e-03 1.15571515e+02] [ 6.21283032e-01 7.83582720e-01 -2.34852050e-03 9.68456937e+01] [ 3.82263731e-03 -3.37377992e-05 9.99992693e-01 7.58940860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.59, Y:96.86, Z:0.76 [[ 7.83787421e-01 -6.21021879e-01 -3.01744768e-03 1.15591766e+02] [ 6.21017444e-01 7.83793228e-01 -2.34706076e-03 9.68643022e+01] [ 3.82263114e-03 -3.42909451e-05 9.99992693e-01 7.58047087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.61, Y:96.88, Z:0.76 [[ 7.84181739e-01 -6.20523907e-01 -3.01350403e-03 1.15613161e+02] [ 6.20519450e-01 7.84187529e-01 -2.35213545e-03 9.68823982e+01] [ 3.82270856e-03 -2.54361962e-05 9.99992693e-01 7.58644916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.64, Y:96.90, Z:0.76 [[ 7.83763509e-01 -6.21052085e-01 -3.01167102e-03 1.15635192e+02] [ 6.21047622e-01 7.83769294e-01 -2.35449294e-03 9.69016422e+01] [ 3.82271802e-03 -2.50254805e-05 9.99992693e-01 7.58944309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.66, Y:96.92, Z:0.76 [[ 7.84098070e-01 -6.20629596e-01 -3.02013881e-03 1.15656865e+02] [ 6.20625172e-01 7.84103885e-01 -2.34360023e-03 9.69202169e+01] [ 3.82261024e-03 -3.67617578e-05 9.99992693e-01 7.57224592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.68, Y:96.94, Z:0.76 [[ 7.84008206e-01 -6.20743087e-01 -3.02547765e-03 1.15678073e+02] [ 6.20738690e-01 7.84014042e-01 -2.33673322e-03 9.69376301e+01] [ 3.82252795e-03 -4.60130110e-05 9.99992693e-01 7.57650568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.172755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:115.70, Y:96.96, Z:0.76 [[ 7.83815670e-01 -6.20986203e-01 -3.02179681e-03 1.15699045e+02] [ 6.20981790e-01 7.83821494e-01 -2.34146518e-03 9.69553397e+01] [ 3.82256686e-03 -4.12036952e-05 9.99992693e-01 7.57332285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.72, Y:96.97, Z:0.76 [[ 7.82319881e-01 -6.22869557e-01 -3.01981924e-03 1.15720765e+02] [ 6.22865148e-01 7.82325707e-01 -2.34400551e-03 9.69749401e+01] [ 3.82249190e-03 -4.71780417e-05 9.99992693e-01 7.56536868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.75, Y:96.99, Z:0.75 [[ 7.82313021e-01 -6.22878160e-01 -3.02233660e-03 1.15748344e+02] [ 6.22873764e-01 7.82318858e-01 -2.34077291e-03 9.69942316e+01] [ 3.82244724e-03 -5.13170507e-05 9.99992693e-01 7.53846450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.76, Y:97.01, Z:0.76 [[ 7.81559241e-01 -6.23823552e-01 -3.05437488e-03 1.15764842e+02] [ 6.23819322e-01 7.81565202e-01 -2.29964884e-03 9.70094787e+01] [ 3.82176822e-03 -1.08066269e-04 9.99992691e-01 7.57240724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.79, Y:97.03, Z:0.76 [[ 7.77485009e-01 -6.28894270e-01 -3.00973939e-03 1.15789495e+02] [ 6.28889857e-01 7.77490832e-01 -2.35685242e-03 9.70330329e+01] [ 3.82225576e-03 -6.03771490e-05 9.99992693e-01 7.57142923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.81, Y:97.05, Z:0.76 [[ 7.76685521e-01 -6.29881215e-01 -3.04244645e-03 1.15809595e+02] [ 6.29876972e-01 7.76691471e-01 -2.31496297e-03 9.70492949e+01] [ 3.82119389e-03 -1.18368739e-04 9.99992692e-01 7.59349467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.83, Y:97.07, Z:0.76 [[ 7.75460152e-01 -6.31389299e-01 -3.01756358e-03 1.15829847e+02] [ 6.31384943e-01 7.75466019e-01 -2.34679044e-03 9.70667886e+01] [ 3.82175639e-03 -8.54017372e-05 9.99992693e-01 7.60601430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.85, Y:97.08, Z:0.76 [[ 7.72390746e-01 -6.35140513e-01 -3.01068442e-03 1.15852024e+02] [ 6.35136151e-01 7.72396608e-01 -2.35558274e-03 9.70845965e+01] [ 3.82156846e-03 -9.27642030e-05 9.99992693e-01 7.61329412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.87, Y:97.10, Z:0.76 [[ 7.70433277e-01 -6.37513497e-01 -3.01771934e-03 1.15872313e+02] [ 6.37509189e-01 7.70439178e-01 -2.34659527e-03 9.71027017e+01] [ 3.82095537e-03 -1.15928730e-04 9.99992693e-01 7.62195646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.89, Y:97.12, Z:0.76 [[ 7.69581870e-01 -6.38541062e-01 -3.00943614e-03 1.15894961e+02] [ 6.38536721e-01 7.69587747e-01 -2.35717038e-03 9.71201204e+01] [ 3.82117526e-03 -1.07599897e-04 9.99992693e-01 7.62589734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.92, Y:97.14, Z:0.76 [[ 7.68669387e-01 -6.39639196e-01 -3.01206827e-03 1.15915838e+02] [ 6.39634876e-01 7.68675279e-01 -2.35381179e-03 9.71381692e+01] [ 3.82089270e-03 -1.17320850e-04 9.99992693e-01 7.63581590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.94, Y:97.16, Z:0.76 [[ 7.68523332e-01 -6.39814691e-01 -3.00816310e-03 1.15936592e+02] [ 6.39810353e-01 7.68529211e-01 -2.35879267e-03 9.71554907e+01] [ 3.82105142e-03 -1.11866691e-04 9.99992694e-01 7.63638653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.96, Y:97.18, Z:0.76 [[ 7.70300956e-01 -6.37673419e-01 -3.00795048e-03 1.15963911e+02] [ 6.37669064e-01 7.70306822e-01 -2.35906378e-03 9.71759012e+01] [ 3.82135704e-03 -1.00887878e-04 9.99992694e-01 7.63859556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.98, Y:97.19, Z:0.76 [[ 7.70149197e-01 -6.37856479e-01 -3.05381275e-03 1.15980150e+02] [ 6.37852356e-01 7.70155232e-01 -2.30031473e-03 9.71926610e+01] [ 3.81918052e-03 -1.76296109e-04 9.99992691e-01 7.64746570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.00, Y:97.21, Z:0.77 [[ 7.71036885e-01 -6.36783328e-01 -3.01918603e-03 1.16001014e+02] [ 6.36779022e-01 7.71042787e-01 -2.34460417e-03 9.72107931e+01] [ 3.82092646e-03 -1.14778028e-04 9.99992694e-01 7.65246235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.02, Y:97.23, Z:0.76 [[ 7.71168106e-01 -6.36624442e-01 -3.01205197e-03 1.16019808e+02] [ 6.36620099e-01 7.71173981e-01 -2.35372093e-03 9.72292273e+01] [ 3.82125238e-03 -1.02418318e-04 9.99992694e-01 7.63488020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.04, Y:97.25, Z:0.76 [[ 7.71671687e-01 -6.36014018e-01 -2.99619210e-03 1.16042575e+02] [ 6.36009592e-01 7.71677500e-01 -2.37397325e-03 9.72483382e+01] [ 3.82197430e-03 -7.36789711e-05 9.99992694e-01 7.63070053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.06, Y:97.27, Z:0.76 [[ 7.72381344e-01 -6.35151934e-01 -3.01336195e-03 1.16063397e+02] [ 6.35147587e-01 7.72387216e-01 -2.35204455e-03 9.72653488e+01] [ 3.82138789e-03 -9.72542407e-05 9.99992694e-01 7.63738842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.09, Y:97.28, Z:0.76 [[ 7.73522913e-01 -6.33761219e-01 -3.00329879e-03 1.16085368e+02] [ 6.33756811e-01 7.73528740e-01 -2.36488828e-03 9.72830283e+01] [ 3.82191241e-03 -7.40657898e-05 9.99992694e-01 7.64897961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.11, Y:97.30, Z:0.77 [[ 7.72711162e-01 -6.34750694e-01 -3.00263827e-03 1.16108940e+02] [ 6.34746290e-01 7.72716992e-01 -2.36573086e-03 9.73021914e+01] [ 3.82183892e-03 -7.78868588e-05 9.99992694e-01 7.65885005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.13, Y:97.32, Z:0.77 [[ 7.72570271e-01 -6.34922110e-01 -3.01509177e-03 1.16129693e+02] [ 6.34917770e-01 7.72576148e-01 -2.34984233e-03 9.73203321e+01] [ 3.82135484e-03 -9.89170185e-05 9.99992694e-01 7.66850800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.15, Y:97.34, Z:0.77 [[ 7.72065581e-01 -6.35535730e-01 -3.01222861e-03 1.16150015e+02] [ 6.35531380e-01 7.72071451e-01 -2.35349353e-03 9.73379589e+01] [ 3.82138495e-03 -9.73144574e-05 9.99992694e-01 7.67654753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.17, Y:97.36, Z:0.77 [[ 7.72423979e-01 -6.35100111e-01 -3.00757802e-03 1.16171734e+02] [ 6.35095734e-01 7.72429829e-01 -2.35942169e-03 9.73556886e+01] [ 3.82161195e-03 -8.76260839e-05 9.99992694e-01 7.67790521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.19, Y:97.37, Z:0.77 [[ 7.72508665e-01 -6.34997128e-01 -3.00177735e-03 1.16191647e+02] [ 6.34992722e-01 7.72514493e-01 -2.36681024e-03 9.73735895e+01] [ 3.82183421e-03 -7.77253514e-05 9.99992694e-01 7.69961030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.21, Y:97.39, Z:0.77 [[ 7.72254728e-01 -6.35305942e-01 -2.99921883e-03 1.16213120e+02] [ 6.35301525e-01 7.72260548e-01 -2.37006905e-03 9.73915148e+01] [ 3.82189733e-03 -7.51112711e-05 9.99992694e-01 7.70883552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.24, Y:97.41, Z:0.77 [[ 7.72202584e-01 -6.35369298e-01 -3.00408062e-03 1.16235721e+02] [ 6.35364906e-01 7.72208423e-01 -2.36387765e-03 9.74100131e+01] [ 3.82171164e-03 -8.32949657e-05 9.99992694e-01 7.71389681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.952755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:116.26, Y:97.43, Z:0.77 [[ 7.72999159e-01 -6.34399924e-01 -3.00607903e-03 1.16256424e+02] [ 6.34395535e-01 7.73005000e-01 -2.36133358e-03 9.74272953e+01] [ 3.82174397e-03 -8.17342435e-05 9.99992694e-01 7.72622683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.28, Y:97.45, Z:0.77 [[ 7.72875188e-01 -6.34551008e-01 -2.99375099e-03 1.16277057e+02] [ 6.34546559e-01 7.72880984e-01 -2.37701591e-03 9.74468651e+01] [ 3.82215105e-03 -6.25377722e-05 9.99992694e-01 7.72600924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.30, Y:97.47, Z:0.77 [[ 7.71785864e-01 -6.35875467e-01 -2.99509925e-03 1.16298397e+02] [ 6.35871034e-01 7.71791673e-01 -2.37530133e-03 9.74672447e+01] [ 3.82198850e-03 -7.12728657e-05 9.99992694e-01 7.73022605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.32, Y:97.49, Z:0.77 [[ 7.70272796e-01 -6.37707449e-01 -3.00478945e-03 1.16316437e+02] [ 6.37703078e-01 7.70278651e-01 -2.36297917e-03 9.74861670e+01] [ 3.82141458e-03 -9.60249131e-05 9.99992694e-01 7.70397147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.34, Y:97.50, Z:0.77 [[ 7.71312493e-01 -6.36449625e-01 -2.98547528e-03 1.16341367e+02] [ 6.36445149e-01 7.71318269e-01 -2.38751019e-03 9.75028922e+01] [ 3.82228159e-03 -5.85748251e-05 9.99992693e-01 7.73388963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.36, Y:97.52, Z:0.77 [[ 7.70828434e-01 -6.37035715e-01 -3.00370586e-03 1.16362482e+02] [ 6.37031334e-01 7.70834281e-01 -2.36434979e-03 9.75207036e+01] [ 3.82153471e-03 -9.09467039e-05 9.99992694e-01 7.73915042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.38, Y:97.54, Z:0.77 [[ 7.70992671e-01 -6.36836936e-01 -3.00298639e-03 1.16382462e+02] [ 6.36832550e-01 7.70998514e-01 -2.36526324e-03 9.75386182e+01] [ 3.82158504e-03 -8.87988520e-05 9.99992694e-01 7.74685783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.40, Y:97.56, Z:0.77 [[ 7.70503328e-01 -6.37428902e-01 -3.00267765e-03 1.16401902e+02] [ 6.37424519e-01 7.70509174e-01 -2.36565512e-03 9.75576088e+01] [ 3.82152762e-03 -9.12352074e-05 9.99992694e-01 7.71959836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:97.58, Z:0.77 [[ 7.70687899e-01 -6.37205783e-01 -2.99195738e-03 1.16423268e+02] [ 6.37201345e-01 7.70693704e-01 -2.37926233e-03 9.75754633e+01] [ 3.82196243e-03 -7.28105861e-05 9.99992694e-01 7.71506970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.44, Y:97.59, Z:0.77 [[ 7.71515646e-01 -6.36203327e-01 -2.98899911e-03 1.16444812e+02] [ 6.36198868e-01 7.71521433e-01 -2.38301281e-03 9.75937944e+01] [ 3.82215756e-03 -6.30661784e-05 9.99992694e-01 7.71073196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.47, Y:97.61, Z:0.77 [[ 7.71963452e-01 -6.35659879e-01 -2.99118421e-03 1.16466078e+02] [ 6.35655426e-01 7.71969244e-01 -2.38024305e-03 9.76114131e+01] [ 3.82212722e-03 -6.39018342e-05 9.99992694e-01 7.71093007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.49, Y:97.63, Z:0.77 [[ 7.73364635e-01 -6.33954423e-01 -2.98836720e-03 1.16489012e+02] [ 6.33949943e-01 7.73370407e-01 -2.38381196e-03 9.76295093e+01] [ 3.82234289e-03 -5.09193530e-05 9.99992694e-01 7.73800420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.51, Y:97.65, Z:0.77 [[ 7.74096281e-01 -6.33060775e-01 -3.00061604e-03 1.16510612e+02] [ 6.33056348e-01 7.74102093e-01 -2.36829594e-03 9.76476035e+01] [ 3.82205843e-03 -6.62699532e-05 9.99992694e-01 7.72760670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:97.67, Z:0.77 [[ 7.74614059e-01 -6.32427118e-01 -3.00016687e-03 1.16532118e+02] [ 6.32422684e-01 7.74619866e-01 -2.36886482e-03 9.76655244e+01] [ 3.82212321e-03 -6.24175931e-05 9.99992694e-01 7.72871815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.55, Y:97.69, Z:0.77 [[ 7.74101810e-01 -6.33054019e-01 -2.99944017e-03 1.16554617e+02] [ 6.33049587e-01 7.74107618e-01 -2.36978461e-03 9.76864231e+01] [ 3.82209116e-03 -6.43398014e-05 9.99992694e-01 7.73547279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:116.58, Y:97.70, Z:0.77 [[ 7.75529042e-01 -6.31304665e-01 -3.02055752e-03 1.16575020e+02] [ 6.31300324e-01 7.75534920e-01 -2.34307286e-03 9.77021330e+01] [ 3.82174066e-03 -8.97578837e-05 9.99992693e-01 7.73560731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.60, Y:97.72, Z:0.77 [[ 7.75417193e-01 -6.31442152e-01 -2.99755941e-03 1.16596812e+02] [ 6.31437699e-01 7.75422985e-01 -2.37213454e-03 9.77195013e+01] [ 3.82224220e-03 -5.33781119e-05 9.99992694e-01 7.74414062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.62, Y:97.74, Z:0.77 [[ 7.75192404e-01 -6.31718099e-01 -2.99679890e-03 1.16617790e+02] [ 6.31713644e-01 7.75198195e-01 -2.37309493e-03 9.77359885e+01] [ 3.82224011e-03 -5.35135840e-05 9.99992694e-01 7.74716987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.64, Y:97.75, Z:0.78 [[ 7.74474621e-01 -6.32597885e-01 -2.99628259e-03 1.16638665e+02] [ 6.32593434e-01 7.74480415e-01 -2.37374664e-03 9.77527066e+01] [ 3.82218929e-03 -5.70221624e-05 9.99992694e-01 7.75067175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.66, Y:97.77, Z:0.78 [[ 7.73772046e-01 -6.33457059e-01 -2.99578196e-03 1.16660481e+02] [ 6.33452612e-01 7.73777843e-01 -2.37437829e-03 9.77700713e+01] [ 3.82213640e-03 -6.04583626e-05 9.99992694e-01 7.75341170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.68, Y:97.79, Z:0.78 [[ 7.73090117e-01 -6.34289130e-01 -2.99504473e-03 1.16682146e+02] [ 6.34284686e-01 7.73095916e-01 -2.37530787e-03 9.77867855e+01] [ 3.82208881e-03 -6.33839706e-05 9.99992694e-01 7.75545368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.70, Y:97.80, Z:0.78 [[ 7.72133605e-01 -6.35453167e-01 -2.99472588e-03 1.16703798e+02] [ 6.35448730e-01 7.72139409e-01 -2.37570981e-03 9.78038662e+01] [ 3.82199819e-03 -6.86293764e-05 9.99992694e-01 7.75951673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.73, Y:97.82, Z:0.78 [[ 7.70559483e-01 -6.37361059e-01 -2.99401023e-03 1.16726146e+02] [ 6.37356633e-01 7.70565296e-01 -2.37661137e-03 9.78214356e+01] [ 3.82183991e-03 -7.69318523e-05 9.99992694e-01 7.76052782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.75, Y:97.84, Z:0.78 [[ 7.69899147e-01 -6.38158557e-01 -2.99328028e-03 1.16748079e+02] [ 6.38154133e-01 7.69904961e-01 -2.37753037e-03 9.78385966e+01] [ 3.82178268e-03 -7.97155807e-05 9.99992694e-01 7.75555507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.77, Y:97.86, Z:0.78 [[ 7.68386265e-01 -6.39979391e-01 -2.98771721e-03 1.16770626e+02] [ 6.39974954e-01 7.68392070e-01 -2.38452910e-03 9.78557001e+01] [ 3.82178769e-03 -7.98247720e-05 9.99992694e-01 7.75179436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.79, Y:97.87, Z:0.77 [[ 7.67738380e-01 -6.40756448e-01 -2.99226388e-03 1.16792896e+02] [ 6.40752039e-01 7.67744206e-01 -2.37880992e-03 9.78732539e+01] [ 3.82153105e-03 -9.09955077e-05 9.99992694e-01 7.74822269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.82, Y:97.89, Z:0.77 [[ 7.67181110e-01 -6.41423570e-01 -2.99143938e-03 1.16815181e+02] [ 6.41419162e-01 7.67186937e-01 -2.37984631e-03 9.78908806e+01] [ 3.82148273e-03 -9.29934102e-05 9.99992694e-01 7.74596821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.84, Y:97.91, Z:0.77 [[ 7.66619279e-01 -6.42094960e-01 -2.99062105e-03 1.16837273e+02] [ 6.42090553e-01 7.66625106e-01 -2.38087422e-03 9.79087796e+01] [ 3.82143251e-03 -9.50254453e-05 9.99992694e-01 7.74467174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.86, Y:97.93, Z:0.77 [[ 7.66593708e-01 -6.42125493e-01 -2.98980430e-03 1.16858593e+02] [ 6.42121082e-01 7.66599532e-01 -2.38189941e-03 9.79255786e+01] [ 3.82146091e-03 -9.38672755e-05 9.99992694e-01 7.74383312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.88, Y:97.94, Z:0.77 [[ 7.66597695e-01 -6.42120735e-01 -2.98947772e-03 1.16879974e+02] [ 6.42116322e-01 7.66603518e-01 -2.38230923e-03 9.79429126e+01] [ 3.82147429e-03 -9.33196691e-05 9.99992694e-01 7.74137799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.90, Y:97.96, Z:0.77 [[ 7.66395314e-01 -6.42362281e-01 -2.98708668e-03 1.16902149e+02] [ 6.42357858e-01 7.66401130e-01 -2.38530812e-03 9.79609026e+01] [ 3.82153857e-03 -9.06896367e-05 9.99992694e-01 7.74246105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.93, Y:97.98, Z:0.77 [[ 7.67206799e-01 -6.41392865e-01 -2.98670991e-03 1.16927176e+02] [ 6.41388433e-01 7.67212608e-01 -2.38578044e-03 9.79796579e+01] [ 3.82166405e-03 -8.52542154e-05 9.99992694e-01 7.72039941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.95, Y:98.00, Z:0.77 [[ 7.67035765e-01 -6.41597293e-01 -3.00815455e-03 1.16945876e+02] [ 6.41592968e-01 7.67041654e-01 -2.35892397e-03 9.79958789e+01] [ 3.82085908e-03 -1.20631756e-04 9.99992693e-01 7.73355309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.97, Y:98.01, Z:0.77 [[ 7.67412264e-01 -6.41147025e-01 -2.98502330e-03 1.16969324e+02] [ 6.41142583e-01 7.67418065e-01 -2.38785809e-03 9.80144773e+01] [ 3.82172891e-03 -8.13539646e-05 9.99992694e-01 7.71409254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.99, Y:98.03, Z:0.77 [[ 7.68432958e-01 -6.39923286e-01 -2.99600666e-03 1.16991318e+02] [ 6.39918889e-01 7.68438793e-01 -2.37412682e-03 9.80320789e+01] [ 3.82150677e-03 -9.28439591e-05 9.99992694e-01 7.71101032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.01, Y:98.05, Z:0.77 [[ 7.68748094e-01 -6.39544682e-01 -2.99460838e-03 1.17013160e+02] [ 6.39540275e-01 7.68753922e-01 -2.37587343e-03 9.80498417e+01] [ 3.82159415e-03 -8.87244893e-05 9.99992694e-01 7.71377073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.03, Y:98.07, Z:0.77 [[ 7.70228527e-01 -6.37760983e-01 -2.99070412e-03 1.17034797e+02] [ 6.37756544e-01 7.70234330e-01 -2.38074778e-03 9.80662776e+01] [ 3.82189103e-03 -7.36212694e-05 9.99992694e-01 7.70526544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.06, Y:98.08, Z:0.77 [[ 7.70484118e-01 -6.37452186e-01 -2.98921773e-03 1.17056215e+02] [ 6.37447737e-01 7.70489913e-01 -2.38260329e-03 9.80838917e+01] [ 3.82195779e-03 -6.97120832e-05 9.99992694e-01 7.71331537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.08, Y:98.10, Z:0.77 [[ 7.70554253e-01 -6.37367429e-01 -2.98378939e-03 1.17077491e+02] [ 6.37362954e-01 7.70560028e-01 -2.38937363e-03 9.81016966e+01] [ 3.82209777e-03 -6.06148018e-05 9.99992694e-01 7.72712620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.10, Y:98.12, Z:0.78 [[ 7.72703237e-01 -6.34760458e-01 -2.97802900e-03 1.17101088e+02] [ 6.34755935e-01 7.72708975e-01 -2.39655277e-03 9.81176691e+01] [ 3.82238667e-03 -3.84975021e-05 9.99992694e-01 7.76471207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.12, Y:98.13, Z:0.78 [[ 7.73596309e-01 -6.33671732e-01 -2.98116903e-03 1.17122410e+02] [ 6.33667216e-01 7.73602052e-01 -2.39264038e-03 9.81343587e+01] [ 3.82238705e-03 -3.81313100e-05 9.99992694e-01 7.76959243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.14, Y:98.15, Z:0.77 [[ 7.72568460e-01 -6.34924519e-01 -2.97160374e-03 1.17144309e+02] [ 6.34919967e-01 7.72574174e-01 -2.40454827e-03 9.81540212e+01] [ 3.82249096e-03 -2.90523940e-05 9.99992694e-01 7.74804855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.17, Y:98.17, Z:0.78 [[ 7.73907833e-01 -6.33291258e-01 -2.97453522e-03 1.17167541e+02] [ 6.33286708e-01 7.73913549e-01 -2.40090020e-03 9.81700642e+01] [ 3.82250222e-03 -2.56581433e-05 9.99992694e-01 7.77948544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.19, Y:98.19, Z:0.78 [[ 7.73793322e-01 -6.33431147e-01 -2.97953889e-03 1.17188707e+02] [ 6.33426621e-01 7.73799057e-01 -2.39467445e-03 9.81870739e+01] [ 3.82242577e-03 -3.43361556e-05 9.99992694e-01 7.77727231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.21, Y:98.20, Z:0.78 [[ 7.73218192e-01 -6.34133071e-01 -2.97928189e-03 1.17211246e+02] [ 6.34128550e-01 7.73223930e-01 -2.39499398e-03 9.82039813e+01] [ 3.82239694e-03 -3.73947946e-05 9.99992694e-01 7.78232533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.23, Y:98.22, Z:0.78 [[ 7.73044404e-01 -6.34344923e-01 -2.97789101e-03 1.17233511e+02] [ 6.34340397e-01 7.73050139e-01 -2.39672213e-03 9.82210895e+01] [ 3.82240757e-03 -3.62239359e-05 9.99992694e-01 7.78931834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.26, Y:98.24, Z:0.78 [[ 7.71159743e-01 -6.36634762e-01 -2.97181435e-03 1.17256596e+02] [ 6.36630223e-01 7.71165468e-01 -2.40426707e-03 9.82375336e+01] [ 3.82240059e-03 -3.78728537e-05 9.99992694e-01 7.78704030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.28, Y:98.25, Z:0.78 [[ 7.70456110e-01 -6.37486095e-01 -2.97686389e-03 1.17278234e+02] [ 6.37481587e-01 7.70461859e-01 -2.39799858e-03 9.82536258e+01] [ 3.82225084e-03 -5.01432595e-05 9.99992694e-01 7.78060187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.30, Y:98.27, Z:0.78 [[ 7.69264769e-01 -6.38923221e-01 -2.97209257e-03 1.17301654e+02] [ 6.38918701e-01 7.69270508e-01 -2.40391958e-03 9.82712570e+01] [ 3.82226320e-03 -4.96748822e-05 9.99992694e-01 7.78761291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.32, Y:98.29, Z:0.78 [[ 7.68402652e-01 -6.39959771e-01 -2.97587235e-03 1.17322879e+02] [ 6.39955276e-01 7.68408412e-01 -2.39923134e-03 9.82872827e+01] [ 3.82209689e-03 -6.08494859e-05 9.99992694e-01 7.78619388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.35, Y:98.30, Z:0.78 [[ 7.66528099e-01 -6.42203876e-01 -2.97555230e-03 1.17345635e+02] [ 6.42199397e-01 7.66533871e-01 -2.39962820e-03 9.83033651e+01] [ 3.82191216e-03 -7.15154495e-05 9.99992694e-01 7.78330369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.37, Y:98.32, Z:0.78 [[ 7.65713560e-01 -6.43174860e-01 -2.97398823e-03 1.17367107e+02] [ 6.43170380e-01 7.65719331e-01 -2.40156648e-03 9.83193061e+01] [ 3.82186746e-03 -7.38691195e-05 9.99992694e-01 7.76596594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.39, Y:98.34, Z:0.78 [[ 7.64384216e-01 -6.44754166e-01 -2.97254479e-03 1.17390682e+02] [ 6.44749692e-01 7.64389991e-01 -2.40335407e-03 9.83357301e+01] [ 3.82175604e-03 -7.94614213e-05 9.99992694e-01 7.76080953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.41, Y:98.35, Z:0.77 [[ 7.63814336e-01 -6.45429172e-01 -2.97371079e-03 1.17412910e+02] [ 6.45424709e-01 7.63820120e-01 -2.40191050e-03 9.83520734e+01] [ 3.82164324e-03 -8.46927430e-05 9.99992694e-01 7.74810623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.44, Y:98.37, Z:0.77 [[ 7.61065237e-01 -6.48668532e-01 -2.97329549e-03 1.17437406e+02] [ 6.48664091e-01 7.61071038e-01 -2.40242434e-03 9.83728610e+01] [ 3.82126616e-03 -1.00268364e-04 9.99992694e-01 7.74401943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.46, Y:98.39, Z:0.77 [[ 7.61820907e-01 -6.47780763e-01 -2.99827819e-03 1.17459169e+02] [ 6.47776436e-01 7.61826795e-01 -2.37160385e-03 9.83859283e+01] [ 3.82044801e-03 -1.35476563e-04 9.99992693e-01 7.74092023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.48, Y:98.40, Z:0.77 [[ 7.61652199e-01 -6.47979258e-01 -2.96806840e-03 1.17481103e+02] [ 6.47974787e-01 7.61657977e-01 -2.40882724e-03 9.84027758e+01] [ 3.82152306e-03 -8.85449306e-05 9.99992694e-01 7.73887481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.662755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:117.50, Y:98.42, Z:0.77 [[ 7.61763708e-01 -6.47848168e-01 -2.96729333e-03 1.17503753e+02] [ 6.47843692e-01 7.61769482e-01 -2.40978163e-03 9.84196695e+01] [ 3.82156612e-03 -8.66580727e-05 9.99992694e-01 7.73897667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.53, Y:98.44, Z:0.77 [[ 7.62138138e-01 -6.47407645e-01 -2.96652311e-03 1.17526473e+02] [ 6.47403161e-01 7.62143907e-01 -2.41072942e-03 9.84354447e+01] [ 3.82164217e-03 -8.32276069e-05 9.99992694e-01 7.74125719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.55, Y:98.45, Z:0.77 [[ 7.62137429e-01 -6.47408482e-01 -2.96575408e-03 1.17549260e+02] [ 6.47403996e-01 7.62143195e-01 -2.41167514e-03 9.84526674e+01] [ 3.82166823e-03 -8.20131488e-05 9.99992694e-01 7.74324402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.57, Y:98.47, Z:0.77 [[ 7.61673771e-01 -6.47953914e-01 -2.96498888e-03 1.17572897e+02] [ 6.47949428e-01 7.61679538e-01 -2.41261553e-03 9.84689925e+01] [ 3.82163503e-03 -8.35368791e-05 9.99992694e-01 7.72239439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.59, Y:98.48, Z:0.77 [[ 7.62491474e-01 -6.46991415e-01 -2.97693186e-03 1.17594978e+02] [ 6.46986978e-01 7.62497279e-01 -2.39793974e-03 9.84849261e+01] [ 3.82134886e-03 -9.76275423e-05 9.99992694e-01 7.74479267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.62, Y:98.50, Z:0.78 [[ 7.62820839e-01 -6.46603110e-01 -2.96395685e-03 1.17617636e+02] [ 6.46598609e-01 7.62826594e-01 -2.41387156e-03 9.84993914e+01] [ 3.82180196e-03 -7.51388502e-05 9.99992694e-01 7.75193155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.64, Y:98.52, Z:0.78 [[ 7.63028351e-01 -6.46358224e-01 -2.96344572e-03 1.17639878e+02] [ 6.46353719e-01 7.63034102e-01 -2.41449889e-03 9.85153536e+01] [ 3.82184136e-03 -7.31030560e-05 9.99992694e-01 7.75582384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.66, Y:98.53, Z:0.78 [[ 7.63746226e-01 -6.45509816e-01 -2.96303280e-03 1.17662700e+02] [ 6.45505302e-01 7.63751971e-01 -2.41500552e-03 9.85313706e+01] [ 3.82193191e-03 -6.82020294e-05 9.99992694e-01 7.75452644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.69, Y:98.55, Z:0.78 [[ 7.63892799e-01 -6.45336390e-01 -2.95549908e-03 1.17687284e+02] [ 6.45331839e-01 7.63898515e-01 -2.42424431e-03 9.85474932e+01] [ 3.82215443e-03 -5.54148891e-05 9.99992694e-01 7.76781989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.71, Y:98.56, Z:0.78 [[ 7.64929727e-01 -6.44106931e-01 -2.96212769e-03 1.17709545e+02] [ 6.44102402e-01 7.64935460e-01 -2.41611772e-03 9.85628376e+01] [ 3.82207468e-03 -5.97532935e-05 9.99992694e-01 7.76768038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.73, Y:98.58, Z:0.78 [[ 7.64428658e-01 -6.44701579e-01 -2.94977708e-03 1.17733642e+02] [ 6.44696996e-01 7.64434348e-01 -2.43124836e-03 9.85784266e+01] [ 3.82234057e-03 -4.31964996e-05 9.99992694e-01 7.77607216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.76, Y:98.59, Z:0.78 [[ 7.64435702e-01 -6.44693175e-01 -2.96109430e-03 1.17756128e+02] [ 6.44688645e-01 7.64441435e-01 -2.41738571e-03 9.85943899e+01] [ 3.82205525e-03 -6.10479276e-05 9.99992694e-01 7.78251032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.78, Y:98.61, Z:0.78 [[ 7.65354791e-01 -6.43601801e-01 -2.96068761e-03 1.17777891e+02] [ 6.43597261e-01 7.65360516e-01 -2.41788371e-03 9.86092538e+01] [ 3.82214770e-03 -5.49515504e-05 9.99992694e-01 7.78765474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.80, Y:98.63, Z:0.78 [[ 7.64308818e-01 -6.44843666e-01 -2.94561301e-03 1.17801218e+02] [ 6.44839065e-01 7.64314494e-01 -2.43632381e-03 9.86269653e+01] [ 3.82242269e-03 -3.73425650e-05 9.99992694e-01 7.79164426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.82, Y:98.64, Z:0.78 [[ 7.64586622e-01 -6.44514188e-01 -2.95957092e-03 1.17823826e+02] [ 6.44509650e-01 7.64592347e-01 -2.41924849e-03 9.86422522e+01] [ 3.82210526e-03 -5.77469859e-05 9.99992694e-01 7.79602813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.84, Y:98.66, Z:0.78 [[ 7.67707548e-01 -6.40793542e-01 -2.95917095e-03 1.17844111e+02] [ 6.40788974e-01 7.67713251e-01 -2.41973763e-03 9.86592638e+01] [ 3.82234699e-03 -3.85532703e-05 9.99992694e-01 7.80100791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.87, Y:98.68, Z:0.78 [[ 7.67741469e-01 -6.40752974e-01 -2.94330589e-03 1.17867689e+02] [ 6.40748332e-01 7.67747111e-01 -2.43913534e-03 9.86803008e+01] [ 3.82259781e-03 -1.32929953e-05 9.99992694e-01 7.80051619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.89, Y:98.70, Z:0.78 [[ 7.69524304e-01 -6.38610640e-01 -2.96587480e-03 1.17888130e+02] [ 6.38606088e-01 7.69530018e-01 -2.41153709e-03 9.86969900e+01] [ 3.82236293e-03 -3.82893061e-05 9.99992694e-01 7.79823019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.91, Y:98.72, Z:0.78 [[ 7.70292954e-01 -6.37683338e-01 -2.95376040e-03 1.17910793e+02] [ 6.37678722e-01 7.70298617e-01 -2.42634219e-03 9.87154041e+01] [ 3.82251554e-03 -1.45558688e-05 9.99992694e-01 7.78217504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.94, Y:98.73, Z:0.78 [[ 7.71945122e-01 -6.35682289e-01 -2.95897085e-03 1.17935907e+02] [ 6.35677683e-01 7.71950793e-01 -2.41997586e-03 9.87337281e+01] [ 3.82251569e-03 -1.28631689e-05 9.99992694e-01 7.77103023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.95, Y:98.75, Z:0.78 [[ 7.71079189e-01 -6.36732305e-01 -2.97583449e-03 1.17954406e+02] [ 6.36727786e-01 7.71084930e-01 -2.39939907e-03 9.87510115e+01] [ 3.82239603e-03 -4.46698196e-05 9.99992694e-01 7.77294694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.98, Y:98.77, Z:0.78 [[ 7.71632716e-01 -6.36061490e-01 -2.95506236e-03 1.17978593e+02] [ 6.36056869e-01 7.71638374e-01 -2.42471461e-03 9.87699453e+01] [ 3.82250710e-03 -8.59859106e-06 9.99992694e-01 7.76111668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.00, Y:98.79, Z:0.78 [[ 7.70518530e-01 -6.37410665e-01 -2.97305664e-03 1.17996202e+02] [ 6.37406138e-01 7.70524264e-01 -2.40278824e-03 9.87880700e+01] [ 3.82237513e-03 -4.36516942e-05 9.99992694e-01 7.76529943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.02, Y:98.81, Z:0.78 [[ 7.70326665e-01 -6.37642614e-01 -2.95387723e-03 1.18019432e+02] [ 6.37637999e-01 7.70332328e-01 -2.42613959e-03 9.88072118e+01] [ 3.82247711e-03 -1.45843461e-05 9.99992694e-01 7.76407152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.04, Y:98.83, Z:0.78 [[ 7.68195258e-01 -6.40208749e-01 -2.96692884e-03 1.18038278e+02] [ 6.40204214e-01 7.68200986e-01 -2.41025317e-03 9.88253258e+01] [ 3.82226282e-03 -4.78952909e-05 9.99992694e-01 7.77689286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.06, Y:98.84, Z:0.78 [[ 7.67256457e-01 -6.41333595e-01 -2.95799329e-03 1.18059192e+02] [ 6.41329026e-01 7.67262158e-01 -2.42112676e-03 9.88428595e+01] [ 3.82230625e-03 -3.94218171e-05 9.99992694e-01 7.76967206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.08, Y:98.86, Z:0.78 [[ 7.66486953e-01 -6.42253092e-01 -2.95242230e-03 1.18082552e+02] [ 6.42248504e-01 7.66492638e-01 -2.42790131e-03 9.88611148e+01] [ 3.82233708e-03 -3.52341301e-05 9.99992694e-01 7.76391474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.10, Y:98.88, Z:0.78 [[ 7.65413889e-01 -6.43531507e-01 -2.96277086e-03 1.18104080e+02] [ 6.43526977e-01 7.65419621e-01 -2.41531848e-03 9.88786521e+01] [ 3.82209649e-03 -5.79046686e-05 9.99992694e-01 7.77665030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.12, Y:98.90, Z:0.78 [[ 7.63352081e-01 -6.45975870e-01 -2.96230725e-03 1.18124004e+02] [ 6.45971356e-01 7.63357826e-01 -2.41588175e-03 9.88958911e+01] [ 3.82190174e-03 -6.93972717e-05 9.99992694e-01 7.79057487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.15, Y:98.92, Z:0.78 [[ 7.61901891e-01 -6.47685729e-01 -2.95044987e-03 1.18147087e+02] [ 6.47681172e-01 7.61907601e-01 -2.43027708e-03 9.89150792e+01] [ 3.82202596e-03 -5.93181302e-05 9.99992694e-01 7.76969107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.17, Y:98.93, Z:0.78 [[ 7.61041639e-01 -6.48696288e-01 -2.95796880e-03 1.18166710e+02] [ 6.48691774e-01 7.61047384e-01 -2.42115125e-03 9.89322935e+01] [ 3.82174625e-03 -7.62131117e-05 9.99992694e-01 7.79756348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.19, Y:98.95, Z:0.78 [[ 7.60956055e-01 -6.48796719e-01 -2.94944859e-03 1.18191709e+02] [ 6.48792166e-01 7.60961769e-01 -2.43148646e-03 9.89509728e+01] [ 3.82195805e-03 -6.33247924e-05 9.99992694e-01 7.77974113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.21, Y:98.97, Z:0.78 [[ 7.59612123e-01 -6.50369613e-01 -2.96466365e-03 1.18210751e+02] [ 6.50365143e-01 7.59617902e-01 -2.41303389e-03 9.89691068e+01] [ 3.82137550e-03 -9.51441086e-05 9.99992694e-01 7.80068446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.24, Y:98.99, Z:0.78 [[ 7.59401789e-01 -6.50615271e-01 -2.94822711e-03 1.18235619e+02] [ 6.50610726e-01 7.59407509e-01 -2.43295153e-03 9.89873679e+01] [ 3.82182122e-03 -7.05604368e-05 9.99992694e-01 7.80006459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.25, Y:99.00, Z:0.78 [[ 7.58032483e-01 -6.52210049e-01 -2.96765367e-03 1.18253718e+02] [ 6.52205608e-01 7.58038284e-01 -2.40940631e-03 9.90047751e+01] [ 3.82103410e-03 -1.09112123e-04 9.99992694e-01 7.80323411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.28, Y:99.02, Z:0.78 [[ 7.57191635e-01 -6.53186147e-01 -2.94707104e-03 1.18275037e+02] [ 6.53181616e-01 7.57197366e-01 -2.43432431e-03 9.90226682e+01] [ 3.82158134e-03 -8.17226233e-05 9.99992694e-01 7.81160434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.30, Y:99.04, Z:0.78 [[ 7.56998647e-01 -6.53409800e-01 -2.94635167e-03 1.18296940e+02] [ 6.53405267e-01 7.57004377e-01 -2.43519468e-03 9.90410042e+01] [ 3.82158118e-03 -8.17226197e-05 9.99992694e-01 7.81269311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.32, Y:99.06, Z:0.78 [[ 7.56248437e-01 -6.54277941e-01 -2.94563203e-03 1.18318600e+02] [ 6.54273412e-01 7.56254169e-01 -2.43606484e-03 9.90592133e+01] [ 3.82151000e-03 -8.49784926e-05 9.99992694e-01 7.81642038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.34, Y:99.08, Z:0.78 [[ 7.56189671e-01 -6.54345863e-01 -2.94486543e-03 1.18342465e+02] [ 6.54341330e-01 7.56195401e-01 -2.43699120e-03 9.90772619e+01] [ 3.82152881e-03 -8.41195888e-05 9.99992694e-01 7.78977741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.36, Y:99.09, Z:0.78 [[ 7.54643367e-01 -6.56128539e-01 -2.95453610e-03 1.18361871e+02] [ 6.56124065e-01 7.54649143e-01 -2.42530525e-03 9.90946558e+01] [ 3.82095012e-03 -1.08301716e-04 9.99992694e-01 7.82503229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.862755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:118.38, Y:99.11, Z:0.78 [[ 7.53917233e-01 -6.56962815e-01 -2.94379155e-03 1.18383532e+02] [ 6.56958297e-01 7.53922974e-01 -2.43827740e-03 9.91123150e+01] [ 3.82124967e-03 -9.56889344e-05 9.99992694e-01 7.78749917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.41, Y:99.13, Z:0.78 [[ 7.53650217e-01 -6.57269113e-01 -2.94328456e-03 1.18407810e+02] [ 6.57264596e-01 7.53655958e-01 -2.43888925e-03 9.91319375e+01] [ 3.82123052e-03 -9.64473234e-05 9.99992694e-01 7.82380815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.43, Y:99.15, Z:0.78 [[ 7.51624979e-01 -6.59584032e-01 -2.96587747e-03 1.18425444e+02] [ 6.59579639e-01 7.51630816e-01 -2.41167956e-03 9.91506067e+01] [ 3.81995023e-03 -1.43553792e-04 9.99992694e-01 7.80277148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.45, Y:99.17, Z:0.78 [[ 7.51799708e-01 -6.59384957e-01 -2.94566719e-03 1.18448196e+02] [ 6.59380467e-01 7.51805471e-01 -2.43599278e-03 9.91684038e+01] [ 3.82082570e-03 -1.10936746e-04 9.99992694e-01 7.81734054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.47, Y:99.19, Z:0.78 [[ 7.49727547e-01 -6.61740058e-01 -2.94971460e-03 1.18466366e+02] [ 6.61735605e-01 7.49733339e-01 -2.43112649e-03 9.91875181e+01] [ 3.82027316e-03 -1.29248674e-04 9.99992694e-01 7.83216115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.49, Y:99.21, Z:0.78 [[ 7.49470059e-01 -6.62031720e-01 -2.93806193e-03 1.18487057e+02] [ 6.62027214e-01 7.49475809e-01 -2.44512833e-03 9.92051733e+01] [ 3.82075885e-03 -1.12526480e-04 9.99992695e-01 7.83247912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.042755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.51, Y:99.22, Z:0.78 [[ 7.49512146e-01 -6.61984073e-01 -2.93765138e-03 1.18508414e+02] [ 6.61979565e-01 7.49517895e-01 -2.44562147e-03 9.92235640e+01] [ 3.82078474e-03 -1.11642181e-04 9.99992695e-01 7.83260333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.53, Y:99.24, Z:0.78 [[ 7.50299258e-01 -6.61091823e-01 -2.93691641e-03 1.18528864e+02] [ 6.61087304e-01 7.50304998e-01 -2.44650377e-03 9.92424442e+01] [ 3.82094670e-03 -1.05948193e-04 9.99992695e-01 7.83728144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.55, Y:99.26, Z:0.78 [[ 7.50942091e-01 -6.60361534e-01 -2.93614558e-03 1.18549582e+02] [ 6.60357006e-01 7.50947824e-01 -2.44742852e-03 9.92610037e+01] [ 3.82107979e-03 -1.01027215e-04 9.99992695e-01 7.84047664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.57, Y:99.28, Z:0.78 [[ 7.52366423e-01 -6.58738301e-01 -2.93537256e-03 1.18569955e+02] [ 6.58733758e-01 7.52372143e-01 -2.44835531e-03 9.92787173e+01] [ 3.82131796e-03 -9.15686741e-05 9.99992695e-01 7.82998669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.59, Y:99.30, Z:0.78 [[ 7.53521569e-01 -6.57416685e-01 -2.92381649e-03 1.18591506e+02] [ 6.57412077e-01 7.53527238e-01 -2.46219815e-03 9.92984480e+01] [ 3.82186550e-03 -6.68328598e-05 9.99992694e-01 7.83586059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.192755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:118.61, Y:99.32, Z:0.78 [[ 7.54051921e-01 -6.56808260e-01 -2.93429114e-03 1.18612993e+02] [ 6.56803697e-01 7.54057626e-01 -2.44965118e-03 9.93168309e+01] [ 3.82157574e-03 -8.00890958e-05 9.99992695e-01 7.83958866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.63, Y:99.33, Z:0.78 [[ 7.54454164e-01 -6.56346181e-01 -2.93352778e-03 1.18633832e+02] [ 6.56341610e-01 7.54459863e-01 -2.45056498e-03 9.93348358e+01] [ 3.82164794e-03 -7.65573936e-05 9.99992695e-01 7.84168989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:118.66, Y:99.35, Z:0.78 [[ 7.55020146e-01 -6.55695033e-01 -2.93310448e-03 1.18655406e+02] [ 6.55690456e-01 7.55025840e-01 -2.45107154e-03 9.93524858e+01] [ 3.82172510e-03 -7.26002227e-05 9.99992695e-01 7.81739170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:99.37, Z:0.78 [[ 7.56607365e-01 -6.53862904e-01 -2.93235367e-03 1.18681683e+02] [ 6.53858309e-01 7.56613044e-01 -2.45196944e-03 9.93714475e+01] [ 3.82190890e-03 -6.21656789e-05 9.99992695e-01 7.83104713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:118.70, Y:99.39, Z:0.78 [[ 7.55149826e-01 -6.55545570e-01 -2.95727153e-03 1.18698758e+02] [ 6.55541104e-01 7.55155609e-01 -2.42216213e-03 9.93891479e+01] [ 3.82103783e-03 -1.09517736e-04 9.99992694e-01 7.83548640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.72, Y:99.41, Z:0.79 [[ 7.55031179e-01 -6.55682336e-01 -2.93119339e-03 1.18720058e+02] [ 6.55677750e-01 7.55036866e-01 -2.45331994e-03 9.94074821e+01] [ 3.82175762e-03 -6.95852451e-05 9.99992695e-01 7.85381078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.74, Y:99.42, Z:0.79 [[ 7.54713063e-01 -6.56048478e-01 -2.93041808e-03 1.18740643e+02] [ 6.56043891e-01 7.54718749e-01 -2.45424567e-03 9.94249117e+01] [ 3.82174561e-03 -7.02316143e-05 9.99992695e-01 7.85473659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.76, Y:99.44, Z:0.79 [[ 7.54370126e-01 -6.56442784e-01 -2.92989137e-03 1.18762052e+02] [ 6.56438197e-01 7.54375813e-01 -2.45487430e-03 9.94429353e+01] [ 3.82172370e-03 -7.14087689e-05 9.99992695e-01 7.86013236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.78, Y:99.46, Z:0.79 [[ 7.54131469e-01 -6.56716946e-01 -2.92912773e-03 1.18783277e+02] [ 6.56712358e-01 7.54137154e-01 -2.45578514e-03 9.94604854e+01] [ 3.82171976e-03 -7.16095249e-05 9.99992695e-01 7.86609915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.81, Y:99.48, Z:0.79 [[ 7.53548009e-01 -6.57386371e-01 -2.92539068e-03 1.18805629e+02] [ 6.57381771e-01 7.53553684e-01 -2.46024120e-03 9.94793577e+01] [ 3.82176796e-03 -6.91886452e-05 9.99992695e-01 7.86743540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.83, Y:99.50, Z:0.78 [[ 7.53226137e-01 -6.57755127e-01 -2.92923083e-03 1.18826391e+02] [ 6.57750547e-01 7.53231829e-01 -2.45566423e-03 9.94960756e+01] [ 3.82161563e-03 -7.70327052e-05 9.99992695e-01 7.84426829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.85, Y:99.51, Z:0.79 [[ 7.52867728e-01 -6.58165335e-01 -2.92854795e-03 1.18848521e+02] [ 6.58160756e-01 7.52873419e-01 -2.45647775e-03 9.95149448e+01] [ 3.82159441e-03 -7.80525058e-05 9.99992695e-01 7.86612387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.88, Y:99.53, Z:0.78 [[ 7.53816747e-01 -6.57078167e-01 -2.93154373e-03 1.18875927e+02] [ 6.57073593e-01 7.53822443e-01 -2.45291041e-03 9.95337545e+01] [ 3.82161734e-03 -7.71950264e-05 9.99992695e-01 7.84524106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.89, Y:99.55, Z:0.79 [[ 7.53824650e-01 -6.57068920e-01 -2.97168047e-03 1.18892359e+02] [ 6.57064534e-01 7.53830494e-01 -2.40488090e-03 9.95482272e+01] [ 3.82031586e-03 -1.39727341e-04 9.99992693e-01 7.85112369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.612755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.91, Y:99.57, Z:0.78 [[ 7.53541631e-01 -6.57393671e-01 -2.92795956e-03 1.18914827e+02] [ 6.57389083e-01 7.53547315e-01 -2.45710703e-03 9.95667478e+01] [ 3.82164267e-03 -7.32762063e-05 9.99992695e-01 7.84200026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.642755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.94, Y:99.59, Z:0.78 [[ 7.53262832e-01 -6.57713097e-01 -2.93042279e-03 1.18936249e+02] [ 6.57708523e-01 7.53268528e-01 -2.45416578e-03 9.95854261e+01] [ 3.82153224e-03 -7.87321779e-05 9.99992695e-01 7.84628726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.96, Y:99.60, Z:0.79 [[ 7.52487059e-01 -6.58600530e-01 -2.92715472e-03 1.18957775e+02] [ 6.58595947e-01 7.52492748e-01 -2.45806607e-03 9.96041296e+01] [ 3.82154631e-03 -7.81493303e-05 9.99992695e-01 7.85257527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.98, Y:99.62, Z:0.79 [[ 7.52511025e-01 -6.58573117e-01 -2.93382384e-03 1.18979587e+02] [ 6.58568565e-01 7.52516739e-01 -2.45011022e-03 9.96216581e+01] [ 3.82132827e-03 -8.83892044e-05 9.99992695e-01 7.85745720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.00, Y:99.64, Z:0.79 [[ 7.52097502e-01 -6.59045349e-01 -2.92835585e-03 1.19001772e+02] [ 6.59040776e-01 7.52103199e-01 -2.45662820e-03 9.96391802e+01] [ 3.82145518e-03 -8.22819787e-05 9.99992695e-01 7.86794617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.02, Y:99.66, Z:0.79 [[ 7.52324810e-01 -6.58785840e-01 -2.93198209e-03 1.19023149e+02] [ 6.58781281e-01 7.52330519e-01 -2.45230833e-03 9.96565815e+01] [ 3.82136561e-03 -8.66025191e-05 9.99992695e-01 7.86292590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.04, Y:99.67, Z:0.79 [[ 7.52556201e-01 -6.58521526e-01 -2.92664924e-03 1.19044093e+02] [ 6.58516940e-01 7.52561888e-01 -2.45865626e-03 9.96737970e+01] [ 3.82156275e-03 -7.69710873e-05 9.99992695e-01 7.86697619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.07, Y:99.69, Z:0.78 [[ 7.53109060e-01 -6.57889192e-01 -2.92483030e-03 1.19066322e+02] [ 6.57884593e-01 7.53114737e-01 -2.46082024e-03 9.96910745e+01] [ 3.82167984e-03 -7.09347726e-05 9.99992695e-01 7.84619976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.852755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:119.09, Y:99.71, Z:0.78 [[ 7.53155744e-01 -6.57835744e-01 -2.92563080e-03 1.19087456e+02] [ 6.57831148e-01 7.53161423e-01 -2.45986817e-03 9.97082059e+01] [ 3.82166146e-03 -7.19072241e-05 9.99992695e-01 7.82389330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.882755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:119.11, Y:99.73, Z:0.78 [[ 7.53367834e-01 -6.57592845e-01 -2.92524582e-03 1.19109235e+02] [ 6.57588246e-01 7.53373510e-01 -2.46032590e-03 9.97257148e+01] [ 3.82169541e-03 -7.00768770e-05 9.99992695e-01 7.81458343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.912755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:119.13, Y:99.74, Z:0.78 [[ 7.54669704e-01 -6.56098381e-01 -2.92453969e-03 1.19129458e+02] [ 6.56093768e-01 7.54675368e-01 -2.46116497e-03 9.97433045e+01] [ 3.82184442e-03 -6.14056225e-05 9.99992695e-01 7.81937769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.15, Y:99.76, Z:0.78 [[ 7.55655421e-01 -6.54962849e-01 -2.92413543e-03 1.19149976e+02] [ 6.54958226e-01 7.55661077e-01 -2.46164518e-03 9.97617805e+01] [ 3.82194147e-03 -5.50310300e-05 9.99992695e-01 7.84636088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.17, Y:99.78, Z:0.79 [[ 7.57718673e-01 -6.52574798e-01 -2.92340920e-03 1.19170581e+02] [ 6.52570153e-01 7.57724311e-01 -2.46250734e-03 9.97803323e+01] [ 3.82210845e-03 -4.18417982e-05 9.99992695e-01 7.85624315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:99.80, Z:0.78 [[ 7.60124699e-01 -6.49770654e-01 -2.92239385e-03 1.19200065e+02] [ 6.49765983e-01 7.60130316e-01 -2.46371210e-03 9.98011003e+01] [ 3.82224798e-03 -2.61436957e-05 9.99992695e-01 7.84270166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.22, Y:99.82, Z:0.78 [[ 7.61509243e-01 -6.48147237e-01 -2.97197642e-03 1.19224872e+02] [ 6.48142781e-01 7.61515037e-01 -2.40508228e-03 9.98207267e+01] [ 3.82205217e-03 -9.47726732e-05 9.99992691e-01 7.84004231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:119.23, Y:99.84, Z:0.78 [[ 7.58645464e-01 -6.51496828e-01 -2.99046196e-03 1.19233129e+02] [ 6.51492484e-01 7.58651345e-01 -2.38322807e-03 9.98380718e+01] [ 3.82138352e-03 -1.40238325e-04 9.99992689e-01 7.82452596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.25, Y:99.86, Z:0.79 [[ 7.58744684e-01 -6.51381613e-01 -2.91519743e-03 1.19253031e+02] [ 6.51376923e-01 7.58750284e-01 -2.47198705e-03 9.98565783e+01] [ 3.82211379e-03 -2.32852927e-05 9.99992695e-01 7.85126100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.27, Y:99.87, Z:0.78 [[ 7.58577900e-01 -6.51575839e-01 -2.91468763e-03 1.19272781e+02] [ 6.51571148e-01 7.58583499e-01 -2.47258800e-03 9.98744047e+01] [ 3.82211255e-03 -2.34757512e-05 9.99992695e-01 7.84982625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.29, Y:99.89, Z:0.79 [[ 7.56874695e-01 -6.53553520e-01 -2.91429967e-03 1.19291827e+02] [ 6.53548842e-01 7.56880305e-01 -2.47304519e-03 9.98934016e+01] [ 3.82204341e-03 -3.28518444e-05 9.99992695e-01 7.85005091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.31, Y:99.91, Z:0.78 [[ 7.55660242e-01 -6.54957333e-01 -2.91391156e-03 1.19313148e+02] [ 6.54952664e-01 7.55665859e-01 -2.47350240e-03 9.99112561e+01] [ 3.82198202e-03 -3.93467121e-05 9.99992695e-01 7.82516780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.33, Y:99.93, Z:0.79 [[ 7.53291410e-01 -6.57680443e-01 -2.91318712e-03 1.19334683e+02] [ 6.57675790e-01 7.53297041e-01 -2.47435532e-03 9.99294554e+01] [ 3.82183034e-03 -5.20220328e-05 9.99992695e-01 7.85595048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.36, Y:99.95, Z:0.79 [[ 7.52022878e-01 -6.59130597e-01 -2.90631963e-03 1.19355965e+02] [ 6.59125925e-01 7.52028492e-01 -2.48243555e-03 9.99471432e+01] [ 3.82188440e-03 -4.87822899e-05 9.99992695e-01 7.86243369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:119.38, Y:99.97, Z:0.79 [[ 7.49718847e-01 -6.61750082e-01 -2.91211953e-03 1.19377585e+02] [ 6.61745455e-01 7.49724499e-01 -2.47561300e-03 9.99652784e+01] [ 3.82152446e-03 -7.10681374e-05 9.99992695e-01 7.85618445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.40, Y:99.98, Z:0.79 [[ 7.46507848e-01 -6.65370241e-01 -2.91128534e-03 1.19398891e+02] [ 6.65365637e-01 7.46513520e-01 -2.47659361e-03 9.99831510e+01] [ 3.82116555e-03 -8.82726597e-05 9.99992695e-01 7.87130876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:100.00, Z:0.79 [[ 7.45949774e-01 -6.65995844e-01 -2.91052713e-03 1.19424286e+02] [ 6.65991242e-01 7.45955446e-01 -2.47748435e-03 1.00001302e+02] [ 3.82111784e-03 -9.03066854e-05 9.99992695e-01 7.88035203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.45, Y:100.02, Z:0.79 [[ 7.44610400e-01 -6.67492910e-01 -2.92681747e-03 1.19447722e+02] [ 6.67488395e-01 7.44616142e-01 -2.45834922e-03 1.00020274e+02] [ 3.82028621e-03 -1.23104296e-04 9.99992695e-01 7.86169293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:100.04, Z:0.79 [[ 7.42313968e-01 -6.70045779e-01 -2.93706054e-03 1.19469478e+02] [ 6.70041331e-01 7.42319763e-01 -2.44633157e-03 1.00037580e+02] [ 3.81939222e-03 -1.52005858e-04 9.99992695e-01 7.90223413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.49, Y:100.05, Z:0.79 [[ 7.42808323e-01 -6.69497723e-01 -2.93173587e-03 1.19492281e+02] [ 6.69493245e-01 7.42814095e-01 -2.45257545e-03 1.00054327e+02] [ 3.81972840e-03 -1.40983908e-04 9.99992695e-01 7.89755564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.51, Y:100.07, Z:0.79 [[ 7.41297603e-01 -6.71170013e-01 -2.94583305e-03 1.19513012e+02] [ 6.71165614e-01 7.41303436e-01 -2.43600021e-03 1.00072952e+02] [ 3.81872645e-03 -1.71340727e-04 9.99992694e-01 7.90312591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.54, Y:100.09, Z:0.79 [[ 7.41245105e-01 -6.71228047e-01 -2.93317223e-03 1.19535037e+02] [ 6.71223590e-01 7.41250893e-01 -2.45082492e-03 1.00091524e+02] [ 3.81927895e-03 -1.52152417e-04 9.99992695e-01 7.90922640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.56, Y:100.11, Z:0.79 [[ 7.41706778e-01 -6.70717868e-01 -2.93200366e-03 1.19555702e+02] [ 6.70713402e-01 7.41712559e-01 -2.45219224e-03 1.00109059e+02] [ 3.81943308e-03 -1.47726545e-04 9.99992695e-01 7.88872862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.58, Y:100.13, Z:0.79 [[ 7.41985396e-01 -6.70409656e-01 -2.92685146e-03 1.19577678e+02] [ 6.70405163e-01 7.41991155e-01 -2.45821456e-03 1.00128021e+02] [ 3.81970867e-03 -1.38217028e-04 9.99992695e-01 7.90181444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.572755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.60, Y:100.15, Z:0.79 [[ 7.43704677e-01 -6.68501889e-01 -2.92882583e-03 1.19599543e+02] [ 6.68497390e-01 7.43710433e-01 -2.45590781e-03 1.00146635e+02] [ 3.81997734e-03 -1.31442299e-04 9.99992695e-01 7.89051708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.62, Y:100.16, Z:0.79 [[ 7.45369511e-01 -6.66645050e-01 -2.94437518e-03 1.19618762e+02] [ 6.66640609e-01 7.45375312e-01 -2.43771255e-03 1.00163758e+02] [ 3.81975358e-03 -1.45843450e-04 9.99992694e-01 7.88841477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.64, Y:100.18, Z:0.79 [[ 7.46271078e-01 -6.65635727e-01 -2.92518879e-03 1.19639374e+02] [ 6.65631190e-01 7.46276803e-01 -2.46013833e-03 1.00182247e+02] [ 3.82055650e-03 -1.11166810e-04 9.99992695e-01 7.89444078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.66, Y:100.20, Z:0.79 [[ 7.46084844e-01 -6.65844473e-01 -2.92287883e-03 1.19660178e+02] [ 6.65839927e-01 7.46090562e-01 -2.46283611e-03 1.00200367e+02] [ 3.82059812e-03 -1.08684727e-04 9.99992696e-01 7.89548523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.68, Y:100.22, Z:0.79 [[ 7.47277776e-01 -6.64505368e-01 -2.92253996e-03 1.19677828e+02] [ 6.64500810e-01 7.47283484e-01 -2.46323170e-03 1.00219203e+02] [ 3.82079653e-03 -1.01311865e-04 9.99992696e-01 7.91986424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.70, Y:100.24, Z:0.79 [[ 7.49298669e-01 -6.62225858e-01 -2.90139884e-03 1.19702192e+02] [ 6.62221187e-01 7.49304284e-01 -2.48788669e-03 1.00237957e+02] [ 3.82157347e-03 -5.71976003e-05 9.99992696e-01 7.92820514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.72, Y:100.26, Z:0.79 [[ 7.50146966e-01 -6.61264707e-01 -2.91845555e-03 1.19721901e+02] [ 6.61260106e-01 7.50152639e-01 -2.46799601e-03 1.00256632e+02] [ 3.82128579e-03 -7.84985068e-05 9.99992696e-01 7.94371708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.74, Y:100.27, Z:0.79 [[ 7.50601989e-01 -6.60748207e-01 -2.90876976e-03 1.19744041e+02] [ 6.60743559e-01 7.50607622e-01 -2.47928685e-03 1.00274947e+02] [ 3.82152909e-03 -6.09932437e-05 9.99992696e-01 7.93936948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.76, Y:100.29, Z:0.79 [[ 7.49665692e-01 -6.61810297e-01 -2.91206487e-03 1.19762551e+02] [ 6.61805672e-01 7.49671345e-01 -2.47544766e-03 1.00292965e+02] [ 3.82136833e-03 -7.14628627e-05 9.99992696e-01 7.93920576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.78, Y:100.31, Z:0.79 [[ 7.49596086e-01 -6.61889191e-01 -2.89933959e-03 1.19784620e+02] [ 6.61884509e-01 7.49601691e-01 -2.49026332e-03 1.00311275e+02] [ 3.82162823e-03 -5.23363186e-05 9.99992696e-01 7.94750504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:100.33, Z:0.79 [[ 7.48191020e-01 -6.63477036e-01 -2.90158499e-03 1.19804692e+02] [ 6.63472376e-01 7.48196644e-01 -2.48765002e-03 1.00328861e+02] [ 3.82145482e-03 -6.38840790e-05 9.99992696e-01 7.94661308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:100.35, Z:0.79 [[ 7.47249649e-01 -6.64537121e-01 -2.89433422e-03 1.19825721e+02] [ 6.64532435e-01 7.47255252e-01 -2.49608271e-03 1.00347395e+02] [ 3.82154607e-03 -5.81820436e-05 9.99992696e-01 7.93754268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.85, Y:100.37, Z:0.80 [[ 7.45635206e-01 -6.66348090e-01 -2.89181116e-03 1.19847317e+02] [ 6.66343407e-01 7.45640811e-01 -2.49901562e-03 1.00365547e+02] [ 3.82146670e-03 -6.35852684e-05 9.99992696e-01 7.95464494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.87, Y:100.39, Z:0.79 [[ 7.43878863e-01 -6.68308195e-01 -2.89715560e-03 1.19868804e+02] [ 6.68303551e-01 7.43884500e-01 -2.49280427e-03 1.00385123e+02] [ 3.82111067e-03 -8.18349656e-05 9.99992696e-01 7.94895338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.89, Y:100.40, Z:0.80 [[ 7.43913801e-01 -6.68269253e-01 -2.90909606e-03 1.19889402e+02] [ 6.68264663e-01 7.43919482e-01 -2.47893142e-03 1.00402124e+02] [ 3.82072688e-03 -9.99348062e-05 9.99992696e-01 7.95844495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.91, Y:100.42, Z:0.80 [[ 7.42837409e-01 -6.69465606e-01 -2.89577293e-03 1.19911331e+02] [ 6.69460965e-01 7.42843049e-01 -2.49439839e-03 1.00420352e+02] [ 3.82101872e-03 -8.56745033e-05 9.99992696e-01 7.95619888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:119.93, Y:100.44, Z:0.80 [[ 7.42473766e-01 -6.69868887e-01 -2.89496955e-03 1.19931690e+02] [ 6.69864245e-01 7.42479405e-01 -2.49533042e-03 1.00437522e+02] [ 3.82099949e-03 -8.65192164e-05 9.99992696e-01 7.95272468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.95, Y:100.45, Z:0.79 [[ 7.42671767e-01 -6.69649362e-01 -2.89452543e-03 1.19952384e+02] [ 6.69644716e-01 7.42677403e-01 -2.49584549e-03 1.00454734e+02] [ 3.82103997e-03 -8.47096767e-05 9.99992696e-01 7.93402917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:100.48, Z:0.79 [[ 7.41627850e-01 -6.70805304e-01 -2.89408741e-03 1.19975578e+02] [ 6.70800665e-01 7.41633492e-01 -2.49635330e-03 1.00476164e+02] [ 3.82091919e-03 -8.99906267e-05 9.99992696e-01 7.92986441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.99, Y:100.49, Z:0.79 [[ 7.43515536e-01 -6.68712283e-01 -2.92077525e-03 1.19994300e+02] [ 6.68707749e-01 7.43521263e-01 -2.46539839e-03 1.00491345e+02] [ 3.82030069e-03 -1.20083040e-04 9.99992695e-01 7.91555817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.02, Y:100.51, Z:0.79 [[ 7.44113136e-01 -6.68047357e-01 -2.89324627e-03 1.20015672e+02] [ 6.68042693e-01 7.44118757e-01 -2.49729219e-03 1.00510108e+02] [ 3.82122826e-03 -7.45441066e-05 9.99992696e-01 7.90825420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.04, Y:100.53, Z:0.79 [[ 7.45171175e-01 -6.66866969e-01 -2.89246648e-03 1.20037735e+02] [ 6.66862293e-01 7.45176785e-01 -2.49819504e-03 1.00529481e+02] [ 3.82136263e-03 -6.72939003e-05 9.99992696e-01 7.90069020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.06, Y:100.55, Z:0.79 [[ 7.46066643e-01 -6.65864980e-01 -2.89703785e-03 1.20059213e+02] [ 6.65860317e-01 7.46072264e-01 -2.49290525e-03 1.00547956e+02] [ 3.82133790e-03 -6.91490934e-05 9.99992696e-01 7.89801857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:100.57, Z:0.79 [[ 7.47407073e-01 -6.64360076e-01 -2.89079377e-03 1.20079625e+02] [ 6.64355374e-01 7.47412662e-01 -2.50012503e-03 1.00565067e+02] [ 3.82159912e-03 -5.19032503e-05 9.99992696e-01 7.89437805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.11, Y:100.58, Z:0.79 [[ 7.50112887e-01 -6.61303487e-01 -2.89035745e-03 1.20109042e+02] [ 6.61298760e-01 7.50118455e-01 -2.50062936e-03 1.00583654e+02] [ 3.82178538e-03 -3.56354864e-05 9.99992696e-01 7.88060618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.12, Y:100.60, Z:0.79 [[ 7.48000092e-01 -6.63692134e-01 -2.93502651e-03 1.20123253e+02] [ 6.63687625e-01 7.48005841e-01 -2.44897732e-03 1.00601527e+02] [ 3.82078395e-03 -1.16105512e-04 9.99992694e-01 7.89906862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:100.62, Z:0.79 [[ 7.48218970e-01 -6.63445573e-01 -2.88851683e-03 1.20143819e+02] [ 6.63440855e-01 7.48224545e-01 -2.50265785e-03 1.00618693e+02] [ 3.82163647e-03 -4.38239931e-05 9.99992697e-01 7.89834876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.16, Y:100.64, Z:0.79 [[ 7.48064149e-01 -6.63620138e-01 -2.88807808e-03 1.20164631e+02] [ 6.63615419e-01 7.48069723e-01 -2.50316407e-03 1.00636660e+02] [ 3.82163386e-03 -4.40458489e-05 9.99992697e-01 7.89129167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.19, Y:100.66, Z:0.79 [[ 7.47558393e-01 -6.64189816e-01 -2.88753942e-03 1.20185827e+02] [ 6.64185098e-01 7.47563968e-01 -2.50378530e-03 1.00655556e+02] [ 3.82160912e-03 -4.61349363e-05 9.99992697e-01 7.89439371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.21, Y:100.67, Z:0.79 [[ 7.46674411e-01 -6.65183426e-01 -2.88681038e-03 1.20206522e+02] [ 6.65178712e-01 7.46679990e-01 -2.50462558e-03 1.00674014e+02] [ 3.82155897e-03 -5.01049791e-05 9.99992697e-01 7.90559469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.23, Y:100.69, Z:0.79 [[ 7.45786063e-01 -6.66179270e-01 -2.88602618e-03 1.20229147e+02] [ 6.66174560e-01 7.45791645e-01 -2.50552887e-03 1.00693893e+02] [ 3.82150561e-03 -5.40087171e-05 9.99992697e-01 7.91095055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.25, Y:100.71, Z:0.79 [[ 7.45227626e-01 -6.66803864e-01 -2.89698647e-03 1.20248694e+02] [ 6.66799208e-01 7.45233253e-01 -2.49290521e-03 1.00711193e+02] [ 3.82120948e-03 -7.39264500e-05 9.99992696e-01 7.91458189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.27, Y:100.73, Z:0.79 [[ 7.43050915e-01 -6.69228672e-01 -2.88487321e-03 1.20270596e+02] [ 6.69223981e-01 7.43056512e-01 -2.50684513e-03 1.00729447e+02] [ 3.82127646e-03 -6.79127621e-05 9.99992697e-01 7.91740110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:100.75, Z:0.79 [[ 7.41927780e-01 -6.70473603e-01 -2.88408024e-03 1.20292001e+02] [ 6.70468917e-01 7.41933382e-01 -2.50775710e-03 1.00747539e+02] [ 3.82118034e-03 -7.31114954e-05 9.99992697e-01 7.91682563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.31, Y:100.77, Z:0.79 [[ 7.40626721e-01 -6.71910520e-01 -2.88328171e-03 1.20312857e+02] [ 6.71905841e-01 7.40632330e-01 -2.50867486e-03 1.00765687e+02] [ 3.82105668e-03 -7.93021822e-05 9.99992697e-01 7.91861571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.33, Y:100.79, Z:0.79 [[ 7.38318426e-01 -6.74446138e-01 -2.88247531e-03 1.20333403e+02] [ 6.74441475e-01 7.38324047e-01 -2.50960108e-03 1.00785073e+02] [ 3.82079159e-03 -9.11761849e-05 9.99992697e-01 7.90089923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.35, Y:100.80, Z:0.79 [[ 7.36898178e-01 -6.75997622e-01 -2.87926316e-03 1.20353048e+02] [ 6.75992957e-01 7.36903797e-01 -2.51328884e-03 1.00803991e+02] [ 3.82071723e-03 -9.43236467e-05 9.99992697e-01 7.88713539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:100.82, Z:0.79 [[ 7.35857112e-01 -6.77130752e-01 -2.87314222e-03 1.20375924e+02] [ 6.77126068e-01 7.35862715e-01 -2.52031196e-03 1.00823791e+02] [ 3.82081896e-03 -9.08900138e-05 9.99992697e-01 7.91721620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.40, Y:100.84, Z:0.79 [[ 7.34925072e-01 -6.78142196e-01 -2.88086165e-03 1.20396217e+02] [ 6.78137554e-01 7.34930711e-01 -2.51145709e-03 1.00843041e+02] [ 3.82035873e-03 -1.07887689e-04 9.99992697e-01 7.92031317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.42, Y:100.86, Z:0.79 [[ 7.34126384e-01 -6.79006744e-01 -2.88006678e-03 1.20416762e+02] [ 6.79002105e-01 7.34132025e-01 -2.51236829e-03 1.00862613e+02] [ 3.82026427e-03 -1.11175557e-04 9.99992697e-01 7.91864044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.44, Y:100.88, Z:0.79 [[ 7.33193759e-01 -6.80013693e-01 -2.87926845e-03 1.20436102e+02] [ 6.80009058e-01 7.33199403e-01 -2.51328288e-03 1.00881500e+02] [ 3.82014468e-03 -1.15205302e-04 9.99992697e-01 7.91683850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.46, Y:100.90, Z:0.79 [[ 7.32727496e-01 -6.80516076e-01 -2.87882846e-03 1.20456571e+02] [ 6.80511443e-01 7.32733142e-01 -2.51378676e-03 1.00900524e+02] [ 3.82008532e-03 -1.17155030e-04 9.99992697e-01 7.91625730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.48, Y:100.92, Z:0.79 [[ 7.32475906e-01 -6.80786871e-01 -2.87804374e-03 1.20477534e+02] [ 6.80782237e-01 7.32481551e-01 -2.51468486e-03 1.00919827e+02] [ 3.82007838e-03 -1.17374982e-04 9.99992697e-01 7.91409188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.50, Y:100.94, Z:0.79 [[ 7.31925842e-01 -6.81378223e-01 -2.87726340e-03 1.20495363e+02] [ 6.81373590e-01 7.31931488e-01 -2.51557740e-03 1.00939905e+02] [ 3.82001934e-03 -1.19275182e-04 9.99992697e-01 7.88321095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.892755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:120.52, Y:100.96, Z:0.79 [[ 7.32213733e-01 -6.81068887e-01 -2.86722934e-03 1.20516703e+02] [ 6.81064206e-01 7.32219339e-01 -2.52705024e-03 1.00958936e+02] [ 3.82053607e-03 -1.02426389e-04 9.99992696e-01 7.88257946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.54, Y:100.98, Z:0.79 [[ 7.32377423e-01 -6.80892850e-01 -2.86993749e-03 1.20536314e+02] [ 6.80888180e-01 7.32383039e-01 -2.52395455e-03 1.00978602e+02] [ 3.82043615e-03 -1.05619187e-04 9.99992697e-01 7.88872693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.952755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.55, Y:101.00, Z:0.79 [[ 7.31985104e-01 -6.81314620e-01 -2.86279519e-03 1.20553655e+02] [ 6.81309921e-01 7.31990696e-01 -2.53211446e-03 1.00997861e+02] [ 3.82070604e-03 -9.69806967e-05 9.99992696e-01 7.86789064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.58, Y:101.02, Z:0.79 [[ 7.32715103e-01 -6.80529546e-01 -2.84866512e-03 1.20576670e+02] [ 6.80524779e-01 7.32720637e-01 -2.54820630e-03 1.01016768e+02] [ 3.82140540e-03 -7.14779639e-05 9.99992696e-01 7.91901406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.012755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:120.60, Y:101.04, Z:0.79 [[ 7.32770140e-01 -6.80470208e-01 -2.86666957e-03 1.20597091e+02] [ 6.80465520e-01 7.32775741e-01 -2.52769975e-03 1.01036950e+02] [ 3.82065030e-03 -9.84468992e-05 9.99992696e-01 7.91997028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.62, Y:101.05, Z:0.79 [[ 7.34168346e-01 -6.78961409e-01 -2.87133106e-03 1.20615567e+02] [ 6.78956731e-01 7.34173955e-01 -2.52239341e-03 1.01053861e+02] [ 3.82066427e-03 -9.76481474e-05 9.99992696e-01 7.93724753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.64, Y:101.08, Z:0.79 [[ 7.33566893e-01 -6.79611269e-01 -2.85234055e-03 1.20637349e+02] [ 6.79606512e-01 7.33572435e-01 -2.54398796e-03 1.01075377e+02] [ 3.82132129e-03 -7.22838647e-05 9.99992696e-01 7.93306497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.102755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:120.66, Y:101.09, Z:0.79 [[ 7.33532380e-01 -6.79648446e-01 -2.87003804e-03 1.20656076e+02] [ 6.79643768e-01 7.33537988e-01 -2.52386307e-03 1.01094495e+02] [ 3.82062154e-03 -9.92681869e-05 9.99992696e-01 7.91832528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.132755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:120.68, Y:101.11, Z:0.79 [[ 7.33367796e-01 -6.79826038e-01 -2.86950148e-03 1.20676759e+02] [ 6.79821358e-01 7.33373403e-01 -2.52447296e-03 1.01114217e+02] [ 3.82061852e-03 -9.93812258e-05 9.99992696e-01 7.92026425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.70, Y:101.13, Z:0.79 [[ 7.33162254e-01 -6.80047704e-01 -2.86872084e-03 1.20697526e+02] [ 6.80043022e-01 7.33167860e-01 -2.52535974e-03 1.01133662e+02] [ 3.82061901e-03 -9.93551505e-05 9.99992696e-01 7.93423782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.72, Y:101.15, Z:0.79 [[ 7.31691954e-01 -6.81629415e-01 -2.86794316e-03 1.20717667e+02] [ 6.81624742e-01 7.31697567e-01 -2.52624261e-03 1.01152898e+02] [ 3.82042831e-03 -1.06429623e-04 9.99992696e-01 7.94238868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.74, Y:101.17, Z:0.79 [[ 7.30668812e-01 -6.82726055e-01 -2.86716542e-03 1.20738341e+02] [ 6.82721387e-01 7.30674429e-01 -2.52712500e-03 1.01171515e+02] [ 3.82029854e-03 -1.10983728e-04 9.99992696e-01 7.94675018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.76, Y:101.19, Z:0.80 [[ 7.28542501e-01 -6.84994605e-01 -2.86636317e-03 1.20758591e+02] [ 6.84989951e-01 7.28548129e-01 -2.52803462e-03 1.01189688e+02] [ 3.81997360e-03 -1.21649302e-04 9.99992696e-01 7.95261463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.78, Y:101.21, Z:0.80 [[ 7.27060550e-01 -6.86567363e-01 -2.86592712e-03 1.20779183e+02] [ 6.86562719e-01 7.27066187e-01 -2.52852885e-03 1.01208218e+02] [ 3.81972409e-03 -1.29245139e-04 9.99992696e-01 7.95304882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.80, Y:101.23, Z:0.80 [[ 7.25812558e-01 -6.87886562e-01 -2.86513329e-03 1.20799623e+02] [ 6.87881924e-01 7.25818200e-01 -2.52942804e-03 1.01226424e+02] [ 3.81952545e-03 -1.34982767e-04 9.99992696e-01 7.95630626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.82, Y:101.25, Z:0.80 [[ 7.23931072e-01 -6.89866362e-01 -2.86469784e-03 1.20820302e+02] [ 6.89861738e-01 7.23936725e-01 -2.52992112e-03 1.01245161e+02] [ 3.81916745e-03 -1.44756922e-04 9.99992696e-01 7.95323833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.84, Y:101.26, Z:0.79 [[ 7.23264320e-01 -6.90565364e-01 -2.86391927e-03 1.20841428e+02] [ 6.90560742e-01 7.23269975e-01 -2.53080216e-03 1.01263894e+02] [ 3.81907113e-03 -1.47271308e-04 9.99992696e-01 7.94741332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.86, Y:101.28, Z:0.79 [[ 7.22822795e-01 -6.91027503e-01 -2.86309913e-03 1.20861576e+02] [ 6.91022881e-01 7.22828450e-01 -2.53172965e-03 1.01281969e+02] [ 3.81902432e-03 -1.48475109e-04 9.99992696e-01 7.94641474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.88, Y:101.30, Z:0.79 [[ 7.23170282e-01 -6.90663847e-01 -2.86264215e-03 1.20881740e+02] [ 6.90659220e-01 7.23175933e-01 -2.53224625e-03 1.01299688e+02] [ 3.81912484e-03 -1.45864960e-04 9.99992696e-01 7.94066956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:120.90, Y:101.32, Z:0.79 [[ 7.23321206e-01 -6.90505786e-01 -2.86220658e-03 1.20902438e+02] [ 6.90501156e-01 7.23326855e-01 -2.53273848e-03 1.01318385e+02] [ 3.81918146e-03 -1.44373493e-04 9.99992696e-01 7.93562243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.92, Y:101.34, Z:0.79 [[ 7.24690868e-01 -6.89068181e-01 -2.86143416e-03 1.20923890e+02] [ 6.89063536e-01 7.24696505e-01 -2.53361084e-03 1.01336484e+02] [ 3.81950195e-03 -1.35625296e-04 9.99992696e-01 7.92641881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.94, Y:101.35, Z:0.79 [[ 7.25499053e-01 -6.88217219e-01 -2.86063371e-03 1.20944422e+02] [ 6.88212565e-01 7.25504681e-01 -2.53451428e-03 1.01354449e+02] [ 3.81969952e-03 -1.29936352e-04 9.99992696e-01 7.91834494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.97, Y:101.37, Z:0.79 [[ 7.25285416e-01 -6.88442361e-01 -2.86018468e-03 1.20965689e+02] [ 6.88437707e-01 7.25291044e-01 -2.53502092e-03 1.01373519e+02] [ 3.81968212e-03 -1.30445281e-04 9.99992696e-01 7.91943490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.99, Y:101.39, Z:0.79 [[ 7.26118913e-01 -6.87563196e-01 -2.85939760e-03 1.20985751e+02] [ 6.87558530e-01 7.26124532e-01 -2.53590840e-03 1.01391385e+02] [ 3.81987603e-03 -1.24632164e-04 9.99992696e-01 7.91674183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.01, Y:101.41, Z:0.79 [[ 7.26849502e-01 -6.86790818e-01 -2.85895933e-03 1.21006814e+02] [ 6.86786145e-01 7.26855115e-01 -2.53640241e-03 1.01409840e+02] [ 3.82002709e-03 -1.19910829e-04 9.99992696e-01 7.91498506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.03, Y:101.43, Z:0.79 [[ 7.28351543e-01 -6.85197681e-01 -2.85816063e-03 1.21027342e+02] [ 6.85192992e-01 7.28357142e-01 -2.53730210e-03 1.01427443e+02] [ 3.82031522e-03 -1.10343734e-04 9.99992696e-01 7.91788545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.05, Y:101.45, Z:0.79 [[ 7.28669487e-01 -6.84859556e-01 -2.85771894e-03 1.21048322e+02] [ 6.84854863e-01 7.28675083e-01 -2.53779948e-03 1.01446132e+02] [ 3.82038481e-03 -1.07905668e-04 9.99992696e-01 7.92116395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.08, Y:101.46, Z:0.79 [[ 7.31714164e-01 -6.81605619e-01 -2.85693259e-03 1.21077752e+02] [ 6.81600897e-01 7.31719736e-01 -2.53868440e-03 1.01464707e+02] [ 3.82085551e-03 -8.96964873e-05 9.99992696e-01 7.93701807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.10, Y:101.48, Z:0.79 [[ 7.31209158e-01 -6.82147160e-01 -2.90156842e-03 1.21098401e+02] [ 6.82142640e-01 7.31214898e-01 -2.48842619e-03 1.01483280e+02] [ 3.81914291e-03 -1.59723522e-04 9.99992694e-01 7.94537333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.12, Y:101.50, Z:0.79 [[ 7.30483544e-01 -6.82924163e-01 -2.89487751e-03 1.21119720e+02] [ 6.82919619e-01 7.30489264e-01 -2.49594857e-03 1.01501926e+02] [ 3.81922053e-03 -1.53719291e-04 9.99992695e-01 7.94997973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.792755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:121.14, Y:101.52, Z:0.79 [[ 7.29741170e-01 -6.83717376e-01 -2.89403757e-03 1.21139222e+02] [ 6.83712835e-01 7.29746891e-01 -2.49689207e-03 1.01518122e+02] [ 3.81908342e-03 -1.56605687e-04 9.99992695e-01 7.94262314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:101.54, Z:0.80 [[ 7.29533334e-01 -6.83939177e-01 -2.88379611e-03 1.21160599e+02] [ 6.83934592e-01 7.29539020e-01 -2.50840016e-03 1.01536284e+02] [ 3.81943493e-03 -1.42366384e-04 9.99992696e-01 7.95489720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:101.56, Z:0.80 [[ 7.28159073e-01 -6.85402114e-01 -2.88231200e-03 1.21181423e+02] [ 6.85397533e-01 7.28164762e-01 -2.51006496e-03 1.01555382e+02] [ 3.81920186e-03 -1.47802963e-04 9.99992696e-01 7.95356121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.20, Y:101.57, Z:0.80 [[ 7.27473198e-01 -6.86130055e-01 -2.87989998e-03 1.21204361e+02] [ 6.86125470e-01 7.27478884e-01 -2.51276825e-03 1.01573388e+02] [ 3.81915224e-03 -1.48001165e-04 9.99992696e-01 7.95135354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.22, Y:101.59, Z:0.80 [[ 7.27231425e-01 -6.86386297e-01 -2.88189483e-03 1.21223775e+02] [ 6.86381723e-01 7.27237119e-01 -2.51053362e-03 1.01591038e+02] [ 3.81901676e-03 -1.52340996e-04 9.99992696e-01 7.96022419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.25, Y:101.61, Z:0.80 [[ 7.26482068e-01 -6.87179447e-01 -2.86554887e-03 1.21245676e+02] [ 6.87174807e-01 7.26487708e-01 -2.52882503e-03 1.01610149e+02] [ 3.81954262e-03 -1.31986949e-04 9.99992697e-01 7.95843977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.27, Y:101.63, Z:0.80 [[ 7.26931425e-01 -6.86704056e-01 -2.87127802e-03 1.21265268e+02] [ 6.86699437e-01 7.26937082e-01 -2.52241600e-03 1.01626837e+02] [ 3.81939176e-03 -1.38081546e-04 9.99992697e-01 7.96011464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.29, Y:101.65, Z:0.80 [[ 7.27071365e-01 -6.86555937e-01 -2.85947537e-03 1.21288306e+02] [ 6.86551265e-01 7.27076978e-01 -2.53559970e-03 1.01645536e+02] [ 3.81988973e-03 -1.19614495e-04 9.99992697e-01 7.95577808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.31, Y:101.66, Z:0.80 [[ 7.27878153e-01 -6.85700490e-01 -2.86918447e-03 1.21305999e+02] [ 6.85695854e-01 7.27883797e-01 -2.52474956e-03 1.01661970e+02] [ 3.81965490e-03 -1.29677848e-04 9.99992697e-01 7.96265743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.33, Y:101.68, Z:0.79 [[ 7.28506785e-01 -6.85032722e-01 -2.83437422e-03 1.21327763e+02] [ 6.85027929e-01 7.28512295e-01 -2.56356989e-03 1.01680888e+02] [ 3.82100573e-03 -7.40474413e-05 9.99992697e-01 7.94818523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:121.35, Y:101.70, Z:0.79 [[ 7.29675709e-01 -6.83787441e-01 -2.84518595e-03 1.21348888e+02] [ 6.83782685e-01 7.29681252e-01 -2.55151377e-03 1.01698551e+02] [ 3.82077191e-03 -8.37112651e-05 9.99992697e-01 7.92890934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.37, Y:101.72, Z:0.79 [[ 7.30496927e-01 -6.82910088e-01 -2.83731041e-03 1.21370066e+02] [ 6.82905292e-01 7.30502434e-01 -2.56029122e-03 1.01716609e+02] [ 3.82111086e-03 -6.73294249e-05 9.99992697e-01 7.94644354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.39, Y:101.73, Z:0.80 [[ 7.33334014e-01 -6.79862623e-01 -2.83509914e-03 1.21390281e+02] [ 6.79857795e-01 7.33339493e-01 -2.56275462e-03 1.01734611e+02] [ 3.82141125e-03 -4.81091133e-05 9.99992697e-01 7.95579593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.41, Y:101.75, Z:0.79 [[ 7.32999457e-01 -6.80223350e-01 -2.82670220e-03 1.21411521e+02] [ 6.80218488e-01 7.33004906e-01 -2.57210400e-03 1.01754202e+02] [ 3.82159178e-03 -3.74242614e-05 9.99992697e-01 7.94832308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.43, Y:101.77, Z:0.80 [[ 7.34023436e-01 -6.79118192e-01 -2.84197115e-03 1.21432493e+02] [ 6.79113387e-01 7.34028936e-01 -2.55510235e-03 1.01772247e+02] [ 3.82130554e-03 -5.45156488e-05 9.99992697e-01 7.95469124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.45, Y:101.79, Z:0.79 [[ 7.34641347e-01 -6.78449747e-01 -2.83429937e-03 1.21452982e+02] [ 6.78444904e-01 7.34646813e-01 -2.56364062e-03 1.01791530e+02] [ 3.82151033e-03 -3.95595698e-05 9.99992697e-01 7.94243468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.47, Y:101.81, Z:0.79 [[ 7.35644692e-01 -6.77361657e-01 -2.84140796e-03 1.21473110e+02] [ 6.77356837e-01 7.35650178e-01 -2.55573014e-03 1.01809222e+02] [ 3.82143587e-03 -4.45377995e-05 9.99992697e-01 7.94107051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.49, Y:101.83, Z:0.79 [[ 7.34890789e-01 -6.78179567e-01 -2.82901448e-03 1.21494661e+02] [ 6.78174700e-01 7.34896234e-01 -2.56952109e-03 1.01829504e+02] [ 3.82162879e-03 -3.02486676e-05 9.99992697e-01 7.93819163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.51, Y:101.85, Z:0.79 [[ 7.34746918e-01 -6.78335380e-01 -2.84227398e-03 1.21514316e+02] [ 6.78330571e-01 7.34752414e-01 -2.55476941e-03 1.01847690e+02] [ 3.82135815e-03 -5.08923816e-05 9.99992697e-01 7.93662522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.53, Y:101.87, Z:0.79 [[ 7.34397297e-01 -6.78713882e-01 -2.84183488e-03 1.21534209e+02] [ 6.78709074e-01 7.34402794e-01 -2.55525776e-03 1.01865807e+02] [ 3.82134039e-03 -5.22047323e-05 9.99992697e-01 7.93238309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.55, Y:101.88, Z:0.79 [[ 7.33846453e-01 -6.79309436e-01 -2.84140601e-03 1.21553673e+02] [ 6.79304630e-01 7.33851952e-01 -2.55573456e-03 1.01884055e+02] [ 3.82130595e-03 -5.46635159e-05 9.99992697e-01 7.92987957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.57, Y:101.90, Z:0.79 [[ 7.33307707e-01 -6.79890973e-01 -2.84098144e-03 1.21573970e+02] [ 6.79886171e-01 7.33313208e-01 -2.55620644e-03 1.01903082e+02] [ 3.82127090e-03 -5.70581048e-05 9.99992697e-01 7.93147201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.59, Y:101.92, Z:0.79 [[ 7.31948598e-01 -6.81353934e-01 -2.84026293e-03 1.21594172e+02] [ 6.81349139e-01 7.31954106e-01 -2.55700454e-03 1.01923313e+02] [ 3.82116722e-03 -6.36148200e-05 9.99992697e-01 7.93072886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.61, Y:101.94, Z:0.79 [[ 7.30715404e-01 -6.82676304e-01 -2.83945951e-03 1.21614679e+02] [ 6.82671515e-01 7.30720918e-01 -2.55789640e-03 1.01942483e+02] [ 3.82106772e-03 -6.93238213e-05 9.99992697e-01 7.92993554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.63, Y:101.96, Z:0.79 [[ 7.28834363e-01 -6.84684171e-01 -2.83865481e-03 1.21634597e+02] [ 6.84679394e-01 7.28839887e-01 -2.55878911e-03 1.01961222e+02] [ 3.82088725e-03 -7.86350299e-05 9.99992697e-01 7.93364169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.66, Y:101.98, Z:0.79 [[ 7.28166084e-01 -6.85394849e-01 -2.83821030e-03 1.21657751e+02] [ 6.85390075e-01 7.28171611e-01 -2.55928207e-03 1.01980943e+02] [ 3.82082291e-03 -8.16987627e-05 9.99992697e-01 7.93407368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.68, Y:102.00, Z:0.79 [[ 7.26517406e-01 -6.87142163e-01 -2.84735847e-03 1.21676667e+02] [ 6.87137442e-01 7.26522978e-01 -2.54914061e-03 1.01999338e+02] [ 3.82029334e-03 -1.04531593e-04 9.99992697e-01 7.94089348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.70, Y:102.02, Z:0.80 [[ 7.24542942e-01 -6.89223823e-01 -2.83662100e-03 1.21697171e+02] [ 6.89219072e-01 7.24548488e-01 -2.56103351e-03 1.02019012e+02] [ 3.82039477e-03 -9.94745363e-05 9.99992697e-01 7.95014279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.72, Y:102.04, Z:0.79 [[ 7.23423668e-01 -6.90398548e-01 -2.83581267e-03 1.21716950e+02] [ 6.90393802e-01 7.23429218e-01 -2.56192826e-03 1.02038574e+02] [ 3.82026129e-03 -1.04467953e-04 9.99992697e-01 7.94616340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.74, Y:102.06, Z:0.79 [[ 7.22657506e-01 -6.91200471e-01 -2.83500594e-03 1.21737381e+02] [ 6.91195729e-01 7.22663059e-01 -2.56282067e-03 1.02058347e+02] [ 3.82017692e-03 -1.07502405e-04 9.99992697e-01 7.94456414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.76, Y:102.08, Z:0.79 [[ 7.21250685e-01 -6.92668331e-01 -2.83419337e-03 1.21755272e+02] [ 6.92663596e-01 7.21256244e-01 -2.56371896e-03 1.02078244e+02] [ 3.81998660e-03 -1.14058519e-04 9.99992697e-01 7.92533363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.78, Y:102.10, Z:0.79 [[ 7.21522570e-01 -6.92385149e-01 -2.82593707e-03 1.21776693e+02] [ 6.92380376e-01 7.21528098e-01 -2.57284194e-03 1.02097351e+02] [ 3.82039054e-03 -1.00259842e-04 9.99992697e-01 7.93126267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.80, Y:102.12, Z:0.79 [[ 7.21258352e-01 -6.92660350e-01 -2.83342279e-03 1.21795945e+02] [ 6.92655612e-01 7.21263909e-01 -2.56457296e-03 1.02116160e+02] [ 3.82002360e-03 -1.12866528e-04 9.99992697e-01 7.92920801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.82, Y:102.13, Z:0.79 [[ 7.21148705e-01 -6.92774526e-01 -2.82868824e-03 1.21816143e+02] [ 6.92769768e-01 7.21154245e-01 -2.56980059e-03 1.02134983e+02] [ 3.82021292e-03 -1.06421327e-04 9.99992697e-01 7.93517363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.84, Y:102.15, Z:0.79 [[ 7.21720065e-01 -6.92179259e-01 -2.83203392e-03 1.21835132e+02] [ 6.92174511e-01 7.21725614e-01 -2.56610820e-03 1.02154932e+02] [ 3.82015829e-03 -1.08249911e-04 9.99992697e-01 7.90987862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.86, Y:102.18, Z:0.79 [[ 7.21291880e-01 -6.92625482e-01 -2.82222881e-03 1.21855869e+02] [ 6.92620695e-01 7.21297395e-01 -2.57692033e-03 1.02175483e+02] [ 3.82050698e-03 -9.60223689e-05 9.99992697e-01 7.91291845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.87, Y:102.19, Z:0.79 [[ 7.23798264e-01 -6.90005818e-01 -2.83630141e-03 1.21874582e+02] [ 6.90001072e-01 7.23803813e-01 -2.56139955e-03 1.02194183e+02] [ 3.82030637e-03 -1.03114467e-04 9.99992697e-01 7.90346057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.90, Y:102.21, Z:0.79 [[ 7.24501747e-01 -6.89267195e-01 -2.81995977e-03 1.21895866e+02] [ 6.89262373e-01 7.24507231e-01 -2.57940538e-03 1.02214069e+02] [ 3.82098076e-03 -7.49084599e-05 9.99992697e-01 7.91447865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.92, Y:102.23, Z:0.79 [[ 7.25556146e-01 -6.88157155e-01 -2.82998440e-03 1.21916209e+02] [ 6.88152368e-01 7.25561660e-01 -2.56835960e-03 1.02233828e+02] [ 3.82076321e-03 -8.39713746e-05 9.99992697e-01 7.91096859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.94, Y:102.25, Z:0.79 [[ 7.26993924e-01 -6.86638072e-01 -2.82727853e-03 1.21935343e+02] [ 6.86633261e-01 7.26999418e-01 -2.57133971e-03 1.02254203e+02] [ 3.82100958e-03 -7.19551341e-05 9.99992697e-01 7.90624745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.96, Y:102.27, Z:0.79 [[ 7.27065994e-01 -6.86561771e-01 -2.82402641e-03 1.21955128e+02] [ 6.86556946e-01 7.27071475e-01 -2.57491980e-03 1.02273595e+02] [ 3.82111055e-03 -6.67183268e-05 9.99992697e-01 7.92248195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.98, Y:102.29, Z:0.79 [[ 7.27109828e-01 -6.86515329e-01 -2.82849959e-03 1.21975227e+02] [ 6.86510522e-01 7.27115326e-01 -2.56999669e-03 1.02293105e+02] [ 3.82098752e-03 -7.31248763e-05 9.99992697e-01 7.92747602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.00, Y:102.31, Z:0.79 [[ 7.26503215e-01 -6.87157248e-01 -2.82773038e-03 1.21995197e+02] [ 6.87152443e-01 7.26508714e-01 -2.57084276e-03 1.02312995e+02] [ 3.82094400e-03 -7.53563023e-05 9.99992697e-01 7.92859464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.02, Y:102.33, Z:0.79 [[ 7.25828394e-01 -6.87870010e-01 -2.82696420e-03 1.22015200e+02] [ 6.87865207e-01 7.25833895e-01 -2.57168500e-03 1.02332038e+02] [ 3.82089142e-03 -7.79683208e-05 9.99992697e-01 7.92709169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:102.35, Z:0.79 [[ 7.25032760e-01 -6.88708581e-01 -2.82619974e-03 1.22034750e+02] [ 6.88703781e-01 7.25038264e-01 -2.57252483e-03 1.02350427e+02] [ 3.82082288e-03 -8.12496652e-05 9.99992697e-01 7.92386061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.06, Y:102.37, Z:0.79 [[ 7.23270130e-01 -6.90559436e-01 -2.82577751e-03 1.22055138e+02] [ 6.90554648e-01 7.23275644e-01 -2.57298855e-03 1.02368826e+02] [ 3.82061757e-03 -9.03880366e-05 9.99992697e-01 7.92025656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.08, Y:102.39, Z:0.79 [[ 7.22256754e-01 -6.91619259e-01 -2.82510220e-03 1.22075746e+02] [ 6.91614477e-01 7.22262273e-01 -2.57372982e-03 1.02387611e+02] [ 3.82050585e-03 -9.49878325e-05 9.99992697e-01 7.91782370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.10, Y:102.41, Z:0.79 [[ 7.20143083e-01 -6.93819835e-01 -2.82436455e-03 1.22096226e+02] [ 6.93815066e-01 7.20148614e-01 -2.57453905e-03 1.02406098e+02] [ 3.82022847e-03 -1.05550191e-04 9.99992697e-01 7.92052604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.12, Y:102.42, Z:0.79 [[ 7.19159422e-01 -6.94839372e-01 -2.82362723e-03 1.22116342e+02] [ 6.94834608e-01 7.19164957e-01 -2.57534745e-03 1.02424283e+02] [ 3.82010656e-03 -1.09868530e-04 9.99992697e-01 7.92199187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.14, Y:102.44, Z:0.79 [[ 7.18046562e-01 -6.95989343e-01 -2.82296574e-03 1.22137427e+02] [ 6.95984585e-01 7.18052102e-01 -2.57607234e-03 1.02443448e+02] [ 3.81995538e-03 -1.15000755e-04 9.99992697e-01 7.92273482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.16, Y:102.46, Z:0.79 [[ 7.17263782e-01 -6.96796026e-01 -2.82224263e-03 1.22158071e+02] [ 6.96791271e-01 7.17269325e-01 -2.57686431e-03 1.02462116e+02] [ 3.81985687e-03 -1.18222588e-04 9.99992697e-01 7.92518921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:102.48, Z:0.79 [[ 7.15080819e-01 -6.99036094e-01 -2.82152184e-03 1.22172004e+02] [ 6.99031354e-01 7.15086374e-01 -2.57765329e-03 1.02480472e+02] [ 3.81950451e-03 -1.29101804e-04 9.99992697e-01 7.89489876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.20, Y:102.50, Z:0.79 [[ 7.17172813e-01 -6.96889770e-01 -2.79369641e-03 1.22197353e+02] [ 6.96884894e-01 7.17178250e-01 -2.60809238e-03 1.02497777e+02] [ 3.82113120e-03 -7.64318739e-05 9.99992697e-01 7.92124820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.22, Y:102.52, Z:0.79 [[ 7.16079789e-01 -6.98012791e-01 -2.80694300e-03 1.22219646e+02] [ 6.98007980e-01 7.16085284e-01 -2.59359198e-03 1.02518332e+02] [ 3.82037095e-03 -1.02049817e-04 9.99992697e-01 7.91609863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.24, Y:102.54, Z:0.79 [[ 7.17037390e-01 -6.97028996e-01 -2.82127445e-03 1.22239865e+02] [ 6.97024239e-01 7.17042931e-01 -2.57790758e-03 1.02535697e+02] [ 3.81985123e-03 -1.18040553e-04 9.99992697e-01 7.89835102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.26, Y:102.55, Z:0.79 [[ 7.17699316e-01 -6.96347424e-01 -2.82082837e-03 1.22260394e+02] [ 6.96342660e-01 7.17704850e-01 -2.57839560e-03 1.02554265e+02] [ 3.81998133e-03 -1.13750370e-04 9.99992697e-01 7.89037056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.28, Y:102.57, Z:0.79 [[ 7.17511480e-01 -6.96540970e-01 -2.82013298e-03 1.22281329e+02] [ 6.96536204e-01 7.17517013e-01 -2.57915595e-03 1.02573683e+02] [ 3.81998118e-03 -1.13750719e-04 9.99992697e-01 7.89145909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.30, Y:102.59, Z:0.79 [[ 7.19297820e-01 -6.94696119e-01 -2.81943716e-03 1.22303292e+02] [ 6.94691336e-01 7.19303338e-01 -2.57991638e-03 1.02592612e+02] [ 3.82028845e-03 -1.02910337e-04 9.99992697e-01 7.88993638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.32, Y:102.61, Z:0.79 [[ 7.20783004e-01 -6.93155044e-01 -2.81896383e-03 1.22322912e+02] [ 6.93150247e-01 7.20788510e-01 -2.58043346e-03 1.02611855e+02] [ 3.82051721e-03 -9.40328993e-05 9.99992697e-01 7.88981660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.34, Y:102.63, Z:0.79 [[ 7.21851542e-01 -6.92042202e-01 -2.81831304e-03 1.22343328e+02] [ 6.92037394e-01 7.21857038e-01 -2.58114404e-03 1.02630729e+02] [ 3.82067971e-03 -8.71752072e-05 9.99992697e-01 7.88944816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.37, Y:102.65, Z:0.79 [[ 7.25401219e-01 -6.88320516e-01 -2.81752473e-03 1.22365940e+02] [ 6.88315676e-01 7.25406688e-01 -2.58200427e-03 1.02648260e+02] [ 3.82109779e-03 -6.63573919e-05 9.99992697e-01 7.88007361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.39, Y:102.67, Z:0.79 [[ 7.25178951e-01 -6.88554684e-01 -2.81708988e-03 1.22385175e+02] [ 6.88549845e-01 7.25184419e-01 -2.58247862e-03 1.02668669e+02] [ 3.82108744e-03 -6.69476571e-05 9.99992697e-01 7.88776074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.41, Y:102.69, Z:0.79 [[ 7.25709941e-01 -6.87995020e-01 -2.81663057e-03 1.22406063e+02] [ 6.87990174e-01 7.25715404e-01 -2.58297948e-03 1.02687889e+02] [ 3.82114921e-03 -6.33202736e-05 9.99992697e-01 7.89780841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.43, Y:102.71, Z:0.79 [[ 7.26102141e-01 -6.87581088e-01 -2.81582689e-03 1.22426883e+02] [ 6.87576235e-01 7.26107598e-01 -2.58385532e-03 1.02707086e+02] [ 3.82120335e-03 -5.99527734e-05 9.99992697e-01 7.90090830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.45, Y:102.73, Z:0.79 [[ 7.26248303e-01 -6.87426708e-01 -2.81502249e-03 1.22447029e+02] [ 6.87421851e-01 7.26253756e-01 -2.58473138e-03 1.02725528e+02] [ 3.82123404e-03 -5.79511930e-05 9.99992697e-01 7.90551564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.47, Y:102.74, Z:0.79 [[ 7.25933954e-01 -6.87758659e-01 -2.81457316e-03 1.22467659e+02] [ 6.87753802e-01 7.25939408e-01 -2.58522058e-03 1.02744095e+02] [ 3.82121741e-03 -5.90339973e-05 9.99992697e-01 7.91287068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.49, Y:102.76, Z:0.79 [[ 7.25461362e-01 -6.88257144e-01 -2.81376209e-03 1.22488549e+02] [ 6.88252288e-01 7.25466816e-01 -2.58610305e-03 1.02762709e+02] [ 3.82119492e-03 -6.04603576e-05 9.99992697e-01 7.92095932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.52, Y:102.78, Z:0.79 [[ 7.27418862e-01 -6.86187938e-01 -2.81294260e-03 1.22517683e+02] [ 6.86183063e-01 7.27424299e-01 -2.58699411e-03 1.02782374e+02] [ 3.82136695e-03 -4.83652562e-05 9.99992697e-01 7.91682770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.53, Y:102.80, Z:0.79 [[ 7.24619288e-01 -6.89143447e-01 -2.86284455e-03 1.22529621e+02] [ 6.89138807e-01 7.24624931e-01 -2.53267354e-03 1.02798295e+02] [ 3.81986391e-03 -1.37673179e-04 9.99992695e-01 7.93822678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.55, Y:102.82, Z:0.79 [[ 7.23615700e-01 -6.90197418e-01 -2.80031601e-03 1.22550143e+02] [ 6.90192521e-01 7.23621117e-01 -2.60054854e-03 1.02816730e+02] [ 3.82125969e-03 -5.09594115e-05 9.99992698e-01 7.94723778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.57, Y:102.84, Z:0.79 [[ 7.22012976e-01 -6.91873860e-01 -2.79722324e-03 1.22572212e+02] [ 6.91868963e-01 7.22018392e-01 -2.60390401e-03 1.02835842e+02] [ 3.82121975e-03 -5.52594590e-05 9.99992698e-01 7.94781926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.60, Y:102.86, Z:0.79 [[ 7.22896794e-01 -6.90950310e-01 -2.80982270e-03 1.22599877e+02] [ 6.90945458e-01 7.22902251e-01 -2.59023644e-03 1.02855561e+02] [ 3.82095183e-03 -6.89606218e-05 9.99992698e-01 7.93510180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.62, Y:102.87, Z:0.79 [[ 7.22095855e-01 -6.91787145e-01 -2.85007189e-03 1.22619276e+02] [ 6.91782470e-01 7.22101467e-01 -2.54655321e-03 1.02873658e+02] [ 3.81971387e-03 -1.32774252e-04 9.99992696e-01 7.93973326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.64, Y:102.89, Z:0.79 [[ 7.21870642e-01 -6.92022203e-01 -2.83668310e-03 1.22640215e+02] [ 6.92017473e-01 7.21876207e-01 -2.56107055e-03 1.02892113e+02] [ 3.82005172e-03 -1.14272631e-04 9.99992697e-01 7.93066428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.66, Y:102.91, Z:0.79 [[ 7.21472691e-01 -6.92437058e-01 -2.84214312e-03 1.22661177e+02] [ 6.92432354e-01 7.21478278e-01 -2.55515638e-03 1.02911888e+02] [ 3.81982949e-03 -1.24516303e-04 9.99992697e-01 7.92734372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.68, Y:102.93, Z:0.79 [[ 7.22844872e-01 -6.91004493e-01 -2.84273333e-03 1.22679537e+02] [ 6.90999781e-01 7.22850452e-01 -2.55451738e-03 1.02928191e+02] [ 3.82005406e-03 -1.17808325e-04 9.99992697e-01 7.93352171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.70, Y:102.95, Z:0.79 [[ 7.22605942e-01 -6.91254426e-01 -2.82311729e-03 1.22699428e+02] [ 6.91249633e-01 7.22611452e-01 -2.57573464e-03 1.02947770e+02] [ 3.82050485e-03 -9.02376307e-05 9.99992698e-01 7.93038073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.72, Y:102.97, Z:0.79 [[ 7.22476207e-01 -6.91390040e-01 -2.81817566e-03 1.22722413e+02] [ 6.91385227e-01 7.22481699e-01 -2.58107168e-03 1.02968622e+02] [ 3.82060759e-03 -8.36821440e-05 9.99992698e-01 7.92984394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.74, Y:102.99, Z:0.79 [[ 7.21909959e-01 -6.91981191e-01 -2.83598368e-03 1.22738046e+02] [ 6.91976458e-01 7.21915521e-01 -2.56184142e-03 1.02986693e+02] [ 3.82008671e-03 -1.13015105e-04 9.99992697e-01 7.94074284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.76, Y:103.01, Z:0.79 [[ 7.23371529e-01 -6.90453313e-01 -2.80221696e-03 1.22761903e+02] [ 6.90448427e-01 7.23376955e-01 -2.59825877e-03 1.03006471e+02] [ 3.82103555e-03 -5.52798756e-05 9.99992698e-01 7.94248098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.78, Y:103.03, Z:0.80 [[ 7.23804519e-01 -6.89999308e-01 -2.82356244e-03 1.22781261e+02] [ 6.89994508e-01 7.23810022e-01 -2.57523877e-03 1.03025128e+02] [ 3.82063576e-03 -8.42731167e-05 9.99992698e-01 7.95615149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.80, Y:103.04, Z:0.80 [[ 7.23395730e-01 -6.90427933e-01 -2.80826678e-03 1.22800800e+02] [ 6.90423072e-01 7.23401178e-01 -2.59171860e-03 1.03044534e+02] [ 3.82089841e-03 -6.40540102e-05 9.99992698e-01 7.95111235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:122.82, Y:103.06, Z:0.80 [[ 7.24020352e-01 -6.89772886e-01 -2.80996466e-03 1.22822765e+02] [ 6.89768027e-01 7.24025802e-01 -2.58989063e-03 1.03063608e+02] [ 3.82092325e-03 -6.30902509e-05 9.99992698e-01 7.95356206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.84, Y:103.08, Z:0.80 [[ 7.22961565e-01 -6.90882523e-01 -2.81340118e-03 1.22841457e+02] [ 6.90877686e-01 7.22967036e-01 -2.58619398e-03 1.03083149e+02] [ 3.82075253e-03 -7.39972494e-05 9.99992698e-01 7.96984636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.86, Y:103.10, Z:0.80 [[ 7.21289762e-01 -6.92627789e-01 -2.79747193e-03 1.22860316e+02] [ 6.92622899e-01 7.21295184e-01 -2.60331346e-03 1.03102646e+02] [ 3.82093027e-03 -5.98497742e-05 9.99992698e-01 7.96967079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.88, Y:103.12, Z:0.80 [[ 7.20485841e-01 -6.93464056e-01 -2.78504837e-03 1.22879285e+02] [ 6.93459121e-01 7.20491222e-01 -2.61665509e-03 1.03121355e+02] [ 3.82115915e-03 -4.60542567e-05 9.99992698e-01 7.96528867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.90, Y:103.14, Z:0.80 [[ 7.19611405e-01 -6.94371462e-01 -2.77472819e-03 1.22898403e+02] [ 6.94366490e-01 7.19616754e-01 -2.62772164e-03 1.03140463e+02] [ 3.82135581e-03 -3.57398203e-05 9.99992698e-01 7.97137453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.92, Y:103.16, Z:0.80 [[ 7.19951450e-01 -6.94018899e-01 -2.77063892e-03 1.22922137e+02] [ 6.94013909e-01 7.19956781e-01 -2.63209798e-03 1.03160212e+02] [ 3.82146602e-03 -2.78791868e-05 9.99992698e-01 7.99562933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.94, Y:103.18, Z:0.80 [[ 7.18125005e-01 -6.95908544e-01 -2.78850206e-03 1.22939132e+02] [ 6.95903641e-01 7.18130416e-01 -2.61297822e-03 1.03180225e+02] [ 3.82090201e-03 -6.40837430e-05 9.99992698e-01 7.98663659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.96, Y:103.20, Z:0.80 [[ 7.18097900e-01 -6.95936568e-01 -2.77481178e-03 1.22959068e+02] [ 6.95931609e-01 7.18103260e-01 -2.62765002e-03 1.03199062e+02] [ 3.82127912e-03 -4.41692663e-05 9.99992698e-01 7.99431724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.98, Y:103.22, Z:0.80 [[ 7.16959337e-01 -6.97109470e-01 -2.77402795e-03 1.22977886e+02] [ 6.97104517e-01 7.16964702e-01 -2.62848932e-03 1.03218762e+02] [ 3.82122492e-03 -4.92674572e-05 9.99992698e-01 7.99498876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.00, Y:103.24, Z:0.80 [[ 7.15928607e-01 -6.98167997e-01 -2.77087286e-03 1.22998194e+02] [ 6.98163038e-01 7.15933968e-01 -2.63186498e-03 1.03238899e+02] [ 3.82124590e-03 -5.02935826e-05 9.99992698e-01 7.99501591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.02, Y:103.26, Z:0.80 [[ 7.15220394e-01 -6.98893478e-01 -2.77396406e-03 1.23019465e+02] [ 6.98888537e-01 7.15225771e-01 -2.62856208e-03 1.03258442e+02] [ 3.82109548e-03 -5.86904743e-05 9.99992698e-01 8.01376639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.04, Y:103.28, Z:0.80 [[ 7.14050324e-01 -7.00088815e-01 -2.79017487e-03 1.23039692e+02] [ 7.00083951e-01 7.14055770e-01 -2.61124043e-03 1.03279689e+02] [ 3.82044069e-03 -8.87995771e-05 9.99992698e-01 8.02487209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.06, Y:103.30, Z:0.80 [[ 7.14391154e-01 -6.99741007e-01 -2.79318393e-03 1.23058683e+02] [ 6.99736153e-01 7.14396609e-01 -2.60802573e-03 1.03298165e+02] [ 3.82038368e-03 -9.13412732e-05 9.99992698e-01 8.01380109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.08, Y:103.32, Z:0.80 [[ 7.14299959e-01 -6.99834154e-01 -2.77934434e-03 1.23077466e+02] [ 6.99829243e-01 7.14305363e-01 -2.62279023e-03 1.03317031e+02] [ 3.82081875e-03 -7.16074871e-05 9.99992698e-01 8.01781351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.10, Y:103.34, Z:0.80 [[ 7.14227771e-01 -6.99907836e-01 -2.77706073e-03 1.23096566e+02] [ 6.99902916e-01 7.14233166e-01 -2.62522587e-03 1.03338655e+02] [ 3.82088504e-03 -6.86636825e-05 9.99992698e-01 8.01416770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.12, Y:103.36, Z:0.80 [[ 7.12568469e-01 -7.01597039e-01 -2.78770164e-03 1.23117904e+02] [ 7.01592176e-01 7.12573916e-01 -2.61387733e-03 1.03362375e+02] [ 3.82033208e-03 -9.32630945e-05 9.99992698e-01 8.00126849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.14, Y:103.38, Z:0.80 [[ 7.14007938e-01 -7.00131965e-01 -2.81012331e-03 1.23137189e+02] [ 7.00127184e-01 7.14013458e-01 -2.59002015e-03 1.03381077e+02] [ 3.81982176e-03 -1.18148772e-04 9.99992697e-01 8.01041477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:103.40, Z:0.80 [[ 7.16228011e-01 -6.97860764e-01 -2.79115053e-03 1.23155201e+02] [ 6.97855887e-01 7.16233445e-01 -2.61018738e-03 1.03400035e+02] [ 3.82066272e-03 -7.83315132e-05 9.99992698e-01 8.00887408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.18, Y:103.42, Z:0.80 [[ 7.17040717e-01 -6.97025730e-01 -2.78245127e-03 1.23175213e+02] [ 6.97020811e-01 7.17046113e-01 -2.61942805e-03 1.03420426e+02] [ 3.82095462e-03 -6.11898715e-05 9.99992698e-01 8.01112186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.19, Y:103.44, Z:0.80 [[ 7.18964463e-01 -6.95041268e-01 -2.78159448e-03 1.23194191e+02] [ 6.95036330e-01 7.18969842e-01 -2.62033757e-03 1.03440307e+02] [ 3.82112529e-03 -4.93796211e-05 9.99992698e-01 8.00736847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:103.46, Z:0.80 [[ 7.19497735e-01 -6.94489218e-01 -2.78111913e-03 1.23214384e+02] [ 6.94484274e-01 7.19503109e-01 -2.62084199e-03 1.03460471e+02] [ 3.82117037e-03 -4.57536207e-05 9.99992698e-01 8.01159585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:103.48, Z:0.80 [[ 7.19974747e-01 -6.93994693e-01 -2.78027540e-03 1.23233261e+02] [ 6.93989742e-01 7.19980114e-01 -2.62173674e-03 1.03479973e+02] [ 3.82121438e-03 -4.18983646e-05 9.99992698e-01 8.01216054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.25, Y:103.50, Z:0.80 [[ 7.20312685e-01 -6.93643935e-01 -2.77980879e-03 1.23252190e+02] [ 6.93638980e-01 7.20318048e-01 -2.62223139e-03 1.03500493e+02] [ 3.82124134e-03 -3.93571945e-05 9.99992698e-01 8.01325744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.27, Y:103.52, Z:0.80 [[ 7.20046723e-01 -6.93920020e-01 -2.77897660e-03 1.23271916e+02] [ 6.93915063e-01 7.20052085e-01 -2.62311303e-03 1.03520109e+02] [ 3.82123854e-03 -3.96097768e-05 9.99992698e-01 8.01702220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.29, Y:103.54, Z:0.80 [[ 7.19314970e-01 -6.94678527e-01 -2.77814960e-03 1.23292172e+02] [ 6.94673572e-01 7.19320334e-01 -2.62398862e-03 1.03540137e+02] [ 3.82120804e-03 -4.24328112e-05 9.99992698e-01 8.01839217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.31, Y:103.56, Z:0.80 [[ 7.18452547e-01 -6.95570431e-01 -2.77730687e-03 1.23311780e+02] [ 6.95565480e-01 7.18457913e-01 -2.62488029e-03 1.03559336e+02] [ 3.82116721e-03 -4.59468590e-05 9.99992698e-01 8.02084220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:103.58, Z:0.80 [[ 7.15080651e-01 -6.99036446e-01 -2.77673503e-03 1.23329088e+02] [ 6.99031518e-01 7.15086039e-01 -2.62548507e-03 1.03579504e+02] [ 3.82091420e-03 -6.35917272e-05 9.99992698e-01 8.00537775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.35, Y:103.60, Z:0.80 [[ 7.12540878e-01 -7.01625166e-01 -2.76102759e-03 1.23348007e+02] [ 7.01620194e-01 7.12546225e-01 -2.64208481e-03 1.03599837e+02] [ 3.82111298e-03 -5.45992847e-05 9.99992698e-01 7.98656583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.37, Y:103.62, Z:0.80 [[ 7.10150212e-01 -7.04044797e-01 -2.75679003e-03 1.23371931e+02] [ 7.04039826e-01 7.10155560e-01 -2.64655617e-03 1.03619557e+02] [ 3.82104387e-03 -6.14375400e-05 9.99992698e-01 8.01701802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:103.64, Z:0.80 [[ 7.08775809e-01 -7.05428312e-01 -2.78355867e-03 1.23391363e+02] [ 7.05423461e-01 7.08781267e-01 -2.61830685e-03 1.03637837e+02] [ 3.81996202e-03 -1.07795032e-04 9.99992698e-01 8.01670881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.41, Y:103.66, Z:0.80 [[ 7.05206203e-01 -7.08996843e-01 -2.77273190e-03 1.23406056e+02] [ 7.08991975e-01 7.05211645e-01 -2.62972202e-03 1.03656332e+02] [ 3.81982744e-03 -1.11348382e-04 9.99992698e-01 7.98009661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.43, Y:103.67, Z:0.80 [[ 7.03108239e-01 -7.11077563e-01 -2.73909985e-03 1.23427192e+02] [ 7.11072572e-01 7.03113571e-01 -2.66527057e-03 1.03674232e+02] [ 3.82111238e-03 -7.37250781e-05 9.99992697e-01 7.99850785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.45, Y:103.69, Z:0.80 [[ 7.04072372e-01 -7.10122954e-01 -2.73588577e-03 1.23450256e+02] [ 7.10117942e-01 7.04077685e-01 -2.66866190e-03 1.03692031e+02] [ 3.82135419e-03 -6.38704561e-05 9.99992697e-01 8.01621155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.47, Y:103.71, Z:0.80 [[ 7.01224520e-01 -7.12935267e-01 -2.73452264e-03 1.23468832e+02] [ 7.12930271e-01 7.01229848e-01 -2.67009935e-03 1.03711617e+02] [ 3.82113688e-03 -7.71848328e-05 9.99992696e-01 8.00646191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.49, Y:103.73, Z:0.80 [[ 6.99871638e-01 -7.14263411e-01 -2.73306386e-03 1.23489346e+02] [ 7.14258419e-01 6.99876970e-01 -2.67164160e-03 1.03729874e+02] [ 3.82106429e-03 -8.23076864e-05 9.99992696e-01 8.01100040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.51, Y:103.75, Z:0.80 [[ 6.98739999e-01 -7.15370498e-01 -2.73226744e-03 1.23507924e+02] [ 7.15365511e-01 6.98745335e-01 -2.67248321e-03 1.03747766e+02] [ 3.82097477e-03 -8.71989805e-05 9.99992696e-01 8.01974081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.53, Y:103.77, Z:0.80 [[ 6.98938989e-01 -7.15176155e-01 -2.71214239e-03 1.23527972e+02] [ 7.15171085e-01 6.98944249e-01 -2.69374421e-03 1.03766479e+02] [ 3.82213795e-03 -5.68829613e-05 9.99992694e-01 8.02071577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.55, Y:103.79, Z:0.80 [[ 6.97791987e-01 -7.16295300e-01 -2.71772136e-03 1.23545632e+02] [ 7.16290260e-01 6.97797276e-01 -2.68783375e-03 1.03785972e+02] [ 3.82170124e-03 -7.11284879e-05 9.99992695e-01 7.98195735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.57, Y:103.80, Z:0.80 [[ 6.99898690e-01 -7.14237014e-01 -2.70421995e-03 1.23570287e+02] [ 7.14231903e-01 6.99903913e-01 -2.70213719e-03 1.03804245e+02] [ 3.82266052e-03 -4.02178775e-05 9.99992693e-01 7.99888134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.60, Y:103.82, Z:0.80 [[ 7.01203392e-01 -7.12956126e-01 -2.71413260e-03 1.23599464e+02] [ 7.12951046e-01 7.01208643e-01 -2.69165525e-03 1.03824558e+02] [ 3.82220534e-03 -4.76458855e-05 9.99992694e-01 8.02254862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:103.84, Z:0.80 [[ 7.02337111e-01 -7.11839072e-01 -2.77824872e-03 1.23618402e+02] [ 7.11834249e-01 7.02342593e-01 -2.62376406e-03 1.03841931e+02] [ 3.81898019e-03 -1.34885722e-04 9.99992699e-01 8.01848752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:103.86, Z:0.80 [[ 7.02738201e-01 -7.11443195e-01 -2.75693821e-03 1.23638399e+02] [ 7.11438281e-01 7.02743602e-01 -2.64629931e-03 1.03859604e+02] [ 3.82011232e-03 -1.01735767e-04 9.99992698e-01 8.01370088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.66, Y:103.88, Z:0.80 [[ 7.01124666e-01 -7.13033399e-01 -2.75216443e-03 1.23659312e+02] [ 7.13028477e-01 7.01130060e-01 -2.65134094e-03 1.03880601e+02] [ 3.82011986e-03 -1.03451081e-04 9.99992698e-01 8.01309453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.67, Y:103.90, Z:0.80 [[ 6.99541959e-01 -7.14586137e-01 -2.77496648e-03 1.23674606e+02] [ 7.14581322e-01 6.99547448e-01 -2.62725693e-03 1.03900241e+02] [ 3.81862209e-03 -1.45062755e-04 9.99992699e-01 7.98068430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.70, Y:103.92, Z:0.80 [[ 7.00294190e-01 -7.13849107e-01 -2.73851594e-03 1.23696155e+02] [ 7.13844135e-01 7.00299539e-01 -2.66570794e-03 1.03919704e+02] [ 3.82069469e-03 -8.80937624e-05 9.99992697e-01 7.98266977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.72, Y:103.94, Z:0.80 [[ 7.00930289e-01 -7.13224510e-01 -2.74400566e-03 1.23716465e+02] [ 7.13219556e-01 7.00935654e-01 -2.65991683e-03 1.03938490e+02] [ 3.82048928e-03 -9.26622249e-05 9.99992698e-01 7.98231732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.74, Y:103.96, Z:0.80 [[ 7.02080534e-01 -7.12092265e-01 -2.74411655e-03 1.23738341e+02] [ 7.12087303e-01 7.02085891e-01 -2.65979986e-03 1.03957268e+02] [ 3.82062843e-03 -8.66568479e-05 9.99992698e-01 7.98423116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:103.97, Z:0.80 [[ 7.02755280e-01 -7.11426340e-01 -2.75309029e-03 1.23756163e+02] [ 7.11421409e-01 7.02760666e-01 -2.65033395e-03 1.03974835e+02] [ 3.82028095e-03 -9.60711985e-05 9.99992698e-01 7.98840901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:103.99, Z:0.80 [[ 7.03702142e-01 -7.10489854e-01 -2.73183710e-03 1.23781291e+02] [ 7.10484829e-01 7.03707442e-01 -2.67273157e-03 1.03994417e+02] [ 3.82136276e-03 -6.01218831e-05 9.99992697e-01 8.00884475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:104.01, Z:0.80 [[ 7.02736356e-01 -7.11445002e-01 -2.76095833e-03 1.23799730e+02] [ 7.11440104e-01 7.02741772e-01 -2.64202329e-03 1.04014367e+02] [ 3.81989501e-03 -1.07610667e-04 9.99992698e-01 8.00448517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:104.03, Z:0.80 [[ 7.04048557e-01 -7.10146499e-01 -2.75305958e-03 1.23823555e+02] [ 7.10141559e-01 7.04053934e-01 -2.65034733e-03 1.04032630e+02] [ 3.82043731e-03 -8.90888103e-05 9.99992698e-01 8.04083055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.84, Y:104.05, Z:0.80 [[ 7.02900085e-01 -7.11283195e-01 -2.77233198e-03 1.23841596e+02] [ 7.11278344e-01 7.02905542e-01 -2.63003219e-03 1.04051993e+02] [ 3.81938521e-03 -1.23249843e-04 9.99992699e-01 8.02352101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.86, Y:104.07, Z:0.80 [[ 7.02991391e-01 -7.11193014e-01 -2.75678440e-03 1.23862535e+02] [ 7.11188098e-01 7.02996790e-01 -2.64640747e-03 1.04070628e+02] [ 3.82011709e-03 -1.00190581e-04 9.99992698e-01 8.02495886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.89, Y:104.09, Z:0.80 [[ 7.04933664e-01 -7.09267872e-01 -2.75959173e-03 1.23885766e+02] [ 7.09262952e-01 7.04939059e-01 -2.64345183e-03 1.04087512e+02] [ 3.82025946e-03 -9.38179942e-05 9.99992698e-01 8.04725832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.91, Y:104.11, Z:0.80 [[ 7.02957782e-01 -7.11226191e-01 -2.76820603e-03 1.23905288e+02] [ 7.11221321e-01 7.02963222e-01 -2.63438043e-03 1.04107155e+02] [ 3.81958739e-03 -1.16948925e-04 9.99992699e-01 8.03367547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:104.13, Z:0.80 [[ 7.02205227e-01 -7.11969218e-01 -2.76616205e-03 1.23923776e+02] [ 7.11964346e-01 7.02210666e-01 -2.63653163e-03 1.04126590e+02] [ 3.81955786e-03 -1.18022463e-04 9.99992699e-01 8.02424100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.94, Y:104.14, Z:0.80 [[ 7.04126814e-01 -7.10068877e-01 -2.76040182e-03 1.23939921e+02] [ 7.10063967e-01 7.04132218e-01 -2.64258675e-03 1.04141946e+02] [ 3.82010646e-03 -9.93456809e-05 9.99992698e-01 8.02462377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.96, Y:104.16, Z:0.80 [[ 7.03297022e-01 -7.10890867e-01 -2.73401863e-03 1.23962507e+02] [ 7.10885854e-01 7.03302333e-01 -2.67042826e-03 1.04163270e+02] [ 3.82122474e-03 -6.54709265e-05 9.99992697e-01 8.03636342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.98, Y:104.18, Z:0.80 [[ 7.04243081e-01 -7.09953550e-01 -2.76396054e-03 1.23980703e+02] [ 7.09948653e-01 7.04248498e-01 -2.63882527e-03 1.04179841e+02] [ 3.81995843e-03 -1.03895621e-04 9.99992699e-01 8.03157447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.00, Y:104.20, Z:0.80 [[ 7.04228573e-01 -7.09968092e-01 -2.72513864e-03 1.24004961e+02] [ 7.09963036e-01 7.04233844e-01 -2.67965539e-03 1.04200446e+02] [ 3.82160468e-03 -4.76578124e-05 9.99992697e-01 8.02134493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.02, Y:104.22, Z:0.80 [[ 7.04324085e-01 -7.09873236e-01 -2.75156635e-03 1.24023502e+02] [ 7.09868288e-01 7.04329455e-01 -2.65184832e-03 1.04220971e+02] [ 3.82048538e-03 -8.54890526e-05 9.99992698e-01 8.02671039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.05, Y:104.24, Z:0.80 [[ 7.06398337e-01 -7.07809183e-01 -2.74762130e-03 1.24047499e+02] [ 7.07804203e-01 7.06403677e-01 -2.65600293e-03 1.04239962e+02] [ 3.82087305e-03 -6.85818590e-05 9.99992698e-01 8.03347088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.07, Y:104.26, Z:0.80 [[ 7.07623895e-01 -7.06583890e-01 -2.76230166e-03 1.24065239e+02] [ 7.06578961e-01 7.07629281e-01 -2.64054512e-03 1.04258648e+02] [ 3.82045218e-03 -8.32714184e-05 9.99992699e-01 8.03993042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.09, Y:104.28, Z:0.80 [[ 7.08600606e-01 -7.05604455e-01 -2.74477298e-03 1.24086825e+02] [ 7.05599447e-01 7.08605920e-01 -2.65898142e-03 1.04278329e+02] [ 3.82115151e-03 -5.25544517e-05 9.99992698e-01 8.03476086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.11, Y:104.30, Z:0.81 [[ 7.10539895e-01 -7.03651545e-01 -2.74968853e-03 1.24110086e+02] [ 7.03646543e-01 7.10545213e-01 -2.65381244e-03 1.04297735e+02] [ 3.82113725e-03 -4.91692180e-05 9.99992698e-01 8.06575320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.13, Y:104.32, Z:0.81 [[ 7.12085164e-01 -7.02087663e-01 -2.76251834e-03 1.24128655e+02] [ 7.02082701e-01 7.12090520e-01 -2.64032104e-03 1.04317210e+02] [ 3.82089996e-03 -5.93828964e-05 9.99992699e-01 8.06966463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.15, Y:104.34, Z:0.81 [[ 7.13268997e-01 -7.00885002e-01 -2.74813914e-03 1.24149929e+02] [ 7.00879972e-01 7.13274290e-01 -2.65543387e-03 1.04336021e+02] [ 3.82133077e-03 -3.20770298e-05 9.99992698e-01 8.06139512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:104.36, Z:0.81 [[ 7.14553139e-01 -6.99575765e-01 -2.74974440e-03 1.24171519e+02] [ 6.99570732e-01 7.14558429e-01 -2.65374757e-03 1.04355853e+02] [ 3.82135053e-03 -2.73970471e-05 9.99992698e-01 8.08433388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.19, Y:104.37, Z:0.81 [[ 7.16270528e-01 -6.97817284e-01 -2.75118353e-03 1.24192952e+02] [ 6.97812244e-01 7.16275812e-01 -2.65223603e-03 1.04373573e+02] [ 3.82138236e-03 -2.00910434e-05 9.99992698e-01 8.12213028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.21, Y:104.39, Z:0.81 [[ 7.15768174e-01 -6.98332530e-01 -2.75654553e-03 1.24214161e+02] [ 6.98327516e-01 7.15773481e-01 -2.64660509e-03 1.04393448e+02] [ 3.82127262e-03 -3.06159012e-05 9.99992698e-01 8.13884293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.24, Y:104.41, Z:0.81 [[ 7.18986137e-01 -6.95018917e-01 -2.76403114e-03 1.24244376e+02] [ 6.95013908e-01 7.18991450e-01 -2.63874509e-03 1.04410902e+02] [ 3.82129251e-03 -2.38189478e-05 9.99992699e-01 8.14952902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.26, Y:104.43, Z:0.82 [[ 7.15523823e-01 -6.98582696e-01 -2.80628326e-03 1.24256539e+02] [ 6.98577886e-01 7.15529319e-01 -2.59436271e-03 1.04428926e+02] [ 3.82035484e-03 -1.04079103e-04 9.99992697e-01 8.16634182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.28, Y:104.45, Z:0.82 [[ 7.13928256e-01 -7.00213430e-01 -2.75620159e-03 1.24279457e+02] [ 7.00208429e-01 7.13933576e-01 -2.64682563e-03 1.04449957e+02] [ 3.82108771e-03 -4.02719765e-05 9.99992699e-01 8.17927962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.30, Y:104.47, Z:0.82 [[ 7.13238989e-01 -7.00915423e-01 -2.77737655e-03 1.24302178e+02] [ 7.00910513e-01 7.13244393e-01 -2.62464592e-03 1.04466497e+02] [ 3.82060306e-03 -7.46926235e-05 9.99992699e-01 8.17882368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.32, Y:104.49, Z:0.82 [[ 7.10753575e-01 -7.03435598e-01 -2.77772124e-03 1.24321003e+02] [ 7.03430708e-01 7.10758997e-01 -2.62428566e-03 1.04487350e+02] [ 3.82030631e-03 -8.87140106e-05 9.99992699e-01 8.20034957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.34, Y:104.51, Z:0.82 [[ 7.09672112e-01 -7.04526663e-01 -2.77027440e-03 1.24339540e+02] [ 7.04521752e-01 7.09677514e-01 -2.63206025e-03 1.04506634e+02] [ 3.82035807e-03 -8.38188158e-05 9.99992699e-01 8.22641223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.36, Y:104.53, Z:0.82 [[ 7.08041435e-01 -7.06165501e-01 -2.75869991e-03 1.24359375e+02] [ 7.06160555e-01 7.08046806e-01 -2.64413414e-03 1.04527201e+02] [ 3.82048497e-03 -7.59285253e-05 9.99992699e-01 8.22509039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.38, Y:104.55, Z:0.82 [[ 7.05972584e-01 -7.08233798e-01 -2.75645445e-03 1.24379485e+02] [ 7.08228858e-01 7.05977961e-01 -2.64647527e-03 1.04547283e+02] [ 3.82031932e-03 -8.38616036e-05 9.99992699e-01 8.23424008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.40, Y:104.57, Z:0.82 [[ 7.05557242e-01 -7.08647553e-01 -2.76108064e-03 1.24399750e+02] [ 7.08642635e-01 7.05562639e-01 -2.64165274e-03 1.04566913e+02] [ 3.82011609e-03 -9.27822409e-05 9.99992699e-01 8.24482422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.42, Y:104.59, Z:0.82 [[ 7.04567890e-01 -7.09631245e-01 -2.75398724e-03 1.24419789e+02] [ 7.09626306e-01 7.04573267e-01 -2.64904323e-03 1.04587348e+02] [ 3.82022963e-03 -8.78709931e-05 9.99992699e-01 8.23702791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.44, Y:104.61, Z:0.82 [[ 7.04389573e-01 -7.09808244e-01 -2.75449153e-03 1.24440532e+02] [ 7.09803308e-01 7.04394953e-01 -2.64851792e-03 1.04607378e+02] [ 3.82018979e-03 -8.95587923e-05 9.99992699e-01 8.24058909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.46, Y:104.63, Z:0.82 [[ 7.04304536e-01 -7.09892581e-01 -2.76468568e-03 1.24458449e+02] [ 7.09887688e-01 7.04309954e-01 -2.63789834e-03 1.04627739e+02] [ 3.81982010e-03 -1.04732559e-04 9.99992699e-01 8.21995470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.48, Y:104.64, Z:0.82 [[ 7.06274915e-01 -7.07932316e-01 -2.75332585e-03 1.24482041e+02] [ 7.07927361e-01 7.06280277e-01 -2.64972296e-03 1.04643186e+02] [ 3.82044426e-03 -7.77218463e-05 9.99992699e-01 8.21381270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:104.67, Z:0.82 [[ 7.03362924e-01 -7.10825581e-01 -2.75514547e-03 1.24498288e+02] [ 7.10820656e-01 7.03368313e-01 -2.64782959e-03 1.04666100e+02] [ 3.82002703e-03 -9.60291481e-05 9.99992699e-01 8.19767875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.52, Y:104.69, Z:0.82 [[ 7.02976096e-01 -7.11208146e-01 -2.75357535e-03 1.24518593e+02] [ 7.11203217e-01 7.02981482e-01 -2.64946235e-03 1.04688227e+02] [ 3.82003168e-03 -9.58429495e-05 9.99992699e-01 8.15434371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.53, Y:104.71, Z:0.81 [[ 7.01896316e-01 -7.12273740e-01 -2.77132259e-03 1.24534540e+02] [ 7.12268892e-01 7.01901776e-01 -2.63104047e-03 1.04708270e+02] [ 3.81921729e-03 -1.27209256e-04 9.99992699e-01 8.13995855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.56, Y:104.72, Z:0.82 [[ 7.04883093e-01 -7.09318165e-01 -2.75054517e-03 1.24558506e+02] [ 7.09313210e-01 7.04888455e-01 -2.65258521e-03 1.04723198e+02] [ 3.82035441e-03 -8.12355563e-05 9.99992699e-01 8.15416906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.57, Y:104.75, Z:0.81 [[ 6.99770567e-01 -7.14362367e-01 -2.75002999e-03 1.24572940e+02] [ 7.14357448e-01 6.99775962e-01 -2.65311920e-03 1.04748481e+02] [ 3.81969340e-03 -1.07929678e-04 9.99992699e-01 8.10020781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.59, Y:104.77, Z:0.81 [[ 6.99190202e-01 -7.14930419e-01 -2.74917874e-03 1.24591721e+02] [ 7.14925501e-01 6.99195598e-01 -2.65400099e-03 1.04768283e+02] [ 3.81963971e-03 -1.09806502e-04 9.99992699e-01 8.09561432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.62, Y:104.79, Z:0.81 [[ 7.00465286e-01 -7.13681180e-01 -2.74870066e-03 1.24615318e+02] [ 7.13676251e-01 7.00470672e-01 -2.65449603e-03 1.04788376e+02] [ 3.81984806e-03 -1.02300058e-04 9.99992699e-01 8.07120104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.63, Y:104.81, Z:0.81 [[ 6.96939789e-01 -7.17124288e-01 -2.77239401e-03 1.24629490e+02] [ 7.17119482e-01 6.96945286e-01 -2.62997183e-03 1.04809354e+02] [ 3.81822361e-03 -1.55205741e-04 9.99992699e-01 8.06787517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.65, Y:104.83, Z:0.80 [[ 6.97168858e-01 -7.16901694e-01 -2.74656871e-03 1.24648880e+02] [ 7.16896781e-01 6.97174259e-01 -2.65667102e-03 1.04830478e+02] [ 3.81940896e-03 -1.16857966e-04 9.99992699e-01 8.03697090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.67, Y:104.85, Z:0.80 [[ 6.95768670e-01 -7.18260662e-01 -2.75308244e-03 1.24666919e+02] [ 7.18255786e-01 6.95774104e-01 -2.64993848e-03 1.04849935e+02] [ 3.81887003e-03 -1.33673219e-04 9.99992699e-01 8.03973889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.69, Y:104.87, Z:0.80 [[ 6.95435072e-01 -7.18583693e-01 -2.74539995e-03 1.24685610e+02] [ 7.18578788e-01 6.95440480e-01 -2.65787395e-03 1.04870462e+02] [ 3.81916714e-03 -1.24407410e-04 9.99992699e-01 8.04051196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.70, Y:104.89, Z:0.80 [[ 6.95353447e-01 -7.18662682e-01 -2.74458171e-03 1.24704306e+02] [ 7.18657775e-01 6.95358853e-01 -2.65871862e-03 1.04890950e+02] [ 3.81919104e-03 -1.23665829e-04 9.99992699e-01 8.03015474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.72, Y:104.91, Z:0.80 [[ 6.93847585e-01 -7.20116682e-01 -2.73726178e-03 1.24724117e+02] [ 7.20111757e-01 6.93852974e-01 -2.66627518e-03 1.04913901e+02] [ 3.81928647e-03 -1.21145793e-04 9.99992699e-01 8.00415250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.74, Y:104.93, Z:0.80 [[ 6.92419383e-01 -7.21490006e-01 -2.75134384e-03 1.24740179e+02] [ 7.21485148e-01 6.92424833e-01 -2.65174925e-03 1.04933136e+02] [ 3.81830939e-03 -1.48931141e-04 9.99992699e-01 7.97039709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:104.95, Z:0.79 [[ 6.95894323e-01 -7.18138995e-01 -2.73389588e-03 1.24764723e+02] [ 7.18134041e-01 6.95899685e-01 -2.66972744e-03 1.04952447e+02] [ 3.81975267e-03 -1.05455531e-04 9.99992699e-01 7.94599135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.78, Y:104.98, Z:0.79 [[ 6.90556950e-01 -7.23272752e-01 -2.76131852e-03 1.24776426e+02] [ 7.23267950e-01 6.90562449e-01 -2.64148403e-03 1.04977159e+02] [ 3.81737631e-03 -1.73078027e-04 9.99992699e-01 7.93025873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:105.00, Z:0.79 [[ 6.90548303e-01 -7.23281121e-01 -2.73158455e-03 1.24795443e+02] [ 7.23276197e-01 6.90553693e-01 -2.67207855e-03 1.04997979e+02] [ 3.81896977e-03 -1.30490778e-04 9.99992699e-01 7.91723837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.82, Y:105.02, Z:0.79 [[ 6.92301588e-01 -7.21603120e-01 -2.72931555e-03 1.24815374e+02] [ 7.21598174e-01 6.92306958e-01 -2.67441198e-03 1.05019458e+02] [ 3.81938818e-03 -1.17969457e-04 9.99992699e-01 7.92157785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.84, Y:105.04, Z:0.79 [[ 6.92082696e-01 -7.21813021e-01 -2.73955850e-03 1.24835730e+02] [ 7.21808118e-01 6.92088105e-01 -2.66387804e-03 1.05039485e+02] [ 3.81883770e-03 -1.33811664e-04 9.99992699e-01 7.92270457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:105.06, Z:0.79 [[ 6.90669310e-01 -7.23165544e-01 -2.73875029e-03 1.24850178e+02] [ 7.23160648e-01 6.90674726e-01 -2.66470871e-03 1.05061646e+02] [ 3.81861112e-03 -1.40123909e-04 9.99992699e-01 7.87995697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.87, Y:105.08, Z:0.79 [[ 6.93156756e-01 -7.20781753e-01 -2.71579239e-03 1.24872612e+02] [ 7.20776746e-01 6.93162070e-01 -2.68827857e-03 1.05081825e+02] [ 3.82014641e-03 -9.40815521e-05 9.99992699e-01 7.90001351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.89, Y:105.10, Z:0.79 [[ 6.94584528e-01 -7.19405893e-01 -2.73755780e-03 1.24889742e+02] [ 7.19400963e-01 6.94589913e-01 -2.66592836e-03 1.05103632e+02] [ 3.81936461e-03 -1.17689123e-04 9.99992699e-01 7.87529648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.91, Y:105.12, Z:0.78 [[ 6.95221927e-01 -7.18789943e-01 -2.73690524e-03 1.24908648e+02] [ 7.18785005e-01 6.95227305e-01 -2.66659812e-03 1.05124359e+02] [ 3.81949517e-03 -1.13368961e-04 9.99992699e-01 7.84862845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.93, Y:105.14, Z:0.79 [[ 6.96671612e-01 -7.17384957e-01 -2.73639879e-03 1.24926004e+02] [ 7.17380007e-01 6.96676978e-01 -2.66711773e-03 1.05144771e+02] [ 3.81973618e-03 -1.04932570e-04 9.99992699e-01 7.85420678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:105.16, Z:0.78 [[ 6.98055039e-01 -7.16038880e-01 -2.73583215e-03 1.24944826e+02] [ 7.16033917e-01 6.98060393e-01 -2.66769884e-03 1.05163816e+02] [ 3.81995216e-03 -9.67480011e-05 9.99992699e-01 7.84407953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.96, Y:105.19, Z:0.79 [[ 6.97955239e-01 -7.16136209e-01 -2.72296335e-03 1.24964287e+02] [ 7.16131195e-01 6.97960546e-01 -2.68088691e-03 1.05185074e+02] [ 3.82040118e-03 -7.88599384e-05 9.99992699e-01 7.85961479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:105.21, Z:0.79 [[ 6.98816128e-01 -7.15296121e-01 -2.73469590e-03 1.24983922e+02] [ 7.15291148e-01 6.98821473e-01 -2.66886497e-03 1.05205402e+02] [ 3.82009297e-03 -9.10578852e-05 9.99992699e-01 7.86851264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.00, Y:105.22, Z:0.79 [[ 7.01649492e-01 -7.12517028e-01 -2.73393262e-03 1.25000964e+02] [ 7.12512031e-01 7.01654815e-01 -2.66964663e-03 1.05223512e+02] [ 3.82044566e-03 -7.48036812e-05 9.99992699e-01 7.86191855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.02, Y:105.24, Z:0.79 [[ 7.02148838e-01 -7.12025036e-01 -2.71260620e-03 1.25020896e+02] [ 7.12019950e-01 7.02154076e-01 -2.69146508e-03 1.05244176e+02] [ 3.82105802e-03 -4.16206571e-05 9.99992699e-01 7.89993867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.612755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:125.04, Y:105.27, Z:0.79 [[ 7.02339775e-01 -7.11836684e-01 -2.71588762e-03 1.25040849e+02] [ 7.11831610e-01 7.02345024e-01 -2.68811010e-03 1.05265312e+02] [ 3.82098554e-03 -4.52880141e-05 9.99992699e-01 7.91497723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.06, Y:105.28, Z:0.79 [[ 7.05136290e-01 -7.09066560e-01 -2.72496953e-03 1.25060723e+02] [ 7.09061501e-01 7.05141554e-01 -2.67882789e-03 1.05281046e+02] [ 3.82095653e-03 -4.32322237e-05 9.99992699e-01 7.94278785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.08, Y:105.30, Z:0.80 [[ 7.04619929e-01 -7.09579782e-01 -2.69973987e-03 1.25081160e+02] [ 7.09574627e-01 7.04625101e-01 -2.70467180e-03 1.05300797e+02] [ 3.82148491e-03 -9.90126424e-06 9.99992698e-01 7.95208893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.10, Y:105.32, Z:0.80 [[ 7.05565784e-01 -7.08639264e-01 -2.70514099e-03 1.25100144e+02] [ 7.08634124e-01 7.05570970e-01 -2.69913911e-03 1.05316774e+02] [ 3.82138490e-03 -1.25350109e-05 9.99992698e-01 7.98191310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.732755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:125.12, Y:105.34, Z:0.80 [[ 7.03737573e-01 -7.10454961e-01 -2.67893665e-03 1.25122264e+02] [ 7.10449732e-01 7.03742671e-01 -2.72597099e-03 1.05338908e+02] [ 3.82196165e-03 1.51183846e-05 9.99992696e-01 7.96509001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.14, Y:105.36, Z:0.80 [[ 7.01188803e-01 -7.12970544e-01 -2.69551395e-03 1.25143768e+02] [ 7.12965398e-01 7.01193984e-01 -2.70899078e-03 1.05359271e+02] [ 3.82150880e-03 -2.22941664e-05 9.99992698e-01 7.97607460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.17, Y:105.38, Z:0.80 [[ 7.02583632e-01 -7.11595983e-01 -2.71964344e-03 1.25166328e+02] [ 7.11590922e-01 7.02588894e-01 -2.68424878e-03 1.05376175e+02] [ 3.82089193e-03 -4.93643306e-05 9.99992699e-01 8.00721274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.18, Y:105.39, Z:0.80 [[ 7.01209709e-01 -7.12949901e-01 -2.71706138e-03 1.25184335e+02] [ 7.12944840e-01 7.01214972e-01 -2.68689501e-03 1.05393846e+02] [ 3.82086565e-03 -5.30380213e-05 9.99992699e-01 8.00545887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.21, Y:105.41, Z:0.80 [[ 7.00521097e-01 -7.13626569e-01 -2.70411337e-03 1.25206450e+02] [ 7.13621462e-01 7.00526315e-01 -2.70019682e-03 1.05412803e+02] [ 3.82123476e-03 -3.81684960e-05 9.99992698e-01 8.04659715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.23, Y:105.43, Z:0.81 [[ 6.99076620e-01 -7.15041644e-01 -2.70696039e-03 1.25227403e+02] [ 7.15036558e-01 6.99081859e-01 -2.69727317e-03 1.05430008e+02] [ 3.82104954e-03 -4.99750345e-05 9.99992699e-01 8.05404512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.25, Y:105.45, Z:0.80 [[ 6.99105239e-01 -7.15013662e-01 -2.70711396e-03 1.25249731e+02] [ 7.15008577e-01 6.99110478e-01 -2.69711501e-03 1.05448790e+02] [ 3.82104581e-03 -5.00424650e-05 9.99992699e-01 8.04959306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.27, Y:105.47, Z:0.81 [[ 6.97887552e-01 -7.16202200e-01 -2.71547062e-03 1.25273630e+02] [ 7.16197157e-01 6.97892832e-01 -2.68850737e-03 1.05467324e+02] [ 3.82062237e-03 -6.85365091e-05 9.99992699e-01 8.06786908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.29, Y:105.49, Z:0.80 [[ 6.97116728e-01 -7.16952466e-01 -2.72548101e-03 1.25292494e+02] [ 7.16947469e-01 6.97122051e-01 -2.67819863e-03 1.05485604e+02] [ 3.82013402e-03 -8.70096469e-05 9.99992699e-01 8.03728581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.32, Y:105.50, Z:0.80 [[ 6.98564700e-01 -7.15541763e-01 -2.71019157e-03 1.25316115e+02] [ 7.15536694e-01 6.98569955e-01 -2.69391025e-03 1.05504530e+02] [ 3.82086370e-03 -5.73709169e-05 9.99992699e-01 8.04713427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.34, Y:105.52, Z:0.81 [[ 7.01738105e-01 -7.12429784e-01 -2.72666997e-03 1.25341027e+02] [ 7.12424758e-01 7.01743399e-01 -2.67697091e-03 1.05521724e+02] [ 3.82057646e-03 -6.40147026e-05 9.99992700e-01 8.08309529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.36, Y:105.54, Z:0.80 [[ 7.01047879e-01 -7.13108947e-01 -2.73876918e-03 1.25357316e+02] [ 7.13103974e-01 7.01053224e-01 -2.66453461e-03 1.05540986e+02] [ 3.82012644e-03 -8.50608480e-05 9.99992700e-01 8.04752378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.38, Y:105.56, Z:0.81 [[ 7.02424868e-01 -7.11752698e-01 -2.72057611e-03 1.25378119e+02] [ 7.11747642e-01 7.02430135e-01 -2.68325071e-03 1.05558976e+02] [ 3.82082557e-03 -5.15816096e-05 9.99992699e-01 8.06124312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.40, Y:105.58, Z:0.81 [[ 7.02924352e-01 -7.11259442e-01 -2.71324889e-03 1.25398310e+02] [ 7.11254354e-01 7.02929587e-01 -2.69078527e-03 1.05577596e+02] [ 3.82106936e-03 -3.83915934e-05 9.99992699e-01 8.05867432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.42, Y:105.60, Z:0.81 [[ 7.03156971e-01 -7.11029514e-01 -2.70269827e-03 1.25421317e+02] [ 7.11024382e-01 7.03162164e-01 -2.70161056e-03 1.05596641e+02] [ 3.82136001e-03 -2.20280701e-05 9.99992698e-01 8.05088968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:125.44, Y:105.61, Z:0.81 [[ 7.04479348e-01 -7.09719300e-01 -2.71360222e-03 1.25442946e+02] [ 7.09714201e-01 7.04484574e-01 -2.69042208e-03 1.05613992e+02] [ 3.82113538e-03 -3.05352406e-05 9.99992699e-01 8.07192663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:105.63, Z:0.81 [[ 7.05906360e-01 -7.08299945e-01 -2.72008362e-03 1.25465266e+02] [ 7.08294862e-01 7.05911600e-01 -2.68376436e-03 1.05630905e+02] [ 3.82104873e-03 -3.21349173e-05 9.99992699e-01 8.09377179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.49, Y:105.65, Z:0.81 [[ 7.08945395e-01 -7.05258137e-01 -2.71787403e-03 1.25494686e+02] [ 7.05253022e-01 7.08950604e-01 -2.68603362e-03 1.05650791e+02] [ 3.82118551e-03 -1.25377041e-05 9.99992699e-01 8.08099692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.51, Y:105.67, Z:0.81 [[ 7.06933547e-01 -7.07274538e-01 -2.77285337e-03 1.25510841e+02] [ 7.07269657e-01 7.06938978e-01 -2.62951944e-03 1.05668436e+02] [ 3.82003027e-03 -1.02259546e-04 9.99992698e-01 8.12098043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.53, Y:105.69, Z:0.81 [[ 7.06447726e-01 -7.07759930e-01 -2.73719488e-03 1.25530698e+02] [ 7.07754910e-01 7.06453027e-01 -2.66612842e-03 1.05686332e+02] [ 3.82067847e-03 -5.37827531e-05 9.99992700e-01 8.11756163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.55, Y:105.71, Z:0.81 [[ 7.05462205e-01 -7.08742258e-01 -2.73671462e-03 1.25551328e+02] [ 7.08737243e-01 7.05467511e-01 -2.66662130e-03 1.05705101e+02] [ 3.82061045e-03 -5.84110315e-05 9.99992700e-01 8.13668707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.57, Y:105.72, Z:0.82 [[ 7.03113474e-01 -7.11072400e-01 -2.73586987e-03 1.25573147e+02] [ 7.11067400e-01 7.03118793e-01 -2.66748771e-03 1.05722301e+02] [ 3.82041841e-03 -6.98413181e-05 9.99992700e-01 8.15773620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.59, Y:105.74, Z:0.82 [[ 7.01974302e-01 -7.12197022e-01 -2.73501922e-03 1.25593655e+02] [ 7.12192028e-01 7.01979626e-01 -2.66835961e-03 1.05739562e+02] [ 3.82032554e-03 -7.47390078e-05 9.99992700e-01 8.16437781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.62, Y:105.76, Z:0.82 [[ 7.02507186e-01 -7.11671396e-01 -2.73454429e-03 1.25619908e+02] [ 7.11666395e-01 7.02512504e-01 -2.66884623e-03 1.05758745e+02] [ 3.82039308e-03 -7.11996220e-05 9.99992700e-01 8.16393506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.64, Y:105.78, Z:0.82 [[ 6.99462198e-01 -7.14664255e-01 -2.76353983e-03 1.25639959e+02] [ 7.14659393e-01 6.99467645e-01 -2.63913229e-03 1.05776152e+02] [ 3.81910021e-03 -1.29016428e-04 9.99992699e-01 8.17622297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.482755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:125.66, Y:105.80, Z:0.82 [[ 6.97553220e-01 -7.16527684e-01 -2.75370429e-03 1.25658483e+02] [ 7.16522797e-01 6.97558645e-01 -2.64922784e-03 1.05795256e+02] [ 3.81911532e-03 -1.25114490e-04 9.99992699e-01 8.18240998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:105.81, Z:0.82 [[ 6.96630953e-01 -7.17424440e-01 -2.73651640e-03 1.25678527e+02] [ 7.17419491e-01 6.96636320e-01 -2.66685474e-03 1.05813748e+02] [ 3.81962348e-03 -1.05416649e-04 9.99992700e-01 8.18547520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.70, Y:105.83, Z:0.82 [[ 6.94674436e-01 -7.19319086e-01 -2.73505287e-03 1.25699197e+02] [ 7.19314146e-01 6.94679811e-01 -2.66835485e-03 1.05832725e+02] [ 3.81938458e-03 -1.13724323e-04 9.99992700e-01 8.19766715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.72, Y:105.85, Z:0.82 [[ 6.93779913e-01 -7.20181891e-01 -2.73419852e-03 1.25718938e+02] [ 7.20176954e-01 6.93785291e-01 -2.66922999e-03 1.05851707e+02] [ 3.81927782e-03 -1.17248614e-04 9.99992700e-01 8.20189604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.74, Y:105.87, Z:0.82 [[ 6.92793726e-01 -7.21130626e-01 -2.73361941e-03 1.25738394e+02] [ 7.21125694e-01 6.92799109e-01 -2.66982294e-03 1.05871462e+02] [ 3.81914018e-03 -1.21646615e-04 9.99992700e-01 8.19524009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.76, Y:105.89, Z:0.82 [[ 6.92058538e-01 -7.21836215e-01 -2.73087447e-03 1.25758674e+02] [ 7.21831278e-01 6.92063916e-01 -2.67263209e-03 1.05890271e+02] [ 3.81914231e-03 -1.21612751e-04 9.99992700e-01 8.19671036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.78, Y:105.91, Z:0.82 [[ 6.92170468e-01 -7.21728881e-01 -2.73251004e-03 1.25778346e+02] [ 7.21723949e-01 6.92175850e-01 -2.67095883e-03 1.05909395e+02] [ 3.81908559e-03 -1.23359110e-04 9.99992700e-01 8.19104675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:105.93, Z:0.82 [[ 6.92653398e-01 -7.21265420e-01 -2.73194298e-03 1.25797452e+02] [ 7.21260483e-01 6.92658775e-01 -2.67153871e-03 1.05929131e+02] [ 3.81919277e-03 -1.19992147e-04 9.99992700e-01 8.19437155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.82, Y:105.95, Z:0.82 [[ 6.93676128e-01 -7.20281905e-01 -2.72168264e-03 1.25816472e+02] [ 7.20276918e-01 6.93681460e-01 -2.68202281e-03 1.05950587e+02] [ 3.81979329e-03 -9.99099798e-05 9.99992700e-01 8.17929359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.84, Y:105.97, Z:0.82 [[ 6.94846640e-01 -7.19152760e-01 -2.73041781e-03 1.25835215e+02] [ 7.19147800e-01 6.94851996e-01 -2.67310034e-03 1.05970705e+02] [ 3.81960375e-03 -1.06179170e-04 9.99992700e-01 8.18130694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.85, Y:105.99, Z:0.81 [[ 6.95410100e-01 -7.18607919e-01 -2.72995113e-03 1.25848071e+02] [ 7.18602952e-01 6.95415451e-01 -2.67357686e-03 1.05992632e+02] [ 3.81970370e-03 -1.02518593e-04 9.99992700e-01 8.14845526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.87, Y:106.01, Z:0.82 [[ 6.98480984e-01 -7.15623531e-01 -2.69756665e-03 1.25872589e+02] [ 7.15618414e-01 6.98486191e-01 -2.70660681e-03 1.06013012e+02] [ 3.82112458e-03 -3.99149868e-05 9.99992699e-01 8.18764030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.89, Y:106.03, Z:0.82 [[ 6.97367562e-01 -7.16708473e-01 -2.72890936e-03 1.25885182e+02] [ 7.16703489e-01 6.97372896e-01 -2.67462801e-03 1.06033944e+02] [ 3.81999598e-03 -9.06200396e-05 9.99992700e-01 8.16097234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:106.05, Z:0.82 [[ 7.00824657e-01 -7.13328510e-01 -2.69000046e-03 1.25908807e+02] [ 7.13323347e-01 7.00829820e-01 -2.71427509e-03 1.06054858e+02] [ 3.82140234e-03 -1.66092187e-05 9.99992698e-01 8.20257050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.93, Y:106.08, Z:0.82 [[ 7.02724069e-01 -7.11457311e-01 -2.71636691e-03 1.25928003e+02] [ 7.11452236e-01 7.02729317e-01 -2.68741137e-03 1.06077472e+02] [ 3.82084913e-03 -4.40566602e-05 9.99992700e-01 8.19422917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.95, Y:106.10, Z:0.82 [[ 7.03263879e-01 -7.10923681e-01 -2.72704460e-03 1.25946357e+02] [ 7.10918645e-01 7.03269164e-01 -2.67653217e-03 1.06097477e+02] [ 3.82065648e-03 -5.63984592e-05 9.99992700e-01 8.18795814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.96, Y:106.12, Z:0.82 [[ 7.03252111e-01 -7.10935323e-01 -2.72657914e-03 1.25962986e+02] [ 7.10930285e-01 7.03257395e-01 -2.67700625e-03 1.06118387e+02] [ 3.82066525e-03 -5.57973900e-05 9.99992700e-01 8.20129803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:106.14, Z:0.82 [[ 7.00711034e-01 -7.13440053e-01 -2.70883924e-03 1.25984000e+02] [ 7.13434964e-01 7.00716268e-01 -2.69505461e-03 1.06142591e+02] [ 3.82088763e-03 -4.41261292e-05 9.99992699e-01 8.17322602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.00, Y:106.16, Z:0.82 [[ 7.01390182e-01 -7.12772185e-01 -2.76137896e-03 1.26000855e+02] [ 7.12767300e-01 7.01395608e-01 -2.64148069e-03 1.06159359e+02] [ 3.81959304e-03 -1.15512002e-04 9.99992699e-01 8.20070529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.02, Y:106.18, Z:0.82 [[ 6.98633995e-01 -7.15474045e-01 -2.72621099e-03 1.26018753e+02] [ 7.15469041e-01 6.98639309e-01 -2.67729127e-03 1.06180138e+02] [ 3.82017057e-03 -8.00728687e-05 9.99992700e-01 8.22366871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:106.20, Z:0.82 [[ 6.96701545e-01 -7.17355928e-01 -2.72590371e-03 1.26037852e+02] [ 7.17350936e-01 6.96706871e-01 -2.67760409e-03 1.06200612e+02] [ 3.81995101e-03 -8.99386742e-05 9.99992700e-01 8.24409656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.05, Y:106.22, Z:0.82 [[ 6.94149356e-01 -7.19825844e-01 -2.72504901e-03 1.26051942e+02] [ 7.19820868e-01 6.94154697e-01 -2.67847365e-03 1.06219856e+02] [ 3.81964013e-03 -1.02286392e-04 9.99992700e-01 8.24627272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:106.24, Z:0.82 [[ 6.94281120e-01 -7.19698930e-01 -2.67900414e-03 1.26071569e+02] [ 7.19693771e-01 6.94286288e-01 -2.72525478e-03 1.06239044e+02] [ 3.82135879e-03 -3.59696482e-05 9.99992698e-01 8.24715882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.172755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.10, Y:106.26, Z:0.83 [[ 6.90858750e-01 -7.22984798e-01 -2.67762566e-03 1.26095362e+02] [ 7.22979658e-01 6.90863937e-01 -2.72665521e-03 1.06261536e+02] [ 3.82120527e-03 -5.21352764e-05 9.99992698e-01 8.25826794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.202755096 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:126.11, Y:106.28, Z:0.83 [[ 6.90128887e-01 -7.23681351e-01 -2.72433637e-03 1.26112770e+02] [ 7.23676402e-01 6.90134253e-01 -2.67915681e-03 1.06280587e+02] [ 3.81901367e-03 -1.22574432e-04 9.99992700e-01 8.26764517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.232755096 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:126.13, Y:106.30, Z:0.83 [[ 6.86273476e-01 -7.27338595e-01 -2.69906168e-03 1.26132055e+02] [ 7.27333573e-01 6.86278775e-01 -2.70483128e-03 1.06303821e+02] [ 3.81963693e-03 -1.06864213e-04 9.99992699e-01 8.26992797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.262755096 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:126.14, Y:106.32, Z:0.82 [[ 6.83826176e-01 -7.29639874e-01 -2.72310708e-03 1.26142641e+02] [ 7.29634967e-01 6.83831581e-01 -2.68040280e-03 1.06322896e+02] [ 3.81787538e-03 -1.53944548e-04 9.99992700e-01 8.24897502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.292755096 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:126.16, Y:106.34, Z:0.82 [[ 6.83328232e-01 -7.30106486e-01 -2.65459068e-03 1.26162757e+02] [ 7.30101310e-01 6.83333386e-01 -2.74985048e-03 1.06344349e+02] [ 3.82165411e-03 -5.90696643e-05 9.99992696e-01 8.24954743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.322755096 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:126.18, Y:106.37, Z:0.82 [[ 6.82851827e-01 -7.30552065e-01 -2.65754321e-03 1.26182373e+02] [ 7.30546904e-01 6.82856995e-01 -2.74686456e-03 1.06368449e+02] [ 3.82144955e-03 -6.57584797e-05 9.99992696e-01 8.22518877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.352755096 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:126.21, Y:106.39, Z:0.83 [[ 6.83970495e-01 -7.29504730e-01 -2.68551906e-03 1.26206478e+02] [ 7.29499671e-01 6.83975760e-01 -2.71856861e-03 1.06388942e+02] [ 3.82003859e-03 -9.96645530e-05 9.99992699e-01 8.26178752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.382755096 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:126.23, Y:106.41, Z:0.83 [[ 6.84511026e-01 -7.28997441e-01 -2.71792238e-03 1.26225242e+02] [ 7.28992507e-01 6.84516406e-01 -2.68577747e-03 1.06410289e+02] [ 3.81838736e-03 -1.42900763e-04 9.99992700e-01 8.25862677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.412755096 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:126.24, Y:106.43, Z:0.83 [[ 6.86342678e-01 -7.27273226e-01 -2.71707748e-03 1.26241617e+02] [ 7.27268276e-01 6.86348044e-01 -2.68663194e-03 1.06432575e+02] [ 3.81877629e-03 -1.32094096e-04 9.99992700e-01 8.25779062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.442755096 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:126.26, Y:106.45, Z:0.83 [[ 6.87275273e-01 -7.26391987e-01 -2.71650013e-03 1.26260145e+02] [ 7.26387028e-01 6.87280630e-01 -2.68721558e-03 1.06453447e+02] [ 3.81896979e-03 -1.26373638e-04 9.99992700e-01 8.25462372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47275509600001 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:126.28, Y:106.48, Z:0.83 [[ 6.88696134e-01 -7.25045006e-01 -2.71567440e-03 1.26277710e+02] [ 7.25040032e-01 6.88701478e-01 -2.68804980e-03 1.06476018e+02] [ 3.81924606e-03 -1.17723155e-04 9.99992700e-01 8.25554493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50275509600002 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:126.30, Y:106.50, Z:0.82 [[ 6.88914664e-01 -7.24837372e-01 -2.71485226e-03 1.26296403e+02] [ 7.24832394e-01 6.88920003e-01 -2.68887988e-03 1.06496437e+02] [ 3.81931665e-03 -1.15404078e-04 9.99992700e-01 8.24876761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53275509600002 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:126.31, Y:106.52, Z:0.83 [[ 6.88889491e-01 -7.24861299e-01 -2.71399527e-03 1.26313899e+02] [ 7.24856318e-01 6.88894828e-01 -2.68974460e-03 1.06516631e+02] [ 3.81934907e-03 -1.14319831e-04 9.99992700e-01 8.25509852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56275509600002 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:126.33, Y:106.54, Z:0.83 [[ 6.88917509e-01 -7.24834674e-01 -2.71308014e-03 1.26331110e+02] [ 7.24829689e-01 6.88922843e-01 -2.69066735e-03 1.06538687e+02] [ 3.81939187e-03 -1.12873188e-04 9.99992700e-01 8.26595766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59275509600002 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:126.35, Y:106.56, Z:0.83 [[ 6.88830813e-01 -7.24917068e-01 -2.71212756e-03 1.26349015e+02] [ 7.24912080e-01 6.88836143e-01 -2.69162718e-03 1.06559186e+02] [ 3.81941797e-03 -1.11978293e-04 9.99992700e-01 8.27017856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62275509600002 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:126.37, Y:106.58, Z:0.83 [[ 6.88601813e-01 -7.25134602e-01 -2.71164211e-03 1.26368085e+02] [ 7.25129613e-01 6.88607143e-01 -2.69211616e-03 1.06580476e+02] [ 3.81940270e-03 -1.12495929e-04 9.99992700e-01 8.27773613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65275509600002 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:126.39, Y:106.60, Z:0.83 [[ 6.88439262e-01 -7.25288932e-01 -2.71080051e-03 1.26387072e+02] [ 7.25283941e-01 6.88444590e-01 -2.69296333e-03 1.06601432e+02] [ 3.81941244e-03 -1.12158388e-04 9.99992700e-01 8.28587431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68275509600002 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:126.40, Y:106.62, Z:0.83 [[ 6.88181567e-01 -7.25533450e-01 -2.70994459e-03 1.26404494e+02] [ 7.25528458e-01 6.88186893e-01 -2.69382437e-03 1.06622694e+02] [ 3.81940804e-03 -1.12301640e-04 9.99992700e-01 8.30752836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71275509600002 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:126.42, Y:106.64, Z:0.83 [[ 6.87652318e-01 -7.26035099e-01 -2.70639201e-03 1.26424045e+02] [ 7.26030097e-01 6.87657635e-01 -2.69739680e-03 1.06644272e+02] [ 3.81947588e-03 -1.10050893e-04 9.99992700e-01 8.31867428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74275509600002 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:126.44, Y:106.67, Z:0.83 [[ 6.87543415e-01 -7.26138220e-01 -2.70890178e-03 1.26440947e+02] [ 7.26133228e-01 6.87548742e-01 -2.69487396e-03 1.06665698e+02] [ 3.81935299e-03 -1.14180750e-04 9.99992700e-01 8.33075263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77275509600003 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:126.46, Y:106.69, Z:0.83 [[ 6.86381169e-01 -7.27236965e-01 -2.69951045e-03 1.26460551e+02] [ 7.27231945e-01 6.86386469e-01 -2.70430667e-03 1.06688169e+02] [ 3.81957922e-03 -1.06985066e-04 9.99992700e-01 8.33342405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80275509600003 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:126.48, Y:106.71, Z:0.83 [[ 6.84954677e-01 -7.28580642e-01 -2.70907325e-03 1.26478364e+02] [ 7.28575670e-01 6.84960022e-01 -2.69470526e-03 1.06709367e+02] [ 3.81891696e-03 -1.28013885e-04 9.99992700e-01 8.33370386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.832755096 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:126.50, Y:106.73, Z:0.83 [[ 6.84037321e-01 -7.29441991e-01 -2.70656545e-03 1.26497421e+02] [ 7.29437016e-01 6.84042663e-01 -2.69722175e-03 1.06730145e+02] [ 3.81887304e-03 -1.29268689e-04 9.99992700e-01 8.33042046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.862755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:126.52, Y:106.75, Z:0.83 [[ 6.83316664e-01 -7.30117125e-01 -2.70564887e-03 1.26515740e+02] [ 7.30112151e-01 6.83322008e-01 -2.69814087e-03 1.06750015e+02] [ 3.81878828e-03 -1.31742496e-04 9.99992700e-01 8.33030987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.892755096 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:126.53, Y:106.77, Z:0.83 [[ 6.82684406e-01 -7.30708345e-01 -2.70482637e-03 1.26534149e+02] [ 7.30703373e-01 6.82689751e-01 -2.69896517e-03 1.06769666e+02] [ 3.81871361e-03 -1.33884318e-04 9.99992700e-01 8.31509737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.922755096 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:126.55, Y:106.79, Z:0.83 [[ 6.82680766e-01 -7.30711749e-01 -2.70402590e-03 1.26552646e+02] [ 7.30706773e-01 6.82686109e-01 -2.69976689e-03 1.06791181e+02] [ 3.81875231e-03 -1.32771111e-04 9.99992700e-01 8.25836104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.952755096 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:126.57, Y:106.81, Z:0.83 [[ 6.84133614e-01 -7.29351721e-01 -2.69531459e-03 1.26571389e+02] [ 7.29346701e-01 6.84138914e-01 -2.70848819e-03 1.06811428e+02] [ 3.81941012e-03 -1.12850983e-04 9.99992700e-01 8.30348554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.982755096 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:126.59, Y:106.83, Z:0.83 [[ 6.85651658e-01 -7.27924841e-01 -2.68877546e-03 1.26590065e+02] [ 7.27919784e-01 6.85656923e-01 -2.71503051e-03 1.06834090e+02] [ 3.81991566e-03 -9.56476821e-05 9.99992700e-01 8.28315954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.012755096 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:126.61, Y:106.86, Z:0.83 [[ 6.86193378e-01 -7.27414181e-01 -2.69377922e-03 1.26609114e+02] [ 7.27409140e-01 6.86198658e-01 -2.71002573e-03 1.06855921e+02] [ 3.81977883e-03 -9.98779184e-05 9.99992700e-01 8.28343845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.042755096 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:126.63, Y:106.88, Z:0.82 [[ 6.88410401e-01 -7.25316359e-01 -2.70180069e-03 1.26625415e+02] [ 7.25311333e-01 6.88415695e-01 -2.70200487e-03 1.06877625e+02] [ 3.81977033e-03 -9.95584051e-05 9.99992700e-01 8.24242914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.072755096 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:126.64, Y:106.90, Z:0.83 [[ 6.90114209e-01 -7.23695471e-01 -2.69143625e-03 1.26644920e+02] [ 7.23690392e-01 6.90119453e-01 -2.71236052e-03 1.06897206e+02] [ 3.82033554e-03 -7.59280143e-05 9.99992700e-01 8.27066710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.102755096 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:126.66, Y:106.92, Z:0.82 [[ 6.90499789e-01 -7.23327570e-01 -2.69611719e-03 1.26663164e+02] [ 7.23322506e-01 6.90505047e-01 -2.70768455e-03 1.06918251e+02] [ 3.82022542e-03 -8.05066318e-05 9.99992700e-01 8.23880800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.132755096 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:126.68, Y:106.94, Z:0.83 [[ 6.91542055e-01 -7.22331192e-01 -2.68996610e-03 1.26683943e+02] [ 7.22326097e-01 6.91547283e-01 -2.71382395e-03 1.06939176e+02] [ 3.82051844e-03 -6.63093256e-05 9.99992700e-01 8.26711709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.162755096 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:126.70, Y:106.96, Z:0.82 [[ 6.92847964e-01 -7.21078637e-01 -2.70150800e-03 1.26702578e+02] [ 7.21073577e-01 6.92853227e-01 -2.70230893e-03 1.06959488e+02] [ 3.82032578e-03 -7.56967925e-05 9.99992700e-01 8.22032009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.192755096 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:126.72, Y:106.98, Z:0.83 [[ 6.93059009e-01 -7.20875838e-01 -2.69027627e-03 1.26722730e+02] [ 7.20870733e-01 6.93064228e-01 -2.71351186e-03 1.06980910e+02] [ 3.82063938e-03 -5.87175891e-05 9.99992700e-01 8.25197834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22275509600001 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:126.74, Y:107.00, Z:0.83 [[ 6.93178854e-01 -7.20760580e-01 -2.69492993e-03 1.26742398e+02] [ 7.20755492e-01 6.93184090e-01 -2.70887279e-03 1.07000426e+02] [ 3.82053127e-03 -6.46522090e-05 9.99992700e-01 8.26348185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25275509600002 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:126.76, Y:107.02, Z:0.83 [[ 6.93685251e-01 -7.20273223e-01 -2.69392915e-03 1.26763163e+02] [ 7.20268128e-01 6.93690479e-01 -2.70986974e-03 1.07019564e+02] [ 3.82059961e-03 -6.05546373e-05 9.99992700e-01 8.29043580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28275509600002 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:126.78, Y:107.04, Z:0.83 [[ 6.93005214e-01 -7.20927529e-01 -2.69641842e-03 1.26783493e+02] [ 7.20922448e-01 6.93010457e-01 -2.70739056e-03 1.07039267e+02] [ 3.82047855e-03 -6.76727919e-05 9.99992700e-01 8.29827076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31275509600002 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:126.80, Y:107.06, Z:0.83 [[ 6.92514890e-01 -7.21398545e-01 -2.69552653e-03 1.26804058e+02] [ 7.21393464e-01 6.92520133e-01 -2.70827824e-03 1.07058478e+02] [ 3.82045438e-03 -6.90122146e-05 9.99992700e-01 8.29596949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34275509600002 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:126.82, Y:107.08, Z:0.83 [[ 6.91035400e-01 -7.22815893e-01 -2.69458395e-03 1.26824975e+02] [ 7.22810820e-01 6.91040650e-01 -2.70921574e-03 1.07077709e+02] [ 3.82033124e-03 -7.55104518e-05 9.99992700e-01 8.31385637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37275509600002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:126.85, Y:107.10, Z:0.83 [[ 6.90732344e-01 -7.23105495e-01 -2.69667252e-03 1.26845171e+02] [ 7.23100432e-01 6.90737603e-01 -2.70713896e-03 1.07096327e+02] [ 3.82024017e-03 -8.00566252e-05 9.99992700e-01 8.30782792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40275509600002 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:126.87, Y:107.12, Z:0.83 [[ 6.89835183e-01 -7.23961439e-01 -2.69347591e-03 1.26865122e+02] [ 7.23956371e-01 6.89840436e-01 -2.71031571e-03 1.07115448e+02] [ 3.82023266e-03 -8.02879078e-05 9.99992700e-01 8.31642927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43275509600002 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:126.89, Y:107.14, Z:0.83 [[ 6.89314154e-01 -7.24457554e-01 -2.69255677e-03 1.26885392e+02] [ 7.24452485e-01 6.89319408e-01 -2.71122851e-03 1.07135185e+02] [ 3.82020162e-03 -8.17412563e-05 9.99992700e-01 8.31236784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46275509600002 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:126.91, Y:107.15, Z:0.83 [[ 6.89081249e-01 -7.24679092e-01 -2.69164258e-03 1.26905720e+02] [ 7.24674022e-01 6.89086501e-01 -2.71213580e-03 1.07154985e+02] [ 3.82020268e-03 -8.16815335e-05 9.99992700e-01 8.31337194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49275509600002 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:126.93, Y:107.17, Z:0.83 [[ 6.87941738e-01 -7.25760935e-01 -2.68888083e-03 1.26927563e+02] [ 7.25755862e-01 6.87946988e-01 -2.71487541e-03 1.07174851e+02] [ 3.82015798e-03 -8.37949148e-05 9.99992700e-01 8.29269493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52275509600003 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:126.95, Y:107.19, Z:0.83 [[ 6.87425147e-01 -7.26250233e-01 -2.69562033e-03 1.26947949e+02] [ 7.26245190e-01 6.87430425e-01 -2.70819165e-03 1.07193806e+02] [ 3.81987625e-03 -9.60022588e-05 9.99992700e-01 8.28606252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55275509600003 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:126.97, Y:107.21, Z:0.83 [[ 6.86682427e-01 -7.26952515e-01 -2.69897304e-03 1.26969346e+02] [ 7.26947491e-01 6.86687723e-01 -2.70486758e-03 1.07211327e+02] [ 3.81966194e-03 -1.04626642e-04 9.99992700e-01 8.26945180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.582755096 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:126.99, Y:107.23, Z:0.83 [[ 6.86265919e-01 -7.27345733e-01 -2.69695907e-03 1.26990160e+02] [ 7.27340704e-01 6.86271210e-01 -2.70686264e-03 1.07230645e+02] [ 3.81967035e-03 -1.03980535e-04 9.99992700e-01 8.26618707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.612755096 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:127.01, Y:107.25, Z:0.83 [[ 6.85558865e-01 -7.28012212e-01 -2.69473575e-03 1.27012039e+02] [ 7.28007179e-01 6.85564153e-01 -2.70906325e-03 1.07248756e+02] [ 3.81964536e-03 -1.04564651e-04 9.99992700e-01 8.26555279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.642755096 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:127.03, Y:107.27, Z:0.83 [[ 6.84070312e-01 -7.29411124e-01 -2.68692051e-03 1.27033379e+02] [ 7.29406072e-01 6.84075582e-01 -2.71679256e-03 1.07266362e+02] [ 3.81971543e-03 -1.01379005e-04 9.99992700e-01 8.25100312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.672755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:127.05, Y:107.29, Z:0.82 [[ 6.82655449e-01 -7.30735466e-01 -2.68627348e-03 1.27053769e+02] [ 7.30730422e-01 6.82660726e-01 -2.71743217e-03 1.07285556e+02] [ 3.81953747e-03 -1.07871870e-04 9.99992700e-01 8.24898059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.702755096 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:127.08, Y:107.31, Z:0.82 [[ 6.81365637e-01 -7.31938274e-01 -2.68930868e-03 1.27075756e+02] [ 7.31933250e-01 6.81370934e-01 -2.71443300e-03 1.07305049e+02] [ 3.81921417e-03 -1.18873078e-04 9.99992700e-01 8.22809246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.732755096 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:127.10, Y:107.32, Z:0.82 [[ 6.81138926e-01 -7.32149239e-01 -2.69358919e-03 1.27095330e+02] [ 7.32144234e-01 6.81144240e-01 -2.71020632e-03 1.07322687e+02] [ 3.81899826e-03 -1.26068767e-04 9.99992700e-01 8.23713955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.762755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:127.12, Y:107.34, Z:0.83 [[ 6.80399072e-01 -7.32836885e-01 -2.68382121e-03 1.27115732e+02] [ 7.32831847e-01 6.80404355e-01 -2.71984492e-03 1.07342086e+02] [ 3.81928632e-03 -1.16209696e-04 9.99992700e-01 8.25015087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.792755096 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:127.14, Y:107.36, Z:0.82 [[ 6.79850920e-01 -7.33345436e-01 -2.68289695e-03 1.27136039e+02] [ 7.33340398e-01 6.79856204e-01 -2.72075632e-03 1.07361107e+02] [ 3.81923837e-03 -1.17768030e-04 9.99992700e-01 8.24901633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.822755096 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:127.16, Y:107.38, Z:0.83 [[ 6.79266190e-01 -7.33887083e-01 -2.68194816e-03 1.27156565e+02] [ 7.33882046e-01 6.79271474e-01 -2.72169126e-03 1.07378898e+02] [ 3.81918494e-03 -1.19480753e-04 9.99992700e-01 8.25773831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.852755096 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:127.17, Y:107.40, Z:0.83 [[ 6.77756875e-01 -7.35281192e-01 -2.68101571e-03 1.27173686e+02] [ 7.35276162e-01 6.77762166e-01 -2.72260947e-03 1.07397890e+02] [ 3.81897455e-03 -1.26019657e-04 9.99992700e-01 8.26886060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.882755096 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:127.20, Y:107.42, Z:0.83 [[ 6.78983316e-01 -7.34148866e-01 -2.66422570e-03 1.27196903e+02] [ 7.34143763e-01 6.78988537e-01 -2.73912685e-03 1.07417062e+02] [ 3.81990558e-03 -9.61032452e-05 9.99992700e-01 8.26463586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.912755096 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:127.22, Y:107.44, Z:0.83 [[ 6.79980689e-01 -7.33225125e-01 -2.67941613e-03 1.27218241e+02] [ 7.33220073e-01 6.79985959e-01 -2.72418606e-03 1.07435625e+02] [ 3.81940701e-03 -1.12207778e-04 9.99992700e-01 8.26593922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.942755096 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:127.24, Y:107.45, Z:0.83 [[ 6.80849932e-01 -7.32418046e-01 -2.67883683e-03 1.27238138e+02] [ 7.32412985e-01 6.80855194e-01 -2.72475560e-03 1.07454607e+02] [ 3.81956014e-03 -1.06865216e-04 9.99992700e-01 8.26933753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97275509600001 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:127.26, Y:107.47, Z:0.83 [[ 6.82996554e-01 -7.30416685e-01 -2.67820034e-03 1.27257736e+02] [ 7.30411607e-01 6.83001799e-01 -2.72538107e-03 1.07473066e+02] [ 3.81987945e-03 -9.47627334e-05 9.99992700e-01 8.27515437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00275509600002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:127.28, Y:107.49, Z:0.83 [[ 6.84055289e-01 -7.29425248e-01 -2.67738700e-03 1.27277792e+02] [ 7.29420159e-01 6.84060523e-01 -2.72617985e-03 1.07493094e+02] [ 3.82003917e-03 -8.80823081e-05 9.99992700e-01 8.28003098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03275509600002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:127.30, Y:107.51, Z:0.83 [[ 6.84851503e-01 -7.28677744e-01 -2.67655691e-03 1.27298118e+02] [ 7.28672646e-01 6.84856728e-01 -2.72699459e-03 1.07512975e+02] [ 3.82015827e-03 -8.27474592e-05 9.99992700e-01 8.27299728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.32, Y:107.54, Z:0.83 [[ 6.84631389e-01 -7.28884560e-01 -2.67566558e-03 1.27319886e+02] [ 7.28879460e-01 6.84636613e-01 -2.72786886e-03 1.07535314e+02] [ 3.82016011e-03 -8.26530356e-05 9.99992700e-01 8.28263348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:127.34, Y:107.56, Z:0.83 [[ 6.84267532e-01 -7.29226047e-01 -2.70497330e-03 1.27339601e+02] [ 7.29221063e-01 6.84272867e-01 -2.69910144e-03 1.07556033e+02] [ 3.81919490e-03 -1.25616024e-04 9.99992699e-01 8.28381935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12275509600002 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.36, Y:107.57, Z:0.83 [[ 6.86003201e-01 -7.27593518e-01 -2.69804102e-03 1.27359058e+02] [ 7.27588495e-01 6.86008499e-01 -2.70588544e-03 1.07573274e+02] [ 3.81966378e-03 -1.06817533e-04 9.99992699e-01 8.29037845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.38, Y:107.59, Z:0.83 [[ 6.85879024e-01 -7.27710677e-01 -2.67107196e-03 1.27378574e+02] [ 7.27705552e-01 6.85884221e-01 -2.73225063e-03 1.07592372e+02] [ 3.82033407e-03 -6.97604971e-05 9.99992700e-01 8.29593288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.40, Y:107.61, Z:0.83 [[ 6.85248523e-01 -7.28304421e-01 -2.67058564e-03 1.27397513e+02] [ 7.28299298e-01 6.85253723e-01 -2.73272590e-03 1.07612207e+02] [ 3.82028510e-03 -7.23892624e-05 9.99992700e-01 8.30740250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:107.63, Z:0.83 [[ 6.85258360e-01 -7.28295197e-01 -2.66189492e-03 1.27419189e+02] [ 7.28290041e-01 6.85263527e-01 -2.74120827e-03 1.07630561e+02] [ 3.82050832e-03 -6.01956732e-05 9.99992700e-01 8.32801609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.44, Y:107.65, Z:0.83 [[ 6.85170527e-01 -7.28377805e-01 -2.66863242e-03 1.27439035e+02] [ 7.28372675e-01 6.85175721e-01 -2.73463338e-03 1.07649439e+02] [ 3.82032840e-03 -7.00687388e-05 9.99992700e-01 8.32343106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.46, Y:107.67, Z:0.83 [[ 6.84715730e-01 -7.28805359e-01 -2.66794386e-03 1.27458971e+02] [ 7.28800229e-01 6.84720924e-01 -2.73530499e-03 1.07668533e+02] [ 3.82030192e-03 -7.14917460e-05 9.99992700e-01 8.32759985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.48, Y:107.69, Z:0.83 [[ 6.83976781e-01 -7.29498903e-01 -2.66709613e-03 1.27477535e+02] [ 7.29493776e-01 6.83981977e-01 -2.73613133e-03 1.07686244e+02] [ 3.82025049e-03 -7.41797237e-05 9.99992700e-01 8.33303999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.332755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.50, Y:107.71, Z:0.83 [[ 6.81043239e-01 -7.32238414e-01 -2.64801832e-03 1.27502831e+02] [ 7.32233235e-01 6.81048384e-01 -2.75470838e-03 1.07711065e+02] [ 3.82053189e-03 -6.28915026e-05 9.99992700e-01 8.31667906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.362755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.52, Y:107.73, Z:0.83 [[ 6.82495949e-01 -7.30884374e-01 -2.70409195e-03 1.27521800e+02] [ 7.30879398e-01 6.82501292e-01 -2.70018042e-03 1.07726381e+02] [ 3.81906592e-03 -1.33502904e-04 9.99992698e-01 8.31874184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.54, Y:107.74, Z:0.83 [[ 6.81999993e-01 -7.31347337e-01 -2.66132416e-03 1.27540927e+02] [ 7.31342201e-01 6.82005181e-01 -2.74169451e-03 1.07744957e+02] [ 3.82016785e-03 -7.65030323e-05 9.99992700e-01 8.30300161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.56, Y:107.76, Z:0.83 [[ 6.82108929e-01 -7.31245738e-01 -2.66082762e-03 1.27559878e+02] [ 7.31240600e-01 6.82114115e-01 -2.74217633e-03 1.07763941e+02] [ 3.82019283e-03 -7.52422240e-05 9.99992700e-01 8.31030276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.57, Y:107.78, Z:0.83 [[ 6.79130745e-01 -7.34012502e-01 -2.66034586e-03 1.27574014e+02] [ 7.34007384e-01 6.79135950e-01 -2.74264363e-03 1.07782529e+02] [ 3.81987123e-03 -9.00998908e-05 9.99992700e-01 8.28916273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.60, Y:107.80, Z:0.83 [[ 6.81001600e-01 -7.32277289e-01 -2.60632222e-03 1.27602101e+02] [ 7.32271955e-01 6.81006587e-01 -2.79497235e-03 1.07803111e+02] [ 3.82161738e-03 -5.15603107e-06 9.99992698e-01 8.30478277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.512755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:127.62, Y:107.82, Z:0.83 [[ 6.79013650e-01 -7.34120827e-01 -2.65990030e-03 1.27623018e+02] [ 7.34115708e-01 6.79018854e-01 -2.74301778e-03 1.07823102e+02] [ 3.81982893e-03 -9.01280756e-05 9.99992700e-01 8.28893637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.64, Y:107.84, Z:0.83 [[ 6.78727172e-01 -7.34385640e-01 -2.67530304e-03 1.27643508e+02] [ 7.34380582e-01 6.78732435e-01 -2.72808947e-03 1.07841057e+02] [ 3.81928468e-03 -1.13062151e-04 9.99992700e-01 8.31276922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.66, Y:107.86, Z:0.83 [[ 6.78510396e-01 -7.34585991e-01 -2.65779299e-03 1.27663050e+02] [ 7.34580868e-01 6.78515596e-01 -2.74504298e-03 1.07859850e+02] [ 3.81982411e-03 -8.98236820e-05 9.99992700e-01 8.31502540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.68, Y:107.88, Z:0.83 [[ 6.76514288e-01 -7.36424744e-01 -2.64842912e-03 1.27681654e+02] [ 7.36419600e-01 6.76519466e-01 -2.75410697e-03 1.07878595e+02] [ 3.81990638e-03 -8.71623925e-05 9.99992700e-01 8.29927126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.70, Y:107.90, Z:0.83 [[ 6.75866920e-01 -7.37018966e-01 -2.63610698e-03 1.27702499e+02] [ 7.37013779e-01 6.75872057e-01 -2.76605437e-03 1.07898026e+02] [ 3.82030558e-03 -7.33625217e-05 9.99992700e-01 8.29998964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.72, Y:107.92, Z:0.83 [[ 6.75731678e-01 -7.37142951e-01 -2.64011081e-03 1.27724626e+02] [ 7.37137780e-01 6.75736831e-01 -2.76217286e-03 1.07917378e+02] [ 3.82013636e-03 -7.96377164e-05 9.99992700e-01 8.30297694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.75, Y:107.94, Z:0.83 [[ 6.73526420e-01 -7.39158400e-01 -2.64968430e-03 1.27745373e+02] [ 7.39153281e-01 6.73531624e-01 -2.75288793e-03 1.07935846e+02] [ 3.81946641e-03 -1.04380094e-04 9.99992700e-01 8.30265184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.77, Y:107.96, Z:0.83 [[ 6.72790064e-01 -7.39828729e-01 -2.64233112e-03 1.27766728e+02] [ 7.39823587e-01 6.72795245e-01 -2.76001655e-03 1.07955305e+02] [ 3.81968735e-03 -9.79471705e-05 9.99992700e-01 8.30435442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.79, Y:107.97, Z:0.83 [[ 6.71683714e-01 -7.40833308e-01 -2.64546874e-03 1.27787020e+02] [ 7.40828186e-01 6.71688915e-01 -2.75697582e-03 1.07974207e+02] [ 3.81939154e-03 -1.08022051e-04 9.99992700e-01 8.30304907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.81, Y:107.99, Z:0.83 [[ 6.71160084e-01 -7.41307719e-01 -2.64721703e-03 1.27808727e+02] [ 7.41302607e-01 6.71165295e-01 -2.75528324e-03 1.07993899e+02] [ 3.81923293e-03 -1.13152754e-04 9.99992700e-01 8.30630295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81275509600002 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:127.83, Y:108.01, Z:0.83 [[ 6.69882205e-01 -7.42462657e-01 -2.65214488e-03 1.27831129e+02] [ 7.42457573e-01 6.69887444e-01 -2.75051288e-03 1.08012244e+02] [ 3.81879166e-03 -1.26585416e-04 9.99992700e-01 8.28353445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.85, Y:108.03, Z:0.83 [[ 6.70533845e-01 -7.41874186e-01 -2.65620346e-03 1.27851906e+02] [ 7.41869112e-01 6.70539094e-01 -2.74658580e-03 1.08032648e+02] [ 3.81870937e-03 -1.28876569e-04 9.99992700e-01 8.30222093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.87, Y:108.05, Z:0.83 [[ 6.72748474e-01 -7.39866496e-01 -2.65698571e-03 1.27874744e+02] [ 7.39861410e-01 6.72753710e-01 -2.74582908e-03 1.08049159e+02] [ 3.81904393e-03 -1.18548868e-04 9.99992700e-01 8.31932946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.89, Y:108.07, Z:0.83 [[ 6.70717960e-01 -7.41707736e-01 -2.65572368e-03 1.27891176e+02] [ 7.41702660e-01 6.70723206e-01 -2.74704915e-03 1.08071284e+02] [ 3.81876311e-03 -1.27262117e-04 9.99992700e-01 8.29740899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.91, Y:108.09, Z:0.83 [[ 6.71252944e-01 -7.41223611e-01 -2.65404179e-03 1.27911433e+02] [ 7.41218524e-01 6.71258180e-01 -2.74867408e-03 1.08091143e+02] [ 3.81892939e-03 -1.22169369e-04 9.99992700e-01 8.31289681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.94, Y:108.11, Z:0.83 [[ 6.73639189e-01 -7.39055611e-01 -2.65454568e-03 1.27935078e+02] [ 7.39050510e-01 6.73644410e-01 -2.74818736e-03 1.08111827e+02] [ 3.81928315e-03 -1.10556631e-04 9.99992700e-01 8.29765686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:127.95, Y:108.13, Z:0.83 [[ 6.71862906e-01 -7.40670701e-01 -2.67376395e-03 1.27951451e+02] [ 7.40665685e-01 6.71868210e-01 -2.72962677e-03 1.08131108e+02] [ 3.81817157e-03 -1.46430242e-04 9.99992700e-01 8.25863324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.97, Y:108.15, Z:0.83 [[ 6.72160982e-01 -7.40400280e-01 -2.65338245e-03 1.27969275e+02] [ 7.40395184e-01 6.72166209e-01 -2.74929579e-03 1.08151243e+02] [ 3.81909340e-03 -1.16582231e-04 9.99992700e-01 8.27286550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.99, Y:108.17, Z:0.83 [[ 6.72713864e-01 -7.39898023e-01 -2.64055892e-03 1.27989687e+02] [ 7.39892875e-01 6.72719040e-01 -2.76164934e-03 1.08170162e+02] [ 3.81969315e-03 -9.59309298e-05 9.99992700e-01 8.26823262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.01, Y:108.19, Z:0.83 [[ 6.72849162e-01 -7.39774972e-01 -2.64515470e-03 1.28009486e+02] [ 7.39769840e-01 6.72854354e-01 -2.75722594e-03 1.08189812e+02] [ 3.81953059e-03 -1.01608507e-04 9.99992700e-01 8.26194566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.03, Y:108.21, Z:0.83 [[ 6.73133112e-01 -7.39516618e-01 -2.64293105e-03 1.28029730e+02] [ 7.39511476e-01 6.73138294e-01 -2.75936493e-03 1.08208489e+02] [ 3.81965432e-03 -9.70579417e-05 9.99992700e-01 8.26988664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.05, Y:108.23, Z:0.83 [[ 6.73530349e-01 -7.39154849e-01 -2.64168455e-03 1.28050520e+02] [ 7.39149699e-01 6.73535523e-01 -2.76056313e-03 1.08228339e+02] [ 3.81975201e-03 -9.32772937e-05 9.99992700e-01 8.29740682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.07, Y:108.25, Z:0.83 [[ 6.74190372e-01 -7.38552866e-01 -2.64707782e-03 1.28071996e+02] [ 7.38547732e-01 6.74195561e-01 -2.75538185e-03 1.08248665e+02] [ 3.81964328e-03 -9.73414120e-05 9.99992700e-01 8.29965282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.09, Y:108.26, Z:0.83 [[ 6.78492789e-01 -7.34602255e-01 -2.65757291e-03 1.28088402e+02] [ 7.34597131e-01 6.78497987e-01 -2.74529082e-03 1.08259645e+02] [ 3.81985470e-03 -8.95854124e-05 9.99992700e-01 8.31567890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.11, Y:108.29, Z:0.83 [[ 6.75927568e-01 -7.36963495e-01 -2.59414070e-03 1.28111642e+02] [ 7.36958151e-01 6.75932546e-01 -2.80640974e-03 1.08285490e+02] [ 3.82168565e-03 -1.48434235e-05 9.99992697e-01 8.31386606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.13, Y:108.31, Z:0.83 [[ 6.77184723e-01 -7.35808252e-01 -2.65829948e-03 1.28134022e+02] [ 7.35803140e-01 6.77189934e-01 -2.74453037e-03 1.08305987e+02] [ 3.81962174e-03 -9.74310655e-05 9.99992700e-01 8.30985367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.15, Y:108.32, Z:0.83 [[ 6.77932467e-01 -7.35119343e-01 -2.66861858e-03 1.28149927e+02] [ 7.35114265e-01 6.77937711e-01 -2.73459382e-03 1.08324942e+02] [ 3.81940999e-03 -1.07869654e-04 9.99992700e-01 8.31999556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.17, Y:108.35, Z:0.83 [[ 6.79511259e-01 -7.33660297e-01 -2.64908537e-03 1.28171685e+02] [ 7.33655134e-01 6.79516419e-01 -2.75338709e-03 1.08345223e+02] [ 3.82014780e-03 -7.25575580e-05 9.99992701e-01 8.32138968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.19, Y:108.36, Z:0.83 [[ 6.81047778e-01 -7.32234133e-01 -2.66416689e-03 1.28192254e+02] [ 7.32229016e-01 6.81052984e-01 -2.73888131e-03 1.08364287e+02] [ 3.81994119e-03 -8.54712718e-05 9.99992700e-01 8.30990676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.21, Y:108.38, Z:0.83 [[ 6.81462393e-01 -7.31848253e-01 -2.67222837e-03 1.28208062e+02] [ 7.31843163e-01 6.81467626e-01 -2.73112366e-03 1.08384180e+02] [ 3.81980521e-03 -9.44939985e-05 9.99992700e-01 8.31726853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.412755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:128.23, Y:108.40, Z:0.83 [[ 6.81862501e-01 -7.31475575e-01 -2.64810493e-03 1.28227333e+02] [ 7.31470392e-01 6.81867641e-01 -2.75431686e-03 1.08404028e+02] [ 3.82037257e-03 -5.89449733e-05 9.99992701e-01 8.31082230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.25, Y:108.42, Z:0.83 [[ 6.82520194e-01 -7.30861941e-01 -2.64723588e-03 1.28246113e+02] [ 7.30856750e-01 6.82525326e-01 -2.75515187e-03 1.08423500e+02] [ 3.82044117e-03 -5.43034205e-05 9.99992701e-01 8.32880367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.26, Y:108.44, Z:0.83 [[ 6.83073804e-01 -7.30344558e-01 -2.64674894e-03 1.28264584e+02] [ 7.30339361e-01 6.83078930e-01 -2.75561957e-03 1.08442736e+02] [ 3.82049019e-03 -5.07333894e-05 9.99992701e-01 8.32678166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.28, Y:108.46, Z:0.83 [[ 6.82496963e-01 -7.30883639e-01 -2.64598502e-03 1.28283507e+02] [ 7.30878444e-01 6.82502090e-01 -2.75635290e-03 1.08463004e+02] [ 3.82046355e-03 -5.26909290e-05 9.99992701e-01 8.33031145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.30, Y:108.48, Z:0.83 [[ 6.81029849e-01 -7.32250878e-01 -2.64513272e-03 1.28301837e+02] [ 7.32245689e-01 6.81034983e-01 -2.75717057e-03 1.08483724e+02] [ 3.82036849e-03 -5.91715776e-05 9.99992701e-01 8.31067490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.32, Y:108.50, Z:0.83 [[ 6.79476322e-01 -7.33692671e-01 -2.64424961e-03 1.28320852e+02] [ 7.33687490e-01 6.79481464e-01 -2.75801725e-03 1.08503752e+02] [ 3.82025564e-03 -6.60454405e-05 9.99992701e-01 8.32069442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.34, Y:108.52, Z:0.83 [[ 6.78226035e-01 -7.34848596e-01 -2.64325252e-03 1.28339677e+02] [ 7.34843420e-01 6.78231182e-01 -2.75897252e-03 1.08523846e+02] [ 3.82016336e-03 -7.11697347e-05 9.99992701e-01 8.32008779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:128.36, Y:108.54, Z:0.83 [[ 6.74882067e-01 -7.37920871e-01 -2.64265148e-03 1.28357689e+02] [ 7.37915717e-01 6.74887235e-01 -2.75954810e-03 1.08543389e+02] [ 3.81981989e-03 -8.76845382e-05 9.99992701e-01 8.30227373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.38, Y:108.56, Z:0.83 [[ 6.73443981e-01 -7.39233538e-01 -2.64217510e-03 1.28376873e+02] [ 7.39228391e-01 6.73449158e-01 -2.76000414e-03 1.08564412e+02] [ 3.81965822e-03 -9.44626767e-05 9.99992701e-01 8.31981300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.40, Y:108.58, Z:0.83 [[ 6.71638401e-01 -7.40874403e-01 -2.64129253e-03 1.28395199e+02] [ 7.40869266e-01 6.71643587e-01 -2.76084849e-03 1.08583741e+02] [ 3.81944917e-03 -1.02560591e-04 9.99992701e-01 8.31206389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.41, Y:108.60, Z:0.83 [[ 6.68372867e-01 -7.43821711e-01 -2.64069437e-03 1.28413546e+02] [ 7.43816594e-01 6.68378073e-01 -2.76142050e-03 1.08603235e+02] [ 3.81898674e-03 -1.18533757e-04 9.99992701e-01 8.30826838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.43, Y:108.62, Z:0.83 [[ 6.67171617e-01 -7.44899365e-01 -2.63993159e-03 1.28432846e+02] [ 7.44894254e-01 6.67176829e-01 -2.76214954e-03 1.08624179e+02] [ 3.81882462e-03 -1.23642096e-04 9.99992701e-01 8.33214586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.45, Y:108.65, Z:0.83 [[ 6.65093394e-01 -7.46755524e-01 -2.63906681e-03 1.28452758e+02] [ 7.46750424e-01 6.65098617e-01 -2.76297553e-03 1.08646261e+02] [ 3.81850692e-03 -1.33087490e-04 9.99992701e-01 8.32522470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.47, Y:108.67, Z:0.83 [[ 6.64031153e-01 -7.47700214e-01 -2.64925978e-03 1.28470755e+02] [ 7.47695160e-01 6.64036420e-01 -2.75324230e-03 1.08665568e+02] [ 3.81780484e-03 -1.52600057e-04 9.99992701e-01 8.32514865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.49, Y:108.69, Z:0.83 [[ 6.63491169e-01 -7.48179466e-01 -2.63734198e-03 1.28489781e+02] [ 7.48174371e-01 6.63496396e-01 -2.76461147e-03 1.08686493e+02] [ 3.81829243e-03 -1.38896379e-04 9.99992701e-01 8.32354220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.51, Y:108.71, Z:0.83 [[ 6.63706326e-01 -7.47988611e-01 -2.63649811e-03 1.28508873e+02] [ 7.47983511e-01 6.63711549e-01 -2.76541600e-03 1.08707206e+02] [ 3.81837391e-03 -1.36633022e-04 9.99992701e-01 8.31912014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.53, Y:108.73, Z:0.83 [[ 6.65046842e-01 -7.46796995e-01 -2.63566807e-03 1.28527402e+02] [ 7.46791883e-01 6.65052052e-01 -2.76620686e-03 1.08728370e+02] [ 3.81865143e-03 -1.28638385e-04 9.99992701e-01 8.31724321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.55, Y:108.75, Z:0.83 [[ 6.67130800e-01 -7.44935939e-01 -2.63482640e-03 1.28545546e+02] [ 7.44930809e-01 6.67135993e-01 -2.76700833e-03 1.08747636e+02] [ 3.81903148e-03 -1.16806881e-04 9.99992701e-01 8.31732748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.56, Y:108.77, Z:0.83 [[ 6.68123763e-01 -7.44045556e-01 -2.61684061e-03 1.28564481e+02] [ 7.44040352e-01 6.68128882e-01 -2.78412027e-03 1.08769389e+02] [ 3.81989910e-03 -8.68980956e-05 9.99992700e-01 8.32449290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.58, Y:108.79, Z:0.83 [[ 6.67890858e-01 -7.44254570e-01 -2.63374754e-03 1.28584068e+02] [ 7.44249431e-01 6.67896042e-01 -2.76803355e-03 1.08790187e+02] [ 3.81919117e-03 -1.11420809e-04 9.99992701e-01 8.32564880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.60, Y:108.81, Z:0.83 [[ 6.68724595e-01 -7.43505537e-01 -2.63288093e-03 1.28602885e+02] [ 7.43500389e-01 6.68729770e-01 -2.76885760e-03 1.08810768e+02] [ 3.81934681e-03 -1.05944816e-04 9.99992701e-01 8.32941511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.62, Y:108.83, Z:0.83 [[ 6.69679413e-01 -7.42645647e-01 -2.63200224e-03 1.28621436e+02] [ 7.42640489e-01 6.69684578e-01 -2.76969261e-03 1.08830722e+02] [ 3.81951147e-03 -9.98253041e-05 9.99992701e-01 8.33274593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.64, Y:108.85, Z:0.83 [[ 6.70309341e-01 -7.42077127e-01 -2.63140543e-03 1.28639858e+02] [ 7.42071963e-01 6.70314499e-01 -2.77025951e-03 1.08850698e+02] [ 3.81961543e-03 -9.57613646e-05 9.99992701e-01 8.33452410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.66, Y:108.87, Z:0.84 [[ 6.71101700e-01 -7.41360633e-01 -2.63062660e-03 1.28658221e+02] [ 7.41355460e-01 6.71106850e-01 -2.77099888e-03 1.08871678e+02] [ 3.81974101e-03 -9.06073309e-05 9.99992701e-01 8.35705041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.68, Y:108.89, Z:0.84 [[ 6.71019018e-01 -7.41435474e-01 -2.62974101e-03 1.28677215e+02] [ 7.41430298e-01 6.71024165e-01 -2.77183907e-03 1.08892573e+02] [ 3.81975958e-03 -8.98129268e-05 9.99992701e-01 8.36207994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.70, Y:108.91, Z:0.84 [[ 6.70703227e-01 -7.41721154e-01 -2.62884733e-03 1.28695411e+02] [ 7.41715977e-01 6.70708373e-01 -2.77268639e-03 1.08913217e+02] [ 3.81975006e-03 -9.02083575e-05 9.99992701e-01 8.37200752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.71, Y:108.93, Z:0.84 [[ 6.69966130e-01 -7.42387013e-01 -2.62833836e-03 1.28714043e+02] [ 7.42381839e-01 6.69971279e-01 -2.77316877e-03 1.08933632e+02] [ 3.81967570e-03 -9.33015158e-05 9.99992701e-01 8.37433160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.73, Y:108.95, Z:0.84 [[ 6.69116749e-01 -7.43152658e-01 -2.62744973e-03 1.28733251e+02] [ 7.43147487e-01 6.69121900e-01 -2.77401046e-03 1.08954334e+02] [ 3.81959740e-03 -9.64458053e-05 9.99992701e-01 8.37615230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.75, Y:108.97, Z:0.84 [[ 6.67766284e-01 -7.44366369e-01 -2.62656293e-03 1.28751986e+02] [ 7.44361204e-01 6.67771442e-01 -2.77484987e-03 1.08974194e+02] [ 3.81944863e-03 -1.02160358e-04 9.99992701e-01 8.37338891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.77, Y:108.99, Z:0.84 [[ 6.67058008e-01 -7.45001154e-01 -2.62596174e-03 1.28770312e+02] [ 7.44995991e-01 6.67063168e-01 -2.77541868e-03 1.08993987e+02] [ 3.81937248e-03 -1.04965709e-04 9.99992701e-01 8.37111659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.79, Y:109.01, Z:0.84 [[ 6.66435735e-01 -7.45557858e-01 -2.62520217e-03 1.28789685e+02] [ 7.45552697e-01 6.66440897e-01 -2.77613695e-03 1.09014964e+02] [ 3.81931281e-03 -1.07109685e-04 9.99992701e-01 8.37143213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.81, Y:109.04, Z:0.84 [[ 6.65902188e-01 -7.46034442e-01 -2.62439418e-03 1.28808395e+02] [ 7.46029282e-01 6.65907351e-01 -2.77690057e-03 1.09035833e+02] [ 3.81926684e-03 -1.08730739e-04 9.99992701e-01 8.37877860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.83, Y:109.06, Z:0.84 [[ 6.65624435e-01 -7.46282272e-01 -2.62354114e-03 1.28827558e+02] [ 7.46277110e-01 6.65629596e-01 -2.77770627e-03 1.09056622e+02] [ 3.81925957e-03 -1.08979534e-04 9.99992701e-01 8.38059822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.85, Y:109.08, Z:0.84 [[ 6.65750713e-01 -7.46169625e-01 -2.62269574e-03 1.28845680e+02] [ 7.46164460e-01 6.65755870e-01 -2.77850426e-03 1.09076274e+02] [ 3.81931057e-03 -1.07171162e-04 9.99992701e-01 8.37410003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.87, Y:109.10, Z:0.84 [[ 6.65928958e-01 -7.46010555e-01 -2.62193939e-03 1.28865090e+02] [ 7.46005386e-01 6.65934111e-01 -2.77921780e-03 1.09097210e+02] [ 3.81936470e-03 -1.05219296e-04 9.99992701e-01 8.37511352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.88, Y:109.12, Z:0.84 [[ 6.66028137e-01 -7.45922014e-01 -2.62110468e-03 1.28883875e+02] [ 7.45916841e-01 6.66033286e-01 -2.78000481e-03 1.09117581e+02] [ 3.81940975e-03 -1.03564700e-04 9.99992701e-01 8.35770098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.90, Y:109.14, Z:0.84 [[ 6.67524716e-01 -7.44583030e-01 -2.62027287e-03 1.28901707e+02] [ 7.44577843e-01 6.67529852e-01 -2.78078860e-03 1.09137707e+02] [ 3.81963836e-03 -9.47519983e-05 9.99992701e-01 8.36731070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.92, Y:109.16, Z:0.84 [[ 6.68168309e-01 -7.44005543e-01 -2.61952653e-03 1.28920804e+02] [ 7.44000349e-01 6.68173438e-01 -2.78149148e-03 1.09157892e+02] [ 3.81974313e-03 -9.04241900e-05 9.99992701e-01 8.37201833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:109.18, Z:0.84 [[ 6.68642899e-01 -7.43579059e-01 -2.61866193e-03 1.28939869e+02] [ 7.43573858e-01 6.68648021e-01 -2.78230523e-03 1.09177678e+02] [ 3.81982702e-03 -8.67999216e-05 9.99992701e-01 8.36866566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.96, Y:109.20, Z:0.84 [[ 6.69453958e-01 -7.42848938e-01 -2.61788511e-03 1.28960025e+02] [ 7.42843729e-01 6.69459072e-01 -2.78303595e-03 1.09197575e+02] [ 3.81994224e-03 -8.15651017e-05 9.99992701e-01 8.37656956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.98, Y:109.22, Z:0.84 [[ 6.69567536e-01 -7.42746570e-01 -2.61699195e-03 1.28979786e+02] [ 7.42741357e-01 6.69572645e-01 -2.78387557e-03 1.09217754e+02] [ 3.81998025e-03 -7.97554463e-05 9.99992701e-01 8.37690606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:109.24, Z:0.84 [[ 6.69714178e-01 -7.42614352e-01 -2.61609352e-03 1.28999459e+02] [ 7.42609135e-01 6.69719283e-01 -2.78471960e-03 1.09237953e+02] [ 3.82002102e-03 -7.77687491e-05 9.99992701e-01 8.37722540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.02, Y:109.26, Z:0.84 [[ 6.69930840e-01 -7.42418905e-01 -2.61519783e-03 1.29018443e+02] [ 7.42413683e-01 6.69935940e-01 -2.78556051e-03 1.09257060e+02] [ 3.82006780e-03 -7.54257599e-05 9.99992701e-01 8.37966885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.04, Y:109.28, Z:0.84 [[ 6.69712539e-01 -7.42615835e-01 -2.61459016e-03 1.29037989e+02] [ 7.42610613e-01 6.69717639e-01 -2.78613076e-03 1.09277542e+02] [ 3.82006197e-03 -7.57156917e-05 9.99992701e-01 8.38144147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.06, Y:109.30, Z:0.84 [[ 6.69340977e-01 -7.42950755e-01 -2.61370915e-03 1.29058226e+02] [ 7.42945532e-01 6.69346076e-01 -2.78695701e-03 1.09297668e+02] [ 3.82004778e-03 -7.64190047e-05 9.99992701e-01 8.38426009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.08, Y:109.32, Z:0.84 [[ 6.68980568e-01 -7.43275301e-01 -2.61283053e-03 1.29078323e+02] [ 7.43270077e-01 6.68985666e-01 -2.78778049e-03 1.09317884e+02] [ 3.82003455e-03 -7.70677714e-05 9.99992701e-01 8.39079666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.10, Y:109.34, Z:0.84 [[ 6.68483446e-01 -7.43722435e-01 -2.61195667e-03 1.29098165e+02] [ 7.43717211e-01 6.68488544e-01 -2.78859899e-03 1.09338040e+02] [ 3.82000675e-03 -7.84248644e-05 9.99992701e-01 8.39527677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.12, Y:109.36, Z:0.84 [[ 6.68041655e-01 -7.44119298e-01 -2.61108076e-03 1.29118449e+02] [ 7.44114073e-01 6.68046753e-01 -2.78941890e-03 1.09356529e+02] [ 3.81998446e-03 -7.94939222e-05 9.99992701e-01 8.40147013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.14, Y:109.38, Z:0.84 [[ 6.67873613e-01 -7.44270128e-01 -2.61029302e-03 1.29138098e+02] [ 7.44264902e-01 6.67878709e-01 -2.79015587e-03 1.09376453e+02] [ 3.81998879e-03 -7.92779976e-05 9.99992701e-01 8.40761974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.16, Y:109.40, Z:0.84 [[ 6.67411960e-01 -7.44684139e-01 -2.60943061e-03 1.29157637e+02] [ 7.44678913e-01 6.67417056e-01 -2.79096218e-03 1.09395814e+02] [ 3.81996376e-03 -8.04664155e-05 9.99992701e-01 8.40776970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.912755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.18, Y:109.42, Z:0.84 [[ 6.67066550e-01 -7.44993565e-01 -2.60865664e-03 1.29177223e+02] [ 7.44988339e-01 6.67071646e-01 -2.79168541e-03 1.09416098e+02] [ 3.81994854e-03 -8.11788239e-05 9.99992701e-01 8.39784052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.20, Y:109.44, Z:0.84 [[ 6.66911546e-01 -7.45132330e-01 -2.60781992e-03 1.29196236e+02] [ 7.45127102e-01 6.66916640e-01 -2.79246680e-03 1.09436635e+02] [ 3.81995579e-03 -8.08289505e-05 9.99992701e-01 8.41065688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:129.22, Y:109.46, Z:0.84 [[ 6.66903073e-01 -7.45139916e-01 -2.60698988e-03 1.29215276e+02] [ 7.45134685e-01 6.66908164e-01 -2.79324149e-03 1.09456790e+02] [ 3.81997857e-03 -7.97372469e-05 9.99992701e-01 8.40589818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.23, Y:109.48, Z:0.84 [[ 6.67569749e-01 -7.44542704e-01 -2.60611716e-03 1.29234638e+02] [ 7.44537465e-01 6.67574832e-01 -2.79405551e-03 1.09477018e+02] [ 3.82007187e-03 -7.51249300e-05 9.99992701e-01 8.42245583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.25, Y:109.50, Z:0.84 [[ 6.68333642e-01 -7.43857080e-01 -2.60522507e-03 1.29253236e+02] [ 7.43851833e-01 6.68338716e-01 -2.79488706e-03 1.09496757e+02] [ 3.82016931e-03 -6.99843944e-05 9.99992701e-01 8.40991996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.27, Y:109.52, Z:0.84 [[ 6.69112055e-01 -7.43156965e-01 -2.60442742e-03 1.29271604e+02] [ 7.43151709e-01 6.69117121e-01 -2.79563016e-03 1.09517190e+02] [ 3.82025900e-03 -6.48948488e-05 9.99992701e-01 8.41416437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.29, Y:109.54, Z:0.84 [[ 6.69634335e-01 -7.42686393e-01 -2.60363302e-03 1.29290562e+02] [ 7.42681131e-01 6.69639394e-01 -2.79636980e-03 1.09538330e+02] [ 3.82032104e-03 -6.11238844e-05 9.99992701e-01 8.42046460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.31, Y:109.56, Z:0.84 [[ 6.70229671e-01 -7.42149186e-01 -2.60274878e-03 1.29309019e+02] [ 7.42143917e-01 6.70234722e-01 -2.79719258e-03 1.09558903e+02] [ 3.82038680e-03 -5.68527067e-05 9.99992701e-01 8.42170088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.33, Y:109.58, Z:0.84 [[ 6.71891918e-01 -7.40644639e-01 -2.60186536e-03 1.29327507e+02] [ 7.40639355e-01 6.71896954e-01 -2.79801407e-03 1.09580377e+02] [ 3.82051953e-03 -4.70808398e-05 9.99992701e-01 8.42217074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.35, Y:109.60, Z:0.84 [[ 6.71937653e-01 -7.40603150e-01 -2.60097558e-03 1.29345980e+02] [ 7.40597863e-01 6.71942685e-01 -2.79884095e-03 1.09601904e+02] [ 3.82053694e-03 -4.56303340e-05 9.99992701e-01 8.41765743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.36, Y:109.62, Z:0.84 [[ 6.72914456e-01 -7.39715709e-01 -2.60844312e-03 1.29364355e+02] [ 7.39710442e-01 6.72919510e-01 -2.79190362e-03 1.09622260e+02] [ 3.82048724e-03 -5.07803082e-05 9.99992701e-01 8.43263690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.38, Y:109.64, Z:0.84 [[ 6.73501983e-01 -7.39180845e-01 -2.59963480e-03 1.29382197e+02] [ 7.39175542e-01 6.73506999e-01 -2.80008139e-03 1.09642735e+02] [ 3.82063876e-03 -3.57260927e-05 9.99992701e-01 8.43626548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.40, Y:109.66, Z:0.84 [[ 6.74173830e-01 -7.38568137e-01 -2.59883783e-03 1.29399547e+02] [ 7.38562827e-01 6.74178838e-01 -2.80082088e-03 1.09663754e+02] [ 3.82067853e-03 -3.11648753e-05 9.99992701e-01 8.43566039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.42, Y:109.68, Z:0.84 [[ 6.74202213e-01 -7.38542231e-01 -2.59804969e-03 1.29417932e+02] [ 7.38536918e-01 6.74207218e-01 -2.80155178e-03 1.09684609e+02] [ 3.82068815e-03 -2.99432009e-05 9.99992701e-01 8.43048252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.44, Y:109.71, Z:0.84 [[ 6.73959980e-01 -7.38763291e-01 -2.59718527e-03 1.29435253e+02] [ 7.38757976e-01 6.73964984e-01 -2.80235291e-03 1.09705008e+02] [ 3.82068739e-03 -3.00176285e-05 9.99992701e-01 8.42980882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.362755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:129.45, Y:109.73, Z:0.84 [[ 6.73151712e-01 -7.39499852e-01 -2.59640682e-03 1.29453887e+02] [ 7.39494540e-01 6.73156719e-01 -2.80307397e-03 1.09725814e+02] [ 3.82066148e-03 -3.31346230e-05 9.99992701e-01 8.41787819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.47, Y:109.75, Z:0.84 [[ 6.72745443e-01 -7.39869470e-01 -2.59552396e-03 1.29472755e+02] [ 7.39864158e-01 6.72750449e-01 -2.80389122e-03 1.09746589e+02] [ 3.82065342e-03 -3.40301120e-05 9.99992701e-01 8.43555255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.49, Y:109.77, Z:0.84 [[ 6.70887599e-01 -7.41554514e-01 -2.59463575e-03 1.29491810e+02] [ 7.41549211e-01 6.70892615e-01 -2.80471290e-03 1.09767160e+02] [ 3.82056948e-03 -4.24029908e-05 9.99992701e-01 8.44504768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.452755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.51, Y:109.79, Z:0.84 [[ 6.69533410e-01 -7.42777413e-01 -2.59374051e-03 1.29510541e+02] [ 7.42772117e-01 6.69538432e-01 -2.80554056e-03 1.09787356e+02] [ 3.82050111e-03 -4.81549910e-05 9.99992701e-01 8.42487156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.53, Y:109.81, Z:0.85 [[ 6.67614237e-01 -7.44502858e-01 -2.59313350e-03 1.29529118e+02] [ 7.44497572e-01 6.67619271e-01 -2.80610150e-03 1.09807738e+02] [ 3.82037648e-03 -5.71882864e-05 9.99992701e-01 8.45823972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.512755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.55, Y:109.83, Z:0.84 [[ 6.65942901e-01 -7.45998213e-01 -2.59224752e-03 1.29547991e+02] [ 7.45992935e-01 6.65947943e-01 -2.80691972e-03 1.09827907e+02] [ 3.82025900e-03 -6.45500692e-05 9.99992701e-01 8.43670494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.57, Y:109.85, Z:0.85 [[ 6.64783703e-01 -7.47031401e-01 -2.59136394e-03 1.29566282e+02] [ 7.47026127e-01 6.64788750e-01 -2.80773521e-03 1.09848797e+02] [ 3.82017596e-03 -6.92799564e-05 9.99992701e-01 8.45662754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.572755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:129.59, Y:109.87, Z:0.84 [[ 6.63995092e-01 -7.47732454e-01 -2.58732215e-03 1.29585843e+02] [ 7.47727172e-01 6.64000130e-01 -2.81146386e-03 1.09869429e+02] [ 3.82020501e-03 -6.78128687e-05 9.99992701e-01 8.44438929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.60, Y:109.89, Z:0.85 [[ 6.64155751e-01 -7.47589746e-01 -2.59043221e-03 1.29604326e+02] [ 7.47584474e-01 6.64160799e-01 -2.80859537e-03 1.09890446e+02] [ 3.82014063e-03 -7.12221344e-05 9.99992701e-01 8.47931373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.62, Y:109.91, Z:0.85 [[ 6.64160864e-01 -7.47585207e-01 -2.58957368e-03 1.29622828e+02] [ 7.47579931e-01 6.64165908e-01 -2.80938673e-03 1.09911211e+02] [ 3.82016252e-03 -7.00285935e-05 9.99992701e-01 8.47775436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.64, Y:109.93, Z:0.85 [[ 6.64855785e-01 -7.46967258e-01 -2.58869496e-03 1.29639554e+02] [ 7.46961974e-01 6.64860822e-01 -2.81019619e-03 1.09932479e+02] [ 3.82024640e-03 -6.52815022e-05 9.99992701e-01 8.46059574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.66, Y:109.95, Z:0.85 [[ 6.65681333e-01 -7.46231678e-01 -2.57803678e-03 1.29658949e+02] [ 7.46226351e-01 6.65686323e-01 -2.82000756e-03 1.09953132e+02] [ 3.82054280e-03 -4.65725916e-05 9.99992701e-01 8.47421727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.68, Y:109.97, Z:0.85 [[ 6.66089591e-01 -7.45867256e-01 -2.58720981e-03 1.29677486e+02] [ 7.45861959e-01 6.66094613e-01 -2.81156652e-03 1.09974039e+02] [ 3.82038192e-03 -5.69461794e-05 9.99992701e-01 8.47113112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.70, Y:110.00, Z:0.85 [[ 6.67299029e-01 -7.44785417e-01 -2.58631782e-03 1.29695933e+02] [ 7.44780108e-01 6.67304039e-01 -2.81238681e-03 1.09995413e+02] [ 3.82048501e-03 -4.95350752e-05 9.99992701e-01 8.46416588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.71, Y:110.02, Z:0.85 [[ 6.67865894e-01 -7.44277142e-01 -2.58542211e-03 1.29713786e+02] [ 7.44271826e-01 6.67870897e-01 -2.81320999e-03 1.10015762e+02] [ 3.82053607e-03 -4.54098249e-05 9.99992701e-01 8.45480846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.73, Y:110.04, Z:0.85 [[ 6.68275417e-01 -7.43909461e-01 -2.58481427e-03 1.29732342e+02] [ 7.43904141e-01 6.68280414e-01 -2.81376837e-03 1.10037153e+02] [ 3.82056966e-03 -4.24818088e-05 9.99992701e-01 8.45523081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84275509600002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:129.75, Y:110.06, Z:0.84 [[ 6.67761834e-01 -7.44370510e-01 -2.58391263e-03 1.29749501e+02] [ 7.44365190e-01 6.67766832e-01 -2.81459611e-03 1.10057988e+02] [ 3.82055349e-03 -4.38947606e-05 9.99992701e-01 8.41577789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.77, Y:110.08, Z:0.84 [[ 6.67429175e-01 -7.44668801e-01 -2.58330032e-03 1.29768090e+02] [ 7.44663481e-01 6.67434173e-01 -2.81515799e-03 1.10078890e+02] [ 3.82054324e-03 -4.47708347e-05 9.99992701e-01 8.42593315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:129.79, Y:110.10, Z:0.84 [[ 6.67193026e-01 -7.44880391e-01 -2.58240780e-03 1.29787280e+02] [ 7.44875070e-01 6.67198022e-01 -2.81597648e-03 1.10100055e+02] [ 3.82054304e-03 -4.47713222e-05 9.99992701e-01 8.42702144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.81, Y:110.12, Z:0.84 [[ 6.66575999e-01 -7.45432608e-01 -2.58151466e-03 1.29805488e+02] [ 7.45427287e-01 6.66580996e-01 -2.81679502e-03 1.10120726e+02] [ 3.82051947e-03 -4.67235165e-05 9.99992701e-01 8.44736413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.82, Y:110.14, Z:0.84 [[ 6.65686753e-01 -7.46226833e-01 -2.58090688e-03 1.29824508e+02] [ 7.46221516e-01 6.65691754e-01 -2.81735179e-03 1.10141688e+02] [ 3.82047193e-03 -5.04544770e-05 9.99992701e-01 8.44628947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.84, Y:110.16, Z:0.84 [[ 6.64570096e-01 -7.47221474e-01 -2.58000158e-03 1.29843231e+02] [ 7.47216162e-01 6.64575102e-01 -2.81818058e-03 1.10162662e+02] [ 3.82040986e-03 -5.49403402e-05 9.99992701e-01 8.44544744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.86, Y:110.18, Z:0.84 [[ 6.63563283e-01 -7.48115712e-01 -2.57909678e-03 1.29861109e+02] [ 7.48110403e-01 6.63568292e-01 -2.81900838e-03 1.10182746e+02] [ 3.82035130e-03 -5.88586772e-05 9.99992701e-01 8.44169296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.88, Y:110.20, Z:0.84 [[ 6.61356233e-01 -7.50067520e-01 -2.57859047e-03 1.29879566e+02] [ 7.50062224e-01 6.61361256e-01 -2.81947143e-03 1.10203501e+02] [ 3.82017378e-03 -6.94283038e-05 9.99992701e-01 8.43956117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.082755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:129.90, Y:110.22, Z:0.84 [[ 6.59274491e-01 -7.51897933e-01 -2.57771949e-03 1.29898275e+02] [ 7.51892648e-01 6.59279525e-01 -2.82026751e-03 1.10224285e+02] [ 3.81999099e-03 -7.88379025e-05 9.99992701e-01 8.42131614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.92, Y:110.25, Z:0.84 [[ 6.58024747e-01 -7.52991894e-01 -2.57680676e-03 1.29915698e+02] [ 7.52986614e-01 6.58029786e-01 -2.82110120e-03 1.10245840e+02] [ 3.81988194e-03 -8.39466000e-05 9.99992701e-01 8.44235069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.93, Y:110.27, Z:0.84 [[ 6.57047740e-01 -7.53844567e-01 -2.57589798e-03 1.29933895e+02] [ 7.53839291e-01 6.57052784e-01 -2.82193074e-03 1.10265915e+02] [ 3.81979810e-03 -8.76698882e-05 9.99992701e-01 8.43924086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.95, Y:110.29, Z:0.84 [[ 6.56098782e-01 -7.54670628e-01 -2.57539575e-03 1.29952533e+02] [ 7.54665355e-01 6.56103830e-01 -2.82238902e-03 1.10286524e+02] [ 3.81970111e-03 -9.17959478e-05 9.99992701e-01 8.43853036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:129.97, Y:110.31, Z:0.84 [[ 6.54333182e-01 -7.56201996e-01 -2.57450523e-03 1.29970194e+02] [ 7.56196733e-01 6.54338239e-01 -2.82320110e-03 1.10306800e+02] [ 3.81950752e-03 -9.95182832e-05 9.99992701e-01 8.42037373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.99, Y:110.33, Z:0.84 [[ 6.54096204e-01 -7.56406988e-01 -2.57370646e-03 1.29988677e+02] [ 7.56401724e-01 6.54101260e-01 -2.82392909e-03 1.10327834e+02] [ 3.81950434e-03 -9.96347034e-05 9.99992701e-01 8.43514547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.01, Y:110.35, Z:0.84 [[ 6.53549089e-01 -7.56879759e-01 -2.57283585e-03 1.30007298e+02] [ 7.56874494e-01 6.53554145e-01 -2.82472207e-03 1.10349216e+02] [ 3.81946249e-03 -1.01219299e-04 9.99992701e-01 8.43822046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.03, Y:110.37, Z:0.84 [[ 6.53057483e-01 -7.57303974e-01 -2.57194800e-03 1.30025240e+02] [ 7.57298710e-01 6.53062539e-01 -2.82553023e-03 1.10370281e+02] [ 3.81942817e-03 -1.02499245e-04 9.99992701e-01 8.44048905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.04, Y:110.39, Z:0.84 [[ 6.52837329e-01 -7.57493770e-01 -2.57104861e-03 1.30043145e+02] [ 7.57488504e-01 6.52842384e-01 -2.82634838e-03 1.10390802e+02] [ 3.81943080e-03 -1.02394038e-04 9.99992701e-01 8.44291004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.06, Y:110.41, Z:0.84 [[ 6.51647271e-01 -7.58517784e-01 -2.57024357e-03 1.30058712e+02] [ 7.58512523e-01 6.51652330e-01 -2.82708029e-03 1.10412677e+02] [ 3.81929589e-03 -1.07302784e-04 9.99992701e-01 8.41344474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.08, Y:110.43, Z:0.85 [[ 6.53194536e-01 -7.57185840e-01 -2.54987892e-03 1.30080862e+02] [ 7.57180497e-01 6.53199509e-01 -2.84558011e-03 1.10433129e+02] [ 3.82021263e-03 -7.20012063e-05 9.99992700e-01 8.45730718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.10, Y:110.45, Z:0.85 [[ 6.53518528e-01 -7.56906159e-01 -2.56912440e-03 1.30099249e+02] [ 7.56900882e-01 6.53523570e-01 -2.82809697e-03 1.10453719e+02] [ 3.81958736e-03 -9.63587594e-05 9.99992701e-01 8.46572196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.11, Y:110.48, Z:0.85 [[ 6.53714413e-01 -7.56736989e-01 -2.56825413e-03 1.30114878e+02] [ 7.56731707e-01 6.53719451e-01 -2.82888706e-03 1.10475425e+02] [ 3.81964115e-03 -9.41950887e-05 9.99992701e-01 8.45218528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.14, Y:110.50, Z:0.85 [[ 6.55081455e-01 -7.55553970e-01 -2.54657668e-03 1.30135683e+02] [ 7.55548603e-01 6.55086402e-01 -2.84854199e-03 1.10496651e+02] [ 3.82045497e-03 -5.80354170e-05 9.99992700e-01 8.47944277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.15, Y:110.52, Z:0.84 [[ 6.54511888e-01 -7.56047353e-01 -2.56685230e-03 1.30151268e+02] [ 7.56042061e-01 6.54516915e-01 -2.83015611e-03 1.10517592e+02] [ 3.81978028e-03 -8.82774894e-05 9.99992701e-01 8.44971619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:130.17, Y:110.54, Z:0.84 [[ 6.54902179e-01 -7.55709370e-01 -2.54643147e-03 1.30170275e+02] [ 7.55704003e-01 6.54907127e-01 -2.84866792e-03 1.10539952e+02] [ 3.82044115e-03 -5.87496267e-05 9.99992700e-01 8.42836955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.19, Y:110.56, Z:0.85 [[ 6.56010155e-01 -7.54747760e-01 -2.54862913e-03 1.30190976e+02] [ 7.54742393e-01 6.56015104e-01 -2.84667637e-03 1.10560633e+02] [ 3.82046182e-03 -5.61098428e-05 9.99992700e-01 8.46770604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.21, Y:110.58, Z:0.85 [[ 6.55574449e-01 -7.55126187e-01 -2.56583867e-03 1.30208873e+02] [ 7.55120885e-01 6.55579465e-01 -2.83107918e-03 1.10580540e+02] [ 3.81993317e-03 -8.15351874e-05 9.99992701e-01 8.46106579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.23, Y:110.60, Z:0.85 [[ 6.54975242e-01 -7.55645982e-01 -2.56549046e-03 1.30227970e+02] [ 7.55640682e-01 6.54980261e-01 -2.83139454e-03 1.10601471e+02] [ 3.81987752e-03 -8.40956346e-05 9.99992701e-01 8.46138601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.25, Y:110.62, Z:0.85 [[ 6.54379687e-01 -7.56161790e-01 -2.56391833e-03 1.30246735e+02] [ 7.56156488e-01 6.54384704e-01 -2.83281744e-03 1.10622403e+02] [ 3.81985724e-03 -8.49852882e-05 9.99992701e-01 8.45939871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.26, Y:110.64, Z:0.84 [[ 6.53227427e-01 -7.57157421e-01 -2.56302157e-03 1.30264641e+02] [ 7.57152124e-01 6.53232449e-01 -2.83362856e-03 1.10642229e+02] [ 3.81975175e-03 -8.95933322e-05 9.99992701e-01 8.43642162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.28, Y:110.66, Z:0.85 [[ 6.52715278e-01 -7.57598971e-01 -2.56221563e-03 1.30283100e+02] [ 7.57593675e-01 6.52720300e-01 -2.83435712e-03 1.10663097e+02] [ 3.81971619e-03 -9.10901593e-05 9.99992701e-01 8.46504038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.31, Y:110.69, Z:0.85 [[ 6.52971298e-01 -7.57378323e-01 -2.56136680e-03 1.30305505e+02] [ 7.57373021e-01 6.52976316e-01 -2.83512399e-03 1.10685198e+02] [ 3.81977330e-03 -8.86555186e-05 9.99992701e-01 8.45572199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.32, Y:110.70, Z:0.85 [[ 6.50326587e-01 -7.59650349e-01 -2.58415592e-03 1.30321517e+02] [ 7.59645146e-01 6.50331708e-01 -2.81453296e-03 1.10704589e+02] [ 3.81861948e-03 -1.32675885e-04 9.99992700e-01 8.48149475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.34, Y:110.72, Z:0.85 [[ 6.50392520e-01 -7.59593981e-01 -2.55997273e-03 1.30340479e+02] [ 7.59588692e-01 6.50397551e-01 -2.83635964e-03 1.10723913e+02] [ 3.81948170e-03 -9.97792494e-05 9.99992701e-01 8.46129796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.36, Y:110.74, Z:0.85 [[ 6.49562651e-01 -7.60303810e-01 -2.54538796e-03 1.30358965e+02] [ 7.60298475e-01 6.49567633e-01 -2.84951176e-03 1.10744050e+02] [ 3.81989628e-03 -8.43181711e-05 9.99992701e-01 8.49049321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.38, Y:110.77, Z:0.85 [[ 6.49049602e-01 -7.60741839e-01 -2.54334106e-03 1.30378025e+02] [ 7.60736500e-01 6.49054580e-01 -2.85135632e-03 1.10765716e+02] [ 3.81991321e-03 -8.41406901e-05 9.99992701e-01 8.49257290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.40, Y:110.79, Z:0.85 [[ 6.48315598e-01 -7.61367445e-01 -2.54933085e-03 1.30396354e+02] [ 7.61362132e-01 6.48320604e-01 -2.84596118e-03 1.10787467e+02] [ 3.81960591e-03 -9.58829490e-05 9.99992701e-01 8.49825857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.41, Y:110.81, Z:0.85 [[ 6.48243445e-01 -7.61428854e-01 -2.55672354e-03 1.30414778e+02] [ 7.61423567e-01 6.48248478e-01 -2.83930424e-03 1.10808842e+02] [ 3.81932032e-03 -1.06189194e-04 9.99992701e-01 8.49368222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.952755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.43, Y:110.83, Z:0.85 [[ 6.48243268e-01 -7.61429007e-01 -2.55584466e-03 1.30433874e+02] [ 7.61423717e-01 6.48248298e-01 -2.84009517e-03 1.10829645e+02] [ 3.81935279e-03 -1.05008167e-04 9.99992701e-01 8.47584216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.45, Y:110.85, Z:0.85 [[ 6.48778981e-01 -7.60972605e-01 -2.55497292e-03 1.30451892e+02] [ 7.60967309e-01 6.48784004e-01 -2.84087917e-03 1.10849699e+02] [ 3.81945678e-03 -1.01148170e-04 9.99992701e-01 8.49293805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.012755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.47, Y:110.87, Z:0.85 [[ 6.49387840e-01 -7.60453108e-01 -2.55018833e-03 1.30471345e+02] [ 7.60447791e-01 6.49392841e-01 -2.84517959e-03 1.10870965e+02] [ 3.81969971e-03 -9.16600555e-05 9.99992701e-01 8.47168669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.49, Y:110.89, Z:0.85 [[ 6.49855065e-01 -7.60053863e-01 -2.55350699e-03 1.30488699e+02] [ 7.60048554e-01 6.49860075e-01 -2.84219802e-03 1.10891508e+02] [ 3.81964583e-03 -9.37725210e-05 9.99992701e-01 8.48385147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.51, Y:110.91, Z:0.85 [[ 6.51064600e-01 -7.59018031e-01 -2.55242883e-03 1.30506592e+02] [ 7.59012711e-01 6.51069598e-01 -2.84316597e-03 1.10913106e+02] [ 3.81982305e-03 -8.62412076e-05 9.99992701e-01 8.47240852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.52, Y:110.93, Z:0.85 [[ 6.52643584e-01 -7.57660741e-01 -2.56004242e-03 1.30524414e+02] [ 7.57655437e-01 6.52648599e-01 -2.83633541e-03 1.10932698e+02] [ 3.81978809e-03 -8.85139536e-05 9.99992701e-01 8.47439009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.132755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:130.54, Y:110.95, Z:0.85 [[ 6.52558651e-01 -7.57733960e-01 -2.54019677e-03 1.30543623e+02] [ 7.57728587e-01 6.52563592e-01 -2.85412341e-03 1.10954703e+02] [ 3.82030616e-03 -6.22967930e-05 9.99992701e-01 8.47544438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.56, Y:110.98, Z:0.84 [[ 6.52479526e-01 -7.57802062e-01 -2.55000635e-03 1.30562546e+02] [ 7.57796724e-01 6.52484504e-01 -2.84533199e-03 1.10976419e+02] [ 3.82003808e-03 -7.58655915e-05 9.99992701e-01 8.44641443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.192755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.58, Y:111.00, Z:0.85 [[ 6.53639361e-01 -7.56801880e-01 -2.54951167e-03 1.30582741e+02] [ 7.56796533e-01 6.53644329e-01 -2.84577506e-03 1.10996307e+02] [ 3.82016176e-03 -6.93510010e-05 9.99992701e-01 8.45148770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.60, Y:111.02, Z:0.85 [[ 6.53473032e-01 -7.56945508e-01 -2.54836893e-03 1.30600867e+02] [ 7.56940158e-01 6.53477997e-01 -2.84679800e-03 1.11016781e+02] [ 3.82017398e-03 -6.86570646e-05 9.99992701e-01 8.48173583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.62, Y:111.04, Z:0.85 [[ 6.54405845e-01 -7.56139206e-01 -2.54776375e-03 1.30618619e+02] [ 7.56133848e-01 6.54410802e-01 -2.84733951e-03 1.11035417e+02] [ 3.82026915e-03 -6.31347893e-05 9.99992701e-01 8.48398106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.64, Y:111.06, Z:0.85 [[ 6.52650978e-01 -7.57654469e-01 -2.53104375e-03 1.30639164e+02] [ 7.57649064e-01 6.52655884e-01 -2.86230126e-03 1.11057190e+02] [ 3.82053594e-03 -4.95592106e-05 9.99992701e-01 8.46352763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:130.66, Y:111.08, Z:0.85 [[ 6.51844720e-01 -7.58348186e-01 -2.54744252e-03 1.30657024e+02] [ 7.58342844e-01 6.51849693e-01 -2.84763120e-03 1.11076878e+02] [ 3.82004558e-03 -7.56214415e-05 9.99992701e-01 8.48299904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.68, Y:111.10, Z:0.85 [[ 6.49803972e-01 -7.60097568e-01 -2.54664097e-03 1.30676272e+02] [ 7.60092236e-01 6.49808957e-01 -2.84834785e-03 1.11096815e+02] [ 3.81985238e-03 -8.48142782e-05 9.99992701e-01 8.49801843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.70, Y:111.12, Z:0.85 [[ 6.48579178e-01 -7.61142936e-01 -2.54575404e-03 1.30695613e+02] [ 7.61137609e-01 6.48584168e-01 -2.84914033e-03 1.11116571e+02] [ 3.81973881e-03 -8.97760510e-05 9.99992701e-01 8.47871945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.71, Y:111.14, Z:0.85 [[ 6.46156883e-01 -7.63200371e-01 -2.54482939e-03 1.30714320e+02] [ 7.63195057e-01 6.46161886e-01 -2.84996599e-03 1.11138745e+02] [ 3.81946686e-03 -1.00676066e-04 9.99992701e-01 8.47726333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.74, Y:111.16, Z:0.85 [[ 6.44658014e-01 -7.64466861e-01 -2.54233278e-03 1.30735288e+02] [ 7.64461548e-01 6.44663018e-01 -2.85219422e-03 1.11158100e+02] [ 3.81935589e-03 -1.04825793e-04 9.99992701e-01 8.50423688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.75, Y:111.18, Z:0.85 [[ 6.43363405e-01 -7.65556699e-01 -2.54369970e-03 1.30754008e+02] [ 7.65551398e-01 6.43368424e-01 -2.85097462e-03 1.11178615e+02] [ 3.81911879e-03 -1.13120123e-04 9.99992701e-01 8.50125814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.78, Y:111.20, Z:0.85 [[ 6.44489638e-01 -7.64608815e-01 -2.54279033e-03 1.30775924e+02] [ 7.64603505e-01 6.44494646e-01 -2.85178547e-03 1.11196361e+02] [ 3.81931506e-03 -1.06280214e-04 9.99992701e-01 8.49287272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.79, Y:111.22, Z:0.85 [[ 6.40861966e-01 -7.67651926e-01 -2.54181144e-03 1.30791652e+02] [ 7.67646636e-01 6.40866995e-01 -2.85265769e-03 1.11218222e+02] [ 3.81881123e-03 -1.23053190e-04 9.99992701e-01 8.50418773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:130.81, Y:111.24, Z:0.85 [[ 6.38657498e-01 -7.69486935e-01 -2.54125152e-03 1.30811678e+02] [ 7.69481657e-01 6.38662539e-01 -2.85315640e-03 1.11236859e+02] [ 3.81846872e-03 -1.33256708e-04 9.99992701e-01 8.47293851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.83, Y:111.26, Z:0.85 [[ 6.36696404e-01 -7.71110391e-01 -2.54041904e-03 1.30829502e+02] [ 7.71105123e-01 6.36701456e-01 -2.85389744e-03 1.11258248e+02] [ 3.81815847e-03 -1.41863896e-04 9.99992701e-01 8.46357612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.85, Y:111.28, Z:0.85 [[ 6.38674597e-01 -7.69472755e-01 -2.53737425e-03 1.30846972e+02] [ 7.69467463e-01 6.38679625e-01 -2.85660645e-03 1.11280021e+02] [ 3.81865007e-03 -1.27984956e-04 9.99992701e-01 8.50409766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.642755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:130.87, Y:111.30, Z:0.85 [[ 6.39297937e-01 -7.68954940e-01 -2.53923935e-03 1.30866380e+02] [ 7.68949651e-01 6.39302967e-01 -2.85494759e-03 1.11299901e+02] [ 3.81866931e-03 -1.27385104e-04 9.99992701e-01 8.46780764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.89, Y:111.32, Z:0.85 [[ 6.41190747e-01 -7.67377340e-01 -2.53834712e-03 1.30885297e+02] [ 7.67372036e-01 6.41195761e-01 -2.85574066e-03 1.11320863e+02] [ 3.81900809e-03 -1.16782112e-04 9.99992701e-01 8.49249458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.90, Y:111.34, Z:0.85 [[ 6.42382908e-01 -7.66379656e-01 -2.53421974e-03 1.30904043e+02] [ 7.66374329e-01 6.42387898e-01 -2.85940772e-03 1.11342565e+02] [ 3.81934400e-03 -1.05326305e-04 9.99992701e-01 8.48559739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:130.92, Y:111.36, Z:0.84 [[ 6.43514050e-01 -7.65430095e-01 -2.53716473e-03 1.30922522e+02] [ 7.65424771e-01 6.43519044e-01 -2.85679223e-03 1.11363444e+02] [ 3.81938857e-03 -1.03622788e-04 9.99992701e-01 8.44726478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.762755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:130.94, Y:111.38, Z:0.84 [[ 6.44172349e-01 -7.64876149e-01 -2.54187050e-03 1.30941541e+02] [ 7.64870837e-01 6.44177355e-01 -2.85261573e-03 1.11384765e+02] [ 3.81931315e-03 -1.06626439e-04 9.99992701e-01 8.41449055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.792755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:130.96, Y:111.41, Z:0.84 [[ 6.43916372e-01 -7.65091668e-01 -2.53864628e-03 1.30960386e+02] [ 7.65086347e-01 6.43921368e-01 -2.85547569e-03 1.11406248e+02] [ 3.81938925e-03 -1.03596061e-04 9.99992701e-01 8.41557046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.822755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:130.98, Y:111.43, Z:0.85 [[ 6.46762249e-01 -7.62687454e-01 -2.53775907e-03 1.30976313e+02] [ 7.62682111e-01 6.46767222e-01 -2.85626216e-03 1.11427668e+02] [ 3.81977470e-03 -8.81809025e-05 9.99992701e-01 8.48488287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.852755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:130.99, Y:111.45, Z:0.85 [[ 6.48445072e-01 -7.61257229e-01 -2.53377915e-03 1.30992919e+02] [ 7.61251861e-01 6.48450018e-01 -2.85978838e-03 1.11449016e+02] [ 3.82006371e-03 -7.44284111e-05 9.99992701e-01 8.45025930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.01, Y:111.47, Z:0.85 [[ 6.49337295e-01 -7.60496326e-01 -2.53299821e-03 1.31011484e+02] [ 7.60490949e-01 6.49342232e-01 -2.86047991e-03 1.11470544e+02] [ 3.82016717e-03 -6.89059275e-05 9.99992701e-01 8.50262321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.03, Y:111.49, Z:0.85 [[ 6.49509270e-01 -7.60349457e-01 -2.53212278e-03 1.31029315e+02] [ 7.60344076e-01 6.49514202e-01 -2.86125464e-03 1.11491322e+02] [ 3.82020312e-03 -6.68731498e-05 9.99992701e-01 8.48570577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.942755096 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:131.05, Y:111.51, Z:0.84 [[ 6.49311321e-01 -7.60518514e-01 -2.52961434e-03 1.31045733e+02] [ 7.60513126e-01 6.49316245e-01 -2.86347364e-03 1.11511942e+02] [ 3.82024440e-03 -6.45190565e-05 9.99992701e-01 8.44781757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.07, Y:111.53, Z:0.85 [[ 6.50107369e-01 -7.59838211e-01 -2.51053257e-03 1.31066373e+02] [ 7.59832752e-01 6.50112215e-01 -2.88031271e-03 1.11534445e+02] [ 3.82069955e-03 -3.50723619e-05 9.99992700e-01 8.50263206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:131.08, Y:111.55, Z:0.85 [[ 6.51047859e-01 -7.59032441e-01 -2.53737047e-03 1.31083575e+02] [ 7.59027068e-01 6.51052801e-01 -2.85661959e-03 1.11554074e+02] [ 3.82022909e-03 -6.61367982e-05 9.99992701e-01 8.52607063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.10, Y:111.58, Z:0.85 [[ 6.49187373e-01 -7.60624326e-01 -2.52762887e-03 1.31097784e+02] [ 7.60618932e-01 6.49192291e-01 -2.86521342e-03 1.11576675e+02] [ 3.82026820e-03 -6.25019968e-05 9.99992701e-01 8.50909522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.11, Y:111.60, Z:0.85 [[ 6.48993875e-01 -7.60789507e-01 -2.50509800e-03 1.31114675e+02] [ 7.60784038e-01 6.48998709e-01 -2.88507239e-03 1.11597648e+02] [ 3.82073817e-03 -3.34442672e-05 9.99992700e-01 8.49281546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.13, Y:111.62, Z:0.85 [[ 6.47035119e-01 -7.62456097e-01 -2.50094247e-03 1.31133793e+02] [ 7.62450625e-01 6.47039952e-01 -2.88873340e-03 1.11620579e+02] [ 3.82074208e-03 -3.77331929e-05 9.99992700e-01 8.48542728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.16, Y:111.64, Z:0.85 [[ 6.48811290e-01 -7.60945194e-01 -2.51445197e-03 1.31158492e+02] [ 7.60939757e-01 6.48816160e-01 -2.87682416e-03 1.11639259e+02] [ 3.82052259e-03 -4.68304813e-05 9.99992701e-01 8.49699669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.17, Y:111.66, Z:0.85 [[ 6.45626146e-01 -7.63649459e-01 -2.52656570e-03 1.31174665e+02] [ 7.63644085e-01 6.45631084e-01 -2.86614567e-03 1.11661096e+02] [ 3.81995994e-03 -7.89383744e-05 9.99992701e-01 8.49671530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.20, Y:111.68, Z:0.85 [[ 6.47149690e-01 -7.62358780e-01 -2.52378616e-03 1.31197524e+02] [ 7.62353386e-01 6.47154607e-01 -2.86859451e-03 1.11680000e+02] [ 3.82017805e-03 -6.76068800e-05 9.99992701e-01 8.54448605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.21, Y:111.70, Z:0.85 [[ 6.43218238e-01 -7.65678732e-01 -2.52532686e-03 1.31214223e+02] [ 7.65673369e-01 6.43223189e-01 -2.86723753e-03 1.11702240e+02] [ 3.81973159e-03 -8.93160543e-05 9.99992701e-01 8.54927915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.23, Y:111.72, Z:0.85 [[ 6.41915476e-01 -7.66771243e-01 -2.52638669e-03 1.31232888e+02] [ 7.66765892e-01 6.41920440e-01 -2.86630440e-03 1.11723269e+02] [ 3.81953905e-03 -9.72219923e-05 9.99992701e-01 8.53415351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.25, Y:111.75, Z:0.85 [[ 6.38537600e-01 -7.69586485e-01 -2.52505539e-03 1.31248769e+02] [ 7.69581151e-01 6.38542583e-01 -2.86747573e-03 1.11746288e+02] [ 3.81912596e-03 -1.12243960e-04 9.99992701e-01 8.52126106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30275509600003 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:131.27, Y:111.77, Z:0.85 [[ 6.37570990e-01 -7.70387470e-01 -2.52567434e-03 1.31265234e+02] [ 7.70382144e-01 6.37575982e-01 -2.86693147e-03 1.11765713e+02] [ 3.81895738e-03 -1.17862075e-04 9.99992701e-01 8.48511812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.332755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.28, Y:111.79, Z:0.85 [[ 6.36104331e-01 -7.71598994e-01 -2.50444426e-03 1.31282832e+02] [ 7.71593605e-01 6.36109254e-01 -2.88560798e-03 1.11785780e+02] [ 3.81963238e-03 -9.68654460e-05 9.99992700e-01 8.48038397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.362755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.30, Y:111.81, Z:0.85 [[ 6.35493873e-01 -7.72101901e-01 -2.48840106e-03 1.31304123e+02] [ 7.72096460e-01 6.35498740e-01 -2.89971398e-03 1.11806732e+02] [ 3.82025041e-03 -7.85351838e-05 9.99992700e-01 8.49403083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.32, Y:111.83, Z:0.85 [[ 6.33544557e-01 -7.73702141e-01 -2.50825336e-03 1.31319706e+02] [ 7.73696781e-01 6.33549511e-01 -2.88225379e-03 1.11828267e+02] [ 3.81910862e-03 -1.14591353e-04 9.99992701e-01 8.49857485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.34, Y:111.85, Z:0.85 [[ 6.33435196e-01 -7.73791741e-01 -2.48878538e-03 1.31338193e+02] [ 7.73786314e-01 6.33440079e-01 -2.89936357e-03 1.11849221e+02] [ 3.81999999e-03 -8.92291348e-05 9.99992700e-01 8.49595627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.36, Y:111.87, Z:0.85 [[ 6.33378645e-01 -7.73838027e-01 -2.49000137e-03 1.31356851e+02] [ 7.73832605e-01 6.33383533e-01 -2.89829489e-03 1.11871097e+02] [ 3.81993667e-03 -9.11261535e-05 9.99992700e-01 8.49356495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.482755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:131.38, Y:111.89, Z:0.85 [[ 6.32654604e-01 -7.74430075e-01 -2.49211032e-03 1.31375526e+02] [ 7.74424665e-01 6.32659505e-01 -2.89644141e-03 1.11892960e+02] [ 3.81974862e-03 -9.75046996e-05 9.99992700e-01 8.47071541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.512755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.39, Y:111.91, Z:0.85 [[ 6.32894348e-01 -7.74234160e-01 -2.49194423e-03 1.31393785e+02] [ 7.74228747e-01 6.32899247e-01 -2.89658731e-03 1.11913759e+02] [ 3.81978647e-03 -9.61011202e-05 9.99992700e-01 8.48650793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.542755096 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:131.42, Y:111.94, Z:0.85 [[ 6.34841311e-01 -7.72638525e-01 -2.49373641e-03 1.31415384e+02] [ 7.72633107e-01 6.34846203e-01 -2.89501346e-03 1.11935827e+02] [ 3.81993802e-03 -8.88691726e-05 9.99992700e-01 8.49508271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.43, Y:111.96, Z:0.85 [[ 6.35414954e-01 -7.72166770e-01 -2.51312603e-03 1.31431297e+02] [ 7.72161415e-01 6.35419914e-01 -2.87798255e-03 1.11957596e+02] [ 3.81917281e-03 -1.11825798e-04 9.99992701e-01 8.52104654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.45, Y:111.98, Z:0.85 [[ 6.37331116e-01 -7.70586011e-01 -2.49965515e-03 1.31450330e+02] [ 7.70580597e-01 6.37336013e-01 -2.88981780e-03 1.11979949e+02] [ 3.81997342e-03 -8.44149531e-05 9.99992700e-01 8.53965342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.47, Y:112.00, Z:0.85 [[ 6.37921753e-01 -7.70097117e-01 -2.50364216e-03 1.31468051e+02] [ 7.70091713e-01 6.37926660e-01 -2.88631611e-03 1.12001121e+02] [ 3.81988380e-03 -8.67902414e-05 9.99992700e-01 8.53833597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.662755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:131.49, Y:112.02, Z:0.85 [[ 6.39105393e-01 -7.69115108e-01 -2.49958934e-03 1.31488531e+02] [ 7.69109682e-01 6.39110276e-01 -2.88987189e-03 1.12022715e+02] [ 3.82015736e-03 -7.55256592e-05 9.99992700e-01 8.53527425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.692755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.51, Y:112.04, Z:0.85 [[ 6.39906165e-01 -7.68448950e-01 -2.51207693e-03 1.31507066e+02] [ 7.68443563e-01 6.39911090e-01 -2.87891088e-03 1.12043972e+02] [ 3.81980193e-03 -8.81565266e-05 9.99992701e-01 8.53544978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72275509600001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:131.52, Y:112.06, Z:0.85 [[ 6.41651776e-01 -7.66991979e-01 -2.51059082e-03 1.31524816e+02] [ 7.66986575e-01 6.41656683e-01 -2.88021453e-03 1.12064947e+02] [ 3.82003882e-03 -7.74946808e-05 9.99992701e-01 8.52039196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75275509600002 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:131.55, Y:112.09, Z:0.85 [[ 6.43640181e-01 -7.65324130e-01 -2.50891324e-03 1.31546318e+02] [ 7.65318707e-01 6.43645067e-01 -2.88168507e-03 1.12086152e+02] [ 3.82027275e-03 -6.53499322e-05 9.99992701e-01 8.53318931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.56, Y:112.11, Z:0.86 [[ 6.43926006e-01 -7.65083589e-01 -2.52974187e-03 1.31563087e+02] [ 7.65078237e-01 6.43930969e-01 -2.86342352e-03 1.12108828e+02] [ 3.81973748e-03 -9.16175831e-05 9.99992701e-01 8.56077154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:131.58, Y:112.13, Z:0.85 [[ 6.45788093e-01 -7.63512527e-01 -2.52187491e-03 1.31581724e+02] [ 7.63507135e-01 6.45793013e-01 -2.87031556e-03 1.12130163e+02] [ 3.82013108e-03 -7.18538701e-05 9.99992701e-01 8.54161445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.60, Y:112.15, Z:0.86 [[ 6.47969540e-01 -7.61662094e-01 -2.51607806e-03 1.31600029e+02] [ 7.61656668e-01 6.47974422e-01 -2.87539020e-03 1.12150318e+02] [ 3.82042995e-03 -5.32223653e-05 9.99992701e-01 8.57903630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.62, Y:112.17, Z:0.86 [[ 6.48125657e-01 -7.61529251e-01 -2.51654369e-03 1.31619543e+02] [ 7.61523826e-01 6.48130540e-01 -2.87498273e-03 1.12173285e+02] [ 3.82043227e-03 -5.30579043e-05 9.99992701e-01 8.56479284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:131.64, Y:112.19, Z:0.86 [[ 6.47446447e-01 -7.62106763e-01 -2.52592863e-03 1.31636223e+02] [ 7.62101374e-01 6.47451371e-01 -2.86676784e-03 1.12193876e+02] [ 3.82019911e-03 -6.89350223e-05 9.99992701e-01 8.58109441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:131.65, Y:112.21, Z:0.86 [[ 6.47460032e-01 -7.62095234e-01 -2.52204861e-03 1.31654723e+02] [ 7.62089832e-01 6.47464941e-01 -2.87016338e-03 1.12214728e+02] [ 3.82027589e-03 -6.37115283e-05 9.99992701e-01 8.57764797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:131.67, Y:112.24, Z:0.86 [[ 6.46997167e-01 -7.62488256e-01 -2.51519076e-03 1.31673167e+02] [ 7.62482833e-01 6.47002053e-01 -2.87616055e-03 1.12235569e+02] [ 3.82037222e-03 -5.69220542e-05 9.99992701e-01 8.58901287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.70, Y:112.26, Z:0.86 [[ 6.47012095e-01 -7.62475591e-01 -2.51428465e-03 1.31695739e+02] [ 7.62470166e-01 6.47016978e-01 -2.87695243e-03 1.12257424e+02] [ 3.82039086e-03 -5.56440154e-05 9.99992701e-01 8.59511600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.71, Y:112.28, Z:0.86 [[ 6.45451552e-01 -7.63796985e-01 -2.54175862e-03 1.31712473e+02] [ 7.63791663e-01 6.45456548e-01 -2.85289881e-03 1.12277424e+02] [ 3.81963026e-03 -9.99660812e-05 9.99992700e-01 8.59759950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:131.73, Y:112.30, Z:0.86 [[ 6.42864879e-01 -7.65975467e-01 -2.51631220e-03 1.31732863e+02] [ 7.65970075e-01 6.42869798e-01 -2.87515199e-03 1.12299337e+02] [ 3.81995701e-03 -7.90856123e-05 9.99992701e-01 8.55731338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.75, Y:112.32, Z:0.86 [[ 6.41668729e-01 -7.66977743e-01 -2.52659739e-03 1.31752087e+02] [ 7.66972394e-01 6.41673696e-01 -2.86617418e-03 1.12320478e+02] [ 3.81954289e-03 -9.86961088e-05 9.99992701e-01 8.57768637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.77, Y:112.34, Z:0.86 [[ 6.38642243e-01 -7.69499632e-01 -2.53025628e-03 1.31771260e+02] [ 7.69494315e-01 6.38647244e-01 -2.86298289e-03 1.12341179e+02] [ 3.81900548e-03 -1.18596003e-04 9.99992701e-01 8.56572240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.79, Y:112.36, Z:0.86 [[ 6.36912882e-01 -7.70931636e-01 -2.52842624e-03 1.31790208e+02] [ 7.70926324e-01 6.36917889e-01 -2.86457772e-03 1.12362495e+02] [ 3.81879349e-03 -1.24743899e-04 9.99992701e-01 8.56351933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.172755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.81, Y:112.38, Z:0.86 [[ 6.35262715e-01 -7.72291980e-01 -2.52618891e-03 1.31808875e+02] [ 7.72286671e-01 6.35267724e-01 -2.86652619e-03 1.12383017e+02] [ 3.81860146e-03 -1.29944809e-04 9.99992701e-01 8.55196380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.83, Y:112.40, Z:0.86 [[ 6.32443508e-01 -7.74602361e-01 -2.52833629e-03 1.31827209e+02] [ 7.74597077e-01 6.32448544e-01 -2.86465673e-03 1.12403362e+02] [ 3.81801247e-03 -1.46708347e-04 9.99992701e-01 8.56460620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.232755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:131.84, Y:112.42, Z:0.86 [[ 6.30070139e-01 -7.76534119e-01 -2.52628934e-03 1.31843093e+02] [ 7.76528844e-01 6.30075184e-01 -2.86643754e-03 1.12423272e+02] [ 3.81763877e-03 -1.55679845e-04 9.99992701e-01 8.55760191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.86, Y:112.44, Z:0.86 [[ 6.26120861e-01 -7.79721992e-01 -2.50644015e-03 1.31859669e+02] [ 7.79716674e-01 6.26125860e-01 -2.88369002e-03 1.12444193e+02] [ 3.81782353e-03 -1.48774702e-04 9.99992701e-01 8.58043261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:112.47, Z:0.86 [[ 6.26041342e-01 -7.79785885e-01 -2.49219803e-03 1.31880769e+02] [ 7.79780518e-01 6.26046289e-01 -2.89606168e-03 1.12465513e+02] [ 3.81853935e-03 -1.30313126e-04 9.99992701e-01 8.58069667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.90, Y:112.49, Z:0.86 [[ 6.24749981e-01 -7.80820840e-01 -2.50542847e-03 1.31898102e+02] [ 7.80815527e-01 6.24754985e-01 -2.88457022e-03 1.12485696e+02] [ 3.81761147e-03 -1.54142267e-04 9.99992701e-01 8.58668663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.92, Y:112.51, Z:0.86 [[ 6.23491675e-01 -7.81825977e-01 -2.50458934e-03 1.31915815e+02] [ 7.81820669e-01 6.23496685e-01 -2.88529863e-03 1.12506035e+02] [ 3.81740457e-03 -1.59180034e-04 9.99992701e-01 8.59419945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.382755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:131.93, Y:112.53, Z:0.86 [[ 6.22888063e-01 -7.82306968e-01 -2.50376244e-03 1.31933794e+02] [ 7.82301661e-01 6.22893075e-01 -2.88601601e-03 1.12527577e+02] [ 3.81732672e-03 -1.61032589e-04 9.99992701e-01 8.58785920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.95, Y:112.55, Z:0.86 [[ 6.23443779e-01 -7.81864176e-01 -2.50286245e-03 1.31951848e+02] [ 7.81858862e-01 6.23448784e-01 -2.88679630e-03 1.12548837e+02] [ 3.81748916e-03 -1.57129994e-04 9.99992701e-01 8.61901487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.97, Y:112.57, Z:0.86 [[ 6.23872917e-01 -7.81521800e-01 -2.50196720e-03 1.31969361e+02] [ 7.81516480e-01 6.23877915e-01 -2.88757200e-03 1.12569968e+02] [ 3.81762255e-03 -1.53850632e-04 9.99992701e-01 8.62786864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47275509600001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:131.99, Y:112.59, Z:0.86 [[ 6.25414732e-01 -7.80288509e-01 -2.50115457e-03 1.31986752e+02] [ 7.80283177e-01 6.25419716e-01 -2.88827572e-03 1.12591795e+02] [ 3.81795973e-03 -1.45238648e-04 9.99992701e-01 8.62497111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.01, Y:112.61, Z:0.86 [[ 6.27720623e-01 -7.78434691e-01 -2.50024984e-03 1.32005253e+02] [ 7.78429341e-01 6.27725588e-01 -2.88905869e-03 1.12612446e+02] [ 3.81841431e-03 -1.32746115e-04 9.99992701e-01 8.64814329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.03, Y:112.63, Z:0.87 [[ 6.33519043e-01 -7.73723061e-01 -2.49928012e-03 1.32025094e+02] [ 7.73717671e-01 6.33523965e-01 -2.88989733e-03 1.12632999e+02] [ 3.81933406e-03 -1.02932209e-04 9.99992701e-01 8.67296032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.04, Y:112.66, Z:0.86 [[ 6.33642660e-01 -7.73621831e-01 -2.49846861e-03 1.32040285e+02] [ 7.73616437e-01 6.33647578e-01 -2.89059875e-03 1.12655994e+02] [ 3.81937888e-03 -1.01249705e-04 9.99992701e-01 8.64207789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.06, Y:112.68, Z:0.86 [[ 6.35915262e-01 -7.71754844e-01 -2.49809437e-03 1.32059823e+02] [ 7.71749435e-01 6.35920162e-01 -2.89092214e-03 1.12679090e+02] [ 3.81967174e-03 -8.95214037e-05 9.99992701e-01 8.63988556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:132.08, Y:112.70, Z:0.86 [[ 6.38817577e-01 -7.69354151e-01 -2.50858889e-03 1.32076119e+02] [ 7.69348759e-01 6.38822497e-01 -2.88185466e-03 1.12700297e+02] [ 3.81970986e-03 -8.90003373e-05 9.99992701e-01 8.63842367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.10, Y:112.72, Z:0.86 [[ 6.41594192e-01 -7.67040195e-01 -2.49644393e-03 1.32099202e+02] [ 7.67034744e-01 6.41599046e-01 -2.89233726e-03 1.12723174e+02] [ 3.82025498e-03 -5.91524457e-05 9.99992701e-01 8.63666666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.11, Y:112.74, Z:0.87 [[ 6.40686810e-01 -7.67798174e-01 -2.52503451e-03 1.32112309e+02] [ 7.67792825e-01 6.40691778e-01 -2.86765469e-03 1.12743386e+02] [ 3.81954889e-03 -1.01434846e-04 9.99992700e-01 8.65464421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.13, Y:112.77, Z:0.87 [[ 6.40445253e-01 -7.67999773e-01 -2.49523513e-03 1.32130825e+02] [ 7.67994325e-01 6.40450111e-01 -2.89335375e-03 1.12765143e+02] [ 3.82016864e-03 -6.32917417e-05 9.99992701e-01 8.65562872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.15, Y:112.79, Z:0.87 [[ 6.41501080e-01 -7.67118076e-01 -2.49432473e-03 1.32147987e+02] [ 7.67112619e-01 6.41505927e-01 -2.89413839e-03 1.12785557e+02] [ 3.82026997e-03 -5.68350692e-05 9.99992701e-01 8.65695719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.17, Y:112.81, Z:0.87 [[ 6.41575206e-01 -7.67056085e-01 -2.49350341e-03 1.32166020e+02] [ 7.67050624e-01 6.41580050e-01 -2.89484584e-03 1.12806666e+02] [ 3.82029116e-03 -5.53820323e-05 9.99992701e-01 8.65937980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.18, Y:112.83, Z:0.87 [[ 6.41030546e-01 -7.67511320e-01 -2.49260567e-03 1.32184656e+02] [ 7.67505859e-01 6.41035390e-01 -2.89561863e-03 1.12828151e+02] [ 3.82026852e-03 -5.69094581e-05 9.99992701e-01 8.66450636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83275509600003 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.20, Y:112.85, Z:0.86 [[ 6.40481975e-01 -7.67969160e-01 -2.49167497e-03 1.32202096e+02] [ 7.67963701e-01 6.40486819e-01 -2.89641927e-03 1.12848510e+02] [ 3.82024565e-03 -5.84115967e-05 9.99992701e-01 8.64863695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.22, Y:112.87, Z:0.87 [[ 6.41049525e-01 -7.67495473e-01 -2.49084023e-03 1.32222876e+02] [ 7.67490007e-01 6.41054362e-01 -2.89713695e-03 1.12870491e+02] [ 3.82030349e-03 -5.44867187e-05 9.99992701e-01 8.65394790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.892755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:132.24, Y:112.89, Z:0.86 [[ 6.39617016e-01 -7.68689671e-01 -2.50259207e-03 1.32239185e+02] [ 7.68684253e-01 6.39621907e-01 -2.88703339e-03 1.12890928e+02] [ 3.81994546e-03 -7.71074375e-05 9.99992701e-01 8.64046785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.26, Y:112.91, Z:0.87 [[ 6.38924845e-01 -7.69265121e-01 -2.49339122e-03 1.32256350e+02] [ 7.69259676e-01 6.38929706e-01 -2.89493842e-03 1.12912814e+02] [ 3.82007687e-03 -6.84172488e-05 9.99992701e-01 8.67140966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.952755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.28, Y:112.93, Z:0.87 [[ 6.38931298e-01 -7.69259788e-01 -2.48512530e-03 1.32275944e+02] [ 7.69254316e-01 6.38936128e-01 -2.90203697e-03 1.12934581e+02] [ 3.82025668e-03 -5.74911165e-05 9.99992701e-01 8.65159284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.982755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:132.29, Y:112.96, Z:0.86 [[ 6.37581029e-01 -7.70379282e-01 -2.48859101e-03 1.32293290e+02] [ 7.70373831e-01 6.37585882e-01 -2.89906196e-03 1.12955037e+02] [ 3.82006776e-03 -6.87584785e-05 9.99992701e-01 8.63182474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.31, Y:112.98, Z:0.87 [[ 6.37270165e-01 -7.70636456e-01 -2.48776877e-03 1.32311308e+02] [ 7.70631003e-01 6.37275017e-01 -2.89976738e-03 1.12975574e+02] [ 3.82005934e-03 -6.92165043e-05 9.99992701e-01 8.65721542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.33, Y:113.00, Z:0.87 [[ 6.36474448e-01 -7.71293778e-01 -2.48692013e-03 1.32329445e+02] [ 7.71288328e-01 6.36479303e-01 -2.90049501e-03 1.12996722e+02] [ 3.82000694e-03 -7.20415031e-05 9.99992701e-01 8.66180693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.072755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:132.35, Y:113.02, Z:0.86 [[ 6.34654973e-01 -7.72791618e-01 -2.48598552e-03 1.32346249e+02] [ 7.72786176e-01 6.34659837e-01 -2.90129583e-03 1.13017498e+02] [ 3.81985227e-03 -7.98134208e-05 9.99992701e-01 8.64729959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.102755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:132.36, Y:113.04, Z:0.86 [[ 6.34050088e-01 -7.73287986e-01 -2.48535175e-03 1.32363060e+02] [ 7.73282546e-01 6.34054954e-01 -2.90183864e-03 1.13037225e+02] [ 3.81980655e-03 -8.19680778e-05 9.99992701e-01 8.64155872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.38, Y:113.06, Z:0.87 [[ 6.33142899e-01 -7.74030995e-01 -2.46746808e-03 1.32382091e+02] [ 7.74025500e-01 6.33147704e-01 -2.91714158e-03 1.13060598e+02] [ 3.82022975e-03 -6.29157342e-05 9.99992701e-01 8.67170930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.162755096 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:132.40, Y:113.08, Z:0.87 [[ 6.31094252e-01 -7.75702183e-01 -2.48366226e-03 1.32399716e+02] [ 7.75696755e-01 6.31099132e-01 -2.90328802e-03 1.13082334e+02] [ 3.81952395e-03 -9.43203810e-05 9.99992701e-01 8.66282817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.42, Y:113.10, Z:0.87 [[ 6.30623259e-01 -7.76085138e-01 -2.48272872e-03 1.32417918e+02] [ 7.76079711e-01 6.30628139e-01 -2.90408611e-03 1.13103684e+02] [ 3.81949666e-03 -9.54111461e-05 9.99992701e-01 8.69513496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.44, Y:113.13, Z:0.87 [[ 6.29792112e-01 -7.76759768e-01 -2.48178664e-03 1.32435144e+02] [ 7.76754342e-01 6.29796994e-01 -2.90489098e-03 1.13125208e+02] [ 3.81942420e-03 -9.82611219e-05 9.99992701e-01 8.67936145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.45, Y:113.15, Z:0.87 [[ 6.29020545e-01 -7.77384720e-01 -2.48009288e-03 1.32452760e+02] [ 7.77379294e-01 6.29025426e-01 -2.90633744e-03 1.13146956e+02] [ 3.81938380e-03 -9.98268913e-05 9.99992701e-01 8.70226217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28275509600002 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:132.47, Y:113.17, Z:0.87 [[ 6.28345942e-01 -7.77930089e-01 -2.48060568e-03 1.32469980e+02] [ 7.77924669e-01 6.28350830e-01 -2.90589969e-03 1.13168980e+02] [ 3.81927744e-03 -1.03814068e-04 9.99992701e-01 8.68581230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.49, Y:113.19, Z:0.87 [[ 6.28458440e-01 -7.77839212e-01 -2.47968656e-03 1.32487488e+02] [ 7.77833788e-01 6.28463324e-01 -2.90668379e-03 1.13190438e+02] [ 3.81932469e-03 -1.02054032e-04 9.99992701e-01 8.70803806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:132.50, Y:113.21, Z:0.87 [[ 6.27905850e-01 -7.78285359e-01 -2.47875686e-03 1.32503704e+02] [ 7.78279935e-01 6.27910734e-01 -2.90747640e-03 1.13212709e+02] [ 3.81928435e-03 -1.03545283e-04 9.99992701e-01 8.69664220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.52, Y:113.23, Z:0.87 [[ 6.27836295e-01 -7.78341471e-01 -2.47792181e-03 1.32520316e+02] [ 7.78336045e-01 6.27841177e-01 -2.90818791e-03 1.13233717e+02] [ 3.81930460e-03 -1.02789939e-04 9.99992701e-01 8.70446934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:132.54, Y:113.26, Z:0.87 [[ 6.27098446e-01 -7.78936071e-01 -2.47709409e-03 1.32536689e+02] [ 7.78930646e-01 6.27103330e-01 -2.90889276e-03 1.13256284e+02] [ 3.81923545e-03 -1.05322372e-04 9.99992701e-01 8.68247221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.55, Y:113.28, Z:0.87 [[ 6.26834291e-01 -7.79148664e-01 -2.47620550e-03 1.32554745e+02] [ 7.79143238e-01 6.26839173e-01 -2.90964898e-03 1.13278311e+02] [ 3.81923172e-03 -1.05451019e-04 9.99992701e-01 8.69300391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.57, Y:113.30, Z:0.87 [[ 6.25931619e-01 -7.79874017e-01 -2.47529433e-03 1.32571406e+02] [ 7.79868593e-01 6.25936504e-01 -2.91042392e-03 1.13299248e+02] [ 3.81914107e-03 -1.08677952e-04 9.99992701e-01 8.69049483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.59, Y:113.32, Z:0.87 [[ 6.24071073e-01 -7.81363663e-01 -2.47447519e-03 1.32588555e+02] [ 7.81358248e-01 6.24075967e-01 -2.91112020e-03 1.13321863e+02] [ 3.81890404e-03 -1.16705697e-04 9.99992701e-01 8.69198725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.61, Y:113.34, Z:0.87 [[ 6.22719070e-01 -7.82441590e-01 -2.47355417e-03 1.32605008e+02] [ 7.82436181e-01 6.22723970e-01 -2.91190257e-03 1.13343212e+02] [ 3.81873515e-03 -1.22101022e-04 9.99992701e-01 8.69021965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.62, Y:113.37, Z:0.87 [[ 6.19694816e-01 -7.84838977e-01 -2.47293265e-03 1.32620793e+02] [ 7.84833585e-01 6.19699735e-01 -2.91243030e-03 1.13366172e+02] [ 3.81826452e-03 -1.36022644e-04 9.99992701e-01 8.68873429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.64, Y:113.39, Z:0.87 [[ 6.18164658e-01 -7.86044747e-01 -2.47204393e-03 1.32637978e+02] [ 7.86039361e-01 6.18169585e-01 -2.91318444e-03 1.13388275e+02] [ 3.81803570e-03 -1.42296171e-04 9.99992701e-01 8.68923613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.612755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:132.66, Y:113.41, Z:0.87 [[ 6.16295201e-01 -7.87511344e-01 -2.47149254e-03 1.32655541e+02] [ 7.87505968e-01 6.16300138e-01 -2.91365216e-03 1.13410642e+02] [ 3.81771532e-03 -1.50645283e-04 9.99992701e-01 8.67488377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:113.43, Z:0.87 [[ 6.14942891e-01 -7.88567776e-01 -2.47054106e-03 1.32672708e+02] [ 7.88562406e-01 6.14947834e-01 -2.91445871e-03 1.13432667e+02] [ 3.81750210e-03 -1.55950137e-04 9.99992701e-01 8.68975322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.69, Y:113.45, Z:0.87 [[ 6.12787574e-01 -7.90243817e-01 -2.46960771e-03 1.32688357e+02] [ 7.90238457e-01 6.12792528e-01 -2.91524939e-03 1.13454730e+02] [ 3.81711495e-03 -1.65150385e-04 9.99992701e-01 8.69142728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.71, Y:113.48, Z:0.87 [[ 6.11714831e-01 -7.91074504e-01 -2.46877122e-03 1.32705416e+02] [ 7.91069148e-01 6.11719789e-01 -2.91595759e-03 1.13477236e+02] [ 3.81693591e-03 -1.69234237e-04 9.99992701e-01 8.69263098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.72, Y:113.50, Z:0.87 [[ 6.10784466e-01 -7.91793057e-01 -2.46784031e-03 1.32721987e+02] [ 7.91787704e-01 6.10789428e-01 -2.91674522e-03 1.13500033e+02] [ 3.81678939e-03 -1.72502940e-04 9.99992701e-01 8.69323732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.74, Y:113.52, Z:0.87 [[ 6.10139860e-01 -7.92289887e-01 -2.46683554e-03 1.32738646e+02] [ 7.92284534e-01 6.10144822e-01 -2.91759477e-03 1.13522269e+02] [ 3.81670776e-03 -1.74294781e-04 9.99992701e-01 8.69121137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.75, Y:113.55, Z:0.87 [[ 6.09860273e-01 -7.92505121e-01 -2.46582352e-03 1.32754308e+02] [ 7.92499767e-01 6.09865233e-01 -2.91844983e-03 1.13545527e+02] [ 3.81670647e-03 -1.74317951e-04 9.99992701e-01 8.68705603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.77, Y:113.57, Z:0.87 [[ 6.09586533e-01 -7.92715702e-01 -2.46481906e-03 1.32770481e+02] [ 7.92710346e-01 6.09591491e-01 -2.91929791e-03 1.13567631e+02] [ 3.81670602e-03 -1.74322876e-04 9.99992701e-01 8.68328094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.852755096 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:132.79, Y:113.59, Z:0.87 [[ 6.09735611e-01 -7.92601043e-01 -2.46375748e-03 1.32786782e+02] [ 7.92595683e-01 6.09740565e-01 -2.92019356e-03 1.13590579e+02] [ 3.81680134e-03 -1.72217535e-04 9.99992701e-01 8.65427137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.80, Y:113.61, Z:0.87 [[ 6.09598644e-01 -7.92706395e-01 -2.46277517e-03 1.32803244e+02] [ 7.92701032e-01 6.09603594e-01 -2.92102177e-03 1.13612992e+02] [ 3.81682923e-03 -1.71593515e-04 9.99992701e-01 8.68123461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.82, Y:113.64, Z:0.87 [[ 6.09783900e-01 -7.92563900e-01 -2.46178390e-03 1.32820489e+02] [ 7.92558532e-01 6.09788846e-01 -2.92185696e-03 1.13635060e+02] [ 3.81692671e-03 -1.69406501e-04 9.99992701e-01 8.68568357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.84, Y:113.66, Z:0.87 [[ 6.10086388e-01 -7.92331082e-01 -2.46077436e-03 1.32837390e+02] [ 7.92325709e-01 6.10091328e-01 -2.92270694e-03 1.13656887e+02] [ 3.81704865e-03 -1.66631069e-04 9.99992701e-01 8.69215084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97275509600001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:132.85, Y:113.68, Z:0.87 [[ 6.10815742e-01 -7.91768956e-01 -2.45974413e-03 1.32854326e+02] [ 7.91763575e-01 6.10820673e-01 -2.92357372e-03 1.13677804e+02] [ 3.81725748e-03 -1.61770954e-04 9.99992701e-01 8.66722151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.87, Y:113.70, Z:0.87 [[ 6.12085525e-01 -7.90787749e-01 -2.45904365e-03 1.32870800e+02] [ 7.90782358e-01 6.12090445e-01 -2.92416278e-03 1.13700601e+02] [ 3.81754922e-03 -1.54730629e-04 9.99992701e-01 8.69739120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.89, Y:113.72, Z:0.87 [[ 6.12871083e-01 -7.90179090e-01 -2.45800943e-03 1.32887521e+02] [ 7.90173690e-01 6.12875994e-01 -2.92503187e-03 1.13721950e+02] [ 3.81775400e-03 -1.49586931e-04 9.99992701e-01 8.70191375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.91, Y:113.74, Z:0.87 [[ 6.13048575e-01 -7.90041396e-01 -2.45700015e-03 1.32905570e+02] [ 7.90035992e-01 6.13053481e-01 -2.92587941e-03 1.13743775e+02] [ 3.81783835e-03 -1.47412350e-04 9.99992701e-01 8.70891193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.93, Y:113.77, Z:0.87 [[ 6.13316807e-01 -7.89833187e-01 -2.45597508e-03 1.32925149e+02] [ 7.89827777e-01 6.13321707e-01 -2.92673960e-03 1.13766774e+02] [ 3.81793890e-03 -1.44778748e-04 9.99992701e-01 8.71464834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.94, Y:113.79, Z:0.87 [[ 6.12945521e-01 -7.90121320e-01 -2.46744742e-03 1.32940741e+02] [ 7.90115951e-01 6.12950467e-01 -2.91712391e-03 1.13787304e+02] [ 3.81730484e-03 -1.61531528e-04 9.99992701e-01 8.70794771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.96, Y:113.81, Z:0.87 [[ 6.12406383e-01 -7.90539311e-01 -2.45335611e-03 1.32958393e+02] [ 7.90533899e-01 6.12411280e-01 -2.92892722e-03 1.13809256e+02] [ 3.81789506e-03 -1.45767445e-04 9.99992701e-01 8.71051166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.98, Y:113.83, Z:0.87 [[ 6.11987632e-01 -7.90863531e-01 -2.45241433e-03 1.32976142e+02] [ 7.90858118e-01 6.11992528e-01 -2.92971556e-03 1.13830708e+02] [ 3.81786444e-03 -1.46562091e-04 9.99992701e-01 8.71302519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.99, Y:113.85, Z:0.87 [[ 6.11341364e-01 -7.91363208e-01 -2.45147921e-03 1.32993355e+02] [ 7.91357796e-01 6.11346261e-01 -2.93049782e-03 1.13851385e+02] [ 3.81779081e-03 -1.48462649e-04 9.99992701e-01 8.71624531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.01, Y:113.87, Z:0.87 [[ 6.11047858e-01 -7.91589862e-01 -2.45063209e-03 1.33011698e+02] [ 7.91584449e-01 6.11052754e-01 -2.93120606e-03 1.13873046e+02] [ 3.81777849e-03 -1.48775064e-04 9.99992701e-01 8.71415357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:113.89, Z:0.87 [[ 6.10361082e-01 -7.92119530e-01 -2.44970956e-03 1.33029354e+02] [ 7.92114118e-01 6.10365979e-01 -2.93197685e-03 1.13894294e+02] [ 3.81769549e-03 -1.50884963e-04 9.99992701e-01 8.71995282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.05, Y:113.92, Z:0.87 [[ 6.10365918e-01 -7.92115806e-01 -2.44869148e-03 1.33048650e+02] [ 7.92110391e-01 6.10370811e-01 -2.93282686e-03 1.13916278e+02] [ 3.81774832e-03 -1.49536409e-04 9.99992701e-01 8.69663987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.07, Y:113.94, Z:0.87 [[ 6.09610182e-01 -7.92697547e-01 -2.45462259e-03 1.33066254e+02] [ 7.92692156e-01 6.09615103e-01 -2.92787773e-03 1.13936945e+02] [ 3.81729650e-03 -1.60896001e-04 9.99992701e-01 8.70445835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.362755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:133.08, Y:113.96, Z:0.87 [[ 6.09111421e-01 -7.93080862e-01 -2.45421712e-03 1.33083407e+02] [ 7.93075473e-01 6.09116344e-01 -2.92821581e-03 1.13957858e+02] [ 3.81721568e-03 -1.62769708e-04 9.99992701e-01 8.71944978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.10, Y:113.98, Z:0.87 [[ 6.08423376e-01 -7.93608855e-01 -2.44564289e-03 1.33101456e+02] [ 7.93603441e-01 6.08428271e-01 -2.93535958e-03 1.13980172e+02] [ 3.81752563e-03 -1.54929233e-04 9.99992701e-01 8.70933778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.12, Y:114.00, Z:0.87 [[ 6.08164610e-01 -7.93807153e-01 -2.45160886e-03 1.33120278e+02] [ 7.93801761e-01 6.08169530e-01 -2.93039282e-03 1.14001753e+02] [ 3.81716058e-03 -1.63930223e-04 9.99992701e-01 8.71364411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.14, Y:114.02, Z:0.87 [[ 6.07759795e-01 -7.94117124e-01 -2.45455847e-03 1.33138025e+02] [ 7.94111745e-01 6.07764728e-01 -2.92793915e-03 1.14023204e+02] [ 3.81692067e-03 -1.69710014e-04 9.99992701e-01 8.71422374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.15, Y:114.04, Z:0.87 [[ 6.07875470e-01 -7.94028585e-01 -2.45326949e-03 1.33154361e+02] [ 7.94023201e-01 6.07880398e-01 -2.92901066e-03 1.14043491e+02] [ 3.81701263e-03 -1.67479165e-04 9.99992701e-01 8.72709045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.17, Y:114.07, Z:0.87 [[ 6.07686398e-01 -7.94173332e-01 -2.44134558e-03 1.33172150e+02] [ 7.94167909e-01 6.07691283e-01 -2.93891581e-03 1.14065192e+02] [ 3.81759299e-03 -1.52899152e-04 9.99992701e-01 8.72020758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.19, Y:114.09, Z:0.87 [[ 6.07383704e-01 -7.94404859e-01 -2.44039370e-03 1.33189316e+02] [ 7.94399435e-01 6.07388588e-01 -2.93970601e-03 1.14085816e+02] [ 3.81758402e-03 -1.53117844e-04 9.99992701e-01 8.72890930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.21, Y:114.11, Z:0.87 [[ 6.07487377e-01 -7.94325586e-01 -2.43947239e-03 1.33207407e+02] [ 7.94320157e-01 6.07492256e-01 -2.94047034e-03 1.14107195e+02] [ 3.81765142e-03 -1.51423478e-04 9.99992701e-01 8.72090708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.23, Y:114.13, Z:0.87 [[ 6.07212148e-01 -7.94536003e-01 -2.43884406e-03 1.33225464e+02] [ 7.94530574e-01 6.07217026e-01 -2.94099140e-03 1.14129331e+02] [ 3.81763119e-03 -1.51930465e-04 9.99992701e-01 8.72199653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.24, Y:114.15, Z:0.87 [[ 6.07869805e-01 -7.94032970e-01 -2.43782485e-03 1.33243299e+02] [ 7.94027534e-01 6.07874676e-01 -2.94183598e-03 1.14149784e+02] [ 3.81780676e-03 -1.47446790e-04 9.99992701e-01 8.71515985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.26, Y:114.17, Z:0.87 [[ 6.08200154e-01 -7.93779965e-01 -2.43708227e-03 1.33261324e+02] [ 7.93774525e-01 6.08205019e-01 -2.94245103e-03 1.14171203e+02] [ 3.81790435e-03 -1.44894655e-04 9.99992701e-01 8.72377603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.28, Y:114.19, Z:0.87 [[ 6.08706986e-01 -7.93391373e-01 -2.43607587e-03 1.33278658e+02] [ 7.93385926e-01 6.08711844e-01 -2.94328400e-03 1.14191738e+02] [ 3.81804437e-03 -1.41150783e-04 9.99992701e-01 8.71934903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.30, Y:114.21, Z:0.87 [[ 6.09298367e-01 -7.92937305e-01 -2.43525813e-03 1.33297130e+02] [ 7.92931851e-01 6.09303219e-01 -2.94396044e-03 1.14213277e+02] [ 3.81818667e-03 -1.37243450e-04 9.99992701e-01 8.71089173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.31, Y:114.23, Z:0.87 [[ 6.10798657e-01 -7.91782214e-01 -2.43434933e-03 1.33314944e+02] [ 7.91776749e-01 6.10803495e-01 -2.94471173e-03 1.14233110e+02] [ 3.81847945e-03 -1.28835223e-04 9.99992701e-01 8.72713920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.33, Y:114.25, Z:0.87 [[ 6.11587120e-01 -7.91173353e-01 -2.43331761e-03 1.33333713e+02] [ 7.91167879e-01 6.11591948e-01 -2.94556403e-03 1.14254368e+02] [ 3.81864922e-03 -1.23693716e-04 9.99992701e-01 8.73579424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.35, Y:114.28, Z:0.87 [[ 6.12222011e-01 -7.90682169e-01 -2.43239633e-03 1.33352398e+02] [ 7.90676689e-01 6.12226831e-01 -2.94632461e-03 1.14275683e+02] [ 3.81878463e-03 -1.19434295e-04 9.99992701e-01 8.74416416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.37, Y:114.30, Z:0.87 [[ 6.14231638e-01 -7.89122033e-01 -2.43146019e-03 1.33371555e+02] [ 7.89116537e-01 6.14236441e-01 -2.94709696e-03 1.14295326e+02] [ 3.81911060e-03 -1.08505259e-04 9.99992701e-01 8.74896979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.39, Y:114.32, Z:0.88 [[ 6.15201031e-01 -7.88366528e-01 -2.43082882e-03 1.33390061e+02] [ 7.88361025e-01 6.15205824e-01 -2.94761764e-03 1.14316520e+02] [ 3.81926313e-03 -1.02993286e-04 9.99992701e-01 8.76735666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.41, Y:114.34, Z:0.88 [[ 6.15731938e-01 -7.87951950e-01 -2.42989677e-03 1.33407777e+02] [ 7.87946440e-01 6.15736725e-01 -2.94838578e-03 1.14337213e+02] [ 3.81936300e-03 -9.92132227e-05 9.99992701e-01 8.76796310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.43, Y:114.36, Z:0.88 [[ 6.17040353e-01 -7.86927762e-01 -2.42905885e-03 1.33426510e+02] [ 7.86922241e-01 6.17045128e-01 -2.94907595e-03 1.14357716e+02] [ 3.81954866e-03 -9.17815655e-05 9.99992701e-01 8.77606180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.44, Y:114.38, Z:0.88 [[ 6.17490512e-01 -7.86574581e-01 -2.42814058e-03 1.33444083e+02] [ 7.86569055e-01 6.17495280e-01 -2.94983182e-03 1.14377997e+02] [ 3.81962807e-03 -8.84070780e-05 9.99992701e-01 8.77621150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.46, Y:114.40, Z:0.88 [[ 6.18240007e-01 -7.85985624e-01 -2.42751602e-03 1.33463638e+02] [ 7.85980091e-01 6.18244767e-01 -2.95034570e-03 1.14397759e+02] [ 3.81972838e-03 -8.39575122e-05 9.99992701e-01 8.77214551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.48, Y:114.42, Z:0.88 [[ 6.18176127e-01 -7.86035869e-01 -2.42658349e-03 1.33482370e+02] [ 7.86030333e-01 6.18180884e-01 -2.95111248e-03 1.14418371e+02] [ 3.81974779e-03 -8.30609403e-05 9.99992701e-01 8.76875944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.50, Y:114.44, Z:0.88 [[ 6.17999689e-01 -7.86174600e-01 -2.42565429e-03 1.33500688e+02] [ 7.86169062e-01 6.18004443e-01 -2.95187603e-03 1.14438515e+02] [ 3.81975509e-03 -8.27158889e-05 9.99992701e-01 8.76160323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.52, Y:114.46, Z:0.88 [[ 6.17854491e-01 -7.86288718e-01 -2.42482426e-03 1.33520231e+02] [ 7.86283179e-01 6.17859243e-01 -2.95255771e-03 1.14458679e+02] [ 3.81976290e-03 -8.23474926e-05 9.99992701e-01 8.76088853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.54, Y:114.48, Z:0.88 [[ 6.17441136e-01 -7.86613354e-01 -2.42390379e-03 1.33538632e+02] [ 7.86607814e-01 6.17445888e-01 -2.95331317e-03 1.14479615e+02] [ 3.81974501e-03 -8.31646253e-05 9.99992701e-01 8.76267145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.56, Y:114.50, Z:0.88 [[ 6.16901654e-01 -7.87036517e-01 -2.42297757e-03 1.33556639e+02] [ 7.87030977e-01 6.16906406e-01 -2.95407287e-03 1.14500074e+02] [ 3.81971361e-03 -8.45859643e-05 9.99992701e-01 8.76248344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.59, Y:114.52, Z:0.87 [[ 6.19981030e-01 -7.84613061e-01 -2.42214947e-03 1.33587003e+02] [ 7.84607500e-01 6.19985758e-01 -2.95475171e-03 1.14523759e+02] [ 3.82003496e-03 -6.85466291e-05 9.99992701e-01 8.73540619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.60, Y:114.54, Z:0.88 [[ 6.14023579e-01 -7.89283714e-01 -2.50257511e-03 1.33595278e+02] [ 7.89278454e-01 6.14028646e-01 -2.88872306e-03 1.14540399e+02] [ 3.81667487e-03 -2.01484534e-04 9.99992696e-01 8.76861886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.61, Y:114.56, Z:0.88 [[ 6.12548887e-01 -7.90428998e-01 -2.42063143e-03 1.33614327e+02] [ 7.90423478e-01 6.12553661e-01 -2.95582961e-03 1.14561699e+02] [ 3.81914008e-03 -1.02733771e-04 9.99992702e-01 8.77006363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.63, Y:114.58, Z:0.88 [[ 6.11141187e-01 -7.91517906e-01 -2.41971069e-03 1.33633142e+02] [ 7.91512391e-01 6.11145967e-01 -2.95658316e-03 1.14582088e+02] [ 3.81898494e-03 -1.08341253e-04 9.99992702e-01 8.77425954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.65, Y:114.60, Z:0.88 [[ 6.08772879e-01 -7.93340867e-01 -2.41878395e-03 1.33652928e+02] [ 7.93335364e-01 6.08777672e-01 -2.95734113e-03 1.14602299e+02] [ 3.81868124e-03 -1.18557775e-04 9.99992702e-01 8.77191734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.68, Y:114.62, Z:0.87 [[ 6.09793332e-01 -7.92556778e-01 -2.41785368e-03 1.33678520e+02] [ 7.92551265e-01 6.09798115e-01 -2.95810150e-03 1.14624708e+02] [ 3.81886601e-03 -1.12442425e-04 9.99992702e-01 8.74141130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.70, Y:114.65, Z:0.88 [[ 6.07440819e-01 -7.94361110e-01 -2.46563101e-03 1.33695748e+02] [ 7.94355768e-01 6.07445794e-01 -2.91905170e-03 1.14645265e+02] [ 3.81651833e-03 -1.85437058e-04 9.99992700e-01 8.75665137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.71, Y:114.67, Z:0.88 [[ 6.06479126e-01 -7.95095653e-01 -2.44381499e-03 1.33713191e+02] [ 7.95090246e-01 6.06484028e-01 -2.93683523e-03 1.14666759e+02] [ 3.81719968e-03 -1.61924206e-04 9.99992701e-01 8.77061107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.73, Y:114.69, Z:0.88 [[ 6.06378469e-01 -7.95172436e-01 -2.43893661e-03 1.33728144e+02] [ 7.95167014e-01 6.06383354e-01 -2.94080951e-03 1.14686639e+02] [ 3.81738122e-03 -1.56118373e-04 9.99992702e-01 8.76888038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.442755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.75, Y:114.71, Z:0.88 [[ 6.06969849e-01 -7.94721200e-01 -2.41156264e-03 1.33748475e+02] [ 7.94715685e-01 6.06974629e-01 -2.96308831e-03 1.14709360e+02] [ 3.81858644e-03 -1.18001388e-04 9.99992702e-01 8.75976675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.77, Y:114.73, Z:0.88 [[ 6.08895293e-01 -7.93246906e-01 -2.42267277e-03 1.33765023e+02] [ 7.93241415e-01 6.08900100e-01 -2.95405538e-03 1.14730493e+02] [ 3.81846098e-03 -1.23053958e-04 9.99992702e-01 8.79189777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.78, Y:114.75, Z:0.88 [[ 6.08991627e-01 -7.93172991e-01 -2.40933837e-03 1.33780302e+02] [ 7.93167456e-01 6.08996384e-01 -2.96488737e-03 1.14751877e+02] [ 3.81894694e-03 -1.05417206e-04 9.99992702e-01 8.76449216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:133.80, Y:114.77, Z:0.88 [[ 6.11014444e-01 -7.91615844e-01 -2.38846166e-03 1.33799672e+02] [ 7.91610231e-01 6.11019108e-01 -2.98179904e-03 1.14774477e+02] [ 3.81983508e-03 -6.88084017e-05 9.99992702e-01 8.76529994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.82, Y:114.80, Z:0.87 [[ 6.12190907e-01 -7.90706345e-01 -2.40213869e-03 1.33817704e+02] [ 7.90700768e-01 6.12195614e-01 -2.97072006e-03 1.14795807e+02] [ 3.81954597e-03 -8.07251016e-05 9.99992702e-01 8.74557594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.84, Y:114.82, Z:0.88 [[ 6.12306172e-01 -7.90617083e-01 -2.40415177e-03 1.33835157e+02] [ 7.90611512e-01 6.12310886e-01 -2.96909002e-03 1.14815901e+02] [ 3.81950159e-03 -8.27579209e-05 9.99992702e-01 8.76078252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.86, Y:114.84, Z:0.88 [[ 6.12428919e-01 -7.90522063e-01 -2.38488350e-03 1.33856139e+02] [ 7.90516430e-01 6.12433560e-01 -2.98467479e-03 1.14836253e+02] [ 3.82003396e-03 -5.73884402e-05 9.99992702e-01 8.78511662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.88, Y:114.86, Z:0.88 [[ 6.10460518e-01 -7.92043051e-01 -2.40050182e-03 1.33875212e+02] [ 7.92037479e-01 6.10465231e-01 -2.97204636e-03 1.14858225e+02] [ 3.81941157e-03 -8.69704494e-05 9.99992702e-01 8.79624501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.89, Y:114.88, Z:0.88 [[ 6.09881091e-01 -7.92489272e-01 -2.41031336e-03 1.33892566e+02] [ 7.92483735e-01 6.09885845e-01 -2.96411566e-03 1.14878798e+02] [ 3.81904586e-03 -1.02376042e-04 9.99992702e-01 8.81109112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.91, Y:114.90, Z:0.88 [[ 6.10231184e-01 -7.92219723e-01 -2.41102054e-03 1.33910215e+02] [ 7.92214186e-01 6.10235939e-01 -2.96354431e-03 1.14899615e+02] [ 3.81906964e-03 -1.01597526e-04 9.99992702e-01 8.81166265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.93, Y:114.92, Z:0.88 [[ 6.10133679e-01 -7.92294843e-01 -2.40309413e-03 1.33927821e+02] [ 7.92289282e-01 6.10138405e-01 -2.96994180e-03 1.14919420e+02] [ 3.81928959e-03 -9.18842032e-05 9.99992702e-01 8.81592977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:133.95, Y:114.94, Z:0.88 [[ 6.09256661e-01 -7.92969461e-01 -2.39885831e-03 1.33946456e+02] [ 7.92963892e-01 6.09261377e-01 -2.97335919e-03 1.14942312e+02] [ 3.81931475e-03 -9.06691276e-05 9.99992702e-01 8.81732292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.96, Y:114.96, Z:0.88 [[ 6.09956672e-01 -7.92431111e-01 -2.40678732e-03 1.33964191e+02] [ 7.92425563e-01 6.09961413e-01 -2.96696344e-03 1.14961894e+02] [ 3.81916153e-03 -9.74806447e-05 9.99992702e-01 8.80740152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.98, Y:114.98, Z:0.88 [[ 6.09482531e-01 -7.92795873e-01 -2.39760871e-03 1.33981367e+02] [ 7.92790298e-01 6.09487240e-01 -2.97436224e-03 1.14982436e+02] [ 3.81937403e-03 -8.79790986e-05 9.99992702e-01 8.80125299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.00, Y:115.00, Z:0.88 [[ 6.08981832e-01 -7.93180550e-01 -2.39666523e-03 1.33999493e+02] [ 7.93174975e-01 6.08986541e-01 -2.97512228e-03 1.15004009e+02] [ 3.81934600e-03 -8.91794643e-05 9.99992702e-01 8.80023354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.02, Y:115.03, Z:0.88 [[ 6.08496350e-01 -7.93553056e-01 -2.39576913e-03 1.34017090e+02] [ 7.93547481e-01 6.08501059e-01 -2.97584371e-03 1.15025319e+02] [ 3.81931792e-03 -9.03665204e-05 9.99992702e-01 8.79941050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.922755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:134.04, Y:115.05, Z:0.88 [[ 6.07820918e-01 -7.94070523e-01 -2.39483304e-03 1.34035605e+02] [ 7.94064950e-01 6.07825629e-01 -2.97659684e-03 1.15047104e+02] [ 3.81926871e-03 -9.24151529e-05 9.99992702e-01 8.78337407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.952755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:134.06, Y:115.07, Z:0.88 [[ 6.10108692e-01 -7.92314113e-01 -2.39395818e-03 1.34060619e+02] [ 7.92308523e-01 6.10113383e-01 -2.97730029e-03 1.15070408e+02] [ 3.81954296e-03 -8.02766903e-05 9.99992702e-01 8.76272520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.982755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:134.07, Y:115.09, Z:0.88 [[ 6.07316067e-01 -7.94456553e-01 -2.44542941e-03 1.34070795e+02] [ 7.94451145e-01 6.07320969e-01 -2.93589484e-03 1.15090261e+02] [ 3.81760146e-03 -1.59758084e-04 9.99992700e-01 8.77887208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.09, Y:115.11, Z:0.88 [[ 6.07821353e-01 -7.94070199e-01 -2.39196058e-03 1.34088900e+02] [ 7.94064617e-01 6.07826053e-01 -2.97882961e-03 1.15112109e+02] [ 3.81929578e-03 -8.87750180e-05 9.99992703e-01 8.78707522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.042755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:134.11, Y:115.13, Z:0.88 [[ 6.07925221e-01 -7.93990685e-01 -2.39104847e-03 1.34106874e+02] [ 7.93985099e-01 6.07929917e-01 -2.97956157e-03 1.15134062e+02] [ 3.81933403e-03 -8.71062292e-05 9.99992703e-01 8.77572714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.12, Y:115.16, Z:0.88 [[ 6.09349441e-01 -7.92898194e-01 -2.39010243e-03 1.34123798e+02] [ 7.92892597e-01 6.09354123e-01 -2.98032026e-03 1.15156330e+02] [ 3.81950932e-03 -7.90380390e-05 9.99992703e-01 8.79188034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.14, Y:115.18, Z:0.88 [[ 6.12126182e-01 -7.90756492e-01 -2.38916147e-03 1.34140536e+02] [ 7.90750875e-01 6.12130841e-01 -2.98107438e-03 1.15177528e+02] [ 3.81978334e-03 -6.44378476e-05 9.99992703e-01 8.78656761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.16, Y:115.20, Z:0.88 [[ 6.13533952e-01 -7.89664730e-01 -2.38831719e-03 1.34158370e+02] [ 7.89659103e-01 6.13538597e-01 -2.98175063e-03 1.15199622e+02] [ 3.81990808e-03 -5.65511674e-05 9.99992703e-01 8.78719148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.18, Y:115.22, Z:0.88 [[ 6.16086281e-01 -7.87675056e-01 -2.38739176e-03 1.34175381e+02] [ 7.87669411e-01 6.16090905e-01 -2.98249141e-03 1.15221017e+02] [ 3.82008444e-03 -4.30034221e-05 9.99992703e-01 8.79222223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.20, Y:115.25, Z:0.88 [[ 6.19046948e-01 -7.85350355e-01 -2.38676281e-03 1.34199562e+02] [ 7.85344690e-01 6.19051549e-01 -2.98299465e-03 1.15245137e+02] [ 3.82022512e-03 -2.78177655e-05 9.99992703e-01 8.78977144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.21, Y:115.26, Z:0.88 [[ 6.18297668e-01 -7.85940248e-01 -2.43312954e-03 1.34209183e+02] [ 7.85934732e-01 6.18302449e-01 -2.94587955e-03 1.15264932e+02] [ 3.81969526e-03 -9.08505579e-05 9.99992701e-01 8.80373018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.23, Y:115.29, Z:0.88 [[ 6.19054829e-01 -7.85344147e-01 -2.38525565e-03 1.34226332e+02] [ 7.85338478e-01 6.19059424e-01 -2.98414561e-03 1.15287132e+02] [ 3.82019628e-03 -2.58832956e-05 9.99992703e-01 8.80424632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:115.31, Z:0.88 [[ 6.20038917e-01 -7.84567433e-01 -2.38434855e-03 1.34242309e+02] [ 7.84561755e-01 6.20043501e-01 -2.98487022e-03 1.15309104e+02] [ 3.82023178e-03 -1.99329819e-05 9.99992703e-01 8.80446645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.26, Y:115.33, Z:0.88 [[ 6.20148371e-01 -7.84480922e-01 -2.38353332e-03 1.34259867e+02] [ 7.84475241e-01 6.20152951e-01 -2.98552106e-03 1.15331623e+02] [ 3.82023954e-03 -1.83568517e-05 9.99992703e-01 8.80675430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.28, Y:115.35, Z:0.88 [[ 6.20196426e-01 -7.84442934e-01 -2.38264604e-03 1.34277026e+02] [ 7.84437250e-01 6.20201002e-01 -2.98622900e-03 1.15353379e+02] [ 3.82024570e-03 -1.69877517e-05 9.99992703e-01 8.80767637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.29, Y:115.37, Z:0.88 [[ 6.19781147e-01 -7.84771086e-01 -2.38175809e-03 1.34294014e+02] [ 7.84765402e-01 6.19785723e-01 -2.98693705e-03 1.15374580e+02] [ 3.82024149e-03 -1.78740740e-05 9.99992703e-01 8.81173823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.32, Y:115.40, Z:0.88 [[ 6.20169695e-01 -7.84464073e-01 -2.38082212e-03 1.34316806e+02] [ 7.84458383e-01 6.20174265e-01 -2.98768290e-03 1.15398009e+02] [ 3.82025451e-03 -1.47854759e-05 9.99992703e-01 8.81549890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.33, Y:115.42, Z:0.88 [[ 6.18251848e-01 -7.85976340e-01 -2.41788234e-03 1.34330367e+02] [ 7.85970776e-01 6.18256572e-01 -2.95813975e-03 1.15419553e+02] [ 3.81989950e-03 -7.15094903e-05 9.99992702e-01 8.81116452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.35, Y:115.44, Z:0.88 [[ 6.16435093e-01 -7.87402098e-01 -2.39018620e-03 1.34346394e+02] [ 7.87396459e-01 6.16439725e-01 -2.98017103e-03 1.15441658e+02] [ 3.81999865e-03 -4.49421452e-05 9.99992703e-01 8.81410297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.36, Y:115.47, Z:0.88 [[ 6.14412151e-01 -7.88981659e-01 -2.37706435e-03 1.34364776e+02] [ 7.88975992e-01 6.14416748e-01 -2.99060087e-03 1.15465207e+02] [ 3.82003738e-03 -3.79851858e-05 9.99992703e-01 8.82309319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:134.38, Y:115.49, Z:0.88 [[ 6.14103195e-01 -7.89222127e-01 -2.38753807e-03 1.34382409e+02] [ 7.89216494e-01 6.14107834e-01 -2.98228008e-03 1.15487724e+02] [ 3.81988726e-03 -5.28566943e-05 9.99992703e-01 8.82422501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.40, Y:115.51, Z:0.88 [[ 6.12229321e-01 -7.90676651e-01 -2.38569985e-03 1.34398108e+02] [ 7.90671024e-01 6.12233966e-01 -2.98373894e-03 1.15509383e+02] [ 3.81977920e-03 -5.95712833e-05 9.99992703e-01 8.81666590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.41, Y:115.53, Z:0.88 [[ 6.08414193e-01 -7.93616114e-01 -2.37363236e-03 1.34412707e+02] [ 7.93610471e-01 6.08418820e-01 -2.99330677e-03 1.15529669e+02] [ 3.81969908e-03 -6.25691686e-05 9.99992703e-01 8.80916915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.43, Y:115.55, Z:0.88 [[ 6.06184692e-01 -7.95320423e-01 -2.35448148e-03 1.34429173e+02] [ 7.95314735e-01 6.06189262e-01 -3.00847529e-03 1.15551208e+02] [ 3.81996324e-03 -4.88621454e-05 9.99992703e-01 8.80354965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.45, Y:115.57, Z:0.88 [[ 6.05369655e-01 -7.95941014e-01 -2.34136076e-03 1.34451476e+02] [ 7.95935290e-01 6.05374182e-01 -3.01886047e-03 1.15573052e+02] [ 3.82023422e-03 -3.60451380e-05 9.99992702e-01 8.81178034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.47, Y:115.60, Z:0.88 [[ 6.05117566e-01 -7.96132595e-01 -2.37133408e-03 1.34469107e+02] [ 7.96126964e-01 6.05122208e-01 -2.99512969e-03 1.15595542e+02] [ 3.81946729e-03 -7.54774159e-05 9.99992703e-01 8.81298500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.48, Y:115.62, Z:0.88 [[ 5.98900722e-01 -8.00819772e-01 -2.37038533e-03 1.34478878e+02] [ 8.00814175e-01 5.98905403e-01 -2.99588036e-03 1.15617963e+02] [ 3.81879681e-03 -1.04003265e-04 9.99992703e-01 8.78877717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.50, Y:115.64, Z:0.88 [[ 6.01785523e-01 -7.98654337e-01 -2.33104207e-03 1.34503025e+02] [ 7.98648602e-01 6.01790037e-01 -3.02697237e-03 1.15639787e+02] [ 3.82030250e-03 -4.00953318e-05 9.99992702e-01 8.81396156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.52, Y:115.66, Z:0.88 [[ 6.01199745e-01 -7.99095271e-01 -2.36948371e-03 1.34519897e+02] [ 7.99089658e-01 6.01204407e-01 -2.99657540e-03 1.15662269e+02] [ 3.81909328e-03 -9.18895632e-05 9.99992703e-01 8.81439121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.53, Y:115.68, Z:0.88 [[ 5.98659944e-01 -8.00999789e-01 -2.36855255e-03 1.34527219e+02] [ 8.00994187e-01 5.98664621e-01 -2.99731122e-03 1.15683648e+02] [ 3.81881427e-03 -1.02826658e-04 9.99992703e-01 8.79628070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.55, Y:115.71, Z:0.88 [[ 6.00026558e-01 -7.99976734e-01 -2.31406583e-03 1.34545633e+02] [ 7.99970957e-01 6.00031020e-01 -3.04030886e-03 1.15706238e+02] [ 3.82068763e-03 -2.69193952e-05 9.99992701e-01 8.81234693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.57, Y:115.73, Z:0.88 [[ 6.00097679e-01 -7.99923370e-01 -2.31900579e-03 1.34565562e+02] [ 7.99917608e-01 6.00102159e-01 -3.03641020e-03 1.15730386e+02] [ 3.82053587e-03 -3.28708518e-05 9.99992701e-01 8.82140117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.59, Y:115.75, Z:0.88 [[ 6.02884190e-01 -7.97825250e-01 -2.35058143e-03 1.34585593e+02] [ 7.97819568e-01 6.02888769e-01 -3.01147756e-03 1.15752122e+02] [ 3.81977198e-03 -5.97676528e-05 9.99992703e-01 8.82200353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.60, Y:115.77, Z:0.88 [[ 6.04780594e-01 -7.96388616e-01 -2.36743876e-03 1.34603565e+02] [ 7.96382976e-01 6.04785224e-01 -2.99816653e-03 1.15774172e+02] [ 3.81949768e-03 -7.21549933e-05 9.99992703e-01 8.79593906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.62, Y:115.80, Z:0.88 [[ 6.03519064e-01 -7.97345061e-01 -2.36509995e-03 1.34620137e+02] [ 7.97339420e-01 6.03523694e-01 -3.00001244e-03 1.15797381e+02] [ 3.81943895e-03 -7.52227227e-05 9.99992703e-01 8.82423887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.64, Y:115.82, Z:0.88 [[ 6.04022187e-01 -7.96963988e-01 -2.36628240e-03 1.34637085e+02] [ 7.96958349e-01 6.04026817e-01 -2.99907947e-03 1.15819099e+02] [ 3.81945637e-03 -7.43179752e-05 9.99992703e-01 8.82784877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.65, Y:115.84, Z:0.88 [[ 6.03828613e-01 -7.97110665e-01 -2.36532563e-03 1.34653839e+02] [ 7.97105023e-01 6.03833241e-01 -2.99983388e-03 1.15841031e+02] [ 3.81946181e-03 -7.40274112e-05 9.99992703e-01 8.83322980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.67, Y:115.86, Z:0.88 [[ 6.03707821e-01 -7.97202155e-01 -2.36440659e-03 1.34670644e+02] [ 7.97196512e-01 6.03712447e-01 -3.00055807e-03 1.15863107e+02] [ 3.81947305e-03 -7.34363175e-05 9.99992703e-01 8.83832208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.69, Y:115.89, Z:0.88 [[ 6.03315716e-01 -7.97498941e-01 -2.36348783e-03 1.34687583e+02] [ 7.97493297e-01 6.03320341e-01 -3.00128158e-03 1.15885841e+02] [ 3.81945917e-03 -7.41453543e-05 9.99992703e-01 8.84493453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.71, Y:115.91, Z:0.88 [[ 6.02928102e-01 -7.97792030e-01 -2.36253883e-03 1.34705256e+02] [ 7.97786385e-01 6.02932726e-01 -3.00202843e-03 1.15908238e+02] [ 3.81944633e-03 -7.47940107e-05 9.99992703e-01 8.84438196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.72, Y:115.93, Z:0.88 [[ 6.02253497e-01 -7.98301414e-01 -2.36158356e-03 1.34722495e+02] [ 7.98295771e-01 6.02258122e-01 -3.00277972e-03 1.15928785e+02] [ 3.81940618e-03 -7.68075839e-05 9.99992703e-01 8.84177597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.74, Y:115.95, Z:0.88 [[ 6.01814389e-01 -7.98632499e-01 -2.36072901e-03 1.34740371e+02] [ 7.98626855e-01 6.01819015e-01 -3.00345140e-03 1.15950979e+02] [ 3.81938550e-03 -7.78213095e-05 9.99992703e-01 8.84493004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.76, Y:115.97, Z:0.88 [[ 6.01073575e-01 -7.99190208e-01 -2.35979546e-03 1.34757256e+02] [ 7.99184565e-01 6.01078202e-01 -3.00418471e-03 1.15972317e+02] [ 3.81933661e-03 -8.01760659e-05 9.99992703e-01 8.84169014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.77, Y:116.00, Z:0.88 [[ 6.01896548e-01 -7.98570586e-01 -2.35895639e-03 1.34770635e+02] [ 7.98564936e-01 6.01901166e-01 -3.00484341e-03 1.15996222e+02] [ 3.81943817e-03 -7.51749848e-05 9.99992703e-01 8.84825179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.79, Y:116.02, Z:0.88 [[ 6.02592480e-01 -7.98045577e-01 -2.35800731e-03 1.34789671e+02] [ 7.98039920e-01 6.02597090e-01 -3.00558801e-03 1.16019973e+02] [ 3.81952456e-03 -7.06392278e-05 9.99992703e-01 8.84851193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.80, Y:116.04, Z:0.89 [[ 6.02138254e-01 -7.98388306e-01 -2.37401625e-03 1.34803507e+02] [ 7.98382701e-01 6.02142926e-01 -2.99303182e-03 1.16041661e+02] [ 3.81909870e-03 -9.31545519e-05 9.99992703e-01 8.85017744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.82, Y:116.06, Z:0.89 [[ 6.03062766e-01 -7.97690258e-01 -2.35658144e-03 1.34821034e+02] [ 7.97684594e-01 6.03067367e-01 -3.00669683e-03 1.16064805e+02] [ 3.81959013e-03 -6.65818061e-05 9.99992703e-01 8.85158193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:134.84, Y:116.08, Z:0.88 [[ 6.01575048e-01 -7.98812789e-01 -2.36441588e-03 1.34837478e+02] [ 7.98807158e-01 6.01579688e-01 -3.00055545e-03 1.16084206e+02] [ 3.81926663e-03 -8.36530389e-05 9.99992703e-01 8.82433019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.85, Y:116.11, Z:0.88 [[ 6.00052806e-01 -7.99956974e-01 -2.33887066e-03 1.34854946e+02] [ 7.99951273e-01 6.00057362e-01 -3.02055059e-03 1.16107720e+02] [ 3.81976707e-03 -5.84927022e-05 9.99992703e-01 8.83362083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.87, Y:116.13, Z:0.88 [[ 5.99067182e-01 -8.00695303e-01 -2.35429704e-03 1.34870703e+02] [ 8.00689655e-01 5.99071803e-01 -3.00847862e-03 1.16130051e+02] [ 3.81926767e-03 -8.27804784e-05 9.99992703e-01 8.82016005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.89, Y:116.15, Z:0.88 [[ 5.98427233e-01 -8.01173706e-01 -2.35345626e-03 1.34886820e+02] [ 8.01168060e-01 5.98431855e-01 -3.00913620e-03 1.16153262e+02] [ 3.81922399e-03 -8.47649361e-05 9.99992703e-01 8.82002548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.90, Y:116.18, Z:0.88 [[ 5.97872438e-01 -8.01587808e-01 -2.35252722e-03 1.34902068e+02] [ 8.01582162e-01 5.97877060e-01 -3.00986234e-03 1.16175648e+02] [ 3.81919101e-03 -8.62301186e-05 9.99992703e-01 8.81365246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.92, Y:116.20, Z:0.88 [[ 5.98869405e-01 -8.00843246e-01 -2.35169083e-03 1.34918497e+02] [ 8.00837592e-01 5.98874017e-01 -3.01051569e-03 1.16196501e+02] [ 3.81931769e-03 -8.04166795e-05 9.99992703e-01 8.82571052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.94, Y:116.22, Z:0.88 [[ 5.98281641e-01 -8.01282484e-01 -2.33647266e-03 1.34936871e+02] [ 8.01276786e-01 5.98286200e-01 -3.02239667e-03 1.16220003e+02] [ 3.81967286e-03 -6.39168687e-05 9.99992703e-01 8.82347585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.95, Y:116.24, Z:0.88 [[ 5.98928677e-01 -8.00798934e-01 -2.34659058e-03 1.34954626e+02] [ 8.00793264e-01 5.98933269e-01 -3.01450014e-03 1.16241779e+02] [ 3.81945967e-03 -7.36633460e-05 9.99992703e-01 8.81367268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.97, Y:116.26, Z:0.88 [[ 5.99109745e-01 -8.00663470e-01 -2.34973847e-03 1.34970817e+02] [ 8.00657808e-01 5.99114348e-01 -3.01204443e-03 1.16263180e+02] [ 3.81939598e-03 -7.67912860e-05 9.99992703e-01 8.81452098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.99, Y:116.29, Z:0.88 [[ 5.99935006e-01 -8.00045294e-01 -2.34881947e-03 1.34986838e+02] [ 8.00039624e-01 5.99939600e-01 -3.01276090e-03 1.16285656e+02] [ 3.81949499e-03 -7.16879189e-05 9.99992703e-01 8.82221230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.632755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.00, Y:116.31, Z:0.88 [[ 5.99680544e-01 -8.00236048e-01 -2.34791417e-03 1.35003403e+02] [ 8.00230377e-01 5.99685136e-01 -3.01346626e-03 1.16308919e+02] [ 3.81949356e-03 -7.17551551e-05 9.99992703e-01 8.82868103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.02, Y:116.33, Z:0.88 [[ 6.00096047e-01 -7.99924512e-01 -2.34725512e-03 1.35020239e+02] [ 7.99918837e-01 6.00100634e-01 -3.01397938e-03 1.16331058e+02] [ 3.81954527e-03 -6.89364737e-05 9.99992703e-01 8.84923068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.04, Y:116.35, Z:0.89 [[ 6.00713772e-01 -7.99460749e-01 -2.33990825e-03 1.35037661e+02] [ 7.99455048e-01 6.00718326e-01 -3.01969698e-03 1.16352048e+02] [ 3.81975497e-03 -5.66778981e-05 9.99992703e-01 8.86130557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.06, Y:116.38, Z:0.89 [[ 5.99357889e-01 -8.00477773e-01 -2.33583200e-03 1.35056660e+02] [ 8.00472067e-01 5.99362438e-01 -3.02286875e-03 1.16376700e+02] [ 3.81974920e-03 -5.79880389e-05 9.99992703e-01 8.87886505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.07, Y:116.40, Z:0.89 [[ 5.99551632e-01 -8.00332607e-01 -2.35770602e-03 1.35073224e+02] [ 8.00326967e-01 5.99556262e-01 -3.00584109e-03 1.16397303e+02] [ 3.81925004e-03 -8.47787760e-05 9.99992703e-01 8.88485051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.09, Y:116.42, Z:0.89 [[ 5.98149574e-01 -8.01381046e-01 -2.34678459e-03 1.35091450e+02] [ 8.01375380e-01 5.98154172e-01 -3.01433406e-03 1.16420418e+02] [ 3.81936918e-03 -7.76327563e-05 9.99992703e-01 8.89365944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.11, Y:116.44, Z:0.89 [[ 5.98279860e-01 -8.01283758e-01 -2.35547965e-03 1.35109263e+02] [ 8.01278119e-01 5.98284490e-01 -3.00757725e-03 1.16442441e+02] [ 3.81916974e-03 -8.80214086e-05 9.99992703e-01 8.88353237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.13, Y:116.46, Z:0.89 [[ 5.97143849e-01 -8.02130728e-01 -2.34916431e-03 1.35125754e+02] [ 8.02125076e-01 5.97148464e-01 -3.01247786e-03 1.16464978e+02] [ 3.81920091e-03 -8.54409746e-05 9.99992703e-01 8.89943126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.14, Y:116.49, Z:0.89 [[ 5.96595640e-01 -8.02538546e-01 -2.35058009e-03 1.35142623e+02] [ 8.02532901e-01 5.96600264e-01 -3.01137935e-03 1.16485870e+02] [ 3.81910470e-03 -8.98420650e-05 9.99992703e-01 8.90006556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.16, Y:116.51, Z:0.89 [[ 5.95942783e-01 -8.03023486e-01 -2.34090259e-03 1.35159553e+02] [ 8.03017816e-01 5.95947375e-01 -3.01888348e-03 1.16507433e+02] [ 3.81928909e-03 -8.07046598e-05 9.99992703e-01 8.90214039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.18, Y:116.53, Z:0.89 [[ 5.95130546e-01 -8.03625628e-01 -2.34187636e-03 1.35176470e+02] [ 8.03619965e-01 5.95135147e-01 -3.01812857e-03 1.16529076e+02] [ 3.81917840e-03 -8.57980900e-05 9.99992703e-01 8.90314653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.19, Y:116.55, Z:0.89 [[ 5.93126457e-01 -8.05105913e-01 -2.33967117e-03 1.35194427e+02] [ 8.05100255e-01 5.93131065e-01 -3.01983708e-03 1.16551575e+02] [ 3.81902034e-03 -9.25245846e-05 9.99992703e-01 8.89852763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.21, Y:116.57, Z:0.89 [[ 5.92835646e-01 -8.05320054e-01 -2.34673218e-03 1.35212168e+02] [ 8.05314419e-01 5.92840282e-01 -3.01436839e-03 1.16573350e+02] [ 3.81876869e-03 -1.02832230e-04 9.99992703e-01 8.91374887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.23, Y:116.59, Z:0.89 [[ 5.91418933e-01 -8.06361053e-01 -2.34477014e-03 1.35228689e+02] [ 8.06355420e-01 5.91423572e-01 -3.01588703e-03 1.16594444e+02] [ 3.81864617e-03 -1.07065421e-04 9.99992703e-01 8.91177674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.25, Y:116.62, Z:0.89 [[ 5.90429153e-01 -8.07086088e-01 -2.33701398e-03 1.35245686e+02] [ 8.07080437e-01 5.90433769e-01 -3.02188536e-03 1.16616498e+02] [ 3.81877360e-03 -1.01949052e-04 9.99992703e-01 8.91399852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.26, Y:116.64, Z:0.89 [[ 5.89816406e-01 -8.07533993e-01 -2.33606742e-03 1.35262301e+02] [ 8.07528343e-01 5.89821023e-01 -3.02261691e-03 1.16637737e+02] [ 3.81872758e-03 -1.03651610e-04 9.99992703e-01 8.91518185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.28, Y:116.66, Z:0.89 [[ 5.87923525e-01 -8.08913145e-01 -2.33521631e-03 1.35278690e+02] [ 8.08907503e-01 5.87928152e-01 -3.02327433e-03 1.16658915e+02] [ 3.81850575e-03 -1.11519895e-04 9.99992703e-01 8.91308672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.30, Y:116.68, Z:0.89 [[ 5.87077752e-01 -8.09527186e-01 -2.33438257e-03 1.35295419e+02] [ 8.09521546e-01 5.87082381e-01 -3.02391795e-03 1.16680865e+02] [ 3.81841866e-03 -1.14458035e-04 9.99992703e-01 8.90870517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.31, Y:116.70, Z:0.89 [[ 5.86066692e-01 -8.10259457e-01 -2.33343846e-03 1.35311869e+02] [ 8.10253820e-01 5.86071325e-01 -3.02464630e-03 1.16702699e+02] [ 3.81830964e-03 -1.18032972e-04 9.99992703e-01 8.91009637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.33, Y:116.73, Z:0.89 [[ 5.84579665e-01 -8.11332961e-01 -2.33259393e-03 1.35328735e+02] [ 8.11327330e-01 5.84584306e-01 -3.02529746e-03 1.16725068e+02] [ 3.81812135e-03 -1.23969827e-04 9.99992703e-01 8.90604969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:135.35, Y:116.75, Z:0.89 [[ 5.84073215e-01 -8.11697630e-01 -2.33167005e-03 1.35346107e+02] [ 8.11691999e-01 5.84077856e-01 -3.02600935e-03 1.16747634e+02] [ 3.81808146e-03 -1.25186914e-04 9.99992703e-01 8.89906190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.36, Y:116.77, Z:0.89 [[ 5.83815561e-01 -8.11882971e-01 -2.33075119e-03 1.35362741e+02] [ 8.11877339e-01 5.83820200e-01 -3.02671693e-03 1.16769470e+02] [ 3.81807956e-03 -1.25239628e-04 9.99992703e-01 8.89366514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.38, Y:116.79, Z:0.89 [[ 5.83812073e-01 -8.11885482e-01 -2.32978203e-03 1.35378863e+02] [ 8.11879846e-01 5.83816709e-01 -3.02746275e-03 1.16790699e+02] [ 3.81811873e-03 -1.24033773e-04 9.99992703e-01 8.89609785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.40, Y:116.81, Z:0.89 [[ 5.83950101e-01 -8.11786213e-01 -2.32882934e-03 1.35395726e+02] [ 8.11780574e-01 5.83954732e-01 -3.02819541e-03 1.16813589e+02] [ 3.81817820e-03 -1.22183405e-04 9.99992703e-01 8.89138119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.41, Y:116.84, Z:0.89 [[ 5.85443593e-01 -8.10709800e-01 -2.32788081e-03 1.35411264e+02] [ 8.10704150e-01 5.85448210e-01 -3.02892440e-03 1.16835541e+02] [ 3.81843235e-03 -1.13958252e-04 9.99992703e-01 8.89763930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.43, Y:116.86, Z:0.89 [[ 5.86105580e-01 -8.10231346e-01 -2.32723865e-03 1.35428050e+02] [ 8.10225690e-01 5.86110190e-01 -3.02941772e-03 1.16858665e+02] [ 3.81854748e-03 -1.10029916e-04 9.99992703e-01 8.90029860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:135.45, Y:116.88, Z:0.89 [[ 5.85859581e-01 -8.10409242e-01 -2.32631717e-03 1.35445311e+02] [ 8.10403585e-01 5.85864189e-01 -3.03012516e-03 1.16881430e+02] [ 3.81854736e-03 -1.10027920e-04 9.99992703e-01 8.90138668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.46, Y:116.90, Z:0.89 [[ 5.86693783e-01 -8.09805530e-01 -2.32539706e-03 1.35461502e+02] [ 8.09799866e-01 5.86698382e-01 -3.03083112e-03 1.16904023e+02] [ 3.81869049e-03 -1.04936454e-04 9.99992703e-01 8.90018971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.48, Y:116.93, Z:0.89 [[ 5.89050641e-01 -8.08092779e-01 -2.32444990e-03 1.35476770e+02] [ 8.08087098e-01 5.89055219e-01 -3.03155735e-03 1.16926472e+02] [ 3.81900895e-03 -9.26171769e-05 9.99992703e-01 8.90335423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.49, Y:116.95, Z:0.89 [[ 5.90027207e-01 -8.07380019e-01 -2.32380632e-03 1.35493597e+02] [ 8.07374330e-01 5.90031777e-01 -3.03205060e-03 1.16949343e+02] [ 3.81913664e-03 -8.71892280e-05 9.99992703e-01 8.90374833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.51, Y:116.97, Z:0.89 [[ 5.91611242e-01 -8.06220033e-01 -2.32286782e-03 1.35509969e+02] [ 8.06214333e-01 5.91615797e-01 -3.03276942e-03 1.16972120e+02] [ 3.81932476e-03 -7.85088419e-05 9.99992703e-01 8.90763724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.53, Y:116.99, Z:0.89 [[ 5.92095059e-01 -8.05864783e-01 -2.32193486e-03 1.35526341e+02] [ 8.05859078e-01 5.92099607e-01 -3.03348355e-03 1.16994423e+02] [ 3.81939428e-03 -7.50416613e-05 9.99992703e-01 8.91104501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.54, Y:117.02, Z:0.89 [[ 5.92205241e-01 -8.05783820e-01 -2.32100737e-03 1.35542241e+02] [ 8.05778111e-01 5.92209785e-01 -3.03419302e-03 1.17016028e+02] [ 3.81942692e-03 -7.33519263e-05 9.99992703e-01 8.91270593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.56, Y:117.04, Z:0.89 [[ 5.92089608e-01 -8.05868794e-01 -2.32002932e-03 1.35558236e+02] [ 8.05863082e-01 5.92094149e-01 -3.03494068e-03 1.17037315e+02] [ 3.81943978e-03 -7.26691388e-05 9.99992703e-01 8.90640965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.57, Y:117.06, Z:0.89 [[ 5.91775328e-01 -8.06099611e-01 -2.31905806e-03 1.35574913e+02] [ 8.06093898e-01 5.91779868e-01 -3.03568266e-03 1.17059337e+02] [ 3.81943449e-03 -7.29364512e-05 9.99992703e-01 8.90197343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.59, Y:117.08, Z:0.89 [[ 5.91368049e-01 -8.06398448e-01 -2.31815646e-03 1.35591436e+02] [ 8.06392735e-01 5.91372588e-01 -3.03637100e-03 1.17081404e+02] [ 3.81941905e-03 -7.37317339e-05 9.99992703e-01 8.89606486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.61, Y:117.10, Z:0.89 [[ 5.90932858e-01 -8.06717415e-01 -2.31729174e-03 1.35607865e+02] [ 8.06711702e-01 5.90937397e-01 -3.03703079e-03 1.17103401e+02] [ 3.81939998e-03 -7.47050751e-05 9.99992703e-01 8.89509702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:117.13, Z:0.89 [[ 5.89124259e-01 -8.08039133e-01 -2.31643297e-03 1.35625753e+02] [ 8.08033428e-01 5.89128808e-01 -3.03768566e-03 1.17127225e+02] [ 3.81924628e-03 -8.21809621e-05 9.99992703e-01 8.89103395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.64, Y:117.15, Z:0.89 [[ 5.88978465e-01 -8.08145379e-01 -2.32685348e-03 1.35641793e+02] [ 8.08139705e-01 5.88983054e-01 -3.02973986e-03 1.17147936e+02] [ 3.81894754e-03 -9.59711506e-05 9.99992703e-01 8.88355729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:117.17, Z:0.89 [[ 5.87126105e-01 -8.09492172e-01 -2.31528197e-03 1.35658252e+02] [ 8.09486474e-01 5.87130663e-01 -3.03855698e-03 1.17169589e+02] [ 3.81906113e-03 -9.01733167e-05 9.99992703e-01 8.86591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.68, Y:117.19, Z:0.89 [[ 5.85934474e-01 -8.10355129e-01 -2.31460783e-03 1.35675318e+02] [ 8.10349436e-01 5.85939038e-01 -3.03907041e-03 1.17192061e+02] [ 3.81894538e-03 -9.49450255e-05 9.99992703e-01 8.85863105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.69, Y:117.21, Z:0.88 [[ 5.82274874e-01 -8.12988695e-01 -2.31367728e-03 1.35688427e+02] [ 8.12983020e-01 5.82279460e-01 -3.03977869e-03 1.17214800e+02] [ 3.81851247e-03 -1.10993596e-04 9.99992703e-01 8.81064622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:117.24, Z:0.88 [[ 5.82562497e-01 -8.12782688e-01 -2.28881234e-03 1.35707779e+02] [ 8.12776937e-01 5.82566988e-01 -3.05870327e-03 1.17237953e+02] [ 3.81944758e-03 -7.84080718e-05 9.99992703e-01 8.81138502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.73, Y:117.26, Z:0.88 [[ 5.81220713e-01 -8.13742708e-01 -2.29974397e-03 1.35726832e+02] [ 8.13736996e-01 5.81225254e-01 -3.05039286e-03 1.17260936e+02] [ 3.81890422e-03 -9.84352433e-05 9.99992703e-01 8.83511455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.74, Y:117.28, Z:0.88 [[ 5.80416542e-01 -8.14316416e-01 -2.32633733e-03 1.35743240e+02] [ 8.14310790e-01 5.80421188e-01 -3.03016227e-03 1.17282948e+02] [ 3.81776635e-03 -1.35605281e-04 9.99992703e-01 8.83881308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.76, Y:117.31, Z:0.88 [[ 5.79291110e-01 -8.15117433e-01 -2.31928716e-03 1.35760454e+02] [ 8.15111792e-01 5.79295738e-01 -3.03551929e-03 1.17306430e+02] [ 3.81785786e-03 -1.32028975e-04 9.99992703e-01 8.83775539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.78, Y:117.33, Z:0.88 [[ 5.79323458e-01 -8.15094429e-01 -2.32437882e-03 1.35776478e+02] [ 8.15088803e-01 5.79328104e-01 -3.03165264e-03 1.17327891e+02] [ 3.81766115e-03 -1.38267657e-04 9.99992703e-01 8.83752085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.79, Y:117.35, Z:0.88 [[ 5.79083675e-01 -8.15264825e-01 -2.31570602e-03 1.35792997e+02] [ 8.15259174e-01 5.79088291e-01 -3.03823439e-03 1.17350220e+02] [ 3.81796387e-03 -1.28508642e-04 9.99992703e-01 8.83991939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.81, Y:117.37, Z:0.88 [[ 5.78023430e-01 -8.16016903e-01 -2.30835422e-03 1.35808401e+02] [ 8.16011235e-01 5.78028026e-01 -3.04380983e-03 1.17372279e+02] [ 3.81809370e-03 -1.24249577e-04 9.99992703e-01 8.84556634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.82, Y:117.39, Z:0.89 [[ 5.78168325e-01 -8.15914251e-01 -2.30730492e-03 1.35824989e+02] [ 8.15908579e-01 5.78172916e-01 -3.04460502e-03 1.17394635e+02] [ 3.81815784e-03 -1.22255693e-04 9.99992703e-01 8.85552586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.84, Y:117.42, Z:0.89 [[ 5.78350871e-01 -8.15784869e-01 -2.30620738e-03 1.35841800e+02] [ 8.15779193e-01 5.78355456e-01 -3.04543615e-03 1.17418288e+02] [ 3.81822835e-03 -1.20025352e-04 9.99992703e-01 8.85984702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.86, Y:117.44, Z:0.89 [[ 5.78976149e-01 -8.15341187e-01 -2.31688887e-03 1.35857953e+02] [ 8.15335540e-01 5.78980770e-01 -3.03735166e-03 1.17439770e+02] [ 3.81791201e-03 -1.30487677e-04 9.99992703e-01 8.86599619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.87, Y:117.46, Z:0.89 [[ 5.80010577e-01 -8.14605686e-01 -2.30392309e-03 1.35874263e+02] [ 8.14599994e-01 5.80015142e-01 -3.04715495e-03 1.17461568e+02] [ 3.81854003e-03 -1.09393636e-04 9.99992703e-01 8.87168923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.89, Y:117.48, Z:0.89 [[ 5.80667610e-01 -8.14137471e-01 -2.30314896e-03 1.35891102e+02] [ 8.14131773e-01 5.80672168e-01 -3.04773996e-03 1.17484526e+02] [ 3.81865380e-03 -1.05342875e-04 9.99992703e-01 8.87333946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.91, Y:117.51, Z:0.89 [[ 5.83220931e-01 -8.12310313e-01 -2.30216750e-03 1.35906137e+02] [ 8.12304598e-01 5.83225468e-01 -3.04848114e-03 1.17506440e+02] [ 3.81899539e-03 -9.21232378e-05 9.99992703e-01 8.87246444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:135.92, Y:117.53, Z:0.89 [[ 5.84019711e-01 -8.11736231e-01 -2.29523096e-03 1.35922946e+02] [ 8.11730491e-01 5.84024215e-01 -3.05371553e-03 1.17530159e+02] [ 3.81928200e-03 -7.96789010e-05 9.99992703e-01 8.85260495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.94, Y:117.55, Z:0.89 [[ 5.88192061e-01 -8.08718003e-01 -2.30027439e-03 1.35938966e+02] [ 8.08712255e-01 5.88196555e-01 -3.04991173e-03 1.17551761e+02] [ 3.81953199e-03 -6.63262233e-05 9.99992703e-01 8.87388991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:135.96, Y:117.58, Z:0.89 [[ 5.89226516e-01 -8.07964638e-01 -2.29273852e-03 1.35955993e+02] [ 8.07958862e-01 5.89230975e-01 -3.05559108e-03 1.17575095e+02] [ 3.81976209e-03 -5.20031186e-05 9.99992703e-01 8.85875491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37275509600002 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:135.97, Y:117.60, Z:0.89 [[ 5.90961993e-01 -8.06696122e-01 -2.29995367e-03 1.35972887e+02] [ 8.06690357e-01 5.90966466e-01 -3.05015489e-03 1.17597591e+02] [ 3.81974361e-03 -5.28248388e-05 9.99992703e-01 8.86387213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:135.99, Y:117.62, Z:0.89 [[ 5.93814087e-01 -8.04598999e-01 -2.29792046e-03 1.35989513e+02] [ 8.04593213e-01 5.93818532e-01 -3.05168589e-03 1.17619920e+02] [ 3.81993117e-03 -3.67571368e-05 9.99992703e-01 8.85669115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.01, Y:117.64, Z:0.89 [[ 5.95977153e-01 -8.02998105e-01 -2.29698419e-03 1.36007319e+02] [ 8.02992304e-01 5.95981579e-01 -3.05239046e-03 1.17641603e+02] [ 3.82002402e-03 -2.53056498e-05 9.99992703e-01 8.85516364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.02, Y:117.67, Z:0.89 [[ 5.96109171e-01 -8.02900087e-01 -2.30351629e-03 1.36023896e+02] [ 8.02894304e-01 5.96113621e-01 -3.04748106e-03 1.17665387e+02] [ 3.81998025e-03 -3.28486958e-05 9.99992703e-01 8.85551891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.04, Y:117.69, Z:0.89 [[ 5.96510824e-01 -8.02601702e-01 -2.31198108e-03 1.36039228e+02] [ 8.02595941e-01 5.96515303e-01 -3.04112106e-03 1.17686653e+02] [ 3.81994103e-03 -4.15250030e-05 9.99992703e-01 8.87851169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.06, Y:117.71, Z:0.89 [[ 5.96990775e-01 -8.02244822e-01 -2.29360969e-03 1.36059629e+02] [ 8.02239005e-01 5.96995181e-01 -3.05491418e-03 1.17710362e+02] [ 3.82006301e-03 -1.62675708e-05 9.99992703e-01 8.86744778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:136.07, Y:117.73, Z:0.89 [[ 5.94881988e-01 -8.03809712e-01 -2.31663329e-03 1.36073853e+02] [ 8.03803974e-01 5.94886496e-01 -3.03763242e-03 1.17731082e+02] [ 3.81981231e-03 -5.50862295e-05 9.99992703e-01 8.86028424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.10, Y:117.75, Z:0.89 [[ 5.94143659e-01 -8.04355681e-01 -2.29149163e-03 1.36095322e+02] [ 8.04349874e-01 5.94148077e-01 -3.05648152e-03 1.17753259e+02] [ 3.81998362e-03 -2.71718930e-05 9.99992703e-01 8.88669038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.11, Y:117.77, Z:0.89 [[ 5.91720063e-01 -8.06140193e-01 -2.31456541e-03 1.36109479e+02] [ 8.06134467e-01 5.91724586e-01 -3.03918771e-03 1.17774075e+02] [ 3.81959663e-03 -6.75026131e-05 9.99992703e-01 8.89442443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.13, Y:117.80, Z:0.89 [[ 5.88731680e-01 -8.08325286e-01 -2.28935474e-03 1.36126819e+02] [ 8.08319503e-01 5.88736129e-01 -3.05806117e-03 1.17795368e+02] [ 3.81973401e-03 -5.01525953e-05 9.99992704e-01 8.89569725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.14, Y:117.82, Z:0.89 [[ 5.87049282e-01 -8.09547963e-01 -2.28847307e-03 1.36143507e+02] [ 8.09542186e-01 5.87053739e-01 -3.05872082e-03 1.17816800e+02] [ 3.81963788e-03 -5.69956328e-05 9.99992704e-01 8.89173803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.16, Y:117.84, Z:0.89 [[ 5.85312677e-01 -8.10804438e-01 -2.28748164e-03 1.36160734e+02] [ 8.10798669e-01 5.85317144e-01 -3.05946208e-03 1.17838498e+02] [ 3.81952765e-03 -6.39451302e-05 9.99992704e-01 8.88856663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.18, Y:117.86, Z:0.89 [[ 5.83880610e-01 -8.11836317e-01 -2.28648975e-03 1.36179074e+02] [ 8.11830552e-01 5.83885082e-01 -3.06020319e-03 1.17861001e+02] [ 3.81943134e-03 -6.94489298e-05 9.99992704e-01 8.87092787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:117.88, Z:0.89 [[ 5.81330476e-01 -8.13664314e-01 -2.29395238e-03 1.36197972e+02] [ 8.13658585e-01 5.81334994e-01 -3.05462961e-03 1.17882277e+02] [ 3.81899790e-03 -9.07447603e-05 9.99992703e-01 8.86891993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.792755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:136.21, Y:117.90, Z:0.89 [[ 5.79873913e-01 -8.14703006e-01 -2.29308686e-03 1.36214524e+02] [ 8.14697282e-01 5.79878439e-01 -3.05527553e-03 1.17903255e+02] [ 3.81885378e-03 -9.64970566e-05 9.99992704e-01 8.86251465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.23, Y:117.92, Z:0.89 [[ 5.78332232e-01 -8.15798145e-01 -2.28370050e-03 1.36233061e+02] [ 8.15792403e-01 5.78336734e-01 -3.06227543e-03 1.17924689e+02] [ 3.81894650e-03 -9.20129329e-05 9.99992704e-01 8.89054508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.25, Y:117.95, Z:0.89 [[ 5.77580976e-01 -8.16330206e-01 -2.28273315e-03 1.36251989e+02] [ 8.16324465e-01 5.77585480e-01 -3.06299636e-03 1.17947522e+02] [ 3.81888997e-03 -9.43224906e-05 9.99992704e-01 8.88103113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.882755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.27, Y:117.97, Z:0.89 [[ 5.76063312e-01 -8.17401852e-01 -2.29646957e-03 1.36267580e+02] [ 8.17396160e-01 5.76067877e-01 -3.05276052e-03 1.17968484e+02] [ 3.81825445e-03 -1.18542075e-04 9.99992703e-01 8.86966722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.912755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:136.29, Y:117.99, Z:0.89 [[ 5.74934237e-01 -8.18196443e-01 -2.28126420e-03 1.36285158e+02] [ 8.18190712e-01 5.74938753e-01 -3.06408119e-03 1.17989608e+02] [ 3.81860753e-03 -1.04864000e-04 9.99992704e-01 8.86351473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:118.01, Z:0.89 [[ 5.75413509e-01 -8.17859458e-01 -2.28038731e-03 1.36301682e+02] [ 8.17853722e-01 5.75418019e-01 -3.06473366e-03 1.18011884e+02] [ 3.81869736e-03 -1.01534102e-04 9.99992704e-01 8.89228242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.32, Y:118.04, Z:0.89 [[ 5.76966812e-01 -8.16764410e-01 -2.27941865e-03 1.36317576e+02] [ 8.16758663e-01 5.76971307e-01 -3.06545394e-03 1.18035030e+02] [ 3.81891284e-03 -9.30697449e-05 9.99992704e-01 8.88048186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:118.06, Z:0.89 [[ 5.78706423e-01 -8.15532780e-01 -2.27184235e-03 1.36333657e+02] [ 8.15527001e-01 5.78710877e-01 -3.07108384e-03 1.18057647e+02] [ 3.81930942e-03 -7.54928411e-05 9.99992704e-01 8.90047847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:118.08, Z:0.89 [[ 5.80300419e-01 -8.14399309e-01 -2.27816497e-03 1.36347672e+02] [ 8.14393539e-01 5.80304886e-01 -3.06638646e-03 1.18079830e+02] [ 3.81929328e-03 -7.58974860e-05 9.99992704e-01 8.87704310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06275509600002 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:136.37, Y:118.10, Z:0.89 [[ 5.82148190e-01 -8.13079574e-01 -2.25635758e-03 1.36365594e+02] [ 8.13073732e-01 5.82152561e-01 -3.08257250e-03 1.18103091e+02] [ 3.81992108e-03 -4.00710767e-05 9.99992703e-01 8.86133956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09275509600002 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:136.38, Y:118.12, Z:0.89 [[ 5.83019472e-01 -8.12454990e-01 -2.27667882e-03 1.36381518e+02] [ 8.12449202e-01 5.83023914e-01 -3.06749016e-03 1.18124718e+02] [ 3.81955588e-03 -6.12793942e-05 9.99992704e-01 8.85793496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:136.40, Y:118.15, Z:0.89 [[ 5.84421725e-01 -8.11446898e-01 -2.27580451e-03 1.36397362e+02] [ 8.11441099e-01 5.84426153e-01 -3.06813868e-03 1.18147368e+02] [ 3.81967129e-03 -5.35944162e-05 9.99992704e-01 8.89235079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.41, Y:118.17, Z:0.89 [[ 5.85956664e-01 -8.10339197e-01 -2.27484283e-03 1.36412481e+02] [ 8.10333387e-01 5.85961078e-01 -3.06885154e-03 1.18168333e+02] [ 3.81978005e-03 -4.51670846e-05 9.99992704e-01 8.89565016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:136.43, Y:118.19, Z:0.89 [[ 5.85110451e-01 -8.10950454e-01 -2.26288399e-03 1.36429148e+02] [ 8.10944615e-01 5.85114826e-01 -3.07770660e-03 1.18192107e+02] [ 3.81991453e-03 -3.42752901e-05 9.99992704e-01 8.87359287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:118.21, Z:0.89 [[ 5.85124390e-01 -8.10940369e-01 -2.27272012e-03 1.36445220e+02] [ 8.10934558e-01 5.85128802e-01 -3.07042592e-03 1.18214788e+02] [ 3.81976633e-03 -4.64461925e-05 9.99992704e-01 8.89742164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:118.24, Z:0.89 [[ 5.84162442e-01 -8.11633605e-01 -2.26555738e-03 1.36461125e+02] [ 8.11627778e-01 5.84166834e-01 -3.07572389e-03 1.18236983e+02] [ 3.81982435e-03 -4.20669202e-05 9.99992704e-01 8.90272900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.48, Y:118.26, Z:0.89 [[ 5.82261001e-01 -8.12998778e-01 -2.26120809e-03 1.36478049e+02] [ 8.12992949e-01 5.82265390e-01 -3.07893921e-03 1.18260353e+02] [ 3.81979703e-03 -4.56000057e-05 9.99992704e-01 8.90622628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.49, Y:118.28, Z:0.89 [[ 5.81355688e-01 -8.13646352e-01 -2.27526089e-03 1.36494512e+02] [ 8.13640569e-01 5.81360137e-01 -3.06855282e-03 1.18282397e+02] [ 3.81946280e-03 -6.73239280e-05 9.99992704e-01 8.91426125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:118.31, Z:0.89 [[ 5.81112404e-01 -8.13820142e-01 -2.26942512e-03 1.36511339e+02] [ 8.13814343e-01 5.81116832e-01 -3.07286276e-03 1.18305486e+02] [ 3.81955875e-03 -6.12120463e-05 9.99992704e-01 8.91533166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.362755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:136.53, Y:118.33, Z:0.89 [[ 5.79766531e-01 -8.14779494e-01 -2.26850620e-03 1.36528373e+02] [ 8.14773700e-01 5.79770965e-01 -3.07354099e-03 1.18328262e+02] [ 3.81947220e-03 -6.63829959e-05 9.99992704e-01 8.89902611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:118.35, Z:0.89 [[ 5.79001323e-01 -8.15323449e-01 -2.26758132e-03 1.36543645e+02] [ 8.15317656e-01 5.79005759e-01 -3.07422319e-03 1.18348916e+02] [ 3.81942890e-03 -6.88197924e-05 9.99992704e-01 8.91443388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:118.37, Z:0.89 [[ 5.76686586e-01 -8.16962371e-01 -2.25052150e-03 1.36559948e+02] [ 8.16956542e-01 5.76690975e-01 -3.08679239e-03 1.18372394e+02] [ 3.81964867e-03 -5.84664939e-05 9.99992703e-01 8.92105342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.58, Y:118.39, Z:0.89 [[ 5.75070565e-01 -8.18100674e-01 -2.26557475e-03 1.36576782e+02] [ 8.18094896e-01 5.75075022e-01 -3.07570412e-03 1.18394723e+02] [ 3.81911106e-03 -8.47082342e-05 9.99992704e-01 8.90368257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.482755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.59, Y:118.42, Z:0.89 [[ 5.74639865e-01 -8.18403251e-01 -2.26815054e-03 1.36591718e+02] [ 8.18397484e-01 5.74644334e-01 -3.07380750e-03 1.18415580e+02] [ 3.81899391e-03 -8.99163710e-05 9.99992704e-01 8.89693437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.512755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:136.61, Y:118.44, Z:0.89 [[ 5.74000783e-01 -8.18851619e-01 -2.26415398e-03 1.36608081e+02] [ 8.18845844e-01 5.74005242e-01 -3.07674854e-03 1.18438211e+02] [ 3.81903678e-03 -8.79370002e-05 9.99992704e-01 8.88016039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.542755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:136.62, Y:118.46, Z:0.89 [[ 5.73191199e-01 -8.19418530e-01 -2.26316206e-03 1.36623355e+02] [ 8.19412756e-01 5.73195659e-01 -3.07747799e-03 1.18460255e+02] [ 3.81897716e-03 -9.04805621e-05 9.99992704e-01 8.87210881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:118.48, Z:0.89 [[ 5.73583442e-01 -8.19144014e-01 -2.26248889e-03 1.36638912e+02] [ 8.19138236e-01 5.73587898e-01 -3.07797281e-03 1.18482640e+02] [ 3.81903925e-03 -8.78169121e-05 9.99992704e-01 8.89919636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.66, Y:118.51, Z:0.89 [[ 5.72754362e-01 -8.19723979e-01 -2.24467101e-03 1.36657159e+02] [ 8.19718154e-01 5.72758757e-01 -3.09106451e-03 1.18508538e+02] [ 3.81947467e-03 -6.95768910e-05 9.99992703e-01 8.88492759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:118.53, Z:0.89 [[ 5.71461326e-01 -8.20625828e-01 -2.28123077e-03 1.36670468e+02] [ 8.20620115e-01 5.71465867e-01 -3.06423692e-03 1.18530517e+02] [ 3.81823748e-03 -1.20930959e-04 9.99992703e-01 8.88649746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.69, Y:118.55, Z:0.89 [[ 5.71781388e-01 -8.20402900e-01 -2.26420494e-03 1.36685405e+02] [ 8.20397136e-01 5.71785863e-01 -3.07672492e-03 1.18551062e+02] [ 3.81879442e-03 -9.83331973e-05 9.99992704e-01 8.91289618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:118.58, Z:0.89 [[ 5.71019805e-01 -8.20933221e-01 -2.24229196e-03 1.36701358e+02] [ 8.20927399e-01 5.71024203e-01 -3.09277705e-03 1.18576318e+02] [ 3.81936640e-03 -7.47219575e-05 9.99992703e-01 8.91579267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.72, Y:118.60, Z:0.89 [[ 5.71236506e-01 -8.20782406e-01 -2.25729683e-03 1.36716745e+02] [ 8.20776626e-01 5.71240959e-01 -3.08178653e-03 1.18598819e+02] [ 3.81893656e-03 -9.23075057e-05 9.99992704e-01 8.91036222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:118.62, Z:0.89 [[ 5.71389734e-01 -8.20675746e-01 -2.25641626e-03 1.36732812e+02] [ 8.20669962e-01 5.71394183e-01 -3.08243112e-03 1.18622179e+02] [ 3.81897959e-03 -9.05035423e-05 9.99992704e-01 8.90715537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.75, Y:118.65, Z:0.89 [[ 5.71666445e-01 -8.20483022e-01 -2.25540655e-03 1.36747435e+02] [ 8.20477233e-01 5.71670887e-01 -3.08316975e-03 1.18645130e+02] [ 3.81903869e-03 -8.79650396e-05 9.99992704e-01 8.87486984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:118.67, Z:0.89 [[ 5.72610313e-01 -8.19824581e-01 -2.25509373e-03 1.36763614e+02] [ 8.19818787e-01 5.72614748e-01 -3.08339849e-03 1.18667669e+02] [ 3.81914580e-03 -8.31824277e-05 9.99992704e-01 8.90079650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:118.69, Z:0.89 [[ 5.72162121e-01 -8.20137444e-01 -2.25382487e-03 1.36779889e+02] [ 8.20131649e-01 5.72166554e-01 -3.08432569e-03 1.18691828e+02] [ 3.81913419e-03 -8.36987783e-05 9.99992704e-01 8.87895472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:136.80, Y:118.71, Z:0.89 [[ 5.73100514e-01 -8.19481986e-01 -2.25304452e-03 1.36796683e+02] [ 8.19476183e-01 5.73104937e-01 -3.08489555e-03 1.18713771e+02] [ 3.81924727e-03 -7.83610978e-05 9.99992704e-01 8.89840961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:136.81, Y:118.74, Z:0.89 [[ 5.72557669e-01 -8.19861357e-01 -2.25193956e-03 1.36812281e+02] [ 8.19855554e-01 5.72562092e-01 -3.08570195e-03 1.18737546e+02] [ 3.81922301e-03 -7.95228357e-05 9.99992704e-01 8.86228750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.83, Y:118.76, Z:0.89 [[ 5.72565683e-01 -8.19855769e-01 -2.24884882e-03 1.36829312e+02] [ 8.19849957e-01 5.72570094e-01 -3.08795645e-03 1.18761373e+02] [ 3.81930249e-03 -7.56607122e-05 9.99992704e-01 8.89153455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.85, Y:118.78, Z:0.89 [[ 5.73162374e-01 -8.19438729e-01 -2.25009578e-03 1.36845031e+02] [ 8.19432917e-01 5.73166786e-01 -3.08704712e-03 1.18782763e+02] [ 3.81932613e-03 -7.44232940e-05 9.99992704e-01 8.89499568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:118.81, Z:0.89 [[ 5.73242476e-01 -8.19382727e-01 -2.23825608e-03 1.36863636e+02] [ 8.19376881e-01 5.73246843e-01 -3.09567354e-03 1.18806854e+02] [ 3.81961466e-03 -5.94037160e-05 9.99992703e-01 8.89348690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.88, Y:118.83, Z:0.89 [[ 5.72396842e-01 -8.19973645e-01 -2.25328937e-03 1.36879418e+02] [ 8.19967846e-01 5.72401271e-01 -3.08472406e-03 1.18830394e+02] [ 3.81917812e-03 -8.19385205e-05 9.99992704e-01 8.93467259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:118.85, Z:0.89 [[ 5.71172307e-01 -8.20827108e-01 -2.24840340e-03 1.36894977e+02] [ 8.20821302e-01 5.71176726e-01 -3.08828125e-03 1.18852152e+02] [ 3.81918066e-03 -8.15966869e-05 9.99992704e-01 8.93884478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.91, Y:118.87, Z:0.89 [[ 5.70417016e-01 -8.21352164e-01 -2.24750949e-03 1.36911148e+02] [ 8.21346360e-01 5.70421437e-01 -3.08893166e-03 1.18874496e+02] [ 3.81912830e-03 -8.40045537e-05 9.99992704e-01 8.94093146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.93, Y:118.90, Z:0.89 [[ 5.69034428e-01 -8.22310630e-01 -2.24656254e-03 1.36927925e+02] [ 8.22304831e-01 5.69038856e-01 -3.08962022e-03 1.18898282e+02] [ 3.81900893e-03 -8.92589504e-05 9.99992704e-01 8.94733859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:118.92, Z:0.90 [[ 5.67971705e-01 -8.23045001e-01 -2.25152271e-03 1.36944294e+02] [ 8.23039221e-01 5.67976159e-01 -3.08601533e-03 1.18921332e+02] [ 3.81874071e-03 -1.00322110e-04 9.99992704e-01 8.95041009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.96, Y:118.94, Z:0.90 [[ 5.67179749e-01 -8.23590975e-01 -2.24461889e-03 1.36960098e+02] [ 8.23585180e-01 5.67184182e-01 -3.09102870e-03 1.18943567e+02] [ 3.81885567e-03 -9.54659753e-05 9.99992704e-01 8.95512613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.98, Y:118.97, Z:0.90 [[ 5.65549928e-01 -8.24711007e-01 -2.24374806e-03 1.36976068e+02] [ 8.24705218e-01 5.65554369e-01 -3.09166069e-03 1.18966343e+02] [ 3.81868812e-03 -1.01942255e-04 9.99992704e-01 8.95594742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.99, Y:118.99, Z:0.90 [[ 5.64513923e-01 -8.25420516e-01 -2.23652442e-03 1.36992408e+02] [ 8.25414712e-01 5.64518345e-01 -3.09689951e-03 1.18989389e+02] [ 3.81880346e-03 -9.78172689e-05 9.99992704e-01 8.96123360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.01, Y:119.01, Z:0.90 [[ 5.61711449e-01 -8.27330198e-01 -2.23429217e-03 1.37009364e+02] [ 8.27324403e-01 5.61715882e-01 -3.09851750e-03 1.19012926e+02] [ 3.81853450e-03 -1.08011681e-04 9.99992704e-01 8.96081086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.03, Y:119.04, Z:0.90 [[ 5.59916461e-01 -8.28546035e-01 -2.24160392e-03 1.37025391e+02] [ 8.28540271e-01 5.59920934e-01 -3.09321881e-03 1.19035045e+02] [ 3.81799514e-03 -1.25314989e-04 9.99992704e-01 8.95719174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.04, Y:119.06, Z:0.89 [[ 5.58113111e-01 -8.29761854e-01 -2.24061089e-03 1.37042192e+02] [ 8.29756096e-01 5.58117593e-01 -3.09393795e-03 1.19058745e+02] [ 3.81775605e-03 -1.32393212e-04 9.99992704e-01 8.92554717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.06, Y:119.08, Z:0.89 [[ 5.55143144e-01 -8.31751788e-01 -2.24805817e-03 1.37055736e+02] [ 8.31746068e-01 5.55147674e-01 -3.08854591e-03 1.19080554e+02] [ 3.81690785e-03 -1.55228456e-04 9.99992704e-01 8.91242676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.07, Y:119.10, Z:0.89 [[ 5.54545157e-01 -8.32150628e-01 -2.23617631e-03 1.37071776e+02] [ 8.32144877e-01 5.54549647e-01 -3.09714322e-03 1.19102887e+02] [ 3.81736046e-03 -1.43316887e-04 9.99992704e-01 8.88884545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.09, Y:119.13, Z:0.89 [[ 5.52701438e-01 -8.33376363e-01 -2.22660267e-03 1.37087238e+02] [ 8.33370594e-01 5.52705906e-01 -3.10406103e-03 1.19126259e+02] [ 3.81750754e-03 -1.39966190e-04 9.99992704e-01 8.88237481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.10, Y:119.15, Z:0.89 [[ 5.52867449e-01 -8.33266231e-01 -2.22986252e-03 1.37103339e+02] [ 8.33260471e-01 5.52871927e-01 -3.10170466e-03 1.19148454e+02] [ 3.81737414e-03 -1.43224747e-04 9.99992704e-01 8.88767778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.12, Y:119.17, Z:0.89 [[ 5.53424444e-01 -8.32896405e-01 -2.22780089e-03 1.37120926e+02] [ 8.32890636e-01 5.53428910e-01 -3.10319405e-03 1.19172084e+02] [ 3.81756859e-03 -1.38131061e-04 9.99992704e-01 8.90577820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:119.19, Z:0.89 [[ 5.54572737e-01 -8.32132254e-01 -2.23408540e-03 1.37137856e+02] [ 8.32126497e-01 5.54577219e-01 -3.09865654e-03 1.19193910e+02] [ 3.81746492e-03 -1.40611220e-04 9.99992704e-01 8.93262261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.15, Y:119.22, Z:0.89 [[ 5.56430854e-01 -8.30890912e-01 -2.23564303e-03 1.37154103e+02] [ 8.30885149e-01 5.56435329e-01 -3.09753231e-03 1.19216173e+02] [ 3.81770221e-03 -1.34000046e-04 9.99992704e-01 8.92783132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.17, Y:119.24, Z:0.90 [[ 5.56566672e-01 -8.30799944e-01 -2.23454903e-03 1.37169556e+02] [ 8.30794177e-01 5.56571142e-01 -3.09832132e-03 1.19239242e+02] [ 3.81777069e-03 -1.32027936e-04 9.99992704e-01 8.95730831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.19, Y:119.27, Z:0.90 [[ 5.57063492e-01 -8.30466925e-01 -2.22521016e-03 1.37186218e+02] [ 8.30461129e-01 5.57067924e-01 -3.10505159e-03 1.19266932e+02] [ 3.81823585e-03 -1.18239664e-04 9.99992704e-01 8.96163051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.20, Y:119.29, Z:0.90 [[ 5.59262210e-01 -8.28987724e-01 -2.26605729e-03 1.37201113e+02] [ 8.28982033e-01 5.59266778e-01 -3.07564061e-03 1.19287234e+02] [ 3.81699886e-03 -1.58431218e-04 9.99992703e-01 8.97103573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:137.22, Y:119.31, Z:0.90 [[ 5.60493113e-01 -8.28156090e-01 -2.22709341e-03 1.37216804e+02] [ 8.28150281e-01 5.60497528e-01 -3.10365895e-03 1.19309633e+02] [ 3.81859441e-03 -1.04788568e-04 9.99992704e-01 8.95969703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.23, Y:119.33, Z:0.90 [[ 5.61803309e-01 -8.27267834e-01 -2.22983300e-03 1.37233038e+02] [ 8.27262026e-01 5.61807725e-01 -3.10168943e-03 1.19332917e+02] [ 3.81866530e-03 -1.02116785e-04 9.99992704e-01 8.97431413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.25, Y:119.36, Z:0.90 [[ 5.67273779e-01 -8.23526255e-01 -2.22883793e-03 1.37253735e+02] [ 8.23520414e-01 5.67278153e-01 -3.10240431e-03 1.19356199e+02] [ 3.81928247e-03 -7.55809165e-05 9.99992704e-01 8.97275188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:119.38, Z:0.90 [[ 5.65044597e-01 -8.25057273e-01 -2.25833565e-03 1.37264484e+02] [ 8.25051528e-01 5.65049097e-01 -3.08121253e-03 1.19379687e+02] [ 3.81824732e-03 -1.22220789e-04 9.99992703e-01 8.98339740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.28, Y:119.40, Z:0.90 [[ 5.67242234e-01 -8.23547988e-01 -2.22697495e-03 1.37281604e+02] [ 8.23542143e-01 5.67246601e-01 -3.10371444e-03 1.19404480e+02] [ 3.81930175e-03 -7.34498086e-05 9.99992704e-01 8.95295448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.30, Y:119.43, Z:0.90 [[ 5.67236601e-01 -8.23551830e-01 -2.24095625e-03 1.37296860e+02] [ 8.23546024e-01 5.67241020e-01 -3.09368162e-03 1.19427526e+02] [ 3.81896946e-03 -9.06811624e-05 9.99992704e-01 8.95892730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.31, Y:119.45, Z:0.90 [[ 5.67207045e-01 -8.23572208e-01 -2.23310133e-03 1.37312809e+02] [ 8.23566380e-01 5.67211435e-01 -3.09931346e-03 1.19449512e+02] [ 3.81914903e-03 -8.11547472e-05 9.99992704e-01 8.97700484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.33, Y:119.47, Z:0.90 [[ 5.66719414e-01 -8.23907857e-01 -2.22463086e-03 1.37329422e+02] [ 8.23902008e-01 5.66723776e-01 -3.10538152e-03 1.19471585e+02] [ 3.81929944e-03 -7.29978352e-05 9.99992704e-01 8.97650321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.892755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.35, Y:119.49, Z:0.90 [[ 5.65474443e-01 -8.24762820e-01 -2.22362972e-03 1.37346811e+02] [ 8.24756975e-01 5.65478810e-01 -3.10609823e-03 1.19493766e+02] [ 3.81920982e-03 -7.75349554e-05 9.99992704e-01 8.95706766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.922755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.36, Y:119.52, Z:0.90 [[ 5.65208323e-01 -8.24945217e-01 -2.22262989e-03 1.37363307e+02] [ 8.24939371e-01 5.65212688e-01 -3.10681352e-03 1.19517096e+02] [ 3.81920956e-03 -7.75380444e-05 9.99992704e-01 8.95815574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.38, Y:119.54, Z:0.90 [[ 5.63510072e-01 -8.26106206e-01 -2.22162731e-03 1.37379756e+02] [ 8.26100365e-01 5.63514445e-01 -3.10753028e-03 1.19539259e+02] [ 3.81906913e-03 -8.41625212e-05 9.99992704e-01 8.96826283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:119.56, Z:0.90 [[ 5.61758235e-01 -8.27298467e-01 -2.22062140e-03 1.37396590e+02] [ 8.27292633e-01 5.61762617e-01 -3.10824893e-03 1.19563087e+02] [ 3.81891166e-03 -9.10192921e-05 9.99992704e-01 8.97378614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.41, Y:119.59, Z:0.90 [[ 5.60716365e-01 -8.28004948e-01 -2.22811595e-03 1.37413188e+02] [ 8.27999141e-01 5.60720782e-01 -3.10289538e-03 1.19585709e+02] [ 3.81856364e-03 -1.05033874e-04 9.99992704e-01 8.96719049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.43, Y:119.61, Z:0.90 [[ 5.58743387e-01 -8.29337601e-01 -2.22936426e-03 1.37430113e+02] [ 8.29331808e-01 5.58747823e-01 -3.10200348e-03 1.19607313e+02] [ 3.81826055e-03 -1.15658761e-04 9.99992704e-01 8.96304108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.45, Y:119.63, Z:0.89 [[ 5.57813490e-01 -8.29963347e-01 -2.22578698e-03 1.37446126e+02] [ 8.29957548e-01 5.57817918e-01 -3.10455742e-03 1.19629155e+02] [ 3.81825273e-03 -1.15544692e-04 9.99992704e-01 8.90852713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.46, Y:119.65, Z:0.89 [[ 5.56325100e-01 -8.30961793e-01 -2.20922427e-03 1.37463017e+02] [ 8.30955956e-01 5.56329477e-01 -3.11638073e-03 1.19651238e+02] [ 3.81864990e-03 -1.02047240e-04 9.99992704e-01 8.91790921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.48, Y:119.67, Z:0.90 [[ 5.54705161e-01 -8.32044045e-01 -2.21162171e-03 1.37481773e+02] [ 8.32038223e-01 5.54709559e-01 -3.11466986e-03 1.19673708e+02] [ 3.81835021e-03 -1.12430349e-04 9.99992704e-01 8.95814667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.50, Y:119.70, Z:0.89 [[ 5.52774377e-01 -8.33328006e-01 -2.21867601e-03 1.37497259e+02] [ 8.33322214e-01 5.52778815e-01 -3.10963673e-03 1.19696879e+02] [ 3.81778447e-03 -1.29944494e-04 9.99992704e-01 8.93014752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.51, Y:119.72, Z:0.89 [[ 5.51367350e-01 -8.34259653e-01 -2.20818798e-03 1.37514669e+02] [ 8.34253839e-01 5.51371758e-01 -3.11711571e-03 1.19718877e+02] [ 3.81801636e-03 -1.23513475e-04 9.99992704e-01 8.93401675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.53, Y:119.74, Z:0.89 [[ 5.51164486e-01 -8.34393696e-01 -2.20664533e-03 1.37530589e+02] [ 8.34387879e-01 5.51168889e-01 -3.11821521e-03 1.19741367e+02] [ 3.81805337e-03 -1.22548634e-04 9.99992704e-01 8.93506398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.55, Y:119.76, Z:0.90 [[ 5.50680608e-01 -8.34713126e-01 -2.20567302e-03 1.37548328e+02] [ 8.34707308e-01 5.50685012e-01 -3.11890731e-03 1.19763895e+02] [ 3.81802394e-03 -1.23569615e-04 9.99992704e-01 8.96935062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28275509600002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:137.57, Y:119.79, Z:0.89 [[ 5.48022949e-01 -8.36460346e-01 -2.22209653e-03 1.37565385e+02] [ 8.36454589e-01 5.48027431e-01 -3.10720953e-03 1.19789114e+02] [ 3.81682741e-03 -1.55860710e-04 9.99992704e-01 8.93715639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.58, Y:119.81, Z:0.90 [[ 5.50717337e-01 -8.34688760e-01 -2.25591613e-03 1.37581308e+02] [ 8.34683086e-01 5.50721927e-01 -3.08316085e-03 1.19808038e+02] [ 3.81586218e-03 -1.85024908e-04 9.99992702e-01 8.96068359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.60, Y:119.83, Z:0.90 [[ 5.51037923e-01 -8.34477272e-01 -2.21144741e-03 1.37596971e+02] [ 8.34471469e-01 5.51042345e-01 -3.11473345e-03 1.19829706e+02] [ 3.81777544e-03 -1.29053518e-04 9.99992704e-01 8.96236682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:119.85, Z:0.90 [[ 5.52596881e-01 -8.33445739e-01 -2.21056386e-03 1.37613219e+02] [ 8.33439926e-01 5.52601289e-01 -3.11536040e-03 1.19852049e+02] [ 3.81804429e-03 -1.20833739e-04 9.99992704e-01 8.96993382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:119.87, Z:0.90 [[ 5.54343579e-01 -8.32284996e-01 -2.20958096e-03 1.37630660e+02] [ 8.32279170e-01 5.54347972e-01 -3.11605736e-03 1.19874775e+02] [ 3.81832451e-03 -1.11621818e-04 9.99992704e-01 8.98391495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:119.90, Z:0.90 [[ 5.54108197e-01 -8.32441727e-01 -2.20862567e-03 1.37645685e+02] [ 8.32435899e-01 5.54112587e-01 -3.11673431e-03 1.19897972e+02] [ 3.81832698e-03 -1.11531267e-04 9.99992704e-01 8.98062558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:119.92, Z:0.90 [[ 5.55756268e-01 -8.31342346e-01 -2.20772170e-03 1.37661404e+02] [ 8.31336508e-01 5.55760643e-01 -3.11737450e-03 1.19920292e+02] [ 3.81857027e-03 -1.02859234e-04 9.99992704e-01 8.99217581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.68, Y:119.94, Z:0.90 [[ 5.56412945e-01 -8.30902982e-01 -2.20668966e-03 1.37677945e+02] [ 8.30897137e-01 5.56417312e-01 -3.11810488e-03 1.19943406e+02] [ 3.81868297e-03 -9.85782019e-05 9.99992704e-01 8.99981268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:119.97, Z:0.90 [[ 5.57282056e-01 -8.30320333e-01 -2.20333565e-03 1.37695297e+02] [ 8.30314474e-01 5.57286405e-01 -3.12047768e-03 1.19966354e+02] [ 3.81888506e-03 -9.04752631e-05 9.99992704e-01 9.01134227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.71, Y:119.99, Z:0.90 [[ 5.57463261e-01 -8.30198680e-01 -2.20563004e-03 1.37711168e+02] [ 8.30192827e-01 5.57467616e-01 -3.11885510e-03 1.19988486e+02] [ 3.81883671e-03 -9.24511078e-05 9.99992704e-01 9.01762556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:137.73, Y:120.01, Z:0.90 [[ 5.57119589e-01 -8.30429348e-01 -2.20494403e-03 1.37727453e+02] [ 8.30423494e-01 5.57123945e-01 -3.11934001e-03 1.20011647e+02] [ 3.81881861e-03 -9.31919032e-05 9.99992704e-01 9.01653826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.74, Y:120.03, Z:0.90 [[ 5.57925203e-01 -8.29888283e-01 -2.21492765e-03 1.37743238e+02] [ 8.29882453e-01 5.57929590e-01 -3.11228607e-03 1.20033912e+02] [ 3.81862342e-03 -1.01706755e-04 9.99992704e-01 9.02613671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.642755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.76, Y:120.06, Z:0.90 [[ 5.57256794e-01 -8.30337289e-01 -2.20263940e-03 1.37758661e+02] [ 8.30331428e-01 5.57261140e-01 -3.12095859e-03 1.20056800e+02] [ 3.81889364e-03 -8.97453413e-05 9.99992704e-01 9.01160198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:120.08, Z:0.90 [[ 5.57500517e-01 -8.30173672e-01 -2.20163996e-03 1.37776462e+02] [ 8.30167808e-01 5.57504858e-01 -3.12166348e-03 1.20080896e+02] [ 3.81894781e-03 -8.74016177e-05 9.99992704e-01 9.03595998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.79, Y:120.10, Z:0.90 [[ 5.57894666e-01 -8.29908800e-01 -2.21948895e-03 1.37793375e+02] [ 8.29902983e-01 5.57899070e-01 -3.10907583e-03 1.20103920e+02] [ 3.81850021e-03 -1.07423683e-04 9.99992704e-01 9.04011847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.732755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:137.81, Y:120.13, Z:0.90 [[ 5.54181681e-01 -8.32392776e-01 -2.22076119e-03 1.37806205e+02] [ 8.32386982e-01 5.54186116e-01 -3.10817904e-03 1.20126185e+02] [ 3.81794080e-03 -1.26036819e-04 9.99992704e-01 9.00042035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.82, Y:120.15, Z:0.90 [[ 5.53449682e-01 -8.32879710e-01 -2.19944558e-03 1.37822588e+02] [ 8.32873861e-01 5.53454043e-01 -3.12319014e-03 1.20149159e+02] [ 3.81853375e-03 -1.03332141e-04 9.99992704e-01 9.04375793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.84, Y:120.17, Z:0.90 [[ 5.51829274e-01 -8.33954206e-01 -2.19877418e-03 1.37838836e+02] [ 8.33948363e-01 5.51833643e-01 -3.12366276e-03 1.20172220e+02] [ 3.81834926e-03 -1.09935575e-04 9.99992704e-01 9.04132067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.822755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:137.86, Y:120.20, Z:0.90 [[ 5.49459442e-01 -8.35517499e-01 -2.19777870e-03 1.37855236e+02] [ 8.35511666e-01 5.49463824e-01 -3.12436301e-03 1.20195537e+02] [ 3.81805986e-03 -1.19558985e-04 9.99992704e-01 9.01536031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.87, Y:120.22, Z:0.91 [[ 5.47063233e-01 -8.37088402e-01 -2.19679740e-03 1.37871624e+02] [ 8.37082579e-01 5.47067628e-01 -3.12505283e-03 1.20218012e+02] [ 3.81774222e-03 -1.29299328e-04 9.99992704e-01 9.05624682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:120.24, Z:0.91 [[ 5.45815415e-01 -8.37902567e-01 -2.19581855e-03 1.37886951e+02] [ 8.37896747e-01 5.45819815e-01 -3.12574046e-03 1.20240064e+02] [ 3.81758723e-03 -1.33791891e-04 9.99992704e-01 9.05634002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:120.26, Z:0.91 [[ 5.44817210e-01 -8.38551960e-01 -2.19478681e-03 1.37903981e+02] [ 8.38546143e-01 5.44821614e-01 -3.12646475e-03 1.20263738e+02] [ 3.81747044e-03 -1.37078212e-04 9.99992704e-01 9.06167844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:120.29, Z:0.91 [[ 5.43584329e-01 -8.39351669e-01 -2.20287174e-03 1.37918647e+02] [ 8.39345882e-01 5.43588771e-01 -3.12079079e-03 1.20286753e+02] [ 3.81689730e-03 -1.52558360e-04 9.99992704e-01 9.05958836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.94, Y:120.31, Z:0.91 [[ 5.44389685e-01 -8.38829577e-01 -2.19338856e-03 1.37936840e+02] [ 8.38823759e-01 5.44394086e-01 -3.12744168e-03 1.20310498e+02] [ 3.81745835e-03 -1.37319445e-04 9.99992704e-01 9.06472635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:137.95, Y:120.33, Z:0.90 [[ 5.43213777e-01 -8.39591519e-01 -2.20760437e-03 1.37950424e+02] [ 8.39585747e-01 5.43218239e-01 -3.11747309e-03 1.20332742e+02] [ 3.81661492e-03 -1.60018829e-04 9.99992704e-01 9.04652981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:120.36, Z:0.91 [[ 5.44368944e-01 -8.38843042e-01 -2.19191037e-03 1.37966553e+02] [ 8.38837219e-01 5.44373340e-01 -3.12846883e-03 1.20355664e+02] [ 3.81751188e-03 -1.35614722e-04 9.99992704e-01 9.06681579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:137.98, Y:120.38, Z:0.90 [[ 5.46781276e-01 -8.37272617e-01 -2.19092603e-03 1.37981653e+02] [ 8.37266779e-01 5.46785652e-01 -3.12915803e-03 1.20379055e+02] [ 3.81792525e-03 -1.23424562e-04 9.99992704e-01 9.04994383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.00, Y:120.40, Z:0.90 [[ 5.47541438e-01 -8.36775703e-01 -2.18993852e-03 1.37995906e+02] [ 8.36769858e-01 5.47545805e-01 -3.12984899e-03 1.20403139e+02] [ 3.81807324e-03 -1.18752523e-04 9.99992704e-01 9.02661699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:120.43, Z:0.91 [[ 5.51000593e-01 -8.34501994e-01 -2.18381232e-03 1.38011916e+02] [ 8.34496114e-01 5.51004912e-01 -3.13413222e-03 1.20425932e+02] [ 3.81873090e-03 -9.54741802e-05 9.99992704e-01 9.05750901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:120.45, Z:0.90 [[ 5.54485570e-01 -8.32190462e-01 -2.18807200e-03 1.38023864e+02] [ 8.32184575e-01 5.54489881e-01 -3.13115553e-03 1.20450183e+02] [ 3.81898155e-03 -8.46992124e-05 9.99992704e-01 9.04292233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.04, Y:120.47, Z:0.91 [[ 5.57565304e-01 -8.30130233e-01 -2.17443505e-03 1.38041374e+02] [ 8.30124294e-01 5.57569541e-01 -3.14067706e-03 1.20473640e+02] [ 3.81956973e-03 -5.39187972e-05 9.99992704e-01 9.06682065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.06, Y:120.50, Z:0.91 [[ 5.59692729e-01 -8.28697332e-01 -2.18677960e-03 1.38055914e+02] [ 8.28691415e-01 5.59696998e-01 -3.13205819e-03 1.20498205e+02] [ 3.81946224e-03 -5.91752892e-05 9.99992704e-01 9.05434003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:120.52, Z:0.91 [[ 5.60664892e-01 -8.28039920e-01 -2.18384608e-03 1.38071802e+02] [ 8.28033991e-01 5.60669143e-01 -3.13410513e-03 1.20521207e+02] [ 3.81957927e-03 -5.11160689e-05 9.99992704e-01 9.06946161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:138.09, Y:120.54, Z:0.91 [[ 5.60893219e-01 -8.27885271e-01 -2.18538716e-03 1.38087518e+02] [ 8.27879344e-01 5.60897474e-01 -3.13303018e-03 1.20544815e+02] [ 3.81956767e-03 -5.19415091e-05 9.99992704e-01 9.07474936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.10, Y:120.57, Z:0.91 [[ 5.60586835e-01 -8.28092766e-01 -2.18440582e-03 1.38102398e+02] [ 8.28086838e-01 5.60591089e-01 -3.13371424e-03 1.20567451e+02] [ 3.81956453e-03 -5.21587580e-05 9.99992704e-01 9.07533341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.12, Y:120.59, Z:0.91 [[ 5.59345342e-01 -8.28931855e-01 -2.18368843e-03 1.38117024e+02] [ 8.28925931e-01 5.59349602e-01 -3.13421406e-03 1.20591328e+02] [ 3.81949513e-03 -5.70079284e-05 9.99992704e-01 9.07360269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.362755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:138.13, Y:120.61, Z:0.91 [[ 5.57544672e-01 -8.30144068e-01 -2.18271792e-03 1.38131907e+02] [ 8.30138152e-01 5.57548941e-01 -3.13488979e-03 1.20614621e+02] [ 3.81938223e-03 -6.41163196e-05 9.99992704e-01 9.05031228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.392755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:138.15, Y:120.64, Z:0.91 [[ 5.54608078e-01 -8.32108839e-01 -2.18174341e-03 1.38147895e+02] [ 8.32102935e-01 5.54612364e-01 -3.13556786e-03 1.20637859e+02] [ 3.81915560e-03 -7.64238287e-05 9.99992704e-01 9.07080571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.422755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.16, Y:120.66, Z:0.91 [[ 5.52507839e-01 -8.33504848e-01 -2.18074691e-03 1.38163439e+02] [ 8.33498952e-01 5.52512136e-01 -3.13626076e-03 1.20660332e+02] [ 3.81897769e-03 -8.48416119e-05 9.99992704e-01 9.06724292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.18, Y:120.68, Z:0.91 [[ 5.49198683e-01 -8.35688970e-01 -2.17985145e-03 1.38179578e+02] [ 8.35683089e-01 5.49203000e-01 -3.13688303e-03 1.20683875e+02] [ 3.81863950e-03 -9.88929695e-05 9.99992704e-01 9.08884092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.482755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:138.20, Y:120.71, Z:0.91 [[ 5.46469455e-01 -8.37476201e-01 -2.17892162e-03 1.38195048e+02] [ 8.37470331e-01 5.46473788e-01 -3.13752877e-03 1.20707400e+02] [ 3.81832922e-03 -1.10218568e-04 9.99992704e-01 9.06891014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.21, Y:120.73, Z:0.91 [[ 5.44660042e-01 -8.38654098e-01 -2.17790699e-03 1.38210180e+02] [ 8.38648234e-01 5.44664383e-01 -3.13823291e-03 1.20729643e+02] [ 3.81812026e-03 -1.17227789e-04 9.99992704e-01 9.08687856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.542755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:138.23, Y:120.75, Z:0.91 [[ 5.42390323e-01 -8.40123798e-01 -2.17752123e-03 1.38225674e+02] [ 8.40117945e-01 5.42394679e-01 -3.13850043e-03 1.20753522e+02] [ 3.81780483e-03 -1.27082396e-04 9.99992704e-01 9.06559414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:120.78, Z:0.91 [[ 5.40502082e-01 -8.41339863e-01 -2.17585521e-03 1.38240853e+02] [ 8.41334015e-01 5.40506445e-01 -3.13965502e-03 1.20776405e+02] [ 3.81758069e-03 -1.33630921e-04 9.99992704e-01 9.07507076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:120.80, Z:0.91 [[ 5.39804052e-01 -8.41787892e-01 -2.17493520e-03 1.38256317e+02] [ 8.41782045e-01 5.39808416e-01 -3.14029221e-03 1.20799664e+02] [ 3.81750829e-03 -1.35678945e-04 9.99992704e-01 9.07456042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.27, Y:120.82, Z:0.91 [[ 5.39743357e-01 -8.41826813e-01 -2.17392803e-03 1.38272345e+02] [ 8.41820964e-01 5.39747718e-01 -3.14098929e-03 1.20823279e+02] [ 3.81754170e-03 -1.34730090e-04 9.99992704e-01 9.07334099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.662755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:138.29, Y:120.85, Z:0.90 [[ 5.40048904e-01 -8.41630836e-01 -2.17202465e-03 1.38287589e+02] [ 8.41624980e-01 5.40053256e-01 -3.14230599e-03 1.20848208e+02] [ 3.81767060e-03 -1.31031294e-04 9.99992704e-01 9.03695572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:120.87, Z:0.90 [[ 5.41207007e-01 -8.40886590e-01 -2.17207418e-03 1.38301952e+02] [ 8.40880729e-01 5.41211351e-01 -3.14227175e-03 1.20871168e+02] [ 3.81784538e-03 -1.25835836e-04 9.99992704e-01 9.02432359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72275509600001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:138.32, Y:120.89, Z:0.90 [[ 5.42688084e-01 -8.39931528e-01 -2.16158204e-03 1.38316977e+02] [ 8.39925629e-01 5.42692379e-01 -3.14951969e-03 1.20892614e+02] [ 3.81845499e-03 -1.06361352e-04 9.99992704e-01 9.03683304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:138.33, Y:120.92, Z:0.90 [[ 5.43520268e-01 -8.39393285e-01 -2.15191974e-03 1.38332110e+02] [ 8.39387357e-01 5.43524520e-01 -3.15618963e-03 1.20918593e+02] [ 3.81890552e-03 -9.08411872e-05 9.99992704e-01 9.01617161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.35, Y:120.94, Z:0.90 [[ 5.45271393e-01 -8.38256763e-01 -2.16969653e-03 1.38346757e+02] [ 8.38250873e-01 5.45275700e-01 -3.14392143e-03 1.20940775e+02] [ 3.81849620e-03 -1.04459587e-04 9.99992704e-01 9.00075827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.36, Y:120.97, Z:0.90 [[ 5.45208747e-01 -8.38297557e-01 -2.15134313e-03 1.38364295e+02] [ 8.38291618e-01 5.45212986e-01 -3.15657779e-03 1.20965750e+02] [ 3.81909166e-03 -8.24590909e-05 9.99992704e-01 9.03897963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:120.99, Z:0.91 [[ 5.46727436e-01 -8.37307834e-01 -2.16825239e-03 1.38379033e+02] [ 8.37301933e-01 5.46731728e-01 -3.14491977e-03 1.20987171e+02] [ 3.81871834e-03 -9.60679972e-05 9.99992704e-01 9.05028276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.39, Y:121.01, Z:0.91 [[ 5.46214639e-01 -8.37642476e-01 -2.15636951e-03 1.38394835e+02] [ 8.37636546e-01 5.46218889e-01 -3.15310317e-03 1.21012129e+02] [ 3.81902291e-03 -8.39827941e-05 9.99992704e-01 9.05445681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.41, Y:121.03, Z:0.91 [[ 5.46497290e-01 -8.37458071e-01 -2.16608072e-03 1.38409504e+02] [ 8.37452165e-01 5.46501575e-01 -3.14641770e-03 1.21034325e+02] [ 3.81875943e-03 -9.44802452e-05 9.99992704e-01 9.05812579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93275509600002 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:138.42, Y:121.06, Z:0.90 [[ 5.46427895e-01 -8.37503354e-01 -2.16505435e-03 1.38423999e+02] [ 8.37497446e-01 5.46432176e-01 -3.14712380e-03 1.21057474e+02] [ 3.81878209e-03 -9.35512523e-05 9.99992704e-01 9.03290933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:121.08, Z:0.90 [[ 5.46376282e-01 -8.37537028e-01 -2.16435016e-03 1.38440112e+02] [ 8.37531119e-01 5.46380561e-01 -3.14760801e-03 1.21081417e+02] [ 3.81879711e-03 -9.29322538e-05 9.99992704e-01 9.03768018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.46, Y:121.10, Z:0.90 [[ 5.45878880e-01 -8.37861296e-01 -2.16734634e-03 1.38455379e+02] [ 8.37855397e-01 5.45883174e-01 -3.14554888e-03 1.21104968e+02] [ 3.81865156e-03 -9.88341260e-05 9.99992704e-01 9.03903072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.47, Y:121.13, Z:0.90 [[ 5.46275513e-01 -8.37602770e-01 -2.15943479e-03 1.38471086e+02] [ 8.37596848e-01 5.46279774e-01 -3.15098216e-03 1.21126960e+02] [ 3.81892693e-03 -8.74313788e-05 9.99992704e-01 9.04367373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:121.15, Z:0.91 [[ 5.46012037e-01 -8.37774558e-01 -2.15530708e-03 1.38487684e+02] [ 8.37768626e-01 5.46016285e-01 -3.15381535e-03 1.21150727e+02] [ 3.81901903e-03 -8.36275081e-05 9.99992704e-01 9.08919818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.50, Y:121.18, Z:0.91 [[ 5.45966135e-01 -8.37804457e-01 -2.16122990e-03 1.38503635e+02] [ 8.37798541e-01 5.45970405e-01 -3.14975136e-03 1.21175257e+02] [ 3.81884329e-03 -9.10176816e-05 9.99992704e-01 9.06816165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:121.20, Z:0.91 [[ 5.45706003e-01 -8.37973908e-01 -2.16491911e-03 1.38519084e+02] [ 8.37968004e-01 5.45710289e-01 -3.14722122e-03 1.21198091e+02] [ 3.81870790e-03 -9.66754346e-05 9.99992704e-01 9.06922681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.53, Y:121.22, Z:0.91 [[ 5.44661565e-01 -8.38653145e-01 -2.16382065e-03 1.38534261e+02] [ 8.38647243e-01 5.44665854e-01 -3.14797404e-03 1.21222687e+02] [ 3.81861754e-03 -1.00101753e-04 9.99992704e-01 9.08071763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:121.25, Z:0.91 [[ 5.43983508e-01 -8.39093114e-01 -2.16555936e-03 1.38548860e+02] [ 8.39087220e-01 5.43987808e-01 -3.14678284e-03 1.21246155e+02] [ 3.81848171e-03 -1.05295212e-04 9.99992704e-01 9.07229522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:121.27, Z:0.91 [[ 5.43391889e-01 -8.39476375e-01 -2.16100297e-03 1.38565702e+02] [ 8.39470472e-01 5.43396177e-01 -3.14990297e-03 1.21270139e+02] [ 3.81854988e-03 -1.02466462e-04 9.99992704e-01 9.07374534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:121.29, Z:0.91 [[ 5.42685734e-01 -8.39933037e-01 -2.16523771e-03 1.38583583e+02] [ 8.39927149e-01 5.42690042e-01 -3.14700484e-03 1.21293565e+02] [ 3.81832628e-03 -1.10807307e-04 9.99992704e-01 9.07024565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.60, Y:121.32, Z:0.91 [[ 5.40870068e-01 -8.41103347e-01 -2.17472057e-03 1.38599736e+02] [ 8.41097494e-01 5.40874424e-01 -3.14051781e-03 1.21318228e+02] [ 3.81775078e-03 -1.30539946e-04 9.99992704e-01 9.07507973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:121.34, Z:0.91 [[ 5.39818442e-01 -8.41778652e-01 -2.17953417e-03 1.38614137e+02] [ 8.41772818e-01 5.39822824e-01 -3.13722712e-03 1.21340188e+02] [ 3.81741310e-03 -1.41139559e-04 9.99992704e-01 9.08204371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.63, Y:121.36, Z:0.91 [[ 5.37853644e-01 -8.43035446e-01 -2.16667444e-03 1.38629919e+02] [ 8.43029586e-01 5.37857992e-01 -3.14601008e-03 1.21364710e+02] [ 3.81756117e-03 -1.34477671e-04 9.99992704e-01 9.08062067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.64, Y:121.39, Z:0.91 [[ 5.37625722e-01 -8.43180804e-01 -2.17133776e-03 1.38644828e+02] [ 8.43174959e-01 5.37630088e-01 -3.14282706e-03 1.21387525e+02] [ 3.81734796e-03 -1.41152958e-04 9.99992704e-01 9.08236575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.66, Y:121.41, Z:0.90 [[ 5.36167836e-01 -8.44108627e-01 -2.16299670e-03 1.38659885e+02] [ 8.44102766e-01 5.36172181e-01 -3.14851711e-03 1.21411543e+02] [ 3.81742912e-03 -1.37657893e-04 9.99992704e-01 9.04842742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.68, Y:121.43, Z:0.91 [[ 5.37257578e-01 -8.43415441e-01 -2.16522978e-03 1.38676759e+02] [ 8.43409581e-01 5.37261924e-01 -3.14699439e-03 1.21433332e+02] [ 3.81751918e-03 -1.35428953e-04 9.99992704e-01 9.06988011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.69, Y:121.46, Z:0.91 [[ 5.35704140e-01 -8.44402980e-01 -2.16366273e-03 1.38690645e+02] [ 8.44397124e-01 5.35708491e-01 -3.14806127e-03 1.21456388e+02] [ 3.81732482e-03 -1.40561128e-04 9.99992704e-01 9.07127169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:121.48, Z:0.91 [[ 5.35879802e-01 -8.44291546e-01 -2.15031161e-03 1.38705436e+02] [ 8.44285652e-01 5.35884102e-01 -3.15714244e-03 1.21479462e+02] [ 3.81786647e-03 -1.23628371e-04 9.99992704e-01 9.05974768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.72, Y:121.50, Z:0.91 [[ 5.35525154e-01 -8.44516547e-01 -2.14760674e-03 1.38720197e+02] [ 8.44510647e-01 5.35529446e-01 -3.15898151e-03 1.21503359e+02] [ 3.81791881e-03 -1.21962698e-04 9.99992704e-01 9.05527807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:121.53, Z:0.91 [[ 5.34779830e-01 -8.44988697e-01 -2.15280448e-03 1.38736809e+02] [ 8.44982816e-01 5.34784147e-01 -3.15544921e-03 1.21528814e+02] [ 3.81760462e-03 -1.31612198e-04 9.99992704e-01 9.06145139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.75, Y:121.55, Z:0.91 [[ 5.35807375e-01 -8.44337453e-01 -2.17296928e-03 1.38750038e+02] [ 8.44331622e-01 5.35811760e-01 -3.14177411e-03 1.21549805e+02] [ 3.81702005e-03 -1.51320941e-04 9.99992704e-01 9.09108735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:121.57, Z:0.91 [[ 5.35570402e-01 -8.44487885e-01 -2.13461469e-03 1.38765479e+02] [ 8.44481950e-01 5.35574646e-01 -3.16774768e-03 1.21572787e+02] [ 3.81837005e-03 -1.06091671e-04 9.99992704e-01 9.09816548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.78, Y:121.60, Z:0.91 [[ 5.35439509e-01 -8.44570888e-01 -2.13245357e-03 1.38781652e+02] [ 8.44564949e-01 5.35443745e-01 -3.16921029e-03 1.21596577e+02] [ 3.81843168e-03 -1.04075142e-04 9.99992704e-01 9.09987316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.80, Y:121.62, Z:0.91 [[ 5.34511257e-01 -8.45158665e-01 -2.13238667e-03 1.38796428e+02] [ 8.45152730e-01 5.34515500e-01 -3.16925554e-03 1.21619142e+02] [ 3.81831750e-03 -1.08189650e-04 9.99992704e-01 9.11109484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.81, Y:121.64, Z:0.91 [[ 5.34621103e-01 -8.45089210e-01 -2.12206376e-03 1.38813543e+02] [ 8.45083247e-01 5.34625306e-01 -3.17623374e-03 1.21643099e+02] [ 3.81870985e-03 -9.52389518e-05 9.99992704e-01 9.10731483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:121.67, Z:0.91 [[ 5.33648699e-01 -8.45703580e-01 -2.12645014e-03 1.38828058e+02] [ 8.45697633e-01 5.33652925e-01 -3.17326913e-03 1.21666352e+02] [ 3.81843140e-03 -1.04922906e-04 9.99992704e-01 9.11937890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.84, Y:121.69, Z:0.91 [[ 5.33253402e-01 -8.45952910e-01 -2.11741209e-03 1.38843129e+02] [ 8.45946941e-01 5.33257598e-01 -3.17937388e-03 1.21689531e+02] [ 3.81872667e-03 -9.58063399e-05 9.99992704e-01 9.11649194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:121.71, Z:0.91 [[ 5.32377771e-01 -8.46504228e-01 -2.12159776e-03 1.38857575e+02] [ 8.46498274e-01 5.32381988e-01 -3.17654765e-03 1.21713368e+02] [ 3.81846145e-03 -1.04805487e-04 9.99992704e-01 9.11895212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:121.74, Z:0.91 [[ 5.31905951e-01 -8.46800801e-01 -2.11231529e-03 1.38872368e+02] [ 8.46794825e-01 5.31910137e-01 -3.18281187e-03 1.21736125e+02] [ 3.81876956e-03 -9.57410862e-05 9.99992704e-01 9.12084880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.89, Y:121.76, Z:0.91 [[ 5.32910703e-01 -8.46168854e-01 -2.11005709e-03 1.38891736e+02] [ 8.46162867e-01 5.32914873e-01 -3.18433484e-03 1.21759831e+02] [ 3.81896577e-03 -8.84858367e-05 9.99992704e-01 9.11214713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.91, Y:121.78, Z:0.91 [[ 5.32547879e-01 -8.46397184e-01 -2.13619660e-03 1.38906996e+02] [ 8.46391269e-01 5.32552150e-01 -3.16670163e-03 1.21782023e+02] [ 3.81792344e-03 -1.21637911e-04 9.99992704e-01 9.11075584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.92, Y:121.80, Z:0.91 [[ 5.31894582e-01 -8.46807885e-01 -2.13515319e-03 1.38922421e+02] [ 8.46801971e-01 5.31898853e-01 -3.16740500e-03 1.21804867e+02] [ 3.81786906e-03 -1.23326375e-04 9.99992704e-01 9.11433197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.94, Y:121.83, Z:0.91 [[ 5.30860785e-01 -8.47456354e-01 -2.13418104e-03 1.38938673e+02] [ 8.47450442e-01 5.30865060e-01 -3.16805989e-03 1.21827985e+02] [ 3.81775463e-03 -1.26813905e-04 9.99992704e-01 9.12002068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.96, Y:121.85, Z:0.91 [[ 5.30515218e-01 -8.47672734e-01 -2.13070486e-03 1.38955478e+02] [ 8.47666814e-01 5.30519483e-01 -3.17040029e-03 1.21850987e+02] [ 3.81784232e-03 -1.24182194e-04 9.99992704e-01 9.11882891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.97, Y:121.87, Z:0.91 [[ 5.29698810e-01 -8.48183121e-01 -2.13640561e-03 1.38970983e+02] [ 8.48177220e-01 5.29703101e-01 -3.16656434e-03 1.21873519e+02] [ 3.81748710e-03 -1.34725210e-04 9.99992704e-01 9.10017470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.99, Y:121.90, Z:0.91 [[ 5.29191906e-01 -8.48499489e-01 -2.13168511e-03 1.38987976e+02] [ 8.48493579e-01 5.29196183e-01 -3.16973893e-03 1.21896379e+02] [ 3.81760148e-03 -1.31320942e-04 9.99992704e-01 9.09497878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.01, Y:121.92, Z:0.91 [[ 5.31947449e-01 -8.46774688e-01 -2.13070043e-03 1.39010682e+02] [ 8.46768761e-01 5.31951703e-01 -3.17040069e-03 1.21921542e+02] [ 3.81804478e-03 -1.17724004e-04 9.99992704e-01 9.10302545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.02, Y:121.94, Z:0.91 [[ 5.29997642e-01 -8.47996310e-01 -2.18134660e-03 1.39019653e+02] [ 8.47990530e-01 5.30002098e-01 -3.13634171e-03 1.21941928e+02] [ 3.81572446e-03 -1.87507547e-04 9.99992703e-01 9.09684330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.04, Y:121.97, Z:0.91 [[ 5.31189491e-01 -8.47250371e-01 -2.12914684e-03 1.39035709e+02] [ 8.47244444e-01 5.31193744e-01 -3.17138662e-03 1.21965133e+02] [ 3.81794797e-03 -1.19300591e-04 9.99992705e-01 9.08865606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:121.99, Z:0.91 [[ 5.32152725e-01 -8.46645704e-01 -2.12817463e-03 1.39051289e+02] [ 8.46639769e-01 5.32156968e-01 -3.17203889e-03 1.21987479e+02] [ 3.81811606e-03 -1.13788140e-04 9.99992705e-01 9.08992127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.07, Y:122.01, Z:0.91 [[ 5.33729740e-01 -8.45652435e-01 -2.12715098e-03 1.39066999e+02] [ 8.45646490e-01 5.33733968e-01 -3.17272520e-03 1.22010252e+02] [ 3.81835552e-03 -1.05439962e-04 9.99992705e-01 9.07321243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.08, Y:122.03, Z:0.91 [[ 5.34351639e-01 -8.45259608e-01 -2.12616974e-03 1.39082721e+02] [ 8.45253657e-01 5.34355859e-01 -3.17338263e-03 1.22033958e+02] [ 3.81846342e-03 -1.01450538e-04 9.99992705e-01 9.06770561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.10, Y:122.06, Z:0.91 [[ 5.34936771e-01 -8.44889421e-01 -2.12519380e-03 1.39100143e+02] [ 8.44883465e-01 5.34940984e-01 -3.17403608e-03 1.22058623e+02] [ 3.81856277e-03 -9.76324886e-05 9.99992705e-01 9.05878251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.11, Y:122.08, Z:0.91 [[ 5.35901582e-01 -8.44277752e-01 -2.13818318e-03 1.39114454e+02] [ 8.44271825e-01 5.35905837e-01 -3.16534008e-03 1.22080771e+02] [ 3.81829105e-03 -1.08897062e-04 9.99992704e-01 9.06708778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.13, Y:122.11, Z:0.91 [[ 5.35123751e-01 -8.44771011e-01 -2.12383379e-03 1.39130050e+02] [ 8.44765050e-01 5.35127957e-01 -3.17493891e-03 1.22105279e+02] [ 3.81861920e-03 -9.51553412e-05 9.99992705e-01 9.07331226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.15, Y:122.13, Z:0.91 [[ 5.34914544e-01 -8.44903497e-01 -2.12381048e-03 1.39145246e+02] [ 8.44897537e-01 5.34918752e-01 -3.17495450e-03 1.22127390e+02] [ 3.81859621e-03 -9.60729061e-05 9.99992705e-01 9.07875000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.16, Y:122.15, Z:0.91 [[ 5.34976558e-01 -8.44864236e-01 -2.12264671e-03 1.39160699e+02] [ 8.44858272e-01 5.34980761e-01 -3.17573202e-03 1.22149097e+02] [ 3.81863756e-03 -9.43934531e-05 9.99992705e-01 9.08534796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.18, Y:122.17, Z:0.91 [[ 5.34329034e-01 -8.45273910e-01 -2.12136546e-03 1.39176272e+02] [ 8.45267947e-01 5.34333237e-01 -3.17658765e-03 1.22172479e+02] [ 3.81860274e-03 -9.57792150e-05 9.99992705e-01 9.09018746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.19, Y:122.20, Z:0.91 [[ 5.33598061e-01 -8.45735545e-01 -2.12043759e-03 1.39191442e+02] [ 8.45729583e-01 5.33602266e-01 -3.17720691e-03 1.22195590e+02] [ 3.81854712e-03 -9.79653507e-05 9.99992705e-01 9.09165668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.21, Y:122.22, Z:0.91 [[ 5.33000054e-01 -8.46112552e-01 -2.11951492e-03 1.39206274e+02] [ 8.46106590e-01 5.33004258e-01 -3.17782230e-03 1.22217920e+02] [ 3.81850581e-03 -9.95560814e-05 9.99992705e-01 9.09837268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.22, Y:122.24, Z:0.91 [[ 5.32758994e-01 -8.46264359e-01 -2.11855598e-03 1.39221609e+02] [ 8.46258396e-01 5.32763197e-01 -3.17846147e-03 1.22240922e+02] [ 3.81850731e-03 -9.94918515e-05 9.99992705e-01 9.10092205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.24, Y:122.26, Z:0.91 [[ 5.33238528e-01 -8.45962285e-01 -2.11764432e-03 1.39236082e+02] [ 8.45956318e-01 5.33242724e-01 -3.17906874e-03 1.22262587e+02] [ 3.81859068e-03 -9.62326572e-05 9.99992705e-01 9.10371496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.25, Y:122.29, Z:0.91 [[ 5.33762974e-01 -8.45631485e-01 -2.11656965e-03 1.39250544e+02] [ 8.45625511e-01 5.33767162e-01 -3.17978408e-03 1.22285181e+02] [ 3.81868091e-03 -9.25742899e-05 9.99992705e-01 9.09976512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.26, Y:122.31, Z:0.91 [[ 5.34508986e-01 -8.45160144e-01 -2.11556661e-03 1.39264033e+02] [ 8.45154164e-01 5.34513165e-01 -3.18045128e-03 1.22307144e+02] [ 3.81878886e-03 -8.80001453e-05 9.99992705e-01 9.09220949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.28, Y:122.33, Z:0.91 [[ 5.37364949e-01 -8.43347164e-01 -2.11463115e-03 1.39279176e+02] [ 8.43341168e-01 5.37369105e-01 -3.18107313e-03 1.22330020e+02] [ 3.81908645e-03 -7.39583017e-05 9.99992705e-01 9.07763205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.29, Y:122.35, Z:0.91 [[ 5.38909505e-01 -8.42361014e-01 -2.11364591e-03 1.39294377e+02] [ 8.42355008e-01 5.38913646e-01 -3.18172763e-03 1.22353006e+02] [ 3.81923594e-03 -6.57769560e-05 9.99992705e-01 9.07129996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.31, Y:122.38, Z:0.90 [[ 5.40030480e-01 -8.41642809e-01 -2.11266383e-03 1.39309753e+02] [ 8.41636795e-01 5.40034609e-01 -3.18237960e-03 1.22376826e+02] [ 3.81933849e-03 -5.95136386e-05 9.99992705e-01 9.04356993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.32, Y:122.40, Z:0.91 [[ 5.42217822e-01 -8.40235309e-01 -2.11167202e-03 1.39324840e+02] [ 8.40229281e-01 5.42221932e-01 -3.18303758e-03 1.22399677e+02] [ 3.81949545e-03 -4.83889596e-05 9.99992705e-01 9.05487423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.34, Y:122.42, Z:0.90 [[ 5.42896286e-01 -8.39797099e-01 -2.11062633e-03 1.39340556e+02] [ 8.39791065e-01 5.42900387e-01 -3.18373081e-03 1.22423483e+02] [ 3.81954775e-03 -4.40495034e-05 9.99992705e-01 9.02991120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.36, Y:122.45, Z:0.90 [[ 5.43184221e-01 -8.39610893e-01 -2.10965319e-03 1.39356211e+02] [ 8.39604855e-01 5.43188316e-01 -3.18437552e-03 1.22447368e+02] [ 3.81957533e-03 -4.15725243e-05 9.99992705e-01 9.01775044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.37, Y:122.47, Z:0.90 [[ 5.42718716e-01 -8.39911870e-01 -2.10863599e-03 1.39371112e+02] [ 8.39905832e-01 5.42722811e-01 -3.18504894e-03 1.22469796e+02] [ 3.81956527e-03 -4.24699951e-05 9.99992705e-01 9.02160609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.39, Y:122.49, Z:0.90 [[ 5.42068855e-01 -8.40331431e-01 -2.10772366e-03 1.39387153e+02] [ 8.40325394e-01 5.42072951e-01 -3.18565257e-03 1.22493396e+02] [ 3.81954397e-03 -4.43306753e-05 9.99992705e-01 9.02408894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.40, Y:122.52, Z:0.90 [[ 5.40389985e-01 -8.41412043e-01 -2.10673458e-03 1.39403473e+02] [ 8.41406011e-01 5.40394089e-01 -3.18630653e-03 1.22516548e+02] [ 3.81946360e-03 -5.07709996e-05 9.99992705e-01 9.03346632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.42, Y:122.54, Z:0.90 [[ 5.39248353e-01 -8.42144156e-01 -2.10575153e-03 1.39418924e+02] [ 8.42138128e-01 5.39252461e-01 -3.18695607e-03 1.22539437e+02] [ 3.81940813e-03 -5.47728386e-05 9.99992705e-01 9.03432389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.43, Y:122.56, Z:0.90 [[ 5.38076928e-01 -8.42893107e-01 -2.10474204e-03 1.39434262e+02] [ 8.42887082e-01 5.38081041e-01 -3.18762263e-03 1.22562002e+02] [ 3.81934693e-03 -5.88736891e-05 9.99992705e-01 9.04968416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.45, Y:122.59, Z:0.90 [[ 5.36761065e-01 -8.43731672e-01 -2.10368075e-03 1.39449683e+02] [ 8.43725650e-01 5.36765183e-01 -3.18832288e-03 1.22585144e+02] [ 3.81927157e-03 -6.35618219e-05 9.99992705e-01 9.04871852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:122.61, Z:0.91 [[ 5.34488535e-01 -8.45173109e-01 -2.10268562e-03 1.39464665e+02] [ 8.45167096e-01 5.34492666e-01 -3.18897903e-03 1.22608568e+02] [ 3.81910936e-03 -7.26479663e-05 9.99992705e-01 9.05066984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.48, Y:122.63, Z:0.91 [[ 5.33377667e-01 -8.45874605e-01 -2.10168033e-03 1.39479524e+02] [ 8.45868595e-01 5.33381802e-01 -3.18964142e-03 1.22632367e+02] [ 3.81903472e-03 -7.64618839e-05 9.99992705e-01 9.05408353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:122.66, Z:0.91 [[ 5.31807473e-01 -8.46862680e-01 -2.10068261e-03 1.39493922e+02] [ 8.46856675e-01 5.31811616e-01 -3.19029837e-03 1.22656442e+02] [ 3.81891205e-03 -8.23525744e-05 9.99992705e-01 9.05143504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.51, Y:122.68, Z:0.91 [[ 5.31541341e-01 -8.47029748e-01 -2.09967842e-03 1.39509487e+02] [ 8.47023741e-01 5.31545482e-01 -3.19095914e-03 1.22680398e+02] [ 3.81891189e-03 -8.23507671e-05 9.99992705e-01 9.05252296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:122.70, Z:0.90 [[ 5.30401203e-01 -8.47744159e-01 -2.09867553e-03 1.39524611e+02] [ 8.47738155e-01 5.30405348e-01 -3.19161860e-03 1.22704320e+02] [ 3.81882475e-03 -8.62889711e-05 9.99992705e-01 9.04822608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.54, Y:122.73, Z:0.90 [[ 5.29720262e-01 -8.48169820e-01 -2.09765757e-03 1.39540148e+02] [ 8.48163817e-01 5.29724408e-01 -3.19228750e-03 1.22727486e+02] [ 3.81878233e-03 -8.81378809e-05 9.99992705e-01 9.04537315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.56, Y:122.75, Z:0.90 [[ 5.28164746e-01 -8.49139332e-01 -2.09663059e-03 1.39555189e+02] [ 8.49133334e-01 5.28168900e-01 -3.19296186e-03 1.22749672e+02] [ 3.81864457e-03 -9.39090348e-05 9.99992705e-01 9.04804406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.57, Y:122.77, Z:0.90 [[ 5.27285802e-01 -8.49685407e-01 -2.09570497e-03 1.39570854e+02] [ 8.49679411e-01 5.27289958e-01 -3.19356928e-03 1.22773220e+02] [ 3.81857340e-03 -9.67536235e-05 9.99992705e-01 9.04476213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:122.80, Z:0.90 [[ 5.26626022e-01 -8.50094492e-01 -2.09470426e-03 1.39586541e+02] [ 8.50088496e-01 5.26630179e-01 -3.19422552e-03 1.22796882e+02] [ 3.81852800e-03 -9.85217124e-05 9.99992705e-01 9.03904041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.60, Y:122.82, Z:0.90 [[ 5.25343238e-01 -8.50887830e-01 -2.09370606e-03 1.39601817e+02] [ 8.50881838e-01 5.25347400e-01 -3.19487968e-03 1.22820451e+02] [ 3.81840727e-03 -1.03088024e-04 9.99992705e-01 9.02670255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.62, Y:122.84, Z:0.90 [[ 5.24826209e-01 -8.51206832e-01 -2.09271384e-03 1.39616567e+02] [ 8.51200840e-01 5.24830371e-01 -3.19552946e-03 1.22843765e+02] [ 3.81837629e-03 -1.04222167e-04 9.99992705e-01 9.02278764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.63, Y:122.87, Z:0.90 [[ 5.24557475e-01 -8.51372469e-01 -2.09170289e-03 1.39631376e+02] [ 8.51366476e-01 5.24561635e-01 -3.19619107e-03 1.22866369e+02] [ 3.81837617e-03 -1.04219802e-04 9.99992705e-01 9.02379796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.65, Y:122.89, Z:0.90 [[ 5.24319139e-01 -8.51519271e-01 -2.09096584e-03 1.39646367e+02] [ 8.51513277e-01 5.24323298e-01 -3.19667318e-03 1.22889920e+02] [ 3.81837092e-03 -1.04408242e-04 9.99992705e-01 9.01724950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.66, Y:122.91, Z:0.90 [[ 5.24286589e-01 -8.51539315e-01 -2.08997253e-03 1.39661897e+02] [ 8.51533318e-01 5.24290745e-01 -3.19732247e-03 1.22913623e+02] [ 3.81839904e-03 -1.03367951e-04 9.99992705e-01 9.01590707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:122.94, Z:0.90 [[ 5.24569755e-01 -8.51364909e-01 -2.08896819e-03 1.39676722e+02] [ 8.51358909e-01 5.24573905e-01 -3.19797852e-03 1.22936286e+02] [ 3.81846489e-03 -1.00898868e-04 9.99992705e-01 9.02306963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:122.96, Z:0.90 [[ 5.24837588e-01 -8.51199828e-01 -2.08790918e-03 1.39691386e+02] [ 8.51193824e-01 5.24841731e-01 -3.19866978e-03 1.22959721e+02] [ 3.81852904e-03 -9.84332687e-05 9.99992705e-01 9.01843908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:122.98, Z:0.90 [[ 5.25415271e-01 -8.50843369e-01 -2.08694187e-03 1.39706206e+02] [ 8.50837359e-01 5.25419407e-01 -3.19930077e-03 1.22983680e+02] [ 3.81862360e-03 -9.46866346e-05 9.99992705e-01 9.00962103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.72, Y:123.01, Z:0.90 [[ 5.26157500e-01 -8.50384580e-01 -2.08594032e-03 1.39720837e+02] [ 8.50378564e-01 5.26161627e-01 -3.19995364e-03 1.23007638e+02] [ 3.81873299e-03 -9.01593249e-05 9.99992705e-01 9.00248590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.73, Y:123.03, Z:0.90 [[ 5.27647289e-01 -8.49461001e-01 -2.08491659e-03 1.39734932e+02] [ 8.49454975e-01 5.27651402e-01 -3.20062051e-03 1.23032441e+02] [ 3.81891146e-03 -8.22440336e-05 9.99992705e-01 8.99213771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:123.06, Z:0.90 [[ 5.28303184e-01 -8.49053239e-01 -2.08389223e-03 1.39749333e+02] [ 8.49047208e-01 5.28307288e-01 -3.20128732e-03 1.23055820e+02] [ 3.81899882e-03 -7.80725944e-05 9.99992705e-01 8.99459519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.76, Y:123.08, Z:0.90 [[ 5.29699804e-01 -8.48182633e-01 -2.08296625e-03 1.39762566e+02] [ 8.48176592e-01 5.29703895e-01 -3.20188971e-03 1.23079096e+02] [ 3.81914258e-03 -7.06828662e-05 9.99992705e-01 8.98675457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.78, Y:123.10, Z:0.90 [[ 5.29919362e-01 -8.48045480e-01 -2.08192303e-03 1.39776895e+02] [ 8.48039435e-01 5.29923447e-01 -3.20256789e-03 1.23103448e+02] [ 3.81918305e-03 -6.84501007e-05 9.99992705e-01 8.98300798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.79, Y:123.13, Z:0.90 [[ 5.30472876e-01 -8.47699355e-01 -2.08094244e-03 1.39789869e+02] [ 8.47693306e-01 5.30476954e-01 -3.20320492e-03 1.23127000e+02] [ 3.81924676e-03 -6.47876480e-05 9.99992705e-01 8.97364248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.80, Y:123.15, Z:0.90 [[ 5.30368391e-01 -8.47764733e-01 -2.08022775e-03 1.39803754e+02] [ 8.47758682e-01 5.30372467e-01 -3.20366899e-03 1.23150176e+02] [ 3.81925311e-03 -6.44063695e-05 9.99992705e-01 8.96700355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.82, Y:123.17, Z:0.90 [[ 5.29939220e-01 -8.48033077e-01 -2.07920722e-03 1.39817318e+02] [ 8.48027026e-01 5.29943295e-01 -3.20433119e-03 1.23173134e+02] [ 3.81924076e-03 -6.51231419e-05 9.99992705e-01 8.97125048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.83, Y:123.20, Z:0.90 [[ 5.29158675e-01 -8.48520346e-01 -2.07819721e-03 1.39831942e+02] [ 8.48514296e-01 5.29162752e-01 -3.20498610e-03 1.23197251e+02] [ 3.81920047e-03 -6.74338423e-05 9.99992705e-01 8.96574908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.85, Y:123.22, Z:0.90 [[ 5.27310178e-01 -8.49670325e-01 -2.07722582e-03 1.39846517e+02] [ 8.49664281e-01 5.27314264e-01 -3.20561556e-03 1.23221815e+02] [ 3.81906722e-03 -7.45908756e-05 9.99992705e-01 8.95463053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.86, Y:123.25, Z:0.90 [[ 5.26078238e-01 -8.50433641e-01 -2.07620525e-03 1.39861116e+02] [ 8.50427600e-01 5.26082329e-01 -3.20627643e-03 1.23245161e+02] [ 3.81898022e-03 -7.89099929e-05 9.99992705e-01 8.95257537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.88, Y:123.27, Z:0.89 [[ 5.24031814e-01 -8.51696161e-01 -2.07513070e-03 1.39875742e+02] [ 8.51690128e-01 5.24035916e-01 -3.20697173e-03 1.23269226e+02] [ 3.81880853e-03 -8.68131175e-05 9.99992705e-01 8.94435523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:123.29, Z:0.89 [[ 5.24580831e-01 -8.51358120e-01 -2.07413298e-03 1.39894136e+02] [ 8.51352082e-01 5.24584925e-01 -3.20761688e-03 1.23294681e+02] [ 3.81888958e-03 -8.31631040e-05 9.99992705e-01 8.94650383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.91, Y:123.32, Z:0.89 [[ 5.22808837e-01 -8.52447379e-01 -2.09448153e-03 1.39906349e+02] [ 8.52441401e-01 5.22813020e-01 -3.19446184e-03 1.23317838e+02] [ 3.81813283e-03 -1.15329895e-04 9.99992704e-01 8.94060242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.92, Y:123.34, Z:0.89 [[ 5.22435300e-01 -8.52676412e-01 -2.07244301e-03 1.39920214e+02] [ 8.52670379e-01 5.22439402e-01 -3.20869615e-03 1.23341044e+02] [ 3.81870541e-03 -9.07746358e-05 9.99992705e-01 8.93555580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.93, Y:123.36, Z:0.89 [[ 5.19609297e-01 -8.54401479e-01 -2.07151572e-03 1.39929449e+02] [ 8.54395458e-01 5.19613416e-01 -3.20929469e-03 1.23364013e+02] [ 3.81841349e-03 -1.02314267e-04 9.99992705e-01 8.91868023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.95, Y:123.39, Z:0.89 [[ 5.22616288e-01 -8.52565595e-01 -2.03025265e-03 1.39949948e+02] [ 8.52559455e-01 5.22620230e-01 -3.23588925e-03 1.23388581e+02] [ 3.81985895e-03 -3.97826630e-05 9.99992704e-01 8.92629157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.96, Y:123.41, Z:0.89 [[ 5.23553467e-01 -8.51990306e-01 -2.07007205e-03 1.39964840e+02] [ 8.51984262e-01 5.23557553e-01 -3.21021213e-03 1.23412574e+02] [ 3.81887147e-03 -8.29511216e-05 9.99992705e-01 8.91296450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:139.98, Y:123.44, Z:0.89 [[ 5.23817137e-01 -8.51828226e-01 -2.06906187e-03 1.39979612e+02] [ 8.51822178e-01 5.23821217e-01 -3.21086308e-03 1.23436190e+02] [ 3.81892231e-03 -8.05676866e-05 9.99992705e-01 8.90882836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:123.46, Z:0.89 [[ 5.23934244e-01 -8.51756204e-01 -2.06804720e-03 1.39994538e+02] [ 8.51750153e-01 5.23938319e-01 -3.21151648e-03 1.23460167e+02] [ 3.81895826e-03 -7.88360576e-05 9.99992705e-01 8.90681619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.01, Y:123.48, Z:0.89 [[ 5.24681370e-01 -8.51296181e-01 -2.06702531e-03 1.40009133e+02] [ 8.51290124e-01 5.24685436e-01 -3.21217406e-03 1.23482581e+02] [ 3.81904959e-03 -7.42703459e-05 9.99992705e-01 8.89301351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.02, Y:123.51, Z:0.89 [[ 5.23417750e-01 -8.52073700e-01 -2.06627910e-03 1.40021782e+02] [ 8.52067647e-01 5.23421823e-01 -3.21265400e-03 1.23505875e+02] [ 3.81895355e-03 -7.90494391e-05 9.99992705e-01 8.89081401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:140.04, Y:123.53, Z:0.89 [[ 5.24464856e-01 -8.51429627e-01 -2.05075513e-03 1.40039240e+02] [ 8.51423530e-01 5.24468862e-01 -3.22263268e-03 1.23528842e+02] [ 3.81940216e-03 -5.59035897e-05 9.99992705e-01 8.88337250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.05, Y:123.55, Z:0.89 [[ 5.23461513e-01 -8.52046818e-01 -2.06521916e-03 1.40053568e+02] [ 8.52040762e-01 5.23465581e-01 -3.21333662e-03 1.23552529e+02] [ 3.81898439e-03 -7.75928546e-05 9.99992705e-01 8.90259075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.07, Y:123.58, Z:0.89 [[ 5.24831049e-01 -8.51203917e-01 -2.06419301e-03 1.40071707e+02] [ 8.51197852e-01 5.24835104e-01 -3.21399567e-03 1.23575903e+02] [ 3.81912665e-03 -7.02319334e-05 9.99992705e-01 8.89741095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.09, Y:123.60, Z:0.89 [[ 5.21051718e-01 -8.53522571e-01 -2.08039851e-03 1.40085373e+02] [ 8.53516566e-01 5.21055860e-01 -3.20357935e-03 1.23598353e+02] [ 3.81833112e-03 -1.06424067e-04 9.99992704e-01 8.90765550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.10, Y:123.62, Z:0.89 [[ 5.18432632e-01 -8.55115998e-01 -2.05831256e-03 1.40098412e+02] [ 8.55109948e-01 5.18436710e-01 -3.21776206e-03 1.23621176e+02] [ 3.81866461e-03 -9.18906977e-05 9.99992705e-01 8.88466324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.12, Y:123.64, Z:0.89 [[ 5.18496014e-01 -8.55077617e-01 -2.03796826e-03 1.40118833e+02] [ 8.55071515e-01 5.18500015e-01 -3.23083988e-03 1.23643262e+02] [ 3.81930544e-03 -6.74310118e-05 9.99992704e-01 8.93011817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.13, Y:123.67, Z:0.89 [[ 5.18092126e-01 -8.55322327e-01 -2.06552935e-03 1.40134249e+02] [ 8.55316297e-01 5.18096234e-01 -3.21312246e-03 1.23666887e+02] [ 3.81839836e-03 -1.01987470e-04 9.99992705e-01 8.93557515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.15, Y:123.69, Z:0.89 [[ 5.18916460e-01 -8.54822464e-01 -2.06452457e-03 1.40147896e+02] [ 8.54816429e-01 5.18920558e-01 -3.21376793e-03 1.23689819e+02] [ 3.81852527e-03 -9.71124442e-05 9.99992705e-01 8.94512970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:123.71, Z:0.89 [[ 5.21167486e-01 -8.53451961e-01 -2.04991746e-03 1.40160778e+02] [ 8.53445877e-01 5.21171513e-01 -3.22314227e-03 1.23712879e+02] [ 3.81915568e-03 -6.96966565e-05 9.99992705e-01 8.91822043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.18, Y:123.74, Z:0.90 [[ 5.22318722e-01 -8.52747906e-01 -2.03972739e-03 1.40178176e+02] [ 8.52741792e-01 5.22322702e-01 -3.22968510e-03 1.23737890e+02] [ 3.81950313e-03 -5.24357916e-05 9.99992704e-01 8.95352245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.412755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:140.20, Y:123.76, Z:0.89 [[ 5.25230847e-01 -8.50957283e-01 -2.06404861e-03 1.40197592e+02] [ 8.50951216e-01 5.25234898e-01 -3.21406620e-03 1.23763156e+02] [ 3.81914340e-03 -6.82779608e-05 9.99992705e-01 8.93098508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.21, Y:123.79, Z:0.90 [[ 5.24574803e-01 -8.51361779e-01 -2.09701172e-03 1.40208305e+02] [ 8.51355799e-01 5.24578983e-01 -3.19291337e-03 1.23786398e+02] [ 3.81837268e-03 -1.10381190e-04 9.99992704e-01 8.96699994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.22, Y:123.81, Z:0.90 [[ 5.25774459e-01 -8.50621521e-01 -2.06067858e-03 1.40222570e+02] [ 8.50615443e-01 5.25778493e-01 -3.21619274e-03 1.23807848e+02] [ 3.81922324e-03 -6.18530316e-05 9.99992705e-01 8.96670650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.24, Y:123.83, Z:0.90 [[ 5.24722543e-01 -8.51270866e-01 -2.04093885e-03 1.40237241e+02] [ 8.51264744e-01 5.24726510e-01 -3.22882533e-03 1.23832277e+02] [ 3.81953966e-03 -4.31418506e-05 9.99992705e-01 8.96963603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.25, Y:123.86, Z:0.90 [[ 5.24223647e-01 -8.51578170e-01 -2.04678661e-03 1.40253949e+02] [ 8.51572064e-01 5.24227640e-01 -3.22508263e-03 1.23856586e+02] [ 3.81939208e-03 -5.23217221e-05 9.99992705e-01 8.97254637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.27, Y:123.88, Z:0.90 [[ 5.21907034e-01 -8.52999889e-01 -2.05844192e-03 1.40266892e+02] [ 8.52993824e-01 5.21911087e-01 -3.21762627e-03 1.23880059e+02] [ 3.81895852e-03 -7.65364595e-05 9.99992705e-01 8.97639782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.28, Y:123.90, Z:0.90 [[ 5.20579921e-01 -8.53810468e-01 -2.05683581e-03 1.40282488e+02] [ 8.53804405e-01 5.20583978e-01 -3.21865297e-03 1.23903872e+02] [ 3.81887537e-03 -8.05693632e-05 9.99992705e-01 8.97423159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.30, Y:123.93, Z:0.90 [[ 5.18306177e-01 -8.55192656e-01 -2.05618305e-03 1.40298150e+02] [ 8.55186603e-01 5.18310247e-01 -3.21906992e-03 1.23927785e+02] [ 3.81866570e-03 -8.99563765e-05 9.99992705e-01 8.96250914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.31, Y:123.95, Z:0.90 [[ 5.16826471e-01 -8.56087692e-01 -2.06484597e-03 1.40312980e+02] [ 8.56081667e-01 5.16830584e-01 -3.21353839e-03 1.23951204e+02] [ 3.81824621e-03 -1.06835074e-04 9.99992705e-01 8.96685641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.33, Y:123.97, Z:0.90 [[ 5.14689663e-01 -8.57374068e-01 -2.06359496e-03 1.40327174e+02] [ 8.57368050e-01 5.14693787e-01 -3.21433659e-03 1.23974233e+02] [ 3.81800834e-03 -1.14874574e-04 9.99992705e-01 8.98877099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.34, Y:124.00, Z:0.90 [[ 5.10737566e-01 -8.59734215e-01 -2.05359626e-03 1.40340138e+02] [ 8.59728191e-01 5.10741681e-01 -3.22071198e-03 1.23996468e+02] [ 3.81781349e-03 -1.20595999e-04 9.99992705e-01 8.96776357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:140.36, Y:124.02, Z:0.90 [[ 5.09168513e-01 -8.60664437e-01 -2.03764412e-03 1.40358004e+02] [ 8.60658380e-01 5.09172579e-01 -3.23087664e-03 1.24020232e+02] [ 3.81821314e-03 -1.08654828e-04 9.99992705e-01 8.97883825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.38, Y:124.05, Z:0.90 [[ 5.09007867e-01 -8.60759420e-01 -2.05238778e-03 1.40376966e+02] [ 8.60753401e-01 5.09011989e-01 -3.22148354e-03 1.24045468e+02] [ 3.81761229e-03 -1.26839301e-04 9.99992705e-01 8.99445991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.39, Y:124.07, Z:0.90 [[ 5.06505773e-01 -8.62234028e-01 -2.09343914e-03 1.40386575e+02] [ 8.62228128e-01 5.06510065e-01 -3.19531869e-03 1.24067209e+02] [ 3.81546050e-03 -1.86574746e-04 9.99992704e-01 9.00746033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:140.40, Y:124.09, Z:0.90 [[ 5.07696641e-01 -8.61533467e-01 -2.05089413e-03 1.40402954e+02] [ 8.61527451e-01 5.07700766e-01 -3.22239647e-03 1.24089658e+02] [ 3.81744293e-03 -1.30901729e-04 9.99992705e-01 8.97804180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.42, Y:124.11, Z:0.90 [[ 5.08123344e-01 -8.61281874e-01 -2.04989874e-03 1.40415008e+02] [ 8.61275852e-01 5.08127462e-01 -3.22302955e-03 1.24114643e+02] [ 3.81754678e-03 -1.27831734e-04 9.99992705e-01 9.00842207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.43, Y:124.14, Z:0.90 [[ 5.08966801e-01 -8.60783730e-01 -2.04080808e-03 1.40429227e+02] [ 8.60777682e-01 5.08970880e-01 -3.22880670e-03 1.24137981e+02] [ 3.81801616e-03 -1.13326625e-04 9.99992705e-01 9.01494158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.44, Y:124.16, Z:0.90 [[ 5.08742582e-01 -8.60916270e-01 -2.03968432e-03 1.40443351e+02] [ 8.60910220e-01 5.08746659e-01 -3.22952037e-03 1.24160667e+02] [ 3.81802921e-03 -1.12990548e-04 9.99992705e-01 9.01595878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.46, Y:124.18, Z:0.90 [[ 5.09972645e-01 -8.60188203e-01 -2.03886595e-03 1.40457739e+02] [ 8.60182145e-01 5.09976710e-01 -3.23003980e-03 1.24184050e+02] [ 3.81821628e-03 -1.06564148e-04 9.99992705e-01 9.01377090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.47, Y:124.21, Z:0.90 [[ 5.14198137e-01 -8.57669006e-01 -2.03758483e-03 1.40472889e+02] [ 8.57662925e-01 5.14202167e-01 -3.23085248e-03 1.24207178e+02] [ 3.81873257e-03 -8.62626432e-05 9.99992705e-01 9.01829331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.49, Y:124.23, Z:0.90 [[ 5.14828466e-01 -8.57290765e-01 -2.04819921e-03 1.40485082e+02] [ 8.57284708e-01 5.14832531e-01 -3.22412146e-03 1.24229605e+02] [ 3.81848914e-03 -9.60203571e-05 9.99992705e-01 9.00763432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.50, Y:124.25, Z:0.90 [[ 5.17841373e-01 -8.55474244e-01 -2.03241583e-03 1.40498825e+02] [ 8.55468133e-01 5.17845357e-01 -3.23411979e-03 1.24253038e+02] [ 3.81918328e-03 -6.39059470e-05 9.99992705e-01 9.00638886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.51, Y:124.27, Z:0.90 [[ 5.20011417e-01 -8.54156895e-01 -2.03121967e-03 1.40511956e+02] [ 8.54150771e-01 5.20015381e-01 -3.23487722e-03 1.24273462e+02] [ 3.81935815e-03 -5.27947653e-05 9.99992705e-01 9.00027180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.53, Y:124.30, Z:0.90 [[ 5.18332344e-01 -8.55176911e-01 -2.00804496e-03 1.40527129e+02] [ 8.55170737e-01 5.18336233e-01 -3.24953808e-03 1.24300076e+02] [ 3.81977240e-03 -3.28805942e-05 9.99992704e-01 8.99703407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.55, Y:124.33, Z:0.90 [[ 5.19750318e-01 -8.54315783e-01 -2.03740008e-03 1.40547457e+02] [ 8.54309675e-01 5.19754307e-01 -3.23096090e-03 1.24325611e+02] [ 3.81920835e-03 -6.12776500e-05 9.99992705e-01 8.97056485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.56, Y:124.35, Z:0.90 [[ 5.18622813e-01 -8.55000631e-01 -2.07323359e-03 1.40561897e+02] [ 8.54994619e-01 5.18626946e-01 -3.20832098e-03 1.24347779e+02] [ 3.81835127e-03 -1.08695106e-04 9.99992704e-01 8.98475339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.57, Y:124.37, Z:0.90 [[ 5.15657912e-01 -8.56792065e-01 -2.06768919e-03 1.40572115e+02] [ 8.56786053e-01 5.15662045e-01 -3.21182635e-03 1.24369300e+02] [ 3.81809617e-03 -1.15363589e-04 9.99992704e-01 8.99153132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.59, Y:124.39, Z:0.90 [[ 5.15515329e-01 -8.56877930e-01 -2.03922983e-03 1.40590174e+02] [ 8.56871847e-01 5.15519356e-01 -3.22979504e-03 1.24391316e+02] [ 3.81880254e-03 -8.23497757e-05 9.99992705e-01 9.00493411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.61, Y:124.42, Z:0.90 [[ 5.15749264e-01 -8.56737149e-01 -2.03813660e-03 1.40606381e+02] [ 8.56731062e-01 5.15753285e-01 -3.23048477e-03 1.24415678e+02] [ 3.81885196e-03 -8.00147900e-05 9.99992705e-01 8.98037720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.62, Y:124.44, Z:0.90 [[ 5.11916483e-01 -8.59032740e-01 -2.06550424e-03 1.40615980e+02] [ 8.59026740e-01 5.11920634e-01 -3.21322902e-03 1.24439699e+02] [ 3.81764317e-03 -1.29418471e-04 9.99992704e-01 9.01564794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.63, Y:124.46, Z:0.90 [[ 5.12860588e-01 -8.58469496e-01 -2.03514973e-03 1.40632069e+02] [ 8.58463415e-01 5.12864618e-01 -3.23234086e-03 1.24462805e+02] [ 3.81862232e-03 -8.93613532e-05 9.99992705e-01 9.01812046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.64, Y:124.49, Z:0.90 [[ 5.11306090e-01 -8.59396268e-01 -2.03401418e-03 1.40644679e+02] [ 8.59390192e-01 5.11310126e-01 -3.23305526e-03 1.24486532e+02] [ 3.81848768e-03 -9.49309942e-05 9.99992705e-01 9.02149540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.66, Y:124.51, Z:0.90 [[ 5.10894360e-01 -8.59641105e-01 -2.03075757e-03 1.40659761e+02] [ 8.59635022e-01 5.10898388e-01 -3.23510237e-03 1.24510329e+02] [ 3.81853774e-03 -9.29147775e-05 9.99992705e-01 9.02398013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.67, Y:124.53, Z:0.90 [[ 5.10066148e-01 -8.60132777e-01 -2.03225034e-03 1.40674570e+02] [ 8.60126702e-01 5.10070187e-01 -3.23416436e-03 1.24534449e+02] [ 3.81840108e-03 -9.83550252e-05 9.99992705e-01 9.02329918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.69, Y:124.56, Z:0.90 [[ 5.09550083e-01 -8.60438602e-01 -2.03123387e-03 1.40687851e+02] [ 8.60432527e-01 5.09554122e-01 -3.23480263e-03 1.24557686e+02] [ 3.81837264e-03 -9.94457497e-05 9.99992705e-01 9.01434094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.70, Y:124.58, Z:0.90 [[ 5.09133345e-01 -8.60685259e-01 -2.03016109e-03 1.40701675e+02] [ 8.60679184e-01 5.09137383e-01 -3.23547577e-03 1.24581974e+02] [ 3.81835720e-03 -1.00028786e-04 9.99992705e-01 9.01389185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.71, Y:124.61, Z:0.90 [[ 5.08646465e-01 -8.60973087e-01 -2.02913961e-03 1.40714931e+02] [ 8.60967011e-01 5.08650502e-01 -3.23611626e-03 1.24605892e+02] [ 3.81833189e-03 -1.00983171e-04 9.99992705e-01 9.00641912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.73, Y:124.63, Z:0.90 [[ 5.08279342e-01 -8.61189873e-01 -2.02806157e-03 1.40728288e+02] [ 8.61183796e-01 5.08283378e-01 -3.23679173e-03 1.24630138e+02] [ 3.81832224e-03 -1.01339391e-04 9.99992705e-01 8.99570917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.74, Y:124.65, Z:0.90 [[ 5.07962575e-01 -8.61376755e-01 -2.02704456e-03 1.40743052e+02] [ 8.61370677e-01 5.07966609e-01 -3.23742850e-03 1.24654156e+02] [ 3.81831661e-03 -1.01544225e-04 9.99992705e-01 8.99553950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.76, Y:124.68, Z:0.90 [[ 5.07602146e-01 -8.61589204e-01 -2.02600278e-03 1.40757175e+02] [ 8.61583125e-01 5.07606179e-01 -3.23808033e-03 1.24677248e+02] [ 3.81830658e-03 -1.01913278e-04 9.99992705e-01 8.99562762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.77, Y:124.70, Z:0.90 [[ 5.07235899e-01 -8.61804874e-01 -2.02506492e-03 1.40771374e+02] [ 8.61798795e-01 5.07239931e-01 -3.23866675e-03 1.24700515e+02] [ 3.81829258e-03 -1.02430472e-04 9.99992705e-01 8.99430828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.79, Y:124.72, Z:0.90 [[ 5.06549757e-01 -8.62208355e-01 -2.02398603e-03 1.40785404e+02] [ 8.62202276e-01 5.06553790e-01 -3.23934085e-03 1.24724376e+02] [ 3.81824454e-03 -1.04198040e-04 9.99992705e-01 9.00070648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.672755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:140.80, Y:124.75, Z:0.90 [[ 5.05816818e-01 -8.62638542e-01 -2.02297675e-03 1.40799645e+02] [ 8.62632464e-01 5.05820852e-01 -3.23997103e-03 1.24748625e+02] [ 3.81818771e-03 -1.06253583e-04 9.99992705e-01 8.99791223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.81, Y:124.77, Z:0.90 [[ 5.05490278e-01 -8.62829932e-01 -2.02196482e-03 1.40812556e+02] [ 8.62823853e-01 5.05494310e-01 -3.24060242e-03 1.24773136e+02] [ 3.81818048e-03 -1.06506456e-04 9.99992705e-01 9.01666149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.83, Y:124.80, Z:0.90 [[ 5.04800807e-01 -8.63233492e-01 -2.02094758e-03 1.40826870e+02] [ 8.63227414e-01 5.04804840e-01 -3.24123668e-03 1.24797730e+02] [ 3.81812818e-03 -1.08358460e-04 9.99992705e-01 9.02054069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.84, Y:124.82, Z:0.90 [[ 5.04338044e-01 -8.63503942e-01 -2.01993620e-03 1.40840465e+02] [ 8.63497863e-01 5.04342077e-01 -3.24186685e-03 1.24821227e+02] [ 3.81810362e-03 -1.09213813e-04 9.99992705e-01 9.02166140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.86, Y:124.85, Z:0.90 [[ 5.03852696e-01 -8.63787234e-01 -2.01887090e-03 1.40855053e+02] [ 8.63781155e-01 5.03856729e-01 -3.24253013e-03 1.24845325e+02] [ 3.81807782e-03 -1.10105095e-04 9.99992705e-01 9.02353968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.87, Y:124.87, Z:0.90 [[ 5.03651169e-01 -8.63904751e-01 -2.02013258e-03 1.40869899e+02] [ 8.63898676e-01 5.03655208e-01 -3.24174502e-03 1.24869496e+02] [ 3.81800922e-03 -1.12481191e-04 9.99992705e-01 9.02312756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.88, Y:124.89, Z:0.90 [[ 5.03458403e-01 -8.64017110e-01 -2.01713978e-03 1.40884023e+02] [ 8.64011029e-01 5.03462432e-01 -3.24360619e-03 1.24892559e+02] [ 3.81808535e-03 -1.09810222e-04 9.99992705e-01 9.01841144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.90, Y:124.92, Z:0.90 [[ 5.03332129e-01 -8.64090680e-01 -2.01608606e-03 1.40898514e+02] [ 8.64084596e-01 5.03336155e-01 -3.24426101e-03 1.24916141e+02] [ 3.81810470e-03 -1.09128109e-04 9.99992705e-01 9.02874138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.91, Y:124.94, Z:0.90 [[ 5.03546535e-01 -8.63965756e-01 -2.01507607e-03 1.40912509e+02] [ 8.63959669e-01 5.03550555e-01 -3.24488821e-03 1.24940500e+02] [ 3.81816497e-03 -1.06992246e-04 9.99992705e-01 9.02930022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.93, Y:124.96, Z:0.90 [[ 5.03698301e-01 -8.63877286e-01 -2.01407226e-03 1.40926300e+02] [ 8.63871196e-01 5.03702316e-01 -3.24551115e-03 1.24964447e+02] [ 3.81821622e-03 -1.05140565e-04 9.99992705e-01 9.03050432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.94, Y:124.99, Z:0.90 [[ 5.04204164e-01 -8.63582138e-01 -2.01306406e-03 1.40939962e+02] [ 8.63576043e-01 5.04208172e-01 -3.24613637e-03 1.24989433e+02] [ 3.81830874e-03 -1.01718423e-04 9.99992705e-01 9.03055423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.95, Y:125.01, Z:0.90 [[ 5.04316915e-01 -8.63516300e-01 -2.01205020e-03 1.40953884e+02] [ 8.63510202e-01 5.04320919e-01 -3.24676467e-03 1.25012990e+02] [ 3.81835322e-03 -1.00027535e-04 9.99992705e-01 9.02951707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.97, Y:125.04, Z:0.90 [[ 5.04128152e-01 -8.63626518e-01 -2.01098329e-03 1.40968226e+02] [ 8.63620418e-01 5.04132153e-01 -3.24742536e-03 1.25036808e+02] [ 3.81836399e-03 -9.96076873e-05 9.99992705e-01 9.03400193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.98, Y:125.06, Z:0.90 [[ 5.04126610e-01 -8.63627420e-01 -2.00995593e-03 1.40982865e+02] [ 8.63621318e-01 5.04130607e-01 -3.24806111e-03 1.25061128e+02] [ 3.81839494e-03 -9.84067578e-05 9.99992705e-01 9.03947621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.00, Y:125.08, Z:0.90 [[ 5.04117118e-01 -8.63632964e-01 -2.00891870e-03 1.40997283e+02] [ 8.63626859e-01 5.04121111e-01 -3.24870251e-03 1.25084548e+02] [ 3.81842490e-03 -9.72296042e-05 9.99992705e-01 9.03952611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.01, Y:125.11, Z:0.90 [[ 5.03782519e-01 -8.63828190e-01 -2.00816289e-03 1.41011575e+02] [ 8.63822085e-01 5.03786512e-01 -3.24916964e-03 1.25108380e+02] [ 3.81840970e-03 -9.78205881e-05 9.99992705e-01 9.03764720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.03, Y:125.13, Z:0.90 [[ 5.03120640e-01 -8.64213858e-01 -2.00713342e-03 1.41026121e+02] [ 8.64207754e-01 5.03124634e-01 -3.24980545e-03 1.25132721e+02] [ 3.81836518e-03 -9.95360665e-05 9.99992705e-01 9.03752308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.04, Y:125.16, Z:0.90 [[ 5.02439133e-01 -8.64610255e-01 -2.00611023e-03 1.41039927e+02] [ 8.64604151e-01 5.02443127e-01 -3.25043695e-03 1.25156016e+02] [ 3.81831742e-03 -1.01344512e-04 9.99992705e-01 9.03779877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.05, Y:125.18, Z:0.90 [[ 5.01758136e-01 -8.65005637e-01 -2.00502996e-03 1.41054363e+02] [ 8.64999534e-01 5.01762132e-01 -3.25110318e-03 1.25180388e+02] [ 3.81827068e-03 -1.03082508e-04 9.99992705e-01 9.04345488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.06, Y:125.20, Z:0.90 [[ 4.97673699e-01 -8.67362020e-01 -2.00401455e-03 1.41062437e+02] [ 8.67355933e-01 4.97677719e-01 -3.25172897e-03 1.25202797e+02] [ 3.81777959e-03 -1.19893928e-04 9.99992705e-01 9.01552192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.08, Y:125.23, Z:0.91 [[ 4.99920136e-01 -8.66069301e-01 -1.95537100e-03 1.41082895e+02] [ 8.66063085e-01 4.99923958e-01 -3.28166113e-03 1.25227324e+02] [ 3.81968277e-03 -5.29061595e-05 9.99992704e-01 9.05082092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.10, Y:125.25, Z:0.90 [[ 4.98549628e-01 -8.66858845e-01 -2.00286639e-03 1.41097074e+02] [ 8.66852751e-01 4.98553638e-01 -3.25241303e-03 1.25250969e+02] [ 3.81791932e-03 -1.14700937e-04 9.99992705e-01 9.04997772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.11, Y:125.28, Z:0.90 [[ 4.97895790e-01 -8.67234556e-01 -2.00188567e-03 1.41111583e+02] [ 8.67228463e-01 4.97899801e-01 -3.25301655e-03 1.25275156e+02] [ 3.81786684e-03 -1.16428991e-04 9.99992705e-01 9.04881083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.13, Y:125.30, Z:0.90 [[ 4.97565015e-01 -8.67424378e-01 -2.00090452e-03 1.41125668e+02] [ 8.67418284e-01 4.97569024e-01 -3.25361994e-03 1.25298774e+02] [ 3.81785737e-03 -1.16733709e-04 9.99992705e-01 9.04581921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.14, Y:125.32, Z:0.90 [[ 4.97602958e-01 -8.67402614e-01 -2.00018975e-03 1.41138768e+02] [ 8.67396518e-01 4.97606964e-01 -3.25405929e-03 1.25322838e+02] [ 3.81788789e-03 -1.15728098e-04 9.99992705e-01 9.03835251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.15, Y:125.35, Z:0.90 [[ 4.97559398e-01 -8.67427604e-01 -1.99948958e-03 1.41152620e+02] [ 8.67421506e-01 4.97563402e-01 -3.25448947e-03 1.25347318e+02] [ 3.81790683e-03 -1.15098441e-04 9.99992705e-01 9.03357863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.17, Y:125.37, Z:0.90 [[ 4.97700095e-01 -8.67346887e-01 -1.99854292e-03 1.41165969e+02] [ 8.67340786e-01 4.97704094e-01 -3.25507069e-03 1.25370643e+02] [ 3.81795842e-03 -1.13368799e-04 9.99992705e-01 9.03045373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.18, Y:125.39, Z:0.90 [[ 4.98398884e-01 -8.66945536e-01 -1.99754435e-03 1.41178517e+02] [ 8.66939430e-01 4.98402875e-01 -3.25568337e-03 1.25393322e+02] [ 3.81808201e-03 -1.09121000e-04 9.99992705e-01 9.02766863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.19, Y:125.42, Z:0.90 [[ 4.98505708e-01 -8.66884117e-01 -1.99644230e-03 1.41192092e+02] [ 8.66878008e-01 4.98509694e-01 -3.25635902e-03 1.25417198e+02] [ 3.81813176e-03 -1.07358364e-04 9.99992705e-01 9.02918258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.21, Y:125.44, Z:0.90 [[ 4.98416532e-01 -8.66935395e-01 -1.99540486e-03 1.41205436e+02] [ 8.66929283e-01 4.98420515e-01 -3.25699462e-03 1.25441245e+02] [ 3.81815463e-03 -1.06534938e-04 9.99992705e-01 9.03122840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.22, Y:125.46, Z:0.90 [[ 4.98268515e-01 -8.67020478e-01 -1.99436776e-03 1.41218576e+02] [ 8.67014365e-01 4.98272495e-01 -3.25762954e-03 1.25464828e+02] [ 3.81817012e-03 -1.05971260e-04 9.99992705e-01 9.03656187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.23, Y:125.49, Z:0.91 [[ 4.98279287e-01 -8.67014290e-01 -1.99333576e-03 1.41231739e+02] [ 8.67008174e-01 4.98283263e-01 -3.25826090e-03 1.25489944e+02] [ 3.81820461e-03 -1.04714484e-04 9.99992705e-01 9.05749947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.25, Y:125.51, Z:0.91 [[ 4.98550143e-01 -8.66858573e-01 -1.99230428e-03 1.41245454e+02] [ 8.66852453e-01 4.98554113e-01 -3.25889149e-03 1.25513860e+02] [ 3.81826952e-03 -1.02313031e-04 9.99992705e-01 9.05312970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.26, Y:125.54, Z:0.91 [[ 4.98547044e-01 -8.66860358e-01 -1.99121764e-03 1.41258630e+02] [ 8.66854235e-01 4.98551010e-01 -3.25955530e-03 1.25537338e+02] [ 3.81830284e-03 -1.01053788e-04 9.99992705e-01 9.05567642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.692755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:141.27, Y:125.56, Z:0.91 [[ 4.98922543e-01 -8.66644295e-01 -1.99021156e-03 1.41272077e+02] [ 8.66638169e-01 4.98926503e-01 -3.26016948e-03 1.25562116e+02] [ 3.81837657e-03 -9.82212568e-05 9.99992705e-01 9.05913515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.29, Y:125.59, Z:0.91 [[ 4.99854857e-01 -8.66106894e-01 -1.99241448e-03 1.41285210e+02] [ 8.66100769e-01 4.99858818e-01 -3.25882538e-03 1.25585109e+02] [ 3.81841708e-03 -9.66920194e-05 9.99992705e-01 9.07051977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.30, Y:125.61, Z:0.91 [[ 5.00487864e-01 -8.65741269e-01 -1.98842019e-03 1.41298590e+02] [ 8.65735131e-01 5.00491806e-01 -3.26126074e-03 1.25608418e+02] [ 3.81859602e-03 -8.92237927e-05 9.99992705e-01 9.06696954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.31, Y:125.63, Z:0.91 [[ 5.01994433e-01 -8.64868568e-01 -1.98736133e-03 1.41312255e+02] [ 8.64862420e-01 5.01998361e-01 -3.26190586e-03 1.25633234e+02] [ 3.81877198e-03 -8.13355414e-05 9.99992705e-01 9.06282248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.33, Y:125.66, Z:0.91 [[ 5.02658092e-01 -8.64483023e-01 -1.98632996e-03 1.41325704e+02] [ 8.64476870e-01 5.02662011e-01 -3.26253379e-03 1.25656699e+02] [ 3.81885768e-03 -7.71972967e-05 9.99992705e-01 9.05980177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.34, Y:125.68, Z:0.91 [[ 5.02387312e-01 -8.64640415e-01 -1.98523915e-03 1.41340404e+02] [ 8.64634261e-01 5.02391228e-01 -3.26319741e-03 1.25681183e+02] [ 3.81885910e-03 -7.71168165e-05 9.99992705e-01 9.06088953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.35, Y:125.71, Z:0.91 [[ 5.03118230e-01 -8.64215314e-01 -1.98421692e-03 1.41354662e+02] [ 8.64209154e-01 5.03122138e-01 -3.26381887e-03 1.25705313e+02] [ 3.81894571e-03 -7.26916567e-05 9.99992705e-01 9.05942483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.37, Y:125.73, Z:0.91 [[ 5.04490879e-01 -8.63414744e-01 -1.98319934e-03 1.41368841e+02] [ 8.63408575e-01 5.04494772e-01 -3.26443706e-03 1.25729042e+02] [ 3.81907679e-03 -6.54325940e-05 9.99992705e-01 9.05999281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.38, Y:125.75, Z:0.91 [[ 5.04851587e-01 -8.63203884e-01 -1.98216504e-03 1.41383232e+02] [ 8.63197712e-01 5.04855474e-01 -3.26506497e-03 1.25752744e+02] [ 3.81912364e-03 -6.26270940e-05 9.99992705e-01 9.06112093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.40, Y:125.78, Z:0.91 [[ 5.05076213e-01 -8.63072473e-01 -1.98113521e-03 1.41397874e+02] [ 8.63066297e-01 5.05080095e-01 -3.26568971e-03 1.25776713e+02] [ 3.81915886e-03 -6.04288413e-05 9.99992705e-01 9.06231872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.41, Y:125.80, Z:0.91 [[ 5.04504318e-01 -8.63406899e-01 -1.98010885e-03 1.41412677e+02] [ 8.63400723e-01 5.04508200e-01 -3.26631192e-03 1.25800821e+02] [ 3.81913739e-03 -6.17589471e-05 9.99992705e-01 9.05605193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.43, Y:125.82, Z:0.91 [[ 5.04582216e-01 -8.63361360e-01 -1.98750778e-03 1.41428273e+02] [ 8.63355201e-01 5.04586125e-01 -3.26182914e-03 1.25824911e+02] [ 3.81900609e-03 -7.00642064e-05 9.99992705e-01 9.06284760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.44, Y:125.85, Z:0.91 [[ 5.04109190e-01 -8.63637619e-01 -1.99704982e-03 1.41441578e+02] [ 8.63631485e-01 5.04113139e-01 -3.25605131e-03 1.25847502e+02] [ 3.81878745e-03 -8.33097100e-05 9.99992705e-01 9.07918903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.46, Y:125.87, Z:0.91 [[ 5.03631165e-01 -8.63916513e-01 -1.97701026e-03 1.41456343e+02] [ 8.63910333e-01 5.03635041e-01 -3.26817380e-03 1.25870963e+02] [ 3.81912096e-03 -6.20054153e-05 9.99992705e-01 9.08215214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.47, Y:125.89, Z:0.91 [[ 5.03140819e-01 -8.64202182e-01 -1.97598897e-03 1.41471537e+02] [ 8.64196003e-01 5.03144695e-01 -3.26879118e-03 1.25893593e+02] [ 3.81910483e-03 -6.29794984e-05 9.99992705e-01 9.09333636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.49, Y:125.92, Z:0.91 [[ 5.01781229e-01 -8.64992327e-01 -1.96768682e-03 1.41486673e+02] [ 8.64986134e-01 5.01785084e-01 -3.27380738e-03 1.25918580e+02] [ 3.81917416e-03 -5.92867269e-05 9.99992705e-01 9.08793410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.50, Y:125.94, Z:0.91 [[ 5.00432390e-01 -8.65773368e-01 -1.97429876e-03 1.41501127e+02] [ 8.65767197e-01 5.00436279e-01 -3.26981512e-03 1.25941498e+02] [ 3.81892957e-03 -7.29617140e-05 9.99992705e-01 9.08030198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.52, Y:125.97, Z:0.91 [[ 4.99876832e-01 -8.66094256e-01 -1.97319463e-03 1.41515774e+02] [ 8.66088084e-01 4.99880721e-01 -3.27048128e-03 1.25965960e+02] [ 3.81890700e-03 -7.41225326e-05 9.99992705e-01 9.08263536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.53, Y:125.99, Z:0.91 [[ 4.99267958e-01 -8.66445391e-01 -1.97216773e-03 1.41530397e+02] [ 8.66439220e-01 4.99271848e-01 -3.27110040e-03 1.25990178e+02] [ 3.81887770e-03 -7.56078546e-05 9.99992705e-01 9.08681966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.262755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:141.55, Y:126.01, Z:0.91 [[ 4.99234918e-01 -8.66464432e-01 -1.97112603e-03 1.41545088e+02] [ 8.66458258e-01 4.99238803e-01 -3.27172800e-03 1.26012495e+02] [ 3.81889854e-03 -7.45375735e-05 9.99992705e-01 9.08396938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.292755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:141.56, Y:126.04, Z:0.91 [[ 4.99014488e-01 -8.66591403e-01 -1.97002792e-03 1.41560120e+02] [ 8.66585227e-01 4.99018371e-01 -3.27238908e-03 1.26036515e+02] [ 3.81890437e-03 -7.42275274e-05 9.99992705e-01 9.07942993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.57, Y:126.06, Z:0.91 [[ 4.99101186e-01 -8.66541476e-01 -1.96899635e-03 1.41574783e+02] [ 8.66535298e-01 4.99105065e-01 -3.27300965e-03 1.26060420e+02] [ 3.81893467e-03 -7.26418392e-05 9.99992705e-01 9.08892951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.59, Y:126.08, Z:0.91 [[ 4.98831668e-01 -8.66696657e-01 -1.96797327e-03 1.41589542e+02] [ 8.66690477e-01 4.98835544e-01 -3.27362469e-03 1.26083905e+02] [ 3.81893459e-03 -7.26360262e-05 9.99992705e-01 9.08849083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:126.11, Z:0.91 [[ 4.98392635e-01 -8.66949199e-01 -1.96693320e-03 1.41604870e+02] [ 8.66943019e-01 4.98396511e-01 -3.27424949e-03 1.26106582e+02] [ 3.81892061e-03 -7.33571757e-05 9.99992705e-01 9.08254689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.62, Y:126.13, Z:0.91 [[ 4.97786514e-01 -8.67297367e-01 -1.96583950e-03 1.41619973e+02] [ 8.67291187e-01 4.97790390e-01 -3.27490601e-03 1.26130082e+02] [ 3.81889337e-03 -7.47512261e-05 9.99992705e-01 9.08127105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.64, Y:126.15, Z:0.91 [[ 4.94687417e-01 -8.69068754e-01 -1.96482423e-03 1.41636196e+02] [ 8.69062586e-01 4.94691311e-01 -3.27551502e-03 1.26154216e+02] [ 3.81862923e-03 -8.71991634e-05 9.99992705e-01 9.07263906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:126.17, Z:0.91 [[ 4.95448543e-01 -8.68635006e-01 -1.99188453e-03 1.41650586e+02] [ 8.68628899e-01 4.95452534e-01 -3.25927953e-03 1.26173654e+02] [ 3.81800853e-03 -1.15403169e-04 9.99992705e-01 9.05496003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:126.20, Z:0.91 [[ 4.93573929e-01 -8.69701628e-01 -1.96329225e-03 1.41667510e+02] [ 8.69695461e-01 4.93577826e-01 -3.27641260e-03 1.26195931e+02] [ 3.81853889e-03 -9.03145141e-05 9.99992705e-01 9.05002066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.68, Y:126.22, Z:0.91 [[ 4.90910168e-01 -8.71207990e-01 -1.96082648e-03 1.41682197e+02] [ 8.71201829e-01 4.90914074e-01 -3.27788915e-03 1.26219602e+02] [ 3.81832054e-03 -9.91265016e-05 9.99992705e-01 9.06076662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.70, Y:126.24, Z:0.91 [[ 4.90105732e-01 -8.71660744e-01 -1.97945301e-03 1.41697210e+02] [ 8.71654632e-01 4.90109714e-01 -3.26674813e-03 1.26241375e+02] [ 3.81764525e-03 -1.24347404e-04 9.99992705e-01 9.06653470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:126.26, Z:0.91 [[ 4.87655359e-01 -8.73034028e-01 -1.95876877e-03 1.41712572e+02] [ 8.73027877e-01 4.87659280e-01 -3.27910384e-03 1.26263325e+02] [ 3.81798100e-03 -1.10987184e-04 9.99992705e-01 9.07661764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.73, Y:126.28, Z:0.91 [[ 4.87568409e-01 -8.73082568e-01 -1.96867644e-03 1.41726407e+02] [ 8.73076441e-01 4.87572368e-01 -3.27318707e-03 1.26284534e+02] [ 3.81763481e-03 -1.22902410e-04 9.99992705e-01 9.08710936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.74, Y:126.31, Z:0.91 [[ 4.88150745e-01 -8.72757137e-01 -1.95714917e-03 1.41740603e+02] [ 8.72750979e-01 4.88154657e-01 -3.28006517e-03 1.26306001e+02] [ 3.81809176e-03 -1.06937595e-04 9.99992705e-01 9.09547102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.75, Y:126.33, Z:0.91 [[ 4.86222925e-01 -8.73832645e-01 -1.94300159e-03 1.41754602e+02] [ 8.73826463e-01 4.86226797e-01 -3.28849773e-03 1.26330122e+02] [ 3.81833612e-03 -9.89032217e-05 9.99992705e-01 9.09874225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:126.35, Z:0.91 [[ 4.88176169e-01 -8.72742906e-01 -1.96196412e-03 1.41769058e+02] [ 8.72736760e-01 4.88180098e-01 -3.27719687e-03 1.26349897e+02] [ 3.81794216e-03 -1.12428796e-04 9.99992705e-01 9.10002927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.78, Y:126.37, Z:0.91 [[ 4.88107590e-01 -8.72781302e-01 -1.94404818e-03 1.41783603e+02] [ 8.72775114e-01 4.88111453e-01 -3.28787023e-03 1.26374400e+02] [ 3.81850385e-03 -9.18824596e-05 9.99992705e-01 9.10678284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.80, Y:126.40, Z:0.91 [[ 4.87857652e-01 -8.72921019e-01 -1.95069848e-03 1.41797300e+02] [ 8.72914848e-01 4.87861542e-01 -3.28391097e-03 1.26398392e+02] [ 3.81826568e-03 -1.00712566e-04 9.99992705e-01 9.09766838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:126.42, Z:0.91 [[ 4.89231418e-01 -8.72151819e-01 -1.95566637e-03 1.41811809e+02] [ 8.72145653e-01 4.89235316e-01 -3.28095549e-03 1.26422684e+02] [ 3.81827236e-03 -1.00479419e-04 9.99992705e-01 9.09704902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:141.83, Y:126.45, Z:0.91 [[ 4.89101352e-01 -8.72224772e-01 -1.95324053e-03 1.41825701e+02] [ 8.72218601e-01 4.89105243e-01 -3.28239770e-03 1.26446896e+02] [ 3.81832877e-03 -9.82275673e-05 9.99992705e-01 9.09252304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:126.47, Z:0.91 [[ 4.91636707e-01 -8.70798202e-01 -1.95942094e-03 1.41839753e+02] [ 8.70792035e-01 4.91640602e-01 -3.27872585e-03 1.26468141e+02] [ 3.81843946e-03 -9.43061655e-05 9.99992705e-01 9.10098986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.85, Y:126.49, Z:0.91 [[ 4.92132702e-01 -8.70518014e-01 -1.94723614e-03 1.41853802e+02] [ 8.70511816e-01 4.92136548e-01 -3.28595907e-03 1.26492639e+02] [ 3.81879264e-03 -7.79641509e-05 9.99992705e-01 9.09570468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.87, Y:126.52, Z:0.91 [[ 4.92743833e-01 -8.70172231e-01 -1.95054636e-03 1.41866989e+02] [ 8.70166037e-01 4.92747687e-01 -3.28399500e-03 1.26515756e+02] [ 3.81876846e-03 -7.91309123e-05 9.99992705e-01 9.09771505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.88, Y:126.54, Z:0.91 [[ 4.93708824e-01 -8.69625090e-01 -1.94953793e-03 1.41880943e+02] [ 8.69618890e-01 4.93712668e-01 -3.28459268e-03 1.26539497e+02] [ 3.81887578e-03 -7.37226204e-05 9.99992705e-01 9.09667220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.90, Y:126.56, Z:0.91 [[ 4.95104491e-01 -8.68831256e-01 -1.94714063e-03 1.41895680e+02] [ 8.68825044e-01 4.95108316e-01 -3.28601265e-03 1.26563904e+02] [ 3.81903602e-03 -6.48049214e-05 9.99992705e-01 9.08961472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.91, Y:126.59, Z:0.91 [[ 4.95614308e-01 -8.68540536e-01 -1.94808653e-03 1.41909593e+02] [ 8.68534324e-01 4.95618133e-01 -3.28545269e-03 1.26586719e+02] [ 3.81905585e-03 -6.36626547e-05 9.99992705e-01 9.08886121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.92, Y:126.61, Z:0.91 [[ 4.95832725e-01 -8.68415872e-01 -1.94494758e-03 1.41924195e+02] [ 8.68409652e-01 4.95836536e-01 -3.28730996e-03 1.26610798e+02] [ 3.81912822e-03 -5.90553977e-05 9.99992705e-01 9.08606538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.94, Y:126.63, Z:0.91 [[ 4.95584618e-01 -8.68557487e-01 -1.94388680e-03 1.41939482e+02] [ 8.68551265e-01 4.95588427e-01 -3.28793711e-03 1.26633820e+02] [ 3.81913020e-03 -5.89142836e-05 9.99992705e-01 9.09061107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.95, Y:126.66, Z:0.91 [[ 4.95565506e-01 -8.68568386e-01 -1.94608296e-03 1.41953512e+02] [ 8.68562170e-01 4.95569323e-01 -3.28663907e-03 1.26655843e+02] [ 3.81908981e-03 -6.15490817e-05 9.99992705e-01 9.09126504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.97, Y:126.68, Z:0.91 [[ 4.93554802e-01 -8.69712544e-01 -1.93575650e-03 1.41968786e+02] [ 8.69706313e-01 4.93558595e-01 -3.29273780e-03 1.26679540e+02] [ 3.81914463e-03 -5.83930894e-05 9.99992705e-01 9.09447935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:126.70, Z:0.91 [[ 4.93177519e-01 -8.69926529e-01 -1.94134300e-03 1.41982521e+02] [ 8.69920312e-01 4.93181336e-01 -3.28944079e-03 1.26704372e+02] [ 3.81900595e-03 -6.65354564e-05 9.99992705e-01 9.10271090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.00, Y:126.73, Z:0.91 [[ 4.92737078e-01 -8.70176072e-01 -1.94317575e-03 1.41996175e+02] [ 8.70169861e-01 4.92740905e-01 -3.28835960e-03 1.26728753e+02] [ 3.81893401e-03 -7.05962732e-05 9.99992705e-01 9.10393694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.01, Y:126.75, Z:0.91 [[ 4.93638189e-01 -8.69665202e-01 -1.94308279e-03 1.42008551e+02] [ 8.69658987e-01 4.93642009e-01 -3.28841439e-03 1.26752318e+02] [ 3.81900685e-03 -6.65324924e-05 9.99992705e-01 9.10176876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:126.78, Z:0.91 [[ 4.94077907e-01 -8.69415472e-01 -1.93872142e-03 1.42021526e+02] [ 8.69409245e-01 4.94081707e-01 -3.29098367e-03 1.26777275e+02] [ 3.81911891e-03 -5.95400045e-05 9.99992705e-01 9.09989134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.03, Y:126.80, Z:0.91 [[ 4.94167987e-01 -8.69364277e-01 -1.93772136e-03 1.42034858e+02] [ 8.69358048e-01 4.94171782e-01 -3.29157240e-03 1.26800282e+02] [ 3.81914268e-03 -5.79839498e-05 9.99992705e-01 9.09427797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.05, Y:126.83, Z:0.91 [[ 4.94563828e-01 -8.69139154e-01 -1.93666745e-03 1.42047082e+02] [ 8.69132921e-01 4.94567617e-01 -3.29219237e-03 1.26825886e+02] [ 3.81918630e-03 -5.50221772e-05 9.99992705e-01 9.09367406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.06, Y:126.85, Z:0.91 [[ 4.94069111e-01 -8.69420477e-01 -1.93566238e-03 1.42060025e+02] [ 8.69414244e-01 4.94072900e-01 -3.29278321e-03 1.26849326e+02] [ 3.81917147e-03 -5.60299716e-05 9.99992705e-01 9.08759260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.07, Y:126.87, Z:0.91 [[ 4.93028409e-01 -8.70011061e-01 -1.93460286e-03 1.42073748e+02] [ 8.70004829e-01 4.93032201e-01 -3.29340559e-03 1.26873371e+02] [ 3.81912079e-03 -5.93713147e-05 9.99992705e-01 9.08081945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.09, Y:126.90, Z:0.91 [[ 4.91504465e-01 -8.70872908e-01 -1.93361689e-03 1.42087779e+02] [ 8.70866681e-01 4.91508264e-01 -3.29398437e-03 1.26898206e+02] [ 3.81903042e-03 -6.49145002e-05 9.99992705e-01 9.07771091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.10, Y:126.92, Z:0.91 [[ 4.88193018e-01 -8.72733546e-01 -1.93258164e-03 1.42100680e+02] [ 8.72727331e-01 4.88196837e-01 -3.29459164e-03 1.26922739e+02] [ 3.81878088e-03 -7.82201820e-05 9.99992705e-01 9.06787612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:126.95, Z:0.91 [[ 4.86379878e-01 -8.73745320e-01 -1.93155266e-03 1.42113734e+02] [ 8.73739110e-01 4.86383706e-01 -3.29519480e-03 1.26945407e+02] [ 3.81863677e-03 -8.49566555e-05 9.99992705e-01 9.06850449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.13, Y:126.97, Z:0.91 [[ 4.83200976e-01 -8.75507331e-01 -1.93112052e-03 1.42127567e+02] [ 8.75501135e-01 4.83204825e-01 -3.29544786e-03 1.26969358e+02] [ 3.81831552e-03 -9.83345819e-05 9.99992705e-01 9.06168388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.14, Y:126.99, Z:0.91 [[ 4.82053225e-01 -8.76139811e-01 -1.92898414e-03 1.42141747e+02] [ 8.76133614e-01 4.82057074e-01 -3.29669791e-03 1.26993789e+02] [ 3.81824874e-03 -1.00863988e-04 9.99992705e-01 9.06032881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.16, Y:127.02, Z:0.91 [[ 4.80720234e-01 -8.76871906e-01 -1.92794861e-03 1.42155519e+02] [ 8.76865713e-01 4.80724089e-01 -3.29730340e-03 1.27018103e+02] [ 3.81812405e-03 -1.05471570e-04 9.99992705e-01 9.05906357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.17, Y:127.04, Z:0.91 [[ 4.79913594e-01 -8.77313644e-01 -1.92691047e-03 1.42168781e+02] [ 8.77307452e-01 4.79917450e-01 -3.29790996e-03 1.27041411e+02] [ 3.81805936e-03 -1.07781095e-04 9.99992705e-01 9.05932178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.18, Y:127.06, Z:0.91 [[ 4.80375899e-01 -8.77060594e-01 -1.92615331e-03 1.42181744e+02] [ 8.77054398e-01 4.80379749e-01 -3.29835212e-03 1.27063688e+02] [ 3.81813972e-03 -1.04892363e-04 9.99992705e-01 9.05304573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.20, Y:127.09, Z:0.91 [[ 4.79850428e-01 -8.77348214e-01 -1.91782446e-03 1.42196103e+02] [ 8.77342001e-01 4.79854251e-01 -3.30321304e-03 1.27089234e+02] [ 3.81834428e-03 -9.75397566e-05 9.99992705e-01 9.05399959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.21, Y:127.11, Z:0.91 [[ 4.80302961e-01 -8.77100543e-01 -1.92433524e-03 1.42209011e+02] [ 8.77094343e-01 4.80306805e-01 -3.29941573e-03 1.27112730e+02] [ 3.81819064e-03 -1.03104407e-04 9.99992705e-01 9.05144884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.22, Y:127.14, Z:0.91 [[ 4.82405120e-01 -8.75946117e-01 -1.92357103e-03 1.42222348e+02] [ 8.75939906e-01 4.82408946e-01 -3.29986121e-03 1.27135373e+02] [ 3.81844848e-03 -9.30626859e-05 9.99992705e-01 9.05171747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.24, Y:127.16, Z:0.91 [[ 4.81150159e-01 -8.76636130e-01 -1.90249575e-03 1.42236446e+02] [ 8.76629877e-01 4.81153914e-01 -3.31213355e-03 1.27160199e+02] [ 3.81892922e-03 -7.41510238e-05 9.99992705e-01 9.05003516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.25, Y:127.18, Z:0.91 [[ 4.80885159e-01 -8.76781484e-01 -1.92174006e-03 1.42250679e+02] [ 8.76775276e-01 4.80888989e-01 -3.30092987e-03 1.27184963e+02] [ 3.81833783e-03 -9.75659852e-05 9.99992705e-01 9.05118503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.26, Y:127.21, Z:0.91 [[ 4.80968028e-01 -8.76736030e-01 -1.92074212e-03 1.42264743e+02] [ 8.76729819e-01 4.80971854e-01 -3.30151045e-03 1.27209393e+02] [ 3.81837607e-03 -9.60509139e-05 9.99992705e-01 9.05991638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.28, Y:127.23, Z:0.91 [[ 4.80832428e-01 -8.76810408e-01 -1.91972381e-03 1.42278554e+02] [ 8.76804195e-01 4.80836251e-01 -3.30210246e-03 1.27233575e+02] [ 3.81839060e-03 -9.54639439e-05 9.99992705e-01 9.06466125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.29, Y:127.26, Z:0.91 [[ 4.81914547e-01 -8.76216119e-01 -1.91868231e-03 1.42291252e+02] [ 8.76209899e-01 4.81918359e-01 -3.30270751e-03 1.27255198e+02] [ 3.81853379e-03 -8.95456388e-05 9.99992705e-01 9.06808956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:127.28, Z:0.91 [[ 4.79882542e-01 -8.77330690e-01 -1.89880698e-03 1.42304974e+02] [ 8.77324434e-01 4.79886293e-01 -3.31424128e-03 1.27281429e+02] [ 3.81889703e-03 -7.54232271e-05 9.99992705e-01 9.07749430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.32, Y:127.31, Z:0.91 [[ 4.79316720e-01 -8.77639908e-01 -1.91660016e-03 1.42318876e+02] [ 8.77633695e-01 4.79320542e-01 -3.30391948e-03 1.27306029e+02] [ 3.81831741e-03 -9.84490304e-05 9.99992705e-01 9.08003289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.33, Y:127.33, Z:0.91 [[ 4.78050577e-01 -8.78330221e-01 -1.91553356e-03 1.42332258e+02] [ 8.78324010e-01 4.78054404e-01 -3.30453775e-03 1.27329987e+02] [ 3.81820463e-03 -1.02722942e-04 9.99992705e-01 9.08725466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.35, Y:127.35, Z:0.91 [[ 4.78344137e-01 -8.78170383e-01 -1.91440983e-03 1.42346126e+02] [ 8.78164169e-01 4.78347958e-01 -3.30518863e-03 1.27353526e+02] [ 3.81827280e-03 -1.00148514e-04 9.99992705e-01 9.08829446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.36, Y:127.38, Z:0.91 [[ 4.76920692e-01 -8.78944275e-01 -1.90131885e-03 1.42360047e+02] [ 8.78938037e-01 4.76924473e-01 -3.31276501e-03 1.27379416e+02] [ 3.81852133e-03 -9.12152741e-05 9.99992705e-01 9.09132055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.37, Y:127.40, Z:0.91 [[ 4.76296781e-01 -8.79282502e-01 -1.91261892e-03 1.42373632e+02] [ 8.79276293e-01 4.76300609e-01 -3.30622803e-03 1.27404277e+02] [ 3.81809001e-03 -1.06974709e-04 9.99992705e-01 9.09216521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.39, Y:127.43, Z:0.91 [[ 4.75657535e-01 -8.79628476e-01 -1.91155856e-03 1.42386166e+02] [ 8.79622267e-01 4.75661364e-01 -3.30684099e-03 1.27428252e+02] [ 3.81804605e-03 -1.08525641e-04 9.99992705e-01 9.09035584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.40, Y:127.45, Z:0.91 [[ 4.75267184e-01 -8.79839448e-01 -1.91044394e-03 1.42399607e+02] [ 8.79833238e-01 4.75271011e-01 -3.30748480e-03 1.27452459e+02] [ 3.81803423e-03 -1.08933092e-04 9.99992705e-01 9.08837174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:127.48, Z:0.91 [[ 4.74944916e-01 -8.80013455e-01 -1.90941275e-03 1.42413288e+02] [ 8.80007244e-01 4.74948742e-01 -3.30808000e-03 1.27476809e+02] [ 3.81802810e-03 -1.09141276e-04 9.99992705e-01 9.08633969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.43, Y:127.50, Z:0.91 [[ 4.74598004e-01 -8.80200598e-01 -1.90837956e-03 1.42427164e+02] [ 8.80194386e-01 4.74601828e-01 -3.30867593e-03 1.27501041e+02] [ 3.81801896e-03 -1.09453989e-04 9.99992705e-01 9.08465597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.44, Y:127.53, Z:0.91 [[ 4.74373109e-01 -8.80321825e-01 -1.90732033e-03 1.42441211e+02] [ 8.80315612e-01 4.74376931e-01 -3.30928642e-03 1.27525126e+02] [ 3.81802582e-03 -1.09207378e-04 9.99992705e-01 9.08837171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.45, Y:127.55, Z:0.91 [[ 4.75221184e-01 -8.79864303e-01 -1.90626384e-03 1.42454232e+02] [ 8.79858084e-01 4.75224996e-01 -3.30989488e-03 1.27548347e+02] [ 3.81816258e-03 -1.04309486e-04 9.99992705e-01 9.09770996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.47, Y:127.57, Z:0.91 [[ 4.75601771e-01 -8.79658642e-01 -1.90515388e-03 1.42467760e+02] [ 8.79652418e-01 4.75605576e-01 -3.31053364e-03 1.27572612e+02] [ 3.81824134e-03 -1.01377554e-04 9.99992705e-01 9.10225178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.48, Y:127.60, Z:0.91 [[ 4.76204337e-01 -8.79332590e-01 -1.90409948e-03 1.42480781e+02] [ 8.79326361e-01 4.76208134e-01 -3.31113999e-03 1.27596070e+02] [ 3.81834096e-03 -9.75456436e-05 9.99992705e-01 9.10796416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.49, Y:127.62, Z:0.91 [[ 4.76639519e-01 -8.79096779e-01 -1.90333029e-03 1.42493734e+02] [ 8.79090546e-01 4.76643310e-01 -3.31158208e-03 1.27619405e+02] [ 3.81841079e-03 -9.47687736e-05 9.99992705e-01 9.11495456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.51, Y:127.64, Z:0.91 [[ 4.77313241e-01 -8.78731160e-01 -1.90223206e-03 1.42507242e+02] [ 8.78724923e-01 4.77317022e-01 -3.31221280e-03 1.27643995e+02] [ 3.81851234e-03 -9.05756893e-05 9.99992705e-01 9.12238340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.52, Y:127.67, Z:0.91 [[ 4.77674372e-01 -8.78534905e-01 -1.90118795e-03 1.42520812e+02] [ 8.78528664e-01 4.77678147e-01 -3.31281201e-03 1.27667472e+02] [ 3.81857692e-03 -8.78027113e-05 9.99992705e-01 9.12756394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.53, Y:127.69, Z:0.91 [[ 4.77915442e-01 -8.78403790e-01 -1.90042736e-03 1.42534631e+02] [ 8.78397546e-01 4.77919213e-01 -3.31324826e-03 1.27691916e+02] [ 3.81862058e-03 -8.58782217e-05 9.99992705e-01 9.13552436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.55, Y:127.72, Z:0.91 [[ 4.78935395e-01 -8.77848096e-01 -1.89938350e-03 1.42547262e+02] [ 8.77841845e-01 4.78939154e-01 -3.31384657e-03 1.27716139e+02] [ 3.81874303e-03 -8.02399036e-05 9.99992705e-01 9.14933926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.56, Y:127.74, Z:0.92 [[ 4.79501389e-01 -8.77539067e-01 -1.89828350e-03 1.42560515e+02] [ 8.77532811e-01 4.79505141e-01 -3.31447657e-03 1.27740786e+02] [ 3.81881937e-03 -7.65099410e-05 9.99992705e-01 9.15350405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.57, Y:127.76, Z:0.92 [[ 4.81269257e-01 -8.76570763e-01 -1.89724309e-03 1.42571933e+02] [ 8.76564497e-01 4.81272992e-01 -3.31507200e-03 1.27763859e+02] [ 3.81898705e-03 -6.76136999e-05 9.99992705e-01 9.16039060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.59, Y:127.79, Z:0.92 [[ 4.80507505e-01 -8.76988596e-01 -1.88165426e-03 1.42585117e+02] [ 8.76982298e-01 4.80511187e-01 -3.32398738e-03 1.27790158e+02] [ 3.81925495e-03 -5.29765954e-05 9.99992705e-01 9.15279735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.60, Y:127.81, Z:0.92 [[ 4.80740630e-01 -8.76860795e-01 -1.89537436e-03 1.42598199e+02] [ 8.76854527e-01 4.80744361e-01 -3.31614553e-03 1.27814655e+02] [ 3.81898855e-03 -6.77616954e-05 9.99992705e-01 9.15124759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.61, Y:127.84, Z:0.91 [[ 4.81092979e-01 -8.76667530e-01 -1.89431304e-03 1.42610512e+02] [ 8.76661258e-01 4.81096704e-01 -3.31675169e-03 1.27839107e+02] [ 3.81903627e-03 -6.50048977e-05 9.99992705e-01 9.14890569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.62, Y:127.86, Z:0.92 [[ 4.80858102e-01 -8.76796385e-01 -1.89319741e-03 1.42623606e+02] [ 8.76790112e-01 4.80861825e-01 -3.31738837e-03 1.27864389e+02] [ 3.81904049e-03 -6.47436978e-05 9.99992705e-01 9.15053700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.64, Y:127.89, Z:0.91 [[ 4.80900998e-01 -8.76772861e-01 -1.89214729e-03 1.42636826e+02] [ 8.76766585e-01 4.80904717e-01 -3.31798722e-03 1.27889459e+02] [ 3.81906370e-03 -6.33481460e-05 9.99992705e-01 9.14776141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.65, Y:127.92, Z:0.91 [[ 4.80675432e-01 -8.76896547e-01 -1.89101103e-03 1.42649377e+02] [ 8.76890269e-01 4.80679147e-01 -3.31863468e-03 1.27915033e+02] [ 3.81906886e-03 -6.30230100e-05 9.99992705e-01 9.14246287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.66, Y:127.94, Z:0.91 [[ 4.80418089e-01 -8.77037563e-01 -1.88994698e-03 1.42662253e+02] [ 8.77031285e-01 4.80421803e-01 -3.31924054e-03 1.27938592e+02] [ 3.81907037e-03 -6.29194335e-05 9.99992705e-01 9.14383320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.68, Y:127.96, Z:0.91 [[ 4.79430482e-01 -8.77577829e-01 -1.88882682e-03 1.42675528e+02] [ 8.77571551e-01 4.79434198e-01 -3.31987785e-03 1.27963261e+02] [ 3.81901937e-03 -6.59300391e-05 9.99992705e-01 9.14055965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.69, Y:127.99, Z:0.91 [[ 4.78618273e-01 -8.78021062e-01 -1.88777871e-03 1.42689201e+02] [ 8.78014786e-01 4.78621991e-01 -3.32047373e-03 1.27987701e+02] [ 3.81897827e-03 -6.82582219e-05 9.99992705e-01 9.14121099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.70, Y:128.01, Z:0.91 [[ 4.77504510e-01 -8.78627272e-01 -1.88673415e-03 1.42702771e+02] [ 8.78620999e-01 4.77508232e-01 -3.32106715e-03 1.28012194e+02] [ 3.81891126e-03 -7.18997009e-05 9.99992705e-01 9.14026432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.72, Y:128.04, Z:0.91 [[ 4.75819696e-01 -8.79540824e-01 -1.88569760e-03 1.42715750e+02] [ 8.79534555e-01 4.75823426e-01 -3.32165560e-03 1.28035993e+02] [ 3.81879080e-03 -7.80270430e-05 9.99992705e-01 9.13412969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.73, Y:128.06, Z:0.91 [[ 4.74918986e-01 -8.80027502e-01 -1.88460579e-03 1.42729284e+02] [ 8.80021235e-01 4.74922719e-01 -3.32227494e-03 1.28060161e+02] [ 3.81873543e-03 -8.06816714e-05 9.99992705e-01 9.13177931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.74, Y:128.08, Z:0.91 [[ 4.74132966e-01 -8.80451238e-01 -1.88358259e-03 1.42742980e+02] [ 8.80444972e-01 4.74136700e-01 -3.32285495e-03 1.28084226e+02] [ 3.81868739e-03 -8.29157518e-05 9.99992705e-01 9.13207097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.76, Y:128.11, Z:0.91 [[ 4.72858999e-01 -8.81136098e-01 -1.88254041e-03 1.42757228e+02] [ 8.81129835e-01 4.72862738e-01 -3.32344529e-03 1.28108937e+02] [ 3.81859083e-03 -8.72415119e-05 9.99992705e-01 9.12786564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.77, Y:128.13, Z:0.91 [[ 4.72501121e-01 -8.81328061e-01 -1.88148772e-03 1.42770717e+02] [ 8.81321797e-01 4.72504859e-01 -3.32404114e-03 1.28131918e+02] [ 3.81858282e-03 -8.75829777e-05 9.99992705e-01 9.12693430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.78, Y:128.16, Z:0.91 [[ 4.72600573e-01 -8.81274737e-01 -1.88037907e-03 1.42784618e+02] [ 8.81268470e-01 4.72604306e-01 -3.32466817e-03 1.28156590e+02] [ 3.81862131e-03 -8.58786978e-05 9.99992705e-01 9.12785764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.80, Y:128.18, Z:0.91 [[ 4.72849315e-01 -8.81141302e-01 -1.87933985e-03 1.42798191e+02] [ 8.81135031e-01 4.72853042e-01 -3.32525551e-03 1.28181431e+02] [ 3.81867153e-03 -8.36073831e-05 9.99992705e-01 9.13178870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.81, Y:128.21, Z:0.91 [[ 4.73173347e-01 -8.80967341e-01 -1.87828237e-03 1.42811856e+02] [ 8.80961067e-01 4.73177068e-01 -3.32585272e-03 1.28206460e+02] [ 3.81872777e-03 -8.09887738e-05 9.99992705e-01 9.13414039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.83, Y:128.23, Z:0.91 [[ 4.73410039e-01 -8.80840173e-01 -1.87723051e-03 1.42825440e+02] [ 8.80833896e-01 4.73413755e-01 -3.32644633e-03 1.28231334e+02] [ 3.81877430e-03 -7.87551759e-05 9.99992705e-01 9.13330664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.84, Y:128.26, Z:0.91 [[ 4.74253968e-01 -8.80386082e-01 -1.87618663e-03 1.42838578e+02] [ 8.80379799e-01 4.74257674e-01 -3.32703499e-03 1.28255142e+02] [ 3.81887121e-03 -7.38972584e-05 9.99992705e-01 9.13289544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.85, Y:128.28, Z:0.91 [[ 4.74619365e-01 -8.80189151e-01 -1.87508718e-03 1.42852566e+02] [ 8.80182864e-01 4.74623064e-01 -3.32765452e-03 1.28279660e+02] [ 3.81892503e-03 -7.10503252e-05 9.99992705e-01 9.13387972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.87, Y:128.30, Z:0.91 [[ 4.74924475e-01 -8.80024563e-01 -1.87404604e-03 1.42867082e+02] [ 8.80018272e-01 4.74928167e-01 -3.32824076e-03 1.28303963e+02] [ 3.81897087e-03 -6.85317637e-05 9.99992705e-01 9.12882630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.88, Y:128.33, Z:0.91 [[ 4.74639900e-01 -8.80178083e-01 -1.87298469e-03 1.42880600e+02] [ 8.80171790e-01 4.74643591e-01 -3.32883793e-03 1.28327234e+02] [ 3.81897036e-03 -6.85489807e-05 9.99992705e-01 9.12448639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.89, Y:128.35, Z:0.91 [[ 4.73700172e-01 -8.80684191e-01 -1.87186669e-03 1.42894918e+02] [ 8.80677900e-01 4.73703865e-01 -3.32946648e-03 1.28351277e+02] [ 3.81891898e-03 -7.13427810e-05 9.99992705e-01 9.12487829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:128.38, Z:0.91 [[ 4.72883060e-01 -8.81123210e-01 -1.87082286e-03 1.42909101e+02] [ 8.81116920e-01 4.72886755e-01 -3.33005291e-03 1.28375473e+02] [ 3.81887426e-03 -7.36880628e-05 9.99992705e-01 9.12824314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.92, Y:128.40, Z:0.91 [[ 4.71620014e-01 -8.81799902e-01 -1.86976937e-03 1.42923168e+02] [ 8.81793615e-01 4.71623714e-01 -3.33064431e-03 1.28399695e+02] [ 3.81878940e-03 -7.79521799e-05 9.99992705e-01 9.13219228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.94, Y:128.42, Z:0.91 [[ 4.70431843e-01 -8.82434354e-01 -1.86872290e-03 1.42936750e+02] [ 8.82428070e-01 4.70435547e-01 -3.33123136e-03 1.28422828e+02] [ 3.81870667e-03 -8.18962347e-05 9.99992705e-01 9.13553904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:128.45, Z:0.91 [[ 4.68067776e-01 -8.83690595e-01 -1.86796032e-03 1.42951218e+02] [ 8.83684319e-01 4.68071495e-01 -3.33165891e-03 1.28445561e+02] [ 3.81849462e-03 -9.12450626e-05 9.99992705e-01 9.14042759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.97, Y:128.47, Z:0.91 [[ 4.66838372e-01 -8.84340686e-01 -1.86687703e-03 1.42965305e+02] [ 8.84334413e-01 4.66842095e-01 -3.33226581e-03 1.28469367e+02] [ 3.81839502e-03 -9.53140578e-05 9.99992705e-01 9.14824037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.98, Y:128.49, Z:0.92 [[ 4.64519402e-01 -8.85560977e-01 -1.86582402e-03 1.42978866e+02] [ 8.85554712e-01 4.64523137e-01 -3.33285532e-03 1.28493212e+02] [ 3.81816504e-03 -1.04113292e-04 9.99992705e-01 9.15842629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.99, Y:128.52, Z:0.91 [[ 4.64498737e-01 -8.85571831e-01 -1.85884385e-03 1.42993799e+02] [ 8.85565550e-01 4.64502446e-01 -3.33676078e-03 1.28517099e+02] [ 3.81837887e-03 -9.62069044e-05 9.99992705e-01 9.14591370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.01, Y:128.54, Z:0.91 [[ 4.63855321e-01 -8.85909005e-01 -1.86450128e-03 1.43007542e+02] [ 8.85902739e-01 4.63859057e-01 -3.33359654e-03 1.28541534e+02] [ 3.81812900e-03 -1.05460294e-04 9.99992705e-01 9.14196790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.02, Y:128.57, Z:0.91 [[ 4.63363323e-01 -8.86166439e-01 -1.86351760e-03 1.43021681e+02] [ 8.86160174e-01 4.63367058e-01 -3.33414634e-03 1.28566051e+02] [ 3.81810126e-03 -1.06453957e-04 9.99992705e-01 9.14306961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.04, Y:128.59, Z:0.91 [[ 4.63100667e-01 -8.86303731e-01 -1.86246123e-03 1.43036299e+02] [ 8.86297464e-01 4.63104400e-01 -3.33473633e-03 1.28588840e+02] [ 3.81810324e-03 -1.06376052e-04 9.99992705e-01 9.13695189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.05, Y:128.61, Z:0.91 [[ 4.63247205e-01 -8.86227150e-01 -1.86134870e-03 1.43050367e+02] [ 8.86220880e-01 4.63250933e-01 -3.33535719e-03 1.28612617e+02] [ 3.81815562e-03 -1.04471181e-04 9.99992705e-01 9.13461705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.06, Y:128.64, Z:0.91 [[ 4.64327473e-01 -8.85661638e-01 -1.86031470e-03 1.43064749e+02] [ 8.85655361e-01 4.64331189e-01 -3.33593381e-03 1.28636665e+02] [ 3.81831074e-03 -9.86319731e-05 9.99992705e-01 9.13157149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.08, Y:128.66, Z:0.91 [[ 4.65244701e-01 -8.85180158e-01 -1.85927507e-03 1.43078066e+02] [ 8.85173874e-01 4.65248407e-01 -3.33651315e-03 1.28660121e+02] [ 3.81844000e-03 -9.34866514e-05 9.99992705e-01 9.12736069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.09, Y:128.68, Z:0.91 [[ 4.66381539e-01 -8.84581713e-01 -1.85851680e-03 1.43091638e+02] [ 8.84575423e-01 4.66385234e-01 -3.33693547e-03 1.28683935e+02] [ 3.81857688e-03 -8.77131867e-05 9.99992705e-01 9.12811477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.11, Y:128.71, Z:0.91 [[ 4.66113925e-01 -8.84722758e-01 -1.85744123e-03 1.43105378e+02] [ 8.84716467e-01 4.66117618e-01 -3.33753405e-03 1.28708976e+02] [ 3.81857842e-03 -8.76377478e-05 9.99992705e-01 9.12920250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.12, Y:128.73, Z:0.91 [[ 4.70816645e-01 -8.82229131e-01 -1.85643143e-03 1.43123962e+02] [ 8.82222819e-01 4.70820301e-01 -3.33809564e-03 1.28734917e+02] [ 3.81901082e-03 -6.61551749e-05 9.99992705e-01 9.11060882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.14, Y:128.76, Z:0.91 [[ 4.71519199e-01 -8.81853775e-01 -1.88797817e-03 1.43137503e+02] [ 8.81847529e-01 4.71522968e-01 -3.32055012e-03 1.28758876e+02] [ 3.81846473e-03 -9.92057503e-05 9.99992705e-01 9.12074582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.15, Y:128.78, Z:0.91 [[ 4.71616416e-01 -8.81801796e-01 -1.88357680e-03 1.43148623e+02] [ 8.81795540e-01 4.71620169e-01 -3.32299619e-03 1.28780333e+02] [ 3.81855682e-03 -9.37500648e-05 9.99992705e-01 9.14717269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.16, Y:128.80, Z:0.92 [[ 4.72024452e-01 -8.81583507e-01 -1.85390380e-03 1.43162716e+02] [ 8.81577184e-01 4.72028089e-01 -3.33946914e-03 1.28804302e+02] [ 3.81911559e-03 -5.80481935e-05 9.99992705e-01 9.15393107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.18, Y:128.83, Z:0.92 [[ 4.72330816e-01 -8.81419404e-01 -1.85291177e-03 1.43176432e+02] [ 8.81413078e-01 4.72334448e-01 -3.34001948e-03 1.28828048e+02] [ 3.81915204e-03 -5.55865428e-05 9.99992705e-01 9.15473473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:128.85, Z:0.92 [[ 4.72625024e-01 -8.81261685e-01 -1.85180052e-03 1.43190084e+02] [ 8.81255355e-01 4.72628648e-01 -3.34063547e-03 1.28851606e+02] [ 3.81918803e-03 -5.30412050e-05 9.99992705e-01 9.15448575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.20, Y:128.88, Z:0.92 [[ 4.73347768e-01 -8.80873695e-01 -1.85069530e-03 1.43204606e+02] [ 8.80867359e-01 4.73351383e-01 -3.34124765e-03 1.28875006e+02] [ 3.81924634e-03 -4.86449709e-05 9.99992705e-01 9.16473752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.22, Y:128.90, Z:0.92 [[ 4.73385197e-01 -8.80853583e-01 -1.84959790e-03 1.43219032e+02] [ 8.80847245e-01 4.73388808e-01 -3.34185502e-03 1.28899310e+02] [ 3.81926391e-03 -4.72285120e-05 9.99992705e-01 9.17257874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.23, Y:128.92, Z:0.92 [[ 4.73307192e-01 -8.80895502e-01 -1.84859456e-03 1.43233924e+02] [ 8.80889162e-01 4.73310800e-01 -3.34240994e-03 1.28923218e+02] [ 3.81927365e-03 -4.64202510e-05 9.99992705e-01 9.17988193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.25, Y:128.95, Z:0.92 [[ 4.73086449e-01 -8.81014074e-01 -1.84759988e-03 1.43247106e+02] [ 8.81007733e-01 4.73090055e-01 -3.34295969e-03 1.28946034e+02] [ 3.81927566e-03 -4.62408527e-05 9.99992705e-01 9.18297246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.26, Y:128.97, Z:0.92 [[ 4.72628720e-01 -8.81259714e-01 -1.84642845e-03 1.43260906e+02] [ 8.81253372e-01 4.72632324e-01 -3.34360658e-03 1.28969519e+02] [ 3.81926755e-03 -4.68868043e-05 9.99992705e-01 9.18589206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.28, Y:128.99, Z:0.92 [[ 4.71543609e-01 -8.81840813e-01 -1.84532843e-03 1.43275635e+02] [ 8.81834473e-01 4.71547217e-01 -3.34421357e-03 1.28993617e+02] [ 3.81922350e-03 -5.03316922e-05 9.99992705e-01 9.19349650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.29, Y:129.02, Z:0.92 [[ 4.70740894e-01 -8.82269579e-01 -1.84427482e-03 1.43289901e+02] [ 8.82263240e-01 4.70744504e-01 -3.34479451e-03 1.29018315e+02] [ 3.81919268e-03 -5.26043243e-05 9.99992705e-01 9.19144053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.30, Y:129.04, Z:0.92 [[ 4.70090336e-01 -8.82616382e-01 -1.84321508e-03 1.43303566e+02] [ 8.82610044e-01 4.70093947e-01 -3.34537840e-03 1.29041885e+02] [ 3.81917003e-03 -5.42100884e-05 9.99992705e-01 9.18809220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.32, Y:129.07, Z:0.92 [[ 4.68866711e-01 -8.83267011e-01 -1.84244137e-03 1.43318021e+02] [ 8.83260676e-01 4.68870328e-01 -3.34580446e-03 1.29065229e+02] [ 3.81910480e-03 -5.86196794e-05 9.99992705e-01 9.18136121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.33, Y:129.09, Z:0.92 [[ 4.67898643e-01 -8.83780216e-01 -1.84133705e-03 1.43331546e+02] [ 8.83773882e-01 4.67902262e-01 -3.34641211e-03 1.29088471e+02] [ 3.81905858e-03 -6.15439123e-05 9.99992705e-01 9.17737692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.34, Y:129.11, Z:0.92 [[ 4.67891765e-01 -8.83783859e-01 -1.84024388e-03 1.43344438e+02] [ 8.83777524e-01 4.67895380e-01 -3.34701315e-03 1.29113522e+02] [ 3.81907781e-03 -6.03262897e-05 9.99992705e-01 9.18087997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.36, Y:129.14, Z:0.92 [[ 4.67443802e-01 -8.84020876e-01 -1.83918751e-03 1.43355539e+02] [ 8.84014540e-01 4.67447417e-01 -3.34759353e-03 1.29136725e+02] [ 3.81906601e-03 -6.10566525e-05 9.99992705e-01 9.16321009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.37, Y:129.16, Z:0.92 [[ 4.68101445e-01 -8.83672874e-01 -1.81364658e-03 1.43371271e+02] [ 8.83666480e-01 4.68104957e-01 -3.36160937e-03 1.29160912e+02] [ 3.81953997e-03 -2.90844891e-05 9.99992705e-01 9.16984377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.39, Y:129.19, Z:0.92 [[ 4.67525013e-01 -8.83977954e-01 -1.82733356e-03 1.43385901e+02] [ 8.83971592e-01 4.67528582e-01 -3.35410242e-03 1.29187035e+02] [ 3.81928327e-03 -4.71841752e-05 9.99992705e-01 9.15994459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.40, Y:129.21, Z:0.92 [[ 4.67242590e-01 -8.84127217e-01 -1.85125232e-03 1.43397618e+02] [ 8.84120907e-01 4.67246251e-01 -3.34098354e-03 1.29208538e+02] [ 3.81884519e-03 -7.56810782e-05 9.99992705e-01 9.17091654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.41, Y:129.23, Z:0.92 [[ 4.66075753e-01 -8.84742935e-01 -1.82527595e-03 1.43412337e+02] [ 8.84736574e-01 4.66079325e-01 -3.35521917e-03 1.29234092e+02] [ 3.81922984e-03 -5.11020852e-05 9.99992705e-01 9.16924802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.42, Y:129.26, Z:0.92 [[ 4.65838492e-01 -8.84867861e-01 -1.83509263e-03 1.43424730e+02] [ 8.84861523e-01 4.65842103e-01 -3.34984145e-03 1.29258811e+02] [ 3.81903045e-03 -6.33177717e-05 9.99992705e-01 9.17620494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.44, Y:129.28, Z:0.92 [[ 4.65749836e-01 -8.84914531e-01 -1.83404399e-03 1.43437973e+02] [ 8.84908190e-01 4.65753443e-01 -3.35041549e-03 1.29284068e+02] [ 3.81904365e-03 -6.25050809e-05 9.99992705e-01 9.17152152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.45, Y:129.31, Z:0.92 [[ 4.65119380e-01 -8.85246062e-01 -1.83635288e-03 1.43450839e+02] [ 8.85239729e-01 4.65123000e-01 -3.34915187e-03 1.29308903e+02] [ 3.81895346e-03 -6.78570824e-05 9.99992705e-01 9.16842634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.46, Y:129.33, Z:0.92 [[ 4.64654012e-01 -8.85490412e-01 -1.83844173e-03 1.43463101e+02] [ 8.85484085e-01 4.64657644e-01 -3.34800873e-03 1.29332790e+02] [ 3.81887563e-03 -7.22452047e-05 9.99992705e-01 9.17288134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.48, Y:129.36, Z:0.92 [[ 4.65088362e-01 -8.85262355e-01 -1.83791113e-03 1.43475403e+02] [ 8.85256026e-01 4.65091989e-01 -3.34829877e-03 1.29355942e+02] [ 3.81892060e-03 -6.97671092e-05 9.99992705e-01 9.18184446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.49, Y:129.38, Z:0.92 [[ 4.64527831e-01 -8.85556642e-01 -1.82406195e-03 1.43487709e+02] [ 8.85550286e-01 4.64531409e-01 -3.35586187e-03 1.29380081e+02] [ 3.81913983e-03 -5.64073424e-05 9.99992705e-01 9.17825610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.50, Y:129.40, Z:0.92 [[ 4.64059128e-01 -8.85802335e-01 -1.82999937e-03 1.43500131e+02] [ 8.85795993e-01 4.64062732e-01 -3.35262098e-03 1.29404960e+02] [ 3.81899399e-03 -6.51917375e-05 9.99992706e-01 9.18811368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.51, Y:129.43, Z:0.92 [[ 4.63529926e-01 -8.86079358e-01 -1.83810874e-03 1.43512267e+02] [ 8.86073036e-01 4.63533564e-01 -3.34819567e-03 1.29429679e+02] [ 3.81879217e-03 -7.67097004e-05 9.99992705e-01 9.19006706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.52, Y:129.45, Z:0.92 [[ 4.64741552e-01 -8.85444459e-01 -1.84389519e-03 1.43522707e+02] [ 8.85438144e-01 4.64745204e-01 -3.34503995e-03 1.29452421e+02] [ 3.81878853e-03 -7.80760773e-05 9.99992705e-01 9.19154921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.53, Y:129.48, Z:0.92 [[ 4.63749487e-01 -8.85964488e-01 -1.82732254e-03 1.43534254e+02] [ 8.85958142e-01 4.63753083e-01 -3.35406886e-03 1.29476600e+02] [ 3.81901236e-03 -6.34835694e-05 9.99992706e-01 9.19327018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.55, Y:129.50, Z:0.92 [[ 4.63712308e-01 -8.85983936e-01 -1.83337671e-03 1.43547240e+02] [ 8.85977602e-01 4.63715927e-01 -3.35077377e-03 1.29501239e+02] [ 3.81889771e-03 -7.05356610e-05 9.99992706e-01 9.20147778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.56, Y:129.53, Z:0.92 [[ 4.61933630e-01 -8.86912618e-01 -1.82484935e-03 1.43560209e+02] [ 8.86906273e-01 4.61937229e-01 -3.35541140e-03 1.29526384e+02] [ 3.81892256e-03 -6.84929706e-05 9.99992706e-01 9.20197619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.57, Y:129.55, Z:0.92 [[ 4.60843600e-01 -8.87479485e-01 -1.82756623e-03 1.43573151e+02] [ 8.87473151e-01 4.60847217e-01 -3.35393446e-03 1.29550777e+02] [ 3.81877684e-03 -7.62767274e-05 9.99992706e-01 9.21200693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.59, Y:129.57, Z:0.92 [[ 4.59494076e-01 -8.88178961e-01 -1.82411535e-03 1.43586011e+02] [ 8.88172625e-01 4.59497690e-01 -3.35580924e-03 1.29574615e+02] [ 3.81873595e-03 -7.81548485e-05 9.99992706e-01 9.21536742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.60, Y:129.60, Z:0.92 [[ 4.57146631e-01 -8.89389474e-01 -1.82229419e-03 1.43598318e+02] [ 8.89383144e-01 4.57150255e-01 -3.35679789e-03 1.29597335e+02] [ 3.81856296e-03 -8.61688901e-05 9.99992706e-01 9.21690375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.61, Y:129.62, Z:0.92 [[ 4.54920160e-01 -8.90530391e-01 -1.80852713e-03 1.43610578e+02] [ 8.90524040e-01 4.54923748e-01 -3.36426202e-03 1.29621271e+02] [ 3.81871951e-03 -8.00662755e-05 9.99992705e-01 9.21644071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.62, Y:129.65, Z:0.92 [[ 4.50946294e-01 -8.92549243e-01 -1.81338731e-03 1.43623228e+02] [ 8.92542919e-01 4.50949928e-01 -3.36162916e-03 1.29646016e+02] [ 3.81816644e-03 -1.02611787e-04 9.99992706e-01 9.21709462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.64, Y:129.67, Z:0.92 [[ 4.50093777e-01 -8.92979433e-01 -1.82308584e-03 1.43635395e+02] [ 8.92973133e-01 4.50097454e-01 -3.35637778e-03 1.29668550e+02] [ 3.81774262e-03 -1.17281927e-04 9.99992706e-01 9.20739663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.65, Y:129.69, Z:0.92 [[ 4.47123762e-01 -8.94470277e-01 -1.80716797e-03 1.43649310e+02] [ 8.94463954e-01 4.47127400e-01 -3.36499515e-03 1.29692598e+02] [ 3.81792246e-03 -1.11877315e-04 9.99992705e-01 9.22722825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.66, Y:129.72, Z:0.92 [[ 4.46262171e-01 -8.94900425e-01 -1.81802674e-03 1.43662320e+02] [ 8.94894129e-01 4.46265856e-01 -3.35911816e-03 1.29716435e+02] [ 3.81739952e-03 -1.27894092e-04 9.99992706e-01 9.22588717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.67, Y:129.74, Z:0.92 [[ 4.44330446e-01 -8.95861131e-01 -1.81359030e-03 1.43674460e+02] [ 8.95854834e-01 4.44334128e-01 -3.36151771e-03 1.29741447e+02] [ 3.81729312e-03 -1.31088976e-04 9.99992706e-01 9.22087700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.69, Y:129.77, Z:0.92 [[ 4.44260903e-01 -8.95895631e-01 -1.80790692e-03 1.43688088e+02] [ 8.95889322e-01 4.44264564e-01 -3.36459020e-03 1.29765522e+02] [ 3.81751064e-03 -1.24928623e-04 9.99992705e-01 9.22682213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.70, Y:129.79, Z:0.92 [[ 4.44170755e-01 -8.95940312e-01 -1.81607929e-03 1.43700158e+02] [ 8.95934021e-01 4.44174448e-01 -3.36017326e-03 1.29789307e+02] [ 3.81717070e-03 -1.34596526e-04 9.99992706e-01 9.22604011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.71, Y:129.81, Z:0.92 [[ 4.45606584e-01 -8.95227054e-01 -1.81493599e-03 1.43712669e+02] [ 8.95220755e-01 4.45610262e-01 -3.36079068e-03 1.29814108e+02] [ 3.81742485e-03 -1.27177913e-04 9.99992706e-01 9.21682910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.73, Y:129.84, Z:0.92 [[ 4.46245238e-01 -8.94908877e-01 -1.81386957e-03 1.43725236e+02] [ 8.94902572e-01 4.46248907e-01 -3.36136615e-03 1.29838451e+02] [ 3.81755372e-03 -1.23242911e-04 9.99992706e-01 9.20978905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.74, Y:129.86, Z:0.92 [[ 4.48510199e-01 -8.93775875e-01 -1.81274543e-03 1.43737465e+02] [ 8.93769559e-01 4.48513849e-01 -3.36197228e-03 1.29861359e+02] [ 3.81789114e-03 -1.12297826e-04 9.99992706e-01 9.20331195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.75, Y:129.89, Z:0.92 [[ 4.49399187e-01 -8.93329254e-01 -1.79318411e-03 1.43749379e+02] [ 8.93322892e-01 4.49402756e-01 -3.37250303e-03 1.29885467e+02] [ 3.81861749e-03 -8.62922950e-05 9.99992705e-01 9.21039537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.76, Y:129.91, Z:0.92 [[ 4.51836692e-01 -8.92098861e-01 -1.79593062e-03 1.43761638e+02] [ 8.92092495e-01 4.51840255e-01 -3.37102460e-03 1.29912169e+02] [ 3.81876095e-03 -7.89836265e-05 9.99992705e-01 9.20823412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:143.77, Y:129.94, Z:0.92 [[ 4.53342834e-01 -8.91334393e-01 -1.80957255e-03 1.43773951e+02] [ 8.91328051e-01 4.53346437e-01 -3.36368561e-03 1.29937021e+02] [ 3.81853194e-03 -8.80200072e-05 9.99992706e-01 9.20738735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.79, Y:129.96, Z:0.92 [[ 4.56326588e-01 -8.89810532e-01 -1.80633101e-03 1.43786465e+02] [ 8.89804170e-01 4.56330158e-01 -3.36542836e-03 1.29962491e+02] [ 3.81887692e-03 -7.15464221e-05 9.99992706e-01 9.20421449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.80, Y:129.99, Z:0.92 [[ 4.57489169e-01 -8.89213364e-01 -1.80373526e-03 1.43799731e+02] [ 8.89206992e-01 4.57492721e-01 -3.36682295e-03 1.29987327e+02] [ 3.81901971e-03 -6.36089750e-05 9.99992706e-01 9.21223634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.81, Y:130.01, Z:0.92 [[ 4.58338410e-01 -8.88775924e-01 -1.80521422e-03 1.43813411e+02] [ 8.88769552e-01 4.58341961e-01 -3.36602875e-03 1.30012969e+02] [ 3.81905073e-03 -6.16391666e-05 9.99992706e-01 9.22091519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.83, Y:130.04, Z:0.92 [[ 4.58697699e-01 -8.88590542e-01 -1.80806752e-03 1.43825849e+02] [ 8.88584175e-01 4.58701258e-01 -3.36449715e-03 1.30036839e+02] [ 3.81902320e-03 -6.33330873e-05 9.99992706e-01 9.21749619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.84, Y:130.06, Z:0.92 [[ 4.58203380e-01 -8.88845545e-01 -1.80548347e-03 1.43838662e+02] [ 8.88839174e-01 4.58206933e-01 -3.36588326e-03 1.30061970e+02] [ 3.81903538e-03 -6.25253467e-05 9.99992706e-01 9.21554052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.85, Y:130.09, Z:0.92 [[ 4.56606168e-01 -8.89667102e-01 -1.80440758e-03 1.43851626e+02] [ 8.89660735e-01 4.56609728e-01 -3.36645993e-03 1.30085180e+02] [ 3.81893870e-03 -6.81642078e-05 9.99992706e-01 9.21280116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.86, Y:130.11, Z:0.92 [[ 4.55300269e-01 -8.90336124e-01 -1.80327427e-03 1.43864595e+02] [ 8.90329760e-01 4.55303834e-01 -3.36706689e-03 1.30108729e+02] [ 3.81885897e-03 -7.24822920e-05 9.99992706e-01 9.21512290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.88, Y:130.13, Z:0.92 [[ 4.53797440e-01 -8.91103044e-01 -1.80219027e-03 1.43877749e+02] [ 8.91096684e-01 4.53801012e-01 -3.36764699e-03 1.30133418e+02] [ 3.81875625e-03 -7.76961934e-05 9.99992706e-01 9.21867749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.89, Y:130.16, Z:0.92 [[ 4.51217899e-01 -8.92411992e-01 -1.80108105e-03 1.43891347e+02] [ 8.92405640e-01 4.51221485e-01 -3.36824011e-03 1.30157198e+02] [ 3.81854434e-03 -8.74846645e-05 9.99992706e-01 9.22499387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.90, Y:130.18, Z:0.92 [[ 4.49129288e-01 -8.93464964e-01 -1.80027476e-03 1.43902837e+02] [ 8.93458619e-01 4.49132886e-01 -3.36867101e-03 1.30181406e+02] [ 3.81835212e-03 -9.55021894e-05 9.99992706e-01 9.21482357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.92, Y:130.21, Z:0.92 [[ 4.47843756e-01 -8.94110054e-01 -1.78342814e-03 1.43915881e+02] [ 8.94103678e-01 4.47847300e-01 -3.37766798e-03 1.30206069e+02] [ 3.81871038e-03 -8.19021476e-05 9.99992705e-01 9.21498968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.93, Y:130.23, Z:0.92 [[ 4.46139275e-01 -8.94961770e-01 -1.78273345e-03 1.43930647e+02] [ 8.94955399e-01 4.46142828e-01 -3.37803870e-03 1.30230896e+02] [ 3.81856923e-03 -8.83911895e-05 9.99992705e-01 9.21228052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.94, Y:130.26, Z:0.92 [[ 4.45860806e-01 -8.95100502e-01 -1.79805057e-03 1.43943960e+02] [ 8.95094165e-01 4.45864419e-01 -3.36986598e-03 1.30256173e+02] [ 3.81805550e-03 -1.06933416e-04 9.99992705e-01 9.21341885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.96, Y:130.28, Z:0.92 [[ 4.44455290e-01 -8.95799233e-01 -1.79700193e-03 1.43956565e+02] [ 8.95792900e-01 4.44458908e-01 -3.37042508e-03 1.30280349e+02] [ 3.81791772e-03 -1.11738316e-04 9.99992705e-01 9.20821408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.97, Y:130.30, Z:0.92 [[ 4.43328221e-01 -8.96357553e-01 -1.79589737e-03 1.43969364e+02] [ 8.96351222e-01 4.43331843e-01 -3.37101353e-03 1.30304379e+02] [ 3.81781193e-03 -1.15289370e-04 9.99992705e-01 9.20519766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.98, Y:130.33, Z:0.92 [[ 4.41655402e-01 -8.97182972e-01 -1.79481374e-03 1.43982405e+02] [ 8.97176645e-01 4.41659032e-01 -3.37159039e-03 1.30329295e+02] [ 3.81762918e-03 -1.21183867e-04 9.99992705e-01 9.20700479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.00, Y:130.35, Z:0.92 [[ 4.41286954e-01 -8.97364255e-01 -1.79379244e-03 1.43995188e+02] [ 8.97357928e-01 4.41290583e-01 -3.37213367e-03 1.30354131e+02] [ 3.81761593e-03 -1.21595271e-04 9.99992705e-01 9.20703351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.01, Y:130.38, Z:0.92 [[ 4.41167896e-01 -8.97422796e-01 -1.79271546e-03 1.44006900e+02] [ 8.97416466e-01 4.41171521e-01 -3.37270612e-03 1.30379622e+02] [ 3.81763836e-03 -1.20882708e-04 9.99992705e-01 9.19383383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.02, Y:130.40, Z:0.92 [[ 4.41043543e-01 -8.97483918e-01 -1.79163905e-03 1.44018621e+02] [ 8.97477587e-01 4.41047165e-01 -3.37327783e-03 1.30404095e+02] [ 3.81765993e-03 -1.20193487e-04 9.99992705e-01 9.18537378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.03, Y:130.43, Z:0.92 [[ 4.41427824e-01 -8.97294974e-01 -1.79051093e-03 1.44030890e+02] [ 8.97288639e-01 4.41431439e-01 -3.37387652e-03 1.30428372e+02] [ 3.81775026e-03 -1.17282141e-04 9.99992705e-01 9.17933619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.04, Y:130.45, Z:0.92 [[ 4.41719078e-01 -8.97151634e-01 -1.78939268e-03 1.44042499e+02] [ 8.97145295e-01 4.41722687e-01 -3.37446950e-03 1.30452480e+02] [ 3.81782617e-03 -1.14777674e-04 9.99992705e-01 9.15324968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.06, Y:130.48, Z:0.92 [[ 4.42874500e-01 -8.96581831e-01 -1.78810358e-03 1.44055074e+02] [ 8.96575485e-01 4.42878097e-01 -3.37515244e-03 1.30475474e+02] [ 3.81801227e-03 -1.08400881e-04 9.99992705e-01 9.16952179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.07, Y:130.50, Z:0.92 [[ 4.43679380e-01 -8.96183807e-01 -1.78676295e-03 1.44067976e+02] [ 8.96177454e-01 4.43682966e-01 -3.37586201e-03 1.30500677e+02] [ 3.81814915e-03 -1.03456311e-04 9.99992706e-01 9.16696923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.08, Y:130.52, Z:0.92 [[ 4.43919675e-01 -8.96064801e-01 -1.78758637e-03 1.44080057e+02] [ 8.96058449e-01 4.43923262e-01 -3.37542654e-03 1.30524734e+02] [ 3.81815208e-03 -1.03363620e-04 9.99992705e-01 9.18747736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.09, Y:130.55, Z:0.92 [[ 4.44137156e-01 -8.95957032e-01 -1.78447675e-03 1.44092480e+02] [ 8.95950673e-01 4.44140730e-01 -3.37706969e-03 1.30549271e+02] [ 3.81826814e-03 -9.89210139e-05 9.99992706e-01 9.17728072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.11, Y:130.57, Z:0.92 [[ 4.44037516e-01 -8.96006420e-01 -1.78335042e-03 1.44105068e+02] [ 8.96000059e-01 4.44041086e-01 -3.37766438e-03 1.30574124e+02] [ 3.81828982e-03 -9.80723819e-05 9.99992706e-01 9.19609035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.12, Y:130.60, Z:0.92 [[ 4.44185098e-01 -8.95933269e-01 -1.78229077e-03 1.44116866e+02] [ 8.95926905e-01 4.44188663e-01 -3.37822343e-03 1.30598076e+02] [ 3.81833611e-03 -9.62457491e-05 9.99992706e-01 9.20538610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.13, Y:130.62, Z:0.92 [[ 4.44921873e-01 -8.95567616e-01 -1.78117968e-03 1.44129700e+02] [ 8.95561247e-01 4.44925429e-01 -3.37880915e-03 1.30622050e+02] [ 3.81844419e-03 -9.18493969e-05 9.99992706e-01 9.19880242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.14, Y:130.65, Z:0.92 [[ 4.43606233e-01 -8.96220043e-01 -1.77313132e-03 1.44141990e+02] [ 8.96213662e-01 4.43609768e-01 -3.38305044e-03 1.30647977e+02] [ 3.81853599e-03 -8.83622523e-05 9.99992705e-01 9.23474486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.16, Y:130.67, Z:0.92 [[ 4.43876451e-01 -8.96086229e-01 -1.77959439e-03 1.44155149e+02] [ 8.96079861e-01 4.43880008e-01 -3.37964693e-03 1.30672449e+02] [ 3.81838145e-03 -9.45130080e-05 9.99992705e-01 9.22807896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.17, Y:130.70, Z:0.92 [[ 4.43335461e-01 -8.96354006e-01 -1.77890784e-03 1.44168189e+02] [ 8.96347639e-01 4.43339019e-01 -3.38000827e-03 1.30698786e+02] [ 3.81834321e-03 -9.60423173e-05 9.99992705e-01 9.24468731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.18, Y:130.72, Z:0.92 [[ 4.41420716e-01 -8.97298489e-01 -1.78115824e-03 1.44179021e+02] [ 8.97292134e-01 4.41424297e-01 -3.37882437e-03 1.30723842e+02] [ 3.81806052e-03 -1.06736204e-04 9.99992705e-01 9.23644863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.19, Y:130.75, Z:0.92 [[ 4.42188933e-01 -8.96920188e-01 -1.76740782e-03 1.44193524e+02] [ 8.96913801e-01 4.42192457e-01 -3.38605015e-03 1.30748258e+02] [ 3.81855114e-03 -8.79385613e-05 9.99992705e-01 9.23881978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.21, Y:130.77, Z:0.92 [[ 4.41052136e-01 -8.97479725e-01 -1.77653008e-03 1.44205757e+02] [ 8.97473362e-01 4.41055702e-01 -3.38125726e-03 1.30772808e+02] [ 3.81815856e-03 -1.03077683e-04 9.99992706e-01 9.23774271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.22, Y:130.80, Z:0.93 [[ 4.39071381e-01 -8.98450427e-01 -1.77543068e-03 1.44218726e+02] [ 8.98444069e-01 4.39074957e-01 -3.38183444e-03 1.30798193e+02] [ 3.81795775e-03 -1.10258448e-04 9.99992706e-01 9.25062726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.23, Y:130.82, Z:0.93 [[ 4.37971419e-01 -8.98987145e-01 -1.77435921e-03 1.44231474e+02] [ 8.98980789e-01 4.37974999e-01 -3.38239652e-03 1.30822712e+02] [ 3.81785596e-03 -1.13721844e-04 9.99992706e-01 9.25745432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.24, Y:130.85, Z:0.93 [[ 4.36191523e-01 -8.99852105e-01 -1.77328491e-03 1.44243548e+02] [ 8.99845754e-01 4.36195111e-01 -3.38295964e-03 1.30847781e+02] [ 3.81766157e-03 -1.20064579e-04 9.99992706e-01 9.26668344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.26, Y:130.87, Z:0.93 [[ 4.35420691e-01 -9.00225350e-01 -1.77220252e-03 1.44255457e+02] [ 9.00219000e-01 4.35424280e-01 -3.38352657e-03 1.30872189e+02] [ 3.81759640e-03 -1.22112907e-04 9.99992706e-01 9.26947011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.27, Y:130.90, Z:0.93 [[ 4.34840512e-01 -9.00505742e-01 -1.77141536e-03 1.44267034e+02] [ 9.00499392e-01 4.34844103e-01 -3.38393863e-03 1.30896430e+02] [ 3.81754569e-03 -1.23684850e-04 9.99992706e-01 9.26844167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.28, Y:130.92, Z:0.93 [[ 4.34704592e-01 -9.00571364e-01 -1.77064521e-03 1.44279226e+02] [ 9.00565014e-01 4.34708181e-01 -3.38434157e-03 1.30921929e+02] [ 3.81755506e-03 -1.23392309e-04 9.99992706e-01 9.27357279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.29, Y:130.95, Z:0.93 [[ 4.34970985e-01 -9.00442731e-01 -1.76958664e-03 1.44290822e+02] [ 9.00436377e-01 4.34974567e-01 -3.38489497e-03 1.30946124e+02] [ 3.81762926e-03 -1.21069083e-04 9.99992706e-01 9.27333406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.30, Y:130.97, Z:0.93 [[ 4.35285427e-01 -9.00290769e-01 -1.76847242e-03 1.44302661e+02] [ 9.00284412e-01 4.35289004e-01 -3.38547701e-03 1.30971295e+02] [ 3.81771030e-03 -1.18479341e-04 9.99992706e-01 9.28011403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.31, Y:131.00, Z:0.93 [[ 4.36401570e-01 -8.99750269e-01 -1.76739906e-03 1.44313233e+02] [ 8.99743904e-01 4.36405134e-01 -3.38603727e-03 1.30996065e+02] [ 3.81788997e-03 -1.12534555e-04 9.99992706e-01 9.28076998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.33, Y:131.02, Z:0.93 [[ 4.36901628e-01 -8.99507558e-01 -1.76626603e-03 1.44325080e+02] [ 8.99501190e-01 4.36905185e-01 -3.38662819e-03 1.31021540e+02] [ 3.81798844e-03 -1.09135021e-04 9.99992706e-01 9.29210498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.34, Y:131.05, Z:0.93 [[ 4.37542373e-01 -8.99196061e-01 -1.76517990e-03 1.44336945e+02] [ 8.99189687e-01 4.37545921e-01 -3.38719421e-03 1.31046816e+02] [ 3.81809896e-03 -1.05190566e-04 9.99992706e-01 9.29349773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.35, Y:131.07, Z:0.93 [[ 4.38870449e-01 -8.98548617e-01 -1.76409283e-03 1.44347733e+02] [ 8.98542236e-01 4.38873983e-01 -3.38776027e-03 1.31071663e+02] [ 3.81828176e-03 -9.83240495e-05 9.99992706e-01 9.29667822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.36, Y:131.10, Z:0.93 [[ 4.38819822e-01 -8.98573345e-01 -1.76294816e-03 1.44357703e+02] [ 8.98566962e-01 4.38823352e-01 -3.38835584e-03 1.31096132e+02] [ 3.81830906e-03 -9.72492599e-05 9.99992706e-01 9.29460692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.37, Y:131.12, Z:0.93 [[ 4.40018785e-01 -8.97986878e-01 -1.74228385e-03 1.44369235e+02] [ 8.97980448e-01 4.40022229e-01 -3.39909366e-03 1.31122879e+02] [ 3.81898512e-03 -6.88717682e-05 9.99992705e-01 9.31597657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65275509600002 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:144.38, Y:131.15, Z:0.93 [[ 4.39748273e-01 -8.98119374e-01 -1.74518094e-03 1.44381859e+02] [ 8.98112951e-01 4.39751730e-01 -3.39758889e-03 1.31148592e+02] [ 3.81888675e-03 -7.32857528e-05 9.99992705e-01 9.29935030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.39, Y:131.17, Z:0.93 [[ 4.39880389e-01 -8.98054644e-01 -1.76050982e-03 1.44392919e+02] [ 8.98048252e-01 4.39883903e-01 -3.38962736e-03 1.31173415e+02] [ 3.81849052e-03 -8.99921691e-05 9.99992705e-01 9.32435565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.40, Y:131.20, Z:0.93 [[ 4.39411089e-01 -8.98284364e-01 -1.75935575e-03 1.44404143e+02] [ 8.98277971e-01 4.39414602e-01 -3.39022626e-03 1.31198151e+02] [ 3.81847385e-03 -9.06875006e-05 9.99992706e-01 9.32490138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.42, Y:131.22, Z:0.94 [[ 4.38082796e-01 -8.98932907e-01 -1.75857283e-03 1.44415551e+02] [ 8.98926518e-01 4.38086315e-01 -3.39063233e-03 1.31224288e+02] [ 3.81835767e-03 -9.54500586e-05 9.99992706e-01 9.35075292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.43, Y:131.25, Z:0.94 [[ 4.36840223e-01 -8.99537398e-01 -1.75748541e-03 1.44427570e+02] [ 8.99531012e-01 4.36843747e-01 -3.39119588e-03 1.31249504e+02] [ 3.81825403e-03 -9.95018687e-05 9.99992706e-01 9.35912852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.44, Y:131.27, Z:0.94 [[ 4.34422884e-01 -9.00707318e-01 -1.75640400e-03 1.44438370e+02] [ 9.00700938e-01 4.34426421e-01 -3.39175588e-03 1.31274275e+02] [ 3.81800765e-03 -1.08538357e-04 9.99992706e-01 9.37192535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.45, Y:131.30, Z:0.94 [[ 4.32767512e-01 -9.01503855e-01 -1.75526284e-03 1.44450196e+02] [ 9.01497479e-01 4.32771056e-01 -3.39234634e-03 1.31300039e+02] [ 3.81784026e-03 -1.14267741e-04 9.99992706e-01 9.37001316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.46, Y:131.33, Z:0.94 [[ 4.29572634e-01 -9.03030606e-01 -1.75419043e-03 1.44460427e+02] [ 9.03024241e-01 4.29576197e-01 -3.39290080e-03 1.31326488e+02] [ 3.81745172e-03 -1.26579147e-04 9.99992706e-01 9.37594976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.47, Y:131.35, Z:0.94 [[ 4.27569217e-01 -9.03980913e-01 -1.75299458e-03 1.44471703e+02] [ 9.03974554e-01 4.27572790e-01 -3.39351854e-03 1.31351380e+02] [ 3.81720877e-03 -1.33698428e-04 9.99992706e-01 9.37016354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.48, Y:131.38, Z:0.94 [[ 4.25667098e-01 -9.04878143e-01 -1.75173392e-03 1.44483391e+02] [ 9.04871788e-01 4.25670679e-01 -3.39416916e-03 1.31376405e+02] [ 3.81697126e-03 -1.40308468e-04 9.99992706e-01 9.38264009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.50, Y:131.40, Z:0.94 [[ 4.23998273e-01 -9.05661305e-01 -1.75055778e-03 1.44495637e+02] [ 9.05654954e-01 4.24001862e-01 -3.39477566e-03 1.31401292e+02] [ 3.81675671e-03 -1.46022312e-04 9.99992706e-01 9.38442310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.51, Y:131.43, Z:0.94 [[ 4.21497008e-01 -9.06828105e-01 -1.74948178e-03 1.44506994e+02] [ 9.06821762e-01 4.21500610e-01 -3.39533008e-03 1.31426695e+02] [ 3.81638838e-03 -1.55346684e-04 9.99992706e-01 9.37458335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.52, Y:131.45, Z:0.94 [[ 4.20793950e-01 -9.07154560e-01 -1.74839055e-03 1.44518999e+02] [ 9.07148217e-01 4.20797553e-01 -3.39589190e-03 1.31452550e+02] [ 3.81631729e-03 -1.57078604e-04 9.99992706e-01 9.37212324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.53, Y:131.48, Z:0.94 [[ 4.21248417e-01 -9.06943614e-01 -1.74721453e-03 1.44530008e+02] [ 9.06937267e-01 4.21252012e-01 -3.39649687e-03 1.31477954e+02] [ 3.81644878e-03 -1.53845038e-04 9.99992706e-01 9.37569609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.54, Y:131.50, Z:0.94 [[ 4.21136691e-01 -9.06995501e-01 -1.74594292e-03 1.44540698e+02] [ 9.06989152e-01 4.21140282e-01 -3.39715040e-03 1.31502616e+02] [ 3.81648703e-03 -1.52886608e-04 9.99992706e-01 9.37028619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.55, Y:131.53, Z:0.94 [[ 4.21756988e-01 -9.06707229e-01 -1.74462104e-03 1.44549851e+02] [ 9.06700875e-01 4.21760570e-01 -3.39782913e-03 1.31528000e+02] [ 3.81664860e-03 -1.48791241e-04 9.99992706e-01 9.37931305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.56, Y:131.55, Z:0.94 [[ 4.21497983e-01 -9.06827678e-01 -1.73574809e-03 1.44561327e+02] [ 9.06821306e-01 4.21501533e-01 -3.40238184e-03 1.31553161e+02] [ 3.81699451e-03 -1.39916273e-04 9.99992705e-01 9.37860557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:131.58, Z:0.94 [[ 4.22817807e-01 -9.06213034e-01 -1.74330216e-03 1.44575508e+02] [ 9.06206672e-01 4.22821377e-01 -3.39850689e-03 1.31579636e+02] [ 3.81687666e-03 -1.42842819e-04 9.99992706e-01 9.40904092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.58, Y:131.60, Z:0.94 [[ 4.22145510e-01 -9.06526371e-01 -1.76304727e-03 1.44584340e+02] [ 9.06520054e-01 4.22149158e-01 -3.38838234e-03 1.31603682e+02] [ 3.81592687e-03 -1.67847312e-04 9.99992705e-01 9.39189003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.59, Y:131.63, Z:0.94 [[ 4.23317946e-01 -9.05979517e-01 -1.74107270e-03 1.44593414e+02] [ 9.05973149e-01 4.23321504e-01 -3.39963629e-03 1.31628919e+02] [ 3.81703436e-03 -1.38238069e-04 9.99992706e-01 9.38441393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.60, Y:131.65, Z:0.94 [[ 4.23571886e-01 -9.05860823e-01 -1.73980322e-03 1.44604290e+02] [ 9.05854451e-01 4.23575437e-01 -3.40028584e-03 1.31654456e+02] [ 3.81712364e-03 -1.35743002e-04 9.99992706e-01 9.39249252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.61, Y:131.68, Z:0.94 [[ 4.25403615e-01 -9.05002061e-01 -1.74169854e-03 1.44613941e+02] [ 9.04995687e-01 4.25407160e-01 -3.39931658e-03 1.31678469e+02] [ 3.81731954e-03 -1.30148109e-04 9.99992706e-01 9.41215026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31275509600002 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:144.62, Y:131.70, Z:0.94 [[ 4.26519209e-01 -9.04476835e-01 -1.73787750e-03 1.44624938e+02] [ 9.04470448e-01 4.26522732e-01 -3.40126894e-03 1.31701938e+02] [ 3.81761322e-03 -1.21152300e-04 9.99992706e-01 9.41152064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34275509600002 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:144.64, Y:131.73, Z:0.94 [[ 4.26321695e-01 -9.04569967e-01 -1.72831416e-03 1.44636296e+02] [ 9.04563561e-01 4.26325184e-01 -3.40615203e-03 1.31727886e+02] [ 3.81792668e-03 -1.11253504e-04 9.99992706e-01 9.43542056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37275509600002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.65, Y:131.75, Z:0.94 [[ 4.27091924e-01 -9.04206545e-01 -1.73571680e-03 1.44645847e+02] [ 9.04200151e-01 4.27095436e-01 -3.40237558e-03 1.31752868e+02] [ 3.81776699e-03 -1.16308261e-04 9.99992706e-01 9.43918453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40275509600002 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:144.66, Y:131.78, Z:0.94 [[ 4.26927961e-01 -9.04283975e-01 -1.73446952e-03 1.44656042e+02] [ 9.04277579e-01 4.26931469e-01 -3.40301131e-03 1.31776605e+02] [ 3.81778821e-03 -1.15601219e-04 9.99992706e-01 9.44054337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:144.67, Y:131.80, Z:0.95 [[ 4.26446395e-01 -9.04511177e-01 -1.73312728e-03 1.44667006e+02] [ 9.04504780e-01 4.26449901e-01 -3.40369476e-03 1.31801351e+02] [ 3.81777191e-03 -1.16128547e-04 9.99992706e-01 9.45036339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46275509600002 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:144.68, Y:131.83, Z:0.95 [[ 4.26101008e-01 -9.04673937e-01 -1.73182830e-03 1.44679326e+02] [ 9.04667539e-01 4.26104511e-01 -3.40435557e-03 1.31826192e+02] [ 3.81777160e-03 -1.16129505e-04 9.99992706e-01 9.45141938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.69, Y:131.85, Z:0.95 [[ 4.25282574e-01 -9.05058969e-01 -1.73052820e-03 1.44690550e+02] [ 9.05052572e-01 4.25286078e-01 -3.40501631e-03 1.31851965e+02] [ 3.81771011e-03 -1.18124895e-04 9.99992706e-01 9.48683452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52275509600003 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:144.70, Y:131.88, Z:0.95 [[ 4.24860090e-01 -9.05257377e-01 -1.72775700e-03 1.44703021e+02] [ 9.05250976e-01 4.24863587e-01 -3.40642370e-03 1.31876395e+02] [ 3.81775122e-03 -1.16800234e-04 9.99992706e-01 9.46412035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55275509600003 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:144.71, Y:131.90, Z:0.95 [[ 4.24051115e-01 -9.05636606e-01 -1.72894974e-03 1.44714844e+02] [ 9.05630210e-01 4.24054622e-01 -3.40581821e-03 1.31900479e+02] [ 3.81760278e-03 -1.21548106e-04 9.99992706e-01 9.47510527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58275509600003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.73, Y:131.92, Z:0.95 [[ 4.22840030e-01 -9.06202695e-01 -1.72767837e-03 1.44725759e+02] [ 9.06196301e-01 4.22843541e-01 -3.40646302e-03 1.31924386e+02] [ 3.81748361e-03 -1.25226827e-04 9.99992706e-01 9.47827077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61275509600003 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:144.74, Y:131.95, Z:0.95 [[ 4.22069206e-01 -9.06561970e-01 -1.72634156e-03 1.44737278e+02] [ 9.06555576e-01 4.22072717e-01 -3.40714036e-03 1.31949549e+02] [ 3.81742555e-03 -1.26975545e-04 9.99992706e-01 9.47866149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.642755096 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.75, Y:131.97, Z:0.95 [[ 4.21806932e-01 -9.06684033e-01 -1.72509149e-03 1.44748465e+02] [ 9.06677638e-01 4.21810441e-01 -3.40777317e-03 1.31974432e+02] [ 3.81743513e-03 -1.26679530e-04 9.99992706e-01 9.47778639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.672755096 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:144.76, Y:132.00, Z:0.95 [[ 4.21663760e-01 -9.06750628e-01 -1.72383374e-03 1.44760604e+02] [ 9.06744231e-01 4.21667265e-01 -3.40840930e-03 1.31999793e+02] [ 3.81746153e-03 -1.25873617e-04 9.99992706e-01 9.48653769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.702755096 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.77, Y:132.02, Z:0.95 [[ 4.21890657e-01 -9.06645083e-01 -1.72264119e-03 1.44772534e+02] [ 9.06638682e-01 4.21894156e-01 -3.40901191e-03 1.32024103e+02] [ 3.81753614e-03 -1.23582860e-04 9.99992706e-01 9.48342739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.732755096 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:144.78, Y:132.05, Z:0.95 [[ 4.22002508e-01 -9.06593029e-01 -1.72138734e-03 1.44784970e+02] [ 9.06586625e-01 4.22006001e-01 -3.40964493e-03 1.32049319e+02] [ 3.81759611e-03 -1.21708030e-04 9.99992706e-01 9.48057636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.762755096 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:144.80, Y:132.07, Z:0.95 [[ 4.23719608e-01 -9.05791772e-01 -1.72022576e-03 1.44796790e+02] [ 9.05785360e-01 4.23723084e-01 -3.41023086e-03 1.32072557e+02] [ 3.81785843e-03 -1.13173630e-04 9.99992706e-01 9.47201334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.792755096 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:144.81, Y:132.10, Z:0.94 [[ 4.26403318e-01 -9.04531511e-01 -1.71921660e-03 1.44807702e+02] [ 9.04525086e-01 4.26406772e-01 -3.41073954e-03 1.32096132e+02] [ 3.81820699e-03 -1.00723883e-04 9.99992706e-01 9.44579020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.822755096 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:144.82, Y:132.12, Z:0.95 [[ 4.27182833e-01 -9.04163633e-01 -1.71822803e-03 1.44819599e+02] [ 9.04157203e-01 4.27186278e-01 -3.41123748e-03 1.32121517e+02] [ 3.81832031e-03 -9.63261606e-05 9.99992706e-01 9.45840104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.852755096 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:144.83, Y:132.15, Z:0.95 [[ 4.28898555e-01 -9.03351016e-01 -1.72356604e-03 1.44831732e+02] [ 9.03344591e-01 4.28902008e-01 -3.40855106e-03 1.32146191e+02] [ 3.81835900e-03 -9.50514365e-05 9.99992706e-01 9.45779158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.882755096 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:144.84, Y:132.17, Z:0.95 [[ 4.30133733e-01 -9.02763551e-01 -1.71553876e-03 1.44843784e+02] [ 9.02757105e-01 4.30137146e-01 -3.41258645e-03 1.32170828e+02] [ 3.81867561e-03 -8.08462579e-05 9.99992706e-01 9.45396730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.912755096 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:144.86, Y:132.20, Z:0.95 [[ 4.32694055e-01 -9.01539193e-01 -1.71430602e-03 1.44855779e+02] [ 9.01532734e-01 4.32697446e-01 -3.41320561e-03 1.32195784e+02] [ 3.81891446e-03 -6.86292133e-05 9.99992706e-01 9.46063962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.942755096 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:144.87, Y:132.22, Z:0.95 [[ 4.33802990e-01 -9.01006122e-01 -1.71302538e-03 1.44867531e+02] [ 9.00999656e-01 4.33806368e-01 -3.41384822e-03 1.32219075e+02] [ 3.81901946e-03 -6.24977100e-05 9.99992706e-01 9.46385696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97275509600001 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:144.88, Y:132.25, Z:0.95 [[ 4.34632105e-01 -9.00606464e-01 -1.71203591e-03 1.44880203e+02] [ 9.00599993e-01 4.34635473e-01 -3.41434436e-03 1.32245348e+02] [ 3.81909214e-03 -5.78758534e-05 9.99992706e-01 9.47469061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00275509600002 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:144.89, Y:132.27, Z:0.95 [[ 4.35396351e-01 -9.00237220e-01 -1.72196300e-03 1.44891677e+02] [ 9.00230766e-01 4.35399752e-01 -3.40936837e-03 1.32268450e+02] [ 3.81898257e-03 -6.57375255e-05 9.99992706e-01 9.47245250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03275509600002 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:144.90, Y:132.29, Z:0.95 [[ 4.34961532e-01 -9.00447411e-01 -1.71036749e-03 1.44903854e+02] [ 9.00440936e-01 4.34964891e-01 -3.41517557e-03 1.32292745e+02] [ 3.81913581e-03 -5.46149104e-05 9.99992706e-01 9.46364141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06275509600002 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:144.92, Y:132.32, Z:0.95 [[ 4.33984125e-01 -9.00918896e-01 -1.70912416e-03 1.44917261e+02] [ 9.00912423e-01 4.33987487e-01 -3.41579768e-03 1.32316769e+02] [ 3.81909517e-03 -5.73692141e-05 9.99992706e-01 9.49322180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09275509600002 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:144.93, Y:132.34, Z:0.95 [[ 4.32736061e-01 -9.01519043e-01 -1.70788135e-03 1.44930331e+02] [ 9.01512571e-01 4.32739427e-01 -3.41641897e-03 1.32341422e+02] [ 3.81903435e-03 -6.12688190e-05 9.99992706e-01 9.50016158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12275509600002 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:144.94, Y:132.36, Z:0.95 [[ 4.32083241e-01 -9.01832113e-01 -1.70672549e-03 1.44942629e+02] [ 9.01825642e-01 4.32086607e-01 -3.41699629e-03 1.32363543e+02] [ 3.81901022e-03 -6.27419776e-05 9.99992706e-01 9.48947510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15275509600002 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:144.95, Y:132.39, Z:0.95 [[ 4.27888892e-01 -9.03829757e-01 -1.69278055e-03 1.44954844e+02] [ 9.03823274e-01 4.27892236e-01 -3.42395149e-03 1.32388811e+02] [ 3.81899689e-03 -6.49036472e-05 9.99992706e-01 9.49027624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18275509600002 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:144.97, Y:132.41, Z:0.95 [[ 4.27134231e-01 -9.04186621e-01 -1.70400827e-03 1.44967016e+02] [ 9.04180163e-01 4.27137622e-01 -3.41835460e-03 1.32411859e+02] [ 3.81867654e-03 -8.06342132e-05 9.99992706e-01 9.50256016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21275509600002 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:144.98, Y:132.44, Z:0.95 [[ 4.25459733e-01 -9.04975755e-01 -1.70261536e-03 1.44978837e+02] [ 9.04969300e-01 4.25463131e-01 -3.41904824e-03 1.32435855e+02] [ 3.81855583e-03 -8.61472761e-05 9.99992706e-01 9.49759965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24275509600002 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:144.99, Y:132.46, Z:0.95 [[ 4.23474852e-01 -9.05906262e-01 -1.70134025e-03 1.44991495e+02] [ 9.05899812e-01 4.23478260e-01 -3.41968263e-03 1.32459573e+02] [ 3.81839251e-03 -9.30942165e-05 9.99992706e-01 9.50726482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27275509600003 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:145.00, Y:132.48, Z:0.95 [[ 4.21775061e-01 -9.06698913e-01 -1.69687128e-03 1.45004122e+02] [ 9.06692461e-01 4.21778464e-01 -3.42190428e-03 1.32484174e+02] [ 3.81834065e-03 -9.52665063e-05 9.99992706e-01 9.50088277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30275509600003 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:145.02, Y:132.51, Z:0.95 [[ 4.21049308e-01 -9.07036140e-01 -1.70902562e-03 1.45017495e+02] [ 9.07029715e-01 4.21052762e-01 -3.41586718e-03 1.32507238e+02] [ 3.81790494e-03 -1.11888505e-04 9.99992706e-01 9.47982907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33275509600003 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:145.03, Y:132.53, Z:0.95 [[ 4.20789604e-01 -9.07156671e-01 -1.69783305e-03 1.45029943e+02] [ 9.07150225e-01 4.20793017e-01 -3.42142134e-03 1.32530899e+02] [ 3.81820148e-03 -1.00491100e-04 9.99992706e-01 9.47119353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36275509600003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:145.04, Y:132.56, Z:0.95 [[ 4.20886762e-01 -9.07111600e-01 -1.69657750e-03 1.45042725e+02] [ 9.07105151e-01 4.20890170e-01 -3.42204381e-03 1.32555626e+02] [ 3.81824843e-03 -9.86812534e-05 9.99992706e-01 9.46828279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.392755096 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:145.05, Y:132.58, Z:0.95 [[ 4.22129269e-01 -9.06534062e-01 -1.69541136e-03 1.45054489e+02] [ 9.06527606e-01 4.22132663e-01 -3.42262146e-03 1.32577940e+02] [ 3.81841145e-03 -9.21485061e-05 9.99992706e-01 9.47075489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.422755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:145.07, Y:132.60, Z:0.95 [[ 4.22312198e-01 -9.06448891e-01 -1.67796691e-03 1.45068186e+02] [ 9.06442399e-01 4.22315525e-01 -3.43125505e-03 1.32603331e+02] [ 3.81888881e-03 -7.19194937e-05 9.99992705e-01 9.46062461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.452755096 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:145.08, Y:132.63, Z:0.95 [[ 4.22828182e-01 -9.06208287e-01 -1.69392493e-03 1.45081476e+02] [ 9.06201825e-01 4.22831566e-01 -3.42335880e-03 1.32628469e+02] [ 3.81852104e-03 -8.75452848e-05 9.99992706e-01 9.46259512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.482755096 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:145.10, Y:132.65, Z:0.95 [[ 4.23773215e-01 -9.05766745e-01 -1.69273600e-03 1.45095238e+02] [ 9.05760278e-01 4.23776588e-01 -3.42394659e-03 1.32651477e+02] [ 3.81863884e-03 -8.22361747e-05 9.99992706e-01 9.46920452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.512755096 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:145.11, Y:132.67, Z:0.95 [[ 4.24078037e-01 -9.05624071e-01 -1.69148903e-03 1.45107872e+02] [ 9.05617599e-01 4.24081402e-01 -3.42456250e-03 1.32674576e+02] [ 3.81869527e-03 -7.95604919e-05 9.99992706e-01 9.47155509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.542755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:145.12, Y:132.70, Z:0.95 [[ 4.25610081e-01 -9.04905079e-01 -1.69012879e-03 1.45120570e+02] [ 9.04898599e-01 4.25613431e-01 -3.42523369e-03 1.32697004e+02] [ 3.81885288e-03 -7.15811889e-05 9.99992706e-01 9.49400731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.572755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:145.13, Y:132.72, Z:0.95 [[ 4.25185399e-01 -9.05104739e-01 -1.66972712e-03 1.45134205e+02] [ 9.05098221e-01 4.25188675e-01 -3.43528514e-03 1.32721672e+02] [ 3.81924192e-03 -5.06339559e-05 9.99992705e-01 9.49197856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.602755096 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:145.15, Y:132.74, Z:0.95 [[ 4.27043743e-01 -9.04229392e-01 -1.68753023e-03 1.45146428e+02] [ 9.04222902e-01 4.27047072e-01 -3.42651726e-03 1.32742266e+02] [ 3.81901247e-03 -6.26307221e-05 9.99992706e-01 9.49748169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.632755096 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:145.16, Y:132.77, Z:0.95 [[ 4.25238015e-01 -9.05080030e-01 -1.66436958e-03 1.45161554e+02] [ 9.05073502e-01 4.25241270e-01 -3.43791766e-03 1.32768386e+02] [ 3.81934925e-03 -4.44435238e-05 9.99992705e-01 9.50767956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.662755096 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:145.18, Y:132.79, Z:0.95 [[ 4.24674774e-01 -9.05344406e-01 -1.68618392e-03 1.45175061e+02] [ 9.05337922e-01 4.24678116e-01 -3.42718495e-03 1.32791647e+02] [ 3.81886813e-03 -7.11272543e-05 9.99992706e-01 9.51301365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.692755096 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:145.19, Y:132.81, Z:0.95 [[ 4.24920807e-01 -9.05228959e-01 -1.68504326e-03 1.45188172e+02] [ 9.05222472e-01 4.24924142e-01 -3.42774569e-03 1.32812738e+02] [ 3.81891022e-03 -6.88185576e-05 9.99992706e-01 9.51649703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72275509600001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:145.20, Y:132.84, Z:0.95 [[ 4.22754839e-01 -9.06242560e-01 -1.66400776e-03 1.45202301e+02] [ 9.06236040e-01 4.22758110e-01 -3.43807365e-03 1.32838773e+02] [ 3.81920144e-03 -5.45215332e-05 9.99992705e-01 9.52421581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75275509600002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:145.22, Y:132.86, Z:0.95 [[ 4.20876580e-01 -9.07116350e-01 -1.68283566e-03 1.45217695e+02] [ 9.07109874e-01 4.20879936e-01 -3.42883311e-03 1.32862610e+02] [ 3.81862234e-03 -8.34012877e-05 9.99992706e-01 9.53223347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78275509600002 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:145.23, Y:132.89, Z:0.95 [[ 4.19740865e-01 -9.07642429e-01 -1.68172362e-03 1.45231377e+02] [ 9.07635954e-01 4.19744225e-01 -3.42937844e-03 1.32887250e+02] [ 3.81854315e-03 -8.69425550e-05 9.99992706e-01 9.53610088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81275509600002 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:145.24, Y:132.91, Z:0.95 [[ 4.18794000e-01 -9.08079711e-01 -1.68062273e-03 1.45244537e+02] [ 9.08073238e-01 4.18797362e-01 -3.42991787e-03 1.32911458e+02] [ 3.81847919e-03 -8.96994978e-05 9.99992706e-01 9.54101906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84275509600002 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:145.26, Y:132.93, Z:0.95 [[ 4.18994753e-01 -9.07987101e-01 -1.67982241e-03 1.45259109e+02] [ 9.07980625e-01 4.18998111e-01 -3.43030978e-03 1.32933099e+02] [ 3.81851945e-03 -8.79643991e-05 9.99992706e-01 9.53528176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87275509600002 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:145.27, Y:132.96, Z:0.95 [[ 4.17664093e-01 -9.08599995e-01 -1.65983775e-03 1.45272637e+02] [ 9.08593485e-01 4.17667385e-01 -3.44008408e-03 1.32958392e+02] [ 3.81892047e-03 -7.13181723e-05 9.99992705e-01 9.53871057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90275509600002 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:145.29, Y:132.98, Z:0.95 [[ 4.17883375e-01 -9.08499131e-01 -1.67768098e-03 1.45287268e+02] [ 9.08492655e-01 4.17886733e-01 -3.43136006e-03 1.32981386e+02] [ 3.81846826e-03 -9.02525308e-05 9.99992706e-01 9.53856512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93275509600002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:145.30, Y:133.01, Z:0.95 [[ 4.18406221e-01 -9.08258456e-01 -1.67653656e-03 1.45300564e+02] [ 9.08251977e-01 4.18409571e-01 -3.43191912e-03 1.33005635e+02] [ 3.81854851e-03 -8.67813376e-05 9.99992706e-01 9.53526186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96275509600002 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:145.31, Y:133.03, Z:0.95 [[ 4.18850540e-01 -9.08053643e-01 -1.67549274e-03 1.45314218e+02] [ 9.08047159e-01 4.18853883e-01 -3.43242865e-03 1.33030568e+02] [ 3.81861598e-03 -8.37518312e-05 9.99992706e-01 9.53078033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99275509600002 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:145.33, Y:133.05, Z:0.95 [[ 4.19143594e-01 -9.07918413e-01 -1.67441017e-03 1.45326989e+02] [ 9.07911926e-01 4.19146931e-01 -3.43295667e-03 1.33054577e+02] [ 3.81866845e-03 -8.13151674e-05 9.99992706e-01 9.52515454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02275509600003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:145.34, Y:133.08, Z:0.95 [[ 4.20941724e-01 -9.07086140e-01 -1.67327172e-03 1.45340707e+02] [ 9.07079644e-01 4.20945044e-01 -3.43351148e-03 1.33076303e+02] [ 3.81884611e-03 -7.24824746e-05 9.99992706e-01 9.51737677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:133.10, Z:0.95 [[ 4.20514360e-01 -9.07284371e-01 -1.65632697e-03 1.45353968e+02] [ 9.07277845e-01 4.20517618e-01 -3.44175978e-03 1.33101684e+02] [ 3.81916953e-03 -5.54393579e-05 9.99992705e-01 9.50902277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08275509600003 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:145.37, Y:133.13, Z:0.95 [[ 4.20973101e-01 -9.07071582e-01 -1.67143092e-03 1.45367754e+02] [ 9.07065083e-01 4.20976413e-01 -3.43440911e-03 1.33125897e+02] [ 3.81888790e-03 -7.03027778e-05 9.99992706e-01 9.50844452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11275509600003 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:145.38, Y:133.15, Z:0.95 [[ 4.22896518e-01 -9.06176443e-01 -1.67037067e-03 1.45382044e+02] [ 9.06169935e-01 4.22899812e-01 -3.43492470e-03 1.33148318e+02] [ 3.81904729e-03 -6.10219829e-05 9.99992706e-01 9.52086066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.142755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:145.40, Y:133.17, Z:0.95 [[ 4.23278751e-01 -9.05997974e-01 -1.66426344e-03 1.45395125e+02] [ 9.05991453e-01 4.23282020e-01 -3.43789109e-03 1.33172772e+02] [ 3.81917515e-03 -5.26222012e-05 9.99992706e-01 9.51488750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.172755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:145.41, Y:133.20, Z:0.95 [[ 4.23769507e-01 -9.05768526e-01 -1.66793637e-03 1.45407580e+02] [ 9.05762010e-01 4.23772786e-01 -3.43610820e-03 1.33196392e+02] [ 3.81914470e-03 -5.46355189e-05 9.99992706e-01 9.51615529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:133.22, Z:0.95 [[ 4.25295431e-01 -9.05053047e-01 -1.66670206e-03 1.45421602e+02] [ 9.05046523e-01 4.25298694e-01 -3.43670680e-03 1.33219337e+02] [ 3.81924817e-03 -4.68272029e-05 9.99992706e-01 9.53458009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.43, Y:133.24, Z:0.95 [[ 4.24751268e-01 -9.05308570e-01 -1.65952949e-03 1.45434098e+02] [ 9.05302034e-01 4.24754508e-01 -3.44018251e-03 1.33242949e+02] [ 3.81931934e-03 -4.11535400e-05 9.99992706e-01 9.52661547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.262755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.45, Y:133.27, Z:0.95 [[ 4.24187397e-01 -9.05572902e-01 -1.66492945e-03 1.45448911e+02] [ 9.05566378e-01 4.24190662e-01 -3.43756713e-03 1.33267194e+02] [ 3.81921517e-03 -4.95314757e-05 9.99992706e-01 9.53055336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.292755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.46, Y:133.29, Z:0.95 [[ 4.23485571e-01 -9.05901321e-01 -1.66382284e-03 1.45461572e+02] [ 9.05894798e-01 4.23488837e-01 -3.43810266e-03 1.33290921e+02] [ 3.81919214e-03 -5.12615860e-05 9.99992706e-01 9.52739950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.47, Y:133.32, Z:0.95 [[ 4.22694072e-01 -9.06270907e-01 -1.66265763e-03 1.45474637e+02] [ 9.06264385e-01 4.22697339e-01 -3.43866606e-03 1.33315539e+02] [ 3.81916396e-03 -5.33036303e-05 9.99992706e-01 9.53422310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.352755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:145.49, Y:133.34, Z:0.95 [[ 4.20736552e-01 -9.07181345e-01 -1.66157885e-03 1.45488227e+02] [ 9.07174828e-01 4.20739828e-01 -3.43918725e-03 1.33339362e+02] [ 3.81905892e-03 -6.03507285e-05 9.99992706e-01 9.53288313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.382755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:145.50, Y:133.36, Z:0.95 [[ 4.20431397e-01 -9.07322810e-01 -1.66079272e-03 1.45500090e+02] [ 9.07316293e-01 4.20434673e-01 -3.43956683e-03 1.33364441e+02] [ 3.81905229e-03 -6.07624055e-05 9.99992706e-01 9.53394034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.51, Y:133.39, Z:0.95 [[ 4.19159951e-01 -9.07910888e-01 -1.65963562e-03 1.45513017e+02] [ 9.07904373e-01 4.19163232e-01 -3.44012506e-03 1.33388843e+02] [ 3.81898523e-03 -6.48277893e-05 9.99992706e-01 9.53751411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:133.41, Z:0.95 [[ 4.17395335e-01 -9.08723491e-01 -1.65855801e-03 1.45525297e+02] [ 9.08716980e-01 4.17398624e-01 -3.44064452e-03 1.33412996e+02] [ 3.81887433e-03 -7.10508532e-05 9.99992706e-01 9.54551615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.54, Y:133.44, Z:0.95 [[ 4.16291162e-01 -9.09229839e-01 -1.66360751e-03 1.45538328e+02] [ 9.09223342e-01 4.16294478e-01 -3.43821277e-03 1.33436691e+02] [ 3.81867626e-03 -8.12931930e-05 9.99992706e-01 9.54481283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:133.46, Z:0.95 [[ 4.13657098e-01 -9.10431252e-01 -1.65570346e-03 1.45552176e+02] [ 9.10424749e-01 4.13660403e-01 -3.44201483e-03 1.33460035e+02] [ 3.81861683e-03 -8.35795438e-05 9.99992706e-01 9.54550437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:133.49, Z:0.95 [[ 4.14375322e-01 -9.10104585e-01 -1.65454541e-03 1.45569684e+02] [ 9.10098077e-01 4.14378618e-01 -3.44257141e-03 1.33487360e+02] [ 3.81870826e-03 -7.92819574e-05 9.99992706e-01 9.53103384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.58, Y:133.51, Z:0.95 [[ 4.11318517e-01 -9.11490102e-01 -1.69469237e-03 1.45579344e+02] [ 9.11483684e-01 4.11321985e-01 -3.42320774e-03 1.33509137e+02] [ 3.81728420e-03 -1.36655712e-04 9.99992705e-01 9.54946289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.59, Y:133.53, Z:0.96 [[ 4.11811581e-01 -9.11267496e-01 -1.66473391e-03 1.45590169e+02] [ 9.11261018e-01 4.11814934e-01 -3.43763262e-03 1.33533887e+02] [ 3.81816516e-03 -1.01350193e-04 9.99992706e-01 9.55076937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.60, Y:133.56, Z:0.95 [[ 4.12511935e-01 -9.10950691e-01 -1.65556119e-03 1.45601766e+02] [ 9.10944193e-01 4.12515248e-01 -3.44204453e-03 1.33556068e+02] [ 3.81847708e-03 -8.82393972e-05 9.99992706e-01 9.54773153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:145.61, Y:133.58, Z:0.95 [[ 4.11460539e-01 -9.11426113e-01 -1.63270783e-03 1.45612454e+02] [ 9.11419574e-01 4.11463773e-01 -3.45301971e-03 1.33582213e+02] [ 3.81897245e-03 -6.73005227e-05 9.99992705e-01 9.54333130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.62, Y:133.61, Z:0.95 [[ 4.11211153e-01 -9.11538620e-01 -1.65281014e-03 1.45624946e+02] [ 9.11532121e-01 4.11214465e-01 -3.44337064e-03 1.33607351e+02] [ 3.81842476e-03 -9.06371217e-05 9.99992706e-01 9.53932796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.64, Y:133.63, Z:0.95 [[ 4.11154300e-01 -9.11564267e-01 -1.65174527e-03 1.45636901e+02] [ 9.11557766e-01 4.11157608e-01 -3.44388138e-03 1.33632313e+02] [ 3.81844684e-03 -8.96945885e-05 9.99992706e-01 9.53965402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:145.65, Y:133.66, Z:0.95 [[ 4.13061285e-01 -9.10701735e-01 -1.65067549e-03 1.45647315e+02] [ 9.10695225e-01 4.13064576e-01 -3.44439405e-03 1.33657996e+02] [ 3.81865121e-03 -8.05164513e-05 9.99992706e-01 9.53598825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:133.68, Z:0.95 [[ 4.12684693e-01 -9.10872451e-01 -1.64959624e-03 1.45658372e+02] [ 9.10865941e-01 4.12687982e-01 -3.44491085e-03 1.33682482e+02] [ 3.81864294e-03 -8.08990564e-05 9.99992706e-01 9.51058762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.67, Y:133.71, Z:0.95 [[ 4.14108979e-01 -9.10225809e-01 -1.65242672e-03 1.45668666e+02] [ 9.10219298e-01 4.14112269e-01 -3.44355623e-03 1.33708127e+02] [ 3.81870393e-03 -7.80631348e-05 9.99992706e-01 9.51284971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:133.73, Z:0.95 [[ 4.14764279e-01 -9.09927405e-01 -1.64627988e-03 1.45678710e+02] [ 9.09920880e-01 4.14767541e-01 -3.44649443e-03 1.33733436e+02] [ 3.81888320e-03 -6.85016597e-05 9.99992706e-01 9.51301845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.69, Y:133.76, Z:0.95 [[ 4.14987429e-01 -9.09825657e-01 -1.64580770e-03 1.45690420e+02] [ 9.09819130e-01 4.14990687e-01 -3.44671990e-03 1.33757765e+02] [ 3.81890907e-03 -6.70418986e-05 9.99992706e-01 9.51552313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:133.78, Z:0.95 [[ 4.15111359e-01 -9.09769121e-01 -1.64502553e-03 1.45701684e+02] [ 9.09762593e-01 4.15114614e-01 -3.44709317e-03 1.33783736e+02] [ 3.81893306e-03 -6.56551629e-05 9.99992706e-01 9.52581615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.71, Y:133.81, Z:0.95 [[ 4.15552528e-01 -9.09567696e-01 -1.64397167e-03 1.45712428e+02] [ 9.09561164e-01 4.15555775e-01 -3.44759570e-03 1.33807941e+02] [ 3.81898360e-03 -6.26356775e-05 9.99992706e-01 9.53054441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:133.83, Z:0.95 [[ 4.14876455e-01 -9.09876282e-01 -1.63665361e-03 1.45723985e+02] [ 9.09869739e-01 4.14879679e-01 -3.45108178e-03 1.33833986e+02] [ 3.81907178e-03 -5.73690161e-05 9.99992706e-01 9.54234558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.982755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.74, Y:133.86, Z:0.96 [[ 4.14552775e-01 -9.10023792e-01 -1.64170455e-03 1.45735351e+02] [ 9.10017259e-01 4.14556021e-01 -3.44867733e-03 1.33859948e+02] [ 3.81895693e-03 -6.43207196e-05 9.99992706e-01 9.55224243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.75, Y:133.89, Z:0.96 [[ 4.14544128e-01 -9.10027733e-01 -1.64063961e-03 1.45747847e+02] [ 9.10021198e-01 4.14547370e-01 -3.44918389e-03 1.33887633e+02] [ 3.81897582e-03 -6.31778928e-05 9.99992706e-01 9.56315963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:133.91, Z:0.96 [[ 4.13950809e-01 -9.10297742e-01 -1.65806982e-03 1.45757992e+02] [ 9.10291242e-01 4.13954121e-01 -3.44089497e-03 1.33912024e+02] [ 3.81860376e-03 -8.49651783e-05 9.99992706e-01 9.56447014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.77, Y:133.94, Z:0.96 [[ 4.12960130e-01 -9.10747629e-01 -1.63919770e-03 1.45768317e+02] [ 9.10741098e-01 4.12963378e-01 -3.44986204e-03 1.33936181e+02] [ 3.81888229e-03 -6.82292346e-05 9.99992706e-01 9.57002858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:133.96, Z:0.96 [[ 4.14631764e-01 -9.09987812e-01 -1.63796238e-03 1.45783113e+02] [ 9.09981272e-01 4.14634995e-01 -3.45044845e-03 1.33962356e+02] [ 3.81902256e-03 -5.98495662e-05 9.99992706e-01 9.56113091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.79, Y:133.99, Z:0.96 [[ 4.13694690e-01 -9.10414151e-01 -1.66684168e-03 1.45794526e+02] [ 9.10407669e-01 4.13698037e-01 -3.43674109e-03 1.33988519e+02] [ 3.81842684e-03 -9.57439081e-05 9.99992705e-01 9.55545735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.80, Y:134.01, Z:0.96 [[ 4.11352881e-01 -9.11474637e-01 -1.67114755e-03 1.45801800e+02] [ 9.11468172e-01 4.11356261e-01 -3.43469869e-03 1.34010442e+02] [ 3.81807775e-03 -1.10324598e-04 9.99992705e-01 9.57874886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.81, Y:134.04, Z:0.96 [[ 4.09566386e-01 -9.12278876e-01 -1.62094730e-03 1.45813296e+02] [ 9.12272323e-01 4.09569589e-01 -3.45845909e-03 1.34036178e+02] [ 3.81896989e-03 -6.22767677e-05 9.99992706e-01 9.57645772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.82, Y:134.06, Z:0.96 [[ 4.08742875e-01 -9.12648122e-01 -1.63319331e-03 1.45824531e+02] [ 9.12641594e-01 4.08746131e-01 -3.45266644e-03 1.34060497e+02] [ 3.81863099e-03 -7.92673420e-05 9.99992706e-01 9.57281765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:134.08, Z:0.96 [[ 4.11761675e-01 -9.11290110e-01 -1.63051868e-03 1.45834868e+02] [ 9.11283567e-01 4.11764898e-01 -3.45393060e-03 1.34076467e+02] [ 3.81892316e-03 -6.36686286e-05 9.99992706e-01 9.59314537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:134.11, Z:0.96 [[ 4.07280532e-01 -9.13301771e-01 -1.56305984e-03 1.45847626e+02] [ 9.13295119e-01 4.07283532e-01 -3.48583738e-03 1.34107823e+02] [ 3.82022998e-03 -7.82121531e-06 9.99992703e-01 9.59392710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:145.86, Y:134.14, Z:0.96 [[ 4.07503611e-01 -9.13202133e-01 -1.63444226e-03 1.45862312e+02] [ 9.13195612e-01 4.07506880e-01 -3.45203985e-03 1.34135352e+02] [ 3.81845662e-03 -8.58467961e-05 9.99992706e-01 9.57407263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:134.16, Z:0.96 [[ 4.05506371e-01 -9.14090705e-01 -1.66321248e-03 1.45870541e+02] [ 9.14084247e-01 4.05509763e-01 -3.43841581e-03 1.34159207e+02] [ 3.81747283e-03 -1.26016808e-04 9.99992705e-01 9.59390696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:134.19, Z:0.96 [[ 4.06902167e-01 -9.13470285e-01 -1.63278688e-03 1.45886041e+02] [ 9.13463763e-01 4.06905434e-01 -3.45280369e-03 1.34187353e+02] [ 3.81842343e-03 -8.65383457e-05 9.99992706e-01 9.57763816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:134.21, Z:0.96 [[ 4.05057982e-01 -9.14289472e-01 -1.67113787e-03 1.45893124e+02] [ 9.14283031e-01 4.05061406e-01 -3.43466640e-03 1.34210463e+02] [ 3.81719278e-03 -1.36653959e-04 9.99992705e-01 9.58198617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.90, Y:134.24, Z:0.96 [[ 4.04959814e-01 -9.14333030e-01 -1.63045329e-03 1.45904936e+02] [ 9.14326512e-01 4.04963086e-01 -3.45387218e-03 1.34236345e+02] [ 3.81826282e-03 -9.20872341e-05 9.99992706e-01 9.57856186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:134.26, Z:0.96 [[ 4.06714195e-01 -9.13553999e-01 -1.62938200e-03 1.45920591e+02] [ 9.13547472e-01 4.06717450e-01 -3.45437749e-03 1.34263845e+02] [ 3.81845847e-03 -8.35734492e-05 9.99992706e-01 9.56470905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.93, Y:134.29, Z:0.96 [[ 4.05560486e-01 -9.14066695e-01 -1.66415893e-03 1.45930361e+02] [ 9.14060238e-01 4.05563881e-01 -3.43797143e-03 1.34288643e+02] [ 3.81745793e-03 -1.26836139e-04 9.99992705e-01 9.55316774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:134.31, Z:0.96 [[ 4.04918929e-01 -9.14351103e-01 -1.64958497e-03 1.45939073e+02] [ 9.14344621e-01 4.04922273e-01 -3.44483819e-03 1.34311662e+02] [ 3.81774530e-03 -1.13408954e-04 9.99992706e-01 9.57859476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.95, Y:134.34, Z:0.96 [[ 4.05907241e-01 -9.13912833e-01 -1.62637060e-03 1.45954235e+02] [ 9.13906304e-01 4.05910490e-01 -3.45576347e-03 1.34339251e+02] [ 3.81842747e-03 -8.36309288e-05 9.99992706e-01 9.57023661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.96, Y:134.36, Z:0.96 [[ 4.04379964e-01 -9.14589575e-01 -1.65935442e-03 1.45962000e+02] [ 9.14583114e-01 4.04383349e-01 -3.44023800e-03 1.34361956e+02] [ 3.81742110e-03 -1.26454213e-04 9.99992706e-01 9.59307879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:134.39, Z:0.96 [[ 4.04167370e-01 -9.14683605e-01 -1.62460704e-03 1.45975523e+02] [ 9.14677078e-01 4.04170625e-01 -3.45656946e-03 1.34387636e+02] [ 3.81828586e-03 -8.89582289e-05 9.99992706e-01 9.60224494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.98, Y:134.41, Z:0.96 [[ 4.02450224e-01 -9.15440387e-01 -1.64779111e-03 1.45984198e+02] [ 9.15433910e-01 4.02453579e-01 -3.44567326e-03 1.34410998e+02] [ 3.81746789e-03 -1.21731883e-04 9.99992706e-01 9.61831699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.00, Y:134.44, Z:0.96 [[ 3.99150788e-01 -9.16883862e-01 -1.62256817e-03 1.45995817e+02] [ 9.16877349e-01 3.99154071e-01 -3.45751008e-03 1.34439046e+02] [ 3.81778989e-03 -1.07628136e-04 9.99992706e-01 9.62632622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.01, Y:134.46, Z:0.96 [[ 3.99883386e-01 -9.16564547e-01 -1.64578926e-03 1.46008060e+02] [ 9.16558076e-01 3.99886752e-01 -3.44661157e-03 1.34461946e+02] [ 3.81717129e-03 -1.30218729e-04 9.99992706e-01 9.61389630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:134.50, Z:0.96 [[ 3.94153911e-01 -9.19042980e-01 -1.64189230e-03 1.46022195e+02] [ 9.19036522e-01 3.94157302e-01 -3.44843858e-03 1.34495251e+02] [ 3.81642711e-03 -1.49743437e-04 9.99992706e-01 9.61319378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.03, Y:134.52, Z:0.96 [[ 3.93973441e-01 -9.19120218e-01 -1.71823925e-03 1.46033104e+02] [ 9.19113912e-01 3.93977118e-01 -3.41287006e-03 1.34517046e+02] [ 3.81378483e-03 -2.34677432e-04 9.99992700e-01 9.61079937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:134.54, Z:0.96 [[ 3.93560599e-01 -9.19297128e-01 -1.68665172e-03 1.46045198e+02] [ 9.19290761e-01 3.93564161e-01 -3.42755010e-03 1.34541562e+02] [ 3.81474264e-03 -2.01574673e-04 9.99992704e-01 9.64580189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:134.56, Z:0.96 [[ 3.90467151e-01 -9.20615326e-01 -1.68099619e-03 1.46051877e+02] [ 9.20608959e-01 3.90470714e-01 -3.43019115e-03 1.34561841e+02] [ 3.81426632e-03 -2.08163186e-04 9.99992704e-01 9.63866776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:134.59, Z:0.96 [[ 3.90766859e-01 -9.20488264e-01 -1.61776243e-03 1.46067054e+02] [ 9.20481773e-01 3.90770184e-01 -3.45963813e-03 1.34590566e+02] [ 3.81672962e-03 -1.37208898e-04 9.99992707e-01 9.63392644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.07, Y:134.61, Z:0.96 [[ 3.86104188e-01 -9.22453671e-01 -1.66791135e-03 1.46072590e+02] [ 9.22447294e-01 3.86107732e-01 -3.43633831e-03 1.34612353e+02] [ 3.81385635e-03 -2.11775701e-04 9.99992705e-01 9.63135335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.08, Y:134.64, Z:0.96 [[ 3.85501057e-01 -9.22705982e-01 -1.61403015e-03 1.46083427e+02] [ 9.22699503e-01 3.85504405e-01 -3.46131430e-03 1.34637165e+02] [ 3.81599115e-03 -1.54924491e-04 9.99992707e-01 9.60822939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.09, Y:134.66, Z:0.96 [[ 3.83726831e-01 -9.23445255e-01 -1.60641018e-03 1.46093690e+02] [ 9.23438768e-01 3.83730162e-01 -3.46484065e-03 1.34662728e+02] [ 3.81601869e-03 -1.53869117e-04 9.99992707e-01 9.60029721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.10, Y:134.69, Z:0.96 [[ 3.82891497e-01 -9.23791946e-01 -1.59456196e-03 1.46104151e+02] [ 9.23785439e-01 3.82894790e-01 -3.47031963e-03 1.34687118e+02] [ 3.81640279e-03 -1.44277242e-04 9.99992707e-01 9.59639828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:134.71, Z:0.96 [[ 3.82276905e-01 -9.24046446e-01 -1.59188830e-03 1.46115583e+02] [ 9.24039936e-01 3.82280192e-01 -3.47155428e-03 1.34713295e+02] [ 3.81642476e-03 -1.43873334e-04 9.99992707e-01 9.60280555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.13, Y:134.74, Z:0.96 [[ 3.81089781e-01 -9.24536662e-01 -1.59380964e-03 1.46126914e+02] [ 9.24530160e-01 3.81093084e-01 -3.47066763e-03 1.34738119e+02] [ 3.81614930e-03 -1.50889111e-04 9.99992707e-01 9.61389945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.14, Y:134.76, Z:0.96 [[ 3.80435668e-01 -9.24806004e-01 -1.59909611e-03 1.46138789e+02] [ 9.24799514e-01 3.80438996e-01 -3.46823020e-03 1.34764050e+02] [ 3.81579863e-03 -1.59404833e-04 9.99992707e-01 9.61843917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:134.79, Z:0.96 [[ 3.78994054e-01 -9.25397722e-01 -1.60099956e-03 1.46149779e+02] [ 9.25391241e-01 3.78997399e-01 -3.46735302e-03 1.34788944e+02] [ 3.81545526e-03 -1.67444785e-04 9.99992707e-01 9.60228537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:134.81, Z:0.96 [[ 3.79607445e-01 -9.25146258e-01 -1.60905610e-03 1.46160435e+02] [ 9.25139791e-01 3.79610815e-01 -3.46364174e-03 1.34811820e+02] [ 3.81519029e-03 -1.73777629e-04 9.99992707e-01 9.60692291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.17, Y:134.84, Z:0.96 [[ 3.79434965e-01 -9.25217033e-01 -1.59658178e-03 1.46171158e+02] [ 9.25210542e-01 3.79438290e-01 -3.46938232e-03 1.34837231e+02] [ 3.81573588e-03 -1.60769333e-04 9.99992707e-01 9.60801395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.18, Y:134.86, Z:0.96 [[ 3.79640367e-01 -9.25132773e-01 -1.59506934e-03 1.46181518e+02] [ 9.25126278e-01 3.79643685e-01 -3.47007772e-03 1.34862128e+02] [ 3.81584063e-03 -1.58258984e-04 9.99992707e-01 9.60937486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.19, Y:134.89, Z:0.96 [[ 3.79812219e-01 -9.25062234e-01 -1.59403544e-03 1.46191350e+02] [ 9.25055737e-01 3.79815532e-01 -3.47055259e-03 1.34888631e+02] [ 3.81591655e-03 -1.56413351e-04 9.99992707e-01 9.61367738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.20, Y:134.91, Z:0.96 [[ 3.81011205e-01 -9.24569028e-01 -1.60473376e-03 1.46201531e+02] [ 9.24562547e-01 3.81014549e-01 -3.46564101e-03 1.34911223e+02] [ 3.81565125e-03 -1.63228675e-04 9.99992707e-01 9.61232577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.21, Y:134.94, Z:0.96 [[ 3.80725226e-01 -9.24686849e-01 -1.59204981e-03 1.46213284e+02] [ 9.24680345e-01 3.80728525e-01 -3.47145801e-03 1.34937259e+02] [ 3.81615035e-03 -1.50465531e-04 9.99992707e-01 9.61337969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.22, Y:134.96, Z:0.96 [[ 3.82338562e-01 -9.24020938e-01 -1.59097596e-03 1.46224594e+02] [ 9.24014426e-01 3.82341845e-01 -3.47195009e-03 1.34963258e+02] [ 3.81645126e-03 -1.42624336e-04 9.99992707e-01 9.62463692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.23, Y:134.99, Z:0.96 [[ 3.82912444e-01 -9.23783267e-01 -1.59226726e-03 1.46234431e+02] [ 9.23776756e-01 3.82915728e-01 -3.47135880e-03 1.34987379e+02] [ 3.81648735e-03 -1.41673000e-04 9.99992707e-01 9.61233791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.25, Y:135.01, Z:0.96 [[ 3.84226116e-01 -9.23237658e-01 -1.58701846e-03 1.46245512e+02] [ 9.23231132e-01 3.84229371e-01 -3.47376064e-03 1.35012510e+02] [ 3.81688575e-03 -1.30475289e-04 9.99992707e-01 9.62400472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.26, Y:135.04, Z:0.96 [[ 3.84842571e-01 -9.22980862e-01 -1.58848448e-03 1.46255728e+02] [ 9.22974337e-01 3.84845828e-01 -3.47309013e-03 1.35040239e+02] [ 3.81691735e-03 -1.29537472e-04 9.99992707e-01 9.63287636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.27, Y:135.06, Z:0.96 [[ 3.86474122e-01 -9.22298855e-01 -1.60456650e-03 1.46266570e+02] [ 9.22292354e-01 3.86477428e-01 -3.46574149e-03 1.35064481e+02] [ 3.81657814e-03 -1.40460015e-04 9.99992707e-01 9.63280255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.28, Y:135.09, Z:0.96 [[ 3.85863779e-01 -9.22554405e-01 -1.58572347e-03 1.46276520e+02] [ 9.22547871e-01 3.85867018e-01 -3.47434163e-03 1.35089542e+02] [ 3.81714756e-03 -1.22283218e-04 9.99992707e-01 9.63494752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.29, Y:135.11, Z:0.96 [[ 3.87334424e-01 -9.21937900e-01 -1.59782033e-03 1.46286790e+02] [ 9.21931383e-01 3.87337698e-01 -3.46882360e-03 1.35113351e+02] [ 3.81693599e-03 -1.29485917e-04 9.99992707e-01 9.63957515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.30, Y:135.14, Z:0.96 [[ 3.86483371e-01 -9.22295024e-01 -1.57904211e-03 1.46298050e+02] [ 9.22288475e-01 3.86486580e-01 -3.47738090e-03 1.35140381e+02] [ 3.81744969e-03 -1.12382449e-04 9.99992707e-01 9.64754467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.31, Y:135.16, Z:0.96 [[ 3.86803622e-01 -9.22160735e-01 -1.59288148e-03 1.46307961e+02] [ 9.22154211e-01 3.86806881e-01 -3.47107982e-03 1.35164667e+02] [ 3.81703104e-03 -1.26256118e-04 9.99992707e-01 9.63702049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.32, Y:135.19, Z:0.96 [[ 3.84412706e-01 -9.23159980e-01 -1.58846297e-03 1.46317811e+02] [ 9.23153456e-01 3.84415966e-01 -3.47308908e-03 1.35191278e+02] [ 3.81684737e-03 -1.31295511e-04 9.99992707e-01 9.64157772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.33, Y:135.22, Z:0.96 [[ 3.84712814e-01 -9.23034934e-01 -1.60029286e-03 1.46328059e+02] [ 9.23028432e-01 3.84716115e-01 -3.46771349e-03 1.35215730e+02] [ 3.81647915e-03 -1.43041995e-04 9.99992707e-01 9.64967753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.34, Y:135.24, Z:0.96 [[ 3.83009311e-01 -9.23743134e-01 -1.57831017e-03 1.46338190e+02] [ 9.23736596e-01 3.83012542e-01 -3.47769009e-03 1.35240601e+02] [ 3.81700493e-03 -1.25955184e-04 9.99992707e-01 9.64768833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.35, Y:135.27, Z:0.96 [[ 3.81892559e-01 -9.24205381e-01 -1.57713301e-03 1.46349305e+02] [ 9.24198845e-01 3.81895794e-01 -3.47822385e-03 1.35265888e+02] [ 3.81689366e-03 -1.29276696e-04 9.99992707e-01 9.64603184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.36, Y:135.29, Z:0.96 [[ 3.80571421e-01 -9.24750188e-01 -1.57604804e-03 1.46360008e+02] [ 9.24743654e-01 3.80574661e-01 -3.47871540e-03 1.35292571e+02] [ 3.81674667e-03 -1.33540760e-04 9.99992707e-01 9.61772882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.37, Y:135.32, Z:0.96 [[ 3.79608733e-01 -9.25145782e-01 -1.57826058e-03 1.46370000e+02] [ 9.25139256e-01 3.79611988e-01 -3.47771341e-03 1.35318122e+02] [ 3.81651854e-03 -1.39940439e-04 9.99992707e-01 9.62499194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.38, Y:135.34, Z:0.96 [[ 3.78426335e-01 -9.25630090e-01 -1.56394042e-03 1.46379438e+02] [ 9.25623541e-01 3.78429544e-01 -3.48418956e-03 1.35341895e+02] [ 3.81691195e-03 -1.29110987e-04 9.99992707e-01 9.62436538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.39, Y:135.37, Z:0.96 [[ 3.76557375e-01 -9.26391987e-01 -1.55874944e-03 1.46387430e+02] [ 9.26385435e-01 3.76560578e-01 -3.48653982e-03 1.35366604e+02] [ 3.81686614e-03 -1.31120497e-04 9.99992707e-01 9.61963367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.40, Y:135.39, Z:0.96 [[ 3.77292709e-01 -9.26092791e-01 -1.53417917e-03 1.46400187e+02] [ 9.26086192e-01 3.77295814e-01 -3.49762081e-03 1.35393343e+02] [ 3.81796080e-03 -1.01155316e-04 9.99992706e-01 9.62997915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.41, Y:135.42, Z:0.96 [[ 3.78032747e-01 -9.25790923e-01 -1.55236798e-03 1.46412839e+02] [ 9.25784354e-01 3.78035916e-01 -3.48941999e-03 1.35418864e+02] [ 3.81732420e-03 -1.18042965e-04 9.99992707e-01 9.64607564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.42, Y:135.44, Z:0.96 [[ 3.78139682e-01 -9.25747221e-01 -1.56941908e-03 1.46424046e+02] [ 9.25740684e-01 3.78142914e-01 -3.48173408e-03 1.35444836e+02] [ 3.81667035e-03 -1.36293271e-04 9.99992707e-01 9.64909299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.43, Y:135.47, Z:0.97 [[ 3.78914365e-01 -9.25430410e-01 -1.56833492e-03 1.46433283e+02] [ 9.25423868e-01 3.78917588e-01 -3.48222236e-03 1.35469913e+02] [ 3.81682415e-03 -1.31910496e-04 9.99992707e-01 9.65398936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.44, Y:135.49, Z:0.97 [[ 3.79566479e-01 -9.25163138e-01 -1.56719271e-03 1.46442744e+02] [ 9.25156591e-01 3.79569693e-01 -3.48273634e-03 1.35494281e+02] [ 3.81695814e-03 -1.27968695e-04 9.99992707e-01 9.66072046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.45, Y:135.52, Z:0.97 [[ 3.78565233e-01 -9.25573288e-01 -1.56593986e-03 1.46447087e+02] [ 9.25566743e-01 3.78568449e-01 -3.48329957e-03 1.35519076e+02] [ 3.81686446e-03 -1.30725742e-04 9.99992707e-01 9.65194821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.46, Y:135.55, Z:0.97 [[ 3.80151647e-01 -9.24922925e-01 -1.51936540e-03 1.46459390e+02] [ 9.24916290e-01 3.80154676e-01 -3.50419668e-03 1.35545179e+02] [ 3.81870571e-03 -7.31596720e-05 9.99992706e-01 9.65820370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.47, Y:135.57, Z:0.97 [[ 3.82092220e-01 -9.24122927e-01 -1.53329882e-03 1.46473654e+02] [ 9.24116310e-01 3.82095288e-01 -3.49795168e-03 1.35572079e+02] [ 3.81840360e-03 -8.04063207e-05 9.99992707e-01 9.67382181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:135.60, Z:0.97 [[ 3.82940374e-01 -9.23771741e-01 -1.56246565e-03 1.46481374e+02] [ 9.23765174e-01 3.82943546e-01 -3.48487455e-03 1.35596963e+02] [ 3.81756477e-03 -1.08852186e-04 9.99992707e-01 9.67068729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.49, Y:135.62, Z:0.97 [[ 3.83107898e-01 -9.23702313e-01 -1.54127887e-03 1.46493264e+02] [ 9.23695707e-01 3.83110989e-01 -3.49436093e-03 1.35623722e+02] [ 3.81823014e-03 -8.49554051e-05 9.99992707e-01 9.68083273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.50, Y:135.65, Z:0.97 [[ 3.83267172e-01 -9.23636206e-01 -1.56015617e-03 1.46503613e+02] [ 9.23629634e-01 3.83270333e-01 -3.48591220e-03 1.35649651e+02] [ 3.81767629e-03 -1.04970760e-04 9.99992707e-01 9.68063182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.51, Y:135.68, Z:0.97 [[ 3.83499791e-01 -9.23539647e-01 -1.55902960e-03 1.46512290e+02] [ 9.23533072e-01 3.83502946e-01 -3.48641597e-03 1.35675535e+02] [ 3.81773582e-03 -1.02775596e-04 9.99992707e-01 9.67643665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.52, Y:135.70, Z:0.97 [[ 3.83956873e-01 -9.23349696e-01 -1.56791148e-03 1.46523162e+02] [ 9.23343136e-01 3.83960058e-01 -3.48244648e-03 1.35700792e+02] [ 3.81753128e-03 -1.10611043e-04 9.99992707e-01 9.68458810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.53, Y:135.73, Z:0.97 [[ 3.84803057e-01 -9.22997391e-01 -1.55687697e-03 1.46533609e+02] [ 9.22990808e-01 3.84806195e-01 -3.48737265e-03 1.35726509e+02] [ 3.81793175e-03 -9.50314732e-05 9.99992707e-01 9.68519531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.54, Y:135.75, Z:0.97 [[ 3.85073303e-01 -9.22884679e-01 -1.55575684e-03 1.46544363e+02] [ 9.22878093e-01 3.85076435e-01 -3.48787228e-03 1.35752188e+02] [ 3.81798918e-03 -9.26874035e-05 9.99992707e-01 9.68576294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.56, Y:135.78, Z:0.97 [[ 3.85411768e-01 -9.22743384e-01 -1.55464769e-03 1.46555416e+02] [ 9.22736794e-01 3.85414893e-01 -3.48836659e-03 1.35778227e+02] [ 3.81805156e-03 -9.00730896e-05 9.99992707e-01 9.68311957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.57, Y:135.80, Z:0.97 [[ 3.85156669e-01 -9.22849894e-01 -1.55351461e-03 1.46565827e+02] [ 9.22843304e-01 3.85159791e-01 -3.48887112e-03 1.35804495e+02] [ 3.81805571e-03 -8.98885781e-05 9.99992707e-01 9.67967296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.58, Y:135.83, Z:0.97 [[ 3.85347478e-01 -9.22770238e-01 -1.55237510e-03 1.46575679e+02] [ 9.22763645e-01 3.85350594e-01 -3.48937807e-03 1.35829589e+02] [ 3.81810290e-03 -8.78522637e-05 9.99992707e-01 9.67796574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.59, Y:135.86, Z:0.97 [[ 3.84827641e-01 -9.22987151e-01 -1.55118240e-03 1.46586717e+02] [ 9.22980557e-01 3.84830757e-01 -3.48990820e-03 1.35855149e+02] [ 3.81808312e-03 -8.86980572e-05 9.99992707e-01 9.67627144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.60, Y:135.88, Z:0.97 [[ 3.84054241e-01 -9.23309232e-01 -1.55003145e-03 1.46598269e+02] [ 9.23302639e-01 3.84057358e-01 -3.49041931e-03 1.35880261e+02] [ 3.81803736e-03 -9.06377884e-05 9.99992707e-01 9.68266430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.61, Y:135.90, Z:0.97 [[ 3.83165489e-01 -9.23678412e-01 -1.54889111e-03 1.46608986e+02] [ 9.23671820e-01 3.83168608e-01 -3.49092527e-03 1.35904678e+02] [ 3.81797876e-03 -9.30649794e-05 9.99992707e-01 9.68947852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.62, Y:135.93, Z:0.97 [[ 3.81329062e-01 -9.24438073e-01 -1.54768598e-03 1.46618432e+02] [ 9.24431485e-01 3.81332190e-01 -3.49145948e-03 1.35930342e+02] [ 3.81782056e-03 -9.93346832e-05 9.99992707e-01 9.67625510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:135.95, Z:0.97 [[ 3.80226281e-01 -9.24892229e-01 -1.52982790e-03 1.46630220e+02] [ 9.24885613e-01 3.80229349e-01 -3.49935839e-03 1.35954828e+02] [ 3.81821485e-03 -8.43677875e-05 9.99992707e-01 9.66784804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.64, Y:135.98, Z:0.97 [[ 3.78876345e-01 -9.25446049e-01 -1.52489699e-03 1.46642942e+02] [ 9.25439429e-01 3.78879405e-01 -3.50153550e-03 1.35981302e+02] [ 3.81823426e-03 -8.45508252e-05 9.99992707e-01 9.68326045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.65, Y:136.01, Z:0.97 [[ 3.76625603e-01 -9.26364279e-01 -1.54221628e-03 1.46654592e+02] [ 9.26357697e-01 3.76628744e-01 -3.49389071e-03 1.36005903e+02] [ 3.81745852e-03 -1.12755229e-04 9.99992707e-01 9.68297024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.67, Y:136.03, Z:0.97 [[ 3.75276515e-01 -9.26911626e-01 -1.54093331e-03 1.46665280e+02] [ 9.26905046e-01 3.75279661e-01 -3.49445645e-03 1.36029606e+02] [ 3.81733324e-03 -1.16911423e-04 9.99992707e-01 9.68501509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.68, Y:136.06, Z:0.97 [[ 3.74185507e-01 -9.27352596e-01 -1.53949862e-03 1.46676960e+02] [ 9.27346017e-01 3.74188655e-01 -3.49508840e-03 1.36055133e+02] [ 3.81724221e-03 -1.19836489e-04 9.99992707e-01 9.68301076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.69, Y:136.08, Z:0.97 [[ 3.73366407e-01 -9.27682683e-01 -1.53841906e-03 1.46687739e+02] [ 9.27676105e-01 3.73369556e-01 -3.49556352e-03 1.36079324e+02] [ 3.81717258e-03 -1.22028613e-04 9.99992707e-01 9.68302673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65275509600002 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:146.70, Y:136.10, Z:0.97 [[ 3.72173749e-01 -9.28161806e-01 -1.53714763e-03 1.46699296e+02] [ 9.28155230e-01 3.72176902e-01 -3.49612253e-03 1.36104449e+02] [ 3.81705824e-03 -1.25546585e-04 9.99992707e-01 9.66601524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:136.13, Z:0.97 [[ 3.72058603e-01 -9.28207971e-01 -1.53601808e-03 1.46710533e+02] [ 9.28201393e-01 3.72061753e-01 -3.49661872e-03 1.36129384e+02] [ 3.81708295e-03 -1.24787048e-04 9.99992707e-01 9.68706122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.72, Y:136.15, Z:0.97 [[ 3.73395896e-01 -9.27670819e-01 -1.53482909e-03 1.46721596e+02] [ 9.27664235e-01 3.73399032e-01 -3.49714055e-03 1.36152764e+02] [ 3.81729894e-03 -1.17988122e-04 9.99992707e-01 9.68268928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.73, Y:136.18, Z:0.97 [[ 3.75563184e-01 -9.26795544e-01 -1.52146622e-03 1.46732544e+02] [ 9.26788928e-01 3.75566254e-01 -3.50299807e-03 1.36175316e+02] [ 3.81797437e-03 -9.44809400e-05 9.99992707e-01 9.68518770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.74, Y:136.20, Z:0.97 [[ 3.74279908e-01 -9.27314562e-01 -1.50102639e-03 1.46743751e+02] [ 9.27307915e-01 3.74282910e-01 -3.51194998e-03 1.36202100e+02] [ 3.81849088e-03 -7.74613386e-05 9.99992707e-01 9.68788977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.75, Y:136.23, Z:0.97 [[ 3.75128654e-01 -9.26971491e-01 -1.53239213e-03 1.46754963e+02] [ 9.26964896e-01 3.75131768e-01 -3.49821021e-03 1.36228119e+02] [ 3.81759010e-03 -1.08194825e-04 9.99992707e-01 9.68421255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.77, Y:136.25, Z:0.97 [[ 3.76523628e-01 -9.26405761e-01 -1.52457077e-03 1.46767403e+02] [ 9.26399148e-01 3.76526703e-01 -3.50163287e-03 1.36253552e+02] [ 3.81797447e-03 -9.39135492e-05 9.99992707e-01 9.68815820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.78, Y:136.28, Z:0.97 [[ 3.77193070e-01 -9.26133385e-01 -1.53020075e-03 1.46778790e+02] [ 9.26126779e-01 3.77196162e-01 -3.49917086e-03 1.36278941e+02] [ 3.81788480e-03 -9.72968964e-05 9.99992707e-01 9.69030089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.79, Y:136.30, Z:0.97 [[ 3.78839614e-01 -9.25461079e-01 -1.52907196e-03 1.46790686e+02] [ 9.25454466e-01 3.78842689e-01 -3.49966405e-03 1.36303045e+02] [ 3.81808060e-03 -8.92750992e-05 9.99992707e-01 9.69136951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.922755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.80, Y:136.33, Z:0.97 [[ 3.79369446e-01 -9.25244016e-01 -1.52788306e-03 1.46801779e+02] [ 9.25237399e-01 3.79372513e-01 -3.50018303e-03 1.36327680e+02] [ 3.81816023e-03 -8.57920526e-05 9.99992707e-01 9.69538752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.81, Y:136.35, Z:0.97 [[ 3.79961049e-01 -9.25001227e-01 -1.52668646e-03 1.46813338e+02] [ 9.24994606e-01 3.79964108e-01 -3.50070487e-03 1.36353738e+02] [ 3.81824236e-03 -8.20452447e-05 9.99992707e-01 9.69813908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.82, Y:136.38, Z:0.97 [[ 3.80675534e-01 -9.24707419e-01 -1.52557231e-03 1.46824932e+02] [ 9.24700794e-01 3.80678583e-01 -3.50119034e-03 1.36379398e+02] [ 3.81832939e-03 -7.78804203e-05 9.99992707e-01 9.69971928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:136.40, Z:0.97 [[ 3.81326690e-01 -9.24439090e-01 -1.52444176e-03 1.46836485e+02] [ 9.24432461e-01 3.81329730e-01 -3.50168252e-03 1.36404813e+02] [ 3.81840717e-03 -7.39584422e-05 9.99992707e-01 9.68146600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.85, Y:136.43, Z:0.97 [[ 3.81726911e-01 -9.24273903e-01 -1.52268719e-03 1.46848097e+02] [ 9.24267269e-01 3.81729941e-01 -3.50244566e-03 1.36428488e+02] [ 3.81847442e-03 -7.03921726e-05 9.99992707e-01 9.70113930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.86, Y:136.45, Z:0.97 [[ 3.81799432e-01 -9.24243957e-01 -1.51703756e-03 1.46860488e+02] [ 9.24237314e-01 3.81802440e-01 -3.50490029e-03 1.36453058e+02] [ 3.81859156e-03 -6.39337818e-05 9.99992707e-01 9.70598795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.87, Y:136.48, Z:0.97 [[ 3.81599756e-01 -9.24326411e-01 -1.52090680e-03 1.46872284e+02] [ 9.24319775e-01 3.81602780e-01 -3.50322048e-03 1.36478112e+02] [ 3.81850147e-03 -6.89761486e-05 9.99992707e-01 9.70652579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.88, Y:136.50, Z:0.97 [[ 3.81189603e-01 -9.24495634e-01 -1.51980358e-03 1.46883986e+02] [ 9.24488997e-01 3.81192627e-01 -3.50369902e-03 1.36502929e+02] [ 3.81849237e-03 -6.94680440e-05 9.99992707e-01 9.70687570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.90, Y:136.53, Z:0.97 [[ 3.79769497e-01 -9.25079901e-01 -1.51864202e-03 1.46895691e+02] [ 9.25073267e-01 3.79772526e-01 -3.50420242e-03 1.36526361e+02] [ 3.81840574e-03 -7.40659410e-05 9.99992707e-01 9.70841345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.91, Y:136.55, Z:0.97 [[ 3.79456087e-01 -9.25208504e-01 -1.51735806e-03 1.46906508e+02] [ 9.25201869e-01 3.79459114e-01 -3.50475830e-03 1.36551901e+02] [ 3.81840752e-03 -7.39606417e-05 9.99992707e-01 9.70946913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:146.92, Y:136.58, Z:0.97 [[ 3.78652184e-01 -9.25537803e-01 -1.51617057e-03 1.46918712e+02] [ 9.25531169e-01 3.78655212e-01 -3.50527193e-03 1.36577602e+02] [ 3.81836757e-03 -7.59842517e-05 9.99992707e-01 9.69534677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.93, Y:136.60, Z:0.97 [[ 3.77281304e-01 -9.26097469e-01 -1.51507747e-03 1.46930525e+02] [ 9.26090837e-01 3.77284337e-01 -3.50574434e-03 1.36603301e+02] [ 3.81827596e-03 -8.04475713e-05 9.99992707e-01 9.70704192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.94, Y:136.63, Z:0.97 [[ 3.74469336e-01 -9.27238062e-01 -1.51398126e-03 1.46943688e+02] [ 9.27231438e-01 3.74472386e-01 -3.50621768e-03 1.36626691e+02] [ 3.81804266e-03 -9.08400130e-05 9.99992707e-01 9.70244548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.96, Y:136.65, Z:0.97 [[ 3.74791263e-01 -9.27107987e-01 -1.51303116e-03 1.46960674e+02] [ 9.27101360e-01 3.74794306e-01 -3.50662763e-03 1.36654655e+02] [ 3.81809795e-03 -8.84798514e-05 9.99992707e-01 9.68850351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.97, Y:136.68, Z:0.97 [[ 3.68632945e-01 -9.29573738e-01 -1.55512747e-03 1.46969271e+02] [ 9.29567206e-01 3.68636191e-01 -3.48845669e-03 1.36675702e+02] [ 3.81605399e-03 -1.59635434e-04 9.99992706e-01 9.70298501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.98, Y:136.70, Z:0.97 [[ 3.65872923e-01 -9.30663591e-01 -1.51119311e-03 1.46980170e+02] [ 9.30656990e-01 3.65876024e-01 -3.50738626e-03 1.36700383e+02] [ 3.81710602e-03 -1.23144765e-04 9.99992707e-01 9.67333895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.99, Y:136.72, Z:0.97 [[ 3.64477730e-01 -9.31210894e-01 -1.50152910e-03 1.46993507e+02] [ 9.31204281e-01 3.64480803e-01 -3.51154655e-03 1.36724817e+02] [ 3.81726893e-03 -1.18349815e-04 9.99992707e-01 9.70374154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:136.75, Z:0.97 [[ 3.59461843e-01 -9.33158563e-01 -1.50970732e-03 1.47004465e+02] [ 9.33151981e-01 3.59464983e-01 -3.50802698e-03 1.36748393e+02] [ 3.81623234e-03 -1.47784535e-04 9.99992707e-01 9.66907564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:136.77, Z:0.97 [[ 3.59091401e-01 -9.33301204e-01 -1.49282085e-03 1.47019277e+02] [ 9.33294593e-01 3.59094480e-01 -3.51528745e-03 1.36773861e+02] [ 3.81688574e-03 -1.30932127e-04 9.99992707e-01 9.70518540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.03, Y:136.80, Z:0.97 [[ 3.56618547e-01 -9.34248863e-01 -1.50819718e-03 1.47029034e+02] [ 9.34242287e-01 3.56621701e-01 -3.50867797e-03 1.36797974e+02] [ 3.81583425e-03 -1.57761947e-04 9.99992707e-01 9.67275220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.04, Y:136.82, Z:0.97 [[ 3.54527375e-01 -9.35044438e-01 -1.49625988e-03 1.47041806e+02] [ 9.35037848e-01 3.54530500e-01 -3.51380272e-03 1.36822283e+02] [ 3.81603145e-03 -1.53320363e-04 9.99992707e-01 9.66231237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.05, Y:136.85, Z:0.97 [[ 3.54139614e-01 -9.35191372e-01 -1.49409026e-03 1.47053940e+02] [ 9.35184779e-01 3.54142732e-01 -3.51473317e-03 1.36846981e+02] [ 3.81606935e-03 -1.52544219e-04 9.99992707e-01 9.69908508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.06, Y:136.87, Z:0.97 [[ 3.53135150e-01 -9.35571110e-01 -1.50450222e-03 1.47064829e+02] [ 9.35564540e-01 3.53138314e-01 -3.51027061e-03 1.36871510e+02] [ 3.81540515e-03 -1.67958988e-04 9.99992707e-01 9.70698029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.08, Y:136.90, Z:0.97 [[ 3.52211613e-01 -9.35919184e-01 -1.50333392e-03 1.47077149e+02] [ 9.35912615e-01 3.52214780e-01 -3.51077088e-03 1.36897302e+02] [ 3.81529424e-03 -1.70454905e-04 9.99992707e-01 9.71663824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64275509600003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.09, Y:136.92, Z:0.97 [[ 3.52028681e-01 -9.35988008e-01 -1.50221749e-03 1.47088212e+02] [ 9.35981437e-01 3.52031845e-01 -3.51124852e-03 1.36921581e+02] [ 3.81531490e-03 -1.69987505e-04 9.99992707e-01 9.69995979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.10, Y:136.95, Z:0.97 [[ 3.52920722e-01 -9.35652024e-01 -1.50104327e-03 1.47100072e+02] [ 9.35645449e-01 3.52923876e-01 -3.51175042e-03 1.36946321e+02] [ 3.81553040e-03 -1.65074806e-04 9.99992707e-01 9.72285114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:136.97, Z:0.97 [[ 3.54357163e-01 -9.35108952e-01 -1.49981308e-03 1.47112661e+02] [ 9.35102369e-01 3.54360302e-01 -3.51227574e-03 1.36972547e+02] [ 3.81583470e-03 -1.57878693e-04 9.99992707e-01 9.71398854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.12, Y:137.00, Z:0.97 [[ 3.54493313e-01 -9.35057328e-01 -1.51133498e-03 1.47122369e+02] [ 9.35050766e-01 3.54496494e-01 -3.50735845e-03 1.36996898e+02] [ 3.81534417e-03 -1.69839820e-04 9.99992707e-01 9.72721520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.13, Y:137.02, Z:0.97 [[ 3.55367765e-01 -9.34725365e-01 -1.49769626e-03 1.47132786e+02] [ 9.34718776e-01 3.55370888e-01 -3.51317276e-03 1.37021530e+02] [ 3.81608934e-03 -1.51456462e-04 9.99992707e-01 9.72330953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.14, Y:137.05, Z:0.97 [[ 3.57123215e-01 -9.34056085e-01 -1.49639946e-03 1.47143237e+02] [ 9.34049487e-01 3.57126322e-01 -3.51372502e-03 1.37045341e+02] [ 3.81641988e-03 -1.42878374e-04 9.99992707e-01 9.72830708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.16, Y:137.07, Z:0.97 [[ 3.61034049e-01 -9.32551450e-01 -1.48632790e-03 1.47157108e+02] [ 9.32544821e-01 3.61037089e-01 -3.51801105e-03 1.37072123e+02] [ 3.81734580e-03 -1.15945614e-04 9.99992707e-01 9.71335686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.852755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:147.17, Y:137.10, Z:0.97 [[ 3.61330454e-01 -9.32436594e-01 -1.51676776e-03 1.47166423e+02] [ 9.32430018e-01 3.61333607e-01 -3.50506249e-03 1.37096768e+02] [ 3.81630770e-03 -1.47793970e-04 9.99992707e-01 9.71988123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:137.13, Z:0.97 [[ 3.68212735e-01 -9.29740368e-01 -1.49339300e-03 1.47186351e+02] [ 9.29733728e-01 3.68215751e-01 -3.51499358e-03 1.37126442e+02] [ 3.81792225e-03 -9.41924392e-05 9.99992707e-01 9.71222707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.19, Y:137.15, Z:0.98 [[ 3.65896558e-01 -9.30654211e-01 -1.56471984e-03 1.47189545e+02] [ 9.30647705e-01 3.65899859e-01 -3.48465704e-03 1.37147381e+02] [ 3.81554152e-03 -1.81178912e-04 9.99992704e-01 9.75016202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.20, Y:137.17, Z:0.98 [[ 3.68750078e-01 -9.29527383e-01 -1.49132485e-03 1.47200173e+02] [ 9.29520738e-01 3.68753083e-01 -3.51578969e-03 1.37171431e+02] [ 3.81795342e-03 -8.97696544e-05 9.99992708e-01 9.75489236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.21, Y:137.20, Z:0.98 [[ 3.68997184e-01 -9.29429324e-01 -1.48676642e-03 1.47210869e+02] [ 9.29422671e-01 3.69000169e-01 -3.51772173e-03 1.37197427e+02] [ 3.81809079e-03 -8.38050067e-05 9.99992708e-01 9.76397747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00275509600002 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:147.22, Y:137.22, Z:0.97 [[ 3.70011470e-01 -9.29025979e-01 -1.49751163e-03 1.47222038e+02] [ 9.29019341e-01 3.70014489e-01 -3.51317196e-03 1.37221823e+02] [ 3.81792902e-03 -9.13033421e-05 9.99992708e-01 9.73389538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.23, Y:137.25, Z:0.98 [[ 3.71076716e-01 -9.28601022e-01 -1.48760793e-03 1.47233165e+02] [ 9.28594363e-01 3.71079690e-01 -3.51736056e-03 1.37246767e+02] [ 3.81824570e-03 -7.61737359e-05 9.99992708e-01 9.76055881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:137.27, Z:0.98 [[ 3.70683489e-01 -9.28758064e-01 -1.48642130e-03 1.47244527e+02] [ 9.28751405e-01 3.70686462e-01 -3.51786195e-03 1.37273087e+02] [ 3.81823891e-03 -7.65025315e-05 9.99992708e-01 9.77428840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:147.26, Y:137.30, Z:0.97 [[ 3.70632521e-01 -9.28778395e-01 -1.49260437e-03 1.47255249e+02] [ 9.28771746e-01 3.70635517e-01 -3.51525060e-03 1.37296706e+02] [ 3.81810100e-03 -8.34225774e-05 9.99992708e-01 9.73758270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.27, Y:137.32, Z:0.98 [[ 3.69652742e-01 -9.29168793e-01 -1.48479536e-03 1.47266416e+02] [ 9.29162134e-01 3.69655716e-01 -3.51854594e-03 1.37322219e+02] [ 3.81818617e-03 -7.89754687e-05 9.99992708e-01 9.76480079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.28, Y:137.35, Z:0.98 [[ 3.68012876e-01 -9.29819507e-01 -1.48598870e-03 1.47277472e+02] [ 9.29812855e-01 3.68015866e-01 -3.51804268e-03 1.37348737e+02] [ 3.81801212e-03 -8.70063887e-05 9.99992708e-01 9.76038229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:147.29, Y:137.37, Z:0.97 [[ 3.66554299e-01 -9.30395462e-01 -1.49343860e-03 1.47289062e+02] [ 9.30388828e-01 3.66557327e-01 -3.51490366e-03 1.37372374e+02] [ 3.81768128e-03 -1.01075545e-04 9.99992708e-01 9.73165291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.30, Y:137.40, Z:0.97 [[ 3.65889255e-01 -9.30657212e-01 -1.48552118e-03 1.47299587e+02] [ 9.30650567e-01 3.65892258e-01 -3.51823505e-03 1.37396474e+02] [ 3.81781153e-03 -9.52167255e-05 9.99992708e-01 9.74757348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:137.42, Z:0.98 [[ 3.64620359e-01 -9.31155091e-01 -1.48014088e-03 1.47310444e+02] [ 9.31148440e-01 3.64623351e-01 -3.52049712e-03 1.37421324e+02] [ 3.81782274e-03 -9.45859483e-05 9.99992708e-01 9.75224418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27275509600003 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:147.32, Y:137.45, Z:0.97 [[ 3.62451402e-01 -9.32001504e-01 -1.47570805e-03 1.47322338e+02] [ 9.31994853e-01 3.62454393e-01 -3.52235960e-03 1.37447152e+02] [ 3.81772131e-03 -9.86681347e-05 9.99992708e-01 9.71662632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:137.48, Z:0.97 [[ 3.62064445e-01 -9.32151893e-01 -1.47850799e-03 1.47339587e+02] [ 9.32145248e-01 3.62067450e-01 -3.52118394e-03 1.37475925e+02] [ 3.81759789e-03 -1.03288690e-04 9.99992708e-01 9.72968530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.35, Y:137.50, Z:0.97 [[ 3.59803610e-01 -9.33026811e-01 -1.52718161e-03 1.47345679e+02] [ 9.33020259e-01 3.59806813e-01 -3.50067151e-03 1.37495813e+02] [ 3.81571072e-03 -1.65337139e-04 9.99992706e-01 9.74794814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36275509600003 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:147.35, Y:137.52, Z:0.98 [[ 3.57391929e-01 -9.33953350e-01 -1.46575851e-03 1.47354421e+02] [ 9.33946699e-01 3.57394919e-01 -3.52646904e-03 1.37524410e+02] [ 3.81741222e-03 -1.08608743e-04 9.99992708e-01 9.76399934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.37, Y:137.55, Z:0.98 [[ 3.58057412e-01 -9.33698389e-01 -1.48624013e-03 1.47365088e+02] [ 9.33691770e-01 3.58060474e-01 -3.51787109e-03 1.37546694e+02] [ 3.81679442e-03 -1.28090356e-04 9.99992708e-01 9.75297258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:137.57, Z:0.98 [[ 3.56941796e-01 -9.34125479e-01 -1.46430290e-03 1.47375617e+02] [ 9.34118826e-01 3.56944783e-01 -3.52706833e-03 1.37572638e+02] [ 3.81739967e-03 -1.08874804e-04 9.99992708e-01 9.76154336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:137.60, Z:0.98 [[ 3.57033786e-01 -9.34090305e-01 -1.47578775e-03 1.47384189e+02] [ 9.34083672e-01 3.57036816e-01 -3.52225630e-03 1.37597439e+02] [ 3.81701602e-03 -1.20944732e-04 9.99992708e-01 9.75172709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:137.62, Z:0.98 [[ 3.57875107e-01 -9.33768298e-01 -1.47451184e-03 1.47393966e+02] [ 9.33761660e-01 3.57878126e-01 -3.52279035e-03 1.37621593e+02] [ 3.81716548e-03 -1.16123647e-04 9.99992708e-01 9.75068612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.40, Y:137.65, Z:0.97 [[ 3.57773115e-01 -9.33807403e-01 -1.46046542e-03 1.47403031e+02] [ 9.33800741e-01 3.57776081e-01 -3.52866106e-03 1.37647331e+02] [ 3.81760941e-03 -1.01323637e-04 9.99992708e-01 9.72736382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.41, Y:137.67, Z:0.97 [[ 3.60914107e-01 -9.32597903e-01 -1.46929569e-03 1.47412158e+02] [ 9.32591246e-01 3.60917084e-01 -3.52497210e-03 1.37668379e+02] [ 3.81767550e-03 -9.80401369e-05 9.99992708e-01 9.70659013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.42, Y:137.70, Z:0.97 [[ 3.58145508e-01 -9.33664696e-01 -1.42512003e-03 1.47421625e+02] [ 9.33657974e-01 3.58148339e-01 -3.54339802e-03 1.37697147e+02] [ 3.81875001e-03 -6.15225943e-05 9.99992707e-01 9.71700508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.43, Y:137.72, Z:0.97 [[ 3.59664062e-01 -9.33080704e-01 -1.47038764e-03 1.47431688e+02] [ 9.33074053e-01 3.59667052e-01 -3.52451289e-03 1.37721206e+02] [ 3.81750495e-03 -1.04339930e-04 9.99992708e-01 9.72465824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:137.75, Z:0.97 [[ 3.61483700e-01 -9.32377293e-01 -1.45573789e-03 1.47444648e+02] [ 9.32370611e-01 3.61486622e-01 -3.53061655e-03 1.37745289e+02] [ 3.81809647e-03 -8.10268933e-05 9.99992708e-01 9.73885132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.662755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.45, Y:137.77, Z:0.97 [[ 3.58848188e-01 -9.33394784e-01 -1.46778585e-03 1.47450722e+02] [ 9.33388132e-01 3.58851175e-01 -3.52560072e-03 1.37773067e+02] [ 3.81749400e-03 -1.04858457e-04 9.99992708e-01 9.74184887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.46, Y:137.80, Z:0.97 [[ 3.58869023e-01 -9.33386776e-01 -1.46675349e-03 1.47459316e+02] [ 9.33380121e-01 3.58872006e-01 -3.52603016e-03 1.37795834e+02] [ 3.81752669e-03 -1.03655547e-04 9.99992708e-01 9.74596611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.47, Y:137.82, Z:0.98 [[ 3.58631573e-01 -9.33478056e-01 -1.45373102e-03 1.47469785e+02] [ 9.33471381e-01 3.58634508e-01 -3.53143783e-03 1.37821451e+02] [ 3.81787783e-03 -9.05312017e-05 9.99992708e-01 9.75875773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.48, Y:137.85, Z:0.98 [[ 3.59281606e-01 -9.33228046e-01 -1.46381112e-03 1.47480817e+02] [ 9.33221385e-01 3.59284574e-01 -3.52725458e-03 1.37846355e+02] [ 3.81765766e-03 -9.87821497e-05 9.99992708e-01 9.77425188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:137.87, Z:0.98 [[ 3.58032186e-01 -9.33708100e-01 -1.46220203e-03 1.47490016e+02] [ 9.33701440e-01 3.58035158e-01 -3.52792186e-03 1.37873280e+02] [ 3.81756895e-03 -1.02150566e-04 9.99992708e-01 9.75642681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:137.90, Z:0.98 [[ 3.58277860e-01 -9.33613864e-01 -1.45869286e-03 1.47499686e+02] [ 9.33607198e-01 3.58280816e-01 -3.52937571e-03 1.37897674e+02] [ 3.81769576e-03 -9.73489753e-05 9.99992708e-01 9.77267886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:137.92, Z:0.98 [[ 3.57096605e-01 -9.34066320e-01 -1.45739919e-03 1.47509422e+02] [ 9.34059656e-01 3.57099565e-01 -3.52991098e-03 1.37923522e+02] [ 3.81760757e-03 -1.00778558e-04 9.99992708e-01 9.76750705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.52, Y:137.95, Z:0.98 [[ 3.57002515e-01 -9.34102268e-01 -1.46848241e-03 1.47519480e+02] [ 9.34095623e-01 3.57005517e-01 -3.52532880e-03 1.37948451e+02] [ 3.81727396e-03 -1.13151746e-04 9.99992708e-01 9.76959405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.53, Y:137.97, Z:0.98 [[ 3.56972405e-01 -9.34113792e-01 -1.45779412e-03 1.47529325e+02] [ 9.34107129e-01 3.56975367e-01 -3.52974310e-03 1.37972539e+02] [ 3.81757830e-03 -1.01715003e-04 9.99992708e-01 9.77483199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.54, Y:138.00, Z:0.98 [[ 3.56014715e-01 -9.34479219e-01 -1.45309539e-03 1.47539326e+02] [ 9.34472551e-01 3.56017666e-01 -3.53168202e-03 1.37997489e+02] [ 3.81761108e-03 -1.00546984e-04 9.99992708e-01 9.77218913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:138.02, Z:0.98 [[ 3.55413596e-01 -9.34708006e-01 -1.45581899e-03 1.47550131e+02] [ 9.34701344e-01 3.55416562e-01 -3.53055895e-03 1.38022939e+02] [ 3.81746389e-03 -1.05947312e-04 9.99992708e-01 9.76313996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.56, Y:138.05, Z:0.98 [[ 3.55873620e-01 -9.34532961e-01 -1.45310383e-03 1.47560107e+02] [ 9.34526293e-01 3.55876572e-01 -3.53167754e-03 1.38045873e+02] [ 3.81759468e-03 -1.01132870e-04 9.99992708e-01 9.77330437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:147.57, Y:138.07, Z:0.98 [[ 3.54398519e-01 -9.35093374e-01 -1.43951281e-03 1.47569648e+02] [ 9.35086688e-01 3.54401430e-01 -3.53726734e-03 1.38071497e+02] [ 3.81784065e-03 -9.24669601e-05 9.99992708e-01 9.75509057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.58, Y:138.10, Z:0.98 [[ 3.53757220e-01 -9.35336159e-01 -1.44872942e-03 1.47580684e+02] [ 9.35329491e-01 3.53760170e-01 -3.53347875e-03 1.38097166e+02] [ 3.81749321e-03 -1.05045732e-04 9.99992708e-01 9.76801038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:138.12, Z:0.98 [[ 3.53424103e-01 -9.35462077e-01 -1.45117577e-03 1.47590969e+02] [ 9.35455414e-01 3.53427066e-01 -3.53247366e-03 1.38122944e+02] [ 3.81737994e-03 -1.09048895e-04 9.99992708e-01 9.76907784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.60, Y:138.15, Z:0.98 [[ 3.52545210e-01 -9.35793659e-01 -1.44991520e-03 1.47600571e+02] [ 9.35786997e-01 3.52548174e-01 -3.53299105e-03 1.38147571e+02] [ 3.81731557e-03 -1.11272721e-04 9.99992708e-01 9.76110422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:138.17, Z:0.98 [[ 3.51915672e-01 -9.36030583e-01 -1.45147759e-03 1.47610174e+02] [ 9.36023925e-01 3.51918646e-01 -3.53235032e-03 1.38172535e+02] [ 3.81718996e-03 -1.15528318e-04 9.99992708e-01 9.75150744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.62, Y:138.20, Z:0.97 [[ 3.48833375e-01 -9.37183642e-01 -1.44799109e-03 1.47619821e+02] [ 9.37176988e-01 3.48836358e-01 -3.53377894e-03 1.38200317e+02] [ 3.81691176e-03 -1.24323898e-04 9.99992708e-01 9.74937018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:138.22, Z:0.97 [[ 3.49234363e-01 -9.37034238e-01 -1.48225898e-03 1.47629257e+02] [ 9.37027641e-01 3.49237472e-01 -3.51973570e-03 1.38224218e+02] [ 3.81577324e-03 -1.59704985e-04 9.99992707e-01 9.74852763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.64, Y:138.25, Z:0.97 [[ 3.51198520e-01 -9.36299862e-01 -1.47268565e-03 1.47639146e+02] [ 9.36293242e-01 3.51201579e-01 -3.52365206e-03 1.38246886e+02] [ 3.81640446e-03 -1.41364229e-04 9.99992708e-01 9.73949841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.65, Y:138.27, Z:0.98 [[ 3.51148007e-01 -9.36318852e-01 -1.44381883e-03 1.47649686e+02] [ 9.36312184e-01 3.51150958e-01 -3.53544082e-03 1.38273518e+02] [ 3.81729826e-03 -1.10402157e-04 9.99992708e-01 9.75198827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.66, Y:138.30, Z:0.97 [[ 3.51724154e-01 -9.36102573e-01 -1.44667712e-03 1.47659606e+02] [ 9.36095907e-01 3.51727112e-01 -3.53427414e-03 1.38298432e+02] [ 3.81727868e-03 -1.11138948e-04 9.99992708e-01 9.74185761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.67, Y:138.32, Z:0.97 [[ 3.53162743e-01 -9.35560792e-01 -1.44230943e-03 1.47669533e+02] [ 9.35554115e-01 3.53165674e-01 -3.53605566e-03 1.38323569e+02] [ 3.81756922e-03 -1.00555401e-04 9.99992708e-01 9.74906009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:138.35, Z:0.98 [[ 3.53614109e-01 -9.35390285e-01 -1.44107805e-03 1.47679519e+02] [ 9.35383604e-01 3.53617032e-01 -3.53655743e-03 1.38348949e+02] [ 3.81765120e-03 -9.73841795e-05 9.99992708e-01 9.75088779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:138.38, Z:0.97 [[ 3.54571095e-01 -9.35027949e-01 -1.43985409e-03 1.47690786e+02] [ 9.35021263e-01 3.54574007e-01 -3.53705567e-03 1.38375268e+02] [ 3.81778074e-03 -9.21564915e-05 9.99992708e-01 9.74319236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.70, Y:138.40, Z:0.98 [[ 3.55966176e-01 -9.34497716e-01 -1.44947165e-03 1.47700355e+02] [ 9.34491042e-01 3.55969113e-01 -3.53314219e-03 1.38400033e+02] [ 3.81768044e-03 -9.68391631e-05 9.99992708e-01 9.75990505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.71, Y:138.43, Z:0.98 [[ 3.57575589e-01 -9.33883092e-01 -1.43809329e-03 1.47712892e+02] [ 9.33876394e-01 3.57578473e-01 -3.53776746e-03 1.38427137e+02] [ 3.81809242e-03 -7.79820962e-05 9.99992708e-01 9.75275745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:138.45, Z:0.98 [[ 3.58027711e-01 -9.33709817e-01 -1.46123344e-03 1.47721167e+02] [ 9.33703156e-01 3.58030679e-01 -3.52836164e-03 1.38450904e+02] [ 3.81763231e-03 -1.01107030e-04 9.99992708e-01 9.75831700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:138.48, Z:0.98 [[ 3.59607400e-01 -9.33102596e-01 -1.43625295e-03 1.47735855e+02] [ 9.33095889e-01 3.59610262e-01 -3.53850105e-03 1.38478916e+02] [ 3.81827582e-03 -6.76905604e-05 9.99992708e-01 9.75824401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.74, Y:138.50, Z:0.98 [[ 3.58462790e-01 -9.33542846e-01 -1.47756379e-03 1.47742359e+02] [ 9.33536210e-01 3.58465816e-01 -3.52174015e-03 1.38502038e+02] [ 3.81735143e-03 -1.16946505e-04 9.99992707e-01 9.76805598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.75, Y:138.53, Z:0.98 [[ 3.59146528e-01 -9.33280085e-01 -1.43346081e-03 1.47753370e+02] [ 9.33273375e-01 3.59149382e-01 -3.53960089e-03 1.38527385e+02] [ 3.81826559e-03 -6.65754400e-05 9.99992708e-01 9.77388265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.76, Y:138.55, Z:0.98 [[ 3.59083935e-01 -9.33304171e-01 -1.43232803e-03 1.47763607e+02] [ 9.33297460e-01 3.59086786e-01 -3.54005922e-03 1.38552230e+02] [ 3.81828211e-03 -6.56097185e-05 9.99992708e-01 9.77938575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:138.58, Z:0.98 [[ 3.58921255e-01 -9.33366747e-01 -1.43113488e-03 1.47773884e+02] [ 9.33360034e-01 3.58924102e-01 -3.54054151e-03 1.38577553e+02] [ 3.81829252e-03 -6.49884929e-05 9.99992708e-01 9.78044653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.78, Y:138.60, Z:0.98 [[ 3.58523749e-01 -9.33519511e-01 -1.42991635e-03 1.47783893e+02] [ 9.33512797e-01 3.58526595e-01 -3.54103357e-03 1.38602850e+02] [ 3.81828697e-03 -6.53005762e-05 9.99992708e-01 9.77936966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.79, Y:138.63, Z:0.98 [[ 3.57832956e-01 -9.33784523e-01 -1.42866775e-03 1.47793839e+02] [ 9.33777809e-01 3.57835802e-01 -3.54153726e-03 1.38628322e+02] [ 3.81826115e-03 -6.67794950e-05 9.99992708e-01 9.77391400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:138.65, Z:0.98 [[ 3.56524844e-01 -9.34284752e-01 -1.42741483e-03 1.47804264e+02] [ 9.34278041e-01 3.56527694e-01 -3.54204218e-03 1.38653501e+02] [ 3.81818892e-03 -7.07762927e-05 9.99992708e-01 9.76358654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.81, Y:138.68, Z:0.98 [[ 3.55711982e-01 -9.34594533e-01 -1.42990824e-03 1.47814696e+02] [ 9.34587828e-01 3.55714848e-01 -3.54103794e-03 1.38678842e+02] [ 3.81807429e-03 -7.67852146e-05 9.99992708e-01 9.75777933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.82, Y:138.70, Z:0.98 [[ 3.54466555e-01 -9.35067611e-01 -1.42256960e-03 1.47824965e+02] [ 9.35060898e-01 3.54469402e-01 -3.54399028e-03 1.38703466e+02] [ 3.81812792e-03 -7.39631787e-05 9.99992708e-01 9.76541805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.84, Y:138.73, Z:0.98 [[ 3.53554774e-01 -9.35412739e-01 -1.42457850e-03 1.47835218e+02] [ 9.35406032e-01 3.53557635e-01 -3.54318258e-03 1.38728233e+02] [ 3.81800872e-03 -7.98502071e-05 9.99992708e-01 9.75240417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:138.75, Z:0.98 [[ 3.50266227e-01 -9.36649112e-01 -1.41820816e-03 1.47845961e+02] [ 9.36642405e-01 3.50269087e-01 -3.54574225e-03 1.38754648e+02] [ 3.81787081e-03 -8.64001398e-05 9.99992708e-01 9.75053265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:138.78, Z:0.97 [[ 3.48025706e-01 -9.37483911e-01 -1.42288496e-03 1.47855133e+02] [ 9.37477218e-01 3.48028600e-01 -3.54386448e-03 1.38780324e+02] [ 3.81752060e-03 -1.00566298e-04 9.99992708e-01 9.73708475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.87, Y:138.81, Z:0.98 [[ 3.45569809e-01 -9.38391978e-01 -1.41535983e-03 1.47866154e+02] [ 9.38385280e-01 3.45572692e-01 -3.54688252e-03 1.38805152e+02] [ 3.81747581e-03 -1.02457320e-04 9.99992708e-01 9.75210483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:138.83, Z:0.97 [[ 3.43932288e-01 -9.38993377e-01 -1.42083883e-03 1.47875234e+02] [ 9.38986694e-01 3.43935203e-01 -3.54468634e-03 1.38831623e+02] [ 3.81711349e-03 -1.15016668e-04 9.99992708e-01 9.73356698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.88, Y:138.86, Z:0.97 [[ 3.42943432e-01 -9.39354994e-01 -1.41372050e-03 1.47884838e+02] [ 9.39348301e-01 3.42946327e-01 -3.54753692e-03 1.38858206e+02] [ 3.81722677e-03 -1.11371465e-04 9.99992708e-01 9.73721346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.90, Y:138.88, Z:0.98 [[ 3.42004968e-01 -9.39697084e-01 -1.41145363e-03 1.47895857e+02] [ 9.39690391e-01 3.42007862e-01 -3.54844394e-03 1.38883817e+02] [ 3.81719066e-03 -1.12743962e-04 9.99992708e-01 9.75006792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:138.91, Z:0.97 [[ 3.41556549e-01 -9.39860156e-01 -1.41810285e-03 1.47905096e+02] [ 9.39853475e-01 3.41559471e-01 -3.54578465e-03 1.38909595e+02] [ 3.81690817e-03 -1.21722918e-04 9.99992708e-01 9.74928779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:138.94, Z:0.97 [[ 3.41235681e-01 -9.39976703e-01 -1.41685368e-03 1.47914752e+02] [ 9.39970021e-01 3.41238601e-01 -3.54628373e-03 1.38935589e+02] [ 3.81690926e-03 -1.21681436e-04 9.99992708e-01 9.74748636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:138.96, Z:0.97 [[ 3.40797294e-01 -9.40135735e-01 -1.41572534e-03 1.47924185e+02] [ 9.40129053e-01 3.40800213e-01 -3.54673412e-03 1.38961052e+02] [ 3.81689099e-03 -1.22247135e-04 9.99992708e-01 9.74243546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.93, Y:138.99, Z:0.97 [[ 3.41127218e-01 -9.40016075e-01 -1.41453714e-03 1.47933262e+02] [ 9.40009389e-01 3.41130129e-01 -3.54720795e-03 1.38988096e+02] [ 3.81697373e-03 -1.19629012e-04 9.99992708e-01 9.73799841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.94, Y:139.01, Z:0.97 [[ 3.41346737e-01 -9.39936385e-01 -1.41341671e-03 1.47941602e+02] [ 9.39929697e-01 3.41349643e-01 -3.54765434e-03 1.39013246e+02] [ 3.81703868e-03 -1.17532108e-04 9.99992708e-01 9.73304470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.95, Y:139.04, Z:0.97 [[ 3.42755903e-01 -9.39423439e-01 -1.41209818e-03 1.47949182e+02] [ 9.39416744e-01 3.42758794e-01 -3.54817908e-03 1.39039937e+02] [ 3.81725167e-03 -1.10389354e-04 9.99992708e-01 9.73542094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:139.06, Z:0.97 [[ 3.43653023e-01 -9.39095634e-01 -1.41084479e-03 1.47957641e+02] [ 9.39088935e-01 3.43655902e-01 -3.54867739e-03 1.39064854e+02] [ 3.81739259e-03 -1.05395024e-04 9.99992708e-01 9.74226825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.97, Y:139.09, Z:0.98 [[ 3.44176018e-01 -9.38904085e-01 -1.40987604e-03 1.47966264e+02] [ 9.38897383e-01 3.44178890e-01 -3.54906223e-03 1.39090410e+02] [ 3.81747860e-03 -1.02226814e-04 9.99992708e-01 9.75109211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:147.97, Y:139.12, Z:0.98 [[ 3.45694247e-01 -9.38346153e-01 -1.40863351e-03 1.47973709e+02] [ 9.38339444e-01 3.45697104e-01 -3.54955533e-03 1.39117945e+02] [ 3.81767211e-03 -9.47155321e-05 9.99992708e-01 9.75065659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28275509600002 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:147.98, Y:139.14, Z:0.98 [[ 3.47112362e-01 -9.37822503e-01 -1.40040896e-03 1.47983881e+02] [ 9.37815777e-01 3.47115178e-01 -3.55281611e-03 1.39143556e+02] [ 3.81801410e-03 -8.00992223e-05 9.99992708e-01 9.76638532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.99, Y:139.17, Z:0.98 [[ 3.47334730e-01 -9.37740159e-01 -1.40702763e-03 1.47990180e+02] [ 9.37733442e-01 3.47337569e-01 -3.55019297e-03 1.39169349e+02] [ 3.81787208e-03 -8.63115437e-05 9.99992708e-01 9.75634533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:139.20, Z:0.98 [[ 3.48200175e-01 -9.37419169e-01 -1.39307040e-03 1.48000894e+02] [ 9.37412427e-01 3.48202955e-01 -3.55571749e-03 1.39195823e+02] [ 3.81826896e-03 -6.77800541e-05 9.99992708e-01 9.77034473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.01, Y:139.22, Z:0.98 [[ 3.48336570e-01 -9.37368476e-01 -1.40474571e-03 1.48010083e+02] [ 9.37361753e-01 3.48339394e-01 -3.55109897e-03 1.39222844e+02] [ 3.81801650e-03 -7.97772667e-05 9.99992708e-01 9.76870882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.02, Y:139.25, Z:0.98 [[ 3.48093356e-01 -9.37458823e-01 -1.40358869e-03 1.48019398e+02] [ 9.37452099e-01 3.48096177e-01 -3.55155623e-03 1.39248190e+02] [ 3.81802158e-03 -7.95240328e-05 9.99992708e-01 9.76894135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.03, Y:139.27, Z:0.98 [[ 3.47432054e-01 -9.37704111e-01 -1.40274624e-03 1.48028452e+02] [ 9.37697388e-01 3.47434876e-01 -3.55188893e-03 1.39273145e+02] [ 3.81798382e-03 -8.13114187e-05 9.99992708e-01 9.76649212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.04, Y:139.30, Z:0.98 [[ 3.46120699e-01 -9.38188946e-01 -1.40143866e-03 1.48037934e+02] [ 9.38182224e-01 3.46123525e-01 -3.55240478e-03 1.39298989e+02] [ 3.81789778e-03 -8.52440147e-05 9.99992708e-01 9.76552409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.05, Y:139.33, Z:0.98 [[ 3.45058798e-01 -9.38580026e-01 -1.40017926e-03 1.48048029e+02] [ 9.38573306e-01 3.45061628e-01 -3.55290110e-03 1.39325459e+02] [ 3.81783014e-03 -8.82110920e-05 9.99992708e-01 9.76592463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.06, Y:139.35, Z:0.98 [[ 3.43741014e-01 -9.39063447e-01 -1.39904632e-03 1.48057934e+02] [ 9.39056729e-01 3.43743849e-01 -3.55334717e-03 1.39351544e+02] [ 3.81773201e-03 -9.23527071e-05 9.99992708e-01 9.77057617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.07, Y:139.38, Z:0.98 [[ 3.41442167e-01 -9.39901746e-01 -1.39792427e-03 1.48065105e+02] [ 9.39895033e-01 3.41445013e-01 -3.55378854e-03 1.39376677e+02] [ 3.81752633e-03 -1.00488817e-04 9.99992708e-01 9.76685537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:139.40, Z:0.98 [[ 3.40721063e-01 -9.40163428e-01 -1.37332003e-03 1.48077063e+02] [ 9.40156678e-01 3.40723822e-01 -3.56345384e-03 1.39401695e+02] [ 3.81815182e-03 -7.69922192e-05 9.99992708e-01 9.77831526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.08, Y:139.43, Z:0.98 [[ 3.37622567e-01 -9.41280558e-01 -1.38308235e-03 1.48083329e+02] [ 9.41273833e-01 3.37625385e-01 -3.55962227e-03 1.39426033e+02] [ 3.81756695e-03 -1.00050417e-04 9.99992708e-01 9.76219317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:139.45, Z:0.98 [[ 3.36244760e-01 -9.41773659e-01 -1.35532433e-03 1.48097287e+02] [ 9.41766893e-01 3.36247483e-01 -3.57051957e-03 1.39453672e+02] [ 3.81834568e-03 -7.58310877e-05 9.99992707e-01 9.77850230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.10, Y:139.48, Z:0.98 [[ 3.32543989e-01 -9.43086712e-01 -1.39606593e-03 1.48102309e+02] [ 9.43080023e-01 3.32546892e-01 -3.55451798e-03 1.39478056e+02] [ 3.81647606e-03 -1.34568304e-04 9.99992708e-01 9.75743984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:139.51, Z:0.98 [[ 3.33405908e-01 -9.42782410e-01 -1.35243832e-03 1.48116289e+02] [ 9.42775648e-01 3.33408640e-01 -3.57162235e-03 1.39505488e+02] [ 3.81817735e-03 -8.42459233e-05 9.99992707e-01 9.77368328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.12, Y:139.53, Z:0.98 [[ 3.31588766e-01 -9.43422994e-01 -1.39454622e-03 1.48124565e+02] [ 9.43416306e-01 3.31591670e-01 -3.55510486e-03 1.39532341e+02] [ 3.81638758e-03 -1.36804809e-04 9.99992708e-01 9.77371028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.13, Y:139.56, Z:0.98 [[ 3.30872475e-01 -9.43674448e-01 -1.39339506e-03 1.48133623e+02] [ 9.43667760e-01 3.30875380e-01 -3.55555600e-03 1.39558088e+02] [ 3.81632746e-03 -1.38466380e-04 9.99992708e-01 9.77128827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.14, Y:139.58, Z:0.98 [[ 3.30070038e-01 -9.43955418e-01 -1.39218233e-03 1.48142674e+02] [ 9.43948731e-01 3.30072944e-01 -3.55603077e-03 1.39584521e+02] [ 3.81625624e-03 -1.40409534e-04 9.99992708e-01 9.76804392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.15, Y:139.61, Z:0.98 [[ 3.29847597e-01 -9.44033171e-01 -1.39103345e-03 1.48152043e+02] [ 9.44026482e-01 3.29850500e-01 -3.55648013e-03 1.39609797e+02] [ 3.81626830e-03 -1.40075985e-04 9.99992708e-01 9.76699883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.16, Y:139.64, Z:0.98 [[ 3.29490646e-01 -9.44157816e-01 -1.39019866e-03 1.48160565e+02] [ 9.44151127e-01 3.29493549e-01 -3.55680642e-03 1.39636459e+02] [ 3.81624807e-03 -1.40623185e-04 9.99992708e-01 9.76304724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.17, Y:139.66, Z:0.98 [[ 3.29560801e-01 -9.44133332e-01 -1.38905370e-03 1.48169535e+02] [ 9.44126641e-01 3.29563699e-01 -3.55725351e-03 1.39662386e+02] [ 3.81630328e-03 -1.39111290e-04 9.99992708e-01 9.76716912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.18, Y:139.69, Z:0.98 [[ 3.29343445e-01 -9.44209177e-01 -1.38785259e-03 1.48176820e+02] [ 9.44202484e-01 3.29346340e-01 -3.55772206e-03 1.39687612e+02] [ 3.81631798e-03 -1.38701422e-04 9.99992708e-01 9.76927943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:139.71, Z:0.98 [[ 3.29132203e-01 -9.44282834e-01 -1.38652558e-03 1.48185679e+02] [ 9.44276140e-01 3.29135094e-01 -3.55823914e-03 1.39713024e+02] [ 3.81633837e-03 -1.38131933e-04 9.99992708e-01 9.77437156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.19, Y:139.74, Z:0.98 [[ 3.29194544e-01 -9.44261105e-01 -1.38528942e-03 1.48194997e+02] [ 9.44254408e-01 3.29197430e-01 -3.55872034e-03 1.39738800e+02] [ 3.81639492e-03 -1.36554325e-04 9.99992708e-01 9.77951227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.20, Y:139.76, Z:0.98 [[ 3.28862507e-01 -9.44376798e-01 -1.38403981e-03 1.48204861e+02] [ 9.44370101e-01 3.28865391e-01 -3.55920627e-03 1.39764728e+02] [ 3.81639461e-03 -1.36556316e-04 9.99992708e-01 9.78056813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.21, Y:139.79, Z:0.98 [[ 3.29507100e-01 -9.44152085e-01 -1.38278816e-03 1.48213627e+02] [ 9.44145384e-01 3.29509974e-01 -3.55969248e-03 1.39790692e+02] [ 3.81653357e-03 -1.32609111e-04 9.99992708e-01 9.79739561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.22, Y:139.82, Z:0.98 [[ 3.30000374e-01 -9.43979790e-01 -1.38153970e-03 1.48222429e+02] [ 9.43973086e-01 3.30003240e-01 -3.56017695e-03 1.39815333e+02] [ 3.81664767e-03 -1.29276565e-04 9.99992708e-01 9.80455325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.23, Y:139.84, Z:0.98 [[ 3.30217180e-01 -9.43903972e-01 -1.38057641e-03 1.48231223e+02] [ 9.43897265e-01 3.30220041e-01 -3.56055046e-03 1.39840645e+02] [ 3.81671172e-03 -1.27367368e-04 9.99992708e-01 9.81170099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.24, Y:139.86, Z:0.98 [[ 3.32951237e-01 -9.42943037e-01 -1.37935136e-03 1.48239572e+02] [ 9.42936320e-01 3.32954074e-01 -3.56102498e-03 1.39864678e+02] [ 3.81710436e-03 -1.14992820e-04 9.99992708e-01 9.83800914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.25, Y:139.89, Z:0.98 [[ 3.32285340e-01 -9.43177934e-01 -1.35546323e-03 1.48248867e+02] [ 9.43171181e-01 3.32288092e-01 -3.57026997e-03 1.39892467e+02] [ 3.81780415e-03 -9.20854874e-05 9.99992708e-01 9.84240325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.26, Y:139.92, Z:0.98 [[ 3.32212958e-01 -9.43203412e-01 -1.36922051e-03 1.48257930e+02] [ 9.43196681e-01 3.32215762e-01 -3.56494878e-03 1.39918723e+02] [ 3.81734848e-03 -1.07122058e-04 9.99992708e-01 9.82533988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:139.94, Z:0.98 [[ 3.33851547e-01 -9.42624660e-01 -1.37641583e-03 1.48266329e+02] [ 9.42617936e-01 3.33854367e-01 -3.56216852e-03 1.39943526e+02] [ 3.81731032e-03 -1.08198784e-04 9.99992708e-01 9.84850003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.27, Y:139.97, Z:0.98 [[ 3.33454373e-01 -9.42765249e-01 -1.36627525e-03 1.48274841e+02] [ 9.42758510e-01 3.33457157e-01 -3.56608058e-03 1.39968811e+02] [ 3.81757111e-03 -9.89424565e-05 9.99992708e-01 9.83830056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.28, Y:139.99, Z:0.98 [[ 3.34086617e-01 -9.42541377e-01 -1.37321272e-03 1.48282958e+02] [ 9.42534646e-01 3.34089423e-01 -3.56340712e-03 1.39994040e+02] [ 3.81743450e-03 -1.03813928e-04 9.99992708e-01 9.83688706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.29, Y:140.02, Z:0.98 [[ 3.34208734e-01 -9.42498085e-01 -1.37197076e-03 1.48291880e+02] [ 9.42491352e-01 3.34211534e-01 -3.56388523e-03 1.40019326e+02] [ 3.81748346e-03 -1.01989003e-04 9.99992708e-01 9.83195091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.30, Y:140.04, Z:0.98 [[ 3.35198752e-01 -9.42146442e-01 -1.37081160e-03 1.48300753e+02] [ 9.42139704e-01 3.35201541e-01 -3.56433104e-03 1.40043398e+02] [ 3.81761996e-03 -9.67367194e-05 9.99992708e-01 9.82270210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:148.31, Y:140.07, Z:0.98 [[ 3.35979839e-01 -9.41868204e-01 -1.35421408e-03 1.48310034e+02] [ 9.41861439e-01 3.35982559e-01 -3.57070156e-03 1.40067976e+02] [ 3.81812258e-03 -7.57982835e-05 9.99992708e-01 9.80288156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.32, Y:140.10, Z:0.98 [[ 3.34073533e-01 -9.42546058e-01 -1.34270192e-03 1.48320110e+02] [ 9.42539280e-01 3.34076224e-01 -3.57511603e-03 1.40096657e+02] [ 3.81827631e-03 -7.11976561e-05 9.99992708e-01 9.80135176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.33, Y:140.12, Z:0.98 [[ 3.35109884e-01 -9.42178060e-01 -1.36725097e-03 1.48329311e+02] [ 9.42171317e-01 3.35112660e-01 -3.56570282e-03 1.40119489e+02] [ 3.81771008e-03 -9.32823865e-05 9.99992708e-01 9.82082129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.34, Y:140.14, Z:0.98 [[ 3.34459357e-01 -9.42409218e-01 -1.34332696e-03 1.48338688e+02] [ 9.42402440e-01 3.34462047e-01 -3.57485752e-03 1.40144979e+02] [ 3.81827057e-03 -7.03100571e-05 9.99992708e-01 9.81701200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.35, Y:140.17, Z:0.98 [[ 3.33595516e-01 -9.42715333e-01 -1.35354426e-03 1.48347255e+02] [ 9.42708574e-01 3.33598251e-01 -3.57094937e-03 1.40171817e+02] [ 3.81792872e-03 -8.47450869e-05 9.99992708e-01 9.80836046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.36, Y:140.20, Z:0.98 [[ 3.34591646e-01 -9.42362224e-01 -1.36716621e-03 1.48356079e+02] [ 9.42355483e-01 3.34594426e-01 -3.56574353e-03 1.40195766e+02] [ 3.81766820e-03 -9.52885732e-05 9.99992708e-01 9.79569487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:140.22, Z:0.98 [[ 3.35791043e-01 -9.41935518e-01 -1.36203064e-03 1.48365306e+02] [ 9.41928765e-01 3.35793795e-01 -3.56770412e-03 1.40221922e+02] [ 3.81790867e-03 -8.49327473e-05 9.99992708e-01 9.79347182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.37, Y:140.25, Z:0.98 [[ 3.37219930e-01 -9.41424913e-01 -1.36084403e-03 1.48374230e+02] [ 9.41418154e-01 3.37222666e-01 -3.56815668e-03 1.40245369e+02] [ 3.81805904e-03 -7.78697311e-05 9.99992708e-01 9.80053929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.38, Y:140.27, Z:0.98 [[ 3.36849097e-01 -9.41557683e-01 -1.34723646e-03 1.48383288e+02] [ 9.41550905e-01 3.36851785e-01 -3.57333791e-03 1.40271134e+02] [ 3.81832277e-03 -6.48160634e-05 9.99992708e-01 9.78731833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.39, Y:140.30, Z:0.98 [[ 3.38463074e-01 -9.40978695e-01 -1.35800477e-03 1.48392294e+02] [ 9.40971928e-01 3.38465791e-01 -3.56924085e-03 1.40295904e+02] [ 3.81821775e-03 -6.97881346e-05 9.99992708e-01 9.77889442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.40, Y:140.32, Z:0.98 [[ 3.38921825e-01 -9.40813561e-01 -1.35677492e-03 1.48401595e+02] [ 9.40806791e-01 3.38924534e-01 -3.56970829e-03 1.40321727e+02] [ 3.81827427e-03 -6.66110076e-05 9.99992708e-01 9.77959348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.41, Y:140.35, Z:0.98 [[ 3.39180373e-01 -9.40720385e-01 -1.35367865e-03 1.48410522e+02] [ 9.40713609e-01 3.39183069e-01 -3.57088403e-03 1.40347138e+02] [ 3.81834828e-03 -6.22501515e-05 9.99992708e-01 9.78494619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.42, Y:140.37, Z:0.98 [[ 3.38487685e-01 -9.40969853e-01 -1.35036744e-03 1.48419434e+02] [ 9.40963074e-01 3.38490373e-01 -3.57214011e-03 1.40372619e+02] [ 3.81836253e-03 -6.15204629e-05 9.99992708e-01 9.78072783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.43, Y:140.40, Z:0.98 [[ 3.36389936e-01 -9.41721814e-01 -1.35501592e-03 1.48428257e+02] [ 9.41715049e-01 3.36392656e-01 -3.57037825e-03 1.40398461e+02] [ 3.81812048e-03 -7.49995730e-05 9.99992708e-01 9.78216429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.44, Y:140.42, Z:0.98 [[ 3.36320053e-01 -9.41746756e-01 -1.36719618e-03 1.48438536e+02] [ 9.41740010e-01 3.36322820e-01 -3.56576799e-03 1.40422600e+02] [ 3.81786972e-03 -8.83040625e-05 9.99992708e-01 9.77843696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.45, Y:140.45, Z:0.98 [[ 3.32061915e-01 -9.43256626e-01 -1.35003972e-03 1.48449591e+02] [ 9.43249865e-01 3.32064648e-01 -3.57225183e-03 1.40448747e+02] [ 3.81785067e-03 -8.72160028e-05 9.99992708e-01 9.78971669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.46, Y:140.48, Z:0.98 [[ 3.29498448e-01 -9.44155141e-01 -1.35720296e-03 1.48460004e+02] [ 9.44148399e-01 3.29501227e-01 -3.56954728e-03 1.40475049e+02] [ 3.81740645e-03 -1.05240711e-04 9.99992708e-01 9.79334241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.47, Y:140.50, Z:0.98 [[ 3.25591009e-01 -9.45509728e-01 -1.35996220e-03 1.48470401e+02] [ 9.45503002e-01 3.25593826e-01 -3.56850638e-03 1.40499690e+02] [ 3.81685280e-03 -1.23974750e-04 9.99992708e-01 9.79957664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.48, Y:140.52, Z:0.98 [[ 3.24718122e-01 -9.45809875e-01 -1.35012006e-03 1.48480326e+02] [ 9.45803136e-01 3.24720907e-01 -3.57221460e-03 1.40523483e+02] [ 3.81704805e-03 -1.16984971e-04 9.99992708e-01 9.80269083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.49, Y:140.55, Z:0.98 [[ 3.22430524e-01 -9.46592200e-01 -1.32837295e-03 1.48489440e+02] [ 9.46585434e-01 3.22433244e-01 -3.58039729e-03 1.40547697e+02] [ 3.81748774e-03 -1.02989109e-04 9.99992708e-01 9.80352503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.50, Y:140.57, Z:0.98 [[ 3.18173699e-01 -9.48031505e-01 -1.32771542e-03 1.48499330e+02] [ 9.48024750e-01 3.18176447e-01 -3.58064455e-03 1.40573639e+02] [ 3.81701162e-03 -1.19440153e-04 9.99992708e-01 9.80514817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.51, Y:140.60, Z:0.98 [[ 3.16653632e-01 -9.48540292e-01 -1.33886099e-03 1.48509507e+02] [ 9.48533559e-01 3.16656432e-01 -3.57645551e-03 1.40600086e+02] [ 3.81637110e-03 -1.37456952e-04 9.99992708e-01 9.80559738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.52, Y:140.63, Z:0.98 [[ 3.15897568e-01 -9.48792355e-01 -1.33919858e-03 1.48519515e+02] [ 9.48785625e-01 3.15900376e-01 -3.57632878e-03 1.40625241e+02] [ 3.81624674e-03 -1.40858796e-04 9.99992708e-01 9.79921738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.53, Y:140.65, Z:0.98 [[ 3.14718081e-01 -9.49184261e-01 -1.33008144e-03 1.48529779e+02] [ 9.49177520e-01 3.14720862e-01 -3.57974832e-03 1.40651773e+02] [ 3.81644514e-03 -1.35871878e-04 9.99992708e-01 9.80331685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.54, Y:140.68, Z:0.98 [[ 3.14739432e-01 -9.49177175e-01 -1.33435590e-03 1.48539405e+02] [ 9.49170441e-01 3.14742229e-01 -3.57814624e-03 1.40676733e+02] [ 3.81627289e-03 -1.40347462e-04 9.99992708e-01 9.79342494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.55, Y:140.70, Z:0.98 [[ 3.15463467e-01 -9.48936788e-01 -1.33199657e-03 1.48549153e+02] [ 9.48930048e-01 3.15466250e-01 -3.57902966e-03 1.40703570e+02] [ 3.81647287e-03 -1.34918465e-04 9.99992708e-01 9.77419797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.56, Y:140.73, Z:0.98 [[ 3.16783551e-01 -9.48496911e-01 -1.33834342e-03 1.48558218e+02] [ 9.48490178e-01 3.16786349e-01 -3.57665551e-03 1.40727934e+02] [ 3.81641563e-03 -1.36379957e-04 9.99992708e-01 9.77023042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.172755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:148.57, Y:140.75, Z:0.98 [[ 3.17689255e-01 -9.48193954e-01 -1.32777373e-03 1.48568051e+02] [ 9.48187201e-01 3.17692006e-01 -3.58060387e-03 1.40754672e+02] [ 3.81693004e-03 -1.21458685e-04 9.99992708e-01 9.76711394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.58, Y:140.78, Z:0.98 [[ 3.18811822e-01 -9.47817097e-01 -1.33127612e-03 1.48578057e+02] [ 9.47810346e-01 3.18814579e-01 -3.57929646e-03 1.40781056e+02] [ 3.81694862e-03 -1.20675253e-04 9.99992708e-01 9.77284926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.59, Y:140.81, Z:0.98 [[ 3.21564084e-01 -9.46886878e-01 -1.33464778e-03 1.48588323e+02] [ 9.46880124e-01 3.21566834e-01 -3.57803880e-03 1.40805617e+02] [ 3.81717645e-03 -1.13182692e-04 9.99992708e-01 9.78036505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.60, Y:140.83, Z:0.98 [[ 3.22664692e-01 -9.46512398e-01 -1.33330271e-03 1.48597984e+02] [ 9.46505639e-01 3.22667429e-01 -3.57853995e-03 1.40830919e+02] [ 3.81734578e-03 -1.07310045e-04 9.99992708e-01 9.78415112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.61, Y:140.86, Z:0.98 [[ 3.25037079e-01 -9.45700335e-01 -1.33205583e-03 1.48607526e+02] [ 9.45693567e-01 3.25039794e-01 -3.57900402e-03 1.40855229e+02] [ 3.81763645e-03 -9.64076186e-05 9.99992708e-01 9.78839349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.62, Y:140.88, Z:0.98 [[ 3.26022533e-01 -9.45361062e-01 -1.33074988e-03 1.48616909e+02] [ 9.45354289e-01 3.26025236e-01 -3.57948953e-03 1.40880597e+02] [ 3.81776807e-03 -9.10358603e-05 9.99992708e-01 9.78969054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.63, Y:140.91, Z:0.98 [[ 3.28255109e-01 -9.44588178e-01 -1.32598524e-03 1.48627063e+02] [ 9.44581392e-01 3.28257778e-01 -3.58125918e-03 1.40905963e+02] [ 3.81808005e-03 -7.69343583e-05 9.99992708e-01 9.79499490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.64, Y:140.93, Z:0.98 [[ 3.28537807e-01 -9.44489899e-01 -1.31953174e-03 1.48636791e+02] [ 9.44483102e-01 3.28540449e-01 -3.58365389e-03 1.40932292e+02] [ 3.81824445e-03 -6.89096408e-05 9.99992708e-01 9.79999032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.65, Y:140.96, Z:0.98 [[ 3.29157176e-01 -9.44274214e-01 -1.32727529e-03 1.48646182e+02] [ 9.44267428e-01 3.29159844e-01 -3.58078362e-03 1.40956913e+02] [ 3.81812736e-03 -7.46622017e-05 9.99992708e-01 9.79758832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:140.98, Z:0.98 [[ 3.29996646e-01 -9.43981174e-01 -1.32566904e-03 1.48655690e+02] [ 9.43974382e-01 3.29999302e-01 -3.58137830e-03 1.40982348e+02] [ 3.81822355e-03 -6.95547839e-05 9.99992708e-01 9.80782678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.66, Y:141.01, Z:0.98 [[ 3.29857086e-01 -9.44029951e-01 -1.32447075e-03 1.48663884e+02] [ 9.44023158e-01 3.29859738e-01 -3.58182140e-03 1.41008750e+02] [ 3.81823626e-03 -6.88418906e-05 9.99992708e-01 9.79266495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.68, Y:141.03, Z:0.98 [[ 3.31094191e-01 -9.43596789e-01 -1.31750197e-03 1.48675121e+02] [ 9.43589983e-01 3.31096808e-01 -3.58439509e-03 1.41033999e+02] [ 3.81844440e-03 -5.64092670e-05 9.99992708e-01 9.80232099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.69, Y:141.06, Z:0.98 [[ 3.30559175e-01 -9.43784342e-01 -1.32216829e-03 1.48685567e+02] [ 9.43777544e-01 3.30561813e-01 -3.58267301e-03 1.41059138e+02] [ 3.81832904e-03 -6.35473102e-05 9.99992708e-01 9.81126543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.70, Y:141.09, Z:0.98 [[ 3.29219977e-01 -9.44252329e-01 -1.32094069e-03 1.48695669e+02] [ 9.44245533e-01 3.29222620e-01 -3.58312557e-03 1.41086482e+02] [ 3.81825823e-03 -6.76558235e-05 9.99992708e-01 9.80684333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.71, Y:141.11, Z:0.98 [[ 3.28318546e-01 -9.44566132e-01 -1.32441784e-03 1.48705644e+02] [ 9.44559344e-01 3.28321209e-01 -3.58184446e-03 1.41111350e+02] [ 3.81812344e-03 -7.50052826e-05 9.99992708e-01 9.79620134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.72, Y:141.14, Z:0.98 [[ 3.26945583e-01 -9.45042239e-01 -1.32371574e-03 1.48717185e+02] [ 9.45035453e-01 3.26948253e-01 -3.58210298e-03 1.41137585e+02] [ 3.81802516e-03 -7.98055533e-05 9.99992708e-01 9.81505160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.73, Y:141.16, Z:0.98 [[ 3.26640926e-01 -9.45147571e-01 -1.33203094e-03 1.48727340e+02] [ 9.45140799e-01 3.26643630e-01 -3.57904414e-03 1.41161454e+02] [ 3.81782429e-03 -8.98944997e-05 9.99992708e-01 9.79890786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.74, Y:141.19, Z:0.98 [[ 3.25820678e-01 -9.45430670e-01 -1.31654389e-03 1.48736902e+02] [ 9.45423877e-01 3.25823329e-01 -3.58473198e-03 1.41186422e+02] [ 3.81807627e-03 -7.67122264e-05 9.99992708e-01 9.80784261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.75, Y:141.21, Z:0.98 [[ 3.24899768e-01 -9.45747541e-01 -1.31522423e-03 1.48747003e+02] [ 9.45740749e-01 3.24902420e-01 -3.58521609e-03 1.41210328e+02] [ 3.81802884e-03 -7.90252759e-05 9.99992708e-01 9.81801361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.76, Y:141.24, Z:0.98 [[ 3.22471888e-01 -9.46578130e-01 -1.31391602e-03 1.48756690e+02] [ 9.46571342e-01 3.22474553e-01 -3.58569546e-03 1.41238547e+02] [ 3.81784538e-03 -8.74292620e-05 9.99992708e-01 9.82139806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.77, Y:141.26, Z:0.98 [[ 3.25147638e-01 -9.45662312e-01 -1.34335295e-03 1.48767929e+02] [ 9.45655561e-01 3.25150395e-01 -3.57491091e-03 1.41260480e+02] [ 3.81745026e-03 -1.07975351e-04 9.99992708e-01 9.80943910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.78, Y:141.29, Z:0.98 [[ 3.25802297e-01 -9.45437012e-01 -1.31123802e-03 1.48777863e+02] [ 9.45430212e-01 3.25804927e-01 -3.58665176e-03 1.41285399e+02] [ 3.81816113e-03 -7.11446638e-05 9.99992708e-01 9.79973937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.79, Y:141.31, Z:0.98 [[ 3.26238855e-01 -9.45286464e-01 -1.30820856e-03 1.48787916e+02] [ 9.45279657e-01 3.26241471e-01 -3.58775860e-03 1.41311990e+02] [ 3.81825153e-03 -6.61566828e-05 9.99992708e-01 9.80009382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.80, Y:141.34, Z:0.98 [[ 3.27838835e-01 -9.44732750e-01 -1.31494004e-03 1.48798398e+02] [ 9.44725949e-01 3.27841465e-01 -3.58530305e-03 1.41337271e+02] [ 3.81824508e-03 -6.68563992e-05 9.99992708e-01 9.79598615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.81, Y:141.36, Z:0.98 [[ 3.27510361e-01 -9.44846683e-01 -1.30748143e-03 1.48807696e+02] [ 9.44839872e-01 3.27512965e-01 -3.58802098e-03 1.41363413e+02] [ 3.81834684e-03 -6.02465357e-05 9.99992708e-01 9.79702369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.82, Y:141.39, Z:0.98 [[ 3.27156185e-01 -9.44969378e-01 -1.30623382e-03 1.48816326e+02] [ 9.44962566e-01 3.27158787e-01 -3.58847512e-03 1.41389748e+02] [ 3.81834497e-03 -6.03502293e-05 9.99992708e-01 9.77741000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.83, Y:141.41, Z:0.98 [[ 3.28272113e-01 -9.44582305e-01 -1.29972700e-03 1.48826579e+02] [ 9.44575481e-01 3.28274683e-01 -3.59084072e-03 1.41414788e+02] [ 3.81851207e-03 -4.89173877e-05 9.99992708e-01 9.77533433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.84, Y:141.44, Z:0.98 [[ 3.28235402e-01 -9.44595069e-01 -1.29509615e-03 1.48836034e+02] [ 9.44588238e-01 3.28237954e-01 -3.59252280e-03 1.41440133e+02] [ 3.81857903e-03 -4.41394259e-05 9.99992708e-01 9.77280555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.012755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:148.85, Y:141.47, Z:0.98 [[ 3.29490766e-01 -9.44157919e-01 -1.28771232e-03 1.48848765e+02] [ 9.44151075e-01 3.29493281e-01 -3.59520169e-03 1.41465636e+02] [ 3.81873071e-03 -3.12092150e-05 9.99992708e-01 9.78450068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.86, Y:141.49, Z:0.98 [[ 3.27371557e-01 -9.44894792e-01 -1.30216576e-03 1.48855513e+02] [ 9.44887974e-01 3.27374142e-01 -3.58995908e-03 1.41490896e+02] [ 3.81842903e-03 -5.51502744e-05 9.99992708e-01 9.78943983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.87, Y:141.52, Z:0.98 [[ 3.28800442e-01 -9.44398549e-01 -1.28467838e-03 1.48865124e+02] [ 9.44391702e-01 3.28802951e-01 -3.59629908e-03 1.41517030e+02] [ 3.81874567e-03 -3.07748758e-05 9.99992708e-01 9.79981372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.88, Y:141.54, Z:0.98 [[ 3.30988232e-01 -9.43634018e-01 -1.27730575e-03 1.48877388e+02] [ 9.43627155e-01 3.30990696e-01 -3.59896893e-03 1.41543979e+02] [ 3.81888583e-03 -1.40840306e-05 9.99992708e-01 9.82339438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.132755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:148.89, Y:141.57, Z:0.98 [[ 3.31527531e-01 -9.43444649e-01 -1.30024815e-03 1.48886311e+02] [ 9.43437817e-01 3.31530078e-01 -3.59066104e-03 1.41570226e+02] [ 3.81866132e-03 -3.63002888e-05 9.99992708e-01 9.79683320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:141.60, Z:0.98 [[ 3.31706647e-01 -9.43381690e-01 -1.29910255e-03 1.48895317e+02] [ 9.43374855e-01 3.31709190e-01 -3.59107547e-03 1.41597140e+02] [ 3.81867910e-03 -3.43570733e-05 9.99992708e-01 9.83882521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.90, Y:141.62, Z:0.98 [[ 3.30356970e-01 -9.43855173e-01 -1.29794624e-03 1.48903048e+02] [ 9.43848341e-01 3.30359518e-01 -3.59149335e-03 1.41622935e+02] [ 3.81863848e-03 -3.85895468e-05 9.99992708e-01 9.83358531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22275509600001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:148.91, Y:141.65, Z:0.98 [[ 3.30086435e-01 -9.43949835e-01 -1.28631482e-03 1.48914934e+02] [ 9.43942987e-01 3.30088940e-01 -3.59569268e-03 1.41648519e+02] [ 3.81875181e-03 -2.73184783e-05 9.99992708e-01 9.80714144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:148.92, Y:141.68, Z:0.98 [[ 3.29720635e-01 -9.44077655e-01 -1.29766690e-03 1.48920725e+02] [ 9.44070824e-01 3.29723186e-01 -3.59159694e-03 1.41675003e+02] [ 3.81861729e-03 -4.08658353e-05 9.99992708e-01 9.83038007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:148.93, Y:141.70, Z:0.98 [[ 3.29978331e-01 -9.43987640e-01 -1.27958722e-03 1.48931666e+02] [ 9.43980783e-01 3.29980811e-01 -3.59810541e-03 1.41700322e+02] [ 3.81880626e-03 -2.06089300e-05 9.99992708e-01 9.83495453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.94, Y:141.73, Z:0.98 [[ 3.28782469e-01 -9.44404798e-01 -1.29068726e-03 1.48940913e+02] [ 9.44397960e-01 3.28785000e-01 -3.59411262e-03 1.41726845e+02] [ 3.81865582e-03 -3.72411880e-05 9.99992708e-01 9.83154924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34275509600002 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:148.95, Y:141.75, Z:0.98 [[ 3.26932218e-01 -9.45046908e-01 -1.29118470e-03 1.48949319e+02] [ 9.45040075e-01 3.26934765e-01 -3.59393391e-03 1.41753145e+02] [ 3.81856929e-03 -4.52484978e-05 9.99992708e-01 9.80720916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.96, Y:141.78, Z:0.98 [[ 3.27542843e-01 -9.44835447e-01 -1.28991821e-03 1.48957994e+02] [ 9.44828611e-01 3.27545380e-01 -3.59438841e-03 1.41780521e+02] [ 3.81861233e-03 -4.14354344e-05 9.99992708e-01 9.83904918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:148.97, Y:141.81, Z:0.98 [[ 3.24715082e-01 -9.45810988e-01 -1.30000858e-03 1.48969425e+02] [ 9.45804174e-01 3.24717678e-01 -3.59077243e-03 1.41805486e+02] [ 3.81832779e-03 -6.35755749e-05 9.99992708e-01 9.82545228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.98, Y:141.83, Z:0.98 [[ 3.22269185e-01 -9.46647198e-01 -1.28644618e-03 1.48975371e+02] [ 9.46640371e-01 3.22271747e-01 -3.59562480e-03 1.41833560e+02] [ 3.81837340e-03 -5.90428118e-05 9.99992708e-01 9.83148403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46275509600002 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:148.98, Y:141.86, Z:0.98 [[ 3.20714714e-01 -9.47174967e-01 -1.28589756e-03 1.48983630e+02] [ 9.47168144e-01 3.20717285e-01 -3.59582088e-03 1.41858888e+02] [ 3.81828110e-03 -6.47285373e-05 9.99992708e-01 9.82155567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.99, Y:141.89, Z:0.99 [[ 3.19536509e-01 -9.47573095e-01 -1.28400333e-03 1.48991739e+02] [ 9.47566272e-01 3.19539082e-01 -3.59649714e-03 1.41885229e+02] [ 3.81823318e-03 -6.74661067e-05 9.99992708e-01 9.85663561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.00, Y:141.91, Z:0.98 [[ 3.17940344e-01 -9.48109835e-01 -1.29518826e-03 1.49002756e+02] [ 9.48103033e-01 3.17942971e-01 -3.59250735e-03 1.41910082e+02] [ 3.81788755e-03 -8.57688956e-05 9.99992708e-01 9.84582467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55275509600003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:149.01, Y:141.93, Z:0.98 [[ 3.15849413e-01 -9.48808459e-01 -1.28728600e-03 1.49010625e+02] [ 9.48801651e-01 3.15852025e-01 -3.59532229e-03 1.41932514e+02] [ 3.81786409e-03 -8.57986491e-05 9.99992708e-01 9.82525155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.02, Y:141.96, Z:0.98 [[ 3.14105839e-01 -9.49387132e-01 -1.26310154e-03 1.49019054e+02] [ 9.49380294e-01 3.14108371e-01 -3.60393337e-03 1.41960849e+02] [ 3.81827874e-03 -6.71471926e-05 9.99992708e-01 9.83375011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.03, Y:141.99, Z:0.98 [[ 3.11711108e-01 -9.50176047e-01 -1.29004341e-03 1.49026477e+02] [ 9.50169255e-01 3.11713760e-01 -3.59435279e-03 1.41987398e+02] [ 3.81739221e-03 -1.05359897e-04 9.99992708e-01 9.81850474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:142.02, Z:0.98 [[ 3.10879075e-01 -9.50448613e-01 -1.27896241e-03 1.49036821e+02] [ 9.50441806e-01 3.10881690e-01 -3.59828936e-03 1.42016402e+02] [ 3.81759512e-03 -9.69464747e-05 9.99992708e-01 9.81506655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.04, Y:142.04, Z:0.98 [[ 3.09709540e-01 -9.50830304e-01 -1.31660278e-03 1.49042182e+02] [ 9.50823556e-01 3.09712307e-01 -3.58492458e-03 1.42042042e+02] [ 3.81642302e-03 -1.41571594e-04 9.99992707e-01 9.83424110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.05, Y:142.07, Z:0.99 [[ 3.09429074e-01 -9.50921662e-01 -1.28070230e-03 1.49050532e+02] [ 9.50914863e-01 3.09431707e-01 -3.59764271e-03 1.42067490e+02] [ 3.81736628e-03 -1.04623604e-04 9.99992708e-01 9.85203133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.732755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.06, Y:142.09, Z:0.98 [[ 3.08510138e-01 -9.51220201e-01 -1.27440857e-03 1.49059378e+02] [ 9.51213394e-01 3.08512754e-01 -3.59987079e-03 1.42092732e+02] [ 3.81744111e-03 -1.01637864e-04 9.99992708e-01 9.84829817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.07, Y:142.12, Z:0.99 [[ 3.07464686e-01 -9.51558640e-01 -1.27355852e-03 1.49067877e+02] [ 9.51551835e-01 3.07467306e-01 -3.60017149e-03 1.42119665e+02] [ 3.81735189e-03 -1.04931349e-04 9.99992708e-01 9.87952339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:142.15, Z:0.99 [[ 3.06662387e-01 -9.51817504e-01 -1.27240670e-03 1.49075946e+02] [ 9.51810700e-01 3.06665008e-01 -3.60057853e-03 1.42145532e+02] [ 3.81729628e-03 -1.06928302e-04 9.99992708e-01 9.89008349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.08, Y:142.17, Z:0.99 [[ 3.06180320e-01 -9.51972684e-01 -1.27290184e-03 1.49084833e+02] [ 9.51965882e-01 3.06182946e-01 -3.60040378e-03 1.42171440e+02] [ 3.81722688e-03 -1.09386345e-04 9.99992708e-01 9.89397786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.09, Y:142.20, Z:0.99 [[ 3.05719944e-01 -9.52120635e-01 -1.26968047e-03 1.49092187e+02] [ 9.52113830e-01 3.05722561e-01 -3.60153943e-03 1.42197164e+02] [ 3.81726998e-03 -1.07817906e-04 9.99992708e-01 9.90015898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.882755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.10, Y:142.23, Z:0.99 [[ 3.05729051e-01 -9.52117713e-01 -1.26835030e-03 1.49101956e+02] [ 9.52110905e-01 3.05731664e-01 -3.60200782e-03 1.42225845e+02] [ 3.81731029e-03 -1.06371718e-04 9.99992708e-01 9.86285386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.912755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.11, Y:142.25, Z:0.99 [[ 3.05656114e-01 -9.52141109e-01 -1.28364843e-03 1.49109443e+02] [ 9.52134324e-01 3.05658785e-01 -3.59662114e-03 1.42251094e+02] [ 3.81684926e-03 -1.22876486e-04 9.99992708e-01 9.86718840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.12, Y:142.28, Z:0.99 [[ 3.06269135e-01 -9.51944123e-01 -1.26672293e-03 1.49117874e+02] [ 9.51937311e-01 3.06271737e-01 -3.60257242e-03 1.42276074e+02] [ 3.81740907e-03 -1.02484085e-04 9.99992708e-01 9.89446390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.13, Y:142.30, Z:0.99 [[ 3.06366576e-01 -9.51912769e-01 -1.26571853e-03 1.49126971e+02] [ 9.51905955e-01 3.06369174e-01 -3.60292527e-03 1.42301950e+02] [ 3.81744771e-03 -1.01029123e-04 9.99992708e-01 9.89656368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.14, Y:142.33, Z:0.99 [[ 3.07143845e-01 -9.51662261e-01 -1.26444278e-03 1.49136549e+02] [ 9.51655444e-01 3.07146432e-01 -3.60337294e-03 1.42328383e+02] [ 3.81756313e-03 -9.65600351e-05 9.99992708e-01 9.89253850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:142.36, Z:0.99 [[ 3.08134623e-01 -9.51341925e-01 -1.26328720e-03 1.49147061e+02] [ 9.51335104e-01 3.08137199e-01 -3.60377802e-03 1.42355082e+02] [ 3.81769090e-03 -9.13606769e-05 9.99992708e-01 9.86655887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.15, Y:142.38, Z:0.99 [[ 3.07841143e-01 -9.51436907e-01 -1.28138933e-03 1.49154791e+02] [ 9.51430113e-01 3.07843790e-01 -3.59743740e-03 1.42379746e+02] [ 3.81720246e-03 -1.11713149e-04 9.99992708e-01 9.89405874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.16, Y:142.40, Z:0.99 [[ 3.08688067e-01 -9.51162493e-01 -1.26048812e-03 1.49163512e+02] [ 9.51155666e-01 3.08690629e-01 -3.60474603e-03 1.42404751e+02] [ 3.81780009e-03 -8.61783290e-05 9.99992708e-01 9.89254971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.17, Y:142.43, Z:0.99 [[ 3.09491428e-01 -9.50901399e-01 -1.25949220e-03 1.49174524e+02] [ 9.50894568e-01 3.09493980e-01 -3.60509397e-03 1.42433067e+02] [ 3.81789415e-03 -8.18986080e-05 9.99992708e-01 9.87093320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.18, Y:142.46, Z:0.99 [[ 3.10818112e-01 -9.50468533e-01 -1.29171712e-03 1.49183003e+02] [ 9.50461745e-01 3.10820777e-01 -3.59383301e-03 1.42455181e+02] [ 3.81731771e-03 -1.10699314e-04 9.99992708e-01 9.88869694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.19, Y:142.48, Z:0.99 [[ 3.10833262e-01 -9.50463625e-01 -1.25767524e-03 1.49193030e+02] [ 9.50456788e-01 3.10835797e-01 -3.60570687e-03 1.42481530e+02] [ 3.81802370e-03 -7.45923399e-05 9.99992709e-01 9.88841297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.20, Y:142.51, Z:0.99 [[ 3.11299814e-01 -9.50310911e-01 -1.26398410e-03 1.49201912e+02] [ 9.50304083e-01 3.11302370e-01 -3.60350852e-03 1.42505109e+02] [ 3.81793471e-03 -7.93977238e-05 9.99992709e-01 9.88573956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.21, Y:142.53, Z:0.99 [[ 3.11133236e-01 -9.50365474e-01 -1.25474531e-03 1.49210835e+02] [ 9.50358633e-01 3.11135758e-01 -3.60672261e-03 1.42529474e+02] [ 3.81810078e-03 -7.02867638e-05 9.99992709e-01 9.88867542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.22, Y:142.55, Z:0.99 [[ 3.12375241e-01 -9.49957966e-01 -1.25345313e-03 1.49220728e+02] [ 9.49951120e-01 3.12377749e-01 -3.60717163e-03 1.42552123e+02] [ 3.81821229e-03 -6.39281039e-05 9.99992709e-01 9.88978672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.23, Y:142.58, Z:0.99 [[ 3.10640171e-01 -9.50526789e-01 -1.22800427e-03 1.49230423e+02] [ 9.50519912e-01 3.10642595e-01 -3.61600844e-03 1.42579916e+02] [ 3.81858333e-03 -4.39650275e-05 9.99992708e-01 9.89330488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.24, Y:142.60, Z:0.99 [[ 3.09976856e-01 -9.50743278e-01 -1.25253954e-03 1.49241072e+02] [ 9.50736436e-01 3.09979378e-01 -3.60748967e-03 1.42604150e+02] [ 3.81805798e-03 -7.25966691e-05 9.99992709e-01 9.89761140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.25, Y:142.63, Z:0.99 [[ 3.09300927e-01 -9.50963391e-01 -1.25119358e-03 1.49249938e+02] [ 9.50956550e-01 3.09303449e-01 -3.60795643e-03 1.42628398e+02] [ 3.81803297e-03 -7.38864616e-05 9.99992709e-01 9.90099747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.26, Y:142.65, Z:0.99 [[ 3.09708777e-01 -9.50830643e-01 -1.24990320e-03 1.49258713e+02] [ 9.50823798e-01 3.09711291e-01 -3.60840340e-03 1.42654529e+02] [ 3.81808966e-03 -7.08835004e-05 9.99992709e-01 9.90588329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.422755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.27, Y:142.68, Z:0.99 [[ 3.09228222e-01 -9.50987032e-01 -1.25372870e-03 1.49267334e+02] [ 9.50980194e-01 3.09230754e-01 -3.60707955e-03 1.42681813e+02] [ 3.81797735e-03 -7.68603619e-05 9.99992709e-01 9.90667210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:142.71, Z:0.99 [[ 3.10232948e-01 -9.50659734e-01 -1.26070848e-03 1.49276074e+02] [ 9.50652903e-01 3.10235499e-01 -3.60466645e-03 1.42705564e+02] [ 3.81792777e-03 -8.02098781e-05 9.99992708e-01 9.91157515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.28, Y:142.73, Z:0.99 [[ 3.11187697e-01 -9.50347655e-01 -1.24579698e-03 1.49283774e+02] [ 9.50340801e-01 3.11190185e-01 -3.60981262e-03 1.42730504e+02] [ 3.81825675e-03 -6.06024199e-05 9.99992709e-01 9.91612018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.29, Y:142.76, Z:0.99 [[ 3.11009399e-01 -9.50406022e-01 -1.24422316e-03 1.49290936e+02] [ 9.50399166e-01 3.11011882e-01 -3.61035515e-03 1.42756133e+02] [ 3.81827146e-03 -5.96542662e-05 9.99992709e-01 9.91711736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.30, Y:142.78, Z:0.99 [[ 3.11823291e-01 -9.50139289e-01 -1.25210451e-03 1.49300462e+02] [ 9.50132442e-01 3.11825798e-01 -3.60764320e-03 1.42780277e+02] [ 3.81820203e-03 -6.47179429e-05 9.99992709e-01 9.90080785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.31, Y:142.80, Z:0.99 [[ 3.12388638e-01 -9.49953577e-01 -1.24110551e-03 1.49309129e+02] [ 9.49946714e-01 3.12391099e-01 -3.61142313e-03 1.42804702e+02] [ 3.81839463e-03 -5.08165488e-05 9.99992709e-01 9.90323275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:142.83, Z:0.99 [[ 3.11073179e-01 -9.50385171e-01 -1.22643878e-03 1.49316420e+02] [ 9.50378291e-01 3.11075594e-01 -3.61645631e-03 1.42832047e+02] [ 3.81854162e-03 -4.05982341e-05 9.99992709e-01 9.89998938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.32, Y:142.86, Z:0.99 [[ 3.09961878e-01 -9.50748179e-01 -1.23866809e-03 1.49324460e+02] [ 9.50741319e-01 3.09964347e-01 -3.61226280e-03 1.42858352e+02] [ 3.81829522e-03 -5.79891707e-05 9.99992709e-01 9.88363108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.33, Y:142.88, Z:0.99 [[ 3.10645078e-01 -9.50525163e-01 -1.24480516e-03 1.49333086e+02] [ 9.50518310e-01 3.10647565e-01 -3.61016065e-03 1.42882818e+02] [ 3.81824424e-03 -6.17314659e-05 9.99992709e-01 9.89246540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.34, Y:142.91, Z:0.99 [[ 3.08633537e-01 -9.51180233e-01 -1.22680005e-03 1.49339352e+02] [ 9.51173359e-01 3.08635971e-01 -3.61631836e-03 1.42908384e+02] [ 3.81840516e-03 -5.07824018e-05 9.99992709e-01 9.87354683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.35, Y:142.93, Z:0.99 [[ 3.07974766e-01 -9.51393748e-01 -1.21670698e-03 1.49347555e+02] [ 9.51386863e-01 3.07977166e-01 -3.61976421e-03 1.42932259e+02] [ 3.81853901e-03 -4.27630063e-05 9.99992708e-01 9.87428554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:142.96, Z:0.99 [[ 3.04794071e-01 -9.52417526e-01 -1.19621308e-03 1.49356943e+02] [ 9.52410621e-01 3.04796417e-01 -3.62674879e-03 1.42960825e+02] [ 3.81878057e-03 -3.38745185e-05 9.99992708e-01 9.89005694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.37, Y:142.99, Z:0.99 [[ 3.04161007e-01 -9.52619843e-01 -1.23166953e-03 1.49366336e+02] [ 9.52612988e-01 3.04163492e-01 -3.61466728e-03 1.42986772e+02] [ 3.81803268e-03 -7.38635516e-05 9.99992709e-01 9.88309278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:143.01, Z:0.99 [[ 3.03754285e-01 -9.52749611e-01 -1.23022809e-03 1.49375018e+02] [ 9.52742755e-01 3.03756767e-01 -3.61515780e-03 1.43013149e+02] [ 3.81803030e-03 -7.39712230e-05 9.99992709e-01 9.88414894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.38, Y:143.04, Z:0.99 [[ 3.00339655e-01 -9.53831527e-01 -1.22868446e-03 1.49382265e+02] [ 9.53824678e-01 3.00342156e-01 -3.61568236e-03 1.43041595e+02] [ 3.81777757e-03 -8.60167678e-05 9.99992709e-01 9.88292993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.39, Y:143.07, Z:0.99 [[ 3.00518782e-01 -9.53775074e-01 -1.25294658e-03 1.49394347e+02] [ 9.53768258e-01 3.00521373e-01 -3.60745309e-03 1.43072588e+02] [ 3.81723607e-03 -1.10913266e-04 9.99992708e-01 9.88017860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:143.09, Z:0.99 [[ 2.96309662e-01 -9.55091037e-01 -1.30174634e-03 1.49397279e+02] [ 9.55084303e-01 2.96312467e-01 -3.59103258e-03 1.43093138e+02] [ 3.81548670e-03 -1.79219843e-04 9.99992705e-01 9.89515512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.40, Y:143.12, Z:0.99 [[ 2.95310617e-01 -9.55400515e-01 -1.22291578e-03 1.49404838e+02] [ 9.55393672e-01 2.95313132e-01 -3.61750038e-03 1.43119039e+02] [ 3.81730482e-03 -1.00079733e-04 9.99992709e-01 9.89731968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.41, Y:143.14, Z:0.99 [[ 2.95428756e-01 -9.55364004e-01 -1.21266736e-03 1.49412554e+02] [ 9.55357146e-01 2.95431231e-01 -3.62093681e-03 1.43144083e+02] [ 3.81757250e-03 -8.88015706e-05 9.99992709e-01 9.89252223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.42, Y:143.17, Z:0.99 [[ 2.95016434e-01 -9.55491409e-01 -1.21245464e-03 1.49420645e+02] [ 9.55484552e-01 2.95018912e-01 -3.62100803e-03 1.43170584e+02] [ 3.81753912e-03 -9.02248028e-05 9.99992709e-01 9.90033160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.43, Y:143.20, Z:0.99 [[ 2.95353765e-01 -9.55387196e-01 -1.20826880e-03 1.49428725e+02] [ 9.55380332e-01 2.95356224e-01 -3.62240776e-03 1.43195953e+02] [ 3.81767170e-03 -8.44644824e-05 9.99992709e-01 9.89810532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:143.22, Z:0.99 [[ 2.95152323e-01 -9.55449445e-01 -1.21011191e-03 1.49435677e+02] [ 9.55442584e-01 2.95154791e-01 -3.62179194e-03 1.43221800e+02] [ 3.81760943e-03 -8.72121423e-05 9.99992709e-01 9.90727456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.44, Y:143.25, Z:0.99 [[ 2.94652003e-01 -9.55603861e-01 -1.20729621e-03 1.49442824e+02] [ 9.55596998e-01 2.94654463e-01 -3.62273170e-03 1.43247467e+02] [ 3.81763162e-03 -8.62434817e-05 9.99992709e-01 9.90064663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.45, Y:143.27, Z:0.99 [[ 2.95245579e-01 -9.55420643e-01 -1.20132957e-03 1.49452604e+02] [ 9.55413770e-01 2.95248013e-01 -3.62472054e-03 1.43273680e+02] [ 3.81782300e-03 -7.75840994e-05 9.99992709e-01 9.90210864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.46, Y:143.30, Z:0.99 [[ 2.93508819e-01 -9.55955610e-01 -1.20247491e-03 1.49459214e+02] [ 9.55948743e-01 2.93511269e-01 -3.62433893e-03 1.43299552e+02] [ 3.81764707e-03 -8.57289451e-05 9.99992709e-01 9.89072406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.47, Y:143.33, Z:0.99 [[ 2.97164794e-01 -9.54825461e-01 -1.19363178e-03 1.49474239e+02] [ 9.54818573e-01 2.97167185e-01 -3.62728485e-03 1.43328097e+02] [ 3.81813213e-03 -6.18004403e-05 9.99992709e-01 9.90274579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.202755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:149.48, Y:143.35, Z:0.99 [[ 2.95692357e-01 -9.55282399e-01 -1.25201011e-03 1.49480216e+02] [ 9.55275596e-01 2.95694980e-01 -3.60769306e-03 1.43351717e+02] [ 3.81657878e-03 -1.29247444e-04 9.99992708e-01 9.90047308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:143.38, Z:0.99 [[ 2.96380153e-01 -9.55069286e-01 -1.21024202e-03 1.49486022e+02] [ 9.55062422e-01 2.96382612e-01 -3.62167387e-03 1.43378120e+02] [ 3.81764416e-03 -8.24644162e-05 9.99992709e-01 9.90464320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.49, Y:143.40, Z:0.99 [[ 2.96330977e-01 -9.55084548e-01 -1.20714292e-03 1.49493791e+02] [ 9.55077681e-01 2.96333425e-01 -3.62271035e-03 1.43404461e+02] [ 3.81771148e-03 -7.93939607e-05 9.99992709e-01 9.89030822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:143.43, Z:0.99 [[ 3.00145121e-01 -9.53892791e-01 -1.20392546e-03 1.49508457e+02] [ 9.53885910e-01 3.00147529e-01 -3.62378581e-03 1.43433952e+02] [ 3.81805841e-03 -6.07458993e-05 9.99992709e-01 9.89424319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.51, Y:143.46, Z:0.99 [[ 2.98443397e-01 -9.54426509e-01 -1.25626228e-03 1.49508712e+02] [ 9.54419704e-01 2.98446016e-01 -3.60627828e-03 1.43456580e+02] [ 3.81685406e-03 -1.22731529e-04 9.99992708e-01 9.87587852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.52, Y:143.48, Z:0.99 [[ 3.00281767e-01 -9.53849790e-01 -1.19903501e-03 1.49519382e+02] [ 9.53842902e-01 3.00284156e-01 -3.62537307e-03 1.43482935e+02] [ 3.81811256e-03 -5.50575999e-05 9.99992709e-01 9.85715851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:143.51, Z:0.99 [[ 2.99824378e-01 -9.53993649e-01 -1.20802040e-03 1.49528628e+02] [ 9.53986774e-01 2.99826805e-01 -3.62237655e-03 1.43508538e+02] [ 3.81792112e-03 -6.63586847e-05 9.99992710e-01 9.87558117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.53, Y:143.53, Z:0.99 [[ 2.98255670e-01 -9.54485254e-01 -1.20672726e-03 1.49534033e+02] [ 9.54478381e-01 2.98258102e-01 -3.62280728e-03 1.43533891e+02] [ 3.81783231e-03 -7.12722643e-05 9.99992710e-01 9.86832477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.54, Y:143.56, Z:0.98 [[ 2.98384075e-01 -9.54445137e-01 -1.19309500e-03 1.49543254e+02] [ 9.54438246e-01 2.98386455e-01 -3.62734084e-03 1.43560671e+02] [ 3.81810121e-03 -5.63947611e-05 9.99992709e-01 9.84839495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.55, Y:143.58, Z:0.99 [[ 2.96885408e-01 -9.54912355e-01 -1.20386177e-03 1.49549558e+02] [ 9.54905482e-01 2.96887839e-01 -3.62376246e-03 1.43584801e+02] [ 3.81778747e-03 -7.37320040e-05 9.99992710e-01 9.86656265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.56, Y:143.61, Z:0.98 [[ 2.98547363e-01 -9.54394076e-01 -1.19195063e-03 1.49562540e+02] [ 9.54387183e-01 2.98549737e-01 -3.62771668e-03 1.43613402e+02] [ 3.81812786e-03 -5.45371569e-05 9.99992709e-01 9.84046617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.57, Y:143.64, Z:0.99 [[ 2.95471716e-01 -9.55350695e-01 -1.23058376e-03 1.49568565e+02] [ 9.55343862e-01 2.95474259e-01 -3.61489190e-03 1.43636670e+02] [ 3.81709531e-03 -1.07532325e-04 9.99992709e-01 9.87261312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.58, Y:143.66, Z:0.99 [[ 2.94300320e-01 -9.55712237e-01 -1.20110792e-03 1.49576423e+02] [ 9.55705366e-01 2.94302760e-01 -3.62465935e-03 1.43660462e+02] [ 3.81762067e-03 -8.11668765e-05 9.99992710e-01 9.85598247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:143.68, Z:0.99 [[ 2.93860094e-01 -9.55847704e-01 -1.18787843e-03 1.49585108e+02] [ 9.55840818e-01 2.93862487e-01 -3.62903407e-03 1.43684572e+02] [ 3.81787680e-03 -6.89943968e-05 9.99992710e-01 9.85693492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.59, Y:143.71, Z:0.99 [[ 2.93126961e-01 -9.56072796e-01 -1.18069766e-03 1.49593744e+02] [ 9.56065901e-01 2.93129332e-01 -3.63140479e-03 1.43710052e+02] [ 3.81798444e-03 -6.43621222e-05 9.99992709e-01 9.85799670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:143.74, Z:0.99 [[ 2.93328783e-01 -9.56010890e-01 -1.18478066e-03 1.49605918e+02] [ 9.56004000e-01 2.93331168e-01 -3.63005577e-03 1.43741813e+02] [ 3.81790594e-03 -6.78552077e-05 9.99992709e-01 9.87179797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.61, Y:143.77, Z:0.99 [[ 2.93237924e-01 -9.56038674e-01 -1.25475782e-03 1.49613875e+02] [ 9.56031880e-01 2.93240574e-01 -3.60710041e-03 1.43765745e+02] [ 3.81647340e-03 -1.41849841e-04 9.99992707e-01 9.86521021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:149.62, Y:143.79, Z:0.99 [[ 2.91655385e-01 -9.56522662e-01 -1.23853119e-03 1.49623752e+02] [ 9.56515849e-01 2.91657985e-01 -3.61242448e-03 1.43793758e+02] [ 3.81659339e-03 -1.31091660e-04 9.99992708e-01 9.86301513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74275509600002 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.63, Y:143.82, Z:0.99 [[ 2.92156644e-01 -9.56369663e-01 -1.25025309e-03 1.49631631e+02] [ 9.56362865e-01 2.92159285e-01 -3.60858234e-03 1.43817418e+02] [ 3.81641173e-03 -1.41424322e-04 9.99992707e-01 9.88554594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77275509600003 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:149.64, Y:143.84, Z:0.99 [[ 2.91744319e-01 -9.56495553e-01 -1.22833744e-03 1.49641096e+02] [ 9.56488727e-01 2.91746880e-01 -3.61575766e-03 1.43844018e+02] [ 3.81681974e-03 -1.20014152e-04 9.99992709e-01 9.88577995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.65, Y:143.87, Z:0.99 [[ 2.90618094e-01 -9.56838341e-01 -1.22982433e-03 1.49651926e+02] [ 9.56831520e-01 2.90620668e-01 -3.61527316e-03 1.43872111e+02] [ 3.81664435e-03 -1.26070889e-04 9.99992709e-01 9.90034149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:143.90, Z:0.99 [[ 2.90878607e-01 -9.56759153e-01 -1.24837190e-03 1.49660316e+02] [ 9.56752357e-01 2.90881250e-01 -3.60923332e-03 1.43896451e+02] [ 3.81629500e-03 -1.44534001e-04 9.99992707e-01 9.92103666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.66, Y:143.92, Z:0.99 [[ 2.89720934e-01 -9.57110369e-01 -1.23404055e-03 1.49664862e+02] [ 9.57103555e-01 2.89723531e-01 -3.61391834e-03 1.43918291e+02] [ 3.81644930e-03 -1.34076803e-04 9.99992708e-01 9.89687593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.68, Y:143.95, Z:0.99 [[ 2.92693802e-01 -9.56205494e-01 -1.17996842e-03 1.49676744e+02] [ 9.56198600e-01 2.92696173e-01 -3.63154818e-03 1.43948343e+02] [ 3.81787856e-03 -6.53525016e-05 9.99992710e-01 9.92496783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.922755096 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:149.68, Y:143.97, Z:0.99 [[ 2.89992976e-01 -9.57027985e-01 -1.22915366e-03 1.49680723e+02] [ 9.57021164e-01 2.89995552e-01 -3.61548195e-03 1.43972166e+02] [ 3.81656650e-03 -1.27861699e-04 9.99992709e-01 9.90044366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.69, Y:144.00, Z:0.99 [[ 2.93694256e-01 -9.55898680e-01 -1.18234542e-03 1.49692954e+02] [ 9.55891787e-01 2.93696629e-01 -3.63072506e-03 1.43999749e+02] [ 3.81785615e-03 -6.38711843e-05 9.99992710e-01 9.91182343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:144.02, Z:0.99 [[ 2.94566899e-01 -9.55630085e-01 -1.21794935e-03 1.49697424e+02] [ 9.55623236e-01 2.94569401e-01 -3.61921304e-03 1.44023454e+02] [ 3.81739947e-03 -9.78003379e-05 9.99992709e-01 9.93670560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.71, Y:144.05, Z:0.99 [[ 2.93696985e-01 -9.55897852e-01 -1.17413530e-03 1.49705891e+02] [ 9.55890948e-01 2.93699327e-01 -3.63334590e-03 1.44051154e+02] [ 3.81795029e-03 -5.52425730e-05 9.99992710e-01 9.94853677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.042755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:149.72, Y:144.08, Z:0.99 [[ 2.93664740e-01 -9.55907749e-01 -1.18120990e-03 1.49715038e+02] [ 9.55900855e-01 2.93667109e-01 -3.63106623e-03 1.44076875e+02] [ 3.81784684e-03 -6.28034291e-05 9.99992710e-01 9.92419447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.72, Y:144.10, Z:0.99 [[ 2.92922235e-01 -9.56135538e-01 -1.18181103e-03 1.49722309e+02] [ 9.56128646e-01 2.92924612e-01 -3.63087244e-03 1.44104102e+02] [ 3.81778771e-03 -6.64001081e-05 9.99992710e-01 9.91734324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.73, Y:144.13, Z:0.99 [[ 2.91989113e-01 -9.56420907e-01 -1.18553081e-03 1.49728936e+02] [ 9.56414023e-01 2.91991511e-01 -3.62967414e-03 1.44130070e+02] [ 3.81766116e-03 -7.40329579e-05 9.99992710e-01 9.91382945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:144.16, Z:0.99 [[ 2.91944607e-01 -9.56434497e-01 -1.18308454e-03 1.49736400e+02] [ 9.56427609e-01 2.91946995e-01 -3.63045934e-03 1.44155198e+02] [ 3.81769453e-03 -7.16416874e-05 9.99992710e-01 9.92929939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.74, Y:144.18, Z:0.99 [[ 2.89279478e-01 -9.57243974e-01 -1.16550253e-03 1.49742294e+02] [ 9.57237070e-01 2.89281818e-01 -3.63609502e-03 1.44181616e+02] [ 3.81778874e-03 -6.38145611e-05 9.99992710e-01 9.93681986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:144.21, Z:0.99 [[ 2.85721456e-01 -9.58311992e-01 -1.17314008e-03 1.49746125e+02] [ 9.58305106e-01 2.85723852e-01 -3.63364853e-03 1.44208027e+02] [ 3.81736306e-03 -8.60147813e-05 9.99992710e-01 9.90604367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.75, Y:144.23, Z:0.99 [[ 2.84297335e-01 -9.58735465e-01 -1.15510047e-03 1.49752762e+02] [ 9.58728560e-01 2.84299672e-01 -3.63941892e-03 1.44233080e+02] [ 3.81763467e-03 -7.27507088e-05 9.99992710e-01 9.90624813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.76, Y:144.26, Z:1.00 [[ 2.82981369e-01 -9.59124742e-01 -1.12850222e-03 1.49764573e+02] [ 9.59117806e-01 2.82983615e-01 -3.64791834e-03 1.44260831e+02] [ 3.81815638e-03 -5.00736476e-05 9.99992710e-01 9.95348538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:144.29, Z:0.99 [[ 2.80660391e-01 -9.59806436e-01 -1.16230193e-03 1.49770080e+02] [ 9.59799549e-01 2.80662781e-01 -3.63711708e-03 1.44286663e+02] [ 3.81714327e-03 -9.47821682e-05 9.99992710e-01 9.94072021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.78, Y:144.31, Z:0.99 [[ 2.77952065e-01 -9.60594266e-01 -1.14316360e-03 1.49776733e+02] [ 9.60587360e-01 2.77954402e-01 -3.64322648e-03 1.44313331e+02] [ 3.81740982e-03 -8.54661866e-05 9.99992710e-01 9.94166695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:144.34, Z:1.00 [[ 2.74827103e-01 -9.61492987e-01 -1.13955938e-03 1.49785481e+02] [ 9.61486085e-01 2.74829450e-01 -3.64437698e-03 1.44341324e+02] [ 3.81722739e-03 -9.40969236e-05 9.99992710e-01 9.96260158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:144.37, Z:1.00 [[ 2.73093083e-01 -9.61986908e-01 -1.16505548e-03 1.49792953e+02] [ 9.61980044e-01 2.73095539e-01 -3.63624303e-03 1.44366754e+02] [ 3.81618965e-03 -1.27727299e-04 9.99992710e-01 9.97297609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.80, Y:144.39, Z:1.00 [[ 2.69143649e-01 -9.63099347e-01 -1.15952950e-03 1.49799748e+02] [ 9.63092485e-01 2.69146112e-01 -3.63800431e-03 1.44393982e+02] [ 3.81584243e-03 -1.37588395e-04 9.99992710e-01 9.97953543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.81, Y:144.42, Z:1.00 [[ 2.67801373e-01 -9.63473434e-01 -1.16879642e-03 1.49807468e+02] [ 9.63466589e-01 2.67803880e-01 -3.63505277e-03 1.44420570e+02] [ 3.81528499e-03 -1.52624172e-04 9.99992710e-01 9.98258950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:144.45, Z:0.99 [[ 2.70460625e-01 -9.62730334e-01 -1.16353256e-03 1.49822513e+02] [ 9.62723475e-01 2.70463093e-01 -3.63672723e-03 1.44451187e+02] [ 3.81588024e-03 -1.36568590e-04 9.99992710e-01 9.93309533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:144.47, Z:1.00 [[ 2.67212035e-01 -9.63636959e-01 -1.24124606e-03 1.49825515e+02] [ 9.63630218e-01 2.67214818e-01 -3.61171766e-03 1.44470806e+02] [ 3.81206396e-03 -2.31007786e-04 9.99992707e-01 9.97310119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.83, Y:144.50, Z:1.00 [[ 2.67463359e-01 -9.63567311e-01 -1.17876168e-03 1.49834187e+02] [ 9.63560481e-01 2.67465906e-01 -3.63174679e-03 1.44499707e+02] [ 3.81471105e-03 -1.64448975e-04 9.99992710e-01 9.97174048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:144.52, Z:1.00 [[ 2.65138088e-01 -9.64209697e-01 -1.20607692e-03 1.49838146e+02] [ 9.64202911e-01 2.65140754e-01 -3.62301246e-03 1.44523845e+02] [ 3.81312389e-03 -2.02304279e-04 9.99992710e-01 9.98130899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.84, Y:144.55, Z:1.00 [[ 2.65417912e-01 -9.64132751e-01 -1.17097615e-03 1.49844746e+02] [ 9.64125915e-01 2.65420444e-01 -3.63420693e-03 1.44549574e+02] [ 3.81465893e-03 -1.64384840e-04 9.99992711e-01 9.98144294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.85, Y:144.58, Z:1.00 [[ 2.66028417e-01 -9.63964476e-01 -1.17057589e-03 1.49852413e+02] [ 9.63957639e-01 2.66030943e-01 -3.63433430e-03 1.44575963e+02] [ 3.81477857e-03 -1.61549374e-04 9.99992711e-01 9.97276177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.86, Y:144.60, Z:1.00 [[ 2.67255625e-01 -9.63624962e-01 -1.16766474e-03 1.49859871e+02] [ 9.63618117e-01 2.67258132e-01 -3.63525833e-03 1.44600910e+02] [ 3.81509357e-03 -1.53639658e-04 9.99992711e-01 9.97125726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.672755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.87, Y:144.63, Z:1.00 [[ 2.66912187e-01 -9.63720157e-01 -1.15878319e-03 1.49868040e+02] [ 9.63713301e-01 2.66914662e-01 -3.63807370e-03 1.44627423e+02] [ 3.81538118e-03 -1.45688563e-04 9.99992711e-01 9.97229235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:144.66, Z:1.00 [[ 2.69741396e-01 -9.62932106e-01 -1.15740273e-03 1.49877531e+02] [ 9.62925240e-01 2.69743846e-01 -3.63851073e-03 1.44656158e+02] [ 3.81584106e-03 -1.33035343e-04 9.99992711e-01 9.98796818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.88, Y:144.68, Z:1.00 [[ 2.69318110e-01 -9.63050549e-01 -1.18124872e-03 1.49882244e+02] [ 9.63043718e-01 2.69320653e-01 -3.63096800e-03 1.44681209e+02] [ 3.81494040e-03 -1.59708718e-04 9.99992710e-01 9.97599849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:144.71, Z:1.00 [[ 2.71109963e-01 -9.62547687e-01 -1.15664915e-03 1.49889402e+02] [ 9.62540818e-01 2.71112400e-01 -3.63873981e-03 1.44706893e+02] [ 3.81604252e-03 -1.26823407e-04 9.99992711e-01 9.98601830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.89, Y:144.73, Z:1.00 [[ 2.73294483e-01 -9.61929734e-01 -1.14549470e-03 1.49894353e+02] [ 9.61922845e-01 2.73296862e-01 -3.64225942e-03 1.44732369e+02] [ 3.81665774e-03 -1.06468116e-04 9.99992711e-01 9.96718338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.90, Y:144.76, Z:1.00 [[ 2.74457336e-01 -9.61598604e-01 -1.13843131e-03 1.49902278e+02] [ 9.61591702e-01 2.74459681e-01 -3.64448595e-03 1.44759591e+02] [ 3.81698609e-03 -9.44502028e-05 9.99992711e-01 9.98086085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.91, Y:144.79, Z:1.00 [[ 2.74154860e-01 -9.61684877e-01 -1.14460735e-03 1.49909075e+02] [ 9.61677984e-01 2.74157231e-01 -3.64254108e-03 1.44786835e+02] [ 3.81677905e-03 -1.02123347e-04 9.99992711e-01 9.98021127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:144.81, Z:1.00 [[ 2.76523618e-01 -9.61006421e-01 -1.16043434e-03 1.49916335e+02] [ 9.60999543e-01 2.76526031e-01 -3.63755904e-03 1.44812338e+02] [ 3.81660790e-03 -1.09305889e-04 9.99992711e-01 9.97733473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.92, Y:144.84, Z:1.00 [[ 2.76144319e-01 -9.61115505e-01 -1.14033141e-03 1.49924187e+02] [ 9.61108602e-01 2.76146659e-01 -3.64387845e-03 1.44839571e+02] [ 3.81708679e-03 -8.97459990e-05 9.99992711e-01 9.97823202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.93, Y:144.87, Z:1.00 [[ 2.76782009e-01 -9.60932053e-01 -1.14404812e-03 1.49931842e+02] [ 9.60925153e-01 2.76784359e-01 -3.64271110e-03 1.44865830e+02] [ 3.81705248e-03 -9.11077209e-05 9.99992711e-01 9.98460199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97275509600001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:149.94, Y:144.89, Z:1.00 [[ 2.75259004e-01 -9.61369437e-01 -1.13425813e-03 1.49938900e+02] [ 9.61362528e-01 2.75261328e-01 -3.64578044e-03 1.44891730e+02] [ 3.81715929e-03 -8.68993687e-05 9.99992711e-01 9.98560756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:144.92, Z:1.00 [[ 2.74155774e-01 -9.61684624e-01 -1.13835731e-03 1.49946637e+02] [ 9.61677723e-01 2.74158121e-01 -3.64449639e-03 1.44918841e+02] [ 3.81694605e-03 -9.55731400e-05 9.99992711e-01 9.98853352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.95, Y:144.94, Z:1.00 [[ 2.73350024e-01 -9.61913955e-01 -1.14343123e-03 1.49953791e+02] [ 9.61907062e-01 2.73352396e-01 -3.64290892e-03 1.44943276e+02] [ 3.81672459e-03 -1.04085332e-04 9.99992711e-01 9.99595471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.96, Y:144.97, Z:1.00 [[ 2.71609924e-01 -9.62406765e-01 -1.12650608e-03 1.49961278e+02] [ 9.62399854e-01 2.71612244e-01 -3.64819749e-03 1.44970794e+02] [ 3.81702279e-03 -9.32626407e-05 9.99992711e-01 9.99666439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:145.00, Z:1.00 [[ 2.69667016e-01 -9.62952969e-01 -1.13156100e-03 1.49967266e+02] [ 9.62946070e-01 2.69669369e-01 -3.64661957e-03 1.44996063e+02] [ 3.81667048e-03 -1.06259199e-04 9.99992711e-01 9.99283407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.97, Y:145.02, Z:1.00 [[ 2.66569208e-01 -9.63815124e-01 -1.12425745e-03 1.49971543e+02] [ 9.63808223e-01 2.66571555e-01 -3.64889497e-03 1.45020074e+02] [ 3.81655522e-03 -1.10885538e-04 9.99992711e-01 9.97118868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.98, Y:145.04, Z:1.00 [[ 2.69040313e-01 -9.63128295e-01 -1.09420495e-03 1.49982502e+02] [ 9.63121350e-01 2.69042529e-01 -3.65825626e-03 1.45044621e+02] [ 3.81775778e-03 -6.96337421e-05 9.99992710e-01 9.99379141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:145.07, Z:1.00 [[ 2.63734344e-01 -9.64594734e-01 -1.09305112e-03 1.49986824e+02] [ 9.64587800e-01 2.63736594e-01 -3.65861552e-03 1.45070363e+02] [ 3.81735885e-03 -8.94412143e-05 9.99992710e-01 9.95561924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.99, Y:145.10, Z:1.00 [[ 2.63137783e-01 -9.64757658e-01 -1.08094300e-03 1.49994637e+02] [ 9.64750710e-01 2.63139991e-01 -3.66240351e-03 1.45095796e+02] [ 3.81777117e-03 -7.91237887e-05 9.99992709e-01 9.95426016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.00, Y:145.12, Z:1.00 [[ 2.62386588e-01 -9.64962224e-01 -1.08840939e-03 1.50002381e+02] [ 9.64955287e-01 2.62388830e-01 -3.66005379e-03 1.45122303e+02] [ 3.81740011e-03 -8.99173640e-05 9.99992710e-01 9.95667138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.01, Y:145.15, Z:1.00 [[ 2.62332927e-01 -9.64976815e-01 -1.08754137e-03 1.50010693e+02] [ 9.64969876e-01 2.62335166e-01 -3.66032695e-03 1.45148514e+02] [ 3.81743099e-03 -8.92203786e-05 9.99992710e-01 9.95771903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.02, Y:145.18, Z:0.99 [[ 2.63098662e-01 -9.64768322e-01 -1.08615342e-03 1.50017989e+02] [ 9.64761380e-01 2.63100891e-01 -3.66076339e-03 1.45175286e+02] [ 3.81755649e-03 -8.47369241e-05 9.99992710e-01 9.94186164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:145.20, Z:1.00 [[ 2.64117111e-01 -9.64490004e-01 -1.08775467e-03 1.50026679e+02] [ 9.64483062e-01 2.64119338e-01 -3.66026258e-03 1.45203151e+02] [ 3.81758372e-03 -8.23829777e-05 9.99992710e-01 9.95755174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.03, Y:145.23, Z:0.99 [[ 2.63849666e-01 -9.64563185e-01 -1.10307260e-03 1.50034412e+02] [ 9.64556263e-01 2.63851953e-01 -3.65547830e-03 1.45230948e+02] [ 3.81698765e-03 -9.94788612e-05 9.99992710e-01 9.94746059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.05, Y:145.26, Z:1.00 [[ 2.67385185e-01 -9.63589069e-01 -1.12656512e-03 1.50045599e+02] [ 9.63582169e-01 2.67387536e-01 -3.64814609e-03 1.45256983e+02] [ 3.81654316e-03 -1.10077840e-04 9.99992711e-01 9.97996398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.422755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.05, Y:145.28, Z:1.00 [[ 2.65190670e-01 -9.64195320e-01 -1.13691340e-03 1.50052482e+02] [ 9.64188440e-01 2.65193075e-01 -3.64491828e-03 1.45283454e+02] [ 3.81591471e-03 -1.29600440e-04 9.99992711e-01 9.99453732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.06, Y:145.31, Z:1.00 [[ 2.67038014e-01 -9.63685315e-01 -1.14607962e-03 1.50060505e+02] [ 9.63678441e-01 2.67040441e-01 -3.64205993e-03 1.45307989e+02] [ 3.81584928e-03 -1.31883774e-04 9.99992711e-01 1.00026746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.07, Y:145.33, Z:1.00 [[ 2.67024919e-01 -9.63688956e-01 -1.13513407e-03 1.50068331e+02] [ 9.63682069e-01 2.67027305e-01 -3.64546818e-03 1.45334214e+02] [ 3.81620922e-03 -1.20477499e-04 9.99992711e-01 1.00115264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:145.36, Z:1.00 [[ 2.66252162e-01 -9.63902744e-01 -1.13387691e-03 1.50075538e+02] [ 9.63895857e-01 2.66254548e-01 -3.64585917e-03 1.45359376e+02] [ 3.81615354e-03 -1.22221369e-04 9.99992711e-01 1.00274078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.542755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.08, Y:145.38, Z:1.00 [[ 2.66719674e-01 -9.63773478e-01 -1.13957817e-03 1.50083285e+02] [ 9.63766597e-01 2.66722078e-01 -3.64408810e-03 1.45383901e+02] [ 3.81602612e-03 -1.26337388e-04 9.99992711e-01 1.00313438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.09, Y:145.41, Z:1.00 [[ 2.66650247e-01 -9.63792699e-01 -1.13088525e-03 1.50091363e+02] [ 9.63785807e-01 2.66652619e-01 -3.64678382e-03 1.45409793e+02] [ 3.81629713e-03 -1.17515347e-04 9.99992711e-01 1.00366630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.10, Y:145.44, Z:1.00 [[ 2.66490080e-01 -9.63836999e-01 -1.12966167e-03 1.50099469e+02] [ 9.63830106e-01 2.66492449e-01 -3.64716281e-03 1.45436036e+02] [ 3.81631676e-03 -1.16869213e-04 9.99992711e-01 1.00375578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.11, Y:145.46, Z:1.00 [[ 2.66637289e-01 -9.63796287e-01 -1.12844452e-03 1.50107449e+02] [ 9.63789392e-01 2.66639652e-01 -3.64753936e-03 1.45461155e+02] [ 3.81637294e-03 -1.15012850e-04 9.99992711e-01 1.00393899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:145.49, Z:1.00 [[ 2.69327241e-01 -9.63048061e-01 -1.12717006e-03 1.50120408e+02] [ 9.63041157e-01 2.69329580e-01 -3.64793315e-03 1.45491348e+02] [ 3.81671519e-03 -1.03023392e-04 9.99992711e-01 1.00413472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.12, Y:145.51, Z:1.00 [[ 2.65722269e-01 -9.64048902e-01 -1.17904253e-03 1.50124076e+02] [ 9.64042076e-01 2.65724830e-01 -3.63189340e-03 1.45513749e+02] [ 3.81462372e-03 -1.71571655e-04 9.99992710e-01 1.00316765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.13, Y:145.54, Z:1.00 [[ 2.65012228e-01 -9.64244395e-01 -1.12503455e-03 1.50132649e+02] [ 9.64237499e-01 2.65014590e-01 -3.64854684e-03 1.45539539e+02] [ 3.81624141e-03 -1.17890968e-04 9.99992711e-01 1.00320366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.14, Y:145.56, Z:1.00 [[ 2.64268105e-01 -9.64448602e-01 -1.12373758e-03 1.50140707e+02] [ 9.64441707e-01 2.64270467e-01 -3.64894626e-03 1.45564163e+02] [ 3.81619178e-03 -1.19479280e-04 9.99992711e-01 1.00277272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.16, Y:145.60, Z:1.00 [[ 2.67379456e-01 -9.63590664e-01 -1.12238146e-03 1.50156409e+02] [ 9.63583759e-01 2.67381791e-01 -3.64936334e-03 1.45595361e+02] [ 3.81659681e-03 -1.05743758e-04 9.99992711e-01 1.00294994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.16, Y:145.62, Z:1.00 [[ 2.61492134e-01 -9.65204865e-01 -1.19697598e-03 1.50158021e+02] [ 9.65198075e-01 2.61494791e-01 -3.62638110e-03 1.45615919e+02] [ 3.81320367e-03 -2.07048776e-04 9.99992708e-01 1.00297827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:145.64, Z:1.00 [[ 2.60562936e-01 -9.65456214e-01 -1.12067146e-03 1.50166548e+02] [ 9.65449324e-01 2.60565313e-01 -3.64981036e-03 1.45642179e+02] [ 3.81574020e-03 -1.30946199e-04 9.99992711e-01 1.00349899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.17, Y:145.67, Z:1.00 [[ 2.59365702e-01 -9.65778535e-01 -1.11949954e-03 1.50174503e+02] [ 9.65771647e-01 2.59368084e-01 -3.65016978e-03 1.45667676e+02] [ 3.81561808e-03 -1.34452062e-04 9.99992711e-01 1.00368092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.18, Y:145.69, Z:1.00 [[ 2.57422917e-01 -9.66298189e-01 -1.11848342e-03 1.50183407e+02] [ 9.66291304e-01 2.57425309e-01 -3.65048112e-03 1.45693596e+02] [ 3.81537923e-03 -1.41063304e-04 9.99992711e-01 1.00452021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.19, Y:145.72, Z:1.00 [[ 2.56460626e-01 -9.66554033e-01 -1.11718420e-03 1.50191411e+02] [ 9.66547149e-01 2.56463019e-01 -3.65087868e-03 1.45718365e+02] [ 3.81528795e-03 -1.43504566e-04 9.99992711e-01 1.00428570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:145.75, Z:1.00 [[ 2.59303682e-01 -9.65795193e-01 -1.11582207e-03 1.50205584e+02] [ 9.65788300e-01 2.59306050e-01 -3.65129494e-03 1.45748776e+02] [ 3.81574252e-03 -1.30853676e-04 9.99992711e-01 1.00234793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.21, Y:145.78, Z:1.00 [[ 2.58179078e-01 -9.66096378e-01 -1.16305545e-03 1.50212226e+02] [ 9.66089550e-01 2.58181631e-01 -3.63687677e-03 1.45775209e+02] [ 3.81385303e-03 -1.84650223e-04 9.99992710e-01 1.00280678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.22, Y:145.80, Z:1.00 [[ 2.58990265e-01 -9.65879254e-01 -1.14417829e-03 1.50221273e+02] [ 9.65872399e-01 2.58992742e-01 -3.64262583e-03 1.45803181e+02] [ 3.81467059e-03 -1.61725597e-04 9.99992711e-01 1.00239988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.23, Y:145.83, Z:1.00 [[ 2.59998023e-01 -9.65608467e-01 -1.14742140e-03 1.50228482e+02] [ 9.65601614e-01 2.60000505e-01 -3.64163905e-03 1.45829293e+02] [ 3.81472764e-03 -1.61133002e-04 9.99992711e-01 1.00365088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:145.86, Z:1.00 [[ 2.60743699e-01 -9.65407398e-01 -1.13087305e-03 1.50236446e+02] [ 9.65400521e-01 2.60746113e-01 -3.64666441e-03 1.45855654e+02] [ 3.81538756e-03 -1.40900660e-04 9.99992711e-01 1.00369794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.24, Y:145.88, Z:1.00 [[ 2.60869152e-01 -9.65373512e-01 -1.12622757e-03 1.50242996e+02] [ 9.65366628e-01 2.60871548e-01 -3.64807370e-03 1.45880560e+02] [ 3.81555445e-03 -1.35552623e-04 9.99992712e-01 1.00346019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.25, Y:145.91, Z:1.00 [[ 2.62839059e-01 -9.64839056e-01 -1.10697269e-03 1.50252088e+02] [ 9.64832143e-01 2.62841368e-01 -3.65390708e-03 1.45906868e+02] [ 3.81639048e-03 -1.07653333e-04 9.99992712e-01 1.00283611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.172755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.26, Y:145.93, Z:1.00 [[ 2.63902941e-01 -9.64548598e-01 -1.11332785e-03 1.50260036e+02] [ 9.64541691e-01 2.63905267e-01 -3.65198447e-03 1.45932864e+02] [ 3.81632959e-03 -1.10081684e-04 9.99992712e-01 1.00336079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.27, Y:145.96, Z:1.01 [[ 2.65220964e-01 -9.64187016e-01 -1.11253063e-03 1.50267835e+02] [ 9.64180105e-01 2.65223277e-01 -3.65222523e-03 1.45957480e+02] [ 3.81649717e-03 -1.04033200e-04 9.99992712e-01 1.00506898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.28, Y:145.98, Z:1.01 [[ 2.66912829e-01 -9.63720046e-01 -1.10217262e-03 1.50277070e+02] [ 9.63713117e-01 2.66915091e-01 -3.65534841e-03 1.45983164e+02] [ 3.81691905e-03 -8.65188259e-05 9.99992712e-01 1.00562869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.29, Y:146.01, Z:1.01 [[ 2.67085578e-01 -9.63672186e-01 -1.10085658e-03 1.50285370e+02] [ 9.63665255e-01 2.67087834e-01 -3.65574472e-03 1.46008854e+02] [ 3.81696490e-03 -8.44605428e-05 9.99992712e-01 1.00590888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:146.04, Z:1.01 [[ 2.67067731e-01 -9.63677134e-01 -1.09953957e-03 1.50295204e+02] [ 9.63670202e-01 2.67069982e-01 -3.65614079e-03 1.46035469e+02] [ 3.81699329e-03 -8.31562888e-05 9.99992712e-01 1.00655330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.30, Y:146.06, Z:1.01 [[ 2.66710661e-01 -9.63776020e-01 -1.09836267e-03 1.50303621e+02] [ 9.63769087e-01 2.66712910e-01 -3.65649432e-03 1.46060041e+02] [ 3.81698904e-03 -8.33419672e-05 9.99992712e-01 1.00651629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.31, Y:146.09, Z:1.01 [[ 2.65861394e-01 -9.64010641e-01 -1.09734169e-03 1.50312085e+02] [ 9.64003709e-01 2.65863645e-01 -3.65680069e-03 1.46085916e+02] [ 3.81693804e-03 -8.56393267e-05 9.99992712e-01 1.00700220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:146.12, Z:1.01 [[ 2.66481291e-01 -9.63839468e-01 -1.09604260e-03 1.50325775e+02] [ 9.63832533e-01 2.66483532e-01 -3.65719003e-03 1.46115076e+02] [ 3.81702139e-03 -8.18287942e-05 9.99992712e-01 1.00745288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.33, Y:146.14, Z:1.01 [[ 2.64891627e-01 -9.64277521e-01 -1.13558415e-03 1.50333307e+02] [ 9.64270639e-01 2.64894029e-01 -3.64529333e-03 1.46138917e+02] [ 3.81588387e-03 -1.29402780e-04 9.99992711e-01 1.00784707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.34, Y:146.17, Z:1.01 [[ 2.62286338e-01 -9.64989438e-01 -1.12324730e-03 1.50341974e+02] [ 9.64982547e-01 2.62288712e-01 -3.64900361e-03 1.46167125e+02] [ 3.81586503e-03 -1.26830244e-04 9.99992712e-01 1.00806222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.35, Y:146.19, Z:1.01 [[ 2.61006779e-01 -9.65336281e-01 -1.15126853e-03 1.50349238e+02] [ 9.65329430e-01 2.61009268e-01 -3.64058417e-03 1.46188464e+02] [ 3.81487974e-03 -1.61136247e-04 9.99992710e-01 1.00830948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.36, Y:146.21, Z:1.01 [[ 2.59811082e-01 -9.65658843e-01 -1.09571568e-03 1.50357190e+02] [ 9.65651924e-01 2.59813370e-01 -3.65722796e-03 1.46214016e+02] [ 3.81631611e-03 -1.07891599e-04 9.99992712e-01 1.00806389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.37, Y:146.24, Z:1.01 [[ 2.58650190e-01 -9.65970435e-01 -1.09443421e-03 1.50366257e+02] [ 9.65963517e-01 2.58652481e-01 -3.65761140e-03 1.46238172e+02] [ 3.81622260e-03 -1.11141632e-04 9.99992712e-01 1.00556451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56275509600002 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:150.37, Y:146.27, Z:1.01 [[ 2.56760747e-01 -9.66474378e-01 -1.09344458e-03 1.50373787e+02] [ 9.66467463e-01 2.56763048e-01 -3.65790723e-03 1.46266248e+02] [ 3.81602978e-03 -1.17571620e-04 9.99992712e-01 1.00626273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.38, Y:146.29, Z:1.01 [[ 2.58252669e-01 -9.66076758e-01 -1.12108839e-03 1.50382054e+02] [ 9.66069874e-01 2.58255064e-01 -3.64965734e-03 1.46290335e+02] [ 3.81537588e-03 -1.40515975e-04 9.99992712e-01 1.00699284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.39, Y:146.32, Z:1.01 [[ 2.57906666e-01 -9.66169222e-01 -1.08912045e-03 1.50389762e+02] [ 9.66162299e-01 2.57908943e-01 -3.65917232e-03 1.46316989e+02] [ 3.81627358e-03 -1.08542179e-04 9.99992712e-01 1.00708971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.40, Y:146.34, Z:1.01 [[ 2.58278790e-01 -9.66069813e-01 -1.08780982e-03 1.50397429e+02] [ 9.66062887e-01 2.58281059e-01 -3.65956190e-03 1.46342210e+02] [ 3.81635296e-03 -1.05705479e-04 9.99992712e-01 1.00658075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:146.37, Z:1.00 [[ 2.59962606e-01 -9.65618073e-01 -1.08643871e-03 1.50405640e+02] [ 9.65611142e-01 2.59964857e-01 -3.65996891e-03 1.46367666e+02] [ 3.81656801e-03 -9.76222692e-05 9.99992712e-01 1.00471118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.41, Y:146.39, Z:1.00 [[ 2.61010437e-01 -9.65335369e-01 -1.08515399e-03 1.50413750e+02] [ 9.65328434e-01 2.61012676e-01 -3.66034978e-03 1.46393818e+02] [ 3.81670405e-03 -9.21405085e-05 9.99992712e-01 1.00439860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.42, Y:146.42, Z:1.00 [[ 2.62347251e-01 -9.64972925e-01 -1.08388910e-03 1.50421755e+02] [ 9.64965985e-01 2.62349476e-01 -3.66072430e-03 1.46419249e+02] [ 3.81685757e-03 -8.55351553e-05 9.99992712e-01 1.00324209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.43, Y:146.45, Z:1.00 [[ 2.65391229e-01 -9.64140199e-01 -1.08256424e-03 1.50430736e+02] [ 9.64133251e-01 2.65393427e-01 -3.66111605e-03 1.46445116e+02] [ 3.81713459e-03 -7.21080898e-05 9.99992712e-01 1.00304535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.44, Y:146.47, Z:1.01 [[ 2.65251455e-01 -9.64178664e-01 -1.08135070e-03 1.50438438e+02] [ 9.64171715e-01 2.65253649e-01 -3.66147445e-03 1.46472270e+02] [ 3.81714776e-03 -7.13963319e-05 9.99992712e-01 1.00537385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.45, Y:146.50, Z:1.00 [[ 2.68794648e-01 -9.63196891e-01 -1.08936770e-03 1.50447325e+02] [ 9.63189943e-01 2.68796848e-01 -3.65910964e-03 1.46496824e+02] [ 3.81726163e-03 -6.57189209e-05 9.99992712e-01 1.00413063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:150.46, Y:146.52, Z:1.00 [[ 2.69475625e-01 -9.63006607e-01 -1.07854801e-03 1.50455147e+02] [ 9.62999644e-01 2.69477778e-01 -3.66229604e-03 1.46522022e+02] [ 3.81746000e-03 -5.17418390e-05 9.99992712e-01 1.00280770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.46, Y:146.55, Z:1.00 [[ 2.70112763e-01 -9.62828092e-01 -1.07724347e-03 1.50463361e+02] [ 9.62821127e-01 2.70114906e-01 -3.66267972e-03 1.46547989e+02] [ 3.81751045e-03 -4.78562299e-05 9.99992712e-01 1.00454765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.922755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.47, Y:146.57, Z:1.00 [[ 2.70086735e-01 -9.62835395e-01 -1.07598183e-03 1.50471470e+02] [ 9.62828428e-01 2.70088874e-01 -3.66305032e-03 1.46573703e+02] [ 3.81752522e-03 -4.66445992e-05 9.99992712e-01 1.00494016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.48, Y:146.60, Z:1.01 [[ 2.69802924e-01 -9.62914964e-01 -1.07471452e-03 1.50480609e+02] [ 9.62907996e-01 2.69805061e-01 -3.66342210e-03 1.46599302e+02] [ 3.81752737e-03 -4.64492045e-05 9.99992712e-01 1.00653562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.49, Y:146.62, Z:1.01 [[ 2.70317109e-01 -9.62770745e-01 -1.07340077e-03 1.50489103e+02] [ 9.62763775e-01 2.70319237e-01 -3.66380699e-03 1.46624279e+02] [ 3.81756707e-03 -4.30416598e-05 9.99992712e-01 1.00616295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.50, Y:146.65, Z:1.01 [[ 2.68735487e-01 -9.63213429e-01 -1.06207577e-03 1.50498279e+02] [ 9.63206449e-01 2.68737583e-01 -3.66712052e-03 1.46651477e+02] [ 3.81763940e-03 -3.75128124e-05 9.99992712e-01 1.00871697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.042755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:146.68, Z:1.01 [[ 2.67835325e-01 -9.63464110e-01 -1.07150222e-03 1.50506221e+02] [ 9.63457143e-01 2.67837464e-01 -3.66436411e-03 1.46677779e+02] [ 3.81747175e-03 -5.09003155e-05 9.99992712e-01 1.00911681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.51, Y:146.70, Z:1.01 [[ 2.67342330e-01 -9.63601024e-01 -1.07021133e-03 1.50514597e+02] [ 9.63594056e-01 2.67344467e-01 -3.66474109e-03 1.46703871e+02] [ 3.81746335e-03 -5.15088543e-05 9.99992712e-01 1.00942917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.102755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.52, Y:146.73, Z:1.01 [[ 2.65342493e-01 -9.64153628e-01 -1.06889871e-03 1.50523486e+02] [ 9.64146664e-01 2.65344640e-01 -3.66512390e-03 1.46730006e+02] [ 3.81736905e-03 -5.80620151e-05 9.99992712e-01 1.00691041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.53, Y:146.76, Z:1.01 [[ 2.64637366e-01 -9.64347409e-01 -1.06759033e-03 1.50531195e+02] [ 9.64340444e-01 2.64639513e-01 -3.66550497e-03 1.46756017e+02] [ 3.81734681e-03 -5.94909540e-05 9.99992712e-01 1.00921408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:146.78, Z:1.01 [[ 2.63238112e-01 -9.64730304e-01 -1.06628341e-03 1.50538044e+02] [ 9.64723341e-01 2.63240264e-01 -3.66588512e-03 1.46781469e+02] [ 3.81727919e-03 -6.36678144e-05 9.99992712e-01 1.00920517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.54, Y:146.81, Z:1.01 [[ 2.63013448e-01 -9.64791580e-01 -1.06491486e-03 1.50544676e+02] [ 9.64784616e-01 2.63015596e-01 -3.66628263e-03 1.46807259e+02] [ 3.81728782e-03 -6.31318382e-05 9.99992712e-01 1.00979685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.55, Y:146.83, Z:1.01 [[ 2.62425682e-01 -9.64951621e-01 -1.06357158e-03 1.50551615e+02] [ 9.64944656e-01 2.62427829e-01 -3.66667226e-03 1.46834037e+02] [ 3.81727212e-03 -6.40587479e-05 9.99992712e-01 1.01065684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.56, Y:146.86, Z:1.01 [[ 2.62394311e-01 -9.64960148e-01 -1.06689758e-03 1.50558030e+02] [ 9.64953188e-01 2.62396471e-01 -3.66570840e-03 1.46859322e+02] [ 3.81721268e-03 -6.76451876e-05 9.99992712e-01 1.00978714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.56, Y:146.89, Z:1.01 [[ 2.62438049e-01 -9.64948260e-01 -1.06072270e-03 1.50564553e+02] [ 9.64941293e-01 2.62440186e-01 -3.66749432e-03 1.46885383e+02] [ 3.81731852e-03 -6.10450745e-05 9.99992712e-01 1.00773987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31275509600002 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:150.57, Y:146.91, Z:1.01 [[ 2.61953337e-01 -9.65079959e-01 -1.05946016e-03 1.50571624e+02] [ 9.65072991e-01 2.61955472e-01 -3.66785900e-03 1.46911230e+02] [ 3.81730860e-03 -6.16484832e-05 9.99992712e-01 1.00715693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.58, Y:146.94, Z:1.01 [[ 2.61935475e-01 -9.65084808e-01 -1.05816106e-03 1.50578704e+02] [ 9.65077839e-01 2.61937605e-01 -3.66823375e-03 1.46936627e+02] [ 3.81732884e-03 -6.03672442e-05 9.99992712e-01 1.00905447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37275509600002 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:150.59, Y:146.96, Z:1.01 [[ 2.61037656e-01 -9.65328040e-01 -1.05680225e-03 1.50585125e+02] [ 9.65321071e-01 2.61039788e-01 -3.66862517e-03 1.46962056e+02] [ 3.81729418e-03 -6.25041673e-05 9.99992712e-01 1.00596884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.59, Y:146.99, Z:1.01 [[ 2.60724578e-01 -9.65412648e-01 -1.05550734e-03 1.50591315e+02] [ 9.65405678e-01 2.60726707e-01 -3.66899770e-03 1.46987905e+02] [ 3.81729573e-03 -6.23949000e-05 9.99992712e-01 1.00689252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:147.01, Z:1.01 [[ 2.59696728e-01 -9.65689649e-01 -1.05422610e-03 1.50597075e+02] [ 9.65682680e-01 2.59698860e-01 -3.66936580e-03 1.47014222e+02] [ 3.81724989e-03 -6.51255887e-05 9.99992712e-01 1.00751392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.60, Y:147.04, Z:1.01 [[ 2.59419392e-01 -9.65764195e-01 -1.04841092e-03 1.50603067e+02] [ 9.65757220e-01 2.59421504e-01 -3.67103443e-03 1.47037522e+02] [ 3.81733395e-03 -6.01728921e-05 9.99992712e-01 1.00769508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.61, Y:147.06, Z:1.01 [[ 2.57073092e-01 -9.66391415e-01 -1.02834630e-03 1.50609016e+02] [ 9.66384422e-01 2.57075145e-01 -3.67677601e-03 1.47064986e+02] [ 3.81756704e-03 -4.85776637e-05 9.99992712e-01 1.00680849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.62, Y:147.09, Z:1.01 [[ 2.56000809e-01 -9.66675997e-01 -1.05004398e-03 1.50615874e+02] [ 9.66669031e-01 2.56002952e-01 -3.67056893e-03 1.47091717e+02] [ 3.81706523e-03 -7.53763789e-05 9.99992712e-01 1.00620026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.62, Y:147.12, Z:1.01 [[ 2.53792800e-01 -9.67258044e-01 -1.04417038e-03 1.50621507e+02] [ 9.67251077e-01 2.53794936e-01 -3.67224670e-03 1.47119678e+02] [ 3.81701531e-03 -7.79851508e-05 9.99992712e-01 1.01004507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:150.63, Y:147.15, Z:1.01 [[ 2.56577033e-01 -9.66523217e-01 -1.04772590e-03 1.50634495e+02] [ 9.66516247e-01 2.56579163e-01 -3.67123199e-03 1.47151413e+02] [ 3.81715559e-03 -7.06902954e-05 9.99992712e-01 1.00776352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.63, Y:147.17, Z:1.01 [[ 2.50924929e-01 -9.68005906e-01 -1.11606210e-03 1.50634417e+02] [ 9.67999032e-01 2.50927358e-01 -3.65170387e-03 1.47173840e+02] [ 3.81492143e-03 -1.64043503e-04 9.99992710e-01 1.00858176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.64, Y:147.20, Z:1.01 [[ 2.51144847e-01 -9.67948951e-01 -1.04568546e-03 1.50640461e+02] [ 9.67941992e-01 2.51147007e-01 -3.67174661e-03 1.47199691e+02] [ 3.81668406e-03 -9.00226271e-05 9.99992712e-01 1.00980003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:147.23, Z:1.01 [[ 2.51253364e-01 -9.67920799e-01 -1.03597052e-03 1.50646986e+02] [ 9.67913828e-01 2.51255488e-01 -3.67450987e-03 1.47225179e+02] [ 3.81692781e-03 -7.94972289e-05 9.99992712e-01 1.01072569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.65, Y:147.25, Z:1.01 [[ 2.49717714e-01 -9.68318135e-01 -1.02581106e-03 1.50652069e+02] [ 9.68311155e-01 2.49719809e-01 -3.67740022e-03 1.47253369e+02] [ 3.81705867e-03 -7.49923143e-05 9.99992712e-01 1.00985622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.66, Y:147.28, Z:1.01 [[ 2.49172134e-01 -9.68458650e-01 -1.04408675e-03 1.50658087e+02] [ 9.68451693e-01 2.49174303e-01 -3.67220405e-03 1.47279747e+02] [ 3.81653737e-03 -9.61366595e-05 9.99992712e-01 1.01042833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.762755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:150.66, Y:147.30, Z:1.01 [[ 2.48174085e-01 -9.68714888e-01 -1.04394629e-03 1.50663953e+02] [ 9.68707932e-01 2.48176261e-01 -3.67224393e-03 1.47304698e+02] [ 3.81644005e-03 -9.99232713e-05 9.99992712e-01 1.00765829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.792755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.67, Y:147.33, Z:1.01 [[ 2.47928027e-01 -9.68777895e-01 -1.04123600e-03 1.50668522e+02] [ 9.68770937e-01 2.47930194e-01 -3.67301225e-03 1.47330128e+02] [ 3.81648692e-03 -9.80764942e-05 9.99992712e-01 1.00985361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:147.36, Z:1.01 [[ 2.47905513e-01 -9.68783658e-01 -1.03973831e-03 1.50675313e+02] [ 9.68776698e-01 2.47907675e-01 -3.67343616e-03 1.47356420e+02] [ 3.81652403e-03 -9.66091755e-05 9.99992712e-01 1.01222831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.68, Y:147.38, Z:1.01 [[ 2.47248829e-01 -9.68951463e-01 -1.03829295e-03 1.50681513e+02] [ 9.68944503e-01 2.47250990e-01 -3.67384464e-03 1.47383101e+02] [ 3.81649610e-03 -9.76944618e-05 9.99992712e-01 1.01282016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:147.41, Z:1.01 [[ 2.46694385e-01 -9.69092774e-01 -1.03700066e-03 1.50687860e+02] [ 9.69085814e-01 2.46696545e-01 -3.67420938e-03 1.47409375e+02] [ 3.81647424e-03 -9.85358022e-05 9.99992712e-01 1.01296600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.69, Y:147.44, Z:1.01 [[ 2.46302710e-01 -9.69192397e-01 -1.03571818e-03 1.50694223e+02] [ 9.69185436e-01 2.46304868e-01 -3.67457086e-03 1.47436216e+02] [ 3.81646857e-03 -9.87462194e-05 9.99992712e-01 1.01329833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.942755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:150.70, Y:147.46, Z:1.01 [[ 2.45468375e-01 -9.69404047e-01 -1.03439440e-03 1.50699156e+02] [ 9.69397087e-01 2.45470533e-01 -3.67494347e-03 1.47462429e+02] [ 3.81641842e-03 -1.00656518e-04 9.99992712e-01 1.01107385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97275509600001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:150.71, Y:147.49, Z:1.01 [[ 2.45197236e-01 -9.69472665e-01 -1.03302083e-03 1.50705398e+02] [ 9.69465704e-01 2.45199391e-01 -3.67532953e-03 1.47488798e+02] [ 3.81642760e-03 -1.00297622e-04 9.99992712e-01 1.01098237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:147.52, Z:1.01 [[ 2.49483391e-01 -9.68378528e-01 -1.03172801e-03 1.50719399e+02] [ 9.68371555e-01 2.49485510e-01 -3.67569241e-03 1.47520405e+02] [ 3.81686280e-03 -8.20718533e-05 9.99992712e-01 1.01148542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.72, Y:147.55, Z:1.01 [[ 2.48904150e-01 -9.68527490e-01 -1.10690274e-03 1.50724967e+02] [ 9.68520609e-01 2.48906558e-01 -3.65458351e-03 1.47547355e+02] [ 3.81507994e-03 -1.62417111e-04 9.99992709e-01 1.01047876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.73, Y:147.57, Z:1.01 [[ 2.49673437e-01 -9.68329479e-01 -1.09285680e-03 1.50730877e+02] [ 9.68322579e-01 2.49675787e-01 -3.65852147e-03 1.47571182e+02] [ 3.81551407e-03 -1.44802287e-04 9.99992710e-01 1.00931283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:147.60, Z:1.01 [[ 2.50342155e-01 -9.68156839e-01 -1.06850213e-03 1.50738276e+02] [ 9.68149907e-01 2.50344408e-01 -3.66533116e-03 1.47600237e+02] [ 3.81610896e-03 -1.16883336e-04 9.99992712e-01 1.00837020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.74, Y:147.62, Z:1.01 [[ 2.47533158e-01 -9.68878812e-01 -1.08751486e-03 1.50738867e+02] [ 9.68871911e-01 2.47535503e-01 -3.66002331e-03 1.47622902e+02] [ 3.81531757e-03 -1.47685473e-04 9.99992711e-01 1.00988058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.75, Y:147.65, Z:1.01 [[ 2.48313897e-01 -9.68679081e-01 -1.02304828e-03 1.50745208e+02] [ 9.68672102e-01 2.48315992e-01 -3.67795513e-03 1.47649413e+02] [ 3.81679745e-03 -7.77109579e-05 9.99992713e-01 1.01035945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18275509600002 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:150.75, Y:147.68, Z:1.01 [[ 2.49447654e-01 -9.68387745e-01 -1.02181108e-03 1.50751224e+02] [ 9.68380762e-01 2.49449736e-01 -3.67829882e-03 1.47676400e+02] [ 3.81691000e-03 -7.19591770e-05 9.99992713e-01 1.00837492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.76, Y:147.70, Z:1.01 [[ 2.50425225e-01 -9.68135406e-01 -1.02054815e-03 1.50758345e+02] [ 9.68128420e-01 2.50427296e-01 -3.67864919e-03 1.47703684e+02] [ 3.81700364e-03 -6.67951210e-05 9.99992713e-01 1.01245535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:147.73, Z:1.01 [[ 2.52756894e-01 -9.67529283e-01 -1.01936402e-03 1.50769770e+02] [ 9.67522290e-01 2.52758943e-01 -3.67897729e-03 1.47734093e+02] [ 3.81717163e-03 -5.63705382e-05 9.99992713e-01 1.01142049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.77, Y:147.76, Z:1.01 [[ 2.51133200e-01 -9.67951953e-01 -1.06435614e-03 1.50772953e+02] [ 9.67945015e-01 2.51135431e-01 -3.66650412e-03 1.47756949e+02] [ 3.81629736e-03 -1.09457307e-04 9.99992712e-01 1.01370302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.78, Y:147.78, Z:1.01 [[ 2.50738769e-01 -9.68054252e-01 -1.01762307e-03 1.50779958e+02] [ 9.68047261e-01 2.50740826e-01 -3.67942913e-03 1.47782333e+02] [ 3.81704666e-03 -6.25316920e-05 9.99992713e-01 1.01391036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33275509600003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:150.79, Y:147.81, Z:1.01 [[ 2.50388598e-01 -9.68144880e-01 -1.02062928e-03 1.50787931e+02] [ 9.68137894e-01 2.50390669e-01 -3.67859862e-03 1.47808016e+02] [ 3.81697247e-03 -6.70307348e-05 9.99992713e-01 1.01352510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.80, Y:147.83, Z:1.02 [[ 2.50473894e-01 -9.68122821e-01 -1.01550443e-03 1.50795182e+02] [ 9.68115829e-01 2.50475945e-01 -3.68001283e-03 1.47833432e+02] [ 3.81706383e-03 -6.13787721e-05 9.99992713e-01 1.01551441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:150.80, Y:147.86, Z:1.02 [[ 2.50152812e-01 -9.68205836e-01 -1.01449836e-03 1.50802513e+02] [ 9.68198843e-01 2.50154862e-01 -3.68029016e-03 1.47859763e+02] [ 3.81706011e-03 -6.16012015e-05 9.99992713e-01 1.01566516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.81, Y:147.89, Z:1.02 [[ 2.50709003e-01 -9.68061966e-01 -1.01318776e-03 1.50810967e+02] [ 9.68054970e-01 2.50711044e-01 -3.68065093e-03 1.47888066e+02] [ 3.81711554e-03 -5.80491191e-05 9.99992713e-01 1.01650856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:147.91, Z:1.02 [[ 2.50420586e-01 -9.68136598e-01 -1.02809243e-03 1.50817002e+02] [ 9.68129620e-01 2.50422686e-01 -3.67655139e-03 1.47912980e+02] [ 3.81686162e-03 -7.46425804e-05 9.99992713e-01 1.01677513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.82, Y:147.94, Z:1.02 [[ 2.50282447e-01 -9.68172338e-01 -1.01036118e-03 1.50824524e+02] [ 9.68165340e-01 2.50284480e-01 -3.68141772e-03 1.47939253e+02] [ 3.81712452e-03 -5.68024356e-05 9.99992713e-01 1.01714643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.83, Y:147.97, Z:1.02 [[ 2.49952643e-01 -9.68257537e-01 -1.00910704e-03 1.50831647e+02] [ 9.68250539e-01 2.49954674e-01 -3.68176145e-03 1.47966060e+02] [ 3.81712430e-03 -5.68024322e-05 9.99992713e-01 1.01725198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.542755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:150.84, Y:147.99, Z:1.02 [[ 2.49356785e-01 -9.68411162e-01 -1.00785279e-03 1.50839805e+02] [ 9.68404163e-01 2.49358815e-01 -3.68210476e-03 1.47992217e+02] [ 3.81710833e-03 -5.78510371e-05 9.99992713e-01 1.01521250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.85, Y:148.02, Z:1.02 [[ 2.49747453e-01 -9.68310486e-01 -1.00657403e-03 1.50846879e+02] [ 9.68303485e-01 2.49749476e-01 -3.68245430e-03 1.48017069e+02] [ 3.81715045e-03 -5.49855544e-05 9.99992713e-01 1.01775809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.86, Y:148.05, Z:1.02 [[ 2.51591053e-01 -9.67833111e-01 -1.00558499e-03 1.50858275e+02] [ 9.67826106e-01 2.51593058e-01 -3.68272436e-03 1.48047198e+02] [ 3.81726078e-03 -4.66909038e-05 9.99992713e-01 1.01754604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.87, Y:148.07, Z:1.02 [[ 2.50093081e-01 -9.68221236e-01 -1.04307353e-03 1.50865421e+02] [ 9.68214276e-01 2.50095240e-01 -3.67248512e-03 1.48072595e+02] [ 3.81664581e-03 -9.14555600e-05 9.99992712e-01 1.01595837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:148.10, Z:1.02 [[ 2.50718533e-01 -9.68059477e-01 -1.03233026e-03 1.50875650e+02] [ 9.68052503e-01 2.50720647e-01 -3.67541409e-03 1.48101290e+02] [ 3.81684596e-03 -7.78554604e-05 9.99992713e-01 1.01643148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.88, Y:148.13, Z:1.02 [[ 2.47460555e-01 -9.68897402e-01 -1.04772712e-03 1.50880427e+02] [ 9.68890453e-01 2.47462750e-01 -3.67122845e-03 1.48126666e+02] [ 3.81631714e-03 -1.06648573e-04 9.99992712e-01 1.01607249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:148.15, Z:1.02 [[ 2.45901452e-01 -9.69294301e-01 -1.01720281e-03 1.50886768e+02] [ 9.69287320e-01 2.45903542e-01 -3.67950483e-03 1.48152072e+02] [ 3.81665684e-03 -8.11662103e-05 9.99992713e-01 1.01651060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:148.18, Z:1.02 [[ 2.44482102e-01 -9.69653292e-01 -9.97578641e-04 1.50894832e+02] [ 9.69646293e-01 2.44484128e-01 -3.68481762e-03 1.48178602e+02] [ 3.81688768e-03 -6.64264727e-05 9.99992713e-01 1.01759535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.90, Y:148.20, Z:1.02 [[ 2.43942537e-01 -9.69789184e-01 -9.88383166e-04 1.50901689e+02] [ 9.69782176e-01 2.43944533e-01 -3.68730180e-03 1.48204459e+02] [ 3.81701607e-03 -5.90266205e-05 9.99992713e-01 1.01664170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.91, Y:148.23, Z:1.02 [[ 2.44905870e-01 -9.69546366e-01 -9.79243964e-04 1.50910503e+02] [ 9.69539346e-01 2.44907823e-01 -3.68976632e-03 1.48231652e+02] [ 3.81722404e-03 -4.57701211e-05 9.99992713e-01 1.01809165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.92, Y:148.26, Z:1.02 [[ 2.44836856e-01 -9.69563782e-01 -9.93046661e-04 1.50917481e+02] [ 9.69556777e-01 2.44838862e-01 -3.68604778e-03 1.48257032e+02] [ 3.81699484e-03 -6.03347711e-05 9.99992713e-01 1.01808465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:148.28, Z:1.02 [[ 2.45462921e-01 -9.69405473e-01 -9.91673076e-04 1.50925254e+02] [ 9.69398465e-01 2.45464918e-01 -3.68641729e-03 1.48283292e+02] [ 3.81705404e-03 -5.64476032e-05 9.99992713e-01 1.01876427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.93, Y:148.31, Z:1.02 [[ 2.45514650e-01 -9.69392375e-01 -9.90354319e-04 1.50932315e+02] [ 9.69385365e-01 2.45516641e-01 -3.68677153e-03 1.48308998e+02] [ 3.81707668e-03 -5.48785609e-05 9.99992713e-01 1.01877649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.94, Y:148.34, Z:1.02 [[ 2.45759698e-01 -9.69330280e-01 -9.89335760e-04 1.50939790e+02] [ 9.69323269e-01 2.45761683e-01 -3.68704484e-03 1.48335058e+02] [ 3.81710503e-03 -5.28591468e-05 9.99992713e-01 1.01920676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:148.36, Z:1.02 [[ 2.45722795e-01 -9.69339638e-01 -9.86809535e-04 1.50946996e+02] [ 9.69332625e-01 2.45724771e-01 -3.68772178e-03 1.48359874e+02] [ 3.81713845e-03 -5.03893730e-05 9.99992713e-01 1.01881888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.95, Y:148.39, Z:1.02 [[ 2.45677476e-01 -9.69351126e-01 -9.86585652e-04 1.50954262e+02] [ 9.69344112e-01 2.45679452e-01 -3.68778168e-03 1.48386613e+02] [ 3.81713914e-03 -5.03360980e-05 9.99992713e-01 1.01891403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.96, Y:148.41, Z:1.02 [[ 2.47285123e-01 -9.68942257e-01 -9.85274371e-04 1.50963607e+02] [ 9.68935239e-01 2.47287082e-01 -3.68813198e-03 1.48414703e+02] [ 3.81723255e-03 -4.26468873e-05 9.99992713e-01 1.01895264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.97, Y:148.44, Z:1.02 [[ 2.45485264e-01 -9.69399803e-01 -1.00333336e-03 1.50969073e+02] [ 9.69392808e-01 2.45487305e-01 -3.68330985e-03 1.48440285e+02] [ 3.81690544e-03 -6.84258489e-05 9.99992713e-01 1.01911869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:148.47, Z:1.02 [[ 2.45010886e-01 -9.69519829e-01 -9.83455305e-04 1.50976136e+02] [ 9.69512813e-01 2.45012855e-01 -3.68860972e-03 1.48465141e+02] [ 3.81713946e-03 -4.97229831e-05 9.99992713e-01 1.01932444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.98, Y:148.49, Z:1.02 [[ 2.43923942e-01 -9.69793868e-01 -9.82112948e-04 1.50984149e+02] [ 9.69786853e-01 2.43925914e-01 -3.68896710e-03 1.48490451e+02] [ 3.81710047e-03 -5.26128279e-05 9.99992713e-01 1.02009871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.99, Y:148.52, Z:1.02 [[ 2.42532584e-01 -9.70142764e-01 -9.81132225e-04 1.50991141e+02] [ 9.70135751e-01 2.42534562e-01 -3.68922792e-03 1.48515953e+02] [ 3.81703625e-03 -5.70734672e-05 9.99992713e-01 1.02052508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.00, Y:148.54, Z:1.02 [[ 2.41473788e-01 -9.70406847e-01 -9.80228283e-04 1.50998394e+02] [ 9.70399835e-01 2.41475770e-01 -3.68946792e-03 1.48542042e+02] [ 3.81698631e-03 -6.03035704e-05 9.99992713e-01 1.02094740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.01, Y:148.57, Z:1.02 [[ 2.40011459e-01 -9.70769562e-01 -9.78228070e-04 1.51005198e+02] [ 9.70762551e-01 2.40013444e-01 -3.68999818e-03 1.48566990e+02] [ 3.81692581e-03 -6.39853293e-05 9.99992713e-01 1.02116528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:148.60, Z:1.02 [[ 2.39950840e-01 -9.70784549e-01 -9.76824423e-04 1.51016148e+02] [ 9.70777536e-01 2.39952820e-01 -3.69036972e-03 1.48595828e+02] [ 3.81694568e-03 -6.27718918e-05 9.99992713e-01 1.02128855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.02, Y:148.62, Z:1.02 [[ 2.35939214e-01 -9.71767288e-01 -1.01210972e-03 1.51020031e+02] [ 9.71760323e-01 2.35941357e-01 -3.68103242e-03 1.48619599e+02] [ 3.81590543e-03 -1.15028168e-04 9.99992713e-01 1.02099291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.292755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:148.65, Z:1.02 [[ 2.35190003e-01 -9.71948926e-01 -9.73986644e-04 1.51027219e+02] [ 9.71941920e-01 2.35192006e-01 -3.69109215e-03 1.48645736e+02] [ 3.81662692e-03 -7.85504775e-05 9.99992714e-01 1.02124217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.03, Y:148.67, Z:1.02 [[ 2.34668173e-01 -9.72075050e-01 -9.72667431e-04 1.51034411e+02] [ 9.72068044e-01 2.34670176e-01 -3.69143975e-03 1.48672402e+02] [ 3.81661252e-03 -7.92355038e-05 9.99992714e-01 1.02092433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.04, Y:148.70, Z:1.02 [[ 2.34878338e-01 -9.72024291e-01 -9.71350485e-04 1.51041474e+02] [ 9.72017284e-01 2.34880334e-01 -3.69178625e-03 1.48698424e+02] [ 3.81665704e-03 -7.70488399e-05 9.99992714e-01 1.02080402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.05, Y:148.72, Z:1.02 [[ 2.35314917e-01 -9.71918695e-01 -9.70042507e-04 1.51048290e+02] [ 9.71911685e-01 2.35316905e-01 -3.69212990e-03 1.48724915e+02] [ 3.81671747e-03 -7.39824058e-05 9.99992714e-01 1.02025725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:148.75, Z:1.02 [[ 2.36593339e-01 -9.71608282e-01 -9.68720493e-04 1.51055024e+02] [ 9.71601268e-01 2.36595313e-01 -3.69247673e-03 1.48750570e+02] [ 3.81683570e-03 -6.75946582e-05 9.99992714e-01 1.01932645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.06, Y:148.78, Z:1.02 [[ 2.36893832e-01 -9.71535062e-01 -9.67700359e-04 1.51061841e+02] [ 9.71528046e-01 2.36895800e-01 -3.69274406e-03 1.48776455e+02] [ 3.81687448e-03 -6.53597455e-05 9.99992714e-01 1.01891737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47275509600001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.07, Y:148.80, Z:1.02 [[ 2.37179186e-01 -9.71465439e-01 -9.66392460e-04 1.51068660e+02] [ 9.71458422e-01 2.37181146e-01 -3.69308631e-03 1.48802598e+02] [ 3.81691579e-03 -6.28868910e-05 9.99992714e-01 1.01913078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:148.83, Z:1.02 [[ 2.38294907e-01 -9.71192363e-01 -9.65071715e-04 1.51076161e+02] [ 9.71185342e-01 2.38296854e-01 -3.69343141e-03 1.48828523e+02] [ 3.81700593e-03 -5.71376090e-05 9.99992714e-01 1.01940194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.08, Y:148.85, Z:1.02 [[ 2.38107091e-01 -9.71238428e-01 -9.63745633e-04 1.51082514e+02] [ 9.71231406e-01 2.38109034e-01 -3.69377740e-03 1.48853640e+02] [ 3.81701510e-03 -5.65054359e-05 9.99992714e-01 1.01932137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56275509600002 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.09, Y:148.88, Z:1.02 [[ 2.38095763e-01 -9.71241204e-01 -9.64935364e-04 1.51089496e+02] [ 9.71234183e-01 2.38097711e-01 -3.69346755e-03 1.48879180e+02] [ 3.81699678e-03 -5.77792350e-05 9.99992714e-01 1.01873338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.10, Y:148.90, Z:1.02 [[ 2.38359256e-01 -9.71176572e-01 -9.64825556e-04 1.51096274e+02] [ 9.71169550e-01 2.38361202e-01 -3.69349610e-03 1.48903944e+02] [ 3.81701386e-03 -5.66302190e-05 9.99992714e-01 1.02018226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62275509600002 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.10, Y:148.93, Z:1.02 [[ 2.37984194e-01 -9.71268554e-01 -9.59309249e-04 1.51104127e+02] [ 9.71261527e-01 2.37986122e-01 -3.69492829e-03 1.48929883e+02] [ 3.81706995e-03 -5.24056345e-05 9.99992714e-01 1.02102967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65275509600002 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.11, Y:148.96, Z:1.02 [[ 2.37907348e-01 -9.71287381e-01 -9.57972444e-04 1.51111342e+02] [ 9.71280353e-01 2.37909271e-01 -3.69527485e-03 1.48955021e+02] [ 3.81708436e-03 -5.13267733e-05 9.99992714e-01 1.01957269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.12, Y:148.98, Z:1.02 [[ 2.37038365e-01 -9.71499826e-01 -9.49766064e-04 1.51119700e+02] [ 9.71492791e-01 2.37040263e-01 -3.69739883e-03 1.48982391e+02] [ 3.81715512e-03 -4.62655098e-05 9.99992714e-01 1.02222857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:149.01, Z:1.02 [[ 2.36484250e-01 -9.71634853e-01 -9.55424169e-04 1.51126918e+02] [ 9.71627825e-01 2.36486173e-01 -3.69593618e-03 1.49007453e+02] [ 3.81704501e-03 -5.42860142e-05 9.99992714e-01 1.02229298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74275509600002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.13, Y:149.03, Z:1.02 [[ 2.35668538e-01 -9.71833026e-01 -9.54023392e-04 1.51134001e+02] [ 9.71825998e-01 2.35670462e-01 -3.69629772e-03 1.49033325e+02] [ 3.81701933e-03 -5.60436567e-05 9.99992714e-01 1.02266904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.14, Y:149.06, Z:1.02 [[ 2.33779684e-01 -9.72289130e-01 -9.52727459e-04 1.51141482e+02] [ 9.72282104e-01 2.33781617e-01 -3.69663172e-03 1.49059485e+02] [ 3.81692500e-03 -6.21224638e-05 9.99992714e-01 1.02277321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.15, Y:149.09, Z:1.02 [[ 2.32534187e-01 -9.72587758e-01 -9.51411441e-04 1.51148887e+02] [ 9.72580734e-01 2.32536124e-01 -3.69697039e-03 1.49085682e+02] [ 3.81686568e-03 -6.56524324e-05 9.99992714e-01 1.02256763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.16, Y:149.11, Z:1.02 [[ 2.29720220e-01 -9.73256245e-01 -9.50096116e-04 1.51157383e+02] [ 9.73249225e-01 2.29722173e-01 -3.69730839e-03 1.49111170e+02] [ 3.81668663e-03 -7.53338102e-05 9.99992714e-01 1.02263660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86275509600003 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:151.16, Y:149.14, Z:1.02 [[ 2.27625729e-01 -9.73748236e-01 -9.48768214e-04 1.51164956e+02] [ 9.73741219e-01 2.27627691e-01 -3.69764912e-03 1.49137132e+02] [ 3.81654522e-03 -8.21746416e-05 9.99992714e-01 1.02016645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89275509600003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:151.17, Y:149.16, Z:1.02 [[ 2.24402279e-01 -9.74496136e-01 -9.47449056e-04 1.51172678e+02] [ 9.74489124e-01 2.24404259e-01 -3.69798709e-03 1.49162194e+02] [ 3.81628574e-03 -9.34420712e-05 9.99992714e-01 1.01844538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.18, Y:149.19, Z:1.02 [[ 2.23216772e-01 -9.74768371e-01 -9.46068961e-04 1.51180111e+02] [ 9.74761360e-01 2.23218756e-01 -3.69834013e-03 1.49188729e+02] [ 3.81620532e-03 -9.66599208e-05 9.99992714e-01 1.02229895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.19, Y:149.22, Z:1.02 [[ 2.21633860e-01 -9.75129499e-01 -9.44759471e-04 1.51187341e+02] [ 9.75122490e-01 2.21635850e-01 -3.69867462e-03 1.49215255e+02] [ 3.81607930e-03 -1.01504676e-04 9.99992714e-01 1.02237824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.982755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.19, Y:149.24, Z:1.02 [[ 2.19663109e-01 -9.75575332e-01 -9.43451024e-04 1.51194026e+02] [ 9.75568325e-01 2.19665108e-01 -3.69900834e-03 1.49241428e+02] [ 3.81590457e-03 -1.07865263e-04 9.99992714e-01 1.02058072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.20, Y:149.27, Z:1.02 [[ 2.18355278e-01 -9.75868887e-01 -9.42149124e-04 1.51201476e+02] [ 9.75861882e-01 2.18357282e-01 -3.69933991e-03 1.49267886e+02] [ 3.81579585e-03 -1.11637020e-04 9.99992714e-01 1.02274295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.21, Y:149.29, Z:1.02 [[ 2.17810088e-01 -9.75990717e-01 -9.40856382e-04 1.51208600e+02] [ 9.75983712e-01 2.17812091e-01 -3.69966867e-03 1.49294417e+02] [ 3.81577217e-03 -1.12435346e-04 9.99992714e-01 1.02331656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.07275509600004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.22, Y:149.32, Z:1.02 [[ 2.17599011e-01 -9.76037800e-01 -9.39558129e-04 1.51215551e+02] [ 9.76030794e-01 2.17601010e-01 -3.69999834e-03 1.49320683e+02] [ 3.81578704e-03 -1.11921688e-04 9.99992714e-01 1.02106375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.22, Y:149.35, Z:1.02 [[ 2.17687025e-01 -9.76018175e-01 -9.38760171e-04 1.51221271e+02] [ 9.76011167e-01 2.17689021e-01 -3.70020065e-03 1.49347196e+02] [ 3.81582087e-03 -1.10754737e-04 9.99992714e-01 1.02148791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.23, Y:149.37, Z:1.02 [[ 2.19337649e-01 -9.75648547e-01 -9.53121424e-04 1.51226971e+02] [ 9.75641551e-01 2.19339688e-01 -3.69656289e-03 1.49371144e+02] [ 3.81560357e-03 -1.19109452e-04 9.99992713e-01 1.02293979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16275509600007 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:151.23, Y:149.40, Z:1.02 [[ 2.17833323e-01 -9.75985537e-01 -9.35274148e-04 1.51231821e+02] [ 9.75978525e-01 2.17835304e-01 -3.70107296e-03 1.49399642e+02] [ 3.81592941e-03 -1.06590464e-04 9.99992714e-01 1.01905059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.19275509600004 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:151.24, Y:149.42, Z:1.02 [[ 2.22834073e-01 -9.74855904e-01 -9.70621617e-04 1.51236614e+02] [ 9.74848920e-01 2.22836152e-01 -3.69215989e-03 1.49423267e+02] [ 3.81561345e-03 -1.23470411e-04 9.99992713e-01 1.02038239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.24, Y:149.45, Z:1.02 [[ 2.26121907e-01 -9.74098567e-01 -9.30522848e-04 1.51244713e+02] [ 9.74091533e-01 2.26123811e-01 -3.70223834e-03 1.49450814e+02] [ 3.81675843e-03 -6.92572338e-05 9.99992714e-01 1.02232599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.25, Y:149.48, Z:1.02 [[ 2.29052926e-01 -9.73413512e-01 -9.44465188e-04 1.51250000e+02] [ 9.73406487e-01 2.29054861e-01 -3.69874222e-03 1.49478120e+02] [ 3.81674000e-03 -7.21408151e-05 9.99992714e-01 1.02498146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2827550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:151.25, Y:149.50, Z:1.02 [[ 2.29332450e-01 -9.73347694e-01 -9.46041979e-04 1.51254694e+02] [ 9.73340670e-01 2.29334389e-01 -3.69834723e-03 1.49502991e+02] [ 3.81673771e-03 -7.26701032e-05 9.99992714e-01 1.02120963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.31275509600005 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:151.26, Y:149.53, Z:1.02 [[ 2.30360980e-01 -9.73104805e-01 -9.25903690e-04 1.51260712e+02] [ 9.73097759e-01 2.30362836e-01 -3.70338212e-03 1.49529557e+02] [ 3.81707274e-03 -4.78800690e-05 9.99992714e-01 1.02203798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.342755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:151.27, Y:149.56, Z:1.02 [[ 2.32848438e-01 -9.72512596e-01 -9.24632899e-04 1.51265415e+02] [ 9.72505545e-01 2.32850270e-01 -3.70369938e-03 1.49555176e+02] [ 3.81719532e-03 -3.68100070e-05 9.99992714e-01 1.02427027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.27, Y:149.58, Z:1.03 [[ 2.34222266e-01 -9.72182636e-01 -9.23302579e-04 1.51271226e+02] [ 9.72175580e-01 2.34224084e-01 -3.70403099e-03 1.49582188e+02] [ 3.81725431e-03 -3.00456879e-05 9.99992714e-01 1.02713927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:149.61, Z:1.03 [[ 2.34063960e-01 -9.72220763e-01 -9.22039287e-04 1.51276293e+02] [ 9.72213706e-01 2.34065775e-01 -3.70434543e-03 1.49609733e+02] [ 3.81725938e-03 -2.93654713e-05 9.99992714e-01 1.02870092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.28, Y:149.64, Z:1.03 [[ 2.33694429e-01 -9.72309648e-01 -9.29190251e-04 1.51282770e+02] [ 9.72302599e-01 2.33696273e-01 -3.70256825e-03 1.49636726e+02] [ 3.81719113e-03 -3.81845228e-05 9.99992714e-01 1.02880900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.29, Y:149.66, Z:1.03 [[ 2.33831017e-01 -9.72276811e-01 -9.26690661e-04 1.51288986e+02] [ 9.72269759e-01 2.33832850e-01 -3.70318805e-03 1.49663012e+02] [ 3.81721458e-03 -3.50730797e-05 9.99992714e-01 1.03102194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:149.69, Z:1.03 [[ 2.33064382e-01 -9.72460880e-01 -9.11405405e-04 1.51295376e+02] [ 9.72453815e-01 2.33066163e-01 -3.70697055e-03 1.49689793e+02] [ 3.81730160e-03 -2.23368623e-05 9.99992714e-01 1.03092433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.30, Y:149.72, Z:1.03 [[ 2.31384361e-01 -9.72861990e-01 -9.09330370e-04 1.51302410e+02] [ 9.72854925e-01 2.31386146e-01 -3.70748319e-03 1.49715827e+02] [ 3.81727592e-03 -2.67929022e-05 9.99992714e-01 1.03046949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.55275509600006 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:151.31, Y:149.74, Z:1.03 [[ 2.28892575e-01 -9.73451259e-01 -9.14472694e-04 1.51307989e+02] [ 9.73444204e-01 2.28894398e-01 -3.70621437e-03 1.49742172e+02] [ 3.81713672e-03 -4.18631927e-05 9.99992714e-01 1.02908255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.31, Y:149.77, Z:1.03 [[ 2.26616858e-01 -9.73983561e-01 -9.07205786e-04 1.51314361e+02] [ 9.73976503e-01 2.26618670e-01 -3.70800332e-03 1.49769045e+02] [ 3.81712405e-03 -4.33010565e-05 9.99992714e-01 1.02894226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.32, Y:149.80, Z:1.03 [[ 2.23566313e-01 -9.74688303e-01 -9.03764743e-04 1.51320231e+02] [ 9.74681248e-01 2.23568133e-01 -3.70884926e-03 1.49795323e+02] [ 3.81702499e-03 -5.17087937e-05 9.99992714e-01 1.02996717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:149.82, Z:1.03 [[ 2.21417431e-01 -9.75178698e-01 -9.10125846e-04 1.51326473e+02] [ 9.75171653e-01 2.21419291e-01 -3.70728764e-03 1.49822270e+02] [ 3.81678735e-03 -6.66708238e-05 9.99992714e-01 1.03234176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.33, Y:149.85, Z:1.03 [[ 2.17307322e-01 -9.76102814e-01 -9.08000027e-04 1.51332995e+02] [ 9.76095775e-01 2.17309204e-01 -3.70780881e-03 1.49848477e+02] [ 3.81651938e-03 -8.05609846e-05 9.99992714e-01 1.03004744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.34, Y:149.88, Z:1.03 [[ 2.14581322e-01 -9.76705710e-01 -9.01744125e-04 1.51339639e+02] [ 9.76698670e-01 2.14583200e-01 -3.70934059e-03 1.49876147e+02] [ 3.81643327e-03 -8.47770799e-05 9.99992714e-01 1.03063562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.73275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.35, Y:149.90, Z:1.03 [[ 2.09785497e-01 -9.77747014e-01 -9.06881389e-04 1.51345123e+02] [ 9.77739988e-01 2.09787429e-01 -3.70808417e-03 1.49901460e+02] [ 3.81582054e-03 -1.08791915e-04 9.99992714e-01 1.02780007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.76275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.35, Y:149.93, Z:1.03 [[ 2.07627303e-01 -9.78207587e-01 -9.05488749e-04 1.51351007e+02] [ 9.78200564e-01 2.07629245e-01 -3.70842421e-03 1.49927671e+02] [ 3.81561465e-03 -1.15779489e-04 9.99992714e-01 1.02870783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.79275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.36, Y:149.95, Z:1.03 [[ 2.05753939e-01 -9.78603341e-01 -9.04176082e-04 1.51356940e+02] [ 9.78596321e-01 2.05755889e-01 -3.70874424e-03 1.49954154e+02] [ 3.81542906e-03 -1.21734653e-04 9.99992714e-01 1.02959568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.36, Y:149.98, Z:1.03 [[ 2.04051255e-01 -9.78959790e-01 -9.02852151e-04 1.51362475e+02] [ 9.78952772e-01 2.04053213e-01 -3.70906651e-03 1.49979915e+02] [ 3.81525685e-03 -1.27009940e-04 9.99992714e-01 1.02987323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.85275509600007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.37, Y:150.01, Z:1.03 [[ 2.00913922e-01 -9.79608485e-01 -9.01466692e-04 1.51367973e+02] [ 9.79601471e-01 2.00915897e-01 -3.70940320e-03 1.50006471e+02] [ 3.81488184e-03 -1.37807353e-04 9.99992714e-01 1.02820440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.37, Y:150.03, Z:1.03 [[ 1.99908945e-01 -9.79814066e-01 -9.00144135e-04 1.51373162e+02] [ 9.79807053e-01 1.99910922e-01 -3.70972411e-03 1.50031779e+02] [ 3.81478851e-03 -1.40360541e-04 9.99992714e-01 1.03047225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.91275509600007 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:151.38, Y:150.06, Z:1.03 [[ 1.99226961e-01 -9.79952963e-01 -8.99125385e-04 1.51379083e+02] [ 9.79945950e-01 1.99228940e-01 -3.70997101e-03 1.50058305e+02] [ 3.81472888e-03 -1.41968029e-04 9.99992714e-01 1.02896068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.38, Y:150.08, Z:1.03 [[ 1.99807433e-01 -9.79834774e-01 -8.97823904e-04 1.51383965e+02] [ 9.79827759e-01 1.99809402e-01 -3.71028595e-03 1.50083605e+02] [ 3.81486085e-03 -1.38370072e-04 9.99992714e-01 1.03168887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.39, Y:150.11, Z:1.03 [[ 2.01559647e-01 -9.79475832e-01 -8.96620150e-04 1.51388763e+02] [ 9.79468812e-01 2.01561599e-01 -3.71057682e-03 1.50110956e+02] [ 3.81514451e-03 -1.30308919e-04 9.99992714e-01 1.03296510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.00275509600004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:151.39, Y:150.14, Z:1.03 [[ 2.02122981e-01 -9.79359739e-01 -8.95303545e-04 1.51394389e+02] [ 9.79352717e-01 2.02124924e-01 -3.71089447e-03 1.50137335e+02] [ 3.81526380e-03 -1.26760908e-04 9.99992714e-01 1.03016528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:150.16, Z:1.03 [[ 2.04153871e-01 -9.78938403e-01 -8.93994326e-04 1.51399741e+02] [ 9.78931376e-01 2.04155795e-01 -3.71120985e-03 1.50163660e+02] [ 3.81555996e-03 -1.17501238e-04 9.99992714e-01 1.03236904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.40, Y:150.19, Z:1.03 [[ 2.07174534e-01 -9.78303593e-01 -8.89658458e-04 1.51404322e+02] [ 9.78296555e-01 2.07176420e-01 -3.71225299e-03 1.50189203e+02] [ 3.81602669e-03 -1.01265522e-04 9.99992714e-01 1.03349578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.41, Y:150.21, Z:1.03 [[ 2.09210628e-01 -9.77870195e-01 -8.91897529e-04 1.51409477e+02] [ 9.77863155e-01 2.09212508e-01 -3.71171495e-03 1.50213726e+02] [ 3.81617154e-03 -9.56235132e-05 9.99992714e-01 1.03415789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.41, Y:150.24, Z:1.03 [[ 2.10285057e-01 -9.77639715e-01 -8.84453255e-04 1.51414888e+02] [ 9.77632666e-01 2.10286900e-01 -3.71350007e-03 1.50240128e+02] [ 3.81645408e-03 -8.37768218e-05 9.99992714e-01 1.03276701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.42, Y:150.27, Z:1.03 [[ 2.14171197e-01 -9.76795735e-01 -8.89000159e-04 1.51420458e+02] [ 9.76788683e-01 2.14173029e-01 -3.71241123e-03 1.50266242e+02] [ 3.81666732e-03 -7.32737383e-05 9.99992714e-01 1.03439469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:150.29, Z:1.04 [[ 2.15883755e-01 -9.76418668e-01 -8.87994239e-04 1.51426163e+02] [ 9.76411612e-01 2.15885572e-01 -3.71265183e-03 1.50292935e+02] [ 3.81680770e-03 -6.55466677e-05 9.99992714e-01 1.03599635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.43, Y:150.32, Z:1.04 [[ 2.19079951e-01 -9.75706508e-01 -8.86682049e-04 1.51431211e+02] [ 9.75699444e-01 2.19081739e-01 -3.71296519e-03 1.50319341e+02] [ 3.81702014e-03 -5.16989524e-05 9.99992714e-01 1.03716217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:150.34, Z:1.04 [[ 2.20561163e-01 -9.75372744e-01 -8.85343649e-04 1.51436772e+02] [ 9.75365677e-01 2.20562935e-01 -3.71328430e-03 1.50344978e+02] [ 3.81711029e-03 -4.45275040e-05 9.99992714e-01 1.03707199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.44, Y:150.37, Z:1.04 [[ 2.21615431e-01 -9.75133744e-01 -8.84308409e-04 1.51442547e+02] [ 9.75126674e-01 2.21617192e-01 -3.71353082e-03 1.50371466e+02] [ 3.81716716e-03 -3.93369822e-05 9.99992714e-01 1.03705771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.45, Y:150.40, Z:1.04 [[ 2.22432846e-01 -9.74947614e-01 -8.83017965e-04 1.51448665e+02] [ 9.74940541e-01 2.22434596e-01 -3.71383764e-03 1.50398457e+02] [ 3.81721089e-03 -3.48105342e-05 9.99992714e-01 1.03700298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:150.42, Z:1.04 [[ 2.23710214e-01 -9.74655304e-01 -8.81728568e-04 1.51455122e+02] [ 9.74648228e-01 2.23711950e-01 -3.71414374e-03 1.50424726e+02] [ 3.81726312e-03 -2.84832931e-05 9.99992714e-01 1.03731422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.46, Y:150.45, Z:1.04 [[ 2.23615069e-01 -9.74677139e-01 -8.80426388e-04 1.51461356e+02] [ 9.74670062e-01 2.23616801e-01 -3.71445240e-03 1.50451596e+02] [ 3.81726997e-03 -2.75177130e-05 9.99992714e-01 1.03714080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:150.48, Z:1.04 [[ 2.22702744e-01 -9.74886001e-01 -8.79121394e-04 1.51467368e+02] [ 9.74878924e-01 2.22704478e-01 -3.71476123e-03 1.50477937e+02] [ 3.81725299e-03 -2.97493977e-05 9.99992714e-01 1.03716338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.47, Y:150.50, Z:1.04 [[ 2.21436888e-01 -9.75174310e-01 -8.77788065e-04 1.51473372e+02] [ 9.75167234e-01 2.21438626e-01 -3.71507627e-03 1.50503861e+02] [ 3.81722312e-03 -3.33352309e-05 9.99992714e-01 1.03687326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.48, Y:150.53, Z:1.04 [[ 2.19994739e-01 -9.75500662e-01 -8.79027899e-04 1.51479310e+02] [ 9.75493590e-01 2.19996491e-01 -3.71478388e-03 1.50529043e+02] [ 3.81715719e-03 -4.02531720e-05 9.99992714e-01 1.03656714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:150.55, Z:1.04 [[ 2.17440881e-01 -9.76073099e-01 -8.76849903e-04 1.51485746e+02] [ 9.76066029e-01 2.17442644e-01 -3.71529647e-03 1.50554053e+02] [ 3.81706550e-03 -4.80060648e-05 9.99992714e-01 1.03632787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.49, Y:150.58, Z:1.03 [[ 2.14359027e-01 -9.76754552e-01 -8.67555674e-04 1.51492201e+02] [ 9.76747479e-01 2.14360777e-01 -3.71747883e-03 1.50578173e+02] [ 3.81703428e-03 -5.05076719e-05 9.99992714e-01 1.03461488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:150.60, Z:1.04 [[ 2.11232362e-01 -9.77435499e-01 -8.56992701e-04 1.51498295e+02] [ 9.77428422e-01 2.11234094e-01 -3.71995326e-03 1.50604721e+02] [ 3.81704045e-03 -5.18745112e-05 9.99992714e-01 1.03599269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.50, Y:150.63, Z:1.04 [[ 2.08969709e-01 -9.77921727e-01 -8.69611445e-04 1.51504965e+02] [ 9.77914666e-01 2.08971505e-01 -3.71700104e-03 1.50631632e+02] [ 3.81666009e-03 -7.36651616e-05 9.99992714e-01 1.03570376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.51, Y:150.66, Z:1.04 [[ 2.06855809e-01 -9.78371055e-01 -8.68344848e-04 1.51511663e+02] [ 9.78363996e-01 2.06857616e-01 -3.71729691e-03 1.50658151e+02] [ 3.81651945e-03 -8.06128757e-05 9.99992714e-01 1.03551078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.52, Y:150.68, Z:1.04 [[ 2.03059214e-01 -9.79166076e-01 -8.67087954e-04 1.51518926e+02] [ 9.79159023e-01 2.03061044e-01 -3.71759007e-03 1.50684126e+02] [ 3.81620986e-03 -9.41260750e-05 9.99992714e-01 1.03603754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:150.71, Z:1.04 [[ 2.00829143e-01 -9.79625901e-01 -8.65777567e-04 1.51525594e+02] [ 9.79618851e-01 2.00830983e-01 -3.71789522e-03 1.50710165e+02] [ 3.81602141e-03 -1.01470315e-04 9.99992714e-01 1.03625956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.53, Y:150.74, Z:1.04 [[ 1.98708953e-01 -9.80058164e-01 -8.64468229e-04 1.51531813e+02] [ 9.80051117e-01 1.98710803e-01 -3.71819963e-03 1.50735353e+02] [ 3.81583108e-03 -1.08383499e-04 9.99992714e-01 1.03561073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.54, Y:150.76, Z:1.04 [[ 1.95842728e-01 -9.80634938e-01 -8.63097887e-04 1.51538770e+02] [ 9.80627895e-01 1.95844594e-01 -3.71851770e-03 1.50761679e+02] [ 3.81554143e-03 -1.18133213e-04 9.99992714e-01 1.03700234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.55, Y:150.79, Z:1.04 [[ 1.94651006e-01 -9.80872185e-01 -8.61787559e-04 1.51545049e+02] [ 9.80865143e-01 1.94652876e-01 -3.71882135e-03 1.50787975e+02] [ 3.81543785e-03 -1.21425061e-04 9.99992714e-01 1.03732834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7827550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.55, Y:150.81, Z:1.04 [[ 1.93453861e-01 -9.81108997e-01 -8.60482212e-04 1.51551173e+02] [ 9.81101955e-01 1.93455734e-01 -3.71912337e-03 1.50812583e+02] [ 3.81533061e-03 -1.24742007e-04 9.99992714e-01 1.03676905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:150.84, Z:1.04 [[ 1.92812725e-01 -9.81235206e-01 -8.50442073e-04 1.51556753e+02] [ 9.81228156e-01 1.92814565e-01 -3.72144143e-03 1.50838741e+02] [ 3.81558697e-03 -1.16936444e-04 9.99992714e-01 1.03850011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.56, Y:150.86, Z:1.04 [[ 1.92827435e-01 -9.81232309e-01 -8.57675875e-04 1.51562726e+02] [ 9.81225266e-01 1.92829302e-01 -3.71977352e-03 1.50864573e+02] [ 3.81534700e-03 -1.24298854e-04 9.99992714e-01 1.03866387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:150.89, Z:1.04 [[ 1.93945217e-01 -9.81011988e-01 -8.56328908e-04 1.51568588e+02] [ 9.81004941e-01 1.93947071e-01 -3.72008358e-03 1.50891372e+02] [ 3.81552907e-03 -1.18570475e-04 9.99992714e-01 1.03946827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.57, Y:150.92, Z:1.04 [[ 1.94493795e-01 -9.80903376e-01 -8.55028519e-04 1.51573768e+02] [ 9.80896327e-01 1.94495640e-01 -3.72038243e-03 1.50917885e+02] [ 3.81563501e-03 -1.15103036e-04 9.99992714e-01 1.03966021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:150.94, Z:1.04 [[ 1.97040887e-01 -9.80394900e-01 -8.53733035e-04 1.51578695e+02] [ 9.80387845e-01 1.97042710e-01 -3.72067969e-03 1.50944765e+02] [ 3.81595726e-03 -1.03863463e-04 9.99992714e-01 1.04045174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.58, Y:150.97, Z:1.04 [[ 1.98099188e-01 -9.80181608e-01 -8.52394310e-04 1.51583561e+02] [ 9.80174550e-01 1.98100997e-01 -3.72098636e-03 1.50970399e+02] [ 3.81610256e-03 -9.83708339e-05 9.99992714e-01 1.03954364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.99275509600005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:151.59, Y:151.00, Z:1.04 [[ 1.98769595e-01 -9.80045878e-01 -8.50995576e-04 1.51588979e+02] [ 9.80038818e-01 1.98771394e-01 -3.72130623e-03 1.50997415e+02] [ 3.81620441e-03 -9.43261661e-05 9.99992714e-01 1.03769405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.59, Y:151.02, Z:1.04 [[ 2.01566913e-01 -9.79474378e-01 -8.49699016e-04 1.51594117e+02] [ 9.79467311e-01 2.01568687e-01 -3.72160225e-03 1.51023945e+02] [ 3.81648677e-03 -8.21005326e-05 9.99992714e-01 1.04154523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.60, Y:151.05, Z:1.04 [[ 2.02124596e-01 -9.79359448e-01 -8.48383280e-04 1.51599635e+02] [ 9.79352379e-01 2.02126362e-01 -3.72190217e-03 1.51050822e+02] [ 3.81656068e-03 -7.85782099e-05 9.99992714e-01 1.04212987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:151.08, Z:1.04 [[ 2.05089423e-01 -9.78742873e-01 -8.47035885e-04 1.51609870e+02] [ 9.78735797e-01 2.05091161e-01 -3.72220878e-03 1.51081219e+02] [ 3.81680489e-03 -6.56386918e-05 9.99992714e-01 1.04033533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.61, Y:151.10, Z:1.04 [[ 2.02941301e-01 -9.79190493e-01 -8.97661590e-04 1.51610511e+02] [ 9.79183471e-01 2.02943247e-01 -3.71068867e-03 1.51103315e+02] [ 3.81564543e-03 -1.25923403e-04 9.99992712e-01 1.04292254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:151.13, Z:1.04 [[ 2.02640924e-01 -9.79252747e-01 -8.44144810e-04 1.51616400e+02] [ 9.79245673e-01 2.02642670e-01 -3.72282353e-03 1.51130241e+02] [ 3.81664493e-03 -7.22287518e-05 9.99992714e-01 1.04332086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.62, Y:151.16, Z:1.04 [[ 2.01957197e-01 -9.79393986e-01 -8.42780727e-04 1.51622489e+02] [ 9.79386912e-01 2.01958942e-01 -3.72313231e-03 1.51156133e+02] [ 3.81662050e-03 -7.34950475e-05 9.99992714e-01 1.04312026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:151.18, Z:1.04 [[ 2.01361345e-01 -9.79516667e-01 -8.41353583e-04 1.51628526e+02] [ 9.79509593e-01 2.01363089e-01 -3.72345479e-03 1.51182173e+02] [ 3.81660358e-03 -7.43540430e-05 9.99992714e-01 1.04301116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.63, Y:151.21, Z:1.04 [[ 2.00525380e-01 -9.79688147e-01 -8.39966923e-04 1.51634597e+02] [ 9.79681073e-01 2.00527125e-01 -3.72376757e-03 1.51209004e+02] [ 3.81656711e-03 -7.61897876e-05 9.99992714e-01 1.04308482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.64, Y:151.24, Z:1.04 [[ 1.99158698e-01 -9.79966892e-01 -8.38630367e-04 1.51640906e+02] [ 9.79959819e-01 1.99160448e-01 -3.72406856e-03 1.51235068e+02] [ 3.81648589e-03 -8.01434162e-05 9.99992714e-01 1.04222374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:151.26, Z:1.04 [[ 1.98550014e-01 -9.80090399e-01 -8.37295336e-04 1.51647289e+02] [ 9.80083326e-01 1.98551763e-01 -3.72436869e-03 1.51261383e+02] [ 3.81646446e-03 -8.11457433e-05 9.99992714e-01 1.04231188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.65, Y:151.29, Z:1.04 [[ 1.98197177e-01 -9.80161813e-01 -8.35954882e-04 1.51653172e+02] [ 9.80154740e-01 1.98198924e-01 -3.72466954e-03 1.51288503e+02] [ 3.81646421e-03 -8.11461512e-05 9.99992714e-01 1.04241743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.35275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:151.66, Y:151.31, Z:1.04 [[ 1.97098914e-01 -9.80383252e-01 -8.34613917e-04 1.51659603e+02] [ 9.80376179e-01 1.97100663e-01 -3.72496999e-03 1.51313963e+02] [ 3.81640115e-03 -8.40480636e-05 9.99992714e-01 1.04122426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:151.34, Z:1.04 [[ 1.96945342e-01 -9.80414116e-01 -8.33211139e-04 1.51665557e+02] [ 9.80407042e-01 1.96947087e-01 -3.72528375e-03 1.51339522e+02] [ 3.81641928e-03 -8.32087876e-05 9.99992714e-01 1.04152289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.67, Y:151.37, Z:1.04 [[ 1.96825982e-01 -9.80438086e-01 -8.31832864e-04 1.51671597e+02] [ 9.80431011e-01 1.96827723e-01 -3.72559148e-03 1.51366407e+02] [ 3.81643955e-03 -8.22615343e-05 9.99992714e-01 1.04130598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.68, Y:151.39, Z:1.04 [[ 1.96707101e-01 -9.80461946e-01 -8.30534814e-04 1.51677812e+02] [ 9.80454870e-01 1.96708837e-01 -3.72588083e-03 1.51394392e+02] [ 3.81645790e-03 -8.13946875e-05 9.99992714e-01 1.04187246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.47275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.68, Y:151.42, Z:1.04 [[ 1.98138751e-01 -9.80173616e-01 -8.47766953e-04 1.51683167e+02] [ 9.80166553e-01 1.98140543e-01 -3.72204127e-03 1.51418028e+02] [ 3.81622366e-03 -9.34722016e-05 9.99992714e-01 1.03917143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.69, Y:151.44, Z:1.04 [[ 2.00204013e-01 -9.79753881e-01 -8.28390801e-04 1.51689447e+02] [ 9.79746797e-01 2.00205716e-01 -3.72634872e-03 1.51444557e+02] [ 3.81675319e-03 -6.55832667e-05 9.99992714e-01 1.04017748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:151.47, Z:1.04 [[ 2.01007031e-01 -9.79589449e-01 -8.27053320e-04 1.51695075e+02] [ 9.79582363e-01 2.01008724e-01 -3.72664554e-03 1.51470095e+02] [ 3.81682759e-03 -6.10848876e-05 9.99992714e-01 1.03899520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.70, Y:151.50, Z:1.04 [[ 2.01922062e-01 -9.79401245e-01 -8.25653721e-04 1.51701036e+02] [ 9.79394156e-01 2.01923742e-01 -3.72695560e-03 1.51496229e+02] [ 3.81690405e-03 -5.60858695e-05 9.99992714e-01 1.03926798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.592755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.71, Y:151.52, Z:1.04 [[ 2.03528046e-01 -9.79068769e-01 -8.24301193e-04 1.51706928e+02] [ 9.79061676e-01 2.03529710e-01 -3.72725472e-03 1.51521482e+02] [ 3.81700848e-03 -4.84408373e-05 9.99992714e-01 1.03575908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.71, Y:151.55, Z:1.04 [[ 2.04655204e-01 -9.78833780e-01 -8.23257299e-04 1.51713044e+02] [ 9.78826684e-01 2.04656855e-01 -3.72748528e-03 1.51547802e+02] [ 3.81707376e-03 -4.29769524e-05 9.99992714e-01 1.03915932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:151.57, Z:1.04 [[ 2.06632398e-01 -9.78418303e-01 -8.21963547e-04 1.51719003e+02] [ 9.78411203e-01 2.06634031e-01 -3.72777055e-03 1.51574599e+02] [ 3.81716457e-03 -3.39401732e-05 9.99992714e-01 1.04014541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.72, Y:151.60, Z:1.04 [[ 2.07399004e-01 -9.78256091e-01 -8.20626358e-04 1.51724790e+02] [ 9.78248988e-01 2.07400626e-01 -3.72806489e-03 1.51600972e+02] [ 3.81720061e-03 -2.95799578e-05 9.99992714e-01 1.04086509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.712755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.73, Y:151.63, Z:1.04 [[ 2.07400652e-01 -9.78255743e-01 -8.19280870e-04 1.51730054e+02] [ 9.78248638e-01 2.07402268e-01 -3.72836055e-03 1.51626330e+02] [ 3.81721083e-03 -2.81959871e-05 9.99992714e-01 1.03825657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:151.65, Z:1.04 [[ 2.08604075e-01 -9.77999832e-01 -8.17872986e-04 1.51736840e+02] [ 9.77992724e-01 2.08605677e-01 -3.72866937e-03 1.51653136e+02] [ 3.81725096e-03 -2.20582046e-05 9.99992714e-01 1.04170877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.74, Y:151.68, Z:1.04 [[ 2.08573891e-01 -9.78006271e-01 -8.16553554e-04 1.51743071e+02] [ 9.77999162e-01 2.08575488e-01 -3.72895829e-03 1.51679157e+02] [ 3.81725765e-03 -2.08253533e-05 9.99992714e-01 1.04175870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.75, Y:151.71, Z:1.04 [[ 2.07609971e-01 -9.78211345e-01 -8.15177215e-04 1.51749629e+02] [ 9.78204237e-01 2.07611570e-01 -3.72925914e-03 1.51705840e+02] [ 3.81724382e-03 -2.31784222e-05 9.99992714e-01 1.04211990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:151.73, Z:1.04 [[ 2.06831230e-01 -9.78376298e-01 -8.13872099e-04 1.51755983e+02] [ 9.78369190e-01 2.06832830e-01 -3.72954395e-03 1.51732634e+02] [ 3.81723287e-03 -2.48812247e-05 9.99992714e-01 1.04205734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.76, Y:151.76, Z:1.04 [[ 2.05837101e-01 -9.78585933e-01 -8.12574970e-04 1.51762211e+02] [ 9.78578825e-01 2.05838703e-01 -3.72982654e-03 1.51759052e+02] [ 3.81721516e-03 -2.74319790e-05 9.99992714e-01 1.04270186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.77, Y:151.79, Z:1.04 [[ 2.05477204e-01 -9.78661566e-01 -8.11234603e-04 1.51771432e+02] [ 9.78654458e-01 2.05478804e-01 -3.73011805e-03 1.51786961e+02] [ 3.81721469e-03 -2.74641321e-05 9.99992714e-01 1.04156052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:151.77, Y:151.81, Z:1.04 [[ 2.02259728e-01 -9.79331559e-01 -8.36825772e-04 1.51774375e+02] [ 9.79324479e-01 2.02261448e-01 -3.72454776e-03 1.51810760e+02] [ 3.81682476e-03 -6.61979474e-05 9.99992714e-01 1.04124657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.95275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.78, Y:151.84, Z:1.04 [[ 2.00587995e-01 -9.79675355e-01 -8.09641684e-04 1.51780512e+02] [ 9.79668253e-01 2.00589624e-01 -3.73044769e-03 1.51836914e+02] [ 3.81703339e-03 -4.48972332e-05 9.99992714e-01 1.04221155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:151.86, Z:1.04 [[ 1.98539446e-01 -9.80092564e-01 -8.08336916e-04 1.51788619e+02] [ 9.80085465e-01 1.98541085e-01 -3.73073039e-03 1.51863111e+02] [ 3.81694921e-03 -5.15421159e-05 9.99992714e-01 1.04186421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.79, Y:151.89, Z:1.04 [[ 1.95658300e-01 -9.80671787e-01 -8.22579626e-04 1.51792981e+02] [ 9.80664705e-01 1.95660014e-01 -3.72764582e-03 1.51888141e+02] [ 3.81654303e-03 -7.73299628e-05 9.99992714e-01 1.04281202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.80, Y:151.91, Z:1.04 [[ 1.91603060e-01 -9.81472169e-01 -8.06177656e-04 1.51799530e+02] [ 9.81465079e-01 1.91604740e-01 -3.73118971e-03 1.51914970e+02] [ 3.81652631e-03 -7.63278527e-05 9.99992714e-01 1.04110716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.07275509600004 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:151.81, Y:151.94, Z:1.04 [[ 1.88929093e-01 -9.81990402e-01 -8.04909898e-04 1.51805442e+02] [ 9.81983316e-01 1.88930788e-01 -3.73146317e-03 1.51942882e+02] [ 3.81633328e-03 -8.54261383e-05 9.99992714e-01 1.04040339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:151.81, Y:151.97, Z:1.04 [[ 1.87220099e-01 -9.82317651e-01 -8.16427978e-04 1.51811199e+02] [ 9.82310579e-01 1.87221850e-01 -3.72897893e-03 1.51969452e+02] [ 3.81589498e-03 -1.03846037e-04 9.99992714e-01 1.04176500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.13275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:151.82, Y:151.99, Z:1.04 [[ 1.84568399e-01 -9.82819331e-01 -8.17134685e-04 1.51817074e+02] [ 9.82812265e-01 1.84570172e-01 -3.72882694e-03 1.51993791e+02] [ 3.81558189e-03 -1.14866369e-04 9.99992714e-01 1.04240621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.82, Y:152.02, Z:1.04 [[ 1.83396849e-01 -9.83038634e-01 -8.00471684e-04 1.51822893e+02] [ 9.83031553e-01 1.83398567e-01 -3.73240059e-03 1.52019472e+02] [ 3.81589933e-03 -1.02378418e-04 9.99992714e-01 1.04288993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:152.05, Z:1.04 [[ 1.81969764e-01 -9.83303802e-01 -7.99442086e-04 1.51828249e+02] [ 9.83296723e-01 1.81971488e-01 -3.73262110e-03 1.52045096e+02] [ 3.81577618e-03 -1.06864604e-04 9.99992714e-01 1.04290250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.83, Y:152.07, Z:1.04 [[ 1.80165259e-01 -9.83636032e-01 -7.98072880e-04 1.51832903e+02] [ 9.83628955e-01 1.80166992e-01 -3.73291383e-03 1.52070252e+02] [ 3.81561493e-03 -1.12466206e-04 9.99992714e-01 1.04278949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:152.10, Z:1.04 [[ 1.81051944e-01 -9.83473212e-01 -7.96646668e-04 1.51840933e+02] [ 9.83466132e-01 1.81053665e-01 -3.73321817e-03 1.52099842e+02] [ 3.81575587e-03 -1.07568610e-04 9.99992714e-01 1.04457764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.84, Y:152.12, Z:1.04 [[ 1.79648034e-01 -9.83730601e-01 -8.29916410e-04 1.51843748e+02] [ 9.83723555e-01 1.79649890e-01 -3.72608998e-03 1.52123632e+02] [ 3.81456313e-03 -1.47023583e-04 9.99992714e-01 1.04403517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.31275509600005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:151.85, Y:152.15, Z:1.04 [[ 1.80766668e-01 -9.83525687e-01 -7.96994471e-04 1.51849404e+02] [ 9.83518608e-01 1.80768392e-01 -3.73311859e-03 1.52151168e+02] [ 3.81568943e-03 -1.09035485e-04 9.99992714e-01 1.04243507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.342755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:151.85, Y:152.18, Z:1.04 [[ 1.81673244e-01 -9.83358621e-01 -8.08873443e-04 1.51853558e+02] [ 9.83351552e-01 1.81675007e-01 -3.73059010e-03 1.52177081e+02] [ 3.81546003e-03 -1.17658548e-04 9.99992714e-01 1.04339259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.86, Y:152.20, Z:1.05 [[ 1.84840060e-01 -9.82768296e-01 -7.93304048e-04 1.51857872e+02] [ 9.82761206e-01 1.84841741e-01 -3.73389798e-03 1.52204410e+02] [ 3.81619225e-03 -8.94545148e-05 9.99992714e-01 1.04719352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.402755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:151.86, Y:152.23, Z:1.04 [[ 1.85767783e-01 -9.82593356e-01 -7.91955238e-04 1.51862466e+02] [ 9.82586264e-01 1.85769452e-01 -3.73418404e-03 1.52230426e+02] [ 3.81630552e-03 -8.44732491e-05 9.99992714e-01 1.04474112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.43275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:151.87, Y:152.26, Z:1.05 [[ 1.88824365e-01 -9.82010557e-01 -7.90543014e-04 1.51866693e+02] [ 9.82003459e-01 1.88826007e-01 -3.73448299e-03 1.52257770e+02] [ 3.81657680e-03 -7.11545953e-05 9.99992714e-01 1.04677571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:152.28, Z:1.05 [[ 1.89536579e-01 -9.81873343e-01 -7.89195621e-04 1.51869810e+02] [ 9.81866243e-01 1.89538210e-01 -3.73476771e-03 1.52284890e+02] [ 3.81665158e-03 -6.70094455e-05 9.99992714e-01 1.04690046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.87, Y:152.31, Z:1.05 [[ 1.93813288e-01 -9.81038126e-01 -7.77822191e-04 1.51874802e+02] [ 9.81031008e-01 1.93814845e-01 -3.73716738e-03 1.52311681e+02] [ 3.81705717e-03 -3.87549925e-05 9.99992714e-01 1.05024818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:152.34, Z:1.05 [[ 1.94967991e-01 -9.80809290e-01 -7.87359273e-04 1.51879670e+02] [ 9.80802178e-01 1.94969575e-01 -3.73515699e-03 1.52338752e+02] [ 3.81698778e-03 -4.40076375e-05 9.99992714e-01 1.05057287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.88, Y:152.37, Z:1.05 [[ 1.95704061e-01 -9.80662686e-01 -7.86033961e-04 1.51884314e+02] [ 9.80655572e-01 1.95705635e-01 -3.73543587e-03 1.52365187e+02] [ 3.81703385e-03 -3.97886154e-05 9.99992714e-01 1.05073870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.582755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:151.89, Y:152.39, Z:1.05 [[ 1.96803807e-01 -9.80442576e-01 -7.84709759e-04 1.51889072e+02] [ 9.80435460e-01 1.96805369e-01 -3.73571403e-03 1.52392165e+02] [ 3.81708818e-03 -3.41545312e-05 9.99992714e-01 1.04860224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.89, Y:152.42, Z:1.05 [[ 1.96701264e-01 -9.80463152e-01 -7.88158018e-04 1.51893812e+02] [ 9.80456038e-01 1.96702839e-01 -3.73499058e-03 1.52418489e+02] [ 3.81705356e-03 -3.80769199e-05 9.99992714e-01 1.05142284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.64275509600003 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:151.90, Y:152.44, Z:1.05 [[ 1.95843364e-01 -9.80634879e-01 -7.81870209e-04 1.51898128e+02] [ 9.80627762e-01 1.95844922e-01 -3.73630639e-03 1.52444299e+02] [ 3.81707767e-03 -3.49928203e-05 9.99992714e-01 1.04862284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.90, Y:152.47, Z:1.05 [[ 1.95115793e-01 -9.80779903e-01 -7.80502518e-04 1.51902832e+02] [ 9.80772786e-01 1.95117351e-01 -3.73659207e-03 1.52470697e+02] [ 3.81706399e-03 -3.64275026e-05 9.99992714e-01 1.05177636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.70275509600003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:151.91, Y:152.50, Z:1.05 [[ 1.94049789e-01 -9.80991372e-01 -7.79188571e-04 1.51907718e+02] [ 9.80984256e-01 1.94051350e-01 -3.73686605e-03 1.52496143e+02] [ 3.81703595e-03 -3.92336512e-05 9.99992714e-01 1.04883474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.73275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:151.91, Y:152.52, Z:1.05 [[ 1.91605340e-01 -9.81471746e-01 -7.78174533e-04 1.51912010e+02] [ 9.81464632e-01 1.91606914e-01 -3.73707720e-03 1.52522299e+02] [ 3.81693931e-03 -4.77068352e-05 9.99992714e-01 1.04819954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:152.55, Z:1.05 [[ 1.90259797e-01 -9.81733470e-01 -7.76838425e-04 1.51916862e+02] [ 9.81726358e-01 1.90261376e-01 -3.73735492e-03 1.52548635e+02] [ 3.81688876e-03 -5.15743696e-05 9.99992714e-01 1.05082929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.92, Y:152.57, Z:1.05 [[ 1.88052524e-01 -9.82158667e-01 -7.75558227e-04 1.51921866e+02] [ 9.82151557e-01 1.88054114e-01 -3.73762056e-03 1.52574894e+02] [ 3.81678335e-03 -5.88467377e-05 9.99992714e-01 1.04994371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:152.60, Z:1.05 [[ 1.88845669e-01 -9.82006473e-01 -7.74216529e-04 1.51926984e+02] [ 9.81999361e-01 1.88847248e-01 -3.73789847e-03 1.52598082e+02] [ 3.81684915e-03 -5.43942004e-05 9.99992714e-01 1.04935193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.93, Y:152.63, Z:1.05 [[ 1.85750059e-01 -9.82596743e-01 -7.45873782e-04 1.51932061e+02] [ 9.82589612e-01 1.85751553e-01 -3.74377455e-03 1.52628045e+02] [ 3.81716789e-03 -3.74814854e-05 9.99992714e-01 1.04875882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:152.65, Z:1.05 [[ 1.84119887e-01 -9.82903488e-01 -7.74613117e-04 1.51936266e+02] [ 9.82896384e-01 1.84121502e-01 -3.73781871e-03 1.52651720e+02] [ 3.81653798e-03 -7.31576716e-05 9.99992714e-01 1.04767434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:152.68, Z:1.05 [[ 1.80500454e-01 -9.83574621e-01 -7.41718962e-04 1.51940336e+02] [ 9.83567495e-01 1.80501970e-01 -3.74459203e-03 1.52679933e+02] [ 3.81696742e-03 -5.36300989e-05 9.99992714e-01 1.04896945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.94, Y:152.70, Z:1.05 [[ 1.78540945e-01 -9.83932182e-01 -7.69746337e-04 1.51944620e+02] [ 9.83925082e-01 1.78542582e-01 -3.73882177e-03 1.52704730e+02] [ 3.81617956e-03 -8.98399562e-05 9.99992714e-01 1.04855475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:151.95, Y:152.73, Z:1.05 [[ 1.75899345e-01 -9.84407874e-01 -7.47143408e-04 1.51950325e+02] [ 9.84400759e-01 1.75900915e-01 -3.74346205e-03 1.52734262e+02] [ 3.81651673e-03 -7.70160154e-05 9.99992714e-01 1.04645891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.95, Y:152.76, Z:1.05 [[ 1.72799318e-01 -9.84956746e-01 -7.77188665e-04 1.51954546e+02] [ 9.84949663e-01 1.72801024e-01 -3.73729610e-03 1.52759250e+02] [ 3.81537400e-03 -1.19689497e-04 9.99992714e-01 1.04731144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:152.79, Z:1.05 [[ 1.71413592e-01 -9.85198860e-01 -7.65665444e-04 1.51959767e+02] [ 9.85191769e-01 1.71415265e-01 -3.73965539e-03 1.52786450e+02] [ 3.81555097e-03 -1.13299528e-04 9.99992714e-01 1.04672202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.96, Y:152.81, Z:1.05 [[ 1.70608317e-01 -9.85338631e-01 -7.64342132e-04 1.51964439e+02] [ 9.85331540e-01 1.70609991e-01 -3.73992584e-03 1.52812058e+02] [ 3.81549781e-03 -1.15067956e-04 9.99992714e-01 1.04617727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:152.84, Z:1.05 [[ 1.69823237e-01 -9.85474251e-01 -7.54512074e-04 1.51968536e+02] [ 9.85467152e-01 1.69824879e-01 -3.74193036e-03 1.52835941e+02] [ 3.81571094e-03 -1.08080137e-04 9.99992714e-01 1.04576589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.97, Y:152.86, Z:1.05 [[ 1.67323605e-01 -9.85901754e-01 -7.37274468e-04 1.51972829e+02] [ 9.85894644e-01 1.67325200e-01 -3.74543405e-03 1.52863808e+02] [ 3.81599459e-03 -1.00175421e-04 9.99992714e-01 1.04691161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:152.89, Z:1.05 [[ 1.66051254e-01 -9.86116831e-01 -7.59366109e-04 1.51977821e+02] [ 9.86109743e-01 1.66052941e-01 -3.74094972e-03 1.52890271e+02] [ 3.81510846e-03 -1.27628928e-04 9.99992714e-01 1.04787322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.98, Y:152.92, Z:1.05 [[ 1.65517864e-01 -9.86206501e-01 -7.58068849e-04 1.51983368e+02] [ 9.86199413e-01 1.65519550e-01 -3.74121258e-03 1.52917157e+02] [ 3.81508338e-03 -1.28369540e-04 9.99992714e-01 1.04822782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:152.94, Z:1.05 [[ 1.65840223e-01 -9.86152345e-01 -7.56741393e-04 1.51988717e+02] [ 9.86145256e-01 1.65841902e-01 -3.74148107e-03 1.52941905e+02] [ 3.81516976e-03 -1.25768881e-04 9.99992714e-01 1.04761781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:151.99, Y:152.97, Z:1.05 [[ 1.65531007e-01 -9.86204305e-01 -7.44234032e-04 1.51993829e+02] [ 9.86197205e-01 1.65532640e-01 -3.74400586e-03 1.52968147e+02] [ 3.81554973e-03 -1.14212462e-04 9.99992714e-01 1.04771632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.00, Y:153.00, Z:1.05 [[ 1.65265598e-01 -9.86248817e-01 -7.43851903e-04 1.51999587e+02] [ 9.86241717e-01 1.65267232e-01 -3.74408292e-03 1.52996011e+02] [ 3.81553170e-03 -1.14849676e-04 9.99992714e-01 1.04932990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.00, Y:153.02, Z:1.05 [[ 1.65026329e-01 -9.86288881e-01 -7.44176083e-04 1.52004574e+02] [ 9.86281782e-01 1.65027966e-01 -3.74401766e-03 1.53024037e+02] [ 3.81549286e-03 -1.16105821e-04 9.99992714e-01 1.04953958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:153.05, Z:1.05 [[ 1.65456868e-01 -9.86216744e-01 -7.46964644e-04 1.52008684e+02] [ 9.86209647e-01 1.65458512e-01 -3.74345668e-03 1.53051550e+02] [ 3.81545132e-03 -1.17283121e-04 9.99992714e-01 1.04813748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:153.08, Z:1.05 [[ 1.66377262e-01 -9.86061885e-01 -7.51875358e-04 1.52013275e+02] [ 9.86054790e-01 1.66378919e-01 -3.74247010e-03 1.53076346e+02] [ 3.81540333e-03 -1.18728370e-04 9.99992714e-01 1.04947054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.01, Y:153.10, Z:1.05 [[ 1.64005573e-01 -9.86459137e-01 -7.36800046e-04 1.52014986e+02] [ 9.86452033e-01 1.64007189e-01 -3.74549189e-03 1.53101643e+02] [ 3.81561520e-03 -1.12536360e-04 9.99992714e-01 1.04849200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.02, Y:153.13, Z:1.05 [[ 1.67315869e-01 -9.85903084e-01 -7.13644371e-04 1.52023920e+02] [ 9.85895954e-01 1.67317373e-01 -3.75013455e-03 1.53130207e+02] [ 3.81667432e-03 -7.61220770e-05 9.99992714e-01 1.04765270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:153.16, Z:1.05 [[ 1.67751482e-01 -9.85829030e-01 -7.50872263e-04 1.52029206e+02] [ 9.85821932e-01 1.67753125e-01 -3.74266571e-03 1.53157335e+02] [ 3.81558967e-03 -1.12388625e-04 9.99992714e-01 1.04749499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.03, Y:153.18, Z:1.05 [[ 1.68512193e-01 -9.85699284e-01 -7.49553440e-04 1.52033485e+02] [ 9.85692184e-01 1.68513825e-01 -3.74292982e-03 1.53183400e+02] [ 3.81571336e-03 -1.08099657e-04 9.99992714e-01 1.04672105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:153.21, Z:1.05 [[ 1.68878600e-01 -9.85636575e-01 -7.48174001e-04 1.52038439e+02] [ 9.85629473e-01 1.68880224e-01 -3.74320553e-03 1.53210067e+02] [ 3.81579207e-03 -1.05275038e-04 9.99992714e-01 1.04584000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.04, Y:153.24, Z:1.05 [[ 1.68943557e-01 -9.85625444e-01 -7.46809281e-04 1.52042819e+02] [ 9.85618341e-01 1.68945176e-01 -3.74347779e-03 1.53235637e+02] [ 3.81583678e-03 -1.03632470e-04 9.99992714e-01 1.04548086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:153.26, Z:1.04 [[ 1.69366224e-01 -9.85552904e-01 -7.45380513e-04 1.52047621e+02] [ 9.85545799e-01 1.69367834e-01 -3.74376225e-03 1.53262224e+02] [ 3.81591924e-03 -1.00539757e-04 9.99992714e-01 1.04460103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.05, Y:153.29, Z:1.04 [[ 1.69204270e-01 -9.85580723e-01 -7.44038837e-04 1.52053312e+02] [ 9.85573617e-01 1.69205876e-01 -3.74402888e-03 1.53289012e+02] [ 3.81593843e-03 -9.97993734e-05 9.99992714e-01 1.04413756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.06, Y:153.32, Z:1.04 [[ 1.68649506e-01 -9.85675805e-01 -7.42689664e-04 1.52058921e+02] [ 9.85668698e-01 1.68651112e-01 -3.74429649e-03 1.53315949e+02] [ 3.81591790e-03 -1.00572200e-04 9.99992714e-01 1.04394183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:153.34, Z:1.04 [[ 1.68430772e-01 -9.85713207e-01 -7.41351467e-04 1.52065032e+02] [ 9.85706099e-01 1.68432373e-01 -3.74456143e-03 1.53342216e+02] [ 3.81593124e-03 -1.00055292e-04 9.99992714e-01 1.04392866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.07, Y:153.37, Z:1.04 [[ 1.68202351e-01 -9.85752211e-01 -7.39996293e-04 1.52070543e+02] [ 9.85745103e-01 1.68203950e-01 -3.74482922e-03 1.53369092e+02] [ 3.81594398e-03 -9.95586426e-05 9.99992714e-01 1.04380388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:153.40, Z:1.04 [[ 1.67836854e-01 -9.85814508e-01 -7.38652191e-04 1.52076360e+02] [ 9.85807400e-01 1.67838450e-01 -3.74509432e-03 1.53395349e+02] [ 3.81594255e-03 -9.96039484e-05 9.99992714e-01 1.04310710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.08, Y:153.42, Z:1.04 [[ 1.67540840e-01 -9.85864861e-01 -7.37304696e-04 1.52082147e+02] [ 9.85857751e-01 1.67542433e-01 -3.74535958e-03 1.53421729e+02] [ 3.81594823e-03 -9.93768574e-05 9.99992714e-01 1.04268121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.09, Y:153.45, Z:1.04 [[ 1.67236581e-01 -9.85916520e-01 -7.35959565e-04 1.52088120e+02] [ 9.85909410e-01 1.67238171e-01 -3.74562388e-03 1.53448009e+02] [ 3.81595299e-03 -9.91841278e-05 9.99992714e-01 1.04240021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:153.47, Z:1.04 [[ 1.67096971e-01 -9.85940192e-01 -7.34616821e-04 1.52095231e+02] [ 9.85933081e-01 1.67098557e-01 -3.74588721e-03 1.53474881e+02] [ 3.81597417e-03 -9.83566185e-05 9.99992714e-01 1.04237928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.10, Y:153.50, Z:1.04 [[ 1.68535689e-01 -9.85695279e-01 -7.33275188e-04 1.52104437e+02] [ 9.85688165e-01 1.68537259e-01 -3.74614982e-03 1.53504662e+02] [ 3.81614639e-03 -9.14207327e-05 9.99992714e-01 1.04283229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.11, Y:153.53, Z:1.04 [[ 1.66767557e-01 -9.85995939e-01 -7.68802765e-04 1.52107102e+02] [ 9.85988858e-01 1.66769275e-01 -3.73919444e-03 1.53527768e+02] [ 3.81504321e-03 -1.34454637e-04 9.99992714e-01 1.04255384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.902755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.11, Y:153.55, Z:1.04 [[ 1.66251066e-01 -9.86083186e-01 -7.30714964e-04 1.52113795e+02] [ 9.86076073e-01 1.66252643e-01 -3.74662282e-03 1.53553122e+02] [ 3.81596506e-03 -9.76605060e-05 9.99992714e-01 1.04195848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.12, Y:153.58, Z:1.04 [[ 1.65806100e-01 -9.86158103e-01 -7.29676760e-04 1.52120178e+02] [ 9.86150990e-01 1.65807676e-01 -3.74682500e-03 1.53579645e+02] [ 3.81594784e-03 -9.83250183e-05 9.99992714e-01 1.04193233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:153.60, Z:1.04 [[ 1.64430314e-01 -9.86388433e-01 -7.28352904e-04 1.52128009e+02] [ 9.86381321e-01 1.64431895e-01 -3.74708233e-03 1.53604985e+02] [ 3.81584312e-03 -1.02299776e-04 9.99992714e-01 1.04218809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.13, Y:153.63, Z:1.04 [[ 1.63672432e-01 -9.86514474e-01 -7.26967415e-04 1.52134322e+02] [ 9.86507362e-01 1.63674014e-01 -3.74735111e-03 1.53631437e+02] [ 3.81580178e-03 -1.03820637e-04 9.99992714e-01 1.04251629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.14, Y:153.66, Z:1.04 [[ 1.62653144e-01 -9.86683044e-01 -7.25662556e-04 1.52140157e+02] [ 9.86675932e-01 1.62654728e-01 -3.74760377e-03 1.53657013e+02] [ 3.81572954e-03 -1.06434244e-04 9.99992714e-01 1.04262189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:153.68, Z:1.04 [[ 1.61230748e-01 -9.86916471e-01 -7.24296363e-04 1.52146597e+02] [ 9.86909361e-01 1.61232337e-01 -3.74786780e-03 1.53682905e+02] [ 3.81561246e-03 -1.10543332e-04 9.99992714e-01 1.04269647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:153.71, Z:1.04 [[ 1.60233901e-01 -9.87078809e-01 -7.22943181e-04 1.52151933e+02] [ 9.87071699e-01 1.60235492e-01 -3.74812880e-03 1.53709300e+02] [ 3.81553967e-03 -1.13019456e-04 9.99992714e-01 1.04215768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:153.74, Z:1.04 [[ 1.58729463e-01 -9.87321851e-01 -7.21619678e-04 1.52158199e+02] [ 9.87314742e-01 1.58731060e-01 -3.74838359e-03 1.53735079e+02] [ 3.81540448e-03 -1.17486830e-04 9.99992714e-01 1.04257614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.16, Y:153.76, Z:1.04 [[ 1.57692456e-01 -9.87488010e-01 -7.20234933e-04 1.52163921e+02] [ 9.87480902e-01 1.57694055e-01 -3.74864965e-03 1.53761274e+02] [ 3.81532335e-03 -1.20084473e-04 9.99992714e-01 1.04241580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:153.79, Z:1.04 [[ 1.56284285e-01 -9.87711853e-01 -7.18890268e-04 1.52169602e+02] [ 9.87704747e-01 1.56285889e-01 -3.74890750e-03 1.53789090e+02] [ 3.81519278e-03 -1.24156002e-04 9.99992714e-01 1.04231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:153.82, Z:1.04 [[ 1.56449529e-01 -9.87685693e-01 -7.19069472e-04 1.52174848e+02] [ 9.87678586e-01 1.56451133e-01 -3.74887320e-03 1.53816493e+02] [ 3.81520766e-03 -1.23700071e-04 9.99992714e-01 1.04276101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:153.84, Z:1.04 [[ 1.57026039e-01 -9.87594199e-01 -7.21436910e-04 1.52179612e+02] [ 9.87587094e-01 1.57027648e-01 -3.74842060e-03 1.53842188e+02] [ 3.81520398e-03 -1.23882141e-04 9.99992714e-01 1.04281895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:153.87, Z:1.04 [[ 1.57302585e-01 -9.87550193e-01 -7.15798055e-04 1.52184182e+02] [ 9.87543082e-01 1.57304170e-01 -3.74949708e-03 1.53868315e+02] [ 3.81541459e-03 -1.17075835e-04 9.99992714e-01 1.04299731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:153.89, Z:1.04 [[ 1.58616720e-01 -9.87339974e-01 -7.14771474e-04 1.52188964e+02] [ 9.87332860e-01 1.58618292e-01 -3.74969277e-03 1.53894934e+02] [ 3.81559740e-03 -1.10953395e-04 9.99992714e-01 1.04204186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:153.92, Z:1.04 [[ 1.59501757e-01 -9.87197387e-01 -7.13466182e-04 1.52193915e+02] [ 9.87190270e-01 1.59503317e-01 -3.74994112e-03 1.53921928e+02] [ 3.81573229e-03 -1.06204676e-04 9.99992714e-01 1.04182440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:153.95, Z:1.04 [[ 1.60978139e-01 -9.86957715e-01 -7.12170750e-04 1.52198703e+02] [ 9.86950595e-01 1.60979684e-01 -3.75018712e-03 1.53947901e+02] [ 3.81592114e-03 -9.91792004e-05 9.99992714e-01 1.04129182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.20, Y:153.97, Z:1.04 [[ 1.61239792e-01 -9.86915004e-01 -7.10814364e-04 1.52202913e+02] [ 9.86907882e-01 1.61241330e-01 -3.75044420e-03 1.53974866e+02] [ 3.81598230e-03 -9.67874563e-05 9.99992714e-01 1.04066036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:154.00, Z:1.04 [[ 1.61174471e-01 -9.86925674e-01 -7.09509600e-04 1.52206807e+02] [ 9.86918552e-01 1.61176004e-01 -3.75069102e-03 1.54001861e+02] [ 3.81600918e-03 -9.57125456e-05 9.99992714e-01 1.03990652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.21, Y:154.03, Z:1.04 [[ 1.60754120e-01 -9.86994231e-01 -7.08160095e-04 1.52211087e+02] [ 9.86987108e-01 1.60755651e-01 -3.75094580e-03 1.54027308e+02] [ 3.81600260e-03 -9.59648952e-05 9.99992714e-01 1.04059852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:154.05, Z:1.04 [[ 1.59977076e-01 -9.87120476e-01 -7.07117542e-04 1.52215778e+02] [ 9.87113354e-01 1.59978609e-01 -3.75114232e-03 1.54054199e+02] [ 3.81595308e-03 -9.79083860e-05 9.99992714e-01 1.04042262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:154.08, Z:1.04 [[ 1.58258160e-01 -9.87397517e-01 -7.05797324e-04 1.52220137e+02] [ 9.87390396e-01 1.58259700e-01 -3.75139071e-03 1.54080384e+02] [ 3.81581315e-03 -1.03209307e-04 9.99992714e-01 1.04108385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:154.11, Z:1.04 [[ 1.57183950e-01 -9.87569091e-01 -7.04415989e-04 1.52224780e+02] [ 9.87561971e-01 1.57185493e-01 -3.75165008e-03 1.54106926e+02] [ 3.81573763e-03 -1.05955264e-04 9.99992714e-01 1.04141526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:154.13, Z:1.04 [[ 1.55510153e-01 -9.87834044e-01 -7.03116562e-04 1.52229044e+02] [ 9.87826925e-01 1.55511703e-01 -3.75189359e-03 1.54133968e+02] [ 3.81559107e-03 -1.11099925e-04 9.99992714e-01 1.04196785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:154.16, Z:1.04 [[ 1.54551388e-01 -9.87984502e-01 -7.01796468e-04 1.52232908e+02] [ 9.87977384e-01 1.54552939e-01 -3.75214050e-03 1.54160943e+02] [ 3.81552137e-03 -1.13460518e-04 9.99992714e-01 1.04185538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:154.19, Z:1.04 [[ 1.53394244e-01 -9.88164822e-01 -7.00461120e-04 1.52236535e+02] [ 9.88157704e-01 1.53395799e-01 -3.75238977e-03 1.54186897e+02] [ 3.81542736e-03 -1.16571058e-04 9.99992714e-01 1.04196651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:154.21, Z:1.04 [[ 1.51142257e-01 -9.88511775e-01 -6.99063705e-04 1.52239534e+02] [ 9.88504660e-01 1.51143823e-01 -3.75265009e-03 1.54213604e+02] [ 3.81519796e-03 -1.23843726e-04 9.99992714e-01 1.04173763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.24, Y:154.24, Z:1.04 [[ 1.49123107e-01 -9.88818392e-01 -6.97761234e-04 1.52243312e+02] [ 9.88811279e-01 1.49124682e-01 -3.75289225e-03 1.54241087e+02] [ 3.81498230e-03 -1.30311226e-04 9.99992714e-01 1.04155342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:154.27, Z:1.04 [[ 1.48128673e-01 -9.88967851e-01 -6.96436443e-04 1.52247504e+02] [ 9.88960739e-01 1.48130251e-01 -3.75313808e-03 1.54268014e+02] [ 3.81489621e-03 -1.32800933e-04 9.99992714e-01 1.04169249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.25, Y:154.29, Z:1.04 [[ 1.47448992e-01 -9.89069417e-01 -6.95113547e-04 1.52251761e+02] [ 9.89062304e-01 1.47450570e-01 -3.75338308e-03 1.54294922e+02] [ 3.81485130e-03 -1.34078055e-04 9.99992714e-01 1.04183918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:154.32, Z:1.04 [[ 1.47001650e-01 -9.89136004e-01 -6.93784601e-04 1.52255447e+02] [ 9.89128891e-01 1.47003225e-01 -3.75362871e-03 1.54321790e+02] [ 3.81483787e-03 -1.34452781e-04 9.99992714e-01 1.04205345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:154.35, Z:1.04 [[ 1.47565853e-01 -9.89051990e-01 -6.92467831e-04 1.52257555e+02] [ 9.89044875e-01 1.47567420e-01 -3.75387161e-03 1.54347951e+02] [ 3.81495988e-03 -1.30938492e-04 9.99992714e-01 1.04149397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:154.37, Z:1.04 [[ 1.48885937e-01 -9.88854135e-01 -6.91089666e-04 1.52259583e+02] [ 9.88847017e-01 1.48887489e-01 -3.75412531e-03 1.54374606e+02] [ 3.81517694e-03 -1.24445490e-04 9.99992714e-01 1.04090848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:154.40, Z:1.04 [[ 1.49554999e-01 -9.88753168e-01 -6.89730282e-04 1.52263343e+02] [ 9.88746047e-01 1.49556541e-01 -3.75437505e-03 1.54401799e+02] [ 3.81530390e-03 -1.20482533e-04 9.99992714e-01 1.03982131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:154.43, Z:1.04 [[ 1.50194965e-01 -9.88656158e-01 -6.88370742e-04 1.52266837e+02] [ 9.88649035e-01 1.50196497e-01 -3.75462431e-03 1.54427743e+02] [ 3.81542332e-03 -1.16631404e-04 9.99992714e-01 1.03997914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:154.45, Z:1.04 [[ 1.50762541e-01 -9.88569767e-01 -6.86948201e-04 1.52270618e+02] [ 9.88562642e-01 1.50764064e-01 -3.75488456e-03 1.54454738e+02] [ 3.81553246e-03 -1.12995391e-04 9.99992714e-01 1.03905289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.27, Y:154.48, Z:1.04 [[ 1.52330349e-01 -9.88329396e-01 -6.85670565e-04 1.52273795e+02] [ 9.88322268e-01 1.52331855e-01 -3.75511785e-03 1.54481954e+02] [ 3.81574283e-03 -1.05645076e-04 9.99992714e-01 1.03828252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:154.51, Z:1.04 [[ 1.52385155e-01 -9.88320948e-01 -6.84377141e-04 1.52277712e+02] [ 9.88313819e-01 1.52386657e-01 -3.75535356e-03 1.54508819e+02] [ 3.81578454e-03 -1.04119249e-04 9.99992714e-01 1.03890837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:154.53, Z:1.04 [[ 1.52815835e-01 -9.88254446e-01 -6.86670988e-04 1.52280968e+02] [ 9.88247317e-01 1.52817342e-01 -3.75493625e-03 1.54534592e+02] [ 3.81576768e-03 -1.04787044e-04 9.99992714e-01 1.03878101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.28, Y:154.56, Z:1.04 [[ 1.52269594e-01 -9.88338761e-01 -6.81914568e-04 1.52284934e+02] [ 9.88331630e-01 1.52271087e-01 -3.75579984e-03 1.54561416e+02] [ 3.81583843e-03 -1.02063621e-04 9.99992714e-01 1.03888865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:154.59, Z:1.04 [[ 1.51051241e-01 -9.88525700e-01 -6.80599766e-04 1.52288813e+02] [ 9.88518570e-01 1.51052738e-01 -3.75603808e-03 1.54588663e+02] [ 3.81574663e-03 -1.05431293e-04 9.99992714e-01 1.03932238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:154.62, Z:1.04 [[ 1.50252736e-01 -9.88647386e-01 -6.79294986e-04 1.52293029e+02] [ 9.88640256e-01 1.50254234e-01 -3.75627404e-03 1.54615288e+02] [ 3.81569746e-03 -1.07187916e-04 9.99992714e-01 1.03950890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:154.64, Z:1.04 [[ 1.49908089e-01 -9.88699704e-01 -6.77985091e-04 1.52297752e+02] [ 9.88692574e-01 1.49909584e-01 -3.75651046e-03 1.54642627e+02] [ 3.81569724e-03 -1.07187521e-04 9.99992714e-01 1.03961444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.30, Y:154.67, Z:1.04 [[ 1.48870332e-01 -9.88856494e-01 -6.76675495e-04 1.52301866e+02] [ 9.88849364e-01 1.48871829e-01 -3.75674635e-03 1.54669016e+02] [ 3.81562094e-03 -1.09862058e-04 9.99992714e-01 1.04024032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:154.70, Z:1.04 [[ 1.47181346e-01 -9.89109294e-01 -6.75305188e-04 1.52305220e+02] [ 9.89102165e-01 1.47182851e-01 -3.75699265e-03 1.54695987e+02] [ 3.81546969e-03 -1.14986587e-04 9.99992714e-01 1.04012692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:154.72, Z:1.04 [[ 1.46426970e-01 -9.89221253e-01 -6.73991153e-04 1.52309351e+02] [ 9.89214125e-01 1.46428475e-01 -3.75722837e-03 1.54723127e+02] [ 3.81542166e-03 -1.16562003e-04 9.99992714e-01 1.03993805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.31, Y:154.75, Z:1.04 [[ 1.44977365e-01 -9.89434743e-01 -6.72651975e-04 1.52312757e+02] [ 9.89427616e-01 1.44978875e-01 -3.75746811e-03 1.54750448e+02] [ 3.81528982e-03 -1.20792613e-04 9.99992714e-01 1.03901884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:154.78, Z:1.04 [[ 1.44289351e-01 -9.89535311e-01 -6.71376758e-04 1.52317305e+02] [ 9.89528184e-01 1.44290861e-01 -3.75769595e-03 1.54777614e+02] [ 3.81524636e-03 -1.22150716e-04 9.99992714e-01 1.03883271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.32, Y:154.80, Z:1.04 [[ 1.43390322e-01 -9.89665988e-01 -6.70018516e-04 1.52321553e+02] [ 9.89658860e-01 1.43391833e-01 -3.75793811e-03 1.54804028e+02] [ 3.81517872e-03 -1.24237807e-04 9.99992714e-01 1.03868509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:154.83, Z:1.04 [[ 1.42168216e-01 -9.89842286e-01 -6.68671769e-04 1.52325912e+02] [ 9.89835160e-01 1.42169731e-01 -3.75817773e-03 1.54829505e+02] [ 3.81506812e-03 -1.27581404e-04 9.99992714e-01 1.03854263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:154.86, Z:1.04 [[ 1.41433119e-01 -9.89947588e-01 -6.67263340e-04 1.52330335e+02] [ 9.89940462e-01 1.41434634e-01 -3.75842778e-03 1.54856128e+02] [ 3.81502067e-03 -1.28984817e-04 9.99992714e-01 1.03871037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.33, Y:154.88, Z:1.04 [[ 1.38871527e-01 -9.90310182e-01 -6.65934216e-04 1.52331658e+02] [ 9.90303058e-01 1.38873055e-01 -3.75866327e-03 1.54881550e+02] [ 3.81472282e-03 -1.37505383e-04 9.99992714e-01 1.03729276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:154.91, Z:1.04 [[ 1.39230000e-01 -9.90259866e-01 -6.36980303e-04 1.52336280e+02] [ 9.90252719e-01 1.39231417e-01 -3.76378107e-03 1.54909191e+02] [ 3.81580901e-03 -1.06740237e-04 9.99992714e-01 1.03650456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:154.94, Z:1.04 [[ 1.39848241e-01 -9.90172743e-01 -6.38566844e-04 1.52341111e+02] [ 9.90165597e-01 1.39849659e-01 -3.76350083e-03 1.54935796e+02] [ 3.81581930e-03 -1.05967948e-04 9.99992714e-01 1.03587655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:154.96, Z:1.03 [[ 1.41432824e-01 -9.89947646e-01 -6.44519755e-04 1.52346072e+02] [ 9.89940501e-01 1.41434253e-01 -3.76244945e-03 1.54963743e+02] [ 3.81578514e-03 -1.05902359e-04 9.99992714e-01 1.03478090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.35, Y:154.99, Z:1.04 [[ 1.42782905e-01 -9.89753820e-01 -6.47126119e-04 1.52351480e+02] [ 9.89746675e-01 1.42784334e-01 -3.76198947e-03 1.54991746e+02] [ 3.81584292e-03 -1.03343138e-04 9.99992714e-01 1.03504075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:155.02, Z:1.04 [[ 1.43753739e-01 -9.89613275e-01 -6.54813549e-04 1.52356015e+02] [ 9.89606135e-01 1.43755190e-01 -3.76063521e-03 1.55018341e+02] [ 3.81570737e-03 -1.07402133e-04 9.99992714e-01 1.03513753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.36, Y:155.05, Z:1.04 [[ 1.46721404e-01 -9.89177640e-01 -6.52957006e-04 1.52360881e+02] [ 9.89170494e-01 1.46722827e-01 -3.76096154e-03 1.55045333e+02] [ 3.81606276e-03 -9.40722455e-05 9.99992714e-01 1.03589199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:155.07, Z:1.04 [[ 1.48143821e-01 -9.88965608e-01 -6.59531745e-04 1.52365160e+02] [ 9.88958465e-01 1.48145259e-01 -3.75980822e-03 1.55070989e+02] [ 3.81602753e-03 -9.52571450e-05 9.99992714e-01 1.03562613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:155.10, Z:1.04 [[ 1.49668356e-01 -9.88736037e-01 -6.58126940e-04 1.52369616e+02] [ 9.88728891e-01 1.49669777e-01 -3.76005411e-03 1.55096980e+02] [ 3.81620271e-03 -8.79480024e-05 9.99992714e-01 1.03577249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.37, Y:155.12, Z:1.04 [[ 1.52627394e-01 -9.88283586e-01 -6.56755021e-04 1.52374346e+02] [ 9.88276436e-01 1.52628789e-01 -3.76029372e-03 1.55123735e+02] [ 3.81647629e-03 -7.51316786e-05 9.99992714e-01 1.03653743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:155.15, Z:1.04 [[ 1.55432772e-01 -9.87846255e-01 -6.55427623e-04 1.52379264e+02] [ 9.87839099e-01 1.55434141e-01 -3.76052508e-03 1.55149026e+02] [ 3.81669644e-03 -6.29481978e-05 9.99992714e-01 1.03707807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:155.18, Z:1.04 [[ 1.56167778e-01 -9.87730326e-01 -6.54036335e-04 1.52384023e+02] [ 9.87723168e-01 1.56169137e-01 -3.76076704e-03 1.55175922e+02] [ 3.81676394e-03 -5.86962084e-05 9.99992714e-01 1.03700811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:155.20, Z:1.04 [[ 1.56665070e-01 -9.87651573e-01 -6.52701954e-04 1.52388796e+02] [ 9.87644414e-01 1.56666420e-01 -3.76099861e-03 1.55202682e+02] [ 3.81681267e-03 -5.54203270e-05 9.99992714e-01 1.03720233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.39, Y:155.23, Z:1.04 [[ 1.58042763e-01 -9.87432054e-01 -6.51370316e-04 1.52394980e+02] [ 9.87424891e-01 1.58044098e-01 -3.76122922e-03 1.55228969e+02] [ 3.81690353e-03 -4.87442050e-05 9.99992714e-01 1.03579169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:155.25, Z:1.04 [[ 1.56562014e-01 -9.87667911e-01 -6.58437176e-04 1.52398342e+02] [ 9.87660756e-01 1.56563386e-01 -3.76000706e-03 1.55254080e+02] [ 3.81672547e-03 -6.16382811e-05 9.99992714e-01 1.03685070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:155.28, Z:1.04 [[ 1.54997960e-01 -9.87914577e-01 -6.49020700e-04 1.52404316e+02] [ 9.87907417e-01 1.54999308e-01 -3.76163175e-03 1.55280969e+02] [ 3.81676860e-03 -5.81271141e-05 9.99992714e-01 1.03832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:155.31, Z:1.04 [[ 1.52808664e-01 -9.88255579e-01 -6.49860870e-04 1.52409180e+02] [ 9.88248423e-01 1.52810031e-01 -3.76148709e-03 1.55308261e+02] [ 3.81661586e-03 -6.74361625e-05 9.99992714e-01 1.03802272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.41, Y:155.33, Z:1.04 [[ 1.52351259e-01 -9.88326187e-01 -6.64887516e-04 1.52414525e+02] [ 9.88319042e-01 1.52352686e-01 -3.75890435e-03 1.55333558e+02] [ 3.81632100e-03 -8.44471849e-05 9.99992714e-01 1.03937836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:155.36, Z:1.04 [[ 1.49817824e-01 -9.88713409e-01 -6.44097508e-04 1.52420146e+02] [ 9.88706253e-01 1.49819191e-01 -3.76246340e-03 1.55360339e+02] [ 3.81649618e-03 -7.31391536e-05 9.99992714e-01 1.04032158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:155.39, Z:1.04 [[ 1.47521634e-01 -9.89058620e-01 -6.42775677e-04 1.52425430e+02] [ 9.89051466e-01 1.47523013e-01 -3.76268921e-03 1.55387469e+02] [ 3.81634440e-03 -8.06601644e-05 9.99992714e-01 1.04069585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:155.41, Z:1.04 [[ 1.46221385e-01 -9.89251685e-01 -6.41423928e-04 1.52430443e+02] [ 9.89244531e-01 1.46222767e-01 -3.76291962e-03 1.55414604e+02] [ 3.81626536e-03 -8.43057953e-05 9.99992714e-01 1.04067538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:155.44, Z:1.04 [[ 1.45368192e-01 -9.89377420e-01 -6.40080693e-04 1.52435803e+02] [ 9.89370267e-01 1.45369576e-01 -3.76314810e-03 1.55441340e+02] [ 3.81622201e-03 -8.62347708e-05 9.99992714e-01 1.04058976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.44, Y:155.47, Z:1.04 [[ 1.43719536e-01 -9.89618253e-01 -6.38715471e-04 1.52440058e+02] [ 9.89611102e-01 1.43720927e-01 -3.76337980e-03 1.55467133e+02] [ 3.81610612e-03 -9.12087211e-05 9.99992714e-01 1.04060053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:155.49, Z:1.04 [[ 1.41584584e-01 -9.89925957e-01 -6.37287004e-04 1.52445659e+02] [ 9.89918807e-01 1.41585984e-01 -3.76362168e-03 1.55493876e+02] [ 3.81593770e-03 -9.79915814e-05 9.99992714e-01 1.03982491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.45, Y:155.52, Z:1.04 [[ 1.40240157e-01 -9.90117313e-01 -6.35902848e-04 1.52450864e+02] [ 9.90110164e-01 1.40241562e-01 -3.76385553e-03 1.55520218e+02] [ 3.81583854e-03 -1.01770181e-04 9.99992714e-01 1.03843335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:155.55, Z:1.04 [[ 1.39516859e-01 -9.90219493e-01 -6.33799895e-04 1.52455169e+02] [ 9.90212344e-01 1.39518261e-01 -3.76421008e-03 1.55546634e+02] [ 3.81582086e-03 -1.02425714e-04 9.99992714e-01 1.03747092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:155.57, Z:1.04 [[ 1.39241425e-01 -9.90258262e-01 -6.32399486e-04 1.52459705e+02] [ 9.90251112e-01 1.39242824e-01 -3.76444566e-03 1.55572445e+02] [ 3.81583051e-03 -1.02067515e-04 9.99992714e-01 1.03649092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.46, Y:155.60, Z:1.03 [[ 1.39590243e-01 -9.90209152e-01 -6.31757132e-04 1.52464558e+02] [ 9.90202001e-01 1.39591637e-01 -3.76455346e-03 1.55598772e+02] [ 3.81588330e-03 -1.00072243e-04 9.99992714e-01 1.03464234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:155.62, Z:1.03 [[ 1.39743826e-01 -9.90187490e-01 -6.30414148e-04 1.52468954e+02] [ 9.90180338e-01 1.39745214e-01 -3.76477835e-03 1.55624966e+02] [ 3.81593378e-03 -9.81191642e-05 9.99992714e-01 1.03350343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:155.65, Z:1.03 [[ 1.41002290e-01 -9.90009070e-01 -6.29040101e-04 1.52474685e+02] [ 9.90001915e-01 1.41003663e-01 -3.76500791e-03 1.55652955e+02] [ 3.81608894e-03 -9.18761671e-05 9.99992714e-01 1.03438208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:155.68, Z:1.03 [[ 1.41123505e-01 -9.89991797e-01 -6.30663049e-04 1.52479006e+02] [ 9.89984643e-01 1.41124883e-01 -3.76473706e-03 1.55679855e+02] [ 3.81606106e-03 -9.30538447e-05 9.99992714e-01 1.03439050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.48, Y:155.71, Z:1.04 [[ 1.41706222e-01 -9.89908559e-01 -6.25543331e-04 1.52483800e+02] [ 9.89901401e-01 1.41707577e-01 -3.76559017e-03 1.55706844e+02] [ 3.81623417e-03 -8.56186628e-05 9.99992714e-01 1.03532579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:155.73, Z:1.04 [[ 1.42975741e-01 -9.89725995e-01 -6.26738275e-04 1.52488798e+02] [ 9.89718835e-01 1.42977091e-01 -3.76539128e-03 1.55732539e+02] [ 3.81631484e-03 -8.19350685e-05 9.99992714e-01 1.03632551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.49, Y:155.76, Z:1.04 [[ 1.43341324e-01 -9.89673115e-01 -6.25357515e-04 1.52493373e+02] [ 9.89665954e-01 1.43342666e-01 -3.76562058e-03 1.55758481e+02] [ 3.81637386e-03 -7.91260016e-05 9.99992715e-01 1.03701897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:155.78, Z:1.04 [[ 1.44571746e-01 -9.89494124e-01 -6.23991182e-04 1.52498604e+02] [ 9.89486960e-01 1.44573074e-01 -3.76584698e-03 1.55783206e+02] [ 3.81649578e-03 -7.29960658e-05 9.99992715e-01 1.03857925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.50, Y:155.81, Z:1.04 [[ 1.45271336e-01 -9.89391657e-01 -6.22491984e-04 1.52503442e+02] [ 9.89384492e-01 1.45272653e-01 -3.76609478e-03 1.55810462e+02] [ 3.81657382e-03 -6.87782951e-05 9.99992715e-01 1.03931004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:155.84, Z:1.04 [[ 1.45712618e-01 -9.89326765e-01 -6.21181375e-04 1.52507959e+02] [ 9.89319598e-01 1.45713927e-01 -3.76631094e-03 1.55837532e+02] [ 3.81662699e-03 -6.57478797e-05 9.99992715e-01 1.03969852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.51, Y:155.86, Z:1.04 [[ 1.46836271e-01 -9.89160617e-01 -6.19877258e-04 1.52513407e+02] [ 9.89153447e-01 1.46837567e-01 -3.76652556e-03 1.55864962e+02] [ 3.81672002e-03 -6.00911588e-05 9.99992715e-01 1.04028457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:155.89, Z:1.04 [[ 1.48627988e-01 -9.88892982e-01 -6.26386936e-04 1.52517327e+02] [ 9.88885814e-01 1.48629296e-01 -3.76545634e-03 1.55891141e+02] [ 3.81673280e-03 -5.97729552e-05 9.99992714e-01 1.04056049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.52, Y:155.92, Z:1.04 [[ 1.50270386e-01 -9.88644744e-01 -6.17169895e-04 1.52521530e+02] [ 9.88637569e-01 1.50271647e-01 -3.76696644e-03 1.55917878e+02] [ 3.81693470e-03 -4.40938448e-05 9.99992715e-01 1.04151732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:155.94, Z:1.04 [[ 1.50639503e-01 -9.88588570e-01 -6.15830906e-04 1.52526022e+02] [ 9.88581393e-01 1.50640756e-01 -3.76718532e-03 1.55943819e+02] [ 3.81696559e-03 -4.13120514e-05 9.99992715e-01 1.04092501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.53, Y:155.97, Z:1.04 [[ 1.50519116e-01 -9.88606908e-01 -6.14429241e-04 1.52530250e+02] [ 9.88599730e-01 1.50520364e-01 -3.76741392e-03 1.55969252e+02] [ 3.81697554e-03 -4.03567708e-05 9.99992715e-01 1.04073224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:155.99, Z:1.04 [[ 1.49535886e-01 -9.88756109e-01 -6.13012665e-04 1.52535333e+02] [ 9.88748932e-01 1.49537136e-01 -3.76764440e-03 1.55994325e+02] [ 3.81694958e-03 -4.27175744e-05 9.99992715e-01 1.03979618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:156.02, Z:1.04 [[ 1.48516377e-01 -9.88909759e-01 -6.11608346e-04 1.52540107e+02] [ 9.88902582e-01 1.48517629e-01 -3.76787236e-03 1.56020402e+02] [ 3.81692037e-03 -4.52303231e-05 9.99992715e-01 1.03964046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.54, Y:156.05, Z:1.04 [[ 1.46686843e-01 -9.89182793e-01 -6.10239661e-04 1.52544679e+02] [ 9.89175617e-01 1.46688104e-01 -3.76809401e-03 1.56045419e+02] [ 3.81684866e-03 -5.09043783e-05 9.99992715e-01 1.03866111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:156.07, Z:1.04 [[ 1.45996895e-01 -9.89284861e-01 -6.08815035e-04 1.52548152e+02] [ 9.89277685e-01 1.45998155e-01 -3.76832418e-03 1.56072030e+02] [ 3.81683193e-03 -5.21235002e-05 9.99992715e-01 1.03975340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:156.10, Z:1.04 [[ 1.45282158e-01 -9.89390078e-01 -6.07405441e-04 1.52551934e+02] [ 9.89382902e-01 1.45283418e-01 -3.76855137e-03 1.56099389e+02] [ 3.81681327e-03 -5.34532807e-05 9.99992715e-01 1.03979064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:156.13, Z:1.04 [[ 1.44977834e-01 -9.89434718e-01 -6.06100550e-04 1.52554520e+02] [ 9.89427541e-01 1.44979091e-01 -3.76876123e-03 1.56125957e+02] [ 3.81681511e-03 -5.33057384e-05 9.99992715e-01 1.03913640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:156.15, Z:1.04 [[ 1.44518831e-01 -9.89501865e-01 -6.04735072e-04 1.52557943e+02] [ 9.89494689e-01 1.44520087e-01 -3.76898032e-03 1.56152868e+02] [ 3.81680942e-03 -5.36935112e-05 9.99992715e-01 1.03941885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.56, Y:156.18, Z:1.04 [[ 1.43805424e-01 -9.89605798e-01 -6.03429247e-04 1.52561875e+02] [ 9.89598622e-01 1.43806679e-01 -3.76918938e-03 1.56180882e+02] [ 3.81678882e-03 -5.51228751e-05 9.99992715e-01 1.03975246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:156.21, Z:1.04 [[ 1.43894253e-01 -9.89592882e-01 -6.09262483e-04 1.52565718e+02] [ 9.89585710e-01 1.43895530e-01 -3.76825743e-03 1.56208686e+02] [ 3.81671088e-03 -6.06868604e-05 9.99992715e-01 1.03982312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:156.23, Z:1.04 [[ 1.44002940e-01 -9.89577072e-01 -6.09813376e-04 1.52568965e+02] [ 9.89569900e-01 1.44004218e-01 -3.76816954e-03 1.56233761e+02] [ 3.81670988e-03 -6.08254694e-05 9.99992714e-01 1.03620668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:156.26, Z:1.04 [[ 1.42216287e-01 -9.89835431e-01 -5.89217725e-04 1.52570946e+02] [ 9.89828247e-01 1.42217500e-01 -3.77143956e-03 1.56259694e+02] [ 3.81690158e-03 -4.68642150e-05 9.99992715e-01 1.03659224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:156.29, Z:1.04 [[ 1.41242210e-01 -9.89974889e-01 -5.97804288e-04 1.52573854e+02] [ 9.89967712e-01 1.41243463e-01 -3.77007803e-03 1.56285702e+02] [ 3.81671853e-03 -5.93127891e-05 9.99992715e-01 1.03690525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:156.31, Z:1.04 [[ 1.40462091e-01 -9.90085878e-01 -5.96404456e-04 1.52577316e+02] [ 9.90078701e-01 1.40463344e-01 -3.77029946e-03 1.56313167e+02] [ 3.81669322e-03 -6.09032043e-05 9.99992715e-01 1.03792840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:156.34, Z:1.04 [[ 1.40108792e-01 -9.90135936e-01 -5.95059828e-04 1.52581442e+02] [ 9.90128759e-01 1.40110043e-01 -3.77051167e-03 1.56340608e+02] [ 3.81669296e-03 -6.09040121e-05 9.99992715e-01 1.03803394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.58, Y:156.37, Z:1.04 [[ 1.37912422e-01 -9.90444250e-01 -5.93714322e-04 1.52584163e+02] [ 9.90437074e-01 1.37913683e-01 -3.77072353e-03 1.56367721e+02] [ 3.81657276e-03 -6.80070622e-05 9.99992715e-01 1.03877949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:156.40, Z:1.04 [[ 1.38521519e-01 -9.90359247e-01 -5.92364652e-04 1.52591321e+02] [ 9.90352070e-01 1.38522771e-01 -3.77093554e-03 1.56398262e+02] [ 3.81663688e-03 -6.42938401e-05 9.99992715e-01 1.03846855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:156.42, Z:1.04 [[ 1.34452869e-01 -9.90919788e-01 -6.32130891e-04 1.52591292e+02] [ 9.90912644e-01 1.34454301e-01 -3.76468748e-03 1.56421391e+02] [ 3.81549604e-03 -1.20213460e-04 9.99992714e-01 1.04181408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:156.45, Z:1.04 [[ 1.33246078e-01 -9.91082809e-01 -5.89983687e-04 1.52594863e+02] [ 9.91075637e-01 1.33247359e-01 -3.77128104e-03 1.56447267e+02] [ 3.81626558e-03 -8.22100487e-05 9.99992715e-01 1.04241668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:156.47, Z:1.04 [[ 1.32209382e-01 -9.91221637e-01 -5.88546090e-04 1.52598407e+02] [ 9.91214465e-01 1.32210665e-01 -3.77150538e-03 1.56473340e+02] [ 3.81620981e-03 -8.47470026e-05 9.99992715e-01 1.04302820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.60, Y:156.50, Z:1.04 [[ 1.30369450e-01 -9.91465310e-01 -5.87515033e-04 1.52601835e+02] [ 9.91458140e-01 1.30370742e-01 -3.77166599e-03 1.56500756e+02] [ 3.81607076e-03 -9.07865427e-05 9.99992715e-01 1.04480857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:156.53, Z:1.05 [[ 1.29470191e-01 -9.91583141e-01 -5.86174377e-04 1.52605665e+02] [ 9.91575972e-01 1.29471485e-01 -3.77187434e-03 1.56527977e+02] [ 3.81601987e-03 -9.28911349e-05 9.99992715e-01 1.04561249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:156.55, Z:1.05 [[ 1.28135473e-01 -9.91756502e-01 -5.84797096e-04 1.52608791e+02] [ 9.91749333e-01 1.28136771e-01 -3.77208786e-03 1.56553838e+02] [ 3.81592667e-03 -9.66338680e-05 9.99992715e-01 1.04616851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:156.58, Z:1.05 [[ 1.27484652e-01 -9.91840372e-01 -5.83734167e-04 1.52612015e+02] [ 9.91833203e-01 1.27485950e-01 -3.77225234e-03 1.56579857e+02] [ 3.81589007e-03 -9.80626523e-05 9.99992715e-01 1.04608316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:156.61, Z:1.05 [[ 1.27479355e-01 -9.91841053e-01 -5.82306697e-04 1.52615651e+02] [ 9.91833884e-01 1.27480648e-01 -3.77247268e-03 1.56605944e+02] [ 3.81592611e-03 -9.66391277e-05 9.99992715e-01 1.04619761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:156.63, Z:1.05 [[ 1.27342440e-01 -9.91858642e-01 -5.80908919e-04 1.52618499e+02] [ 9.91851471e-01 1.27343729e-01 -3.77268791e-03 1.56632227e+02] [ 3.81594821e-03 -9.57520810e-05 9.99992715e-01 1.04597214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.62, Y:156.66, Z:1.05 [[ 1.27386543e-01 -9.91852979e-01 -5.79527527e-04 1.52621692e+02] [ 9.91845808e-01 1.27387827e-01 -3.77290009e-03 1.56659699e+02] [ 3.81598695e-03 -9.41852473e-05 9.99992715e-01 1.04612390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.44275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.63, Y:156.69, Z:1.05 [[ 1.26856419e-01 -9.91920922e-01 -5.78208711e-04 1.52625237e+02] [ 9.91913750e-01 1.26857701e-01 -3.77310220e-03 1.56686533e+02] [ 3.81596923e-03 -9.48909386e-05 9.99992715e-01 1.04598528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:156.71, Z:1.05 [[ 1.26504484e-01 -9.91965868e-01 -5.76873193e-04 1.52629065e+02] [ 9.91958696e-01 1.26505763e-01 -3.77330637e-03 1.56713375e+02] [ 3.81596891e-03 -9.48942057e-05 9.99992715e-01 1.04605953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:156.74, Z:1.05 [[ 1.25785190e-01 -9.92057334e-01 -5.75547950e-04 1.52633052e+02] [ 9.92050162e-01 1.25786470e-01 -3.77350850e-03 1.56740408e+02] [ 3.81593293e-03 -9.63209526e-05 9.99992715e-01 1.04573863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:156.77, Z:1.05 [[ 1.23981344e-01 -9.92284383e-01 -5.74226189e-04 1.52636744e+02] [ 9.92277212e-01 1.23982632e-01 -3.77370963e-03 1.56767379e+02] [ 3.81578721e-03 -1.01921969e-04 9.99992715e-01 1.04549224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:156.79, Z:1.05 [[ 1.21525391e-01 -9.92588158e-01 -5.72897654e-04 1.52640904e+02] [ 9.92580990e-01 1.21526692e-01 -3.77391131e-03 1.56793332e+02] [ 3.81556203e-03 -1.10021272e-04 9.99992715e-01 1.04523913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:156.82, Z:1.05 [[ 1.20173034e-01 -9.92752797e-01 -5.71507629e-04 1.52645004e+02] [ 9.92745629e-01 1.20174339e-01 -3.77412180e-03 1.56820247e+02] [ 3.81545052e-03 -1.13814035e-04 9.99992715e-01 1.04525804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:156.85, Z:1.05 [[ 1.19067513e-01 -9.92885997e-01 -5.70202353e-04 1.52649274e+02] [ 9.92878830e-01 1.19068821e-01 -3.77431899e-03 1.56847171e+02] [ 3.81536179e-03 -1.16743069e-04 9.99992715e-01 1.04603717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:156.87, Z:1.05 [[ 1.17572118e-01 -9.93064184e-01 -5.68904630e-04 1.52653239e+02] [ 9.93057018e-01 1.17573432e-01 -3.77451459e-03 1.56871976e+02] [ 3.81522332e-03 -1.21177060e-04 9.99992715e-01 1.04642094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:156.90, Z:1.05 [[ 1.17259583e-01 -9.93101137e-01 -5.67402779e-04 1.52657156e+02] [ 9.93093970e-01 1.17260894e-01 -3.77474034e-03 1.56897718e+02] [ 3.81523308e-03 -1.20859800e-04 9.99992715e-01 1.04706795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:156.92, Z:1.05 [[ 1.18245824e-01 -9.92984192e-01 -5.65985557e-04 1.52660741e+02] [ 9.92977023e-01 1.18247122e-01 -3.77495282e-03 1.56922504e+02] [ 3.81539464e-03 -1.15638245e-04 9.99992715e-01 1.04763140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:156.95, Z:1.05 [[ 1.19109124e-01 -9.92881009e-01 -5.64511720e-04 1.52664330e+02] [ 9.92873838e-01 1.19110410e-01 -3.77517321e-03 1.56948407e+02] [ 3.81553701e-03 -1.10831345e-04 9.99992715e-01 1.04818183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:156.97, Z:1.05 [[ 1.20294193e-01 -9.92738128e-01 -5.63122235e-04 1.52668143e+02] [ 9.92730954e-01 1.20295465e-01 -3.77538046e-03 1.56974886e+02] [ 3.81570518e-03 -1.04872528e-04 9.99992715e-01 1.04931301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:157.00, Z:1.05 [[ 1.23875130e-01 -9.92297655e-01 -5.61785913e-04 1.52671385e+02] [ 9.92290476e-01 1.23876371e-01 -3.77557930e-03 1.57002341e+02] [ 3.81609049e-03 -8.97544347e-05 9.99992715e-01 1.04974390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.67, Y:157.03, Z:1.05 [[ 1.25862127e-01 -9.92047585e-01 -5.60447510e-04 1.52674760e+02] [ 9.92040403e-01 1.25863348e-01 -3.77577796e-03 1.57029821e+02] [ 3.81629121e-03 -8.07591296e-05 9.99992715e-01 1.04969028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:152.68, Y:157.06, Z:1.05 [[ 1.30558895e-01 -9.91440398e-01 -5.59103767e-04 1.52678298e+02] [ 9.91433209e-01 1.30560078e-01 -3.77597693e-03 1.57057126e+02] [ 3.81665270e-03 -6.13266671e-05 9.99992715e-01 1.04782655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:157.08, Z:1.05 [[ 1.32667037e-01 -9.91160505e-01 -5.57763604e-04 1.52681383e+02] [ 9.91153313e-01 1.32668199e-01 -3.77617488e-03 1.57083180e+02] [ 3.81679289e-03 -5.18553131e-05 9.99992715e-01 1.05004708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:157.11, Z:1.05 [[ 1.34413558e-01 -9.90925167e-01 -5.56361126e-04 1.52684698e+02] [ 9.90917972e-01 1.34414702e-01 -3.77638150e-03 1.57109742e+02] [ 3.81689458e-03 -4.37113666e-05 9.99992715e-01 1.05072748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:157.14, Z:1.05 [[ 1.37774671e-01 -9.90463443e-01 -5.54996146e-04 1.52687933e+02] [ 9.90456243e-01 1.37775786e-01 -3.77658209e-03 1.57136440e+02] [ 3.81703153e-03 -2.93820404e-05 9.99992715e-01 1.05130780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:152.69, Y:157.16, Z:1.05 [[ 1.38873523e-01 -9.90309971e-01 -5.53614131e-04 1.52691585e+02] [ 9.90302769e-01 1.38874625e-01 -3.77678467e-03 1.57163688e+02] [ 3.81707047e-03 -2.37502120e-05 9.99992715e-01 1.04984351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:157.19, Z:1.05 [[ 1.40522664e-01 -9.90077308e-01 -5.52238871e-04 1.52693807e+02] [ 9.90070104e-01 1.40523748e-01 -3.77698575e-03 1.57189795e+02] [ 3.81711056e-03 -1.60030964e-05 9.99992715e-01 1.05148474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:157.22, Z:1.05 [[ 1.40637855e-01 -9.90060953e-01 -5.50800862e-04 1.52697100e+02] [ 9.90053748e-01 1.40638933e-01 -3.77719545e-03 1.57216070e+02] [ 3.81711777e-03 -1.41057919e-05 9.99992715e-01 1.05124003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:157.24, Z:1.05 [[ 1.40264548e-01 -9.90113910e-01 -5.49421090e-04 1.52700142e+02] [ 9.90106704e-01 1.40265624e-01 -3.77739613e-03 1.57242706e+02] [ 3.81711735e-03 -1.41507429e-05 9.99992715e-01 1.05205331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.70, Y:157.27, Z:1.05 [[ 1.39564668e-01 -9.90212807e-01 -5.48070654e-04 1.52703677e+02] [ 9.90205601e-01 1.39565743e-01 -3.77759206e-03 1.57269888e+02] [ 3.81711193e-03 -1.54842490e-05 9.99992715e-01 1.05205632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:157.30, Z:1.05 [[ 1.37702278e-01 -9.90473515e-01 -5.46707739e-04 1.52707023e+02] [ 9.90466311e-01 1.37703362e-01 -3.77778930e-03 1.57296027e+02] [ 3.81708374e-03 -2.12854037e-05 9.99992715e-01 1.05155476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:157.32, Z:1.05 [[ 1.36569934e-01 -9.90630282e-01 -5.45281230e-04 1.52710502e+02] [ 9.90623078e-01 1.36571020e-01 -3.77799519e-03 1.57321721e+02] [ 3.81706605e-03 -2.42076185e-05 9.99992715e-01 1.05102728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:157.35, Z:1.05 [[ 1.33525156e-01 -9.91045275e-01 -5.44240641e-04 1.52713842e+02] [ 9.91038074e-01 1.33526260e-01 -3.77814508e-03 1.57348048e+02] [ 3.81698325e-03 -3.48857863e-05 9.99992715e-01 1.04931845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:157.38, Z:1.05 [[ 1.31421622e-01 -9.91326416e-01 -5.42848252e-04 1.52717189e+02] [ 9.91319216e-01 1.31422737e-01 -3.77834513e-03 1.57375496e+02] [ 3.81691594e-03 -4.15796570e-05 9.99992715e-01 1.04902181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.25275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.72, Y:157.40, Z:1.05 [[ 1.29485579e-01 -9.91581157e-01 -5.41513283e-04 1.52721359e+02] [ 9.91573959e-01 1.29486703e-01 -3.77853645e-03 1.57402487e+02] [ 3.81684432e-03 -4.76844900e-05 9.99992715e-01 1.04751628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:157.43, Z:1.05 [[ 1.25955817e-01 -9.92035705e-01 -5.40186208e-04 1.52725201e+02] [ 9.92028510e-01 1.25956961e-01 -3.77872616e-03 1.57428410e+02] [ 3.81667149e-03 -5.99275783e-05 9.99992715e-01 1.04746553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:157.46, Z:1.05 [[ 1.23952952e-01 -9.92287950e-01 -5.38797304e-04 1.52729139e+02] [ 9.92280756e-01 1.23954105e-01 -3.77892419e-03 1.57455143e+02] [ 3.81656708e-03 -6.62293878e-05 9.99992715e-01 1.04795220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.73, Y:157.48, Z:1.05 [[ 1.21772193e-01 -9.92557930e-01 -5.37484973e-04 1.52733013e+02] [ 9.92550738e-01 1.21773357e-01 -3.77911084e-03 1.57482087e+02] [ 3.81643778e-03 -7.32904935e-05 9.99992715e-01 1.04839293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:157.51, Z:1.05 [[ 1.19661479e-01 -9.92814607e-01 -5.36142075e-04 1.52736945e+02] [ 9.92807416e-01 1.19662654e-01 -3.77930135e-03 1.57508112e+02] [ 3.81630176e-03 -8.00490382e-05 9.99992715e-01 1.04825384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:157.53, Z:1.05 [[ 1.16730628e-01 -9.93163468e-01 -5.34738864e-04 1.52741438e+02] [ 9.93156281e-01 1.16731818e-01 -3.77949988e-03 1.57534109e+02] [ 3.81608225e-03 -8.98958687e-05 9.99992715e-01 1.04789797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:157.56, Z:1.05 [[ 1.15303037e-01 -9.93330220e-01 -5.33348039e-04 1.52745145e+02] [ 9.93323033e-01 1.15304233e-01 -3.77969614e-03 1.57558854e+02] [ 3.81598368e-03 -9.39764465e-05 9.99992715e-01 1.04764328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.462755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.75, Y:157.59, Z:1.05 [[ 1.13990820e-01 -9.93481660e-01 -5.32226817e-04 1.52748984e+02] [ 9.93474475e-01 1.13992021e-01 -3.77985401e-03 1.57585335e+02] [ 3.81588525e-03 -9.78850971e-05 9.99992715e-01 1.04892936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:157.61, Z:1.05 [[ 1.13431004e-01 -9.93545734e-01 -5.30881627e-04 1.52752974e+02] [ 9.93538548e-01 1.13432203e-01 -3.78004293e-03 1.57610990e+02] [ 3.81586460e-03 -9.86772955e-05 9.99992715e-01 1.04895050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:157.64, Z:1.05 [[ 1.12896347e-01 -9.93606630e-01 -5.29364082e-04 1.52756836e+02] [ 9.93599443e-01 1.12897545e-01 -3.78025544e-03 1.57637625e+02] [ 3.81585077e-03 -9.91988252e-05 9.99992715e-01 1.05040221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:157.66, Z:1.05 [[ 1.13273324e-01 -9.93563725e-01 -5.27737685e-04 1.52761020e+02] [ 9.93556537e-01 1.13274513e-01 -3.78048248e-03 1.57663647e+02] [ 3.81592948e-03 -9.61094101e-05 9.99992715e-01 1.04907364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.76, Y:157.69, Z:1.05 [[ 1.13497647e-01 -9.93538126e-01 -5.26323480e-04 1.52764768e+02] [ 9.93530937e-01 1.13498829e-01 -3.78067936e-03 1.57690156e+02] [ 3.81598618e-03 -9.38204472e-05 9.99992715e-01 1.04947935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:157.72, Z:1.05 [[ 1.14481112e-01 -9.93425286e-01 -5.24943614e-04 1.52768322e+02] [ 9.93418095e-01 1.14482281e-01 -3.78087094e-03 1.57716127e+02] [ 3.81610954e-03 -8.86501774e-05 9.99992715e-01 1.04968515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.64275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.77, Y:157.74, Z:1.05 [[ 1.13832905e-01 -9.93499775e-01 -5.16171931e-04 1.52771405e+02] [ 9.93492580e-01 1.13834045e-01 -3.78208491e-03 1.57743235e+02] [ 3.81625844e-03 -8.22872719e-05 9.99992715e-01 1.05180094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:157.77, Z:1.05 [[ 1.14613697e-01 -9.93410000e-01 -5.22003460e-04 1.52773202e+02] [ 9.93402807e-01 1.14614854e-01 -3.78127987e-03 1.57767069e+02] [ 3.81619058e-03 -8.51732363e-05 9.99992715e-01 1.05412782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.78, Y:157.80, Z:1.05 [[ 1.14152951e-01 -9.93463072e-01 -4.77978336e-04 1.52777659e+02] [ 9.93455854e-01 1.14153943e-01 -3.78731776e-03 1.57796491e+02] [ 3.81712345e-03 -4.25168785e-05 9.99992714e-01 1.05318220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.73275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.78, Y:157.82, Z:1.05 [[ 1.14264010e-01 -9.93450284e-01 -5.18787724e-04 1.52780611e+02] [ 9.93443090e-01 1.14265157e-01 -3.78171941e-03 1.57823131e+02] [ 3.81622958e-03 -8.32716562e-05 9.99992715e-01 1.05356656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.78, Y:157.85, Z:1.05 [[ 1.14631914e-01 -9.93407900e-01 -5.17451171e-04 1.52782813e+02] [ 9.93400705e-01 1.14633053e-01 -3.78190228e-03 1.57849858e+02] [ 3.81628861e-03 -8.05096633e-05 9.99992715e-01 1.05440485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:157.88, Z:1.05 [[ 1.14592238e-01 -9.93412479e-01 -5.16092537e-04 1.52785404e+02] [ 9.93405282e-01 1.14593373e-01 -3.78208768e-03 1.57876258e+02] [ 3.81631388e-03 -7.92911604e-05 9.99992715e-01 1.05485384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:157.90, Z:1.06 [[ 1.14805510e-01 -9.93387855e-01 -5.14672596e-04 1.52787832e+02] [ 9.93380657e-01 1.14806638e-01 -3.78228089e-03 1.57903371e+02] [ 3.81635973e-03 -7.70391136e-05 9.99992715e-01 1.05559551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:157.93, Z:1.06 [[ 1.16520300e-01 -9.93188178e-01 -5.13336241e-04 1.52789981e+02] [ 9.93180977e-01 1.16521411e-01 -3.78246226e-03 1.57926301e+02] [ 3.81651146e-03 -6.91021506e-05 9.99992715e-01 1.05680248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.88275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.79, Y:157.96, Z:1.06 [[ 1.14419781e-01 -9.93432379e-01 -4.71968596e-04 1.52793566e+02] [ 9.93425157e-01 1.14420749e-01 -3.78805182e-03 1.57956449e+02] [ 3.81717633e-03 -3.54374161e-05 9.99992714e-01 1.05530541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:157.98, Z:1.06 [[ 1.14493535e-01 -9.93423862e-01 -5.10789022e-04 1.52796299e+02] [ 9.93416663e-01 1.14494650e-01 -3.78280994e-03 1.57980402e+02] [ 3.81641627e-03 -7.43190425e-05 9.99992715e-01 1.05501455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:158.01, Z:1.06 [[ 1.14172577e-01 -9.93460812e-01 -4.87587855e-04 1.52799618e+02] [ 9.93453600e-01 1.14173606e-01 -3.78592445e-03 1.58007099e+02] [ 3.81683724e-03 -5.21471593e-05 9.99992715e-01 1.05511088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:158.03, Z:1.06 [[ 1.12156026e-01 -9.93690489e-01 -4.87416937e-04 1.52802519e+02] [ 9.93683279e-01 1.12157069e-01 -3.78594737e-03 1.58034773e+02] [ 3.81672715e-03 -5.97212480e-05 9.99992715e-01 1.05640514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:158.06, Z:1.06 [[ 1.12555822e-01 -9.93645274e-01 -5.06614255e-04 1.52807415e+02] [ 9.93638074e-01 1.12556936e-01 -3.78337674e-03 1.58062055e+02] [ 3.81635737e-03 -7.75501316e-05 9.99992715e-01 1.05882349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:158.09, Z:1.06 [[ 1.09490447e-01 -9.93987720e-01 -5.05301661e-04 1.52808930e+02] [ 9.93980523e-01 1.09491577e-01 -3.78355204e-03 1.58089113e+02] [ 3.81613054e-03 -8.79972053e-05 9.99992715e-01 1.05646757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:158.12, Z:1.06 [[ 1.08837900e-01 -9.94059383e-01 -5.03814885e-04 1.52811922e+02] [ 9.94052186e-01 1.08839030e-01 -3.78375001e-03 1.58115062e+02] [ 3.81610693e-03 -8.90028820e-05 9.99992715e-01 1.05635980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:158.14, Z:1.06 [[ 1.07603550e-01 -9.94193755e-01 -5.02774278e-04 1.52814437e+02] [ 9.94186559e-01 1.07604685e-01 -3.78388828e-03 1.58141709e+02] [ 3.81601897e-03 -9.26916173e-05 9.99992715e-01 1.05776868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:158.18, Z:1.06 [[ 1.13270248e-01 -9.93564089e-01 -5.01370615e-04 1.52825593e+02] [ 9.93556886e-01 1.13271336e-01 -3.78407426e-03 1.58176323e+02] [ 3.81651121e-03 -6.95171973e-05 9.99992715e-01 1.05792063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.152755096 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:152.83, Y:158.19, Z:1.06 [[ 1.11548373e-01 -9.93758828e-01 -5.94288494e-04 1.52825630e+02] [ 9.93751686e-01 1.11549826e-01 -3.77139269e-03 1.58194172e+02] [ 3.81414756e-03 -1.69882475e-04 9.99992712e-01 1.05614013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:158.22, Z:1.06 [[ 1.11327312e-01 -9.93783682e-01 -4.72295480e-04 1.52828673e+02] [ 9.93776465e-01 1.11328303e-01 -3.78776028e-03 1.58220690e+02] [ 3.81679422e-03 -4.76749629e-05 9.99992715e-01 1.05748743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:158.25, Z:1.06 [[ 1.08919847e-01 -9.94050421e-01 -4.76951628e-04 1.52831108e+02] [ 9.94043209e-01 1.08920873e-01 -3.78713389e-03 1.58250089e+02] [ 3.81655202e-03 -6.16164842e-05 9.99992715e-01 1.05930991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:158.28, Z:1.06 [[ 1.09585552e-01 -9.93977237e-01 -5.08257052e-04 1.52833796e+02] [ 9.93970043e-01 1.09586693e-01 -3.78292783e-03 1.58277505e+02] [ 3.81584237e-03 -9.06380493e-05 9.99992716e-01 1.06010895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:158.30, Z:1.06 [[ 1.11340569e-01 -9.93782180e-01 -5.06881687e-04 1.52836688e+02] [ 9.93774982e-01 1.11341693e-01 -3.78311211e-03 1.58302380e+02] [ 3.81602647e-03 -8.25124829e-05 9.99992716e-01 1.06011186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:158.33, Z:1.06 [[ 1.10587530e-01 -9.93866278e-01 -4.68169472e-04 1.52838885e+02] [ 9.93859060e-01 1.10588511e-01 -3.78827225e-03 1.58331549e+02] [ 3.81681021e-03 -4.63588005e-05 9.99992715e-01 1.05960651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:158.36, Z:1.06 [[ 1.12535600e-01 -9.93647565e-01 -5.04368524e-04 1.52841821e+02] [ 9.93640365e-01 1.12536705e-01 -3.78344658e-03 1.58355701e+02] [ 3.81617246e-03 -7.53884916e-05 9.99992716e-01 1.06004899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36275509600006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:152.84, Y:158.38, Z:1.06 [[ 1.09903581e-01 -9.93942144e-01 -4.65432686e-04 1.52844552e+02] [ 9.93934925e-01 1.09904557e-01 -3.78860425e-03 1.58384103e+02] [ 3.81680661e-03 -4.62286265e-05 9.99992715e-01 1.05836043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:158.41, Z:1.06 [[ 1.10591213e-01 -9.93865852e-01 -5.00994352e-04 1.52846499e+02] [ 9.93858652e-01 1.10592320e-01 -3.78389583e-03 1.58408474e+02] [ 3.81609098e-03 -7.94519406e-05 9.99992716e-01 1.05900621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:158.44, Z:1.06 [[ 1.09033799e-01 -9.94037924e-01 -4.86192197e-04 1.52849030e+02] [ 9.94030717e-01 1.09034861e-01 -3.78584679e-03 1.58435451e+02] [ 3.81628718e-03 -7.05047193e-05 9.99992715e-01 1.05955397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:158.46, Z:1.06 [[ 1.08910323e-01 -9.94051454e-01 -4.97870882e-04 1.52851505e+02] [ 9.94044254e-01 1.08911430e-01 -3.78431032e-03 1.58460882e+02] [ 3.81602301e-03 -8.27552284e-05 9.99992716e-01 1.06165480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:158.49, Z:1.06 [[ 1.07095295e-01 -9.94248651e-01 -4.67242536e-04 1.52853766e+02] [ 9.94241435e-01 1.07096299e-01 -3.78831756e-03 1.58487905e+02] [ 3.81656957e-03 -5.88409010e-05 9.99992715e-01 1.06185671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:158.52, Z:1.06 [[ 1.06058619e-01 -9.94359768e-01 -4.69554106e-04 1.52856353e+02] [ 9.94352555e-01 1.06059639e-01 -3.78801680e-03 1.58515122e+02] [ 3.81645225e-03 -6.51504926e-05 9.99992715e-01 1.06054046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:158.54, Z:1.06 [[ 1.03871678e-01 -9.94590593e-01 -4.75561657e-04 1.52857888e+02] [ 9.94583386e-01 1.03872737e-01 -3.78723548e-03 1.58543277e+02] [ 3.81614667e-03 -7.95992179e-05 9.99992715e-01 1.06142581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:158.57, Z:1.06 [[ 1.04343485e-01 -9.94541199e-01 -4.91127154e-04 1.52860555e+02] [ 9.94534000e-01 1.04344599e-01 -3.78521587e-03 1.58566333e+02] [ 3.81579960e-03 -9.34800376e-05 9.99992715e-01 1.06073401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.86, Y:158.60, Z:1.06 [[ 1.01950173e-01 -9.94789398e-01 -4.64794478e-04 1.52862961e+02] [ 9.94782186e-01 1.01951204e-01 -3.78862090e-03 1.58595632e+02] [ 3.81626626e-03 -7.61187095e-05 9.99992715e-01 1.06136030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:158.62, Z:1.06 [[ 1.01554225e-01 -9.94829885e-01 -4.88649212e-04 1.52865800e+02] [ 9.94822688e-01 1.01555350e-01 -3.78554166e-03 1.58620723e+02] [ 3.81559491e-03 -1.01681572e-04 9.99992715e-01 1.06138068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:158.65, Z:1.06 [[ 1.01323834e-01 -9.94853382e-01 -4.77777915e-04 1.52868876e+02] [ 9.94846179e-01 1.01324919e-01 -3.78693965e-03 1.58646205e+02] [ 3.81586053e-03 -9.16082894e-05 9.99992715e-01 1.06116940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:158.67, Z:1.06 [[ 9.93217889e-02 -9.95055257e-01 -4.66254901e-04 1.52871619e+02] [ 9.95048049e-01 9.93228446e-02 -3.78841993e-03 1.58674553e+02] [ 3.81599693e-03 -8.76733859e-05 9.99992715e-01 1.06134628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.87, Y:158.70, Z:1.06 [[ 9.98029213e-02 -9.95007106e-01 -4.85695991e-04 1.52874606e+02] [ 9.94999909e-01 9.98040474e-02 -3.78592583e-03 1.58699609e+02] [ 3.81549753e-03 -1.05421009e-04 9.99992715e-01 1.06101240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.75275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.88, Y:158.73, Z:1.06 [[ 9.81151966e-02 -9.95174954e-01 -4.67568985e-04 1.52877668e+02] [ 9.95167748e-01 9.81162660e-02 -3.78824318e-03 1.58727432e+02] [ 3.81584085e-03 -9.36253494e-05 9.99992715e-01 1.05980965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7827550960001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:152.88, Y:158.75, Z:1.06 [[ 9.73260403e-02 -9.95252435e-01 -4.82876016e-04 1.52880675e+02] [ 9.95245239e-01 9.73271737e-02 -3.78629103e-03 1.58753272e+02] [ 3.81531232e-03 -1.12075342e-04 9.99992715e-01 1.05863124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:158.78, Z:1.06 [[ 9.75508757e-02 -9.95230423e-01 -4.81457511e-04 1.52883418e+02] [ 9.95223226e-01 9.75520020e-02 -3.78647140e-03 1.58778935e+02] [ 3.81537867e-03 -1.09784097e-04 9.99992715e-01 1.06102198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:158.81, Z:1.06 [[ 9.92316603e-02 -9.95064243e-01 -4.80061643e-04 1.52888130e+02] [ 9.95057043e-01 9.92327692e-02 -3.78664836e-03 1.58805451e+02] [ 3.81559623e-03 -1.01933315e-04 9.99992715e-01 1.06182373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:158.83, Z:1.06 [[ 9.93657206e-02 -9.95050864e-01 -4.82082841e-04 1.52889781e+02] [ 9.95043665e-01 9.93668362e-02 -3.78639250e-03 1.58830423e+02] [ 3.81555617e-03 -1.03455857e-04 9.99992715e-01 1.05969396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:158.86, Z:1.06 [[ 9.97423494e-02 -9.95013189e-01 -4.65880774e-04 1.52892745e+02] [ 9.95005981e-01 9.97434006e-02 -3.78843491e-03 1.58857977e+02] [ 3.81601123e-03 -8.56867580e-05 9.99992715e-01 1.05951137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:158.88, Z:1.06 [[ 1.00822397e-01 -9.94904328e-01 -4.71248268e-04 1.52895803e+02] [ 9.94897122e-01 1.00823461e-01 -3.78775993e-03 1.58884316e+02] [ 3.81597163e-03 -8.69525088e-05 9.99992715e-01 1.05954856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:158.91, Z:1.06 [[ 9.95706845e-02 -9.95030378e-01 -4.75261782e-04 1.52898499e+02] [ 9.95023175e-01 9.95717727e-02 -3.78725627e-03 1.58911192e+02] [ 3.81575770e-03 -9.57967880e-05 9.99992715e-01 1.05769927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:158.94, Z:1.06 [[ 1.00550617e-01 -9.94931821e-01 -4.95295336e-04 1.52901897e+02] [ 9.94924629e-01 1.00551774e-01 -3.78474660e-03 1.58935953e+02] [ 3.81536766e-03 -1.12222923e-04 9.99992715e-01 1.05864764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:158.97, Z:1.06 [[ 1.01564168e-01 -9.94828875e-01 -4.77871987e-04 1.52908128e+02] [ 9.94821672e-01 1.01565252e-01 -3.78691486e-03 1.58965774e+02] [ 3.81586744e-03 -9.07825528e-05 9.99992715e-01 1.06090637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:158.99, Z:1.06 [[ 1.00432402e-01 -9.94943752e-01 -5.12483880e-04 1.52911343e+02] [ 9.94936570e-01 1.00433625e-01 -3.78266328e-03 1.58994036e+02] [ 3.81500781e-03 -1.29986995e-04 9.99992714e-01 1.06226723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.91, Y:159.02, Z:1.06 [[ 9.95137190e-02 -9.95036061e-01 -5.06888166e-04 1.52914210e+02] [ 9.95028877e-01 9.95149278e-02 -3.78334844e-03 1.59020606e+02] [ 3.81501107e-03 -1.27873289e-04 9.99992715e-01 1.06261849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.11275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.92, Y:159.05, Z:1.06 [[ 9.78139730e-02 -9.95204589e-01 -5.02813980e-04 1.52916747e+02] [ 9.95197404e-01 9.78151786e-02 -3.78384565e-03 1.59047274e+02] [ 3.81488339e-03 -1.30286192e-04 9.99992715e-01 1.06072078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:159.08, Z:1.06 [[ 9.73997281e-02 -9.95245222e-01 -4.90545161e-04 1.52920275e+02] [ 9.95238031e-01 9.74008901e-02 -3.78533670e-03 1.59075515e+02] [ 3.81511780e-03 -1.19518435e-04 9.99992715e-01 1.06151433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:159.10, Z:1.06 [[ 9.70700991e-02 -9.95277425e-01 -4.93152200e-04 1.52924094e+02] [ 9.95270235e-01 9.70712734e-02 -3.78502062e-03 1.59101825e+02] [ 3.81501648e-03 -1.23407380e-04 9.99992715e-01 1.05941046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:159.13, Z:1.06 [[ 9.53567348e-02 -9.95443041e-01 -4.94609883e-04 1.52927038e+02] [ 9.95435855e-01 9.53579269e-02 -3.78484346e-03 1.59129413e+02] [ 3.81476105e-03 -1.31442098e-04 9.99992715e-01 1.06271572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.93, Y:159.16, Z:1.06 [[ 9.46722589e-02 -9.95508376e-01 -4.87629636e-04 1.52930595e+02] [ 9.95501186e-01 9.46734295e-02 -3.78568659e-03 1.59156693e+02] [ 3.81484828e-03 -1.27036380e-04 9.99992715e-01 1.06330402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.26275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:152.93, Y:159.18, Z:1.06 [[ 9.33743508e-02 -9.95630955e-01 -4.81941185e-04 1.52933531e+02] [ 9.95623763e-01 9.33755092e-02 -3.78636879e-03 1.59184034e+02] [ 3.81482748e-03 -1.26282369e-04 9.99992716e-01 1.06186455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.29275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:152.94, Y:159.21, Z:1.06 [[ 9.22096689e-02 -9.95739498e-01 -4.77712709e-04 1.52935808e+02] [ 9.95732306e-01 9.22108195e-02 -3.78687662e-03 1.59210068e+02] [ 3.81479290e-03 -1.26487338e-04 9.99992716e-01 1.06205886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:159.24, Z:1.06 [[ 9.08305132e-02 -9.95866255e-01 -4.68497758e-04 1.52938380e+02] [ 9.95859059e-01 9.08316388e-02 -3.78798038e-03 1.59238765e+02] [ 3.81487626e-03 -1.22493535e-04 9.99992716e-01 1.06334543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:159.26, Z:1.06 [[ 9.03986936e-02 -9.95905535e-01 -4.91686541e-04 1.52940018e+02] [ 9.95898352e-01 9.03999104e-02 -3.78523182e-03 1.59264654e+02] [ 3.81418174e-03 -1.47489804e-04 9.99992715e-01 1.06324247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:159.29, Z:1.06 [[ 8.92904511e-02 -9.96005515e-01 -4.78811365e-04 1.52942228e+02] [ 9.95998326e-01 8.92916270e-02 -3.78674870e-03 1.59292692e+02] [ 3.81437644e-03 -1.38774818e-04 9.99992716e-01 1.06474186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.94, Y:159.32, Z:1.06 [[ 8.90641083e-02 -9.96025781e-01 -4.78651557e-04 1.52942542e+02] [ 9.96018592e-01 8.90652853e-02 -3.78676746e-03 1.59316059e+02] [ 3.81434925e-03 -1.39480783e-04 9.99992716e-01 1.06331070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.44275509600004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:152.95, Y:159.34, Z:1.06 [[ 9.02007360e-02 -9.95923512e-01 -4.30972340e-04 1.52945614e+02] [ 9.95916295e-01 9.02017235e-02 -3.79232953e-03 1.59344227e+02] [ 3.81574459e-03 -8.71414612e-05 9.99992716e-01 1.06284774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:159.37, Z:1.06 [[ 9.01808833e-02 -9.95925308e-01 -4.35187412e-04 1.52947171e+02] [ 9.95918094e-01 9.01818870e-02 -3.79183887e-03 1.59371786e+02] [ 3.81563431e-03 -9.14596394e-05 9.99992716e-01 1.06430187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.50275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.95, Y:159.40, Z:1.07 [[ 9.25039560e-02 -9.95712219e-01 -4.42238444e-04 1.52950777e+02] [ 9.95705006e-01 9.25049697e-02 -3.79102032e-03 1.59400035e+02] [ 3.81567450e-03 -8.96546565e-05 9.99992716e-01 1.06602014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:152.95, Y:159.42, Z:1.07 [[ 9.47425755e-02 -9.95501701e-01 -4.55940652e-04 1.52953163e+02] [ 9.95494493e-01 9.47436251e-02 -3.78943358e-03 1.59424202e+02] [ 3.81558505e-03 -9.48657108e-05 9.99992716e-01 1.06742240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:159.45, Z:1.07 [[ 9.38153982e-02 -9.95589514e-01 -4.37040867e-04 1.52955183e+02] [ 9.95582297e-01 9.38163826e-02 -3.79161207e-03 1.59453565e+02] [ 3.81589081e-03 -7.93985544e-05 9.99992716e-01 1.06842121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:159.48, Z:1.07 [[ 9.75933375e-02 -9.95226268e-01 -4.64470741e-04 1.52957211e+02] [ 9.95219062e-01 9.75943989e-02 -3.78846064e-03 1.59477381e+02] [ 3.81570529e-03 -9.25216172e-05 9.99992716e-01 1.06914320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:159.50, Z:1.07 [[ 9.86822138e-02 -9.95118904e-01 -4.32753769e-04 1.52959502e+02] [ 9.95111681e-01 9.86831465e-02 -3.79208020e-03 1.59503408e+02] [ 3.81627620e-03 -5.64274616e-05 9.99992716e-01 1.06955357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.652755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:152.96, Y:159.53, Z:1.07 [[ 9.95723203e-02 -9.95030234e-01 -4.31324490e-04 1.52962029e+02] [ 9.95023009e-01 9.95732412e-02 -3.79224276e-03 1.59531025e+02] [ 3.81634458e-03 -5.15753807e-05 9.99992716e-01 1.06873272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:159.56, Z:1.07 [[ 1.01473464e-01 -9.94838153e-01 -4.29940215e-04 1.52963183e+02] [ 9.94830926e-01 1.01474366e-01 -3.79239970e-03 1.59557772e+02] [ 3.81645182e-03 -4.28898873e-05 9.99992716e-01 1.07094431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:159.59, Z:1.07 [[ 1.01657359e-01 -9.94819380e-01 -4.28491922e-04 1.52965566e+02] [ 9.94812151e-01 1.01658254e-01 -3.79256333e-03 1.59585358e+02] [ 3.81647524e-03 -4.07269989e-05 9.99992716e-01 1.07129347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.74275509600005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:152.97, Y:159.61, Z:1.07 [[ 1.01215235e-01 -9.94864460e-01 -4.27133205e-04 1.52968158e+02] [ 9.94857231e-01 1.01216128e-01 -3.79271635e-03 1.59611375e+02] [ 3.81647147e-03 -4.10558814e-05 9.99992716e-01 1.06866159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:159.64, Z:1.07 [[ 1.00882673e-01 -9.94898239e-01 -4.25709722e-04 1.52970565e+02] [ 9.94891010e-01 1.00883563e-01 -3.79287612e-03 1.59638358e+02] [ 3.81647288e-03 -4.08992927e-05 9.99992716e-01 1.07140619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.97, Y:159.67, Z:1.07 [[ 9.99100251e-02 -9.94996385e-01 -4.24355013e-04 1.52973400e+02] [ 9.94989157e-01 9.99109170e-02 -3.79302768e-03 1.59665009e+02] [ 3.81644653e-03 -4.32671460e-05 9.99992716e-01 1.07149386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:159.69, Z:1.07 [[ 9.75271190e-02 -9.95232778e-01 -4.23010044e-04 1.52976202e+02] [ 9.95225551e-01 9.75280230e-02 -3.79317767e-03 1.59691565e+02] [ 3.81635008e-03 -5.10527141e-05 9.99992716e-01 1.07218153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:159.72, Z:1.07 [[ 9.71454951e-02 -9.95270102e-01 -4.21601697e-04 1.52978913e+02] [ 9.95262874e-01 9.71463965e-02 -3.79333420e-03 1.59718340e+02] [ 3.81634920e-03 -5.10991880e-05 9.99992716e-01 1.07228388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:159.75, Z:1.07 [[ 9.30296835e-02 -9.95663247e-01 -4.20147091e-04 1.52981446e+02] [ 9.95656023e-01 9.30306092e-02 -3.79349530e-03 1.59746173e+02] [ 3.81613039e-03 -6.54143140e-05 9.99992716e-01 1.07208161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:159.77, Z:1.07 [[ 9.22842861e-02 -9.95732606e-01 -4.34529965e-04 1.52984605e+02] [ 9.95725389e-01 9.22852720e-02 -3.79190713e-03 1.59770911e+02] [ 3.81582628e-03 -8.27390767e-05 9.99992716e-01 1.07260927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:159.80, Z:1.07 [[ 9.01391311e-02 -9.95929096e-01 -4.16952210e-04 1.52987724e+02] [ 9.95921872e-01 9.01400656e-02 -3.79383896e-03 1.59799409e+02] [ 3.81597871e-03 -7.32784775e-05 9.99992716e-01 1.07020257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:159.82, Z:1.07 [[ 8.66673138e-02 -9.96237220e-01 -4.22417593e-04 1.52991187e+02] [ 9.96230003e-01 8.66682944e-02 -3.79323983e-03 1.59824824e+02] [ 3.81557691e-03 -9.20751735e-05 9.99992716e-01 1.07156699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:159.85, Z:1.07 [[ 8.48660121e-02 -9.96392286e-01 -4.14576412e-04 1.52994218e+02] [ 9.96385067e-01 8.48669759e-02 -3.79409662e-03 1.59850061e+02] [ 3.81559246e-03 -9.10878954e-05 9.99992716e-01 1.07105053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04275509600006 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:153.00, Y:159.88, Z:1.07 [[ 8.05806574e-02 -9.96748006e-01 -4.13076402e-04 1.52997673e+02] [ 9.96740790e-01 8.05816464e-02 -3.79425993e-03 1.59877206e+02] [ 3.81520739e-03 -1.05986139e-04 9.99992716e-01 1.06842708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.00, Y:159.90, Z:1.07 [[ 7.91707528e-02 -9.96860985e-01 -4.11763392e-04 1.53000778e+02] [ 9.96853769e-01 7.91717471e-02 -3.79440241e-03 1.59903867e+02] [ 3.81509175e-03 -1.10062194e-04 9.99992716e-01 1.07079037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10275509600007 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:153.00, Y:159.93, Z:1.07 [[ 7.66416122e-02 -9.97058622e-01 -4.10310064e-04 1.53003619e+02] [ 9.97051408e-01 7.66426193e-02 -3.79455956e-03 1.59928978e+02] [ 3.81484557e-03 -1.18279065e-04 9.99992716e-01 1.06745282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:159.96, Z:1.07 [[ 7.53702204e-02 -9.97155536e-01 -4.09160010e-04 1.53006631e+02] [ 9.97148323e-01 7.53712322e-02 -3.79468357e-03 1.59955571e+02] [ 3.81472862e-03 -1.21987081e-04 9.99992716e-01 1.07139884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:159.98, Z:1.07 [[ 7.24554899e-02 -9.97371564e-01 -4.07790121e-04 1.53009863e+02] [ 9.97364353e-01 7.24565177e-02 -3.79483078e-03 1.59982873e+02] [ 3.81440336e-03 -1.31759007e-04 9.99992716e-01 1.07091253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.19275509600004 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:153.01, Y:160.01, Z:1.07 [[ 7.05721545e-02 -9.97506594e-01 -4.06422275e-04 1.53012614e+02] [ 9.97499385e-01 7.05731907e-02 -3.79497726e-03 1.60008904e+02] [ 3.81419736e-03 -1.37586248e-04 9.99992716e-01 1.06728093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22275509600007 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:153.02, Y:160.03, Z:1.07 [[ 6.93820772e-02 -9.97590078e-01 -4.04991908e-04 1.53015182e+02] [ 9.97582869e-01 6.93831165e-02 -3.79512990e-03 1.60034721e+02] [ 3.81408354e-03 -1.40698994e-04 9.99992716e-01 1.06766229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.25275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.02, Y:160.06, Z:1.07 [[ 6.93440283e-02 -9.97592724e-01 -4.03603565e-04 1.53017640e+02] [ 9.97585514e-01 6.93450626e-02 -3.79527755e-03 1.60060741e+02] [ 3.81412918e-03 -1.39449237e-04 9.99992716e-01 1.06936486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2827550960001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:153.02, Y:160.09, Z:1.07 [[ 6.92375548e-02 -9.97600120e-01 -4.02191648e-04 1.53019706e+02] [ 9.97592910e-01 6.92385845e-02 -3.79542716e-03 1.60086123e+02] [ 3.81416577e-03 -1.38437440e-04 9.99992716e-01 1.06757809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.31275509600005 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:153.02, Y:160.11, Z:1.07 [[ 7.05800040e-02 -9.97506041e-01 -4.01068952e-04 1.53021468e+02] [ 9.97498829e-01 7.05810198e-02 -3.79554580e-03 1.60113823e+02] [ 3.81438772e-03 -1.32176172e-04 9.99992716e-01 1.06801931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.342755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:153.02, Y:160.14, Z:1.07 [[ 7.24264131e-02 -9.97373679e-01 -3.99695821e-04 1.53024400e+02] [ 9.97366464e-01 7.24274103e-02 -3.79569039e-03 1.60141957e+02] [ 3.81467062e-03 -1.23734967e-04 9.99992716e-01 1.06983023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:160.17, Z:1.07 [[ 7.41640108e-02 -9.97245974e-01 -4.08977930e-04 1.53025913e+02] [ 9.97238762e-01 7.41650307e-02 -3.79471485e-03 1.60167962e+02] [ 3.81459597e-03 -1.26417371e-04 9.99992716e-01 1.07207911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.03, Y:160.19, Z:1.07 [[ 7.76253794e-02 -9.96982519e-01 -3.97703930e-04 1.53027490e+02] [ 9.96975298e-01 7.76263313e-02 -3.79589605e-03 1.60194308e+02] [ 3.81531431e-03 -1.01843123e-04 9.99992716e-01 1.07248572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.43275509600005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.03, Y:160.22, Z:1.07 [[ 7.88347950e-02 -9.96887616e-01 -3.96353049e-04 1.53029644e+02] [ 9.96880393e-01 7.88357331e-02 -3.79603710e-03 1.60220942e+02] [ 3.81546916e-03 -9.58567759e-05 9.99992716e-01 1.07055514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.462755096 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:153.03, Y:160.25, Z:1.07 [[ 8.02444708e-02 -9.96775135e-01 -3.94844372e-04 1.53031796e+02] [ 9.96767910e-01 8.02453929e-02 -3.79619402e-03 1.60247869e+02] [ 3.81563625e-03 -8.89446192e-05 9.99992716e-01 1.06977571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.49275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.03, Y:160.27, Z:1.07 [[ 8.37498273e-02 -9.96486734e-01 -3.93594532e-04 1.53033663e+02] [ 9.96479506e-01 8.37507192e-02 -3.79632360e-03 1.60274792e+02] [ 3.81594993e-03 -7.42674388e-05 9.99992716e-01 1.07237158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.522755096 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:153.04, Y:160.30, Z:1.07 [[ 8.46896885e-02 -9.96407298e-01 -3.92251216e-04 1.53035927e+02] [ 9.96400068e-01 8.46905685e-02 -3.79646239e-03 1.60302443e+02] [ 3.81604281e-03 -6.93179205e-05 9.99992716e-01 1.07094164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:160.33, Z:1.07 [[ 8.71851357e-02 -9.96192049e-01 -3.90930865e-04 1.53037685e+02] [ 9.96184816e-01 8.71859925e-02 -3.79659835e-03 1.60330046e+02] [ 3.81622478e-03 -5.84324504e-05 9.99992716e-01 1.07477249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.582755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.04, Y:160.36, Z:1.07 [[ 8.72704241e-02 -9.96184582e-01 -3.89573585e-04 1.53039871e+02] [ 9.96177348e-01 8.72712752e-02 -3.79673762e-03 1.60356526e+02] [ 3.81625006e-03 -5.67414784e-05 9.99992716e-01 1.07388211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.61275509600006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.04, Y:160.38, Z:1.07 [[ 8.73614597e-02 -9.96176603e-01 -3.88155452e-04 1.53042179e+02] [ 9.96169369e-01 8.73623047e-02 -3.79688259e-03 1.60382481e+02] [ 3.81627576e-03 -5.49673660e-05 9.99992716e-01 1.07322112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.64275509600003 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.04, Y:160.41, Z:1.07 [[ 8.66417305e-02 -9.96239460e-01 -3.86715920e-04 1.53044730e+02] [ 9.96232225e-01 8.66425752e-02 -3.79702920e-03 1.60409719e+02] [ 3.81625638e-03 -5.62776811e-05 9.99992716e-01 1.07345774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.67275509600006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.05, Y:160.44, Z:1.07 [[ 8.55046113e-02 -9.96337700e-01 -3.85389887e-04 1.53047134e+02] [ 9.96330466e-01 8.55054593e-02 -3.79716379e-03 1.60436808e+02] [ 3.81621038e-03 -5.93006716e-05 9.99992716e-01 1.07396228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:160.46, Z:1.08 [[ 8.34314700e-02 -9.96513443e-01 -3.84063806e-04 1.53049227e+02] [ 9.96506210e-01 8.34323280e-02 -3.79729791e-03 1.60463326e+02] [ 3.81610175e-03 -6.59078215e-05 9.99992716e-01 1.07600311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.73275509600006 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:153.05, Y:160.49, Z:1.07 [[ 8.15295846e-02 -9.96670849e-01 -3.82675887e-04 1.53051446e+02] [ 9.96663617e-01 8.15304510e-02 -3.79743777e-03 1.60489544e+02] [ 3.81599527e-03 -7.17956097e-05 9.99992716e-01 1.07365062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.05, Y:160.52, Z:1.08 [[ 8.05284296e-02 -9.96752239e-01 -3.81243581e-04 1.53054071e+02] [ 9.96745008e-01 8.05292979e-02 -3.79758156e-03 1.60515562e+02] [ 3.81594921e-03 -7.41893567e-05 9.99992717e-01 1.07620252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:160.54, Z:1.08 [[ 7.79068393e-02 -9.96960571e-01 -3.79820700e-04 1.53056930e+02] [ 9.96953341e-01 7.79077212e-02 -3.79772387e-03 1.60542571e+02] [ 3.81577192e-03 -8.27948523e-05 9.99992717e-01 1.07596740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:160.57, Z:1.08 [[ 7.64191469e-02 -9.97075710e-01 -3.78497159e-04 1.53059423e+02] [ 9.97068480e-01 7.64200345e-02 -3.79785578e-03 1.60567452e+02] [ 3.81567451e-03 -8.71586885e-05 9.99992717e-01 1.07540811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.85275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.06, Y:160.59, Z:1.07 [[ 7.33977614e-02 -9.97302676e-01 -3.76969773e-04 1.53061683e+02] [ 9.97295448e-01 7.33986651e-02 -3.79800738e-03 1.60593902e+02] [ 3.81543199e-03 -9.71849998e-05 9.99992717e-01 1.07361814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:160.62, Z:1.08 [[ 7.22349703e-02 -9.97387572e-01 -3.75582799e-04 1.53064027e+02] [ 9.97380345e-01 7.22358771e-02 -3.79814453e-03 1.60619744e+02] [ 3.81535270e-03 -1.00240045e-04 9.99992717e-01 1.07534869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:160.65, Z:1.08 [[ 7.10179611e-02 -9.97474967e-01 -3.74145306e-04 1.53066403e+02] [ 9.97467740e-01 7.10188713e-02 -3.79828613e-03 1.60646537e+02] [ 3.81526670e-03 -1.03451336e-04 9.99992717e-01 1.07527856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.94275509600004 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:153.07, Y:160.67, Z:1.07 [[ 6.90200389e-02 -9.97615204e-01 -3.72713539e-04 1.53068622e+02] [ 9.97607979e-01 6.90209581e-02 -3.79842662e-03 1.60673889e+02] [ 3.81509319e-03 -1.09654447e-04 9.99992717e-01 1.07232630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.07, Y:160.70, Z:1.08 [[ 6.87267555e-02 -9.97635452e-01 -3.71341028e-04 1.53070689e+02] [ 9.97628226e-01 6.87276716e-02 -3.79856079e-03 1.60699658e+02] [ 3.81510031e-03 -1.09397533e-04 9.99992717e-01 1.07510093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.00275509600004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.07, Y:160.73, Z:1.07 [[ 6.79401553e-02 -9.97689330e-01 -3.69912767e-04 1.53072299e+02] [ 9.97682104e-01 6.79410717e-02 -3.79869987e-03 1.60725556e+02] [ 3.81505460e-03 -1.10971089e-04 9.99992717e-01 1.07152621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.0327550960001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.07, Y:160.75, Z:1.07 [[ 6.79252894e-02 -9.97690342e-01 -3.68509483e-04 1.53074202e+02] [ 9.97683116e-01 6.79262006e-02 -3.79883600e-03 1.60752804e+02] [ 3.81509344e-03 -1.09618655e-04 9.99992717e-01 1.07238793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:160.78, Z:1.08 [[ 6.86457162e-02 -9.97641033e-01 -3.67168516e-04 1.53076355e+02] [ 9.97633805e-01 6.86466171e-02 -3.79896560e-03 1.60780159e+02] [ 3.81520884e-03 -1.05517009e-04 9.99992717e-01 1.07552010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:160.81, Z:1.08 [[ 6.98942360e-02 -9.97554340e-01 -3.65834679e-04 1.53078324e+02] [ 9.97547111e-01 6.98951228e-02 -3.79909404e-03 1.60806259e+02] [ 3.81537281e-03 -9.94025508e-05 9.99992717e-01 1.07691626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.08, Y:160.83, Z:1.08 [[ 7.03590660e-02 -9.97521663e-01 -3.64440373e-04 1.53080492e+02] [ 9.97514433e-01 7.03599441e-02 -3.79922779e-03 1.60831608e+02] [ 3.81545403e-03 -9.62244132e-05 9.99992717e-01 1.07763472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.152755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.08, Y:160.86, Z:1.08 [[ 7.06915500e-02 -9.97498157e-01 -3.62913248e-04 1.53082435e+02] [ 9.97490926e-01 7.06924198e-02 -3.79937366e-03 1.60858173e+02] [ 3.81552344e-03 -9.34190583e-05 9.99992717e-01 1.07710235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.08, Y:160.88, Z:1.08 [[ 7.26918508e-02 -9.97354382e-01 -3.61454197e-04 1.53083916e+02] [ 9.97347149e-01 7.26927006e-02 -3.79951247e-03 1.60884209e+02] [ 3.81573549e-03 -8.43017197e-05 9.99992717e-01 1.07824901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.212755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:153.09, Y:160.91, Z:1.08 [[ 7.34956656e-02 -9.97295472e-01 -3.59994203e-04 1.53085768e+02] [ 9.97288236e-01 7.34965039e-02 -3.79965079e-03 1.60909925e+02] [ 3.81583284e-03 -7.97601200e-05 9.99992717e-01 1.07858738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:160.94, Z:1.08 [[ 7.54225076e-02 -9.97151602e-01 -3.58835906e-04 1.53087449e+02] [ 9.97144364e-01 7.54233276e-02 -3.79976018e-03 1.60936192e+02] [ 3.81600154e-03 -7.12237601e-05 9.99992717e-01 1.08097054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.272755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:153.09, Y:160.96, Z:1.08 [[ 7.59480814e-02 -9.97111710e-01 -3.57399879e-04 1.53088705e+02] [ 9.97104471e-01 7.59488921e-02 -3.79989524e-03 1.60961350e+02] [ 3.81606417e-03 -6.77702640e-05 9.99992717e-01 1.07884511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.09, Y:160.99, Z:1.08 [[ 7.63950913e-02 -9.97077561e-01 -3.55903584e-04 1.53090783e+02] [ 9.97070322e-01 7.63958931e-02 -3.80003538e-03 1.60987535e+02] [ 3.81611958e-03 -6.45568514e-05 9.99992717e-01 1.08082997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:161.01, Z:1.08 [[ 7.63552031e-02 -9.97080617e-01 -3.54477322e-04 1.53092675e+02] [ 9.97073377e-01 7.63559997e-02 -3.80016842e-03 1.61013434e+02] [ 3.81614075e-03 -6.32772685e-05 9.99992717e-01 1.08133218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:161.04, Z:1.08 [[ 7.57822770e-02 -9.97124326e-01 -3.53057539e-04 1.53094159e+02] [ 9.97117086e-01 7.57830723e-02 -3.80030032e-03 1.61038893e+02] [ 3.81612769e-03 -6.40442923e-05 9.99992717e-01 1.08044810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.39275509600003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.10, Y:161.06, Z:1.08 [[ 7.44505709e-02 -9.97224643e-01 -3.51581021e-04 1.53095949e+02] [ 9.97217404e-01 7.44513703e-02 -3.80043692e-03 1.61064857e+02] [ 3.81606504e-03 -6.76580150e-05 9.99992717e-01 1.07810581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.10, Y:161.09, Z:1.08 [[ 7.27586089e-02 -9.97349519e-01 -3.50139280e-04 1.53099036e+02] [ 9.97342280e-01 7.27594151e-02 -3.80056974e-03 1.61091699e+02] [ 3.81597233e-03 -7.26845399e-05 9.99992717e-01 1.07829623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.10, Y:161.12, Z:1.08 [[ 7.17935896e-02 -9.97419450e-01 -3.48776889e-04 1.53101595e+02] [ 9.97412211e-01 7.17943976e-02 -3.80069477e-03 1.61117038e+02] [ 3.81592711e-03 -7.50088082e-05 9.99992717e-01 1.07786691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.10, Y:161.14, Z:1.08 [[ 6.91292624e-02 -9.97607656e-01 -3.32208122e-04 1.53103703e+02] [ 9.97600412e-01 6.91300267e-02 -3.80220597e-03 1.61144433e+02] [ 3.81607534e-03 -6.85672653e-05 9.99992716e-01 1.07771929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:161.17, Z:1.08 [[ 6.68891296e-02 -9.97760354e-01 -3.45621193e-04 1.53106997e+02] [ 9.97753119e-01 6.68899611e-02 -3.80098633e-03 1.61169348e+02] [ 3.81559206e-03 -9.05999559e-05 9.99992717e-01 1.07786887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:161.20, Z:1.08 [[ 6.39054738e-02 -9.97955903e-01 -3.26010494e-04 1.53109578e+02] [ 9.97948661e-01 6.39062523e-02 -3.80275988e-03 1.61197179e+02] [ 3.81582078e-03 -8.23245642e-05 9.99992716e-01 1.07837196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:161.22, Z:1.08 [[ 6.16404859e-02 -9.98098358e-01 -3.43219641e-04 1.53112433e+02] [ 9.98091126e-01 6.16413464e-02 -3.80120602e-03 1.61224482e+02] [ 3.81513401e-03 -1.08256292e-04 9.99992717e-01 1.07813802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.12, Y:161.25, Z:1.08 [[ 5.72381347e-02 -9.98360496e-01 -3.41901538e-04 1.53115735e+02] [ 9.98353266e-01 5.72390221e-02 -3.80132458e-03 1.61249682e+02] [ 3.81466240e-03 -1.23757789e-04 9.99992717e-01 1.07569774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.63275509600004 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.12, Y:161.27, Z:1.07 [[ 5.72854516e-02 -9.98357782e-01 -3.40372764e-04 1.53119418e+02] [ 9.98350552e-01 5.72863328e-02 -3.80146146e-03 1.61273686e+02] [ 3.81471734e-03 -1.22042900e-04 9.99992717e-01 1.07461378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:161.30, Z:1.08 [[ 5.26612720e-02 -9.98612385e-01 -3.07898657e-04 1.53122676e+02] [ 9.98605144e-01 5.26620632e-02 -3.80434862e-03 1.61302330e+02] [ 3.81528423e-03 -1.07127345e-04 9.99992716e-01 1.07699303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:161.33, Z:1.08 [[ 5.14895682e-02 -9.98673475e-01 -3.37880376e-04 1.53125525e+02] [ 9.98666249e-01 5.14904818e-02 -3.80168395e-03 1.61328098e+02] [ 3.81403855e-03 -1.41682663e-04 9.99992717e-01 1.07715484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:161.35, Z:1.08 [[ 5.07943159e-02 -9.98709079e-01 -3.36456731e-04 1.53128561e+02] [ 9.98701853e-01 5.07952292e-02 -3.80180994e-03 1.61354579e+02] [ 3.81399250e-03 -1.42909625e-04 9.99992717e-01 1.07730052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:161.38, Z:1.08 [[ 5.04129223e-02 -9.98728404e-01 -3.35004385e-04 1.53130672e+02] [ 9.98721178e-01 5.04138328e-02 -3.80193791e-03 1.61381408e+02] [ 3.81399224e-03 -1.42909173e-04 9.99992717e-01 1.07740286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.13, Y:161.41, Z:1.08 [[ 5.05879455e-02 -9.98719555e-01 -3.33552431e-04 1.53134020e+02] [ 9.98712327e-01 5.05888492e-02 -3.80206529e-03 1.61406136e+02] [ 3.81407099e-03 -1.40784253e-04 9.99992717e-01 1.07715304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:161.43, Z:1.08 [[ 5.08495275e-02 -9.98706271e-01 -3.32041050e-04 1.53136693e+02] [ 9.98699043e-01 5.08504236e-02 -3.80219728e-03 1.61433752e+02] [ 3.81416269e-03 -1.38269144e-04 9.99992717e-01 1.07672906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:161.46, Z:1.08 [[ 5.59542720e-02 -9.98433277e-01 -3.33903163e-04 1.53143032e+02] [ 9.98426045e-01 5.59551382e-02 -3.80203529e-03 1.61463742e+02] [ 3.81476215e-03 -1.20637498e-04 9.99992717e-01 1.07694490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:161.49, Z:1.08 [[ 5.44271119e-02 -9.98517680e-01 -3.64362098e-04 1.53142531e+02] [ 9.98510464e-01 5.44281050e-02 -3.79939428e-03 1.61488729e+02] [ 3.81359390e-03 -1.57029310e-04 9.99992716e-01 1.07671179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.902755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.15, Y:161.52, Z:1.08 [[ 5.79843213e-02 -9.98317438e-01 -3.33224294e-04 1.53145736e+02] [ 9.98310204e-01 5.79851702e-02 -3.80207594e-03 1.61515252e+02] [ 3.81500078e-03 -1.12200420e-04 9.99992717e-01 1.07609746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:161.54, Z:1.08 [[ 5.93107959e-02 -9.98239512e-01 -3.26084331e-04 1.53147889e+02] [ 9.98232274e-01 5.93116080e-02 -3.80268820e-03 1.61542615e+02] [ 3.81533420e-03 -9.99674396e-05 9.99992717e-01 1.07805348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:161.57, Z:1.08 [[ 6.13559416e-02 -9.98115891e-01 -3.41194339e-04 1.53151389e+02] [ 9.98108658e-01 6.13567964e-02 -3.80139368e-03 1.61568303e+02] [ 3.81516603e-03 -1.07310935e-04 9.99992716e-01 1.07927284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:161.59, Z:1.08 [[ 6.03230533e-02 -9.98178854e-01 -3.23600248e-04 1.53151974e+02] [ 9.98171614e-01 6.03238487e-02 -3.80289082e-03 1.61594573e+02] [ 3.81548601e-03 -9.36065966e-05 9.99992717e-01 1.07872685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:161.62, Z:1.08 [[ 6.00996587e-02 -9.98192329e-01 -3.23435439e-04 1.53154392e+02] [ 9.98185090e-01 6.01004551e-02 -3.80290477e-03 1.61621196e+02] [ 3.81546899e-03 -9.42951534e-05 9.99992717e-01 1.07921373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:161.65, Z:1.08 [[ 5.91146653e-02 -9.98251148e-01 -3.20469356e-04 1.53157191e+02] [ 9.98243907e-01 5.91154575e-02 -3.80315471e-03 1.61648303e+02] [ 3.81544824e-03 -9.50843647e-05 9.99992717e-01 1.07952752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:161.68, Z:1.08 [[ 5.69071788e-02 -9.98379421e-01 -3.23320979e-04 1.53159020e+02] [ 9.98372184e-01 5.69079978e-02 -3.80291505e-03 1.61675473e+02] [ 3.81515167e-03 -1.06381505e-04 9.99992717e-01 1.07965333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:161.70, Z:1.08 [[ 5.63718344e-02 -9.98409786e-01 -3.38578936e-04 1.53161716e+02] [ 9.98402556e-01 5.63727154e-02 -3.80163624e-03 1.61700921e+02] [ 3.81467744e-03 -1.23732866e-04 9.99992716e-01 1.08034181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:161.73, Z:1.08 [[ 5.54349510e-02 -9.98462251e-01 -3.16210957e-04 1.53164131e+02] [ 9.98455012e-01 5.54357537e-02 -3.80349585e-03 1.61728432e+02] [ 3.81517642e-03 -1.04875809e-04 9.99992717e-01 1.07966751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:161.76, Z:1.08 [[ 5.44748327e-02 -9.98515093e-01 -3.18543732e-04 1.53167540e+02] [ 9.98507856e-01 5.44756512e-02 -3.80330264e-03 1.61756558e+02] [ 3.81500797e-03 -1.10884143e-04 9.99992717e-01 1.08058848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:161.78, Z:1.08 [[ 5.30249633e-02 -9.98593131e-01 -3.34270689e-04 1.53168980e+02] [ 9.98585902e-01 5.30258521e-02 -3.80201450e-03 1.61780941e+02] [ 3.81439055e-03 -1.32196318e-04 9.99992716e-01 1.07989656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:161.81, Z:1.08 [[ 5.22204586e-02 -9.98635533e-01 -3.09678957e-04 1.53171182e+02] [ 9.98628294e-01 5.22212596e-02 -3.80401647e-03 1.61808834e+02] [ 3.81499784e-03 -1.10606684e-04 9.99992717e-01 1.07939528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:161.83, Z:1.08 [[ 5.35056064e-02 -9.98567501e-01 -3.11381379e-04 1.53174140e+02] [ 9.98560261e-01 5.35064047e-02 -3.80387820e-03 1.61834687e+02] [ 3.81509004e-03 -1.07404262e-04 9.99992717e-01 1.07899249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:161.86, Z:1.08 [[ 5.37365737e-02 -9.98555099e-01 -3.07915060e-04 1.53176257e+02] [ 9.98547858e-01 5.37373571e-02 -3.80415877e-03 1.61861495e+02] [ 3.81520868e-03 -1.03045465e-04 9.99992717e-01 1.07850429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:161.89, Z:1.08 [[ 5.39303233e-02 -9.98544654e-01 -3.06482722e-04 1.53178407e+02] [ 9.98537412e-01 5.39310998e-02 -3.80427416e-03 1.61888261e+02] [ 3.81526658e-03 -1.00868728e-04 9.99992717e-01 1.07783097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:161.91, Z:1.08 [[ 5.50371012e-02 -9.98484264e-01 -3.05059723e-04 1.53181659e+02] [ 9.98477020e-01 5.50378642e-02 -3.80438827e-03 1.61914287e+02] [ 3.81541165e-03 -9.52126217e-05 9.99992717e-01 1.07665611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:161.94, Z:1.08 [[ 5.53862779e-02 -9.98464956e-01 -3.03642756e-04 1.53184101e+02] [ 9.98457712e-01 5.53870330e-02 -3.80450136e-03 1.61939372e+02] [ 3.81547915e-03 -9.24572824e-05 9.99992717e-01 1.07639210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:161.97, Z:1.08 [[ 5.57033571e-02 -9.98447317e-01 -3.02517385e-04 1.53187371e+02] [ 9.98440072e-01 5.57041056e-02 -3.80459084e-03 1.61965713e+02] [ 3.81553498e-03 -9.01169972e-05 9.99992717e-01 1.07619917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:161.99, Z:1.08 [[ 5.57294763e-02 -9.98445860e-01 -3.01120628e-04 1.53190053e+02] [ 9.98438615e-01 5.57302194e-02 -3.80470139e-03 1.61992316e+02] [ 3.81556986e-03 -8.86164467e-05 9.99992717e-01 1.07653253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:162.02, Z:1.07 [[ 5.74233516e-02 -9.98349873e-01 -2.99714380e-04 1.53195470e+02] [ 9.98342626e-01 5.74240770e-02 -3.80481216e-03 1.62021807e+02] [ 3.81574456e-03 -8.07325748e-05 9.99992717e-01 1.07470972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:162.05, Z:1.08 [[ 5.45072229e-02 -9.98513322e-01 -3.28679862e-04 1.53196613e+02] [ 9.98506089e-01 5.45080797e-02 -3.80253594e-03 1.62045589e+02] [ 3.81479850e-03 -1.20923169e-04 9.99992716e-01 1.07688862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.5327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.20, Y:162.07, Z:1.08 [[ 5.53440669e-02 -9.98467299e-01 -2.96833402e-04 1.53201688e+02] [ 9.98460052e-01 5.53447965e-02 -3.80502032e-03 1.62074987e+02] [ 3.81561654e-03 -8.57909944e-05 9.99992717e-01 1.07678325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:153.21, Y:162.10, Z:1.08 [[ 5.33540497e-02 -9.98575607e-01 -3.19408767e-04 1.53205346e+02] [ 9.98568371e-01 5.33548796e-02 -3.80326538e-03 1.62102262e+02] [ 3.81489006e-03 -1.16031882e-04 9.99992717e-01 1.07823638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:162.13, Z:1.08 [[ 5.15515220e-02 -9.98670289e-01 -3.05937595e-04 1.53207189e+02] [ 9.98663049e-01 5.15523137e-02 -3.80430805e-03 1.62128016e+02] [ 3.81502121e-03 -1.09410701e-04 9.99992717e-01 1.07867248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:162.15, Z:1.08 [[ 5.00585437e-02 -9.98746242e-01 -2.93232029e-04 1.53210927e+02] [ 9.98738998e-01 5.00592978e-02 -3.80528713e-03 1.62154951e+02] [ 3.81519521e-03 -1.02375131e-04 9.99992717e-01 1.08051746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.21, Y:162.18, Z:1.08 [[ 4.97752886e-02 -9.98760393e-01 -3.14742290e-04 1.53213206e+02] [ 9.98753158e-01 4.97761266e-02 -3.80363245e-03 1.62180901e+02] [ 3.81458409e-03 -1.25022953e-04 9.99992717e-01 1.08069778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.21, Y:162.21, Z:1.08 [[ 4.85919285e-02 -9.98818669e-01 -3.02780237e-04 1.53213939e+02] [ 9.98811430e-01 4.85927296e-02 -3.80453845e-03 1.62205933e+02] [ 3.81475695e-03 -1.17550501e-04 9.99992717e-01 1.08000136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:162.24, Z:1.08 [[ 5.06282506e-02 -9.98717531e-01 -2.72425825e-04 1.53219456e+02] [ 9.98710279e-01 5.06289214e-02 -3.80683155e-03 1.62236056e+02] [ 3.81574203e-03 -7.93412500e-05 9.99992717e-01 1.07945725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:162.26, Z:1.08 [[ 4.90485269e-02 -9.98796352e-01 -2.97264204e-04 1.53220158e+02] [ 9.98789111e-01 4.90493037e-02 -3.80495476e-03 1.62260845e+02] [ 3.81495554e-03 -1.10276824e-04 9.99992717e-01 1.08074525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:162.29, Z:1.08 [[ 4.94526455e-02 -9.98776432e-01 -2.72162897e-04 1.53224339e+02] [ 9.98769181e-01 4.94533238e-02 -3.80683219e-03 1.62289779e+02] [ 3.81563363e-03 -8.35699906e-05 9.99992717e-01 1.08015084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:162.32, Z:1.08 [[ 4.92404535e-02 -9.98786913e-01 -2.83978294e-04 1.53226788e+02] [ 9.98779666e-01 4.92411784e-02 -3.80595059e-03 1.62315618e+02] [ 3.81531707e-03 -9.62250120e-05 9.99992717e-01 1.07995154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:162.34, Z:1.08 [[ 4.87514395e-02 -9.98810902e-01 -2.82937844e-04 1.53228689e+02] [ 9.98803655e-01 4.87521640e-02 -3.80602794e-03 1.62342754e+02] [ 3.81529603e-03 -9.70500117e-05 9.99992717e-01 1.08060528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:162.37, Z:1.08 [[ 4.82028030e-02 -9.98837532e-01 -2.72934754e-04 1.53232014e+02] [ 9.98830282e-01 4.82034933e-02 -3.80676493e-03 1.62369063e+02] [ 3.81549610e-03 -8.91187569e-05 9.99992717e-01 1.08103922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:162.40, Z:1.08 [[ 4.79601052e-02 -9.98849214e-01 -2.75949970e-04 1.53234665e+02] [ 9.98841965e-01 4.79608087e-02 -3.80654376e-03 1.62395391e+02] [ 3.81539802e-03 -9.30681711e-05 9.99992717e-01 1.08186217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:162.42, Z:1.08 [[ 4.74389087e-02 -9.98874103e-01 -2.77994685e-04 1.53237101e+02] [ 9.98866855e-01 4.74396238e-02 -3.80639443e-03 1.62422414e+02] [ 3.81529678e-03 -9.71084791e-05 9.99992717e-01 1.08237341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:162.45, Z:1.08 [[ 4.74804772e-02 -9.98872128e-01 -2.76619756e-04 1.53239996e+02] [ 9.98864880e-01 4.74811868e-02 -3.80649434e-03 1.62448407e+02] [ 3.81533534e-03 -9.55715920e-05 9.99992717e-01 1.08211502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:162.48, Z:1.08 [[ 4.73149032e-02 -9.98879985e-01 -2.75182005e-04 1.53242068e+02] [ 9.98872736e-01 4.73156086e-02 -3.80659828e-03 1.62475091e+02] [ 3.81535523e-03 -9.47629727e-05 9.99992717e-01 1.08204943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:162.50, Z:1.08 [[ 4.84908345e-02 -9.98823590e-01 -2.73723138e-04 1.53244750e+02] [ 9.98816340e-01 4.84915258e-02 -3.80670318e-03 1.62500793e+02] [ 3.81549819e-03 -8.88089292e-05 9.99992717e-01 1.08150184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:162.53, Z:1.08 [[ 4.97860832e-02 -9.98759867e-01 -2.72204598e-04 1.53247653e+02] [ 9.98752615e-01 4.97867592e-02 -3.80681176e-03 1.62528074e+02] [ 3.81564299e-03 -8.23388071e-05 9.99992717e-01 1.08237127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:162.55, Z:1.08 [[ 5.10315993e-02 -9.98697002e-01 -2.70802419e-04 1.53249570e+02] [ 9.98689750e-01 5.10322609e-02 -3.80691150e-03 1.62554536e+02] [ 3.81577077e-03 -7.61748181e-05 9.99992717e-01 1.08116594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:162.58, Z:1.08 [[ 5.13264709e-02 -9.98681892e-01 -2.69336010e-04 1.53251690e+02] [ 9.98674638e-01 5.13271248e-02 -3.80701525e-03 1.62582083e+02] [ 3.81582143e-03 -7.35783848e-05 9.99992717e-01 1.08138409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:162.61, Z:1.08 [[ 5.21258303e-02 -9.98640488e-01 -2.72801724e-04 1.53253826e+02] [ 9.98633235e-01 5.21264917e-02 -3.80677092e-03 1.62607732e+02] [ 3.81581577e-03 -7.39977725e-05 9.99992717e-01 1.08100137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:162.63, Z:1.08 [[ 5.26314562e-02 -9.98613969e-01 -2.67062943e-04 1.53256710e+02] [ 9.98606714e-01 5.26320920e-02 -3.80717348e-03 1.62633915e+02] [ 3.81595270e-03 -6.63137636e-05 9.99992717e-01 1.08127483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:162.66, Z:1.08 [[ 5.37112645e-02 -9.98556473e-01 -2.65589204e-04 1.53260780e+02] [ 9.98549217e-01 5.37118868e-02 -3.80727629e-03 1.62663071e+02] [ 3.81604568e-03 -6.07102674e-05 9.99992717e-01 1.08045706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:162.69, Z:1.08 [[ 5.25324536e-02 -9.98619178e-01 -2.81076072e-04 1.53262354e+02] [ 9.98611927e-01 5.25331435e-02 -3.80619729e-03 1.62687890e+02] [ 3.81570742e-03 -8.07370357e-05 9.99992717e-01 1.08175725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:162.71, Z:1.08 [[ 5.19497674e-02 -9.98649664e-01 -2.63629394e-04 1.53264331e+02] [ 9.98642409e-01 5.19503950e-02 -3.80740532e-03 1.62713317e+02] [ 3.81595970e-03 -6.54776722e-05 9.99992717e-01 1.08193903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.74, Z:1.08 [[ 5.14101474e-02 -9.98677590e-01 -2.62111511e-04 1.53266494e+02] [ 9.98670334e-01 5.14107732e-02 -3.80750981e-03 1.62739547e+02] [ 3.81595008e-03 -6.60183500e-05 9.99992717e-01 1.08191379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.77, Z:1.08 [[ 5.13255191e-02 -9.98681943e-01 -2.60677061e-04 1.53270454e+02] [ 9.98674687e-01 5.13261401e-02 -3.80760802e-03 1.62768275e+02] [ 3.81596892e-03 -6.49041240e-05 9.99992717e-01 1.08091818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.79, Z:1.08 [[ 4.99176414e-02 -9.98753298e-01 -2.79861243e-04 1.53271880e+02] [ 9.98746049e-01 4.99183456e-02 -3.80629379e-03 1.62794715e+02] [ 3.81551869e-03 -8.95091023e-05 9.99992717e-01 1.08113024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.82, Z:1.08 [[ 4.80495372e-02 -9.98844917e-01 -2.71836681e-04 1.53272836e+02] [ 9.98837666e-01 4.80502244e-02 -3.80683920e-03 1.62818911e+02] [ 3.81550380e-03 -8.86038548e-05 9.99992717e-01 1.08176420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.84, Z:1.08 [[ 4.72460655e-02 -9.98883248e-01 -2.56513321e-04 1.53274422e+02] [ 9.98875993e-01 4.72467002e-02 -3.80787145e-03 1.62844752e+02] [ 3.81573841e-03 -7.63180541e-05 9.99992717e-01 1.08206540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:162.87, Z:1.08 [[ 4.68676364e-02 -9.98901076e-01 -2.55052026e-04 1.53274872e+02] [ 9.98893821e-01 4.68682683e-02 -3.80796932e-03 1.62870037e+02] [ 3.81573850e-03 -7.62993712e-05 9.99992717e-01 1.08296988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:162.90, Z:1.08 [[ 4.60820839e-02 -9.98937624e-01 -2.53607982e-04 1.53275699e+02] [ 9.98930369e-01 4.60827160e-02 -3.80806549e-03 1.62896378e+02] [ 3.81570684e-03 -7.78531212e-05 9.99992717e-01 1.08327101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:162.92, Z:1.08 [[ 4.51650994e-02 -9.98979504e-01 -2.52161264e-04 1.53276826e+02] [ 9.98972249e-01 4.51657326e-02 -3.80816129e-03 1.62923927e+02] [ 3.81566412e-03 -7.99061219e-05 9.99992717e-01 1.08332085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:162.95, Z:1.08 [[ 4.44226514e-02 -9.99012795e-01 -2.50803177e-04 1.53277889e+02] [ 9.99005540e-01 4.44232848e-02 -3.80825073e-03 1.62951559e+02] [ 3.81563271e-03 -8.13811691e-05 9.99992717e-01 1.08299452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:162.98, Z:1.08 [[ 4.40542952e-02 -9.99029107e-01 -2.49430101e-04 1.53279461e+02] [ 9.99021852e-01 4.40549261e-02 -3.80834066e-03 1.62977825e+02] [ 3.81563179e-03 -8.14123578e-05 9.99992717e-01 1.08353711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.00, Z:1.08 [[ 4.32507353e-02 -9.99064219e-01 -2.45451082e-04 1.53279950e+02] [ 9.99056963e-01 4.32513569e-02 -3.80860003e-03 1.63004566e+02] [ 3.81565210e-03 -8.04948607e-05 9.99992717e-01 1.08162493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.03, Z:1.08 [[ 4.27433974e-02 -9.99086053e-01 -2.47321784e-04 1.53280481e+02] [ 9.99078797e-01 4.27440298e-02 -3.80847854e-03 1.63031450e+02] [ 3.81556932e-03 -8.43066382e-05 9.99992717e-01 1.08145062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.06, Z:1.08 [[ 4.21822605e-02 -9.99109902e-01 -2.45948212e-04 1.53281123e+02] [ 9.99102647e-01 4.21828917e-02 -3.80856724e-03 1.63057478e+02] [ 3.81555205e-03 -8.50735338e-05 9.99992717e-01 1.08122298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.08, Z:1.08 [[ 4.17966600e-02 -9.99126108e-01 -2.44511421e-04 1.53282597e+02] [ 9.99118852e-01 4.17972886e-02 -3.80865948e-03 1.63084366e+02] [ 3.81555104e-03 -8.51067251e-05 9.99992717e-01 1.08132533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.11, Z:1.08 [[ 4.14902485e-02 -9.99138879e-01 -2.43041457e-04 1.53283507e+02] [ 9.99131623e-01 4.14908737e-02 -3.80875328e-03 1.63109908e+02] [ 3.81555749e-03 -8.48042854e-05 9.99992717e-01 1.08064673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.28, Y:163.14, Z:1.08 [[ 4.12310334e-02 -9.99149610e-01 -2.41511474e-04 1.53284930e+02] [ 9.99142354e-01 4.12316546e-02 -3.80885030e-03 1.63136969e+02] [ 3.81556921e-03 -8.42615087e-05 9.99992717e-01 1.08105940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.29, Y:163.16, Z:1.08 [[ 4.12267798e-02 -9.99149786e-01 -2.40151084e-04 1.53286352e+02] [ 9.99142529e-01 4.12273959e-02 -3.80893607e-03 1.63162695e+02] [ 3.81559846e-03 -8.29149923e-05 9.99992717e-01 1.08056692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.19, Z:1.08 [[ 4.19595010e-02 -9.99119284e-01 -2.38727549e-04 1.53287943e+02] [ 9.99112026e-01 4.19601064e-02 -3.80902529e-03 1.63188149e+02] [ 3.81568765e-03 -7.86907643e-05 9.99992717e-01 1.08106950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.22, Z:1.08 [[ 4.22288064e-02 -9.99107938e-01 -2.37185229e-04 1.53289554e+02] [ 9.99100680e-01 4.22294039e-02 -3.80912133e-03 1.63215057e+02] [ 3.81573954e-03 -7.61172763e-05 9.99992717e-01 1.08124618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.24, Z:1.08 [[ 4.29318888e-02 -9.99077974e-01 -2.35841044e-04 1.53290489e+02] [ 9.99070714e-01 4.29324761e-02 -3.80920455e-03 1.63241788e+02] [ 3.81581760e-03 -7.20855340e-05 9.99992717e-01 1.08121368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.27, Z:1.08 [[ 4.22772308e-02 -9.99105891e-01 -2.34435168e-04 1.53291354e+02] [ 9.99098632e-01 4.22778174e-02 -3.80929107e-03 1.63267996e+02] [ 3.81579655e-03 -7.31775776e-05 9.99992717e-01 1.08083741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.29, Z:1.08 [[ 4.29777687e-02 -9.99075999e-01 -2.44775613e-04 1.53292824e+02] [ 9.99068742e-01 4.29783897e-02 -3.80865737e-03 1.63293088e+02] [ 3.81565823e-03 -8.08600680e-05 9.99992717e-01 1.08098818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:163.32, Z:1.08 [[ 4.30331088e-02 -9.99073620e-01 -2.31113199e-04 1.53294859e+02] [ 9.99066359e-01 4.30336774e-02 -3.80948624e-03 1.63320700e+02] [ 3.81590286e-03 -6.69633864e-05 9.99992717e-01 1.08138575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:163.35, Z:1.08 [[ 4.26152843e-02 -9.99091530e-01 -2.29726952e-04 1.53296789e+02] [ 9.99084269e-01 4.26158506e-02 -3.80956984e-03 1.63347196e+02] [ 3.81589897e-03 -6.71706821e-05 9.99992717e-01 1.08109296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:163.37, Z:1.08 [[ 4.19174954e-02 -9.99121050e-01 -2.28277035e-04 1.53299248e+02] [ 9.99113789e-01 4.19180612e-02 -3.80965672e-03 1.63374415e+02] [ 3.81587715e-03 -6.83834653e-05 9.99992717e-01 1.08148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:163.40, Z:1.08 [[ 4.14774207e-02 -9.99139416e-01 -2.26909322e-04 1.53300980e+02] [ 9.99132155e-01 4.14779845e-02 -3.80973818e-03 1.63400407e+02] [ 3.81587132e-03 -6.86942866e-05 9.99992717e-01 1.08133780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:163.43, Z:1.08 [[ 4.10758922e-02 -9.99156004e-01 -2.25481197e-04 1.53303412e+02] [ 9.99148743e-01 4.10764534e-02 -3.80982270e-03 1.63427252e+02] [ 3.81586919e-03 -6.87973879e-05 9.99992717e-01 1.08140994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:163.45, Z:1.08 [[ 4.07681838e-02 -9.99168607e-01 -2.24140781e-04 1.53304992e+02] [ 9.99161346e-01 4.07687421e-02 -3.80990156e-03 1.63454493e+02] [ 3.81587197e-03 -6.86300376e-05 9.99992717e-01 1.08160367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.48, Z:1.08 [[ 4.07106424e-02 -9.99170953e-01 -2.22766699e-04 1.53306479e+02] [ 9.99163692e-01 4.07111960e-02 -3.80998190e-03 1.63481131e+02] [ 3.81589235e-03 -6.74735870e-05 9.99992717e-01 1.08179724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.51, Z:1.08 [[ 4.03325043e-02 -9.99186289e-01 -2.21706167e-04 1.53308152e+02] [ 9.99179027e-01 4.03330566e-02 -3.81004361e-03 1.63507787e+02] [ 3.81588542e-03 -6.78555519e-05 9.99992717e-01 1.08148967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.53, Z:1.08 [[ 3.94653536e-02 -9.99220915e-01 -2.20656776e-04 1.53309588e+02] [ 9.99213653e-01 3.94659081e-02 -3.81010439e-03 1.63534811e+02] [ 3.81584441e-03 -7.01161466e-05 9.99992717e-01 1.08089720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.56, Z:1.08 [[ 3.84599723e-02 -9.99260118e-01 -2.19322240e-04 1.53310894e+02] [ 9.99252856e-01 3.84605291e-02 -3.81018121e-03 1.63560777e+02] [ 3.81579737e-03 -7.26189114e-05 9.99992717e-01 1.08067163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.59, Z:1.08 [[ 3.74582313e-02 -9.99298170e-01 -2.17841686e-04 1.53312187e+02] [ 9.99290909e-01 3.74587897e-02 -3.81026585e-03 1.63587600e+02] [ 3.81575178e-03 -7.49613966e-05 9.99992717e-01 1.08057028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.31, Y:163.61, Z:1.08 [[ 3.66934667e-02 -9.99326545e-01 -2.16364118e-04 1.53313807e+02] [ 9.99319283e-01 3.66940250e-02 -3.81034975e-03 1.63614508e+02] [ 3.81572292e-03 -7.64018934e-05 9.99992717e-01 1.08070380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.64, Z:1.08 [[ 3.52885519e-02 -9.99377142e-01 -2.15006905e-04 1.53315295e+02] [ 9.99369881e-01 3.52891153e-02 -3.81042633e-03 1.63640403e+02] [ 3.81564038e-03 -8.04069972e-05 9.99992717e-01 1.08058057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.67, Z:1.08 [[ 3.39425862e-02 -9.99423762e-01 -2.13587515e-04 1.53316073e+02] [ 9.99416501e-01 3.39431540e-02 -3.81050589e-03 1.63668062e+02] [ 3.81555997e-03 -8.41244620e-05 9.99992717e-01 1.08016773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.69, Z:1.08 [[ 3.32472268e-02 -9.99447136e-01 -2.12248466e-04 1.53316762e+02] [ 9.99439875e-01 3.32477945e-02 -3.81058048e-03 1.63693550e+02] [ 3.81553054e-03 -8.54383472e-05 9.99992717e-01 1.07973220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.72, Z:1.08 [[ 3.26389097e-02 -9.99467187e-01 -2.10698672e-04 1.53317491e+02] [ 9.99459926e-01 3.26394759e-02 -3.81066617e-03 1.63719497e+02] [ 3.81551289e-03 -8.62088905e-05 9.99992717e-01 1.07957591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.75, Z:1.08 [[ 3.20859458e-02 -9.99485092e-01 -2.09237812e-04 1.53318099e+02] [ 9.99477831e-01 3.20865105e-02 -3.81074638e-03 1.63746391e+02] [ 3.81549791e-03 -8.68571527e-05 9.99992717e-01 1.07945441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.77, Z:1.08 [[ 3.15706454e-02 -9.99501501e-01 -2.07766146e-04 1.53318639e+02] [ 9.99494240e-01 3.15712082e-02 -3.81082662e-03 1.63773124e+02] [ 3.81548635e-03 -8.73508103e-05 9.99992717e-01 1.07988310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.80, Z:1.08 [[ 3.10593065e-02 -9.99517522e-01 -2.06296251e-04 1.53319577e+02] [ 9.99510261e-01 3.10598675e-02 -3.81090619e-03 1.63800433e+02] [ 3.81547504e-03 -8.78311166e-05 9.99992717e-01 1.08025180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.83, Z:1.08 [[ 3.02809109e-02 -9.99541407e-01 -2.04947400e-04 1.53320351e+02] [ 9.99534146e-01 3.02814723e-02 -3.81097873e-03 1.63826989e+02] [ 3.81543715e-03 -8.94520172e-05 9.99992717e-01 1.08036565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.85, Z:1.08 [[ 2.96684587e-02 -9.99559773e-01 -2.07759760e-04 1.53320517e+02] [ 9.99552513e-01 2.96690353e-02 -3.81082808e-03 1.63853797e+02] [ 3.81531448e-03 -9.46053946e-05 9.99992717e-01 1.08041544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.88, Z:1.08 [[ 3.04437579e-02 -9.99536459e-01 -2.10487113e-04 1.53321170e+02] [ 9.99529200e-01 3.04443392e-02 -3.81068374e-03 1.63880266e+02] [ 3.81532548e-03 -9.43764821e-05 9.99992717e-01 1.08107066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.91, Z:1.08 [[ 3.16573645e-02 -9.99498760e-01 -1.99886512e-04 1.53321109e+02] [ 9.99491497e-01 3.16578967e-02 -3.81123971e-03 1.63906803e+02] [ 3.81565735e-03 -7.91310639e-05 9.99992717e-01 1.08144649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.93, Z:1.08 [[ 3.24315772e-02 -9.99473938e-01 -1.98417984e-04 1.53321891e+02] [ 9.99466674e-01 3.24320981e-02 -3.81131616e-03 1.63933121e+02] [ 3.81574629e-03 -7.47051685e-05 9.99992717e-01 1.08166343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.96, Z:1.08 [[ 3.25722803e-02 -9.99469363e-01 -1.97007969e-04 1.53322203e+02] [ 9.99462099e-01 3.25727949e-02 -3.81138904e-03 1.63960704e+02] [ 3.81578368e-03 -7.27563654e-05 9.99992717e-01 1.08191492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:163.99, Z:1.08 [[ 3.55791013e-02 -9.99366842e-01 -2.07686215e-04 1.53322318e+02] [ 9.99359578e-01 3.55796347e-02 -3.81083966e-03 1.63986243e+02] [ 3.81581620e-03 -7.19669578e-05 9.99992717e-01 1.08287901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:164.01, Z:1.08 [[ 3.62597890e-02 -9.99342379e-01 -1.93622900e-04 1.53322408e+02] [ 9.99335112e-01 3.62602638e-02 -3.81155406e-03 1.64012953e+02] [ 3.81606832e-03 -5.52880160e-05 9.99992717e-01 1.08326719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:164.04, Z:1.08 [[ 3.83741245e-02 -9.99263424e-01 -1.92197959e-04 1.53322176e+02] [ 9.99256155e-01 3.83745785e-02 -3.81162591e-03 1.64040621e+02] [ 3.81619388e-03 -4.57871858e-05 9.99992717e-01 1.08369773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:164.07, Z:1.08 [[ 3.91306274e-02 -9.99234086e-01 -1.90826186e-04 1.53322900e+02] [ 9.99226816e-01 3.91310706e-02 -3.81169459e-03 1.64067015e+02] [ 3.81624239e-03 -4.15246414e-05 9.99992717e-01 1.08404018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:164.09, Z:1.08 [[ 3.98372173e-02 -9.99206165e-01 -1.89389549e-04 1.53323535e+02] [ 9.99198895e-01 3.98376499e-02 -3.81176597e-03 1.64092228e+02] [ 3.81628489e-03 -3.73876786e-05 9.99992717e-01 1.08452336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:164.12, Z:1.08 [[ 4.11316066e-02 -9.99153720e-01 -1.87846127e-04 1.53324545e+02] [ 9.99146449e-01 4.11320240e-02 -3.81184203e-03 1.64119209e+02] [ 3.81634263e-03 -3.08986041e-05 9.99992717e-01 1.08469153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.15, Z:1.08 [[ 4.13686220e-02 -9.99143935e-01 -1.86467128e-04 1.53325589e+02] [ 9.99136664e-01 4.13690323e-02 -3.81190948e-03 1.64146858e+02] [ 3.81636021e-03 -2.86127022e-05 9.99992717e-01 1.08467576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.17, Z:1.08 [[ 4.13760988e-02 -9.99143625e-01 -1.85094429e-04 1.53326749e+02] [ 9.99136354e-01 4.13765039e-02 -3.81197614e-03 1.64174068e+02] [ 3.81637022e-03 -2.72098714e-05 9.99992717e-01 1.08462539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.20, Z:1.08 [[ 4.04959746e-02 -9.99179685e-01 -1.83731677e-04 1.53327685e+02] [ 9.99172413e-01 4.04963809e-02 -3.81204182e-03 1.64201063e+02] [ 3.81635521e-03 -2.92072743e-05 9.99992717e-01 1.08400876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.23, Z:1.08 [[ 3.96195775e-02 -9.99214820e-01 -1.82381196e-04 1.53328755e+02] [ 9.99207548e-01 3.96199850e-02 -3.81210643e-03 1.64226914e+02] [ 3.81633918e-03 -3.12026221e-05 9.99992717e-01 1.08401165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.25, Z:1.08 [[ 3.75707739e-02 -9.99293953e-01 -1.81189634e-04 1.53329848e+02] [ 9.99286682e-01 3.75711918e-02 -3.81216306e-03 1.64253808e+02] [ 3.81627901e-03 -3.78344715e-05 9.99992717e-01 1.08345526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.29, Z:1.08 [[ 3.60051319e-02 -9.99351589e-01 -1.79706485e-04 1.53333518e+02] [ 9.99344318e-01 3.60055555e-02 -3.81223298e-03 1.64285696e+02] [ 3.81623152e-03 -4.23287038e-05 9.99992717e-01 1.08220614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.31, Z:1.08 [[ 3.39192929e-02 -9.99424547e-01 -2.36511854e-04 1.53332082e+02] [ 9.99417292e-01 3.39199482e-02 -3.80955126e-03 1.64306413e+02] [ 3.81538151e-03 -1.07156752e-04 9.99992716e-01 1.08266660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:164.33, Z:1.08 [[ 3.02459603e-02 -9.99542471e-01 -1.76632013e-04 1.53333832e+02] [ 9.99535202e-01 3.02464140e-02 -3.81232561e-03 1.64333404e+02] [ 3.81592384e-03 -6.12424658e-05 9.99992717e-01 1.08215646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.36, Z:1.08 [[ 2.93737748e-02 -9.99568482e-01 -1.75296314e-04 1.53335613e+02] [ 9.99561214e-01 2.93742298e-02 -3.81238703e-03 1.64360055e+02] [ 3.81589111e-03 -6.32351983e-05 9.99992717e-01 1.08189906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.39, Z:1.08 [[ 2.63635457e-02 -9.99652406e-01 -1.73712141e-04 1.53336110e+02] [ 9.99645139e-01 2.63640165e-02 -3.81245921e-03 1.64386076e+02] [ 3.81571377e-03 -7.31405552e-05 9.99992717e-01 1.08234343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.41, Z:1.08 [[ 2.35906221e-02 -9.99721688e-01 -1.72012727e-04 1.53336902e+02] [ 9.99714421e-01 2.35911066e-02 -3.81253588e-03 1.64412644e+02] [ 3.81553278e-03 -8.20235112e-05 9.99992717e-01 1.08250824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.44, Z:1.08 [[ 2.27989695e-02 -9.99740055e-01 -1.72583257e-04 1.53337657e+02] [ 9.99732789e-01 2.27994619e-02 -3.81251040e-03 1.64439031e+02] [ 3.81545417e-03 -8.56158328e-05 9.99992717e-01 1.08309229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.47, Z:1.08 [[ 2.20823722e-02 -9.99756140e-01 -1.68779950e-04 1.53338645e+02] [ 9.99748874e-01 2.20828554e-02 -3.81267877e-03 1.64466603e+02] [ 3.81547615e-03 -8.45445735e-05 9.99992717e-01 1.08370621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.49, Z:1.08 [[ 2.18108739e-02 -9.99762101e-01 -1.67394269e-04 1.53339393e+02] [ 9.99754834e-01 2.18113538e-02 -3.81273961e-03 1.64493568e+02] [ 3.81548365e-03 -8.41940462e-05 9.99992717e-01 1.08376472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.52, Z:1.08 [[ 2.16428289e-02 -9.99765753e-01 -1.66017478e-04 1.53339971e+02] [ 9.99758486e-01 2.16433047e-02 -3.81279955e-03 1.64520207e+02] [ 3.81549958e-03 -8.34576141e-05 9.99992717e-01 1.08328139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.55, Z:1.08 [[ 2.14265997e-02 -9.99770411e-01 -1.64577804e-04 1.53339225e+02] [ 9.99763143e-01 2.14270716e-02 -3.81286170e-03 1.64547183e+02] [ 3.81551272e-03 -8.28421611e-05 9.99992717e-01 1.08306434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.57, Z:1.08 [[ 2.14662153e-02 -9.99769562e-01 -1.57648140e-04 1.53339940e+02] [ 9.99762293e-01 2.14666605e-02 -3.81315773e-03 1.64574474e+02] [ 3.81566321e-03 -7.57566011e-05 9.99992717e-01 1.08253106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.60, Z:1.08 [[ 2.31574802e-02 -9.99731817e-01 -1.56004350e-04 1.53341858e+02] [ 9.99724547e-01 2.31579068e-02 -3.81322736e-03 1.64601896e+02] [ 3.81581745e-03 -6.76566413e-05 9.99992717e-01 1.08413721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.63, Z:1.08 [[ 2.24726552e-02 -9.99747445e-01 -1.60477775e-04 1.53341618e+02] [ 9.99740176e-01 2.24731039e-02 -3.81303909e-03 1.64628544e+02] [ 3.81568252e-03 -7.47469668e-05 9.99992717e-01 1.08292936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.66, Z:1.08 [[ 2.25696000e-02 -9.99745263e-01 -1.49809956e-04 1.53342540e+02] [ 9.99737992e-01 2.25700073e-02 -3.81348463e-03 1.64656444e+02] [ 3.81589440e-03 -6.37018814e-05 9.99992717e-01 1.08307358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:164.69, Z:1.08 [[ 2.33595985e-02 -9.99727116e-01 -1.50381128e-04 1.53343909e+02] [ 9.99719845e-01 2.33600022e-02 -3.81346097e-03 1.64685016e+02] [ 3.81593324e-03 -6.12580805e-05 9.99992717e-01 1.08489101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.50275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.34, Y:164.71, Z:1.08 [[ 2.27369584e-02 -9.99741470e-01 -1.56789243e-04 1.53344583e+02] [ 9.99734200e-01 2.27373910e-02 -3.81319749e-03 1.64711337e+02] [ 3.81577664e-03 -7.00470559e-05 9.99992717e-01 1.08340318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.74, Z:1.09 [[ 2.24278386e-02 -9.99748452e-01 -1.55353338e-04 1.53345315e+02] [ 9.99741182e-01 2.24282681e-02 -3.81325598e-03 1.64738527e+02] [ 3.81578108e-03 -6.97900400e-05 9.99992717e-01 1.08527396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.77, Z:1.09 [[ 2.20763108e-02 -9.99756277e-01 -1.54012937e-04 1.53346227e+02] [ 9.99749007e-01 2.20767377e-02 -3.81331012e-03 1.64766261e+02] [ 3.81578083e-03 -6.97904610e-05 9.99992717e-01 1.08537948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.592755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.35, Y:164.79, Z:1.08 [[ 2.10814566e-02 -9.99777750e-01 -1.52672091e-04 1.53346861e+02] [ 9.99770480e-01 2.10818856e-02 -3.81336380e-03 1.64792153e+02] [ 3.81573490e-03 -7.22457864e-05 9.99992717e-01 1.08438399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.82, Z:1.09 [[ 2.06002969e-02 -9.99787780e-01 -1.51488968e-04 1.53347729e+02] [ 9.99780510e-01 2.06007249e-02 -3.81341080e-03 1.64818246e+02] [ 3.81572230e-03 -7.28983225e-05 9.99992717e-01 1.08564638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.84, Z:1.09 [[ 1.93107376e-02 -9.99813519e-01 -1.50012377e-04 1.53348113e+02] [ 9.99806249e-01 1.93111693e-02 -3.81346889e-03 1.64843721e+02] [ 3.81565466e-03 -7.63424152e-05 9.99992717e-01 1.08562499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.87, Z:1.09 [[ 1.77945135e-02 -9.99841654e-01 -1.48478273e-04 1.53347512e+02] [ 9.99834385e-01 1.77949504e-02 -3.81352862e-03 1.64868854e+02] [ 3.81556693e-03 -8.05937959e-05 9.99992717e-01 1.08566857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.90, Z:1.09 [[ 1.75879587e-02 -9.99845311e-01 -1.34437764e-04 1.53349126e+02] [ 9.99838038e-01 1.75883436e-02 -3.81406864e-03 1.64896091e+02] [ 3.81584318e-03 -6.73343086e-05 9.99992717e-01 1.08552554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.92, Z:1.09 [[ 1.65967216e-02 -9.99862254e-01 -1.45726064e-04 1.53349482e+02] [ 9.99854985e-01 1.65971568e-02 -3.81363730e-03 1.64921571e+02] [ 3.81553062e-03 -8.24110551e-05 9.99992717e-01 1.08508449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:164.95, Z:1.09 [[ 1.68824486e-02 -9.99857471e-01 -1.44232495e-04 1.53350087e+02] [ 9.99850201e-01 1.68828760e-02 -3.81369378e-03 1.64947247e+02] [ 3.81558528e-03 -7.98263994e-05 9.99992717e-01 1.08555239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80275509600006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:153.35, Y:164.97, Z:1.08 [[ 1.54549637e-02 -9.99880557e-01 -1.27411624e-04 1.53349411e+02] [ 9.99873284e-01 1.54553373e-02 -3.81431905e-03 1.64972612e+02] [ 3.81583264e-03 -6.84453169e-05 9.99992717e-01 1.08358804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.00, Z:1.09 [[ 1.51451665e-02 -9.99885297e-01 -1.26905014e-04 1.53349487e+02] [ 9.99878024e-01 1.51455405e-02 -3.81433769e-03 1.64999557e+02] [ 3.81582222e-03 -6.91207555e-05 9.99992717e-01 1.08595500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.03, Z:1.09 [[ 1.47278187e-02 -9.99891530e-01 -1.39285967e-04 1.53349606e+02] [ 9.99884260e-01 1.47282429e-02 -3.81388553e-03 1.65025926e+02] [ 3.81552327e-03 -8.30996314e-05 9.99992717e-01 1.08608152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.05, Z:1.09 [[ 1.41299285e-02 -9.99900158e-01 -1.37832196e-04 1.53348542e+02] [ 9.99892888e-01 1.41303515e-02 -3.81393806e-03 1.65053630e+02] [ 3.81550489e-03 -8.39267600e-05 9.99992717e-01 1.08575428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.08, Z:1.09 [[ 1.36456355e-02 -9.99906885e-01 -1.36478212e-04 1.53348073e+02] [ 9.99899614e-01 1.36460569e-02 -3.81398651e-03 1.65079759e+02] [ 3.81549376e-03 -8.44202414e-05 9.99992717e-01 1.08564197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.11, Z:1.09 [[ 1.25234714e-02 -9.99921569e-01 -1.35434019e-04 1.53346577e+02] [ 9.99914299e-01 1.25238970e-02 -3.81402359e-03 1.65106511e+02] [ 3.81542062e-03 -8.76575962e-05 9.99992717e-01 1.08556586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.13, Z:1.09 [[ 1.15898126e-02 -9.99932827e-01 -1.33954180e-04 1.53346415e+02] [ 9.99925557e-01 1.15902393e-02 -3.81407557e-03 1.65131856e+02] [ 3.81537192e-03 -8.97397870e-05 9.99992717e-01 1.08576532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:165.16, Z:1.09 [[ 1.03086242e-02 -9.99946856e-01 -1.32413549e-04 1.53346374e+02] [ 9.99939586e-01 1.03090543e-02 -3.81412905e-03 1.65157982e+02] [ 3.81529141e-03 -9.30871266e-05 9.99992717e-01 1.08617300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.18, Z:1.09 [[ 7.61060441e-03 -9.99971030e-01 -1.30965855e-04 1.53344208e+02] [ 9.99963761e-01 7.61104863e-03 -3.81417876e-03 1.65183312e+02] [ 3.81506505e-03 -1.01932904e-04 9.99992717e-01 1.08601227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.21, Z:1.09 [[ 6.68815292e-03 -9.99977628e-01 -1.14571474e-04 1.53344511e+02] [ 9.99970355e-01 6.68854135e-03 -3.81473469e-03 1.65210703e+02] [ 3.81541566e-03 -8.90545481e-05 9.99992717e-01 1.08637582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.24, Z:1.09 [[ 5.49359796e-03 -9.99984905e-01 -1.05625025e-04 1.53344290e+02] [ 9.99977631e-01 5.49396097e-03 -3.81503381e-03 1.65237535e+02] [ 3.81555652e-03 -8.46644004e-05 9.99992717e-01 1.08619002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.13275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.35, Y:165.27, Z:1.09 [[ 4.61709734e-03 -9.99989335e-01 -1.07629018e-04 1.53345336e+02] [ 9.99982062e-01 4.61747436e-03 -3.81496662e-03 1.65266214e+02] [ 3.81542291e-03 -9.00130153e-05 9.99992717e-01 1.08776458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.34, Y:165.29, Z:1.09 [[ 3.75968769e-03 -9.99992924e-01 -1.27626976e-04 1.53343185e+02] [ 9.99985656e-01 3.76014717e-03 -3.81429748e-03 1.65292637e+02] [ 3.81475039e-03 -1.13284578e-04 9.99992717e-01 1.08817567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.19275509600004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:153.34, Y:165.32, Z:1.09 [[ 3.44108066e-03 -9.99994074e-01 -1.06421330e-04 1.53343218e+02] [ 9.99986801e-01 3.44146163e-03 -3.81499679e-03 1.65320028e+02] [ 3.81534042e-03 -9.32922134e-05 9.99992717e-01 1.08698860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.35, Z:1.09 [[ 4.03482100e-03 -9.99991853e-01 -1.19085572e-04 1.53342776e+02] [ 9.99984583e-01 4.03524593e-03 -3.81458411e-03 1.65346000e+02] [ 3.81503357e-03 -1.03692572e-04 9.99992717e-01 1.08983437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.37, Z:1.09 [[ 4.61124185e-03 -9.99989362e-01 -1.10454161e-04 1.53340456e+02] [ 9.99982090e-01 4.61162968e-03 -3.81486289e-03 1.65373319e+02] [ 3.81533168e-03 -9.28609270e-05 9.99992717e-01 1.09028307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.40, Z:1.09 [[ 6.28638087e-03 -9.99980233e-01 -1.22231001e-04 1.53340170e+02] [ 9.99972963e-01 6.28680142e-03 -3.81448551e-03 1.65397596e+02] [ 3.81517855e-03 -9.82483872e-05 9.99992717e-01 1.09169938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.31275509600005 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.34, Y:165.42, Z:1.09 [[ 8.31034583e-03 -9.99965463e-01 -1.03923327e-04 1.53337833e+02] [ 9.99958188e-01 8.31068186e-03 -3.81506319e-03 1.65424952e+02] [ 3.81579511e-03 -7.22144872e-05 9.99992717e-01 1.08931539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.45, Z:1.09 [[ 9.15316460e-03 -9.99958103e-01 -1.10415084e-04 1.53336854e+02] [ 9.99950829e-01 9.15351925e-03 -3.81485992e-03 1.65452665e+02] [ 3.81571078e-03 -7.54916137e-05 9.99992717e-01 1.09108973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.48, Z:1.09 [[ 1.09902467e-02 -9.99939599e-01 -1.17948922e-04 1.53336463e+02] [ 9.99932325e-01 1.09906167e-02 -3.81462697e-03 1.65477840e+02] [ 3.81569290e-03 -7.60172486e-05 9.99992717e-01 1.09241496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.50, Z:1.09 [[ 1.30424759e-02 -9.99914938e-01 -1.02859688e-04 1.53334659e+02] [ 9.99907661e-01 1.30427734e-02 -3.81508441e-03 1.65504281e+02] [ 3.81610147e-03 -5.30920440e-05 9.99992717e-01 1.09150391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.53, Z:1.09 [[ 1.31440548e-02 -9.99913608e-01 -1.06051669e-04 1.53333612e+02] [ 9.99906331e-01 1.31443638e-02 -3.81498856e-03 1.65530361e+02] [ 3.81605296e-03 -5.58973162e-05 9.99992717e-01 1.09146862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.56, Z:1.09 [[ 1.52267348e-02 -9.99884060e-01 -1.13481917e-04 1.53333465e+02] [ 9.99876785e-01 1.52270569e-02 -3.81476753e-03 1.65555018e+02] [ 3.81605324e-03 -5.53814809e-05 9.99992717e-01 1.09287383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.58, Z:1.09 [[ 1.52007575e-02 -9.99884458e-01 -8.87661165e-05 1.53332495e+02] [ 9.99877179e-01 1.52009856e-02 -3.81548849e-03 1.65582145e+02] [ 3.81639698e-03 -3.07568987e-05 9.99992717e-01 1.09215501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.61, Z:1.09 [[ 1.61042158e-02 -9.99870314e-01 -9.45478700e-05 1.53330743e+02] [ 9.99863035e-01 1.61044593e-02 -3.81532133e-03 1.65608250e+02] [ 3.81634918e-03 -3.30921623e-05 9.99992717e-01 1.09075688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.64, Z:1.09 [[ 1.44261514e-02 -9.99895934e-01 -9.14447925e-05 1.53330165e+02] [ 9.99888655e-01 1.44263953e-02 -3.81540987e-03 1.65636175e+02] [ 3.81633203e-03 -3.63929300e-05 9.99992717e-01 1.09066092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.66, Z:1.09 [[ 1.62769207e-02 -9.99867516e-01 -1.07629666e-04 1.53330691e+02] [ 9.99860239e-01 1.62772129e-02 -3.81495325e-03 1.65658127e+02] [ 3.81619975e-03 -4.55189319e-05 9.99992717e-01 1.08995199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.69, Z:1.09 [[ 1.57214091e-02 -9.99876409e-01 -6.78370217e-05 1.53331390e+02] [ 9.99869127e-01 1.57215535e-02 -3.81605227e-03 1.65685643e+02] [ 3.81664715e-03 -7.83442468e-06 9.99992717e-01 1.08996780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.71, Z:1.09 [[ 1.22786830e-02 -9.99924611e-01 -7.53392841e-05 1.53330016e+02] [ 9.99917331e-01 1.22788811e-02 -3.81583980e-03 1.65713299e+02] [ 3.81647721e-03 -2.84795686e-05 9.99992717e-01 1.08952092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.74, Z:1.09 [[ 9.79038619e-03 -9.99952069e-01 -9.09754088e-05 1.53329565e+02] [ 9.99944791e-01 9.79066206e-03 -3.81538965e-03 1.65740510e+02] [ 3.81609748e-03 -5.36162480e-05 9.99992717e-01 1.08897587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.77, Z:1.09 [[ 9.13116126e-03 -9.99958307e-01 -7.53387343e-05 1.53330558e+02] [ 9.99951028e-01 9.13138227e-03 -3.81582185e-03 1.65768540e+02] [ 3.81635071e-03 -4.04921601e-05 9.99992717e-01 1.09039643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.80, Z:1.09 [[ 8.43287000e-03 -9.99964439e-01 -8.90358285e-05 1.53330925e+02] [ 9.99957161e-01 8.43314835e-03 -3.81544629e-03 1.65795275e+02] [ 3.81606146e-03 -5.68568518e-05 9.99992717e-01 1.09035980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.76275509600003 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:153.33, Y:165.82, Z:1.09 [[ 8.37961913e-03 -9.99964887e-01 -8.51407237e-05 1.53332704e+02] [ 9.99957609e-01 8.37988301e-03 -3.81555181e-03 1.65822762e+02] [ 3.81613131e-03 -5.31642434e-05 9.99992717e-01 1.08784935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:165.85, Z:1.09 [[ 7.55993921e-03 -9.99971418e-01 -1.02889683e-04 1.53332939e+02] [ 9.99964143e-01 7.56027676e-03 -3.81507314e-03 1.65849562e+02] [ 3.81574197e-03 -7.40442722e-05 9.99992717e-01 1.08990778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.82275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:153.33, Y:165.88, Z:1.09 [[ 6.10259339e-03 -9.99981374e-01 -1.01533256e-04 1.53333985e+02] [ 9.99974099e-01 6.10293636e-03 -3.81510924e-03 1.65876908e+02] [ 3.81565783e-03 -7.82485659e-05 9.99992717e-01 1.08813756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.90, Z:1.09 [[ 5.24202537e-03 -9.99986256e-01 -1.00168172e-04 1.53335022e+02] [ 9.99978981e-01 5.24236940e-03 -3.81514508e-03 1.65904185e+02] [ 3.81561776e-03 -8.01669789e-05 9.99992717e-01 1.08885726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.88275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.34, Y:165.93, Z:1.09 [[ 4.05659986e-03 -9.99991767e-01 -9.87892400e-05 1.53336034e+02] [ 9.99984493e-01 4.05694725e-03 -3.81518078e-03 1.65929916e+02] [ 3.81555016e-03 -8.33110462e-05 9.99992717e-01 1.08797867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.96, Z:1.09 [[ 3.01084127e-03 -9.99995463e-01 -9.93052266e-05 1.53337194e+02] [ 9.99988189e-01 3.01119823e-03 -3.81516757e-03 1.65955577e+02] [ 3.81544929e-03 -8.78171897e-05 9.99992717e-01 1.08875236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:165.98, Z:1.09 [[ 2.24060118e-03 -9.99997486e-01 -8.70449947e-05 1.53337780e+02] [ 9.99990210e-01 2.24091699e-03 -3.81547549e-03 1.65980695e+02] [ 3.81566096e-03 -7.84951837e-05 9.99992717e-01 1.08865522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.97275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.34, Y:166.01, Z:1.09 [[ 9.21337509e-04 -9.99999572e-01 -8.53747036e-05 1.53338093e+02] [ 9.99992296e-01 9.21656552e-04 -3.81551671e-03 1.66007649e+02] [ 3.81559376e-03 -8.18586672e-05 9.99992717e-01 1.08724981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.03, Z:1.09 [[ 8.50661131e-04 -9.99999634e-01 -9.27142551e-05 1.53338716e+02] [ 9.99992359e-01 8.51008677e-04 -3.81533835e-03 1.66032948e+02] [ 3.81541586e-03 -8.94679867e-05 9.99992717e-01 1.08760534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.06, Z:1.09 [[-3.24879829e-04 -9.99999944e-01 -8.26495403e-05 1.53339858e+02] [ 9.99992668e-01 -3.24562111e-04 -3.81557851e-03 1.66060232e+02] [ 3.81555147e-03 -8.38885388e-05 9.99992717e-01 1.08769334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.09, Z:1.09 [[-9.81022646e-04 -9.99999515e-01 -8.96261708e-05 1.53340775e+02] [ 9.99992240e-01 -9.80673550e-04 -3.81541463e-03 1.66086983e+02] [ 3.81532488e-03 -9.33684835e-05 9.99992717e-01 1.08730236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.11, Z:1.09 [[-1.52490057e-03 -9.99998834e-01 -8.42082231e-05 1.53342019e+02] [ 9.99991559e-01 -1.52456818e-03 -3.81553944e-03 1.66113677e+02] [ 3.81540661e-03 -9.00258306e-05 9.99992717e-01 1.08762094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.14, Z:1.09 [[-1.95467842e-03 -9.99998086e-01 -8.68365520e-05 1.53342887e+02] [ 9.99990811e-01 -1.95433288e-03 -3.81547963e-03 1.66138826e+02] [ 3.81530262e-03 -9.42937897e-05 9.99992717e-01 1.08657141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.152755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:153.34, Y:166.17, Z:1.08 [[-3.41593203e-03 -9.99994163e-01 -7.88244447e-05 1.53343683e+02] [ 9.99986887e-01 -3.41560641e-03 -3.81565865e-03 1.66166316e+02] [ 3.81536715e-03 -9.18574417e-05 9.99992717e-01 1.08376657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.19, Z:1.09 [[-4.76485020e-03 -9.99988645e-01 -8.40224947e-05 1.53345148e+02] [ 9.99981370e-01 -4.76449494e-03 -3.81554419e-03 1.66192176e+02] [ 3.81510053e-03 -1.02201426e-04 9.99992717e-01 1.08554181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:166.22, Z:1.09 [[-5.44511903e-03 -9.99985172e-01 -8.41891910e-05 1.53344805e+02] [ 9.99977898e-01 -5.44475819e-03 -3.81554058e-03 1.66215028e+02] [ 3.81502561e-03 -1.04963403e-04 9.99992717e-01 1.08513634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.24, Z:1.08 [[-5.49387633e-03 -9.99984907e-01 -5.41069797e-05 1.53346950e+02] [ 9.99977628e-01 -5.49362986e-03 -3.81617048e-03 1.66241676e+02] [ 3.81581564e-03 -7.50713380e-05 9.99992717e-01 1.08404580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.27, Z:1.09 [[-5.80508315e-03 -9.99983148e-01 -7.02559997e-05 1.53348022e+02] [ 9.99975872e-01 -5.80477283e-03 -3.81582631e-03 1.66268955e+02] [ 3.81535418e-03 -9.24054935e-05 9.99992717e-01 1.08642486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.29, Z:1.08 [[-6.23720155e-03 -9.99980546e-01 -7.01693391e-05 1.53348065e+02] [ 9.99973270e-01 -6.23688841e-03 -3.81582811e-03 1.66294687e+02] [ 3.81531624e-03 -9.39675525e-05 9.99992717e-01 1.08497589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.32, Z:1.09 [[-2.93613458e-03 -9.99995688e-01 -4.85146912e-05 1.53351811e+02] [ 9.99988408e-01 -2.93592806e-03 -3.81627740e-03 1.66321957e+02] [ 3.81611851e-03 -5.97192329e-05 9.99992717e-01 1.08810453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.35, Z:1.09 [[-2.21345838e-03 -9.99997549e-01 -5.12109978e-05 1.53352404e+02] [ 9.99990269e-01 -2.21324684e-03 -3.81622347e-03 1.66348941e+02] [ 3.81610077e-03 -5.96575513e-05 9.99992717e-01 1.08737705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.38, Z:1.09 [[-4.62439349e-04 -9.99999890e-01 -7.59728050e-05 1.53353375e+02] [ 9.99992613e-01 -4.62146094e-04 -3.81573045e-03 1.66375409e+02] [ 3.81569492e-03 -7.77367877e-05 9.99992717e-01 1.08798478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.40, Z:1.09 [[ 1.58638820e-03 -9.99998739e-01 -7.44325413e-05 1.53354489e+02] [ 9.99991461e-01 1.58666067e-03 -3.81576050e-03 1.66400577e+02] [ 3.81587379e-03 -6.83786283e-05 9.99992717e-01 1.08751141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.42, Z:1.09 [[ 3.66743471e-03 -9.99993272e-01 -7.27294745e-05 1.53355729e+02] [ 9.99985994e-01 3.66768553e-03 -3.81579296e-03 1.66424208e+02] [ 3.81603404e-03 -5.87342843e-05 9.99992717e-01 1.08749596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.45, Z:1.09 [[ 3.32897117e-03 -9.99994458e-01 -5.07496208e-05 1.53355919e+02] [ 9.99987177e-01 3.32914060e-03 -3.81619903e-03 1.66450111e+02] [ 3.81634683e-03 -3.80449535e-05 9.99992717e-01 1.08758910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.48, Z:1.09 [[ 3.06147662e-03 -9.99995312e-01 -4.98886647e-05 1.53356177e+02] [ 9.99988031e-01 3.06164472e-03 -3.81621470e-03 1.66478253e+02] [ 3.81634956e-03 -3.82048155e-05 9.99992717e-01 1.08770159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.51, Z:1.09 [[ 5.74116769e-03 -9.99983517e-01 -6.88361709e-05 1.53359002e+02] [ 9.99976238e-01 5.74138857e-03 -3.81587290e-03 1.66507027e+02] [ 3.81620522e-03 -4.69269690e-05 9.99992717e-01 1.08624344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.53, Z:1.09 [[ 5.92618112e-03 -9.99982436e-01 -8.74697678e-05 1.53359149e+02] [ 9.99975159e-01 5.92647174e-03 -3.81553235e-03 1.66530025e+02] [ 3.81598372e-03 -6.48560592e-05 9.99992717e-01 1.08821095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.56, Z:1.09 [[ 5.90939751e-03 -9.99982538e-01 -6.04584232e-05 1.53359781e+02] [ 9.99975257e-01 5.90958520e-03 -3.81600660e-03 1.66557669e+02] [ 3.81629724e-03 -3.79066274e-05 9.99992717e-01 1.08789507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.58, Z:1.09 [[ 6.59861797e-03 -9.99978227e-01 -6.57671200e-05 1.53360765e+02] [ 9.99970947e-01 6.59882089e-03 -3.81591510e-03 1.66582405e+02] [ 3.81626600e-03 -4.05854433e-05 9.99992717e-01 1.08797774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.61, Z:1.09 [[ 6.79627239e-03 -9.99976904e-01 -5.36747309e-05 1.53362712e+02] [ 9.99969622e-01 6.79642774e-03 -3.81611807e-03 1.66611469e+02] [ 3.81639473e-03 -2.77377225e-05 9.99992717e-01 1.08674980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.64, Z:1.09 [[ 6.48574345e-03 -9.99978964e-01 -8.63415373e-05 1.53362893e+02] [ 9.99971686e-01 6.48602570e-03 -3.81559369e-03 1.66636959e+02] [ 3.81607344e-03 -6.15921309e-05 9.99992717e-01 1.08648372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.66, Z:1.09 [[ 4.49419538e-03 -9.99989899e-01 -7.01462222e-05 1.53363400e+02] [ 9.99982620e-01 4.49443033e-03 -3.81584255e-03 1.66663651e+02] [ 3.81611927e-03 -5.29958610e-05 9.99992717e-01 1.08768959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:166.69, Z:1.09 [[ 3.41668503e-03 -9.99994162e-01 -5.66405395e-05 1.53364402e+02] [ 9.99986881e-01 3.41687630e-03 -3.81604301e-03 1.66690193e+02] [ 3.81621426e-03 -4.36015794e-05 9.99992717e-01 1.08776149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:166.72, Z:1.09 [[ 2.07436072e-03 -9.99997847e-01 -5.52160809e-05 1.53365334e+02] [ 9.99990567e-01 2.07455632e-03 -3.81606362e-03 1.66717903e+02] [ 3.81616995e-03 -4.72996676e-05 9.99992717e-01 1.08747081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.81275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:153.37, Y:166.75, Z:1.09 [[-5.37546625e-04 -9.99999854e-01 -5.38682450e-05 1.53366382e+02] [ 9.99992574e-01 -5.37337148e-04 -3.81608265e-03 1.66745909e+02] [ 3.81605315e-03 -5.59191673e-05 9.99992717e-01 1.08626304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:166.77, Z:1.09 [[-1.00167033e-03 -9.99999497e-01 -4.79508551e-05 1.53368462e+02] [ 9.99992217e-01 -1.00148005e-03 -3.81616487e-03 1.66772579e+02] [ 3.81611493e-03 -5.17730210e-05 9.99992717e-01 1.08723481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:166.80, Z:1.09 [[-3.56053983e-03 -9.99993660e-01 -5.19280387e-05 1.53370523e+02] [ 9.99986381e-01 -3.56031575e-03 -3.81611075e-03 1.66798928e+02] [ 3.81590168e-03 -6.55147458e-05 9.99992717e-01 1.08738729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:166.82, Z:1.09 [[-4.22567194e-03 -9.99991070e-01 -5.51862544e-05 1.53371960e+02] [ 9.99983792e-01 -4.22543059e-03 -3.81606700e-03 1.66823980e+02] [ 3.81579974e-03 -7.13108072e-05 9.99992717e-01 1.08694517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:166.85, Z:1.09 [[-5.48298935e-03 -9.99984967e-01 -4.13932941e-05 1.53373200e+02] [ 9.99977687e-01 -5.48279147e-03 -3.81624568e-03 1.66848934e+02] [ 3.81596136e-03 -6.23168050e-05 9.99992717e-01 1.08753209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.962755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:153.37, Y:166.88, Z:1.08 [[-8.60652328e-03 -9.99962962e-01 -3.95703137e-05 1.53373247e+02] [ 9.99955683e-01 -8.60630961e-03 -3.81626951e-03 1.66875628e+02] [ 3.81578761e-03 -7.24133724e-05 9.99992717e-01 1.08418067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.99275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.38, Y:166.90, Z:1.09 [[-8.98094380e-03 -9.99959670e-01 -3.34615774e-05 1.53375869e+02] [ 9.99952390e-01 -8.98075071e-03 -3.81634756e-03 1.66902454e+02] [ 3.81589314e-03 -6.77343872e-05 9.99992717e-01 1.08592767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:166.93, Z:1.09 [[-1.11440835e-02 -9.99937902e-01 -4.80320746e-05 1.53377770e+02] [ 9.99930624e-01 -1.11438190e-02 -3.81616417e-03 1.66929203e+02] [ 3.81539193e-03 -9.05563942e-05 9.99992717e-01 1.08695059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:166.95, Z:1.09 [[-1.01746500e-02 -9.99948236e-01 -4.98947970e-05 1.53379453e+02] [ 9.99940958e-01 -1.01743855e-02 -3.81614147e-03 1.66953009e+02] [ 3.81543628e-03 -8.87197549e-05 9.99992717e-01 1.08716887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:166.98, Z:1.09 [[-1.32563230e-02 -9.99912131e-01 -2.41387721e-05 1.53380792e+02] [ 9.99904850e-01 -1.32561343e-02 -3.81646089e-03 1.66981758e+02] [ 3.81580555e-03 -7.47287135e-05 9.99992717e-01 1.08655063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.01, Z:1.09 [[-1.39756274e-02 -9.99902335e-01 -5.58799008e-05 1.53381815e+02] [ 9.99895059e-01 -1.39753124e-02 -3.81607513e-03 1.67007173e+02] [ 3.81492149e-03 -1.09206081e-04 9.99992717e-01 1.08611546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.03, Z:1.09 [[-1.28238210e-02 -9.99917770e-01 -5.43731374e-05 1.53384894e+02] [ 9.99910493e-01 -1.28235201e-02 -3.81609286e-03 1.67032912e+02] [ 3.81508181e-03 -1.03305162e-04 9.99992717e-01 1.08635923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.17275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:153.39, Y:167.06, Z:1.08 [[-1.25007446e-02 -9.99921862e-01 -4.31302996e-05 1.53386372e+02] [ 9.99914583e-01 -1.25004890e-02 -3.81621992e-03 1.67060255e+02] [ 3.81538258e-03 -9.08322063e-05 9.99992717e-01 1.08399096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.09, Z:1.09 [[-1.18352240e-02 -9.99929960e-01 -4.17779563e-05 1.53386127e+02] [ 9.99922682e-01 -1.18349784e-02 -3.81623473e-03 1.67086712e+02] [ 3.81547300e-03 -8.69407191e-05 9.99992717e-01 1.08638012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.11, Z:1.09 [[-9.13359116e-03 -9.99958287e-01 -5.13206523e-05 1.53385243e+02] [ 9.99951009e-01 -9.13332883e-03 -3.81613286e-03 1.67112248e+02] [ 3.81550495e-03 -8.61731354e-05 9.99992717e-01 1.08752758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.14, Z:1.09 [[-2.33515395e-03 -9.99997273e-01 -3.90581309e-05 1.53387107e+02] [ 9.99989992e-01 -2.33498790e-03 -3.81625836e-03 1.67143287e+02] [ 3.81615675e-03 -4.79692908e-05 9.99992717e-01 1.08778313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.17, Z:1.09 [[-1.98581385e-03 -9.99998025e-01 -7.80423328e-05 1.53385052e+02] [ 9.99990748e-01 -1.98550160e-03 -3.81586307e-03 1.67166476e+02] [ 3.81570058e-03 -8.56192046e-05 9.99992717e-01 1.08722523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.19, Z:1.09 [[ 2.13650606e-03 -9.99997717e-01 -3.61376290e-05 1.53384988e+02] [ 9.99990435e-01 2.13662842e-03 -3.81625989e-03 1.67192828e+02] [ 3.81632839e-03 -2.79838210e-05 9.99992717e-01 1.08752898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.22, Z:1.09 [[ 3.48172186e-03 -9.99993938e-01 -3.46733972e-05 1.53385379e+02] [ 9.99986656e-01 3.48182883e-03 -3.81627319e-03 1.67220482e+02] [ 3.81637078e-03 -2.13857327e-05 9.99992717e-01 1.08765941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.25, Z:1.09 [[ 4.56730182e-03 -9.99989569e-01 -3.33153102e-05 1.53385707e+02] [ 9.99982287e-01 4.56739571e-03 -3.81628505e-03 1.67245724e+02] [ 3.81639740e-03 -1.58845945e-05 9.99992717e-01 1.08812994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.27, Z:1.09 [[ 6.37327268e-03 -9.99979690e-01 -3.21170914e-05 1.53385113e+02] [ 9.99972408e-01 6.37334884e-03 -3.81629513e-03 1.67271099e+02] [ 3.81642231e-03 -7.79391575e-06 9.99992717e-01 1.08787926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.30, Z:1.09 [[ 6.34804954e-03 -9.99979851e-01 -3.05920795e-05 1.53384408e+02] [ 9.99972568e-01 6.34812006e-03 -3.81630735e-03 1.67297665e+02] [ 3.81642466e-03 -6.36513219e-06 9.99992717e-01 1.08755109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.32, Z:1.09 [[ 6.29513064e-03 -9.99980185e-01 -2.91613802e-05 1.53384090e+02] [ 9.99972903e-01 6.29519609e-03 -3.81631829e-03 1.67323884e+02] [ 3.81642624e-03 -5.13636780e-06 9.99992717e-01 1.08710482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.35, Z:1.09 [[ 5.68028682e-03 -9.99983867e-01 -2.76713751e-05 1.53384163e+02] [ 9.99976584e-01 5.68035106e-03 -3.81632909e-03 1.67350842e+02] [ 3.81642470e-03 -5.99288329e-06 9.99992717e-01 1.08682653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.38, Z:1.09 [[ 4.78508351e-03 -9.99988551e-01 -2.63037867e-05 1.53384378e+02] [ 9.99981269e-01 4.78514905e-03 -3.81633852e-03 1.67376620e+02] [ 3.81642069e-03 -8.04179549e-06 9.99992717e-01 1.08731322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.40, Z:1.09 [[ 3.35957340e-03 -9.99994356e-01 -2.47322373e-05 1.53384546e+02] [ 9.99987074e-01 3.35964332e-03 -3.81634870e-03 1.67403127e+02] [ 3.81641025e-03 -1.19106140e-05 9.99992717e-01 1.08749313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.43, Z:1.09 [[ 1.82666429e-03 -9.99998331e-01 -2.32408346e-05 1.53384842e+02] [ 9.99991049e-01 1.82673968e-03 -3.81635778e-03 1.67429510e+02] [ 3.81639387e-03 -1.62694221e-05 9.99992717e-01 1.08792123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.46, Z:1.09 [[-5.01822864e-05 -9.99999999e-01 -2.17596511e-05 1.53384032e+02] [ 9.99992716e-01 -5.00988802e-05 -3.81636623e-03 1.67455089e+02] [ 3.81636513e-03 -2.19510066e-05 9.99992717e-01 1.08885031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.48, Z:1.09 [[-1.46704881e-03 -9.99998924e-01 -2.02181134e-05 1.53383585e+02] [ 9.99991642e-01 -1.46696097e-03 -3.81637439e-03 1.67481517e+02] [ 3.81634063e-03 -2.58167519e-05 9.99992717e-01 1.08859003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.51, Z:1.09 [[-2.86793752e-03 -9.99995887e-01 -1.87653707e-05 1.53383416e+02] [ 9.99988605e-01 -2.86784503e-03 -3.81638154e-03 1.67507701e+02] [ 3.81631203e-03 -2.97103007e-05 9.99992717e-01 1.08814422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.53, Z:1.09 [[-5.33677079e-03 -9.99985759e-01 -1.73100697e-05 1.53383217e+02] [ 9.99978477e-01 -5.33666586e-03 -3.81638814e-03 1.67533291e+02] [ 3.81624141e-03 -3.76768859e-05 9.99992717e-01 1.08714111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.56, Z:1.09 [[-6.89423929e-03 -9.99976234e-01 -1.57964927e-05 1.53382862e+02] [ 9.99968953e-01 -6.89412880e-03 -3.81639440e-03 1.67559659e+02] [ 3.81619480e-03 -4.21071385e-05 9.99992717e-01 1.08690878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.59, Z:1.09 [[-9.39542287e-03 -9.99955862e-01 -1.43807970e-05 1.53382495e+02] [ 9.99948580e-01 -9.39529957e-03 -3.81639974e-03 1.67585624e+02] [ 3.81609618e-03 -5.02367469e-05 9.99992717e-01 1.08596427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.61, Z:1.09 [[-1.07684546e-02 -9.99942018e-01 -1.28880735e-05 1.53382120e+02] [ 9.99934737e-01 -1.07683270e-02 -3.81640478e-03 1.67612190e+02] [ 3.81604472e-03 -5.39840141e-05 9.99992717e-01 1.08593327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.64, Z:1.09 [[-1.20973276e-02 -9.99926825e-01 -1.13940438e-05 1.53381308e+02] [ 9.99919543e-01 -1.20971960e-02 -3.81640924e-03 1.67639723e+02] [ 3.81599214e-03 -5.75614797e-05 9.99992717e-01 1.08549828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.67, Z:1.09 [[-1.38348169e-02 -9.99904294e-01 -1.00317962e-05 1.53380859e+02] [ 9.99897013e-01 -1.38346779e-02 -3.81641282e-03 1.67667400e+02] [ 3.81590878e-03 -6.28301356e-05 9.99992717e-01 1.08517890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.70, Z:1.09 [[-1.47444840e-02 -9.99891294e-01 -8.66000718e-06 1.53381016e+02] [ 9.99884013e-01 -1.47443435e-02 -3.81641593e-03 1.67695014e+02] [ 3.81587338e-03 -6.49300863e-05 9.99992717e-01 1.08567962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.72, Z:1.09 [[-1.57048450e-02 -9.99876671e-01 -7.28862903e-06 1.53380794e+02] [ 9.99869390e-01 -1.57047028e-02 -3.81641855e-03 1.67720896e+02] [ 3.81583341e-03 -6.72239390e-05 9.99992717e-01 1.08563599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.75, Z:1.08 [[-1.73818178e-02 -9.99848925e-01 -6.22953935e-06 1.53378971e+02] [ 9.99841644e-01 -1.73816674e-02 -3.81642028e-03 1.67747371e+02] [ 3.81573543e-03 -7.25648748e-05 9.99992717e-01 1.08469700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.77, Z:1.09 [[-1.75925411e-02 -9.99845239e-01 9.66251175e-06 1.53380014e+02] [ 9.99837957e-01 -1.75924499e-02 -3.81643908e-03 1.67774583e+02] [ 3.81601843e-03 -5.74799154e-05 9.99992717e-01 1.08590566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.80, Z:1.09 [[-1.79895274e-02 -9.99838175e-01 -3.47572941e-06 1.53379570e+02] [ 9.99830894e-01 -1.79893831e-02 -3.81642712e-03 1.67800832e+02] [ 3.81574700e-03 -7.21308617e-05 9.99992717e-01 1.08603089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-1.79295227e-02 -9.99839253e-01 -2.04899354e-06 1.53378198e+02] [ 9.99831972e-01 -1.79293844e-02 -3.81642788e-03 1.67825949e+02] [ 3.81577767e-03 -7.04753798e-05 9.99992717e-01 1.08668087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.85, Z:1.09 [[-1.79050810e-02 -9.99839691e-01 -8.68431483e-07 1.53377682e+02] [ 9.99832410e-01 -1.79049473e-02 -3.81642815e-03 1.67852094e+02] [ 3.81580079e-03 -6.92017411e-05 9.99992717e-01 1.08724265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.85, Z:1.09 [[-1.82452882e-02 -9.99833541e-01 6.18099486e-07 1.53377379e+02] [ 9.99826259e-01 -1.82451577e-02 -3.81642791e-03 1.67849333e+02] [ 3.81580391e-03 -6.90138349e-05 9.99992717e-01 1.08731527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.85, Z:1.09 [[-1.85023696e-02 -9.99828817e-01 2.74872829e-06 1.53377384e+02] [ 9.99821535e-01 -1.85022454e-02 -3.81642637e-03 1.67848823e+02] [ 3.81582392e-03 -6.78646938e-05 9.99992717e-01 1.08764449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.84, Z:1.09 [[-1.89014101e-02 -9.99821352e-01 4.88039362e-06 1.53377626e+02] [ 9.99814071e-01 -1.89012911e-02 -3.81642365e-03 1.67844823e+02] [ 3.81583410e-03 -6.72563022e-05 9.99992717e-01 1.08767556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.84, Z:1.09 [[-1.95253088e-02 -9.99809363e-01 7.01309604e-06 1.53377816e+02] [ 9.99802081e-01 -1.95251933e-02 -3.81641973e-03 1.67841295e+02] [ 3.81582911e-03 -6.75050656e-05 9.99992717e-01 1.08790774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.84, Z:1.09 [[-1.96024012e-02 -9.99807854e-01 9.14268107e-06 1.53378151e+02] [ 9.99800573e-01 -1.96022933e-02 -3.81641463e-03 1.67840091e+02] [ 3.81586054e-03 -6.56700328e-05 9.99992717e-01 1.08850295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.84, Z:1.09 [[-1.99640255e-02 -9.99800699e-01 1.12722626e-05 1.53378114e+02] [ 9.99793417e-01 -1.99639232e-02 -3.81640834e-03 1.67840769e+02] [ 3.81587276e-03 -6.49209395e-05 9.99992717e-01 1.08863835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.84, Z:1.09 [[-2.03372963e-02 -9.99793176e-01 1.34064876e-05 1.53377573e+02] [ 9.99785894e-01 -2.03371994e-02 -3.81640084e-03 1.67837445e+02] [ 3.81588417e-03 -6.42116577e-05 9.99992717e-01 1.08866059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:167.84, Z:1.09 [[-2.58273646e-02 -9.99666418e-01 1.55427919e-05 1.53374627e+02] [ 9.99659136e-01 -2.58272358e-02 -3.81639214e-03 1.67836461e+02] [ 3.81552049e-03 -8.30298574e-05 9.99992717e-01 1.08634609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.06916934e-02 -9.99785903e-01 3.43715760e-05 1.53376488e+02] [ 9.99778621e-01 -2.06916738e-02 -3.81630564e-03 1.67834240e+02] [ 3.81619978e-03 -4.46018591e-05 9.99992717e-01 1.08749222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.12510636e-02 -9.99774171e-01 1.79739479e-05 1.53376581e+02] [ 9.99766888e-01 -2.12509774e-02 -3.81638286e-03 1.67831881e+02] [ 3.81590298e-03 -6.31324370e-05 9.99992717e-01 1.08748781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.17800073e-02 -9.99762787e-01 2.01091982e-05 1.53376447e+02] [ 9.99755505e-01 -2.17799254e-02 -3.81637161e-03 1.67832982e+02] [ 3.81590430e-03 -6.30163201e-05 9.99992717e-01 1.08722394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.24147166e-02 -9.99748758e-01 2.22475724e-05 1.53376763e+02] [ 9.99741476e-01 -2.24146382e-02 -3.81635915e-03 1.67825109e+02] [ 3.81589899e-03 -6.33007878e-05 9.99992717e-01 1.08711990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.31803453e-02 -9.99731299e-01 2.43838506e-05 1.53376926e+02] [ 9.99724017e-01 -2.31802695e-02 -3.81634550e-03 1.67827469e+02] [ 3.81588527e-03 -6.40870852e-05 9.99992717e-01 1.08690586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.83, Z:1.09 [[-2.42269569e-02 -9.99706484e-01 2.65201205e-05 1.53376792e+02] [ 9.99699202e-01 -2.42268817e-02 -3.81633065e-03 1.67828784e+02] [ 3.81585300e-03 -6.59459351e-05 9.99992717e-01 1.08716236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.82, Z:1.09 [[-2.61006764e-02 -9.99659319e-01 2.86657557e-05 1.53376059e+02] [ 9.99652037e-01 -2.61005957e-02 -3.81631454e-03 1.67819338e+02] [ 3.81576258e-03 -7.09526095e-05 9.99992717e-01 1.08725910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:167.82, Z:1.09 [[-2.72140317e-02 -9.99629629e-01 3.08077320e-05 1.53375759e+02] [ 9.99622347e-01 -2.72139510e-02 -3.81629724e-03 1.67815660e+02] [ 3.81572220e-03 -7.30607367e-05 9.99992717e-01 1.08748470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:168.06, Z:1.09 [[-2.99152611e-02 -9.99552438e-01 3.29393165e-05 1.53373044e+02] [ 9.99545156e-01 -2.99151689e-02 -3.81627885e-03 1.68059479e+02] [ 3.81555621e-03 -8.12406438e-05 9.99992717e-01 1.08876882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:167.81, Z:1.09 [[-3.03350773e-02 -9.99539785e-01 4.04701725e-05 1.53374984e+02] [ 9.99532503e-01 -3.03350108e-02 -3.81620996e-03 1.67811193e+02] [ 3.81568134e-03 -7.53137715e-05 9.99992717e-01 1.08813698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:167.81, Z:1.09 [[-3.27641164e-02 -9.99463112e-01 3.60158548e-05 1.53374979e+02] [ 9.99455830e-01 -3.27640152e-02 -3.81625200e-03 1.67805163e+02] [ 3.81538312e-03 -8.90398686e-05 9.99992717e-01 1.08787838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.37, Y:168.11, Z:1.09 [[-3.31097043e-02 -9.99451723e-01 3.81407102e-05 1.53371797e+02] [ 9.99444441e-01 -3.31096087e-02 -3.81623076e-03 1.68112467e+02] [ 3.81540123e-03 -8.82347512e-05 9.99992717e-01 1.08841873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:168.04, Z:2.26 [[-6.44711612e-02 9.97919570e-01 -3.55692114e-05 1.52836441e+02] [ 9.97912295e-01 6.44708273e-02 3.81625719e-03 1.68044424e+02] [ 3.81061091e-03 2.10543579e-04 -9.99992717e-01 2.26451022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:167.75, Z:2.26 [[-1.41773524e-01 9.89899064e-01 -3.34040204e-04 1.52895018e+02] [ 9.89891831e-01 1.41773766e-01 3.78969265e-03 1.67752129e+02] [ 3.79877134e-03 2.06614410e-04 -9.99992763e-01 2.26390823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:167.73, Z:2.26 [[-2.18292791e-01 9.75883117e-01 -6.31300212e-04 1.52924364e+02] [ 9.75875973e-01 2.18293612e-01 3.73950969e-03 1.67732949e+02] [ 3.78713318e-03 2.00237298e-04 -9.99992809e-01 2.26470889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:167.72, Z:2.27 [[-2.93896457e-01 9.55836820e-01 -9.19726271e-04 1.52954508e+02] [ 9.55829806e-01 2.93897829e-01 3.66717265e-03 1.67717376e+02] [ 3.77552420e-03 1.98667267e-04 -9.99992853e-01 2.26539121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.98, Y:167.71, Z:2.27 [[-3.67790510e-01 9.29907898e-01 -1.20055693e-03 1.52984564e+02] [ 9.29901056e-01 3.67792417e-01 3.57280634e-03 1.67707204e+02] [ 3.76393657e-03 1.97645106e-04 -9.99992897e-01 2.26553251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.88, Y:167.99, Z:2.27 [[-4.36478787e-01 8.99713344e-01 -1.47245541e-03 1.52875062e+02] [ 8.99706721e-01 4.36481232e-01 3.45699544e-03 1.67990681e+02] [ 3.75300407e-03 1.84127148e-04 -9.99992941e-01 2.26871596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:167.70, Z:2.27 [[-5.02650202e-01 8.64488209e-01 -1.70613930e-03 1.53063429e+02] [ 8.64481799e-01 5.02653057e-01 3.33523864e-03 1.67703101e+02] [ 3.74087061e-03 2.01532002e-04 -9.99992983e-01 2.26823498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.85, Y:168.04, Z:2.27 [[-5.75418006e-01 8.17857154e-01 -1.94804204e-03 1.52849851e+02] [ 8.17850991e-01 5.75421254e-01 3.18390095e-03 1.68044439e+02] [ 3.72492096e-03 2.38865820e-04 -9.99993034e-01 2.26793652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.11, Y:167.74, Z:2.26 [[-6.33520189e-01 7.73723107e-01 -2.17349083e-03 1.53112508e+02] [ 7.73717260e-01 6.33523876e-01 3.01662944e-03 1.67740949e+02] [ 3.71099424e-03 2.29428282e-04 -9.99993088e-01 2.26463113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.14, Y:167.74, Z:2.26 [[-6.92710452e-01 7.21211770e-01 -2.41097768e-03 1.53144227e+02] [ 7.21206314e-01 6.92714616e-01 2.81308998e-03 1.67742219e+02] [ 3.69895308e-03 2.09844506e-04 -9.99993137e-01 2.26447057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.18, Y:167.74, Z:2.26 [[-7.48395309e-01 6.63247780e-01 -2.61599254e-03 1.53178117e+02] [ 6.63242691e-01 7.48399850e-01 2.60739971e-03 1.67743373e+02] [ 3.68716049e-03 2.16327779e-04 -9.99993179e-01 2.26392250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:167.75, Z:2.26 [[-8.03263363e-01 5.95617418e-01 -2.80381057e-03 1.53203384e+02] [ 5.95612687e-01 8.03268218e-01 2.38676388e-03 1.67750030e+02] [ 3.67381006e-03 2.47214837e-04 -9.99993221e-01 2.26385649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.24, Y:167.76, Z:2.26 [[-8.43811984e-01 5.36630487e-01 -3.00947635e-03 1.53241152e+02] [ 5.36626394e-01 8.43817335e-01 2.10187625e-03 1.67757538e+02] [ 3.66737919e-03 1.58623927e-04 -9.99993263e-01 2.26358968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:167.77, Z:2.26 [[-8.83695256e-01 4.68052259e-01 -3.12680573e-03 1.53272018e+02] [ 4.68048416e-01 8.83700760e-01 1.90977751e-03 1.67767553e+02] [ 3.65703628e-03 2.24164854e-04 -9.99993288e-01 2.26398073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:167.78, Z:2.26 [[-9.18237846e-01 3.96015973e-01 -3.25686080e-03 1.53301000e+02] [ 3.96012587e-01 9.18243593e-01 1.65363179e-03 1.67779707e+02] [ 3.64545617e-03 2.28669427e-04 -9.99993329e-01 2.26426378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:167.79, Z:2.26 [[-9.46590646e-01 3.22420250e-01 -3.36609546e-03 1.53334550e+02] [ 3.22417340e-01 9.46596604e-01 1.38889309e-03 1.67792484e+02] [ 3.63414179e-03 2.29425663e-04 -9.99993370e-01 2.26426322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.36, Y:167.81, Z:2.26 [[-9.68954110e-01 2.47216511e-01 -3.45394388e-03 1.53362351e+02] [ 2.47214092e-01 9.68960239e-01 1.11733309e-03 1.67809242e+02] [ 3.62295747e-03 2.28780896e-04 -9.99993411e-01 2.26432901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.39, Y:167.83, Z:2.26 [[-9.85358494e-01 1.70458933e-01 -3.52000122e-03 1.53386464e+02] [ 1.70457013e-01 9.85364755e-01 8.40778078e-04 1.67828305e+02] [ 3.61180327e-03 2.28458928e-04 -9.99993451e-01 2.26428084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:167.85, Z:2.27 [[-9.95590823e-01 9.37347922e-02 -3.56407045e-03 1.53418895e+02] [ 9.37333835e-02 9.95597177e-01 5.60609028e-04 1.67847482e+02] [ 3.60092704e-03 2.24064822e-04 -9.99993492e-01 2.26554094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:167.87, Z:2.27 [[-9.99864308e-01 1.60781495e-02 -3.58598033e-03 1.53444171e+02] [ 1.60772531e-02 9.99870714e-01 2.78655207e-04 1.67869887e+02] [ 3.58999697e-03 2.20964682e-04 -9.99993532e-01 2.26606072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:167.89, Z:2.27 [[-9.98109835e-01 -6.13506367e-02 -3.58575056e-03 1.53468205e+02] [-6.13510206e-02 9.98116252e-01 -2.92773025e-06 1.67894091e+02] [ 3.57917553e-03 2.17067260e-04 -9.99993571e-01 2.26629680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:168.46, Z:1.08 [[-9.95283016e-01 9.69485425e-02 3.56346841e-03 1.53419177e+02] [-9.69481496e-02 -9.95289393e-01 2.83251744e-04 1.68456946e+02] [ 3.57414315e-03 -6.35560185e-05 9.99993611e-01 1.08477895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:168.46, Z:1.08 [[-9.95165233e-01 9.81501918e-02 3.56344880e-03 1.53420514e+02] [-9.81498056e-02 -9.95171611e-01 2.83498223e-04 1.68455149e+02] [ 3.57406849e-03 -6.76242312e-05 9.99993611e-01 1.08463299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:168.45, Z:1.08 [[-9.95080541e-01 9.90051571e-02 3.56315279e-03 1.53425326e+02] [-9.90047631e-02 -9.95086918e-01 2.87223632e-04 1.68453411e+02] [ 3.57408335e-03 -6.69584508e-05 9.99993611e-01 1.08344866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:168.45, Z:1.08 [[-9.95133407e-01 9.84723892e-02 3.56244211e-03 1.53423453e+02] [-9.84719596e-02 -9.95139782e-01 2.96212300e-04 1.68452102e+02] [ 3.57429659e-03 -5.60299004e-05 9.99993611e-01 1.08349207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:168.45, Z:1.08 [[-9.94885993e-01 1.00941418e-01 3.56259450e-03 1.53424837e+02] [-1.00941011e-01 -9.94892369e-01 2.94289663e-04 1.68450363e+02] [ 3.57410410e-03 -6.68272263e-05 9.99993611e-01 1.08242794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:168.45, Z:1.08 [[-9.94736780e-01 1.02401421e-01 3.56184920e-03 1.53429857e+02] [-1.02400990e-01 -9.94743155e-01 3.03721952e-04 1.68449310e+02] [ 3.57422667e-03 -6.26134863e-05 9.99993610e-01 1.08190404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.43, Y:168.45, Z:1.08 [[-9.94661416e-01 1.03130898e-01 3.56157710e-03 1.53434137e+02] [-1.03130459e-01 -9.94667791e-01 3.07174211e-04 1.68448245e+02] [ 3.57426518e-03 -6.17727461e-05 9.99993610e-01 1.08038378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.44, Y:168.45, Z:1.08 [[-9.94552501e-01 1.04175988e-01 3.56179335e-03 1.53436119e+02] [-1.04175566e-01 -9.94558877e-01 3.04413579e-04 1.68448046e+02] [ 3.57412578e-03 -6.82965516e-05 9.99993610e-01 1.08046001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.16, Y:168.43, Z:1.08 [[-9.95395650e-01 9.57852317e-02 3.56214645e-03 1.53161948e+02] [-9.57847720e-02 -9.95402023e-01 2.99828877e-04 1.68429464e+02] [ 3.57448696e-03 -4.27510258e-05 9.99993611e-01 1.08249561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:153.42, Y:168.45, Z:1.08 [[-9.95387945e-01 9.58652062e-02 3.56397711e-03 1.53417402e+02] [-9.58648317e-02 -9.95394323e-01 2.76152160e-04 1.68448265e+02] [ 3.57403596e-03 -6.67815348e-05 9.99993611e-01 1.08023754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:168.44, Z:1.08 [[-9.95128493e-01 9.85219668e-02 3.56421570e-03 1.53380894e+02] [-9.85216205e-02 -9.95134873e-01 2.73037563e-04 1.68444870e+02] [ 3.57377554e-03 -7.94448478e-05 9.99993611e-01 1.08167965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.13, Y:168.42, Z:1.08 [[-9.95127823e-01 9.85287743e-02 3.56332516e-03 1.53127352e+02] [-9.85283864e-02 -9.95134200e-01 2.84683126e-04 1.68424162e+02] [ 3.57403621e-03 -6.77925787e-05 9.99993611e-01 1.08225337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:168.42, Z:1.08 [[-9.95302047e-01 9.67529569e-02 3.56380399e-03 1.53090958e+02] [-9.67525801e-02 -9.95308425e-01 2.78406185e-04 1.68421065e+02] [ 3.57402076e-03 -6.77089855e-05 9.99993611e-01 1.08346709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:168.42, Z:1.09 [[-9.95448153e-01 9.52379727e-02 3.56420166e-03 1.53123731e+02] [-9.52376047e-02 -9.95454531e-01 2.73218488e-04 1.68423592e+02] [ 3.57402147e-03 -6.74711899e-05 9.99993611e-01 1.08573781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.34, Y:168.44, Z:1.08 [[-9.95665114e-01 9.29423238e-02 3.56442625e-03 1.53335300e+02] [-9.29419517e-02 -9.95671492e-01 2.70256379e-04 1.68439908e+02] [ 3.57411586e-03 -6.21998845e-05 9.99993611e-01 1.08023510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.47, Y:167.93, Z:2.27 [[-9.91258624e-01 -1.31884922e-01 -3.56485870e-03 1.53467195e+02] [-1.31884821e-01 9.91265012e-01 -2.64477339e-04 1.67930638e+02] [ 3.56860028e-03 2.07985310e-04 -9.99993611e-01 2.26691257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:167.96, Z:2.27 [[-9.77770022e-01 -2.09650603e-01 -3.52262146e-03 1.53482520e+02] [-2.09650014e-01 9.77776345e-01 -5.40004997e-04 1.67958659e+02] [ 3.55754831e-03 2.10516939e-04 -9.99993650e-01 2.26681837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.49, Y:167.99, Z:2.27 [[-9.58010242e-01 -2.86713118e-01 -3.45904926e-03 1.53494088e+02] [-2.86712051e-01 9.58016462e-01 -8.11113570e-04 1.67988164e+02] [ 3.54638304e-03 2.14696001e-04 -9.99993689e-01 2.26621680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:168.02, Z:2.26 [[-9.32450672e-01 -3.61281546e-01 -3.37471233e-03 1.53502896e+02] [-3.61280009e-01 9.32456754e-01 -1.07569831e-03 1.68017374e+02] [ 3.53540326e-03 2.16180488e-04 -9.99993727e-01 2.26439973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:168.51, Z:1.09 [[-9.19981158e-01 3.91948944e-01 3.27016017e-03 1.53294342e+02] [-3.91946684e-01 -9.19986968e-01 1.33232038e-03 1.68513265e+02] [ 3.53070630e-03 -5.60187890e-05 9.99993765e-01 1.08768084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.29, Y:168.51, Z:1.09 [[-9.20389889e-01 3.90988176e-01 3.27089926e-03 1.53289997e+02] [-3.90985916e-01 -9.20395699e-01 1.33050339e-03 1.68511481e+02] [ 3.53073271e-03 -5.42936734e-05 9.99993765e-01 1.08739773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:168.52, Z:1.09 [[-9.24815136e-01 3.80402761e-01 3.27163806e-03 1.53297640e+02] [-3.80400441e-01 -9.24820923e-01 1.32868424e-03 1.68519784e+02] [ 3.53111448e-03 -1.57452666e-05 9.99993765e-01 1.08728343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.32, Y:167.95, Z:2.27 [[-8.98447206e-01 -4.39069309e-01 -3.28028130e-03 1.53315289e+02] [-4.39067443e-01 8.98453155e-01 -1.30732655e-03 1.67953461e+02] [ 3.52118605e-03 2.65700837e-04 -9.99993765e-01 2.26555810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:168.53, Z:1.09 [[-8.91856729e-01 4.52307105e-01 3.13961568e-03 1.53257297e+02] [-4.52304316e-01 -8.91862256e-01 1.58823890e-03 1.68531105e+02] [ 3.51847647e-03 -3.58017235e-06 9.99993810e-01 1.08699950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:168.07, Z:2.26 [[-8.65957142e-01 -5.00108242e-01 -3.15816258e-03 1.53482091e+02] [-5.00105893e-01 8.65962869e-01 -1.55085213e-03 1.68066467e+02] [ 3.51044546e-03 2.36444239e-04 -9.99993810e-01 2.26351871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:168.52, Z:1.09 [[-8.50732278e-01 5.25590649e-01 3.01010770e-03 1.53201770e+02] [-5.25587574e-01 -8.50737602e-01 1.79863046e-03 1.68523423e+02] [ 3.50615515e-03 -5.19222177e-05 9.99993852e-01 1.08783505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:168.52, Z:1.09 [[-8.49937585e-01 5.26874781e-01 3.01110736e-03 1.53200505e+02] [-5.26871720e-01 -8.49942917e-01 1.79695535e-03 1.68523263e+02] [ 3.50603983e-03 -5.91674204e-05 9.99993852e-01 1.08710083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:168.52, Z:1.09 [[-8.49645010e-01 5.27346455e-01 3.01210560e-03 1.53199941e+02] [-5.27343403e-01 -8.49650347e-01 1.79528051e-03 1.68523680e+02] [ 3.50597138e-03 -6.30628917e-05 9.99993852e-01 1.08761419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:168.52, Z:1.09 [[-8.49252186e-01 5.27978831e-01 3.01310124e-03 1.53199307e+02] [-5.27975789e-01 -8.49257528e-01 1.79360793e-03 1.68524077e+02] [ 3.50588593e-03 -6.76190501e-05 9.99993852e-01 1.08763586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.20275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:153.20, Y:168.52, Z:1.09 [[-8.48549570e-01 5.29107307e-01 3.01403325e-03 1.53198376e+02] [-5.29104277e-01 -8.48554920e-01 1.79204039e-03 1.68524123e+02] [ 3.50575440e-03 -7.41027817e-05 9.99993852e-01 1.08571847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:168.38, Z:1.09 [[-8.47964717e-01 5.30044101e-01 3.01502398e-03 1.52954963e+02] [-5.30041083e-01 -8.47970073e-01 1.79037197e-03 1.68380905e+02] [ 3.50562620e-03 -7.99143171e-05 9.99993852e-01 1.08941164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.19, Y:167.90, Z:2.26 [[-8.34709167e-01 -5.50682766e-01 -3.01626901e-03 1.53186920e+02] [-5.50679888e-01 8.34714600e-01 -1.78827755e-03 1.67902255e+02] [ 3.50249740e-03 1.68307020e-04 -9.99993852e-01 2.26374426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:168.35, Z:1.09 [[-8.09150855e-01 5.87593946e-01 2.87195770e-03 1.52871631e+02] [-5.87590558e-01 -8.09155949e-01 1.99657860e-03 1.68345830e+02] [ 3.49703916e-03 -7.20019435e-05 9.99993883e-01 1.09006435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:168.03, Z:2.27 [[-7.92957846e-01 -6.09269732e-01 -2.87195770e-03 1.53334959e+02] [-6.09266483e-01 7.92963030e-01 -1.99657860e-03 1.68032695e+02] [ 3.49381119e-03 1.66584897e-04 -9.99993883e-01 2.26627641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.81, Y:168.32, Z:1.09 [[-7.67896194e-01 6.40568542e-01 2.71653181e-03 1.52810059e+02] [-6.40564795e-01 -7.67900996e-01 2.19164859e-03 1.68317060e+02] [ 3.48992862e-03 -5.71560311e-05 9.99993909e-01 1.08653143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.26, Y:168.00, Z:2.27 [[-7.51686338e-01 -6.59515178e-01 -2.71653181e-03 1.53258188e+02] [-6.59511552e-01 7.51691233e-01 -2.19164859e-03 1.68004121e+02] [ 3.48741865e-03 1.44151807e-04 -9.99993909e-01 2.26762444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.89, Y:168.41, Z:1.09 [[-7.24763789e-01 6.88992676e-01 2.55772035e-03 1.52891842e+02] [-6.88988619e-01 -7.24768301e-01 2.36505137e-03 1.68413598e+02] [ 3.48325770e-03 -4.81366137e-05 9.99993932e-01 1.08579982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:168.00, Z:2.26 [[-7.06877743e-01 -7.07331121e-01 -2.55772035e-03 1.53217790e+02] [-7.07327181e-01 7.06882357e-01 -2.36505137e-03 1.67997352e+02] [ 3.48088183e-03 1.37342946e-04 -9.99993932e-01 2.26497619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:168.37, Z:1.09 [[-6.75386158e-01 7.37460353e-01 2.40109758e-03 1.52818609e+02] [-7.37456070e-01 -6.75390422e-01 2.51460445e-03 1.68370066e+02] [ 3.47609939e-03 -7.23749469e-05 9.99993956e-01 1.08831009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:168.34, Z:1.09 [[-6.78428716e-01 7.34662307e-01 2.40248902e-03 1.52793699e+02] [-7.34658011e-01 -6.78432967e-01 2.51327435e-03 1.68343340e+02] [ 3.47633568e-03 -5.99303149e-05 9.99993956e-01 1.08883295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:167.96, Z:2.27 [[-6.53286048e-01 -7.57107368e-01 -2.40248902e-03 1.53148905e+02] [-7.57103217e-01 6.53290442e-01 -2.51327435e-03 1.67956455e+02] [ 3.47234164e-03 1.77045097e-04 -9.99993956e-01 2.26562982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.72, Y:168.29, Z:1.09 [[-6.32021819e-01 7.74947405e-01 2.22251390e-03 1.52715224e+02] [-7.74942829e-01 -6.32025726e-01 2.66345433e-03 1.68286785e+02] [ 3.46872298e-03 -3.89599601e-05 9.99993983e-01 1.08806458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:167.91, Z:2.26 [[-5.97728217e-01 -8.01695727e-01 -2.22251390e-03 1.53085834e+02] [-8.01691325e-01 5.97732319e-01 -2.66345433e-03 1.67912737e+02] [ 3.46374834e-03 1.89748309e-04 -9.99993983e-01 2.26490530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:168.23, Z:1.09 [[-5.78616584e-01 8.15597152e-01 2.03353855e-03 1.52640821e+02] [-8.15592344e-01 -5.78620156e-01 2.80066768e-03 1.68228389e+02] [ 3.46086297e-03 -3.80257084e-05 9.99994010e-01 1.09052092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.64, Y:168.22, Z:1.09 [[-5.80275510e-01 8.14417701e-01 2.03510351e-03 1.52637963e+02] [-8.14412890e-01 -5.80279077e-01 2.79953004e-03 1.68224705e+02] [ 3.46091480e-03 -3.29158057e-05 9.99994010e-01 1.09116378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.90, Y:167.67, Z:2.26 [[-5.30953833e-01 -8.47398300e-01 -2.03666935e-03 1.52901412e+02] [-8.47393713e-01 5.30957685e-01 -2.79839042e-03 1.67671957e+02] [ 3.45273653e-03 2.40044682e-04 -9.99994010e-01 2.26475573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:168.18, Z:1.09 [[-5.17797687e-01 8.55501206e-01 1.80049426e-03 1.52574798e+02] [-8.55496142e-01 -5.17800817e-01 2.94348989e-03 1.68184175e+02] [ 3.45045655e-03 -1.61836354e-05 9.99994047e-01 1.09143521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:167.88, Z:2.26 [[-4.75821830e-01 -8.79539848e-01 -1.80049426e-03 1.53008562e+02] [-8.79534942e-01 4.75825202e-01 -2.94348989e-03 1.67883990e+02] [ 3.44563720e-03 1.83020866e-04 -9.99994047e-01 2.26408523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.38, Y:167.88, Z:1.09 [[-4.56674216e-01 8.89632552e-01 1.60685827e-03 1.52382686e+02] [-8.89627340e-01 -4.56677042e-01 3.04565062e-03 1.67876933e+02] [ 3.44332522e-03 -3.86349337e-05 9.99994071e-01 1.09260508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.95, Y:167.83, Z:2.26 [[-4.18048003e-01 -9.08423516e-01 -1.60685827e-03 1.52949597e+02] [-9.08418430e-01 4.18051050e-01 -3.04565062e-03 1.67826571e+02] [ 3.43848943e-03 1.86471501e-04 -9.99994071e-01 2.26423950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.43, Y:168.01, Z:1.09 [[-3.93795525e-01 9.19197008e-01 1.39465207e-03 1.52426779e+02] [-9.19191646e-01 -3.93797992e-01 3.13990634e-03 1.68010585e+02] [ 3.43540370e-03 -4.54714655e-05 9.99994098e-01 1.09197931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:167.59, Z:2.27 [[-3.49129400e-01 -9.37073477e-01 -1.40042025e-03 1.52831109e+02] [-9.37068250e-01 3.49132141e-01 -3.13734119e-03 1.67587031e+02] [ 3.42885093e-03 2.16951305e-04 -9.99994098e-01 2.26587018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.89275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:152.40, Y:168.01, Z:1.09 [[-3.20288028e-01 9.47319523e-01 1.14032707e-03 1.52396612e+02] [-9.47314018e-01 -3.20290055e-01 3.22979668e-03 1.68014777e+02] [ 3.42488487e-03 -4.57826121e-05 9.99994134e-01 1.08880280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.40, Y:168.02, Z:1.09 [[-3.25563596e-01 9.45519441e-01 1.15380320e-03 1.52396615e+02] [-9.45513942e-01 -3.25565638e-01 3.22497531e-03 1.68020753e+02] [ 3.42491552e-03 -4.10024517e-05 9.99994134e-01 1.08916340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:167.77, Z:2.27 [[-2.92683530e-01 -9.56208670e-01 -1.15380320e-03 1.52874830e+02] [-9.56203244e-01 2.92685761e-01 -3.22497531e-03 1.67767986e+02] [ 3.42145111e-03 1.59373201e-04 -9.99994134e-01 2.26608926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.34, Y:167.91, Z:1.09 [[-2.52230943e-01 9.67666617e-01 9.32312463e-04 1.52340351e+02] [-9.67661035e-01 -2.52232656e-01 3.28778324e-03 1.67913015e+02] [ 3.41663774e-03 -7.28817733e-05 9.99994161e-01 1.09065122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.26, Y:167.62, Z:1.09 [[-2.51622751e-01 9.67824942e-01 9.34145634e-04 1.52257103e+02] [-9.67819363e-01 -2.51624473e-01 3.28726231e-03 1.67619680e+02] [ 3.41654836e-03 -7.69342471e-05 9.99994161e-01 1.09148949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.83, Y:167.70, Z:2.27 [[-2.32318445e-01 -9.72639331e-01 -9.34145634e-04 1.52826272e+02] [-9.72633786e-01 2.32320278e-01 -3.28726231e-03 1.67698982e+02] [ 3.41434158e-03 1.44889937e-04 -9.99994161e-01 2.26830002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.07275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.22, Y:167.51, Z:1.09 [[-1.83183815e-01 9.83078424e-01 7.08360171e-04 1.52221402e+02] [-9.83072770e-01 -1.83185165e-01 3.33521654e-03 1.67514838e+02] [ 3.40854049e-03 -8.54119061e-05 9.99994187e-01 1.08966649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:167.34, Z:2.27 [[-1.67209503e-01 -9.85921133e-01 -7.08360171e-04 1.52737001e+02] [-9.85915502e-01 1.67210944e-01 -3.33521654e-03 1.67344454e+02] [ 3.40670604e-03 1.40703373e-04 -9.99994187e-01 2.27070948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:167.29, Z:1.09 [[-1.14253151e-01 9.93451553e-01 4.79014699e-04 1.52170333e+02] [-9.93445848e-01 -1.14254119e-01 3.36801216e-03 1.67291430e+02] [ 3.40068631e-03 -9.10691613e-05 9.99994214e-01 1.08884076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:167.71, Z:1.09 [[-1.16231937e-01 9.93221980e-01 4.84411412e-04 1.52231084e+02] [-9.93216277e-01 -1.16232911e-01 3.36723579e-03 1.67712660e+02] [ 3.40071715e-03 -8.97449626e-05 9.99994214e-01 1.08870819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.19275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.23, Y:167.71, Z:1.09 [[-1.16053548e-01 9.93242837e-01 4.91764454e-04 1.52231157e+02] [-9.93237137e-01 -1.16054548e-01 3.36616158e-03 1.67712722e+02] [ 3.40048737e-03 -9.77837259e-05 9.99994214e-01 1.08885136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:152.23, Y:167.71, Z:1.09 [[-1.16844365e-01 9.93150115e-01 4.93863268e-04 1.52230294e+02] [-9.93144416e-01 -1.16845368e-01 3.36585362e-03 1.67706596e+02] [ 3.40050355e-03 -9.71965178e-05 9.99994214e-01 1.08965077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.25275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:152.23, Y:167.70, Z:1.09 [[-1.17550444e-01 9.93066789e-01 4.96448235e-04 1.52229940e+02] [-9.93061091e-01 -1.17551452e-01 3.36547231e-03 1.67702504e+02] [ 3.40049699e-03 -9.73906628e-05 9.99994214e-01 1.08965645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:167.39, Z:1.09 [[-1.17780276e-01 9.93039555e-01 4.98546617e-04 1.52184353e+02] [-9.93033858e-01 -1.17781290e-01 3.36516144e-03 1.67392327e+02] [ 3.40045788e-03 -9.87240281e-05 9.99994214e-01 1.09113132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.23, Y:167.69, Z:1.09 [[-1.21392697e-01 9.92604438e-01 4.93836773e-04 1.52229103e+02] [-9.92598734e-01 -1.21393674e-01 3.36586087e-03 1.67690272e+02] [ 3.40091710e-03 -8.15908279e-05 9.99994214e-01 1.09031367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.22, Y:167.61, Z:1.09 [[-1.23139139e-01 9.92389287e-01 5.05587467e-04 1.52216934e+02] [-9.92383589e-01 -1.23140146e-01 3.36409487e-03 1.67608820e+02] [ 3.40074982e-03 -8.74849594e-05 9.99994214e-01 1.09164085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.74, Y:167.54, Z:2.27 [[-1.06365003e-01 -9.94327024e-01 -5.05587468e-04 1.52741527e+02] [-9.94321344e-01 1.06366106e-01 -3.36409487e-03 1.67535108e+02] [ 3.39878781e-03 1.44894448e-04 -9.99994214e-01 2.26835046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:167.57, Z:1.09 [[-5.86817095e-02 9.98276705e-01 2.77385645e-04 1.52191202e+02] [-9.98270977e-01 -5.86823128e-02 3.38280720e-03 1.67571073e+02] [ 3.39325526e-03 -7.83971297e-05 9.99994240e-01 1.09143891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.43275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:152.19, Y:167.57, Z:1.09 [[-6.01623647e-02 9.98188565e-01 2.79745611e-04 1.52191030e+02] [-9.98182837e-01 -6.01629674e-02 3.38261203e-03 1.67566285e+02] [ 3.39331497e-03 -7.57313288e-05 9.99994240e-01 1.09049967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:167.56, Z:1.09 [[-6.26856659e-02 9.98033280e-01 2.81862688e-04 1.52191589e+02] [-9.98027551e-01 -6.26862613e-02 3.38243561e-03 1.67562073e+02] [ 3.39345222e-03 -6.92765001e-05 9.99994240e-01 1.09288268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.49275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.19, Y:167.56, Z:1.09 [[-6.38531583e-02 9.97959265e-01 2.83982952e-04 1.52191595e+02] [-9.97953535e-01 -6.38537542e-02 3.38225759e-03 1.67557231e+02] [ 3.39348867e-03 -6.74339619e-05 9.99994240e-01 1.09310625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:167.55, Z:1.09 [[-6.55019614e-02 9.97852400e-01 2.86106548e-04 1.52191938e+02] [-9.97846670e-01 -6.55025550e-02 3.38207794e-03 1.67551971e+02] [ 3.39355530e-03 -6.39577271e-05 9.99994240e-01 1.09344165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.19, Y:167.55, Z:1.09 [[-6.69580401e-02 9.97755751e-01 2.88233485e-04 1.52191843e+02] [-9.97750021e-01 -6.69586325e-02 3.38189667e-03 1.67547424e+02] [ 3.39360657e-03 -6.11397932e-05 9.99994240e-01 1.09201343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:167.43, Z:2.27 [[-3.61357967e-02 -9.99346847e-01 -2.88233485e-04 1.52709542e+02] [-9.99341139e-01 3.61365657e-02 -3.38189667e-03 1.67432128e+02] [ 3.39010354e-03 1.65836048e-04 -9.99994240e-01 2.26637560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.69, Y:167.35, Z:2.27 [[ 3.36856478e-02 -9.99432476e-01 -6.13617411e-05 1.52687292e+02] [-9.99426756e-01 -3.36852472e-02 -3.38591399e-03 1.67351852e+02] [ 3.38192542e-03 1.75383272e-04 -9.99994266e-01 2.26843077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.15, Y:167.29, Z:1.09 [[ 6.68071505e-02 9.97765892e-01 -1.73730118e-04 1.52145543e+02] [-9.97760188e-01 6.68073561e-02 3.37401600e-03 1.67292518e+02] [ 3.37808453e-03 -5.20673989e-05 9.99994293e-01 1.09330875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.71, Y:167.32, Z:2.27 [[ 1.13536668e-01 -9.93533792e-01 1.71383170e-04 1.52705885e+02] [-9.93528085e-01 -1.13536598e-01 -3.37413521e-03 1.67318663e+02] [ 3.37177561e-03 2.12814076e-04 -9.99994293e-01 2.26818232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.17, Y:167.22, Z:1.09 [[ 1.42314008e-01 9.89821466e-01 -4.33689295e-04 1.52172894e+02] [-9.89815832e-01 1.42314661e-01 3.34007642e-03 1.67217360e+02] [ 3.36779968e-03 -4.60671308e-05 9.99994328e-01 1.09230346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:167.19, Z:1.09 [[ 1.42267852e-01 9.89828101e-01 -4.34729415e-04 1.52177391e+02] [-9.89822467e-01 1.42268509e-01 3.33994103e-03 1.67189983e+02] [ 3.36781580e-03 -4.48612942e-05 9.99994328e-01 1.08989581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.18, Y:167.16, Z:1.09 [[ 1.41871589e-01 9.89884974e-01 -4.36965359e-04 1.52180854e+02] [-9.89879341e-01 1.41872255e-01 3.33964931e-03 1.67162012e+02] [ 3.36786193e-03 -4.12583711e-05 9.99994328e-01 1.09217341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:167.23, Z:2.27 [[ 1.94733181e-01 -9.80856157e-01 4.33945133e-04 1.52746839e+02] [-9.80850495e-01 -1.94733535e-01 -3.34004327e-03 1.67233590e+02] [ 3.36060568e-03 2.24781954e-04 -9.99994328e-01 2.26989212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.82275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.23, Y:167.09, Z:1.09 [[ 2.20356261e-01 9.75419211e-01 -6.94042135e-04 1.52225724e+02] [-9.75413680e-01 2.20357349e-01 3.28509265e-03 1.67088908e+02] [ 3.35727977e-03 -4.69125407e-05 9.99994363e-01 1.09113557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.77, Y:167.20, Z:2.27 [[ 2.70066566e-01 -9.62841414e-01 6.79463718e-04 1.52770816e+02] [-9.62835828e-01 -2.70067320e-01 -3.28815628e-03 1.67202618e+02] [ 3.34947398e-03 2.33809063e-04 -9.99994363e-01 2.27036971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.79, Y:167.20, Z:2.27 [[ 3.42935772e-01 -9.39358378e-01 9.45680445e-04 1.52787397e+02] [-9.39352918e-01 -3.42937010e-01 -3.20972095e-03 1.67201155e+02] [ 3.33938709e-03 2.12400444e-04 -9.99994402e-01 2.27048131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.29, Y:166.98, Z:1.09 [[ 3.71618491e-01 9.28384769e-01 -1.19043902e-03 1.52293786e+02] [-9.28379541e-01 3.71620394e-01 3.11621992e-03 1.66979278e+02] [ 3.33544252e-03 -5.28657158e-05 9.99994436e-01 1.09198351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.94275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:152.81, Y:167.18, Z:2.27 [[ 4.13760702e-01 -9.10384898e-01 1.19086322e-03 1.52813346e+02] [-9.10379589e-01 -4.13762365e-01 -3.11605780e-03 1.67175090e+02] [ 3.32954634e-03 2.05164699e-04 -9.99994436e-01 2.27182988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.83, Y:167.17, Z:2.27 [[ 4.82266498e-01 -8.76023396e-01 1.42672718e-03 1.52828354e+02] [-8.76018267e-01 -4.82268567e-01 -3.00403751e-03 1.67174716e+02] [ 3.31967281e-03 1.98907573e-04 -9.99994470e-01 2.27101912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.84, Y:167.18, Z:2.27 [[ 5.48583015e-01 -8.36094459e-01 1.65245083e-03 1.52843151e+02] [-8.36089542e-01 -5.48585469e-01 -2.87426635e-03 1.67176296e+02] [ 3.30966869e-03 1.95176843e-04 -9.99994504e-01 2.27144585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.42, Y:166.84, Z:1.09 [[ 5.80190540e-01 8.14478639e-01 -1.86668157e-03 1.52415897e+02] [-8.14474074e-01 5.80193540e-01 2.72765694e-03 1.66838725e+02] [ 3.30465490e-03 -6.21970108e-05 9.99994538e-01 1.09114962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.87, Y:167.15, Z:2.27 [[ 6.10226571e-01 -7.92224815e-01 1.83713387e-03 1.52873393e+02] [-7.92220081e-01 -6.10229296e-01 -2.74774250e-03 1.67148366e+02] [ 3.29790271e-03 2.21331142e-04 -9.99994537e-01 2.27195609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.47, Y:166.79, Z:1.09 [[ 6.44274529e-01 7.64791519e-01 -2.06487294e-03 1.52473320e+02] [-7.64787224e-01 6.44277834e-01 2.56436293e-03 1.66785574e+02] [ 3.29155489e-03 -7.29652745e-05 9.99994580e-01 1.09161491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.92, Y:167.14, Z:2.27 [[ 6.69424551e-01 -7.42877179e-01 2.06569763e-03 1.52916624e+02] [-7.42872778e-01 -6.69427713e-01 -2.56369844e-03 1.67138188e+02] [ 3.28734831e-03 1.81652135e-04 -9.99994580e-01 2.27453440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.55, Y:166.74, Z:1.09 [[ 7.02689653e-01 7.11492902e-01 -2.25887359e-03 1.52547868e+02] [-7.11488919e-01 7.02693280e-01 2.38150785e-03 1.66744905e+02] [ 3.28172122e-03 -6.62973974e-05 9.99994613e-01 1.09143345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.57, Y:166.72, Z:1.09 [[ 7.02907222e-01 7.11277981e-01 -2.25192249e-03 1.52567585e+02] [-7.11273976e-01 7.02910825e-01 2.38806267e-03 1.66724234e+02] [ 3.28147709e-03 -7.68526344e-05 9.99994613e-01 1.09152978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.59, Y:166.70, Z:1.09 [[ 7.03386761e-01 7.10803764e-01 -2.25265265e-03 1.52588050e+02] [-7.10799759e-01 7.03390364e-01 2.38737372e-03 1.66703106e+02] [ 3.28144839e-03 -7.80621138e-05 9.99994613e-01 1.08906671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.61, Y:166.68, Z:1.09 [[ 7.03610217e-01 7.10582582e-01 -2.24873417e-03 1.52606958e+02] [-7.10578564e-01 7.03613805e-01 2.39107097e-03 1.66683250e+02] [ 3.28129379e-03 -8.44796620e-05 9.99994613e-01 1.09183369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.63, Y:166.66, Z:1.09 [[ 7.04006426e-01 7.10190028e-01 -2.25310865e-03 1.52626609e+02] [-7.10186022e-01 7.04010026e-01 2.38694176e-03 1.66662909e+02] [ 3.28139332e-03 -8.02960722e-05 9.99994613e-01 1.09189299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.65, Y:166.64, Z:1.09 [[ 7.04009676e-01 7.10186804e-01 -2.25381757e-03 1.52645157e+02] [-7.10182800e-01 7.04013279e-01 2.38627219e-03 1.66643894e+02] [ 3.28141652e-03 -7.93362415e-05 9.99994613e-01 1.09124406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.66, Y:166.62, Z:1.09 [[ 7.04183209e-01 7.10014737e-01 -2.25412459e-03 1.52664965e+02] [-7.10010733e-01 7.04186812e-01 2.38598214e-03 1.66623399e+02] [ 3.28140729e-03 -7.97159058e-05 9.99994613e-01 1.09106167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.68, Y:166.60, Z:1.09 [[ 7.04156947e-01 7.10040780e-01 -2.25482199e-03 1.52683446e+02] [-7.10036778e-01 7.04160553e-01 2.38532290e-03 1.66603757e+02] [ 3.28143323e-03 -7.86351539e-05 9.99994613e-01 1.09110819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:166.99, Z:2.27 [[ 7.26022794e-01 -6.87666938e-01 2.25512383e-03 1.53090680e+02] [-6.87662826e-01 -7.26026274e-01 -2.38503750e-03 1.66987523e+02] [ 3.27739058e-03 1.80826761e-04 -9.99994613e-01 2.27417805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.75, Y:166.57, Z:1.09 [[ 7.56947623e-01 6.53471042e-01 -2.42745330e-03 1.52754247e+02] [-6.53467362e-01 7.56951512e-01 2.19440675e-03 1.66567062e+02] [ 3.27144571e-03 -7.47894681e-05 9.99994646e-01 1.09183717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.78, Y:166.55, Z:1.09 [[ 7.56802388e-01 6.53639235e-01 -2.42807911e-03 1.52775158e+02] [-6.53635558e-01 7.56806280e-01 2.19371408e-03 1.66548207e+02] [ 3.27148312e-03 -7.31292148e-05 9.99994646e-01 1.09187425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.80, Y:166.53, Z:1.09 [[ 7.56084030e-01 6.54470046e-01 -2.42869965e-03 1.52795495e+02] [-6.54466376e-01 7.56087927e-01 2.19302686e-03 1.66529561e+02] [ 3.27158087e-03 -6.86103248e-05 9.99994646e-01 1.09202378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.82, Y:166.51, Z:1.09 [[ 7.55966272e-01 6.54606062e-01 -2.42895252e-03 1.52816124e+02] [-6.54602393e-01 7.55970171e-01 2.19274675e-03 1.66511244e+02] [ 3.27160097e-03 -6.76444589e-05 9.99994646e-01 1.09213530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.20, Y:166.94, Z:2.27 [[ 7.80681258e-01 -6.24924717e-01 2.42330814e-03 1.53204685e+02] [-6.24920880e-01 -7.80684993e-01 -2.19899127e-03 1.66938865e+02] [ 3.26604429e-03 2.02335413e-04 -9.99994646e-01 2.27446623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.23, Y:166.96, Z:2.28 [[ 8.27254785e-01 -5.61821005e-01 2.58457319e-03 1.53228022e+02] [-5.61817515e-01 -8.27258800e-01 -1.98948984e-03 1.66959259e+02] [ 3.25584810e-03 1.93756505e-04 -9.99994681e-01 2.27550937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.96, Y:166.49, Z:1.09 [[ 8.47581288e-01 5.30658584e-01 -2.72543357e-03 1.52961601e+02] [-5.30655624e-01 8.47585668e-01 1.77340728e-03 1.66487786e+02] [ 3.25111223e-03 -5.68401724e-05 9.99994714e-01 1.09044664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:152.99, Y:166.47, Z:1.09 [[ 8.46940564e-01 5.31680609e-01 -2.72222871e-03 1.52986394e+02] [-5.31677639e-01 8.46944937e-01 1.77832360e-03 1.66470826e+02] [ 3.25107800e-03 -5.87862606e-05 9.99994714e-01 1.09141620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.01, Y:166.46, Z:1.09 [[ 8.47533974e-01 5.30734142e-01 -2.72636261e-03 1.53010971e+02] [-5.30731187e-01 8.47538357e-01 1.77198216e-03 1.66456070e+02] [ 3.25114832e-03 -5.48494216e-05 9.99994714e-01 1.08962542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.04, Y:166.44, Z:1.09 [[ 8.46826125e-01 5.31862866e-01 -2.72120375e-03 1.53036568e+02] [-5.31859891e-01 8.46830495e-01 1.77989649e-03 1.66438881e+02] [ 3.25105917e-03 -5.99637179e-05 9.99994714e-01 1.09240067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.06, Y:166.42, Z:1.09 [[ 8.46502376e-01 5.32377975e-01 -2.72364963e-03 1.53064218e+02] [-5.32375015e-01 8.46506756e-01 1.77614583e-03 1.66420723e+02] [ 3.25116873e-03 -5.35086559e-05 9.99994714e-01 1.09307112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.09, Y:166.40, Z:1.09 [[ 8.46316827e-01 5.32672895e-01 -2.72312622e-03 1.53091669e+02] [-5.32669934e-01 8.46321206e-01 1.77694793e-03 1.66402614e+02] [ 3.25117147e-03 -5.33334694e-05 9.99994714e-01 1.09285186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.12, Y:166.38, Z:1.09 [[ 8.45271426e-01 5.34330239e-01 -2.72254504e-03 1.53120344e+02] [-5.34327283e-01 8.45275809e-01 1.77783794e-03 1.66380735e+02] [ 3.25125403e-03 -4.80255170e-05 9.99994714e-01 1.09139606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.15, Y:166.37, Z:1.09 [[ 8.46250541e-01 5.32778293e-01 -2.70411486e-03 1.53145288e+02] [-5.32775239e-01 8.46254857e-01 1.80602687e-03 1.66366703e+02] [ 3.25058224e-03 -8.76657754e-05 9.99994713e-01 1.09324608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.17, Y:166.35, Z:1.09 [[ 8.46158813e-01 5.32923873e-01 -2.72190551e-03 1.53172039e+02] [-5.32920907e-01 8.46163189e-01 1.77880381e-03 1.66348981e+02] [ 3.25114326e-03 -5.45901649e-05 9.99994714e-01 1.09391445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.87275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:153.20, Y:166.33, Z:1.09 [[ 8.46399310e-01 5.32541832e-01 -2.72137877e-03 1.53195420e+02] [-5.32538861e-01 8.46403683e-01 1.77960930e-03 1.66334159e+02] [ 3.25110141e-03 -5.70201324e-05 9.99994714e-01 1.09283811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.22, Y:166.32, Z:1.09 [[ 8.46029036e-01 5.33129868e-01 -2.72284922e-03 1.53219252e+02] [-5.33126908e-01 8.46033416e-01 1.77736050e-03 1.66318237e+02] [ 3.25118540e-03 -5.20743996e-05 9.99994714e-01 1.09262961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.25, Y:166.30, Z:1.09 [[ 8.45943339e-01 5.33265845e-01 -2.72133313e-03 1.53245901e+02] [-5.33262878e-01 8.45947714e-01 1.77967877e-03 1.66300680e+02] [ 3.25114745e-03 -5.43214624e-05 9.99994714e-01 1.09162994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.27, Y:166.28, Z:1.09 [[ 8.45300584e-01 5.34284136e-01 -2.71745083e-03 1.53272595e+02] [-5.34281155e-01 8.45304950e-01 1.78561070e-03 1.66282416e+02] [ 3.25109811e-03 -5.74950020e-05 9.99994714e-01 1.09205192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.30, Y:166.26, Z:1.09 [[ 8.44674658e-01 5.35273129e-01 -2.72026961e-03 1.53298893e+02] [-5.35270167e-01 8.44679037e-01 1.78130610e-03 1.66264531e+02] [ 3.25124000e-03 -4.85449512e-05 9.99994714e-01 1.09202353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.33, Y:166.25, Z:1.09 [[ 8.44280291e-01 5.35894947e-01 -2.71976251e-03 1.53326319e+02] [-5.35891986e-01 8.44284670e-01 1.78208002e-03 1.66245958e+02] [ 3.25126147e-03 -4.70761027e-05 9.99994714e-01 1.09192127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.35, Y:166.23, Z:1.09 [[ 8.43940511e-01 5.36429884e-01 -2.71922158e-03 1.53353409e+02] [-5.36426923e-01 8.43944890e-01 1.78290502e-03 1.66227643e+02] [ 3.25127669e-03 -4.60021110e-05 9.99994714e-01 1.09187839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.38, Y:166.21, Z:1.09 [[ 8.43590831e-01 5.36979625e-01 -2.71868366e-03 1.53376222e+02] [-5.36976665e-01 8.43595211e-01 1.78372490e-03 1.66211713e+02] [ 3.25129244e-03 -4.48642869e-05 9.99994714e-01 1.09068028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.40, Y:166.20, Z:1.09 [[ 8.43883740e-01 5.36519163e-01 -2.72421138e-03 1.53400173e+02] [-5.36516227e-01 8.43888136e-01 1.77529490e-03 1.66195908e+02] [ 3.25140940e-03 -3.65588896e-05 9.99994714e-01 1.09112362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.42, Y:166.18, Z:1.09 [[ 8.43724963e-01 5.36768846e-01 -2.71898489e-03 1.53423344e+02] [-5.36765885e-01 8.43729343e-01 1.78326386e-03 1.66178710e+02] [ 3.25128782e-03 -4.51259060e-05 9.99994714e-01 1.08964518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.45, Y:166.16, Z:1.09 [[ 8.43709111e-01 5.36793735e-01 -2.72428463e-03 1.53452486e+02] [-5.36790801e-01 8.43713509e-01 1.77518960e-03 1.66157597e+02] [ 3.25142640e-03 -3.53727132e-05 9.99994713e-01 1.08929936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.48, Y:166.14, Z:1.09 [[ 8.44709065e-01 5.35218917e-01 -2.70309324e-03 1.53477040e+02] [-5.35215871e-01 8.44713386e-01 1.80748896e-03 1.66142939e+02] [ 3.25074133e-03 -8.00639030e-05 9.99994713e-01 1.09099873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.50, Y:166.12, Z:1.09 [[ 8.44852377e-01 5.34992587e-01 -2.71888900e-03 1.53504096e+02] [-5.34989617e-01 8.44856751e-01 1.78340758e-03 1.66124402e+02] [ 3.25118156e-03 -5.21387493e-05 9.99994714e-01 1.09123173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.53, Y:166.11, Z:1.09 [[ 8.45344105e-01 5.34215269e-01 -2.71835415e-03 1.53530442e+02] [-5.34212293e-01 8.45348474e-01 1.78422245e-03 1.66105663e+02] [ 3.25111541e-03 -5.61037254e-05 9.99994714e-01 1.09215382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.55, Y:166.09, Z:1.09 [[ 8.44944290e-01 5.34847418e-01 -2.71785646e-03 1.53551338e+02] [-5.34844442e-01 8.44948659e-01 1.78498026e-03 1.66090611e+02] [ 3.25114125e-03 -5.45784590e-05 9.99994714e-01 1.09117906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.58, Y:166.07, Z:1.09 [[ 8.46183229e-01 5.32885076e-01 -2.72737703e-03 1.53579894e+02] [-5.32882137e-01 8.46187623e-01 1.77049058e-03 1.66071952e+02] [ 3.25134069e-03 -4.47889324e-05 9.99994713e-01 1.09174465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.60, Y:166.06, Z:1.09 [[ 8.45863559e-01 5.33392430e-01 -2.71200195e-03 1.53603685e+02] [-5.33389418e-01 8.45867904e-01 1.79386485e-03 1.66055491e+02] [ 3.25082934e-03 -7.08117667e-05 9.99994714e-01 1.09289148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.63, Y:166.03, Z:1.09 [[ 8.44563589e-01 5.35448377e-01 -2.71658330e-03 1.53632236e+02] [-5.35445399e-01 8.44567956e-01 1.78689993e-03 1.66031783e+02] [ 3.25113187e-03 -5.45685882e-05 9.99994714e-01 1.09260217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.66, Y:166.02, Z:1.09 [[ 8.46194946e-01 5.32866661e-01 -2.68974153e-03 1.53655690e+02] [-5.32863538e-01 8.46199214e-01 1.82765304e-03 1.66020483e+02] [ 3.24995254e-03 -1.13285574e-04 9.99994712e-01 1.09191003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.68, Y:166.00, Z:1.09 [[ 8.46674729e-01 5.32103868e-01 -2.71603722e-03 1.53683818e+02] [-5.32100869e-01 8.46679083e-01 1.78770227e-03 1.66002159e+02] [ 3.25085520e-03 -6.83965669e-05 9.99994714e-01 1.09122357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.71, Y:165.98, Z:1.09 [[ 8.46260366e-01 5.32762654e-01 -2.71074888e-03 1.53710178e+02] [-5.32759633e-01 8.46264704e-01 1.79573158e-03 1.65983941e+02] [ 3.25070982e-03 -7.54788811e-05 9.99994714e-01 1.09139632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.74, Y:165.96, Z:1.09 [[ 8.45937490e-01 5.33275155e-01 -2.71530573e-03 1.53738440e+02] [-5.33272159e-01 8.45941845e-01 1.78881458e-03 1.65961665e+02] [ 3.25092111e-03 -6.52283671e-05 9.99994714e-01 1.09023709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.76, Y:165.94, Z:1.09 [[ 8.46337905e-01 5.32639532e-01 -2.69809840e-03 1.53764667e+02] [-5.32636449e-01 8.46342200e-01 1.81490349e-03 1.65944868e+02] [ 3.25020388e-03 -9.89160640e-05 9.99994713e-01 1.09032584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.79, Y:165.93, Z:1.09 [[ 8.46783726e-01 5.31930465e-01 -2.70227164e-03 1.53791385e+02] [-5.31927398e-01 8.46788033e-01 1.80857629e-03 1.65927713e+02] [ 3.25028811e-03 -9.40606475e-05 9.99994713e-01 1.08936402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.82, Y:165.91, Z:1.09 [[ 8.46708378e-01 5.32050374e-01 -2.70607496e-03 1.53816593e+02] [-5.32047327e-01 8.46712698e-01 1.80281036e-03 1.65911781e+02] [ 3.25045395e-03 -8.66946907e-05 9.99994714e-01 1.09023067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.84, Y:165.89, Z:1.09 [[ 8.46288383e-01 5.32718129e-01 -2.71427158e-03 1.53844270e+02] [-5.32715125e-01 8.46292733e-01 1.79038405e-03 1.65894768e+02] [ 3.25083836e-03 -6.92476984e-05 9.99994714e-01 1.08866086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.87, Y:165.88, Z:1.09 [[ 8.45731114e-01 5.33602391e-01 -2.71492445e-03 1.53871046e+02] [-5.33599395e-01 8.45735469e-01 1.78939456e-03 1.65877564e+02] [ 3.25093312e-03 -6.46646103e-05 9.99994714e-01 1.08876016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.90, Y:165.86, Z:1.09 [[ 8.45561390e-01 5.33871305e-01 -2.71406702e-03 1.53898926e+02] [-5.33868306e-01 8.45565743e-01 1.79069326e-03 1.65859617e+02] [ 3.25092184e-03 -6.51867186e-05 9.99994714e-01 1.08900642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.93, Y:165.84, Z:1.09 [[ 8.45022860e-01 5.34723302e-01 -2.71218349e-03 1.53925113e+02] [-5.34720298e-01 8.45027210e-01 1.79354457e-03 1.65842724e+02] [ 3.25091893e-03 -6.53265980e-05 9.99994714e-01 1.08840433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.95, Y:165.83, Z:1.09 [[ 8.44658321e-01 5.35298931e-01 -2.71590676e-03 1.53951756e+02] [-5.35295948e-01 8.44662685e-01 1.78790917e-03 1.65825706e+02] [ 3.25109096e-03 -5.63584721e-05 9.99994714e-01 1.08895925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:153.98, Y:165.81, Z:1.09 [[ 8.43450967e-01 5.37199282e-01 -2.71991528e-03 1.53978016e+02] [-5.37196329e-01 8.43455351e-01 1.78184387e-03 1.65807715e+02] [ 3.25133235e-03 -4.17694321e-05 9.99994714e-01 1.08956247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.00, Y:165.79, Z:1.09 [[ 8.42870895e-01 5.38108985e-01 -2.71550522e-03 1.54004940e+02] [-5.38106015e-01 8.42875268e-01 1.78851236e-03 1.65790166e+02] [ 3.25124676e-03 -4.62553183e-05 9.99994714e-01 1.08959904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.03, Y:165.77, Z:1.09 [[ 8.41628631e-01 5.40049882e-01 -2.71526344e-03 1.54031093e+02] [-5.40046921e-01 8.41633010e-01 1.78887770e-03 1.65772324e+02] [ 3.25133853e-03 -3.92010271e-05 9.99994714e-01 1.09104368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.06, Y:165.76, Z:1.09 [[ 8.41148827e-01 5.40796913e-01 -2.71099842e-03 1.54057912e+02] [-5.40793934e-01 8.41153195e-01 1.79531803e-03 1.65755021e+02] [ 3.25126743e-03 -4.40381531e-05 9.99994714e-01 1.09121512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.09, Y:165.74, Z:1.09 [[ 8.40812282e-01 5.41320016e-01 -2.71051414e-03 1.54085614e+02] [-5.41317038e-01 8.40816650e-01 1.79604888e-03 1.65737063e+02] [ 3.25128263e-03 -4.28924719e-05 9.99994714e-01 1.09144570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.11, Y:165.72, Z:1.09 [[ 8.40174221e-01 5.42309813e-01 -2.70997871e-03 1.54113717e+02] [-5.42306838e-01 8.40178591e-01 1.79685641e-03 1.65719461e+02] [ 3.25131896e-03 -4.00324436e-05 9.99994714e-01 1.09156472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.14, Y:165.70, Z:1.09 [[ 8.39991201e-01 5.42593256e-01 -2.70943765e-03 1.54140922e+02] [-5.42590279e-01 8.39995570e-01 1.79767189e-03 1.65701980e+02] [ 3.25132027e-03 -3.99140362e-05 9.99994714e-01 1.09154255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.17, Y:165.68, Z:1.09 [[ 8.39887852e-01 5.42753219e-01 -2.70910175e-03 1.54168389e+02] [-5.42750241e-01 8.39892221e-01 1.79817795e-03 1.65684161e+02] [ 3.25132036e-03 -3.99021844e-05 9.99994714e-01 1.09166859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.20, Y:165.67, Z:1.09 [[ 8.40394709e-01 5.41968078e-01 -2.70856769e-03 1.54196407e+02] [-5.41965094e-01 8.40399072e-01 1.79898204e-03 1.65666135e+02] [ 3.25126861e-03 -4.39058396e-05 9.99994714e-01 1.09220011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.22, Y:165.65, Z:1.09 [[ 8.40823106e-01 5.41303215e-01 -2.70803804e-03 1.54223369e+02] [-5.41300225e-01 8.40827466e-01 1.79977898e-03 1.65648272e+02] [ 3.25121891e-03 -4.74341554e-05 9.99994714e-01 1.09222101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.25, Y:165.63, Z:1.09 [[ 8.41811194e-01 5.39765303e-01 -2.70754523e-03 1.54250519e+02] [-5.39762303e-01 8.41815546e-01 1.80052005e-03 1.65630051e+02] [ 3.25111192e-03 -5.42670874e-05 9.99994714e-01 1.09415545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.28, Y:165.61, Z:1.09 [[ 8.41637193e-01 5.40036579e-01 -2.70696467e-03 1.54278263e+02] [-5.40033578e-01 8.41641545e-01 1.80139246e-03 1.65611400e+02] [ 3.25111175e-03 -5.42670846e-05 9.99994714e-01 1.09426444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.31, Y:165.59, Z:1.09 [[ 8.41953958e-01 5.39542591e-01 -2.70638382e-03 1.54305007e+02] [-5.39539584e-01 8.41958306e-01 1.80226469e-03 1.65593094e+02] [ 3.25106090e-03 -5.72226856e-05 9.99994714e-01 1.09442212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.33, Y:165.57, Z:1.10 [[ 8.42343085e-01 5.38934881e-01 -2.70584377e-03 1.54332475e+02] [-5.38931868e-01 8.42347429e-01 1.80307514e-03 1.65574633e+02] [ 3.25100063e-03 -6.05424430e-05 9.99994714e-01 1.09502194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.36, Y:165.56, Z:1.10 [[ 8.42742659e-01 5.38309848e-01 -2.70528626e-03 1.54359950e+02] [-5.38306830e-01 8.42746998e-01 1.80391123e-03 1.65556420e+02] [ 3.25093505e-03 -6.39588728e-05 9.99994714e-01 1.09540697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.39, Y:165.54, Z:1.09 [[ 8.42577903e-01 5.38567695e-01 -2.70470444e-03 1.54386604e+02] [-5.38564674e-01 8.42582242e-01 1.80478316e-03 1.65538816e+02] [ 3.25093384e-03 -6.40121392e-05 9.99994714e-01 1.09486621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.41, Y:165.52, Z:1.09 [[ 8.42188883e-01 5.39175827e-01 -2.70416363e-03 1.54413448e+02] [-5.39172808e-01 8.42193222e-01 1.80559311e-03 1.65521039e+02] [ 3.25096044e-03 -6.26389443e-05 9.99994714e-01 1.09333704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.44, Y:165.50, Z:1.09 [[ 8.41339005e-01 5.40501035e-01 -2.70365063e-03 1.54441466e+02] [-5.40498020e-01 8.41343347e-01 1.80636094e-03 1.65503093e+02] [ 3.25103843e-03 -5.84441050e-05 9.99994714e-01 1.09342792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.47, Y:165.49, Z:1.09 [[ 8.40611619e-01 5.41631609e-01 -2.70308977e-03 1.54468081e+02] [-5.41628597e-01 8.40615963e-01 1.80719983e-03 1.65485231e+02] [ 3.25109696e-03 -5.50824530e-05 9.99994714e-01 1.09284589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.50, Y:165.47, Z:1.09 [[ 8.39861676e-01 5.42793757e-01 -2.70256801e-03 1.54495418e+02] [-5.42790748e-01 8.39866022e-01 1.80797977e-03 1.65467008e+02] [ 3.25115517e-03 -5.15240060e-05 9.99994714e-01 1.09268968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.52, Y:165.45, Z:1.09 [[ 8.38572477e-01 5.44783351e-01 -2.70199372e-03 1.54522567e+02] [-5.44780350e-01 8.38576829e-01 1.80883762e-03 1.65449255e+02] [ 3.25125395e-03 -4.48483548e-05 9.99994714e-01 1.09199435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:165.43, Z:1.09 [[ 8.37925219e-01 5.45778370e-01 -2.70142435e-03 1.54548776e+02] [-5.45775372e-01 8.37929573e-01 1.80968756e-03 1.65431692e+02] [ 3.25129167e-03 -4.20119657e-05 9.99994714e-01 1.09162522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.58, Y:165.41, Z:1.09 [[ 8.36971554e-01 5.47239731e-01 -2.70089564e-03 1.54576551e+02] [-5.47236738e-01 8.36975911e-01 1.81047628e-03 1.65413929e+02] [ 3.25134914e-03 -3.72878275e-05 9.99994714e-01 1.09144561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.60, Y:165.40, Z:1.09 [[ 8.36536344e-01 5.47904786e-01 -2.70033652e-03 1.54604089e+02] [-5.47901793e-01 8.36540701e-01 1.81130983e-03 1.65395979e+02] [ 3.25136673e-03 -3.57072811e-05 9.99994714e-01 1.09163237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.63, Y:165.38, Z:1.09 [[ 8.36159420e-01 5.48479840e-01 -2.69977428e-03 1.54631503e+02] [-5.48476847e-01 8.36163778e-01 1.81214746e-03 1.65378030e+02] [ 3.25137982e-03 -3.44804846e-05 9.99994714e-01 1.09183060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.66, Y:165.36, Z:1.09 [[ 8.35913982e-01 5.48853833e-01 -2.69921562e-03 1.54658911e+02] [-5.48850840e-01 8.35918339e-01 1.81297921e-03 1.65360443e+02] [ 3.25138443e-03 -3.40279125e-05 9.99994714e-01 1.09156430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.69, Y:165.34, Z:1.09 [[ 8.35911879e-01 5.48857037e-01 -2.69863568e-03 1.54685336e+02] [-5.48854041e-01 8.35916235e-01 1.81384206e-03 1.65343361e+02] [ 3.25137335e-03 -3.50550290e-05 9.99994714e-01 1.09278986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.71, Y:165.32, Z:1.09 [[ 8.35749568e-01 5.49104161e-01 -2.69831232e-03 1.54712833e+02] [-5.49101164e-01 8.35753923e-01 1.81432296e-03 1.65324410e+02] [ 3.25137740e-03 -3.46731932e-05 9.99994714e-01 1.09311551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.74, Y:165.31, Z:1.09 [[ 8.35904989e-01 5.48867535e-01 -2.69774293e-03 1.54738819e+02] [-5.48864535e-01 8.35909342e-01 1.81516920e-03 1.65306580e+02] [ 3.25135596e-03 -3.66135709e-05 9.99994714e-01 1.09413208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.77, Y:165.29, Z:1.09 [[ 8.35858987e-01 5.48937591e-01 -2.69738859e-03 1.54765511e+02] [-5.48934589e-01 8.35863338e-01 1.81569561e-03 1.65288503e+02] [ 3.25135181e-03 -3.69755947e-05 9.99994714e-01 1.09444615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.79, Y:165.27, Z:1.10 [[ 8.35852788e-01 5.48947031e-01 -2.69686578e-03 1.54791797e+02] [-5.48944027e-01 8.35857138e-01 1.81647182e-03 1.65271097e+02] [ 3.25134132e-03 -3.78746732e-05 9.99994714e-01 1.09510089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.82, Y:165.25, Z:1.10 [[ 8.35780783e-01 5.49056657e-01 -2.69634880e-03 1.54819377e+02] [-5.49053651e-01 8.35785132e-01 1.81723888e-03 1.65252587e+02] [ 3.25133534e-03 -3.83731800e-05 9.99994714e-01 1.09605390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.85, Y:165.23, Z:1.10 [[ 8.35595920e-01 5.49337958e-01 -2.69577663e-03 1.54846432e+02] [-5.49334951e-01 8.35600267e-01 1.81808728e-03 1.65234320e+02] [ 3.25133602e-03 -3.83019878e-05 9.99994714e-01 1.09646314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.87, Y:165.22, Z:1.10 [[ 8.35626035e-01 5.49292150e-01 -2.69518627e-03 1.54872852e+02] [-5.49289140e-01 8.35630380e-01 1.81896202e-03 1.65216374e+02] [ 3.25132109e-03 -3.95354686e-05 9.99994714e-01 1.09653903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.90, Y:165.20, Z:1.10 [[ 8.36273438e-01 5.48306005e-01 -2.69481971e-03 1.54899337e+02] [-5.48302988e-01 8.36277779e-01 1.81950492e-03 1.65198591e+02] [ 3.25126332e-03 -4.40259376e-05 9.99994714e-01 1.09671202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.93, Y:165.18, Z:1.10 [[ 8.36550221e-01 5.47883627e-01 -2.69427983e-03 1.54926451e+02] [-5.47880605e-01 8.36554558e-01 1.82030402e-03 1.65180192e+02] [ 3.25122684e-03 -4.66320664e-05 9.99994714e-01 1.09674912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.95, Y:165.16, Z:1.10 [[ 8.37356078e-01 5.46651208e-01 -2.69372224e-03 1.54953126e+02] [-5.46648177e-01 8.37360409e-01 1.82112878e-03 1.65162226e+02] [ 3.25113860e-03 -5.24149009e-05 9.99994714e-01 1.09667159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.98, Y:165.14, Z:1.10 [[ 8.37802026e-01 5.45967500e-01 -2.69320345e-03 1.54980792e+02] [-5.45964463e-01 8.37806353e-01 1.82189567e-03 1.65143511e+02] [ 3.25107879e-03 -5.59945072e-05 9.99994714e-01 1.09686333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.01, Y:165.12, Z:1.10 [[ 8.38134433e-01 5.45457077e-01 -2.69265521e-03 1.55007696e+02] [-5.45454034e-01 8.38138756e-01 1.82270558e-03 1.65124885e+02] [ 3.25102634e-03 -5.89526563e-05 9.99994714e-01 1.09725173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.03, Y:165.11, Z:1.10 [[ 8.38874259e-01 5.44318592e-01 -2.69208645e-03 1.55034800e+02] [-5.44315541e-01 8.38878577e-01 1.82354524e-03 1.65105530e+02] [ 3.25092322e-03 -6.43806716e-05 9.99994714e-01 1.09789919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.06, Y:165.09, Z:1.10 [[ 8.38978773e-01 5.44157491e-01 -2.69149723e-03 1.55061320e+02] [-5.44154437e-01 8.38983087e-01 1.82441450e-03 1.65086846e+02] [ 3.25088947e-03 -6.60548776e-05 9.99994714e-01 1.09825602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.09, Y:165.07, Z:1.10 [[ 8.39115919e-01 5.43945985e-01 -2.69094886e-03 1.55088125e+02] [-5.43942926e-01 8.39120231e-01 1.82522295e-03 1.65068190e+02] [ 3.25085233e-03 -6.78510371e-05 9.99994714e-01 1.09828574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.12, Y:165.05, Z:1.10 [[ 8.39109637e-01 5.43955677e-01 -2.69036557e-03 1.55115567e+02] [-5.43952617e-01 8.39113947e-01 1.82608232e-03 1.65049294e+02] [ 3.25083112e-03 -6.88518880e-05 9.99994714e-01 1.09865462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.14, Y:165.03, Z:1.10 [[ 8.39131367e-01 5.43922158e-01 -2.68978321e-03 1.55142134e+02] [-5.43919094e-01 8.39135675e-01 1.82693972e-03 1.65031138e+02] [ 3.25080605e-03 -7.00179807e-05 9.99994714e-01 1.09887096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.17, Y:165.01, Z:1.10 [[ 8.38837121e-01 5.44375837e-01 -2.68924222e-03 1.55169115e+02] [-5.44372774e-01 8.38841429e-01 1.82773570e-03 1.65012301e+02] [ 3.25082294e-03 -6.92223063e-05 9.99994714e-01 1.09890163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.20, Y:164.99, Z:1.10 [[ 8.38545060e-01 5.44825617e-01 -2.68866831e-03 1.55195599e+02] [-5.44822553e-01 8.38549368e-01 1.82857956e-03 1.64993577e+02] [ 3.25083810e-03 -6.84992199e-05 9.99994714e-01 1.09858951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.22, Y:164.97, Z:1.10 [[ 8.38221729e-01 5.45322938e-01 -2.68831189e-03 1.55222595e+02] [-5.45319875e-01 8.38226037e-01 1.82910341e-03 1.64974673e+02] [ 3.25086506e-03 -6.72043247e-05 9.99994714e-01 1.09845418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.25, Y:164.96, Z:1.10 [[ 8.37187888e-01 5.46908783e-01 -2.68772857e-03 1.55245101e+02] [-5.46905725e-01 8.37192200e-01 1.82996016e-03 1.64958030e+02] [ 3.25096667e-03 -6.20863394e-05 9.99994714e-01 1.09860369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.27, Y:164.94, Z:1.10 [[ 8.37780265e-01 5.46000855e-01 -2.70056712e-03 1.55270841e+02] [-5.45997853e-01 8.37784617e-01 1.81108833e-03 1.64941354e+02] [ 3.25134937e-03 -4.27902137e-05 9.99994713e-01 1.09753552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.30, Y:164.92, Z:1.10 [[ 8.36969964e-01 5.47242225e-01 -2.68833185e-03 1.55296358e+02] [-5.47239171e-01 8.36974279e-01 1.82907148e-03 1.64923515e+02] [ 3.25100976e-03 -5.97173944e-05 9.99994714e-01 1.09731486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.32, Y:164.91, Z:1.10 [[ 8.36922680e-01 5.47314507e-01 -2.69389106e-03 1.55320878e+02] [-5.47311481e-01 8.36927015e-01 1.82090298e-03 1.64907001e+02] [ 3.25119682e-03 -4.95575026e-05 9.99994714e-01 1.09837690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.34, Y:164.89, Z:1.10 [[ 8.36577982e-01 5.47841269e-01 -2.68785462e-03 1.55343749e+02] [-5.47838216e-01 8.36582298e-01 1.82977024e-03 1.64891020e+02] [ 3.25103525e-03 -5.82360155e-05 9.99994714e-01 1.09956962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.37, Y:164.87, Z:1.10 [[ 8.36201068e-01 5.48416384e-01 -2.69135269e-03 1.55372223e+02] [-5.48413351e-01 8.36205398e-01 1.82463293e-03 1.64869566e+02] [ 3.25118224e-03 -4.97862626e-05 9.99994714e-01 1.09927291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.40, Y:164.85, Z:1.10 [[ 8.36653790e-01 5.47725567e-01 -2.67184597e-03 1.55396207e+02] [-5.47722439e-01 8.36658052e-01 1.85327841e-03 1.64854403e+02] [ 3.25050941e-03 -8.71224120e-05 9.99994713e-01 1.10120799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.42, Y:164.83, Z:1.10 [[ 8.36953848e-01 5.47266863e-01 -2.69023040e-03 1.55422676e+02] [-5.47263819e-01 8.36958169e-01 1.82627426e-03 1.64834786e+02] [ 3.25106970e-03 -5.62415089e-05 9.99994714e-01 1.10199207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.45, Y:164.82, Z:1.10 [[ 8.37309351e-01 5.46722797e-01 -2.68969150e-03 1.55448706e+02] [-5.46719747e-01 8.37313669e-01 1.82706540e-03 1.64816607e+02] [ 3.25101376e-03 -5.93114909e-05 9.99994714e-01 1.10198573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.48, Y:164.79, Z:1.10 [[ 8.36749914e-01 5.47578635e-01 -2.68687921e-03 1.55477449e+02] [-5.47575577e-01 8.36754226e-01 1.83119183e-03 1.64792948e+02] [ 3.25097906e-03 -6.09801779e-05 9.99994714e-01 1.10093235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:164.77, Z:1.10 [[ 8.37090181e-01 5.47058439e-01 -2.66349952e-03 1.55504881e+02] [-5.47055268e-01 8.37094411e-01 1.86551908e-03 1.64774443e+02] [ 3.25014852e-03 -1.04526256e-04 9.99994713e-01 1.10156473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:164.76, Z:1.10 [[ 8.37142011e-01 5.46979135e-01 -2.66083365e-03 1.55527412e+02] [-5.46975951e-01 8.37146232e-01 1.86942087e-03 1.64760870e+02] [ 3.25004108e-03 -1.09558724e-04 9.99994713e-01 1.10273725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.54275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.55, Y:164.74, Z:1.10 [[ 8.36931966e-01 5.47300318e-01 -2.69189534e-03 1.55554909e+02] [-5.47297282e-01 8.36936293e-01 1.82391617e-03 1.64741901e+02] [ 3.25117481e-03 -5.32267474e-05 9.99994714e-01 1.10161722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.58, Y:164.72, Z:1.10 [[ 8.36301905e-01 5.48262633e-01 -2.68507849e-03 1.55581171e+02] [-5.48259569e-01 8.36306213e-01 1.83389698e-03 1.64724335e+02] [ 3.25100501e-03 -6.15715658e-05 9.99994714e-01 1.10340275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:164.71, Z:1.10 [[ 8.34992816e-01 5.50254297e-01 -2.68453186e-03 1.55608973e+02] [-5.50251241e-01 8.34997129e-01 1.83469681e-03 1.64705895e+02] [ 3.25112620e-03 -5.47916728e-05 9.99994714e-01 1.10334678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.63275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:155.64, Y:164.69, Z:1.10 [[ 8.34085396e-01 5.51628815e-01 -2.68394627e-03 1.55636232e+02] [-5.51625763e-01 8.34089713e-01 1.83555307e-03 1.64686866e+02] [ 3.25119593e-03 -5.04740997e-05 9.99994714e-01 1.10203721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.66, Y:164.67, Z:1.10 [[ 8.33351425e-01 5.52737009e-01 -2.68336178e-03 1.55663387e+02] [-5.52733960e-01 8.33355744e-01 1.83640712e-03 1.64669503e+02] [ 3.25124513e-03 -4.71873048e-05 9.99994714e-01 1.10339329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.69, Y:164.65, Z:1.10 [[ 8.32021133e-01 5.54737448e-01 -2.68281814e-03 1.55689916e+02] [-5.54734408e-01 8.32025457e-01 1.83720099e-03 1.64652473e+02] [ 3.25133717e-03 -4.03385165e-05 9.99994714e-01 1.10233580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.72, Y:164.63, Z:1.10 [[ 8.31354344e-01 5.55736232e-01 -2.68228444e-03 1.55717735e+02] [-5.55733194e-01 8.31358671e-01 1.83797985e-03 1.64633955e+02] [ 3.25137242e-03 -3.73780337e-05 9.99994714e-01 1.10173340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.74, Y:164.62, Z:1.10 [[ 8.30020950e-01 5.57725767e-01 -2.68172211e-03 1.55743347e+02] [-5.57722736e-01 8.30025282e-01 1.83879995e-03 1.64616094e+02] [ 3.25144326e-03 -3.05850925e-05 9.99994714e-01 1.10130332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.77, Y:164.60, Z:1.10 [[ 8.30432116e-01 5.57113330e-01 -2.69021247e-03 1.55769776e+02] [-5.57110337e-01 8.30436474e-01 1.82641576e-03 1.64599518e+02] [ 3.25157112e-03 -1.79691240e-05 9.99994713e-01 1.10093966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.79, Y:164.58, Z:1.10 [[ 8.31030783e-01 5.56219940e-01 -2.68628170e-03 1.55794651e+02] [-5.56216923e-01 8.31035124e-01 1.83214839e-03 1.64583138e+02] [ 3.25147192e-03 -2.84163642e-05 9.99994714e-01 1.10015089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.8427550960001 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:156.12, Y:165.06, Z:2.29 [[ 8.60544017e-01 -5.09369031e-01 2.68038105e-03 1.56121960e+02] [-5.09365752e-01 -8.60548164e-01 -1.84074870e-03 1.65058127e+02] [ 3.24421737e-03 2.18750971e-04 -9.99994714e-01 2.28894809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:165.09, Z:2.29 [[ 8.96893231e-01 -4.42238294e-01 2.79716468e-03 1.56149044e+02] [-4.42235319e-01 -8.96897563e-01 -1.63844335e-03 1.65091527e+02] [ 3.23335257e-03 2.32503732e-04 -9.99994746e-01 2.28889166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:165.12, Z:2.29 [[ 9.28275646e-01 -3.71881462e-01 2.91593838e-03 1.56171373e+02] [-3.71878924e-01 -9.28280204e-01 -1.38912320e-03 1.65120617e+02] [ 3.22339704e-03 2.05113204e-04 -9.99994784e-01 2.28817029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:165.15, Z:2.29 [[ 9.53158305e-01 -3.02456980e-01 3.00351890e-03 1.56190389e+02] [-3.02454817e-01 -9.53163016e-01 -1.16102534e-03 1.65152062e+02] [ 3.21400335e-03 1.98212186e-04 -9.99994815e-01 2.29304044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:165.18, Z:2.29 [[ 9.73753919e-01 -2.27582704e-01 3.06901502e-03 1.56210009e+02] [-2.27580864e-01 -9.73758731e-01 -9.40410091e-04 1.65181074e+02] [ 3.20250124e-03 2.17278920e-04 -9.99994848e-01 2.28696682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:165.21, Z:2.29 [[ 9.88550693e-01 -1.50856606e-01 3.13228843e-03 1.56226776e+02] [-1.50855328e-01 -9.88555642e-01 -6.41736560e-04 1.65210863e+02] [ 3.19325160e-03 1.61866723e-04 -9.99994888e-01 2.28708228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:165.24, Z:2.29 [[ 9.97109033e-01 -7.59181261e-02 3.16443587e-03 1.56236610e+02] [-7.59172478e-02 -9.97114043e-01 -3.96916720e-04 1.65242515e+02] [ 3.18543662e-03 1.55533985e-04 -9.99994914e-01 2.28713961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:165.27, Z:2.29 [[ 9.99988234e-01 3.66459465e-03 3.17843216e-03 1.56241694e+02] [ 3.66501609e-03 -9.99993276e-01 -1.26779146e-04 1.65270979e+02] [ 3.17794619e-03 1.38426659e-04 -9.99994941e-01 2.29189335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.29, Z:2.29 [[ 9.96730513e-01 8.07354186e-02 3.17445635e-03 1.56249719e+02] [ 8.07357155e-02 -9.96735543e-01 3.47316679e-05 1.65289964e+02] [ 3.16689755e-03 2.21673892e-04 -9.99994961e-01 2.28655174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.30, Z:2.29 [[ 9.87529225e-01 1.57404518e-01 3.13794190e-03 1.56252312e+02] [ 1.57404111e-01 -9.87534204e-01 3.77599633e-04 1.65304001e+02] [ 3.15826085e-03 1.21034283e-04 -9.99995005e-01 2.29394798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.32, Z:2.29 [[ 9.72084698e-01 2.34609658e-01 3.10632563e-03 1.56254512e+02] [ 2.34609097e-01 -9.72089641e-01 5.48940404e-04 1.65320762e+02] [ 3.14841369e-03 1.95155684e-04 -9.99995025e-01 2.29393978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.35, Z:2.29 [[ 9.50428009e-01 3.10929771e-01 3.04585032e-03 1.56254501e+02] [ 3.10928874e-01 -9.50432866e-01 7.75665816e-04 1.65347852e+02] [ 3.13605385e-03 2.09828295e-04 -9.99995061e-01 2.29202030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.38, Z:2.29 [[ 9.23044166e-01 3.84682614e-01 2.95859613e-03 1.56251480e+02] [ 3.84681304e-01 -9.23048887e-01 1.02263597e-03 1.65375088e+02] [ 3.12431915e-03 1.94178450e-04 -9.99995100e-01 2.29307540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.40, Z:2.29 [[ 8.89408868e-01 4.57103587e-01 2.85953285e-03 1.56247444e+02] [ 4.57101933e-01 -8.89413442e-01 1.24562114e-03 1.65398964e+02] [ 3.11268484e-03 1.99231505e-04 -9.99995136e-01 2.29122503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.25, Y:165.41, Z:2.29 [[ 8.50610327e-01 5.25789513e-01 2.73109684e-03 1.56247263e+02] [ 5.25787453e-01 -8.50614694e-01 1.48226652e-03 1.65414228e+02] [ 3.10247129e-03 1.75145245e-04 -9.99995172e-01 2.29021506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:165.43, Z:2.29 [[ 8.06094643e-01 5.91780934e-01 2.59856911e-03 1.56244165e+02] [ 5.91778557e-01 -8.06098812e-01 1.68646985e-03 1.65429418e+02] [ 3.09272417e-03 1.78323167e-04 -9.99995202e-01 2.29137769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:165.45, Z:2.29 [[ 7.56934316e-01 6.53486369e-01 2.45104426e-03 1.56238729e+02] [ 6.53483692e-01 -7.56938263e-01 1.87891603e-03 1.65447102e+02] [ 3.08313520e-03 1.79501434e-04 -9.99995231e-01 2.29030417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:165.46, Z:2.29 [[ 7.03419507e-01 7.10771240e-01 2.28936470e-03 1.56234782e+02] [ 7.10768281e-01 -7.03423210e-01 2.05871005e-03 1.65460600e+02] [ 3.07366416e-03 1.79071006e-04 -9.99995260e-01 2.29126235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:165.48, Z:2.29 [[ 6.44336099e-01 7.64739506e-01 2.11658252e-03 1.56227278e+02] [ 7.64736298e-01 -6.44339548e-01 2.22295513e-03 1.65475253e+02] [ 3.06377944e-03 1.86297242e-04 -9.99995289e-01 2.28927809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:165.49, Z:2.29 [[ 5.81794697e-01 8.13333397e-01 1.92776792e-03 1.56217618e+02] [ 8.13329947e-01 -5.81797862e-01 2.37614092e-03 1.65489240e+02] [ 3.05416602e-03 1.85485189e-04 -9.99995319e-01 2.28923734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.21, Y:165.50, Z:2.29 [[ 5.16069375e-01 8.56545040e-01 1.73040664e-03 1.56209394e+02] [ 8.56541377e-01 -5.16072242e-01 2.51208970e-03 1.65501646e+02] [ 3.04473281e-03 1.85752321e-04 -9.99995348e-01 2.28868873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:165.51, Z:2.29 [[ 4.46202656e-01 8.94930650e-01 1.52363628e-03 1.56198998e+02] [ 8.94926800e-01 -4.46205217e-01 2.63179619e-03 1.65513126e+02] [ 3.03512953e-03 1.89228497e-04 -9.99995376e-01 2.28783980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:165.52, Z:2.29 [[ 3.73923231e-01 9.27458735e-01 1.30862591e-03 1.56189108e+02] [ 9.27454723e-01 -3.73925472e-01 2.73468497e-03 1.65524478e+02] [ 3.02563602e-03 1.91129043e-04 -9.99995405e-01 2.28700160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:165.53, Z:2.29 [[ 2.98681652e-01 9.54352183e-01 1.08690037e-03 1.56178784e+02] [ 9.54348036e-01 -2.98683566e-01 2.82013955e-03 1.65534257e+02] [ 3.01604561e-03 1.94957298e-04 -9.99995433e-01 2.28602449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:165.54, Z:2.29 [[ 2.22267786e-01 9.74985278e-01 8.60098049e-04 1.56167226e+02] [ 9.74981021e-01 -2.22269363e-01 2.88769261e-03 1.65542551e+02] [ 3.00663123e-03 1.96738232e-04 -9.99995461e-01 2.28670177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.5927550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.15, Y:165.55, Z:2.29 [[ 1.44719609e-01 9.89472505e-01 6.29368781e-04 1.56151998e+02] [ 9.89468166e-01 -1.44720842e-01 2.93713335e-03 1.65551213e+02] [ 2.99729548e-03 1.97679584e-04 -9.99995489e-01 2.28770449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:165.56, Z:2.29 [[ 6.59462532e-02 9.97823098e-01 3.95950946e-04 1.56140704e+02] [ 9.97818703e-01 -6.59471406e-02 2.96827010e-03 1.65558722e+02] [ 2.98792030e-03 1.99340968e-04 -9.99995516e-01 2.28673177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:165.56, Z:2.29 [[-1.21794448e-02 9.99925815e-01 1.61674231e-04 1.56128499e+02] [ 9.99921391e-01 1.21789090e-02 2.98097625e-03 1.65564603e+02] [ 2.97878609e-03 1.97968158e-04 -9.99995544e-01 2.28699924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:165.54, Z:2.29 [[-8.99148634e-02 9.95949453e-01 -7.20348398e-05 1.56154352e+02] [ 9.95945028e-01 8.99146791e-02 2.97531805e-03 1.65539507e+02] [ 2.96974337e-03 1.95782575e-04 -9.99995571e-01 2.28771754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:165.52, Z:2.29 [[-1.66249591e-01 9.86083658e-01 -3.04228404e-04 1.56181445e+02] [ 9.86079260e-01 1.66249760e-01 2.95138364e-03 1.65519450e+02] [ 2.96088907e-03 1.90673002e-04 -9.99995598e-01 2.28716571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.11, Y:165.90, Z:2.29 [[-2.42148833e-01 9.70238970e-01 -5.32947941e-04 1.56114367e+02] [ 9.70234626e-01 2.42149347e-01 2.90948782e-03 1.65903979e+02] [ 2.95195146e-03 1.87444533e-04 -9.99995625e-01 2.28815950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.772755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.26, Y:165.49, Z:2.29 [[-3.14527581e-01 9.49248029e-01 -7.61906711e-04 1.56260061e+02] [ 9.49243770e-01 3.14528456e-01 2.84861949e-03 1.65491471e+02] [ 2.94368778e-03 1.72734196e-04 -9.99995652e-01 2.28823040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.29, Y:165.48, Z:2.29 [[-3.86837055e-01 9.22147570e-01 -9.75607195e-04 1.56289932e+02] [ 9.22143416e-01 3.86838246e-01 2.77344678e-03 1.65481622e+02] [ 2.93492938e-03 1.73222232e-04 -9.99995678e-01 2.28701961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:165.47, Z:2.29 [[-4.56510556e-01 8.89717205e-01 -1.18643897e-03 1.56322667e+02] [ 8.89713184e-01 4.56512067e-01 2.68011542e-03 1.65469387e+02] [ 2.92616851e-03 1.67910589e-04 -9.99995705e-01 2.28694015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:165.73, Z:2.29 [[-5.22786913e-01 8.52462266e-01 -1.38859830e-03 1.56188823e+02] [ 8.52458404e-01 5.22788733e-01 2.57092602e-03 1.65734506e+02] [ 2.91756097e-03 1.60324188e-04 -9.99995731e-01 2.28794494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:165.75, Z:1.11 [[-5.63339272e-01 -8.26224156e-01 1.58385714e-03 1.56800978e+02] [ 8.26220542e-01 -5.63341495e-01 -2.44478229e-03 1.65754361e+02] [ 2.91219063e-03 -6.86265687e-05 9.99995757e-01 1.10793118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.62, Y:166.03, Z:1.11 [[-5.65889908e-01 -8.24479301e-01 1.57940143e-03 1.56619412e+02] [ 8.24475672e-01 -5.65892106e-01 -2.44765743e-03 1.66034931e+02] [ 2.91181369e-03 -8.29265852e-05 9.99995757e-01 1.10962602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.80, Y:165.75, Z:1.11 [[-5.65609877e-01 -8.24671426e-01 1.58299427e-03 1.56800534e+02] [ 8.24667804e-01 -5.65612087e-01 -2.44533607e-03 1.65753397e+02] [ 2.91195948e-03 -7.76618214e-05 9.99995757e-01 1.10882824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.98275509600006 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:156.40, Y:165.46, Z:2.29 [[-5.83245430e-01 8.12294450e-01 -1.57939704e-03 1.56395348e+02] [ 8.12290775e-01 5.83247551e-01 2.44765725e-03 1.65463398e+02] [ 2.90939786e-03 1.44655258e-04 -9.99995757e-01 2.28698600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:165.47, Z:2.29 [[-6.43532044e-01 7.65417146e-01 -1.76095077e-03 1.56425443e+02] [ 7.65413675e-01 6.43534439e-01 2.30920854e-03 1.65470311e+02] [ 2.90074027e-03 1.38193893e-04 -9.99995783e-01 2.28696565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:165.47, Z:2.29 [[-7.03800583e-01 7.10394994e-01 -1.92125778e-03 1.56456732e+02] [ 7.10391710e-01 7.03803187e-01 2.16589957e-03 1.65471720e+02] [ 2.89083156e-03 1.59515786e-04 -9.99995809e-01 2.28658836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.49, Y:165.48, Z:2.29 [[-7.56878703e-01 6.53552045e-01 -2.08649623e-03 1.56492208e+02] [ 6.53549023e-01 7.56881565e-01 1.99290092e-03 1.65475504e+02] [ 2.88169500e-03 1.44756686e-04 -9.99995837e-01 2.28865794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:165.75, Z:2.29 [[-8.06296978e-01 5.91506745e-01 -2.22593840e-03 1.56165914e+02] [ 5.91503959e-01 8.06300036e-01 1.82179730e-03 1.65745202e+02] [ 2.87237960e-03 1.52258282e-04 -9.99995863e-01 2.29148415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.50, Y:165.55, Z:2.29 [[-8.48169312e-01 5.29720552e-01 -2.22593840e-03 1.56502156e+02] [ 5.29717546e-01 8.48172154e-01 1.82179730e-03 1.65550092e+02] [ 2.85302244e-03 3.66073937e-04 -9.99995863e-01 2.28905387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.16275509600007 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:156.52, Y:165.57, Z:2.29 [[-8.87739718e-01 4.60339242e-01 -2.44440822e-03 1.56521729e+02] [ 4.60336974e-01 8.87743068e-01 1.45468874e-03 1.65567236e+02] [ 2.83965676e-03 1.66133490e-04 -9.99995954e-01 2.29214606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.56, Y:165.58, Z:2.29 [[-9.21449372e-01 3.88490139e-01 -2.54310953e-03 1.56564699e+02] [ 3.88488149e-01 9.21452866e-01 1.25462208e-03 1.65576553e+02] [ 2.83076387e-03 1.68102815e-04 -9.99995979e-01 2.29004776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:165.68, Z:2.29 [[-9.52661620e-01 3.04021294e-01 -2.62491640e-03 1.56333135e+02] [ 3.04019549e-01 9.52665215e-01 1.04969368e-03 1.65680857e+02] [ 2.81979578e-03 2.01976982e-04 -9.99996004e-01 2.29078159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.25275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.34, Y:165.70, Z:2.29 [[-9.71566707e-01 2.36750520e-01 -2.70653155e-03 1.56337533e+02] [ 2.36749243e-01 9.71570469e-01 7.87536190e-04 1.65696861e+02] [ 2.81603573e-03 1.24374649e-04 -9.99996027e-01 2.29318866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:165.67, Z:2.29 [[-9.85837869e-01 1.67679370e-01 -2.70653155e-03 1.56565294e+02] [ 1.67677831e-01 9.85841531e-01 7.87536190e-04 1.65673562e+02] [ 2.80026478e-03 3.22557659e-04 -9.99996027e-01 2.28915929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:165.70, Z:2.29 [[-9.95995627e-01 8.93592939e-02 -2.76197082e-03 1.56588548e+02] [ 8.93584221e-02 9.95999438e-01 4.37724349e-04 1.65695472e+02] [ 2.79003612e-03 1.89166184e-04 -9.99996090e-01 2.28885058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.3427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.61, Y:165.72, Z:2.29 [[-9.99923105e-01 1.20854995e-02 -2.77920621e-03 1.56608776e+02] [ 1.20849367e-02 9.99926951e-01 2.19211357e-04 1.65719586e+02] [ 2.78165247e-03 1.85607969e-04 -9.99996114e-01 2.29106204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.63, Y:165.74, Z:2.29 [[-9.97673672e-01 -6.81140258e-02 -2.77929720e-03 1.56627905e+02] [-6.81143096e-02 9.97677523e-01 7.47745451e-06 1.65742995e+02] [ 2.77233302e-03 1.96769969e-04 -9.99996138e-01 2.28795535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.59, Y:166.24, Z:1.11 [[-9.96086251e-01 8.83433788e-02 2.76172539e-03 1.56589175e+02] [-8.83431178e-02 -9.96090080e-01 2.16585277e-04 1.66242550e+02] [ 2.77006114e-03 -2.82418150e-05 9.99996163e-01 1.10734884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.43275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:156.65, Y:165.77, Z:2.29 [[-9.89271853e-01 -1.46060174e-01 -2.76169516e-03 1.56650411e+02] [-1.46060135e-01 9.89275690e-01 -2.16970092e-04 1.65769180e+02] [ 2.76376857e-03 1.88731164e-04 -9.99996163e-01 2.28793346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.66, Y:165.80, Z:2.29 [[-9.74919210e-01 -2.22542339e-01 -2.72774123e-03 1.56658501e+02] [-2.22541999e-01 9.74923009e-01 -4.31574398e-04 1.65795096e+02] [ 2.75538126e-03 1.86286813e-04 -9.99996187e-01 2.28659466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.49275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:156.54, Y:166.28, Z:1.11 [[-9.69929332e-01 2.43371983e-01 2.67737059e-03 1.56541323e+02] [-2.43371139e-01 -9.69933027e-01 6.41727502e-04 1.66283200e+02] [ 2.75304866e-03 -2.91644034e-05 9.99996210e-01 1.10758244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:165.82, Z:2.29 [[-9.54972069e-01 -2.96683631e-01 -2.67772909e-03 1.56669380e+02] [-2.96682997e-01 9.54975806e-01 -6.40228097e-04 1.65822899e+02] [ 2.74711169e-03 1.83036742e-04 -9.99996210e-01 2.28522759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:166.30, Z:1.11 [[-9.47738456e-01 3.19037615e-01 2.61143328e-03 1.56509753e+02] [-3.19036497e-01 -9.47742053e-01 8.45090486e-04 1.66298623e+02] [ 2.74458079e-03 -3.22177740e-05 9.99996233e-01 1.10946474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:165.76, Z:2.29 [[-9.28893657e-01 -3.70337348e-01 -2.61190591e-03 1.56434486e+02] [-3.70336433e-01 9.28897311e-01 -8.43627225e-04 1.65757603e+02] [ 2.73861904e-03 1.83643937e-04 -9.99996233e-01 2.28752040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:166.32, Z:1.11 [[-9.19815532e-01 3.92342955e-01 2.52836595e-03 1.56480836e+02] [-3.92341560e-01 -9.19819007e-01 1.04639099e-03 1.66320663e+02] [ 2.73618319e-03 -2.94963553e-05 9.99996256e-01 1.10797562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.48, Y:166.32, Z:1.11 [[-9.20054976e-01 3.91781105e-01 2.53130001e-03 1.56478466e+02] [-3.91779728e-01 -9.20058457e-01 1.03924449e-03 1.66319506e+02] [ 2.73610033e-03 -3.55499670e-05 9.99996256e-01 1.10723916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.67, Y:165.88, Z:2.29 [[-8.98831951e-01 -4.38286109e-01 -2.53187862e-03 1.56674385e+02] [-4.38284916e-01 8.98835500e-01 -1.03783292e-03 1.65882841e+02] [ 2.73061013e-03 1.76846817e-04 -9.99996256e-01 2.28801277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:166.33, Z:1.11 [[-8.87100132e-01 4.61570605e-01 2.43572716e-03 1.56445320e+02] [-4.61568972e-01 -8.87103475e-01 1.22847489e-03 1.66329958e+02] [ 2.72776993e-03 -3.44758457e-05 9.99996279e-01 1.10521247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.45, Y:166.33, Z:1.11 [[-8.86509388e-01 4.62704192e-01 2.43641279e-03 1.56450255e+02] [-4.62702567e-01 -8.86512735e-01 1.22711359e-03 1.66331831e+02] [ 2.72770157e-03 -3.94867396e-05 9.99996279e-01 1.10523796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:166.33, Z:1.11 [[-8.87465940e-01 4.60866876e-01 2.43484298e-03 1.56440417e+02] [-4.60865235e-01 -8.87469279e-01 1.23023265e-03 1.66328969e+02] [ 2.72782182e-03 -3.03449064e-05 9.99996279e-01 1.10568384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:166.33, Z:1.10 [[-8.88549610e-01 4.58774081e-01 2.43594690e-03 1.56439383e+02] [-4.58772438e-01 -8.88552948e-01 1.22803638e-03 1.66330399e+02] [ 2.72785906e-03 -2.63740517e-05 9.99996279e-01 1.10392392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:165.71, Z:2.29 [[-8.60389946e-01 -5.09630452e-01 -2.43795972e-03 1.56327093e+02] [-5.09629017e-01 8.60393379e-01 -1.22402732e-03 1.65708041e+02] [ 2.72140600e-03 1.89314215e-04 -9.99996279e-01 2.29455686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:166.34, Z:1.10 [[-8.51452071e-01 5.24427283e-01 2.32285312e-03 1.56392452e+02] [-5.24425376e-01 -8.51455239e-01 1.41449653e-03 1.66344073e+02] [ 2.71960603e-03 -1.37871229e-05 9.99996302e-01 1.10355859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:166.35, Z:1.10 [[-8.51973116e-01 5.23580344e-01 2.33087536e-03 1.56392362e+02] [-5.23578469e-01 -8.51976304e-01 1.40115118e-03 1.66346018e+02] [ 2.71946579e-03 -2.66530206e-05 9.99996302e-01 1.10354675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:166.34, Z:1.10 [[-8.52265029e-01 5.23105040e-01 2.33165750e-03 1.56390363e+02] [-5.23103168e-01 -8.52268219e-01 1.39984840e-03 1.66344735e+02] [ 2.71946534e-03 -2.66555860e-05 9.99996302e-01 1.10355360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:166.34, Z:1.10 [[-8.52722673e-01 5.22358692e-01 2.33243760e-03 1.56388276e+02] [-5.22356821e-01 -8.52725862e-01 1.39854740e-03 1.66344542e+02] [ 2.71947325e-03 -2.57916126e-05 9.99996302e-01 1.10392967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.38, Y:166.34, Z:1.11 [[-8.53218572e-01 5.21548296e-01 2.33321696e-03 1.56384843e+02] [-5.21546425e-01 -8.53221761e-01 1.39724596e-03 1.66344679e+02] [ 2.71948274e-03 -2.47247669e-05 9.99996302e-01 1.10518930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:165.77, Z:2.29 [[-8.17905740e-01 -5.75347506e-01 -2.33399561e-03 1.56424245e+02] [-5.75345848e-01 8.17909046e-01 -1.39594408e-03 1.65771320e+02] [ 2.71214906e-03 2.01104002e-04 -9.99996302e-01 2.28919572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.34, Y:166.35, Z:1.11 [[-8.11153132e-01 5.84829686e-01 2.19876016e-03 1.56340906e+02] [-5.84827534e-01 -8.11156112e-01 1.58659500e-03 1.66354159e+02] [ 2.71142560e-03 1.07602220e-06 9.99996324e-01 1.10696680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.46, Y:165.81, Z:2.29 [[-7.76752437e-01 -6.29802151e-01 -2.21423828e-03 1.56460609e+02] [-6.29800233e-01 7.76755572e-01 -1.56469148e-03 1.65807773e+02] [ 2.70536799e-03 1.79149864e-04 -9.99996324e-01 2.28871343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.57, Y:165.93, Z:2.29 [[-7.30281680e-01 -6.83142566e-01 -2.21423828e-03 1.56569387e+02] [-6.83140874e-01 7.30284943e-01 -1.56469148e-03 1.65930035e+02] [ 2.68593223e-03 3.69971151e-04 -9.99996324e-01 2.28707495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:166.31, Z:1.11 [[-7.10608288e-01 7.03585174e-01 1.94038866e-03 1.56201286e+02] [-7.03582739e-01 -7.10610935e-01 1.85166335e-03 1.66309819e+02] [ 2.68166427e-03 -4.94166453e-05 9.99996403e-01 1.10636629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:166.32, Z:1.11 [[-7.16103777e-01 6.97991164e-01 1.92762894e-03 1.56200530e+02] [-6.97988672e-01 -7.16106372e-01 1.86503384e-03 1.66317132e+02] [ 2.68216451e-03 -9.90538836e-06 9.99996403e-01 1.11065884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.20, Y:166.32, Z:1.11 [[-7.16206123e-01 6.97886108e-01 1.94165006e-03 1.56198801e+02] [-6.97883656e-01 -7.16208754e-01 1.85032066e-03 1.66316790e+02] [ 2.68193985e-03 -2.98348549e-05 9.99996403e-01 1.11074780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.16142435e-01 6.97951459e-01 1.94268278e-03 1.56194117e+02] [-6.97949010e-01 -7.16145069e-01 1.84923575e-03 1.66314689e+02] [ 2.68191948e-03 -3.15773330e-05 9.99996403e-01 1.11099712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.16264143e-01 6.97826554e-01 1.94371541e-03 1.56193097e+02] [-6.97824107e-01 -7.16266780e-01 1.84814973e-03 1.66314794e+02] [ 2.68190673e-03 -3.26080850e-05 9.99996403e-01 1.11080292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.16496482e-01 6.97587994e-01 1.94474792e-03 1.56191245e+02] [-6.97585550e-01 -7.16499120e-01 1.84706261e-03 1.66314162e+02] [ 2.68189887e-03 -3.32141890e-05 9.99996403e-01 1.11085577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.16763141e-01 6.97314000e-01 1.94577883e-03 1.56188790e+02] [-6.97311557e-01 -7.16765781e-01 1.84597597e-03 1.66312825e+02] [ 2.68189256e-03 -3.36865340e-05 9.99996403e-01 1.11069880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.16791298e-01 6.97285053e-01 1.94680839e-03 1.56187016e+02] [-6.97282613e-01 -7.16793941e-01 1.84488953e-03 1.66313168e+02] [ 2.68187435e-03 -3.50748764e-05 9.99996403e-01 1.10960632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.36275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:156.18, Y:166.31, Z:1.11 [[-7.16914118e-01 6.97158772e-01 1.94783684e-03 1.56184920e+02] [-6.97156335e-01 -7.16916763e-01 1.84380305e-03 1.66312551e+02] [ 2.68186035e-03 -3.60983523e-05 9.99996403e-01 1.10693856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.19, Y:166.31, Z:1.11 [[-7.15339384e-01 6.98774476e-01 1.94886418e-03 1.56186303e+02] [-6.98772047e-01 -7.15342037e-01 1.84271653e-03 1.66312954e+02] [ 2.68174775e-03 -4.36441089e-05 9.99996403e-01 1.10772500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:166.31, Z:1.11 [[-7.18312695e-01 6.95717680e-01 1.94478507e-03 1.56179767e+02] [-6.95715229e-01 -7.18315327e-01 1.84703391e-03 1.66310168e+02] [ 2.68198307e-03 -2.62686859e-05 9.99996403e-01 1.10828418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.18, Y:166.31, Z:1.11 [[-7.19093585e-01 6.94910507e-01 1.95015950e-03 1.56176493e+02] [-6.94908068e-01 -7.19096229e-01 1.84134187e-03 1.66307614e+02] [ 2.68192015e-03 -3.10844452e-05 9.99996403e-01 1.10818040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:166.31, Z:1.11 [[-7.20994441e-01 6.92938099e-01 1.95118771e-03 1.56171962e+02] [-6.92935656e-01 -7.20997080e-01 1.84025167e-03 1.66305290e+02] [ 2.68198114e-03 -2.52363090e-05 9.99996403e-01 1.10816645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.51275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.17, Y:166.30, Z:1.11 [[-7.21930269e-01 6.91963060e-01 1.95221755e-03 1.56170739e+02] [-6.91960616e-01 -7.21932908e-01 1.83915852e-03 1.66304546e+02] [ 2.68199985e-03 -2.31134546e-05 9.99996403e-01 1.10733164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.17, Y:166.30, Z:1.11 [[-7.24367714e-01 6.89411053e-01 1.95324779e-03 1.56167757e+02] [-6.89408603e-01 -7.24370347e-01 1.83806372e-03 1.66303256e+02] [ 2.68205623e-03 -1.51518118e-05 9.99996403e-01 1.10797303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:166.30, Z:1.11 [[-7.23684240e-01 6.90128468e-01 1.95427691e-03 1.56161471e+02] [-6.90126023e-01 -7.23686878e-01 1.83696888e-03 1.66295927e+02] [ 2.68202908e-03 -1.93119216e-05 9.99996403e-01 1.10775474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.60275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:156.16, Y:166.30, Z:1.11 [[-7.25902602e-01 6.87794738e-01 1.95196349e-03 1.56164410e+02] [-6.87792279e-01 -7.25905226e-01 1.83943144e-03 1.66301401e+02] [ 2.68209176e-03 -7.29734512e-06 9.99996403e-01 1.10598297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:166.30, Z:1.11 [[-7.27027650e-01 6.86605397e-01 1.95557543e-03 1.56157676e+02] [-6.86602944e-01 -7.27030280e-01 1.83558338e-03 1.66296551e+02] [ 2.68208401e-03 -8.18397546e-06 9.99996403e-01 1.10875833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.16, Y:166.30, Z:1.11 [[-7.27336842e-01 6.86277852e-01 1.95660642e-03 1.56157433e+02] [-6.86275401e-01 -7.27339473e-01 1.83448376e-03 1.66297258e+02] [ 2.68208266e-03 -8.48323217e-06 9.99996403e-01 1.10918026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.30, Z:1.11 [[-7.26538548e-01 6.87122918e-01 1.95790610e-03 1.56153703e+02] [-6.87120473e-01 -7.26541186e-01 1.83309559e-03 1.66295549e+02] [ 2.68206141e-03 -1.35027597e-05 9.99996403e-01 1.10994051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.30, Z:1.11 [[-7.25909937e-01 6.87786977e-01 1.95893519e-03 1.56152581e+02] [-6.87784537e-01 -7.25912580e-01 1.83199519e-03 1.66295125e+02] [ 2.68203813e-03 -1.74618153e-05 9.99996403e-01 1.11029340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.30, Z:1.11 [[-7.25235834e-01 6.88497744e-01 1.95996416e-03 1.56152209e+02] [-6.88495310e-01 -7.25238482e-01 1.83089368e-03 1.66295936e+02] [ 2.68200760e-03 -2.15964236e-05 9.99996403e-01 1.11076545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.29, Z:1.11 [[-7.24429255e-01 6.89346364e-01 1.96099026e-03 1.56149217e+02] [-6.89343936e-01 -7.24431909e-01 1.82979401e-03 1.66294054e+02] [ 2.68196577e-03 -2.62404324e-05 9.99996403e-01 1.11117356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.30, Z:1.11 [[-7.22159435e-01 6.91723862e-01 1.96201475e-03 1.56149612e+02] [-6.91721446e-01 -7.22162099e-01 1.82869484e-03 1.66295645e+02] [ 2.68184454e-03 -3.65584474e-05 9.99996403e-01 1.11166381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.29, Z:1.11 [[-7.20482091e-01 6.93470766e-01 1.96303738e-03 1.56145470e+02] [-6.93468359e-01 -7.20484764e-01 1.82759642e-03 1.66290598e+02] [ 2.68172321e-03 -4.45538201e-05 9.99996403e-01 1.11245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.29, Z:1.11 [[-7.20483954e-01 6.93468833e-01 1.96198048e-03 1.56147007e+02] [-6.93466423e-01 -7.20486624e-01 1.82873212e-03 1.66292783e+02] [ 2.68174943e-03 -4.29954396e-05 9.99996403e-01 1.11212900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:166.29, Z:1.11 [[-7.19306582e-01 6.94689991e-01 1.96431745e-03 1.56141277e+02] [-6.94687592e-01 -7.19309262e-01 1.82621843e-03 1.66285198e+02] [ 2.68160740e-03 -5.09760224e-05 9.99996403e-01 1.11125603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:166.29, Z:1.11 [[-7.19575375e-01 6.94411563e-01 1.96498512e-03 1.56143814e+02] [-6.94409165e-01 -7.19578056e-01 1.82549921e-03 1.66287592e+02] [ 2.68160793e-03 -5.09193998e-05 9.99996403e-01 1.11136330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:166.29, Z:1.11 [[-7.19478310e-01 6.94512126e-01 1.96662634e-03 1.56144919e+02] [-6.94509734e-01 -7.19480996e-01 1.82372939e-03 1.66286495e+02] [ 2.68155246e-03 -5.37073937e-05 9.99996403e-01 1.10999573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.29, Z:1.11 [[-7.19549016e-01 6.94438869e-01 1.96764199e-03 1.56145981e+02] [-6.94436479e-01 -7.19551704e-01 1.82263293e-03 1.66286438e+02] [ 2.68152730e-03 -5.49286470e-05 9.99996403e-01 1.10925261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:166.29, Z:1.11 [[-7.19453216e-01 6.94538116e-01 1.96865435e-03 1.56145603e+02] [-6.94535729e-01 -7.19455908e-01 1.82153882e-03 1.66285149e+02] [ 2.68148814e-03 -5.67888212e-05 9.99996403e-01 1.10829026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:166.28, Z:1.11 [[-7.18084321e-01 6.95953324e-01 1.96966341e-03 1.56143136e+02] [-6.95950946e-01 -7.18087019e-01 1.82044704e-03 1.66280011e+02] [ 2.68133590e-03 -6.35546397e-05 9.99996403e-01 1.10625182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.14, Y:166.28, Z:1.11 [[-7.18243214e-01 6.95789339e-01 1.96990821e-03 1.56144807e+02] [-6.95786961e-01 -7.18245913e-01 1.82018186e-03 1.66281541e+02] [ 2.68134166e-03 -6.33031759e-05 9.99996403e-01 1.10668186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:166.05, Z:1.11 [[-7.16664764e-01 6.97415034e-01 1.97168141e-03 1.55892572e+02] [-6.97412667e-01 -7.16667472e-01 1.81825904e-03 1.66047580e+02] [ 2.68112112e-03 -7.19934115e-05 9.99996403e-01 1.10623144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.24, Y:165.63, Z:2.29 [[-7.07899304e-01 -7.06310617e-01 -1.97168142e-03 1.56243667e+02] [-7.06308284e-01 7.07902042e-01 -1.81825903e-03 1.65625298e+02] [ 2.68001296e-03 1.05470615e-04 -9.99996403e-01 2.29087282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.25, Z:1.11 [[-6.66285373e-01 7.45694591e-01 1.83817534e-03 1.56060197e+02] [-7.45692060e-01 -6.66287904e-01 1.94448113e-03 1.66245538e+02] [ 2.67474306e-03 -7.51334208e-05 9.99996420e-01 1.10798229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.24, Z:1.11 [[-6.65814788e-01 7.46114787e-01 1.84198805e-03 1.56058812e+02] [-7.46112267e-01 -6.65817331e-01 1.94086265e-03 1.66242309e+02] [ 2.67453389e-03 -8.20748291e-05 9.99996420e-01 1.10901869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.24, Z:1.11 [[-6.63683739e-01 7.48011028e-01 1.84305713e-03 1.56058626e+02] [-7.48008518e-01 -6.63686292e-01 1.93984692e-03 1.66237746e+02] [ 2.67423864e-03 -9.11775771e-05 9.99996420e-01 1.10893212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.23, Z:1.11 [[-6.62489596e-01 7.49068851e-01 1.84155882e-03 1.56057339e+02] [-7.49066342e-01 -6.62492149e-01 1.94127113e-03 1.66233521e+02] [ 2.67416400e-03 -9.33777964e-05 9.99996420e-01 1.10902370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.23, Z:1.11 [[-6.64576129e-01 7.47218298e-01 1.83954082e-03 1.56057861e+02] [-7.47215776e-01 -6.64578669e-01 1.94319033e-03 1.66234244e+02] [ 2.67450696e-03 -8.31360200e-05 9.99996420e-01 1.11128662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.23, Z:1.11 [[-6.65361772e-01 7.46518794e-01 1.84468011e-03 1.56057826e+02] [-7.46516283e-01 -6.65364323e-01 1.93829927e-03 1.66230020e+02] [ 2.67436116e-03 -8.74135029e-05 9.99996420e-01 1.11189760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.06, Y:166.23, Z:1.11 [[-6.66084180e-01 7.45874291e-01 1.84574931e-03 1.56058748e+02] [-7.45871780e-01 -6.66086732e-01 1.93728058e-03 1.66228495e+02] [ 2.67439691e-03 -8.63003740e-05 9.99996420e-01 1.11231335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.23, Y:165.64, Z:2.28 [[-6.56899246e-01 -7.53976107e-01 -1.84681743e-03 1.56230819e+02] [-7.53973630e-01 6.56901831e-01 -1.93626180e-03 1.65644119e+02] [ 2.67307289e-03 1.20522730e-04 -9.99996420e-01 2.28422504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.41275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.36, Y:165.85, Z:2.28 [[-6.00810900e-01 -7.99389049e-01 -1.84681743e-03 1.56362518e+02] [-7.99386766e-01 6.00813657e-01 -1.93626180e-03 1.65853356e+02] [ 2.65741961e-03 3.12994223e-04 -9.99996420e-01 2.28268072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.92, Y:166.14, Z:1.12 [[-5.54697240e-01 8.32050863e-01 1.52763851e-03 1.55921266e+02] [-8.32048058e-01 -5.54699339e-01 2.16180924e-03 1.66142431e+02] [ 2.64611532e-03 -7.19190371e-05 9.99996496e-01 1.11527277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:166.15, Z:1.12 [[-5.56678856e-01 8.30726377e-01 1.52884591e-03 1.55929332e+02] [-8.30723569e-01 -5.56680951e-01 2.16095503e-03 1.66150814e+02] [ 2.64624173e-03 -6.70903590e-05 9.99996496e-01 1.11547845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.75, Y:165.89, Z:1.12 [[-5.60515365e-01 8.28142611e-01 1.53005224e-03 1.55752101e+02] [-8.28139796e-01 -5.60517451e-01 2.16010055e-03 1.65894734e+02] [ 2.64649229e-03 -5.63275998e-05 9.99996496e-01 1.11703049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.28, Y:165.80, Z:2.28 [[-5.37638174e-01 -8.43174272e-01 -1.53005224e-03 1.56283798e+02] [-8.43171515e-01 5.37640336e-01 -2.16010055e-03 1.65803507e+02] [ 2.64395901e-03 1.28743949e-04 -9.99996496e-01 2.28271277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:166.06, Z:1.11 [[-5.07559585e-01 8.61615561e-01 1.37587621e-03 1.55844750e+02] [-8.61612613e-01 -5.07561448e-01 2.25420352e-03 1.66062878e+02] [ 2.64059855e-03 -4.13296875e-05 9.99996513e-01 1.11443564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:166.06, Z:1.11 [[-5.09223167e-01 8.60633412e-01 1.37713376e-03 1.55843026e+02] [-8.60630463e-01 -5.09225027e-01 2.25343500e-03 1.66057378e+02] [ 2.64065243e-03 -3.77019540e-05 9.99996513e-01 1.11435862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.84, Y:166.05, Z:1.11 [[-5.10583425e-01 8.59827114e-01 1.37839423e-03 1.55842665e+02] [-8.59824164e-01 -5.10585285e-01 2.25266372e-03 1.66054338e+02] [ 2.64068916e-03 -3.50039100e-05 9.99996513e-01 1.11347479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:165.58, Z:2.29 [[-4.65501389e-01 -8.85046074e-01 -1.37966353e-03 1.56126025e+02] [-8.85043226e-01 4.65503402e-01 -2.25188606e-03 1.65578322e+02] [ 2.63526098e-03 1.72805775e-04 -9.99996513e-01 2.28558755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:165.56, Z:2.29 [[-4.05672655e-01 -9.14017392e-01 -1.37966353e-03 1.56097830e+02] [-9.14014684e-01 4.05674852e-01 -2.25188606e-03 1.65558217e+02] [ 2.61795782e-03 3.47504131e-04 -9.99996513e-01 2.28526826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:165.48, Z:2.29 [[-3.41448963e-01 -9.39899304e-01 -1.37966353e-03 1.56049527e+02] [-9.39896755e-01 3.41451342e-01 -2.25188606e-03 1.65479539e+02] [ 2.58763411e-03 5.27837117e-04 -9.99996513e-01 2.28559553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.09, Y:165.68, Z:2.28 [[-2.77088823e-01 -9.60843318e-01 -1.37966353e-03 1.56090540e+02] [-9.60840935e-01 2.77091369e-01 -2.25188606e-03 1.65680939e+02] [ 2.54600253e-03 7.01664741e-04 -9.99996513e-01 2.28455170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.50522549e-01 9.68110533e-01 6.69592069e-04 1.55618370e+02] [-9.68107443e-01 -2.50523441e-01 2.44624893e-03 1.65816191e+02] [ 2.53598786e-03 -3.53965490e-05 9.99996784e-01 1.11412483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.81, Z:1.11 [[-2.51073858e-01 9.67967699e-01 6.71349936e-04 1.55617809e+02] [-9.67964610e-01 -2.51074753e-01 2.44576640e-03 1.65813875e+02] [ 2.53598190e-03 -3.57749722e-05 9.99996784e-01 1.11413131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.50467560e-01 9.68124759e-01 6.72742613e-04 1.55619861e+02] [-9.68121671e-01 -2.50468461e-01 2.44538327e-03 1.65819469e+02] [ 2.53593689e-03 -3.88075215e-05 9.99996784e-01 1.11439439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.47174405e-01 9.68970773e-01 6.74128221e-04 1.55621715e+02] [-9.68967690e-01 -2.47175319e-01 2.44500123e-03 1.65822016e+02] [ 2.53576259e-03 -4.88667398e-05 9.99996784e-01 1.11454811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.45810559e-01 9.69317653e-01 6.75504143e-04 1.55621829e+02] [-9.69314572e-01 -2.45811481e-01 2.44462103e-03 1.65821666e+02] [ 2.53566100e-03 -5.38623461e-05 9.99996784e-01 1.11484608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.44386320e-01 9.69677714e-01 6.76866850e-04 1.55621731e+02] [-9.69674635e-01 -2.44387251e-01 2.44424367e-03 1.65819399e+02] [ 2.53554624e-03 -5.90008986e-05 9.99996784e-01 1.11450709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.11 [[-2.41311804e-01 9.70447398e-01 6.78234993e-04 1.55623278e+02] [-9.70444324e-01 -2.41312748e-01 2.44386398e-03 1.65820247e+02] [ 2.53530819e-03 -6.84560736e-05 9.99996784e-01 1.11478450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.82, Z:1.12 [[-2.40537965e-01 9.70639493e-01 6.79599937e-04 1.55623340e+02] [-9.70636420e-01 -2.40538914e-01 2.44348435e-03 1.65818672e+02] [ 2.53521264e-03 -7.18936985e-05 9.99996784e-01 1.11524825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.81, Z:1.12 [[-2.40368052e-01 9.70681583e-01 6.80954796e-04 1.55621957e+02] [-9.70678511e-01 -2.40369006e-01 2.44310671e-03 1.65812932e+02] [ 2.53515912e-03 -7.37433857e-05 9.99996784e-01 1.11589297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.81, Z:1.12 [[-2.40160120e-01 9.70733048e-01 6.82662573e-04 1.55621004e+02] [-9.70729978e-01 -2.40161078e-01 2.44262943e-03 1.65805225e+02] [ 2.53509009e-03 -7.60588490e-05 9.99996784e-01 1.11647239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.62, Y:165.79, Z:1.12 [[-2.40853171e-01 9.70561323e-01 6.84197615e-04 1.55617947e+02] [-9.70558253e-01 -2.40854131e-01 2.44219938e-03 1.65791505e+02] [ 2.53509608e-03 -7.58421785e-05 9.99996784e-01 1.11666321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.61, Y:165.77, Z:1.12 [[-2.46442967e-01 9.69157053e-01 6.85568584e-04 1.55613668e+02] [-9.69153979e-01 -2.46443913e-01 2.44181446e-03 1.65771640e+02] [ 2.53545591e-03 -6.26535205e-05 9.99996784e-01 1.11792725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.00, Y:165.43, Z:2.28 [[-2.28299106e-01 -9.73590795e-01 -6.94973099e-04 1.55999162e+02] [-9.73587747e-01 2.28300132e-01 -2.43913487e-03 1.65434768e+02] [ 2.53338170e-03 1.19764985e-04 -9.99996784e-01 2.28003946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:165.33, Z:2.28 [[-1.58430075e-01 -9.87369955e-01 -6.94973099e-04 1.55965383e+02] [-9.87366988e-01 1.58431316e-01 -2.43913487e-03 1.65328768e+02] [ 2.51843399e-03 2.99761174e-04 -9.99996784e-01 2.28043227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.97, Y:165.56, Z:2.28 [[-8.49332483e-02 -9.96386401e-01 -6.94973099e-04 1.55967760e+02] [-9.96383534e-01 8.49347052e-02 -2.43913487e-03 1.65555753e+02] [ 2.48934815e-03 4.85296105e-04 -9.99996784e-01 2.28139126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.57, Z:1.12 [[-4.38671098e-02 9.99037363e-01 1.56509641e-04 1.55495776e+02] [-9.99034303e-01 -4.38673628e-02 2.47321026e-03 1.65573244e+02] [ 2.47769512e-03 -4.78659138e-05 9.99996929e-01 1.11857163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.58, Z:1.12 [[-4.61505556e-02 9.98934483e-01 1.57894475e-04 1.55496472e+02] [-9.98931423e-01 -4.61508052e-02 2.47312185e-03 1.65578263e+02] [ 2.47777365e-03 -4.35898046e-05 9.99996929e-01 1.11828878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.94, Y:165.47, Z:2.28 [[-1.22172615e-02 -9.99925312e-01 -3.30840455e-04 1.55941214e+02] [-9.99922326e-01 1.22180397e-02 -2.46198298e-03 1.65474861e+02] [ 2.46584132e-03 3.00736067e-04 -9.99996915e-01 2.28135426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.96, Y:165.47, Z:2.28 [[ 6.71455102e-02 -9.97743194e-01 8.64066567e-06 1.55959589e+02] [-9.97740171e-01 -6.71453281e-02 -2.46079109e-03 1.65466082e+02] [ 2.45581774e-03 1.56609934e-04 -9.99996972e-01 2.28166079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.49, Y:165.40, Z:1.12 [[ 9.54966335e-02 9.95429733e-01 -2.00723419e-04 1.55494067e+02] [-9.95426730e-01 9.54968385e-02 2.44502215e-03 1.65396594e+02] [ 2.45301620e-03 -3.36859280e-05 9.99996991e-01 1.11850506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.37, Z:1.12 [[ 9.53544751e-02 9.95443360e-01 -2.01477792e-04 1.55496710e+02] [-9.95440358e-01 9.53546824e-02 2.44495999e-03 1.65369235e+02] [ 2.45303103e-03 -3.25787504e-05 9.99996991e-01 1.11853416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.402755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:155.50, Y:165.34, Z:1.12 [[ 9.54541237e-02 9.95433810e-01 -2.01804357e-04 1.55499195e+02] [-9.95430808e-01 9.54543315e-02 2.44493303e-03 1.65341733e+02] [ 2.45303210e-03 -3.24966660e-05 9.99996991e-01 1.11782666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.31, Z:1.12 [[ 9.59969790e-02 9.95381605e-01 -2.02539885e-04 1.55501622e+02] [-9.95378603e-01 9.59971869e-02 2.44487210e-03 1.65314121e+02] [ 2.45302397e-03 -3.30964681e-05 9.99996991e-01 1.11738995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.29, Z:1.12 [[ 9.70850435e-02 9.95276069e-01 -2.03303208e-04 1.55503129e+02] [-9.95273067e-01 9.70852501e-02 2.44480862e-03 1.65286296e+02] [ 2.45299726e-03 -3.50121440e-05 9.99996991e-01 1.11648711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.50, Y:165.26, Z:1.12 [[ 9.79904022e-02 9.95187339e-01 -2.04066095e-04 1.55504824e+02] [-9.95184337e-01 9.79906079e-02 2.44474494e-03 1.65259260e+02] [ 2.45297577e-03 -3.64781587e-05 9.99996991e-01 1.11659975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.99, Y:165.29, Z:2.29 [[ 1.45643599e-01 -9.89337101e-01 2.04396448e-04 1.55994135e+02] [-9.89334093e-01 -1.45643662e-01 -2.44471732e-03 1.65294308e+02] [ 2.44841860e-03 1.53841056e-04 -9.99996991e-01 2.28505917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:165.19, Z:1.12 [[ 1.78728868e-01 9.83898286e-01 -3.93897800e-04 1.55530421e+02] [-9.83895326e-01 1.78729297e-01 2.41379336e-03 1.65187379e+02] [ 2.44532823e-03 -4.38603510e-05 9.99997009e-01 1.11532801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.53, Y:165.16, Z:1.11 [[ 1.79759929e-01 9.83710431e-01 -3.94649161e-04 1.55534416e+02] [-9.83707471e-01 1.79760356e-01 2.41367051e-03 1.65159551e+02] [ 2.44529513e-03 -4.56619110e-05 9.99997009e-01 1.11485217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.61275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:156.03, Y:165.23, Z:2.29 [[ 2.18913796e-01 -9.75744123e-01 3.95396946e-04 1.56025793e+02] [-9.75741149e-01 -2.18914106e-01 -2.41354800e-03 1.65234821e+02] [ 2.44156325e-03 1.42553884e-04 -9.99997009e-01 2.28793076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.05, Y:165.23, Z:2.29 [[ 2.94310790e-01 -9.55709590e-01 5.81344734e-04 1.56046392e+02] [-9.55706667e-01 -2.94311330e-01 -2.36789580e-03 1.65231110e+02] [ 2.43411707e-03 1.41302245e-04 -9.99997028e-01 2.28842689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.07, Y:165.23, Z:2.29 [[ 3.68501969e-01 -9.29626655e-01 7.62544819e-04 1.56068324e+02] [-9.29623801e-01 -3.68502730e-01 -2.30802955e-03 1.65230169e+02] [ 2.42660564e-03 1.41633620e-04 -9.99997046e-01 2.28955067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.63, Y:165.01, Z:1.11 [[ 4.05301607e-01 9.14182546e-01 -9.38027347e-04 1.55632725e+02] [-9.14179817e-01 4.05302690e-01 2.23435861e-03 1.65014303e+02] [ 2.42279665e-03 -4.80634665e-05 9.99997064e-01 1.11193673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.10, Y:165.20, Z:2.29 [[ 4.41845486e-01 -8.97090679e-01 9.38709435e-04 1.56097180e+02] [-8.97087908e-01 -4.41846459e-01 -2.23407201e-03 1.65203514e+02] [ 2.41893061e-03 1.45009749e-04 -9.99997064e-01 2.29117312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.12, Y:165.20, Z:2.29 [[ 5.11815305e-01 -8.59094796e-01 1.10737747e-03 1.56115079e+02] [-8.59092125e-01 -5.11816481e-01 -2.14707986e-03 1.65203701e+02] [ 2.41131918e-03 1.47569069e-04 -9.99997082e-01 2.29230747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.13, Y:165.21, Z:2.29 [[ 5.79540756e-01 -8.14942270e-01 1.26817672e-03 1.56134867e+02] [-8.14939712e-01 -5.79542124e-01 -2.04748358e-03 1.65207425e+02] [ 2.40354275e-03 1.53112605e-04 -9.99997100e-01 2.29411116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.15, Y:165.21, Z:2.29 [[ 6.42556183e-01 -7.66237257e-01 1.42028742e-03 1.56154246e+02] [-7.66234827e-01 -6.42557734e-01 -1.93588566e-03 1.65210714e+02] [ 2.39596439e-03 1.55641618e-04 -9.99997118e-01 2.29455319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.80, Y:164.87, Z:1.11 [[ 6.61083866e-01 7.50310390e-01 -1.56261850e-03 1.55800818e+02] [-7.50308199e-01 6.61085712e-01 1.81322636e-03 1.64865306e+02] [ 2.39350734e-03 -2.62492176e-05 9.99997135e-01 1.10761217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.82, Y:164.84, Z:1.11 [[ 6.61030569e-01 7.50357343e-01 -1.56368966e-03 1.55819178e+02] [-7.50355154e-01 6.61032418e-01 1.81230269e-03 1.64843761e+02] [ 2.39352419e-03 -2.46648862e-05 9.99997135e-01 1.10761113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.22, Y:165.19, Z:2.30 [[ 7.03982570e-01 -7.10215532e-01 1.56189302e-03 1.56222673e+02] [-7.10213236e-01 -7.03984282e-01 -1.81385193e-03 1.65186532e+02] [ 2.38777395e-03 1.67643049e-04 -9.99997135e-01 2.29641058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.89, Y:164.81, Z:1.11 [[ 7.14533253e-01 6.99599426e-01 -1.69527839e-03 1.55890029e+02] [-6.99597411e-01 7.14535264e-01 1.67918854e-03 1.64810783e+02] [ 2.38609553e-03 -1.38236772e-05 9.99997153e-01 1.10628577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.91, Y:164.79, Z:1.11 [[ 7.16248917e-01 6.97842789e-01 -1.71192745e-03 1.55912604e+02] [-6.97840809e-01 7.16250963e-01 1.66237418e-03 1.64788891e+02] [ 2.38624552e-03 3.97913248e-06 9.99997153e-01 1.10675289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:155.93, Y:164.77, Z:1.11 [[ 7.16409764e-01 6.97677700e-01 -1.69618041e-03 1.55931701e+02] [-6.97675681e-01 7.16411772e-01 1.67827458e-03 1.64768509e+02] [ 2.38605836e-03 -1.89484750e-05 9.99997153e-01 1.10706881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.32, Y:165.15, Z:2.30 [[ 7.56286674e-01 -6.54238179e-01 1.69454200e-03 1.56318932e+02] [-6.54236042e-01 -7.56288555e-01 -1.67992898e-03 1.65152925e+02] [ 2.38063639e-03 1.61877448e-04 -9.99997153e-01 2.30033612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.33, Y:165.15, Z:2.30 [[ 8.05407793e-01 -5.92718299e-01 1.81783166e-03 1.56332528e+02] [-5.92716335e-01 -8.05409829e-01 -1.53415501e-03 1.65153312e+02] [ 2.37342124e-03 1.58161882e-04 -9.99997171e-01 2.29813043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.35, Y:165.15, Z:2.30 [[ 8.49148240e-01 -5.28151139e-01 1.90791770e-03 1.56345851e+02] [-5.28149293e-01 -8.49150363e-01 -1.40933404e-03 1.65154957e+02] [ 2.36445038e-03 1.89068135e-04 -9.99997187e-01 2.30057457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.36, Y:165.16, Z:2.30 [[ 8.87411398e-01 -4.60974009e-01 1.99350094e-03 1.56357390e+02] [-4.60972309e-01 -8.87413613e-01 -1.26904181e-03 1.65158126e+02] [ 2.35405516e-03 2.07213435e-04 -9.99997208e-01 2.30087064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.152755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:156.37, Y:165.17, Z:2.30 [[ 9.21905374e-01 -3.87409618e-01 2.06622089e-03 1.56374930e+02] [-3.87408054e-01 -9.21907659e-01 -1.12607885e-03 1.65168471e+02] [ 2.34111864e-03 2.37667534e-04 -9.99997231e-01 2.30085944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.39, Y:165.17, Z:2.30 [[ 9.48604566e-01 -3.16456465e-01 2.16428700e-03 1.56386206e+02] [-3.16455261e-01 -9.48607022e-01 -8.86721926e-04 1.65171592e+02] [ 2.33366673e-03 1.56248460e-04 -9.99997265e-01 2.30044862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.40, Y:165.18, Z:2.30 [[ 9.70882507e-01 -2.39545967e-01 2.21071885e-03 1.56400476e+02] [-2.39544892e-01 -9.70885005e-01 -7.42768124e-04 1.65184088e+02] [ 2.32428089e-03 1.91574169e-04 -9.99997281e-01 2.30087240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.41, Y:165.20, Z:2.30 [[ 9.86688452e-01 -1.62606297e-01 2.25635606e-03 1.56413326e+02] [-1.62605460e-01 -9.86691016e-01 -5.50399708e-04 1.65196658e+02] [ 2.31582471e-03 1.76177220e-04 -9.99997303e-01 2.29873158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.42, Y:165.21, Z:2.30 [[ 9.96324552e-01 -8.56280213e-02 2.28669872e-03 1.56423033e+02] [-8.56274312e-02 -9.96327164e-01 -3.54890228e-04 1.65212565e+02] [ 2.30868860e-03 1.57781710e-04 -9.99997323e-01 2.29891856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:165.22, Z:2.30 [[ 9.99956928e-01 -8.99163839e-03 2.30038190e-03 1.56430396e+02] [-8.99126125e-03 -9.99959563e-01 -1.74234917e-04 1.65224626e+02] [ 2.30185554e-03 1.53544078e-04 -9.99997339e-01 2.30161121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:165.24, Z:2.30 [[ 9.97606618e-01 6.91067643e-02 2.30001724e-03 1.56435961e+02] [ 6.91069650e-02 -9.97609256e-01 -7.79950701e-06 1.65240882e+02] [ 2.29397949e-03 1.66728051e-04 -9.99997355e-01 2.29956524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:165.26, Z:2.30 [[ 9.89328743e-01 1.45682603e-01 2.28425501e-03 1.56440049e+02] [ 1.45682561e-01 -9.89331369e-01 1.85890324e-04 1.65258093e+02] [ 2.28696612e-03 1.48869478e-04 -9.99997374e-01 2.30009540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:165.30, Z:2.30 [[ 9.74705647e-01 2.23481101e-01 2.25795686e-03 1.56439431e+02] [ 2.23480887e-01 -9.74708249e-01 3.50203611e-04 1.65297042e+02] [ 2.27911306e-03 1.63264763e-04 -9.99997390e-01 2.29881776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.44, Y:165.34, Z:2.30 [[ 9.55109211e-01 2.96245643e-01 2.21683472e-03 1.56435372e+02] [ 2.96245229e-01 -9.55111770e-01 5.20476352e-04 1.65337430e+02] [ 2.27151378e-03 1.59614951e-04 -9.99997407e-01 2.29922167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.45275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:156.43, Y:165.38, Z:2.30 [[ 9.28946493e-01 3.70207763e-01 2.15086075e-03 1.56427085e+02] [ 3.70207080e-01 -9.28948974e-01 7.21845589e-04 1.65375038e+02] [ 2.26527273e-03 1.25707951e-04 -9.99997426e-01 2.30256975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.43, Y:165.39, Z:2.30 [[ 8.97017577e-01 4.41989906e-01 2.09491775e-03 1.56427591e+02] [ 4.41989105e-01 -8.97020010e-01 8.56336156e-04 1.65387601e+02] [ 2.25767507e-03 1.57782235e-04 -9.99997439e-01 2.30012828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.51275509600003 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:156.71, Y:164.90, Z:1.11 [[ 8.82823130e-01 -4.69701262e-01 -2.01158101e-03 1.56709969e+02] [ 4.69700158e-01 8.82825420e-01 -1.01926739e-03 1.64900469e+02] [ 2.25462603e-03 -4.50070874e-05 9.99997457e-01 1.10621235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:164.91, Z:1.11 [[ 8.83228652e-01 -4.68938274e-01 -2.01101194e-03 1.56735409e+02] [ 4.68937165e-01 8.83230940e-01 -1.02037945e-03 1.64911669e+02] [ 2.25468294e-03 -4.18098781e-05 9.99997457e-01 1.10633070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:164.92, Z:1.11 [[ 8.83820537e-01 -4.67821793e-01 -2.00717223e-03 1.56760343e+02] [ 4.67820665e-01 8.83822815e-01 -1.02787738e-03 1.64923412e+02] [ 2.25484805e-03 -3.05375100e-05 9.99997457e-01 1.10714091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.79, Y:164.93, Z:1.11 [[ 8.84391108e-01 -4.66742263e-01 -2.00707182e-03 1.56786279e+02] [ 4.66741131e-01 8.84393385e-01 -1.02807341e-03 1.64934869e+02] [ 2.25488635e-03 -2.75639908e-05 9.99997457e-01 1.10838889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.63275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:156.81, Y:164.95, Z:1.11 [[ 8.84261006e-01 -4.66988700e-01 -2.00673241e-03 1.56811089e+02] [ 4.66987568e-01 8.84263283e-01 -1.02873549e-03 1.64948272e+02] [ 2.25488764e-03 -2.74484083e-05 9.99997457e-01 1.10604243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.84, Y:164.96, Z:1.11 [[ 8.85239465e-01 -4.65131232e-01 -2.00662780e-03 1.56840053e+02] [ 4.65130094e-01 8.85241739e-01 -1.02893951e-03 1.64960975e+02] [ 2.25494258e-03 -2.24851161e-05 9.99997457e-01 1.10744586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.86, Y:164.97, Z:1.11 [[ 8.85229650e-01 -4.65149872e-01 -2.01576867e-03 1.56861519e+02] [ 4.65148776e-01 8.85231944e-01 -1.01108322e-03 1.64972805e+02] [ 2.25472805e-03 -4.25914890e-05 9.99997457e-01 1.11008922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:156.89, Y:164.99, Z:1.11 [[ 8.85092912e-01 -4.65410051e-01 -2.00549679e-03 1.56886842e+02] [ 4.65408909e-01 8.85095184e-01 -1.03112247e-03 1.64986031e+02] [ 2.25495031e-03 -2.07368785e-05 9.99997457e-01 1.11014717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.91, Y:165.00, Z:1.11 [[ 8.85160399e-01 -4.65281686e-01 -2.00515395e-03 1.56911342e+02] [ 4.65280542e-01 8.85162670e-01 -1.03179077e-03 1.64998202e+02] [ 2.25496078e-03 -1.96587854e-05 9.99997457e-01 1.11031731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.94, Y:165.01, Z:1.11 [[ 8.84936059e-01 -4.65708226e-01 -2.00491871e-03 1.56937153e+02] [ 4.65707082e-01 8.84938330e-01 -1.03224904e-03 1.65011461e+02] [ 2.25495628e-03 -2.02304482e-05 9.99997457e-01 1.11113772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.96, Y:165.02, Z:1.11 [[ 8.84604806e-01 -4.66337128e-01 -2.00524234e-03 1.56961519e+02] [ 4.66335988e-01 8.84607078e-01 -1.03161873e-03 1.65024741e+02] [ 2.25493368e-03 -2.25417826e-05 9.99997457e-01 1.11075112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.99, Y:165.04, Z:1.11 [[ 8.83642247e-01 -4.68158480e-01 -2.00416774e-03 1.56986827e+02] [ 4.68157339e-01 8.83644520e-01 -1.03371012e-03 1.65039046e+02] [ 2.25491200e-03 -2.48358988e-05 9.99997457e-01 1.11127039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.87275509600005 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:157.01, Y:165.05, Z:1.11 [[ 8.82964732e-01 -4.69435033e-01 -2.00800747e-03 1.57010955e+02] [ 4.69433913e-01 8.82967014e-01 -1.02623925e-03 1.65052590e+02] [ 2.25475701e-03 -3.64937386e-05 9.99997457e-01 1.11216918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.04, Y:165.07, Z:1.11 [[ 8.82406181e-01 -4.70484123e-01 -2.00550666e-03 1.57035637e+02] [ 4.70482995e-01 8.82408459e-01 -1.03109983e-03 1.65065874e+02] [ 2.25479214e-03 -3.37079173e-05 9.99997457e-01 1.11194298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:165.08, Z:1.11 [[ 8.82052520e-01 -4.71146827e-01 -2.00483766e-03 1.57060185e+02] [ 4.71145697e-01 8.82054798e-01 -1.03239897e-03 1.65078957e+02] [ 2.25478817e-03 -3.39405207e-05 9.99997457e-01 1.11194466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:157.08, Y:165.09, Z:1.11 [[ 8.81645816e-01 -4.71907442e-01 -2.00515394e-03 1.57083989e+02] [ 4.71906316e-01 8.81648096e-01 -1.03178494e-03 1.65091209e+02] [ 2.25474715e-03 -3.65759367e-05 9.99997457e-01 1.11168628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.11, Y:165.11, Z:1.11 [[ 8.81251341e-01 -4.72643695e-01 -2.00282838e-03 1.57109098e+02] [ 4.72642560e-01 8.81253617e-01 -1.03629558e-03 1.65105116e+02] [ 2.25479833e-03 -3.33850585e-05 9.99997457e-01 1.11278582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.13, Y:165.12, Z:1.11 [[ 8.80374516e-01 -4.74274912e-01 -2.00469412e-03 1.57129093e+02] [ 4.74273790e-01 8.80376798e-01 -1.03267950e-03 1.65119677e+02] [ 2.25466017e-03 -4.16291627e-05 9.99997457e-01 1.11080321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.05275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:157.15, Y:165.13, Z:1.11 [[ 8.79656395e-01 -4.75605563e-01 -1.99383456e-03 1.57152361e+02] [ 4.75604396e-01 8.79658654e-01 -1.05374826e-03 1.65133678e+02] [ 2.25506236e-03 -2.13400893e-05 9.99997457e-01 1.10809538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.18, Y:165.15, Z:1.11 [[ 8.81081396e-01 -4.72960473e-01 -1.99137729e-03 1.57182161e+02] [ 4.72959288e-01 8.81083646e-01 -1.05850059e-03 1.65146130e+02] [ 2.25519890e-03 -9.21521445e-06 9.99997457e-01 1.11130641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.20, Y:165.16, Z:1.11 [[ 8.80307043e-01 -4.74400149e-01 -2.00233087e-03 1.57202641e+02] [ 4.74399016e-01 8.80309319e-01 -1.03730332e-03 1.65160351e+02] [ 2.25476738e-03 -3.67583731e-05 9.99997457e-01 1.11064022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.23, Y:165.17, Z:1.11 [[ 8.79792699e-01 -4.75353384e-01 -1.99158063e-03 1.57228965e+02] [ 4.75352207e-01 8.79794953e-01 -1.05813894e-03 1.65174181e+02] [ 2.25517252e-03 -1.57593354e-05 9.99997457e-01 1.10861973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.25, Y:165.19, Z:1.11 [[ 8.79566733e-01 -4.75771358e-01 -1.99435195e-03 1.57253323e+02] [ 4.75770194e-01 8.79568994e-01 -1.05276853e-03 1.65186161e+02] [ 2.25504725e-03 -2.28730388e-05 9.99997457e-01 1.10900969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.28, Y:165.20, Z:1.11 [[ 8.79630636e-01 -4.75653206e-01 -1.99309444e-03 1.57283407e+02] [ 4.75652036e-01 8.79632893e-01 -1.05519979e-03 1.65198028e+02] [ 2.25510059e-03 -1.98333683e-05 9.99997457e-01 1.11085376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.31, Y:165.21, Z:1.11 [[ 8.79090800e-01 -4.76650137e-01 -2.00320471e-03 1.57308891e+02] [ 4.76649014e-01 8.79093081e-01 -1.03564336e-03 1.65211638e+02] [ 2.25464295e-03 -4.44010024e-05 9.99997457e-01 1.11133916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.33, Y:165.22, Z:1.11 [[ 8.78803889e-01 -4.77178905e-01 -2.00456327e-03 1.57333307e+02] [ 4.77177789e-01 8.78806173e-01 -1.03301711e-03 1.65224505e+02] [ 2.25455655e-03 -4.87136165e-05 9.99997457e-01 1.11150139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.36, Y:165.24, Z:1.11 [[ 8.78507721e-01 -4.77723956e-01 -2.00175068e-03 1.57358753e+02] [ 4.77722829e-01 8.78510000e-01 -1.03844998e-03 1.65238031e+02] [ 2.25465042e-03 -4.39956683e-05 9.99997457e-01 1.11110279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.38, Y:165.25, Z:1.11 [[ 8.78327326e-01 -4.78055541e-01 -2.00228037e-03 1.57383529e+02] [ 4.78054417e-01 8.78329607e-01 -1.03742710e-03 1.65251131e+02] [ 2.25460990e-03 -4.59984117e-05 9.99997457e-01 1.11129671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.41, Y:165.26, Z:1.11 [[ 8.78225170e-01 -4.78243183e-01 -2.00200723e-03 1.57408259e+02] [ 4.78242059e-01 8.78227451e-01 -1.03795409e-03 1.65263708e+02] [ 2.25461217e-03 -4.58866511e-05 9.99997457e-01 1.11112664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.44, Y:165.27, Z:1.11 [[ 8.79618184e-01 -4.75676196e-01 -2.00200465e-03 1.57438321e+02] [ 4.75675065e-01 8.79620461e-01 -1.03795905e-03 1.65274974e+02] [ 2.25473667e-03 -3.92960370e-05 9.99997457e-01 1.11126460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.46, Y:165.29, Z:1.11 [[ 8.77959373e-01 -4.78730903e-01 -2.01531355e-03 1.57458060e+02] [ 4.78729839e-01 8.77961683e-01 -1.01227804e-03 1.65289636e+02] [ 2.25397686e-03 -7.60517414e-05 9.99997457e-01 1.11106979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.48, Y:165.30, Z:1.11 [[ 8.77662295e-01 -4.79275381e-01 -2.00144805e-03 1.57480898e+02] [ 4.79274257e-01 8.77664575e-01 -1.03898778e-03 1.65303304e+02] [ 2.25456131e-03 -4.73621298e-05 9.99997457e-01 1.10972290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.50, Y:165.32, Z:1.11 [[ 8.78266763e-01 -4.78166817e-01 -1.99692625e-03 1.57504259e+02] [ 4.78165670e-01 8.78269033e-01 -1.04767759e-03 1.65315011e+02] [ 2.25480315e-03 -3.47211787e-05 9.99997457e-01 1.11174479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.53, Y:165.33, Z:1.11 [[ 8.77991362e-01 -4.78672334e-01 -1.99111644e-03 1.57529188e+02] [ 4.78671164e-01 8.77993620e-01 -1.05881704e-03 1.65328672e+02] [ 2.25501396e-03 -2.34578048e-05 9.99997457e-01 1.11050716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.55, Y:165.34, Z:1.11 [[ 8.78563390e-01 -4.77621594e-01 -1.99556243e-03 1.57554524e+02] [ 4.77620440e-01 8.78565656e-01 -1.05027775e-03 1.65342503e+02] [ 2.25486795e-03 -3.03858177e-05 9.99997457e-01 1.10989674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.58, Y:165.35, Z:1.11 [[ 8.79077560e-01 -4.76674583e-01 -1.99619332e-03 1.57579291e+02] [ 4.76673429e-01 8.79079826e-01 -1.04906651e-03 1.65354911e+02] [ 2.25487662e-03 -2.93214832e-05 9.99997457e-01 1.11046709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.60, Y:165.37, Z:1.11 [[ 8.79613515e-01 -4.75684855e-01 -1.99574057e-03 1.57602449e+02] [ 4.75683697e-01 8.79615779e-01 -1.04993468e-03 1.65367536e+02] [ 2.25492292e-03 -2.58045220e-05 9.99997457e-01 1.11011258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.62275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:157.63, Y:165.38, Z:1.11 [[ 8.78966890e-01 -4.76878640e-01 -1.99204361e-03 1.57629374e+02] [ 4.76877469e-01 8.78969148e-01 -1.05701738e-03 1.65383327e+02] [ 2.25501388e-03 -2.08774348e-05 9.99997457e-01 1.10815311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.66, Y:165.40, Z:1.11 [[ 8.79984675e-01 -4.74997869e-01 -1.99913351e-03 1.57656570e+02] [ 4.74996724e-01 8.79986945e-01 -1.04343369e-03 1.65396469e+02] [ 2.25484017e-03 -3.13762090e-05 9.99997457e-01 1.10888885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.69, Y:165.41, Z:1.11 [[ 8.80658358e-01 -4.73747662e-01 -2.00225366e-03 1.57686184e+02] [ 4.73746527e-01 8.80660634e-01 -1.03745953e-03 1.65409751e+02] [ 2.25480000e-03 -3.49133138e-05 9.99997457e-01 1.10682257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.70, Y:165.42, Z:1.11 [[ 8.79189777e-01 -4.76467507e-01 -2.01280770e-03 1.57704410e+02] [ 4.76466425e-01 8.79192079e-01 -1.01725346e-03 1.65424247e+02] [ 2.25433281e-03 -6.46764454e-05 9.99997457e-01 1.10962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.73, Y:165.44, Z:1.11 [[ 8.78261513e-01 -4.78176456e-01 -1.99809375e-03 1.57729474e+02] [ 4.78175314e-01 8.78263785e-01 -1.04537715e-03 1.65439386e+02] [ 2.25472812e-03 -3.73245928e-05 9.99997457e-01 1.10816651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.75, Y:165.45, Z:1.11 [[ 8.78135898e-01 -4.78407072e-01 -2.00459036e-03 1.57754586e+02] [ 4.78405960e-01 8.78138184e-01 -1.03295995e-03 1.65453256e+02] [ 2.25448268e-03 -5.19287656e-05 9.99997457e-01 1.10913552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.78, Y:165.47, Z:1.11 [[ 8.78702771e-01 -4.77365087e-01 -2.00323215e-03 1.57778628e+02] [ 4.77363966e-01 8.78705054e-01 -1.03555148e-03 1.65465783e+02] [ 2.25458634e-03 -4.63288941e-05 9.99997457e-01 1.10869151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.80, Y:165.48, Z:1.11 [[ 8.78789072e-01 -4.77206224e-01 -1.99698111e-03 1.57803400e+02] [ 4.77205075e-01 8.78791340e-01 -1.04746898e-03 1.65479487e+02] [ 2.25478842e-03 -3.24652277e-05 9.99997457e-01 1.10878192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.86275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:157.83, Y:165.49, Z:1.11 [[ 8.78151972e-01 -4.78377600e-01 -1.99664638e-03 1.57827195e+02] [ 4.78376453e-01 8.78154241e-01 -1.04810664e-03 1.65493274e+02] [ 2.25475423e-03 -3.47517049e-05 9.99997457e-01 1.10590587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.85, Y:165.51, Z:1.11 [[ 8.78756850e-01 -4.77265565e-01 -1.99493648e-03 1.57852057e+02] [ 4.77264408e-01 8.78759114e-01 -1.05136242e-03 1.65506264e+02] [ 2.25484770e-03 -2.82202482e-05 9.99997457e-01 1.10953173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.88, Y:165.52, Z:1.11 [[ 8.78486589e-01 -4.77762838e-01 -1.99619374e-03 1.57876811e+02] [ 4.77761687e-01 8.78488856e-01 -1.04896987e-03 1.65520041e+02] [ 2.25479277e-03 -3.21989263e-05 9.99997457e-01 1.10968184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.90, Y:165.53, Z:1.11 [[ 8.78320499e-01 -4.78068111e-01 -1.99585788e-03 1.57900219e+02] [ 4.78066960e-01 8.78322766e-01 -1.04960851e-03 1.65532928e+02] [ 2.25479177e-03 -3.22610414e-05 9.99997457e-01 1.10993363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.92, Y:165.55, Z:1.11 [[ 8.78265633e-01 -4.78168899e-01 -1.99563012e-03 1.57923806e+02] [ 4.78167747e-01 8.78267899e-01 -1.05004138e-03 1.65545814e+02] [ 2.25479500e-03 -3.20307040e-05 9.99997457e-01 1.11005651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.01275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:157.95, Y:165.56, Z:1.11 [[ 8.77369836e-01 -4.79810577e-01 -1.99548628e-03 1.57948748e+02] [ 4.79809429e-01 8.77372104e-01 -1.05031465e-03 1.65558670e+02] [ 2.25473608e-03 -3.59387388e-05 9.99997457e-01 1.10916499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.98, Y:165.57, Z:1.11 [[ 8.77269537e-01 -4.79993936e-01 -1.99515802e-03 1.57975208e+02] [ 4.79992787e-01 8.77271805e-01 -1.05093783e-03 1.65571935e+02] [ 2.25473967e-03 -3.57057156e-05 9.99997457e-01 1.11060463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.00, Y:165.58, Z:1.11 [[ 8.76130078e-01 -4.82070627e-01 -1.99916602e-03 1.57999245e+02] [ 4.82069500e-01 8.76132358e-01 -1.04332983e-03 1.65584923e+02] [ 2.25449270e-03 -4.96443201e-05 9.99997457e-01 1.11315544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.02, Y:165.60, Z:1.11 [[ 8.75437656e-01 -4.83326940e-01 -1.99466030e-03 1.58024152e+02] [ 4.83325798e-01 8.75439928e-01 -1.05187398e-03 1.65598294e+02] [ 2.25460430e-03 -4.32206889e-05 9.99997457e-01 1.11353028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.13275509600004 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:158.05, Y:165.61, Z:1.11 [[ 8.74628610e-01 -4.84789456e-01 -1.99431809e-03 1.58047953e+02] [ 4.84788316e-01 8.74630883e-01 -1.05252240e-03 1.65610864e+02] [ 2.25454395e-03 -4.62559084e-05 9.99997457e-01 1.11052780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.07, Y:165.63, Z:1.11 [[ 8.73004443e-01 -4.87708177e-01 -1.99417015e-03 1.58071586e+02] [ 4.87707044e-01 8.73006719e-01 -1.05280261e-03 1.65625150e+02] [ 2.25438439e-03 -5.34694728e-05 9.99997457e-01 1.11223522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.10, Y:165.64, Z:1.11 [[ 8.72774635e-01 -4.88119315e-01 -1.99258923e-03 1.58097305e+02] [ 4.88118176e-01 8.72776908e-01 -1.05579555e-03 1.65637322e+02] [ 2.25444007e-03 -5.11474475e-05 9.99997457e-01 1.11333669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.12, Y:165.65, Z:1.11 [[ 8.71846650e-01 -4.89774891e-01 -1.99371392e-03 1.58122496e+02] [ 4.89773761e-01 8.71848928e-01 -1.05366746e-03 1.65650038e+02] [ 2.25427721e-03 -5.78323211e-05 9.99997457e-01 1.11288338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.15, Y:165.66, Z:1.11 [[ 8.71985720e-01 -4.89527250e-01 -1.99400327e-03 1.58147649e+02] [ 4.89526121e-01 8.71987998e-01 -1.05312011e-03 1.65662195e+02] [ 2.25427791e-03 -5.78109875e-05 9.99997457e-01 1.11043481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.17, Y:165.67, Z:1.11 [[ 8.71972167e-01 -4.89551393e-01 -1.99328270e-03 1.58169296e+02] [ 4.89550260e-01 8.71974444e-01 -1.05448220e-03 1.65674382e+02] [ 2.25431480e-03 -5.63329317e-05 9.99997457e-01 1.11268382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.19, Y:165.69, Z:1.11 [[ 8.71057280e-01 -4.91177432e-01 -1.98610491e-03 1.58194717e+02] [ 4.91176273e-01 8.71059543e-01 -1.06806135e-03 1.65690479e+02] [ 2.25462327e-03 -4.51849924e-05 9.99997457e-01 1.10771718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.22, Y:165.70, Z:1.11 [[ 8.70751484e-01 -4.91719318e-01 -1.99136914e-03 1.58218886e+02] [ 4.91718183e-01 8.70753759e-01 -1.05809510e-03 1.65704676e+02] [ 2.25427796e-03 -5.78545330e-05 9.99997457e-01 1.10682659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.24, Y:165.72, Z:1.11 [[ 8.71478861e-01 -4.90429038e-01 -1.98866738e-03 1.58244874e+02] [ 4.90427887e-01 8.71481128e-01 -1.06320840e-03 1.65717204e+02] [ 2.25451436e-03 -4.87342964e-05 9.99997457e-01 1.10750963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.27, Y:165.73, Z:1.11 [[ 8.72635859e-01 -4.88367375e-01 -1.99141594e-03 1.58271293e+02] [ 4.88366231e-01 8.72638129e-01 -1.05800724e-03 1.65728922e+02] [ 2.25448170e-03 -4.92852437e-05 9.99997457e-01 1.11018448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.29, Y:165.74, Z:1.11 [[ 8.72727169e-01 -4.88204173e-01 -1.99367076e-03 1.58293189e+02] [ 4.88203039e-01 8.72729444e-01 -1.05374114e-03 1.65744220e+02] [ 2.25437600e-03 -5.36875990e-05 9.99997457e-01 1.10738258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.32, Y:165.76, Z:1.11 [[ 8.73329645e-01 -4.87125631e-01 -1.98793028e-03 1.58320238e+02] [ 4.87124469e-01 8.73331906e-01 -1.06458793e-03 1.65757695e+02] [ 2.25471101e-03 -3.86332879e-05 9.99997457e-01 1.11060509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.35, Y:165.77, Z:1.11 [[ 8.75284877e-01 -4.83603569e-01 -1.99301044e-03 1.58347011e+02] [ 4.83602420e-01 8.75287145e-01 -1.05499087e-03 1.65771324e+02] [ 2.25465377e-03 -4.04071184e-05 9.99997457e-01 1.11115192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.37, Y:165.79, Z:1.11 [[ 8.74880616e-01 -4.84334507e-01 -1.99822820e-03 1.58369744e+02] [ 4.84333382e-01 8.74882897e-01 -1.04513633e-03 1.65786268e+02] [ 2.25441126e-03 -5.34391015e-05 9.99997457e-01 1.11144560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.39, Y:165.80, Z:1.11 [[ 8.75341679e-01 -4.83500750e-01 -1.99256821e-03 1.58393609e+02] [ 4.83499599e-01 8.75343946e-01 -1.05581802e-03 1.65799684e+02] [ 2.25467132e-03 -3.92044131e-05 9.99997457e-01 1.11103029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.42, Y:165.81, Z:1.11 [[ 8.76348767e-01 -4.81672989e-01 -1.99242278e-03 1.58418085e+02] [ 4.81671833e-01 8.76351031e-01 -1.05609239e-03 1.65813735e+02] [ 2.25475293e-03 -3.41886679e-05 9.99997457e-01 1.11235818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.44, Y:165.83, Z:1.11 [[ 8.76198235e-01 -4.81946766e-01 -1.99209303e-03 1.58443244e+02] [ 4.81945608e-01 8.76200499e-01 -1.05671402e-03 1.65827268e+02] [ 2.25475281e-03 -3.41895236e-05 9.99997457e-01 1.11242241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.47, Y:165.84, Z:1.11 [[ 8.76650895e-01 -4.81122895e-01 -1.99176268e-03 1.58468104e+02] [ 4.81121735e-01 8.76653158e-01 -1.05733631e-03 1.65841123e+02] [ 2.25479375e-03 -3.13654901e-05 9.99997457e-01 1.11195917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.49, Y:165.85, Z:1.11 [[ 8.76905538e-01 -4.80658623e-01 -1.99143211e-03 1.58491884e+02] [ 4.80657460e-01 8.76907798e-01 -1.05795857e-03 1.65854490e+02] [ 2.25481925e-03 -2.94669736e-05 9.99997457e-01 1.11266288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.52, Y:165.87, Z:1.11 [[ 8.78306204e-01 -4.78094390e-01 -1.99127812e-03 1.58520329e+02] [ 4.78093220e-01 8.78308461e-01 -1.05824832e-03 1.65868540e+02] [ 2.25489901e-03 -2.25505009e-05 9.99997457e-01 1.11233883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.54, Y:165.88, Z:1.11 [[ 8.77963057e-01 -4.78724201e-01 -2.00253827e-03 1.58544289e+02] [ 4.78723080e-01 8.77965339e-01 -1.03706631e-03 1.65883161e+02] [ 2.25462793e-03 -4.81553780e-05 9.99997457e-01 1.11424996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.57, Y:165.90, Z:1.11 [[ 8.77319618e-01 -4.79902375e-01 -1.99946649e-03 1.58566518e+02] [ 4.79901244e-01 8.77321895e-01 -1.04283933e-03 1.65896676e+02] [ 2.25463681e-03 -4.46430567e-05 9.99997457e-01 1.11148805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.59, Y:165.91, Z:1.11 [[ 8.76823866e-01 -4.80807585e-01 -1.99359131e-03 1.58592012e+02] [ 4.80806431e-01 8.76826132e-01 -1.05386960e-03 1.65910800e+02] [ 2.25474146e-03 -3.44735087e-05 9.99997457e-01 1.11285740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.62, Y:165.92, Z:1.11 [[ 8.76801272e-01 -4.80848785e-01 -1.99373038e-03 1.58619702e+02] [ 4.80847632e-01 8.76803539e-01 -1.05360863e-03 1.65923611e+02] [ 2.25473628e-03 -3.48751447e-05 9.99997457e-01 1.11421906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.85275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.64, Y:165.94, Z:1.11 [[ 8.74892613e-01 -4.84312827e-01 -2.00040671e-03 1.58642130e+02] [ 4.84311711e-01 8.74894898e-01 -1.04107926e-03 1.65936903e+02] [ 2.25435366e-03 -5.79878446e-05 9.99997457e-01 1.11197264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.66, Y:165.95, Z:1.12 [[ 8.74442326e-01 -4.85125391e-01 -1.99336829e-03 1.58664610e+02] [ 4.85124248e-01 8.74444597e-01 -1.05428503e-03 1.65949065e+02] [ 2.25455057e-03 -4.51198437e-05 9.99997457e-01 1.11503199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.69, Y:165.96, Z:1.11 [[ 8.73109964e-01 -4.87519284e-01 -1.98471154e-03 1.58689750e+02] [ 4.87518110e-01 8.73112219e-01 -1.07048712e-03 1.65962864e+02] [ 2.25475901e-03 -3.29298489e-05 9.99997458e-01 1.11497745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.71, Y:165.98, Z:1.11 [[ 8.72656991e-01 -4.88329623e-01 -1.98887991e-03 1.58714819e+02] [ 4.88328468e-01 8.72659256e-01 -1.06268576e-03 1.65976574e+02] [ 2.25455540e-03 -4.38665259e-05 9.99997458e-01 1.11458059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.74, Y:165.99, Z:1.11 [[ 8.72301482e-01 -4.88964375e-01 -1.99118097e-03 1.58738608e+02] [ 4.88963233e-01 8.72303753e-01 -1.05838004e-03 1.65989263e+02] [ 2.25442477e-03 -5.03878074e-05 9.99997458e-01 1.11358308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.00275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:158.76, Y:166.00, Z:1.11 [[ 8.72300661e-01 -4.88965850e-01 -1.98853731e-03 1.58762395e+02] [ 4.88964696e-01 8.72302926e-01 -1.06332398e-03 1.66002412e+02] [ 2.25453603e-03 -4.47863336e-05 9.99997458e-01 1.11364667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.79, Y:166.02, Z:1.12 [[ 8.72540896e-01 -4.88537032e-01 -1.98840663e-03 1.58786783e+02] [ 4.88535876e-01 8.72543160e-01 -1.06356831e-03 1.66016143e+02] [ 2.25456311e-03 -4.34011320e-05 9.99997458e-01 1.11537019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.81, Y:166.03, Z:1.11 [[ 8.73480229e-01 -4.86855562e-01 -1.98811001e-03 1.58811099e+02] [ 4.86854400e-01 8.73482490e-01 -1.06412249e-03 1.66029555e+02] [ 2.25465323e-03 -3.84301510e-05 9.99997458e-01 1.11452597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:158.84, Y:166.04, Z:1.11 [[ 8.73879769e-01 -4.86138044e-01 -1.98781512e-03 1.58835840e+02] [ 4.86136880e-01 8.73882029e-01 -1.06467306e-03 1.66043270e+02] [ 2.25469399e-03 -3.59539953e-05 9.99997458e-01 1.11302852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.86, Y:166.06, Z:1.11 [[ 8.74420621e-01 -4.85164537e-01 -1.98752195e-03 1.58860384e+02] [ 4.85163369e-01 8.74422879e-01 -1.06522006e-03 1.66056952e+02] [ 2.25474166e-03 -3.28224580e-05 9.99997458e-01 1.11268909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.152755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:158.88, Y:166.07, Z:1.11 [[ 8.75677775e-01 -4.82891794e-01 -1.98723069e-03 1.58884320e+02] [ 4.82890619e-01 8.75680030e-01 -1.06576316e-03 1.66070564e+02] [ 2.25482651e-03 -2.63499474e-05 9.99997458e-01 1.10753307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.18275509600005 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:158.91, Y:166.08, Z:1.11 [[ 8.76357426e-01 -4.81657258e-01 -1.98714044e-03 1.58908798e+02] [ 4.81656079e-01 8.76359678e-01 -1.06593140e-03 1.66083862e+02] [ 2.25486335e-03 -2.29813799e-05 9.99997458e-01 1.10974226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.93, Y:166.10, Z:1.11 [[ 8.77693018e-01 -4.79219176e-01 -1.98680300e-03 1.58932328e+02] [ 4.79217990e-01 8.77695266e-01 -1.06655998e-03 1.66096588e+02] [ 2.25492359e-03 -1.59994920e-05 9.99997458e-01 1.11207928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.24275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:158.97, Y:166.10, Z:1.10 [[ 8.81874623e-01 -4.71479800e-01 -1.98665682e-03 1.58965265e+02] [ 4.71478593e-01 8.81876861e-01 -1.06683220e-03 1.66103481e+02] [ 2.25497651e-03 4.14608547e-06 9.99997458e-01 1.09897451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:158.98, Y:166.12, Z:1.11 [[ 8.78056883e-01 -4.78552091e-01 -2.00152295e-03 1.58984894e+02] [ 4.78550965e-01 8.78059163e-01 -1.03907811e-03 1.66123141e+02] [ 2.25470857e-03 -4.54610525e-05 9.99997457e-01 1.11387825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.02, Y:166.14, Z:1.11 [[ 8.78711797e-01 -4.77348531e-01 -1.98929564e-03 1.59016191e+02] [ 4.77347350e-01 8.78714049e-01 -1.06187706e-03 1.66136440e+02] [ 2.25490748e-03 -1.65011009e-05 9.99997458e-01 1.11031843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.332755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.05, Y:166.15, Z:1.11 [[ 8.78700559e-01 -4.77369155e-01 -2.00424917e-03 1.59045623e+02] [ 4.77368037e-01 8.78702844e-01 -1.03412107e-03 1.66149097e+02] [ 2.25479695e-03 -4.80817246e-05 9.99997457e-01 1.11056563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:159.07, Y:166.16, Z:1.11 [[ 8.77094198e-01 -4.80314189e-01 -2.01220961e-03 1.59070277e+02] [ 4.80313112e-01 8.77096503e-01 -1.01935986e-03 1.66162029e+02] [ 2.25451502e-03 -7.24160462e-05 9.99997456e-01 1.11441515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.39275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:159.10, Y:166.18, Z:1.12 [[ 8.75766932e-01 -4.82730009e-01 -2.00481735e-03 1.59097200e+02] [ 4.82728908e-01 8.75769224e-01 -1.03299458e-03 1.66175956e+02] [ 2.25441481e-03 -6.31207951e-05 9.99997457e-01 1.11515396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.11, Y:166.19, Z:1.12 [[ 8.72473609e-01 -4.88657102e-01 -2.00952806e-03 1.59111826e+02] [ 4.88656037e-01 8.72475919e-01 -1.02431162e-03 1.66190685e+02] [ 2.25380199e-03 -8.82831619e-05 9.99997456e-01 1.11904877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.45275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.14, Y:166.20, Z:1.12 [[ 8.72010627e-01 -4.89482934e-01 -1.98069305e-03 1.59139489e+02] [ 4.89481750e-01 8.72012876e-01 -1.07732561e-03 1.66200541e+02] [ 2.25452234e-03 -3.00737208e-05 9.99997458e-01 1.11847605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.48275509600006 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:159.16, Y:166.22, Z:1.12 [[ 8.70696466e-01 -4.91816776e-01 -1.98050424e-03 1.59162898e+02] [ 4.91815597e-01 8.70698718e-01 -1.07767260e-03 1.66215421e+02] [ 2.25443996e-03 -3.57171509e-05 9.99997458e-01 1.11795168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.51275509600003 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:159.19, Y:166.23, Z:1.12 [[ 8.69698834e-01 -4.93578784e-01 -1.98032008e-03 1.59187571e+02] [ 4.93577609e-01 8.69701088e-01 -1.07801090e-03 1.66227480e+02] [ 2.25436983e-03 -3.98968219e-05 9.99997458e-01 1.11748529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.54275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:159.21, Y:166.24, Z:1.12 [[ 8.69393951e-01 -4.94115611e-01 -1.98017435e-03 1.59212026e+02] [ 4.94114436e-01 8.69396205e-01 -1.07827851e-03 1.66240534e+02] [ 2.25435031e-03 -4.09839191e-05 9.99997458e-01 1.12036430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.57275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:159.24, Y:166.25, Z:1.12 [[ 8.68235712e-01 -4.96147991e-01 -1.98007191e-03 1.59238348e+02] [ 4.96146821e-01 8.68237968e-01 -1.07846659e-03 1.66254841e+02] [ 2.25425265e-03 -4.60431767e-05 9.99997458e-01 1.11930914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.26, Y:166.27, Z:1.12 [[ 8.68348205e-01 -4.95951057e-01 -1.98588195e-03 1.59261641e+02] [ 4.95949910e-01 8.68350474e-01 -1.06780101e-03 1.66267051e+02] [ 2.25401857e-03 -5.76748797e-05 9.99997458e-01 1.12146237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.29, Y:166.28, Z:1.12 [[ 8.67674417e-01 -4.97128945e-01 -1.97961337e-03 1.59286780e+02] [ 4.97127776e-01 8.67676674e-01 -1.07929863e-03 1.66279738e+02] [ 2.25421493e-03 -4.76409812e-05 9.99997458e-01 1.12191438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.66275509600007 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:159.31, Y:166.29, Z:1.12 [[ 8.67552108e-01 -4.97342359e-01 -1.97927189e-03 1.59312084e+02] [ 4.97341189e-01 8.67554365e-01 -1.07992449e-03 1.66292413e+02] [ 2.25421816e-03 -4.74826693e-05 9.99997458e-01 1.11875945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.34, Y:166.31, Z:1.12 [[ 8.67280394e-01 -4.97816031e-01 -1.97916634e-03 1.59336694e+02] [ 4.97814862e-01 8.67282651e-01 -1.08011790e-03 1.66306525e+02] [ 2.25419663e-03 -4.84933375e-05 9.99997458e-01 1.12173141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.38, Y:166.32, Z:1.12 [[ 8.70262279e-01 -4.92584662e-01 -1.97882563e-03 1.59375036e+02] [ 4.92583478e-01 8.70264528e-01 -1.08074173e-03 1.66317740e+02] [ 2.25445855e-03 -3.42080460e-05 9.99997458e-01 1.12206568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:166.33, Z:1.12 [[ 8.67150730e-01 -4.98041724e-01 -2.01326116e-03 1.59386446e+02] [ 4.98040699e-01 8.67153059e-01 -1.01755643e-03 1.66334167e+02] [ 2.25259113e-03 -1.20311200e-04 9.99997456e-01 1.12179549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.41, Y:166.35, Z:1.12 [[ 8.67632963e-01 -4.97201296e-01 -1.97824724e-03 1.59411486e+02] [ 4.97200121e-01 8.67635217e-01 -1.08159711e-03 1.66347454e+02] [ 2.25416846e-03 -4.51554633e-05 9.99997458e-01 1.12106100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.43, Y:166.36, Z:1.12 [[ 8.68167789e-01 -4.96266842e-01 -1.97790118e-03 1.59434959e+02] [ 4.96265663e-01 8.68170041e-01 -1.08222957e-03 1.66360108e+02] [ 2.25422920e-03 -4.20075928e-05 9.99997458e-01 1.12069778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.46, Y:166.37, Z:1.12 [[ 8.68618357e-01 -4.95477788e-01 -1.97775135e-03 1.59458296e+02] [ 4.95476607e-01 8.68620608e-01 -1.08250331e-03 1.66373062e+02] [ 2.25427193e-03 -3.96472849e-05 9.99997458e-01 1.11994701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.48, Y:166.39, Z:1.12 [[ 8.69793864e-01 -4.93411313e-01 -1.97752211e-03 1.59482241e+02] [ 4.93410126e-01 8.69796111e-01 -1.08292193e-03 1.66387805e+02] [ 2.25436697e-03 -3.38105839e-05 9.99997458e-01 1.11992116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.51, Y:166.40, Z:1.12 [[ 8.70609375e-01 -4.91970941e-01 -1.97718145e-03 1.59505312e+02] [ 4.91969749e-01 8.70611620e-01 -1.08354354e-03 1.66401633e+02] [ 2.25442908e-03 -2.93702946e-05 9.99997458e-01 1.11926868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.53, Y:166.42, Z:1.12 [[ 8.71649885e-01 -4.90125055e-01 -1.97703404e-03 1.59529426e+02] [ 4.90123857e-01 8.71652127e-01 -1.08381244e-03 1.66416427e+02] [ 2.25448956e-03 -2.42865649e-05 9.99997458e-01 1.11989366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.55, Y:166.43, Z:1.12 [[ 8.72080660e-01 -4.89358167e-01 -1.97669665e-03 1.59552808e+02] [ 4.89356966e-01 8.72082900e-01 -1.08442744e-03 1.66429716e+02] [ 2.25451677e-03 -2.16020814e-05 9.99997458e-01 1.11976045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.58, Y:166.44, Z:1.12 [[ 8.72211628e-01 -4.89124696e-01 -1.97655051e-03 1.59576891e+02] [ 4.89123494e-01 8.72213868e-01 -1.08469374e-03 1.66443585e+02] [ 2.25452526e-03 -2.06947973e-05 9.99997458e-01 1.12000576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.60, Y:166.46, Z:1.12 [[ 8.72198311e-01 -4.89148445e-01 -1.97621672e-03 1.59600423e+02] [ 4.89147241e-01 8.72200550e-01 -1.08530153e-03 1.66457191e+02] [ 2.25453086e-03 -2.00627943e-05 9.99997458e-01 1.12049644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.63, Y:166.47, Z:1.12 [[ 8.71140532e-01 -4.91029804e-01 -1.97607256e-03 1.59627621e+02] [ 4.91028605e-01 8.71142773e-01 -1.08556394e-03 1.66474596e+02] [ 2.25448558e-03 -2.46294057e-05 9.99997458e-01 1.12149289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.65, Y:166.49, Z:1.12 [[ 8.71962841e-01 -4.89568029e-01 -1.98720163e-03 1.59645142e+02] [ 4.89566872e-01 8.71965104e-01 -1.06529326e-03 1.66486848e+02] [ 2.25430400e-03 -4.39719449e-05 9.99997458e-01 1.12088533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.67, Y:166.50, Z:1.12 [[ 8.72012507e-01 -4.89479638e-01 -1.96780687e-03 1.59672310e+02] [ 4.89478401e-01 8.72014727e-01 -1.10064324e-03 1.66500837e+02] [ 2.25469902e-03 -3.42429114e-06 9.99997458e-01 1.12129171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.70, Y:166.52, Z:1.12 [[ 8.71558705e-01 -4.90287178e-01 -1.97670257e-03 1.59696402e+02] [ 4.90285979e-01 8.71560946e-01 -1.08442809e-03 1.66515120e+02] [ 2.25449795e-03 -2.40068168e-05 9.99997458e-01 1.12164703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.72, Y:166.53, Z:1.12 [[ 8.71233088e-01 -4.90865562e-01 -1.97635791e-03 1.59722412e+02] [ 4.90864363e-01 8.71235330e-01 -1.08505587e-03 1.66529242e+02] [ 2.25448940e-03 -2.47870946e-05 9.99997458e-01 1.12299903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.74, Y:166.55, Z:1.12 [[ 8.68734083e-01 -4.95274845e-01 -1.98020925e-03 1.59742192e+02] [ 4.95273673e-01 8.68736339e-01 -1.07804458e-03 1.66545780e+02] [ 2.25420809e-03 -4.42114372e-05 9.99997458e-01 1.12191121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.77, Y:166.56, Z:1.12 [[ 8.68419892e-01 -4.95825596e-01 -1.96739652e-03 1.59766283e+02] [ 4.95824373e-01 8.68422120e-01 -1.10132036e-03 1.66559258e+02] [ 2.25459348e-03 -1.90746429e-05 9.99997458e-01 1.12225277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.79, Y:166.57, Z:1.12 [[ 8.68624269e-01 -4.95467478e-01 -1.96430532e-03 1.59788919e+02] [ 4.95466242e-01 8.68626490e-01 -1.10691850e-03 1.66570264e+02] [ 2.25468976e-03 -1.17507030e-05 9.99997458e-01 1.12162542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.81, Y:166.59, Z:1.12 [[ 8.66651456e-01 -4.98910245e-01 -1.95471564e-03 1.59811404e+02] [ 4.98908979e-01 8.66653660e-01 -1.12424275e-03 1.66586916e+02] [ 2.25495769e-03 -8.98564790e-07 9.99997458e-01 1.12017154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.84, Y:166.60, Z:1.12 [[ 8.65105582e-01 -5.01585985e-01 -1.95730960e-03 1.59841140e+02] [ 5.01584736e-01 8.65107796e-01 -1.11954709e-03 1.66603712e+02] [ 2.25483292e-03 -1.32301843e-05 9.99997458e-01 1.12007342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.86, Y:166.62, Z:1.12 [[ 8.64691820e-01 -5.02298875e-01 -1.97401595e-03 1.59864047e+02] [ 5.02297696e-01 8.64694072e-01 -1.08928249e-03 1.66616823e+02] [ 2.25406526e-03 -4.96500075e-05 9.99997458e-01 1.11958466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.89, Y:166.63, Z:1.12 [[ 8.63690988e-01 -5.04017850e-01 -1.97075157e-03 1.59888110e+02] [ 5.04016663e-01 8.63693235e-01 -1.09519214e-03 1.66631186e+02] [ 2.25412118e-03 -4.73840488e-05 9.99997458e-01 1.11906571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.91, Y:166.65, Z:1.12 [[ 8.62648023e-01 -5.05800844e-01 -1.97339987e-03 1.59912452e+02] [ 5.05799672e-01 8.62650279e-01 -1.09039925e-03 1.66645529e+02] [ 2.25387881e-03 -5.75142482e-05 9.99997458e-01 1.11832085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.94, Y:166.66, Z:1.12 [[ 8.62175551e-01 -5.06605789e-01 -1.97305942e-03 1.59936716e+02] [ 5.06604618e-01 8.62177807e-01 -1.09101495e-03 1.66659835e+02] [ 2.25384253e-03 -5.89145980e-05 9.99997458e-01 1.11794056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.96, Y:166.67, Z:1.12 [[ 8.62166437e-01 -5.06621302e-01 -1.97271257e-03 1.59959822e+02] [ 5.06620129e-01 8.62168692e-01 -1.09164174e-03 1.66673772e+02] [ 2.25385997e-03 -5.82390242e-05 9.99997458e-01 1.11706625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.98, Y:166.69, Z:1.12 [[ 8.62255991e-01 -5.06468868e-01 -1.97256295e-03 1.59982898e+02] [ 5.06467694e-01 8.62258246e-01 -1.09191203e-03 1.66687375e+02] [ 2.25387812e-03 -5.75317140e-05 9.99997458e-01 1.11633130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.01, Y:166.70, Z:1.12 [[ 8.62103325e-01 -5.06728692e-01 -1.97241799e-03 1.60007800e+02] [ 5.06727518e-01 8.62105579e-01 -1.09217381e-03 1.66701362e+02] [ 2.25386836e-03 -5.79117995e-05 9.99997458e-01 1.11639562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.03, Y:166.72, Z:1.12 [[ 8.62126440e-01 -5.06689365e-01 -1.97208868e-03 1.60033149e+02] [ 5.06688190e-01 8.62128694e-01 -1.09276812e-03 1.66716015e+02] [ 2.25388822e-03 -5.71297578e-05 9.99997458e-01 1.11655821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.06, Y:166.73, Z:1.12 [[ 8.62346115e-01 -5.06315405e-01 -1.97190752e-03 1.60057955e+02] [ 5.06314228e-01 8.62348368e-01 -1.09309493e-03 1.66729933e+02] [ 2.25392203e-03 -5.57786676e-05 9.99997458e-01 1.11561999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.08, Y:166.74, Z:1.11 [[ 8.62932872e-01 -5.05314724e-01 -1.97157618e-03 1.60081411e+02] [ 5.05313544e-01 8.62935123e-01 -1.09369223e-03 1.66743073e+02] [ 2.25400112e-03 -5.24811658e-05 9.99997458e-01 1.11453455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.10, Y:166.76, Z:1.11 [[ 8.63286369e-01 -5.04710569e-01 -1.97142636e-03 1.60104941e+02] [ 5.04709386e-01 8.63288619e-01 -1.09396221e-03 1.66756369e+02] [ 2.25404423e-03 -5.05947216e-05 9.99997458e-01 1.11398335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.13, Y:166.77, Z:1.11 [[ 8.64583242e-01 -5.02485753e-01 -1.97128065e-03 1.60129028e+02] [ 5.02484564e-01 8.64585488e-01 -1.09422472e-03 1.66770113e+02] [ 2.25417297e-03 -4.44897439e-05 9.99997458e-01 1.11497676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.15, Y:166.78, Z:1.11 [[ 8.64626548e-01 -5.02411247e-01 -1.96763752e-03 1.60154222e+02] [ 5.02410043e-01 8.64628786e-01 -1.10078405e-03 1.66784760e+02] [ 2.25432233e-03 -3.67937323e-05 9.99997458e-01 1.11432835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.18, Y:166.80, Z:1.11 [[ 8.65078161e-01 -5.01633224e-01 -1.97086205e-03 1.60177722e+02] [ 5.01632031e-01 8.65080405e-01 -1.09498020e-03 1.66798028e+02] [ 2.25423259e-03 -4.14040719e-05 9.99997458e-01 1.11458693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.20, Y:166.81, Z:1.12 [[ 8.65796298e-01 -5.00392732e-01 -1.97071786e-03 1.60202305e+02] [ 5.00391535e-01 8.65798540e-01 -1.09523964e-03 1.66811296e+02] [ 2.25429460e-03 -3.78761049e-05 9.99997458e-01 1.11562484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.23, Y:166.82, Z:1.12 [[ 8.67198390e-01 -4.97958904e-01 -1.97039138e-03 1.60232772e+02] [ 4.97957699e-01 8.67200628e-01 -1.09582668e-03 1.66824207e+02] [ 2.25440130e-03 -3.08724300e-05 9.99997458e-01 1.11556816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.25, Y:166.84, Z:1.12 [[ 8.66217163e-01 -4.99663776e-01 -1.98432730e-03 1.60252999e+02] [ 4.99662632e-01 8.66219434e-01 -1.07076161e-03 1.66837772e+02] [ 2.25388366e-03 -6.39821207e-05 9.99997458e-01 1.11732664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.28, Y:166.85, Z:1.12 [[ 8.66131483e-01 -4.99812339e-01 -1.96990644e-03 1.60276386e+02] [ 4.99811137e-01 8.66133722e-01 -1.09666535e-03 1.66850636e+02] [ 2.25432927e-03 -3.47247887e-05 9.99997458e-01 1.11774055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.30, Y:166.86, Z:1.12 [[ 8.66557681e-01 -4.99073047e-01 -1.96976035e-03 1.60296664e+02] [ 4.99071843e-01 8.66559919e-01 -1.09692769e-03 1.66862782e+02] [ 2.25436241e-03 -3.25008169e-05 9.99997458e-01 1.11965424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.33, Y:166.88, Z:1.12 [[ 8.65505259e-01 -5.00896021e-01 -1.95507882e-03 1.60325025e+02] [ 5.00894762e-01 8.65507467e-01 -1.12324605e-03 1.66876611e+02] [ 2.25476479e-03 -7.11337238e-06 9.99997458e-01 1.11883034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.35, Y:166.89, Z:1.12 [[ 8.65425717e-01 -5.01033382e-01 -1.96929625e-03 1.60351816e+02] [ 5.01032181e-01 8.65427957e-01 -1.09774064e-03 1.66890183e+02] [ 2.25428873e-03 -3.66678151e-05 9.99997458e-01 1.11906431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.38, Y:166.90, Z:1.12 [[ 8.64773778e-01 -5.02157761e-01 -1.97386554e-03 1.60375507e+02] [ 5.02156581e-01 8.64776029e-01 -1.08954297e-03 1.66902424e+02] [ 2.25407406e-03 -4.89813849e-05 9.99997458e-01 1.11899884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.40, Y:166.92, Z:1.12 [[ 8.64403139e-01 -5.02795509e-01 -1.97219361e-03 1.60399319e+02] [ 5.02794324e-01 8.64405388e-01 -1.09254080e-03 1.66915177e+02] [ 2.25409939e-03 -4.72120596e-05 9.99997458e-01 1.11871085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.42, Y:166.93, Z:1.12 [[ 8.64039460e-01 -5.03420238e-01 -1.96873610e-03 1.60424394e+02] [ 5.03419041e-01 8.64041702e-01 -1.09873604e-03 1.66928423e+02] [ 2.25419604e-03 -4.17479473e-05 9.99997458e-01 1.11818082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.45, Y:166.94, Z:1.12 [[ 8.63166743e-01 -5.04915140e-01 -1.96839141e-03 1.60449011e+02] [ 5.04913945e-01 8.63168987e-01 -1.09935320e-03 1.66941118e+02] [ 2.25413449e-03 -4.49431474e-05 9.99997458e-01 1.11776736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.47, Y:166.95, Z:1.12 [[ 8.63364977e-01 -5.04576102e-01 -1.96804671e-03 1.60471632e+02] [ 5.04574905e-01 8.63367219e-01 -1.09996992e-03 1.66952757e+02] [ 2.25416556e-03 -4.33514745e-05 9.99997458e-01 1.11662068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.50, Y:166.97, Z:1.12 [[ 8.62322780e-01 -5.06355193e-01 -1.95987563e-03 1.60498311e+02] [ 5.06353967e-01 8.62325007e-01 -1.11457117e-03 1.66967148e+02] [ 2.25441866e-03 -3.12706922e-05 9.99997458e-01 1.11762098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.52, Y:166.98, Z:1.12 [[ 8.62348203e-01 -5.06311867e-01 -1.96745501e-03 1.60522439e+02] [ 5.06310672e-01 8.62350446e-01 -1.10102736e-03 1.66980170e+02] [ 2.25409893e-03 -4.66744998e-05 9.99997458e-01 1.11719438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.55, Y:166.99, Z:1.12 [[ 8.62255122e-01 -5.06470368e-01 -1.96730720e-03 1.60547144e+02] [ 5.06469173e-01 8.62257365e-01 -1.10129141e-03 1.66993570e+02] [ 2.25409659e-03 -4.67862944e-05 9.99997458e-01 1.11669680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.58, Y:167.01, Z:1.12 [[ 8.63114463e-01 -5.05004510e-01 -1.96696881e-03 1.60576292e+02] [ 5.05003309e-01 8.63116703e-01 -1.10189547e-03 1.67006359e+02] [ 2.25418581e-03 -4.22638429e-05 9.99997458e-01 1.11536541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.60, Y:167.02, Z:1.12 [[ 8.62372983e-01 -5.06269617e-01 -1.97829777e-03 1.60596689e+02] [ 5.06268466e-01 8.62375249e-01 -1.08166803e-03 1.67019723e+02] [ 2.25365069e-03 -6.87484904e-05 9.99997458e-01 1.11555678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.63, Y:167.03, Z:1.11 [[ 8.63052787e-01 -5.05109909e-01 -1.96644951e-03 1.60625066e+02] [ 5.05108707e-01 8.63055026e-01 -1.10279525e-03 1.67033207e+02] [ 2.25418694e-03 -4.15002560e-05 9.99997458e-01 1.11303106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.65, Y:167.05, Z:1.11 [[ 8.63163876e-01 -5.04920014e-01 -1.97580543e-03 1.60649606e+02] [ 5.04918849e-01 8.63166135e-01 -1.08611546e-03 1.67047588e+02] [ 2.25384976e-03 -6.01257759e-05 9.99997458e-01 1.11336075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:160.67, Y:167.06, Z:1.11 [[ 8.62951781e-01 -5.05282425e-01 -1.97344624e-03 1.60670411e+02] [ 5.05281252e-01 8.62954036e-01 -1.09031741e-03 1.67061354e+02] [ 2.25391162e-03 -5.62540358e-05 9.99997458e-01 1.11447974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.70, Y:167.08, Z:1.11 [[ 8.63616139e-01 -5.04146111e-01 -1.96545081e-03 1.60698248e+02] [ 5.04144902e-01 8.63618375e-01 -1.10454465e-03 1.67075491e+02] [ 2.25425132e-03 -3.69694146e-05 9.99997459e-01 1.11325234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.72, Y:167.09, Z:1.11 [[ 8.63948497e-01 -5.03576314e-01 -1.97253381e-03 1.60723788e+02] [ 5.03575133e-01 8.63950747e-01 -1.09195417e-03 1.67090286e+02] [ 2.25405432e-03 -4.99268087e-05 9.99997458e-01 1.11419765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.75, Y:167.10, Z:1.12 [[ 8.63911550e-01 -5.03639691e-01 -1.97353264e-03 1.60746841e+02] [ 5.03638514e-01 8.63913803e-01 -1.09017967e-03 1.67103596e+02] [ 2.25401984e-03 -5.21282354e-05 9.99997458e-01 1.11505148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.77, Y:167.12, Z:1.12 [[ 8.63921929e-01 -5.03621894e-01 -1.97211222e-03 1.60771025e+02] [ 5.03620710e-01 8.63924178e-01 -1.09270138e-03 1.67117020e+02] [ 2.25406377e-03 -4.91878754e-05 9.99997458e-01 1.11582696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.79, Y:167.13, Z:1.12 [[ 8.64335595e-01 -5.02911613e-01 -1.97172769e-03 1.60792556e+02] [ 5.02910427e-01 8.64337843e-01 -1.09338346e-03 1.67129279e+02] [ 2.25411409e-03 -4.65521735e-05 9.99997458e-01 1.11556833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.82, Y:167.14, Z:1.12 [[ 8.63500783e-01 -5.04343678e-01 -1.96290795e-03 1.60819689e+02] [ 5.04342459e-01 8.63503013e-01 -1.10900760e-03 1.67144818e+02] [ 2.25429790e-03 -3.23488976e-05 9.99997459e-01 1.11656609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.84, Y:167.16, Z:1.12 [[ 8.63597821e-01 -5.04177471e-01 -1.96991025e-03 1.60843468e+02] [ 5.04176281e-01 8.63600067e-01 -1.09661084e-03 1.67158576e+02] [ 2.25410110e-03 -4.61512943e-05 9.99997458e-01 1.11833121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.87, Y:167.17, Z:1.12 [[ 8.62898592e-01 -5.05373282e-01 -1.96637604e-03 1.60867167e+02] [ 5.05372080e-01 8.62900831e-01 -1.10286304e-03 1.67173111e+02] [ 2.25414503e-03 -4.20925882e-05 9.99997459e-01 1.11906429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.89, Y:167.19, Z:1.12 [[ 8.63387835e-01 -5.04536997e-01 -1.96604528e-03 1.60892296e+02] [ 5.04535792e-01 8.63390073e-01 -1.10344771e-03 1.67186351e+02] [ 2.25419417e-03 -3.92368850e-05 9.99997459e-01 1.11924520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.91, Y:167.20, Z:1.12 [[ 8.62195685e-01 -5.06571544e-01 -1.96758366e-03 1.60914166e+02] [ 5.06570351e-01 8.62197929e-01 -1.10072731e-03 1.67201676e+02] [ 2.25404370e-03 -4.76772054e-05 9.99997459e-01 1.12082896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.94, Y:167.21, Z:1.12 [[ 8.62282319e-01 -5.06424082e-01 -1.96258825e-03 1.60936703e+02] [ 5.06422868e-01 8.62284552e-01 -1.10955241e-03 1.67214500e+02] [ 2.25421359e-03 -3.71521380e-05 9.99997459e-01 1.12049264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:160.96, Y:167.23, Z:1.12 [[ 8.61441976e-01 -5.07852229e-01 -1.95844730e-03 1.60961289e+02] [ 5.07851002e-01 8.61444202e-01 -1.11686516e-03 1.67229480e+02] [ 2.25429553e-03 -3.24848954e-05 9.99997459e-01 1.12081027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.73275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:160.99, Y:167.24, Z:1.12 [[ 8.60273884e-01 -5.09828399e-01 -1.96165811e-03 1.60985385e+02] [ 5.09827190e-01 8.60276119e-01 -1.11119694e-03 1.67244764e+02] [ 2.25408738e-03 -4.41729398e-05 9.99997459e-01 1.12011361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.01, Y:167.26, Z:1.12 [[ 8.59704637e-01 -5.10787716e-01 -1.96130225e-03 1.61009185e+02] [ 5.10786508e-01 8.59706873e-01 -1.11182469e-03 1.67258522e+02] [ 2.25405142e-03 -4.59658821e-05 9.99997459e-01 1.12001136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.03, Y:167.27, Z:1.12 [[ 8.58300317e-01 -5.13143962e-01 -1.95985275e-03 1.61032613e+02] [ 5.13142754e-01 8.58302553e-01 -1.11438023e-03 1.67272218e+02] [ 2.25398410e-03 -4.92113311e-05 9.99997459e-01 1.11895292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.06, Y:167.29, Z:1.12 [[ 8.57083556e-01 -5.15173704e-01 -1.95790247e-03 1.61057796e+02] [ 5.15172493e-01 8.57085791e-01 -1.11781706e-03 1.67287119e+02] [ 2.25396034e-03 -5.05948759e-05 9.99997459e-01 1.11824614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.08, Y:167.30, Z:1.12 [[ 8.56089767e-01 -5.16823438e-01 -1.96069442e-03 1.61082230e+02] [ 5.16822243e-01 8.56092010e-01 -1.11289821e-03 1.67301281e+02] [ 2.25370671e-03 -6.05897167e-05 9.99997459e-01 1.11769190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.10, Y:167.32, Z:1.12 [[ 8.54335485e-01 -5.19718228e-01 -1.96034624e-03 1.61103179e+02] [ 5.19717039e-01 8.54337731e-01 -1.11351119e-03 1.67316184e+02] [ 2.25350982e-03 -6.75132201e-05 9.99997459e-01 1.11541165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.13, Y:167.33, Z:1.12 [[ 8.54055483e-01 -5.20178269e-01 -1.94946084e-03 1.61130877e+02] [ 5.20177038e-01 8.54057707e-01 -1.13264448e-03 1.67330344e+02] [ 2.25412910e-03 -4.67235388e-05 9.99997458e-01 1.11697191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.15, Y:167.34, Z:1.12 [[ 8.53817265e-01 -5.20569149e-01 -1.95951185e-03 1.61154889e+02] [ 5.20567959e-01 8.53819511e-01 -1.11497160e-03 1.67344355e+02] [ 2.25348926e-03 -6.80770818e-05 9.99997459e-01 1.11730605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.18, Y:167.36, Z:1.12 [[ 8.53166275e-01 -5.21635378e-01 -1.95960184e-03 1.61178968e+02] [ 5.21634191e-01 8.53168522e-01 -1.11481341e-03 1.67358961e+02] [ 2.25339672e-03 -7.10741163e-05 9.99997459e-01 1.11624073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.20, Y:167.37, Z:1.12 [[ 8.52637897e-01 -5.22498592e-01 -1.95922082e-03 1.61203918e+02] [ 5.22497406e-01 8.52640145e-01 -1.11548262e-03 1.67374041e+02] [ 2.25334842e-03 -7.25850404e-05 9.99997459e-01 1.11591570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.23, Y:167.39, Z:1.12 [[ 8.53405711e-01 -5.21243557e-01 -1.96128956e-03 1.61227229e+02] [ 5.21242376e-01 8.53407962e-01 -1.11185118e-03 1.67387316e+02] [ 2.25332539e-03 -7.34470832e-05 9.99997459e-01 1.11566220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.25, Y:167.40, Z:1.12 [[ 8.54711243e-01 -5.19100042e-01 -1.95874243e-03 1.61250824e+02] [ 5.19098846e-01 8.54713486e-01 -1.11632049e-03 1.67400786e+02] [ 2.25364558e-03 -6.26492660e-05 9.99997459e-01 1.11505669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.28, Y:167.42, Z:1.11 [[ 8.55223675e-01 -5.18255382e-01 -1.95563358e-03 1.61275501e+02] [ 5.18254170e-01 8.55225910e-01 -1.12177158e-03 1.67415402e+02] [ 2.25387267e-03 -5.41496484e-05 9.99997459e-01 1.11468890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.30, Y:167.43, Z:1.11 [[ 8.55971444e-01 -5.17019393e-01 -1.95829847e-03 1.61299725e+02] [ 5.17018189e-01 8.55973682e-01 -1.11709998e-03 1.67429738e+02] [ 2.25381430e-03 -5.62702498e-05 9.99997459e-01 1.11462834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.32, Y:167.45, Z:1.11 [[ 8.56624345e-01 -5.15936913e-01 -1.95795157e-03 1.61324307e+02] [ 5.15935705e-01 8.56626581e-01 -1.11770767e-03 1.67446144e+02] [ 2.25390000e-03 -5.27215224e-05 9.99997459e-01 1.11425229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.35, Y:167.46, Z:1.11 [[ 8.57874735e-01 -5.13855119e-01 -1.96371590e-03 1.61347513e+02] [ 5.13853929e-01 8.57876980e-01 -1.10761080e-03 1.67459565e+02] [ 2.25377814e-03 -5.88718068e-05 9.99997459e-01 1.11457537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.37, Y:167.47, Z:1.11 [[ 8.58437196e-01 -5.12914953e-01 -1.95755830e-03 1.61371995e+02] [ 5.12913735e-01 8.58439427e-01 -1.11838868e-03 1.67474420e+02] [ 2.25408350e-03 -4.39920978e-05 9.99997459e-01 1.11457749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.39, Y:167.49, Z:1.12 [[ 8.58256612e-01 -5.13217055e-01 -1.96042745e-03 1.61394654e+02] [ 5.13215849e-01 8.58258849e-01 -1.11336832e-03 1.67488204e+02] [ 2.25395382e-03 -5.05667176e-05 9.99997459e-01 1.11605114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.42, Y:167.50, Z:1.12 [[ 8.58272620e-01 -5.13190297e-01 -1.95705506e-03 1.61419313e+02] [ 5.13189078e-01 8.58274850e-01 -1.11926501e-03 1.67502288e+02] [ 2.25408708e-03 -4.37047659e-05 9.99997459e-01 1.11680339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.44, Y:167.52, Z:1.12 [[ 8.57932736e-01 -5.13758301e-01 -1.95672947e-03 1.61443262e+02] [ 5.13757082e-01 8.57934966e-01 -1.11983392e-03 1.67516661e+02] [ 2.25407060e-03 -4.45414444e-05 9.99997459e-01 1.11804830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.47, Y:167.53, Z:1.12 [[ 8.57850124e-01 -5.13896232e-01 -1.95638087e-03 1.61466945e+02] [ 5.13895012e-01 8.57852354e-01 -1.12044260e-03 1.67530380e+02] [ 2.25407717e-03 -4.42025499e-05 9.99997459e-01 1.11875798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.49, Y:167.55, Z:1.12 [[ 8.56313800e-01 -5.16452176e-01 -1.95623017e-03 1.61491685e+02] [ 5.16450962e-01 8.56316033e-01 -1.12070566e-03 1.67547413e+02] [ 2.25394213e-03 -5.06212323e-05 9.99997459e-01 1.11659750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.51, Y:167.56, Z:1.12 [[ 8.56427008e-01 -5.16264412e-01 -1.95889842e-03 1.61514356e+02] [ 5.16263208e-01 8.56429247e-01 -1.11604931e-03 1.67560741e+02] [ 2.25383444e-03 -5.54924098e-05 9.99997459e-01 1.11882912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.54, Y:167.57, Z:1.12 [[ 8.56408664e-01 -5.16294868e-01 -1.95171676e-03 1.61538900e+02] [ 5.16293636e-01 8.56410887e-01 -1.12857100e-03 1.67574870e+02] [ 2.25414689e-03 -4.11409567e-05 9.99997459e-01 1.11888922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.56, Y:167.59, Z:1.12 [[ 8.56548075e-01 -5.16063549e-01 -1.95157473e-03 1.61564896e+02] [ 5.16062316e-01 8.56550297e-01 -1.12881858e-03 1.67587956e+02] [ 2.25416404e-03 -4.02467918e-05 9.99997459e-01 1.12041013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.59, Y:167.60, Z:1.12 [[ 8.55192395e-01 -5.18306998e-01 -1.95563946e-03 1.61588841e+02] [ 5.18305787e-01 8.55194629e-01 -1.12173209e-03 1.67604084e+02] [ 2.25385396e-03 -5.43224950e-05 9.99997459e-01 1.11725147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.61, Y:167.62, Z:1.12 [[ 8.55221940e-01 -5.18258251e-01 -1.95407250e-03 1.61612679e+02] [ 5.18257033e-01 8.55224171e-01 -1.12446293e-03 1.67617411e+02] [ 2.25393222e-03 -5.10464513e-05 9.99997459e-01 1.11801867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.64, Y:167.63, Z:1.12 [[ 8.53839616e-01 -5.20532514e-01 -1.95228988e-03 1.61638737e+02] [ 5.20531295e-01 8.53841847e-01 -1.12756841e-03 1.67633708e+02] [ 2.25388282e-03 -5.34654009e-05 9.99997459e-01 1.11676701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.66, Y:167.65, Z:1.12 [[ 8.55308360e-01 -5.18115594e-01 -1.95982998e-03 1.61662866e+02] [ 5.18114399e-01 8.55310603e-01 -1.11443500e-03 1.67645458e+02] [ 2.25366952e-03 -6.22305626e-05 9.99997459e-01 1.11968830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.68, Y:167.66, Z:1.12 [[ 8.53660102e-01 -5.20826851e-01 -1.95481382e-03 1.61684969e+02] [ 5.20825643e-01 8.53662338e-01 -1.12316538e-03 1.67662512e+02] [ 2.25372563e-03 -5.93156950e-05 9.99997459e-01 1.11758572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.71, Y:167.68, Z:1.12 [[ 8.53528265e-01 -5.21042895e-01 -1.95001034e-03 1.61710797e+02] [ 5.21041669e-01 8.53530491e-01 -1.13151930e-03 1.67677562e+02] [ 2.25396338e-03 -5.02529428e-05 9.99997459e-01 1.11572352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.74, Y:167.69, Z:1.12 [[ 8.55074711e-01 -5.18501124e-01 -1.95518120e-03 1.61737921e+02] [ 5.18499911e-01 8.55076945e-01 -1.12252691e-03 1.67690542e+02] [ 2.25386183e-03 -5.39169007e-05 9.99997459e-01 1.11875844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.76, Y:167.70, Z:1.12 [[ 8.55421824e-01 -5.17928249e-01 -1.95744491e-03 1.61761338e+02] [ 5.17927044e-01 8.55424062e-01 -1.11859041e-03 1.67703949e+02] [ 2.25379505e-03 -5.69470049e-05 9.99997459e-01 1.11924401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.78, Y:167.72, Z:1.12 [[ 8.54892459e-01 -5.18801566e-01 -1.95403516e-03 1.61782456e+02] [ 5.18800350e-01 8.54894691e-01 -1.12451543e-03 1.67719190e+02] [ 2.25389465e-03 -5.24143636e-05 9.99997459e-01 1.11695597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.81, Y:167.73, Z:1.12 [[ 8.55915941e-01 -5.17111305e-01 -1.94922808e-03 1.61806271e+02] [ 5.17110066e-01 8.55918160e-01 -1.13287202e-03 1.67731870e+02] [ 2.25420064e-03 -3.83222402e-05 9.99997459e-01 1.11582260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.83, Y:167.75, Z:1.12 [[ 8.56635974e-01 -5.15917655e-01 -1.94474809e-03 1.61831579e+02] [ 5.15916395e-01 8.56638181e-01 -1.14064250e-03 1.67745123e+02] [ 2.25442307e-03 -2.62120230e-05 9.99997458e-01 1.11844993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.86, Y:167.76, Z:1.12 [[ 8.57221217e-01 -5.14944663e-01 -1.94436071e-03 1.61857470e+02] [ 5.14943398e-01 8.57223421e-01 -1.14131375e-03 1.67760782e+02] [ 2.25446497e-03 -2.28773481e-05 9.99997458e-01 1.11703077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.88, Y:167.78, Z:1.12 [[ 8.56904032e-01 -5.15472284e-01 -1.95055250e-03 1.61881896e+02] [ 5.15471046e-01 8.56906251e-01 -1.13057868e-03 1.67775977e+02] [ 2.25422261e-03 -3.66559066e-05 9.99997459e-01 1.11925294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.90, Y:167.79, Z:1.12 [[ 8.57494356e-01 -5.14489665e-01 -1.95287239e-03 1.61904561e+02] [ 5.14488434e-01 8.57496579e-01 -1.12655719e-03 1.67790165e+02] [ 2.25418343e-03 -3.87138276e-05 9.99997459e-01 1.11760922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.93, Y:167.80, Z:1.12 [[ 8.58537701e-01 -5.12746737e-01 -1.94906505e-03 1.61927572e+02] [ 5.12745486e-01 8.58539913e-01 -1.13315211e-03 1.67804184e+02] [ 2.25437019e-03 -2.65205011e-05 9.99997459e-01 1.11878107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.95, Y:167.82, Z:1.12 [[ 8.58261637e-01 -5.13208710e-01 -1.94506106e-03 1.61954650e+02] [ 5.13207444e-01 8.58263840e-01 -1.14008156e-03 1.67819942e+02] [ 2.25447536e-03 -1.97315522e-05 9.99997458e-01 1.12193032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.98, Y:167.83, Z:1.12 [[ 8.58926387e-01 -5.12095353e-01 -1.95209295e-03 1.61979020e+02] [ 5.12094112e-01 8.58928605e-01 -1.12791137e-03 1.67834350e+02] [ 2.25430664e-03 -3.08624668e-05 9.99997459e-01 1.12283935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.00, Y:167.85, Z:1.12 [[ 8.59200023e-01 -5.11636111e-01 -1.95174790e-03 1.62002884e+02] [ 5.11634868e-01 8.59202240e-01 -1.12850813e-03 1.67848509e+02] [ 2.25433168e-03 -2.89680669e-05 9.99997459e-01 1.12293171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.03, Y:167.86, Z:1.12 [[ 8.59191445e-01 -5.11650518e-01 -1.95140495e-03 1.62027274e+02] [ 5.11649273e-01 8.59193661e-01 -1.12910085e-03 1.67863049e+02] [ 2.25433979e-03 -2.83211323e-05 9.99997459e-01 1.12267091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.05, Y:167.88, Z:1.12 [[ 8.59359211e-01 -5.11368692e-01 -1.95105995e-03 1.62050836e+02] [ 5.11367445e-01 8.59361426e-01 -1.12969669e-03 1.67876783e+02] [ 2.25435717e-03 -2.68932858e-05 9.99997459e-01 1.12250786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.07, Y:167.89, Z:1.12 [[ 8.59163018e-01 -5.11698253e-01 -1.95082572e-03 1.62074934e+02] [ 5.11697006e-01 8.59165233e-01 -1.13010101e-03 1.67891539e+02] [ 2.25435235e-03 -2.72906878e-05 9.99997459e-01 1.12167297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:167.91, Z:1.12 [[ 8.59095162e-01 -5.11812171e-01 -1.95048409e-03 1.62098832e+02] [ 5.11810923e-01 8.59097376e-01 -1.13069034e-03 1.67905647e+02] [ 2.25435684e-03 -2.69084576e-05 9.99997459e-01 1.12143141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.12, Y:167.92, Z:1.12 [[ 8.58460496e-01 -5.12875983e-01 -1.95014326e-03 1.62123557e+02] [ 5.12874737e-01 8.58462710e-01 -1.13127788e-03 1.67919935e+02] [ 2.25433052e-03 -2.90218429e-05 9.99997459e-01 1.12050645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.15, Y:167.93, Z:1.12 [[ 8.58713993e-01 -5.12451438e-01 -1.94979153e-03 1.62146551e+02] [ 5.12450189e-01 8.58716206e-01 -1.13188377e-03 1.67932125e+02] [ 2.25435305e-03 -2.72066060e-05 9.99997459e-01 1.11986911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.17, Y:167.95, Z:1.12 [[ 8.57835389e-01 -5.13920888e-01 -1.94073357e-03 1.62172097e+02] [ 5.13919607e-01 8.57837584e-01 -1.14746804e-03 1.67946429e+02] [ 2.25454199e-03 -1.30423399e-05 9.99997458e-01 1.11953277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.20, Y:167.96, Z:1.12 [[ 8.56429419e-01 -5.16260478e-01 -1.94136905e-03 1.62196052e+02] [ 5.16259206e-01 8.56431619e-01 -1.14637487e-03 1.67959018e+02] [ 2.25447788e-03 -2.04604787e-05 9.99997458e-01 1.11949974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.22, Y:167.97, Z:1.12 [[ 8.54362487e-01 -5.19673919e-01 -1.93865076e-03 1.62221913e+02] [ 5.19672645e-01 8.54364686e-01 -1.15105095e-03 1.67974789e+02] [ 2.25448591e-03 -2.40490194e-05 9.99997458e-01 1.11897236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.25, Y:167.99, Z:1.12 [[ 8.53359121e-01 -5.21319874e-01 -1.94916300e-03 1.62246607e+02] [ 5.21318645e-01 8.53361346e-01 -1.13296561e-03 1.67988443e+02] [ 2.25397785e-03 -4.93084744e-05 9.99997459e-01 1.11877029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.27, Y:168.00, Z:1.12 [[ 8.51440861e-01 -5.24447007e-01 -1.94880455e-03 1.62271451e+02] [ 5.24445784e-01 8.51443089e-01 -1.13358183e-03 1.68000942e+02] [ 2.25379977e-03 -5.68644397e-05 9.99997459e-01 1.11871152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.30, Y:168.01, Z:1.12 [[ 8.49936622e-01 -5.26881347e-01 -1.94540825e-03 1.62295638e+02] [ 5.26880118e-01 8.49938847e-01 -1.13941743e-03 1.68014710e+02] [ 2.25381584e-03 -5.65643278e-05 9.99997459e-01 1.11907003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.32, Y:168.03, Z:1.12 [[ 8.48845745e-01 -5.28637025e-01 -1.94842081e-03 1.62319054e+02] [ 5.28635813e-01 8.48847979e-01 -1.13424242e-03 1.68027764e+02] [ 2.25351560e-03 -6.72081652e-05 9.99997459e-01 1.11869197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.34, Y:168.04, Z:1.12 [[ 8.47186390e-01 -5.31292226e-01 -1.94705169e-03 1.62344153e+02] [ 5.31291015e-01 8.47188625e-01 -1.13659314e-03 1.68041351e+02] [ 2.25338314e-03 -7.15448323e-05 9.99997459e-01 1.11908746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.37, Y:168.06, Z:1.12 [[ 8.45871157e-01 -5.33383718e-01 -1.94797353e-03 1.62366184e+02] [ 5.33382516e-01 8.45873397e-01 -1.13501102e-03 1.68056213e+02] [ 2.25313539e-03 -7.89419383e-05 9.99997459e-01 1.11750216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.39, Y:168.07, Z:1.12 [[ 8.46255712e-01 -5.32773406e-01 -1.94117173e-03 1.62391120e+02] [ 5.32772176e-01 8.46257936e-01 -1.14665637e-03 1.68068722e+02] [ 2.25364000e-03 -6.38377805e-05 9.99997459e-01 1.11809055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.42, Y:168.08, Z:1.12 [[ 8.45854128e-01 -5.33410746e-01 -1.94182541e-03 1.62416408e+02] [ 5.33409520e-01 8.45856354e-01 -1.14553804e-03 1.68083974e+02] [ 2.25354766e-03 -6.68300802e-05 9.99997459e-01 1.11813433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.44, Y:168.10, Z:1.12 [[ 8.46151274e-01 -5.32939241e-01 -1.94620146e-03 1.62439513e+02] [ 5.32938031e-01 8.46153509e-01 -1.13805450e-03 1.68097403e+02] [ 2.25329909e-03 -7.42385094e-05 9.99997459e-01 1.11801823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.46, Y:168.11, Z:1.12 [[ 8.47629387e-01 -5.30585182e-01 -1.94595719e-03 1.62462936e+02] [ 5.30583965e-01 8.47631618e-01 -1.13847202e-03 1.68111280e+02] [ 2.25351123e-03 -6.74913416e-05 9.99997459e-01 1.11784163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.49, Y:168.13, Z:1.12 [[ 8.46825054e-01 -5.31867994e-01 -1.94039698e-03 1.62487056e+02] [ 5.31866758e-01 8.46827275e-01 -1.14796504e-03 1.68128117e+02] [ 2.25374695e-03 -5.99070988e-05 9.99997459e-01 1.11563732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:168.14, Z:1.12 [[ 8.47897611e-01 -5.30156452e-01 -1.94354739e-03 1.62512752e+02] [ 5.30155224e-01 8.47899836e-01 -1.14258729e-03 1.68142414e+02] [ 2.25368354e-03 -6.15847729e-05 9.99997459e-01 1.11811206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.54, Y:168.16, Z:1.12 [[ 8.49158158e-01 -5.28135059e-01 -1.94503904e-03 1.62535507e+02] [ 5.28133831e-01 8.49160383e-01 -1.14004238e-03 1.68156630e+02] [ 2.25374644e-03 -5.91646352e-05 9.99997459e-01 1.11878459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.56, Y:168.17, Z:1.12 [[ 8.49675599e-01 -5.27302185e-01 -1.94488201e-03 1.62559487e+02] [ 5.27300955e-01 8.49677823e-01 -1.14031020e-03 1.68170745e+02] [ 2.25381117e-03 -5.66443888e-05 9.99997459e-01 1.11914483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.58, Y:168.18, Z:1.12 [[ 8.50981257e-01 -5.25192458e-01 -1.94452458e-03 1.62583566e+02] [ 5.25191222e-01 8.50983478e-01 -1.14091938e-03 1.68184557e+02] [ 2.25396055e-03 -5.03462295e-05 9.99997459e-01 1.11998505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.61, Y:168.20, Z:1.12 [[ 8.51033481e-01 -5.25107842e-01 -1.94095419e-03 1.62608390e+02] [ 5.25106591e-01 8.51035694e-01 -1.14700061e-03 1.68199584e+02] [ 2.25412031e-03 -4.30719149e-05 9.99997459e-01 1.11982173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.63, Y:168.21, Z:1.12 [[ 8.51301850e-01 -5.24672640e-01 -1.94458010e-03 1.62632095e+02] [ 5.24671402e-01 8.51304069e-01 -1.14082706e-03 1.68214085e+02] [ 2.25398970e-03 -4.90773787e-05 9.99997459e-01 1.12014599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.66, Y:168.23, Z:1.12 [[ 8.52259863e-01 -5.23115044e-01 -1.94368022e-03 1.62655836e+02] [ 5.23113798e-01 8.52262078e-01 -1.14235817e-03 1.68229213e+02] [ 2.25410969e-03 -4.31799279e-05 9.99997459e-01 1.12110237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.68, Y:168.24, Z:1.12 [[ 8.52590863e-01 -5.22575396e-01 -1.94332610e-03 1.62679354e+02] [ 5.22574147e-01 8.52593077e-01 -1.14296026e-03 1.68244124e+02] [ 2.25414929e-03 -4.10545015e-05 9.99997459e-01 1.12145397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.70, Y:168.26, Z:1.12 [[ 8.53357427e-01 -5.21322671e-01 -1.94296881e-03 1.62702061e+02] [ 5.21321418e-01 8.53359638e-01 -1.14356731e-03 1.68259029e+02] [ 2.25421873e-03 -3.70396002e-05 9.99997459e-01 1.12215995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.73, Y:168.27, Z:1.12 [[ 8.53468640e-01 -5.21140582e-01 -1.94281402e-03 1.62725623e+02] [ 5.21139328e-01 8.53470851e-01 -1.14383023e-03 1.68273622e+02] [ 2.25423148e-03 -3.62535631e-05 9.99997459e-01 1.12245247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.75, Y:168.29, Z:1.12 [[ 8.53504490e-01 -5.21081867e-01 -1.94246452e-03 1.62748761e+02] [ 5.21080612e-01 8.53506700e-01 -1.14442344e-03 1.68287859e+02] [ 2.25424479e-03 -3.54100543e-05 9.99997459e-01 1.12256963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.77, Y:168.30, Z:1.12 [[ 8.53434439e-01 -5.21196591e-01 -1.94231311e-03 1.62771517e+02] [ 5.21195335e-01 8.53436648e-01 -1.14468037e-03 1.68301738e+02] [ 2.25424469e-03 -3.54148823e-05 9.99997459e-01 1.12329280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.80, Y:168.32, Z:1.12 [[ 8.53110597e-01 -5.21726497e-01 -1.94216388e-03 1.62795285e+02] [ 5.21725242e-01 8.53112807e-01 -1.14493350e-03 1.68316830e+02] [ 2.25422702e-03 -3.65210136e-05 9.99997459e-01 1.12304146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.82, Y:168.33, Z:1.12 [[ 8.52767137e-01 -5.22287698e-01 -1.94182566e-03 1.62819461e+02] [ 5.22286443e-01 8.52769347e-01 -1.14550683e-03 1.68331804e+02] [ 2.25421353e-03 -3.73386349e-05 9.99997459e-01 1.12276226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:162.84, Y:168.35, Z:1.12 [[ 8.52500073e-01 -5.22723498e-01 -1.94147928e-03 1.62843625e+02] [ 5.22722243e-01 8.52502283e-01 -1.14609360e-03 1.68346824e+02] [ 2.25420558e-03 -3.78095252e-05 9.99997459e-01 1.12262752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.07275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:162.87, Y:168.36, Z:1.12 [[ 8.51808706e-01 -5.23849368e-01 -1.94112028e-03 1.62867012e+02] [ 5.23848114e-01 8.51810917e-01 -1.14670131e-03 1.68361967e+02] [ 2.25416621e-03 -4.00820416e-05 9.99997459e-01 1.12237550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.89, Y:168.38, Z:1.12 [[ 8.51571089e-01 -5.24235552e-01 -1.94075162e-03 1.62890299e+02] [ 5.24234298e-01 8.51573300e-01 -1.14732492e-03 1.68376157e+02] [ 2.25416077e-03 -4.03798327e-05 9.99997459e-01 1.12248535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.91, Y:168.39, Z:1.12 [[ 8.50798236e-01 -5.25488912e-01 -1.94059108e-03 1.62914516e+02] [ 5.25487660e-01 8.50800448e-01 -1.14759639e-03 1.68391114e+02] [ 2.25410494e-03 -4.33836871e-05 9.99997459e-01 1.12253159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.94, Y:168.41, Z:1.12 [[ 8.50595044e-01 -5.25817750e-01 -1.94021387e-03 1.62937853e+02] [ 5.25816498e-01 8.50597256e-01 -1.14823378e-03 1.68405187e+02] [ 2.25410230e-03 -4.35145040e-05 9.99997459e-01 1.12306890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.96, Y:168.42, Z:1.12 [[ 8.50309780e-01 -5.26278933e-01 -1.94005072e-03 1.62962057e+02] [ 5.26277681e-01 8.50311992e-01 -1.14850938e-03 1.68420168e+02] [ 2.25408468e-03 -4.44166366e-05 9.99997459e-01 1.12331822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.99, Y:168.43, Z:1.12 [[ 8.50573589e-01 -5.25852458e-01 -1.93968954e-03 1.62985044e+02] [ 5.25851204e-01 8.50575799e-01 -1.14911904e-03 1.68434577e+02] [ 2.25412005e-03 -4.25777775e-05 9.99997459e-01 1.12353571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.01, Y:168.45, Z:1.12 [[ 8.50351642e-01 -5.26211291e-01 -1.93953314e-03 1.63010226e+02] [ 5.26210037e-01 8.50353853e-01 -1.14938295e-03 1.68450766e+02] [ 2.25410777e-03 -4.32221273e-05 9.99997459e-01 1.12333190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.03, Y:168.47, Z:1.12 [[ 8.51085012e-01 -5.25024306e-01 -1.94428107e-03 1.63033548e+02] [ 5.25023068e-01 8.51087231e-01 -1.14137377e-03 1.68465131e+02] [ 2.25400177e-03 -4.93863006e-05 9.99997459e-01 1.12369390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.06, Y:168.48, Z:1.12 [[ 8.51702572e-01 -5.24021917e-01 -1.93883459e-03 1.63056274e+02] [ 5.24020655e-01 8.51704778e-01 -1.15055183e-03 1.68479450e+02] [ 2.25422906e-03 -3.60614186e-05 9.99997459e-01 1.12398261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.08, Y:168.49, Z:1.12 [[ 8.51627736e-01 -5.24143533e-01 -1.93833980e-03 1.63079863e+02] [ 5.24142269e-01 8.51629941e-01 -1.15138497e-03 1.68493645e+02] [ 2.25423920e-03 -3.54144436e-05 9.99997459e-01 1.12404443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.10, Y:168.51, Z:1.12 [[ 8.52497728e-01 -5.22727336e-01 -1.93817883e-03 1.63104379e+02] [ 5.22726068e-01 8.52499930e-01 -1.15165594e-03 1.68510362e+02] [ 2.25429936e-03 -3.13525220e-05 9.99997459e-01 1.12386644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.13, Y:168.52, Z:1.12 [[ 8.53408703e-01 -5.21238729e-01 -1.94229386e-03 1.63127234e+02] [ 5.21237473e-01 8.53410913e-01 -1.14473013e-03 1.68524643e+02] [ 2.25425245e-03 -3.54736868e-05 9.99997459e-01 1.12453818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.15, Y:168.54, Z:1.12 [[ 8.54371095e-01 -5.19659771e-01 -1.93762778e-03 1.63150512e+02] [ 5.19658493e-01 8.54373292e-01 -1.15257442e-03 1.68539736e+02] [ 2.25440398e-03 -2.21784659e-05 9.99997459e-01 1.12474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.17, Y:168.55, Z:1.13 [[ 8.54779023e-01 -5.18988506e-01 -1.93725038e-03 1.63173719e+02] [ 5.18987225e-01 8.54781218e-01 -1.15320840e-03 1.68553956e+02] [ 2.25442714e-03 -1.96698554e-05 9.99997459e-01 1.12572719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.20, Y:168.57, Z:1.13 [[ 8.55017348e-01 -5.18595780e-01 -1.93708679e-03 1.63197169e+02] [ 5.18594497e-01 8.55019542e-01 -1.15348312e-03 1.68568591e+02] [ 2.25443854e-03 -1.83144768e-05 9.99997459e-01 1.12622046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.22, Y:168.58, Z:1.13 [[ 8.55275372e-01 -5.18170137e-01 -1.93594838e-03 1.63221186e+02] [ 5.18168849e-01 8.55277563e-01 -1.15539400e-03 1.68583819e+02] [ 2.25446388e-03 -1.49681070e-05 9.99997459e-01 1.12703186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.24, Y:168.60, Z:1.13 [[ 8.55209618e-01 -5.18278650e-01 -1.93665957e-03 1.63244130e+02] [ 5.18277365e-01 8.55211811e-01 -1.15420067e-03 1.68598091e+02] [ 2.25445170e-03 -1.66433069e-05 9.99997459e-01 1.12733620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.27, Y:168.61, Z:1.13 [[ 8.54399278e-01 -5.19613444e-01 -1.93449542e-03 1.63268455e+02] [ 5.19612155e-01 8.54401468e-01 -1.15782956e-03 1.68613687e+02] [ 2.25445953e-03 -1.59385959e-05 9.99997459e-01 1.12755418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.29, Y:168.63, Z:1.13 [[ 8.53845723e-01 -5.20522558e-01 -1.93606682e-03 1.63292118e+02] [ 5.20521276e-01 8.53847918e-01 -1.15519595e-03 1.68627842e+02] [ 2.25441217e-03 -2.14048500e-05 9.99997459e-01 1.12748648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.32, Y:168.64, Z:1.13 [[ 8.52995387e-01 -5.21914862e-01 -1.93570049e-03 1.63316097e+02] [ 5.21913583e-01 8.52997583e-01 -1.15580947e-03 1.68642203e+02] [ 2.25438198e-03 -2.43682361e-05 9.99997459e-01 1.12773227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.34, Y:168.66, Z:1.13 [[ 8.52214568e-01 -5.23188861e-01 -1.93533316e-03 1.63339366e+02] [ 5.23187584e-01 8.52216765e-01 -1.15642421e-03 1.68655730e+02] [ 2.25435163e-03 -2.70207162e-05 9.99997459e-01 1.12781529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.36, Y:168.67, Z:1.13 [[ 8.50242970e-01 -5.26386880e-01 -1.93508393e-03 1.63362984e+02] [ 5.26385610e-01 8.50245172e-01 -1.15684110e-03 1.68668917e+02] [ 2.25424175e-03 -3.50043275e-05 9.99997459e-01 1.12639982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.39, Y:168.68, Z:1.13 [[ 8.48926022e-01 -5.28508157e-01 -1.93318953e-03 1.63388286e+02] [ 5.28506886e-01 8.48928222e-01 -1.16000845e-03 1.68683448e+02] [ 2.25421308e-03 -3.69426170e-05 9.99997459e-01 1.12704674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.41, Y:168.70, Z:1.13 [[ 8.47686783e-01 -5.30493521e-01 -1.93460352e-03 1.63412655e+02] [ 5.30492260e-01 8.47688989e-01 -1.15764546e-03 1.68696962e+02] [ 2.25406551e-03 -4.49714376e-05 9.99997459e-01 1.12704239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.44, Y:168.71, Z:1.13 [[ 8.45444511e-01 -5.34059770e-01 -1.93423494e-03 1.63436636e+02] [ 5.34058516e-01 8.45446722e-01 -1.15826096e-03 1.68709682e+02] [ 2.25387317e-03 -5.37492706e-05 9.99997459e-01 1.12721647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.82275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.46, Y:168.72, Z:1.12 [[ 8.44516508e-01 -5.35526028e-01 -1.93407555e-03 1.63461032e+02] [ 5.35524778e-01 8.44518721e-01 -1.15852705e-03 1.68722900e+02] [ 2.25378440e-03 -5.73501627e-05 9.99997459e-01 1.12416823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.48, Y:168.74, Z:1.13 [[ 8.43412279e-01 -5.37263426e-01 -1.93371791e-03 1.63484213e+02] [ 5.37262179e-01 8.43414493e-01 -1.15912368e-03 1.68735797e+02] [ 2.25368047e-03 -6.12943520e-05 9.99997459e-01 1.12535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.51, Y:168.75, Z:1.13 [[ 8.43743061e-01 -5.36743808e-01 -1.93176210e-03 1.63507702e+02] [ 5.36742552e-01 8.43745270e-01 -1.16238541e-03 1.68748963e+02] [ 2.25381830e-03 -5.61042988e-05 9.99997459e-01 1.12644318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.53, Y:168.76, Z:1.13 [[ 8.42970086e-01 -5.37956987e-01 -1.92746170e-03 1.63532681e+02] [ 5.37955718e-01 8.42972288e-01 -1.16955420e-03 1.68764660e+02] [ 2.25396665e-03 -5.09898406e-05 9.99997459e-01 1.12619193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.56, Y:168.78, Z:1.13 [[ 8.42972833e-01 -5.37952661e-01 -1.93322319e-03 1.63556428e+02] [ 5.37951414e-01 8.42975047e-01 -1.15995186e-03 1.68779221e+02] [ 2.25365810e-03 -6.21722415e-05 9.99997459e-01 1.12581759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.58, Y:168.79, Z:1.13 [[ 8.43848345e-01 -5.36578265e-01 -1.93285687e-03 1.63579197e+02] [ 5.36577013e-01 8.43850557e-01 -1.16056195e-03 1.68793697e+02] [ 2.25377467e-03 -5.77882823e-05 9.99997459e-01 1.12601011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.60, Y:168.81, Z:1.13 [[ 8.44608308e-01 -5.35381239e-01 -1.93269845e-03 1.63602965e+02] [ 5.35379983e-01 8.44610518e-01 -1.16082572e-03 1.68808279e+02] [ 2.25386175e-03 -5.42850119e-05 9.99997459e-01 1.12552800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.63, Y:168.82, Z:1.13 [[ 8.45046036e-01 -5.34690070e-01 -1.93008775e-03 1.63627374e+02] [ 5.34688803e-01 8.45048239e-01 -1.16516947e-03 1.68823489e+02] [ 2.25402180e-03 -4.73744652e-05 9.99997459e-01 1.12557248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.65, Y:168.84, Z:1.13 [[ 8.46740506e-01 -5.32002615e-01 -1.93206421e-03 1.63650094e+02] [ 5.32001348e-01 8.46742709e-01 -1.16188285e-03 1.68838467e+02] [ 2.25408600e-03 -4.40474931e-05 9.99997459e-01 1.12523511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.68, Y:168.86, Z:1.12 [[ 8.46411965e-01 -5.32525166e-01 -1.93190944e-03 1.63676147e+02] [ 5.32523900e-01 8.46414169e-01 -1.16214014e-03 1.68856215e+02] [ 2.25406440e-03 -4.51386287e-05 9.99997459e-01 1.12455189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.70, Y:168.87, Z:1.12 [[ 8.48416455e-01 -5.29325754e-01 -1.94018006e-03 1.63697618e+02] [ 5.29324511e-01 8.48418672e-01 -1.14840737e-03 1.68870444e+02] [ 2.25396659e-03 -5.26571538e-05 9.99997458e-01 1.12396253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.72, Y:168.88, Z:1.12 [[ 8.48834678e-01 -5.28654862e-01 -1.93056945e-03 1.63720279e+02] [ 5.28653580e-01 8.48836873e-01 -1.16434251e-03 1.68884828e+02] [ 2.25427386e-03 -3.22681500e-05 9.99997459e-01 1.12411219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.74, Y:168.90, Z:1.12 [[ 8.48937690e-01 -5.28489425e-01 -1.93031365e-03 1.63742931e+02] [ 5.28488142e-01 8.48939884e-01 -1.16476644e-03 1.68899160e+02] [ 2.25428699e-03 -3.13337442e-05 9.99997459e-01 1.12396005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.77, Y:168.91, Z:1.12 [[ 8.48871887e-01 -5.28595114e-01 -1.93015629e-03 1.63767428e+02] [ 5.28593831e-01 8.48874081e-01 -1.16502714e-03 1.68914664e+02] [ 2.25428730e-03 -3.13099212e-05 9.99997459e-01 1.12325604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.79, Y:168.93, Z:1.12 [[ 8.48520924e-01 -5.29158308e-01 -1.93051584e-03 1.63791258e+02] [ 5.29157028e-01 8.48523119e-01 -1.16443158e-03 1.68929381e+02] [ 2.25425596e-03 -3.35014652e-05 9.99997459e-01 1.12364884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.82, Y:168.95, Z:1.12 [[ 8.47725930e-01 -5.30430981e-01 -1.92905141e-03 1.63816244e+02] [ 5.30429699e-01 8.47728125e-01 -1.16685588e-03 1.68945082e+02] [ 2.25424764e-03 -3.40521748e-05 9.99997459e-01 1.12393817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.84, Y:168.96, Z:1.12 [[ 8.46355851e-01 -5.32614342e-01 -1.93271776e-03 1.63839736e+02] [ 5.32613079e-01 8.46358057e-01 -1.16079126e-03 1.68959618e+02] [ 2.25402532e-03 -4.69482807e-05 9.99997459e-01 1.12395221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.86, Y:168.97, Z:1.12 [[ 8.45767776e-01 -5.33547692e-01 -1.93135539e-03 1.63864065e+02] [ 5.33546426e-01 8.45769980e-01 -1.16304318e-03 1.68974330e+02] [ 2.25402141e-03 -4.68033181e-05 9.99997459e-01 1.12428627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.89, Y:168.99, Z:1.12 [[ 8.44722009e-01 -5.35201840e-01 -1.92831200e-03 1.63888158e+02] [ 5.35200567e-01 8.44724209e-01 -1.16807043e-03 1.68989367e+02] [ 2.25404527e-03 -4.53388733e-05 9.99997459e-01 1.12387310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.91, Y:169.00, Z:1.12 [[ 8.43847546e-01 -5.36579535e-01 -1.92907859e-03 1.63911457e+02] [ 5.36578269e-01 8.43849750e-01 -1.16680478e-03 1.69003675e+02] [ 2.25393605e-03 -5.04963031e-05 9.99997459e-01 1.12447960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.94, Y:169.02, Z:1.12 [[ 8.42618204e-01 -5.38507978e-01 -1.92848953e-03 1.63935503e+02] [ 5.38506715e-01 8.42620409e-01 -1.16777669e-03 1.69018505e+02] [ 2.25384170e-03 -5.45146664e-05 9.99997459e-01 1.12448212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.96, Y:169.03, Z:1.12 [[ 8.42208798e-01 -5.39148045e-01 -1.93036017e-03 1.63959620e+02] [ 5.39146791e-01 8.42211008e-01 -1.16469106e-03 1.69033306e+02] [ 2.25371149e-03 -5.98344360e-05 9.99997459e-01 1.12494165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:163.98, Y:169.05, Z:1.12 [[ 8.42099636e-01 -5.39318541e-01 -1.92748008e-03 1.63982712e+02] [ 5.39317276e-01 8.42101840e-01 -1.16943805e-03 1.69047511e+02] [ 2.25383414e-03 -5.47399486e-05 9.99997459e-01 1.12496676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.01, Y:169.06, Z:1.12 [[ 8.40861592e-01 -5.41246786e-01 -1.92346458e-03 1.64006202e+02] [ 5.41245510e-01 8.40863791e-01 -1.17605185e-03 1.69062581e+02] [ 2.25390600e-03 -5.21697409e-05 9.99997459e-01 1.12430483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.03, Y:169.08, Z:1.12 [[ 8.40519501e-01 -5.41777865e-01 -1.92691980e-03 1.64030095e+02] [ 5.41776604e-01 8.40521708e-01 -1.17036308e-03 1.69077102e+02] [ 2.25369473e-03 -6.02470721e-05 9.99997459e-01 1.12387826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.05, Y:169.09, Z:1.12 [[ 8.40314191e-01 -5.42096254e-01 -1.92654933e-03 1.64053915e+02] [ 5.42094993e-01 8.40316397e-01 -1.17097260e-03 1.69090885e+02] [ 2.25369085e-03 -6.03878462e-05 9.99997459e-01 1.12318247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.08, Y:169.11, Z:1.12 [[ 8.40339252e-01 -5.42057406e-01 -1.92638884e-03 1.64077299e+02] [ 5.42056144e-01 8.40341458e-01 -1.17123657e-03 1.69105328e+02] [ 2.25370186e-03 -5.99748432e-05 9.99997459e-01 1.12279371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.10, Y:169.12, Z:1.12 [[ 8.41433928e-01 -5.40356581e-01 -1.92623021e-03 1.64100460e+02] [ 5.40355314e-01 8.41436131e-01 -1.17149739e-03 1.69119016e+02] [ 2.25382602e-03 -5.51110792e-05 9.99997459e-01 1.12282540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.13, Y:169.14, Z:1.12 [[ 8.41491616e-01 -5.40266760e-01 -1.92048425e-03 1.64127807e+02] [ 5.40265471e-01 8.41493806e-01 -1.18094352e-03 1.69135770e+02] [ 2.25410014e-03 -4.38172564e-05 9.99997459e-01 1.12149276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.15, Y:169.15, Z:1.12 [[ 8.42184904e-01 -5.39185358e-01 -1.93305810e-03 1.64149184e+02] [ 5.39184113e-01 8.42187120e-01 -1.16026951e-03 1.69149882e+02] [ 2.25359697e-03 -6.51127477e-05 9.99997459e-01 1.12154341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.17, Y:169.17, Z:1.12 [[ 8.41363566e-01 -5.40466139e-01 -1.92434218e-03 1.64174952e+02] [ 5.40464865e-01 8.41365765e-01 -1.17458403e-03 1.69166659e+02] [ 2.25389853e-03 -5.17871265e-05 9.99997459e-01 1.12198330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.20, Y:169.18, Z:1.12 [[ 8.42413944e-01 -5.38827441e-01 -1.93267208e-03 1.64198361e+02] [ 5.38826194e-01 8.42416159e-01 -1.16091138e-03 1.69179814e+02] [ 2.25364510e-03 -6.34064029e-05 9.99997459e-01 1.12231461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.22, Y:169.19, Z:1.12 [[ 8.43090904e-01 -5.37767626e-01 -1.92550310e-03 1.64221970e+02] [ 5.37766350e-01 8.43093102e-01 -1.17266539e-03 1.69193088e+02] [ 2.25399986e-03 -4.68072524e-05 9.99997459e-01 1.12355724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.24, Y:169.21, Z:1.12 [[ 8.42455263e-01 -5.38762867e-01 -1.92419793e-03 1.64244117e+02] [ 5.38761588e-01 8.42457459e-01 -1.17480411e-03 1.69208639e+02] [ 2.25399573e-03 -4.69640241e-05 9.99997459e-01 1.11988917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.27, Y:169.22, Z:1.12 [[ 8.42073441e-01 -5.39359468e-01 -1.91923040e-03 1.64267655e+02] [ 5.39358173e-01 8.42075627e-01 -1.18293549e-03 1.69222621e+02] [ 2.25416460e-03 -3.90340446e-05 9.99997459e-01 1.11984524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.29, Y:169.24, Z:1.13 [[ 8.43460472e-01 -5.37187819e-01 -1.91800614e-03 1.64294464e+02] [ 5.37186513e-01 8.43462652e-01 -1.18493983e-03 1.69235124e+02] [ 2.25430179e-03 -3.08771169e-05 9.99997459e-01 1.12519781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.32, Y:169.25, Z:1.13 [[ 8.42974454e-01 -5.37950169e-01 -1.91975774e-03 1.64319516e+02] [ 5.37948871e-01 8.42976639e-01 -1.18207363e-03 1.69249703e+02] [ 2.25420764e-03 -3.62736364e-05 9.99997459e-01 1.12546852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.34, Y:169.26, Z:1.13 [[ 8.42350525e-01 -5.38926611e-01 -1.92373046e-03 1.64344054e+02] [ 5.38925331e-01 8.42352721e-01 -1.17557261e-03 1.69262764e+02] [ 2.25400694e-03 -4.65028706e-05 9.99997459e-01 1.12649389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.37, Y:169.28, Z:1.13 [[ 8.42033291e-01 -5.39422132e-01 -1.92336872e-03 1.64368122e+02] [ 5.39420852e-01 8.42035487e-01 -1.17616414e-03 1.69276609e+02] [ 2.25399369e-03 -4.71358316e-05 9.99997459e-01 1.12664438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.39, Y:169.29, Z:1.13 [[ 8.41404848e-01 -5.40401883e-01 -1.91999189e-03 1.64392128e+02] [ 5.40400593e-01 8.41407038e-01 -1.18168241e-03 1.69290911e+02] [ 2.25407809e-03 -4.32914430e-05 9.99997459e-01 1.12733269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.42, Y:169.31, Z:1.13 [[ 8.40902410e-01 -5.41183370e-01 -1.92286124e-03 1.64416072e+02] [ 5.41182093e-01 8.40904607e-01 -1.17699475e-03 1.69305095e+02] [ 2.25391286e-03 -5.08803495e-05 9.99997459e-01 1.12755156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.44, Y:169.32, Z:1.13 [[ 8.40090357e-01 -5.42443081e-01 -1.92249222e-03 1.64439496e+02] [ 5.42441805e-01 8.40092555e-01 -1.17759719e-03 1.69318159e+02] [ 2.25385085e-03 -5.35521032e-05 9.99997459e-01 1.12764010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.46, Y:169.33, Z:1.13 [[ 8.40097761e-01 -5.42431614e-01 -1.92233235e-03 1.64464206e+02] [ 5.42430338e-01 8.40099959e-01 -1.17785811e-03 1.69332124e+02] [ 2.25385880e-03 -5.32154237e-05 9.99997459e-01 1.12745106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.49, Y:169.35, Z:1.13 [[ 8.39168368e-01 -5.43868338e-01 -1.91843766e-03 1.64487994e+02] [ 5.43867051e-01 8.39170560e-01 -1.18421062e-03 1.69346424e+02] [ 2.25395107e-03 -4.96229360e-05 9.99997459e-01 1.12758552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.51, Y:169.36, Z:1.12 [[ 8.37580119e-01 -5.46311130e-01 -1.92182072e-03 1.64509137e+02] [ 5.46309862e-01 8.37582322e-01 -1.17869466e-03 1.69362369e+02] [ 2.25361707e-03 -6.26583998e-05 9.99997459e-01 1.12310130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.54, Y:169.37, Z:1.13 [[ 8.38209723e-01 -5.45344651e-01 -1.91606553e-03 1.64537605e+02] [ 5.45343359e-01 8.38211912e-01 -1.18807165e-03 1.69374082e+02] [ 2.25397747e-03 -4.90604063e-05 9.99997459e-01 1.12663029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.56, Y:169.39, Z:1.13 [[ 8.36751641e-01 -5.47579218e-01 -1.92140017e-03 1.64563808e+02] [ 5.47577952e-01 8.36753844e-01 -1.17938066e-03 1.69390800e+02] [ 2.25354332e-03 -6.52676624e-05 9.99997459e-01 1.12665572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.59, Y:169.41, Z:1.13 [[ 8.36461656e-01 -5.48022033e-01 -1.93620001e-03 1.64587962e+02] [ 5.48020824e-01 8.36463892e-01 -1.15524955e-03 1.69406164e+02] [ 2.25266360e-03 -9.47559776e-05 9.99997458e-01 1.12672768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.61, Y:169.42, Z:1.13 [[ 8.37330147e-01 -5.46694148e-01 -1.93220867e-03 1.64610235e+02] [ 5.46692920e-01 8.37332373e-01 -1.16172930e-03 1.69417913e+02] [ 2.25301148e-03 -8.35738332e-05 9.99997458e-01 1.12613942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.63, Y:169.43, Z:1.13 [[ 8.37476680e-01 -5.46469697e-01 -1.91868072e-03 1.64633091e+02] [ 5.46468418e-01 8.37478876e-01 -1.18365778e-03 1.69431702e+02] [ 2.25368768e-03 -5.72126333e-05 9.99997459e-01 1.12587774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.66, Y:169.45, Z:1.13 [[ 8.37511537e-01 -5.46416274e-01 -1.91851114e-03 1.64656620e+02] [ 5.46414994e-01 8.37513733e-01 -1.18393258e-03 1.69446196e+02] [ 2.25369946e-03 -5.67460568e-05 9.99997459e-01 1.12528437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.68, Y:169.46, Z:1.13 [[ 8.38392866e-01 -5.45063041e-01 -1.91932608e-03 1.64680720e+02] [ 5.45061761e-01 8.38395061e-01 -1.18261287e-03 1.69460323e+02] [ 2.25375207e-03 -5.46570561e-05 9.99997459e-01 1.12560185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.70, Y:169.47, Z:1.12 [[ 8.39332134e-01 -5.43615573e-01 -1.91785648e-03 1.64698921e+02] [ 5.43614283e-01 8.39334324e-01 -1.18499136e-03 1.69472881e+02] [ 2.25390253e-03 -4.79728496e-05 9.99997459e-01 1.12497694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.73, Y:169.49, Z:1.13 [[ 8.39895656e-01 -5.42744585e-01 -1.89784842e-03 1.64728099e+02] [ 5.42743220e-01 8.39897800e-01 -1.21735917e-03 1.69488875e+02] [ 2.25471381e-03 -7.58967888e-06 9.99997458e-01 1.12552055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.75, Y:169.50, Z:1.13 [[ 8.40283988e-01 -5.42143099e-01 -1.91808776e-03 1.64752080e+02] [ 5.42141807e-01 8.40286176e-01 -1.18458757e-03 1.69503355e+02] [ 2.25395861e-03 -4.44855921e-05 9.99997459e-01 1.12553682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.77, Y:169.52, Z:1.13 [[ 8.40608804e-01 -5.41639327e-01 -1.91770516e-03 1.64774876e+02] [ 5.41638032e-01 8.40610991e-01 -1.18520663e-03 1.69517686e+02] [ 2.25399856e-03 -4.24069233e-05 9.99997459e-01 1.12529017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.80, Y:169.54, Z:1.12 [[ 8.39597183e-01 -5.43206125e-01 -1.91753958e-03 1.64801866e+02] [ 5.43204833e-01 8.39599371e-01 -1.18547446e-03 1.69536489e+02] [ 2.25392201e-03 -4.62957476e-05 9.99997459e-01 1.12481051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.82, Y:169.55, Z:1.13 [[ 8.41442707e-01 -5.40342875e-01 -1.93596343e-03 1.64822670e+02] [ 5.40341644e-01 8.41444931e-01 -1.15568379e-03 1.69547992e+02] [ 2.25347212e-03 -7.36399634e-05 9.99997458e-01 1.12547056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.85, Y:169.56, Z:1.13 [[ 8.41661728e-01 -5.40001724e-01 -1.91649122e-03 1.64846724e+02] [ 5.40000420e-01 8.41663910e-01 -1.18711981e-03 1.69562934e+02] [ 2.25408824e-03 -3.57527537e-05 9.99997459e-01 1.12575213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.87, Y:169.58, Z:1.13 [[ 8.41718417e-01 -5.39913359e-01 -1.91611306e-03 1.64870601e+02] [ 5.39912053e-01 8.41720597e-01 -1.18772989e-03 1.69577700e+02] [ 2.25410306e-03 -3.47984148e-05 9.99997459e-01 1.12582072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.90, Y:169.59, Z:1.13 [[ 8.41117067e-01 -5.40849711e-01 -1.91573756e-03 1.64895914e+02] [ 5.40848407e-01 8.41119247e-01 -1.18833524e-03 1.69593822e+02] [ 2.25407451e-03 -3.65945510e-05 9.99997459e-01 1.12653322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.92, Y:169.61, Z:1.13 [[ 8.41863251e-01 -5.39687470e-01 -1.92357725e-03 1.64917408e+02] [ 5.39686192e-01 8.41865448e-01 -1.17569424e-03 1.69606281e+02] [ 2.25390067e-03 -4.83543014e-05 9.99997459e-01 1.12634252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.94, Y:169.62, Z:1.13 [[ 8.41764402e-01 -5.39841665e-01 -1.91523536e-03 1.64941507e+02] [ 5.39840356e-01 8.41766581e-01 -1.18912984e-03 1.69621029e+02] [ 2.25412295e-03 -3.29541711e-05 9.99997459e-01 1.12590046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.96, Y:169.64, Z:1.13 [[ 8.41596295e-01 -5.40103703e-01 -1.91486976e-03 1.64964416e+02] [ 5.40102394e-01 8.41598473e-01 -1.18971829e-03 1.69635149e+02] [ 2.25412272e-03 -3.29632356e-05 9.99997459e-01 1.12575946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:164.99, Y:169.65, Z:1.13 [[ 8.41294745e-01 -5.40573294e-01 -1.91471167e-03 1.64988472e+02] [ 5.40571985e-01 8.41296923e-01 -1.18997266e-03 1.69649597e+02] [ 2.25410848e-03 -3.39217363e-05 9.99997459e-01 1.12576343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.01, Y:169.67, Z:1.13 [[ 8.40484377e-01 -5.41832398e-01 -1.91433858e-03 1.65013819e+02] [ 5.41831092e-01 8.40486556e-01 -1.19057255e-03 1.69665647e+02] [ 2.25406662e-03 -3.65905314e-05 9.99997459e-01 1.12578982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.04, Y:169.68, Z:1.13 [[ 8.39967351e-01 -5.42633549e-01 -1.91862263e-03 1.65037536e+02] [ 5.42632260e-01 8.39969541e-01 -1.18368475e-03 1.69678720e+02] [ 2.25389162e-03 -4.68499887e-05 9.99997459e-01 1.12598357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.06, Y:169.69, Z:1.13 [[ 8.39413145e-01 -5.43490487e-01 -1.91372212e-03 1.65062126e+02] [ 5.43489182e-01 8.39415326e-01 -1.19155530e-03 1.69693186e+02] [ 2.25400665e-03 -3.98800867e-05 9.99997459e-01 1.12563374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.09, Y:169.71, Z:1.13 [[ 8.38635517e-01 -5.44689645e-01 -1.91335503e-03 1.65086374e+02] [ 5.44688342e-01 8.38637699e-01 -1.19214447e-03 1.69707621e+02] [ 2.25396041e-03 -4.24074881e-05 9.99997459e-01 1.12587263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.11, Y:169.72, Z:1.13 [[ 8.37967149e-01 -5.45717324e-01 -1.91298786e-03 1.65110914e+02] [ 5.45716023e-01 8.37969331e-01 -1.19273336e-03 1.69722188e+02] [ 2.25392042e-03 -4.44767546e-05 9.99997459e-01 1.12586407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.13, Y:169.74, Z:1.13 [[ 8.36891428e-01 -5.47365582e-01 -1.91262183e-03 1.65132864e+02] [ 5.47364283e-01 8.36893612e-01 -1.19332003e-03 1.69738408e+02] [ 2.25384330e-03 -4.82215751e-05 9.99997459e-01 1.12652269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.15, Y:169.75, Z:1.12 [[ 8.35708554e-01 -5.49169899e-01 -1.90666516e-03 1.65151693e+02] [ 5.49168583e-01 8.35710728e-01 -1.20285963e-03 1.69753442e+02] [ 2.25399484e-03 -4.18405205e-05 9.99997459e-01 1.12338115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.18, Y:169.77, Z:1.13 [[ 8.37220357e-01 -5.46862418e-01 -1.88946358e-03 1.65183521e+02] [ 5.46861034e-01 8.37222489e-01 -1.23029814e-03 1.69768874e+02] [ 2.25470522e-03 -3.24335943e-06 9.99997458e-01 1.12620111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.21, Y:169.78, Z:1.13 [[ 8.37163544e-01 -5.46949312e-01 -1.91048858e-03 1.65206085e+02] [ 5.46948005e-01 8.37165723e-01 -1.19673343e-03 1.69783593e+02] [ 2.25394808e-03 -4.30763169e-05 9.99997459e-01 1.12617694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.23, Y:169.80, Z:1.13 [[ 8.36913812e-01 -5.47331364e-01 -1.91023516e-03 1.65229397e+02] [ 5.47330057e-01 8.36915991e-01 -1.19713781e-03 1.69798697e+02] [ 2.25393742e-03 -4.36279511e-05 9.99997459e-01 1.12508499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.25, Y:169.81, Z:1.12 [[ 8.36656749e-01 -5.47724234e-01 -1.90986709e-03 1.65253338e+02] [ 5.47722927e-01 8.36658928e-01 -1.19772472e-03 1.69813894e+02] [ 2.25393021e-03 -4.39935227e-05 9.99997459e-01 1.12412026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.28, Y:169.83, Z:1.12 [[ 8.36352289e-01 -5.48189021e-01 -1.90948770e-03 1.65276302e+02] [ 5.48187713e-01 8.36354468e-01 -1.19832925e-03 1.69828822e+02] [ 2.25391951e-03 -4.45322811e-05 9.99997459e-01 1.12389706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.30, Y:169.85, Z:1.12 [[ 8.35380493e-01 -5.49668798e-01 -1.90932364e-03 1.65300798e+02] [ 5.49667493e-01 8.35382673e-01 -1.19859061e-03 1.69846101e+02] [ 2.25384374e-03 -4.82139216e-05 9.99997459e-01 1.12478212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:165.32, Y:169.86, Z:1.12 [[ 8.35578733e-01 -5.49367378e-01 -1.91444025e-03 1.65323446e+02] [ 5.49366091e-01 8.35580924e-01 -1.19044221e-03 1.69860788e+02] [ 2.25365987e-03 -5.70203565e-05 9.99997459e-01 1.12391636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.35, Y:169.88, Z:1.12 [[ 8.35745711e-01 -5.49113343e-01 -1.90867165e-03 1.65348347e+02] [ 5.49112035e-01 8.35747889e-01 -1.19962041e-03 1.69876755e+02] [ 2.25389588e-03 -4.54969610e-05 9.99997459e-01 1.12315012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.37, Y:169.89, Z:1.12 [[ 8.35394857e-01 -5.49646953e-01 -1.91337793e-03 1.65368814e+02] [ 5.49645663e-01 8.35397046e-01 -1.19213287e-03 1.69892330e+02] [ 2.25368247e-03 -5.57782087e-05 9.99997459e-01 1.12389237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.39, Y:169.91, Z:1.12 [[ 8.35374016e-01 -5.49678644e-01 -1.90812958e-03 1.65392645e+02] [ 5.49677335e-01 8.35376194e-01 -1.20047501e-03 1.69908056e+02] [ 2.25388150e-03 -4.60099484e-05 9.99997459e-01 1.12351449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.42, Y:169.92, Z:1.12 [[ 8.35861881e-01 -5.48936496e-01 -1.90775735e-03 1.65416108e+02] [ 5.48935184e-01 8.35864057e-01 -1.20106625e-03 1.69923889e+02] [ 2.25393490e-03 -4.33096397e-05 9.99997459e-01 1.12287139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.44, Y:169.94, Z:1.12 [[ 8.35385764e-01 -5.49660793e-01 -1.90738227e-03 1.65438172e+02] [ 5.49659481e-01 8.35387940e-01 -1.20166161e-03 1.69940237e+02] [ 2.25391042e-03 -4.45597438e-05 9.99997459e-01 1.12273414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.46, Y:169.96, Z:1.12 [[ 8.35255943e-01 -5.49858059e-01 -1.90353315e-03 1.65462088e+02] [ 5.49856734e-01 8.35258112e-01 -1.20776835e-03 1.69956459e+02] [ 2.25404266e-03 -3.78748290e-05 9.99997459e-01 1.12012047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.49, Y:169.97, Z:1.12 [[ 8.36463878e-01 -5.48018758e-01 -1.90323381e-03 1.65487518e+02] [ 5.48017427e-01 8.36466042e-01 -1.20824299e-03 1.69970255e+02] [ 2.25413028e-03 -3.23536749e-05 9.99997459e-01 1.12340537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.51, Y:169.99, Z:1.12 [[ 8.36634166e-01 -5.47758740e-01 -1.90667751e-03 1.65510508e+02] [ 5.47757421e-01 8.36636338e-01 -1.20278398e-03 1.69985620e+02] [ 2.25403112e-03 -3.81065850e-05 9.99997459e-01 1.12351702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.53, Y:170.00, Z:1.12 [[ 8.35264724e-01 -5.49844712e-01 -1.90630552e-03 1.65531051e+02] [ 5.49843397e-01 8.35266898e-01 -1.20337325e-03 1.70002867e+02] [ 2.25394232e-03 -4.30342771e-05 9.99997459e-01 1.12231553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.55, Y:170.02, Z:1.12 [[ 8.35520536e-01 -5.49455942e-01 -1.89813738e-03 1.65554325e+02] [ 5.49454596e-01 8.35522691e-01 -1.21631216e-03 1.70018054e+02] [ 2.25424680e-03 -2.66865164e-05 9.99997459e-01 1.12218252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.58, Y:170.03, Z:1.12 [[ 8.37254804e-01 -5.46809657e-01 -1.89545098e-03 1.65582653e+02] [ 5.46808294e-01 8.37256949e-01 -1.22056429e-03 1.70031772e+02] [ 2.25439585e-03 -1.45249983e-05 9.99997459e-01 1.12476306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.60, Y:170.05, Z:1.12 [[ 8.36307552e-01 -5.48257280e-01 -1.90609779e-03 1.65602982e+02] [ 5.48255960e-01 8.36309723e-01 -1.20370479e-03 1.70047750e+02] [ 2.25402803e-03 -3.83620662e-05 9.99997459e-01 1.12206019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.63, Y:170.06, Z:1.12 [[ 8.36198543e-01 -5.48423559e-01 -1.89678169e-03 1.65626707e+02] [ 5.48422205e-01 8.36200694e-01 -1.21847442e-03 1.70063743e+02] [ 2.25433024e-03 -2.13506620e-05 9.99997459e-01 1.12209720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.65, Y:170.08, Z:1.12 [[ 8.36661603e-01 -5.47716871e-01 -1.89512266e-03 1.65651703e+02] [ 5.47715510e-01 8.36663749e-01 -1.22110366e-03 1.70078453e+02] [ 2.25439950e-03 -1.63375297e-05 9.99997459e-01 1.12411910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.68, Y:170.09, Z:1.12 [[ 8.37898308e-01 -5.45823071e-01 -1.89736122e-03 1.65679162e+02] [ 5.45821713e-01 8.37900457e-01 -1.21755749e-03 1.70092219e+02] [ 2.25437080e-03 -1.54315931e-05 9.99997459e-01 1.12385741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.70, Y:170.11, Z:1.12 [[ 8.37654774e-01 -5.46196710e-01 -1.90628144e-03 1.65702654e+02] [ 5.46195385e-01 8.37656942e-01 -1.20342748e-03 1.70107223e+02] [ 2.25411801e-03 -3.31453445e-05 9.99997459e-01 1.12404706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.73, Y:170.12, Z:1.12 [[ 8.37350639e-01 -5.46662853e-01 -1.90563934e-03 1.65726283e+02] [ 5.46661528e-01 8.37352807e-01 -1.20444391e-03 1.70121592e+02] [ 2.25411720e-03 -3.31978360e-05 9.99997459e-01 1.12357972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.75, Y:170.14, Z:1.12 [[ 8.35933152e-01 -5.48827964e-01 -1.90576477e-03 1.65747365e+02] [ 5.48826644e-01 8.35935323e-01 -1.20424541e-03 1.70137729e+02] [ 2.25401965e-03 -3.92658235e-05 9.99997459e-01 1.12359870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.77, Y:170.15, Z:1.12 [[ 8.35855511e-01 -5.48946231e-01 -1.89751787e-03 1.65772327e+02] [ 5.48944882e-01 8.35857664e-01 -1.21728541e-03 1.70152694e+02] [ 2.25427909e-03 -2.41580027e-05 9.99997459e-01 1.12476194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.80, Y:170.17, Z:1.13 [[ 8.35791072e-01 -5.49044326e-01 -1.90075136e-03 1.65796433e+02] [ 5.49042988e-01 8.35793233e-01 -1.21217442e-03 1.70168202e+02] [ 2.25417261e-03 -3.04696473e-05 9.99997459e-01 1.12512258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.82, Y:170.18, Z:1.12 [[ 8.36268788e-01 -5.48316423e-01 -1.90096147e-03 1.65821492e+02] [ 5.48315085e-01 8.36270948e-01 -1.21184238e-03 1.70182984e+02] [ 2.25419193e-03 -2.88998854e-05 9.99997459e-01 1.12379963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.85, Y:170.20, Z:1.12 [[ 8.36474789e-01 -5.48002096e-01 -1.90505777e-03 1.65846097e+02] [ 5.48000772e-01 8.36476958e-01 -1.20536833e-03 1.70198458e+02] [ 2.25408130e-03 -3.57129066e-05 9.99997459e-01 1.12437490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.87, Y:170.22, Z:1.12 [[ 8.35124751e-01 -5.50057290e-01 -1.90473364e-03 1.65866772e+02] [ 5.50055970e-01 8.35126922e-01 -1.20588030e-03 1.70216537e+02] [ 2.25399760e-03 -4.06496225e-05 9.99997459e-01 1.12252171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.89, Y:170.23, Z:1.12 [[ 8.36081170e-01 -5.48602473e-01 -1.89828887e-03 1.65889821e+02] [ 5.48601126e-01 8.36083325e-01 -1.21606045e-03 1.70231518e+02] [ 2.25426144e-03 -2.46781712e-05 9.99997459e-01 1.12449693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.91, Y:170.25, Z:1.12 [[ 8.35867639e-01 -5.48927771e-01 -1.89542109e-03 1.65912048e+02] [ 5.48926414e-01 8.35869788e-01 -1.22058873e-03 1.70247907e+02] [ 2.25434027e-03 -2.01960839e-05 9.99997459e-01 1.12297452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.94, Y:170.26, Z:1.12 [[ 8.37351589e-01 -5.46661449e-01 -1.89128784e-03 1.65936603e+02] [ 5.46660072e-01 8.37353725e-01 -1.22711265e-03 1.70262576e+02] [ 2.25449210e-03 -6.36682008e-06 9.99997459e-01 1.12314634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.96, Y:170.28, Z:1.12 [[ 8.38065492e-01 -5.45566353e-01 -1.89391874e-03 1.65961140e+02] [ 5.45564982e-01 8.38067632e-01 -1.22295273e-03 1.70279123e+02] [ 2.25443385e-03 -8.34126249e-06 9.99997459e-01 1.11988931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:165.98, Y:170.30, Z:1.12 [[ 8.37482661e-01 -5.46460599e-01 -1.89926867e-03 1.65983031e+02] [ 5.46459249e-01 8.37484814e-01 -1.21449317e-03 1.70295305e+02] [ 2.25428134e-03 -2.07559600e-05 9.99997459e-01 1.11821251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.01, Y:170.31, Z:1.12 [[ 8.37297360e-01 -5.46744490e-01 -1.89587283e-03 1.66005472e+02] [ 5.46743129e-01 8.37299506e-01 -1.21985242e-03 1.70311988e+02] [ 2.25436097e-03 -1.51762310e-05 9.99997459e-01 1.11600387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.03, Y:170.33, Z:1.12 [[ 8.38206765e-01 -5.45349279e-01 -1.89260709e-03 1.66032695e+02] [ 5.45347904e-01 8.38208902e-01 -1.22499696e-03 1.70326830e+02] [ 2.25445132e-03 -5.32856243e-06 9.99997459e-01 1.11955398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.05, Y:170.34, Z:1.12 [[ 8.36551328e-01 -5.47885263e-01 -1.90079288e-03 1.66052625e+02] [ 5.47883923e-01 8.36553488e-01 -1.21209317e-03 1.70343705e+02] [ 2.25420290e-03 -2.74357047e-05 9.99997459e-01 1.11682291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.08, Y:170.36, Z:1.12 [[ 8.36928231e-01 -5.47309383e-01 -1.89075482e-03 1.66076207e+02] [ 5.47308006e-01 8.36930367e-01 -1.22793433e-03 1.70358091e+02] [ 2.25449011e-03 -7.13234755e-06 9.99997459e-01 1.11706566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.10, Y:170.37, Z:1.12 [[ 8.36963453e-01 -5.47255526e-01 -1.88906937e-03 1.66099426e+02] [ 5.47254142e-01 8.36965584e-01 -1.23058981e-03 1.70372783e+02] [ 2.25453313e-03 -3.84234231e-06 9.99997459e-01 1.11712680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.13, Y:170.39, Z:1.12 [[ 8.36712722e-01 -5.47638797e-01 -1.88939365e-03 1.66126895e+02] [ 5.47637415e-01 8.36714855e-01 -1.23007976e-03 1.70389314e+02] [ 2.25452314e-03 -5.47927479e-06 9.99997459e-01 1.11944930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.15, Y:170.40, Z:1.12 [[ 8.36396618e-01 -5.48121410e-01 -1.90215343e-03 1.66150173e+02] [ 5.48120075e-01 8.36398780e-01 -1.20999887e-03 1.70404844e+02] [ 2.25418509e-03 -3.05695226e-05 9.99997459e-01 1.12045933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.17, Y:170.42, Z:1.12 [[ 8.34900930e-01 -5.50396965e-01 -1.90208165e-03 1.66172155e+02] [ 5.50395636e-01 8.34903096e-01 -1.21011180e-03 1.70421893e+02] [ 2.25409572e-03 -3.65739753e-05 9.99997459e-01 1.11832260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.272755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.20, Y:170.44, Z:1.12 [[ 8.34957695e-01 -5.50310855e-01 -1.90023880e-03 1.66196183e+02] [ 5.50309519e-01 8.34959856e-01 -1.21300988e-03 1.70435812e+02] [ 2.25415562e-03 -3.29075678e-05 9.99997459e-01 1.12090193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.22, Y:170.45, Z:1.12 [[ 8.34174547e-01 -5.51497241e-01 -1.90216157e-03 1.66220035e+02] [ 5.51495915e-01 8.34176715e-01 -1.20998776e-03 1.70451721e+02] [ 2.25404380e-03 -3.96933480e-05 9.99997459e-01 1.12054406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.24, Y:170.47, Z:1.12 [[ 8.32858440e-01 -5.53482787e-01 -1.90349372e-03 1.66242625e+02] [ 5.53481471e-01 8.32860614e-01 -1.20789531e-03 1.70467645e+02] [ 2.25389421e-03 -4.75427018e-05 9.99997459e-01 1.11877292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.27, Y:170.48, Z:1.12 [[ 8.32869468e-01 -5.53466202e-01 -1.90063625e-03 1.66268124e+02] [ 5.53464876e-01 8.32871635e-01 -1.21238028e-03 1.70482581e+02] [ 2.25399753e-03 -4.21808935e-05 9.99997459e-01 1.12116314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.29, Y:170.50, Z:1.12 [[ 8.31837930e-01 -5.55015348e-01 -1.90314908e-03 1.66289963e+02] [ 5.55014035e-01 8.31840106e-01 -1.20843818e-03 1.70498574e+02] [ 2.25381747e-03 -5.10497307e-05 9.99997459e-01 1.11799482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.32, Y:170.51, Z:1.12 [[ 8.31727903e-01 -5.55180244e-01 -1.89496938e-03 1.66317587e+02] [ 5.55178902e-01 8.31730061e-01 -1.22125819e-03 1.70514482e+02] [ 2.25412142e-03 -3.62925030e-05 9.99997459e-01 1.11669652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.34, Y:170.53, Z:1.12 [[ 8.31421801e-01 -5.55638503e-01 -1.90885660e-03 1.66337576e+02] [ 5.55637211e-01 8.31423990e-01 -1.19947712e-03 1.70529533e+02] [ 2.25354484e-03 -6.33603319e-05 9.99997459e-01 1.11510417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.36, Y:170.54, Z:1.11 [[ 8.30836760e-01 -5.56512977e-01 -1.89311043e-03 1.66360150e+02] [ 5.56511632e-01 8.30838916e-01 -1.22414344e-03 1.70544960e+02] [ 2.25412153e-03 -3.64746101e-05 9.99997459e-01 1.11462816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.38, Y:170.56, Z:1.11 [[ 8.30402197e-01 -5.57161212e-01 -1.89082607e-03 1.66383983e+02] [ 5.57159861e-01 8.30404349e-01 -1.22772022e-03 1.70560139e+02] [ 2.25418828e-03 -3.39908211e-05 9.99997459e-01 1.11485362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.41, Y:170.58, Z:1.11 [[ 8.29632543e-01 -5.58306600e-01 -1.89313496e-03 1.66408985e+02] [ 5.58305259e-01 8.29634702e-01 -1.22410654e-03 1.70576799e+02] [ 2.25403722e-03 -4.13885870e-05 9.99997459e-01 1.11462728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.44, Y:170.59, Z:1.12 [[ 8.30524496e-01 -5.56978854e-01 -1.90228432e-03 1.66435307e+02] [ 5.56977543e-01 8.30526672e-01 -1.20978483e-03 1.70594570e+02] [ 2.25372243e-03 -5.47737100e-05 9.99997459e-01 1.11694196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.45, Y:170.61, Z:1.12 [[ 8.30572408e-01 -5.56907368e-01 -1.91275864e-03 1.66453628e+02] [ 5.56906095e-01 8.30574607e-01 -1.19341492e-03 1.70610866e+02] [ 2.25331032e-03 -7.40094381e-05 9.99997459e-01 1.11679174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.48, Y:170.62, Z:1.12 [[ 8.32599332e-01 -5.53872512e-01 -1.89565594e-03 1.66476757e+02] [ 5.53871169e-01 8.32601489e-01 -1.22009667e-03 1.70624961e+02] [ 2.25410396e-03 -3.40975042e-05 9.99997459e-01 1.11919944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.50, Y:170.64, Z:1.12 [[ 8.32219440e-01 -5.54443177e-01 -1.88873663e-03 1.66501129e+02] [ 5.54441811e-01 8.32221583e-01 -1.23088371e-03 1.70642649e+02] [ 2.25430246e-03 -2.28292084e-05 9.99997459e-01 1.11855117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.69275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.52, Y:170.66, Z:1.12 [[ 8.32834975e-01 -5.53518115e-01 -1.89750404e-03 1.66519761e+02] [ 5.53516777e-01 8.32837136e-01 -1.21721630e-03 1.70655779e+02] [ 2.25406310e-03 -3.65600145e-05 9.99997459e-01 1.11536854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.54, Y:170.67, Z:1.11 [[ 8.32782043e-01 -5.53597813e-01 -1.87881419e-03 1.66543688e+02] [ 5.53596410e-01 8.32784163e-01 -1.24631031e-03 1.70671891e+02] [ 2.25460136e-03 -2.19994031e-06 9.99997458e-01 1.11472224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.57, Y:170.69, Z:1.12 [[ 8.32849273e-01 -5.53496647e-01 -1.88408175e-03 1.66567528e+02] [ 5.53495262e-01 8.32851404e-01 -1.23810825e-03 1.70687499e+02] [ 2.25444890e-03 -1.16727689e-05 9.99997459e-01 1.11627851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.59, Y:170.71, Z:1.12 [[ 8.32858611e-01 -5.53482587e-01 -1.88679127e-03 1.66591656e+02] [ 5.53481212e-01 8.32860748e-01 -1.23389376e-03 1.70705883e+02] [ 2.25437310e-03 -1.66444815e-05 9.99997459e-01 1.11885554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.61, Y:170.72, Z:1.11 [[ 8.33020794e-01 -5.53238441e-01 -1.89304111e-03 1.66612801e+02] [ 5.53237087e-01 8.33022945e-01 -1.22417139e-03 1.70722273e+02] [ 2.25420535e-03 -2.75403220e-05 9.99997459e-01 1.11485114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.64, Y:170.74, Z:1.12 [[ 8.32700731e-01 -5.53720078e-01 -1.88876871e-03 1.66637419e+02] [ 5.53718710e-01 8.32702873e-01 -1.23083439e-03 1.70739214e+02] [ 2.25432084e-03 -2.09298778e-05 9.99997459e-01 1.11544577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.66, Y:170.75, Z:1.12 [[ 8.33282634e-01 -5.52843978e-01 -1.89422674e-03 1.66662060e+02] [ 5.52842628e-01 8.33284786e-01 -1.22232721e-03 1.70753614e+02] [ 2.25418656e-03 -2.86652524e-05 9.99997459e-01 1.11978486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.69, Y:170.77, Z:1.12 [[ 8.33040872e-01 -5.53208193e-01 -1.89761056e-03 1.66685351e+02] [ 5.53206855e-01 8.33043033e-01 -1.21705358e-03 1.70768530e+02] [ 2.25407527e-03 -3.59157973e-05 9.99997459e-01 1.11989786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.71, Y:170.78, Z:1.12 [[ 8.32612587e-01 -5.53852581e-01 -1.89695709e-03 1.66709332e+02] [ 5.53851243e-01 8.32614747e-01 -1.21807126e-03 1.70784021e+02] [ 2.25406636e-03 -3.64505798e-05 9.99997459e-01 1.12060372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.73, Y:170.80, Z:1.12 [[ 8.33258216e-01 -5.52880772e-01 -1.89656977e-03 1.66733633e+02] [ 5.52879430e-01 8.33260374e-01 -1.21867403e-03 1.70797258e+02] [ 2.25411787e-03 -3.31042661e-05 9.99997459e-01 1.12191593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.76, Y:170.81, Z:1.12 [[ 8.32449976e-01 -5.54096961e-01 -1.89616720e-03 1.66757166e+02] [ 5.54095621e-01 8.32452135e-01 -1.21930007e-03 1.70814275e+02] [ 2.25407890e-03 -3.56516244e-05 9.99997459e-01 1.12108445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.78, Y:170.83, Z:1.12 [[ 8.30673353e-01 -5.56756847e-01 -1.89581649e-03 1.66777866e+02] [ 5.56755512e-01 8.30675515e-01 -1.21984513e-03 1.70831936e+02] [ 2.25396547e-03 -4.22134391e-05 9.99997459e-01 1.12234838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.80, Y:170.85, Z:1.12 [[ 8.30328438e-01 -5.57271115e-01 -1.89461677e-03 1.66803536e+02] [ 5.57269778e-01 8.30330598e-01 -1.22170867e-03 1.70848358e+02] [ 2.25398122e-03 -4.13932169e-05 9.99997459e-01 1.12273326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.83, Y:170.86, Z:1.12 [[ 8.29501977e-01 -5.58500542e-01 -1.90146974e-03 1.66825797e+02] [ 5.58499232e-01 8.29504154e-01 -1.21108162e-03 1.70863530e+02] [ 2.25366679e-03 -5.73747950e-05 9.99997459e-01 1.12373514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.85, Y:170.88, Z:1.12 [[ 8.28121505e-01 -5.60545436e-01 -1.89395010e-03 1.66848466e+02] [ 5.60544105e-01 8.28123669e-01 -1.22272920e-03 1.70879098e+02] [ 2.25382018e-03 -4.90742124e-05 9.99997459e-01 1.12473243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.88, Y:170.89, Z:1.13 [[ 8.29051515e-01 -5.59169018e-01 -1.89619971e-03 1.66876318e+02] [ 5.59167690e-01 8.29053682e-01 -1.21924515e-03 1.70893866e+02] [ 2.25381546e-03 -4.94765754e-05 9.99997459e-01 1.12644464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:166.90, Y:170.91, Z:1.13 [[ 8.27081546e-01 -5.62078706e-01 -1.90894046e-03 1.66895777e+02] [ 5.62077432e-01 8.27083745e-01 -1.19944670e-03 1.70909952e+02] [ 2.25303707e-03 -8.09321176e-05 9.99997459e-01 1.12550989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.92, Y:170.93, Z:1.13 [[ 8.27340961e-01 -5.61696830e-01 -1.89882064e-03 1.66918688e+02] [ 5.61695519e-01 8.27343138e-01 -1.21516019e-03 1.70925038e+02] [ 2.25352785e-03 -6.12072497e-05 9.99997459e-01 1.12686384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.94, Y:170.94, Z:1.13 [[ 8.27563828e-01 -5.61368435e-01 -1.89490835e-03 1.66943803e+02] [ 5.61367110e-01 8.27565996e-01 -1.22123064e-03 1.70941115e+02] [ 2.25372205e-03 -5.30929172e-05 9.99997459e-01 1.12737709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.97, Y:170.96, Z:1.13 [[ 8.26995851e-01 -5.62204819e-01 -1.89832399e-03 1.66965358e+02] [ 5.62203507e-01 8.26998028e-01 -1.21593246e-03 1.70956730e+02] [ 2.25351328e-03 -6.16733046e-05 9.99997459e-01 1.12677794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.99, Y:170.97, Z:1.13 [[ 8.26359066e-01 -5.63140396e-01 -1.89440230e-03 1.66989347e+02] [ 5.63139073e-01 8.26361235e-01 -1.22201199e-03 1.70974326e+02] [ 2.25362494e-03 -5.69912657e-05 9.99997459e-01 1.12582499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.32275509600004 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:167.01, Y:170.99, Z:1.13 [[ 8.26889946e-01 -5.62360567e-01 -1.90018119e-03 1.67012599e+02] [ 5.62359262e-01 8.26892126e-01 -1.21305916e-03 1.70989460e+02] [ 2.25342150e-03 -6.55180677e-05 9.99997459e-01 1.12591244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.03, Y:171.00, Z:1.13 [[ 8.27522173e-01 -5.61429834e-01 -1.89603102e-03 1.67034472e+02] [ 5.61428512e-01 8.27524343e-01 -1.21948397e-03 1.71004309e+02] [ 2.25366650e-03 -5.53358473e-05 9.99997459e-01 1.12577727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.06, Y:171.02, Z:1.13 [[ 8.27984551e-01 -5.60747714e-01 -1.89335306e-03 1.67057470e+02] [ 5.60746381e-01 8.27986714e-01 -1.22362764e-03 1.71019707e+02] [ 2.25381758e-03 -4.85460920e-05 9.99997459e-01 1.12593093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:171.03, Z:1.13 [[ 8.29324381e-01 -5.58764251e-01 -1.89297463e-03 1.67079601e+02] [ 5.58762911e-01 8.29326540e-01 -1.22421280e-03 1.71034748e+02] [ 2.25394045e-03 -4.24544959e-05 9.99997459e-01 1.12588335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.10, Y:171.05, Z:1.13 [[ 8.30530935e-01 -5.56969283e-01 -1.89281014e-03 1.67104586e+02] [ 5.56967939e-01 8.30533092e-01 -1.22446707e-03 1.71050498e+02] [ 2.25403201e-03 -3.72767803e-05 9.99997459e-01 1.12568539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.13, Y:171.07, Z:1.13 [[ 8.30686358e-01 -5.56737441e-01 -1.89628787e-03 1.67126305e+02] [ 5.56736108e-01 8.30688522e-01 -1.21909273e-03 1.71066057e+02] [ 2.25393913e-03 -4.30482264e-05 9.99997459e-01 1.12642596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.15, Y:171.08, Z:1.13 [[ 8.31303586e-01 -5.55815408e-01 -1.89236532e-03 1.67148418e+02] [ 5.55814059e-01 8.31305739e-01 -1.22515149e-03 1.71080969e+02] [ 2.25409222e-03 -3.33304198e-05 9.99997459e-01 1.12613708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5327550960001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:167.17, Y:171.10, Z:1.13 [[ 8.32053660e-01 -5.54691921e-01 -1.89209948e-03 1.67168620e+02] [ 5.54690568e-01 8.32055811e-01 -1.22556190e-03 1.71097298e+02] [ 2.25414165e-03 -2.97964699e-05 9.99997459e-01 1.12608667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.19, Y:171.11, Z:1.13 [[ 8.32521837e-01 -5.53989034e-01 -1.88170692e-03 1.67192521e+02] [ 5.53987643e-01 8.32523964e-01 -1.24159484e-03 1.71112773e+02] [ 2.25439603e-03 -8.78756547e-06 9.99997459e-01 1.12679914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.22, Y:171.13, Z:1.13 [[ 8.32830579e-01 -5.53524782e-01 -1.88210680e-03 1.67218328e+02] [ 5.53523391e-01 8.32832705e-01 -1.24097806e-03 1.71127573e+02] [ 2.25439221e-03 -8.26566431e-06 9.99997459e-01 1.12878926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.62275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:167.25, Y:171.14, Z:1.13 [[ 8.33884920e-01 -5.51935107e-01 -1.89169797e-03 1.67246100e+02] [ 5.51933745e-01 8.33887065e-01 -1.22618122e-03 1.71142505e+02] [ 2.25423493e-03 -2.15979198e-05 9.99997459e-01 1.12997701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.27, Y:171.16, Z:1.13 [[ 8.32322052e-01 -5.54289076e-01 -1.90305169e-03 1.67265248e+02] [ 5.54287761e-01 8.32324226e-01 -1.20866568e-03 1.71157760e+02] [ 2.25390620e-03 -4.88391622e-05 9.99997459e-01 1.13010320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.29, Y:171.17, Z:1.13 [[ 8.31741614e-01 -5.55159717e-01 -1.89104859e-03 1.67287206e+02] [ 5.55158362e-01 8.31743763e-01 -1.22716236e-03 1.71172952e+02] [ 2.25413898e-03 -2.91494385e-05 9.99997459e-01 1.13047592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.31, Y:171.19, Z:1.13 [[ 8.31031026e-01 -5.56222869e-01 -1.88493234e-03 1.67312749e+02] [ 5.56221495e-01 8.31033164e-01 -1.23658141e-03 1.71188874e+02] [ 2.25425615e-03 -2.08023696e-05 9.99997459e-01 1.13031628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.74275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:167.34, Y:171.20, Z:1.13 [[ 8.30545182e-01 -5.56948047e-01 -1.89060595e-03 1.67336351e+02] [ 5.56946694e-01 8.30547333e-01 -1.22784534e-03 1.71204508e+02] [ 2.25408379e-03 -3.31857051e-05 9.99997459e-01 1.12948556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.772755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:167.36, Y:171.22, Z:1.13 [[ 8.28682413e-01 -5.59715886e-01 -1.89351248e-03 1.67359784e+02] [ 5.59714551e-01 8.28684575e-01 -1.22336922e-03 1.71220775e+02] [ 2.25386377e-03 -4.60419318e-05 9.99997459e-01 1.13011558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.38, Y:171.24, Z:1.13 [[ 8.28573774e-01 -5.59876674e-01 -1.90013989e-03 1.67383486e+02] [ 5.59875363e-01 8.28575951e-01 -1.21316238e-03 1.71236155e+02] [ 2.25363154e-03 -5.86469783e-05 9.99997459e-01 1.13117350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:167.41, Y:171.25, Z:1.13 [[ 8.28714000e-01 -5.59669108e-01 -1.89643965e-03 1.67406135e+02] [ 5.59667783e-01 8.28716168e-01 -1.21885297e-03 1.71250177e+02] [ 2.25376456e-03 -5.12956570e-05 9.99997459e-01 1.13022080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.43, Y:171.27, Z:1.13 [[ 8.28397659e-01 -5.60137259e-01 -1.88950134e-03 1.67429777e+02] [ 5.60135911e-01 8.28399812e-01 -1.22951567e-03 1.71265727e+02] [ 2.25396009e-03 -3.98496536e-05 9.99997459e-01 1.12969783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.45, Y:171.28, Z:1.13 [[ 8.28440003e-01 -5.60074632e-01 -1.88911097e-03 1.67452622e+02] [ 5.60073282e-01 8.28442156e-01 -1.23011516e-03 1.71280422e+02] [ 2.25397546e-03 -3.89639800e-05 9.99997459e-01 1.12865060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.48, Y:171.30, Z:1.13 [[ 8.28129133e-01 -5.60534193e-01 -1.88631883e-03 1.67476669e+02] [ 5.60532835e-01 8.28131281e-01 -1.23440004e-03 1.71295756e+02] [ 2.25404306e-03 -3.51010034e-05 9.99997459e-01 1.12725107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.50, Y:171.31, Z:1.13 [[ 8.28005014e-01 -5.60717514e-01 -1.88838762e-03 1.67499939e+02] [ 5.60716164e-01 8.28007167e-01 -1.23122705e-03 1.71310779e+02] [ 2.25396905e-03 -3.93872902e-05 9.99997459e-01 1.12689688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.52, Y:171.33, Z:1.13 [[ 8.27986919e-01 -5.60744235e-01 -1.88799822e-03 1.67523129e+02] [ 5.60742884e-01 8.27989071e-01 -1.23182388e-03 1.71325169e+02] [ 2.25398003e-03 -3.87475048e-05 9.99997459e-01 1.12630950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.55, Y:171.34, Z:1.13 [[ 8.27768631e-01 -5.61066421e-01 -1.88782949e-03 1.67546828e+02] [ 5.61065070e-01 8.27770783e-01 -1.23208241e-03 1.71340317e+02] [ 2.25397016e-03 -3.93160095e-05 9.99997459e-01 1.12611587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.57, Y:171.36, Z:1.13 [[ 8.27596679e-01 -5.61320029e-01 -1.88745194e-03 1.67570642e+02] [ 5.61318676e-01 8.27598830e-01 -1.23266051e-03 1.71356074e+02] [ 2.25397005e-03 -3.93162774e-05 9.99997459e-01 1.12618009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.59, Y:171.37, Z:1.13 [[ 8.27282355e-01 -5.61783182e-01 -1.88707407e-03 1.67594148e+02] [ 5.61781830e-01 8.27284506e-01 -1.23323872e-03 1.71371056e+02] [ 2.25395991e-03 -3.98872884e-05 9.99997459e-01 1.12639376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.62, Y:171.38, Z:1.13 [[ 8.26713959e-01 -5.62619294e-01 -1.88669757e-03 1.67617321e+02] [ 5.62617943e-01 8.26716111e-01 -1.23381444e-03 1.71384953e+02] [ 2.25393109e-03 -4.14782823e-05 9.99997459e-01 1.12708564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.64, Y:171.40, Z:1.13 [[ 8.26365247e-01 -5.63131351e-01 -1.88653433e-03 1.67641637e+02] [ 5.63130001e-01 8.26367400e-01 -1.23406399e-03 1.71399888e+02] [ 2.25391059e-03 -4.25764846e-05 9.99997459e-01 1.12709890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.67, Y:171.42, Z:1.13 [[ 8.25456716e-01 -5.64462269e-01 -1.88616193e-03 1.67666205e+02] [ 5.64460920e-01 8.25458870e-01 -1.23463292e-03 1.71415741e+02] [ 2.25385279e-03 -4.55286634e-05 9.99997459e-01 1.12700353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.69, Y:171.43, Z:1.13 [[ 8.25472539e-01 -5.64439111e-01 -1.89174056e-03 1.67689409e+02] [ 5.64437782e-01 8.25474704e-01 -1.22610939e-03 1.71429081e+02] [ 2.25364807e-03 -5.56502114e-05 9.99997459e-01 1.12711958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.71, Y:171.44, Z:1.13 [[ 8.25169959e-01 -5.64881388e-01 -1.88578902e-03 1.67712818e+02] [ 5.64880039e-01 8.25172113e-01 -1.23519568e-03 1.71443968e+02] [ 2.25383956e-03 -4.59982077e-05 9.99997459e-01 1.12674195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.74, Y:171.46, Z:1.13 [[ 8.24805906e-01 -5.65412825e-01 -1.88542764e-03 1.67736274e+02] [ 5.65411476e-01 8.24808060e-01 -1.23574706e-03 1.71459030e+02] [ 2.25382315e-03 -4.67909490e-05 9.99997459e-01 1.12686977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.76, Y:171.47, Z:1.13 [[ 8.25222055e-01 -5.64805282e-01 -1.88504079e-03 1.67758451e+02] [ 5.64803930e-01 8.25224207e-01 -1.23633689e-03 1.71472083e+02] [ 2.25387089e-03 -4.44259786e-05 9.99997459e-01 1.12619404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.78, Y:171.49, Z:1.13 [[ 8.24473063e-01 -5.65898088e-01 -1.87671350e-03 1.67784145e+02] [ 5.65896710e-01 8.24475199e-01 -1.24900585e-03 1.71489157e+02] [ 2.25411376e-03 -3.22543188e-05 9.99997459e-01 1.12678271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.81, Y:171.50, Z:1.13 [[ 8.25437385e-01 -5.64490544e-01 -1.88386909e-03 1.67807988e+02] [ 5.64489188e-01 8.25439534e-01 -1.23811821e-03 1.71503967e+02] [ 2.25392604e-03 -4.14346771e-05 9.99997459e-01 1.12665272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.83, Y:171.52, Z:1.13 [[ 8.25781621e-01 -5.63986857e-01 -1.88133575e-03 1.67831858e+02] [ 5.63985490e-01 8.25783764e-01 -1.24197008e-03 1.71519495e+02] [ 2.25403131e-03 -3.54499992e-05 9.99997459e-01 1.12756582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.86, Y:171.53, Z:1.13 [[ 8.26260867e-01 -5.63284504e-01 -1.88316745e-03 1.67855314e+02] [ 5.63283143e-01 8.26263012e-01 -1.23918647e-03 1.71534844e+02] [ 2.25400615e-03 -3.68651953e-05 9.99997459e-01 1.12797105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.88, Y:171.55, Z:1.13 [[ 8.26920717e-01 -5.62315377e-01 -1.88277580e-03 1.67878259e+02] [ 5.62314011e-01 8.26922860e-01 -1.23978124e-03 1.71549588e+02] [ 2.25405841e-03 -3.35104184e-05 9.99997459e-01 1.12818452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.90, Y:171.56, Z:1.13 [[ 8.28347694e-01 -5.60211169e-01 -1.88260639e-03 1.67901797e+02] [ 5.60209797e-01 8.28349833e-01 -1.24003844e-03 1.71564320e+02] [ 2.25414007e-03 -2.74715628e-05 9.99997459e-01 1.12774937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.93, Y:171.58, Z:1.13 [[ 8.28827558e-01 -5.59500971e-01 -1.88220896e-03 1.67925403e+02] [ 5.59499596e-01 8.28829695e-01 -1.24064139e-03 1.71579407e+02] [ 2.25417074e-03 -2.48173838e-05 9.99997459e-01 1.12776090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.95, Y:171.59, Z:1.13 [[ 8.29422875e-01 -5.58618075e-01 -1.88181409e-03 1.67948769e+02] [ 5.58616696e-01 8.29425009e-01 -1.24124004e-03 1.71592893e+02] [ 2.25420279e-03 -2.16998854e-05 9.99997459e-01 1.12712521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.97, Y:171.61, Z:1.13 [[ 8.29362623e-01 -5.58707525e-01 -1.88164331e-03 1.67972358e+02] [ 5.58706146e-01 8.29364757e-01 -1.24149889e-03 1.71607228e+02] [ 2.25420342e-03 -2.16329047e-05 9.99997459e-01 1.12725330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.00, Y:171.62, Z:1.13 [[ 8.29050068e-01 -5.59171213e-01 -1.88125582e-03 1.67996251e+02] [ 5.59169834e-01 8.29052202e-01 -1.24208578e-03 1.71621895e+02] [ 2.25419789e-03 -2.21902043e-05 9.99997459e-01 1.12765318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.02, Y:171.64, Z:1.13 [[ 8.28232401e-01 -5.60381613e-01 -1.88085528e-03 1.68020529e+02] [ 5.60380236e-01 8.28234536e-01 -1.24269200e-03 1.71635360e+02] [ 2.25417105e-03 -2.47563463e-05 9.99997459e-01 1.12836934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.04, Y:171.65, Z:1.13 [[ 8.27440070e-01 -5.61550883e-01 -1.88045612e-03 1.68044242e+02] [ 5.61549508e-01 8.27442206e-01 -1.24329573e-03 1.71649900e+02] [ 2.25414257e-03 -2.72165027e-05 9.99997459e-01 1.12853446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.07, Y:171.66, Z:1.13 [[ 8.26279223e-01 -5.63257582e-01 -1.88190876e-03 1.68069078e+02] [ 5.63256216e-01 8.26281366e-01 -1.24109983e-03 1.71663467e+02] [ 2.25404503e-03 -3.45017976e-05 9.99997459e-01 1.12927673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.70275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.09, Y:171.68, Z:1.13 [[ 8.25680155e-01 -5.64135398e-01 -1.87987216e-03 1.68092564e+02] [ 5.64134027e-01 8.25682295e-01 -1.24417700e-03 1.71677261e+02] [ 2.25406145e-03 -3.32075881e-05 9.99997459e-01 1.12910023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.12, Y:171.69, Z:1.13 [[ 8.24860251e-01 -5.65333559e-01 -1.87969860e-03 1.68116582e+02] [ 5.65332191e-01 8.24862392e-01 -1.24443915e-03 1.71692265e+02] [ 2.25401590e-03 -3.61657366e-05 9.99997459e-01 1.12934953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.14, Y:171.71, Z:1.13 [[ 8.24100134e-01 -5.66441028e-01 -1.87930313e-03 1.68139492e+02] [ 5.66439660e-01 8.24102276e-01 -1.24503610e-03 1.71705932e+02] [ 2.25397751e-03 -3.84774038e-05 9.99997459e-01 1.12866760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.16, Y:171.72, Z:1.13 [[ 8.23905171e-01 -5.66724569e-01 -1.87913208e-03 1.68163505e+02] [ 5.66723202e-01 8.23907314e-01 -1.24529422e-03 1.71721063e+02] [ 2.25396949e-03 -3.89434013e-05 9.99997459e-01 1.12813916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.19, Y:171.74, Z:1.13 [[ 8.23713201e-01 -5.67003557e-01 -1.87875190e-03 1.68187390e+02] [ 5.67002189e-01 8.23715342e-01 -1.24586752e-03 1.71736670e+02] [ 2.25396808e-03 -3.90189221e-05 9.99997459e-01 1.12745129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.21, Y:171.75, Z:1.13 [[ 8.23788402e-01 -5.66894294e-01 -1.87837455e-03 1.68211232e+02] [ 5.66892925e-01 8.23790543e-01 -1.24643618e-03 1.71751495e+02] [ 2.25398475e-03 -3.80375712e-05 9.99997459e-01 1.12626372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.23, Y:171.77, Z:1.13 [[ 8.23850544e-01 -5.66803982e-01 -1.87799458e-03 1.68234257e+02] [ 5.66802611e-01 8.23852684e-01 -1.24700841e-03 1.71765957e+02] [ 2.25400021e-03 -3.71036715e-05 9.99997459e-01 1.12588173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.26, Y:171.78, Z:1.13 [[ 8.23861848e-01 -5.66787552e-01 -1.87782993e-03 1.68257335e+02] [ 5.66786181e-01 8.23863987e-01 -1.24725631e-03 1.71779340e+02] [ 2.25400580e-03 -3.67611593e-05 9.99997459e-01 1.12509003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.28, Y:171.79, Z:1.12 [[ 8.23783083e-01 -5.66902026e-01 -1.87766710e-03 1.68281109e+02] [ 5.66900655e-01 8.23785222e-01 -1.24750139e-03 1.71794175e+02] [ 2.25400547e-03 -3.67801630e-05 9.99997459e-01 1.12441342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.30, Y:171.81, Z:1.12 [[ 8.23825362e-01 -5.66840585e-01 -1.87727433e-03 1.68304720e+02] [ 5.66839212e-01 8.23827500e-01 -1.24809216e-03 1.71808958e+02] [ 2.25401951e-03 -3.59027280e-05 9.99997459e-01 1.12422303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.33, Y:171.82, Z:1.12 [[ 8.24603365e-01 -5.65708200e-01 -1.87688105e-03 1.68326889e+02] [ 5.65706823e-01 8.24605501e-01 -1.24868329e-03 1.71823927e+02] [ 2.25407682e-03 -3.20959755e-05 9.99997459e-01 1.12461194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.35, Y:171.84, Z:1.12 [[ 8.25213529e-01 -5.64817766e-01 -1.87661378e-03 1.68349062e+02] [ 5.64816386e-01 8.25215663e-01 -1.24908484e-03 1.71840612e+02] [ 2.25411639e-03 -2.91804989e-05 9.99997459e-01 1.12449384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.37, Y:171.86, Z:1.12 [[ 8.25745557e-01 -5.64039675e-01 -1.87623021e-03 1.68372265e+02] [ 5.64038291e-01 8.25747688e-01 -1.24966073e-03 1.71856852e+02] [ 2.25415099e-03 -2.63638875e-05 9.99997459e-01 1.12438521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.40, Y:171.87, Z:1.12 [[ 8.26491211e-01 -5.62946498e-01 -1.87584534e-03 1.68395081e+02] [ 5.62945110e-01 8.26493339e-01 -1.25023819e-03 1.71873310e+02] [ 2.25419089e-03 -2.26870866e-05 9.99997459e-01 1.12382274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.42, Y:171.89, Z:1.12 [[ 8.27213171e-01 -5.61885088e-01 -1.87545811e-03 1.68416567e+02] [ 5.61883696e-01 8.27215297e-01 -1.25081878e-03 1.71889819e+02] [ 2.25422406e-03 -1.90955625e-05 9.99997459e-01 1.12453842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:171.91, Z:1.13 [[ 8.27941492e-01 -5.60811349e-01 -1.87529062e-03 1.68438377e+02] [ 5.60809954e-01 8.27943615e-01 -1.25106986e-03 1.71906881e+02] [ 2.25424907e-03 -1.58690022e-05 9.99997459e-01 1.12524943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.46, Y:171.92, Z:1.13 [[ 8.28124819e-01 -5.60540605e-01 -1.87490464e-03 1.68461368e+02] [ 5.60539207e-01 8.28126941e-01 -1.25164803e-03 1.71923271e+02] [ 2.25425859e-03 -1.44367619e-05 9.99997459e-01 1.12533812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:171.94, Z:1.13 [[ 8.27689093e-01 -5.61183794e-01 -1.87451572e-03 1.68484971e+02] [ 5.61182397e-01 8.27691216e-01 -1.25223021e-03 1.71939861e+02] [ 2.25425150e-03 -1.54879364e-05 9.99997459e-01 1.12532027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.51, Y:171.96, Z:1.13 [[ 8.27264829e-01 -5.61809025e-01 -1.87680773e-03 1.68507643e+02] [ 5.61807638e-01 8.27266957e-01 -1.24880066e-03 1.71955988e+02] [ 2.25420850e-03 -2.13160505e-05 9.99997459e-01 1.12567405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.53, Y:171.97, Z:1.13 [[ 8.26687731e-01 -5.62657875e-01 -1.87378860e-03 1.68529735e+02] [ 5.62656479e-01 8.26689855e-01 -1.25331446e-03 1.71971366e+02] [ 2.25422927e-03 -1.81996058e-05 9.99997459e-01 1.12640479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:171.99, Z:1.13 [[ 8.26037418e-01 -5.63612166e-01 -1.87361511e-03 1.68551885e+02] [ 5.63610772e-01 8.26039543e-01 -1.25357376e-03 1.71986934e+02] [ 2.25420959e-03 -2.04908248e-05 9.99997459e-01 1.12728739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.57, Y:172.00, Z:1.13 [[ 8.24354546e-01 -5.66070731e-01 -1.87344583e-03 1.68574094e+02] [ 5.66069343e-01 8.24356675e-01 -1.25382669e-03 1.72004611e+02] [ 2.25414217e-03 -2.69025221e-05 9.99997459e-01 1.12744347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.60, Y:172.02, Z:1.13 [[ 8.23216932e-01 -5.67723854e-01 -1.87306127e-03 1.68596487e+02] [ 5.67722469e-01 8.23219062e-01 -1.25440091e-03 1.72020536e+02] [ 2.25409306e-03 -3.07348992e-05 9.99997459e-01 1.12739499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.39275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:168.62, Y:172.04, Z:1.13 [[ 8.22010935e-01 -5.69468625e-01 -1.87289490e-03 1.68619972e+02] [ 5.69467244e-01 8.22013068e-01 -1.25464926e-03 1.72036031e+02] [ 2.25402748e-03 -3.52168877e-05 9.99997459e-01 1.12717703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.64, Y:172.05, Z:1.13 [[ 8.19778504e-01 -5.72677657e-01 -1.87250107e-03 1.68644052e+02] [ 5.72676283e-01 8.19780641e-01 -1.25523676e-03 1.72050490e+02] [ 2.25388618e-03 -4.33208422e-05 9.99997459e-01 1.12633118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.67, Y:172.06, Z:1.13 [[ 8.18925478e-01 -5.73896818e-01 -1.87210424e-03 1.68666773e+02] [ 5.73895446e-01 8.18927616e-01 -1.25582833e-03 1.72064979e+02] [ 2.25383375e-03 -4.59622868e-05 9.99997459e-01 1.12635548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.69, Y:172.08, Z:1.13 [[ 8.18745261e-01 -5.74153894e-01 -1.87193274e-03 1.68689704e+02] [ 5.74152522e-01 8.18747399e-01 -1.25608392e-03 1.72081405e+02] [ 2.25382553e-03 -4.63621484e-05 9.99997459e-01 1.12616072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.71, Y:172.10, Z:1.13 [[ 8.18965485e-01 -5.73839726e-01 -1.87154625e-03 1.68711662e+02] [ 5.73838352e-01 8.18967622e-01 -1.25665952e-03 1.72096570e+02] [ 2.25385694e-03 -4.48042444e-05 9.99997459e-01 1.12622533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.73, Y:172.11, Z:1.13 [[ 8.19289945e-01 -5.73376390e-01 -1.87137895e-03 1.68734536e+02] [ 5.73375014e-01 8.19292081e-01 -1.25690861e-03 1.72112493e+02] [ 2.25388767e-03 -4.32293457e-05 9.99997459e-01 1.12570046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.76, Y:172.13, Z:1.13 [[ 8.19507242e-01 -5.73065772e-01 -1.87100030e-03 1.68757123e+02] [ 5.73064394e-01 8.19509377e-01 -1.25747200e-03 1.72128461e+02] [ 2.25391645e-03 -4.16962408e-05 9.99997459e-01 1.12508920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.78, Y:172.14, Z:1.12 [[ 8.20238795e-01 -5.72018198e-01 -1.87061405e-03 1.68780789e+02] [ 5.72016816e-01 8.20240928e-01 -1.25804632e-03 1.72144219e+02] [ 2.25397960e-03 -3.81243004e-05 9.99997459e-01 1.12496883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.63275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:168.80, Y:172.16, Z:1.13 [[ 8.20532164e-01 -5.71597297e-01 -1.87021764e-03 1.68804056e+02] [ 5.71595912e-01 8.20534295e-01 -1.25863535e-03 1.72160578e+02] [ 2.25401028e-03 -3.62579739e-05 9.99997459e-01 1.12512581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.83, Y:172.18, Z:1.12 [[ 8.21544261e-01 -5.70141676e-01 -1.86982116e-03 1.68832359e+02] [ 5.70140286e-01 8.21546389e-01 -1.25922409e-03 1.72177227e+02] [ 2.25408095e-03 -3.15520421e-05 9.99997459e-01 1.12436127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.85, Y:172.19, Z:1.12 [[ 8.20795037e-01 -5.71219692e-01 -1.88956278e-03 1.68849450e+02] [ 5.71218372e-01 8.20797209e-01 -1.22990652e-03 1.72192629e+02] [ 2.25349468e-03 -6.98518032e-05 9.99997458e-01 1.12437130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.87, Y:172.21, Z:1.12 [[ 8.20667479e-01 -5.71403007e-01 -1.86896643e-03 1.68872449e+02] [ 5.71401617e-01 8.20669606e-01 -1.26044641e-03 1.72208467e+02] [ 2.25402681e-03 -3.35230670e-05 9.99997459e-01 1.12418463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.90, Y:172.22, Z:1.12 [[ 8.20819710e-01 -5.71184307e-01 -1.86857127e-03 1.68899085e+02] [ 5.71182916e-01 8.20821836e-01 -1.26103195e-03 1.72224200e+02] [ 2.25404576e-03 -3.22161008e-05 9.99997459e-01 1.12457570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.92, Y:172.24, Z:1.12 [[ 8.19844131e-01 -5.72583683e-01 -1.87792625e-03 1.68920029e+02] [ 5.72582327e-01 8.19846280e-01 -1.24715164e-03 1.72240002e+02] [ 2.25370953e-03 -5.27974340e-05 9.99997459e-01 1.12453504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.94, Y:172.26, Z:1.13 [[ 8.19507759e-01 -5.73065038e-01 -1.86950476e-03 1.68943035e+02] [ 5.73063655e-01 8.19509890e-01 -1.25963292e-03 1.72255885e+02] [ 2.25392923e-03 -3.90662787e-05 9.99997459e-01 1.12526683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.97, Y:172.27, Z:1.12 [[ 8.18448950e-01 -5.74576214e-01 -1.86831079e-03 1.68966495e+02] [ 5.74574831e-01 8.18451081e-01 -1.26140135e-03 1.72273009e+02] [ 2.25389220e-03 -4.10917513e-05 9.99997459e-01 1.12471581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.99, Y:172.29, Z:1.12 [[ 8.18517633e-01 -5.74478347e-01 -1.87405312e-03 1.68988756e+02] [ 5.74476983e-01 8.18519777e-01 -1.25289529e-03 1.72288660e+02] [ 2.25371076e-03 -5.10834912e-05 9.99997459e-01 1.12497215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.01, Y:172.31, Z:1.12 [[ 8.18181758e-01 -5.74956627e-01 -1.86742605e-03 1.69014438e+02] [ 5.74955242e-01 8.18183889e-01 -1.26270576e-03 1.72306684e+02] [ 2.25389895e-03 -4.05635835e-05 9.99997459e-01 1.12336039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.03, Y:172.32, Z:1.12 [[ 8.17082073e-01 -5.76518312e-01 -1.87668049e-03 1.69034049e+02] [ 5.76516963e-01 8.17084226e-01 -1.24902955e-03 1.72322571e+02] [ 2.25349443e-03 -6.13784788e-05 9.99997459e-01 1.12427196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.06, Y:172.34, Z:1.12 [[ 8.16900729e-01 -5.76775273e-01 -1.86647105e-03 1.69057601e+02] [ 5.76773890e-01 8.16902860e-01 -1.26410396e-03 1.72338732e+02] [ 2.25382945e-03 -4.38843246e-05 9.99997459e-01 1.12433181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.08, Y:172.35, Z:1.12 [[ 8.16560846e-01 -5.77256358e-01 -1.86607333e-03 1.69079450e+02] [ 5.77254974e-01 8.16562977e-01 -1.26469080e-03 1.72353858e+02] [ 2.25381720e-03 -4.45031213e-05 9.99997459e-01 1.12484228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.10, Y:172.37, Z:1.13 [[ 8.16069787e-01 -5.77950362e-01 -1.86590121e-03 1.69102347e+02] [ 5.77948980e-01 8.16071919e-01 -1.26494470e-03 1.72369830e+02] [ 2.25378483e-03 -4.61125517e-05 9.99997459e-01 1.12537222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.13, Y:172.39, Z:1.13 [[ 8.15645595e-01 -5.78548860e-01 -1.86550442e-03 1.69125498e+02] [ 5.78547478e-01 8.15647727e-01 -1.26552960e-03 1.72385618e+02] [ 2.25376515e-03 -4.70592280e-05 9.99997459e-01 1.12572993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.082755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.15, Y:172.40, Z:1.13 [[ 8.16104800e-01 -5.77900923e-01 -1.86510717e-03 1.69147481e+02] [ 5.77899537e-01 8.16106930e-01 -1.26611478e-03 1.72400255e+02] [ 2.25381579e-03 -4.45622215e-05 9.99997459e-01 1.12524450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.17, Y:172.42, Z:1.13 [[ 8.15723395e-01 -5.78439181e-01 -1.85900512e-03 1.69171812e+02] [ 5.78437777e-01 8.15725513e-01 -1.27510163e-03 1.72418001e+02] [ 2.25400665e-03 -3.51885635e-05 9.99997459e-01 1.12575606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.19, Y:172.44, Z:1.12 [[ 8.15250242e-01 -5.79105832e-01 -1.86489094e-03 1.69194637e+02] [ 5.79104450e-01 8.15252374e-01 -1.26643446e-03 1.72435335e+02] [ 2.25375635e-03 -4.75056361e-05 9.99997459e-01 1.12304010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.22, Y:172.45, Z:1.12 [[ 8.15302614e-01 -5.79032104e-01 -1.86275337e-03 1.69217107e+02] [ 5.79030714e-01 8.15304741e-01 -1.26958103e-03 1.72450857e+02] [ 2.25383983e-03 -4.34986813e-05 9.99997459e-01 1.12205342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.24, Y:172.47, Z:1.12 [[ 8.17230450e-01 -5.76308019e-01 -1.85980803e-03 1.69242724e+02] [ 5.76306612e-01 8.17232565e-01 -1.27391348e-03 1.72465343e+02] [ 2.25406224e-03 -3.07387758e-05 9.99997459e-01 1.12463230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.27, Y:172.48, Z:1.12 [[ 8.17586755e-01 -5.75802416e-01 -1.86430552e-03 1.69265034e+02] [ 5.75801023e-01 8.17588880e-01 -1.26729728e-03 1.72480058e+02] [ 2.25394829e-03 -3.73435557e-05 9.99997459e-01 1.12460607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.29, Y:172.49, Z:1.12 [[ 8.18353582e-01 -5.74712049e-01 -1.86403788e-03 1.69288771e+02] [ 5.74710652e-01 8.18355705e-01 -1.26769082e-03 1.72494542e+02] [ 2.25400322e-03 -3.38630967e-05 9.99997459e-01 1.12437563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.31, Y:172.51, Z:1.12 [[ 8.18096989e-01 -5.75077250e-01 -1.86363659e-03 1.69312511e+02] [ 5.75075853e-01 8.18099111e-01 -1.26828049e-03 1.72510277e+02] [ 2.25399869e-03 -3.41559522e-05 9.99997459e-01 1.12495964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.32275509600004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:169.34, Y:172.53, Z:1.13 [[ 8.18132664e-01 -5.75026497e-01 -1.86319377e-03 1.69336279e+02] [ 5.75025098e-01 8.18134785e-01 -1.26893068e-03 1.72525734e+02] [ 2.25401240e-03 -3.32295358e-05 9.99997459e-01 1.12530807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.36, Y:172.54, Z:1.13 [[ 8.18318359e-01 -5.74762203e-01 -1.86391275e-03 1.69359982e+02] [ 5.74760806e-01 8.18320481e-01 -1.26787544e-03 1.72540196e+02] [ 2.25400486e-03 -3.37782435e-05 9.99997459e-01 1.12578574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.38, Y:172.56, Z:1.13 [[ 8.19229867e-01 -5.73462254e-01 -1.86254675e-03 1.69382656e+02] [ 5.73460849e-01 8.19231983e-01 -1.26987899e-03 1.72556498e+02] [ 2.25408553e-03 -2.77748451e-05 9.99997459e-01 1.12716648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.41, Y:172.57, Z:1.13 [[ 8.20841273e-01 -5.71153343e-01 -1.86092576e-03 1.69405014e+02] [ 5.71151927e-01 8.20843382e-01 -1.27225529e-03 1.72570742e+02] [ 2.25418146e-03 -1.85516787e-05 9.99997459e-01 1.12777719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.43, Y:172.59, Z:1.13 [[ 8.21105226e-01 -5.70773827e-01 -1.85626897e-03 1.69429397e+02] [ 5.70772394e-01 8.21107324e-01 -1.27908002e-03 1.72586885e+02] [ 2.25426144e-03 -9.24779613e-06 9.99997459e-01 1.12771666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.45, Y:172.60, Z:1.13 [[ 8.20736864e-01 -5.71303379e-01 -1.85720801e-03 1.69453046e+02] [ 5.71301951e-01 8.20738965e-01 -1.27770408e-03 1.72603513e+02] [ 2.25423964e-03 -1.23677191e-05 9.99997459e-01 1.12747614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.48, Y:172.62, Z:1.13 [[ 8.21503476e-01 -5.70200466e-01 -1.86200632e-03 1.69475284e+02] [ 5.70199051e-01 8.21505586e-01 -1.27067278e-03 1.72618029e+02] [ 2.25418680e-03 -1.78521283e-05 9.99997459e-01 1.12749126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.50, Y:172.64, Z:1.13 [[ 8.21235101e-01 -5.70586943e-01 -1.85716095e-03 1.69501654e+02] [ 5.70585512e-01 8.21237201e-01 -1.27777384e-03 1.72635498e+02] [ 2.25425073e-03 -1.03164009e-05 9.99997459e-01 1.12740984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.52, Y:172.65, Z:1.13 [[ 8.20189484e-01 -5.72088904e-01 -1.86979209e-03 1.69521048e+02] [ 5.72087520e-01 8.20191614e-01 -1.25928982e-03 1.72651293e+02] [ 2.25401353e-03 -3.68284531e-05 9.99997459e-01 1.12728198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.54, Y:172.67, Z:1.13 [[ 8.19575539e-01 -5.72968126e-01 -1.86060165e-03 1.69542739e+02] [ 5.72966713e-01 8.19577651e-01 -1.27272536e-03 1.72669150e+02] [ 2.25413859e-03 -2.29682370e-05 9.99997459e-01 1.12599098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.57, Y:172.69, Z:1.13 [[ 8.19769639e-01 -5.72690390e-01 -1.85929482e-03 1.69566091e+02] [ 5.72688972e-01 8.19771747e-01 -1.27463481e-03 1.72685235e+02] [ 2.25416847e-03 -1.98907196e-05 9.99997459e-01 1.12672137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.59, Y:172.70, Z:1.13 [[ 8.19849609e-01 -5.72575897e-01 -1.86017493e-03 1.69588342e+02] [ 5.72574482e-01 8.19851719e-01 -1.27334910e-03 1.72700852e+02] [ 2.25415662e-03 -2.11339314e-05 9.99997459e-01 1.12638964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.61, Y:172.72, Z:1.13 [[ 8.19223488e-01 -5.73471383e-01 -1.85717733e-03 1.69611312e+02] [ 5.73469960e-01 8.19225593e-01 -1.27772433e-03 1.72717896e+02] [ 2.25418554e-03 -1.82936270e-05 9.99997459e-01 1.12627952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.712755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:169.63, Y:172.73, Z:1.12 [[ 8.18817983e-01 -5.74050219e-01 -1.85932430e-03 1.69634247e+02] [ 5.74048804e-01 8.18820094e-01 -1.27459242e-03 1.72733402e+02] [ 2.25413215e-03 -2.36836942e-05 9.99997459e-01 1.12364810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.66, Y:172.75, Z:1.13 [[ 8.18434516e-01 -5.74596804e-01 -1.85893301e-03 1.69655574e+02] [ 5.74595389e-01 8.18436627e-01 -1.27516284e-03 1.72749282e+02] [ 2.25412335e-03 -2.44970493e-05 9.99997459e-01 1.12506999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:169.67, Y:172.77, Z:1.12 [[ 8.16459980e-01 -5.77399036e-01 -1.85876381e-03 1.69673853e+02] [ 5.77397628e-01 8.16462095e-01 -1.27540943e-03 1.72766040e+02] [ 2.25403037e-03 -3.19250602e-05 9.99997459e-01 1.12356468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.80275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.70, Y:172.78, Z:1.12 [[ 8.16640723e-01 -5.77143414e-01 -1.84620039e-03 1.69700146e+02] [ 5.77141964e-01 8.16642810e-01 -1.29369717e-03 1.72781697e+02] [ 2.25433508e-03 -9.03393246e-06 9.99997459e-01 1.12223651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:169.72, Y:172.80, Z:1.12 [[ 8.16151285e-01 -5.77835297e-01 -1.85713243e-03 1.69723223e+02] [ 5.77833885e-01 8.16153398e-01 -1.27778263e-03 1.72798336e+02] [ 2.25405285e-03 -3.02501147e-05 9.99997459e-01 1.12391616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.75, Y:172.81, Z:1.12 [[ 8.15057061e-01 -5.79377719e-01 -1.85624525e-03 1.69746129e+02] [ 5.79376308e-01 8.15059174e-01 -1.27907333e-03 1.72814127e+02] [ 2.25401631e-03 -3.29467746e-05 9.99997459e-01 1.12352547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.77, Y:172.83, Z:1.12 [[ 8.14439501e-01 -5.80245507e-01 -1.85744405e-03 1.69768720e+02] [ 5.80244102e-01 8.14441619e-01 -1.27733009e-03 1.72829706e+02] [ 2.25394478e-03 -3.74628734e-05 9.99997459e-01 1.12338684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.79, Y:172.85, Z:1.12 [[ 8.13611967e-01 -5.81405295e-01 -1.85727414e-03 1.69791611e+02] [ 5.81403893e-01 8.13614086e-01 -1.27757708e-03 1.72845776e+02] [ 2.25389449e-03 -4.03744168e-05 9.99997459e-01 1.12451337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.81, Y:172.86, Z:1.12 [[ 8.12792252e-01 -5.82550697e-01 -1.85496036e-03 1.69814674e+02] [ 5.82549290e-01 8.12794368e-01 -1.28093893e-03 1.72862045e+02] [ 2.25391320e-03 -3.94686035e-05 9.99997459e-01 1.12376429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.84, Y:172.88, Z:1.12 [[ 8.11399843e-01 -5.84488535e-01 -1.85677717e-03 1.69839851e+02] [ 5.84487139e-01 8.11401966e-01 -1.27829996e-03 1.72880771e+02] [ 2.25374432e-03 -4.80499876e-05 9.99997459e-01 1.12406583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.86, Y:172.90, Z:1.12 [[ 8.12297004e-01 -5.83241026e-01 -1.86631899e-03 1.69860773e+02] [ 5.83239658e-01 8.12299146e-01 -1.26444774e-03 1.72895248e+02] [ 2.25348712e-03 -6.14041378e-05 9.99997459e-01 1.12432622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.88, Y:172.91, Z:1.12 [[ 8.12028254e-01 -5.83615184e-01 -1.85225980e-03 1.69883487e+02] [ 5.83613771e-01 8.12030366e-01 -1.28482696e-03 1.72911878e+02] [ 2.25393573e-03 -3.76885329e-05 9.99997459e-01 1.12487007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.91, Y:172.93, Z:1.13 [[ 8.11983536e-01 -5.83677390e-01 -1.85537994e-03 1.69911135e+02] [ 5.83675987e-01 8.11985654e-01 -1.28030535e-03 1.72931103e+02] [ 2.25382718e-03 -4.33538553e-05 9.99997459e-01 1.12533419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.93, Y:172.94, Z:1.13 [[ 8.12619288e-01 -5.82791872e-01 -1.87768658e-03 1.69928503e+02] [ 5.82790542e-01 8.12621454e-01 -1.24795779e-03 1.72944576e+02] [ 2.25314806e-03 -8.01834123e-05 9.99997458e-01 1.12513654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.95, Y:172.96, Z:1.13 [[ 8.12520063e-01 -5.82930277e-01 -1.85467185e-03 1.69952704e+02] [ 5.82928870e-01 8.12522179e-01 -1.28127216e-03 1.72962766e+02] [ 2.25385435e-03 -4.00824283e-05 9.99997459e-01 1.12567883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:169.98, Y:172.98, Z:1.12 [[ 8.13342641e-01 -5.81782000e-01 -1.85815221e-03 1.69975288e+02] [ 5.81780602e-01 8.13344762e-01 -1.27623501e-03 1.72978911e+02] [ 2.25380893e-03 -4.30205552e-05 9.99997459e-01 1.12473483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.00, Y:173.00, Z:1.12 [[ 8.14044205e-01 -5.80799961e-01 -1.85420025e-03 1.69996357e+02] [ 5.80798547e-01 8.14046316e-01 -1.28195109e-03 1.72995382e+02] [ 2.25396202e-03 -3.33519620e-05 9.99997459e-01 1.12402063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.02, Y:173.01, Z:1.12 [[ 8.14229431e-01 -5.80540263e-01 -1.85403114e-03 1.70018707e+02] [ 5.80538848e-01 8.14231541e-01 -1.28219563e-03 1.73011523e+02] [ 2.25397681e-03 -3.23356842e-05 9.99997459e-01 1.12406481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.04, Y:173.03, Z:1.12 [[ 8.14271799e-01 -5.80480837e-01 -1.85362762e-03 1.70041929e+02] [ 5.80479420e-01 8.14273908e-01 -1.28277872e-03 1.73027751e+02] [ 2.25398906e-03 -3.14621519e-05 9.99997459e-01 1.12364462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.07, Y:173.04, Z:1.12 [[ 8.14496073e-01 -5.80166108e-01 -1.85322047e-03 1.70065881e+02] [ 5.80164689e-01 8.14498181e-01 -1.28336665e-03 1.73044364e+02] [ 2.25401053e-03 -2.98759769e-05 9.99997459e-01 1.12351526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.09, Y:173.06, Z:1.12 [[ 8.14717930e-01 -5.79854511e-01 -1.85458569e-03 1.70088349e+02] [ 5.79853096e-01 8.14720041e-01 -1.28139593e-03 1.73059877e+02] [ 2.25399134e-03 -3.14110152e-05 9.99997459e-01 1.12284410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.11, Y:173.08, Z:1.12 [[ 8.14745230e-01 -5.79816158e-01 -1.85271208e-03 1.70111372e+02] [ 5.79814737e-01 8.14747336e-01 -1.28409920e-03 1.73076277e+02] [ 2.25403369e-03 -2.80160705e-05 9.99997459e-01 1.12211069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.13, Y:173.09, Z:1.12 [[ 8.14322289e-01 -5.80410009e-01 -1.85230597e-03 1.70134284e+02] [ 5.80408588e-01 8.14324395e-01 -1.28468475e-03 1.73093031e+02] [ 2.25402182e-03 -2.89468690e-05 9.99997459e-01 1.12241290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.16, Y:173.11, Z:1.12 [[ 8.13971442e-01 -5.80901947e-01 -1.84913821e-03 1.70158324e+02] [ 5.80900517e-01 8.13973542e-01 -1.28924720e-03 1.73109171e+02] [ 2.25407579e-03 -2.47549407e-05 9.99997459e-01 1.12125307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:173.12, Z:1.12 [[ 8.13892145e-01 -5.81013024e-01 -1.85531704e-03 1.70182319e+02] [ 5.81011614e-01 8.13894259e-01 -1.28034506e-03 1.73124057e+02] [ 2.25392905e-03 -3.58979591e-05 9.99997459e-01 1.12069071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.21, Y:173.14, Z:1.12 [[ 8.14144967e-01 -5.80658717e-01 -1.85144131e-03 1.70205333e+02] [ 5.80657293e-01 8.14147072e-01 -1.28592524e-03 1.73140635e+02] [ 2.25402922e-03 -2.81233437e-05 9.99997459e-01 1.12184503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.23, Y:173.16, Z:1.12 [[ 8.13819085e-01 -5.81115368e-01 -1.85101249e-03 1.70229379e+02] [ 5.81113945e-01 8.13821189e-01 -1.28654221e-03 1.73159506e+02] [ 2.25402263e-03 -2.86365663e-05 9.99997459e-01 1.12226825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.25, Y:173.17, Z:1.12 [[ 8.14432133e-01 -5.80255821e-01 -1.86622884e-03 1.70253389e+02] [ 5.80254445e-01 8.14434270e-01 -1.26456157e-03 1.73174449e+02] [ 2.25368994e-03 -5.29880049e-05 9.99997459e-01 1.12213826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.28, Y:173.19, Z:1.12 [[ 8.13917216e-01 -5.80977883e-01 -1.86155303e-03 1.70277554e+02] [ 5.80976494e-01 8.13919344e-01 -1.27130808e-03 1.73190703e+02] [ 2.25375590e-03 -4.67790237e-05 9.99997459e-01 1.12353285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.30, Y:173.20, Z:1.12 [[ 8.14376680e-01 -5.80333659e-01 -1.86203045e-03 1.70298850e+02] [ 5.80332270e-01 8.14378807e-01 -1.27061943e-03 1.73204408e+02] [ 2.25378136e-03 -4.58335235e-05 9.99997459e-01 1.12308592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:170.32, Y:173.22, Z:1.12 [[ 8.13859497e-01 -5.81058766e-01 -1.85199366e-03 1.70322300e+02] [ 5.81057346e-01 8.13861603e-01 -1.28508391e-03 1.73220533e+02] [ 2.25397580e-03 -3.02367793e-05 9.99997459e-01 1.12350516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.34, Y:173.24, Z:1.12 [[ 8.13517207e-01 -5.81537897e-01 -1.85158740e-03 1.70344534e+02] [ 5.81536476e-01 8.13519314e-01 -1.28566899e-03 1.73236104e+02] [ 2.25396735e-03 -3.08517656e-05 9.99997459e-01 1.12347634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.37, Y:173.25, Z:1.12 [[ 8.13076155e-01 -5.82154394e-01 -1.85141172e-03 1.70367125e+02] [ 5.82152974e-01 8.13078263e-01 -1.28592192e-03 1.73252982e+02] [ 2.25394772e-03 -3.22523863e-05 9.99997459e-01 1.12344280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.39, Y:173.27, Z:1.12 [[ 8.12719387e-01 -5.82652359e-01 -1.85100786e-03 1.70388246e+02] [ 5.82650940e-01 8.12721494e-01 -1.28650300e-03 1.73270371e+02] [ 2.25393788e-03 -3.29255413e-05 9.99997459e-01 1.12242652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.41, Y:173.29, Z:1.12 [[ 8.13094406e-01 -5.82128905e-01 -1.85083293e-03 1.70410329e+02] [ 5.82127483e-01 8.13096512e-01 -1.28675461e-03 1.73285848e+02] [ 2.25396285e-03 -3.11677402e-05 9.99997459e-01 1.12055345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.43, Y:173.30, Z:1.12 [[ 8.12720641e-01 -5.82650624e-01 -1.84683043e-03 1.70433587e+02] [ 5.82649191e-01 8.12722739e-01 -1.29250529e-03 1.73302510e+02] [ 2.25404010e-03 -2.56085291e-05 9.99997459e-01 1.12093642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:173.32, Z:1.12 [[ 8.12744943e-01 -5.82616713e-01 -1.85003555e-03 1.70456269e+02] [ 5.82615291e-01 8.12747048e-01 -1.28790123e-03 1.73318480e+02] [ 2.25396371e-03 -3.11237890e-05 9.99997459e-01 1.12122610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.48, Y:173.33, Z:1.12 [[ 8.12705957e-01 -5.82671096e-01 -1.84964398e-03 1.70479291e+02] [ 5.82669672e-01 8.12708061e-01 -1.28846334e-03 1.73334055e+02] [ 2.25397092e-03 -3.05896246e-05 9.99997459e-01 1.12112376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.50, Y:173.35, Z:1.12 [[ 8.12531334e-01 -5.82914584e-01 -1.84925765e-03 1.70502617e+02] [ 5.82913159e-01 8.12533438e-01 -1.28901758e-03 1.73350530e+02] [ 2.25397082e-03 -3.05894461e-05 9.99997459e-01 1.12118797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.53, Y:173.37, Z:1.12 [[ 8.12290185e-01 -5.83250579e-01 -1.84887125e-03 1.70525830e+02] [ 5.83249154e-01 8.12292288e-01 -1.28957156e-03 1.73367055e+02] [ 2.25396722e-03 -3.08462717e-05 9.99997459e-01 1.12100915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.55, Y:173.38, Z:1.12 [[ 8.12020873e-01 -5.83625466e-01 -1.84848644e-03 1.70548215e+02] [ 5.83624041e-01 8.12022976e-01 -1.29012292e-03 1.73383010e+02] [ 2.25396205e-03 -3.12143907e-05 9.99997459e-01 1.12082082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.57, Y:173.40, Z:1.12 [[ 8.11692980e-01 -5.84081406e-01 -1.84831992e-03 1.70571496e+02] [ 5.84079982e-01 8.11695084e-01 -1.29036145e-03 1.73399353e+02] [ 2.25394832e-03 -3.21893350e-05 9.99997459e-01 1.12055620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.60, Y:173.41, Z:1.12 [[ 8.10929038e-01 -5.85141590e-01 -1.84791098e-03 1.70595025e+02] [ 5.85140167e-01 8.10931143e-01 -1.29094681e-03 1.73414915e+02] [ 2.25391524e-03 -3.44206835e-05 9.99997459e-01 1.12104263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.62, Y:173.43, Z:1.12 [[ 8.10405664e-01 -5.85866236e-01 -1.84750271e-03 1.70617849e+02] [ 5.85864813e-01 8.10407769e-01 -1.29153084e-03 1.73430168e+02] [ 2.25389486e-03 -3.57229174e-05 9.99997459e-01 1.12139607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.64, Y:173.45, Z:1.12 [[ 8.09217348e-01 -5.87506487e-01 -1.84722551e-03 1.70641745e+02] [ 5.87505068e-01 8.09219455e-01 -1.29192718e-03 1.73445073e+02] [ 2.25382642e-03 -3.98044642e-05 9.99997459e-01 1.12233997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.66, Y:173.46, Z:1.12 [[ 8.08617536e-01 -5.88331769e-01 -1.84683340e-03 1.70663872e+02] [ 5.88330351e-01 8.08619644e-01 -1.29248747e-03 1.73459757e+02] [ 2.25379721e-03 -4.14201065e-05 9.99997459e-01 1.12316249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.69, Y:173.48, Z:1.12 [[ 8.07673964e-01 -5.89626456e-01 -1.84656718e-03 1.70686936e+02] [ 5.89625040e-01 8.07676074e-01 -1.29286770e-03 1.73475879e+02] [ 2.25373713e-03 -4.45666697e-05 9.99997459e-01 1.12395247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.71, Y:173.49, Z:1.13 [[ 8.06925080e-01 -5.90650918e-01 -1.84618229e-03 1.70710288e+02] [ 5.90649504e-01 8.06927190e-01 -1.29341709e-03 1.73491695e+02] [ 2.25369268e-03 -4.67559631e-05 9.99997459e-01 1.12547176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.73, Y:173.51, Z:1.13 [[ 8.06719796e-01 -5.90931269e-01 -1.84578722e-03 1.70732940e+02] [ 5.90929854e-01 8.06721906e-01 -1.29398063e-03 1.73507629e+02] [ 2.25369060e-03 -4.68509832e-05 9.99997459e-01 1.12588360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.76, Y:173.52, Z:1.13 [[ 8.06775649e-01 -5.90855013e-01 -1.84538445e-03 1.70756236e+02] [ 5.90853596e-01 8.06777759e-01 -1.29455477e-03 1.73523896e+02] [ 2.25370931e-03 -4.59367725e-05 9.99997459e-01 1.12614386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.78, Y:173.54, Z:1.13 [[ 8.07076270e-01 -5.90444316e-01 -1.84497777e-03 1.70778264e+02] [ 5.90442897e-01 8.07078378e-01 -1.29513411e-03 1.73539431e+02] [ 2.25374624e-03 -4.40820085e-05 9.99997459e-01 1.12666789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.80, Y:173.56, Z:1.13 [[ 8.07160917e-01 -5.90328596e-01 -1.84480169e-03 1.70800659e+02] [ 5.90327177e-01 8.07163024e-01 -1.29538488e-03 1.73555624e+02] [ 2.25375844e-03 -4.34525244e-05 9.99997459e-01 1.12682245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.82, Y:173.57, Z:1.13 [[ 8.07575365e-01 -5.89761501e-01 -1.84440475e-03 1.70823665e+02] [ 5.89760078e-01 8.07577471e-01 -1.29594979e-03 1.73572392e+02] [ 2.25380102e-03 -4.11791634e-05 9.99997459e-01 1.12629658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.85, Y:173.59, Z:1.13 [[ 8.07808708e-01 -5.89441848e-01 -1.84399540e-03 1.70845952e+02] [ 5.89440423e-01 8.07810811e-01 -1.29653200e-03 1.73588435e+02] [ 2.25382964e-03 -3.95755928e-05 9.99997459e-01 1.12636628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.87, Y:173.60, Z:1.13 [[ 8.07966092e-01 -5.89226098e-01 -1.84371789e-03 1.70867693e+02] [ 5.89224672e-01 8.07968195e-01 -1.29692651e-03 1.73604190e+02] [ 2.25384836e-03 -3.84914205e-05 9.99997459e-01 1.12641125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.89, Y:173.62, Z:1.13 [[ 8.07370948e-01 -5.90041315e-01 -1.84354721e-03 1.70892553e+02] [ 5.90039890e-01 8.07373052e-01 -1.29716908e-03 1.73622620e+02] [ 2.25381369e-03 -4.04697641e-05 9.99997459e-01 1.12646944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.91, Y:173.64, Z:1.13 [[ 8.08066957e-01 -5.89087739e-01 -1.85160938e-03 1.70914550e+02] [ 5.89086338e-01 8.08069077e-01 -1.28570975e-03 1.73637708e+02] [ 2.25362414e-03 -5.18182237e-05 9.99997459e-01 1.12636543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.94, Y:173.65, Z:1.13 [[ 8.07917672e-01 -5.89292487e-01 -1.84384198e-03 1.70937016e+02] [ 5.89291062e-01 8.07919775e-01 -1.29673768e-03 1.73654147e+02] [ 2.25383417e-03 -3.89023066e-05 9.99997459e-01 1.12691268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.96, Y:173.67, Z:1.13 [[ 8.06380266e-01 -5.91394514e-01 -1.84256966e-03 1.70961906e+02] [ 5.91393090e-01 8.06382370e-01 -1.29854304e-03 1.73673146e+02] [ 2.25376692e-03 -4.25634887e-05 9.99997459e-01 1.12675926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.98, Y:173.69, Z:1.13 [[ 8.06870185e-01 -5.90725892e-01 -1.85088689e-03 1.70982707e+02] [ 5.90724493e-01 8.06872306e-01 -1.28674162e-03 1.73687702e+02] [ 2.25354097e-03 -5.51307699e-05 9.99997459e-01 1.12787062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.01, Y:173.70, Z:1.13 [[ 8.05507725e-01 -5.92582410e-01 -1.84201325e-03 1.71005791e+02] [ 5.92580987e-01 8.05509830e-01 -1.29932155e-03 1.73703664e+02] [ 2.25371487e-03 -4.49284843e-05 9.99997459e-01 1.12889467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.02, Y:173.72, Z:1.13 [[ 8.06744669e-01 -5.90897324e-01 -1.84162275e-03 1.71024868e+02] [ 5.90895896e-01 8.06746770e-01 -1.29987480e-03 1.73715611e+02] [ 2.25381574e-03 -3.95402610e-05 9.99997459e-01 1.12704431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.05, Y:173.74, Z:1.13 [[ 8.03556503e-01 -5.95225699e-01 -1.82022903e-03 1.71050269e+02] [ 5.95224213e-01 8.03558565e-01 -1.33007795e-03 1.73735983e+02] [ 2.25435720e-03 -1.46516034e-05 9.99997459e-01 1.13048943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.07, Y:173.75, Z:1.13 [[ 8.01240015e-01 -5.98340266e-01 -1.83434827e-03 1.71074572e+02] [ 5.98338834e-01 8.01242113e-01 -1.31014069e-03 1.73753494e+02] [ 2.25366701e-03 -4.78246633e-05 9.99997459e-01 1.13015963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.10, Y:173.77, Z:1.13 [[ 8.00648084e-01 -5.99132090e-01 -1.83959536e-03 1.71097395e+02] [ 5.99130677e-01 8.00650195e-01 -1.30273124e-03 1.73769630e+02] [ 2.25338048e-03 -5.91287459e-05 9.99997459e-01 1.12968815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.12, Y:173.79, Z:1.13 [[ 7.99857397e-01 -6.00187277e-01 -1.83754768e-03 1.71120995e+02] [ 6.00185860e-01 7.99859506e-01 -1.30562170e-03 1.73786638e+02] [ 2.25339751e-03 -5.85589616e-05 9.99997459e-01 1.13038446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.14, Y:173.80, Z:1.13 [[ 7.99181379e-01 -6.01087133e-01 -1.83909385e-03 1.71142713e+02] [ 6.01085723e-01 7.99183492e-01 -1.30344011e-03 1.73802819e+02] [ 2.25325453e-03 -6.37679919e-05 9.99997459e-01 1.13013574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.17, Y:173.82, Z:1.13 [[ 7.98825096e-01 -6.01560541e-01 -1.83892362e-03 1.71165628e+02] [ 6.01559132e-01 7.98827210e-01 -1.30368024e-03 1.73819797e+02] [ 2.25322481e-03 -6.48088005e-05 9.99997459e-01 1.12942083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.19, Y:173.84, Z:1.13 [[ 7.99152607e-01 -6.01125387e-01 -1.83851222e-03 1.71188062e+02] [ 6.01123975e-01 7.99154720e-01 -1.30426016e-03 1.73836453e+02] [ 2.25327961e-03 -6.28708653e-05 9.99997459e-01 1.12898503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.21, Y:173.85, Z:1.13 [[ 7.99575246e-01 -6.00563108e-01 -1.83822186e-03 1.71211061e+02] [ 6.00561694e-01 7.99577357e-01 -1.30466936e-03 1.73852727e+02] [ 2.25333686e-03 -6.07843104e-05 9.99997459e-01 1.12886832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.23, Y:173.87, Z:1.13 [[ 8.00268250e-01 -5.99639350e-01 -1.83796231e-03 1.71232961e+02] [ 5.99637933e-01 8.00270358e-01 -1.30503491e-03 1.73868302e+02] [ 2.25341704e-03 -5.77339171e-05 9.99997459e-01 1.12902499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.8427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:171.26, Y:173.88, Z:1.13 [[ 8.00845599e-01 -5.98868057e-01 -1.83774482e-03 1.71255414e+02] [ 5.98866637e-01 8.00847705e-01 -1.30534110e-03 1.73884588e+02] [ 2.25348082e-03 -5.51873859e-05 9.99997459e-01 1.12804015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.28, Y:173.90, Z:1.13 [[ 8.02404207e-01 -5.96778113e-01 -1.83637210e-03 1.71278972e+02] [ 5.96776683e-01 8.02406307e-01 -1.30727276e-03 1.73901520e+02] [ 2.25366833e-03 -4.69428873e-05 9.99997459e-01 1.12830532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.30, Y:173.92, Z:1.13 [[ 8.03623054e-01 -5.95135793e-01 -1.83723847e-03 1.71301615e+02] [ 5.95134362e-01 8.03625153e-01 -1.30605403e-03 1.73917730e+02] [ 2.25373055e-03 -4.38286113e-05 9.99997459e-01 1.12783645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.32, Y:173.93, Z:1.13 [[ 8.03865437e-01 -5.94808360e-01 -1.83682879e-03 1.71324583e+02] [ 5.94806926e-01 8.03867535e-01 -1.30662995e-03 1.73934352e+02] [ 2.25376145e-03 -4.22038282e-05 9.99997459e-01 1.12789206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.35, Y:173.95, Z:1.13 [[ 8.04192242e-01 -5.94366439e-01 -1.83713012e-03 1.71349823e+02] [ 5.94365005e-01 8.04194339e-01 -1.30620652e-03 1.73951464e+02] [ 2.25377496e-03 -4.14847049e-05 9.99997459e-01 1.12780638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.37, Y:173.97, Z:1.13 [[ 8.03411060e-01 -5.95421925e-01 -1.84384496e-03 1.71370231e+02] [ 5.95420515e-01 8.03413174e-01 -1.29678914e-03 1.73966043e+02] [ 2.25350602e-03 -5.60083761e-05 9.99997459e-01 1.12849695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.39, Y:173.98, Z:1.13 [[ 8.03281158e-01 -5.95597192e-01 -1.83470515e-03 1.71394102e+02] [ 5.95595753e-01 8.03283252e-01 -1.30959376e-03 1.73981665e+02] [ 2.25377829e-03 -4.07706057e-05 9.99997459e-01 1.12922119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.42, Y:174.00, Z:1.13 [[ 8.03634403e-01 -5.95120466e-01 -1.83758895e-03 1.71420966e+02] [ 5.95119036e-01 8.03636503e-01 -1.30555443e-03 1.73995533e+02] [ 2.25371572e-03 -4.43957055e-05 9.99997459e-01 1.13154258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.44, Y:174.01, Z:1.13 [[ 8.02113642e-01 -5.97168560e-01 -1.84820935e-03 1.71439756e+02] [ 5.97167169e-01 8.02115769e-01 -1.29067514e-03 1.74011678e+02] [ 2.25322848e-03 -6.84218043e-05 9.99997459e-01 1.13226729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.46, Y:174.03, Z:1.13 [[ 8.01894797e-01 -5.97462444e-01 -1.83381587e-03 1.71461792e+02] [ 5.97461007e-01 8.01896893e-01 -1.31081152e-03 1.74026522e+02] [ 2.25369190e-03 -4.45005372e-05 9.99997459e-01 1.13335142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.48, Y:174.04, Z:1.13 [[ 8.01537300e-01 -5.97941966e-01 -1.83353904e-03 1.71483990e+02] [ 5.97940530e-01 8.01539396e-01 -1.31119863e-03 1.74041263e+02] [ 2.25367446e-03 -4.53726955e-05 9.99997459e-01 1.13443828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.51, Y:174.06, Z:1.13 [[ 8.01228071e-01 -5.98356263e-01 -1.83336564e-03 1.71507021e+02] [ 5.98354828e-01 8.01230167e-01 -1.31144103e-03 1.74057380e+02] [ 2.25365682e-03 -4.62398140e-05 9.99997459e-01 1.13407920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.53, Y:174.07, Z:1.13 [[ 8.01128538e-01 -5.98489520e-01 -1.83295612e-03 1.71529238e+02] [ 5.98488083e-01 8.01130634e-01 -1.31201317e-03 1.74072789e+02] [ 2.25366343e-03 -4.59112018e-05 9.99997459e-01 1.13465524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.55, Y:174.09, Z:1.13 [[ 8.01177706e-01 -5.98423699e-01 -1.83277879e-03 1.71552150e+02] [ 5.98422262e-01 8.01179801e-01 -1.31226083e-03 1.74089188e+02] [ 2.25367333e-03 -4.54215095e-05 9.99997459e-01 1.13470269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.58, Y:174.11, Z:1.13 [[ 8.03210990e-01 -5.95691823e-01 -1.83236717e-03 1.71579280e+02] [ 5.95690377e-01 8.03213080e-01 -1.31283535e-03 1.74105647e+02] [ 2.25382656e-03 -3.70397087e-05 9.99997459e-01 1.13363424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.60, Y:174.12, Z:1.13 [[ 8.02460891e-01 -5.96701860e-01 -1.84616148e-03 1.71597108e+02] [ 5.96700461e-01 8.02463013e-01 -1.29357772e-03 1.74121862e+02] [ 2.25335653e-03 -6.35598721e-05 9.99997459e-01 1.13412188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.62, Y:174.14, Z:1.13 [[ 8.03686567e-01 -5.95050037e-01 -1.83168343e-03 1.71619079e+02] [ 5.95048588e-01 8.03688654e-01 -1.31376340e-03 1.74137819e+02] [ 2.25385815e-03 -3.40866386e-05 9.99997459e-01 1.13354702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.64, Y:174.15, Z:1.13 [[ 8.04052409e-01 -5.94555607e-01 -1.83150699e-03 1.71641977e+02] [ 5.94554156e-01 8.04054494e-01 -1.31400933e-03 1.74154509e+02] [ 2.25388304e-03 -3.23977250e-05 9.99997459e-01 1.13297706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.67, Y:174.17, Z:1.13 [[ 8.03467541e-01 -5.95345746e-01 -1.83110701e-03 1.71666637e+02] [ 5.95344296e-01 8.03469627e-01 -1.31456646e-03 1.74172747e+02] [ 2.25386042e-03 -3.39276325e-05 9.99997459e-01 1.13241053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.69, Y:174.19, Z:1.13 [[ 8.04710582e-01 -5.93664462e-01 -1.84004504e-03 1.71688270e+02] [ 5.93663035e-01 8.04712685e-01 -1.30211504e-03 1.74185999e+02] [ 2.25372701e-03 -4.45409763e-05 9.99997459e-01 1.13170208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.71, Y:174.20, Z:1.13 [[ 8.04374129e-01 -5.94120283e-01 -1.83057397e-03 1.71711208e+02] [ 5.94118827e-01 8.04376211e-01 -1.31529647e-03 1.74201893e+02] [ 2.25391447e-03 -2.95880078e-05 9.99997460e-01 1.13118715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.73, Y:174.22, Z:1.13 [[ 8.04053522e-01 -5.94554106e-01 -1.83017094e-03 1.71733453e+02] [ 5.94552651e-01 8.04055604e-01 -1.31585703e-03 1.74217024e+02] [ 2.25390740e-03 -3.01135081e-05 9.99997460e-01 1.13123423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.76, Y:174.23, Z:1.13 [[ 8.03185156e-01 -5.95726662e-01 -1.82999660e-03 1.71756157e+02] [ 5.95725210e-01 8.03187240e-01 -1.31609944e-03 1.74231415e+02] [ 2.25386545e-03 -3.31035699e-05 9.99997460e-01 1.13211060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.78, Y:174.25, Z:1.13 [[ 8.02401814e-01 -5.96781351e-01 -1.82982862e-03 1.71779504e+02] [ 5.96779900e-01 8.02403900e-01 -1.31633296e-03 1.74247431e+02] [ 2.25382458e-03 -3.57769852e-05 9.99997460e-01 1.13230490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.80, Y:174.26, Z:1.13 [[ 8.00765765e-01 -5.98974826e-01 -1.82944690e-03 1.71803326e+02] [ 5.98973380e-01 8.00767854e-01 -1.31686325e-03 1.74262632e+02] [ 2.25373021e-03 -4.12909853e-05 9.99997460e-01 1.13192623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.83, Y:174.28, Z:1.13 [[ 8.00711375e-01 -5.99047534e-01 -1.82903724e-03 1.71827151e+02] [ 5.99046087e-01 8.00713463e-01 -1.31743200e-03 1.74276983e+02] [ 2.25373913e-03 -4.07948119e-05 9.99997460e-01 1.13160403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.85, Y:174.29, Z:1.13 [[ 8.00202980e-01 -5.99726477e-01 -1.82860713e-03 1.71850789e+02] [ 5.99725031e-01 8.00205068e-01 -1.31802873e-03 1.74293834e+02] [ 2.25371742e-03 -4.19709468e-05 9.99997460e-01 1.13105044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.87, Y:174.31, Z:1.13 [[ 7.98669483e-01 -6.01767135e-01 -1.83622965e-03 1.71870804e+02] [ 6.01765718e-01 7.98671592e-01 -1.30745288e-03 1.74310821e+02] [ 2.25332663e-03 -6.07573396e-05 9.99997459e-01 1.13255617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.89, Y:174.33, Z:1.13 [[ 7.98814570e-01 -6.01574552e-01 -1.82801995e-03 1.71894186e+02] [ 6.01573108e-01 7.98816660e-01 -1.31883226e-03 1.74327466e+02] [ 2.25362872e-03 -4.61852227e-05 9.99997460e-01 1.13221591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.91, Y:174.34, Z:1.13 [[ 7.98590626e-01 -6.01871797e-01 -1.83095246e-03 1.71914772e+02] [ 6.01870363e-01 7.98592723e-01 -1.31476839e-03 1.74344776e+02] [ 2.25350733e-03 -5.20343117e-05 9.99997460e-01 1.13317631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.94, Y:174.36, Z:1.13 [[ 7.98799179e-01 -6.01594985e-01 -1.82924685e-03 1.71936981e+02] [ 6.01593545e-01 7.98801272e-01 -1.31713095e-03 1.74361553e+02] [ 2.25358408e-03 -4.83399791e-05 9.99997460e-01 1.13179780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.96, Y:174.38, Z:1.13 [[ 7.98607517e-01 -6.01849395e-01 -1.82733284e-03 1.71960044e+02] [ 6.01847949e-01 7.98609607e-01 -1.31978103e-03 1.74378410e+02] [ 2.25363498e-03 -4.57894675e-05 9.99997460e-01 1.13186134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:171.98, Y:174.40, Z:1.13 [[ 7.99206914e-01 -6.01053218e-01 -1.82691228e-03 1.71982641e+02] [ 6.01051769e-01 7.99209001e-01 -1.32036295e-03 1.74396975e+02] [ 2.25369313e-03 -4.28256584e-05 9.99997460e-01 1.13243117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.00, Y:174.41, Z:1.13 [[ 7.99617320e-01 -6.00507120e-01 -1.82790390e-03 1.72004717e+02] [ 6.00505673e-01 7.99619408e-01 -1.31899133e-03 1.74414155e+02] [ 2.25369112e-03 -4.29783513e-05 9.99997460e-01 1.13006880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.03, Y:174.43, Z:1.13 [[ 8.00033324e-01 -5.99952785e-01 -1.82636031e-03 1.72026023e+02] [ 5.99951332e-01 8.00035408e-01 -1.32112522e-03 1.74430927e+02] [ 2.25376568e-03 -3.87830967e-05 9.99997460e-01 1.12964324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.05, Y:174.45, Z:1.13 [[ 8.00866677e-01 -5.98839904e-01 -1.82617862e-03 1.72047197e+02] [ 5.98838447e-01 8.00868758e-01 -1.32137632e-03 1.74449374e+02] [ 2.25382228e-03 -3.53397045e-05 9.99997460e-01 1.12744779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.07, Y:174.47, Z:1.13 [[ 8.01073729e-01 -5.98562902e-01 -1.82575819e-03 1.72069038e+02] [ 5.98561443e-01 8.01075809e-01 -1.32195699e-03 1.74466863e+02] [ 2.25384513e-03 -3.38434439e-05 9.99997460e-01 1.12638484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.09, Y:174.48, Z:1.13 [[ 8.01398244e-01 -5.98128344e-01 -1.82727404e-03 1.72091362e+02] [ 5.98126888e-01 8.01400327e-01 -1.31986420e-03 1.74484537e+02] [ 2.25382620e-03 -3.52048836e-05 9.99997460e-01 1.12631056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.11, Y:174.50, Z:1.12 [[ 8.01624425e-01 -5.97825185e-01 -1.82455218e-03 1.72113786e+02] [ 5.97823720e-01 8.01626501e-01 -1.32361914e-03 1.74503045e+02] [ 2.25390223e-03 -2.97151404e-05 9.99997460e-01 1.12378753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.14, Y:174.52, Z:1.12 [[ 8.01346428e-01 -5.98197770e-01 -1.82490159e-03 1.72135737e+02] [ 5.98196308e-01 8.01348505e-01 -1.32313722e-03 1.74520322e+02] [ 2.25387990e-03 -3.13581029e-05 9.99997460e-01 1.12294159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.16, Y:174.54, Z:1.12 [[ 8.01398650e-01 -5.98127809e-01 -1.82447595e-03 1.72156996e+02] [ 5.98126345e-01 8.01400726e-01 -1.32372388e-03 1.74536428e+02] [ 2.25389241e-03 -3.04366029e-05 9.99997460e-01 1.12217723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.18, Y:174.55, Z:1.12 [[ 8.00853243e-01 -5.98857878e-01 -1.82360141e-03 1.72180396e+02] [ 5.98856413e-01 8.00855318e-01 -1.32492845e-03 1.74553946e+02] [ 2.25388473e-03 -3.10021536e-05 9.99997460e-01 1.12228445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:174.57, Z:1.12 [[ 8.00656285e-01 -5.99121179e-01 -1.82390797e-03 1.72203065e+02] [ 5.99119716e-01 8.00658361e-01 -1.32450630e-03 1.74570379e+02] [ 2.25386695e-03 -3.22649340e-05 9.99997460e-01 1.12234967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.23, Y:174.59, Z:1.12 [[ 8.00252008e-01 -5.99661070e-01 -1.82348088e-03 1.72225055e+02] [ 5.99659607e-01 8.00254085e-01 -1.32509403e-03 1.74586895e+02] [ 2.25385533e-03 -3.30586681e-05 9.99997460e-01 1.12270743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.25, Y:174.60, Z:1.12 [[ 7.99884561e-01 -6.00151118e-01 -1.82329623e-03 1.72247083e+02] [ 6.00149656e-01 7.99886638e-01 -1.32534805e-03 1.74603279e+02] [ 2.25383941e-03 -3.41251670e-05 9.99997460e-01 1.12343875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.27, Y:174.62, Z:1.12 [[ 7.98955447e-01 -6.01387454e-01 -1.82311798e-03 1.72269856e+02] [ 6.01385994e-01 7.98957527e-01 -1.32559321e-03 1.74620345e+02] [ 2.25378895e-03 -3.73077031e-05 9.99997460e-01 1.12396798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.30, Y:174.64, Z:1.12 [[ 7.99891624e-01 -6.00141707e-01 -1.82271427e-03 1.72298612e+02] [ 6.00140243e-01 7.99893700e-01 -1.32614808e-03 1.74636800e+02] [ 2.25385443e-03 -3.31094379e-05 9.99997460e-01 1.12455049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.31, Y:174.65, Z:1.13 [[ 7.96867660e-01 -6.04151086e-01 -1.84311816e-03 1.72314819e+02] [ 6.04149697e-01 7.96869788e-01 -1.29810619e-03 1.74653345e+02] [ 2.25297744e-03 -7.91004342e-05 9.99997459e-01 1.12565829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.34, Y:174.67, Z:1.13 [[ 7.96183945e-01 -6.05051905e-01 -1.82159220e-03 1.72337393e+02] [ 6.05050450e-01 7.96186027e-01 -1.32764092e-03 1.74669324e+02] [ 2.25361793e-03 -4.51087912e-05 9.99997460e-01 1.12557486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.36, Y:174.69, Z:1.13 [[ 7.95481171e-01 -6.05975569e-01 -1.82117376e-03 1.72359577e+02] [ 6.05974115e-01 7.95483254e-01 -1.32821467e-03 1.74685298e+02] [ 2.25357886e-03 -4.70143981e-05 9.99997460e-01 1.12607787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.38, Y:174.70, Z:1.13 [[ 7.94715884e-01 -6.06978869e-01 -1.82099272e-03 1.72382684e+02] [ 6.06977417e-01 7.94717969e-01 -1.32846282e-03 1.74700930e+02] [ 2.25352450e-03 -4.95509558e-05 9.99997460e-01 1.12575137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.41, Y:174.72, Z:1.13 [[ 7.94328922e-01 -6.07485185e-01 -1.82058409e-03 1.72405555e+02] [ 6.07483733e-01 7.94331006e-01 -1.32902259e-03 1.74716897e+02] [ 2.25350793e-03 -5.02941344e-05 9.99997460e-01 1.12515288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.43, Y:174.73, Z:1.12 [[ 7.94384992e-01 -6.07411864e-01 -1.82017804e-03 1.72429436e+02] [ 6.07410411e-01 7.94387075e-01 -1.32957846e-03 1.74732142e+02] [ 2.25352765e-03 -4.93979170e-05 9.99997460e-01 1.12404492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.45, Y:174.75, Z:1.12 [[ 7.94630939e-01 -6.07090075e-01 -1.81975859e-03 1.72451712e+02] [ 6.07088619e-01 7.94633022e-01 -1.33015231e-03 1.74747410e+02] [ 2.25356253e-03 -4.77745543e-05 9.99997460e-01 1.12369378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.47, Y:174.76, Z:1.12 [[ 7.96499887e-01 -6.04635940e-01 -1.81947389e-03 1.72474585e+02] [ 6.04634477e-01 7.96501964e-01 -1.33054164e-03 1.74763888e+02] [ 2.25370782e-03 -4.03403790e-05 9.99997460e-01 1.12247437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.50, Y:174.78, Z:1.12 [[ 7.97752399e-01 -6.02982422e-01 -1.81905390e-03 1.72496038e+02] [ 6.02980954e-01 7.97754472e-01 -1.33111557e-03 1.74779522e+02] [ 2.25379768e-03 -3.49542135e-05 9.99997460e-01 1.12148038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.52, Y:174.80, Z:1.12 [[ 7.99315611e-01 -6.00908683e-01 -1.81887201e-03 1.72517991e+02] [ 6.00907209e-01 7.99317680e-01 -1.33136406e-03 1.74796289e+02] [ 2.25388478e-03 -2.87932255e-05 9.99997460e-01 1.12112109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.54, Y:174.81, Z:1.12 [[ 8.02652741e-01 -5.96443853e-01 -1.81845463e-03 1.72539263e+02] [ 5.96442366e-01 8.02654801e-01 -1.33193391e-03 1.74813417e+02] [ 2.25401513e-03 -1.55229815e-05 9.99997460e-01 1.11986397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.56, Y:174.83, Z:1.12 [[ 8.03900895e-01 -5.94760494e-01 -1.81827390e-03 1.72561081e+02] [ 5.94759002e-01 8.03902951e-01 -1.33218059e-03 1.74830480e+02] [ 2.25404413e-03 -1.04936024e-05 9.99997460e-01 1.11964204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.58, Y:174.85, Z:1.12 [[ 8.04954933e-01 -5.93333170e-01 -1.81785778e-03 1.72582770e+02] [ 5.93331673e-01 8.04956986e-01 -1.33274816e-03 1.74847687e+02] [ 2.25406101e-03 -5.79039187e-06 9.99997460e-01 1.11916478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.60, Y:174.86, Z:1.12 [[ 8.05736553e-01 -5.92271309e-01 -1.81744256e-03 1.72604055e+02] [ 5.92269808e-01 8.05738603e-01 -1.33331415e-03 1.74864267e+02] [ 2.25406735e-03 -2.11641532e-06 9.99997460e-01 1.11914631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.63, Y:174.88, Z:1.12 [[ 8.05253710e-01 -5.92927618e-01 -1.81726263e-03 1.72626626e+02] [ 5.92926118e-01 8.05255761e-01 -1.33355935e-03 1.74880933e+02] [ 2.25406537e-03 -3.64886180e-06 9.99997460e-01 1.11952751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.65, Y:174.90, Z:1.12 [[ 8.04398240e-01 -5.94087679e-01 -1.81685133e-03 1.72647954e+02] [ 5.94086181e-01 8.04400292e-01 -1.33411947e-03 1.74896798e+02] [ 2.25405968e-03 -6.20291305e-06 9.99997460e-01 1.11974565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.67, Y:174.91, Z:1.12 [[ 8.03230769e-01 -5.95665201e-01 -1.81657182e-03 1.72669601e+02] [ 5.95663706e-01 8.03232823e-01 -1.33449995e-03 1.74912893e+02] [ 2.25404529e-03 -1.01544785e-05 9.99997460e-01 1.12004704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.69, Y:174.93, Z:1.12 [[ 8.00845091e-01 -5.98868802e-01 -1.81639703e-03 1.72692774e+02] [ 5.98867315e-01 8.00847150e-01 -1.33473782e-03 1.74928571e+02] [ 2.25398922e-03 -1.88625818e-05 9.99997460e-01 1.12106429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.72, Y:174.94, Z:1.12 [[ 7.99649090e-01 -6.00464849e-01 -1.81599828e-03 1.72715763e+02] [ 6.00463365e-01 7.99651152e-01 -1.33528011e-03 1.74944867e+02] [ 2.25395389e-03 -2.26849135e-05 9.99997460e-01 1.12163822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.74, Y:174.96, Z:1.12 [[ 7.97727231e-01 -6.03015728e-01 -1.81560041e-03 1.72738008e+02] [ 6.03014249e-01 7.97729297e-01 -1.33582089e-03 1.74960305e+02] [ 2.25387864e-03 -2.92122188e-05 9.99997460e-01 1.12226342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.76, Y:174.98, Z:1.12 [[ 7.97112807e-01 -6.03827688e-01 -1.81542816e-03 1.72760827e+02] [ 6.03826211e-01 7.97114874e-01 -1.33605495e-03 1.74976789e+02] [ 2.25385176e-03 -3.12165952e-05 9.99997460e-01 1.12204480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.78, Y:174.99, Z:1.12 [[ 7.96708718e-01 -6.04360757e-01 -1.81503793e-03 1.72783434e+02] [ 6.04359280e-01 7.96710784e-01 -1.33658487e-03 1.74993088e+02] [ 2.25383973e-03 -3.20661995e-05 9.99997460e-01 1.12197309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.81, Y:175.01, Z:1.12 [[ 7.96594333e-01 -6.04511519e-01 -1.81464863e-03 1.72806235e+02] [ 6.04510041e-01 7.96596399e-01 -1.33711320e-03 1.75009496e+02] [ 2.25384289e-03 -3.18365189e-05 9.99997460e-01 1.12208037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.83, Y:175.03, Z:1.12 [[ 7.97280615e-01 -6.03606104e-01 -1.81424114e-03 1.72829049e+02] [ 6.03604623e-01 7.97282679e-01 -1.33766586e-03 1.75025464e+02] [ 2.25388632e-03 -2.85892821e-05 9.99997460e-01 1.12155786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:172.85, Y:175.04, Z:1.12 [[ 7.97788076e-01 -6.02935233e-01 -1.81382490e-03 1.72851708e+02] [ 6.02933749e-01 7.97790138e-01 -1.33823003e-03 1.75041771e+02] [ 2.25391765e-03 -2.59922857e-05 9.99997460e-01 1.12142553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.00275509600004 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:172.87, Y:175.06, Z:1.12 [[ 7.98527618e-01 -6.01955443e-01 -1.81339810e-03 1.72873667e+02] [ 6.01953954e-01 7.98529677e-01 -1.33880812e-03 1.75057083e+02] [ 2.25395504e-03 -2.25068986e-05 9.99997460e-01 1.11928083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.89, Y:175.07, Z:1.12 [[ 7.99289179e-01 -6.00943859e-01 -1.81321343e-03 1.72894912e+02] [ 6.00942367e-01 7.99291235e-01 -1.33905819e-03 1.75073326e+02] [ 2.25398440e-03 -1.93420496e-05 9.99997460e-01 1.12096598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.06275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.92, Y:175.09, Z:1.12 [[ 8.00816323e-01 -5.98907280e-01 -1.81303261e-03 1.72916161e+02] [ 5.98905782e-01 8.00818375e-01 -1.33930296e-03 1.75089403e+02] [ 2.25402813e-03 -1.33000449e-05 9.99997460e-01 1.11987337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:172.94, Y:175.11, Z:1.12 [[ 8.01243521e-01 -5.98335636e-01 -1.81285423e-03 1.72938409e+02] [ 5.98334137e-01 8.01245572e-01 -1.33954437e-03 1.75106270e+02] [ 2.25403856e-03 -1.13913268e-05 9.99997460e-01 1.12016800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.96, Y:175.12, Z:1.12 [[ 8.01829069e-01 -5.97550717e-01 -1.81243690e-03 1.72960626e+02] [ 5.97549215e-01 8.01831117e-01 -1.34010879e-03 1.75123364e+02] [ 2.25405128e-03 -8.48206100e-06 9.99997460e-01 1.12031594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.98, Y:175.14, Z:1.12 [[ 8.00768409e-01 -5.98971345e-01 -1.81201145e-03 1.72982220e+02] [ 5.98969844e-01 8.00770459e-01 -1.34068382e-03 1.75140959e+02] [ 2.25403643e-03 -1.17629684e-05 9.99997460e-01 1.11897964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.18275509600005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:173.01, Y:175.16, Z:1.12 [[ 8.00973466e-01 -5.98697115e-01 -1.80864876e-03 1.73006397e+02] [ 5.98695603e-01 8.00975508e-01 -1.34522568e-03 1.75155751e+02] [ 2.25406609e-03 -5.33998531e-06 9.99997460e-01 1.11905108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.03, Y:175.17, Z:1.12 [[ 7.98787657e-01 -6.01610337e-01 -1.81145852e-03 1.73028407e+02] [ 6.01608842e-01 7.98789711e-01 -1.34143140e-03 1.75172396e+02] [ 2.25399342e-03 -1.82706232e-05 9.99997460e-01 1.12243440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.05, Y:175.19, Z:1.12 [[ 7.96481929e-01 -6.04659620e-01 -1.81103017e-03 1.73047424e+02] [ 6.04658131e-01 7.96483988e-01 -1.34200945e-03 1.75189905e+02] [ 2.25391546e-03 -2.61678449e-05 9.99997460e-01 1.12005960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.07, Y:175.21, Z:1.12 [[ 7.95131505e-01 -6.06434372e-01 -1.80065981e-03 1.73069864e+02] [ 6.06432856e-01 7.95133544e-01 -1.35598567e-03 1.75206621e+02] [ 2.25408133e-03 -1.37923496e-05 9.99997459e-01 1.12019015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.09, Y:175.22, Z:1.12 [[ 7.93165369e-01 -6.09003649e-01 -1.80339105e-03 1.73091395e+02] [ 6.09002148e-01 7.93167419e-01 -1.35230606e-03 1.75223814e+02] [ 2.25395035e-03 -2.56666890e-05 9.99997460e-01 1.12123374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.332755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:173.11, Y:175.24, Z:1.12 [[ 7.92410855e-01 -6.09985083e-01 -1.79880611e-03 1.73114164e+02] [ 6.09983570e-01 7.92412896e-01 -1.35848083e-03 1.75240475e+02] [ 2.25405020e-03 -2.07672162e-05 9.99997459e-01 1.11970395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.14, Y:175.26, Z:1.13 [[ 7.91890256e-01 -6.10660786e-01 -1.79647165e-03 1.73137810e+02] [ 6.10659268e-01 7.91892293e-01 -1.36162352e-03 1.75258411e+02] [ 2.25410214e-03 -1.87756715e-05 9.99997459e-01 1.12546633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.16, Y:175.28, Z:1.13 [[ 7.91720066e-01 -6.10881382e-01 -1.80955417e-03 1.73158450e+02] [ 6.10879905e-01 7.91722133e-01 -1.34400941e-03 1.75275381e+02] [ 2.25369441e-03 -4.13410589e-05 9.99997460e-01 1.12557185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.18, Y:175.29, Z:1.13 [[ 7.91604207e-01 -6.11031510e-01 -1.80936839e-03 1.73179007e+02] [ 6.11030033e-01 7.91606273e-01 -1.34425947e-03 1.75292789e+02] [ 2.25369226e-03 -4.14569756e-05 9.99997460e-01 1.12530273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.20, Y:175.31, Z:1.12 [[ 7.92013636e-01 -6.10500719e-01 -1.80918481e-03 1.73199984e+02] [ 6.10499240e-01 7.92015701e-01 -1.34450649e-03 1.75312076e+02] [ 2.25372496e-03 -3.96384762e-05 9.99997460e-01 1.12438500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.48275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:173.22, Y:175.33, Z:1.12 [[ 7.92224257e-01 -6.10227380e-01 -1.80874552e-03 1.73221135e+02] [ 6.10225898e-01 7.92226321e-01 -1.34509721e-03 1.75329214e+02] [ 2.25375095e-03 -3.81247222e-05 9.99997460e-01 1.12479366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.24, Y:175.35, Z:1.12 [[ 7.92342765e-01 -6.10073497e-01 -1.80848176e-03 1.73242844e+02] [ 6.10072014e-01 7.92344829e-01 -1.34545174e-03 1.75346639e+02] [ 2.25376562e-03 -3.72451549e-05 9.99997460e-01 1.12466337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.54275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:173.26, Y:175.36, Z:1.12 [[ 7.92316404e-01 -6.10107734e-01 -1.80807982e-03 1.73264266e+02] [ 6.10106250e-01 7.92318466e-01 -1.34599167e-03 1.75363728e+02] [ 2.25377496e-03 -3.66695143e-05 9.99997460e-01 1.11989365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.29, Y:175.38, Z:1.13 [[ 7.92115237e-01 -6.10368891e-01 -1.80780685e-03 1.73285848e+02] [ 6.10367407e-01 7.92117299e-01 -1.34635820e-03 1.75382232e+02] [ 2.25377024e-03 -3.69555320e-05 9.99997460e-01 1.12521589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.31, Y:175.40, Z:1.13 [[ 7.91660903e-01 -6.10958057e-01 -1.80737585e-03 1.73306536e+02] [ 6.10956574e-01 7.91662965e-01 -1.34693653e-03 1.75398985e+02] [ 2.25375425e-03 -3.79111673e-05 9.99997460e-01 1.12502361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.33, Y:175.42, Z:1.13 [[ 7.90486931e-01 -6.12476241e-01 -1.80708360e-03 1.73328393e+02] [ 6.12474761e-01 7.90488996e-01 -1.34732850e-03 1.75416681e+02] [ 2.25368640e-03 -4.17475256e-05 9.99997460e-01 1.12608803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.35, Y:175.43, Z:1.13 [[ 7.90292046e-01 -6.12727686e-01 -1.80665456e-03 1.73351190e+02] [ 6.12726205e-01 7.90294110e-01 -1.34790357e-03 1.75433887e+02] [ 2.25368629e-03 -4.17471242e-05 9.99997460e-01 1.12615223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.37, Y:175.45, Z:1.13 [[ 7.89608781e-01 -6.13607945e-01 -1.80622557e-03 1.73372454e+02] [ 6.13606465e-01 7.89610846e-01 -1.34847818e-03 1.75450170e+02] [ 2.25365222e-03 -4.35414801e-05 9.99997460e-01 1.12610317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.39, Y:175.47, Z:1.13 [[ 7.88939811e-01 -6.14467830e-01 -1.80604002e-03 1.73394560e+02] [ 6.14466351e-01 7.88941876e-01 -1.34872665e-03 1.75466661e+02] [ 2.25360974e-03 -4.56866718e-05 9.99997460e-01 1.12693050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.42, Y:175.48, Z:1.13 [[ 7.88225819e-01 -6.15383457e-01 -1.80561429e-03 1.73416622e+02] [ 6.15381979e-01 7.88227885e-01 -1.34929635e-03 1.75482895e+02] [ 2.25357019e-03 -4.75922799e-05 9.99997460e-01 1.12726173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.44, Y:175.50, Z:1.13 [[ 7.87741209e-01 -6.16003692e-01 -1.79987820e-03 1.73439513e+02] [ 6.16002199e-01 7.87743264e-01 -1.35696627e-03 1.75500277e+02] [ 2.25373816e-03 -3.97906729e-05 9.99997460e-01 1.12859669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.46, Y:175.52, Z:1.13 [[ 7.87091218e-01 -6.16833992e-01 -1.80027160e-03 1.73463342e+02] [ 6.16832502e-01 7.87093276e-01 -1.35644026e-03 1.75518483e+02] [ 2.25368013e-03 -4.28238145e-05 9.99997460e-01 1.12757871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.49, Y:175.54, Z:1.13 [[ 7.87163415e-01 -6.16741843e-01 -1.80488301e-03 1.73485659e+02] [ 6.16740367e-01 7.87165483e-01 -1.35027630e-03 1.75535193e+02] [ 2.25351350e-03 -5.02561089e-05 9.99997460e-01 1.12828377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.87275509600005 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:173.51, Y:175.55, Z:1.13 [[ 7.87141729e-01 -6.16769522e-01 -1.80445433e-03 1.73508474e+02] [ 6.16768044e-01 7.87143795e-01 -1.35084892e-03 1.75552000e+02] [ 2.25352747e-03 -4.96202150e-05 9.99997460e-01 1.12701258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.53, Y:175.57, Z:1.13 [[ 7.88137117e-01 -6.15497059e-01 -1.80405197e-03 1.73531369e+02] [ 6.15495577e-01 7.88139181e-01 -1.35138607e-03 1.75569362e+02] [ 2.25361819e-03 -4.53084879e-05 9.99997460e-01 1.12894948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.93275509600005 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:173.55, Y:175.59, Z:1.13 [[ 7.89335492e-01 -6.13959467e-01 -1.80366744e-03 1.73553741e+02] [ 6.13957980e-01 7.89337552e-01 -1.35189910e-03 1.75585508e+02] [ 2.25371369e-03 -4.02740730e-05 9.99997460e-01 1.12564011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.58, Y:175.60, Z:1.13 [[ 7.90447258e-01 -6.12527454e-01 -1.80323430e-03 1.73576470e+02] [ 6.12525962e-01 7.90449314e-01 -1.35247659e-03 1.75604060e+02] [ 2.25379436e-03 -3.54664154e-05 9.99997460e-01 1.12875552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.60, Y:175.62, Z:1.13 [[ 7.92583294e-01 -6.09760988e-01 -1.80541255e-03 1.73597094e+02] [ 6.09759495e-01 7.92585350e-01 -1.34957334e-03 1.75620500e+02] [ 2.25386071e-03 -3.12181632e-05 9.99997460e-01 1.13013092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.62, Y:175.64, Z:1.13 [[ 7.92926573e-01 -6.09314546e-01 -1.79860623e-03 1.73619345e+02] [ 6.09313031e-01 7.92928612e-01 -1.35863287e-03 1.75638192e+02] [ 2.25400111e-03 -1.86181079e-05 9.99997460e-01 1.12870457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.64, Y:175.66, Z:1.13 [[ 7.93700149e-01 -6.08306523e-01 -1.80201070e-03 1.73641268e+02] [ 6.08305016e-01 7.93702194e-01 -1.35410226e-03 1.75655531e+02] [ 2.25396909e-03 -2.14209839e-05 9.99997460e-01 1.12717084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.66, Y:175.67, Z:1.13 [[ 7.94053911e-01 -6.07844671e-01 -1.80071351e-03 1.73663616e+02] [ 6.07843159e-01 7.94055953e-01 -1.35582768e-03 1.75672206e+02] [ 2.25399992e-03 -1.79511148e-05 9.99997460e-01 1.12809081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.11275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:173.69, Y:175.69, Z:1.13 [[ 7.96384887e-01 -6.04787455e-01 -1.80146512e-03 1.73685147e+02] [ 6.04785938e-01 7.96386925e-01 -1.35482830e-03 1.75687512e+02] [ 2.25404643e-03 -1.05359916e-05 9.99997460e-01 1.12723053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.71, Y:175.71, Z:1.13 [[ 7.95336749e-01 -6.06165198e-01 -1.79127348e-03 1.73707145e+02] [ 6.06163653e-01 7.95338766e-01 -1.36838988e-03 1.75706992e+02] [ 2.25413956e-03 2.52587771e-06 9.99997459e-01 1.12538135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.73, Y:175.72, Z:1.12 [[ 7.95685747e-01 -6.05706996e-01 -1.79640508e-03 1.73728429e+02] [ 6.05705465e-01 7.95687775e-01 -1.36156328e-03 1.75723775e+02] [ 2.25408596e-03 -4.71587354e-06 9.99997460e-01 1.12488250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.76, Y:175.74, Z:1.13 [[ 7.96018907e-01 -6.05269094e-01 -1.79562454e-03 1.73755030e+02] [ 6.05267560e-01 7.96020932e-01 -1.36260140e-03 1.75741793e+02] [ 2.25409523e-03 -2.17680473e-06 9.99997460e-01 1.12918480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.78, Y:175.76, Z:1.13 [[ 7.95345190e-01 -6.06154058e-01 -1.81283403e-03 1.73776681e+02] [ 6.06152578e-01 7.95347256e-01 -1.33975043e-03 1.75758919e+02] [ 2.25392773e-03 -3.32899623e-05 9.99997459e-01 1.12945505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.80, Y:175.77, Z:1.13 [[ 7.95008274e-01 -6.06595881e-01 -1.81161576e-03 1.73795380e+02] [ 6.06594399e-01 7.95010337e-01 -1.34136889e-03 1.75773928e+02] [ 2.25392210e-03 -3.25166055e-05 9.99997459e-01 1.12938646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.82, Y:175.79, Z:1.13 [[ 7.93951164e-01 -6.07978890e-01 -1.79420815e-03 1.73817824e+02] [ 6.07977358e-01 7.93953191e-01 -1.36445969e-03 1.75790754e+02] [ 2.25407997e-03 -7.52357153e-06 9.99997460e-01 1.12619561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.84, Y:175.81, Z:1.13 [[ 7.93978283e-01 -6.07943466e-01 -1.79700044e-03 1.73841144e+02] [ 6.07941943e-01 7.93980316e-01 -1.36075511e-03 1.75806950e+02] [ 2.25404516e-03 -1.20619295e-05 9.99997460e-01 1.12920616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.86, Y:175.82, Z:1.13 [[ 7.92525562e-01 -6.09836050e-01 -1.79610772e-03 1.73861487e+02] [ 6.09834530e-01 7.92527597e-01 -1.36193885e-03 1.75822655e+02] [ 2.25402434e-03 -1.59571559e-05 9.99997460e-01 1.12859453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.88, Y:175.84, Z:1.13 [[ 7.91177291e-01 -6.11584242e-01 -1.79168370e-03 1.73884613e+02] [ 6.11582712e-01 7.91179319e-01 -1.36780361e-03 1.75840445e+02] [ 2.25407022e-03 -1.35876173e-05 9.99997460e-01 1.12902054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.91, Y:175.86, Z:1.13 [[ 7.90698073e-01 -6.12203672e-01 -1.79506691e-03 1.73908291e+02] [ 6.12202154e-01 7.90700110e-01 -1.36331834e-03 1.75857637e+02] [ 2.25398810e-03 -2.09706469e-05 9.99997460e-01 1.13019839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.93, Y:175.87, Z:1.13 [[ 7.90088708e-01 -6.12989891e-01 -1.79627825e-03 1.73929385e+02] [ 6.12988379e-01 7.90090750e-01 -1.36171295e-03 1.75872173e+02] [ 2.25393910e-03 -2.52236646e-05 9.99997460e-01 1.13193716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.95, Y:175.89, Z:1.13 [[ 7.88354468e-01 -6.15218676e-01 -1.79288064e-03 1.73953242e+02] [ 6.15217159e-01 7.88356506e-01 -1.36621709e-03 1.75891037e+02] [ 2.25395138e-03 -2.59475866e-05 9.99997460e-01 1.13162257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:173.98, Y:175.91, Z:1.13 [[ 7.87770164e-01 -6.15966657e-01 -1.80169590e-03 1.73976098e+02] [ 6.15965170e-01 7.87772223e-01 -1.35452925e-03 1.75906712e+02] [ 2.25367084e-03 -4.27241883e-05 9.99997460e-01 1.13353762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.00, Y:175.92, Z:1.13 [[ 7.88487203e-01 -6.15048518e-01 -1.80322499e-03 1.74002697e+02] [ 6.15047032e-01 7.88489264e-01 -1.35250295e-03 1.75922595e+02] [ 2.25367848e-03 -4.26369151e-05 9.99997460e-01 1.13297289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.02, Y:175.94, Z:1.13 [[ 7.87965621e-01 -6.15716563e-01 -1.81503135e-03 1.74020753e+02] [ 6.15715115e-01 7.87967709e-01 -1.33681906e-03 1.75937083e+02] [ 2.25328773e-03 -6.41747767e-05 9.99997459e-01 1.13460493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.05, Y:175.96, Z:1.13 [[ 7.88101060e-01 -6.15543260e-01 -1.79303346e-03 1.74049161e+02] [ 6.15541745e-01 7.88103099e-01 -1.36599756e-03 1.75955943e+02] [ 2.25392582e-03 -2.71428229e-05 9.99997460e-01 1.13331152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.07, Y:175.97, Z:1.14 [[ 7.87793917e-01 -6.15936225e-01 -1.81953914e-03 1.74067636e+02] [ 6.15934792e-01 7.87796015e-01 -1.33094723e-03 1.75971554e+02] [ 2.25320430e-03 -7.22053275e-05 9.99997459e-01 1.13637030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.09, Y:175.99, Z:1.14 [[ 7.88110529e-01 -6.15531108e-01 -1.80257234e-03 1.74090333e+02] [ 6.15529622e-01 7.88112589e-01 -1.35335847e-03 1.75988647e+02] [ 2.25366419e-03 -4.29406054e-05 9.99997460e-01 1.13630498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.11, Y:176.01, Z:1.14 [[ 7.86988564e-01 -6.16964953e-01 -1.80174107e-03 1.74113924e+02] [ 6.16963468e-01 7.86990625e-01 -1.35445579e-03 1.76008672e+02] [ 2.25360508e-03 -4.56672011e-05 9.99997460e-01 1.13802374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.13, Y:176.02, Z:1.14 [[ 7.89417089e-01 -6.13854516e-01 -1.81445689e-03 1.74134312e+02] [ 6.13853061e-01 7.89419172e-01 -1.33766062e-03 1.76020751e+02] [ 2.25349607e-03 -5.78377612e-05 9.99997459e-01 1.13877848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.15, Y:176.04, Z:1.14 [[ 7.89530793e-01 -6.13708319e-01 -1.79616777e-03 1.74154829e+02] [ 6.13706809e-01 7.89532836e-01 -1.36178364e-03 1.76037891e+02] [ 2.25387138e-03 -2.71502704e-05 9.99997460e-01 1.13843269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.18, Y:176.05, Z:1.14 [[ 7.89231992e-01 -6.14092554e-01 -1.78842587e-03 1.74176579e+02] [ 6.14091021e-01 7.89234018e-01 -1.37197827e-03 1.76054972e+02] [ 2.25400818e-03 -1.54471239e-05 9.99997460e-01 1.13811102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.20, Y:176.07, Z:1.14 [[ 7.88832883e-01 -6.14605148e-01 -1.78740555e-03 1.74199257e+02] [ 6.14603614e-01 7.88834908e-01 -1.37332138e-03 1.76072722e+02] [ 2.25401829e-03 -1.52248441e-05 9.99997460e-01 1.13863034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.22, Y:176.09, Z:1.14 [[ 7.88678082e-01 -6.14803774e-01 -1.78951743e-03 1.74220678e+02] [ 6.14802247e-01 7.88680112e-01 -1.37054022e-03 1.76090122e+02] [ 2.25397011e-03 -1.92843035e-05 9.99997460e-01 1.13731000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.24, Y:176.11, Z:1.14 [[ 7.89692772e-01 -6.13499897e-01 -1.78960558e-03 1.74242569e+02] [ 6.13498366e-01 7.89694800e-01 -1.37042417e-03 1.76105981e+02] [ 2.25399731e-03 -1.57060427e-05 9.99997460e-01 1.13719981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.27, Y:176.12, Z:1.14 [[ 7.89951621e-01 -6.13166584e-01 -1.78245671e-03 1.74265703e+02] [ 6.13165031e-01 7.89953632e-01 -1.37983783e-03 1.76122592e+02] [ 2.25412860e-03 -2.93499356e-06 9.99997459e-01 1.13801718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.29, Y:176.14, Z:1.14 [[ 7.90310324e-01 -6.12704180e-01 -1.78296118e-03 1.74287261e+02] [ 6.12702628e-01 7.90312335e-01 -1.37917358e-03 1.76138578e+02] [ 2.25412163e-03 -2.44988219e-06 9.99997459e-01 1.13844152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.31, Y:176.15, Z:1.14 [[ 7.91624120e-01 -6.11005807e-01 -1.77664935e-03 1.74313651e+02] [ 6.11004232e-01 7.91626113e-01 -1.38748028e-03 1.76154460e+02] [ 2.25420053e-03 1.28225835e-05 9.99997459e-01 1.14262019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.34, Y:176.17, Z:1.14 [[ 7.92450005e-01 -6.09934249e-01 -1.78903052e-03 1.74338700e+02] [ 6.09932708e-01 7.92452025e-01 -1.37118532e-03 1.76171326e+02] [ 2.25405374e-03 -4.59241742e-06 9.99997460e-01 1.14105756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.36, Y:176.19, Z:1.14 [[ 7.92451764e-01 -6.09931947e-01 -1.79482101e-03 1.74361278e+02] [ 6.09930423e-01 7.92453796e-01 -1.36356384e-03 1.76187979e+02] [ 2.25399387e-03 -1.41573681e-05 9.99997460e-01 1.14214168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.38, Y:176.20, Z:1.14 [[ 7.92696332e-01 -6.09614063e-01 -1.79431729e-03 1.74382787e+02] [ 6.09612536e-01 7.92698363e-01 -1.36422636e-03 1.76203793e+02] [ 2.25400395e-03 -1.24210803e-05 9.99997460e-01 1.14223091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.41, Y:176.22, Z:1.14 [[ 7.92053226e-01 -6.10449409e-01 -1.79053188e-03 1.74406107e+02] [ 6.10447874e-01 7.92055250e-01 -1.36920073e-03 1.76220106e+02] [ 2.25402796e-03 -8.54652631e-06 9.99997460e-01 1.14165870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.43, Y:176.24, Z:1.14 [[ 7.91908342e-01 -6.10637340e-01 -1.79362129e-03 1.74426385e+02] [ 6.10635814e-01 7.91910373e-01 -1.36514165e-03 1.76236710e+02] [ 2.25399377e-03 -1.41823315e-05 9.99997460e-01 1.14217888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.45, Y:176.25, Z:1.14 [[ 7.92047405e-01 -6.10456983e-01 -1.78312410e-03 1.74450552e+02] [ 6.10455426e-01 7.92049412e-01 -1.37891836e-03 1.76252851e+02] [ 2.25409273e-03 3.65092621e-06 9.99997460e-01 1.14151698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.47, Y:176.27, Z:1.14 [[ 7.90940113e-01 -6.11890962e-01 -1.78568538e-03 1.74473542e+02] [ 6.11889416e-01 7.90942129e-01 -1.37555806e-03 1.76270468e+02] [ 2.25406534e-03 -4.65794018e-06 9.99997460e-01 1.14246439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.50, Y:176.29, Z:1.14 [[ 7.90409463e-01 -6.12576254e-01 -1.79252966e-03 1.74496846e+02] [ 6.12574730e-01 7.90411496e-01 -1.36658049e-03 1.76286933e+02] [ 2.25397081e-03 -1.79002186e-05 9.99997460e-01 1.14359977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.52, Y:176.30, Z:1.14 [[ 7.90103607e-01 -6.12970695e-01 -1.79379681e-03 1.74518801e+02] [ 6.12969176e-01 7.90105643e-01 -1.36491904e-03 1.76303196e+02] [ 2.25394435e-03 -2.11146931e-05 9.99997460e-01 1.14203749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.54, Y:176.32, Z:1.14 [[ 7.89871964e-01 -6.13269165e-01 -1.79192000e-03 1.74541928e+02] [ 6.13267641e-01 7.89873997e-01 -1.36737856e-03 1.76319804e+02] [ 2.25396212e-03 -1.88725658e-05 9.99997460e-01 1.14304262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.56, Y:176.34, Z:1.14 [[ 7.89655680e-01 -6.13547633e-01 -1.79137537e-03 1.74564375e+02] [ 6.13546108e-01 7.89657711e-01 -1.36809181e-03 1.76336454e+02] [ 2.25396286e-03 -1.87699157e-05 9.99997460e-01 1.14231096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.59, Y:176.35, Z:1.14 [[ 7.89541563e-01 -6.13694477e-01 -1.79132967e-03 1.74587265e+02] [ 6.13692952e-01 7.89543595e-01 -1.36815164e-03 1.76354027e+02] [ 2.25395997e-03 -1.91138115e-05 9.99997460e-01 1.14334156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.61, Y:176.37, Z:1.14 [[ 7.89187063e-01 -6.14150283e-01 -1.79169712e-03 1.74608500e+02] [ 6.14148760e-01 7.89189096e-01 -1.36767065e-03 1.76370191e+02] [ 2.25394315e-03 -2.10205822e-05 9.99997460e-01 1.14151426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.63, Y:176.39, Z:1.14 [[ 7.88925906e-01 -6.14485727e-01 -1.79073853e-03 1.74630869e+02] [ 6.14484202e-01 7.88927938e-01 -1.36892461e-03 1.76387289e+02] [ 2.25394829e-03 -2.04004508e-05 9.99997460e-01 1.14132307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.65, Y:176.40, Z:1.14 [[ 7.88677599e-01 -6.14804392e-01 -1.79031645e-03 1.74652934e+02] [ 6.14802867e-01 7.88679631e-01 -1.36947640e-03 1.76404231e+02] [ 2.25394622e-03 -2.06163238e-05 9.99997460e-01 1.14129644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.67, Y:176.42, Z:1.14 [[ 7.88312325e-01 -6.15272684e-01 -1.78989755e-03 1.74674803e+02] [ 6.15271159e-01 7.88314356e-01 -1.37002368e-03 1.76421066e+02] [ 2.25394008e-03 -2.12657936e-05 9.99997460e-01 1.14270124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.70, Y:176.44, Z:1.14 [[ 7.88010228e-01 -6.15659548e-01 -1.78946327e-03 1.74696160e+02] [ 6.15658023e-01 7.88012259e-01 -1.37059068e-03 1.76437935e+02] [ 2.25393624e-03 -2.16579411e-05 9.99997460e-01 1.14241018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.72, Y:176.45, Z:1.14 [[ 7.87412401e-01 -6.16423970e-01 -1.78916832e-03 1.74717196e+02] [ 6.16422446e-01 7.87414433e-01 -1.37097561e-03 1.76454972e+02] [ 2.25391918e-03 -2.33603153e-05 9.99997460e-01 1.14186564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.74, Y:176.47, Z:1.14 [[ 7.86835452e-01 -6.17160248e-01 -1.78899157e-03 1.74738874e+02] [ 6.17158725e-01 7.86837485e-01 -1.37120621e-03 1.76472324e+02] [ 2.25389959e-03 -2.51781013e-05 9.99997460e-01 1.14219995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.76, Y:176.49, Z:1.14 [[ 7.86429252e-01 -6.17677774e-01 -1.78856656e-03 1.74760568e+02] [ 6.17676251e-01 7.86431285e-01 -1.37176035e-03 1.76489125e+02] [ 2.25389058e-03 -2.59626189e-05 9.99997460e-01 1.14152468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.78, Y:176.51, Z:1.14 [[ 7.86240907e-01 -6.17917501e-01 -1.78838507e-03 1.74783125e+02] [ 6.17915979e-01 7.86242940e-01 -1.37199693e-03 1.76506646e+02] [ 2.25388605e-03 -2.63515985e-05 9.99997460e-01 1.14158898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.80, Y:176.52, Z:1.14 [[ 7.85424781e-01 -6.18954536e-01 -1.78796662e-03 1.74804961e+02] [ 6.18953014e-01 7.85426815e-01 -1.37254202e-03 1.76524017e+02] [ 2.25385804e-03 -2.86388152e-05 9.99997460e-01 1.14115830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.83, Y:176.54, Z:1.14 [[ 7.85158856e-01 -6.19291833e-01 -1.78754896e-03 1.74825796e+02] [ 6.19290312e-01 7.85160891e-01 -1.37308576e-03 1.76541285e+02] [ 2.25385433e-03 -2.89213070e-05 9.99997460e-01 1.14351621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.85, Y:176.56, Z:1.14 [[ 7.85013286e-01 -6.19476369e-01 -1.78038190e-03 1.74849066e+02] [ 6.19474826e-01 7.85015305e-01 -1.38240949e-03 1.76559143e+02] [ 2.25399705e-03 -1.76919499e-05 9.99997460e-01 1.14022914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.87, Y:176.58, Z:1.14 [[ 7.84894872e-01 -6.19626376e-01 -1.78696092e-03 1.74870752e+02] [ 6.19624854e-01 7.84896906e-01 -1.37385219e-03 1.76577001e+02] [ 2.25385516e-03 -2.89158578e-05 9.99997460e-01 1.14055060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.89, Y:176.59, Z:1.14 [[ 7.85138367e-01 -6.19317813e-01 -1.78654080e-03 1.74891433e+02] [ 6.19316289e-01 7.85140399e-01 -1.37439830e-03 1.76594945e+02] [ 2.25387471e-03 -2.73409872e-05 9.99997460e-01 1.13929503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.91, Y:176.61, Z:1.14 [[ 7.84917224e-01 -6.19598064e-01 -1.78635905e-03 1.74912655e+02] [ 6.19596540e-01 7.84919256e-01 -1.37463449e-03 1.76613238e+02] [ 2.25386848e-03 -2.78476030e-05 9.99997460e-01 1.14346911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.94, Y:176.63, Z:1.14 [[ 7.86006526e-01 -6.18215634e-01 -1.78049362e-03 1.74936590e+02] [ 6.18214089e-01 7.86008543e-01 -1.38225176e-03 1.76630349e+02] [ 2.25401284e-03 -1.42673381e-05 9.99997460e-01 1.14409063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.96, Y:176.65, Z:1.14 [[ 7.86096870e-01 -6.18100740e-01 -1.78503184e-03 1.74959081e+02] [ 6.18099208e-01 7.86098896e-01 -1.37635985e-03 1.76647491e+02] [ 2.25394060e-03 -2.13745990e-05 9.99997460e-01 1.14375910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:174.98, Y:176.66, Z:1.14 [[ 7.86457058e-01 -6.17642379e-01 -1.78552605e-03 1.74981374e+02] [ 6.17640847e-01 7.86459084e-01 -1.37571841e-03 1.76664402e+02] [ 2.25394518e-03 -2.08703708e-05 9.99997460e-01 1.14370284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.00, Y:176.68, Z:1.15 [[ 7.87468152e-01 -6.16352757e-01 -1.78539005e-03 1.75004601e+02] [ 6.16351222e-01 7.87470176e-01 -1.37589490e-03 1.76682282e+02] [ 2.25397803e-03 -1.69539257e-05 9.99997460e-01 1.14518728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.03, Y:176.70, Z:1.15 [[ 7.87509068e-01 -6.16300480e-01 -1.78497181e-03 1.75025524e+02] [ 6.16298943e-01 7.87511091e-01 -1.37643728e-03 1.76699757e+02] [ 2.25398405e-03 -1.61193991e-05 9.99997460e-01 1.14563357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.05, Y:176.72, Z:1.15 [[ 7.87569420e-01 -6.16223355e-01 -1.78478724e-03 1.75047451e+02] [ 6.16221818e-01 7.87571442e-01 -1.37667656e-03 1.76717222e+02] [ 2.25398771e-03 -1.55964730e-05 9.99997460e-01 1.14642775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.07, Y:176.73, Z:1.15 [[ 7.87384352e-01 -6.16459811e-01 -1.78434807e-03 1.75068740e+02] [ 6.16458272e-01 7.87386374e-01 -1.37724555e-03 1.76733614e+02] [ 2.25398789e-03 -1.55545276e-05 9.99997460e-01 1.14664752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.09, Y:176.75, Z:1.15 [[ 7.86859093e-01 -6.17130119e-01 -1.78416598e-03 1.75090369e+02] [ 6.17128582e-01 7.86861116e-01 -1.37748140e-03 1.76750083e+02] [ 2.25397609e-03 -1.71760548e-05 9.99997460e-01 1.14676959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.11, Y:176.77, Z:1.15 [[ 7.86280585e-01 -6.17867024e-01 -1.78398927e-03 1.75112596e+02] [ 6.17865488e-01 7.86282609e-01 -1.37771022e-03 1.76766709e+02] [ 2.25396145e-03 -1.89986057e-05 9.99997460e-01 1.14739184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:176.78, Z:1.15 [[ 7.85174541e-01 -6.19271959e-01 -1.78357020e-03 1.75135738e+02] [ 6.19270425e-01 7.85176567e-01 -1.37825253e-03 1.76782771e+02] [ 2.25393067e-03 -2.23434715e-05 9.99997460e-01 1.14810434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.16, Y:176.80, Z:1.15 [[ 7.84479020e-01 -6.20152792e-01 -1.78344065e-03 1.75158418e+02] [ 6.20151261e-01 7.84481047e-01 -1.37842014e-03 1.76799605e+02] [ 2.25390649e-03 -2.46612877e-05 9.99997460e-01 1.14909745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.18, Y:176.82, Z:1.15 [[ 7.83982240e-01 -6.20780692e-01 -1.78301289e-03 1.75179848e+02] [ 6.20779161e-01 7.83984268e-01 -1.37897324e-03 1.76816066e+02] [ 2.25389402e-03 -2.57667190e-05 9.99997460e-01 1.14861502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.20, Y:176.83, Z:1.15 [[ 7.83471186e-01 -6.21425556e-01 -1.78282778e-03 1.75202040e+02] [ 6.21424026e-01 7.83473214e-01 -1.37921252e-03 1.76833376e+02] [ 2.25387572e-03 -2.73187480e-05 9.99997460e-01 1.14867847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.22, Y:176.85, Z:1.15 [[ 7.82665491e-01 -6.22439999e-01 -1.78241672e-03 1.75224282e+02] [ 6.22438471e-01 7.82667520e-01 -1.37974355e-03 1.76850687e+02] [ 2.25384725e-03 -2.95670724e-05 9.99997460e-01 1.15048143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.25, Y:176.87, Z:1.15 [[ 7.82331227e-01 -6.22860077e-01 -1.78197935e-03 1.75247986e+02] [ 6.22858549e-01 7.82333256e-01 -1.38030819e-03 1.76868177e+02] [ 2.25384057e-03 -3.00628760e-05 9.99997460e-01 1.15103906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.27, Y:176.89, Z:1.15 [[ 7.80984679e-01 -6.24547635e-01 -1.78415013e-03 1.75269488e+02] [ 6.24546117e-01 7.80986716e-01 -1.37750717e-03 1.76885129e+02] [ 2.25371639e-03 -3.84720420e-05 9.99997460e-01 1.15091097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.29, Y:176.90, Z:1.15 [[ 7.80265929e-01 -6.25445367e-01 -1.78129250e-03 1.75291350e+02] [ 6.25443843e-01 7.80267962e-01 -1.38119258e-03 1.76902049e+02] [ 2.25374597e-03 -3.64009153e-05 9.99997460e-01 1.15216285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.31, Y:176.92, Z:1.15 [[ 7.79247150e-01 -6.26714216e-01 -1.78085522e-03 1.75314361e+02] [ 6.26712694e-01 7.79249184e-01 -1.38175617e-03 1.76918877e+02] [ 2.25369621e-03 -3.93550190e-05 9.99997460e-01 1.15274244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.34, Y:176.94, Z:1.15 [[ 7.78618247e-01 -6.27495383e-01 -1.78042075e-03 1.75335806e+02] [ 6.27493861e-01 7.78620282e-01 -1.38231577e-03 1.76935102e+02] [ 2.25366847e-03 -4.09068126e-05 9.99997460e-01 1.15252330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.36, Y:176.95, Z:1.15 [[ 7.77705198e-01 -6.28626642e-01 -1.78023262e-03 1.75357570e+02] [ 6.28625123e-01 7.77707235e-01 -1.38255800e-03 1.76952157e+02] [ 2.25361259e-03 -4.38764073e-05 9.99997460e-01 1.15275503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.38, Y:176.97, Z:1.15 [[ 7.76290545e-01 -6.30372764e-01 -1.77980696e-03 1.75379819e+02] [ 6.30371248e-01 7.76292584e-01 -1.38310575e-03 1.76969495e+02] [ 2.25352314e-03 -4.82472210e-05 9.99997460e-01 1.15347322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.40, Y:176.99, Z:1.15 [[ 7.75769567e-01 -6.31013798e-01 -1.77938016e-03 1.75401778e+02] [ 6.31012283e-01 7.75771606e-01 -1.38365462e-03 1.76986837e+02] [ 2.25349776e-03 -4.94135966e-05 9.99997460e-01 1.15422387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.42, Y:177.00, Z:1.15 [[ 7.75103591e-01 -6.31831670e-01 -1.77894486e-03 1.75423821e+02] [ 6.31830156e-01 7.75105630e-01 -1.38421406e-03 1.77004370e+02] [ 2.25346045e-03 -5.10817182e-05 9.99997460e-01 1.15468781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.45, Y:177.02, Z:1.16 [[ 7.74111431e-01 -6.33046862e-01 -1.77850776e-03 1.75446052e+02] [ 6.33045349e-01 7.74113472e-01 -1.38477543e-03 1.77021601e+02] [ 2.25339456e-03 -5.39055779e-05 9.99997460e-01 1.15503516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.47, Y:177.04, Z:1.16 [[ 7.73205667e-01 -6.34152848e-01 -1.77807353e-03 1.75467221e+02] [ 6.34151337e-01 7.73207710e-01 -1.38533277e-03 1.77039192e+02] [ 2.25333288e-03 -5.64205539e-05 9.99997460e-01 1.15680272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.49, Y:177.06, Z:1.16 [[ 7.73190736e-01 -6.34171069e-01 -1.77244539e-03 1.75490605e+02] [ 6.34169542e-01 7.73192766e-01 -1.39255038e-03 1.77056441e+02] [ 2.25355712e-03 -4.73238316e-05 9.99997460e-01 1.15626452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.51, Y:177.07, Z:1.16 [[ 7.72383306e-01 -6.35154209e-01 -1.77754623e-03 1.75510390e+02] [ 6.35152699e-01 7.72385349e-01 -1.38600859e-03 1.77073333e+02] [ 2.25327986e-03 -5.84833887e-05 9.99997460e-01 1.15655829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.60275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:175.53, Y:177.09, Z:1.16 [[ 7.72162295e-01 -6.35422889e-01 -1.77297956e-03 1.75532668e+02] [ 6.35421366e-01 7.72164328e-01 -1.39185882e-03 1.77091163e+02] [ 2.25345052e-03 -5.18481931e-05 9.99997460e-01 1.15677132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.56, Y:177.11, Z:1.16 [[ 7.71992584e-01 -6.35629065e-01 -1.77276114e-03 1.75555627e+02] [ 6.35627542e-01 7.71994618e-01 -1.39213850e-03 1.77108800e+02] [ 2.25344575e-03 -5.20952093e-05 9.99997460e-01 1.15696362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.58, Y:177.13, Z:1.16 [[ 7.71662159e-01 -6.36030154e-01 -1.77631989e-03 1.75577742e+02] [ 6.36028643e-01 7.71664202e-01 -1.38758275e-03 1.77126299e+02] [ 2.25326694e-03 -5.90452233e-05 9.99997460e-01 1.15706920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.60, Y:177.14, Z:1.16 [[ 7.71530388e-01 -6.36189993e-01 -1.77587613e-03 1.75599243e+02] [ 6.36188481e-01 7.71532429e-01 -1.38815045e-03 1.77142992e+02] [ 2.25327345e-03 -5.87916824e-05 9.99997460e-01 1.15684783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.62, Y:177.16, Z:1.16 [[ 7.71658795e-01 -6.36034237e-01 -1.77568416e-03 1.75620934e+02] [ 6.36032724e-01 7.71660836e-01 -1.38839597e-03 1.77160663e+02] [ 2.25329330e-03 -5.80252762e-05 9.99997460e-01 1.15811059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.64, Y:177.18, Z:1.16 [[ 7.72139059e-01 -6.35451117e-01 -1.77524003e-03 1.75642200e+02] [ 6.35449601e-01 7.72141098e-01 -1.38896362e-03 1.77177936e+02] [ 2.25335427e-03 -5.56025017e-05 9.99997460e-01 1.15816612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.66, Y:177.20, Z:1.16 [[ 7.72565205e-01 -6.34932952e-01 -1.77504777e-03 1.75663069e+02] [ 6.34931434e-01 7.72567242e-01 -1.38920928e-03 1.77195243e+02] [ 2.25339851e-03 -5.37788708e-05 9.99997460e-01 1.15831663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.69, Y:177.21, Z:1.16 [[ 7.73062155e-01 -6.34327797e-01 -1.77486010e-03 1.75685074e+02] [ 6.34326277e-01 7.73064191e-01 -1.38944901e-03 1.77213074e+02] [ 2.25344691e-03 -5.17099538e-05 9.99997460e-01 1.15853962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.71, Y:177.23, Z:1.16 [[ 7.74658774e-01 -6.32376973e-01 -1.77442033e-03 1.75706225e+02] [ 6.32375447e-01 7.74660805e-01 -1.39001040e-03 1.77229824e+02] [ 2.25358445e-03 -4.53160940e-05 9.99997460e-01 1.15862631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.73, Y:177.25, Z:1.16 [[ 7.75456409e-01 -6.31398614e-01 -1.77412160e-03 1.75728216e+02] [ 6.31397085e-01 7.75458437e-01 -1.39039157e-03 1.77247119e+02] [ 2.25364887e-03 -4.19871542e-05 9.99997460e-01 1.15931579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.75, Y:177.26, Z:1.16 [[ 7.77061769e-01 -6.29421847e-01 -1.77365458e-03 1.75749120e+02] [ 6.29420311e-01 7.77063792e-01 -1.39098707e-03 1.77263664e+02] [ 2.25376040e-03 -3.54913463e-05 9.99997460e-01 1.15834900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.77, Y:177.28, Z:1.16 [[ 7.77927128e-01 -6.28352002e-01 -1.77345288e-03 1.75770652e+02] [ 6.28350462e-01 7.77929149e-01 -1.39124419e-03 1.77280511e+02] [ 2.25381176e-03 -3.20633406e-05 9.99997460e-01 1.15791965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.79, Y:177.30, Z:1.16 [[ 7.78678267e-01 -6.27420921e-01 -1.77315789e-03 1.75793015e+02] [ 6.27419379e-01 7.78680285e-01 -1.39162005e-03 1.77298162e+02] [ 2.25385462e-03 -2.88893336e-05 9.99997460e-01 1.15800412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.81, Y:177.31, Z:1.16 [[ 7.80596673e-01 -6.25032553e-01 -1.77271966e-03 1.75813868e+02] [ 6.25031003e-01 7.80598685e-01 -1.39217806e-03 1.77314819e+02] [ 2.25393925e-03 -2.12751821e-05 9.99997460e-01 1.15757824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.84, Y:177.33, Z:1.16 [[ 7.82072423e-01 -6.23185032e-01 -1.77252991e-03 1.75835917e+02] [ 6.23183476e-01 7.82074431e-01 -1.39241961e-03 1.77332738e+02] [ 2.25398538e-03 -1.56383716e-05 9.99997460e-01 1.15734590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.86, Y:177.35, Z:1.16 [[ 7.82564122e-01 -6.22567470e-01 -1.77208956e-03 1.75857265e+02] [ 6.22565912e-01 7.82566128e-01 -1.39297980e-03 1.77349380e+02] [ 2.25400118e-03 -1.31465404e-05 9.99997460e-01 1.15696204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.88, Y:177.37, Z:1.16 [[ 7.82824707e-01 -6.22239776e-01 -1.77189894e-03 1.75879313e+02] [ 6.22238216e-01 7.82826712e-01 -1.39322223e-03 1.77366822e+02] [ 2.25400811e-03 -1.18944500e-05 9.99997460e-01 1.15739648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.90, Y:177.38, Z:1.16 [[ 7.83184022e-01 -6.21787464e-01 -1.77145918e-03 1.75901223e+02] [ 6.21785902e-01 7.83186025e-01 -1.39378116e-03 1.77384319e+02] [ 2.25401773e-03 -9.88121514e-06 9.99997460e-01 1.15741405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.92, Y:177.40, Z:1.16 [[ 7.83921571e-01 -6.20857338e-01 -1.77102015e-03 1.75923764e+02] [ 6.20855772e-01 7.83923571e-01 -1.39433879e-03 1.77401854e+02] [ 2.25402991e-03 -6.49582949e-06 9.99997460e-01 1.15812249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.95, Y:177.42, Z:1.16 [[ 7.84249745e-01 -6.20442747e-01 -1.77057750e-03 1.75945961e+02] [ 6.20441179e-01 7.84251744e-01 -1.39490067e-03 1.77418905e+02] [ 2.25403449e-03 -4.58869763e-06 9.99997460e-01 1.15860088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.97, Y:177.44, Z:1.16 [[ 7.84562552e-01 -6.20047151e-01 -1.77013823e-03 1.75967499e+02] [ 6.20045580e-01 7.84564549e-01 -1.39545787e-03 1.77435155e+02] [ 2.25403738e-03 -2.74240176e-06 9.99997460e-01 1.15924960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.99, Y:177.45, Z:1.16 [[ 7.84660235e-01 -6.19923530e-01 -1.76994813e-03 1.75989872e+02] [ 6.19921959e-01 7.84662231e-01 -1.39569896e-03 1.77452202e+02] [ 2.25403807e-03 -2.08023826e-06 9.99997460e-01 1.15978475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.01, Y:177.47, Z:1.16 [[ 7.84536243e-01 -6.20080440e-01 -1.76950504e-03 1.76011957e+02] [ 6.20078868e-01 7.84538239e-01 -1.39626049e-03 1.77467723e+02] [ 2.25403818e-03 -1.81572182e-06 9.99997460e-01 1.16067677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.03, Y:177.48, Z:1.16 [[ 7.84280889e-01 -6.20403383e-01 -1.76931350e-03 1.76034291e+02] [ 6.20401811e-01 7.84282884e-01 -1.39650315e-03 1.77484152e+02] [ 2.25403758e-03 -2.43456760e-06 9.99997460e-01 1.16119347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.06, Y:177.50, Z:1.16 [[ 7.83611514e-01 -6.21248635e-01 -1.76887937e-03 1.76056562e+02] [ 6.21247064e-01 7.83613511e-01 -1.39705283e-03 1.77499314e+02] [ 2.25403494e-03 -4.16443418e-06 9.99997460e-01 1.16255133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.08, Y:177.52, Z:1.16 [[ 7.82815194e-01 -6.22251753e-01 -1.76869148e-03 1.76079466e+02] [ 6.22250184e-01 7.82817192e-01 -1.39729067e-03 1.77516334e+02] [ 2.25402866e-03 -6.74822920e-06 9.99997460e-01 1.16307487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.10, Y:177.53, Z:1.16 [[ 7.82121399e-01 -6.23123576e-01 -1.76825092e-03 1.76102410e+02] [ 6.23122008e-01 7.82123398e-01 -1.39784796e-03 1.77532854e+02] [ 2.25402244e-03 -8.54925923e-06 9.99997460e-01 1.16337045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.12, Y:177.55, Z:1.16 [[ 7.81398062e-01 -6.24030403e-01 -1.76779962e-03 1.76124539e+02] [ 6.24028836e-01 7.81400062e-01 -1.39841847e-03 1.77548612e+02] [ 2.25401437e-03 -1.04364620e-05 9.99997460e-01 1.16473910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.15, Y:177.56, Z:1.17 [[ 7.80312989e-01 -6.25386693e-01 -1.76749327e-03 1.76148350e+02] [ 6.25385129e-01 7.80314990e-01 -1.39880556e-03 1.77563615e+02] [ 2.25399588e-03 -1.38578608e-05 9.99997460e-01 1.16592385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.17, Y:177.58, Z:1.17 [[ 7.80115686e-01 -6.25632795e-01 -1.76705200e-03 1.76170645e+02] [ 6.25631230e-01 7.80117687e-01 -1.39936278e-03 1.77581483e+02] [ 2.25399577e-03 -1.38580562e-05 9.99997460e-01 1.16598805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.19, Y:177.60, Z:1.17 [[ 7.79493395e-01 -6.26407955e-01 -1.76661043e-03 1.76193225e+02] [ 6.26406391e-01 7.79495397e-01 -1.39992002e-03 1.77597772e+02] [ 2.25398573e-03 -1.53876492e-05 9.99997460e-01 1.16685019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.22, Y:177.61, Z:1.17 [[ 7.78961213e-01 -6.27069621e-01 -1.76617012e-03 1.76215898e+02] [ 6.27068057e-01 7.78963215e-01 -1.40047530e-03 1.77614069e+02] [ 2.25397707e-03 -1.65929324e-05 9.99997460e-01 1.16726091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.24, Y:177.63, Z:1.17 [[ 7.78690580e-01 -6.27405661e-01 -1.76572100e-03 1.76237657e+02] [ 6.27404097e-01 7.78692581e-01 -1.40104132e-03 1.77630375e+02] [ 2.25397510e-03 -1.68429160e-05 9.99997460e-01 1.16810963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.26, Y:177.65, Z:1.17 [[ 7.78980686e-01 -6.27045432e-01 -1.76552726e-03 1.76258347e+02] [ 6.27043867e-01 7.78982686e-01 -1.40128542e-03 1.77647269e+02] [ 2.25398479e-03 -1.54887656e-05 9.99997460e-01 1.16945458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.28, Y:177.67, Z:1.17 [[ 7.78746312e-01 -6.27336484e-01 -1.76534389e-03 1.76279688e+02] [ 6.27334919e-01 7.78748313e-01 -1.40151639e-03 1.77665040e+02] [ 2.25398094e-03 -1.60361421e-05 9.99997460e-01 1.16954588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.30, Y:177.68, Z:1.17 [[ 7.78687561e-01 -6.27409410e-01 -1.76490230e-03 1.76300671e+02] [ 6.27407843e-01 7.78689561e-01 -1.40207226e-03 1.77682650e+02] [ 2.25398433e-03 -1.55373210e-05 9.99997460e-01 1.17015495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.32, Y:177.70, Z:1.17 [[ 7.78320945e-01 -6.27864151e-01 -1.76471594e-03 1.76321317e+02] [ 6.27862585e-01 7.78322946e-01 -1.40230678e-03 1.77700751e+02] [ 2.25397707e-03 -1.65543709e-05 9.99997460e-01 1.17127099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.34, Y:177.72, Z:1.17 [[ 7.77792952e-01 -6.28518106e-01 -1.76458235e-03 1.76342876e+02] [ 6.28516542e-01 7.77794953e-01 -1.40247486e-03 1.77718408e+02] [ 2.25396409e-03 -1.82341323e-05 9.99997460e-01 1.17001454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.36, Y:177.74, Z:1.17 [[ 7.76476634e-01 -6.30143574e-01 -1.76412391e-03 1.76364112e+02] [ 6.30142013e-01 7.76478638e-01 -1.40305129e-03 1.77736113e+02] [ 2.25392828e-03 -2.22120505e-05 9.99997460e-01 1.17113398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.39, Y:177.75, Z:1.17 [[ 7.75441567e-01 -6.31416871e-01 -1.76390999e-03 1.76385421e+02] [ 6.31415312e-01 7.75443573e-01 -1.40332017e-03 1.77753869e+02] [ 2.25389270e-03 -2.55669902e-05 9.99997460e-01 1.16963421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.41, Y:177.77, Z:1.17 [[ 7.74431721e-01 -6.32655041e-01 -1.76346214e-03 1.76406991e+02] [ 6.32653484e-01 7.74433728e-01 -1.40388272e-03 1.77771795e+02] [ 2.25385804e-03 -2.84491552e-05 9.99997460e-01 1.16889904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.43, Y:177.79, Z:1.17 [[ 7.72814005e-01 -6.34630133e-01 -1.76301498e-03 1.76427335e+02] [ 6.34628579e-01 7.72816015e-01 -1.40444406e-03 1.77789631e+02] [ 2.25378873e-03 -3.34856565e-05 9.99997460e-01 1.16754745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.45, Y:177.81, Z:1.17 [[ 7.71746546e-01 -6.35927795e-01 -1.76282145e-03 1.76448783e+02] [ 6.35926245e-01 7.71748559e-01 -1.40468692e-03 1.77807956e+02] [ 2.25373437e-03 -3.69621493e-05 9.99997460e-01 1.16642860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.47, Y:177.83, Z:1.16 [[ 7.69108033e-01 -6.39116364e-01 -1.76238086e-03 1.76470365e+02] [ 6.39114821e-01 7.69110051e-01 -1.40523950e-03 1.77827460e+02] [ 2.25357639e-03 -4.55827419e-05 9.99997460e-01 1.16279721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.49, Y:177.85, Z:1.16 [[ 7.67672758e-01 -6.40839631e-01 -1.76198274e-03 1.76491913e+02] [ 6.40838091e-01 7.67674778e-01 -1.40573851e-03 1.77845823e+02] [ 2.25348265e-03 -4.99984992e-05 9.99997460e-01 1.16126580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.51, Y:177.86, Z:1.16 [[ 7.66181478e-01 -6.42621848e-01 -1.76152679e-03 1.76512848e+02] [ 6.42620311e-01 7.66183501e-01 -1.40630962e-03 1.77863292e+02] [ 2.25337805e-03 -5.45045070e-05 9.99997460e-01 1.16022521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.53, Y:177.88, Z:1.16 [[ 7.64536153e-01 -6.44578442e-01 -1.76134043e-03 1.76534607e+02] [ 6.44576910e-01 7.64538180e-01 -1.40654299e-03 1.77881810e+02] [ 2.25323930e-03 -5.99664105e-05 9.99997460e-01 1.15866943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.56, Y:177.90, Z:1.16 [[ 7.62357806e-01 -6.47153363e-01 -1.76089348e-03 1.76555225e+02] [ 6.47151837e-01 7.62359837e-01 -1.40710232e-03 1.77900391e+02] [ 2.25304546e-03 -6.68500056e-05 9.99997460e-01 1.15554679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.58, Y:177.92, Z:1.15 [[ 7.61474865e-01 -6.48192048e-01 -1.76068623e-03 1.76576594e+02] [ 6.48190524e-01 7.61476897e-01 -1.40736160e-03 1.77919117e+02] [ 2.25296248e-03 -6.95896456e-05 9.99997460e-01 1.15325983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.60, Y:177.94, Z:1.15 [[ 7.61117795e-01 -6.48611288e-01 -1.76024292e-03 1.76596060e+02] [ 6.48609764e-01 7.61119828e-01 -1.40791584e-03 1.77938873e+02] [ 2.25294590e-03 -7.01209463e-05 9.99997460e-01 1.14895357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.62, Y:177.96, Z:1.15 [[ 7.61183785e-01 -6.48533844e-01 -1.76010600e-03 1.76617177e+02] [ 6.48532319e-01 7.61185817e-01 -1.40808700e-03 1.77958155e+02] [ 2.25295980e-03 -6.96726288e-05 9.99997460e-01 1.14612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.64, Y:177.98, Z:1.14 [[ 7.61617433e-01 -6.48024529e-01 -1.75966222e-03 1.76636426e+02] [ 6.48023001e-01 7.61619463e-01 -1.40864137e-03 1.77976850e+02] [ 2.25302715e-03 -6.74557694e-05 9.99997460e-01 1.14369128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.65, Y:178.00, Z:1.14 [[ 7.64235353e-01 -6.44935059e-01 -1.75936072e-03 1.76654703e+02] [ 6.44933522e-01 7.64237376e-01 -1.40901783e-03 1.77998758e+02] [ 2.25329422e-03 -5.78494647e-05 9.99997460e-01 1.13882318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.68, Y:178.02, Z:1.14 [[ 7.65403908e-01 -6.43547795e-01 -1.75892020e-03 1.76675334e+02] [ 6.43546253e-01 7.65405927e-01 -1.40956752e-03 1.78017101e+02] [ 2.25341202e-03 -5.30580148e-05 9.99997460e-01 1.13626720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.70, Y:178.04, Z:1.13 [[ 7.66779879e-01 -6.41907723e-01 -1.75848343e-03 1.76696985e+02] [ 6.41906176e-01 7.66781894e-01 -1.41011220e-03 1.78036808e+02] [ 2.25353517e-03 -4.75357083e-05 9.99997460e-01 1.13399295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.72, Y:178.06, Z:1.13 [[ 7.69417846e-01 -6.38743366e-01 -1.75810070e-03 1.76715503e+02] [ 6.38741810e-01 7.69419853e-01 -1.41058922e-03 1.78058855e+02] [ 2.25372209e-03 -3.76399008e-05 9.99997460e-01 1.12975848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.74, Y:178.08, Z:1.13 [[ 7.70649688e-01 -6.37256596e-01 -1.75789959e-03 1.76735776e+02] [ 6.37255035e-01 7.70651692e-01 -1.41083981e-03 1.78079221e+02] [ 2.25379526e-03 -3.29671059e-05 9.99997460e-01 1.12853347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.76, Y:178.10, Z:1.13 [[ 7.71879820e-01 -6.35766038e-01 -1.75749349e-03 1.76755355e+02] [ 6.35764472e-01 7.71881820e-01 -1.41134550e-03 1.78099468e+02] [ 2.25386281e-03 -2.79628087e-05 9.99997460e-01 1.12762126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.77, Y:178.12, Z:1.13 [[ 7.74035379e-01 -6.33139909e-01 -1.75705303e-03 1.76772506e+02] [ 6.33138335e-01 7.74037373e-01 -1.41189364e-03 1.78123409e+02] [ 2.25395092e-03 -1.96019964e-05 9.99997460e-01 1.12612768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.79, Y:178.14, Z:1.13 [[ 7.74669379e-01 -6.32364034e-01 -1.75566323e-03 1.76793397e+02] [ 6.32362454e-01 7.74671368e-01 -1.41362240e-03 1.78144017e+02] [ 2.25398600e-03 -1.51255183e-05 9.99997460e-01 1.12589036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.81, Y:178.16, Z:1.13 [[ 7.75170761e-01 -6.31749323e-01 -1.75652703e-03 1.76813640e+02] [ 6.31747744e-01 7.75172751e-01 -1.41254825e-03 1.78163345e+02] [ 2.25398829e-03 -1.47158905e-05 9.99997460e-01 1.12601875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.83, Y:178.18, Z:1.13 [[ 7.75854706e-01 -6.30909178e-01 -1.75608727e-03 1.76832625e+02] [ 6.30907596e-01 7.75856693e-01 -1.41309476e-03 1.78184856e+02] [ 2.25400651e-03 -1.15725773e-05 9.99997460e-01 1.12611103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.85, Y:178.20, Z:1.13 [[ 7.75833485e-01 -6.30935275e-01 -1.75564703e-03 1.76852484e+02] [ 6.30933691e-01 7.75835472e-01 -1.41364150e-03 1.78204517e+02] [ 2.25400953e-03 -1.09464525e-05 9.99997460e-01 1.12671796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.87, Y:178.23, Z:1.13 [[ 7.75228791e-01 -6.31678115e-01 -1.75519357e-03 1.76870519e+02] [ 6.31676532e-01 7.75230778e-01 -1.41420430e-03 1.78226766e+02] [ 2.25400198e-03 -1.23826937e-05 9.99997460e-01 1.12653346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.89, Y:178.25, Z:1.13 [[ 7.74493609e-01 -6.32579300e-01 -1.75473865e-03 1.76890605e+02] [ 6.32577718e-01 7.74495597e-01 -1.41476853e-03 1.78246870e+02] [ 2.25399065e-03 -1.42793863e-05 9.99997460e-01 1.12535005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.91, Y:178.27, Z:1.13 [[ 7.72340920e-01 -6.35205813e-01 -1.75443582e-03 1.76908878e+02] [ 6.35204237e-01 7.72342913e-01 -1.41514397e-03 1.78268430e+02] [ 2.25393375e-03 -2.14514650e-05 9.99997460e-01 1.12648606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.93, Y:178.29, Z:1.13 [[ 7.71033444e-01 -6.36792236e-01 -1.75394841e-03 1.76929467e+02] [ 6.36790663e-01 7.71035439e-01 -1.41574782e-03 1.78287790e+02] [ 2.25389360e-03 -2.53090562e-05 9.99997460e-01 1.12567104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.95, Y:178.31, Z:1.13 [[ 7.69797572e-01 -6.38285691e-01 -1.75348918e-03 1.76949144e+02] [ 6.38284120e-01 7.69799569e-01 -1.41631637e-03 1.78306148e+02] [ 2.25384969e-03 -2.89473941e-05 9.99997460e-01 1.12555398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.97, Y:178.32, Z:1.12 [[ 7.68631167e-01 -6.39689812e-01 -1.75327534e-03 1.76969035e+02] [ 6.39688244e-01 7.68633166e-01 -1.41658103e-03 1.78324106e+02] [ 2.25379803e-03 -3.27212950e-05 9.99997460e-01 1.12360647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:176.99, Y:178.34, Z:1.13 [[ 7.67275182e-01 -6.41315618e-01 -1.75301100e-03 1.76989907e+02] [ 6.41314054e-01 7.67277184e-01 -1.41690809e-03 1.78342249e+02] [ 2.25373063e-03 -3.70721801e-05 9.99997460e-01 1.12668899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.01, Y:178.36, Z:1.13 [[ 7.64912382e-01 -6.44131956e-01 -1.75252444e-03 1.77009686e+02] [ 6.44130398e-01 7.64914389e-01 -1.41750964e-03 1.78360297e+02] [ 2.25359441e-03 -4.45835870e-05 9.99997460e-01 1.12654780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.03, Y:178.38, Z:1.13 [[ 7.63841864e-01 -6.45401067e-01 -1.75225974e-03 1.77030280e+02] [ 6.45399511e-01 7.63843872e-01 -1.41783676e-03 1.78378834e+02] [ 2.25352623e-03 -4.79045057e-05 9.99997460e-01 1.12724198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.05, Y:178.40, Z:1.13 [[ 7.62939922e-01 -6.46467020e-01 -1.75178240e-03 1.77051115e+02] [ 6.46465465e-01 7.62941931e-01 -1.41842629e-03 1.78397824e+02] [ 2.25347407e-03 -5.02927814e-05 9.99997460e-01 1.12785267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.07, Y:178.42, Z:1.13 [[ 7.61739660e-01 -6.47880871e-01 -1.75130070e-03 1.77072307e+02] [ 6.47879319e-01 7.61741671e-01 -1.41902078e-03 1.78416861e+02] [ 2.25339515e-03 -5.37070984e-05 9.99997460e-01 1.12912975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.09, Y:178.44, Z:1.13 [[ 7.61102375e-01 -6.48629408e-01 -1.75081020e-03 1.77094276e+02] [ 6.48627857e-01 7.61104387e-01 -1.41962572e-03 1.78435122e+02] [ 2.25336031e-03 -5.51437648e-05 9.99997460e-01 1.12902937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.12, Y:178.45, Z:1.13 [[ 7.61799605e-01 -6.47810381e-01 -1.75278079e-03 1.77115333e+02] [ 6.47808833e-01 7.61801620e-01 -1.41719642e-03 1.78451369e+02] [ 2.25334580e-03 -5.58472038e-05 9.99997460e-01 1.12936822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.14, Y:178.47, Z:1.13 [[ 7.61896267e-01 -6.47696700e-01 -1.75018427e-03 1.77136874e+02] [ 6.47695145e-01 7.61898276e-01 -1.42039581e-03 1.78468643e+02] [ 2.25344805e-03 -5.13915884e-05 9.99997460e-01 1.13061526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.16, Y:178.49, Z:1.13 [[ 7.62367597e-01 -6.47141859e-01 -1.74968619e-03 1.77158548e+02] [ 6.47140301e-01 7.62369603e-01 -1.42100909e-03 1.78485812e+02] [ 2.25350203e-03 -4.89611671e-05 9.99997460e-01 1.13087599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.18, Y:178.50, Z:1.13 [[ 7.64106837e-01 -6.45087344e-01 -1.74919061e-03 1.77180483e+02] [ 6.45085779e-01 7.64108838e-01 -1.42161886e-03 1.78501715e+02] [ 2.25364034e-03 -4.21093004e-05 9.99997460e-01 1.13221900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.20, Y:178.52, Z:1.13 [[ 7.65023082e-01 -6.44000486e-01 -1.74899056e-03 1.77202983e+02] [ 6.43998917e-01 7.65025080e-01 -1.42186493e-03 1.78518050e+02] [ 2.25370335e-03 -3.85885356e-05 9.99997460e-01 1.13473113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.23, Y:178.53, Z:1.14 [[ 7.65908970e-01 -6.42946648e-01 -1.74849197e-03 1.77226451e+02] [ 6.42945075e-01 7.65910965e-01 -1.42247779e-03 1.78534896e+02] [ 2.25376650e-03 -3.46958011e-05 9.99997460e-01 1.13642961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.25, Y:178.55, Z:1.14 [[ 7.67941213e-01 -6.40517945e-01 -1.74805546e-03 1.77250064e+02] [ 6.40516365e-01 7.67943202e-01 -1.42301402e-03 1.78550452e+02] [ 2.25387332e-03 -2.68670184e-05 9.99997460e-01 1.13880509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.27, Y:178.57, Z:1.14 [[ 7.68824977e-01 -6.39456879e-01 -1.74790142e-03 1.77272362e+02] [ 6.39455295e-01 7.68826963e-01 -1.42320319e-03 1.78567126e+02] [ 2.25391082e-03 -2.35106609e-05 9.99997460e-01 1.14020472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.30, Y:178.58, Z:1.14 [[ 7.71129783e-01 -6.36675588e-01 -1.74741124e-03 1.77295807e+02] [ 6.36673996e-01 7.71131763e-01 -1.42380478e-03 1.78582107e+02] [ 2.25398606e-03 -1.45930254e-05 9.99997460e-01 1.14133373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.32, Y:178.60, Z:1.14 [[ 7.72419326e-01 -6.35110489e-01 -1.74692521e-03 1.77319372e+02] [ 6.35108892e-01 7.72421301e-01 -1.42440086e-03 1.78598962e+02] [ 2.25401418e-03 -9.25298080e-06 9.99997460e-01 1.14356156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.34, Y:178.61, Z:1.14 [[ 7.73537475e-01 -6.33748150e-01 -1.74836415e-03 1.77341576e+02] [ 6.33746554e-01 7.73539451e-01 -1.42263715e-03 1.78614884e+02] [ 2.25402231e-03 -7.55660209e-06 9.99997460e-01 1.14366217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.37, Y:178.63, Z:1.15 [[ 7.75806155e-01 -6.30968906e-01 -1.74615909e-03 1.77365847e+02] [ 6.30967296e-01 7.75808120e-01 -1.42533854e-03 1.78628838e+02] [ 2.25402870e-03 4.01713436e-06 9.99997460e-01 1.14566133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.39, Y:178.64, Z:1.15 [[ 7.76610353e-01 -6.29978819e-01 -1.74571480e-03 1.77387858e+02] [ 6.29977205e-01 7.76612315e-01 -1.42588248e-03 1.78643856e+02] [ 2.25401937e-03 7.59456712e-06 9.99997460e-01 1.14607458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.41, Y:178.66, Z:1.15 [[ 7.77703136e-01 -6.28629291e-01 -1.74552227e-03 1.77412409e+02] [ 6.28627673e-01 7.77705095e-01 -1.42611814e-03 1.78657693e+02] [ 2.25400119e-03 1.18129481e-05 9.99997460e-01 1.14811594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.44, Y:178.67, Z:1.15 [[ 7.77557094e-01 -6.28809928e-01 -1.74347823e-03 1.77436545e+02] [ 6.28808306e-01 7.77559048e-01 -1.42861934e-03 1.78674218e+02] [ 2.25398730e-03 1.45195139e-05 9.99997460e-01 1.14871101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.46, Y:178.69, Z:1.15 [[ 7.77334255e-01 -6.29085377e-01 -1.74506180e-03 1.77458968e+02] [ 6.29083759e-01 7.77336213e-01 -1.42668237e-03 1.78688975e+02] [ 2.25400475e-03 1.12190378e-05 9.99997460e-01 1.14966576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.48, Y:178.70, Z:1.15 [[ 7.76895462e-01 -6.29627189e-01 -1.74486433e-03 1.77483775e+02] [ 6.29625572e-01 7.76897421e-01 -1.42692385e-03 1.78701309e+02] [ 2.25401065e-03 9.95946524e-06 9.99997460e-01 1.15231056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.51, Y:178.72, Z:1.15 [[ 7.75687365e-01 -6.31114955e-01 -1.73917538e-03 1.77508457e+02] [ 6.31113327e-01 7.75689315e-01 -1.43387474e-03 1.78718089e+02] [ 2.25399955e-03 1.46217575e-05 9.99997460e-01 1.15324882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.53, Y:178.74, Z:1.15 [[ 7.75486856e-01 -6.31361302e-01 -1.74406902e-03 1.77530454e+02] [ 6.31359687e-01 7.75488818e-01 -1.42789753e-03 1.78736305e+02] [ 2.25402527e-03 6.18090049e-06 9.99997460e-01 1.15331505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.55, Y:178.75, Z:1.15 [[ 7.74783134e-01 -6.32224687e-01 -1.74361528e-03 1.77553241e+02] [ 6.32223074e-01 7.74785096e-01 -1.42845138e-03 1.78751253e+02] [ 2.25402936e-03 4.38622959e-06 9.99997460e-01 1.15398161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.58, Y:178.76, Z:1.16 [[ 7.73324751e-01 -6.34007721e-01 -1.74341902e-03 1.77578969e+02] [ 6.34006111e-01 7.73326716e-01 -1.42869088e-03 1.78764842e+02] [ 2.25403355e-03 -4.96287843e-07 9.99997460e-01 1.15533587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.60, Y:178.78, Z:1.16 [[ 7.73559690e-01 -6.33721047e-01 -1.74366531e-03 1.77601407e+02] [ 6.33719438e-01 7.73561655e-01 -1.42839043e-03 1.78779355e+02] [ 2.25403370e-03 -4.93470336e-08 9.99997460e-01 1.15554535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.63, Y:178.79, Z:1.16 [[ 7.73463525e-01 -6.33838421e-01 -1.74131608e-03 1.77626890e+02] [ 6.33836805e-01 7.73465485e-01 -1.43125550e-03 1.78793973e+02] [ 2.25403261e-03 3.31369728e-06 9.99997460e-01 1.15575642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.65, Y:178.81, Z:1.15 [[ 7.74334666e-01 -6.32773883e-01 -1.74274291e-03 1.77650089e+02] [ 6.32772268e-01 7.74336628e-01 -1.42951604e-03 1.78809032e+02] [ 2.25403008e-03 4.16444269e-06 9.99997460e-01 1.15486863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.67, Y:178.83, Z:1.16 [[ 7.74401072e-01 -6.32692614e-01 -1.74225055e-03 1.77673600e+02] [ 6.32690998e-01 7.74403032e-01 -1.43011585e-03 1.78825613e+02] [ 2.25402785e-03 5.17700856e-06 9.99997460e-01 1.15690866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.70, Y:178.84, Z:1.16 [[ 7.74581397e-01 -6.32471841e-01 -1.74078914e-03 1.77698300e+02] [ 6.32470220e-01 7.74583353e-01 -1.43189539e-03 1.78840491e+02] [ 2.25401981e-03 8.12224214e-06 9.99997460e-01 1.15703792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.72, Y:178.86, Z:1.16 [[ 7.74835542e-01 -6.32160457e-01 -1.74344763e-03 1.77720384e+02] [ 6.32158842e-01 7.74837504e-01 -1.42865909e-03 1.78856294e+02] [ 2.25403039e-03 4.84000593e-06 9.99997460e-01 1.15766092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.74, Y:178.87, Z:1.16 [[ 7.73703077e-01 -6.33545986e-01 -1.74137502e-03 1.77739865e+02] [ 6.33544369e-01 7.73705037e-01 -1.43118091e-03 1.78872997e+02] [ 2.25402954e-03 4.07073448e-06 9.99997460e-01 1.15807573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.77, Y:178.89, Z:1.16 [[ 7.73914436e-01 -6.33287820e-01 -1.72681790e-03 1.77767190e+02] [ 6.33286164e-01 7.73916362e-01 -1.44884668e-03 1.78886678e+02] [ 2.25394958e-03 2.77134762e-05 9.99997459e-01 1.15816459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.79, Y:178.90, Z:1.16 [[ 7.73180564e-01 -6.34183560e-01 -1.74016823e-03 1.77787516e+02] [ 6.34181942e-01 7.73182522e-01 -1.43264291e-03 1.78902095e+02] [ 2.25402624e-03 4.10838519e-06 9.99997460e-01 1.15919951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.81, Y:178.92, Z:1.16 [[ 7.73753413e-01 -6.33484549e-01 -1.72689095e-03 1.77812280e+02] [ 6.33482893e-01 7.73755340e-01 -1.44874550e-03 1.78916791e+02] [ 2.25394899e-03 2.70159024e-05 9.99997460e-01 1.16026616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.84, Y:178.93, Z:1.16 [[ 7.70859891e-01 -6.37002398e-01 -1.72439308e-03 1.77837587e+02] [ 6.37000744e-01 7.70861819e-01 -1.45176763e-03 1.78934071e+02] [ 2.25404824e-03 2.06697638e-05 9.99997459e-01 1.16046147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.86, Y:178.95, Z:1.16 [[ 7.69365645e-01 -6.38806296e-01 -1.73771871e-03 1.77857513e+02] [ 6.38804683e-01 7.69367608e-01 -1.43563808e-03 1.78951093e+02] [ 2.25403913e-03 -5.53223344e-06 9.99997460e-01 1.16153932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.88, Y:178.97, Z:1.16 [[ 7.69062321e-01 -6.39171469e-01 -1.72588984e-03 1.77879069e+02] [ 6.39169825e-01 7.69064258e-01 -1.44994239e-03 1.78965912e+02] [ 2.25408200e-03 1.19593557e-05 9.99997459e-01 1.16135886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.87275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:177.91, Y:178.98, Z:1.16 [[ 7.66947820e-01 -6.41707157e-01 -1.72206168e-03 1.77905447e+02] [ 6.41705508e-01 7.66949754e-01 -1.45457614e-03 1.78981268e+02] [ 2.25414671e-03 1.05275340e-05 9.99997459e-01 1.16352138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.93, Y:179.00, Z:1.16 [[ 7.65656864e-01 -6.43246889e-01 -1.73375754e-03 1.77927926e+02] [ 6.43245276e-01 7.65658827e-01 -1.44041461e-03 1.78997989e+02] [ 2.25400898e-03 -1.23680130e-05 9.99997460e-01 1.16409070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.95, Y:179.02, Z:1.17 [[ 7.65595490e-01 -6.43319926e-01 -1.73772559e-03 1.77948338e+02] [ 6.43318324e-01 7.65597461e-01 -1.43561151e-03 1.79015224e+02] [ 2.25395579e-03 -1.88130125e-05 9.99997460e-01 1.16624544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.97, Y:179.03, Z:1.17 [[ 7.64681383e-01 -6.44406211e-01 -1.73744453e-03 1.77970579e+02] [ 6.44404611e-01 7.64683356e-01 -1.43595159e-03 1.79031839e+02] [ 2.25393103e-03 -2.15718202e-05 9.99997460e-01 1.16710624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:177.99, Y:179.05, Z:1.17 [[ 7.64146012e-01 -6.45040971e-01 -1.73699142e-03 1.77990918e+02] [ 6.45039372e-01 7.64147986e-01 -1.43649948e-03 1.79047575e+02] [ 2.25391951e-03 -2.27325016e-05 9.99997460e-01 1.16675943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.01, Y:179.07, Z:1.17 [[ 7.62004950e-01 -6.47568881e-01 -1.73218027e-03 1.78013725e+02] [ 6.47567275e-01 7.62006919e-01 -1.44231300e-03 1.79066007e+02] [ 2.25393036e-03 -2.26536172e-05 9.99997460e-01 1.16785898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.04, Y:179.08, Z:1.17 [[ 7.64088483e-01 -6.45109119e-01 -1.73629491e-03 1.78037690e+02] [ 6.45107518e-01 7.64090455e-01 -1.43734256e-03 1.79080237e+02] [ 2.25392916e-03 -2.18400046e-05 9.99997460e-01 1.17002363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.06, Y:179.10, Z:1.17 [[ 7.59999414e-01 -6.49921439e-01 -1.73606649e-03 1.78057273e+02] [ 6.49919850e-01 7.60001396e-01 -1.43761840e-03 1.79101353e+02] [ 2.25375197e-03 -3.57149336e-05 9.99997460e-01 1.16900876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.08, Y:179.12, Z:1.17 [[ 7.58262190e-01 -6.51947421e-01 -1.73566346e-03 1.78076550e+02] [ 6.51945836e-01 7.58264175e-01 -1.43810482e-03 1.79119978e+02] [ 2.25366015e-03 -4.10980608e-05 9.99997460e-01 1.16863134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.10, Y:179.14, Z:1.17 [[ 7.57480369e-01 -6.52855635e-01 -1.73540896e-03 1.78097341e+02] [ 6.52854051e-01 7.57482355e-01 -1.43841187e-03 1.79138870e+02] [ 2.25361696e-03 -4.34000169e-05 9.99997460e-01 1.16811780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.12, Y:179.16, Z:1.17 [[ 7.56523044e-01 -6.53964734e-01 -1.73494684e-03 1.78117665e+02] [ 6.53963152e-01 7.56525032e-01 -1.43896904e-03 1.79156778e+02] [ 2.25356572e-03 -4.59780714e-05 9.99997460e-01 1.16748203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.14, Y:179.17, Z:1.17 [[ 7.56422843e-01 -6.54080632e-01 -1.73469600e-03 1.78138566e+02] [ 6.54079050e-01 7.56424831e-01 -1.43927137e-03 1.79174673e+02] [ 2.25356665e-03 -4.59305738e-05 9.99997460e-01 1.16726162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.16, Y:179.19, Z:1.17 [[ 7.58318668e-01 -6.51881730e-01 -1.73444647e-03 1.78156961e+02] [ 6.51880141e-01 7.58320650e-01 -1.43957200e-03 1.79190210e+02] [ 2.25369727e-03 -3.89968904e-05 9.99997460e-01 1.16566755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.18, Y:179.21, Z:1.17 [[ 7.56418869e-01 -6.54085273e-01 -1.71771451e-03 1.78179632e+02] [ 6.54083644e-01 7.56420819e-01 -1.45970950e-03 1.79212354e+02] [ 2.25408951e-03 -1.93771551e-05 9.99997459e-01 1.16680746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.20, Y:179.23, Z:1.17 [[ 7.56772770e-01 -6.53675736e-01 -1.73387038e-03 1.78199775e+02] [ 6.53674151e-01 7.56774755e-01 -1.44026012e-03 1.79232037e+02] [ 2.25361242e-03 -4.34366109e-05 9.99997460e-01 1.16590204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.22, Y:179.25, Z:1.17 [[ 7.56880094e-01 -6.53551466e-01 -1.73342607e-03 1.78219313e+02] [ 6.53549879e-01 7.56882078e-01 -1.44079466e-03 1.79250303e+02] [ 2.25363259e-03 -4.23716013e-05 9.99997460e-01 1.16507601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.24, Y:179.27, Z:1.16 [[ 7.57045414e-01 -6.53359960e-01 -1.73318253e-03 1.78238697e+02] [ 6.53358372e-01 7.57047397e-01 -1.44108757e-03 1.79270352e+02] [ 2.25365024e-03 -4.14205778e-05 9.99997460e-01 1.16418415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.26, Y:179.29, Z:1.16 [[ 7.56746621e-01 -6.53706011e-01 -1.73274718e-03 1.78259532e+02] [ 6.53704423e-01 7.56748604e-01 -1.44161084e-03 1.79288923e+02] [ 2.25364368e-03 -4.17703655e-05 9.99997460e-01 1.16405951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.28, Y:179.31, Z:1.16 [[ 7.56159913e-01 -6.54384585e-01 -1.73230868e-03 1.78279642e+02] [ 6.54382997e-01 7.56161896e-01 -1.44213757e-03 1.79306973e+02] [ 2.25361841e-03 -4.31067272e-05 9.99997460e-01 1.16398491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.30, Y:179.33, Z:1.16 [[ 7.55461349e-01 -6.55190927e-01 -1.73206854e-03 1.78300728e+02] [ 6.55189341e-01 7.55463333e-01 -1.44242593e-03 1.79326008e+02] [ 2.25357866e-03 -4.51358081e-05 9.99997460e-01 1.16442327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.32, Y:179.34, Z:1.16 [[ 7.53379357e-01 -6.57583870e-01 -1.73162135e-03 1.78320391e+02] [ 6.57582289e-01 7.53381345e-01 -1.44296258e-03 1.79344739e+02] [ 2.25344014e-03 -5.15853113e-05 9.99997460e-01 1.16354029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.34, Y:179.36, Z:1.17 [[ 7.52046599e-01 -6.59107666e-01 -1.73137978e-03 1.78341519e+02] [ 6.59106088e-01 7.52048590e-01 -1.44325238e-03 1.79363053e+02] [ 2.25334043e-03 -5.57699119e-05 9.99997460e-01 1.16513559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.36, Y:179.38, Z:1.17 [[ 7.49480150e-01 -6.62024553e-01 -1.73092230e-03 1.78362928e+02] [ 6.62022981e-01 7.49482146e-01 -1.44380084e-03 1.79381729e+02] [ 2.25312696e-03 -6.38102715e-05 9.99997460e-01 1.16670985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.56275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:178.38, Y:179.40, Z:1.17 [[ 7.50130854e-01 -6.61287160e-01 -1.73046502e-03 1.78381158e+02] [ 6.61285585e-01 7.50132847e-01 -1.44434870e-03 1.79395877e+02] [ 2.25320790e-03 -6.08810556e-05 9.99997460e-01 1.16572518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.40, Y:179.42, Z:1.17 [[ 7.46546961e-01 -6.65330534e-01 -1.70740353e-03 1.78404380e+02] [ 6.65328907e-01 7.46548913e-01 -1.47190389e-03 1.79418048e+02] [ 2.25396285e-03 -3.71395510e-05 9.99997459e-01 1.16637929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.42, Y:179.43, Z:1.17 [[ 7.45941606e-01 -6.66009108e-01 -1.72892905e-03 1.78424732e+02] [ 6.66007542e-01 7.45943606e-01 -1.44616964e-03 1.79434754e+02] [ 2.25284572e-03 -7.27216824e-05 9.99997460e-01 1.16581854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.45, Y:179.46, Z:1.17 [[ 7.44054760e-01 -6.68116428e-01 -1.71807909e-03 1.78447907e+02] [ 6.68114838e-01 7.44056741e-01 -1.45913197e-03 1.79455637e+02] [ 2.25321837e-03 -6.22000421e-05 9.99997460e-01 1.16809072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.47, Y:179.47, Z:1.17 [[ 7.43352219e-01 -6.68897968e-01 -1.72847367e-03 1.78469136e+02] [ 6.68896408e-01 7.43354224e-01 -1.44671296e-03 1.79474311e+02] [ 2.25257156e-03 -8.07525382e-05 9.99997460e-01 1.16762053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.49, Y:179.49, Z:1.17 [[ 7.42889537e-01 -6.69411794e-01 -1.72801841e-03 1.78490726e+02] [ 6.69410234e-01 7.42891543e-01 -1.44725654e-03 1.79492989e+02] [ 2.25254086e-03 -8.16014664e-05 9.99997460e-01 1.16713105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.51, Y:179.51, Z:1.16 [[ 7.41952693e-01 -6.70450008e-01 -1.72875490e-03 1.78510590e+02] [ 6.70448454e-01 7.41954702e-01 -1.44637746e-03 1.79511306e+02] [ 2.25238160e-03 -8.58973968e-05 9.99997460e-01 1.16445489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.53, Y:179.53, Z:1.17 [[ 7.42739714e-01 -6.69578037e-01 -1.72310735e-03 1.78533572e+02] [ 6.69576465e-01 7.42741709e-01 -1.45311218e-03 1.79528920e+02] [ 2.25279570e-03 -7.44679990e-05 9.99997460e-01 1.16624575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.56, Y:179.55, Z:1.17 [[ 7.43285810e-01 -6.68971764e-01 -1.72711897e-03 1.78555245e+02] [ 6.68970201e-01 7.43287813e-01 -1.44832836e-03 1.79547284e+02] [ 2.25263726e-03 -7.88692012e-05 9.99997460e-01 1.16536995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.58, Y:179.57, Z:1.16 [[ 7.43742618e-01 -6.68463864e-01 -1.72665804e-03 1.78575393e+02] [ 6.68462298e-01 7.43744618e-01 -1.44887766e-03 1.79565572e+02] [ 2.25271498e-03 -7.66137366e-05 9.99997460e-01 1.16407741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.60, Y:179.58, Z:1.16 [[ 7.42898330e-01 -6.69402058e-01 -1.71921236e-03 1.78597054e+02] [ 6.69400474e-01 7.42900317e-01 -1.45774565e-03 1.79584949e+02] [ 2.25302135e-03 -6.78847560e-05 9.99997460e-01 1.16296942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.62, Y:179.60, Z:1.16 [[ 7.44519783e-01 -6.67598180e-01 -1.72161948e-03 1.78620607e+02] [ 6.67596598e-01 7.44521770e-01 -1.45488004e-03 1.79602523e+02] [ 2.25305844e-03 -6.61603355e-05 9.99997460e-01 1.16406663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.65, Y:179.62, Z:1.16 [[ 7.47488609e-01 -6.64272384e-01 -1.72577140e-03 1.78650727e+02] [ 6.64270805e-01 7.47490599e-01 -1.44993825e-03 1.79621572e+02] [ 2.25315184e-03 -6.25672310e-05 9.99997460e-01 1.16072915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.66, Y:179.64, Z:1.16 [[ 7.45471551e-01 -6.66535143e-01 -1.75231219e-03 1.78664547e+02] [ 6.66533643e-01 7.45473602e-01 -1.41832637e-03 1.79639550e+02] [ 2.25166685e-03 -1.10653069e-04 9.99997459e-01 1.16359478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.98275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:178.69, Y:179.66, Z:1.16 [[ 7.46768852e-01 -6.65081428e-01 -1.72503067e-03 1.78685257e+02] [ 6.65079849e-01 7.46770841e-01 -1.45076543e-03 1.79656734e+02] [ 2.25307975e-03 -6.38967082e-05 9.99997460e-01 1.16158424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.71, Y:179.67, Z:1.16 [[ 7.48637100e-01 -6.62977765e-01 -1.72478689e-03 1.78705522e+02] [ 6.62976180e-01 7.48639085e-01 -1.45105519e-03 1.79672949e+02] [ 2.25326021e-03 -5.71788724e-05 9.99997460e-01 1.16079737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.73, Y:179.69, Z:1.16 [[ 7.48069600e-01 -6.63618067e-01 -1.71292722e-03 1.78727821e+02] [ 6.63616451e-01 7.48071560e-01 -1.46513441e-03 1.79692131e+02] [ 2.25368181e-03 -4.07041691e-05 9.99997460e-01 1.16215330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.75, Y:179.71, Z:1.16 [[ 7.49379901e-01 -6.62138046e-01 -1.72410063e-03 1.78748820e+02] [ 6.62136456e-01 7.49381882e-01 -1.45186592e-03 1.79709099e+02] [ 2.25334544e-03 -5.35907402e-05 9.99997460e-01 1.16177949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.77, Y:179.73, Z:1.16 [[ 7.49737226e-01 -6.61733421e-01 -1.72384715e-03 1.78770609e+02] [ 6.61731830e-01 7.49739206e-01 -1.45216682e-03 1.79727218e+02] [ 2.25338311e-03 -5.19810029e-05 9.99997460e-01 1.16250920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.13275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:178.79, Y:179.75, Z:1.16 [[ 7.50216966e-01 -6.61189484e-01 -1.72339272e-03 1.78792121e+02] [ 6.61187890e-01 7.50218944e-01 -1.45270592e-03 1.79745050e+02] [ 2.25343575e-03 -4.96417670e-05 9.99997460e-01 1.16167344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.81, Y:179.76, Z:1.16 [[ 7.50328020e-01 -6.61063457e-01 -1.72293707e-03 1.78813673e+02] [ 6.61061862e-01 7.50329996e-01 -1.45324613e-03 1.79763738e+02] [ 2.25345928e-03 -4.85566985e-05 9.99997460e-01 1.16312357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.83, Y:179.78, Z:1.16 [[ 7.49936836e-01 -6.61507200e-01 -1.72253851e-03 1.78834930e+02] [ 6.61505604e-01 7.49938812e-01 -1.45371840e-03 1.79781743e+02] [ 2.25344367e-03 -4.92719036e-05 9.99997460e-01 1.16418307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.86, Y:179.80, Z:1.17 [[ 7.48927537e-01 -6.62649665e-01 -1.72207174e-03 1.78856545e+02] [ 6.62648071e-01 7.48929515e-01 -1.45427112e-03 1.79798725e+02] [ 2.25338262e-03 -5.19838312e-05 9.99997460e-01 1.16584803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.88, Y:179.82, Z:1.17 [[ 7.47967052e-01 -6.63733624e-01 -1.72192767e-03 1.78878704e+02] [ 6.63732033e-01 7.47969032e-01 -1.45444169e-03 1.79816717e+02] [ 2.25331042e-03 -5.50240940e-05 9.99997460e-01 1.16626380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.90, Y:179.84, Z:1.17 [[ 7.47758028e-01 -6.63969102e-01 -1.72146929e-03 1.78900422e+02] [ 6.63967510e-01 7.47760008e-01 -1.45498402e-03 1.79835282e+02] [ 2.25331032e-03 -5.50237001e-05 9.99997460e-01 1.16632800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.93, Y:179.85, Z:1.16 [[ 7.48578919e-01 -6.63043468e-01 -1.72101100e-03 1.78929803e+02] [ 6.63041872e-01 7.48580896e-01 -1.45552591e-03 1.79853489e+02] [ 2.25339290e-03 -5.15263432e-05 9.99997460e-01 1.16457162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.95, Y:179.87, Z:1.17 [[ 7.44972664e-01 -6.67092705e-01 -1.74735837e-03 1.78946541e+02] [ 6.67091193e-01 7.44974706e-01 -1.42425387e-03 1.79870305e+02] [ 2.25184716e-03 -1.04617182e-04 9.99997459e-01 1.16644868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.97, Y:179.89, Z:1.17 [[ 7.44040009e-01 -6.68132832e-01 -1.72746850e-03 1.78967530e+02] [ 6.68131268e-01 7.44042010e-01 -1.44783713e-03 1.79888092e+02] [ 2.25265666e-03 -7.69269732e-05 9.99997460e-01 1.16672267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:178.99, Y:179.91, Z:1.17 [[ 7.43005389e-01 -6.69283210e-01 -1.72518898e-03 1.78988323e+02] [ 6.69281643e-01 7.43007388e-01 -1.45053897e-03 1.79906065e+02] [ 2.25264954e-03 -7.68790474e-05 9.99997460e-01 1.16722557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.01, Y:179.92, Z:1.17 [[ 7.41658739e-01 -6.70775184e-01 -1.72244423e-03 1.79009993e+02] [ 6.70773613e-01 7.41660735e-01 -1.45379024e-03 1.79924862e+02] [ 2.25263567e-03 -7.71539067e-05 9.99997460e-01 1.16762932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.03, Y:179.94, Z:1.17 [[ 7.41457707e-01 -6.70997388e-01 -1.72463295e-03 1.79032039e+02] [ 6.70995823e-01 7.41459708e-01 -1.45119920e-03 1.79942888e+02] [ 2.25249671e-03 -8.12186721e-05 9.99997460e-01 1.16942671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.49275509600005 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:179.05, Y:179.96, Z:1.17 [[ 7.39928459e-01 -6.72683367e-01 -1.72112650e-03 1.79052307e+02] [ 6.72681798e-01 7.39930457e-01 -1.45534683e-03 1.79960793e+02] [ 2.25250153e-03 -8.09179279e-05 9.99997460e-01 1.16819115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.07, Y:179.98, Z:1.17 [[ 7.40172931e-01 -6.72414361e-01 -1.72000881e-03 1.79074602e+02] [ 6.72412788e-01 7.40174926e-01 -1.45666802e-03 1.79978731e+02] [ 2.25259188e-03 -7.83696823e-05 9.99997460e-01 1.16824900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.10, Y:180.00, Z:1.17 [[ 7.39486246e-01 -6.73169467e-01 -1.72058698e-03 1.79096057e+02] [ 6.73167898e-01 7.39488243e-01 -1.45598477e-03 1.79997760e+02] [ 2.25247833e-03 -8.15632056e-05 9.99997460e-01 1.16656684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.12, Y:180.02, Z:1.16 [[ 7.42362099e-01 -6.69996674e-01 -1.72364458e-03 1.79123049e+02] [ 6.69995104e-01 7.42364096e-01 -1.45237289e-03 1.80016489e+02] [ 2.25265685e-03 -7.66468416e-05 9.99997460e-01 1.16244373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.61275509600006 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:179.14, Y:180.03, Z:1.16 [[ 7.40547556e-01 -6.72001684e-01 -1.74772943e-03 1.79136907e+02] [ 6.72000186e-01 7.40549609e-01 -1.42384766e-03 1.80034033e+02] [ 2.25110837e-03 -1.20047596e-04 9.99997459e-01 1.16327794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.16, Y:180.06, Z:1.16 [[ 7.41317675e-01 -6.71152097e-01 -1.72258590e-03 1.79160923e+02] [ 6.71150527e-01 7.41319672e-01 -1.45357294e-03 1.80055385e+02] [ 2.25255534e-03 -7.85551253e-05 9.99997460e-01 1.16361657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.67275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.18, Y:180.07, Z:1.17 [[ 7.40927895e-01 -6.71582330e-01 -1.73991515e-03 1.79176291e+02] [ 6.71580810e-01 7.40929931e-01 -1.43314409e-03 1.80072781e+02] [ 2.25162946e-03 -1.06637189e-04 9.99997459e-01 1.16539630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.70275509600003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:179.20, Y:180.09, Z:1.16 [[ 7.41609225e-01 -6.70829940e-01 -1.71762496e-03 1.79197182e+02] [ 6.70828356e-01 7.41611210e-01 -1.45937866e-03 1.80090615e+02] [ 2.25280483e-03 -6.99428489e-05 9.99997460e-01 1.16440427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.73275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:179.22, Y:180.11, Z:1.17 [[ 7.41697429e-01 -6.70732428e-01 -1.71294875e-03 1.79219157e+02] [ 6.70730831e-01 7.41699404e-01 -1.46488043e-03 1.80109534e+02] [ 2.25303587e-03 -6.24294849e-05 9.99997460e-01 1.16776453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.76275509600003 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:179.24, Y:180.13, Z:1.17 [[ 7.40825922e-01 -6.71694875e-01 -1.71716356e-03 1.79239789e+02] [ 6.71693292e-01 7.40827909e-01 -1.45992297e-03 1.80129399e+02] [ 2.25274546e-03 -7.18584659e-05 9.99997460e-01 1.16729206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.26, Y:180.15, Z:1.17 [[ 7.41733494e-01 -6.70692514e-01 -1.72502522e-03 1.79260377e+02] [ 6.70690950e-01 7.41735496e-01 -1.45067149e-03 1.80146824e+02] [ 2.25246694e-03 -8.09471737e-05 9.99997460e-01 1.16907708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.28, Y:180.16, Z:1.17 [[ 7.43657441e-01 -6.68558637e-01 -1.72016138e-03 1.79278795e+02] [ 6.68557054e-01 7.43659428e-01 -1.45639120e-03 1.80162845e+02] [ 2.25289714e-03 -6.69698770e-05 9.99997460e-01 1.17019433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.29, Y:180.18, Z:1.17 [[ 7.42450651e-01 -6.69898575e-01 -1.71170808e-03 1.79293992e+02] [ 6.69896973e-01 7.42452622e-01 -1.46634152e-03 1.80180219e+02] [ 2.25316224e-03 -5.79818500e-05 9.99997460e-01 1.17014585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.32, Y:180.20, Z:1.17 [[ 7.42002574e-01 -6.70394903e-01 -1.68951327e-03 1.79318307e+02] [ 6.70393242e-01 7.42004497e-01 -1.49261534e-03 1.80199754e+02] [ 2.25426816e-03 -2.51138545e-05 9.99997459e-01 1.17085178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.91275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:179.35, Y:180.22, Z:1.17 [[ 7.45554230e-01 -6.66442799e-01 -1.69888961e-03 1.79346970e+02] [ 6.66441153e-01 7.45556165e-01 -1.48155016e-03 1.80217979e+02] [ 2.25398606e-03 -2.76339590e-05 9.99997459e-01 1.17307265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.94275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:179.36, Y:180.24, Z:1.17 [[ 7.43985892e-01 -6.68193101e-01 -1.72418500e-03 1.79362784e+02] [ 6.68191528e-01 7.43987886e-01 -1.45167447e-03 1.80235567e+02] [ 2.25277162e-03 -7.20604811e-05 9.99997460e-01 1.16889154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.39, Y:180.26, Z:1.18 [[ 7.45506096e-01 -6.66496641e-01 -1.69966887e-03 1.79391298e+02] [ 6.66494997e-01 7.45508033e-01 -1.48059844e-03 1.80255954e+02] [ 2.25393068e-03 -2.90256333e-05 9.99997459e-01 1.17683915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.00275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:179.41, Y:180.27, Z:1.17 [[ 7.45685312e-01 -6.66296045e-01 -1.73110327e-03 1.79405697e+02] [ 6.66294486e-01 7.45687317e-01 -1.44346934e-03 1.80269209e+02] [ 2.25263967e-03 -7.70506843e-05 9.99997460e-01 1.17365228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.43, Y:180.29, Z:1.18 [[ 7.46032705e-01 -6.65907168e-01 -1.68727654e-03 1.79433133e+02] [ 6.65905490e-01 7.46034613e-01 -1.49509120e-03 1.80291973e+02] [ 2.25435865e-03 -8.17978250e-06 9.99997459e-01 1.17652760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.45, Y:180.31, Z:1.17 [[ 7.44427609e-01 -6.67700956e-01 -1.72284887e-03 1.79451172e+02] [ 6.67699378e-01 7.44429600e-01 -1.45314629e-03 1.80311136e+02] [ 2.25280686e-03 -6.85829003e-05 9.99997460e-01 1.17375636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.47, Y:180.33, Z:1.18 [[ 7.44711832e-01 -6.67383965e-01 -1.71191279e-03 1.79474079e+02] [ 6.67382357e-01 7.44713798e-01 -1.46604708e-03 1.80329499e+02] [ 2.25330139e-03 -5.07177853e-05 9.99997460e-01 1.17549072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.50, Y:180.35, Z:1.18 [[ 7.45011671e-01 -6.67049216e-01 -1.71837408e-03 1.79495219e+02] [ 6.67047625e-01 7.45013650e-01 -1.45842486e-03 1.80346578e+02] [ 2.25305331e-03 -5.96937999e-05 9.99997460e-01 1.17630042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.52, Y:180.36, Z:1.18 [[ 7.44336276e-01 -6.67802801e-01 -1.71089785e-03 1.79522085e+02] [ 6.67801192e-01 7.44338240e-01 -1.46723815e-03 1.80364614e+02] [ 2.25331244e-03 -5.04210417e-05 9.99997460e-01 1.17654510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.55, Y:180.38, Z:1.18 [[ 7.44745040e-01 -6.67346855e-01 -1.73231657e-03 1.79549879e+02] [ 6.67345302e-01 7.44747050e-01 -1.44194201e-03 1.80383194e+02] [ 2.25241312e-03 -8.21741623e-05 9.99997460e-01 1.17508401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.56, Y:180.40, Z:1.18 [[ 7.40906143e-01 -6.71606304e-01 -1.74907879e-03 1.79563065e+02] [ 6.71604810e-01 7.40908198e-01 -1.42214081e-03 1.80398788e+02] [ 2.25102555e-03 -1.21016870e-04 9.99997459e-01 1.17743526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.24275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:179.58, Y:180.42, Z:1.18 [[ 7.40113167e-01 -6.72480145e-01 -1.71879307e-03 1.79584301e+02] [ 6.72478570e-01 7.40115159e-01 -1.45784749e-03 1.80416311e+02] [ 2.25247830e-03 -7.68793808e-05 9.99997460e-01 1.17679214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.61, Y:180.43, Z:1.18 [[ 7.41776079e-01 -6.70645432e-01 -1.71855029e-03 1.79611821e+02] [ 6.70643851e-01 7.41778066e-01 -1.45813363e-03 1.80434750e+02] [ 2.25267357e-03 -7.09265324e-05 9.99997460e-01 1.17538021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.64, Y:180.45, Z:1.17 [[ 7.43157947e-01 -6.69113775e-01 -1.73813283e-03 1.79635266e+02] [ 6.69112243e-01 7.43159974e-01 -1.43505009e-03 1.80451335e+02] [ 2.25192253e-03 -9.65370780e-05 9.99997460e-01 1.17209869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.332755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:179.65, Y:180.47, Z:1.17 [[ 7.40404931e-01 -6.72158823e-01 -1.74774102e-03 1.79647595e+02] [ 6.72157327e-01 7.40406984e-01 -1.42368370e-03 1.80469396e+02] [ 2.25098121e-03 -1.20654501e-04 9.99997459e-01 1.17240843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.68, Y:180.49, Z:1.17 [[ 7.43456807e-01 -6.68781748e-01 -1.71763403e-03 1.79675540e+02] [ 6.68780159e-01 7.43458788e-01 -1.45923442e-03 1.80487430e+02] [ 2.25289946e-03 -6.38417929e-05 9.99997460e-01 1.17252766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.70, Y:180.51, Z:1.17 [[ 7.42086726e-01 -6.70301628e-01 -1.73741356e-03 1.79697202e+02] [ 6.70300097e-01 7.42088753e-01 -1.43592938e-03 1.80508382e+02] [ 2.25182087e-03 -9.90043449e-05 9.99997460e-01 1.17188922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.72, Y:180.53, Z:1.17 [[ 7.41803235e-01 -6.70615329e-01 -1.74371687e-03 1.79718791e+02] [ 6.70613817e-01 7.41805276e-01 -1.42850763e-03 1.80527204e+02] [ 2.25147749e-03 -1.09689043e-04 9.99997459e-01 1.17125127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.74, Y:180.54, Z:1.17 [[ 7.41220919e-01 -6.71258897e-01 -1.74422663e-03 1.79737632e+02] [ 6.71257388e-01 7.41222963e-01 -1.42790763e-03 1.80544551e+02] [ 2.25135653e-03 -1.12430007e-04 9.99997459e-01 1.17343053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.76, Y:180.56, Z:1.17 [[ 7.41930394e-01 -6.70474664e-01 -1.73655187e-03 1.79757582e+02] [ 6.70473131e-01 7.41932420e-01 -1.43693363e-03 1.80560645e+02] [ 2.25183173e-03 -9.82066392e-05 9.99997460e-01 1.17243356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.78, Y:180.58, Z:1.17 [[ 7.40970779e-01 -6.71535036e-01 -1.73214194e-03 1.79778557e+02] [ 6.71533494e-01 7.40972798e-01 -1.44211992e-03 1.80579968e+02] [ 2.25190411e-03 -9.46226032e-05 9.99997460e-01 1.17381187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.80, Y:180.60, Z:1.17 [[ 7.39548632e-01 -6.73100907e-01 -1.72927298e-03 1.79802534e+02] [ 6.73099361e-01 7.39550648e-01 -1.44548710e-03 1.80600513e+02] [ 2.25184363e-03 -9.49645321e-05 9.99997460e-01 1.17376149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.82, Y:180.62, Z:1.17 [[ 7.40335577e-01 -6.72235222e-01 -1.74387056e-03 1.79822585e+02] [ 6.72233714e-01 7.40337621e-01 -1.42835215e-03 1.80616601e+02] [ 2.25124161e-03 -1.14828668e-04 9.99997459e-01 1.17207264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.84, Y:180.64, Z:1.17 [[ 7.39035125e-01 -6.73664659e-01 -1.73530139e-03 1.79844934e+02] [ 6.73663132e-01 7.39037154e-01 -1.43838424e-03 1.80636912e+02] [ 2.25144083e-03 -1.05992090e-04 9.99997460e-01 1.17495150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:179.87, Y:180.66, Z:1.18 [[ 7.37207811e-01 -6.75663842e-01 -1.73653282e-03 1.79868997e+02] [ 6.75662324e-01 7.37209847e-01 -1.43694652e-03 1.80658103e+02] [ 2.25108190e-03 -1.13981601e-04 9.99997460e-01 1.17697573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.66275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:179.89, Y:180.68, Z:1.18 [[ 7.35670972e-01 -6.77336814e-01 -1.74955946e-03 1.79890931e+02] [ 6.77335336e-01 7.35673039e-01 -1.42176727e-03 1.80677853e+02] [ 2.25011904e-03 -1.39085531e-04 9.99997459e-01 1.17644798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.90, Y:180.70, Z:1.18 [[ 7.31945948e-01 -6.81360461e-01 -1.74660620e-03 1.79900633e+02] [ 6.81358986e-01 7.31948018e-01 -1.42520526e-03 1.80696214e+02] [ 2.24950346e-03 -1.46892617e-04 9.99997459e-01 1.17999061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.92, Y:180.71, Z:1.18 [[ 7.31577882e-01 -6.81755738e-01 -1.70781045e-03 1.79921819e+02] [ 6.81754159e-01 7.31579870e-01 -1.47026898e-03 1.80714814e+02] [ 2.25176406e-03 -8.86906123e-05 9.99997461e-01 1.18030768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.94, Y:180.73, Z:1.18 [[ 7.31312713e-01 -6.82040176e-01 -1.70734955e-03 1.79941692e+02] [ 6.82038596e-01 7.31314700e-01 -1.47080401e-03 1.80733242e+02] [ 2.25175725e-03 -8.88606230e-05 9.99997461e-01 1.17999989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.96, Y:180.75, Z:1.18 [[ 7.31221697e-01 -6.82137754e-01 -1.70703687e-03 1.79962109e+02] [ 6.82136173e-01 7.31223685e-01 -1.47116683e-03 1.80751938e+02] [ 2.25176422e-03 -8.86824936e-05 9.99997461e-01 1.17987739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:179.98, Y:180.77, Z:1.18 [[ 7.30655314e-01 -6.82744388e-01 -1.70658316e-03 1.79984735e+02] [ 6.82742808e-01 7.30657301e-01 -1.47169295e-03 1.80772366e+02] [ 2.25171755e-03 -8.98571002e-05 9.99997461e-01 1.17903221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.01, Y:180.79, Z:1.18 [[ 7.30032754e-01 -6.83410008e-01 -1.71439420e-03 1.80005281e+02] [ 6.83408450e-01 7.30034760e-01 -1.46263581e-03 1.80791073e+02] [ 2.25114731e-03 -1.03859437e-04 9.99997461e-01 1.17965993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.02, Y:180.81, Z:1.18 [[ 7.30716000e-01 -6.82679405e-01 -1.71968649e-03 1.80024794e+02] [ 6.82677861e-01 7.30718015e-01 -1.45650135e-03 1.80808097e+02] [ 2.25092937e-03 -1.09703053e-04 9.99997461e-01 1.17935055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.9027550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.05, Y:180.83, Z:1.18 [[ 7.31565706e-01 -6.81768792e-01 -1.71222682e-03 1.80045448e+02] [ 6.81767224e-01 7.31567704e-01 -1.46514005e-03 1.80827093e+02] [ 2.25149661e-03 -9.54939091e-05 9.99997461e-01 1.17803070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.07, Y:180.85, Z:1.18 [[ 7.30763877e-01 -6.82628180e-01 -1.71009400e-03 1.80066302e+02] [ 6.82626609e-01 7.30765872e-01 -1.46760837e-03 1.80847520e+02] [ 2.25150917e-03 -9.48804826e-05 9.99997461e-01 1.17871246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.09, Y:180.87, Z:1.18 [[ 7.31124989e-01 -6.82241387e-01 -1.71470038e-03 1.80085918e+02] [ 6.82239827e-01 7.31126993e-01 -1.46228208e-03 1.80865660e+02] [ 2.25129308e-03 -1.00725920e-04 9.99997461e-01 1.17831952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.11, Y:180.88, Z:1.18 [[ 7.33023023e-01 -6.80201675e-01 -1.71147664e-03 1.80106363e+02] [ 6.80200101e-01 7.33025016e-01 -1.46600251e-03 1.80883271e+02] [ 2.25173255e-03 -8.95329910e-05 9.99997461e-01 1.17905296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.13, Y:180.90, Z:1.18 [[ 7.33802993e-01 -6.79360191e-01 -1.70241764e-03 1.80126849e+02] [ 6.79358591e-01 7.33804964e-01 -1.47644798e-03 1.80900517e+02] [ 2.25228250e-03 -7.31301041e-05 9.99997461e-01 1.17891365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.15, Y:180.92, Z:1.18 [[ 7.34369225e-01 -6.78748071e-01 -1.70216058e-03 1.80148072e+02] [ 6.78746468e-01 7.34371194e-01 -1.47674427e-03 1.80918830e+02] [ 2.25235503e-03 -7.08599384e-05 9.99997461e-01 1.17875161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.17, Y:180.94, Z:1.18 [[ 7.35304747e-01 -6.77734485e-01 -1.70171767e-03 1.80169561e+02] [ 6.77732879e-01 7.35306713e-01 -1.47725449e-03 1.80937296e+02] [ 2.25247074e-03 -6.70777720e-05 9.99997461e-01 1.17891943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.19, Y:180.96, Z:1.18 [[ 7.37524621e-01 -6.75318103e-01 -1.70126420e-03 1.80189990e+02] [ 6.75316488e-01 7.37526581e-01 -1.47777653e-03 1.80955093e+02] [ 2.25269681e-03 -5.89951909e-05 9.99997461e-01 1.17766096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.21, Y:180.97, Z:1.18 [[ 7.38227232e-01 -6.74549969e-01 -1.70104411e-03 1.80211043e+02] [ 6.74548352e-01 7.38229189e-01 -1.47802983e-03 1.80973695e+02] [ 2.25276539e-03 -5.63146354e-05 9.99997461e-01 1.17711168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.23, Y:180.99, Z:1.18 [[ 7.39888064e-01 -6.72727850e-01 -1.70059907e-03 1.80231555e+02] [ 6.72726227e-01 7.39890017e-01 -1.47854172e-03 1.80990955e+02] [ 2.25291246e-03 -5.00822276e-05 9.99997461e-01 1.17698067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.25, Y:181.01, Z:1.18 [[ 7.39688049e-01 -6.72947769e-01 -1.70029691e-03 1.80252992e+02] [ 6.72946146e-01 7.39690001e-01 -1.47888911e-03 1.81009835e+02] [ 2.25290775e-03 -5.02916473e-05 9.99997461e-01 1.17704491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.27, Y:181.03, Z:1.18 [[ 7.40244266e-01 -6.72335881e-01 -1.69985712e-03 1.80274438e+02] [ 6.72334255e-01 7.40246216e-01 -1.47939443e-03 1.81027420e+02] [ 2.25296276e-03 -4.77589272e-05 9.99997461e-01 1.17768961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.30, Y:181.04, Z:1.18 [[ 7.40346777e-01 -6.72223000e-01 -1.69941844e-03 1.80295552e+02] [ 6.72221372e-01 7.40348726e-01 -1.47989819e-03 1.81044628e+02] [ 2.25298388e-03 -4.67475363e-05 9.99997461e-01 1.17851378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.32, Y:181.06, Z:1.18 [[ 7.40709641e-01 -6.71823147e-01 -1.69912061e-03 1.80318482e+02] [ 6.71821518e-01 7.40711589e-01 -1.48024006e-03 1.81061204e+02] [ 2.25301786e-03 -4.50777045e-05 9.99997461e-01 1.18046404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.34, Y:181.08, Z:1.18 [[ 7.39379581e-01 -6.73286677e-01 -1.69892550e-03 1.80342050e+02] [ 6.73285051e-01 7.39381531e-01 -1.48046396e-03 1.81081736e+02] [ 2.25293080e-03 -4.92363192e-05 9.99997461e-01 1.17942940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.36, Y:181.10, Z:1.18 [[ 7.40120675e-01 -6.72471907e-01 -1.70912451e-03 1.80362695e+02] [ 6.72470306e-01 7.40122646e-01 -1.46876087e-03 1.81097806e+02] [ 2.25266218e-03 -6.22751989e-05 9.99997461e-01 1.18182160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.38, Y:181.12, Z:1.18 [[ 7.39372100e-01 -6.73294894e-01 -1.69803405e-03 1.80384918e+02] [ 6.73293266e-01 7.39374048e-01 -1.48147253e-03 1.81115053e+02] [ 2.25295020e-03 -4.79154323e-05 9.99997461e-01 1.18354767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.41, Y:181.13, Z:1.18 [[ 7.39050815e-01 -6.73647543e-01 -1.69758260e-03 1.80406300e+02] [ 6.73645914e-01 7.39052763e-01 -1.48198966e-03 1.81132750e+02] [ 2.25294180e-03 -4.83039208e-05 9.99997461e-01 1.18430553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.43, Y:181.15, Z:1.18 [[ 7.38901295e-01 -6.73811549e-01 -1.69453729e-03 1.80432195e+02] [ 6.73809913e-01 7.38903237e-01 -1.48547691e-03 1.81152589e+02] [ 2.25303059e-03 -4.41752109e-05 9.99997461e-01 1.18447360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.45, Y:181.17, Z:1.18 [[ 7.37791075e-01 -6.75026962e-01 -1.71155678e-03 1.80451003e+02] [ 6.75025375e-01 7.37793057e-01 -1.46602386e-03 1.81168315e+02] [ 2.25238034e-03 -7.37249391e-05 9.99997461e-01 1.18476772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.47, Y:181.19, Z:1.18 [[ 7.36561757e-01 -6.76368160e-01 -1.70000406e-03 1.80473396e+02] [ 6.76366545e-01 7.36563716e-01 -1.47922305e-03 1.81186634e+02] [ 2.25266068e-03 -6.02867430e-05 9.99997461e-01 1.18490473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.49, Y:181.20, Z:1.18 [[ 7.34097298e-01 -6.79042154e-01 -1.70599496e-03 1.80492081e+02] [ 6.79040562e-01 7.34099276e-01 -1.47238118e-03 1.81204152e+02] [ 2.25217856e-03 -7.75687294e-05 9.99997461e-01 1.18395480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.51, Y:181.22, Z:1.18 [[ 7.32705292e-01 -6.80543961e-01 -1.69457592e-03 1.80512905e+02] [ 6.80542343e-01 7.32707249e-01 -1.48540820e-03 1.81223471e+02] [ 2.25251364e-03 -6.48642218e-05 9.99997461e-01 1.18485315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.53, Y:181.24, Z:1.18 [[ 7.32434848e-01 -6.80835023e-01 -1.69289369e-03 1.80534532e+02] [ 6.80833401e-01 7.32436801e-01 -1.48732634e-03 1.81241744e+02] [ 2.25256150e-03 -6.32089278e-05 9.99997461e-01 1.18340590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.55, Y:181.26, Z:1.18 [[ 7.29700039e-01 -6.83765298e-01 -1.69393060e-03 1.80550456e+02] [ 6.83763687e-01 7.29702002e-01 -1.48614445e-03 1.81260984e+02] [ 2.25223856e-03 -7.38085700e-05 9.99997461e-01 1.18101244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.57, Y:181.28, Z:1.18 [[ 7.29502364e-01 -6.83976230e-01 -1.67872167e-03 1.80572582e+02] [ 6.83974579e-01 7.29504294e-01 -1.50347230e-03 1.81279183e+02] [ 2.25297398e-03 -5.14163511e-05 9.99997461e-01 1.18161637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.60, Y:181.30, Z:1.18 [[ 7.30131679e-01 -6.83304404e-01 -1.68035411e-03 1.80595588e+02] [ 6.83302755e-01 7.30133611e-01 -1.50161583e-03 1.81297459e+02] [ 2.25294373e-03 -5.18133085e-05 9.99997461e-01 1.18153901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.62, Y:181.32, Z:1.18 [[ 7.29633531e-01 -6.83836282e-01 -1.68779890e-03 1.80616114e+02] [ 6.83834655e-01 7.29635481e-01 -1.49315341e-03 1.81316512e+02] [ 2.25255044e-03 -6.47205835e-05 9.99997461e-01 1.18325764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.64, Y:181.34, Z:1.18 [[ 7.29594842e-01 -6.83877551e-01 -1.69179109e-03 1.80637022e+02] [ 6.83875935e-01 7.29596800e-01 -1.48861633e-03 1.81335542e+02] [ 2.25235666e-03 -7.08884167e-05 9.99997461e-01 1.18358647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.66, Y:181.35, Z:1.18 [[ 7.29525267e-01 -6.83951770e-01 -1.69131696e-03 1.80657081e+02] [ 6.83950153e-01 7.29527224e-01 -1.48915484e-03 1.81354258e+02] [ 2.25237185e-03 -7.04004110e-05 9.99997461e-01 1.18317364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.68, Y:181.37, Z:1.18 [[ 7.29552700e-01 -6.83922509e-01 -1.69105398e-03 1.80676529e+02] [ 6.83920891e-01 7.29554657e-01 -1.48945340e-03 1.81373988e+02] [ 2.25238702e-03 -6.99123938e-05 9.99997461e-01 1.18405957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.70, Y:181.39, Z:1.19 [[ 7.29514258e-01 -6.83963515e-01 -1.69057521e-03 1.80697480e+02] [ 6.83961896e-01 7.29516213e-01 -1.48999663e-03 1.81393840e+02] [ 2.25240536e-03 -6.93152439e-05 9.99997461e-01 1.18520540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.72, Y:181.41, Z:1.19 [[ 7.29742527e-01 -6.83719959e-01 -1.69154052e-03 1.80717239e+02] [ 6.83718342e-01 7.29744485e-01 -1.48890172e-03 1.81412958e+02] [ 2.25238419e-03 -7.00223737e-05 9.99997461e-01 1.18533540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.74, Y:181.43, Z:1.19 [[ 7.29669255e-01 -6.83798160e-01 -1.68992589e-03 1.80737530e+02] [ 6.83796538e-01 7.29671208e-01 -1.49073209e-03 1.81431966e+02] [ 2.25245013e-03 -6.78240977e-05 9.99997461e-01 1.18580417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.76, Y:181.45, Z:1.19 [[ 7.29699396e-01 -6.83765996e-01 -1.68945135e-03 1.80758915e+02] [ 6.83764373e-01 7.29701349e-01 -1.49126970e-03 1.81451465e+02] [ 2.25247444e-03 -6.70080369e-05 9.99997461e-01 1.18732567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.78, Y:181.47, Z:1.19 [[ 7.30888402e-01 -6.82494898e-01 -1.69060363e-03 1.80784136e+02] [ 6.82493275e-01 7.30890354e-01 -1.48996485e-03 1.81471507e+02] [ 2.25253929e-03 -6.48275796e-05 9.99997461e-01 1.18518433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.80, Y:181.49, Z:1.19 [[ 7.29038317e-01 -6.84470764e-01 -1.70435460e-03 1.80800745e+02] [ 6.84469182e-01 7.29040304e-01 -1.47439409e-03 1.81490653e+02] [ 2.25172284e-03 -9.16884119e-05 9.99997461e-01 1.18594750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:180.82, Y:181.51, Z:1.19 [[ 7.28316678e-01 -6.85238621e-01 -1.68822024e-03 1.80820827e+02] [ 6.85236998e-01 7.28318631e-01 -1.49264249e-03 1.81509887e+02] [ 2.25237854e-03 -6.97145528e-05 9.99997461e-01 1.18659814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.84, Y:181.53, Z:1.19 [[ 7.27849961e-01 -6.85734341e-01 -1.68774172e-03 1.80841614e+02] [ 6.85732718e-01 7.27851914e-01 -1.49318336e-03 1.81528843e+02] [ 2.25235315e-03 -7.05262643e-05 9.99997461e-01 1.18678343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.86, Y:181.55, Z:1.19 [[ 7.27260977e-01 -6.86358962e-01 -1.68725756e-03 1.80862663e+02] [ 6.86357341e-01 7.27262930e-01 -1.49373025e-03 1.81547989e+02] [ 2.25231502e-03 -7.17298957e-05 9.99997461e-01 1.18638716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.88, Y:181.57, Z:1.19 [[ 7.25880125e-01 -6.87819162e-01 -1.68677561e-03 1.80882654e+02] [ 6.87817543e-01 7.25882081e-01 -1.49427429e-03 1.81565867e+02] [ 2.25219068e-03 -7.55298412e-05 9.99997461e-01 1.18596839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.90, Y:181.58, Z:1.19 [[ 7.24976019e-01 -6.88772043e-01 -1.68651463e-03 1.80903523e+02] [ 6.88770426e-01 7.24977977e-01 -1.49456879e-03 1.81584416e+02] [ 2.25210316e-03 -7.80948631e-05 9.99997461e-01 1.18622240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.92, Y:181.60, Z:1.18 [[ 7.23943465e-01 -6.89857244e-01 -1.68603448e-03 1.80923605e+02] [ 6.89855628e-01 7.23945424e-01 -1.49511025e-03 1.81602871e+02] [ 2.25200958e-03 -8.07450797e-05 9.99997461e-01 1.18411298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.94, Y:181.62, Z:1.18 [[ 7.23836622e-01 -6.89969349e-01 -1.68570876e-03 1.80944536e+02] [ 6.89967733e-01 7.23838581e-01 -1.49547741e-03 1.81621972e+02] [ 2.25201461e-03 -8.06033377e-05 9.99997461e-01 1.18483922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.96, Y:181.64, Z:1.18 [[ 7.23794808e-01 -6.90013214e-01 -1.68523369e-03 1.80964644e+02] [ 6.90011597e-01 7.23796766e-01 -1.49601256e-03 1.81640541e+02] [ 2.25203513e-03 -8.00246655e-05 9.99997461e-01 1.18437346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:180.99, Y:181.66, Z:1.18 [[ 7.23543255e-01 -6.90276987e-01 -1.68497108e-03 1.80985220e+02] [ 6.90275370e-01 7.23545212e-01 -1.49630829e-03 1.81660041e+02] [ 2.25201993e-03 -8.04502694e-05 9.99997461e-01 1.18285976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.01, Y:181.68, Z:1.18 [[ 7.23850270e-01 -6.89955034e-01 -1.68449657e-03 1.81005336e+02] [ 6.89953415e-01 7.23852226e-01 -1.49684228e-03 1.81679401e+02] [ 2.25208046e-03 -7.87344747e-05 9.99997461e-01 1.18335767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.03, Y:181.70, Z:1.18 [[ 7.23966468e-01 -6.89833109e-01 -1.68398035e-03 1.81025303e+02] [ 6.89831488e-01 7.23968422e-01 -1.49742281e-03 1.81697429e+02] [ 2.25212043e-03 -7.75787708e-05 9.99997461e-01 1.18325486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.05, Y:181.72, Z:1.18 [[ 7.24250438e-01 -6.89534965e-01 -1.68366456e-03 1.81045336e+02] [ 6.89533343e-01 7.24252391e-01 -1.49777780e-03 1.81716558e+02] [ 2.25216825e-03 -7.61766189e-05 9.99997461e-01 1.18268239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.07, Y:181.74, Z:1.18 [[ 7.24447603e-01 -6.89327815e-01 -1.68320522e-03 1.81065989e+02] [ 6.89326191e-01 7.24449555e-01 -1.49829382e-03 1.81735661e+02] [ 2.25221288e-03 -7.48420767e-05 9.99997461e-01 1.18225964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.09, Y:181.75, Z:1.18 [[ 7.24256840e-01 -6.89528244e-01 -1.68274841e-03 1.81086450e+02] [ 6.89526619e-01 7.24258791e-01 -1.49880670e-03 1.81754702e+02] [ 2.25221488e-03 -7.47788169e-05 9.99997461e-01 1.18236200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.11, Y:181.77, Z:1.18 [[ 7.24360087e-01 -6.89419781e-01 -1.68229331e-03 1.81108044e+02] [ 6.89418155e-01 7.24362037e-01 -1.49931735e-03 1.81773444e+02] [ 2.25224844e-03 -7.37579037e-05 9.99997461e-01 1.18348940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.13, Y:181.79, Z:1.18 [[ 7.24416074e-01 -6.89360953e-01 -1.68187169e-03 1.81128779e+02] [ 6.89359325e-01 7.24418022e-01 -1.49979015e-03 1.81792001e+02] [ 2.25227493e-03 -7.29418422e-05 9.99997461e-01 1.18096924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.15, Y:181.81, Z:1.18 [[ 7.24706785e-01 -6.89055328e-01 -1.68245965e-03 1.81150373e+02] [ 6.89053701e-01 7.24708734e-01 -1.49913103e-03 1.81811024e+02] [ 2.25227743e-03 -7.28746208e-05 9.99997461e-01 1.18486569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:181.17, Y:181.83, Z:1.18 [[ 7.25016674e-01 -6.88729262e-01 -1.68127940e-03 1.81171059e+02] [ 6.88727631e-01 7.25018620e-01 -1.50045352e-03 1.81831886e+02] [ 2.25236511e-03 -7.00897593e-05 9.99997461e-01 1.18146952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.19, Y:181.85, Z:1.18 [[ 7.26569712e-01 -6.87090681e-01 -1.68841788e-03 1.81190995e+02] [ 6.87089064e-01 7.26571669e-01 -1.49245421e-03 1.81848935e+02] [ 2.25220798e-03 -7.57214380e-05 9.99997461e-01 1.18425633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.21, Y:181.87, Z:1.19 [[ 7.28011452e-01 -6.85562908e-01 -1.68076936e-03 1.81211587e+02] [ 6.85561267e-01 7.28013390e-01 -1.50101866e-03 1.81868650e+02] [ 2.25266532e-03 -5.95115985e-05 9.99997461e-01 1.18544910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.23, Y:181.89, Z:1.19 [[ 7.28744653e-01 -6.84783475e-01 -1.68030811e-03 1.81232313e+02] [ 6.84781831e-01 7.28746588e-01 -1.50153483e-03 1.81887972e+02] [ 2.25274504e-03 -5.64089921e-05 9.99997461e-01 1.18570457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.25, Y:181.91, Z:1.19 [[ 7.29593923e-01 -6.83878560e-01 -1.67984873e-03 1.81252871e+02] [ 6.83876913e-01 7.29595855e-01 -1.50204859e-03 1.81906504e+02] [ 2.25282950e-03 -5.29242407e-05 9.99997461e-01 1.18675260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.27, Y:181.93, Z:1.19 [[ 7.30152025e-01 -6.83282665e-01 -1.67937588e-03 1.81273521e+02] [ 6.83281015e-01 7.30153954e-01 -1.50257708e-03 1.81925227e+02] [ 2.25288781e-03 -5.03759598e-05 9.99997461e-01 1.18664352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.29, Y:181.94, Z:1.19 [[ 7.31481586e-01 -6.81859121e-01 -1.68180831e-03 1.81294985e+02] [ 6.81857473e-01 7.31483518e-01 -1.49985814e-03 1.81944453e+02] [ 2.25290701e-03 -4.96349470e-05 9.99997461e-01 1.19014309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.32, Y:181.96, Z:1.19 [[ 7.32658932e-01 -6.80593900e-01 -1.68310994e-03 1.81315479e+02] [ 6.80592252e-01 7.32660864e-01 -1.49840378e-03 1.81963795e+02] [ 2.25295325e-03 -4.76926717e-05 9.99997461e-01 1.19071766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.76275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:181.34, Y:181.98, Z:1.19 [[ 7.32588866e-01 -6.80669329e-01 -1.67866997e-03 1.81335610e+02] [ 6.80667670e-01 7.32590788e-01 -1.50336150e-03 1.81981812e+02] [ 2.25307022e-03 -4.12704763e-05 9.99997461e-01 1.19001224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.36, Y:182.00, Z:1.19 [[ 7.32486368e-01 -6.80779629e-01 -1.67841022e-03 1.81356656e+02] [ 6.80777970e-01 7.32488290e-01 -1.50365143e-03 1.82001118e+02] [ 2.25307110e-03 -4.12205250e-05 9.99997461e-01 1.19169799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.38, Y:182.02, Z:1.19 [[ 7.31325428e-01 -6.82026615e-01 -1.67795311e-03 1.81376794e+02] [ 6.82024957e-01 7.31327352e-01 -1.50416136e-03 1.82020960e+02] [ 2.25301108e-03 -4.43744415e-05 9.99997461e-01 1.19254508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.40, Y:182.04, Z:1.19 [[ 7.31803264e-01 -6.81513891e-01 -1.67297120e-03 1.81399549e+02] [ 6.81512220e-01 7.31805176e-01 -1.50971619e-03 1.82039379e+02] [ 2.25318154e-03 -3.53350776e-05 9.99997461e-01 1.19339804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.42, Y:182.06, Z:1.19 [[ 7.31676652e-01 -6.81649810e-01 -1.67739586e-03 1.81419628e+02] [ 6.81648150e-01 7.31678574e-01 -1.50478398e-03 1.82057167e+02] [ 2.25305032e-03 -4.23784826e-05 9.99997461e-01 1.19358544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.44, Y:182.08, Z:1.19 [[ 7.29537788e-01 -6.83938466e-01 -1.67050588e-03 1.81440895e+02] [ 6.83936795e-01 7.29539699e-01 -1.51245816e-03 1.82077339e+02] [ 2.25312867e-03 -3.91250604e-05 9.99997461e-01 1.19430129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.46, Y:182.10, Z:1.19 [[ 7.28366409e-01 -6.85185787e-01 -1.67676217e-03 1.81461467e+02] [ 6.85184135e-01 7.28368338e-01 -1.50549013e-03 1.82096620e+02] [ 2.25284091e-03 -5.23423960e-05 9.99997461e-01 1.19456118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.48, Y:182.11, Z:1.20 [[ 7.26925966e-01 -6.86713790e-01 -1.67628940e-03 1.81481704e+02] [ 6.86712141e-01 7.26927897e-01 -1.50601635e-03 1.82114750e+02] [ 2.25274372e-03 -5.63658866e-05 9.99997461e-01 1.19583601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.50, Y:182.13, Z:1.19 [[ 7.27091125e-01 -6.86538928e-01 -1.67199818e-03 1.81501319e+02] [ 6.86537268e-01 7.27093046e-01 -1.51078925e-03 1.82131371e+02] [ 2.25291388e-03 -4.94076059e-05 9.99997461e-01 1.19475098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.52, Y:182.15, Z:1.19 [[ 7.25397908e-01 -6.88327755e-01 -1.66645708e-03 1.81523274e+02] [ 6.88326085e-01 7.25399821e-01 -1.51694931e-03 1.82151408e+02] [ 2.25300598e-03 -4.66740226e-05 9.99997461e-01 1.19458113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.54, Y:182.17, Z:1.19 [[ 7.25542344e-01 -6.88175486e-01 -1.67543697e-03 1.81541949e+02] [ 6.88173839e-01 7.25544276e-01 -1.50696551e-03 1.82168016e+02] [ 2.25266043e-03 -5.96245970e-05 9.99997461e-01 1.19362362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.56, Y:182.19, Z:1.19 [[ 7.25417563e-01 -6.88307043e-01 -1.66543282e-03 1.81563065e+02] [ 6.88305370e-01 7.25419473e-01 -1.51807191e-03 1.82187210e+02] [ 2.25303699e-03 -4.50903351e-05 9.99997461e-01 1.19368379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.58, Y:182.21, Z:1.19 [[ 7.24210223e-01 -6.89577243e-01 -1.66667004e-03 1.81584256e+02] [ 6.89575577e-01 7.24212139e-01 -1.51669738e-03 1.82208027e+02] [ 2.25290267e-03 -5.08872098e-05 9.99997461e-01 1.19340746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.60, Y:182.23, Z:1.19 [[ 7.23804518e-01 -6.90003055e-01 -1.67471360e-03 1.81603920e+02] [ 6.90001411e-01 7.23806452e-01 -1.50776318e-03 1.82228140e+02] [ 2.25252971e-03 -6.42289406e-05 9.99997461e-01 1.19243567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.62, Y:182.25, Z:1.19 [[ 7.23442630e-01 -6.90382472e-01 -1.67425176e-03 1.81623543e+02] [ 6.90380828e-01 7.23444565e-01 -1.50827585e-03 1.82246825e+02] [ 2.25251554e-03 -6.47202685e-05 9.99997461e-01 1.19223739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.64, Y:182.27, Z:1.19 [[ 7.22946135e-01 -6.90902369e-01 -1.67399593e-03 1.81644420e+02] [ 6.90900725e-01 7.22948071e-01 -1.50855972e-03 1.82265877e+02] [ 2.25247962e-03 -6.59575822e-05 9.99997461e-01 1.19211312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.66, Y:182.28, Z:1.19 [[ 7.22608433e-01 -6.91255562e-01 -1.67351157e-03 1.81664158e+02] [ 6.91253917e-01 7.22610368e-01 -1.50909686e-03 1.82283782e+02] [ 2.25246841e-03 -6.63353115e-05 9.99997461e-01 1.19285356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.69, Y:182.30, Z:1.19 [[ 7.21805498e-01 -6.92093941e-01 -1.67324302e-03 1.81685077e+02] [ 6.92092298e-01 7.21807434e-01 -1.50939456e-03 1.82302961e+02] [ 2.25240208e-03 -6.85493175e-05 9.99997461e-01 1.19366819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.71, Y:182.32, Z:1.19 [[ 7.21237688e-01 -6.92685643e-01 -1.67275859e-03 1.81705337e+02] [ 6.92684001e-01 7.21239624e-01 -1.50993123e-03 1.82321570e+02] [ 2.25236746e-03 -6.96738009e-05 9.99997461e-01 1.19472707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.73, Y:182.34, Z:1.20 [[ 7.19876479e-01 -6.94100179e-01 -1.67249447e-03 1.81725840e+02] [ 6.94098540e-01 7.19878418e-01 -1.51022373e-03 1.82341346e+02] [ 2.25223923e-03 -7.37014320e-05 9.99997461e-01 1.19529834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.75, Y:182.36, Z:1.20 [[ 7.19542023e-01 -6.94446889e-01 -1.67201446e-03 1.81745338e+02] [ 6.94445250e-01 7.19543962e-01 -1.51075498e-03 1.82359665e+02] [ 2.25222700e-03 -7.40708014e-05 9.99997461e-01 1.19550087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.77, Y:182.38, Z:1.20 [[ 7.18972732e-01 -6.95036270e-01 -1.67175158e-03 1.81765605e+02] [ 6.95034631e-01 7.18974671e-01 -1.51104581e-03 1.82378798e+02] [ 2.25217869e-03 -7.55245061e-05 9.99997461e-01 1.19547564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.79, Y:182.40, Z:1.20 [[ 7.17942421e-01 -6.96100486e-01 -1.67127157e-03 1.81786176e+02] [ 6.96098850e-01 7.17944362e-01 -1.51157654e-03 1.82398344e+02] [ 2.25208916e-03 -7.81452985e-05 9.99997461e-01 1.19586794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.80, Y:182.42, Z:1.20 [[ 7.18128011e-01 -6.95909023e-01 -1.67079317e-03 1.81804657e+02] [ 6.95907385e-01 7.18129950e-01 -1.51210514e-03 1.82415370e+02] [ 2.25213423e-03 -7.68322453e-05 9.99997461e-01 1.19581734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.83, Y:182.44, Z:1.20 [[ 7.16251930e-01 -6.97839826e-01 -1.65818617e-03 1.81825270e+02] [ 6.97838160e-01 7.16253847e-01 -1.52602280e-03 1.82438180e+02] [ 2.25260171e-03 -6.41288129e-05 9.99997461e-01 1.19629877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.84, Y:182.46, Z:1.20 [[ 7.15941721e-01 -6.98158050e-01 -1.67005156e-03 1.81844232e+02] [ 6.98156415e-01 7.15943664e-01 -1.51292512e-03 1.82456911e+02] [ 2.25192369e-03 -8.27909932e-05 9.99997461e-01 1.19580863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.86, Y:182.48, Z:1.19 [[ 7.15701996e-01 -6.98403798e-01 -1.66977683e-03 1.81864355e+02] [ 6.98402164e-01 7.15703939e-01 -1.51322828e-03 1.82476074e+02] [ 2.25191023e-03 -8.31552520e-05 9.99997461e-01 1.19480697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.88, Y:182.50, Z:1.19 [[ 7.15057118e-01 -6.99064040e-01 -1.66931165e-03 1.81884994e+02] [ 6.99062406e-01 7.15059062e-01 -1.51374126e-03 1.82496204e+02] [ 2.25185850e-03 -8.45415511e-05 9.99997461e-01 1.19328472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.91, Y:182.52, Z:1.19 [[ 7.15022072e-01 -6.99099880e-01 -1.67150185e-03 1.81905320e+02] [ 6.99098252e-01 7.15024020e-01 -1.51132709e-03 1.82515281e+02] [ 2.25173256e-03 -8.79117878e-05 9.99997461e-01 1.19346764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.92, Y:182.53, Z:1.19 [[ 7.15152169e-01 -6.98966803e-01 -1.66834530e-03 1.81924466e+02] [ 6.98965167e-01 7.15154110e-01 -1.51480359e-03 1.82534698e+02] [ 2.25192142e-03 -8.28001790e-05 9.99997461e-01 1.19303601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.94, Y:182.55, Z:1.19 [[ 7.15302139e-01 -6.98813328e-01 -1.66802879e-03 1.81943921e+02] [ 6.98811691e-01 7.15304079e-01 -1.51515204e-03 1.82553599e+02] [ 2.25195623e-03 -8.18465254e-05 9.99997461e-01 1.19340473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.96, Y:182.57, Z:1.19 [[ 7.15545393e-01 -6.98564249e-01 -1.66777439e-03 1.81963906e+02] [ 6.98562609e-01 7.15547332e-01 -1.51543201e-03 1.82573001e+02] [ 2.25199814e-03 -8.06844416e-05 9.99997461e-01 1.19342681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:181.98, Y:182.59, Z:1.19 [[ 7.15747438e-01 -6.98357233e-01 -1.66732693e-03 1.81983956e+02] [ 6.98355593e-01 7.15749375e-01 -1.51592416e-03 1.82592225e+02] [ 2.25204481e-03 -7.93682485e-05 9.99997461e-01 1.19326399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.00, Y:182.61, Z:1.19 [[ 7.16188045e-01 -6.97905371e-01 -1.66684006e-03 1.82003079e+02] [ 6.97903727e-01 7.16189980e-01 -1.51645931e-03 1.82610982e+02] [ 2.25211925e-03 -7.72238670e-05 9.99997461e-01 1.19353078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.02, Y:182.63, Z:1.19 [[ 7.16421238e-01 -6.97665989e-01 -1.66656927e-03 1.82023178e+02] [ 6.97664344e-01 7.16423173e-01 -1.51675684e-03 1.82629733e+02] [ 2.25215851e-03 -7.60691442e-05 9.99997461e-01 1.19337184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.04, Y:182.65, Z:1.19 [[ 7.16039418e-01 -6.98057859e-01 -1.66616847e-03 1.82039921e+02] [ 6.98056215e-01 7.16041353e-01 -1.51719700e-03 1.82649787e+02] [ 2.25213682e-03 -7.67063969e-05 9.99997461e-01 1.19092772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.06, Y:182.67, Z:1.19 [[ 7.17589491e-01 -6.96464353e-01 -1.65156869e-03 1.82064723e+02] [ 6.96462667e-01 7.17591390e-01 -1.53321164e-03 1.82669092e+02] [ 2.25297872e-03 -5.00393682e-05 9.99997461e-01 1.19277174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.08, Y:182.69, Z:1.19 [[ 7.18758223e-01 -6.95258112e-01 -1.66561807e-03 1.82082880e+02] [ 6.95256459e-01 7.18760150e-01 -1.51779394e-03 1.82686928e+02] [ 2.25243844e-03 -6.71048473e-05 9.99997461e-01 1.19170288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.11, Y:182.71, Z:1.19 [[ 7.18517549e-01 -6.95506860e-01 -1.65530650e-03 1.82105978e+02] [ 6.95505181e-01 7.18519453e-01 -1.52911536e-03 1.82707662e+02] [ 2.25288014e-03 -5.25780278e-05 9.99997461e-01 1.19217168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.13, Y:182.73, Z:1.19 [[ 7.18506735e-01 -6.95518005e-01 -1.66593740e-03 1.82126098e+02] [ 6.95516353e-01 7.18508664e-01 -1.51744414e-03 1.82725068e+02] [ 2.25240018e-03 -6.83928766e-05 9.99997461e-01 1.19180875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.15, Y:182.74, Z:1.19 [[ 7.17913048e-01 -6.96130802e-01 -1.66202952e-03 1.82147425e+02] [ 6.96129142e-01 7.17914969e-01 -1.52173161e-03 1.82744236e+02] [ 2.25252012e-03 -6.45162031e-05 9.99997461e-01 1.19292932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.17, Y:182.76, Z:1.19 [[ 7.18106867e-01 -6.95930856e-01 -1.66499953e-03 1.82167222e+02] [ 6.95929203e-01 7.18108794e-01 -1.51847501e-03 1.82762581e+02] [ 2.25240442e-03 -6.82944642e-05 9.99997461e-01 1.19209641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.19, Y:182.78, Z:1.19 [[ 7.17794816e-01 -6.96252716e-01 -1.66030575e-03 1.82188514e+02] [ 6.96251052e-01 7.17796734e-01 -1.52361875e-03 1.82783775e+02] [ 2.25258574e-03 -6.23439873e-05 9.99997461e-01 1.19295862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.21, Y:182.80, Z:1.19 [[ 7.19161246e-01 -6.94841217e-01 -1.66878530e-03 1.82207570e+02] [ 6.94839571e-01 7.19163179e-01 -1.51432976e-03 1.82802775e+02] [ 2.25234767e-03 -7.04907815e-05 9.99997461e-01 1.19291168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.23, Y:182.82, Z:1.19 [[ 7.19197105e-01 -6.94804114e-01 -1.66377990e-03 1.82227349e+02] [ 6.94802454e-01 7.19199026e-01 -1.51980931e-03 1.82822171e+02] [ 2.25255865e-03 -6.29559018e-05 9.99997461e-01 1.19285579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.25, Y:182.84, Z:1.19 [[ 7.19061806e-01 -6.94944137e-01 -1.66330804e-03 1.82247602e+02] [ 6.94942476e-01 7.19063727e-01 -1.52032556e-03 1.82842218e+02] [ 2.25256581e-03 -6.26953667e-05 9.99997461e-01 1.19273636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.27, Y:182.86, Z:1.19 [[ 7.18966439e-01 -6.95042801e-01 -1.66283403e-03 1.82267259e+02] [ 6.95041140e-01 7.18968359e-01 -1.52084381e-03 1.82860397e+02] [ 2.25257660e-03 -6.23023995e-05 9.99997461e-01 1.19295490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.29, Y:182.88, Z:1.19 [[ 7.18351276e-01 -6.95678575e-01 -1.66257069e-03 1.82287228e+02] [ 6.95676915e-01 7.18353198e-01 -1.52113164e-03 1.82878120e+02] [ 2.25253166e-03 -6.39051956e-05 9.99997461e-01 1.19323244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.31, Y:182.90, Z:1.19 [[ 7.17936720e-01 -6.96106388e-01 -1.66231387e-03 1.82306645e+02] [ 6.96104728e-01 7.17938641e-01 -1.52141224e-03 1.82896643e+02] [ 2.25250414e-03 -6.48668302e-05 9.99997461e-01 1.19339861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.33, Y:182.92, Z:1.19 [[ 7.16960935e-01 -6.97111365e-01 -1.66200295e-03 1.82327002e+02] [ 6.97109707e-01 7.16962859e-01 -1.52175182e-03 1.82916477e+02] [ 2.25242488e-03 -6.75617844e-05 9.99997461e-01 1.19297298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.35, Y:182.93, Z:1.19 [[ 7.16734094e-01 -6.97344591e-01 -1.66151901e-03 1.82347054e+02] [ 6.97342932e-01 7.16736016e-01 -1.52228003e-03 1.82934800e+02] [ 2.25242426e-03 -6.75785373e-05 9.99997461e-01 1.19296786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.37, Y:182.95, Z:1.19 [[ 7.16528599e-01 -6.97555737e-01 -1.66124861e-03 1.82366730e+02] [ 6.97554079e-01 7.16530522e-01 -1.52257506e-03 1.82953046e+02] [ 2.25241630e-03 -6.78421692e-05 9.99997461e-01 1.19293971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.39, Y:182.97, Z:1.19 [[ 7.16793181e-01 -6.97283857e-01 -1.66098696e-03 1.82387524e+02] [ 6.97282197e-01 7.16795102e-01 -1.52286043e-03 1.82972268e+02] [ 2.25245332e-03 -6.66006641e-05 9.99997461e-01 1.19224258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.41, Y:182.99, Z:1.19 [[ 7.17380442e-01 -6.96679657e-01 -1.66050959e-03 1.82407249e+02] [ 6.96677994e-01 7.17382361e-01 -1.52338078e-03 1.82990390e+02] [ 2.25252869e-03 -6.39969082e-05 9.99997461e-01 1.19222143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.43, Y:183.01, Z:1.19 [[ 7.17935492e-01 -6.96107659e-01 -1.66024637e-03 1.82428350e+02] [ 6.96105994e-01 7.17937409e-01 -1.52366759e-03 1.83009590e+02] [ 2.25258966e-03 -6.18124061e-05 9.99997461e-01 1.19204747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.45, Y:183.03, Z:1.19 [[ 7.18851362e-01 -6.95161826e-01 -1.65979433e-03 1.82449091e+02] [ 6.95160157e-01 7.18853276e-01 -1.52415986e-03 1.83028724e+02] [ 2.25268634e-03 -5.81784917e-05 9.99997461e-01 1.19058617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.47, Y:183.05, Z:1.19 [[ 7.19125941e-01 -6.94877787e-01 -1.65590440e-03 1.82469854e+02] [ 6.94876108e-01 7.19127845e-01 -1.52839137e-03 1.83048230e+02] [ 2.25285218e-03 -5.15425249e-05 9.99997461e-01 1.19105301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.49, Y:183.07, Z:1.19 [[ 7.19931102e-01 -6.94043556e-01 -1.65856173e-03 1.82490397e+02] [ 6.94041882e-01 7.19933010e-01 -1.52550226e-03 1.83065491e+02] [ 2.25281835e-03 -5.28547817e-05 9.99997461e-01 1.19074750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.51, Y:183.08, Z:1.19 [[ 7.19912454e-01 -6.94062900e-01 -1.65810298e-03 1.82511630e+02] [ 6.94061225e-01 7.19914362e-01 -1.52600072e-03 1.83084231e+02] [ 2.25283264e-03 -5.22380575e-05 9.99997461e-01 1.19119037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.53, Y:183.10, Z:1.19 [[ 7.19835919e-01 -6.94142278e-01 -1.65764229e-03 1.82531816e+02] [ 6.94140601e-01 7.19837826e-01 -1.52650099e-03 1.83101986e+02] [ 2.25284250e-03 -5.18065786e-05 9.99997461e-01 1.19119852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.55, Y:183.12, Z:1.19 [[ 7.18870978e-01 -6.95141547e-01 -1.65733034e-03 1.82553168e+02] [ 6.95139872e-01 7.18872887e-01 -1.52683961e-03 1.83120734e+02] [ 2.25277949e-03 -5.44757157e-05 9.99997461e-01 1.19212059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.57, Y:183.14, Z:1.19 [[ 7.18165038e-01 -6.95870845e-01 -1.65687904e-03 1.82573990e+02] [ 6.95869171e-01 7.18166947e-01 -1.52732919e-03 1.83139825e+02] [ 2.25273961e-03 -5.60966197e-05 9.99997461e-01 1.19285745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.60, Y:183.16, Z:1.19 [[ 7.17303728e-01 -6.96758651e-01 -1.65642503e-03 1.82595018e+02] [ 6.96756978e-01 7.17305639e-01 -1.52782141e-03 1.83158840e+02] [ 2.25268580e-03 -5.82137066e-05 9.99997461e-01 1.19336524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.62, Y:183.18, Z:1.19 [[ 7.15348956e-01 -6.98765432e-01 -1.65595107e-03 1.82616234e+02] [ 6.98763764e-01 7.15350870e-01 -1.52833495e-03 1.83177430e+02] [ 2.25253367e-03 -6.38257889e-05 9.99997461e-01 1.19375428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.64, Y:183.20, Z:1.19 [[ 7.14101258e-01 -7.00040465e-01 -1.65547139e-03 1.82637389e+02] [ 7.00038798e-01 7.14103174e-01 -1.52885435e-03 1.83196559e+02] [ 2.25243728e-03 -6.71373825e-05 9.99997461e-01 1.19357787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.66, Y:183.21, Z:1.19 [[ 7.11713062e-01 -7.02468347e-01 -1.65498559e-03 1.82658120e+02] [ 7.02466686e-01 7.11714982e-01 -1.52938005e-03 1.83214234e+02] [ 2.25221911e-03 -7.40924838e-05 9.99997461e-01 1.19332916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.68, Y:183.23, Z:1.19 [[ 7.10373544e-01 -7.03822911e-01 -1.65471633e-03 1.82678871e+02] [ 7.03821253e-01 7.10375467e-01 -1.52967132e-03 1.83232260e+02] [ 2.25208761e-03 -7.79864856e-05 9.99997461e-01 1.19340264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.70, Y:183.25, Z:1.19 [[ 7.08241399e-01 -7.05968401e-01 -1.65444909e-03 1.82697955e+02] [ 7.05966748e-01 7.08243327e-01 -1.52996030e-03 1.83251165e+02] [ 2.25185616e-03 -8.44048200e-05 9.99997461e-01 1.19148725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.72, Y:183.27, Z:1.19 [[ 7.05828227e-01 -7.08381113e-01 -1.64674260e-03 1.82719142e+02] [ 7.08379448e-01 7.05830144e-01 -1.53828759e-03 1.83269448e+02] [ 2.25201445e-03 -8.07518102e-05 9.99997461e-01 1.19061909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.74, Y:183.29, Z:1.19 [[ 7.05813681e-01 -7.08395605e-01 -1.64735339e-03 1.82742515e+02] [ 7.08393941e-01 7.05815599e-01 -1.53762774e-03 1.83288121e+02] [ 2.25197645e-03 -8.16964678e-05 9.99997461e-01 1.19217267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.76, Y:183.31, Z:1.19 [[ 7.04953194e-01 -7.09251901e-01 -1.65373288e-03 1.82763357e+02] [ 7.09250255e-01 7.04955128e-01 -1.53073565e-03 1.83307132e+02] [ 2.25148464e-03 -9.38134784e-05 9.99997461e-01 1.19144941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.78, Y:183.33, Z:1.19 [[ 7.04909993e-01 -7.09294839e-01 -1.65327101e-03 1.82784760e+02] [ 7.09293192e-01 7.04911926e-01 -1.53123433e-03 1.83325266e+02] [ 2.25150706e-03 -9.32714884e-05 9.99997461e-01 1.19119499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.80, Y:183.34, Z:1.19 [[ 7.04582909e-01 -7.09619752e-01 -1.65279101e-03 1.82803871e+02] [ 7.09618105e-01 7.04584841e-01 -1.53175226e-03 1.83343679e+02] [ 2.25149315e-03 -9.36039591e-05 9.99997461e-01 1.18898997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.83, Y:183.36, Z:1.19 [[ 7.05509237e-01 -7.08698813e-01 -1.64600753e-03 1.82827029e+02] [ 7.08697146e-01 7.05511152e-01 -1.53906517e-03 1.83361809e+02] [ 2.25201033e-03 -8.06961493e-05 9.99997461e-01 1.19192506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.85, Y:183.38, Z:1.19 [[ 7.07015122e-01 -7.07196499e-01 -1.65211843e-03 1.82848441e+02] [ 7.07194843e-01 7.07017047e-01 -1.53247718e-03 1.83379149e+02] [ 2.25183839e-03 -8.48850936e-05 9.99997461e-01 1.19206866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.87, Y:183.40, Z:1.19 [[ 7.06802695e-01 -7.07408808e-01 -1.65180074e-03 1.82869263e+02] [ 7.07407153e-01 7.06804620e-01 -1.53281953e-03 1.83398706e+02] [ 2.25183044e-03 -8.50946853e-05 9.99997461e-01 1.19213291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.89, Y:183.42, Z:1.19 [[ 7.07848938e-01 -7.06361915e-01 -1.65134024e-03 1.82890441e+02] [ 7.06360255e-01 7.07850859e-01 -1.53331549e-03 1.83417610e+02] [ 2.25197827e-03 -8.10853729e-05 9.99997461e-01 1.19206320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.91, Y:183.44, Z:1.19 [[ 7.10578968e-01 -7.03615523e-01 -1.65088090e-03 1.82910987e+02] [ 7.03613855e-01 7.10580882e-01 -1.53380988e-03 1.83435119e+02] [ 2.25229685e-03 -7.16896285e-05 9.99997461e-01 1.19188150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.93, Y:183.45, Z:1.19 [[ 7.11969518e-01 -7.02208432e-01 -1.65056906e-03 1.82932071e+02] [ 7.02206759e-01 7.11971428e-01 -1.53414539e-03 1.83453560e+02] [ 2.25244784e-03 -6.67759927e-05 9.99997461e-01 1.19219771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.95, Y:183.47, Z:1.19 [[ 7.13309522e-01 -7.00847204e-01 -1.65011314e-03 1.82953178e+02] [ 7.00845527e-01 7.13311427e-01 -1.53463561e-03 1.83471668e+02] [ 2.25258964e-03 -6.18042219e-05 9.99997461e-01 1.19208104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:182.98, Y:183.49, Z:1.19 [[ 7.15323179e-01 -6.98791835e-01 -1.64965989e-03 1.82975279e+02] [ 6.98790151e-01 7.15325079e-01 -1.53512268e-03 1.83488698e+02] [ 2.25277429e-03 -5.46572505e-05 9.99997461e-01 1.19205720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.00, Y:183.51, Z:1.19 [[ 7.17837976e-01 -6.96208245e-01 -1.64915876e-03 1.82995586e+02] [ 6.96206553e-01 7.17839869e-01 -1.53566085e-03 1.83506450e+02] [ 2.25297165e-03 -4.57994597e-05 9.99997461e-01 1.19269071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.02, Y:183.52, Z:1.19 [[ 7.19400561e-01 -6.94593488e-01 -1.64887759e-03 1.83015915e+02] [ 6.94591791e-01 7.19402450e-01 -1.53596269e-03 1.83524791e+02] [ 2.25307626e-03 -4.03244155e-05 9.99997461e-01 1.19308808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.04, Y:183.55, Z:1.19 [[ 7.21686020e-01 -6.92218586e-01 -1.64847385e-03 1.83038299e+02] [ 6.92216882e-01 7.21687902e-01 -1.53639589e-03 1.83545490e+02] [ 2.25320542e-03 -3.23059928e-05 9.99997461e-01 1.19185716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.06, Y:183.56, Z:1.19 [[ 7.23605407e-01 -6.90211902e-01 -1.65725963e-03 1.83058301e+02] [ 6.90210214e-01 7.23607303e-01 -1.52696913e-03 1.83562706e+02] [ 2.25313744e-03 -3.89344028e-05 9.99997461e-01 1.19228012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.08, Y:183.58, Z:1.19 [[ 7.24319911e-01 -6.89462074e-01 -1.64778519e-03 1.83079037e+02] [ 6.89460361e-01 7.24321785e-01 -1.53712565e-03 1.83580385e+02] [ 2.25331655e-03 -2.27118607e-05 9.99997461e-01 1.19170538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.10, Y:183.60, Z:1.19 [[ 7.24730448e-01 -6.89030525e-01 -1.64738998e-03 1.83102190e+02] [ 6.89028810e-01 7.24732320e-01 -1.53754910e-03 1.83596587e+02] [ 2.25333502e-03 -2.07905052e-05 9.99997461e-01 1.19245974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.12, Y:183.61, Z:1.19 [[ 7.24567785e-01 -6.89201576e-01 -1.64695749e-03 1.83123747e+02] [ 6.89199861e-01 7.24569656e-01 -1.53801223e-03 1.83613686e+02] [ 2.25333587e-03 -2.06887590e-05 9.99997461e-01 1.19265859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.15, Y:183.63, Z:1.19 [[ 7.24303923e-01 -6.89478873e-01 -1.64656876e-03 1.83145318e+02] [ 6.89477157e-01 7.24305794e-01 -1.53842828e-03 1.83631155e+02] [ 2.25333309e-03 -2.09819113e-05 9.99997461e-01 1.19239714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.17, Y:183.65, Z:1.19 [[ 7.24010877e-01 -6.89786591e-01 -1.64614274e-03 1.83166359e+02] [ 6.89784875e-01 7.24012748e-01 -1.53888399e-03 1.83650838e+02] [ 2.25332987e-03 -2.13156149e-05 9.99997461e-01 1.19295636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.19, Y:183.67, Z:1.19 [[ 7.22559467e-01 -6.91306800e-01 -1.65063119e-03 1.83188492e+02] [ 6.91305099e-01 7.22561352e-01 -1.53408330e-03 1.83672960e+02] [ 2.25320453e-03 -3.26233465e-05 9.99997461e-01 1.19178570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.21, Y:183.69, Z:1.20 [[ 7.25731496e-01 -6.87976050e-01 -1.65853947e-03 1.83207554e+02] [ 6.87974359e-01 7.25733390e-01 -1.52562007e-03 1.83686463e+02] [ 2.25324754e-03 -3.38420940e-05 9.99997461e-01 1.19508748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.23, Y:183.71, Z:1.19 [[ 7.24534425e-01 -6.89236670e-01 -1.63684227e-03 1.83228004e+02] [ 6.89234930e-01 7.24536274e-01 -1.54884407e-03 1.83707631e+02] [ 2.25347173e-03 -5.97802272e-06 9.99997461e-01 1.19428190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.25, Y:183.73, Z:1.19 [[ 7.24434138e-01 -6.89342056e-01 -1.64612524e-03 1.83248380e+02] [ 6.89340339e-01 7.24436008e-01 -1.53891021e-03 1.83726531e+02] [ 2.25334792e-03 -1.99014408e-05 9.99997461e-01 1.19339846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.27, Y:183.74, Z:1.19 [[ 7.26296526e-01 -6.87379545e-01 -1.64852809e-03 1.83269717e+02] [ 6.87377828e-01 7.26298397e-01 -1.53633908e-03 1.83742656e+02] [ 2.25337137e-03 -1.73239241e-05 9.99997461e-01 1.19335986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:183.76, Z:1.19 [[ 7.24405004e-01 -6.89372676e-01 -1.64435921e-03 1.83287895e+02] [ 6.89370954e-01 7.24406870e-01 -1.54079810e-03 1.83762462e+02] [ 2.25336921e-03 -1.74116235e-05 9.99997461e-01 1.19296884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.64275509600003 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:183.31, Y:183.78, Z:1.19 [[ 7.24725316e-01 -6.89035941e-01 -1.63977295e-03 1.83307405e+02] [ 6.89034207e-01 7.24727171e-01 -1.54569869e-03 1.83780345e+02] [ 2.25342997e-03 -9.65268184e-06 9.99997461e-01 1.19313656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.33, Y:183.80, Z:1.19 [[ 7.21226537e-01 -6.92697354e-01 -1.63049574e-03 1.83328013e+02] [ 6.92695607e-01 7.21228380e-01 -1.55563000e-03 1.83803572e+02] [ 2.25354059e-03 -7.47559644e-06 9.99997461e-01 1.19225387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:183.35, Y:183.82, Z:1.19 [[ 7.20739803e-01 -6.93203740e-01 -1.64672848e-03 1.83351241e+02] [ 6.93202034e-01 7.20741683e-01 -1.53825255e-03 1.83824083e+02] [ 2.25318828e-03 -3.28356877e-05 9.99997461e-01 1.19124054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.37, Y:183.84, Z:1.19 [[ 7.18161366e-01 -6.95874632e-01 -1.65811283e-03 1.83371316e+02] [ 6.95872961e-01 7.18163278e-01 -1.52607050e-03 1.83844750e+02] [ 2.25274949e-03 -5.78710079e-05 9.99997461e-01 1.18986126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.39, Y:183.86, Z:1.19 [[ 7.17296818e-01 -6.96765752e-01 -1.66197302e-03 1.83393646e+02] [ 6.96764093e-01 7.17298740e-01 -1.52194226e-03 1.83864997e+02] [ 2.25256839e-03 -6.63187820e-05 9.99997461e-01 1.19043794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.41, Y:183.88, Z:1.19 [[ 7.13607210e-01 -7.00544048e-01 -1.66906750e-03 1.83407219e+02] [ 7.00542417e-01 7.13609157e-01 -1.51435827e-03 1.83883731e+02] [ 2.25193653e-03 -8.85955992e-05 9.99997460e-01 1.19182309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.43, Y:183.91, Z:1.19 [[ 7.11445301e-01 -7.02739553e-01 -1.64438857e-03 1.83427965e+02] [ 7.02737867e-01 7.11447199e-01 -1.54069812e-03 1.83905420e+02] [ 2.25260515e-03 -5.94516765e-05 9.99997461e-01 1.19376185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.45, Y:183.93, Z:1.19 [[ 7.10944910e-01 -7.03245773e-01 -1.64864891e-03 1.83446941e+02] [ 7.03244098e-01 7.10946818e-01 -1.53615348e-03 1.83925265e+02] [ 2.25239514e-03 -6.72821163e-05 9.99997461e-01 1.19326382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.47, Y:183.95, Z:1.19 [[ 7.10515758e-01 -7.03679369e-01 -1.64428096e-03 1.83466643e+02] [ 7.03677684e-01 7.10517658e-01 -1.54081077e-03 1.83945114e+02] [ 2.25252740e-03 -6.22734839e-05 9.99997461e-01 1.19324393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.49, Y:183.96, Z:1.19 [[ 7.10528041e-01 -7.03666967e-01 -1.64388309e-03 1.83485601e+02] [ 7.03665282e-01 7.10529940e-01 -1.54123470e-03 1.83964007e+02] [ 2.25254410e-03 -6.16529848e-05 9.99997461e-01 1.19353573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.51, Y:183.98, Z:1.19 [[ 7.12895892e-01 -7.01267958e-01 -1.64263613e-03 1.83512001e+02] [ 7.01266263e-01 7.12897782e-01 -1.54256256e-03 1.83984666e+02] [ 2.25278135e-03 -5.22387918e-05 9.99997461e-01 1.19289187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.52, Y:184.00, Z:1.19 [[ 7.10223039e-01 -7.03974749e-01 -1.66953089e-03 1.83519295e+02] [ 7.03973129e-01 7.10224994e-01 -1.51392104e-03 1.84004682e+02] [ 2.25150475e-03 -1.00083281e-04 9.99997460e-01 1.19164485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.54, Y:184.02, Z:1.19 [[ 7.13237887e-01 -7.00920163e-01 -1.62558939e-03 1.83544443e+02] [ 7.00918426e-01 7.13239739e-01 -1.56067339e-03 1.84023982e+02] [ 2.25334240e-03 -2.62741697e-05 9.99997461e-01 1.19376268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.56, Y:184.04, Z:1.19 [[ 7.13266926e-01 -7.00890575e-01 -1.64117383e-03 1.83562739e+02] [ 7.00888876e-01 7.13268813e-01 -1.54408541e-03 1.84043892e+02] [ 2.25283303e-03 -4.89354268e-05 9.99997461e-01 1.19267852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.58, Y:184.06, Z:1.19 [[ 7.14099945e-01 -7.00041855e-01 -1.63417283e-03 1.83583008e+02] [ 7.00040136e-01 7.14101814e-01 -1.55153112e-03 1.84063932e+02] [ 2.25310250e-03 -3.60382844e-05 9.99997461e-01 1.19315914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.60, Y:184.08, Z:1.20 [[ 7.15682489e-01 -6.98423868e-01 -1.63583863e-03 1.83602644e+02] [ 6.98422149e-01 7.15684358e-01 -1.54976067e-03 1.84084253e+02] [ 2.25313396e-03 -3.33693623e-05 9.99997461e-01 1.19568545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.62, Y:184.10, Z:1.20 [[ 7.16150140e-01 -6.97944341e-01 -1.63520208e-03 1.83622764e+02] [ 6.97942619e-01 7.16152007e-01 -1.55043690e-03 1.84104312e+02] [ 2.25317191e-03 -3.09316225e-05 9.99997461e-01 1.19626898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.64, Y:184.12, Z:1.20 [[ 7.17077918e-01 -6.96991100e-01 -1.63285799e-03 1.83644521e+02] [ 6.96989370e-01 7.17079777e-01 -1.55292630e-03 1.84124005e+02] [ 2.25326526e-03 -2.45155048e-05 9.99997461e-01 1.19686337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.67, Y:184.14, Z:1.20 [[ 7.17253999e-01 -6.96809887e-01 -1.63768725e-03 1.83665156e+02] [ 6.96808169e-01 7.17255868e-01 -1.54779882e-03 1.84143461e+02] [ 2.25316231e-03 -3.09889613e-05 9.99997461e-01 1.19617662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:184.16, Z:1.20 [[ 7.17389231e-01 -6.96670667e-01 -1.63513870e-03 1.83688578e+02] [ 6.96668942e-01 7.17391094e-01 -1.55050403e-03 1.84163017e+02] [ 2.25322462e-03 -2.68354516e-05 9.99997461e-01 1.19786983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.71, Y:184.18, Z:1.20 [[ 7.16652985e-01 -6.97427988e-01 -1.64352875e-03 1.83708121e+02] [ 6.97426285e-01 7.16654868e-01 -1.54160009e-03 1.84181911e+02] [ 2.25299793e-03 -4.14478481e-05 9.99997461e-01 1.19609208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.73, Y:184.20, Z:1.20 [[ 7.15523784e-01 -6.98586445e-01 -1.64123074e-03 1.83725442e+02] [ 6.98584740e-01 7.15525665e-01 -1.54403768e-03 1.84200398e+02] [ 2.25298651e-03 -4.17430682e-05 9.99997461e-01 1.19556733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.75, Y:184.22, Z:1.19 [[ 7.14512492e-01 -6.99620793e-01 -1.62593923e-03 1.83747181e+02] [ 6.99619054e-01 7.14514342e-01 -1.56023974e-03 1.84219728e+02] [ 2.25333307e-03 -2.27272766e-05 9.99997461e-01 1.19382316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.77, Y:184.24, Z:1.20 [[ 7.14496961e-01 -6.99636639e-01 -1.63292661e-03 1.83771194e+02] [ 6.99634916e-01 7.14498826e-01 -1.55283599e-03 1.84238351e+02] [ 2.25314510e-03 -3.29558791e-05 9.99997461e-01 1.19548980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.79, Y:184.26, Z:1.19 [[ 7.13249023e-01 -7.00908798e-01 -1.63955128e-03 1.83791169e+02] [ 7.00907095e-01 7.13250906e-01 -1.54581737e-03 1.84255042e+02] [ 2.25288843e-03 -4.66203957e-05 9.99997461e-01 1.19303680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.81, Y:184.27, Z:1.19 [[ 7.12371282e-01 -7.01800904e-01 -1.62744732e-03 1.83812535e+02] [ 7.01799174e-01 7.12373140e-01 -1.55863060e-03 1.84273958e+02] [ 2.25319812e-03 -3.18175102e-05 9.99997461e-01 1.19255663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.83, Y:184.29, Z:1.19 [[ 7.11076959e-01 -7.03112298e-01 -1.62957624e-03 1.83833869e+02] [ 7.03110576e-01 7.11078825e-01 -1.55637562e-03 1.84293356e+02] [ 2.25306400e-03 -3.90694463e-05 9.99997461e-01 1.19182331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.86, Y:184.31, Z:1.19 [[ 7.10667019e-01 -7.03526635e-01 -1.63146660e-03 1.83855266e+02] [ 7.03524920e-01 7.10668890e-01 -1.55437383e-03 1.84312264e+02] [ 2.25297595e-03 -4.31351916e-05 9.99997461e-01 1.19134906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.88, Y:184.33, Z:1.19 [[ 7.10058506e-01 -7.04140789e-01 -1.63303286e-03 1.83875639e+02] [ 7.04139079e-01 7.10060383e-01 -1.55271685e-03 1.84329721e+02] [ 2.25288321e-03 -4.73624472e-05 9.99997461e-01 1.19126899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.90, Y:184.35, Z:1.19 [[ 7.08235691e-01 -7.05974180e-01 -1.63170989e-03 1.83898297e+02] [ 7.05972472e-01 7.08237569e-01 -1.55411484e-03 1.84347108e+02] [ 2.25280320e-03 -5.12626651e-05 9.99997461e-01 1.19193016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.92, Y:184.37, Z:1.19 [[ 7.07327605e-01 -7.06883996e-01 -1.63590078e-03 1.83919770e+02] [ 7.06882300e-01 7.07329494e-01 -1.54968751e-03 1.84365925e+02] [ 2.25257017e-03 -6.02525523e-05 9.99997461e-01 1.19291274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.94, Y:184.38, Z:1.19 [[ 7.05938411e-01 -7.08271334e-01 -1.63629102e-03 1.83941122e+02] [ 7.08269643e-01 7.05940304e-01 -1.54927536e-03 1.84382614e+02] [ 2.25243110e-03 -6.52422716e-05 9.99997461e-01 1.19337907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.96, Y:184.40, Z:1.19 [[ 7.06178731e-01 -7.08031725e-01 -1.63602245e-03 1.83961742e+02] [ 7.08030033e-01 7.06180623e-01 -1.54955891e-03 1.84400353e+02] [ 2.25246422e-03 -6.40874879e-05 9.99997461e-01 1.19306262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.98, Y:184.42, Z:1.19 [[ 7.06188490e-01 -7.08022008e-01 -1.62878900e-03 1.83981972e+02] [ 7.08020298e-01 7.06190366e-01 -1.55718976e-03 1.84417944e+02] [ 2.25275972e-03 -5.35461909e-05 9.99997461e-01 1.19283191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.00, Y:184.44, Z:1.19 [[ 7.06035042e-01 -7.08175032e-01 -1.62570276e-03 1.84003630e+02] [ 7.08173315e-01 7.06036912e-01 -1.56044499e-03 1.84437605e+02] [ 2.25287434e-03 -4.95504702e-05 9.99997461e-01 1.19318640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.02, Y:184.46, Z:1.20 [[ 7.05468444e-01 -7.08739466e-01 -1.62618297e-03 1.84024684e+02] [ 7.08737751e-01 7.05470316e-01 -1.55993857e-03 1.84457419e+02] [ 2.25281384e-03 -5.20498215e-05 9.99997461e-01 1.19527777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:184.05, Y:184.48, Z:1.19 [[ 7.06059702e-01 -7.08150428e-01 -1.63344754e-03 1.84046194e+02] [ 7.08148729e-01 7.06061589e-01 -1.55227858e-03 1.84476570e+02] [ 2.25256131e-03 -6.07224488e-05 9.99997461e-01 1.19373556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.06, Y:184.50, Z:1.20 [[ 7.06774146e-01 -7.07437374e-01 -1.63328401e-03 1.84064533e+02] [ 7.07435673e-01 7.06776031e-01 -1.55245093e-03 1.84497059e+02] [ 2.25262780e-03 -5.82111868e-05 9.99997461e-01 1.19583184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:184.08, Y:184.52, Z:1.20 [[ 7.07889341e-01 -7.06321468e-01 -1.63226352e-03 1.84084956e+02] [ 7.06319762e-01 7.07891221e-01 -1.55352601e-03 1.84515744e+02] [ 2.25275379e-03 -5.31754763e-05 9.99997461e-01 1.19653339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.10, Y:184.53, Z:1.20 [[ 7.09997755e-01 -7.04202049e-01 -1.63153656e-03 1.84103895e+02] [ 7.04200335e-01 7.09999628e-01 -1.55429144e-03 1.84532225e+02] [ 2.25292557e-03 -4.53851526e-05 9.99997461e-01 1.19662130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.13, Y:184.55, Z:1.20 [[ 7.10496365e-01 -7.03699007e-01 -1.61957133e-03 1.84127822e+02] [ 7.03697263e-01 7.10498211e-01 -1.56688551e-03 1.84553696e+02] [ 2.25331831e-03 -2.64214466e-05 9.99997461e-01 1.19789031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.15, Y:184.57, Z:1.19 [[ 7.09718579e-01 -7.04483406e-01 -1.63393453e-03 1.84147787e+02] [ 7.04481699e-01 7.09720458e-01 -1.55176171e-03 1.84574806e+02] [ 2.25282714e-03 -4.97628567e-05 9.99997461e-01 1.19362731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.17, Y:184.59, Z:1.19 [[ 7.09546349e-01 -7.04656867e-01 -1.63650500e-03 1.84167646e+02] [ 7.04655167e-01 7.09548234e-01 -1.54905661e-03 1.84593919e+02] [ 2.25273261e-03 -5.40442402e-05 9.99997461e-01 1.19369052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.19, Y:184.61, Z:1.19 [[ 7.10785339e-01 -7.03407084e-01 -1.63585973e-03 1.84188155e+02] [ 7.03405378e-01 7.10787220e-01 -1.54973522e-03 1.84612908e+02] [ 2.25284292e-03 -4.91434607e-05 9.99997461e-01 1.19463413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.21, Y:184.63, Z:1.20 [[ 7.13456879e-01 -7.00697240e-01 -1.63094349e-03 1.84210977e+02] [ 7.00695516e-01 7.13458742e-01 -1.55490288e-03 1.84632370e+02] [ 2.25312705e-03 -3.34386327e-05 9.99997461e-01 1.19603265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.23, Y:184.65, Z:1.20 [[ 7.13882009e-01 -7.00264081e-01 -1.64130966e-03 1.84230235e+02] [ 7.00262381e-01 7.13883894e-01 -1.54399248e-03 1.84652143e+02] [ 2.25290701e-03 -4.71189617e-05 9.99997461e-01 1.19900020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.25, Y:184.67, Z:1.20 [[ 7.15630943e-01 -6.98476680e-01 -1.63706779e-03 1.84249859e+02] [ 6.98474965e-01 7.15632815e-01 -1.54845227e-03 1.84671743e+02] [ 2.25309723e-03 -3.53305104e-05 9.99997461e-01 1.19939938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.27, Y:184.69, Z:1.20 [[ 7.15669460e-01 -6.98437227e-01 -1.63226685e-03 1.84270458e+02] [ 6.98435499e-01 7.15671321e-01 -1.55349664e-03 1.84692450e+02] [ 2.25318646e-03 -2.82430136e-05 9.99997461e-01 1.19655394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.29, Y:184.71, Z:1.20 [[ 7.16042456e-01 -6.98054819e-01 -1.63402504e-03 1.84290150e+02] [ 6.98053095e-01 7.16044320e-01 -1.55165007e-03 1.84710569e+02] [ 2.25317116e-03 -2.95889106e-05 9.99997461e-01 1.19968077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.31, Y:184.73, Z:1.20 [[ 7.15548763e-01 -6.98560882e-01 -1.63159117e-03 1.84311945e+02] [ 6.98559154e-01 7.15550622e-01 -1.55420513e-03 1.84731419e+02] [ 2.25319299e-03 -2.76533872e-05 9.99997461e-01 1.20031384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.33, Y:184.75, Z:1.20 [[ 7.14937399e-01 -6.99186555e-01 -1.63611625e-03 1.84332775e+02] [ 6.99184839e-01 7.14939270e-01 -1.54945412e-03 1.84749951e+02] [ 2.25308124e-03 -3.61849753e-05 9.99997461e-01 1.19961503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.35, Y:184.77, Z:1.20 [[ 7.15479001e-01 -6.98632317e-01 -1.63859326e-03 1.84352890e+02] [ 6.98630605e-01 7.15480876e-01 -1.54685444e-03 1.84768356e+02] [ 2.25306464e-03 -3.80295382e-05 9.99997461e-01 1.19919834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.38, Y:184.79, Z:1.20 [[ 7.14025988e-01 -7.00117297e-01 -1.63078329e-03 1.84375336e+02] [ 7.00115570e-01 7.14027850e-01 -1.55504480e-03 1.84790163e+02] [ 2.25313844e-03 -3.13943744e-05 9.99997461e-01 1.19787612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.40, Y:184.81, Z:1.20 [[ 7.14001115e-01 -7.00142643e-01 -1.63957877e-03 1.84396666e+02] [ 7.00140937e-01 7.14002996e-01 -1.54583634e-03 1.84809755e+02] [ 2.25297009e-03 -4.42073456e-05 9.99997461e-01 1.19850115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.41, Y:184.83, Z:1.20 [[ 7.12588526e-01 -7.01580286e-01 -1.64143550e-03 1.84414234e+02] [ 7.01578589e-01 7.12590415e-01 -1.54389114e-03 1.84828230e+02] [ 2.25283479e-03 -5.14368898e-05 9.99997461e-01 1.19847281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.29275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:184.44, Y:184.85, Z:1.20 [[ 7.10777962e-01 -7.03414543e-01 -1.63394014e-03 1.84435625e+02] [ 7.03412833e-01 7.10779838e-01 -1.55173616e-03 1.84848273e+02] [ 2.25288549e-03 -4.63945960e-05 9.99997461e-01 1.19622545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.32275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:184.46, Y:184.87, Z:1.20 [[ 7.10250005e-01 -7.03947625e-01 -1.63436818e-03 1.84456157e+02] [ 7.03945917e-01 7.10251884e-01 -1.55128828e-03 1.84866946e+02] [ 2.25283878e-03 -4.87042983e-05 9.99997461e-01 1.19965312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.48, Y:184.89, Z:1.20 [[ 7.07195705e-01 -7.07015956e-01 -1.63500842e-03 1.84478426e+02] [ 7.07014258e-01 7.07197592e-01 -1.55061848e-03 1.84889363e+02] [ 2.25258602e-03 -5.93835329e-05 9.99997461e-01 1.19860885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.49, Y:184.91, Z:1.20 [[ 7.06765458e-01 -7.07446028e-01 -1.64476910e-03 1.84494885e+02] [ 7.07444355e-01 7.06767368e-01 -1.54043877e-03 1.84906225e+02] [ 2.25224642e-03 -7.48536971e-05 9.99997461e-01 1.19829681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.52, Y:184.93, Z:1.20 [[ 7.05881172e-01 -7.08328409e-01 -1.62343345e-03 1.84516169e+02] [ 7.08326687e-01 7.05883037e-01 -1.56265636e-03 1.84925998e+02] [ 2.25282802e-03 -4.68715318e-05 9.99997461e-01 1.20018436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.54, Y:184.95, Z:1.20 [[ 7.05050471e-01 -7.09155259e-01 -1.62865321e-03 1.84536060e+02] [ 7.09153551e-01 7.05052350e-01 -1.55722256e-03 1.84945373e+02] [ 2.25259834e-03 -5.70447069e-05 9.99997461e-01 1.20051967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.55, Y:184.96, Z:1.20 [[ 7.03256947e-01 -7.10933913e-01 -1.62446108e-03 1.84554966e+02] [ 7.10932200e-01 7.03258821e-01 -1.56158349e-03 1.84964207e+02] [ 2.25259924e-03 -5.66872504e-05 9.99997461e-01 1.20216693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.58, Y:184.98, Z:1.20 [[ 7.02321513e-01 -7.11858030e-01 -1.62418230e-03 1.84575376e+02] [ 7.11856319e-01 7.02323388e-01 -1.56187339e-03 1.84984005e+02] [ 2.25253333e-03 -5.92471559e-05 9.99997461e-01 1.20317733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.60, Y:185.00, Z:1.20 [[ 7.00400025e-01 -7.13748673e-01 -1.62369022e-03 1.84595519e+02] [ 7.13746966e-01 7.00401904e-01 -1.56238477e-03 1.85004478e+02] [ 2.25238578e-03 -6.46096380e-05 9.99997461e-01 1.20405768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.62, Y:185.02, Z:1.21 [[ 7.00224675e-01 -7.13920683e-01 -1.63169167e-03 1.84615210e+02] [ 7.13918996e-01 7.00226572e-01 -1.55407371e-03 1.85023072e+02] [ 2.25203923e-03 -7.66949191e-05 9.99997461e-01 1.20521351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.5927550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:184.64, Y:185.04, Z:1.20 [[ 6.99300341e-01 -7.14826132e-01 -1.62272693e-03 1.84635091e+02] [ 7.14824426e-01 6.99302221e-01 -1.56337876e-03 1.85043095e+02] [ 2.25232054e-03 -6.66935487e-05 9.99997461e-01 1.20344577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.65, Y:185.06, Z:1.21 [[ 6.98964403e-01 -7.15154621e-01 -1.62222900e-03 1.84653772e+02] [ 7.15152914e-01 6.98966282e-01 -1.56389527e-03 1.85063268e+02] [ 2.25231030e-03 -6.70346764e-05 9.99997461e-01 1.20579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.67, Y:185.08, Z:1.21 [[ 6.98689992e-01 -7.15422718e-01 -1.62189109e-03 1.84673273e+02] [ 7.15421011e-01 6.98691871e-01 -1.56424563e-03 1.85083603e+02] [ 2.25229898e-03 -6.74121995e-05 9.99997461e-01 1.20591146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.69, Y:185.10, Z:1.21 [[ 6.98310884e-01 -7.15792764e-01 -1.62139840e-03 1.84692800e+02] [ 7.15791056e-01 6.98312763e-01 -1.56475615e-03 1.85104174e+02] [ 2.25228433e-03 -6.78962233e-05 9.99997461e-01 1.20608000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.71, Y:185.12, Z:1.21 [[ 6.98866420e-01 -7.15250369e-01 -1.62353992e-03 1.84710762e+02] [ 7.15248666e-01 6.98868303e-01 -1.56253806e-03 1.85123845e+02] [ 2.25224651e-03 -6.92293845e-05 9.99997461e-01 1.20574566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.73, Y:185.14, Z:1.21 [[ 6.99205460e-01 -7.14918945e-01 -1.62073183e-03 1.84730555e+02] [ 7.14917234e-01 6.99207336e-01 -1.56544532e-03 1.85143909e+02] [ 2.25239410e-03 -6.41211988e-05 9.99997461e-01 1.20582979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.75, Y:185.16, Z:1.21 [[ 6.99376754e-01 -7.14751377e-01 -1.62022879e-03 1.84749898e+02] [ 7.14749664e-01 6.99378628e-01 -1.56596579e-03 1.85163880e+02] [ 2.25242959e-03 -6.28579062e-05 9.99997461e-01 1.20612729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.77, Y:185.19, Z:1.20 [[ 7.01251016e-01 -7.12912610e-01 -1.61972712e-03 1.84771856e+02] [ 7.12910891e-01 7.01252884e-01 -1.56648451e-03 1.85185271e+02] [ 2.25260488e-03 -5.62222479e-05 9.99997461e-01 1.20331437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.79, Y:185.21, Z:1.21 [[ 7.00257417e-01 -7.13888571e-01 -1.63030209e-03 1.84787759e+02] [ 7.13886880e-01 7.00259311e-01 -1.55555263e-03 1.85205903e+02] [ 2.25212547e-03 -7.45640060e-05 9.99997461e-01 1.20530105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.81, Y:185.23, Z:1.21 [[ 7.01115502e-01 -7.13045889e-01 -1.61651180e-03 1.84806713e+02] [ 7.13044163e-01 7.01117363e-01 -1.56979577e-03 1.85227177e+02] [ 2.25270091e-03 -5.20361547e-05 9.99997461e-01 1.20576800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.83, Y:185.25, Z:1.21 [[ 7.02620257e-01 -7.11563186e-01 -1.61439011e-03 1.84829427e+02] [ 7.11561451e-01 7.02622111e-01 -1.57198615e-03 1.85247364e+02] [ 2.25287365e-03 -4.42284559e-05 9.99997461e-01 1.20521236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.85, Y:185.27, Z:1.21 [[ 7.02348849e-01 -7.11831058e-01 -1.62430302e-03 1.84847452e+02] [ 7.11829348e-01 7.02350725e-01 -1.56175100e-03 1.85266715e+02] [ 2.25253328e-03 -5.93325414e-05 9.99997461e-01 1.20690188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.86, Y:185.29, Z:1.21 [[ 7.00725075e-01 -7.13429570e-01 -1.61815762e-03 1.84864765e+02] [ 7.13427848e-01 7.00726941e-01 -1.56809261e-03 1.85287563e+02] [ 2.25261028e-03 -5.56368951e-05 9.99997461e-01 1.20737609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.89, Y:185.31, Z:1.21 [[ 7.02307196e-01 -7.11872177e-01 -1.61405946e-03 1.84887839e+02] [ 7.11870442e-01 7.02309050e-01 -1.57232313e-03 1.85306412e+02] [ 2.25286165e-03 -4.47473732e-05 9.99997461e-01 1.20506249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.91, Y:185.33, Z:1.21 [[ 7.02161300e-01 -7.12016075e-01 -1.61831885e-03 1.84907054e+02] [ 7.12014350e-01 7.02163163e-01 -1.56792685e-03 1.85325463e+02] [ 2.25271300e-03 -5.13286902e-05 9.99997461e-01 1.20881473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.93, Y:185.35, Z:1.21 [[ 7.02537098e-01 -7.11645283e-01 -1.61769364e-03 1.84927279e+02] [ 7.11643556e-01 7.02538959e-01 -1.56857167e-03 1.85346598e+02] [ 2.25275944e-03 -4.92414603e-05 9.99997461e-01 1.20690821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.95, Y:185.37, Z:1.21 [[ 7.03476292e-01 -7.10716883e-01 -1.61864406e-03 1.84947044e+02] [ 7.10715155e-01 7.03478152e-01 -1.56759199e-03 1.85365357e+02] [ 2.25279482e-03 -4.76310669e-05 9.99997461e-01 1.20651343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.97, Y:185.39, Z:1.21 [[ 7.02014828e-01 -7.12160493e-01 -1.61688768e-03 1.84965637e+02] [ 7.12158765e-01 7.02016688e-01 -1.56940151e-03 1.85386363e+02] [ 2.25274789e-03 -4.97376021e-05 9.99997461e-01 1.20577788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:184.98, Y:185.41, Z:1.21 [[ 7.00496491e-01 -7.13654016e-01 -1.61637566e-03 1.84982669e+02] [ 7.13652291e-01 7.00498354e-01 -1.56992868e-03 1.85406693e+02] [ 2.25265439e-03 -5.38006565e-05 9.99997461e-01 1.20562031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.00, Y:185.43, Z:1.21 [[ 7.01092686e-01 -7.13068341e-01 -1.60861448e-03 1.85004801e+02] [ 7.13066596e-01 7.01094530e-01 -1.57791533e-03 1.85425659e+02] [ 2.25295228e-03 -4.07843499e-05 9.99997461e-01 1.20574058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.02, Y:185.44, Z:1.21 [[ 7.00435174e-01 -7.13714198e-01 -1.61584186e-03 1.85024182e+02] [ 7.13712472e-01 7.00437036e-01 -1.57047919e-03 1.85444010e+02] [ 2.25266878e-03 -5.32276230e-05 9.99997461e-01 1.20608518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.04, Y:185.46, Z:1.21 [[ 6.99538375e-01 -7.14593207e-01 -1.61556394e-03 1.85044161e+02] [ 7.14591483e-01 6.99540239e-01 -1.57076504e-03 1.85462852e+02] [ 2.25261001e-03 -5.56578027e-05 9.99997461e-01 1.20716373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.06, Y:185.48, Z:1.21 [[ 6.99193127e-01 -7.14931030e-01 -1.61028059e-03 1.85063588e+02] [ 7.14929294e-01 6.99194980e-01 -1.57619505e-03 1.85482424e+02] [ 2.25277086e-03 -4.91720166e-05 9.99997461e-01 1.20678295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.08, Y:185.50, Z:1.21 [[ 6.97649072e-01 -7.16437852e-01 -1.60533143e-03 1.85083925e+02] [ 7.16436108e-01 6.97650917e-01 -1.58127830e-03 1.85503794e+02] [ 2.25284857e-03 -4.69400659e-05 9.99997461e-01 1.20572624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.10, Y:185.52, Z:1.20 [[ 6.96995767e-01 -7.17073424e-01 -1.61428522e-03 1.85103853e+02] [ 7.17071703e-01 6.96997634e-01 -1.57208416e-03 1.85524160e+02] [ 2.25245274e-03 -6.18222466e-05 9.99997461e-01 1.20499624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.12, Y:185.54, Z:1.20 [[ 6.96569280e-01 -7.17487724e-01 -1.61379375e-03 1.85122798e+02] [ 7.17486003e-01 6.96571146e-01 -1.57258849e-03 1.85543078e+02] [ 2.25243510e-03 -6.24575963e-05 9.99997461e-01 1.20417463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.15, Y:185.56, Z:1.20 [[ 6.95840802e-01 -7.18194247e-01 -1.61284845e-03 1.85145936e+02] [ 7.18192526e-01 6.95842668e-01 -1.57355799e-03 1.85564614e+02] [ 2.25240907e-03 -6.33898528e-05 9.99997461e-01 1.20459264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.16, Y:185.58, Z:1.20 [[ 6.94443025e-01 -7.19545858e-01 -1.62615854e-03 1.85162313e+02] [ 7.19544172e-01 6.94444923e-01 -1.55992794e-03 1.85583720e+02] [ 2.25171723e-03 -8.68118239e-05 9.99997461e-01 1.20411980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.19, Y:185.60, Z:1.20 [[ 6.95432161e-01 -7.18589948e-01 -1.61133720e-03 1.85185306e+02] [ 7.18588225e-01 6.95434025e-01 -1.57509036e-03 1.85603367e+02] [ 2.25242282e-03 -6.25194493e-05 9.99997461e-01 1.20409867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.21, Y:185.62, Z:1.20 [[ 6.94835593e-01 -7.19166794e-01 -1.61906643e-03 1.85208126e+02] [ 7.19165090e-01 6.94837475e-01 -1.56718557e-03 1.85624670e+02] [ 2.25205585e-03 -7.54397360e-05 9.99997461e-01 1.20308119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.22, Y:185.64, Z:1.21 [[ 6.93528276e-01 -7.20427565e-01 -1.62881535e-03 1.85223087e+02] [ 7.20425888e-01 6.93530183e-01 -1.55720107e-03 1.85643434e+02] [ 2.25148318e-03 -9.34777688e-05 9.99997461e-01 1.20511756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.24, Y:185.66, Z:1.20 [[ 6.92786696e-01 -7.21140771e-01 -1.60709454e-03 1.85242425e+02] [ 7.21139044e-01 6.92788557e-01 -1.57942440e-03 1.85663793e+02] [ 2.25236404e-03 -6.47344046e-05 9.99997461e-01 1.20441403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.26, Y:185.68, Z:1.20 [[ 6.92887546e-01 -7.21043877e-01 -1.60525772e-03 1.85263442e+02] [ 7.21042145e-01 6.92889403e-01 -1.58130232e-03 1.85683191e+02] [ 2.25245441e-03 -6.17937872e-05 9.99997461e-01 1.20476654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.28, Y:185.70, Z:1.21 [[ 6.91590336e-01 -7.22288183e-01 -1.60895509e-03 1.85283363e+02] [ 7.22286464e-01 6.91592204e-01 -1.57752357e-03 1.85703762e+02] [ 2.25216743e-03 -7.11264237e-05 9.99997461e-01 1.20538552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.30, Y:185.72, Z:1.21 [[ 6.93072324e-01 -7.20866244e-01 -1.61631742e-03 1.85303449e+02] [ 7.20864538e-01 6.93074205e-01 -1.57000257e-03 1.85722063e+02] [ 2.25198976e-03 -7.70205780e-05 9.99997461e-01 1.20613136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.32, Y:185.74, Z:1.21 [[ 6.92991661e-01 -7.20943803e-01 -1.60943995e-03 1.85323247e+02] [ 7.20942081e-01 6.92993527e-01 -1.57702141e-03 1.85742336e+02] [ 2.25227528e-03 -6.74503017e-05 9.99997461e-01 1.20548596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.34, Y:185.76, Z:1.21 [[ 6.93317261e-01 -7.20630687e-01 -1.60885635e-03 1.85343903e+02] [ 7.20628963e-01 6.93319125e-01 -1.57761657e-03 1.85763291e+02] [ 2.25232979e-03 -6.55996813e-05 9.99997461e-01 1.20504110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:185.36, Y:185.78, Z:1.21 [[ 6.93641755e-01 -7.20318347e-01 -1.61114349e-03 1.85362591e+02] [ 7.20316627e-01 6.93643622e-01 -1.57528422e-03 1.85782731e+02] [ 2.25226553e-03 -6.78505389e-05 9.99997461e-01 1.20627616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.38, Y:185.80, Z:1.21 [[ 6.94322877e-01 -7.19661832e-01 -1.60948781e-03 1.85382585e+02] [ 7.19660107e-01 6.94324740e-01 -1.57697151e-03 1.85802533e+02] [ 2.25239341e-03 -6.33567684e-05 9.99997461e-01 1.20613475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.40, Y:185.82, Z:1.21 [[ 6.94657560e-01 -7.19338786e-01 -1.60780805e-03 1.85402039e+02] [ 7.19337056e-01 6.94659418e-01 -1.57868226e-03 1.85821783e+02] [ 2.25248638e-03 -5.99123449e-05 9.99997461e-01 1.20580572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.79275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.42, Y:185.84, Z:1.20 [[ 6.95568166e-01 -7.18458309e-01 -1.60752226e-03 1.85421711e+02] [ 7.18456577e-01 6.95570021e-01 -1.57897322e-03 1.85841704e+02] [ 2.25257072e-03 -5.66514299e-05 9.99997461e-01 1.20448307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.82275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:185.44, Y:185.86, Z:1.20 [[ 6.95337979e-01 -7.18681092e-01 -1.60701720e-03 1.85441978e+02] [ 7.18679359e-01 6.95339834e-01 -1.57948708e-03 1.85861847e+02] [ 2.25257057e-03 -5.66527307e-05 9.99997461e-01 1.20454725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.46, Y:185.88, Z:1.20 [[ 6.94922003e-01 -7.19083326e-01 -1.60651106e-03 1.85459983e+02] [ 7.19081592e-01 6.94923857e-01 -1.58000171e-03 1.85881801e+02] [ 2.25255575e-03 -5.72345724e-05 9.99997461e-01 1.20370271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.48, Y:185.90, Z:1.20 [[ 6.96453809e-01 -7.17599844e-01 -1.59851033e-03 1.85480603e+02] [ 7.17598088e-01 6.96455643e-01 -1.58812443e-03 1.85899770e+02] [ 2.25292938e-03 -4.10326514e-05 9.99997461e-01 1.20353376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.50, Y:185.92, Z:1.20 [[ 6.95220206e-01 -7.18795050e-01 -1.59416999e-03 1.85500944e+02] [ 7.18793286e-01 6.95222033e-01 -1.59252585e-03 1.85921628e+02] [ 2.25300179e-03 -3.87225377e-05 9.99997461e-01 1.20325899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.52, Y:185.94, Z:1.20 [[ 6.95135599e-01 -7.18876852e-01 -1.60324372e-03 1.85520776e+02] [ 7.18875110e-01 6.95137446e-01 -1.58332667e-03 1.85940920e+02] [ 2.25269164e-03 -5.19052691e-05 9.99997461e-01 1.20330569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.54, Y:185.96, Z:1.20 [[ 6.93425692e-01 -7.20526361e-01 -1.60400352e-03 1.85537631e+02] [ 7.20524626e-01 6.93427545e-01 -1.58255657e-03 1.85960828e+02] [ 2.25253395e-03 -5.83386526e-05 9.99997461e-01 1.20370667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.56, Y:185.98, Z:1.20 [[ 6.92255275e-01 -7.21650956e-01 -1.59149171e-03 1.85558844e+02] [ 7.21649194e-01 6.92257103e-01 -1.59522647e-03 1.85980460e+02] [ 2.25291815e-03 -4.41947705e-05 9.99997461e-01 1.20406158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.58, Y:186.00, Z:1.20 [[ 6.91934979e-01 -7.21958055e-01 -1.59755702e-03 1.85575986e+02] [ 7.21956308e-01 6.91936821e-01 -1.58908608e-03 1.85998798e+02] [ 2.25266202e-03 -5.38221214e-05 9.99997461e-01 1.20377201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.60, Y:186.02, Z:1.20 [[ 6.93588397e-01 -7.20369784e-01 -1.58391866e-03 1.85603154e+02] [ 7.20368002e-01 6.93590205e-01 -1.60288380e-03 1.86018125e+02] [ 2.25325953e-03 -2.92627148e-05 9.99997461e-01 1.20495682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.62, Y:186.04, Z:1.21 [[ 6.93590612e-01 -7.20367610e-01 -1.60280008e-03 1.85623242e+02] [ 7.20365871e-01 6.93592462e-01 -1.58377558e-03 1.86038046e+02] [ 2.25259068e-03 -5.61106010e-05 9.99997461e-01 1.20514668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.65, Y:186.06, Z:1.20 [[ 6.94303430e-01 -7.19680609e-01 -1.60231906e-03 1.85645154e+02] [ 7.19678867e-01 6.94305277e-01 -1.58426208e-03 1.86058825e+02] [ 2.25266128e-03 -5.31965711e-05 9.99997461e-01 1.20438744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.66, Y:186.08, Z:1.20 [[ 6.94487710e-01 -7.19502769e-01 -1.60813524e-03 1.85662972e+02] [ 7.19501041e-01 6.94489569e-01 -1.57838193e-03 1.86077609e+02] [ 2.25248332e-03 -6.08881285e-05 9.99997461e-01 1.20463209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.69, Y:186.10, Z:1.20 [[ 6.95637982e-01 -7.18390725e-01 -1.60145116e-03 1.85685555e+02] [ 7.18388978e-01 6.95639823e-01 -1.58513481e-03 1.86097195e+02] [ 2.25277935e-03 -4.77848782e-05 9.99997461e-01 1.20476176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.70, Y:186.12, Z:1.20 [[ 6.95742534e-01 -7.18289449e-01 -1.61063027e-03 1.85703761e+02] [ 7.18287723e-01 6.95744396e-01 -1.57586467e-03 1.86115925e+02] [ 2.25251395e-03 -6.04998644e-05 9.99997461e-01 1.20438593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.72, Y:186.14, Z:1.20 [[ 6.96157610e-01 -7.17887193e-01 -1.60036330e-03 1.85723703e+02] [ 7.17885441e-01 6.96159448e-01 -1.58622317e-03 1.86135426e+02] [ 2.25283733e-03 -4.46161832e-05 9.99997461e-01 1.20395898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.74, Y:186.16, Z:1.20 [[ 6.96499023e-01 -7.17555957e-01 -1.59990642e-03 1.85743798e+02] [ 7.17554204e-01 6.96500860e-01 -1.58668385e-03 1.86155125e+02] [ 2.25287065e-03 -4.28958201e-05 9.99997461e-01 1.20368067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.76, Y:186.17, Z:1.20 [[ 6.97402117e-01 -7.16678260e-01 -1.59944878e-03 1.85763040e+02] [ 7.16676504e-01 6.97403950e-01 -1.58714504e-03 1.86173676e+02] [ 2.25293424e-03 -3.94090418e-05 9.99997461e-01 1.20251540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.78, Y:186.19, Z:1.20 [[ 6.97737458e-01 -7.16351787e-01 -1.59903771e-03 1.85783081e+02] [ 7.16350029e-01 6.97739289e-01 -1.58755908e-03 1.86193557e+02] [ 2.25296222e-03 -3.77712701e-05 9.99997461e-01 1.20262913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.80, Y:186.21, Z:1.20 [[ 6.97679862e-01 -7.16407883e-01 -1.59858396e-03 1.85803083e+02] [ 7.16406124e-01 6.97681693e-01 -1.58801585e-03 1.86213702e+02] [ 2.25296984e-03 -3.73086567e-05 9.99997461e-01 1.20221964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.82, Y:186.23, Z:1.20 [[ 6.97784938e-01 -7.16305539e-01 -1.59808813e-03 1.85823316e+02] [ 7.16303779e-01 6.97786768e-01 -1.58851467e-03 1.86231890e+02] [ 2.25298661e-03 -3.62749491e-05 9.99997461e-01 1.20262355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.84, Y:186.25, Z:1.20 [[ 6.97078504e-01 -7.16993031e-01 -1.59759448e-03 1.85843468e+02] [ 7.16991272e-01 6.97080334e-01 -1.58901099e-03 1.86251408e+02] [ 2.25296150e-03 -3.77958946e-05 9.99997461e-01 1.20305153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.86, Y:186.27, Z:1.20 [[ 6.94635522e-01 -7.19360092e-01 -1.59708572e-03 1.85861188e+02] [ 7.19358337e-01 6.94637356e-01 -1.58952217e-03 1.86269972e+02] [ 2.25283421e-03 -4.47383641e-05 9.99997461e-01 1.20347649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.48275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:185.88, Y:186.29, Z:1.20 [[ 6.94459871e-01 -7.19529692e-01 -1.58416322e-03 1.85883770e+02] [ 7.19527908e-01 6.94461677e-01 -1.60247753e-03 1.86289760e+02] [ 2.25317081e-03 -2.69933058e-05 9.99997461e-01 1.20236504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.90, Y:186.31, Z:1.20 [[ 6.94350684e-01 -7.19635031e-01 -1.59657031e-03 1.85904094e+02] [ 7.19633276e-01 6.94352518e-01 -1.59003747e-03 1.86309004e+02] [ 2.25282928e-03 -4.49015213e-05 9.99997461e-01 1.20382494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.92, Y:186.33, Z:1.20 [[ 6.93224373e-01 -7.20720073e-01 -1.59501364e-03 1.85924735e+02] [ 7.20718317e-01 6.93226207e-01 -1.59159748e-03 1.86329125e+02] [ 2.25280151e-03 -4.62213821e-05 9.99997461e-01 1.20321823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.95, Y:186.35, Z:1.20 [[ 6.92935153e-01 -7.20998141e-01 -1.59808774e-03 1.85945468e+02] [ 7.20996393e-01 6.92936994e-01 -1.58851793e-03 1.86347951e+02] [ 2.25269259e-03 -5.14755837e-05 9.99997461e-01 1.20415987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.97, Y:186.37, Z:1.20 [[ 6.92390635e-01 -7.21521079e-01 -1.59416997e-03 1.85965520e+02] [ 7.21519323e-01 6.92392468e-01 -1.59243996e-03 1.86367275e+02] [ 2.25277027e-03 -4.76339241e-05 9.99997461e-01 1.20413295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:185.99, Y:186.39, Z:1.20 [[ 6.91840694e-01 -7.22048416e-01 -1.59369169e-03 1.85985217e+02] [ 7.22046660e-01 6.91842528e-01 -1.59291847e-03 1.86385464e+02] [ 2.25274794e-03 -4.86739394e-05 9.99997461e-01 1.20357147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.01, Y:186.41, Z:1.20 [[ 6.91541748e-01 -7.22334737e-01 -1.59336700e-03 1.86005676e+02] [ 7.22332981e-01 6.91543582e-01 -1.59324318e-03 1.86405209e+02] [ 2.25273762e-03 -4.91473562e-05 9.99997461e-01 1.20340502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.02, Y:186.42, Z:1.20 [[ 6.92023895e-01 -7.21872837e-01 -1.59289645e-03 1.86024762e+02] [ 7.21871079e-01 6.92025726e-01 -1.59371349e-03 1.86423761e+02] [ 2.25278380e-03 -4.69780597e-05 9.99997461e-01 1.20277104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.04, Y:186.44, Z:1.20 [[ 6.92606383e-01 -7.21313984e-01 -1.59247398e-03 1.86042754e+02] [ 7.21312223e-01 6.92608212e-01 -1.59413552e-03 1.86443488e+02] [ 2.25283280e-03 -4.45625095e-05 9.99997461e-01 1.20266420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.06, Y:186.46, Z:1.20 [[ 6.92895728e-01 -7.21036043e-01 -1.59205531e-03 1.86061936e+02] [ 7.21034281e-01 6.92897556e-01 -1.59455353e-03 1.86463982e+02] [ 2.25286180e-03 -4.30671305e-05 9.99997461e-01 1.20222068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.08, Y:186.48, Z:1.20 [[ 6.93785527e-01 -7.20179915e-01 -1.59159730e-03 1.86081717e+02] [ 7.20178149e-01 6.93787352e-01 -1.59501057e-03 1.86484541e+02] [ 2.25292465e-03 -3.96383482e-05 9.99997461e-01 1.20204847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.10, Y:186.50, Z:1.20 [[ 6.93968787e-01 -7.20003327e-01 -1.59114215e-03 1.86101384e+02] [ 7.20001560e-01 6.93970610e-01 -1.59546448e-03 1.86504626e+02] [ 2.25294562e-03 -3.84222854e-05 9.99997461e-01 1.20245496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.12, Y:186.53, Z:1.20 [[ 6.94585163e-01 -7.19408730e-01 -1.59065476e-03 1.86120497e+02] [ 7.19406961e-01 6.94586984e-01 -1.59595025e-03 1.86525114e+02] [ 2.25298864e-03 -3.58047427e-05 9.99997461e-01 1.20238276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.14, Y:186.54, Z:1.20 [[ 6.95111825e-01 -7.18899869e-01 -1.59016160e-03 1.86138989e+02] [ 7.18898098e-01 6.95113643e-01 -1.59644147e-03 1.86544846e+02] [ 2.25302459e-03 -3.34588019e-05 9.99997461e-01 1.20210217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.16, Y:186.57, Z:1.20 [[ 6.95085561e-01 -7.18925264e-01 -1.58982715e-03 1.86158830e+02] [ 7.18923491e-01 6.95087379e-01 -1.59677446e-03 1.86565337e+02] [ 2.25303029e-03 -3.30692136e-05 9.99997461e-01 1.20163963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.18, Y:186.59, Z:1.20 [[ 6.94855354e-01 -7.19147767e-01 -1.58931562e-03 1.86178874e+02] [ 7.19145994e-01 6.94857171e-01 -1.59728344e-03 1.86585707e+02] [ 2.25303018e-03 -3.30690098e-05 9.99997461e-01 1.20170382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.20, Y:186.61, Z:1.20 [[ 6.94966701e-01 -7.19040166e-01 -1.58880407e-03 1.86197577e+02] [ 7.19038391e-01 6.94968516e-01 -1.59779212e-03 1.86605188e+02] [ 2.25304552e-03 -3.19988065e-05 9.99997461e-01 1.20190116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.22, Y:186.63, Z:1.20 [[ 6.94651886e-01 -7.19344308e-01 -1.58852120e-03 1.86216449e+02] [ 7.19342534e-01 6.94653702e-01 -1.59807330e-03 1.86625385e+02] [ 2.25303706e-03 -3.25862353e-05 9.99997461e-01 1.20230131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.24, Y:186.64, Z:1.20 [[ 6.94618620e-01 -7.19376432e-01 -1.58801786e-03 1.86235262e+02] [ 7.19374657e-01 6.94620434e-01 -1.59857331e-03 1.86644478e+02] [ 2.25304562e-03 -3.19810187e-05 9.99997461e-01 1.20266194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.25, Y:186.67, Z:1.20 [[ 6.94150862e-01 -7.19827799e-01 -1.58774122e-03 1.86254964e+02] [ 7.19826024e-01 6.94152677e-01 -1.59884804e-03 1.86665101e+02] [ 2.25303008e-03 -3.30557047e-05 9.99997461e-01 1.20359249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.27, Y:186.69, Z:1.20 [[ 6.93667711e-01 -7.20293403e-01 -1.58724596e-03 1.86273487e+02] [ 7.20291628e-01 6.93669527e-01 -1.59933954e-03 1.86685348e+02] [ 2.25301788e-03 -3.38697800e-05 9.99997461e-01 1.20346311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.29, Y:186.71, Z:1.20 [[ 6.93514714e-01 -7.20440717e-01 -1.58582714e-03 1.86293750e+02] [ 7.20438939e-01 6.93516526e-01 -1.60074689e-03 1.86705884e+02] [ 2.25304057e-03 -3.23500980e-05 9.99997461e-01 1.20269377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.31, Y:186.73, Z:1.20 [[ 6.93150729e-01 -7.20790919e-01 -1.58661117e-03 1.86313270e+02] [ 7.20789144e-01 6.93152544e-01 -1.59996941e-03 1.86725901e+02] [ 2.25300699e-03 -3.45921401e-05 9.99997461e-01 1.20123638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.33, Y:186.75, Z:1.20 [[ 6.92635060e-01 -7.21286461e-01 -1.58607923e-03 1.86333673e+02] [ 7.21284686e-01 6.92636875e-01 -1.60049655e-03 1.86745796e+02] [ 2.25299346e-03 -3.54546339e-05 9.99997461e-01 1.20009339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.35, Y:186.76, Z:1.20 [[ 6.92539857e-01 -7.21377871e-01 -1.58553767e-03 1.86351182e+02] [ 7.21376095e-01 6.92541671e-01 -1.60103288e-03 1.86764952e+02] [ 2.25300059e-03 -3.49898894e-05 9.99997461e-01 1.20008318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.37, Y:186.79, Z:1.20 [[ 6.91022453e-01 -7.22831577e-01 -1.57516621e-03 1.86372182e+02] [ 7.22829782e-01 6.91024248e-01 -1.61128238e-03 1.86786640e+02] [ 2.25316383e-03 -2.51447400e-05 9.99997461e-01 1.20047660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.39, Y:186.81, Z:1.20 [[ 6.90842552e-01 -7.23003499e-01 -1.58390216e-03 1.86391587e+02] [ 7.23001724e-01 6.90844367e-01 -1.60264862e-03 1.86806468e+02] [ 2.25295044e-03 -3.79861309e-05 9.99997461e-01 1.20065748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.41, Y:186.83, Z:1.20 [[ 6.89745023e-01 -7.24050617e-01 -1.58340606e-03 1.86409926e+02] [ 7.24048843e-01 6.89746840e-01 -1.60313861e-03 1.86826644e+02] [ 2.25290282e-03 -4.07064504e-05 9.99997461e-01 1.20097147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.43, Y:186.85, Z:1.20 [[ 6.88852433e-01 -7.24899869e-01 -1.58296085e-03 1.86429359e+02] [ 7.24898096e-01 6.88854251e-01 -1.60357809e-03 1.86846972e+02] [ 2.25286286e-03 -4.28566398e-05 9.99997461e-01 1.19996431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.45, Y:186.87, Z:1.20 [[ 6.87819861e-01 -7.25879697e-01 -1.58246547e-03 1.86448548e+02] [ 7.25877926e-01 6.87821680e-01 -1.60406680e-03 1.86866971e+02] [ 2.25281358e-03 -4.53677478e-05 9.99997461e-01 1.19910189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.47, Y:186.89, Z:1.20 [[ 6.86801970e-01 -7.26842865e-01 -1.58194952e-03 1.86467241e+02] [ 7.26841096e-01 6.86803791e-01 -1.60457547e-03 1.86886134e+02] [ 2.25276317e-03 -4.78003285e-05 9.99997461e-01 1.19906957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.49, Y:186.90, Z:1.20 [[ 6.85031423e-01 -7.28511804e-01 -1.58166667e-03 1.86485418e+02] [ 7.28510038e-01 6.85033247e-01 -1.60485425e-03 1.86904177e+02] [ 2.25264951e-03 -5.28844545e-05 9.99997461e-01 1.20173971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.51, Y:186.93, Z:1.20 [[ 6.83608346e-01 -7.29847345e-01 -1.57532179e-03 1.86505745e+02] [ 7.29845568e-01 6.83610160e-01 -1.61110191e-03 1.86925217e+02] [ 2.25276443e-03 -4.83789175e-05 9.99997461e-01 1.20064096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.52, Y:186.94, Z:1.20 [[ 6.81982825e-01 -7.31366480e-01 -1.58068293e-03 1.86524839e+02] [ 7.31364720e-01 6.81984654e-01 -1.60582471e-03 1.86944423e+02] [ 2.25244786e-03 -6.09108549e-05 9.99997461e-01 1.20020572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.54, Y:186.96, Z:1.20 [[ 6.81183055e-01 -7.32111432e-01 -1.58033737e-03 1.86544936e+02] [ 7.32109672e-01 6.81184885e-01 -1.60616470e-03 1.86964665e+02] [ 2.25239347e-03 -6.28880977e-05 9.99997461e-01 1.19949201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.56, Y:186.98, Z:1.20 [[ 6.80437647e-01 -7.32804280e-01 -1.57983404e-03 1.86564381e+02] [ 7.32802521e-01 6.80439478e-01 -1.60665964e-03 1.86984506e+02] [ 2.25234851e-03 -6.44746643e-05 9.99997461e-01 1.19923639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.58, Y:187.01, Z:1.20 [[ 6.81059511e-01 -7.32226364e-01 -1.57933116e-03 1.86581315e+02] [ 7.32224603e-01 6.81061339e-01 -1.60715381e-03 1.87006110e+02] [ 2.25242179e-03 -6.18577478e-05 9.99997461e-01 1.20117782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.60, Y:187.03, Z:1.20 [[ 6.81238180e-01 -7.32060140e-01 -1.57900437e-03 1.86601203e+02] [ 7.32058378e-01 6.81240007e-01 -1.60747482e-03 1.87026218e+02] [ 2.25244918e-03 -6.08501570e-05 9.99997461e-01 1.20064635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.62, Y:187.05, Z:1.20 [[ 6.81551170e-01 -7.31768755e-01 -1.57850718e-03 1.86621291e+02] [ 7.31766991e-01 6.81552996e-01 -1.60796289e-03 1.87045911e+02] [ 2.25249330e-03 -5.91904547e-05 9.99997461e-01 1.20010190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.64, Y:187.07, Z:1.20 [[ 6.82588468e-01 -7.30801268e-01 -1.57800512e-03 1.86640721e+02] [ 7.30799500e-01 6.82590289e-01 -1.60845545e-03 1.87065765e+02] [ 2.25259225e-03 -5.52922138e-05 9.99997461e-01 1.19915815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.66, Y:187.08, Z:1.20 [[ 6.83291937e-01 -7.30143576e-01 -1.57750774e-03 1.86659361e+02] [ 7.30141805e-01 6.83293756e-01 -1.60894311e-03 1.87084975e+02] [ 2.25266066e-03 -5.24264962e-05 9.99997461e-01 1.19881748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.68, Y:187.11, Z:1.20 [[ 6.83069955e-01 -7.30351250e-01 -1.57716889e-03 1.86679235e+02] [ 7.30349479e-01 6.83071774e-01 -1.60927520e-03 1.87105502e+02] [ 2.25265571e-03 -5.26369328e-05 9.99997461e-01 1.19888172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.74275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:186.70, Y:187.13, Z:1.20 [[ 6.84437868e-01 -7.29069489e-01 -1.57667955e-03 1.86698387e+02] [ 7.29067713e-01 6.84439682e-01 -1.60975449e-03 1.87126551e+02] [ 2.25276493e-03 -4.77292257e-05 9.99997461e-01 1.19731797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.72, Y:187.15, Z:1.20 [[ 6.84526148e-01 -7.28986604e-01 -1.57617087e-03 1.86716945e+02] [ 7.28984827e-01 6.84527961e-01 -1.61025240e-03 1.87149049e+02] [ 2.25278546e-03 -4.67447701e-05 9.99997461e-01 1.19942809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.73, Y:187.17, Z:1.20 [[ 6.86059603e-01 -7.27543612e-01 -1.58548270e-03 1.86734179e+02] [ 7.27541852e-01 6.86061433e-01 -1.60113976e-03 1.87168655e+02] [ 2.25263754e-03 -5.50277125e-05 9.99997461e-01 1.19642195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.75, Y:187.19, Z:1.20 [[ 6.87160559e-01 -7.26503878e-01 -1.57514436e-03 1.86753367e+02] [ 7.26502092e-01 6.87162364e-01 -1.61124646e-03 1.87188538e+02] [ 2.25295673e-03 -3.71606491e-05 9.99997461e-01 1.19802157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.77, Y:187.21, Z:1.20 [[ 6.86902244e-01 -7.26748119e-01 -1.57444069e-03 1.86772885e+02] [ 7.26746332e-01 6.86904047e-01 -1.61193393e-03 1.87207949e+02] [ 2.25295963e-03 -3.69779650e-05 9.99997461e-01 1.19864972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.79, Y:187.23, Z:1.20 [[ 6.87199322e-01 -7.26467214e-01 -1.57426977e-03 1.86792491e+02] [ 7.26465426e-01 6.87201125e-01 -1.61210083e-03 1.87227289e+02] [ 2.25297836e-03 -3.58179601e-05 9.99997461e-01 1.19961217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.81, Y:187.25, Z:1.20 [[ 6.86888046e-01 -7.26761540e-01 -1.57377747e-03 1.86812403e+02] [ 7.26759751e-01 6.86889848e-01 -1.61258129e-03 1.87247200e+02] [ 2.25297383e-03 -3.60953100e-05 9.99997461e-01 1.19875382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.83, Y:187.27, Z:1.20 [[ 6.86581520e-01 -7.27051127e-01 -1.57328570e-03 1.86832067e+02] [ 7.27049338e-01 6.86583322e-01 -1.61306093e-03 1.87267358e+02] [ 2.25296949e-03 -3.63584990e-05 9.99997461e-01 1.19921199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.85, Y:187.29, Z:1.20 [[ 6.86495632e-01 -7.27132226e-01 -1.57279650e-03 1.86851290e+02] [ 7.27130436e-01 6.86497433e-01 -1.61353778e-03 1.87288039e+02] [ 2.25297608e-03 -3.59415717e-05 9.99997461e-01 1.20204105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.87, Y:187.31, Z:1.20 [[ 6.85374099e-01 -7.28189449e-01 -1.57201078e-03 1.86871209e+02] [ 7.28187660e-01 6.85375901e-01 -1.61430340e-03 1.87310182e+02] [ 2.25293701e-03 -3.83171131e-05 9.99997461e-01 1.19948543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.89, Y:187.33, Z:1.20 [[ 6.86542759e-01 -7.27087717e-01 -1.57827929e-03 1.86889311e+02] [ 7.27085940e-01 6.86544572e-01 -1.60819867e-03 1.87329437e+02] [ 2.25286058e-03 -4.34475288e-05 9.99997461e-01 1.19820487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.91, Y:187.35, Z:1.20 [[ 6.87310697e-01 -7.26361849e-01 -1.57136624e-03 1.86907913e+02] [ 7.26360055e-01 6.87312493e-01 -1.61492525e-03 1.87348507e+02] [ 2.25303974e-03 -3.14222664e-05 9.99997461e-01 1.19879216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.93, Y:187.37, Z:1.20 [[ 6.87689100e-01 -7.26003604e-01 -1.57092662e-03 1.86927591e+02] [ 7.26001808e-01 6.87690894e-01 -1.61535279e-03 1.87369131e+02] [ 2.25306387e-03 -2.96350584e-05 9.99997461e-01 1.19833802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.95, Y:187.39, Z:1.20 [[ 6.87622390e-01 -7.26066789e-01 -1.57043993e-03 1.86946999e+02] [ 7.26064992e-01 6.87624183e-01 -1.61582580e-03 1.87390104e+02] [ 2.25306993e-03 -2.91634577e-05 9.99997461e-01 1.19613622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.97, Y:187.41, Z:1.20 [[ 6.87579311e-01 -7.26107586e-01 -1.56992588e-03 1.86965701e+02] [ 7.26105787e-01 6.87581103e-01 -1.61632510e-03 1.87410404e+02] [ 2.25307728e-03 -2.85805694e-05 9.99997461e-01 1.19672019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:186.99, Y:187.43, Z:1.19 [[ 6.86894059e-01 -7.26755865e-01 -1.56969196e-03 1.86985647e+02] [ 7.26754068e-01 6.86895852e-01 -1.61655224e-03 1.87431963e+02] [ 2.25305372e-03 -3.03798909e-05 9.99997461e-01 1.19262571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.00, Y:187.45, Z:1.19 [[ 6.86168604e-01 -7.27440846e-01 -1.56923437e-03 1.87003757e+02] [ 7.27439050e-01 6.86170397e-01 -1.61699631e-03 1.87451450e+02] [ 2.25303134e-03 -3.19902552e-05 9.99997461e-01 1.19206198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.03, Y:187.47, Z:1.19 [[ 6.86290626e-01 -7.27325728e-01 -1.56893581e-03 1.87027838e+02] [ 7.27323931e-01 6.86292419e-01 -1.61728595e-03 1.87473054e+02] [ 2.25304243e-03 -3.11963760e-05 9.99997461e-01 1.19207676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.05, Y:187.49, Z:1.19 [[ 6.84951687e-01 -7.28586763e-01 -1.58593520e-03 1.87046090e+02] [ 7.28585007e-01 6.84953521e-01 -1.60079920e-03 1.87493317e+02] [ 2.25261300e-03 -5.90184958e-05 9.99997461e-01 1.19125944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.07, Y:187.51, Z:1.19 [[ 6.84065636e-01 -7.29418752e-01 -1.57803649e-03 1.87065251e+02] [ 7.29416980e-01 6.84067454e-01 -1.60845288e-03 1.87513254e+02] [ 2.25271909e-03 -5.07592722e-05 9.99997461e-01 1.19002939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.08, Y:187.53, Z:1.19 [[ 6.81367104e-01 -7.31940142e-01 -1.58030601e-03 1.87082231e+02] [ 7.31938383e-01 6.81368934e-01 -1.60625176e-03 1.87534406e+02] [ 2.25245156e-03 -6.22395181e-05 9.99997461e-01 1.19054999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.10, Y:187.55, Z:1.19 [[ 6.80760465e-01 -7.32504416e-01 -1.57134282e-03 1.87100736e+02] [ 7.32502638e-01 6.80762277e-01 -1.61493819e-03 1.87554658e+02] [ 2.25266027e-03 -5.16266912e-05 9.99997461e-01 1.18891801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.12, Y:187.57, Z:1.19 [[ 6.80006266e-01 -7.33204624e-01 -1.56766701e-03 1.87119232e+02] [ 7.33202839e-01 6.80008071e-01 -1.61849856e-03 1.87574928e+02] [ 2.25271685e-03 -4.88287368e-05 9.99997461e-01 1.18855898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.14, Y:187.60, Z:1.19 [[ 6.79314771e-01 -7.33845342e-01 -1.56721643e-03 1.87137537e+02] [ 7.33843558e-01 6.79316576e-01 -1.61893474e-03 1.87596147e+02] [ 2.25268382e-03 -5.03254031e-05 9.99997461e-01 1.18656773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.16, Y:187.62, Z:1.19 [[ 6.78213555e-01 -7.34863198e-01 -1.56669982e-03 1.87155411e+02] [ 7.34861415e-01 6.78215363e-01 -1.61943453e-03 1.87617911e+02] [ 2.25262272e-03 -5.29847996e-05 9.99997461e-01 1.18569169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.17, Y:187.64, Z:1.18 [[ 6.78314229e-01 -7.34770282e-01 -1.56227079e-03 1.87174646e+02] [ 7.34768489e-01 6.78316026e-01 -1.62371473e-03 1.87637754e+02] [ 2.25277064e-03 -4.65185459e-05 9.99997461e-01 1.18489677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.19, Y:187.66, Z:1.18 [[ 6.76950051e-01 -7.36027295e-01 -1.56488646e-03 1.87191884e+02] [ 7.36025512e-01 6.76951858e-01 -1.62118822e-03 1.87658134e+02] [ 2.25259158e-03 -5.43329139e-05 9.99997461e-01 1.18441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.21, Y:187.68, Z:1.18 [[ 6.77632349e-01 -7.35399194e-01 -1.55734081e-03 1.87212965e+02] [ 7.35397392e-01 6.77634137e-01 -1.62847139e-03 1.87678516e+02] [ 2.25288384e-03 -4.17594732e-05 9.99997461e-01 1.18462429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.23, Y:187.70, Z:1.18 [[ 6.77428090e-01 -7.35587331e-01 -1.56859683e-03 1.87230410e+02] [ 7.35585555e-01 6.77429904e-01 -1.61760192e-03 1.87699233e+02] [ 2.25250188e-03 -5.80281914e-05 9.99997461e-01 1.18360496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.25, Y:187.72, Z:1.18 [[ 6.77125138e-01 -7.35866220e-01 -1.56614416e-03 1.87248955e+02] [ 7.35864439e-01 6.77126947e-01 -1.61996918e-03 1.87720951e+02] [ 2.25255901e-03 -5.55479377e-05 9.99997461e-01 1.18340162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.27, Y:187.74, Z:1.18 [[ 6.77408972e-01 -7.35604939e-01 -1.56826113e-03 1.87267592e+02] [ 7.35603162e-01 6.77410784e-01 -1.61792662e-03 1.87741909e+02] [ 2.25251181e-03 -5.76198381e-05 9.99997461e-01 1.18347097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.28, Y:187.76, Z:1.18 [[ 6.77763885e-01 -7.35277953e-01 -1.56493062e-03 1.87284681e+02] [ 7.35276167e-01 6.77765689e-01 -1.62113781e-03 1.87762893e+02] [ 2.25264317e-03 -5.19075307e-05 9.99997461e-01 1.18341732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.30, Y:187.78, Z:1.18 [[ 6.77534980e-01 -7.35488890e-01 -1.56343564e-03 1.87303155e+02] [ 7.35487102e-01 6.77536782e-01 -1.62257829e-03 1.87783808e+02] [ 2.25267346e-03 -5.05331947e-05 9.99997461e-01 1.18386110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.32, Y:187.81, Z:1.18 [[ 6.78114093e-01 -7.34954988e-01 -1.56292736e-03 1.87319081e+02] [ 7.34953197e-01 6.78115893e-01 -1.62306773e-03 1.87806312e+02] [ 2.25272761e-03 -4.80533589e-05 9.99997461e-01 1.18464053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.34, Y:187.83, Z:1.18 [[ 6.77895367e-01 -7.35156738e-01 -1.56247171e-03 1.87338323e+02] [ 7.35154947e-01 6.77897166e-01 -1.62350626e-03 1.87826902e+02] [ 2.25272671e-03 -4.80914321e-05 9.99997461e-01 1.18443888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.35, Y:187.85, Z:1.18 [[ 6.76522554e-01 -7.36420256e-01 -1.56198270e-03 1.87352094e+02] [ 7.36418467e-01 6.76524356e-01 -1.62397660e-03 1.87848767e+02] [ 2.25264860e-03 -5.16161037e-05 9.99997461e-01 1.18291746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.37, Y:187.87, Z:1.18 [[ 6.77717251e-01 -7.35320977e-01 -1.54561613e-03 1.87374218e+02] [ 7.35319149e-01 6.77719013e-01 -1.63970187e-03 1.87870676e+02] [ 2.25320061e-03 -2.52668927e-05 9.99997461e-01 1.18340771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.39, Y:187.89, Z:1.18 [[ 6.77572926e-01 -7.35453936e-01 -1.56143775e-03 1.87393076e+02] [ 7.35452143e-01 6.77574724e-01 -1.62449438e-03 1.87889732e+02] [ 2.25273154e-03 -4.76493280e-05 9.99997461e-01 1.18290449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.41, Y:187.91, Z:1.18 [[ 6.74378845e-01 -7.38383877e-01 -1.55644347e-03 1.87410503e+02] [ 7.38382082e-01 6.74380640e-01 -1.62929326e-03 1.87912309e+02] [ 2.25267922e-03 -5.04890596e-05 9.99997461e-01 1.18109650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.43, Y:187.93, Z:1.18 [[ 6.74605374e-01 -7.38176919e-01 -1.55745394e-03 1.87430450e+02] [ 7.38175125e-01 6.74607170e-01 -1.62832258e-03 1.87932007e+02] [ 2.25265974e-03 -5.11985966e-05 9.99997461e-01 1.18256715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.45, Y:187.95, Z:1.18 [[ 6.73709155e-01 -7.38994952e-01 -1.56079464e-03 1.87449272e+02] [ 7.38993167e-01 6.73710960e-01 -1.62511411e-03 1.87953211e+02] [ 2.25247557e-03 -5.85623200e-05 9.99997461e-01 1.18260295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.47, Y:187.97, Z:1.18 [[ 6.73163982e-01 -7.39491595e-01 -1.56027905e-03 1.87467922e+02] [ 7.39489810e-01 6.73165788e-01 -1.62560897e-03 1.87973905e+02] [ 2.25245065e-03 -5.95090526e-05 9.99997461e-01 1.18294981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.49, Y:187.99, Z:1.18 [[ 6.72994867e-01 -7.39645504e-01 -1.56099479e-03 1.87486864e+02] [ 7.39643722e-01 6.72996675e-01 -1.62492217e-03 1.87994912e+02] [ 2.25241068e-03 -6.10157132e-05 9.99997461e-01 1.18308985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.50, Y:188.02, Z:1.18 [[ 6.72518703e-01 -7.40078483e-01 -1.55963470e-03 1.87504611e+02] [ 7.40076699e-01 6.72520509e-01 -1.62622657e-03 1.88015366e+02] [ 2.25242162e-03 -6.05815229e-05 9.99997461e-01 1.18224444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.53, Y:188.03, Z:1.18 [[ 6.73465504e-01 -7.39217031e-01 -1.54783952e-03 1.87525546e+02] [ 7.39215218e-01 6.73467282e-01 -1.63752687e-03 1.88033775e+02] [ 2.25290702e-03 -4.13686692e-05 9.99997461e-01 1.18249525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.55, Y:188.05, Z:1.18 [[ 6.73403343e-01 -7.39273650e-01 -1.55215709e-03 1.87547331e+02] [ 7.39271847e-01 6.73405130e-01 -1.63339312e-03 1.88054615e+02] [ 2.25275504e-03 -4.75336560e-05 9.99997461e-01 1.18337884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.57, Y:188.07, Z:1.18 [[ 6.73994760e-01 -7.38734479e-01 -1.56011916e-03 1.87565634e+02] [ 7.38732692e-01 6.73996563e-01 -1.62577080e-03 1.88074980e+02] [ 2.25252789e-03 -5.67500228e-05 9.99997461e-01 1.18385041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:188.10, Z:1.18 [[ 6.74922485e-01 -7.37886992e-01 -1.55774251e-03 1.87583425e+02] [ 7.37885198e-01 6.74924280e-01 -1.62804481e-03 1.88096153e+02] [ 2.25267134e-03 -5.06310922e-05 9.99997461e-01 1.18425626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.60, Y:188.12, Z:1.18 [[ 6.75112825e-01 -7.37712850e-01 -1.55722350e-03 1.87602602e+02] [ 7.37711054e-01 6.75114619e-01 -1.62854110e-03 1.88116566e+02] [ 2.25270005e-03 -4.93320051e-05 9.99997461e-01 1.18489243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.62, Y:188.14, Z:1.19 [[ 6.75544384e-01 -7.37317680e-01 -1.55670194e-03 1.87621185e+02] [ 7.37315882e-01 6.75546176e-01 -1.62903950e-03 1.88136004e+02] [ 2.25274367e-03 -4.72925817e-05 9.99997461e-01 1.18536653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.64, Y:188.16, Z:1.19 [[ 6.75342133e-01 -7.37502940e-01 -1.55428211e-03 1.87640257e+02] [ 7.37501138e-01 6.75343920e-01 -1.63135069e-03 1.88156257e+02] [ 2.25280090e-03 -4.45649727e-05 9.99997461e-01 1.18657592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.66, Y:188.18, Z:1.19 [[ 6.74998111e-01 -7.37817809e-01 -1.55916474e-03 1.87659639e+02] [ 7.37816017e-01 6.74999910e-01 -1.62668853e-03 1.88175923e+02] [ 2.25263583e-03 -5.23650333e-05 9.99997461e-01 1.18743759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.68, Y:188.20, Z:1.19 [[ 6.74421112e-01 -7.38345274e-01 -1.55544096e-03 1.87679673e+02] [ 7.38343476e-01 6.74422904e-01 -1.63024145e-03 1.88196057e+02] [ 2.25270608e-03 -4.89804311e-05 9.99997461e-01 1.18838806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:188.22, Z:1.19 [[ 6.73365608e-01 -7.39308014e-01 -1.55493558e-03 1.87699207e+02] [ 7.39306218e-01 6.73367401e-01 -1.63072335e-03 1.88216540e+02] [ 2.25264977e-03 -5.15005237e-05 9.99997461e-01 1.18901912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:188.24, Z:1.19 [[ 6.71056004e-01 -7.41405032e-01 -1.55493815e-03 1.87718920e+02] [ 7.41403241e-01 6.71057803e-01 -1.63072090e-03 1.88236114e+02] [ 2.25247806e-03 -5.85311303e-05 9.99997461e-01 1.18926839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.74, Y:188.26, Z:1.19 [[ 6.70465036e-01 -7.41939500e-01 -1.55405175e-03 1.87741443e+02] [ 7.41937708e-01 6.70466834e-01 -1.63156518e-03 1.88255877e+02] [ 2.25246281e-03 -5.91021835e-05 9.99997461e-01 1.19148971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.76, Y:188.27, Z:1.19 [[ 6.66290503e-01 -7.45690644e-01 -1.55854056e-03 1.87762188e+02] [ 7.45688872e-01 6.66292321e-01 -1.62729098e-03 1.88274924e+02] [ 2.25189927e-03 -7.79378291e-05 9.99997461e-01 1.19138066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.78, Y:188.29, Z:1.19 [[ 6.64085528e-01 -7.47655000e-01 -1.55319416e-03 1.87782121e+02] [ 7.47653222e-01 6.64087340e-01 -1.63237908e-03 1.88294557e+02] [ 2.25191296e-03 -7.72112980e-05 9.99997461e-01 1.19122766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:188.31, Z:1.19 [[ 6.62594620e-01 -7.48976604e-01 -1.55454721e-03 1.87801474e+02] [ 7.48974833e-01 6.62596438e-01 -1.63109149e-03 1.88313734e+02] [ 2.25168681e-03 -8.35642948e-05 9.99997461e-01 1.19161826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.82, Y:188.33, Z:1.19 [[ 6.61199658e-01 -7.50208371e-01 -1.55308238e-03 1.87821279e+02] [ 7.50206600e-01 6.61201476e-01 -1.63248458e-03 1.88334046e+02] [ 2.25160396e-03 -8.57344025e-05 9.99997461e-01 1.19286600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:188.35, Z:1.19 [[ 6.61958136e-01 -7.49539203e-01 -1.55219266e-03 1.87845347e+02] [ 7.49537428e-01 6.61959951e-01 -1.63333009e-03 1.88354284e+02] [ 2.25173432e-03 -8.22303512e-05 9.99997461e-01 1.19226438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.86, Y:188.37, Z:1.19 [[ 6.61049764e-01 -7.50340435e-01 -1.56254458e-03 1.87861225e+02] [ 7.50338685e-01 6.61051603e-01 -1.62349214e-03 1.88373338e+02] [ 2.25109440e-03 -9.92285504e-05 9.99997461e-01 1.19188039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:188.39, Z:1.19 [[ 6.63063370e-01 -7.48561661e-01 -1.55141939e-03 1.87880065e+02] [ 7.48559881e-01 6.63065181e-01 -1.63405472e-03 1.88392109e+02] [ 2.25188289e-03 -7.78484905e-05 9.99997461e-01 1.19164072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.90, Y:188.41, Z:1.19 [[ 6.62842581e-01 -7.48757175e-01 -1.55098736e-03 1.87899595e+02] [ 7.48755395e-01 6.62844391e-01 -1.63446468e-03 1.88412953e+02] [ 2.25188043e-03 -7.79173706e-05 9.99997461e-01 1.19170492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.92, Y:188.43, Z:1.19 [[ 6.64080967e-01 -7.47659057e-01 -1.55050520e-03 1.87918608e+02] [ 7.47657273e-01 6.64082773e-01 -1.63492195e-03 1.88432937e+02] [ 2.25202799e-03 -7.35259455e-05 9.99997461e-01 1.19175046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.95, Y:188.46, Z:1.19 [[ 6.69976156e-01 -7.42380999e-01 -1.55002683e-03 1.87951178e+02] [ 7.42379200e-01 6.69977947e-01 -1.63537536e-03 1.88455466e+02] [ 2.25255538e-03 -5.50451802e-05 9.99997461e-01 1.19136728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:188.47, Z:1.19 [[ 6.68532927e-01 -7.43680823e-01 -1.59966392e-03 1.87956862e+02] [ 7.43679138e-01 6.68534829e-01 -1.58825168e-03 1.88473539e+02] [ 2.25058336e-03 -1.27838135e-04 9.99997459e-01 1.19336267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:188.49, Z:1.19 [[ 6.69904411e-01 -7.42445742e-01 -1.54919257e-03 1.87976152e+02] [ 7.42443941e-01 6.69906201e-01 -1.63604371e-03 1.88493945e+02] [ 2.25248740e-03 -5.41957436e-05 9.99997462e-01 1.19368418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:188.52, Z:1.19 [[ 6.74822690e-01 -7.37978279e-01 -1.54858771e-03 1.88007125e+02] [ 7.37976465e-01 6.74824465e-01 -1.63661611e-03 1.88516232e+02] [ 2.25281201e-03 -3.83955991e-05 9.99997462e-01 1.19229541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.01, Y:188.54, Z:1.20 [[ 6.72385379e-01 -7.40199547e-01 -1.59181781e-03 1.88014916e+02] [ 7.40197834e-01 6.72387255e-01 -1.59565936e-03 1.88535040e+02] [ 2.25142434e-03 -1.05362070e-04 9.99997460e-01 1.19524521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.03, Y:188.55, Z:1.20 [[ 6.74779721e-01 -7.38017570e-01 -1.54775851e-03 1.88033626e+02] [ 7.38015754e-01 6.74781495e-01 -1.63730890e-03 1.88554346e+02] [ 2.25276154e-03 -3.74473258e-05 9.99997462e-01 1.19561206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.05, Y:188.57, Z:1.20 [[ 6.75818146e-01 -7.37066780e-01 -1.54746791e-03 1.88053447e+02] [ 7.37064962e-01 6.75819917e-01 -1.63758351e-03 1.88574721e+02] [ 2.25281804e-03 -3.38757258e-05 9.99997462e-01 1.19583824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.07, Y:188.59, Z:1.20 [[ 6.77233082e-01 -7.35766920e-01 -1.54695779e-03 1.88073082e+02] [ 7.35765097e-01 6.77234848e-01 -1.63806526e-03 1.88594256e+02] [ 2.25288795e-03 -2.88455637e-05 9.99997462e-01 1.19572299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.09, Y:188.61, Z:1.20 [[ 6.77478845e-01 -7.35540633e-01 -1.54643047e-03 1.88092460e+02] [ 7.35538808e-01 6.77480610e-01 -1.63856293e-03 1.88614354e+02] [ 2.25290627e-03 -2.73679045e-05 9.99997462e-01 1.19623324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.11, Y:188.63, Z:1.20 [[ 6.77499861e-01 -7.35521277e-01 -1.54590329e-03 1.88111792e+02] [ 7.35519451e-01 6.77501624e-01 -1.63906015e-03 1.88633950e+02] [ 2.25291560e-03 -2.65789157e-05 9.99997462e-01 1.19647491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.13, Y:188.65, Z:1.20 [[ 6.76732655e-01 -7.36227224e-01 -1.54554573e-03 1.88132145e+02] [ 7.36225399e-01 6.76734419e-01 -1.63939724e-03 1.88653300e+02] [ 2.25289287e-03 -2.84363791e-05 9.99997462e-01 1.19691454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.15, Y:188.67, Z:1.20 [[ 6.75912013e-01 -7.36980708e-01 -1.54503324e-03 1.88151803e+02] [ 7.36978884e-01 6.75913778e-01 -1.63988009e-03 1.88673105e+02] [ 2.25286924e-03 -3.02422227e-05 9.99997462e-01 1.19651141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.17, Y:188.69, Z:1.20 [[ 6.74739137e-01 -7.38054681e-01 -1.54452274e-03 1.88171337e+02] [ 7.38052859e-01 6.74740904e-01 -1.64036075e-03 1.88693152e+02] [ 2.25282860e-03 -3.31238267e-05 9.99997462e-01 1.19622025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.19, Y:188.71, Z:1.20 [[ 6.72963618e-01 -7.39673972e-01 -1.54400560e-03 1.88191607e+02] [ 7.39672153e-01 6.72965388e-01 -1.64084737e-03 1.88711195e+02] [ 2.25275442e-03 -3.78273624e-05 9.99997462e-01 1.19600491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.21, Y:188.73, Z:1.20 [[ 6.71873193e-01 -7.40664586e-01 -1.54370784e-03 1.88211255e+02] [ 7.40662769e-01 6.71874965e-01 -1.64112746e-03 1.88731328e+02] [ 2.25270364e-03 -4.07373795e-05 9.99997462e-01 1.19727485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.23, Y:188.75, Z:1.20 [[ 6.70327993e-01 -7.42063340e-01 -1.54320927e-03 1.88231186e+02] [ 7.42061525e-01 6.70329768e-01 -1.64159615e-03 1.88750522e+02] [ 2.25262743e-03 -4.47483665e-05 9.99997462e-01 1.19798728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.25, Y:188.77, Z:1.20 [[ 6.69921082e-01 -7.42430713e-01 -1.54268881e-03 1.88250194e+02] [ 7.42428898e-01 6.69922857e-01 -1.64208510e-03 1.88769490e+02] [ 2.25261691e-03 -4.52693247e-05 9.99997462e-01 1.19528040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.27, Y:188.79, Z:1.20 [[ 6.69295789e-01 -7.42994461e-01 -1.54212504e-03 1.88269189e+02] [ 7.42992647e-01 6.69297564e-01 -1.64261439e-03 1.88789706e+02] [ 2.25259392e-03 -4.63926693e-05 9.99997462e-01 1.19755174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.29, Y:188.81, Z:1.20 [[ 6.68734285e-01 -7.43499886e-01 -1.54154128e-03 1.88288002e+02] [ 7.43498071e-01 6.68736060e-01 -1.64316204e-03 1.88809693e+02] [ 2.25257503e-03 -4.72941731e-05 9.99997462e-01 1.19687071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.31, Y:188.83, Z:1.20 [[ 6.68327597e-01 -7.43865477e-01 -1.54123877e-03 1.88306869e+02] [ 7.43863663e-01 6.68329373e-01 -1.64344574e-03 1.88829320e+02] [ 2.25255769e-03 -4.81113758e-05 9.99997462e-01 1.19590591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.33, Y:188.85, Z:1.20 [[ 6.67974995e-01 -7.44182123e-01 -1.54077669e-03 1.88325802e+02] [ 7.44180309e-01 6.67976770e-01 -1.64387884e-03 1.88848871e+02] [ 2.25254828e-03 -4.85457191e-05 9.99997462e-01 1.19525379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.35, Y:188.87, Z:1.19 [[ 6.67219407e-01 -7.44859644e-01 -1.54032115e-03 1.88345950e+02] [ 7.44857831e-01 6.67221184e-01 -1.64430557e-03 1.88868213e+02] [ 2.25251176e-03 -5.02076782e-05 9.99997462e-01 1.19405526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.37, Y:188.89, Z:1.19 [[ 6.67030212e-01 -7.45029077e-01 -1.53981603e-03 1.88366069e+02] [ 7.45027263e-01 6.67031988e-01 -1.64477846e-03 1.88888486e+02] [ 2.25251432e-03 -5.00880019e-05 9.99997462e-01 1.19421468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.38275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:188.39, Y:188.91, Z:1.19 [[ 6.66571988e-01 -7.45439076e-01 -1.53929828e-03 1.88385049e+02] [ 7.45437262e-01 6.66573763e-01 -1.64526286e-03 1.88908373e+02] [ 2.25249907e-03 -5.07641591e-05 9.99997462e-01 1.19374525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.41, Y:188.93, Z:1.19 [[ 6.65952436e-01 -7.45992617e-01 -1.53883545e-03 1.88405093e+02] [ 7.45990803e-01 6.65954212e-01 -1.64569564e-03 1.88928794e+02] [ 2.25247075e-03 -5.20020727e-05 9.99997462e-01 1.19068077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:188.95, Z:1.19 [[ 6.66544911e-01 -7.45463276e-01 -1.54479383e-03 1.88423592e+02] [ 7.45461474e-01 6.66546698e-01 -1.64012494e-03 1.88948311e+02] [ 2.25233014e-03 -5.83673515e-05 9.99997462e-01 1.19238144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.44, Y:188.97, Z:1.19 [[ 6.67713890e-01 -7.44416413e-01 -1.53805644e-03 1.88442089e+02] [ 7.44414593e-01 6.67715660e-01 -1.64641890e-03 1.88969949e+02] [ 2.25260562e-03 -4.56148925e-05 9.99997462e-01 1.19263304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.46, Y:188.99, Z:1.19 [[ 6.68344064e-01 -7.43850689e-01 -1.53755816e-03 1.88460983e+02] [ 7.43848867e-01 6.68345832e-01 -1.64688410e-03 1.88990648e+02] [ 2.25265646e-03 -4.30256866e-05 9.99997462e-01 1.19247287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.48, Y:189.01, Z:1.19 [[ 6.68639896e-01 -7.43584782e-01 -1.53705654e-03 1.88479905e+02] [ 7.43582958e-01 6.68641661e-01 -1.64735214e-03 1.89011329e+02] [ 2.25268601e-03 -4.14436842e-05 9.99997462e-01 1.19268231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.50, Y:189.03, Z:1.19 [[ 6.69447930e-01 -7.42857394e-01 -1.53653924e-03 1.88499378e+02] [ 7.42855567e-01 6.69449692e-01 -1.64783449e-03 1.89032006e+02] [ 2.25274176e-03 -3.82873417e-05 9.99997462e-01 1.19310597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.52, Y:189.05, Z:1.19 [[ 6.69774113e-01 -7.42563316e-01 -1.53601946e-03 1.88518035e+02] [ 7.42561487e-01 6.69775874e-01 -1.64831886e-03 1.89052047e+02] [ 2.25276989e-03 -3.65875914e-05 9.99997462e-01 1.19301911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.54, Y:189.07, Z:1.19 [[ 6.69489836e-01 -7.42819629e-01 -1.53555258e-03 1.88536753e+02] [ 7.42817800e-01 6.69491596e-01 -1.64875369e-03 1.89072790e+02] [ 2.25276615e-03 -3.68119497e-05 9.99997462e-01 1.19408451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.56, Y:189.09, Z:1.19 [[ 6.69744057e-01 -7.42590427e-01 -1.53504035e-03 1.88556372e+02] [ 7.42588596e-01 6.69745815e-01 -1.64923045e-03 1.89094563e+02] [ 2.25278959e-03 -3.53411705e-05 9.99997462e-01 1.19482344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.57, Y:189.12, Z:1.20 [[ 6.69230173e-01 -7.43053576e-01 -1.53610963e-03 1.88573362e+02] [ 7.43051749e-01 6.69231934e-01 -1.64823552e-03 1.89115589e+02] [ 2.25274092e-03 -3.83600021e-05 9.99997462e-01 1.19508405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.59, Y:189.14, Z:1.20 [[ 6.68923483e-01 -7.43329684e-01 -1.53449721e-03 1.88591737e+02] [ 7.43327854e-01 6.68925242e-01 -1.64973531e-03 1.89137027e+02] [ 2.25276114e-03 -3.70878260e-05 9.99997462e-01 1.19538030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.61, Y:189.16, Z:1.20 [[ 6.68948296e-01 -7.43307355e-01 -1.53399498e-03 1.88609754e+02] [ 7.43305524e-01 6.68950054e-01 -1.65020217e-03 1.89158074e+02] [ 2.25277344e-03 -3.63270114e-05 9.99997462e-01 1.19673587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.63, Y:189.18, Z:1.20 [[ 6.67769916e-01 -7.44366165e-01 -1.53352732e-03 1.88626813e+02] [ 7.44364336e-01 6.67771676e-01 -1.65063665e-03 1.89179917e+02] [ 2.25272418e-03 -3.92575466e-05 9.99997462e-01 1.19551376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.65, Y:189.20, Z:1.20 [[ 6.68633720e-01 -7.43590341e-01 -1.53388033e-03 1.88646002e+02] [ 7.43588511e-01 6.68635479e-01 -1.65030879e-03 1.89200278e+02] [ 2.25276048e-03 -3.71236829e-05 9.99997462e-01 1.19750657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.66, Y:189.22, Z:1.20 [[ 6.68351288e-01 -7.43844208e-01 -1.53282900e-03 1.88663230e+02] [ 7.43842376e-01 6.68353045e-01 -1.65128470e-03 1.89221197e+02] [ 2.25276949e-03 -3.65449080e-05 9.99997462e-01 1.19736366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.68, Y:189.24, Z:1.19 [[ 6.66344009e-01 -7.45642886e-01 -1.53236872e-03 1.88676448e+02] [ 7.45641058e-01 6.66345770e-01 -1.65171172e-03 1.89243804e+02] [ 2.25267451e-03 -4.19888209e-05 9.99997462e-01 1.19366024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.70, Y:189.26, Z:1.20 [[ 6.68020672e-01 -7.44141171e-01 -1.51651741e-03 1.88699426e+02] [ 7.44139305e-01 6.68022393e-01 -1.66640597e-03 1.89264472e+02] [ 2.25310888e-03 -1.53065763e-05 9.99997462e-01 1.19680656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.72, Y:189.29, Z:1.20 [[ 6.67978927e-01 -7.44178612e-01 -1.53192953e-03 1.88717949e+02] [ 7.44176779e-01 6.67980682e-01 -1.65211504e-03 1.89285979e+02] [ 2.25276800e-03 -3.64483519e-05 9.99997462e-01 1.19635893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.74, Y:189.31, Z:1.20 [[ 6.67629470e-01 -7.44492140e-01 -1.53140653e-03 1.88736791e+02] [ 7.44490306e-01 6.67631225e-01 -1.65259968e-03 1.89307333e+02] [ 2.25276229e-03 -3.67930707e-05 9.99997462e-01 1.19622459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.76, Y:189.33, Z:1.20 [[ 6.67109457e-01 -7.44958139e-01 -1.53088667e-03 1.88755194e+02] [ 7.44956306e-01 6.67111212e-01 -1.65308111e-03 1.89328245e+02] [ 2.25274789e-03 -3.76576355e-05 9.99997462e-01 1.19643750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.78, Y:189.35, Z:1.19 [[ 6.66944007e-01 -7.45106268e-01 -1.53035348e-03 1.88775146e+02] [ 7.45104434e-01 6.66945761e-01 -1.65357457e-03 1.89350125e+02] [ 2.25275154e-03 -3.74315169e-05 9.99997462e-01 1.19486102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.79, Y:189.37, Z:1.20 [[ 6.66198409e-01 -7.45772964e-01 -1.53803693e-03 1.88791937e+02] [ 7.45771149e-01 6.66200183e-01 -1.64646482e-03 1.89370102e+02] [ 2.25252944e-03 -5.01513289e-05 9.99997462e-01 1.19506150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.81, Y:189.39, Z:1.20 [[ 6.65131295e-01 -7.46724863e-01 -1.52959556e-03 1.88810506e+02] [ 7.46723032e-01 6.65133052e-01 -1.65427001e-03 1.89390998e+02] [ 2.25266911e-03 -4.18774780e-05 9.99997462e-01 1.19520338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.83, Y:189.41, Z:1.20 [[ 6.63673187e-01 -7.48021098e-01 -1.52904634e-03 1.88828802e+02] [ 7.48019269e-01 6.63674947e-01 -1.65477750e-03 1.89411155e+02] [ 2.25259823e-03 -4.55246729e-05 9.99997462e-01 1.19618901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.85, Y:189.43, Z:1.20 [[ 6.62598325e-01 -7.48973379e-01 -1.52850340e-03 1.88848222e+02] [ 7.48971552e-01 6.62600086e-01 -1.65527886e-03 1.89432044e+02] [ 2.25254628e-03 -4.80205635e-05 9.99997462e-01 1.19690629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.87, Y:189.45, Z:1.20 [[ 6.61226509e-01 -7.50184757e-01 -1.52799233e-03 1.88867269e+02] [ 7.50182932e-01 6.61228272e-01 -1.65575049e-03 1.89452474e+02] [ 2.25247051e-03 -5.14476465e-05 9.99997462e-01 1.19741760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.89, Y:189.47, Z:1.20 [[ 6.58947737e-01 -7.52187175e-01 -1.52747410e-03 1.88886899e+02] [ 7.52185354e-01 6.58949505e-01 -1.65622844e-03 1.89473042e+02] [ 2.25232209e-03 -5.75756637e-05 9.99997462e-01 1.19769359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.91, Y:189.49, Z:1.20 [[ 6.58062243e-01 -7.52961987e-01 -1.52694175e-03 1.88905998e+02] [ 7.52960166e-01 6.58064012e-01 -1.65671908e-03 1.89493395e+02] [ 2.25227190e-03 -5.95020429e-05 9.99997462e-01 1.19744083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.92, Y:189.51, Z:1.20 [[ 6.56787953e-01 -7.54073773e-01 -1.52639428e-03 1.88923912e+02] [ 7.54071954e-01 6.56789724e-01 -1.65722333e-03 1.89514013e+02] [ 2.25218873e-03 -6.25667997e-05 9.99997462e-01 1.19777233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.94, Y:189.53, Z:1.20 [[ 6.55673547e-01 -7.55042959e-01 -1.52608470e-03 1.88942474e+02] [ 7.55041143e-01 6.55675320e-01 -1.65750836e-03 1.89534189e+02] [ 2.25210610e-03 -6.54723520e-05 9.99997462e-01 1.19755111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.96, Y:189.55, Z:1.20 [[ 6.54990822e-01 -7.55635293e-01 -1.52561240e-03 1.88961423e+02] [ 7.55633477e-01 6.54992595e-01 -1.65794297e-03 1.89554914e+02] [ 2.25206505e-03 -6.68663742e-05 9.99997462e-01 1.19770701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.98, Y:189.58, Z:1.20 [[ 6.54375078e-01 -7.56168586e-01 -1.52509178e-03 1.88980993e+02] [ 7.56166771e-01 6.54376852e-01 -1.65842173e-03 1.89575267e+02] [ 2.25203118e-03 -6.79938798e-05 9.99997462e-01 1.19842850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.00, Y:189.60, Z:1.20 [[ 6.54010682e-01 -7.56483776e-01 -1.52456737e-03 1.88999911e+02] [ 7.56481960e-01 6.54012456e-01 -1.65890367e-03 1.89595811e+02] [ 2.25201977e-03 -6.83669917e-05 9.99997462e-01 1.19907975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.02, Y:189.62, Z:1.20 [[ 6.54297150e-01 -7.56236019e-01 -1.52403103e-03 1.89018171e+02] [ 7.56234202e-01 6.54298922e-01 -1.65939627e-03 1.89615952e+02] [ 2.25206708e-03 -6.67861412e-05 9.99997462e-01 1.19880502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.04, Y:189.64, Z:1.20 [[ 6.54514353e-01 -7.56048040e-01 -1.52373222e-03 1.89036505e+02] [ 7.56046222e-01 6.54516124e-01 -1.65967060e-03 1.89636939e+02] [ 2.25209801e-03 -6.57337612e-05 9.99997462e-01 1.19910877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.05, Y:189.66, Z:1.20 [[ 6.56065207e-01 -7.54702672e-01 -1.52320343e-03 1.89053745e+02] [ 7.54700849e-01 6.56066973e-01 -1.66015577e-03 1.89657464e+02] [ 2.25224746e-03 -6.03924775e-05 9.99997462e-01 1.19939617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:189.68, Z:1.20 [[ 6.56911825e-01 -7.53965871e-01 -1.52272889e-03 1.89071617e+02] [ 7.53964045e-01 6.56913588e-01 -1.66059091e-03 1.89677886e+02] [ 2.25233017e-03 -5.72210235e-05 9.99997462e-01 1.19926325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.09, Y:189.70, Z:1.20 [[ 6.56677281e-01 -7.54170161e-01 -1.52226027e-03 1.89090798e+02] [ 7.54168334e-01 6.56679043e-01 -1.66102038e-03 1.89699059e+02] [ 2.25232843e-03 -5.72861409e-05 9.99997462e-01 1.19932744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.11, Y:189.72, Z:1.20 [[ 6.58847727e-01 -7.52274788e-01 -1.52174348e-03 1.89108591e+02] [ 7.52272955e-01 6.58849483e-01 -1.66149371e-03 1.89720790e+02] [ 2.25249973e-03 -5.00951101e-05 9.99997462e-01 1.19905290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.13, Y:189.74, Z:1.20 [[ 6.59575057e-01 -7.51637166e-01 -1.52121366e-03 1.89126477e+02] [ 7.51635330e-01 6.59576810e-01 -1.66197865e-03 1.89741415e+02] [ 2.25256218e-03 -4.71982646e-05 9.99997462e-01 1.19902830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.15, Y:189.76, Z:1.20 [[ 6.62737043e-01 -7.48850652e-01 -1.52073737e-03 1.89152639e+02] [ 7.48848808e-01 6.62738787e-01 -1.66241435e-03 1.89763902e+02] [ 2.25275171e-03 -3.70587905e-05 9.99997462e-01 1.19921405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.16, Y:189.78, Z:1.20 [[ 6.61299347e-01 -7.50120507e-01 -1.54903853e-03 1.89163897e+02] [ 7.50118726e-01 6.61301156e-01 -1.63651808e-03 1.89783408e+02] [ 2.25196674e-03 -7.97344695e-05 9.99997461e-01 1.19799974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.18, Y:189.80, Z:1.20 [[ 6.61398835e-01 -7.50032847e-01 -1.51947969e-03 1.89182448e+02] [ 7.50031004e-01 6.61400579e-01 -1.66351753e-03 1.89803699e+02] [ 2.25267754e-03 -3.94083220e-05 9.99997462e-01 1.19769362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.20, Y:189.82, Z:1.20 [[ 6.61407544e-01 -7.50025169e-01 -1.51901449e-03 1.89201601e+02] [ 7.50023324e-01 6.61409287e-01 -1.66394221e-03 1.89824485e+02] [ 2.25268883e-03 -3.87523688e-05 9.99997462e-01 1.19778529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.22, Y:189.85, Z:1.20 [[ 6.61765024e-01 -7.49709775e-01 -1.51850525e-03 1.89222562e+02] [ 7.49707929e-01 6.61766765e-01 -1.66440681e-03 1.89845476e+02] [ 2.25271837e-03 -3.69892158e-05 9.99997462e-01 1.19758903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.24, Y:189.86, Z:1.20 [[ 6.60996344e-01 -7.50387569e-01 -1.52608517e-03 1.89239113e+02] [ 7.50385740e-01 6.60998104e-01 -1.65749186e-03 1.89864886e+02] [ 2.25250070e-03 -4.95564915e-05 9.99997462e-01 1.19784694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.26, Y:189.89, Z:1.20 [[ 6.60273952e-01 -7.51023304e-01 -1.51790809e-03 1.89258115e+02] [ 7.51021460e-01 6.60275696e-01 -1.66494679e-03 1.89885996e+02] [ 2.25265166e-03 -4.06605556e-05 9.99997462e-01 1.19875351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.28, Y:189.91, Z:1.20 [[ 6.59458719e-01 -7.51739247e-01 -1.51737959e-03 1.89276809e+02] [ 7.51737404e-01 6.59460463e-01 -1.66542831e-03 1.89906144e+02] [ 2.25261967e-03 -4.23897694e-05 9.99997462e-01 1.19926138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.30, Y:189.93, Z:1.20 [[ 6.59750993e-01 -7.51482752e-01 -1.51690517e-03 1.89295926e+02] [ 7.51480907e-01 6.59752735e-01 -1.66586031e-03 1.89926884e+02] [ 2.25264762e-03 -4.08722834e-05 9.99997462e-01 1.20018734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.31, Y:189.95, Z:1.20 [[ 6.60725202e-01 -7.50626353e-01 -1.51168672e-03 1.89314199e+02] [ 7.50624495e-01 6.60726931e-01 -1.67060944e-03 1.89947051e+02] [ 2.25281560e-03 -3.08953253e-05 9.99997462e-01 1.20092445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.33, Y:189.97, Z:1.20 [[ 6.60257788e-01 -7.51037531e-01 -1.51009922e-03 1.89334174e+02] [ 7.51035670e-01 6.60259514e-01 -1.67205446e-03 1.89969159e+02] [ 2.25283303e-03 -3.01514026e-05 9.99997462e-01 1.20093652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.35, Y:189.99, Z:1.20 [[ 6.60645906e-01 -7.50696134e-01 -1.51661034e-03 1.89353153e+02] [ 7.50694286e-01 6.60647646e-01 -1.66612764e-03 1.89988732e+02] [ 2.25270063e-03 -3.77903165e-05 9.99997462e-01 1.20067495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.37, Y:190.01, Z:1.20 [[ 6.59520622e-01 -7.51684955e-01 -1.50935587e-03 1.89372624e+02] [ 7.51683094e-01 6.59522348e-01 -1.67272537e-03 1.90011214e+02] [ 2.25281642e-03 -3.13604185e-05 9.99997462e-01 1.20026647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.39, Y:190.03, Z:1.20 [[ 6.58887250e-01 -7.52240184e-01 -1.51559519e-03 1.89390820e+02] [ 7.52238338e-01 6.58888992e-01 -1.66705291e-03 1.90031475e+02] [ 2.25263318e-03 -4.16888982e-05 9.99997462e-01 1.20004879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.41, Y:190.05, Z:1.20 [[ 6.57711496e-01 -7.53268407e-01 -1.51513308e-03 1.89409138e+02] [ 7.53266563e-01 6.57713239e-01 -1.66747280e-03 1.90052257e+02] [ 2.25257767e-03 -4.45830564e-05 9.99997462e-01 1.19989546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.43, Y:190.07, Z:1.20 [[ 6.57084125e-01 -7.53815733e-01 -1.51462532e-03 1.89426450e+02] [ 7.53813889e-01 6.57085869e-01 -1.66793389e-03 1.90072683e+02] [ 2.25255370e-03 -4.57727229e-05 9.99997462e-01 1.19974909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.44, Y:190.09, Z:1.20 [[ 6.56643745e-01 -7.54199376e-01 -1.51416809e-03 1.89444932e+02] [ 7.54197533e-01 6.56645489e-01 -1.66834887e-03 1.90094330e+02] [ 2.25253932e-03 -4.64709880e-05 9.99997462e-01 1.19928970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.46, Y:190.12, Z:1.20 [[ 6.55539905e-01 -7.55159018e-01 -1.51367524e-03 1.89462975e+02] [ 7.55157176e-01 6.55541650e-01 -1.66879590e-03 1.90116382e+02] [ 2.25248344e-03 -4.91004160e-05 9.99997462e-01 1.19903463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.48, Y:190.14, Z:1.20 [[ 6.55272089e-01 -7.55391421e-01 -1.51315729e-03 1.89480952e+02] [ 7.55389578e-01 6.55273835e-01 -1.66926541e-03 1.90136667e+02] [ 2.25248116e-03 -4.92002133e-05 9.99997462e-01 1.19864897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.50, Y:190.16, Z:1.20 [[ 6.55196295e-01 -7.55457164e-01 -1.51269223e-03 1.89499526e+02] [ 7.55455320e-01 6.55198040e-01 -1.66968675e-03 1.90157839e+02] [ 2.25248980e-03 -4.87988245e-05 9.99997462e-01 1.19813994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.52, Y:190.18, Z:1.20 [[ 6.55240851e-01 -7.55418520e-01 -1.51216939e-03 1.89517498e+02] [ 7.55416676e-01 6.55242594e-01 -1.67016013e-03 1.90178438e+02] [ 2.25250769e-03 -4.79608282e-05 9.99997462e-01 1.19708540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.54, Y:190.20, Z:1.20 [[ 6.55145677e-01 -7.55501063e-01 -1.51157580e-03 1.89535869e+02] [ 7.55499218e-01 6.55147419e-01 -1.67069718e-03 1.90198517e+02] [ 2.25251848e-03 -4.74443010e-05 9.99997462e-01 1.19752228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.272755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:189.55, Y:190.22, Z:1.20 [[ 6.54113437e-01 -7.56394966e-01 -1.50602263e-03 1.89554738e+02] [ 7.56393111e-01 6.54115169e-01 -1.67571887e-03 1.90220281e+02] [ 2.25261756e-03 -4.30349062e-05 9.99997462e-01 1.19555678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.57, Y:190.24, Z:1.20 [[ 6.54304974e-01 -7.56229278e-01 -1.51024921e-03 1.89573812e+02] [ 7.56227431e-01 6.54306715e-01 -1.67189720e-03 1.90242139e+02] [ 2.25250381e-03 -4.81612308e-05 9.99997462e-01 1.19774611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.59, Y:190.26, Z:1.20 [[ 6.54307938e-01 -7.56226712e-01 -1.51082953e-03 1.89592179e+02] [ 7.56224866e-01 6.54309681e-01 -1.67137262e-03 1.90262456e+02] [ 2.25248701e-03 -4.89344870e-05 9.99997462e-01 1.19799476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.61, Y:190.28, Z:1.20 [[ 6.55491664e-01 -7.55200898e-01 -1.51035170e-03 1.89609962e+02] [ 7.55199049e-01 6.55493403e-01 -1.67180431e-03 1.90281621e+02] [ 2.25257369e-03 -4.47623823e-05 9.99997462e-01 1.19882775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.63, Y:190.30, Z:1.20 [[ 6.54995975e-01 -7.55630875e-01 -1.50136472e-03 1.89629000e+02] [ 7.55629008e-01 6.54997695e-01 -1.67991459e-03 1.90303866e+02] [ 2.25278576e-03 -3.41374393e-05 9.99997462e-01 1.19922664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.65, Y:190.32, Z:1.20 [[ 6.55082279e-01 -7.55556040e-01 -1.50930388e-03 1.89647202e+02] [ 7.55554190e-01 6.55084016e-01 -1.67275118e-03 1.90324597e+02] [ 2.25257810e-03 -4.45712153e-05 9.99997462e-01 1.20001189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.67, Y:190.35, Z:1.20 [[ 6.55156672e-01 -7.55491535e-01 -1.50881636e-03 1.89665551e+02] [ 7.55489683e-01 6.55158408e-01 -1.67319080e-03 1.90345263e+02] [ 2.25259521e-03 -4.36930731e-05 9.99997462e-01 1.20081931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.68, Y:190.37, Z:1.20 [[ 6.55344480e-01 -7.55328629e-01 -1.50833111e-03 1.89684664e+02] [ 7.55326776e-01 6.55346215e-01 -1.67362813e-03 1.90365540e+02] [ 2.25261832e-03 -4.24799151e-05 9.99997462e-01 1.20214625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.70, Y:190.39, Z:1.20 [[ 6.55204951e-01 -7.55449667e-01 -1.50780650e-03 1.89703538e+02] [ 7.55447813e-01 6.55206684e-01 -1.67410062e-03 1.90385440e+02] [ 2.25262365e-03 -4.21901041e-05 9.99997462e-01 1.20243701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.72, Y:190.41, Z:1.20 [[ 6.54689326e-01 -7.55896563e-01 -1.50733469e-03 1.89723256e+02] [ 7.55894710e-01 6.54691060e-01 -1.67452532e-03 1.90405633e+02] [ 2.25260648e-03 -4.30924657e-05 9.99997462e-01 1.20270192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.57275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:189.74, Y:190.43, Z:1.20 [[ 6.53106072e-01 -7.57264940e-01 -1.50681941e-03 1.89742703e+02] [ 7.57263089e-01 6.53107808e-01 -1.67498887e-03 1.90428536e+02] [ 2.25252587e-03 -4.71133140e-05 9.99997462e-01 1.20209201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.76, Y:190.45, Z:1.20 [[ 6.53604848e-01 -7.56834469e-01 -1.51319863e-03 1.89760797e+02] [ 7.56832630e-01 6.53606597e-01 -1.66925223e-03 1.90447838e+02] [ 2.25238423e-03 -5.42067467e-05 9.99997462e-01 1.20323660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.78, Y:190.47, Z:1.20 [[ 6.52738949e-01 -7.57581413e-01 -1.50567824e-03 1.89779086e+02] [ 7.57579560e-01 6.52740684e-01 -1.67600833e-03 1.90468582e+02] [ 2.25253021e-03 -4.66751425e-05 9.99997462e-01 1.20235539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.80, Y:190.49, Z:1.20 [[ 6.51286491e-01 -7.58830443e-01 -1.50517010e-03 1.89798841e+02] [ 7.58828593e-01 6.51288228e-01 -1.67646455e-03 1.90491243e+02] [ 2.25245191e-03 -5.03073945e-05 9.99997462e-01 1.20181647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.82, Y:190.51, Z:1.20 [[ 6.51065470e-01 -7.59020068e-01 -1.51359794e-03 1.89817384e+02] [ 7.59018236e-01 6.51067226e-01 -1.66890129e-03 1.90510352e+02] [ 2.25218359e-03 -6.22844343e-05 9.99997462e-01 1.20279347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.83, Y:190.53, Z:1.20 [[ 6.49507165e-01 -7.60353984e-01 -1.50392877e-03 1.89834383e+02] [ 7.60352136e-01 6.49508903e-01 -1.67756963e-03 1.90531552e+02] [ 2.25236188e-03 -5.39219589e-05 9.99997462e-01 1.20160711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.85, Y:190.55, Z:1.20 [[ 6.48706046e-01 -7.61037600e-01 -1.49596968e-03 1.89854530e+02] [ 7.61035736e-01 6.48707769e-01 -1.68469695e-03 1.90553964e+02] [ 2.25256488e-03 -4.56132915e-05 9.99997462e-01 1.20216629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.87, Y:190.57, Z:1.20 [[ 6.47884587e-01 -7.61737018e-01 -1.50916264e-03 1.89872360e+02] [ 7.61735184e-01 6.47886342e-01 -1.67287533e-03 1.90574514e+02] [ 2.25205693e-03 -6.57521426e-05 9.99997462e-01 1.20155420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.89, Y:190.59, Z:1.20 [[ 6.47709169e-01 -7.61886188e-01 -1.50654316e-03 1.89890790e+02] [ 7.61884348e-01 6.47710918e-01 -1.67522073e-03 1.90594965e+02] [ 2.25213199e-03 -6.27558310e-05 9.99997462e-01 1.20264602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.91, Y:190.62, Z:1.20 [[ 6.46204043e-01 -7.63163205e-01 -1.50233003e-03 1.89910485e+02] [ 7.63161361e-01 6.46205787e-01 -1.67899056e-03 1.90618065e+02] [ 2.25215818e-03 -6.15497438e-05 9.99997462e-01 1.20195445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.93, Y:190.64, Z:1.20 [[ 6.47967677e-01 -7.61666332e-01 -1.51296411e-03 1.89927674e+02] [ 7.61664505e-01 6.47969439e-01 -1.66947542e-03 1.90635563e+02] [ 2.25193772e-03 -7.06049496e-05 9.99997462e-01 1.20233029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.95, Y:190.66, Z:1.20 [[ 6.47629574e-01 -7.61953871e-01 -1.49433149e-03 1.89947463e+02] [ 7.61952007e-01 6.47631296e-01 -1.68613159e-03 1.90658299e+02] [ 2.25253033e-03 -4.66201966e-05 9.99997462e-01 1.20129995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.97, Y:190.68, Z:1.20 [[ 6.48504169e-01 -7.61209622e-01 -1.50152224e-03 1.89965743e+02] [ 7.61207770e-01 6.48505905e-01 -1.67970363e-03 1.90679274e+02] [ 2.25235260e-03 -5.36755932e-05 9.99997462e-01 1.19990322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.99, Y:190.70, Z:1.20 [[ 6.49157063e-01 -7.60652913e-01 -1.50098920e-03 1.89985605e+02] [ 7.60651059e-01 6.49158796e-01 -1.68017982e-03 1.90701129e+02] [ 2.25241402e-03 -5.10284318e-05 9.99997462e-01 1.19869616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.00, Y:190.72, Z:1.20 [[ 6.49404467e-01 -7.60441692e-01 -1.50705693e-03 1.90002193e+02] [ 7.60439850e-01 6.49406213e-01 -1.67476159e-03 1.90721442e+02] [ 2.25225067e-03 -5.84284929e-05 9.99997462e-01 1.19924735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.02, Y:190.74, Z:1.20 [[ 6.50584094e-01 -7.59432740e-01 -1.49987011e-03 1.90020873e+02] [ 7.59430881e-01 6.50585822e-01 -1.68117336e-03 1.90743072e+02] [ 2.25253232e-03 -4.53030337e-05 9.99997462e-01 1.19810844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.04, Y:190.76, Z:1.20 [[ 6.51133427e-01 -7.58961793e-01 -1.50252174e-03 1.90038947e+02] [ 7.58959938e-01 6.51135159e-01 -1.67880886e-03 1.90762724e+02] [ 2.25249652e-03 -4.72252409e-05 9.99997462e-01 1.20001436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.06, Y:190.78, Z:1.20 [[ 6.50333034e-01 -7.59647746e-01 -1.49901466e-03 1.90055281e+02] [ 7.59645886e-01 6.50334760e-01 -1.68193453e-03 1.90784058e+02] [ 2.25253911e-03 -4.49027377e-05 9.99997462e-01 1.19782698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.08, Y:190.80, Z:1.20 [[ 6.51123694e-01 -7.58970166e-01 -1.49091519e-03 1.90075958e+02] [ 7.58968287e-01 6.51125400e-01 -1.68914825e-03 1.90804249e+02] [ 2.25278587e-03 -3.17128973e-05 9.99997462e-01 1.20127571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.09, Y:190.82, Z:1.20 [[ 6.50642398e-01 -7.59382792e-01 -1.49833981e-03 1.90094656e+02] [ 7.59380930e-01 6.50644122e-01 -1.68253644e-03 1.90824655e+02] [ 2.25257521e-03 -4.30811386e-05 9.99997462e-01 1.20158134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.11, Y:190.85, Z:1.20 [[ 6.49310821e-01 -7.60521673e-01 -1.49781018e-03 1.90112858e+02] [ 7.60519812e-01 6.49312547e-01 -1.68300779e-03 1.90845091e+02] [ 2.25251084e-03 -4.63191500e-05 9.99997462e-01 1.20240832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.13, Y:190.87, Z:1.20 [[ 6.47290733e-01 -7.62241737e-01 -1.49733402e-03 1.90128850e+02] [ 7.62239879e-01 6.47292463e-01 -1.68343131e-03 1.90866840e+02] [ 2.25239463e-03 -5.16582198e-05 9.99997462e-01 1.19954315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.15, Y:190.89, Z:1.20 [[ 6.46872736e-01 -7.62596516e-01 -1.48873615e-03 1.90148599e+02] [ 7.62594642e-01 6.46874448e-01 -1.69107432e-03 1.90887284e+02] [ 2.25263276e-03 -4.13923390e-05 9.99997462e-01 1.19977300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.17, Y:190.91, Z:1.20 [[ 6.46903007e-01 -7.62570830e-01 -1.49309773e-03 1.90168473e+02] [ 7.62568965e-01 6.46904729e-01 -1.68719818e-03 1.90907680e+02] [ 2.25250010e-03 -4.71364071e-05 9.99997462e-01 1.20321202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.19, Y:190.93, Z:1.20 [[ 6.46347748e-01 -7.63041513e-01 -1.49648192e-03 1.90186831e+02] [ 7.63039656e-01 6.46349478e-01 -1.68419117e-03 1.90928937e+02] [ 2.25235809e-03 -5.33018848e-05 9.99997462e-01 1.20359047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.21, Y:190.95, Z:1.20 [[ 6.47573642e-01 -7.62001405e-01 -1.49597351e-03 1.90210165e+02] [ 7.61999544e-01 6.47575368e-01 -1.68464264e-03 1.90952426e+02] [ 2.25245566e-03 -4.90009666e-05 9.99997462e-01 1.20331513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.22, Y:190.97, Z:1.20 [[ 6.45186772e-01 -7.64023373e-01 -1.52150891e-03 1.90222391e+02] [ 7.64021571e-01 6.45188560e-01 -1.66195968e-03 1.90972715e+02] [ 2.25143619e-03 -9.01912228e-05 9.99997461e-01 1.20370545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.24, Y:191.00, Z:1.20 [[ 6.43932482e-01 -7.65080861e-01 -1.49508831e-03 1.90241759e+02] [ 7.65079007e-01 6.43934215e-01 -1.68539697e-03 1.90996139e+02] [ 2.25220348e-03 -5.85788312e-05 9.99997462e-01 1.20364584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:191.02, Z:1.20 [[ 6.44762739e-01 -7.64381284e-01 -1.50407745e-03 1.90259531e+02] [ 7.64379447e-01 6.44764490e-01 -1.67742392e-03 1.91015419e+02] [ 2.25196718e-03 -6.81454437e-05 9.99997462e-01 1.20316625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.28, Y:191.04, Z:1.20 [[ 6.44541088e-01 -7.64568213e-01 -1.49438267e-03 1.90278334e+02] [ 7.64566356e-01 6.44542818e-01 -1.68601678e-03 1.91036921e+02] [ 2.25226846e-03 -5.58476246e-05 9.99997462e-01 1.20322705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.30, Y:191.06, Z:1.20 [[ 6.45028948e-01 -7.64156676e-01 -1.49389370e-03 1.90299140e+02] [ 7.64154816e-01 6.45030676e-01 -1.68644992e-03 1.91058903e+02] [ 2.25231923e-03 -5.37570522e-05 9.99997462e-01 1.20172138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.31, Y:191.08, Z:1.20 [[ 6.44718415e-01 -7.64418674e-01 -1.50194978e-03 1.90314715e+02] [ 7.64416832e-01 6.44720161e-01 -1.67931586e-03 1.91080908e+02] [ 2.25203771e-03 -6.54298368e-05 9.99997462e-01 1.19833304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.33, Y:191.10, Z:1.20 [[ 6.44768364e-01 -7.64376561e-01 -1.49336511e-03 1.90332990e+02] [ 7.64374701e-01 6.44770091e-01 -1.68691033e-03 1.91102875e+02] [ 2.25231187e-03 -5.38240964e-05 9.99997462e-01 1.19859181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.35, Y:191.12, Z:1.20 [[ 6.45707789e-01 -7.63583141e-01 -1.49578898e-03 1.90350621e+02] [ 7.63581284e-01 6.45709520e-01 -1.68476708e-03 1.91123203e+02] [ 2.25230492e-03 -5.42892415e-05 9.99997462e-01 1.19792443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.37, Y:191.14, Z:1.20 [[ 6.47198176e-01 -7.62320336e-01 -1.49229399e-03 1.90370184e+02] [ 7.62318469e-01 6.47199894e-01 -1.68785585e-03 1.91143830e+02] [ 2.25249935e-03 -4.52260367e-05 9.99997462e-01 1.20239445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.39, Y:191.16, Z:1.20 [[ 6.47179527e-01 -7.62336168e-01 -1.49231655e-03 1.90387654e+02] [ 7.62334301e-01 6.47181246e-01 -1.68783592e-03 1.91164986e+02] [ 2.25249766e-03 -4.53112411e-05 9.99997462e-01 1.19960643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.41, Y:191.19, Z:1.20 [[ 6.48484731e-01 -7.61226206e-01 -1.48922736e-03 1.90406049e+02] [ 7.61224329e-01 6.48486440e-01 -1.69056345e-03 1.91185404e+02] [ 2.25264495e-03 -3.73315152e-05 9.99997462e-01 1.19970226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:191.21, Z:1.20 [[ 6.48490888e-01 -7.61220957e-01 -1.49089521e-03 1.90423900e+02] [ 7.61219084e-01 6.48492601e-01 -1.68909149e-03 1.91206211e+02] [ 2.25260636e-03 -3.95374475e-05 9.99997462e-01 1.19912142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.7127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:190.44, Y:191.23, Z:1.20 [[ 6.48881048e-01 -7.60888406e-01 -1.49012192e-03 1.90441843e+02] [ 7.60886530e-01 6.48882757e-01 -1.68977366e-03 1.91227188e+02] [ 2.25264361e-03 -3.73515957e-05 9.99997462e-01 1.20078531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.46, Y:191.25, Z:1.20 [[ 6.50207645e-01 -7.59755101e-01 -1.48494054e-03 1.90461436e+02] [ 7.59753212e-01 6.50209340e-01 -1.69434189e-03 1.91247109e+02] [ 2.25280710e-03 -2.65142987e-05 9.99997462e-01 1.20387725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.48, Y:191.27, Z:1.20 [[ 6.50023073e-01 -7.59913012e-01 -1.48967595e-03 1.90479410e+02] [ 7.59911133e-01 6.50024779e-01 -1.69016820e-03 1.91267559e+02] [ 2.25270709e-03 -3.33730129e-05 9.99997462e-01 1.20403962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.50, Y:191.29, Z:1.21 [[ 6.49102836e-01 -7.60699212e-01 -1.48919346e-03 1.90499072e+02] [ 7.60697334e-01 6.49104543e-01 -1.69059321e-03 1.91288270e+02] [ 2.25267517e-03 -3.54566472e-05 9.99997462e-01 1.20505803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.52, Y:191.31, Z:1.21 [[ 6.48416456e-01 -7.61284364e-01 -1.48864940e-03 1.90517530e+02] [ 7.61282487e-01 6.48418164e-01 -1.69107215e-03 1.91308436e+02] [ 2.25265410e-03 -3.67637038e-05 9.99997462e-01 1.20555780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.54, Y:191.33, Z:1.21 [[ 6.48283351e-01 -7.61397716e-01 -1.48827999e-03 1.90537490e+02] [ 7.61395839e-01 6.48285058e-01 -1.69139720e-03 1.91328799e+02] [ 2.25265564e-03 -3.66655471e-05 9.99997462e-01 1.20588555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.56, Y:191.35, Z:1.21 [[ 6.46465336e-01 -7.62941909e-01 -1.48770878e-03 1.90556021e+02] [ 7.62940034e-01 6.46467046e-01 -1.69189947e-03 1.91351060e+02] [ 2.25257571e-03 -4.12782256e-05 9.99997462e-01 1.20534739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.57, Y:191.37, Z:1.21 [[ 6.45265505e-01 -7.63956931e-01 -1.49510040e-03 1.90572487e+02] [ 7.63955074e-01 6.45267235e-01 -1.68539643e-03 1.91370809e+02] [ 2.25230958e-03 -5.46613629e-05 9.99997462e-01 1.20700286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.59, Y:191.39, Z:1.21 [[ 6.44465559e-01 -7.64631892e-01 -1.48749360e-03 1.90590536e+02] [ 7.64630022e-01 6.44467274e-01 -1.69208349e-03 1.91391817e+02] [ 2.25246195e-03 -4.68927372e-05 9.99997462e-01 1.20807137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.61, Y:191.41, Z:1.21 [[ 6.42444624e-01 -7.66330669e-01 -1.48697243e-03 1.90607127e+02] [ 7.66328801e-01 6.42446343e-01 -1.69254136e-03 1.91414543e+02] [ 2.25234635e-03 -5.21457059e-05 9.99997462e-01 1.20589289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:190.63, Y:191.43, Z:1.21 [[ 6.43712750e-01 -7.65265763e-01 -1.48605909e-03 1.90626562e+02] [ 7.65263891e-01 6.43714463e-01 -1.69334332e-03 1.91434537e+02] [ 2.25245539e-03 -4.72006747e-05 9.99997462e-01 1.20769436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.64, Y:191.46, Z:1.21 [[ 6.42831677e-01 -7.66006023e-01 -1.48595112e-03 1.90643796e+02] [ 7.66004152e-01 6.42833393e-01 -1.69343806e-03 1.91456795e+02] [ 2.25240275e-03 -4.96491018e-05 9.99997462e-01 1.20718723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.66, Y:191.48, Z:1.21 [[ 6.43976787e-01 -7.65043597e-01 -1.48080957e-03 1.90664663e+02] [ 7.65041714e-01 6.43978488e-01 -1.69794769e-03 1.91478808e+02] [ 2.25261352e-03 -3.94421922e-05 9.99997462e-01 1.20688757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.68, Y:191.50, Z:1.21 [[ 6.43552603e-01 -7.65400442e-01 -1.48718689e-03 1.90679461e+02] [ 7.65398572e-01 6.43554319e-01 -1.69235495e-03 1.91499894e+02] [ 2.25241477e-03 -4.91712843e-05 9.99997462e-01 1.20672717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.70, Y:191.52, Z:1.20 [[ 6.44229573e-01 -7.64830752e-01 -1.47596223e-03 1.90699704e+02] [ 7.64828858e-01 6.44231263e-01 -1.70218945e-03 1.91522101e+02] [ 2.25274785e-03 -3.22577215e-05 9.99997462e-01 1.20445129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:191.54, Z:1.21 [[ 6.45437477e-01 -7.63811660e-01 -1.48703137e-03 1.90719275e+02] [ 7.63809786e-01 6.45439189e-01 -1.69248706e-03 1.91542705e+02] [ 2.25252967e-03 -4.34145365e-05 9.99997462e-01 1.20774931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.74, Y:191.56, Z:1.21 [[ 6.45766460e-01 -7.63533532e-01 -1.49177997e-03 1.90735313e+02] [ 7.63531667e-01 6.45768181e-01 -1.68833030e-03 1.91562845e+02] [ 2.25244084e-03 -4.87541646e-05 9.99997462e-01 1.20540896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.76, Y:191.58, Z:1.21 [[ 6.46396557e-01 -7.63000202e-01 -1.47768702e-03 1.90755503e+02] [ 7.62998307e-01 6.46398245e-01 -1.70065694e-03 1.91584430e+02] [ 2.25277588e-03 -2.81739008e-05 9.99997462e-01 1.20851703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.77, Y:191.61, Z:1.21 [[ 6.47370261e-01 -7.62174213e-01 -1.48798185e-03 1.90774390e+02] [ 7.62172337e-01 6.47371970e-01 -1.69164924e-03 1.91605287e+02] [ 2.25260917e-03 -3.89751915e-05 9.99997462e-01 1.20983269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.79, Y:191.63, Z:1.21 [[ 6.47543577e-01 -7.62026974e-01 -1.48544244e-03 1.90792415e+02] [ 7.62025092e-01 6.47545280e-01 -1.69387000e-03 1.91625817e+02] [ 2.25266587e-03 -3.50897720e-05 9.99997462e-01 1.20973524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.81, Y:191.65, Z:1.21 [[ 6.47265714e-01 -7.62263005e-01 -1.48528081e-03 1.90811503e+02] [ 7.62261124e-01 6.47267417e-01 -1.69401128e-03 1.91647084e+02] [ 2.25265601e-03 -3.56964021e-05 9.99997462e-01 1.21100474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.83, Y:191.67, Z:1.21 [[ 6.47136423e-01 -7.62372772e-01 -1.48554718e-03 1.90830364e+02] [ 7.62370891e-01 6.47138127e-01 -1.69377858e-03 1.91668079e+02] [ 2.25264489e-03 -3.64321147e-05 9.99997462e-01 1.21126908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.85, Y:191.69, Z:1.21 [[ 6.46618325e-01 -7.62812262e-01 -1.48160990e-03 1.90848706e+02] [ 7.62810375e-01 6.46620021e-01 -1.69721568e-03 1.91688318e+02] [ 2.25269556e-03 -3.27366387e-05 9.99997462e-01 1.21203089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.87, Y:191.71, Z:1.21 [[ 6.44655872e-01 -7.64471460e-01 -1.48113538e-03 1.90868906e+02] [ 7.64469576e-01 6.44657573e-01 -1.69762969e-03 1.91710848e+02] [ 2.25261458e-03 -3.78959894e-05 9.99997462e-01 1.21350348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.89, Y:191.73, Z:1.21 [[ 6.44688650e-01 -7.64443802e-01 -1.48920236e-03 1.90887517e+02] [ 7.64441934e-01 6.44690368e-01 -1.69059550e-03 1.91731485e+02] [ 2.25243967e-03 -4.85009988e-05 9.99997462e-01 1.21388147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.91, Y:191.75, Z:1.21 [[ 6.44296699e-01 -7.64774190e-01 -1.48372635e-03 1.90905829e+02] [ 7.64772312e-01 6.44298406e-01 -1.69536731e-03 1.91751574e+02] [ 2.25253568e-03 -4.23932666e-05 9.99997462e-01 1.21330689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.92, Y:191.77, Z:1.21 [[ 6.43659824e-01 -7.65310292e-01 -1.47944310e-03 1.90924611e+02] [ 7.65308407e-01 6.43661523e-01 -1.69909683e-03 1.91773098e+02] [ 2.25259689e-03 -3.85898710e-05 9.99997462e-01 1.21358481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.94, Y:191.79, Z:1.21 [[ 6.42856394e-01 -7.65985294e-01 -1.47891963e-03 1.90942681e+02] [ 7.65983409e-01 6.42858094e-01 -1.69955235e-03 1.91793695e+02] [ 2.25256755e-03 -4.02598036e-05 9.99997462e-01 1.21470969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.96, Y:191.81, Z:1.22 [[ 6.42438279e-01 -7.66336005e-01 -1.47844960e-03 1.90960286e+02] [ 7.66334120e-01 6.42439979e-01 -1.69996112e-03 1.91814097e+02] [ 2.25255655e-03 -4.08662791e-05 9.99997462e-01 1.21505903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.98, Y:191.84, Z:1.21 [[ 6.42387829e-01 -7.66378296e-01 -1.47798800e-03 1.90978899e+02] [ 7.66376411e-01 6.42389528e-01 -1.70036235e-03 1.91835464e+02] [ 2.25256482e-03 -4.04030619e-05 9.99997462e-01 1.21463162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.00, Y:191.86, Z:1.21 [[ 6.42790890e-01 -7.66040266e-01 -1.47748083e-03 1.90997236e+02] [ 7.66038379e-01 6.42792587e-01 -1.70080293e-03 1.91856588e+02] [ 2.25259726e-03 -3.85463908e-05 9.99997462e-01 1.21370005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.01, Y:191.88, Z:1.21 [[ 6.42811880e-01 -7.66022654e-01 -1.47695045e-03 1.91014679e+02] [ 7.66020765e-01 6.42813576e-01 -1.70126338e-03 1.91876818e+02] [ 2.25261009e-03 -3.77824009e-05 9.99997462e-01 1.21327018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.03, Y:191.90, Z:1.21 [[ 6.42987857e-01 -7.65874950e-01 -1.47553051e-03 1.91033341e+02] [ 7.65873058e-01 6.42989549e-01 -1.70249547e-03 1.91898465e+02] [ 2.25264933e-03 -3.53851528e-05 9.99997462e-01 1.21330431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.05, Y:191.92, Z:1.21 [[ 6.43359315e-01 -7.65562939e-01 -1.47629365e-03 1.91050458e+02] [ 7.65561048e-01 6.43361007e-01 -1.70183347e-03 1.91918838e+02] [ 2.25265040e-03 -3.53025020e-05 9.99997462e-01 1.21312887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.07, Y:191.94, Z:1.21 [[ 6.43932360e-01 -7.65081001e-01 -1.47581789e-03 1.91068212e+02] [ 7.65079108e-01 6.43934050e-01 -1.70224595e-03 1.91940087e+02] [ 2.25268542e-03 -3.29861827e-05 9.99997462e-01 1.21336649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.09, Y:191.96, Z:1.21 [[ 6.43959871e-01 -7.65057846e-01 -1.47528000e-03 1.91085758e+02] [ 7.65055952e-01 6.43961560e-01 -1.70271199e-03 1.91960502e+02] [ 2.25269678e-03 -3.21935443e-05 9.99997462e-01 1.21394538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.10, Y:191.98, Z:1.21 [[ 6.44056944e-01 -7.64976129e-01 -1.47479681e-03 1.91104252e+02] [ 7.64974233e-01 6.44058632e-01 -1.70313040e-03 1.91982125e+02] [ 2.25270972e-03 -3.12686037e-05 9.99997462e-01 1.21430084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.12, Y:192.00, Z:1.21 [[ 6.46448727e-01 -7.62956008e-01 -1.47425731e-03 1.91119946e+02] [ 7.62954107e-01 6.46450407e-01 -1.70359727e-03 1.91998891e+02] [ 2.25280401e-03 -2.35023853e-05 9.99997462e-01 1.21389869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.14, Y:192.02, Z:1.21 [[ 6.44871216e-01 -7.64289877e-01 -1.44895164e-03 1.91140379e+02] [ 7.64287929e-01 6.44872843e-01 -1.72548095e-03 1.92024256e+02] [ 2.25315719e-03 5.29675009e-06 9.99997462e-01 1.21437763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.16, Y:192.04, Z:1.21 [[ 6.44850199e-01 -7.64307561e-01 -1.47418653e-03 1.91158397e+02] [ 7.64305663e-01 6.44851884e-01 -1.70364487e-03 1.92044999e+02] [ 2.25274062e-03 -2.81333773e-05 9.99997462e-01 1.21399572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.18, Y:192.07, Z:1.21 [[ 6.44258867e-01 -7.64806080e-01 -1.47381540e-03 1.91176451e+02] [ 7.64804183e-01 6.44260552e-01 -1.70396587e-03 1.92066253e+02] [ 2.25272458e-03 -2.93850587e-05 9.99997462e-01 1.21319353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.19, Y:192.09, Z:1.21 [[ 6.43632286e-01 -7.65333464e-01 -1.47326719e-03 1.91193859e+02] [ 7.65331566e-01 6.43633971e-01 -1.70443973e-03 1.92086377e+02] [ 2.25270957e-03 -3.05054456e-05 9.99997462e-01 1.21306498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.21, Y:192.11, Z:1.21 [[ 6.42102913e-01 -7.66617036e-01 -1.47277530e-03 1.91212662e+02] [ 7.66615141e-01 6.42104601e-01 -1.70486466e-03 1.92107344e+02] [ 2.25265409e-03 -3.43532845e-05 9.99997462e-01 1.21388270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.23, Y:192.13, Z:1.21 [[ 6.39938950e-01 -7.68424352e-01 -1.46829038e-03 1.91230840e+02] [ 7.68422453e-01 6.39940633e-01 -1.70873610e-03 1.92129487e+02] [ 2.25265311e-03 -3.47805172e-05 9.99997462e-01 1.21388040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.25, Y:192.15, Z:1.21 [[ 6.39552759e-01 -7.68745782e-01 -1.47993769e-03 1.91249322e+02] [ 7.68743907e-01 6.39554469e-01 -1.69868175e-03 1.92149406e+02] [ 2.25235519e-03 -5.12964835e-05 9.99997462e-01 1.21469714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.27, Y:192.17, Z:1.21 [[ 6.37526799e-01 -7.70426775e-01 -1.47138087e-03 1.91268639e+02] [ 7.70424887e-01 6.37528496e-01 -1.70606152e-03 1.92170025e+02] [ 2.25244270e-03 -4.59284978e-05 9.99997462e-01 1.21456077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:192.19, Z:1.21 [[ 6.36525457e-01 -7.71254290e-01 -1.47084625e-03 1.91287016e+02] [ 7.71252403e-01 6.36527154e-01 -1.70652231e-03 1.92190429e+02] [ 2.25239623e-03 -4.81488111e-05 9.99997462e-01 1.21463223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.31, Y:192.21, Z:1.21 [[ 6.35439934e-01 -7.72148903e-01 -1.47048347e-03 1.91305705e+02] [ 7.72147018e-01 6.35441633e-01 -1.70683485e-03 1.92211670e+02] [ 2.25233707e-03 -5.08384046e-05 9.99997462e-01 1.21477224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:192.23, Z:1.21 [[ 6.33433123e-01 -7.73796044e-01 -1.46993905e-03 1.91323941e+02] [ 7.73794163e-01 6.33434826e-01 -1.70730358e-03 1.92232190e+02] [ 2.25221534e-03 -5.59676195e-05 9.99997462e-01 1.21480315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.34, Y:192.25, Z:1.22 [[ 6.32630974e-01 -7.74451995e-01 -1.46945009e-03 1.91343249e+02] [ 7.74450114e-01 6.32632678e-01 -1.70772432e-03 1.92252951e+02] [ 2.25217265e-03 -5.76564884e-05 9.99997462e-01 1.21534677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.36, Y:192.27, Z:1.21 [[ 6.32518653e-01 -7.74543734e-01 -1.46891834e-03 1.91362945e+02] [ 7.74541852e-01 6.32520356e-01 -1.70818158e-03 1.92274933e+02] [ 2.25218209e-03 -5.72820164e-05 9.99997462e-01 1.21473887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.38, Y:192.30, Z:1.21 [[ 6.32445709e-01 -7.74603288e-01 -1.47376802e-03 1.91380590e+02] [ 7.74601416e-01 6.32447423e-01 -1.70401064e-03 1.92295354e+02] [ 2.25201304e-03 -6.38885769e-05 9.99997462e-01 1.21492030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:192.32, Z:1.21 [[ 6.32707887e-01 -7.74389161e-01 -1.46897094e-03 1.91399185e+02] [ 7.74387279e-01 6.32709589e-01 -1.70813342e-03 1.92316948e+02] [ 2.25219200e-03 -5.68029220e-05 9.99997462e-01 1.21453413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:192.34, Z:1.21 [[ 6.33630789e-01 -7.73634195e-01 -1.46787413e-03 1.91418739e+02] [ 7.73632309e-01 6.33632487e-01 -1.70907543e-03 1.92337789e+02] [ 2.25229193e-03 -5.26720422e-05 9.99997462e-01 1.21345057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.44, Y:192.36, Z:1.21 [[ 6.33382621e-01 -7.73837388e-01 -1.46732444e-03 1.91437232e+02] [ 7.73835501e-01 6.33384318e-01 -1.70954724e-03 1.92359575e+02] [ 2.25229186e-03 -5.26702276e-05 9.99997462e-01 1.21351474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.46, Y:192.38, Z:1.21 [[ 6.33990744e-01 -7.73339243e-01 -1.46677596e-03 1.91455065e+02] [ 7.73337354e-01 6.33992439e-01 -1.71001770e-03 1.92379383e+02] [ 2.25234866e-03 -5.01772473e-05 9.99997462e-01 1.21300044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:192.40, Z:1.21 [[ 6.35247243e-01 -7.72307445e-01 -1.46628238e-03 1.91473715e+02] [ 7.72305552e-01 6.35248934e-01 -1.71044083e-03 1.92400160e+02] [ 2.25244050e-03 -4.58651981e-05 9.99997462e-01 1.21146516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:192.42, Z:1.21 [[ 6.35642699e-01 -7.71982002e-01 -1.46564048e-03 1.91491818e+02] [ 7.71980107e-01 6.35644387e-01 -1.71099074e-03 1.92421217e+02] [ 2.25248020e-03 -4.38665221e-05 9.99997462e-01 1.21042104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.51, Y:192.44, Z:1.21 [[ 6.36140064e-01 -7.71572208e-01 -1.46513097e-03 1.91509659e+02] [ 7.71570311e-01 6.36141750e-01 -1.71142693e-03 1.92442287e+02] [ 2.25252043e-03 -4.17443224e-05 9.99997462e-01 1.20972916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:192.47, Z:1.21 [[ 6.37630343e-01 -7.70341094e-01 -1.46459627e-03 1.91527429e+02] [ 7.70339192e-01 6.37632024e-01 -1.71188439e-03 1.92465153e+02] [ 2.25260837e-03 -3.66864753e-05 9.99997462e-01 1.21085655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:192.49, Z:1.21 [[ 6.38440908e-01 -7.69669440e-01 -1.47016444e-03 1.91548040e+02] [ 7.69667547e-01 6.38442599e-01 -1.70712329e-03 1.92487733e+02] [ 2.25253623e-03 -4.16405199e-05 9.99997462e-01 1.21106355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.57, Y:192.51, Z:1.21 [[ 6.38629307e-01 -7.69513113e-01 -1.47543132e-03 1.91566967e+02] [ 7.69511231e-01 6.38631009e-01 -1.70263394e-03 1.92508736e+02] [ 2.25245534e-03 -4.80090349e-05 9.99997462e-01 1.21015609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.58, Y:192.53, Z:1.21 [[ 6.37926816e-01 -7.70095583e-01 -1.47347906e-03 1.91584512e+02] [ 7.70093698e-01 6.37928516e-01 -1.70429695e-03 1.92528808e+02] [ 2.25244587e-03 -4.75002130e-05 9.99997462e-01 1.21044353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.60, Y:192.55, Z:1.21 [[ 6.35949380e-01 -7.71729373e-01 -1.46989558e-03 1.91601501e+02] [ 7.71727486e-01 6.35951077e-01 -1.70734771e-03 1.92549320e+02] [ 2.25239206e-03 -4.85720997e-05 9.99997462e-01 1.21275075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.62, Y:192.57, Z:1.21 [[ 6.35151917e-01 -7.72385857e-01 -1.45957341e-03 1.91618743e+02] [ 7.72383951e-01 6.35153593e-01 -1.71612677e-03 1.92570595e+02] [ 2.25256534e-03 -3.73498685e-05 9.99997462e-01 1.21328600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.64, Y:192.59, Z:1.21 [[ 6.34610334e-01 -7.72830897e-01 -1.45907986e-03 1.91637418e+02] [ 7.72828991e-01 6.34612011e-01 -1.71654629e-03 1.92592734e+02] [ 2.25254961e-03 -3.82812026e-05 9.99997462e-01 1.21199095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.69275509600004 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:191.65, Y:192.61, Z:1.21 [[ 6.33420442e-01 -7.73806437e-01 -1.46332978e-03 1.91654366e+02] [ 7.73804542e-01 6.33422131e-01 -1.71293479e-03 1.92613364e+02] [ 2.25238543e-03 -4.73233187e-05 9.99997462e-01 1.21087599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.67, Y:192.63, Z:1.21 [[ 6.32659322e-01 -7.74428858e-01 -1.45828478e-03 1.91671180e+02] [ 7.74426955e-01 6.32661002e-01 -1.71721907e-03 1.92634385e+02] [ 2.25246391e-03 -4.29203872e-05 9.99997462e-01 1.21430693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:192.66, Z:1.22 [[ 6.31964361e-01 -7.74996078e-01 -1.45779748e-03 1.91688364e+02] [ 7.74994176e-01 6.31966041e-01 -1.71763265e-03 1.92657081e+02] [ 2.25243707e-03 -4.43019388e-05 9.99997462e-01 1.21525981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:192.68, Z:1.21 [[ 6.31180498e-01 -7.75634615e-01 -1.45724772e-03 1.91704122e+02] [ 7.75632713e-01 6.31182178e-01 -1.71809894e-03 1.92679630e+02] [ 2.25240580e-03 -4.58584587e-05 9.99997462e-01 1.21448718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:192.70, Z:1.21 [[ 6.31158066e-01 -7.75652883e-01 -1.44929024e-03 1.91720908e+02] [ 7.75650966e-01 6.31159729e-01 -1.72484703e-03 1.92701335e+02] [ 2.25261621e-03 -3.54922636e-05 9.99997462e-01 1.21369161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.74, Y:192.72, Z:1.21 [[ 6.33091378e-01 -7.74075719e-01 -1.44505669e-03 1.91737705e+02] [ 7.74073789e-01 6.33093027e-01 -1.72843482e-03 1.92722487e+02] [ 2.25279474e-03 -2.43233266e-05 9.99997462e-01 1.21459894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.76, Y:192.75, Z:1.21 [[ 6.33052796e-01 -7.74107284e-01 -1.43854193e-03 1.91755897e+02] [ 7.74105342e-01 6.33054431e-01 -1.73395418e-03 1.92745542e+02] [ 2.25294191e-03 -1.58984511e-05 9.99997462e-01 1.21292896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.77, Y:192.77, Z:1.21 [[ 6.33857942e-01 -7.73448134e-01 -1.44656780e-03 1.91771644e+02] [ 7.73446206e-01 6.33859593e-01 -1.72715505e-03 1.92767063e+02] [ 2.25278573e-03 -2.40714330e-05 9.99997462e-01 1.21113280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.79, Y:192.79, Z:1.21 [[ 6.35532927e-01 -7.72072418e-01 -1.44247412e-03 1.91793945e+02] [ 7.72070478e-01 6.35534564e-01 -1.73062075e-03 1.92789629e+02] [ 2.25290670e-03 -1.38252152e-05 9.99997462e-01 1.21140197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.81, Y:192.81, Z:1.21 [[ 6.35607014e-01 -7.72011397e-01 -1.45819561e-03 1.91810678e+02] [ 7.72009488e-01 6.35608686e-01 -1.71731063e-03 1.92810460e+02] [ 2.25262518e-03 -3.42061652e-05 9.99997462e-01 1.21124577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.83, Y:192.83, Z:1.21 [[ 6.35346121e-01 -7.72226125e-01 -1.45534181e-03 1.91828746e+02] [ 7.72224211e-01 6.35347787e-01 -1.71972570e-03 1.92831555e+02] [ 2.25266531e-03 -3.12291238e-05 9.99997462e-01 1.21052892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.85, Y:192.85, Z:1.21 [[ 6.35000184e-01 -7.72510615e-01 -1.45479742e-03 1.91847225e+02] [ 7.72508700e-01 6.35001850e-01 -1.72018610e-03 1.92852907e+02] [ 2.25266108e-03 -3.15251757e-05 9.99997462e-01 1.21069528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.86, Y:192.87, Z:1.21 [[ 6.34103630e-01 -7.73246708e-01 -1.45425498e-03 1.91864927e+02] [ 7.73244794e-01 6.34105297e-01 -1.72064456e-03 1.92873554e+02] [ 2.25263353e-03 -3.34281325e-05 9.99997462e-01 1.21104977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.88, Y:192.89, Z:1.21 [[ 6.34547811e-01 -7.72882243e-01 -1.45376792e-03 1.91882588e+02] [ 7.72880328e-01 6.34549476e-01 -1.72105598e-03 1.92894178e+02] [ 2.25266128e-03 -3.14963239e-05 9.99997462e-01 1.21076305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.90, Y:192.92, Z:1.21 [[ 6.32974736e-01 -7.74171103e-01 -1.44418898e-03 1.91901049e+02] [ 7.74169173e-01 6.32976384e-01 -1.72914124e-03 1.92917085e+02] [ 2.25278870e-03 -2.35438728e-05 9.99997462e-01 1.21086863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.92, Y:192.94, Z:1.21 [[ 6.31272272e-01 -7.75559931e-01 -1.45297417e-03 1.91919868e+02] [ 7.75558021e-01 6.31273943e-01 -1.72172738e-03 1.92938999e+02] [ 2.25252750e-03 -3.99870193e-05 9.99997462e-01 1.21098732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.94, Y:192.96, Z:1.21 [[ 6.30912303e-01 -7.75852789e-01 -1.45460612e-03 1.91937402e+02] [ 7.75850883e-01 6.30913978e-01 -1.72035057e-03 1.92959144e+02] [ 2.25247012e-03 -4.31671066e-05 9.99997462e-01 1.21156412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.96, Y:192.98, Z:1.21 [[ 6.30756349e-01 -7.75979587e-01 -1.45229366e-03 1.91957238e+02] [ 7.75977676e-01 6.30758020e-01 -1.72230051e-03 1.92981286e+02] [ 2.25251591e-03 -4.05954771e-05 9.99997462e-01 1.20956277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.97, Y:193.00, Z:1.21 [[ 6.29598236e-01 -7.76919514e-01 -1.45952811e-03 1.91973148e+02] [ 7.76917620e-01 6.29599926e-01 -1.71620068e-03 1.93002121e+02] [ 2.25226859e-03 -5.34161872e-05 9.99997462e-01 1.20872674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.99, Y:193.02, Z:1.21 [[ 6.28846853e-01 -7.77527832e-01 -1.45144988e-03 1.91990699e+02] [ 7.77525924e-01 6.28848526e-01 -1.72300593e-03 1.93022493e+02] [ 2.25242718e-03 -4.50330551e-05 9.99997462e-01 1.21143927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.01, Y:193.04, Z:1.21 [[ 6.28359739e-01 -7.77921547e-01 -1.45098777e-03 1.92008911e+02] [ 7.77919639e-01 6.28361413e-01 -1.72339499e-03 1.93044694e+02] [ 2.25241082e-03 -4.58398575e-05 9.99997462e-01 1.21039383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:193.07, Z:1.21 [[ 6.28222427e-01 -7.78032436e-01 -1.45271909e-03 1.92029255e+02] [ 7.78030532e-01 6.28224105e-01 -1.72193810e-03 1.93067317e+02] [ 2.25235685e-03 -4.84996754e-05 9.99997462e-01 1.21151224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.05, Y:193.09, Z:1.21 [[ 6.27482157e-01 -7.78629573e-01 -1.45982252e-03 1.92047007e+02] [ 7.78627684e-01 6.27483852e-01 -1.71596108e-03 1.93088208e+02] [ 2.25211311e-03 -5.99232694e-05 9.99997462e-01 1.21162388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.06, Y:193.11, Z:1.21 [[ 6.26529995e-01 -7.79395947e-01 -1.45727227e-03 1.92063717e+02] [ 7.79394056e-01 6.26531687e-01 -1.71810657e-03 1.93108330e+02] [ 2.25211255e-03 -5.93440461e-05 9.99997462e-01 1.21244431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:193.13, Z:1.21 [[ 6.26461323e-01 -7.79451160e-01 -1.44960090e-03 1.92081686e+02] [ 7.79449253e-01 6.26462998e-01 -1.72455486e-03 1.93129640e+02] [ 2.25232761e-03 -4.95234174e-05 9.99997462e-01 1.21201043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:193.15, Z:1.21 [[ 6.26893703e-01 -7.79103450e-01 -1.44905663e-03 1.92098691e+02] [ 7.79101542e-01 6.26895376e-01 -1.72501206e-03 1.93151222e+02] [ 2.25236975e-03 -4.75630566e-05 9.99997462e-01 1.21116108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.12, Y:193.17, Z:1.21 [[ 6.28719592e-01 -7.77630746e-01 -1.44856754e-03 1.92115760e+02] [ 7.77628832e-01 6.28721259e-01 -1.72542268e-03 1.93173493e+02] [ 2.25248693e-03 -4.16408398e-05 9.99997462e-01 1.20979721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.13, Y:193.20, Z:1.21 [[ 6.29329822e-01 -7.77136975e-01 -1.44803281e-03 1.92133480e+02] [ 7.77135060e-01 6.29331487e-01 -1.72587132e-03 1.93195692e+02] [ 2.25253106e-03 -3.91747759e-05 9.99997462e-01 1.20948566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.15, Y:193.22, Z:1.21 [[ 6.29677451e-01 -7.76855336e-01 -1.44750046e-03 1.92151395e+02] [ 7.76853418e-01 6.29679114e-01 -1.72631769e-03 1.93217258e+02] [ 2.25255992e-03 -3.74723551e-05 9.99997462e-01 1.20934937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.17, Y:193.24, Z:1.21 [[ 6.30040249e-01 -7.76561132e-01 -1.44696875e-03 1.92169399e+02] [ 7.76559213e-01 6.30041910e-01 -1.72676325e-03 1.93238011e+02] [ 2.25258817e-03 -3.57265669e-05 9.99997462e-01 1.20952436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.19, Y:193.26, Z:1.21 [[ 6.29844280e-01 -7.76720085e-01 -1.44660749e-03 1.92187132e+02] [ 7.76718166e-01 6.29845940e-01 -1.72706584e-03 1.93259356e+02] [ 2.25258658e-03 -3.58237787e-05 9.99997462e-01 1.21040606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.21, Y:193.28, Z:1.21 [[ 6.29776126e-01 -7.76775349e-01 -1.44515282e-03 1.92205266e+02] [ 7.76773427e-01 6.29777783e-01 -1.72828364e-03 1.93281566e+02] [ 2.25261327e-03 -3.41245296e-05 9.99997462e-01 1.21129582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.22, Y:193.30, Z:1.21 [[ 6.29564753e-01 -7.76946672e-01 -1.44592769e-03 1.92222562e+02] [ 7.76944752e-01 6.29566412e-01 -1.72763512e-03 1.93303021e+02] [ 2.25258787e-03 -3.57477584e-05 9.99997462e-01 1.21207946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.25, Y:193.33, Z:1.21 [[ 6.31431961e-01 -7.75429938e-01 -1.44542974e-03 1.92247881e+02] [ 7.75428013e-01 6.31433615e-01 -1.72805163e-03 1.93327459e+02] [ 2.25267590e-03 -2.96796855e-05 9.99997462e-01 1.21193605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.26, Y:193.35, Z:1.21 [[ 6.28605127e-01 -7.77723223e-01 -1.47728244e-03 1.92256019e+02] [ 7.77721366e-01 6.28606858e-01 -1.70139622e-03 1.93347572e+02] [ 2.25184523e-03 -7.94077308e-05 9.99997461e-01 1.21247771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.27, Y:193.37, Z:1.21 [[ 6.28232639e-01 -7.78024206e-01 -1.44413897e-03 1.92272809e+02] [ 7.78022286e-01 6.28234298e-01 -1.72907791e-03 1.93368415e+02] [ 2.25252210e-03 -3.73091249e-05 9.99997462e-01 1.21285609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.29, Y:193.39, Z:1.21 [[ 6.27545258e-01 -7.78578747e-01 -1.44364751e-03 1.92289888e+02] [ 7.78576827e-01 6.27546917e-01 -1.72948815e-03 1.93391331e+02] [ 2.25249926e-03 -3.86584096e-05 9.99997462e-01 1.21353899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.31, Y:193.41, Z:1.21 [[ 6.28013193e-01 -7.78201347e-01 -1.44662381e-03 1.92307431e+02] [ 7.78199432e-01 6.28014858e-01 -1.72700437e-03 1.93413479e+02] [ 2.25245838e-03 -4.11803012e-05 9.99997462e-01 1.21370455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.32, Y:193.44, Z:1.21 [[ 6.28309829e-01 -7.77961874e-01 -1.44273723e-03 1.92323652e+02] [ 7.77959951e-01 6.28311484e-01 -1.73024513e-03 1.93435326e+02] [ 2.25255312e-03 -3.52617643e-05 9.99997462e-01 1.21323072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.86275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.34, Y:193.46, Z:1.21 [[ 6.28530246e-01 -7.77783806e-01 -1.44225603e-03 1.92340684e+02] [ 7.77781882e-01 6.28531900e-01 -1.73064616e-03 1.93456252e+02] [ 2.25257247e-03 -3.39971516e-05 9.99997462e-01 1.21136398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.36, Y:193.48, Z:1.21 [[ 6.29281457e-01 -7.77176151e-01 -1.44189727e-03 1.92357510e+02] [ 7.77174224e-01 6.29283108e-01 -1.73094500e-03 1.93478389e+02] [ 2.25261077e-03 -3.13538040e-05 9.99997462e-01 1.21252500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.37, Y:193.50, Z:1.21 [[ 6.29336161e-01 -7.77131854e-01 -1.44136478e-03 1.92374913e+02] [ 7.77129926e-01 6.29337811e-01 -1.73138830e-03 1.93500013e+02] [ 2.25262235e-03 -3.05024431e-05 9.99997462e-01 1.21218157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.95275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.39, Y:193.52, Z:1.21 [[ 6.29213458e-01 -7.77231206e-01 -1.44083680e-03 1.92393021e+02] [ 7.77229277e-01 6.29215107e-01 -1.73182756e-03 1.93521829e+02] [ 2.25262671e-03 -3.01713411e-05 9.99997462e-01 1.20966578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.98275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:192.41, Y:193.54, Z:1.21 [[ 6.29429830e-01 -7.77055992e-01 -1.44028874e-03 1.92410861e+02] [ 7.77054061e-01 6.29431478e-01 -1.73228324e-03 1.93542999e+02] [ 2.25264414e-03 -2.88314729e-05 9.99997462e-01 1.20892829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.43, Y:193.57, Z:1.21 [[ 6.28104421e-01 -7.78127729e-01 -1.43974182e-03 1.92430416e+02] [ 7.78125801e-01 6.28106071e-01 -1.73273768e-03 1.93566825e+02] [ 2.25260181e-03 -3.19600573e-05 9.99997462e-01 1.21068159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.45, Y:193.59, Z:1.21 [[ 6.28145323e-01 -7.78094690e-01 -1.45154916e-03 1.92447006e+02] [ 7.78092784e-01 6.28146998e-01 -1.72292547e-03 1.93585011e+02] [ 2.25238541e-03 -4.71923542e-05 9.99997462e-01 1.21039253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.47, Y:193.61, Z:1.21 [[ 6.27460590e-01 -7.78646992e-01 -1.43902034e-03 1.92465089e+02] [ 7.78645063e-01 6.27462239e-01 -1.73332698e-03 1.93606045e+02] [ 2.25258077e-03 -3.28917125e-05 9.99997462e-01 1.20988313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.48, Y:193.63, Z:1.21 [[ 6.23421941e-01 -7.81884272e-01 -1.43848490e-03 1.92480051e+02] [ 7.81882351e-01 6.23423599e-01 -1.73377123e-03 1.93628551e+02] [ 2.25239389e-03 -4.38549287e-05 9.99997462e-01 1.20596529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.50, Y:193.65, Z:1.21 [[ 6.23890277e-01 -7.81510634e-01 -1.43220879e-03 1.92502685e+02] [ 7.81508700e-01 6.23891920e-01 -1.73897217e-03 1.93651372e+02] [ 2.25256874e-03 -3.43557996e-05 9.99997462e-01 1.20862620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.52, Y:193.67, Z:1.21 [[ 6.24362199e-01 -7.81133621e-01 -1.45238815e-03 1.92520431e+02] [ 7.81131725e-01 6.24363886e-01 -1.72224827e-03 1.93670666e+02] [ 2.25212474e-03 -5.91997477e-05 9.99997462e-01 1.20874826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.54, Y:193.69, Z:1.21 [[ 6.23383240e-01 -7.81915128e-01 -1.43805094e-03 1.92539075e+02] [ 7.81913207e-01 6.23384897e-01 -1.73411907e-03 1.93689675e+02] [ 2.25239317e-03 -4.34102571e-05 9.99997462e-01 1.21011505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.56, Y:193.71, Z:1.21 [[ 6.22508880e-01 -7.82611418e-01 -1.43632079e-03 1.92557116e+02] [ 7.82609495e-01 6.22510535e-01 -1.73555092e-03 1.93710937e+02] [ 2.25238679e-03 -4.36824278e-05 9.99997462e-01 1.20884065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.25275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:192.58, Y:193.73, Z:1.21 [[ 6.22277307e-01 -7.82795562e-01 -1.43580777e-03 1.92575184e+02] [ 7.82793638e-01 6.22278962e-01 -1.73597523e-03 1.93733065e+02] [ 2.25238668e-03 -4.36831941e-05 9.99997462e-01 1.20890482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.59, Y:193.76, Z:1.21 [[ 6.21206719e-01 -7.83645425e-01 -1.43529403e-03 1.92589400e+02] [ 7.83643503e-01 6.21208375e-01 -1.73639988e-03 1.93755518e+02] [ 2.25233850e-03 -4.60955707e-05 9.99997462e-01 1.20995244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.61, Y:193.78, Z:1.21 [[ 6.23185260e-01 -7.82072955e-01 -1.42299995e-03 1.92610305e+02] [ 7.82071005e-01 6.23186884e-01 -1.74655423e-03 1.93777082e+02] [ 2.25272773e-03 -2.44601511e-05 9.99997462e-01 1.20960941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.63, Y:193.80, Z:1.21 [[ 6.23298232e-01 -7.81982900e-01 -1.43462312e-03 1.92627587e+02] [ 7.81980972e-01 6.23299882e-01 -1.73695417e-03 1.93799242e+02] [ 2.25246888e-03 -3.92075237e-05 9.99997462e-01 1.20917062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.64, Y:193.82, Z:1.21 [[ 6.24192557e-01 -7.81269220e-01 -1.43412021e-03 1.92644128e+02] [ 7.81267289e-01 6.24194204e-01 -1.73736930e-03 1.93820764e+02] [ 2.25252268e-03 -3.59782201e-05 9.99997462e-01 1.20869752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.66, Y:193.84, Z:1.21 [[ 6.24717463e-01 -7.80849561e-01 -1.43359026e-03 1.92661463e+02] [ 7.80847628e-01 6.24719107e-01 -1.73780648e-03 1.93842221e+02] [ 2.25255665e-03 -3.37774952e-05 9.99997462e-01 1.20864586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.68, Y:193.87, Z:1.21 [[ 6.23467206e-01 -7.81848188e-01 -1.43309506e-03 1.92677149e+02] [ 7.81846257e-01 6.23468852e-01 -1.73821475e-03 1.93865597e+02] [ 2.25251019e-03 -3.67401113e-05 9.99997462e-01 1.20759081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.69, Y:193.88, Z:1.21 [[ 6.28861841e-01 -7.77515747e-01 -1.43128381e-03 1.92693523e+02] [ 7.77513801e-01 6.28863469e-01 -1.73970727e-03 1.93883921e+02] [ 2.25273191e-03 -1.88073981e-05 9.99997462e-01 1.20778755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.71, Y:193.91, Z:1.21 [[ 6.27192854e-01 -7.78862698e-01 -1.42172614e-03 1.92711199e+02] [ 7.78860738e-01 6.27194465e-01 -1.74757627e-03 1.93909329e+02] [ 2.25282073e-03 -1.12593209e-05 9.99997462e-01 1.20878429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.73, Y:193.93, Z:1.21 [[ 6.29314998e-01 -7.77148998e-01 -1.43825537e-03 1.92727065e+02] [ 7.77147064e-01 6.29316641e-01 -1.73398333e-03 1.93930192e+02] [ 2.25268144e-03 -2.65142201e-05 9.99997462e-01 1.20800382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.74, Y:193.95, Z:1.21 [[ 6.30122850e-01 -7.76494146e-01 -1.42669302e-03 1.92743892e+02] [ 7.76492189e-01 6.30124465e-01 -1.74348812e-03 1.93952728e+02] [ 2.25280249e-03 -9.20427902e-06 9.99997462e-01 1.20768156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.582755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:192.76, Y:193.98, Z:1.21 [[ 6.29539936e-01 -7.76966822e-01 -1.42357760e-03 1.92761684e+02] [ 7.76964860e-01 6.29541546e-01 -1.74604800e-03 1.93975813e+02] [ 2.25282261e-03 -6.86282288e-06 9.99997462e-01 1.20723553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.78, Y:194.00, Z:1.21 [[ 6.29864832e-01 -7.76703449e-01 -1.43011245e-03 1.92777267e+02] [ 7.76701499e-01 6.29866455e-01 -1.74067907e-03 1.93997446e+02] [ 2.25277130e-03 -1.43779526e-05 9.99997462e-01 1.20815026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.79, Y:194.02, Z:1.21 [[ 6.27366287e-01 -7.78723006e-01 -1.42224266e-03 1.92794993e+02] [ 7.78721046e-01 6.27367899e-01 -1.74713891e-03 1.94019841e+02] [ 2.25280666e-03 -1.14342417e-05 9.99997462e-01 1.20861936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.81, Y:194.04, Z:1.21 [[ 6.25920809e-01 -7.79885310e-01 -1.42934333e-03 1.92813522e+02] [ 7.79883367e-01 6.25922441e-01 -1.74131037e-03 1.94041562e+02] [ 2.25268045e-03 -2.47986952e-05 9.99997462e-01 1.20884315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.83, Y:194.06, Z:1.21 [[ 6.24126430e-01 -7.81322058e-01 -1.42882382e-03 1.92831581e+02] [ 7.81320117e-01 6.24128065e-01 -1.74173655e-03 1.94062569e+02] [ 2.25262623e-03 -2.93049775e-05 9.99997462e-01 1.20947570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:194.08, Z:1.21 [[ 6.20694115e-01 -7.84051514e-01 -1.42828578e-03 1.92849984e+02] [ 7.84049579e-01 6.20695757e-01 -1.74217765e-03 1.94083400e+02] [ 2.25248795e-03 -3.84874512e-05 9.99997462e-01 1.21031449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.76275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:192.87, Y:194.10, Z:1.21 [[ 6.18939707e-01 -7.85437203e-01 -1.42772700e-03 1.92867069e+02] [ 7.85435271e-01 6.18941352e-01 -1.74263545e-03 1.94104337e+02] [ 2.25241000e-03 -4.28008687e-05 9.99997462e-01 1.20948041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.79275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:192.88, Y:194.13, Z:1.21 [[ 6.16528183e-01 -7.87331545e-01 -1.42734790e-03 1.92884901e+02] [ 7.87329618e-01 6.16529833e-01 -1.74294591e-03 1.94126417e+02] [ 2.25227886e-03 -4.92180063e-05 9.99997462e-01 1.20638956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:194.15, Z:1.21 [[ 6.15765333e-01 -7.87928308e-01 -1.42680091e-03 1.92901743e+02] [ 7.87926381e-01 6.15766984e-01 -1.74339357e-03 1.94148230e+02] [ 2.25224604e-03 -5.06927601e-05 9.99997462e-01 1.20929488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.92, Y:194.17, Z:1.21 [[ 6.15020191e-01 -7.88510070e-01 -1.42630790e-03 1.92919777e+02] [ 7.88508143e-01 6.15021843e-01 -1.74379682e-03 1.94170046e+02] [ 2.25221187e-03 -5.21851382e-05 9.99997462e-01 1.20989296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.94, Y:194.19, Z:1.21 [[ 6.13997972e-01 -7.89306314e-01 -1.42574006e-03 1.92937035e+02] [ 7.89304389e-01 6.13999625e-01 -1.74426096e-03 1.94191239e+02] [ 2.25216006e-03 -5.43701946e-05 9.99997462e-01 1.20983099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.95, Y:194.21, Z:1.21 [[ 6.14118619e-01 -7.89212450e-01 -1.42523033e-03 1.92954018e+02] [ 7.89210523e-01 6.14120270e-01 -1.74467736e-03 1.94212457e+02] [ 2.25218393e-03 -5.33679219e-05 9.99997462e-01 1.20916806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.97, Y:194.24, Z:1.21 [[ 6.15409497e-01 -7.88206268e-01 -1.42485027e-03 1.92973615e+02] [ 7.88204338e-01 6.15411145e-01 -1.74498770e-03 1.94235275e+02] [ 2.25227898e-03 -4.91911560e-05 9.99997462e-01 1.20765865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:194.26, Z:1.21 [[ 6.14944779e-01 -7.88568869e-01 -1.43432677e-03 1.92988690e+02] [ 7.88566958e-01 6.14946449e-01 -1.73725211e-03 1.94255929e+02] [ 2.25197709e-03 -6.27485792e-05 9.99997462e-01 1.20749055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.00, Y:194.28, Z:1.21 [[ 6.15761792e-01 -7.87931081e-01 -1.42391727e-03 1.93004641e+02] [ 7.87929148e-01 6.15763437e-01 -1.74574264e-03 1.94278085e+02] [ 2.25232107e-03 -4.69843099e-05 9.99997462e-01 1.20612120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.02, Y:194.30, Z:1.21 [[ 6.16499883e-01 -7.87353712e-01 -1.42341631e-03 1.93020631e+02] [ 7.87351777e-01 6.16501524e-01 -1.74615101e-03 1.94301017e+02] [ 2.25237680e-03 -4.42274685e-05 9.99997462e-01 1.20570844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:194.32, Z:1.21 [[ 6.16987253e-01 -7.86971858e-01 -1.42285383e-03 1.93039647e+02] [ 7.86969921e-01 6.16988892e-01 -1.74660922e-03 1.94323343e+02] [ 2.25241731e-03 -4.21075383e-05 9.99997462e-01 1.20535578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.06, Y:194.35, Z:1.21 [[ 6.16036123e-01 -7.87716604e-01 -1.43065141e-03 1.93055287e+02] [ 7.87714683e-01 6.16037782e-01 -1.74025876e-03 1.94345676e+02] [ 2.25216604e-03 -5.48828625e-05 9.99997462e-01 1.20550309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.08, Y:194.37, Z:1.20 [[ 6.18801695e-01 -7.85545950e-01 -1.42200176e-03 1.93081500e+02] [ 7.85544008e-01 6.18803328e-01 -1.74729809e-03 1.94370560e+02] [ 2.25252237e-03 -3.58139433e-05 9.99997462e-01 1.20361189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.09, Y:194.39, Z:1.21 [[ 6.15341867e-01 -7.88259003e-01 -1.45988852e-03 1.93091969e+02] [ 7.88257140e-01 6.15343592e-01 -1.71630677e-03 1.94388974e+02] [ 2.25122731e-03 -9.46521406e-05 9.99997462e-01 1.20516287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.11, Y:194.41, Z:1.20 [[ 6.14362386e-01 -7.89022715e-01 -1.41905487e-03 1.93110155e+02] [ 7.89020777e-01 6.14364023e-01 -1.74961618e-03 1.94411589e+02] [ 2.25230316e-03 -4.47654044e-05 9.99997463e-01 1.20498545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.2127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.13, Y:194.43, Z:1.20 [[ 6.12633545e-01 -7.90365809e-01 -1.42373512e-03 1.93127712e+02] [ 7.90363883e-01 6.12635197e-01 -1.74579934e-03 1.94433175e+02] [ 2.25205035e-03 -5.57335782e-05 9.99997463e-01 1.20402618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.14, Y:194.46, Z:1.21 [[ 6.11988708e-01 -7.90865220e-01 -1.42319532e-03 1.93144886e+02] [ 7.90863294e-01 6.11990360e-01 -1.74623927e-03 1.94455171e+02] [ 2.25202172e-03 -5.68742220e-05 9.99997463e-01 1.20609220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.272755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:193.16, Y:194.48, Z:1.20 [[ 6.11220414e-01 -7.91459147e-01 -1.42265618e-03 1.93162846e+02] [ 7.91457222e-01 6.11222067e-01 -1.74667840e-03 1.94476725e+02] [ 2.25198345e-03 -5.83660185e-05 9.99997463e-01 1.20404600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.30275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:193.18, Y:194.50, Z:1.21 [[ 6.10636377e-01 -7.91909838e-01 -1.42211582e-03 1.93180815e+02] [ 7.91907913e-01 6.10638031e-01 -1.74711824e-03 1.94498787e+02] [ 2.25195813e-03 -5.93308227e-05 9.99997463e-01 1.20571104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.20, Y:194.52, Z:1.21 [[ 6.10387471e-01 -7.92101707e-01 -1.42157786e-03 1.93198262e+02] [ 7.92099781e-01 6.10389124e-01 -1.74755586e-03 1.94520857e+02] [ 2.25195764e-03 -5.93453108e-05 9.99997463e-01 1.20791667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.22, Y:194.54, Z:1.21 [[ 6.10998175e-01 -7.91630729e-01 -1.42102497e-03 1.93215835e+02] [ 7.91628801e-01 6.10999825e-01 -1.74800532e-03 1.94542129e+02] [ 2.25202073e-03 -5.68962394e-05 9.99997463e-01 1.20861790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.23, Y:194.56, Z:1.21 [[ 6.11529841e-01 -7.91220093e-01 -1.42046261e-03 1.93233162e+02] [ 7.91218163e-01 6.11531489e-01 -1.74846219e-03 1.94563188e+02] [ 2.25207603e-03 -5.46590087e-05 9.99997463e-01 1.20868449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.25, Y:194.58, Z:1.21 [[ 6.12313852e-01 -7.90613515e-01 -1.41995537e-03 1.93250229e+02] [ 7.90611582e-01 6.12315497e-01 -1.74887403e-03 1.94583793e+02] [ 2.25214412e-03 -5.17733695e-05 9.99997463e-01 1.20881219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.27, Y:194.60, Z:1.21 [[ 6.14492641e-01 -7.88921276e-01 -1.41947105e-03 1.93267576e+02] [ 7.88919338e-01 6.14494279e-01 -1.74926704e-03 1.94604793e+02] [ 2.25229082e-03 -4.49364361e-05 9.99997463e-01 1.20974614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.28, Y:194.63, Z:1.21 [[ 6.15788222e-01 -7.87910434e-01 -1.41892930e-03 1.93284671e+02] [ 7.87908493e-01 6.15789855e-01 -1.74970637e-03 1.94626204e+02] [ 2.25237417e-03 -4.05378716e-05 9.99997463e-01 1.20984699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.51275509600003 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:193.30, Y:194.65, Z:1.21 [[ 6.18369597e-01 -7.85886143e-01 -1.41855782e-03 1.93302958e+02] [ 7.85884195e-01 6.18371223e-01 -1.75000749e-03 1.94647498e+02] [ 2.25250197e-03 -3.26707414e-05 9.99997463e-01 1.20771602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:194.67, Z:1.21 [[ 6.19564556e-01 -7.84944425e-01 -1.41800401e-03 1.93320020e+02] [ 7.84942474e-01 6.19566178e-01 -1.75045612e-03 1.94668845e+02] [ 2.25255810e-03 -2.85310045e-05 9.99997463e-01 1.21002310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.57275509600004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:193.34, Y:194.69, Z:1.21 [[ 6.21157056e-01 -7.83684823e-01 -1.41762786e-03 1.93338922e+02] [ 7.83682868e-01 6.21158674e-01 -1.75076070e-03 1.94689863e+02] [ 2.25261643e-03 -2.34733036e-05 9.99997463e-01 1.20774863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.60275509600007 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.36, Y:194.71, Z:1.21 [[ 6.22244790e-01 -7.82821444e-01 -1.41708609e-03 1.93357138e+02] [ 7.82819485e-01 6.22246403e-01 -1.75119910e-03 1.94711123e+02] [ 2.25265293e-03 -1.96480857e-05 9.99997463e-01 1.20741540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.37, Y:194.73, Z:1.21 [[ 6.22453098e-01 -7.82655821e-01 -1.41654766e-03 1.93374766e+02] [ 7.82653861e-01 6.22454710e-01 -1.75163453e-03 1.94732794e+02] [ 2.25266372e-03 -1.83561534e-05 9.99997463e-01 1.20945822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:194.75, Z:1.21 [[ 6.22354960e-01 -7.82733862e-01 -1.41599249e-03 1.93392514e+02] [ 7.82731901e-01 6.22356571e-01 -1.75208320e-03 1.94754353e+02] [ 2.25266708e-03 -1.79248265e-05 9.99997463e-01 1.20936541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.69275509600004 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:193.41, Y:194.78, Z:1.21 [[ 6.21888489e-01 -7.83104529e-01 -1.41544136e-03 1.93409313e+02] [ 7.83102568e-01 6.21890100e-01 -1.75252833e-03 1.94775375e+02] [ 2.25266184e-03 -1.85585680e-05 9.99997463e-01 1.20630847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:193.43, Y:194.80, Z:1.21 [[ 6.21710085e-01 -7.83246173e-01 -1.41495090e-03 1.93427024e+02] [ 7.83244212e-01 6.21711695e-01 -1.75292423e-03 1.94797126e+02] [ 2.25266271e-03 -1.84414296e-05 9.99997463e-01 1.20777152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.45, Y:194.82, Z:1.21 [[ 6.20908017e-01 -7.83882156e-01 -1.41440861e-03 1.93445276e+02] [ 7.83880195e-01 6.20909628e-01 -1.75336169e-03 1.94819760e+02] [ 2.25264886e-03 -2.00505659e-05 9.99997463e-01 1.21147856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7827550960001 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:193.46, Y:194.84, Z:1.21 [[ 6.20265020e-01 -7.84391038e-01 -1.41586347e-03 1.93461735e+02] [ 7.84389082e-01 6.20266635e-01 -1.75218856e-03 1.94840689e+02] [ 2.25261387e-03 -2.37665761e-05 9.99997463e-01 1.20784515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.81275509600005 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:193.48, Y:194.86, Z:1.21 [[ 6.19335876e-01 -7.85124878e-01 -1.41356913e-03 1.93478939e+02] [ 7.85122919e-01 6.19337489e-01 -1.75403756e-03 1.94862563e+02] [ 2.25261488e-03 -2.34871321e-05 9.99997463e-01 1.20608211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.50, Y:194.89, Z:1.21 [[ 6.19149251e-01 -7.85272060e-01 -1.41304158e-03 1.93495570e+02] [ 7.85270100e-01 6.19150864e-01 -1.75446244e-03 1.94885264e+02] [ 2.25261625e-03 -2.33451994e-05 9.99997463e-01 1.20989262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:193.51, Y:194.91, Z:1.21 [[ 6.18464080e-01 -7.85811801e-01 -1.41251862e-03 1.93512933e+02] [ 7.85809842e-01 6.18465693e-01 -1.75488338e-03 1.94906963e+02] [ 2.25260237e-03 -2.46386989e-05 9.99997463e-01 1.20943127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9027550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.53, Y:194.93, Z:1.21 [[ 6.16644495e-01 -7.87240480e-01 -1.41196908e-03 1.93529117e+02] [ 7.87238524e-01 6.16646110e-01 -1.75532542e-03 1.94928730e+02] [ 2.25254847e-03 -2.91446953e-05 9.99997463e-01 1.20656712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.93275509600005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:193.55, Y:194.95, Z:1.21 [[ 6.16412802e-01 -7.87421910e-01 -1.41148092e-03 1.93546872e+02] [ 7.87419953e-01 6.16414418e-01 -1.75571787e-03 1.94951105e+02] [ 2.25254791e-03 -2.91812656e-05 9.99997463e-01 1.20663129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.9627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.56, Y:194.97, Z:1.21 [[ 6.14932148e-01 -7.88578762e-01 -1.41096413e-03 1.93563849e+02] [ 7.88576807e-01 6.14933765e-01 -1.75613308e-03 1.94973771e+02] [ 2.25249874e-03 -3.27508992e-05 9.99997463e-01 1.20840005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.58, Y:195.00, Z:1.21 [[ 6.13238860e-01 -7.89896266e-01 -1.41042034e-03 1.93579219e+02] [ 7.89894314e-01 6.13240481e-01 -1.75656972e-03 1.94995505e+02] [ 2.25243471e-03 -3.68861932e-05 9.99997463e-01 1.20974650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.60, Y:195.02, Z:1.21 [[ 6.11553878e-01 -7.91201533e-01 -1.40993019e-03 1.93596507e+02] [ 7.91199584e-01 6.11555502e-01 -1.75696305e-03 1.95017125e+02] [ 2.25236242e-03 -4.10586182e-05 9.99997463e-01 1.20919374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:195.04, Z:1.21 [[ 6.10413295e-01 -7.92081829e-01 -1.40936177e-03 1.93613300e+02] [ 7.92079880e-01 6.10414920e-01 -1.75741889e-03 1.95038446e+02] [ 2.25231502e-03 -4.35752478e-05 9.99997463e-01 1.21073633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.63, Y:195.06, Z:1.21 [[ 6.09131173e-01 -7.93068237e-01 -1.40897628e-03 1.93629844e+02] [ 7.93066290e-01 6.09132801e-01 -1.75772790e-03 1.95059657e+02] [ 2.25225183e-03 -4.67247369e-05 9.99997463e-01 1.21061153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.65, Y:195.08, Z:1.21 [[ 6.06865679e-01 -7.94803160e-01 -1.40848107e-03 1.93646656e+02] [ 7.94801217e-01 6.06867312e-01 -1.75812462e-03 1.95082183e+02] [ 2.25212413e-03 -5.25169797e-05 9.99997463e-01 1.20940833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:195.10, Z:1.21 [[ 6.06617865e-01 -7.94992317e-01 -1.40793216e-03 1.93664383e+02] [ 7.94990374e-01 6.06619496e-01 -1.75856409e-03 1.95104586e+02] [ 2.25212404e-03 -5.25161224e-05 9.99997463e-01 1.20947249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.17275509600006 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:193.68, Y:195.13, Z:1.21 [[ 6.04185853e-01 -7.96842189e-01 -1.40738378e-03 1.93681404e+02] [ 7.96840250e-01 6.04187489e-01 -1.75900285e-03 1.95127201e+02] [ 2.25197136e-03 -5.86954058e-05 9.99997463e-01 1.20644632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:195.15, Z:1.21 [[ 6.04004505e-01 -7.96979660e-01 -1.40683377e-03 1.93698694e+02] [ 7.96977720e-01 6.04006141e-01 -1.75944263e-03 1.95149514e+02] [ 2.25197623e-03 -5.85038965e-05 9.99997463e-01 1.21081144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.72, Y:195.17, Z:1.21 [[ 6.03474929e-01 -7.97380732e-01 -1.40629149e-03 1.93716291e+02] [ 7.97378793e-01 6.03476565e-01 -1.75987596e-03 1.95171933e+02] [ 2.25195514e-03 -5.93059884e-05 9.99997463e-01 1.21150345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.73, Y:195.19, Z:1.21 [[ 6.03065217e-01 -7.97690646e-01 -1.40574492e-03 1.93732197e+02] [ 7.97688706e-01 6.03066853e-01 -1.76031244e-03 1.95194097e+02] [ 2.25194293e-03 -5.97636457e-05 9.99997463e-01 1.21129976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.29275509600006 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:193.75, Y:195.22, Z:1.21 [[ 6.02604450e-01 -7.98038796e-01 -1.39907131e-03 1.93750264e+02] [ 7.98036844e-01 6.02606072e-01 -1.76563719e-03 1.95216267e+02] [ 2.25213584e-03 -5.25296285e-05 9.99997463e-01 1.20946388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.77, Y:195.24, Z:1.21 [[ 6.04143150e-01 -7.96874570e-01 -1.40490904e-03 1.93765674e+02] [ 7.96872626e-01 6.04144781e-01 -1.76097985e-03 1.95238752e+02] [ 2.25204853e-03 -5.56496366e-05 9.99997463e-01 1.21257862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:193.78, Y:195.26, Z:1.21 [[ 6.04319009e-01 -7.96741215e-01 -1.40454256e-03 1.93781664e+02] [ 7.96739270e-01 6.04320639e-01 -1.76127210e-03 1.95260276e+02] [ 2.25207213e-03 -5.46840030e-05 9.99997463e-01 1.21145919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.80, Y:195.28, Z:1.21 [[ 6.05112851e-01 -7.96138472e-01 -1.40406253e-03 1.93798497e+02] [ 7.96136524e-01 6.05114478e-01 -1.76165470e-03 1.95282131e+02] [ 2.25213964e-03 -5.18255666e-05 9.99997463e-01 1.21335246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.82, Y:195.30, Z:1.21 [[ 6.05899903e-01 -7.95539652e-01 -1.40353497e-03 1.93815549e+02] [ 7.95537702e-01 6.05901526e-01 -1.76207491e-03 1.95304808e+02] [ 2.25220444e-03 -4.89239685e-05 9.99997463e-01 1.21458012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.44275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:193.83, Y:195.33, Z:1.21 [[ 6.05996178e-01 -7.95466318e-01 -1.40297986e-03 1.93832690e+02] [ 7.95464367e-01 6.05997800e-01 -1.76251678e-03 1.95326741e+02] [ 2.25222544e-03 -4.79420516e-05 9.99997463e-01 1.21345658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.85, Y:195.35, Z:1.21 [[ 6.06825964e-01 -7.94833494e-01 -1.40242194e-03 1.93848801e+02] [ 7.94831540e-01 6.06827583e-01 -1.76296060e-03 1.95348437e+02] [ 2.25228845e-03 -4.48789197e-05 9.99997463e-01 1.21492190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.87, Y:195.37, Z:1.22 [[ 6.05745332e-01 -7.95657355e-01 -1.40191915e-03 1.93866597e+02] [ 7.95655403e-01 6.05746953e-01 -1.76336033e-03 1.95372763e+02] [ 2.25223887e-03 -4.72972561e-05 9.99997463e-01 1.21535670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.88, Y:195.39, Z:1.21 [[ 6.06513010e-01 -7.95072313e-01 -1.40886556e-03 1.93883126e+02] [ 7.95070372e-01 6.06514644e-01 -1.75784325e-03 1.95394218e+02] [ 2.25211009e-03 -5.39924610e-05 9.99997463e-01 1.21495044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.90, Y:195.42, Z:1.21 [[ 6.06381123e-01 -7.95172920e-01 -1.40034047e-03 1.93900287e+02] [ 7.95170964e-01 6.06382738e-01 -1.76460851e-03 1.95415546e+02] [ 2.25231119e-03 -4.34847923e-05 9.99997463e-01 1.21464481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.92, Y:195.44, Z:1.21 [[ 6.06125730e-01 -7.95367613e-01 -1.39996835e-03 1.93918027e+02] [ 7.95365656e-01 6.06127345e-01 -1.76490368e-03 1.95437079e+02] [ 2.25230633e-03 -4.37332115e-05 9.99997463e-01 1.21455982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.94, Y:195.46, Z:1.21 [[ 6.05609858e-01 -7.95760480e-01 -1.39946142e-03 1.93935032e+02] [ 7.95758523e-01 6.05611473e-01 -1.76530555e-03 1.95457847e+02] [ 2.25229029e-03 -4.45469094e-05 9.99997463e-01 1.21409506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.6527550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:193.95, Y:195.48, Z:1.21 [[ 6.04893302e-01 -7.96305304e-01 -1.39892721e-03 1.93952466e+02] [ 7.96303347e-01 6.04894917e-01 -1.76572879e-03 1.95479659e+02] [ 2.25226316e-03 -4.58929003e-05 9.99997463e-01 1.21204764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.97, Y:195.50, Z:1.22 [[ 6.05029909e-01 -7.96201516e-01 -1.39839266e-03 1.93970620e+02] [ 7.96199558e-01 6.05031524e-01 -1.76615203e-03 1.95501384e+02] [ 2.25228457e-03 -4.48248107e-05 9.99997463e-01 1.21550045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.99, Y:195.52, Z:1.22 [[ 6.05184387e-01 -7.96084106e-01 -1.39806042e-03 1.93987278e+02] [ 7.96082147e-01 6.05186000e-01 -1.76641498e-03 1.95522236e+02] [ 2.25230148e-03 -4.39641737e-05 9.99997463e-01 1.21521559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.00, Y:195.54, Z:1.21 [[ 6.04592390e-01 -7.96533801e-01 -1.39497333e-03 1.94004853e+02] [ 7.96531838e-01 6.04593998e-01 -1.76885713e-03 1.95544903e+02] [ 2.25234700e-03 -4.17031127e-05 9.99997463e-01 1.21418973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.772755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.02, Y:195.57, Z:1.21 [[ 6.03392650e-01 -7.97443012e-01 -1.39725410e-03 1.94021977e+02] [ 7.97441056e-01 6.03394266e-01 -1.76705367e-03 1.95566622e+02] [ 2.25221972e-03 -4.80005853e-05 9.99997463e-01 1.21284149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.04, Y:195.59, Z:1.21 [[ 6.03339572e-01 -7.97483177e-01 -1.39435439e-03 1.94040544e+02] [ 7.97481215e-01 6.03341181e-01 -1.76934558e-03 1.95587352e+02] [ 2.25229476e-03 -4.44552264e-05 9.99997463e-01 1.21408532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.832755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:194.06, Y:195.61, Z:1.21 [[ 6.01707019e-01 -7.98715665e-01 -1.39647917e-03 1.94057735e+02] [ 7.98713711e-01 6.01708637e-01 -1.76766698e-03 1.95607668e+02] [ 2.25213688e-03 -5.17694317e-05 9.99997463e-01 1.21057613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.08, Y:195.63, Z:1.21 [[ 6.01726772e-01 -7.98700784e-01 -1.39598782e-03 1.94075244e+02] [ 7.98698829e-01 6.01728389e-01 -1.76805493e-03 1.95630144e+02] [ 2.25215236e-03 -5.10878505e-05 9.99997463e-01 1.21403090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.09, Y:195.65, Z:1.21 [[ 6.02265837e-01 -7.98294378e-01 -1.39571094e-03 1.94091354e+02] [ 7.98292421e-01 6.02267452e-01 -1.76827341e-03 1.95652006e+02] [ 2.25219399e-03 -4.92147996e-05 9.99997463e-01 1.21421254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.11, Y:195.67, Z:1.21 [[ 6.03933668e-01 -7.97033361e-01 -1.39504211e-03 1.94106287e+02] [ 7.97031399e-01 6.03935278e-01 -1.76880091e-03 1.95674090e+02] [ 2.25230848e-03 -4.36539487e-05 9.99997463e-01 1.21349147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.12, Y:195.70, Z:1.21 [[ 6.04444888e-01 -7.96645738e-01 -1.39455354e-03 1.94123864e+02] [ 7.96643775e-01 6.04446495e-01 -1.76918602e-03 1.95696568e+02] [ 2.25234750e-03 -4.15869520e-05 9.99997463e-01 1.21275539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:195.72, Z:1.21 [[ 6.04643630e-01 -7.96494907e-01 -1.39401780e-03 1.94141619e+02] [ 7.96492943e-01 6.04645236e-01 -1.76960805e-03 1.95718886e+02] [ 2.25237002e-03 -4.03431072e-05 9.99997463e-01 1.21275032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.16, Y:195.74, Z:1.21 [[ 6.06719504e-01 -7.94914776e-01 -1.39346199e-03 1.94162003e+02] [ 7.94912806e-01 6.06721103e-01 -1.77004561e-03 1.95740226e+02] [ 2.25247821e-03 -3.37595893e-05 9.99997463e-01 1.21230210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:195.76, Z:1.21 [[ 6.07307066e-01 -7.94465964e-01 -1.40018884e-03 1.94177057e+02] [ 7.94464005e-01 6.07308679e-01 -1.76474921e-03 1.95761791e+02] [ 2.25238001e-03 -4.06549693e-05 9.99997463e-01 1.21272481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.19, Y:195.78, Z:1.21 [[ 6.07901641e-01 -7.94011124e-01 -1.38900819e-03 1.94190431e+02] [ 7.94009144e-01 6.07903227e-01 -1.77354516e-03 1.95781900e+02] [ 2.25259715e-03 -2.47441953e-05 9.99997463e-01 1.21236977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.21, Y:195.81, Z:1.21 [[ 6.05464940e-01 -7.95870797e-01 -1.37157604e-03 1.94208569e+02] [ 7.95868790e-01 6.05466494e-01 -1.78724583e-03 1.95808273e+02] [ 2.25286010e-03 -9.47987971e-06 9.99997462e-01 1.21170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.13275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.23, Y:195.83, Z:1.21 [[ 6.04678111e-01 -7.96468733e-01 -1.39254940e-03 1.94225375e+02] [ 7.96466766e-01 6.04679713e-01 -1.77075202e-03 1.95830991e+02] [ 2.25239499e-03 -3.83843329e-05 9.99997463e-01 1.21038629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.24, Y:195.85, Z:1.21 [[ 6.03500874e-01 -7.97361121e-01 -1.39203799e-03 1.94241589e+02] [ 7.97359155e-01 6.03502478e-01 -1.77115396e-03 1.95852512e+02] [ 2.25234769e-03 -4.10612732e-05 9.99997463e-01 1.21330613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.26, Y:195.87, Z:1.21 [[ 6.02555033e-01 -7.98076122e-01 -1.39149894e-03 1.94258829e+02] [ 7.98074157e-01 6.02556638e-01 -1.77157737e-03 1.95874837e+02] [ 2.25231052e-03 -4.30464840e-05 9.99997463e-01 1.21349572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.28, Y:195.90, Z:1.21 [[ 6.01546703e-01 -7.98836422e-01 -1.39099668e-03 1.94275860e+02] [ 7.98834458e-01 6.01548309e-01 -1.77197165e-03 1.95897264e+02] [ 2.25226719e-03 -4.52523746e-05 9.99997463e-01 1.21363341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.25275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.29, Y:195.92, Z:1.21 [[ 5.98916231e-01 -8.00810473e-01 -1.39049755e-03 1.94292216e+02] [ 8.00808514e-01 5.98917843e-01 -1.77236323e-03 1.95919362e+02] [ 2.25212083e-03 -5.20251740e-05 9.99997463e-01 1.21336100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.32, Y:195.94, Z:1.21 [[ 6.01043865e-01 -7.99214828e-01 -1.38997180e-03 1.94318334e+02] [ 7.99212863e-01 6.01045470e-01 -1.77277546e-03 1.95944159e+02] [ 2.25226468e-03 -4.53675259e-05 9.99997463e-01 1.21239762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.33, Y:195.96, Z:1.21 [[ 5.96115226e-01 -8.02897623e-01 -1.43007060e-03 1.94325821e+02] [ 8.02895742e-01 5.96116931e-01 -1.74130973e-03 1.95963674e+02] [ 2.25058274e-03 -1.10176355e-04 9.99997461e-01 1.21455951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.34, Y:195.99, Z:1.22 [[ 5.93722550e-01 -8.04668630e-01 -1.38889128e-03 1.94342988e+02] [ 8.04666678e-01 5.93724171e-01 -1.77355768e-03 1.95986278e+02] [ 2.25174456e-03 -6.45933452e-05 9.99997463e-01 1.21510292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.36, Y:196.01, Z:1.21 [[ 5.92585673e-01 -8.05506234e-01 -1.38835359e-03 1.94359801e+02] [ 8.05504283e-01 5.92587296e-01 -1.77397849e-03 1.96007765e+02] [ 2.25167143e-03 -6.70905198e-05 9.99997463e-01 1.21400309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.38, Y:196.03, Z:1.22 [[ 5.90988881e-01 -8.06678509e-01 -1.38787157e-03 1.94377232e+02] [ 8.06676561e-01 5.90990506e-01 -1.77435552e-03 1.96029625e+02] [ 2.25155339e-03 -7.09390783e-05 9.99997463e-01 1.21524406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.43275509600005 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:194.39, Y:196.05, Z:1.22 [[ 5.90482887e-01 -8.07048967e-01 -1.38732733e-03 1.94393363e+02] [ 8.07047019e-01 5.90484512e-01 -1.77478095e-03 1.96050929e+02] [ 2.25153043e-03 -7.16606040e-05 9.99997463e-01 1.21641413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.4627550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:194.41, Y:196.07, Z:1.21 [[ 5.89530384e-01 -8.07745011e-01 -1.38684211e-03 1.94410157e+02] [ 8.07743064e-01 5.89532010e-01 -1.77516003e-03 1.96073593e+02] [ 2.25146448e-03 -7.37013223e-05 9.99997463e-01 1.21434802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.49275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:194.43, Y:196.10, Z:1.22 [[ 5.89847712e-01 -8.07513316e-01 -1.38623833e-03 1.94426632e+02] [ 8.07511367e-01 5.89849336e-01 -1.77563141e-03 1.96096636e+02] [ 2.25151777e-03 -7.20510800e-05 9.99997463e-01 1.21507667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.44, Y:196.12, Z:1.22 [[ 5.90219781e-01 -8.07241407e-01 -1.38570043e-03 1.94443518e+02] [ 8.07239457e-01 5.90221404e-01 -1.77605109e-03 1.96118650e+02] [ 2.25157203e-03 -7.03315777e-05 9.99997463e-01 1.21614630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.55275509600006 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:194.46, Y:196.14, Z:1.21 [[ 5.90704726e-01 -8.06886614e-01 -1.38516184e-03 1.94460631e+02] [ 8.06884662e-01 5.90706346e-01 -1.77647104e-03 1.96139886e+02] [ 2.25163459e-03 -6.82959986e-05 9.99997463e-01 1.21343236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.48, Y:196.16, Z:1.22 [[ 5.91781459e-01 -8.06097257e-01 -1.38468774e-03 1.94479037e+02] [ 8.06095301e-01 5.91783076e-01 -1.77684051e-03 1.96162894e+02] [ 2.25174103e-03 -6.46890067e-05 9.99997463e-01 1.21687436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.61275509600006 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:194.49, Y:196.18, Z:1.21 [[ 5.92043641e-01 -8.05904705e-01 -1.39046367e-03 1.94494363e+02] [ 8.05902760e-01 5.92045269e-01 -1.77234099e-03 1.96184141e+02] [ 2.25155538e-03 -7.12752908e-05 9.99997463e-01 1.21425201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.51, Y:196.21, Z:1.22 [[ 5.93214978e-01 -8.05042902e-01 -1.38382026e-03 1.94510772e+02] [ 8.05040942e-01 5.93216589e-01 -1.77751299e-03 1.96207262e+02] [ 2.25187935e-03 -5.95846391e-05 9.99997463e-01 1.21766357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.53, Y:196.23, Z:1.22 [[ 5.93143670e-01 -8.05095447e-01 -1.38148375e-03 1.94526287e+02] [ 8.05093483e-01 5.93145276e-01 -1.77933121e-03 1.96229098e+02] [ 2.25195202e-03 -5.68245228e-05 9.99997463e-01 1.21710452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.70275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.55, Y:196.25, Z:1.22 [[ 5.95908078e-01 -8.03051472e-01 -1.37733182e-03 1.94545839e+02] [ 8.03049494e-01 5.95909668e-01 -1.78255992e-03 1.96251138e+02] [ 2.25225272e-03 -4.38237672e-05 9.99997463e-01 1.21605054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.56, Y:196.27, Z:1.22 [[ 5.95195039e-01 -8.03580086e-01 -1.38262989e-03 1.94560223e+02] [ 8.03578120e-01 5.95196642e-01 -1.77844099e-03 1.96273889e+02] [ 2.25205643e-03 -5.25318691e-05 9.99997463e-01 1.21842684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.58, Y:196.30, Z:1.22 [[ 5.95045832e-01 -8.03690598e-01 -1.37114556e-03 1.94575610e+02] [ 8.03688612e-01 5.95047410e-01 -1.78736267e-03 1.96295681e+02] [ 2.25238319e-03 -3.84113664e-05 9.99997463e-01 1.21701409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.79275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.60, Y:196.32, Z:1.22 [[ 5.97325857e-01 -8.01997479e-01 -1.36520095e-03 1.94596717e+02] [ 8.01995477e-01 5.97327417e-01 -1.79197768e-03 1.96317604e+02] [ 2.25263354e-03 -2.44903827e-05 9.99997463e-01 1.21768527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.61, Y:196.34, Z:1.22 [[ 5.94681092e-01 -8.03960502e-01 -1.38173143e-03 1.94607782e+02] [ 8.03958536e-01 5.94682695e-01 -1.77913962e-03 1.96339189e+02] [ 2.25204976e-03 -5.28340856e-05 9.99997463e-01 1.21693630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.63, Y:196.36, Z:1.22 [[ 5.95574096e-01 -8.03299230e-01 -1.35760486e-03 1.94628724e+02] [ 8.03297218e-01 5.95575643e-01 -1.79779355e-03 1.96361684e+02] [ 2.25272256e-03 -1.98409392e-05 9.99997462e-01 1.21787307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.88275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.65, Y:196.38, Z:1.22 [[ 5.93775432e-01 -8.04629638e-01 -1.37193486e-03 1.94645739e+02] [ 8.04627655e-01 5.93777016e-01 -1.78671919e-03 1.96384115e+02] [ 2.25227060e-03 -4.29867699e-05 9.99997463e-01 1.21799503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.67, Y:196.40, Z:1.22 [[ 5.93195935e-01 -8.05056946e-01 -1.37718157e-03 1.94666154e+02] [ 8.05054974e-01 5.93197532e-01 -1.78266589e-03 1.96404560e+02] [ 2.25208827e-03 -5.12367116e-05 9.99997463e-01 1.21663813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.68, Y:196.43, Z:1.22 [[ 5.90077865e-01 -8.07345158e-01 -1.38183184e-03 1.94681830e+02] [ 8.07343200e-01 5.90079479e-01 -1.77907689e-03 1.96427303e+02] [ 2.25171972e-03 -6.58186425e-05 9.99997463e-01 1.22051547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.70, Y:196.45, Z:1.22 [[ 5.90428022e-01 -8.07089126e-01 -1.37583702e-03 1.94700841e+02] [ 8.07087157e-01 5.90429622e-01 -1.78370092e-03 1.96448301e+02] [ 2.25194055e-03 -5.72733828e-05 9.99997463e-01 1.22172473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.72, Y:196.47, Z:1.22 [[ 5.87954740e-01 -8.08892658e-01 -1.37522597e-03 1.94715616e+02] [ 8.08890693e-01 5.87956345e-01 -1.78417191e-03 1.96469775e+02] [ 2.25177640e-03 -6.33951563e-05 9.99997463e-01 1.21894778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.73, Y:196.49, Z:1.22 [[ 5.86715166e-01 -8.09792234e-01 -1.36099619e-03 1.94734154e+02] [ 8.09790246e-01 5.86716742e-01 -1.79511320e-03 1.96494273e+02] [ 2.25218798e-03 -4.89012969e-05 9.99997463e-01 1.21753606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:196.52, Z:1.22 [[ 5.86423384e-01 -8.10003536e-01 -1.37320403e-03 1.94751364e+02] [ 8.10001570e-01 5.86424988e-01 -1.78572550e-03 1.96517090e+02] [ 2.25172513e-03 -6.51062306e-05 9.99997463e-01 1.21760455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.77, Y:196.54, Z:1.22 [[ 5.88098606e-01 -8.08788072e-01 -1.37256051e-03 1.94769816e+02] [ 8.08786102e-01 5.88100205e-01 -1.78621999e-03 1.96541292e+02] [ 2.25187654e-03 -5.96343747e-05 9.99997463e-01 1.21797769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.78, Y:196.56, Z:1.22 [[ 5.88083988e-01 -8.08798688e-01 -1.38017435e-03 1.94784684e+02] [ 8.08796732e-01 5.88085603e-01 -1.78038178e-03 1.96562719e+02] [ 2.25163111e-03 -6.92664908e-05 9.99997463e-01 1.21905267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.80, Y:196.58, Z:1.22 [[ 5.89547410e-01 -8.07732613e-01 -1.37010609e-03 1.94801559e+02] [ 8.07730636e-01 5.89548999e-01 -1.78809646e-03 1.96584036e+02] [ 2.25204850e-03 -5.25090283e-05 9.99997463e-01 1.21686440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.82, Y:196.61, Z:1.22 [[ 5.91866741e-01 -8.06034675e-01 -1.36497934e-03 1.94819292e+02] [ 8.06032684e-01 5.91868314e-01 -1.79202195e-03 1.96606455e+02] [ 2.25231985e-03 -3.95797675e-05 9.99997463e-01 1.21776872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.2127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.84, Y:196.63, Z:1.22 [[ 5.93046054e-01 -8.05167376e-01 -1.36931449e-03 1.94836439e+02] [ 8.05165390e-01 5.93047633e-01 -1.78870324e-03 1.96628580e+02] [ 2.25227421e-03 -4.17412426e-05 9.99997463e-01 1.21797152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.24275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.85, Y:196.65, Z:1.22 [[ 5.95562791e-01 -8.03307593e-01 -1.36875619e-03 1.94853372e+02] [ 8.03305601e-01 5.95564363e-01 -1.78913036e-03 1.96651121e+02] [ 2.25240441e-03 -3.39900454e-05 9.99997463e-01 1.21826764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:194.87, Y:196.67, Z:1.22 [[ 5.96865505e-01 -8.02340138e-01 -1.36819927e-03 1.94870152e+02] [ 8.02338143e-01 5.96867072e-01 -1.78955616e-03 1.96673350e+02] [ 2.25246583e-03 -2.96341205e-05 9.99997463e-01 1.21861749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.89, Y:196.70, Z:1.22 [[ 5.98370836e-01 -8.01218115e-01 -1.36957457e-03 1.94886582e+02] [ 8.01216119e-01 5.98372402e-01 -1.78850510e-03 1.96695565e+02] [ 2.25249831e-03 -2.71359367e-05 9.99997463e-01 1.22028085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.90, Y:196.72, Z:1.22 [[ 6.00975017e-01 -7.99266639e-01 -1.36739574e-03 1.94902687e+02] [ 7.99264634e-01 6.00976572e-01 -1.79016937e-03 1.96717317e+02] [ 2.25259546e-03 -1.70639916e-05 9.99997463e-01 1.22008360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.36275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:194.92, Y:196.74, Z:1.22 [[ 6.01844205e-01 -7.98612349e-01 -1.36689294e-03 1.94919617e+02] [ 7.98610342e-01 6.01845757e-01 -1.79055320e-03 1.96739300e+02] [ 2.25261661e-03 -1.39807723e-05 9.99997463e-01 1.21985552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.94, Y:196.76, Z:1.22 [[ 6.02960028e-01 -7.97770229e-01 -1.36634708e-03 1.94936834e+02] [ 7.97768219e-01 6.02961576e-01 -1.79096964e-03 1.96761452e+02] [ 2.25263705e-03 -1.01451706e-05 9.99997463e-01 1.22148046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.96, Y:196.78, Z:1.22 [[ 6.04423765e-01 -7.96661815e-01 -1.36579236e-03 1.94955020e+02] [ 7.96659801e-01 6.04425308e-01 -1.79139257e-03 1.96784573e+02] [ 2.25265352e-03 -5.31162434e-06 9.99997463e-01 1.22045373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.97, Y:196.81, Z:1.22 [[ 6.04006926e-01 -7.96977885e-01 -1.37303145e-03 1.94970231e+02] [ 7.96975884e-01 6.04008486e-01 -1.78587594e-03 1.96806391e+02] [ 2.25262627e-03 -1.55915169e-05 9.99997463e-01 1.22209008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:196.83, Z:1.22 [[ 6.03573538e-01 -7.97306166e-01 -1.36473616e-03 1.94987040e+02] [ 7.97304152e-01 6.03575081e-01 -1.79219271e-03 1.96828212e+02] [ 2.25264704e-03 -6.38971466e-06 9.99997463e-01 1.22162122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.51275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.00, Y:196.85, Z:1.22 [[ 6.02755916e-01 -7.97924461e-01 -1.36423490e-03 1.95004725e+02] [ 7.97922447e-01 6.02757459e-01 -1.79257420e-03 1.96850575e+02] [ 2.25264156e-03 -8.06894502e-06 9.99997463e-01 1.22208670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.54275509600006 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:195.02, Y:196.87, Z:1.22 [[ 6.01081811e-01 -7.99186334e-01 -1.36367425e-03 1.95023065e+02] [ 7.99184323e-01 6.01083358e-01 -1.79300060e-03 1.96872392e+02] [ 2.25262347e-03 -1.20870294e-05 9.99997463e-01 1.22133212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.57275509600004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:195.04, Y:196.89, Z:1.22 [[ 5.99924693e-01 -8.00055314e-01 -1.36311407e-03 1.95039789e+02] [ 8.00053304e-01 5.99926241e-01 -1.79342637e-03 1.96893786e+02] [ 2.25260820e-03 -1.46431583e-05 9.99997463e-01 1.22153335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.06, Y:196.92, Z:1.23 [[ 5.98385802e-01 -8.01206949e-01 -1.36261338e-03 1.95057271e+02] [ 8.01204941e-01 5.98387353e-01 -1.79380670e-03 1.96915652e+02] [ 2.25258101e-03 -1.83441091e-05 9.99997463e-01 1.22522012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.07, Y:196.94, Z:1.23 [[ 5.97293684e-01 -8.02021446e-01 -1.36207819e-03 1.95074016e+02] [ 8.02019439e-01 5.97295237e-01 -1.79421299e-03 1.96938193e+02] [ 2.25256011e-03 -2.07410944e-05 9.99997463e-01 1.22567431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:196.96, Z:1.23 [[ 5.96399162e-01 -8.02686854e-01 -1.36152558e-03 1.95090217e+02] [ 8.02684848e-01 5.96400716e-01 -1.79463224e-03 1.96959918e+02] [ 2.25254254e-03 -2.25587913e-05 9.99997463e-01 1.22543122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.69275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.11, Y:196.98, Z:1.22 [[ 5.94366975e-01 -8.04192792e-01 -1.36102779e-03 1.95106789e+02] [ 8.04190789e-01 5.94368532e-01 -1.79500968e-03 1.96981802e+02] [ 2.25248594e-03 -2.76315431e-05 9.99997463e-01 1.22373932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.12, Y:197.00, Z:1.22 [[ 5.93276490e-01 -8.04997612e-01 -1.36045707e-03 1.95123866e+02] [ 8.04995611e-01 5.93278049e-01 -1.79544213e-03 1.97003818e+02] [ 2.25245594e-03 -2.99683647e-05 9.99997463e-01 1.22470695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.75275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.14, Y:197.02, Z:1.22 [[ 5.91958303e-01 -8.05967443e-01 -1.35992002e-03 1.95140304e+02] [ 8.05965442e-01 5.91959864e-01 -1.79584882e-03 1.97024952e+02] [ 2.25241375e-03 -3.29809200e-05 9.99997463e-01 1.22460765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.16, Y:197.05, Z:1.23 [[ 5.90031069e-01 -8.07379397e-01 -1.35935410e-03 1.95157111e+02] [ 8.07377399e-01 5.90032633e-01 -1.79627708e-03 1.97046116e+02] [ 2.25234039e-03 -3.76524932e-05 9.99997463e-01 1.22715879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.81275509600005 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:195.17, Y:197.07, Z:1.23 [[ 5.88645324e-01 -8.08390274e-01 -1.35896652e-03 1.95173807e+02] [ 8.08388279e-01 5.88646891e-01 -1.79657025e-03 1.97068116e+02] [ 2.25228134e-03 -4.10299310e-05 9.99997463e-01 1.22584740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.8427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.19, Y:197.09, Z:1.23 [[ 5.88143263e-01 -8.08755623e-01 -1.35839501e-03 1.95190395e+02] [ 8.08753627e-01 5.88144830e-01 -1.79700227e-03 1.97090325e+02] [ 2.25226869e-03 -4.17121088e-05 9.99997463e-01 1.22905579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.21, Y:197.11, Z:1.23 [[ 5.87280651e-01 -8.09382229e-01 -1.35783706e-03 1.95207165e+02] [ 8.09380235e-01 5.87282219e-01 -1.79742377e-03 1.97112740e+02] [ 2.25223642e-03 -4.34142722e-05 9.99997463e-01 1.22904221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.22, Y:197.14, Z:1.23 [[ 5.86563455e-01 -8.09902137e-01 -1.35727128e-03 1.95223557e+02] [ 8.09900143e-01 5.86565023e-01 -1.79785090e-03 1.97135259e+02] [ 2.25221114e-03 -4.47005749e-05 9.99997463e-01 1.23104561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.93275509600005 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:195.24, Y:197.16, Z:1.23 [[ 5.86241802e-01 -8.10134994e-01 -1.35669626e-03 1.95239793e+02] [ 8.10133000e-01 5.86243370e-01 -1.79828472e-03 1.97156528e+02] [ 2.25220757e-03 -4.48747399e-05 9.99997463e-01 1.22848775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.9627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.26, Y:197.18, Z:1.23 [[ 5.86727004e-01 -8.09783665e-01 -1.35617975e-03 1.95255831e+02] [ 8.09781668e-01 5.86728570e-01 -1.79867416e-03 1.97178370e+02] [ 2.25224636e-03 -4.28787991e-05 9.99997463e-01 1.23188702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.99275509600005 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:195.27, Y:197.20, Z:1.23 [[ 5.86320724e-01 -8.10077880e-01 -1.35567509e-03 1.95272679e+02] [ 8.10075883e-01 5.86322289e-01 -1.79905445e-03 1.97201217e+02] [ 2.25223673e-03 -4.33767871e-05 9.99997463e-01 1.23106246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.29, Y:197.22, Z:1.23 [[ 5.86644943e-01 -8.09843118e-01 -1.35509092e-03 1.95288965e+02] [ 8.09841119e-01 5.86646506e-01 -1.79949435e-03 1.97222935e+02] [ 2.25226747e-03 -4.17440892e-05 9.99997463e-01 1.23438872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.31, Y:197.25, Z:1.24 [[ 5.86523271e-01 -8.09931243e-01 -1.35455868e-03 1.95305700e+02] [ 8.09929244e-01 5.86524833e-01 -1.79989490e-03 1.97245297e+02] [ 2.25227342e-03 -4.14164489e-05 9.99997463e-01 1.23558027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.32, Y:197.27, Z:1.24 [[ 5.86306318e-01 -8.10088309e-01 -1.35399992e-03 1.95322071e+02] [ 8.10086310e-01 5.86307880e-01 -1.80031514e-03 1.97267231e+02] [ 2.25227507e-03 -4.13206558e-05 9.99997463e-01 1.23586241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.34, Y:197.29, Z:1.24 [[ 5.85946160e-01 -8.10348854e-01 -1.35362027e-03 1.95338548e+02] [ 8.10346855e-01 5.85947722e-01 -1.80060054e-03 1.97289566e+02] [ 2.25226530e-03 -4.18469541e-05 9.99997463e-01 1.23653448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.14275509600003 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:195.36, Y:197.31, Z:1.24 [[ 5.85240469e-01 -8.10858658e-01 -1.35304277e-03 1.95355608e+02] [ 8.10856659e-01 5.85242031e-01 -1.80103440e-03 1.97312458e+02] [ 2.25224183e-03 -4.30855199e-05 9.99997463e-01 1.23522710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.37, Y:197.33, Z:1.24 [[ 5.84990707e-01 -8.11038867e-01 -1.35246672e-03 1.95370807e+02] [ 8.11036868e-01 5.84992268e-01 -1.80146687e-03 1.97334328e+02] [ 2.25224222e-03 -4.30590008e-05 9.99997463e-01 1.23830208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.20275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.39, Y:197.36, Z:1.24 [[ 5.84010899e-01 -8.11744690e-01 -1.35194699e-03 1.95387755e+02] [ 8.11742691e-01 5.84012462e-01 -1.80185683e-03 1.97358081e+02] [ 2.25220160e-03 -4.51290644e-05 9.99997463e-01 1.23843063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.40, Y:197.38, Z:1.24 [[ 5.83876341e-01 -8.11841478e-01 -1.35382987e-03 1.95403436e+02] [ 8.11839483e-01 5.83877908e-01 -1.80044479e-03 1.97380132e+02] [ 2.25214711e-03 -4.78554220e-05 9.99997463e-01 1.23946640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.26275509600003 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:195.42, Y:197.40, Z:1.24 [[ 5.82108179e-01 -8.13110235e-01 -1.34651686e-03 1.95419526e+02] [ 8.13108231e-01 5.82109735e-01 -1.80592597e-03 1.97402949e+02] [ 2.25223746e-03 -4.36196676e-05 9.99997463e-01 1.23581417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.44, Y:197.43, Z:1.24 [[ 5.80288103e-01 -8.14410150e-01 -1.35080142e-03 1.95436240e+02] [ 8.14408157e-01 5.80289673e-01 -1.80271549e-03 1.97427628e+02] [ 2.25200590e-03 -5.40093382e-05 9.99997463e-01 1.23868192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:197.45, Z:1.24 [[ 5.79530510e-01 -8.14949403e-01 -1.36312671e-03 1.95451349e+02] [ 8.14947433e-01 5.79532108e-01 -1.79348170e-03 1.97448275e+02] [ 2.25157253e-03 -7.14992477e-05 9.99997463e-01 1.23892522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.47, Y:197.47, Z:1.24 [[ 5.78414203e-01 -8.15742109e-01 -1.34980030e-03 1.95466891e+02] [ 8.15740117e-01 5.78415775e-01 -1.80345587e-03 1.97470299e+02] [ 2.25190068e-03 -5.79417660e-05 9.99997463e-01 1.23785367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.38275509600004 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:195.48, Y:197.49, Z:1.24 [[ 5.77132279e-01 -8.16649565e-01 -1.34929491e-03 1.95482282e+02] [ 8.16647575e-01 5.77133853e-01 -1.80383391e-03 1.97493666e+02] [ 2.25182395e-03 -6.08476406e-05 9.99997463e-01 1.23671629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41275509600007 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:195.50, Y:197.52, Z:1.24 [[ 5.76652615e-01 -8.16988337e-01 -1.34873424e-03 1.95497474e+02] [ 8.16986347e-01 5.76654189e-01 -1.80425303e-03 1.97515967e+02] [ 2.25180693e-03 -6.14702367e-05 9.99997463e-01 1.23664838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.51, Y:197.54, Z:1.24 [[ 5.77294693e-01 -8.16534764e-01 -1.34823033e-03 1.95512605e+02] [ 8.16532772e-01 5.77296264e-01 -1.80462950e-03 1.97538504e+02] [ 2.25187105e-03 -5.90712114e-05 9.99997463e-01 1.23934316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:197.56, Z:1.24 [[ 5.76840604e-01 -8.16855619e-01 -1.34763341e-03 1.95527964e+02] [ 8.16853626e-01 5.76842175e-01 -1.80507515e-03 1.97561711e+02] [ 2.25185756e-03 -5.95785943e-05 9.99997463e-01 1.23970483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.50275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.54, Y:197.59, Z:1.24 [[ 5.78042594e-01 -8.16005481e-01 -1.34703402e-03 1.95543182e+02] [ 8.16003486e-01 5.78044161e-01 -1.80552233e-03 1.97585920e+02] [ 2.25196127e-03 -5.55156417e-05 9.99997463e-01 1.23800801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5327550960001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:195.56, Y:197.61, Z:1.24 [[ 5.78424798e-01 -8.15734602e-01 -1.34645582e-03 1.95558198e+02] [ 8.15732604e-01 5.78426363e-01 -1.80595342e-03 1.97608123e+02] [ 2.25200423e-03 -5.37396738e-05 9.99997463e-01 1.23545292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.56275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.57, Y:197.63, Z:1.24 [[ 5.79510040e-01 -8.14963988e-01 -1.34593684e-03 1.95573411e+02] [ 8.14961988e-01 5.79511601e-01 -1.80634012e-03 1.97631700e+02] [ 2.25208816e-03 -5.00951235e-05 9.99997463e-01 1.23695001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.59, Y:197.65, Z:1.24 [[ 5.79874275e-01 -8.14704864e-01 -1.34535587e-03 1.95588338e+02] [ 8.14702862e-01 5.79875834e-01 -1.80677272e-03 1.97653718e+02] [ 2.25212588e-03 -4.83642617e-05 9.99997463e-01 1.23907038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.62275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.60, Y:197.68, Z:1.24 [[ 5.79875446e-01 -8.14704031e-01 -1.34483327e-03 1.95604499e+02] [ 8.14702028e-01 5.79877004e-01 -1.80716162e-03 1.97676473e+02] [ 2.25213975e-03 -4.77097395e-05 9.99997463e-01 1.23647154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.62, Y:197.70, Z:1.24 [[ 5.79831276e-01 -8.14735469e-01 -1.34425791e-03 1.95619033e+02] [ 8.14733465e-01 5.79832832e-01 -1.80758951e-03 1.97699324e+02] [ 2.25215215e-03 -4.71149722e-05 9.99997463e-01 1.23729543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.64, Y:197.72, Z:1.24 [[ 5.79325955e-01 -8.15094861e-01 -1.34374109e-03 1.95635180e+02] [ 8.15092857e-01 5.79327512e-01 -1.80797362e-03 1.97721804e+02] [ 2.25213619e-03 -4.78677238e-05 9.99997463e-01 1.23718723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.7127550960001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:195.65, Y:197.74, Z:1.23 [[ 5.78401632e-01 -8.15751033e-01 -1.34315798e-03 1.95651918e+02] [ 8.15749030e-01 5.78403190e-01 -1.80840671e-03 1.97744156e+02] [ 2.25209650e-03 -4.96944246e-05 9.99997463e-01 1.23422006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.67, Y:197.77, Z:1.24 [[ 5.77692443e-01 -8.16253416e-01 -1.34257366e-03 1.95668052e+02] [ 8.16251413e-01 5.77694001e-01 -1.80884041e-03 1.97766524e+02] [ 2.25206891e-03 -5.09242147e-05 9.99997463e-01 1.23755498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.772755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.68, Y:197.79, Z:1.24 [[ 5.75850580e-01 -8.17553857e-01 -1.34199141e-03 1.95684419e+02] [ 8.17551857e-01 5.75852141e-01 -1.80927229e-03 1.97787840e+02] [ 2.25196616e-03 -5.52770712e-05 9.99997463e-01 1.23521427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.70, Y:197.81, Z:1.24 [[ 5.74978154e-01 -8.18167662e-01 -1.34159619e-03 1.95700135e+02] [ 8.18165663e-01 5.74979716e-01 -1.80956530e-03 1.97809437e+02] [ 2.25191840e-03 -5.71874232e-05 9.99997463e-01 1.23754665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.72, Y:197.83, Z:1.24 [[ 5.73520699e-01 -8.19189972e-01 -1.34107753e-03 1.95717699e+02] [ 8.19187974e-01 5.73522263e-01 -1.80994959e-03 1.97831522e+02] [ 2.25183038e-03 -6.05510342e-05 9.99997463e-01 1.23759071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:197.85, Z:1.24 [[ 5.72647943e-01 -8.19800303e-01 -1.34072424e-03 1.95735008e+02] [ 8.19798306e-01 5.72649509e-01 -1.81021126e-03 1.97853933e+02] [ 2.25177682e-03 -6.25097038e-05 9.99997463e-01 1.23758658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.89275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.75, Y:197.88, Z:1.24 [[ 5.71694103e-01 -8.20465756e-01 -1.34015684e-03 1.95753165e+02] [ 8.20463761e-01 5.71695670e-01 -1.81063122e-03 1.97875942e+02] [ 2.25172278e-03 -6.44229320e-05 9.99997463e-01 1.23549899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.92275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.77, Y:197.90, Z:1.24 [[ 5.71981131e-01 -8.20265683e-01 -1.33958660e-03 1.95769576e+02] [ 8.20263686e-01 5.71982696e-01 -1.81105301e-03 1.97896849e+02] [ 2.25176500e-03 -6.29260953e-05 9.99997463e-01 1.23599103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.95275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.79, Y:197.92, Z:1.24 [[ 5.71728390e-01 -8.20441865e-01 -1.33907476e-03 1.95786422e+02] [ 8.20439868e-01 5.71729955e-01 -1.81143138e-03 1.97919918e+02] [ 2.25176330e-03 -6.29835728e-05 9.99997463e-01 1.23605521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.98275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:195.80, Y:197.94, Z:1.23 [[ 5.72045084e-01 -8.20221086e-01 -1.33851656e-03 1.95803995e+02] [ 8.20219087e-01 5.72046647e-01 -1.81184377e-03 1.97942136e+02] [ 2.25180637e-03 -6.14205077e-05 9.99997463e-01 1.23379629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.82, Y:197.96, Z:1.24 [[ 5.75146376e-01 -8.18049422e-01 -1.33794562e-03 1.95821353e+02] [ 8.18047416e-01 5.75147930e-01 -1.81226527e-03 1.97962516e+02] [ 2.25203921e-03 -5.21851535e-05 9.99997463e-01 1.23619875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.84, Y:197.98, Z:1.24 [[ 5.77400352e-01 -8.16460069e-01 -1.33743196e-03 1.95837333e+02] [ 8.16458058e-01 5.77401899e-01 -1.81264427e-03 1.97983088e+02] [ 2.25218742e-03 -4.53356587e-05 9.99997463e-01 1.23578741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.85, Y:198.01, Z:1.24 [[ 5.78948114e-01 -8.15363300e-01 -1.33080889e-03 1.95854791e+02] [ 8.15361274e-01 5.78949643e-01 -1.81752718e-03 1.98005808e+02] [ 2.25241629e-03 -3.28361015e-05 9.99997463e-01 1.23575535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:198.03, Z:1.24 [[ 5.84520114e-01 -8.11378118e-01 -1.33642986e-03 1.95873250e+02] [ 8.11376092e-01 5.84521641e-01 -1.81338464e-03 1.98026556e+02] [ 2.25251279e-03 -2.43874424e-05 9.99997463e-01 1.23610134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.13275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:195.89, Y:198.05, Z:1.24 [[ 5.87363033e-01 -8.09322484e-01 -1.33587718e-03 1.95890758e+02] [ 8.09320451e-01 5.87364552e-01 -1.81379169e-03 1.98048139e+02] [ 2.25258930e-03 -1.57985340e-05 9.99997463e-01 1.23578859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.91, Y:198.07, Z:1.24 [[ 5.90610183e-01 -8.06955903e-01 -1.33531190e-03 1.95907660e+02] [ 8.06953863e-01 5.90611692e-01 -1.81420776e-03 1.98069060e+02] [ 2.25263648e-03 -6.04551936e-06 9.99997463e-01 1.23622358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.93, Y:198.09, Z:1.24 [[ 5.96853036e-01 -8.02349470e-01 -1.33480365e-03 1.95927335e+02] [ 8.02347418e-01 5.96854529e-01 -1.81458162e-03 1.98089919e+02] [ 2.25261221e-03 1.20622901e-05 9.99997463e-01 1.23638219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:198.11, Z:1.24 [[ 5.99442564e-01 -8.00416661e-01 -1.33422344e-03 1.95945269e+02] [ 8.00414604e-01 5.99444049e-01 -1.81500814e-03 1.98110713e+02] [ 2.25255506e-03 2.00612064e-05 9.99997463e-01 1.23717449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.96, Y:198.13, Z:1.24 [[ 6.01091532e-01 -7.99179073e-01 -1.33370169e-03 1.95963775e+02] [ 7.99177012e-01 6.01093011e-01 -1.81539145e-03 1.98132351e+02] [ 2.25250162e-03 2.53526939e-05 9.99997463e-01 1.23750609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.98, Y:198.15, Z:1.24 [[ 6.03032926e-01 -7.97715183e-01 -1.33311733e-03 1.95984123e+02] [ 7.97713117e-01 6.03034399e-01 -1.81582047e-03 1.98150995e+02] [ 2.25242316e-03 3.15543514e-05 9.99997463e-01 1.23954224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.00, Y:198.17, Z:1.24 [[ 6.02966248e-01 -7.97765585e-01 -1.33259585e-03 1.96003603e+02] [ 7.97763518e-01 6.02967720e-01 -1.81620309e-03 1.98171648e+02] [ 2.25241660e-03 3.20128104e-05 9.99997463e-01 1.24040666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.3427550960001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:196.02, Y:198.19, Z:1.24 [[ 6.01670330e-01 -7.98743413e-01 -1.33200778e-03 1.96022486e+02] [ 7.98741347e-01 6.01671804e-01 -1.81663428e-03 1.98191412e+02] [ 2.25245619e-03 2.90852641e-05 9.99997463e-01 1.23957146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.37275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:196.04, Y:198.22, Z:1.24 [[ 6.00503751e-01 -7.99620830e-01 -1.33147705e-03 1.96038314e+02] [ 7.99618766e-01 6.00505227e-01 -1.81702319e-03 1.98215128e+02] [ 2.25248852e-03 2.64552019e-05 9.99997463e-01 1.24312478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.06, Y:198.24, Z:1.25 [[ 5.99163061e-01 -8.00625914e-01 -1.33092662e-03 1.96055924e+02] [ 8.00623852e-01 5.99164539e-01 -1.81742627e-03 1.98237257e+02] [ 2.25252261e-03 2.33630883e-05 9.99997463e-01 1.24515134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.07, Y:198.26, Z:1.25 [[ 5.96977938e-01 -8.02256550e-01 -1.33036493e-03 1.96072963e+02] [ 8.02254490e-01 5.96979420e-01 -1.81783734e-03 1.98259778e+02] [ 2.25257240e-03 1.79175494e-05 9.99997463e-01 1.24604428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.09, Y:198.28, Z:1.25 [[ 5.90964888e-01 -8.06696184e-01 -1.32978793e-03 1.96087335e+02] [ 8.06694135e-01 5.90966384e-01 -1.81825934e-03 1.98283312e+02] [ 2.25264283e-03 1.79530506e-06 9.99997463e-01 1.24879729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.49275509600005 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:196.11, Y:198.31, Z:1.25 [[ 5.88618269e-01 -8.08410033e-01 -1.32377098e-03 1.96105209e+02] [ 8.08407978e-01 5.88619757e-01 -1.82265774e-03 1.98305067e+02] [ 2.25265256e-03 2.70261971e-06 9.99997463e-01 1.24641652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.522755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:196.12, Y:198.33, Z:1.25 [[ 5.86600843e-01 -8.09875104e-01 -1.32908072e-03 1.96122101e+02] [ 8.09873062e-01 5.86602349e-01 -1.81877762e-03 1.98327007e+02] [ 2.25262459e-03 -9.49018808e-06 9.99997463e-01 1.25183454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.14, Y:198.35, Z:1.26 [[ 5.83240170e-01 -8.12298673e-01 -1.33042652e-03 1.96140021e+02] [ 8.12296639e-01 5.83241688e-01 -1.81779458e-03 1.98348749e+02] [ 2.25255233e-03 -2.04901637e-05 9.99997463e-01 1.25622999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.16, Y:198.37, Z:1.26 [[ 5.81471910e-01 -8.13565399e-01 -1.32637959e-03 1.96156290e+02] [ 8.13563362e-01 5.81473422e-01 -1.82074901e-03 1.98371344e+02] [ 2.25255288e-03 -2.03794302e-05 9.99997463e-01 1.25571412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.61275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:196.17, Y:198.39, Z:1.26 [[ 5.80096036e-01 -8.14547006e-01 -1.32797696e-03 1.96170977e+02] [ 8.14544974e-01 5.80097555e-01 -1.81958321e-03 1.98392074e+02] [ 2.25249225e-03 -2.61639555e-05 9.99997463e-01 1.25617922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.19, Y:198.42, Z:1.26 [[ 5.78540129e-01 -8.15652849e-01 -1.32246308e-03 1.96186104e+02] [ 8.15650811e-01 5.78541640e-01 -1.82360641e-03 1.98415859e+02] [ 2.25252972e-03 -2.36385883e-05 9.99997463e-01 1.25745007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:198.44, Z:1.26 [[ 5.77952557e-01 -8.16069300e-01 -1.31881399e-03 1.96202721e+02] [ 8.16067257e-01 5.77954062e-01 -1.82626685e-03 1.98439833e+02] [ 2.25257421e-03 -2.07453200e-05 9.99997463e-01 1.25631278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:198.46, Z:1.25 [[ 5.75745807e-01 -8.17627669e-01 -1.32705446e-03 1.96217591e+02] [ 8.17625643e-01 5.75747335e-01 -1.82025915e-03 1.98463950e+02] [ 2.25234232e-03 -3.70271817e-05 9.99997463e-01 1.25323078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.23, Y:198.49, Z:1.25 [[ 5.74290436e-01 -8.18650565e-01 -1.32210608e-03 1.96234181e+02] [ 8.18648534e-01 5.74291957e-01 -1.82386443e-03 1.98486290e+02] [ 2.25238253e-03 -3.49123064e-05 9.99997463e-01 1.25290437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.76275509600003 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:196.25, Y:198.51, Z:1.25 [[ 5.72317492e-01 -8.20031054e-01 -1.32631852e-03 1.96250003e+02] [ 8.20029033e-01 5.72319027e-01 -1.82079597e-03 1.98509310e+02] [ 2.25218656e-03 -4.55463121e-05 9.99997463e-01 1.25108599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.27, Y:198.53, Z:1.25 [[ 5.70033614e-01 -8.21620303e-01 -1.32574664e-03 1.96265036e+02] [ 8.21618286e-01 5.70035153e-01 -1.82121226e-03 1.98532104e+02] [ 2.25206716e-03 -5.11054766e-05 9.99997463e-01 1.25233542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.28, Y:198.56, Z:1.25 [[ 5.68767270e-01 -8.22497438e-01 -1.32532920e-03 1.96281211e+02] [ 8.22495423e-01 5.68768812e-01 -1.82151599e-03 1.98555432e+02] [ 2.25199815e-03 -5.40585186e-05 9.99997463e-01 1.25196595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.30, Y:198.58, Z:1.25 [[ 5.67328707e-01 -8.23490366e-01 -1.32476930e-03 1.96297288e+02] [ 8.23488353e-01 5.67330251e-01 -1.82192311e-03 1.98578502e+02] [ 2.25191783e-03 -5.73028084e-05 9.99997463e-01 1.25163812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.31, Y:198.60, Z:1.25 [[ 5.64867737e-01 -8.25180396e-01 -1.32421240e-03 1.96312959e+02] [ 8.25178386e-01 5.64869286e-01 -1.82232779e-03 1.98600238e+02] [ 2.25175608e-03 -6.33372818e-05 9.99997463e-01 1.25070914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.33, Y:198.62, Z:1.25 [[ 5.63638184e-01 -8.26020730e-01 -1.32362637e-03 1.96328997e+02] [ 8.26018721e-01 5.63639734e-01 -1.82275334e-03 1.98623580e+02] [ 2.25168046e-03 -6.59667802e-05 9.99997463e-01 1.24733605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.34, Y:198.65, Z:1.25 [[ 5.61450316e-01 -8.27509391e-01 -1.32304829e-03 1.96344104e+02] [ 8.27507386e-01 5.61451871e-01 -1.82317285e-03 1.98645811e+02] [ 2.25152059e-03 -7.12112580e-05 9.99997463e-01 1.24847322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.36, Y:198.67, Z:1.24 [[ 5.59895519e-01 -8.28562164e-01 -1.32247528e-03 1.96359909e+02] [ 8.28560160e-01 5.59897076e-01 -1.82358840e-03 1.98669978e+02] [ 2.25140639e-03 -7.47313572e-05 9.99997463e-01 1.24297151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:198.69, Z:1.24 [[ 5.58863908e-01 -8.29258334e-01 -1.32192874e-03 1.96374888e+02] [ 8.29256332e-01 5.58865466e-01 -1.82398450e-03 1.98692989e+02] [ 2.25133467e-03 -7.68586773e-05 9.99997463e-01 1.24449530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.39, Y:198.72, Z:1.24 [[ 5.57429373e-01 -8.30223312e-01 -1.32140825e-03 1.96389297e+02] [ 8.30221312e-01 5.57430933e-01 -1.82436150e-03 1.98716969e+02] [ 2.25122128e-03 -8.01086009e-05 9.99997463e-01 1.24193022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.41, Y:198.74, Z:1.24 [[ 5.57039135e-01 -8.30485194e-01 -1.32093163e-03 1.96405134e+02] [ 8.30483194e-01 5.57040695e-01 -1.82470653e-03 1.98740188e+02] [ 2.25120443e-03 -8.05785774e-05 9.99997463e-01 1.23944768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.42, Y:198.76, Z:1.24 [[ 5.57573450e-01 -8.30126559e-01 -1.32043716e-03 1.96419812e+02] [ 8.30124556e-01 5.57575008e-01 -1.82506428e-03 1.98761370e+02] [ 2.25127709e-03 -7.85199242e-05 9.99997463e-01 1.23881605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.44, Y:198.79, Z:1.23 [[ 5.55917700e-01 -8.31236314e-01 -1.30458370e-03 1.96436903e+02] [ 8.31234287e-01 5.55919227e-01 -1.83652159e-03 1.98786592e+02] [ 2.25182660e-03 -6.34598476e-05 9.99997463e-01 1.23092121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.45, Y:198.81, Z:1.23 [[ 5.55563228e-01 -8.31473246e-01 -1.31934253e-03 1.96452039e+02] [ 8.31471246e-01 5.55564788e-01 -1.82585704e-03 1.98810239e+02] [ 2.25113153e-03 -8.26163496e-05 9.99997463e-01 1.22663893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.47, Y:198.83, Z:1.23 [[ 5.55013985e-01 -8.31839971e-01 -1.31881080e-03 1.96467422e+02] [ 8.31837971e-01 5.55015545e-01 -1.82624102e-03 1.98834524e+02] [ 2.25110078e-03 -8.34475896e-05 9.99997463e-01 1.22527060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.48, Y:198.86, Z:1.22 [[ 5.54683313e-01 -8.32060506e-01 -1.31824916e-03 1.96479281e+02] [ 8.32058505e-01 5.54684873e-01 -1.82664635e-03 1.98859690e+02] [ 2.25109315e-03 -8.36501784e-05 9.99997463e-01 1.22140686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:198.88, Z:1.22 [[ 5.54404595e-01 -8.32246243e-01 -1.31773750e-03 1.96493126e+02] [ 8.32244241e-01 5.54406155e-01 -1.82701538e-03 1.98884746e+02] [ 2.25108847e-03 -8.37737186e-05 9.99997463e-01 1.21913511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.51, Y:198.91, Z:1.22 [[ 5.54778013e-01 -8.31997369e-01 -1.31716484e-03 1.96506317e+02] [ 8.31995366e-01 5.54779571e-01 -1.82742814e-03 1.98908574e+02] [ 2.25115155e-03 -8.20580906e-05 9.99997463e-01 1.21685291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.52, Y:198.93, Z:1.21 [[ 5.56530447e-01 -8.30826172e-01 -1.31664645e-03 1.96518248e+02] [ 8.30824165e-01 5.56531999e-01 -1.82780156e-03 1.98934577e+02] [ 2.25134125e-03 -7.66744686e-05 9.99997463e-01 1.21331648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:198.96, Z:1.21 [[ 5.57317841e-01 -8.30298195e-01 -1.31606589e-03 1.96532306e+02] [ 8.30296185e-01 5.57319390e-01 -1.82821948e-03 1.98959429e+02] [ 2.25143638e-03 -7.38251501e-05 9.99997463e-01 1.21197089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:198.98, Z:1.21 [[ 5.58622930e-01 -8.29420696e-01 -1.31548575e-03 1.96546026e+02] [ 8.29418683e-01 5.58624475e-01 -1.82863682e-03 1.98983902e+02] [ 2.25157176e-03 -6.95699983e-05 9.99997463e-01 1.21038737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.56, Y:199.01, Z:1.21 [[ 5.61526007e-01 -8.27458044e-01 -1.31489926e-03 1.96555364e+02] [ 8.27456025e-01 5.61527543e-01 -1.82905845e-03 1.99010071e+02] [ 2.25182128e-03 -6.09574272e-05 9.99997463e-01 1.20686012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.57, Y:199.03, Z:1.21 [[ 5.62570201e-01 -8.26748475e-01 -1.31437227e-03 1.96567385e+02] [ 8.26746453e-01 5.62571734e-01 -1.82943707e-03 1.99034233e+02] [ 2.25191299e-03 -5.74658280e-05 9.99997463e-01 1.20502978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.58, Y:199.06, Z:1.20 [[ 5.63366631e-01 -8.26205975e-01 -1.31385267e-03 1.96579910e+02] [ 8.26203951e-01 5.63368160e-01 -1.82981016e-03 1.99059377e+02] [ 2.25198284e-03 -5.46562795e-05 9.99997463e-01 1.20324566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:199.09, Z:1.20 [[ 5.64433122e-01 -8.25477756e-01 -1.31327274e-03 1.96589997e+02] [ 8.25475729e-01 5.64434647e-01 -1.83022628e-03 1.99086172e+02] [ 2.25206772e-03 -5.10344400e-05 9.99997463e-01 1.20068457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.60, Y:199.11, Z:1.20 [[ 5.64603145e-01 -8.25361476e-01 -1.31268721e-03 1.96603635e+02] [ 8.25359447e-01 5.64604669e-01 -1.83064615e-03 1.99110030e+02] [ 2.25209413e-03 -4.98502147e-05 9.99997463e-01 1.20013907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:199.14, Z:1.20 [[ 5.64799900e-01 -8.25226849e-01 -1.31216348e-03 1.96615774e+02] [ 8.25224819e-01 5.64801422e-01 -1.83102146e-03 1.99135865e+02] [ 2.25211987e-03 -4.86691304e-05 9.99997463e-01 1.20088302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.63, Y:199.16, Z:1.20 [[ 5.64990075e-01 -8.25096658e-01 -1.31158595e-03 1.96630145e+02] [ 8.25094627e-01 5.64991595e-01 -1.83143506e-03 1.99160446e+02] [ 2.25214599e-03 -4.74398911e-05 9.99997463e-01 1.20117962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:199.18, Z:1.20 [[ 5.65001004e-01 -8.25089175e-01 -1.31099278e-03 1.96643455e+02] [ 8.25087143e-01 5.65002523e-01 -1.83185957e-03 1.99184654e+02] [ 2.25216173e-03 -4.66807929e-05 9.99997463e-01 1.20011814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.66, Y:199.21, Z:1.20 [[ 5.65021895e-01 -8.25074870e-01 -1.31036655e-03 1.96656794e+02] [ 8.25072837e-01 5.65023412e-01 -1.83230742e-03 1.99209487e+02] [ 2.25217858e-03 -4.58540337e-05 9.99997463e-01 1.20119253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.67, Y:199.23, Z:1.20 [[ 5.65174577e-01 -8.24970292e-01 -1.30975031e-03 1.96667117e+02] [ 8.24968257e-01 5.65176093e-01 -1.83274781e-03 1.99234890e+02] [ 2.25220205e-03 -4.46799582e-05 9.99997463e-01 1.20037217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.68, Y:199.26, Z:1.20 [[ 5.64188753e-01 -8.25644818e-01 -1.29821579e-03 1.96683666e+02] [ 8.25642767e-01 5.64190245e-01 -1.84098189e-03 1.99260449e+02] [ 2.25243784e-03 -3.32011990e-05 9.99997463e-01 1.20188496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.70, Y:199.28, Z:1.20 [[ 5.63353033e-01 -8.26215256e-01 -1.30857423e-03 1.96698917e+02] [ 8.26213222e-01 5.63354550e-01 -1.83358940e-03 1.99284233e+02] [ 2.25213078e-03 -4.82031798e-05 9.99997463e-01 1.20360918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.71, Y:199.31, Z:1.21 [[ 5.63043430e-01 -8.26426273e-01 -1.30794337e-03 1.96714004e+02] [ 8.26424239e-01 5.63044947e-01 -1.83403929e-03 1.99307238e+02] [ 2.25212917e-03 -4.82723314e-05 9.99997463e-01 1.20670251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.73, Y:199.33, Z:1.21 [[ 5.61815032e-01 -8.27261857e-01 -1.30015954e-03 1.96730270e+02] [ 8.27259812e-01 5.61816535e-01 -1.83958473e-03 1.99330886e+02] [ 2.25226941e-03 -4.20633838e-05 9.99997463e-01 1.20730347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.75, Y:199.35, Z:1.21 [[ 5.60766911e-01 -8.27972683e-01 -1.30672983e-03 1.96746831e+02] [ 8.27970652e-01 5.60768431e-01 -1.83490570e-03 1.99351904e+02] [ 2.25202463e-03 -5.29795482e-05 9.99997463e-01 1.21056717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.77, Y:199.38, Z:1.21 [[ 5.62534944e-01 -8.26772478e-01 -1.30627899e-03 1.96769799e+02] [ 8.26770442e-01 5.62536459e-01 -1.83522660e-03 1.99376156e+02] [ 2.25214440e-03 -4.76137667e-05 9.99997463e-01 1.21271510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.79, Y:199.40, Z:1.21 [[ 5.62133281e-01 -8.27045585e-01 -1.33193443e-03 1.96785561e+02] [ 8.27043593e-01 5.62134853e-01 -1.81695737e-03 1.99398805e+02] [ 2.25143333e-03 -8.01956288e-05 9.99997462e-01 1.21278393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.80, Y:199.42, Z:1.21 [[ 5.59097853e-01 -8.29100608e-01 -1.33117464e-03 1.96796777e+02] [ 8.29098621e-01 5.59099431e-01 -1.81749798e-03 1.99419534e+02] [ 2.25114767e-03 -8.75158411e-05 9.99997462e-01 1.21271832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.82, Y:199.44, Z:1.21 [[ 5.58000324e-01 -8.29839705e-01 -1.30474326e-03 1.96815739e+02] [ 8.29837675e-01 5.58001847e-01 -1.83627845e-03 1.99440125e+02] [ 2.25186591e-03 -5.80811446e-05 9.99997463e-01 1.21475914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.83, Y:199.46, Z:1.22 [[ 5.57649223e-01 -8.30075685e-01 -1.30418428e-03 1.96833407e+02] [ 8.30073655e-01 5.57650745e-01 -1.83667537e-03 1.99461515e+02] [ 2.25185890e-03 -5.83484223e-05 9.99997463e-01 1.21561098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.99275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:196.85, Y:199.48, Z:1.22 [[ 5.57502647e-01 -8.30174138e-01 -1.30359807e-03 1.96850588e+02] [ 8.30172107e-01 5.57504168e-01 -1.83709134e-03 1.99482568e+02] [ 2.25186708e-03 -5.80274745e-05 9.99997463e-01 1.21633548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.87, Y:199.50, Z:1.22 [[ 5.58129336e-01 -8.29752943e-01 -1.30306965e-03 1.96870378e+02] [ 8.29750910e-01 5.58130854e-01 -1.83746608e-03 1.99503386e+02] [ 2.25192627e-03 -5.56794995e-05 9.99997463e-01 1.21630198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.89, Y:199.52, Z:1.22 [[ 5.59001908e-01 -8.29165345e-01 -1.30250053e-03 1.96888778e+02] [ 8.29163310e-01 5.59003423e-01 -1.83786942e-03 1.99524203e+02] [ 2.25199989e-03 -5.26131406e-05 9.99997463e-01 1.21535987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:199.55, Z:1.22 [[ 5.59137895e-01 -8.29073659e-01 -1.29721869e-03 1.96907190e+02] [ 8.29071615e-01 5.59139398e-01 -1.84161046e-03 1.99545060e+02] [ 2.25215680e-03 -4.57729965e-05 9.99997463e-01 1.21656276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:199.56, Z:1.22 [[ 5.60614273e-01 -8.28076049e-01 -1.30171870e-03 1.96928512e+02] [ 8.28074009e-01 5.60615782e-01 -1.83842417e-03 1.99563616e+02] [ 2.25211907e-03 -4.72725946e-05 9.99997463e-01 1.21801400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:199.59, Z:1.22 [[ 5.63760731e-01 -8.25937131e-01 -1.30118594e-03 1.96952296e+02] [ 8.25935085e-01 5.63762231e-01 -1.83880116e-03 1.99585016e+02] [ 2.25229365e-03 -3.80512321e-05 9.99997463e-01 1.21708122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.97, Y:199.60, Z:1.22 [[ 5.64766488e-01 -8.25249708e-01 -1.31671223e-03 1.96969427e+02] [ 8.25247685e-01 5.64768021e-01 -1.82779696e-03 1.99600362e+02] [ 2.25202587e-03 -5.43352464e-05 9.99997463e-01 1.21932105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.99, Y:199.62, Z:1.22 [[ 5.65185048e-01 -8.24963147e-01 -1.29175537e-03 1.96988494e+02] [ 8.24961083e-01 5.65186523e-01 -1.84545584e-03 1.99620983e+02] [ 2.25251578e-03 -2.26238570e-05 9.99997463e-01 1.21996189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.01, Y:199.64, Z:1.22 [[ 5.66939579e-01 -8.23758358e-01 -1.29653622e-03 1.97007331e+02] [ 8.23756299e-01 5.66941061e-01 -1.84207347e-03 1.99640563e+02] [ 2.25248304e-03 -2.36855251e-05 9.99997463e-01 1.22083532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.03, Y:199.66, Z:1.22 [[ 5.67961853e-01 -8.23053871e-01 -1.28824367e-03 1.97025968e+02] [ 8.23051797e-01 5.67963313e-01 -1.84793495e-03 1.99660496e+02] [ 2.25262515e-03 -1.07347089e-05 9.99997463e-01 1.22113041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:199.68, Z:1.22 [[ 5.70528637e-01 -8.21276701e-01 -1.28647278e-03 1.97052686e+02] [ 8.21274619e-01 5.70530088e-01 -1.84918640e-03 1.99682860e+02] [ 2.25266513e-03 -1.53365027e-06 9.99997463e-01 1.22293577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.07, Y:199.70, Z:1.22 [[ 5.71154081e-01 -8.20841807e-01 -1.32078506e-03 1.97070646e+02] [ 8.20839779e-01 5.71155607e-01 -1.82498332e-03 1.99703099e+02] [ 2.25239640e-03 -4.18062506e-05 9.99997462e-01 1.22386379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.09, Y:199.72, Z:1.22 [[ 5.71453049e-01 -8.20633707e-01 -1.31596152e-03 1.97086772e+02] [ 8.20631671e-01 5.71454563e-01 -1.82838658e-03 1.99720252e+02] [ 2.25244787e-03 -3.50826137e-05 9.99997463e-01 1.22417806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.11, Y:199.74, Z:1.22 [[ 5.71402202e-01 -8.20669154e-01 -1.29000806e-03 1.97107290e+02] [ 8.20667076e-01 5.71403658e-01 -1.84668069e-03 1.99743629e+02] [ 2.25262920e-03 -3.46973649e-06 9.99997463e-01 1.22431103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.12, Y:199.76, Z:1.22 [[ 5.71098102e-01 -8.20880778e-01 -1.30634494e-03 1.97123503e+02] [ 8.20878727e-01 5.71099595e-01 -1.83516552e-03 1.99763510e+02] [ 2.25250517e-03 -2.42912302e-05 9.99997463e-01 1.22418590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.14, Y:199.78, Z:1.22 [[ 5.71129114e-01 -8.20859216e-01 -1.29683849e-03 1.97144007e+02] [ 8.20857150e-01 5.71130587e-01 -1.84185894e-03 1.99782711e+02] [ 2.25257101e-03 -1.25798867e-05 9.99997463e-01 1.22428659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.16, Y:199.80, Z:1.22 [[ 5.70331849e-01 -8.21413356e-01 -1.29624991e-03 1.97161992e+02] [ 8.21411290e-01 5.70333322e-01 -1.84227307e-03 1.99804740e+02] [ 2.25256222e-03 -1.40473068e-05 9.99997463e-01 1.22498990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.18, Y:199.83, Z:1.23 [[ 5.71014005e-01 -8.20939296e-01 -1.29571253e-03 1.97178955e+02] [ 8.20937228e-01 5.71015475e-01 -1.84265094e-03 1.99828330e+02] [ 2.25257647e-03 -1.15191632e-05 9.99997463e-01 1.22710801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.20, Y:199.85, Z:1.23 [[ 5.70663132e-01 -8.21183236e-01 -1.29717236e-03 1.97195881e+02] [ 8.21181171e-01 5.70664606e-01 -1.84162480e-03 1.99849629e+02] [ 2.25256177e-03 -1.42661402e-05 9.99997463e-01 1.22899046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.21, Y:199.87, Z:1.23 [[ 5.69928333e-01 -8.21693385e-01 -1.29492665e-03 1.97211973e+02] [ 8.21691318e-01 5.69929803e-01 -1.84320251e-03 1.99873544e+02] [ 2.25256460e-03 -1.35366541e-05 9.99997463e-01 1.23041754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.23, Y:199.90, Z:1.23 [[ 5.69208340e-01 -8.22192304e-01 -1.29620890e-03 1.97227200e+02] [ 8.22190240e-01 5.69209816e-01 -1.84230194e-03 1.99895612e+02] [ 2.25254131e-03 -1.70766754e-05 9.99997463e-01 1.23139792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.62275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.24, Y:199.92, Z:1.23 [[ 5.67719257e-01 -8.23221216e-01 -1.29410025e-03 1.97243449e+02] [ 8.23219151e-01 5.67720732e-01 -1.84378195e-03 1.99918366e+02] [ 2.25252796e-03 -1.85775887e-05 9.99997463e-01 1.23214652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.26, Y:199.94, Z:1.23 [[ 5.64746039e-01 -8.25263738e-01 -1.29357127e-03 1.97260035e+02] [ 8.25261678e-01 5.64747520e-01 -1.84415300e-03 1.99940788e+02] [ 2.25245376e-03 -2.60566982e-05 9.99997463e-01 1.23313242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.28, Y:199.96, Z:1.23 [[ 5.63131787e-01 -8.26366092e-01 -1.29330128e-03 1.97276232e+02] [ 8.26364034e-01 5.63133271e-01 -1.84434225e-03 1.99964220e+02] [ 2.25240288e-03 -3.01299176e-05 9.99997463e-01 1.23412130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.29, Y:199.99, Z:1.23 [[ 5.59965469e-01 -8.28514935e-01 -1.29470227e-03 1.97291065e+02] [ 8.28512885e-01 5.59966965e-01 -1.84336047e-03 1.99986225e+02] [ 2.25224218e-03 -4.04592984e-05 9.99997463e-01 1.23373179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.31, Y:200.01, Z:1.23 [[ 5.58713871e-01 -8.29359476e-01 -1.29225514e-03 1.97307390e+02] [ 8.29357424e-01 5.58715364e-01 -1.84507440e-03 2.00009511e+02] [ 2.25223274e-03 -4.08727299e-05 9.99997463e-01 1.23289172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.32, Y:200.03, Z:1.23 [[ 5.55696232e-01 -8.31384405e-01 -1.29168111e-03 1.97321906e+02] [ 8.31382358e-01 5.55697731e-01 -1.84547617e-03 2.00033790e+02] [ 2.25208437e-03 -4.83567344e-05 9.99997463e-01 1.23278080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.34, Y:200.06, Z:1.23 [[ 5.52116090e-01 -8.33766239e-01 -1.29680009e-03 1.97336698e+02] [ 8.33764207e-01 5.52117609e-01 -1.84189386e-03 2.00056276e+02] [ 2.25169508e-03 -6.42862616e-05 9.99997463e-01 1.23345087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:200.08, Z:1.23 [[ 5.50166480e-01 -8.35054000e-01 -1.28912544e-03 1.97351898e+02] [ 8.35051959e-01 5.50167987e-01 -1.84725918e-03 2.00078246e+02] [ 2.25179672e-03 -6.01866378e-05 9.99997463e-01 1.23331858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:200.10, Z:1.23 [[ 5.48682154e-01 -8.36030045e-01 -1.28798432e-03 1.97366672e+02] [ 8.36028004e-01 5.48683662e-01 -1.84805636e-03 2.00099077e+02] [ 2.25172659e-03 -6.27954180e-05 9.99997463e-01 1.23387182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.38, Y:200.12, Z:1.23 [[ 5.44371215e-01 -8.38843457e-01 -1.27840970e-03 1.97381093e+02] [ 8.38841409e-01 5.44372713e-01 -1.85473852e-03 2.00122984e+02] [ 2.25176663e-03 -6.27167322e-05 9.99997463e-01 1.23387284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:200.15, Z:1.23 [[ 5.46896650e-01 -8.37199136e-01 -1.28884451e-03 1.97403642e+02] [ 8.37197101e-01 5.46898164e-01 -1.84745888e-03 2.00148399e+02] [ 2.25155767e-03 -6.86478128e-05 9.99997463e-01 1.23317728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.41, Y:200.17, Z:1.23 [[ 5.42718026e-01 -8.39913928e-01 -1.31853766e-03 1.97410143e+02] [ 8.39911949e-01 5.42719615e-01 -1.82673679e-03 2.00170185e+02] [ 2.24989792e-03 -1.16052557e-04 9.99997462e-01 1.23168685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.98275509600006 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:197.42, Y:200.19, Z:1.23 [[ 5.43897228e-01 -8.39150849e-01 -1.28765783e-03 1.97423893e+02] [ 8.39148817e-01 5.43898747e-01 -1.84825046e-03 2.00191730e+02] [ 2.25131642e-03 -7.52782386e-05 9.99997463e-01 1.23153480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.44, Y:200.22, Z:1.23 [[ 5.43748648e-01 -8.39247149e-01 -1.27740241e-03 1.97439420e+02] [ 8.39245100e-01 5.43750145e-01 -1.85539124e-03 2.00217465e+02] [ 2.25171955e-03 -6.31872313e-05 9.99997463e-01 1.23106432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.45, Y:200.24, Z:1.23 [[ 5.45838109e-01 -8.37889672e-01 -1.28706210e-03 1.97450991e+02] [ 8.37887635e-01 5.45839622e-01 -1.84866606e-03 2.00240631e+02] [ 2.25150768e-03 -6.93410336e-05 9.99997463e-01 1.22966976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.47, Y:200.26, Z:1.23 [[ 5.47466516e-01 -8.36826620e-01 -1.27368194e-03 1.97467567e+02] [ 8.36824559e-01 5.47467995e-01 -1.85796871e-03 2.00264550e+02] [ 2.25209777e-03 -4.86726661e-05 9.99997463e-01 1.23055271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.48, Y:200.29, Z:1.23 [[ 5.49165247e-01 -8.35712803e-01 -1.28137884e-03 1.97481652e+02] [ 8.35710752e-01 5.49166739e-01 -1.85261808e-03 2.00287564e+02] [ 2.25194729e-03 -5.34686080e-05 9.99997463e-01 1.22770691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.50, Y:200.31, Z:1.23 [[ 5.50367661e-01 -8.34921441e-01 -1.27463933e-03 1.97499176e+02] [ 8.34919377e-01 5.50369135e-01 -1.85730564e-03 2.00313073e+02] [ 2.25222644e-03 -4.20201129e-05 9.99997463e-01 1.22800570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.52, Y:200.34, Z:1.23 [[ 5.56794564e-01 -8.30649239e-01 -1.28701539e-03 1.97523679e+02] [ 8.30647182e-01 5.56796050e-01 -1.84869803e-03 2.00339551e+02] [ 2.25222470e-03 -3.97106957e-05 9.99997463e-01 1.22895472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:200.36, Z:1.23 [[ 5.54538769e-01 -8.32156836e-01 -1.32425680e-03 1.97533788e+02] [ 8.32154845e-01 5.54540343e-01 -1.82280058e-03 2.00362751e+02] [ 2.25120979e-03 -9.11731181e-05 9.99997462e-01 1.22968235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:200.38, Z:1.23 [[ 5.54525817e-01 -8.32165503e-01 -1.30135512e-03 1.97545755e+02] [ 8.32163474e-01 5.54527341e-01 -1.83871994e-03 2.00384296e+02] [ 2.25175630e-03 -6.33225255e-05 9.99997463e-01 1.23130840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.56, Y:200.41, Z:1.23 [[ 5.54159986e-01 -8.32409193e-01 -1.28272216e-03 1.97561906e+02] [ 8.32407135e-01 5.54161469e-01 -1.85165184e-03 2.00408050e+02] [ 2.25216721e-03 -4.16357211e-05 9.99997463e-01 1.23001650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.58, Y:200.43, Z:1.23 [[ 5.53073860e-01 -8.33131221e-01 -1.29367826e-03 1.97576510e+02] [ 8.33129182e-01 5.53075370e-01 -1.84405145e-03 2.00430352e+02] [ 2.25183842e-03 -5.79044566e-05 9.99997463e-01 1.23156774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.59, Y:200.45, Z:1.23 [[ 5.51883123e-01 -8.33920479e-01 -1.28550293e-03 1.97591532e+02] [ 8.33918429e-01 5.51884618e-01 -1.84971575e-03 2.00453044e+02] [ 2.25196514e-03 -5.11776829e-05 9.99997463e-01 1.23267318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.61, Y:200.48, Z:1.23 [[ 5.49965573e-01 -8.35186338e-01 -1.28404005e-03 1.97607559e+02] [ 8.35184290e-01 5.49967069e-01 -1.85072885e-03 2.00477982e+02] [ 2.25188320e-03 -5.45729264e-05 9.99997463e-01 1.23304656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.62, Y:200.50, Z:1.23 [[ 5.48654638e-01 -8.36048096e-01 -1.29217947e-03 1.97622856e+02] [ 8.36046063e-01 5.48656155e-01 -1.84509248e-03 2.00501121e+02] [ 2.25154827e-03 -6.80030114e-05 9.99997463e-01 1.23200897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:200.52, Z:1.23 [[ 5.47081526e-01 -8.37078332e-01 -1.29220211e-03 1.97638862e+02] [ 8.37076302e-01 5.47083047e-01 -1.84507682e-03 2.00524328e+02] [ 2.25141569e-03 -7.22643219e-05 9.99997463e-01 1.23168769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.66, Y:200.55, Z:1.23 [[ 5.48050513e-01 -8.36444240e-01 -1.29177606e-03 1.97658761e+02] [ 8.36442207e-01 5.48052031e-01 -1.84537118e-03 2.00549262e+02] [ 2.25151058e-03 -6.91393975e-05 9.99997463e-01 1.23180292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.68, Y:200.57, Z:1.23 [[ 5.46939203e-01 -8.37171316e-01 -1.30257382e-03 1.97676069e+02] [ 8.37169303e-01 5.46940747e-01 -1.83795922e-03 2.00574178e+02] [ 2.25111743e-03 -8.52228628e-05 9.99997463e-01 1.23175418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.69, Y:200.60, Z:1.23 [[ 5.44733786e-01 -8.38608000e-01 -1.31324576e-03 1.97688019e+02] [ 8.38606008e-01 5.44735359e-01 -1.83063879e-03 2.00596153e+02] [ 2.25055973e-03 -1.04084987e-04 9.99997462e-01 1.23121318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.70, Y:200.62, Z:1.23 [[ 5.44095209e-01 -8.39022477e-01 -1.29856800e-03 1.97702589e+02] [ 8.39020462e-01 5.44096752e-01 -1.84069938e-03 2.00618850e+02] [ 2.25093478e-03 -8.80094080e-05 9.99997463e-01 1.23146311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.72, Y:200.64, Z:1.23 [[ 5.44721519e-01 -8.38615993e-01 -1.29740430e-03 1.97715319e+02] [ 8.38613975e-01 5.44723058e-01 -1.84149696e-03 2.00639306e+02] [ 2.25103484e-03 -8.49183545e-05 9.99997463e-01 1.23193978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.73, Y:200.66, Z:1.23 [[ 5.43166322e-01 -8.39624159e-01 -1.27216583e-03 1.97731902e+02] [ 8.39622104e-01 5.43167808e-01 -1.85877049e-03 2.00664644e+02] [ 2.25166813e-03 -5.85170270e-05 9.99997463e-01 1.22982165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.75, Y:200.69, Z:1.23 [[ 5.44838606e-01 -8.38539949e-01 -1.28357109e-03 1.97747270e+02] [ 8.38537909e-01 5.44840114e-01 -1.85097241e-03 2.00686417e+02] [ 2.25145533e-03 -6.78417949e-05 9.99997463e-01 1.22900471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.76, Y:200.71, Z:1.23 [[ 5.44225891e-01 -8.38937759e-01 -1.27172491e-03 1.97762022e+02] [ 8.38935700e-01 5.44227374e-01 -1.85906374e-03 2.00710232e+02] [ 2.25174627e-03 -5.51448066e-05 9.99997463e-01 1.22574803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.78, Y:200.73, Z:1.23 [[ 5.46348234e-01 -8.37557155e-01 -1.27273071e-03 1.97778625e+02] [ 8.37555095e-01 5.46349714e-01 -1.85837700e-03 2.00731374e+02] [ 2.25185301e-03 -5.06610958e-05 9.99997463e-01 1.22791983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:200.76, Z:1.23 [[ 5.46795370e-01 -8.37265322e-01 -1.26662415e-03 1.97798007e+02] [ 8.37263251e-01 5.46796835e-01 -1.86254273e-03 2.00756445e+02] [ 2.25202851e-03 -4.20681077e-05 9.99997463e-01 1.22526329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.81, Y:200.78, Z:1.23 [[ 5.44365856e-01 -8.38846911e-01 -1.29428516e-03 1.97808620e+02] [ 8.38844889e-01 5.44367388e-01 -1.84363652e-03 2.00778301e+02] [ 2.25109543e-03 -8.20917224e-05 9.99997463e-01 1.22522055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.82, Y:200.80, Z:1.23 [[ 5.44083277e-01 -8.39030250e-01 -1.27578835e-03 1.97824518e+02] [ 8.39028199e-01 5.44084769e-01 -1.85624890e-03 2.00802048e+02] [ 2.25158599e-03 -6.04684118e-05 9.99997463e-01 1.22527876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.85, Y:200.82, Z:1.23 [[ 5.47369422e-01 -8.36890131e-01 -1.27457029e-03 1.97847112e+02] [ 8.36888072e-01 5.47370903e-01 -1.85707907e-03 2.00822875e+02] [ 2.25183384e-03 -5.01643743e-05 9.99997463e-01 1.22653506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.82275509600004 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:197.86, Y:200.84, Z:1.23 [[ 5.48188620e-01 -8.36353744e-01 -1.28541998e-03 1.97863725e+02] [ 8.36351701e-01 5.48190124e-01 -1.84968508e-03 2.00844640e+02] [ 2.25164558e-03 -6.10868723e-05 9.99997463e-01 1.22617100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.88, Y:200.86, Z:1.23 [[ 5.49422906e-01 -8.35543437e-01 -1.27889898e-03 1.97879152e+02] [ 8.35541381e-01 5.49424392e-01 -1.85412594e-03 2.00864307e+02] [ 2.25186105e-03 -4.98737598e-05 9.99997463e-01 1.22804050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.90, Y:200.89, Z:1.23 [[ 5.48674489e-01 -8.36035108e-01 -1.26666077e-03 1.97898665e+02] [ 8.36033034e-01 5.48675949e-01 -1.86244921e-03 2.00891654e+02] [ 2.25205922e-03 -3.70918798e-05 9.99997463e-01 1.22563621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.91, Y:200.91, Z:1.23 [[ 5.49493951e-01 -8.35496695e-01 -1.29247721e-03 1.97911920e+02] [ 8.35494661e-01 5.49495467e-01 -1.84486287e-03 2.00911352e+02] [ 2.25158719e-03 -6.61168202e-05 9.99997463e-01 1.22823688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.93, Y:200.93, Z:1.23 [[ 5.51426778e-01 -8.34222335e-01 -1.26656854e-03 1.97927484e+02] [ 8.34220256e-01 5.51428232e-01 -1.86248189e-03 2.00934036e+02] [ 2.25214564e-03 -2.95747448e-05 9.99997463e-01 1.22828602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.94, Y:200.96, Z:1.23 [[ 5.51948708e-01 -8.33877099e-01 -1.26786750e-03 1.97942582e+02] [ 8.33875022e-01 5.51950163e-01 -1.86159896e-03 2.00956899e+02] [ 2.25214441e-03 -2.97358983e-05 9.99997463e-01 1.22848563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:200.98, Z:1.23 [[ 5.51560114e-01 -8.34134184e-01 -1.26651263e-03 1.97957193e+02] [ 8.34132105e-01 5.51561567e-01 -1.86251924e-03 2.00979315e+02] [ 2.25215066e-03 -2.91475242e-05 9.99997463e-01 1.22850503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.97, Y:201.00, Z:1.23 [[ 5.50494701e-01 -8.34837692e-01 -1.26963349e-03 1.97972140e+02] [ 8.34835620e-01 5.50496164e-01 -1.86040099e-03 2.01002592e+02] [ 2.25206123e-03 -3.57943780e-05 9.99997463e-01 1.23151042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.99, Y:201.02, Z:1.23 [[ 5.51776951e-01 -8.33990754e-01 -1.27232693e-03 1.97986372e+02] [ 8.33988684e-01 5.51778417e-01 -1.85857543e-03 2.01022578e+02] [ 2.25207726e-03 -3.55871773e-05 9.99997463e-01 1.23109655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:201.05, Z:1.23 [[ 5.48649014e-01 -8.36051845e-01 -1.25357614e-03 1.98001969e+02] [ 8.36049751e-01 5.48650446e-01 -1.87127004e-03 2.01046751e+02] [ 2.25225388e-03 -2.13815595e-05 9.99997463e-01 1.23203682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.02, Y:201.07, Z:1.23 [[ 5.45208603e-01 -8.38299460e-01 -1.26272312e-03 1.98017485e+02] [ 8.38297386e-01 5.45210064e-01 -1.86507721e-03 2.01072757e+02] [ 2.25194258e-03 -4.16813525e-05 9.99997464e-01 1.23368426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.03, Y:201.09, Z:1.23 [[ 5.45420639e-01 -8.38161488e-01 -1.28294596e-03 1.98031182e+02] [ 8.38159446e-01 5.45422144e-01 -1.85139240e-03 2.01091992e+02] [ 2.25151295e-03 -6.55256463e-05 9.99997463e-01 1.23230613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.04, Y:201.12, Z:1.23 [[ 5.43153514e-01 -8.39632462e-01 -1.26086718e-03 1.98044776e+02] [ 8.39630389e-01 5.43154975e-01 -1.86630870e-03 2.01115637e+02] [ 2.25185965e-03 -4.49702771e-05 9.99997464e-01 1.23140540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.06, Y:201.14, Z:1.23 [[ 5.42042024e-01 -8.40350436e-01 -1.26028271e-03 1.98059397e+02] [ 8.40348364e-01 5.42043487e-01 -1.86670330e-03 2.01139039e+02] [ 2.25181297e-03 -4.72448760e-05 9.99997464e-01 1.23158221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.07, Y:201.16, Z:1.23 [[ 5.41416252e-01 -8.40753743e-01 -1.25972450e-03 1.98074145e+02] [ 8.40751671e-01 5.41417715e-01 -1.86707993e-03 2.01161808e+02] [ 2.25179159e-03 -4.82480613e-05 9.99997464e-01 1.23099649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.09, Y:201.18, Z:1.23 [[ 5.41178505e-01 -8.40906796e-01 -1.25931774e-03 1.98088561e+02] [ 8.40904724e-01 5.41179968e-01 -1.86735424e-03 2.01184419e+02] [ 2.25178840e-03 -4.83942631e-05 9.99997464e-01 1.23033460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.10, Y:201.21, Z:1.23 [[ 5.41260407e-01 -8.40854095e-01 -1.25031886e-03 1.98103005e+02] [ 8.40852009e-01 5.41261849e-01 -1.87341750e-03 2.01206704e+02] [ 2.25202068e-03 -3.73264131e-05 9.99997464e-01 1.22935550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.12, Y:201.23, Z:1.23 [[ 5.40763286e-01 -8.41173888e-01 -1.24853344e-03 1.98118701e+02] [ 8.41171800e-01 5.40764726e-01 -1.87462136e-03 2.01231301e+02] [ 2.25204538e-03 -3.65047139e-05 9.99997463e-01 1.23075945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.13, Y:201.26, Z:1.23 [[ 5.39508613e-01 -8.41979146e-01 -1.25475480e-03 1.98132975e+02] [ 8.41977070e-01 5.39510070e-01 -1.87042745e-03 2.01255605e+02] [ 2.25181376e-03 -4.73630465e-05 9.99997464e-01 1.23096814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.15, Y:201.28, Z:1.23 [[ 5.39348267e-01 -8.42081862e-01 -1.25880512e-03 1.98147524e+02] [ 8.42079793e-01 5.39349733e-01 -1.86769758e-03 2.01279093e+02] [ 2.25169046e-03 -5.26748985e-05 9.99997464e-01 1.23189684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.16, Y:201.30, Z:1.23 [[ 5.39053932e-01 -8.42270310e-01 -1.25822107e-03 1.98161539e+02] [ 8.42268240e-01 5.39055397e-01 -1.86809096e-03 2.01301838e+02] [ 2.25168841e-03 -5.27578654e-05 9.99997464e-01 1.23079523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.18, Y:201.33, Z:1.23 [[ 5.38077171e-01 -8.42894642e-01 -1.25760611e-03 1.98175797e+02] [ 8.42892572e-01 5.38078638e-01 -1.86850486e-03 2.01326547e+02] [ 2.25164372e-03 -5.46270386e-05 9.99997464e-01 1.23152375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.19, Y:201.35, Z:1.23 [[ 5.37180530e-01 -8.43466359e-01 -1.25703209e-03 1.98190197e+02] [ 8.43464290e-01 5.37181998e-01 -1.86889095e-03 2.01349724e+02] [ 2.25160166e-03 -5.63298460e-05 9.99997464e-01 1.23093051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.20, Y:201.37, Z:1.23 [[ 5.37673006e-01 -8.43152513e-01 -1.25642777e-03 1.98204281e+02] [ 8.43150442e-01 5.37674471e-01 -1.86929714e-03 2.01371219e+02] [ 2.25165172e-03 -5.42870151e-05 9.99997464e-01 1.23032513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.22, Y:201.40, Z:1.23 [[ 5.34506782e-01 -8.45163269e-01 -1.24435245e-03 1.98218749e+02] [ 8.45161185e-01 5.34508228e-01 -1.87740445e-03 2.01396355e+02] [ 2.25182990e-03 -4.81929785e-05 9.99997463e-01 1.23034477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.23, Y:201.42, Z:1.23 [[ 5.33615336e-01 -8.45726372e-01 -1.25543792e-03 1.98234354e+02] [ 8.45724307e-01 5.33616809e-01 -1.86996199e-03 2.01419820e+02] [ 2.25139894e-03 -6.39139678e-05 9.99997464e-01 1.22988067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.25, Y:201.44, Z:1.23 [[ 5.32548910e-01 -8.46398301e-01 -1.25490562e-03 1.98249577e+02] [ 8.46396237e-01 5.32550384e-01 -1.87031914e-03 2.01442828e+02] [ 2.25133541e-03 -6.61109708e-05 9.99997464e-01 1.23181415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.26, Y:201.47, Z:1.23 [[ 5.30755951e-01 -8.47523774e-01 -1.25431939e-03 1.98264932e+02] [ 8.47521712e-01 5.30757429e-01 -1.87071221e-03 2.01465482e+02] [ 2.25121240e-03 -7.01712768e-05 9.99997464e-01 1.23241244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.28, Y:201.49, Z:1.23 [[ 5.31039341e-01 -8.47346238e-01 -1.25389230e-03 1.98280679e+02] [ 8.47344175e-01 5.31040817e-01 -1.87099843e-03 2.01487587e+02] [ 2.25125147e-03 -6.89045578e-05 9.99997464e-01 1.23060747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.30, Y:201.51, Z:1.23 [[ 5.27094298e-01 -8.49805891e-01 -1.24462540e-03 1.98296872e+02] [ 8.49803820e-01 5.27095763e-01 -1.87720358e-03 2.01511487e+02] [ 2.25129543e-03 -6.82241203e-05 9.99997464e-01 1.23244889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:201.53, Z:1.23 [[ 5.25533022e-01 -8.50772280e-01 -1.25307112e-03 1.98312446e+02] [ 8.50770225e-01 5.25534510e-01 -1.87154885e-03 2.01534650e+02] [ 2.25079400e-03 -8.25148762e-05 9.99997464e-01 1.23385485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.33, Y:201.56, Z:1.23 [[ 5.24643856e-01 -8.51320889e-01 -1.25247163e-03 1.98327531e+02] [ 8.51318835e-01 5.24645344e-01 -1.87194996e-03 2.01556641e+02] [ 2.25073351e-03 -8.41456428e-05 9.99997464e-01 1.23381102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.34, Y:201.58, Z:1.24 [[ 5.23456245e-01 -8.52051637e-01 -1.25192694e-03 1.98343475e+02] [ 8.52049584e-01 5.23457735e-01 -1.87231416e-03 2.01579845e+02] [ 2.25063919e-03 -8.66292912e-05 9.99997464e-01 1.23550912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.36, Y:201.60, Z:1.24 [[ 5.22310233e-01 -8.52754627e-01 -1.25132795e-03 1.98359565e+02] [ 8.52752576e-01 5.22311724e-01 -1.87271440e-03 2.01601776e+02] [ 2.25054913e-03 -8.89352396e-05 9.99997464e-01 1.23640378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.38, Y:201.63, Z:1.23 [[ 5.25200329e-01 -8.50977702e-01 -1.25078621e-03 1.98383877e+02] [ 8.50975645e-01 5.25201813e-01 -1.87307616e-03 2.01627705e+02] [ 2.25086123e-03 -8.06483855e-05 9.99997464e-01 1.23217402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:201.65, Z:1.23 [[ 5.24366777e-01 -8.51491526e-01 -1.28992935e-03 1.98399954e+02] [ 8.51489533e-01 5.24368348e-01 -1.84694604e-03 2.01652112e+02] [ 2.24905703e-03 -1.29884194e-04 9.99997462e-01 1.23304937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.41, Y:201.67, Z:1.24 [[ 5.21034298e-01 -8.53534767e-01 -1.28908647e-03 1.98406028e+02] [ 8.53532779e-01 5.21035875e-01 -1.84750802e-03 2.01671714e+02] [ 2.24857262e-03 -1.37662511e-04 9.99997462e-01 1.23669114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.42, Y:201.70, Z:1.24 [[ 5.21770583e-01 -8.53084933e-01 -1.24731907e-03 1.98421571e+02] [ 8.53082876e-01 5.21772067e-01 -1.87528895e-03 2.01695106e+02] [ 2.25059700e-03 -8.55959337e-05 9.99997464e-01 1.23623831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.44, Y:201.72, Z:1.24 [[ 5.24188595e-01 -8.51601293e-01 -1.24674112e-03 1.98437703e+02] [ 8.51599231e-01 5.24190072e-01 -1.87567311e-03 2.01718404e+02] [ 2.25085497e-03 -7.85173266e-05 9.99997464e-01 1.23591849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:201.74, Z:1.24 [[ 5.25295630e-01 -8.50918885e-01 -1.24614610e-03 1.98452957e+02] [ 8.50916820e-01 5.25297103e-01 -1.87606834e-03 2.01740806e+02] [ 2.25097892e-03 -7.48761739e-05 9.99997464e-01 1.23576036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:198.47, Y:201.76, Z:1.23 [[ 5.26432401e-01 -8.50216076e-01 -1.24551848e-03 1.98468737e+02] [ 8.50214008e-01 5.26433870e-01 -1.87648493e-03 2.01763415e+02] [ 2.25110076e-03 -7.11147964e-05 9.99997464e-01 1.23437011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.49, Y:201.79, Z:1.23 [[ 5.32117264e-01 -8.46669751e-01 -1.24493869e-03 1.98491502e+02] [ 8.46667673e-01 5.32118718e-01 -1.87686950e-03 2.01789903e+02] [ 2.25154382e-03 -5.53346784e-05 9.99997464e-01 1.23268531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.51, Y:201.81, Z:1.23 [[ 5.33446851e-01 -8.45832620e-01 -1.27933033e-03 1.98507424e+02] [ 8.45830593e-01 5.33448377e-01 -1.85404082e-03 2.01812812e+02] [ 2.25066489e-03 -9.30644904e-05 9.99997463e-01 1.23190709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.52, Y:201.83, Z:1.23 [[ 5.36290648e-01 -8.44032403e-01 -1.28154980e-03 1.98521107e+02] [ 8.44030375e-01 5.36292172e-01 -1.85256865e-03 2.01831960e+02] [ 2.25091310e-03 -8.81517126e-05 9.99997463e-01 1.23104903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.54, Y:201.86, Z:1.24 [[ 5.34750919e-01 -8.45008802e-01 -1.25630503e-03 1.98538128e+02] [ 8.45006737e-01 5.34752392e-01 -1.86925868e-03 2.01858803e+02] [ 2.25135216e-03 -6.19984142e-05 9.99997464e-01 1.23627741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.55, Y:201.88, Z:1.24 [[ 5.32716272e-01 -8.46292943e-01 -1.27606845e-03 1.98546861e+02] [ 8.46290912e-01 5.32717792e-01 -1.85619040e-03 2.01878783e+02] [ 2.25066520e-03 -9.11023058e-05 9.99997463e-01 1.23671983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.57, Y:201.90, Z:1.23 [[ 5.35270472e-01 -8.44679811e-01 -1.24051230e-03 1.98570405e+02] [ 8.44677720e-01 5.35271908e-01 -1.87965631e-03 2.01904105e+02] [ 2.25171912e-03 -4.17085863e-05 9.99997464e-01 1.23408112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.58, Y:201.93, Z:1.23 [[ 5.34998986e-01 -8.44851736e-01 -1.27626277e-03 1.98584733e+02] [ 8.44849702e-01 5.35000501e-01 -1.85604053e-03 2.01926746e+02] [ 2.25088029e-03 -8.52704182e-05 9.99997463e-01 1.23307201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.60, Y:201.95, Z:1.23 [[ 5.36611457e-01 -8.43828492e-01 -1.27292190e-03 1.98596832e+02] [ 8.43826449e-01 5.36612961e-01 -1.85824581e-03 2.01947329e+02] [ 2.25110715e-03 -7.69691707e-05 9.99997463e-01 1.23372768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.61, Y:201.97, Z:1.24 [[ 5.33426645e-01 -8.45845409e-01 -1.24871056e-03 1.98611981e+02] [ 8.45843334e-01 5.33428103e-01 -1.87418401e-03 2.01973425e+02] [ 2.25136725e-03 -5.64738116e-05 9.99997464e-01 1.23912742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.63, Y:202.00, Z:1.24 [[ 5.32766021e-01 -8.46261649e-01 -1.26032854e-03 1.98627147e+02] [ 8.46259594e-01 5.32767507e-01 -1.86653848e-03 2.01997758e+02] [ 2.25104203e-03 -7.21368392e-05 9.99997464e-01 1.24076826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.64, Y:202.02, Z:1.24 [[ 5.31013853e-01 -8.47362202e-01 -1.25909195e-03 1.98637728e+02] [ 8.47360148e-01 5.31015341e-01 -1.86735153e-03 2.02019223e+02] [ 2.25092025e-03 -7.53148064e-05 9.99997464e-01 1.23996704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.65, Y:202.04, Z:1.24 [[ 5.28165087e-01 -8.49140809e-01 -1.23590430e-03 1.98652020e+02] [ 8.49138724e-01 5.28166530e-01 -1.88257415e-03 2.02042992e+02] [ 2.25133382e-03 -5.51442633e-05 9.99997464e-01 1.24190828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.67, Y:202.07, Z:1.24 [[ 5.27100179e-01 -8.49802259e-01 -1.23388060e-03 1.98667964e+02] [ 8.49800173e-01 5.27101620e-01 -1.88390205e-03 2.02066956e+02] [ 2.25132468e-03 -5.55468382e-05 9.99997464e-01 1.24167731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.68, Y:202.09, Z:1.24 [[ 5.24761615e-01 -8.51248328e-01 -1.23791304e-03 1.98682626e+02] [ 8.51246252e-01 5.24763070e-01 -1.88125664e-03 2.02091789e+02] [ 2.25102761e-03 -6.65575660e-05 9.99997464e-01 1.24185870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.70, Y:202.12, Z:1.24 [[ 5.23345809e-01 -8.52119491e-01 -1.24010943e-03 1.98696492e+02] [ 8.52117421e-01 5.23347273e-01 -1.87981644e-03 2.02115228e+02] [ 2.25083612e-03 -7.29247956e-05 9.99997464e-01 1.24133538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.71, Y:202.14, Z:1.24 [[ 5.22491153e-01 -8.52643807e-01 -1.23812333e-03 1.98709982e+02] [ 8.52641735e-01 5.22492615e-01 -1.88111803e-03 2.02138225e+02] [ 2.25083393e-03 -7.28080913e-05 9.99997464e-01 1.24260953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.72, Y:202.16, Z:1.24 [[ 5.22176176e-01 -8.52836752e-01 -1.23122199e-03 1.98724251e+02] [ 8.52834670e-01 5.22177624e-01 -1.88563806e-03 2.02162350e+02] [ 2.25105801e-03 -6.53935304e-05 9.99997464e-01 1.23964458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.74, Y:202.19, Z:1.24 [[ 5.20398085e-01 -8.53922895e-01 -1.23362355e-03 1.98737568e+02] [ 8.53920820e-01 5.20399543e-01 -1.88406559e-03 2.02187376e+02] [ 2.25082388e-03 -7.29527076e-05 9.99997464e-01 1.24025713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:202.21, Z:1.24 [[ 5.21031869e-01 -8.53536338e-01 -1.22944473e-03 1.98753245e+02] [ 8.53534255e-01 5.21033316e-01 -1.88679958e-03 2.02210749e+02] [ 2.25103367e-03 -6.62904779e-05 9.99997464e-01 1.23812984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.77, Y:202.23, Z:1.24 [[ 5.21548912e-01 -8.53220495e-01 -1.23266988e-03 1.98766059e+02] [ 8.53218416e-01 5.21550364e-01 -1.88469019e-03 2.02233547e+02] [ 2.25095572e-03 -6.87785203e-05 9.99997464e-01 1.23957245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.78, Y:202.26, Z:1.24 [[ 5.20875867e-01 -8.53631566e-01 -1.21722457e-03 1.98782952e+02] [ 8.53629464e-01 5.20877287e-01 -1.89478208e-03 2.02259748e+02] [ 2.25147042e-03 -5.21124999e-05 9.99997464e-01 1.23938872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.80, Y:202.28, Z:1.24 [[ 5.20608485e-01 -8.53794640e-01 -1.23195981e-03 1.98798454e+02] [ 8.53792562e-01 5.20609938e-01 -1.88515250e-03 2.02283742e+02] [ 2.25090362e-03 -7.04117405e-05 9.99997464e-01 1.23945784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.81, Y:202.31, Z:1.24 [[ 5.22417070e-01 -8.52689210e-01 -1.23136926e-03 1.98813841e+02] [ 8.52687128e-01 5.22418517e-01 -1.88553816e-03 2.02306582e+02] [ 2.25106815e-03 -6.49353998e-05 9.99997464e-01 1.23754278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.83, Y:202.33, Z:1.24 [[ 5.20633172e-01 -8.53779588e-01 -1.23072209e-03 1.98827240e+02] [ 8.53777508e-01 5.20634623e-01 -1.88596049e-03 2.02331207e+02] [ 2.25095110e-03 -6.88692504e-05 9.99997464e-01 1.24290514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.84, Y:202.35, Z:1.24 [[ 5.20449635e-01 -8.53891486e-01 -1.22749122e-03 1.98841450e+02] [ 8.53889402e-01 5.20451079e-01 -1.88806797e-03 2.02354532e+02] [ 2.25105429e-03 -6.54974563e-05 9.99997464e-01 1.24098468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.86, Y:202.38, Z:1.24 [[ 5.20654925e-01 -8.53766335e-01 -1.22213082e-03 1.98856603e+02] [ 8.53764242e-01 5.20656356e-01 -1.89156190e-03 2.02379252e+02] [ 2.25126205e-03 -5.85605741e-05 9.99997464e-01 1.24160988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.87, Y:202.40, Z:1.24 [[ 5.20889269e-01 -8.53623379e-01 -1.22350177e-03 1.98871787e+02] [ 8.53621287e-01 5.20890702e-01 -1.89066860e-03 2.02403224e+02] [ 2.25122961e-03 -5.95781753e-05 9.99997464e-01 1.24308859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.89, Y:202.43, Z:1.24 [[ 5.20983982e-01 -8.53565568e-01 -1.22914991e-03 1.98887355e+02] [ 8.53563485e-01 5.20985428e-01 -1.88698951e-03 2.02426406e+02] [ 2.25103846e-03 -6.60661719e-05 9.99997464e-01 1.24398860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.90, Y:202.45, Z:1.25 [[ 5.21338537e-01 -8.53349062e-01 -1.22856404e-03 1.98902811e+02] [ 8.53346977e-01 5.21339980e-01 -1.88737087e-03 2.02448565e+02] [ 2.25108572e-03 -6.44322420e-05 9.99997464e-01 1.24542894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.92, Y:202.47, Z:1.25 [[ 5.21333984e-01 -8.53351844e-01 -1.22794640e-03 1.98917651e+02] [ 8.53349758e-01 5.21335426e-01 -1.88777263e-03 2.02472529e+02] [ 2.25110622e-03 -6.37077339e-05 9.99997464e-01 1.24573085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.93, Y:202.50, Z:1.25 [[ 5.22387386e-01 -8.52707401e-01 -1.22737236e-03 1.98931462e+02] [ 8.52705313e-01 5.22388825e-01 -1.88814578e-03 2.02496073e+02] [ 2.25120149e-03 -6.02433891e-05 9.99997464e-01 1.24652192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.94, Y:202.52, Z:1.25 [[ 5.20434548e-01 -8.53900683e-01 -1.22676605e-03 1.98943325e+02] [ 8.53898597e-01 5.20435990e-01 -1.88853963e-03 2.02520547e+02] [ 2.25107848e-03 -6.46725414e-05 9.99997464e-01 1.24504301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.96, Y:202.54, Z:1.25 [[ 5.22986499e-01 -8.52340095e-01 -1.21798626e-03 1.98961128e+02] [ 8.52337992e-01 5.22987915e-01 -1.89423783e-03 2.02543417e+02] [ 2.25152695e-03 -4.74751524e-05 9.99997464e-01 1.24680622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.97, Y:202.57, Z:1.25 [[ 5.23460473e-01 -8.52049078e-01 -1.22595390e-03 1.98974888e+02] [ 8.52046985e-01 5.23461905e-01 -1.88906704e-03 2.02566369e+02] [ 2.25131800e-03 -5.57183977e-05 9.99997464e-01 1.24626669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.99, Y:202.59, Z:1.25 [[ 5.23319502e-01 -8.52135668e-01 -1.22535947e-03 1.98988997e+02] [ 8.52133575e-01 5.23320934e-01 -1.88945255e-03 2.02589118e+02] [ 2.25132617e-03 -5.53825824e-05 9.99997464e-01 1.24629596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.00, Y:202.61, Z:1.25 [[ 5.23246511e-01 -8.52180491e-01 -1.22477515e-03 1.99003921e+02] [ 8.52178397e-01 5.23247942e-01 -1.88983124e-03 2.02612969e+02] [ 2.25133839e-03 -5.48793252e-05 9.99997464e-01 1.24684233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.02, Y:202.64, Z:1.25 [[ 5.22401006e-01 -8.52699062e-01 -1.22421150e-03 1.99017182e+02] [ 8.52696969e-01 5.22402437e-01 -1.89019630e-03 2.02636653e+02] [ 2.25129968e-03 -5.64409847e-05 9.99997464e-01 1.24639493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.03, Y:202.66, Z:1.25 [[ 5.21771763e-01 -8.53084246e-01 -1.22361739e-03 1.99031470e+02] [ 8.53082153e-01 5.21773195e-01 -1.89058081e-03 2.02660662e+02] [ 2.25127546e-03 -5.73944749e-05 9.99997464e-01 1.24604411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.05, Y:202.68, Z:1.25 [[ 5.20946298e-01 -8.53588577e-01 -1.22306207e-03 1.99046343e+02] [ 8.53586485e-01 5.20947730e-01 -1.89094000e-03 2.02684926e+02] [ 2.25123619e-03 -5.89110581e-05 9.99997464e-01 1.24561808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.06, Y:202.71, Z:1.25 [[ 5.18887593e-01 -8.54841606e-01 -1.22249173e-03 1.99060806e+02] [ 8.54839516e-01 5.18889030e-01 -1.89130865e-03 2.02709320e+02] [ 2.25110687e-03 -6.36576441e-05 9.99997464e-01 1.24533795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.07, Y:202.73, Z:1.24 [[ 5.17620193e-01 -8.55609632e-01 -1.22191040e-03 1.99074451e+02] [ 8.55607544e-01 5.17621631e-01 -1.89168415e-03 2.02732207e+02] [ 2.25103043e-03 -6.63018358e-05 9.99997464e-01 1.24479241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.09, Y:202.76, Z:1.25 [[ 5.16655675e-01 -8.56192398e-01 -1.22129782e-03 1.99088386e+02] [ 8.56190310e-01 5.16657114e-01 -1.89207956e-03 2.02755349e+02] [ 2.25097634e-03 -6.81097174e-05 9.99997464e-01 1.24511600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.10, Y:202.78, Z:1.25 [[ 5.13164648e-01 -8.58289318e-01 -1.22069158e-03 1.99104450e+02] [ 8.58287235e-01 5.13166095e-01 -1.89247060e-03 2.02783763e+02] [ 2.25070483e-03 -7.65549862e-05 9.99997464e-01 1.24695743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.12, Y:202.80, Z:1.25 [[ 5.14510909e-01 -8.57482934e-01 -1.24204695e-03 1.99116777e+02] [ 8.57480881e-01 5.14512399e-01 -1.87870449e-03 2.02803871e+02] [ 2.25000559e-03 -9.84175622e-05 9.99997464e-01 1.24613712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.13, Y:202.83, Z:1.25 [[ 5.14385090e-01 -8.57558449e-01 -1.21892922e-03 1.99130163e+02] [ 8.57556362e-01 5.14386529e-01 -1.89358571e-03 2.02827333e+02] [ 2.25086120e-03 -7.12682531e-05 9.99997464e-01 1.24556078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.14, Y:202.85, Z:1.25 [[ 5.15279856e-01 -8.57021111e-01 -1.21831407e-03 1.99143678e+02] [ 8.57019021e-01 5.15281292e-01 -1.89398141e-03 2.02854205e+02] [ 2.25095650e-03 -6.81878615e-05 9.99997464e-01 1.24651323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.16, Y:202.88, Z:1.25 [[ 5.16858141e-01 -8.56070186e-01 -1.22450815e-03 1.99157345e+02] [ 8.56068102e-01 5.16859587e-01 -1.88999810e-03 2.02877683e+02] [ 2.25086980e-03 -7.14014642e-05 9.99997464e-01 1.24628206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.17, Y:202.90, Z:1.25 [[ 5.19093473e-01 -8.54716611e-01 -1.21722902e-03 1.99169884e+02] [ 8.54714512e-01 5.19094897e-01 -1.89467456e-03 2.02902633e+02] [ 2.25126719e-03 -5.68701035e-05 9.99997464e-01 1.24725173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.18, Y:202.93, Z:1.25 [[ 5.19924160e-01 -8.54211559e-01 -1.21663338e-03 1.99183576e+02] [ 8.54209459e-01 5.19925581e-01 -1.89505697e-03 2.02926637e+02] [ 2.25133838e-03 -5.39738359e-05 9.99997464e-01 1.24771884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.20, Y:202.95, Z:1.25 [[ 5.21981765e-01 -8.52955777e-01 -1.21603632e-03 1.99195439e+02] [ 8.52953673e-01 5.21983180e-01 -1.89544002e-03 2.02948120e+02] [ 2.25147701e-03 -4.78375161e-05 9.99997464e-01 1.24868350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.21, Y:202.97, Z:1.25 [[ 5.21423037e-01 -8.53297486e-01 -1.19059884e-03 1.99211478e+02] [ 8.53295344e-01 5.21424396e-01 -1.91173413e-03 2.02974941e+02] [ 2.25208521e-03 -1.91102294e-05 9.99997464e-01 1.24787265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.22, Y:203.00, Z:1.25 [[ 5.23288303e-01 -8.52154843e-01 -1.21510225e-03 1.99223000e+02] [ 8.52152734e-01 5.23289712e-01 -1.89603073e-03 2.02997462e+02] [ 2.25156227e-03 -4.32820020e-05 9.99997464e-01 1.24928521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.24, Y:203.02, Z:1.25 [[ 5.20607694e-01 -8.53795179e-01 -1.19219418e-03 1.99235532e+02] [ 8.53793041e-01 5.20609059e-01 -1.91068916e-03 2.03023399e+02] [ 2.25200429e-03 -2.31676164e-05 9.99997464e-01 1.24838955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.25, Y:203.05, Z:1.25 [[ 5.19752700e-01 -8.54315922e-01 -1.19818075e-03 1.99249196e+02] [ 8.54313795e-01 5.19754080e-01 -1.90684978e-03 2.03048151e+02] [ 2.25181146e-03 -3.25320245e-05 9.99997464e-01 1.24779799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.27, Y:203.07, Z:1.25 [[ 5.20473497e-01 -8.53876981e-01 -1.20005656e-03 1.99266812e+02] [ 8.53874855e-01 5.20474880e-01 -1.90564713e-03 2.03072290e+02] [ 2.25178751e-03 -3.28592988e-05 9.99997464e-01 1.24740279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.28, Y:203.10, Z:1.25 [[ 5.18102168e-01 -8.55317875e-01 -1.21552641e-03 1.99278210e+02] [ 8.55315776e-01 5.18103590e-01 -1.89572799e-03 2.03095626e+02] [ 2.25121863e-03 -5.74781336e-05 9.99997464e-01 1.24702772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.29, Y:203.12, Z:1.25 [[ 5.17005974e-01 -8.55980943e-01 -1.20341965e-03 1.99294843e+02] [ 8.55978827e-01 5.17007373e-01 -1.90348432e-03 2.03119369e+02] [ 2.25152313e-03 -4.59889720e-05 9.99997464e-01 1.24662369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.31, Y:203.14, Z:1.25 [[ 5.15936773e-01 -8.56625805e-01 -1.21477843e-03 1.99309117e+02] [ 8.56623709e-01 5.15938199e-01 -1.89620748e-03 2.03142383e+02] [ 2.25109085e-03 -6.22848409e-05 9.99997464e-01 1.24640832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.32, Y:203.17, Z:1.25 [[ 5.12408580e-01 -8.58740926e-01 -1.21179221e-03 1.99321837e+02] [ 8.58738831e-01 5.12410009e-01 -1.89811956e-03 2.03165899e+02] [ 2.25092741e-03 -6.80002743e-05 9.99997464e-01 1.24683018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.34, Y:203.19, Z:1.25 [[ 5.10800073e-01 -8.59698675e-01 -1.21399842e-03 1.99335982e+02] [ 8.59696586e-01 5.10801511e-01 -1.89670746e-03 2.03189758e+02] [ 2.25070912e-03 -7.48319803e-05 9.99997464e-01 1.24612950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:203.21, Z:1.25 [[ 5.10382962e-01 -8.59946370e-01 -1.21337322e-03 1.99348735e+02] [ 8.59944281e-01 5.10384399e-01 -1.89710734e-03 2.03210105e+02] [ 2.25069733e-03 -7.51820962e-05 9.99997464e-01 1.24528924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.36, Y:203.23, Z:1.24 [[ 5.07536505e-01 -8.61629420e-01 -1.19939890e-03 1.99363629e+02] [ 8.61627315e-01 5.07537918e-01 -1.90603195e-03 2.03232667e+02] [ 2.25103362e-03 -6.60540637e-05 9.99997464e-01 1.24457366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91275509600007 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:199.38, Y:203.26, Z:1.24 [[ 5.04904242e-01 -8.63174535e-01 -1.19538570e-03 1.99378304e+02] [ 8.63172428e-01 5.04905652e-01 -1.90859175e-03 2.03256425e+02] [ 2.25100479e-03 -6.81679032e-05 9.99997464e-01 1.24413594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.39, Y:203.28, Z:1.24 [[ 5.02074661e-01 -8.64823447e-01 -1.20028844e-03 1.99392666e+02] [ 8.64821351e-01 5.02076089e-01 -1.90546581e-03 2.03280803e+02] [ 2.25052763e-03 -8.13489699e-05 9.99997464e-01 1.24396966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.41, Y:203.30, Z:1.24 [[ 5.02150236e-01 -8.64779553e-01 -1.21036522e-03 1.99405655e+02] [ 8.64777473e-01 5.02151686e-01 -1.89904332e-03 2.03301892e+02] [ 2.25004077e-03 -9.30915242e-05 9.99997464e-01 1.24262061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.42, Y:203.33, Z:1.24 [[ 5.01629241e-01 -8.65081886e-01 -1.19794958e-03 1.99420053e+02] [ 8.65079788e-01 5.01630665e-01 -1.90695009e-03 2.03326212e+02] [ 2.25059623e-03 -7.97400386e-05 9.99997464e-01 1.24249351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.44, Y:203.35, Z:1.24 [[ 5.02450632e-01 -8.64605062e-01 -1.20359253e-03 1.99435252e+02] [ 8.64602971e-01 5.02452067e-01 -1.90335662e-03 2.03351527e+02] [ 2.25039932e-03 -8.42869398e-05 9.99997464e-01 1.24367102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.45, Y:203.37, Z:1.24 [[ 5.04211705e-01 -8.63579234e-01 -1.20933754e-03 1.99448659e+02] [ 8.63577149e-01 5.04213148e-01 -1.89969938e-03 2.03373819e+02] [ 2.25030482e-03 -8.65056023e-05 9.99997464e-01 1.24265809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.46, Y:203.40, Z:1.24 [[ 5.05357832e-01 -8.62909051e-01 -1.19671589e-03 1.99462732e+02] [ 8.62906944e-01 5.05359244e-01 -1.90771730e-03 2.03396157e+02] [ 2.25095796e-03 -6.85745766e-05 9.99997464e-01 1.24361859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.12275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.48, Y:203.42, Z:1.24 [[ 5.08597737e-01 -8.61003432e-01 -1.19664739e-03 1.99478439e+02] [ 8.61001320e-01 5.08599141e-01 -1.90776088e-03 2.03421970e+02] [ 2.25120250e-03 -6.00321133e-05 9.99997464e-01 1.24495319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.49, Y:203.44, Z:1.25 [[ 5.10844216e-01 -8.59672450e-01 -1.21098895e-03 1.99492315e+02] [ 8.59670356e-01 5.10845646e-01 -1.89863643e-03 2.03444792e+02] [ 2.25083386e-03 -7.11438612e-05 9.99997464e-01 1.24529979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.18275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:199.51, Y:203.47, Z:1.25 [[ 5.12488008e-01 -8.58693535e-01 -1.20605268e-03 1.99507667e+02] [ 8.58691431e-01 5.12489423e-01 -1.90177522e-03 2.03470553e+02] [ 2.25113133e-03 -6.09901074e-05 9.99997464e-01 1.24690980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.52, Y:203.49, Z:1.25 [[ 5.15543501e-01 -8.56862547e-01 -1.21407970e-03 1.99521223e+02] [ 8.56860450e-01 5.15544927e-01 -1.89667386e-03 2.03494484e+02] [ 2.25110142e-03 -6.24790014e-05 9.99997464e-01 1.24646681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.54, Y:203.52, Z:1.25 [[ 5.17005393e-01 -8.55981288e-01 -1.20760941e-03 1.99535483e+02] [ 8.55979179e-01 5.17006801e-01 -1.90078264e-03 2.03517204e+02] [ 2.25137665e-03 -5.09736370e-05 9.99997464e-01 1.24754021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.55, Y:203.54, Z:1.25 [[ 5.19950786e-01 -8.54195367e-01 -1.20648566e-03 1.99549331e+02] [ 8.54193251e-01 5.19952184e-01 -1.90149565e-03 2.03540972e+02] [ 2.25156363e-03 -4.18877473e-05 9.99997464e-01 1.24800972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.56, Y:203.56, Z:1.25 [[ 5.20603644e-01 -8.53797636e-01 -1.20145748e-03 1.99563326e+02] [ 8.53795512e-01 5.20605029e-01 -1.90468347e-03 2.03564671e+02] [ 2.25169905e-03 -3.42138510e-05 9.99997464e-01 1.24751613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.58, Y:203.59, Z:1.25 [[ 5.22609432e-01 -8.52571363e-01 -1.20550170e-03 1.99581490e+02] [ 8.52569242e-01 5.22610821e-01 -1.90212038e-03 2.03590247e+02] [ 2.25170159e-03 -3.37076234e-05 9.99997464e-01 1.24690263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.59, Y:203.61, Z:1.25 [[ 5.21745609e-01 -8.53100249e-01 -1.21862046e-03 1.99591976e+02] [ 8.53098148e-01 5.21747030e-01 -1.89380636e-03 2.03612935e+02] [ 2.25141828e-03 -5.15177027e-05 9.99997464e-01 1.24799854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.61, Y:203.64, Z:1.25 [[ 5.20730441e-01 -8.53720304e-01 -1.20442688e-03 1.99606705e+02] [ 8.53718184e-01 5.20731832e-01 -1.90279060e-03 2.03638737e+02] [ 2.25163438e-03 -3.74001480e-05 9.99997464e-01 1.24931991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.62, Y:203.66, Z:1.25 [[ 5.20995372e-01 -8.53558639e-01 -1.21325545e-03 1.99621863e+02] [ 8.53556532e-01 5.20996783e-01 -1.89720264e-03 2.03661378e+02] [ 2.25147590e-03 -4.71483197e-05 9.99997464e-01 1.24950470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.64, Y:203.68, Z:1.25 [[ 5.17937955e-01 -8.55417340e-01 -1.20363750e-03 1.99637312e+02] [ 8.55415224e-01 5.17939352e-01 -1.90328504e-03 2.03684603e+02] [ 2.25151425e-03 -4.38262842e-05 9.99997464e-01 1.24894908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.65, Y:203.71, Z:1.25 [[ 5.15977462e-01 -8.56601309e-01 -1.20648989e-03 1.99652559e+02] [ 8.56599200e-01 5.15978870e-01 -1.90148222e-03 2.03708624e+02] [ 2.25133545e-03 -5.23563097e-05 9.99997464e-01 1.24873116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.67, Y:203.73, Z:1.25 [[ 5.15431399e-01 -8.56929991e-01 -1.20948985e-03 1.99666574e+02] [ 8.56927888e-01 5.15432815e-01 -1.89958742e-03 2.03729912e+02] [ 2.25122419e-03 -5.73385825e-05 9.99997464e-01 1.24832205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:203.75, Z:1.25 [[ 5.12881952e-01 -8.58458305e-01 -1.20085124e-03 1.99682357e+02] [ 8.58456193e-01 5.12883355e-01 -1.90503818e-03 2.03754057e+02] [ 2.25129246e-03 -5.38184818e-05 9.99997464e-01 1.24765271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.70, Y:203.78, Z:1.25 [[ 5.12612729e-01 -8.58619093e-01 -1.20145340e-03 1.99697455e+02] [ 8.58616982e-01 5.12614134e-01 -1.90465833e-03 2.03778295e+02] [ 2.25125801e-03 -5.52361885e-05 9.99997464e-01 1.24771718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:203.80, Z:1.25 [[ 5.11390396e-01 -8.59347672e-01 -1.20085602e-03 1.99712704e+02] [ 8.59345562e-01 5.11391802e-01 -1.90503490e-03 2.03801535e+02] [ 2.25119523e-03 -5.77337366e-05 9.99997464e-01 1.24777832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.73, Y:203.83, Z:1.25 [[ 5.08109009e-01 -8.61291934e-01 -1.20026030e-03 1.99727664e+02] [ 8.61289828e-01 5.08110422e-01 -1.90541016e-03 2.03825017e+02] [ 2.25097916e-03 -6.56159170e-05 9.99997464e-01 1.24784111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:203.85, Z:1.25 [[ 5.07972522e-01 -8.61372432e-01 -1.20477406e-03 1.99742098e+02] [ 8.61370333e-01 5.07973945e-01 -1.90256728e-03 2.03847450e+02] [ 2.25081284e-03 -7.13047331e-05 9.99997464e-01 1.24688994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.76, Y:203.87, Z:1.25 [[ 5.07297256e-01 -8.61770303e-01 -1.19941571e-03 1.99757188e+02] [ 8.61768198e-01 5.07298670e-01 -1.90593932e-03 2.03871514e+02] [ 2.25094390e-03 -6.67405252e-05 9.99997464e-01 1.24687960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.77, Y:203.90, Z:1.24 [[ 5.03959114e-01 -8.63726678e-01 -1.19878467e-03 1.99771861e+02] [ 8.63724577e-01 5.03960534e-01 -1.90633614e-03 2.03897834e+02] [ 2.25069354e-03 -7.47043071e-05 9.99997464e-01 1.24335167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.78, Y:203.92, Z:1.24 [[ 5.03415186e-01 -8.64043798e-01 -1.21058698e-03 1.99784084e+02] [ 8.64041716e-01 5.03416633e-01 -1.89891399e-03 2.03918536e+02] [ 2.25017447e-03 -9.00555112e-05 9.99997464e-01 1.24112586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.80, Y:203.94, Z:1.24 [[ 5.05698490e-01 -8.62709459e-01 -1.19486213e-03 1.99800237e+02] [ 8.62707349e-01 5.05699897e-01 -1.90880037e-03 2.03940323e+02] [ 2.25098179e-03 -6.55388785e-05 9.99997464e-01 1.24365947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:203.96, Z:1.25 [[ 5.08150506e-01 -8.61267472e-01 -1.18499812e-03 1.99818489e+02] [ 8.61265345e-01 5.08151886e-01 -1.91499785e-03 2.03964019e+02] [ 2.25148439e-03 -4.74906887e-05 9.99997464e-01 1.24774663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.83, Y:203.99, Z:1.25 [[ 5.08207816e-01 -8.61233639e-01 -1.19802147e-03 1.99832129e+02] [ 8.61231530e-01 5.08209224e-01 -1.90681549e-03 2.03988344e+02] [ 2.25105920e-03 -6.27153317e-05 9.99997464e-01 1.24535596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.85, Y:204.01, Z:1.25 [[ 5.09110841e-01 -8.60700139e-01 -1.19263378e-03 1.99848696e+02] [ 8.60698021e-01 5.09112235e-01 -1.91019782e-03 2.04013371e+02] [ 2.25129198e-03 -5.39951145e-05 9.99997464e-01 1.24926327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.86, Y:204.03, Z:1.25 [[ 5.14584191e-01 -8.57439002e-01 -1.21186004e-03 1.99863258e+02] [ 8.57436903e-01 5.14585614e-01 -1.89811504e-03 2.04033747e+02] [ 2.25112361e-03 -6.23535287e-05 9.99997464e-01 1.24956292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.88, Y:204.06, Z:1.25 [[ 5.14231679e-01 -8.57650480e-01 -1.19729562e-03 1.99880217e+02] [ 8.57648361e-01 5.14233071e-01 -1.90725797e-03 2.04061769e+02] [ 2.25144972e-03 -4.60861538e-05 9.99997464e-01 1.24972699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.90, Y:204.08, Z:1.25 [[ 5.21534530e-01 -8.53229311e-01 -1.21512842e-03 1.99896683e+02] [ 8.53227206e-01 5.21535943e-01 -1.89610066e-03 2.04083822e+02] [ 2.25154181e-03 -4.78986652e-05 9.99997464e-01 1.24768774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.91, Y:204.11, Z:1.25 [[ 5.23128086e-01 -8.52253222e-01 -1.20455836e-03 1.99909371e+02] [ 8.52251099e-01 5.23129472e-01 -1.90270673e-03 2.04105669e+02] [ 2.25172792e-03 -3.12268560e-05 9.99997464e-01 1.24939002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:204.13, Z:1.25 [[ 5.25337999e-01 -8.50892804e-01 -1.19244810e-03 1.99924498e+02] [ 8.50890660e-01 5.25339353e-01 -1.91026633e-03 2.04129147e+02] [ 2.25187179e-03 -1.11074639e-05 9.99997464e-01 1.24951496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.94, Y:204.15, Z:1.25 [[ 5.28859950e-01 -8.48708273e-01 -1.19183545e-03 1.99940632e+02] [ 8.48706122e-01 5.28861293e-01 -1.91064849e-03 2.04152448e+02] [ 2.25189882e-03 -1.05257777e-06 9.99997464e-01 1.24980049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.96, Y:204.18, Z:1.25 [[ 5.31024720e-01 -8.47355487e-01 -1.19400296e-03 1.99956260e+02] [ 8.47353336e-01 5.31026063e-01 -1.90929693e-03 2.04175252e+02] [ 2.25189992e-03 2.14147465e-06 9.99997464e-01 1.24952659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:204.20, Z:1.25 [[ 5.33636301e-01 -8.45713237e-01 -1.19110496e-03 1.99973314e+02] [ 8.45711078e-01 5.33637630e-01 -1.91110312e-03 2.04197255e+02] [ 2.25186363e-03 1.25033387e-05 9.99997464e-01 1.24936757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.99, Y:204.22, Z:1.25 [[ 5.34417576e-01 -8.45219757e-01 -1.19049308e-03 1.99988599e+02] [ 8.45217595e-01 5.34418902e-01 -1.91148420e-03 2.04219261e+02] [ 2.25184622e-03 1.53050527e-05 9.99997464e-01 1.24959567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.00, Y:204.24, Z:1.25 [[ 5.34901035e-01 -8.44913881e-01 -1.18979848e-03 2.00004743e+02] [ 8.44911718e-01 5.34902358e-01 -1.91191646e-03 2.04240939e+02] [ 2.25183077e-03 1.74114153e-05 9.99997464e-01 1.24905303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.02, Y:204.26, Z:1.25 [[ 5.34570463e-01 -8.45123071e-01 -1.18917425e-03 2.00020561e+02] [ 8.45120908e-01 5.34571786e-01 -1.91230464e-03 2.04263638e+02] [ 2.25183177e-03 1.72655528e-05 9.99997464e-01 1.24832328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.04, Y:204.29, Z:1.25 [[ 5.33874978e-01 -8.45562591e-01 -1.18859566e-03 2.00036999e+02] [ 8.45560428e-01 5.33876301e-01 -1.91266420e-03 2.04286693e+02] [ 2.25184035e-03 1.60941069e-05 9.99997464e-01 1.24792921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.05, Y:204.31, Z:1.25 [[ 5.32865416e-01 -8.46199171e-01 -1.18800964e-03 2.00053456e+02] [ 8.46197009e-01 5.32866740e-01 -1.91302812e-03 2.04308863e+02] [ 2.25185363e-03 1.40963192e-05 9.99997464e-01 1.24770037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.07, Y:204.33, Z:1.25 [[ 5.30091729e-01 -8.47939473e-01 -1.18739178e-03 2.00072712e+02] [ 8.47937314e-01 5.30093059e-01 -1.91341154e-03 2.04331225e+02] [ 2.25188531e-03 7.44983002e-06 9.99997464e-01 1.24806502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.09, Y:204.35, Z:1.25 [[ 5.28824106e-01 -8.48730609e-01 -1.19057327e-03 2.00088885e+02] [ 8.48728457e-01 5.28825446e-01 -1.91143774e-03 2.04353231e+02] [ 2.25190116e-03 3.40940824e-07 9.99997464e-01 1.24813411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.11, Y:204.38, Z:1.25 [[ 5.25948085e-01 -8.50515847e-01 -1.18604898e-03 2.00107435e+02] [ 8.50513693e-01 5.25949422e-01 -1.91424320e-03 2.04375733e+02] [ 2.25189595e-03 -1.95835037e-06 9.99997464e-01 1.24696912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.12, Y:204.40, Z:1.25 [[ 5.23929071e-01 -8.51761070e-01 -1.18650889e-03 2.00123571e+02] [ 8.51758920e-01 5.23930415e-01 -1.91395809e-03 2.04398534e+02] [ 2.25188308e-03 -7.84124532e-06 9.99997464e-01 1.24689477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.14, Y:204.42, Z:1.25 [[ 5.22309868e-01 -8.52754945e-01 -1.18590662e-03 2.00140413e+02] [ 8.52752796e-01 5.22311214e-01 -1.91433119e-03 2.04421509e+02] [ 2.25186771e-03 -1.14111134e-05 9.99997464e-01 1.24707629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.44275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.16, Y:204.44, Z:1.25 [[ 5.19425943e-01 -8.54514649e-01 -1.18530799e-03 2.00159591e+02] [ 8.54512504e-01 5.19427295e-01 -1.91470177e-03 2.04442749e+02] [ 2.25182203e-03 -1.83147280e-05 9.99997464e-01 1.24774286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:204.46, Z:1.25 [[ 5.18007279e-01 -8.55375389e-01 -1.18471038e-03 2.00175576e+02] [ 8.55373245e-01 5.18008633e-01 -1.91507147e-03 2.04464592e+02] [ 2.25179521e-03 -2.13486040e-05 9.99997464e-01 1.24838490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.19, Y:204.49, Z:1.25 [[ 5.16417974e-01 -8.56335842e-01 -1.18427452e-03 2.00193266e+02] [ 8.56333700e-01 5.16419331e-01 -1.91534096e-03 2.04485927e+02] [ 2.25175737e-03 -2.50176844e-05 9.99997464e-01 1.24797228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.21, Y:204.51, Z:1.25 [[ 5.16947528e-01 -8.56016269e-01 -1.18365248e-03 2.00208859e+02] [ 8.56014125e-01 5.16948883e-01 -1.91572530e-03 2.04507583e+02] [ 2.25177985e-03 -2.28937851e-05 9.99997464e-01 1.24716735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.22, Y:204.53, Z:1.25 [[ 5.16016498e-01 -8.56577837e-01 -1.17621130e-03 2.00224996e+02] [ 8.56575684e-01 5.16017838e-01 -1.92031882e-03 2.04531439e+02] [ 2.25184855e-03 -1.65978033e-05 9.99997464e-01 1.24698621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.24, Y:204.55, Z:1.25 [[ 5.16164784e-01 -8.56488481e-01 -1.18251935e-03 2.00240867e+02] [ 8.56486337e-01 5.16166138e-01 -1.91642648e-03 2.04553165e+02] [ 2.25177365e-03 -2.36198114e-05 9.99997464e-01 1.24591546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.26, Y:204.58, Z:1.25 [[ 5.15993260e-01 -8.56591828e-01 -1.18190975e-03 2.00256907e+02] [ 8.56589683e-01 5.15994613e-01 -1.91680236e-03 2.04576570e+02] [ 2.25177630e-03 -2.33546039e-05 9.99997464e-01 1.24543261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.27, Y:204.60, Z:1.25 [[ 5.16188593e-01 -8.56474133e-01 -1.18134049e-03 2.00273152e+02] [ 8.56471988e-01 5.16189944e-01 -1.91715314e-03 2.04599317e+02] [ 2.25178815e-03 -2.21724566e-05 9.99997464e-01 1.24544407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.29, Y:204.62, Z:1.25 [[ 5.17772514e-01 -8.55517522e-01 -1.18077237e-03 2.00290856e+02] [ 8.55515373e-01 5.17773860e-01 -1.91750298e-03 2.04620830e+02] [ 2.25183046e-03 -1.73385757e-05 9.99997464e-01 1.24585535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:204.64, Z:1.25 [[ 5.18674642e-01 -8.54970890e-01 -1.18018267e-03 2.00306024e+02] [ 8.54968739e-01 5.18675984e-01 -1.91786585e-03 2.04644742e+02] [ 2.25185189e-03 -1.42709080e-05 9.99997464e-01 1.24691085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.32, Y:204.67, Z:1.25 [[ 5.20926971e-01 -8.53600433e-01 -1.17958634e-03 2.00319771e+02] [ 8.53598278e-01 5.20928307e-01 -1.91823256e-03 2.04668976e+02] [ 2.25188406e-03 -7.63379281e-06 9.99997464e-01 1.24888751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:204.69, Z:1.25 [[ 5.22428364e-01 -8.52682364e-01 -1.17895032e-03 2.00334067e+02] [ 8.52680206e-01 5.22429694e-01 -1.91862337e-03 2.04692295e+02] [ 2.25189497e-03 -2.92433445e-06 9.99997464e-01 1.24969690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.35, Y:204.72, Z:1.25 [[ 5.23811506e-01 -8.51833386e-01 -1.17837888e-03 2.00348121e+02] [ 8.51831224e-01 5.23812832e-01 -1.91897428e-03 2.04715680e+02] [ 2.25189634e-03 1.40088488e-06 9.99997464e-01 1.25030232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.36, Y:204.74, Z:1.25 [[ 5.24722272e-01 -8.51272665e-01 -1.17772593e-03 2.00362323e+02] [ 8.51270501e-01 5.24723594e-01 -1.91937493e-03 2.04739967e+02] [ 2.25189199e-03 4.57542747e-06 9.99997464e-01 1.25070148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.38, Y:204.76, Z:1.25 [[ 5.25994476e-01 -8.50487169e-01 -1.17711104e-03 2.00376449e+02] [ 8.50485003e-01 5.25995794e-01 -1.91975195e-03 2.04763167e+02] [ 2.25187986e-03 8.66363508e-06 9.99997464e-01 1.25150342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.39, Y:204.79, Z:1.25 [[ 5.26011136e-01 -8.50476866e-01 -1.17646316e-03 2.00391482e+02] [ 8.50474699e-01 5.26012452e-01 -1.92014890e-03 2.04786975e+02] [ 2.25187650e-03 9.46755264e-06 9.99997464e-01 1.25175599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.41, Y:204.81, Z:1.25 [[ 5.26534998e-01 -8.50152641e-01 -1.17586206e-03 2.00406263e+02] [ 8.50150472e-01 5.26536310e-01 -1.92051694e-03 2.04809774e+02] [ 2.25186662e-03 1.15596922e-05 9.99997464e-01 1.25114342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.42, Y:204.83, Z:1.25 [[ 5.24333557e-01 -8.51512157e-01 -1.16960249e-03 2.00420577e+02] [ 8.51509982e-01 5.24334862e-01 -1.92434697e-03 2.04834145e+02] [ 2.25186820e-03 1.30714946e-05 9.99997464e-01 1.25138951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.44, Y:204.86, Z:1.25 [[ 5.23240873e-01 -8.52184023e-01 -1.17500053e-03 2.00435320e+02] [ 8.52181858e-01 5.23242192e-01 -1.92104528e-03 2.04857987e+02] [ 2.25189395e-03 3.85527699e-06 9.99997464e-01 1.25042606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.45, Y:204.88, Z:1.25 [[ 5.22252005e-01 -8.52790399e-01 -1.17440816e-03 2.00450111e+02] [ 8.52788234e-01 5.22253326e-01 -1.92140735e-03 2.04880971e+02] [ 2.25189631e-03 1.93737656e-06 9.99997464e-01 1.24852187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.46, Y:204.91, Z:1.25 [[ 5.18722256e-01 -8.54942012e-01 -1.17378450e-03 2.00463291e+02] [ 8.54939852e-01 5.18723584e-01 -1.92178827e-03 2.04905738e+02] [ 2.25188723e-03 -6.64079936e-06 9.99997464e-01 1.24751584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.48, Y:204.93, Z:1.25 [[ 5.16407804e-01 -8.56341989e-01 -1.17372808e-03 2.00478912e+02] [ 8.56339833e-01 5.16409138e-01 -1.92182270e-03 2.04928942e+02] [ 2.25186138e-03 -1.26658704e-05 9.99997464e-01 1.24805330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.49, Y:204.95, Z:1.25 [[ 5.14568163e-01 -8.57448675e-01 -1.17253288e-03 2.00492657e+02] [ 8.57446520e-01 5.14569499e-01 -1.92255163e-03 2.04952615e+02] [ 2.25183901e-03 -1.61003781e-05 9.99997464e-01 1.24913672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.51, Y:204.98, Z:1.25 [[ 5.12276857e-01 -8.58819567e-01 -1.17195678e-03 2.00506585e+02] [ 8.58817414e-01 5.12278197e-01 -1.92290275e-03 2.04977076e+02] [ 2.25179441e-03 -2.14383190e-05 9.99997464e-01 1.24996406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.52, Y:205.00, Z:1.25 [[ 5.12527239e-01 -8.58670168e-01 -1.17137931e-03 2.00519117e+02] [ 8.58668014e-01 5.12528577e-01 -1.92325447e-03 2.04997911e+02] [ 2.25180661e-03 -2.01056421e-05 9.99997464e-01 1.24990507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.53, Y:205.03, Z:1.25 [[ 5.06963829e-01 -8.61966564e-01 -1.14845956e-03 2.00534392e+02] [ 8.61964387e-01 5.06965129e-01 -1.93720891e-03 2.05026871e+02] [ 2.25203826e-03 -7.83639834e-06 9.99997464e-01 1.25128498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.55, Y:205.05, Z:1.25 [[ 5.05999756e-01 -8.62532817e-01 -1.17774379e-03 2.00545952e+02] [ 8.62530682e-01 5.06001124e-01 -1.91938161e-03 2.05047533e+02] [ 2.25146930e-03 -4.46335303e-05 9.99997464e-01 1.25073722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.56, Y:205.07, Z:1.25 [[ 5.05151863e-01 -8.63029699e-01 -1.15547680e-03 2.00560941e+02] [ 8.63027534e-01 5.05153184e-01 -1.93291469e-03 2.05073338e+02] [ 2.25185557e-03 -2.07928409e-05 9.99997464e-01 1.25136740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.57, Y:205.10, Z:1.25 [[ 5.02555327e-01 -8.64544258e-01 -1.16973078e-03 2.00574462e+02] [ 8.64542118e-01 5.02556687e-01 -1.92424985e-03 2.05098106e+02] [ 2.25145519e-03 -4.42395103e-05 9.99997465e-01 1.25178122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.31275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:200.59, Y:205.12, Z:1.25 [[ 5.00561230e-01 -8.65700345e-01 -1.16914224e-03 2.00585705e+02] [ 8.65698207e-01 5.00562593e-01 -1.92460738e-03 2.05122424e+02] [ 2.25136214e-03 -4.87405009e-05 9.99997465e-01 1.25200192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.60, Y:205.15, Z:1.25 [[ 5.02821475e-01 -8.64389508e-01 -1.15896820e-03 2.00599005e+02] [ 8.64387352e-01 5.02822809e-01 -1.93078209e-03 2.05147656e+02] [ 2.25170343e-03 -3.09587603e-05 9.99997464e-01 1.24985346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.61, Y:205.17, Z:1.25 [[ 5.01074952e-01 -8.65403109e-01 -1.16220036e-03 2.00611960e+02] [ 8.65400961e-01 5.01076299e-01 -1.92881980e-03 2.05173558e+02] [ 2.25155771e-03 -3.92860153e-05 9.99997464e-01 1.24875017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.63, Y:205.20, Z:1.25 [[ 5.03798366e-01 -8.63820484e-01 -1.17371615e-03 2.00625640e+02] [ 8.63818347e-01 5.03799731e-01 -1.92182928e-03 2.05197122e+02] [ 2.25143339e-03 -4.56630954e-05 9.99997464e-01 1.25233248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.64, Y:205.22, Z:1.25 [[ 5.04192857e-01 -8.63590296e-01 -1.16798434e-03 2.00641045e+02] [ 8.63588150e-01 5.04194208e-01 -1.92530648e-03 2.05224627e+02] [ 2.25156693e-03 -3.79316632e-05 9.99997465e-01 1.25208550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.65, Y:205.25, Z:1.25 [[ 5.05585057e-01 -8.62775954e-01 -1.18448446e-03 2.00652424e+02] [ 8.62773830e-01 5.05586442e-01 -1.91529732e-03 2.05246223e+02] [ 2.25133176e-03 -5.35964917e-05 9.99997464e-01 1.25138158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.67, Y:205.27, Z:1.25 [[ 5.05307605e-01 -8.62938505e-01 -1.16695733e-03 2.00667088e+02] [ 8.62936356e-01 5.05308951e-01 -1.92591741e-03 2.05270748e+02] [ 2.25162227e-03 -3.38291895e-05 9.99997465e-01 1.25144013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.68, Y:205.30, Z:1.25 [[ 5.07436253e-01 -8.61688510e-01 -1.16633793e-03 2.00677984e+02] [ 8.61686357e-01 5.07437593e-01 -1.92629245e-03 2.05295621e+02] [ 2.25170778e-03 -2.75468558e-05 9.99997465e-01 1.25349592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.69, Y:205.32, Z:1.25 [[ 5.09902874e-01 -8.60231195e-01 -1.16219401e-03 2.00694452e+02] [ 8.60229033e-01 5.09904198e-01 -1.92879866e-03 2.05320904e+02] [ 2.25182038e-03 -1.62530488e-05 9.99997465e-01 1.25247792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.71, Y:205.34, Z:1.25 [[ 5.11065894e-01 -8.59540730e-01 -1.17754119e-03 2.00706718e+02] [ 8.59538587e-01 5.11067249e-01 -1.91953352e-03 2.05344257e+02] [ 2.25171998e-03 -3.11339821e-05 9.99997464e-01 1.25312577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.72, Y:205.37, Z:1.25 [[ 5.10927226e-01 -8.59623184e-01 -1.16280219e-03 2.00720564e+02] [ 8.59621021e-01 5.10928549e-01 -1.92842086e-03 2.05371966e+02] [ 2.25182412e-03 -1.42864875e-05 9.99997465e-01 1.25377901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.64275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.73, Y:205.40, Z:1.25 [[ 5.12481270e-01 -8.58697594e-01 -1.17866858e-03 2.00733487e+02] [ 8.58695451e-01 5.12482625e-01 -1.91885295e-03 2.05397001e+02] [ 2.25176158e-03 -2.87411469e-05 9.99997464e-01 1.25411168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.75, Y:205.42, Z:1.25 [[ 5.12661673e-01 -8.58589899e-01 -1.18071833e-03 2.00746076e+02] [ 8.58587758e-01 5.12663032e-01 -1.91761746e-03 2.05420537e+02] [ 2.25175762e-03 -3.06613302e-05 9.99997464e-01 1.25428908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.70275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:200.76, Y:205.44, Z:1.26 [[ 5.14384718e-01 -8.57558733e-01 -1.17503362e-03 2.00757157e+02] [ 8.57556582e-01 5.14386060e-01 -1.92104522e-03 2.05440409e+02] [ 2.25183001e-03 -1.95015100e-05 9.99997464e-01 1.25671336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.77, Y:205.46, Z:1.26 [[ 5.14595952e-01 -8.57432033e-01 -1.14679333e-03 2.00770756e+02] [ 8.57429843e-01 5.14597230e-01 -1.93805131e-03 2.05463425e+02] [ 2.25188394e-03 1.40185300e-05 9.99997464e-01 1.25698611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.79, Y:205.49, Z:1.26 [[ 5.13308569e-01 -8.58203360e-01 -1.14287836e-03 2.00789500e+02] [ 8.58201167e-01 5.13309841e-01 -1.94040923e-03 2.05492936e+02] [ 2.25191643e-03 1.52091438e-05 9.99997464e-01 1.25622422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.80, Y:205.51, Z:1.26 [[ 5.11695328e-01 -8.59166157e-01 -1.18606786e-03 2.00797380e+02] [ 8.59164025e-01 5.11696701e-01 -1.91443336e-03 2.05512763e+02] [ 2.25172336e-03 -3.94202255e-05 9.99997464e-01 1.25842797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.81, Y:205.54, Z:1.26 [[ 5.11231532e-01 -8.59442262e-01 -1.14841190e-03 2.00810786e+02] [ 8.59440079e-01 5.11232822e-01 -1.93702930e-03 2.05535385e+02] [ 2.25187070e-03 3.27923959e-06 9.99997465e-01 1.25945980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.83, Y:205.56, Z:1.26 [[ 5.09314354e-01 -8.60579795e-01 -1.14224859e-03 2.00825113e+02] [ 8.60577607e-01 5.09315635e-01 -1.94072068e-03 2.05561730e+02] [ 2.25191007e-03 5.44334107e-06 9.99997464e-01 1.25880328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.84, Y:205.59, Z:1.26 [[ 5.08258464e-01 -8.61203806e-01 -1.15689220e-03 2.00839198e+02] [ 8.61201639e-01 5.08259781e-01 -1.93195179e-03 2.05586481e+02] [ 2.25180601e-03 -1.43866076e-05 9.99997465e-01 1.25791603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.85, Y:205.61, Z:1.26 [[ 5.07944550e-01 -8.61388993e-01 -1.15623489e-03 2.00851312e+02] [ 8.61386826e-01 5.07945866e-01 -1.93234510e-03 2.05607451e+02] [ 2.25180553e-03 -1.44413408e-05 9.99997465e-01 1.25703161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.87, Y:205.63, Z:1.26 [[ 5.05560166e-01 -8.62790597e-01 -1.14186156e-03 2.00865890e+02] [ 8.62788414e-01 5.05561456e-01 -1.94093731e-03 2.05634329e+02] [ 2.25190365e-03 -3.92433197e-06 9.99997464e-01 1.25702347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.88, Y:205.66, Z:1.26 [[ 5.04286183e-01 -8.63535816e-01 -1.15796097e-03 2.00881357e+02] [ 8.63533656e-01 5.04287511e-01 -1.93131727e-03 2.05660796e+02] [ 2.25170689e-03 -2.60016540e-05 9.99997465e-01 1.25574447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.89, Y:205.68, Z:1.25 [[ 5.02648808e-01 -8.64489912e-01 -1.16921998e-03 2.00893626e+02] [ 8.64487771e-01 5.02650166e-01 -1.92460641e-03 2.05683842e+02] [ 2.25151145e-03 -4.33752549e-05 9.99997464e-01 1.25331874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.91, Y:205.71, Z:1.26 [[ 5.01540130e-01 -8.65133606e-01 -1.15849382e-03 2.00906830e+02] [ 8.65131451e-01 5.01541467e-01 -1.93099355e-03 2.05707212e+02] [ 2.25160011e-03 -3.37786852e-05 9.99997465e-01 1.25820508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.92, Y:205.73, Z:1.25 [[ 4.98451623e-01 -8.66916752e-01 -1.15123271e-03 2.00920483e+02] [ 8.66914592e-01 4.98452951e-01 -1.93531287e-03 2.05732818e+02] [ 2.25159049e-03 -3.33605979e-05 9.99997465e-01 1.25224607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.93, Y:205.76, Z:1.25 [[ 4.95968299e-01 -8.68339854e-01 -1.15913964e-03 2.00933786e+02] [ 8.68337710e-01 4.95969651e-01 -1.93060942e-03 2.05755868e+02] [ 2.25132319e-03 -4.90035924e-05 9.99997465e-01 1.25320435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.95, Y:205.78, Z:1.25 [[ 4.94282352e-01 -8.69300655e-01 -1.15220397e-03 2.00948233e+02] [ 8.69298503e-01 4.94283693e-01 -1.93473031e-03 2.05780361e+02] [ 2.25137796e-03 -4.53061389e-05 9.99997465e-01 1.25461238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.96, Y:205.80, Z:1.26 [[ 4.93000009e-01 -8.70028540e-01 -1.15348894e-03 2.00963949e+02] [ 8.70026392e-01 4.93001355e-01 -1.93396689e-03 2.05804382e+02] [ 2.25127800e-03 -5.01201325e-05 9.99997465e-01 1.26077290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.98, Y:205.83, Z:1.26 [[ 4.92335123e-01 -8.70404951e-01 -1.16130129e-03 2.00976420e+02] [ 8.70402814e-01 4.92336489e-01 -1.92932588e-03 2.05826973e+02] [ 2.25104580e-03 -6.09250165e-05 9.99997465e-01 1.26022394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.99, Y:205.85, Z:1.26 [[ 4.90274941e-01 -8.71567062e-01 -1.15701866e-03 2.00987792e+02] [ 8.71564923e-01 4.90276302e-01 -1.93186732e-03 2.05851427e+02] [ 2.25101076e-03 -6.12707386e-05 9.99997465e-01 1.25584092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.00, Y:205.88, Z:1.26 [[ 4.91328898e-01 -8.70973356e-01 -1.15154018e-03 2.01003534e+02] [ 8.70971208e-01 4.91330245e-01 -1.93511503e-03 2.05875610e+02] [ 2.25122015e-03 -5.21804005e-05 9.99997465e-01 1.26120941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.01, Y:205.90, Z:1.26 [[ 4.90583672e-01 -8.71393317e-01 -1.16061921e-03 2.01012642e+02] [ 8.71391183e-01 4.90585041e-01 -1.92973817e-03 2.05898626e+02] [ 2.25094337e-03 -6.46553122e-05 9.99997465e-01 1.25662141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.03, Y:205.92, Z:1.26 [[ 4.90130127e-01 -8.71648527e-01 -1.14246673e-03 2.01026690e+02] [ 8.71646368e-01 4.90131456e-01 -1.94047939e-03 2.05923999e+02] [ 2.25137488e-03 -4.47395719e-05 9.99997465e-01 1.25544645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.04, Y:205.95, Z:1.26 [[ 4.93245116e-01 -8.69889606e-01 -1.15279065e-03 2.01041840e+02] [ 8.69887457e-01 4.93246460e-01 -1.93436540e-03 2.05946550e+02] [ 2.25129426e-03 -4.86818432e-05 9.99997465e-01 1.26340313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.06, Y:205.97, Z:1.26 [[ 4.93376455e-01 -8.69815114e-01 -1.15827636e-03 2.01055364e+02] [ 8.69812972e-01 4.93377812e-01 -1.93111946e-03 2.05971462e+02] [ 2.25118475e-03 -5.47149282e-05 9.99997465e-01 1.26431280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.07, Y:206.00, Z:1.26 [[ 4.96932930e-01 -8.67788175e-01 -1.16067168e-03 2.01069692e+02] [ 8.67786031e-01 4.96934283e-01 -1.92970646e-03 2.05996023e+02] [ 2.25135399e-03 -4.82799872e-05 9.99997465e-01 1.26268250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.08, Y:206.02, Z:1.26 [[ 4.96193142e-01 -8.68211395e-01 -1.15752829e-03 2.01081280e+02] [ 8.68209247e-01 4.96194490e-01 -1.93155948e-03 2.06019633e+02] [ 2.25136111e-03 -4.65501955e-05 9.99997465e-01 1.26317377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.09, Y:206.04, Z:1.26 [[ 4.97434494e-01 -8.67500773e-01 -1.15439315e-03 2.01093868e+02] [ 8.67498619e-01 4.97435832e-01 -1.93340854e-03 2.06042737e+02] [ 2.25146992e-03 -3.96903640e-05 9.99997465e-01 1.26381435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.11, Y:206.07, Z:1.27 [[ 4.97934899e-01 -8.67213652e-01 -1.14787221e-03 2.01106531e+02] [ 8.67211489e-01 4.97936222e-01 -1.93724967e-03 2.06069005e+02] [ 2.25157651e-03 -3.08237511e-05 9.99997465e-01 1.26600503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.12, Y:206.09, Z:1.26 [[ 4.98592267e-01 -8.66835866e-01 -1.15458460e-03 2.01119261e+02] [ 8.66833711e-01 4.98593603e-01 -1.93329777e-03 2.06093495e+02] [ 2.25152035e-03 -3.69055358e-05 9.99997465e-01 1.26300102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.13, Y:206.12, Z:1.27 [[ 4.99307858e-01 -8.66423871e-01 -1.15662374e-03 2.01130206e+02] [ 8.66421718e-01 4.99309197e-01 -1.93209878e-03 2.06116340e+02] [ 2.25152937e-03 -3.74118234e-05 9.99997465e-01 1.26583665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.14, Y:206.14, Z:1.27 [[ 4.99172504e-01 -8.66501879e-01 -1.14222791e-03 2.01143106e+02] [ 8.66499707e-01 4.99173810e-01 -1.94054992e-03 2.06140135e+02] [ 2.25166041e-03 -2.10709820e-05 9.99997465e-01 1.26571285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:206.16, Z:1.26 [[ 4.96986745e-01 -8.67757387e-01 -1.13740805e-03 2.01153829e+02] [ 8.67755211e-01 4.96988046e-01 -1.94337686e-03 2.06163305e+02] [ 2.25165782e-03 -2.11592200e-05 9.99997465e-01 1.26206445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.17, Y:206.19, Z:1.27 [[ 4.96357757e-01 -8.68117330e-01 -1.13043013e-03 2.01170158e+02] [ 8.68115146e-01 4.96359044e-01 -1.94746612e-03 2.06188937e+02] [ 2.25172830e-03 -1.47036018e-05 9.99997465e-01 1.26653206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.18, Y:206.21, Z:1.27 [[ 4.93446254e-01 -8.69775539e-01 -1.14309908e-03 2.01182670e+02] [ 8.69773376e-01 4.93447577e-01 -1.94004120e-03 2.06212968e+02] [ 2.25145985e-03 -3.69310844e-05 9.99997465e-01 1.26675325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.20, Y:206.24, Z:1.27 [[ 4.92074383e-01 -8.70552411e-01 -1.14071545e-03 2.01195703e+02] [ 8.70550247e-01 4.92075704e-01 -1.94143678e-03 2.06237311e+02] [ 2.25144082e-03 -3.77188078e-05 9.99997465e-01 1.26692036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.21, Y:206.26, Z:1.26 [[ 4.87925171e-01 -8.72884721e-01 -1.13605761e-03 2.01205500e+02] [ 8.72882557e-01 4.87926492e-01 -1.94416131e-03 2.06260066e+02] [ 2.25134131e-03 -4.30396292e-05 9.99997465e-01 1.26446709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.22, Y:206.28, Z:1.27 [[ 4.87173422e-01 -8.73304520e-01 -1.12769799e-03 2.01219971e+02] [ 8.73302346e-01 4.87174726e-01 -1.94904574e-03 2.06283222e+02] [ 2.25149641e-03 -3.52980137e-05 9.99997465e-01 1.26671367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.23, Y:206.31, Z:1.27 [[ 4.84752240e-01 -8.74650780e-01 -1.13056460e-03 2.01232780e+02] [ 8.74648614e-01 4.84753556e-01 -1.94737175e-03 2.06308026e+02] [ 2.25131543e-03 -4.48539408e-05 9.99997465e-01 1.26733413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.24, Y:206.33, Z:1.27 [[ 4.81637372e-01 -8.76369872e-01 -1.13522441e-03 2.01243823e+02] [ 8.76367717e-01 4.81638706e-01 -1.94465150e-03 2.06331511e+02] [ 2.25100200e-03 -5.82571853e-05 9.99997465e-01 1.26592420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.26, Y:206.36, Z:1.27 [[ 4.80066887e-01 -8.77231157e-01 -1.13179883e-03 2.01256730e+02] [ 8.77228999e-01 4.80068218e-01 -1.94664918e-03 2.06355399e+02] [ 2.25100196e-03 -5.83249484e-05 9.99997465e-01 1.26551893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.27, Y:206.38, Z:1.26 [[ 4.77669935e-01 -8.78538650e-01 -1.12820138e-03 2.01269378e+02] [ 8.78536491e-01 4.77671264e-01 -1.94874501e-03 2.06378937e+02] [ 2.25095719e-03 -6.03091738e-05 9.99997465e-01 1.26488525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.28, Y:206.40, Z:1.26 [[ 4.73964464e-01 -8.80543245e-01 -1.13180163e-03 2.01279662e+02] [ 8.80541096e-01 4.73965810e-01 -1.94664853e-03 2.06402361e+02] [ 2.25054349e-03 -7.39556146e-05 9.99997465e-01 1.26204899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.30, Y:206.43, Z:1.27 [[ 4.73309309e-01 -8.80895600e-01 -1.11336752e-03 2.01295900e+02] [ 8.80893427e-01 4.73310615e-01 -1.95737266e-03 2.06427859e+02] [ 2.25120963e-03 -5.43154308e-05 9.99997465e-01 1.26506495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.9627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.31, Y:206.45, Z:1.27 [[ 4.71101180e-01 -8.82078459e-01 -1.12720839e-03 2.01308010e+02] [ 8.82076308e-01 4.71102522e-01 -1.94932130e-03 2.06453535e+02] [ 2.25048505e-03 -7.59562521e-05 9.99997465e-01 1.26767116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.32, Y:206.48, Z:1.27 [[ 4.70736279e-01 -8.82273243e-01 -1.13194270e-03 2.01320258e+02] [ 8.82271099e-01 4.70737632e-01 -1.94656827e-03 2.06476545e+02] [ 2.25025313e-03 -8.23600227e-05 9.99997465e-01 1.26572250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.022755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.33, Y:206.50, Z:1.27 [[ 4.70017160e-01 -8.82656560e-01 -1.12539330e-03 2.01333129e+02] [ 8.82654408e-01 4.70018501e-01 -1.95037253e-03 2.06500738e+02] [ 2.25046478e-03 -7.66248014e-05 9.99997465e-01 1.26829866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.34, Y:206.52, Z:1.27 [[ 4.70470889e-01 -8.82414792e-01 -1.13061322e-03 2.01344825e+02] [ 8.82412647e-01 4.70472240e-01 -1.94734188e-03 2.06522619e+02] [ 2.25028542e-03 -8.14997370e-05 9.99997465e-01 1.26686129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.36, Y:206.55, Z:1.27 [[ 4.71245227e-01 -8.82001515e-01 -1.12427629e-03 2.01357334e+02] [ 8.81999360e-01 4.71246563e-01 -1.95101859e-03 2.06547343e+02] [ 2.25061269e-03 -7.22027695e-05 9.99997465e-01 1.26876072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.37, Y:206.57, Z:1.27 [[ 4.72652421e-01 -8.81248213e-01 -1.12969282e-03 2.01369237e+02] [ 8.81246063e-01 4.72653765e-01 -1.94787721e-03 2.06570058e+02] [ 2.25051688e-03 -7.48684744e-05 9.99997465e-01 1.26980300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.38, Y:206.59, Z:1.27 [[ 4.74945102e-01 -8.80014706e-01 -1.12520988e-03 2.01380123e+02] [ 8.80012547e-01 4.74946431e-01 -1.95047451e-03 2.06594347e+02] [ 2.25086067e-03 -6.38304954e-05 9.99997465e-01 1.26643911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.39, Y:206.62, Z:1.27 [[ 4.75332175e-01 -8.79805695e-01 -1.12360489e-03 2.01393257e+02] [ 8.79803533e-01 4.75333499e-01 -1.95140376e-03 2.06619740e+02] [ 2.25094319e-03 -6.09865591e-05 9.99997465e-01 1.26860788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.41, Y:206.64, Z:1.27 [[ 4.76404399e-01 -8.79225555e-01 -1.12760629e-03 2.01406032e+02] [ 8.79223397e-01 4.76405730e-01 -1.94908884e-03 2.06642915e+02] [ 2.25088681e-03 -6.28633356e-05 9.99997465e-01 1.26834036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.42, Y:206.67, Z:1.27 [[ 4.77229482e-01 -8.78777988e-01 -1.12706695e-03 2.01417852e+02] [ 8.78775828e-01 4.77230809e-01 -1.94940066e-03 2.06666259e+02] [ 2.25096146e-03 -6.01277243e-05 9.99997465e-01 1.26807816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.43, Y:206.69, Z:1.27 [[ 4.78864022e-01 -8.77888378e-01 -1.11492176e-03 2.01433868e+02] [ 8.77886199e-01 4.78865319e-01 -1.95641286e-03 2.06690168e+02] [ 2.25140948e-03 -4.19186889e-05 9.99997465e-01 1.26786205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.45, Y:206.71, Z:1.27 [[ 4.80551978e-01 -8.76965524e-01 -1.12565312e-03 2.01446224e+02] [ 8.76963357e-01 4.80553293e-01 -1.95021879e-03 2.06714585e+02] [ 2.25121096e-03 -4.99750447e-05 9.99997465e-01 1.26927640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.46, Y:206.74, Z:1.27 [[ 4.81226659e-01 -8.76595481e-01 -1.12500398e-03 2.01458922e+02] [ 8.76593312e-01 4.81227972e-01 -1.95059318e-03 2.06739572e+02] [ 2.25126455e-03 -4.74935259e-05 9.99997465e-01 1.26700558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.35275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.47, Y:206.76, Z:1.27 [[ 4.82063537e-01 -8.76135539e-01 -1.12431920e-03 2.01472053e+02] [ 8.76133367e-01 4.82064847e-01 -1.95098781e-03 2.06763497e+02] [ 2.25132452e-03 -4.45534790e-05 9.99997465e-01 1.26563818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.38275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.49, Y:206.79, Z:1.27 [[ 4.81796550e-01 -8.76282387e-01 -1.12375012e-03 2.01486153e+02] [ 8.76280216e-01 4.81797858e-01 -1.95131554e-03 2.06788328e+02] [ 2.25132384e-03 -4.45829024e-05 9.99997465e-01 1.26570232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.50, Y:206.81, Z:1.27 [[ 4.82482036e-01 -8.75905145e-01 -1.12315543e-03 2.01500718e+02] [ 8.75902972e-01 4.82483341e-01 -1.95165778e-03 2.06813950e+02] [ 2.25137087e-03 -4.21353644e-05 9.99997465e-01 1.26742953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.51, Y:206.84, Z:1.27 [[ 4.80238842e-01 -8.77137034e-01 -1.13009679e-03 2.01511296e+02] [ 8.77134874e-01 4.80240169e-01 -1.94766479e-03 2.06837011e+02] [ 2.25108679e-03 -5.59030178e-05 9.99997465e-01 1.27027010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.53, Y:206.86, Z:1.27 [[ 4.80545126e-01 -8.76969297e-01 -1.11052978e-03 2.01529021e+02] [ 8.76967110e-01 4.80546408e-01 -1.95890044e-03 2.06861525e+02] [ 2.25155664e-03 -3.25580318e-05 9.99997465e-01 1.26875153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.50275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.54, Y:206.89, Z:1.27 [[ 4.79722147e-01 -8.77419743e-01 -1.12100281e-03 2.01543298e+02] [ 8.77417571e-01 4.79723455e-01 -1.95288869e-03 2.06885959e+02] [ 2.25127443e-03 -4.67436062e-05 9.99997465e-01 1.26777384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5327550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.56, Y:206.91, Z:1.27 [[ 4.77996360e-01 -8.78361101e-01 -1.12037570e-03 2.01555847e+02] [ 8.78358931e-01 4.77997670e-01 -1.95324839e-03 2.06910592e+02] [ 2.25119438e-03 -5.04463817e-05 9.99997465e-01 1.26815556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.57, Y:206.93, Z:1.27 [[ 4.78240976e-01 -8.78227947e-01 -1.11496850e-03 2.01570957e+02] [ 8.78225769e-01 4.78242273e-01 -1.95634771e-03 2.06933747e+02] [ 2.25134430e-03 -4.35884275e-05 9.99997465e-01 1.26753710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.58, Y:206.96, Z:1.27 [[ 4.77184368e-01 -8.78802495e-01 -1.11950432e-03 2.01584827e+02] [ 8.78800325e-01 4.77185679e-01 -1.95374867e-03 2.06957417e+02] [ 2.25117064e-03 -5.15224318e-05 9.99997465e-01 1.26590671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.60, Y:206.98, Z:1.27 [[ 4.75508213e-01 -8.79710580e-01 -1.11097325e-03 2.01599369e+02] [ 8.79708401e-01 4.75509509e-01 -1.95863223e-03 2.06983125e+02] [ 2.25130784e-03 -4.59867876e-05 9.99997465e-01 1.26608649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.6527550960001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:201.61, Y:207.01, Z:1.27 [[ 4.72781083e-01 -8.81179208e-01 -1.11823798e-03 2.01613228e+02] [ 8.81177043e-01 4.72782402e-01 -1.95447577e-03 2.07007484e+02] [ 2.25092665e-03 -6.13264661e-05 9.99997465e-01 1.26606735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.68275509600005 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:201.63, Y:207.03, Z:1.26 [[ 4.72683048e-01 -8.81231807e-01 -1.11300579e-03 2.01627567e+02] [ 8.81229635e-01 4.72684355e-01 -1.95746632e-03 2.07030433e+02] [ 2.25108200e-03 -5.55525410e-05 9.99997465e-01 1.26198514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.7127550960001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:201.64, Y:207.06, Z:1.27 [[ 4.70943081e-01 -8.82162901e-01 -1.10926531e-03 2.01641490e+02] [ 8.82160727e-01 4.70944384e-01 -1.95960261e-03 2.07055110e+02] [ 2.25109099e-03 -5.56889989e-05 9.99997465e-01 1.26516222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.74275509600005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.66, Y:207.08, Z:1.26 [[ 4.67292382e-01 -8.84102138e-01 -1.11310129e-03 2.01655410e+02] [ 8.84099974e-01 4.67293702e-01 -1.95741344e-03 2.07083454e+02] [ 2.25069863e-03 -6.94084372e-05 9.99997465e-01 1.26318800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.772755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:201.67, Y:207.10, Z:1.26 [[ 4.68699786e-01 -8.83356788e-01 -1.13839806e-03 2.01668575e+02] [ 8.83354656e-01 4.68701159e-01 -1.94297464e-03 2.07103166e+02] [ 2.24990832e-03 -9.49374311e-05 9.99997464e-01 1.26280403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.80275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.68, Y:207.12, Z:1.26 [[ 4.69800811e-01 -8.82771750e-01 -1.11194604e-03 2.01682059e+02] [ 8.82769580e-01 4.69802122e-01 -1.95804442e-03 2.07124286e+02] [ 2.25090091e-03 -6.17012801e-05 9.99997465e-01 1.26378879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.70, Y:207.15, Z:1.26 [[ 4.69621282e-01 -8.82867295e-01 -1.09152961e-03 2.01695487e+02] [ 8.82865098e-01 4.69622549e-01 -1.96966123e-03 2.07146489e+02] [ 2.25155640e-03 -3.86785672e-05 9.99997465e-01 1.26164064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.86275509600006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:201.71, Y:207.17, Z:1.26 [[ 4.70081603e-01 -8.82622287e-01 -1.08856628e-03 2.01710654e+02] [ 8.82620086e-01 4.70082862e-01 -1.97135573e-03 2.07172124e+02] [ 2.25167886e-03 -3.40923968e-05 9.99997464e-01 1.26376692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.73, Y:207.20, Z:1.27 [[ 4.72903484e-01 -8.81113553e-01 -1.09576895e-03 2.01729235e+02] [ 8.81111358e-01 4.72904752e-01 -1.96723793e-03 2.07197388e+02] [ 2.25155435e-03 -3.51808029e-05 9.99997465e-01 1.26636812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.74, Y:207.22, Z:1.26 [[ 4.74702876e-01 -8.80145403e-01 -1.11787831e-03 2.01740095e+02] [ 8.80143234e-01 4.74704188e-01 -1.95459306e-03 2.07219928e+02] [ 2.25098761e-03 -5.60420908e-05 9.99997465e-01 1.26329536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.75, Y:207.24, Z:1.27 [[ 4.77139453e-01 -8.78826905e-01 -1.10164129e-03 2.01753063e+02] [ 8.78824711e-01 4.77140724e-01 -1.96386766e-03 2.07241206e+02] [ 2.25153766e-03 -3.11108469e-05 9.99997465e-01 1.26685223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.77, Y:207.26, Z:1.26 [[ 4.78858019e-01 -8.77891683e-01 -1.09147670e-03 2.01767170e+02] [ 8.77889473e-01 4.78859262e-01 -1.96967648e-03 2.07264127e+02] [ 2.25182633e-03 -1.50005302e-05 9.99997465e-01 1.26414172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.01275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.79, Y:207.29, Z:1.27 [[ 4.81855753e-01 -8.76249875e-01 -1.09101026e-03 2.01787977e+02] [ 8.76247661e-01 4.81856988e-01 -1.96994403e-03 2.07290591e+02] [ 2.25187412e-03 -6.76632931e-06 9.99997465e-01 1.26810336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.04275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.80, Y:207.31, Z:1.27 [[ 4.82671534e-01 -8.75800739e-01 -1.12092248e-03 2.01801869e+02] [ 8.75798562e-01 4.82672834e-01 -1.95277395e-03 2.07313335e+02] [ 2.25127970e-03 -3.91538929e-05 9.99997465e-01 1.26913931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.07275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.82, Y:207.34, Z:1.27 [[ 4.83084592e-01 -8.75572968e-01 -1.12028156e-03 2.01815963e+02] [ 8.75570790e-01 4.83085890e-01 -1.95314157e-03 2.07337705e+02] [ 2.25131017e-03 -3.73532114e-05 9.99997465e-01 1.26899709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.10275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:201.83, Y:207.36, Z:1.27 [[ 4.84613421e-01 -8.74727717e-01 -1.11965539e-03 2.01829969e+02] [ 8.74725536e-01 4.84614713e-01 -1.95350046e-03 2.07360468e+02] [ 2.25138247e-03 -3.26986205e-05 9.99997465e-01 1.26799598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.13275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.84, Y:207.38, Z:1.27 [[ 4.85464803e-01 -8.74255496e-01 -1.11894459e-03 2.01844401e+02] [ 8.74253313e-01 4.85466092e-01 -1.95390751e-03 2.07384585e+02] [ 2.25142404e-03 -2.96876882e-05 9.99997465e-01 1.26781295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16275509600007 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.86, Y:207.41, Z:1.27 [[ 4.87079738e-01 -8.73356788e-01 -1.11828566e-03 2.01858108e+02] [ 8.73354602e-01 4.87081021e-01 -1.95428457e-03 2.07407653e+02] [ 2.25148341e-03 -2.47675136e-05 9.99997465e-01 1.26874361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.19275509600004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:201.87, Y:207.43, Z:1.27 [[ 4.87392778e-01 -8.73182129e-01 -1.11769574e-03 2.01871723e+02] [ 8.73179942e-01 4.87394059e-01 -1.95462190e-03 2.07431999e+02] [ 2.25149917e-03 -2.32809091e-05 9.99997465e-01 1.26895710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22275509600007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:201.89, Y:207.46, Z:1.27 [[ 4.88656358e-01 -8.72475625e-01 -1.11649305e-03 2.01886751e+02] [ 8.72473435e-01 4.88657634e-01 -1.95530913e-03 2.07455769e+02] [ 2.25154240e-03 -1.86362862e-05 9.99997465e-01 1.26928404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.25275509600004 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.90, Y:207.48, Z:1.27 [[ 4.90138679e-01 -8.71643751e-01 -1.11682602e-03 2.01901383e+02] [ 8.71641558e-01 4.90139951e-01 -1.95511892e-03 2.07479118e+02] [ 2.25156824e-03 -1.51925663e-05 9.99997465e-01 1.26723178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2827550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.91, Y:207.50, Z:1.27 [[ 4.90159363e-01 -8.71632126e-01 -1.11119984e-03 2.01914907e+02] [ 8.71629927e-01 4.90160623e-01 -1.95833037e-03 2.07503386e+02] [ 2.25161007e-03 -8.66106716e-06 9.99997465e-01 1.26805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.31275509600005 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:201.93, Y:207.53, Z:1.27 [[ 4.90094953e-01 -8.71668338e-01 -1.11591090e-03 2.01929017e+02] [ 8.71666144e-01 4.90096223e-01 -1.95564219e-03 2.07528158e+02] [ 2.25157510e-03 -1.42513881e-05 9.99997465e-01 1.26745706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.3427550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:201.94, Y:207.55, Z:1.27 [[ 4.89472482e-01 -8.72018031e-01 -1.11529384e-03 2.01944601e+02] [ 8.72015837e-01 4.89473752e-01 -1.95599403e-03 2.07553081e+02] [ 2.25156913e-03 -1.51486395e-05 9.99997465e-01 1.26680319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.37275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:201.96, Y:207.58, Z:1.27 [[ 4.88882815e-01 -8.72348752e-01 -1.11730604e-03 2.01960183e+02] [ 8.72346562e-01 4.88884091e-01 -1.95484737e-03 2.07577967e+02] [ 2.25154181e-03 -1.89867961e-05 9.99997465e-01 1.26578109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.97, Y:207.60, Z:1.27 [[ 4.86112738e-01 -8.73895387e-01 -1.12182851e-03 2.01974553e+02] [ 8.73893207e-01 4.86114031e-01 -1.95227096e-03 2.07600127e+02] [ 2.25141717e-03 -3.13345304e-05 9.99997465e-01 1.26543867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.43275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:201.99, Y:207.62, Z:1.27 [[ 4.84397289e-01 -8.74847430e-01 -1.11376192e-03 2.01989034e+02] [ 8.74845242e-01 4.84398569e-01 -1.95686212e-03 2.07623590e+02] [ 2.25146047e-03 -2.64706151e-05 9.99997465e-01 1.26553616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.00, Y:207.65, Z:1.27 [[ 4.82730780e-01 -8.75768095e-01 -1.11311237e-03 2.02003586e+02] [ 8.75765908e-01 4.82732062e-01 -1.95723153e-03 2.07647040e+02] [ 2.25141596e-03 -3.00099602e-05 9.99997465e-01 1.26565633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.02, Y:207.67, Z:1.27 [[ 4.79984034e-01 -8.77276519e-01 -1.11250183e-03 2.02018344e+02] [ 8.77274335e-01 4.79985321e-01 -1.95757850e-03 2.07669216e+02] [ 2.25132220e-03 -3.63628728e-05 9.99997465e-01 1.26561678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.03, Y:207.69, Z:1.27 [[ 4.78238998e-01 -8.78229028e-01 -1.11185875e-03 2.02032827e+02] [ 8.78226846e-01 4.78240289e-01 -1.95794369e-03 2.07693591e+02] [ 2.25125863e-03 -4.00991711e-05 9.99997465e-01 1.26557956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.05, Y:207.72, Z:1.27 [[ 4.76838056e-01 -8.78990463e-01 -1.11125839e-03 2.02047809e+02] [ 8.78988282e-01 4.76839349e-01 -1.95828437e-03 2.07717856e+02] [ 2.25120501e-03 -4.29985851e-05 9.99997465e-01 1.26603099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.07, Y:207.74, Z:1.27 [[ 4.75855055e-01 -8.79523015e-01 -1.11063700e-03 2.02065658e+02] [ 8.79520835e-01 4.75856349e-01 -1.95863673e-03 2.07740385e+02] [ 2.25116975e-03 -4.48011900e-05 9.99997465e-01 1.26571641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.08, Y:207.76, Z:1.27 [[ 4.73110538e-01 -8.81002376e-01 -1.11000532e-03 2.02077953e+02] [ 8.81000200e-01 4.73111837e-01 -1.95899465e-03 2.07764895e+02] [ 2.25103560e-03 -5.10938938e-05 9.99997465e-01 1.26690997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:207.79, Z:1.27 [[ 4.71602519e-01 -8.81810543e-01 -1.10954548e-03 2.02092292e+02] [ 8.81808368e-01 4.71603821e-01 -1.95925506e-03 2.07788153e+02] [ 2.25095766e-03 -5.44168655e-05 9.99997465e-01 1.26718432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.67275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.11, Y:207.81, Z:1.27 [[ 4.71378144e-01 -8.81930505e-01 -1.10910278e-03 2.02107806e+02] [ 8.81928330e-01 4.71379446e-01 -1.95950564e-03 2.07813353e+02] [ 2.25095605e-03 -5.44810273e-05 9.99997465e-01 1.26662046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.70275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.12, Y:207.84, Z:1.27 [[ 4.71090419e-01 -8.82084220e-01 -1.11603943e-03 2.02121746e+02] [ 8.82082055e-01 4.71091737e-01 -1.95557683e-03 2.07838236e+02] [ 2.25074041e-03 -6.31848421e-05 9.99997465e-01 1.26673641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.13, Y:207.86, Z:1.26 [[ 4.69954614e-01 -8.82689863e-01 -1.12564844e-03 2.02131962e+02] [ 8.82687712e-01 4.69955956e-01 -1.95013470e-03 2.07858060e+02] [ 2.25036932e-03 -7.71212484e-05 9.99997465e-01 1.26428164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.76275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.15, Y:207.88, Z:1.26 [[ 4.70889448e-01 -8.82191552e-01 -1.09193932e-03 2.02147936e+02] [ 8.82189355e-01 4.70890713e-01 -1.96924550e-03 2.07882627e+02] [ 2.25143583e-03 -3.60003116e-05 9.99997465e-01 1.26378809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.79275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.17, Y:207.91, Z:1.27 [[ 4.72906463e-01 -8.81111957e-01 -1.09394365e-03 2.02165852e+02] [ 8.81109759e-01 4.72907727e-01 -1.96810965e-03 2.07906933e+02] [ 2.25145935e-03 -3.31526576e-05 9.99997465e-01 1.26730465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.82275509600004 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.18, Y:207.93, Z:1.27 [[ 4.75354388e-01 -8.79793711e-01 -1.11021217e-03 2.02183530e+02] [ 8.79791531e-01 4.75355683e-01 -1.95888937e-03 2.07932928e+02] [ 2.25116421e-03 -4.55886053e-05 9.99997465e-01 1.26537643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.85275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.20, Y:207.96, Z:1.26 [[ 4.75942883e-01 -8.79475471e-01 -1.12605282e-03 2.02196938e+02] [ 8.79473312e-01 4.75944211e-01 -1.94991059e-03 2.07955824e+02] [ 2.25083685e-03 -6.22873357e-05 9.99997465e-01 1.26465154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.88275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.21, Y:207.98, Z:1.27 [[ 4.76276390e-01 -8.79294906e-01 -1.12627586e-03 2.02210591e+02] [ 8.79292747e-01 4.76277717e-01 -1.94978418e-03 2.07976922e+02] [ 2.25085539e-03 -6.16900264e-05 9.99997465e-01 1.26640100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.22, Y:208.00, Z:1.27 [[ 4.75163153e-01 -8.79897010e-01 -1.10892379e-03 2.02222017e+02] [ 8.79894829e-01 4.75164445e-01 -1.95960357e-03 2.08000405e+02] [ 2.25117048e-03 -4.46048942e-05 9.99997465e-01 1.26629332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.24, Y:208.03, Z:1.26 [[ 4.74677001e-01 -8.80159374e-01 -1.10466008e-03 2.02237755e+02] [ 8.80157188e-01 4.74678285e-01 -1.96201403e-03 2.08026620e+02] [ 2.25124320e-03 -4.09515770e-05 9.99997465e-01 1.26386480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.25, Y:208.05, Z:1.26 [[ 4.74095076e-01 -8.80472947e-01 -1.11752486e-03 2.02249678e+02] [ 8.80470779e-01 4.74096390e-01 -1.95475387e-03 2.08048215e+02] [ 2.25092240e-03 -5.72088032e-05 9.99997465e-01 1.26359829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.26, Y:208.07, Z:1.27 [[ 4.73399061e-01 -8.80847387e-01 -1.09994347e-03 2.02264044e+02] [ 8.80845197e-01 4.73400337e-01 -1.96466605e-03 2.08072984e+02] [ 2.25128456e-03 -3.88088584e-05 9.99997465e-01 1.26519547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.28, Y:208.10, Z:1.27 [[ 4.74865611e-01 -8.80057629e-01 -1.10556962e-03 2.02281911e+02] [ 8.80055444e-01 4.74866896e-01 -1.96149523e-03 2.08098835e+02] [ 2.25122726e-03 -4.15159322e-05 9.99997465e-01 1.26602355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.30, Y:208.12, Z:1.27 [[ 4.74889743e-01 -8.80044586e-01 -1.12149988e-03 2.02295412e+02] [ 8.80042422e-01 4.74891064e-01 -1.95251638e-03 2.08121684e+02] [ 2.25089174e-03 -5.97374650e-05 9.99997465e-01 1.26630304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.0927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.31, Y:208.15, Z:1.27 [[ 4.73425915e-01 -8.80832935e-01 -1.11526366e-03 2.02308879e+02] [ 8.80830765e-01 4.73427225e-01 -1.95602718e-03 2.08145026e+02] [ 2.25092934e-03 -5.63245863e-05 9.99997465e-01 1.26827636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.32, Y:208.17, Z:1.27 [[ 4.73806251e-01 -8.80628422e-01 -1.10362698e-03 2.02322467e+02] [ 8.80626236e-01 4.73807535e-01 -1.96257092e-03 2.08167163e+02] [ 2.25120251e-03 -4.20045075e-05 9.99997465e-01 1.26897019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.34, Y:208.19, Z:1.27 [[ 4.72686019e-01 -8.81230235e-01 -1.09524177e-03 2.02337996e+02] [ 8.81228040e-01 4.72687287e-01 -1.96727986e-03 2.08191938e+02] [ 2.25133336e-03 -3.52520760e-05 9.99997465e-01 1.26672738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.18275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.35, Y:208.22, Z:1.27 [[ 4.72782764e-01 -8.81178321e-01 -1.10651697e-03 2.02351333e+02] [ 8.81176141e-01 4.72784056e-01 -1.96095526e-03 2.08215325e+02] [ 2.25109485e-03 -4.79305029e-05 9.99997465e-01 1.26785655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.37, Y:208.24, Z:1.27 [[ 4.73219376e-01 -8.80943932e-01 -1.10089701e-03 2.02366361e+02] [ 8.80941743e-01 4.73220654e-01 -1.96410530e-03 2.08238316e+02] [ 2.25123384e-03 -4.03734450e-05 9.99997465e-01 1.26673721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.38, Y:208.26, Z:1.27 [[ 4.70751735e-01 -8.82265036e-01 -1.10025178e-03 2.02383045e+02] [ 8.82262850e-01 4.70753018e-01 -1.96446667e-03 2.08264346e+02] [ 2.25112710e-03 -4.59351818e-05 9.99997465e-01 1.26611968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.40, Y:208.28, Z:1.27 [[ 4.70908257e-01 -8.82181479e-01 -1.11864359e-03 2.02396053e+02] [ 8.82179317e-01 4.70909581e-01 -1.95415964e-03 2.08284115e+02] [ 2.25070342e-03 -6.66143286e-05 9.99997465e-01 1.26836945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.41, Y:208.31, Z:1.27 [[ 4.70639537e-01 -8.82324896e-01 -1.09720436e-03 2.02409813e+02] [ 8.82322707e-01 4.70640814e-01 -1.96615578e-03 2.08309158e+02] [ 2.25117735e-03 -4.27376765e-05 9.99997465e-01 1.26842663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.42, Y:208.33, Z:1.26 [[ 4.70417557e-01 -8.82443267e-01 -1.09653091e-03 2.02423611e+02] [ 8.82441077e-01 4.70418833e-01 -1.96653233e-03 2.08331473e+02] [ 2.25118200e-03 -4.25325810e-05 9.99997465e-01 1.26467914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.44, Y:208.36, Z:1.27 [[ 4.69693694e-01 -8.82828771e-01 -1.09341234e-03 2.02439350e+02] [ 8.82826577e-01 4.69694965e-01 -1.96827627e-03 2.08355164e+02] [ 2.25122119e-03 -4.08065155e-05 9.99997465e-01 1.26522054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.46, Y:208.38, Z:1.27 [[ 4.69633700e-01 -8.82860688e-01 -1.09232548e-03 2.02455078e+02] [ 8.82858494e-01 4.69634969e-01 -1.96888372e-03 2.08379981e+02] [ 2.25124428e-03 -3.97146848e-05 9.99997465e-01 1.26832070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.42275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:202.47, Y:208.40, Z:1.27 [[ 4.68883663e-01 -8.83259256e-01 -1.09444676e-03 2.02470367e+02] [ 8.83257065e-01 4.68884938e-01 -1.96769864e-03 2.08403682e+02] [ 2.25115764e-03 -4.40560856e-05 9.99997465e-01 1.26759709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.45275509600003 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:202.48, Y:208.43, Z:1.27 [[ 4.69083889e-01 -8.83152931e-01 -1.09784057e-03 2.02484243e+02] [ 8.83150744e-01 4.69085172e-01 -1.96580330e-03 2.08426680e+02] [ 2.25108568e-03 -4.74320598e-05 9.99997465e-01 1.26814677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.50, Y:208.45, Z:1.27 [[ 4.68838777e-01 -8.83283083e-01 -1.09415800e-03 2.02498870e+02] [ 8.83280892e-01 4.68840052e-01 -1.96785940e-03 2.08450076e+02] [ 2.25116201e-03 -4.38400632e-05 9.99997465e-01 1.26829497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.52, Y:208.47, Z:1.27 [[ 4.70511974e-01 -8.82392930e-01 -1.09545707e-03 2.02517726e+02] [ 8.82390738e-01 4.70513247e-01 -1.96713428e-03 2.08474067e+02] [ 2.25121244e-03 -4.10609376e-05 9.99997465e-01 1.26786129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.53, Y:208.50, Z:1.27 [[ 4.70211771e-01 -8.82552922e-01 -1.10905104e-03 2.02531746e+02] [ 8.82550748e-01 4.70213076e-01 -1.95954687e-03 2.08498354e+02] [ 2.25089411e-03 -5.73918240e-05 9.99997465e-01 1.26747844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:208.52, Z:1.27 [[ 4.70871308e-01 -8.82201217e-01 -1.10661658e-03 2.02545993e+02] [ 8.82199039e-01 4.70872606e-01 -1.96090438e-03 2.08522170e+02] [ 2.25098767e-03 -5.29224715e-05 9.99997465e-01 1.26749607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.56, Y:208.55, Z:1.27 [[ 4.69426662e-01 -8.82970778e-01 -1.10161278e-03 2.02557206e+02] [ 8.82968596e-01 4.69427952e-01 -1.96369242e-03 2.08545779e+02] [ 2.25101086e-03 -5.08799069e-05 9.99997465e-01 1.26839666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.57, Y:208.57, Z:1.27 [[ 4.69774346e-01 -8.82785857e-01 -1.09291986e-03 2.02570740e+02] [ 8.82783663e-01 4.69775615e-01 -1.96853059e-03 2.08569312e+02] [ 2.25121807e-03 -4.00466296e-05 9.99997465e-01 1.26869159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.59, Y:208.59, Z:1.27 [[ 4.71912737e-01 -8.81644587e-01 -1.09080310e-03 2.02587972e+02] [ 8.81642388e-01 4.71913997e-01 -1.96970785e-03 2.08594640e+02] [ 2.25134751e-03 -3.21680281e-05 9.99997465e-01 1.26766296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.60, Y:208.62, Z:1.27 [[ 4.70809797e-01 -8.82234038e-01 -1.11248640e-03 2.02598151e+02] [ 8.82231868e-01 4.70811108e-01 -1.95767541e-03 2.08617143e+02] [ 2.25089883e-03 -5.97781951e-05 9.99997465e-01 1.26937611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.62, Y:208.64, Z:1.27 [[ 4.72454488e-01 -8.81354396e-01 -1.08914599e-03 2.02615476e+02] [ 8.81352193e-01 4.72455742e-01 -1.97060763e-03 2.08642075e+02] [ 2.25137698e-03 -2.88987885e-05 9.99997465e-01 1.26945996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.63, Y:208.67, Z:1.27 [[ 4.71617119e-01 -8.81802739e-01 -1.10609419e-03 2.02627494e+02] [ 8.81800559e-01 4.71618413e-01 -1.96121967e-03 2.08665710e+02] [ 2.25106326e-03 -5.04097026e-05 9.99997465e-01 1.26968769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.64, Y:208.69, Z:1.27 [[ 4.73707105e-01 -8.80681770e-01 -1.09489117e-03 2.02644613e+02] [ 8.80679573e-01 4.73708370e-01 -1.96741703e-03 2.08691278e+02] [ 2.25132742e-03 -3.22688647e-05 9.99997465e-01 1.26892969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.66, Y:208.71, Z:1.27 [[ 4.74053796e-01 -8.80495187e-01 -1.10666106e-03 2.02656413e+02] [ 8.80493005e-01 4.74055085e-01 -1.96090116e-03 2.08714780e+02] [ 2.25118234e-03 -4.48346887e-05 9.99997465e-01 1.27026137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.67, Y:208.74, Z:1.27 [[ 4.76102289e-01 -8.79389231e-01 -1.09177970e-03 2.02669822e+02] [ 8.79387026e-01 4.76103540e-01 -1.96913082e-03 2.08738084e+02] [ 2.25143261e-03 -2.25892140e-05 9.99997465e-01 1.27106808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.68, Y:208.76, Z:1.27 [[ 4.76946482e-01 -8.78931657e-01 -1.09308255e-03 2.02684488e+02] [ 8.78929454e-01 4.76947734e-01 -1.96841071e-03 2.08763467e+02] [ 2.25144173e-03 -2.19158832e-05 9.99997465e-01 1.27081588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.70, Y:208.79, Z:1.27 [[ 4.79224055e-01 -8.77691909e-01 -1.10372753e-03 2.02696049e+02] [ 8.77689715e-01 4.79225325e-01 -1.96253512e-03 2.08785724e+02] [ 2.25143538e-03 -2.82362606e-05 9.99997465e-01 1.27179715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.71, Y:208.81, Z:1.27 [[ 4.79265839e-01 -8.77669115e-01 -1.08683066e-03 2.02708273e+02] [ 8.77666900e-01 4.79267071e-01 -1.97184823e-03 2.08807822e+02] [ 2.25151243e-03 -8.83579799e-06 9.99997465e-01 1.27097409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.72, Y:208.83, Z:1.27 [[ 4.78917989e-01 -8.77858982e-01 -1.08010128e-03 2.02723921e+02] [ 8.77856760e-01 4.78919207e-01 -1.97555373e-03 2.08834776e+02] [ 2.25153884e-03 -2.04598711e-06 9.99997465e-01 1.26995203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.73, Y:208.86, Z:1.27 [[ 4.78317333e-01 -8.78186376e-01 -1.10363871e-03 2.02733582e+02] [ 8.78184184e-01 4.78318605e-01 -1.96262019e-03 2.08856346e+02] [ 2.25143724e-03 -3.04428050e-05 9.99997465e-01 1.27058417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.75, Y:208.88, Z:1.27 [[ 4.77044449e-01 -8.78878502e-01 -1.08318857e-03 2.02745559e+02] [ 8.78876285e-01 4.77045678e-01 -1.97384265e-03 2.08881975e+02] [ 2.25149830e-03 -1.03780666e-05 9.99997465e-01 1.27084839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.76, Y:208.91, Z:1.27 [[ 4.75891857e-01 -8.79503124e-01 -1.09313423e-03 2.02758756e+02] [ 8.79500922e-01 4.75893112e-01 -1.96839162e-03 2.08906591e+02] [ 2.25142163e-03 -2.46710215e-05 9.99997465e-01 1.27039821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.77, Y:208.93, Z:1.27 [[ 4.74949517e-01 -8.80012365e-01 -1.09268802e-03 2.02771337e+02] [ 8.80010163e-01 4.74950773e-01 -1.96863550e-03 2.08928794e+02] [ 2.25139660e-03 -2.65740877e-05 9.99997465e-01 1.27059503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.11275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:202.78, Y:208.95, Z:1.27 [[ 4.73574728e-01 -8.80752981e-01 -1.07891373e-03 2.02784477e+02] [ 8.80750764e-01 4.73575957e-01 -1.97615579e-03 2.08954121e+02] [ 2.25145270e-03 -1.43966515e-05 9.99997465e-01 1.27047623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.80, Y:208.98, Z:1.27 [[ 4.71472316e-01 -8.81880203e-01 -1.07827623e-03 2.02797649e+02] [ 8.81877989e-01 4.71473548e-01 -1.97650358e-03 2.08978055e+02] [ 2.25141810e-03 -1.90413512e-05 9.99997465e-01 1.26989376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.81, Y:209.00, Z:1.27 [[ 4.70131017e-01 -8.82595981e-01 -1.07760514e-03 2.02811084e+02] [ 8.82593767e-01 4.70132252e-01 -1.97686939e-03 2.09003553e+02] [ 2.25139391e-03 -2.16999615e-05 9.99997465e-01 1.26969246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.82, Y:209.03, Z:1.27 [[ 4.68797298e-01 -8.83305114e-01 -1.08078473e-03 2.02823723e+02] [ 8.83302906e-01 4.68798543e-01 -1.97513727e-03 2.09027673e+02] [ 2.25131916e-03 -2.87212800e-05 9.99997465e-01 1.26981182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.84, Y:209.05, Z:1.27 [[ 4.67343742e-01 -8.84075036e-01 -1.07634156e-03 2.02836180e+02] [ 8.84072824e-01 4.67344981e-01 -1.97755559e-03 2.09052271e+02] [ 2.25133036e-03 -2.73660888e-05 9.99997465e-01 1.26976573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.85, Y:209.08, Z:1.27 [[ 4.65832127e-01 -8.84872461e-01 -1.07568514e-03 2.02849985e+02] [ 8.84870251e-01 4.65833368e-01 -1.97791259e-03 2.09077144e+02] [ 2.25129041e-03 -3.04665488e-05 9.99997465e-01 1.27027214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.87, Y:209.10, Z:1.27 [[ 4.65500501e-01 -8.85046964e-01 -1.07504564e-03 2.02865803e+02] [ 8.85044753e-01 4.65501742e-01 -1.97826011e-03 2.09104160e+02] [ 2.25128872e-03 -3.05824269e-05 9.99997465e-01 1.26876098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.88, Y:209.13, Z:1.27 [[ 4.64359886e-01 -8.85645925e-01 -1.09173140e-03 2.02879504e+02] [ 8.85643738e-01 4.64361166e-01 -1.96920101e-03 2.09130299e+02] [ 2.25097251e-03 -5.24671172e-05 9.99997465e-01 1.26865777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.89, Y:209.16, Z:1.27 [[ 4.60992852e-01 -8.87403174e-01 -1.09421421e-03 2.02889087e+02] [ 8.87400994e-01 4.60994146e-01 -1.96785428e-03 2.09155021e+02] [ 2.25070648e-03 -6.38400208e-05 9.99997465e-01 1.26833751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.90, Y:209.18, Z:1.27 [[ 4.61262492e-01 -8.87263063e-01 -1.08160400e-03 2.02904120e+02] [ 8.87260867e-01 4.61263758e-01 -1.97468578e-03 2.09179743e+02] [ 2.25097048e-03 -4.88164199e-05 9.99997465e-01 1.26753979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.92, Y:209.21, Z:1.27 [[ 4.58829304e-01 -8.88523760e-01 -1.09447557e-03 2.02916989e+02] [ 8.88521584e-01 4.58830604e-01 -1.96771342e-03 2.09205589e+02] [ 2.25053901e-03 -6.96205876e-05 9.99997465e-01 1.26798860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.93, Y:209.23, Z:1.27 [[ 4.57019620e-01 -8.89455941e-01 -1.09398771e-03 2.02927754e+02] [ 8.89453767e-01 4.57020923e-01 -1.96797743e-03 2.09229266e+02] [ 2.25040449e-03 -7.36471926e-05 9.99997465e-01 1.26908694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.94, Y:209.26, Z:1.27 [[ 4.55895219e-01 -8.90032794e-01 -1.08354634e-03 2.02940796e+02] [ 8.90030608e-01 4.55896502e-01 -1.97362187e-03 2.09255063e+02] [ 2.25057317e-03 -6.46246300e-05 9.99997465e-01 1.26946320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.95, Y:209.28, Z:1.27 [[ 4.54027895e-01 -8.90986810e-01 -1.08430321e-03 2.02952087e+02] [ 8.90984627e-01 4.54029185e-01 -1.97321333e-03 2.09280957e+02] [ 2.25041235e-03 -7.02035917e-05 9.99997465e-01 1.27040647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.96, Y:209.31, Z:1.27 [[ 4.53512870e-01 -8.91249075e-01 -1.07866385e-03 2.02964147e+02] [ 8.91246886e-01 4.53514148e-01 -1.97625427e-03 2.09307758e+02] [ 2.25052411e-03 -6.50990548e-05 9.99997465e-01 1.26862377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.97, Y:209.33, Z:1.27 [[ 4.52415863e-01 -8.91806430e-01 -1.08511683e-03 2.02974630e+02] [ 8.91804252e-01 4.52417158e-01 -1.97277640e-03 2.09332029e+02] [ 2.25026015e-03 -7.51964617e-05 9.99997465e-01 1.26946238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.98, Y:209.36, Z:1.27 [[ 4.51960294e-01 -8.92037395e-01 -1.08576763e-03 2.02983931e+02] [ 8.92035217e-01 4.51961592e-01 -1.97242549e-03 2.09355200e+02] [ 2.25020256e-03 -7.70849579e-05 9.99997465e-01 1.26989558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.62275509600005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:203.00, Y:209.38, Z:1.27 [[ 4.51276844e-01 -8.92383365e-01 -1.06732600e-03 2.02995432e+02] [ 8.92381165e-01 4.51278103e-01 -1.98235471e-03 2.09380835e+02] [ 2.25068122e-03 -5.78708416e-05 9.99997466e-01 1.26914529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.01, Y:209.40, Z:1.27 [[ 4.52437693e-01 -8.91795384e-01 -1.06201118e-03 2.03009181e+02] [ 8.91793176e-01 4.52438936e-01 -1.98521407e-03 2.09404932e+02] [ 2.25089995e-03 -4.89086539e-05 9.99997466e-01 1.27055677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.68275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.02, Y:209.43, Z:1.27 [[ 4.52436489e-01 -8.91795989e-01 -1.06647591e-03 2.03019750e+02] [ 8.91793786e-01 4.52437743e-01 -1.98281267e-03 2.09432003e+02] [ 2.25077834e-03 -5.39797886e-05 9.99997466e-01 1.27125721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.03, Y:209.46, Z:1.27 [[ 4.54538326e-01 -8.90726541e-01 -1.06767945e-03 2.03032968e+02] [ 8.90724337e-01 4.54539577e-01 -1.98216558e-03 2.09456017e+02] [ 2.25087006e-03 -5.00378510e-05 9.99997466e-01 1.27031516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.04, Y:209.48, Z:1.27 [[ 4.54928894e-01 -8.90527128e-01 -1.06560538e-03 2.03041243e+02] [ 8.90524921e-01 4.54930139e-01 -1.98327997e-03 2.09482078e+02] [ 2.25094062e-03 -4.66967868e-05 9.99997466e-01 1.27059276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.06, Y:209.51, Z:1.27 [[ 4.56701036e-01 -8.89619605e-01 -1.05925973e-03 2.03055145e+02] [ 8.89617387e-01 4.56702264e-01 -1.98668711e-03 2.09507888e+02] [ 2.25116212e-03 -3.50138099e-05 9.99997466e-01 1.26987401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.07, Y:209.53, Z:1.27 [[ 4.57956865e-01 -8.88973773e-01 -1.06767688e-03 2.03067449e+02] [ 8.88971564e-01 4.57958108e-01 -1.98216945e-03 2.09531606e+02] [ 2.25104794e-03 -4.13862764e-05 9.99997466e-01 1.27040711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.08, Y:209.56, Z:1.27 [[ 4.59082832e-01 -8.88392839e-01 -1.05724146e-03 2.03080409e+02] [ 8.88390615e-01 4.59084049e-01 -1.98776675e-03 2.09556757e+02] [ 2.25128043e-03 -2.66938014e-05 9.99997466e-01 1.27011488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.09, Y:209.58, Z:1.27 [[ 4.59689599e-01 -8.88079028e-01 -1.05516918e-03 2.03094243e+02] [ 8.88076801e-01 4.59690810e-01 -1.98887779e-03 2.09581924e+02] [ 2.25133222e-03 -2.28048372e-05 9.99997466e-01 1.27034209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.11, Y:209.61, Z:1.27 [[ 4.61556689e-01 -8.87110087e-01 -1.05638579e-03 2.03110380e+02] [ 8.87107859e-01 4.61557898e-01 -1.98822564e-03 2.09606744e+02] [ 2.25135823e-03 -1.94492921e-05 9.99997466e-01 1.27158812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.12, Y:209.63, Z:1.27 [[ 4.59700576e-01 -8.88073336e-01 -1.06332015e-03 2.03120934e+02] [ 8.88071119e-01 4.59701805e-01 -1.98451014e-03 2.09630415e+02] [ 2.25120074e-03 -3.20234628e-05 9.99997466e-01 1.26973881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.14, Y:209.66, Z:1.27 [[ 4.59324895e-01 -8.88267716e-01 -1.05156331e-03 2.03137697e+02] [ 8.88265485e-01 4.59326098e-01 -1.99079957e-03 2.09658152e+02] [ 2.25137346e-03 -1.96435892e-05 9.99997465e-01 1.27003471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:209.68, Z:1.27 [[ 4.59224532e-01 -8.88319582e-01 -1.07259401e-03 2.03150097e+02] [ 8.88317377e-01 4.59225782e-01 -1.97954841e-03 2.09678468e+02] [ 2.25103443e-03 -4.37467083e-05 9.99997465e-01 1.27191836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.16, Y:209.70, Z:1.27 [[ 4.57471529e-01 -8.89223644e-01 -1.05419608e-03 2.03164029e+02] [ 8.89221419e-01 4.57472742e-01 -1.98938392e-03 2.09703480e+02] [ 2.25127319e-03 -2.73272300e-05 9.99997466e-01 1.27251770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.04275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.18, Y:209.73, Z:1.27 [[ 4.55317403e-01 -8.90328556e-01 -1.06024554e-03 2.03179263e+02] [ 8.90326342e-01 4.55318636e-01 -1.98615117e-03 2.09727579e+02] [ 2.25107666e-03 -3.96353409e-05 9.99997466e-01 1.27218455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.19, Y:209.75, Z:1.27 [[ 4.54999113e-01 -8.90491256e-01 -1.06314450e-03 2.03193075e+02] [ 8.90489045e-01 4.55000353e-01 -1.98460277e-03 2.09751651e+02] [ 2.25100254e-03 -4.37260276e-05 9.99997466e-01 1.27246236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.21, Y:209.78, Z:1.27 [[ 4.55722201e-01 -8.90121425e-01 -1.06032729e-03 2.03207657e+02] [ 8.90119210e-01 4.55723433e-01 -1.98610680e-03 2.09776065e+02] [ 2.25109221e-03 -3.87047260e-05 9.99997466e-01 1.27475150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.22, Y:209.80, Z:1.27 [[ 4.54463583e-01 -8.90764688e-01 -1.05965575e-03 2.03219765e+02] [ 8.90762474e-01 4.54464817e-01 -1.98646503e-03 2.09801031e+02] [ 2.25104916e-03 -4.11255599e-05 9.99997466e-01 1.27258754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.24, Y:209.83, Z:1.27 [[ 4.56749665e-01 -8.89594639e-01 -1.05904997e-03 2.03236612e+02] [ 8.89592421e-01 4.56750891e-01 -1.98678794e-03 2.09826772e+02] [ 2.25115792e-03 -3.46580980e-05 9.99997466e-01 1.27096593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.25, Y:209.85, Z:1.27 [[ 4.56414314e-01 -8.89766721e-01 -1.07516230e-03 2.03249396e+02] [ 8.89764524e-01 4.56415577e-01 -1.97820057e-03 2.09851236e+02] [ 2.25085786e-03 -5.37622144e-05 9.99997465e-01 1.27103363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:209.88, Z:1.27 [[ 4.56468176e-01 -8.89739091e-01 -1.07459032e-03 2.03266232e+02] [ 8.89736893e-01 4.56469438e-01 -1.97850522e-03 2.09880175e+02] [ 2.25087107e-03 -5.29779841e-05 9.99997465e-01 1.27022092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.27, Y:209.90, Z:1.27 [[ 4.57128470e-01 -8.89399965e-01 -1.12432343e-03 2.03272857e+02] [ 8.89397830e-01 4.57129840e-01 -1.95191874e-03 2.09896746e+02] [ 2.24999825e-03 -1.07693194e-04 9.99997463e-01 1.27248439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.29, Y:209.92, Z:1.27 [[ 4.60183252e-01 -8.87823324e-01 -1.05837625e-03 2.03291547e+02] [ 8.87821100e-01 4.60184469e-01 -1.98704475e-03 2.09924118e+02] [ 2.25119298e-03 -2.52440509e-05 9.99997466e-01 1.27031466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.31275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.30, Y:209.95, Z:1.27 [[ 4.58639694e-01 -8.88621659e-01 -1.08574969e-03 2.03300724e+02] [ 8.88619472e-01 4.58640975e-01 -1.97241735e-03 2.09945918e+02] [ 2.25070208e-03 -6.01894253e-05 9.99997465e-01 1.27235782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.32, Y:209.97, Z:1.28 [[ 4.61825163e-01 -8.86970341e-01 -1.06430868e-03 2.03315844e+02] [ 8.86968123e-01 4.61826389e-01 -1.98385580e-03 2.09968780e+02] [ 2.25114709e-03 -2.78133443e-05 9.99997466e-01 1.27580709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.33, Y:210.00, Z:1.28 [[ 4.60385328e-01 -8.87718552e-01 -1.05884834e-03 2.03326541e+02] [ 8.87716330e-01 4.60386545e-01 -1.98676589e-03 2.09995296e+02] [ 2.25116847e-03 -2.52790951e-05 9.99997466e-01 1.27536696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.34, Y:210.02, Z:1.28 [[ 4.60817781e-01 -8.87494143e-01 -1.05815415e-03 2.03338764e+02] [ 8.87491918e-01 4.60818995e-01 -1.98713555e-03 2.10019862e+02] [ 2.25118870e-03 -2.33958585e-05 9.99997466e-01 1.27618814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.35, Y:210.04, Z:1.28 [[ 4.60936415e-01 -8.87432534e-01 -1.05748374e-03 2.03352160e+02] [ 8.87430309e-01 4.60937628e-01 -1.98749226e-03 2.10044473e+02] [ 2.25119934e-03 -2.23355650e-05 9.99997466e-01 1.27677867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.37, Y:210.07, Z:1.28 [[ 4.59846033e-01 -8.87998035e-01 -1.05685457e-03 2.03365561e+02] [ 8.87995810e-01 4.59847246e-01 -1.98782677e-03 2.10069109e+02] [ 2.25117792e-03 -2.43881745e-05 9.99997466e-01 1.27659638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.49275509600005 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:203.38, Y:210.09, Z:1.28 [[ 4.59381563e-01 -8.88238396e-01 -1.06355125e-03 2.03378851e+02] [ 8.88236181e-01 4.59382793e-01 -1.98426479e-03 2.10092165e+02] [ 2.25107732e-03 -3.31500401e-05 9.99997466e-01 1.27717841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.40, Y:210.12, Z:1.28 [[ 4.59061718e-01 -8.88403749e-01 -1.05776505e-03 2.03395318e+02] [ 8.88401526e-01 4.59062936e-01 -1.98733904e-03 2.10120389e+02] [ 2.25114019e-03 -2.74088104e-05 9.99997466e-01 1.27550739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:210.15, Z:1.28 [[ 4.57714059e-01 -8.89098793e-01 -1.08448055e-03 2.03409830e+02] [ 8.89096606e-01 4.57715340e-01 -1.97320077e-03 2.10147227e+02] [ 2.25075380e-03 -6.10462442e-05 9.99997465e-01 1.27684529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.41, Y:210.17, Z:1.28 [[ 4.51851210e-01 -8.92092648e-01 -1.09195319e-03 2.03413272e+02] [ 8.92090478e-01 4.51852521e-01 -1.96926400e-03 2.10167857e+02] [ 2.25016774e-03 -8.43067248e-05 9.99997465e-01 1.27866445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.43, Y:210.19, Z:1.28 [[ 4.50695033e-01 -8.92677372e-01 -1.04724311e-03 2.03426277e+02] [ 8.92675148e-01 4.50696248e-01 -1.99276023e-03 2.10193225e+02] [ 2.25088050e-03 -3.67207622e-05 9.99997466e-01 1.27883329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.44, Y:210.22, Z:1.28 [[ 4.48428404e-01 -8.93818142e-01 -1.04662592e-03 2.03439850e+02] [ 8.93815921e-01 4.48429623e-01 -1.99308433e-03 2.10218168e+02] [ 2.25079300e-03 -4.17352887e-05 9.99997466e-01 1.27943596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.45, Y:210.24, Z:1.28 [[ 4.47110796e-01 -8.94477972e-01 -1.04598610e-03 2.03453175e+02] [ 8.94475752e-01 4.47112017e-01 -1.99342006e-03 2.10243024e+02] [ 2.25074328e-03 -4.43295738e-05 9.99997466e-01 1.27986466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.47, Y:210.27, Z:1.28 [[ 4.46140983e-01 -8.94962084e-01 -1.04534874e-03 2.03465871e+02] [ 8.94959864e-01 4.46142205e-01 -1.99375423e-03 2.10267284e+02] [ 2.25070863e-03 -4.60496944e-05 9.99997466e-01 1.27942148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.48, Y:210.29, Z:1.28 [[ 4.45021716e-01 -8.95519168e-01 -1.04467794e-03 2.03477900e+02] [ 8.95516949e-01 4.45022940e-01 -1.99410565e-03 2.10292180e+02] [ 2.25066548e-03 -4.81064834e-05 9.99997466e-01 1.27925562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.49, Y:210.32, Z:1.28 [[ 4.45004011e-01 -8.95527967e-01 -1.04404537e-03 2.03490642e+02] [ 8.95525748e-01 4.45005233e-01 -1.99443679e-03 2.10317712e+02] [ 2.25067958e-03 -4.74371396e-05 9.99997466e-01 1.27903903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.50, Y:210.34, Z:1.28 [[ 4.43563851e-01 -8.96242167e-01 -1.04341590e-03 2.03501729e+02] [ 8.96239948e-01 4.43565075e-01 -1.99476605e-03 2.10343366e+02] [ 2.25061630e-03 -5.03449039e-05 9.99997466e-01 1.27840875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.51, Y:210.37, Z:1.28 [[ 4.44076868e-01 -8.95988075e-01 -1.05152449e-03 2.03513922e+02] [ 8.95985865e-01 4.44078109e-01 -1.99052779e-03 2.10368148e+02] [ 2.25044817e-03 -5.82037351e-05 9.99997466e-01 1.27894425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.53, Y:210.39, Z:1.28 [[ 4.44077070e-01 -8.95987981e-01 -1.04534512e-03 2.03525344e+02] [ 8.95985765e-01 4.44078298e-01 -1.99375354e-03 2.10391653e+02] [ 2.25059429e-03 -5.12341134e-05 9.99997466e-01 1.27914220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.54, Y:210.42, Z:1.28 [[ 4.44393425e-01 -8.95831123e-01 -1.04092338e-03 2.03538119e+02] [ 8.95828900e-01 4.44394642e-01 -1.99605943e-03 2.10416311e+02] [ 2.25071293e-03 -4.54535556e-05 9.99997466e-01 1.27938479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.55, Y:210.44, Z:1.28 [[ 4.44505532e-01 -8.95775502e-01 -1.04030442e-03 2.03550819e+02] [ 8.95773278e-01 4.44506747e-01 -1.99638197e-03 2.10441333e+02] [ 2.25073239e-03 -4.44740713e-05 9.99997466e-01 1.27941630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:210.47, Z:1.28 [[ 4.44573055e-01 -8.95741993e-01 -1.03967922e-03 2.03562736e+02] [ 8.95739769e-01 4.44574268e-01 -1.99670751e-03 2.10465263e+02] [ 2.25074939e-03 -4.35996704e-05 9.99997466e-01 1.27933666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.57, Y:210.49, Z:1.28 [[ 4.45552890e-01 -8.95255016e-01 -1.03901959e-03 2.03574792e+02] [ 8.95252789e-01 4.45554099e-01 -1.99705070e-03 2.10490687e+02] [ 2.25080909e-03 -4.03934753e-05 9.99997466e-01 1.27867726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.59, Y:210.52, Z:1.28 [[ 4.45567381e-01 -8.95247804e-01 -1.03840774e-03 2.03587258e+02] [ 8.95245577e-01 4.45568589e-01 -1.99736879e-03 2.10515976e+02] [ 2.25082190e-03 -3.96675530e-05 9.99997466e-01 1.27841785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.60, Y:210.54, Z:1.28 [[ 4.46041683e-01 -8.95011587e-01 -1.03775471e-03 2.03599921e+02] [ 8.95009358e-01 4.46042888e-01 -1.99770802e-03 2.10540442e+02] [ 2.25085493e-03 -3.77391306e-05 9.99997466e-01 1.27760822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.61, Y:210.57, Z:1.28 [[ 4.45653749e-01 -8.95204815e-01 -1.03706658e-03 2.03612105e+02] [ 8.95202586e-01 4.45654954e-01 -1.99806519e-03 2.10565035e+02] [ 2.25085143e-03 -3.79394437e-05 9.99997466e-01 1.27752242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.62, Y:210.59, Z:1.28 [[ 4.44635583e-01 -8.95710960e-01 -1.03697644e-03 2.03624368e+02] [ 8.95708732e-01 4.44636790e-01 -1.99811192e-03 2.10590051e+02] [ 2.25080862e-03 -4.03971941e-05 9.99997466e-01 1.27777041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.64, Y:210.61, Z:1.28 [[ 4.44996643e-01 -8.95531631e-01 -1.04158528e-03 2.03636547e+02] [ 8.95529409e-01 4.44997860e-01 -1.99572456e-03 2.10613518e+02] [ 2.25073769e-03 -4.46795210e-05 9.99997466e-01 1.27754274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:210.63, Z:1.28 [[ 4.47577198e-01 -8.94244694e-01 -1.03897943e-03 2.03647821e+02] [ 8.94242464e-01 4.47578403e-01 -1.99707346e-03 2.10632630e+02] [ 2.25089710e-03 -3.52549872e-05 9.99997466e-01 1.27700228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.66, Y:210.66, Z:1.28 [[ 4.45273637e-01 -8.95393972e-01 -1.01147634e-03 2.03660754e+02] [ 8.95391713e-01 4.45274786e-01 -2.01130710e-03 2.10661981e+02] [ 2.25129716e-03 -1.00854997e-05 9.99997466e-01 1.27612332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.67, Y:210.68, Z:1.28 [[ 4.46225217e-01 -8.94920091e-01 -1.04250333e-03 2.03672226e+02] [ 8.94917868e-01 4.46226433e-01 -1.99524639e-03 2.10684491e+02] [ 2.25077862e-03 -4.26256077e-05 9.99997466e-01 1.27624868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.69, Y:210.71, Z:1.28 [[ 4.45901958e-01 -8.95081211e-01 -1.03378584e-03 2.03685375e+02] [ 8.95078978e-01 4.45903155e-01 -1.99975295e-03 2.10710079e+02] [ 2.25090966e-03 -3.36262137e-05 9.99997466e-01 1.27907776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.70, Y:210.74, Z:1.28 [[ 4.44923839e-01 -8.95567813e-01 -1.03463429e-03 2.03698262e+02] [ 8.95565582e-01 4.44925040e-01 -1.99931445e-03 2.10735172e+02] [ 2.25085637e-03 -3.70401988e-05 9.99997466e-01 1.27769101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.71, Y:210.76, Z:1.28 [[ 4.43466355e-01 -8.96290413e-01 -1.04288652e-03 2.03710662e+02] [ 8.96288194e-01 4.43467579e-01 -1.99504863e-03 2.10761297e+02] [ 2.25062932e-03 -4.99899301e-05 9.99997466e-01 1.27687226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.72, Y:210.78, Z:1.28 [[ 4.42571032e-01 -8.96732841e-01 -1.04540934e-03 2.03721566e+02] [ 8.96730626e-01 4.42572264e-01 -1.99374815e-03 2.10784770e+02] [ 2.25052862e-03 -5.50753944e-05 9.99997466e-01 1.27738457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.73, Y:210.81, Z:1.28 [[ 4.40567129e-01 -8.97719078e-01 -1.03032824e-03 2.03734337e+02] [ 8.97716848e-01 4.40568332e-01 -2.00151152e-03 2.10809489e+02] [ 2.25072507e-03 -4.31428364e-05 9.99997466e-01 1.27760836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.75, Y:210.83, Z:1.28 [[ 4.38600537e-01 -8.98681539e-01 -1.02968392e-03 2.03746660e+02] [ 8.98679311e-01 4.38601743e-01 -2.00184294e-03 2.10833702e+02] [ 2.25064046e-03 -4.73462474e-05 9.99997466e-01 1.27772616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.76, Y:210.86, Z:1.28 [[ 4.36114306e-01 -8.99890690e-01 -1.02900836e-03 2.03759300e+02] [ 8.99888464e-01 4.36115517e-01 -2.00219014e-03 2.10859375e+02] [ 2.25051878e-03 -5.28089888e-05 9.99997466e-01 1.27672163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.77, Y:210.88, Z:1.28 [[ 4.34628381e-01 -9.00609288e-01 -1.04008787e-03 2.03774978e+02] [ 9.00607077e-01 4.34629620e-01 -1.99649669e-03 2.10884419e+02] [ 2.25011645e-03 -6.89763748e-05 9.99997466e-01 1.27682746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.79, Y:210.91, Z:1.28 [[ 4.31641263e-01 -9.02044748e-01 -1.04554248e-03 2.03785413e+02] [ 9.02042548e-01 4.31642521e-01 -1.99369002e-03 2.10907516e+02] [ 2.24969821e-03 -8.25649252e-05 9.99997466e-01 1.27708661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.80, Y:210.93, Z:1.27 [[ 4.30000193e-01 -9.02828200e-01 -1.03677610e-03 2.03796724e+02] [ 9.02825992e-01 4.30001436e-01 -1.99819199e-03 2.10930786e+02] [ 2.24983929e-03 -7.68054652e-05 9.99997466e-01 1.27489009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.81, Y:210.96, Z:1.27 [[ 4.28657746e-01 -9.03466371e-01 -1.02595204e-03 2.03808776e+02] [ 9.03464152e-01 4.28658969e-01 -2.00374654e-03 2.10956598e+02] [ 2.25010116e-03 -6.79894175e-05 9.99997466e-01 1.27392494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.82, Y:210.98, Z:1.27 [[ 4.29274372e-01 -9.03173551e-01 -1.02499985e-03 2.03823193e+02] [ 9.03171329e-01 4.29275591e-01 -2.00423485e-03 2.10982006e+02] [ 2.25017932e-03 -6.53838222e-05 9.99997466e-01 1.27455457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.84, Y:211.01, Z:1.27 [[ 4.30596804e-01 -9.02543815e-01 -1.02688075e-03 2.03839921e+02] [ 9.02541594e-01 4.30598023e-01 -2.00327069e-03 2.11010376e+02] [ 2.25021240e-03 -6.42006353e-05 9.99997466e-01 1.27383360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.85, Y:211.03, Z:1.27 [[ 4.28367393e-01 -9.03604039e-01 -1.05730156e-03 2.03847598e+02] [ 9.03601859e-01 4.28368685e-01 -1.98767044e-03 2.11031285e+02] [ 2.24898192e-03 -1.03926446e-04 9.99997466e-01 1.27466754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.86, Y:211.06, Z:1.28 [[ 4.29088241e-01 -9.03261994e-01 -1.02553392e-03 2.03860224e+02] [ 9.03259773e-01 4.29089462e-01 -2.00392791e-03 2.11055227e+02] [ 2.25011772e-03 -6.64616325e-05 9.99997466e-01 1.27513330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.87, Y:211.08, Z:1.27 [[ 4.29742787e-01 -9.02950771e-01 -1.02056036e-03 2.03871995e+02] [ 9.02948544e-01 4.29743995e-01 -2.00647055e-03 2.11079567e+02] [ 2.25032381e-03 -5.92472469e-05 9.99997466e-01 1.27395598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.88, Y:211.10, Z:1.27 [[ 4.30492095e-01 -9.02593767e-01 -1.02401069e-03 2.03884158e+02] [ 9.02591542e-01 4.30493309e-01 -2.00470811e-03 2.11103758e+02] [ 2.25026679e-03 -6.12523981e-05 9.99997466e-01 1.27282627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.75275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:203.90, Y:211.13, Z:1.27 [[ 4.31550156e-01 -9.02088363e-01 -1.02361824e-03 2.03896821e+02] [ 9.02086137e-01 4.31551367e-01 -2.00490837e-03 2.11128719e+02] [ 2.25034836e-03 -5.81733046e-05 9.99997466e-01 1.27436014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:203.91, Y:211.15, Z:1.28 [[ 4.34534110e-01 -9.00654796e-01 -1.02258887e-03 2.03910053e+02] [ 9.00652565e-01 4.34535311e-01 -2.00543325e-03 2.11154827e+02] [ 2.25055405e-03 -4.95681326e-05 9.99997466e-01 1.27572550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.92, Y:211.18, Z:1.28 [[ 4.35199627e-01 -9.00333401e-01 -1.02519061e-03 2.03923859e+02] [ 9.00331172e-01 4.35200832e-01 -2.00410733e-03 2.11180670e+02] [ 2.25052857e-03 -5.08243037e-05 9.99997466e-01 1.27700398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.94, Y:211.21, Z:1.28 [[ 4.35512280e-01 -9.00182196e-01 -1.03309826e-03 2.03935570e+02] [ 9.00179976e-01 4.35513502e-01 -2.00008157e-03 2.11205295e+02] [ 2.25036607e-03 -5.89142827e-05 9.99997466e-01 1.27793571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.95, Y:211.23, Z:1.28 [[ 4.39232669e-01 -8.98372756e-01 -1.02643906e-03 2.03951052e+02] [ 8.98370523e-01 4.39233866e-01 -2.00346921e-03 2.11229934e+02] [ 2.25070895e-03 -4.21334648e-05 9.99997466e-01 1.28038727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.96, Y:211.25, Z:1.28 [[ 4.38694298e-01 -8.98635769e-01 -1.03312261e-03 2.03961363e+02] [ 8.98633545e-01 4.38695512e-01 -2.00007176e-03 2.11254399e+02] [ 2.25056228e-03 -5.09785560e-05 9.99997466e-01 1.28230210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.97, Y:211.28, Z:1.28 [[ 4.40764757e-01 -8.97622073e-01 -1.02125186e-03 2.03973571e+02] [ 8.97619832e-01 4.40765939e-01 -2.00609851e-03 2.11278383e+02] [ 2.25085134e-03 -3.24783976e-05 9.99997466e-01 1.28123051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:211.30, Z:1.28 [[ 4.41348870e-01 -8.97335020e-01 -1.01858253e-03 2.03985751e+02] [ 8.97332775e-01 4.41350045e-01 -2.00745293e-03 2.11302688e+02] [ 2.25090926e-03 -2.80204037e-05 9.99997466e-01 1.28297371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.00, Y:211.33, Z:1.28 [[ 4.42240511e-01 -8.96895921e-01 -1.01797853e-03 2.04000937e+02] [ 8.96893675e-01 4.42241682e-01 -2.00775913e-03 2.11329276e+02] [ 2.25094351e-03 -2.51060814e-05 9.99997466e-01 1.28012070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.01, Y:211.35, Z:1.28 [[ 4.43569329e-01 -8.96239463e-01 -1.03725609e-03 2.04013169e+02] [ 8.96237237e-01 4.43570540e-01 -1.99800900e-03 2.11352495e+02] [ 2.25079076e-03 -4.33720157e-05 9.99997466e-01 1.28133822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.03, Y:211.38, Z:1.28 [[ 4.42266853e-01 -8.96882922e-01 -1.02655376e-03 2.04026352e+02] [ 8.96880686e-01 4.42268043e-01 -2.00341454e-03 2.11380056e+02] [ 2.25084021e-03 -3.46523966e-05 9.99997466e-01 1.27833524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.04, Y:211.40, Z:1.28 [[ 4.41751343e-01 -8.97136931e-01 -1.03783016e-03 2.04036812e+02] [ 8.97134708e-01 4.41752560e-01 -1.99770730e-03 2.11402094e+02] [ 2.25068112e-03 -4.85835726e-05 9.99997466e-01 1.28021746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.05, Y:211.43, Z:1.28 [[ 4.41286622e-01 -8.97365622e-01 -1.02820514e-03 2.04048515e+02] [ 8.97363389e-01 4.41287818e-01 -2.00257479e-03 2.11426213e+02] [ 2.25077617e-03 -3.89641899e-05 9.99997466e-01 1.28027452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.06, Y:211.45, Z:1.28 [[ 4.41640282e-01 -8.97191622e-01 -1.02716126e-03 2.04063082e+02] [ 8.97189386e-01 4.41641475e-01 -2.00310199e-03 2.11451207e+02] [ 2.25080334e-03 -3.69076570e-05 9.99997466e-01 1.27889698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.07, Y:211.47, Z:1.28 [[ 4.41187740e-01 -8.97414240e-01 -1.02936538e-03 2.04072540e+02] [ 8.97412008e-01 4.41188939e-01 -2.00199066e-03 2.11472316e+02] [ 2.25075955e-03 -4.05111228e-05 9.99997466e-01 1.27792638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.09, Y:211.50, Z:1.28 [[ 4.39697832e-01 -8.98145208e-01 -1.00100180e-03 2.04087615e+02] [ 8.98142945e-01 4.39698971e-01 -2.01627022e-03 2.11500842e+02] [ 2.25104290e-03 -1.24930575e-05 9.99997466e-01 1.27630740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:211.53, Z:1.28 [[ 4.37235652e-01 -8.99346392e-01 -1.02535879e-03 2.04103068e+02] [ 8.99344161e-01 4.37236852e-01 -2.00405558e-03 2.11527927e+02] [ 2.25066481e-03 -4.59058979e-05 9.99997466e-01 1.27637356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.11, Y:211.55, Z:1.28 [[ 4.36987649e-01 -8.99466902e-01 -1.04237006e-03 2.04111621e+02] [ 8.99464691e-01 4.36988887e-01 -1.99552624e-03 2.11549082e+02] [ 2.25041394e-03 -6.55547420e-05 9.99997466e-01 1.27655398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.12, Y:211.58, Z:1.28 [[ 4.32807528e-01 -9.01485782e-01 -1.01465103e-03 2.04124942e+02] [ 9.01483543e-01 4.32808715e-01 -2.00939455e-03 2.11577837e+02] [ 2.25059043e-03 -4.50101208e-05 9.99997466e-01 1.27508882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.13, Y:211.60, Z:1.28 [[ 4.29400041e-01 -9.03113801e-01 -1.03298452e-03 2.04133427e+02] [ 9.03111589e-01 4.29401277e-01 -2.00022274e-03 2.11599947e+02] [ 2.24999364e-03 -7.40045663e-05 9.99997466e-01 1.27692069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.15, Y:211.63, Z:1.28 [[ 4.29993673e-01 -9.02831341e-01 -1.00571303e-03 2.04148925e+02] [ 9.02829096e-01 4.29994847e-01 -2.01384213e-03 2.11627038e+02] [ 2.25061121e-03 -4.20476144e-05 9.99997467e-01 1.27691839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.16, Y:211.65, Z:1.27 [[ 4.29931261e-01 -9.02861048e-01 -1.01905815e-03 2.04160448e+02] [ 9.02858819e-01 4.29932465e-01 -2.00717756e-03 2.11649996e+02] [ 2.25032862e-03 -5.71172567e-05 9.99997466e-01 1.27464160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.17, Y:211.68, Z:1.28 [[ 4.25870117e-01 -9.04783744e-01 -1.00954114e-03 2.04170552e+02] [ 9.04781509e-01 4.25871310e-01 -2.01192510e-03 2.11676513e+02] [ 2.25029173e-03 -5.65953800e-05 9.99997467e-01 1.27658899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:211.70, Z:1.28 [[ 4.28035483e-01 -9.03761372e-01 -1.00420022e-03 2.04186292e+02] [ 9.03759127e-01 4.28036659e-01 -2.01458736e-03 2.11701908e+02] [ 2.25054074e-03 -4.52402415e-05 9.99997467e-01 1.27713013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.19, Y:211.73, Z:1.28 [[ 4.24627268e-01 -9.05367690e-01 -1.01485764e-03 2.04192935e+02] [ 9.05365462e-01 4.24628476e-01 -2.00927706e-03 2.11726931e+02] [ 2.25007198e-03 -6.56232294e-05 9.99997466e-01 1.27700978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.20, Y:211.75, Z:1.28 [[ 4.25512166e-01 -9.04952148e-01 -1.00282624e-03 2.04203676e+02] [ 9.04949906e-01 4.25513345e-01 -2.01526407e-03 2.11749820e+02] [ 2.25043349e-03 -4.99881283e-05 9.99997467e-01 1.27724964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.22, Y:211.78, Z:1.28 [[ 4.25787690e-01 -9.04822555e-01 -9.93690236e-04 2.04218757e+02] [ 9.04820301e-01 4.25788848e-01 -2.01981136e-03 2.11779795e+02] [ 2.25067310e-03 -3.91002846e-05 9.99997466e-01 1.27687682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.23, Y:211.80, Z:1.28 [[ 4.24747142e-01 -9.05311440e-01 -1.03101533e-03 2.04226282e+02] [ 9.05309232e-01 4.24748385e-01 -2.00122758e-03 2.11800825e+02] [ 2.24965632e-03 -8.33719971e-05 9.99997466e-01 1.27910233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.24, Y:211.83, Z:1.28 [[ 4.25770851e-01 -9.04830480e-01 -9.92553091e-04 2.04241804e+02] [ 9.04828225e-01 4.25772006e-01 -2.02031360e-03 2.11829709e+02] [ 2.25064264e-03 -3.78994123e-05 9.99997467e-01 1.27944127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.25, Y:211.85, Z:1.28 [[ 4.24329266e-01 -9.05507386e-01 -1.02389664e-03 2.04248280e+02] [ 9.05505170e-01 4.24330494e-01 -2.00479747e-03 2.11852909e+02] [ 2.24982948e-03 -7.64494628e-05 9.99997466e-01 1.27970599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.26, Y:211.88, Z:1.28 [[ 4.25075615e-01 -9.05157287e-01 -1.00414776e-03 2.04262433e+02] [ 9.05155046e-01 4.25076797e-01 -2.01455386e-03 2.11879131e+02] [ 2.25032802e-03 -5.25716960e-05 9.99997467e-01 1.27849750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.27, Y:211.90, Z:1.28 [[ 4.24373784e-01 -9.05486533e-01 -1.01486972e-03 2.04271509e+02] [ 9.05484306e-01 4.24374993e-01 -2.00926007e-03 2.11904678e+02] [ 2.25004326e-03 -6.62713080e-05 9.99997466e-01 1.27953348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.28, Y:211.93, Z:1.28 [[ 4.25182746e-01 -9.05106966e-01 -1.00597340e-03 2.04284663e+02] [ 9.05104728e-01 4.25183932e-01 -2.01364721e-03 2.11929853e+02] [ 2.25028985e-03 -5.43432304e-05 9.99997467e-01 1.27875922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.29, Y:211.95, Z:1.28 [[ 4.23234477e-01 -9.06019621e-01 -1.01243315e-03 2.04292421e+02] [ 9.06017392e-01 4.23235683e-01 -2.01046327e-03 2.11953999e+02] [ 2.25001700e-03 -6.63846736e-05 9.99997467e-01 1.28081620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.31, Y:211.98, Z:1.28 [[ 4.25247648e-01 -9.05076489e-01 -9.93766536e-04 2.04305151e+02] [ 9.05074236e-01 4.25248807e-01 -2.01964816e-03 2.11979586e+02] [ 2.25053410e-03 -4.05818587e-05 9.99997467e-01 1.27865571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.32, Y:212.01, Z:1.28 [[ 4.25978752e-01 -9.04732622e-01 -9.93073383e-04 2.04319511e+02] [ 9.04730368e-01 4.25979907e-01 -2.01998893e-03 2.12007873e+02] [ 2.25057919e-03 -3.79912835e-05 9.99997467e-01 1.27975529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.33, Y:212.03, Z:1.28 [[ 4.22658377e-01 -9.06288501e-01 -1.02405744e-03 2.04325632e+02] [ 9.06286288e-01 4.22659610e-01 -2.00474305e-03 2.12029095e+02] [ 2.24970329e-03 -8.07677694e-05 9.99997466e-01 1.27875231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.34, Y:212.06, Z:1.28 [[ 4.23046982e-01 -9.06107205e-01 -9.92086309e-04 2.04341963e+02] [ 9.06104953e-01 4.23048143e-01 -2.02044166e-03 2.12057772e+02] [ 2.25043701e-03 -4.41925735e-05 9.99997467e-01 1.27773998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.35, Y:212.08, Z:1.28 [[ 4.22203813e-01 -9.06500360e-01 -1.01873596e-03 2.04353758e+02] [ 9.06498141e-01 4.22205035e-01 -2.00734929e-03 2.12083082e+02] [ 2.24977831e-03 -7.59717272e-05 9.99997466e-01 1.27877993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.36, Y:212.11, Z:1.28 [[ 4.20368133e-01 -9.07353076e-01 -1.01378022e-03 2.04364075e+02] [ 9.07350853e-01 4.20369349e-01 -2.00977889e-03 2.12107695e+02] [ 2.24974119e-03 -7.50073459e-05 9.99997467e-01 1.27793426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.37, Y:212.13, Z:1.27 [[ 4.16588203e-01 -9.09094751e-01 -1.00160285e-03 2.04371393e+02] [ 9.09092519e-01 4.16589401e-01 -2.01574023e-03 2.12132113e+02] [ 2.24975599e-03 -7.08160518e-05 9.99997467e-01 1.27490750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.38, Y:212.16, Z:1.28 [[ 4.16751111e-01 -9.09020094e-01 -9.89785818e-04 2.04384141e+02] [ 9.09017848e-01 4.16752282e-01 -2.02151890e-03 2.12155330e+02] [ 2.25009680e-03 -5.72627278e-05 9.99997467e-01 1.27679236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.39, Y:212.18, Z:1.27 [[ 4.14638485e-01 -9.09985687e-01 -9.88122112e-04 2.04394072e+02] [ 9.09983442e-01 4.14639658e-01 -2.02233179e-03 2.12180417e+02] [ 2.25000760e-03 -6.06381700e-05 9.99997467e-01 1.27388527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.40, Y:212.20, Z:1.27 [[ 4.13629681e-01 -9.10444683e-01 -9.82825337e-04 2.04404780e+02] [ 9.10442433e-01 4.13630845e-01 -2.02492019e-03 2.12204167e+02] [ 2.25010470e-03 -5.72387977e-05 9.99997467e-01 1.27407647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.42, Y:212.23, Z:1.27 [[ 4.11725513e-01 -9.11307388e-01 -9.72513539e-04 2.04417253e+02] [ 9.11305129e-01 4.11726659e-01 -2.02996371e-03 2.12228285e+02] [ 2.25033067e-03 -5.04687273e-05 9.99997467e-01 1.27472876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.10275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.43, Y:212.25, Z:1.27 [[ 4.10659067e-01 -9.11788461e-01 -9.66600947e-04 2.04430271e+02] [ 9.11786196e-01 4.10660201e-01 -2.03285385e-03 2.12253742e+02] [ 2.25047722e-03 -4.65235355e-05 9.99997467e-01 1.27480518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.45, Y:212.28, Z:1.28 [[ 4.11486387e-01 -9.11415392e-01 -9.67479437e-04 2.04447198e+02] [ 9.11413127e-01 4.11487522e-01 -2.03242531e-03 2.12279571e+02] [ 2.25048943e-03 -4.54581121e-05 9.99997467e-01 1.27855163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.46, Y:212.30, Z:1.28 [[ 4.11170478e-01 -9.11557932e-01 -9.86989686e-04 2.04458382e+02] [ 9.11555690e-01 4.11171657e-01 -2.02290613e-03 2.12304955e+02] [ 2.24981831e-03 -6.79367853e-05 9.99997467e-01 1.27705755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.47, Y:212.33, Z:1.28 [[ 4.10743992e-01 -9.11750185e-01 -9.87083720e-04 2.04467839e+02] [ 9.11747943e-01 4.10745172e-01 -2.02286029e-03 2.12328962e+02] [ 2.24978311e-03 -6.90938416e-05 9.99997467e-01 1.27648762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.48, Y:212.35, Z:1.28 [[ 4.11904225e-01 -9.11226625e-01 -9.72903641e-04 2.04479353e+02] [ 9.11224366e-01 4.11905371e-01 -2.02976345e-03 2.12354229e+02] [ 2.25031874e-03 -5.04653610e-05 9.99997467e-01 1.27643758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.49, Y:212.38, Z:1.28 [[ 4.14529089e-01 -9.10035539e-01 -9.75579952e-04 2.04492036e+02] [ 9.10033280e-01 4.14530234e-01 -2.02846296e-03 2.12375692e+02] [ 2.25038077e-03 -4.69533224e-05 9.99997467e-01 1.27907081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.50, Y:212.40, Z:1.28 [[ 4.15298249e-01 -9.09684796e-01 -9.67797317e-04 2.04504693e+02] [ 9.09682527e-01 4.15299375e-01 -2.03224411e-03 2.12403277e+02] [ 2.25062719e-03 -3.64008876e-05 9.99997467e-01 1.27950584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.52, Y:212.43, Z:1.28 [[ 4.15621881e-01 -9.09536962e-01 -9.83406488e-04 2.04515947e+02] [ 9.09534710e-01 4.15623041e-01 -2.02466252e-03 2.12429094e+02] [ 2.25023180e-03 -5.29482883e-05 9.99997467e-01 1.27862208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.53, Y:212.45, Z:1.28 [[ 4.16593309e-01 -9.09092434e-01 -9.80759651e-04 2.04527912e+02] [ 9.09090178e-01 4.16594461e-01 -2.02594735e-03 2.12453871e+02] [ 2.25035245e-03 -4.76028543e-05 9.99997467e-01 1.27622847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.37275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.54, Y:212.48, Z:1.28 [[ 4.15453693e-01 -9.09613800e-01 -9.81762468e-04 2.04535482e+02] [ 9.09611547e-01 4.15454849e-01 -2.02546076e-03 2.12477713e+02] [ 2.25026504e-03 -5.15373251e-05 9.99997467e-01 1.27711135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.55, Y:212.50, Z:1.28 [[ 4.17790029e-01 -9.08543106e-01 -9.57099755e-04 2.04547144e+02] [ 9.08540822e-01 4.17791125e-01 -2.03741211e-03 2.12501876e+02] [ 2.25094451e-03 -1.83537346e-05 9.99997466e-01 1.27936547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.56, Y:212.53, Z:1.28 [[ 4.20459023e-01 -9.07311032e-01 -9.49590437e-04 2.04563645e+02] [ 9.07308736e-01 4.20460095e-01 -2.04105149e-03 2.12529519e+02] [ 2.25113342e-03 -3.39318296e-06 9.99997466e-01 1.27959229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.58, Y:212.56, Z:1.28 [[ 4.21617311e-01 -9.06773340e-01 -9.75733780e-04 2.04578450e+02] [ 9.06771072e-01 4.21618440e-01 -2.02837170e-03 2.12555740e+02] [ 2.25066073e-03 -2.95705437e-05 9.99997467e-01 1.28125715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.59, Y:212.58, Z:1.28 [[ 4.20181326e-01 -9.07439627e-01 -9.87942271e-04 2.04586922e+02] [ 9.07437375e-01 4.20182485e-01 -2.02245292e-03 2.12579070e+02] [ 2.25036996e-03 -4.66987905e-05 9.99997467e-01 1.27917691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.60, Y:212.60, Z:1.28 [[ 4.21535063e-01 -9.06811586e-01 -9.69028481e-04 2.04602188e+02] [ 9.06809310e-01 4.21536176e-01 -2.03161101e-03 2.12603486e+02] [ 2.25076896e-03 -2.23287739e-05 9.99997467e-01 1.28219515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:204.62, Y:212.63, Z:1.28 [[ 4.22754190e-01 -9.06243860e-01 -9.80930055e-04 2.04619094e+02] [ 9.06241596e-01 4.22755327e-01 -2.02584818e-03 2.12631481e+02] [ 2.25060588e-03 -3.25238109e-05 9.99997467e-01 1.28094922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.63, Y:212.66, Z:1.28 [[ 4.22399698e-01 -9.06409115e-01 -1.00564458e-03 2.04630903e+02] [ 9.06406880e-01 4.22400890e-01 -2.01387541e-03 2.12656164e+02] [ 2.25018019e-03 -6.08628067e-05 9.99997467e-01 1.28208604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.64, Y:212.68, Z:1.28 [[ 4.22075092e-01 -9.06560311e-01 -1.00954972e-03 2.04641383e+02] [ 9.06558081e-01 4.22076294e-01 -2.01198540e-03 2.12681299e+02] [ 2.25009312e-03 -6.60065326e-05 9.99997466e-01 1.27959512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.65, Y:212.70, Z:1.28 [[ 4.20325439e-01 -9.07372872e-01 -9.98526507e-04 2.04651765e+02] [ 9.07370631e-01 4.20326621e-01 -2.01732697e-03 2.12704196e+02] [ 2.25017504e-03 -5.80997805e-05 9.99997467e-01 1.28139186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.66, Y:212.73, Z:1.28 [[ 4.19150545e-01 -9.07916215e-01 -9.83674955e-04 2.04663721e+02] [ 9.07913959e-01 4.19151697e-01 -2.02451504e-03 2.12728410e+02] [ 2.25039906e-03 -4.45156399e-05 9.99997467e-01 1.27980578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.68, Y:212.75, Z:1.28 [[ 4.19380269e-01 -9.07810129e-01 -9.79118133e-04 2.04677227e+02] [ 9.07807868e-01 4.19381410e-01 -2.02671877e-03 2.12753700e+02] [ 2.25049977e-03 -3.88852829e-05 9.99997467e-01 1.28044935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.69, Y:212.78, Z:1.28 [[ 4.17042543e-01 -9.08886434e-01 -9.83332663e-04 2.04688911e+02] [ 9.08884180e-01 4.17043699e-01 -2.02468305e-03 2.12780146e+02] [ 2.25029965e-03 -4.93565352e-05 9.99997467e-01 1.28142070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:212.81, Z:1.28 [[ 4.16928552e-01 -9.08938718e-01 -9.94162008e-04 2.04701925e+02] [ 9.08936477e-01 4.16929733e-01 -2.01946386e-03 2.12805760e+02] [ 2.25006460e-03 -6.16579680e-05 9.99997467e-01 1.27981256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.71, Y:212.83, Z:1.28 [[ 4.15289590e-01 -9.09688726e-01 -9.88942075e-04 2.04711344e+02] [ 9.09686481e-01 4.15290763e-01 -2.02197251e-03 2.12829294e+02] [ 2.25006411e-03 -5.99231014e-05 9.99997467e-01 1.27999466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.72, Y:212.85, Z:1.28 [[ 4.15582169e-01 -9.09555118e-01 -9.74030947e-04 2.04722821e+02] [ 9.09552855e-01 4.15583308e-01 -2.02913021e-03 2.12851812e+02] [ 2.25039677e-03 -4.26622958e-05 9.99997467e-01 1.28085725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.74, Y:212.88, Z:1.28 [[ 4.13678071e-01 -9.10422722e-01 -9.60088140e-04 2.04735495e+02] [ 9.10420446e-01 4.13679184e-01 -2.03581652e-03 2.12879501e+02] [ 2.25062210e-03 -3.19112215e-05 9.99997467e-01 1.28029118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.75, Y:212.91, Z:1.28 [[ 4.12762101e-01 -9.10838350e-01 -9.73285786e-04 2.04747850e+02] [ 9.10836091e-01 4.12763246e-01 -2.02948730e-03 2.12906189e+02] [ 2.25027146e-03 -4.88083781e-05 9.99997467e-01 1.27787174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.76, Y:212.93, Z:1.28 [[ 4.13197940e-01 -9.10640714e-01 -9.76498640e-04 2.04760626e+02] [ 9.10638457e-01 4.13199090e-01 -2.02794755e-03 2.12930514e+02] [ 2.25021995e-03 -5.12934661e-05 9.99997467e-01 1.27966772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.77, Y:212.95, Z:1.28 [[ 4.12135194e-01 -9.11122178e-01 -9.78727081e-04 2.04770926e+02] [ 9.11119925e-01 4.12136353e-01 -2.02687961e-03 2.12954573e+02] [ 2.25010398e-03 -5.63893208e-05 9.99997467e-01 1.28167768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97275509600007 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:204.78, Y:212.98, Z:1.28 [[ 4.11767873e-01 -9.11288249e-01 -9.72099773e-04 2.04783066e+02] [ 9.11285990e-01 4.11769018e-01 -2.03005313e-03 2.12979413e+02] [ 2.25024413e-03 -4.99502435e-05 9.99997467e-01 1.27885894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.00275509600004 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:204.79, Y:213.00, Z:1.28 [[ 4.11459664e-01 -9.11427452e-01 -9.71413511e-04 2.04794845e+02] [ 9.11425192e-01 4.11460808e-01 -2.03038146e-03 2.13004538e+02] [ 2.25024399e-03 -4.99506706e-05 9.99997467e-01 1.27892117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.81, Y:213.03, Z:1.28 [[ 4.12336911e-01 -9.11030916e-01 -9.70726751e-04 2.04805840e+02] [ 9.11028654e-01 4.12338051e-01 -2.03070975e-03 2.13029223e+02] [ 2.25030694e-03 -4.70232997e-05 9.99997467e-01 1.28241053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.82, Y:213.05, Z:1.28 [[ 4.12650038e-01 -9.10889129e-01 -9.70040268e-04 2.04817582e+02] [ 9.10886866e-01 4.12651176e-01 -2.03103762e-03 2.13054087e+02] [ 2.25033835e-03 -4.54891859e-05 9.99997467e-01 1.28210701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.83, Y:213.08, Z:1.28 [[ 4.13721743e-01 -9.10402867e-01 -9.69349317e-04 2.04829889e+02] [ 9.10400601e-01 4.13722877e-01 -2.03136734e-03 2.13079794e+02] [ 2.25040463e-03 -4.20753655e-05 9.99997467e-01 1.28111955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.84, Y:213.11, Z:1.28 [[ 4.14691092e-01 -9.09961735e-01 -9.68710914e-04 2.04843610e+02] [ 9.09959468e-01 4.14692222e-01 -2.03167173e-03 2.13106952e+02] [ 2.25046041e-03 -3.89714995e-05 9.99997467e-01 1.27957608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.1527550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:204.85, Y:213.13, Z:1.28 [[ 4.14771264e-01 -9.09925183e-01 -9.79926776e-04 2.04854151e+02] [ 9.09922928e-01 4.14772419e-01 -2.02632625e-03 2.13130510e+02] [ 2.25025188e-03 -5.11959419e-05 9.99997467e-01 1.27756205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.87, Y:213.16, Z:1.28 [[ 4.16144869e-01 -9.09297813e-01 -9.67539946e-04 2.04865088e+02] [ 9.09295542e-01 4.16145992e-01 -2.03222360e-03 2.13155406e+02] [ 2.25053435e-03 -3.40803342e-05 9.99997467e-01 1.28005138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.88, Y:213.18, Z:1.28 [[ 4.16300168e-01 -9.09226724e-01 -9.66872177e-04 2.04876247e+02] [ 9.09224453e-01 4.16301290e-01 -2.03254126e-03 2.13178876e+02] [ 2.25055096e-03 -3.29565580e-05 9.99997467e-01 1.28041229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.89, Y:213.20, Z:1.28 [[ 4.16351608e-01 -9.09203170e-01 -9.66136112e-04 2.04889332e+02] [ 9.09200898e-01 4.16352728e-01 -2.03289108e-03 2.13204691e+02] [ 2.25056442e-03 -3.20143518e-05 9.99997467e-01 1.27950262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.90, Y:213.23, Z:1.28 [[ 4.16326122e-01 -9.09214833e-01 -9.73778435e-04 2.04902470e+02] [ 9.09212569e-01 4.16327259e-01 -2.02926349e-03 2.13230214e+02] [ 2.25044697e-03 -4.05361924e-05 9.99997467e-01 1.28210959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.91, Y:213.25, Z:1.28 [[ 4.14344212e-01 -9.10119727e-01 -9.78498381e-04 2.04911312e+02] [ 9.10117471e-01 4.14345364e-01 -2.02702124e-03 2.13253641e+02] [ 2.25026828e-03 -5.06639551e-05 9.99997467e-01 1.28236811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.92, Y:213.28, Z:1.28 [[ 4.13495131e-01 -9.10505813e-01 -9.69998267e-04 2.04923698e+02] [ 9.10503549e-01 4.13496266e-01 -2.03105411e-03 2.13278796e+02] [ 2.25037724e-03 -4.33558793e-05 9.99997467e-01 1.28250619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.93, Y:213.30, Z:1.28 [[ 4.11777488e-01 -9.11283904e-01 -9.73108949e-04 2.04934026e+02] [ 9.11281645e-01 4.11778635e-01 -2.02958091e-03 2.13303377e+02] [ 2.25022989e-03 -5.10405963e-05 9.99997467e-01 1.28254780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.39275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.95, Y:213.33, Z:1.28 [[ 4.09902635e-01 -9.12128771e-01 -9.66819705e-04 2.04945973e+02] [ 9.12126508e-01 4.09903772e-01 -2.03255705e-03 2.13327679e+02] [ 2.25025681e-03 -4.87113901e-05 9.99997467e-01 1.28141818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.96, Y:213.35, Z:1.28 [[ 4.08750190e-01 -9.12645795e-01 -9.67316053e-04 2.04956453e+02] [ 9.12643533e-01 4.08751331e-01 -2.03232229e-03 2.13351345e+02] [ 2.25018211e-03 -5.21026195e-05 9.99997467e-01 1.28209011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.97, Y:213.38, Z:1.28 [[ 4.07936863e-01 -9.13009634e-01 -9.61669127e-04 2.04968465e+02] [ 9.13007367e-01 4.07937994e-01 -2.03499084e-03 2.13376037e+02] [ 2.25026761e-03 -4.78632187e-05 9.99997467e-01 1.28131452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.98, Y:213.40, Z:1.28 [[ 4.08591505e-01 -9.12716856e-01 -9.60972811e-04 2.04983132e+02] [ 9.12714587e-01 4.08592633e-01 -2.03531960e-03 2.13402017e+02] [ 2.25031692e-03 -4.54796025e-05 9.99997467e-01 1.27863048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.51275509600003 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:204.99, Y:213.42, Z:1.28 [[ 4.07379305e-01 -9.13258530e-01 -9.79379421e-04 2.04990986e+02] [ 9.13256284e-01 4.07380477e-01 -2.02662679e-03 2.13424957e+02] [ 2.24981426e-03 -6.88185970e-05 9.99997467e-01 1.27617544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.00, Y:213.45, Z:1.28 [[ 4.07968584e-01 -9.12995461e-01 -9.59946598e-04 2.05001113e+02] [ 9.12993193e-01 4.07969711e-01 -2.03579005e-03 2.13451671e+02] [ 2.25029621e-03 -4.58863254e-05 9.99997467e-01 1.27789064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:213.48, Z:1.28 [[ 4.10155444e-01 -9.12015121e-01 -9.65007182e-04 2.05017575e+02] [ 9.12012855e-01 4.10156576e-01 -2.03340486e-03 2.13481566e+02] [ 2.25030002e-03 -4.60868843e-05 9.99997467e-01 1.27675978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.02, Y:213.50, Z:1.28 [[ 4.08448588e-01 -9.12780782e-01 -9.97755765e-04 2.05023636e+02] [ 9.12778555e-01 4.08449798e-01 -2.01801529e-03 2.13502648e+02] [ 2.24953872e-03 -8.64745674e-05 9.99997466e-01 1.27747343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.63275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:205.03, Y:213.52, Z:1.27 [[ 4.10867679e-01 -9.11694487e-01 -9.55099393e-04 2.05034361e+02] [ 9.11692210e-01 4.10868788e-01 -2.03800595e-03 2.13523996e+02] [ 2.25045932e-03 -3.34059019e-05 9.99997467e-01 1.27418563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:205.04, Y:213.55, Z:1.28 [[ 4.11370845e-01 -9.11467581e-01 -9.36531497e-04 2.05044436e+02] [ 9.11465283e-01 4.11371910e-01 -2.04668769e-03 2.13551277e+02] [ 2.25075223e-03 -1.16683042e-05 9.99997467e-01 1.27576795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.05, Y:213.57, Z:1.28 [[ 4.16231710e-01 -9.09258079e-01 -9.53380499e-04 2.05053951e+02] [ 9.09255794e-01 4.16232802e-01 -2.03880882e-03 2.13570913e+02] [ 2.25063162e-03 -1.82498617e-05 9.99997467e-01 1.27606085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.07, Y:213.60, Z:1.28 [[ 4.15587459e-01 -9.09552748e-01 -9.28589146e-04 2.05067088e+02] [ 9.09550437e-01 4.15588496e-01 -2.05041097e-03 2.13599238e+02] [ 2.25086790e-03 7.52642117e-06 9.99997467e-01 1.27692024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.75275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.08, Y:213.62, Z:1.28 [[ 4.14155622e-01 -9.10205587e-01 -9.54307746e-04 2.05076256e+02] [ 9.10203305e-01 4.14156720e-01 -2.03837025e-03 2.13623544e+02] [ 2.25056895e-03 -2.44115673e-05 9.99997467e-01 1.27605195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7827550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.09, Y:213.65, Z:1.28 [[ 4.14144253e-01 -9.10210768e-01 -9.46364448e-04 2.05087445e+02] [ 9.10208477e-01 4.14145334e-01 -2.04208334e-03 2.13646238e+02] [ 2.25065866e-03 -1.56718645e-05 9.99997467e-01 1.27659844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.10, Y:213.67, Z:1.28 [[ 4.12185351e-01 -9.11099532e-01 -9.37808178e-04 2.05100248e+02] [ 9.11097234e-01 4.12186418e-01 -2.04607530e-03 2.13671826e+02] [ 2.25073004e-03 -1.10721705e-05 9.99997467e-01 1.27710123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.11, Y:213.70, Z:1.28 [[ 4.10851064e-01 -9.11701983e-01 -9.47322009e-04 2.05111800e+02] [ 9.11699698e-01 4.10852155e-01 -2.04163669e-03 2.13697345e+02] [ 2.25057351e-03 -2.48645824e-05 9.99997467e-01 1.27838173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.12, Y:213.72, Z:1.28 [[ 4.07801319e-01 -9.13070196e-01 -9.49525704e-04 2.05124367e+02] [ 9.13067916e-01 4.07802423e-01 -2.04060916e-03 2.13724196e+02] [ 2.25043829e-03 -3.48183478e-05 9.99997467e-01 1.27901835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.14, Y:213.75, Z:1.28 [[ 4.06647163e-01 -9.13584788e-01 -9.59306629e-04 2.05136368e+02] [ 9.13582520e-01 4.06648291e-01 -2.03605407e-03 2.13749143e+02] [ 2.25020843e-03 -4.84501551e-05 9.99997467e-01 1.27927040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.15, Y:213.77, Z:1.28 [[ 4.05356003e-01 -9.14158409e-01 -9.55876997e-04 2.05147946e+02] [ 9.14156140e-01 4.05357127e-01 -2.03764954e-03 2.13771461e+02] [ 2.25020601e-03 -4.78473538e-05 9.99997467e-01 1.27960529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.16, Y:213.80, Z:1.28 [[ 4.04239884e-01 -9.14652512e-01 -9.48497668e-04 2.05159619e+02] [ 9.14650235e-01 4.04240994e-01 -2.04107874e-03 2.13795524e+02] [ 2.25029944e-03 -4.24581807e-05 9.99997467e-01 1.27907206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.17, Y:213.82, Z:1.28 [[ 4.02639183e-01 -9.15358285e-01 -9.47816113e-04 2.05172575e+02] [ 9.15356010e-01 4.02640296e-01 -2.04139519e-03 2.13822362e+02] [ 2.25023696e-03 -4.56434852e-05 9.99997467e-01 1.27853489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.19, Y:213.85, Z:1.28 [[ 4.01556112e-01 -9.15833922e-01 -9.56891014e-04 2.05186068e+02] [ 9.15831658e-01 4.01557248e-01 -2.03718386e-03 2.13848291e+02] [ 2.24996861e-03 -5.83074525e-05 9.99997467e-01 1.27781512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.20, Y:213.87, Z:1.28 [[ 4.02529799e-01 -9.15406381e-01 -9.58813157e-04 2.05200592e+02] [ 9.15404118e-01 4.02530937e-01 -2.03629296e-03 2.13874702e+02] [ 2.24998753e-03 -5.80329160e-05 9.99997467e-01 1.27793648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.21, Y:213.90, Z:1.28 [[ 4.01041132e-01 -9.16059538e-01 -9.66123306e-04 2.05208437e+02] [ 9.16057285e-01 4.01042289e-01 -2.03290573e-03 2.13898101e+02] [ 2.24971899e-03 -6.97454760e-05 9.99997467e-01 1.27855492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.22, Y:213.92, Z:1.28 [[ 4.00816783e-01 -9.16157739e-01 -9.50105626e-04 2.05219243e+02] [ 9.16155469e-01 4.00817906e-01 -2.04032216e-03 2.13922861e+02] [ 2.25007629e-03 -5.26490995e-05 9.99997467e-01 1.27865201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.23, Y:213.95, Z:1.28 [[ 4.01759679e-01 -9.15744647e-01 -9.49882706e-04 2.05230872e+02] [ 9.15742375e-01 4.01760799e-01 -2.04042525e-03 2.13947041e+02] [ 2.25013413e-03 -5.00872536e-05 9.99997467e-01 1.27926269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.24, Y:213.97, Z:1.28 [[ 4.02428809e-01 -9.15450798e-01 -9.43828282e-04 2.05241592e+02] [ 9.15448518e-01 4.02429914e-01 -2.04322197e-03 2.13972408e+02] [ 2.25029392e-03 -4.17748160e-05 9.99997467e-01 1.27908697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.25, Y:214.00, Z:1.28 [[ 4.02529181e-01 -9.15406668e-01 -9.43646496e-04 2.05252809e+02] [ 9.15404388e-01 4.02530285e-01 -2.04330586e-03 2.13998575e+02] [ 2.25030210e-03 -4.13279092e-05 9.99997467e-01 1.27870579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.26, Y:214.02, Z:1.28 [[ 4.03372595e-01 -9.15035328e-01 -9.47381900e-04 2.05263542e+02] [ 9.15033052e-01 4.03373706e-01 -2.04158349e-03 2.14022060e+02] [ 2.25026996e-03 -4.33669216e-05 9.99997467e-01 1.27896591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.27, Y:214.05, Z:1.28 [[ 4.04220877e-01 -9.14660919e-01 -9.41555723e-04 2.05274420e+02] [ 9.14658635e-01 4.04221972e-01 -2.04426693e-03 2.14046440e+02] [ 2.25040858e-03 -3.48667015e-05 9.99997467e-01 1.27972798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.29, Y:214.07, Z:1.28 [[ 4.04669342e-01 -9.14462595e-01 -9.40806242e-04 2.05285388e+02] [ 9.14460310e-01 4.04670435e-01 -2.04461179e-03 2.14071672e+02] [ 2.25043748e-03 -3.29382576e-05 9.99997467e-01 1.27968469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.30, Y:214.10, Z:1.28 [[ 4.05346013e-01 -9.14162856e-01 -9.40098823e-04 2.05295369e+02] [ 9.14160569e-01 4.05347102e-01 -2.04493701e-03 2.14095917e+02] [ 2.25047179e-03 -3.04942119e-05 9.99997467e-01 1.27939580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.31, Y:214.12, Z:1.28 [[ 4.05488487e-01 -9.14099669e-01 -9.39358273e-04 2.05306435e+02] [ 9.14097381e-01 4.05489574e-01 -2.04527713e-03 2.14120930e+02] [ 2.25048713e-03 -2.93286090e-05 9.99997467e-01 1.27926232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.38275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:205.32, Y:214.15, Z:1.28 [[ 4.05344820e-01 -9.14163386e-01 -9.38660069e-04 2.05318327e+02] [ 9.14161098e-01 4.05345905e-01 -2.04559751e-03 2.14146391e+02] [ 2.25049236e-03 -2.89141644e-05 9.99997467e-01 1.27721658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.33, Y:214.17, Z:1.28 [[ 4.07416845e-01 -9.13241827e-01 -9.38019728e-04 2.05333538e+02] [ 9.13239536e-01 4.07417924e-01 -2.04589110e-03 2.14174555e+02] [ 2.25055938e-03 -2.31062024e-05 9.99997467e-01 1.27938219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.34, Y:214.20, Z:1.28 [[ 4.06623160e-01 -9.13595470e-01 -9.60658553e-04 2.05344203e+02] [ 9.13593204e-01 4.06624292e-01 -2.03551037e-03 2.14199610e+02] [ 2.25026015e-03 -4.99654677e-05 9.99997467e-01 1.27968743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.35, Y:214.22, Z:1.28 [[ 4.04669930e-01 -9.14462319e-01 -9.56846065e-04 2.05352101e+02] [ 9.14460051e-01 4.04671058e-01 -2.03725720e-03 2.14222500e+02] [ 2.25020286e-03 -5.05807716e-05 9.99997467e-01 1.28054033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.50275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:205.37, Y:214.25, Z:1.28 [[ 4.04347577e-01 -9.14604920e-01 -9.36261258e-04 2.05367524e+02] [ 9.14602631e-01 4.04348660e-01 -2.04667383e-03 2.14249245e+02] [ 2.25047394e-03 -2.87394052e-05 9.99997467e-01 1.28114746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.38, Y:214.27, Z:1.28 [[ 4.01441492e-01 -9.15884174e-01 -9.53572243e-04 2.05375235e+02] [ 9.15881906e-01 4.01442621e-01 -2.03875554e-03 2.14271714e+02] [ 2.25006847e-03 -5.49184970e-05 9.99997467e-01 1.28211359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.39, Y:214.30, Z:1.28 [[ 4.00419502e-01 -9.16331462e-01 -9.34920625e-04 2.05386657e+02] [ 9.16329176e-01 4.00420591e-01 -2.04727311e-03 2.14296467e+02] [ 2.25034223e-03 -3.69269677e-05 9.99997467e-01 1.28270960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.40, Y:214.32, Z:1.28 [[ 3.98140836e-01 -9.17323826e-01 -9.34210199e-04 2.05397225e+02] [ 9.17321542e-01 3.98141930e-01 -2.04759724e-03 2.14320408e+02] [ 2.25025798e-03 -4.17390635e-05 9.99997467e-01 1.28347640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.41, Y:214.34, Z:1.28 [[ 3.96714060e-01 -9.17941765e-01 -9.33466521e-04 2.05407908e+02] [ 9.17939481e-01 3.96715156e-01 -2.04793621e-03 2.14344495e+02] [ 2.25020650e-03 -4.44206841e-05 9.99997467e-01 1.28379554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.42, Y:214.37, Z:1.28 [[ 3.94753717e-01 -9.18786500e-01 -9.32732369e-04 2.05418841e+02] [ 9.18784218e-01 3.94754816e-01 -2.04827053e-03 2.14368589e+02] [ 2.25012390e-03 -4.84173754e-05 9.99997467e-01 1.28435922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.43, Y:214.40, Z:1.28 [[ 3.94337872e-01 -9.18965056e-01 -9.32007501e-04 2.05431876e+02] [ 9.18962774e-01 3.94338971e-01 -2.04860030e-03 2.14395746e+02] [ 2.25011897e-03 -4.86395134e-05 9.99997467e-01 1.28392265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.44, Y:214.42, Z:1.28 [[ 3.92683117e-01 -9.19673359e-01 -9.39461687e-04 2.05442091e+02] [ 9.19671087e-01 3.92684236e-01 -2.04521081e-03 2.14420208e+02] [ 2.24983769e-03 -6.08759967e-05 9.99997467e-01 1.28480740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.45, Y:214.45, Z:1.28 [[ 3.91835267e-01 -9.20034922e-01 -9.30622364e-04 2.05453907e+02] [ 9.20032641e-01 3.91836368e-01 -2.04922504e-03 2.14446049e+02] [ 2.25001029e-03 -5.32443103e-05 9.99997467e-01 1.28478523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.47, Y:214.47, Z:1.28 [[ 3.92752965e-01 -9.19643542e-01 -9.29969354e-04 2.05467683e+02] [ 9.19641259e-01 3.92754062e-01 -2.04952135e-03 2.14474345e+02] [ 2.25007831e-03 -5.02826033e-05 9.99997467e-01 1.28486045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.48, Y:214.50, Z:1.29 [[ 3.92964224e-01 -9.19553276e-01 -9.44377225e-04 2.05477515e+02] [ 9.19551009e-01 3.92965353e-01 -2.04298468e-03 2.14497774e+02] [ 2.24974079e-03 -6.55831398e-05 9.99997467e-01 1.28516035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.49, Y:214.53, Z:1.28 [[ 3.92834647e-01 -9.19608655e-01 -9.28930075e-04 2.05486528e+02] [ 9.19606371e-01 3.92835742e-01 -2.04998441e-03 2.14525295e+02] [ 2.25010034e-03 -4.89451157e-05 9.99997467e-01 1.28392388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.50, Y:214.55, Z:1.28 [[ 3.92084592e-01 -9.19928694e-01 -9.32712051e-04 2.05496796e+02] [ 9.19926416e-01 3.92085698e-01 -2.04827193e-03 2.14550758e+02] [ 2.24996717e-03 -5.49305907e-05 9.99997467e-01 1.28364531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.51, Y:214.58, Z:1.28 [[ 3.93407426e-01 -9.19363767e-01 -9.27620706e-04 2.05508495e+02] [ 9.19361482e-01 3.93408517e-01 -2.05057510e-03 2.14577707e+02] [ 2.25015834e-03 -4.61072733e-05 9.99997467e-01 1.28227785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.52, Y:214.60, Z:1.28 [[ 3.93083276e-01 -9.19502407e-01 -9.28202994e-04 2.05519713e+02] [ 9.19500122e-01 3.93084369e-01 -2.05031178e-03 2.14602908e+02] [ 2.25012870e-03 -4.75394953e-05 9.99997467e-01 1.28234012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.53, Y:214.63, Z:1.28 [[ 3.93186121e-01 -9.19458435e-01 -9.27495546e-04 2.05530593e+02] [ 9.19456150e-01 3.93187212e-01 -2.05063140e-03 2.14627264e+02] [ 2.25014973e-03 -4.65116752e-05 9.99997467e-01 1.28308684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.54, Y:214.65, Z:1.28 [[ 3.92920112e-01 -9.19572144e-01 -9.26025285e-04 2.05540903e+02] [ 9.19569857e-01 3.92921201e-01 -2.05129513e-03 2.14653530e+02] [ 2.25016883e-03 -4.55498260e-05 9.99997467e-01 1.28149600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.55, Y:214.68, Z:1.28 [[ 3.94436516e-01 -9.18922732e-01 -9.20445126e-04 2.05552218e+02] [ 9.18920438e-01 3.94437589e-01 -2.05381222e-03 2.14679221e+02] [ 2.25035289e-03 -3.57173027e-05 9.99997467e-01 1.28254185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.56, Y:214.70, Z:1.28 [[ 3.93453917e-01 -9.19343874e-01 -9.25179008e-04 2.05560300e+02] [ 9.19341586e-01 3.93455002e-01 -2.05167753e-03 2.14704542e+02] [ 2.25021348e-03 -4.33149770e-05 9.99997467e-01 1.28018739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.57, Y:214.73, Z:1.28 [[ 3.94911853e-01 -9.18718562e-01 -9.12147938e-04 2.05573990e+02] [ 9.18716258e-01 3.94912906e-01 -2.05754667e-03 2.14730766e+02] [ 2.25052531e-03 -2.54555727e-05 9.99997467e-01 1.28260854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.59, Y:214.76, Z:1.28 [[ 3.94201841e-01 -9.19023424e-01 -9.24243193e-04 2.05585330e+02] [ 9.19021134e-01 3.94202922e-01 -2.05209910e-03 2.14756841e+02] [ 2.25026651e-03 -4.04577854e-05 9.99997467e-01 1.28294213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.60, Y:214.78, Z:1.28 [[ 3.93598319e-01 -9.19282063e-01 -9.23582229e-04 2.05597307e+02] [ 9.19279772e-01 3.93599400e-01 -2.05239653e-03 2.14782525e+02] [ 2.25025273e-03 -4.12106356e-05 9.99997467e-01 1.28349744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.61, Y:214.81, Z:1.28 [[ 3.92750179e-01 -9.19644739e-01 -9.22922739e-04 2.05609904e+02] [ 9.19642449e-01 3.92751261e-01 -2.05269305e-03 2.14807627e+02] [ 2.25022743e-03 -4.25633652e-05 9.99997467e-01 1.28435779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.62, Y:214.83, Z:1.28 [[ 3.92364152e-01 -9.19809503e-01 -9.22265993e-04 2.05621506e+02] [ 9.19807213e-01 3.92365234e-01 -2.05298808e-03 2.14833566e+02] [ 2.25022306e-03 -4.27879845e-05 9.99997467e-01 1.28493402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.63, Y:214.86, Z:1.28 [[ 3.91834052e-01 -9.20035448e-01 -9.21608148e-04 2.05631776e+02] [ 9.20033158e-01 3.91835134e-01 -2.05328335e-03 2.14858523e+02] [ 2.25021192e-03 -4.33637178e-05 9.99997467e-01 1.28487969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.64, Y:214.88, Z:1.29 [[ 3.91119511e-01 -9.20339437e-01 -9.20913989e-04 2.05642182e+02] [ 9.20337147e-01 3.91120593e-01 -2.05359464e-03 2.14884833e+02] [ 2.25019256e-03 -4.43504219e-05 9.99997467e-01 1.28505733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.65, Y:214.91, Z:1.29 [[ 3.90600803e-01 -9.20559702e-01 -9.20272107e-04 2.05653161e+02] [ 9.20557412e-01 3.90601885e-01 -2.05388225e-03 2.14910356e+02] [ 2.25018125e-03 -4.49152539e-05 9.99997467e-01 1.28519531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.66, Y:214.94, Z:1.29 [[ 3.90166435e-01 -9.20743888e-01 -9.19635407e-04 2.05663863e+02] [ 9.20741598e-01 3.90167516e-01 -2.05416729e-03 2.14935096e+02] [ 2.25017384e-03 -4.52794453e-05 9.99997467e-01 1.28570442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.67, Y:214.96, Z:1.29 [[ 3.89845012e-01 -9.20880026e-01 -9.18920277e-04 2.05674981e+02] [ 9.20877735e-01 3.89846092e-01 -2.05448715e-03 2.14960744e+02] [ 2.25017366e-03 -4.52816560e-05 9.99997467e-01 1.28603219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.69, Y:214.99, Z:1.29 [[ 3.89995181e-01 -9.20816440e-01 -9.18281926e-04 2.05685618e+02] [ 9.20814148e-01 3.89996259e-01 -2.05477243e-03 2.14987187e+02] [ 2.25019475e-03 -4.42156441e-05 9.99997467e-01 1.28559330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.70, Y:215.01, Z:1.29 [[ 3.90416410e-01 -9.20637922e-01 -9.18514150e-04 2.05695684e+02] [ 9.20635630e-01 3.90417488e-01 -2.05466875e-03 2.15010989e+02] [ 2.25020995e-03 -4.34404554e-05 9.99997467e-01 1.28524589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.71, Y:215.04, Z:1.28 [[ 3.90918328e-01 -9.20424913e-01 -9.17020212e-04 2.05705477e+02] [ 9.20422619e-01 3.90919402e-01 -2.05533529e-03 2.15035916e+02] [ 2.25026280e-03 -4.05779072e-05 9.99997467e-01 1.28428472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.72, Y:215.06, Z:1.28 [[ 3.91107521e-01 -9.20344537e-01 -9.16325411e-04 2.05716162e+02] [ 9.20342242e-01 3.91108593e-01 -2.05564501e-03 2.15061264e+02] [ 2.25028440e-03 -3.93547593e-05 9.99997467e-01 1.28407926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.73, Y:215.09, Z:1.28 [[ 3.91235094e-01 -9.20290315e-01 -9.15630506e-04 2.05726320e+02] [ 9.20288019e-01 3.91236163e-01 -2.05595449e-03 2.15085462e+02] [ 2.25030277e-03 -3.82822378e-05 9.99997467e-01 1.28397536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.74, Y:215.11, Z:1.28 [[ 3.91540069e-01 -9.20160604e-01 -9.14903327e-04 2.05735340e+02] [ 9.20158307e-01 3.91541136e-01 -2.05627803e-03 2.15110494e+02] [ 2.25032833e-03 -3.67406533e-05 9.99997467e-01 1.28175943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.75, Y:215.14, Z:1.28 [[ 3.91663920e-01 -9.20107904e-01 -9.04670176e-04 2.05748246e+02] [ 9.20105597e-01 3.91664964e-01 -2.06082681e-03 2.15136728e+02] [ 2.25051065e-03 -2.52405842e-05 9.99997467e-01 1.28263433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.76, Y:215.16, Z:1.28 [[ 3.91537180e-01 -9.20161834e-01 -9.14036613e-04 2.05759450e+02] [ 9.20159537e-01 3.91538245e-01 -2.05666412e-03 2.15161953e+02] [ 2.25034412e-03 -3.57990382e-05 9.99997467e-01 1.28251340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.77, Y:215.19, Z:1.28 [[ 3.90950280e-01 -9.20411345e-01 -9.13366564e-04 2.05770644e+02] [ 9.20409047e-01 3.90951345e-01 -2.05696164e-03 2.15188124e+02] [ 2.25033272e-03 -3.65011184e-05 9.99997467e-01 1.28244072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.64275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.78, Y:215.21, Z:1.28 [[ 3.90551112e-01 -9.20580793e-01 -9.12699745e-04 2.05780747e+02] [ 9.20578495e-01 3.90552176e-01 -2.05725748e-03 2.15213188e+02] [ 2.25032859e-03 -3.67475629e-05 9.99997467e-01 1.28189550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.79, Y:215.24, Z:1.28 [[ 3.90086062e-01 -9.20777950e-01 -9.11998050e-04 2.05791159e+02] [ 9.20775651e-01 3.90087127e-01 -2.05756850e-03 2.15237865e+02] [ 2.25032240e-03 -3.71168062e-05 9.99997467e-01 1.28194524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.80, Y:215.26, Z:1.28 [[ 3.88772941e-01 -9.21333148e-01 -9.11309568e-04 2.05802690e+02] [ 9.21330851e-01 3.88774007e-01 -2.05787338e-03 2.15263790e+02] [ 2.25028044e-03 -3.95721314e-05 9.99997467e-01 1.28144492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.81, Y:215.29, Z:1.28 [[ 3.87753191e-01 -9.21762786e-01 -9.10651166e-04 2.05813726e+02] [ 9.21760489e-01 3.87754259e-01 -2.05816470e-03 2.15288543e+02] [ 2.25024849e-03 -4.13423331e-05 9.99997467e-01 1.28174729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.82, Y:215.31, Z:1.28 [[ 3.86616235e-01 -9.22240239e-01 -9.09957667e-04 2.05824989e+02] [ 9.22237943e-01 3.86617304e-01 -2.05847126e-03 2.15314165e+02] [ 2.25021041e-03 -4.33590758e-05 9.99997467e-01 1.28174364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.79275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.84, Y:215.34, Z:1.28 [[ 3.83903888e-01 -9.23372611e-01 -9.09295669e-04 2.05835484e+02] [ 9.23370317e-01 3.83904962e-01 -2.05876365e-03 2.15338948e+02] [ 2.25008908e-03 -4.92492611e-05 9.99997467e-01 1.28087046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.85, Y:215.36, Z:1.28 [[ 3.83494468e-01 -9.23542726e-01 -9.08598803e-04 2.05846683e+02] [ 9.23540432e-01 3.83495542e-01 -2.05907115e-03 2.15364591e+02] [ 2.25008378e-03 -4.94853339e-05 9.99997467e-01 1.28275103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.86, Y:215.39, Z:1.28 [[ 3.82321397e-01 -9.24028964e-01 -9.07952670e-04 2.05857613e+02] [ 9.24026670e-01 3.82322471e-01 -2.05935603e-03 2.15390887e+02] [ 2.25003532e-03 -5.16366094e-05 9.99997467e-01 1.28262680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.87, Y:215.42, Z:1.28 [[ 3.80922398e-01 -9.24606567e-01 -9.07301389e-04 2.05869675e+02] [ 9.24604275e-01 3.80923474e-01 -2.05964293e-03 2.15417338e+02] [ 2.24997177e-03 -5.43306210e-05 9.99997467e-01 1.28171501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.88, Y:215.44, Z:1.28 [[ 3.80515178e-01 -9.24774218e-01 -9.19686452e-04 2.05880674e+02] [ 9.24771939e-01 3.80516283e-01 -2.05418634e-03 2.15441763e+02] [ 2.24961424e-03 -6.88511422e-05 9.99997467e-01 1.28186347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.89, Y:215.47, Z:1.28 [[ 3.79624776e-01 -9.25140093e-01 -9.15091905e-04 2.05890005e+02] [ 9.25137811e-01 3.79625873e-01 -2.05620828e-03 2.15465622e+02] [ 2.24967328e-03 -6.59985150e-05 9.99997467e-01 1.28124270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.90, Y:215.49, Z:1.28 [[ 3.79748243e-01 -9.25089429e-01 -9.05464891e-04 2.05899343e+02] [ 9.25087136e-01 3.79749318e-01 -2.06043889e-03 2.15490021e+02] [ 2.24993992e-03 -5.51858738e-05 9.99997467e-01 1.28068016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.91, Y:215.51, Z:1.28 [[ 3.80249162e-01 -9.24883645e-01 -9.04668763e-04 2.05909834e+02] [ 9.24881351e-01 3.80250234e-01 -2.06078839e-03 2.15514932e+02] [ 2.24998998e-03 -5.30982115e-05 9.99997467e-01 1.28007602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.92, Y:215.54, Z:1.28 [[ 3.82300739e-01 -9.24037515e-01 -9.03869622e-04 2.05924147e+02] [ 9.24035217e-01 3.82301804e-01 -2.06113883e-03 2.15542614e+02] [ 2.25012059e-03 -4.72324639e-05 9.99997467e-01 1.28036246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.93, Y:215.57, Z:1.28 [[ 3.80999199e-01 -9.24574908e-01 -9.21705041e-04 2.05931676e+02] [ 9.24572631e-01 3.81000308e-01 -2.05331801e-03 2.15565929e+02] [ 2.24961621e-03 -6.98707382e-05 9.99997467e-01 1.27889971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.94, Y:215.59, Z:1.28 [[ 3.82849872e-01 -9.23810132e-01 -9.02634665e-04 2.05942291e+02] [ 9.23807833e-01 3.82850933e-01 -2.06166736e-03 2.15589844e+02] [ 2.25016372e-03 -4.45518903e-05 9.99997467e-01 1.27980286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.95, Y:215.62, Z:1.28 [[ 3.82967803e-01 -9.23761255e-01 -8.97122624e-04 2.05953131e+02] [ 9.23758950e-01 3.82968852e-01 -2.06407870e-03 2.15615790e+02] [ 2.25028595e-03 -3.82493673e-05 9.99997467e-01 1.27895586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.97, Y:215.64, Z:1.28 [[ 3.86187666e-01 -9.22419793e-01 -9.01319721e-04 2.05967052e+02] [ 9.22417488e-01 3.86188716e-01 -2.06224433e-03 2.15643304e+02] [ 2.25033449e-03 -3.49797500e-05 9.99997467e-01 1.27854070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.98, Y:215.67, Z:1.28 [[ 3.85521974e-01 -9.22698200e-01 -9.16161411e-04 2.05975490e+02] [ 9.22695912e-01 3.85523059e-01 -2.05575832e-03 2.15666946e+02] [ 2.25004585e-03 -5.27983819e-05 9.99997467e-01 1.27884193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:205.99, Y:215.69, Z:1.28 [[ 3.85813649e-01 -9.22576294e-01 -9.00331525e-04 2.05986282e+02] [ 9.22573988e-01 3.85814698e-01 -2.06266789e-03 2.15692353e+02] [ 2.25032963e-03 -3.48170189e-05 9.99997467e-01 1.27910410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.00, Y:215.72, Z:1.28 [[ 3.86072621e-01 -9.22467952e-01 -8.99626570e-04 2.05996876e+02] [ 9.22465646e-01 3.86073668e-01 -2.06297531e-03 2.15717089e+02] [ 2.25035074e-03 -3.34163196e-05 9.99997467e-01 1.27946012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.01, Y:215.74, Z:1.28 [[ 3.85801517e-01 -9.22581368e-01 -8.98920890e-04 2.06008351e+02] [ 9.22579062e-01 3.85802563e-01 -2.06328276e-03 2.15742837e+02] [ 2.25035221e-03 -3.33079724e-05 9.99997467e-01 1.27907909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.02, Y:215.77, Z:1.28 [[ 3.85015374e-01 -9.22909722e-01 -8.98268188e-04 2.06019577e+02] [ 9.22907416e-01 3.85016420e-01 -2.06356688e-03 2.15767748e+02] [ 2.25033394e-03 -3.45133994e-05 9.99997467e-01 1.27933421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.03, Y:215.79, Z:1.28 [[ 3.83628567e-01 -9.23487042e-01 -8.97580163e-04 2.06031242e+02] [ 9.23484737e-01 3.83629615e-01 -2.06386610e-03 2.15793053e+02] [ 2.25029193e-03 -3.71435868e-05 9.99997467e-01 1.27818742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.04, Y:215.82, Z:1.28 [[ 3.82674272e-01 -9.23882892e-01 -8.96918835e-04 2.06042888e+02] [ 9.23880586e-01 3.82675321e-01 -2.06415346e-03 2.15819067e+02] [ 2.25026477e-03 -3.87474761e-05 9.99997467e-01 1.27821956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.06, Y:215.84, Z:1.28 [[ 3.82028839e-01 -9.24149968e-01 -8.96260070e-04 2.06055330e+02] [ 9.24147663e-01 3.82029888e-01 -2.06443946e-03 2.15844330e+02] [ 2.25024980e-03 -3.96012397e-05 9.99997467e-01 1.27715995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.07, Y:215.87, Z:1.28 [[ 3.81721506e-01 -9.24276955e-01 -8.95554495e-04 2.06066594e+02] [ 9.24274650e-01 3.81722555e-01 -2.06474549e-03 2.15868659e+02] [ 2.25025003e-03 -3.95805574e-05 9.99997467e-01 1.27795989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.08, Y:215.89, Z:1.28 [[ 3.81815597e-01 -9.24238091e-01 -8.94812956e-04 2.06078779e+02] [ 9.24235785e-01 3.81816643e-01 -2.06506681e-03 2.15894793e+02] [ 2.25026789e-03 -3.85434383e-05 9.99997467e-01 1.27686232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.09, Y:215.92, Z:1.28 [[ 3.80403027e-01 -9.24820367e-01 -9.09164473e-04 2.06086520e+02] [ 9.24818077e-01 3.80404109e-01 -2.05885067e-03 2.15917691e+02] [ 2.24991693e-03 -5.76187129e-05 9.99997467e-01 1.27792126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.10, Y:215.94, Z:1.28 [[ 3.80330099e-01 -9.24850376e-01 -8.93291357e-04 2.06097577e+02] [ 9.24848070e-01 3.80331146e-01 -2.06571479e-03 2.15942528e+02] [ 2.25022363e-03 -4.05052774e-05 9.99997467e-01 1.27897828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.11, Y:215.97, Z:1.28 [[ 3.80285601e-01 -9.24868675e-01 -8.92390897e-04 2.06108744e+02] [ 9.24866368e-01 3.80286646e-01 -2.06610390e-03 2.15968100e+02] [ 2.25023912e-03 -3.96327641e-05 9.99997467e-01 1.27656762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.12, Y:215.99, Z:1.28 [[ 3.80161013e-01 -9.24919893e-01 -8.92038881e-04 2.06120609e+02] [ 9.24917586e-01 3.80162058e-01 -2.06625588e-03 2.15993977e+02] [ 2.25024050e-03 -3.95525203e-05 9.99997467e-01 1.27672516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.13, Y:216.02, Z:1.27 [[ 3.81162714e-01 -9.24507531e-01 -9.00813767e-04 2.06131794e+02] [ 9.24505231e-01 3.81163776e-01 -2.06246848e-03 2.16018179e+02] [ 2.25012522e-03 -4.66709573e-05 9.99997467e-01 1.27476600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.14, Y:216.04, Z:1.27 [[ 3.81426975e-01 -9.24398545e-01 -8.90972929e-04 2.06143573e+02] [ 9.24396235e-01 3.81428014e-01 -2.06671093e-03 2.16043814e+02] [ 2.25030661e-03 -3.53127236e-05 9.99997467e-01 1.27440986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.15, Y:216.07, Z:1.27 [[ 3.81362741e-01 -9.24425047e-01 -8.90321651e-04 2.06154500e+02] [ 9.24422737e-01 3.81363779e-01 -2.06699146e-03 2.16068840e+02] [ 2.25031510e-03 -3.47600506e-05 9.99997467e-01 1.27405402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.16, Y:216.09, Z:1.27 [[ 3.82215256e-01 -9.24072891e-01 -8.89594541e-04 2.06164280e+02] [ 9.24070579e-01 3.82216290e-01 -2.06730434e-03 2.16094514e+02] [ 2.25035742e-03 -3.18928841e-05 9.99997467e-01 1.27316901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.17, Y:216.12, Z:1.27 [[ 3.81338106e-01 -9.24435211e-01 -8.88873567e-04 2.06173411e+02] [ 9.24432899e-01 3.81339140e-01 -2.06761429e-03 2.16120061e+02] [ 2.25033774e-03 -3.32438508e-05 9.99997467e-01 1.27272411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.18, Y:216.15, Z:1.27 [[ 3.81741660e-01 -9.24268644e-01 -8.82954808e-04 2.06183502e+02] [ 9.24266326e-01 3.81742680e-01 -2.07015844e-03 2.16146239e+02] [ 2.25044407e-03 -2.58196756e-05 9.99997467e-01 1.27152919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.20, Y:216.17, Z:1.27 [[ 3.83276823e-01 -9.23633101e-01 -8.78489832e-04 2.06196819e+02] [ 9.23630777e-01 3.83277830e-01 -2.07207576e-03 2.16172562e+02] [ 2.25054344e-03 -1.72216293e-05 9.99997467e-01 1.27210089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.21, Y:216.20, Z:1.27 [[ 3.82967722e-01 -9.23761298e-01 -8.87912243e-04 2.06207565e+02] [ 9.23758984e-01 3.82968750e-01 -2.06803024e-03 2.16198142e+02] [ 2.25040894e-03 -2.82280826e-05 9.99997467e-01 1.27216629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.22, Y:216.23, Z:1.27 [[ 3.80304815e-01 -9.24860779e-01 -8.87220106e-04 2.06216695e+02] [ 9.24858467e-01 3.80305848e-01 -2.06832713e-03 2.16226121e+02] [ 2.25032964e-03 -3.39582607e-05 9.99997467e-01 1.27082554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.23, Y:216.25, Z:1.27 [[ 3.82362571e-01 -9.24011937e-01 -8.96916180e-04 2.06228460e+02] [ 9.24009632e-01 3.82363621e-01 -2.06416982e-03 2.16248728e+02] [ 2.25026567e-03 -3.94979086e-05 9.99997467e-01 1.27225228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.24, Y:216.27, Z:1.27 [[ 3.82356403e-01 -9.24014500e-01 -8.85900650e-04 2.06238225e+02] [ 9.24012184e-01 3.82357429e-01 -2.06888669e-03 2.16273670e+02] [ 2.25041199e-03 -2.75309211e-05 9.99997467e-01 1.27287695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:216.30, Z:1.27 [[ 3.81802848e-01 -9.24243368e-01 -8.84782915e-04 2.06247328e+02] [ 9.24241051e-01 3.81803872e-01 -2.06936485e-03 2.16298814e+02] [ 2.25041028e-03 -2.76632978e-05 9.99997467e-01 1.27179885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.25, Y:216.32, Z:1.27 [[ 3.79961515e-01 -9.25001873e-01 -8.84325855e-04 2.06254603e+02] [ 9.24999558e-01 3.79962543e-01 -2.06956015e-03 2.16324758e+02] [ 2.25035772e-03 -3.16478130e-05 9.99997467e-01 1.27151319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:216.35, Z:1.27 [[ 3.80602893e-01 -9.24738168e-01 -8.70926741e-04 2.06265968e+02] [ 9.24735840e-01 3.80603889e-01 -2.07527042e-03 2.16349864e+02] [ 2.25055987e-03 -1.55232455e-05 9.99997467e-01 1.27293994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.27, Y:216.37, Z:1.27 [[ 3.80149176e-01 -9.24924780e-01 -8.69357685e-04 2.06274631e+02] [ 9.24922450e-01 3.80150170e-01 -2.07593750e-03 2.16373311e+02] [ 2.25057251e-03 -1.49225079e-05 9.99997467e-01 1.27256446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.29, Y:216.40, Z:1.27 [[ 3.79031186e-01 -9.25383499e-01 -8.60702693e-04 2.06287295e+02] [ 9.25381162e-01 3.79032163e-01 -2.07963005e-03 2.16402243e+02] [ 2.25068933e-03 -8.23341517e-06 9.99997467e-01 1.27136219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.30, Y:216.43, Z:1.27 [[ 3.78646303e-01 -9.25541030e-01 -8.83294151e-04 2.06297310e+02] [ 9.25538715e-01 3.78647331e-01 -2.06998995e-03 2.16428438e+02] [ 2.25031760e-03 -3.37288924e-05 9.99997467e-01 1.27134256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.31, Y:216.45, Z:1.27 [[ 3.77463528e-01 -9.26024034e-01 -8.79665774e-04 2.06305691e+02] [ 9.26021717e-01 3.77464551e-01 -2.07153602e-03 2.16453178e+02] [ 2.25033479e-03 -3.26603156e-05 9.99997467e-01 1.27195746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.32, Y:216.48, Z:1.27 [[ 3.77003613e-01 -9.26211373e-01 -8.76787902e-04 2.06315703e+02] [ 9.26209054e-01 3.77004631e-01 -2.07276136e-03 2.16479555e+02] [ 2.25036824e-03 -3.06503724e-05 9.99997467e-01 1.26973100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.33, Y:216.51, Z:1.27 [[ 3.75791862e-01 -9.26703674e-01 -8.80955290e-04 2.06325989e+02] [ 9.26701361e-01 3.75792893e-01 -2.07098864e-03 2.16505743e+02] [ 2.25024952e-03 -3.81217888e-05 9.99997467e-01 1.27114739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.34, Y:216.53, Z:1.27 [[ 3.73619722e-01 -9.27581543e-01 -8.85298555e-04 2.06336039e+02] [ 9.27579237e-01 3.73620768e-01 -2.06914272e-03 2.16532446e+02] [ 2.25006452e-03 -4.81120289e-05 9.99997467e-01 1.27100165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.35, Y:216.56, Z:1.27 [[ 3.73354948e-01 -9.27688139e-01 -8.94045742e-04 2.06346363e+02] [ 9.27685842e-01 3.73356014e-01 -2.06542881e-03 2.16556626e+02] [ 2.24987116e-03 -5.82555105e-05 9.99997467e-01 1.26987324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.36, Y:216.58, Z:1.27 [[ 3.72882121e-01 -9.27878301e-01 -8.84810702e-04 2.06357043e+02] [ 9.27875995e-01 3.72883167e-01 -2.06934348e-03 2.16581399e+02] [ 2.25002993e-03 -4.93734255e-05 9.99997467e-01 1.26938432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.37, Y:216.61, Z:1.27 [[ 3.71341222e-01 -9.28496053e-01 -8.81820171e-04 2.06367404e+02] [ 9.28493745e-01 3.71342265e-01 -2.07061013e-03 2.16606544e+02] [ 2.25001043e-03 -4.98616178e-05 9.99997468e-01 1.26970534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.38, Y:216.63, Z:1.27 [[ 3.69504034e-01 -9.29228704e-01 -8.85379443e-04 2.06378109e+02] [ 9.29226402e-01 3.69505091e-01 -2.06910388e-03 2.16633043e+02] [ 2.24982293e-03 -5.81757218e-05 9.99997467e-01 1.26881352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.39, Y:216.66, Z:1.27 [[ 3.71163395e-01 -9.28567139e-01 -8.96177200e-04 2.06388228e+02] [ 9.28564846e-01 3.71164471e-01 -2.06453775e-03 2.16655079e+02] [ 2.24969105e-03 -6.58778016e-05 9.99997467e-01 1.26758586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.40, Y:216.68, Z:1.27 [[ 3.70780751e-01 -9.28720017e-01 -8.75062286e-04 2.06398698e+02] [ 9.28717703e-01 3.70781781e-01 -2.07344893e-03 2.16680456e+02] [ 2.25011068e-03 -4.38908848e-05 9.99997468e-01 1.26853790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41275509600007 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:206.41, Y:216.71, Z:1.27 [[ 3.71335071e-01 -9.28498516e-01 -8.77926586e-04 2.06408891e+02] [ 9.28496205e-01 3.71336106e-01 -2.07224120e-03 2.16706105e+02] [ 2.25007872e-03 -4.56556691e-05 9.99997468e-01 1.26653247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.42, Y:216.73, Z:1.27 [[ 3.72136226e-01 -9.28177713e-01 -8.73463010e-04 2.06419186e+02] [ 9.28175396e-01 3.72137249e-01 -2.07412092e-03 2.16731854e+02] [ 2.25020094e-03 -3.88713406e-05 9.99997468e-01 1.26840714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.43, Y:216.76, Z:1.27 [[ 3.72526407e-01 -9.28021182e-01 -8.72674281e-04 2.06429531e+02] [ 9.28018864e-01 3.72527427e-01 -2.07445272e-03 2.16757540e+02] [ 2.25023117e-03 -3.70697756e-05 9.99997468e-01 1.26845236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.44, Y:216.78, Z:1.27 [[ 3.74174973e-01 -9.27357708e-01 -8.77939547e-04 2.06440453e+02] [ 9.27355393e-01 3.74176001e-01 -2.07223782e-03 2.16784589e+02] [ 2.25020962e-03 -3.87824431e-05 9.99997468e-01 1.26984867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.45, Y:216.81, Z:1.27 [[ 3.75577356e-01 -9.26790627e-01 -8.84574930e-04 2.06449916e+02] [ 9.26788318e-01 3.75578396e-01 -2.06944685e-03 2.16807497e+02] [ 2.25017118e-03 -4.25763351e-05 9.99997467e-01 1.26984887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.46, Y:216.83, Z:1.27 [[ 3.77356623e-01 -9.26067606e-01 -8.76194824e-04 2.06460322e+02] [ 9.26065287e-01 3.77357639e-01 -2.07296637e-03 2.16831496e+02] [ 2.25034581e-03 -2.91660238e-05 9.99997468e-01 1.26932872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.47, Y:216.86, Z:1.27 [[ 3.78028652e-01 -9.25793491e-01 -8.65766675e-04 2.06470664e+02] [ 9.25791161e-01 3.78029643e-01 -2.07734303e-03 2.16857766e+02] [ 2.25047612e-03 -1.62239490e-05 9.99997468e-01 1.26782075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.48, Y:216.88, Z:1.27 [[ 3.78165714e-01 -9.25737509e-01 -8.70650241e-04 2.06481534e+02] [ 9.25735183e-01 3.78166716e-01 -2.07529422e-03 2.16884109e+02] [ 2.25042864e-03 -2.11864391e-05 9.99997468e-01 1.26726937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.49, Y:216.91, Z:1.27 [[ 3.77896278e-01 -9.25847529e-01 -8.69987098e-04 2.06492221e+02] [ 9.25845202e-01 3.77897279e-01 -2.07557218e-03 2.16910081e+02] [ 2.25042913e-03 -2.11223782e-05 9.99997468e-01 1.26677821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.50, Y:216.94, Z:1.27 [[ 3.76647118e-01 -9.26356407e-01 -8.69325516e-04 2.06502170e+02] [ 9.26354081e-01 3.76648121e-01 -2.07584924e-03 2.16935397e+02] [ 2.25040606e-03 -2.34406054e-05 9.99997468e-01 1.26631890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.51, Y:216.96, Z:1.27 [[ 3.75520011e-01 -9.26813879e-01 -8.68628827e-04 2.06512882e+02] [ 9.26811554e-01 3.75521015e-01 -2.07614072e-03 2.16961521e+02] [ 2.25038442e-03 -2.54228447e-05 9.99997468e-01 1.26542922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.52, Y:216.99, Z:1.27 [[ 3.74322304e-01 -9.27298258e-01 -8.67971613e-04 2.06523278e+02] [ 9.27295934e-01 3.74323309e-01 -2.07641545e-03 2.16987109e+02] [ 2.25035844e-03 -2.76179333e-05 9.99997468e-01 1.26565768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.53, Y:217.01, Z:1.27 [[ 3.71557941e-01 -9.28409363e-01 -8.67313318e-04 2.06532644e+02] [ 9.28407040e-01 3.71558952e-01 -2.07669038e-03 2.17012134e+02] [ 2.25027682e-03 -3.36089892e-05 9.99997468e-01 1.26707034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.54, Y:217.04, Z:1.27 [[ 3.70266016e-01 -9.28925361e-01 -8.66619883e-04 2.06542821e+02] [ 9.28923040e-01 3.70267028e-01 -2.07697972e-03 2.17037629e+02] [ 2.25023990e-03 -3.59881710e-05 9.99997468e-01 1.26733424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.55, Y:217.06, Z:1.27 [[ 3.68073067e-01 -9.29796466e-01 -8.65896398e-04 2.06551985e+02] [ 9.29794146e-01 3.68074084e-01 -2.07728129e-03 2.17063631e+02] [ 2.25016283e-03 -4.05141042e-05 9.99997468e-01 1.26669251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.56, Y:217.09, Z:1.27 [[ 3.67110587e-01 -9.30176902e-01 -8.65166332e-04 2.06561781e+02] [ 9.30174582e-01 3.67111604e-01 -2.07758532e-03 2.17089222e+02] [ 2.25013447e-03 -4.20521672e-05 9.99997468e-01 1.26652085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.57, Y:217.12, Z:1.27 [[ 3.66000279e-01 -9.30614339e-01 -8.64437247e-04 2.06572414e+02] [ 9.30612020e-01 3.66001298e-01 -2.07788863e-03 2.17115834e+02] [ 2.25009811e-03 -4.39478754e-05 9.99997468e-01 1.26666815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.58, Y:217.14, Z:1.27 [[ 3.65336501e-01 -9.30875120e-01 -8.67347946e-04 2.06581774e+02] [ 9.30872805e-01 3.65337527e-01 -2.07667859e-03 2.17139839e+02] [ 2.25000319e-03 -4.87041256e-05 9.99997468e-01 1.26539950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.59, Y:217.17, Z:1.27 [[ 3.64498566e-01 -9.31203549e-01 -8.63059074e-04 2.06591434e+02] [ 9.31201231e-01 3.64499585e-01 -2.07845950e-03 2.17165245e+02] [ 2.25005354e-03 -4.60861633e-05 9.99997468e-01 1.26501467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.60, Y:217.19, Z:1.26 [[ 3.63962168e-01 -9.31413333e-01 -8.62347491e-04 2.06600774e+02] [ 9.31411014e-01 3.63963187e-01 -2.07875469e-03 2.17189642e+02] [ 2.25004258e-03 -4.66118867e-05 9.99997468e-01 1.26443376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.61, Y:217.21, Z:1.26 [[ 3.63507355e-01 -9.31590930e-01 -8.61602723e-04 2.06610524e+02] [ 9.31588611e-01 3.63508373e-01 -2.07906334e-03 2.17214694e+02] [ 2.25003635e-03 -4.69044695e-05 9.99997468e-01 1.26414310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.62, Y:217.24, Z:1.26 [[ 3.63382532e-01 -9.31639627e-01 -8.60902133e-04 2.06619420e+02] [ 9.31637307e-01 3.63383549e-01 -2.07935340e-03 2.17239033e+02] [ 2.25004570e-03 -4.64478408e-05 9.99997468e-01 1.26317402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.63, Y:217.26, Z:1.26 [[ 3.63512488e-01 -9.31588928e-01 -8.60168771e-04 2.06628925e+02] [ 9.31586608e-01 3.63513503e-01 -2.07965673e-03 2.17264202e+02] [ 2.25006814e-03 -4.53405174e-05 9.99997468e-01 1.26278145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.64, Y:217.29, Z:1.26 [[ 3.64376639e-01 -9.31251269e-01 -8.59479218e-04 2.06637516e+02] [ 9.31248947e-01 3.64377651e-01 -2.07994167e-03 2.17290122e+02] [ 2.25012333e-03 -4.25069629e-05 9.99997468e-01 1.26202206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.65, Y:217.32, Z:1.26 [[ 3.64345499e-01 -9.31263457e-01 -8.55072511e-04 2.06646950e+02] [ 9.31261131e-01 3.64346501e-01 -2.08176032e-03 2.17315678e+02] [ 2.25020999e-03 -3.78157909e-05 9.99997468e-01 1.26216055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.66, Y:217.34, Z:1.26 [[ 3.64497531e-01 -9.31203959e-01 -8.57923389e-04 2.06656379e+02] [ 9.31201636e-01 3.64498539e-01 -2.08058477e-03 2.17341150e+02] [ 2.25016059e-03 -4.05316518e-05 9.99997468e-01 1.26185019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:217.37, Z:1.26 [[ 3.65784286e-01 -9.30699265e-01 -8.57247973e-04 2.06665465e+02] [ 9.30696939e-01 3.65785288e-01 -2.08086302e-03 2.17365341e+02] [ 2.25022638e-03 -3.66910731e-05 9.99997468e-01 1.26100900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.67, Y:217.39, Z:1.26 [[ 3.64580230e-01 -9.31171595e-01 -8.46000576e-04 2.06674629e+02] [ 9.31169260e-01 3.64581211e-01 -2.08548750e-03 2.17390719e+02] [ 2.25038264e-03 -2.74422184e-05 9.99997468e-01 1.26051355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:217.42, Z:1.26 [[ 3.64455624e-01 -9.31220369e-01 -8.49752636e-04 2.06685046e+02] [ 9.31218038e-01 3.64456613e-01 -2.08394625e-03 2.17416178e+02] [ 2.25031116e-03 -3.17990534e-05 9.99997468e-01 1.26058615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.69, Y:217.44, Z:1.26 [[ 3.62703491e-01 -9.31904211e-01 -8.48006410e-04 2.06694522e+02] [ 9.31901880e-01 3.62704480e-01 -2.08466318e-03 2.17441599e+02] [ 2.25028212e-03 -3.41441561e-05 9.99997468e-01 1.26059728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.70, Y:217.47, Z:1.26 [[ 3.61682711e-01 -9.32300857e-01 -8.53757504e-04 2.06703288e+02] [ 9.32298533e-01 3.61683716e-01 -2.08230336e-03 2.17466393e+02] [ 2.25012340e-03 -4.28237425e-05 9.99997468e-01 1.25944940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.72, Y:217.49, Z:1.26 [[ 3.61193833e-01 -9.32490375e-01 -8.46167850e-04 2.06715057e+02] [ 9.32488044e-01 3.61194822e-01 -2.08541355e-03 2.17492009e+02] [ 2.25025951e-03 -3.58028906e-05 9.99997468e-01 1.26229641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.73, Y:217.52, Z:1.26 [[ 3.60791398e-01 -9.32646149e-01 -8.52910884e-04 2.06725141e+02] [ 9.32643825e-01 3.60792403e-01 -2.08265207e-03 2.17516162e+02] [ 2.25010120e-03 -4.40591189e-05 9.99997468e-01 1.26278647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:217.54, Z:1.26 [[ 3.60421558e-01 -9.32789137e-01 -8.52143046e-04 2.06735624e+02] [ 9.32786812e-01 3.60422563e-01 -2.08296619e-03 2.17542636e+02] [ 2.25009982e-03 -4.41218755e-05 9.99997468e-01 1.26225664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.74, Y:217.57, Z:1.26 [[ 3.59993231e-01 -9.32954527e-01 -8.51479109e-04 2.06744715e+02] [ 9.32952202e-01 3.59994235e-01 -2.08323756e-03 2.17569297e+02] [ 2.25009348e-03 -4.44378893e-05 9.99997468e-01 1.26121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.76, Y:217.59, Z:1.26 [[ 3.61419767e-01 -9.32402827e-01 -8.49125054e-04 2.06755796e+02] [ 9.32400498e-01 3.61420762e-01 -2.08419908e-03 2.17593725e+02] [ 2.25020454e-03 -3.84538762e-05 9.99997468e-01 1.26262536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.77, Y:217.62, Z:1.26 [[ 3.61491618e-01 -9.32374971e-01 -8.50540249e-04 2.06765712e+02] [ 9.32372644e-01 3.61492616e-01 -2.08362140e-03 2.17618468e+02] [ 2.25018046e-03 -3.98087902e-05 9.99997468e-01 1.26253601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.78, Y:217.64, Z:1.26 [[ 3.61342635e-01 -9.32432720e-01 -8.49787452e-04 2.06775809e+02] [ 9.32430392e-01 3.61343632e-01 -2.08392837e-03 2.17643342e+02] [ 2.25018829e-03 -3.93554763e-05 9.99997468e-01 1.26271670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.79, Y:217.67, Z:1.26 [[ 3.61702960e-01 -9.32293005e-01 -8.49074203e-04 2.06787399e+02] [ 9.32290676e-01 3.61703955e-01 -2.08421894e-03 2.17667955e+02] [ 2.25021624e-03 -3.77158025e-05 9.99997468e-01 1.26219107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.80, Y:217.69, Z:1.26 [[ 3.61148643e-01 -9.32507879e-01 -8.45146292e-04 2.06798414e+02] [ 9.32505546e-01 3.61149630e-01 -2.08581771e-03 2.17694296e+02] [ 2.25026572e-03 -3.48133701e-05 9.99997468e-01 1.26301783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.81, Y:217.72, Z:1.26 [[ 3.59400329e-01 -9.33183093e-01 -8.47868785e-04 2.06806403e+02] [ 9.33180765e-01 3.59401327e-01 -2.08471045e-03 2.17719200e+02] [ 2.25014171e-03 -4.19692206e-05 9.99997468e-01 1.26270700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.64275509600003 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:206.82, Y:217.75, Z:1.26 [[ 3.60071492e-01 -9.32924342e-01 -8.32264528e-04 2.06818443e+02] [ 9.32921999e-01 3.60072453e-01 -2.09102935e-03 2.17746535e+02] [ 2.25044771e-03 -2.35178305e-05 9.99997467e-01 1.26195868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.83, Y:217.77, Z:1.26 [[ 3.61289374e-01 -9.32453358e-01 -8.50460004e-04 2.06828567e+02] [ 9.32451031e-01 3.61290373e-01 -2.08365587e-03 2.17770489e+02] [ 2.25017492e-03 -4.02095823e-05 9.99997468e-01 1.26193822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.84, Y:217.80, Z:1.26 [[ 3.63521863e-01 -9.31585284e-01 -8.44313393e-04 2.06836605e+02] [ 9.31582949e-01 3.63522843e-01 -2.08614355e-03 2.17797047e+02] [ 2.25034784e-03 -2.81891686e-05 9.99997468e-01 1.26222274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.85, Y:217.82, Z:1.26 [[ 3.63226742e-01 -9.31700393e-01 -8.43652833e-04 2.06847164e+02] [ 9.31698057e-01 3.63227720e-01 -2.08641066e-03 2.17823593e+02] [ 2.25034772e-03 -2.81895615e-05 9.99997468e-01 1.26228684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:217.85, Z:1.26 [[ 3.64049737e-01 -9.31379127e-01 -8.42991823e-04 2.06855865e+02] [ 9.31376790e-01 3.64050712e-01 -2.08667770e-03 2.17849199e+02] [ 2.25037982e-03 -2.54885535e-05 9.99997468e-01 1.26172139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.86, Y:217.88, Z:1.26 [[ 3.64804487e-01 -9.31083763e-01 -8.44501053e-04 2.06864253e+02] [ 9.31081426e-01 3.64805463e-01 -2.08606852e-03 2.17875094e+02] [ 2.25038312e-03 -2.52920898e-05 9.99997468e-01 1.26158927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.87, Y:217.90, Z:1.26 [[ 3.67300254e-01 -9.30102049e-01 -8.37815592e-04 2.06874088e+02] [ 9.30099704e-01 3.67301209e-01 -2.08876618e-03 2.17902415e+02] [ 2.25049639e-03 -1.20476852e-05 9.99997468e-01 1.26055383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.89, Y:217.93, Z:1.26 [[ 3.69428561e-01 -9.29258754e-01 -8.40666938e-04 2.06886002e+02] [ 9.29256409e-01 3.69429518e-01 -2.08761628e-03 2.17928293e+02] [ 2.25050288e-03 -9.97006210e-06 9.99997468e-01 1.26159501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.88275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:206.90, Y:217.95, Z:1.26 [[ 3.68749896e-01 -9.29528271e-01 -8.41441952e-04 2.06895600e+02] [ 9.29525927e-01 3.68750856e-01 -2.08730385e-03 2.17954146e+02] [ 2.25049038e-03 -1.24490333e-05 9.99997468e-01 1.26155629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:217.98, Z:1.26 [[ 3.68816426e-01 -9.29501871e-01 -8.46052891e-04 2.06905745e+02] [ 9.29499532e-01 3.68817396e-01 -2.08544505e-03 2.17980459e+02] [ 2.25046410e-03 -1.72593752e-05 9.99997468e-01 1.26186612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.91, Y:218.01, Z:1.26 [[ 3.68487861e-01 -9.29632180e-01 -8.40763523e-04 2.06914996e+02] [ 9.29629836e-01 3.68488820e-01 -2.08757533e-03 2.18006732e+02] [ 2.25048916e-03 -1.23526911e-05 9.99997468e-01 1.26101673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:206.92, Y:218.03, Z:1.26 [[ 3.67885837e-01 -9.29870585e-01 -8.40090296e-04 2.06924987e+02] [ 9.29868241e-01 3.67886796e-01 -2.08784621e-03 2.18033484e+02] [ 2.25048491e-03 -1.30842355e-05 9.99997468e-01 1.26069757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.93, Y:218.06, Z:1.26 [[ 3.66153574e-01 -9.30554058e-01 -8.39419890e-04 2.06934998e+02] [ 9.30551716e-01 3.66154536e-01 -2.08811571e-03 2.18059427e+02] [ 2.25046195e-03 -1.65525866e-05 9.99997468e-01 1.26058840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.94, Y:218.08, Z:1.26 [[ 3.64279605e-01 -9.31289249e-01 -8.38752468e-04 2.06944476e+02] [ 9.31286908e-01 3.64280570e-01 -2.08838377e-03 2.18084852e+02] [ 2.25043058e-03 -2.03635765e-05 9.99997468e-01 1.26069531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:206.96, Y:218.11, Z:1.26 [[ 3.62470920e-01 -9.31994705e-01 -8.38050062e-04 2.06955086e+02] [ 9.31992365e-01 3.62471888e-01 -2.08866560e-03 2.18111178e+02] [ 2.25039487e-03 -2.39757159e-05 9.99997468e-01 1.25971035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.97, Y:218.14, Z:1.26 [[ 3.59205111e-01 -9.33258264e-01 -8.37374021e-04 2.06967627e+02] [ 9.33255927e-01 3.59206085e-01 -2.08893660e-03 2.18138846e+02] [ 2.25030719e-03 -3.11275651e-05 9.99997468e-01 1.26026872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.98, Y:218.16, Z:1.26 [[ 3.55015621e-01 -9.34859983e-01 -8.49328371e-04 2.06976320e+02] [ 9.34857661e-01 3.55016633e-01 -2.08414741e-03 2.18164230e+02] [ 2.24991171e-03 -5.40962463e-05 9.99997468e-01 1.25955333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:206.99, Y:218.19, Z:1.26 [[ 3.53147125e-01 -9.35567419e-01 -8.43912507e-04 2.06987109e+02] [ 9.35565094e-01 3.53148130e-01 -2.08631427e-03 2.18189546e+02] [ 2.24991378e-03 -5.27591976e-05 9.99997468e-01 1.26060251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.00, Y:218.21, Z:1.26 [[ 3.47316372e-01 -9.37747641e-01 -8.36845605e-04 2.06995852e+02] [ 9.37745315e-01 3.47317375e-01 -2.08913903e-03 2.18213752e+02] [ 2.24973621e-03 -5.91558579e-05 9.99997468e-01 1.25898318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.01, Y:218.24, Z:1.26 [[ 3.46208164e-01 -9.38157359e-01 -8.22834120e-04 2.07005710e+02] [ 9.38155021e-01 3.46209139e-01 -2.09472660e-03 2.18238834e+02] [ 2.25005587e-03 -4.67345100e-05 9.99997468e-01 1.25887763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.02, Y:218.27, Z:1.26 [[ 3.47317525e-01 -9.37747221e-01 -8.28172140e-04 2.07018104e+02] [ 9.37744888e-01 3.47318509e-01 -2.09259827e-03 2.18265611e+02] [ 2.24996773e-03 -4.98181383e-05 9.99997468e-01 1.26292710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.03, Y:218.29, Z:1.26 [[ 3.45391108e-01 -9.38458464e-01 -8.33277610e-04 2.07025483e+02] [ 9.38456137e-01 3.45392108e-01 -2.09056328e-03 2.18290988e+02] [ 2.24971432e-03 -5.99325184e-05 9.99997468e-01 1.26043943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.04, Y:218.32, Z:1.26 [[ 3.45569182e-01 -9.38392914e-01 -8.24697540e-04 2.07036781e+02] [ 9.38390579e-01 3.45570163e-01 -2.09397546e-03 2.18317877e+02] [ 2.24996259e-03 -5.02750161e-05 9.99997468e-01 1.26396710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.05, Y:218.34, Z:1.26 [[ 3.47025083e-01 -9.37855475e-01 -8.37191751e-04 2.07046143e+02] [ 9.37853150e-01 3.47026087e-01 -2.08901015e-03 2.18343358e+02] [ 2.24971698e-03 -6.02240010e-05 9.99997468e-01 1.26368210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.06, Y:218.37, Z:1.26 [[ 3.47230400e-01 -9.37779484e-01 -8.30414158e-04 2.07055438e+02] [ 9.37777152e-01 3.47231389e-01 -2.09170088e-03 2.18368040e+02] [ 2.24990003e-03 -5.24412912e-05 9.99997468e-01 1.26363310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.07, Y:218.40, Z:1.26 [[ 3.47812812e-01 -9.37563630e-01 -8.29644129e-04 2.07065541e+02] [ 9.37561297e-01 3.47813798e-01 -2.09200626e-03 2.18395557e+02] [ 2.24995066e-03 -5.02156459e-05 9.99997468e-01 1.26329330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:218.42, Z:1.26 [[ 3.48134194e-01 -9.37444339e-01 -8.33026163e-04 2.07075490e+02] [ 9.37442010e-01 3.48135186e-01 -2.09066631e-03 2.18422004e+02] [ 2.24988901e-03 -5.30812916e-05 9.99997468e-01 1.26202156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.08, Y:218.45, Z:1.26 [[ 3.49237460e-01 -9.37033886e-01 -8.32470354e-04 2.07083678e+02] [ 9.37031555e-01 3.49238448e-01 -2.09088628e-03 2.18448095e+02] [ 2.24996195e-03 -4.98351782e-05 9.99997468e-01 1.26363856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.09, Y:218.47, Z:1.26 [[ 3.49161880e-01 -9.37062056e-01 -8.27365255e-04 2.07092751e+02] [ 9.37059720e-01 3.49162857e-01 -2.09290442e-03 2.18473946e+02] [ 2.25006654e-03 -4.45282128e-05 9.99997468e-01 1.26363584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.10, Y:218.50, Z:1.26 [[ 3.48786549e-01 -9.37201824e-01 -8.26874735e-04 2.07101218e+02] [ 9.37199488e-01 3.48787526e-01 -2.09309820e-03 2.18500289e+02] [ 2.25005904e-03 -4.49020810e-05 9.99997468e-01 1.26437398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.11, Y:218.53, Z:1.26 [[ 3.49194222e-01 -9.37050005e-01 -8.26203485e-04 2.07112775e+02] [ 9.37047668e-01 3.49195197e-01 -2.09336313e-03 2.18528010e+02] [ 2.25009222e-03 -4.32017397e-05 9.99997468e-01 1.26338041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.12, Y:218.55, Z:1.27 [[ 3.46653769e-01 -9.37992786e-01 -8.35712879e-04 2.07119747e+02] [ 9.37990460e-01 3.46654771e-01 -2.08961764e-03 2.18553049e+02] [ 2.24975013e-03 -5.95168766e-05 9.99997468e-01 1.26502869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.13, Y:218.58, Z:1.27 [[ 3.47633987e-01 -9.37629957e-01 -8.21171276e-04 2.07132895e+02] [ 9.37627617e-01 3.47634954e-01 -2.09533710e-03 2.18581196e+02] [ 2.25011867e-03 -4.15424790e-05 9.99997468e-01 1.26564162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.14, Y:218.61, Z:1.27 [[ 3.45914013e-01 -9.38265846e-01 -8.35624082e-04 2.07140953e+02] [ 9.38263521e-01 3.45915016e-01 -2.08965251e-03 2.18605638e+02] [ 2.24970450e-03 -6.11955090e-05 9.99997468e-01 1.26615404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.15, Y:218.63, Z:1.27 [[ 3.46794670e-01 -9.37940712e-01 -8.22723241e-04 2.07152302e+02] [ 9.37938374e-01 3.46795643e-01 -2.09471945e-03 2.18630957e+02] [ 2.25003949e-03 -4.52261566e-05 9.99997468e-01 1.26740985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.16, Y:218.66, Z:1.27 [[ 3.46479845e-01 -9.38057057e-01 -8.22014994e-04 2.07164228e+02] [ 9.38054718e-01 3.46480817e-01 -2.09499735e-03 2.18659607e+02] [ 2.25003947e-03 -4.52206884e-05 9.99997468e-01 1.26598153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:218.68, Z:1.27 [[ 3.47543309e-01 -9.37663556e-01 -8.39552645e-04 2.07175805e+02] [ 9.37661233e-01 3.47544318e-01 -2.08811500e-03 2.18684554e+02] [ 2.24973108e-03 -6.15055724e-05 9.99997467e-01 1.26625021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.18, Y:218.71, Z:1.27 [[ 3.46292902e-01 -9.38126063e-01 -8.46931705e-04 2.07182411e+02] [ 9.38123748e-01 3.46293930e-01 -2.08521636e-03 2.18707183e+02] [ 2.24948312e-03 -7.24311211e-05 9.99997467e-01 1.26704695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.19, Y:218.73, Z:1.27 [[ 3.46323873e-01 -9.38114652e-01 -8.21417665e-04 2.07190737e+02] [ 9.38112313e-01 3.46324844e-01 -2.09521899e-03 2.18732446e+02] [ 2.25003297e-03 -4.49576715e-05 9.99997468e-01 1.26651099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.20, Y:218.76, Z:1.27 [[ 3.47594087e-01 -9.37644758e-01 -8.11114585e-04 2.07202064e+02] [ 9.37642409e-01 3.47595032e-01 -2.09925475e-03 2.18759202e+02] [ 2.25029462e-03 -3.08468933e-05 9.99997468e-01 1.26664291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.21, Y:218.79, Z:1.27 [[ 3.50934430e-01 -9.36399683e-01 -8.11974743e-04 2.07214282e+02] [ 9.36397331e-01 3.50935369e-01 -2.09891793e-03 2.18785504e+02] [ 2.25037674e-03 -2.37484139e-05 9.99997468e-01 1.26699959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.22, Y:218.81, Z:1.27 [[ 3.50330309e-01 -9.36625860e-01 -8.20412942e-04 2.07223623e+02] [ 9.36623516e-01 3.50331268e-01 -2.09561379e-03 2.18811814e+02] [ 2.25022237e-03 -3.42610287e-05 9.99997468e-01 1.26563639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.24, Y:218.84, Z:1.27 [[ 3.52041244e-01 -9.35984127e-01 -8.22421770e-04 2.07235308e+02] [ 9.35981783e-01 3.52042203e-01 -2.09482766e-03 2.18836901e+02] [ 2.25025261e-03 -3.23060575e-05 9.99997468e-01 1.26655970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.25, Y:218.86, Z:1.27 [[ 3.54210388e-01 -9.35165402e-01 -8.19663776e-04 2.07247343e+02] [ 9.35163054e-01 3.54211335e-01 -2.09590626e-03 2.18861440e+02] [ 2.25035322e-03 -2.41275116e-05 9.99997468e-01 1.26713105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.26, Y:218.89, Z:1.27 [[ 3.54735207e-01 -9.34966450e-01 -8.19176911e-04 2.07258100e+02] [ 9.34964100e-01 3.54736152e-01 -2.09609653e-03 2.18887748e+02] [ 2.25037159e-03 -2.23417683e-05 9.99997468e-01 1.26683507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.27, Y:218.92, Z:1.27 [[ 3.57689990e-01 -9.33840030e-01 -8.18515204e-04 2.07273036e+02] [ 9.33837677e-01 3.57690926e-01 -2.09635489e-03 2.18916046e+02] [ 2.25043557e-03 -1.45151776e-05 9.99997468e-01 1.26630725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.28, Y:218.94, Z:1.26 [[ 3.56353616e-01 -9.34350786e-01 -8.42002439e-04 2.07279516e+02] [ 9.34348456e-01 3.56354608e-01 -2.08718336e-03 2.18938270e+02] [ 2.25021286e-03 -4.29483421e-05 9.99997467e-01 1.26425800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.29, Y:218.96, Z:1.26 [[ 3.56075647e-01 -9.34456776e-01 -8.17289730e-04 2.07289636e+02] [ 9.34454423e-01 3.56076585e-01 -2.09681579e-03 2.18963558e+02] [ 2.25040146e-03 -1.70949621e-05 9.99997468e-01 1.26339500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.082755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:207.30, Y:218.99, Z:1.26 [[ 3.56847135e-01 -9.34162435e-01 -8.16601855e-04 2.07303124e+02] [ 9.34160081e-01 3.56848070e-01 -2.09708365e-03 2.18991916e+02] [ 2.25041957e-03 -1.44985621e-05 9.99997468e-01 1.26161854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.31, Y:219.02, Z:1.26 [[ 3.56193557e-01 -9.34411824e-01 -8.32729808e-04 2.07309717e+02] [ 9.34409485e-01 3.56194529e-01 -2.09080485e-03 2.19016345e+02] [ 2.25028657e-03 -3.33794144e-05 9.99997468e-01 1.26374654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.32, Y:219.04, Z:1.26 [[ 3.56120029e-01 -9.34439865e-01 -8.15206600e-04 2.07318752e+02] [ 9.34437510e-01 3.56120962e-01 -2.09761498e-03 2.19041399e+02] [ 2.25040722e-03 -1.47569181e-05 9.99997468e-01 1.26292972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.33, Y:219.07, Z:1.26 [[ 3.56454025e-01 -9.34312509e-01 -8.14450726e-04 2.07328162e+02] [ 9.34310154e-01 3.56454955e-01 -2.09790843e-03 2.19067907e+02] [ 2.25041708e-03 -1.31416803e-05 9.99997468e-01 1.26374760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.20275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:207.34, Y:219.10, Z:1.26 [[ 3.54839815e-01 -9.34926758e-01 -8.13790619e-04 2.07336975e+02] [ 9.34924404e-01 3.54840748e-01 -2.09816445e-03 2.19095002e+02] [ 2.25039616e-03 -1.63204227e-05 9.99997468e-01 1.26420480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.23275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:207.35, Y:219.12, Z:1.26 [[ 3.52917313e-01 -9.35654164e-01 -8.09875949e-04 2.07345908e+02] [ 9.35651808e-01 3.52918242e-01 -2.09968110e-03 2.19121510e+02] [ 2.25039536e-03 -1.67480840e-05 9.99997468e-01 1.26249927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:219.15, Z:1.26 [[ 3.52394098e-01 -9.35851352e-01 -8.04295290e-04 2.07357745e+02] [ 9.35848992e-01 3.52395015e-01 -2.10184117e-03 2.19147220e+02] [ 2.25044055e-03 -1.20225142e-05 9.99997468e-01 1.26232453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.36, Y:219.17, Z:1.26 [[ 3.46625901e-01 -9.38003105e-01 -8.12270998e-04 2.07364683e+02] [ 9.38000758e-01 3.46626851e-01 -2.09875437e-03 2.19172293e+02] [ 2.25019305e-03 -3.44281881e-05 9.99997468e-01 1.26076196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.37, Y:219.20, Z:1.26 [[ 3.43599722e-01 -9.39115857e-01 -7.98557502e-04 2.07373520e+02] [ 9.39113501e-01 3.43600649e-01 -2.10405563e-03 2.19198654e+02] [ 2.25033689e-03 -2.69831991e-05 9.99997468e-01 1.26128125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.38, Y:219.22, Z:1.26 [[ 3.38928829e-01 -9.40811682e-01 -7.92143055e-04 2.07382468e+02] [ 9.40809324e-01 3.38929754e-01 -2.10653348e-03 2.19224636e+02] [ 2.25033216e-03 -3.12906463e-05 9.99997468e-01 1.26083530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.39, Y:219.25, Z:1.26 [[ 3.37646864e-01 -9.41272527e-01 -7.91232590e-04 2.07392630e+02] [ 9.41270169e-01 3.37647789e-01 -2.10688455e-03 2.19251021e+02] [ 2.25031047e-03 -3.33806745e-05 9.99997468e-01 1.26281670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.41, Y:219.28, Z:1.27 [[ 3.38005890e-01 -9.41143662e-01 -7.91015969e-04 2.07405110e+02] [ 9.41141304e-01 3.38006814e-01 -2.10696797e-03 2.19277597e+02] [ 2.25032834e-03 -3.22902147e-05 9.99997468e-01 1.26670810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:219.31, Z:1.27 [[ 3.37046191e-01 -9.41487765e-01 -8.08846913e-04 2.07415498e+02] [ 9.41485424e-01 3.37047157e-01 -2.10010044e-03 2.19305332e+02] [ 2.24983843e-03 -5.36867246e-05 9.99997468e-01 1.26622736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.42, Y:219.33, Z:1.27 [[ 3.35779223e-01 -9.41940359e-01 -8.20903602e-04 2.07423470e+02] [ 9.41938031e-01 3.35780219e-01 -2.09545928e-03 2.19329064e+02] [ 2.24944086e-03 -6.96286321e-05 9.99997468e-01 1.26654875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.43, Y:219.35, Z:1.27 [[ 3.35351569e-01 -9.42092710e-01 -8.07306672e-04 2.07433172e+02] [ 9.42090369e-01 3.35352536e-01 -2.10068467e-03 2.19354989e+02] [ 2.24977206e-03 -5.60879385e-05 9.99997468e-01 1.26638690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.44, Y:219.38, Z:1.26 [[ 3.37642294e-01 -9.41274153e-01 -8.06564851e-04 2.07443181e+02] [ 9.41271810e-01 3.37643253e-01 -2.10096946e-03 2.19378873e+02] [ 2.24991943e-03 -4.98206105e-05 9.99997468e-01 1.26407389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.45, Y:219.40, Z:1.26 [[ 3.36877349e-01 -9.41548195e-01 -8.05762038e-04 2.07451833e+02] [ 9.41545851e-01 3.36878308e-01 -2.10127731e-03 2.19403724e+02] [ 2.24989761e-03 -5.07891755e-05 9.99997468e-01 1.26450786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.46, Y:219.43, Z:1.27 [[ 3.37834612e-01 -9.41205150e-01 -8.00573602e-04 2.07462309e+02] [ 9.41202801e-01 3.37835558e-01 -2.10326569e-03 2.19430252e+02] [ 2.25006673e-03 -4.29461687e-05 9.99997468e-01 1.26573403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.47, Y:219.46, Z:1.27 [[ 3.37503357e-01 -9.41323981e-01 -8.04648144e-04 2.07472039e+02] [ 9.41321636e-01 3.37504313e-01 -2.10170573e-03 2.19456231e+02] [ 2.24995823e-03 -4.80999671e-05 9.99997468e-01 1.26579761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.48, Y:219.48, Z:1.27 [[ 3.37976947e-01 -9.41154045e-01 -8.03908400e-04 2.07481747e+02] [ 9.41151699e-01 3.37977900e-01 -2.10198865e-03 2.19482027e+02] [ 2.24999839e-03 -4.61760495e-05 9.99997468e-01 1.26564176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.49, Y:219.51, Z:1.26 [[ 3.37143950e-01 -9.41452767e-01 -8.03170760e-04 2.07488784e+02] [ 9.41450421e-01 3.37144904e-01 -2.10227046e-03 2.19508113e+02] [ 2.24997327e-03 -4.73776809e-05 9.99997468e-01 1.26154654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.50, Y:219.53, Z:1.26 [[ 3.38303103e-01 -9.41036868e-01 -7.89334748e-04 2.07499217e+02] [ 9.41034509e-01 3.38304023e-01 -2.10754901e-03 2.19533831e+02] [ 2.25031644e-03 -2.98008660e-05 9.99997468e-01 1.26104657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.51, Y:219.56, Z:1.27 [[ 3.40148389e-01 -9.40371442e-01 -7.90118329e-04 2.07512149e+02] [ 9.40369082e-01 3.40149305e-01 -2.10725043e-03 2.19560191e+02] [ 2.25035632e-03 -2.62250096e-05 9.99997468e-01 1.26713046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.52, Y:219.59, Z:1.26 [[ 3.38513864e-01 -9.40961063e-01 -8.01015735e-04 2.07519398e+02] [ 9.40958714e-01 3.38514809e-01 -2.10309989e-03 2.19585701e+02] [ 2.25009080e-03 -4.17942647e-05 9.99997468e-01 1.26374324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.53, Y:219.61, Z:1.27 [[ 3.40527025e-01 -9.40234399e-01 -7.88152972e-04 2.07532873e+02] [ 9.40232036e-01 3.40527936e-01 -2.10799167e-03 2.19611448e+02] [ 2.25039438e-03 -2.32185435e-05 9.99997468e-01 1.26919541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.54, Y:219.64, Z:1.27 [[ 3.39996332e-01 -9.40426422e-01 -7.99782929e-04 2.07542218e+02] [ 9.40424070e-01 3.39997271e-01 -2.10356993e-03 2.19635683e+02] [ 2.25017675e-03 -3.69290581e-05 9.99997468e-01 1.26961007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.55, Y:219.66, Z:1.27 [[ 3.39607415e-01 -9.40566938e-01 -7.99005768e-04 2.07551996e+02] [ 9.40564586e-01 3.39608353e-01 -2.10386508e-03 2.19660725e+02] [ 2.25017497e-03 -3.70283497e-05 9.99997468e-01 1.26967150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.56, Y:219.69, Z:1.27 [[ 3.37619185e-01 -9.41282449e-01 -7.98283174e-04 2.07559678e+02] [ 9.41280098e-01 3.37620126e-01 -2.10413922e-03 2.19685312e+02] [ 2.25010578e-03 -4.10102966e-05 9.99997468e-01 1.26689198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.57, Y:219.71, Z:1.27 [[ 3.38959142e-01 -9.40800765e-01 -7.87321588e-04 2.07572264e+02] [ 9.40798404e-01 3.38960055e-01 -2.10829189e-03 2.19711247e+02] [ 2.25035319e-03 -2.60860849e-05 9.99997468e-01 1.26904002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.58, Y:219.74, Z:1.27 [[ 3.39146334e-01 -9.40733293e-01 -7.97108739e-04 2.07582282e+02] [ 9.40730940e-01 3.39147269e-01 -2.10458502e-03 2.19736051e+02] [ 2.25019044e-03 -3.61025612e-05 9.99997468e-01 1.26822666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.59, Y:219.76, Z:1.27 [[ 3.39226282e-01 -9.40704466e-01 -7.98191308e-04 2.07591771e+02] [ 9.40702114e-01 3.39227219e-01 -2.10417524e-03 2.19762144e+02] [ 2.25017527e-03 -3.70687071e-05 9.99997468e-01 1.26848578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.60, Y:219.79, Z:1.27 [[ 3.39810897e-01 -9.40493444e-01 -7.97998607e-04 2.07600989e+02] [ 9.40491090e-01 3.39811832e-01 -2.10424812e-03 2.19787466e+02] [ 2.25020093e-03 -3.54641371e-05 9.99997468e-01 1.26834973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.61, Y:219.81, Z:1.27 [[ 3.41323989e-01 -9.39945372e-01 -7.95438611e-04 2.07608914e+02] [ 9.39943014e-01 3.41324915e-01 -2.10521540e-03 2.19812230e+02] [ 2.25029049e-03 -2.91064479e-05 9.99997468e-01 1.26690920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.62, Y:219.84, Z:1.27 [[ 3.40694192e-01 -9.40173838e-01 -7.88815049e-04 2.07618192e+02] [ 9.40171475e-01 3.40695105e-01 -2.10771503e-03 2.19839282e+02] [ 2.25036395e-03 -2.35351387e-05 9.99997468e-01 1.26694672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.63, Y:219.87, Z:1.27 [[ 3.41217867e-01 -9.39983902e-01 -7.94259233e-04 2.07630392e+02] [ 9.39981544e-01 3.41218791e-01 -2.10566147e-03 2.19867946e+02] [ 2.25030406e-03 -2.80997022e-05 9.99997468e-01 1.26537221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.64, Y:219.89, Z:1.27 [[ 3.39057071e-01 -9.40765457e-01 -8.11057171e-04 2.07637337e+02] [ 9.40763116e-01 3.39058038e-01 -2.09932860e-03 2.19891623e+02] [ 2.24997128e-03 -5.12204649e-05 9.99997468e-01 1.26654451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.65, Y:219.92, Z:1.27 [[ 3.36517474e-01 -9.41676888e-01 -7.92726649e-04 2.07647000e+02] [ 9.41674533e-01 3.36518405e-01 -2.10622771e-03 2.19920000e+02] [ 2.25015306e-03 -3.77080695e-05 9.99997468e-01 1.26647918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.66, Y:219.95, Z:1.27 [[ 3.36264791e-01 -9.41767130e-01 -8.15007946e-04 2.07657940e+02] [ 9.41764795e-01 3.36265773e-01 -2.09785841e-03 2.19945300e+02] [ 2.24975337e-03 -6.21098722e-05 9.99997467e-01 1.26577884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:219.97, Z:1.27 [[ 3.31575349e-01 -9.43428395e-01 -8.06905004e-04 2.07665548e+02] [ 9.43426058e-01 3.31576325e-01 -2.10089861e-03 2.19970254e+02] [ 2.24959800e-03 -6.46490157e-05 9.99997468e-01 1.26642255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.67, Y:219.99, Z:1.27 [[ 3.31041061e-01 -9.43616009e-01 -8.02108977e-04 2.07674982e+02] [ 9.43613668e-01 3.31042027e-01 -2.10269736e-03 2.19994312e+02] [ 2.24967067e-03 -6.08018316e-05 9.99997468e-01 1.26743085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.68, Y:220.02, Z:1.27 [[ 3.27378102e-01 -9.44893092e-01 -7.89052671e-04 2.07682404e+02] [ 9.44890743e-01 3.27379048e-01 -2.10758547e-03 2.20020973e+02] [ 2.24976226e-03 -5.55912346e-05 9.99997468e-01 1.26517284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.69, Y:220.05, Z:1.27 [[ 3.27013879e-01 -9.45019207e-01 -7.87938537e-04 2.07692015e+02] [ 9.45016858e-01 3.27014824e-01 -2.10800221e-03 2.20045937e+02] [ 2.24977016e-03 -5.52692192e-05 9.99997468e-01 1.26720925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.70, Y:220.07, Z:1.27 [[ 3.25950206e-01 -9.45386610e-01 -7.87913874e-04 2.07700842e+02] [ 9.45384262e-01 3.25951153e-01 -2.10801143e-03 2.20070966e+02] [ 2.24970722e-03 -5.77746160e-05 9.99997468e-01 1.26708010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.71, Y:220.10, Z:1.27 [[ 3.25156189e-01 -9.45659999e-01 -7.87132990e-04 2.07709431e+02] [ 9.45657650e-01 3.25157136e-01 -2.10830298e-03 2.20095379e+02] [ 2.24967970e-03 -5.88305729e-05 9.99997468e-01 1.26744517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.72, Y:220.12, Z:1.27 [[ 3.24880071e-01 -9.45754895e-01 -7.86361194e-04 2.07718156e+02] [ 9.45752546e-01 3.24881017e-01 -2.10859080e-03 2.20121210e+02] [ 2.24968390e-03 -5.86639718e-05 9.99997468e-01 1.26786497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:220.15, Z:1.27 [[ 3.26861050e-01 -9.45072080e-01 -7.85656103e-04 2.07730993e+02] [ 9.45069729e-01 3.26861990e-01 -2.10885349e-03 2.20150661e+02] [ 2.24981967e-03 -5.31977347e-05 9.99997468e-01 1.26732792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.73, Y:220.17, Z:1.27 [[ 3.26446911e-01 -9.45215194e-01 -8.07789250e-04 2.07734847e+02] [ 9.45212863e-01 3.26447901e-01 -2.10060508e-03 2.20174509e+02] [ 2.24922494e-03 -7.77967502e-05 9.99997467e-01 1.26861614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:220.20, Z:1.27 [[ 3.27789734e-01 -9.44750377e-01 -7.84622438e-04 2.07745103e+02] [ 9.44748024e-01 3.27790669e-01 -2.10922304e-03 2.20202546e+02] [ 2.24988118e-03 -4.98888389e-05 9.99997468e-01 1.26793618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.75, Y:220.23, Z:1.27 [[ 3.29815466e-01 -9.44045087e-01 -7.94658415e-04 2.07752227e+02] [ 9.44042741e-01 3.29816419e-01 -2.10549095e-03 2.20227862e+02] [ 2.24976978e-03 -5.57680299e-05 9.99997468e-01 1.26814294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.76, Y:220.25, Z:1.27 [[ 3.31277349e-01 -9.43533096e-01 -7.83651933e-04 2.07760848e+02] [ 9.43530739e-01 3.31278274e-01 -2.10957956e-03 2.20252158e+02] [ 2.25006499e-03 -4.05437635e-05 9.99997468e-01 1.26815838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.77, Y:220.28, Z:1.27 [[ 3.32699686e-01 -9.43032505e-01 -7.82866722e-04 2.07769766e+02] [ 9.43030146e-01 3.32700605e-01 -2.10987091e-03 2.20277403e+02] [ 2.25013708e-03 -3.63135301e-05 9.99997468e-01 1.26771241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.78, Y:220.30, Z:1.27 [[ 3.35459214e-01 -9.42054406e-01 -7.82127636e-04 2.07778155e+02] [ 9.42052043e-01 3.35460124e-01 -2.11014485e-03 2.20302624e+02] [ 2.25024389e-03 -2.89374048e-05 9.99997468e-01 1.26694393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.79, Y:220.33, Z:1.27 [[ 3.36709318e-01 -9.41608318e-01 -7.81353349e-04 2.07787125e+02] [ 9.41605953e-01 3.36710224e-01 -2.11043152e-03 2.20328381e+02] [ 2.25028953e-03 -2.51250080e-05 9.99997468e-01 1.26641102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.80, Y:220.35, Z:1.27 [[ 3.36809047e-01 -9.41572651e-01 -7.80629350e-04 2.07795792e+02] [ 9.41570285e-01 3.36809951e-01 -2.11069929e-03 2.20354864e+02] [ 2.25030045e-03 -2.41147851e-05 9.99997468e-01 1.26581229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.81, Y:220.38, Z:1.27 [[ 3.38500253e-01 -9.40965970e-01 -7.88826554e-04 2.07805685e+02] [ 9.40963610e-01 3.38501171e-01 -2.10766936e-03 2.20378821e+02] [ 2.25026385e-03 -2.88104721e-05 9.99997468e-01 1.26527883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.82, Y:220.40, Z:1.27 [[ 3.38648498e-01 -9.40912636e-01 -7.79246206e-04 2.07816061e+02] [ 9.40910267e-01 3.38649394e-01 -2.11120546e-03 2.20404270e+02] [ 2.25035115e-03 -1.82441972e-05 9.99997468e-01 1.26541689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.83, Y:220.43, Z:1.27 [[ 3.36923426e-01 -9.41531730e-01 -7.78530484e-04 2.07827100e+02] [ 9.41529363e-01 3.36924324e-01 -2.11146936e-03 2.20431096e+02] [ 2.25032126e-03 -2.16058202e-05 9.99997468e-01 1.26628502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.84, Y:220.45, Z:1.27 [[ 3.39645444e-01 -9.40553215e-01 -7.89053928e-04 2.07838933e+02] [ 9.40550854e-01 3.39646360e-01 -2.10758991e-03 2.20453704e+02] [ 2.25029976e-03 -2.63120345e-05 9.99997468e-01 1.26573807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.85, Y:220.48, Z:1.27 [[ 3.36866920e-01 -9.41551949e-01 -7.78633127e-04 2.07847228e+02] [ 9.41549582e-01 3.36867819e-01 -2.11142604e-03 2.20478978e+02] [ 2.25031375e-03 -2.18521084e-05 9.99997468e-01 1.26841403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.86, Y:220.50, Z:1.27 [[ 3.35866828e-01 -9.41909163e-01 -7.76800262e-04 2.07857609e+02] [ 9.41906795e-01 3.35867726e-01 -2.11210014e-03 2.20504013e+02] [ 2.25030861e-03 -2.22890692e-05 9.99997468e-01 1.26914473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.87, Y:220.53, Z:1.27 [[ 3.33672654e-01 -9.42688685e-01 -7.76097790e-04 2.07869346e+02] [ 9.42686319e-01 3.33673556e-01 -2.11235824e-03 2.20530096e+02] [ 2.25025952e-03 -2.67805895e-05 9.99997468e-01 1.26830154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.88, Y:220.56, Z:1.27 [[ 3.32461857e-01 -9.43116382e-01 -7.77376123e-04 2.07879618e+02] [ 9.43114018e-01 3.32462765e-01 -2.11188882e-03 2.20555683e+02] [ 2.25020556e-03 -3.10318369e-05 9.99997468e-01 1.26860575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.89, Y:220.58, Z:1.27 [[ 3.31964217e-01 -9.43291661e-01 -7.75081172e-04 2.07887263e+02] [ 9.43289296e-01 3.31965120e-01 -2.11273076e-03 2.20583037e+02] [ 2.25022122e-03 -2.97747626e-05 9.99997468e-01 1.26854560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.90, Y:220.61, Z:1.27 [[ 3.33258113e-01 -9.42835305e-01 -7.85730295e-04 2.07896307e+02] [ 9.42832948e-01 3.33259037e-01 -2.10882966e-03 2.20606409e+02] [ 2.25013077e-03 -3.80278190e-05 9.99997468e-01 1.26844040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:220.63, Z:1.27 [[ 3.33740399e-01 -9.42664708e-01 -7.71138916e-04 2.07905977e+02] [ 9.42662338e-01 3.33741289e-01 -2.11416646e-03 2.20631447e+02] [ 2.25031101e-03 -2.13408557e-05 9.99997468e-01 1.26815227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.91, Y:220.66, Z:1.27 [[ 3.33386106e-01 -9.42790068e-01 -7.69424889e-04 2.07914845e+02] [ 9.42787696e-01 3.33386993e-01 -2.11479273e-03 2.20656752e+02] [ 2.25032184e-03 -2.03618040e-05 9.99997468e-01 1.26791879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.92, Y:220.68, Z:1.27 [[ 3.32114911e-01 -9.43238618e-01 -7.71741751e-04 2.07923784e+02] [ 9.43236249e-01 3.32115807e-01 -2.11394691e-03 2.20683243e+02] [ 2.25026400e-03 -2.58615025e-05 9.99997468e-01 1.26714343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.93, Y:220.71, Z:1.27 [[ 3.32121439e-01 -9.43236316e-01 -7.76085728e-04 2.07933332e+02] [ 9.43233951e-01 3.32122344e-01 -2.11236313e-03 2.20708770e+02] [ 2.25021303e-03 -3.04693239e-05 9.99997468e-01 1.26725248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.94, Y:220.74, Z:1.27 [[ 3.30743445e-01 -9.43720393e-01 -7.69961930e-04 2.07941517e+02] [ 9.43718025e-01 3.30744340e-01 -2.11459292e-03 2.20735129e+02] [ 2.25024501e-03 -2.72392042e-05 9.99997468e-01 1.26596864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.95, Y:220.76, Z:1.27 [[ 3.29874599e-01 -9.44024447e-01 -7.69208186e-04 2.07950069e+02] [ 9.44022079e-01 3.29875495e-01 -2.11486707e-03 2.20762288e+02] [ 2.25022915e-03 -2.85085834e-05 9.99997468e-01 1.26512381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.96, Y:220.79, Z:1.26 [[ 3.28818640e-01 -9.44392774e-01 -7.68534465e-04 2.07958235e+02] [ 9.44390406e-01 3.28819537e-01 -2.11511187e-03 2.20789396e+02] [ 2.25020551e-03 -3.03083676e-05 9.99997468e-01 1.26418323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.97, Y:220.81, Z:1.26 [[ 3.28102156e-01 -9.44641935e-01 -7.67861042e-04 2.07966788e+02] [ 9.44639567e-01 3.28103053e-01 -2.11535632e-03 2.20814767e+02] [ 2.25019184e-03 -3.12989541e-05 9.99997468e-01 1.26420651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:220.84, Z:1.26 [[ 3.27721218e-01 -9.44774161e-01 -7.67111561e-04 2.07975181e+02] [ 9.44771793e-01 3.27722114e-01 -2.11562807e-03 2.20840781e+02] [ 2.25019016e-03 -3.14091562e-05 9.99997468e-01 1.26439540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.98, Y:220.87, Z:1.26 [[ 3.26665298e-01 -9.45139776e-01 -7.66368469e-04 2.07983144e+02] [ 9.45137408e-01 3.26666195e-01 -2.11589722e-03 2.20868220e+02] [ 2.25016529e-03 -3.31333128e-05 9.99997468e-01 1.26491485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:207.99, Y:220.89, Z:1.26 [[ 3.26678667e-01 -9.45135151e-01 -7.71989454e-04 2.07991253e+02] [ 9.45132787e-01 3.26679577e-01 -2.11386218e-03 2.20891988e+02] [ 2.25007864e-03 -3.90788643e-05 9.99997468e-01 1.26475137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.00, Y:220.92, Z:1.27 [[ 3.25785444e-01 -9.45443419e-01 -7.65214893e-04 2.07999617e+02] [ 9.45441051e-01 3.25786340e-01 -2.11631173e-03 2.20917472e+02] [ 2.25014955e-03 -3.40020182e-05 9.99997468e-01 1.26533483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.01, Y:220.94, Z:1.27 [[ 3.24988363e-01 -9.45717706e-01 -7.64486339e-04 2.08007859e+02] [ 9.45715338e-01 3.24989260e-01 -2.11657487e-03 2.20944676e+02] [ 2.25013218e-03 -3.51242537e-05 9.99997468e-01 1.26639743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.02, Y:220.97, Z:1.27 [[ 3.25007373e-01 -9.45711170e-01 -7.68265533e-04 2.08016318e+02] [ 9.45708806e-01 3.25008278e-01 -2.11521085e-03 2.20970333e+02] [ 2.25007118e-03 -3.90963595e-05 9.99997468e-01 1.26665318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:221.00, Z:1.27 [[ 3.24869904e-01 -9.45758406e-01 -7.63126989e-04 2.08025127e+02] [ 9.45756038e-01 3.24870798e-01 -2.11706311e-03 2.20996433e+02] [ 2.25014791e-03 -3.39618675e-05 9.99997468e-01 1.26763282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.03, Y:221.02, Z:1.27 [[ 3.24023842e-01 -9.46048608e-01 -7.62398595e-04 2.08032863e+02] [ 9.46046239e-01 3.24024737e-01 -2.11732539e-03 2.21022970e+02] [ 2.25012874e-03 -3.52004164e-05 9.99997468e-01 1.26832308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.04, Y:221.05, Z:1.27 [[ 3.24487598e-01 -9.45889637e-01 -7.69946848e-04 2.08040796e+02] [ 9.45887274e-01 3.24488509e-01 -2.11460937e-03 2.21046807e+02] [ 2.25002599e-03 -4.21184108e-05 9.99997468e-01 1.26960128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.05, Y:221.07, Z:1.27 [[ 3.23970462e-01 -9.46066891e-01 -7.60745732e-04 2.08049036e+02] [ 9.46064520e-01 3.23971353e-01 -2.11791437e-03 2.21071598e+02] [ 2.25014848e-03 -3.35728508e-05 9.99997468e-01 1.27147059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.06, Y:221.10, Z:1.27 [[ 3.23571601e-01 -9.46203383e-01 -7.60166830e-04 2.08057440e+02] [ 9.46201013e-01 3.23572492e-01 -2.11812206e-03 2.21096121e+02] [ 2.25014334e-03 -3.39064775e-05 9.99997468e-01 1.27152877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.57275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.07, Y:221.12, Z:1.27 [[ 3.22869749e-01 -9.46443104e-01 -7.59277586e-04 2.08065616e+02] [ 9.46440734e-01 3.22870640e-01 -2.11844068e-03 2.21120882e+02] [ 2.25013202e-03 -3.46308239e-05 9.99997468e-01 1.27239044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.60275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.07, Y:221.15, Z:1.27 [[ 3.23052359e-01 -9.46380786e-01 -7.62811098e-04 2.08073933e+02] [ 9.46378418e-01 3.23053257e-01 -2.11717626e-03 2.21145367e+02] [ 2.25008355e-03 -3.79491748e-05 9.99997468e-01 1.27237506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.08, Y:221.17, Z:1.27 [[ 3.22900602e-01 -9.46432579e-01 -7.57329234e-04 2.08082472e+02] [ 9.46430208e-01 3.22901489e-01 -2.11913535e-03 2.21171558e+02] [ 2.25016148e-03 -3.24891818e-05 9.99997468e-01 1.27232065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.09, Y:221.20, Z:1.27 [[ 3.23469730e-01 -9.46238216e-01 -7.56632104e-04 2.08090110e+02] [ 9.46235843e-01 3.23470614e-01 -2.11938423e-03 2.21197430e+02] [ 2.25019061e-03 -3.03957705e-05 9.99997468e-01 1.27248060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.10, Y:221.22, Z:1.27 [[ 3.23811307e-01 -9.46121380e-01 -7.55908198e-04 2.08098363e+02] [ 9.46119006e-01 3.23812188e-01 -2.11964239e-03 2.21223213e+02] [ 2.25021127e-03 -2.88149390e-05 9.99997468e-01 1.27251238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.11, Y:221.25, Z:1.27 [[ 3.23257142e-01 -9.46310863e-01 -7.55171831e-04 2.08106107e+02] [ 9.46308489e-01 3.23258022e-01 -2.11990471e-03 2.21251661e+02] [ 2.25020421e-03 -2.93511783e-05 9.99997468e-01 1.27339400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:221.27, Z:1.27 [[ 3.25470080e-01 -9.45552024e-01 -7.72588747e-04 2.08115050e+02] [ 9.45549663e-01 3.25470994e-01 -2.11369642e-03 2.21274646e+02] [ 2.25006516e-03 -4.25760861e-05 9.99997468e-01 1.27232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.12, Y:221.30, Z:1.27 [[ 3.25619549e-01 -9.45500577e-01 -7.54293299e-04 2.08123908e+02] [ 9.45498200e-01 3.25620422e-01 -2.12020529e-03 2.21301513e+02] [ 2.25026862e-03 -2.28026658e-05 9.99997468e-01 1.27105325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.13, Y:221.33, Z:1.27 [[ 3.25035746e-01 -9.45701431e-01 -7.53619093e-04 2.08131889e+02] [ 9.45699054e-01 3.25036619e-01 -2.12044490e-03 2.21326706e+02] [ 2.25026158e-03 -2.34764720e-05 9.99997468e-01 1.27129660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.8427550960001 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:208.14, Y:221.35, Z:1.27 [[ 3.24456347e-01 -9.45900371e-01 -7.53113896e-04 2.08140354e+02] [ 9.45897994e-01 3.24457220e-01 -2.12062423e-03 2.21353428e+02] [ 2.25025249e-03 -2.43189324e-05 9.99997468e-01 1.26993077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.15, Y:221.38, Z:1.27 [[ 3.23799122e-01 -9.46125552e-01 -7.54294815e-04 2.08148796e+02] [ 9.46123177e-01 3.23799999e-01 -2.12020532e-03 2.21378912e+02] [ 2.25022109e-03 -2.71351852e-05 9.99997468e-01 1.26926049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.16, Y:221.41, Z:1.27 [[ 3.22547648e-01 -9.46552928e-01 -7.53769973e-04 2.08157305e+02] [ 9.46550554e-01 3.22548528e-01 -2.12039123e-03 2.21405416e+02] [ 2.25018992e-03 -2.95541816e-05 9.99997468e-01 1.26850521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:221.43, Z:1.27 [[ 3.23070101e-01 -9.46374735e-01 -7.55752807e-04 2.08165813e+02] [ 9.46372362e-01 3.23070983e-01 -2.11968979e-03 2.21429605e+02] [ 2.25018266e-03 -3.04151758e-05 9.99997468e-01 1.26806004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.17, Y:221.46, Z:1.27 [[ 3.21177483e-01 -9.47018727e-01 -7.45099985e-04 2.08174417e+02] [ 9.47016347e-01 3.21178346e-01 -2.12345325e-03 2.21457179e+02] [ 2.25025998e-03 -2.36164947e-05 9.99997468e-01 1.26885850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.18, Y:221.48, Z:1.27 [[ 3.20890359e-01 -9.47116046e-01 -7.56647887e-04 2.08184971e+02] [ 9.47113676e-01 3.20891249e-01 -2.11937519e-03 2.21484357e+02] [ 2.25009593e-03 -3.65444961e-05 9.99997468e-01 1.26810352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.19, Y:221.51, Z:1.27 [[ 3.19464950e-01 -9.47597780e-01 -7.69909237e-04 2.08191532e+02] [ 9.47595422e-01 3.19465873e-01 -2.11470680e-03 2.21507986e+02] [ 2.24985119e-03 -5.39877675e-05 9.99997468e-01 1.26890553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.20, Y:221.53, Z:1.27 [[ 3.19256052e-01 -9.47668201e-01 -7.44494428e-04 2.08200121e+02] [ 9.47665822e-01 3.19256919e-01 -2.12363057e-03 2.21532719e+02] [ 2.25018216e-03 -2.75500134e-05 9.99997468e-01 1.26859113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.21, Y:221.56, Z:1.27 [[ 3.16827554e-01 -9.48482869e-01 -7.39921220e-04 2.08207939e+02] [ 9.48480489e-01 3.16828417e-01 -2.12523372e-03 2.21558898e+02] [ 2.25017584e-03 -2.84682402e-05 9.99997468e-01 1.26824998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.22, Y:221.58, Z:1.27 [[ 3.15940242e-01 -9.48778799e-01 -7.44417199e-04 2.08216344e+02] [ 9.48776423e-01 3.15941117e-01 -2.12365887e-03 2.21583620e+02] [ 2.25007451e-03 -3.53361895e-05 9.99997468e-01 1.26821888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:221.61, Z:1.27 [[ 3.15159159e-01 -9.49038539e-01 -7.45250973e-04 2.08225194e+02] [ 9.49036165e-01 3.15160038e-01 -2.12336713e-03 2.21609538e+02] [ 2.25003057e-03 -3.80715254e-05 9.99997468e-01 1.26776029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.23, Y:221.63, Z:1.27 [[ 3.13443115e-01 -9.49606690e-01 -7.40939505e-04 2.08233924e+02] [ 9.49604313e-01 3.13443989e-01 -2.12487351e-03 2.21634951e+02] [ 2.25003713e-03 -3.75723786e-05 9.99997468e-01 1.26875426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.24, Y:221.66, Z:1.27 [[ 3.11739635e-01 -9.50167275e-01 -7.41800949e-04 2.08242623e+02] [ 9.50164900e-01 3.11740515e-01 -2.12457273e-03 2.21661868e+02] [ 2.24994889e-03 -4.25196964e-05 9.99997468e-01 1.26854199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.25, Y:221.69, Z:1.27 [[ 3.11498110e-01 -9.50246474e-01 -7.52766472e-04 2.08251310e+02] [ 9.50244109e-01 3.11499015e-01 -2.12074867e-03 2.21686486e+02] [ 2.24971996e-03 -5.47027005e-05 9.99997468e-01 1.26846956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.26275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.26, Y:221.71, Z:1.27 [[ 3.10714326e-01 -9.50503052e-01 -7.45616053e-04 2.08259734e+02] [ 9.50500682e-01 3.10715217e-01 -2.12323924e-03 2.21713431e+02] [ 2.24981963e-03 -4.89877178e-05 9.99997468e-01 1.26786429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.27, Y:221.74, Z:1.27 [[ 3.12008258e-01 -9.50079089e-01 -7.55597597e-04 2.08268483e+02] [ 9.50076726e-01 3.12009168e-01 -2.11976547e-03 2.21737148e+02] [ 2.24969822e-03 -5.64913608e-05 9.99997468e-01 1.26738908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.28, Y:221.77, Z:1.27 [[ 3.10623046e-01 -9.50532892e-01 -7.38050507e-04 2.08276741e+02] [ 9.50530515e-01 3.10623920e-01 -2.12585743e-03 2.21765339e+02] [ 2.24995355e-03 -4.11992191e-05 9.99997468e-01 1.26649289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:221.79, Z:1.27 [[ 3.12326686e-01 -9.49974457e-01 -7.56643017e-04 2.08285759e+02] [ 9.49972094e-01 3.12327597e-01 -2.11940381e-03 2.21788272e+02] [ 2.24969998e-03 -5.68433841e-05 9.99997468e-01 1.26621930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.29, Y:221.82, Z:1.27 [[ 3.11008404e-01 -9.50406881e-01 -7.30481569e-04 2.08294524e+02] [ 9.50404498e-01 3.11009261e-01 -2.12846427e-03 2.21815172e+02] [ 2.25009362e-03 -3.22826923e-05 9.99997468e-01 1.26539816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:221.84, Z:1.27 [[ 3.10877906e-01 -9.50449571e-01 -7.36075121e-04 2.08305604e+02] [ 9.50447192e-01 3.10878775e-01 -2.12652812e-03 2.21841319e+02] [ 2.24998787e-03 -3.85099230e-05 9.99997468e-01 1.26639702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.31, Y:221.87, Z:1.27 [[ 3.09598177e-01 -9.50867198e-01 -7.35365505e-04 2.08312848e+02] [ 9.50864820e-01 3.09599048e-01 -2.12677348e-03 2.21865630e+02] [ 2.24994760e-03 -4.07879955e-05 9.99997468e-01 1.26516276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.32, Y:221.88, Z:1.27 [[ 3.08716975e-01 -9.51153671e-01 -7.23464995e-04 2.08320821e+02] [ 9.51151285e-01 3.08717821e-01 -2.13087817e-03 2.21882861e+02] [ 2.25013913e-03 -3.02863968e-05 9.99997468e-01 1.26561369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.33, Y:221.92, Z:1.27 [[ 3.07734410e-01 -9.51472067e-01 -6.62872523e-04 2.08330681e+02] [ 9.51469634e-01 3.07735123e-01 -2.15165939e-03 2.21915645e+02] [ 2.25123297e-03 3.14365584e-05 9.99997465e-01 1.26655089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.34, Y:221.94, Z:1.27 [[ 3.04473909e-01 -9.52520408e-01 -7.15037487e-04 2.08340154e+02] [ 9.52518019e-01 3.04474747e-01 -2.13372963e-03 2.21942003e+02] [ 2.25013187e-03 -3.14210910e-05 9.99997468e-01 1.26764763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.35, Y:221.97, Z:1.27 [[ 3.03766091e-01 -9.52746364e-01 -7.26546534e-04 2.08349497e+02] [ 9.52743984e-01 3.03766957e-01 -2.12977506e-03 2.21967844e+02] [ 2.24983627e-03 -4.52593941e-05 9.99997468e-01 1.26835590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.36, Y:221.99, Z:1.27 [[ 3.04414405e-01 -9.52539420e-01 -7.23599507e-04 2.08359221e+02] [ 9.52537037e-01 3.04415263e-01 -2.13078659e-03 2.21990800e+02] [ 2.24993296e-03 -4.06131969e-05 9.99997468e-01 1.26919033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.37, Y:222.02, Z:1.27 [[ 3.02275608e-01 -9.53220307e-01 -7.09631300e-04 2.08367512e+02] [ 9.53217915e-01 3.02276439e-01 -2.13557824e-03 2.22019043e+02] [ 2.25018136e-03 -3.09000596e-05 9.99997468e-01 1.26799339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.38, Y:222.04, Z:1.27 [[ 3.03842347e-01 -9.52722050e-01 -7.23111756e-04 2.08377338e+02] [ 9.52719668e-01 3.03843205e-01 -2.13094899e-03 2.22044935e+02] [ 2.24991468e-03 -4.14502496e-05 9.99997468e-01 1.27144510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:222.07, Z:1.27 [[ 3.04634054e-01 -9.52469191e-01 -7.30477854e-04 2.08385322e+02] [ 9.52466814e-01 3.04634927e-01 -2.12842093e-03 2.22070371e+02] [ 2.24978443e-03 -4.73664172e-05 9.99997468e-01 1.27217081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.39, Y:222.10, Z:1.27 [[ 3.06626369e-01 -9.51829679e-01 -7.29711567e-04 2.08393626e+02] [ 9.51827300e-01 3.06627234e-01 -2.12868361e-03 2.22095025e+02] [ 2.24989368e-03 -4.18488644e-05 9.99997468e-01 1.27166022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.40, Y:222.12, Z:1.27 [[ 3.08328483e-01 -9.51279679e-01 -7.20565804e-04 2.08401587e+02] [ 9.51277290e-01 3.08329324e-01 -2.13181464e-03 2.22120513e+02] [ 2.25012351e-03 -2.81587119e-05 9.99997468e-01 1.27211666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.41, Y:222.15, Z:1.27 [[ 3.10658256e-01 -9.50521401e-01 -7.17862930e-04 2.08408364e+02] [ 9.50519008e-01 3.10659085e-01 -2.13273919e-03 2.22147014e+02] [ 2.25022488e-03 -1.97893227e-05 9.99997468e-01 1.27286482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:222.17, Z:1.27 [[ 3.12520786e-01 -9.49910642e-01 -7.27948518e-04 2.08416580e+02] [ 9.49908256e-01 3.12521633e-01 -2.12929119e-03 2.22172875e+02] [ 2.25013603e-03 -2.60365504e-05 9.99997468e-01 1.27311539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.42, Y:222.20, Z:1.27 [[ 3.14115327e-01 -9.49384555e-01 -7.27236114e-04 2.08424597e+02] [ 9.49382166e-01 3.14116168e-01 -2.12953448e-03 2.22197700e+02] [ 2.25018377e-03 -2.15055777e-05 9.99997468e-01 1.27313503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.43, Y:222.22, Z:1.27 [[ 3.16487691e-01 -9.48596338e-01 -7.26685927e-04 2.08432434e+02] [ 9.48593948e-01 3.16488525e-01 -2.12972221e-03 2.22224668e+02] [ 2.25023445e-03 -1.52990061e-05 9.99997468e-01 1.27213063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.44, Y:222.25, Z:1.27 [[ 3.16922430e-01 -9.48451180e-01 -7.29849509e-04 2.08439691e+02] [ 9.48448791e-01 3.16923270e-01 -2.12864486e-03 2.22250129e+02] [ 2.25022202e-03 -1.76095818e-05 9.99997468e-01 1.27123629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.45, Y:222.28, Z:1.27 [[ 3.18074544e-01 -9.48065433e-01 -7.20089879e-04 2.08449084e+02] [ 9.48063036e-01 3.18075359e-01 -2.13196277e-03 2.22277548e+02] [ 2.25028305e-03 -4.56751193e-06 9.99997468e-01 1.27043371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.46, Y:222.30, Z:1.27 [[ 3.18889520e-01 -9.47791607e-01 -7.37187221e-04 2.08457922e+02] [ 9.47789223e-01 3.18890372e-01 -2.12614392e-03 2.22301845e+02] [ 2.25022327e-03 -2.06930876e-05 9.99997468e-01 1.27103401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.47, Y:222.33, Z:1.27 [[ 3.18705379e-01 -9.47853552e-01 -7.25480723e-04 2.08466511e+02] [ 9.47851158e-01 3.18706205e-01 -2.13012250e-03 2.22326523e+02] [ 2.25025938e-03 -8.76624579e-06 9.99997468e-01 1.27188551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:222.35, Z:1.27 [[ 3.15264326e-01 -9.49003627e-01 -7.21819004e-04 2.08475643e+02] [ 9.49001233e-01 3.15265152e-01 -2.13136591e-03 2.22352920e+02] [ 2.25023836e-03 -1.30634860e-05 9.99997468e-01 1.27288696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.48, Y:222.38, Z:1.27 [[ 3.13901247e-01 -9.49455356e-01 -7.30563469e-04 2.08484148e+02] [ 9.49452971e-01 3.13902097e-01 -2.12839681e-03 2.22377243e+02] [ 2.25014316e-03 -2.55292418e-05 9.99997468e-01 1.27308581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.49, Y:222.40, Z:1.27 [[ 3.10839575e-01 -9.50462117e-01 -7.22350868e-04 2.08492999e+02] [ 9.50459728e-01 3.10840414e-01 -2.13118042e-03 2.22403790e+02] [ 2.25014210e-03 -2.41101919e-05 9.99997468e-01 1.27393736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.50, Y:222.43, Z:1.28 [[ 3.05279228e-01 -9.52262605e-01 -7.24391371e-04 2.08501780e+02] [ 9.52260222e-01 3.05280085e-01 -2.13048941e-03 2.22428766e+02] [ 2.24992766e-03 -3.94149251e-05 9.99997468e-01 1.27566191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.51, Y:222.46, Z:1.28 [[ 3.02094438e-01 -9.53277730e-01 -7.21396874e-04 2.08509611e+02] [ 9.53275348e-01 3.02095296e-01 -2.13150258e-03 2.22455104e+02] [ 2.24984454e-03 -4.37747830e-05 9.99997468e-01 1.27574359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.52, Y:222.48, Z:1.28 [[ 2.97808912e-01 -9.54625231e-01 -7.20985412e-04 2.08517314e+02] [ 9.54622853e-01 2.97809780e-01 -2.13164161e-03 2.22479932e+02] [ 2.24963537e-03 -5.34472824e-05 9.99997468e-01 1.27586790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:222.51, Z:1.28 [[ 2.94768702e-01 -9.55568366e-01 -7.14897715e-04 2.08525433e+02] [ 9.55565985e-01 2.94769564e-01 -2.13369663e-03 2.22506424e+02] [ 2.24962309e-03 -5.41849550e-05 9.99997468e-01 1.27538517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.53, Y:222.53, Z:1.28 [[ 2.92165758e-01 -9.56367426e-01 -7.19012467e-04 2.08532665e+02] [ 9.56365051e-01 2.92166635e-01 -2.13230914e-03 2.22531623e+02] [ 2.24934245e-03 -6.46506797e-05 9.99997468e-01 1.27648741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.25275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.54, Y:222.56, Z:1.28 [[ 2.88813334e-01 -9.57385159e-01 -7.18198752e-04 2.08540256e+02] [ 9.57382786e-01 2.88814218e-01 -2.13258318e-03 2.22558256e+02] [ 2.24912949e-03 -7.16726659e-05 9.99997468e-01 1.27576482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.55, Y:222.58, Z:1.28 [[ 2.88296091e-01 -9.57541043e-01 -7.17413920e-04 2.08547576e+02] [ 9.57538670e-01 2.88296975e-01 -2.13284717e-03 2.22582794e+02] [ 2.24911696e-03 -7.20600704e-05 9.99997468e-01 1.27619157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:222.61, Z:1.28 [[ 2.85375406e-01 -9.58415559e-01 -7.02936492e-04 2.08555734e+02] [ 9.58413177e-01 2.85376265e-01 -2.13770883e-03 2.22609840e+02] [ 2.24941479e-03 -6.36540716e-05 9.99997468e-01 1.27585643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.56, Y:222.64, Z:1.28 [[ 2.83518136e-01 -9.58966608e-01 -7.14395509e-04 2.08564357e+02] [ 9.58964238e-01 2.83519025e-01 -2.13386129e-03 2.22636363e+02] [ 2.24884645e-03 -8.00913680e-05 9.99997468e-01 1.27552064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.57, Y:222.66, Z:1.27 [[ 2.81892096e-01 -9.59445847e-01 -7.15844251e-04 2.08571131e+02] [ 9.59443479e-01 2.81892992e-01 -2.13337517e-03 2.22663336e+02] [ 2.24864943e-03 -8.54304995e-05 9.99997468e-01 1.27464742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.58, Y:222.69, Z:1.28 [[ 2.83518173e-01 -9.58966597e-01 -7.14582831e-04 2.08579112e+02] [ 9.58964227e-01 2.83519062e-01 -2.13379800e-03 2.22688265e+02] [ 2.24883886e-03 -8.02888615e-05 9.99997468e-01 1.27525936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.59, Y:222.71, Z:1.28 [[ 2.83215602e-01 -9.59056007e-01 -7.06397579e-04 2.08587698e+02] [ 9.59053629e-01 2.83216474e-01 -2.13653683e-03 2.22714630e+02] [ 2.24912191e-03 -7.23725965e-05 9.99997468e-01 1.27531966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:222.74, Z:1.28 [[ 2.82902348e-01 -9.59148458e-01 -7.05522571e-04 2.08595321e+02] [ 9.59146080e-01 2.82903219e-01 -2.13682926e-03 2.22741119e+02] [ 2.24913110e-03 -7.21851921e-05 9.99997468e-01 1.27576099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.60, Y:222.77, Z:1.28 [[ 2.83274517e-01 -9.59038602e-01 -7.12723162e-04 2.08602524e+02] [ 9.59036230e-01 2.83275403e-01 -2.13442485e-03 2.22765948e+02] [ 2.24889277e-03 -7.88991641e-05 9.99997468e-01 1.27573326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.61, Y:222.79, Z:1.28 [[ 2.83455717e-01 -9.58985062e-01 -7.12128085e-04 2.08610230e+02] [ 9.58982690e-01 2.83456601e-01 -2.13462338e-03 2.22792013e+02] [ 2.24892934e-03 -7.78473068e-05 9.99997468e-01 1.27574585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:222.82, Z:1.28 [[ 2.83847263e-01 -9.58869243e-01 -7.11396651e-04 2.08617363e+02] [ 9.58866870e-01 2.83848144e-01 -2.13486711e-03 2.22818114e+02] [ 2.24898703e-03 -7.61584935e-05 9.99997468e-01 1.27559697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.62, Y:222.84, Z:1.27 [[ 2.83231003e-01 -9.59051455e-01 -7.10636611e-04 2.08623827e+02] [ 9.59049082e-01 2.83231884e-01 -2.13512008e-03 2.22844585e+02] [ 2.24896496e-03 -7.68031892e-05 9.99997468e-01 1.27485084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.63, Y:222.87, Z:1.28 [[ 2.83524405e-01 -9.58964754e-01 -7.15911794e-04 2.08631805e+02] [ 9.58962384e-01 2.83525297e-01 -2.13336544e-03 2.22870895e+02] [ 2.24880137e-03 -8.16713128e-05 9.99997468e-01 1.27514864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.64, Y:222.90, Z:1.28 [[ 2.83303055e-01 -9.59030175e-01 -7.09408195e-04 2.08638935e+02] [ 9.59027800e-01 2.83303933e-01 -2.13552590e-03 2.22897053e+02] [ 2.24901191e-03 -7.53411704e-05 9.99997468e-01 1.27515220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:222.92, Z:1.27 [[ 2.83452214e-01 -9.58986094e-01 -7.16637875e-04 2.08646189e+02] [ 9.58983725e-01 2.83453108e-01 -2.13312647e-03 2.22921964e+02] [ 2.24877186e-03 -8.26046370e-05 9.99997468e-01 1.27484560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.65, Y:222.95, Z:1.28 [[ 2.84646799e-01 -9.58632202e-01 -7.08426119e-04 2.08653509e+02] [ 9.58629825e-01 2.84647672e-01 -2.13584641e-03 2.22948050e+02] [ 2.24914299e-03 -7.11565628e-05 9.99997468e-01 1.27572380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.73275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:208.66, Y:222.97, Z:1.28 [[ 2.85123205e-01 -9.58490615e-01 -7.06770499e-04 2.08661046e+02] [ 9.58488236e-01 2.85124073e-01 -2.13639413e-03 2.22972821e+02] [ 2.24923100e-03 -6.82956677e-05 9.99997468e-01 1.27605585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.67, Y:223.00, Z:1.28 [[ 2.85999508e-01 -9.58229504e-01 -7.05976507e-04 2.08668964e+02] [ 9.58227124e-01 2.86000372e-01 -2.13665647e-03 2.22999096e+02] [ 2.24931681e-03 -6.54031393e-05 9.99997468e-01 1.27635337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:223.02, Z:1.27 [[ 2.89402605e-01 -9.57207206e-01 -7.05227155e-04 2.08675284e+02] [ 9.57204822e-01 2.89403459e-01 -2.13690377e-03 2.23024689e+02] [ 2.24955487e-03 -5.66213154e-05 9.99997468e-01 1.27228759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.68, Y:223.05, Z:1.28 [[ 2.89762937e-01 -9.57098192e-01 -7.00465304e-04 2.08682111e+02] [ 9.57095805e-01 2.89763779e-01 -2.13847225e-03 2.23050787e+02] [ 2.24969740e-03 -5.07624038e-05 9.99997468e-01 1.27522152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.69, Y:223.08, Z:1.27 [[ 2.92879734e-01 -9.56149026e-01 -7.07806628e-04 2.08690358e+02] [ 9.56146642e-01 2.92880585e-01 -2.13605637e-03 2.23076985e+02] [ 2.24969104e-03 -5.11593092e-05 9.99997468e-01 1.27472781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.70, Y:223.10, Z:1.27 [[ 2.93487230e-01 -9.55962733e-01 -7.06961913e-04 2.08698949e+02] [ 9.55960347e-01 2.93488077e-01 -2.13633394e-03 2.23104069e+02] [ 2.24974052e-03 -4.88408248e-05 9.99997468e-01 1.27451893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.71, Y:223.13, Z:1.27 [[ 2.93689469e-01 -9.55900616e-01 -7.12913588e-04 2.08707222e+02] [ 9.55898235e-01 2.93690329e-01 -2.13437912e-03 2.23130329e+02] [ 2.24963014e-03 -5.46281695e-05 9.99997468e-01 1.27443264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:223.15, Z:1.27 [[ 2.97447598e-01 -9.54737877e-01 -7.16294966e-04 2.08716313e+02] [ 9.54735495e-01 2.97448456e-01 -2.13327069e-03 2.23153665e+02] [ 2.24977516e-03 -4.93359853e-05 9.99997468e-01 1.27289984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.72, Y:223.18, Z:1.27 [[ 2.97391938e-01 -9.54755228e-01 -6.99412468e-04 2.08724850e+02] [ 9.54752833e-01 2.97392759e-01 -2.13879149e-03 2.23179802e+02] [ 2.25002256e-03 -3.17066896e-05 9.99997468e-01 1.26976352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.73, Y:223.20, Z:1.27 [[ 2.99197664e-01 -9.54190895e-01 -7.03249098e-04 2.08734789e+02] [ 9.54188501e-01 2.99198489e-01 -2.13753814e-03 2.23203618e+02] [ 2.25003050e-03 -3.14857847e-05 9.99997468e-01 1.27126737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.74, Y:223.23, Z:1.27 [[ 2.98044372e-01 -9.54551766e-01 -6.91227566e-04 2.08743442e+02] [ 9.54549365e-01 2.98045172e-01 -2.14145683e-03 2.23228461e+02] [ 2.25014844e-03 -2.15616782e-05 9.99997468e-01 1.27352866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.75, Y:223.25, Z:1.27 [[ 2.97887161e-01 -9.54600835e-01 -6.97113167e-04 2.08753246e+02] [ 9.54598437e-01 2.97887975e-01 -2.13953997e-03 2.23252802e+02] [ 2.25006827e-03 -2.81216518e-05 9.99997468e-01 1.27366209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.76, Y:223.28, Z:1.27 [[ 2.95116695e-01 -9.55460968e-01 -6.88780979e-04 2.08764550e+02] [ 9.55458567e-01 2.95117498e-01 -2.14224794e-03 2.23278605e+02] [ 2.25010561e-03 -2.58885539e-05 9.99997468e-01 1.27476082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.77, Y:223.30, Z:1.27 [[ 2.97142582e-01 -9.54832864e-01 -6.98002041e-04 2.08774947e+02] [ 9.54830468e-01 2.97143400e-01 -2.13925393e-03 2.23299683e+02] [ 2.25003666e-03 -3.08101776e-05 9.99997468e-01 1.27470874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.78, Y:223.33, Z:1.27 [[ 2.92948097e-01 -9.56128114e-01 -6.65087085e-04 2.08783650e+02] [ 9.56125697e-01 2.92948852e-01 -2.14993489e-03 2.23329398e+02] [ 2.25044969e-03 -6.08751838e-06 9.99997468e-01 1.27310590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.18275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:208.80, Y:223.35, Z:1.27 [[ 2.90809231e-01 -9.56780807e-01 -6.91823330e-04 2.08795124e+02] [ 9.56778412e-01 2.90810052e-01 -2.14125926e-03 2.23354060e+02] [ 2.24990494e-03 -3.92236679e-05 9.99997468e-01 1.27405561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.81, Y:223.38, Z:1.27 [[ 2.93600336e-01 -9.55928010e-01 -6.93952188e-04 2.08806347e+02] [ 9.55925614e-01 2.93601154e-01 -2.14056910e-03 2.23375019e+02] [ 2.24997513e-03 -3.48948623e-05 9.99997468e-01 1.27433774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.82, Y:223.40, Z:1.28 [[ 2.91125669e-01 -9.56684583e-01 -6.73148339e-04 2.08818790e+02] [ 9.56682173e-01 2.91126447e-01 -2.14734048e-03 2.23402484e+02] [ 2.25029882e-03 -1.88430808e-05 9.99997468e-01 1.27504387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.83, Y:223.43, Z:1.27 [[ 2.89701744e-01 -9.57116725e-01 -6.88731435e-04 2.08829181e+02] [ 9.57114328e-01 2.89702560e-01 -2.14227392e-03 2.23428452e+02] [ 2.24993346e-03 -3.85742336e-05 9.99997468e-01 1.27483038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.84, Y:223.45, Z:1.27 [[ 2.88463659e-01 -9.57490595e-01 -6.91349722e-04 2.08838647e+02] [ 9.57488201e-01 2.88464484e-01 -2.14142333e-03 2.23453438e+02] [ 2.24982254e-03 -4.42363918e-05 9.99997468e-01 1.27425847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.85, Y:223.48, Z:1.27 [[ 2.87699764e-01 -9.57720399e-01 -6.94576789e-04 2.08850014e+02] [ 9.57718009e-01 2.87700599e-01 -2.14037611e-03 2.23478117e+02] [ 2.24971202e-03 -4.94229963e-05 9.99997468e-01 1.27341963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.86, Y:223.51, Z:1.27 [[ 2.89213955e-01 -9.57264231e-01 -6.93818921e-04 2.08863250e+02] [ 9.57261838e-01 2.89214783e-01 -2.14062175e-03 2.23506572e+02] [ 2.24980332e-03 -4.50686925e-05 9.99997468e-01 1.27257801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.87, Y:223.53, Z:1.27 [[ 2.88599356e-01 -9.57449691e-01 -7.08611605e-04 2.08872785e+02] [ 9.57447310e-01 2.88600219e-01 -2.13582215e-03 2.23532154e+02] [ 2.24944772e-03 -6.20613805e-05 9.99997468e-01 1.27188917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.88, Y:223.56, Z:1.27 [[ 2.89383314e-01 -9.57213039e-01 -7.04128312e-04 2.08882963e+02] [ 9.57210654e-01 2.89384165e-01 -2.13727440e-03 2.23555240e+02] [ 2.24959050e-03 -5.55075752e-05 9.99997468e-01 1.27034784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.89, Y:223.58, Z:1.27 [[ 2.90696000e-01 -9.56815215e-01 -6.92339474e-04 2.08891257e+02] [ 9.56812821e-01 2.90696822e-01 -2.14108642e-03 2.23580743e+02] [ 2.24988495e-03 -4.00340268e-05 9.99997468e-01 1.27079004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.90, Y:223.61, Z:1.27 [[ 2.93580170e-01 -9.55934206e-01 -6.91609223e-04 2.08899714e+02] [ 9.55931808e-01 2.93580982e-01 -2.14132228e-03 2.23608268e+02] [ 2.25000653e-03 -3.24814966e-05 9.99997468e-01 1.27155904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.91, Y:223.63, Z:1.27 [[ 2.95394435e-01 -9.55375129e-01 -7.01302023e-04 2.08908930e+02] [ 9.55372737e-01 2.95395265e-01 -2.13819418e-03 2.23633358e+02] [ 2.24993884e-03 -3.83941711e-05 9.99997468e-01 1.27132060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.92, Y:223.66, Z:1.27 [[ 2.96587920e-01 -9.55005301e-01 -6.93990539e-04 2.08917859e+02] [ 9.55002902e-01 2.96588730e-01 -2.14055038e-03 2.23657606e+02] [ 2.25006673e-03 -2.79015945e-05 9.99997468e-01 1.27032096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.93, Y:223.69, Z:1.27 [[ 3.00163588e-01 -9.53887491e-01 -6.89220928e-04 2.08932422e+02] [ 9.53885086e-01 3.00164379e-01 -2.14208501e-03 2.23686095e+02] [ 2.25018767e-03 -1.44616394e-05 9.99997468e-01 1.26884086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.94, Y:223.71, Z:1.27 [[ 2.97418465e-01 -9.54746953e-01 -7.15626194e-04 2.08937658e+02] [ 9.54744571e-01 2.97419322e-01 -2.13358376e-03 2.23708505e+02] [ 2.24987365e-03 -4.86730182e-05 9.99997468e-01 1.27153781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.95, Y:223.73, Z:1.27 [[ 2.97068268e-01 -9.54855995e-01 -6.88026239e-04 2.08946296e+02] [ 9.54853591e-01 2.97069064e-01 -2.14244722e-03 2.23733217e+02] [ 2.25011988e-03 -2.05112414e-05 9.99997468e-01 1.27220209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:223.76, Z:1.27 [[ 2.96737872e-01 -9.54958723e-01 -6.87653485e-04 2.08955108e+02] [ 9.54956320e-01 2.96738668e-01 -2.14256674e-03 2.23761687e+02] [ 2.25011618e-03 -2.08983457e-05 9.99997468e-01 1.27213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.96, Y:223.79, Z:1.27 [[ 2.94566737e-01 -9.55630652e-01 -7.02590482e-04 2.08960230e+02] [ 9.55628262e-01 2.94567572e-01 -2.13779137e-03 2.23786162e+02] [ 2.24989934e-03 -4.16930916e-05 9.99997468e-01 1.27410126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.97, Y:223.81, Z:1.27 [[ 2.94591458e-01 -9.55623046e-01 -6.84008077e-04 2.08972133e+02] [ 9.55620641e-01 2.94592251e-01 -2.14372056e-03 2.23814232e+02] [ 2.25009225e-03 -2.21304721e-05 9.99997468e-01 1.27300708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:223.84, Z:1.28 [[ 2.93247446e-01 -9.56036317e-01 -7.04188020e-04 2.08981178e+02] [ 9.56033929e-01 2.93248288e-01 -2.13729788e-03 2.23842397e+02] [ 2.24983632e-03 -4.64704947e-05 9.99997468e-01 1.27523548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.98, Y:223.87, Z:1.27 [[ 2.89850620e-01 -9.57071637e-01 -7.06891461e-04 2.08984818e+02] [ 9.57069254e-01 2.89851476e-01 -2.13643846e-03 2.23865087e+02] [ 2.24961819e-03 -5.72960718e-05 9.99997468e-01 1.27491031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:208.99, Y:223.89, Z:1.28 [[ 2.88030717e-01 -9.57620933e-01 -6.74121802e-04 2.08994334e+02] [ 9.57618527e-01 2.88031505e-01 -2.14683086e-03 2.23892212e+02] [ 2.25001849e-03 -2.71982953e-05 9.99997468e-01 1.27562038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.00, Y:223.92, Z:1.28 [[ 2.87385096e-01 -9.57814883e-01 -6.75346101e-04 2.09002896e+02] [ 9.57812479e-01 2.87385888e-01 -2.14644265e-03 2.23919423e+02] [ 2.24997966e-03 -2.99992938e-05 9.99997468e-01 1.27738922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.01, Y:223.95, Z:1.28 [[ 2.87319562e-01 -9.57834543e-01 -6.76443281e-04 2.09012210e+02] [ 9.57832139e-01 2.87320356e-01 -2.14609491e-03 2.23946295e+02] [ 2.24995977e-03 -3.13040648e-05 9.99997468e-01 1.27690119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.02, Y:223.97, Z:1.28 [[ 2.86365317e-01 -9.58120266e-01 -6.79315654e-04 2.09019763e+02] [ 9.58117865e-01 2.86366120e-01 -2.14518532e-03 2.23972740e+02] [ 2.24987852e-03 -3.65577905e-05 9.99997468e-01 1.27663755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:224.00, Z:1.28 [[ 2.86586807e-01 -9.58054039e-01 -6.78577171e-04 2.09028810e+02] [ 9.58051638e-01 2.86587608e-01 -2.14541890e-03 2.23998290e+02] [ 2.24989905e-03 -3.52632198e-05 9.99997468e-01 1.27706156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.03, Y:224.02, Z:1.27 [[ 2.83289488e-01 -9.59034205e-01 -6.77809213e-04 2.09034001e+02] [ 9.59031806e-01 2.83290296e-01 -2.14566149e-03 2.24024928e+02] [ 2.24977954e-03 -4.21972476e-05 9.99997468e-01 1.27460367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.04, Y:224.05, Z:1.27 [[ 2.83563741e-01 -9.58953156e-01 -6.70577321e-04 2.09042502e+02] [ 9.58950751e-01 2.83564532e-01 -2.14794362e-03 2.24050326e+02] [ 2.24992926e-03 -3.39716963e-05 9.99997468e-01 1.27463195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.05, Y:224.08, Z:1.27 [[ 2.82811324e-01 -9.59175329e-01 -6.65746220e-04 2.09051133e+02] [ 9.59172921e-01 2.82812105e-01 -2.14946639e-03 2.24077875e+02] [ 2.24999622e-03 -3.06723119e-05 9.99997468e-01 1.27480010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.06, Y:224.10, Z:1.28 [[ 2.83078634e-01 -9.59096470e-01 -6.69564728e-04 2.09061007e+02] [ 9.59094065e-01 2.83079424e-01 -2.14826381e-03 2.24103827e+02] [ 2.24993224e-03 -3.40479701e-05 9.99997468e-01 1.27649727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.07, Y:224.13, Z:1.28 [[ 2.82326791e-01 -9.59318053e-01 -6.75585026e-04 2.09067914e+02] [ 9.59315653e-01 2.82327596e-01 -2.14636888e-03 2.24130176e+02] [ 2.24978671e-03 -4.21218519e-05 9.99997468e-01 1.27523232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:224.16, Z:1.27 [[ 2.80948757e-01 -9.59722538e-01 -6.68510640e-04 2.09075164e+02] [ 9.59720133e-01 2.80949550e-01 -2.14859340e-03 2.24156592e+02] [ 2.24987127e-03 -3.79384756e-05 9.99997468e-01 1.27444934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.08, Y:224.18, Z:1.27 [[ 2.80690205e-01 -9.59798189e-01 -6.67205400e-04 2.09083023e+02] [ 9.59795784e-01 2.80690995e-01 -2.14900354e-03 2.24182535e+02] [ 2.24988826e-03 -3.71766865e-05 9.99997468e-01 1.27409695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.09, Y:224.21, Z:1.27 [[ 2.80394780e-01 -9.59884543e-01 -6.56467550e-04 2.09090995e+02] [ 9.59882131e-01 2.80395547e-01 -2.15237413e-03 2.24207976e+02] [ 2.25010124e-03 -2.66170013e-05 9.99997468e-01 1.27368210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.10, Y:224.23, Z:1.27 [[ 2.80355079e-01 -9.59896138e-01 -6.58568525e-04 2.09099106e+02] [ 9.59893727e-01 2.80355851e-01 -2.15171594e-03 2.24233645e+02] [ 2.25005736e-03 -2.89113044e-05 9.99997468e-01 1.27433003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.11, Y:224.26, Z:1.27 [[ 2.80312769e-01 -9.59908495e-01 -6.58062749e-04 2.09108100e+02] [ 9.59906083e-01 2.80313540e-01 -2.15187414e-03 2.24260501e+02] [ 2.25006616e-03 -2.84806379e-05 9.99997468e-01 1.27442538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:224.29, Z:1.27 [[ 2.81076761e-01 -9.59685052e-01 -6.74524473e-04 2.09116664e+02] [ 9.59682652e-01 2.81077567e-01 -2.14672774e-03 2.24288277e+02] [ 2.24977623e-03 -4.39341541e-05 9.99997468e-01 1.27399237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.12, Y:224.31, Z:1.27 [[ 2.80670541e-01 -9.59803926e-01 -6.86124807e-04 2.09122642e+02] [ 9.59801535e-01 2.80671374e-01 -2.14310034e-03 2.24312903e+02] [ 2.24953171e-03 -5.70385108e-05 9.99997468e-01 1.27471071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.13, Y:224.34, Z:1.27 [[ 2.81291031e-01 -9.59622269e-01 -6.75020569e-04 2.09130004e+02] [ 9.59619870e-01 2.81291838e-01 -2.14656774e-03 2.24337505e+02] [ 2.24977198e-03 -4.39528977e-05 9.99997468e-01 1.27441654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:224.36, Z:1.27 [[ 2.80947595e-01 -9.59722877e-01 -6.69601409e-04 2.09137745e+02] [ 9.59720474e-01 2.80948390e-01 -2.14825686e-03 2.24363281e+02] [ 2.24985469e-03 -3.90825830e-05 9.99997468e-01 1.27447554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.14, Y:224.39, Z:1.28 [[ 2.80255300e-01 -9.59925268e-01 -6.68832527e-04 2.09144696e+02] [ 9.59922864e-01 2.80256095e-01 -2.14849622e-03 2.24389456e+02] [ 2.24984020e-03 -3.99001832e-05 9.99997468e-01 1.27533878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.15, Y:224.41, Z:1.27 [[ 2.80725220e-01 -9.59787945e-01 -6.72403329e-04 2.09151547e+02] [ 9.59785543e-01 2.80726022e-01 -2.14738587e-03 2.24413929e+02] [ 2.24979618e-03 -4.25376245e-05 9.99997468e-01 1.27461126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.16, Y:224.44, Z:1.27 [[ 2.81132866e-01 -9.59668623e-01 -6.67079996e-04 2.09158282e+02] [ 9.59666218e-01 2.81133655e-01 -2.14903828e-03 2.24440374e+02] [ 2.24990324e-03 -3.60088470e-05 9.99997468e-01 1.27299038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:224.47, Z:1.27 [[ 2.80541793e-01 -9.59841581e-01 -6.65194366e-04 2.09165440e+02] [ 9.59839174e-01 2.80542580e-01 -2.14962296e-03 2.24466816e+02] [ 2.24991284e-03 -3.54205311e-05 9.99997468e-01 1.27384825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.17, Y:224.49, Z:1.27 [[ 2.78835433e-01 -9.60338669e-01 -6.65436871e-04 2.09168320e+02] [ 9.60336264e-01 2.78836225e-01 -2.14954789e-03 2.24490079e+02] [ 2.24984186e-03 -3.96730419e-05 9.99997468e-01 1.27164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.18, Y:224.52, Z:1.28 [[ 2.79366055e-01 -9.60184458e-01 -6.43652910e-04 2.09178393e+02] [ 9.60182037e-01 2.79366796e-01 -2.15630433e-03 2.24517108e+02] [ 2.25026516e-03 -1.56257268e-05 9.99997468e-01 1.27500923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.19, Y:224.55, Z:1.27 [[ 2.74854913e-01 -9.61485492e-01 -6.52683411e-04 2.09185756e+02] [ 9.61483081e-01 2.74855686e-01 -2.15350397e-03 2.24545486e+02] [ 2.24995657e-03 -3.56429106e-05 9.99997468e-01 1.27176770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.20, Y:224.57, Z:1.28 [[ 2.77352505e-01 -9.60767994e-01 -6.70261662e-04 2.09197578e+02] [ 9.60765594e-01 2.77353310e-01 -2.14805402e-03 2.24570218e+02] [ 2.24968084e-03 -4.81961821e-05 9.99997468e-01 1.27522905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.21, Y:224.60, Z:1.28 [[ 2.76425043e-01 -9.61035251e-01 -6.65503397e-04 2.09205932e+02] [ 9.61032848e-01 2.76425840e-01 -2.14952720e-03 2.24597109e+02] [ 2.24973375e-03 -4.53874774e-05 9.99997468e-01 1.27518922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.21, Y:224.62, Z:1.27 [[ 2.74659395e-01 -9.61541354e-01 -6.64807874e-04 2.09211428e+02] [ 9.61538952e-01 2.74660195e-01 -2.14974229e-03 2.24621287e+02] [ 2.24966237e-03 -4.87917509e-05 9.99997468e-01 1.27274331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.22, Y:224.65, Z:1.28 [[ 2.75095887e-01 -9.61416578e-01 -6.45828721e-04 2.09220258e+02] [ 9.61414162e-01 2.75096644e-01 -2.15559664e-03 2.24646470e+02] [ 2.25009166e-03 -2.79131090e-05 9.99997468e-01 1.27502211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.23, Y:224.68, Z:1.27 [[ 2.73847623e-01 -9.61772874e-01 -6.46943677e-04 2.09229661e+02] [ 9.61770459e-01 2.73848386e-01 -2.15525277e-03 2.24675822e+02] [ 2.25002813e-03 -3.20004693e-05 9.99997468e-01 1.27476253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:224.70, Z:1.28 [[ 2.73638857e-01 -9.61832278e-01 -6.67081219e-04 2.09237496e+02] [ 9.61829879e-01 2.73639665e-01 -2.14904216e-03 2.24702328e+02] [ 2.24955799e-03 -5.35572084e-05 9.99997468e-01 1.27519652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.24, Y:224.73, Z:1.27 [[ 2.73100226e-01 -9.61985356e-01 -6.64221840e-04 2.09243056e+02] [ 9.61982955e-01 2.73101029e-01 -2.14992285e-03 2.24727057e+02] [ 2.24959397e-03 -5.18256710e-05 9.99997468e-01 1.27375530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.25, Y:224.75, Z:1.28 [[ 2.74958780e-01 -9.61455798e-01 -6.45980271e-04 2.09253966e+02] [ 9.61453383e-01 2.74959537e-01 -2.15554227e-03 2.24753864e+02] [ 2.25007705e-03 -2.83946452e-05 9.99997468e-01 1.27539119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.26, Y:224.78, Z:1.28 [[ 2.75282655e-01 -9.61363106e-01 -6.62585603e-04 2.09260274e+02] [ 9.61360702e-01 2.75283449e-01 -2.15042586e-03 2.24780576e+02] [ 2.24973893e-03 -4.50088203e-05 9.99997468e-01 1.27582623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.27, Y:224.81, Z:1.28 [[ 2.75863973e-01 -9.61196463e-01 -6.54362884e-04 2.09269034e+02] [ 9.61194052e-01 2.75864746e-01 -2.15295549e-03 2.24807807e+02] [ 2.24992885e-03 -3.50468579e-05 9.99997468e-01 1.27554872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:224.83, Z:1.28 [[ 2.76230083e-01 -9.61091312e-01 -6.57125985e-04 2.09277596e+02] [ 9.61088903e-01 2.76230862e-01 -2.15210607e-03 2.24834221e+02] [ 2.24988892e-03 -3.70800540e-05 9.99997468e-01 1.27523976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.28, Y:224.86, Z:1.27 [[ 2.75555339e-01 -9.61284982e-01 -6.61889040e-04 2.09284877e+02] [ 9.61282577e-01 2.75556130e-01 -2.15064210e-03 2.24859904e+02] [ 2.24976754e-03 -4.36414894e-05 9.99997468e-01 1.27429671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.29, Y:224.89, Z:1.27 [[ 2.75578479e-01 -9.61278350e-01 -6.60454849e-04 2.09292310e+02] [ 9.61275944e-01 2.75579267e-01 -2.15108245e-03 2.24885552e+02] [ 2.24979665e-03 -4.20873296e-05 9.99997468e-01 1.27470024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.30, Y:224.91, Z:1.28 [[ 2.75186923e-01 -9.61390516e-01 -6.57658294e-04 2.09300262e+02] [ 9.61388109e-01 2.75187706e-01 -2.15194002e-03 2.24910952e+02] [ 2.24983421e-03 -4.00791096e-05 9.99997468e-01 1.27535565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:224.94, Z:1.28 [[ 2.74549936e-01 -9.61572617e-01 -6.59163498e-04 2.09307596e+02] [ 9.61570211e-01 2.74550724e-01 -2.15147886e-03 2.24935863e+02] [ 2.24977697e-03 -4.31436013e-05 9.99997468e-01 1.27511313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.31, Y:224.96, Z:1.28 [[ 2.72804486e-01 -9.62069269e-01 -6.58380758e-04 2.09314938e+02] [ 9.62066864e-01 2.72805276e-01 -2.15171836e-03 2.24962397e+02] [ 2.24971186e-03 -4.64078904e-05 9.99997468e-01 1.27521547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.32, Y:224.99, Z:1.27 [[ 2.72008961e-01 -9.62294494e-01 -6.57645821e-04 2.09322485e+02] [ 9.62292089e-01 2.72009752e-01 -2.15194296e-03 2.24988115e+02] [ 2.24968894e-03 -4.74996010e-05 9.99997468e-01 1.27496895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.33, Y:225.01, Z:1.28 [[ 2.70035316e-01 -9.62850194e-01 -6.57115776e-04 2.09330426e+02] [ 9.62847791e-01 2.70036110e-01 -2.15210479e-03 2.25014448e+02] [ 2.24959951e-03 -5.15581758e-05 9.99997468e-01 1.27550310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.34, Y:225.04, Z:1.28 [[ 2.69140437e-01 -9.63100719e-01 -6.56238776e-04 2.09337877e+02] [ 9.63098315e-01 2.69141232e-01 -2.15237218e-03 2.25039415e+02] [ 2.24957211e-03 -5.27320680e-05 9.99997468e-01 1.27540844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:225.07, Z:1.28 [[ 2.68171734e-01 -9.63370900e-01 -6.55447846e-04 2.09345088e+02] [ 9.63368497e-01 2.68172530e-01 -2.15261301e-03 2.25065628e+02] [ 2.24953784e-03 -5.41678412e-05 9.99997468e-01 1.27573814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.35, Y:225.09, Z:1.28 [[ 2.67864067e-01 -9.63456493e-01 -6.54698045e-04 2.09352283e+02] [ 9.63454089e-01 2.67864861e-01 -2.15284103e-03 2.25091906e+02] [ 2.24953927e-03 -5.41027543e-05 9.99997468e-01 1.27541584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.36, Y:225.12, Z:1.27 [[ 2.67255802e-01 -9.63625399e-01 -6.53788222e-04 2.09359497e+02] [ 9.63622995e-01 2.67256596e-01 -2.15311738e-03 2.25119064e+02] [ 2.24952781e-03 -5.45722513e-05 9.99997468e-01 1.27404249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:225.15, Z:1.27 [[ 2.67246082e-01 -9.63628094e-01 -6.53698106e-04 2.09366994e+02] [ 9.63625690e-01 2.67246876e-01 -2.15314471e-03 2.25146344e+02] [ 2.24952951e-03 -5.45007998e-05 9.99997468e-01 1.27435772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.37, Y:225.17, Z:1.28 [[ 2.68469691e-01 -9.63287910e-01 -6.54037911e-04 2.09374103e+02] [ 9.63285505e-01 2.68470483e-01 -2.15304179e-03 2.25171917e+02] [ 2.24958900e-03 -5.19987743e-05 9.99997468e-01 1.27595820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.38, Y:225.20, Z:1.28 [[ 2.67112857e-01 -9.63665034e-01 -6.51473676e-04 2.09380860e+02] [ 9.63662628e-01 2.67113646e-01 -2.15381741e-03 2.25199492e+02] [ 2.24957603e-03 -5.24885134e-05 9.99997468e-01 1.27555100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:225.22, Z:1.27 [[ 2.69530731e-01 -9.62991556e-01 -6.69183351e-04 2.09387494e+02] [ 9.62989162e-01 2.69531554e-01 -2.14846149e-03 2.25221690e+02] [ 2.24931630e-03 -6.53399182e-05 9.99997468e-01 1.27466248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.39, Y:225.25, Z:1.27 [[ 2.69480888e-01 -9.63005519e-01 -6.49992475e-04 2.09394907e+02] [ 9.63003110e-01 2.69481668e-01 -2.15425186e-03 2.25247651e+02] [ 2.24971749e-03 -4.54150706e-05 9.99997468e-01 1.27484801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.40, Y:225.27, Z:1.28 [[ 2.69193582e-01 -9.63085870e-01 -6.49260069e-04 2.09402877e+02] [ 9.63083462e-01 2.69194361e-01 -2.15447258e-03 2.25274752e+02] [ 2.24971925e-03 -4.53214431e-05 9.99997468e-01 1.27586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.41, Y:225.30, Z:1.27 [[ 2.69679210e-01 -9.62949997e-01 -6.53739212e-04 2.09411110e+02] [ 9.62947591e-01 2.69679998e-01 -2.15312409e-03 2.25299630e+02] [ 2.24965122e-03 -4.88637959e-05 9.99997468e-01 1.27475507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.42, Y:225.32, Z:1.28 [[ 2.70661336e-01 -9.62674411e-01 -6.47897229e-04 2.09418952e+02] [ 9.62672000e-01 2.70662108e-01 -2.15488057e-03 2.25323482e+02] [ 2.24980961e-03 -4.04696679e-05 9.99997468e-01 1.27540518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:225.35, Z:1.28 [[ 2.70541382e-01 -9.62708135e-01 -6.37886888e-04 2.09426887e+02] [ 9.62705717e-01 2.70542132e-01 -2.15788735e-03 2.25349925e+02] [ 2.24999098e-03 -3.02995301e-05 9.99997468e-01 1.27512853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.43, Y:225.38, Z:1.28 [[ 2.70003589e-01 -9.62859101e-01 -6.43221916e-04 2.09434607e+02] [ 9.62856687e-01 2.70004352e-01 -2.15628491e-03 2.25377198e+02] [ 2.24987127e-03 -3.71258588e-05 9.99997468e-01 1.27715659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.44, Y:225.40, Z:1.28 [[ 2.70246880e-01 -9.62790842e-01 -6.46646480e-04 2.09442669e+02] [ 9.62788431e-01 2.70247651e-01 -2.15525743e-03 2.25404532e+02] [ 2.24981681e-03 -4.01321535e-05 9.99997468e-01 1.27727117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.45, Y:225.43, Z:1.28 [[ 2.70306448e-01 -9.62774120e-01 -6.45950377e-04 2.09450412e+02] [ 9.62771708e-01 2.70307217e-01 -2.15546604e-03 2.25430674e+02] [ 2.24983197e-03 -3.92663795e-05 9.99997468e-01 1.27793143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.46, Y:225.46, Z:1.28 [[ 2.69969350e-01 -9.62868699e-01 -6.47134675e-04 2.09458487e+02] [ 9.62866288e-01 2.69970122e-01 -2.15511138e-03 2.25456598e+02] [ 2.24979632e-03 -4.12901431e-05 9.99997468e-01 1.27820949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.47, Y:225.48, Z:1.28 [[ 2.69236724e-01 -9.63073814e-01 -6.44816037e-04 2.09467608e+02] [ 9.63071402e-01 2.69237493e-01 -2.15580490e-03 2.25481618e+02] [ 2.24980790e-03 -4.05820351e-05 9.99997468e-01 1.27956719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:225.51, Z:1.28 [[ 2.67682691e-01 -9.63506911e-01 -6.39274644e-04 2.09476001e+02] [ 9.63504497e-01 2.67683452e-01 -2.15746043e-03 2.25508308e+02] [ 2.24985128e-03 -3.84291795e-05 9.99997468e-01 1.27905960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.48, Y:225.53, Z:1.28 [[ 2.67054013e-01 -9.63681348e-01 -6.43427107e-04 2.09484332e+02] [ 9.63678937e-01 2.67054785e-01 -2.15622132e-03 2.25533947e+02] [ 2.24974055e-03 -4.42295936e-05 9.99997468e-01 1.27917761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.49, Y:225.56, Z:1.28 [[ 2.66658580e-01 -9.63790843e-01 -6.42654807e-04 2.09492604e+02] [ 9.63788431e-01 2.66659351e-01 -2.15645148e-03 2.25559467e+02] [ 2.24973810e-03 -4.43469791e-05 9.99997468e-01 1.27991499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.50, Y:225.59, Z:1.28 [[ 2.65723047e-01 -9.64049198e-01 -6.37455503e-04 2.09500906e+02] [ 9.64046783e-01 2.65723809e-01 -2.15799898e-03 2.25586250e+02] [ 2.24980429e-03 -4.11068607e-05 9.99997468e-01 1.27895663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.51, Y:225.61, Z:1.28 [[ 2.65752226e-01 -9.64041152e-01 -6.41244935e-04 2.09509430e+02] [ 9.64038740e-01 2.65752996e-01 -2.15687237e-03 2.25613070e+02] [ 2.24972649e-03 -4.49913246e-05 9.99997468e-01 1.27892854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:225.64, Z:1.28 [[ 2.65976670e-01 -9.63979253e-01 -6.40546551e-04 2.09516867e+02] [ 9.63976841e-01 2.65977437e-01 -2.15707976e-03 2.25637960e+02] [ 2.24975106e-03 -4.37391506e-05 9.99997468e-01 1.27883941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.52, Y:225.66, Z:1.28 [[ 2.66356977e-01 -9.63874241e-01 -6.39724751e-04 2.09524649e+02] [ 9.63871827e-01 2.66357742e-01 -2.15732345e-03 2.25664590e+02] [ 2.24978414e-03 -4.19945120e-05 9.99997468e-01 1.27862669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.53, Y:225.69, Z:1.28 [[ 2.66819036e-01 -9.63746437e-01 -6.38951826e-04 2.09532047e+02] [ 9.63744022e-01 2.66819798e-01 -2.15755235e-03 2.25691029e+02] [ 2.24981839e-03 -4.01099651e-05 9.99997468e-01 1.27851176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.54, Y:225.72, Z:1.28 [[ 2.68576000e-01 -9.63258286e-01 -6.38173853e-04 2.09539896e+02] [ 9.63255870e-01 2.68576756e-01 -2.15778244e-03 2.25716977e+02] [ 2.24990048e-03 -3.51961326e-05 9.99997468e-01 1.27755209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.55, Y:225.74, Z:1.28 [[ 2.69195181e-01 -9.63085432e-01 -6.37400994e-04 2.09547690e+02] [ 9.63083014e-01 2.69195933e-01 -2.15801072e-03 2.25743526e+02] [ 2.24993444e-03 -3.29439863e-05 9.99997468e-01 1.27748685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:225.77, Z:1.28 [[ 2.69954298e-01 -9.62872926e-01 -6.36624746e-04 2.09555026e+02] [ 9.62870508e-01 2.69955047e-01 -2.15823969e-03 2.25768930e+02] [ 2.24997063e-03 -3.03611116e-05 9.99997468e-01 1.27711363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.56, Y:225.79, Z:1.28 [[ 2.71879305e-01 -9.62331148e-01 -6.35812460e-04 2.09561692e+02] [ 9.62328728e-01 2.71880048e-01 -2.15847896e-03 2.25794517e+02] [ 2.25003626e-03 -2.50148361e-05 9.99997468e-01 1.27710384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:225.82, Z:1.28 [[ 2.72681606e-01 -9.62104120e-01 -6.35023715e-04 2.09568423e+02] [ 9.62101699e-01 2.72682345e-01 -2.15871098e-03 2.25820533e+02] [ 2.25006449e-03 -2.23166170e-05 9.99997468e-01 1.27705941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.57, Y:225.85, Z:1.28 [[ 2.73956421e-01 -9.61741897e-01 -6.34273557e-04 2.09574722e+02] [ 9.61739474e-01 2.73957154e-01 -2.15893137e-03 2.25847547e+02] [ 2.25009853e-03 -1.85528061e-05 9.99997468e-01 1.27682477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.58, Y:225.87, Z:1.28 [[ 2.74115485e-01 -9.61696574e-01 -6.33526411e-04 2.09581545e+02] [ 9.61694150e-01 2.74116216e-01 -2.15915060e-03 2.25873556e+02] [ 2.25010759e-03 -1.74020316e-05 9.99997468e-01 1.27752332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.59, Y:225.90, Z:1.28 [[ 2.74181878e-01 -9.61677647e-01 -6.32765111e-04 2.09588667e+02] [ 9.61675223e-01 2.74182608e-01 -2.15937368e-03 2.25899534e+02] [ 2.25011459e-03 -1.64533971e-05 9.99997468e-01 1.27785908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:225.93, Z:1.28 [[ 2.73597631e-01 -9.61844030e-01 -6.32010048e-04 2.09595278e+02] [ 9.61841605e-01 2.73598360e-01 -2.15959465e-03 2.25925274e+02] [ 2.25011013e-03 -1.70335800e-05 9.99997468e-01 1.27767183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.60, Y:225.95, Z:1.28 [[ 2.72419071e-01 -9.62178493e-01 -6.31219499e-04 2.09601687e+02] [ 9.62176069e-01 2.72419801e-01 -2.15982569e-03 2.25951293e+02] [ 2.25009452e-03 -1.89665878e-05 9.99997468e-01 1.27832431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.61, Y:225.98, Z:1.28 [[ 2.71505039e-01 -9.62436812e-01 -6.30477068e-04 2.09608861e+02] [ 9.62434388e-01 2.71505770e-01 -2.16004240e-03 2.25977922e+02] [ 2.25008248e-03 -2.03304155e-05 9.99997468e-01 1.27866199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:226.00, Z:1.28 [[ 2.71176330e-01 -9.62529481e-01 -6.29741005e-04 2.09616413e+02] [ 9.62527057e-01 2.71177061e-01 -2.16025697e-03 2.26004614e+02] [ 2.25008233e-03 -2.03321993e-05 9.99997468e-01 1.27872420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.62, Y:226.03, Z:1.28 [[ 2.69057253e-01 -9.63123979e-01 -6.29003156e-04 2.09623434e+02] [ 9.63121556e-01 2.69057987e-01 -2.16047179e-03 2.26030675e+02] [ 2.25004051e-03 -2.45158936e-05 9.99997468e-01 1.27978920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.63, Y:226.06, Z:1.28 [[ 2.67908483e-01 -9.63444160e-01 -6.28268637e-04 2.09630392e+02] [ 9.63441738e-01 2.67909219e-01 -2.16068536e-03 2.26055562e+02] [ 2.25001866e-03 -2.64342884e-05 9.99997468e-01 1.28005463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:226.08, Z:1.28 [[ 2.66693282e-01 -9.63781251e-01 -6.27501627e-04 2.09637689e+02] [ 9.63778829e-01 2.66694019e-01 -2.16090809e-03 2.26082086e+02] [ 2.24999364e-03 -2.84731105e-05 9.99997468e-01 1.28038465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.64, Y:226.11, Z:1.28 [[ 2.64086525e-01 -9.64498789e-01 -6.26782325e-04 2.09644237e+02] [ 9.64496369e-01 2.64087266e-01 -2.16111671e-03 2.26107718e+02] [ 2.24991968e-03 -3.38074742e-05 9.99997468e-01 1.28098179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.65, Y:226.13, Z:1.28 [[ 2.62808670e-01 -9.64847766e-01 -6.26028709e-04 2.09651124e+02] [ 9.64845346e-01 2.62809413e-01 -2.16133500e-03 2.26133148e+02] [ 2.24988548e-03 -3.60033112e-05 9.99997468e-01 1.28102952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.66, Y:226.16, Z:1.28 [[ 2.59818844e-01 -9.65657174e-01 -6.25242023e-04 2.09657534e+02] [ 9.65654756e-01 2.59819593e-01 -2.16156255e-03 2.26157498e+02] [ 2.24977851e-03 -4.21532505e-05 9.99997468e-01 1.28076656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:226.18, Z:1.28 [[ 2.58377757e-01 -9.66043759e-01 -6.24421848e-04 2.09665384e+02] [ 9.66041341e-01 2.58378508e-01 -2.16179945e-03 2.26184094e+02] [ 2.24973005e-03 -4.46564257e-05 9.99997468e-01 1.28137155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.67, Y:226.21, Z:1.28 [[ 2.56938356e-01 -9.66427593e-01 -6.23660064e-04 2.09673324e+02] [ 9.66425176e-01 2.56939108e-01 -2.16201920e-03 2.26210584e+02] [ 2.24967767e-03 -4.72151294e-05 9.99997468e-01 1.28198456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.68, Y:226.24, Z:1.28 [[ 2.55597369e-01 -9.66783118e-01 -6.22879993e-04 2.09681002e+02] [ 9.66780701e-01 2.55598123e-01 -2.16224391e-03 2.26236689e+02] [ 2.24962787e-03 -4.95245022e-05 9.99997468e-01 1.28258682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.69, Y:226.26, Z:1.28 [[ 2.53582587e-01 -9.67313540e-01 -6.22105539e-04 2.09688714e+02] [ 9.67311124e-01 2.53583345e-01 -2.16246671e-03 2.26263222e+02] [ 2.24953893e-03 -5.34057057e-05 9.99997468e-01 1.28368383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.70, Y:226.29, Z:1.28 [[ 2.52754206e-01 -9.67530323e-01 -6.21337076e-04 2.09696161e+02] [ 9.67527907e-01 2.52754964e-01 -2.16268749e-03 2.26289571e+02] [ 2.24951175e-03 -5.45326015e-05 9.99997468e-01 1.28388105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:226.32, Z:1.28 [[ 2.53779254e-01 -9.67261963e-01 -6.20573612e-04 2.09706992e+02] [ 9.67259546e-01 2.53780008e-01 -2.16290654e-03 2.26318677e+02] [ 2.24958640e-03 -5.13549428e-05 9.99997468e-01 1.28307995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:226.34, Z:1.29 [[ 2.51996008e-01 -9.67728061e-01 -6.42280018e-04 2.09711773e+02] [ 9.67725661e-01 2.51996814e-01 -2.15665757e-03 2.26341224e+02] [ 2.24891057e-03 -7.80817563e-05 9.99997468e-01 1.28535801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.72, Y:226.37, Z:1.29 [[ 2.52046333e-01 -9.67714970e-01 -6.18703607e-04 2.09718888e+02] [ 9.67712553e-01 2.52047087e-01 -2.16342530e-03 2.26366357e+02] [ 2.24952149e-03 -5.34438330e-05 9.99997468e-01 1.28586704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:226.39, Z:1.29 [[ 2.51709484e-01 -9.67802643e-01 -6.15994749e-04 2.09725582e+02] [ 9.67800225e-01 2.51710233e-01 -2.16420188e-03 2.26393096e+02] [ 2.24957248e-03 -5.14097178e-05 9.99997468e-01 1.28544084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:226.42, Z:1.29 [[ 2.51780099e-01 -9.67784272e-01 -6.19403720e-04 2.09732141e+02] [ 9.67781856e-01 2.51780855e-01 -2.16322577e-03 2.26418049e+02] [ 2.24948988e-03 -5.47904816e-05 9.99997468e-01 1.28548634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.74, Y:226.44, Z:1.29 [[ 2.52280289e-01 -9.67654005e-01 -6.18610439e-04 2.09739230e+02] [ 9.67651588e-01 2.52281042e-01 -2.16345260e-03 2.26444585e+02] [ 2.24953726e-03 -5.28029256e-05 9.99997468e-01 1.28594350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:226.47, Z:1.29 [[ 2.54181186e-01 -9.67156421e-01 -6.17847623e-04 2.09746419e+02] [ 9.67154002e-01 2.54181933e-01 -2.16367043e-03 2.26470852e+02] [ 2.24965345e-03 -4.75894849e-05 9.99997468e-01 1.28578826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.75, Y:226.50, Z:1.29 [[ 2.55128700e-01 -9.66906906e-01 -6.17078979e-04 2.09753382e+02] [ 9.66904486e-01 2.55129442e-01 -2.16388962e-03 2.26495823e+02] [ 2.24971484e-03 -4.45860870e-05 9.99997468e-01 1.28572141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:226.52, Z:1.29 [[ 2.56355735e-01 -9.66582308e-01 -6.16274312e-04 2.09760268e+02] [ 9.66579886e-01 2.56356472e-01 -2.16411877e-03 2.26520995e+02] [ 2.24978482e-03 -4.08940976e-05 9.99997468e-01 1.28568340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:226.55, Z:1.29 [[ 2.59757425e-01 -9.65673703e-01 -6.15499675e-04 2.09766441e+02] [ 9.65671278e-01 2.59758153e-01 -2.16433906e-03 2.26547152e+02] [ 2.24992637e-03 -3.21672153e-05 9.99997468e-01 1.28693996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.77, Y:226.57, Z:1.29 [[ 2.60874341e-01 -9.65372571e-01 -6.14732406e-04 2.09772724e+02] [ 9.65370145e-01 2.60875063e-01 -2.16455696e-03 2.26573088e+02] [ 2.24997228e-03 -2.87669403e-05 9.99997468e-01 1.28792367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.78, Y:226.60, Z:1.29 [[ 2.62932430e-01 -9.64814054e-01 -6.15231497e-04 2.09778600e+02] [ 9.64811626e-01 2.62933149e-01 -2.16441546e-03 2.26598677e+02] [ 2.25002321e-03 -2.44874851e-05 9.99997468e-01 1.28926673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:226.63, Z:1.29 [[ 2.62824041e-01 -9.64843587e-01 -6.13042060e-04 2.09785711e+02] [ 9.64841158e-01 2.62824755e-01 -2.16503541e-03 2.26625050e+02] [ 2.25004316e-03 -2.24648559e-05 9.99997468e-01 1.29021109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.79, Y:226.65, Z:1.29 [[ 2.62471361e-01 -9.64939589e-01 -6.12277074e-04 2.09793240e+02] [ 9.64937160e-01 2.62472074e-01 -2.16525173e-03 2.26650856e+02] [ 2.25004275e-03 -2.24923324e-05 9.99997468e-01 1.29141483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.80, Y:226.68, Z:1.29 [[ 2.61544259e-01 -9.65191289e-01 -6.13183452e-04 2.09800719e+02] [ 9.65188861e-01 2.61544977e-01 -2.16499564e-03 2.26677022e+02] [ 2.25000999e-03 -2.55956568e-05 9.99997468e-01 1.29155510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.81, Y:226.70, Z:1.29 [[ 2.59304729e-01 -9.65795363e-01 -6.11147535e-04 2.09808487e+02] [ 9.65792936e-01 2.59305448e-01 -2.16557020e-03 2.26702361e+02] [ 2.24997155e-03 -2.86993771e-05 9.99997468e-01 1.29254934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:226.73, Z:1.29 [[ 2.57673488e-01 -9.66231857e-01 -6.10555493e-04 2.09815565e+02] [ 9.66229430e-01 2.57674209e-01 -2.16573711e-03 2.26728672e+02] [ 2.24992859e-03 -3.18836509e-05 9.99997468e-01 1.29291294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:226.75, Z:1.29 [[ 2.53734857e-01 -9.67273617e-01 -6.09787502e-04 2.09821152e+02] [ 9.67271193e-01 2.53735587e-01 -2.16595332e-03 2.26754830e+02] [ 2.24979430e-03 -4.02520273e-05 9.99997468e-01 1.29363885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:226.78, Z:1.29 [[ 2.51512993e-01 -9.67853730e-01 -6.08984470e-04 2.09827251e+02] [ 9.67851307e-01 2.51513726e-01 -2.16617908e-03 2.26780153e+02] [ 2.24971246e-03 -4.45842303e-05 9.99997468e-01 1.29445545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.83, Y:226.81, Z:1.29 [[ 2.49318309e-01 -9.68421402e-01 -6.08209581e-04 2.09833990e+02] [ 9.68418980e-01 2.49319046e-01 -2.16639663e-03 2.26806398e+02] [ 2.24962309e-03 -4.88793579e-05 9.99997468e-01 1.29486846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.84, Y:226.83, Z:1.30 [[ 2.45394243e-01 -9.69423177e-01 -6.07436703e-04 2.09840791e+02] [ 9.69420758e-01 2.45394988e-01 -2.16661332e-03 2.26832425e+02] [ 2.24942709e-03 -5.71873138e-05 9.99997468e-01 1.29548152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:226.86, Z:1.30 [[ 2.43483971e-01 -9.69904731e-01 -6.06668402e-04 2.09847795e+02] [ 9.69902313e-01 2.43484719e-01 -2.16682843e-03 2.26859122e+02] [ 2.24933163e-03 -6.08210964e-05 9.99997468e-01 1.29579967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:226.89, Z:1.30 [[ 2.43322750e-01 -9.69945190e-01 -6.05899550e-04 2.09858304e+02] [ 9.69942772e-01 2.43323496e-01 -2.16704339e-03 2.26888386e+02] [ 2.24934291e-03 -6.03969323e-05 9.99997468e-01 1.29597489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.86, Y:226.91, Z:1.30 [[ 2.39964911e-01 -9.70781356e-01 -6.33010547e-04 2.09860249e+02] [ 9.70778959e-01 2.39965727e-01 -2.15946095e-03 2.26911341e+02] [ 2.24826527e-03 -9.63184644e-05 9.99997468e-01 1.29609624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:226.94, Z:1.30 [[ 2.41821580e-01 -9.70320544e-01 -6.04219693e-04 2.09870302e+02] [ 9.70318125e-01 2.41822326e-01 -2.16748684e-03 2.26941503e+02] [ 2.24927082e-03 -6.21402287e-05 9.99997468e-01 1.29549382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.87, Y:226.96, Z:1.29 [[ 2.39232626e-01 -9.70962076e-01 -6.30503136e-04 2.09871621e+02] [ 9.70959678e-01 2.39233438e-01 -2.16015740e-03 2.26964395e+02] [ 2.24826835e-03 -9.54129937e-05 9.99997468e-01 1.29470392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:226.99, Z:1.29 [[ 2.39863455e-01 -9.70806448e-01 -6.02645331e-04 2.09876193e+02] [ 9.70804030e-01 2.39864203e-01 -2.16790147e-03 2.26989970e+02] [ 2.24916577e-03 -6.50501785e-05 9.99997469e-01 1.29319658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.88, Y:227.02, Z:1.29 [[ 2.40126024e-01 -9.70741536e-01 -6.01853148e-04 2.09882302e+02] [ 9.70739117e-01 2.40126770e-01 -2.16812137e-03 2.27016162e+02] [ 2.24920653e-03 -6.36200277e-05 9.99997469e-01 1.29262966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:227.04, Z:1.29 [[ 2.41753762e-01 -9.70337445e-01 -6.01115822e-04 2.09887142e+02] [ 9.70335024e-01 2.41754502e-01 -2.16832578e-03 2.27043184e+02] [ 2.24933015e-03 -5.90828208e-05 9.99997469e-01 1.29163053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.89, Y:227.07, Z:1.29 [[ 2.42541922e-01 -9.70140740e-01 -6.00367412e-04 2.09892324e+02] [ 9.70138318e-01 2.42542659e-01 -2.16853298e-03 2.27068853e+02] [ 2.24939690e-03 -5.64792731e-05 9.99997469e-01 1.29142712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.50275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.90, Y:227.09, Z:1.29 [[ 2.44557734e-01 -9.69634547e-01 -5.99583065e-04 2.09896113e+02] [ 9.69632123e-01 2.44558463e-01 -2.16874982e-03 2.27094865e+02] [ 2.24952787e-03 -5.09904589e-05 9.99997469e-01 1.29051216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.90, Y:227.12, Z:1.29 [[ 2.45250212e-01 -9.69459630e-01 -5.98809436e-04 2.09902042e+02] [ 9.69457205e-01 2.45250939e-01 -2.16896341e-03 2.27121758e+02] [ 2.24958104e-03 -4.85813853e-05 9.99997469e-01 1.29043380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:227.15, Z:1.29 [[ 2.45787870e-01 -9.69323458e-01 -5.98081708e-04 2.09907587e+02] [ 9.69321032e-01 2.45788593e-01 -2.16916406e-03 2.27147365e+02] [ 2.24962327e-03 -4.65789649e-05 9.99997469e-01 1.29038375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.91, Y:227.17, Z:1.29 [[ 2.47059550e-01 -9.69000115e-01 -5.97319528e-04 2.09912260e+02] [ 9.68997687e-01 2.47060268e-01 -2.16937392e-03 2.27173547e+02] [ 2.24969750e-03 -4.28366975e-05 9.99997469e-01 1.29058380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.92, Y:227.20, Z:1.29 [[ 2.46701804e-01 -9.69091257e-01 -5.96762980e-04 2.09917781e+02] [ 9.69088829e-01 2.46702522e-01 -2.16952701e-03 2.27199504e+02] [ 2.24969258e-03 -4.30901120e-05 9.99997469e-01 1.29122668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.6527550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.92, Y:227.23, Z:1.29 [[ 2.46552684e-01 -9.69129207e-01 -5.95969778e-04 2.09923970e+02] [ 9.69126779e-01 2.46553401e-01 -2.16974488e-03 2.27225977e+02] [ 2.24970151e-03 -4.26138488e-05 9.99997469e-01 1.29175159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:227.25, Z:1.29 [[ 2.46243267e-01 -9.69207872e-01 -5.95189081e-04 2.09928232e+02] [ 9.69205444e-01 2.46243983e-01 -2.16995901e-03 2.27252110e+02] [ 2.24970308e-03 -4.25227007e-05 9.99997469e-01 1.29205111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.93, Y:227.28, Z:1.29 [[ 2.45823106e-01 -9.69314525e-01 -5.93941949e-04 2.09934003e+02] [ 9.69312096e-01 2.45823820e-01 -2.17030060e-03 2.27279449e+02] [ 2.24970897e-03 -4.22050819e-05 9.99997469e-01 1.29296271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.94, Y:227.31, Z:1.29 [[ 2.45234161e-01 -9.69463694e-01 -5.93620533e-04 2.09939026e+02] [ 9.69461265e-01 2.45234876e-01 -2.17038851e-03 2.27306384e+02] [ 2.24968932e-03 -4.32387083e-05 9.99997469e-01 1.29350942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:227.33, Z:1.29 [[ 2.44876572e-01 -9.69554080e-01 -5.92853431e-04 2.09945727e+02] [ 9.69551651e-01 2.44877286e-01 -2.17059802e-03 2.27333298e+02] [ 2.24968851e-03 -4.32734203e-05 9.99997469e-01 1.29400545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.95, Y:227.36, Z:1.29 [[ 2.44461375e-01 -9.69658850e-01 -5.92088550e-04 2.09952043e+02] [ 9.69656421e-01 2.44462088e-01 -2.17080665e-03 2.27359884e+02] [ 2.24968508e-03 -4.34440870e-05 9.99997469e-01 1.29436392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:227.39, Z:1.29 [[ 2.43727885e-01 -9.69843476e-01 -5.91312927e-04 2.09956999e+02] [ 9.69841047e-01 2.43728598e-01 -2.17101790e-03 2.27386530e+02] [ 2.24966742e-03 -4.43419483e-05 9.99997469e-01 1.29450150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.96, Y:227.41, Z:1.29 [[ 2.42299728e-01 -9.70201260e-01 -5.98227288e-04 2.09962797e+02] [ 9.70198836e-01 2.42300460e-01 -2.16913576e-03 2.27413737e+02] [ 2.24944900e-03 -5.48184142e-05 9.99997469e-01 1.29482632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.97, Y:227.44, Z:1.30 [[ 2.43715188e-01 -9.69846657e-01 -6.07007467e-04 2.09969158e+02] [ 9.69844239e-01 2.43715937e-01 -2.16675227e-03 2.27437107e+02] [ 2.24935484e-03 -6.06322574e-05 9.99997468e-01 1.29553005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:227.46, Z:1.29 [[ 2.42827176e-01 -9.70069391e-01 -5.82561008e-04 2.09975372e+02] [ 9.70066957e-01 2.42827872e-01 -2.17337098e-03 2.27463817e+02] [ 2.24978271e-03 -3.73696460e-05 9.99997469e-01 1.29493651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.98, Y:227.49, Z:1.29 [[ 2.42641875e-01 -9.70115754e-01 -5.87675491e-04 2.09982294e+02] [ 9.70113323e-01 2.42642583e-01 -2.17198715e-03 2.27489654e+02] [ 2.24967405e-03 -4.30967894e-05 9.99997469e-01 1.29401543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.99, Y:227.52, Z:1.29 [[ 2.42545971e-01 -9.70139736e-01 -5.86898036e-04 2.09989381e+02] [ 9.70137305e-01 2.42546678e-01 -2.17219721e-03 2.27515833e+02] [ 2.24968500e-03 -4.25139967e-05 9.99997469e-01 1.29250362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:227.54, Z:1.29 [[ 2.42357285e-01 -9.70186892e-01 -5.84570156e-04 2.09997521e+02] [ 9.70184459e-01 2.42357987e-01 -2.17282541e-03 2.27540481e+02] [ 2.24972197e-03 -4.05408143e-05 9.99997469e-01 1.29029050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.00, Y:227.56, Z:1.29 [[ 2.42136663e-01 -9.70241979e-01 -5.82253367e-04 2.10004665e+02] [ 9.70239545e-01 2.42137360e-01 -2.17344979e-03 2.27564710e+02] [ 2.24975752e-03 -3.86533612e-05 9.99997469e-01 1.28964873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.01, Y:227.59, Z:1.29 [[ 2.41206400e-01 -9.70473666e-01 -5.80484397e-04 2.10012602e+02] [ 9.70471232e-01 2.41207095e-01 -2.17392579e-03 2.27590526e+02] [ 2.24975468e-03 -3.89785949e-05 9.99997469e-01 1.28910602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.02, Y:227.62, Z:1.29 [[ 2.40577425e-01 -9.70629776e-01 -5.83920148e-04 2.10019820e+02] [ 9.70627344e-01 2.40578130e-01 -2.17300255e-03 2.27616328e+02] [ 2.24965939e-03 -4.39935049e-05 9.99997469e-01 1.28875335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:227.64, Z:1.29 [[ 2.40327076e-01 -9.70691793e-01 -5.83166143e-04 2.10027370e+02] [ 9.70689361e-01 2.40327780e-01 -2.17320488e-03 2.27642393e+02] [ 2.24966317e-03 -4.37931953e-05 9.99997469e-01 1.28878520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.03, Y:227.67, Z:1.29 [[ 2.39990080e-01 -9.70775166e-01 -5.82411848e-04 2.10034342e+02] [ 9.70772734e-01 2.39990783e-01 -2.17340701e-03 2.27669233e+02] [ 2.24966303e-03 -4.37934192e-05 9.99997469e-01 1.28884741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.04, Y:227.69, Z:1.29 [[ 2.39905414e-01 -9.70796093e-01 -5.81657264e-04 2.10042366e+02] [ 9.70793661e-01 2.39906115e-01 -2.17360894e-03 2.27692058e+02] [ 2.24967420e-03 -4.32086342e-05 9.99997469e-01 1.28877165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.05, Y:227.72, Z:1.29 [[ 2.38541310e-01 -9.71132183e-01 -5.72297569e-04 2.10050028e+02] [ 9.71129745e-01 2.38541994e-01 -2.17610802e-03 2.27718798e+02] [ 2.24980553e-03 -3.66835354e-05 9.99997469e-01 1.28916489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.06, Y:227.74, Z:1.29 [[ 2.39478524e-01 -9.70901490e-01 -5.77847351e-04 2.10058620e+02] [ 9.70899055e-01 2.39479217e-01 -2.17462740e-03 2.27741498e+02] [ 2.24973141e-03 -4.02548879e-05 9.99997469e-01 1.29020236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:227.77, Z:1.29 [[ 2.37709762e-01 -9.71336065e-01 -5.64659967e-04 2.10065532e+02] [ 9.71333623e-01 2.37710430e-01 -2.17813684e-03 2.27769018e+02] [ 2.24992843e-03 -3.07088214e-05 9.99997468e-01 1.29081918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.07, Y:227.79, Z:1.29 [[ 2.37639771e-01 -9.71353182e-01 -5.78475411e-04 2.10072205e+02] [ 9.71350749e-01 2.37640471e-01 -2.17446150e-03 2.27794228e+02] [ 2.24963927e-03 -4.51639897e-05 9.99997469e-01 1.29102376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.08, Y:227.82, Z:1.29 [[ 2.37703617e-01 -9.71337561e-01 -5.77715666e-04 2.10079182e+02] [ 9.71335127e-01 2.37704315e-01 -2.17466333e-03 2.27820636e+02] [ 2.24965768e-03 -4.42301791e-05 9.99997469e-01 1.29149768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:227.85, Z:1.29 [[ 2.38731930e-01 -9.71085338e-01 -5.76934881e-04 2.10086356e+02] [ 9.71082903e-01 2.38732624e-01 -2.17487045e-03 2.27846113e+02] [ 2.24971799e-03 -4.10405781e-05 9.99997469e-01 1.29213886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.09, Y:227.87, Z:1.29 [[ 2.39492371e-01 -9.70898075e-01 -5.76114348e-04 2.10094520e+02] [ 9.70895639e-01 2.39493061e-01 -2.17508779e-03 2.27871905e+02] [ 2.24976394e-03 -3.84299765e-05 9.99997469e-01 1.29249583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.10, Y:227.90, Z:1.29 [[ 2.39889103e-01 -9.70800127e-01 -5.75342113e-04 2.10102512e+02] [ 9.70797691e-01 2.39889790e-01 -2.17529204e-03 2.27897218e+02] [ 2.24979248e-03 -3.67119395e-05 9.99997469e-01 1.29269184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.11, Y:227.92, Z:1.29 [[ 2.40476786e-01 -9.70654720e-01 -5.74533930e-04 2.10110626e+02] [ 9.70652283e-01 2.40477470e-01 -2.17550547e-03 2.27923269e+02] [ 2.24982712e-03 -3.45141062e-05 9.99997469e-01 1.29282111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.12, Y:227.95, Z:1.29 [[ 2.42729612e-01 -9.70093813e-01 -5.73794743e-04 2.10119450e+02] [ 9.70091374e-01 2.42730288e-01 -2.17570042e-03 2.27949007e+02] [ 2.24991088e-03 -2.85264131e-05 9.99997469e-01 1.29301040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:227.98, Z:1.29 [[ 2.43927827e-01 -9.69793219e-01 -5.73030353e-04 2.10127266e+02] [ 9.69790778e-01 2.43928499e-01 -2.17590172e-03 2.27975584e+02] [ 2.24995317e-03 -2.49565741e-05 9.99997469e-01 1.29321872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.13, Y:228.00, Z:1.29 [[ 2.44826166e-01 -9.69566821e-01 -5.72265201e-04 2.10134642e+02] [ 9.69564379e-01 2.44826834e-01 -2.17610294e-03 2.28001572e+02] [ 2.24998309e-03 -2.20810148e-05 9.99997469e-01 1.29324318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.14, Y:228.03, Z:1.29 [[ 2.46993350e-01 -9.69017006e-01 -5.71498834e-04 2.10143530e+02] [ 9.69014562e-01 2.46994011e-01 -2.17630419e-03 2.28026620e+02] [ 2.25003256e-03 -1.62580303e-05 9.99997469e-01 1.29365163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.15, Y:228.05, Z:1.29 [[ 2.47536549e-01 -9.68878388e-01 -5.70696753e-04 2.10151649e+02] [ 9.68875944e-01 2.47537206e-01 -2.17651450e-03 2.28052172e+02] [ 2.25004654e-03 -1.41674678e-05 9.99997469e-01 1.29415080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.16, Y:228.08, Z:1.29 [[ 2.47451349e-01 -9.68900152e-01 -5.69945737e-04 2.10159137e+02] [ 9.68897707e-01 2.47452005e-01 -2.17671114e-03 2.28076016e+02] [ 2.25004997e-03 -1.35890094e-05 9.99997469e-01 1.29458365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.17, Y:228.10, Z:1.30 [[ 2.47425478e-01 -9.68906760e-01 -5.69052094e-04 2.10169017e+02] [ 9.68904314e-01 2.47426132e-01 -2.17694474e-03 2.28100738e+02] [ 2.25005483e-03 -1.27254354e-05 9.99997469e-01 1.29500434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.18, Y:228.13, Z:1.29 [[ 2.47506587e-01 -9.68886044e-01 -5.68160281e-04 2.10177243e+02] [ 9.68883598e-01 2.47507238e-01 -2.17717747e-03 2.28125943e+02] [ 2.25006065e-03 -1.16154137e-05 9.99997469e-01 1.29417974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:228.15, Z:1.29 [[ 2.45662688e-01 -9.69355214e-01 -5.59849027e-04 2.10185211e+02] [ 9.69352764e-01 2.45663326e-01 -2.17934309e-03 2.28152434e+02] [ 2.25009196e-03 -7.30791948e-06 9.99997469e-01 1.29464882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.19, Y:228.18, Z:1.29 [[ 2.43064541e-01 -9.70009952e-01 -5.67109267e-04 2.10194076e+02] [ 9.70007509e-01 2.43065201e-01 -2.17745219e-03 2.28177683e+02] [ 2.24999482e-03 -2.08388314e-05 9.99997469e-01 1.29417094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.20, Y:228.20, Z:1.29 [[ 2.42603867e-01 -9.70125273e-01 -5.64062554e-04 2.10203001e+02] [ 9.70122828e-01 2.42604522e-01 -2.17824468e-03 2.28203958e+02] [ 2.25001435e-03 -1.87593754e-05 9.99997469e-01 1.29416459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.21, Y:228.23, Z:1.29 [[ 2.40633213e-01 -9.70615957e-01 -5.65902411e-04 2.10211500e+02] [ 9.70613514e-01 2.40633877e-01 -2.17776659e-03 2.28228246e+02] [ 2.24995029e-03 -2.52295565e-05 9.99997469e-01 1.29395197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.85275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.22, Y:228.25, Z:1.29 [[ 2.39420999e-01 -9.70915684e-01 -5.65060495e-04 2.10218829e+02] [ 9.70913242e-01 2.39421665e-01 -2.17798502e-03 2.28252194e+02] [ 2.24992754e-03 -2.71693672e-05 9.99997469e-01 1.29369431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.23, Y:228.28, Z:1.29 [[ 2.40165824e-01 -9.70731713e-01 -5.64424303e-04 2.10226830e+02] [ 9.70729270e-01 2.40166486e-01 -2.17814987e-03 2.28275345e+02] [ 2.24995496e-03 -2.47860323e-05 9.99997469e-01 1.29316002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:228.30, Z:1.29 [[ 2.37626306e-01 -9.71356492e-01 -5.50989832e-04 2.10235883e+02] [ 9.71354043e-01 2.37626944e-01 -2.18163389e-03 2.28302796e+02] [ 2.25007427e-03 -1.67925984e-05 9.99997468e-01 1.29328334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.24, Y:228.33, Z:1.29 [[ 2.37126866e-01 -9.71478529e-01 -5.64262487e-04 2.10242736e+02] [ 9.71476087e-01 2.37127535e-01 -2.17819487e-03 2.28329050e+02] [ 2.24987172e-03 -3.16589920e-05 9.99997469e-01 1.29370818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:228.35, Z:1.29 [[ 2.38924519e-01 -9.71037979e-01 -5.63527225e-04 2.10247385e+02] [ 9.71035536e-01 2.38925182e-01 -2.17838507e-03 2.28354454e+02] [ 2.24993548e-03 -2.67353559e-05 9.99997469e-01 1.29420142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.25, Y:228.38, Z:1.29 [[ 2.39646499e-01 -9.70860051e-01 -5.62717895e-04 2.10253424e+02] [ 9.70857607e-01 2.39647158e-01 -2.17859412e-03 2.28379692e+02] [ 2.24996374e-03 -2.42264957e-05 9.99997469e-01 1.29349788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.26, Y:228.41, Z:1.29 [[ 2.40785885e-01 -9.70578097e-01 -5.61929682e-04 2.10260814e+02] [ 9.70575651e-01 2.40786540e-01 -2.17879740e-03 2.28405550e+02] [ 2.24999814e-03 -2.07716052e-05 9.99997469e-01 1.29201569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:228.43, Z:1.29 [[ 2.41522918e-01 -9.70394953e-01 -5.61170552e-04 2.10267292e+02] [ 9.70392507e-01 2.41523569e-01 -2.17899291e-03 2.28432519e+02] [ 2.25001964e-03 -1.82789729e-05 9.99997469e-01 1.29195481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.27, Y:228.46, Z:1.29 [[ 2.39897604e-01 -9.70798035e-01 -5.60413135e-04 2.10270546e+02] [ 9.70795590e-01 2.39898258e-01 -2.17918769e-03 2.28457368e+02] [ 2.24999326e-03 -2.12646950e-05 9.99997469e-01 1.28949279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:228.48, Z:1.29 [[ 2.42245011e-01 -9.70214954e-01 -5.46461888e-04 2.10279646e+02] [ 9.70212498e-01 2.42245627e-01 -2.18276846e-03 2.28484566e+02] [ 2.25013261e-03 -1.41938374e-06 9.99997468e-01 1.29242937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.28, Y:228.51, Z:1.29 [[ 2.41674979e-01 -9.70357095e-01 -5.59304198e-04 2.10283709e+02] [ 9.70354647e-01 2.41675626e-01 -2.17947283e-03 2.28511387e+02] [ 2.25003711e-03 -1.59993784e-05 9.99997469e-01 1.29153473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.29, Y:228.54, Z:1.29 [[ 2.40775914e-01 -9.70580572e-01 -5.58543247e-04 2.10289163e+02] [ 9.70578125e-01 2.40776562e-01 -2.17966782e-03 2.28537264e+02] [ 2.25002736e-03 -1.72983451e-05 9.99997469e-01 1.29137803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:228.57, Z:1.29 [[ 2.38677512e-01 -9.71098725e-01 -5.57746533e-04 2.10295236e+02] [ 9.71096279e-01 2.38678163e-01 -2.17987167e-03 2.28565249e+02] [ 2.24999252e-03 -2.13392371e-05 9.99997469e-01 1.29153269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.30, Y:228.59, Z:1.29 [[ 2.36110941e-01 -9.71725941e-01 -5.64189992e-04 2.10302336e+02] [ 9.71723501e-01 2.36111613e-01 -2.17822410e-03 2.28589509e+02] [ 2.24984868e-03 -3.39341302e-05 9.99997469e-01 1.29174475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:228.61, Z:1.29 [[ 2.34894315e-01 -9.72020757e-01 -5.56493185e-04 2.10308781e+02] [ 9.72018312e-01 2.34894972e-01 -2.18018872e-03 2.28614016e+02] [ 2.24990614e-03 -2.88076314e-05 9.99997469e-01 1.29094127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.31, Y:228.64, Z:1.29 [[ 2.32021629e-01 -9.72710472e-01 -5.49818250e-04 2.10314878e+02] [ 9.72708025e-01 2.32022278e-01 -2.18189023e-03 2.28640759e+02] [ 2.24991756e-03 -2.85668986e-05 9.99997469e-01 1.29156717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.332755096 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:210.32, Y:228.66, Z:1.29 [[ 2.30578486e-01 -9.73053572e-01 -5.55357677e-04 2.10320476e+02] [ 9.73051129e-01 2.30579152e-01 -2.18047937e-03 2.28663690e+02] [ 2.24977714e-03 -3.76197836e-05 9.99997469e-01 1.29225884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.36275509600006 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:210.33, Y:228.69, Z:1.29 [[ 2.27973718e-01 -9.73667138e-01 -5.37033256e-04 2.10326368e+02] [ 9.73664686e-01 2.27974349e-01 -2.18514393e-03 2.28691639e+02] [ 2.25003265e-03 -2.47349293e-05 9.99997468e-01 1.29168307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.33, Y:228.72, Z:1.29 [[ 2.26114693e-01 -9.74100532e-01 -5.47263671e-04 2.10332115e+02] [ 9.74098088e-01 2.26115351e-01 -2.18254258e-03 2.28718972e+02] [ 2.24976061e-03 -3.95835503e-05 9.99997469e-01 1.29172687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:228.74, Z:1.29 [[ 2.25879463e-01 -9.74155104e-01 -5.49100353e-04 2.10337589e+02] [ 9.74152661e-01 2.25880127e-01 -2.18207582e-03 2.28743264e+02] [ 2.24971116e-03 -4.20214546e-05 9.99997469e-01 1.29148441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.34, Y:228.77, Z:1.29 [[ 2.23504488e-01 -9.74702756e-01 -5.30417526e-04 2.10343404e+02] [ 9.74700303e-01 2.23505115e-01 -2.18680468e-03 2.28772745e+02] [ 2.25003558e-03 -2.82374644e-05 9.99997468e-01 1.29112187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.35, Y:228.80, Z:1.29 [[ 2.24077975e-01 -9.74571062e-01 -5.53119995e-04 2.10350147e+02] [ 9.74568623e-01 2.24078652e-01 -2.18106124e-03 2.28798275e+02] [ 2.24954155e-03 -5.03256060e-05 9.99997469e-01 1.29167711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:228.83, Z:1.29 [[ 2.23759519e-01 -9.74644232e-01 -5.46617721e-04 2.10356102e+02] [ 9.74641789e-01 2.23760183e-01 -2.18270390e-03 2.28825981e+02] [ 2.24967105e-03 -4.43556976e-05 9.99997469e-01 1.29235712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.36, Y:228.85, Z:1.29 [[ 2.24074194e-01 -9.74571933e-01 -5.50429187e-04 2.10362063e+02] [ 9.74569492e-01 2.24074865e-01 -2.18174231e-03 2.28851631e+02] [ 2.24960217e-03 -4.75593428e-05 9.99997469e-01 1.29261046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:228.88, Z:1.29 [[ 2.24111305e-01 -9.74563401e-01 -5.48531554e-04 2.10368206e+02] [ 9.74560959e-01 2.24111972e-01 -2.18222042e-03 2.28878596e+02] [ 2.24964464e-03 -4.55171706e-05 9.99997469e-01 1.29150855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.37, Y:228.90, Z:1.29 [[ 2.24037246e-01 -9.74580428e-01 -5.48851163e-04 2.10374426e+02] [ 9.74577986e-01 2.24037914e-01 -2.18214003e-03 2.28904945e+02] [ 2.24963444e-03 -4.60176177e-05 9.99997469e-01 1.29209372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:228.93, Z:1.29 [[ 2.23231808e-01 -9.74765234e-01 -5.45970634e-04 2.10380514e+02] [ 9.74762791e-01 2.23232471e-01 -2.18286371e-03 2.28931559e+02] [ 2.24965803e-03 -4.49072477e-05 9.99997469e-01 1.29234084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.38, Y:228.95, Z:1.29 [[ 2.25580361e-01 -9.74224409e-01 -5.49665210e-04 2.10384767e+02] [ 9.74221966e-01 2.25581027e-01 -2.18193689e-03 2.28951358e+02] [ 2.24969022e-03 -4.32938095e-05 9.99997469e-01 1.29214828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.39, Y:228.98, Z:1.29 [[ 2.23530864e-01 -9.74696721e-01 -5.05049754e-04 2.10391935e+02] [ 9.74694254e-01 2.23531434e-01 -2.19305450e-03 2.28981663e+02] [ 2.25045753e-03 -2.05372587e-06 9.99997468e-01 1.29285789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:229.01, Z:1.29 [[ 2.22711179e-01 -9.74884323e-01 -5.36386921e-04 2.10398111e+02] [ 9.74881874e-01 2.22711822e-01 -2.18523739e-03 2.29008835e+02] [ 2.24981338e-03 -3.62370913e-05 9.99997469e-01 1.29298545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.40, Y:229.03, Z:1.29 [[ 2.22816133e-01 -9.74860336e-01 -5.44066726e-04 2.10404268e+02] [ 9.74857892e-01 2.22816793e-01 -2.18332364e-03 2.29034190e+02] [ 2.24966282e-03 -4.39080099e-05 9.99997469e-01 1.29329087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.41, Y:229.06, Z:1.29 [[ 2.23714322e-01 -9.74654609e-01 -5.43469835e-04 2.10411021e+02] [ 9.74652164e-01 2.23714979e-01 -2.18347221e-03 2.29060239e+02] [ 2.24971360e-03 -4.12200455e-05 9.99997469e-01 1.29323805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.81275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:210.42, Y:229.08, Z:1.29 [[ 2.24427041e-01 -9.74490744e-01 -5.42445208e-04 2.10415902e+02] [ 9.74488298e-01 2.24427693e-01 -2.18372686e-03 2.29084339e+02] [ 2.24976134e-03 -3.85191502e-05 9.99997469e-01 1.28917604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.42, Y:229.11, Z:1.29 [[ 2.26796423e-01 -9.73942045e-01 -5.25040907e-04 2.10424931e+02] [ 9.73939587e-01 2.26797030e-01 -2.18804099e-03 2.29110324e+02] [ 2.25010284e-03 -1.51182545e-05 9.99997468e-01 1.29221035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.43, Y:229.14, Z:1.29 [[ 2.27283652e-01 -9.73828454e-01 -5.33444357e-04 2.10432356e+02] [ 9.73826000e-01 2.27284277e-01 -2.18595798e-03 2.29137909e+02] [ 2.24999159e-03 -2.26494716e-05 9.99997469e-01 1.29174410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.44, Y:229.16, Z:1.29 [[ 2.28045845e-01 -9.73650245e-01 -5.40855168e-04 2.10439048e+02] [ 9.73647796e-01 2.28046484e-01 -2.18412284e-03 2.29163530e+02] [ 2.24991186e-03 -2.85223041e-05 9.99997469e-01 1.29106540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:229.19, Z:1.29 [[ 2.31431715e-01 -9.72851001e-01 -5.40015099e-04 2.10446373e+02] [ 9.72848549e-01 2.31432345e-01 -2.18433052e-03 2.29188461e+02] [ 2.25000509e-03 -1.98295455e-05 9.99997469e-01 1.28993715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.45, Y:229.21, Z:1.29 [[ 2.32431448e-01 -9.72612636e-01 -5.31038859e-04 2.10453182e+02] [ 9.72610178e-01 2.32432055e-01 -2.18654519e-03 2.29214980e+02] [ 2.25009193e-03 -8.27193447e-06 9.99997469e-01 1.28976499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.46, Y:229.24, Z:1.29 [[ 2.33091520e-01 -9.72454658e-01 -5.30373965e-04 2.10460311e+02] [ 9.72452200e-01 2.33092123e-01 -2.18670932e-03 2.29243262e+02] [ 2.25010165e-03 -6.05993036e-06 9.99997469e-01 1.28893340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:229.27, Z:1.29 [[ 2.35088447e-01 -9.71973833e-01 -5.38474995e-04 2.10467838e+02] [ 9.71971378e-01 2.35089064e-01 -2.18471136e-03 2.29266826e+02] [ 2.25007186e-03 -9.78188128e-06 9.99997469e-01 1.29145289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.47, Y:229.29, Z:1.29 [[ 2.34910234e-01 -9.72016932e-01 -5.16258409e-04 2.10473831e+02] [ 9.72014464e-01 2.34910801e-01 -2.19015558e-03 2.29291991e+02] [ 2.25014298e-03 1.26793186e-05 9.99997468e-01 1.29150485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.48, Y:229.32, Z:1.29 [[ 2.33437652e-01 -9.72371634e-01 -5.17145640e-04 2.10481132e+02] [ 9.72369168e-01 2.33438224e-01 -2.18993800e-03 2.29321325e+02] [ 2.25015515e-03 8.35750737e-06 9.99997468e-01 1.29214075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.49, Y:229.35, Z:1.29 [[ 2.32784391e-01 -9.72528221e-01 -5.36082370e-04 2.10489566e+02] [ 9.72525765e-01 2.32785008e-01 -2.18529255e-03 2.29347641e+02] [ 2.25005062e-03 -1.26519204e-05 9.99997469e-01 1.29096512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:229.37, Z:1.29 [[ 2.32333311e-01 -9.72636082e-01 -5.32922834e-04 2.10497123e+02] [ 9.72633626e-01 2.32333922e-01 -2.18606669e-03 2.29372387e+02] [ 2.25006339e-03 -1.04425575e-05 9.99997469e-01 1.29262528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.50, Y:229.40, Z:1.29 [[ 2.32175129e-01 -9.72673854e-01 -5.32488429e-04 2.10504332e+02] [ 9.72671397e-01 2.32175739e-01 -2.18617296e-03 2.29398264e+02] [ 2.25006417e-03 -1.03612764e-05 9.99997469e-01 1.29296806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.51, Y:229.42, Z:1.30 [[ 2.32118849e-01 -9.72687288e-01 -5.28074859e-04 2.10509464e+02] [ 9.72684829e-01 2.32119450e-01 -2.18724988e-03 2.29424617e+02] [ 2.25008660e-03 -5.94847766e-06 9.99997469e-01 1.29555927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:229.45, Z:1.30 [[ 2.31642270e-01 -9.72800894e-01 -5.28298206e-04 2.10515365e+02] [ 9.72798436e-01 2.31642872e-01 -2.18719548e-03 2.29452192e+02] [ 2.25008224e-03 -7.28074266e-06 9.99997469e-01 1.29541956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.52, Y:229.48, Z:1.29 [[ 2.32164771e-01 -9.72676327e-01 -5.31822056e-04 2.10521423e+02] [ 9.72673869e-01 2.32165380e-01 -2.18633831e-03 2.29476335e+02] [ 2.25007019e-03 -9.69868301e-06 9.99997469e-01 1.29451845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:229.50, Z:1.29 [[ 2.30712140e-01 -9.73021909e-01 -5.23509633e-04 2.10527096e+02] [ 9.73019448e-01 2.30712734e-01 -2.18835420e-03 2.29504070e+02] [ 2.25009692e-03 -4.50517368e-06 9.99997469e-01 1.29447698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.53, Y:229.53, Z:1.30 [[ 2.29616676e-01 -9.73280999e-01 -5.29345799e-04 2.10532877e+02] [ 9.73278542e-01 2.29617285e-01 -2.18694012e-03 2.29528606e+02] [ 2.25005421e-03 -1.30429859e-05 9.99997469e-01 1.29515172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:229.56, Z:1.30 [[ 2.29040115e-01 -9.73416844e-01 -5.22798617e-04 2.10538751e+02] [ 9.73414384e-01 2.29040711e-01 -2.18852421e-03 2.29555993e+02] [ 2.25008850e-03 -7.63985634e-06 9.99997469e-01 1.29569179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.54, Y:229.58, Z:1.30 [[ 2.28002384e-01 -9.73660430e-01 -5.28769680e-04 2.10543867e+02] [ 9.73657974e-01 2.28002997e-01 -2.18708059e-03 2.29581502e+02] [ 2.25003490e-03 -1.61812259e-05 9.99997469e-01 1.29614490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.55, Y:229.61, Z:1.30 [[ 2.26588144e-01 -9.73990521e-01 -5.27945308e-04 2.10549310e+02] [ 9.73988065e-01 2.26588758e-01 -2.18727957e-03 2.29608454e+02] [ 2.25001604e-03 -1.86008109e-05 9.99997469e-01 1.29570155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.44275509600004 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:210.55, Y:229.64, Z:1.29 [[ 2.22591629e-01 -9.74911631e-01 -5.27175708e-04 2.10553779e+02] [ 9.74909178e-01 2.22592252e-01 -2.18746504e-03 2.29635368e+02] [ 2.24993034e-03 -2.70370278e-05 9.99997469e-01 1.29491620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.56, Y:229.66, Z:1.29 [[ 2.22574708e-01 -9.74915490e-01 -5.35259567e-04 2.10560257e+02] [ 9.74913041e-01 2.22575349e-01 -2.18551867e-03 2.29658608e+02] [ 2.24983159e-03 -3.53903524e-05 9.99997469e-01 1.29482345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:229.69, Z:1.29 [[ 2.17634895e-01 -9.76030114e-01 -5.18930463e-04 2.10565635e+02] [ 9.76027659e-01 2.17635512e-01 -2.18944499e-03 2.29686179e+02] [ 2.24990194e-03 -2.99908542e-05 9.99997469e-01 1.29444519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.57, Y:229.71, Z:1.29 [[ 2.15120206e-01 -9.76587436e-01 -5.25590540e-04 2.10571280e+02] [ 9.76584986e-01 2.15120844e-01 -2.18784502e-03 2.29711361e+02] [ 2.24968744e-03 -4.26341583e-05 9.99997469e-01 1.29405240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:229.74, Z:1.29 [[ 2.12470106e-01 -9.77167426e-01 -5.24768373e-04 2.10575923e+02] [ 9.77164978e-01 2.12470748e-01 -2.18804221e-03 2.29736707e+02] [ 2.24958150e-03 -4.78917165e-05 9.99997469e-01 1.29181263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.58, Y:229.76, Z:1.29 [[ 2.09889533e-01 -9.77724971e-01 -5.15562907e-04 2.10582744e+02] [ 9.77722518e-01 2.09890162e-01 -2.19024407e-03 2.29763364e+02] [ 2.24966790e-03 -4.43681581e-05 9.99997469e-01 1.29356954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:229.79, Z:1.29 [[ 2.07472298e-01 -9.78240756e-01 -5.17969455e-04 2.10586599e+02] [ 9.78238307e-01 2.07472938e-01 -2.18966881e-03 2.29790635e+02] [ 2.24948792e-03 -5.24019417e-05 9.99997469e-01 1.29179649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.59, Y:229.82, Z:1.29 [[ 2.08063756e-01 -9.78115132e-01 -5.12790541e-04 2.10594466e+02] [ 9.78112679e-01 2.08064383e-01 -2.19090657e-03 2.29818202e+02] [ 2.24965231e-03 -4.57186812e-05 9.99997469e-01 1.29350149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.60, Y:229.84, Z:1.29 [[ 2.07537906e-01 -9.78226837e-01 -5.22799207e-04 2.10599392e+02] [ 9.78224391e-01 2.07538556e-01 -2.18851567e-03 2.29844364e+02] [ 2.24936575e-03 -5.72149782e-05 9.99997469e-01 1.29123552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.60, Y:229.87, Z:1.29 [[ 2.07645820e-01 -9.78203938e-01 -5.17886899e-04 2.10604903e+02] [ 9.78201489e-01 2.07646460e-01 -2.18968725e-03 2.29870566e+02] [ 2.24949808e-03 -5.19183297e-05 9.99997469e-01 1.29065127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.61, Y:229.90, Z:1.29 [[ 2.08143804e-01 -9.78098099e-01 -5.15434614e-04 2.10610734e+02] [ 9.78095648e-01 2.08144437e-01 -2.19027145e-03 2.29897261e+02] [ 2.24958519e-03 -4.82529211e-05 9.99997469e-01 1.29137761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:229.92, Z:1.29 [[ 2.10689645e-01 -9.77552866e-01 -5.18472247e-04 2.10619217e+02] [ 9.77550414e-01 2.10690278e-01 -2.18954869e-03 2.29924417e+02] [ 2.24963666e-03 -4.55175246e-05 9.99997469e-01 1.29430826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.62, Y:229.95, Z:1.29 [[ 2.10453837e-01 -9.77603658e-01 -5.20371515e-04 2.10623536e+02] [ 9.77601208e-01 2.10454475e-01 -2.18909722e-03 2.29950909e+02] [ 2.24958396e-03 -4.80119123e-05 9.99997469e-01 1.29371679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.63, Y:229.98, Z:1.29 [[ 2.10331055e-01 -9.77630087e-01 -5.09979546e-04 2.10629954e+02] [ 9.77627631e-01 2.10331670e-01 -2.19155877e-03 2.29979010e+02] [ 2.24979864e-03 -3.76172276e-05 9.99997469e-01 1.29478432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:230.00, Z:1.30 [[ 2.14001608e-01 -9.76833162e-01 -5.34043673e-04 2.10635239e+02] [ 9.76830718e-01 2.14002267e-01 -2.18584447e-03 2.30001587e+02] [ 2.24949192e-03 -5.38960351e-05 9.99997468e-01 1.29542624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.64, Y:230.03, Z:1.30 [[ 2.15217236e-01 -9.76566062e-01 -5.18522552e-04 2.10641181e+02] [ 9.76563608e-01 2.15217857e-01 -2.18952018e-03 2.30026408e+02] [ 2.24980641e-03 -3.51477737e-05 9.99997469e-01 1.29589332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:230.05, Z:1.30 [[ 2.16104041e-01 -9.76370207e-01 -5.12382543e-04 2.10647578e+02] [ 9.76367749e-01 2.16104647e-01 -2.19097143e-03 2.30053105e+02] [ 2.24992748e-03 -2.67960101e-05 9.99997469e-01 1.29624960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.65, Y:230.08, Z:1.29 [[ 2.16227502e-01 -9.76342870e-01 -5.16751349e-04 2.10653028e+02] [ 9.76340415e-01 2.16228118e-01 -2.18994054e-03 2.30080617e+02] [ 2.24986901e-03 -3.09998524e-05 9.99997469e-01 1.29489221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.66, Y:230.11, Z:1.30 [[ 2.17583055e-01 -9.76041676e-01 -5.10997626e-04 2.10660689e+02] [ 9.76039216e-01 2.17583654e-01 -2.19129620e-03 2.30107970e+02] [ 2.24998114e-03 -2.19648015e-05 9.99997469e-01 1.29596146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:230.13, Z:1.29 [[ 2.16934822e-01 -9.76185954e-01 -5.15802081e-04 2.10665854e+02] [ 9.76183498e-01 2.16935433e-01 -2.19016471e-03 2.30134722e+02] [ 2.24990377e-03 -2.83944883e-05 9.99997469e-01 1.29460389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.67, Y:230.16, Z:1.29 [[ 2.16836506e-01 -9.76207801e-01 -5.09035729e-04 2.10672618e+02] [ 9.76205341e-01 2.16837102e-01 -2.19175620e-03 2.30161819e+02] [ 2.24998734e-03 -2.16706403e-05 9.99997469e-01 1.29447130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.68, Y:230.19, Z:1.29 [[ 2.15079214e-01 -9.76596473e-01 -5.10204964e-04 2.10679194e+02] [ 9.76594015e-01 2.15079817e-01 -2.19148141e-03 2.30187266e+02] [ 2.24992781e-03 -2.69210163e-05 9.99997469e-01 1.29333666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:230.21, Z:1.29 [[ 2.14541978e-01 -9.76714637e-01 -5.07767484e-04 2.10687324e+02] [ 9.76712177e-01 2.14542577e-01 -2.19205342e-03 2.30213641e+02] [ 2.24994841e-03 -2.56552080e-05 9.99997469e-01 1.29464198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.69, Y:230.24, Z:1.29 [[ 2.11753969e-01 -9.77322870e-01 -5.13644772e-04 2.10694311e+02] [ 9.77320416e-01 2.11754589e-01 -2.19067538e-03 2.30238766e+02] [ 2.24976379e-03 -3.81113153e-05 9.99997469e-01 1.29379413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.70, Y:230.27, Z:1.29 [[ 2.09727835e-01 -9.77759670e-01 -5.12865794e-04 2.10700375e+02] [ 9.77757216e-01 2.09728457e-01 -2.19085773e-03 2.30265705e+02] [ 2.24969489e-03 -4.19743833e-05 9.99997469e-01 1.29217488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:230.29, Z:1.29 [[ 2.08791937e-01 -9.77959952e-01 -5.10051653e-04 2.10707358e+02] [ 9.77957497e-01 2.08792556e-01 -2.19151569e-03 2.30290957e+02] [ 2.24970957e-03 -4.12380330e-05 9.99997469e-01 1.29310341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.71, Y:230.32, Z:1.29 [[ 2.07528994e-01 -9.78228733e-01 -5.11648381e-04 2.10713827e+02] [ 9.78226280e-01 2.07529620e-01 -2.19114284e-03 2.30317850e+02] [ 2.24962108e-03 -4.57822225e-05 9.99997469e-01 1.29321559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:230.34, Z:1.29 [[ 2.05854679e-01 -9.78582439e-01 -5.10881554e-04 2.10719982e+02] [ 9.78579987e-01 2.05855307e-01 -2.19132162e-03 2.30343828e+02] [ 2.24955653e-03 -4.88446557e-05 9.99997469e-01 1.29307773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.72, Y:230.37, Z:1.29 [[ 2.04102429e-01 -9.78949405e-01 -5.10079409e-04 2.10724916e+02] [ 9.78946954e-01 2.04103060e-01 -2.19150832e-03 2.30369773e+02] [ 2.24948453e-03 -5.20485111e-05 9.99997469e-01 1.29249578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:230.39, Z:1.29 [[ 2.04998404e-01 -9.78762175e-01 -5.09330450e-04 2.10730883e+02] [ 9.78759722e-01 2.04999031e-01 -2.19168237e-03 2.30394780e+02] [ 2.24954805e-03 -4.92207405e-05 9.99997469e-01 1.29307558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.73, Y:230.42, Z:1.29 [[ 2.04078261e-01 -9.78954445e-01 -5.08588906e-04 2.10734920e+02] [ 9.78951992e-01 2.04078888e-01 -2.19185444e-03 2.30420762e+02] [ 2.24951790e-03 -5.05742806e-05 9.99997469e-01 1.29182767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.74, Y:230.45, Z:1.29 [[ 2.04598784e-01 -9.78845793e-01 -5.00188940e-04 2.10741555e+02] [ 9.78843336e-01 2.04599392e-01 -2.19380006e-03 2.30447506e+02] [ 2.24973031e-03 -4.07577852e-05 9.99997469e-01 1.29167083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.75, Y:230.47, Z:1.29 [[ 2.06609759e-01 -9.78423301e-01 -5.01949196e-04 2.10749032e+02] [ 9.78420843e-01 2.06610365e-01 -2.19339278e-03 2.30473096e+02] [ 2.24977451e-03 -3.79412022e-05 9.99997469e-01 1.29254120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:230.50, Z:1.29 [[ 2.07604856e-01 -9.78212639e-01 -5.07527119e-04 2.10755581e+02] [ 9.78210183e-01 2.07605472e-01 -2.19210350e-03 2.30499409e+02] [ 2.24970876e-03 -4.13768634e-05 9.99997469e-01 1.29322739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.76, Y:230.53, Z:1.29 [[ 2.10492331e-01 -9.77595376e-01 -5.09119989e-04 2.10762556e+02] [ 9.77592920e-01 2.10492943e-01 -2.19173629e-03 2.30526098e+02] [ 2.24979743e-03 -3.63684156e-05 9.99997469e-01 1.29425912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:230.55, Z:1.29 [[ 2.10441489e-01 -9.77606324e-01 -5.04597694e-04 2.10766547e+02] [ 9.77603866e-01 2.10442092e-01 -2.19277695e-03 2.30553030e+02] [ 2.24986121e-03 -3.18454081e-05 9.99997469e-01 1.29323028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.77, Y:230.58, Z:1.29 [[ 2.12703408e-01 -9.77116680e-01 -5.03825716e-04 2.10774909e+02] [ 9.77114220e-01 2.12704003e-01 -2.19295431e-03 2.30582489e+02] [ 2.24993799e-03 -2.58464143e-05 9.99997469e-01 1.29281061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.78, Y:230.61, Z:1.29 [[ 2.15221913e-01 -9.76565030e-01 -5.20007448e-04 2.10783157e+02] [ 9.76562577e-01 2.15222538e-01 -2.18923799e-03 2.30610427e+02] [ 2.24985058e-03 -3.66478264e-05 9.99997468e-01 1.29468835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:230.64, Z:1.30 [[ 2.15183713e-01 -9.76573441e-01 -5.33738026e-04 2.10789379e+02] [ 9.76570995e-01 2.15184369e-01 -2.18608454e-03 2.30636185e+02] [ 2.24972418e-03 -5.08232856e-05 9.99997468e-01 1.29525698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.79, Y:230.66, Z:1.30 [[ 2.13019605e-01 -9.77047781e-01 -5.31541101e-04 2.10793412e+02] [ 9.77045335e-01 2.13020261e-01 -2.18659173e-03 2.30659212e+02] [ 2.24963362e-03 -5.35528463e-05 9.99997468e-01 1.29677597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.80, Y:230.69, Z:1.30 [[ 2.12725490e-01 -9.77111870e-01 -5.08775323e-04 2.10802199e+02] [ 9.77109412e-01 2.12726096e-01 -2.19183115e-03 2.30688208e+02] [ 2.24989402e-03 -3.08708020e-05 9.99997469e-01 1.29735419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:230.71, Z:1.30 [[ 2.11164901e-01 -9.77450309e-01 -5.26793888e-04 2.10807882e+02] [ 9.77447862e-01 2.11165552e-01 -2.18771233e-03 2.30714637e+02] [ 2.24962082e-03 -5.29455007e-05 9.99997468e-01 1.29835429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.81, Y:230.74, Z:1.30 [[ 2.08735900e-01 -9.77971908e-01 -5.20506608e-04 2.10811981e+02] [ 9.77969459e-01 2.08736543e-01 -2.18914726e-03 2.30738674e+02] [ 2.24957327e-03 -5.20859420e-05 9.99997468e-01 1.29965117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:230.77, Z:1.30 [[ 2.09910273e-01 -9.77720527e-01 -4.99293778e-04 2.10822255e+02] [ 9.77718065e-01 2.09910865e-01 -2.19397477e-03 2.30769219e+02] [ 2.24990136e-03 -2.76307039e-05 9.99997469e-01 1.30161228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.82, Y:230.79, Z:1.30 [[ 2.06245104e-01 -9.78500221e-01 -5.24510292e-04 2.10824831e+02] [ 9.78497776e-01 2.06245762e-01 -2.18823862e-03 2.30793121e+02] [ 2.24937000e-03 -6.19186523e-05 9.99997468e-01 1.30013921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.83, Y:230.82, Z:1.30 [[ 2.05368071e-01 -9.78684683e-01 -4.97504094e-04 2.10830509e+02] [ 9.78682223e-01 2.05368671e-01 -2.19436145e-03 2.30818081e+02] [ 2.24975969e-03 -3.62466355e-05 9.99997469e-01 1.30040994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:230.85, Z:1.30 [[ 2.04450493e-01 -9.78876779e-01 -4.96665212e-04 2.10836581e+02] [ 9.78874320e-01 2.04451093e-01 -2.19455130e-03 2.30845142e+02] [ 2.24973905e-03 -3.74957258e-05 9.99997469e-01 1.30151275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.84, Y:230.87, Z:1.30 [[ 2.04001549e-01 -9.78970438e-01 -4.99757431e-04 2.10842336e+02] [ 9.78967981e-01 2.04002157e-01 -2.19385234e-03 2.30871446e+02] [ 2.24966818e-03 -4.16972484e-05 9.99997469e-01 1.30174776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:230.90, Z:1.30 [[ 2.03637446e-01 -9.79046243e-01 -4.95144614e-04 2.10848544e+02] [ 9.79043783e-01 2.03638045e-01 -2.19489294e-03 2.30896093e+02] [ 2.24973197e-03 -3.78058629e-05 9.99997469e-01 1.30162851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.85, Y:230.92, Z:1.30 [[ 2.02644762e-01 -9.79252195e-01 -4.88721439e-04 2.10854784e+02] [ 9.79249733e-01 2.02645348e-01 -2.19633913e-03 2.30923783e+02] [ 2.24980704e-03 -3.35037191e-05 9.99997469e-01 1.30175763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.86, Y:230.95, Z:1.30 [[ 2.03275616e-01 -9.79121429e-01 -5.00926646e-04 2.10860452e+02] [ 9.79118973e-01 2.03276228e-01 -2.19359702e-03 2.30949433e+02] [ 2.24962433e-03 -4.45619961e-05 9.99997469e-01 1.30111620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:230.98, Z:1.30 [[ 2.02921068e-01 -9.79194975e-01 -4.91986593e-04 2.10866323e+02] [ 9.79192514e-01 2.02921661e-01 -2.19560030e-03 2.30976556e+02] [ 2.24975551e-03 -3.62160322e-05 9.99997469e-01 1.30117605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.87, Y:231.00, Z:1.30 [[ 2.03603253e-01 -9.79053356e-01 -4.91191511e-04 2.10873109e+02] [ 9.79050895e-01 2.03603842e-01 -2.19577816e-03 2.31004283e+02] [ 2.24979245e-03 -3.38339136e-05 9.99997469e-01 1.30066007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:231.03, Z:1.30 [[ 2.03963258e-01 -9.78978420e-01 -4.93274705e-04 2.10878113e+02] [ 9.78975959e-01 2.03963852e-01 -2.19531264e-03 2.31030580e+02] [ 2.24977391e-03 -3.51409584e-05 9.99997469e-01 1.30052372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.88, Y:231.06, Z:1.30 [[ 2.05442215e-01 -9.78669125e-01 -4.90113149e-04 2.10883886e+02] [ 9.78666661e-01 2.05442798e-01 -2.19601824e-03 2.31057713e+02] [ 2.24986547e-03 -2.85025460e-05 9.99997469e-01 1.30017019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.89, Y:231.08, Z:1.30 [[ 2.05855254e-01 -9.78582329e-01 -4.89376149e-04 2.10889671e+02] [ 9.78579865e-01 2.05855834e-01 -2.19618247e-03 2.31084398e+02] [ 2.24988629e-03 -2.67979463e-05 9.99997469e-01 1.30057943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:231.11, Z:1.30 [[ 2.06028764e-01 -9.78545814e-01 -4.88589086e-04 2.10895515e+02] [ 9.78543349e-01 2.06029342e-01 -2.19635755e-03 2.31111278e+02] [ 2.24990018e-03 -2.55927674e-05 9.99997469e-01 1.30073259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.90, Y:231.14, Z:1.30 [[ 2.06058507e-01 -9.78539551e-01 -4.87799558e-04 2.10902093e+02] [ 9.78537086e-01 2.06059083e-01 -2.19653289e-03 2.31137094e+02] [ 2.24990984e-03 -2.47156694e-05 9.99997469e-01 1.30094134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:231.16, Z:1.30 [[ 2.05721347e-01 -9.78610490e-01 -4.86973372e-04 2.10908451e+02] [ 9.78608024e-01 2.05721922e-01 -2.19671604e-03 2.31163182e+02] [ 2.24991046e-03 -2.46446658e-05 9.99997469e-01 1.30139010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.91, Y:231.19, Z:1.30 [[ 2.04524513e-01 -9.78861322e-01 -4.86195813e-04 2.10914777e+02] [ 9.78858857e-01 2.04525089e-01 -2.19688812e-03 2.31189588e+02] [ 2.24988805e-03 -2.65996045e-05 9.99997469e-01 1.30193831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.92, Y:231.21, Z:1.30 [[ 2.03310153e-01 -9.79114266e-01 -4.85415850e-04 2.10919944e+02] [ 9.79111801e-01 2.03310731e-01 -2.19706045e-03 2.31214978e+02] [ 2.24986348e-03 -2.85916905e-05 9.99997469e-01 1.30197057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:231.24, Z:1.30 [[ 2.02450552e-01 -9.79292367e-01 -4.84598867e-04 2.10925303e+02] [ 9.79289902e-01 2.02451130e-01 -2.19724063e-03 2.31241757e+02] [ 2.24984857e-03 -2.97301972e-05 9.99997469e-01 1.30248566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:231.27, Z:1.30 [[ 1.99567772e-01 -9.79883907e-01 -4.83827618e-04 2.10926984e+02] [ 9.79881443e-01 1.99568356e-01 -2.19741045e-03 2.31266787e+02] [ 2.24976382e-03 -3.55613966e-05 9.99997469e-01 1.30375317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.93, Y:231.29, Z:1.30 [[ 1.98669411e-01 -9.80066453e-01 -4.61952472e-04 2.10932380e+02] [ 9.80063979e-01 1.98669948e-01 -2.20220066e-03 2.31293388e+02] [ 2.25007906e-03 -1.52330691e-05 9.99997468e-01 1.30351968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:231.32, Z:1.30 [[ 1.96865722e-01 -9.80430351e-01 -4.63034546e-04 2.10936822e+02] [ 9.80427878e-01 1.96866266e-01 -2.20196309e-03 2.31318808e+02] [ 2.25002733e-03 -2.04809231e-05 9.99997468e-01 1.30487441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.94, Y:231.35, Z:1.30 [[ 1.95849913e-01 -9.80633780e-01 -4.49567117e-04 2.10941491e+02] [ 9.80631301e-01 1.95850429e-01 -2.20491631e-03 2.31345450e+02] [ 2.25026332e-03 -9.02692028e-06 9.99997468e-01 1.30301039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:231.38, Z:1.30 [[ 1.96676675e-01 -9.80468302e-01 -4.41712727e-04 2.10951292e+02] [ 9.80465818e-01 1.96677171e-01 -2.20664776e-03 2.31376070e+02] [ 2.25042300e-03 9.11914732e-07 9.99997468e-01 1.30215547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.95, Y:231.40, Z:1.30 [[ 1.96054828e-01 -9.80592815e-01 -4.85268133e-04 2.10954021e+02] [ 9.80590355e-01 1.96055424e-01 -2.19702747e-03 2.31398626e+02] [ 2.24952880e-03 -4.51114072e-05 9.99997469e-01 1.30378877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.96, Y:231.42, Z:1.30 [[ 1.94597849e-01 -9.80883007e-01 -4.51876748e-04 2.10957491e+02] [ 9.80880530e-01 1.94598373e-01 -2.20438287e-03 2.31424686e+02] [ 2.25017618e-03 -1.42689385e-05 9.99997468e-01 1.30118433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:231.46, Z:1.30 [[ 1.92618492e-01 -9.81273623e-01 -4.40050811e-04 2.10965235e+02] [ 9.81271141e-01 1.92618994e-01 -2.20698103e-03 2.31455664e+02] [ 2.25041442e-03 -6.70380463e-06 9.99997468e-01 1.30130795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:231.48, Z:1.30 [[ 1.91295236e-01 -9.81532424e-01 -4.83622065e-04 2.10969466e+02] [ 9.81529966e-01 1.91295839e-01 -2.19739147e-03 2.31482339e+02] [ 2.24932586e-03 -5.43390302e-05 9.99997469e-01 1.30110064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.97, Y:231.51, Z:1.30 [[ 1.90923745e-01 -9.81604753e-01 -4.82838381e-04 2.10974033e+02] [ 9.81602294e-01 1.90924348e-01 -2.19756366e-03 2.31509029e+02] [ 2.24932453e-03 -5.43881782e-05 9.99997469e-01 1.30119497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.98, Y:231.53, Z:1.30 [[ 1.90183378e-01 -9.81748466e-01 -4.82049132e-04 2.10978869e+02] [ 9.81746008e-01 1.90183981e-01 -2.19773677e-03 2.31534989e+02] [ 2.24930273e-03 -5.52768081e-05 9.99997469e-01 1.30015223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:231.56, Z:1.30 [[ 1.90153268e-01 -9.81754299e-01 -4.81223254e-04 2.10985852e+02] [ 9.81751840e-01 1.90153869e-01 -2.19791759e-03 2.31563673e+02] [ 2.24932151e-03 -5.45006028e-05 9.99997469e-01 1.30106312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:231.59, Z:1.30 [[ 1.88000368e-01 -9.82168834e-01 -4.93736761e-04 2.10989565e+02] [ 9.82166383e-01 1.88001002e-01 -2.19517841e-03 2.31588191e+02] [ 2.24885882e-03 -7.22373006e-05 9.99997469e-01 1.29910160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:210.99, Y:231.61, Z:1.30 [[ 1.88482488e-01 -9.82076434e-01 -4.80155528e-04 2.10992825e+02] [ 9.82073975e-01 1.88483091e-01 -2.19814505e-03 2.31608720e+02] [ 2.24924765e-03 -5.72363998e-05 9.99997469e-01 1.30048655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.00, Y:231.64, Z:1.30 [[ 1.85392581e-01 -9.82664441e-01 -4.31768291e-04 2.10999921e+02] [ 9.82661959e-01 1.85393083e-01 -2.20865603e-03 2.31640413e+02] [ 2.25041460e-03 -1.48138331e-05 9.99997468e-01 1.30040091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:231.67, Z:1.30 [[ 1.85682900e-01 -9.82609603e-01 -4.78630094e-04 2.11007636e+02] [ 9.82607145e-01 1.85683507e-01 -2.19845364e-03 2.31670384e+02] [ 2.24909538e-03 -6.20901020e-05 9.99997469e-01 1.30247068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.01, Y:231.70, Z:1.30 [[ 1.84717406e-01 -9.82791552e-01 -4.95660049e-04 2.11011813e+02] [ 9.82789105e-01 1.84718053e-01 -2.19474700e-03 2.31696141e+02] [ 2.24853617e-03 -8.17213241e-05 9.99997469e-01 1.30191784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.81275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.02, Y:231.72, Z:1.30 [[ 1.87400016e-01 -9.82283563e-01 -4.86023017e-04 2.11016427e+02] [ 9.82281108e-01 1.87400635e-01 -2.19684476e-03 2.31716278e+02] [ 2.24900552e-03 -6.57224843e-05 9.99997469e-01 1.30408709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.02, Y:231.75, Z:1.30 [[ 1.85130877e-01 -9.82713778e-01 -4.34227164e-04 2.11022267e+02] [ 9.82711298e-01 1.85131385e-01 -2.20806285e-03 2.31749722e+02] [ 2.25028286e-03 -1.79393300e-05 9.99997468e-01 1.30423113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:231.78, Z:1.30 [[ 1.86363512e-01 -9.82480741e-01 -4.85318605e-04 2.11025880e+02] [ 9.82478287e-01 1.86364132e-01 -2.19700258e-03 2.31776613e+02] [ 2.24895871e-03 -6.73738740e-05 9.99997469e-01 1.30438258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:231.80, Z:1.30 [[ 1.87659778e-01 -9.82233968e-01 -4.89224635e-04 2.11029182e+02] [ 9.82231515e-01 1.87660403e-01 -2.19615903e-03 2.31803835e+02] [ 2.24895009e-03 -6.84011386e-05 9.99997469e-01 1.30350136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.03, Y:231.83, Z:1.30 [[ 1.90332299e-01 -9.81719606e-01 -4.80098579e-04 2.11033121e+02] [ 9.81717147e-01 1.90332897e-01 -2.19812491e-03 2.31826412e+02] [ 2.24932088e-03 -5.29468388e-05 9.99997469e-01 1.30265848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:231.86, Z:1.30 [[ 1.88415522e-01 -9.82089299e-01 -4.46514724e-04 2.11038317e+02] [ 9.82086823e-01 1.88416050e-01 -2.20530817e-03 2.31855951e+02] [ 2.24994009e-03 -2.30019369e-05 9.99997469e-01 1.30137894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.04, Y:231.88, Z:1.30 [[ 1.91571283e-01 -9.81478590e-01 -4.70850045e-04 2.11042312e+02] [ 9.81476125e-01 1.91571857e-01 -2.20010009e-03 2.31877936e+02] [ 2.24955275e-03 -4.06520800e-05 9.99997469e-01 1.30229699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.05, Y:231.90, Z:1.30 [[ 1.92737172e-01 -9.81250321e-01 -4.35339379e-04 2.11045992e+02] [ 9.81247838e-01 1.92737663e-01 -2.20766502e-03 2.31904080e+02] [ 2.25017830e-03 -1.67671340e-06 9.99997468e-01 1.30201465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.05275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:211.05, Y:231.93, Z:1.30 [[ 1.89616429e-01 -9.81858145e-01 -4.40424256e-04 2.11049817e+02] [ 9.81855665e-01 1.89616940e-01 -2.20657765e-03 2.31933418e+02] [ 2.25005814e-03 -1.40296764e-05 9.99997469e-01 1.29872782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:231.96, Z:1.30 [[ 1.92427653e-01 -9.81311055e-01 -4.61130072e-04 2.11057360e+02] [ 9.81308584e-01 1.92428203e-01 -2.20213173e-03 2.31964019e+02] [ 2.24971064e-03 -2.87598585e-05 9.99997469e-01 1.30359614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.06, Y:231.99, Z:1.30 [[ 1.91767350e-01 -9.81440294e-01 -4.81926260e-04 2.11061737e+02] [ 9.81437835e-01 1.91767949e-01 -2.19766639e-03 2.31989477e+02] [ 2.24929636e-03 -5.15400040e-05 9.99997469e-01 1.30177369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:232.02, Z:1.30 [[ 1.91320126e-01 -9.81527578e-01 -4.71576835e-04 2.11067406e+02] [ 9.81525114e-01 1.91320703e-01 -2.19988494e-03 2.32016213e+02] [ 2.24947015e-03 -4.19822436e-05 9.99997469e-01 1.30244339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.07, Y:232.04, Z:1.30 [[ 1.93291719e-01 -9.81141218e-01 -4.70812390e-04 2.11074821e+02] [ 9.81138752e-01 1.93292288e-01 -2.20004853e-03 2.32040933e+02] [ 2.24956270e-03 -3.66811198e-05 9.99997469e-01 1.30180681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.08, Y:232.07, Z:1.30 [[ 1.93907667e-01 -9.81019677e-01 -4.58492443e-04 2.11081486e+02] [ 9.81017204e-01 1.93908207e-01 -2.20267798e-03 2.32066843e+02] [ 2.24977589e-03 -2.26728268e-05 9.99997469e-01 1.30330698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.23275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:211.09, Y:232.10, Z:1.30 [[ 1.92075909e-01 -9.81379965e-01 -4.57481420e-04 2.11088652e+02] [ 9.81377493e-01 1.92076453e-01 -2.20289340e-03 2.32095112e+02] [ 2.24974685e-03 -2.58392166e-05 9.99997469e-01 1.30221733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.09, Y:232.12, Z:1.30 [[ 1.89191477e-01 -9.81940103e-01 -4.68510801e-04 2.11091902e+02] [ 9.81937638e-01 1.89192052e-01 -2.20054517e-03 2.32121686e+02] [ 2.24944207e-03 -4.37239997e-05 9.99997469e-01 1.30328454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:232.15, Z:1.30 [[ 1.88076449e-01 -9.82154280e-01 -4.67912777e-04 2.11096953e+02] [ 9.82151816e-01 1.88077025e-01 -2.20067232e-03 2.32148370e+02] [ 2.24940338e-03 -4.56667495e-05 9.99997469e-01 1.30342558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.10, Y:232.17, Z:1.30 [[ 1.89475880e-01 -9.81885263e-01 -4.70989796e-04 2.11102504e+02] [ 9.81882799e-01 1.89476460e-01 -2.20001913e-03 2.32170723e+02] [ 2.24940784e-03 -4.56062193e-05 9.99997469e-01 1.30498104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.11, Y:232.20, Z:1.30 [[ 1.87625406e-01 -9.82240555e-01 -4.46591281e-04 2.11109899e+02] [ 9.82238080e-01 1.87625936e-01 -2.20517880e-03 2.32196659e+02] [ 2.24980816e-03 -2.49113939e-05 9.99997469e-01 1.30360916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:232.22, Z:1.30 [[ 1.83715850e-01 -9.82979291e-01 -4.46727220e-04 2.11117777e+02] [ 9.82976818e-01 1.83716390e-01 -2.20515009e-03 2.32224772e+02] [ 2.24968798e-03 -3.40014785e-05 9.99997469e-01 1.30409052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.12, Y:232.25, Z:1.30 [[ 1.83569886e-01 -9.83006548e-01 -4.72477386e-04 2.11123687e+02] [ 9.83004089e-01 1.83570484e-01 -2.19972061e-03 2.32249954e+02] [ 2.24907267e-03 -6.06447410e-05 9.99997469e-01 1.30406649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:232.28, Z:1.30 [[ 1.81725629e-01 -9.83349166e-01 -4.61845973e-04 2.11129917e+02] [ 9.83346702e-01 1.81726208e-01 -2.20195794e-03 2.32278455e+02] [ 2.24922302e-03 -5.40025230e-05 9.99997469e-01 1.30396816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.13, Y:232.30, Z:1.30 [[ 1.81868828e-01 -9.83322683e-01 -4.80581938e-04 2.11134770e+02] [ 9.83320229e-01 1.81869448e-01 -2.19801213e-03 2.32301337e+02] [ 2.24875835e-03 -7.28160522e-05 9.99997469e-01 1.30252435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:232.33, Z:1.30 [[ 1.80753486e-01 -9.83528322e-01 -4.65264360e-04 2.11139874e+02] [ 9.83525861e-01 1.80754074e-01 -2.20122732e-03 2.32328715e+02] [ 2.24906784e-03 -5.97200192e-05 9.99997469e-01 1.30213356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.14, Y:232.35, Z:1.30 [[ 1.80012581e-01 -9.83664198e-01 -4.64996362e-04 2.11143997e+02] [ 9.83661737e-01 1.80013171e-01 -2.20128351e-03 2.32354049e+02] [ 2.24902925e-03 -6.11404033e-05 9.99997469e-01 1.30137638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:232.38, Z:1.30 [[ 1.79281976e-01 -9.83797621e-01 -4.63024891e-04 2.11149358e+02] [ 9.83795159e-01 1.79282563e-01 -2.20169608e-03 2.32381942e+02] [ 2.24903565e-03 -6.07972243e-05 9.99997469e-01 1.30282138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.15, Y:232.41, Z:1.31 [[ 1.78561043e-01 -9.83928724e-01 -4.70121531e-04 2.11154327e+02] [ 9.83926266e-01 1.78561648e-01 -2.20021791e-03 2.32407522e+02] [ 2.24880328e-03 -6.96917175e-05 9.99997469e-01 1.30576213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:232.43, Z:1.31 [[ 1.77956219e-01 -9.84038299e-01 -4.57584683e-04 2.11158785e+02] [ 9.84035836e-01 1.77956798e-01 -2.20282215e-03 2.32433273e+02] [ 2.24909166e-03 -5.82738246e-05 9.99997469e-01 1.30661283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.16, Y:232.46, Z:1.31 [[ 1.77078900e-01 -9.84196552e-01 -4.59355822e-04 2.11163953e+02] [ 9.84194089e-01 1.77079485e-01 -2.20245483e-03 2.32460027e+02] [ 2.24899094e-03 -6.20870047e-05 9.99997469e-01 1.30769870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:232.49, Z:1.31 [[ 1.75730072e-01 -9.84438283e-01 -4.57927024e-04 2.11168939e+02] [ 9.84435820e-01 1.75730658e-01 -2.20275049e-03 2.32486300e+02] [ 2.24894373e-03 -6.37102618e-05 9.99997469e-01 1.30533390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.17, Y:232.51, Z:1.30 [[ 1.74615600e-01 -9.84636575e-01 -4.55631929e-04 2.11174382e+02] [ 9.84634112e-01 1.74616183e-01 -2.20322441e-03 2.32512554e+02] [ 2.24893605e-03 -6.39133860e-05 9.99997469e-01 1.30457338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:232.54, Z:1.30 [[ 1.70309221e-01 -9.85390564e-01 -4.54058833e-04 2.11177357e+02] [ 9.85388103e-01 1.70309811e-01 -2.20354872e-03 2.32540932e+02] [ 2.24868679e-03 -7.21395052e-05 9.99997469e-01 1.30406441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.18, Y:232.57, Z:1.31 [[ 1.69340467e-01 -9.85557505e-01 -4.58950855e-04 2.11181784e+02] [ 9.85555047e-01 1.69341071e-01 -2.20254237e-03 2.32567269e+02] [ 2.24845139e-03 -7.93417777e-05 9.99997469e-01 1.30540182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:232.60, Z:1.30 [[ 1.66532896e-01 -9.86035799e-01 -4.44463381e-04 2.11185819e+02] [ 9.86033335e-01 1.66533474e-01 -2.20551554e-03 2.32595011e+02] [ 2.24873530e-03 -7.09648199e-05 9.99997469e-01 1.30476847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:232.62, Z:1.31 [[ 1.64795149e-01 -9.86327714e-01 -4.47665593e-04 2.11189375e+02] [ 9.86325252e-01 1.64795738e-01 -2.20485949e-03 2.32620786e+02] [ 2.24848740e-03 -7.81937318e-05 9.99997469e-01 1.30683011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.19, Y:232.65, Z:1.31 [[ 1.64613827e-01 -9.86357996e-01 -4.38785211e-04 2.11194606e+02] [ 9.86355530e-01 1.64614397e-01 -2.20667543e-03 2.32646971e+02] [ 2.24880232e-03 -6.95489317e-05 9.99997469e-01 1.30688779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.89275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.20, Y:232.67, Z:1.31 [[ 1.64820479e-01 -9.86323485e-01 -4.38105664e-04 2.11201992e+02] [ 9.86321019e-01 1.64821048e-01 -2.20681422e-03 2.32673870e+02] [ 2.24884173e-03 -6.83846471e-05 9.99997469e-01 1.30924317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:232.70, Z:1.31 [[ 1.64591159e-01 -9.86361773e-01 -4.50027789e-04 2.11206520e+02] [ 9.86359313e-01 1.64591755e-01 -2.20438030e-03 2.32700534e+02] [ 2.24838732e-03 -8.10675915e-05 9.99997469e-01 1.31072407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:232.73, Z:1.31 [[ 1.63877972e-01 -9.86480516e-01 -4.49267628e-04 2.11211070e+02] [ 9.86478056e-01 1.63878567e-01 -2.20453521e-03 2.32729138e+02] [ 2.24835637e-03 -8.19178965e-05 9.99997469e-01 1.31090033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.21, Y:232.75, Z:1.31 [[ 1.64523822e-01 -9.86373003e-01 -4.59057764e-04 2.11214012e+02] [ 9.86370548e-01 1.64524437e-01 -2.20254123e-03 2.32752976e+02] [ 2.24805343e-03 -9.04305579e-05 9.99997469e-01 1.30906912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:232.78, Z:1.31 [[ 1.65015381e-01 -9.86290894e-01 -4.42476854e-04 2.11217076e+02] [ 9.86288430e-01 1.65015959e-01 -2.20591188e-03 2.32782147e+02] [ 2.24868654e-03 -7.24004122e-05 9.99997469e-01 1.30803066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.04275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.22, Y:232.81, Z:1.31 [[ 1.65656563e-01 -9.86183400e-01 -4.52977824e-04 2.11221271e+02] [ 9.86180941e-01 1.65657163e-01 -2.20377939e-03 2.32810036e+02] [ 2.24836968e-03 -8.16475753e-05 9.99997469e-01 1.30881258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.22, Y:232.84, Z:1.31 [[ 1.67338640e-01 -9.85899373e-01 -4.53933834e-04 2.11223485e+02] [ 9.85896914e-01 1.67339237e-01 -2.20358550e-03 2.32836434e+02] [ 2.24847450e-03 -7.87869660e-05 9.99997469e-01 1.30882326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:232.86, Z:1.31 [[ 1.67787912e-01 -9.85823016e-01 -4.44504114e-04 2.11228752e+02] [ 9.85820551e-01 1.67788487e-01 -2.20549357e-03 2.32864510e+02] [ 2.24880900e-03 -6.81461289e-05 9.99997469e-01 1.30842667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.23, Y:232.89, Z:1.31 [[ 1.70434899e-01 -9.85368833e-01 -4.56087652e-04 2.11234344e+02] [ 9.85366373e-01 1.70435494e-01 -2.20315326e-03 2.32889811e+02] [ 2.24865208e-03 -7.39192304e-05 9.99997469e-01 1.30991673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:232.92, Z:1.31 [[ 1.68884803e-01 -9.85635696e-01 -4.44303286e-04 2.11238143e+02] [ 9.85633231e-01 1.68885375e-01 -2.20552722e-03 2.32918216e+02] [ 2.24888269e-03 -6.54400539e-05 9.99997469e-01 1.31023314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.24, Y:232.94, Z:1.31 [[ 1.71799729e-01 -9.85131784e-01 -4.69945426e-04 2.11244119e+02] [ 9.85129331e-01 1.71800351e-01 -2.20035835e-03 2.32941078e+02] [ 2.24837974e-03 -8.49360531e-05 9.99997469e-01 1.31090178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:232.97, Z:1.31 [[ 1.71540598e-01 -9.85176952e-01 -4.42537568e-04 2.11248247e+02] [ 9.85174484e-01 1.71541160e-01 -2.20585690e-03 2.32967366e+02] [ 2.24907279e-03 -5.75827075e-05 9.99997469e-01 1.31077003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.25, Y:232.99, Z:1.31 [[ 1.72382014e-01 -9.85030077e-01 -4.34143072e-04 2.11254832e+02] [ 9.85027605e-01 1.72382554e-01 -2.20753671e-03 2.32994418e+02] [ 2.24932875e-03 -4.71032858e-05 9.99997469e-01 1.31032943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:233.02, Z:1.31 [[ 1.72424672e-01 -9.85022608e-01 -4.41030882e-04 2.11259695e+02] [ 9.85020139e-01 1.72425228e-01 -2.20615978e-03 2.33019845e+02] [ 2.24916211e-03 -5.40279245e-05 9.99997469e-01 1.30913329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.26, Y:233.05, Z:1.31 [[ 1.72082804e-01 -9.85082390e-01 -4.40209044e-04 2.11264916e+02] [ 9.85079920e-01 1.72083359e-01 -2.20632375e-03 2.33047087e+02] [ 2.24916333e-03 -5.39707118e-05 9.99997469e-01 1.30919548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.27, Y:233.07, Z:1.31 [[ 1.71669317e-01 -9.85154532e-01 -4.39443273e-04 2.11270975e+02] [ 9.85152063e-01 1.71669871e-01 -2.20647626e-03 2.33073242e+02] [ 2.24915926e-03 -5.41341741e-05 9.99997469e-01 1.30762130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:233.10, Z:1.31 [[ 1.71031984e-01 -9.85265380e-01 -4.38680157e-04 2.11276836e+02] [ 9.85262910e-01 1.71032538e-01 -2.20662797e-03 2.33100019e+02] [ 2.24914273e-03 -5.48113286e-05 9.99997469e-01 1.30700427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.28, Y:233.13, Z:1.31 [[ 1.69503029e-01 -9.85529569e-01 -4.37881330e-04 2.11283101e+02] [ 9.85527100e-01 1.69503585e-01 -2.20678648e-03 2.33125307e+02] [ 2.24907578e-03 -5.74869243e-05 9.99997469e-01 1.30641474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.29, Y:233.15, Z:1.31 [[ 1.68729700e-01 -9.85662263e-01 -4.37044971e-04 2.11289133e+02] [ 9.85659794e-01 1.68730256e-01 -2.20695210e-03 2.33151745e+02] [ 2.24905212e-03 -5.83992884e-05 9.99997469e-01 1.30655681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:233.18, Z:1.31 [[ 1.68306210e-01 -9.85734665e-01 -4.36264257e-04 2.11295232e+02] [ 9.85732196e-01 1.68306766e-01 -2.20710642e-03 2.33178697e+02] [ 2.24904754e-03 -5.85700058e-05 9.99997469e-01 1.30647855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.30, Y:233.20, Z:1.31 [[ 1.67905537e-01 -9.85802993e-01 -4.35473523e-04 2.11301161e+02] [ 9.85800524e-01 1.67906091e-01 -2.20726243e-03 2.33204087e+02] [ 2.24904456e-03 -5.86784437e-05 9.99997469e-01 1.30604787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:233.23, Z:1.31 [[ 1.67747235e-01 -9.85829943e-01 -4.34646318e-04 2.11306519e+02] [ 9.85827473e-01 1.67747789e-01 -2.20742531e-03 2.33229849e+02] [ 2.24905692e-03 -5.81967891e-05 9.99997469e-01 1.30573240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.31, Y:233.26, Z:1.31 [[ 1.67970092e-01 -9.85791996e-01 -4.33841841e-04 2.11312299e+02] [ 9.85789526e-01 1.67970643e-01 -2.20758340e-03 2.33256048e+02] [ 2.24909074e-03 -5.68687552e-05 9.99997469e-01 1.30568126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:233.28, Z:1.30 [[ 1.69772611e-01 -9.85483167e-01 -4.33071783e-04 2.11319019e+02] [ 9.85480696e-01 1.69773155e-01 -2.20773446e-03 2.33283443e+02] [ 2.24920911e-03 -5.19710391e-05 9.99997469e-01 1.30470672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.32, Y:233.31, Z:1.30 [[ 1.70033759e-01 -9.85438142e-01 -4.35909331e-04 2.11323878e+02] [ 9.85435671e-01 1.70034310e-01 -2.20717863e-03 2.33308892e+02] [ 2.24915755e-03 -5.42657248e-05 9.99997469e-01 1.30467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:233.33, Z:1.30 [[ 1.72215610e-01 -9.85059185e-01 -4.31603594e-04 2.11329137e+02] [ 9.85056711e-01 1.72216145e-01 -2.20802027e-03 2.33333205e+02] [ 2.24935976e-03 -4.48984578e-05 9.99997469e-01 1.30296054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.33, Y:233.36, Z:1.30 [[ 1.73023050e-01 -9.84917684e-01 -4.23260198e-04 2.11334443e+02] [ 9.84915206e-01 1.73023564e-01 -2.20964728e-03 2.33362196e+02] [ 2.24955467e-03 -3.45554923e-05 9.99997469e-01 1.30124394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.34, Y:233.39, Z:1.30 [[ 1.74874804e-01 -9.84590583e-01 -4.32263460e-04 2.11340375e+02] [ 9.84588108e-01 1.74875334e-01 -2.20789364e-03 2.33388640e+02] [ 2.24946351e-03 -3.94964932e-05 9.99997469e-01 1.30183948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:233.41, Z:1.30 [[ 1.76183009e-01 -9.84357337e-01 -4.25490519e-04 2.11346590e+02] [ 9.84354858e-01 1.76183520e-01 -2.20921051e-03 2.33414674e+02] [ 2.24961699e-03 -2.96083047e-05 9.99997469e-01 1.30411770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.35, Y:233.44, Z:1.30 [[ 1.78104883e-01 -9.84011416e-01 -4.28720281e-04 2.11352766e+02] [ 9.84008938e-01 1.78105396e-01 -2.20858356e-03 2.33441320e+02] [ 2.24962883e-03 -2.85050720e-05 9.99997469e-01 1.30288109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:233.47, Z:1.31 [[ 1.78602840e-01 -9.83921157e-01 -4.28442141e-04 2.11358457e+02] [ 9.83918678e-01 1.78603352e-01 -2.20863744e-03 2.33467771e+02] [ 2.24964631e-03 -2.70833054e-05 9.99997469e-01 1.30516501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.36, Y:233.49, Z:1.31 [[ 1.79491384e-01 -9.83759453e-01 -4.27130693e-04 2.11364425e+02] [ 9.83756973e-01 1.79491891e-01 -2.20889104e-03 2.33492964e+02] [ 2.24968393e-03 -2.37158888e-05 9.99997469e-01 1.30576607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:233.52, Z:1.31 [[ 1.79067833e-01 -9.83836638e-01 -4.26303621e-04 2.11369615e+02] [ 9.83834158e-01 1.79068339e-01 -2.20905064e-03 2.33519484e+02] [ 2.24968244e-03 -2.38421514e-05 9.99997469e-01 1.30623704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.37, Y:233.55, Z:1.31 [[ 1.78547882e-01 -9.83931132e-01 -4.25518164e-04 2.11374901e+02] [ 9.83928652e-01 1.78548388e-01 -2.20920193e-03 2.33545754e+02] [ 2.24967814e-03 -2.42311861e-05 9.99997469e-01 1.30636400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:233.57, Z:1.31 [[ 1.77246642e-01 -9.84166372e-01 -4.24735016e-04 2.11379847e+02] [ 9.84163892e-01 1.77247149e-01 -2.20935249e-03 2.33572231e+02] [ 2.24965349e-03 -2.64085573e-05 9.99997469e-01 1.30711110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.38, Y:233.60, Z:1.31 [[ 1.76479848e-01 -9.84304162e-01 -4.23954396e-04 2.11383638e+02] [ 9.84301683e-01 1.76480355e-01 -2.20950227e-03 2.33599530e+02] [ 2.24964190e-03 -2.73664007e-05 9.99997469e-01 1.30790400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:233.63, Z:1.31 [[ 1.75988346e-01 -9.84392160e-01 -4.21042611e-04 2.11387834e+02] [ 9.84389680e-01 1.75988848e-01 -2.21006021e-03 2.33625920e+02] [ 2.24966474e-03 -2.55251612e-05 9.99997469e-01 1.30862845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.39, Y:233.65, Z:1.31 [[ 1.75355761e-01 -9.84505042e-01 -4.22873448e-04 2.11392790e+02] [ 9.84502563e-01 1.75356269e-01 -2.20970984e-03 2.33652490e+02] [ 2.24962399e-03 -2.88346420e-05 9.99997469e-01 1.30891799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:233.68, Z:1.31 [[ 1.74483655e-01 -9.84659980e-01 -4.22107409e-04 2.11397073e+02] [ 9.84657501e-01 1.74484163e-01 -2.20985616e-03 2.33678461e+02] [ 2.24960798e-03 -3.00474463e-05 9.99997469e-01 1.30922015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:233.70, Z:1.31 [[ 1.73519918e-01 -9.84830270e-01 -4.21305810e-04 2.11401184e+02] [ 9.84827791e-01 1.73520427e-01 -2.21000897e-03 2.33704643e+02] [ 2.24958890e-03 -3.14330934e-05 9.99997469e-01 1.30826858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.40, Y:233.73, Z:1.31 [[ 1.72103693e-01 -9.85078749e-01 -4.20503435e-04 2.11404784e+02] [ 9.85076270e-01 1.72104203e-01 -2.21016160e-03 2.33729378e+02] [ 2.24955364e-03 -3.38509819e-05 9.99997469e-01 1.30802338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:233.75, Z:1.31 [[ 1.71431349e-01 -9.85195979e-01 -4.18746354e-04 2.11408072e+02] [ 9.85193500e-01 1.71431857e-01 -2.21049511e-03 2.33754395e+02] [ 2.24955736e-03 -3.35980268e-05 9.99997469e-01 1.30790441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:233.78, Z:1.31 [[ 1.70987321e-01 -9.85273140e-01 -4.18515207e-04 2.11410923e+02] [ 9.85270661e-01 1.70987830e-01 -2.21053887e-03 2.33780508e+02] [ 2.24954558e-03 -3.43766345e-05 9.99997469e-01 1.30614848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.41, Y:233.81, Z:1.31 [[ 1.70430643e-01 -9.85369586e-01 -4.17681169e-04 2.11414431e+02] [ 9.85367107e-01 1.70431151e-01 -2.21069645e-03 2.33805892e+02] [ 2.24953893e-03 -3.47988678e-05 9.99997469e-01 1.30522893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:233.83, Z:1.30 [[ 1.69543727e-01 -9.85522578e-01 -4.16813116e-04 2.11416950e+02] [ 9.85520098e-01 1.69544235e-01 -2.21086011e-03 2.33832798e+02] [ 2.24952081e-03 -3.59402417e-05 9.99997469e-01 1.30389516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:233.86, Z:1.30 [[ 1.69137615e-01 -9.85592357e-01 -4.15955967e-04 2.11421589e+02] [ 9.85589878e-01 1.69138123e-01 -2.21102136e-03 2.33859321e+02] [ 2.24951976e-03 -3.59951110e-05 9.99997469e-01 1.30395550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.42, Y:233.88, Z:1.30 [[ 1.67811084e-01 -9.85819085e-01 -4.15044814e-04 2.11424810e+02] [ 9.85816606e-01 1.67811593e-01 -2.21119238e-03 2.33884704e+02] [ 2.24948498e-03 -3.80954795e-05 9.99997469e-01 1.30375961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:233.91, Z:1.30 [[ 1.66802177e-01 -9.85990295e-01 -4.14096969e-04 2.11428899e+02] [ 9.85987816e-01 1.66802686e-01 -2.21136988e-03 2.33911003e+02] [ 2.24946172e-03 -3.94332567e-05 9.99997469e-01 1.30360702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.43, Y:233.94, Z:1.30 [[ 1.65412191e-01 -9.86224435e-01 -4.13295905e-04 2.11432275e+02] [ 9.86221956e-01 1.65412702e-01 -2.21151958e-03 2.33936334e+02] [ 2.24941904e-03 -4.17891959e-05 9.99997469e-01 1.30395834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:233.96, Z:1.30 [[ 1.64485672e-01 -9.86379386e-01 -4.12658817e-04 2.11436453e+02] [ 9.86376908e-01 1.64486184e-01 -2.21163845e-03 2.33962301e+02] [ 2.24939125e-03 -4.32542913e-05 9.99997469e-01 1.30434833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.44, Y:233.99, Z:1.30 [[ 1.63907855e-01 -9.86475568e-01 -4.11867693e-04 2.11440389e+02] [ 9.86473089e-01 1.63908366e-01 -2.21178577e-03 2.33987272e+02] [ 2.24938119e-03 -4.37673345e-05 9.99997469e-01 1.30436144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.42275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:211.45, Y:234.02, Z:1.30 [[ 1.66764344e-01 -9.85996696e-01 -4.11041691e-04 2.11449643e+02] [ 9.85994216e-01 1.66764847e-01 -2.21193927e-03 2.34019158e+02] [ 2.24951211e-03 -3.64121293e-05 9.99997469e-01 1.30450056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:234.04, Z:1.31 [[ 1.63181630e-01 -9.86595944e-01 -4.47105655e-04 2.11448403e+02] [ 9.86593482e-01 1.63182223e-01 -2.20523419e-03 2.34040493e+02] [ 2.24863480e-03 -8.12578152e-05 9.99997469e-01 1.30524926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.45, Y:234.07, Z:1.31 [[ 1.63236295e-01 -9.86586917e-01 -4.09231872e-04 2.11451836e+02] [ 9.86584438e-01 1.63236802e-01 -2.21224028e-03 2.34066086e+02] [ 2.24936902e-03 -4.26238894e-05 9.99997469e-01 1.30585079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:234.09, Z:1.31 [[ 1.63143901e-01 -9.86602200e-01 -4.08643756e-04 2.11455940e+02] [ 9.86599720e-01 1.63144408e-01 -2.21234891e-03 2.34091392e+02] [ 2.24937625e-03 -4.22365828e-05 9.99997469e-01 1.30623921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:234.12, Z:1.31 [[ 1.62915567e-01 -9.86639930e-01 -4.07987764e-04 2.11460232e+02] [ 9.86637450e-01 1.62916072e-01 -2.21246979e-03 2.34117561e+02] [ 2.24937881e-03 -4.20902363e-05 9.99997469e-01 1.30687995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.46, Y:234.14, Z:1.31 [[ 1.62618724e-01 -9.86688900e-01 -4.06787987e-04 2.11464961e+02] [ 9.86686420e-01 1.62619227e-01 -2.21269036e-03 2.34144551e+02] [ 2.24938857e-03 -4.15473002e-05 9.99997469e-01 1.30711415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:234.17, Z:1.31 [[ 1.59447466e-01 -9.87206331e-01 -4.06001472e-04 2.11468914e+02] [ 9.87203852e-01 1.59447976e-01 -2.21283467e-03 2.34173780e+02] [ 2.24926051e-03 -4.79753353e-05 9.99997469e-01 1.30689187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.47, Y:234.19, Z:1.31 [[ 1.62576481e-01 -9.86695849e-01 -4.36314974e-04 2.11474642e+02] [ 9.86693382e-01 1.62577051e-01 -2.20724827e-03 2.34194755e+02] [ 2.24881750e-03 -7.16624419e-05 9.99997469e-01 1.30764616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:234.22, Z:1.31 [[ 1.61444280e-01 -9.86881749e-01 -3.98422583e-04 2.11478774e+02] [ 9.86879265e-01 1.61444768e-01 -2.21419318e-03 2.34221881e+02] [ 2.24947008e-03 -3.57261620e-05 9.99997469e-01 1.30729079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.48, Y:234.25, Z:1.31 [[ 1.60946989e-01 -9.86962969e-01 -4.05266381e-04 2.11483510e+02] [ 9.86960489e-01 1.60947493e-01 -2.21293985e-03 2.34248902e+02] [ 2.24931629e-03 -4.38159008e-05 9.99997469e-01 1.30769561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:234.27, Z:1.31 [[ 1.60194398e-01 -9.87085402e-01 -4.04472116e-04 2.11488184e+02] [ 9.87082922e-01 1.60194902e-01 -2.21308501e-03 2.34274650e+02] [ 2.24929828e-03 -4.47236967e-05 9.99997469e-01 1.30759217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.49, Y:234.30, Z:1.31 [[ 1.59428943e-01 -9.87209324e-01 -4.03643476e-04 2.11492982e+02] [ 9.87206844e-01 1.59429447e-01 -2.21323613e-03 2.34301643e+02] [ 2.24928000e-03 -4.56257057e-05 9.99997469e-01 1.30725231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:234.33, Z:1.31 [[ 1.59083572e-01 -9.87265038e-01 -4.02868460e-04 2.11497746e+02] [ 9.87262558e-01 1.59084076e-01 -2.21337720e-03 2.34328970e+02] [ 2.24927988e-03 -4.56249940e-05 9.99997469e-01 1.30731451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.50, Y:234.36, Z:1.31 [[ 1.57884938e-01 -9.87457435e-01 -4.02094092e-04 2.11502430e+02] [ 9.87454955e-01 1.57885442e-01 -2.21351787e-03 2.34356077e+02] [ 2.24923948e-03 -4.75686734e-05 9.99997469e-01 1.30668800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:234.38, Z:1.31 [[ 1.55872705e-01 -9.87777069e-01 -4.01325159e-04 2.11507311e+02] [ 9.87774590e-01 1.55873213e-01 -2.21365727e-03 2.34381464e+02] [ 2.24915573e-03 -5.13700485e-05 9.99997469e-01 1.30576464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.51, Y:234.41, Z:1.31 [[ 1.54498562e-01 -9.87992932e-01 -4.00519835e-04 2.11512126e+02] [ 9.87990453e-01 1.54499072e-01 -2.21380297e-03 2.34408644e+02] [ 2.24910163e-03 -5.36803971e-05 9.99997469e-01 1.30517140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:234.44, Z:1.30 [[ 1.54327337e-01 -9.88019693e-01 -3.99765481e-04 2.11520988e+02] [ 9.88017214e-01 1.54327845e-01 -2.21393918e-03 2.34439031e+02] [ 2.24911045e-03 -5.33038396e-05 9.99997469e-01 1.30122976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.52, Y:234.46, Z:1.30 [[ 1.50650110e-01 -9.88587055e-01 -4.24325791e-04 2.11522136e+02] [ 9.88584589e-01 1.50650682e-01 -2.20950784e-03 2.34462046e+02] [ 2.24821581e-03 -8.66193400e-05 9.99997469e-01 1.30387373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:234.49, Z:1.30 [[ 1.50123021e-01 -9.88667244e-01 -3.97968063e-04 2.11527063e+02] [ 9.88664767e-01 1.50123536e-01 -2.21424513e-03 2.34488903e+02] [ 2.24889601e-03 -6.10478328e-05 9.99997469e-01 1.30470623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:234.52, Z:1.30 [[ 1.50574959e-01 -9.88598515e-01 -3.97170661e-04 2.11528759e+02] [ 9.88596037e-01 1.50575471e-01 -2.21438815e-03 2.34515115e+02] [ 2.24894500e-03 -5.92099355e-05 9.99997469e-01 1.30312866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.53, Y:234.54, Z:1.31 [[ 1.52069508e-01 -9.88369724e-01 -3.92082730e-04 2.11532953e+02] [ 9.88367243e-01 1.52070005e-01 -2.21529907e-03 2.34543494e+02] [ 2.24915855e-03 -5.06422875e-05 9.99997469e-01 1.30507181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:234.57, Z:1.30 [[ 1.53102304e-01 -9.88210265e-01 -3.95864434e-04 2.11536536e+02] [ 9.88207785e-01 1.53102806e-01 -2.21462309e-03 2.34570396e+02] [ 2.24912122e-03 -5.21324200e-05 9.99997469e-01 1.30352652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:234.60, Z:1.30 [[ 1.54174113e-01 -9.88043617e-01 -3.92300969e-04 2.11541300e+02] [ 9.88041135e-01 1.54174605e-01 -2.21525856e-03 2.34596986e+02] [ 2.24925492e-03 -4.60739711e-05 9.99997469e-01 1.30477679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.54, Y:234.62, Z:1.30 [[ 1.55758296e-01 -9.87795119e-01 -3.94402505e-04 2.11543842e+02] [ 9.87792637e-01 1.55758789e-01 -2.21488434e-03 2.34624378e+02] [ 2.24928359e-03 -4.46012792e-05 9.99997469e-01 1.30386780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:234.65, Z:1.30 [[ 1.56150392e-01 -9.87733215e-01 -3.89242785e-04 2.11548893e+02] [ 9.87730730e-01 1.56150872e-01 -2.21580121e-03 2.34651440e+02] [ 2.24940106e-03 -3.84688330e-05 9.99997469e-01 1.30489909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:234.68, Z:1.31 [[ 1.55977506e-01 -9.87760529e-01 -3.92988116e-04 2.11551585e+02] [ 9.87758046e-01 1.55977995e-01 -2.21513675e-03 2.34678362e+02] [ 2.24932215e-03 -4.26656677e-05 9.99997469e-01 1.30531753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.55, Y:234.70, Z:1.30 [[ 1.55196924e-01 -9.87883476e-01 -3.92200733e-04 2.11553267e+02] [ 9.87880993e-01 1.55197413e-01 -2.21527616e-03 2.34703301e+02] [ 2.24930325e-03 -4.36436048e-05 9.99997469e-01 1.30377852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:234.73, Z:1.31 [[ 1.54824609e-01 -9.87941897e-01 -3.85496672e-04 2.11557579e+02] [ 9.87939411e-01 1.54825085e-01 -2.21646105e-03 2.34730695e+02] [ 2.24941929e-03 -3.76846393e-05 9.99997469e-01 1.30553884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.56, Y:234.76, Z:1.30 [[ 1.52478420e-01 -9.88306723e-01 -3.91185563e-04 2.11560517e+02] [ 9.88304241e-01 1.52478914e-01 -2.21545655e-03 2.34755971e+02] [ 2.24919816e-03 -4.88010357e-05 9.99997469e-01 1.30357225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:234.78, Z:1.31 [[ 1.52261844e-01 -9.88340115e-01 -3.84139459e-04 2.11567145e+02] [ 9.88337630e-01 1.52262322e-01 -2.21669815e-03 2.34782979e+02] [ 2.24934167e-03 -4.21409353e-05 9.99997469e-01 1.30629018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:234.81, Z:1.31 [[ 1.50325139e-01 -9.88636536e-01 -3.90019947e-04 2.11571425e+02] [ 9.88634055e-01 1.50325636e-01 -2.21566302e-03 2.34808728e+02] [ 2.24911541e-03 -5.25171504e-05 9.99997469e-01 1.30630774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.57, Y:234.83, Z:1.30 [[ 1.48319222e-01 -9.88939458e-01 -3.96672098e-04 2.11573668e+02] [ 9.88936980e-01 1.48319738e-01 -2.21449374e-03 2.34831535e+02] [ 2.24883454e-03 -6.38317193e-05 9.99997469e-01 1.30389466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:234.86, Z:1.31 [[ 1.48410093e-01 -9.88925835e-01 -3.71431824e-04 2.11580475e+02] [ 9.88923346e-01 1.48410553e-01 -2.21892921e-03 2.34859540e+02] [ 2.24948083e-03 -3.80061118e-05 9.99997469e-01 1.30711758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:234.89, Z:1.31 [[ 1.47171273e-01 -9.89110947e-01 -3.89524150e-04 2.11583964e+02] [ 9.89108467e-01 1.47171776e-01 -2.21574862e-03 2.34886607e+02] [ 2.24894818e-03 -5.91870903e-05 9.99997469e-01 1.30752542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:234.91, Z:1.31 [[ 1.45178903e-01 -9.89405344e-01 -3.88768257e-04 2.11586438e+02] [ 9.89402865e-01 1.45179410e-01 -2.21588124e-03 2.34911567e+02] [ 2.24884588e-03 -6.29492185e-05 9.99997469e-01 1.30855555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.59, Y:234.94, Z:1.31 [[ 1.44069209e-01 -9.89567538e-01 -3.87894960e-04 2.11590934e+02] [ 9.89565059e-01 1.44069717e-01 -2.21603410e-03 2.34938090e+02] [ 2.24879933e-03 -6.45850193e-05 9.99997469e-01 1.30971223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:234.96, Z:1.31 [[ 1.43077776e-01 -9.89711372e-01 -3.88699688e-04 2.11596012e+02] [ 9.89708893e-01 1.43078288e-01 -2.21589354e-03 2.34964719e+02] [ 2.24870952e-03 -6.76544180e-05 9.99997469e-01 1.31252936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:234.99, Z:1.31 [[ 1.43394331e-01 -9.89665556e-01 -3.91660297e-04 2.11600359e+02] [ 9.89663079e-01 1.43394848e-01 -2.21537771e-03 2.34990411e+02] [ 2.24864508e-03 -6.99391319e-05 9.99997469e-01 1.31280451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.60, Y:235.02, Z:1.31 [[ 1.42038626e-01 -9.89861041e-01 -3.85214628e-04 2.11599997e+02] [ 9.89858562e-01 1.42039133e-01 -2.21649793e-03 2.35015211e+02] [ 2.24874050e-03 -6.64796775e-05 9.99997469e-01 1.31122284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.61, Y:235.05, Z:1.31 [[ 1.45321585e-01 -9.89384408e-01 -3.59749654e-04 2.11608434e+02] [ 9.89381916e-01 1.45322027e-01 -2.22091733e-03 2.35045509e+02] [ 2.24962053e-03 -3.31825753e-05 9.99997469e-01 1.31366028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.62275509600005 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:211.61, Y:235.07, Z:1.31 [[ 1.47780085e-01 -9.89020171e-01 -3.85083560e-04 2.11611845e+02] [ 9.89017688e-01 1.47780577e-01 -2.21651597e-03 2.35072042e+02] [ 2.24908688e-03 -5.32975328e-05 9.99997469e-01 1.31200205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:235.10, Z:1.31 [[ 1.53745045e-01 -9.88110476e-01 -3.84258122e-04 2.11615036e+02] [ 9.88107991e-01 1.53745520e-01 -2.21665906e-03 2.35097278e+02] [ 2.24938201e-03 -3.88881734e-05 9.99997469e-01 1.31439143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.62, Y:235.12, Z:1.31 [[ 1.54229699e-01 -9.88034949e-01 -3.74195303e-04 2.11618528e+02] [ 9.88032459e-01 1.54230150e-01 -2.21839814e-03 2.35124526e+02] [ 2.24956709e-03 -2.75742275e-05 9.99997469e-01 1.31399497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:235.15, Z:1.31 [[ 1.54704057e-01 -9.87960783e-01 -3.82507747e-04 2.11620866e+02] [ 9.87958296e-01 1.54704526e-01 -2.21696394e-03 2.35150595e+02] [ 2.24944911e-03 -3.49283851e-05 9.99997469e-01 1.31121245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:235.18, Z:1.31 [[ 1.56536176e-01 -9.87672156e-01 -3.70394798e-04 2.11627471e+02] [ 9.87669664e-01 1.56536614e-01 -2.21904760e-03 2.35179591e+02] [ 2.24967188e-03 -1.84664784e-05 9.99997469e-01 1.31345659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:235.21, Z:1.31 [[ 1.57627792e-01 -9.87498524e-01 -3.81115585e-04 2.11631633e+02] [ 9.87496035e-01 1.57628250e-01 -2.21720480e-03 2.35205549e+02] [ 2.24956105e-03 -2.68570317e-05 9.99997469e-01 1.31294138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:235.23, Z:1.31 [[ 1.56392841e-01 -9.87694859e-01 -3.80287899e-04 2.11634380e+02] [ 9.87692371e-01 1.56393301e-01 -2.21734676e-03 2.35231284e+02] [ 2.24953647e-03 -2.88302962e-05 9.99997469e-01 1.31150067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:235.26, Z:1.31 [[ 1.55482338e-01 -9.87838603e-01 -3.70768044e-04 2.11639840e+02] [ 9.87836111e-01 1.55482779e-01 -2.21897366e-03 2.35257723e+02] [ 2.24963588e-03 -2.12468494e-05 9.99997469e-01 1.31300454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:235.28, Z:1.31 [[ 1.54199921e-01 -9.88039595e-01 -3.78396791e-04 2.11644346e+02] [ 9.88037107e-01 1.54200382e-01 -2.21767198e-03 2.35284922e+02] [ 2.24949665e-03 -3.19052266e-05 9.99997469e-01 1.31350814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:235.31, Z:1.31 [[ 1.52248164e-01 -9.88342225e-01 -3.77616975e-04 2.11648450e+02] [ 9.88339737e-01 1.52248628e-01 -2.21780475e-03 2.35311156e+02] [ 2.24944175e-03 -3.55571607e-05 9.99997469e-01 1.31373849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:235.34, Z:1.31 [[ 1.48516568e-01 -9.88909848e-01 -3.76800836e-04 2.11652773e+02] [ 9.88907361e-01 1.48517040e-01 -2.21794341e-03 2.35338289e+02] [ 2.24930742e-03 -4.32197769e-05 9.99997469e-01 1.31496997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:235.37, Z:1.31 [[ 1.45013599e-01 -9.89429591e-01 -3.76020696e-04 2.11655342e+02] [ 9.89427106e-01 1.45014078e-01 -2.21807566e-03 2.35365520e+02] [ 2.24915799e-03 -5.03939339e-05 9.99997469e-01 1.31319774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:235.39, Z:1.32 [[ 1.42131653e-01 -9.89847695e-01 -3.66650983e-04 2.11661711e+02] [ 9.89845207e-01 1.42132118e-01 -2.21965976e-03 2.35392564e+02] [ 2.24923798e-03 -4.74438074e-05 9.99997469e-01 1.31715667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:235.42, Z:1.32 [[ 1.39804590e-01 -9.90179043e-01 -3.74706500e-04 2.11665535e+02] [ 9.90176560e-01 1.39805079e-01 -2.21829906e-03 2.35419033e+02] [ 2.24889911e-03 -6.08972025e-05 9.99997469e-01 1.31691837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:235.45, Z:1.32 [[ 1.38334781e-01 -9.90385456e-01 -3.69660093e-04 2.11670890e+02] [ 9.90382972e-01 1.38335262e-01 -2.21914899e-03 2.35445654e+02] [ 2.24894991e-03 -5.91195711e-05 9.99997469e-01 1.31798997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:235.47, Z:1.32 [[ 1.38327814e-01 -9.90386428e-01 -3.72937012e-04 2.11674556e+02] [ 9.90383945e-01 1.38328303e-01 -2.21859815e-03 2.35471429e+02] [ 2.24885724e-03 -6.24569962e-05 9.99997469e-01 1.31843054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:235.50, Z:1.32 [[ 1.38022290e-01 -9.90429055e-01 -3.66799986e-04 2.11678333e+02] [ 9.90426569e-01 1.38022766e-01 -2.21962812e-03 2.35499168e+02] [ 2.24901093e-03 -5.69302951e-05 9.99997469e-01 1.31737802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.68, Y:235.53, Z:1.32 [[ 1.40488733e-01 -9.90082209e-01 -3.68637627e-04 2.11682895e+02] [ 9.90079723e-01 1.40489207e-01 -2.21932011e-03 2.35526480e+02] [ 2.24909896e-03 -5.31911688e-05 9.99997469e-01 1.31716505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:235.55, Z:1.32 [[ 1.40508127e-01 -9.90079456e-01 -3.71264288e-04 2.11686406e+02] [ 9.90076971e-01 1.40508606e-01 -2.21888061e-03 2.35554598e+02] [ 2.24903394e-03 -5.58094629e-05 9.99997469e-01 1.31678166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:235.58, Z:1.32 [[ 1.42777595e-01 -9.89754722e-01 -3.87049907e-04 2.11690374e+02] [ 9.89752242e-01 1.42778104e-01 -2.21623892e-03 2.35578389e+02] [ 2.24879519e-03 -6.66542518e-05 9.99997469e-01 1.31660374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.69, Y:235.61, Z:1.32 [[ 1.44093543e-01 -9.89564002e-01 -3.69676680e-04 2.11694554e+02] [ 9.89561515e-01 1.44094010e-01 -2.21913306e-03 2.35605626e+02] [ 2.24924238e-03 -4.60550713e-05 9.99997469e-01 1.31605557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:235.63, Z:1.32 [[ 1.45279761e-01 -9.89390547e-01 -3.68875072e-04 2.11698416e+02] [ 9.89388059e-01 1.45280223e-01 -2.21926630e-03 2.35633076e+02] [ 2.24931135e-03 -4.25461152e-05 9.99997469e-01 1.31557930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.70, Y:235.66, Z:1.31 [[ 1.47665721e-01 -9.89037259e-01 -3.68069711e-04 2.11701873e+02] [ 9.89034769e-01 1.47666175e-01 -2.21939986e-03 2.35659355e+02] [ 2.24942060e-03 -3.63044618e-05 9.99997469e-01 1.31453454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.31275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:211.71, Y:235.69, Z:1.31 [[ 1.48472759e-01 -9.88916430e-01 -3.67231137e-04 2.11706319e+02] [ 9.88913940e-01 1.48473209e-01 -2.21953860e-03 2.35686682e+02] [ 2.24946218e-03 -3.36189702e-05 9.99997469e-01 1.31456304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.71, Y:235.71, Z:1.31 [[ 1.50049418e-01 -9.88678430e-01 -3.65207608e-04 2.11710832e+02] [ 9.88675939e-01 1.50049860e-01 -2.21987273e-03 2.35710985e+02] [ 2.24953964e-03 -2.79813618e-05 9.99997469e-01 1.31397765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:235.74, Z:1.31 [[ 1.48793190e-01 -9.88868273e-01 -3.54504083e-04 2.11715445e+02] [ 9.88865777e-01 1.48793611e-01 -2.22163665e-03 2.35739999e+02] [ 2.24965394e-03 -1.99925510e-05 9.99997469e-01 1.31278258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:235.77, Z:1.31 [[ 1.48179432e-01 -9.88960425e-01 -3.65582957e-04 2.11719957e+02] [ 9.88957934e-01 1.48179879e-01 -2.21981206e-03 2.35766355e+02] [ 2.24947832e-03 -3.26156765e-05 9.99997469e-01 1.31229295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:235.79, Z:1.31 [[ 1.47282042e-01 -9.89094468e-01 -3.64740648e-04 2.11724541e+02] [ 9.89091978e-01 1.47282489e-01 -2.21995045e-03 2.35793015e+02] [ 2.24946062e-03 -3.38032142e-05 9.99997469e-01 1.31215928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:235.82, Z:1.31 [[ 1.45759082e-01 -9.89320048e-01 -3.63973103e-04 2.11730031e+02] [ 9.89317558e-01 1.45759532e-01 -2.22007629e-03 2.35819201e+02] [ 2.24941853e-03 -3.64887004e-05 9.99997469e-01 1.31307739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.73, Y:235.85, Z:1.31 [[ 1.44390657e-01 -9.89520695e-01 -3.63170383e-04 2.11734576e+02] [ 9.89518205e-01 1.44391108e-01 -2.22020759e-03 2.35845666e+02] [ 2.24937993e-03 -3.87864735e-05 9.99997469e-01 1.31354458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:235.87, Z:1.31 [[ 1.42556499e-01 -9.89786600e-01 -3.62403875e-04 2.11739206e+02] [ 9.89784110e-01 1.42556954e-01 -2.22033270e-03 2.35871445e+02] [ 2.24931875e-03 -4.21787391e-05 9.99997469e-01 1.31433018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:235.90, Z:1.31 [[ 1.41295655e-01 -9.89967377e-01 -3.61601756e-04 2.11743769e+02] [ 9.89964888e-01 1.41296111e-01 -2.22046333e-03 2.35898046e+02] [ 2.24927918e-03 -4.42312216e-05 9.99997469e-01 1.31401541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:235.92, Z:1.31 [[ 1.40368153e-01 -9.90099314e-01 -3.60830415e-04 2.11748562e+02] [ 9.90096825e-01 1.40368609e-01 -2.22058866e-03 2.35924002e+02] [ 2.24925258e-03 -4.55571192e-05 9.99997469e-01 1.31386722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.75, Y:235.95, Z:1.31 [[ 1.39076315e-01 -9.90281601e-01 -3.60024693e-04 2.11753607e+02] [ 9.90279112e-01 1.39076773e-01 -2.22071929e-03 2.35950362e+02] [ 2.24920853e-03 -4.76754771e-05 9.99997469e-01 1.31356609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:235.98, Z:1.31 [[ 1.38786878e-01 -9.90322207e-01 -3.59185864e-04 2.11758375e+02] [ 9.90319718e-01 1.38787335e-01 -2.22085496e-03 2.35977226e+02] [ 2.24921243e-03 -4.74833172e-05 9.99997469e-01 1.31306290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.76, Y:236.00, Z:1.31 [[ 1.38440522e-01 -9.90370685e-01 -3.58411863e-04 2.11762584e+02] [ 9.90368196e-01 1.38440978e-01 -2.22097986e-03 2.36004641e+02] [ 2.24921223e-03 -4.74860996e-05 9.99997469e-01 1.31312510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:236.03, Z:1.31 [[ 1.38009425e-01 -9.90430851e-01 -3.57635069e-04 2.11767052e+02] [ 9.90428362e-01 1.38009880e-01 -2.22110494e-03 2.36031173e+02] [ 2.24920803e-03 -4.76785008e-05 9.99997469e-01 1.31302220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.77, Y:236.06, Z:1.31 [[ 1.37981984e-01 -9.90434675e-01 -3.56844865e-04 2.11771366e+02] [ 9.90432185e-01 1.37982438e-01 -2.22123189e-03 2.36056950e+02] [ 2.24922340e-03 -4.69406554e-05 9.99997469e-01 1.31269601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:236.08, Z:1.31 [[ 1.39018733e-01 -9.90289688e-01 -3.56020145e-04 2.11776005e+02] [ 9.90287197e-01 1.39019181e-01 -2.22136406e-03 2.36084009e+02] [ 2.24928755e-03 -4.37509749e-05 9.99997469e-01 1.31157224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:236.11, Z:1.31 [[ 1.39898024e-01 -9.90165853e-01 -3.55249628e-04 2.11780464e+02] [ 9.90163362e-01 1.39898469e-01 -2.22148728e-03 2.36110411e+02] [ 2.24933973e-03 -4.09734854e-05 9.99997469e-01 1.31127761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.78, Y:236.14, Z:1.31 [[ 1.40683003e-01 -9.90054628e-01 -3.54483580e-04 2.11784775e+02] [ 9.90052136e-01 1.40683445e-01 -2.22160951e-03 2.36136806e+02] [ 2.24938475e-03 -3.84145275e-05 9.99997469e-01 1.31098082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.79, Y:236.16, Z:1.31 [[ 1.42427724e-01 -9.89805142e-01 -3.53712290e-04 2.11790386e+02] [ 9.89802649e-01 1.42428159e-01 -2.22173231e-03 2.36163697e+02] [ 2.24946065e-03 -3.36690864e-05 9.99997469e-01 1.31086486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:236.19, Z:1.31 [[ 1.44154103e-01 -9.89555188e-01 -3.52931757e-04 2.11795744e+02] [ 9.89552694e-01 1.44154532e-01 -2.22185629e-03 2.36188626e+02] [ 2.24952613e-03 -2.89548708e-05 9.99997469e-01 1.31085963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.80, Y:236.22, Z:1.31 [[ 1.43220443e-01 -9.89690754e-01 -3.41435254e-04 2.11800272e+02] [ 9.89688256e-01 1.43220848e-01 -2.22367674e-03 2.36215494e+02] [ 2.24965296e-03 -1.94384940e-05 9.99997469e-01 1.31105930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:236.24, Z:1.31 [[ 1.43710653e-01 -9.89619687e-01 -3.51545900e-04 2.11806263e+02] [ 9.89617193e-01 1.43711080e-01 -2.22207718e-03 2.36242454e+02] [ 2.24953236e-03 -2.85597050e-05 9.99997469e-01 1.31110775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.81, Y:236.27, Z:1.31 [[ 1.43363063e-01 -9.89670101e-01 -3.50771474e-04 2.11810979e+02] [ 9.89667607e-01 1.43363489e-01 -2.22219942e-03 2.36269094e+02] [ 2.24953215e-03 -2.85658501e-05 9.99997469e-01 1.31138436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:236.30, Z:1.31 [[ 1.42964201e-01 -9.89727798e-01 -3.49999980e-04 2.11816146e+02] [ 9.89725304e-01 1.42964627e-01 -2.22232092e-03 2.36295458e+02] [ 2.24953041e-03 -2.86914999e-05 9.99997469e-01 1.31172516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.82, Y:236.32, Z:1.31 [[ 1.42579434e-01 -9.89783301e-01 -3.49235425e-04 2.11820853e+02] [ 9.89780806e-01 1.42579859e-01 -2.22244107e-03 2.36319978e+02] [ 2.24952899e-03 -2.87921309e-05 9.99997469e-01 1.31203106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:236.35, Z:1.31 [[ 1.42169461e-01 -9.89842272e-01 -3.48349852e-04 2.11826275e+02] [ 9.89839777e-01 1.42169884e-01 -2.22257986e-03 2.36346534e+02] [ 2.24952836e-03 -2.88275592e-05 9.99997469e-01 1.31247213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.83, Y:236.37, Z:1.31 [[ 1.41515098e-01 -9.89936036e-01 -3.47571343e-04 2.11831341e+02] [ 9.89933542e-01 1.41515522e-01 -2.22270160e-03 2.36372147e+02] [ 2.24951915e-03 -2.95266946e-05 9.99997469e-01 1.31247879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:236.40, Z:1.31 [[ 1.41057261e-01 -9.90001378e-01 -3.46756290e-04 2.11837545e+02] [ 9.89998883e-01 1.41057684e-01 -2.22282875e-03 2.36398279e+02] [ 2.24951616e-03 -2.97422044e-05 9.99997469e-01 1.31241851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.84, Y:236.43, Z:1.31 [[ 1.40584941e-01 -9.90068561e-01 -3.45975831e-04 2.11842949e+02] [ 9.90066066e-01 1.40585363e-01 -2.22295022e-03 2.36425409e+02] [ 2.24951226e-03 -3.00256046e-05 9.99997469e-01 1.31190086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:236.45, Z:1.31 [[ 1.39594564e-01 -9.90208684e-01 -3.45192303e-04 2.11847315e+02] [ 9.90206189e-01 1.39594987e-01 -2.22307188e-03 2.36453034e+02] [ 2.24949220e-03 -3.14828055e-05 9.99997469e-01 1.30998200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.85, Y:236.48, Z:1.31 [[ 1.39325170e-01 -9.90246624e-01 -3.47262312e-04 2.11852476e+02] [ 9.90244130e-01 1.39325599e-01 -2.22275078e-03 2.36478392e+02] [ 2.24945399e-03 -3.41893346e-05 9.99997469e-01 1.31099619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.86, Y:236.50, Z:1.31 [[ 1.39306745e-01 -9.90249217e-01 -3.44871460e-04 2.11857553e+02] [ 9.90246722e-01 1.39307168e-01 -2.22312078e-03 2.36504250e+02] [ 2.24948668e-03 -3.18121143e-05 9.99997469e-01 1.31084084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.86, Y:236.53, Z:1.31 [[ 1.39046762e-01 -9.90285757e-01 -3.43196884e-04 2.11864299e+02] [ 9.90283261e-01 1.39047182e-01 -2.22337927e-03 2.36529669e+02] [ 2.24950138e-03 -3.07084413e-05 9.99997469e-01 1.30969783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.87, Y:236.56, Z:1.31 [[ 1.38555635e-01 -9.90354592e-01 -3.42595340e-04 2.11869620e+02] [ 9.90352097e-01 1.38556055e-01 -2.22347195e-03 2.36556395e+02] [ 2.24949432e-03 -3.12154458e-05 9.99997469e-01 1.30913675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:236.58, Z:1.31 [[ 1.38540946e-01 -9.90356648e-01 -3.41813030e-04 2.11875192e+02] [ 9.90354152e-01 1.38541364e-01 -2.22359221e-03 2.36583433e+02] [ 2.24950457e-03 -3.04573855e-05 9.99997469e-01 1.30846685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:236.61, Z:1.31 [[ 1.38922093e-01 -9.90303255e-01 -3.41008825e-04 2.11878546e+02] [ 9.90300758e-01 1.38922508e-01 -2.22371554e-03 2.36609851e+02] [ 2.24952654e-03 -2.87780818e-05 9.99997469e-01 1.30850277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.88, Y:236.64, Z:1.31 [[ 1.39195354e-01 -9.90264883e-01 -3.40167605e-04 2.11882707e+02] [ 9.90262386e-01 1.39195767e-01 -2.22384421e-03 2.36637311e+02] [ 2.24954472e-03 -2.73064029e-05 9.99997469e-01 1.30666670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:236.66, Z:1.31 [[ 1.38977723e-01 -9.90295447e-01 -3.46004343e-04 2.11887405e+02] [ 9.90292953e-01 1.38978150e-01 -2.22295249e-03 2.36663755e+02] [ 2.24946677e-03 -3.37047868e-05 9.99997469e-01 1.30755549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.89, Y:236.69, Z:1.31 [[ 1.39491125e-01 -9.90223262e-01 -3.42035727e-04 2.11891998e+02] [ 9.90220766e-01 1.39491541e-01 -2.22355706e-03 2.36689812e+02] [ 2.24952902e-03 -2.85244036e-05 9.99997469e-01 1.30995854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:236.72, Z:1.31 [[ 1.39459780e-01 -9.90227679e-01 -3.38053355e-04 2.11896222e+02] [ 9.90225181e-01 1.39460188e-01 -2.22416235e-03 2.36716882e+02] [ 2.24957210e-03 -2.45677528e-05 9.99997469e-01 1.31034689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:236.74, Z:1.31 [[ 1.38974669e-01 -9.90295879e-01 -3.37279592e-04 2.11899618e+02] [ 9.90293381e-01 1.38975076e-01 -2.22427968e-03 2.36744110e+02] [ 2.24956846e-03 -2.48872155e-05 9.99997469e-01 1.30890267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.90, Y:236.77, Z:1.31 [[ 1.39126675e-01 -9.90274534e-01 -3.39497197e-04 2.11903504e+02] [ 9.90272037e-01 1.39127087e-01 -2.22394402e-03 2.36770394e+02] [ 2.24954839e-03 -2.67846435e-05 9.99997469e-01 1.31062944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:236.80, Z:1.31 [[ 1.39185496e-01 -9.90266270e-01 -3.35493364e-04 2.11906364e+02] [ 9.90263772e-01 1.39185898e-01 -2.22454786e-03 2.36797382e+02] [ 2.24959065e-03 -2.26021272e-05 9.99997469e-01 1.31114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:236.82, Z:1.31 [[ 1.39932725e-01 -9.90160957e-01 -3.34715551e-04 2.11908131e+02] [ 9.90158458e-01 1.39933124e-01 -2.22466488e-03 2.36823917e+02] [ 2.24961410e-03 -2.01180132e-05 9.99997469e-01 1.31122308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:236.85, Z:1.31 [[ 1.40286207e-01 -9.90110938e-01 -3.33901710e-04 2.11909894e+02] [ 9.90108438e-01 1.40286603e-01 -2.22478703e-03 2.36850213e+02] [ 2.24962791e-03 -1.84919681e-05 9.99997469e-01 1.31185152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:236.88, Z:1.31 [[ 1.41548999e-01 -9.89931195e-01 -3.33054987e-04 2.11912581e+02] [ 9.89928694e-01 1.41549390e-01 -2.22491378e-03 2.36876919e+02] [ 2.24965528e-03 -1.47663713e-05 9.99997469e-01 1.31147755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:236.90, Z:1.31 [[ 1.40834829e-01 -9.90033050e-01 -3.32214578e-04 2.11915426e+02] [ 9.90030550e-01 1.40835220e-01 -2.22503926e-03 2.36904440e+02] [ 2.24964991e-03 -1.55395591e-05 9.99997469e-01 1.31069042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:236.93, Z:1.31 [[ 1.41394918e-01 -9.89953212e-01 -3.38878871e-04 2.11918197e+02] [ 9.89950714e-01 1.41395323e-01 -2.22404623e-03 2.36929978e+02] [ 2.24961759e-03 -2.10045469e-05 9.99997469e-01 1.31068232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:236.96, Z:1.31 [[ 1.40919292e-01 -9.90021032e-01 -3.30243896e-04 2.11920070e+02] [ 9.90018531e-01 1.40919678e-01 -2.22532768e-03 2.36957043e+02] [ 2.24965907e-03 -1.33559774e-05 9.99997469e-01 1.31127533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.92, Y:236.98, Z:1.31 [[ 1.38502482e-01 -9.90362032e-01 -3.29462808e-04 2.11922170e+02] [ 9.90359532e-01 1.38502873e-01 -2.22544331e-03 2.36984511e+02] [ 2.24962610e-03 -1.80572102e-05 9.99997469e-01 1.31127526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:237.01, Z:1.31 [[ 1.38124709e-01 -9.90414786e-01 -3.41944421e-04 2.11925423e+02] [ 9.90412290e-01 1.38125128e-01 -2.22360115e-03 2.37010166e+02] [ 2.24951857e-03 -3.15316955e-05 9.99997469e-01 1.31156135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:237.04, Z:1.31 [[ 1.37314071e-01 -9.90527504e-01 -3.32128241e-04 2.11928179e+02] [ 9.90525005e-01 1.37314470e-01 -2.22504445e-03 2.37035040e+02] [ 2.24957373e-03 -2.34514170e-05 9.99997469e-01 1.31189416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:237.06, Z:1.31 [[ 1.33159689e-01 -9.91094542e-01 -3.26428565e-04 2.11931335e+02] [ 9.91092043e-01 1.33160086e-01 -2.22588031e-03 2.37061048e+02] [ 2.24952508e-03 -2.71232232e-05 9.99997469e-01 1.31092020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:237.09, Z:1.31 [[ 1.31515766e-01 -9.91314024e-01 -3.31632106e-04 2.11935449e+02] [ 9.91311527e-01 1.31516179e-01 -2.22511885e-03 2.37087124e+02] [ 2.24940651e-03 -3.61125194e-05 9.99997469e-01 1.31116985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:237.11, Z:1.31 [[ 1.27698135e-01 -9.91813027e-01 -3.24826920e-04 2.11940474e+02] [ 9.91810530e-01 1.27698542e-01 -2.22611184e-03 2.37113660e+02] [ 2.24936665e-03 -3.78964297e-05 9.99997469e-01 1.31123038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:237.14, Z:1.31 [[ 1.25448662e-01 -9.92100060e-01 -3.24038977e-04 2.11944651e+02] [ 9.92097563e-01 1.25449073e-01 -2.22622653e-03 2.37139948e+02] [ 2.24928986e-03 -4.22011405e-05 9.99997469e-01 1.31058583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:237.17, Z:1.31 [[ 1.24419931e-01 -9.92229597e-01 -3.29089453e-04 2.11949132e+02] [ 9.92227102e-01 1.24420356e-01 -2.22549343e-03 2.37165971e+02] [ 2.24914588e-03 -4.96357364e-05 9.99997469e-01 1.31117070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:237.19, Z:1.31 [[ 1.23496928e-01 -9.92344902e-01 -3.22264657e-04 2.11952627e+02] [ 9.92342405e-01 1.23497341e-01 -2.22648126e-03 2.37192706e+02] [ 2.24923616e-03 -4.48332879e-05 9.99997469e-01 1.31125898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:237.22, Z:1.31 [[ 1.23384763e-01 -9.92358855e-01 -3.21493505e-04 2.11956760e+02] [ 9.92356358e-01 1.23385174e-01 -2.22659261e-03 2.37219781e+02] [ 2.24924642e-03 -4.43085214e-05 9.99997469e-01 1.31134008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:237.25, Z:1.31 [[ 1.23520347e-01 -9.92341988e-01 -3.20726584e-04 2.11960359e+02] [ 9.92339491e-01 1.23520756e-01 -2.22670307e-03 2.37246917e+02] [ 2.24926734e-03 -4.32265192e-05 9.99997469e-01 1.31169935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:237.27, Z:1.31 [[ 1.25191188e-01 -9.92132584e-01 -3.19955579e-04 2.11963673e+02] [ 9.92130086e-01 1.25191591e-01 -2.22681385e-03 2.37271819e+02] [ 2.24935033e-03 -3.86600845e-05 9.99997469e-01 1.31185207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:237.30, Z:1.31 [[ 1.24971672e-01 -9.92160261e-01 -3.12807641e-04 2.11967545e+02] [ 9.92157760e-01 1.24972059e-01 -2.22783750e-03 2.37298880e+02] [ 2.24946405e-03 -3.19379515e-05 9.99997469e-01 1.31230576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:237.32, Z:1.31 [[ 1.28797743e-01 -9.91670833e-01 -3.17980826e-04 2.11971563e+02] [ 9.91668332e-01 1.28798132e-01 -2.22709888e-03 2.37322135e+02] [ 2.24950434e-03 -2.84862064e-05 9.99997469e-01 1.31227192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:237.35, Z:1.31 [[ 1.28421051e-01 -9.91719691e-01 -2.96209161e-04 2.11974378e+02] [ 9.91717184e-01 1.28421392e-01 -2.23018796e-03 2.37350434e+02] [ 2.24976091e-03 -7.35263432e-06 9.99997469e-01 1.31243137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:237.38, Z:1.31 [[ 1.28271799e-01 -9.91739003e-01 -3.09865910e-04 2.11977600e+02] [ 9.91736500e-01 1.28272171e-01 -2.22825370e-03 2.37378103e+02] [ 2.24959328e-03 -2.14832227e-05 9.99997469e-01 1.31195721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:237.40, Z:1.31 [[ 1.29421105e-01 -9.91589673e-01 -3.14600057e-04 2.11980072e+02] [ 9.91587171e-01 1.29421485e-01 -2.22758510e-03 2.37403838e+02] [ 2.24956639e-03 -2.36568544e-05 9.99997469e-01 1.31090151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:237.43, Z:1.31 [[ 1.29409737e-01 -9.91591156e-01 -3.13763738e-04 2.11982868e+02] [ 9.91588654e-01 1.29410116e-01 -2.22770290e-03 2.37429826e+02] [ 2.24957469e-03 -2.28381158e-05 9.99997469e-01 1.31158552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:237.45, Z:1.31 [[ 1.29099241e-01 -9.91631630e-01 -3.09144139e-04 2.11985834e+02] [ 9.91629127e-01 1.29099610e-01 -2.22835125e-03 2.37454800e+02] [ 2.24961397e-03 -1.88778773e-05 9.99997469e-01 1.31152382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:237.48, Z:1.31 [[ 1.28487841e-01 -9.91711037e-01 -3.08270566e-04 2.11988338e+02] [ 9.91708533e-01 1.28488209e-01 -2.22847350e-03 2.37481523e+02] [ 2.24961090e-03 -1.93828028e-05 9.99997469e-01 1.31115506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.99, Y:237.51, Z:1.31 [[ 1.28047070e-01 -9.91768043e-01 -3.11085568e-04 2.11991556e+02] [ 9.91765540e-01 1.28047446e-01 -2.22808047e-03 2.37507574e+02] [ 2.24957272e-03 -2.32247703e-05 9.99997469e-01 1.31135108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.99, Y:237.53, Z:1.31 [[ 1.27192749e-01 -9.91877971e-01 -3.10256824e-04 2.11994876e+02] [ 9.91875468e-01 1.27193125e-01 -2.22819586e-03 2.37534536e+02] [ 2.24956093e-03 -2.43257751e-05 9.99997469e-01 1.31258905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:237.56, Z:1.31 [[ 1.26121422e-01 -9.92014764e-01 -3.09455134e-04 2.11998119e+02] [ 9.92012261e-01 1.26121799e-01 -2.22830720e-03 2.37562469e+02] [ 2.24954268e-03 -2.59460145e-05 9.99997469e-01 1.31126914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.00, Y:237.59, Z:1.31 [[ 1.25562045e-01 -9.92085721e-01 -3.08750966e-04 2.12001880e+02] [ 9.92083219e-01 1.25562422e-01 -2.22840475e-03 2.37588725e+02] [ 2.24953605e-03 -2.65035951e-05 9.99997469e-01 1.31332369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:237.62, Z:1.31 [[ 1.23689678e-01 -9.92320900e-01 -3.07816868e-04 2.12005198e+02] [ 9.92318398e-01 1.23690058e-01 -2.22853377e-03 2.37615293e+02] [ 2.24949452e-03 -2.98057168e-05 9.99997469e-01 1.31403290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:237.64, Z:1.31 [[ 1.22667666e-01 -9.92447757e-01 -3.07026883e-04 2.12008721e+02] [ 9.92445255e-01 1.22668047e-01 -2.22864260e-03 2.37641956e+02] [ 2.24947374e-03 -3.13249864e-05 9.99997469e-01 1.31442992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:237.67, Z:1.31 [[ 1.21599939e-01 -9.92579146e-01 -3.06226496e-04 2.12012167e+02] [ 9.92576644e-01 1.21600321e-01 -2.22875257e-03 2.37668158e+02] [ 2.24945056e-03 -3.29370898e-05 9.99997469e-01 1.31378370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:237.69, Z:1.31 [[ 1.21181847e-01 -9.92630277e-01 -3.05386105e-04 2.12015511e+02] [ 9.92627775e-01 1.21182227e-01 -2.22886772e-03 2.37694876e+02] [ 2.24944895e-03 -3.30364231e-05 9.99997469e-01 1.31384405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:237.72, Z:1.31 [[ 1.19236195e-01 -9.92865871e-01 -3.04447234e-04 2.12017887e+02] [ 9.92863369e-01 1.19236578e-01 -2.22899595e-03 2.37720467e+02] [ 2.24939525e-03 -3.64975092e-05 9.99997469e-01 1.31182828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.02, Y:237.75, Z:1.31 [[ 1.19612457e-01 -9.92820615e-01 -2.95376059e-04 2.12023464e+02] [ 9.92818110e-01 1.19612819e-01 -2.23023200e-03 2.37748440e+02] [ 2.24955107e-03 -2.64911717e-05 9.99997469e-01 1.31464014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:237.77, Z:1.31 [[ 1.18390033e-01 -9.92967124e-01 -3.03232743e-04 2.12027858e+02] [ 9.92964622e-01 1.18390415e-01 -2.22916326e-03 2.37774121e+02] [ 2.24938568e-03 -3.71886756e-05 9.99997469e-01 1.31477621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:237.80, Z:1.31 [[ 1.17407588e-01 -9.93083766e-01 -3.02409256e-04 2.12031703e+02] [ 9.93081265e-01 1.17407971e-01 -2.22927497e-03 2.37801078e+02] [ 2.24936204e-03 -3.85831703e-05 9.99997469e-01 1.31473361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:237.83, Z:1.31 [[ 1.16845286e-01 -9.93150083e-01 -3.01623737e-04 2.12035503e+02] [ 9.93147582e-01 1.16845669e-01 -2.22938124e-03 2.37828206e+02] [ 2.24935360e-03 -3.90641957e-05 9.99997469e-01 1.31453668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:237.86, Z:1.31 [[ 1.15771811e-01 -9.93275791e-01 -3.00825518e-04 2.12038185e+02] [ 9.93273290e-01 1.15772195e-01 -2.22948895e-03 2.37855582e+02] [ 2.24932463e-03 -4.06899794e-05 9.99997469e-01 1.31146932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.04, Y:237.88, Z:1.31 [[ 1.15814261e-01 -9.93270844e-01 -2.95758892e-04 2.12042732e+02] [ 9.93268341e-01 1.15814634e-01 -2.23017051e-03 2.37882133e+02] [ 2.24941655e-03 -3.54823943e-05 9.99997469e-01 1.31456474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:237.91, Z:1.31 [[ 1.15932008e-01 -9.93257107e-01 -2.99226537e-04 2.12046849e+02] [ 9.93254605e-01 1.15932388e-01 -2.22970515e-03 2.37909412e+02] [ 2.24936053e-03 -3.87139401e-05 9.99997469e-01 1.31489114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.05, Y:237.94, Z:1.31 [[ 1.16062377e-01 -9.93241882e-01 -2.98435904e-04 2.12051144e+02] [ 9.93239379e-01 1.16062755e-01 -2.22981097e-03 2.37935471e+02] [ 2.24937893e-03 -3.76211301e-05 9.99997469e-01 1.31363310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:237.96, Z:1.31 [[ 1.16125474e-01 -9.93234507e-01 -2.96351881e-04 2.12055084e+02] [ 9.93232004e-01 1.16125847e-01 -2.23008909e-03 2.37961488e+02] [ 2.24941555e-03 -3.53760209e-05 9.99997469e-01 1.31409970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:237.99, Z:1.31 [[ 1.15630639e-01 -9.93292237e-01 -2.96909047e-04 2.12058626e+02] [ 9.93289734e-01 1.15631015e-01 -2.23001490e-03 2.37988133e+02] [ 2.24938839e-03 -3.70586592e-05 9.99997469e-01 1.31377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:238.01, Z:1.31 [[ 1.15104024e-01 -9.93353399e-01 -2.96123267e-04 2.12061422e+02] [ 9.93350897e-01 1.15104399e-01 -2.23011924e-03 2.38014035e+02] [ 2.24938162e-03 -3.74586145e-05 9.99997469e-01 1.31330985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.06, Y:238.04, Z:1.31 [[ 1.14459253e-01 -9.93427900e-01 -2.95517219e-04 2.12064333e+02] [ 9.93425397e-01 1.14459628e-01 -2.23019955e-03 2.38040830e+02] [ 2.24936724e-03 -3.83073370e-05 9.99997469e-01 1.31355901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:238.07, Z:1.31 [[ 1.13612791e-01 -9.93525061e-01 -2.94733009e-04 2.12067359e+02] [ 9.93522559e-01 1.13613166e-01 -2.23030318e-03 2.38068210e+02] [ 2.24934765e-03 -3.94329251e-05 9.99997469e-01 1.31410439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:238.10, Z:1.31 [[ 1.13108986e-01 -9.93582544e-01 -2.93942867e-04 2.12070691e+02] [ 9.93580041e-01 1.13109361e-01 -2.23040731e-03 2.38095665e+02] [ 2.24934146e-03 -3.97766559e-05 9.99997469e-01 1.31467932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:238.12, Z:1.32 [[ 1.12728951e-01 -9.93625733e-01 -2.93151263e-04 2.12073978e+02] [ 9.93623230e-01 1.12729325e-01 -2.23051135e-03 2.38122863e+02] [ 2.24934022e-03 -3.98387004e-05 9.99997469e-01 1.31552700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:238.15, Z:1.32 [[ 1.12401030e-01 -9.93662882e-01 -2.92345798e-04 2.12076918e+02] [ 9.93660379e-01 1.12401404e-01 -2.23061692e-03 2.38148811e+02] [ 2.24934131e-03 -3.97687963e-05 9.99997469e-01 1.31536869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:238.18, Z:1.32 [[ 1.12452380e-01 -9.93657072e-01 -2.91502997e-04 2.12079614e+02] [ 9.93654569e-01 1.12452751e-01 -2.23072705e-03 2.38176228e+02] [ 2.24935802e-03 -3.88027186e-05 9.99997469e-01 1.31714068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:238.20, Z:1.32 [[ 1.12031229e-01 -9.93704644e-01 -2.90671721e-04 2.12082338e+02] [ 9.93702141e-01 1.12031599e-01 -2.23083536e-03 2.38202568e+02] [ 2.24935588e-03 -3.89178851e-05 9.99997469e-01 1.31681265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:238.23, Z:1.32 [[ 1.11502509e-01 -9.93764110e-01 -2.90030284e-04 2.12085259e+02] [ 9.93761607e-01 1.11502879e-01 -2.23091875e-03 2.38229059e+02] [ 2.24934620e-03 -3.94679227e-05 9.99997469e-01 1.31619542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:238.26, Z:1.32 [[ 1.10465505e-01 -9.93879917e-01 -2.89194490e-04 2.12088329e+02] [ 9.93877413e-01 1.10465876e-01 -2.23102709e-03 2.38255630e+02] [ 2.24931914e-03 -4.09723381e-05 9.99997469e-01 1.31609643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.09, Y:238.28, Z:1.32 [[ 1.09261649e-01 -9.94012982e-01 -2.88415119e-04 2.12091656e+02] [ 9.94010479e-01 1.09262021e-01 -2.23112784e-03 2.38282672e+02] [ 2.24928286e-03 -4.29109446e-05 9.99997469e-01 1.31589427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:238.31, Z:1.32 [[ 1.07815424e-01 -9.94170887e-01 -2.87630832e-04 2.12095278e+02] [ 9.94168384e-01 1.07815798e-01 -2.23122894e-03 2.38308945e+02] [ 2.24923400e-03 -4.53925853e-05 9.99997469e-01 1.31600265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:238.34, Z:1.32 [[ 1.07283221e-01 -9.94228459e-01 -2.86810487e-04 2.12098598e+02] [ 9.94225956e-01 1.07283594e-01 -2.23133439e-03 2.38335932e+02] [ 2.24922621e-03 -4.57696914e-05 9.99997469e-01 1.31626273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:238.36, Z:1.32 [[ 1.07037982e-01 -9.94254891e-01 -2.86038329e-04 2.12101901e+02] [ 9.94252388e-01 1.07038355e-01 -2.23143337e-03 2.38363355e+02] [ 2.24923061e-03 -4.55461670e-05 9.99997469e-01 1.31662514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:238.39, Z:1.32 [[ 1.07090098e-01 -9.94249279e-01 -2.85260895e-04 2.12105274e+02] [ 9.94246776e-01 1.07090469e-01 -2.23153275e-03 2.38389900e+02] [ 2.24924855e-03 -4.46446642e-05 9.99997469e-01 1.31785086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:238.42, Z:1.32 [[ 1.06941415e-01 -9.94265283e-01 -2.84463120e-04 2.12108404e+02] [ 9.94262779e-01 1.06941784e-01 -2.23163444e-03 2.38416261e+02] [ 2.24925764e-03 -4.41769480e-05 9.99997469e-01 1.31763090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:238.44, Z:1.32 [[ 1.06912853e-01 -9.94268355e-01 -2.83628063e-04 2.12111483e+02] [ 9.94265851e-01 1.06913220e-01 -2.23174057e-03 2.38443084e+02] [ 2.24927261e-03 -4.33999464e-05 9.99997469e-01 1.31844985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:238.47, Z:1.32 [[ 1.07475086e-01 -9.94207738e-01 -2.82824376e-04 2.12114506e+02] [ 9.94205234e-01 1.07475450e-01 -2.23184241e-03 2.38469595e+02] [ 2.24931167e-03 -4.13180198e-05 9.99997469e-01 1.31771322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:238.50, Z:1.32 [[ 1.07507647e-01 -9.94204218e-01 -2.82204062e-04 2.12117868e+02] [ 9.94201713e-01 1.07508009e-01 -2.23192084e-03 2.38497033e+02] [ 2.24932431e-03 -4.06192045e-05 9.99997469e-01 1.31783348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:238.52, Z:1.32 [[ 1.06853293e-01 -9.94274758e-01 -2.81408089e-04 2.12120965e+02] [ 9.94272254e-01 1.06853655e-01 -2.23202120e-03 2.38524591e+02] [ 2.24931182e-03 -4.12974403e-05 9.99997469e-01 1.31764582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:238.55, Z:1.32 [[ 1.08260565e-01 -9.94122511e-01 -2.89378904e-04 2.12124469e+02] [ 9.94120008e-01 1.08260942e-01 -2.23101878e-03 2.38549759e+02] [ 2.24923442e-03 -4.61460044e-05 9.99997469e-01 1.31802608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:238.58, Z:1.32 [[ 1.08437850e-01 -9.94103191e-01 -2.79417940e-04 2.12127572e+02] [ 9.94100686e-01 1.08438204e-01 -2.23226562e-03 2.38577238e+02] [ 2.24940195e-03 -3.57074824e-05 9.99997469e-01 1.31802945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:238.60, Z:1.32 [[ 1.08594132e-01 -9.94086132e-01 -2.78633255e-04 2.12130509e+02] [ 9.94083626e-01 1.08594484e-01 -2.23236356e-03 2.38604824e+02] [ 2.24941969e-03 -3.45631737e-05 9.99997469e-01 1.31806139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:238.63, Z:1.32 [[ 1.08693790e-01 -9.94075240e-01 -2.77851785e-04 2.12132275e+02] [ 9.94072734e-01 1.08694140e-01 -2.23246082e-03 2.38632406e+02] [ 2.24943488e-03 -3.35502561e-05 9.99997469e-01 1.31727503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:238.66, Z:1.32 [[ 1.08485162e-01 -9.94098030e-01 -2.77057296e-04 2.12135077e+02] [ 9.94095523e-01 1.08485511e-01 -2.23255941e-03 2.38658812e+02] [ 2.24943962e-03 -3.32218489e-05 9.99997469e-01 1.31651860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:238.69, Z:1.32 [[ 1.07653685e-01 -9.94188417e-01 -2.76225647e-04 2.12138265e+02] [ 9.94185910e-01 1.07654033e-01 -2.23266231e-03 2.38685932e+02] [ 2.24942381e-03 -3.42653232e-05 9.99997469e-01 1.31603538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:238.71, Z:1.32 [[ 1.06537265e-01 -9.94308672e-01 -2.75422355e-04 2.12141636e+02] [ 9.94306166e-01 1.06537614e-01 -2.23276140e-03 2.38712421e+02] [ 2.24939686e-03 -3.59818542e-05 9.99997469e-01 1.31580695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.14, Y:238.74, Z:1.31 [[ 1.04669561e-01 -9.94507017e-01 -2.74582076e-04 2.12143808e+02] [ 9.94504512e-01 1.04669913e-01 -2.23286473e-03 2.38739097e+02] [ 2.24934012e-03 -3.93601432e-05 9.99997469e-01 1.31417447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:238.77, Z:1.32 [[ 1.03413013e-01 -9.94638466e-01 -2.67682798e-04 2.12148698e+02] [ 9.94635958e-01 1.03413354e-01 -2.23371053e-03 2.38766278e+02] [ 2.24941639e-03 -3.52521999e-05 9.99997469e-01 1.31722253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:238.79, Z:1.32 [[ 1.02559999e-01 -9.94726783e-01 -2.73252188e-04 2.12151995e+02] [ 9.94724277e-01 1.02560355e-01 -2.23302901e-03 2.38793165e+02] [ 2.24927860e-03 -4.27911312e-05 9.99997469e-01 1.31785790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:238.82, Z:1.32 [[ 1.02022775e-01 -9.94782026e-01 -2.72437320e-04 2.12154575e+02] [ 9.94779520e-01 1.02023130e-01 -2.23312842e-03 2.38818590e+02] [ 2.24927093e-03 -4.31851072e-05 9.99997469e-01 1.31799000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:238.85, Z:1.32 [[ 1.01357147e-01 -9.94850067e-01 -2.70222872e-04 2.12156837e+02] [ 9.94847561e-01 1.01357499e-01 -2.23339765e-03 2.38845637e+02] [ 2.24928491e-03 -4.24597507e-05 9.99997469e-01 1.31770140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:238.87, Z:1.32 [[ 1.01289846e-01 -9.94856921e-01 -2.70523668e-04 2.12159885e+02] [ 9.94854415e-01 1.01290198e-01 -2.23336121e-03 2.38871471e+02] [ 2.24927626e-03 -4.29148532e-05 9.99997469e-01 1.31830692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:238.90, Z:1.32 [[ 1.01467849e-01 -9.94838783e-01 -2.69301989e-04 2.12163278e+02] [ 9.94836276e-01 1.01468198e-01 -2.23350869e-03 2.38898182e+02] [ 2.24930665e-03 -4.12820651e-05 9.99997469e-01 1.31817324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:238.92, Z:1.32 [[ 1.02946951e-01 -9.94686812e-01 -2.68679529e-04 2.12166762e+02] [ 9.94684305e-01 1.02947295e-01 -2.23358357e-03 2.38923728e+02] [ 2.24937595e-03 -3.73106929e-05 9.99997469e-01 1.31814234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.00275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.17, Y:238.95, Z:1.32 [[ 1.03570768e-01 -9.94622051e-01 -2.68063405e-04 2.12169424e+02] [ 9.94619543e-01 1.03571109e-01 -2.23365751e-03 2.38949806e+02] [ 2.24940864e-03 -3.52794772e-05 9.99997469e-01 1.31811481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:238.98, Z:1.32 [[ 1.05651233e-01 -9.94403211e-01 -2.67240706e-04 2.12171929e+02] [ 9.94400702e-01 1.05651567e-01 -2.23375593e-03 2.38976657e+02] [ 2.24948847e-03 -2.97452774e-05 9.99997469e-01 1.31793737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.17, Y:239.00, Z:1.32 [[ 1.05695748e-01 -9.94398481e-01 -2.66449597e-04 2.12174162e+02] [ 9.94395972e-01 1.05696080e-01 -2.23385030e-03 2.39001579e+02] [ 2.24950002e-03 -2.88479285e-05 9.99997469e-01 1.31811326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:239.03, Z:1.32 [[ 1.05637824e-01 -9.94404636e-01 -2.66091938e-04 2.12177045e+02] [ 9.94402127e-01 1.05638155e-01 -2.23389279e-03 2.39028864e+02] [ 2.24950281e-03 -2.86188147e-05 9.99997469e-01 1.31802444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:239.06, Z:1.32 [[ 1.04793738e-01 -9.94493942e-01 -2.68448390e-04 2.12179915e+02] [ 9.94491434e-01 1.04794077e-01 -2.23361360e-03 2.39056133e+02] [ 2.24944699e-03 -3.29009050e-05 9.99997469e-01 1.31780001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:239.08, Z:1.32 [[ 1.06153412e-01 -9.94349725e-01 -2.77213709e-04 2.12184650e+02] [ 9.94347220e-01 1.06153767e-01 -2.23257733e-03 2.39080128e+02] [ 2.24938994e-03 -3.86509784e-05 9.99997469e-01 1.31752243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:239.11, Z:1.32 [[ 1.05536068e-01 -9.94415441e-01 -2.62850953e-04 2.12187635e+02] [ 9.94412931e-01 1.05536392e-01 -2.23426704e-03 2.39105249e+02] [ 2.24952999e-03 -2.55866287e-05 9.99997469e-01 1.31834708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:239.13, Z:1.32 [[ 1.05239152e-01 -9.94446908e-01 -2.62190052e-04 2.12190360e+02] [ 9.94444398e-01 1.05239475e-01 -2.23434459e-03 2.39130620e+02] [ 2.24952982e-03 -2.55928985e-05 9.99997470e-01 1.31874450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:239.16, Z:1.32 [[ 1.04560321e-01 -9.94518512e-01 -2.61334984e-04 2.12192320e+02] [ 9.94516002e-01 1.04560645e-01 -2.23444460e-03 2.39156354e+02] [ 2.24952187e-03 -2.62675777e-05 9.99997470e-01 1.31929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.20, Y:239.18, Z:1.32 [[ 1.05229302e-01 -9.94447951e-01 -2.60491372e-04 2.12196900e+02] [ 9.94445440e-01 1.05229622e-01 -2.23454295e-03 2.39182824e+02] [ 2.24954806e-03 -2.39050631e-05 9.99997470e-01 1.32023111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:239.21, Z:1.32 [[ 1.02046602e-01 -9.94779585e-01 -2.59639242e-04 2.12198421e+02] [ 9.94777076e-01 1.02046928e-01 -2.23464195e-03 2.39214823e+02] [ 2.24947158e-03 -3.02455476e-05 9.99997470e-01 1.31966972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:239.24, Z:1.32 [[ 1.02756879e-01 -9.94706457e-01 -2.96962010e-04 2.12200816e+02] [ 9.94703959e-01 1.02757287e-01 -2.23027558e-03 2.39235940e+02] [ 2.24898453e-03 -6.62131294e-05 9.99997469e-01 1.32116638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.20, Y:239.26, Z:1.32 [[ 1.02534275e-01 -9.94729438e-01 -2.60221810e-04 2.12203708e+02] [ 9.94726929e-01 1.02534601e-01 -2.23453396e-03 2.39264120e+02] [ 2.24943845e-03 -2.97333224e-05 9.99997470e-01 1.32102387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.29, Z:1.32 [[ 1.00608798e-01 -9.94926028e-01 -2.63398964e-04 2.12205668e+02] [ 9.94923520e-01 1.00609136e-01 -2.23416751e-03 2.39290370e+02] [ 2.24933175e-03 -3.72849158e-05 9.99997470e-01 1.32333684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.32, Z:1.32 [[ 9.94560574e-02 -9.95041922e-01 -2.56891511e-04 2.12208036e+02] [ 9.95039413e-01 9.94563836e-02 -2.23491551e-03 2.39317964e+02] [ 2.24938413e-03 -3.33412926e-05 9.99997470e-01 1.32355231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.34, Z:1.32 [[ 9.71117230e-02 -9.95273454e-01 -2.56081468e-04 2.12207199e+02] [ 9.95270945e-01 9.71120532e-02 -2.23500832e-03 2.39343998e+02] [ 2.24931305e-03 -3.78249361e-05 9.99997470e-01 1.32330554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.37, Z:1.32 [[ 9.67850940e-02 -9.95305272e-01 -2.46796222e-04 2.12210080e+02] [ 9.95302761e-01 9.67854043e-02 -2.23606808e-03 2.39370576e+02] [ 2.24945662e-03 -2.92189022e-05 9.99997470e-01 1.32336325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.40, Z:1.32 [[ 9.63556337e-02 -9.95346940e-01 -2.45863019e-04 2.12211975e+02] [ 9.95344429e-01 9.63559430e-02 -2.23617395e-03 2.39397339e+02] [ 2.24945926e-03 -2.92504280e-05 9.99997470e-01 1.32340464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.21, Y:239.42, Z:1.32 [[ 9.59933729e-02 -9.95381942e-01 -2.49173655e-04 2.12213935e+02] [ 9.95379432e-01 9.59936905e-02 -2.23579895e-03 2.39423745e+02] [ 2.24939300e-03 -3.34004482e-05 9.99997470e-01 1.32461139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:239.45, Z:1.32 [[ 9.77412180e-02 -9.95211835e-01 -2.41277805e-04 2.12217857e+02] [ 9.95209322e-01 9.77415134e-02 -2.23669073e-03 2.39451669e+02] [ 2.24956394e-03 -2.15050443e-05 9.99997470e-01 1.32480757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:239.48, Z:1.32 [[ 9.79745812e-02 -9.95188886e-01 -2.52259465e-04 2.12220180e+02] [ 9.95186375e-01 9.79749007e-02 -2.23545150e-03 2.39478718e+02] [ 2.24941159e-03 -3.20277575e-05 9.99997470e-01 1.32496157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:239.51, Z:1.32 [[ 9.82029035e-02 -9.95166381e-01 -2.51487020e-04 2.12222370e+02] [ 9.95163871e-01 9.82032207e-02 -2.23553840e-03 2.39505516e+02] [ 2.24942949e-03 -3.07344349e-05 9.99997470e-01 1.32467503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:239.53, Z:1.32 [[ 9.81124598e-02 -9.95175302e-01 -2.50627257e-04 2.12224165e+02] [ 9.95172792e-01 9.81127753e-02 -2.23563478e-03 2.39531040e+02] [ 2.24943826e-03 -3.00737994e-05 9.99997470e-01 1.32446057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:239.56, Z:1.32 [[ 9.81813143e-02 -9.95168512e-01 -2.49733106e-04 2.12225686e+02] [ 9.95166001e-01 9.81816276e-02 -2.23573466e-03 2.39556095e+02] [ 2.24945194e-03 -2.90185285e-05 9.99997470e-01 1.32442713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:239.58, Z:1.32 [[ 9.78302375e-02 -9.95203086e-01 -2.48852007e-04 2.12228182e+02] [ 9.95200575e-01 9.78305497e-02 -2.23583273e-03 2.39582602e+02] [ 2.24945296e-03 -2.89256136e-05 9.99997470e-01 1.32456236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:239.61, Z:1.33 [[ 9.72982825e-02 -9.95255235e-01 -2.48003559e-04 2.12230612e+02] [ 9.95252724e-01 9.72985942e-02 -2.23592684e-03 2.39609778e+02] [ 2.24944829e-03 -2.92743769e-05 9.99997470e-01 1.32556049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:239.64, Z:1.33 [[ 9.59656555e-02 -9.95384615e-01 -2.47222254e-04 2.12232752e+02] [ 9.95382104e-01 9.59659687e-02 -2.23601322e-03 2.39638435e+02] [ 2.24941808e-03 -3.15001326e-05 9.99997470e-01 1.32652935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:239.66, Z:1.33 [[ 9.60258476e-02 -9.95378808e-01 -2.55407817e-04 2.12234832e+02] [ 9.95376299e-01 9.60261791e-02 -2.23510928e-03 2.39662771e+02] [ 2.24930624e-03 -3.95986249e-05 9.99997470e-01 1.32711267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.69, Z:1.33 [[ 9.42912879e-02 -9.95544621e-01 -2.45893737e-04 2.12235894e+02] [ 9.95542110e-01 9.42916024e-02 -2.23615547e-03 2.39690597e+02] [ 2.24937826e-03 -3.39475905e-05 9.99997470e-01 1.32807864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.72, Z:1.33 [[ 9.32374126e-02 -9.95643874e-01 -2.46518583e-04 2.12237464e+02] [ 9.95641364e-01 9.32377312e-02 -2.23608700e-03 2.39716304e+02] [ 2.24933116e-03 -3.69571321e-05 9.99997470e-01 1.32866869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.74, Z:1.33 [[ 9.17831972e-02 -9.95778984e-01 -2.44191816e-04 2.12239405e+02] [ 9.95776474e-01 9.17835142e-02 -2.23634107e-03 2.39743983e+02] [ 2.24931422e-03 -3.79019324e-05 9.99997470e-01 1.32838918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.77, Z:1.33 [[ 8.89164637e-02 -9.96039057e-01 -2.43398837e-04 2.12240772e+02] [ 9.96036547e-01 8.89167861e-02 -2.23642737e-03 2.39771656e+02] [ 2.24921125e-03 -4.35789239e-05 9.99997470e-01 1.32906905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.80, Z:1.33 [[ 8.68936901e-02 -9.96217561e-01 -2.42613616e-04 2.12242212e+02] [ 9.96215051e-01 8.68940159e-02 -2.23651255e-03 2.39799084e+02] [ 2.24913475e-03 -4.73565070e-05 9.99997470e-01 1.33011648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.83, Z:1.33 [[ 8.52923355e-02 -9.96355940e-01 -2.40217350e-04 2.12243515e+02] [ 9.96353431e-01 8.52926599e-02 -2.23677183e-03 2.39826709e+02] [ 2.24910967e-03 -4.85618876e-05 9.99997470e-01 1.32926278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.85, Z:1.33 [[ 8.33258268e-02 -9.96522327e-01 -2.41496184e-04 2.12244204e+02] [ 9.96519819e-01 8.33261591e-02 -2.23663375e-03 2.39853804e+02] [ 2.24897842e-03 -5.42863772e-05 9.99997470e-01 1.33110164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.88, Z:1.33 [[ 8.15391838e-02 -9.96670106e-01 -2.47191325e-04 2.12243311e+02] [ 9.96667600e-01 8.15395333e-02 -2.23602043e-03 2.39880086e+02] [ 2.24873059e-03 -6.40443034e-05 9.99997470e-01 1.32940953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.91, Z:1.33 [[ 8.08189515e-02 -9.96728769e-01 -2.41344763e-04 2.12244039e+02] [ 9.96726261e-01 8.08192898e-02 -2.23664710e-03 2.39905549e+02] [ 2.24883582e-03 -5.97911899e-05 9.99997470e-01 1.33009582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.93, Z:1.33 [[ 8.00172952e-02 -9.96793448e-01 -2.32533563e-04 2.12244814e+02] [ 9.96790938e-01 8.00176157e-02 -2.23758612e-03 2.39931882e+02] [ 2.24901797e-03 -5.27417587e-05 9.99997470e-01 1.32886423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.14275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.25, Y:239.96, Z:1.33 [[ 7.86748641e-02 -9.96900302e-01 -2.30369914e-04 2.12245401e+02] [ 9.96897792e-01 7.86751831e-02 -2.23781594e-03 2.39958191e+02] [ 2.24900379e-03 -5.35953931e-05 9.99997470e-01 1.32758332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:239.99, Z:1.33 [[ 7.68218029e-02 -9.97044812e-01 -2.33105145e-04 2.12244830e+02] [ 9.97042303e-01 7.68221327e-02 -2.23752612e-03 2.39985860e+02] [ 2.24882144e-03 -6.05249003e-05 9.99997470e-01 1.32612592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.01, Z:1.33 [[ 7.60932708e-02 -9.97100676e-01 -2.36286284e-04 2.12245864e+02] [ 9.97098168e-01 7.60936096e-02 -2.23719013e-03 2.40012020e+02] [ 2.24868367e-03 -6.53655069e-05 9.99997470e-01 1.32581034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.04, Z:1.33 [[ 7.59892695e-02 -9.97108608e-01 -2.35433497e-04 2.12245398e+02] [ 9.97106100e-01 7.59896067e-02 -2.23727987e-03 2.40039722e+02] [ 2.24870152e-03 -6.47429129e-05 9.99997470e-01 1.32500269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.07, Z:1.33 [[ 7.58692994e-02 -9.97117744e-01 -2.34620687e-04 2.12246334e+02] [ 9.97115235e-01 7.58696350e-02 -2.23736511e-03 2.40067391e+02] [ 2.24871703e-03 -6.41965381e-05 9.99997470e-01 1.32501288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.09, Z:1.33 [[ 7.56234476e-02 -9.97136420e-01 -2.33743362e-04 2.12247215e+02] [ 9.97133911e-01 7.56237819e-02 -2.23745676e-03 2.40094180e+02] [ 2.24872618e-03 -6.38692382e-05 9.99997470e-01 1.32533709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.12, Z:1.33 [[ 7.54018363e-02 -9.97153202e-01 -2.32824570e-04 2.12247162e+02] [ 9.97150694e-01 7.54021690e-02 -2.23755236e-03 2.40121463e+02] [ 2.24873798e-03 -6.34456243e-05 9.99997470e-01 1.32612293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.15, Z:1.33 [[ 7.48591764e-02 -9.97194088e-01 -2.31942769e-04 2.12248522e+02] [ 9.97191580e-01 7.48595086e-02 -2.23764377e-03 2.40147856e+02] [ 2.24872826e-03 -6.37832063e-05 9.99997470e-01 1.32675708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.25, Y:240.17, Z:1.33 [[ 7.46514817e-02 -9.97209659e-01 -2.31020546e-04 2.12249994e+02] [ 9.97207150e-01 7.46518123e-02 -2.23773898e-03 2.40174742e+02] [ 2.24874102e-03 -6.33248103e-05 9.99997470e-01 1.32766523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.20, Z:1.33 [[ 7.41636844e-02 -9.97246055e-01 -2.30125943e-04 2.12248946e+02] [ 9.97243547e-01 7.41640142e-02 -2.23783097e-03 2.40201576e+02] [ 2.24873517e-03 -6.35258222e-05 9.99997470e-01 1.32841531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.23, Z:1.33 [[ 7.38048597e-02 -9.97272676e-01 -2.29180842e-04 2.12249562e+02] [ 9.97270167e-01 7.38051883e-02 -2.23792776e-03 2.40228437e+02] [ 2.24873894e-03 -6.33852720e-05 9.99997470e-01 1.32802355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.26, Z:1.33 [[ 7.34481924e-02 -9.97299008e-01 -2.28241504e-04 2.12248898e+02] [ 9.97296499e-01 7.34485198e-02 -2.23802355e-03 2.40256043e+02] [ 2.24874267e-03 -6.32456685e-05 9.99997470e-01 1.32793076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.28, Z:1.33 [[ 7.26972222e-02 -9.97354030e-01 -2.29813337e-04 2.12249562e+02] [ 9.97351522e-01 7.26975550e-02 -2.23786367e-03 2.40283269e+02] [ 2.24864922e-03 -6.65182085e-05 9.99997470e-01 1.32725638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.31, Z:1.33 [[ 7.33166904e-02 -9.97308682e-01 -2.35906779e-04 2.12250578e+02] [ 9.97306175e-01 7.33170353e-02 -2.23724555e-03 2.40307262e+02] [ 2.24852040e-03 -7.12438487e-05 9.99997470e-01 1.32763239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.56275509600005 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.25, Y:240.33, Z:1.33 [[ 7.35551276e-02 -9.97291127e-01 -2.25763280e-04 2.12251478e+02] [ 9.97288617e-01 7.35554492e-02 -2.23826867e-03 2.40333236e+02] [ 2.24881161e-03 -6.05150116e-05 9.99997470e-01 1.32796379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.36, Z:1.33 [[ 7.38728222e-02 -9.97267645e-01 -2.24836287e-04 2.12250816e+02] [ 9.97265135e-01 7.38731409e-02 -2.23836179e-03 2.40358467e+02] [ 2.24885515e-03 -5.88672875e-05 9.99997470e-01 1.32712743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.62275509600005 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:212.25, Y:240.39, Z:1.33 [[ 7.38358994e-02 -9.97270380e-01 -2.23488323e-04 2.12251817e+02] [ 9.97267869e-01 7.38362151e-02 -2.23849658e-03 2.40385439e+02] [ 2.24888787e-03 -5.75963155e-05 9.99997470e-01 1.32741244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.41, Z:1.33 [[ 7.64985647e-02 -9.97069666e-01 -2.25767987e-04 2.12252693e+02] [ 9.97067155e-01 7.64988789e-02 -2.23826935e-03 2.40410220e+02] [ 2.24898147e-03 -5.38814520e-05 9.99997470e-01 1.32639247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.44, Z:1.33 [[ 7.68917697e-02 -9.97039423e-01 -2.14043727e-04 2.12254272e+02] [ 9.97036908e-01 7.68920565e-02 -2.23943316e-03 2.40437850e+02] [ 2.24926140e-03 -4.12155174e-05 9.99997470e-01 1.32625170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.25, Y:240.47, Z:1.33 [[ 7.66815753e-02 -9.97055610e-01 -2.18187912e-04 2.12254000e+02] [ 9.97053097e-01 7.66818720e-02 -2.23902311e-03 2.40467125e+02] [ 2.24916161e-03 -4.58531136e-05 9.99997470e-01 1.32526566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:240.49, Z:1.33 [[ 7.90111188e-02 -9.96873704e-01 -2.46066106e-04 2.12256303e+02] [ 9.96871199e-01 7.90114722e-02 -2.23627378e-03 2.40490368e+02] [ 2.24872457e-03 -6.86057205e-05 9.99997469e-01 1.32605104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:240.52, Z:1.33 [[ 7.98909693e-02 -9.96803584e-01 -2.18751617e-04 2.12257800e+02] [ 9.96801070e-01 7.98912592e-02 -2.23894249e-03 2.40516597e+02] [ 2.24926224e-03 -3.91805606e-05 9.99997470e-01 1.32587578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:240.54, Z:1.33 [[ 7.97727237e-02 -9.96813055e-01 -2.13328130e-04 2.12259862e+02] [ 9.96810540e-01 7.97730017e-02 -2.23947013e-03 2.40543740e+02] [ 2.24935089e-03 -3.39990961e-05 9.99997470e-01 1.32552412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.26, Y:240.57, Z:1.33 [[ 8.03713279e-02 -9.96764969e-01 -2.17042386e-04 2.12263033e+02] [ 9.96762454e-01 8.03716127e-02 -2.23911010e-03 2.40568635e+02] [ 2.24931055e-03 -3.63794495e-05 9.99997470e-01 1.32526968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:240.59, Z:1.33 [[ 8.00796705e-02 -9.96788443e-01 -2.16277415e-04 2.12266086e+02] [ 9.96785928e-01 8.00799544e-02 -2.23918399e-03 2.40593399e+02] [ 2.24931220e-03 -3.62691680e-05 9.99997470e-01 1.32543061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:240.62, Z:1.33 [[ 7.92385546e-02 -9.96855659e-01 -2.14665381e-04 2.12270486e+02] [ 9.96853145e-01 7.92388369e-02 -2.23933909e-03 2.40620152e+02] [ 2.24930768e-03 -3.65478678e-05 9.99997470e-01 1.32628449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.27, Y:240.65, Z:1.33 [[ 7.82003767e-02 -9.96937639e-01 -2.14496165e-04 2.12273434e+02] [ 9.96935124e-01 7.82006613e-02 -2.23935529e-03 2.40646515e+02] [ 2.24927132e-03 -3.87203330e-05 9.99997470e-01 1.32674182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:240.67, Z:1.33 [[ 7.69951482e-02 -9.97031445e-01 -2.13585919e-04 2.12276623e+02] [ 9.97028930e-01 7.69954337e-02 -2.23944211e-03 2.40673149e+02] [ 2.24923934e-03 -4.05251635e-05 9.99997470e-01 1.32656072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:240.70, Z:1.33 [[ 7.44130090e-02 -9.97227486e-01 -2.12712145e-04 2.12280306e+02] [ 9.97224972e-01 7.44132992e-02 -2.23952510e-03 2.40699687e+02] [ 2.24914460e-03 -4.54720617e-05 9.99997470e-01 1.32623934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:240.72, Z:1.33 [[ 7.44706379e-02 -9.97223183e-01 -2.19438562e-04 2.12283796e+02] [ 9.97220671e-01 7.44709429e-02 -2.23888787e-03 2.40724862e+02] [ 2.24901268e-03 -5.20972624e-05 9.99997470e-01 1.32660270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:240.75, Z:1.33 [[ 7.36476220e-02 -9.97284305e-01 -2.08497177e-04 2.12286708e+02] [ 9.97281790e-01 7.36479046e-02 -2.23991852e-03 2.40752340e+02] [ 2.24919096e-03 -4.29657651e-05 9.99997470e-01 1.32689135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:240.78, Z:1.33 [[ 7.33855703e-02 -9.97303622e-01 -2.10359538e-04 2.12290118e+02] [ 9.97301108e-01 7.33858578e-02 -2.23974360e-03 2.40778942e+02] [ 2.24914182e-03 -4.54269385e-05 9.99997470e-01 1.32685688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:240.81, Z:1.33 [[ 7.33422431e-02 -9.97306809e-01 -2.09610353e-04 2.12292883e+02] [ 9.97304295e-01 7.33425289e-02 -2.23981371e-03 2.40805402e+02] [ 2.24915482e-03 -4.47723439e-05 9.99997470e-01 1.32641499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:240.83, Z:1.33 [[ 7.25205859e-02 -9.97366894e-01 -2.08653025e-04 2.12295583e+02] [ 9.97364380e-01 7.25208717e-02 -2.23990289e-03 2.40832586e+02] [ 2.24913669e-03 -4.56640248e-05 9.99997470e-01 1.32571241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:240.86, Z:1.33 [[ 7.12303320e-02 -9.97459870e-01 -2.18091857e-04 2.12297462e+02] [ 9.97457359e-01 7.12306422e-02 -2.23902507e-03 2.40861545e+02] [ 2.24887248e-03 -5.80508290e-05 9.99997470e-01 1.32505414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:240.88, Z:1.33 [[ 7.39738492e-02 -9.97260152e-01 -2.42896221e-04 2.12301345e+02] [ 9.97257647e-01 7.39742081e-02 -2.23672057e-03 2.40882242e+02] [ 2.24856035e-03 -7.67712839e-05 9.99997469e-01 1.32564447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:240.91, Z:1.33 [[ 7.46496583e-02 -9.97209801e-01 -2.05800194e-04 2.12304737e+02] [ 9.97207285e-01 7.46499323e-02 -2.24012858e-03 2.40908953e+02] [ 2.24924114e-03 -3.80006203e-05 9.99997470e-01 1.32503264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:240.94, Z:1.32 [[ 7.44898318e-02 -9.97221752e-01 -2.05475923e-04 2.12307128e+02] [ 9.97219237e-01 7.44901055e-02 -2.24015825e-03 2.40935313e+02] [ 2.24924046e-03 -3.80355318e-05 9.99997470e-01 1.32440707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.31, Y:240.96, Z:1.32 [[ 7.54687609e-02 -9.97148146e-01 -2.05049711e-04 2.12310163e+02] [ 9.97145630e-01 7.54690311e-02 -2.24019710e-03 2.40960436e+02] [ 2.24928329e-03 -3.53995240e-05 9.99997470e-01 1.32491444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.31275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.31, Y:240.99, Z:1.33 [[ 7.40339999e-02 -9.97255699e-01 -1.94372988e-04 2.12314104e+02] [ 9.97253181e-01 7.40342498e-02 -2.24116467e-03 2.40987767e+02] [ 2.24940449e-03 -2.79166958e-05 9.99997470e-01 1.32557148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:241.01, Z:1.33 [[ 7.31348307e-02 -9.97322042e-01 -2.02630323e-04 2.12317389e+02] [ 9.97319526e-01 7.31351014e-02 -2.24041785e-03 2.41013572e+02] [ 2.24923749e-03 -3.82345976e-05 9.99997470e-01 1.32504267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:241.04, Z:1.33 [[ 7.26379908e-02 -9.97358352e-01 -2.00751061e-04 2.12322206e+02] [ 9.97355836e-01 7.26382586e-02 -2.24058715e-03 2.41040671e+02] [ 2.24925052e-03 -3.74684931e-05 9.99997470e-01 1.32683728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:241.07, Z:1.33 [[ 7.22337453e-02 -9.97387711e-01 -2.00907774e-04 2.12324284e+02] [ 9.97385195e-01 7.22340144e-02 -2.24057310e-03 2.41067497e+02] [ 2.24923245e-03 -3.85374529e-05 9.99997470e-01 1.32689784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:241.09, Z:1.33 [[ 7.22084977e-02 -9.97389539e-01 -1.99999612e-04 2.12327253e+02] [ 9.97387023e-01 7.22087648e-02 -2.24065416e-03 2.41093745e+02] [ 2.24924675e-03 -3.76827467e-05 9.99997470e-01 1.32597764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:241.12, Z:1.33 [[ 7.19318393e-02 -9.97409530e-01 -1.99064200e-04 2.12330074e+02] [ 9.97407014e-01 7.19321050e-02 -2.24073726e-03 2.41121117e+02] [ 2.24925181e-03 -3.73676765e-05 9.99997470e-01 1.32520863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:241.15, Z:1.32 [[ 7.13901808e-02 -9.97448446e-01 -1.98971214e-04 2.12333744e+02] [ 9.97445930e-01 7.13904477e-02 -2.24074549e-03 2.41148610e+02] [ 2.24923275e-03 -3.84958022e-05 9.99997470e-01 1.32462104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:241.17, Z:1.33 [[ 7.20801945e-02 -9.97398819e-01 -2.02906939e-04 2.12337315e+02] [ 9.97396304e-01 7.20804685e-02 -2.24039927e-03 2.41174543e+02] [ 2.24919721e-03 -4.08902160e-05 9.99997470e-01 1.32604474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:241.20, Z:1.33 [[ 7.27432770e-02 -9.97350679e-01 -1.96206481e-04 2.12342407e+02] [ 9.97348162e-01 7.27435342e-02 -2.24098592e-03 2.41199990e+02] [ 2.24932158e-03 -3.26695140e-05 9.99997470e-01 1.32687281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:241.23, Z:1.33 [[ 7.29140235e-02 -9.97338211e-01 -1.95376927e-04 2.12345757e+02] [ 9.97335694e-01 7.29142785e-02 -2.24105824e-03 2.41226032e+02] [ 2.24933878e-03 -3.14518095e-05 9.99997470e-01 1.32645400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:241.25, Z:1.33 [[ 7.29692444e-02 -9.97334173e-01 -1.94247243e-04 2.12348802e+02] [ 9.97331655e-01 7.29694967e-02 -2.24115630e-03 2.41253456e+02] [ 2.24935589e-03 -3.01934420e-05 9.99997470e-01 1.32687873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:241.28, Z:1.33 [[ 7.31598398e-02 -9.97320210e-01 -1.93622708e-04 2.12351586e+02] [ 9.97317692e-01 7.31600902e-02 -2.24121026e-03 2.41279156e+02] [ 2.24936974e-03 -2.91367690e-05 9.99997470e-01 1.32713633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:241.31, Z:1.33 [[ 7.42888566e-02 -9.97236747e-01 -1.92763125e-04 2.12355215e+02] [ 9.97234228e-01 7.42891023e-02 -2.24128419e-03 2.41306313e+02] [ 2.24941115e-03 -2.57275464e-05 9.99997470e-01 1.32715378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:241.33, Z:1.33 [[ 7.46351815e-02 -9.97210887e-01 -1.91965032e-04 2.12358293e+02] [ 9.97208368e-01 7.46354244e-02 -2.24135254e-03 2.41333767e+02] [ 2.24942855e-03 -2.41453831e-05 9.99997470e-01 1.32660704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:241.36, Z:1.33 [[ 7.55109286e-02 -9.97144956e-01 -1.91158624e-04 2.12362747e+02] [ 9.97142437e-01 7.55111676e-02 -2.24142132e-03 2.41359347e+02] [ 2.24945657e-03 -2.13605714e-05 9.99997470e-01 1.32586454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:241.39, Z:1.33 [[ 7.57138165e-02 -9.97129571e-01 -1.90314839e-04 2.12366348e+02] [ 9.97127052e-01 7.57140530e-02 -2.24149296e-03 2.41386088e+02] [ 2.24946842e-03 -2.00560883e-05 9.99997470e-01 1.32519638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:241.41, Z:1.32 [[ 7.58580215e-02 -9.97118611e-01 -1.89509610e-04 2.12371039e+02] [ 9.97116092e-01 7.58582559e-02 -2.24156103e-03 2.41413402e+02] [ 2.24947809e-03 -1.89226969e-05 9.99997470e-01 1.32446086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.37, Y:241.44, Z:1.32 [[ 7.53947746e-02 -9.97153746e-01 -1.88702137e-04 2.12374317e+02] [ 9.97151226e-01 7.53950083e-02 -2.24162901e-03 2.41439876e+02] [ 2.24947596e-03 -1.91574536e-05 9.99997470e-01 1.32400576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.85275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.38, Y:241.47, Z:1.32 [[ 7.45927224e-02 -9.97214065e-01 -1.88079111e-04 2.12377602e+02] [ 9.97211545e-01 7.45929568e-02 -2.24168128e-03 2.41466723e+02] [ 2.24946548e-03 -2.03415509e-05 9.99997470e-01 1.32366011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:241.49, Z:1.32 [[ 7.26688207e-02 -9.97356109e-01 -1.87284245e-04 2.12382855e+02] [ 9.97353590e-01 7.26690581e-02 -2.24174769e-03 2.41492222e+02] [ 2.24943052e-03 -2.38834531e-05 9.99997470e-01 1.32358050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:241.52, Z:1.32 [[ 7.12813357e-02 -9.97456233e-01 -1.86454159e-04 2.12386603e+02] [ 9.97453714e-01 7.12815747e-02 -2.24181673e-03 2.41517578e+02] [ 2.24940481e-03 -2.61797028e-05 9.99997470e-01 1.32393975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:241.54, Z:1.32 [[ 6.98047172e-02 -9.97560658e-01 -1.85545363e-04 2.12390550e+02] [ 9.97558140e-01 6.98049579e-02 -2.24189194e-03 2.41544367e+02] [ 2.24937519e-03 -2.85976546e-05 9.99997470e-01 1.32386261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:241.57, Z:1.32 [[ 6.82540185e-02 -9.97667958e-01 -1.86532642e-04 2.12396342e+02] [ 9.97665440e-01 6.82542654e-02 -2.24181059e-03 2.41569601e+02] [ 2.24931424e-03 -3.30845889e-05 9.99997470e-01 1.32421880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:241.59, Z:1.32 [[ 6.75075762e-02 -9.97718745e-01 -1.83925282e-04 2.12399814e+02] [ 9.97716226e-01 6.75078191e-02 -2.24202448e-03 2.41594870e+02] [ 2.24932625e-03 -3.21515993e-05 9.99997470e-01 1.32413190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:241.62, Z:1.32 [[ 6.69802155e-02 -9.97754287e-01 -1.83042711e-04 2.12404143e+02] [ 9.97751768e-01 6.69804577e-02 -2.24209653e-03 2.41620168e+02] [ 2.24932171e-03 -3.24550794e-05 9.99997470e-01 1.32383459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:241.65, Z:1.32 [[ 6.73254418e-02 -9.97731052e-01 -1.82168608e-04 2.12407674e+02] [ 9.97728533e-01 6.73256812e-02 -2.24216755e-03 2.41646570e+02] [ 2.24934482e-03 -3.07998973e-05 9.99997470e-01 1.32412569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.41, Y:241.67, Z:1.32 [[ 6.66110914e-02 -9.97778999e-01 -1.79952645e-04 2.12411219e+02] [ 9.97776479e-01 6.66113277e-02 -2.24234688e-03 2.41674171e+02] [ 2.24935351e-03 -3.01873433e-05 9.99997470e-01 1.32361805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:241.70, Z:1.32 [[ 6.97878782e-02 -9.97561837e-01 -1.80509367e-04 2.12416192e+02] [ 9.97559318e-01 6.97881076e-02 -2.24230207e-03 2.41695666e+02] [ 2.24943238e-03 -2.35832971e-05 9.99997470e-01 1.32329514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:241.73, Z:1.32 [[ 6.65306937e-02 -9.97784369e-01 -1.43602990e-04 2.12420734e+02] [ 9.97781842e-01 6.65308484e-02 -2.24523302e-03 2.41725087e+02] [ 2.24981244e-03 6.09245368e-06 9.99997469e-01 1.32309339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:241.75, Z:1.32 [[ 6.55887695e-02 -9.97846724e-01 -1.71051804e-04 2.12424270e+02] [ 9.97844203e-01 6.55889884e-02 -2.24304987e-03 2.41751878e+02] [ 2.24943908e-03 -2.35641699e-05 9.99997470e-01 1.32340691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:241.78, Z:1.32 [[ 6.59851700e-02 -9.97820588e-01 -1.77807572e-04 2.12429513e+02] [ 9.97818068e-01 6.59854030e-02 -2.24251421e-03 2.41777037e+02] [ 2.24935956e-03 -2.94469266e-05 9.99997470e-01 1.32371999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:241.80, Z:1.32 [[ 6.63662690e-02 -9.97795313e-01 -1.76929572e-04 2.12432769e+02] [ 9.97792793e-01 6.63664991e-02 -2.24258348e-03 2.41803741e+02] [ 2.24938149e-03 -2.77071530e-05 9.99997470e-01 1.32316518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:241.83, Z:1.32 [[ 6.71143332e-02 -9.97745276e-01 -1.76095053e-04 2.12436126e+02] [ 9.97742756e-01 6.71145595e-02 -2.24264901e-03 2.41829620e+02] [ 2.24941100e-03 -2.51836706e-05 9.99997470e-01 1.32272962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:241.86, Z:1.32 [[ 6.88167373e-02 -9.97629303e-01 -1.73983682e-04 2.12440911e+02] [ 9.97626782e-01 6.88169545e-02 -2.24281404e-03 2.41855865e+02] [ 2.24947003e-03 -1.92276368e-05 9.99997470e-01 1.32207497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:241.88, Z:1.32 [[ 6.92279424e-02 -9.97600853e-01 -1.74745980e-04 2.12443917e+02] [ 9.97598332e-01 6.92281603e-02 -2.24275464e-03 2.41882030e+02] [ 2.24947129e-03 -1.90650089e-05 9.99997470e-01 1.32203371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:241.91, Z:1.32 [[ 7.14095260e-02 -9.97447066e-01 -1.73926065e-04 2.12445960e+02] [ 9.97444545e-01 7.14097365e-02 -2.24281823e-03 2.41907007e+02] [ 2.24951248e-03 -1.33230180e-05 9.99997470e-01 1.32245521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:241.93, Z:1.32 [[ 7.35140988e-02 -9.97294164e-01 -1.68125293e-04 2.12446293e+02] [ 9.97291641e-01 7.35142910e-02 -2.24326890e-03 2.41934804e+02] [ 2.24955859e-03 -2.75805803e-06 9.99997470e-01 1.32132417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:241.96, Z:1.32 [[ 7.52566897e-02 -9.97164180e-01 -1.72663699e-04 2.12449249e+02] [ 9.97161657e-01 7.52568877e-02 -2.24291779e-03 2.41961684e+02] [ 2.24955141e-03 -3.37905207e-06 9.99997470e-01 1.32238366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:241.99, Z:1.32 [[ 7.70557909e-02 -9.97026768e-01 -1.73114908e-04 2.12452429e+02] [ 9.97024245e-01 7.70559853e-02 -2.24288296e-03 2.41990310e+02] [ 2.24955389e-03 2.27360168e-07 9.99997470e-01 1.32124093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.45, Y:242.02, Z:1.32 [[ 7.65893689e-02 -9.97062703e-01 -1.85545760e-04 2.12454204e+02] [ 9.97060183e-01 7.65895925e-02 -2.24192598e-03 2.42016134e+02] [ 2.24955165e-03 -1.32925931e-05 9.99997470e-01 1.32025926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.04, Z:1.32 [[ 7.62958574e-02 -9.97085207e-01 -1.80081110e-04 2.12456724e+02] [ 9.97082686e-01 7.62960694e-02 -2.24234404e-03 2.42043812e+02] [ 2.24954755e-03 -8.47419555e-06 9.99997470e-01 1.32037763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.07, Z:1.32 [[ 7.46422021e-02 -9.97210362e-01 -1.86368901e-04 2.12458279e+02] [ 9.97207843e-01 7.46424325e-02 -2.24186445e-03 2.42070797e+02] [ 2.24952149e-03 -1.85108305e-05 9.99997470e-01 1.31961944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.10, Z:1.32 [[ 7.27042391e-02 -9.97353527e-01 -1.87746624e-04 2.12459189e+02] [ 9.97351008e-01 7.27044775e-02 -2.24175977e-03 2.42096445e+02] [ 2.24947703e-03 -2.42638470e-05 9.99997470e-01 1.32016460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.12, Z:1.32 [[ 6.90700123e-02 -9.97611801e-01 -1.69117382e-04 2.12459122e+02] [ 9.97609279e-01 6.90702179e-02 -2.24316427e-03 2.42123790e+02] [ 2.24948812e-03 -1.37776858e-05 9.99997470e-01 1.31861947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.15, Z:1.32 [[ 6.45051445e-02 -9.97917360e-01 -1.67784683e-04 2.12462070e+02] [ 9.97914839e-01 6.45053587e-02 -2.24326428e-03 2.42149715e+02] [ 2.24941538e-03 -2.27327387e-05 9.99997470e-01 1.32030599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.18, Z:1.32 [[ 6.22438311e-02 -9.98060959e-01 -1.67440663e-04 2.12464157e+02] [ 9.98058438e-01 6.22440503e-02 -2.24328996e-03 2.42176453e+02] [ 2.24936231e-03 -2.74846049e-05 9.99997470e-01 1.32054825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:242.20, Z:1.32 [[ 5.88182003e-02 -9.98268697e-01 -1.66647129e-04 2.12464140e+02] [ 9.98266177e-01 5.88184263e-02 -2.24334890e-03 2.42204165e+02] [ 2.24926691e-03 -3.44084468e-05 9.99997470e-01 1.31813509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.23, Z:1.32 [[ 5.70406778e-02 -9.98371841e-01 -1.66247031e-04 2.12465620e+02] [ 9.98369322e-01 5.70409074e-02 -2.24337847e-03 2.42229960e+02] [ 2.24920878e-03 -3.80121072e-05 9.99997470e-01 1.32076392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.26, Z:1.32 [[ 5.54430013e-02 -9.98461840e-01 -1.65004905e-04 2.12467243e+02] [ 9.98459321e-01 5.54432321e-02 -2.24346983e-03 2.42257405e+02] [ 2.24916742e-03 -4.03659849e-05 9.99997470e-01 1.32111093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.28, Z:1.32 [[ 5.29433534e-02 -9.98597504e-01 -1.64216759e-04 2.12468439e+02] [ 9.98594984e-01 5.29435888e-02 -2.24352752e-03 2.42283128e+02] [ 2.24907521e-03 -4.52061611e-05 9.99997470e-01 1.32076011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.31, Z:1.32 [[ 4.94612924e-02 -9.98776028e-01 -1.63305930e-04 2.12468856e+02] [ 9.98773509e-01 4.94615345e-02 -2.24359382e-03 2.42309951e+02] [ 2.24892508e-03 -5.21345867e-05 9.99997470e-01 1.31982645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.34, Z:1.32 [[ 5.16799090e-02 -9.98663688e-01 -1.62450527e-04 2.12471957e+02] [ 9.98661168e-01 5.16801436e-02 -2.24365575e-03 2.42336314e+02] [ 2.24905299e-03 -4.62811076e-05 9.99997470e-01 1.32190457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:242.37, Z:1.32 [[ 5.47858098e-02 -9.98498117e-01 -1.61476928e-04 2.12475753e+02] [ 9.98495596e-01 5.47860344e-02 -2.24372582e-03 2.42368357e+02] [ 2.24920269e-03 -3.83096659e-05 9.99997470e-01 1.31998093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.39, Z:1.32 [[ 5.31564098e-02 -9.98586181e-01 -1.89828078e-04 2.12472630e+02] [ 9.98583667e-01 5.31567021e-02 -2.24168641e-03 2.42391667e+02] [ 2.24860771e-03 -7.03992170e-05 9.99997469e-01 1.32178631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.42, Z:1.32 [[ 5.56485403e-02 -9.98450407e-01 -1.59562751e-04 2.12472320e+02] [ 9.98447886e-01 5.56487584e-02 -2.24383863e-03 2.42418991e+02] [ 2.24924106e-03 -3.44487467e-05 9.99997470e-01 1.32208524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.45, Z:1.32 [[ 5.69604720e-02 -9.98376422e-01 -1.58762066e-04 2.12473316e+02] [ 9.98373901e-01 5.69606850e-02 -2.24389528e-03 2.42445644e+02] [ 2.24929533e-03 -3.06905690e-05 9.99997470e-01 1.32225000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:242.47, Z:1.32 [[ 5.83875289e-02 -9.98293981e-01 -1.57923955e-04 2.12474676e+02] [ 9.98291459e-01 5.83877364e-02 -2.24395426e-03 2.42472604e+02] [ 2.24934685e-03 -2.66351911e-05 9.99997470e-01 1.32262933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:242.50, Z:1.32 [[ 5.95570960e-02 -9.98224888e-01 -1.57125885e-04 2.12476219e+02] [ 9.98222366e-01 5.95572988e-02 -2.24401014e-03 2.42499270e+02] [ 2.24938477e-03 -2.31998449e-05 9.99997470e-01 1.32228656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.05275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:212.48, Y:242.53, Z:1.32 [[ 6.11451478e-02 -9.98128873e-01 -1.56288988e-04 2.12477826e+02] [ 9.98126350e-01 6.11453446e-02 -2.24406843e-03 2.42526939e+02] [ 2.24942583e-03 -1.87822613e-05 9.99997470e-01 1.32332618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:242.55, Z:1.32 [[ 6.11921674e-02 -9.98125991e-01 -1.55196953e-04 2.12479537e+02] [ 9.98123469e-01 6.11923617e-02 -2.24414410e-03 2.42552929e+02] [ 2.24943543e-03 -1.75816796e-05 9.99997470e-01 1.32299178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:242.58, Z:1.32 [[ 6.15172888e-02 -9.98106006e-01 -1.54639004e-04 2.12482665e+02] [ 9.98103483e-01 6.15174810e-02 -2.24418255e-03 2.42583021e+02] [ 2.24944508e-03 -1.62897027e-05 9.99997470e-01 1.32196447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:242.61, Z:1.32 [[ 5.97234534e-02 -9.98214947e-01 -1.69261246e-04 2.12483150e+02] [ 9.98212427e-01 5.97236830e-02 -2.24316859e-03 2.42607596e+02] [ 2.24927332e-03 -3.49889044e-05 9.99997470e-01 1.32328582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:242.63, Z:1.32 [[ 5.77390692e-02 -9.98331696e-01 -1.57941759e-04 2.12485047e+02] [ 9.98329174e-01 5.77392783e-02 -2.24394812e-03 2.42633425e+02] [ 2.24932398e-03 -2.81143904e-05 9.99997470e-01 1.32342339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:242.66, Z:1.32 [[ 5.52822919e-02 -9.98470753e-01 -1.53425550e-04 2.12486015e+02] [ 9.98468231e-01 5.52824971e-02 -2.24425686e-03 2.42660400e+02] [ 2.24930659e-03 -2.91228745e-05 9.99997470e-01 1.32146677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:242.69, Z:1.32 [[ 5.46899070e-02 -9.98503376e-01 -1.46906283e-04 2.12489680e+02] [ 9.98500854e-01 5.46900990e-02 -2.24470028e-03 2.42687387e+02] [ 2.24937513e-03 -2.39235992e-05 9.99997470e-01 1.32405568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:242.71, Z:1.32 [[ 5.29855059e-02 -9.98595270e-01 -1.52278844e-04 2.12491550e+02] [ 9.98592748e-01 5.29857144e-02 -2.24433575e-03 2.42713005e+02] [ 2.24925167e-03 -3.31472837e-05 9.99997470e-01 1.32451199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.49, Y:242.74, Z:1.32 [[ 5.26062027e-02 -9.98615324e-01 -1.49820975e-04 2.12493038e+02] [ 9.98612802e-01 5.26064066e-02 -2.24450168e-03 2.42739885e+02] [ 2.24927531e-03 -3.15384339e-05 9.99997470e-01 1.32457188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.77, Z:1.32 [[ 5.00008419e-02 -9.98749165e-01 -1.48944870e-04 2.12495108e+02] [ 9.98746643e-01 5.00010504e-02 -2.24456048e-03 2.42767032e+02] [ 2.24920030e-03 -3.65282756e-05 9.99997470e-01 1.32436415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.79, Z:1.32 [[ 4.83737383e-02 -9.98829294e-01 -1.50107748e-04 2.12496832e+02] [ 9.98826773e-01 4.83739535e-02 -2.24448271e-03 2.42793760e+02] [ 2.24911638e-03 -4.13576186e-05 9.99997470e-01 1.32404480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.82, Z:1.32 [[ 4.68605289e-02 -9.98901431e-01 -1.49308760e-04 2.12498327e+02] [ 9.98898910e-01 4.68607461e-02 -2.24453586e-03 2.42820443e+02] [ 2.24906680e-03 -4.39642200e-05 9.99997470e-01 1.32351855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.85, Z:1.32 [[ 4.54153700e-02 -9.98968179e-01 -1.48472667e-04 2.12499852e+02] [ 9.98965658e-01 4.54155890e-02 -2.24459116e-03 2.42845499e+02] [ 2.24901812e-03 -4.63801578e-05 9.99997470e-01 1.32210824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.87, Z:1.32 [[ 4.46488263e-02 -9.99002733e-01 -1.47605500e-04 2.12501158e+02] [ 9.99000212e-01 4.46490453e-02 -2.24464819e-03 2.42872772e+02] [ 2.24900012e-03 -4.72370190e-05 9.99997470e-01 1.32201360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.90, Z:1.32 [[ 4.45312835e-02 -9.99007980e-01 -1.46807422e-04 2.12502653e+02] [ 9.99005459e-01 4.45315010e-02 -2.24470038e-03 2.42900117e+02] [ 2.24901115e-03 -4.67020267e-05 9.99997470e-01 1.32126311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:242.93, Z:1.32 [[ 4.39273223e-02 -9.99034719e-01 -1.45994606e-04 2.12504236e+02] [ 9.99032198e-01 4.39275395e-02 -2.24475325e-03 2.42925894e+02] [ 2.24899961e-03 -4.72473124e-05 9.99997470e-01 1.32077372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:242.95, Z:1.32 [[ 4.31488894e-02 -9.99068642e-01 -1.45145456e-04 2.12506196e+02] [ 9.99066122e-01 4.31491066e-02 -2.24480815e-03 2.42952844e+02] [ 2.24898033e-03 -4.81489296e-05 9.99997470e-01 1.32107311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:242.98, Z:1.32 [[ 4.19974930e-02 -9.99117706e-01 -1.44340029e-04 2.12508090e+02] [ 9.99115185e-01 4.19977114e-02 -2.24485994e-03 2.42979603e+02] [ 2.24894126e-03 -4.99338248e-05 9.99997470e-01 1.32120363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:243.01, Z:1.32 [[ 4.02379739e-02 -9.99190115e-01 -1.43525410e-04 2.12510106e+02] [ 9.99187594e-01 4.02381948e-02 -2.24491202e-03 2.43005507e+02] [ 2.24886910e-03 -5.30780982e-05 9.99997470e-01 1.32173346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:243.03, Z:1.32 [[ 3.93502691e-02 -9.99225468e-01 -1.42674907e-04 2.12511573e+02] [ 9.99222948e-01 3.93504904e-02 -2.24496607e-03 2.43032438e+02] [ 2.24884160e-03 -5.42240224e-05 9.99997470e-01 1.32227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:243.06, Z:1.32 [[ 3.88982748e-02 -9.99243166e-01 -1.41869906e-04 2.12513160e+02] [ 9.99240645e-01 3.88984954e-02 -2.24501694e-03 2.43058388e+02] [ 2.24883636e-03 -5.44348906e-05 9.99997470e-01 1.32257756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.51, Y:243.09, Z:1.32 [[ 3.90405409e-02 -9.99237618e-01 -1.41248768e-04 2.12514747e+02] [ 9.99235097e-01 3.90407597e-02 -2.24505602e-03 2.43085804e+02] [ 2.24885889e-03 -5.34925247e-05 9.99997470e-01 1.32338749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.11, Z:1.32 [[ 4.03766551e-02 -9.99184521e-01 -1.40461472e-04 2.12517499e+02] [ 9.99181999e-01 4.03768688e-02 -2.24510528e-03 2.43113910e+02] [ 2.24894583e-03 -4.96967328e-05 9.99997470e-01 1.32264387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.14, Z:1.33 [[ 4.17289444e-02 -9.99128957e-01 -1.50958634e-04 2.12517871e+02] [ 9.99126438e-01 4.17291783e-02 -2.24445013e-03 2.43137990e+02] [ 2.24879450e-03 -5.71682275e-05 9.99997470e-01 1.32519108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.17, Z:1.33 [[ 4.27665134e-02 -9.99085085e-01 -1.38955084e-04 2.12519103e+02] [ 9.99082563e-01 4.27667177e-02 -2.24519303e-03 2.43165483e+02] [ 2.24908152e-03 -4.28085238e-05 9.99997470e-01 1.32546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.19, Z:1.33 [[ 4.59673196e-02 -9.98942935e-01 -1.38151965e-04 2.12520039e+02] [ 9.98940412e-01 4.59675141e-02 -2.24524245e-03 2.43190048e+02] [ 2.24921958e-03 -3.47978040e-05 9.99997470e-01 1.32591408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.22, Z:1.33 [[ 4.61379749e-02 -9.98935069e-01 -1.27261464e-04 2.12520677e+02] [ 9.98932544e-01 4.61381445e-02 -2.24590610e-03 2.43218565e+02] [ 2.24938597e-03 -2.35040586e-05 9.99997470e-01 1.32595236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.24, Z:1.33 [[ 4.70183772e-02 -9.98894015e-01 -1.36155521e-04 2.12521544e+02] [ 9.98891492e-01 4.70185645e-02 -2.24536678e-03 2.43243879e+02] [ 2.24928528e-03 -3.04310888e-05 9.99997470e-01 1.32622142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.27, Z:1.33 [[ 4.88423377e-02 -9.98806492e-01 -1.35253278e-04 2.12523645e+02] [ 9.98803968e-01 4.88425184e-02 -2.24542113e-03 2.43270657e+02] [ 2.24934731e-03 -2.54198934e-05 9.99997470e-01 1.32740866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.52, Y:243.30, Z:1.33 [[ 4.88025125e-02 -9.98808439e-01 -1.34407403e-04 2.12523755e+02] [ 9.98805915e-01 4.88026913e-02 -2.24547176e-03 2.43296384e+02] [ 2.24935558e-03 -2.46622456e-05 9.99997470e-01 1.32707854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.33, Z:1.33 [[ 5.18096417e-02 -9.98656970e-01 -1.33361382e-04 2.12527009e+02] [ 9.98654445e-01 5.18098106e-02 -2.24553388e-03 2.43325818e+02] [ 2.24942749e-03 -1.68416307e-05 9.99997470e-01 1.32791880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.35, Z:1.33 [[ 5.29825463e-02 -9.98595428e-01 -1.47681837e-04 2.12528159e+02] [ 9.98592905e-01 5.29827445e-02 -2.24468454e-03 2.43350467e+02] [ 2.24935631e-03 -2.85449320e-05 9.99997470e-01 1.32774956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.38, Z:1.33 [[ 4.95860735e-02 -9.98769846e-01 -1.26903195e-04 2.12527084e+02] [ 9.98767321e-01 4.95862335e-02 -2.24590218e-03 2.43377654e+02] [ 2.24943203e-03 -1.53812934e-05 9.99997470e-01 1.32735142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.40, Z:1.33 [[ 4.86121075e-02 -9.98817724e-01 -1.30837338e-04 2.12528377e+02] [ 9.98815200e-01 4.86122788e-02 -2.24567297e-03 2.43402728e+02] [ 2.24937827e-03 -2.15154256e-05 9.99997470e-01 1.32688420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.43, Z:1.33 [[ 4.59594689e-02 -9.98943297e-01 -1.29934214e-04 2.12531050e+02] [ 9.98940773e-01 4.59596449e-02 -2.24572523e-03 2.43429618e+02] [ 2.24932389e-03 -2.65842451e-05 9.99997470e-01 1.32665970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.45, Z:1.33 [[ 4.40753127e-02 -9.99028203e-01 -1.29146222e-04 2.12532889e+02] [ 9.99025679e-01 4.40754916e-02 -2.24577054e-03 2.43454567e+02] [ 2.24928029e-03 -3.00373539e-05 9.99997470e-01 1.32643183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.53, Y:243.48, Z:1.33 [[ 4.18782872e-02 -9.99122712e-01 -1.28234489e-04 2.12534833e+02] [ 9.99120188e-01 4.18784696e-02 -2.24582260e-03 2.43481773e+02] [ 2.24922263e-03 -3.40704629e-05 9.99997470e-01 1.32782900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:243.51, Z:1.33 [[ 3.99174872e-02 -9.99202971e-01 -1.28397773e-04 2.12536423e+02] [ 9.99200448e-01 3.99176749e-02 -2.24581334e-03 2.43507462e+02] [ 2.24914870e-03 -3.86478871e-05 9.99997470e-01 1.32683233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:243.53, Z:1.33 [[ 3.63637080e-02 -9.99338614e-01 -1.26515796e-04 2.12537766e+02] [ 9.99336091e-01 3.63639005e-02 -2.24591936e-03 2.43534736e+02] [ 2.24903454e-03 -4.47618451e-05 9.99997470e-01 1.32644148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:243.56, Z:1.33 [[ 3.65598383e-02 -9.99331458e-01 -1.25719199e-04 2.12540759e+02] [ 9.99328935e-01 3.65600285e-02 -2.24596395e-03 2.43563865e+02] [ 2.24905872e-03 -4.35227544e-05 9.99997470e-01 1.32607384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:243.59, Z:1.33 [[ 3.34206577e-02 -9.99441365e-01 -1.34707504e-04 2.12540541e+02] [ 9.99438844e-01 3.34208760e-02 -2.24546371e-03 2.43588732e+02] [ 2.24871135e-03 -5.95870380e-05 9.99997470e-01 1.32663228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.54, Y:243.62, Z:1.33 [[ 3.33379356e-02 -9.99444129e-01 -1.23924013e-04 2.12544718e+02] [ 9.99441606e-01 3.33381299e-02 -2.24605867e-03 2.43617082e+02] [ 2.24894155e-03 -4.89758555e-05 9.99997470e-01 1.32632355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.65, Z:1.33 [[ 3.40487519e-02 -9.99420165e-01 -1.28344439e-04 2.12549187e+02] [ 9.99417643e-01 3.40489544e-02 -2.24581671e-03 2.43647093e+02] [ 2.24888450e-03 -5.18024408e-05 9.99997470e-01 1.32777321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.67, Z:1.33 [[ 3.33828261e-02 -9.99442628e-01 -1.45520092e-04 2.12550124e+02] [ 9.99440109e-01 3.33830688e-02 -2.24487944e-03 2.43673541e+02] [ 2.24848612e-03 -7.04981970e-05 9.99997470e-01 1.32839446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.70, Z:1.33 [[ 3.40935549e-02 -9.99418637e-01 -1.35110090e-04 2.12550774e+02] [ 9.99416116e-01 3.40937725e-02 -2.24544208e-03 2.43698196e+02] [ 2.24874307e-03 -5.84760991e-05 9.99997470e-01 1.32840063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.73, Z:1.33 [[ 3.43034693e-02 -9.99411456e-01 -1.20714923e-04 2.12552305e+02] [ 9.99408932e-01 3.43036540e-02 -2.24621140e-03 2.43727938e+02] [ 2.24903037e-03 -4.35907285e-05 9.99997470e-01 1.32797294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.75, Z:1.33 [[ 3.39880931e-02 -9.99422228e-01 -1.38565240e-04 2.12550462e+02] [ 9.99419708e-01 3.39883186e-02 -2.24526085e-03 2.43752105e+02] [ 2.24867321e-03 -6.21726972e-05 9.99997470e-01 1.32909607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4627550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:212.55, Y:243.78, Z:1.33 [[ 3.44990144e-02 -9.99404725e-01 -1.18343751e-04 2.12551382e+02] [ 9.99402201e-01 3.44991933e-02 -2.24632619e-03 2.43779437e+02] [ 2.24907177e-03 -4.07769658e-05 9.99997470e-01 1.32993962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.81, Z:1.33 [[ 3.68134729e-02 -9.99322148e-01 -1.17532089e-04 2.12554639e+02] [ 9.99319623e-01 3.68136441e-02 -2.24636866e-03 2.43806156e+02] [ 2.24917273e-03 -3.47554908e-05 9.99997470e-01 1.33003038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.83, Z:1.33 [[ 3.65848424e-02 -9.99330544e-01 -1.16897459e-04 2.12553913e+02] [ 9.99328020e-01 3.65850127e-02 -2.24640168e-03 2.43831748e+02] [ 2.24917451e-03 -3.46346551e-05 9.99997470e-01 1.33270265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.86, Z:1.33 [[ 3.68385448e-02 -9.99321224e-01 -1.10714883e-04 2.12554710e+02] [ 9.99318699e-01 3.68387006e-02 -2.24671970e-03 2.43858841e+02] [ 2.24927327e-03 -2.78735687e-05 9.99997470e-01 1.33197780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.89, Z:1.33 [[ 3.70084594e-02 -9.99314946e-01 -1.12711886e-04 2.12554457e+02] [ 9.99312421e-01 3.70086193e-02 -2.24661751e-03 2.43885461e+02] [ 2.24924977e-03 -2.94905351e-05 9.99997470e-01 1.33429810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:243.91, Z:1.33 [[ 3.68138000e-02 -9.99322136e-01 -1.14307633e-04 2.12554982e+02] [ 9.99319611e-01 3.68139639e-02 -2.24653631e-03 2.43911120e+02] [ 2.24922159e-03 -3.15263206e-05 9.99997470e-01 1.33471427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:243.94, Z:1.34 [[ 3.62687578e-02 -9.99342066e-01 -1.13396163e-04 2.12555665e+02] [ 9.99339541e-01 3.62689210e-02 -2.24658232e-03 2.43938850e+02] [ 2.24921697e-03 -3.18405194e-05 9.99997470e-01 1.33595341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:243.97, Z:1.34 [[ 3.52125034e-02 -9.99379841e-01 -1.12609045e-04 2.12556474e+02] [ 9.99377317e-01 3.52126676e-02 -2.24662177e-03 2.43965941e+02] [ 2.24919378e-03 -3.34297489e-05 9.99997470e-01 1.33756914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:243.99, Z:1.34 [[ 3.47159501e-02 -9.99397214e-01 -1.11818387e-04 2.12558445e+02] [ 9.99394689e-01 3.47161137e-02 -2.24666113e-03 2.43994883e+02] [ 2.24918877e-03 -3.37557265e-05 9.99997470e-01 1.33783583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.02, Z:1.34 [[ 3.41106402e-02 -9.99418055e-01 -1.22383922e-04 2.12559040e+02] [ 9.99415532e-01 3.41108291e-02 -2.24613273e-03 2.44018830e+02] [ 2.24900023e-03 -4.56953670e-05 9.99997470e-01 1.33809507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.05, Z:1.34 [[ 3.20731265e-02 -9.99485519e-01 -1.11218289e-04 2.12559383e+02] [ 9.99482994e-01 3.20732955e-02 -2.24668547e-03 2.44045262e+02] [ 2.24909673e-03 -3.91025608e-05 9.99997470e-01 1.33965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.07, Z:1.34 [[ 3.11183840e-02 -9.99515700e-01 -1.10286626e-04 2.12559823e+02] [ 9.99513175e-01 3.11185533e-02 -2.24673120e-03 2.44071461e+02] [ 2.24907507e-03 -4.03182910e-05 9.99997470e-01 1.33981887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.10, Z:1.34 [[ 2.88659109e-02 -9.99583287e-01 -1.05621903e-04 2.12559380e+02] [ 9.99580763e-01 2.88660754e-02 -2.24695809e-03 2.44097950e+02] [ 2.24907064e-03 -4.07171299e-05 9.99997470e-01 1.33963393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.13, Z:1.34 [[ 2.77218337e-02 -9.99615670e-01 -1.08542317e-04 2.12560195e+02] [ 9.99613146e-01 2.77220077e-02 -2.24681701e-03 2.44125449e+02] [ 2.24896250e-03 -4.62144395e-05 9.99997470e-01 1.34002654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.15, Z:1.34 [[ 2.64897064e-02 -9.99649080e-01 -1.07736415e-04 2.12561058e+02] [ 9.99646556e-01 2.64898817e-02 -2.24685565e-03 2.44152369e+02] [ 2.24892111e-03 -4.81797896e-05 9.99997470e-01 1.33986375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.18, Z:1.34 [[ 2.33574296e-02 -9.99727172e-01 -1.06933684e-04 2.12560793e+02] [ 9.99724649e-01 2.33576109e-02 -2.24689385e-03 2.44177617e+02] [ 2.24877855e-03 -5.44225748e-05 9.99997470e-01 1.33788313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.20, Z:1.34 [[ 2.42047281e-02 -9.99707017e-01 -1.05957409e-04 2.12563539e+02] [ 9.99704493e-01 2.42049051e-02 -2.24693989e-03 2.44200478e+02] [ 2.24884626e-03 -5.15395288e-05 9.99997470e-01 1.33602106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.23, Z:1.34 [[ 2.02308424e-02 -9.99795332e-01 -8.48177899e-05 2.12563089e+02] [ 9.99792806e-01 2.02309820e-02 -2.24791806e-03 2.44229042e+02] [ 2.24917393e-03 -3.93229402e-05 9.99997470e-01 1.33916900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.26, Z:1.34 [[ 1.86529102e-02 -9.99826014e-01 -1.08295734e-04 2.12563808e+02] [ 9.99823491e-01 1.86531065e-02 -2.24683972e-03 2.44255443e+02] [ 2.24846885e-03 -6.63665191e-05 9.99997470e-01 1.33861562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:244.28, Z:1.34 [[ 1.82247835e-02 -9.99833910e-01 -1.02156702e-04 2.12564725e+02] [ 9.99831386e-01 1.82249671e-02 -2.24711881e-03 2.44282186e+02] [ 2.24860739e-03 -6.11862228e-05 9.99997470e-01 1.33829286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.31, Z:1.34 [[ 1.92800998e-02 -9.99814117e-01 -1.01350934e-04 2.12567650e+02] [ 9.99811593e-01 1.92802789e-02 -2.24715515e-03 2.44312544e+02] [ 2.24869151e-03 -5.80064629e-05 9.99997470e-01 1.33711415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.34, Z:1.34 [[ 2.01369187e-02 -9.99797225e-01 -1.16567704e-04 2.12567807e+02] [ 9.99794704e-01 2.01371298e-02 -2.24647595e-03 2.44340065e+02] [ 2.24836776e-03 -7.13066694e-05 9.99997470e-01 1.33641232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.37, Z:1.34 [[ 2.01500958e-02 -9.99796960e-01 -1.10794622e-04 2.12567126e+02] [ 9.99794438e-01 2.01502940e-02 -2.24673099e-03 2.44365170e+02] [ 2.24850736e-03 -6.55000020e-05 9.99997470e-01 1.33614939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.39, Z:1.33 [[ 2.15609023e-02 -9.99767532e-01 -9.82504972e-05 2.12567404e+02] [ 9.99765007e-01 2.15610687e-02 -2.24727942e-03 2.44392365e+02] [ 2.24887538e-03 -4.97740371e-05 9.99997470e-01 1.33429600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.42, Z:1.33 [[ 2.24021510e-02 -9.99749035e-01 -9.97108401e-05 2.12567757e+02] [ 9.99746511e-01 2.24023186e-02 -2.24721602e-03 2.44417437e+02] [ 2.24888581e-03 -4.93430917e-05 9.99997470e-01 1.33441997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.44, Z:1.33 [[ 2.20176746e-02 -9.99757577e-01 -9.66673925e-05 2.12568659e+02] [ 9.99755052e-01 2.20178363e-02 -2.24734694e-03 2.44444340e+02] [ 2.24893053e-03 -4.71623605e-05 9.99997470e-01 1.33447970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.47, Z:1.33 [[ 2.48170671e-02 -9.99692005e-01 -9.58031109e-05 2.12569516e+02] [ 9.99689479e-01 2.48172197e-02 -2.24738378e-03 2.44471012e+02] [ 2.24906916e-03 -3.99998880e-05 9.99997470e-01 1.33434612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.50, Z:1.33 [[ 2.55970408e-02 -9.99672338e-01 -9.49354715e-05 2.12570512e+02] [ 9.99669812e-01 2.55971895e-02 -2.24742043e-03 2.44498466e+02] [ 2.24911412e-03 -3.73768125e-05 9.99997470e-01 1.33425688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.52, Z:1.33 [[ 2.74568885e-02 -9.99622984e-01 -9.89674636e-05 2.12571898e+02] [ 9.99620458e-01 2.74570416e-02 -2.24725155e-03 2.44524181e+02] [ 2.24912165e-03 -3.72273663e-05 9.99997470e-01 1.33455724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.55, Z:1.34 [[ 2.73640351e-02 -9.99625530e-01 -9.32850603e-05 2.12572695e+02] [ 9.99623004e-01 2.73641757e-02 -2.24748740e-03 2.44551043e+02] [ 2.24919846e-03 -3.17495681e-05 9.99997470e-01 1.33545090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.58, Z:1.34 [[ 2.69023794e-02 -9.99638061e-01 -9.24201972e-05 2.12572998e+02] [ 9.99635535e-01 2.69025192e-02 -2.24752297e-03 2.44578478e+02] [ 2.24919584e-03 -3.19227978e-05 9.99997470e-01 1.33673301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.61, Z:1.33 [[ 2.63870641e-02 -9.99651797e-01 -8.94510755e-05 2.12574439e+02] [ 9.99649270e-01 2.63871986e-02 -2.24764396e-03 2.44605592e+02] [ 2.24922169e-03 -3.01109770e-05 9.99997470e-01 1.33429334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.63, Z:1.34 [[ 2.49336066e-02 -9.99689105e-01 -9.19913305e-05 2.12574416e+02] [ 9.99686579e-01 2.49337504e-02 -2.24754124e-03 2.44631410e+02] [ 2.24913618e-03 -3.59231893e-05 9.99997470e-01 1.33742967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:244.66, Z:1.33 [[ 2.17946760e-02 -9.99762465e-01 -8.21197877e-05 2.12574884e+02] [ 9.99759938e-01 2.17948056e-02 -2.24793905e-03 2.44657573e+02] [ 2.24919486e-03 -3.31069706e-05 9.99997470e-01 1.33451444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.69, Z:1.34 [[ 2.23290059e-02 -9.99750674e-01 -7.52886521e-05 2.12579338e+02] [ 9.99748146e-01 2.23291188e-02 -2.24820854e-03 2.44685451e+02] [ 2.24932913e-03 -2.50694287e-05 9.99997470e-01 1.33603364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.71, Z:1.34 [[ 2.15903531e-02 -9.99766897e-01 -8.85592607e-05 2.12580732e+02] [ 9.99764371e-01 2.15904976e-02 -2.24768567e-03 2.44711909e+02] [ 2.24907377e-03 -4.00100663e-05 9.99997470e-01 1.33598394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.74, Z:1.34 [[ 1.99591239e-02 -9.99800793e-01 -8.40616122e-05 2.12581451e+02] [ 9.99798267e-01 1.99592625e-02 -2.24786121e-03 2.44738241e+02] [ 2.24909123e-03 -3.91793137e-05 9.99997470e-01 1.33860010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.76, Z:1.34 [[ 1.65947203e-02 -9.99862294e-01 -8.71963442e-05 2.12578431e+02] [ 9.99859769e-01 1.65948745e-02 -2.24773961e-03 2.44758222e+02] [ 2.24887709e-03 -4.98835064e-05 9.99997470e-01 1.33596690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.79, Z:1.34 [[ 1.43851531e-02 -9.99896527e-01 -4.67313112e-05 2.12579083e+02] [ 9.99893997e-01 1.43852218e-02 -2.24927784e-03 2.44787784e+02] [ 2.24971734e-03 -1.43701515e-05 9.99997469e-01 1.33584551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:244.82, Z:1.34 [[ 1.35170290e-02 -9.99908639e-01 -6.02526199e-05 2.12584004e+02] [ 9.99906111e-01 1.35171303e-02 -2.24876490e-03 2.44817857e+02] [ 2.24937390e-03 -2.98503424e-05 9.99997470e-01 1.33927054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.84, Z:1.34 [[ 1.28895489e-02 -9.99916923e-01 -8.52512080e-05 2.12585045e+02] [ 9.99914398e-01 1.28897080e-02 -2.24781680e-03 2.44844273e+02] [ 2.24872892e-03 -5.62705657e-05 9.99997470e-01 1.33796854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.87, Z:1.34 [[ 1.21887906e-02 -9.99925711e-01 -8.30446054e-05 2.12585843e+02] [ 9.99923185e-01 1.21889465e-02 -2.24789970e-03 2.44870068e+02] [ 2.24874493e-03 -5.56390475e-05 9.99997470e-01 1.33957754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.90, Z:1.34 [[ 1.21784918e-02 -9.99925836e-01 -8.18983810e-05 2.12586414e+02] [ 9.99923311e-01 1.21786451e-02 -2.24794236e-03 2.44897775e+02] [ 2.24877305e-03 -5.45155528e-05 9.99997470e-01 1.33935595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.92, Z:1.34 [[ 1.40539692e-02 -9.99901235e-01 -8.31338049e-05 2.12587247e+02] [ 9.99898709e-01 1.40541206e-02 -2.24789667e-03 2.44923092e+02] [ 2.24884303e-03 -5.15335137e-05 9.99997470e-01 1.33815500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.95, Z:1.34 [[ 1.45530072e-02 -9.99894097e-01 -7.49825102e-05 2.12586885e+02] [ 9.99891570e-01 1.45531390e-02 -2.24819244e-03 2.44950868e+02] [ 2.24904558e-03 -4.22564190e-05 9.99997470e-01 1.33797754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:244.98, Z:1.34 [[ 1.74934140e-02 -9.99846976e-01 -7.61798927e-05 2.12585705e+02] [ 9.99844449e-01 1.74935410e-02 -2.24814935e-03 2.44977235e+02] [ 2.24913799e-03 -3.68402356e-05 9.99997470e-01 1.33808860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.00, Z:1.34 [[ 1.93079453e-02 -9.99813582e-01 -7.47501776e-05 2.12585695e+02] [ 9.99811054e-01 1.93080646e-02 -2.24820029e-03 2.45001716e+02] [ 2.24922446e-03 -3.13279257e-05 9.99997470e-01 1.33577932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:245.03, Z:1.34 [[ 2.01714476e-02 -9.99796534e-01 -6.55756933e-05 2.12584838e+02] [ 9.99794005e-01 2.01715441e-02 -2.24852184e-03 2.45030293e+02] [ 2.24938711e-03 -2.02062446e-05 9.99997470e-01 1.33652764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.05, Z:1.34 [[ 2.29114236e-02 -9.99737496e-01 -7.89156621e-05 2.12586213e+02] [ 9.99734969e-01 2.29115431e-02 -2.24805762e-03 2.45054257e+02] [ 2.24927558e-03 -2.73885465e-05 9.99997470e-01 1.33519276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.08, Z:1.34 [[ 2.25736004e-02 -9.99745182e-01 -5.80868281e-05 2.12586401e+02] [ 9.99742653e-01 2.25736740e-02 -2.24877461e-03 2.45083035e+02] [ 2.24951281e-03 -7.30894013e-06 9.99997470e-01 1.33701427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.11, Z:1.34 [[ 2.25968322e-02 -9.99744657e-01 -6.87703367e-05 2.12586782e+02] [ 9.99742128e-01 2.25969297e-02 -2.24840777e-03 2.45109212e+02] [ 2.24938765e-03 -1.79457098e-05 9.99997470e-01 1.33541372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.14, Z:1.34 [[ 2.13663116e-02 -9.99771712e-01 -6.78341624e-05 2.12586075e+02] [ 9.99769184e-01 2.13664101e-02 -2.24843927e-03 2.45136305e+02] [ 2.24937535e-03 -1.97776512e-05 9.99997470e-01 1.33715505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.16, Z:1.34 [[ 2.04262724e-02 -9.99791359e-01 -7.50426874e-05 2.12586473e+02] [ 9.99788832e-01 2.04263895e-02 -2.24819866e-03 2.45163205e+02] [ 2.24926244e-03 -2.91045226e-05 9.99997470e-01 1.33787010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.19, Z:1.34 [[ 1.84401134e-02 -9.99829964e-01 -7.41734546e-05 2.12587422e+02] [ 9.99827437e-01 1.84402336e-02 -2.24822734e-03 2.45189962e+02] [ 2.24921283e-03 -3.27030880e-05 9.99997470e-01 1.33906015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.22, Z:1.34 [[ 1.63742908e-02 -9.99865930e-01 -6.93834013e-05 2.12588749e+02] [ 9.99863403e-01 1.63744054e-02 -2.24838334e-03 2.45217291e+02] [ 2.24921801e-03 -3.25582412e-05 9.99997470e-01 1.33966249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.24, Z:1.34 [[ 1.48911882e-02 -9.99889118e-01 -6.96239295e-05 2.12589978e+02] [ 9.99886590e-01 1.48913071e-02 -2.24837561e-03 2.45243441e+02] [ 2.24916310e-03 -3.61350491e-05 9.99997470e-01 1.33943258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.27, Z:1.34 [[ 1.26005379e-02 -9.99920608e-01 -7.15515134e-05 2.12591809e+02] [ 9.99918081e-01 1.26006670e-02 -2.24831427e-03 2.45268812e+02] [ 2.24903736e-03 -4.32156828e-05 9.99997470e-01 1.34099639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.30, Z:1.34 [[ 1.13800529e-02 -9.99935243e-01 -7.06444004e-05 2.12592519e+02] [ 9.99932716e-01 1.13801830e-02 -2.24834277e-03 2.45296505e+02] [ 2.24900112e-03 -4.50533874e-05 9.99997470e-01 1.34191179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.32, Z:1.34 [[ 1.07827610e-02 -9.99941862e-01 -6.98384581e-05 2.12593145e+02] [ 9.99939335e-01 1.07828908e-02 -2.24836780e-03 2.45322963e+02] [ 2.24899015e-03 -4.55906087e-05 9.99997470e-01 1.34249391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.35, Z:1.34 [[ 9.92504112e-03 -9.99950743e-01 -6.92163983e-05 2.12592988e+02] [ 9.99948217e-01 9.92517167e-03 -2.24838695e-03 2.45348583e+02] [ 2.24896319e-03 -4.68974810e-05 9.99997470e-01 1.34309452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.37, Z:1.34 [[ 9.24640540e-03 -9.99957249e-01 -6.82974028e-05 2.12593482e+02] [ 9.99954722e-01 9.24653560e-03 -2.24841487e-03 2.45374786e+02] [ 2.24895026e-03 -4.75045551e-05 9.99997470e-01 1.34353464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:245.40, Z:1.34 [[ 8.62950769e-03 -9.99962763e-01 -6.74459539e-05 2.12594382e+02] [ 9.99960236e-01 8.62963753e-03 -2.24844041e-03 2.45401152e+02] [ 2.24893872e-03 -4.80403382e-05 9.99997470e-01 1.34385903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.43, Z:1.34 [[ 7.79985903e-03 -9.99969578e-01 -6.65954701e-05 2.12596135e+02] [ 9.99967052e-01 7.79998906e-03 -2.24846560e-03 2.45427332e+02] [ 2.24891664e-03 -4.90555612e-05 9.99997470e-01 1.34336146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.35275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.60, Y:245.45, Z:1.34 [[ 7.61780042e-03 -9.99970982e-01 -6.47463717e-05 2.12596945e+02] [ 9.99968455e-01 7.61792676e-03 -2.24851971e-03 2.45453896e+02] [ 2.24894769e-03 -4.76155550e-05 9.99997470e-01 1.34235009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.48, Z:1.34 [[ 6.35484944e-03 -9.99979806e-01 -6.24109404e-05 2.12597739e+02] [ 9.99977279e-01 6.35497372e-03 -2.24858733e-03 2.45481315e+02] [ 2.24893854e-03 -4.81200885e-05 9.99997470e-01 1.34105791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.51, Z:1.34 [[ 6.42382867e-03 -9.99979365e-01 -6.87861851e-05 2.12598870e+02] [ 9.99976838e-01 6.42396710e-03 -2.24840401e-03 2.45507035e+02] [ 2.24879949e-03 -5.43412297e-05 9.99997470e-01 1.34101803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.53, Z:1.34 [[ 6.11633745e-03 -9.99981293e-01 -6.35280729e-05 2.12599943e+02] [ 9.99978766e-01 6.11646484e-03 -2.24855257e-03 2.45534354e+02] [ 2.24889907e-03 -4.97738177e-05 9.99997470e-01 1.34039200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.56, Z:1.34 [[ 5.67896935e-03 -9.99983873e-01 -6.27374386e-05 2.12600908e+02] [ 9.99981346e-01 5.67909607e-03 -2.24857463e-03 2.45561952e+02] [ 2.24889465e-03 -4.99666819e-05 9.99997470e-01 1.34002948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.59, Z:1.34 [[ 5.83568888e-03 -9.99982970e-01 -6.19370048e-05 2.12601416e+02] [ 9.99980443e-01 5.83581340e-03 -2.24859667e-03 2.45587805e+02] [ 2.24891983e-03 -4.88136829e-05 9.99997470e-01 1.34015152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.62, Z:1.34 [[ 5.12537113e-03 -9.99986863e-01 -6.00084410e-05 2.12601437e+02] [ 9.99984336e-01 5.12549311e-03 -2.24864939e-03 2.45616025e+02] [ 2.24892742e-03 -4.84823384e-05 9.99997470e-01 1.33894020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.64, Z:1.34 [[ 6.71380767e-03 -9.99977460e-01 -6.19750652e-05 2.12601343e+02] [ 9.99974933e-01 6.71393006e-03 -2.24859610e-03 2.45642870e+02] [ 2.24896152e-03 -4.68768699e-05 9.99997470e-01 1.33998046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.67, Z:1.34 [[ 6.33262658e-03 -9.99979947e-01 -6.01987641e-05 2.12600723e+02] [ 9.99977420e-01 6.33274594e-03 -2.24864366e-03 2.45669873e+02] [ 2.24897979e-03 -4.59575842e-05 9.99997470e-01 1.34033287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.69, Z:1.34 [[ 1.02118640e-02 -9.99947855e-01 -6.90967218e-05 2.12600893e+02] [ 9.99945328e-01 1.02119935e-02 -2.24840416e-03 2.45693592e+02] [ 2.24899254e-03 -4.61325467e-05 9.99997470e-01 1.34029929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.72, Z:1.34 [[ 9.15733481e-03 -9.99958070e-01 -4.86718043e-05 2.12599927e+02] [ 9.99955541e-01 9.15742112e-03 -2.24893528e-03 2.45720878e+02] [ 2.24928669e-03 -2.80753870e-05 9.99997470e-01 1.33976149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.74, Z:1.34 [[ 1.05203164e-02 -9.99944658e-01 -6.14333933e-05 2.12600053e+02] [ 9.99942131e-01 1.05204279e-02 -2.24860633e-03 2.45744781e+02] [ 2.24912819e-03 -3.77737882e-05 9.99997470e-01 1.33799726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.77, Z:1.34 [[ 1.05659801e-02 -9.99944177e-01 -4.75833826e-05 2.12599794e+02] [ 9.99941649e-01 1.05660604e-02 -2.24897456e-03 2.45773409e+02] [ 2.24935179e-03 -2.38179856e-05 9.99997470e-01 1.33927370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.80, Z:1.34 [[ 1.10019644e-02 -9.99939475e-01 -5.56694973e-05 2.12600687e+02] [ 9.99936947e-01 1.10020617e-02 -2.24876127e-03 2.45800718e+02] [ 2.24923764e-03 -3.09251958e-05 9.99997470e-01 1.33843515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.83, Z:1.34 [[ 1.08411820e-02 -9.99941231e-01 -5.86598083e-05 2.12600425e+02] [ 9.99938703e-01 1.08412865e-02 -2.24868326e-03 2.45827310e+02] [ 2.24918706e-03 -3.42778281e-05 9.99997470e-01 1.33893944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.85, Z:1.34 [[ 1.36647104e-02 -9.99906632e-01 -5.78104612e-05 2.12600971e+02] [ 9.99904104e-01 1.36648058e-02 -2.24870510e-03 2.45850185e+02] [ 2.24928511e-03 -2.70770134e-05 9.99997470e-01 1.33938438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.88, Z:1.34 [[ 1.12889073e-02 -9.99936278e-01 -3.57897335e-05 2.12598922e+02] [ 9.99933748e-01 1.12889592e-02 -2.24928141e-03 2.45879684e+02] [ 2.24954211e-03 -1.03954330e-05 9.99997470e-01 1.33810909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.90, Z:1.34 [[ 9.33212217e-03 -9.99956453e-01 -5.50808969e-05 2.12596724e+02] [ 9.99953925e-01 9.33222245e-03 -2.24877762e-03 2.45904045e+02] [ 2.24919373e-03 -3.40924915e-05 9.99997470e-01 1.33729589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.93, Z:1.34 [[ 1.04145080e-02 -9.99945767e-01 -3.88449288e-05 2.12597156e+02] [ 9.99943237e-01 1.04145690e-02 -2.24919136e-03 2.45929505e+02] [ 2.24947393e-03 -1.54185024e-05 9.99997470e-01 1.33905266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.96, Z:1.34 [[ 1.07644023e-02 -9.99942062e-01 -3.00905994e-05 2.12600085e+02] [ 9.99939532e-01 1.07644427e-02 -2.24941205e-03 2.45961006e+02] [ 2.24960563e-03 -5.87520364e-06 9.99997470e-01 1.34035370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:245.99, Z:1.34 [[ 1.02997231e-02 -9.99946955e-01 -5.98623222e-05 2.12600692e+02] [ 9.99944427e-01 1.02998317e-02 -2.24865619e-03 2.45988504e+02] [ 2.24915348e-03 -3.66984594e-05 9.99997470e-01 1.34017195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.01, Z:1.34 [[ 9.37587926e-03 -9.99956044e-01 -5.91133142e-05 2.12601077e+02] [ 9.99953516e-01 9.37598849e-03 -2.24867492e-03 2.46014682e+02] [ 2.24913032e-03 -3.80272619e-05 9.99997470e-01 1.33947737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.04, Z:1.34 [[ 1.13883011e-02 -9.99935150e-01 -5.56403876e-05 2.12602257e+02] [ 9.99932622e-01 1.13883974e-02 -2.24876085e-03 2.46038091e+02] [ 2.24924867e-03 -3.00270731e-05 9.99997470e-01 1.33946869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.07, Z:1.34 [[ 8.20241729e-03 -9.99966359e-01 -3.23812623e-05 2.12601480e+02] [ 9.99963829e-01 8.20246937e-03 -2.24932621e-03 2.46068195e+02] [ 2.24951614e-03 -1.39301789e-05 9.99997470e-01 1.33926161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.09, Z:1.34 [[ 7.76789898e-03 -9.99969828e-01 -5.48699454e-05 2.12602125e+02] [ 9.99967300e-01 7.76800273e-03 -2.24877749e-03 2.46094178e+02] [ 2.24913587e-03 -3.73998748e-05 9.99997470e-01 1.33952076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.12, Z:1.34 [[ 7.38977360e-03 -9.99972694e-01 -5.40201015e-05 2.12602512e+02] [ 9.99970166e-01 7.38987640e-03 -2.24879790e-03 2.46121090e+02] [ 2.24913570e-03 -3.74003825e-05 9.99997470e-01 1.33958108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.15, Z:1.34 [[ 7.01781644e-03 -9.99975373e-01 -5.31697397e-05 2.12602993e+02] [ 9.99972845e-01 7.01791827e-03 -2.24881801e-03 2.46146616e+02] [ 2.24913577e-03 -3.73865039e-05 9.99997470e-01 1.33956144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.17, Z:1.34 [[ 7.02363136e-03 -9.99975333e-01 -5.22845151e-05 2.12603400e+02] [ 9.99972805e-01 7.02373118e-03 -2.24883859e-03 2.46172088e+02] [ 2.24915035e-03 -3.64880800e-05 9.99997470e-01 1.33861950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.60, Y:246.20, Z:1.34 [[ 6.42986533e-03 -9.99979327e-01 -4.25961232e-05 2.12603376e+02] [ 9.99976799e-01 6.42994487e-03 -2.24905837e-03 2.46198295e+02] [ 2.24928577e-03 -2.81339924e-05 9.99997470e-01 1.34050509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.23, Z:1.34 [[ 2.96463655e-03 -9.99995604e-01 -5.03108779e-05 2.12602860e+02] [ 9.99993076e-01 2.96474220e-03 -2.24888578e-03 2.46230960e+02] [ 2.24902505e-03 -4.36434006e-05 9.99997470e-01 1.34173622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.25, Z:1.34 [[ 5.36539770e-03 -9.99985603e-01 -8.42344408e-05 2.12603947e+02] [ 9.99983078e-01 5.36557353e-03 -2.24814065e-03 2.46252699e+02] [ 2.24856025e-03 -7.21708467e-05 9.99997469e-01 1.34165368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.28, Z:1.34 [[ 4.92977992e-03 -9.99987848e-01 -4.71169621e-05 2.12604221e+02] [ 9.99985319e-01 4.92987342e-03 -2.24891830e-03 2.46277761e+02] [ 2.24912325e-03 -3.60295981e-05 9.99997470e-01 1.34122089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:246.30, Z:1.34 [[ 3.48591419e-03 -9.99993923e-01 -4.64181912e-05 2.12604673e+02] [ 9.99991395e-01 3.48600976e-03 -2.24893272e-03 2.46304462e+02] [ 2.24908087e-03 -3.85782053e-05 9.99997470e-01 1.33934106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.3427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.61, Y:246.33, Z:1.34 [[ 2.85576180e-03 -9.99995921e-01 -4.69165237e-05 2.12605027e+02] [ 9.99993393e-01 2.85586009e-03 -2.24892266e-03 2.46330332e+02] [ 2.24904747e-03 -4.04938263e-05 9.99997470e-01 1.33881433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.35, Z:1.34 [[ 4.57740473e-03 -9.99989523e-01 -4.45538451e-05 2.12606291e+02] [ 9.99986994e-01 4.57749336e-03 -2.24896946e-03 2.46352924e+02] [ 2.24914985e-03 -3.42588221e-05 9.99997470e-01 1.33766882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.38, Z:1.34 [[ 3.77337847e-03 -9.99992881e-01 -2.02586475e-05 2.12606457e+02] [ 9.99990351e-01 3.77341449e-03 -2.24944542e-03 2.46381965e+02] [ 2.24950585e-03 -1.17704431e-05 9.99997470e-01 1.33782203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.41, Z:1.34 [[ 3.56124945e-03 -9.99993658e-01 -3.90823336e-05 2.12606421e+02] [ 9.99991129e-01 3.56132835e-03 -2.24907587e-03 2.46409557e+02] [ 2.24920079e-03 -3.10724667e-05 9.99997470e-01 1.33788725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.43, Z:1.34 [[ 5.15508644e-03 -9.99986712e-01 -4.33243192e-05 2.12606103e+02] [ 9.99984183e-01 5.15517084e-03 -2.24899416e-03 2.46434941e+02] [ 2.24918761e-03 -3.17298747e-05 9.99997470e-01 1.33754620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.46, Z:1.34 [[ 5.56786091e-03 -9.99984499e-01 -3.75697561e-05 2.12605938e+02] [ 9.99981970e-01 5.56793132e-03 -2.24910239e-03 2.46462455e+02] [ 2.24927671e-03 -2.50463894e-05 9.99997470e-01 1.33800665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.49, Z:1.34 [[ 6.40159687e-03 -9.99979509e-01 -4.03794145e-05 2.12606975e+02] [ 9.99976980e-01 6.40167150e-03 -2.24905025e-03 2.46490134e+02] [ 2.24926266e-03 -2.59809720e-05 9.99997470e-01 1.33883926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.52, Z:1.34 [[ 8.42786885e-03 -9.99964484e-01 -4.08284770e-05 2.12608137e+02] [ 9.99961955e-01 8.42793936e-03 -2.24904209e-03 2.46515442e+02] [ 2.24930632e-03 -2.18722918e-05 9.99997470e-01 1.33916120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.54, Z:1.34 [[ 9.15084526e-03 -9.99958129e-01 -3.99253339e-05 2.12608746e+02] [ 9.99955600e-01 9.15091192e-03 -2.24905813e-03 2.46542101e+02] [ 2.24932931e-03 -1.93427784e-05 9.99997470e-01 1.33925179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.57, Z:1.34 [[ 9.70327516e-03 -9.99952921e-01 -3.90731332e-05 2.12609296e+02] [ 9.99950392e-01 9.70333850e-03 -2.24907293e-03 2.46568786e+02] [ 2.24934619e-03 -1.72478214e-05 9.99997470e-01 1.33929559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.60, Z:1.34 [[ 1.15428828e-02 -9.99933378e-01 -3.82224142e-05 2.12610607e+02] [ 9.99930849e-01 1.15429395e-02 -2.24908739e-03 2.46595598e+02] [ 2.24937875e-03 -1.22588190e-05 9.99997470e-01 1.34038548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.62, Z:1.34 [[ 1.20318071e-02 -9.99927615e-01 -3.73741411e-05 2.12611056e+02] [ 9.99925085e-01 1.20318607e-02 -2.24910149e-03 2.46622106e+02] [ 2.24938836e-03 -1.03105860e-05 9.99997470e-01 1.34101847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.65, Z:1.34 [[ 1.19463678e-02 -9.99928639e-01 -3.65324303e-05 2.12612052e+02] [ 9.99926110e-01 1.19464197e-02 -2.24911516e-03 2.46647140e+02] [ 2.24939109e-03 -9.66097412e-06 9.99997470e-01 1.34249496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.67, Z:1.34 [[ 1.12884615e-02 -9.99936283e-01 -3.56548987e-05 2.12612859e+02] [ 9.99933753e-01 1.12885132e-02 -2.24912907e-03 2.46673590e+02] [ 2.24938825e-03 -1.02633297e-05 9.99997470e-01 1.34340476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.70, Z:1.34 [[ 1.05372521e-02 -9.99944481e-01 -3.48058955e-05 2.12613788e+02] [ 9.99941952e-01 1.05373037e-02 -2.24914221e-03 2.46700046e+02] [ 2.24938410e-03 -1.11040966e-05 9.99997470e-01 1.34408429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:246.73, Z:1.34 [[ 8.62943240e-03 -9.99962765e-01 -3.39452020e-05 2.12614896e+02] [ 9.99960236e-01 8.62948692e-03 -2.24915520e-03 2.46725526e+02] [ 2.24936438e-03 -1.45349195e-05 9.99997470e-01 1.34446295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.75, Z:1.34 [[ 7.31560532e-03 -9.99973240e-01 -3.32615725e-05 2.12615631e+02] [ 9.99970711e-01 7.31566163e-03 -2.24916531e-03 2.46750552e+02] [ 2.24934845e-03 -1.68065926e-05 9.99997470e-01 1.34410250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.78, Z:1.34 [[ 4.87701127e-03 -9.99988107e-01 -3.24003561e-05 2.12617338e+02] [ 9.99985578e-01 4.87707180e-03 -2.24917771e-03 2.46778048e+02] [ 2.24930898e-03 -2.14306238e-05 9.99997470e-01 1.34408451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.80, Z:1.34 [[ 3.42623516e-03 -9.99994130e-01 -3.16069044e-05 2.12618302e+02] [ 9.99991601e-01 3.42629758e-03 -2.24918886e-03 2.46803460e+02] [ 2.24928396e-03 -2.39003889e-05 9.99997470e-01 1.34407101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.83, Z:1.34 [[ 1.63772768e-03 -9.99998659e-01 -3.06880825e-05 2.12619075e+02] [ 9.99996129e-01 1.63779255e-03 -2.24920140e-03 2.46830278e+02] [ 2.24924864e-03 -2.70043843e-05 9.99997470e-01 1.34399999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.86, Z:1.34 [[-1.37104956e-03 -9.99999060e-01 -2.98941545e-05 2.12620301e+02] [ 9.99996531e-01 -1.37097886e-03 -2.24921195e-03 2.46855907e+02] [ 2.24916885e-03 -3.29778318e-05 9.99997470e-01 1.34403286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.88, Z:1.34 [[-2.82711223e-03 -9.99996003e-01 -2.91932142e-05 2.12621022e+02] [ 9.99993474e-01 -2.82703942e-03 -2.24922105e-03 2.46882137e+02] [ 2.24912953e-03 -3.55518240e-05 9.99997470e-01 1.34373481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.91, Z:1.34 [[-4.12521127e-03 -9.99991491e-01 -2.83289639e-05 2.12621738e+02] [ 9.99988962e-01 -4.12513712e-03 -2.24923194e-03 2.46908383e+02] [ 2.24909594e-03 -3.76072081e-05 9.99997470e-01 1.34374841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.93, Z:1.34 [[-5.81037069e-03 -9.99983119e-01 -2.74662389e-05 2.12622744e+02] [ 9.99980591e-01 -5.81029422e-03 -2.24924247e-03 2.46934220e+02] [ 2.24904491e-03 -4.05346383e-05 9.99997470e-01 1.34350135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.96, Z:1.34 [[-6.51970538e-03 -9.99978746e-01 -2.67815897e-05 2.12623015e+02] [ 9.99976217e-01 -6.51962866e-03 -2.24925062e-03 2.46960310e+02] [ 2.24902821e-03 -4.14454042e-05 9.99997470e-01 1.34350867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:246.99, Z:1.34 [[-6.90408841e-03 -9.99976166e-01 -2.59383686e-05 2.12622524e+02] [ 9.99973637e-01 -6.90401261e-03 -2.24926035e-03 2.46986522e+02] [ 2.24902766e-03 -4.14667771e-05 9.99997470e-01 1.34354834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.01, Z:1.34 [[-6.80736244e-03 -9.99976829e-01 -2.51004426e-05 2.12621335e+02] [ 9.99974301e-01 -6.80728877e-03 -2.24926970e-03 2.47012194e+02] [ 2.24904671e-03 -4.04113916e-05 9.99997470e-01 1.34278879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.04, Z:1.34 [[-6.55988328e-03 -9.99978484e-01 -2.42282529e-05 2.12620740e+02] [ 9.99975955e-01 -6.55981220e-03 -2.24927909e-03 2.47038168e+02] [ 2.24907176e-03 -3.89826786e-05 9.99997470e-01 1.34251359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.06, Z:1.34 [[-5.39283436e-03 -9.99985458e-01 -2.34027538e-05 2.12619304e+02] [ 9.99982929e-01 -5.39276808e-03 -2.24928768e-03 2.47064018e+02] [ 2.24912877e-03 -3.55323902e-05 9.99997470e-01 1.34203227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.09, Z:1.34 [[-4.91236877e-03 -9.99987934e-01 -2.25431987e-05 2.12618971e+02] [ 9.99985405e-01 -4.91230564e-03 -2.24929630e-03 2.47089995e+02] [ 2.24915842e-03 -3.35922425e-05 9.99997470e-01 1.34147133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.12, Z:1.34 [[-4.22839311e-03 -9.99991060e-01 -2.17349263e-05 2.12618430e+02] [ 9.99988531e-01 -4.22833353e-03 -2.24930411e-03 2.47115102e+02] [ 2.24919209e-03 -3.12456190e-05 9.99997470e-01 1.34172009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.14, Z:1.34 [[-4.03140195e-03 -9.99991874e-01 -1.41990229e-05 2.12617887e+02] [ 9.99989344e-01 -4.03135982e-03 -2.24937225e-03 2.47140059e+02] [ 2.24929673e-03 -2.32669953e-05 9.99997470e-01 1.34047676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.17, Z:1.34 [[-4.39688750e-03 -9.99990334e-01 -6.84396647e-06 2.12616579e+02] [ 9.99987804e-01 -4.39686099e-03 -2.24943474e-03 2.47167140e+02] [ 2.24938291e-03 -1.67343945e-05 9.99997470e-01 1.34006194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.19, Z:1.34 [[-4.32332448e-03 -9.99990654e-01 -8.66453951e-06 2.12616389e+02] [ 9.99988125e-01 -4.32329405e-03 -2.24941971e-03 2.47192023e+02] [ 2.24936123e-03 -1.83894079e-05 9.99997470e-01 1.33964391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.22, Z:1.34 [[-5.40202421e-03 -9.99985409e-01 -2.74349242e-06 2.12615347e+02] [ 9.99982879e-01 -5.40200437e-03 -2.24946709e-03 2.47221058e+02] [ 2.24941945e-03 -1.48951211e-05 9.99997470e-01 1.33908626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.25, Z:1.34 [[-5.89707472e-03 -9.99982612e-01 -1.78683707e-05 2.12614831e+02] [ 9.99980083e-01 -5.89701962e-03 -2.24934694e-03 2.47248642e+02] [ 2.24920246e-03 -3.11325818e-05 9.99997470e-01 1.33915841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.27, Z:1.34 [[-6.34475210e-03 -9.99979872e-01 -1.90722019e-05 2.12614389e+02] [ 9.99977342e-01 -6.34469315e-03 -2.24933779e-03 2.47273879e+02] [ 2.24917151e-03 -3.33432604e-05 9.99997470e-01 1.33992797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.30, Z:1.34 [[-6.49434182e-03 -9.99978911e-01 -1.76979901e-05 2.12614386e+02] [ 9.99976382e-01 -6.49428559e-03 -2.24934749e-03 2.47300179e+02] [ 2.24918512e-03 -3.23056036e-05 9.99997470e-01 1.33992032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.33, Z:1.34 [[-7.96585743e-03 -9.99968272e-01 -1.51372317e-05 2.12614415e+02] [ 9.99965743e-01 -7.96580324e-03 -2.24936472e-03 2.47327039e+02] [ 2.24917278e-03 -3.30548319e-05 9.99997470e-01 1.34032161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.35, Z:1.34 [[-9.24701249e-03 -9.99957245e-01 -1.78859608e-05 2.12614366e+02] [ 9.99954716e-01 -9.24694887e-03 -2.24934700e-03 2.47353839e+02] [ 2.24908544e-03 -3.86848907e-05 9.99997470e-01 1.34004707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.38, Z:1.34 [[-1.22858760e-02 -9.99924526e-01 -1.33617450e-05 2.12614564e+02] [ 9.99921997e-01 -1.22858149e-02 -2.24937388e-03 2.47380251e+02] [ 2.24903995e-03 -4.09962313e-05 9.99997470e-01 1.34011410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.41, Z:1.34 [[-1.39556599e-02 -9.99902615e-01 -1.24840198e-05 2.12614838e+02] [ 9.99900086e-01 -1.39555965e-02 -2.24937875e-03 2.47406299e+02] [ 2.24898547e-03 -4.38743372e-05 9.99997470e-01 1.34057068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.43, Z:1.34 [[-1.58916941e-02 -9.99873719e-01 -1.16086820e-05 2.12615154e+02] [ 9.99871190e-01 -1.58916278e-02 -2.24938327e-03 2.47432826e+02] [ 2.24891473e-03 -4.73536975e-05 9.99997470e-01 1.34080017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.46, Z:1.34 [[-1.79885464e-02 -9.99838193e-01 -1.36722493e-05 2.12615760e+02] [ 9.99835664e-01 -1.79884701e-02 -2.24937331e-03 2.47458789e+02] [ 2.24876340e-03 -5.41329585e-05 9.99997470e-01 1.34134497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.49, Z:1.34 [[-1.91438259e-02 -9.99816740e-01 -9.62432928e-06 2.12615976e+02] [ 9.99814211e-01 -1.91437558e-02 -2.24939063e-03 2.47485984e+02] [ 2.24879416e-03 -5.26844837e-05 9.99997470e-01 1.34121475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.51, Z:1.34 [[-2.08011606e-02 -9.99783632e-01 -8.82434456e-06 2.12616395e+02] [ 9.99781104e-01 -2.08010881e-02 -2.24939377e-03 2.47513453e+02] [ 2.24872352e-03 -5.56124140e-05 9.99997470e-01 1.34128243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.72275509600007 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:212.62, Y:247.54, Z:1.34 [[-2.15275170e-02 -9.99768256e-01 -1.09561470e-05 2.12616012e+02] [ 9.99765727e-01 -2.15274379e-02 -2.24938589e-03 2.47541009e+02] [ 2.24862875e-03 -5.93772731e-05 9.99997470e-01 1.34163175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.57, Z:1.34 [[-2.07637320e-02 -9.99784410e-01 -1.48899209e-05 2.12616290e+02] [ 9.99781882e-01 -2.07636460e-02 -2.24937274e-03 2.47565298e+02] [ 2.24857863e-03 -6.15920459e-05 9.99997470e-01 1.34124691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.59, Z:1.34 [[-1.92962457e-02 -9.99813810e-01 -6.28142114e-06 2.12616565e+02] [ 9.99811281e-01 -1.92961827e-02 -2.24939678e-03 2.47592517e+02] [ 2.24885676e-03 -4.96851486e-05 9.99997470e-01 1.34112924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.62, Z:1.34 [[-1.86437946e-02 -9.99826189e-01 -5.47412299e-06 2.12616422e+02] [ 9.99823660e-01 -1.86437351e-02 -2.24939875e-03 2.47618651e+02] [ 2.24890572e-03 -4.74104859e-05 9.99997470e-01 1.34072458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.64, Z:1.34 [[-1.70504931e-02 -9.99854630e-01 -4.62991702e-06 2.12615671e+02] [ 9.99852100e-01 -1.70504395e-02 -2.24940049e-03 2.47644592e+02] [ 2.24899455e-03 -4.29826197e-05 9.99997470e-01 1.33934716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.67, Z:1.34 [[-1.65523324e-02 -9.99863001e-01 -3.75114505e-06 2.12615351e+02] [ 9.99860471e-01 -1.65522821e-02 -2.24940195e-03 2.47669976e+02] [ 2.24903170e-03 -4.09834705e-05 9.99997470e-01 1.33890688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.70, Z:1.34 [[-1.65052723e-02 -9.99863779e-01 -2.83689459e-06 2.12614903e+02] [ 9.99861249e-01 -1.65052242e-02 -2.24940310e-03 2.47696283e+02] [ 2.24904986e-03 -3.99635117e-05 9.99997470e-01 1.33839348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.72, Z:1.34 [[-1.64053460e-02 -9.99865423e-01 -2.00552524e-06 2.12614583e+02] [ 9.99862894e-01 -1.64053000e-02 -2.24940385e-03 2.47722439e+02] [ 2.24906823e-03 -3.89074987e-05 9.99997470e-01 1.33777606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.75, Z:1.34 [[-1.66659588e-02 -9.99861113e-01 -1.14875392e-06 2.12615356e+02] [ 9.99858584e-01 -1.66659141e-02 -2.24940428e-03 2.47749983e+02] [ 2.24907273e-03 -3.86370707e-05 9.99997470e-01 1.33748041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.77, Z:1.34 [[-1.95079248e-02 -9.99809702e-01 -3.41695829e-07 2.12612518e+02] [ 9.99807173e-01 -1.95078747e-02 -2.24940441e-03 2.47774379e+02] [ 2.24896968e-03 -4.42228420e-05 9.99997470e-01 1.33692559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.77, Z:1.34 [[-2.00858599e-02 -9.99798259e-01 5.15770746e-06 2.12612572e+02] [ 9.99795729e-01 -2.00858207e-02 -2.24942926e-03 2.47772021e+02] [ 2.24907905e-03 -4.00250671e-05 9.99997470e-01 1.33691880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.84, Z:1.34 [[-1.96898335e-02 -9.99806136e-01 5.28538872e-06 2.12614067e+02] [ 9.99803607e-01 -1.96897956e-02 -2.24942980e-03 2.47841214e+02] [ 2.24909778e-03 -3.90065474e-05 9.99997470e-01 1.33786846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.76, Z:1.34 [[-1.47002016e-02 -9.99891946e-01 4.32387214e-06 2.12616591e+02] [ 9.99889416e-01 -1.47001742e-02 -2.24942596e-03 2.47764945e+02] [ 2.24924646e-03 -2.87436212e-05 9.99997470e-01 1.33875363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.79, Z:1.34 [[-1.54546258e-02 -9.99880570e-01 -8.44488123e-06 2.12616264e+02] [ 9.99878041e-01 -1.54545677e-02 -2.24937802e-03 2.47791377e+02] [ 2.24897887e-03 -4.32071469e-05 9.99997470e-01 1.33902625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.82, Z:1.34 [[-1.68070857e-02 -9.99858751e-01 -7.58661059e-06 2.12616194e+02] [ 9.99856222e-01 -1.68070261e-02 -2.24938092e-03 2.47817614e+02] [ 2.24893569e-03 -4.53910576e-05 9.99997470e-01 1.33993339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.84, Z:1.34 [[-1.81208175e-02 -9.99835805e-01 -6.72230201e-06 2.12616002e+02] [ 9.99833275e-01 -1.81207565e-02 -2.24938350e-03 2.47842811e+02] [ 2.24889235e-03 -4.74818491e-05 9.99997470e-01 1.34073252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.87, Z:1.34 [[-1.92761867e-02 -9.99814197e-01 -5.82213394e-06 2.12616179e+02] [ 9.99811668e-01 -1.92761248e-02 -2.24938583e-03 2.47869656e+02] [ 2.24885566e-03 -4.91806186e-05 9.99997470e-01 1.34114604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.90, Z:1.34 [[-2.13930388e-02 -9.99771143e-01 -4.94467696e-06 2.12616728e+02] [ 9.99768614e-01 -2.13929736e-02 -2.24938776e-03 2.47895792e+02] [ 2.24876719e-03 -5.30647724e-05 9.99997470e-01 1.34304659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.92, Z:1.34 [[-2.31922899e-02 -9.99731023e-01 -4.07112451e-06 2.12614667e+02] [ 9.99728494e-01 -2.31922221e-02 -2.24938934e-03 2.47920466e+02] [ 2.24868989e-03 -5.62385089e-05 9.99997470e-01 1.34491831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.95, Z:1.35 [[-2.44196181e-02 -9.99701797e-01 1.93399417e-05 2.12615837e+02] [ 9.99699266e-01 -2.44195998e-02 -2.24941292e-03 2.47948873e+02] [ 2.24921441e-03 -3.55956790e-05 9.99997470e-01 1.34527305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:247.98, Z:1.35 [[-2.50391262e-02 -9.99686472e-01 -2.14126433e-06 2.12615829e+02] [ 9.99683943e-01 -2.50390581e-02 -2.24939247e-03 2.47976065e+02] [ 2.24863361e-03 -5.84634096e-05 9.99997470e-01 1.34537703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:248.00, Z:1.35 [[-2.72476081e-02 -9.99628715e-01 -1.34465054e-06 2.12612767e+02] [ 9.99626186e-01 -2.72475362e-02 -2.24939295e-03 2.48000416e+02] [ 2.24852114e-03 -6.26347255e-05 9.99997470e-01 1.34627638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:248.03, Z:1.35 [[-2.49454222e-02 -9.99688814e-01 2.16639200e-05 2.12615870e+02] [ 9.99686284e-01 -2.49454078e-02 -2.24939261e-03 2.48030961e+02] [ 2.24923305e-03 -3.44549246e-05 9.99997470e-01 1.34658692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:248.06, Z:1.35 [[-2.54027928e-02 -9.99677297e-01 -2.99732416e-07 2.12613604e+02] [ 9.99674768e-01 -2.54027278e-02 -2.24938969e-03 2.48056526e+02] [ 2.24865619e-03 -5.74404149e-05 9.99997470e-01 1.34853044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.76, Z:1.35 [[-2.02813542e-02 -9.99794312e-01 1.49624700e-06 2.12614093e+02] [ 9.99791783e-01 -2.02813062e-02 -2.24939544e-03 2.47762117e+02] [ 2.24896311e-03 -4.41248501e-05 9.99997470e-01 1.34609888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.79, Z:1.35 [[-1.81981213e-02 -9.99834401e-01 -6.26214212e-06 2.12613422e+02] [ 9.99831871e-01 -1.81980612e-02 -2.24937384e-03 2.47785989e+02] [ 2.24888739e-03 -4.71954672e-05 9.99997470e-01 1.34637984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.81, Z:1.34 [[-1.88806074e-02 -9.99821745e-01 1.59196285e-05 2.12612202e+02] [ 9.99819215e-01 -1.88805955e-02 -2.24941802e-03 2.47814456e+02] [ 2.24931763e-03 -2.65536282e-05 9.99997470e-01 1.34384963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.84, Z:1.34 [[-1.89967263e-02 -9.99819546e-01 -4.34889078e-06 2.12611626e+02] [ 9.99817017e-01 -1.89966685e-02 -2.24937884e-03 2.47841978e+02] [ 2.24889031e-03 -4.70789291e-05 9.99997470e-01 1.34296558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.87, Z:1.34 [[-1.89955760e-02 -9.99819568e-01 -3.53314567e-06 2.12611281e+02] [ 9.99817039e-01 -1.89955200e-02 -2.24938012e-03 2.47869447e+02] [ 2.24890714e-03 -4.62607703e-05 9.99997470e-01 1.34291824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.90, Z:1.34 [[-1.91621300e-02 -9.99816390e-01 -2.71740014e-06 2.12610440e+02] [ 9.99813860e-01 -1.91620754e-02 -2.24938110e-03 2.47895917e+02] [ 2.24891602e-03 -4.58198274e-05 9.99997470e-01 1.34315680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.92, Z:1.34 [[-1.92062998e-02 -9.99815542e-01 -2.08745647e-06 2.12608482e+02] [ 9.99813013e-01 -1.92062465e-02 -2.24938169e-03 2.47922926e+02] [ 2.24892668e-03 -4.52893651e-05 9.99997470e-01 1.34276712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.61, Y:247.95, Z:1.34 [[-1.97596341e-02 -9.99804759e-01 -1.28844451e-06 2.12606985e+02] [ 9.99802230e-01 -1.97595812e-02 -2.24938215e-03 2.47948413e+02] [ 2.24891752e-03 -4.57351579e-05 9.99997470e-01 1.34253152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:247.97, Z:1.34 [[-2.08473351e-02 -9.99782671e-01 -3.63258325e-07 2.12604188e+02] [ 9.99780141e-01 -2.08472816e-02 -2.24938229e-03 2.47973486e+02] [ 2.24888586e-03 -4.72568050e-05 9.99997470e-01 1.34124320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:248.24, Z:1.34 [[-2.39553678e-02 -9.99713029e-01 5.51558705e-07 2.12603002e+02] [ 9.99710500e-01 -2.39553085e-02 -2.24938207e-03 2.48243926e+02] [ 2.24874978e-03 -5.33333759e-05 9.99997470e-01 1.34245909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.74275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.60, Y:247.97, Z:1.34 [[-2.35823377e-02 -9.99721898e-01 1.05604428e-05 2.12602054e+02] [ 9.99719368e-01 -2.35823018e-02 -2.24937220e-03 2.47969612e+02] [ 2.24899569e-03 -4.24879756e-05 9.99997470e-01 1.34018909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:248.27, Z:1.34 [[-2.72324790e-02 -9.99629127e-01 3.33239625e-06 2.12600479e+02] [ 9.99626598e-01 -2.72324176e-02 -2.24938291e-03 2.48270095e+02] [ 2.24863942e-03 -5.79251209e-05 9.99997470e-01 1.34095697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:247.96, Z:1.34 [[-2.60779415e-02 -9.99659913e-01 1.44849340e-05 2.12599202e+02] [ 9.99657383e-01 -2.60779081e-02 -2.24935838e-03 2.47964513e+02] [ 2.24897114e-03 -4.41786652e-05 9.99997470e-01 1.33786648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.60, Y:247.96, Z:1.34 [[-2.70285126e-02 -9.99634663e-01 5.24325491e-06 2.12598433e+02] [ 9.99632134e-01 -2.70284561e-02 -2.24937992e-03 2.47960724e+02] [ 2.24869986e-03 -5.55560676e-05 9.99997470e-01 1.33801923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:247.96, Z:1.34 [[-2.82429798e-02 -9.99601088e-01 6.49902733e-06 2.12595847e+02] [ 9.99598558e-01 -2.82429230e-02 -2.24937629e-03 2.47956751e+02] [ 2.24866254e-03 -5.70326710e-05 9.99997470e-01 1.33659596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.95, Z:1.34 [[-2.86998576e-02 -9.99588074e-01 7.75267670e-06 2.12594418e+02] [ 9.99585545e-01 -2.86998024e-02 -2.24937197e-03 2.47954860e+02] [ 2.24866790e-03 -5.68071918e-05 9.99997470e-01 1.33648691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.95, Z:1.34 [[-2.88659914e-02 -9.99583290e-01 9.00571404e-06 2.12591668e+02] [ 9.99580761e-01 -2.88659387e-02 -2.24936696e-03 2.47952869e+02] [ 2.24868958e-03 -5.59282688e-05 9.99997470e-01 1.33574636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.95, Z:1.34 [[-2.86352025e-02 -9.99589929e-01 1.02593574e-05 2.12590556e+02] [ 9.99587399e-01 -2.86351531e-02 -2.24936124e-03 2.47952986e+02] [ 2.24873262e-03 -5.41557902e-05 9.99997470e-01 1.33616532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.98275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.59, Y:247.97, Z:1.34 [[-3.20501893e-02 -9.99486261e-01 1.15151178e-05 2.12587013e+02] [ 9.99483731e-01 -3.20501341e-02 -2.24935481e-03 2.47971141e+02] [ 2.24856829e-03 -6.05830745e-05 9.99997470e-01 1.33546363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.97, Z:1.33 [[-2.90871572e-02 -9.99576879e-01 1.84878955e-05 2.12585733e+02] [ 9.99574349e-01 -2.90871252e-02 -2.24931763e-03 2.47966494e+02] [ 2.24890365e-03 -4.69462294e-05 9.99997470e-01 1.33470137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.95, Z:1.34 [[-2.63859645e-02 -9.99651830e-01 1.57408483e-05 2.12586437e+02] [ 9.99649300e-01 -2.63859332e-02 -2.24933308e-03 2.47950963e+02] [ 2.24896527e-03 -4.36154950e-05 9.99997470e-01 1.33589251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.98, Z:1.34 [[-2.52115571e-02 -9.99682138e-01 1.30818759e-05 2.12585525e+02] [ 9.99679608e-01 -2.52115227e-02 -2.24934855e-03 2.47978974e+02] [ 2.24896338e-03 -4.36318948e-05 9.99997470e-01 1.33507289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.95, Z:1.34 [[-2.84028013e-02 -9.99596559e-01 1.15517155e-05 2.12585188e+02] [ 9.99594030e-01 -2.84027554e-02 -2.24935779e-03 2.47947678e+02] [ 2.24877841e-03 -5.23410365e-05 9.99997470e-01 1.33621419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.96, Z:1.34 [[-2.31579764e-02 -9.99731818e-01 2.74298896e-05 2.12585269e+02] [ 9.99729288e-01 -2.31579795e-02 -2.24924979e-03 2.47964536e+02] [ 2.24928181e-03 -2.46656096e-05 9.99997470e-01 1.33643749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.97, Z:1.34 [[-1.89159199e-02 -9.99821078e-01 9.77333953e-06 2.12588215e+02] [ 9.99818548e-01 -1.89158940e-02 -2.24937194e-03 2.47971471e+02] [ 2.24915435e-03 -3.27773733e-05 9.99997470e-01 1.33643464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:247.94, Z:1.34 [[-2.65693049e-02 -9.99646974e-01 1.23274483e-05 2.12582895e+02] [ 9.99644444e-01 -2.65692654e-02 -2.24935322e-03 2.47943612e+02] [ 2.24888667e-03 -4.74406862e-05 9.99997470e-01 1.33742679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.96, Z:1.34 [[-1.38581033e-02 -9.99903972e-01 1.73989167e-05 2.12587842e+02] [ 9.99901442e-01 -1.38581074e-02 -2.24931399e-03 2.47959692e+02] [ 2.24933911e-03 -1.37740238e-05 9.99997470e-01 1.33536338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:247.97, Z:1.34 [[-1.41277034e-02 -9.99900198e-01 -5.27462798e-05 2.12585349e+02] [ 9.99897672e-01 -1.41275491e-02 -2.24904942e-03 2.47974298e+02] [ 2.24807978e-03 -8.45147855e-05 9.99997470e-01 1.33773719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.00, Z:1.34 [[-1.79563744e-02 -9.99838771e-01 2.27622970e-05 2.12583498e+02] [ 9.99836241e-01 -1.79563802e-02 -2.24920109e-03 2.48004327e+02] [ 2.24924719e-03 -1.76289275e-05 9.99997470e-01 1.33741136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.03, Z:1.34 [[-1.88368048e-02 -9.99822572e-01 -4.80216223e-06 2.12583077e+02] [ 9.99820043e-01 -1.88367464e-02 -2.24914224e-03 2.48031241e+02] [ 2.24865272e-03 -4.71679515e-05 9.99997471e-01 1.33732727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.06, Z:1.34 [[-1.96460095e-02 -9.99806999e-01 -4.00177175e-06 2.12582748e+02] [ 9.99804470e-01 -1.96459508e-02 -2.24914367e-03 2.48056941e+02] [ 2.24863096e-03 -4.81876871e-05 9.99997471e-01 1.33738049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.08, Z:1.34 [[-1.98864092e-02 -9.99802246e-01 -3.29560131e-06 2.12582759e+02] [ 9.99799717e-01 -1.98863515e-02 -2.24914470e-03 2.48081686e+02] [ 2.24863439e-03 -4.80223532e-05 9.99997471e-01 1.33797598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.12, Z:1.34 [[-2.01778279e-02 -9.99796407e-01 1.02287139e-05 2.12583828e+02] [ 9.99793878e-01 -2.01777999e-02 -2.24916395e-03 2.48115181e+02] [ 2.24891243e-03 -3.51566377e-05 9.99997471e-01 1.33690567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.11, Z:1.34 [[-3.01773549e-02 -9.99544560e-01 -6.33954713e-06 2.12580588e+02] [ 9.99542032e-01 -3.01772644e-02 -2.24926644e-03 2.48108623e+02] [ 2.24805072e-03 -7.42135554e-05 9.99997470e-01 1.33625247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.58, Y:248.11, Z:1.34 [[-3.09551690e-02 -9.99520774e-01 1.51053305e-05 2.12580845e+02] [ 9.99518245e-01 -3.09551247e-02 -2.24912241e-03 2.48111736e+02] [ 2.24851216e-03 -5.45239109e-05 9.99997471e-01 1.33540911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.11, Z:1.34 [[-3.14126769e-02 -9.99506500e-01 1.63603448e-05 2.12581324e+02] [ 9.99503971e-01 -3.14126343e-02 -2.24911328e-03 2.48106342e+02] [ 2.24851727e-03 -5.42984392e-05 9.99997471e-01 1.33501775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.43, Z:1.33 [[-3.10569830e-02 -9.99517615e-01 1.76165767e-05 2.12579805e+02] [ 9.99515086e-01 -3.10569440e-02 -2.24910344e-03 2.48427322e+02] [ 2.24856563e-03 -5.22423330e-05 9.99997471e-01 1.33417196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:248.08, Z:2.55 [[-6.28427923e-02 9.98023438e-01 -1.43599444e-05 2.12127991e+02] [ 9.98020912e-01 6.28426656e-02 2.24912859e-03 2.48075326e+02] [ 2.24558546e-03 1.27009996e-04 -9.99997471e-01 2.54606433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:248.06, Z:2.55 [[-1.41451715e-01 9.89945137e-01 -1.93879398e-04 2.12153013e+02] [ 9.89942625e-01 1.41451794e-01 2.23354572e-03 2.48057684e+02] [ 2.23851232e-03 1.24009393e-04 -9.99997487e-01 2.54620864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:248.34, Z:2.55 [[-2.19311378e-01 9.75654849e-01 -3.67303801e-04 2.12114394e+02] [ 9.75652366e-01 2.19311650e-01 2.20465257e-03 2.48339413e+02] [ 2.23153397e-03 1.25144570e-04 -9.99997502e-01 2.54710598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:248.03, Z:2.55 [[-2.94468253e-01 9.55661108e-01 -5.44052202e-04 2.12222781e+02] [ 9.55658672e-01 2.94468732e-01 2.16066536e-03 2.48030991e+02] [ 2.22507022e-03 1.16319150e-04 -9.99997518e-01 2.54643515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.67275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.25, Y:248.02, Z:2.55 [[-3.68306066e-01 9.29704333e-01 -7.03288903e-04 2.12251188e+02] [ 9.29701952e-01 3.68306717e-01 2.10752759e-03 2.48020060e+02] [ 2.21840356e-03 1.22366128e-04 -9.99997532e-01 2.54659984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.28, Y:248.01, Z:2.55 [[-4.39587842e-01 8.98199189e-01 -8.63666875e-04 2.12281626e+02] [ 8.98196882e-01 4.39588674e-01 2.03961625e-03 2.48009072e+02] [ 2.21163984e-03 1.20847611e-04 -9.99997547e-01 2.54665327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.73275509600006 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:212.50, Y:248.69, Z:1.33 [[-4.81534331e-01 -8.76426638e-01 1.01769187e-03 2.12495109e+02] [ 8.76424449e-01 -4.81535404e-01 -1.95962656e-03 2.48690747e+02] [ 2.20752359e-03 -5.16974314e-05 9.99997562e-01 1.33380270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.76275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.29, Y:248.06, Z:2.55 [[-4.99465666e-01 8.66333086e-01 -1.01676334e-03 2.12287200e+02] [ 8.66330874e-01 4.99466691e-01 1.96010890e-03 2.48060432e+02] [ 2.20594661e-03 9.81536216e-05 -9.99997562e-01 2.54636877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:248.40, Z:2.55 [[-5.67111785e-01 8.23640036e-01 -1.14661319e-03 2.12078438e+02] [ 8.23637897e-01 5.67112931e-01 1.88095357e-03 2.48404530e+02] [ 2.19948783e-03 1.22316861e-04 -9.99997574e-01 2.54741785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.74, Y:248.36, Z:1.33 [[-6.04479880e-01 -7.96619361e-01 1.29176838e-03 2.12741660e+02] [ 7.96617382e-01 -6.04481259e-01 -1.77603235e-03 2.48364923e+02] [ 2.19567153e-03 -4.45306730e-05 9.99997589e-01 1.33372711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:248.61, Z:1.33 [[-6.03225557e-01 -7.97569605e-01 1.28574882e-03 2.12567181e+02] [ 7.97567619e-01 -6.03226925e-01 -1.78037954e-03 2.48607789e+02] [ 2.19557491e-03 -4.84988091e-05 9.99997589e-01 1.33442026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:248.06, Z:2.55 [[-6.30619014e-01 7.76091500e-01 -1.28133798e-03 2.12360370e+02] [ 7.76089462e-01 6.30620303e-01 1.78356303e-03 2.48064896e+02] [ 2.19224585e-03 1.30315861e-04 -9.99997589e-01 2.54517344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.39, Y:248.07, Z:2.55 [[-6.89558613e-01 7.24228494e-01 -1.41694261e-03 2.12392928e+02] [ 7.24226583e-01 6.89560057e-01 1.66839620e-03 2.48065077e+02] [ 2.18536709e-03 1.24269466e-04 -9.99997604e-01 2.54517379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:248.07, Z:2.54 [[-7.45976465e-01 6.65970530e-01 -1.53870234e-03 2.12423894e+02] [ 6.65968745e-01 7.45978040e-01 1.54731419e-03 2.48067467e+02] [ 2.17830381e-03 1.29532303e-04 -9.99997619e-01 2.54429571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.45, Y:248.07, Z:2.54 [[-8.03215993e-01 5.95685610e-01 -1.65003187e-03 2.12453047e+02] [ 5.95683943e-01 8.03217673e-01 1.41774412e-03 2.48069061e+02] [ 2.16986453e-03 1.55857259e-04 -9.99997634e-01 2.54470926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.24, Y:248.24, Z:2.54 [[-8.42798101e-01 5.38226910e-01 -1.77571990e-03 2.12237836e+02] [ 5.38225477e-01 8.42799967e-01 1.24589500e-03 2.48242844e+02] [ 2.16715089e-03 9.43002482e-05 -9.99997647e-01 2.54495283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:248.54, Z:1.34 [[-8.56796578e-01 -5.15651262e-01 1.84372939e-03 2.12755096e+02] [ 5.15650011e-01 -8.56798562e-01 -1.13617793e-03 2.48538401e+02] [ 2.16557627e-03 -2.27542811e-05 9.99997655e-01 1.33553023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:248.54, Z:1.34 [[-8.56494118e-01 -5.16153503e-01 1.84026624e-03 2.12757756e+02] [ 5.16152241e-01 -8.56496095e-01 -1.14175976e-03 2.48537640e+02] [ 2.16550415e-03 -2.80529712e-05 9.99997655e-01 1.33553594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:248.20, Z:2.55 [[-8.85917630e-01 4.63838943e-01 -1.84090618e-03 2.12319521e+02] [ 4.63837566e-01 8.85919528e-01 1.14072702e-03 2.48201929e+02] [ 2.16000835e-03 1.56708735e-04 -9.99997655e-01 2.54606653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.12275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:212.75, Y:248.58, Z:1.33 [[-8.92472092e-01 -4.51098516e-01 1.92200813e-03 2.12754618e+02] [ 4.51097444e-01 -8.92474161e-01 -9.83572386e-04 2.48576215e+02] [ 2.15903064e-03 -1.07979478e-05 9.99997669e-01 1.33351747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.75, Y:248.58, Z:1.33 [[-8.92264468e-01 -4.51509071e-01 1.91793196e-03 2.12754489e+02] [ 4.51507982e-01 -8.92266529e-01 -9.91457579e-04 2.48577267e+02] [ 2.15895858e-03 -1.86807821e-05 9.99997669e-01 1.33475306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:248.26, Z:2.55 [[-9.18889297e-01 3.94510811e-01 -1.91848810e-03 2.12222151e+02] [ 3.94509597e-01 9.18891287e-01 9.90380266e-04 2.48256857e+02] [ 2.15359772e-03 1.53187860e-04 -9.99997669e-01 2.54591859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:248.62, Z:1.33 [[-9.20920640e-01 -3.89745095e-01 1.98409481e-03 2.12756469e+02] [ 3.89744202e-01 -9.20922777e-01 -8.34370597e-04 2.48618451e+02] [ 2.15238995e-03 4.90034587e-06 9.99997684e-01 1.33420385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:248.13, Z:2.55 [[-9.47472364e-01 3.19831533e-01 -1.97762000e-03 2.12571530e+02] [ 3.19830451e-01 9.47474412e-01 8.49618781e-04 2.48131084e+02] [ 2.14547923e-03 1.72487217e-04 -9.99997684e-01 2.54611300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.22, Z:2.55 [[-9.68843968e-01 2.47663504e-01 -2.03847766e-03 2.12341737e+02] [ 2.47662646e-01 9.68846102e-01 6.67073572e-04 2.48218734e+02] [ 2.14018091e-03 1.41435437e-04 -9.99997700e-01 2.54543315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:248.69, Z:1.34 [[-9.71852874e-01 -2.35579460e-01 2.07590609e-03 2.12728345e+02] [ 2.35578894e-01 -9.71855091e-01 -5.16700443e-04 2.48686201e+02] [ 2.13920391e-03 -1.31171502e-05 9.99997712e-01 1.33565046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:248.79, Z:1.34 [[-9.72176256e-01 -2.34241368e-01 2.07556686e-03 2.12315988e+02] [ 2.34240796e-01 -9.72178472e-01 -5.18059551e-04 2.48791227e+02] [ 2.13917239e-03 -1.74627618e-05 9.99997712e-01 1.33652598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:248.19, Z:2.54 [[-9.84677880e-01 1.74370768e-01 -2.07556686e-03 2.12550373e+02] [ 1.74370061e-01 9.84680056e-01 5.18059551e-04 2.48190744e+02] [ 2.13410373e-03 1.48205059e-04 -9.99997712e-01 2.54360727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:248.21, Z:2.54 [[-9.94343177e-01 1.06194182e-01 -2.10776457e-03 2.12571472e+02] [ 1.06193713e-01 9.94345405e-01 3.33474695e-04 2.48213667e+02] [ 2.13125909e-03 1.07756941e-04 -9.99997723e-01 2.54421437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:248.24, Z:2.54 [[-9.99591050e-01 2.85173233e-02 -2.12022637e-03 2.12595895e+02] [ 2.85169547e-02 9.99593288e-01 2.03879620e-04 2.48235732e+02] [ 2.12517815e-03 1.43333844e-04 -9.99997732e-01 2.54486421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.62, Y:248.26, Z:2.55 [[-9.98771181e-01 -4.95138389e-02 -2.12314220e-03 2.12619328e+02] [-4.95140292e-02 9.98773428e-01 3.71241107e-05 2.48259924e+02] [ 2.11869985e-03 1.42203817e-04 -9.99997745e-01 2.54563164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:248.82, Z:1.33 [[-9.97363039e-01 7.25431137e-02 2.11302318e-03 2.12585162e+02] [-7.25430036e-02 -9.97365277e-01 1.28836482e-04 2.48818082e+02] [ 2.11680215e-03 -2.47883026e-05 9.99997759e-01 1.33345091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.58, Y:248.82, Z:1.33 [[-9.97376815e-01 7.23534632e-02 2.11300517e-03 2.12581244e+02] [-7.23533519e-02 -9.97379053e-01 1.29131150e-04 2.48817491e+02] [ 2.11681018e-03 -2.40905919e-05 9.99997759e-01 1.33329397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.59, Y:248.82, Z:1.33 [[-9.97402154e-01 7.20033287e-02 2.11297797e-03 2.12585560e+02] [-7.20032157e-02 -9.97404392e-01 1.29574729e-04 2.48816851e+02] [ 2.11682332e-03 -2.29030948e-05 9.99997759e-01 1.33308752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.65, Y:248.29, Z:2.55 [[-9.91638593e-01 -1.29028819e-01 -2.11295976e-03 2.12645911e+02] [-1.29028833e-01 9.91640834e-01 -1.29870968e-04 2.48288067e+02] [ 2.11205428e-03 1.43847669e-04 -9.99997759e-01 2.54721489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:248.84, Z:1.33 [[-9.88777170e-01 1.49383199e-01 2.08983204e-03 2.12562404e+02] [-1.49382911e-01 -9.88779379e-01 2.94172780e-04 2.48837552e+02] [ 2.11032729e-03 -2.13138632e-05 9.99997773e-01 1.33234974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:248.32, Z:2.55 [[-9.78686591e-01 -2.05348943e-01 -2.08999611e-03 2.12659990e+02] [-2.05348783e-01 9.78688812e-01 -2.93002480e-04 2.48315514e+02] [ 2.10562356e-03 1.42420559e-04 -9.99997773e-01 2.54853528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.33, Y:248.25, Z:2.55 [[-9.59155979e-01 -2.82870265e-01 -2.05441184e-03 2.12331139e+02] [-2.82869938e-01 9.59158168e-01 -4.54019391e-04 2.48248817e+02] [ 2.09893448e-03 1.45655936e-04 -9.99997787e-01 2.54932288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.50, Y:248.88, Z:1.33 [[-9.53999818e-01 2.99800483e-01 2.00471353e-03 2.12503925e+02] [-2.99799848e-01 -9.54001924e-01 6.17082336e-04 2.48881741e+02] [ 2.09750215e-03 -1.23163759e-05 9.99997800e-01 1.33099515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:248.29, Z:2.55 [[-9.35013508e-01 -3.54606416e-01 -2.00762905e-03 2.12443539e+02] [-3.54605925e-01 9.35015652e-01 -6.07446447e-04 2.48294943e+02] [ 2.09256900e-03 1.43946524e-04 -9.99997800e-01 2.54913952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.47, Y:248.90, Z:1.33 [[-9.27908882e-01 3.72801985e-01 1.94602658e-03 2.12468005e+02] [-3.72801200e-01 -9.27910922e-01 7.65264092e-04 2.48900897e+02] [ 2.09103130e-03 -1.53856977e-05 9.99997814e-01 1.33033043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.46, Y:248.90, Z:1.33 [[-9.27845859e-01 3.72958796e-01 1.94882678e-03 2.12463009e+02] [-3.72958026e-01 -9.27847906e-01 7.58065391e-04 2.48898384e+02] [ 2.09094200e-03 -2.34627532e-05 9.99997814e-01 1.33023540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.67, Y:248.41, Z:2.55 [[-9.06525916e-01 -4.22145667e-01 -1.94925013e-03 2.12670012e+02] [-4.22145010e-01 9.06528001e-01 -7.56975221e-04 2.48409294e+02] [ 2.08660364e-03 1.36648562e-04 -9.99997814e-01 2.54969236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.43, Y:248.91, Z:1.33 [[-8.95727468e-01 4.44599564e-01 1.87906661e-03 2.12425688e+02] [-4.44598648e-01 -8.95729439e-01 9.03018296e-04 2.48907668e+02] [ 2.08461682e-03 -2.65721829e-05 9.99997827e-01 1.33111442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:248.91, Z:1.33 [[-8.95009901e-01 4.46042313e-01 1.87956972e-03 2.12424661e+02] [-4.46041402e-01 -8.95011874e-01 9.01969896e-04 2.48907455e+02] [ 2.08455396e-03 -3.10939247e-05 9.99997827e-01 1.33164537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.42, Y:248.91, Z:1.33 [[-8.94841514e-01 4.46380028e-01 1.88007175e-03 2.12420377e+02] [-4.46379120e-01 -8.94843489e-01 9.00922235e-04 2.48905645e+02] [ 2.08452366e-03 -3.30421587e-05 9.99997827e-01 1.33244675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.44, Y:248.31, Z:2.55 [[-8.72338331e-01 -4.88899070e-01 -1.88057345e-03 2.12444771e+02] [-4.88898260e-01 8.72340347e-01 -8.99873785e-04 2.48313028e+02] [ 2.08044755e-03 1.34414692e-04 -9.99997827e-01 2.54715537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.38, Y:248.92, Z:1.33 [[-8.56596555e-01 5.15983653e-01 1.79237623e-03 2.12379850e+02] [-5.15982580e-01 -8.56598430e-01 1.05232489e-03 2.48917958e+02] [ 2.07832910e-03 -2.34170392e-05 9.99997840e-01 1.33351929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:248.42, Z:2.55 [[-8.35433307e-01 -5.49588890e-01 -1.80042678e-03 2.12595650e+02] [-5.49587923e-01 8.35435238e-01 -1.03836601e-03 2.48424003e+02] [ 2.07481440e-03 1.22007267e-04 -9.99997840e-01 2.54658290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:248.93, Z:1.33 [[-8.12758207e-01 5.82598643e-01 1.70813063e-03 2.12347075e+02] [-5.82597464e-01 -8.12760001e-01 1.17286964e-03 2.48927035e+02] [ 2.07161251e-03 -4.18931472e-05 9.99997853e-01 1.33462954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.35, Y:248.93, Z:1.33 [[-8.12953226e-01 5.82326482e-01 1.70913063e-03 2.12348019e+02] [-5.82325305e-01 -8.12955022e-01 1.17141060e-03 2.48927639e+02] [ 2.07158974e-03 -4.29679890e-05 9.99997853e-01 1.33458379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.93, Z:1.33 [[-8.14301380e-01 5.80439781e-01 1.70978208e-03 2.12344262e+02] [-5.80438602e-01 -8.14303174e-01 1.17045898e-03 2.48926957e+02] [ 2.07166193e-03 -3.93171595e-05 9.99997853e-01 1.33453720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.92, Z:1.33 [[-8.14147286e-01 5.80655898e-01 1.71043206e-03 2.12343495e+02] [-5.80654721e-01 -8.14149081e-01 1.16950838e-03 2.48924266e+02] [ 2.07162862e-03 -4.10183768e-05 9.99997853e-01 1.33412526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.92, Z:1.33 [[-8.14914032e-01 5.79579323e-01 1.71108181e-03 2.12340796e+02] [-5.79578147e-01 -8.14915828e-01 1.16855696e-03 2.48922128e+02] [ 2.07165910e-03 -3.94321665e-05 9.99997853e-01 1.33375653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.92, Z:1.33 [[-8.15849748e-01 5.78261410e-01 1.71173136e-03 2.12339540e+02] [-5.78260232e-01 -8.15851543e-01 1.16760471e-03 2.48920916e+02] [ 2.07169942e-03 -3.72361648e-05 9.99997853e-01 1.33345874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.34, Y:248.92, Z:1.33 [[-8.17715004e-01 5.75620743e-01 1.71238037e-03 2.12335324e+02] [-5.75619561e-01 -8.17716797e-01 1.16665210e-03 2.48917432e+02] [ 2.07179134e-03 -3.16907106e-05 9.99997853e-01 1.33273012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.57, Y:248.43, Z:2.55 [[-7.89338925e-01 -6.13955314e-01 -1.71302995e-03 2.12568440e+02] [-6.13954222e-01 7.89340772e-01 -1.16569753e-03 2.48430546e+02] [ 2.06785058e-03 1.31591541e-04 -9.99997853e-01 2.54882559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:248.92, Z:1.33 [[-7.72380080e-01 6.35158574e-01 1.61175305e-03 2.12299467e+02] [-6.35157261e-01 -7.72381761e-01 1.29203569e-03 2.48921876e+02] [ 2.06553620e-03 -2.57740263e-05 9.99997866e-01 1.33213478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:248.92, Z:1.33 [[-7.73027528e-01 6.34370429e-01 1.61251999e-03 2.12298848e+02] [-6.34369116e-01 -7.73029209e-01 1.29107780e-03 2.48921014e+02] [ 2.06554663e-03 -2.48942057e-05 9.99997866e-01 1.33210588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.30, Y:248.92, Z:1.33 [[-7.73755681e-01 6.33482078e-01 1.61324051e-03 2.12295910e+02] [-6.33480765e-01 -7.73757363e-01 1.29017687e-03 2.48918853e+02] [ 2.06556064e-03 -2.36751493e-05 9.99997866e-01 1.33263633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:248.92, Z:1.33 [[-7.74312896e-01 6.32800864e-01 1.61396052e-03 2.12294371e+02] [-6.32799551e-01 -7.74314578e-01 1.28927553e-03 2.48918005e+02] [ 2.06556783e-03 -2.30108164e-05 9.99997866e-01 1.33249929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:248.92, Z:1.33 [[-7.74531140e-01 6.32533719e-01 1.61468002e-03 2.12292894e+02] [-6.32532408e-01 -7.74532823e-01 1.28837380e-03 2.48916978e+02] [ 2.06556255e-03 -2.34518126e-05 9.99997866e-01 1.33247564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:248.92, Z:1.33 [[-7.74949520e-01 6.32021070e-01 1.61539851e-03 2.12290915e+02] [-6.32019759e-01 -7.74951203e-01 1.28747231e-03 2.48915142e+02] [ 2.06556464e-03 -2.32377223e-05 9.99997866e-01 1.33316466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:248.91, Z:1.33 [[-7.75431855e-01 6.31429194e-01 1.61611649e-03 2.12286389e+02] [-6.31427883e-01 -7.75433539e-01 1.28657043e-03 2.48911117e+02] [ 2.06556905e-03 -2.28133204e-05 9.99997866e-01 1.33336749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:248.75, Z:1.33 [[-7.74960573e-01 6.32007512e-01 1.61730880e-03 2.12083772e+02] [-6.32006206e-01 -7.74962260e-01 1.28506986e-03 2.48749253e+02] [ 2.06552708e-03 -2.62707244e-05 9.99997866e-01 1.33421000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.95, Y:248.64, Z:1.33 [[-7.74295490e-01 6.32822157e-01 1.61646866e-03 2.11953271e+02] [-6.32820850e-01 -7.74297176e-01 1.28612580e-03 2.48644368e+02] [ 2.06551602e-03 -2.70936643e-05 9.99997866e-01 1.33398535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.01, Y:248.69, Z:1.33 [[-7.76587187e-01 6.30007723e-01 1.61527818e-03 2.12005422e+02] [-6.30006408e-01 -7.76588867e-01 1.28762238e-03 2.48685295e+02] [ 2.06561910e-03 -1.76845617e-05 9.99997866e-01 1.33444627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:248.46, Z:2.55 [[-7.47610884e-01 -6.64135044e-01 -1.61527818e-03 2.12552399e+02] [-6.64133805e-01 7.47612621e-01 -1.28762238e-03 2.48458157e+02] [ 2.06275750e-03 1.10120338e-04 -9.99997866e-01 2.54700601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:248.86, Z:1.33 [[-7.31615692e-01 6.81715597e-01 1.52421586e-03 2.12181646e+02] [-6.81714185e-01 -7.31617280e-01 1.38764687e-03 2.48857548e+02] [ 2.06112318e-03 -2.38553503e-05 9.99997876e-01 1.33414977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:248.85, Z:1.33 [[-7.31967885e-01 6.81337427e-01 1.52498978e-03 2.12179062e+02] [-6.81336016e-01 -7.31969474e-01 1.38679584e-03 2.48854617e+02] [ 2.06112187e-03 -2.39404424e-05 9.99997876e-01 1.33442249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:248.85, Z:1.33 [[-7.31883340e-01 6.81428242e-01 1.52576415e-03 2.12178701e+02] [-6.81426833e-01 -7.31884930e-01 1.38594334e-03 2.48851941e+02] [ 2.06110472e-03 -2.53477882e-05 9.99997876e-01 1.33452632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:248.61, Z:1.34 [[-7.30083780e-01 6.83355942e-01 1.52653879e-03 2.11913351e+02] [-6.83354539e-01 -7.30085375e-01 1.38508959e-03 2.48608515e+02] [ 2.06101285e-03 -3.19357745e-05 9.99997876e-01 1.33666234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.11, Y:248.78, Z:1.33 [[-7.26579520e-01 6.87080694e-01 1.52387202e-03 2.12106677e+02] [-6.87079293e-01 -7.26581117e-01 1.38802621e-03 2.48778920e+02] [ 2.06090264e-03 -3.85094931e-05 9.99997876e-01 1.33300689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:248.85, Z:1.34 [[-7.30489739e-01 6.82921984e-01 1.51860699e-03 2.12176805e+02] [-6.82920562e-01 -7.30491317e-01 1.39382832e-03 2.48845218e+02] [ 2.06120522e-03 -1.89106507e-05 9.99997876e-01 1.33571339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:248.85, Z:1.34 [[-7.30079956e-01 6.83360026e-01 1.52752905e-03 2.12178868e+02] [-6.83358625e-01 -7.30081553e-01 1.38398086e-03 2.48845727e+02] [ 2.06097798e-03 -3.34334624e-05 9.99997876e-01 1.33594912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.36, Y:248.32, Z:2.55 [[-7.02295267e-01 -7.11884135e-01 -1.52829941e-03 2.12361301e+02] [-7.11882801e-01 7.02296920e-01 -1.38312964e-03 2.48315606e+02] [ 2.05794802e-03 1.16604670e-04 -9.99997876e-01 2.54740891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.32, Y:248.29, Z:2.55 [[-6.52206187e-01 -7.58040074e-01 -1.52829941e-03 2.12316612e+02] [-7.58038856e-01 6.52207927e-01 -1.38312964e-03 2.48290137e+02] [ 2.04523669e-03 2.56424632e-04 -9.99997876e-01 2.54751244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.40, Y:248.43, Z:2.54 [[-5.97654443e-01 -8.01752350e-01 -1.52829941e-03 2.12401847e+02] [-8.01751257e-01 5.97656264e-01 -1.38312964e-03 2.48433940e+02] [ 2.02232516e-03 3.98682403e-04 -9.99997876e-01 2.54440685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:248.73, Z:1.34 [[-5.64036260e-01 8.25749191e-01 1.17076457e-03 2.11974065e+02] [-8.25747567e-01 -5.64037473e-01 1.63858721e-03 2.48733556e+02] [ 2.01341716e-03 -4.25333928e-05 9.99997972e-01 1.33695345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.97, Y:248.72, Z:1.34 [[-5.64121961e-01 8.25690644e-01 1.17191143e-03 2.11969138e+02] [-8.25689021e-01 -5.64123176e-01 1.63776657e-03 2.48724390e+02] [ 2.01339094e-03 -4.37343118e-05 9.99997972e-01 1.33699320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:248.71, Z:1.34 [[-5.64608099e-01 8.25358298e-01 1.17282459e-03 2.11961806e+02] [-8.25356675e-01 -5.64609315e-01 1.63711239e-03 2.48711898e+02] [ 2.01339198e-03 -4.36716934e-05 9.99997972e-01 1.33738891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:248.73, Z:1.34 [[-5.65170990e-01 8.24972954e-01 1.17374721e-03 2.11976343e+02] [-8.24971332e-01 -5.65172207e-01 1.63645064e-03 2.48726696e+02] [ 2.01339682e-03 -4.34333740e-05 9.99997972e-01 1.33718547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:248.23, Z:2.55 [[-5.37060994e-01 -8.43542595e-01 -1.17466407e-03 2.12229965e+02] [-8.43541016e-01 5.37062267e-01 -1.63579224e-03 2.48228356e+02] [ 2.01072818e-03 1.12357121e-04 -9.99997972e-01 2.54517748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:248.19, Z:2.54 [[-4.78746608e-01 -8.77952337e-01 -1.17466407e-03 2.12185245e+02] [-8.77950848e-01 4.78747985e-01 -1.63579224e-03 2.48187246e+02] [ 1.99851567e-03 2.48167334e-04 -9.99997972e-01 2.54473764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:248.18, Z:2.55 [[-4.17122704e-01 -9.08849421e-01 -1.17466407e-03 2.12164016e+02] [-9.08848031e-01 4.17124180e-01 -1.63579224e-03 2.48184039e+02] [ 1.97666962e-03 3.85265049e-04 -9.99997972e-01 2.54536783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:248.35, Z:2.54 [[-3.53897443e-01 -9.35283497e-01 -1.17466407e-03 2.12203963e+02] [-9.35282211e-01 3.53899011e-01 -1.63579224e-03 2.48345837e+02] [ 1.94564194e-03 5.19739721e-04 -9.99997972e-01 2.54476589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:248.50, Z:1.34 [[-3.13311416e-01 9.49650220e-01 6.44906619e-04 2.11738011e+02] [-9.49648471e-01 -3.13312078e-01 1.82318152e-03 2.48498578e+02] [ 1.93344176e-03 -4.12109999e-05 9.99998130e-01 1.33820923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.62, Y:248.15, Z:1.34 [[-3.11240702e-01 9.50330894e-01 6.45920665e-04 2.11618030e+02] [-9.50329147e-01 -3.11241369e-01 1.82282219e-03 2.48152683e+02] [ 1.93332147e-03 -4.65007752e-05 9.99998130e-01 1.33937929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:248.48, Z:1.34 [[-3.14395664e-01 9.49291819e-01 6.40339447e-04 2.11739345e+02] [-9.49290065e-01 -3.14396314e-01 1.82479738e-03 2.48479121e+02] [ 1.93358558e-03 -3.41594928e-05 9.99998130e-01 1.33807176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.74, Y:248.48, Z:1.34 [[-3.14413113e-01 9.49286033e-01 6.49170238e-04 2.11743889e+02] [-9.49284287e-01 -3.14413780e-01 1.82165040e-03 2.48483481e+02] [ 1.93337535e-03 -4.34963335e-05 9.99998130e-01 1.33754548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.10, Y:248.14, Z:2.55 [[-2.84324817e-01 -9.58727790e-01 -6.50194309e-04 2.12100536e+02] [-9.58726066e-01 2.84325541e-01 -1.82128481e-03 2.48140106e+02] [ 1.93098321e-03 1.05521762e-04 -9.99998130e-01 2.54585386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.72, Y:248.47, Z:1.34 [[-2.37315915e-01 9.71432397e-01 5.04234997e-04 2.11715965e+02] [-9.71430616e-01 -2.37316446e-01 1.86083577e-03 2.48470297e+02] [ 1.92733941e-03 -4.82233714e-05 9.99998142e-01 1.33743917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.08, Y:248.12, Z:2.55 [[-2.13319443e-01 -9.76982374e-01 -5.06198018e-04 2.12078458e+02] [-9.76980608e-01 2.13320022e-01 -1.86030162e-03 2.48124896e+02] [ 1.92546406e-03 9.77071418e-05 -9.99998142e-01 2.54558415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:248.22, Z:1.34 [[-1.58360412e-01 9.87381310e-01 3.58141438e-04 2.11640647e+02] [-9.87379506e-01 -1.58360808e-01 1.88838135e-03 2.48216230e+02] [ 1.92126802e-03 -5.45766677e-05 9.99998153e-01 1.33849626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:248.20, Z:1.34 [[-1.56367505e-01 9.87698878e-01 3.59584010e-04 2.11642643e+02] [-9.87697075e-01 -1.56367907e-01 1.88810662e-03 2.48197499e+02] [ 1.92110819e-03 -5.99215553e-05 9.99998153e-01 1.33870241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.64, Y:248.19, Z:1.34 [[-1.56278500e-01 9.87712964e-01 3.61019264e-04 2.11644514e+02] [-9.87711162e-01 -1.56278905e-01 1.88783215e-03 2.48192505e+02] [ 1.92105598e-03 -6.15551806e-05 9.99998153e-01 1.33876334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:248.19, Z:1.34 [[-1.56569137e-01 9.87666935e-01 3.62473498e-04 2.11649428e+02] [-9.87665133e-01 -1.56569544e-01 1.88755288e-03 2.48187049e+02] [ 1.92102588e-03 -6.24699098e-05 9.99998153e-01 1.33955482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:248.15, Z:1.34 [[-1.69989958e-01 9.85445728e-01 3.63931905e-04 2.11646729e+02] [-9.85443921e-01 -1.69990343e-01 1.88727165e-03 2.48150337e+02] [ 1.92166870e-03 -3.78172549e-05 9.99998153e-01 1.33980362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:248.14, Z:1.34 [[-1.71193069e-01 9.85237424e-01 3.88802324e-04 2.11648181e+02] [-9.85235628e-01 -1.71193500e-01 1.88213404e-03 2.48142554e+02] [ 1.92090932e-03 -6.08535990e-05 9.99998153e-01 1.33970636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5227550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:211.65, Y:248.14, Z:1.34 [[-1.72767895e-01 9.84962488e-01 3.90264316e-04 2.11649690e+02] [-9.84960692e-01 -1.72768326e-01 1.88183084e-03 2.48135769e+02] [ 1.92095810e-03 -5.92750574e-05 9.99998153e-01 1.33991408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:248.15, Z:1.34 [[-1.75484309e-01 9.84482150e-01 3.91725637e-04 2.11658902e+02] [-9.84480354e-01 -1.75484738e-01 1.88152660e-03 2.48154315e+02] [ 1.92107123e-03 -5.54677974e-05 9.99998153e-01 1.33915322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:248.14, Z:1.34 [[-1.77518365e-01 9.84117409e-01 3.93166327e-04 2.11658530e+02] [-9.84115613e-01 -1.77518793e-01 1.88122551e-03 2.48140060e+02] [ 1.92114118e-03 -5.29690441e-05 9.99998153e-01 1.33860458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.66, Y:248.13, Z:1.34 [[-1.80432543e-01 9.83587282e-01 3.94595385e-04 2.11661677e+02] [-9.83585485e-01 -1.80432968e-01 1.88092571e-03 2.48130596e+02] [ 1.92125262e-03 -4.87380854e-05 9.99998153e-01 1.33824778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.14, Z:1.34 [[-1.82260792e-01 9.83250145e-01 3.96043310e-04 2.11665067e+02] [-9.83248347e-01 -1.82261216e-01 1.88062079e-03 2.48136790e+02] [ 1.92130399e-03 -4.66454964e-05 9.99998153e-01 1.33848355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.13, Z:1.34 [[-1.83681057e-01 9.82985815e-01 3.97487623e-04 2.11665262e+02] [-9.82984017e-01 -1.83681481e-01 1.88031547e-03 2.48126559e+02] [ 1.92133455e-03 -4.53456482e-05 9.99998153e-01 1.33876297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.13, Z:1.34 [[-1.85391014e-01 9.82664751e-01 3.98930737e-04 2.11669495e+02] [-9.82662954e-01 -1.85391438e-01 1.88000924e-03 2.48126165e+02] [ 1.92137716e-03 -4.34776363e-05 9.99998153e-01 1.33984265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.11, Z:1.34 [[-1.86191451e-01 9.82513401e-01 4.00378922e-04 2.11669050e+02] [-9.82511604e-01 -1.86191876e-01 1.87970078e-03 2.48112997e+02] [ 1.92137851e-03 -4.33927222e-05 9.99998153e-01 1.34048636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.09, Z:1.34 [[-1.93270902e-01 9.81145350e-01 4.01834169e-04 2.11667465e+02] [-9.81143550e-01 -1.93271317e-01 1.87938963e-03 2.48094200e+02] [ 1.92161741e-03 -3.10256742e-05 9.99998153e-01 1.34084760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.10, Z:1.34 [[-1.93308664e-01 9.81137905e-01 4.15357840e-04 2.11673213e+02] [-9.81136111e-01 -1.93309105e-01 1.87639604e-03 2.48104758e+02] [ 1.92129573e-03 -4.47989652e-05 9.99998153e-01 1.34176474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.08, Z:1.34 [[-1.93982238e-01 9.81004953e-01 4.16791725e-04 2.11669058e+02] [-9.81003160e-01 -1.93982680e-01 1.87607749e-03 2.48080819e+02] [ 1.92129168e-03 -4.49482898e-05 9.99998153e-01 1.34214033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.08, Z:1.34 [[-1.94430545e-01 9.80916198e-01 4.18233497e-04 2.11671529e+02] [-9.80914406e-01 -1.94430990e-01 1.87575602e-03 2.48079252e+02] [ 1.92127701e-03 -4.55469978e-05 9.99998153e-01 1.34252650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.67, Y:248.08, Z:1.34 [[-1.94766594e-01 9.80849529e-01 4.19697487e-04 2.11674742e+02] [-9.80847737e-01 -1.94767041e-01 1.87542839e-03 2.48084858e+02] [ 1.92125629e-03 -4.63885291e-05 9.99998153e-01 1.34327634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.65, Y:247.98, Z:1.34 [[-1.96988701e-01 9.80405668e-01 4.21150392e-04 2.11652946e+02] [-9.80403876e-01 -1.96989146e-01 1.87510207e-03 2.47980087e+02] [ 1.92132275e-03 -4.35235558e-05 9.99998153e-01 1.34287490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.96, Y:247.93, Z:2.54 [[-1.81076279e-01 -9.83468964e-01 -4.21150392e-04 2.11957411e+02] [-9.83467180e-01 1.81076754e-01 -1.87510207e-03 2.47928942e+02] [ 1.92036524e-03 7.46510822e-05 -9.99998153e-01 2.54417381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.94, Y:247.91, Z:2.54 [[-1.09400090e-01 -9.93997708e-01 -4.21150392e-04 2.11940456e+02] [-9.93995962e-01 1.09400692e-01 -1.87510207e-03 2.47911686e+02] [ 1.90992130e-03 2.13485454e-04 -9.99998153e-01 2.54058774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:247.85, Z:1.34 [[-6.16160461e-02 9.98099913e-01 1.62815201e-04 2.11615532e+02] [-9.98098111e-01 -6.16162444e-02 1.89727129e-03 2.47853711e+02] [ 1.90369837e-03 -4.56031899e-05 9.99998187e-01 1.34388858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.62, Y:247.94, Z:1.34 [[-6.59910879e-02 9.97820200e-01 1.58583868e-04 2.11623624e+02] [-9.97818396e-01 -6.59912702e-02 1.89763629e-03 2.47938187e+02] [ 1.90396498e-03 -3.30108176e-05 9.99998187e-01 1.34446945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.91, Y:247.63, Z:2.54 [[-3.20221958e-02 -9.99487144e-01 -1.64758721e-04 2.11909760e+02] [-9.99485349e-01 3.20224510e-02 -1.89710002e-03 2.47633108e+02] [ 1.90140306e-03 1.03924619e-04 -9.99998187e-01 2.54093037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.0927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:211.89, Y:247.83, Z:2.54 [[ 4.59212501e-02 -9.98945049e-01 -1.64758721e-04 2.11891213e+02] [-9.98943280e-01 -4.59208559e-02 -1.89710002e-03 2.47831166e+02] [ 1.88753281e-03 2.51701821e-04 -9.99998187e-01 2.53936163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.58, Y:247.78, Z:1.35 [[ 7.68968418e-02 9.97039047e-01 -1.22320281e-04 2.11584815e+02] [-9.97037276e-01 7.68969358e-02 1.87912010e-03 2.47781723e+02] [ 1.88296217e-03 -2.25405219e-05 9.99998227e-01 1.34639386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.93, Y:247.79, Z:2.54 [[ 1.27965292e-01 -9.91778640e-01 1.18007891e-04 2.11926992e+02] [-9.91776867e-01 -1.27965287e-01 -1.87939088e-03 2.47790691e+02] [ 1.87904065e-03 1.23459307e-04 -9.99998227e-01 2.53892510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:247.72, Z:1.34 [[ 1.52066779e-01 9.88370186e-01 -2.63932998e-04 2.11626659e+02] [-9.88368439e-01 1.52067006e-01 1.85866938e-03 2.47719280e+02] [ 1.87718891e-03 -2.17788214e-05 9.99998238e-01 1.34350349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:247.69, Z:1.35 [[ 1.49928976e-01 9.88696731e-01 -2.76455110e-04 2.11628409e+02] [-9.88694987e-01 1.49929231e-01 1.85688489e-03 2.47687758e+02] [ 1.87734472e-03 -5.07106946e-06 9.99998238e-01 1.34717738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.63, Y:247.66, Z:1.35 [[ 1.50371166e-01 9.88629578e-01 -2.64804709e-04 2.11633326e+02] [-9.88627831e-01 1.50371398e-01 1.85854484e-03 2.47657698e+02] [ 1.87723145e-03 -1.76782480e-05 9.99998238e-01 1.34622865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:211.98, Y:247.70, Z:2.54 [[ 2.13257713e-01 -9.76995948e-01 2.57275591e-04 2.11984914e+02] [-9.76994189e-01 -2.13257818e-01 -1.85961007e-03 2.47696663e+02] [ 1.87169754e-03 1.45219433e-04 -9.99998238e-01 2.53776216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.03, Y:247.69, Z:2.54 [[ 2.86859073e-01 -9.57972717e-01 3.81628937e-04 2.12028420e+02] [-9.57970979e-01 -2.86859282e-01 -1.83202212e-03 2.47692184e+02] [ 1.86450101e-03 1.59942721e-04 -9.99998249e-01 2.53943551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.06, Y:247.69, Z:2.54 [[ 3.61100826e-01 -9.32526630e-01 5.27167970e-04 2.12064087e+02] [-9.32524930e-01 -3.61101178e-01 -1.78738938e-03 2.47688432e+02] [ 1.85714917e-03 1.53830509e-04 -9.99998264e-01 2.53888475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.11, Y:247.69, Z:2.54 [[ 4.33735316e-01 -9.01040081e-01 6.69988280e-04 2.12105332e+02] [-9.01038430e-01 -4.33735808e-01 -1.73095018e-03 2.47690644e+02] [ 1.85025340e-03 1.47089035e-04 -9.99998277e-01 2.53722857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:247.70, Z:2.54 [[ 5.04020051e-01 -8.63691575e-01 8.07858144e-04 2.12149200e+02] [-8.63689984e-01 -5.04020678e-01 -1.66346191e-03 2.47696397e+02] [ 1.84389525e-03 1.40679171e-04 -9.99998290e-01 2.53565035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.19, Y:247.71, Z:2.53 [[ 5.70356608e-01 -8.21396656e-01 9.34535097e-04 2.12193343e+02] [-8.21395132e-01 -5.70357356e-01 -1.58860826e-03 2.47708437e+02] [ 1.83789648e-03 1.38450638e-04 -9.99998302e-01 2.53481766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.23, Y:247.71, Z:2.54 [[ 6.28603460e-01 -7.77725269e-01 1.04742656e-03 2.12229013e+02] [-7.77723815e-01 -6.28604318e-01 -1.50939165e-03 2.47714242e+02] [ 1.83230888e-03 1.34200235e-04 -9.99998312e-01 2.54144185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.48275509600006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.00, Y:247.49, Z:1.35 [[ 6.44997097e-01 7.64184124e-01 -1.16992867e-03 2.11999256e+02] [-7.64182827e-01 6.44998158e-01 1.40818187e-03 2.47486173e+02] [ 1.83071207e-03 -1.42338242e-05 9.99998324e-01 1.34967937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.51275509600003 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.02, Y:247.46, Z:1.35 [[ 6.45791834e-01 7.63512623e-01 -1.17525704e-03 2.12016473e+02] [-7.63511333e-01 6.45792903e-01 1.40377505e-03 2.47461292e+02] [ 1.83077263e-03 -9.22439758e-06 9.99998324e-01 1.35077080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.54275509600006 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:212.04, Y:247.44, Z:1.35 [[ 6.48561440e-01 7.61161411e-01 -1.16852240e-03 2.12035085e+02] [-7.61160107e-01 6.48562492e-01 1.40934481e-03 2.47440143e+02] [ 1.83059868e-03 -2.46140626e-05 9.99998324e-01 1.34855701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.57275509600004 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:212.05, Y:247.42, Z:1.35 [[ 6.50660674e-01 7.59367708e-01 -1.17156515e-03 2.12049575e+02] [-7.59366405e-01 6.50661728e-01 1.40682745e-03 2.47417826e+02] [ 1.83059194e-03 -2.57200782e-05 9.99998324e-01 1.34802764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:247.39, Z:1.35 [[ 6.52550669e-01 7.57744175e-01 -1.17884430e-03 2.12067378e+02] [-7.57742880e-01 6.52551734e-01 1.40080118e-03 2.47394631e+02] [ 1.83070583e-03 -2.08328710e-05 9.99998324e-01 1.34782080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.63275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.08, Y:247.37, Z:1.35 [[ 6.53765264e-01 7.56696508e-01 -1.17216482e-03 2.12083959e+02] [-7.56695202e-01 6.53766314e-01 1.40632939e-03 2.47372328e+02] [ 1.83048641e-03 -3.24378151e-05 9.99998324e-01 1.34693710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.66275509600007 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.10, Y:247.35, Z:1.34 [[ 6.55404883e-01 7.55276813e-01 -1.17234417e-03 2.12098139e+02] [-7.55275505e-01 6.55405931e-01 1.40618097e-03 2.47348415e+02] [ 1.83041720e-03 -3.61750403e-05 9.99998324e-01 1.34248712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.12, Y:247.32, Z:1.35 [[ 6.55444124e-01 7.55242751e-01 -1.17802063e-03 2.12115387e+02] [-7.55241451e-01 6.55445182e-01 1.40148143e-03 2.47323897e+02] [ 1.83058664e-03 -2.89027624e-05 9.99998324e-01 1.34938221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.13, Y:247.30, Z:1.35 [[ 6.55702399e-01 7.55018544e-01 -1.16733211e-03 2.12133755e+02] [-7.55017228e-01 6.55703436e-01 1.41032834e-03 2.47302047e+02] [ 1.83024773e-03 -4.33998211e-05 9.99998324e-01 1.34943693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.15, Y:247.28, Z:1.35 [[ 6.56245387e-01 7.54546638e-01 -1.16781434e-03 2.12148711e+02] [-7.54545322e-01 6.56246425e-01 1.40992892e-03 2.47280036e+02] [ 1.83023111e-03 -4.40904989e-05 9.99998324e-01 1.34774297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.17, Y:247.26, Z:1.35 [[ 6.56638101e-01 7.54204900e-01 -1.17164072e-03 2.12166406e+02] [-7.54203589e-01 6.56639145e-01 1.40675662e-03 2.47257866e+02] [ 1.83032789e-03 -4.00743605e-05 9.99998324e-01 1.34756724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.18, Y:247.24, Z:1.35 [[ 6.56499520e-01 7.54325534e-01 -1.17012674e-03 2.12184482e+02] [-7.54324221e-01 6.56500562e-01 1.40801214e-03 2.47235424e+02] [ 1.83028837e-03 -4.17043573e-05 9.99998324e-01 1.34530189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:247.21, Z:1.35 [[ 6.54969548e-01 7.55654367e-01 -1.16997607e-03 2.12200634e+02] [-7.55653056e-01 6.54970592e-01 1.40813712e-03 2.47213268e+02] [ 1.83036488e-03 -3.81909443e-05 9.99998324e-01 1.34533379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.22, Y:247.19, Z:1.35 [[ 6.53776357e-01 7.56686920e-01 -1.17441778e-03 2.12218033e+02] [-7.56685618e-01 6.53777411e-01 1.40445092e-03 2.47190325e+02] [ 1.83053746e-03 -2.95317658e-05 9.99998324e-01 1.34698533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9027550960001 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:212.23, Y:247.17, Z:1.34 [[ 6.52944500e-01 7.57404852e-01 -1.17033998e-03 2.12234448e+02] [-7.57403544e-01 6.52945548e-01 1.40783568e-03 2.47168181e+02] [ 1.83046986e-03 -3.28189206e-05 9.99998324e-01 1.34396610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.56, Y:247.43, Z:2.54 [[ 6.86185372e-01 -7.27425781e-01 1.16954514e-03 2.12559402e+02] [-7.27424427e-01 -6.86186359e-01 -1.40849568e-03 2.47425823e+02] [ 1.82710199e-03 1.15733432e-04 -9.99998324e-01 2.54090375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.60, Y:247.45, Z:2.54 [[ 7.41727673e-01 -6.70699968e-01 1.26989235e-03 2.12596170e+02] [-6.70698697e-01 -7.41728750e-01 -1.31095281e-03 2.47447627e+02] [ 1.82117167e-03 1.20654831e-04 -9.99998334e-01 2.54341188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.63, Y:247.47, Z:2.54 [[ 7.92196318e-01 -6.10264824e-01 1.35579526e-03 2.12627784e+02] [-6.10263632e-01 -7.92197467e-01 -1.21333778e-03 2.47465574e+02] [ 1.81451494e-03 1.33809184e-04 -9.99998345e-01 2.54355217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.66, Y:247.49, Z:2.54 [[ 8.38300299e-01 -5.45206868e-01 1.44228362e-03 2.12659670e+02] [-5.45205779e-01 -8.38301529e-01 -1.09790785e-03 2.47488068e+02] [ 1.80765547e-03 1.34035113e-04 -9.99998357e-01 2.53832478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.48, Y:247.14, Z:1.35 [[ 8.51427332e-01 5.24470365e-01 -1.52816126e-03 2.12475962e+02] [-5.24469483e-01 8.51428703e-01 9.62101183e-04 2.47139522e+02] [ 1.80571392e-03 -1.76852955e-05 9.99998370e-01 1.35017650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.50, Y:247.12, Z:1.35 [[ 8.51832026e-01 5.23812816e-01 -1.52767242e-03 2.12499857e+02] [-5.23811931e-01 8.51833395e-01 9.62874495e-04 2.47122568e+02] [ 1.80568838e-03 -1.99942928e-05 9.99998370e-01 1.35125015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.11275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.52, Y:247.10, Z:1.35 [[ 8.51737212e-01 5.23966982e-01 -1.52413077e-03 2.12521346e+02] [-5.23966087e-01 8.51738576e-01 9.68476871e-04 2.47104400e+02] [ 1.80561088e-03 -2.62949529e-05 9.99998370e-01 1.35206396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.55, Y:247.09, Z:1.35 [[ 8.52497785e-01 5.22728606e-01 -1.52645734e-03 2.12546123e+02] [-5.22727717e-01 8.52499152e-01 9.64793600e-04 2.47087472e+02] [ 1.80562880e-03 -2.45628491e-05 9.99998370e-01 1.35199246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.80, Y:247.47, Z:2.54 [[ 8.78081444e-01 -4.78508790e-01 1.52169431e-03 2.12796207e+02] [-4.78507819e-01 -8.78082754e-01 -9.72311715e-04 2.47468915e+02] [ 1.80143323e-03 1.25626253e-04 -9.99998370e-01 2.53702845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.20275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.63, Y:247.08, Z:1.35 [[ 8.90326678e-01 4.55319520e-01 -1.59376080e-03 2.12628396e+02] [-4.55318754e-01 8.90328105e-01 8.35769461e-04 2.47081714e+02] [ 1.79951218e-03 -1.84386662e-05 9.99998381e-01 1.35184247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.23275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:212.65, Y:247.07, Z:1.35 [[ 8.90115929e-01 4.55731389e-01 -1.59194749e-03 2.12651107e+02] [-4.55730617e-01 8.90117352e-01 8.39205084e-04 2.47066172e+02] [ 1.79947218e-03 -2.14906036e-05 9.99998381e-01 1.35131604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.68, Y:247.05, Z:1.35 [[ 8.91008049e-01 4.53984704e-01 -1.59523838e-03 2.12676301e+02] [-4.53983941e-01 8.91009477e-01 8.32970899e-04 2.47046871e+02] [ 1.79952856e-03 -1.79711714e-05 9.99998381e-01 1.35100781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.29275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:212.70, Y:247.03, Z:1.35 [[ 8.90890237e-01 4.54215869e-01 -1.59083073e-03 2.12702566e+02] [-4.54215091e-01 8.90891657e-01 8.41315522e-04 2.47029691e+02] [ 1.79939668e-03 -2.69404624e-05 9.99998381e-01 1.35080226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.73, Y:247.01, Z:1.35 [[ 8.90987672e-01 4.54024704e-01 -1.59285007e-03 2.12729175e+02] [-4.54023932e-01 8.90989095e-01 8.37493381e-04 2.47011022e+02] [ 1.79945472e-03 -2.30042267e-05 9.99998381e-01 1.34981207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.76, Y:246.99, Z:1.35 [[ 8.90286219e-01 4.55398624e-01 -1.59424704e-03 2.12756329e+02] [-4.55397859e-01 8.90287646e-01 8.34851193e-04 2.46992829e+02] [ 1.79952853e-03 -1.72398241e-05 9.99998381e-01 1.35047723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.78, Y:246.98, Z:1.35 [[ 8.90252175e-01 4.55465171e-01 -1.59480353e-03 2.12783364e+02] [-4.55464408e-01 8.90253603e-01 8.33799034e-04 2.46976975e+02] [ 1.79954601e-03 -1.59151589e-05 9.99998381e-01 1.34896491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.81, Y:246.96, Z:1.35 [[ 8.88808952e-01 4.58275138e-01 -1.59532789e-03 2.12810847e+02] [-4.58274382e-01 8.88810383e-01 8.32809736e-04 2.46955372e+02] [ 1.79959999e-03 -9.11084604e-06 9.99998381e-01 1.35008630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.84, Y:246.94, Z:1.35 [[ 8.88464679e-01 4.58942248e-01 -1.58971400e-03 2.12838585e+02] [-4.58941474e-01 8.88466101e-01 8.43391399e-04 2.46939659e+02] [ 1.79947494e-03 -1.97377842e-05 9.99998381e-01 1.35007787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.87, Y:246.92, Z:1.35 [[ 8.86966030e-01 4.61831925e-01 -1.59170016e-03 2.12865740e+02] [-4.61831162e-01 8.86967459e-01 8.39648701e-04 2.46920723e+02] [ 1.79956282e-03 -9.64314042e-06 9.99998381e-01 1.35044049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:246.90, Z:1.35 [[ 8.85239344e-01 4.65133075e-01 -1.58933578e-03 2.12892240e+02] [-4.65132309e-01 8.85240771e-01 8.44100534e-04 2.46901243e+02] [ 1.79956391e-03 -7.97958257e-06 9.99998381e-01 1.34761203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:246.89, Z:1.35 [[ 8.84784277e-01 4.65998144e-01 -1.58540362e-03 2.12918085e+02] [-4.65997366e-01 8.84785697e-01 8.51484873e-04 2.46885489e+02] [ 1.79953282e-03 -1.45865149e-05 9.99998381e-01 1.34732750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.94, Y:246.87, Z:1.35 [[ 8.83984525e-01 4.67513452e-01 -1.59143682e-03 2.12944623e+02] [-4.67512697e-01 8.83985957e-01 8.40154973e-04 2.46866946e+02] [ 1.79959155e-03 1.33292446e-06 9.99998381e-01 1.34974453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.97, Y:246.85, Z:1.35 [[ 8.84908925e-01 4.65761389e-01 -1.58860167e-03 2.12973624e+02] [-4.65760621e-01 8.84910351e-01 8.45474690e-04 2.46849789e+02] [ 1.79955953e-03 -8.25999701e-06 9.99998381e-01 1.34835204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.00, Y:246.83, Z:1.35 [[ 8.84436806e-01 4.66657299e-01 -1.58180529e-03 2.12998448e+02] [-4.66656510e-01 8.84438220e-01 8.58226815e-04 2.46832419e+02] [ 1.79950686e-03 -2.08876469e-05 9.99998381e-01 1.34869885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:246.81, Z:1.35 [[ 8.83669544e-01 4.68108551e-01 -1.58805778e-03 2.13020365e+02] [-4.68107786e-01 8.83670971e-01 8.46496928e-04 2.46812884e+02] [ 1.79957301e-03 -4.64134428e-06 9.99998381e-01 1.34836813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.05, Y:246.79, Z:1.35 [[ 8.84614508e-01 4.66320307e-01 -1.59503645e-03 2.13051418e+02] [-4.66319562e-01 8.84615946e-01 8.33411558e-04 2.46794279e+02] [ 1.79963141e-03 6.54874387e-06 9.99998381e-01 1.35049537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.08, Y:246.78, Z:1.35 [[ 8.83946507e-01 4.67585348e-01 -1.58574975e-03 2.13075762e+02] [-4.67584574e-01 8.83947930e-01 8.50799005e-04 2.46777667e+02] [ 1.79954135e-03 -1.05886899e-05 9.99998381e-01 1.34990588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.10, Y:246.76, Z:1.35 [[ 8.84511688e-01 4.66515315e-01 -1.59185268e-03 2.13104737e+02] [-4.66514560e-01 8.84513121e-01 8.39376696e-04 2.46757241e+02] [ 1.79959667e-03 1.83955795e-07 9.99998381e-01 1.34962241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.13, Y:246.74, Z:1.35 [[ 8.84221876e-01 4.67064407e-01 -1.58556858e-03 2.13133611e+02] [-4.67063632e-01 8.84223297e-01 8.51129309e-04 2.46738297e+02] [ 1.79952888e-03 -1.20257353e-05 9.99998381e-01 1.35105634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.16, Y:246.72, Z:1.35 [[ 8.84831932e-01 4.65907667e-01 -1.58050552e-03 2.13158250e+02] [-4.65906872e-01 8.84833343e-01 8.60590187e-04 2.46719641e+02] [ 1.79943955e-03 -2.51092962e-05 9.99998381e-01 1.35317082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.19, Y:246.70, Z:1.35 [[ 8.85433611e-01 4.64763168e-01 -1.58670400e-03 2.13186128e+02] [-4.64762393e-01 8.85435033e-01 8.49005871e-04 2.46703050e+02] [ 1.79950996e-03 -1.42979884e-05 9.99998381e-01 1.35254737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.21, Y:246.69, Z:1.35 [[ 8.85699724e-01 4.64255836e-01 -1.58633484e-03 2.13211968e+02] [-4.64255059e-01 8.85701145e-01 8.49695309e-04 2.46686640e+02] [ 1.79949459e-03 -1.61109263e-05 9.99998381e-01 1.35433086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.24, Y:246.67, Z:1.35 [[ 8.85136789e-01 4.65328201e-01 -1.59078475e-03 2.13239419e+02] [-4.65327440e-01 8.85138218e-01 8.41387175e-04 2.46670703e+02] [ 1.79958556e-03 -4.50694567e-06 9.99998381e-01 1.35313648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:246.65, Z:1.35 [[ 8.85108494e-01 4.65382027e-01 -1.58850219e-03 2.13268840e+02] [-4.65381259e-01 8.85109919e-01 8.45639138e-04 2.46654393e+02] [ 1.79954430e-03 -9.22323655e-06 9.99998381e-01 1.35413929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.30, Y:246.64, Z:1.35 [[ 8.85182414e-01 4.65241425e-01 -1.58464936e-03 2.13296817e+02] [-4.65240644e-01 8.85183832e-01 8.52808976e-04 2.46639307e+02] [ 1.79946806e-03 -1.76482190e-05 9.99998381e-01 1.35421393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.32, Y:246.63, Z:1.35 [[ 8.85530464e-01 4.64578615e-01 -1.58361269e-03 2.13324887e+02] [-4.64577829e-01 8.85531880e-01 8.54736976e-04 2.46626099e+02] [ 1.79943204e-03 -2.11842861e-05 9.99998381e-01 1.35338965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.35, Y:246.61, Z:1.36 [[ 8.85039835e-01 4.65512599e-01 -1.58479225e-03 2.13352215e+02] [-4.65511819e-01 8.85041253e-01 8.52544287e-04 2.46610897e+02] [ 1.79947663e-03 -1.67961301e-05 9.99998381e-01 1.35536972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.38, Y:246.60, Z:1.36 [[ 8.84762304e-01 4.66039856e-01 -1.58699720e-03 2.13380100e+02] [-4.66039084e-01 8.84763727e-01 8.48445142e-04 2.46596030e+02] [ 1.79952680e-03 -1.10695598e-05 9.99998381e-01 1.35744183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.41, Y:246.58, Z:1.36 [[ 8.84804550e-01 4.65959645e-01 -1.58658127e-03 2.13410446e+02] [-4.65958872e-01 8.84805972e-01 8.49217639e-04 2.46580480e+02] [ 1.79951773e-03 -1.21100124e-05 9.99998381e-01 1.35571747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.44, Y:246.57, Z:1.35 [[ 8.84915746e-01 4.65748449e-01 -1.58247567e-03 2.13436175e+02] [-4.65747662e-01 8.84917161e-01 8.56837661e-04 2.46569283e+02] [ 1.79943069e-03 -2.11947960e-05 9.99998381e-01 1.35449380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.47, Y:246.55, Z:1.35 [[ 8.84113792e-01 4.67268950e-01 -1.59104088e-03 2.13465525e+02] [-4.67268194e-01 8.84115223e-01 8.40935216e-04 2.46550893e+02] [ 1.79960638e-03 -3.96226102e-08 9.99998381e-01 1.35398972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.49, Y:246.54, Z:1.35 [[ 8.83679955e-01 4.68088911e-01 -1.58391102e-03 2.13493809e+02] [-4.68088132e-01 8.83681374e-01 8.54156528e-04 2.46535240e+02] [ 1.79949387e-03 -1.33910517e-05 9.99998381e-01 1.35260666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.53, Y:246.52, Z:1.35 [[ 8.83105365e-01 4.69172043e-01 -1.58365148e-03 2.13525115e+02] [-4.69171265e-01 8.83106785e-01 8.54637465e-04 2.46517904e+02] [ 1.79950537e-03 -1.17311638e-05 9.99998381e-01 1.35267972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.55, Y:246.51, Z:1.35 [[ 8.84104478e-01 4.67286634e-01 -1.57274620e-03 2.13551223e+02] [-4.67285817e-01 8.84105876e-01 8.74817883e-04 2.46508214e+02] [ 1.79926486e-03 -3.85084171e-05 9.99998381e-01 1.35353869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.58, Y:246.49, Z:1.35 [[ 8.82670367e-01 4.69989911e-01 -1.58339092e-03 2.13583281e+02] [-4.69989133e-01 8.82671787e-01 8.55107180e-04 2.46488732e+02] [ 1.79950624e-03 -1.06012402e-05 9.99998381e-01 1.34947837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.61, Y:246.48, Z:1.35 [[ 8.82217828e-01 4.70838862e-01 -1.57164715e-03 2.13606542e+02] [-4.70838047e-01 8.82219227e-01 8.76827019e-04 2.46476161e+02] [ 1.79938157e-03 -3.35611548e-05 9.99998381e-01 1.35356156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.64, Y:246.46, Z:1.35 [[ 8.83013296e-01 4.69345302e-01 -1.58320052e-03 2.13639837e+02] [-4.69344522e-01 8.83014715e-01 8.55444802e-04 2.46461895e+02] [ 1.79948836e-03 -1.23026419e-05 9.99998381e-01 1.35092865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.67, Y:246.45, Z:1.35 [[ 8.83759490e-01 4.67938771e-01 -1.57209709e-03 2.13666281e+02] [-4.67937952e-01 8.83760887e-01 8.75972326e-04 2.46450020e+02] [ 1.79925934e-03 -3.85049600e-05 9.99998381e-01 1.35337791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:213.69, Y:246.44, Z:1.35 [[ 8.84762816e-01 4.66038919e-01 -1.57661267e-03 2.13694372e+02] [-4.66038113e-01 8.84764220e-01 8.67628940e-04 2.46436625e+02] [ 1.79927933e-03 -3.28842316e-05 9.99998381e-01 1.35454567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.72, Y:246.42, Z:1.36 [[ 8.85885161e-01 4.63901917e-01 -1.57895727e-03 2.13722213e+02] [-4.63901115e-01 8.85886567e-01 8.63295701e-04 2.46421780e+02] [ 1.79926157e-03 -3.23008128e-05 9.99998381e-01 1.35558238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.75, Y:246.41, Z:1.36 [[ 8.86461211e-01 4.62800190e-01 -1.58268165e-03 2.13750153e+02] [-4.62799398e-01 8.86462624e-01 8.56412916e-04 2.46405828e+02] [ 1.79933619e-03 -2.67127159e-05 9.99998381e-01 1.35516415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.78, Y:246.38, Z:1.35 [[ 8.85972451e-01 4.63735174e-01 -1.58242525e-03 2.13781220e+02] [-4.63734383e-01 8.85973864e-01 8.56886413e-04 2.46383564e+02] [ 1.79935578e-03 -2.53527577e-05 9.99998381e-01 1.35447724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.81, Y:246.37, Z:1.35 [[ 8.88290007e-01 4.59280311e-01 -1.56838581e-03 2.13810912e+02] [-4.59279467e-01 8.88291389e-01 8.82768475e-04 2.46366113e+02] [ 1.79862179e-03 -6.38270176e-05 9.99998380e-01 1.35393734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.83, Y:246.36, Z:1.36 [[ 8.90645994e-01 4.54694700e-01 -1.56297182e-03 2.13833609e+02] [-4.54693832e-01 8.90647362e-01 8.92770735e-04 2.46357503e+02] [ 1.79799485e-03 -8.44690319e-05 9.99998380e-01 1.35591094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.86, Y:246.34, Z:1.35 [[ 8.90204454e-01 4.55558475e-01 -1.58302175e-03 2.13864239e+02] [-4.55557674e-01 8.90205860e-01 8.55677968e-04 2.46336297e+02] [ 1.79902659e-03 -4.05706332e-05 9.99998381e-01 1.35456248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5827550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.89, Y:246.32, Z:1.35 [[ 8.90283944e-01 4.55403157e-01 -1.56975472e-03 2.13892608e+02] [-4.55402311e-01 8.90285325e-01 8.80182573e-04 2.46321728e+02] [ 1.79836752e-03 -6.87424826e-05 9.99998381e-01 1.35496448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.61275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.92, Y:246.31, Z:1.35 [[ 8.89862600e-01 4.56225924e-01 -1.56852496e-03 2.13921323e+02] [-4.56225076e-01 8.89863979e-01 8.82457436e-04 2.46307010e+02] [ 1.79837382e-03 -6.96654516e-05 9.99998381e-01 1.35403621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.64275509600003 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:213.95, Y:246.29, Z:1.35 [[ 8.89879278e-01 4.56193389e-01 -1.56921847e-03 2.13949999e+02] [-4.56192543e-01 8.89880659e-01 8.81173959e-04 2.46291653e+02] [ 1.79840290e-03 -6.82726806e-05 9.99998381e-01 1.35409434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.98, Y:246.28, Z:1.36 [[ 8.89511523e-01 4.56910044e-01 -1.56896200e-03 2.13975279e+02] [-4.56909198e-01 8.89512904e-01 8.81647066e-04 2.46282016e+02] [ 1.79844535e-03 -6.73620532e-05 9.99998381e-01 1.35505586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.00, Y:246.27, Z:1.35 [[ 8.88276069e-01 4.59307232e-01 -1.57825007e-03 2.14002279e+02] [-4.59306421e-01 8.88277471e-01 8.64514680e-04 2.46267211e+02] [ 1.79900182e-03 -4.30273131e-05 9.99998381e-01 1.35396821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.03, Y:246.25, Z:1.35 [[ 8.87245734e-01 4.61294381e-01 -1.58195635e-03 2.14031222e+02] [-4.61293584e-01 8.87247143e-01 8.57678573e-04 2.46251600e+02] [ 1.79922856e-03 -3.12253385e-05 9.99998381e-01 1.35248997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.06, Y:246.24, Z:1.35 [[ 8.86171698e-01 4.63354315e-01 -1.58100058e-03 2.14059738e+02] [-4.63353519e-01 8.86173108e-01 8.59440239e-04 2.46236724e+02] [ 1.79926554e-03 -2.90494353e-05 9.99998381e-01 1.35186260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.09, Y:246.22, Z:1.35 [[ 8.84851369e-01 4.65870758e-01 -1.57841004e-03 2.14086493e+02] [-4.65869957e-01 8.84852777e-01 8.64209966e-04 2.46222099e+02] [ 1.79927066e-03 -2.93635558e-05 9.99998381e-01 1.35216422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.11, Y:246.21, Z:1.35 [[ 8.83906461e-01 4.67661051e-01 -1.58413301e-03 2.14114483e+02] [-4.67660272e-01 8.83907881e-01 8.53670220e-04 2.46207254e+02] [ 1.79945596e-03 -1.37285505e-05 9.99998381e-01 1.35323539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.14, Y:246.19, Z:1.35 [[ 8.82820123e-01 4.69708552e-01 -1.58308590e-03 2.14143580e+02] [-4.69707773e-01 8.82821542e-01 8.55597102e-04 2.46193230e+02] [ 1.79946361e-03 -1.17505872e-05 9.99998381e-01 1.35251622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.17, Y:246.18, Z:1.35 [[ 8.82938449e-01 4.69486086e-01 -1.58421560e-03 2.14172455e+02] [-4.69485310e-01 8.82939871e-01 8.53519458e-04 2.46178135e+02] [ 1.79948263e-03 -9.83919464e-06 9.99998381e-01 1.35293446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.20, Y:246.16, Z:1.35 [[ 8.82333429e-01 4.70622167e-01 -1.58013154e-03 2.14200542e+02] [-4.70621380e-01 8.82334843e-01 8.61023854e-04 2.46161710e+02] [ 1.79942202e-03 -1.60664452e-05 9.99998381e-01 1.35406786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.23, Y:246.15, Z:1.35 [[ 8.82102174e-01 4.71055471e-01 -1.58047287e-03 2.14228949e+02] [-4.71054686e-01 8.82103590e-01 8.60396856e-04 2.46145988e+02] [ 1.79943544e-03 -1.44687862e-05 9.99998381e-01 1.35456022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.26, Y:246.13, Z:1.36 [[ 8.82506765e-01 4.70297048e-01 -1.58021106e-03 2.14257435e+02] [-4.70296260e-01 8.82508179e-01 8.60877425e-04 2.46130654e+02] [ 1.79941730e-03 -1.65627976e-05 9.99998381e-01 1.35553437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.00275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.29, Y:246.11, Z:1.36 [[ 8.81950313e-01 4.71339743e-01 -1.57876522e-03 2.14286854e+02] [-4.71338953e-01 8.81951725e-01 8.63530323e-04 2.46113098e+02] [ 1.79941087e-03 -1.74572931e-05 9.99998381e-01 1.35500356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.31, Y:246.10, Z:1.36 [[ 8.83243250e-01 4.68912446e-01 -1.57453211e-03 2.14313385e+02] [-4.68911638e-01 8.83244653e-01 8.71300109e-04 2.46100762e+02] [ 1.79926054e-03 -3.12535082e-05 9.99998381e-01 1.35579407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.34, Y:246.09, Z:1.36 [[ 8.83582824e-01 4.68272246e-01 -1.58023706e-03 2.14342383e+02] [-4.68271455e-01 8.83584237e-01 8.60827431e-04 2.46085285e+02] [ 1.79937415e-03 -2.06324243e-05 9.99998381e-01 1.35536863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.37, Y:246.07, Z:1.35 [[ 8.84402125e-01 4.66723029e-01 -1.57996581e-03 2.14371053e+02] [-4.66722235e-01 8.84403536e-01 8.61325002e-04 2.46069594e+02] [ 1.79932756e-03 -2.43524886e-05 9.99998381e-01 1.35486062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.40, Y:246.05, Z:1.35 [[ 8.84854540e-01 4.65864730e-01 -1.57990748e-03 2.14398803e+02] [-4.65863934e-01 8.84855950e-01 8.61431904e-04 2.46053713e+02] [ 1.79930127e-03 -2.62200197e-05 9.99998381e-01 1.35498497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.43, Y:246.04, Z:1.36 [[ 8.85015302e-01 4.65559260e-01 -1.57790166e-03 2.14426861e+02] [-4.65558458e-01 8.85016708e-01 8.65105271e-04 2.46037525e+02] [ 1.79922711e-03 -3.10259380e-05 9.99998381e-01 1.35543911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.45, Y:246.02, Z:1.36 [[ 8.85380310e-01 4.64864723e-01 -1.57990603e-03 2.14454355e+02] [-4.64863926e-01 8.85381719e-01 8.61435519e-04 2.46021841e+02] [ 1.79927090e-03 -2.82567255e-05 9.99998381e-01 1.35573813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.48, Y:246.01, Z:1.36 [[ 8.85227093e-01 4.65156426e-01 -1.57906605e-03 2.14481568e+02] [-4.65155627e-01 8.85228501e-01 8.62972513e-04 2.46005832e+02] [ 1.79925149e-03 -2.94151881e-05 9.99998381e-01 1.35790189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.51, Y:245.99, Z:1.36 [[ 8.85635674e-01 4.64378024e-01 -1.58238942e-03 2.14510919e+02] [-4.64377234e-01 8.85637087e-01 8.56891459e-04 2.45990101e+02] [ 1.79934432e-03 -2.40680239e-05 9.99998381e-01 1.35795934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2727550960001 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:214.54, Y:245.98, Z:1.36 [[ 8.85772908e-01 4.64116218e-01 -1.57870092e-03 2.14539970e+02] [-4.64115415e-01 8.85774314e-01 8.63633944e-04 2.45975118e+02] [ 1.79919924e-03 -3.22841179e-05 9.99998381e-01 1.35877596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:214.57, Y:245.96, Z:1.36 [[ 8.85561508e-01 4.64519459e-01 -1.57721843e-03 2.14568450e+02] [-4.64518652e-01 8.85562912e-01 8.66342372e-04 2.45959589e+02] [ 1.79915904e-03 -3.45520777e-05 9.99998381e-01 1.35861542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.60, Y:245.94, Z:1.36 [[ 8.85003715e-01 4.65581291e-01 -1.57670560e-03 2.14595397e+02] [-4.65580485e-01 8.85005119e-01 8.67278799e-04 2.45944325e+02] [ 1.79918131e-03 -3.34616018e-05 9.99998381e-01 1.35701920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.62, Y:245.93, Z:1.36 [[ 8.84456342e-01 4.66620283e-01 -1.57810758e-03 2.14623407e+02] [-4.66619483e-01 8.84457750e-01 8.64720198e-04 2.45928742e+02] [ 1.79926546e-03 -2.84315213e-05 9.99998381e-01 1.35671602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.65, Y:245.91, Z:1.36 [[ 8.83129360e-01 4.69126891e-01 -1.57930621e-03 2.14650734e+02] [-4.69126098e-01 8.83130772e-01 8.62534036e-04 2.45911314e+02] [ 1.79937183e-03 -2.08353691e-05 9.99998381e-01 1.35754105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.68, Y:245.90, Z:1.35 [[ 8.84109503e-01 4.67277108e-01 -1.57798507e-03 2.14680632e+02] [-4.67276309e-01 8.84110911e-01 8.64942291e-04 2.45897031e+02] [ 1.79928156e-03 -2.73486586e-05 9.99998381e-01 1.35489289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.71, Y:245.88, Z:1.36 [[ 8.83710567e-01 4.68031144e-01 -1.57566189e-03 2.14708786e+02] [-4.68030337e-01 8.83711971e-01 8.69174440e-04 2.45881233e+02] [ 1.79923198e-03 -3.06410710e-05 9.99998381e-01 1.35581360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.74, Y:245.87, Z:1.36 [[ 8.83498777e-01 4.68430809e-01 -1.57738772e-03 2.14737826e+02] [-4.68430009e-01 8.83500185e-01 8.66031014e-04 2.45865575e+02] [ 1.79929795e-03 -2.62415969e-05 9.99998381e-01 1.35627333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.77, Y:245.85, Z:1.36 [[ 8.82489333e-01 4.70329770e-01 -1.57616094e-03 2.14765420e+02] [-4.70328969e-01 8.82490741e-01 8.68264374e-04 2.45850753e+02] [ 1.79931802e-03 -2.49198976e-05 9.99998381e-01 1.35544303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.79, Y:245.84, Z:1.36 [[ 8.82804143e-01 4.69738601e-01 -1.57821598e-03 2.14794835e+02] [-4.69737806e-01 8.82805554e-01 8.64524508e-04 2.45835087e+02] [ 1.79935837e-03 -2.18581043e-05 9.99998381e-01 1.35577661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.82, Y:245.82, Z:1.36 [[ 8.82132296e-01 4.70999072e-01 -1.57688965e-03 2.14824419e+02] [-4.70998274e-01 8.82133705e-01 8.66937007e-04 2.45817815e+02] [ 1.79935403e-03 -2.20408305e-05 9.99998381e-01 1.35706121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.85, Y:245.80, Z:1.36 [[ 8.82521304e-01 4.70269790e-01 -1.57268582e-03 2.14851616e+02] [-4.70268977e-01 8.82522705e-01 8.74577005e-04 2.45804051e+02] [ 1.79921808e-03 -3.22474871e-05 9.99998381e-01 1.35726499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.88, Y:245.79, Z:1.36 [[ 8.82315558e-01 4.70655681e-01 -1.57656273e-03 2.14880110e+02] [-4.70654882e-01 8.82316966e-01 8.67531496e-04 2.45787976e+02] [ 1.79933667e-03 -2.34195891e-05 9.99998381e-01 1.35762099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.91, Y:245.77, Z:1.36 [[ 8.83199587e-01 4.68994674e-01 -1.57628963e-03 2.14908374e+02] [-4.68993871e-01 8.83200994e-01 8.68027437e-04 2.45774045e+02] [ 1.79928081e-03 -2.73712984e-05 9.99998381e-01 1.35766497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.94, Y:245.76, Z:1.36 [[ 8.81217410e-01 4.72708570e-01 -1.57599906e-03 2.14936963e+02] [-4.72707773e-01 8.81218819e-01 8.68554679e-04 2.45755090e+02] [ 1.79937327e-03 -2.03984995e-05 9.99998381e-01 1.35840719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.96, Y:245.74, Z:1.36 [[ 8.80321120e-01 4.74375652e-01 -1.57022528e-03 2.14964778e+02] [-4.74374839e-01 8.80322520e-01 8.79032572e-04 2.45739212e+02] [ 1.79929633e-03 -2.89555736e-05 9.99998381e-01 1.35817908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.99, Y:245.73, Z:1.36 [[ 8.80327354e-01 4.74364088e-01 -1.56909596e-03 2.14992017e+02] [-4.74363270e-01 8.80328752e-01 8.81080869e-04 2.45725556e+02] [ 1.79927341e-03 -3.13180997e-05 9.99998381e-01 1.35763506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.02, Y:245.71, Z:1.36 [[ 8.80047934e-01 4.74882248e-01 -1.57594094e-03 2.15020818e+02] [-4.74881454e-01 8.80049345e-01 8.68662590e-04 2.45710477e+02] [ 1.79941824e-03 -1.60795909e-05 9.99998381e-01 1.35718106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.81275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.05, Y:245.70, Z:1.36 [[ 8.79862258e-01 4.75226194e-01 -1.57230312e-03 2.15048863e+02] [-4.75225389e-01 8.79863662e-01 8.75255925e-04 2.45695950e+02] [ 1.79935692e-03 -2.29062945e-05 9.99998381e-01 1.35632566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.08, Y:245.68, Z:1.36 [[ 8.79111115e-01 4.76614273e-01 -1.57559402e-03 2.15077425e+02] [-4.76613481e-01 8.79112527e-01 8.69291144e-04 2.45680570e+02] [ 1.79944101e-03 -1.32541557e-05 9.99998381e-01 1.35544100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.11, Y:245.66, Z:1.36 [[ 8.78702516e-01 4.77367162e-01 -1.57532144e-03 2.15106382e+02] [-4.77366370e-01 8.78703928e-01 8.69784826e-04 2.45663953e+02] [ 1.79944785e-03 -1.22766350e-05 9.99998381e-01 1.35532354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.13, Y:245.65, Z:1.35 [[ 8.78256458e-01 4.78187320e-01 -1.57505001e-03 2.15134124e+02] [-4.78186528e-01 8.78257870e-01 8.70276083e-04 2.45647172e+02] [ 1.79945505e-03 -1.11578965e-05 9.99998381e-01 1.35470234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.16, Y:245.63, Z:1.35 [[ 8.77983583e-01 4.78688153e-01 -1.57488161e-03 2.15162573e+02] [-4.78687362e-01 8.77984995e-01 8.70580703e-04 2.45631002e+02] [ 1.79945910e-03 -1.04796402e-05 9.99998381e-01 1.35422817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.19, Y:245.61, Z:1.35 [[ 8.77917673e-01 4.78809023e-01 -1.57461445e-03 2.15191221e+02] [-4.78808230e-01 8.77919085e-01 8.71063650e-04 2.45614867e+02] [ 1.79945721e-03 -1.07838130e-05 9.99998381e-01 1.35387807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.22, Y:245.60, Z:1.35 [[ 8.77299131e-01 4.79941415e-01 -1.57254214e-03 2.15219123e+02] [-4.79940618e-01 8.77300540e-01 8.74807420e-04 2.45599271e+02] [ 1.79944838e-03 -1.27409420e-05 9.99998381e-01 1.35238467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.25, Y:245.58, Z:1.35 [[ 8.76927089e-01 4.80620855e-01 -1.57287405e-03 2.15246304e+02] [-4.80620060e-01 8.76928500e-01 8.74207766e-04 2.45584293e+02] [ 1.79946056e-03 -1.06616529e-05 9.99998381e-01 1.35248399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.28, Y:245.57, Z:1.35 [[ 8.76892174e-01 4.80684550e-01 -1.57421994e-03 2.15275253e+02] [-4.80683760e-01 8.76893587e-01 8.71777416e-04 2.45568063e+02] [ 1.79947330e-03 -7.75283677e-06 9.99998381e-01 1.35120989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.31, Y:245.55, Z:1.35 [[ 8.78242806e-01 4.78212396e-01 -1.57394836e-03 2.15307941e+02] [-4.78211601e-01 8.78244217e-01 8.72267467e-04 2.45550470e+02] [ 1.79944016e-03 -1.33822652e-05 9.99998381e-01 1.35060290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.33, Y:245.54, Z:1.35 [[ 8.77098117e-01 4.80308713e-01 -1.56023005e-03 2.15331373e+02] [-4.80307877e-01 8.77099503e-01 8.96954619e-04 2.45535860e+02] [ 1.79929212e-03 -3.73264263e-05 9.99998381e-01 1.35180343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.36, Y:245.52, Z:1.35 [[ 8.77538465e-01 4.79503667e-01 -1.57326284e-03 2.15360519e+02] [-4.79502872e-01 8.77539876e-01 8.73480709e-04 2.45520765e+02] [ 1.79943808e-03 -1.21288716e-05 9.99998381e-01 1.35265506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.17275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:215.39, Y:245.51, Z:1.35 [[ 8.77783800e-01 4.79054409e-01 -1.57272862e-03 2.15389889e+02] [-4.79053611e-01 8.77785209e-01 8.74442156e-04 2.45505817e+02] [ 1.79942329e-03 -1.41498359e-05 9.99998381e-01 1.35275368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.42, Y:245.49, Z:1.35 [[ 8.77490449e-01 4.79591539e-01 -1.57093850e-03 2.15418558e+02] [-4.79590736e-01 8.77491855e-01 8.77661693e-04 2.45492168e+02] [ 1.79940486e-03 -1.67322002e-05 9.99998381e-01 1.35296753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.45, Y:245.48, Z:1.35 [[ 8.77245313e-01 4.80039777e-01 -1.57248341e-03 2.15446891e+02] [-4.80038980e-01 8.77246722e-01 8.74884931e-04 2.45477355e+02] [ 1.79943549e-03 -1.26353710e-05 9.99998381e-01 1.35339026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.48, Y:245.46, Z:1.35 [[ 8.77572401e-01 4.79441559e-01 -1.57222062e-03 2.15478112e+02] [-4.79440760e-01 8.77573810e-01 8.75356939e-04 2.45461608e+02] [ 1.79942213e-03 -1.44024429e-05 9.99998381e-01 1.35287057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.51, Y:245.45, Z:1.35 [[ 8.76753567e-01 4.80937344e-01 -1.56666055e-03 2.15505039e+02] [-4.80936530e-01 8.76754966e-01 8.85333964e-04 2.45447153e+02] [ 1.79936758e-03 -2.27554241e-05 9.99998381e-01 1.35289327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.53, Y:245.43, Z:1.35 [[ 8.76436079e-01 4.81515657e-01 -1.57194579e-03 2.15534667e+02] [-4.81514860e-01 8.76437489e-01 8.75848169e-04 2.45432822e+02] [ 1.79944683e-03 -1.07096769e-05 9.99998381e-01 1.35233323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.56, Y:245.42, Z:1.35 [[ 8.76306733e-01 4.81751015e-01 -1.57167350e-03 2.15564439e+02] [-4.81750218e-01 8.76308142e-01 8.76336519e-04 2.45417563e+02] [ 1.79944629e-03 -1.07855431e-05 9.99998381e-01 1.35181134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.59, Y:245.41, Z:1.35 [[ 8.76513646e-01 4.81374447e-01 -1.57140057e-03 2.15593940e+02] [-4.81373649e-01 8.76515055e-01 8.76825643e-04 2.45405714e+02] [ 1.79943772e-03 -1.21188149e-05 9.99998381e-01 1.35009662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.62, Y:245.39, Z:1.35 [[ 8.76295604e-01 4.81771251e-01 -1.57361423e-03 2.15621670e+02] [-4.81770460e-01 8.76297017e-01 8.72859399e-04 2.45390312e+02] [ 1.79947202e-03 -6.76200312e-06 9.99998381e-01 1.35114261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.65, Y:245.37, Z:1.35 [[ 8.76255940e-01 4.81843397e-01 -1.57111929e-03 2.15650875e+02] [-4.81842599e-01 8.76257348e-01 8.77327340e-04 2.45374756e+02] [ 1.79943921e-03 -1.17310918e-05 9.99998381e-01 1.35112935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.68, Y:245.36, Z:1.35 [[ 8.76347664e-01 4.81676556e-01 -1.57085156e-03 2.15679435e+02] [-4.81675756e-01 8.76349072e-01 8.77806454e-04 2.45359134e+02] [ 1.79943309e-03 -1.26225242e-05 9.99998381e-01 1.35113607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.71, Y:245.34, Z:1.35 [[ 8.76703304e-01 4.81028950e-01 -1.57058537e-03 2.15708473e+02] [-4.81028148e-01 8.76704710e-01 8.78282460e-04 2.45343462e+02] [ 1.79941888e-03 -1.44973619e-05 9.99998381e-01 1.35172825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.74, Y:245.33, Z:1.35 [[ 8.76558994e-01 4.81291871e-01 -1.57032181e-03 2.15737570e+02] [-4.81291069e-01 8.76560400e-01 8.78753432e-04 2.45326976e+02] [ 1.79941880e-03 -1.44973612e-05 9.99998381e-01 1.35178857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.77, Y:245.31, Z:1.35 [[ 8.76212193e-01 4.81922948e-01 -1.57005811e-03 2.15767261e+02] [-4.81922146e-01 8.76213600e-01 8.79224326e-04 2.45309397e+02] [ 1.79942465e-03 -1.37412995e-05 9.99998381e-01 1.35132204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.79, Y:245.30, Z:1.35 [[ 8.75833834e-01 4.82610240e-01 -1.56565031e-03 2.15790088e+02] [-4.82609425e-01 8.75835233e-01 8.87088977e-04 2.45296632e+02] [ 1.79936993e-03 -2.13449421e-05 9.99998381e-01 1.35215572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.82, Y:245.28, Z:1.35 [[ 8.77538754e-01 4.79503104e-01 -1.58410200e-03 2.15820874e+02] [-4.79502343e-01 8.77540183e-01 8.53990404e-04 2.45281710e+02] [ 1.79960421e-03 1.01709455e-05 9.99998381e-01 1.35369108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.85, Y:245.27, Z:1.35 [[ 8.78307766e-01 4.78093086e-01 -1.57132674e-03 2.15848771e+02] [-4.78092282e-01 8.78309172e-01 8.76882971e-04 2.45267213e+02] [ 1.79934238e-03 -1.89339351e-05 9.99998381e-01 1.35388283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.87, Y:245.25, Z:1.35 [[ 8.77138753e-01 4.80234485e-01 -1.56428188e-03 2.15871725e+02] [-4.80233662e-01 8.77140148e-01 8.89492821e-04 2.45254050e+02] [ 1.79925957e-03 -2.89878061e-05 9.99998381e-01 1.35448552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7127550960001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.90, Y:245.24, Z:1.35 [[ 8.76765546e-01 4.80915491e-01 -1.57111784e-03 2.15900064e+02] [-4.80914691e-01 8.76766953e-01 8.77249905e-04 2.45238205e+02] [ 1.79938727e-03 -1.35688401e-05 9.99998381e-01 1.35400735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.93, Y:245.22, Z:1.35 [[ 8.76349644e-01 4.81672954e-01 -1.57085028e-03 2.15928748e+02] [-4.81672154e-01 8.76351052e-01 8.77728764e-04 2.45222074e+02] [ 1.79939450e-03 -1.25624537e-05 9.99998381e-01 1.35379058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.96, Y:245.20, Z:1.35 [[ 8.75742002e-01 4.82776841e-01 -1.57056656e-03 2.15958303e+02] [-4.82776043e-01 8.75743411e-01 8.78236141e-04 2.45204842e+02] [ 1.79940538e-03 -1.08763687e-05 9.99998381e-01 1.35378874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:215.99, Y:245.19, Z:1.35 [[ 8.75529563e-01 4.83162012e-01 -1.56708813e-03 2.15987143e+02] [-4.83161202e-01 8.75530965e-01 8.84451553e-04 2.45188550e+02] [ 1.79936757e-03 -1.72072972e-05 9.99998381e-01 1.35476725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.01, Y:245.17, Z:1.36 [[ 8.75342632e-01 4.83500593e-01 -1.56640033e-03 2.16013173e+02] [-4.83499782e-01 8.75344033e-01 8.85679898e-04 2.45174380e+02] [ 1.79936593e-03 -1.79191566e-05 9.99998381e-01 1.35553322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.04, Y:245.16, Z:1.36 [[ 8.75240086e-01 4.83686186e-01 -1.57002115e-03 2.16041585e+02] [-4.83685387e-01 8.75241494e-01 8.79214167e-04 2.45159328e+02] [ 1.79941140e-03 -1.01271979e-05 9.99998381e-01 1.35623975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.07, Y:245.14, Z:1.36 [[ 8.75277139e-01 4.83619132e-01 -1.56984423e-03 2.16070156e+02] [-4.83618333e-01 8.75278547e-01 8.79529945e-04 2.45144201e+02] [ 1.79940848e-03 -1.06270076e-05 9.99998381e-01 1.35626283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.10, Y:245.13, Z:1.36 [[ 8.75233711e-01 4.83697724e-01 -1.56958344e-03 2.16098694e+02] [-4.83696923e-01 8.75235118e-01 8.79995098e-04 2.45128475e+02] [ 1.79940617e-03 -1.09986967e-05 9.99998381e-01 1.35632822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.13, Y:245.11, Z:1.36 [[ 8.75746345e-01 4.82768968e-01 -1.56930675e-03 2.16126209e+02] [-4.82768165e-01 8.75747751e-01 8.80488236e-04 2.45114024e+02] [ 1.79938925e-03 -1.34730145e-05 9.99998381e-01 1.35592222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.15, Y:245.10, Z:1.36 [[ 8.76580309e-01 4.81253050e-01 -1.56953543e-03 2.16154909e+02] [-4.81252246e-01 8.76581714e-01 8.80080765e-04 2.45099227e+02] [ 1.79936761e-03 -1.61190167e-05 9.99998381e-01 1.35632590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.18, Y:245.08, Z:1.36 [[ 8.77382904e-01 4.79788260e-01 -1.57002626e-03 2.16182490e+02] [-4.79787455e-01 8.77384309e-01 8.79206936e-04 2.45083250e+02] [ 1.79934957e-03 -1.81222299e-05 9.99998381e-01 1.35736690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.21, Y:245.07, Z:1.36 [[ 8.77914607e-01 4.78814658e-01 -1.57058215e-03 2.16210790e+02] [-4.78813853e-01 8.77916011e-01 8.78217756e-04 2.45067206e+02] [ 1.79934275e-03 -1.89837077e-05 9.99998381e-01 1.35774211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.24, Y:245.05, Z:1.36 [[ 8.78915689e-01 4.76974576e-01 -1.56989525e-03 2.16241360e+02] [-4.76973766e-01 8.78917091e-01 8.79439628e-04 2.45049858e+02] [ 1.79927811e-03 -2.41544366e-05 9.99998381e-01 1.35828249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.27, Y:245.04, Z:1.36 [[ 8.79415345e-01 4.76052747e-01 -1.55979247e-03 2.16266163e+02] [-4.76051903e-01 8.79416727e-01 8.97365892e-04 2.45035384e+02] [ 1.79890108e-03 -4.66151647e-05 9.99998381e-01 1.35780857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.29, Y:245.02, Z:1.36 [[ 8.80571752e-01 4.73910258e-01 -1.56769777e-03 2.16293694e+02] [-4.73909436e-01 8.80573147e-01 8.83335983e-04 2.45021994e+02] [ 1.79909454e-03 -3.48939501e-05 9.99998381e-01 1.35670703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.32, Y:245.01, Z:1.36 [[ 8.80537470e-01 4.73973939e-01 -1.57137451e-03 2.16319706e+02] [-4.73973129e-01 8.80538872e-01 8.76811342e-04 2.45006333e+02] [ 1.79924206e-03 -2.72759496e-05 9.99998381e-01 1.35826298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.35, Y:244.99, Z:1.36 [[ 8.81394762e-01 4.72377804e-01 -1.57613167e-03 2.16350386e+02] [-4.72377007e-01 8.81396171e-01 8.68343588e-04 2.44989375e+02] [ 1.79938266e-03 -2.08251278e-05 9.99998381e-01 1.35733887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.38, Y:244.97, Z:1.36 [[ 8.80988336e-01 4.73135391e-01 -1.56634314e-03 2.16375718e+02] [-4.73134564e-01 8.80989728e-01 8.85747323e-04 2.44974624e+02] [ 1.79901062e-03 -3.92419834e-05 9.99998381e-01 1.35708602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.40, Y:244.96, Z:1.35 [[ 8.80314740e-01 4.74387498e-01 -1.56840426e-03 2.16404534e+02] [-4.74386679e-01 8.80316137e-01 8.82082496e-04 2.44957655e+02] [ 1.79914049e-03 -3.24801333e-05 9.99998381e-01 1.35492681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.43, Y:244.94, Z:1.36 [[ 8.80003456e-01 4.74964698e-01 -1.56642286e-03 2.16432484e+02] [-4.74963873e-01 8.80004849e-01 8.85602957e-04 2.44942281e+02] [ 1.79908986e-03 -3.53393917e-05 9.99998381e-01 1.35645087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.46, Y:244.93, Z:1.36 [[ 8.79694540e-01 4.75536600e-01 -1.56790122e-03 2.16460548e+02] [-4.75535781e-01 8.79695937e-01 8.82977841e-04 2.44926316e+02] [ 1.79916462e-03 -3.11576532e-05 9.99998381e-01 1.35615067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.49, Y:244.91, Z:1.35 [[ 8.79567916e-01 4.75770769e-01 -1.56763695e-03 2.16488676e+02] [-4.75769949e-01 8.79569312e-01 8.83446788e-04 2.44910327e+02] [ 1.79916351e-03 -3.12168989e-05 9.99998381e-01 1.35399810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.52, Y:244.89, Z:1.36 [[ 8.78902076e-01 4.76999665e-01 -1.56847900e-03 2.16515567e+02] [-4.76998850e-01 8.78903475e-01 8.81953372e-04 2.44893398e+02] [ 1.79923311e-03 -2.69879698e-05 9.99998381e-01 1.35517511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.54, Y:244.88, Z:1.36 [[ 8.78579256e-01 4.77594006e-01 -1.56742100e-03 2.16543591e+02] [-4.77593189e-01 8.78580654e-01 8.83828645e-04 2.44876903e+02] [ 1.79921703e-03 -2.79239219e-05 9.99998381e-01 1.35510377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.57, Y:244.86, Z:1.35 [[ 8.78345909e-01 4.78023022e-01 -1.56692995e-03 2.16571994e+02] [-4.78022204e-01 8.78347306e-01 8.84698357e-04 2.44860732e+02] [ 1.79921488e-03 -2.80438739e-05 9.99998381e-01 1.35443693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.60, Y:244.84, Z:1.35 [[ 8.78059079e-01 4.78549683e-01 -1.56665886e-03 2.16601073e+02] [-4.78548865e-01 8.78060476e-01 8.85178161e-04 2.44844360e+02] [ 1.79922295e-03 -2.75159020e-05 9.99998381e-01 1.35446740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.63, Y:244.83, Z:1.35 [[ 8.77858536e-01 4.78917463e-01 -1.56638295e-03 2.16628753e+02] [-4.78916645e-01 8.77859933e-01 8.85666121e-04 2.44829126e+02] [ 1.79922581e-03 -2.73226958e-05 9.99998381e-01 1.35423607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.66, Y:244.81, Z:1.35 [[ 8.77301899e-01 4.79936376e-01 -1.56621082e-03 2.16658034e+02] [-4.79935559e-01 8.77303297e-01 8.85970413e-04 2.44813273e+02] [ 1.79925135e-03 -2.55832590e-05 9.99998381e-01 1.35399065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.69, Y:244.80, Z:1.35 [[ 8.77096017e-01 4.80312528e-01 -1.56593752e-03 2.16686247e+02] [-4.80311711e-01 8.77097415e-01 8.86453208e-04 2.44797254e+02] [ 1.79925433e-03 -2.53664484e-05 9.99998381e-01 1.35424081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.72, Y:244.78, Z:1.35 [[ 8.77312504e-01 4.79916991e-01 -1.56568331e-03 2.16715928e+02] [-4.79916173e-01 8.77313901e-01 8.86901980e-04 2.44780368e+02] [ 1.79923506e-03 -2.66934572e-05 9.99998381e-01 1.35453032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.74, Y:244.76, Z:1.36 [[ 8.76950222e-01 4.80578678e-01 -1.56279806e-03 2.16742637e+02] [-4.80577851e-01 8.76951614e-01 8.91995123e-04 2.44764209e+02] [ 1.79917212e-03 -3.11891867e-05 9.99998381e-01 1.35515494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.77, Y:244.75, Z:1.35 [[ 8.76962081e-01 4.80557029e-01 -1.56555735e-03 2.16770839e+02] [-4.80556211e-01 8.76963478e-01 8.87125666e-04 2.44748219e+02] [ 1.79925109e-03 -2.56372614e-05 9.99998381e-01 1.35468357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.80, Y:244.73, Z:1.35 [[ 8.76962426e-01 4.80556400e-01 -1.56529628e-03 2.16799233e+02] [-4.80555581e-01 8.76963822e-01 8.87586073e-04 2.44731786e+02] [ 1.79924338e-03 -2.61677723e-05 9.99998381e-01 1.35494973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.83, Y:244.72, Z:1.36 [[ 8.77179964e-01 4.80159205e-01 -1.56501502e-03 2.16826764e+02] [-4.80158384e-01 8.77181359e-01 8.88081717e-04 2.44715962e+02] [ 1.79922262e-03 -2.75524039e-05 9.99998381e-01 1.35569427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.85, Y:244.70, Z:1.35 [[ 8.77134504e-01 4.80242252e-01 -1.56258078e-03 2.16854240e+02] [-4.80241424e-01 8.77135895e-01 8.92368219e-04 2.44699352e+02] [ 1.79914861e-03 -3.23109369e-05 9.99998381e-01 1.35444626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.88, Y:244.68, Z:1.35 [[ 8.76723921e-01 4.80991391e-01 -1.56465010e-03 2.16882914e+02] [-4.80990570e-01 8.76725317e-01 8.88725071e-04 2.44682077e+02] [ 1.79923746e-03 -2.65845880e-05 9.99998381e-01 1.35494469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.91, Y:244.67, Z:1.35 [[ 8.76566180e-01 4.81278804e-01 -1.56393684e-03 2.16909037e+02] [-4.81277981e-01 8.76567574e-01 8.89979874e-04 2.44665418e+02] [ 1.79922477e-03 -2.74378927e-05 9.99998381e-01 1.35485121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:244.65, Z:1.35 [[ 8.76240060e-01 4.81872297e-01 -1.56427437e-03 2.16936361e+02] [-4.81871477e-01 8.76241456e-01 8.89386212e-04 2.44648937e+02] [ 1.79925263e-03 -2.55366243e-05 9.99998381e-01 1.35444849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.96, Y:244.63, Z:1.35 [[ 8.76018162e-01 4.82275576e-01 -1.56517098e-03 2.16964455e+02] [-4.82274759e-01 8.76019560e-01 8.87810117e-04 2.44631272e+02] [ 1.79928953e-03 -2.28953273e-05 9.99998381e-01 1.35474594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.99, Y:244.62, Z:1.35 [[ 8.74885094e-01 4.84328016e-01 -1.56385198e-03 2.16988776e+02] [-4.84327198e-01 8.74886491e-01 8.90127455e-04 2.44615618e+02] [ 1.79930664e-03 -2.13431938e-05 9.99998381e-01 1.35363795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.02, Y:244.60, Z:1.35 [[ 8.75382755e-01 4.83427934e-01 -1.56980502e-03 2.17018810e+02] [-4.83427134e-01 8.75384163e-01 8.79668730e-04 2.44597864e+02] [ 1.79943889e-03 -1.11604976e-05 9.99998381e-01 1.35456942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.05, Y:244.58, Z:1.35 [[ 8.74972437e-01 4.84170208e-01 -1.56342585e-03 2.17046929e+02] [-4.84169389e-01 8.74973833e-01 8.90863882e-04 2.44579742e+02] [ 1.79928646e-03 -2.25184037e-05 9.99998381e-01 1.35451307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.07, Y:244.56, Z:1.35 [[ 8.74792428e-01 4.84495372e-01 -1.56314448e-03 2.17073928e+02] [-4.84494552e-01 8.74793824e-01 8.91357305e-04 2.44563155e+02] [ 1.79928763e-03 -2.24176353e-05 9.99998381e-01 1.35435536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.10, Y:244.55, Z:1.35 [[ 8.74788846e-01 4.84501839e-01 -1.56296969e-03 2.17101809e+02] [-4.84501019e-01 8.74790242e-01 8.91663695e-04 2.44545872e+02] [ 1.79928333e-03 -2.27570486e-05 9.99998381e-01 1.35441759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0327550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:217.13, Y:244.53, Z:1.35 [[ 8.74764463e-01 4.84545863e-01 -1.56269341e-03 2.17128610e+02] [-4.84545042e-01 8.74765858e-01 8.92147627e-04 2.44527785e+02] [ 1.79927728e-03 -2.32236963e-05 9.99998381e-01 1.35320018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.16, Y:244.51, Z:1.35 [[ 8.74617699e-01 4.84810725e-01 -1.56252180e-03 2.17156547e+02] [-4.84809904e-01 8.74619095e-01 8.92448080e-04 2.44510938e+02] [ 1.79927980e-03 -2.30248416e-05 9.99998381e-01 1.35494653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.18, Y:244.49, Z:1.35 [[ 8.74537239e-01 4.84955850e-01 -1.56224866e-03 2.17183838e+02] [-4.84955028e-01 8.74538634e-01 8.92925963e-04 2.44493972e+02] [ 1.79927648e-03 -2.32766621e-05 9.99998381e-01 1.35488964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.21, Y:244.48, Z:1.36 [[ 8.73235299e-01 4.87296289e-01 -1.56199464e-03 2.17207743e+02] [-4.87295471e-01 8.73236696e-01 8.93370096e-04 2.44475914e+02] [ 1.79932697e-03 -1.89693878e-05 9.99998381e-01 1.35547551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.24, Y:244.46, Z:1.36 [[ 8.73202945e-01 4.87354238e-01 -1.56946429e-03 2.17235220e+02] [-4.87353443e-01 8.73204356e-01 8.80320114e-04 2.44458575e+02] [ 1.79949079e-03 -3.81429388e-06 9.99998381e-01 1.35568332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.26, Y:244.44, Z:1.36 [[ 8.74041694e-01 4.85848391e-01 -1.56795763e-03 2.17264626e+02] [-4.85847589e-01 8.74043100e-01 8.82949422e-04 2.44441210e+02] [ 1.79944211e-03 -9.94617235e-06 9.99998381e-01 1.35523732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.29, Y:244.42, Z:1.35 [[ 8.74141602e-01 4.85668636e-01 -1.56075001e-03 2.17290878e+02] [-4.85667811e-01 8.74142995e-01 8.95511294e-04 2.44423312e+02] [ 1.79924044e-03 -2.47976362e-05 9.99998381e-01 1.35480613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.32, Y:244.41, Z:1.35 [[ 8.74078589e-01 4.85782034e-01 -1.56050444e-03 2.17317611e+02] [-4.85781208e-01 8.74079982e-01 8.95939007e-04 2.44406193e+02] [ 1.79923677e-03 -2.50573690e-05 9.99998381e-01 1.35469343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.35, Y:244.39, Z:1.35 [[ 8.74311890e-01 4.85362014e-01 -1.56026175e-03 2.17345347e+02] [-4.85361187e-01 8.74313282e-01 8.96361449e-04 2.44387581e+02] [ 1.79921737e-03 -2.64089763e-05 9.99998381e-01 1.35444795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.37, Y:244.37, Z:1.35 [[ 8.74343211e-01 4.85305590e-01 -1.56000553e-03 2.17373019e+02] [-4.85304762e-01 8.74344603e-01 8.96807158e-04 2.44370209e+02] [ 1.79920794e-03 -2.70391392e-05 9.99998381e-01 1.35450023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.40, Y:244.35, Z:1.35 [[ 8.74520422e-01 4.84986183e-01 -1.55973171e-03 2.17399989e+02] [-4.84985354e-01 8.74521813e-01 8.97283134e-04 2.44353007e+02] [ 1.79918932e-03 -2.82453908e-05 9.99998381e-01 1.35454172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.43, Y:244.34, Z:1.35 [[ 8.74643014e-01 4.84765063e-01 -1.55956161e-03 2.17427008e+02] [-4.84764233e-01 8.74644404e-01 8.97578677e-04 2.44335942e+02] [ 1.79917662e-03 -2.90412307e-05 9.99998381e-01 1.35414022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.39275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.45, Y:244.32, Z:1.35 [[ 8.74457570e-01 4.85099502e-01 -1.55939317e-03 2.17453843e+02] [-4.85098672e-01 8.74458960e-01 8.97871223e-04 2.44316885e+02] [ 1.79918221e-03 -2.86907309e-05 9.99998381e-01 1.35395835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.48, Y:244.30, Z:1.35 [[ 8.74224985e-01 4.85518532e-01 -1.55912148e-03 2.17480981e+02] [-4.85517702e-01 8.74226375e-01 8.98342765e-04 2.44299725e+02] [ 1.79918718e-03 -2.83726138e-05 9.99998381e-01 1.35340625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.51, Y:244.28, Z:1.35 [[ 8.74089885e-01 4.85761714e-01 -1.55886878e-03 2.17509854e+02] [-4.85760883e-01 8.74091275e-01 8.98781042e-04 2.44282852e+02] [ 1.79918702e-03 -2.83779420e-05 9.99998381e-01 1.35346657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.54, Y:244.26, Z:1.35 [[ 8.71990012e-01 4.89521184e-01 -1.55861863e-03 2.17540227e+02] [-4.89520359e-01 8.71991405e-01 8.99214633e-04 2.44262614e+02] [ 1.79928666e-03 -2.11306273e-05 9.99998381e-01 1.35277598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.56, Y:244.25, Z:1.35 [[ 8.72056154e-01 4.89403381e-01 -1.54760187e-03 2.17564405e+02] [-4.89402521e-01 8.72057526e-01 9.18279446e-04 2.44250771e+02] [ 1.79900693e-03 -4.33909832e-05 9.99998381e-01 1.35420787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.59, Y:244.23, Z:1.35 [[ 8.70349418e-01 4.92432191e-01 -1.55827694e-03 2.17592678e+02] [-4.92431369e-01 8.70350813e-01 8.99792161e-04 2.44234041e+02] [ 1.79933423e-03 -1.57891349e-05 9.99998381e-01 1.35476328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.62, Y:244.22, Z:1.35 [[ 8.69465874e-01 4.93990553e-01 -1.55799084e-03 2.17620327e+02] [-4.93989733e-01 8.69467270e-01 9.00287278e-04 2.44218277e+02] [ 1.79935545e-03 -1.31375873e-05 9.99998381e-01 1.35431951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.65, Y:244.20, Z:1.36 [[ 8.68550189e-01 4.95598772e-01 -1.55772456e-03 2.17648621e+02] [-4.95597953e-01 8.68551586e-01 9.00747769e-04 2.44201676e+02] [ 1.79937363e-03 -1.03395405e-05 9.99998381e-01 1.35538432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.68, Y:244.18, Z:1.35 [[ 8.66281403e-01 4.99553906e-01 -1.55743772e-03 2.17677417e+02] [-4.99553093e-01 8.66282803e-01 9.01243463e-04 2.44181028e+02] [ 1.79940120e-03 -2.70762209e-06 9.99998381e-01 1.35466858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.70, Y:244.17, Z:1.36 [[ 8.67395536e-01 4.97616903e-01 -1.54999761e-03 2.17703670e+02] [-4.97616064e-01 8.67396920e-01 9.14085759e-04 2.44169199e+02] [ 1.79932768e-03 -2.15701969e-05 9.99998381e-01 1.35634435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.73, Y:244.15, Z:1.36 [[ 8.66656665e-01 4.98902597e-01 -1.55709701e-03 2.17734183e+02] [-4.98901782e-01 8.66658064e-01 9.01827920e-04 2.44149529e+02] [ 1.79939497e-03 -4.73670293e-06 9.99998381e-01 1.35555745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.76, Y:244.14, Z:1.36 [[ 8.66585918e-01 4.99025500e-01 -1.54840321e-03 2.17756871e+02] [-4.99024658e-01 8.66587301e-01 9.16796080e-04 2.44137258e+02] [ 1.79933118e-03 -2.17911887e-05 9.99998381e-01 1.35649969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.79, Y:244.12, Z:1.36 [[ 8.66810991e-01 4.98634399e-01 -1.56256623e-03 2.17785768e+02] [-4.98633600e-01 8.66812400e-01 8.92388679e-04 2.44119424e+02] [ 1.79942747e-03 5.61570715e-06 9.99998381e-01 1.35751683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.82, Y:244.10, Z:1.36 [[ 8.67496819e-01 4.97440297e-01 -1.55588104e-03 2.17816565e+02] [-4.97439476e-01 8.67498214e-01 9.03899043e-04 2.44100361e+02] [ 1.79935983e-03 -1.01728965e-05 9.99998381e-01 1.35623103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:244.08, Z:1.36 [[ 8.68366598e-01 4.95920420e-01 -1.54577377e-03 2.17844393e+02] [-4.95919565e-01 8.68367973e-01 9.21285019e-04 2.44082606e+02] [ 1.79918449e-03 -3.34336801e-05 9.99998381e-01 1.35686770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.87, Y:244.07, Z:1.36 [[ 8.70294618e-01 4.92529082e-01 -1.54345620e-03 2.17869358e+02] [-4.92528215e-01 8.70295985e-01 9.25270334e-04 2.44072086e+02] [ 1.79898628e-03 -4.50620633e-05 9.99998381e-01 1.35773636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.90, Y:244.06, Z:1.36 [[ 8.70812689e-01 4.91612490e-01 -1.55577389e-03 2.17896364e+02] [-4.91611659e-01 8.70814079e-01 9.04073454e-04 2.44055961e+02] [ 1.79924361e-03 -2.24420527e-05 9.99998381e-01 1.35764311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.92, Y:244.04, Z:1.36 [[ 8.71705203e-01 4.90028183e-01 -1.55550777e-03 2.17922805e+02] [-4.90027349e-01 8.71706590e-01 9.04531102e-04 2.44039712e+02] [ 1.79919210e-03 -2.62431210e-05 9.99998381e-01 1.35754124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.95, Y:244.02, Z:1.36 [[ 8.72778087e-01 4.88114718e-01 -1.55952044e-03 2.17953121e+02] [-4.88113894e-01 8.72779480e-01 8.97637478e-04 2.44023738e+02] [ 1.79926750e-03 -2.22147261e-05 9.99998381e-01 1.35589252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.98, Y:244.01, Z:1.36 [[ 8.73370991e-01 4.87053070e-01 -1.55548252e-03 2.17980177e+02] [-4.87052231e-01 8.73372375e-01 9.04563960e-04 2.44007418e+02] [ 1.79908611e-03 -3.24186918e-05 9.99998381e-01 1.35827504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.01, Y:243.99, Z:1.36 [[ 8.72582744e-01 4.88463857e-01 -1.55431791e-03 2.18009400e+02] [-4.88463017e-01 8.72584128e-01 9.06560695e-04 2.43987242e+02] [ 1.79909527e-03 -3.18224023e-05 9.99998381e-01 1.35662229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.04, Y:243.98, Z:1.36 [[ 8.75117932e-01 4.83907229e-01 -1.54875777e-03 2.18037606e+02] [-4.83906365e-01 8.75119301e-01 9.16091921e-04 2.43975424e+02] [ 1.79865132e-03 -5.22347240e-05 9.99998381e-01 1.35709990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.06, Y:243.96, Z:1.36 [[ 8.75639504e-01 4.82962776e-01 -1.55452075e-03 2.18064900e+02] [-4.82961928e-01 8.75640883e-01 9.06211591e-04 2.43959190e+02] [ 1.79886839e-03 -4.27403295e-05 9.99998381e-01 1.35704538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.09, Y:243.94, Z:1.36 [[ 8.75270819e-01 4.83630620e-01 -1.55482870e-03 2.18092143e+02] [-4.83629774e-01 8.75272199e-01 9.05683805e-04 2.43941882e+02] [ 1.79891475e-03 -4.07571546e-05 9.99998381e-01 1.35676924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.12, Y:243.93, Z:1.36 [[ 8.76291912e-01 4.81778027e-01 -1.55498304e-03 2.18120586e+02] [-4.81777178e-01 8.76293291e-01 9.05419344e-04 2.43928373e+02] [ 1.79883235e-03 -4.42563057e-05 9.99998381e-01 1.35674494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.14275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.15, Y:243.91, Z:1.36 [[ 8.75249317e-01 4.83669518e-01 -1.55873292e-03 2.18149315e+02] [-4.83668684e-01 8.75250705e-01 8.98995101e-04 2.43911195e+02] [ 1.79909862e-03 -3.29345472e-05 9.99998381e-01 1.35631551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.17275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.18, Y:243.89, Z:1.36 [[ 8.74074621e-01 4.85789193e-01 -1.55445019e-03 2.18176138e+02] [-4.85788349e-01 8.74076003e-01 9.06325902e-04 2.43894205e+02] [ 1.79899094e-03 -3.70626786e-05 9.99998381e-01 1.35626884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.20, Y:243.88, Z:1.36 [[ 8.72954781e-01 4.87798664e-01 -1.55352481e-03 2.18201943e+02] [-4.87797820e-01 8.72956163e-01 9.07909028e-04 2.43876857e+02] [ 1.79903587e-03 -3.47575106e-05 9.99998381e-01 1.35733583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.23275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:218.23, Y:243.86, Z:1.36 [[ 8.72623963e-01 4.88390219e-01 -1.55321217e-03 2.18232632e+02] [-4.88389375e-01 8.72625345e-01 9.08443574e-04 2.43863347e+02] [ 1.79904726e-03 -3.41573126e-05 9.99998381e-01 1.35691783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.26, Y:243.84, Z:1.35 [[ 8.69869493e-01 4.93279488e-01 -1.55292199e-03 2.18262574e+02] [-4.93278651e-01 8.69870879e-01 9.08939338e-04 2.43839034e+02] [ 1.79920275e-03 -2.46353368e-05 9.99998381e-01 1.35323591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.29, Y:243.83, Z:1.36 [[ 8.70700431e-01 4.91811358e-01 -1.53240871e-03 2.18285904e+02] [-4.91810457e-01 8.70701776e-01 9.43914273e-04 2.43832541e+02] [ 1.79849875e-03 -6.82119335e-05 9.99998380e-01 1.35574821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.31, Y:243.82, Z:1.36 [[ 8.70225001e-01 4.92652044e-01 -1.55271022e-03 2.18314879e+02] [-4.92651206e-01 8.70226386e-01 9.09245576e-04 2.43816136e+02] [ 1.79915110e-03 -2.63036683e-05 9.99998381e-01 1.35628989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.34, Y:243.80, Z:1.36 [[ 8.69144592e-01 4.94555628e-01 -1.55232389e-03 2.18341505e+02] [-4.94554791e-01 8.69145978e-01 9.09904948e-04 2.43800085e+02] [ 1.79919468e-03 -2.31297473e-05 9.99998381e-01 1.35715486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.37, Y:243.78, Z:1.36 [[ 8.68277997e-01 4.96075502e-01 -1.55440130e-03 2.18368197e+02] [-4.96074675e-01 8.68279388e-01 9.06362891e-04 2.43784538e+02] [ 1.79927903e-03 -1.58758376e-05 9.99998381e-01 1.35583003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.40, Y:243.77, Z:1.36 [[ 8.68059170e-01 4.96458312e-01 -1.55631214e-03 2.18397723e+02] [-4.96457491e-01 8.68060565e-01 9.03106127e-04 2.43767777e+02] [ 1.79932774e-03 -1.13067368e-05 9.99998381e-01 1.35746547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.42, Y:243.75, Z:1.36 [[ 8.67656159e-01 4.97162326e-01 -1.55294585e-03 2.18424863e+02] [-4.97161496e-01 8.67657548e-01 9.08839995e-04 2.43751375e+02] [ 1.79926620e-03 -1.64957362e-05 9.99998381e-01 1.35748775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.45, Y:243.73, Z:1.36 [[ 8.67740409e-01 4.97015260e-01 -1.55390059e-03 2.18453679e+02] [-4.97014432e-01 8.67741800e-01 9.07214578e-04 2.43734232e+02] [ 1.79928399e-03 -1.49157271e-05 9.99998381e-01 1.35790007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.48, Y:243.72, Z:1.36 [[ 8.67823102e-01 4.96870867e-01 -1.55092809e-03 2.18479704e+02] [-4.96870030e-01 8.67824487e-01 9.12272001e-04 2.43717750e+02] [ 1.79921475e-03 -2.10810316e-05 9.99998381e-01 1.35770983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.51, Y:243.70, Z:1.36 [[ 8.67414241e-01 4.97584293e-01 -1.55122038e-03 2.18508883e+02] [-4.97583458e-01 8.67415628e-01 9.11774820e-04 2.43698424e+02] [ 1.79923763e-03 -1.90248614e-05 9.99998381e-01 1.35768037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.54, Y:243.68, Z:1.36 [[ 8.66381380e-01 4.99380536e-01 -1.54439329e-03 2.18536075e+02] [-4.99379683e-01 8.66382756e-01 9.23376857e-04 2.43677160e+02] [ 1.79915214e-03 -2.87578841e-05 9.99998381e-01 1.35561599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.56, Y:243.66, Z:1.36 [[ 8.66485321e-01 4.99200203e-01 -1.53144236e-03 2.18563513e+02] [-4.99199311e-01 8.66486673e-01 9.45306986e-04 2.43660589e+02] [ 1.79887184e-03 -5.45996546e-05 9.99998381e-01 1.35655761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.59, Y:243.64, Z:1.36 [[ 8.67104759e-01 4.98123459e-01 -1.53512638e-03 2.18592051e+02] [-4.98122576e-01 8.67106117e-01 9.39052709e-04 2.43644093e+02] [ 1.79888166e-03 -4.95759649e-05 9.99998381e-01 1.35777145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.62, Y:243.63, Z:1.36 [[ 8.67592763e-01 4.97273006e-01 -1.53439134e-03 2.18618295e+02] [-4.97272120e-01 8.67594119e-01 9.40300660e-04 2.43628271e+02] [ 1.79881504e-03 -5.27880148e-05 9.99998381e-01 1.35816711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.65, Y:243.61, Z:1.36 [[ 8.67657096e-01 4.97160754e-01 -1.53256225e-03 2.18645242e+02] [-4.97159862e-01 8.67658447e-01 9.43398379e-04 2.43612682e+02] [ 1.79876123e-03 -5.66178588e-05 9.99998381e-01 1.36041872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.68, Y:243.60, Z:1.36 [[ 8.68572332e-01 4.95560028e-01 -1.53725647e-03 2.18675685e+02] [-4.95559148e-01 8.68573691e-01 9.35444270e-04 2.43595679e+02] [ 1.79878931e-03 -5.06995042e-05 9.99998381e-01 1.36030204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.70, Y:243.58, Z:1.36 [[ 8.68737023e-01 4.95271285e-01 -1.52941045e-03 2.18699581e+02] [-4.95270380e-01 8.68738367e-01 9.48736660e-04 2.43582884e+02] [ 1.79853956e-03 -6.67309666e-05 9.99998380e-01 1.35740146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.73, Y:243.57, Z:1.36 [[ 8.67574329e-01 4.97305137e-01 -1.54394133e-03 2.18727434e+02] [-4.97304280e-01 8.67575702e-01 9.24043979e-04 2.43565725e+02] [ 1.79901780e-03 -3.38682027e-05 9.99998381e-01 1.35848476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.76, Y:243.55, Z:1.36 [[ 8.68351399e-01 4.95947035e-01 -1.54506530e-03 2.18755457e+02] [-4.95946179e-01 8.68352772e-01 9.22134723e-04 2.43553645e+02] [ 1.79899171e-03 -3.44677475e-05 9.99998381e-01 1.35692418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.78, Y:243.54, Z:1.36 [[ 8.67323995e-01 4.97741591e-01 -1.54804217e-03 2.18781996e+02] [-4.97740747e-01 8.67325376e-01 9.17081561e-04 2.43536486e+02] [ 1.79912589e-03 -2.48831772e-05 9.99998381e-01 1.35959051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.81, Y:243.52, Z:1.36 [[ 8.67211963e-01 4.97936756e-01 -1.54889947e-03 2.18808519e+02] [-4.97935915e-01 8.67213346e-01 9.15627007e-04 2.43523046e+02] [ 1.79915063e-03 -2.27900190e-05 9.99998381e-01 1.35542490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.89275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.84, Y:243.51, Z:1.36 [[ 8.66829950e-01 4.98601475e-01 -1.55176667e-03 2.18837526e+02] [-4.98600643e-01 8.66831338e-01 9.10765056e-04 2.43505600e+02] [ 1.79922878e-03 -1.57665689e-05 9.99998381e-01 1.35504101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.87, Y:243.49, Z:1.36 [[ 8.66665652e-01 4.98887012e-01 -1.54830289e-03 2.18865714e+02] [-4.98886170e-01 8.66667035e-01 9.16633093e-04 2.43489066e+02] [ 1.79915942e-03 -2.19875205e-05 9.99998381e-01 1.35518311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.90, Y:243.47, Z:1.36 [[ 8.65288003e-01 5.01272658e-01 -1.54755797e-03 2.18895625e+02] [-5.01271818e-01 8.65289386e-01 9.17894415e-04 2.43467851e+02] [ 1.79920086e-03 -1.84958299e-05 9.99998381e-01 1.35758792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.92, Y:243.45, Z:1.36 [[ 8.65431148e-01 5.01025512e-01 -1.53782498e-03 2.18922091e+02] [-5.01024642e-01 8.65432514e-01 9.34356235e-04 2.43454124e+02] [ 1.79902005e-03 -3.81327768e-05 9.99998381e-01 1.35537895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.95, Y:243.44, Z:1.36 [[ 8.65648430e-01 5.00649997e-01 -1.54146667e-03 2.18951398e+02] [-5.00649137e-01 8.65649802e-01 9.28194692e-04 2.43437042e+02] [ 1.79907099e-03 -3.17563169e-05 9.99998381e-01 1.35678513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.98, Y:243.42, Z:1.36 [[ 8.66474801e-01 4.99218442e-01 -1.53824858e-03 2.18977367e+02] [-4.99217570e-01 8.66476166e-01 9.33626386e-04 2.43424192e+02] [ 1.79893924e-03 -4.10430197e-05 9.99998381e-01 1.35663630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.01, Y:243.41, Z:1.36 [[ 8.66921297e-01 4.98442651e-01 -1.54513395e-03 2.19005532e+02] [-4.98441799e-01 8.66922674e-01 9.22008555e-04 2.43407993e+02] [ 1.79908004e-03 -2.91495065e-05 9.99998381e-01 1.35715388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.03, Y:243.39, Z:1.36 [[ 8.67270782e-01 4.97834312e-01 -1.54553928e-03 2.19033142e+02] [-4.97833461e-01 8.67272158e-01 9.21324784e-04 2.43391322e+02] [ 1.79907028e-03 -2.96168966e-05 9.99998381e-01 1.35707243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.06, Y:243.37, Z:1.36 [[ 8.68253279e-01 4.96118790e-01 -1.54572795e-03 2.19062098e+02] [-4.96117937e-01 8.68254654e-01 9.21006463e-04 2.43374276e+02] [ 1.79901410e-03 -3.28035179e-05 9.99998381e-01 1.35898303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.16275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.09, Y:243.36, Z:1.36 [[ 8.69426204e-01 4.94060413e-01 -1.54401019e-03 2.19088459e+02] [-4.94059551e-01 8.69427574e-01 9.23906351e-04 2.43357652e+02] [ 1.79887058e-03 -4.04354134e-05 9.99998381e-01 1.35937417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.12, Y:243.33, Z:1.36 [[ 8.68259064e-01 4.96108669e-01 -1.54499435e-03 2.19118977e+02] [-4.96107813e-01 8.68260438e-01 9.22245565e-04 2.43332614e+02] [ 1.79899149e-03 -3.42643026e-05 9.99998381e-01 1.35661924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.14, Y:243.32, Z:1.36 [[ 8.70504089e-01 4.92158815e-01 -1.52683514e-03 2.19142653e+02] [-4.92157899e-01 8.70505425e-01 9.52772064e-04 2.43322359e+02] [ 1.79803344e-03 -7.79480050e-05 9.99998381e-01 1.35982028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.17, Y:243.31, Z:1.36 [[ 8.70560632e-01 4.92058738e-01 -1.54402877e-03 2.19169151e+02] [-4.92057872e-01 8.70562001e-01 9.23839485e-04 2.43306351e+02] [ 1.79875607e-03 -4.45067725e-05 9.99998381e-01 1.35895366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.20, Y:243.29, Z:1.36 [[ 8.71052667e-01 4.91187193e-01 -1.54665046e-03 2.19198355e+02] [-4.91186334e-01 8.71054040e-01 9.19429320e-04 2.43289408e+02] [ 1.79882804e-03 -4.11777911e-05 9.99998381e-01 1.36049789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.22, Y:243.27, Z:1.36 [[ 8.70184535e-01 4.92723553e-01 -1.54108857e-03 2.19223316e+02] [-4.92722680e-01 8.70185899e-01 9.28777716e-04 2.43273306e+02] [ 1.79866419e-03 -4.88787179e-05 9.99998381e-01 1.36091729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.25, Y:243.26, Z:1.36 [[ 8.70093836e-01 4.92883690e-01 -1.54422716e-03 2.19251991e+02] [-4.92882826e-01 8.70095206e-01 9.23503605e-04 2.43256061e+02] [ 1.79880451e-03 -4.24117476e-05 9.99998381e-01 1.36097582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.28, Y:243.24, Z:1.36 [[ 8.70915336e-01 4.91430660e-01 -1.54400869e-03 2.19281458e+02] [-4.91429794e-01 8.70916703e-01 9.23870549e-04 2.43239873e+02] [ 1.79872127e-03 -4.58411579e-05 9.99998381e-01 1.36038797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.31, Y:243.22, Z:1.36 [[ 8.69064467e-01 4.94696460e-01 -1.53783258e-03 2.19305305e+02] [-4.94695581e-01 8.69065826e-01 9.34255869e-04 2.43223657e+02] [ 1.79865081e-03 -5.11695973e-05 9.99998381e-01 1.36120517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.34, Y:243.21, Z:1.36 [[ 8.69029897e-01 4.94757155e-01 -1.54809385e-03 2.19335129e+02] [-4.94756306e-01 8.69031275e-01 9.16999200e-04 2.43206399e+02] [ 1.79903389e-03 -3.09705261e-05 9.99998381e-01 1.36103301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.36, Y:243.19, Z:1.36 [[ 8.68396915e-01 4.95867336e-01 -1.54389075e-03 2.19362275e+02] [-4.95866476e-01 8.68398286e-01 9.24062381e-04 2.43189953e+02] [ 1.79892444e-03 -3.68892529e-05 9.99998381e-01 1.36104201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.39, Y:243.17, Z:1.36 [[ 8.67670636e-01 4.97137087e-01 -1.54442171e-03 2.19389719e+02] [-4.97136231e-01 8.67672009e-01 9.23170481e-04 2.43174209e+02] [ 1.79899377e-03 -3.32199323e-05 9.99998381e-01 1.36186902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5227550960001 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:219.42, Y:243.16, Z:1.36 [[ 8.67121394e-01 4.98094476e-01 -1.54316310e-03 2.19416855e+02] [-4.98093618e-01 8.67122766e-01 9.25282727e-04 2.43158428e+02] [ 1.79899007e-03 -3.36927573e-05 9.99998381e-01 1.36136080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.72, Y:243.66, Z:2.56 [[ 8.89522419e-01 -4.56888924e-01 1.54170981e-03 2.19719873e+02] [-4.56887998e-01 -8.89523747e-01 -9.27715234e-04 2.43661151e+02] [ 1.79525030e-03 1.20834790e-04 -9.99998381e-01 2.55611733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.75, Y:243.69, Z:2.56 [[ 9.22892510e-01 -3.85054302e-01 1.61252364e-03 2.19745231e+02] [-3.85053517e-01 -9.22893913e-01 -7.84358210e-04 2.43691791e+02] [ 1.79020875e-03 1.02970418e-04 -9.99998392e-01 2.55593710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.77, Y:243.72, Z:2.56 [[ 9.50468310e-01 -3.10817029e-01 1.66332542e-03 2.19766593e+02] [-3.10816352e-01 -9.50469759e-01 -6.57446814e-04 2.43721365e+02] [ 1.78528618e-03 1.07893623e-04 -9.99998401e-01 2.55642962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.64275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.79, Y:243.75, Z:2.56 [[ 9.71904069e-01 -2.35371155e-01 1.70293789e-03 2.19786801e+02] [-2.35370584e-01 -9.71905554e-01 -5.30728578e-04 2.43750323e+02] [ 1.78001299e-03 1.14995777e-04 -9.99998409e-01 2.55741009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.80, Y:243.76, Z:2.56 [[ 9.87416674e-01 -1.58130592e-01 1.74007509e-03 2.19798417e+02] [-1.58130188e-01 -9.87418203e-01 -3.67878545e-04 2.43762342e+02] [ 1.77635467e-03 8.80910072e-05 -9.99998418e-01 2.55861178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.70275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:219.81, Y:243.80, Z:2.56 [[ 9.96825838e-01 -7.95936960e-02 1.75844088e-03 2.19809810e+02] [-7.95933913e-02 -9.96827384e-01 -2.42661030e-04 2.43802517e+02] [ 1.77217631e-03 1.01930511e-04 -9.99998425e-01 2.55715025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:243.84, Z:2.56 [[ 9.99995349e-01 -2.48597716e-03 1.76665375e-03 2.19818625e+02] [-2.48576435e-03 -9.99996903e-01 -1.22645114e-04 2.43841073e+02] [ 1.76695317e-03 1.18253058e-04 -9.99998432e-01 2.55774713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:243.88, Z:2.56 [[ 9.97063371e-01 7.65605559e-02 1.76505982e-03 2.19823766e+02] [ 7.65606267e-02 -9.97064928e-01 2.75149519e-05 2.43875707e+02] [ 1.76198581e-03 1.07699936e-04 -9.99998442e-01 2.55804708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.91, Z:2.56 [[ 9.88019588e-01 1.54318559e-01 1.75359244e-03 2.19825402e+02] [ 1.54318523e-01 -9.88021138e-01 1.56707248e-04 2.43913307e+02] [ 1.75676923e-03 1.15781965e-04 -9.99998450e-01 2.55886362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.93, Z:2.56 [[ 9.72652845e-01 2.32257286e-01 1.73088635e-03 2.19825217e+02] [ 2.32257133e-01 -9.72654378e-01 2.91522527e-04 2.43927859e+02] [ 1.75126241e-03 1.18460485e-04 -9.99998460e-01 2.56008620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.95, Z:2.56 [[ 9.51936723e-01 3.06289981e-01 1.70971979e-03 2.19827392e+02] [ 3.06289792e-01 -9.51938244e-01 3.77305751e-04 2.43949615e+02] [ 1.74311262e-03 1.64498518e-04 -9.99998467e-01 2.55884420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.97, Z:2.56 [[ 9.25177055e-01 3.79532202e-01 1.65044499e-03 2.19828373e+02] [ 3.79531815e-01 -9.25178520e-01 5.53919560e-04 2.43968434e+02] [ 1.73718656e-03 1.13922715e-04 -9.99998485e-01 2.55855586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.97, Z:2.56 [[ 8.93968498e-01 4.48126962e-01 1.59707753e-03 2.19829807e+02] [ 4.48126460e-01 -8.93969918e-01 6.79375884e-04 2.43974887e+02] [ 1.73218592e-03 1.08352061e-04 -9.99998494e-01 2.56053246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.83, Y:243.99, Z:2.56 [[ 8.56297169e-01 5.16481114e-01 1.55457335e-03 2.19829796e+02] [ 5.16480575e-01 -8.56298567e-01 7.61491489e-04 2.43986484e+02] [ 1.72447491e-03 1.50843933e-04 -9.99998502e-01 2.56115339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.82, Y:244.01, Z:2.56 [[ 8.13489025e-01 5.81578362e-01 1.48842476e-03 2.19820599e+02] [ 5.81577735e-01 -8.13490371e-01 8.68259478e-04 2.44009710e+02] [ 1.71578013e-03 1.59315144e-04 -9.99998515e-01 2.56153476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.14, Y:243.61, Z:1.36 [[ 7.93935749e-01 -6.08000079e-01 -1.38966212e-03 2.20142924e+02] [ 6.07999255e-01 7.93936964e-01 -1.00182679e-03 2.43609230e+02] [ 1.71241489e-03 -4.95274309e-05 9.99998533e-01 1.35609929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.17, Y:243.63, Z:1.36 [[ 7.94496878e-01 -6.07266707e-01 -1.36274400e-03 2.20169320e+02] [ 6.07265820e-01 7.94498047e-01 -1.03814223e-03 2.43627121e+02] [ 1.71312666e-03 -2.74708790e-06 9.99998533e-01 1.35743012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.19, Y:243.64, Z:1.36 [[ 7.93880006e-01 -6.08072892e-01 -1.37635190e-03 2.20185778e+02] [ 6.08072038e-01 7.93881198e-01 -1.01977618e-03 2.43644615e+02] [ 1.71275815e-03 -2.73411846e-05 9.99998533e-01 1.35503310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.21, Y:243.66, Z:1.36 [[ 7.94179633e-01 -6.07681544e-01 -1.36097766e-03 2.20212509e+02] [ 6.07680653e-01 7.94180799e-01 -1.04049179e-03 2.43662526e+02] [ 1.71314999e-03 -7.02405306e-07 9.99998533e-01 1.35721442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.23, Y:243.68, Z:1.36 [[ 7.94248177e-01 -6.07591917e-01 -1.37661326e-03 2.20233926e+02] [ 6.07591062e-01 7.94249370e-01 -1.01941051e-03 2.43679183e+02] [ 1.71275980e-03 -2.67529705e-05 9.99998533e-01 1.35691563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.25, Y:243.70, Z:1.35 [[ 7.92955069e-01 -6.09278562e-01 -1.37557339e-03 2.20251780e+02] [ 6.09277707e-01 7.92956262e-01 -1.02081176e-03 2.43698616e+02] [ 1.71272825e-03 -2.86483410e-05 9.99998533e-01 1.35488802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.28, Y:243.71, Z:1.36 [[ 7.93984045e-01 -6.07937063e-01 -1.36514119e-03 2.20278062e+02] [ 6.07936183e-01 7.93985218e-01 -1.03485195e-03 2.43714773e+02] [ 1.71302678e-03 -8.26278470e-06 9.99998533e-01 1.35757846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.30, Y:243.74, Z:1.36 [[ 7.92899210e-01 -6.09351255e-01 -1.37516790e-03 2.20302774e+02] [ 6.09350400e-01 7.92900402e-01 -1.02135180e-03 2.43735023e+02] [ 1.71273318e-03 -2.81300706e-05 9.99998533e-01 1.35854015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.32, Y:243.75, Z:1.36 [[ 7.94473051e-01 -6.07297826e-01 -1.38599881e-03 2.20323309e+02] [ 6.07296993e-01 7.94474259e-01 -1.00676304e-03 2.43749697e+02] [ 1.71254538e-03 -4.18668012e-05 9.99998533e-01 1.35886105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.35, Y:243.77, Z:1.36 [[ 7.94621098e-01 -6.07104129e-01 -1.37383731e-03 2.20345202e+02] [ 6.07103267e-01 7.94622285e-01 -1.02312527e-03 2.43766449e+02] [ 1.71282532e-03 -2.10641918e-05 9.99998533e-01 1.35977366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.30275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.37, Y:243.78, Z:1.36 [[ 7.94708977e-01 -6.06989090e-01 -1.37352043e-03 2.20366310e+02] [ 6.06988227e-01 7.94710164e-01 -1.02355131e-03 2.43782428e+02] [ 1.71283513e-03 -2.02853172e-05 9.99998533e-01 1.35963592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.39, Y:243.80, Z:1.36 [[ 7.94021144e-01 -6.07888592e-01 -1.37172204e-03 2.20388853e+02] [ 6.07887727e-01 7.94022329e-01 -1.02596858e-03 2.43800582e+02] [ 1.71285253e-03 -1.92122500e-05 9.99998533e-01 1.35977951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.41, Y:243.82, Z:1.36 [[ 7.93704215e-01 -6.08302335e-01 -1.37422766e-03 2.20411135e+02] [ 6.08301476e-01 7.93705404e-01 -1.02260140e-03 2.43817848e+02] [ 1.71278274e-03 -2.43016766e-05 9.99998533e-01 1.35941668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.43, Y:243.84, Z:1.36 [[ 7.92894437e-01 -6.09357468e-01 -1.37390021e-03 2.20431970e+02] [ 6.09356610e-01 7.92895627e-01 -1.02304114e-03 2.43835859e+02] [ 1.71275723e-03 -2.60315452e-05 9.99998533e-01 1.35906687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.46, Y:243.85, Z:1.36 [[ 7.93648011e-01 -6.08375670e-01 -1.37030845e-03 2.20455977e+02] [ 6.08374802e-01 7.93649194e-01 -1.02786208e-03 2.43852157e+02] [ 1.71287048e-03 -1.79004408e-05 9.99998533e-01 1.36003755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.48, Y:243.87, Z:1.36 [[ 7.93587499e-01 -6.08454596e-01 -1.37359686e-03 2.20477438e+02] [ 6.08453735e-01 7.93588687e-01 -1.02344862e-03 2.43868945e+02] [ 1.71279294e-03 -2.35741090e-05 9.99998533e-01 1.36025142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.50, Y:243.89, Z:1.36 [[ 7.93576052e-01 -6.08469526e-01 -1.37345778e-03 2.20499272e+02] [ 6.08468665e-01 7.93577240e-01 -1.02363523e-03 2.43886669e+02] [ 1.71279567e-03 -2.33736166e-05 9.99998533e-01 1.36072849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.52, Y:243.90, Z:1.36 [[ 7.93378584e-01 -6.08726981e-01 -1.37313347e-03 2.20520488e+02] [ 6.08726120e-01 7.93379772e-01 -1.02407008e-03 2.43903397e+02] [ 1.71279541e-03 -2.33869409e-05 9.99998533e-01 1.36107039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.54, Y:243.92, Z:1.36 [[ 7.93387567e-01 -6.08715273e-01 -1.37299298e-03 2.20542282e+02] [ 6.08714412e-01 7.93388755e-01 -1.02425841e-03 2.43920434e+02] [ 1.71279892e-03 -2.31267264e-05 9.99998533e-01 1.36139227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.56, Y:243.94, Z:1.36 [[ 7.93199938e-01 -6.08959747e-01 -1.37267976e-03 2.20563925e+02] [ 6.08958886e-01 7.93201126e-01 -1.02467800e-03 2.43938078e+02] [ 1.71279879e-03 -2.31310093e-05 9.99998533e-01 1.36251291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.59, Y:243.95, Z:1.36 [[ 7.93242419e-01 -6.08904411e-01 -1.37236044e-03 2.20585005e+02] [ 6.08903548e-01 7.93243606e-01 -1.02510549e-03 2.43954664e+02] [ 1.71280740e-03 -2.24779768e-05 9.99998533e-01 1.36319908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.61, Y:243.97, Z:1.36 [[ 7.93151239e-01 -6.09023176e-01 -1.37222208e-03 2.20606637e+02] [ 6.09022314e-01 7.93152426e-01 -1.02529067e-03 2.43972441e+02] [ 1.71280705e-03 -2.25033015e-05 9.99998533e-01 1.36375971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.63, Y:243.99, Z:1.36 [[ 7.93253379e-01 -6.08890134e-01 -1.37190399e-03 2.20626858e+02] [ 6.08889270e-01 7.93254565e-01 -1.02571612e-03 2.43990968e+02] [ 1.71281752e-03 -2.16848383e-05 9.99998533e-01 1.36416563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.65, Y:244.01, Z:1.37 [[ 7.94231381e-01 -6.07613884e-01 -1.37176643e-03 2.20646437e+02] [ 6.07613018e-01 7.94232565e-01 -1.02590005e-03 2.44006097e+02] [ 1.71285268e-03 -1.87011329e-05 9.99998533e-01 1.36585379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.67, Y:244.03, Z:1.37 [[ 7.92838126e-01 -6.09430760e-01 -1.36209617e-03 2.20669956e+02] [ 6.09429874e-01 7.92839296e-01 -1.03881987e-03 2.44025973e+02] [ 1.71301215e-03 -6.48610396e-06 9.99998533e-01 1.36516368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.69, Y:244.04, Z:1.37 [[ 7.92538781e-01 -6.09819973e-01 -1.37143301e-03 2.20690078e+02] [ 6.09819110e-01 7.92539967e-01 -1.02634369e-03 2.44043410e+02] [ 1.71280035e-03 -2.29088737e-05 9.99998533e-01 1.36648777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.71, Y:244.06, Z:1.37 [[ 7.92045758e-01 -6.10460185e-01 -1.37121392e-03 2.20711933e+02] [ 6.10459322e-01 7.92046944e-01 -1.02663631e-03 2.44061217e+02] [ 1.71278639e-03 -2.39273838e-05 9.99998533e-01 1.36697262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.73, Y:244.08, Z:1.37 [[ 7.93305641e-01 -6.08822044e-01 -1.37089914e-03 2.20733143e+02] [ 6.08821178e-01 7.93306825e-01 -1.02705648e-03 2.44077032e+02] [ 1.71283827e-03 -1.98627328e-05 9.99998533e-01 1.36742433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.76, Y:244.10, Z:1.37 [[ 7.91781805e-01 -6.10802516e-01 -1.36387514e-03 2.20759189e+02] [ 6.10801637e-01 7.91782979e-01 -1.03642567e-03 2.44099049e+02] [ 1.71294452e-03 -1.24341825e-05 9.99998533e-01 1.36754622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.77, Y:244.11, Z:1.37 [[ 7.91913155e-01 -6.10632166e-01 -1.38268749e-03 2.20774362e+02] [ 6.10631331e-01 7.91914361e-01 -1.01132175e-03 2.44114139e+02] [ 1.71251567e-03 -4.34333032e-05 9.99998533e-01 1.36842353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.80, Y:244.13, Z:1.37 [[ 7.94065770e-01 -6.07830325e-01 -1.35993157e-03 2.20799593e+02] [ 6.07829432e-01 7.94066935e-01 -1.04160045e-03 2.44130105e+02] [ 1.71299303e-03 4.92834520e-07 9.99998533e-01 1.36818459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.82, Y:244.15, Z:1.37 [[ 7.89596623e-01 -6.13624726e-01 -1.36724751e-03 2.20817933e+02] [ 6.13623859e-01 7.89597806e-01 -1.03186101e-03 2.44153968e+02] [ 1.71275106e-03 -2.42217247e-05 9.99998533e-01 1.36774304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.84, Y:244.17, Z:1.37 [[ 7.89877704e-01 -6.13262862e-01 -1.36948129e-03 2.20838319e+02] [ 6.13261999e-01 7.89878891e-01 -1.02888778e-03 2.44170982e+02] [ 1.71270303e-03 -2.71553171e-05 9.99998533e-01 1.36846732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.86, Y:244.19, Z:1.37 [[ 7.89490122e-01 -6.13761750e-01 -1.36410590e-03 2.20858744e+02] [ 6.13760876e-01 7.89491300e-01 -1.03603393e-03 2.44188873e+02] [ 1.71282774e-03 -1.92962805e-05 9.99998533e-01 1.36962408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.88, Y:244.21, Z:1.37 [[ 7.87884047e-01 -6.15822114e-01 -1.36098175e-03 2.20880297e+02] [ 6.15821236e-01 7.87885222e-01 -1.04018316e-03 2.44210169e+02] [ 1.71286520e-03 -1.85777396e-05 9.99998533e-01 1.36922052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.90, Y:244.23, Z:1.37 [[ 7.88231606e-01 -6.15377171e-01 -1.36839440e-03 2.20901900e+02] [ 6.15376309e-01 7.88232793e-01 -1.03033841e-03 2.44227978e+02] [ 1.71266007e-03 -2.99322001e-05 9.99998533e-01 1.36995823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.92, Y:244.25, Z:1.37 [[ 7.86801543e-01 -6.17204555e-01 -1.36727803e-03 2.20920793e+02] [ 6.17203693e-01 7.86802730e-01 -1.03182009e-03 2.44249535e+02] [ 1.71262215e-03 -3.20514101e-05 9.99998533e-01 1.37153679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.94, Y:244.27, Z:1.37 [[ 7.86278417e-01 -6.17870843e-01 -1.36839320e-03 2.20941733e+02] [ 6.17869985e-01 7.86279607e-01 -1.03034061e-03 2.44268619e+02] [ 1.71255709e-03 -3.53545088e-05 9.99998533e-01 1.37067157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:220.96, Y:244.29, Z:1.37 [[ 7.87126954e-01 -6.16789502e-01 -1.36690240e-03 2.20961666e+02] [ 6.16788639e-01 7.87128141e-01 -1.03231745e-03 2.44285626e+02] [ 1.71264991e-03 -3.05249830e-05 9.99998533e-01 1.37150553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:220.98, Y:244.31, Z:1.37 [[ 7.84729388e-01 -6.19837030e-01 -1.35822717e-03 2.20983025e+02] [ 6.19836151e-01 7.84730563e-01 -1.04380589e-03 2.44307573e+02] [ 1.71283192e-03 -2.27731446e-05 9.99998533e-01 1.36852297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.00, Y:244.33, Z:1.37 [[ 7.84289196e-01 -6.20393902e-01 -1.36491301e-03 2.21002044e+02] [ 6.20393040e-01 7.84290383e-01 -1.03494472e-03 2.44327089e+02] [ 1.71256155e-03 -3.50865702e-05 9.99998533e-01 1.37123256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.23275509600006 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.02, Y:244.35, Z:1.37 [[ 7.83585845e-01 -6.21282044e-01 -1.35808200e-03 2.21023037e+02] [ 6.21281168e-01 7.83587022e-01 -1.04399047e-03 2.44345651e+02] [ 1.71278796e-03 -2.56946128e-05 9.99998533e-01 1.37159009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.26275509600003 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:221.04, Y:244.36, Z:1.37 [[ 7.83547637e-01 -6.21330227e-01 -1.35990963e-03 2.21044940e+02] [ 6.21329355e-01 7.83548817e-01 -1.04157262e-03 2.44362286e+02] [ 1.71271613e-03 -2.88300114e-05 9.99998533e-01 1.37163781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.07, Y:244.38, Z:1.37 [[ 7.84436830e-01 -6.20207230e-01 -1.36048020e-03 2.21066446e+02] [ 6.20206358e-01 7.84438010e-01 -1.04081737e-03 2.44380062e+02] [ 1.71273484e-03 -2.73229899e-05 9.99998533e-01 1.37071571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.09, Y:244.40, Z:1.37 [[ 7.82451401e-01 -6.22710175e-01 -1.35755385e-03 2.21088972e+02] [ 6.22709299e-01 7.82452578e-01 -1.04469053e-03 2.44401124e+02] [ 1.71276093e-03 -2.79418408e-05 9.99998533e-01 1.37135088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.11, Y:244.42, Z:1.37 [[ 7.83226353e-01 -6.21735162e-01 -1.36674035e-03 2.21107825e+02] [ 6.21734306e-01 7.83227545e-01 -1.03253055e-03 2.44417567e+02] [ 1.71242923e-03 -4.10442266e-05 9.99998533e-01 1.37155248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.13, Y:244.44, Z:1.37 [[ 7.81597511e-01 -6.23781601e-01 -1.35818655e-03 2.21128222e+02] [ 6.23780729e-01 7.81598690e-01 -1.04383871e-03 2.44439148e+02] [ 1.71268422e-03 -3.13488588e-05 9.99998533e-01 1.37084444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.15, Y:244.46, Z:1.37 [[ 7.82409504e-01 -6.22762803e-01 -1.36362897e-03 2.21148572e+02] [ 6.22761941e-01 7.82410692e-01 -1.03664478e-03 2.44455453e+02] [ 1.71250170e-03 -3.81355001e-05 9.99998533e-01 1.37030407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.17, Y:244.48, Z:1.37 [[ 7.80342187e-01 -6.25351285e-01 -1.35698997e-03 2.21171403e+02] [ 6.25350412e-01 7.80343367e-01 -1.04541765e-03 2.44476089e+02] [ 1.71267139e-03 -3.28107390e-05 9.99998533e-01 1.37010439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.19, Y:244.50, Z:1.37 [[ 7.79621481e-01 -6.26249536e-01 -1.36593544e-03 2.21191894e+02] [ 6.26248685e-01 7.79622676e-01 -1.03359588e-03 2.44496033e+02] [ 1.71220318e-03 -4.96017178e-05 9.99998533e-01 1.36954878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.21, Y:244.51, Z:1.37 [[ 7.79344242e-01 -6.26594516e-01 -1.36559330e-03 2.21213068e+02] [ 6.26593665e-01 7.79345437e-01 -1.03404773e-03 2.44514555e+02] [ 1.71219754e-03 -4.97929664e-05 9.99998533e-01 1.36918907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.23, Y:244.54, Z:1.37 [[ 7.79236924e-01 -6.26727973e-01 -1.36525272e-03 2.21233025e+02] [ 6.26727121e-01 7.79238119e-01 -1.03449720e-03 2.44535155e+02] [ 1.71220529e-03 -4.95224933e-05 9.99998533e-01 1.36862243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.25, Y:244.55, Z:1.37 [[ 7.79401853e-01 -6.26522856e-01 -1.36489312e-03 2.21253625e+02] [ 6.26522003e-01 7.79403047e-01 -1.03497142e-03 2.44553319e+02] [ 1.71223511e-03 -4.84769303e-05 9.99998533e-01 1.36877216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.27, Y:244.57, Z:1.37 [[ 7.79334423e-01 -6.26606731e-01 -1.36473739e-03 2.21274389e+02] [ 6.26605878e-01 7.79335616e-01 -1.03517673e-03 2.44571699e+02] [ 1.71223716e-03 -4.84036135e-05 9.99998533e-01 1.36882799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.29, Y:244.59, Z:1.37 [[ 7.79433916e-01 -6.26482968e-01 -1.36438180e-03 2.21294348e+02] [ 6.26482114e-01 7.79435108e-01 -1.03564519e-03 2.44590929e+02] [ 1.71226115e-03 -4.75438074e-05 9.99998533e-01 1.36817283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.32, Y:244.61, Z:1.37 [[ 7.79719603e-01 -6.26127370e-01 -1.36279023e-03 2.21316866e+02] [ 6.26126512e-01 7.79720793e-01 -1.03774102e-03 2.44608972e+02] [ 1.71235393e-03 -4.41320727e-05 9.99998533e-01 1.36915377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.34, Y:244.63, Z:1.37 [[ 7.79716639e-01 -6.26131058e-01 -1.36394976e-03 2.21337525e+02] [ 6.26130202e-01 7.79717831e-01 -1.03621476e-03 2.44627678e+02] [ 1.71230219e-03 -4.60562492e-05 9.99998533e-01 1.36725295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.36, Y:244.65, Z:1.37 [[ 7.80686327e-01 -6.24921597e-01 -1.36210996e-03 2.21357139e+02] [ 6.24920736e-01 7.80687515e-01 -1.03863547e-03 2.44646674e+02] [ 1.71244798e-03 -4.03622494e-05 9.99998533e-01 1.36632230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.38, Y:244.66, Z:1.37 [[ 7.81555024e-01 -6.23834828e-01 -1.36089646e-03 2.21378783e+02] [ 6.23833961e-01 7.81556208e-01 -1.04023128e-03 2.44664800e+02] [ 1.71254958e-03 -3.59754436e-05 9.99998533e-01 1.36553338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7727550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.40, Y:244.68, Z:1.37 [[ 7.83957971e-01 -6.20812412e-01 -1.35970716e-03 2.21399588e+02] [ 6.20811539e-01 7.83959149e-01 -1.04179469e-03 2.44683880e+02] [ 1.71271394e-03 -2.73986455e-05 9.99998533e-01 1.36627105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.42, Y:244.70, Z:1.37 [[ 7.85862648e-01 -6.18399587e-01 -1.35956872e-03 2.21423202e+02] [ 6.18398710e-01 7.85863824e-01 -1.04197664e-03 2.44701633e+02] [ 1.71279380e-03 -2.19050187e-05 9.99998533e-01 1.36750030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.44, Y:244.72, Z:1.37 [[ 7.86964743e-01 -6.16996463e-01 -1.36307091e-03 2.21443194e+02] [ 6.16995591e-01 7.86965923e-01 -1.03737490e-03 2.44719854e+02] [ 1.71274700e-03 -2.46312722e-05 9.99998533e-01 1.36508757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.47, Y:244.74, Z:1.37 [[ 7.89024916e-01 -6.14359698e-01 -1.35773030e-03 2.21467104e+02] [ 6.14358810e-01 7.89026084e-01 -1.04438716e-03 2.44736850e+02] [ 1.71291400e-03 -1.00860736e-05 9.99998533e-01 1.36751093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.49, Y:244.75, Z:1.37 [[ 7.91803580e-01 -6.10774290e-01 -1.36262433e-03 2.21488855e+02] [ 6.10773408e-01 7.91804753e-01 -1.03796234e-03 2.44753698e+02] [ 1.71289313e-03 -1.03924043e-05 9.99998533e-01 1.36760812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.92275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.51, Y:244.77, Z:1.37 [[ 7.92814288e-01 -6.09461769e-01 -1.36243851e-03 2.21511567e+02] [ 6.09460885e-01 7.92815459e-01 -1.03820618e-03 2.44770822e+02] [ 1.71290929e-03 -7.24828564e-06 9.99998533e-01 1.36821658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.53, Y:244.79, Z:1.37 [[ 7.93986069e-01 -6.07934427e-01 -1.36211335e-03 2.21532396e+02] [ 6.07933539e-01 7.93987237e-01 -1.03863262e-03 2.44786873e+02] [ 1.71292114e-03 -3.41455839e-06 9.99998533e-01 1.36549587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.56, Y:244.80, Z:1.37 [[ 7.94764183e-01 -6.06916841e-01 -1.35687636e-03 2.21557923e+02] [ 6.06915941e-01 7.94765342e-01 -1.04549567e-03 2.44803607e+02] [ 1.71292723e-03 7.41262055e-06 9.99998533e-01 1.36876766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.58, Y:244.82, Z:1.37 [[ 7.94907506e-01 -6.06729102e-01 -1.36168185e-03 2.21580275e+02] [ 6.06728212e-01 7.94908672e-01 -1.03919893e-03 2.44819927e+02] [ 1.71292495e-03 -1.03762495e-07 9.99998533e-01 1.36903296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.60, Y:244.84, Z:1.37 [[ 7.94802528e-01 -6.06866615e-01 -1.36136470e-03 2.21602360e+02] [ 6.06865725e-01 7.94803694e-01 -1.03961424e-03 2.44835052e+02] [ 1.71292487e-03 1.22450934e-07 9.99998533e-01 1.36929848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.63, Y:244.85, Z:1.37 [[ 7.94012409e-01 -6.07900026e-01 -1.36118883e-03 2.21625511e+02] [ 6.07899137e-01 7.94013576e-01 -1.03984445e-03 2.44851577e+02] [ 1.71292388e-03 -1.81611806e-06 9.99998533e-01 1.36959355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.65, Y:244.87, Z:1.37 [[ 7.92052790e-01 -6.10451084e-01 -1.36087811e-03 2.21649771e+02] [ 6.10450198e-01 7.92053959e-01 -1.04025095e-03 2.44865784e+02] [ 1.71291122e-03 -6.81464746e-06 9.99998533e-01 1.37019718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.67, Y:244.88, Z:1.37 [[ 7.90594305e-01 -6.12338790e-01 -1.36052665e-03 2.21672857e+02] [ 6.12337906e-01 7.90595476e-01 -1.04071042e-03 2.44881365e+02] [ 1.71289357e-03 -1.03223103e-05 9.99998533e-01 1.37011891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.70, Y:244.90, Z:1.37 [[ 7.89204073e-01 -6.14129532e-01 -1.36017784e-03 2.21695601e+02] [ 6.14128649e-01 7.89205245e-01 -1.04116610e-03 2.44896578e+02] [ 1.71287034e-03 -1.36316600e-05 9.99998533e-01 1.37102594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.72, Y:244.91, Z:1.37 [[ 7.87700796e-01 -6.16056496e-01 -1.35994159e-03 2.21718500e+02] [ 6.16055616e-01 7.87701970e-01 -1.04147460e-03 2.44912262e+02] [ 1.71283586e-03 -1.74292796e-05 9.99998533e-01 1.37057792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.74, Y:244.93, Z:1.37 [[ 7.84865701e-01 -6.19664412e-01 -1.35959253e-03 2.21741835e+02] [ 6.19663536e-01 7.84866878e-01 -1.04193008e-03 2.44926952e+02] [ 1.71274613e-03 -2.47147282e-05 9.99998533e-01 1.37116341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.76, Y:244.94, Z:1.37 [[ 7.83440564e-01 -6.21465232e-01 -1.35944136e-03 2.21764474e+02] [ 6.21464359e-01 7.83441743e-01 -1.04212727e-03 2.44942776e+02] [ 1.71268898e-03 -2.83995786e-05 9.99998533e-01 1.37090397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.79, Y:244.96, Z:1.37 [[ 7.81086312e-01 -6.24421593e-01 -1.35909920e-03 2.21788401e+02] [ 6.24420723e-01 7.81087494e-01 -1.04257331e-03 2.44957832e+02] [ 1.71258068e-03 -3.43099641e-05 9.99998533e-01 1.37026555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.81, Y:244.97, Z:1.37 [[ 7.79874829e-01 -6.25934026e-01 -1.35874446e-03 2.21810762e+02] [ 6.25933158e-01 7.79876012e-01 -1.04303543e-03 2.44973482e+02] [ 1.71252357e-03 -3.70461275e-05 9.99998533e-01 1.36984272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.83, Y:244.99, Z:1.37 [[ 7.78671454e-01 -6.27430411e-01 -1.35859070e-03 2.21833444e+02] [ 6.27429545e-01 7.78672639e-01 -1.04323567e-03 2.44989268e+02] [ 1.71245519e-03 -4.00821086e-05 9.99998533e-01 1.36893050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.37275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.86, Y:245.01, Z:1.37 [[ 7.75384885e-01 -6.31487479e-01 -1.35824161e-03 2.21858825e+02] [ 6.31486618e-01 7.75386073e-01 -1.04368997e-03 2.45006668e+02] [ 1.71223877e-03 -4.84499708e-05 9.99998533e-01 1.36658274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.88, Y:245.02, Z:1.37 [[ 7.76004483e-01 -6.30725902e-01 -1.37054877e-03 2.21879920e+02] [ 6.30725068e-01 7.76005691e-01 -1.02766874e-03 2.45019764e+02] [ 1.71173094e-03 -6.69639201e-05 9.99998533e-01 1.36718943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.90, Y:245.04, Z:1.37 [[ 7.75208481e-01 -6.31704020e-01 -1.35763962e-03 2.21902763e+02] [ 6.31703158e-01 7.75209668e-01 -1.04444886e-03 2.45036076e+02] [ 1.71223790e-03 -4.79596270e-05 9.99998533e-01 1.36678313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.93, Y:245.05, Z:1.37 [[ 7.74564268e-01 -6.32493757e-01 -1.35729488e-03 2.21926528e+02] [ 6.32492896e-01 7.74565456e-01 -1.04489667e-03 2.45051119e+02] [ 1.71220435e-03 -4.91397484e-05 9.99998533e-01 1.36638748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.49275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.95, Y:245.07, Z:1.37 [[ 7.73825964e-01 -6.33396824e-01 -1.35695269e-03 2.21951322e+02] [ 6.33395963e-01 7.73827152e-01 -1.04534087e-03 2.45069356e+02] [ 1.71216242e-03 -5.05764520e-05 9.99998533e-01 1.36570457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:221.97, Y:245.08, Z:1.37 [[ 7.75067482e-01 -6.31876997e-01 -1.36334366e-03 2.21973842e+02] [ 6.31876149e-01 7.75068679e-01 -1.03704278e-03 2.45082967e+02] [ 1.71196845e-03 -5.76862071e-05 9.99998533e-01 1.36743514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.55275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.00, Y:245.10, Z:1.37 [[ 7.75806142e-01 -6.30969880e-01 -1.35656765e-03 2.21995889e+02] [ 6.30969015e-01 7.75807327e-01 -1.04583208e-03 2.45098708e+02] [ 1.71232366e-03 -4.45892037e-05 9.99998533e-01 1.36771329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.02, Y:245.12, Z:1.37 [[ 7.76585988e-01 -6.30009812e-01 -1.35638044e-03 2.22018548e+02] [ 6.30008945e-01 7.76587172e-01 -1.04607482e-03 2.45115720e+02] [ 1.71238505e-03 -4.21647588e-05 9.99998533e-01 1.36829650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.04, Y:245.13, Z:1.37 [[ 7.77506315e-01 -6.28873668e-01 -1.35604962e-03 2.22040868e+02] [ 6.28872799e-01 7.77507497e-01 -1.04650349e-03 2.45132673e+02] [ 1.71245723e-03 -3.91196443e-05 9.99998533e-01 1.36895179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.06, Y:245.15, Z:1.37 [[ 7.80281345e-01 -6.25427202e-01 -1.35572087e-03 2.22063510e+02] [ 6.25426327e-01 7.80282522e-01 -1.04692920e-03 2.45148895e+02] [ 1.71262330e-03 -3.10042017e-05 9.99998533e-01 1.36950642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.09, Y:245.17, Z:1.37 [[ 7.80943452e-01 -6.24600262e-01 -1.35538727e-03 2.22087273e+02] [ 6.24599385e-01 7.80944628e-01 -1.04736092e-03 2.45167315e+02] [ 1.71266431e-03 -2.86443997e-05 9.99998533e-01 1.36840293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.11, Y:245.18, Z:1.37 [[ 7.84598717e-01 -6.20002418e-01 -1.36212182e-03 2.22110361e+02] [ 6.20001548e-01 7.84599899e-01 -1.03864387e-03 2.45181615e+02] [ 1.71268235e-03 -2.95989952e-05 9.99998533e-01 1.37098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.13, Y:245.20, Z:1.37 [[ 7.86333597e-01 -6.17800646e-01 -1.35505109e-03 2.22133247e+02] [ 6.17799758e-01 7.86334764e-01 -1.04778809e-03 2.45197570e+02] [ 1.71284794e-03 -1.32392547e-05 9.99998533e-01 1.37298294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.16, Y:245.21, Z:1.37 [[ 7.89679297e-01 -6.13518361e-01 -1.35254272e-03 2.22156060e+02] [ 6.13517461e-01 7.89680455e-01 -1.05103074e-03 2.45211445e+02] [ 1.71290320e-03 1.68643976e-07 9.99998533e-01 1.37270921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.18, Y:245.23, Z:1.37 [[ 7.89560901e-01 -6.13670736e-01 -1.34602445e-03 2.22179817e+02] [ 6.13669822e-01 7.89562048e-01 -1.05944937e-03 2.45229616e+02] [ 1.71292290e-03 1.04852150e-05 9.99998533e-01 1.37358607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.20, Y:245.25, Z:1.37 [[ 7.90328763e-01 -6.12681494e-01 -1.35445642e-03 2.22202368e+02] [ 6.12680596e-01 7.90329923e-01 -1.04855752e-03 2.45245883e+02] [ 1.71289923e-03 -1.14400330e-06 9.99998533e-01 1.37294252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.22, Y:245.26, Z:1.37 [[ 7.90875958e-01 -6.11974988e-01 -1.35412464e-03 2.22224206e+02] [ 6.11974089e-01 7.90877117e-01 -1.04898582e-03 2.45261539e+02] [ 1.71289927e-03 9.28472583e-07 9.99998533e-01 1.37357582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.88275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.24, Y:245.28, Z:1.37 [[ 7.90997040e-01 -6.11818477e-01 -1.35398009e-03 2.22244859e+02] [ 6.11817578e-01 7.90998199e-01 -1.04917236e-03 2.45275833e+02] [ 1.71289885e-03 1.50340877e-06 9.99998533e-01 1.37372321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.27, Y:245.29, Z:1.37 [[ 7.90708137e-01 -6.12191823e-01 -1.34683281e-03 2.22270250e+02] [ 6.12190908e-01 7.90709284e-01 -1.05838776e-03 2.45291752e+02] [ 1.71288954e-03 1.23570121e-05 9.99998533e-01 1.37407535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.29, Y:245.31, Z:1.38 [[ 7.88175819e-01 -6.15448655e-01 -1.35350090e-03 2.22289847e+02] [ 6.15447760e-01 7.88176981e-01 -1.04979056e-03 2.45308697e+02] [ 1.71289044e-03 -5.58956333e-06 9.99998533e-01 1.37516695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.31, Y:245.32, Z:1.37 [[ 7.85442450e-01 -6.18933241e-01 -1.34226051e-03 2.22314558e+02] [ 6.18932326e-01 7.85443596e-01 -1.06426715e-03 2.45322902e+02] [ 1.71298024e-03 5.15217576e-06 9.99998533e-01 1.37138509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.34, Y:245.34, Z:1.37 [[ 7.86070005e-01 -6.18136032e-01 -1.33926641e-03 2.22344158e+02] [ 6.18135109e-01 7.86071146e-01 -1.06812229e-03 2.45337427e+02] [ 1.71300356e-03 1.17713074e-05 9.99998533e-01 1.37093251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.36, Y:245.35, Z:1.37 [[ 7.79815860e-01 -6.26007503e-01 -1.35321966e-03 2.22360382e+02] [ 6.26006622e-01 7.79817034e-01 -1.05014205e-03 2.45351425e+02] [ 1.71266054e-03 -2.82070419e-05 9.99998533e-01 1.37054856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:222.39, Y:245.37, Z:1.37 [[ 7.80102850e-01 -6.25649886e-01 -1.32820124e-03 2.22386917e+02] [ 6.25648950e-01 7.80103980e-01 -1.08233259e-03 2.45366246e+02] [ 1.71329634e-03 1.33430264e-05 9.99998532e-01 1.36799385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.42, Y:245.38, Z:1.37 [[ 7.80593777e-01 -6.25037260e-01 -1.33400937e-03 2.22418724e+02] [ 6.25036335e-01 7.80594917e-01 -1.07486094e-03 2.45381725e+02] [ 1.71314907e-03 5.22543329e-06 9.99998533e-01 1.37013784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.44, Y:245.39, Z:1.37 [[ 7.78623080e-01 -6.27490454e-01 -1.35280175e-03 2.22443273e+02] [ 6.27489575e-01 7.78624254e-01 -1.05066448e-03 2.45393879e+02] [ 1.71260618e-03 -3.07973820e-05 9.99998533e-01 1.37001030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.47, Y:245.41, Z:1.37 [[ 7.78425520e-01 -6.27735518e-01 -1.35265468e-03 2.22465725e+02] [ 6.27734639e-01 7.78426695e-01 -1.05085379e-03 2.45411531e+02] [ 1.71260076e-03 -3.10967855e-05 9.99998533e-01 1.37005916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.49, Y:245.43, Z:1.37 [[ 7.77616245e-01 -6.28737741e-01 -1.35232375e-03 2.22489477e+02] [ 6.28736863e-01 7.77617420e-01 -1.05127947e-03 2.45426458e+02] [ 1.71256959e-03 -3.27637971e-05 9.99998533e-01 1.36933677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.51, Y:245.44, Z:1.37 [[ 7.76649075e-01 -6.29932050e-01 -1.35198496e-03 2.22513768e+02] [ 6.29931173e-01 7.76650251e-01 -1.05171499e-03 2.45439097e+02] [ 1.71252844e-03 -3.48439997e-05 9.99998533e-01 1.36803392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.53, Y:245.46, Z:1.37 [[ 7.73975937e-01 -6.33213568e-01 -1.35183857e-03 2.22528985e+02] [ 6.33212695e-01 7.73977116e-01 -1.05190313e-03 2.45455417e+02] [ 1.71237145e-03 -4.18536368e-05 9.99998533e-01 1.36749117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.56, Y:245.47, Z:1.37 [[ 7.76843076e-01 -6.29692829e-01 -1.33285882e-03 2.22561097e+02] [ 6.29691909e-01 7.76844220e-01 -1.07625946e-03 2.45469030e+02] [ 1.71313653e-03 -3.20570565e-06 9.99998533e-01 1.36719841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.58, Y:245.48, Z:1.36 [[ 7.75423069e-01 -6.31440605e-01 -1.35163484e-03 2.22579099e+02] [ 6.31439729e-01 7.75424246e-01 -1.05213876e-03 2.45483222e+02] [ 1.71245356e-03 -3.76232720e-05 9.99998533e-01 1.36464024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.61, Y:245.50, Z:1.37 [[ 7.77063099e-01 -6.29421294e-01 -1.33240196e-03 2.22606108e+02] [ 6.29420373e-01 7.77064241e-01 -1.07682192e-03 2.45498459e+02] [ 1.71313656e-03 -1.88236039e-06 9.99998533e-01 1.36625183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.63, Y:245.51, Z:1.37 [[ 7.77767476e-01 -6.28550677e-01 -1.34132280e-03 2.22626287e+02] [ 6.28549775e-01 7.77768633e-01 -1.06537063e-03 2.45513126e+02] [ 1.71287824e-03 -1.44775188e-05 9.99998533e-01 1.36508321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:222.65, Y:245.53, Z:1.36 [[ 7.79577498e-01 -6.26304363e-01 -1.33006773e-03 2.22649514e+02] [ 6.26303432e-01 7.79578633e-01 -1.07977289e-03 2.45526670e+02] [ 1.71315886e-03 8.74066683e-06 9.99998533e-01 1.36482244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.68, Y:245.54, Z:1.37 [[ 7.82478382e-01 -6.22676323e-01 -1.33325939e-03 2.22677846e+02] [ 6.22675394e-01 7.82479518e-01 -1.07567411e-03 2.45540269e+02] [ 1.71304496e-03 1.15039178e-05 9.99998533e-01 1.36775072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.70, Y:245.56, Z:1.37 [[ 7.82849212e-01 -6.22210020e-01 -1.34265415e-03 2.22700789e+02] [ 6.22209111e-01 7.82850363e-01 -1.06360159e-03 2.45556710e+02] [ 1.71288085e-03 -2.77198160e-06 9.99998533e-01 1.36759634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.73, Y:245.57, Z:1.37 [[ 7.84914915e-01 -6.19602113e-01 -1.34127718e-03 2.22730294e+02] [ 6.19601197e-01 7.84916061e-01 -1.06537063e-03 2.45569581e+02] [ 1.71289589e-03 5.16834825e-06 9.99998533e-01 1.37076956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.75, Y:245.59, Z:1.37 [[ 7.84070500e-01 -6.20670303e-01 -1.35181771e-03 2.22751943e+02] [ 6.20669411e-01 7.84071665e-01 -1.05182379e-03 2.45586190e+02] [ 1.71275776e-03 -1.43278953e-05 9.99998533e-01 1.37018969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.54275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:222.78, Y:245.60, Z:1.37 [[ 7.84856343e-01 -6.19676296e-01 -1.34495319e-03 2.22778838e+02] [ 6.19675388e-01 7.84857496e-01 -1.06063741e-03 2.45598949e+02] [ 1.71284846e-03 -9.86396316e-07 9.99998533e-01 1.37488160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.57275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.80, Y:245.62, Z:1.38 [[ 7.85008543e-01 -6.19483463e-01 -1.35135139e-03 2.22801878e+02] [ 6.19482569e-01 7.85009706e-01 -1.05242187e-03 2.45615776e+02] [ 1.71278190e-03 -1.09784728e-05 9.99998533e-01 1.37707022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.82, Y:245.63, Z:1.38 [[ 7.84232800e-01 -6.20465221e-01 -1.35102759e-03 2.22822851e+02] [ 6.20464328e-01 7.84233964e-01 -1.05283738e-03 2.45633956e+02] [ 1.71277070e-03 -1.25948156e-05 9.99998533e-01 1.37968045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.63275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.85, Y:245.65, Z:1.38 [[ 7.85468874e-01 -6.18899695e-01 -1.34745594e-03 2.22846861e+02] [ 6.18898791e-01 7.85470030e-01 -1.05741838e-03 2.45650023e+02] [ 1.71282217e-03 -3.36962545e-06 9.99998533e-01 1.38044691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.87, Y:245.67, Z:1.38 [[ 7.86070236e-01 -6.18135714e-01 -1.35063551e-03 2.22868426e+02] [ 6.18134816e-01 7.86071396e-01 -1.05334141e-03 2.45667520e+02] [ 1.71280388e-03 -6.87449947e-06 9.99998533e-01 1.38114084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.89, Y:245.68, Z:1.38 [[ 7.86649499e-01 -6.17398366e-01 -1.35031557e-03 2.22888550e+02] [ 6.17397466e-01 7.86650658e-01 -1.05375140e-03 2.45683277e+02] [ 1.71281102e-03 -4.74840040e-06 9.99998533e-01 1.37938839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.91, Y:245.70, Z:1.38 [[ 7.86192870e-01 -6.17979740e-01 -1.34620528e-03 2.22911177e+02] [ 6.17978833e-01 7.86194023e-01 -1.05901696e-03 2.45703048e+02] [ 1.71282957e-03 6.65217057e-07 9.99998533e-01 1.38067467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.75275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:222.93, Y:245.72, Z:1.38 [[ 7.85891031e-01 -6.18363538e-01 -1.35019042e-03 2.22932761e+02] [ 6.18362640e-01 7.85892190e-01 -1.05391149e-03 2.45720782e+02] [ 1.71280455e-03 -6.64772455e-06 9.99998533e-01 1.38028550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.96, Y:245.74, Z:1.38 [[ 7.85941142e-01 -6.18299846e-01 -1.34986003e-03 2.22957363e+02] [ 6.18298947e-01 7.85942301e-01 -1.05433450e-03 2.45739566e+02] [ 1.71280695e-03 -5.97217840e-06 9.99998533e-01 1.37897897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.98, Y:245.76, Z:1.38 [[ 7.84098069e-01 -6.20635459e-01 -1.35794860e-03 2.22976485e+02] [ 6.20634582e-01 7.84099245e-01 -1.04398058e-03 2.45758039e+02] [ 1.71269783e-03 -2.42067066e-05 9.99998533e-01 1.37630193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.00, Y:245.78, Z:1.38 [[ 7.83136673e-01 -6.21848149e-01 -1.35329242e-03 2.22997471e+02] [ 6.21847263e-01 7.83137842e-01 -1.04993509e-03 2.45775575e+02] [ 1.71271470e-03 -1.92985130e-05 9.99998533e-01 1.37581508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.02, Y:245.79, Z:1.38 [[ 7.80906148e-01 -6.24646905e-01 -1.35325465e-03 2.23017553e+02] [ 6.24646024e-01 7.80907320e-01 -1.04998339e-03 2.45792068e+02] [ 1.71263534e-03 -2.53666466e-05 9.99998533e-01 1.37655357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.04, Y:245.81, Z:1.37 [[ 7.79084780e-01 -6.26917129e-01 -1.34869588e-03 2.23041717e+02] [ 6.26916241e-01 7.79085947e-01 -1.05580679e-03 2.45811543e+02] [ 1.71265337e-03 -2.29563539e-05 9.99998533e-01 1.37152597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.07, Y:245.83, Z:1.37 [[ 7.78705815e-01 -6.27387773e-01 -1.35509309e-03 2.23065599e+02] [ 6.27386899e-01 7.78706993e-01 -1.04763408e-03 2.45828378e+02] [ 1.71249328e-03 -3.43688988e-05 9.99998533e-01 1.37162728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.09, Y:245.85, Z:1.37 [[ 7.74977519e-01 -6.31987343e-01 -1.35743047e-03 2.23087530e+02] [ 6.31986482e-01 7.74978707e-01 -1.04465239e-03 2.45847205e+02] [ 1.71218680e-03 -4.82955935e-05 9.99998533e-01 1.36976984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.10, Y:245.86, Z:1.37 [[ 7.72336245e-01 -6.35212465e-01 -1.35996792e-03 2.23104708e+02] [ 6.35211614e-01 7.72337440e-01 -1.04141721e-03 2.45864474e+02] [ 1.71187533e-03 -5.95431547e-05 9.99998533e-01 1.37214007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.13, Y:245.88, Z:1.37 [[ 7.70759332e-01 -6.37124978e-01 -1.34698397e-03 2.23126475e+02] [ 6.37124101e-01 7.70760508e-01 -1.05794842e-03 2.45881823e+02] [ 1.71224741e-03 -4.27723365e-05 9.99998533e-01 1.36606479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.15, Y:245.90, Z:1.37 [[ 7.69462146e-01 -6.38690994e-01 -1.34889488e-03 2.23149064e+02] [ 6.38690124e-01 7.69463327e-01 -1.05551700e-03 2.45900583e+02] [ 1.71207435e-03 -4.93454607e-05 9.99998533e-01 1.36692848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.17, Y:245.92, Z:1.37 [[ 7.69225034e-01 -6.38976541e-01 -1.35163015e-03 2.23169205e+02] [ 6.38975677e-01 7.69226220e-01 -1.05203785e-03 2.45916689e+02] [ 1.71193685e-03 -5.44049417e-05 9.99998533e-01 1.37020502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.19, Y:245.94, Z:1.36 [[ 7.68911022e-01 -6.39354384e-01 -1.34607686e-03 2.23190539e+02] [ 6.39353508e-01 7.68912199e-01 -1.05909589e-03 2.45936392e+02] [ 1.71215252e-03 -4.62684594e-05 9.99998533e-01 1.36458743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.21, Y:245.95, Z:1.36 [[ 7.69385141e-01 -6.38783759e-01 -1.34697795e-03 2.23211849e+02] [ 6.38782885e-01 7.69386318e-01 -1.05795106e-03 2.45954221e+02] [ 1.71214836e-03 -4.64546383e-05 9.99998533e-01 1.36393085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.23, Y:245.97, Z:1.36 [[ 7.70280270e-01 -6.37704077e-01 -1.34720748e-03 2.23230526e+02] [ 6.37703202e-01 7.70281447e-01 -1.05765959e-03 2.45974102e+02] [ 1.71220276e-03 -4.44242135e-05 9.99998533e-01 1.36322991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.25, Y:245.99, Z:1.37 [[ 7.72569079e-01 -6.34929304e-01 -1.34076112e-03 2.23253762e+02] [ 6.34928410e-01 7.72570242e-01 -1.06583699e-03 2.45990931e+02] [ 1.71256328e-03 -2.78546189e-05 9.99998533e-01 1.36875583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.27, Y:246.01, Z:1.36 [[ 7.71797777e-01 -6.35866639e-01 -1.34493630e-03 2.23271827e+02] [ 6.35865756e-01 7.71798948e-01 -1.06054053e-03 2.46010729e+02] [ 1.71238277e-03 -3.66761162e-05 9.99998533e-01 1.36292000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.26275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.29, Y:246.03, Z:1.36 [[ 7.73640717e-01 -6.33623114e-01 -1.33805981e-03 2.23292732e+02] [ 6.33622212e-01 7.73641874e-01 -1.06925827e-03 2.46029634e+02] [ 1.71268586e-03 -2.06026831e-05 9.99998533e-01 1.36273395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.32, Y:246.05, Z:1.36 [[ 7.73379364e-01 -6.33942090e-01 -1.33626453e-03 2.23317783e+02] [ 6.33941184e-01 7.73380519e-01 -1.07153085e-03 2.46051494e+02] [ 1.71272946e-03 -1.84132696e-05 9.99998533e-01 1.36284677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.34, Y:246.07, Z:1.37 [[ 7.76625680e-01 -6.29960882e-01 -1.35643604e-03 2.23339137e+02] [ 6.29960015e-01 7.76626864e-01 -1.04595484e-03 2.46065468e+02] [ 1.71235530e-03 -4.21850787e-05 9.99998533e-01 1.36854762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.36, Y:246.08, Z:1.37 [[ 7.76820542e-01 -6.29720604e-01 -1.34418218e-03 2.23360090e+02] [ 6.29719710e-01 7.76821705e-01 -1.06147236e-03 2.46083182e+02] [ 1.71262090e-03 -2.18844792e-05 9.99998533e-01 1.36806592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.38, Y:246.10, Z:1.37 [[ 7.76961137e-01 -6.29547128e-01 -1.34403598e-03 2.23381168e+02] [ 6.29546233e-01 7.76962299e-01 -1.06165744e-03 2.46101779e+02] [ 1.71262868e-03 -2.12662177e-05 9.99998533e-01 1.36820440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.40, Y:246.12, Z:1.37 [[ 7.77767699e-01 -6.28550397e-01 -1.34370257e-03 2.23402071e+02] [ 6.28549500e-01 7.77768859e-01 -1.06207926e-03 2.46118570e+02] [ 1.71266035e-03 -1.85326386e-05 9.99998533e-01 1.36612898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.42, Y:246.14, Z:1.37 [[ 7.78211313e-01 -6.28001085e-01 -1.33752224e-03 2.23423022e+02] [ 6.28000174e-01 7.78212463e-01 -1.06989187e-03 2.46136344e+02] [ 1.71276973e-03 -7.36224168e-06 9.99998533e-01 1.36624877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.45, Y:246.16, Z:1.37 [[ 7.76795674e-01 -6.29751301e-01 -1.33426109e-03 2.23446384e+02] [ 6.29750385e-01 7.76796820e-01 -1.07401101e-03 2.46156611e+02] [ 1.71280960e-03 -5.96433092e-06 9.99998533e-01 1.36650786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.47, Y:246.17, Z:1.37 [[ 7.77279670e-01 -6.29153805e-01 -1.34297710e-03 2.23467086e+02] [ 6.29152908e-01 7.77280830e-01 -1.06299934e-03 2.46172584e+02] [ 1.71266043e-03 -1.86901667e-05 9.99998533e-01 1.36787122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.49, Y:246.19, Z:1.37 [[ 7.76760160e-01 -6.29795106e-01 -1.33378401e-03 2.23488495e+02] [ 6.29794189e-01 7.76761305e-01 -1.07459993e-03 2.46189770e+02] [ 1.71280959e-03 -5.30300674e-06 9.99998533e-01 1.36567844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.51, Y:246.21, Z:1.36 [[ 7.74710609e-01 -6.32314560e-01 -1.33021882e-03 2.23512624e+02] [ 6.32313639e-01 7.74711751e-01 -1.07909777e-03 2.46210691e+02] [ 1.71286538e-03 -5.12700862e-06 9.99998533e-01 1.36476166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.53, Y:246.23, Z:1.36 [[ 7.73999111e-01 -6.33185260e-01 -1.34236885e-03 2.23534085e+02] [ 6.33184367e-01 7.74000275e-01 -1.06376561e-03 2.46227703e+02] [ 1.71255456e-03 -2.66133288e-05 9.99998533e-01 1.36358912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.56, Y:246.25, Z:1.37 [[ 7.72088401e-01 -6.35513740e-01 -1.33720596e-03 2.23557384e+02] [ 6.35512839e-01 7.72089559e-01 -1.07027559e-03 2.46247402e+02] [ 1.71261761e-03 -2.34641894e-05 9.99998533e-01 1.36572191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.58, Y:246.26, Z:1.36 [[ 7.72442659e-01 -6.35083085e-01 -1.34646443e-03 2.23577967e+02] [ 6.35082204e-01 7.72443832e-01 -1.05859898e-03 2.46262658e+02] [ 1.71236645e-03 -3.74085902e-05 9.99998533e-01 1.36463803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.68275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.60, Y:246.28, Z:1.36 [[ 7.71179420e-01 -6.36616459e-01 -1.33645772e-03 2.23599905e+02] [ 6.36615559e-01 7.71180578e-01 -1.07120672e-03 2.46279703e+02] [ 1.71259807e-03 -2.47172010e-05 9.99998533e-01 1.36314170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.62, Y:246.30, Z:1.36 [[ 7.71062897e-01 -6.36757585e-01 -1.33677209e-03 2.23621122e+02] [ 6.36756685e-01 7.71064055e-01 -1.07081059e-03 2.46296494e+02] [ 1.71258368e-03 -2.55362541e-05 9.99998533e-01 1.36448167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.64, Y:246.32, Z:1.36 [[ 7.68361068e-01 -6.40015230e-01 -1.33232763e-03 2.23643898e+02] [ 6.40014325e-01 7.68362223e-01 -1.07640860e-03 2.46316904e+02] [ 1.71262811e-03 -2.56383119e-05 9.99998533e-01 1.36458469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7727550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.66, Y:246.33, Z:1.36 [[ 7.70035025e-01 -6.38000204e-01 -1.34146966e-03 2.23663567e+02] [ 6.37999316e-01 7.70036193e-01 -1.06489217e-03 2.46330933e+02] [ 1.71238161e-03 -3.58524523e-05 9.99998533e-01 1.36358332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.69, Y:246.35, Z:1.37 [[ 7.67851695e-01 -6.40626268e-01 -1.32644786e-03 2.23688377e+02] [ 6.40625351e-01 7.67852841e-01 -1.08380998e-03 2.46352470e+02] [ 1.71283390e-03 -1.75507939e-05 9.99998533e-01 1.36582433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.71, Y:246.37, Z:1.37 [[ 7.67633885e-01 -6.40887213e-01 -1.34170262e-03 2.23711904e+02] [ 6.40886330e-01 7.67635056e-01 -1.06458432e-03 2.46371758e+02] [ 1.71221644e-03 -4.26678718e-05 9.99998533e-01 1.36834424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.73, Y:246.39, Z:1.37 [[ 7.68280178e-01 -6.40112300e-01 -1.34592741e-03 2.23732443e+02] [ 6.40111425e-01 7.68281356e-01 -1.05926103e-03 2.46387535e+02] [ 1.71209695e-03 -4.77342546e-05 9.99998533e-01 1.36905366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.76, Y:246.41, Z:1.37 [[ 7.67627073e-01 -6.40895382e-01 -1.33640274e-03 2.23755223e+02] [ 6.40894487e-01 7.67628236e-01 -1.07124869e-03 2.46406807e+02] [ 1.71241882e-03 -3.41736506e-05 9.99998533e-01 1.36899070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.78, Y:246.42, Z:1.37 [[ 7.69264978e-01 -6.38928470e-01 -1.34303378e-03 2.23776704e+02] [ 6.38927587e-01 7.69266150e-01 -1.06290271e-03 2.46424707e+02] [ 1.71226923e-03 -4.04475014e-05 9.99998533e-01 1.36924807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.80, Y:246.44, Z:1.37 [[ 7.70107376e-01 -6.37912875e-01 -1.33925950e-03 2.23798312e+02] [ 6.37911982e-01 7.70108540e-01 -1.06765041e-03 2.46442376e+02] [ 1.71244312e-03 -3.21242278e-05 9.99998533e-01 1.36865456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.98275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:223.82, Y:246.46, Z:1.37 [[ 7.71234636e-01 -6.36549557e-01 -1.34057997e-03 2.23820760e+02] [ 6.36548665e-01 7.71235801e-01 -1.06598981e-03 2.46461501e+02] [ 1.71245861e-03 -3.12161235e-05 9.99998533e-01 1.36935870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.85, Y:246.48, Z:1.37 [[ 7.74431710e-01 -6.32656085e-01 -1.34368687e-03 2.23845122e+02] [ 6.32655194e-01 7.74432875e-01 -1.06208345e-03 2.46478013e+02] [ 1.71252884e-03 -2.75793733e-05 9.99998533e-01 1.36985331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.86, Y:246.50, Z:1.37 [[ 7.73271904e-01 -6.34073140e-01 -1.34700296e-03 2.23863501e+02] [ 6.34072259e-01 7.73273077e-01 -1.05792427e-03 2.46497207e+02] [ 1.71240248e-03 -3.60340939e-05 9.99998533e-01 1.37078555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.89, Y:246.52, Z:1.37 [[ 7.73073412e-01 -6.34315149e-01 -1.33861789e-03 2.23885719e+02] [ 6.34314249e-01 7.73074570e-01 -1.06842978e-03 2.46515161e+02] [ 1.71257265e-03 -2.31297431e-05 9.99998533e-01 1.37083097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.91, Y:246.53, Z:1.37 [[ 7.75351140e-01 -6.31528953e-01 -1.33828336e-03 2.23910202e+02] [ 6.31528048e-01 7.75352295e-01 -1.06884864e-03 2.46533058e+02] [ 1.71264994e-03 -1.64304602e-05 9.99998533e-01 1.36785197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.13275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:223.93, Y:246.55, Z:1.37 [[ 7.75076128e-01 -6.31866427e-01 -1.34656306e-03 2.23930693e+02] [ 6.31865542e-01 7.75077297e-01 -1.05846685e-03 2.46551433e+02] [ 1.71250012e-03 -3.04544131e-05 9.99998533e-01 1.37141848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.16275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:223.95, Y:246.57, Z:1.37 [[ 7.76967459e-01 -6.29539319e-01 -1.34665479e-03 2.23951284e+02] [ 6.29538429e-01 7.76968626e-01 -1.05835188e-03 2.46566664e+02] [ 1.71258264e-03 -2.54659729e-05 9.99998533e-01 1.37249465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:223.97, Y:246.58, Z:1.37 [[ 7.78246325e-01 -6.27957696e-01 -1.33815310e-03 2.23973915e+02] [ 6.27956786e-01 7.78247475e-01 -1.06899418e-03 2.46583357e+02] [ 1.71269740e-03 -8.36152896e-06 9.99998533e-01 1.37227784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.00, Y:246.60, Z:1.37 [[ 7.79449238e-01 -6.26463967e-01 -1.33504050e-03 2.23999858e+02] [ 6.26463049e-01 7.79450382e-01 -1.07288963e-03 2.46600843e+02] [ 1.71272452e-03 -9.05381870e-08 9.99998533e-01 1.37295728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.02, Y:246.62, Z:1.37 [[ 7.79184704e-01 -6.26792941e-01 -1.34428156e-03 2.24022284e+02] [ 6.26792042e-01 7.79185863e-01 -1.06134161e-03 2.46617947e+02] [ 1.71268661e-03 -1.56038322e-05 9.99998533e-01 1.37389809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.05, Y:246.64, Z:1.37 [[ 7.78655011e-01 -6.27450850e-01 -1.34324732e-03 2.24045302e+02] [ 6.27449950e-01 7.78656170e-01 -1.06263324e-03 2.46635883e+02] [ 1.71267794e-03 -1.53957638e-05 9.99998533e-01 1.37422827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.06, Y:246.65, Z:1.37 [[ 7.76862748e-01 -6.29668532e-01 -1.34578942e-03 2.24063247e+02] [ 6.29667641e-01 7.76863913e-01 -1.05945911e-03 2.46653624e+02] [ 1.71260329e-03 -2.43457374e-05 9.99998533e-01 1.37459140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.09, Y:246.67, Z:1.37 [[ 7.76854107e-01 -6.29679212e-01 -1.33634423e-03 2.24085474e+02] [ 6.29678301e-01 7.76855257e-01 -1.07124172e-03 2.46670328e+02] [ 1.71268468e-03 -9.26843007e-06 9.99998533e-01 1.37080478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.11, Y:246.69, Z:1.37 [[ 7.75384906e-01 -6.31487504e-01 -1.33391356e-03 2.24106127e+02] [ 6.31486591e-01 7.75386054e-01 -1.07427078e-03 2.46688489e+02] [ 1.71268655e-03 -9.37518405e-06 9.99998533e-01 1.37470489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.13, Y:246.71, Z:1.38 [[ 7.74183074e-01 -6.32960339e-01 -1.33296351e-03 2.24129649e+02] [ 6.32959425e-01 7.74184222e-01 -1.07545425e-03 2.46705062e+02] [ 1.71267920e-03 -1.11133353e-05 9.99998533e-01 1.37697555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.15, Y:246.72, Z:1.38 [[ 7.73808938e-01 -6.33417669e-01 -1.33550269e-03 2.24151640e+02] [ 6.33416762e-01 7.73810091e-01 -1.07229179e-03 2.46721766e+02] [ 1.71263402e-03 -1.61808184e-05 9.99998533e-01 1.37688444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.17, Y:246.74, Z:1.38 [[ 7.72448096e-01 -6.35076503e-01 -1.33209540e-03 2.24173154e+02] [ 6.35075591e-01 7.72449244e-01 -1.07653267e-03 2.46738609e+02] [ 1.71265669e-03 -1.44156627e-05 9.99998533e-01 1.37663725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.20, Y:246.76, Z:1.38 [[ 7.71229879e-01 -6.36555352e-01 -1.32526870e-03 2.24196844e+02] [ 6.36554428e-01 7.71231018e-01 -1.08501921e-03 2.46756767e+02] [ 1.71276311e-03 -6.80642473e-06 9.99998533e-01 1.37738928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.22, Y:246.77, Z:1.38 [[ 7.70970266e-01 -6.36869751e-01 -1.32989001e-03 2.24218323e+02] [ 6.36868837e-01 7.70971413e-01 -1.07927431e-03 2.46772680e+02] [ 1.71266435e-03 -1.48771022e-05 9.99998533e-01 1.37650606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.24, Y:246.79, Z:1.38 [[ 7.69766973e-01 -6.38323616e-01 -1.32981559e-03 2.24239593e+02] [ 6.38322703e-01 7.69768122e-01 -1.07936682e-03 2.46789270e+02] [ 1.71263498e-03 -1.79905503e-05 9.99998533e-01 1.37707957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.27, Y:246.81, Z:1.38 [[ 7.69565177e-01 -6.38566895e-01 -1.32608107e-03 2.24265372e+02] [ 6.38565975e-01 7.69566320e-01 -1.08400643e-03 2.46807611e+02] [ 1.71271794e-03 -1.25766522e-05 9.99998533e-01 1.37758503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.29, Y:246.83, Z:1.38 [[ 7.67612326e-01 -6.40913044e-01 -1.33676302e-03 2.24290166e+02] [ 6.40912151e-01 7.67613489e-01 -1.07074371e-03 2.46826237e+02] [ 1.71237094e-03 -3.48315934e-05 9.99998533e-01 1.37578217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.30, Y:246.84, Z:1.38 [[ 7.65436095e-01 -6.43510512e-01 -1.34357961e-03 2.24304686e+02] [ 6.43509637e-01 7.65437273e-01 -1.06228079e-03 2.46842018e+02] [ 1.71201477e-03 -5.14983720e-05 9.99998533e-01 1.37791173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.33, Y:246.86, Z:1.38 [[ 7.64509961e-01 -6.44610555e-01 -1.32394114e-03 2.24328876e+02] [ 6.44609639e-01 7.64511107e-01 -1.08661812e-03 2.46859345e+02] [ 1.71261321e-03 -2.26948474e-05 9.99998533e-01 1.37804635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.36, Y:246.88, Z:1.38 [[ 7.63407882e-01 -6.45915348e-01 -1.33018886e-03 2.24355502e+02] [ 6.45914447e-01 7.63409040e-01 -1.07887089e-03 2.46877087e+02] [ 1.71233747e-03 -3.55696609e-05 9.99998533e-01 1.37775806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.37, Y:246.90, Z:1.38 [[ 7.60595706e-01 -6.49224440e-01 -1.34120462e-03 2.24371795e+02] [ 6.49223568e-01 7.60596886e-01 -1.06520945e-03 2.46895421e+02] [ 1.71167606e-03 -6.05479178e-05 9.99998533e-01 1.37533259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.40, Y:246.91, Z:1.38 [[ 7.60609485e-01 -6.49208322e-01 -1.32845645e-03 2.24395268e+02] [ 6.49207424e-01 7.60610645e-01 -1.08098802e-03 2.46912269e+02] [ 1.71222454e-03 -4.02340461e-05 9.99998533e-01 1.38044827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.41, Y:246.93, Z:1.38 [[ 7.60319649e-01 -6.49547740e-01 -1.32880302e-03 2.24414965e+02] [ 6.49546842e-01 7.60320809e-01 -1.08055919e-03 2.46930354e+02] [ 1.71219136e-03 -4.15494210e-05 9.99998533e-01 1.37839627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.44, Y:246.95, Z:1.38 [[ 7.63046985e-01 -6.46341668e-01 -1.32146490e-03 2.24442819e+02] [ 6.46340750e-01 7.63048129e-01 -1.08965524e-03 2.46947203e+02] [ 1.71263091e-03 -2.26584659e-05 9.99998533e-01 1.38080151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.46, Y:246.97, Z:1.38 [[ 7.59333038e-01 -6.50700823e-01 -1.33307091e-03 2.24459596e+02] [ 6.50699936e-01 7.59334206e-01 -1.07526660e-03 2.46968707e+02] [ 1.71192320e-03 -5.09436999e-05 9.99998533e-01 1.37781655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.48, Y:246.99, Z:1.38 [[ 7.62290722e-01 -6.47233412e-01 -1.32893524e-03 2.24483756e+02] [ 6.47232511e-01 7.62291880e-01 -1.08038840e-03 2.46985490e+02] [ 1.71230001e-03 -3.65600372e-05 9.99998533e-01 1.38150754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.51, Y:247.00, Z:1.38 [[ 7.63793722e-01 -6.45459045e-01 -1.33097855e-03 2.24507084e+02] [ 6.45458146e-01 7.63794881e-01 -1.07785844e-03 2.47004166e+02] [ 1.71230808e-03 -3.58294353e-05 9.99998533e-01 1.38104071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.94275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:224.53, Y:247.02, Z:1.38 [[ 7.66249135e-01 -6.42542199e-01 -1.33653415e-03 2.24528995e+02] [ 6.42541307e-01 7.66250300e-01 -1.07098694e-03 2.47023276e+02] [ 1.71227400e-03 -3.81355822e-05 9.99998533e-01 1.38114041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.55, Y:247.04, Z:1.38 [[ 7.67118511e-01 -6.41504013e-01 -1.33819101e-03 2.24549546e+02] [ 6.41503124e-01 7.67119678e-01 -1.06893913e-03 2.47041763e+02] [ 1.71228140e-03 -3.84507156e-05 9.99998533e-01 1.38174519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.57, Y:247.06, Z:1.38 [[ 7.68714498e-01 -6.39590679e-01 -1.33580723e-03 2.24566912e+02] [ 6.39589781e-01 7.68715658e-01 -1.07188507e-03 2.47057589e+02] [ 1.71242363e-03 -3.03950602e-05 9.99998533e-01 1.38210946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.59, Y:247.08, Z:1.38 [[ 7.70755865e-01 -6.37129222e-01 -1.32343446e-03 2.24591544e+02] [ 6.37128294e-01 7.70757001e-01 -1.08716870e-03 2.47076983e+02] [ 1.71271332e-03 -5.25589248e-06 9.99998533e-01 1.38220000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.61, Y:247.09, Z:1.38 [[ 7.72974276e-01 -6.34435963e-01 -1.33336674e-03 2.24610035e+02] [ 6.34435052e-01 7.72975426e-01 -1.07490327e-03 2.47094952e+02] [ 1.71261702e-03 -1.50620220e-05 9.99998533e-01 1.38113542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.63, Y:247.11, Z:1.38 [[ 7.74014695e-01 -6.33166239e-01 -1.32885638e-03 2.24634917e+02] [ 6.33165317e-01 7.74015835e-01 -1.08046846e-03 2.47114186e+02] [ 1.71267203e-03 -5.08730776e-06 9.99998533e-01 1.38222558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.65, Y:247.13, Z:1.38 [[ 7.75265866e-01 -6.31633635e-01 -1.33715078e-03 2.24654507e+02] [ 6.31632728e-01 7.75267019e-01 -1.07023237e-03 2.47130729e+02] [ 1.71264366e-03 -1.48735694e-05 9.99998533e-01 1.38294705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.68, Y:247.15, Z:1.38 [[ 7.74923793e-01 -6.32053274e-01 -1.33193288e-03 2.24676413e+02] [ 6.32052357e-01 7.74924937e-01 -1.07666654e-03 2.47150883e+02] [ 1.71265862e-03 -7.51680040e-06 9.99998533e-01 1.38242978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.70, Y:247.17, Z:1.38 [[ 7.74033855e-01 -6.33142801e-01 -1.33579377e-03 2.24697926e+02] [ 6.33141894e-01 7.74035008e-01 -1.07190755e-03 2.47169753e+02] [ 1.71262169e-03 -1.60542705e-05 9.99998533e-01 1.38336287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.72, Y:247.19, Z:1.38 [[ 7.70301381e-01 -6.37678597e-01 -1.33760625e-03 2.24715067e+02] [ 6.37677701e-01 7.70302542e-01 -1.06967485e-03 2.47188683e+02] [ 1.71247025e-03 -2.89896631e-05 9.99998533e-01 1.38435640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.74, Y:247.21, Z:1.38 [[ 7.69645738e-01 -6.38469789e-01 -1.32908719e-03 2.24737730e+02] [ 6.38468875e-01 7.69646886e-01 -1.08015719e-03 2.47206423e+02] [ 1.71257555e-03 -1.72424241e-05 9.99998533e-01 1.38186514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.76, Y:247.22, Z:1.38 [[ 7.66313296e-01 -6.42465693e-01 -1.32873035e-03 2.24758772e+02] [ 6.42464785e-01 7.66314448e-01 -1.08059603e-03 2.47224949e+02] [ 1.71247114e-03 -2.55873500e-05 9.99998533e-01 1.38343506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.78, Y:247.24, Z:1.38 [[ 7.64587886e-01 -6.44518121e-01 -1.32557098e-03 2.24781270e+02] [ 6.44517209e-01 7.64589034e-01 -1.08448007e-03 2.47244333e+02] [ 1.71248409e-03 -2.51729868e-05 9.99998533e-01 1.37985573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.80, Y:247.26, Z:1.38 [[ 7.63916226e-01 -6.45314056e-01 -1.33006657e-03 2.24804435e+02] [ 6.45313155e-01 7.63917383e-01 -1.07895386e-03 2.47261636e+02] [ 1.71232506e-03 -3.40790904e-05 9.99998533e-01 1.38401052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.82, Y:247.28, Z:1.38 [[ 7.60971143e-01 -6.48784358e-01 -1.33312855e-03 2.24821543e+02] [ 6.48783469e-01 7.60972309e-01 -1.07519126e-03 2.47281044e+02] [ 1.71204118e-03 -4.67222476e-05 9.99998533e-01 1.37949992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.84, Y:247.30, Z:1.38 [[ 7.58751675e-01 -6.51378647e-01 -1.32438459e-03 2.24841286e+02] [ 6.51377743e-01 7.58752830e-01 -1.08593148e-03 2.47300800e+02] [ 1.71223314e-03 -3.87223212e-05 9.99998533e-01 1.38008556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.42275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:224.86, Y:247.32, Z:1.38 [[ 7.58697759e-01 -6.51441451e-01 -1.32138125e-03 2.24863960e+02] [ 6.51440541e-01 7.58698909e-01 -1.08961283e-03 2.47317837e+02] [ 1.71234948e-03 -3.41145012e-05 9.99998533e-01 1.38271736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.89, Y:247.34, Z:1.38 [[ 7.57570931e-01 -6.52751509e-01 -1.32379214e-03 2.24886593e+02] [ 6.52750605e-01 7.57572087e-01 -1.08665823e-03 2.47337648e+02] [ 1.71218577e-03 -4.08854339e-05 9.99998533e-01 1.38327554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.91, Y:247.36, Z:1.38 [[ 7.57177797e-01 -6.53207484e-01 -1.32875235e-03 2.24908342e+02] [ 6.53206592e-01 7.57178962e-01 -1.08058203e-03 2.47357563e+02] [ 1.71194759e-03 -4.97570733e-05 9.99998533e-01 1.38219618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.92, Y:247.38, Z:1.38 [[ 7.55294210e-01 -6.55384530e-01 -1.33204727e-03 2.24920215e+02] [ 6.55383649e-01 7.55295382e-01 -1.07655150e-03 2.47375355e+02] [ 1.71164435e-03 -5.98888853e-05 9.99998533e-01 1.37660167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.95, Y:247.39, Z:1.38 [[ 7.57920606e-01 -6.52345493e-01 -1.30878692e-03 2.24949324e+02] [ 6.52344558e-01 7.57921736e-01 -1.10495238e-03 2.47393875e+02] [ 1.71276876e-03 -1.63138518e-05 9.99998533e-01 1.38122223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.96, Y:247.41, Z:1.38 [[ 7.54711885e-01 -6.56055036e-01 -1.32648741e-03 2.24964430e+02] [ 6.56054144e-01 7.54713049e-01 -1.08332391e-03 2.47414270e+02] [ 1.71183746e-03 -5.26501280e-05 9.99998533e-01 1.37678441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:224.99, Y:247.43, Z:1.38 [[ 7.55970521e-01 -6.54604343e-01 -1.31392500e-03 2.24986230e+02] [ 6.54603421e-01 7.55971662e-01 -1.09866783e-03 2.47432495e+02] [ 1.71248280e-03 -2.95393106e-05 9.99998533e-01 1.38134830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.01, Y:247.45, Z:1.38 [[ 7.56618933e-01 -6.53854772e-01 -1.31421510e-03 2.25006492e+02] [ 6.53853851e-01 7.56620074e-01 -1.09831338e-03 2.47450472e+02] [ 1.71249898e-03 -2.82999044e-05 9.99998533e-01 1.38119418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.66275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:225.03, Y:247.47, Z:1.38 [[ 7.55636716e-01 -6.54989648e-01 -1.30918049e-03 2.25028098e+02] [ 6.54988717e-01 7.55637850e-01 -1.10446167e-03 2.47469929e+02] [ 1.71267730e-03 -2.29266587e-05 9.99998533e-01 1.38306484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.69275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.05, Y:247.49, Z:1.38 [[ 7.56641614e-01 -6.53828531e-01 -1.31162217e-03 2.25049797e+02] [ 6.53827604e-01 7.56642750e-01 -1.10147910e-03 2.47490181e+02] [ 1.71260786e-03 -2.41498547e-05 9.99998533e-01 1.38199882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.72275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.07, Y:247.51, Z:1.38 [[ 7.57935581e-01 -6.52328082e-01 -1.31486255e-03 2.25074047e+02] [ 6.52327160e-01 7.57936721e-01 -1.09752129e-03 2.47507519e+02] [ 1.71252657e-03 -2.58701113e-05 9.99998533e-01 1.38452555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.75275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:225.09, Y:247.53, Z:1.38 [[ 7.57229838e-01 -6.53147168e-01 -1.32272345e-03 2.25092133e+02] [ 6.53146263e-01 7.57230992e-01 -1.08791607e-03 2.47527373e+02] [ 1.71217649e-03 -4.01293702e-05 9.99998533e-01 1.38252745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.11, Y:247.55, Z:1.38 [[ 7.57078118e-01 -6.53323041e-01 -1.31432310e-03 2.25112899e+02] [ 6.53322119e-01 7.57079258e-01 -1.09817004e-03 2.47546030e+02] [ 1.71250655e-03 -2.72758416e-05 9.99998533e-01 1.38414386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.14, Y:247.56, Z:1.39 [[ 7.58385341e-01 -6.51805143e-01 -1.31547337e-03 2.25139274e+02] [ 6.51804221e-01 7.58386481e-01 -1.09676794e-03 2.47564786e+02] [ 1.71251620e-03 -2.56583627e-05 9.99998533e-01 1.38746250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.16, Y:247.58, Z:1.39 [[ 7.59058686e-01 -6.51020849e-01 -1.32881229e-03 2.25158104e+02] [ 6.51019954e-01 7.59059848e-01 -1.08050016e-03 2.47582189e+02] [ 1.71207619e-03 -4.49202843e-05 9.99998533e-01 1.38661782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.18, Y:247.60, Z:1.38 [[ 7.58841041e-01 -6.51274535e-01 -1.32481481e-03 2.25177980e+02] [ 6.51273632e-01 7.58842196e-01 -1.08537170e-03 2.47600947e+02] [ 1.71220033e-03 -3.91923661e-05 9.99998533e-01 1.38431176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.20, Y:247.62, Z:1.39 [[ 7.58509716e-01 -6.51660395e-01 -1.31924088e-03 2.25203129e+02] [ 6.51659481e-01 7.58510862e-01 -1.09215997e-03 2.47621827e+02] [ 1.71237593e-03 -3.12818806e-05 9.99998533e-01 1.38611359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.22, Y:247.64, Z:1.39 [[ 7.59764667e-01 -6.50196791e-01 -1.33553989e-03 2.25223127e+02] [ 6.50195909e-01 7.59765839e-01 -1.07228663e-03 2.47638433e+02] [ 1.71189491e-03 -5.36770744e-05 9.99998533e-01 1.38688693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.24, Y:247.66, Z:1.39 [[ 7.59621737e-01 -6.50363792e-01 -1.32441174e-03 2.25244272e+02] [ 6.50362887e-01 7.59622891e-01 -1.08583884e-03 2.47656086e+02] [ 1.71224374e-03 -3.65214545e-05 9.99998533e-01 1.38692990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.26, Y:247.67, Z:1.38 [[ 7.58767672e-01 -6.51360013e-01 -1.32416930e-03 2.25261871e+02] [ 6.51359109e-01 7.58768826e-01 -1.08613395e-03 2.47674157e+02] [ 1.71220261e-03 -3.83864012e-05 9.99998533e-01 1.38278156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.29, Y:247.69, Z:1.39 [[ 7.60553192e-01 -6.49274302e-01 -1.31268249e-03 2.25287788e+02] [ 6.49273371e-01 7.60554324e-01 -1.10017637e-03 2.47691389e+02] [ 1.71268259e-03 -1.55471354e-05 9.99998533e-01 1.38641579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.05275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.31, Y:247.71, Z:1.38 [[ 7.58423473e-01 -6.51760760e-01 -1.32184549e-03 2.25306132e+02] [ 6.51759851e-01 7.58424625e-01 -1.08897107e-03 2.47710021e+02] [ 1.71226878e-03 -3.56245958e-05 9.99998533e-01 1.38298124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.33, Y:247.73, Z:1.38 [[ 7.58492036e-01 -6.51680986e-01 -1.31336378e-03 2.25328165e+02] [ 6.51680059e-01 7.58493173e-01 -1.09933644e-03 2.47727107e+02] [ 1.71259411e-03 -2.20550539e-05 9.99998533e-01 1.38351273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.36, Y:247.74, Z:1.39 [[ 7.59759979e-01 -6.50202319e-01 -1.31100345e-03 2.25356177e+02] [ 6.50201385e-01 7.59761110e-01 -1.10221956e-03 2.47744181e+02] [ 1.71271515e-03 -1.49939470e-05 9.99998533e-01 1.38607709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.38, Y:247.76, Z:1.39 [[ 7.57653796e-01 -6.52655321e-01 -1.32558119e-03 2.25376542e+02] [ 6.52654422e-01 7.57654954e-01 -1.08439958e-03 2.47763290e+02] [ 1.71207231e-03 -4.35469657e-05 9.99998533e-01 1.38588875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.39, Y:247.78, Z:1.38 [[ 7.55921333e-01 -6.54661128e-01 -1.32141941e-03 2.25392824e+02] [ 6.54660222e-01 7.55922487e-01 -1.08948391e-03 2.47780904e+02] [ 1.71213341e-03 -4.15165942e-05 9.99998533e-01 1.38174089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.20275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.42, Y:247.80, Z:1.39 [[ 7.56876466e-01 -6.53556663e-01 -1.30532247e-03 2.25422141e+02] [ 6.53555722e-01 7.56877591e-01 -1.10910113e-03 2.47799804e+02] [ 1.71282977e-03 -1.36484258e-05 9.99998533e-01 1.38605521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.44, Y:247.82, Z:1.39 [[ 7.56180906e-01 -6.54361279e-01 -1.32433343e-03 2.25442761e+02] [ 6.54360380e-01 7.56182064e-01 -1.08591624e-03 2.47819057e+02] [ 1.71201873e-03 -4.54422006e-05 9.99998533e-01 1.38639660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.46, Y:247.83, Z:1.39 [[ 7.58102493e-01 -6.52134086e-01 -1.32077346e-03 2.25463139e+02] [ 6.52133176e-01 7.58103642e-01 -1.09025288e-03 2.47834801e+02] [ 1.71227424e-03 -3.47967658e-05 9.99998533e-01 1.38541384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.49, Y:247.86, Z:1.38 [[ 7.54663035e-01 -6.56111252e-01 -1.31466044e-03 2.25485780e+02] [ 6.56110334e-01 7.54664180e-01 -1.09769135e-03 2.47859853e+02] [ 1.71233479e-03 -3.41752160e-05 9.99998533e-01 1.38195450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.50, Y:247.87, Z:1.38 [[ 7.56012745e-01 -6.54555537e-01 -1.33308552e-03 2.25496164e+02] [ 6.54554657e-01 7.56013918e-01 -1.07530698e-03 2.47873389e+02] [ 1.71167935e-03 -5.96315542e-05 9.99998533e-01 1.37934741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.52, Y:247.89, Z:1.38 [[ 7.58353049e-01 -6.51842752e-01 -1.29581148e-03 2.25523020e+02] [ 6.51841789e-01 7.58354157e-01 -1.12030676e-03 2.47893346e+02] [ 1.71294787e-03 4.92397032e-06 9.99998533e-01 1.38153572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.54, Y:247.91, Z:1.38 [[ 7.58871700e-01 -6.51238827e-01 -1.31620710e-03 2.25540605e+02] [ 6.51237906e-01 7.58872841e-01 -1.09565831e-03 2.47910694e+02] [ 1.71236906e-03 -2.56998725e-05 9.99998534e-01 1.37828182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.56, Y:247.93, Z:1.38 [[ 7.60863922e-01 -6.48910155e-01 -1.30481602e-03 2.25563241e+02] [ 6.48909207e-01 7.60865041e-01 -1.10944807e-03 2.47929158e+02] [ 1.71272101e-03 -2.56812241e-06 9.99998533e-01 1.37620867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.59, Y:247.95, Z:1.38 [[ 7.62757308e-01 -6.46683527e-01 -1.30534919e-03 2.25587739e+02] [ 6.46682577e-01 7.62758425e-01 -1.10880220e-03 2.47945843e+02] [ 1.71271021e-03 1.60040231e-06 9.99998533e-01 1.37979234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.61, Y:247.96, Z:1.38 [[ 7.64510813e-01 -6.44609576e-01 -1.30812750e-03 2.25614876e+02] [ 6.44608628e-01 7.64511933e-01 -1.10543675e-03 2.47964395e+02] [ 1.71265419e-03 1.88807570e-06 9.99998533e-01 1.38000741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.63, Y:247.98, Z:1.38 [[ 7.62209680e-01 -6.47328860e-01 -1.32359797e-03 2.25631927e+02] [ 6.47327948e-01 7.62210828e-01 -1.08668741e-03 2.47984606e+02] [ 1.71230483e-03 -2.85183009e-05 9.99998534e-01 1.37845116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.65, Y:248.00, Z:1.38 [[ 7.64001694e-01 -6.45212898e-01 -1.31436972e-03 2.25651784e+02] [ 6.45211964e-01 7.64002824e-01 -1.09786173e-03 2.47999940e+02] [ 1.71253673e-03 -9.27884899e-06 9.99998534e-01 1.37770596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.68, Y:248.02, Z:1.38 [[ 7.64395729e-01 -6.44746049e-01 -1.30476324e-03 2.25678050e+02] [ 6.44745094e-01 7.64396842e-01 -1.10946814e-03 2.48019128e+02] [ 1.71268210e-03 6.83300516e-06 9.99998533e-01 1.38315413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:225.70, Y:248.04, Z:1.38 [[ 7.64297006e-01 -6.44863044e-01 -1.31965857e-03 2.25700317e+02] [ 6.44862120e-01 7.64298145e-01 -1.09145853e-03 2.48037982e+02] [ 1.71245387e-03 -1.67993389e-05 9.99998534e-01 1.38348177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.72, Y:248.05, Z:1.38 [[ 7.64355201e-01 -6.44794064e-01 -1.31959496e-03 2.25719372e+02] [ 6.44793140e-01 7.64356340e-01 -1.09153539e-03 2.48054684e+02] [ 1.71245632e-03 -1.65450245e-05 9.99998534e-01 1.38021347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.75, Y:248.07, Z:1.38 [[ 7.65172315e-01 -6.43824212e-01 -1.30874268e-03 2.25746090e+02] [ 6.43823264e-01 7.65173434e-01 -1.10465885e-03 2.48070869e+02] [ 1.71262124e-03 2.65538218e-06 9.99998533e-01 1.38369238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.76, Y:248.09, Z:1.38 [[ 7.64140366e-01 -6.45048650e-01 -1.31922178e-03 2.25764615e+02] [ 6.45047725e-01 7.64141505e-01 -1.09198282e-03 2.48087953e+02] [ 1.71245416e-03 -1.65328569e-05 9.99998534e-01 1.37781554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.79, Y:248.11, Z:1.38 [[ 7.63754397e-01 -6.45505615e-01 -1.31215388e-03 2.25789496e+02] [ 6.45504677e-01 7.63755524e-01 -1.10054726e-03 2.48105357e+02] [ 1.71257421e-03 -6.45365866e-06 9.99998534e-01 1.38284882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.81, Y:248.12, Z:1.38 [[ 7.62210257e-01 -6.47328185e-01 -1.32116594e-03 2.25808858e+02] [ 6.47327268e-01 7.62211402e-01 -1.08962403e-03 2.48122063e+02] [ 1.71235209e-03 -2.47041233e-05 9.99998534e-01 1.38084172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.83, Y:248.14, Z:1.38 [[ 7.60839442e-01 -6.48938844e-01 -1.31161572e-03 2.25833506e+02] [ 6.48937909e-01 7.60840573e-01 -1.10115935e-03 2.48141513e+02] [ 1.71251553e-03 -1.33517013e-05 9.99998534e-01 1.38213053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.86, Y:248.16, Z:1.38 [[ 7.60202921e-01 -6.49684364e-01 -1.32136821e-03 2.25856229e+02] [ 6.49683451e-01 7.60204069e-01 -1.08937938e-03 2.48157834e+02] [ 1.71226224e-03 -3.03216718e-05 9.99998534e-01 1.38261389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.88, Y:248.18, Z:1.38 [[ 7.59789083e-01 -6.50168294e-01 -1.31872957e-03 2.25878324e+02] [ 6.50167377e-01 7.59790227e-01 -1.09256423e-03 2.48175213e+02] [ 1.71230846e-03 -2.72765739e-05 9.99998534e-01 1.38141096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.90, Y:248.19, Z:1.38 [[ 7.58725231e-01 -6.51409458e-01 -1.31953455e-03 2.25899711e+02] [ 6.51408544e-01 7.58726378e-01 -1.09159294e-03 2.48192897e+02] [ 1.71223963e-03 -3.13369763e-05 9.99998534e-01 1.38198997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.93, Y:248.21, Z:1.38 [[ 7.59527014e-01 -6.50474425e-01 -1.31829740e-03 2.25925693e+02] [ 6.50473507e-01 7.59528158e-01 -1.09308498e-03 2.48211728e+02] [ 1.71230782e-03 -2.72899579e-05 9.99998534e-01 1.37968767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.94, Y:248.23, Z:1.38 [[ 7.59429008e-01 -6.50588819e-01 -1.33023599e-03 2.25943847e+02] [ 6.50587926e-01 7.59430172e-01 -1.07874051e-03 2.48227773e+02] [ 1.71203786e-03 -4.62086368e-05 9.99998533e-01 1.37995729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.97, Y:248.24, Z:1.38 [[ 7.59147267e-01 -6.50917585e-01 -1.31361673e-03 2.25966292e+02] [ 6.50916658e-01 7.59148403e-01 -1.09866962e-03 2.48244531e+02] [ 1.71237342e-03 -2.10029711e-05 9.99998534e-01 1.37857019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:225.99, Y:248.26, Z:1.38 [[ 7.59454141e-01 -6.50559508e-01 -1.31687093e-03 2.25990565e+02] [ 6.50558587e-01 7.59455283e-01 -1.09476808e-03 2.48262591e+02] [ 1.71231637e-03 -2.52755437e-05 9.99998534e-01 1.37817202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.01, Y:248.28, Z:1.38 [[ 7.61004764e-01 -6.48744946e-01 -1.32047727e-03 2.26012027e+02] [ 6.48744030e-01 7.61005909e-01 -1.09045524e-03 2.48278196e+02] [ 1.71231833e-03 -2.68101124e-05 9.99998534e-01 1.37841571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.03, Y:248.29, Z:1.38 [[ 7.61625337e-01 -6.48016299e-01 -1.31257236e-03 2.26034762e+02] [ 6.48015365e-01 7.61626468e-01 -1.09990062e-03 2.48294343e+02] [ 1.71244338e-03 -1.28548776e-05 9.99998534e-01 1.37870735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.07275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.06, Y:248.31, Z:1.38 [[ 7.62189795e-01 -6.47352298e-01 -1.31120652e-03 2.26056493e+02] [ 6.47351360e-01 7.62190923e-01 -1.10153193e-03 2.48310095e+02] [ 1.71246893e-03 -9.23492845e-06 9.99998534e-01 1.37993953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.08, Y:248.32, Z:1.38 [[ 7.63387267e-01 -6.45939757e-01 -1.30789843e-03 2.26080912e+02] [ 6.45938811e-01 7.63388388e-01 -1.10548066e-03 2.48324840e+02] [ 1.71250839e-03 -9.12498713e-07 9.99998534e-01 1.37941812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.10, Y:248.34, Z:1.38 [[ 7.62481735e-01 -6.47008421e-01 -1.30651799e-03 2.26104492e+02] [ 6.47007474e-01 7.62482854e-01 -1.10712747e-03 2.48343091e+02] [ 1.71251837e-03 -1.16243048e-06 9.99998534e-01 1.38308387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.13, Y:248.36, Z:1.38 [[ 7.62445309e-01 -6.47051339e-01 -1.30981542e-03 2.26126912e+02] [ 6.47050398e-01 7.62446434e-01 -1.10319362e-03 2.48359363e+02] [ 1.71248700e-03 -6.39179067e-06 9.99998534e-01 1.38319726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.15, Y:248.37, Z:1.38 [[ 7.61509188e-01 -6.48152797e-01 -1.30718617e-03 2.26152676e+02] [ 6.48151853e-01 7.61510310e-01 -1.10632847e-03 2.48374585e+02] [ 1.71250564e-03 -4.77584390e-06 9.99998534e-01 1.38154020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.18, Y:248.39, Z:1.38 [[ 7.60396814e-01 -6.49457438e-01 -1.31204056e-03 2.26175961e+02] [ 6.49456506e-01 7.60397946e-01 -1.10054117e-03 2.48391963e+02] [ 1.71242760e-03 -1.52652782e-05 9.99998534e-01 1.38302662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.20, Y:248.41, Z:1.38 [[ 7.60342318e-01 -6.49521234e-01 -1.31381106e-03 2.26198128e+02] [ 6.49520305e-01 7.60343453e-01 -1.09843152e-03 2.48407933e+02] [ 1.71240223e-03 -1.81629907e-05 9.99998534e-01 1.38234471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.23, Y:248.42, Z:1.38 [[ 7.59802950e-01 -6.50152107e-01 -1.30930140e-03 2.26226820e+02] [ 6.50151170e-01 7.59804078e-01 -1.10380137e-03 2.48424184e+02] [ 1.71245133e-03 -1.25722986e-05 9.99998534e-01 1.38248735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.25, Y:248.44, Z:1.38 [[ 7.59493498e-01 -6.50513548e-01 -1.32296931e-03 2.26251302e+02] [ 6.50512640e-01 7.59494650e-01 -1.08755419e-03 2.48441209e+02] [ 1.71225685e-03 -3.46179257e-05 9.99998534e-01 1.38241164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.27, Y:248.45, Z:1.38 [[ 7.57409567e-01 -6.52938733e-01 -1.32630900e-03 2.26269078e+02] [ 6.52937835e-01 7.57410727e-01 -1.08358624e-03 2.48454978e+02] [ 1.71207609e-03 -4.52787376e-05 9.99998533e-01 1.38263711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.29, Y:248.47, Z:1.38 [[ 7.57160648e-01 -6.53227402e-01 -1.30933905e-03 2.26291851e+02] [ 6.53226470e-01 7.57161780e-01 -1.10371767e-03 2.48471542e+02] [ 1.71236011e-03 -1.96033385e-05 9.99998534e-01 1.38240719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.32, Y:248.49, Z:1.38 [[ 7.58667316e-01 -6.51476930e-01 -1.30900671e-03 2.26320566e+02] [ 6.51475995e-01 7.58668445e-01 -1.10411169e-03 2.48488825e+02] [ 1.71240538e-03 -1.51329975e-05 9.99998534e-01 1.38194376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.34, Y:248.51, Z:1.38 [[ 7.57962587e-01 -6.52296683e-01 -1.32464126e-03 2.26336777e+02] [ 6.52295781e-01 7.57963743e-01 -1.08556722e-03 2.48505300e+02] [ 1.71214194e-03 -4.12385651e-05 9.99998533e-01 1.38213978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.36, Y:248.52, Z:1.38 [[ 7.58650094e-01 -6.51496987e-01 -1.30843386e-03 2.26357693e+02] [ 6.51496050e-01 7.58651222e-01 -1.10476258e-03 2.48524551e+02] [ 1.71239444e-03 -1.43112564e-05 9.99998534e-01 1.38199879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.38, Y:248.54, Z:1.38 [[ 7.60185160e-01 -6.49705173e-01 -1.30810298e-03 2.26378497e+02] [ 6.49704233e-01 7.60186285e-01 -1.10515422e-03 2.48543449e+02] [ 1.71242636e-03 -9.75820434e-06 9.99998534e-01 1.38063315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.40, Y:248.56, Z:1.38 [[ 7.60793064e-01 -6.48993223e-01 -1.30774428e-03 2.26398835e+02] [ 6.48992281e-01 7.60794188e-01 -1.10557851e-03 2.48561367e+02] [ 1.71243721e-03 -7.59948238e-06 9.99998534e-01 1.37906418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.55275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:226.42, Y:248.58, Z:1.38 [[ 7.61450905e-01 -6.48221269e-01 -1.30607004e-03 2.26423736e+02] [ 6.48220322e-01 7.61452026e-01 -1.10755839e-03 2.48581519e+02] [ 1.71245258e-03 -3.26980023e-06 9.99998534e-01 1.37907917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.44, Y:248.60, Z:1.38 [[ 7.60735453e-01 -6.49060730e-01 -1.31914654e-03 2.26443527e+02] [ 6.49059811e-01 7.60736596e-01 -1.09212020e-03 2.48599041e+02] [ 1.71237538e-03 -2.53904489e-05 9.99998534e-01 1.37720538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.46, Y:248.62, Z:1.38 [[ 7.59530731e-01 -6.50470093e-01 -1.31376294e-03 2.26464924e+02] [ 6.50469166e-01 7.59531867e-01 -1.09846652e-03 2.48617918e+02] [ 1.71236444e-03 -2.02432109e-05 9.99998534e-01 1.37736185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.49, Y:248.64, Z:1.38 [[ 7.57730384e-01 -6.52566426e-01 -1.31331224e-03 2.26485412e+02] [ 6.52565501e-01 7.57731522e-01 -1.09899784e-03 2.48637080e+02] [ 1.71230717e-03 -2.42782060e-05 9.99998534e-01 1.37695376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.51, Y:248.66, Z:1.38 [[ 7.56922446e-01 -6.53503399e-01 -1.31073399e-03 2.26506587e+02] [ 6.53502471e-01 7.56923580e-01 -1.10203484e-03 2.48655431e+02] [ 1.71230897e-03 -2.24129932e-05 9.99998534e-01 1.37615620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.52, Y:248.67, Z:1.38 [[ 7.55022731e-01 -6.55697302e-01 -1.31272362e-03 2.26523481e+02] [ 6.55696381e-01 7.55023872e-01 -1.09969286e-03 2.48673517e+02] [ 1.71220331e-03 -3.04550238e-05 9.99998534e-01 1.37739085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.54, Y:248.69, Z:1.38 [[ 7.53252376e-01 -6.57730306e-01 -1.30461226e-03 2.26543725e+02] [ 6.57729371e-01 7.53253506e-01 -1.10923295e-03 2.48692898e+02] [ 1.71227989e-03 -2.25494472e-05 9.99998534e-01 1.37719308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.57, Y:248.71, Z:1.38 [[ 7.53908563e-01 -6.56978065e-01 -1.30426721e-03 2.26568485e+02] [ 6.56977128e-01 7.53909691e-01 -1.10963852e-03 2.48710858e+02] [ 1.71230786e-03 -2.03077471e-05 9.99998534e-01 1.37537290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.59, Y:248.73, Z:1.38 [[ 7.50429986e-01 -6.60948651e-01 -1.30991644e-03 2.26588814e+02] [ 6.60947732e-01 7.50431129e-01 -1.10300612e-03 2.48732435e+02] [ 1.71203248e-03 -3.80574277e-05 9.99998534e-01 1.37521809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.61, Y:248.75, Z:1.38 [[ 7.48901308e-01 -6.62680250e-01 -1.31001003e-03 2.26607599e+02] [ 6.62679334e-01 7.48902453e-01 -1.10289628e-03 2.48750973e+02] [ 1.71193730e-03 -4.21561097e-05 9.99998534e-01 1.37628654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.63, Y:248.77, Z:1.38 [[ 7.48000463e-01 -6.63696925e-01 -1.30304861e-03 2.26628693e+02] [ 6.63695996e-01 7.48001598e-01 -1.11106060e-03 2.48769743e+02] [ 1.71208995e-03 -3.37543030e-05 9.99998534e-01 1.37636922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.65, Y:248.79, Z:1.38 [[ 7.47794740e-01 -6.63928708e-01 -1.30270425e-03 2.26650321e+02] [ 6.63927778e-01 7.47795874e-01 -1.11146422e-03 2.48788416e+02] [ 1.71208987e-03 -3.37544452e-05 9.99998534e-01 1.37641799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.67, Y:248.81, Z:1.38 [[ 7.47374391e-01 -6.64401854e-01 -1.30235967e-03 2.26669633e+02] [ 6.64400925e-01 7.47375525e-01 -1.11186783e-03 2.48806028e+02] [ 1.71207879e-03 -3.43074263e-05 9.99998534e-01 1.37668613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.94275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:226.69, Y:248.83, Z:1.38 [[ 7.46470363e-01 -6.65417396e-01 -1.29847790e-03 2.26691068e+02] [ 6.65416460e-01 7.46471492e-01 -1.11641185e-03 2.48826029e+02] [ 1.71215660e-03 -3.06602109e-05 9.99998534e-01 1.37700757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.71, Y:248.85, Z:1.38 [[ 7.46004686e-01 -6.65939422e-01 -1.30184236e-03 2.26711753e+02] [ 6.65938493e-01 7.46005821e-01 -1.11247468e-03 2.48845504e+02] [ 1.71202272e-03 -3.70356151e-05 9.99998534e-01 1.37715237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.73, Y:248.86, Z:1.38 [[ 7.45935644e-01 -6.66016757e-01 -1.30150037e-03 2.26732117e+02] [ 6.66015828e-01 7.45936779e-01 -1.11287464e-03 2.48863833e+02] [ 1.71203015e-03 -3.66869869e-05 9.99998534e-01 1.37694794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.75, Y:248.88, Z:1.38 [[ 7.45364411e-01 -6.66655987e-01 -1.30002070e-03 2.26753251e+02] [ 6.66655057e-01 7.45365543e-01 -1.11460435e-03 2.48883051e+02] [ 1.71204830e-03 -3.58789639e-05 9.99998534e-01 1.37646390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.77, Y:248.90, Z:1.38 [[ 7.45144561e-01 -6.66901710e-01 -1.30106044e-03 2.26773710e+02] [ 6.66900782e-01 7.45145696e-01 -1.11338935e-03 2.48900568e+02] [ 1.71200085e-03 -3.80422081e-05 9.99998534e-01 1.37681075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.79, Y:248.92, Z:1.37 [[ 7.44522471e-01 -6.67596133e-01 -1.30087352e-03 2.26793360e+02] [ 6.67595206e-01 7.44523607e-01 -1.11360771e-03 2.48919252e+02] [ 1.71197124e-03 -3.93509640e-05 9.99998534e-01 1.37462829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.82, Y:248.94, Z:1.38 [[ 7.44645065e-01 -6.67459398e-01 -1.29599615e-03 2.26815729e+02] [ 6.67458460e-01 7.44646192e-01 -1.11930307e-03 2.48937388e+02] [ 1.71214796e-03 -3.15400885e-05 9.99998534e-01 1.37514620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.84, Y:248.96, Z:1.38 [[ 7.45226205e-01 -6.66810485e-01 -1.29630905e-03 2.26839117e+02] [ 6.66809547e-01 7.45227332e-01 -1.11893777e-03 2.48955126e+02] [ 1.71216437e-03 -3.05295070e-05 9.99998534e-01 1.37723617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.86, Y:248.97, Z:1.38 [[ 7.44881576e-01 -6.67195434e-01 -1.30056549e-03 2.26860326e+02] [ 6.67194505e-01 7.44882710e-01 -1.11396834e-03 2.48973643e+02] [ 1.71200334e-03 -3.79556553e-05 9.99998534e-01 1.37676442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.88, Y:248.99, Z:1.38 [[ 7.44351835e-01 -6.67786385e-01 -1.30021714e-03 2.26881633e+02] [ 6.67785456e-01 7.44352969e-01 -1.11437479e-03 2.48993362e+02] [ 1.71198480e-03 -3.87791718e-05 9.99998534e-01 1.37570524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.90, Y:249.01, Z:1.37 [[ 7.43491678e-01 -6.68743914e-01 -1.30441391e-03 2.26900555e+02] [ 6.68742995e-01 7.43492821e-01 -1.10948229e-03 2.49010250e+02] [ 1.71178191e-03 -4.74268118e-05 9.99998534e-01 1.37297040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:249.03, Z:1.37 [[ 7.43041502e-01 -6.69244092e-01 -1.29322655e-03 2.26921294e+02] [ 6.69243151e-01 7.43042627e-01 -1.12250858e-03 2.49028142e+02] [ 1.71215469e-03 -3.14125511e-05 9.99998534e-01 1.37238306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.95, Y:249.05, Z:1.38 [[ 7.43668252e-01 -6.68547577e-01 -1.29178008e-03 2.26946362e+02] [ 6.68546632e-01 7.43669373e-01 -1.12419145e-03 2.49046490e+02] [ 1.71223275e-03 -2.75897327e-05 9.99998534e-01 1.37530748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.97, Y:249.06, Z:1.37 [[ 7.43701768e-01 -6.68510279e-01 -1.29868510e-03 2.26966950e+02] [ 6.68509348e-01 7.43702901e-01 -1.11615724e-03 2.49064332e+02] [ 1.71199846e-03 -3.80950190e-05 9.99998534e-01 1.37458283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.99, Y:249.08, Z:1.37 [[ 7.43735237e-01 -6.68473045e-01 -1.29849241e-03 2.26987686e+02] [ 6.68472113e-01 7.43736370e-01 -1.11638136e-03 2.49082708e+02] [ 1.71200688e-03 -3.77138154e-05 9.99998534e-01 1.37425475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.01, Y:249.10, Z:1.37 [[ 7.44225253e-01 -6.67927457e-01 -1.29814340e-03 2.27008456e+02] [ 6.67926524e-01 7.44226384e-01 -1.11678705e-03 2.49101061e+02] [ 1.71204530e-03 -3.59232847e-05 9.99998534e-01 1.37058824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.03, Y:249.12, Z:1.37 [[ 7.44440852e-01 -6.67687155e-01 -1.29682569e-03 2.27029766e+02] [ 6.67686219e-01 7.44441981e-01 -1.11831800e-03 2.49118661e+02] [ 1.71209805e-03 -3.33510350e-05 9.99998534e-01 1.37212987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.05, Y:249.14, Z:1.37 [[ 7.45290369e-01 -6.66738765e-01 -1.29766789e-03 2.27051449e+02] [ 6.66737830e-01 7.45291499e-01 -1.11733988e-03 2.49137240e+02] [ 1.71211466e-03 -3.24616242e-05 9.99998534e-01 1.37225586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.07, Y:249.16, Z:1.37 [[ 7.45577917e-01 -6.66417201e-01 -1.29732056e-03 2.27072320e+02] [ 6.66416265e-01 7.45579045e-01 -1.11774301e-03 2.49155577e+02] [ 1.71213819e-03 -3.11910097e-05 9.99998534e-01 1.37240141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.09, Y:249.17, Z:1.37 [[ 7.46004307e-01 -6.65939857e-01 -1.29696291e-03 2.27093603e+02] [ 6.65938918e-01 7.46005433e-01 -1.11815785e-03 2.49174390e+02] [ 1.71216726e-03 -2.95475067e-05 9.99998534e-01 1.37234092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.12, Y:249.19, Z:1.37 [[ 7.46414869e-01 -6.65479648e-01 -1.29660238e-03 2.27115054e+02] [ 6.65478709e-01 7.46415995e-01 -1.11857576e-03 2.49193369e+02] [ 1.71219416e-03 -2.79396974e-05 9.99998534e-01 1.37247801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.14, Y:249.21, Z:1.37 [[ 7.47351207e-01 -6.64427933e-01 -1.30244820e-03 2.27135267e+02] [ 6.64427003e-01 7.47352341e-01 -1.11179958e-03 2.49211157e+02] [ 1.71209841e-03 -3.44770025e-05 9.99998534e-01 1.37303125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.16, Y:249.23, Z:1.37 [[ 7.47164920e-01 -6.64637422e-01 -1.29621383e-03 2.27156818e+02] [ 6.64636480e-01 7.47166044e-01 -1.11902114e-03 2.49230764e+02] [ 1.71223029e-03 -2.54176522e-05 9.99998534e-01 1.37329489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.18, Y:249.25, Z:1.37 [[ 7.47632974e-01 -6.64110874e-01 -1.29764896e-03 2.27177527e+02] [ 6.64109934e-01 7.47634100e-01 -1.11735945e-03 2.49250041e+02] [ 1.71221717e-03 -2.64067939e-05 9.99998534e-01 1.37488741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.20, Y:249.27, Z:1.37 [[ 7.51470403e-01 -6.59765530e-01 -1.29575720e-03 2.27200440e+02] [ 6.59764580e-01 7.51471520e-01 -1.11954895e-03 2.49266199e+02] [ 1.71236444e-03 -1.35868050e-05 9.99998534e-01 1.37191093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.22, Y:249.29, Z:1.38 [[ 7.46835966e-01 -6.65007039e-01 -1.29543434e-03 2.27219787e+02] [ 6.65006096e-01 7.46837089e-01 -1.11992241e-03 2.49288214e+02] [ 1.71223470e-03 -2.50733988e-05 9.99998534e-01 1.37584238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.24, Y:249.31, Z:1.38 [[ 7.45534088e-01 -6.66466238e-01 -1.29509965e-03 2.27240734e+02] [ 6.66465297e-01 7.45535213e-01 -1.12030933e-03 2.49307078e+02] [ 1.71219073e-03 -2.79101790e-05 9.99998534e-01 1.37591513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.26, Y:249.33, Z:1.38 [[ 7.44682536e-01 -6.67417594e-01 -1.29474400e-03 2.27261079e+02] [ 6.67416654e-01 7.44683661e-01 -1.12072020e-03 2.49325182e+02] [ 1.71216308e-03 -2.95529480e-05 9.99998534e-01 1.37565744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.28, Y:249.35, Z:1.38 [[ 7.42189922e-01 -6.70188365e-01 -1.29454669e-03 2.27284007e+02] [ 6.70187428e-01 7.42191050e-01 -1.12094807e-03 2.49346553e+02] [ 1.71204732e-03 -3.56325551e-05 9.99998534e-01 1.37684595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.30, Y:249.36, Z:1.38 [[ 7.40786701e-01 -6.71739059e-01 -1.30378375e-03 2.27304374e+02] [ 6.71738144e-01 7.40787846e-01 -1.11028701e-03 2.49363387e+02] [ 1.71165031e-03 -5.33154270e-05 9.99998534e-01 1.37633010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.32, Y:249.38, Z:1.37 [[ 7.38049949e-01 -6.74744840e-01 -1.29366200e-03 2.27323145e+02] [ 6.74743909e-01 7.38051082e-01 -1.12195780e-03 2.49383109e+02] [ 1.71182387e-03 -4.48296572e-05 9.99998534e-01 1.37326248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.35, Y:249.40, Z:1.38 [[ 7.37649633e-01 -6.75182466e-01 -1.28754061e-03 2.27347364e+02] [ 6.75181523e-01 7.37650755e-01 -1.12901128e-03 2.49400594e+02] [ 1.71204393e-03 -3.65088754e-05 9.99998534e-01 1.37773449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.37, Y:249.42, Z:1.38 [[ 7.36616150e-01 -6.76309821e-01 -1.29335007e-03 2.27368660e+02] [ 6.76308892e-01 7.36617284e-01 -1.12231650e-03 2.49419549e+02] [ 1.71173769e-03 -4.79876915e-05 9.99998534e-01 1.37790361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.39, Y:249.44, Z:1.38 [[ 7.35890375e-01 -6.77099464e-01 -1.29299982e-03 2.27389313e+02] [ 6.77098535e-01 7.35891509e-01 -1.12271988e-03 2.49437756e+02] [ 1.71170062e-03 -4.92895347e-05 9.99998534e-01 1.37799780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.41, Y:249.46, Z:1.38 [[ 7.34400053e-01 -6.78715618e-01 -1.29280542e-03 2.27410523e+02] [ 6.78714691e-01 7.34401190e-01 -1.12294369e-03 2.49456489e+02] [ 1.71159725e-03 -5.27561263e-05 9.99998534e-01 1.37744864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.43, Y:249.48, Z:1.38 [[ 7.33767831e-01 -6.79399073e-01 -1.29245031e-03 2.27432006e+02] [ 6.79398146e-01 7.33768967e-01 -1.12335225e-03 2.49475047e+02] [ 1.71156440e-03 -5.38085952e-05 9.99998534e-01 1.37713460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.45, Y:249.49, Z:1.38 [[ 7.33214860e-01 -6.79995809e-01 -1.29209172e-03 2.27452047e+02] [ 6.79994882e-01 7.33215997e-01 -1.12376455e-03 2.49492542e+02] [ 1.71153750e-03 -5.46548841e-05 9.99998534e-01 1.37682185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.47, Y:249.51, Z:1.38 [[ 7.32668093e-01 -6.80584893e-01 -1.29189274e-03 2.27473454e+02] [ 6.80583967e-01 7.32669230e-01 -1.12399325e-03 2.49510811e+02] [ 1.71150289e-03 -5.57275008e-05 9.99998534e-01 1.37656750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.49, Y:249.53, Z:1.38 [[ 7.33036581e-01 -6.80187991e-01 -1.29153529e-03 2.27493668e+02] [ 6.80187063e-01 7.33037717e-01 -1.12440384e-03 2.49528395e+02] [ 1.71155007e-03 -5.42564479e-05 9.99998534e-01 1.37597751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.51, Y:249.55, Z:1.38 [[ 7.33220322e-01 -6.79989920e-01 -1.29133729e-03 2.27513959e+02] [ 6.79988992e-01 7.33221458e-01 -1.12463118e-03 2.49546280e+02] [ 1.71157408e-03 -5.34927084e-05 9.99998534e-01 1.37575204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.53, Y:249.56, Z:1.38 [[ 7.34787872e-01 -6.78295744e-01 -1.29114190e-03 2.27534875e+02] [ 6.78294813e-01 7.34789005e-01 -1.12485546e-03 2.49564174e+02] [ 1.71170154e-03 -4.92447076e-05 9.99998534e-01 1.37596406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.56, Y:249.58, Z:1.38 [[ 7.36299753e-01 -6.76654277e-01 -1.28971197e-03 2.27555306e+02] [ 6.76653341e-01 7.36300881e-01 -1.12649611e-03 2.49581443e+02] [ 1.71186447e-03 -4.32491042e-05 9.99998534e-01 1.37500405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.58, Y:249.60, Z:1.37 [[ 7.36648393e-01 -6.76274722e-01 -1.28256080e-03 2.27576848e+02] [ 6.76273771e-01 7.36649509e-01 -1.13469301e-03 2.49601154e+02] [ 1.71216199e-03 -3.14924457e-05 9.99998534e-01 1.37421797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.60, Y:249.62, Z:1.37 [[ 7.38411546e-01 -6.74349112e-01 -1.28967705e-03 2.27597796e+02] [ 6.74348172e-01 7.38412672e-01 -1.12653593e-03 2.49619478e+02] [ 1.71199238e-03 -3.78442239e-05 9.99998534e-01 1.37476471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.62, Y:249.64, Z:1.38 [[ 7.39039329e-01 -6.73661046e-01 -1.29023707e-03 2.27619021e+02] [ 6.73660107e-01 7.39040454e-01 -1.12589416e-03 2.49637888e+02] [ 1.71200843e-03 -3.71011822e-05 9.99998534e-01 1.37507727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.64, Y:249.66, Z:1.38 [[ 7.39955149e-01 -6.72654974e-01 -1.28987822e-03 2.27639541e+02] [ 6.72654032e-01 7.39956273e-01 -1.12630512e-03 2.49655043e+02] [ 1.71206822e-03 -3.42265081e-05 9.99998534e-01 1.37552776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.66, Y:249.67, Z:1.38 [[ 7.40276092e-01 -6.72301751e-01 -1.28967891e-03 2.27661023e+02] [ 6.72300808e-01 7.40277214e-01 -1.12653330e-03 2.49673325e+02] [ 1.71209022e-03 -3.31065062e-05 9.99998534e-01 1.37628607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.68, Y:249.69, Z:1.38 [[ 7.39656216e-01 -6.72983676e-01 -1.28604898e-03 2.27682707e+02] [ 6.72982727e-01 7.39657333e-01 -1.13068639e-03 2.49692475e+02] [ 1.71216904e-03 -2.91695333e-05 9.99998534e-01 1.37633407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.70, Y:249.71, Z:1.38 [[ 7.39481924e-01 -6.73175178e-01 -1.29011010e-03 2.27703799e+02] [ 6.73174237e-01 7.39483048e-01 -1.12604162e-03 2.49710605e+02] [ 1.71203782e-03 -3.57814574e-05 9.99998534e-01 1.37762720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.72, Y:249.73, Z:1.38 [[ 7.39644545e-01 -6.72996498e-01 -1.28889530e-03 2.27723341e+02] [ 6.72995554e-01 7.39645667e-01 -1.12743039e-03 2.49726934e+02] [ 1.71208253e-03 -3.35230687e-05 9.99998534e-01 1.37918044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.74, Y:249.75, Z:1.38 [[ 7.37829441e-01 -6.74985973e-01 -1.28550730e-03 2.27743247e+02] [ 6.74985025e-01 7.37830560e-01 -1.13130661e-03 2.49746906e+02] [ 1.71210266e-03 -3.29868501e-05 9.99998534e-01 1.37850858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.76, Y:249.77, Z:1.38 [[ 7.36086724e-01 -6.76886020e-01 -1.28480689e-03 2.27762388e+02] [ 6.76885074e-01 7.36087844e-01 -1.13210765e-03 2.49765276e+02] [ 1.71203858e-03 -3.63371993e-05 9.99998534e-01 1.37846154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.79, Y:249.78, Z:1.38 [[ 7.36417555e-01 -6.76526090e-01 -1.27828101e-03 2.27787736e+02] [ 6.76525131e-01 7.36418664e-01 -1.13955410e-03 2.49783667e+02] [ 1.71228807e-03 -2.56015783e-05 9.99998534e-01 1.38173574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.81, Y:249.80, Z:1.38 [[ 7.35913755e-01 -6.77074062e-01 -1.28800489e-03 2.27805590e+02] [ 6.77073123e-01 7.35914881e-01 -1.12845539e-03 2.49800660e+02] [ 1.71190984e-03 -4.16276469e-05 9.99998534e-01 1.38053335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.83, Y:249.82, Z:1.38 [[ 7.35046291e-01 -6.78015723e-01 -1.27618386e-03 2.27827330e+02] [ 6.78014762e-01 7.35047399e-01 -1.14196491e-03 2.49820694e+02] [ 1.71232579e-03 -2.58744265e-05 9.99998534e-01 1.38034659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5927550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:227.85, Y:249.84, Z:1.38 [[ 7.36201791e-01 -6.76760878e-01 -1.27919197e-03 2.27852402e+02] [ 6.76759921e-01 7.36202902e-01 -1.13852747e-03 2.49838632e+02] [ 1.71225569e-03 -2.75198968e-05 9.99998534e-01 1.38277155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.87, Y:249.86, Z:1.38 [[ 7.34310048e-01 -6.78813003e-01 -1.28861232e-03 2.27869605e+02] [ 6.78812068e-01 7.34311177e-01 -1.12776354e-03 2.49857901e+02] [ 1.71178298e-03 -4.65974936e-05 9.99998534e-01 1.37910930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.89, Y:249.88, Z:1.38 [[ 7.34271267e-01 -6.78854969e-01 -1.28008753e-03 2.27890927e+02] [ 6.78854016e-01 7.34272382e-01 -1.13751374e-03 2.49876918e+02] [ 1.71213977e-03 -3.37489100e-05 9.99998534e-01 1.38145859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.91, Y:249.90, Z:1.38 [[ 7.34560877e-01 -6.78541581e-01 -1.28103612e-03 2.27912859e+02] [ 6.78540631e-01 7.34561993e-01 -1.13642912e-03 2.49895898e+02] [ 1.71211486e-03 -3.44586897e-05 9.99998534e-01 1.38135329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:227.93, Y:249.92, Z:1.38 [[ 7.33850598e-01 -6.79309680e-01 -1.28766450e-03 2.27933558e+02] [ 6.79308744e-01 7.33851726e-01 -1.12885073e-03 2.49915344e+02] [ 1.71179405e-03 -4.63139682e-05 9.99998534e-01 1.38155708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.95, Y:249.93, Z:1.38 [[ 7.34749734e-01 -6.78337056e-01 -1.29126944e-03 2.27952186e+02] [ 6.78336125e-01 7.34750867e-01 -1.12473082e-03 2.49932864e+02] [ 1.71170794e-03 -4.95190417e-05 9.99998534e-01 1.38205676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.97, Y:249.95, Z:1.38 [[ 7.34559816e-01 -6.78542718e-01 -1.28672760e-03 2.27972784e+02] [ 6.78541779e-01 7.34560942e-01 -1.12991803e-03 2.49951182e+02] [ 1.71187749e-03 -4.31060505e-05 9.99998534e-01 1.38210203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:227.99, Y:249.97, Z:1.38 [[ 7.34652002e-01 -6.78442909e-01 -1.28654925e-03 2.27994319e+02] [ 6.78441969e-01 7.34653127e-01 -1.13012163e-03 2.49971028e+02] [ 1.71189044e-03 -4.26028903e-05 9.99998534e-01 1.38262027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.01, Y:249.99, Z:1.38 [[ 7.35154787e-01 -6.77898062e-01 -1.28751975e-03 2.28014738e+02] [ 6.77897123e-01 7.35155913e-01 -1.12901408e-03 2.49990080e+02] [ 1.71188422e-03 -4.28058266e-05 9.99998534e-01 1.38208330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.03, Y:250.01, Z:1.38 [[ 7.35609112e-01 -6.77405034e-01 -1.28643401e-03 2.28034987e+02] [ 6.77404092e-01 7.35610236e-01 -1.13025243e-03 2.50009241e+02] [ 1.71195271e-03 -4.00116729e-05 9.99998534e-01 1.38278761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.05, Y:250.03, Z:1.38 [[ 7.36974757e-01 -6.75919041e-01 -1.28737350e-03 2.28054791e+02] [ 6.75918099e-01 7.36975881e-01 -1.12918132e-03 2.50029534e+02] [ 1.71199838e-03 -3.79809196e-05 9.99998534e-01 1.38289041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.08, Y:250.05, Z:1.38 [[ 7.39713204e-01 -6.72921037e-01 -1.28620264e-03 2.28076342e+02] [ 6.72920088e-01 7.39714321e-01 -1.13051555e-03 2.50049377e+02] [ 1.71217020e-03 -2.92543136e-05 9.99998534e-01 1.38458252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.10, Y:250.07, Z:1.38 [[ 7.38532532e-01 -6.74216615e-01 -1.28691325e-03 2.28097006e+02] [ 6.74215669e-01 7.38533652e-01 -1.12970604e-03 2.50069569e+02] [ 1.71209533e-03 -3.33324153e-05 9.99998534e-01 1.38331290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.12, Y:250.09, Z:1.38 [[ 7.39563949e-01 -6.73085059e-01 -1.29220880e-03 2.28118888e+02] [ 6.73084122e-01 7.39565077e-01 -1.12368876e-03 2.50088371e+02] [ 1.71201061e-03 -3.87255305e-05 9.99998534e-01 1.38445647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.14, Y:250.11, Z:1.38 [[ 7.39392016e-01 -6.73273919e-01 -1.29484848e-03 2.28135984e+02] [ 6.73272988e-01 7.39393149e-01 -1.12068650e-03 2.50105733e+02] [ 1.71193108e-03 -4.31598526e-05 9.99998534e-01 1.38420917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.16, Y:250.12, Z:1.38 [[ 7.39208671e-01 -6.73475238e-01 -1.28219430e-03 2.28156411e+02] [ 6.73474282e-01 7.39209783e-01 -1.13505300e-03 2.50124653e+02] [ 1.71224066e-03 -2.44838624e-05 9.99998534e-01 1.38486758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.18, Y:250.14, Z:1.39 [[ 7.39495963e-01 -6.73159765e-01 -1.28487621e-03 2.28177110e+02] [ 6.73158814e-01 7.39497079e-01 -1.13200892e-03 2.50144360e+02] [ 1.71218506e-03 -2.78097208e-05 9.99998534e-01 1.38545250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.20, Y:250.16, Z:1.39 [[ 7.39469935e-01 -6.73188358e-01 -1.28451234e-03 2.28197053e+02] [ 6.73187407e-01 7.39471050e-01 -1.13242166e-03 2.50163082e+02] [ 1.71219277e-03 -2.73257566e-05 9.99998534e-01 1.38584730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.22, Y:250.18, Z:1.39 [[ 7.38876038e-01 -6.73840152e-01 -1.28430959e-03 2.28217873e+02] [ 6.73839201e-01 7.38877154e-01 -1.13265156e-03 2.50182718e+02] [ 1.71217311e-03 -2.85290470e-05 9.99998534e-01 1.38541878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.24, Y:250.20, Z:1.39 [[ 7.38587893e-01 -6.74155970e-01 -1.28569730e-03 2.28238318e+02] [ 6.74155022e-01 7.38589011e-01 -1.13107840e-03 2.50200555e+02] [ 1.71212515e-03 -3.13584808e-05 9.99998534e-01 1.38617622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.26, Y:250.22, Z:1.39 [[ 7.37750344e-01 -6.75072427e-01 -1.28390543e-03 2.28259523e+02] [ 6.75071476e-01 7.37751461e-01 -1.13310873e-03 2.50219695e+02] [ 1.71213357e-03 -3.07765749e-05 9.99998534e-01 1.38617243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.28, Y:250.24, Z:1.39 [[ 7.36290667e-01 -6.76664175e-01 -1.28354926e-03 2.28280153e+02] [ 6.76663226e-01 7.36291785e-01 -1.13351205e-03 2.50238506e+02] [ 1.71207377e-03 -3.39362360e-05 9.99998534e-01 1.38633240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.30, Y:250.26, Z:1.39 [[ 7.35143394e-01 -6.77910425e-01 -1.28319041e-03 2.28300520e+02] [ 6.77909477e-01 7.35144513e-01 -1.13391814e-03 2.50257333e+02] [ 1.71202532e-03 -3.62945081e-05 9.99998534e-01 1.38661936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.32, Y:250.28, Z:1.39 [[ 7.34214747e-01 -6.78916092e-01 -1.28282567e-03 2.28321158e+02] [ 6.78915146e-01 7.34215866e-01 -1.13433063e-03 2.50276427e+02] [ 1.71198628e-03 -3.80875014e-05 9.99998534e-01 1.38681727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.34, Y:250.30, Z:1.38 [[ 7.30710907e-01 -6.82685818e-01 -1.28246423e-03 2.28337982e+02] [ 6.82684876e-01 7.30712031e-01 -1.13473912e-03 2.50297072e+02] [ 1.71178235e-03 -4.63526815e-05 9.99998534e-01 1.38452652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.36, Y:250.32, Z:1.39 [[ 7.31184269e-01 -6.82178821e-01 -1.27315190e-03 2.28362375e+02] [ 6.82177861e-01 7.31185377e-01 -1.14525508e-03 2.50315307e+02] [ 1.71217881e-03 -3.11235381e-05 9.99998534e-01 1.38688506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.38, Y:250.33, Z:1.39 [[ 7.29051401e-01 -6.84457750e-01 -1.28210155e-03 2.28380416e+02] [ 6.84456810e-01 7.29052527e-01 -1.13514682e-03 2.50334418e+02] [ 1.71167941e-03 -4.99627524e-05 9.99998534e-01 1.38559758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.40, Y:250.35, Z:1.39 [[ 7.26957397e-01 -6.86681386e-01 -1.27163469e-03 2.28402740e+02] [ 6.86680429e-01 7.26958508e-01 -1.14695288e-03 2.50354790e+02] [ 1.71201685e-03 -3.94207779e-05 9.99998534e-01 1.38736592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.42, Y:250.37, Z:1.39 [[ 7.25996720e-01 -6.87696967e-01 -1.28242544e-03 2.28422484e+02] [ 6.87696033e-01 7.25997850e-01 -1.13477650e-03 2.50373663e+02] [ 1.71142047e-03 -5.80748693e-05 9.99998534e-01 1.38671651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.44, Y:250.39, Z:1.39 [[ 7.24223225e-01 -6.89564413e-01 -1.28123299e-03 2.28441092e+02] [ 6.89563479e-01 7.24224356e-01 -1.13612126e-03 2.50394042e+02] [ 1.71132892e-03 -6.06860794e-05 9.99998534e-01 1.38605350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.46, Y:250.41, Z:1.39 [[ 7.23930270e-01 -6.89871962e-01 -1.28104298e-03 2.28461276e+02] [ 6.89871029e-01 7.23931401e-01 -1.13633546e-03 2.50413861e+02] [ 1.71131321e-03 -6.11268037e-05 9.99998534e-01 1.38536488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.48, Y:250.43, Z:1.39 [[ 7.23390557e-01 -6.90437880e-01 -1.27921777e-03 2.28481059e+02] [ 6.90436944e-01 7.23391685e-01 -1.13839226e-03 2.50433581e+02] [ 1.71136463e-03 -5.97169969e-05 9.99998534e-01 1.38644087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.50, Y:250.45, Z:1.38 [[ 7.22962363e-01 -6.90886232e-01 -1.27890756e-03 2.28500190e+02] [ 6.90885296e-01 7.22963492e-01 -1.13874169e-03 2.50454629e+02] [ 1.71134443e-03 -6.03110442e-05 9.99998534e-01 1.38422272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.52, Y:250.47, Z:1.38 [[ 7.22845414e-01 -6.91008587e-01 -1.28043377e-03 2.28519879e+02] [ 6.91007655e-01 7.22846546e-01 -1.13702298e-03 2.50474006e+02] [ 1.71124977e-03 -6.28976879e-05 9.99998534e-01 1.38386902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.61275509600006 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:228.54, Y:250.49, Z:1.38 [[ 7.24005823e-01 -6.89792672e-01 -1.28008395e-03 2.28539464e+02] [ 6.89791737e-01 7.24006952e-01 -1.13741667e-03 2.50492025e+02] [ 1.71137136e-03 -5.94950384e-05 9.99998534e-01 1.38146948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.56, Y:250.51, Z:1.38 [[ 7.25005927e-01 -6.88741449e-01 -1.27367541e-03 2.28557622e+02] [ 6.88740500e-01 7.25007044e-01 -1.14462374e-03 2.50510666e+02] [ 1.71177346e-03 -4.73728426e-05 9.99998534e-01 1.37928217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.58, Y:250.53, Z:1.38 [[ 7.24214242e-01 -6.89573867e-01 -1.26987664e-03 2.28578334e+02] [ 6.89572912e-01 7.24215354e-01 -1.14889874e-03 2.50532117e+02] [ 1.71191471e-03 -4.36237002e-05 9.99998534e-01 1.38154317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.60, Y:250.55, Z:1.38 [[ 7.24824844e-01 -6.88932012e-01 -1.27623643e-03 2.28597248e+02] [ 6.88931068e-01 7.24825965e-01 -1.14174125e-03 2.50551145e+02] [ 1.71163140e-03 -5.16764981e-05 9.99998534e-01 1.38183340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.62, Y:250.58, Z:1.38 [[ 7.26182219e-01 -6.87501097e-01 -1.27527847e-03 2.28622219e+02] [ 6.87500148e-01 7.26183338e-01 -1.14281979e-03 2.50575495e+02] [ 1.71177583e-03 -4.68587266e-05 9.99998534e-01 1.38186262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.64, Y:250.59, Z:1.38 [[ 7.27961559e-01 -6.85616717e-01 -1.29852310e-03 2.28642591e+02] [ 6.85615812e-01 7.27962713e-01 -1.11671637e-03 2.50593783e+02] [ 1.71091581e-03 -7.73613812e-05 9.99998533e-01 1.38276051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.65, Y:250.61, Z:1.39 [[ 7.24159492e-01 -6.89631311e-01 -1.29820598e-03 2.28652938e+02] [ 6.89630411e-01 7.24160651e-01 -1.11707277e-03 2.50614302e+02] [ 1.71047805e-03 -8.63434760e-05 9.99998533e-01 1.38527540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.67, Y:250.63, Z:1.39 [[ 7.24628151e-01 -6.89138889e-01 -1.27845531e-03 2.28672118e+02] [ 6.89137949e-01 7.24629277e-01 -1.13923704e-03 2.50632800e+02] [ 1.71149869e-03 -5.55088429e-05 9.99998534e-01 1.38597584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.69, Y:250.65, Z:1.39 [[ 7.23783309e-01 -6.90026160e-01 -1.27271733e-03 2.28692912e+02] [ 6.90025211e-01 7.23784427e-01 -1.14567104e-03 2.50653315e+02] [ 1.71171598e-03 -4.89894676e-05 9.99998534e-01 1.38596909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.71, Y:250.67, Z:1.39 [[ 7.24157249e-01 -6.89633704e-01 -1.27794741e-03 2.28711591e+02] [ 6.89632764e-01 7.24158374e-01 -1.13980710e-03 2.50671604e+02] [ 1.71148571e-03 -5.59148296e-05 9.99998534e-01 1.38546861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.73, Y:250.69, Z:1.39 [[ 7.24224855e-01 -6.89562713e-01 -1.27463944e-03 2.28731319e+02] [ 6.89561767e-01 7.24225975e-01 -1.14351450e-03 2.50693088e+02] [ 1.71165195e-03 -5.07809976e-05 9.99998534e-01 1.38621687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.75, Y:250.71, Z:1.39 [[ 7.24608269e-01 -6.89159796e-01 -1.27759327e-03 2.28750602e+02] [ 6.89158855e-01 7.24609393e-01 -1.14020475e-03 2.50712325e+02] [ 1.71153936e-03 -5.42629237e-05 9.99998534e-01 1.38704671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.77, Y:250.73, Z:1.39 [[ 7.26941821e-01 -6.86697865e-01 -1.27737201e-03 2.28769209e+02] [ 6.86696920e-01 7.26942941e-01 -1.14045258e-03 2.50731969e+02] [ 1.71172292e-03 -4.81247482e-05 9.99998534e-01 1.38605003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.79, Y:250.75, Z:1.39 [[ 7.26565868e-01 -6.87095645e-01 -1.27019625e-03 2.28788303e+02] [ 6.87094687e-01 7.26566977e-01 -1.14847572e-03 2.50751891e+02] [ 1.71199531e-03 -3.83018365e-05 9.99998534e-01 1.38681165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.81, Y:250.77, Z:1.39 [[ 7.25828923e-01 -6.87874089e-01 -1.26973106e-03 2.28809545e+02] [ 6.87873131e-01 7.25830032e-01 -1.14899552e-03 2.50772870e+02] [ 1.71197318e-03 -3.94397013e-05 9.99998534e-01 1.38763837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.83, Y:250.79, Z:1.39 [[ 7.26054304e-01 -6.87636183e-01 -1.27592443e-03 2.28829290e+02] [ 6.87635236e-01 7.26055424e-01 -1.14207631e-03 2.50791838e+02] [ 1.71172484e-03 -4.81611775e-05 9.99998534e-01 1.38809899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.85, Y:250.81, Z:1.39 [[ 7.25835882e-01 -6.87866735e-01 -1.27567074e-03 2.28849381e+02] [ 6.87865788e-01 7.25837002e-01 -1.14235961e-03 2.50811127e+02] [ 1.71172019e-03 -4.83246622e-05 9.99998534e-01 1.38862178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.87, Y:250.83, Z:1.38 [[ 7.24461545e-01 -6.89314038e-01 -1.27528983e-03 2.28868173e+02] [ 6.89313093e-01 7.24462666e-01 -1.14278468e-03 2.50831723e+02] [ 1.71163739e-03 -5.11704189e-05 9.99998534e-01 1.38371049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.89, Y:250.85, Z:1.39 [[ 7.24795471e-01 -6.88962922e-01 -1.27158102e-03 2.28889403e+02] [ 6.88961969e-01 7.24796585e-01 -1.14692163e-03 2.50851229e+02] [ 1.71182406e-03 -4.47873580e-05 9.99998534e-01 1.38547407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.91, Y:250.87, Z:1.39 [[ 7.25403018e-01 -6.88323214e-01 -1.27110016e-03 2.28911999e+02] [ 6.88322259e-01 7.25404130e-01 -1.14745781e-03 2.50870815e+02] [ 1.71188315e-03 -4.25571732e-05 9.99998534e-01 1.38905759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.93, Y:250.89, Z:1.38 [[ 7.24783232e-01 -6.88975792e-01 -1.27466409e-03 2.28929517e+02] [ 6.88974845e-01 7.24784351e-01 -1.14348504e-03 2.50888140e+02] [ 1.71169009e-03 -4.94327111e-05 9.99998534e-01 1.38423139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.24275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:228.95, Y:250.91, Z:1.39 [[ 7.24938796e-01 -6.88812124e-01 -1.26503598e-03 2.28952950e+02] [ 6.88811158e-01 7.24939899e-01 -1.15421187e-03 2.50906268e+02] [ 1.71211019e-03 -3.46379358e-05 9.99998534e-01 1.38797109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.97, Y:250.93, Z:1.39 [[ 7.23803849e-01 -6.90004617e-01 -1.27136023e-03 2.28973850e+02] [ 6.90003665e-01 7.23804964e-01 -1.14716959e-03 2.50925474e+02] [ 1.71176916e-03 -4.69174505e-05 9.99998534e-01 1.38709062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:228.99, Y:250.95, Z:1.39 [[ 7.22472223e-01 -6.91398779e-01 -1.27096971e-03 2.28994977e+02] [ 6.91397828e-01 7.22473340e-01 -1.14760412e-03 2.50945565e+02] [ 1.71169381e-03 -4.96335962e-05 9.99998534e-01 1.38813280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.01, Y:250.96, Z:1.39 [[ 7.22323834e-01 -6.91553794e-01 -1.27651658e-03 2.29013830e+02] [ 6.91552854e-01 7.22324959e-01 -1.14143548e-03 2.50963593e+02] [ 1.71142382e-03 -5.82926287e-05 9.99998534e-01 1.38768375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.03, Y:250.98, Z:1.39 [[ 7.22058692e-01 -6.91830633e-01 -1.27274477e-03 2.29034126e+02] [ 6.91829687e-01 7.22059812e-01 -1.14562742e-03 2.50982477e+02] [ 1.71157799e-03 -5.33123806e-05 9.99998534e-01 1.38821554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.05, Y:251.00, Z:1.39 [[ 7.21124398e-01 -6.92804434e-01 -1.27196402e-03 2.29053757e+02] [ 6.92803488e-01 7.21125518e-01 -1.14649464e-03 2.51002486e+02] [ 1.71154228e-03 -5.44558484e-05 9.99998534e-01 1.38520447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.08, Y:251.02, Z:1.39 [[ 7.22271040e-01 -6.91608944e-01 -1.27035738e-03 2.29075307e+02] [ 6.91607992e-01 7.22272156e-01 -1.14827800e-03 2.51019802e+02] [ 1.71170310e-03 -4.92213718e-05 9.99998534e-01 1.38719162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.45275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.10, Y:251.04, Z:1.39 [[ 7.22484807e-01 -6.91385633e-01 -1.26911628e-03 2.29096219e+02] [ 6.91384679e-01 7.22485920e-01 -1.14965496e-03 2.51038049e+02] [ 1.71177356e-03 -4.68393086e-05 9.99998534e-01 1.38841134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.12, Y:251.06, Z:1.39 [[ 7.22560391e-01 -6.91306641e-01 -1.26833008e-03 2.29116521e+02] [ 6.91305685e-01 7.22561503e-01 -1.15052720e-03 2.51056367e+02] [ 1.71181358e-03 -4.54784142e-05 9.99998534e-01 1.38836946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.14, Y:251.08, Z:1.39 [[ 7.23071139e-01 -6.90772410e-01 -1.26680128e-03 2.29136498e+02] [ 6.90771450e-01 7.23072248e-01 -1.15222248e-03 2.51075772e+02] [ 1.71191235e-03 -4.19313393e-05 9.99998534e-01 1.38807212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.16, Y:251.10, Z:1.39 [[ 7.22480789e-01 -6.91389838e-01 -1.26553132e-03 2.29157033e+02] [ 6.91388877e-01 7.22481896e-01 -1.15362999e-03 2.51095895e+02] [ 1.71193152e-03 -4.14987691e-05 9.99998534e-01 1.38855797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.18, Y:251.12, Z:1.39 [[ 7.23317891e-01 -6.90514023e-01 -1.26989451e-03 2.29177741e+02] [ 6.90513069e-01 7.23319004e-01 -1.14879437e-03 2.51115307e+02] [ 1.71179746e-03 -4.59352361e-05 9.99998534e-01 1.39123454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.20, Y:251.13, Z:1.39 [[ 7.23801397e-01 -6.90007195e-01 -1.26838215e-03 2.29198014e+02] [ 6.90006237e-01 7.23802507e-01 -1.15046978e-03 2.51134108e+02] [ 1.71189060e-03 -4.24799646e-05 9.99998534e-01 1.39065417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.22, Y:251.15, Z:1.39 [[ 7.24277546e-01 -6.89507379e-01 -1.26904445e-03 2.29218654e+02] [ 6.89506422e-01 7.24278656e-01 -1.14973632e-03 2.51153323e+02] [ 1.71189348e-03 -4.22860961e-05 9.99998534e-01 1.39160113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.24, Y:251.17, Z:1.39 [[ 7.26360745e-01 -6.87312489e-01 -1.26880883e-03 2.29238527e+02] [ 6.87311528e-01 7.26361853e-01 -1.14999707e-03 2.51171913e+02] [ 1.71202168e-03 -3.67542049e-05 9.99998534e-01 1.39269147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.26, Y:251.19, Z:1.39 [[ 7.26248435e-01 -6.87431163e-01 -1.26726574e-03 2.29259590e+02] [ 6.87430199e-01 7.26249540e-01 -1.15170414e-03 2.51191150e+02] [ 1.71206848e-03 -3.47334076e-05 9.99998534e-01 1.39273981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.28, Y:251.21, Z:1.39 [[ 7.27418537e-01 -6.86192879e-01 -1.26732428e-03 2.29280411e+02] [ 6.86191913e-01 7.27419640e-01 -1.15163939e-03 2.51210439e+02] [ 1.71212332e-03 -3.19038316e-05 9.99998534e-01 1.39201931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.30, Y:251.23, Z:1.39 [[ 7.27671158e-01 -6.85924983e-01 -1.26621235e-03 2.29301385e+02] [ 6.85924015e-01 7.27672259e-01 -1.15286882e-03 2.51230681e+02] [ 1.71216912e-03 -2.96160688e-05 9.99998534e-01 1.39340883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.32, Y:251.25, Z:1.39 [[ 7.30263479e-01 -6.83164427e-01 -1.27184358e-03 2.29321254e+02] [ 6.83163465e-01 7.30264586e-01 -1.14664319e-03 2.51248075e+02] [ 1.71212816e-03 -3.15254252e-05 9.99998534e-01 1.39181038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.34, Y:251.27, Z:1.39 [[ 7.31385127e-01 -6.81963477e-01 -1.26965061e-03 2.29342372e+02] [ 6.81962509e-01 7.31386229e-01 -1.14906629e-03 2.51266369e+02] [ 1.71222621e-03 -2.54441226e-05 9.99998534e-01 1.39192269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.36, Y:251.28, Z:1.39 [[ 7.32638714e-01 -6.80616561e-01 -1.26928814e-03 2.29363596e+02] [ 6.80615591e-01 7.32639813e-01 -1.14946655e-03 2.51283934e+02] [ 1.71227699e-03 -2.17536041e-05 9.99998534e-01 1.39168077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.39, Y:251.30, Z:1.39 [[ 7.32649187e-01 -6.80605288e-01 -1.26909031e-03 2.29385270e+02] [ 6.80604317e-01 7.32650286e-01 -1.14968492e-03 2.51303042e+02] [ 1.71228102e-03 -2.14326166e-05 9.99998534e-01 1.39273046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.41, Y:251.32, Z:1.39 [[ 7.33346712e-01 -6.79853648e-01 -1.27169570e-03 2.29406634e+02] [ 6.79852682e-01 7.33347814e-01 -1.14680966e-03 2.51321440e+02] [ 1.71225799e-03 -2.35566359e-05 9.99998534e-01 1.39150477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.43, Y:251.34, Z:1.39 [[ 7.32215562e-01 -6.81071774e-01 -1.26860993e-03 2.29428583e+02] [ 6.81070803e-01 7.32216661e-01 -1.15021306e-03 2.51342137e+02] [ 1.71227498e-03 -2.18092849e-05 9.99998534e-01 1.39208824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.45, Y:251.36, Z:1.39 [[ 7.34240755e-01 -6.78887977e-01 -1.27608632e-03 2.29453448e+02] [ 6.78887017e-01 7.34241863e-01 -1.14197363e-03 2.51359319e+02] [ 1.71222817e-03 -2.78348519e-05 9.99998534e-01 1.39151550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.48, Y:251.38, Z:1.39 [[ 7.34024381e-01 -6.79121908e-01 -1.28156248e-03 2.29475033e+02] [ 6.79120959e-01 7.34025499e-01 -1.13595372e-03 2.51377890e+02] [ 1.71215060e-03 -3.65182110e-05 9.99998534e-01 1.39131353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.49, Y:251.39, Z:1.39 [[ 7.33063000e-01 -6.80159538e-01 -1.28086046e-03 2.29491426e+02] [ 6.80158590e-01 7.33064118e-01 -1.13672595e-03 2.51394859e+02] [ 1.71210784e-03 -3.78965152e-05 9.99998534e-01 1.39269274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.51, Y:251.41, Z:1.39 [[ 7.32998843e-01 -6.80228707e-01 -1.26564790e-03 2.29512608e+02] [ 6.80227729e-01 7.32999936e-01 -1.15343925e-03 2.51411540e+02] [ 1.71232232e-03 -1.54591598e-05 9.99998534e-01 1.39189468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.53, Y:251.43, Z:1.39 [[ 7.32412637e-01 -6.80859848e-01 -1.26352736e-03 2.29533870e+02] [ 6.80858868e-01 7.32413726e-01 -1.15576794e-03 2.51430433e+02] [ 1.71234076e-03 -1.37847612e-05 9.99998534e-01 1.39198249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.55, Y:251.45, Z:1.39 [[ 7.31797086e-01 -6.81521403e-01 -1.26599462e-03 2.29554655e+02] [ 6.81520428e-01 7.31798180e-01 -1.15305902e-03 2.51448546e+02] [ 1.71228696e-03 -1.89959645e-05 9.99998534e-01 1.39216180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.58, Y:251.47, Z:1.39 [[ 7.29772810e-01 -6.83688558e-01 -1.26563361e-03 2.29577486e+02] [ 6.83687585e-01 7.29773907e-01 -1.15345514e-03 2.51468411e+02] [ 1.71223046e-03 -2.35377838e-05 9.99998534e-01 1.39371634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.60, Y:251.49, Z:1.39 [[ 7.28492158e-01 -6.85052954e-01 -1.27509698e-03 2.29599525e+02] [ 6.85052002e-01 7.28493272e-01 -1.14306521e-03 2.51487802e+02] [ 1.71195978e-03 -4.07936985e-05 9.99998534e-01 1.39270292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.62, Y:251.50, Z:1.39 [[ 7.30970518e-01 -6.82407851e-01 -1.27570069e-03 2.29618373e+02] [ 6.82406896e-01 7.30971630e-01 -1.14240287e-03 2.51500106e+02] [ 1.71208570e-03 -3.54841313e-05 9.99998534e-01 1.38992725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.64, Y:251.52, Z:1.39 [[ 7.27563921e-01 -6.86038749e-01 -1.25547748e-03 2.29642953e+02] [ 6.86037761e-01 7.27565004e-01 -1.16459596e-03 2.51521133e+02] [ 1.71239944e-03 -1.39869569e-05 9.99998534e-01 1.39376780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.66, Y:251.54, Z:1.39 [[ 7.26796363e-01 -6.86851831e-01 -1.26851164e-03 2.29663999e+02] [ 6.86850869e-01 7.26797469e-01 -1.15029254e-03 2.51539394e+02] [ 1.71203159e-03 -3.52498879e-05 9.99998534e-01 1.39490984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.68, Y:251.56, Z:1.39 [[ 7.25592973e-01 -6.88122980e-01 -1.26572328e-03 2.29684400e+02] [ 6.88122014e-01 7.25594076e-01 -1.15334961e-03 2.51556475e+02] [ 1.71204768e-03 -3.41096808e-05 9.99998534e-01 1.39256615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.71, Y:251.58, Z:1.39 [[ 7.24760691e-01 -6.88999522e-01 -1.26481614e-03 2.29705612e+02] [ 6.88998556e-01 7.24761794e-01 -1.15434356e-03 2.51575549e+02] [ 1.71203257e-03 -3.48336586e-05 9.99998534e-01 1.39394696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.73, Y:251.59, Z:1.39 [[ 7.24295018e-01 -6.89489034e-01 -1.26459848e-03 2.29726492e+02] [ 6.89488068e-01 7.24296121e-01 -1.15458189e-03 2.51593440e+02] [ 1.71201533e-03 -3.56676571e-05 9.99998534e-01 1.39483264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.75, Y:251.61, Z:1.39 [[ 7.23539596e-01 -6.90281722e-01 -1.26421566e-03 2.29747805e+02] [ 6.90280756e-01 7.23540699e-01 -1.15500079e-03 2.51611849e+02] [ 1.71198742e-03 -3.69749380e-05 9.99998534e-01 1.39484940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.77, Y:251.63, Z:1.39 [[ 7.23509693e-01 -6.90313059e-01 -1.26692129e-03 2.29769982e+02] [ 6.90312099e-01 7.23510801e-01 -1.15204090e-03 2.51628832e+02] [ 1.71190012e-03 -4.10583340e-05 9.99998534e-01 1.39236941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.79, Y:251.65, Z:1.39 [[ 7.22625029e-01 -6.91239084e-01 -1.26360062e-03 2.29791878e+02] [ 6.91238119e-01 7.22626132e-01 -1.15567169e-03 2.51648028e+02] [ 1.71195627e-03 -3.83316308e-05 9.99998534e-01 1.39394726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.81, Y:251.66, Z:1.39 [[ 7.23533062e-01 -6.90288564e-01 -1.26755985e-03 2.29813587e+02] [ 6.90287605e-01 7.23534171e-01 -1.15134380e-03 2.51664156e+02] [ 1.71188233e-03 -4.19455454e-05 9.99998534e-01 1.39199502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.84, Y:251.68, Z:1.39 [[ 7.22772277e-01 -6.91085118e-01 -1.26311438e-03 2.29835055e+02] [ 6.91084151e-01 7.22773380e-01 -1.15620035e-03 2.51683640e+02] [ 1.71197830e-03 -3.72487701e-05 9.99998534e-01 1.39346197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.85, Y:251.70, Z:1.39 [[ 7.25646824e-01 -6.88066184e-01 -1.26996930e-03 2.29854640e+02] [ 6.88065227e-01 7.25647934e-01 -1.14871423e-03 2.51697962e+02] [ 1.71194202e-03 -4.02608780e-05 9.99998534e-01 1.39242268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.88, Y:251.72, Z:1.39 [[ 7.26882908e-01 -6.86760268e-01 -1.25386602e-03 2.29877277e+02] [ 6.86759278e-01 7.26883990e-01 -1.16628829e-03 2.51715913e+02] [ 1.71237559e-03 -1.33490968e-05 9.99998534e-01 1.39364438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.90, Y:251.73, Z:1.39 [[ 7.27167076e-01 -6.86459370e-01 -1.25577995e-03 2.29899094e+02] [ 6.86458382e-01 7.27168161e-01 -1.16420063e-03 2.51734354e+02] [ 1.71233963e-03 -1.54723001e-05 9.99998534e-01 1.39473109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.92, Y:251.75, Z:1.40 [[ 7.28588404e-01 -6.84950615e-01 -1.26209892e-03 2.29920164e+02] [ 6.84949637e-01 7.28589497e-01 -1.15730950e-03 2.51751283e+02] [ 1.71225187e-03 -2.12719169e-05 9.99998534e-01 1.39517910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.94, Y:251.77, Z:1.40 [[ 7.28897169e-01 -6.84622043e-01 -1.25518701e-03 2.29941791e+02] [ 6.84621052e-01 7.28898249e-01 -1.16483999e-03 2.51769611e+02] [ 1.71237875e-03 -1.02788878e-05 9.99998534e-01 1.39639061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:229.96, Y:251.79, Z:1.40 [[ 7.30209622e-01 -6.83222016e-01 -1.25889410e-03 2.29964781e+02] [ 6.83221030e-01 7.30210708e-01 -1.16080165e-03 2.51787381e+02] [ 1.71234319e-03 -1.24743891e-05 9.99998534e-01 1.39745015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:229.99, Y:251.81, Z:1.40 [[ 7.30249551e-01 -6.83179334e-01 -1.26137975e-03 2.29986599e+02] [ 6.83178352e-01 7.30250640e-01 -1.15809431e-03 2.51806217e+02] [ 1.71230947e-03 -1.60494925e-05 9.99998534e-01 1.39756934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.01, Y:251.82, Z:1.40 [[ 7.31151369e-01 -6.82214101e-01 -1.26333989e-03 2.30009068e+02] [ 6.82213121e-01 7.31152461e-01 -1.15596035e-03 2.51821572e+02] [ 1.71230652e-03 -1.66850529e-05 9.99998534e-01 1.39827170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.03, Y:251.84, Z:1.40 [[ 7.30986390e-01 -6.82390877e-01 -1.26090120e-03 2.30030831e+02] [ 6.82389893e-01 7.30987477e-01 -1.15861434e-03 2.51839204e+02] [ 1.71233084e-03 -1.34949219e-05 9.99998534e-01 1.39834570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.06, Y:251.86, Z:1.40 [[ 7.31535733e-01 -6.81801938e-01 -1.26055631e-03 2.30055934e+02] [ 6.81800953e-01 7.31536819e-01 -1.15898946e-03 2.51857643e+02] [ 1.71234461e-03 -1.16062889e-05 9.99998534e-01 1.39740181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.08, Y:251.87, Z:1.40 [[ 7.31002977e-01 -6.82373092e-01 -1.26957386e-03 2.30080186e+02] [ 6.82372124e-01 7.31004079e-01 -1.14918427e-03 2.51874816e+02] [ 1.71223609e-03 -2.62646928e-05 9.99998534e-01 1.39781296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.10, Y:251.89, Z:1.40 [[ 7.30070336e-01 -6.83370830e-01 -1.27031004e-03 2.30098539e+02] [ 6.83369866e-01 7.30071440e-01 -1.14838413e-03 2.51891526e+02] [ 1.71218930e-03 -2.96904088e-05 9.99998534e-01 1.39895813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.12, Y:251.91, Z:1.40 [[ 7.29301426e-01 -6.84191380e-01 -1.25960284e-03 2.30122150e+02] [ 6.84190397e-01 7.29302513e-01 -1.16001060e-03 2.51908877e+02] [ 1.71230076e-03 -1.58107812e-05 9.99998534e-01 1.39678048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.14, Y:251.93, Z:1.40 [[ 7.28466976e-01 -6.85079757e-01 -1.26155066e-03 2.30143578e+02] [ 6.85078779e-01 7.28468068e-01 -1.15789629e-03 2.51927516e+02] [ 1.71225068e-03 -2.07723781e-05 9.99998534e-01 1.39697384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.16, Y:251.94, Z:1.40 [[ 7.28690658e-01 -6.84841824e-01 -1.26521276e-03 2.30164907e+02] [ 6.84840853e-01 7.28691756e-01 -1.15392285e-03 2.51944273e+02] [ 1.71220473e-03 -2.56165828e-05 9.99998534e-01 1.39778936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.19, Y:251.96, Z:1.40 [[ 7.27178105e-01 -6.86447682e-01 -1.25856794e-03 2.30187386e+02] [ 6.86446700e-01 7.27179194e-01 -1.16112530e-03 2.51959751e+02] [ 1.71225619e-03 -1.95949095e-05 9.99998534e-01 1.39726543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.21, Y:251.98, Z:1.40 [[ 7.26104348e-01 -6.87583371e-01 -1.25825766e-03 2.30209563e+02] [ 6.87582391e-01 7.26105438e-01 -1.16146145e-03 2.51977624e+02] [ 1.71222930e-03 -2.18136013e-05 9.99998534e-01 1.39685577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.23, Y:251.99, Z:1.40 [[ 7.24671450e-01 -6.89093395e-01 -1.25791044e-03 2.30231542e+02] [ 6.89092416e-01 7.24672541e-01 -1.16183738e-03 2.51994018e+02] [ 1.71218762e-03 -2.48661634e-05 9.99998534e-01 1.39637435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.25, Y:252.02, Z:1.39 [[ 7.24354971e-01 -6.89426062e-01 -1.25759860e-03 2.30253627e+02] [ 6.89425083e-01 7.24356062e-01 -1.16217482e-03 2.52015268e+02] [ 1.71218278e-03 -2.51929094e-05 9.99998534e-01 1.39387529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.27, Y:252.03, Z:1.40 [[ 7.24280656e-01 -6.89504124e-01 -1.26267109e-03 2.30273589e+02] [ 6.89503154e-01 7.24281756e-01 -1.15669145e-03 2.52034569e+02] [ 1.71207316e-03 -3.28464604e-05 9.99998534e-01 1.39610902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.29, Y:252.05, Z:1.39 [[ 7.24411137e-01 -6.89367043e-01 -1.25918062e-03 2.30294673e+02] [ 6.89366066e-01 7.24412231e-01 -1.16046237e-03 2.52054074e+02] [ 1.71215036e-03 -2.73845240e-05 9.99998534e-01 1.39452451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.31, Y:252.07, Z:1.39 [[ 7.25254576e-01 -6.88479632e-01 -1.26339058e-03 2.30314542e+02] [ 6.88478663e-01 7.25255676e-01 -1.15591372e-03 2.52072078e+02] [ 1.71210424e-03 -3.14857451e-05 9.99998534e-01 1.39402717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.33, Y:252.09, Z:1.40 [[ 7.25018628e-01 -6.88728108e-01 -1.25790898e-03 2.30334648e+02] [ 6.88727129e-01 7.25019719e-01 -1.16183358e-03 2.52090717e+02] [ 1.71219626e-03 -2.40050543e-05 9.99998534e-01 1.39567816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.36, Y:252.11, Z:1.40 [[ 7.25012897e-01 -6.88734146e-01 -1.25552900e-03 2.30356793e+02] [ 6.88733161e-01 7.25013984e-01 -1.16440208e-03 2.52111805e+02] [ 1.71223955e-03 -2.05179391e-05 9.99998534e-01 1.39617739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.38, Y:252.13, Z:1.40 [[ 7.25314917e-01 -6.88416064e-01 -1.26248161e-03 2.30376013e+02] [ 6.88415093e-01 7.25316015e-01 -1.15691204e-03 2.52130049e+02] [ 1.71213496e-03 -2.99858319e-05 9.99998534e-01 1.39554343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.40, Y:252.15, Z:1.40 [[ 7.24579005e-01 -6.89190592e-01 -1.26244298e-03 2.30396549e+02] [ 6.89189622e-01 7.24580104e-01 -1.15695367e-03 2.52150007e+02] [ 1.71210265e-03 -3.17582642e-05 9.99998534e-01 1.39687766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.42, Y:252.17, Z:1.40 [[ 7.23610959e-01 -6.90206907e-01 -1.26681672e-03 2.30415165e+02] [ 6.90205947e-01 7.23612067e-01 -1.15224121e-03 2.52169483e+02] [ 1.71196870e-03 -4.05900657e-05 9.99998534e-01 1.39558003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.43, Y:252.19, Z:1.39 [[ 7.22023758e-01 -6.91867114e-01 -1.26100461e-03 2.30434714e+02] [ 6.91866145e-01 7.22024858e-01 -1.15848845e-03 2.52188673e+02] [ 1.71199673e-03 -3.59902160e-05 9.99998534e-01 1.39371882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.45, Y:252.21, Z:1.40 [[ 7.19591432e-01 -6.94396573e-01 -1.25316186e-03 2.30452215e+02] [ 6.94395593e-01 7.19592523e-01 -1.16691088e-03 2.52209572e+02] [ 1.71206482e-03 -3.04910033e-05 9.99998534e-01 1.39627787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.47, Y:252.23, Z:1.40 [[ 7.17234228e-01 -6.96831036e-01 -1.25294156e-03 2.30471243e+02] [ 6.96830059e-01 7.17235322e-01 -1.16714738e-03 2.52230384e+02] [ 1.71195846e-03 -3.59692890e-05 9.99998534e-01 1.39633962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.49, Y:252.25, Z:1.40 [[ 7.16997929e-01 -6.97074167e-01 -1.25497500e-03 2.30494507e+02] [ 6.97073195e-01 7.16999026e-01 -1.16496669e-03 2.52251228e+02] [ 1.71188403e-03 -3.95307292e-05 9.99998534e-01 1.39811149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.51, Y:252.27, Z:1.40 [[ 7.14216010e-01 -6.99924207e-01 -1.26310609e-03 2.30511290e+02] [ 6.99923254e-01 7.14217125e-01 -1.15624695e-03 2.52270307e+02] [ 1.71141723e-03 -5.82672384e-05 9.99998534e-01 1.39611526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.53, Y:252.29, Z:1.40 [[ 7.13531522e-01 -7.00622000e-01 -1.25664759e-03 2.30531514e+02] [ 7.00621037e-01 7.13532627e-01 -1.16316549e-03 2.52289990e+02] [ 1.71159839e-03 -5.04784948e-05 9.99998534e-01 1.39831299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.55, Y:252.31, Z:1.40 [[ 7.12770511e-01 -7.01396200e-01 -1.25268124e-03 2.30549467e+02] [ 7.01395230e-01 7.12771610e-01 -1.16741046e-03 2.52308470e+02] [ 1.71169288e-03 -4.65288950e-05 9.99998534e-01 1.39721762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.57, Y:252.33, Z:1.40 [[ 7.11496730e-01 -7.02688300e-01 -1.24762519e-03 2.30568827e+02] [ 7.02687323e-01 7.11497822e-01 -1.17281728e-03 2.52329024e+02] [ 1.71180759e-03 -4.22347429e-05 9.99998534e-01 1.39805421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.59, Y:252.35, Z:1.40 [[ 7.11411699e-01 -7.02774389e-01 -1.24651138e-03 2.30588871e+02] [ 7.02773409e-01 7.11412790e-01 -1.17400788e-03 2.52347889e+02] [ 1.71184681e-03 -4.08121085e-05 9.99998534e-01 1.39810088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.61275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.61, Y:252.37, Z:1.40 [[ 7.11394550e-01 -7.02791748e-01 -1.24628877e-03 2.30610422e+02] [ 7.02790768e-01 7.11395641e-01 -1.17424577e-03 2.52367681e+02] [ 1.71185463e-03 -4.05282023e-05 9.99998534e-01 1.39703598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.63, Y:252.38, Z:1.40 [[ 7.11723541e-01 -7.02458568e-01 -1.24954899e-03 2.30629907e+02] [ 7.02457594e-01 7.11724636e-01 -1.17076312e-03 2.52384710e+02] [ 1.71174738e-03 -4.44955050e-05 9.99998534e-01 1.39763410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.65, Y:252.41, Z:1.39 [[ 7.10904272e-01 -7.03287684e-01 -1.24454538e-03 2.30650603e+02] [ 7.03286702e-01 7.10905361e-01 -1.17610404e-03 2.52405499e+02] [ 1.71189347e-03 -3.91748319e-05 9.99998534e-01 1.39442815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.68, Y:252.42, Z:1.40 [[ 7.13076315e-01 -7.01085310e-01 -1.24781751e-03 2.30677456e+02] [ 7.01084330e-01 7.13077406e-01 -1.17261113e-03 2.52424312e+02] [ 1.71189091e-03 -3.86640795e-05 9.99998534e-01 1.39562639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.69, Y:252.44, Z:1.39 [[ 7.11200615e-01 -7.02987974e-01 -1.26230569e-03 2.30691432e+02] [ 7.02987024e-01 7.11201733e-01 -1.15713995e-03 2.52442575e+02] [ 1.71120946e-03 -6.44258776e-05 9.99998534e-01 1.39315219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.71, Y:252.46, Z:1.40 [[ 7.11267639e-01 -7.02920186e-01 -1.24781434e-03 2.30711758e+02] [ 7.02919209e-01 7.11268733e-01 -1.17259327e-03 2.52460735e+02] [ 1.71177080e-03 -4.30850216e-05 9.99998534e-01 1.39704296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.79275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:230.73, Y:252.48, Z:1.40 [[ 7.11264742e-01 -7.02923119e-01 -1.24757903e-03 2.30732205e+02] [ 7.02922142e-01 7.11265834e-01 -1.17284403e-03 2.52479490e+02] [ 1.71177952e-03 -4.27483158e-05 9.99998534e-01 1.39732697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.75, Y:252.50, Z:1.40 [[ 7.10987717e-01 -7.03203323e-01 -1.24619341e-03 2.30753125e+02] [ 7.03202344e-01 7.10988808e-01 -1.17431994e-03 2.52498426e+02] [ 1.71181525e-03 -4.13990702e-05 9.99998534e-01 1.39756612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.77, Y:252.52, Z:1.40 [[ 7.11445115e-01 -7.02740557e-01 -1.24817729e-03 2.30773252e+02] [ 7.02739581e-01 7.11446208e-01 -1.17220748e-03 2.52516722e+02] [ 1.71176874e-03 -4.31823039e-05 9.99998534e-01 1.39799782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.80, Y:252.54, Z:1.40 [[ 7.10965282e-01 -7.03226008e-01 -1.24480280e-03 2.30796159e+02] [ 7.03225026e-01 7.10966371e-01 -1.17580042e-03 2.52537918e+02] [ 1.71186636e-03 -3.94232006e-05 9.99998534e-01 1.39620420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.91275509600007 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:230.82, Y:252.56, Z:1.40 [[ 7.10736452e-01 -7.03457268e-01 -1.25260605e-03 2.30818317e+02] [ 7.03456301e-01 7.10737554e-01 -1.16750838e-03 2.52557107e+02] [ 1.71156642e-03 -5.13628544e-05 9.99998534e-01 1.39698840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.84, Y:252.58, Z:1.40 [[ 7.09883073e-01 -7.04318429e-01 -1.25460229e-03 2.30837619e+02] [ 7.04317467e-01 7.09884179e-01 -1.16538846e-03 2.52575816e+02] [ 1.71142689e-03 -5.63487672e-05 9.99998534e-01 1.39673787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.97275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:230.86, Y:252.59, Z:1.40 [[ 7.09331550e-01 -7.04873880e-01 -1.25133570e-03 2.30856510e+02] [ 7.04872912e-01 7.09332652e-01 -1.16885485e-03 2.52593343e+02] [ 1.71150853e-03 -5.29270199e-05 9.99998534e-01 1.39808182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.88, Y:252.61, Z:1.40 [[ 7.09155940e-01 -7.05050566e-01 -1.24568042e-03 2.30877047e+02] [ 7.05049589e-01 7.09157033e-01 -1.17485108e-03 2.52612537e+02] [ 1.71171245e-03 -4.51138404e-05 9.99998534e-01 1.39829747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.90, Y:252.63, Z:1.40 [[ 7.09026707e-01 -7.05180528e-01 -1.24531854e-03 2.30896816e+02] [ 7.05179550e-01 7.09027800e-01 -1.17523454e-03 2.52630688e+02] [ 1.71171798e-03 -4.49004858e-05 9.99998534e-01 1.39776508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.92, Y:252.65, Z:1.40 [[ 7.08272149e-01 -7.05938392e-01 -1.24511756e-03 2.30916588e+02] [ 7.05937415e-01 7.08273242e-01 -1.17544744e-03 2.52650892e+02] [ 1.71167692e-03 -4.64383874e-05 9.99998534e-01 1.39683176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.94, Y:252.67, Z:1.40 [[ 7.08623832e-01 -7.05585376e-01 -1.24224749e-03 2.30938620e+02] [ 7.05584393e-01 7.08624919e-01 -1.17848567e-03 2.52669067e+02] [ 1.71180978e-03 -4.14074039e-05 9.99998534e-01 1.39831283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.96, Y:252.69, Z:1.40 [[ 7.06232791e-01 -7.07978598e-01 -1.24466001e-03 2.30955151e+02] [ 7.07977623e-01 7.06233886e-01 -1.17593215e-03 2.52689340e+02] [ 1.71155587e-03 -5.07095957e-05 9.99998534e-01 1.39749851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.98, Y:252.71, Z:1.40 [[ 7.07101556e-01 -7.07110930e-01 -1.23377995e-03 2.30979527e+02] [ 7.07109934e-01 7.07102631e-01 -1.18743611e-03 2.52708566e+02] [ 1.71205810e-03 -3.27801413e-05 9.99998534e-01 1.39872760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.00, Y:252.73, Z:1.40 [[ 7.06582690e-01 -7.07629393e-01 -1.24257795e-03 2.31000913e+02] [ 7.07628414e-01 7.06583781e-01 -1.17813106e-03 2.52726850e+02] [ 1.71166559e-03 -4.68364493e-05 9.99998534e-01 1.40142338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.02, Y:252.75, Z:1.40 [[ 7.05265148e-01 -7.08942539e-01 -1.24394791e-03 2.31019490e+02] [ 7.08941564e-01 7.05266243e-01 -1.17668278e-03 2.52746587e+02] [ 1.71151495e-03 -5.20130183e-05 9.99998534e-01 1.40032681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.03, Y:252.77, Z:1.40 [[ 7.01826903e-01 -7.12346447e-01 -1.23968492e-03 2.31032912e+02] [ 7.12345470e-01 7.01827996e-01 -1.18118880e-03 2.52765037e+02] [ 1.71146123e-03 -5.40938629e-05 9.99998534e-01 1.39849176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.05, Y:252.78, Z:1.40 [[ 7.02702449e-01 -7.11482809e-01 -1.21712161e-03 2.31054502e+02] [ 7.11481788e-01 7.02703503e-01 -1.20500817e-03 2.52783231e+02] [ 1.71261822e-03 -1.91976701e-05 9.99998533e-01 1.39875302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.07, Y:252.80, Z:1.40 [[ 7.02494718e-01 -7.11687916e-01 -1.21676550e-03 2.31074033e+02] [ 7.11686896e-01 7.02495772e-01 -1.20538352e-03 2.52801576e+02] [ 1.71262951e-03 -1.91805005e-05 9.99998533e-01 1.39961181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.09, Y:252.82, Z:1.40 [[ 7.03179954e-01 -7.11010887e-01 -1.21289420e-03 2.31094798e+02] [ 7.11009859e-01 7.03181000e-01 -1.20946254e-03 2.52821169e+02] [ 1.71282519e-03 -1.19099243e-05 9.99998533e-01 1.39958687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.12, Y:252.84, Z:1.40 [[ 7.04110898e-01 -7.10088988e-01 -1.21332114e-03 2.31116245e+02] [ 7.10087959e-01 7.04111943e-01 -1.20901269e-03 2.52840092e+02] [ 1.71282050e-03 -1.02857214e-05 9.99998533e-01 1.39987299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.14, Y:252.86, Z:1.40 [[ 7.05529317e-01 -7.08679686e-01 -1.21904110e-03 2.31135025e+02] [ 7.08678665e-01 7.05530370e-01 -1.20298112e-03 2.52858227e+02] [ 1.71259880e-03 -1.51699768e-05 9.99998533e-01 1.40361678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.16, Y:252.88, Z:1.40 [[ 7.06309740e-01 -7.07901889e-01 -1.21072012e-03 2.31157618e+02] [ 7.07900852e-01 7.06310778e-01 -1.21174922e-03 2.52878323e+02] [ 1.71294423e-03 -1.19953033e-06 9.99998533e-01 1.40489966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.18, Y:252.90, Z:1.40 [[ 7.07807932e-01 -7.06403880e-01 -1.22065656e-03 2.31176572e+02] [ 7.06402859e-01 7.07808984e-01 -1.20127263e-03 2.52895796e+02] [ 1.71257533e-03 -1.20049919e-05 9.99998533e-01 1.40440197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.20, Y:252.92, Z:1.40 [[ 7.07987434e-01 -7.06223988e-01 -1.21362925e-03 2.31201977e+02] [ 7.06222954e-01 7.07988474e-01 -1.20865043e-03 2.52916381e+02] [ 1.71281345e-03 -1.38352232e-06 9.99998533e-01 1.40483496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.22, Y:252.94, Z:1.40 [[ 7.08838745e-01 -7.05369491e-01 -1.23097185e-03 2.31222581e+02] [ 7.05368487e-01 7.08839813e-01 -1.19043480e-03 2.52935376e+02] [ 1.71225824e-03 -2.44624390e-05 9.99998534e-01 1.40448712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.24, Y:252.96, Z:1.40 [[ 7.08341119e-01 -7.05869211e-01 -1.23121014e-03 2.31244016e+02] [ 7.05868208e-01 7.08342188e-01 -1.19018423e-03 2.52956510e+02] [ 1.71223249e-03 -2.60156693e-05 9.99998534e-01 1.40284653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.26, Y:252.98, Z:1.40 [[ 7.07705615e-01 -7.06506356e-01 -1.23741726e-03 2.31264854e+02] [ 7.06505365e-01 7.07706696e-01 -1.18365247e-03 2.52977311e+02] [ 1.71198647e-03 -3.65644357e-05 9.99998534e-01 1.40393202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.60275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.28, Y:253.00, Z:1.40 [[ 7.07636174e-01 -7.06575896e-01 -1.24463949e-03 2.31283159e+02] [ 7.06574918e-01 7.07637267e-01 -1.17605202e-03 2.52996068e+02] [ 1.71172330e-03 -4.72140876e-05 9.99998534e-01 1.40331736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.30, Y:253.02, Z:1.41 [[ 7.07004767e-01 -7.07207693e-01 -1.24015690e-03 2.31302826e+02] [ 7.07206709e-01 7.07005854e-01 -1.18076693e-03 2.53015312e+02] [ 1.71184565e-03 -4.22394338e-05 9.99998534e-01 1.40510224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.32, Y:253.03, Z:1.41 [[ 7.06520920e-01 -7.07691074e-01 -1.23841037e-03 2.31324086e+02] [ 7.07690087e-01 7.06522004e-01 -1.18260319e-03 2.53034215e+02] [ 1.71188190e-03 -4.08768515e-05 9.99998534e-01 1.40787924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:231.34, Y:253.05, Z:1.41 [[ 7.06458242e-01 -7.07753638e-01 -1.24099687e-03 2.31344678e+02] [ 7.07752656e-01 7.06459331e-01 -1.17988418e-03 2.53054025e+02] [ 1.71178114e-03 -4.47799298e-05 9.99998534e-01 1.40569937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.37, Y:253.07, Z:1.41 [[ 7.06498380e-01 -7.07713570e-01 -1.24178406e-03 2.31367129e+02] [ 7.07712590e-01 7.06499469e-01 -1.17905696e-03 2.53074285e+02] [ 1.71175439e-03 -4.58243798e-05 9.99998534e-01 1.40790047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.39, Y:253.09, Z:1.41 [[ 7.06966674e-01 -7.07245762e-01 -1.24657329e-03 2.31386772e+02] [ 7.07244790e-01 7.06967771e-01 -1.17402395e-03 2.53093600e+02] [ 1.71161060e-03 -5.16366562e-05 9.99998534e-01 1.40840938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.40, Y:253.11, Z:1.41 [[ 7.06550494e-01 -7.07661527e-01 -1.24986295e-03 2.31403817e+02] [ 7.07660561e-01 7.06551598e-01 -1.17056624e-03 2.53112658e+02] [ 1.71145736e-03 -5.74145602e-05 9.99998534e-01 1.40868572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.42, Y:253.13, Z:1.41 [[ 7.05921854e-01 -7.08288636e-01 -1.24268569e-03 2.31421782e+02] [ 7.08287658e-01 7.05922946e-01 -1.17810257e-03 2.53132349e+02] [ 1.71167701e-03 -4.85305856e-05 9.99998534e-01 1.40868581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.44, Y:253.15, Z:1.41 [[ 7.06833234e-01 -7.07379140e-01 -1.23729053e-03 2.31442776e+02] [ 7.07378151e-01 7.06834316e-01 -1.18376358e-03 2.53150570e+02] [ 1.71192907e-03 -3.85088494e-05 9.99998534e-01 1.40726486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.46, Y:253.17, Z:1.41 [[ 7.06856516e-01 -7.07355872e-01 -1.23943532e-03 2.31462124e+02] [ 7.07354886e-01 7.06857602e-01 -1.18151364e-03 2.53169892e+02] [ 1.71185489e-03 -4.15600091e-05 9.99998534e-01 1.40788028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.48, Y:253.19, Z:1.40 [[ 7.06374863e-01 -7.07836861e-01 -1.23766861e-03 2.31481682e+02] [ 7.07835873e-01 7.06375946e-01 -1.18336617e-03 2.53190591e+02] [ 1.71188953e-03 -4.01661270e-05 9.99998534e-01 1.40491078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.50, Y:253.21, Z:1.41 [[ 7.07269454e-01 -7.06942986e-01 -1.23813510e-03 2.31501292e+02] [ 7.06941998e-01 7.07270537e-01 -1.18287718e-03 2.53208772e+02] [ 1.71192320e-03 -3.86768016e-05 9.99998534e-01 1.40678652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.53, Y:253.23, Z:1.41 [[ 7.07896785e-01 -7.06314820e-01 -1.23217403e-03 2.31527156e+02] [ 7.06313819e-01 7.07897856e-01 -1.18912831e-03 2.53231935e+02] [ 1.71215230e-03 -2.85214390e-05 9.99998534e-01 1.40664158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.55, Y:253.25, Z:1.41 [[ 7.09840347e-01 -7.04361486e-01 -1.25637921e-03 2.31546355e+02] [ 7.04360527e-01 7.09841456e-01 -1.16379320e-03 2.53248810e+02] [ 1.71156115e-03 -5.88365552e-05 9.99998534e-01 1.40571878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.56, Y:253.27, Z:1.41 [[ 7.07309899e-01 -7.06902502e-01 -1.24882577e-03 2.31563057e+02] [ 7.06901533e-01 7.07310999e-01 -1.17168997e-03 2.53270182e+02] [ 1.71157877e-03 -5.40489404e-05 9.99998534e-01 1.40600282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.59, Y:253.29, Z:1.41 [[ 7.10115901e-01 -7.04083704e-01 -1.24337078e-03 2.31586474e+02] [ 7.04082720e-01 7.10116988e-01 -1.17738713e-03 2.53287808e+02] [ 1.71191780e-03 -3.93545539e-05 9.99998534e-01 1.40680958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.60, Y:253.31, Z:1.41 [[ 7.09749162e-01 -7.04453379e-01 -1.25027621e-03 2.31603445e+02] [ 7.04452409e-01 7.09750262e-01 -1.17017094e-03 2.53307000e+02] [ 1.71171474e-03 -5.02322406e-05 9.99998534e-01 1.40635058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.62, Y:253.33, Z:1.41 [[ 7.08171717e-01 -7.06039147e-01 -1.24174892e-03 2.31621494e+02] [ 7.06038164e-01 7.08172804e-01 -1.17907301e-03 2.53327792e+02] [ 1.71184452e-03 -4.17359667e-05 9.99998534e-01 1.40751092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.64, Y:253.35, Z:1.41 [[ 7.08584596e-01 -7.05624788e-01 -1.23613723e-03 2.31641704e+02] [ 7.05623794e-01 7.08585674e-01 -1.18492723e-03 2.53346351e+02] [ 1.71202315e-03 -3.26266559e-05 9.99998534e-01 1.40679454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.67, Y:253.37, Z:1.41 [[ 7.11019514e-01 -7.03171191e-01 -1.23593212e-03 2.31670387e+02] [ 7.03170193e-01 7.11020587e-01 -1.18514112e-03 2.53366709e+02] [ 1.71213028e-03 -2.64121622e-05 9.99998534e-01 1.40572293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.69, Y:253.39, Z:1.41 [[ 7.11589113e-01 -7.02594727e-01 -1.25860288e-03 2.31694110e+02] [ 7.02593769e-01 7.11590224e-01 -1.16148921e-03 2.53387003e+02] [ 1.71166570e-03 -5.77834654e-05 9.99998533e-01 1.40588125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.70, Y:253.40, Z:1.41 [[ 7.07604940e-01 -7.06607139e-01 -1.26487717e-03 2.31703425e+02] [ 7.06606199e-01 7.07606067e-01 -1.15494799e-03 2.53404748e+02] [ 1.71112926e-03 -7.65231499e-05 9.99998533e-01 1.40541249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.72, Y:253.42, Z:1.41 [[ 7.07044772e-01 -7.07167708e-01 -1.23427790e-03 2.31724019e+02] [ 7.07166713e-01 7.07045848e-01 -1.18677213e-03 2.53424548e+02] [ 1.71193800e-03 -3.37392134e-05 9.99998534e-01 1.40552369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.74, Y:253.44, Z:1.41 [[ 7.06539330e-01 -7.07672702e-01 -1.23390689e-03 2.31744774e+02] [ 7.07671707e-01 7.06540407e-01 -1.18715775e-03 2.53443999e+02] [ 1.71192421e-03 -3.44273548e-05 9.99998534e-01 1.40619992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.77, Y:253.46, Z:1.41 [[ 7.06126934e-01 -7.08084198e-01 -1.23353185e-03 2.31767864e+02] [ 7.08083203e-01 7.06128011e-01 -1.18754732e-03 2.53462613e+02] [ 1.71191488e-03 -3.48840326e-05 9.99998534e-01 1.40645767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.79, Y:253.48, Z:1.41 [[ 7.05082417e-01 -7.09124285e-01 -1.23873410e-03 2.31788818e+02] [ 7.09123301e-01 7.05083504e-01 -1.18214473e-03 2.53483142e+02] [ 1.71169851e-03 -4.49057483e-05 9.99998534e-01 1.40684852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:253.50, Z:1.41 [[ 7.03636398e-01 -7.10559134e-01 -1.23947587e-03 2.31806894e+02] [ 7.10558154e-01 7.03637488e-01 -1.18137470e-03 2.53502046e+02] [ 1.71157827e-03 -4.94614447e-05 9.99998534e-01 1.40641961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.83, Y:253.52, Z:1.41 [[ 7.04005772e-01 -7.10193176e-01 -1.23535805e-03 2.31828372e+02] [ 7.10192187e-01 7.04006854e-01 -1.18564847e-03 2.53521686e+02] [ 1.71173999e-03 -4.26382745e-05 9.99998534e-01 1.40754926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.85, Y:253.54, Z:1.41 [[ 7.04315737e-01 -7.09885776e-01 -1.23604064e-03 2.31848689e+02] [ 7.09884788e-01 7.04316820e-01 -1.18494028e-03 2.53541045e+02] [ 1.71173646e-03 -4.28743629e-05 9.99998534e-01 1.40706304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.87, Y:253.56, Z:1.41 [[ 7.05065144e-01 -7.09141470e-01 -1.23246671e-03 2.31868160e+02] [ 7.09140475e-01 7.05066220e-01 -1.18864596e-03 2.53559758e+02] [ 1.71188879e-03 -3.59191956e-05 9.99998534e-01 1.40661416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.89, Y:253.58, Z:1.41 [[ 7.04883274e-01 -7.09322254e-01 -1.22883742e-03 2.31888580e+02] [ 7.09321253e-01 7.04884344e-01 -1.19240643e-03 2.53579727e+02] [ 1.71198867e-03 -3.11331530e-05 9.99998534e-01 1.40666152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.91, Y:253.60, Z:1.40 [[ 7.03054567e-01 -7.11134844e-01 -1.22901508e-03 2.31905664e+02] [ 7.11133845e-01 7.03055640e-01 -1.19222236e-03 2.53600125e+02] [ 1.71189684e-03 -3.57968509e-05 9.99998534e-01 1.40300865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.93, Y:253.62, Z:1.40 [[ 7.04486820e-01 -7.09716016e-01 -1.22346197e-03 2.31929101e+02] [ 7.09715006e-01 7.04487882e-01 -1.19797991e-03 2.53618738e+02] [ 1.71213966e-03 -2.43482582e-05 9.99998534e-01 1.40358370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.95, Y:253.64, Z:1.40 [[ 7.02806493e-01 -7.11380014e-01 -1.22839385e-03 2.31947470e+02] [ 7.11379015e-01 7.02807566e-01 -1.19286597e-03 2.53639123e+02] [ 1.71190550e-03 -3.54996621e-05 9.99998534e-01 1.40186996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.97, Y:253.66, Z:1.40 [[ 7.02700372e-01 -7.11484849e-01 -1.22329941e-03 2.31969111e+02] [ 7.11483841e-01 7.02701436e-01 -1.19814527e-03 2.53658468e+02] [ 1.71207646e-03 -2.84206400e-05 9.99998534e-01 1.40210057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.99, Y:253.68, Z:1.40 [[ 7.01673434e-01 -7.12497641e-01 -1.22643853e-03 2.31988664e+02] [ 7.12496639e-01 7.01674505e-01 -1.19489287e-03 2.53676946e+02] [ 1.71191900e-03 -3.54087513e-05 9.99998534e-01 1.40387941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.01, Y:253.70, Z:1.40 [[ 7.01208023e-01 -7.12955683e-01 -1.22571708e-03 2.32009226e+02] [ 7.12954682e-01 7.01209093e-01 -1.19563995e-03 2.53695847e+02] [ 1.71192226e-03 -3.54884045e-05 9.99998534e-01 1.40331690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7127550960001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:232.03, Y:253.72, Z:1.40 [[ 7.00412300e-01 -7.13737423e-01 -1.22532521e-03 2.32030904e+02] [ 7.13736422e-01 7.00413371e-01 -1.19604490e-03 2.53715534e+02] [ 1.71189617e-03 -3.68346713e-05 9.99998534e-01 1.40418874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.05, Y:253.74, Z:1.41 [[ 6.99778652e-01 -7.14358681e-01 -1.23048249e-03 2.32051212e+02] [ 7.14357690e-01 6.99779732e-01 -1.19071538e-03 2.53735150e+02] [ 1.71166458e-03 -4.57674195e-05 9.99998534e-01 1.40545247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.07, Y:253.76, Z:1.41 [[ 6.98366099e-01 -7.15739673e-01 -1.23005741e-03 2.32071862e+02] [ 7.15738683e-01 6.98367180e-01 -1.19115435e-03 2.53755146e+02] [ 1.71158815e-03 -4.85378522e-05 9.99998534e-01 1.40588455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.09, Y:253.77, Z:1.41 [[ 6.97228430e-01 -7.16847961e-01 -1.23156069e-03 2.32090276e+02] [ 7.16846976e-01 6.97229516e-01 -1.18960279e-03 2.53774348e+02] [ 1.71144480e-03 -5.34156712e-05 9.99998534e-01 1.40537987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.11, Y:253.79, Z:1.41 [[ 6.95820167e-01 -7.18215003e-01 -1.22645271e-03 2.32109345e+02] [ 7.18214011e-01 6.95821246e-01 -1.19487162e-03 2.53794070e+02] [ 1.71156657e-03 -4.94397504e-05 9.99998534e-01 1.40676898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.13, Y:253.81, Z:1.41 [[ 6.96608987e-01 -7.17449941e-01 -1.22529211e-03 2.32131922e+02] [ 7.17448946e-01 6.96610063e-01 -1.19606790e-03 2.53813524e+02] [ 1.71166966e-03 -4.58928809e-05 9.99998534e-01 1.40718963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.15, Y:253.83, Z:1.41 [[ 6.96295289e-01 -7.17754387e-01 -1.22881589e-03 2.32150799e+02] [ 7.17753398e-01 6.96296372e-01 -1.19243661e-03 2.53832354e+02] [ 1.71149665e-03 -5.16987924e-05 9.99998534e-01 1.40732559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.17, Y:253.85, Z:1.41 [[ 6.95862040e-01 -7.18174430e-01 -1.22860479e-03 2.32170728e+02] [ 7.18173441e-01 6.95863123e-01 -1.19265407e-03 2.53852645e+02] [ 1.71147443e-03 -5.24286319e-05 9.99998534e-01 1.40690264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.95275509600003 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:232.19, Y:253.87, Z:1.41 [[ 6.95825667e-01 -7.18209672e-01 -1.22822551e-03 2.32190668e+02] [ 7.18208683e-01 6.95826749e-01 -1.19304454e-03 2.53872574e+02] [ 1.71148829e-03 -5.19712145e-05 9.99998534e-01 1.40670681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.21, Y:253.89, Z:1.41 [[ 6.95564520e-01 -7.18462588e-01 -1.22784938e-03 2.32210644e+02] [ 7.18461599e-01 6.95565602e-01 -1.19343152e-03 2.53893057e+02] [ 1.71148569e-03 -5.20540099e-05 9.99998534e-01 1.40695728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.23, Y:253.91, Z:1.41 [[ 6.95860261e-01 -7.18176153e-01 -1.22926346e-03 2.32229100e+02] [ 7.18175166e-01 6.95861344e-01 -1.19197720e-03 2.53914076e+02] [ 1.71144652e-03 -5.33769255e-05 9.99998534e-01 1.40527886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.25, Y:253.93, Z:1.41 [[ 6.96656281e-01 -7.17404007e-01 -1.23197517e-03 2.32248861e+02] [ 7.17403023e-01 6.96657368e-01 -1.18919068e-03 2.53932919e+02] [ 1.71139474e-03 -5.53655547e-05 9.99998534e-01 1.40783839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.27, Y:253.95, Z:1.41 [[ 6.99815253e-01 -7.14322831e-01 -1.22667118e-03 2.32269301e+02] [ 7.14321833e-01 6.99816327e-01 -1.19463689e-03 2.53952672e+02] [ 1.71180093e-03 -4.02128863e-05 9.99998534e-01 1.40750631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.29, Y:253.97, Z:1.41 [[ 6.98481023e-01 -7.15627526e-01 -1.22629455e-03 2.32287620e+02] [ 7.15626530e-01 6.98482098e-01 -1.19502338e-03 2.53974354e+02] [ 1.71173642e-03 -4.28677584e-05 9.99998534e-01 1.40794917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.31, Y:253.99, Z:1.41 [[ 6.98803999e-01 -7.15312148e-01 -1.22591985e-03 2.32307223e+02] [ 7.15311150e-01 6.98805073e-01 -1.19540765e-03 2.53994310e+02] [ 1.71176862e-03 -4.15584899e-05 9.99998534e-01 1.40769500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.33, Y:254.01, Z:1.41 [[ 6.99458552e-01 -7.14672116e-01 -1.22553296e-03 2.32325824e+02] [ 7.14671116e-01 6.99459624e-01 -1.19580415e-03 2.54013720e+02] [ 1.71181871e-03 -3.94375732e-05 9.99998534e-01 1.40742531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.35, Y:254.03, Z:1.41 [[ 7.00305321e-01 -7.13842388e-01 -1.22531777e-03 2.32348040e+02] [ 7.13841387e-01 7.00306392e-01 -1.19602462e-03 2.54034612e+02] [ 1.71187093e-03 -3.71001331e-05 9.99998534e-01 1.40622104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.37, Y:254.05, Z:1.41 [[ 6.99866450e-01 -7.14272662e-01 -1.23150254e-03 2.32365650e+02] [ 7.14271673e-01 6.99867532e-01 -1.18969025e-03 2.54054100e+02] [ 1.71165187e-03 -4.70030857e-05 9.99998534e-01 1.40743308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.38, Y:254.07, Z:1.41 [[ 6.99819058e-01 -7.14319106e-01 -1.22477254e-03 2.32384484e+02] [ 7.14318105e-01 6.99820129e-01 -1.19657883e-03 2.54073118e+02] [ 1.71185960e-03 -3.74885240e-05 9.99998534e-01 1.40755335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.40, Y:254.09, Z:1.41 [[ 6.99391130e-01 -7.14738097e-01 -1.22456075e-03 2.32404149e+02] [ 7.14737096e-01 6.99392201e-01 -1.19679554e-03 2.54093453e+02] [ 1.71184360e-03 -3.82108076e-05 9.99998534e-01 1.40715187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.42, Y:254.11, Z:1.41 [[ 6.97042534e-01 -7.17028735e-01 -1.22417439e-03 2.32419545e+02] [ 7.17027737e-01 6.97043608e-01 -1.19719060e-03 2.54114051e+02] [ 1.71172300e-03 -4.32742219e-05 9.99998534e-01 1.40610595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.44, Y:254.14, Z:1.41 [[ 6.96664815e-01 -7.17395753e-01 -1.21189755e-03 2.32440747e+02] [ 7.17394734e-01 6.96665869e-01 -1.20973055e-03 2.54135109e+02] [ 1.71214321e-03 -2.66322124e-05 9.99998534e-01 1.40565411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:254.15, Z:1.41 [[ 6.96115925e-01 -7.17928362e-01 -1.21923220e-03 2.32459915e+02] [ 7.17927356e-01 6.96116992e-01 -1.20223648e-03 2.54154110e+02] [ 1.71184792e-03 -3.84241891e-05 9.99998534e-01 1.40590569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.48, Y:254.17, Z:1.41 [[ 6.96102114e-01 -7.17941765e-01 -1.21200805e-03 2.32475011e+02] [ 7.17940746e-01 6.96103169e-01 -1.20961199e-03 2.54169772e+02] [ 1.71211361e-03 -2.81364967e-05 9.99998534e-01 1.40575517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:254.19, Z:1.41 [[ 6.95976906e-01 -7.18063194e-01 -1.18157062e-03 2.32506942e+02] [ 7.18062122e-01 6.95977909e-01 -1.24053067e-03 2.54193902e+02] [ 1.71312647e-03 1.49395860e-05 9.99998533e-01 1.40734193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.53, Y:254.22, Z:1.41 [[ 6.94664684e-01 -7.19332665e-01 -1.22253866e-03 2.32531219e+02] [ 7.19331667e-01 6.94665758e-01 -1.19884105e-03 2.54215787e+02] [ 1.71162127e-03 -4.66182332e-05 9.99998534e-01 1.40720428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.55, Y:254.23, Z:1.41 [[ 6.92176704e-01 -7.21727008e-01 -1.23980562e-03 2.32546560e+02] [ 7.21726045e-01 6.92177810e-01 -1.18121435e-03 2.54233769e+02] [ 1.71068024e-03 -7.71909531e-05 9.99998534e-01 1.40633243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.57, Y:254.25, Z:1.41 [[ 6.91827979e-01 -7.22061320e-01 -1.22416657e-03 2.32566481e+02] [ 7.22060330e-01 6.91829059e-01 -1.19715701e-03 2.54253043e+02] [ 1.71133477e-03 -5.56954034e-05 9.99998534e-01 1.40705002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:254.27, Z:1.41 [[ 6.90348927e-01 -7.23475546e-01 -1.22206998e-03 2.32586368e+02] [ 7.23474554e-01 6.90350006e-01 -1.19929341e-03 2.54273586e+02] [ 1.71131547e-03 -5.62056206e-05 9.99998534e-01 1.40691495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:254.29, Z:1.41 [[ 6.90700890e-01 -7.23139525e-01 -1.22785952e-03 2.32605678e+02] [ 7.23138543e-01 6.90701979e-01 -1.19339551e-03 2.54293070e+02] [ 1.71107646e-03 -6.36332029e-05 9.99998534e-01 1.40710724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:254.31, Z:1.41 [[ 6.90527020e-01 -7.23305567e-01 -1.22145573e-03 2.32625155e+02] [ 7.23304573e-01 6.90528098e-01 -1.19991426e-03 2.54313325e+02] [ 1.71135417e-03 -5.49113006e-05 9.99998534e-01 1.40700056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.65, Y:254.34, Z:1.41 [[ 6.94045563e-01 -7.19930042e-01 -1.22107883e-03 2.32652792e+02] [ 7.19929043e-01 6.94046636e-01 -1.20029769e-03 2.54335231e+02] [ 1.71161602e-03 -4.60288286e-05 9.99998534e-01 1.40797052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.67, Y:254.36, Z:1.41 [[ 6.94906318e-01 -7.19099202e-01 -1.24351891e-03 2.32673799e+02] [ 7.19098242e-01 6.94907427e-01 -1.17745350e-03 2.54355944e+02] [ 1.71083640e-03 -7.59923846e-05 9.99998534e-01 1.40729255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:254.38, Z:1.41 [[ 6.94310229e-01 -7.19674759e-01 -1.24395199e-03 2.32692459e+02] [ 7.19673800e-01 6.94311339e-01 -1.17701375e-03 2.54377015e+02] [ 1.71075706e-03 -7.80269704e-05 9.99998534e-01 1.40715259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.70, Y:254.40, Z:1.41 [[ 6.94064230e-01 -7.19912011e-01 -1.24112995e-03 2.32704291e+02] [ 7.19911048e-01 6.94065336e-01 -1.17987591e-03 2.54396219e+02] [ 1.71083211e-03 -7.45935002e-05 9.99998534e-01 1.40571896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:254.42, Z:1.41 [[ 6.95378979e-01 -7.18642186e-01 -1.21819817e-03 2.32724158e+02] [ 7.18641180e-01 6.95380045e-01 -1.20309555e-03 2.54416564e+02] [ 1.71170592e-03 -3.88400125e-05 9.99998534e-01 1.40599843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:254.44, Z:1.41 [[ 6.98840507e-01 -7.15276496e-01 -1.21653869e-03 2.32751154e+02] [ 7.15275482e-01 6.98841566e-01 -1.20477529e-03 2.54440258e+02] [ 1.71191525e-03 -2.82145202e-05 9.99998534e-01 1.40685782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.76, Y:254.46, Z:1.41 [[ 6.96811295e-01 -7.17253426e-01 -1.24153732e-03 2.32761087e+02] [ 7.17252459e-01 6.96812398e-01 -1.17955447e-03 2.54458884e+02] [ 1.71115808e-03 -6.85688121e-05 9.99998534e-01 1.40627604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.78, Y:254.48, Z:1.41 [[ 6.99338571e-01 -7.14789541e-01 -1.21481428e-03 2.32779713e+02] [ 7.14788523e-01 6.99339625e-01 -1.20646250e-03 2.54477792e+02] [ 1.71193454e-03 -2.46095488e-05 9.99998534e-01 1.40594579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.80, Y:254.50, Z:1.41 [[ 7.00323904e-01 -7.13824181e-01 -1.21177207e-03 2.32802134e+02] [ 7.13823156e-01 7.00324953e-01 -1.20952594e-03 2.54499151e+02] [ 1.71202308e-03 -1.79310326e-05 9.99998534e-01 1.40707234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.82, Y:254.52, Z:1.41 [[ 7.01189735e-01 -7.12973673e-01 -1.22397795e-03 2.32818700e+02] [ 7.12972668e-01 7.01190802e-01 -1.19723243e-03 2.54516703e+02] [ 1.71183728e-03 -3.31757328e-05 9.99998534e-01 1.40618063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.84, Y:254.54, Z:1.41 [[ 7.02140892e-01 -7.12037018e-01 -1.20535233e-03 2.32839802e+02] [ 7.12035980e-01 7.02141927e-01 -1.21594014e-03 2.54538181e+02] [ 1.71212280e-03 -4.49292952e-06 9.99998534e-01 1.40613673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.86, Y:254.56, Z:1.41 [[ 7.01758397e-01 -7.12413981e-01 -1.21333660e-03 2.32858731e+02] [ 7.12412957e-01 7.01759446e-01 -1.20792006e-03 2.54556957e+02] [ 1.71200956e-03 -1.67286712e-05 9.99998534e-01 1.40541865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.88, Y:254.58, Z:1.41 [[ 7.04090820e-01 -7.10108897e-01 -1.21306174e-03 2.32882999e+02] [ 7.10107869e-01 7.04091865e-01 -1.20819604e-03 2.54576354e+02] [ 1.71205766e-03 -1.07249454e-05 9.99998534e-01 1.40611908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.90, Y:254.60, Z:1.41 [[ 7.02063480e-01 -7.12113324e-01 -1.21834816e-03 2.32902392e+02] [ 7.12112308e-01 7.02064536e-01 -1.20289731e-03 2.54597834e+02] [ 1.71195824e-03 -2.30904456e-05 9.99998534e-01 1.40581503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.92, Y:254.62, Z:1.40 [[ 7.02362618e-01 -7.11818278e-01 -1.22133171e-03 2.32923687e+02] [ 7.11817267e-01 7.02363680e-01 -1.19990738e-03 2.54617676e+02] [ 1.71193504e-03 -2.65949087e-05 9.99998534e-01 1.40478397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.94, Y:254.64, Z:1.41 [[ 7.02496244e-01 -7.11686393e-01 -1.22681443e-03 2.32941547e+02] [ 7.11685391e-01 7.02497315e-01 -1.19441391e-03 2.54635358e+02] [ 1.71188197e-03 -3.40346193e-05 9.99998534e-01 1.40544009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.96, Y:254.65, Z:1.41 [[ 7.00307945e-01 -7.13839826e-01 -1.21861066e-03 2.32957685e+02] [ 7.13838814e-01 7.00309005e-01 -1.20263045e-03 2.54654766e+02] [ 1.71188953e-03 -2.76799322e-05 9.99998534e-01 1.40534171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.98, Y:254.67, Z:1.40 [[ 7.00051876e-01 -7.14090964e-01 -1.21098709e-03 2.32979657e+02] [ 7.14089938e-01 7.00052923e-01 -1.21025861e-03 2.54674874e+02] [ 1.71198979e-03 -1.75098842e-05 9.99998534e-01 1.40485454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.00, Y:254.70, Z:1.40 [[ 6.99545673e-01 -7.14586852e-01 -1.21717109e-03 2.33001052e+02] [ 7.14585838e-01 6.99546732e-01 -1.20407587e-03 2.54695203e+02] [ 1.71188484e-03 -2.74671586e-05 9.99998534e-01 1.40454276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.02, Y:254.71, Z:1.40 [[ 6.97062060e-01 -7.17009762e-01 -1.21919479e-03 2.33019927e+02] [ 7.17008755e-01 6.97063125e-01 -1.20205383e-03 2.54714219e+02] [ 1.71174006e-03 -3.62672241e-05 9.99998534e-01 1.40395029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.04, Y:254.73, Z:1.40 [[ 6.95408321e-01 -7.18613796e-01 -1.21602532e-03 2.33037609e+02] [ 7.18612787e-01 6.95409383e-01 -1.20521907e-03 2.54732621e+02] [ 1.71172247e-03 -3.57319770e-05 9.99998534e-01 1.40401500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.06, Y:254.75, Z:1.40 [[ 6.94844644e-01 -7.19158854e-01 -1.20941647e-03 2.33063066e+02] [ 7.19157834e-01 6.94845696e-01 -1.21181483e-03 2.54751241e+02] [ 1.71184520e-03 -2.77382846e-05 9.99998534e-01 1.40321064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.08, Y:254.77, Z:1.40 [[ 6.90999289e-01 -7.22854412e-01 -1.21750359e-03 2.33083636e+02] [ 7.22853411e-01 6.91000359e-01 -1.20374571e-03 2.54772725e+02] [ 1.71142832e-03 -4.82891932e-05 9.99998534e-01 1.40259522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.10, Y:254.79, Z:1.40 [[ 6.88210034e-01 -7.25510481e-01 -1.22136030e-03 2.33099655e+02] [ 7.25509491e-01 6.88211115e-01 -1.19989930e-03 2.54790463e+02] [ 1.71109326e-03 -6.03257524e-05 9.99998534e-01 1.40394077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.12, Y:254.81, Z:1.40 [[ 6.86129508e-01 -7.27478411e-01 -1.20832467e-03 2.33119671e+02] [ 7.27477402e-01 6.86130570e-01 -1.21288591e-03 2.54806692e+02] [ 1.71141681e-03 -4.68320793e-05 9.99998534e-01 1.40321326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.14, Y:254.83, Z:1.40 [[ 6.86002750e-01 -7.27597958e-01 -1.19976640e-03 2.33139026e+02] [ 7.27596933e-01 6.86003798e-01 -1.22140611e-03 2.54826280e+02] [ 1.71173690e-03 -3.50584050e-05 9.99998534e-01 1.40325685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.16, Y:254.85, Z:1.40 [[ 6.84278634e-01 -7.29219659e-01 -1.19967228e-03 2.33162579e+02] [ 7.29218637e-01 6.84279685e-01 -1.22149978e-03 2.54848087e+02] [ 1.71165303e-03 -3.89771837e-05 9.99998534e-01 1.40310375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.18, Y:254.87, Z:1.40 [[ 6.82986243e-01 -7.30430228e-01 -1.21411327e-03 2.33184502e+02] [ 7.30429233e-01 6.82987319e-01 -1.20715297e-03 2.54869892e+02] [ 1.71096499e-03 -6.23549523e-05 9.99998534e-01 1.40232214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.20, Y:254.89, Z:1.40 [[ 6.80495032e-01 -7.32751675e-01 -1.22256817e-03 2.33198673e+02] [ 7.32750699e-01 6.80496125e-01 -1.19875547e-03 2.54889911e+02] [ 1.71034298e-03 -8.00905428e-05 9.99998534e-01 1.40189953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.22, Y:254.91, Z:1.40 [[ 6.81103307e-01 -7.32186334e-01 -1.20740282e-03 2.33217159e+02] [ 7.32185330e-01 6.81104375e-01 -1.21379911e-03 2.54909428e+02] [ 1.71109446e-03 -5.73200443e-05 9.99998534e-01 1.40176916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.24, Y:254.93, Z:1.40 [[ 6.81544763e-01 -7.31775436e-01 -1.20312905e-03 2.33235669e+02] [ 7.31774424e-01 6.81545823e-01 -1.21803673e-03 2.54930142e+02] [ 1.71131694e-03 -5.02725154e-05 9.99998534e-01 1.40018757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.26, Y:254.95, Z:1.40 [[ 6.81582973e-01 -7.31739853e-01 -1.19899688e-03 2.33255006e+02] [ 7.31738834e-01 6.81584026e-01 -1.22213191e-03 2.54950460e+02] [ 1.71149975e-03 -4.43682800e-05 9.99998534e-01 1.39877267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.27, Y:254.97, Z:1.40 [[ 6.81765479e-01 -7.31569816e-01 -1.19803090e-03 2.33273138e+02] [ 7.31568795e-01 6.81766531e-01 -1.22308829e-03 2.54970738e+02] [ 1.71155185e-03 -4.25826453e-05 9.99998534e-01 1.40025113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.30, Y:254.99, Z:1.40 [[ 6.83596982e-01 -7.29858718e-01 -1.19098385e-03 2.33295244e+02] [ 7.29857682e-01 6.83598019e-01 -1.23006264e-03 2.54991799e+02] [ 1.71192615e-03 -2.83816027e-05 9.99998534e-01 1.39892422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.32, Y:255.01, Z:1.40 [[ 6.87044541e-01 -7.26614310e-01 -1.20091658e-03 2.33318950e+02] [ 7.26613287e-01 6.87045590e-01 -1.22022347e-03 2.55010936e+02] [ 1.71171627e-03 -3.42540691e-05 9.99998534e-01 1.40418758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.34, Y:255.03, Z:1.40 [[ 6.87974238e-01 -7.25734108e-01 -1.20484137e-03 2.33337504e+02] [ 7.25733090e-01 6.87975292e-01 -1.21633577e-03 2.55032196e+02] [ 1.71163745e-03 -3.75855814e-05 9.99998534e-01 1.40284119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.35, Y:255.05, Z:1.40 [[ 6.86614819e-01 -7.27020382e-01 -1.20625676e-03 2.33352898e+02] [ 7.27019368e-01 6.86615877e-01 -1.21493435e-03 2.55053388e+02] [ 1.71151708e-03 -4.27801050e-05 9.99998534e-01 1.40122602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.38, Y:255.07, Z:1.41 [[ 6.88212311e-01 -7.25508363e-01 -1.19582869e-03 2.33375693e+02] [ 7.25507329e-01 6.88213350e-01 -1.22524982e-03 2.55072753e+02] [ 1.71191426e-03 -2.43504673e-05 9.99998534e-01 1.40554946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.40, Y:255.09, Z:1.40 [[ 6.88532688e-01 -7.25204308e-01 -1.20399887e-03 2.33395199e+02] [ 7.25203287e-01 6.88533740e-01 -1.21716804e-03 2.55093214e+02] [ 1.71168935e-03 -3.50839525e-05 9.99998534e-01 1.40463456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.42, Y:255.11, Z:1.41 [[ 6.89023235e-01 -7.24738253e-01 -1.20269542e-03 2.33415367e+02] [ 7.24737229e-01 6.89024284e-01 -1.21845672e-03 2.55112088e+02] [ 1.71174854e-03 -3.20931517e-05 9.99998534e-01 1.40748511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.43, Y:255.13, Z:1.41 [[ 6.87867163e-01 -7.25835600e-01 -1.20346780e-03 2.33433220e+02] [ 7.25834579e-01 6.87868215e-01 -1.21769335e-03 2.55132131e+02] [ 1.71167244e-03 -3.59072728e-05 9.99998534e-01 1.40730873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.45, Y:255.15, Z:1.40 [[ 6.85417052e-01 -7.28149722e-01 -1.20323851e-03 2.33450871e+02] [ 7.28148704e-01 6.85418107e-01 -1.21791989e-03 2.55153363e+02] [ 1.71154949e-03 -4.13534988e-05 9.99998534e-01 1.40491123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.47, Y:255.17, Z:1.41 [[ 6.85504504e-01 -7.28067397e-01 -1.19979978e-03 2.33472523e+02] [ 7.28066374e-01 6.85505553e-01 -1.22131525e-03 2.55171940e+02] [ 1.71166923e-03 -3.63167708e-05 9.99998534e-01 1.40830767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.49, Y:255.19, Z:1.41 [[ 6.83316262e-01 -7.30121524e-01 -1.20274214e-03 2.33491814e+02] [ 7.30120508e-01 6.83317319e-01 -1.21841074e-03 2.55191287e+02] [ 1.71144243e-03 -4.55868296e-05 9.99998534e-01 1.40830947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.51, Y:255.21, Z:1.41 [[ 6.84595255e-01 -7.28922418e-01 -1.20248101e-03 2.33514131e+02] [ 7.28921400e-01 6.84596310e-01 -1.21866839e-03 2.55207901e+02] [ 1.71152877e-03 -4.22195485e-05 9.99998534e-01 1.40928443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.53, Y:255.23, Z:1.40 [[ 6.80128617e-01 -7.33091822e-01 -1.20216720e-03 2.33531186e+02] [ 7.33090810e-01 6.80129678e-01 -1.21897787e-03 2.55233576e+02] [ 1.71125230e-03 -5.22359962e-05 9.99998534e-01 1.40495674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.55, Y:255.25, Z:1.41 [[ 6.81145152e-01 -7.32147407e-01 -1.20708677e-03 2.33551910e+02] [ 7.32146403e-01 6.81146219e-01 -1.21412578e-03 2.55250759e+02] [ 1.71112164e-03 -5.67683471e-05 9.99998534e-01 1.40881209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.58, Y:255.27, Z:1.41 [[ 6.81911652e-01 -7.31433564e-01 -1.20014442e-03 2.33575687e+02] [ 7.31432546e-01 6.81912707e-01 -1.22096816e-03 2.55272468e+02] [ 1.71145083e-03 -4.52322747e-05 9.99998534e-01 1.40700954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:255.29, Z:1.41 [[ 6.81279846e-01 -7.32022057e-01 -1.21600116e-03 2.33590812e+02] [ 7.32021068e-01 6.81280928e-01 -1.20533875e-03 2.55290688e+02] [ 1.71077294e-03 -6.89654696e-05 9.99998534e-01 1.40712266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.61, Y:255.31, Z:1.41 [[ 6.82327563e-01 -7.31045590e-01 -1.20088749e-03 2.33609519e+02] [ 7.31044573e-01 6.82328618e-01 -1.22021305e-03 2.55311164e+02] [ 1.71143127e-03 -4.53172839e-05 9.99998535e-01 1.40676451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.63, Y:255.33, Z:1.41 [[ 6.83287892e-01 -7.30148076e-01 -1.20173462e-03 2.33628625e+02] [ 7.30147059e-01 6.83288948e-01 -1.21937987e-03 2.55331192e+02] [ 1.71145985e-03 -4.42554982e-05 9.99998534e-01 1.40575867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.65, Y:255.35, Z:1.41 [[ 6.85137661e-01 -7.28412620e-01 -1.20021936e-03 2.33647692e+02] [ 7.28411598e-01 6.85138711e-01 -1.22086950e-03 2.55350670e+02] [ 1.71161350e-03 -3.77900298e-05 9.99998535e-01 1.40510494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.67, Y:255.37, Z:1.41 [[ 6.85916712e-01 -7.27679067e-01 -1.19987563e-03 2.33667183e+02] [ 7.27678044e-01 6.85917760e-01 -1.22120723e-03 2.55370478e+02] [ 1.71166294e-03 -3.54767079e-05 9.99998535e-01 1.40521254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.69, Y:255.39, Z:1.41 [[ 6.86646631e-01 -7.26990348e-01 -1.19949827e-03 2.33686074e+02] [ 7.26989322e-01 6.86647678e-01 -1.22157777e-03 2.55389554e+02] [ 1.71170795e-03 -3.32301763e-05 9.99998535e-01 1.40516754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.71, Y:255.41, Z:1.41 [[ 6.88475919e-01 -7.25258210e-01 -1.19924202e-03 2.33705652e+02] [ 7.25257181e-01 6.88476963e-01 -1.22182928e-03 2.55409220e+02] [ 1.71179222e-03 -2.85588496e-05 9.99998535e-01 1.40544897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.72, Y:255.43, Z:1.41 [[ 6.89491696e-01 -7.24292595e-01 -1.19886197e-03 2.33724642e+02] [ 7.24291565e-01 6.89492738e-01 -1.22220207e-03 2.55428953e+02] [ 1.71183853e-03 -2.56274312e-05 9.99998535e-01 1.40506752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.74, Y:255.45, Z:1.41 [[ 6.90043788e-01 -7.23766630e-01 -1.19852049e-03 2.33743955e+02] [ 7.23765598e-01 6.90044828e-01 -1.22253685e-03 2.55449615e+02] [ 1.71186424e-03 -2.38439386e-05 9.99998535e-01 1.40581866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.76, Y:255.47, Z:1.41 [[ 6.91415576e-01 -7.22456273e-01 -1.19813590e-03 2.33763794e+02] [ 7.22455238e-01 6.91416614e-01 -1.22291364e-03 2.55470820e+02] [ 1.71191270e-03 -2.00580225e-05 9.99998535e-01 1.40645910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.78, Y:255.49, Z:1.41 [[ 6.91705762e-01 -7.22178442e-01 -1.19849301e-03 2.33783100e+02] [ 7.22177408e-01 6.91706800e-01 -1.22256384e-03 2.55490465e+02] [ 1.71191501e-03 -1.98701284e-05 9.99998535e-01 1.40582059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.80, Y:255.51, Z:1.41 [[ 6.91910372e-01 -7.21982411e-01 -1.19762256e-03 2.33801434e+02] [ 7.21981375e-01 6.91911409e-01 -1.22341593e-03 2.55509962e+02] [ 1.71193350e-03 -1.81670115e-05 9.99998535e-01 1.40685494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.44275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:233.82, Y:255.53, Z:1.41 [[ 6.92611022e-01 -7.21310293e-01 -1.19727154e-03 2.33818899e+02] [ 7.21309255e-01 6.92612057e-01 -1.22375936e-03 2.55527576e+02] [ 1.71195493e-03 -1.60138243e-05 9.99998535e-01 1.40818390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.85, Y:255.55, Z:1.41 [[ 6.93935497e-01 -7.20036186e-01 -1.18993044e-03 2.33847649e+02] [ 7.20035134e-01 6.93936518e-01 -1.23094497e-03 2.55550883e+02] [ 1.71206111e-03 -2.59530997e-06 9.99998534e-01 1.40511390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.86, Y:255.57, Z:1.41 [[ 6.88978765e-01 -7.24780499e-01 -1.22063189e-03 2.33860183e+02] [ 7.24779506e-01 6.88979844e-01 -1.20079329e-03 2.55569024e+02] [ 1.71130233e-03 -5.73679029e-05 9.99998534e-01 1.40749074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.88, Y:255.59, Z:1.41 [[ 6.89831466e-01 -7.23968999e-01 -1.19852819e-03 2.33884757e+02] [ 7.23967967e-01 6.89832507e-01 -1.22246420e-03 2.55589422e+02] [ 1.71180989e-03 -2.44017462e-05 9.99998535e-01 1.40750913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.90, Y:255.60, Z:1.41 [[ 6.88572178e-01 -7.25166798e-01 -1.21302730e-03 2.33898738e+02] [ 7.25165793e-01 6.88573244e-01 -1.20824909e-03 2.55603876e+02] [ 1.71144027e-03 -4.76791929e-05 9.99998534e-01 1.40846526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.92, Y:255.63, Z:1.41 [[ 6.85208197e-01 -7.28346300e-01 -1.18043547e-03 2.33920485e+02] [ 7.28345245e-01 6.85209214e-01 -1.24012794e-03 2.55627776e+02] [ 1.71208785e-03 -1.00187309e-05 9.99998534e-01 1.41007325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.94, Y:255.65, Z:1.41 [[ 6.83778331e-01 -7.29688811e-01 -1.19690477e-03 2.33942170e+02] [ 7.29687785e-01 6.83779378e-01 -1.22401364e-03 2.55648675e+02] [ 1.71156785e-03 -3.64127864e-05 9.99998535e-01 1.40945088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.96, Y:255.67, Z:1.41 [[ 6.82591818e-01 -7.30798856e-01 -1.20135366e-03 2.33959816e+02] [ 7.30797839e-01 6.82592873e-01 -1.21966291e-03 2.55666418e+02] [ 1.71136370e-03 -4.54147337e-05 9.99998535e-01 1.40847155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.98, Y:255.69, Z:1.41 [[ 6.79866736e-01 -7.33334713e-01 -1.19135570e-03 2.33980836e+02] [ 7.33333684e-01 6.79867779e-01 -1.22942743e-03 2.55686871e+02] [ 1.71154616e-03 -3.78144510e-05 9.99998535e-01 1.40920092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.00, Y:255.71, Z:1.41 [[ 6.78782874e-01 -7.34338055e-01 -1.19616403e-03 2.34000582e+02] [ 7.34337035e-01 6.78783926e-01 -1.22473125e-03 2.55706591e+02] [ 1.71130368e-03 -4.70609569e-05 9.99998535e-01 1.40916880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.02, Y:255.73, Z:1.41 [[ 6.77833834e-01 -7.35214162e-01 -1.19578241e-03 2.34019249e+02] [ 7.35213143e-01 6.77834887e-01 -1.22510373e-03 2.55725746e+02] [ 1.71125665e-03 -4.87381838e-05 9.99998535e-01 1.40920424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.04, Y:255.75, Z:1.41 [[ 6.77900343e-01 -7.35152838e-01 -1.19544002e-03 2.34038321e+02] [ 7.35151818e-01 6.77901396e-01 -1.22543775e-03 2.55746580e+02] [ 1.71127449e-03 -4.81052298e-05 9.99998535e-01 1.41000348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.06, Y:255.77, Z:1.41 [[ 6.78572334e-01 -7.34532614e-01 -1.19448746e-03 2.34057171e+02] [ 7.34531591e-01 6.78573384e-01 -1.22636652e-03 2.55766879e+02] [ 1.71135360e-03 -4.52103802e-05 9.99998535e-01 1.41022457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.07, Y:255.78, Z:1.41 [[ 6.81167778e-01 -7.32126379e-01 -1.19296668e-03 2.34074333e+02] [ 7.32125351e-01 6.81168822e-01 -1.22784859e-03 2.55783635e+02] [ 1.71155205e-03 -3.70302538e-05 9.99998535e-01 1.40998056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.09, Y:255.81, Z:1.41 [[ 6.80628829e-01 -7.32627466e-01 -1.18052674e-03 2.34094572e+02] [ 7.32626417e-01 6.80629853e-01 -1.23995562e-03 2.55806404e+02] [ 1.71192728e-03 -2.09355333e-05 9.99998534e-01 1.40896730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.11, Y:255.83, Z:1.41 [[ 6.84220897e-01 -7.29273843e-01 -1.19430002e-03 2.34114791e+02] [ 7.29272812e-01 6.84221938e-01 -1.22654442e-03 2.55825307e+02] [ 1.71165304e-03 -3.17432054e-05 9.99998535e-01 1.40924513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.13, Y:255.85, Z:1.41 [[ 6.83398526e-01 -7.30044538e-01 -1.19476270e-03 2.34132574e+02] [ 7.30043509e-01 6.83399570e-01 -1.22609401e-03 2.55847587e+02] [ 1.71160355e-03 -3.43179144e-05 9.99998535e-01 1.40896933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.15, Y:255.87, Z:1.41 [[ 6.85265269e-01 -7.28292582e-01 -1.19432505e-03 2.34150031e+02] [ 7.28291550e-01 6.85266309e-01 -1.22651978e-03 2.55869158e+02] [ 1.71169598e-03 -2.93254373e-05 9.99998535e-01 1.40850663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.17, Y:255.89, Z:1.41 [[ 6.85849988e-01 -7.27741966e-01 -1.19339753e-03 2.34168020e+02] [ 7.27740932e-01 6.85851026e-01 -1.22742160e-03 2.55889775e+02] [ 1.71173913e-03 -2.66571372e-05 9.99998535e-01 1.40792096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.19, Y:255.91, Z:1.41 [[ 6.86278577e-01 -7.27337811e-01 -1.19305861e-03 2.34186246e+02] [ 7.27336775e-01 6.86279614e-01 -1.22775094e-03 2.55910560e+02] [ 1.71176148e-03 -2.51762374e-05 9.99998535e-01 1.40838851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.20, Y:255.93, Z:1.41 [[ 6.87327196e-01 -7.26346958e-01 -1.19268191e-03 2.34204740e+02] [ 7.26345920e-01 6.87328231e-01 -1.22811677e-03 2.55931221e+02] [ 1.71180283e-03 -2.21815770e-05 9.99998535e-01 1.40967994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.22, Y:255.95, Z:1.41 [[ 6.88545799e-01 -7.25191879e-01 -1.19229683e-03 2.34223278e+02] [ 7.25190839e-01 6.88546831e-01 -1.22849050e-03 2.55949894e+02] [ 1.71184354e-03 -1.87707657e-05 9.99998535e-01 1.40986452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.24, Y:255.97, Z:1.41 [[ 6.88957302e-01 -7.24800958e-01 -1.18620090e-03 2.34243753e+02] [ 7.24799907e-01 6.88958324e-01 -1.23440434e-03 2.55971890e+02] [ 1.71194043e-03 -9.30642343e-06 9.99998535e-01 1.41105807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.26, Y:255.99, Z:1.41 [[ 6.87300216e-01 -7.26372488e-01 -1.19199110e-03 2.34261321e+02] [ 7.26371449e-01 6.87301250e-01 -1.22878753e-03 2.55991851e+02] [ 1.71181443e-03 -2.12823681e-05 9.99998535e-01 1.41133385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.28, Y:256.01, Z:1.41 [[ 6.91841834e-01 -7.22048098e-01 -1.19177477e-03 2.34277986e+02] [ 7.22047052e-01 6.91842861e-01 -1.22899731e-03 2.56005099e+02] [ 1.71191603e-03 -1.02457055e-05 9.99998535e-01 1.41444143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.30, Y:256.03, Z:1.41 [[ 6.85202070e-01 -7.28352085e-01 -1.16788262e-03 2.34298351e+02] [ 7.28351009e-01 6.85203065e-01 -1.25209621e-03 2.56032350e+02] [ 1.71220364e-03 7.31042802e-06 9.99998534e-01 1.41145593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.22275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:234.32, Y:256.05, Z:1.41 [[ 6.82880066e-01 -7.30529532e-01 -1.19053760e-03 2.34317345e+02] [ 7.30528497e-01 6.82881103e-01 -1.23017114e-03 2.56053006e+02] [ 1.71167197e-03 -2.96622961e-05 9.99998535e-01 1.41245126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.34, Y:256.07, Z:1.41 [[ 6.81475701e-01 -7.31839772e-01 -1.19013936e-03 2.34337261e+02] [ 7.31838738e-01 6.81476740e-01 -1.23055629e-03 2.56073469e+02] [ 1.71162233e-03 -3.23958751e-05 9.99998535e-01 1.41299948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.36, Y:256.09, Z:1.41 [[ 6.80612907e-01 -7.32642242e-01 -1.18974211e-03 2.34359495e+02] [ 7.32641209e-01 6.80613946e-01 -1.23094024e-03 2.56094159e+02] [ 1.71159390e-03 -3.38602819e-05 9.99998535e-01 1.41350211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.38, Y:256.11, Z:1.41 [[ 6.80393079e-01 -7.32846387e-01 -1.19629366e-03 2.34378515e+02] [ 7.32845365e-01 6.80394129e-01 -1.22461020e-03 2.56114128e+02] [ 1.71140235e-03 -4.34819636e-05 9.99998535e-01 1.41355193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.40, Y:256.13, Z:1.41 [[ 6.77011997e-01 -7.35971008e-01 -1.19601959e-03 2.34395464e+02] [ 7.35969991e-01 6.77013052e-01 -1.22487487e-03 2.56133133e+02] [ 1.71119327e-03 -5.09795465e-05 9.99998535e-01 1.41474832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.42, Y:256.15, Z:1.42 [[ 6.75616564e-01 -7.37252228e-01 -1.18751333e-03 2.34415057e+02] [ 7.37251198e-01 6.75617607e-01 -1.23308094e-03 2.56153656e+02] [ 1.71139659e-03 -4.24057173e-05 9.99998535e-01 1.41552439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.43, Y:256.17, Z:1.42 [[ 6.74043917e-01 -7.38690318e-01 -1.18835857e-03 2.34434308e+02] [ 7.38689292e-01 6.74044963e-01 -1.23226582e-03 2.56173837e+02] [ 1.71126994e-03 -4.72264690e-05 9.99998535e-01 1.41646487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.45, Y:256.19, Z:1.42 [[ 6.73052081e-01 -7.39594135e-01 -1.18797267e-03 2.34452053e+02] [ 7.39593110e-01 6.73053128e-01 -1.23263774e-03 2.56194951e+02] [ 1.71122036e-03 -4.89870033e-05 9.99998535e-01 1.41522739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.47, Y:256.22, Z:1.41 [[ 6.69521246e-01 -7.42791963e-01 -1.18357636e-03 2.34469629e+02] [ 7.42790935e-01 6.69522291e-01 -1.23687288e-03 2.56218562e+02] [ 1.71116999e-03 -5.10371163e-05 9.99998535e-01 1.41487334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.49, Y:256.24, Z:1.41 [[ 6.72608968e-01 -7.39997140e-01 -1.18681785e-03 2.34488436e+02] [ 7.39996113e-01 6.72610013e-01 -1.23375081e-03 2.56236401e+02] [ 1.71123764e-03 -4.84087396e-05 9.99998535e-01 1.41481875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.51, Y:256.26, Z:1.42 [[ 6.73965195e-01 -7.38762164e-01 -1.17537540e-03 2.34508269e+02] [ 7.38761116e-01 6.73966219e-01 -1.24476008e-03 2.56256053e+02] [ 1.71174496e-03 -2.93966755e-05 9.99998535e-01 1.41568273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.53, Y:256.28, Z:1.41 [[ 6.75672487e-01 -7.37200992e-01 -1.17764290e-03 2.34528730e+02] [ 7.37199946e-01 6.75673513e-01 -1.24257907e-03 2.56275055e+02] [ 1.71173264e-03 -2.85817944e-05 9.99998535e-01 1.41497956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.55, Y:256.30, Z:1.41 [[ 6.77930258e-01 -7.35125278e-01 -1.17934246e-03 2.34547904e+02] [ 7.35124231e-01 6.77931283e-01 -1.24094236e-03 2.56297961e+02] [ 1.71176125e-03 -2.56908484e-05 9.99998535e-01 1.41430164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.57, Y:256.32, Z:1.42 [[ 6.79849769e-01 -7.33350456e-01 -1.18315456e-03 2.34569219e+02] [ 7.33349413e-01 6.79850798e-01 -1.23727185e-03 2.56317895e+02] [ 1.71172245e-03 -2.65067206e-05 9.99998535e-01 1.41540053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.59, Y:256.34, Z:1.42 [[ 6.84466692e-01 -7.29043166e-01 -1.18733289e-03 2.34593902e+02] [ 7.29042123e-01 6.84467722e-01 -1.23324909e-03 2.56340060e+02] [ 1.71178286e-03 -2.14977644e-05 9.99998535e-01 1.41500891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.61, Y:256.36, Z:1.41 [[ 6.85916732e-01 -7.27679041e-01 -1.20468223e-03 2.34613510e+02] [ 7.27678025e-01 6.85917788e-01 -1.21653682e-03 2.56360089e+02] [ 1.71156132e-03 -4.21778284e-05 9.99998534e-01 1.41483093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.63, Y:256.38, Z:1.41 [[ 6.86665550e-01 -7.26972467e-01 -1.20616705e-03 2.34633177e+02] [ 7.26971453e-01 6.86666608e-01 -1.21510760e-03 2.56381428e+02] [ 1.71158440e-03 -4.24764824e-05 9.99998534e-01 1.41482808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.65, Y:256.40, Z:1.41 [[ 6.87756400e-01 -7.25940545e-01 -1.20765373e-03 2.34650061e+02] [ 7.25939532e-01 6.87757459e-01 -1.21367763e-03 2.56401283e+02] [ 1.71163066e-03 -4.19690276e-05 9.99998534e-01 1.41447875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.66, Y:256.42, Z:1.41 [[ 6.86222752e-01 -7.27390467e-01 -1.20158480e-03 2.34663709e+02] [ 7.27389445e-01 6.86223803e-01 -1.21950952e-03 2.56420902e+02] [ 1.71161569e-03 -3.71649257e-05 9.99998535e-01 1.41441866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.69, Y:256.44, Z:1.41 [[ 6.86578519e-01 -7.27054697e-01 -1.18531264e-03 2.34687596e+02] [ 7.27053648e-01 6.86579543e-01 -1.23512542e-03 2.56443587e+02] [ 1.71181515e-03 -1.37752981e-05 9.99998535e-01 1.41382838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.70, Y:256.46, Z:1.41 [[ 6.86279808e-01 -7.27336636e-01 -1.20148613e-03 2.34703360e+02] [ 7.27335614e-01 6.86280859e-01 -1.21959657e-03 2.56462172e+02] [ 1.71161420e-03 -3.68991550e-05 9.99998535e-01 1.41448672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.72, Y:256.48, Z:1.41 [[ 6.86328175e-01 -7.27291023e-01 -1.18476792e-03 2.34723460e+02] [ 7.27289974e-01 6.86329197e-01 -1.23562665e-03 2.56482657e+02] [ 1.71180099e-03 -1.36244509e-05 9.99998535e-01 1.41479430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.74, Y:256.50, Z:1.42 [[ 6.85073176e-01 -7.28473292e-01 -1.18575515e-03 2.34744516e+02] [ 7.28472246e-01 6.85074202e-01 -1.23468062e-03 2.56502851e+02] [ 1.71176212e-03 -1.79431414e-05 9.99998535e-01 1.41556828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.76, Y:256.52, Z:1.41 [[ 6.83220748e-01 -7.30210927e-01 -1.18797324e-03 2.34760999e+02] [ 7.30209887e-01 6.83221781e-01 -1.23255626e-03 2.56523171e+02] [ 1.71167524e-03 -2.53617987e-05 9.99998535e-01 1.41455921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.78, Y:256.54, Z:1.42 [[ 6.82669796e-01 -7.30726048e-01 -1.18025229e-03 2.34781612e+02] [ 7.30724996e-01 6.82670816e-01 -1.23994373e-03 2.56542270e+02] [ 1.71178298e-03 -1.59677196e-05 9.99998535e-01 1.41657297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.80, Y:256.56, Z:1.42 [[ 6.81500585e-01 -7.31816611e-01 -1.18328653e-03 2.34798682e+02] [ 7.31815566e-01 6.81501612e-01 -1.23704135e-03 2.56562747e+02] [ 1.71169908e-03 -2.29031013e-05 9.99998535e-01 1.41606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.82, Y:256.58, Z:1.42 [[ 6.81496273e-01 -7.31820634e-01 -1.17901894e-03 2.34819597e+02] [ 7.31819582e-01 6.81497292e-01 -1.24112135e-03 2.56582502e+02] [ 1.71177643e-03 -1.70095775e-05 9.99998535e-01 1.41741207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.84, Y:256.60, Z:1.42 [[ 6.80889936e-01 -7.32384801e-01 -1.18278556e-03 2.34839186e+02] [ 7.32383756e-01 6.80890963e-01 -1.23752133e-03 2.56603750e+02] [ 1.71168981e-03 -2.36371058e-05 9.99998535e-01 1.41783635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.86, Y:256.62, Z:1.42 [[ 6.80627700e-01 -7.32628508e-01 -1.18464064e-03 2.34858056e+02] [ 7.32627466e-01 6.80628731e-01 -1.23574916e-03 2.56624150e+02] [ 1.71164551e-03 -2.68151609e-05 9.99998535e-01 1.41852034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.88, Y:256.65, Z:1.42 [[ 6.80629631e-01 -7.32626712e-01 -1.18546535e-03 2.34875393e+02] [ 7.32625672e-01 6.80630663e-01 -1.23496142e-03 2.56645077e+02] [ 1.71162980e-03 -2.79510128e-05 9.99998535e-01 1.41701055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.89, Y:256.67, Z:1.42 [[ 6.80953886e-01 -7.32325348e-01 -1.17895074e-03 2.34894206e+02] [ 7.32324296e-01 6.80954907e-01 -1.24118218e-03 2.56667371e+02] [ 1.71176147e-03 -1.81864426e-05 9.99998535e-01 1.41695812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.91, Y:256.69, Z:1.42 [[ 6.79985627e-01 -7.33224492e-01 -1.17983030e-03 2.34913652e+02] [ 7.33223443e-01 6.79986650e-01 -1.24034255e-03 2.56690175e+02] [ 1.71171839e-03 -2.16641291e-05 9.99998535e-01 1.41669938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.93, Y:256.71, Z:1.42 [[ 6.80945142e-01 -7.32333459e-01 -1.19101033e-03 2.34933849e+02] [ 7.32332427e-01 6.80946183e-01 -1.22964262e-03 2.56710779e+02] [ 1.71152238e-03 -3.48963161e-05 9.99998535e-01 1.41761714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.95, Y:256.73, Z:1.42 [[ 6.81402538e-01 -7.31907893e-01 -1.19067108e-03 2.34952028e+02] [ 7.31906860e-01 6.81403578e-01 -1.22996662e-03 2.56730680e+02] [ 1.71154981e-03 -3.33579575e-05 9.99998535e-01 1.41664514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.97, Y:256.75, Z:1.42 [[ 6.81215664e-01 -7.32081840e-01 -1.18250229e-03 2.34970658e+02] [ 7.32080794e-01 6.81216690e-01 -1.23775834e-03 2.56750388e+02] [ 1.71168070e-03 -2.25068465e-05 9.99998535e-01 1.41673749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:234.99, Y:256.77, Z:1.41 [[ 6.79255337e-01 -7.33901078e-01 -1.18118209e-03 2.34989613e+02] [ 7.33900033e-01 6.79256363e-01 -1.23901691e-03 2.56774309e+02] [ 1.71164130e-03 -2.52607286e-05 9.99998535e-01 1.41410257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.01, Y:256.80, Z:1.42 [[ 6.77337049e-01 -7.35671871e-01 -1.19167093e-03 2.35009347e+02] [ 7.35670846e-01 6.77338096e-01 -1.22901328e-03 2.56797227e+02] [ 1.71131462e-03 -4.42213398e-05 9.99998535e-01 1.41654136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.03, Y:256.81, Z:1.42 [[ 6.78481712e-01 -7.34616320e-01 -1.19540079e-03 2.35026105e+02] [ 7.34615300e-01 6.78482763e-01 -1.22546425e-03 2.56814130e+02] [ 1.71130487e-03 -4.67046319e-05 9.99998535e-01 1.41577590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.05, Y:256.83, Z:1.41 [[ 6.76742902e-01 -7.36218483e-01 -1.17902804e-03 2.35045098e+02] [ 7.36217437e-01 6.76743929e-01 -1.24101915e-03 2.56834598e+02] [ 1.71156131e-03 -2.81701004e-05 9.99998535e-01 1.41479623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.06, Y:256.86, Z:1.41 [[ 6.73418679e-01 -7.39260369e-01 -1.17864077e-03 2.35059041e+02] [ 7.39259328e-01 6.73419710e-01 -1.24138685e-03 2.56855533e+02] [ 1.71142803e-03 -3.53480901e-05 9.99998535e-01 1.41206593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.09, Y:256.87, Z:1.42 [[ 6.74582087e-01 -7.38198926e-01 -1.16349766e-03 2.35086831e+02] [ 7.38197858e-01 6.74583090e-01 -1.25577684e-03 2.56874989e+02] [ 1.71188896e-03 -1.17669169e-05 9.99998535e-01 1.41569474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.10, Y:256.90, Z:1.41 [[ 6.69405938e-01 -7.42895887e-01 -1.17952484e-03 2.35096435e+02] [ 7.42894853e-01 6.69406976e-01 -1.24053792e-03 2.56895177e+02] [ 1.71117267e-03 -4.58394756e-05 9.99998535e-01 1.41375138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.12, Y:256.92, Z:1.42 [[ 6.71655558e-01 -7.40862667e-01 -1.14914892e-03 2.35123035e+02] [ 7.40861580e-01 6.71656541e-01 -1.26924116e-03 2.56916462e+02] [ 1.71216678e-03 1.13259412e-06 9.99998534e-01 1.41638463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.14, Y:256.94, Z:1.42 [[ 6.71280120e-01 -7.41202821e-01 -1.17408945e-03 2.35141862e+02] [ 7.41201775e-01 6.71281146e-01 -1.24565859e-03 2.56937289e+02] [ 1.71142977e-03 -3.40513378e-05 9.99998535e-01 1.41694048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.16, Y:256.96, Z:1.42 [[ 6.71662399e-01 -7.40856426e-01 -1.17380814e-03 2.35160170e+02] [ 7.40855379e-01 6.71663424e-01 -1.24592440e-03 2.56959615e+02] [ 1.71145509e-03 -3.27815035e-05 9.99998535e-01 1.41824319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.17, Y:256.98, Z:1.42 [[ 6.68490560e-01 -7.43719699e-01 -1.17536290e-03 2.35170869e+02] [ 7.43718659e-01 6.68491592e-01 -1.24445595e-03 2.56980983e+02] [ 1.71124662e-03 -4.22322666e-05 9.99998535e-01 1.41847839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.60275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.20, Y:257.00, Z:1.42 [[ 6.72568407e-01 -7.40034063e-01 -1.15047894e-03 2.35198060e+02] [ 7.40032977e-01 6.72569391e-01 -1.26791603e-03 2.57001932e+02] [ 1.71207797e-03 1.36791130e-06 9.99998534e-01 1.41994898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.23, Y:257.03, Z:1.42 [[ 6.77619959e-01 -7.35411321e-01 -1.17486379e-03 2.35228042e+02] [ 7.35410267e-01 6.77620977e-01 -1.24490310e-03 2.57025716e+02] [ 1.71162818e-03 -2.04357065e-05 9.99998535e-01 1.42074359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.24, Y:257.04, Z:1.42 [[ 6.76326845e-01 -7.36600660e-01 -1.21085141e-03 2.35238931e+02] [ 7.36599669e-01 6.76327925e-01 -1.21067015e-03 2.57040330e+02] [ 1.71071306e-03 -7.31040229e-05 9.99998534e-01 1.42133412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.26, Y:257.06, Z:1.42 [[ 6.76242832e-01 -7.36677846e-01 -1.17591235e-03 2.35257892e+02] [ 7.36676797e-01 6.76243854e-01 -1.24381323e-03 2.57061199e+02] [ 1.71149315e-03 -2.51475633e-05 9.99998535e-01 1.42112186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.28, Y:257.08, Z:1.42 [[ 6.77206605e-01 -7.35791973e-01 -1.17780734e-03 2.35276321e+02] [ 7.35790925e-01 6.77207629e-01 -1.24201620e-03 2.57081038e+02] [ 1.71148567e-03 -2.55183815e-05 9.99998535e-01 1.42137960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.29, Y:257.10, Z:1.42 [[ 6.76622467e-01 -7.36329179e-01 -1.17393761e-03 2.35294822e+02] [ 7.36328125e-01 6.76623485e-01 -1.24568163e-03 2.57103298e+02] [ 1.71154549e-03 -2.15471044e-05 9.99998535e-01 1.42127699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.31, Y:257.12, Z:1.42 [[ 6.78179910e-01 -7.34894975e-01 -1.17697096e-03 2.35312652e+02] [ 7.34893924e-01 6.78180931e-01 -1.24280898e-03 2.57124639e+02] [ 1.71153333e-03 -2.21007220e-05 9.99998535e-01 1.42029341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.33, Y:257.14, Z:1.42 [[ 6.80629204e-01 -7.32627124e-01 -1.17653346e-03 2.35330000e+02] [ 7.32626069e-01 6.80630220e-01 -1.24322301e-03 2.57143547e+02] [ 1.71160313e-03 -1.57851957e-05 9.99998535e-01 1.41988586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.35, Y:257.17, Z:1.42 [[ 6.80247325e-01 -7.32981730e-01 -1.16607975e-03 2.35350138e+02] [ 7.32980659e-01 6.80248325e-01 -1.25310738e-03 2.57167429e+02] [ 1.71172861e-03 -2.29096013e-06 9.99998535e-01 1.41959617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.37, Y:257.19, Z:1.42 [[ 6.82657428e-01 -7.30737609e-01 -1.17611554e-03 2.35369032e+02] [ 7.30736550e-01 6.82658441e-01 -1.24361632e-03 2.57188369e+02] [ 1.71164241e-03 -1.04666919e-05 9.99998535e-01 1.41883251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.39, Y:257.21, Z:1.42 [[ 6.85224494e-01 -7.28330976e-01 -1.17572406e-03 2.35387242e+02] [ 7.28329914e-01 6.85225502e-01 -1.24398631e-03 2.57207014e+02] [ 1.71166987e-03 -3.90511533e-06 9.99998535e-01 1.41960031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.93275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.41, Y:257.23, Z:1.42 [[ 6.85644730e-01 -7.27935400e-01 -1.16556286e-03 2.35406713e+02] [ 7.27934320e-01 6.85645720e-01 -1.25357968e-03 2.57230357e+02] [ 1.71168821e-03 1.10570950e-05 9.99998535e-01 1.41957071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.43, Y:257.25, Z:1.42 [[ 6.86031761e-01 -7.27570645e-01 -1.17503052e-03 2.35425183e+02] [ 7.27569580e-01 6.86032767e-01 -1.24464153e-03 2.57250989e+02] [ 1.71167408e-03 -1.05284266e-06 9.99998535e-01 1.41951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.99275509600005 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.44, Y:257.27, Z:1.42 [[ 6.84014092e-01 -7.29467849e-01 -1.17463958e-03 2.35438913e+02] [ 7.29466786e-01 6.84015100e-01 -1.24501038e-03 2.57271800e+02] [ 1.71166625e-03 -5.25591518e-06 9.99998535e-01 1.41800854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.46, Y:257.29, Z:1.42 [[ 6.85494456e-01 -7.28076917e-01 -1.16316484e-03 2.35462021e+02] [ 7.28075834e-01 6.85495443e-01 -1.25582251e-03 2.57292170e+02] [ 1.71167958e-03 1.39871604e-05 9.99998535e-01 1.41967407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.05275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.48, Y:257.31, Z:1.42 [[ 6.84426010e-01 -7.29081380e-01 -1.17397280e-03 2.35480988e+02] [ 7.29080316e-01 6.84427016e-01 -1.24563635e-03 2.57312627e+02] [ 1.71166897e-03 -3.37453856e-06 9.99998535e-01 1.41949032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.50, Y:257.33, Z:1.42 [[ 6.84238514e-01 -7.29257347e-01 -1.17357999e-03 2.35499955e+02] [ 7.29256283e-01 6.84239520e-01 -1.24600633e-03 2.57329391e+02] [ 1.71166908e-03 -3.27506126e-06 9.99998535e-01 1.41979936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.52, Y:257.35, Z:1.42 [[ 6.79135276e-01 -7.34012214e-01 -1.16054209e-03 2.35518874e+02] [ 7.34011136e-01 6.79136267e-01 -1.25825713e-03 2.57353688e+02] [ 1.71174232e-03 2.67598039e-06 9.99998535e-01 1.41963121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.54, Y:257.37, Z:1.42 [[ 6.77366400e-01 -7.35644877e-01 -1.17264167e-03 2.35538379e+02] [ 7.35643820e-01 6.77367415e-01 -1.24688660e-03 2.57374123e+02] [ 1.71157500e-03 -1.80475124e-05 9.99998535e-01 1.42128930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.17275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.56, Y:257.39, Z:1.42 [[ 6.72954736e-01 -7.39682736e-01 -1.17203785e-03 2.35557944e+02] [ 7.39681685e-01 6.72955756e-01 -1.24745367e-03 2.57394572e+02] [ 1.71144956e-03 -2.74550803e-05 9.99998535e-01 1.42164161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.20275509600003 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.58, Y:257.41, Z:1.42 [[ 6.72716142e-01 -7.39899738e-01 -1.17064648e-03 2.35576620e+02] [ 7.39898685e-01 6.72717160e-01 -1.24875960e-03 2.57414855e+02] [ 1.71147088e-03 -2.60990517e-05 9.99998535e-01 1.42168829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.23275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.60, Y:257.44, Z:1.42 [[ 6.70654989e-01 -7.41768506e-01 -1.17023982e-03 2.35596856e+02] [ 7.41767455e-01 6.70656009e-01 -1.24914105e-03 2.57435903e+02] [ 1.71140186e-03 -3.03031375e-05 9.99998535e-01 1.41941017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.62, Y:257.46, Z:1.42 [[ 6.68500559e-01 -7.43710718e-01 -1.17082457e-03 2.35615933e+02] [ 7.43709671e-01 6.68501583e-01 -1.24859272e-03 2.57455963e+02] [ 1.71128987e-03 -3.60686274e-05 9.99998535e-01 1.41879689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:235.64, Y:257.48, Z:1.42 [[ 6.64727744e-01 -7.47084772e-01 -1.17042834e-03 2.35635263e+02] [ 7.47083729e-01 6.64728773e-01 -1.24896404e-03 2.57476917e+02] [ 1.71109940e-03 -4.41869196e-05 9.99998535e-01 1.41865921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.65, Y:257.50, Z:1.42 [[ 6.62804678e-01 -7.48791419e-01 -1.17027757e-03 2.35653571e+02] [ 7.48790379e-01 6.62805709e-01 -1.24910526e-03 2.57497579e+02] [ 1.71098595e-03 -4.83797769e-05 9.99998535e-01 1.41944935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.67, Y:257.52, Z:1.42 [[ 6.60607901e-01 -7.50730195e-01 -1.17244852e-03 2.35671953e+02] [ 7.50729161e-01 6.60608940e-01 -1.24707233e-03 2.57517674e+02] [ 1.71074483e-03 -5.63654592e-05 9.99998535e-01 1.41775783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.38275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.69, Y:257.54, Z:1.42 [[ 6.60535418e-01 -7.50793975e-01 -1.16969365e-03 2.35689034e+02] [ 7.50792937e-01 6.60536452e-01 -1.24965093e-03 2.57535338e+02] [ 1.71085569e-03 -5.27590319e-05 9.99998535e-01 1.41886816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.71, Y:257.56, Z:1.42 [[ 6.57765204e-01 -7.53222138e-01 -1.16106795e-03 2.35708957e+02] [ 7.53221089e-01 6.57766227e-01 -1.25771628e-03 2.57558039e+02] [ 1.71105103e-03 -4.72588642e-05 9.99998535e-01 1.41960198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.44275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.73, Y:257.58, Z:1.42 [[ 6.56782414e-01 -7.54079237e-01 -1.16830617e-03 2.35727697e+02] [ 7.54078202e-01 6.56783450e-01 -1.25095016e-03 2.57577988e+02] [ 1.71063970e-03 -5.93921567e-05 9.99998535e-01 1.41850141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.75, Y:257.60, Z:1.42 [[ 6.54755230e-01 -7.55840078e-01 -1.16868288e-03 2.35745900e+02] [ 7.55839046e-01 6.54756270e-01 -1.25059813e-03 2.57597534e+02] [ 1.71045463e-03 -6.45004877e-05 9.99998535e-01 1.41827902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.77, Y:257.62, Z:1.42 [[ 6.53565125e-01 -7.56869384e-01 -1.16768387e-03 2.35765284e+02] [ 7.56868352e-01 6.53566165e-01 -1.25153113e-03 2.57618773e+02] [ 1.71040426e-03 -6.58258665e-05 9.99998535e-01 1.41661823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5327550960001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:235.78, Y:257.64, Z:1.42 [[ 6.53260544e-01 -7.57132285e-01 -1.16813127e-03 2.35783223e+02] [ 7.57131255e-01 6.53261585e-01 -1.25111340e-03 2.57638054e+02] [ 1.71035363e-03 -6.71256761e-05 9.99998535e-01 1.41756869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.56275509600005 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:235.80, Y:257.66, Z:1.42 [[ 6.52784641e-01 -7.57542646e-01 -1.16290537e-03 2.35802552e+02] [ 7.57541607e-01 6.52785674e-01 -1.25598889e-03 2.57659806e+02] [ 1.71059312e-03 -6.10589469e-05 9.99998535e-01 1.41751921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.82, Y:257.68, Z:1.42 [[ 6.52772999e-01 -7.57552675e-01 -1.16434398e-03 2.35820403e+02] [ 7.57551639e-01 6.52774035e-01 -1.25464730e-03 2.57681038e+02] [ 1.71051494e-03 -6.30508054e-05 9.99998535e-01 1.41652455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:235.84, Y:257.70, Z:1.42 [[ 6.54692624e-01 -7.55894308e-01 -1.16725822e-03 2.35839403e+02] [ 7.55893274e-01 6.54693662e-01 -1.25193016e-03 2.57700874e+02] [ 1.71052344e-03 -6.26931947e-05 9.99998535e-01 1.41604181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6527550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:235.86, Y:257.72, Z:1.42 [[ 6.55218589e-01 -7.55438448e-01 -1.16327259e-03 2.35857475e+02] [ 7.55437406e-01 6.55219619e-01 -1.25564368e-03 2.57721380e+02] [ 1.71076053e-03 -5.60585496e-05 9.99998535e-01 1.41541075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.88, Y:257.74, Z:1.41 [[ 6.57135153e-01 -7.53771874e-01 -1.16314717e-03 2.35875693e+02] [ 7.53770830e-01 6.57136180e-01 -1.25576044e-03 2.57742072e+02] [ 1.71090299e-03 -5.15420753e-05 9.99998535e-01 1.41365234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.89, Y:257.76, Z:1.41 [[ 6.59220591e-01 -7.51948704e-01 -1.16618781e-03 2.35894453e+02] [ 7.51947662e-01 6.59221620e-01 -1.25293030e-03 2.57762164e+02] [ 1.71091554e-03 -5.09547446e-05 9.99998535e-01 1.41409493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.91, Y:257.78, Z:1.41 [[ 6.61770486e-01 -7.49705593e-01 -1.16095473e-03 2.35913561e+02] [ 7.49704539e-01 6.61771503e-01 -1.25779730e-03 2.57783108e+02] [ 1.71126443e-03 -3.79998980e-05 9.99998535e-01 1.41195625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.93, Y:257.80, Z:1.41 [[ 6.64109659e-01 -7.47634272e-01 -1.16410360e-03 2.35932611e+02] [ 7.47633220e-01 6.64110679e-01 -1.25486953e-03 2.57802173e+02] [ 1.71127710e-03 -3.69515521e-05 9.99998535e-01 1.41195757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.95, Y:257.82, Z:1.41 [[ 6.63301184e-01 -7.48351654e-01 -1.15818390e-03 2.35950563e+02] [ 7.48350593e-01 6.63302195e-01 -1.26037417e-03 2.57823911e+02] [ 1.71142902e-03 -3.07199252e-05 9.99998535e-01 1.41076088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:235.97, Y:257.84, Z:1.41 [[ 6.65022612e-01 -7.46822325e-01 -1.15787868e-03 2.35971435e+02] [ 7.46821262e-01 6.65023619e-01 -1.26065787e-03 2.57844054e+02] [ 1.71150411e-03 -2.63624232e-05 9.99998535e-01 1.41112291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.86275509600006 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:235.99, Y:257.86, Z:1.41 [[ 6.68411818e-01 -7.43790487e-01 -1.16338869e-03 2.35992504e+02] [ 7.43789428e-01 6.68412830e-01 -1.25553745e-03 2.57863648e+02] [ 1.71148073e-03 -2.61001379e-05 9.99998535e-01 1.41156843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.01, Y:257.88, Z:1.41 [[ 6.67544505e-01 -7.44568988e-01 -1.16492683e-03 2.36011130e+02] [ 7.44567932e-01 6.67545520e-01 -1.25410869e-03 2.57884116e+02] [ 1.71141212e-03 -3.01937976e-05 9.99998535e-01 1.41186802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.03, Y:257.90, Z:1.41 [[ 6.67459406e-01 -7.44645276e-01 -1.16370727e-03 2.36030987e+02] [ 7.44644219e-01 6.67460420e-01 -1.25524103e-03 2.57904331e+02] [ 1.71143785e-03 -2.87254606e-05 9.99998535e-01 1.41228158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.05, Y:257.92, Z:1.41 [[ 6.67564702e-01 -7.44550883e-01 -1.16249605e-03 2.36051713e+02] [ 7.44549824e-01 6.67565713e-01 -1.25636503e-03 2.57923853e+02] [ 1.71147020e-03 -2.68312856e-05 9.99998535e-01 1.41286062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.07, Y:257.94, Z:1.41 [[ 6.67195543e-01 -7.44881704e-01 -1.16402697e-03 2.36071623e+02] [ 7.44880647e-01 6.67196557e-01 -1.25494503e-03 2.57943386e+02] [ 1.71142037e-03 -2.97674312e-05 9.99998535e-01 1.41315275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.09, Y:257.96, Z:1.41 [[ 6.66286063e-01 -7.45695332e-01 -1.16363160e-03 2.36091997e+02] [ 7.45694276e-01 6.66287079e-01 -1.25531152e-03 2.57962147e+02] [ 1.71139264e-03 -3.13168556e-05 9.99998535e-01 1.41384595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.11, Y:257.98, Z:1.42 [[ 6.64628418e-01 -7.47173148e-01 -1.16322958e-03 2.36109192e+02] [ 7.47172094e-01 6.64629435e-01 -1.25568394e-03 2.57982799e+02] [ 1.71132994e-03 -3.45694525e-05 9.99998535e-01 1.41521778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.13, Y:258.00, Z:1.42 [[ 6.64208715e-01 -7.47546285e-01 -1.15539468e-03 2.36131522e+02] [ 7.47545219e-01 6.64209719e-01 -1.26292897e-03 2.58002576e+02] [ 1.71152223e-03 -2.48613384e-05 9.99998535e-01 1.41526352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.15, Y:258.02, Z:1.41 [[ 6.62897754e-01 -7.48709029e-01 -1.16489687e-03 2.36149406e+02] [ 7.48707980e-01 6.62898776e-01 -1.25414273e-03 2.58023408e+02] [ 1.71119669e-03 -4.07991818e-05 9.99998535e-01 1.41285215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.17, Y:258.04, Z:1.41 [[ 6.63154189e-01 -7.48481914e-01 -1.16058936e-03 2.36168314e+02] [ 7.48480857e-01 6.63155203e-01 -1.25812498e-03 2.58042108e+02] [ 1.71133467e-03 -3.43480693e-05 9.99998535e-01 1.41403731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.19, Y:258.06, Z:1.41 [[ 6.62480795e-01 -7.49078009e-01 -1.15477565e-03 2.36188612e+02] [ 7.49076944e-01 6.62481800e-01 -1.26349611e-03 2.58060834e+02] [ 1.71147500e-03 -2.79739042e-05 9.99998535e-01 1.41213551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.21, Y:258.08, Z:1.41 [[ 6.63235135e-01 -7.48410203e-01 -1.15116349e-03 2.36212125e+02] [ 7.48409131e-01 6.63236133e-01 -1.26683034e-03 2.58080761e+02] [ 1.71160197e-03 -2.13348762e-05 9.99998535e-01 1.41201298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.23, Y:258.10, Z:1.41 [[ 6.62453573e-01 -7.49102066e-01 -1.16511309e-03 2.36229935e+02] [ 7.49101018e-01 6.62454596e-01 -1.25394280e-03 2.58101641e+02] [ 1.71116567e-03 -4.21085112e-05 9.99998535e-01 1.40985126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.25, Y:258.12, Z:1.41 [[ 6.64356733e-01 -7.47414736e-01 -1.15964106e-03 2.36249733e+02] [ 7.47413676e-01 6.64357744e-01 -1.25899644e-03 2.58120125e+02] [ 1.71140901e-03 -3.03088232e-05 9.99998535e-01 1.40861198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.27, Y:258.14, Z:1.41 [[ 6.64060853e-01 -7.47677642e-01 -1.15216131e-03 2.36268907e+02] [ 7.47676570e-01 6.64061852e-01 -1.26589772e-03 2.58140492e+02] [ 1.71158980e-03 -2.08108994e-05 9.99998535e-01 1.40717489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.29, Y:258.16, Z:1.41 [[ 6.67143253e-01 -7.44928554e-01 -1.15309097e-03 2.36292791e+02] [ 7.44927480e-01 6.67144249e-01 -1.26504073e-03 2.58158592e+02] [ 1.71164297e-03 -1.50057618e-05 9.99998535e-01 1.40876244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:258.18, Z:1.41 [[ 6.67672889e-01 -7.44453872e-01 -1.16020801e-03 2.36312322e+02] [ 7.44452808e-01 6.67673897e-01 -1.25847944e-03 2.58178664e+02] [ 1.71152050e-03 -2.34675022e-05 9.99998535e-01 1.40877255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.33, Y:258.20, Z:1.41 [[ 6.67564142e-01 -7.44551390e-01 -1.15981683e-03 2.36333032e+02] [ 7.44550326e-01 6.67565149e-01 -1.25883985e-03 2.58200789e+02] [ 1.71152425e-03 -2.31856486e-05 9.99998535e-01 1.40902390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.35, Y:258.22, Z:1.41 [[ 6.69554456e-01 -7.42762056e-01 -1.16532180e-03 2.36352892e+02] [ 7.42760999e-01 6.69555470e-01 -1.25376819e-03 2.58219495e+02] [ 1.71149902e-03 -2.60895055e-05 9.99998535e-01 1.40984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.37, Y:258.24, Z:1.41 [[ 6.70572926e-01 -7.41842707e-01 -1.16126520e-03 2.36371903e+02] [ 7.41841642e-01 6.70573931e-01 -1.25750266e-03 2.58240059e+02] [ 1.71158335e-03 -1.82276428e-05 9.99998535e-01 1.41012904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.39, Y:258.26, Z:1.41 [[ 6.70869677e-01 -7.41574361e-01 -1.15905701e-03 2.36392458e+02] [ 7.41573292e-01 6.70870678e-01 -1.25953469e-03 2.58261199e+02] [ 1.71161600e-03 -1.45420964e-05 9.99998535e-01 1.41088303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:258.28, Z:1.41 [[ 6.71226860e-01 -7.41251072e-01 -1.16225784e-03 2.36411726e+02] [ 7.41250007e-01 6.71227866e-01 -1.25658984e-03 2.58281817e+02] [ 1.71158841e-03 -1.80667791e-05 9.99998535e-01 1.41152793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.43, Y:258.30, Z:1.41 [[ 6.72712848e-01 -7.39902752e-01 -1.15856323e-03 2.36433118e+02] [ 7.39901679e-01 6.72713845e-01 -1.25998705e-03 2.58301624e+02] [ 1.71164941e-03 -9.61340068e-06 9.99998535e-01 1.41237075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.45, Y:258.32, Z:1.41 [[ 6.71398595e-01 -7.41095522e-01 -1.16354198e-03 2.36453820e+02] [ 7.41094459e-01 6.71399603e-01 -1.25541280e-03 2.58323905e+02] [ 1.71158243e-03 -1.94121268e-05 9.99998535e-01 1.41372575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.47, Y:258.34, Z:1.41 [[ 6.69609945e-01 -7.42712026e-01 -1.16930753e-03 2.36467600e+02] [ 7.42710975e-01 6.69610965e-01 -1.25011706e-03 2.58344243e+02] [ 1.71145812e-03 -3.13667251e-05 9.99998535e-01 1.41466982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.49, Y:258.37, Z:1.42 [[ 6.68159319e-01 -7.44017328e-01 -1.15718928e-03 2.36485350e+02] [ 7.44016260e-01 6.68160321e-01 -1.26123561e-03 2.58366647e+02] [ 1.71156911e-03 -1.82613115e-05 9.99998535e-01 1.41520235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.50, Y:258.39, Z:1.42 [[ 6.67245142e-01 -7.44837285e-01 -1.15678854e-03 2.36502718e+02] [ 7.44836217e-01 6.67246145e-01 -1.26160306e-03 2.58387247e+02] [ 1.71155169e-03 -1.98194863e-05 9.99998535e-01 1.41506282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:258.41, Z:1.41 [[ 6.66961913e-01 -7.45090913e-01 -1.15651669e-03 2.36523615e+02] [ 7.45089845e-01 6.66962916e-01 -1.26185221e-03 2.58409005e+02] [ 1.71154836e-03 -2.01014788e-05 9.99998535e-01 1.41464230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.54, Y:258.43, Z:1.41 [[ 6.62802533e-01 -7.48793329e-01 -1.16264712e-03 2.36539624e+02] [ 7.48792276e-01 6.62803552e-01 -1.25623488e-03 2.58429163e+02] [ 1.71126694e-03 -3.79455181e-05 9.99998535e-01 1.41468282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.56, Y:258.45, Z:1.41 [[ 6.62068396e-01 -7.49442528e-01 -1.15593947e-03 2.36556516e+02] [ 7.49441465e-01 6.62069405e-01 -1.26237697e-03 2.58448164e+02] [ 1.71139115e-03 -3.05290760e-05 9.99998535e-01 1.41449159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.58, Y:258.47, Z:1.41 [[ 6.59334000e-01 -7.51849291e-01 -1.14951166e-03 2.36576490e+02] [ 7.51848221e-01 6.59335001e-01 -1.26826226e-03 2.58470084e+02] [ 1.71145535e-03 -2.80498677e-05 9.99998535e-01 1.41464928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.59, Y:258.49, Z:1.41 [[ 6.55874722e-01 -7.54868871e-01 -1.15576254e-03 2.36594353e+02] [ 7.54867817e-01 6.55875739e-01 -1.26254003e-03 2.58490785e+02] [ 1.71108878e-03 -4.43798552e-05 9.99998535e-01 1.41453794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.61, Y:258.51, Z:1.41 [[ 6.53863343e-01 -7.56611785e-01 -1.15553604e-03 2.36610989e+02] [ 7.56610733e-01 6.53864362e-01 -1.26274730e-03 2.58511710e+02] [ 1.71097332e-03 -4.86268020e-05 9.99998535e-01 1.41365073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.63, Y:258.53, Z:1.41 [[ 6.52376108e-01 -7.57894513e-01 -1.14975053e-03 2.36630808e+02] [ 7.57893453e-01 6.52377119e-01 -1.26803753e-03 2.58532621e+02] [ 1.71110962e-03 -4.41510113e-05 9.99998535e-01 1.41333707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.65, Y:258.55, Z:1.41 [[ 6.51202457e-01 -7.58903173e-01 -1.15502554e-03 2.36645607e+02] [ 7.58902123e-01 6.51203479e-01 -1.26321431e-03 2.58554095e+02] [ 1.71081399e-03 -5.39430717e-05 9.99998535e-01 1.41131349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.66, Y:258.58, Z:1.41 [[ 6.51149810e-01 -7.58948360e-01 -1.14538800e-03 2.36664082e+02] [ 7.58947295e-01 6.51150816e-01 -1.27203281e-03 2.58575444e+02] [ 1.71122755e-03 -4.10052077e-05 9.99998535e-01 1.41163682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.68, Y:258.60, Z:1.41 [[ 6.51964137e-01 -7.58248940e-01 -1.14439294e-03 2.36683028e+02] [ 7.58247872e-01 6.51965140e-01 -1.27294115e-03 2.58596593e+02] [ 1.71131058e-03 -3.78215351e-05 9.99998535e-01 1.41100773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.70, Y:258.62, Z:1.41 [[ 6.52974577e-01 -7.57378959e-01 -1.14644052e-03 2.36703074e+02] [ 7.57377893e-01 6.52975582e-01 -1.27107324e-03 2.58616950e+02] [ 1.71128180e-03 -3.83101941e-05 9.99998535e-01 1.41112910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.72, Y:258.64, Z:1.41 [[ 6.53395789e-01 -7.57015605e-01 -1.14785748e-03 2.36721791e+02] [ 7.57014541e-01 6.53396796e-01 -1.26978177e-03 2.58640383e+02] [ 1.71125101e-03 -3.92747447e-05 9.99998535e-01 1.41059307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.74, Y:258.66, Z:1.41 [[ 6.54077202e-01 -7.56426920e-01 -1.15279117e-03 2.36740218e+02] [ 7.56425863e-01 6.54078217e-01 -1.26528673e-03 2.58661881e+02] [ 1.71111253e-03 -4.44058509e-05 9.99998535e-01 1.41050001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.76, Y:258.68, Z:1.41 [[ 6.54635243e-01 -7.55944026e-01 -1.15239644e-03 2.36758192e+02] [ 7.55942968e-01 6.54636256e-01 -1.26564614e-03 2.58683384e+02] [ 1.71115813e-03 -4.26094157e-05 9.99998535e-01 1.41061424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:258.71, Z:1.41 [[ 6.55789610e-01 -7.54942819e-01 -1.15199122e-03 2.36775295e+02] [ 7.54941759e-01 6.55790621e-01 -1.26601486e-03 2.58705208e+02] [ 1.71123387e-03 -3.94468892e-05 9.99998535e-01 1.41112991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:258.73, Z:1.41 [[ 6.55547064e-01 -7.55153442e-01 -1.15158465e-03 2.36794404e+02] [ 7.55152381e-01 6.55548074e-01 -1.26638458e-03 2.58726452e+02] [ 1.71123377e-03 -3.94471959e-05 9.99998535e-01 1.41117867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.81, Y:258.75, Z:1.41 [[ 6.56031659e-01 -7.54732494e-01 -1.15117772e-03 2.36812229e+02] [ 7.54731432e-01 6.56032668e-01 -1.26675437e-03 2.58747312e+02] [ 1.71127088e-03 -3.77990370e-05 9.99998535e-01 1.41140529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.83, Y:258.77, Z:1.41 [[ 6.56760572e-01 -7.54098287e-01 -1.15081161e-03 2.36830683e+02] [ 7.54097223e-01 6.56761580e-01 -1.26708689e-03 2.58768198e+02] [ 1.71131690e-03 -3.56511334e-05 9.99998535e-01 1.41311456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.85, Y:258.79, Z:1.41 [[ 6.56971525e-01 -7.53914513e-01 -1.15040729e-03 2.36848949e+02] [ 7.53913448e-01 6.56972531e-01 -1.26745387e-03 2.58787969e+02] [ 1.71133786e-03 -3.46264203e-05 9.99998535e-01 1.41383579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:258.81, Z:1.41 [[ 6.57010773e-01 -7.53880310e-01 -1.15004365e-03 2.36867707e+02] [ 7.53879244e-01 6.57011779e-01 -1.26778374e-03 2.58808475e+02] [ 1.71134942e-03 -3.40464633e-05 9.99998535e-01 1.41436942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.89, Y:258.83, Z:1.41 [[ 6.59286978e-01 -7.51890524e-01 -1.14964889e-03 2.36892868e+02] [ 7.51889455e-01 6.59287980e-01 -1.26814162e-03 2.58830010e+02] [ 1.71145336e-03 -2.83396194e-05 9.99998535e-01 1.41370706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.91, Y:258.85, Z:1.42 [[ 6.56692008e-01 -7.54157969e-01 -1.16830590e-03 2.36905359e+02] [ 7.54156933e-01 6.56693045e-01 -1.25122221e-03 2.58849730e+02] [ 1.71083756e-03 -5.94183685e-05 9.99998535e-01 1.41550861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3327550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.92, Y:258.87, Z:1.41 [[ 6.55934347e-01 -7.54817072e-01 -1.14898815e-03 2.36923322e+02] [ 7.54816007e-01 6.55935353e-01 -1.26871695e-03 2.58869785e+02] [ 1.71131116e-03 -3.50796192e-05 9.99998535e-01 1.41418982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.95, Y:258.89, Z:1.41 [[ 6.57333148e-01 -7.53599239e-01 -1.14862926e-03 2.36946081e+02] [ 7.53598171e-01 6.57334151e-01 -1.26904178e-03 2.58891370e+02] [ 1.71138216e-03 -3.14216847e-05 9.99998535e-01 1.41495913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.96, Y:258.91, Z:1.42 [[ 6.56999636e-01 -7.53890001e-01 -1.15935213e-03 2.36964091e+02] [ 7.53888951e-01 6.57000658e-01 -1.25933580e-03 2.58911554e+02] [ 1.71109578e-03 -4.66395948e-05 9.99998535e-01 1.41566946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.98, Y:258.93, Z:1.42 [[ 6.55535898e-01 -7.55163127e-01 -1.15691434e-03 2.36980254e+02] [ 7.55162075e-01 6.55536917e-01 -1.26154223e-03 2.58929936e+02] [ 1.71107023e-03 -4.66716188e-05 9.99998535e-01 1.41745439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.00, Y:258.95, Z:1.42 [[ 6.55680162e-01 -7.55037884e-01 -1.14805671e-03 2.37001552e+02] [ 7.55036818e-01 6.55681167e-01 -1.26955219e-03 2.58951143e+02] [ 1.71131916e-03 -3.44048972e-05 9.99998535e-01 1.41725216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.02, Y:258.97, Z:1.42 [[ 6.54909872e-01 -7.55706115e-01 -1.15237109e-03 2.37018925e+02] [ 7.55705056e-01 6.54910885e-01 -1.26565211e-03 2.58970776e+02] [ 1.71116141e-03 -4.19645996e-05 9.99998535e-01 1.41728358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.04, Y:258.99, Z:1.42 [[ 6.55299950e-01 -7.55367897e-01 -1.14732359e-03 2.37040300e+02] [ 7.55366830e-01 6.55300953e-01 -1.27021128e-03 2.58992048e+02] [ 1.71131907e-03 -3.42807926e-05 9.99998535e-01 1.41618031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.06, Y:259.01, Z:1.42 [[ 6.55249533e-01 -7.55411623e-01 -1.15264427e-03 2.37057392e+02] [ 7.55410564e-01 6.55250546e-01 -1.26540640e-03 2.59011295e+02] [ 1.71117349e-03 -4.15627100e-05 9.99998535e-01 1.41623813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.08, Y:259.03, Z:1.41 [[ 6.57614067e-01 -7.53354116e-01 -1.14661279e-03 2.37080321e+02] [ 7.53353045e-01 6.57615066e-01 -1.27084825e-03 2.59032126e+02] [ 1.71142861e-03 -2.80765459e-05 9.99998535e-01 1.41376536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:259.05, Z:1.42 [[ 6.56484489e-01 -7.54338640e-01 -1.15422847e-03 2.37095385e+02] [ 7.54337582e-01 6.56485502e-01 -1.26397715e-03 2.59051651e+02] [ 1.71120106e-03 -4.08965232e-05 9.99998535e-01 1.41509286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:259.07, Z:1.41 [[ 6.58128409e-01 -7.52904831e-01 -1.14611062e-03 2.37119208e+02] [ 7.52903758e-01 6.58129406e-01 -1.27129563e-03 2.59073594e+02] [ 1.71145372e-03 -2.62352258e-05 9.99998535e-01 1.41279489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.13, Y:259.09, Z:1.41 [[ 6.57294247e-01 -7.53633155e-01 -1.15807663e-03 2.37134057e+02] [ 7.53632102e-01 6.57295265e-01 -1.26050605e-03 2.59092038e+02] [ 1.71115743e-03 -4.42403499e-05 9.99998535e-01 1.41460781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:259.11, Z:1.41 [[ 6.57094140e-01 -7.53807654e-01 -1.14538406e-03 2.37153071e+02] [ 7.53806581e-01 6.57095138e-01 -1.27193576e-03 2.59112557e+02] [ 1.71142121e-03 -2.76165093e-05 9.99998535e-01 1.41493316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:259.13, Z:1.41 [[ 6.57659055e-01 -7.53314845e-01 -1.14498656e-03 2.37170751e+02] [ 7.53313771e-01 6.57660052e-01 -1.27229349e-03 2.59131093e+02] [ 1.71144949e-03 -2.57988072e-05 9.99998535e-01 1.41445409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.19, Y:259.15, Z:1.41 [[ 6.56803744e-01 -7.54060701e-01 -1.14068262e-03 2.37190286e+02] [ 7.54059621e-01 6.56804734e-01 -1.27616337e-03 2.59151735e+02] [ 1.71151039e-03 -2.19538314e-05 9.99998535e-01 1.41432920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:259.17, Z:1.41 [[ 6.57678242e-01 -7.53298095e-01 -1.14437107e-03 2.37209047e+02] [ 7.53297020e-01 6.57679237e-01 -1.27284722e-03 2.59171612e+02] [ 1.71146248e-03 -2.49273940e-05 9.99998535e-01 1.41470676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:259.19, Z:1.42 [[ 6.56217744e-01 -7.54570724e-01 -1.13776899e-03 2.37228824e+02] [ 7.54569641e-01 6.56218730e-01 -1.27877861e-03 2.59193374e+02] [ 1.71155422e-03 -1.93687243e-05 9.99998535e-01 1.41545815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.25, Y:259.21, Z:1.42 [[ 6.57475304e-01 -7.53475226e-01 -1.14377909e-03 2.37245915e+02] [ 7.53474150e-01 6.57476299e-01 -1.27338020e-03 2.59211126e+02] [ 1.71146808e-03 -2.45919381e-05 9.99998535e-01 1.41587269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.27, Y:259.24, Z:1.42 [[ 6.56882852e-01 -7.53991798e-01 -1.13483669e-03 2.37270167e+02] [ 7.53990709e-01 6.56883832e-01 -1.28141627e-03 2.59235273e+02] [ 1.71163323e-03 -1.39159474e-05 9.99998535e-01 1.41579971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.29, Y:259.26, Z:1.42 [[ 6.54960241e-01 -7.55662454e-01 -1.15709287e-03 2.37289045e+02] [ 7.55661403e-01 6.54961261e-01 -1.26145868e-03 2.59256639e+02] [ 1.71108797e-03 -4.81651359e-05 9.99998535e-01 1.41716921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.30, Y:259.28, Z:1.42 [[ 6.52933924e-01 -7.57413993e-01 -1.15469105e-03 2.37303957e+02] [ 7.57412941e-01 6.52934944e-01 -1.26361113e-03 2.59276192e+02] [ 1.71101489e-03 -4.95233699e-05 9.99998535e-01 1.41832715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.32, Y:259.30, Z:1.42 [[ 6.52192421e-01 -7.58052599e-01 -1.14147995e-03 2.37324362e+02] [ 7.58051527e-01 6.52193419e-01 -1.27543471e-03 2.59297553e+02] [ 1.71131231e-03 -3.34717631e-05 9.99998535e-01 1.41799663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.34, Y:259.32, Z:1.42 [[ 6.51416224e-01 -7.58719706e-01 -1.14529069e-03 2.37342039e+02] [ 7.58718641e-01 6.51417229e-01 -1.27202546e-03 2.59316668e+02] [ 1.71117287e-03 -4.03353766e-05 9.99998535e-01 1.41967617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.36, Y:259.34, Z:1.42 [[ 6.51215799e-01 -7.58891746e-01 -1.14083704e-03 2.37360578e+02] [ 7.58890674e-01 6.51216798e-01 -1.27600732e-03 2.59337506e+02] [ 1.71128367e-03 -3.48144673e-05 9.99998535e-01 1.42004795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.38, Y:259.36, Z:1.42 [[ 6.50969351e-01 -7.59103157e-01 -1.14043615e-03 2.37378105e+02] [ 7.59102085e-01 6.50970349e-01 -1.27636552e-03 2.59357901e+02] [ 1.71128321e-03 -3.48326181e-05 9.99998535e-01 1.42075220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.40, Y:259.38, Z:1.42 [[ 6.50865158e-01 -7.59192496e-01 -1.14007621e-03 2.37396355e+02] [ 7.59191423e-01 6.50866156e-01 -1.27668694e-03 2.59378649e+02] [ 1.71128817e-03 -3.45850355e-05 9.99998535e-01 1.42112358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.41, Y:259.40, Z:1.42 [[ 6.50678169e-01 -7.59352765e-01 -1.13967168e-03 2.37413914e+02] [ 7.59351692e-01 6.50679167e-01 -1.27704796e-03 2.59398795e+02] [ 1.71129052e-03 -3.44643933e-05 9.99998535e-01 1.42166368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.43, Y:259.42, Z:1.42 [[ 6.50469908e-01 -7.59531171e-01 -1.13939688e-03 2.37432400e+02] [ 7.59530098e-01 6.50470905e-01 -1.27729309e-03 2.59419750e+02] [ 1.71128844e-03 -3.45655103e-05 9.99998535e-01 1.42225809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.45, Y:259.44, Z:1.42 [[ 6.50439631e-01 -7.59557101e-01 -1.13899360e-03 2.37450403e+02] [ 7.59556027e-01 6.50440627e-01 -1.27765260e-03 2.59440333e+02] [ 1.71129782e-03 -3.40935710e-05 9.99998535e-01 1.42250426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.47, Y:259.46, Z:1.42 [[ 6.50872887e-01 -7.59185872e-01 -1.13871979e-03 2.37468275e+02] [ 7.59184798e-01 6.50873882e-01 -1.27789659e-03 2.59461905e+02] [ 1.71132401e-03 -3.27505123e-05 9.99998535e-01 1.42243052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.49, Y:259.48, Z:1.42 [[ 6.51397699e-01 -7.58735621e-01 -1.13832069e-03 2.37485292e+02] [ 7.58734545e-01 6.51398693e-01 -1.27825200e-03 2.59482294e+02] [ 1.71135594e-03 -3.10328224e-05 9.99998535e-01 1.42283453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.50, Y:259.50, Z:1.42 [[ 6.51330079e-01 -7.58793673e-01 -1.13567581e-03 2.37503364e+02] [ 7.58792593e-01 6.51331068e-01 -1.28060554e-03 2.59504491e+02] [ 1.71141632e-03 -2.76454838e-05 9.99998535e-01 1.42202167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.52, Y:259.53, Z:1.42 [[ 6.51456953e-01 -7.58684746e-01 -1.13754180e-03 2.37521512e+02] [ 7.58683669e-01 6.51457946e-01 -1.27894586e-03 2.59526460e+02] [ 1.71137736e-03 -2.98562101e-05 9.99998535e-01 1.42141006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:259.55, Z:1.42 [[ 6.51663571e-01 -7.58507282e-01 -1.13715018e-03 2.37538960e+02] [ 7.58506204e-01 6.51664563e-01 -1.27929397e-03 2.59547969e+02] [ 1.71139426e-03 -2.88661899e-05 9.99998535e-01 1.42071140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.56, Y:259.57, Z:1.42 [[ 6.51286537e-01 -7.58831045e-01 -1.13676221e-03 2.37556220e+02] [ 7.58829967e-01 6.51287528e-01 -1.27963861e-03 2.59568346e+02] [ 1.71138856e-03 -2.91978332e-05 9.99998535e-01 1.42053901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.57, Y:259.59, Z:1.42 [[ 6.51005197e-01 -7.59072422e-01 -1.13641368e-03 2.37573896e+02] [ 7.59071344e-01 6.51006188e-01 -1.27994806e-03 2.59589415e+02] [ 1.71138561e-03 -2.93662181e-05 9.99998535e-01 1.42017072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.41275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.59, Y:259.61, Z:1.42 [[ 6.50586989e-01 -7.59430892e-01 -1.13615379e-03 2.37592343e+02] [ 7.59429813e-01 6.50587980e-01 -1.28017871e-03 2.59610476e+02] [ 1.71137526e-03 -2.99614526e-05 9.99998535e-01 1.41922497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.61, Y:259.63, Z:1.42 [[ 6.49500965e-01 -7.60359919e-01 -1.13575263e-03 2.37609345e+02] [ 7.60358841e-01 6.49501957e-01 -1.28053452e-03 2.59631180e+02] [ 1.71134068e-03 -3.18711464e-05 9.99998535e-01 1.42032645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.63, Y:259.65, Z:1.42 [[ 6.47817877e-01 -7.61794401e-01 -1.13539266e-03 2.37627743e+02] [ 7.61793325e-01 6.47818871e-01 -1.28085360e-03 2.59652791e+02] [ 1.71127590e-03 -3.51746870e-05 9.99998535e-01 1.42062373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.65, Y:259.67, Z:1.42 [[ 6.46563317e-01 -7.62859482e-01 -1.13501651e-03 2.37645449e+02] [ 7.62858407e-01 6.46564312e-01 -1.28118684e-03 2.59673326e+02] [ 1.71122670e-03 -3.74884692e-05 9.99998535e-01 1.42064699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.66, Y:259.69, Z:1.42 [[ 6.46348039e-01 -7.63041890e-01 -1.13464140e-03 2.37663556e+02] [ 7.63040815e-01 6.46349034e-01 -1.28151896e-03 2.59693336e+02] [ 1.71122702e-03 -3.74704319e-05 9.99998535e-01 1.42118044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.68, Y:259.72, Z:1.42 [[ 6.45216025e-01 -7.63999349e-01 -1.12961879e-03 2.37683156e+02] [ 7.63998267e-01 6.45217013e-01 -1.28596207e-03 2.59716510e+02] [ 1.71132344e-03 -3.33034646e-05 9.99998535e-01 1.42149939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:259.74, Z:1.42 [[ 6.46159035e-01 -7.63201950e-01 -1.13389435e-03 2.37705628e+02] [ 7.63200874e-01 6.46160029e-01 -1.28218099e-03 2.59739278e+02] [ 1.71124023e-03 -3.68963272e-05 9.99998535e-01 1.42062591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.72, Y:259.76, Z:1.42 [[ 6.45223726e-01 -7.63992822e-01 -1.14468665e-03 2.37722263e+02] [ 7.63991764e-01 6.45224740e-01 -1.27265130e-03 2.59762060e+02] [ 1.71087660e-03 -5.33863617e-05 9.99998535e-01 1.41994131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6527550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.74, Y:259.78, Z:1.42 [[ 6.44661159e-01 -7.64467582e-01 -1.14265848e-03 2.37739826e+02] [ 7.64466522e-01 6.44662170e-01 -1.27443977e-03 2.59783735e+02] [ 1.71089658e-03 -5.19423348e-05 9.99998535e-01 1.41939045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.76, Y:259.80, Z:1.42 [[ 6.43938517e-01 -7.65076391e-01 -1.14134800e-03 2.37755943e+02] [ 7.65075329e-01 6.43939526e-01 -1.27559618e-03 2.59803861e+02] [ 1.71088761e-03 -5.18116889e-05 9.99998535e-01 1.41940310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.77, Y:259.83, Z:1.42 [[ 6.43192433e-01 -7.65703729e-01 -1.13710485e-03 2.37774399e+02] [ 7.65702662e-01 6.43193436e-01 -1.27934089e-03 2.59825721e+02] [ 1.71097447e-03 -4.78218346e-05 9.99998535e-01 1.41942515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.74275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.79, Y:259.85, Z:1.42 [[ 6.43607107e-01 -7.65355209e-01 -1.13786875e-03 2.37792425e+02] [ 7.65354143e-01 6.43608111e-01 -1.27866869e-03 2.59845632e+02] [ 1.71097730e-03 -4.79123018e-05 9.99998535e-01 1.41574785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.81, Y:259.87, Z:1.42 [[ 6.43244465e-01 -7.65660031e-01 -1.12912759e-03 2.37811250e+02] [ 7.65658952e-01 6.43245455e-01 -1.28635484e-03 2.59867769e+02] [ 1.71121667e-03 -3.70860123e-05 9.99998535e-01 1.41766758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.83, Y:259.89, Z:1.42 [[ 6.43558671e-01 -7.65395949e-01 -1.13094474e-03 2.37830302e+02] [ 7.65394872e-01 6.43559663e-01 -1.28475781e-03 2.59889438e+02] [ 1.71117884e-03 -3.88022699e-05 9.99998535e-01 1.41753503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.85, Y:259.91, Z:1.42 [[ 6.44901164e-01 -7.64265140e-01 -1.13338781e-03 2.37849056e+02] [ 7.64264064e-01 6.44902159e-01 -1.28261196e-03 2.59911637e+02] [ 1.71117985e-03 -3.90496300e-05 9.99998535e-01 1.41623282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.86, Y:259.93, Z:1.42 [[ 6.43601940e-01 -7.65359553e-01 -1.13913212e-03 2.37862660e+02] [ 7.65358489e-01 6.43602946e-01 -1.27756424e-03 2.59932491e+02] [ 1.71094478e-03 -4.96016161e-05 9.99998535e-01 1.41524915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.88, Y:259.95, Z:1.42 [[ 6.43596659e-01 -7.65364016e-01 -1.12426514e-03 2.37880040e+02] [ 7.65362929e-01 6.43597640e-01 -1.29061743e-03 2.59954493e+02] [ 1.71136653e-03 -2.98337978e-05 9.99998535e-01 1.41533681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.90, Y:259.98, Z:1.42 [[ 6.46157478e-01 -7.63203288e-01 -1.12013948e-03 2.37901151e+02] [ 7.63202191e-01 6.46158449e-01 -1.29423800e-03 2.59975651e+02] [ 1.71155429e-03 -1.86113415e-05 9.99998535e-01 1.41999614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.91, Y:260.00, Z:1.42 [[ 6.44280901e-01 -7.64788105e-01 -1.12896802e-03 2.37914995e+02] [ 7.64787024e-01 6.44281889e-01 -1.28649046e-03 2.59998317e+02] [ 1.71126625e-03 -3.45588571e-05 9.99998535e-01 1.41638098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.94, Y:260.02, Z:1.42 [[ 6.47216736e-01 -7.62305222e-01 -1.11551989e-03 2.37937423e+02] [ 7.62304117e-01 6.47217698e-01 -1.29827954e-03 2.60019935e+02] [ 1.71166949e-03 -1.00971604e-05 9.99998535e-01 1.42187369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.96, Y:260.04, Z:1.42 [[ 6.46983967e-01 -7.62502769e-01 -1.12851738e-03 2.37956138e+02] [ 7.62501684e-01 6.46984950e-01 -1.28688152e-03 2.60041521e+02] [ 1.71138449e-03 -2.79046893e-05 9.99998535e-01 1.42192746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.97, Y:260.06, Z:1.42 [[ 6.47226593e-01 -7.62296835e-01 -1.12812438e-03 2.37973479e+02] [ 7.62295749e-01 6.47227576e-01 -1.28722595e-03 2.60062988e+02] [ 1.71140148e-03 -2.68375478e-05 9.99998535e-01 1.42170987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.99, Y:260.09, Z:1.42 [[ 6.46204632e-01 -7.63163354e-01 -1.12657351e-03 2.37987769e+02] [ 7.63162266e-01 6.46205614e-01 -1.28858484e-03 2.60085123e+02] [ 1.71139885e-03 -2.70688976e-05 9.99998535e-01 1.41734155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.01, Y:260.11, Z:1.42 [[ 6.48000598e-01 -7.61639009e-01 -1.11588271e-03 2.38008498e+02] [ 7.61637903e-01 6.48001559e-01 -1.29794103e-03 2.60107935e+02] [ 1.71165625e-03 -8.83200793e-06 9.99998535e-01 1.42128388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.03, Y:260.13, Z:1.42 [[ 6.48044512e-01 -7.61601627e-01 -1.12812270e-03 2.38026166e+02] [ 7.61600539e-01 6.48045494e-01 -1.28722767e-03 2.60130578e+02] [ 1.71142952e-03 -2.49980274e-05 9.99998535e-01 1.41976139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.04, Y:260.15, Z:1.42 [[ 6.49497225e-01 -7.60363122e-01 -1.13023256e-03 2.38041416e+02] [ 7.60362036e-01 6.49498208e-01 -1.28538164e-03 2.60150730e+02] [ 1.71144082e-03 -2.45341210e-05 9.99998535e-01 1.42050537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.06, Y:260.17, Z:1.42 [[ 6.49392286e-01 -7.60452762e-01 -1.12044988e-03 2.38060230e+02] [ 7.60451661e-01 6.49393253e-01 -1.29393239e-03 2.60173363e+02] [ 1.71158705e-03 -1.17782593e-05 9.99998535e-01 1.42087237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.08, Y:260.19, Z:1.42 [[ 6.49138039e-01 -7.60669795e-01 -1.12636441e-03 2.38077745e+02] [ 7.60668704e-01 6.49139016e-01 -1.28876315e-03 2.60194751e+02] [ 1.71149029e-03 -2.02049707e-05 9.99998535e-01 1.42080287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.10, Y:260.22, Z:1.42 [[ 6.49359488e-01 -7.60480761e-01 -1.12596263e-03 2.38099823e+02] [ 7.60479669e-01 6.49360464e-01 -1.28911409e-03 2.60218260e+02] [ 1.71150208e-03 -1.91732275e-05 9.99998535e-01 1.41899388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.11, Y:260.24, Z:1.42 [[ 6.48230063e-01 -7.61443683e-01 -1.14150823e-03 2.38113365e+02] [ 7.61442616e-01 6.48231067e-01 -1.27553138e-03 2.60237144e+02] [ 1.71120641e-03 -4.23552195e-05 9.99998535e-01 1.42195317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.14, Y:260.26, Z:1.42 [[ 6.48915039e-01 -7.60860043e-01 -1.12532758e-03 2.38138253e+02] [ 7.60858950e-01 6.48916015e-01 -1.28965035e-03 2.60259814e+02] [ 1.71148651e-03 -1.93420487e-05 9.99998535e-01 1.42123528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.16, Y:260.28, Z:1.42 [[ 6.47844627e-01 -7.61771640e-01 -1.14326401e-03 2.38155774e+02] [ 7.61770576e-01 6.47845634e-01 -1.27400194e-03 2.60281061e+02] [ 1.71115714e-03 -4.55495716e-05 9.99998535e-01 1.42090476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.17, Y:260.30, Z:1.42 [[ 6.45705489e-01 -7.63585704e-01 -1.13742239e-03 2.38169663e+02] [ 7.63584634e-01 6.45706489e-01 -1.27909423e-03 2.60301031e+02] [ 1.71113909e-03 -4.26000909e-05 9.99998535e-01 1.42354278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.19, Y:260.32, Z:1.42 [[ 6.46942329e-01 -7.62538104e-01 -1.12392445e-03 2.38193967e+02] [ 7.62537011e-01 6.46943305e-01 -1.29084673e-03 2.60323552e+02] [ 1.71143521e-03 -2.19305984e-05 9.99998535e-01 1.42174648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.21, Y:260.34, Z:1.42 [[ 6.44700333e-01 -7.64434543e-01 -1.14444856e-03 2.38208971e+02] [ 7.64433485e-01 6.44701347e-01 -1.27297281e-03 2.60343574e+02] [ 1.71093192e-03 -5.41688047e-05 9.99998535e-01 1.42206083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.23, Y:260.36, Z:1.42 [[ 6.45304767e-01 -7.63924388e-01 -1.13414888e-03 2.38226711e+02] [ 7.63923314e-01 6.45305763e-01 -1.28193335e-03 2.60362819e+02] [ 1.71117296e-03 -3.91650671e-05 9.99998535e-01 1.42073415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.24, Y:260.38, Z:1.42 [[ 6.44181289e-01 -7.64872010e-01 -1.12919371e-03 2.38241629e+02] [ 7.64870930e-01 6.44182277e-01 -1.28624898e-03 2.60381701e+02] [ 1.71122242e-03 -3.51099171e-05 9.99998535e-01 1.42266688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.26, Y:260.41, Z:1.42 [[ 6.42957220e-01 -7.65901275e-01 -1.11841612e-03 2.38262584e+02] [ 7.65900179e-01 6.42958192e-01 -1.29562964e-03 2.60405781e+02] [ 1.71141921e-03 -2.35606762e-05 9.99998535e-01 1.42216479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.28, Y:260.43, Z:1.42 [[ 6.42631712e-01 -7.66174389e-01 -1.13521111e-03 2.38278140e+02] [ 7.66173319e-01 6.42632713e-01 -1.28102296e-03 2.60425671e+02] [ 1.71101078e-03 -4.65424834e-05 9.99998535e-01 1.42336505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.30, Y:260.45, Z:1.42 [[ 6.42729633e-01 -7.66092270e-01 -1.11969526e-03 2.38296437e+02] [ 7.66091176e-01 6.42730607e-01 -1.29449759e-03 2.60447380e+02] [ 1.71136701e-03 -2.57767013e-05 9.99998535e-01 1.42291496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.32, Y:260.47, Z:1.42 [[ 6.41716165e-01 -7.66941404e-01 -1.11648291e-03 2.38315612e+02] [ 7.66940307e-01 6.41717136e-01 -1.29728622e-03 2.60470029e+02] [ 1.71140873e-03 -2.37862111e-05 9.99998535e-01 1.42373530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:238.34, Y:260.49, Z:1.42 [[ 6.41872878e-01 -7.66810244e-01 -1.12199980e-03 2.38338151e+02] [ 7.66809155e-01 6.41873858e-01 -1.29249708e-03 2.60492664e+02] [ 1.71128234e-03 -3.07409016e-05 9.99998535e-01 1.42292989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.35, Y:260.51, Z:1.42 [[ 6.40959424e-01 -7.67573922e-01 -1.13600324e-03 2.38354895e+02] [ 7.67572856e-01 6.40960429e-01 -1.28034040e-03 2.60513304e+02] [ 1.71088903e-03 -5.13190013e-05 9.99998535e-01 1.42297092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.70275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.37, Y:260.53, Z:1.42 [[ 6.40535242e-01 -7.67927938e-01 -1.13396356e-03 2.38371359e+02] [ 7.67926870e-01 6.40536243e-01 -1.28211003e-03 2.60533642e+02] [ 1.71091287e-03 -4.95644304e-05 9.99998535e-01 1.42167863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.39, Y:260.55, Z:1.42 [[ 6.38146648e-01 -7.69914008e-01 -1.12962632e-03 2.38385423e+02] [ 7.69912936e-01 6.38147646e-01 -1.28587130e-03 2.60554532e+02] [ 1.71087870e-03 -4.91394558e-05 9.99998535e-01 1.42124869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.76275509600003 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.40, Y:260.58, Z:1.42 [[ 6.36973718e-01 -7.70884707e-01 -1.11880106e-03 2.38403570e+02] [ 7.70883620e-01 6.36974699e-01 -1.29525155e-03 2.60576359e+02] [ 1.71113758e-03 -3.74242170e-05 9.99998535e-01 1.42387646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.42, Y:260.60, Z:1.42 [[ 6.34465452e-01 -7.72950413e-01 -1.11777977e-03 2.38418611e+02] [ 7.72949327e-01 6.34466436e-01 -1.29613608e-03 2.60597409e+02] [ 1.71104266e-03 -4.16335535e-05 9.99998535e-01 1.42182899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.44, Y:260.62, Z:1.42 [[ 6.33013516e-01 -7.74139945e-01 -1.11074019e-03 2.38435509e+02] [ 7.74138850e-01 6.33014490e-01 -1.30222884e-03 2.60617851e+02] [ 1.71122199e-03 -3.55386778e-05 9.99998535e-01 1.42172650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.45, Y:260.64, Z:1.42 [[ 6.30651086e-01 -7.76065705e-01 -1.10912484e-03 2.38453801e+02] [ 7.76064611e-01 6.30652060e-01 -1.30362667e-03 2.60640642e+02] [ 1.71117181e-03 -3.86189582e-05 9.99998535e-01 1.42065498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.47, Y:260.66, Z:1.42 [[ 6.27699193e-01 -7.78455195e-01 -1.11026762e-03 2.38471231e+02] [ 7.78454106e-01 6.27700173e-01 -1.30263799e-03 2.60662234e+02] [ 1.71096049e-03 -4.66275752e-05 9.99998535e-01 1.41866673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.49, Y:260.68, Z:1.42 [[ 6.28855345e-01 -7.77521525e-01 -1.11056169e-03 2.38491562e+02] [ 7.77520435e-01 6.28856324e-01 -1.30238402e-03 2.60682722e+02] [ 1.71101535e-03 -4.44732568e-05 9.99998535e-01 1.42466342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.51, Y:260.70, Z:1.43 [[ 6.30323758e-01 -7.76331584e-01 -1.10997145e-03 2.38512946e+02] [ 7.76330492e-01 6.30324734e-01 -1.30289354e-03 2.60704583e+02] [ 1.71111987e-03 -4.04599286e-05 9.99998535e-01 1.42642126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.52, Y:260.73, Z:1.42 [[ 6.25457600e-01 -7.80257355e-01 -1.11840539e-03 2.38524063e+02] [ 7.80256282e-01 6.25458597e-01 -1.29561315e-03 2.60730744e+02] [ 1.71042796e-03 -6.22917420e-05 9.99998535e-01 1.42462577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.55, Y:260.75, Z:1.43 [[ 6.29960492e-01 -7.76626382e-01 -1.11395186e-03 2.38546809e+02] [ 7.76625296e-01 6.29961475e-01 -1.29945432e-03 2.60747994e+02] [ 1.71093727e-03 -4.65183134e-05 9.99998535e-01 1.42591626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.56, Y:260.78, Z:1.42 [[ 6.26904363e-01 -7.79095418e-01 -1.11765100e-03 2.38559311e+02] [ 7.79094342e-01 6.26905356e-01 -1.29626489e-03 2.60777073e+02] [ 1.71057544e-03 -5.81214549e-05 9.99998535e-01 1.42449691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.06275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.59, Y:260.80, Z:1.43 [[ 6.34296696e-01 -7.73088897e-01 -1.12164095e-03 2.38588044e+02] [ 7.73087818e-01 6.34297686e-01 -1.29282877e-03 2.60799826e+02] [ 1.71092583e-03 -4.70899318e-05 9.99998535e-01 1.42570665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.60, Y:260.82, Z:1.42 [[ 6.34511292e-01 -7.72912733e-01 -1.15258050e-03 2.38598472e+02] [ 7.72911701e-01 6.34512332e-01 -1.26595523e-03 2.60819084e+02] [ 1.70979946e-03 -8.75800610e-05 9.99998534e-01 1.42382294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.62, Y:260.84, Z:1.42 [[ 6.38665543e-01 -7.69483624e-01 -1.12950286e-03 2.38621816e+02] [ 7.69482551e-01 6.38666540e-01 -1.28598903e-03 2.60843047e+02] [ 1.71092318e-03 -4.78158575e-05 9.99998535e-01 1.42359790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.63, Y:260.86, Z:1.42 [[ 6.36776747e-01 -7.71047375e-01 -1.14880113e-03 2.38630947e+02] [ 7.71046334e-01 6.36777779e-01 -1.26924703e-03 2.60862276e+02] [ 1.71018063e-03 -7.75519037e-05 9.99998535e-01 1.42409580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.65, Y:260.89, Z:1.42 [[ 6.38843556e-01 -7.69335849e-01 -1.12397365e-03 2.38646783e+02] [ 7.69334767e-01 6.38844543e-01 -1.29074184e-03 2.60885854e+02] [ 1.71105841e-03 -4.01298988e-05 9.99998535e-01 1.42421605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.66, Y:260.91, Z:1.42 [[ 6.38858888e-01 -7.69323118e-01 -1.12285901e-03 2.38659479e+02] [ 7.69322035e-01 6.38859874e-01 -1.29170584e-03 2.60905385e+02] [ 1.71108873e-03 -3.86224213e-05 9.99998535e-01 1.42478252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.68, Y:260.93, Z:1.42 [[ 6.41572332e-01 -7.67061751e-01 -1.10085591e-03 2.38676500e+02] [ 7.67060631e-01 6.41573277e-01 -1.31078351e-03 2.60928123e+02] [ 1.71173163e-03 -3.46079683e-06 9.99998535e-01 1.42297674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2727550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.70, Y:260.95, Z:1.42 [[ 6.41853640e-01 -7.66826379e-01 -1.09949943e-03 2.38697217e+02] [ 7.66825257e-01 6.41854582e-01 -1.31195937e-03 2.60951341e+02] [ 1.71176380e-03 -1.03803630e-06 9.99998535e-01 1.42451113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.72, Y:260.97, Z:1.42 [[ 6.42393011e-01 -7.66374566e-01 -1.11490037e-03 2.38716389e+02] [ 7.66373467e-01 6.42393978e-01 -1.29860331e-03 2.60972540e+02] [ 1.71142184e-03 -2.02163742e-05 9.99998535e-01 1.42424763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.73, Y:260.99, Z:1.42 [[ 6.42887350e-01 -7.65959919e-01 -1.12131935e-03 2.38733378e+02] [ 7.65958828e-01 6.42888327e-01 -1.29303678e-03 2.60992886e+02] [ 1.71129747e-03 -2.76074655e-05 9.99998535e-01 1.42403391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.75, Y:261.02, Z:1.42 [[ 6.40972121e-01 -7.67563357e-01 -1.11084522e-03 2.38750453e+02] [ 7.67562252e-01 6.40973083e-01 -1.30210746e-03 2.61016199e+02] [ 1.71147185e-03 -1.80282784e-05 9.99998535e-01 1.42474734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3927550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.77, Y:261.03, Z:1.42 [[ 6.42144656e-01 -7.66582672e-01 -1.11715892e-03 2.38768630e+02] [ 7.66581576e-01 6.42145627e-01 -1.29663815e-03 2.61034934e+02] [ 1.71135905e-03 -2.37641862e-05 9.99998535e-01 1.42390186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.79, Y:261.06, Z:1.42 [[ 6.39746681e-01 -7.68585036e-01 -1.10760864e-03 2.38786468e+02] [ 7.68583928e-01 6.39747640e-01 -1.30491711e-03 2.61057861e+02] [ 1.71152977e-03 -1.64738085e-05 9.99998535e-01 1.42383731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.45275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.80, Y:261.08, Z:1.42 [[ 6.38524345e-01 -7.69600819e-01 -1.11389934e-03 2.38802865e+02] [ 7.69599723e-01 6.38525316e-01 -1.29945230e-03 2.61077679e+02] [ 1.71131248e-03 -2.75246967e-05 9.99998535e-01 1.42238341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.48275509600006 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.82, Y:261.10, Z:1.42 [[ 6.36833836e-01 -7.71000286e-01 -1.10664522e-03 2.38819831e+02] [ 7.70999180e-01 6.36834798e-01 -1.30574171e-03 2.61097311e+02] [ 1.71147741e-03 -2.16820539e-05 9.99998535e-01 1.42326684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.51275509600003 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:238.84, Y:261.12, Z:1.42 [[ 6.35175430e-01 -7.72367114e-01 -1.10223535e-03 2.38839417e+02] [ 7.72366004e-01 6.35176386e-01 -1.30954776e-03 2.61120236e+02] [ 1.71156548e-03 -1.95365493e-05 9.99998535e-01 1.42208859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.86, Y:261.14, Z:1.42 [[ 6.34431207e-01 -7.72978536e-01 -1.10701589e-03 2.38857331e+02] [ 7.72977435e-01 6.34432173e-01 -1.30542357e-03 2.61140422e+02] [ 1.71139090e-03 -2.74968470e-05 9.99998535e-01 1.42182424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.88, Y:261.16, Z:1.42 [[ 6.32085798e-01 -7.74897620e-01 -1.10577194e-03 2.38876961e+02] [ 7.74896519e-01 6.32086765e-01 -1.30649662e-03 2.61162816e+02] [ 1.71134493e-03 -3.10408698e-05 9.99998535e-01 1.42249185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.90, Y:261.19, Z:1.42 [[ 6.30531651e-01 -7.76162739e-01 -1.11370064e-03 2.38895687e+02] [ 7.76161652e-01 6.30532633e-01 -1.29964733e-03 2.61185103e+02] [ 1.71096242e-03 -4.49429497e-05 9.99998535e-01 1.42135611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.63275509600004 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:238.92, Y:261.21, Z:1.42 [[ 6.30474424e-01 -7.76209221e-01 -1.11598687e-03 2.38917237e+02] [ 7.76208138e-01 6.30475410e-01 -1.29767204e-03 2.61205852e+02] [ 1.71086728e-03 -4.80890602e-05 9.99998535e-01 1.42155467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.94, Y:261.23, Z:1.42 [[ 6.30052737e-01 -7.76551538e-01 -1.12132529e-03 2.38935271e+02] [ 7.76550464e-01 6.30053732e-01 -1.29305960e-03 2.61226410e+02] [ 1.71062261e-03 -5.60699375e-05 9.99998535e-01 1.42025115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.95, Y:261.24, Z:1.42 [[ 6.34257543e-01 -7.73121024e-01 -1.11871656e-03 2.38951239e+02] [ 7.73119940e-01 6.34258528e-01 -1.29531267e-03 2.61240448e+02] [ 1.71098898e-03 -4.33402445e-05 9.99998535e-01 1.42180762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.72275509600007 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.97, Y:261.27, Z:1.42 [[ 6.33785748e-01 -7.73507866e-01 -1.09858271e-03 2.38974808e+02] [ 7.73506752e-01 6.33786700e-01 -1.31279556e-03 2.61265617e+02] [ 1.71172481e-03 -1.77300268e-05 9.99998535e-01 1.42045203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:238.99, Y:261.29, Z:1.42 [[ 6.33238295e-01 -7.73956059e-01 -1.13119077e-03 2.38990666e+02] [ 7.73954996e-01 6.33239303e-01 -1.28448444e-03 2.61285279e+02] [ 1.71044897e-03 -6.21060114e-05 9.99998535e-01 1.42048747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.01, Y:261.31, Z:1.42 [[ 6.35511907e-01 -7.72090253e-01 -1.12147175e-03 2.39010423e+02] [ 7.72089172e-01 6.35512895e-01 -1.29291470e-03 2.61305738e+02] [ 1.71095659e-03 -4.42135112e-05 9.99998535e-01 1.42167876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.03, Y:261.33, Z:1.42 [[ 6.37073156e-01 -7.70802528e-01 -1.12111087e-03 2.39029477e+02] [ 7.70801444e-01 6.37074142e-01 -1.29322755e-03 2.61326805e+02] [ 1.71105381e-03 -4.02733202e-05 9.99998535e-01 1.42183236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.05, Y:261.35, Z:1.42 [[ 6.38685551e-01 -7.69467031e-01 -1.12075086e-03 2.39047600e+02] [ 7.69465944e-01 6.38686533e-01 -1.29353947e-03 2.61347201e+02] [ 1.71114445e-03 -3.62146500e-05 9.99998535e-01 1.42158552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.07, Y:261.37, Z:1.42 [[ 6.40980860e-01 -7.67556045e-01 -1.12036977e-03 2.39068391e+02] [ 7.67554955e-01 6.40981838e-01 -1.29386946e-03 2.61368858e+02] [ 1.71125400e-03 -3.05998106e-05 9.99998535e-01 1.42008197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.09, Y:261.39, Z:1.42 [[ 6.45477109e-01 -7.63778785e-01 -1.12702769e-03 2.39090449e+02] [ 7.63777699e-01 6.45478092e-01 -1.28810584e-03 2.61389143e+02] [ 1.71129960e-03 -2.93557855e-05 9.99998535e-01 1.41984188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.11, Y:261.41, Z:1.42 [[ 6.45167329e-01 -7.64040465e-01 -1.13393535e-03 2.39108294e+02] [ 7.64039390e-01 6.45168325e-01 -1.28212956e-03 2.61410195e+02] [ 1.71117804e-03 -3.91831661e-05 9.99998535e-01 1.41989147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.12, Y:261.43, Z:1.42 [[ 6.45099365e-01 -7.64097850e-01 -1.13360636e-03 2.39122650e+02] [ 7.64096775e-01 6.45100360e-01 -1.28241402e-03 2.61429481e+02] [ 1.71117966e-03 -3.89004958e-05 9.99998535e-01 1.42118220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.15, Y:261.45, Z:1.42 [[ 6.48303706e-01 -7.61381017e-01 -1.11860478e-03 2.39145608e+02] [ 7.61379915e-01 6.48304671e-01 -1.29536850e-03 2.61450438e+02] [ 1.71146569e-03 -1.18910116e-05 9.99998535e-01 1.41924403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.17, Y:261.47, Z:1.42 [[ 6.49429209e-01 -7.60421220e-01 -1.12725823e-03 2.39165152e+02] [ 7.60420130e-01 6.49430187e-01 -1.28789603e-03 2.61471225e+02] [ 1.71141899e-03 -2.07925464e-05 9.99998535e-01 1.41939055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.18, Y:261.49, Z:1.42 [[ 6.50835494e-01 -7.59217946e-01 -1.12717510e-03 2.39183962e+02] [ 7.59216854e-01 6.50836470e-01 -1.28796776e-03 2.61490413e+02] [ 1.71145490e-03 -1.75152041e-05 9.99998535e-01 1.41968139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.20, Y:261.51, Z:1.42 [[ 6.50619146e-01 -7.59403356e-01 -1.12656093e-03 2.39200842e+02] [ 7.59402264e-01 6.50620121e-01 -1.28849736e-03 2.61510724e+02] [ 1.71145243e-03 -1.71918734e-05 9.99998535e-01 1.42244484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.22, Y:261.53, Z:1.42 [[ 6.51245762e-01 -7.58866069e-01 -1.11693811e-03 2.39222907e+02] [ 7.58864961e-01 6.51246720e-01 -1.29678562e-03 2.61532183e+02] [ 1.71148889e-03 -3.07905798e-06 9.99998535e-01 1.42030877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.24, Y:261.55, Z:1.42 [[ 6.48103956e-01 -7.61551045e-01 -1.12597261e-03 2.39244249e+02] [ 7.61549955e-01 6.48104934e-01 -1.28899921e-03 2.61554310e+02] [ 1.71138710e-03 -2.20789039e-05 9.99998535e-01 1.42281669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.26, Y:261.57, Z:1.42 [[ 6.49276980e-01 -7.60551182e-01 -1.14165064e-03 2.39261398e+02] [ 7.60550113e-01 6.49277982e-01 -1.27544844e-03 2.61569326e+02] [ 1.71129244e-03 -4.01632127e-05 9.99998535e-01 1.42330666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.20275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.28, Y:261.59, Z:1.42 [[ 6.46212036e-01 -7.63157097e-01 -1.11800783e-03 2.39282253e+02] [ 7.63155997e-01 6.46213003e-01 -1.29584658e-03 2.61588286e+02] [ 1.71140571e-03 -1.58227216e-05 9.99998535e-01 1.42343966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.30, Y:261.61, Z:1.42 [[ 6.44418495e-01 -7.64672187e-01 -1.11759272e-03 2.39302234e+02] [ 7.64671089e-01 6.44419464e-01 -1.29620449e-03 2.61609036e+02] [ 1.71137002e-03 -1.92926927e-05 9.99998535e-01 1.42187330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.32, Y:261.63, Z:1.42 [[ 6.42055626e-01 -7.66657238e-01 -1.11889353e-03 2.39322114e+02] [ 7.66656145e-01 6.42056601e-01 -1.29508351e-03 2.61630488e+02] [ 1.71127812e-03 -2.62909411e-05 9.99998535e-01 1.42188210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.34, Y:261.65, Z:1.42 [[ 6.39046799e-01 -7.69167041e-01 -1.11931610e-03 2.39343512e+02] [ 7.69165952e-01 6.39047778e-01 -1.29471946e-03 2.61649554e+02] [ 1.71115200e-03 -3.35535089e-05 9.99998535e-01 1.42339881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.36, Y:261.67, Z:1.42 [[ 6.36827421e-01 -7.71005570e-01 -1.11658845e-03 2.39363228e+02] [ 7.71004480e-01 6.36828399e-01 -1.29706758e-03 2.61670976e+02] [ 1.71112156e-03 -3.48864920e-05 9.99998535e-01 1.42286405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.38, Y:261.69, Z:1.42 [[ 6.34600445e-01 -7.72839578e-01 -1.12357507e-03 2.39383807e+02] [ 7.72838501e-01 6.34601438e-01 -1.29105055e-03 2.61692108e+02] [ 1.71079732e-03 -4.90408156e-05 9.99998535e-01 1.42136605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.40, Y:261.71, Z:1.42 [[ 6.35135331e-01 -7.72400057e-01 -1.12426643e-03 2.39402557e+02] [ 7.72398980e-01 6.35136324e-01 -1.29045558e-03 2.61711483e+02] [ 1.71081041e-03 -4.87683072e-05 9.99998535e-01 1.42067371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.42, Y:261.73, Z:1.42 [[ 6.35525180e-01 -7.72079331e-01 -1.11897040e-03 2.39420248e+02] [ 7.72078246e-01 6.35526164e-01 -1.29500928e-03 2.61732624e+02] [ 1.71098487e-03 -4.09216920e-05 9.99998535e-01 1.42026959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.44, Y:261.75, Z:1.42 [[ 6.37047750e-01 -7.70823528e-01 -1.11915412e-03 2.39437559e+02] [ 7.70822442e-01 6.37048732e-01 -1.29485138e-03 2.61753663e+02] [ 1.71105762e-03 -3.77869518e-05 9.99998535e-01 1.42093057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.45, Y:261.78, Z:1.42 [[ 6.40200569e-01 -7.68206995e-01 -1.11516234e-03 2.39454881e+02] [ 7.68205899e-01 6.40201540e-01 -1.29828013e-03 2.61775641e+02] [ 1.71127653e-03 -2.55146060e-05 9.99998535e-01 1.41992308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.47, Y:261.80, Z:1.42 [[ 6.41899750e-01 -7.66787759e-01 -1.11475649e-03 2.39472312e+02] [ 7.66786660e-01 6.41900718e-01 -1.29862851e-03 2.61796042e+02] [ 1.71133544e-03 -2.11910912e-05 9.99998535e-01 1.41968729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.49, Y:261.82, Z:1.42 [[ 6.46650634e-01 -7.62785498e-01 -1.11439189e-03 2.39489694e+02] [ 7.62784392e-01 6.46651595e-01 -1.29894131e-03 2.61815331e+02] [ 1.71143689e-03 -1.00795166e-05 9.99998535e-01 1.41844855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.51, Y:261.84, Z:1.42 [[ 6.49330093e-01 -7.60505891e-01 -1.10473967e-03 2.39507901e+02] [ 7.60504767e-01 6.49331033e-01 -1.30721553e-03 2.61835200e+02] [ 1.71148686e-03 8.65459249e-06 9.99998535e-01 1.41799475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.53, Y:261.86, Z:1.42 [[ 6.49078057e-01 -7.60721017e-01 -1.10036382e-03 2.39527875e+02] [ 7.60719887e-01 6.49078989e-01 -1.31097317e-03 2.61860312e+02] [ 1.71150788e-03 1.38552736e-05 9.99998535e-01 1.41843843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:239.54, Y:261.88, Z:1.42 [[ 6.50918802e-01 -7.59146540e-01 -1.11509743e-03 2.39543989e+02] [ 7.59145430e-01 6.50919758e-01 -1.29831880e-03 2.61882053e+02] [ 1.71145317e-03 -1.42100402e-06 9.99998535e-01 1.41813665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.56, Y:261.90, Z:1.42 [[ 6.51220927e-01 -7.58887384e-01 -1.11482144e-03 2.39561485e+02] [ 7.58886273e-01 6.51221881e-01 -1.29855574e-03 2.61904224e+02] [ 1.71145368e-03 -3.76009493e-07 9.99998535e-01 1.41826576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.58, Y:261.93, Z:1.42 [[ 6.51105467e-01 -7.58986449e-01 -1.11444555e-03 2.39578685e+02] [ 7.58985337e-01 6.51106420e-01 -1.29887826e-03 2.61927100e+02] [ 1.71145365e-03 -1.41093117e-07 9.99998535e-01 1.41866187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.60, Y:261.95, Z:1.42 [[ 6.50642309e-01 -7.59383529e-01 -1.11403624e-03 2.39595732e+02] [ 7.59382418e-01 6.50643263e-01 -1.29922923e-03 2.61948189e+02] [ 1.71145345e-03 -6.46028017e-07 9.99998535e-01 1.41916583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.61, Y:261.97, Z:1.42 [[ 6.51275287e-01 -7.58840735e-01 -1.11366821e-03 2.39611793e+02] [ 7.58839622e-01 6.51276239e-01 -1.29954462e-03 2.61966907e+02] [ 1.71145303e-03 1.26573105e-06 9.99998535e-01 1.41860729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.63, Y:261.99, Z:1.42 [[ 6.48170593e-01 -7.61494367e-01 -1.10098007e-03 2.39631791e+02] [ 7.61493239e-01 6.48171528e-01 -1.31040624e-03 2.61991252e+02] [ 1.71149090e-03 1.09779066e-05 9.99998535e-01 1.41966660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.65, Y:262.01, Z:1.42 [[ 6.47086703e-01 -7.62415608e-01 -1.11297025e-03 2.39649874e+02] [ 7.62414500e-01 6.47087660e-01 -1.30014220e-03 2.62011474e+02] [ 1.71143802e-03 -7.23992633e-06 9.99998535e-01 1.41988384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.67, Y:262.03, Z:1.42 [[ 6.44405897e-01 -7.64682811e-01 -1.11260942e-03 2.39668874e+02] [ 7.64681706e-01 6.44406858e-01 -1.30045091e-03 2.62032130e+02] [ 1.71140560e-03 -1.27738314e-05 9.99998535e-01 1.41935491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.69, Y:262.05, Z:1.42 [[ 6.42961244e-01 -7.65897905e-01 -1.11220399e-03 2.39687653e+02] [ 7.65896801e-01 6.42962206e-01 -1.30079755e-03 2.62053162e+02] [ 1.71138325e-03 -1.54710689e-05 9.99998535e-01 1.41924284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.71, Y:262.07, Z:1.42 [[ 6.41628809e-01 -7.67014495e-01 -1.11179626e-03 2.39705599e+02] [ 7.67013391e-01 6.41629772e-01 -1.30114595e-03 2.62072890e+02] [ 1.71135939e-03 -1.79098909e-05 9.99998535e-01 1.41883364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.72, Y:262.09, Z:1.42 [[ 6.39433574e-01 -7.68845543e-01 -1.11151929e-03 2.39723773e+02] [ 7.68844442e-01 6.39434540e-01 -1.30138251e-03 2.62092349e+02] [ 1.71130597e-03 -2.24377547e-05 9.99998535e-01 1.41817263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.95275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.74, Y:262.11, Z:1.42 [[ 6.38056432e-01 -7.69988802e-01 -1.11124594e-03 2.39741838e+02] [ 7.69987702e-01 6.38057399e-01 -1.30161588e-03 2.62113794e+02] [ 1.71126835e-03 -2.51413247e-05 9.99998535e-01 1.41760563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.76, Y:262.14, Z:1.42 [[ 6.37043301e-01 -7.70827217e-01 -1.11084337e-03 2.39759958e+02] [ 7.70826118e-01 6.37044269e-01 -1.30195936e-03 2.62135481e+02] [ 1.71124211e-03 -2.68625989e-05 9.99998535e-01 1.41698669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.78, Y:262.16, Z:1.42 [[ 6.36023682e-01 -7.71668739e-01 -1.11042769e-03 2.39775703e+02] [ 7.71667640e-01 6.36024651e-01 -1.30231379e-03 2.62157134e+02] [ 1.71121423e-03 -2.85787066e-05 9.99998535e-01 1.41700029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.79, Y:262.18, Z:1.42 [[ 6.35558963e-01 -7.72051534e-01 -1.11014593e-03 2.39793529e+02] [ 7.72050436e-01 6.35559932e-01 -1.30255393e-03 2.62178927e+02] [ 1.71120303e-03 -2.92388239e-05 9.99998535e-01 1.41623388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.81, Y:262.20, Z:1.42 [[ 6.34921087e-01 -7.72576198e-01 -1.10974068e-03 2.39810900e+02] [ 7.72575100e-01 6.34922056e-01 -1.30289910e-03 2.62201144e+02] [ 1.71118767e-03 -3.01198993e-05 9.99998535e-01 1.41575192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.83, Y:262.22, Z:1.41 [[ 6.34077521e-01 -7.73268690e-01 -1.10932699e-03 2.39827425e+02] [ 7.73267592e-01 6.34078491e-01 -1.30325124e-03 2.62222849e+02] [ 1.71116376e-03 -3.14442986e-05 9.99998535e-01 1.41464677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.84, Y:262.24, Z:1.41 [[ 6.33448378e-01 -7.73784158e-01 -1.10895326e-03 2.39844577e+02] [ 7.73783061e-01 6.33449348e-01 -1.30356917e-03 2.62244948e+02] [ 1.71114689e-03 -3.23454688e-05 9.99998535e-01 1.41387805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.86, Y:262.27, Z:1.41 [[ 6.32825885e-01 -7.74293336e-01 -1.10854021e-03 2.39860981e+02] [ 7.74292239e-01 6.32826855e-01 -1.30392033e-03 2.62265877e+02] [ 1.71113084e-03 -3.31795502e-05 9.99998535e-01 1.41340271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.88, Y:262.29, Z:1.41 [[ 6.31921795e-01 -7.75031366e-01 -1.10816936e-03 2.39877322e+02] [ 7.75030269e-01 6.31922765e-01 -1.30423543e-03 2.62288401e+02] [ 1.71110081e-03 -3.46900047e-05 9.99998535e-01 1.41201390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.89, Y:262.31, Z:1.41 [[ 6.31135787e-01 -7.75671574e-01 -1.10775128e-03 2.39893697e+02] [ 7.75670478e-01 6.31136758e-01 -1.30459043e-03 2.62309787e+02] [ 1.71107626e-03 -3.58762530e-05 9.99998535e-01 1.41157793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.91, Y:262.33, Z:1.41 [[ 6.30043155e-01 -7.76559332e-01 -1.10737561e-03 2.39909995e+02] [ 7.76558237e-01 6.30044127e-01 -1.30490923e-03 2.62332938e+02] [ 1.71103494e-03 -3.77925268e-05 9.99998535e-01 1.41106062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.93, Y:262.36, Z:1.41 [[ 6.29469777e-01 -7.77024179e-01 -1.10696575e-03 2.39926818e+02] [ 7.77023084e-01 6.29470749e-01 -1.30525682e-03 2.62355538e+02] [ 1.71101867e-03 -3.85182208e-05 9.99998535e-01 1.41068725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.94, Y:262.38, Z:1.41 [[ 6.29158935e-01 -7.77275891e-01 -1.10654925e-03 2.39942865e+02] [ 7.77274795e-01 6.29159907e-01 -1.30560982e-03 2.62377375e+02] [ 1.71101546e-03 -3.86567597e-05 9.99998535e-01 1.41060437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.96, Y:262.40, Z:1.41 [[ 6.29013885e-01 -7.77393278e-01 -1.10617510e-03 2.39958853e+02] [ 7.77392182e-01 6.29014857e-01 -1.30592675e-03 2.62398910e+02] [ 1.71101924e-03 -3.84858160e-05 9.99998535e-01 1.41078966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.98, Y:262.42, Z:1.41 [[ 6.28819685e-01 -7.77550372e-01 -1.10580532e-03 2.39975401e+02] [ 7.77549276e-01 6.28820656e-01 -1.30623979e-03 2.62421998e+02] [ 1.71102046e-03 -3.84288336e-05 9.99998535e-01 1.41143377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.99, Y:262.44, Z:1.41 [[ 6.28881585e-01 -7.77500309e-01 -1.10540159e-03 2.39992697e+02] [ 7.77499212e-01 6.28882555e-01 -1.30658135e-03 2.62443159e+02] [ 1.71103518e-03 -3.77639125e-05 9.99998535e-01 1.41174144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.01, Y:262.47, Z:1.41 [[ 6.28677546e-01 -7.77665302e-01 -1.10512751e-03 2.40010294e+02] [ 7.77664205e-01 6.28678516e-01 -1.30681313e-03 2.62465044e+02] [ 1.71103315e-03 -3.78540388e-05 9.99998535e-01 1.41179964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.03, Y:262.49, Z:1.41 [[ 6.30479837e-01 -7.76204841e-01 -1.10472630e-03 2.40033653e+02] [ 7.76203741e-01 6.30480803e-01 -1.30715221e-03 2.62488182e+02] [ 1.71112660e-03 -3.33595769e-05 9.99998535e-01 1.41156612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.04, Y:262.51, Z:1.41 [[ 6.28792688e-01 -7.77572181e-01 -1.12172186e-03 2.40044299e+02] [ 7.77571109e-01 6.28793686e-01 -1.29278537e-03 2.62508879e+02] [ 1.71056556e-03 -5.93245232e-05 9.99998535e-01 1.41210281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.06, Y:262.53, Z:1.41 [[ 6.28889840e-01 -7.77493634e-01 -1.10386322e-03 2.40061396e+02] [ 7.77492535e-01 6.28890807e-01 -1.30785848e-03 2.62531174e+02] [ 1.71106107e-03 -3.57465059e-05 9.99998536e-01 1.41248112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.08, Y:262.55, Z:1.41 [[ 6.28924559e-01 -7.77465550e-01 -1.10345582e-03 2.40078255e+02] [ 7.77464450e-01 6.28925526e-01 -1.30820211e-03 2.62553452e+02] [ 1.71107361e-03 -3.51372395e-05 9.99998536e-01 1.41301525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.10, Y:262.58, Z:1.41 [[ 6.28905897e-01 -7.77480647e-01 -1.10304649e-03 2.40095738e+02] [ 7.77479547e-01 6.28906863e-01 -1.30854716e-03 2.62575784e+02] [ 1.71108360e-03 -3.46430638e-05 9.99998536e-01 1.41354360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.11, Y:262.60, Z:1.41 [[ 6.28810269e-01 -7.77557991e-01 -1.10263949e-03 2.40112854e+02] [ 7.77556891e-01 6.28811235e-01 -1.30889003e-03 2.62596535e+02] [ 1.71109000e-03 -3.43214401e-05 9.99998536e-01 1.41497424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.13, Y:262.62, Z:1.42 [[ 6.28003913e-01 -7.78209400e-01 -1.10227572e-03 2.40131416e+02] [ 7.78208300e-01 6.28004879e-01 -1.30919630e-03 2.62616816e+02] [ 1.71106340e-03 -3.56197095e-05 9.99998536e-01 1.41640945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.15, Y:262.64, Z:1.42 [[ 6.28706376e-01 -7.77641999e-01 -1.10191456e-03 2.40151444e+02] [ 7.77640898e-01 6.28707340e-01 -1.30950021e-03 2.62637233e+02] [ 1.71110413e-03 -3.36026961e-05 9.99998536e-01 1.41561018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.17, Y:262.66, Z:1.42 [[ 6.26711224e-01 -7.79250812e-01 -1.10147770e-03 2.40167266e+02] [ 7.79249712e-01 6.26712191e-01 -1.30986756e-03 2.62659343e+02] [ 1.71102487e-03 -3.74174787e-05 9.99998536e-01 1.41711949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.18, Y:262.68, Z:1.42 [[ 6.26146282e-01 -7.79704830e-01 -1.10123907e-03 2.40184127e+02] [ 7.79703730e-01 6.26147249e-01 -1.31006816e-03 2.62680024e+02] [ 1.71100429e-03 -3.83459019e-05 9.99998536e-01 1.41812552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.20, Y:262.70, Z:1.42 [[ 6.25539933e-01 -7.80191374e-01 -1.10088250e-03 2.40201591e+02] [ 7.80190275e-01 6.25540901e-01 -1.31036773e-03 2.62702343e+02] [ 1.71098463e-03 -3.92104766e-05 9.99998536e-01 1.41794444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.22, Y:262.72, Z:1.42 [[ 6.25599161e-01 -7.80143884e-01 -1.10046667e-03 2.40219940e+02] [ 7.80142783e-01 6.25600128e-01 -1.31071685e-03 2.62724186e+02] [ 1.71099983e-03 -3.85377683e-05 9.99998536e-01 1.41792760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.24, Y:262.75, Z:1.42 [[ 6.25414099e-01 -7.80292245e-01 -1.10351145e-03 2.40237534e+02] [ 7.80291149e-01 6.25415071e-01 -1.30816124e-03 2.62745390e+02] [ 1.71090076e-03 -4.29177324e-05 9.99998536e-01 1.41797579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.26, Y:262.77, Z:1.42 [[ 6.26710412e-01 -7.79251463e-01 -1.10325602e-03 2.40255392e+02] [ 7.79250365e-01 6.26711382e-01 -1.30837554e-03 2.62765012e+02] [ 1.71097666e-03 -3.97400837e-05 9.99998536e-01 1.41851796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.27, Y:262.79, Z:1.42 [[ 6.25152210e-01 -7.80502086e-01 -1.09955567e-03 2.40272521e+02] [ 7.80500985e-01 6.25153175e-01 -1.31147795e-03 2.62787296e+02] [ 1.71100199e-03 -3.83309473e-05 9.99998536e-01 1.41843314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.29, Y:262.81, Z:1.42 [[ 6.25771366e-01 -7.80005763e-01 -1.09914532e-03 2.40292599e+02] [ 7.80004660e-01 6.25772330e-01 -1.31182177e-03 2.62809897e+02] [ 1.71104327e-03 -3.64379660e-05 9.99998536e-01 1.41754575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.31, Y:262.83, Z:1.42 [[ 6.26346348e-01 -7.79544119e-01 -1.10362179e-03 2.40308781e+02] [ 7.79543023e-01 6.26347319e-01 -1.30807250e-03 2.62830339e+02] [ 1.71095077e-03 -4.10142351e-05 9.99998536e-01 1.41901905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.33, Y:262.85, Z:1.42 [[ 6.26814239e-01 -7.79167956e-01 -1.09840099e-03 2.40326462e+02] [ 7.79166851e-01 6.26815201e-01 -1.31244186e-03 2.62851774e+02] [ 1.71110708e-03 -3.31803936e-05 9.99998536e-01 1.41886887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.35, Y:262.87, Z:1.42 [[ 6.29067315e-01 -7.77350055e-01 -1.09798837e-03 2.40348146e+02] [ 7.77348947e-01 6.29068273e-01 -1.31278697e-03 2.62873732e+02] [ 1.71120467e-03 -2.76887308e-05 9.99998536e-01 1.41940431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.36, Y:262.89, Z:1.42 [[ 6.29477353e-01 -7.77018035e-01 -1.11128626e-03 2.40361516e+02] [ 7.77016946e-01 6.29478332e-01 -1.30164211e-03 2.62893500e+02] [ 1.71093002e-03 -4.41340281e-05 9.99998535e-01 1.41826529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.38, Y:262.92, Z:1.42 [[ 6.29529690e-01 -7.76975653e-01 -1.09738284e-03 2.40379307e+02] [ 7.76974543e-01 6.29530646e-01 -1.31328062e-03 2.62915847e+02] [ 1.71122320e-03 -2.58893942e-05 9.99998536e-01 1.41783816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.40, Y:262.94, Z:1.42 [[ 6.29468199e-01 -7.77025469e-01 -1.09832030e-03 2.40396031e+02] [ 7.77024361e-01 6.29469157e-01 -1.31249614e-03 2.62936594e+02] [ 1.71120168e-03 -2.72470441e-05 9.99998536e-01 1.41752105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.41, Y:262.96, Z:1.42 [[ 6.28909131e-01 -7.77478038e-01 -1.09795575e-03 2.40414284e+02] [ 7.77476930e-01 6.28910089e-01 -1.31280103e-03 2.62958480e+02] [ 1.71118942e-03 -2.80027059e-05 9.99998536e-01 1.41777922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.43, Y:262.98, Z:1.42 [[ 6.27978855e-01 -7.78229628e-01 -1.09755259e-03 2.40432823e+02] [ 7.78228520e-01 6.27979813e-01 -1.31313800e-03 2.62980026e+02] [ 1.71116377e-03 -2.95238277e-05 9.99998536e-01 1.41824200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.45, Y:263.00, Z:1.42 [[ 6.27657855e-01 -7.78488544e-01 -1.09713502e-03 2.40449518e+02] [ 7.78487437e-01 6.27658813e-01 -1.31348679e-03 2.63000254e+02] [ 1.71116088e-03 -2.96855268e-05 9.99998536e-01 1.41900581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.47, Y:263.02, Z:1.42 [[ 6.26418534e-01 -7.79486131e-01 -1.09210452e-03 2.40467676e+02] [ 7.79485018e-01 6.26419485e-01 -1.31768463e-03 2.63023279e+02] [ 1.71123244e-03 -2.58570362e-05 9.99998536e-01 1.41883884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.24275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.48, Y:263.04, Z:1.42 [[ 6.25529705e-01 -7.80199581e-01 -1.09629445e-03 2.40484487e+02] [ 7.80198475e-01 6.25530664e-01 -1.31418939e-03 2.63044303e+02] [ 1.71109581e-03 -3.32627567e-05 9.99998536e-01 1.41919494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.50, Y:263.07, Z:1.42 [[ 6.23771880e-01 -7.81605681e-01 -1.09591948e-03 2.40501056e+02] [ 7.81604577e-01 6.23772841e-01 -1.31450201e-03 2.63066135e+02] [ 1.71102705e-03 -3.66262950e-05 9.99998536e-01 1.42016550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.52, Y:263.09, Z:1.42 [[ 6.22762455e-01 -7.82410202e-01 -1.09555208e-03 2.40518334e+02] [ 7.82409098e-01 6.22763418e-01 -1.31480815e-03 2.63088011e+02] [ 1.71098907e-03 -3.83567600e-05 9.99998536e-01 1.42021826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.54, Y:263.11, Z:1.42 [[ 6.20581657e-01 -7.84141064e-01 -1.09513984e-03 2.40535855e+02] [ 7.84139962e-01 6.20582621e-01 -1.31515142e-03 2.63109748e+02] [ 1.71088899e-03 -4.25840624e-05 9.99998536e-01 1.42178201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.55, Y:263.13, Z:1.42 [[ 6.20162882e-01 -7.84472301e-01 -1.09938979e-03 2.40553401e+02] [ 7.84471206e-01 6.20163854e-01 -1.31161321e-03 2.63130462e+02] [ 1.71072604e-03 -4.90258076e-05 9.99998536e-01 1.42208051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.57, Y:263.15, Z:1.42 [[ 6.18656392e-01 -7.85660914e-01 -1.09433442e-03 2.40570163e+02] [ 7.85659813e-01 6.18657358e-01 -1.31581763e-03 2.63152282e+02] [ 1.71080453e-03 -4.57355861e-05 9.99998536e-01 1.42234988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.59, Y:263.17, Z:1.42 [[ 6.18626421e-01 -7.85684517e-01 -1.09106982e-03 2.40588927e+02] [ 7.85683412e-01 6.18627382e-01 -1.31853085e-03 2.63173592e+02] [ 1.71091494e-03 -4.15574401e-05 9.99998536e-01 1.42237804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.61, Y:263.20, Z:1.42 [[ 6.18242069e-01 -7.85986990e-01 -1.09381854e-03 2.40606492e+02] [ 7.85985889e-01 6.18243035e-01 -1.31624663e-03 2.63195300e+02] [ 1.71079842e-03 -4.59668953e-05 9.99998536e-01 1.42176637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.62, Y:263.22, Z:1.42 [[ 6.18646505e-01 -7.85668700e-01 -1.09340108e-03 2.40623282e+02] [ 7.85667598e-01 6.18647470e-01 -1.31659332e-03 2.63216389e+02] [ 1.71083597e-03 -4.45439428e-05 9.99998536e-01 1.42071631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.64, Y:263.24, Z:1.42 [[ 6.18863543e-01 -7.85497754e-01 -1.09298630e-03 2.40640721e+02] [ 7.85496651e-01 6.18864507e-01 -1.31693756e-03 2.63237670e+02] [ 1.71086192e-03 -4.35324377e-05 9.99998536e-01 1.42021256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.66, Y:263.26, Z:1.42 [[ 6.18497029e-01 -7.85786377e-01 -1.09261774e-03 2.40659421e+02] [ 7.85785275e-01 6.18497993e-01 -1.31724327e-03 2.63260501e+02] [ 1.71085370e-03 -4.38518811e-05 9.99998536e-01 1.41974016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.68, Y:263.28, Z:1.42 [[ 6.19880942e-01 -7.84695110e-01 -1.09609229e-03 2.40678053e+02] [ 7.84694011e-01 6.19881910e-01 -1.31436242e-03 2.63281499e+02] [ 1.71082154e-03 -4.53488378e-05 9.99998536e-01 1.41992294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.70, Y:263.30, Z:1.42 [[ 6.20153480e-01 -7.84479744e-01 -1.09192444e-03 2.40695355e+02] [ 7.84478639e-01 6.20154440e-01 -1.31781584e-03 2.63302411e+02] [ 1.71096162e-03 -3.93433189e-05 9.99998536e-01 1.41980651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.71, Y:263.32, Z:1.42 [[ 6.20739450e-01 -7.84016163e-01 -1.09154509e-03 2.40712629e+02] [ 7.84015056e-01 6.20740408e-01 -1.31812998e-03 2.63323119e+02] [ 1.71100135e-03 -3.75725044e-05 9.99998536e-01 1.41966635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.73, Y:263.35, Z:1.42 [[ 6.20896999e-01 -7.83891400e-01 -1.09118056e-03 2.40729641e+02] [ 7.83890292e-01 6.20897957e-01 -1.31843168e-03 2.63345927e+02] [ 1.71101903e-03 -3.67555719e-05 9.99998536e-01 1.41643766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.75, Y:263.37, Z:1.42 [[ 6.22255596e-01 -7.82813375e-01 -1.09235083e-03 2.40748029e+02] [ 7.82812267e-01 6.22256554e-01 -1.31746374e-03 2.63367328e+02] [ 1.71105070e-03 -3.53064415e-05 9.99998536e-01 1.41967364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.77, Y:263.39, Z:1.42 [[ 6.23175432e-01 -7.82081320e-01 -1.09048740e-03 2.40765563e+02] [ 7.82080209e-01 6.23176386e-01 -1.31900433e-03 2.63389426e+02] [ 1.71113464e-03 -3.08775178e-05 9.99998536e-01 1.41931010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.78, Y:263.41, Z:1.42 [[ 6.21410779e-01 -7.83484177e-01 -1.09006669e-03 2.40779647e+02] [ 7.83483067e-01 6.21411734e-01 -1.31935193e-03 2.63411626e+02] [ 1.71107159e-03 -3.41892818e-05 9.99998536e-01 1.41554343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.80, Y:263.43, Z:1.42 [[ 6.23443326e-01 -7.81867793e-01 -1.08345729e-03 2.40800527e+02] [ 7.81866671e-01 6.23444267e-01 -1.32480460e-03 2.63432799e+02] [ 1.71129728e-03 -2.11785590e-05 9.99998536e-01 1.41906378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.82, Y:263.45, Z:1.42 [[ 6.22839593e-01 -7.82348806e-01 -1.08958816e-03 2.40816096e+02] [ 7.82347693e-01 6.22840546e-01 -1.31974699e-03 2.63454540e+02] [ 1.71114217e-03 -3.04461013e-05 9.99998536e-01 1.41727258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.84, Y:263.48, Z:1.42 [[ 6.23712743e-01 -7.81652889e-01 -1.08447303e-03 2.40836055e+02] [ 7.81651768e-01 6.23713685e-01 -1.32396678e-03 2.63476833e+02] [ 1.71128313e-03 -2.19053079e-05 9.99998536e-01 1.41769338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.85, Y:263.50, Z:1.42 [[ 6.23202493e-01 -7.82059759e-01 -1.08945527e-03 2.40853072e+02] [ 7.82058645e-01 6.23203444e-01 -1.31985859e-03 2.63497349e+02] [ 1.71116057e-03 -2.94787534e-05 9.99998536e-01 1.41869865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.87, Y:263.52, Z:1.42 [[ 6.22301192e-01 -7.82777135e-01 -1.08835894e-03 2.40870825e+02] [ 7.82776021e-01 6.22302143e-01 -1.32076201e-03 2.63519642e+02] [ 1.71115040e-03 -3.00295073e-05 9.99998536e-01 1.41809680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.89, Y:263.54, Z:1.42 [[ 6.21715541e-01 -7.83242365e-01 -1.08794730e-03 2.40887849e+02] [ 7.83241251e-01 6.21716492e-01 -1.32110100e-03 2.63540558e+02] [ 1.71113705e-03 -3.07761825e-05 9.99998536e-01 1.41765759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.91, Y:263.56, Z:1.42 [[ 6.20769183e-01 -7.83992627e-01 -1.08757858e-03 2.40905473e+02] [ 7.83991514e-01 6.20770135e-01 -1.32140448e-03 2.63560847e+02] [ 1.71110767e-03 -3.23651964e-05 9.99998536e-01 1.41698546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.92, Y:263.58, Z:1.42 [[ 6.20104568e-01 -7.84518414e-01 -1.08721500e-03 2.40923398e+02] [ 7.84517302e-01 6.20105520e-01 -1.32170355e-03 2.63581886e+02] [ 1.71108880e-03 -3.33445716e-05 9.99998536e-01 1.41687890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.94, Y:263.60, Z:1.42 [[ 6.19462438e-01 -7.85025546e-01 -1.08680971e-03 2.40940912e+02] [ 7.85024433e-01 6.19463390e-01 -1.32203673e-03 2.63602682e+02] [ 1.71107143e-03 -3.42200769e-05 9.99998536e-01 1.41656752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.96, Y:263.62, Z:1.42 [[ 6.18581758e-01 -7.85719688e-01 -1.08644831e-03 2.40959964e+02] [ 7.85718576e-01 6.18582711e-01 -1.32233366e-03 2.63623461e+02] [ 1.71104173e-03 -3.56711357e-05 9.99998536e-01 1.41670419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:263.64, Z:1.42 [[ 6.18235160e-01 -7.85992435e-01 -1.08603801e-03 2.40978662e+02] [ 7.85991323e-01 6.18236113e-01 -1.32267055e-03 2.63644929e+02] [ 1.71103697e-03 -3.58950118e-05 9.99998536e-01 1.41673314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.00, Y:263.67, Z:1.42 [[ 6.17647834e-01 -7.86454051e-01 -1.08562600e-03 2.40996619e+02] [ 7.86452939e-01 6.17648787e-01 -1.32300864e-03 2.63665293e+02] [ 1.71102109e-03 -3.66403438e-05 9.99998536e-01 1.41637572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.01, Y:263.69, Z:1.42 [[ 6.17433892e-01 -7.86622026e-01 -1.08525772e-03 2.41014573e+02] [ 7.86620914e-01 6.17434844e-01 -1.32331067e-03 2.63686234e+02] [ 1.71102125e-03 -3.66295596e-05 9.99998536e-01 1.41752416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.03, Y:263.71, Z:1.42 [[ 6.17750116e-01 -7.86373714e-01 -1.08482923e-03 2.41032255e+02] [ 7.86372600e-01 6.17751068e-01 -1.32366185e-03 2.63706097e+02] [ 1.71104730e-03 -3.53877199e-05 9.99998536e-01 1.41613309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.05, Y:263.73, Z:1.42 [[ 6.17549844e-01 -7.86531006e-01 -1.08025905e-03 2.41051234e+02] [ 7.86529886e-01 6.17550788e-01 -1.32740470e-03 2.63728426e+02] [ 1.71115979e-03 -2.99174616e-05 9.99998536e-01 1.41803989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.07, Y:263.75, Z:1.42 [[ 6.18428579e-01 -7.85840262e-01 -1.08416629e-03 2.41070435e+02] [ 7.85839147e-01 6.18429529e-01 -1.32420574e-03 2.63749713e+02] [ 1.71109463e-03 -3.30536377e-05 9.99998536e-01 1.41880971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.09, Y:263.77, Z:1.42 [[ 6.19084499e-01 -7.85323632e-01 -1.08453286e-03 2.41087778e+02] [ 7.85322517e-01 6.19085448e-01 -1.32390574e-03 2.63770232e+02] [ 1.71111298e-03 -3.20985501e-05 9.99998536e-01 1.41888046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.11, Y:263.79, Z:1.42 [[ 6.20788931e-01 -7.83976995e-01 -1.08345338e-03 2.41105876e+02] [ 7.83975876e-01 6.20789876e-01 -1.32478858e-03 2.63792121e+02] [ 1.71120066e-03 -2.69872290e-05 9.99998536e-01 1.41670563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.12, Y:263.81, Z:1.42 [[ 6.21842546e-01 -7.83141544e-01 -1.08141304e-03 2.41124037e+02] [ 7.83140421e-01 6.21843486e-01 -1.32645691e-03 2.63813759e+02] [ 1.71127316e-03 -2.20509223e-05 9.99998536e-01 1.41610639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.14, Y:263.83, Z:1.42 [[ 6.22983556e-01 -7.82234187e-01 -1.08013011e-03 2.41142606e+02] [ 7.82233060e-01 6.22984492e-01 -1.32750533e-03 2.63834759e+02] [ 1.71132436e-03 -1.78994908e-05 9.99998536e-01 1.41656372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:263.86, Z:1.42 [[ 6.25380760e-01 -7.80318995e-01 -1.08229460e-03 2.41162223e+02] [ 7.80317869e-01 6.25381696e-01 -1.32573696e-03 2.63855209e+02] [ 1.71134496e-03 -1.54434277e-05 9.99998536e-01 1.41924495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:263.88, Z:1.42 [[ 6.26084628e-01 -7.79754363e-01 -1.08259611e-03 2.41180219e+02] [ 7.79753237e-01 6.26085564e-01 -1.32549069e-03 2.63876502e+02] [ 1.71135495e-03 -1.42884732e-05 9.99998536e-01 1.41919932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.20, Y:263.90, Z:1.42 [[ 6.26704983e-01 -7.79255859e-01 -1.08217397e-03 2.41197307e+02] [ 7.79254731e-01 6.26705917e-01 -1.32583525e-03 2.63896858e+02] [ 1.71136972e-03 -1.23816316e-05 9.99998536e-01 1.41913103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:263.92, Z:1.42 [[ 6.28071851e-01 -7.78154599e-01 -1.08179399e-03 2.41215869e+02] [ 7.78153469e-01 6.28072782e-01 -1.32614522e-03 2.63918079e+02] [ 1.71139136e-03 -8.88726469e-06 9.99998536e-01 1.41893319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.23, Y:263.94, Z:1.42 [[ 6.28744026e-01 -7.77611587e-01 -1.08137083e-03 2.41233849e+02] [ 7.77610456e-01 6.28744956e-01 -1.32649018e-03 2.63938863e+02] [ 1.71140059e-03 -6.86248671e-06 9.99998536e-01 1.41697463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:263.96, Z:1.42 [[ 6.29697918e-01 -7.76839344e-01 -1.08025969e-03 2.41253125e+02] [ 7.76838209e-01 6.29698844e-01 -1.32739542e-03 2.63960121e+02] [ 1.71141127e-03 -3.32887116e-06 9.99998536e-01 1.41741088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:263.98, Z:1.42 [[ 6.29884589e-01 -7.76687992e-01 -1.08078880e-03 2.41271698e+02] [ 7.76686858e-01 6.29885516e-01 -1.32696448e-03 2.63981648e+02] [ 1.71141059e-03 -3.59998637e-06 9.99998536e-01 1.41770895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:264.00, Z:1.42 [[ 6.29381678e-01 -7.77095577e-01 -1.08037806e-03 2.41290693e+02] [ 7.77094443e-01 6.29382606e-01 -1.32729880e-03 2.64002062e+02] [ 1.71140919e-03 -4.17824302e-06 9.99998536e-01 1.41852043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:264.02, Z:1.42 [[ 6.28694570e-01 -7.77651574e-01 -1.07996937e-03 2.41308891e+02] [ 7.77650441e-01 6.28695498e-01 -1.32763126e-03 2.64022931e+02] [ 1.71140642e-03 -5.16409156e-06 9.99998536e-01 1.41949317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:264.04, Z:1.42 [[ 6.27775494e-01 -7.78393708e-01 -1.07955175e-03 2.41327491e+02] [ 7.78392575e-01 6.27776422e-01 -1.32797076e-03 2.64044491e+02] [ 1.71140121e-03 -6.64756791e-06 9.99998536e-01 1.41965589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:264.07, Z:1.42 [[ 6.26639912e-01 -7.79308191e-01 -1.07913437e-03 2.41346147e+02] [ 7.79307059e-01 6.26640841e-01 -1.32830984e-03 2.64066024e+02] [ 1.71139241e-03 -8.60506516e-06 9.99998536e-01 1.42015255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:264.09, Z:1.42 [[ 6.24348148e-01 -7.81145458e-01 -1.07871145e-03 2.41364986e+02] [ 7.81144328e-01 6.24349080e-01 -1.32865320e-03 2.64085086e+02] [ 1.71136391e-03 -1.30871661e-05 9.99998536e-01 1.41963702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:264.11, Z:1.42 [[ 6.24108004e-01 -7.81337338e-01 -1.07833164e-03 2.41382855e+02] [ 7.81336208e-01 6.24108936e-01 -1.32896138e-03 2.64107380e+02] [ 1.71136356e-03 -1.31241245e-05 9.99998536e-01 1.41968577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.40, Y:264.13, Z:1.42 [[ 6.22928844e-01 -7.82277760e-01 -1.07792304e-03 2.41401198e+02] [ 7.82276630e-01 6.22929777e-01 -1.32929272e-03 2.64128237e+02] [ 1.71134649e-03 -1.51792249e-05 9.99998536e-01 1.42021000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:264.15, Z:1.42 [[ 6.21034099e-01 -7.83782806e-01 -1.07751482e-03 2.41420395e+02] [ 7.83781678e-01 6.21035034e-01 -1.32962354e-03 2.64149021e+02] [ 1.71131052e-03 -1.87948171e-05 9.99998536e-01 1.42072996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:264.17, Z:1.42 [[ 6.20125509e-01 -7.84501876e-01 -1.07710142e-03 2.41438121e+02] [ 7.84500748e-01 6.20126444e-01 -1.32995833e-03 2.64170071e+02] [ 1.71129388e-03 -2.02457849e-05 9.99998536e-01 1.42075819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:264.19, Z:1.42 [[ 6.19510045e-01 -7.84987990e-01 -1.07673005e-03 2.41456105e+02] [ 7.84986863e-01 6.19510980e-01 -1.33025893e-03 2.64191257e+02] [ 1.71128337e-03 -2.11101729e-05 9.99998536e-01 1.42105517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.47, Y:264.21, Z:1.42 [[ 6.18743978e-01 -7.85591962e-01 -1.07630522e-03 2.41474394e+02] [ 7.85590836e-01 6.18744914e-01 -1.33060257e-03 2.64212961e+02] [ 1.71126906e-03 -2.22331921e-05 9.99998536e-01 1.42063256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:264.24, Z:1.42 [[ 6.19954131e-01 -7.84637316e-01 -1.07588234e-03 2.41495513e+02] [ 7.84636187e-01 6.19955065e-01 -1.33094441e-03 2.64236549e+02] [ 1.71130735e-03 -1.90517294e-05 9.99998536e-01 1.41876943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.51, Y:264.26, Z:1.42 [[ 6.19643003e-01 -7.84883026e-01 -1.08801497e-03 2.41507276e+02] [ 7.84881915e-01 6.19643957e-01 -1.32113748e-03 2.64258197e+02] [ 1.71112029e-03 -3.53296790e-05 9.99998535e-01 1.42061258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.52, Y:264.28, Z:1.42 [[ 6.20355779e-01 -7.84319802e-01 -1.07511785e-03 2.41523037e+02] [ 7.84318672e-01 6.20356710e-01 -1.33155085e-03 2.64281106e+02] [ 1.71131827e-03 -1.71997372e-05 9.99998536e-01 1.42077922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:264.31, Z:1.42 [[ 6.22223066e-01 -7.82839256e-01 -1.07469900e-03 2.41543001e+02] [ 7.82838123e-01 6.22223994e-01 -1.33188882e-03 2.64305309e+02] [ 1.71135836e-03 -1.25833980e-05 9.99998536e-01 1.41947990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.56, Y:264.33, Z:1.42 [[ 6.22293324e-01 -7.82783392e-01 -1.08692962e-03 2.41555135e+02] [ 7.82782276e-01 6.22294272e-01 -1.32202027e-03 2.64327972e+02] [ 1.71124559e-03 -2.81448547e-05 9.99998535e-01 1.42064558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.57, Y:264.35, Z:1.42 [[ 6.22352552e-01 -7.82736321e-01 -1.07404073e-03 2.41571986e+02] [ 7.82735187e-01 6.22353478e-01 -1.33240986e-03 2.64350839e+02] [ 1.71135858e-03 -1.14607931e-05 9.99998536e-01 1.42170251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.59, Y:264.37, Z:1.42 [[ 6.23287088e-01 -7.81992357e-01 -1.07685940e-03 2.41587661e+02] [ 7.81991226e-01 6.23288018e-01 -1.33013878e-03 2.64373478e+02] [ 1.71135192e-03 -1.30362734e-05 9.99998536e-01 1.42104839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.60, Y:264.40, Z:1.42 [[ 6.23266927e-01 -7.82008431e-01 -1.07333549e-03 2.41604333e+02] [ 7.82007295e-01 6.23267851e-01 -1.33297630e-03 2.64395585e+02] [ 1.71137421e-03 -8.55613633e-06 9.99998536e-01 1.42094202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.62, Y:264.42, Z:1.42 [[ 6.23151713e-01 -7.82100244e-01 -1.07290622e-03 2.41620161e+02] [ 7.82099108e-01 6.23152636e-01 -1.33332172e-03 2.64417103e+02] [ 1.71137559e-03 -8.25728442e-06 9.99998536e-01 1.42079498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.64, Y:264.44, Z:1.42 [[ 6.22775972e-01 -7.82399475e-01 -1.07252019e-03 2.41636542e+02] [ 7.82398338e-01 6.22776895e-01 -1.33363217e-03 2.64440533e+02] [ 1.71137391e-03 -8.58394707e-06 9.99998536e-01 1.42045999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.65, Y:264.46, Z:1.42 [[ 6.22257843e-01 -7.82811617e-01 -1.07208240e-03 2.41652689e+02] [ 7.82810480e-01 6.22258767e-01 -1.33398402e-03 2.64462035e+02] [ 1.71137085e-03 -9.15531923e-06 9.99998536e-01 1.42022733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.67, Y:264.48, Z:1.42 [[ 6.21891599e-01 -7.83102605e-01 -1.07169061e-03 2.41669479e+02] [ 7.83101469e-01 6.21892523e-01 -1.33429870e-03 2.64483752e+02] [ 1.71136916e-03 -9.45333606e-06 9.99998536e-01 1.42015702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.69, Y:264.51, Z:1.42 [[ 6.21206868e-01 -7.83645889e-01 -1.07130684e-03 2.41686926e+02] [ 7.83644753e-01 6.21207792e-01 -1.33460675e-03 2.64505902e+02] [ 1.71136325e-03 -1.04571044e-05 9.99998536e-01 1.42035424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.70, Y:264.53, Z:1.42 [[ 6.20541679e-01 -7.84172735e-01 -1.07088565e-03 2.41704143e+02] [ 7.84171598e-01 6.20542603e-01 -1.33494463e-03 2.64527474e+02] [ 1.71135735e-03 -1.13693264e-05 9.99998536e-01 1.42066428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.72, Y:264.55, Z:1.42 [[ 6.19873964e-01 -7.84700658e-01 -1.07046290e-03 2.41722560e+02] [ 7.84699522e-01 6.19874888e-01 -1.33528353e-03 2.64549274e+02] [ 1.71135094e-03 -1.22842295e-05 9.99998536e-01 1.42117578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.74, Y:264.57, Z:1.42 [[ 6.19361274e-01 -7.85105386e-01 -1.07004374e-03 2.41740032e+02] [ 7.85104250e-01 6.19362198e-01 -1.33561935e-03 2.64570640e+02] [ 1.71134659e-03 -1.28649801e-05 9.99998536e-01 1.42155859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.76, Y:264.59, Z:1.42 [[ 6.19030259e-01 -7.85366408e-01 -1.06962234e-03 2.41757644e+02] [ 7.85365271e-01 6.19031183e-01 -1.33595674e-03 2.64592278e+02] [ 1.71134513e-03 -1.30465902e-05 9.99998536e-01 1.42184722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.78, Y:264.61, Z:1.42 [[ 6.18475951e-01 -7.85803000e-01 -1.06920083e-03 2.41775918e+02] [ 7.85801864e-01 6.18476876e-01 -1.33629400e-03 2.64613913e+02] [ 1.71133982e-03 -1.37143076e-05 9.99998536e-01 1.42197804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.79, Y:264.64, Z:1.42 [[ 6.18106865e-01 -7.86093354e-01 -1.06878198e-03 2.41793480e+02] [ 7.86092218e-01 6.18107789e-01 -1.33662892e-03 2.64635230e+02] [ 1.71133757e-03 -1.39816877e-05 9.99998536e-01 1.42203698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.81, Y:264.65, Z:1.42 [[ 6.19882470e-01 -7.84693941e-01 -1.06836602e-03 2.41809922e+02] [ 7.84692802e-01 6.19883391e-01 -1.33696131e-03 2.64653075e+02] [ 1.71136779e-03 -9.58024494e-06 9.99998536e-01 1.42148292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.83, Y:264.68, Z:1.42 [[ 6.16588161e-01 -7.87285166e-01 -1.05230194e-03 2.41830480e+02] [ 7.87284009e-01 6.16589059e-01 -1.34979075e-03 2.64677645e+02] [ 1.71150810e-03 3.80450569e-06 9.99998535e-01 1.42133785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.85, Y:264.70, Z:1.42 [[ 6.15171902e-01 -7.88392282e-01 -1.06806964e-03 2.41848310e+02] [ 7.88391149e-01 6.15172829e-01 -1.33719649e-03 2.64699032e+02] [ 1.71128282e-03 -1.94509437e-05 9.99998536e-01 1.42109872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.87, Y:264.72, Z:1.42 [[ 6.15183555e-01 -7.88383184e-01 -1.07219542e-03 2.41866283e+02] [ 7.88382055e-01 6.15184489e-01 -1.33390287e-03 2.64718926e+02] [ 1.71122458e-03 -2.47045195e-05 9.99998536e-01 1.42127516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.88, Y:264.74, Z:1.42 [[ 6.14202412e-01 -7.89147805e-01 -1.06702283e-03 2.41884249e+02] [ 7.89146671e-01 6.14203339e-01 -1.33802779e-03 2.64740997e+02] [ 1.71127068e-03 -2.02176142e-05 9.99998536e-01 1.42111907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.90, Y:264.76, Z:1.42 [[ 6.16233103e-01 -7.87563086e-01 -1.07186166e-03 2.41900220e+02] [ 7.87561956e-01 6.16234035e-01 -1.33416880e-03 2.64758444e+02] [ 1.71125973e-03 -2.19984847e-05 9.99998536e-01 1.42121596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.92, Y:264.78, Z:1.42 [[ 6.14631247e-01 -7.88813864e-01 -1.05756292e-03 2.41919378e+02] [ 7.88812716e-01 6.14632157e-01 -1.34557353e-03 2.64782974e+02] [ 1.71141923e-03 -7.18754590e-06 9.99998536e-01 1.42105696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.94, Y:264.80, Z:1.42 [[ 6.14676276e-01 -7.88778763e-01 -1.06713029e-03 2.41937642e+02] [ 7.88777628e-01 6.14677202e-01 -1.33794269e-03 2.64803964e+02] [ 1.71128144e-03 -1.93268680e-05 9.99998536e-01 1.42116329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.96, Y:264.83, Z:1.42 [[ 6.14226706e-01 -7.89128898e-01 -1.06555305e-03 2.41959169e+02] [ 7.89127762e-01 6.14227630e-01 -1.33920002e-03 2.64827685e+02] [ 1.71129356e-03 -1.82850744e-05 9.99998536e-01 1.42227359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.98, Y:264.85, Z:1.42 [[ 6.13631415e-01 -7.89591870e-01 -1.07977876e-03 2.41977276e+02] [ 7.89590754e-01 6.13632364e-01 -1.32788067e-03 2.64849971e+02] [ 1.71107097e-03 -3.77540333e-05 9.99998535e-01 1.42195870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.99, Y:264.87, Z:1.42 [[ 6.13474558e-01 -7.89713748e-01 -1.07858663e-03 2.41990715e+02] [ 7.89712631e-01 6.13475505e-01 -1.32882821e-03 2.64869796e+02] [ 1.71108039e-03 -3.65711889e-05 9.99998535e-01 1.42130987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.01, Y:264.89, Z:1.42 [[ 6.13658462e-01 -7.89570871e-01 -1.06388787e-03 2.42007310e+02] [ 7.89569733e-01 6.13659384e-01 -1.34049394e-03 2.64891847e+02] [ 1.71127974e-03 -1.74082133e-05 9.99998536e-01 1.42133821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.02, Y:264.91, Z:1.42 [[ 6.14281873e-01 -7.89085958e-01 -1.06346031e-03 2.42023012e+02] [ 7.89084819e-01 6.14282794e-01 -1.34083305e-03 2.64913764e+02] [ 1.71129790e-03 -1.55109477e-05 9.99998536e-01 1.42053868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.04, Y:264.94, Z:1.42 [[ 6.14278614e-01 -7.89088496e-01 -1.06307841e-03 2.42039318e+02] [ 7.89087356e-01 6.14279534e-01 -1.34113577e-03 2.64936079e+02] [ 1.71130212e-03 -1.50307121e-05 9.99998536e-01 1.42036678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.05, Y:264.96, Z:1.42 [[ 6.14576011e-01 -7.88856893e-01 -1.06265112e-03 2.42054494e+02] [ 7.88855753e-01 6.14576929e-01 -1.34147425e-03 2.64957025e+02] [ 1.71131207e-03 -1.38405613e-05 9.99998536e-01 1.42080145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.07, Y:264.98, Z:1.42 [[ 6.13255984e-01 -7.89883524e-01 -1.05675405e-03 2.42070954e+02] [ 7.89882377e-01 6.13256894e-01 -1.34614078e-03 2.64981443e+02] [ 1.71135613e-03 -9.18251046e-06 9.99998536e-01 1.42036112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.08, Y:265.00, Z:1.42 [[ 6.11614963e-01 -7.91154858e-01 -1.06195266e-03 2.42084739e+02] [ 7.91153720e-01 6.11615884e-01 -1.34202710e-03 2.65003899e+02] [ 1.71125837e-03 -1.93639449e-05 9.99998536e-01 1.41863949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.10, Y:265.03, Z:1.42 [[ 6.11521040e-01 -7.91227475e-01 -1.04926796e-03 2.42103915e+02] [ 7.91226320e-01 6.11521940e-01 -1.35205348e-03 2.65026151e+02] [ 1.71143224e-03 -3.39927656e-06 9.99998536e-01 1.42212296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.12, Y:265.05, Z:1.42 [[ 6.09606016e-01 -7.92703849e-01 -1.05523970e-03 2.42121074e+02] [ 7.92702704e-01 6.09606929e-01 -1.34733570e-03 2.65049523e+02] [ 1.71131963e-03 -1.51474122e-05 9.99998536e-01 1.42271627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.14, Y:265.07, Z:1.42 [[ 6.08438309e-01 -7.93600465e-01 -1.06081746e-03 2.42138395e+02] [ 7.93599329e-01 6.08439234e-01 -1.34292967e-03 2.65072240e+02] [ 1.71119258e-03 -2.47741674e-05 9.99998536e-01 1.42285999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.16, Y:265.09, Z:1.42 [[ 6.06570407e-01 -7.95029067e-01 -1.06039428e-03 2.42155266e+02] [ 7.95027933e-01 6.06571333e-01 -1.34326374e-03 2.65094984e+02] [ 1.71113849e-03 -2.82590410e-05 9.99998536e-01 1.42319833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.12275509600005 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.17, Y:265.12, Z:1.42 [[ 6.05258701e-01 -7.96028132e-01 -1.05772302e-03 2.42172603e+02] [ 7.96026995e-01 6.05259624e-01 -1.34537080e-03 2.65117701e+02] [ 1.71115005e-03 -2.76786971e-05 9.99998536e-01 1.42323538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.19, Y:265.14, Z:1.42 [[ 6.04615567e-01 -7.96516725e-01 -1.05956809e-03 2.42189650e+02] [ 7.96515592e-01 6.04616495e-01 -1.34391612e-03 2.65139477e+02] [ 1.71108401e-03 -3.14098941e-05 9.99998536e-01 1.42317244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.21, Y:265.16, Z:1.42 [[ 6.03575496e-01 -7.97305151e-01 -1.05655286e-03 2.42207469e+02] [ 7.97304015e-01 6.03576420e-01 -1.34629190e-03 2.65162233e+02] [ 1.71111586e-03 -2.98050385e-05 9.99998536e-01 1.42345969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.22, Y:265.18, Z:1.42 [[ 6.03245335e-01 -7.97554982e-01 -1.05647915e-03 2.42224838e+02] [ 7.97553846e-01 6.03246260e-01 -1.34634994e-03 2.65184731e+02] [ 1.71110520e-03 -3.04196918e-05 9.99998536e-01 1.42365951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.24275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.24, Y:265.21, Z:1.42 [[ 6.03629267e-01 -7.97264440e-01 -1.05850251e-03 2.42240451e+02] [ 7.97263307e-01 6.03630195e-01 -1.34475728e-03 2.65205532e+02] [ 1.71107124e-03 -3.21703611e-05 9.99998536e-01 1.42393249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.26, Y:265.23, Z:1.42 [[ 6.03556100e-01 -7.97319837e-01 -1.05395047e-03 2.42258117e+02] [ 7.97318698e-01 6.03557020e-01 -1.34833855e-03 2.65229141e+02] [ 1.71117627e-03 -2.65364570e-05 9.99998536e-01 1.42415368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.28, Y:265.25, Z:1.42 [[ 6.03774932e-01 -7.97154133e-01 -1.05797689e-03 2.42275114e+02] [ 7.97152999e-01 6.03775858e-01 -1.34517177e-03 2.65251528e+02] [ 1.71109014e-03 -3.11884599e-05 9.99998536e-01 1.42421533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.29, Y:265.27, Z:1.42 [[ 6.04536767e-01 -7.96576537e-01 -1.05754832e-03 2.42291284e+02] [ 7.96575401e-01 6.04537692e-01 -1.34550862e-03 2.65272834e+02] [ 1.71112841e-03 -2.90075440e-05 9.99998536e-01 1.42456369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.31, Y:265.29, Z:1.42 [[ 6.04996212e-01 -7.96227647e-01 -1.05716310e-03 2.42308384e+02] [ 7.96226510e-01 6.04997135e-01 -1.34581122e-03 2.65294535e+02] [ 1.71115274e-03 -2.75305949e-05 9.99998536e-01 1.42445351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.33, Y:265.32, Z:1.42 [[ 6.05521646e-01 -7.95828135e-01 -1.05677063e-03 2.42325394e+02] [ 7.95826997e-01 6.05522567e-01 -1.34611933e-03 2.65316260e+02] [ 1.71117810e-03 -2.59022030e-05 9.99998536e-01 1.42434764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.34, Y:265.34, Z:1.42 [[ 6.06726216e-01 -7.94910173e-01 -1.05637881e-03 2.42342278e+02] [ 7.94909033e-01 6.06727135e-01 -1.34642674e-03 2.65338151e+02] [ 1.71122200e-03 -2.28126583e-05 9.99998536e-01 1.42398003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.4527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.36, Y:265.36, Z:1.42 [[ 6.07105172e-01 -7.94620787e-01 -1.05597179e-03 2.42359200e+02] [ 7.94619646e-01 6.07106090e-01 -1.34674588e-03 2.65360669e+02] [ 1.71123917e-03 -2.14795379e-05 9.99998536e-01 1.42390604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.48275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.38, Y:265.38, Z:1.42 [[ 6.07532823e-01 -7.94293872e-01 -1.05555832e-03 2.42376010e+02] [ 7.94292730e-01 6.07533739e-01 -1.34706987e-03 2.65382617e+02] [ 1.71125664e-03 -2.00331404e-05 9.99998536e-01 1.42295137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.39, Y:265.40, Z:1.42 [[ 6.07131878e-01 -7.94600384e-01 -1.05512932e-03 2.42393461e+02] [ 7.94599242e-01 6.07132794e-01 -1.34740582e-03 2.65404990e+02] [ 1.71125279e-03 -2.03519327e-05 9.99998536e-01 1.42260568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.41, Y:265.43, Z:1.42 [[ 6.06764759e-01 -7.94880755e-01 -1.05470316e-03 2.42410814e+02] [ 7.94879613e-01 6.06765676e-01 -1.34773932e-03 2.65426205e+02] [ 1.71124972e-03 -2.06013120e-05 9.99998536e-01 1.42193705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.43, Y:265.45, Z:1.42 [[ 6.05383029e-01 -7.95933588e-01 -1.05432064e-03 2.42428468e+02] [ 7.95932447e-01 6.05383946e-01 -1.34803849e-03 2.65447642e+02] [ 1.71121790e-03 -2.30883773e-05 9.99998536e-01 1.42200644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.45, Y:265.47, Z:1.42 [[ 6.04377651e-01 -7.96697273e-01 -1.05389351e-03 2.42445964e+02] [ 7.96696132e-01 6.04378569e-01 -1.34837234e-03 2.65470023e+02] [ 1.71119522e-03 -2.47067778e-05 9.99998536e-01 1.42169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.46, Y:265.49, Z:1.42 [[ 6.04127145e-01 -7.96887246e-01 -1.05346937e-03 2.42463422e+02] [ 7.96886105e-01 6.04128063e-01 -1.34870363e-03 2.65492641e+02] [ 1.71119513e-03 -2.47066285e-05 9.99998536e-01 1.42174123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.49, Y:265.52, Z:1.42 [[ 6.05765011e-01 -7.95642912e-01 -1.05304524e-03 2.42488280e+02] [ 7.95641768e-01 6.05765926e-01 -1.34903470e-03 2.65517220e+02] [ 1.71124882e-03 -2.06487574e-05 9.99998536e-01 1.42048338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.50, Y:265.54, Z:1.42 [[ 5.99748082e-01 -8.00188147e-01 -1.08070525e-03 2.42496864e+02] [ 8.00187049e-01 5.99749052e-01 -1.32743113e-03 2.65537110e+02] [ 1.71034661e-03 -6.86420704e-05 9.99998535e-01 1.42129219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.51, Y:265.56, Z:1.42 [[ 5.98167414e-01 -8.01370475e-01 -1.05207251e-03 2.42513216e+02] [ 8.01369339e-01 5.98168338e-01 -1.34974915e-03 2.65558155e+02] [ 1.71096558e-03 -3.57226954e-05 9.99998536e-01 1.42163160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.53, Y:265.58, Z:1.42 [[ 5.95010498e-01 -8.03717240e-01 -1.05169720e-03 2.42530483e+02] [ 8.03716107e-01 5.95011426e-01 -1.35004152e-03 2.65579532e+02] [ 1.71082350e-03 -4.19771078e-05 9.99998536e-01 1.42259902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.55, Y:265.60, Z:1.42 [[ 5.93446103e-01 -8.04873044e-01 -1.05132562e-03 2.42548290e+02] [ 8.04871913e-01 5.93447033e-01 -1.35033083e-03 2.65601279e+02] [ 1.71075095e-03 -4.48338928e-05 9.99998536e-01 1.42346718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.57, Y:265.62, Z:1.42 [[ 5.91852561e-01 -8.06045558e-01 -1.05090109e-03 2.42567255e+02] [ 8.06044428e-01 5.91853492e-01 -1.35066113e-03 2.65623790e+02] [ 1.71067389e-03 -4.76807210e-05 9.99998536e-01 1.42396607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.58, Y:265.65, Z:1.42 [[ 5.89938167e-01 -8.07447733e-01 -1.05707678e-03 2.42583951e+02] [ 8.07446614e-01 5.89939111e-01 -1.34586446e-03 2.65646779e+02] [ 1.71032615e-03 -5.95562527e-05 9.99998536e-01 1.42352629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.60, Y:265.67, Z:1.43 [[ 5.87944433e-01 -8.08900631e-01 -1.05518383e-03 2.42599124e+02] [ 8.08899511e-01 5.87945377e-01 -1.34733436e-03 2.65667474e+02] [ 1.71025007e-03 -6.13799473e-05 9.99998536e-01 1.42543343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.62, Y:265.69, Z:1.43 [[ 5.86778293e-01 -8.09746963e-01 -1.04474171e-03 2.42616108e+02] [ 8.09745830e-01 5.86779220e-01 -1.35542698e-03 2.65690319e+02] [ 1.71058561e-03 -5.06401127e-05 9.99998536e-01 1.42567008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.63, Y:265.71, Z:1.43 [[ 5.87226883e-01 -8.09421700e-01 -1.04813271e-03 2.42634977e+02] [ 8.09420572e-01 5.87227816e-01 -1.35279968e-03 2.65713513e+02] [ 1.71047810e-03 -5.39798415e-05 9.99998536e-01 1.42541021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:265.73, Z:1.43 [[ 5.86925805e-01 -8.09640036e-01 -1.05442961e-03 2.42649649e+02] [ 8.09638916e-01 5.86926749e-01 -1.34792170e-03 2.65734397e+02] [ 1.71020432e-03 -6.25772137e-05 9.99998536e-01 1.42665295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.67, Y:265.76, Z:1.42 [[ 5.87374698e-01 -8.09314443e-01 -1.04751269e-03 2.42666949e+02] [ 8.09313313e-01 5.87375630e-01 -1.35327579e-03 2.65757607e+02] [ 1.71050907e-03 -5.28860089e-05 9.99998536e-01 1.42443026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.68, Y:265.78, Z:1.43 [[ 5.90322631e-01 -8.07166707e-01 -1.04861614e-03 2.42683128e+02] [ 8.07165575e-01 5.90323560e-01 -1.35242196e-03 2.65779113e+02] [ 1.71065279e-03 -4.80415628e-05 9.99998536e-01 1.42727190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.70, Y:265.80, Z:1.43 [[ 5.91524689e-01 -8.06286206e-01 -1.04695291e-03 2.42699683e+02] [ 8.06285071e-01 5.91525614e-01 -1.35370829e-03 2.65801998e+02] [ 1.71077579e-03 -4.33906269e-05 9.99998536e-01 1.42752005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.72, Y:265.83, Z:1.43 [[ 5.92875664e-01 -8.05293333e-01 -1.04652889e-03 2.42717706e+02] [ 8.05292195e-01 5.92876587e-01 -1.35403602e-03 2.65826243e+02] [ 1.71085865e-03 -3.99865428e-05 9.99998536e-01 1.42610502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.73, Y:265.85, Z:1.43 [[ 5.95381951e-01 -8.03442113e-01 -1.05089749e-03 2.42732922e+02] [ 8.03440978e-01 5.95382877e-01 -1.35066066e-03 2.65848914e+02] [ 1.71086403e-03 -4.01751271e-05 9.99998536e-01 1.42589138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.75, Y:265.87, Z:1.43 [[ 5.96833288e-01 -8.02364584e-01 -1.04872843e-03 2.42749526e+02] [ 8.02363445e-01 5.96834209e-01 -1.35233577e-03 2.65870690e+02] [ 1.71098334e-03 -3.43423519e-05 9.99998536e-01 1.42872664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.77, Y:265.89, Z:1.43 [[ 5.98894030e-01 -8.00827602e-01 -1.04553800e-03 2.42766031e+02] [ 8.00826456e-01 5.98894942e-01 -1.35479793e-03 2.65891935e+02] [ 1.71112699e-03 -2.59140943e-05 9.99998536e-01 1.42938445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.78, Y:265.91, Z:1.43 [[ 5.99693832e-01 -8.00228852e-01 -1.04515608e-03 2.42782812e+02] [ 8.00227705e-01 5.99694742e-01 -1.35509250e-03 2.65914016e+02] [ 1.71115872e-03 -2.37222355e-05 9.99998536e-01 1.42960592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:265.94, Z:1.43 [[ 6.00161932e-01 -7.99877843e-01 -1.04474176e-03 2.42799189e+02] [ 7.99876695e-01 6.00162841e-01 -1.35541185e-03 2.65936229e+02] [ 1.71117909e-03 -2.21979938e-05 9.99998536e-01 1.42997027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.82, Y:265.96, Z:1.43 [[ 6.02548299e-01 -7.98081736e-01 -1.04431984e-03 2.42817619e+02] [ 7.98080585e-01 6.02549203e-01 -1.35573685e-03 2.65957505e+02] [ 1.71124291e-03 -1.65544588e-05 9.99998536e-01 1.42999160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:265.98, Z:1.43 [[ 6.00735230e-01 -7.99447368e-01 -1.04389691e-03 2.42831942e+02] [ 7.99446218e-01 6.00736137e-01 -1.35606242e-03 2.65980610e+02] [ 1.71120713e-03 -1.99049681e-05 9.99998536e-01 1.42839177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:266.00, Z:1.43 [[ 6.00327746e-01 -7.99753405e-01 -1.04353490e-03 2.42849284e+02] [ 7.99752255e-01 6.00328653e-01 -1.35634090e-03 2.66002988e+02] [ 1.71120216e-03 -2.03203122e-05 9.99998536e-01 1.42939677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:266.02, Z:1.43 [[ 5.99316337e-01 -8.00511612e-01 -1.04298393e-03 2.42866433e+02] [ 8.00510462e-01 5.99317244e-01 -1.35676445e-03 2.66023961e+02] [ 1.71118395e-03 -2.17884446e-05 9.99998536e-01 1.42881033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:266.05, Z:1.43 [[ 5.98222858e-01 -8.01329099e-01 -1.04260731e-03 2.42882521e+02] [ 8.01327950e-01 5.98223767e-01 -1.35705380e-03 2.66045187e+02] [ 1.71115917e-03 -2.36497806e-05 9.99998536e-01 1.42766077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.90, Y:266.07, Z:1.43 [[ 5.95297979e-01 -8.03504345e-01 -1.04148222e-03 2.42899022e+02] [ 8.03503198e-01 5.95298889e-01 -1.35791790e-03 2.66068146e+02] [ 1.71108614e-03 -2.84685159e-05 9.99998536e-01 1.42718662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.91, Y:266.09, Z:1.43 [[ 5.93908351e-01 -8.04532034e-01 -1.03802942e-03 2.42914945e+02] [ 8.04530884e-01 5.93909258e-01 -1.36056799e-03 2.66089789e+02] [ 1.71111581e-03 -2.70740378e-05 9.99998536e-01 1.42562699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:266.11, Z:1.43 [[ 5.92758673e-01 -8.05379469e-01 -1.03267828e-03 2.42931637e+02] [ 8.05378314e-01 5.92759572e-01 -1.36466584e-03 2.66112803e+02] [ 1.71120379e-03 -2.27791773e-05 9.99998536e-01 1.42668010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:266.13, Z:1.43 [[ 5.91640932e-01 -8.06200932e-01 -1.03230797e-03 2.42947481e+02] [ 8.06199777e-01 5.91641832e-01 -1.36494924e-03 2.66133114e+02] [ 1.71117993e-03 -2.46866135e-05 9.99998536e-01 1.42599261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:242.97, Y:266.16, Z:1.43 [[ 5.90736972e-01 -8.06863541e-01 -1.02779687e-03 2.42965895e+02] [ 8.06862381e-01 5.90737866e-01 -1.36840349e-03 2.66156561e+02] [ 1.71127341e-03 -2.09240959e-05 9.99998536e-01 1.42668984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.98, Y:266.18, Z:1.43 [[ 5.90392775e-01 -8.07115418e-01 -1.03548309e-03 2.42984546e+02] [ 8.07114269e-01 5.90393683e-01 -1.36251959e-03 2.66177150e+02] [ 1.71105325e-03 -3.13314554e-05 9.99998536e-01 1.42920979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:266.20, Z:1.43 [[ 5.89714292e-01 -8.07611275e-01 -1.03996819e-03 2.43001188e+02] [ 8.07610133e-01 5.89715208e-01 -1.35908761e-03 2.66198793e+02] [ 1.71089954e-03 -3.84154637e-05 9.99998536e-01 1.42913363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.02, Y:266.22, Z:1.43 [[ 5.89215461e-01 -8.07975284e-01 -1.03957820e-03 2.43017921e+02] [ 8.07974142e-01 5.89216377e-01 -1.35938586e-03 2.66221094e+02] [ 1.71088667e-03 -3.89811388e-05 9.99998536e-01 1.42917100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.03, Y:266.24, Z:1.43 [[ 5.88701658e-01 -8.08349726e-01 -1.03914378e-03 2.43034240e+02] [ 8.08348583e-01 5.88702573e-01 -1.35971786e-03 2.66243015e+02] [ 1.71087417e-03 -3.95222440e-05 9.99998536e-01 1.42893668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.05, Y:266.27, Z:1.43 [[ 5.88754924e-01 -8.08310930e-01 -1.03875421e-03 2.43051226e+02] [ 8.08309787e-01 5.88755839e-01 -1.36001540e-03 2.66265166e+02] [ 1.71088792e-03 -3.89194247e-05 9.99998536e-01 1.42876037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.07, Y:266.29, Z:1.43 [[ 5.88072075e-01 -8.08807862e-01 -1.03773953e-03 2.43068430e+02] [ 8.08806718e-01 5.88072990e-01 -1.36078997e-03 2.66287828e+02] [ 1.71088421e-03 -3.90881225e-05 9.99998536e-01 1.42892395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.09, Y:266.31, Z:1.43 [[ 5.87661347e-01 -8.09106336e-01 -1.03822640e-03 2.43085345e+02] [ 8.09105193e-01 5.87662263e-01 -1.36041840e-03 2.66309944e+02] [ 1.71084963e-03 -4.05690604e-05 9.99998536e-01 1.42968707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.10, Y:266.33, Z:1.43 [[ 5.87232212e-01 -8.09417847e-01 -1.03780441e-03 2.43102044e+02] [ 8.09416705e-01 5.87233128e-01 -1.36074025e-03 2.66332172e+02] [ 1.71084057e-03 -4.09457201e-05 9.99998536e-01 1.43046774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.12, Y:266.35, Z:1.43 [[ 5.86207608e-01 -8.10160209e-01 -1.03738508e-03 2.43117913e+02] [ 8.10159067e-01 5.86208524e-01 -1.36105985e-03 2.66353539e+02] [ 1.71080051e-03 -4.25832918e-05 9.99998536e-01 1.43154532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.13, Y:266.38, Z:1.43 [[ 5.85526908e-01 -8.10652308e-01 -1.03700683e-03 2.43134436e+02] [ 8.10651166e-01 5.85527825e-01 -1.36134798e-03 2.66375693e+02] [ 1.71077624e-03 -4.35449231e-05 9.99998536e-01 1.43178259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.15, Y:266.40, Z:1.43 [[ 5.85032976e-01 -8.11008843e-01 -1.03659465e-03 2.43150181e+02] [ 8.11007701e-01 5.85033893e-01 -1.36166177e-03 2.66397330e+02] [ 1.71076274e-03 -4.40692110e-05 9.99998536e-01 1.43178643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.17, Y:266.42, Z:1.43 [[ 5.84343639e-01 -8.11505661e-01 -1.03629425e-03 2.43166545e+02] [ 8.11504519e-01 5.84344556e-01 -1.36189035e-03 2.66420405e+02] [ 1.71073463e-03 -4.51455049e-05 9.99998536e-01 1.43254237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.18, Y:266.44, Z:1.43 [[ 5.84174143e-01 -8.11627684e-01 -1.03589055e-03 2.43183017e+02] [ 8.11626543e-01 5.84175059e-01 -1.36219734e-03 2.66443197e+02] [ 1.71073850e-03 -4.49958025e-05 9.99998536e-01 1.43326218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.20, Y:266.47, Z:1.43 [[ 5.84009051e-01 -8.11746485e-01 -1.03548837e-03 2.43199420e+02] [ 8.11745343e-01 5.84009968e-01 -1.36250300e-03 2.66466444e+02] [ 1.71074255e-03 -4.48387747e-05 9.99998536e-01 1.43354944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.21, Y:266.49, Z:1.43 [[ 5.83979132e-01 -8.11768010e-01 -1.03506601e-03 2.43213863e+02] [ 8.11766868e-01 5.83980047e-01 -1.36282378e-03 2.66489243e+02] [ 1.71075465e-03 -4.43716475e-05 9.99998536e-01 1.43441680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.23, Y:266.51, Z:1.43 [[ 5.84140544e-01 -8.11651867e-01 -1.03468569e-03 2.43229349e+02] [ 8.11650724e-01 5.84141459e-01 -1.36311247e-03 2.66511266e+02] [ 1.71077559e-03 -4.35541337e-05 9.99998536e-01 1.43451424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.24, Y:266.53, Z:1.43 [[ 5.82555683e-01 -8.12790137e-01 -1.03424555e-03 2.43240142e+02] [ 8.12788994e-01 5.82556600e-01 -1.36344634e-03 2.66534995e+02] [ 1.71070230e-03 -4.63399837e-05 9.99998536e-01 1.43130423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.26, Y:266.56, Z:1.43 [[ 5.83876296e-01 -8.11841999e-01 -1.02029000e-03 2.43260106e+02] [ 8.11840836e-01 5.83877186e-01 -1.37400180e-03 2.66559380e+02] [ 1.71119642e-03 -2.60660098e-05 9.99998536e-01 1.43499498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.28, Y:266.58, Z:1.43 [[ 5.85298320e-01 -8.10817365e-01 -1.03773941e-03 2.43275406e+02] [ 8.10816224e-01 5.85299238e-01 -1.36079695e-03 2.66581211e+02] [ 1.71074588e-03 -4.49437838e-05 9.99998536e-01 1.43499791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.29, Y:266.60, Z:1.43 [[ 5.85789772e-01 -8.10462385e-01 -1.03197499e-03 2.43290525e+02] [ 8.10461236e-01 5.85790680e-01 -1.36515451e-03 2.66603710e+02] [ 1.71092771e-03 -3.66821782e-05 9.99998536e-01 1.43484709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.16275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.30, Y:266.63, Z:1.44 [[ 5.87856758e-01 -8.08964380e-01 -1.03157950e-03 2.43304625e+02] [ 8.08963228e-01 5.87857662e-01 -1.36545329e-03 2.66626673e+02] [ 1.71102499e-03 -3.18189331e-05 9.99998536e-01 1.43534182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.32, Y:266.65, Z:1.43 [[ 5.87713224e-01 -8.09068664e-01 -1.03119371e-03 2.43319992e+02] [ 8.09067512e-01 5.87714127e-01 -1.36574458e-03 2.66653555e+02] [ 1.71102825e-03 -3.16391777e-05 9.99998536e-01 1.43412955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.33, Y:266.68, Z:1.43 [[ 5.86573933e-01 -8.09895005e-01 -1.04967103e-03 2.43332879e+02] [ 8.09893879e-01 5.86574869e-01 -1.35177216e-03 2.66677851e+02] [ 1.71050416e-03 -5.72078301e-05 9.99998535e-01 1.42680898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.35, Y:266.70, Z:1.43 [[ 5.89460362e-01 -8.07796623e-01 -1.04767725e-03 2.43350168e+02] [ 8.07795491e-01 5.89461291e-01 -1.35327248e-03 2.66698875e+02] [ 1.71073412e-03 -4.86084701e-05 9.99998536e-01 1.43463167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.37, Y:266.72, Z:1.43 [[ 5.91854393e-01 -8.06044229e-01 -1.03832528e-03 2.43365261e+02] [ 8.06043082e-01 5.91855303e-01 -1.36029767e-03 2.66719825e+02] [ 1.71099841e-03 -3.18367606e-05 9.99998536e-01 1.43419731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.38, Y:266.74, Z:1.43 [[ 5.93841235e-01 -8.04581589e-01 -1.02707190e-03 2.43380177e+02] [ 8.04580425e-01 5.93842123e-01 -1.36874194e-03 2.66742818e+02] [ 1.71118312e-03 -1.35465362e-05 9.99998536e-01 1.43360898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.40, Y:266.77, Z:1.43 [[ 5.94236734e-01 -8.04289531e-01 -1.02668007e-03 2.43396262e+02] [ 8.04288366e-01 5.94237621e-01 -1.36903579e-03 2.66765746e+02] [ 1.71119307e-03 -1.22154756e-05 9.99998536e-01 1.43385149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.41, Y:266.79, Z:1.43 [[ 5.94209614e-01 -8.04309569e-01 -1.02625756e-03 2.43411636e+02] [ 8.04308403e-01 5.94210500e-01 -1.36935243e-03 2.66788385e+02] [ 1.71119628e-03 -1.17452016e-05 9.99998536e-01 1.43409030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.43, Y:266.81, Z:1.43 [[ 5.93873631e-01 -8.04557679e-01 -1.02587807e-03 2.43427575e+02] [ 8.04556513e-01 5.93874517e-01 -1.36963668e-03 2.66810559e+02] [ 1.71119455e-03 -1.19857778e-05 9.99998536e-01 1.43402934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.45, Y:266.84, Z:1.43 [[ 5.91064921e-01 -8.06623337e-01 -1.02557463e-03 2.43445483e+02] [ 8.06622174e-01 5.91065811e-01 -1.36986385e-03 2.66836164e+02] [ 1.71114625e-03 -1.75727690e-05 9.99998536e-01 1.43371501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.46, Y:266.86, Z:1.43 [[ 5.90533944e-01 -8.07012134e-01 -1.03752540e-03 2.43462155e+02] [ 8.07010988e-01 5.90534854e-01 -1.36091623e-03 2.66858311e+02] [ 1.71097082e-03 -3.36271748e-05 9.99998536e-01 1.43362144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.48, Y:266.88, Z:1.43 [[ 5.88793293e-01 -8.08282989e-01 -1.03323545e-03 2.43477775e+02] [ 8.08281839e-01 5.88794198e-01 -1.36412446e-03 2.66881502e+02] [ 1.71096164e-03 -3.19581130e-05 9.99998536e-01 1.43096515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.50, Y:266.91, Z:1.43 [[ 5.86901092e-01 -8.09657980e-01 -1.03137403e-03 2.43495917e+02] [ 8.09656829e-01 5.86901998e-01 -1.36551576e-03 2.66905709e+02] [ 1.71091621e-03 -3.36363389e-05 9.99998536e-01 1.43385346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.51, Y:266.93, Z:1.43 [[ 5.86420009e-01 -8.10006468e-01 -1.04651409e-03 2.43512649e+02] [ 8.10005338e-01 5.86420940e-01 -1.35418819e-03 2.66928953e+02] [ 1.71059897e-03 -5.35589549e-05 9.99998536e-01 1.43390727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.53, Y:266.95, Z:1.43 [[ 5.84431646e-01 -8.11442272e-01 -1.04408490e-03 2.43525494e+02] [ 8.11441141e-01 5.84432576e-01 -1.35600140e-03 2.66948256e+02] [ 1.71051408e-03 -5.47233155e-05 9.99998536e-01 1.43045221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.61275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.54, Y:266.97, Z:1.43 [[ 5.81957770e-01 -8.13218363e-01 -1.02366104e-03 2.43542299e+02] [ 8.13217208e-01 5.81958669e-01 -1.37121910e-03 2.66970801e+02] [ 1.71082897e-03 -3.44671594e-05 9.99998536e-01 1.43235898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.56, Y:266.99, Z:1.44 [[ 5.81806668e-01 -8.13326477e-01 -1.02141418e-03 2.43560311e+02] [ 8.13325319e-01 5.81807564e-01 -1.37289260e-03 2.66991395e+02] [ 1.71087640e-03 -3.19839449e-05 9.99998536e-01 1.43555406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.58, Y:267.01, Z:1.43 [[ 5.79577481e-01 -8.14916498e-01 -1.02193194e-03 2.43575665e+02] [ 8.14915343e-01 5.79578381e-01 -1.37250709e-03 2.67014492e+02] [ 1.71076833e-03 -3.73138180e-05 9.99998536e-01 1.43352488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:267.04, Z:1.44 [[ 5.79448376e-01 -8.15008305e-01 -1.02100698e-03 2.43593322e+02] [ 8.15007149e-01 5.79449274e-01 -1.37319537e-03 2.67035370e+02] [ 1.71078738e-03 -3.64321656e-05 9.99998536e-01 1.43573665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:267.06, Z:1.44 [[ 5.78166027e-01 -8.15918502e-01 -1.02130713e-03 2.43608784e+02] [ 8.15917348e-01 5.78166928e-01 -1.37297210e-03 2.67056606e+02] [ 1.71071934e-03 -3.94963880e-05 9.99998536e-01 1.43537699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.63, Y:267.08, Z:1.43 [[ 5.75150595e-01 -8.18046920e-01 -1.01496236e-03 2.43626597e+02] [ 8.18045761e-01 5.75151489e-01 -1.37768702e-03 2.67082772e+02] [ 1.71076974e-03 -3.79081416e-05 9.99998536e-01 1.43372510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.79275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.64, Y:267.10, Z:1.43 [[ 5.74991655e-01 -8.18158629e-01 -1.02728809e-03 2.43643243e+02] [ 8.18157486e-01 5.74992570e-01 -1.36852790e-03 2.67104062e+02] [ 1.71035593e-03 -5.35913196e-05 9.99998536e-01 1.43438126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.66, Y:267.13, Z:1.43 [[ 5.72749000e-01 -8.19730164e-01 -1.02012568e-03 2.43658577e+02] [ 8.19729015e-01 5.72749906e-01 -1.37384623e-03 2.67128448e+02] [ 1.71046008e-03 -4.93575588e-05 9.99998536e-01 1.42861846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.68, Y:267.15, Z:1.43 [[ 5.72473339e-01 -8.19922699e-01 -1.02204682e-03 2.43677038e+02] [ 8.19921552e-01 5.72474249e-01 -1.37242003e-03 2.67151755e+02] [ 1.71037382e-03 -5.23243404e-05 9.99998536e-01 1.43358148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.69, Y:267.17, Z:1.43 [[ 5.71538901e-01 -8.20574324e-01 -1.03081348e-03 2.43691284e+02] [ 8.20573190e-01 5.71539827e-01 -1.36591250e-03 2.67174664e+02] [ 1.70998368e-03 -6.51857725e-05 9.99998536e-01 1.42997341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.71, Y:267.20, Z:1.43 [[ 5.72102567e-01 -8.20181446e-01 -1.02406757e-03 2.43706335e+02] [ 8.20180302e-01 5.72103481e-01 -1.37090104e-03 2.67196260e+02] [ 1.71026022e-03 -5.56240497e-05 9.99998536e-01 1.43012766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.73, Y:267.22, Z:1.43 [[ 5.74222964e-01 -8.18698336e-01 -1.01124666e-03 2.43725245e+02] [ 8.18697173e-01 5.74223853e-01 -1.38037267e-03 2.67218034e+02] [ 1.71079076e-03 -3.52630951e-05 9.99998536e-01 1.43345042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.74, Y:267.24, Z:1.43 [[ 5.75852281e-01 -8.17553128e-01 -1.01674828e-03 2.43741056e+02] [ 8.17551970e-01 5.75853178e-01 -1.37630834e-03 2.67239921e+02] [ 1.71070292e-03 -3.86942645e-05 9.99998536e-01 1.43331986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.76, Y:267.26, Z:1.43 [[ 5.76550203e-01 -8.17061093e-01 -1.01633328e-03 2.43757572e+02] [ 8.17059935e-01 5.76551098e-01 -1.37661474e-03 2.67262944e+02] [ 1.71074641e-03 -3.67176923e-05 9.99998536e-01 1.43327352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.77, Y:267.29, Z:1.43 [[ 5.78084859e-01 -8.15976019e-01 -1.01594821e-03 2.43773385e+02] [ 8.15974858e-01 5.78085751e-01 -1.37689886e-03 2.67285535e+02] [ 1.71082163e-03 -3.30238081e-05 9.99998536e-01 1.43308588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.79, Y:267.31, Z:1.43 [[ 5.78665648e-01 -8.15564244e-01 -1.01551433e-03 2.43789287e+02] [ 8.15563082e-01 5.78666538e-01 -1.37721879e-03 2.67307881e+02] [ 1.71085456e-03 -3.12667909e-05 9.99998536e-01 1.43310024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.81, Y:267.33, Z:1.43 [[ 5.79305350e-01 -8.15109981e-01 -1.01512373e-03 2.43805520e+02] [ 8.15108817e-01 5.79306239e-01 -1.37750663e-03 2.67330600e+02] [ 1.71088691e-03 -2.94393469e-05 9.99998536e-01 1.43332796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.82, Y:267.35, Z:1.43 [[ 5.81566396e-01 -8.13498308e-01 -1.01467632e-03 2.43821208e+02] [ 8.13497142e-01 5.81567280e-01 -1.37783611e-03 2.67352596e+02] [ 1.71096990e-03 -2.41331073e-05 9.99998536e-01 1.43448728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.84, Y:267.38, Z:1.43 [[ 5.82598531e-01 -8.12759449e-01 -1.01427560e-03 2.43837056e+02] [ 8.12758281e-01 5.82599414e-01 -1.37813104e-03 2.67375111e+02] [ 1.71100539e-03 -2.14637700e-05 9.99998536e-01 1.43489589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.85, Y:267.40, Z:1.44 [[ 5.85395811e-01 -8.10747012e-01 -1.01388742e-03 2.43853487e+02] [ 8.10745840e-01 5.85396688e-01 -1.37841656e-03 2.67398429e+02] [ 1.71107345e-03 -1.50857271e-05 9.99998536e-01 1.43545141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.87, Y:267.42, Z:1.44 [[ 5.86257658e-01 -8.10124023e-01 -1.01345372e-03 2.43869551e+02] [ 8.10122849e-01 5.86258533e-01 -1.37873536e-03 2.67421025e+02] [ 1.71109253e-03 -1.27278487e-05 9.99998536e-01 1.43567025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.24275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.89, Y:267.44, Z:1.44 [[ 5.86823995e-01 -8.09713883e-01 -1.01302221e-03 2.43885697e+02] [ 8.09712709e-01 5.86824869e-01 -1.37905233e-03 2.67443758e+02] [ 1.71110445e-03 -1.09959606e-05 9.99998536e-01 1.43568404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.90, Y:267.47, Z:1.44 [[ 5.87864405e-01 -8.08958847e-01 -1.01259346e-03 2.43902050e+02] [ 8.08957671e-01 5.87865277e-01 -1.37936708e-03 2.67465751e+02] [ 1.71111974e-03 -8.26444071e-06 9.99998536e-01 1.43606230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.92, Y:267.49, Z:1.44 [[ 5.87778037e-01 -8.09021604e-01 -1.01221082e-03 2.43917945e+02] [ 8.09020427e-01 5.87778908e-01 -1.37964781e-03 2.67487010e+02] [ 1.71112106e-03 -7.97254509e-06 9.99998536e-01 1.43601817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.93, Y:267.51, Z:1.44 [[ 5.87461683e-01 -8.09251350e-01 -1.01192333e-03 2.43934198e+02] [ 8.09250174e-01 5.87462554e-01 -1.37985865e-03 2.67508733e+02] [ 1.71111954e-03 -8.28504726e-06 9.99998536e-01 1.43652621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:267.53, Z:1.44 [[ 5.86320775e-01 -8.10078346e-01 -1.01147959e-03 2.43951258e+02] [ 8.10077170e-01 5.86321647e-01 -1.38018385e-03 2.67530737e+02] [ 1.71110942e-03 -1.01460611e-05 9.99998536e-01 1.43659515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.97, Y:267.55, Z:1.44 [[ 5.85356808e-01 -8.10775175e-01 -1.01106389e-03 2.43968138e+02] [ 8.10774000e-01 5.85357682e-01 -1.38048830e-03 2.67553193e+02] [ 1.71109966e-03 -1.16660900e-05 9.99998536e-01 1.43653527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.42275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.99, Y:267.58, Z:1.44 [[ 5.82443413e-01 -8.12870623e-01 -1.01065096e-03 2.43986568e+02] [ 8.12869450e-01 5.82444289e-01 -1.38079054e-03 2.67577607e+02] [ 1.71105195e-03 -1.72949407e-05 9.99998536e-01 1.43517037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.00, Y:267.60, Z:1.44 [[ 5.82488735e-01 -8.12838135e-01 -1.01941423e-03 2.44002742e+02] [ 8.12836974e-01 5.82489627e-01 -1.37437641e-03 2.67598518e+02] [ 1.71094378e-03 -2.80587982e-05 9.99998536e-01 1.43504477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:267.62, Z:1.44 [[ 5.79249159e-01 -8.15149920e-01 -1.00998313e-03 2.44020393e+02] [ 8.15148750e-01 5.79250039e-01 -1.38127241e-03 2.67624576e+02] [ 1.71097686e-03 -2.31856008e-05 9.99998536e-01 1.43579875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:267.65, Z:1.43 [[ 5.78005962e-01 -8.16031900e-01 -1.02288083e-03 2.44037758e+02] [ 8.16030748e-01 5.78006866e-01 -1.37184291e-03 2.67645474e+02] [ 1.71069972e-03 -4.17688281e-05 9.99998536e-01 1.43368442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:267.67, Z:1.43 [[ 5.75926993e-01 -8.17500500e-01 -1.01556452e-03 2.44054663e+02] [ 8.17499341e-01 5.75927887e-01 -1.37718470e-03 2.67669067e+02] [ 1.71074111e-03 -3.70654839e-05 9.99998536e-01 1.43331612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:267.69, Z:1.44 [[ 5.74465846e-01 -8.18527919e-01 -1.01819120e-03 2.44069894e+02] [ 8.18526765e-01 5.74466747e-01 -1.37526863e-03 2.67689212e+02] [ 1.71061275e-03 -4.33718938e-05 9.99998536e-01 1.43548076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:267.71, Z:1.43 [[ 5.74051194e-01 -8.18818792e-01 -1.00639357e-03 2.44087755e+02] [ 8.18817623e-01 5.74052075e-01 -1.38386819e-03 2.67711992e+02] [ 1.71085959e-03 -2.96416046e-05 9.99998536e-01 1.43291910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.10, Y:267.73, Z:1.43 [[ 5.73201470e-01 -8.19413851e-01 -1.00767655e-03 2.44103692e+02] [ 8.19412685e-01 5.73202355e-01 -1.38293334e-03 2.67733786e+02] [ 1.71079731e-03 -3.30035209e-05 9.99998536e-01 1.43337561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.12, Y:267.76, Z:1.43 [[ 5.71772180e-01 -8.20411823e-01 -1.00737024e-03 2.44120319e+02] [ 8.20410658e-01 5.71773066e-01 -1.38315643e-03 2.67756751e+02] [ 1.71074506e-03 -3.56069101e-05 9.99998536e-01 1.43229489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.14, Y:267.78, Z:1.43 [[ 5.71819020e-01 -8.20379178e-01 -1.00693078e-03 2.44138866e+02] [ 8.20378012e-01 5.71819905e-01 -1.38347628e-03 2.67780025e+02] [ 1.71075820e-03 -3.49658249e-05 9.99998536e-01 1.42997035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.15, Y:267.80, Z:1.43 [[ 5.70971841e-01 -8.20969019e-01 -1.01335616e-03 2.44154592e+02] [ 8.20967863e-01 5.70972738e-01 -1.37879632e-03 2.67802513e+02] [ 1.71054780e-03 -4.46789635e-05 9.99998536e-01 1.43003497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.17, Y:267.82, Z:1.43 [[ 5.72110057e-01 -8.20176234e-01 -1.01368544e-03 2.44170781e+02] [ 8.20175077e-01 5.72110954e-01 -1.37855659e-03 2.67824024e+02] [ 1.71059990e-03 -4.27134455e-05 9.99998536e-01 1.43049686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:267.85, Z:1.43 [[ 5.72232129e-01 -8.20091078e-01 -1.00655836e-03 2.44186034e+02] [ 8.20089912e-01 5.72233014e-01 -1.38374096e-03 2.67848119e+02] [ 1.71077954e-03 -3.36473184e-05 9.99998536e-01 1.42722827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:267.87, Z:1.43 [[ 5.73733276e-01 -8.19041582e-01 -1.00721451e-03 2.44203887e+02] [ 8.19040415e-01 5.73734159e-01 -1.38326375e-03 2.67871229e+02] [ 1.71082389e-03 -3.13249458e-05 9.99998536e-01 1.42957460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:267.89, Z:1.43 [[ 5.75308539e-01 -8.17935857e-01 -1.00898468e-03 2.44220847e+02] [ 8.17934691e-01 5.75309423e-01 -1.38197685e-03 2.67893927e+02] [ 1.71084682e-03 -3.02204930e-05 9.99998536e-01 1.43050508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:267.92, Z:1.43 [[ 5.76046479e-01 -8.17416321e-01 -1.00561810e-03 2.44236779e+02] [ 8.17415149e-01 5.76047357e-01 -1.38442227e-03 2.67917285e+02] [ 1.71093301e-03 -2.45158925e-05 9.99998536e-01 1.43118419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:267.94, Z:1.43 [[ 5.79004349e-01 -8.15323835e-01 -1.00411757e-03 2.44254007e+02] [ 8.15322658e-01 5.79005219e-01 -1.38551180e-03 2.67939728e+02] [ 1.71103011e-03 -1.64624442e-05 9.99998536e-01 1.43169342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:267.96, Z:1.43 [[ 5.81498763e-01 -8.13546673e-01 -9.99960589e-04 2.44273636e+02] [ 8.13545488e-01 5.81499622e-01 -1.38852847e-03 2.67961852e+02] [ 1.71110942e-03 -6.08583917e-06 9.99998536e-01 1.43249809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:267.99, Z:1.43 [[ 5.81525312e-01 -8.13527690e-01 -1.00484150e-03 2.44289629e+02] [ 8.13526511e-01 5.81526180e-01 -1.38498725e-03 2.67986715e+02] [ 1.71106712e-03 -1.20600586e-05 9.99998536e-01 1.43449053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:268.01, Z:1.43 [[ 5.82747196e-01 -8.12652863e-01 -1.01487451e-03 2.44303829e+02] [ 8.12651696e-01 5.82748079e-01 -1.37771607e-03 2.68006971e+02] [ 1.71102108e-03 -2.18793157e-05 9.99998536e-01 1.43326600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:268.03, Z:1.43 [[ 5.83786171e-01 -8.11906835e-01 -9.99209428e-04 2.44322094e+02] [ 8.11905647e-01 5.83787026e-01 -1.38905888e-03 2.68029114e+02] [ 1.71111190e-03 -3.50413762e-07 9.99998536e-01 1.43413643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.34, Y:268.05, Z:1.43 [[ 5.84308027e-01 -8.11531344e-01 -1.00330495e-03 2.44341191e+02] [ 8.11530161e-01 5.84308888e-01 -1.38609439e-03 2.68051873e+02] [ 1.71109904e-03 -4.30615160e-06 9.99998536e-01 1.43424774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:268.07, Z:1.43 [[ 5.84433698e-01 -8.11440840e-01 -1.00787471e-03 2.44358199e+02] [ 8.11439662e-01 5.84434567e-01 -1.38278801e-03 2.68072703e+02] [ 1.71108749e-03 -9.68159945e-06 9.99998536e-01 1.43479306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:268.09, Z:1.44 [[ 5.83402354e-01 -8.12182670e-01 -1.00238028e-03 2.44374071e+02] [ 8.12181486e-01 5.83403215e-01 -1.38675950e-03 2.68094926e+02] [ 1.71109392e-03 -5.07594797e-06 9.99998536e-01 1.43595577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.40, Y:268.12, Z:1.43 [[ 5.82824476e-01 -8.12597456e-01 -1.00197694e-03 2.44395775e+02] [ 8.12596273e-01 5.82825337e-01 -1.38705087e-03 2.68119212e+02] [ 1.71109156e-03 -5.79552934e-06 9.99998536e-01 1.43357175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.41, Y:268.14, Z:1.43 [[ 5.79232471e-01 -8.15161774e-01 -1.01293554e-03 2.44408079e+02] [ 8.15160608e-01 5.79233356e-01 -1.37914612e-03 2.68140878e+02] [ 1.71095325e-03 -2.68589415e-05 9.99998536e-01 1.43496823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:268.16, Z:1.44 [[ 5.78571321e-01 -8.15631188e-01 -9.96305075e-04 2.44426966e+02] [ 8.15630001e-01 5.78572178e-01 -1.39112289e-03 2.68160821e+02] [ 1.71107762e-03 -7.75250021e-06 9.99998536e-01 1.43586190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.44, Y:268.19, Z:1.43 [[ 5.76999760e-01 -8.16743711e-01 -9.93760527e-04 2.44444993e+02] [ 8.16742523e-01 5.77000615e-01 -1.39295433e-03 2.68185074e+02] [ 1.71108713e-03 -7.91216383e-06 9.99998536e-01 1.43442610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:268.21, Z:1.43 [[ 5.76225428e-01 -8.17290191e-01 -9.99850107e-04 2.44460660e+02] [ 8.17289012e-01 5.76226295e-01 -1.38857160e-03 2.68205233e+02] [ 1.71100587e-03 -1.70362444e-05 9.99998536e-01 1.43205290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:268.23, Z:1.43 [[ 5.74745285e-01 -8.18331764e-01 -9.90868872e-04 2.44479727e+02] [ 8.18330575e-01 5.74746139e-01 -1.39503034e-03 2.68229238e+02] [ 1.71109570e-03 -9.07118094e-06 9.99998536e-01 1.43354465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:268.25, Z:1.43 [[ 5.72391390e-01 -8.19979936e-01 -1.00011712e-03 2.44496928e+02] [ 8.19978761e-01 5.72392264e-01 -1.38837877e-03 2.68249213e+02] [ 1.71090204e-03 -2.53787409e-05 9.99998536e-01 1.43291155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.51, Y:268.28, Z:1.43 [[ 5.68863073e-01 -8.22431647e-01 -9.95292736e-04 2.44514247e+02] [ 8.22430470e-01 5.68863943e-01 -1.39184651e-03 2.68275044e+02] [ 1.71088477e-03 -2.67889876e-05 9.99998536e-01 1.42965783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:268.29, Z:1.43 [[ 5.67986047e-01 -8.23037568e-01 -1.00571628e-03 2.44530932e+02] [ 8.23036405e-01 5.67986936e-01 -1.38436280e-03 2.68293192e+02] [ 1.71061630e-03 -4.14423578e-05 9.99998536e-01 1.42971411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:268.32, Z:1.43 [[ 5.65995755e-01 -8.24407558e-01 -9.91691235e-04 2.44549356e+02] [ 8.24406380e-01 5.65996623e-01 -1.39441827e-03 2.68317027e+02] [ 1.71086285e-03 -2.83217592e-05 9.99998536e-01 1.42975717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.57, Y:268.34, Z:1.43 [[ 5.65744957e-01 -8.24579681e-01 -9.97013492e-04 2.44565866e+02] [ 8.24578509e-01 5.65745834e-01 -1.39060240e-03 2.68340344e+02] [ 1.71071871e-03 -3.53896059e-05 9.99998536e-01 1.42980792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.58, Y:268.36, Z:1.43 [[ 5.64540517e-01 -8.25404756e-01 -9.96590400e-04 2.44582959e+02] [ 8.25403585e-01 5.64541396e-01 -1.39090555e-03 2.68361990e+02] [ 1.71067659e-03 -3.73667535e-05 9.99998536e-01 1.42876511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:268.38, Z:1.43 [[ 5.64027277e-01 -8.25755556e-01 -9.96312850e-04 2.44603541e+02] [ 8.25754385e-01 5.64028156e-01 -1.39110427e-03 2.68383612e+02] [ 1.71066058e-03 -3.80889525e-05 9.99998536e-01 1.42656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:268.41, Z:1.43 [[ 5.62675604e-01 -8.26677181e-01 -1.00151817e-03 2.44619236e+02] [ 8.26676018e-01 5.62676494e-01 -1.38738247e-03 2.68406061e+02] [ 1.71044816e-03 -4.72847858e-05 9.99998536e-01 1.42578066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.64, Y:268.43, Z:1.43 [[ 5.62598434e-01 -8.26729709e-01 -9.95438099e-04 2.44637706e+02] [ 8.26728538e-01 5.62599313e-01 -1.39172567e-03 2.68427794e+02] [ 1.71061375e-03 -3.99744005e-05 9.99998536e-01 1.42690009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.65, Y:268.45, Z:1.43 [[ 5.62685642e-01 -8.26670358e-01 -9.93911264e-04 2.44654481e+02] [ 8.26669185e-01 5.62686519e-01 -1.39281577e-03 2.68449019e+02] [ 1.71065998e-03 -3.79183790e-05 9.99998536e-01 1.42827106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.67, Y:268.47, Z:1.43 [[ 5.63221019e-01 -8.26305691e-01 -9.94034922e-04 2.44672577e+02] [ 8.26304518e-01 5.63221895e-01 -1.39272751e-03 2.68471545e+02] [ 1.71068090e-03 -3.69621386e-05 9.99998536e-01 1.42721747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.69, Y:268.49, Z:1.43 [[ 5.64676795e-01 -8.25311531e-01 -9.97049795e-04 2.44690528e+02] [ 8.25310360e-01 5.64677674e-01 -1.39057612e-03 2.68492162e+02] [ 1.71067027e-03 -3.76494565e-05 9.99998536e-01 1.42951592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.71, Y:268.52, Z:1.43 [[ 5.65393377e-01 -8.24820794e-01 -9.93435102e-04 2.44705400e+02] [ 8.24819618e-01 5.65394248e-01 -1.39315370e-03 2.68515301e+02] [ 1.71078464e-03 -3.17248862e-05 9.99998536e-01 1.42796338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.72, Y:268.54, Z:1.43 [[ 5.67139318e-01 -8.23621281e-01 -9.89562547e-04 2.44722533e+02] [ 8.23620099e-01 5.67140181e-01 -1.39591358e-03 2.68538783e+02] [ 1.71092481e-03 -2.33461271e-05 9.99998536e-01 1.42845011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.74, Y:268.56, Z:1.43 [[ 5.71757312e-01 -8.20422204e-01 -9.91447416e-04 2.44736754e+02] [ 8.20421019e-01 5.71758172e-01 -1.39457089e-03 2.68558136e+02] [ 1.71100509e-03 -1.60481949e-05 9.99998536e-01 1.42775280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.76, Y:268.58, Z:1.43 [[ 5.73998469e-01 -8.18855791e-01 -9.75418230e-04 2.44757665e+02] [ 8.18854584e-01 5.73999298e-01 -1.40597549e-03 2.68584506e+02] [ 1.71118055e-03 8.30209308e-06 9.99998536e-01 1.43071161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.77, Y:268.61, Z:1.43 [[ 5.75218778e-01 -8.17998997e-01 -9.99359618e-04 2.44771496e+02] [ 8.17997818e-01 5.75219646e-01 -1.38893626e-03 2.68607976e+02] [ 1.71099975e-03 -1.85317708e-05 9.99998536e-01 1.42961380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.79, Y:268.63, Z:1.43 [[ 5.76030757e-01 -8.17427419e-01 -9.90511867e-04 2.44786034e+02] [ 8.17426229e-01 5.76031609e-01 -1.39522680e-03 2.68628798e+02] [ 1.71106279e-03 -5.97682795e-06 9.99998536e-01 1.43011196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.81, Y:268.65, Z:1.43 [[ 5.77716639e-01 -8.16236806e-01 -9.80653234e-04 2.44807035e+02] [ 8.16235601e-01 5.77717472e-01 -1.40222656e-03 2.68653254e+02] [ 1.71108944e-03 9.64553555e-06 9.99998536e-01 1.43170140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.82, Y:268.68, Z:1.43 [[ 5.76398438e-01 -8.17168188e-01 -9.96993463e-04 2.44819913e+02] [ 8.17167004e-01 5.76399300e-01 -1.39062128e-03 2.68675764e+02] [ 1.71103780e-03 -1.31582304e-05 9.99998536e-01 1.43076713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.84, Y:268.70, Z:1.43 [[ 5.74919651e-01 -8.18209277e-01 -9.86936211e-04 2.44835998e+02] [ 8.18208083e-01 5.74920498e-01 -1.39775798e-03 2.68700343e+02] [ 1.71106841e-03 -3.92065440e-06 9.99998536e-01 1.42993201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:268.72, Z:1.43 [[ 5.75328591e-01 -8.17921779e-01 -9.87658170e-04 2.44855406e+02] [ 8.17920586e-01 5.75329439e-01 -1.39724581e-03 2.68722810e+02] [ 1.71106660e-03 -3.95048415e-06 9.99998536e-01 1.42883650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:268.74, Z:1.43 [[ 5.72269457e-01 -8.20065042e-01 -9.97718841e-04 2.44868621e+02] [ 8.20063864e-01 5.72270326e-01 -1.39010579e-03 2.68744597e+02] [ 1.71094205e-03 -2.26780803e-05 9.99998536e-01 1.43222164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:268.77, Z:1.43 [[ 5.69187177e-01 -8.22207381e-01 -9.89760703e-04 2.44882283e+02] [ 8.22206197e-01 5.69188037e-01 -1.39574911e-03 2.68767641e+02] [ 1.71095517e-03 -1.93448883e-05 9.99998536e-01 1.42929002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:268.79, Z:1.43 [[ 5.65305901e-01 -8.24880762e-01 -9.83301103e-04 2.44898744e+02] [ 8.24879573e-01 5.65306756e-01 -1.40032770e-03 2.68790200e+02] [ 1.71097014e-03 -1.94914816e-05 9.99998536e-01 1.42961715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:268.81, Z:1.43 [[ 5.68377742e-01 -8.22767146e-01 -9.82740131e-04 2.44917234e+02] [ 8.22765954e-01 5.68378592e-01 -1.40072509e-03 2.68807765e+02] [ 1.71103904e-03 -1.24241560e-05 9.99998536e-01 1.43261699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:268.84, Z:1.43 [[ 5.59404461e-01 -8.28894266e-01 -9.72465822e-04 2.44930806e+02] [ 8.28893070e-01 5.59405306e-01 -1.40801061e-03 2.68835300e+02] [ 1.71109446e-03 -1.84227639e-05 9.99998536e-01 1.42909007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.95, Y:268.86, Z:1.43 [[ 5.56689679e-01 -8.30719949e-01 -9.83997174e-04 2.44945694e+02] [ 8.30718770e-01 5.56690547e-01 -1.39983165e-03 2.68858238e+02] [ 1.71065001e-03 -3.81530882e-05 9.99998536e-01 1.42825889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.96, Y:268.88, Z:1.43 [[ 5.54620564e-01 -8.32102800e-01 -9.79728317e-04 2.44961602e+02] [ 8.32101618e-01 5.54621429e-01 -1.40285824e-03 2.68881306e+02] [ 1.71070059e-03 -3.71794877e-05 9.99998536e-01 1.42830416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.98, Y:268.91, Z:1.43 [[ 5.52429205e-01 -8.33559245e-01 -9.78900341e-04 2.44977920e+02] [ 8.33558065e-01 5.52430071e-01 -1.40344507e-03 2.68905423e+02] [ 1.71062860e-03 -4.06662277e-05 9.99998536e-01 1.42786353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:268.93, Z:1.43 [[ 5.52828545e-01 -8.33294446e-01 -9.82862018e-04 2.44995333e+02] [ 8.33293270e-01 5.52829416e-01 -1.40063779e-03 2.68928335e+02] [ 1.71049873e-03 -4.46997526e-05 9.99998536e-01 1.43033117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:268.95, Z:1.43 [[ 5.52339623e-01 -8.33618596e-01 -9.89310377e-04 2.45008556e+02] [ 8.33617428e-01 5.52340506e-01 -1.39606822e-03 2.68952306e+02] [ 1.71022463e-03 -5.36025764e-05 9.99998536e-01 1.42601964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:268.97, Z:1.43 [[ 5.54431759e-01 -8.32228610e-01 -9.82165596e-04 2.45024977e+02] [ 8.32227432e-01 5.54432628e-01 -1.40112322e-03 2.68974213e+02] [ 1.71059949e-03 -4.05579383e-05 9.99998536e-01 1.42758563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:269.00, Z:1.43 [[ 5.54245704e-01 -8.32352535e-01 -9.77979557e-04 2.45040589e+02] [ 8.32351352e-01 5.54246566e-01 -1.40408026e-03 2.68999337e+02] [ 1.71073158e-03 -3.58171533e-05 9.99998536e-01 1.42843241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.05, Y:269.02, Z:1.42 [[ 5.55509744e-01 -8.31509442e-01 -9.85864248e-04 2.45052169e+02] [ 8.31508267e-01 5.55510617e-01 -1.39851059e-03 2.69022711e+02] [ 1.71053281e-03 -4.28680153e-05 9.99998536e-01 1.42387358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.07, Y:269.05, Z:1.42 [[ 5.57211497e-01 -8.30370035e-01 -9.75783593e-04 2.45067119e+02] [ 8.30368846e-01 5.57212351e-01 -1.40563746e-03 2.69045673e+02] [ 1.71091790e-03 -2.70229422e-05 9.99998536e-01 1.42400777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.08, Y:269.07, Z:1.43 [[ 5.60458808e-01 -8.28181733e-01 -9.70850901e-04 2.45082059e+02] [ 8.28180534e-01 5.60459649e-01 -1.40911036e-03 2.69068921e+02] [ 1.71112222e-03 -1.42915034e-05 9.99998536e-01 1.42566717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:269.10, Z:1.43 [[ 5.59079516e-01 -8.29113476e-01 -9.69429210e-04 2.45098151e+02] [ 8.29112277e-01 5.59080356e-01 -1.41011059e-03 2.69095944e+02] [ 1.71113052e-03 -1.54017157e-05 9.99998536e-01 1.42753324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:269.12, Z:1.42 [[ 5.57887875e-01 -8.29915749e-01 -9.84664587e-04 2.45109794e+02] [ 8.29914570e-01 5.57888742e-01 -1.39939039e-03 2.69119594e+02] [ 1.71070941e-03 -3.64845560e-05 9.99998536e-01 1.42471293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.12, Y:269.14, Z:1.43 [[ 5.58687127e-01 -8.29377928e-01 -9.73535895e-04 2.45124677e+02] [ 8.29376734e-01 5.58687974e-01 -1.40721785e-03 2.69143736e+02] [ 1.71101822e-03 -2.12335262e-05 9.99998536e-01 1.42584002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.14, Y:269.17, Z:1.43 [[ 5.58799722e-01 -8.29302073e-01 -9.70903805e-04 2.45141070e+02] [ 8.29300876e-01 5.58800565e-01 -1.40906798e-03 2.69167666e+02] [ 1.71108459e-03 -1.77845785e-05 9.99998536e-01 1.42616442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.16, Y:269.19, Z:1.43 [[ 5.59993695e-01 -8.28496294e-01 -9.76038630e-04 2.45156865e+02] [ 8.28495102e-01 5.59994545e-01 -1.40545997e-03 2.69190512e+02] [ 1.71099469e-03 -2.15945030e-05 9.99998536e-01 1.42821827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.18, Y:269.21, Z:1.43 [[ 5.61662220e-01 -8.27366062e-01 -9.74395431e-04 2.45175559e+02] [ 8.27364867e-01 5.61663065e-01 -1.40661431e-03 2.69214430e+02] [ 1.71106687e-03 -1.61384305e-05 9.99998536e-01 1.43246133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.19, Y:269.24, Z:1.43 [[ 5.62487212e-01 -8.26805400e-01 -9.83759204e-04 2.45190150e+02] [ 8.26804215e-01 5.62488071e-01 -1.40003469e-03 2.69236777e+02] [ 1.71090906e-03 -2.58746492e-05 9.99998536e-01 1.43212259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.20, Y:269.26, Z:1.43 [[ 5.62193685e-01 -8.27005014e-01 -9.83284255e-04 2.45204642e+02] [ 8.27003829e-01 5.62194545e-01 -1.40036818e-03 2.69259494e+02] [ 1.71090855e-03 -2.59016967e-05 9.99998536e-01 1.43251253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.22, Y:269.28, Z:1.43 [[ 5.62643102e-01 -8.26699325e-01 -9.82641064e-04 2.45219664e+02] [ 8.26698139e-01 5.62643959e-01 -1.40081949e-03 2.69283130e+02] [ 1.71093358e-03 -2.41861167e-05 9.99998536e-01 1.43339200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.24, Y:269.31, Z:1.43 [[ 5.62782329e-01 -8.26604551e-01 -9.82550903e-04 2.45235072e+02] [ 8.26603365e-01 5.62783187e-01 -1.40088273e-03 2.69305813e+02] [ 1.71093916e-03 -2.37878391e-05 9.99998536e-01 1.43289615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:269.33, Z:1.43 [[ 5.62935683e-01 -8.26500122e-01 -9.82154990e-04 2.45250542e+02] [ 8.26498935e-01 5.62936539e-01 -1.40116024e-03 2.69329133e+02] [ 1.71095004e-03 -2.29869537e-05 9.99998536e-01 1.43247898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:269.35, Z:1.43 [[ 5.62901941e-01 -8.26523104e-01 -9.81716888e-04 2.45266353e+02] [ 8.26521916e-01 5.62902797e-01 -1.40146713e-03 2.69352059e+02] [ 1.71095614e-03 -2.25219533e-05 9.99998536e-01 1.43287814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.28, Y:269.38, Z:1.43 [[ 5.62598361e-01 -8.26729776e-01 -9.80427470e-04 2.45282707e+02] [ 8.26728587e-01 5.62599215e-01 -1.40236987e-03 2.69376323e+02] [ 1.71096865e-03 -2.15764265e-05 9.99998536e-01 1.43242174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.30, Y:269.40, Z:1.43 [[ 5.62209458e-01 -8.26994294e-01 -9.81166680e-04 2.45298680e+02] [ 8.26993106e-01 5.62210314e-01 -1.40185249e-03 2.69400305e+02] [ 1.71094604e-03 -2.32833498e-05 9.99998536e-01 1.43085069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.31, Y:269.42, Z:1.43 [[ 5.61972957e-01 -8.27155018e-01 -9.85908758e-04 2.45313990e+02] [ 8.27153836e-01 5.61973821e-01 -1.39853485e-03 2.69423132e+02] [ 1.71086003e-03 -2.95594425e-05 9.99998536e-01 1.43245076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.88275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.33, Y:269.45, Z:1.43 [[ 5.60524131e-01 -8.28137511e-01 -9.80282960e-04 2.45331113e+02] [ 8.28136324e-01 5.60524988e-01 -1.40246712e-03 2.69447824e+02] [ 1.71090873e-03 -2.56912635e-05 9.99998536e-01 1.43316729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.35, Y:269.47, Z:1.43 [[ 5.61031390e-01 -8.27793936e-01 -9.89330462e-04 2.45347193e+02] [ 8.27792759e-01 5.61032261e-01 -1.39614499e-03 2.69469557e+02] [ 1.71076666e-03 -3.56794271e-05 9.99998536e-01 1.43341957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:269.49, Z:1.43 [[ 5.60933835e-01 -8.27860054e-01 -9.81741815e-04 2.45363617e+02] [ 8.27858868e-01 5.60934693e-01 -1.40144308e-03 2.69492726e+02] [ 1.71089178e-03 -2.66268300e-05 9.99998536e-01 1.43391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.38, Y:269.52, Z:1.43 [[ 5.59713619e-01 -8.28685529e-01 -9.78938190e-04 2.45378710e+02] [ 8.28684341e-01 5.59714474e-01 -1.40339874e-03 2.69515824e+02] [ 1.71090210e-03 -2.57293620e-05 9.99998536e-01 1.43263498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:269.54, Z:1.43 [[ 5.60342728e-01 -8.28260270e-01 -9.76206639e-04 2.45395396e+02] [ 8.28259078e-01 5.60343578e-01 -1.40530270e-03 2.69539149e+02] [ 1.71096752e-03 -2.11008604e-05 9.99998536e-01 1.43297058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:269.56, Z:1.43 [[ 5.59168565e-01 -8.29053412e-01 -9.78134777e-04 2.45410886e+02] [ 8.29052223e-01 5.59169420e-01 -1.40395937e-03 2.69563447e+02] [ 1.71090036e-03 -2.58748633e-05 9.99998536e-01 1.43234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:269.59, Z:1.43 [[ 5.56103919e-01 -8.31112185e-01 -9.83827289e-04 2.45427117e+02] [ 8.31111006e-01 5.56104788e-01 -1.39999370e-03 2.69590599e+02] [ 1.71066289e-03 -3.91277042e-05 9.99998536e-01 1.43123930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:269.61, Z:1.43 [[ 5.57783166e-01 -8.29986108e-01 -9.99856697e-04 2.45441695e+02] [ 8.29984948e-01 5.57784060e-01 -1.38884934e-03 2.69608364e+02] [ 1.71042979e-03 -5.51892239e-05 9.99998536e-01 1.43162711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:269.63, Z:1.43 [[ 5.55892373e-01 -8.31253706e-01 -9.72816452e-04 2.45458714e+02] [ 8.31252514e-01 5.55893223e-01 -1.40761389e-03 2.69631221e+02] [ 1.71086634e-03 -2.61742939e-05 9.99998536e-01 1.43153889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:269.65, Z:1.43 [[ 5.53293960e-01 -8.32985501e-01 -9.74350852e-04 2.45472653e+02] [ 8.32984314e-01 5.53294817e-01 -1.40654928e-03 2.69654489e+02] [ 1.71073843e-03 -3.33837547e-05 9.99998536e-01 1.42892617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:269.68, Z:1.43 [[ 5.53354426e-01 -8.32945341e-01 -9.68705718e-04 2.45490573e+02] [ 8.32944147e-01 5.53355273e-01 -1.41046257e-03 2.69676996e+02] [ 1.71087665e-03 -2.63920493e-05 9.99998536e-01 1.43138863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:269.70, Z:1.43 [[ 5.50289452e-01 -8.34973394e-01 -9.74819826e-04 2.45502795e+02] [ 8.34972211e-01 5.50290314e-01 -1.40622416e-03 2.69698791e+02] [ 1.71059367e-03 -4.01171403e-05 9.99998536e-01 1.42880802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:269.72, Z:1.43 [[ 5.48529647e-01 -8.36130553e-01 -9.62169367e-04 2.45521609e+02] [ 8.36129356e-01 5.48530490e-01 -1.41498902e-03 2.69723080e+02] [ 1.71089479e-03 -2.83346231e-05 9.99998536e-01 1.43192310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.54, Y:269.75, Z:1.43 [[ 5.46552201e-01 -8.37424470e-01 -9.74454452e-04 2.45537626e+02] [ 8.37423290e-01 5.46553067e-01 -1.40647751e-03 2.69746313e+02] [ 1.71040975e-03 -4.73174753e-05 9.99998536e-01 1.43220881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.55, Y:269.77, Z:1.43 [[ 5.43288488e-01 -8.39545514e-01 -9.74006915e-04 2.45551749e+02] [ 8.39544337e-01 5.43289358e-01 -1.40678737e-03 2.69768205e+02] [ 1.71022961e-03 -5.34306094e-05 9.99998536e-01 1.43102099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:269.79, Z:1.43 [[ 5.41462307e-01 -8.40724473e-01 -9.64236284e-04 2.45568122e+02] [ 8.40723286e-01 5.41463164e-01 -1.41355607e-03 2.69791911e+02] [ 1.71050961e-03 -4.52685682e-05 9.99998536e-01 1.43203961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.58, Y:269.81, Z:1.43 [[ 5.41298028e-01 -8.40830251e-01 -9.65820509e-04 2.45583758e+02] [ 8.40829066e-01 5.41298888e-01 -1.41245873e-03 2.69814582e+02] [ 1.71043559e-03 -4.75288330e-05 9.99998536e-01 1.43208727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:269.84, Z:1.43 [[ 5.41595740e-01 -8.40638521e-01 -9.65385736e-04 2.45601230e+02] [ 8.40637335e-01 5.41596599e-01 -1.41275971e-03 2.69836525e+02] [ 1.71046986e-03 -4.63946504e-05 9.99998536e-01 1.43471072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:269.86, Z:1.43 [[ 5.40707835e-01 -8.41209905e-01 -9.66349893e-04 2.45617833e+02] [ 8.41208721e-01 5.40708696e-01 -1.41209289e-03 2.69861263e+02] [ 1.71038032e-03 -4.93722690e-05 9.99998536e-01 1.43489151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:269.88, Z:1.43 [[ 5.39780258e-01 -8.41805397e-01 -9.73190320e-04 2.45629839e+02] [ 8.41804222e-01 5.39781132e-01 -1.40736274e-03 2.69884098e+02] [ 1.71003532e-03 -5.95690975e-05 9.99998536e-01 1.43316940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:269.91, Z:1.43 [[ 5.42501382e-01 -8.40054359e-01 -9.61646986e-04 2.45645429e+02] [ 8.40053168e-01 5.42502233e-01 -1.41534216e-03 2.69907675e+02] [ 1.71065999e-03 -4.00095168e-05 9.99998536e-01 1.43261588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.51275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.66, Y:269.93, Z:1.43 [[ 5.46272229e-01 -8.37607146e-01 -9.59493827e-04 2.45664505e+02] [ 8.37605948e-01 5.46273071e-01 -1.41683046e-03 2.69931015e+02] [ 1.71089295e-03 -2.97026052e-05 9.99998536e-01 1.43453725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:269.95, Z:1.43 [[ 5.48319739e-01 -8.36268209e-01 -9.73185367e-04 2.45680186e+02] [ 8.36267026e-01 5.48320601e-01 -1.40736281e-03 2.69954755e+02] [ 1.71055036e-03 -4.21580214e-05 9.99998536e-01 1.43467727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:269.98, Z:1.43 [[ 5.52388930e-01 -8.33585943e-01 -9.72740802e-04 2.45694448e+02] [ 8.33584755e-01 5.52389785e-01 -1.40767002e-03 2.69977475e+02] [ 1.71074602e-03 -3.32805665e-05 9.99998536e-01 1.43488225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:270.00, Z:1.43 [[ 5.54082444e-01 -8.32461230e-01 -9.72091480e-04 2.45709104e+02] [ 8.32460040e-01 5.54083296e-01 -1.40811842e-03 2.70000652e+02] [ 1.71082364e-03 -2.90136184e-05 9.99998536e-01 1.43465270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:270.02, Z:1.44 [[ 5.57998254e-01 -8.29841559e-01 -9.67152281e-04 2.45728547e+02] [ 8.29840359e-01 5.57999092e-01 -1.41152931e-03 2.70024269e+02] [ 1.71101578e-03 -1.49511042e-05 9.99998536e-01 1.43768480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:270.05, Z:1.44 [[ 5.57523328e-01 -8.30160688e-01 -9.85154281e-04 2.45743428e+02] [ 8.30159510e-01 5.57524197e-01 -1.39905760e-03 2.70047239e+02] [ 1.71068997e-03 -3.78279464e-05 9.99998536e-01 1.43657261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:270.07, Z:1.44 [[ 5.59280089e-01 -8.28978179e-01 -9.80502639e-04 2.45759706e+02] [ 8.28976993e-01 5.59280947e-01 -1.40227244e-03 2.70068964e+02] [ 1.71082970e-03 -2.85510780e-05 9.99998536e-01 1.43684060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:270.09, Z:1.44 [[ 5.58812600e-01 -8.29293394e-01 -9.72005350e-04 2.45775059e+02] [ 8.29292199e-01 5.58813445e-01 -1.40814051e-03 2.70091528e+02] [ 1.71093128e-03 -1.91897961e-05 9.99998536e-01 1.43833168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:270.12, Z:1.44 [[ 5.58475588e-01 -8.29520387e-01 -9.72072799e-04 2.45790978e+02] [ 8.29519192e-01 5.58476434e-01 -1.40809395e-03 2.70115109e+02] [ 1.71092238e-03 -1.99669489e-05 9.99998536e-01 1.43850687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.81, Y:270.14, Z:1.44 [[ 5.58689028e-01 -8.29376649e-01 -9.71621630e-04 2.45807784e+02] [ 8.29375453e-01 5.58689873e-01 -1.40840520e-03 2.70138995e+02] [ 1.71093355e-03 -1.89785990e-05 9.99998536e-01 1.43762069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:270.16, Z:1.44 [[ 5.57493741e-01 -8.30180572e-01 -9.72560748e-04 2.45823646e+02] [ 8.30179379e-01 5.57494589e-01 -1.40775755e-03 2.70160714e+02] [ 1.71089032e-03 -2.25838558e-05 9.99998536e-01 1.43848142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:270.18, Z:1.44 [[ 5.56125859e-01 -8.31097518e-01 -9.72129598e-04 2.45839788e+02] [ 8.31096326e-01 5.56126708e-01 -1.40805468e-03 2.70183577e+02] [ 1.71085799e-03 -2.48777160e-05 9.99998536e-01 1.43748941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:270.21, Z:1.44 [[ 5.52881337e-01 -8.33259426e-01 -9.77609978e-04 2.45860668e+02] [ 8.33258244e-01 5.52882200e-01 -1.40427612e-03 2.70211011e+02] [ 1.71062947e-03 -3.82035161e-05 9.99998536e-01 1.44004935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:270.23, Z:1.44 [[ 5.52174863e-01 -8.33727721e-01 -1.00381774e-03 2.45871237e+02] [ 8.33726572e-01 5.52175771e-01 -1.38626052e-03 2.70228942e+02] [ 1.71004766e-03 -7.14513081e-05 9.99998535e-01 1.43938066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:270.25, Z:1.44 [[ 5.51195332e-01 -8.34375677e-01 -9.67616317e-04 2.45886838e+02] [ 8.34374484e-01 5.51196180e-01 -1.41108475e-03 2.70251778e+02] [ 1.71072121e-03 -2.95710410e-05 9.99998536e-01 1.43941529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.90, Y:270.28, Z:1.44 [[ 5.50378860e-01 -8.34914472e-01 -9.67166632e-04 2.45902928e+02] [ 8.34913279e-01 5.50379709e-01 -1.41139290e-03 2.70275448e+02] [ 1.71070124e-03 -3.06994514e-05 9.99998536e-01 1.43773405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.92, Y:270.30, Z:1.44 [[ 5.48470270e-01 -8.36169493e-01 -9.70208234e-04 2.45917750e+02] [ 8.36168306e-01 5.48471127e-01 -1.40930903e-03 2.70297893e+02] [ 1.71055242e-03 -3.82932694e-05 9.99998536e-01 1.43892971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.93, Y:270.32, Z:1.44 [[ 5.46665954e-01 -8.37350226e-01 -9.66556803e-04 2.45932704e+02] [ 8.37349036e-01 5.46666807e-01 -1.41180889e-03 2.70321780e+02] [ 1.71056301e-03 -3.75575559e-05 9.99998536e-01 1.43654001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.95, Y:270.35, Z:1.44 [[ 5.43772817e-01 -8.39231909e-01 -9.62547946e-04 2.45948603e+02] [ 8.39230718e-01 5.43773667e-01 -1.41455231e-03 2.70345184e+02] [ 1.71054566e-03 -3.86047123e-05 9.99998536e-01 1.43711487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.97, Y:270.37, Z:1.44 [[ 5.43444811e-01 -8.39444351e-01 -9.58055254e-04 2.45966836e+02] [ 8.39443155e-01 5.43445655e-01 -1.41762522e-03 2.70367770e+02] [ 1.71066845e-03 -3.38318527e-05 9.99998536e-01 1.44029066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.99, Y:270.39, Z:1.44 [[ 5.43267164e-01 -8.39559322e-01 -9.65872157e-04 2.45985178e+02] [ 8.39558136e-01 5.43268021e-01 -1.41227916e-03 2.70391909e+02] [ 1.71041959e-03 -4.36609313e-05 9.99998536e-01 1.43972228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.00, Y:270.41, Z:1.44 [[ 5.40544542e-01 -8.41314835e-01 -9.72688454e-04 2.45999633e+02] [ 8.41313659e-01 5.40545415e-01 -1.40761935e-03 2.70414244e+02] [ 1.71003333e-03 -5.74551232e-05 9.99998536e-01 1.44072209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.01, Y:270.44, Z:1.44 [[ 5.40369435e-01 -8.41427325e-01 -9.65029628e-04 2.46014663e+02] [ 8.41426140e-01 5.40370295e-01 -1.41285062e-03 2.70436753e+02] [ 1.71028446e-03 -4.85398648e-05 9.99998536e-01 1.43986286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.03, Y:270.46, Z:1.44 [[ 5.39921449e-01 -8.41714856e-01 -9.64624894e-04 2.46030031e+02] [ 8.41713671e-01 5.39922308e-01 -1.41312690e-03 2.70460638e+02] [ 1.71027240e-03 -4.89604402e-05 9.99998536e-01 1.43950510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.05, Y:270.49, Z:1.44 [[ 5.40460446e-01 -8.41368871e-01 -9.64177588e-04 2.46045037e+02] [ 8.41367685e-01 5.40461304e-01 -1.41343203e-03 2.70485947e+02] [ 1.71031838e-03 -4.73237615e-05 9.99998536e-01 1.43856272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.06, Y:270.51, Z:1.44 [[ 5.41874394e-01 -8.40458920e-01 -9.71613845e-04 2.46059786e+02] [ 8.40457742e-01 5.41875263e-01 -1.40836270e-03 2.70508138e+02] [ 1.71016450e-03 -5.34446926e-05 9.99998536e-01 1.43896880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.08, Y:270.53, Z:1.44 [[ 5.44193134e-01 -8.38959419e-01 -9.62942230e-04 2.46075259e+02] [ 8.38958227e-01 5.44193984e-01 -1.41426701e-03 2.70533001e+02] [ 1.71053999e-03 -3.82339131e-05 9.99998536e-01 1.44025314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:270.56, Z:1.44 [[ 5.45707016e-01 -8.37975489e-01 -9.65284442e-04 2.46090438e+02] [ 8.37974299e-01 5.45707869e-01 -1.41267311e-03 2.70555742e+02] [ 1.71054876e-03 -3.79779238e-05 9.99998536e-01 1.43823670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.11, Y:270.58, Z:1.44 [[ 5.47252915e-01 -8.36966739e-01 -9.62234651e-04 2.46106642e+02] [ 8.36965544e-01 5.47253760e-01 -1.41474742e-03 2.70579755e+02] [ 1.71068306e-03 -3.11326000e-05 9.99998536e-01 1.44022975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.12, Y:270.60, Z:1.44 [[ 5.49078426e-01 -8.35770273e-01 -9.66070095e-04 2.46123796e+02] [ 8.35769081e-01 5.49079274e-01 -1.41213943e-03 2.70604124e+02] [ 1.71067322e-03 -3.20362215e-05 9.99998536e-01 1.43906390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.14, Y:270.63, Z:1.44 [[ 5.51590504e-01 -8.34114482e-01 -9.73256881e-04 2.46139280e+02] [ 8.34113295e-01 5.51591362e-01 -1.40725403e-03 2.70627232e+02] [ 1.71065106e-03 -3.55785430e-05 9.99998536e-01 1.43962344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.15, Y:270.65, Z:1.44 [[ 5.51971831e-01 -8.33862188e-01 -9.74616760e-04 2.46151385e+02] [ 8.33861002e-01 5.51972690e-01 -1.40632961e-03 2.70648311e+02] [ 1.71064692e-03 -3.64405772e-05 9.99998536e-01 1.44067299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.17, Y:270.67, Z:1.44 [[ 5.51270045e-01 -8.34326323e-01 -9.62119391e-04 2.46165994e+02] [ 8.34325123e-01 5.51270884e-01 -1.41481596e-03 2.70671688e+02] [ 1.71080661e-03 -2.27747200e-05 9.99998536e-01 1.44087408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.18, Y:270.69, Z:1.44 [[ 5.51057457e-01 -8.34466750e-01 -9.60807570e-04 2.46181568e+02] [ 8.34465549e-01 5.51058294e-01 -1.41570627e-03 2.70694755e+02] [ 1.71082079e-03 -2.16253216e-05 9.99998536e-01 1.44166231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.20, Y:270.72, Z:1.44 [[ 5.50287970e-01 -8.34974387e-01 -9.60365044e-04 2.46196762e+02] [ 8.34973187e-01 5.50288808e-01 -1.41600640e-03 2.70717112e+02] [ 1.71080721e-03 -2.26677756e-05 9.99998536e-01 1.44215710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.22, Y:270.74, Z:1.44 [[ 5.51769400e-01 -8.33996168e-01 -9.59898349e-04 2.46216244e+02] [ 8.33994965e-01 5.51770235e-01 -1.41632269e-03 2.70741629e+02] [ 1.71085104e-03 -1.90668671e-05 9.99998536e-01 1.44206803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.23, Y:270.76, Z:1.44 [[ 5.48997683e-01 -8.35823310e-01 -9.68988936e-04 2.46228351e+02] [ 8.35822121e-01 5.48998537e-01 -1.41016130e-03 2.70764955e+02] [ 1.71061919e-03 -3.57271037e-05 9.99998536e-01 1.44240255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.25, Y:270.79, Z:1.44 [[ 5.48437766e-01 -8.36190825e-01 -9.59346896e-04 2.46246614e+02] [ 8.36189625e-01 5.48438605e-01 -1.41669064e-03 2.70790191e+02] [ 1.71076659e-03 -2.52292717e-05 9.99998536e-01 1.44273729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.26, Y:270.81, Z:1.44 [[ 5.47768422e-01 -8.36629440e-01 -9.67705878e-04 2.46262984e+02] [ 8.36628251e-01 5.47769275e-01 -1.41103374e-03 2.70813805e+02] [ 1.71059191e-03 -3.66903509e-05 9.99998536e-01 1.44225244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.28, Y:270.84, Z:1.44 [[ 5.46044188e-01 -8.37755813e-01 -9.71188772e-04 2.46279347e+02] [ 8.37754629e-01 5.46045050e-01 -1.40867762e-03 2.70836761e+02] [ 1.71044069e-03 -4.44176610e-05 9.99998536e-01 1.44139240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.29, Y:270.86, Z:1.44 [[ 5.43306882e-01 -8.39533614e-01 -9.71015129e-04 2.46291483e+02] [ 8.39532433e-01 5.43307748e-01 -1.40879499e-03 2.70858845e+02] [ 1.71029079e-03 -4.97906808e-05 9.99998536e-01 1.44023207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.31, Y:270.88, Z:1.44 [[ 5.42314348e-01 -8.40175120e-01 -9.57228495e-04 2.46306689e+02] [ 8.40173924e-01 5.42315191e-01 -1.41809993e-03 2.70880993e+02] [ 1.71057183e-03 -3.51824814e-05 9.99998536e-01 1.44185629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.32, Y:270.90, Z:1.44 [[ 5.41762173e-01 -8.40531280e-01 -9.56720555e-04 2.46321306e+02] [ 8.40530084e-01 5.41763016e-01 -1.41844253e-03 2.70903394e+02] [ 1.71056113e-03 -3.56939008e-05 9.99998536e-01 1.44018207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.34, Y:270.93, Z:1.44 [[ 5.39772725e-01 -8.41810256e-01 -9.48234438e-04 2.46336114e+02] [ 8.41809052e-01 5.39773557e-01 -1.42416165e-03 2.70928139e+02] [ 1.71070576e-03 -2.95087172e-05 9.99998536e-01 1.43697011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.35, Y:270.95, Z:1.44 [[ 5.42318866e-01 -8.40172214e-01 -9.47887969e-04 2.46351433e+02] [ 8.40171007e-01 5.42319694e-01 -1.42439498e-03 2.70945989e+02] [ 1.71079539e-03 -2.39117216e-05 9.99998536e-01 1.43623026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.37, Y:270.97, Z:1.44 [[ 5.39387331e-01 -8.42057271e-01 -9.27794351e-04 2.46367277e+02] [ 8.42056043e-01 5.39388128e-01 -1.43791970e-03 2.70972649e+02] [ 1.71125199e-03 -5.65917316e-06 9.99998536e-01 1.43567908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.38, Y:271.00, Z:1.43 [[ 5.38684098e-01 -8.42507300e-01 -9.43954074e-04 2.46383024e+02] [ 8.42506092e-01 5.38684925e-01 -1.42704002e-03 2.70996227e+02] [ 1.71078546e-03 -2.65632918e-05 9.99998536e-01 1.43187384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.40, Y:271.02, Z:1.44 [[ 5.39756166e-01 -8.41820874e-01 -9.47035448e-04 2.46402336e+02] [ 8.41819669e-01 5.39756996e-01 -1.42496283e-03 2.71019803e+02] [ 1.71073247e-03 -2.81005905e-05 9.99998536e-01 1.43749857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.42, Y:271.04, Z:1.43 [[ 5.39888825e-01 -8.41735791e-01 -9.56318884e-04 2.46417108e+02] [ 8.41734596e-01 5.39889671e-01 -1.41870507e-03 2.71042399e+02] [ 1.71048152e-03 -3.90236775e-05 9.99998536e-01 1.43489390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.43, Y:271.07, Z:1.44 [[ 5.39481608e-01 -8.41996850e-01 -9.48680061e-04 2.46434260e+02] [ 8.41995646e-01 5.39482441e-01 -1.42384898e-03 2.71066158e+02] [ 1.71067259e-03 -3.06441459e-05 9.99998536e-01 1.43786594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.45, Y:271.09, Z:1.44 [[ 5.39259649e-01 -8.42139014e-01 -9.55491673e-04 2.46450050e+02] [ 8.42137819e-01 5.39260494e-01 -1.41926319e-03 2.71089439e+02] [ 1.71047581e-03 -3.93043039e-05 9.99998536e-01 1.43817948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.47, Y:271.11, Z:1.44 [[ 5.39402254e-01 -8.42047681e-01 -9.55047731e-04 2.46465987e+02] [ 8.42046485e-01 5.39403098e-01 -1.41956186e-03 2.71111560e+02] [ 1.71049448e-03 -3.84797160e-05 9.99998536e-01 1.43902829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.48, Y:271.13, Z:1.44 [[ 5.39448119e-01 -8.42018299e-01 -9.54580558e-04 2.46482358e+02] [ 8.42017102e-01 5.39448963e-01 -1.41987594e-03 2.71134825e+02] [ 1.71050902e-03 -3.78237474e-05 9.99998536e-01 1.43982428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.50, Y:271.16, Z:1.44 [[ 5.39206855e-01 -8.42172819e-01 -9.54148052e-04 2.46498387e+02] [ 8.42171623e-01 5.39207698e-01 -1.42016653e-03 2.71156910e+02] [ 1.71050962e-03 -3.77928867e-05 9.99998536e-01 1.44194599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.51, Y:271.18, Z:1.44 [[ 5.39650548e-01 -8.41888576e-01 -9.55385164e-04 2.46514154e+02] [ 8.41887380e-01 5.39651392e-01 -1.41933587e-03 2.71179381e+02] [ 1.71049759e-03 -3.83813350e-05 9.99998536e-01 1.44201910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.53, Y:271.20, Z:1.44 [[ 5.39872465e-01 -8.41746287e-01 -9.53397197e-04 2.46530010e+02] [ 8.41745089e-01 5.39873306e-01 -1.42066997e-03 2.71202733e+02] [ 1.71055737e-03 -3.55368083e-05 9.99998536e-01 1.44212582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.54, Y:271.23, Z:1.44 [[ 5.39845240e-01 -8.41763749e-01 -9.52953478e-04 2.46543935e+02] [ 8.41762550e-01 5.39846080e-01 -1.42096755e-03 2.71226339e+02] [ 1.71056717e-03 -3.50579824e-05 9.99998536e-01 1.44078628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.56, Y:271.25, Z:1.44 [[ 5.40452664e-01 -8.41373888e-01 -9.48337148e-04 2.46559479e+02] [ 8.41372683e-01 5.40453495e-01 -1.42406170e-03 2.71249824e+02] [ 1.71070045e-03 -2.82670316e-05 9.99998536e-01 1.44102689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:271.27, Z:1.44 [[ 5.40315014e-01 -8.41462292e-01 -9.46932118e-04 2.46574739e+02] [ 8.41461086e-01 5.40315843e-01 -1.42500301e-03 2.71272744e+02] [ 1.71072872e-03 -2.68560068e-05 9.99998536e-01 1.44107353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.59, Y:271.30, Z:1.44 [[ 5.41231827e-01 -8.40872888e-01 -9.46584748e-04 2.46590705e+02] [ 8.40871680e-01 5.41232655e-01 -1.42523563e-03 2.71296159e+02] [ 1.71076458e-03 -2.45734220e-05 9.99998536e-01 1.44189742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:271.32, Z:1.44 [[ 5.43457465e-01 -8.39436172e-01 -9.47427904e-04 2.46608197e+02] [ 8.39434963e-01 5.43458290e-01 -1.42467114e-03 2.71318910e+02] [ 1.71080804e-03 -2.10559419e-05 9.99998536e-01 1.44432424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.62, Y:271.34, Z:1.44 [[ 5.42261666e-01 -8.40209129e-01 -9.51599834e-04 2.46619829e+02] [ 8.40207926e-01 5.42262500e-01 -1.42187906e-03 2.71340921e+02] [ 1.71069267e-03 -2.85112179e-05 9.99998536e-01 1.44105289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.64, Y:271.36, Z:1.45 [[ 5.43468077e-01 -8.39429313e-01 -9.37351867e-04 2.46638145e+02] [ 8.39428092e-01 5.43468885e-01 -1.43138840e-03 2.71364333e+02] [ 1.71097096e-03 -8.92558686e-06 9.99998536e-01 1.44607460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:271.39, Z:1.44 [[ 5.44308870e-01 -8.38884352e-01 -9.47098175e-04 2.46652194e+02] [ 8.38883143e-01 5.44309694e-01 -1.42488351e-03 2.71385273e+02] [ 1.71082720e-03 -1.89279618e-05 9.99998536e-01 1.44116949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:271.41, Z:1.44 [[ 5.45251504e-01 -8.38271989e-01 -9.33112823e-04 2.46673261e+02] [ 8.38270762e-01 5.45252302e-01 -1.43423401e-03 2.71412026e+02] [ 1.71106011e-03 -1.82948610e-07 9.99998536e-01 1.44329745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.69, Y:271.43, Z:1.45 [[ 5.45273682e-01 -8.38257536e-01 -9.56573298e-04 2.46688151e+02] [ 8.38256336e-01 5.45274521e-01 -1.41853103e-03 2.71434119e+02] [ 1.71068937e-03 -2.83659916e-05 9.99998536e-01 1.44501878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.71, Y:271.46, Z:1.44 [[ 5.45069776e-01 -8.38390143e-01 -9.52972387e-04 2.46705325e+02] [ 8.38388939e-01 5.45070609e-01 -1.42093961e-03 2.71459147e+02] [ 1.71073900e-03 -2.44502746e-05 9.99998536e-01 1.44245811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.72, Y:271.48, Z:1.44 [[ 5.45183635e-01 -8.38316101e-01 -9.58479158e-04 2.46720926e+02] [ 8.38314904e-01 5.45184477e-01 -1.41727040e-03 2.71482538e+02] [ 1.71066855e-03 -3.08347356e-05 9.99998536e-01 1.44163087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.73, Y:271.51, Z:1.44 [[ 5.43444276e-01 -8.39444700e-01 -9.55937413e-04 2.46734839e+02] [ 8.39443501e-01 5.43445116e-01 -1.41896305e-03 2.71505587e+02] [ 1.71064053e-03 -3.13281028e-05 9.99998536e-01 1.43966596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.75, Y:271.53, Z:1.44 [[ 5.43921880e-01 -8.39135318e-01 -9.52364599e-04 2.46750770e+02] [ 8.39134114e-01 5.43922713e-01 -1.42134183e-03 2.71527752e+02] [ 1.71071086e-03 -2.60627058e-05 9.99998536e-01 1.44208498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.77, Y:271.55, Z:1.44 [[ 5.43811090e-01 -8.39207126e-01 -9.47690678e-04 2.46765930e+02] [ 8.39205918e-01 5.43811915e-01 -1.42445140e-03 2.71549542e+02] [ 1.71077525e-03 -2.06751587e-05 9.99998536e-01 1.44179641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.78, Y:271.57, Z:1.44 [[ 5.43045266e-01 -8.39702893e-01 -9.43444725e-04 2.46781410e+02] [ 8.39701680e-01 5.43046085e-01 -1.42727366e-03 2.71571936e+02] [ 1.71081978e-03 -1.71379194e-05 9.99998536e-01 1.44139316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.80, Y:271.60, Z:1.44 [[ 5.42588055e-01 -8.39998397e-01 -9.46846644e-04 2.46796645e+02] [ 8.39997188e-01 5.42588880e-01 -1.42501326e-03 2.71595074e+02] [ 1.71075731e-03 -2.21533472e-05 9.99998536e-01 1.44136956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.81, Y:271.62, Z:1.44 [[ 5.42320699e-01 -8.40171032e-01 -9.46434741e-04 2.46811888e+02] [ 8.40169824e-01 5.42321525e-01 -1.42528678e-03 2.71618564e+02] [ 1.71075659e-03 -2.22033886e-05 9.99998536e-01 1.44109788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.83, Y:271.64, Z:1.44 [[ 5.42017136e-01 -8.40366901e-01 -9.46025274e-04 2.46827257e+02] [ 8.40365693e-01 5.42017962e-01 -1.42555850e-03 2.71642284e+02] [ 1.71075487e-03 -2.23300464e-05 9.99998536e-01 1.44203069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.84, Y:271.66, Z:1.44 [[ 5.43054900e-01 -8.39696660e-01 -9.45582133e-04 2.46841528e+02] [ 8.39695450e-01 5.43055723e-01 -1.42585238e-03 2.71663125e+02] [ 1.71078727e-03 -1.96848911e-05 9.99998536e-01 1.44196132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.86, Y:271.69, Z:1.44 [[ 5.42320490e-01 -8.40171181e-01 -9.33926578e-04 2.46857700e+02] [ 8.40169958e-01 5.42321294e-01 -1.43357872e-03 2.71686182e+02] [ 1.71093980e-03 -7.19793781e-06 9.99998536e-01 1.44310169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.87, Y:271.71, Z:1.44 [[ 5.40944863e-01 -8.41057538e-01 -9.35031826e-04 2.46873130e+02] [ 8.41056317e-01 5.40945671e-01 -1.43284618e-03 2.71711220e+02] [ 1.71090750e-03 -1.13236429e-05 9.99998536e-01 1.44346794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.89, Y:271.74, Z:1.44 [[ 5.40087499e-01 -8.41608350e-01 -9.37762070e-04 2.46889456e+02] [ 8.41607133e-01 5.40088313e-01 -1.43103755e-03 2.71736233e+02] [ 1.71084748e-03 -1.63417581e-05 9.99998536e-01 1.44261533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.90, Y:271.76, Z:1.44 [[ 5.39982748e-01 -8.41675555e-01 -9.44782605e-04 2.46904797e+02] [ 8.41674346e-01 5.39983574e-01 -1.42638742e-03 2.71759465e+02] [ 1.71072251e-03 -2.49746818e-05 9.99998536e-01 1.44309729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.92, Y:271.78, Z:1.44 [[ 5.39293985e-01 -8.42117038e-01 -9.44328358e-04 2.46919772e+02] [ 8.42115830e-01 5.39294811e-01 -1.42668809e-03 2.71783070e+02] [ 1.71070973e-03 -2.58295549e-05 9.99998536e-01 1.44387528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.94, Y:271.81, Z:1.44 [[ 5.39238989e-01 -8.42152254e-01 -9.45539664e-04 2.46935316e+02] [ 8.42151047e-01 5.39239817e-01 -1.42588663e-03 2.71806819e+02] [ 1.71068628e-03 -2.73935522e-05 9.99998536e-01 1.44387200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.95, Y:271.83, Z:1.44 [[ 5.39129629e-01 -8.42222270e-01 -9.43740500e-04 2.46950532e+02] [ 8.42221061e-01 5.39130455e-01 -1.42707644e-03 2.71829194e+02] [ 1.71071480e-03 -2.54589352e-05 9.99998536e-01 1.44450912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.97, Y:271.85, Z:1.44 [[ 5.38765957e-01 -8.42454956e-01 -9.43411895e-04 2.46966079e+02] [ 8.42453748e-01 5.38766782e-01 -1.42729364e-03 2.71852424e+02] [ 1.71070959e-03 -2.58036635e-05 9.99998536e-01 1.44478933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0327550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.98, Y:271.88, Z:1.45 [[ 5.39037936e-01 -8.42280960e-01 -9.42970476e-04 2.46981468e+02] [ 8.42279750e-01 5.39038760e-01 -1.42758521e-03 2.71875172e+02] [ 1.71072548e-03 -2.47223510e-05 9.99998536e-01 1.44502941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.00, Y:271.90, Z:1.44 [[ 5.38895317e-01 -8.42372215e-01 -9.42505607e-04 2.46996953e+02] [ 8.42371005e-01 5.38896141e-01 -1.42789206e-03 2.71899489e+02] [ 1.71072923e-03 -2.44550527e-05 9.99998536e-01 1.44137408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.01, Y:271.92, Z:1.45 [[ 5.39081536e-01 -8.42253056e-01 -9.42263350e-04 2.47012044e+02] [ 8.42251845e-01 5.39082359e-01 -1.42805186e-03 2.71922560e+02] [ 1.71073859e-03 -2.37866553e-05 9.99998536e-01 1.44532168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.03, Y:271.95, Z:1.45 [[ 5.39841278e-01 -8.41766303e-01 -9.41633047e-04 2.47026171e+02] [ 8.41765091e-01 5.39842098e-01 -1.42846735e-03 2.71946235e+02] [ 1.71076884e-03 -2.14881896e-05 9.99998536e-01 1.44585948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.04, Y:271.97, Z:1.44 [[ 5.39341582e-01 -8.42086561e-01 -9.38946623e-04 2.47040721e+02] [ 8.42085347e-01 5.39342399e-01 -1.43023664e-03 2.71969475e+02] [ 1.71079678e-03 -1.92870991e-05 9.99998536e-01 1.44481871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.06, Y:271.99, Z:1.44 [[ 5.39334274e-01 -8.42091240e-01 -9.40660788e-04 2.47055664e+02] [ 8.42090027e-01 5.39335094e-01 -1.42910835e-03 2.71992485e+02] [ 1.71077100e-03 -2.13539531e-05 9.99998536e-01 1.44493637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.07, Y:272.02, Z:1.44 [[ 5.38427987e-01 -8.42671005e-01 -9.38003571e-04 2.47072090e+02] [ 8.42669791e-01 5.38428804e-01 -1.43085646e-03 2.72017215e+02] [ 1.71078939e-03 -2.00141085e-05 9.99998536e-01 1.44178153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.24275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:247.09, Y:272.04, Z:1.44 [[ 5.39308274e-01 -8.42107888e-01 -9.43704335e-04 2.47088803e+02] [ 8.42106679e-01 5.39309099e-01 -1.42711103e-03 2.72038815e+02] [ 1.71072979e-03 -2.50469354e-05 9.99998536e-01 1.44301292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.10, Y:272.06, Z:1.44 [[ 5.36664795e-01 -8.43795008e-01 -9.39008183e-04 2.47102008e+02] [ 8.43793796e-01 5.36665616e-01 -1.43019434e-03 2.72062922e+02] [ 1.71072425e-03 -2.47943280e-05 9.99998536e-01 1.44363668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.12, Y:272.09, Z:1.44 [[ 5.35386112e-01 -8.44606908e-01 -9.38679456e-04 2.47116709e+02] [ 8.44605698e-01 5.35386934e-01 -1.43041006e-03 2.72086963e+02] [ 1.71069093e-03 -2.69923371e-05 9.99998536e-01 1.44386956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3327550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.13, Y:272.11, Z:1.44 [[ 5.37008806e-01 -8.43576109e-01 -9.44054536e-04 2.47134195e+02] [ 8.43574902e-01 5.37009635e-01 -1.42688278e-03 2.72110618e+02] [ 1.71065060e-03 -3.01320955e-05 9.99998536e-01 1.44290330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.15, Y:272.13, Z:1.44 [[ 5.34158944e-01 -8.45383536e-01 -9.48538796e-04 2.47145265e+02] [ 8.45382337e-01 5.34159785e-01 -1.42394206e-03 2.72133572e+02] [ 1.71044845e-03 -4.12665573e-05 9.99998536e-01 1.44417704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.16, Y:272.16, Z:1.44 [[ 5.33724768e-01 -8.45657725e-01 -9.40335169e-04 2.47160994e+02] [ 8.45656518e-01 5.33725595e-01 -1.42931410e-03 2.72158384e+02] [ 1.71059146e-03 -3.23402299e-05 9.99998536e-01 1.44424984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.18, Y:272.18, Z:1.44 [[ 5.34476611e-01 -8.45182740e-01 -9.42381040e-04 2.47176571e+02] [ 8.45181534e-01 5.34477441e-01 -1.42797619e-03 2.72179641e+02] [ 1.71058224e-03 -3.32631756e-05 9.99998536e-01 1.44440661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.19, Y:272.21, Z:1.44 [[ 5.31825859e-01 -8.46853222e-01 -9.35851439e-04 2.47188054e+02] [ 8.46852012e-01 5.31826682e-01 -1.43224275e-03 2.72205259e+02] [ 1.71061015e-03 -3.08239446e-05 9.99998536e-01 1.44257360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.20, Y:272.23, Z:1.44 [[ 5.30010112e-01 -8.47990806e-01 -9.35594040e-04 2.47202972e+02] [ 8.47989596e-01 5.30010936e-01 -1.43241082e-03 2.72230137e+02] [ 1.71054628e-03 -3.41817943e-05 9.99998536e-01 1.44346391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.22, Y:272.25, Z:1.45 [[ 5.30324381e-01 -8.47794292e-01 -9.43269640e-04 2.47218566e+02] [ 8.47793091e-01 5.30325218e-01 -1.42739962e-03 2.72254115e+02] [ 1.71038093e-03 -4.27126649e-05 9.99998536e-01 1.44590236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.23, Y:272.28, Z:1.45 [[ 5.30364874e-01 -8.47768960e-01 -9.44033148e-04 2.47231716e+02] [ 8.47767760e-01 5.30365712e-01 -1.42690141e-03 2.72275990e+02] [ 1.71036554e-03 -4.35424797e-05 9.99998536e-01 1.44559637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.25, Y:272.30, Z:1.44 [[ 5.29961539e-01 -8.48021164e-01 -9.34129486e-04 2.47251430e+02] [ 8.48019953e-01 5.29962362e-01 -1.43335571e-03 2.72303277e+02] [ 1.71056945e-03 -3.25370441e-05 9.99998536e-01 1.44468648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.27, Y:272.32, Z:1.45 [[ 5.30942540e-01 -8.47407285e-01 -9.55814330e-04 2.47265093e+02] [ 8.47406098e-01 5.30943397e-01 -1.41923969e-03 2.72322076e+02] [ 1.71015736e-03 -5.64281658e-05 9.99998536e-01 1.44606720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.28, Y:272.35, Z:1.45 [[ 5.27821523e-01 -8.49354797e-01 -9.32273351e-04 2.47277198e+02] [ 8.49353586e-01 5.27822346e-01 -1.43453843e-03 2.72348219e+02] [ 1.71050680e-03 -3.46494548e-05 9.99998537e-01 1.44693359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.29, Y:272.37, Z:1.45 [[ 5.27396621e-01 -8.49618700e-01 -9.31824637e-04 2.47292698e+02] [ 8.49617489e-01 5.27397443e-01 -1.43482984e-03 2.72372165e+02] [ 1.71050019e-03 -3.49700992e-05 9.99998537e-01 1.44720604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.31, Y:272.39, Z:1.45 [[ 5.26318589e-01 -8.50286937e-01 -9.31366372e-04 2.47307150e+02] [ 8.50285727e-01 5.26319411e-01 -1.43512724e-03 2.72394784e+02] [ 1.71046615e-03 -3.65933875e-05 9.99998537e-01 1.44748519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.32, Y:272.42, Z:1.45 [[ 5.24711475e-01 -8.51279626e-01 -9.30883642e-04 2.47322671e+02] [ 8.51278416e-01 5.24712300e-01 -1.43544029e-03 2.72420347e+02] [ 1.71040717e-03 -3.92491586e-05 9.99998537e-01 1.44625540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.34, Y:272.44, Z:1.45 [[ 5.25521662e-01 -8.50779705e-01 -9.36123535e-04 2.47339953e+02] [ 8.50778501e-01 5.25522494e-01 -1.43204667e-03 2.72444588e+02] [ 1.71031022e-03 -4.38622322e-05 9.99998536e-01 1.44852463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.35, Y:272.47, Z:1.45 [[ 5.24502962e-01 -8.51408106e-01 -9.38273386e-04 2.47352133e+02] [ 8.51406905e-01 5.24503799e-01 -1.43065506e-03 2.72466850e+02] [ 1.71019927e-03 -4.84696236e-05 9.99998536e-01 1.44673842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.37, Y:272.49, Z:1.45 [[ 5.24703441e-01 -8.51284579e-01 -9.29710564e-04 2.47367031e+02] [ 8.51283369e-01 5.24704263e-01 -1.43619302e-03 2.72490048e+02] [ 1.71043207e-03 -3.78717209e-05 9.99998537e-01 1.44893485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.38, Y:272.51, Z:1.45 [[ 5.24888935e-01 -8.51170220e-01 -9.28639039e-04 2.47381744e+02] [ 8.51169008e-01 5.24889756e-01 -1.43688553e-03 2.72512845e+02] [ 1.71046729e-03 -3.62234530e-05 9.99998537e-01 1.44843644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.40, Y:272.54, Z:1.45 [[ 5.26066794e-01 -8.50442747e-01 -9.28159344e-04 2.47396643e+02] [ 8.50441534e-01 5.26067612e-01 -1.43719532e-03 2.72537056e+02] [ 1.71052691e-03 -3.32845188e-05 9.99998537e-01 1.45001531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.41, Y:272.56, Z:1.45 [[ 5.26612615e-01 -8.50104872e-01 -9.27697574e-04 2.47410830e+02] [ 8.50103657e-01 5.26613432e-01 -1.43749333e-03 2.72560704e+02] [ 1.71055809e-03 -3.16369767e-05 9.99998537e-01 1.44960773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.43, Y:272.58, Z:1.45 [[ 5.27656065e-01 -8.49457602e-01 -9.27210366e-04 2.47425870e+02] [ 8.49456385e-01 5.27656879e-01 -1.43780752e-03 2.72584925e+02] [ 1.71060546e-03 -2.89569068e-05 9.99998537e-01 1.44996999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.44, Y:272.61, Z:1.45 [[ 5.30092006e-01 -8.47939624e-01 -9.26753808e-04 2.47439388e+02] [ 8.47938405e-01 5.30092815e-01 -1.43810174e-03 2.72608840e+02] [ 1.71068898e-03 -2.35039105e-05 9.99998537e-01 1.44888661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.45, Y:272.63, Z:1.45 [[ 5.31289643e-01 -8.47189741e-01 -9.26272986e-04 2.47453629e+02] [ 8.47188520e-01 5.31290451e-01 -1.43841137e-03 2.72632579e+02] [ 1.71072735e-03 -2.05147777e-05 9.99998537e-01 1.44939782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.47, Y:272.66, Z:1.45 [[ 5.34548867e-01 -8.45137061e-01 -9.25825188e-04 2.47471943e+02] [ 8.45135836e-01 5.34549669e-01 -1.43869953e-03 2.72659711e+02] [ 1.71079784e-03 -1.33928384e-05 9.99998537e-01 1.44842773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.48, Y:272.68, Z:1.45 [[ 5.35608277e-01 -8.44466032e-01 -9.45919159e-04 2.47484331e+02] [ 8.44464829e-01 5.35609112e-01 -1.42577223e-03 2.72682082e+02] [ 1.71065914e-03 -3.51400527e-05 9.99998536e-01 1.44929033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.50, Y:272.71, Z:1.45 [[ 5.34306876e-01 -8.45290063e-01 -9.33375303e-04 2.47496513e+02] [ 8.45288847e-01 5.34307691e-01 -1.43384074e-03 2.72706002e+02] [ 1.71072093e-03 -2.28607691e-05 9.99998536e-01 1.44945682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.51, Y:272.73, Z:1.45 [[ 5.37146225e-01 -8.43488628e-01 -9.31274064e-04 2.47514123e+02] [ 8.43487407e-01 5.37147033e-01 -1.43518962e-03 2.72731321e+02] [ 1.71079722e-03 -1.46112606e-05 9.99998537e-01 1.44892565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.52, Y:272.75, Z:1.45 [[ 5.34866132e-01 -8.44936293e-01 -9.39515170e-04 2.47523440e+02] [ 8.44935083e-01 5.34866956e-01 -1.42991397e-03 2.72753231e+02] [ 1.71070183e-03 -2.90167750e-05 9.99998536e-01 1.44987707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.54, Y:272.78, Z:1.45 [[ 5.34596899e-01 -8.45106684e-01 -9.21372406e-04 2.47538681e+02] [ 8.45105454e-01 5.34597693e-01 -1.44151031e-03 2.72777398e+02] [ 1.71079356e-03 -8.02990500e-06 9.99998537e-01 1.44992000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.55, Y:272.80, Z:1.45 [[ 5.33699515e-01 -8.45673684e-01 -9.20913032e-04 2.47552634e+02] [ 8.45672455e-01 5.33700309e-01 -1.44180372e-03 2.72801190e+02] [ 1.71078703e-03 -9.30083844e-06 9.99998537e-01 1.44871768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.23275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.57, Y:272.83, Z:1.45 [[ 5.34316671e-01 -8.45283881e-01 -9.24655781e-04 2.47571475e+02] [ 8.45282656e-01 5.34317471e-01 -1.43941394e-03 2.72826636e+02] [ 1.71077314e-03 -1.24926313e-05 9.99998537e-01 1.44674617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.59, Y:272.85, Z:1.45 [[ 5.33084819e-01 -8.46061286e-01 -9.35783381e-04 2.47587582e+02] [ 8.46060074e-01 5.33085640e-01 -1.43234862e-03 2.72851849e+02] [ 1.71070740e-03 -2.81656502e-05 9.99998536e-01 1.44782327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.29275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:247.60, Y:272.87, Z:1.45 [[ 5.26108635e-01 -8.50416847e-01 -9.43452323e-04 2.47595690e+02] [ 8.50415651e-01 5.26109479e-01 -1.42746590e-03 2.72872715e+02] [ 1.71030026e-03 -5.13244859e-05 9.99998536e-01 1.44813927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.62, Y:272.90, Z:1.45 [[ 5.27346123e-01 -8.49650060e-01 -9.17471061e-04 2.47616127e+02] [ 8.49648834e-01 5.27346921e-01 -1.44397385e-03 2.72899391e+02] [ 1.71069801e-03 -1.80542035e-05 9.99998537e-01 1.44881881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.63, Y:272.92, Z:1.45 [[ 5.22433658e-01 -8.52679419e-01 -9.38700263e-04 2.47626334e+02] [ 8.52678221e-01 5.22434499e-01 -1.43048808e-03 2.72922059e+02] [ 1.71015714e-03 -5.30741517e-05 9.99998536e-01 1.45016558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.64, Y:272.94, Z:1.45 [[ 5.19595916e-01 -8.54411625e-01 -9.27230187e-04 2.47640742e+02] [ 8.54410416e-01 5.19596741e-01 -1.43777096e-03 2.72944100e+02] [ 1.71023401e-03 -4.51752091e-05 9.99998537e-01 1.45213024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.66, Y:272.97, Z:1.45 [[ 5.17686995e-01 -8.55569597e-01 -9.16288640e-04 2.47655707e+02] [ 8.55568378e-01 5.17687805e-01 -1.44471050e-03 2.72968061e+02] [ 1.71040183e-03 -3.60397502e-05 9.99998537e-01 1.45165225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.67, Y:272.99, Z:1.45 [[ 5.15991923e-01 -8.56592959e-01 -9.15378718e-04 2.47669984e+02] [ 8.56591741e-01 5.15992733e-01 -1.44528721e-03 2.72991518e+02] [ 1.71035162e-03 -3.83493218e-05 9.99998537e-01 1.45098881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.68, Y:273.02, Z:1.45 [[ 5.12386207e-01 -8.58754646e-01 -9.13010435e-04 2.47684003e+02] [ 8.58753428e-01 5.12387019e-01 -1.44678741e-03 2.73016753e+02] [ 1.71025010e-03 -4.27369288e-05 9.99998537e-01 1.45204416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.70, Y:273.04, Z:1.45 [[ 5.11806431e-01 -8.59100301e-01 -9.22086467e-04 2.47697906e+02] [ 8.59099094e-01 5.11807259e-01 -1.44104219e-03 2.73039615e+02] [ 1.70993033e-03 -5.46289876e-05 9.99998537e-01 1.45119589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.71, Y:273.06, Z:1.45 [[ 5.10792024e-01 -8.59703828e-01 -9.14429801e-04 2.47711051e+02] [ 8.59702613e-01 5.10792841e-01 -1.44588454e-03 2.73063582e+02] [ 1.71011667e-03 -4.75913957e-05 9.99998537e-01 1.45046471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.72, Y:273.09, Z:1.45 [[ 5.10184450e-01 -8.60064528e-01 -9.13945374e-04 2.47724739e+02] [ 8.60063313e-01 5.10185266e-01 -1.44619069e-03 2.73087830e+02] [ 1.71009877e-03 -4.82268863e-05 9.99998537e-01 1.45073293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.74, Y:273.11, Z:1.45 [[ 5.10009753e-01 -8.60168133e-01 -9.13484252e-04 2.47738684e+02] [ 8.60166918e-01 5.10010569e-01 -1.44648190e-03 2.73112145e+02] [ 1.71010425e-03 -4.80290600e-05 9.99998537e-01 1.45098824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.75, Y:273.14, Z:1.45 [[ 5.10296231e-01 -8.59998211e-01 -9.13024372e-04 2.47751390e+02] [ 8.59996995e-01 5.10297046e-01 -1.44677211e-03 2.73135809e+02] [ 1.71013507e-03 -4.69158590e-05 9.99998537e-01 1.45092337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.77, Y:273.16, Z:1.45 [[ 5.12952832e-01 -8.58416309e-01 -9.12539648e-04 2.47772674e+02] [ 8.58415091e-01 5.12953642e-01 -1.44707779e-03 2.73163198e+02] [ 1.71028571e-03 -4.10551563e-05 9.99998537e-01 1.44611487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.78, Y:273.18, Z:1.45 [[ 5.10725004e-01 -8.59743621e-01 -9.36401609e-04 2.47780092e+02] [ 8.59742432e-01 5.10725857e-01 -1.43204342e-03 2.73184996e+02] [ 1.70943471e-03 -7.36838170e-05 9.99998536e-01 1.45182445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.79, Y:273.21, Z:1.45 [[ 5.11236225e-01 -8.59439756e-01 -9.10677168e-04 2.47793977e+02] [ 8.59438536e-01 5.11237034e-01 -1.44821960e-03 2.73208164e+02] [ 1.71022939e-03 -4.22887329e-05 9.99998537e-01 1.45201127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.81, Y:273.23, Z:1.45 [[ 5.12077778e-01 -8.58938601e-01 -9.10339240e-04 2.47808431e+02] [ 8.58937381e-01 5.12078586e-01 -1.44843199e-03 2.73232345e+02] [ 1.71027937e-03 -4.02145693e-05 9.99998537e-01 1.45232301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.83, Y:273.26, Z:1.45 [[ 5.19072038e-01 -8.54730011e-01 -9.09880574e-04 2.47833319e+02] [ 8.54728784e-01 5.19072834e-01 -1.44872006e-03 2.73260710e+02] [ 1.71055880e-03 -2.57110456e-05 9.99998537e-01 1.44959549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.84, Y:273.28, Z:1.45 [[ 5.15101316e-01 -8.57128771e-01 -9.51133865e-04 2.47835141e+02] [ 8.57127594e-01 5.15102187e-01 -1.42277209e-03 2.73279424e+02] [ 1.70943002e-03 -8.23713079e-05 9.99998536e-01 1.45269451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.85, Y:273.30, Z:1.45 [[ 5.16136295e-01 -8.56505983e-01 -9.08872814e-04 2.47848846e+02] [ 8.56504758e-01 5.16137094e-01 -1.44927494e-03 2.73302819e+02] [ 1.71041563e-03 -3.04304917e-05 9.99998537e-01 1.45307443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.86, Y:273.33, Z:1.45 [[ 5.17679150e-01 -8.55574353e-01 -9.08402821e-04 2.47862257e+02] [ 8.55573125e-01 5.17679946e-01 -1.44956947e-03 2.73327607e+02] [ 1.71047639e-03 -2.67931478e-05 9.99998537e-01 1.45328121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.88, Y:273.35, Z:1.45 [[ 5.17711079e-01 -8.55555030e-01 -9.10822036e-04 2.47876313e+02] [ 8.55553805e-01 5.17711879e-01 -1.44805443e-03 2.73352853e+02] [ 1.71043363e-03 -2.95834397e-05 9.99998537e-01 1.45340123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.89, Y:273.39, Z:1.45 [[ 5.14896463e-01 -8.57251886e-01 -9.14769800e-04 2.47891553e+02] [ 8.57250668e-01 5.14897274e-01 -1.44558269e-03 2.73387413e+02] [ 1.71024096e-03 -3.98616085e-05 9.99998537e-01 1.45463217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.9527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:247.91, Y:273.40, Z:1.45 [[ 5.18956917e-01 -8.54799861e-01 -9.57049835e-04 2.47908057e+02] [ 8.54798687e-01 5.18957793e-01 -1.41922096e-03 2.73404471e+02] [ 1.70981835e-03 -8.15704060e-05 9.99998535e-01 1.45240135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.98275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:247.92, Y:273.43, Z:1.45 [[ 5.17202079e-01 -8.55862817e-01 -9.21203625e-04 2.47921044e+02] [ 8.55861604e-01 5.17202897e-01 -1.44134720e-03 2.73429558e+02] [ 1.71004466e-03 -4.29550426e-05 9.99998537e-01 1.45189955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.93, Y:273.45, Z:1.45 [[ 5.15051006e-01 -8.57159037e-01 -9.20233913e-04 2.47928361e+02] [ 8.57157825e-01 5.15051826e-01 -1.44194522e-03 2.73450491e+02] [ 1.70994454e-03 -4.61103620e-05 9.99998537e-01 1.45320027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.94, Y:273.47, Z:1.45 [[ 5.14932958e-01 -8.57229984e-01 -8.96514328e-04 2.47942463e+02] [ 8.57228747e-01 5.14933738e-01 -1.45654481e-03 2.73473110e+02] [ 1.71023936e-03 -1.84949286e-05 9.99998537e-01 1.45244215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.96, Y:273.50, Z:1.45 [[ 5.14189522e-01 -8.57676123e-01 -8.96182347e-04 2.47957284e+02] [ 8.57674886e-01 5.14190303e-01 -1.45674904e-03 2.73497217e+02] [ 1.71022714e-03 -1.95879998e-05 9.99998537e-01 1.45308550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.97, Y:273.52, Z:1.46 [[ 5.12890503e-01 -8.58453569e-01 -8.95717283e-04 2.47973808e+02] [ 8.58452333e-01 5.12891284e-01 -1.45703494e-03 2.73523083e+02] [ 1.71020243e-03 -2.16312085e-05 9.99998537e-01 1.45524908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:247.99, Y:273.55, Z:1.45 [[ 5.12268444e-01 -8.58824905e-01 -9.07788666e-04 2.47985946e+02] [ 8.58823683e-01 5.12269247e-01 -1.44961237e-03 2.73545434e+02] [ 1.70999542e-03 -3.70397324e-05 9.99998537e-01 1.45341788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:248.00, Y:273.57, Z:1.45 [[ 5.11222632e-01 -8.59447857e-01 -8.95094326e-04 2.48002748e+02] [ 8.59446622e-01 5.11223415e-01 -1.45740883e-03 2.73571000e+02] [ 1.71016008e-03 -2.42254144e-05 9.99998537e-01 1.45451541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.02, Y:273.60, Z:1.45 [[ 5.09151346e-01 -8.60676531e-01 -9.03442541e-04 2.48017686e+02] [ 8.60675306e-01 5.09152146e-01 -1.45228350e-03 2.73595204e+02] [ 1.70993604e-03 -3.81385861e-05 9.99998537e-01 1.45452433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.03, Y:273.62, Z:1.45 [[ 5.06952494e-01 -8.61973515e-01 -9.10552477e-04 2.48031526e+02] [ 8.61972300e-01 5.06953309e-01 -1.44791297e-03 2.73619226e+02] [ 1.70967022e-03 -5.08479243e-05 9.99998537e-01 1.45450946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.05, Y:273.64, Z:1.45 [[ 5.06383465e-01 -8.62307924e-01 -9.10816254e-04 2.48045504e+02] [ 8.62306711e-01 5.06384282e-01 -1.44775119e-03 2.73642022e+02] [ 1.70963036e-03 -5.22857030e-05 9.99998537e-01 1.45446053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.06, Y:273.66, Z:1.45 [[ 5.02738011e-01 -8.64438361e-01 -9.01815648e-04 2.48057380e+02] [ 8.64437140e-01 5.02738817e-01 -1.45326468e-03 2.73664145e+02] [ 1.70963547e-03 -4.89515445e-05 9.99998537e-01 1.45488416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.07, Y:273.69, Z:1.46 [[ 5.00865169e-01 -8.65524861e-01 -8.92805260e-04 2.48071584e+02] [ 8.65523633e-01 5.00865963e-01 -1.45877924e-03 2.73687945e+02] [ 1.70978546e-03 -4.20923415e-05 9.99998537e-01 1.45530134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.09, Y:273.72, Z:1.46 [[ 4.95929934e-01 -8.68362081e-01 -8.92677659e-04 2.48087845e+02] [ 8.68360857e-01 4.95930735e-01 -1.45885728e-03 2.73717205e+02] [ 1.70952263e-03 -5.16753430e-05 9.99998537e-01 1.45558280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.10, Y:273.73, Z:1.45 [[ 4.96745096e-01 -8.67895993e-01 -9.24041551e-04 2.48098197e+02] [ 8.67894804e-01 4.96745948e-01 -1.43970632e-03 2.73734687e+02] [ 1.70852925e-03 -8.68038034e-05 9.99998537e-01 1.45443809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.11, Y:273.76, Z:1.46 [[ 4.96174272e-01 -8.68222503e-01 -8.81777898e-04 2.48114999e+02] [ 8.68221267e-01 4.96175054e-01 -1.46544150e-03 2.73760854e+02] [ 1.70984548e-03 -3.84639534e-05 9.99998538e-01 1.45661765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.13, Y:273.79, Z:1.46 [[ 4.96911458e-01 -8.67800779e-01 -9.00716279e-04 2.48128520e+02] [ 8.67799563e-01 4.96912271e-01 -1.45389653e-03 2.73785780e+02] [ 1.70926951e-03 -5.91833497e-05 9.99998537e-01 1.45649368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.14, Y:273.81, Z:1.46 [[ 4.98409641e-01 -8.66941185e-01 -9.00984131e-04 2.48142106e+02] [ 8.66939968e-01 4.98410452e-01 -1.45373355e-03 2.73808032e+02] [ 1.70936139e-03 -5.65443387e-05 9.99998537e-01 1.45581665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.16, Y:273.83, Z:1.46 [[ 4.99084142e-01 -8.66553074e-01 -8.88146628e-04 2.48156339e+02] [ 8.66551843e-01 4.99084931e-01 -1.46153465e-03 2.73832108e+02] [ 1.70975794e-03 -4.01963306e-05 9.99998538e-01 1.45591919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.17, Y:273.86, Z:1.46 [[ 5.00633136e-01 -8.65659099e-01 -8.87683945e-04 2.48169785e+02] [ 8.65657865e-01 5.00633922e-01 -1.46181561e-03 2.73855260e+02] [ 1.70983868e-03 -3.65972535e-05 9.99998538e-01 1.45691053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.18, Y:273.88, Z:1.46 [[ 5.01464483e-01 -8.65177777e-01 -8.87194781e-04 2.48183857e+02] [ 8.65176542e-01 5.01465267e-01 -1.46211243e-03 2.73879131e+02] [ 1.70988455e-03 -3.43826569e-05 9.99998538e-01 1.45751498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.20, Y:273.90, Z:1.46 [[ 5.03437742e-01 -8.64031049e-01 -8.86728969e-04 2.48197564e+02] [ 8.64029812e-01 5.03438522e-01 -1.46239488e-03 2.73903367e+02] [ 1.70996810e-03 -2.99354882e-05 9.99998538e-01 1.45830492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.21, Y:273.93, Z:1.46 [[ 5.04290229e-01 -8.63533774e-01 -8.86258386e-04 2.48211070e+02] [ 8.63532536e-01 5.04291007e-01 -1.46268001e-03 2.73926658e+02] [ 1.71000573e-03 -2.76977125e-05 9.99998538e-01 1.45719559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.22, Y:273.95, Z:1.46 [[ 5.05594666e-01 -8.62770682e-01 -8.85748999e-04 2.48224818e+02] [ 8.62769442e-01 5.05595441e-01 -1.46298842e-03 2.73949536e+02] [ 1.71005417e-03 -2.45180304e-05 9.99998538e-01 1.45804216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.24, Y:273.97, Z:1.46 [[ 5.06268742e-01 -8.62375316e-01 -8.80496905e-04 2.48239771e+02] [ 8.62374070e-01 5.06269508e-01 -1.46616539e-03 2.73974963e+02] [ 1.71015357e-03 -1.70439937e-05 9.99998538e-01 1.45910130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.25, Y:274.00, Z:1.46 [[ 5.06665095e-01 -8.62142504e-01 -8.84936651e-04 2.48254207e+02] [ 8.62141263e-01 5.06665868e-01 -1.46348076e-03 2.73998715e+02] [ 1.71009617e-03 -2.14457808e-05 9.99998538e-01 1.45942000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.73275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:248.27, Y:274.02, Z:1.46 [[ 5.07668210e-01 -8.61552207e-01 -8.84480681e-04 2.48269626e+02] [ 8.61550964e-01 5.07668980e-01 -1.46375628e-03 2.74022048e+02] [ 1.71012586e-03 -1.89226502e-05 9.99998538e-01 1.45976647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.28, Y:274.05, Z:1.46 [[ 5.07872873e-01 -8.61431578e-01 -8.83716929e-04 2.48284403e+02] [ 8.61430334e-01 5.07873642e-01 -1.46421748e-03 2.74047464e+02] [ 1.71013971e-03 -1.76242297e-05 9.99998538e-01 1.46150056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.30, Y:274.07, Z:1.46 [[ 5.09422494e-01 -8.60516089e-01 -8.84782841e-04 2.48298556e+02] [ 8.60514845e-01 5.09423262e-01 -1.46357409e-03 2.74068844e+02] [ 1.71015802e-03 -1.57912057e-05 9.99998538e-01 1.46163567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.82275509600004 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:248.31, Y:274.09, Z:1.46 [[ 5.08977365e-01 -8.60779456e-01 -8.77817823e-04 2.48314206e+02] [ 8.60778204e-01 5.08978122e-01 -1.46777323e-03 2.74092601e+02] [ 1.71021911e-03 -8.54309630e-06 9.99998538e-01 1.45974085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.33, Y:274.11, Z:1.46 [[ 5.10178154e-01 -8.60068295e-01 -8.82698205e-04 2.48327469e+02] [ 8.60067047e-01 5.10178918e-01 -1.46483235e-03 2.74114760e+02] [ 1.71018987e-03 -1.18541754e-05 9.99998538e-01 1.46137458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.34, Y:274.14, Z:1.46 [[ 5.10820274e-01 -8.59687083e-01 -8.76500208e-04 2.48343077e+02] [ 8.59685828e-01 5.10821026e-01 -1.46856287e-03 2.74137447e+02] [ 1.71023927e-03 -3.34311793e-06 9.99998538e-01 1.46119560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.36, Y:274.16, Z:1.46 [[ 5.09562867e-01 -8.60432986e-01 -8.72696267e-04 2.48358600e+02] [ 8.60431729e-01 5.09563614e-01 -1.47085196e-03 2.74162303e+02] [ 1.71026381e-03 -1.40401451e-06 9.99998538e-01 1.46139817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.37, Y:274.19, Z:1.46 [[ 5.09229072e-01 -8.60630569e-01 -8.81507700e-04 2.48374217e+02] [ 8.60629321e-01 5.09229834e-01 -1.46555202e-03 2.74185957e+02] [ 1.71018889e-03 -1.23496796e-05 9.99998538e-01 1.46129527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.39, Y:274.21, Z:1.46 [[ 5.09645111e-01 -8.60384266e-01 -8.81050779e-04 2.48390339e+02] [ 8.60383017e-01 5.09645872e-01 -1.46582666e-03 2.74206674e+02] [ 1.71019808e-03 -1.09897392e-05 9.99998538e-01 1.46020010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.41, Y:274.23, Z:1.46 [[ 5.08122935e-01 -8.61284111e-01 -8.74221557e-04 2.48406366e+02] [ 8.61282856e-01 5.08123687e-01 -1.46992803e-03 2.74230560e+02] [ 1.71023834e-03 -6.04789456e-06 9.99998538e-01 1.46024275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.42, Y:274.25, Z:1.46 [[ 5.06989323e-01 -8.61951885e-01 -8.80429693e-04 2.48422497e+02] [ 8.61950638e-01 5.06990087e-01 -1.46620014e-03 2.74250941e+02] [ 1.71016310e-03 -1.55391167e-05 9.99998538e-01 1.45939942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.44, Y:274.27, Z:1.46 [[ 5.06698343e-01 -8.62122970e-01 -8.79219968e-04 2.48436527e+02] [ 8.62121723e-01 5.06699106e-01 -1.46692603e-03 2.74274875e+02] [ 1.71017059e-03 -1.47056461e-05 9.99998538e-01 1.45944648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.45, Y:274.30, Z:1.46 [[ 5.05442717e-01 -8.62859715e-01 -8.78824818e-04 2.48452308e+02] [ 8.62858467e-01 5.05443481e-01 -1.46716297e-03 2.74298469e+02] [ 1.71015210e-03 -1.67345980e-05 9.99998538e-01 1.45930378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.47, Y:274.32, Z:1.46 [[ 5.03493025e-01 -8.63998844e-01 -8.77766993e-04 2.48467626e+02] [ 8.63997598e-01 5.03493790e-01 -1.46779683e-03 2.74321092e+02] [ 1.71012500e-03 -1.93631052e-05 9.99998538e-01 1.45879218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.48, Y:274.34, Z:1.46 [[ 5.00198453e-01 -8.65910351e-01 -8.78723050e-04 2.48484555e+02] [ 8.65909108e-01 5.00199224e-01 -1.46722425e-03 2.74342512e+02] [ 1.71002125e-03 -2.69909946e-05 9.99998538e-01 1.45858493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.50, Y:274.37, Z:1.46 [[ 4.98523463e-01 -8.66875761e-01 -8.78395693e-04 2.48499898e+02] [ 8.66874520e-01 4.98524236e-01 -1.46742020e-03 2.74365398e+02] [ 1.70997255e-03 -2.99154432e-05 9.99998538e-01 1.45921706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.52, Y:274.39, Z:1.46 [[ 4.95738923e-01 -8.68471160e-01 -8.74869770e-04 2.48516804e+02] [ 8.68469917e-01 4.95739694e-01 -1.46952894e-03 2.74387717e+02] [ 1.70995118e-03 -3.12953816e-05 9.99998538e-01 1.45866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.53, Y:274.41, Z:1.46 [[ 4.94947941e-01 -8.68922186e-01 -8.77371793e-04 2.48532559e+02] [ 8.68920947e-01 4.94948718e-01 -1.46803361e-03 2.74411174e+02] [ 1.70986101e-03 -3.57665182e-05 9.99998538e-01 1.45840703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.55, Y:274.44, Z:1.46 [[ 4.94995778e-01 -8.68894937e-01 -8.76917357e-04 2.48549810e+02] [ 8.68893697e-01 4.94996553e-01 -1.46830501e-03 2.74435629e+02] [ 1.70987386e-03 -3.51431848e-05 9.99998538e-01 1.45849117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.56, Y:274.46, Z:1.46 [[ 4.93453023e-01 -8.69772000e-01 -8.84467404e-04 2.48562512e+02] [ 8.69770769e-01 4.93453813e-01 -1.46379651e-03 2.74455558e+02] [ 1.70961303e-03 -4.69690800e-05 9.99998538e-01 1.45508665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.58, Y:274.48, Z:1.45 [[ 4.94345053e-01 -8.69265330e-01 -8.69017012e-04 2.48576608e+02] [ 8.69264082e-01 4.94345816e-01 -1.47300874e-03 2.74476061e+02] [ 1.71003035e-03 -2.72306939e-05 9.99998538e-01 1.45368756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.59, Y:274.50, Z:1.45 [[ 4.93754572e-01 -8.69600878e-01 -8.57914007e-04 2.48592972e+02] [ 8.69599619e-01 4.93755317e-01 -1.47962135e-03 2.74500952e+02] [ 1.71027962e-03 -1.54718897e-05 9.99998537e-01 1.45397589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:248.61, Y:274.52, Z:1.45 [[ 4.95308214e-01 -8.68716884e-01 -8.65319174e-04 2.48611074e+02] [ 8.68715632e-01 4.95308969e-01 -1.47521127e-03 2.74523458e+02] [ 1.71014128e-03 -2.10320363e-05 9.99998538e-01 1.45400778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.42275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:248.63, Y:274.55, Z:1.46 [[ 4.97240827e-01 -8.67612129e-01 -8.67818701e-04 2.48629464e+02] [ 8.67610878e-01 4.97241584e-01 -1.47372312e-03 2.74547460e+02] [ 1.71013560e-03 -2.01336435e-05 9.99998538e-01 1.45909090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.65, Y:274.57, Z:1.46 [[ 5.04679833e-01 -8.63306145e-01 -8.75302000e-04 2.48647561e+02] [ 8.63304895e-01 5.04680592e-01 -1.46926883e-03 2.74567640e+02] [ 1.71017674e-03 -1.41421532e-05 9.99998538e-01 1.45552485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:274.60, Z:1.46 [[ 5.04585837e-01 -8.63361088e-01 -8.74447008e-04 2.48665465e+02] [ 8.63359837e-01 5.04586595e-01 -1.46977751e-03 2.74597210e+02] [ 1.71018295e-03 -1.33335109e-05 9.99998538e-01 1.45559586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.67, Y:274.62, Z:1.46 [[ 5.03085259e-01 -8.64236315e-01 -9.02655374e-04 2.48672492e+02] [ 8.64235095e-01 5.03086066e-01 -1.45298738e-03 2.74617059e+02] [ 1.70983780e-03 -4.91299219e-05 9.99998537e-01 1.45760207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.70, Y:274.64, Z:1.46 [[ 5.07999664e-01 -8.61356825e-01 -8.73278140e-04 2.48695190e+02] [ 8.61355569e-01 5.08000414e-01 -1.47043426e-03 2.74644213e+02] [ 1.71019424e-03 -5.22287875e-06 9.99998538e-01 1.45615592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.71, Y:274.67, Z:1.46 [[ 5.10103811e-01 -8.60112369e-01 -9.02532951e-04 2.48709604e+02] [ 8.60111142e-01 5.10104608e-01 -1.45303989e-03 2.74666241e+02] [ 1.71016380e-03 -3.50774609e-05 9.99998537e-01 1.45616631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.72, Y:274.69, Z:1.46 [[ 5.07078060e-01 -8.61899663e-01 -9.00994926e-04 2.48716289e+02] [ 8.61898438e-01 5.07078859e-01 -1.45395548e-03 2.74687873e+02] [ 1.71003922e-03 -3.92971936e-05 9.99998537e-01 1.45910282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.73, Y:274.71, Z:1.46 [[ 5.06306719e-01 -8.62353030e-01 -8.71072225e-04 2.48729492e+02] [ 8.62351774e-01 5.06307468e-01 -1.47172077e-03 2.74711134e+02] [ 1.71017324e-03 -6.02856336e-06 9.99998538e-01 1.45942915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.75, Y:274.74, Z:1.46 [[ 5.06988333e-01 -8.61952475e-01 -8.72700984e-04 2.48748580e+02] [ 8.61951220e-01 5.06989084e-01 -1.47075432e-03 2.74739500e+02] [ 1.71017020e-03 -6.57039651e-06 9.99998538e-01 1.45751028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.69275509600004 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:248.75, Y:274.76, Z:1.46 [[ 5.00922495e-01 -8.65491677e-01 -9.00873172e-04 2.48754209e+02] [ 8.65490457e-01 5.00923302e-01 -1.45410810e-03 2.74759179e+02] [ 1.70978682e-03 -5.13016754e-05 9.99998537e-01 1.45865407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.72275509600007 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:248.77, Y:274.78, Z:1.46 [[ 4.99255784e-01 -8.66454216e-01 -8.68470395e-04 2.48767534e+02] [ 8.66452963e-01 4.99256539e-01 -1.47320983e-03 2.74782309e+02] [ 1.71005839e-03 -1.69802189e-05 9.99998538e-01 1.45817622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.78, Y:274.81, Z:1.46 [[ 4.98860245e-01 -8.66682008e-01 -8.67977421e-04 2.48780906e+02] [ 8.66680755e-01 4.98861000e-01 -1.47350022e-03 2.74806789e+02] [ 1.71005621e-03 -1.71886464e-05 9.99998538e-01 1.45990750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.80, Y:274.83, Z:1.46 [[ 5.02594507e-01 -8.64521838e-01 -8.67517898e-04 2.48798480e+02] [ 8.64520582e-01 5.02595256e-01 -1.47377071e-03 2.74828334e+02] [ 1.71011735e-03 -9.27801310e-06 9.99998538e-01 1.45973393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.81, Y:274.86, Z:1.46 [[ 4.98892280e-01 -8.66663569e-01 -8.67182964e-04 2.48811834e+02] [ 8.66662316e-01 4.98893033e-01 -1.47396776e-03 2.74858391e+02] [ 1.71006570e-03 -1.62036579e-05 9.99998538e-01 1.45811161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.83, Y:274.88, Z:1.46 [[ 4.99098387e-01 -8.66544870e-01 -8.88260773e-04 2.48827210e+02] [ 8.66543638e-01 4.99099176e-01 -1.46155985e-03 2.74882834e+02] [ 1.70983741e-03 -4.02545575e-05 9.99998537e-01 1.45733832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.84, Y:274.91, Z:1.46 [[ 4.97028608e-01 -8.67733692e-01 -8.96084541e-04 2.48837323e+02] [ 8.67732470e-01 4.97029413e-01 -1.45695315e-03 2.74905650e+02] [ 1.70962771e-03 -5.34142573e-05 9.99998537e-01 1.45587852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.85, Y:274.93, Z:1.46 [[ 4.94192236e-01 -8.69352201e-01 -8.86006130e-04 2.48845343e+02] [ 8.69350971e-01 4.94193028e-01 -1.46288162e-03 2.74927888e+02] [ 1.70961740e-03 -4.73055535e-05 9.99998538e-01 1.45711471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.86, Y:274.95, Z:1.46 [[ 4.93465598e-01 -8.69764884e-01 -8.65941782e-04 2.48857470e+02] [ 8.69763635e-01 4.93466357e-01 -1.47466366e-03 2.74951595e+02] [ 1.70992381e-03 -2.54688853e-05 9.99998538e-01 1.45631659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.87, Y:274.98, Z:1.46 [[ 4.92754347e-01 -8.70168032e-01 -8.65609052e-04 2.48870727e+02] [ 8.70166783e-01 4.92755107e-01 -1.47485895e-03 2.74976144e+02] [ 1.70990839e-03 -2.64810862e-05 9.99998538e-01 1.45648323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.99275509600005 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:248.88, Y:275.00, Z:1.46 [[ 4.92874629e-01 -8.70099909e-01 -8.65147732e-04 2.48883492e+02] [ 8.70098659e-01 4.92875388e-01 -1.47512951e-03 2.74999046e+02] [ 1.70992007e-03 -2.57099735e-05 9.99998538e-01 1.45693362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.90, Y:275.02, Z:1.46 [[ 4.92397554e-01 -8.70369989e-01 -8.55527797e-04 2.48898127e+02] [ 8.70368729e-01 4.92398297e-01 -1.48076392e-03 2.75023565e+02] [ 1.71007290e-03 -1.55001108e-05 9.99998538e-01 1.45843720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.05275509600006 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:248.91, Y:275.05, Z:1.46 [[ 4.91608993e-01 -8.70815627e-01 -8.61560016e-04 2.48912671e+02] [ 8.70814374e-01 4.91609748e-01 -1.47722984e-03 2.75048555e+02] [ 1.70994613e-03 -2.40393705e-05 9.99998538e-01 1.45890190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.92, Y:275.07, Z:1.46 [[ 4.88480933e-01 -8.72574142e-01 -8.63042971e-04 2.48924348e+02] [ 8.72572894e-01 4.88481694e-01 -1.47636137e-03 2.75073920e+02] [ 1.70981545e-03 -3.18935211e-05 9.99998538e-01 1.45923379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.94, Y:275.10, Z:1.46 [[ 4.89160681e-01 -8.72193261e-01 -8.63020218e-04 2.48939566e+02] [ 8.72192012e-01 4.89161441e-01 -1.47637469e-03 2.75098606e+02] [ 1.70984027e-03 -3.05348923e-05 9.99998538e-01 1.45930919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.95, Y:275.12, Z:1.46 [[ 4.87570168e-01 -8.73083375e-01 -8.66995331e-04 2.48950339e+02] [ 8.73082131e-01 4.87570938e-01 -1.47404922e-03 2.75121114e+02] [ 1.70968960e-03 -3.82557041e-05 9.99998538e-01 1.45864378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.96, Y:275.14, Z:1.46 [[ 4.85771372e-01 -8.74085490e-01 -8.54814303e-04 2.48962793e+02] [ 8.74084236e-01 4.85772123e-01 -1.48116642e-03 2.75144951e+02] [ 1.70991103e-03 -2.76714654e-05 9.99998538e-01 1.45848588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.98, Y:275.17, Z:1.46 [[ 4.83449032e-01 -8.75372092e-01 -8.56341133e-04 2.48975287e+02] [ 8.75370841e-01 4.83449790e-01 -1.48027527e-03 2.75170337e+02] [ 1.70978960e-03 -3.39784128e-05 9.99998538e-01 1.45946241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:248.99, Y:275.19, Z:1.46 [[ 4.82185867e-01 -8.76068518e-01 -8.61308191e-04 2.48989115e+02] [ 8.76067273e-01 4.82186635e-01 -1.47737760e-03 2.75193457e+02] [ 1.70959530e-03 -4.21933174e-05 9.99998538e-01 1.46115350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.00, Y:275.22, Z:1.46 [[ 4.81008855e-01 -8.76715314e-01 -8.60284812e-04 2.49003051e+02] [ 8.76714069e-01 4.81009622e-01 -1.47797416e-03 2.75218415e+02] [ 1.70956785e-03 -4.33051405e-05 9.99998538e-01 1.45884117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.03, Y:275.25, Z:1.46 [[ 4.84012185e-01 -8.75060833e-01 -8.62739333e-04 2.49025677e+02] [ 8.75059588e-01 4.84012952e-01 -1.47654481e-03 2.75245004e+02] [ 1.70964354e-03 -4.02826443e-05 9.99998538e-01 1.45902565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.32275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.03, Y:275.27, Z:1.46 [[ 4.78768274e-01 -8.77940855e-01 -8.91255658e-04 2.49031540e+02] [ 8.77939645e-01 4.78769097e-01 -1.45987091e-03 2.75267351e+02] [ 1.70838598e-03 -8.35287988e-05 9.99998537e-01 1.46198681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.05, Y:275.29, Z:1.46 [[ 4.78453115e-01 -8.78112670e-01 -8.69338925e-04 2.49045900e+02] [ 8.78111437e-01 4.78453902e-01 -1.47265902e-03 2.75294222e+02] [ 1.70909914e-03 -5.87781569e-05 9.99998538e-01 1.45893412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.06, Y:275.32, Z:1.46 [[ 4.81606219e-01 -8.76387283e-01 -8.83145010e-04 2.49064368e+02] [ 8.76386062e-01 4.81607024e-01 -1.46463069e-03 2.75316743e+02] [ 1.70891255e-03 -6.86007293e-05 9.99998537e-01 1.46291637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.08, Y:275.34, Z:1.46 [[ 4.80522284e-01 -8.76982066e-01 -8.89217339e-04 2.49078374e+02] [ 8.76980852e-01 4.80523101e-01 -1.46110270e-03 2.75342897e+02] [ 1.70865034e-03 -7.77341731e-05 9.99998537e-01 1.46088058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.09, Y:275.37, Z:1.46 [[ 4.76123460e-01 -8.79377994e-01 -8.90697506e-04 2.49086300e+02] [ 8.79376786e-01 4.76124285e-01 -1.46024477e-03 2.75367909e+02] [ 1.70818983e-03 -8.80019190e-05 9.99998537e-01 1.46180551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.10, Y:275.39, Z:1.46 [[ 4.75904950e-01 -8.79496283e-01 -8.76300436e-04 2.49099438e+02] [ 8.79495059e-01 4.75905751e-01 -1.46857698e-03 2.75391536e+02] [ 1.70864441e-03 -7.17988492e-05 9.99998538e-01 1.46109804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.11, Y:275.42, Z:1.46 [[ 4.74184178e-01 -8.80425236e-01 -8.76561074e-04 2.49109879e+02] [ 8.80424015e-01 4.74184983e-01 -1.46842621e-03 2.75416068e+02] [ 1.70849159e-03 -7.54409427e-05 9.99998538e-01 1.46048278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.12, Y:275.44, Z:1.46 [[ 4.73796832e-01 -8.80633754e-01 -8.67318056e-04 2.49121962e+02] [ 8.80632524e-01 4.73797622e-01 -1.47376709e-03 2.75439416e+02] [ 1.70878228e-03 -6.55223091e-05 9.99998538e-01 1.46117006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.14, Y:275.46, Z:1.46 [[ 4.74984279e-01 -8.79993858e-01 -8.62988334e-04 2.49135974e+02] [ 8.79992622e-01 4.74985059e-01 -1.47626380e-03 2.75462904e+02] [ 1.70900964e-03 -5.82212715e-05 9.99998538e-01 1.46389211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.15, Y:275.49, Z:1.46 [[ 4.74127701e-01 -8.80455671e-01 -8.57278609e-04 2.49149827e+02] [ 8.80454429e-01 4.74128473e-01 -1.47955284e-03 2.75488830e+02] [ 1.70914089e-03 -5.32977627e-05 9.99998538e-01 1.46167531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.62275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.16, Y:275.51, Z:1.46 [[ 4.76469867e-01 -8.79190373e-01 -8.67683296e-04 2.49160695e+02] [ 8.79189141e-01 4.76470654e-01 -1.47355241e-03 2.75511009e+02] [ 1.70895872e-03 -6.07544086e-05 9.99998538e-01 1.46330437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.18, Y:275.54, Z:1.46 [[ 4.81216519e-01 -8.76601351e-01 -8.56103633e-04 2.49180335e+02] [ 8.76600102e-01 4.81217279e-01 -1.48022302e-03 2.75535114e+02] [ 1.70953736e-03 -3.81527632e-05 9.99998538e-01 1.46377662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.68275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:249.19, Y:275.56, Z:1.47 [[ 4.79117685e-01 -8.77750245e-01 -8.66514161e-04 2.49186759e+02] [ 8.77749009e-01 4.79118466e-01 -1.47424476e-03 2.75558292e+02] [ 1.70918163e-03 -5.42452108e-05 9.99998538e-01 1.46550323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.21, Y:275.58, Z:1.46 [[ 4.85825112e-01 -8.74055632e-01 -8.44217835e-04 2.49206905e+02] [ 8.74054367e-01 4.85825846e-01 -1.48703892e-03 2.75584538e+02] [ 1.70989759e-03 -1.54514341e-05 9.99998538e-01 1.46303336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.22, Y:275.61, Z:1.46 [[ 4.86298830e-01 -8.73792139e-01 -8.63656732e-04 2.49219846e+02] [ 8.73790893e-01 4.86299596e-01 -1.47587974e-03 2.75607930e+02] [ 1.70960803e-03 -3.69367975e-05 9.99998538e-01 1.46314165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.23, Y:275.63, Z:1.46 [[ 4.88111918e-01 -8.72780619e-01 -8.64351489e-04 2.49231378e+02] [ 8.72779372e-01 4.88112682e-01 -1.47548069e-03 2.75630235e+02] [ 1.70967187e-03 -3.41884401e-05 9.99998538e-01 1.46101776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.25, Y:275.66, Z:1.47 [[ 4.89382939e-01 -8.72068584e-01 -8.50656680e-04 2.49245170e+02] [ 8.72067323e-01 4.89383678e-01 -1.48333434e-03 2.75655943e+02] [ 1.70986677e-03 -1.59113771e-05 9.99998538e-01 1.46609394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.27, Y:275.68, Z:1.47 [[ 4.95140484e-01 -8.68812506e-01 -8.55088551e-04 2.49269144e+02] [ 8.68811244e-01 4.95141223e-01 -1.48079419e-03 2.75681987e+02] [ 1.70992210e-03 -9.70939513e-06 9.99998538e-01 1.46508103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.28, Y:275.71, Z:1.47 [[ 4.93852615e-01 -8.69545180e-01 -8.80628333e-04 2.49281307e+02] [ 8.69543945e-01 4.93853398e-01 -1.46614971e-03 2.75707477e+02] [ 1.70978471e-03 -4.16831672e-05 9.99998537e-01 1.46580920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:249.30, Y:275.73, Z:1.46 [[ 4.93864014e-01 -8.69538711e-01 -8.75270707e-04 2.49298633e+02] [ 8.69537470e-01 4.93864789e-01 -1.46921267e-03 2.75732169e+02] [ 1.70980268e-03 -3.54894075e-05 9.99998538e-01 1.46385668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.31, Y:275.75, Z:1.47 [[ 4.90876724e-01 -8.71228593e-01 -8.83176998e-04 2.49307153e+02] [ 8.71227364e-01 4.90877516e-01 -1.46469533e-03 2.75754318e+02] [ 1.70961618e-03 -5.04631229e-05 9.99998537e-01 1.46614853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.32, Y:275.78, Z:1.46 [[ 4.91405692e-01 -8.70930361e-01 -8.67312215e-04 2.49324766e+02] [ 8.70929114e-01 4.91406457e-01 -1.47375590e-03 2.75779787e+02] [ 1.70974158e-03 -3.11554202e-05 9.99998538e-01 1.46433487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.34, Y:275.80, Z:1.46 [[ 4.90793642e-01 -8.71275403e-01 -8.79505589e-04 2.49338061e+02] [ 8.71274170e-01 4.90794428e-01 -1.46679830e-03 2.75804080e+02] [ 1.70964172e-03 -4.63952221e-05 9.99998538e-01 1.46438634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.35, Y:275.83, Z:1.47 [[ 4.89793617e-01 -8.71837967e-01 -8.78782156e-04 2.49350790e+02] [ 8.71836734e-01 4.89794403e-01 -1.46721061e-03 2.75826929e+02] [ 1.70959249e-03 -4.75241746e-05 9.99998538e-01 1.46562209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.36, Y:275.85, Z:1.46 [[ 4.86791561e-01 -8.73517726e-01 -8.71547724e-04 2.49364390e+02] [ 8.73516488e-01 4.86792339e-01 -1.47132597e-03 2.75851808e+02] [ 1.70949207e-03 -4.50822414e-05 9.99998538e-01 1.46264257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.38, Y:275.88, Z:1.46 [[ 4.83895773e-01 -8.75125209e-01 -8.65386224e-04 2.49379929e+02] [ 8.75123968e-01 4.83896545e-01 -1.47481547e-03 2.75875935e+02] [ 1.70940560e-03 -4.36632527e-05 9.99998538e-01 1.46317614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.39, Y:275.90, Z:1.46 [[ 4.80436346e-01 -8.77029175e-01 -8.62509625e-04 2.49389409e+02] [ 8.77027933e-01 4.80437118e-01 -1.47644241e-03 2.75897032e+02] [ 1.70926471e-03 -4.71084377e-05 9.99998538e-01 1.46383266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.41, Y:275.92, Z:1.46 [[ 4.79941784e-01 -8.77299936e-01 -8.40557463e-04 2.49407100e+02] [ 8.77298673e-01 4.79942519e-01 -1.48883692e-03 2.75922765e+02] [ 1.70957580e-03 -2.28649005e-05 9.99998538e-01 1.46357909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.42, Y:275.95, Z:1.46 [[ 4.80061540e-01 -8.77234400e-01 -8.51795303e-04 2.49423536e+02] [ 8.77233148e-01 4.80062294e-01 -1.48249362e-03 2.75946342e+02] [ 1.70940921e-03 -3.55349070e-05 9.99998538e-01 1.46359025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.44, Y:275.97, Z:1.46 [[ 4.79410646e-01 -8.77590276e-01 -8.59819510e-04 2.49436385e+02] [ 8.77589033e-01 4.79411415e-01 -1.47795709e-03 2.75967385e+02] [ 1.70924806e-03 -4.60198076e-05 9.99998538e-01 1.46416404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.45, Y:275.99, Z:1.46 [[ 4.75496364e-01 -8.79717275e-01 -8.51132596e-04 2.49447688e+02] [ 8.79716026e-01 4.75497123e-01 -1.48286142e-03 2.75990084e+02] [ 1.70920990e-03 -4.36597736e-05 9.99998538e-01 1.46277165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.46, Y:276.01, Z:1.46 [[ 4.74968638e-01 -8.80002322e-01 -8.39751416e-04 2.49462035e+02] [ 8.80001063e-01 4.74969380e-01 -1.48927886e-03 2.76012580e+02] [ 1.70942506e-03 -3.16213871e-05 9.99998538e-01 1.46167629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.48, Y:276.04, Z:1.46 [[ 4.77295699e-01 -8.78742346e-01 -8.39225545e-04 2.49480147e+02] [ 8.78741084e-01 4.77296436e-01 -1.48957513e-03 2.76039313e+02] [ 1.70951211e-03 -2.64941599e-05 9.99998538e-01 1.46177486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.49, Y:276.06, Z:1.46 [[ 4.76483573e-01 -8.79182957e-01 -8.56156502e-04 2.49489558e+02] [ 8.79181712e-01 4.76484340e-01 -1.48001309e-03 2.76061793e+02] [ 1.70914745e-03 -4.75152147e-05 9.99998538e-01 1.46206869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.50, Y:276.09, Z:1.46 [[ 4.77856815e-01 -8.78437339e-01 -8.39698645e-04 2.49504857e+02] [ 8.78436077e-01 4.77857552e-01 -1.48929242e-03 2.76087403e+02] [ 1.70950641e-03 -2.59530505e-05 9.99998538e-01 1.46180512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.52, Y:276.11, Z:1.46 [[ 4.78130690e-01 -8.78288290e-01 -8.50632627e-04 2.49517113e+02] [ 8.78287038e-01 4.78131445e-01 -1.48315974e-03 2.76112633e+02] [ 1.70935604e-03 -3.79554195e-05 9.99998538e-01 1.46011145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.53, Y:276.14, Z:1.46 [[ 4.76919743e-01 -8.78946436e-01 -8.48651847e-04 2.49528011e+02] [ 8.78945184e-01 4.76920497e-01 -1.48426987e-03 2.76135157e+02] [ 1.70933317e-03 -3.80408494e-05 9.99998538e-01 1.46087127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.55, Y:276.16, Z:1.46 [[ 4.77534116e-01 -8.78612811e-01 -8.35076835e-04 2.49545142e+02] [ 8.78611544e-01 4.77534846e-01 -1.49186851e-03 2.76160974e+02] [ 1.70955307e-03 -2.12900367e-05 9.99998539e-01 1.46117921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.56, Y:276.19, Z:1.46 [[ 4.79327879e-01 -8.77635499e-01 -8.46283526e-04 2.49562646e+02] [ 8.77634242e-01 4.79328625e-01 -1.48559628e-03 2.76186127e+02] [ 1.70945995e-03 -3.06396863e-05 9.99998538e-01 1.46241037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.57, Y:276.21, Z:1.46 [[ 4.75725385e-01 -8.79593438e-01 -8.61077573e-04 2.49568743e+02] [ 8.79592199e-01 4.75726161e-01 -1.47730921e-03 2.76206895e+02] [ 1.70906861e-03 -5.46036260e-05 9.99998538e-01 1.46278971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:276.23, Z:1.46 [[ 4.77638633e-01 -8.78555997e-01 -8.34164736e-04 2.49587859e+02] [ 8.78554730e-01 4.77639361e-01 -1.49235240e-03 2.76234393e+02] [ 1.70954506e-03 -2.00542157e-05 9.99998539e-01 1.46271686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.59, Y:276.26, Z:1.46 [[ 4.74568462e-01 -8.80218178e-01 -8.56628586e-04 2.49594756e+02] [ 8.80216936e-01 4.74569232e-01 -1.47979159e-03 2.76255643e+02] [ 1.70906903e-03 -5.17565686e-05 9.99998538e-01 1.46329922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.61, Y:276.28, Z:1.46 [[ 4.74366364e-01 -8.80327132e-01 -8.33140550e-04 2.49607395e+02] [ 8.80325866e-01 4.74367095e-01 -1.49289953e-03 2.76280933e+02] [ 1.70945443e-03 -2.52538524e-05 9.99998539e-01 1.46279346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.62, Y:276.31, Z:1.46 [[ 4.74272548e-01 -8.80377679e-01 -8.32664804e-04 2.49620682e+02] [ 8.80376413e-01 4.74273278e-01 -1.49316483e-03 2.76305837e+02] [ 1.70945966e-03 -2.48913632e-05 9.99998539e-01 1.46262685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.63, Y:276.33, Z:1.46 [[ 4.74532342e-01 -8.80237675e-01 -8.32193279e-04 2.49633382e+02] [ 8.80236408e-01 4.74533072e-01 -1.49342758e-03 2.76330690e+02] [ 1.70947446e-03 -2.38471331e-05 9.99998539e-01 1.46263849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.65, Y:276.35, Z:1.46 [[ 4.74968905e-01 -8.80002186e-01 -8.31700797e-04 2.49646385e+02] [ 8.80000919e-01 4.74969632e-01 -1.49370181e-03 2.76354421e+02] [ 1.70949348e-03 -2.24355535e-05 9.99998539e-01 1.46254791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.66, Y:276.38, Z:1.46 [[ 4.75335719e-01 -8.79804105e-01 -8.31212176e-04 2.49659508e+02] [ 8.79802837e-01 4.75336445e-01 -1.49397367e-03 2.76378726e+02] [ 1.70950960e-03 -2.11637844e-05 9.99998539e-01 1.46256151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.67, Y:276.40, Z:1.46 [[ 4.76199427e-01 -8.79336918e-01 -8.30741495e-04 2.49672780e+02] [ 8.79335649e-01 4.76200152e-01 -1.49423535e-03 2.76403283e+02] [ 1.70953553e-03 -1.89465949e-05 9.99998539e-01 1.46289907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.69, Y:276.43, Z:1.46 [[ 4.76395534e-01 -8.79230690e-01 -8.30273420e-04 2.49685617e+02] [ 8.79229420e-01 4.76396257e-01 -1.49449539e-03 2.76427231e+02] [ 1.70954536e-03 -1.80298880e-05 9.99998539e-01 1.46310735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.70, Y:276.45, Z:1.46 [[ 4.77096025e-01 -8.78850781e-01 -8.29780007e-04 2.49699986e+02] [ 8.78849510e-01 4.77096746e-01 -1.49476929e-03 2.76452278e+02] [ 1.70956450e-03 -1.61032640e-05 9.99998539e-01 1.46339418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.71, Y:276.48, Z:1.46 [[ 4.77191346e-01 -8.78799026e-01 -8.31734106e-04 2.49712412e+02] [ 8.78797756e-01 4.77192071e-01 -1.49368511e-03 2.76476281e+02] [ 1.70954594e-03 -1.81524598e-05 9.99998539e-01 1.46263621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.73, Y:276.50, Z:1.46 [[ 4.77259991e-01 -8.78761750e-01 -8.29109330e-04 2.49725041e+02] [ 8.78760478e-01 4.77260711e-01 -1.49514064e-03 2.76499775e+02] [ 1.70957371e-03 -1.50177034e-05 9.99998539e-01 1.46196081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.74, Y:276.52, Z:1.46 [[ 4.76845937e-01 -8.78986499e-01 -8.28624339e-04 2.49738545e+02] [ 8.78985227e-01 4.76846656e-01 -1.49540938e-03 2.76523830e+02] [ 1.70957140e-03 -1.52686676e-05 9.99998539e-01 1.46170387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.75, Y:276.55, Z:1.46 [[ 4.74617425e-01 -8.80191806e-01 -8.28171475e-04 2.49751780e+02] [ 8.80190535e-01 4.74618147e-01 -1.49566014e-03 2.76549882e+02] [ 1.70953301e-03 -1.90823326e-05 9.99998539e-01 1.46084900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.76, Y:276.57, Z:1.46 [[ 4.73761822e-01 -8.80652618e-01 -8.37993567e-04 2.49763605e+02] [ 8.80651358e-01 4.73762562e-01 -1.49022226e-03 2.76574058e+02] [ 1.70937811e-03 -3.19697614e-05 9.99998539e-01 1.46062384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.78, Y:276.60, Z:1.46 [[ 4.74675307e-01 -8.80160587e-01 -8.33050684e-04 2.49777020e+02] [ 8.80159321e-01 4.74676038e-01 -1.49295421e-03 2.76596539e+02] [ 1.70946865e-03 -2.45488262e-05 9.99998539e-01 1.46071367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.79, Y:276.62, Z:1.46 [[ 4.73047859e-01 -8.81036344e-01 -8.26429268e-04 2.49790495e+02] [ 8.81035073e-01 4.73048581e-01 -1.49661056e-03 2.76622604e+02] [ 1.70950949e-03 -2.01447489e-05 9.99998539e-01 1.45922028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.80, Y:276.65, Z:1.46 [[ 4.72434168e-01 -8.81365572e-01 -8.28467476e-04 2.49803118e+02] [ 8.81364303e-01 4.72434893e-01 -1.49548557e-03 2.76646053e+02] [ 1.70946644e-03 -2.36631789e-05 9.99998539e-01 1.45865315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.82, Y:276.67, Z:1.46 [[ 4.71203410e-01 -8.82024186e-01 -8.25544262e-04 2.49815895e+02] [ 8.82022916e-01 4.71204133e-01 -1.49709752e-03 2.76670574e+02] [ 1.70947609e-03 -2.27115008e-05 9.99998539e-01 1.45753386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.83, Y:276.69, Z:1.46 [[ 4.69757212e-01 -8.82795266e-01 -8.25056356e-04 2.49826790e+02] [ 8.82793996e-01 4.69757936e-01 -1.49736636e-03 2.76694783e+02] [ 1.70944470e-03 -2.49561521e-05 9.99998539e-01 1.45521853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.12275509600005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.84, Y:276.72, Z:1.45 [[ 4.68613033e-01 -8.83403170e-01 -8.15454397e-04 2.49839585e+02] [ 8.83401892e-01 4.68613742e-01 -1.50265504e-03 2.76719872e+02] [ 1.70958336e-03 -1.62102218e-05 9.99998539e-01 1.45351268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1527550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:249.85, Y:276.74, Z:1.45 [[ 4.67738161e-01 -8.83866703e-01 -8.14888190e-04 2.49853812e+02] [ 8.83865425e-01 4.67738871e-01 -1.50296662e-03 2.76744930e+02] [ 1.70957703e-03 -1.72566536e-05 9.99998539e-01 1.45346805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.18275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.87, Y:276.77, Z:1.45 [[ 4.65082011e-01 -8.85267216e-01 -8.24183554e-04 2.49865633e+02] [ 8.85265950e-01 4.65082740e-01 -1.49785191e-03 2.76769880e+02] [ 1.70931273e-03 -3.29976608e-05 9.99998539e-01 1.45099587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.88, Y:276.79, Z:1.45 [[ 4.63623599e-01 -8.86031873e-01 -8.23709318e-04 2.49878435e+02] [ 8.86030607e-01 4.63624329e-01 -1.49811266e-03 2.76794460e+02] [ 1.70926724e-03 -3.52712857e-05 9.99998539e-01 1.44993679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.24275509600005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:249.89, Y:276.82, Z:1.45 [[ 4.61814784e-01 -8.86976002e-01 -8.23236645e-04 2.49890668e+02] [ 8.86974737e-01 4.61815516e-01 -1.49837235e-03 2.76818142e+02] [ 1.70920377e-03 -3.82196022e-05 9.99998539e-01 1.44932019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.90, Y:276.84, Z:1.45 [[ 4.57882283e-01 -8.89012451e-01 -8.22741456e-04 2.49903281e+02] [ 8.89011189e-01 4.57883020e-01 -1.49864421e-03 2.76844641e+02] [ 1.70903270e-03 -4.52237285e-05 9.99998539e-01 1.45004878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.91, Y:276.87, Z:1.45 [[ 4.57688999e-01 -8.89111966e-01 -8.32749616e-04 2.49914022e+02] [ 8.89110714e-01 4.57689753e-01 -1.49315076e-03 2.76865278e+02] [ 1.70871917e-03 -5.70079307e-05 9.99998539e-01 1.44809456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.93, Y:276.89, Z:1.45 [[ 4.56434123e-01 -8.89756830e-01 -8.21691147e-04 2.49925934e+02] [ 8.89755568e-01 4.56434860e-01 -1.49921171e-03 2.76889973e+02] [ 1.70898234e-03 -4.68128928e-05 9.99998539e-01 1.44795206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.94, Y:276.91, Z:1.45 [[ 4.55437952e-01 -8.90267150e-01 -8.21232974e-04 2.49936038e+02] [ 8.90265888e-01 4.55438690e-01 -1.49946264e-03 2.76914100e+02] [ 1.70894360e-03 -4.82035096e-05 9.99998539e-01 1.44800121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.95, Y:276.94, Z:1.45 [[ 4.54781167e-01 -8.90602839e-01 -8.20752616e-04 2.49947740e+02] [ 8.90601577e-01 4.54781905e-01 -1.49972553e-03 2.76938575e+02] [ 1.70892325e-03 -4.89166486e-05 9.99998539e-01 1.44790340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.42275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:249.96, Y:276.97, Z:1.45 [[ 4.55658572e-01 -8.90154252e-01 -8.20300155e-04 2.49962352e+02] [ 8.90152990e-01 4.55659308e-01 -1.49997297e-03 2.76966675e+02] [ 1.70898472e-03 -4.67170957e-05 9.99998539e-01 1.44702447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.97, Y:276.99, Z:1.45 [[ 4.54304484e-01 -8.90846082e-01 -8.33663617e-04 2.49971125e+02] [ 8.90844833e-01 4.54305244e-01 -1.49266518e-03 2.76989087e+02] [ 1.70847268e-03 -6.45404395e-05 9.99998539e-01 1.44792128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.98, Y:277.01, Z:1.45 [[ 4.54346210e-01 -8.90824814e-01 -8.19509916e-04 2.49982137e+02] [ 8.90823552e-01 4.54346947e-01 -1.50039588e-03 2.77012018e+02] [ 1.70893171e-03 -4.83395545e-05 9.99998539e-01 1.44812283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:249.99, Y:277.04, Z:1.45 [[ 4.55458417e-01 -8.90256682e-01 -8.18994485e-04 2.49993213e+02] [ 8.90255418e-01 4.55459151e-01 -1.50067717e-03 2.77038008e+02] [ 1.70900641e-03 -4.56182287e-05 9.99998539e-01 1.45032213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.01, Y:277.06, Z:1.45 [[ 4.56247506e-01 -8.89852540e-01 -8.18527062e-04 2.50005250e+02] [ 8.89851275e-01 4.56248238e-01 -1.50093208e-03 2.77063023e+02] [ 1.70905975e-03 -4.35708310e-05 9.99998539e-01 1.45055006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.02, Y:277.09, Z:1.45 [[ 4.58026760e-01 -8.88938028e-01 -8.18057207e-04 2.50015679e+02] [ 8.88936762e-01 4.58027489e-01 -1.50118812e-03 2.77087977e+02] [ 1.70915590e-03 -3.96167925e-05 9.99998539e-01 1.45064460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.03, Y:277.11, Z:1.45 [[ 4.58553192e-01 -8.88666587e-01 -8.17562006e-04 2.50028006e+02] [ 8.88665319e-01 4.58553919e-01 -1.50145777e-03 2.77113365e+02] [ 1.70919161e-03 -3.80407500e-05 9.99998539e-01 1.45145160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.04, Y:277.14, Z:1.45 [[ 4.59137959e-01 -8.88364602e-01 -8.17093771e-04 2.50040613e+02] [ 8.88363334e-01 4.59138685e-01 -1.50171254e-03 2.77138660e+02] [ 1.70922762e-03 -3.63829168e-05 9.99998539e-01 1.45163083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.05, Y:277.16, Z:1.45 [[ 4.60634034e-01 -8.87589781e-01 -8.16626593e-04 2.50052176e+02] [ 8.87588511e-01 4.60634757e-01 -1.50196654e-03 2.77162801e+02] [ 1.70929675e-03 -3.29714740e-05 9.99998539e-01 1.45186993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.06, Y:277.19, Z:1.45 [[ 4.60872003e-01 -8.87466242e-01 -8.16134367e-04 2.50064509e+02] [ 8.87464971e-01 4.60872724e-01 -1.50223396e-03 2.77187547e+02] [ 1.70931600e-03 -3.19530886e-05 9.99998539e-01 1.45224211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.08, Y:277.21, Z:1.45 [[ 4.61319222e-01 -8.87233853e-01 -8.15673316e-04 2.50077303e+02] [ 8.87232581e-01 4.61319942e-01 -1.50248426e-03 2.77212278e+02] [ 1.70934126e-03 -3.05670731e-05 9.99998539e-01 1.45256705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.09, Y:277.24, Z:1.45 [[ 4.61806590e-01 -8.86980275e-01 -8.15210277e-04 2.50090072e+02] [ 8.86979003e-01 4.61807309e-01 -1.50273545e-03 2.77237552e+02] [ 1.70936677e-03 -2.91012656e-05 9.99998539e-01 1.45332572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.10, Y:277.26, Z:1.45 [[ 4.61605416e-01 -8.87084988e-01 -8.14749501e-04 2.50102676e+02] [ 8.87083715e-01 4.61606134e-01 -1.50298523e-03 2.77261288e+02] [ 1.70936900e-03 -2.89648922e-05 9.99998539e-01 1.45336381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.12, Y:277.28, Z:1.45 [[ 4.60902691e-01 -8.87450306e-01 -8.14263788e-04 2.50115040e+02] [ 8.87449034e-01 4.60903410e-01 -1.50324833e-03 2.77284078e+02] [ 1.70935514e-03 -2.97664122e-05 9.99998539e-01 1.45349120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.13, Y:277.31, Z:1.45 [[ 4.60482364e-01 -8.87668480e-01 -8.13736136e-04 2.50128654e+02] [ 8.87667207e-01 4.60483082e-01 -1.50353390e-03 2.77308592e+02] [ 1.70935137e-03 -2.99760393e-05 9.99998539e-01 1.45427163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.14, Y:277.33, Z:1.45 [[ 4.60201460e-01 -8.87814144e-01 -8.13260167e-04 2.50142102e+02] [ 8.87812871e-01 4.60202178e-01 -1.50379131e-03 2.77333798e+02] [ 1.70935129e-03 -2.99758883e-05 9.99998539e-01 1.45432033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.16, Y:277.36, Z:1.45 [[ 4.59573548e-01 -8.88139343e-01 -8.12784247e-04 2.50155794e+02] [ 8.88138070e-01 4.59574266e-01 -1.50404849e-03 2.77358680e+02] [ 1.70933936e-03 -3.06437307e-05 9.99998539e-01 1.45486630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.17, Y:277.38, Z:1.45 [[ 4.58200268e-01 -8.88848612e-01 -8.12304819e-04 2.50169247e+02] [ 8.88847340e-01 4.58200987e-01 -1.50430738e-03 2.77381763e+02] [ 1.70930039e-03 -3.27409343e-05 9.99998539e-01 1.45472209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.18, Y:277.41, Z:1.45 [[ 4.57251376e-01 -8.89337124e-01 -8.11799928e-04 2.50182726e+02] [ 8.89335852e-01 4.57252095e-01 -1.50457979e-03 2.77405533e+02] [ 1.70927588e-03 -3.39916009e-05 9.99998539e-01 1.45473938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.20, Y:277.43, Z:1.46 [[ 4.55200492e-01 -8.90388597e-01 -8.11296925e-04 2.50197502e+02] [ 8.90387326e-01 4.55201214e-01 -1.50485097e-03 2.77428985e+02] [ 1.70920549e-03 -3.73595968e-05 9.99998539e-01 1.45553773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.21, Y:277.45, Z:1.46 [[ 4.54235742e-01 -8.90881155e-01 -8.10830285e-04 2.50211498e+02] [ 8.90879885e-01 4.54236464e-01 -1.50510236e-03 2.77452789e+02] [ 1.70917601e-03 -3.86811036e-05 9.99998539e-01 1.45577473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.23, Y:277.48, Z:1.46 [[ 4.53008383e-01 -8.91505888e-01 -8.10364509e-04 2.50225752e+02] [ 8.91504618e-01 4.53009106e-01 -1.50535310e-03 2.77477266e+02] [ 1.70913365e-03 -4.05061299e-05 9.99998539e-01 1.45634212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.24, Y:277.50, Z:1.46 [[ 4.51655856e-01 -8.92191869e-01 -8.09896581e-04 2.50241280e+02] [ 8.92190600e-01 4.51656580e-01 -1.50560481e-03 2.77501113e+02] [ 1.70908349e-03 -4.25668890e-05 9.99998539e-01 1.45722346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.26, Y:277.52, Z:1.46 [[ 4.51163911e-01 -8.92440738e-01 -8.09430834e-04 2.50255074e+02] [ 8.92439468e-01 4.51164635e-01 -1.50585516e-03 2.77524794e+02] [ 1.70907305e-03 -4.29805216e-05 9.99998539e-01 1.45701600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.28, Y:277.55, Z:1.46 [[ 4.57093061e-01 -8.89418506e-01 -8.08940362e-04 2.50282511e+02] [ 8.89417231e-01 4.57093776e-01 -1.50611859e-03 2.77553709e+02] [ 1.70933135e-03 -3.10491400e-05 9.99998539e-01 1.45579697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.30, Y:277.58, Z:1.45 [[ 4.56970773e-01 -8.89481297e-01 -8.57193707e-04 2.50295198e+02] [ 8.89480070e-01 4.56971569e-01 -1.48016022e-03 2.77577302e+02] [ 1.70828799e-03 -8.60667575e-05 9.99998537e-01 1.45456968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:277.60, Z:1.45 [[ 4.56176237e-01 -8.89889050e-01 -8.48895828e-04 2.50308387e+02] [ 8.89887815e-01 4.56177020e-01 -1.48461367e-03 2.77602643e+02] [ 1.70838822e-03 -7.81765751e-05 9.99998538e-01 1.45383220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.31, Y:277.62, Z:1.46 [[ 4.52814770e-01 -8.91604211e-01 -8.45723591e-04 2.50312264e+02] [ 8.91602976e-01 4.52815552e-01 -1.48631363e-03 2.77621513e+02] [ 1.70816029e-03 -8.10249037e-05 9.99998538e-01 1.45714931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.33, Y:277.65, Z:1.46 [[ 4.53408414e-01 -8.91302508e-01 -8.05636508e-04 2.50326589e+02] [ 8.91301233e-01 4.53409129e-01 -1.50773361e-03 2.77646097e+02] [ 1.70912970e-03 -3.44457073e-05 9.99998539e-01 1.45763115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.34, Y:277.67, Z:1.46 [[ 4.53276647e-01 -8.91369527e-01 -8.05154106e-04 2.50340348e+02] [ 8.91368252e-01 4.53277361e-01 -1.50799118e-03 2.77670331e+02] [ 1.70913551e-03 -3.41516227e-05 9.99998539e-01 1.45824295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.35, Y:277.69, Z:1.46 [[ 4.53036798e-01 -8.91491454e-01 -8.04674685e-04 2.50354812e+02] [ 8.91490179e-01 4.53037511e-01 -1.50824696e-03 2.77693112e+02] [ 1.70913709e-03 -3.40682066e-05 9.99998539e-01 1.45798292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:277.72, Z:1.46 [[ 4.56471548e-01 -8.89737646e-01 -8.04168764e-04 2.50378537e+02] [ 8.89736368e-01 4.56472256e-01 -1.50851666e-03 2.77721214e+02] [ 1.70926479e-03 -2.69032610e-05 9.99998539e-01 1.45688338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.38, Y:277.74, Z:1.46 [[ 4.51318083e-01 -8.92362752e-01 -8.40964233e-04 2.50382851e+02] [ 8.92361513e-01 4.51318859e-01 -1.48887530e-03 2.77740028e+02] [ 1.70815988e-03 -7.84877679e-05 9.99998538e-01 1.46128709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.40, Y:277.76, Z:1.46 [[ 4.50546419e-01 -8.92752642e-01 -8.03201705e-04 2.50396462e+02] [ 8.92751367e-01 4.50547133e-01 -1.50897565e-03 2.77764343e+02] [ 1.70902222e-03 -3.71958457e-05 9.99998539e-01 1.46209185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.41, Y:277.79, Z:1.46 [[ 4.49675895e-01 -8.93191438e-01 -8.02731255e-04 2.50410223e+02] [ 8.93190164e-01 4.49676610e-01 -1.50922587e-03 2.77789048e+02] [ 1.70899710e-03 -3.83291665e-05 9.99998539e-01 1.46331139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.42, Y:277.81, Z:1.46 [[ 4.49097122e-01 -8.93482586e-01 -8.02245880e-04 2.50423538e+02] [ 8.93481312e-01 4.49097837e-01 -1.50948383e-03 2.77812228e+02] [ 1.70898441e-03 -3.88868547e-05 9.99998539e-01 1.46355942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.44, Y:277.84, Z:1.47 [[ 4.47709655e-01 -8.94178630e-01 -8.01734775e-04 2.50438567e+02] [ 8.94177356e-01 4.47710371e-01 -1.50975525e-03 2.77836276e+02] [ 1.70893585e-03 -4.09610793e-05 9.99998539e-01 1.46547341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.45, Y:277.86, Z:1.47 [[ 4.46892712e-01 -8.94587202e-01 -8.01250246e-04 2.50452024e+02] [ 8.94585928e-01 4.46893429e-01 -1.51001235e-03 2.77859722e+02] [ 1.70891120e-03 -4.19736787e-05 9.99998539e-01 1.46605715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.47, Y:277.88, Z:1.47 [[ 4.45790281e-01 -8.95137076e-01 -8.00740034e-04 2.50465148e+02] [ 8.95135803e-01 4.45790998e-01 -1.51028286e-03 2.77883248e+02] [ 1.70887288e-03 -4.35016508e-05 9.99998539e-01 1.46626621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.48, Y:277.91, Z:1.47 [[ 4.45389608e-01 -8.95336505e-01 -8.00235711e-04 2.50478376e+02] [ 8.95335232e-01 4.45390325e-01 -1.51055004e-03 2.77908268e+02] [ 1.70886783e-03 -4.36959376e-05 9.99998539e-01 1.46650083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.49, Y:277.93, Z:1.47 [[ 4.44109118e-01 -8.95972350e-01 -7.99760979e-04 2.50486819e+02] [ 8.95971077e-01 4.44109836e-01 -1.51080134e-03 2.77932809e+02] [ 1.70881794e-03 -4.56020550e-05 9.99998539e-01 1.46716885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.50, Y:277.96, Z:1.47 [[ 4.47210790e-01 -8.94428249e-01 -7.85894054e-04 2.50503432e+02] [ 8.94426961e-01 4.47211480e-01 -1.51813158e-03 2.77959015e+02] [ 1.70932061e-03 -2.40000069e-05 9.99998539e-01 1.46852142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.52, Y:277.98, Z:1.47 [[ 4.47814234e-01 -8.94126263e-01 -7.98910008e-04 2.50516764e+02] [ 8.94124986e-01 4.47814945e-01 -1.51125081e-03 2.77983922e+02] [ 1.70901288e-03 -3.75657765e-05 9.99998539e-01 1.46833478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.53, Y:278.01, Z:1.47 [[ 4.47940894e-01 -8.94062816e-01 -7.98428687e-04 2.50530122e+02] [ 8.94061539e-01 4.47941604e-01 -1.51150506e-03 2.78010672e+02] [ 1.70902989e-03 -3.67794546e-05 9.99998539e-01 1.46778029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.54, Y:278.03, Z:1.47 [[ 4.50169914e-01 -8.92942549e-01 -8.07772203e-04 2.50541989e+02] [ 8.92941279e-01 4.50170637e-01 -1.50657063e-03 2.78033595e+02] [ 1.70891634e-03 -4.30803742e-05 9.99998539e-01 1.46859862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.55, Y:278.06, Z:1.47 [[ 4.50915390e-01 -8.92566342e-01 -7.97628233e-04 2.50554562e+02] [ 8.92565062e-01 4.50916094e-01 -1.51192217e-03 2.78059089e+02] [ 1.70915425e-03 -3.01861185e-05 9.99998539e-01 1.46911255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.57, Y:278.08, Z:1.47 [[ 4.54233191e-01 -8.90882468e-01 -7.97136708e-04 2.50568982e+02] [ 8.90881185e-01 4.54233890e-01 -1.51218128e-03 2.78084895e+02] [ 1.70926229e-03 -2.32711684e-05 9.99998539e-01 1.46796650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.59, Y:278.11, Z:1.47 [[ 4.57241130e-01 -8.89342396e-01 -8.07496192e-04 2.50585549e+02] [ 8.89341120e-01 4.57241842e-01 -1.50672576e-03 2.78112230e+02] [ 1.70921615e-03 -2.92025783e-05 9.99998539e-01 1.46563353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:278.14, Z:1.47 [[ 4.58124911e-01 -8.88887444e-01 -8.23235234e-04 2.50596973e+02] [ 8.88886182e-01 4.58125649e-01 -1.49843170e-03 2.78136130e+02] [ 1.70908230e-03 -4.52935327e-05 9.99998539e-01 1.46556047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.60, Y:278.16, Z:1.47 [[ 4.57974161e-01 -8.88965126e-01 -8.20700162e-04 2.50602358e+02] [ 8.88963862e-01 4.57974894e-01 -1.49976720e-03 2.78157617e+02] [ 1.70910080e-03 -4.27181624e-05 9.99998539e-01 1.46709045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.61, Y:278.18, Z:1.47 [[ 4.59007886e-01 -8.88431837e-01 -7.95422801e-04 2.50614734e+02] [ 8.88430548e-01 4.59008575e-01 -1.51305566e-03 2.78182627e+02] [ 1.70935271e-03 -1.21734349e-05 9.99998539e-01 1.46783535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.9527550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:250.63, Y:278.21, Z:1.47 [[ 4.61519536e-01 -8.87129689e-01 -7.94950566e-04 2.50626211e+02] [ 8.87128399e-01 4.61520221e-01 -1.51330373e-03 2.78208014e+02] [ 1.70938243e-03 -6.80398607e-06 9.99998539e-01 1.46686148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.64, Y:278.23, Z:1.47 [[ 4.62821689e-01 -8.86451044e-01 -7.94473669e-04 2.50638005e+02] [ 8.86449752e-01 4.62822371e-01 -1.51355406e-03 2.78233740e+02] [ 1.70939176e-03 -3.75534093e-06 9.99998539e-01 1.46839656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.65, Y:278.26, Z:1.47 [[ 4.63816443e-01 -8.85930966e-01 -7.93996430e-04 2.50650214e+02] [ 8.85929673e-01 4.63817123e-01 -1.51380437e-03 2.78259300e+02] [ 1.70939531e-03 -1.29763766e-06 9.99998539e-01 1.46922079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.66, Y:278.28, Z:1.47 [[ 4.64925494e-01 -8.85349453e-01 -7.94566913e-04 2.50660401e+02] [ 8.85348159e-01 4.64926173e-01 -1.51350526e-03 2.78283972e+02] [ 1.70939601e-03 1.98828012e-07 9.99998539e-01 1.46861117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.67, Y:278.31, Z:1.47 [[ 4.65017647e-01 -8.85301055e-01 -7.93321576e-04 2.50672611e+02] [ 8.85299760e-01 4.65018324e-01 -1.51415774e-03 2.78308895e+02] [ 1.70939451e-03 1.78266848e-06 9.99998539e-01 1.46887009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.68, Y:278.33, Z:1.47 [[ 4.64670335e-01 -8.85483400e-01 -7.92840792e-04 2.50684814e+02] [ 8.85482105e-01 4.64671012e-01 -1.51440944e-03 2.78333514e+02] [ 1.70939456e-03 1.65481077e-06 9.99998539e-01 1.46863642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.70, Y:278.36, Z:1.47 [[ 4.63558601e-01 -8.86065909e-01 -7.92333716e-04 2.50696878e+02] [ 8.86064615e-01 4.63559278e-01 -1.51467470e-03 2.78359000e+02] [ 1.70939526e-03 8.16155337e-08 9.99998539e-01 1.46989655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.71, Y:278.38, Z:1.47 [[ 4.61322474e-01 -8.87232184e-01 -7.91849230e-04 2.50707550e+02] [ 8.87230891e-01 4.61323153e-01 -1.51492794e-03 2.78384278e+02] [ 1.70939121e-03 -3.68279388e-06 9.99998539e-01 1.47060711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.72, Y:278.41, Z:1.47 [[ 4.59684140e-01 -8.88082133e-01 -7.85281977e-04 2.50720761e+02] [ 8.88080835e-01 4.59684811e-01 -1.51835727e-03 2.78410484e+02] [ 1.70940816e-03 5.70880949e-07 9.99998539e-01 1.47067362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.73, Y:278.44, Z:1.47 [[ 4.58184420e-01 -8.88856800e-01 -7.91229234e-04 2.50733045e+02] [ 8.88855508e-01 4.58185104e-01 -1.51525175e-03 2.78435393e+02] [ 1.70937127e-03 -9.02372000e-06 9.99998539e-01 1.47110812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.74, Y:278.46, Z:1.47 [[ 4.52841727e-01 -8.91590571e-01 -7.90745905e-04 2.50744862e+02] [ 8.91589283e-01 4.52842417e-01 -1.51550393e-03 2.78462363e+02] [ 1.70929230e-03 -1.87371565e-05 9.99998539e-01 1.47033983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.76, Y:278.48, Z:1.47 [[ 4.52887260e-01 -8.91567431e-01 -8.03976064e-04 2.50756349e+02] [ 8.91566155e-01 4.52887972e-01 -1.50860086e-03 2.78484760e+02] [ 1.70913048e-03 -3.35717404e-05 9.99998539e-01 1.47105587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.31275509600005 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:250.77, Y:278.51, Z:1.47 [[ 4.48693219e-01 -8.93685499e-01 -7.89876268e-04 2.50767247e+02] [ 8.93684214e-01 4.48693913e-01 -1.51594748e-03 2.78510660e+02] [ 1.70919295e-03 -2.57045982e-05 9.99998539e-01 1.46791953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.78, Y:278.53, Z:1.47 [[ 4.48137796e-01 -8.93964139e-01 -7.96260538e-04 2.50779359e+02] [ 8.93962860e-01 4.48138502e-01 -1.51262221e-03 2.78534002e+02] [ 1.70906502e-03 -3.39641636e-05 9.99998539e-01 1.46934688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.79, Y:278.56, Z:1.47 [[ 4.45076579e-01 -8.95492164e-01 -7.88864023e-04 2.50790764e+02] [ 8.95490881e-01 4.45077277e-01 -1.51646986e-03 2.78558351e+02] [ 1.70909233e-03 -3.14753214e-05 9.99998539e-01 1.46790052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4027550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:250.80, Y:278.58, Z:1.47 [[ 4.43037726e-01 -8.96502622e-01 -7.88374889e-04 2.50803069e+02] [ 8.96501340e-01 4.43038426e-01 -1.51672411e-03 2.78583553e+02] [ 1.70902751e-03 -3.48131443e-05 9.99998539e-01 1.46629606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.82, Y:278.61, Z:1.47 [[ 4.41897035e-01 -8.97065433e-01 -7.87890422e-04 2.50815575e+02] [ 8.97064151e-01 4.41897735e-01 -1.51697573e-03 2.78608521e+02] [ 1.70899348e-03 -3.64411755e-05 9.99998539e-01 1.46698461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4627550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.83, Y:278.63, Z:1.47 [[ 4.40468555e-01 -8.97767694e-01 -7.87404929e-04 2.50827614e+02] [ 8.97766412e-01 4.40469258e-01 -1.51722769e-03 2.78632584e+02] [ 1.70894567e-03 -3.86146098e-05 9.99998539e-01 1.46620847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.49275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.84, Y:278.66, Z:1.47 [[ 4.39137794e-01 -8.98419378e-01 -7.86893834e-04 2.50840021e+02] [ 8.98418097e-01 4.39138497e-01 -1.51749272e-03 2.78657393e+02] [ 1.70890024e-03 -4.05712565e-05 9.99998539e-01 1.46613869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5227550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.85, Y:278.68, Z:1.47 [[ 4.38840763e-01 -8.98564503e-01 -7.86410730e-04 2.50852250e+02] [ 8.98563222e-01 4.38841466e-01 -1.51774303e-03 2.78682118e+02] [ 1.70889965e-03 -4.05922479e-05 9.99998539e-01 1.46543050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.55275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:250.87, Y:278.71, Z:1.47 [[ 4.38841633e-01 -8.98564079e-01 -7.85931582e-04 2.50865296e+02] [ 8.98562797e-01 4.38842335e-01 -1.51799111e-03 2.78707694e+02] [ 1.70891233e-03 -4.00511829e-05 9.99998539e-01 1.46642029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5827550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:250.88, Y:278.73, Z:1.47 [[ 4.39354586e-01 -8.98313380e-01 -7.86675916e-04 2.50878439e+02] [ 8.98312099e-01 4.39355289e-01 -1.51760587e-03 2.78732332e+02] [ 1.70891588e-03 -3.99133938e-05 9.99998539e-01 1.46587900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.61275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:250.89, Y:278.76, Z:1.47 [[ 4.40263453e-01 -8.97868295e-01 -7.85306093e-04 2.50891228e+02] [ 8.97867012e-01 4.40264151e-01 -1.51831437e-03 2.78757082e+02] [ 1.70898846e-03 -3.66421067e-05 9.99998539e-01 1.46756552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.90, Y:278.78, Z:1.47 [[ 4.41022962e-01 -8.97495477e-01 -7.84821184e-04 2.50902450e+02] [ 8.97494193e-01 4.41023659e-01 -1.51856498e-03 2.78780088e+02] [ 1.70902991e-03 -3.46504275e-05 9.99998539e-01 1.46667238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.92, Y:278.81, Z:1.47 [[ 4.41410905e-01 -8.97304746e-01 -7.78577658e-04 2.50916439e+02] [ 8.97303456e-01 4.41411591e-01 -1.52178755e-03 2.78805139e+02] [ 1.70918039e-03 -2.68868044e-05 9.99998539e-01 1.46899533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.7027550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:250.93, Y:278.83, Z:1.47 [[ 4.41535907e-01 -8.97243238e-01 -7.83988631e-04 2.50929453e+02] [ 8.97241953e-01 4.41536602e-01 -1.51899632e-03 2.78829430e+02] [ 1.70906885e-03 -3.27360739e-05 9.99998539e-01 1.46771446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.94, Y:278.85, Z:1.47 [[ 4.43250162e-01 -8.96397613e-01 -7.83204679e-04 2.50942468e+02] [ 8.96396326e-01 4.43250853e-01 -1.51940042e-03 2.78853022e+02] [ 1.70914305e-03 -2.85873128e-05 9.99998539e-01 1.46955195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.95, Y:278.88, Z:1.47 [[ 4.42368187e-01 -8.96833192e-01 -7.82792194e-04 2.50954471e+02] [ 8.96831905e-01 4.42368879e-01 -1.51961290e-03 2.78876998e+02] [ 1.70912220e-03 -2.98046094e-05 9.99998539e-01 1.47299624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.97, Y:278.90, Z:1.47 [[ 4.42081468e-01 -8.96974562e-01 -7.82190010e-04 2.50967406e+02] [ 8.96973274e-01 4.42082159e-01 -1.51992280e-03 2.78902473e+02] [ 1.70912434e-03 -2.96738308e-05 9.99998539e-01 1.47304489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.98, Y:278.93, Z:1.47 [[ 4.41883722e-01 -8.97071996e-01 -7.81704045e-04 2.50979879e+02] [ 8.97070708e-01 4.41884412e-01 -1.52017269e-03 2.78926181e+02] [ 1.70912719e-03 -2.95042340e-05 9.99998539e-01 1.47334018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:250.99, Y:278.95, Z:1.48 [[ 4.41793072e-01 -8.97116643e-01 -7.81192291e-04 2.50992848e+02] [ 8.97115355e-01 4.41793761e-01 -1.52043563e-03 2.78951224e+02] [ 1.70913399e-03 -2.91016717e-05 9.99998539e-01 1.47608082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.01, Y:278.98, Z:1.48 [[ 4.41328177e-01 -8.97345436e-01 -7.80003519e-04 2.51005844e+02] [ 8.97344147e-01 4.41328866e-01 -1.52104608e-03 2.78977013e+02] [ 1.70914183e-03 -2.86510977e-05 9.99998539e-01 1.47671243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.91275509600007 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:251.02, Y:279.00, Z:1.48 [[ 4.39305474e-01 -8.98337404e-01 -7.80651075e-04 2.51018683e+02] [ 8.98336117e-01 4.39306166e-01 -1.52071366e-03 2.79001494e+02] [ 1.70905880e-03 -3.32292190e-05 9.99998539e-01 1.47668843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.94275509600004 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.03, Y:279.03, Z:1.48 [[ 4.37838134e-01 -8.99053480e-01 -7.80176451e-04 2.51031614e+02] [ 8.99052194e-01 4.37838828e-01 -1.52095712e-03 2.79026462e+02] [ 1.70901334e-03 -3.54863225e-05 9.99998539e-01 1.47594848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.04, Y:279.05, Z:1.48 [[ 4.37286559e-01 -8.99321887e-01 -7.79703548e-04 2.51042817e+02] [ 8.99320602e-01 4.37287253e-01 -1.52119951e-03 2.79048750e+02] [ 1.70900244e-03 -3.60033635e-05 9.99998539e-01 1.47617908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.00275509600004 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:251.05, Y:279.07, Z:1.48 [[ 4.35467212e-01 -9.00204259e-01 -7.74045486e-04 2.51054092e+02] [ 9.00202969e-01 4.35467899e-01 -1.52409895e-03 2.79073838e+02] [ 1.70907233e-03 -3.31029242e-05 9.99998539e-01 1.47839825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.07, Y:279.10, Z:1.48 [[ 4.35748937e-01 -9.00067925e-01 -7.70793140e-04 2.51067679e+02] [ 9.00066632e-01 4.35749618e-01 -1.52576417e-03 2.79098869e+02] [ 1.70916421e-03 -2.89150688e-05 9.99998539e-01 1.47610428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.08, Y:279.12, Z:1.48 [[ 4.34230845e-01 -9.00801295e-01 -7.74769873e-04 2.51079764e+02] [ 9.00800007e-01 4.34231535e-01 -1.52372982e-03 2.79124624e+02] [ 1.70900731e-03 -3.62622198e-05 9.99998539e-01 1.47811156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.09, Y:279.15, Z:1.48 [[ 4.33906805e-01 -9.00957424e-01 -7.77983717e-04 2.51091558e+02] [ 9.00956139e-01 4.33907501e-01 -1.52208713e-03 2.79148534e+02] [ 1.70890867e-03 -4.04852421e-05 9.99998539e-01 1.47580489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.10, Y:279.17, Z:1.48 [[ 4.34589110e-01 -9.00628504e-01 -7.77260755e-04 2.51103231e+02] [ 9.00627218e-01 4.34589803e-01 -1.52245633e-03 2.79172752e+02] [ 1.70895717e-03 -3.83792490e-05 9.99998539e-01 1.47573116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.12, Y:279.20, Z:1.48 [[ 4.34299242e-01 -9.00768319e-01 -7.76915699e-04 2.51115516e+02] [ 9.00767033e-01 4.34299935e-01 -1.52263240e-03 2.79199413e+02] [ 1.70895346e-03 -3.85419535e-05 9.99998539e-01 1.47500606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.13, Y:279.22, Z:1.47 [[ 4.35851656e-01 -9.00018179e-01 -7.82388159e-04 2.51127195e+02] [ 9.00016896e-01 4.35852356e-01 -1.51984138e-03 2.79222879e+02] [ 1.70889060e-03 -4.17371800e-05 9.99998539e-01 1.47417027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2127550960001 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:251.14, Y:279.25, Z:1.47 [[ 4.37452827e-01 -8.99241025e-01 -7.75948991e-04 2.51138987e+02] [ 8.99239736e-01 4.37453514e-01 -1.52312179e-03 2.79248798e+02] [ 1.70909522e-03 -3.14702312e-05 9.99998539e-01 1.47218010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.15, Y:279.27, Z:1.47 [[ 4.39414313e-01 -8.98284176e-01 -7.75484688e-04 2.51151316e+02] [ 8.98282884e-01 4.39414996e-01 -1.52335815e-03 2.79273439e+02] [ 1.70916812e-03 -2.72192460e-05 9.99998539e-01 1.47413928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.16, Y:279.30, Z:1.48 [[ 4.41181734e-01 -8.97417449e-01 -7.74994970e-04 2.51164223e+02] [ 8.97416156e-01 4.41182414e-01 -1.52360725e-03 2.79298437e+02] [ 1.70922588e-03 -2.33053180e-05 9.99998539e-01 1.47581947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.18, Y:279.32, Z:1.47 [[ 4.41052206e-01 -8.97481115e-01 -7.74513512e-04 2.51176159e+02] [ 8.97479821e-01 4.41052886e-01 -1.52385196e-03 2.79322013e+02] [ 1.70922977e-03 -2.30119804e-05 9.99998539e-01 1.47404412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.19, Y:279.34, Z:1.48 [[ 4.43476576e-01 -8.96285628e-01 -7.73921212e-04 2.51189784e+02] [ 8.96284333e-01 4.43477251e-01 -1.52415271e-03 2.79344227e+02] [ 1.70929262e-03 -1.77274315e-05 9.99998539e-01 1.47627237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.20, Y:279.37, Z:1.48 [[ 4.41715163e-01 -8.97155020e-01 -7.65115252e-04 2.51202502e+02] [ 8.97153718e-01 4.41715826e-01 -1.52861927e-03 2.79370907e+02] [ 1.70937197e-03 -1.12116806e-05 9.99998539e-01 1.47736625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.22, Y:279.40, Z:1.48 [[ 4.41596881e-01 -8.97213239e-01 -7.73028591e-04 2.51215277e+02] [ 8.97211944e-01 4.41597557e-01 -1.52460694e-03 2.79395705e+02] [ 1.70926507e-03 -2.03088161e-05 9.99998539e-01 1.47809159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.23, Y:279.42, Z:1.48 [[ 4.40960497e-01 -8.97526180e-01 -7.72561238e-04 2.51227604e+02] [ 8.97524885e-01 4.40961173e-01 -1.52484372e-03 2.79419995e+02] [ 1.70925667e-03 -2.09970911e-05 9.99998539e-01 1.47928535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.4527550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:251.24, Y:279.44, Z:1.48 [[ 4.40807927e-01 -8.97601123e-01 -7.72068773e-04 2.51239524e+02] [ 8.97599827e-01 4.40808603e-01 -1.52509303e-03 2.79443434e+02] [ 1.70925977e-03 -2.07357015e-05 9.99998539e-01 1.47886912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.25, Y:279.47, Z:1.48 [[ 4.39999470e-01 -8.97997707e-01 -7.64659927e-04 2.51252487e+02] [ 8.97996406e-01 4.40000134e-01 -1.52884053e-03 2.79469458e+02] [ 1.70934576e-03 -1.39728445e-05 9.99998539e-01 1.48092279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.27, Y:279.49, Z:1.48 [[ 4.39631751e-01 -8.98177782e-01 -7.71442557e-04 2.51265520e+02] [ 8.98176487e-01 4.39632427e-01 -1.52541036e-03 2.79491982e+02] [ 1.70924086e-03 -2.22727375e-05 9.99998539e-01 1.48176688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.28, Y:279.52, Z:1.48 [[ 4.38907708e-01 -8.98531824e-01 -7.65351171e-04 2.51278306e+02] [ 8.98530524e-01 4.38908375e-01 -1.52848747e-03 2.79516346e+02] [ 1.70931367e-03 -1.68264568e-05 9.99998539e-01 1.48203530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.57275509600004 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:251.29, Y:279.54, Z:1.48 [[ 4.37503810e-01 -8.99216230e-01 -7.66698798e-04 2.51290518e+02] [ 8.99214933e-01 4.37504481e-01 -1.52780713e-03 2.79540173e+02] [ 1.70926313e-03 -2.10055682e-05 9.99998539e-01 1.48058298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.30, Y:279.57, Z:1.48 [[ 4.35742692e-01 -9.00070956e-01 -7.62400922e-04 2.51303537e+02] [ 9.00069655e-01 4.35743359e-01 -1.52997489e-03 2.79566766e+02] [ 1.70929710e-03 -1.95385556e-05 9.99998539e-01 1.48102824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.32, Y:279.59, Z:1.48 [[ 4.34945827e-01 -9.00456293e-01 -7.69689641e-04 2.51316392e+02] [ 9.00455000e-01 4.34946507e-01 -1.52629930e-03 2.79591280e+02] [ 1.70913963e-03 -2.92133731e-05 9.99998539e-01 1.48028400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.33, Y:279.62, Z:1.48 [[ 4.33726477e-01 -9.01044256e-01 -7.69217062e-04 2.51329377e+02] [ 9.01042964e-01 4.33727158e-01 -1.52653743e-03 2.79616408e+02] [ 1.70910812e-03 -3.09979180e-05 9.99998539e-01 1.47954633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.69275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:251.34, Y:279.64, Z:1.48 [[ 4.32691105e-01 -9.01541911e-01 -7.68737509e-04 2.51342798e+02] [ 9.01540618e-01 4.32691787e-01 -1.52677889e-03 2.79637838e+02] [ 1.70908156e-03 -3.24244432e-05 9.99998539e-01 1.47635905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.36, Y:279.66, Z:1.48 [[ 4.32078938e-01 -9.01835469e-01 -7.60171401e-04 2.51355968e+02] [ 9.01834170e-01 4.32079606e-01 -1.53108564e-03 2.79661471e+02] [ 1.70924190e-03 -2.39986849e-05 9.99998539e-01 1.47603051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.37, Y:279.69, Z:1.48 [[ 4.27797848e-01 -9.03874121e-01 -7.58214730e-04 2.51369096e+02] [ 9.03872823e-01 4.27798519e-01 -1.53206865e-03 2.79686257e+02] [ 1.70916034e-03 -2.99140170e-05 9.99998539e-01 1.47597539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.38, Y:279.71, Z:1.47 [[ 4.27659992e-01 -9.03939347e-01 -7.67097436e-04 2.51381418e+02] [ 9.03938057e-01 4.27660678e-01 -1.52760815e-03 2.79708052e+02] [ 1.70892252e-03 -4.01116776e-05 9.99998539e-01 1.47474164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.39, Y:279.73, Z:1.47 [[ 4.24877333e-01 -9.05250617e-01 -7.56946754e-04 2.51394814e+02] [ 9.05249320e-01 4.24878006e-01 -1.53269828e-03 2.79730829e+02] [ 1.70908609e-03 -3.40167789e-05 9.99998539e-01 1.47341341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.41, Y:279.76, Z:1.48 [[ 4.21987225e-01 -9.06601463e-01 -7.54097546e-04 2.51407999e+02] [ 9.06600166e-01 4.21987897e-01 -1.53412715e-03 2.79757138e+02] [ 1.70906196e-03 -3.62829008e-05 9.99998539e-01 1.47768285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.43, Y:279.78, Z:1.48 [[ 4.22060511e-01 -9.06567338e-01 -7.66181100e-04 2.51425337e+02] [ 9.06566052e-01 4.22061203e-01 -1.52806840e-03 2.79783460e+02] [ 1.70867222e-03 -4.96564461e-05 9.99998539e-01 1.47560693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9027550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:251.43, Y:279.81, Z:1.47 [[ 4.17787983e-01 -9.08544216e-01 -7.80658732e-04 2.51434743e+02] [ 9.08542946e-01 4.17788706e-01 -1.52080792e-03 2.79805419e+02] [ 1.70787164e-03 -7.38867103e-05 9.99998539e-01 1.47472669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.45, Y:279.83, Z:1.48 [[ 4.17675473e-01 -9.08595958e-01 -7.65339762e-04 2.51446737e+02] [ 9.08594674e-01 4.17676170e-01 -1.52847843e-03 2.79830590e+02] [ 1.70843351e-03 -5.69756788e-05 9.99998539e-01 1.47840442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.46, Y:279.86, Z:1.48 [[ 4.17673297e-01 -9.08596958e-01 -7.64862005e-04 2.51458085e+02] [ 9.08595674e-01 4.17673993e-01 -1.52871747e-03 2.79856490e+02] [ 1.70845101e-03 -5.64458430e-05 9.99998539e-01 1.47840883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.47, Y:279.88, Z:1.48 [[ 4.17600737e-01 -9.08630310e-01 -7.64385022e-04 2.51470446e+02] [ 9.08629025e-01 4.17601433e-01 -1.52895593e-03 2.79882087e+02] [ 1.70846398e-03 -5.60492935e-05 9.99998539e-01 1.47856025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.48, Y:279.91, Z:1.48 [[ 4.17758705e-01 -9.08557693e-01 -7.63911358e-04 2.51482284e+02] [ 9.08556407e-01 4.17759400e-01 -1.52919255e-03 2.79906631e+02] [ 1.70849081e-03 -5.52230585e-05 9.99998539e-01 1.47803808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.49, Y:279.93, Z:1.48 [[ 4.17658300e-01 -9.08603853e-01 -7.63412560e-04 2.51494399e+02] [ 9.08602568e-01 4.17658994e-01 -1.52944152e-03 2.79932505e+02] [ 1.70850258e-03 -5.48546658e-05 9.99998539e-01 1.47656257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.51, Y:279.96, Z:1.48 [[ 4.19636471e-01 -9.07691932e-01 -7.67208674e-04 2.51505926e+02] [ 9.07690648e-01 4.19637169e-01 -1.52754788e-03 2.79957472e+02] [ 1.70849216e-03 -5.53733357e-05 9.99998539e-01 1.48038440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.52, Y:279.98, Z:1.48 [[ 4.21908537e-01 -9.06638078e-01 -7.62474478e-04 2.51515970e+02] [ 9.06636789e-01 4.21909223e-01 -1.52990731e-03 2.79982537e+02] [ 1.70876724e-03 -4.58064585e-05 9.99998539e-01 1.47999663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.53, Y:280.01, Z:1.48 [[ 4.22978493e-01 -9.06139401e-01 -7.62128227e-04 2.51527073e+02] [ 9.06138110e-01 4.22979177e-01 -1.53007978e-03 2.80008005e+02] [ 1.70882994e-03 -4.34025935e-05 9.99998539e-01 1.48109878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.17275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.54, Y:280.03, Z:1.48 [[ 4.23760043e-01 -9.05774170e-01 -7.61661373e-04 2.51538467e+02] [ 9.05772878e-01 4.23760725e-01 -1.53031214e-03 2.80033458e+02] [ 1.70887938e-03 -4.14070779e-05 9.99998539e-01 1.48184373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.2027550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.55, Y:280.06, Z:1.48 [[ 4.24561612e-01 -9.05398729e-01 -7.61179977e-04 2.51549901e+02] [ 9.05397436e-01 4.24562293e-01 -1.53055155e-03 2.80058185e+02] [ 1.70892774e-03 -3.93569674e-05 9.99998539e-01 1.48157760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.56, Y:280.08, Z:1.48 [[ 4.25701758e-01 -9.04863213e-01 -7.60672842e-04 2.51562484e+02] [ 9.04861919e-01 4.25702436e-01 -1.53080355e-03 2.80083766e+02] [ 1.70898810e-03 -3.66381263e-05 9.99998539e-01 1.48416679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.57, Y:280.11, Z:1.48 [[ 4.26511737e-01 -9.04481708e-01 -7.60205518e-04 2.51574865e+02] [ 9.04480413e-01 4.26512413e-01 -1.53103559e-03 2.80107733e+02] [ 1.70903077e-03 -3.45863528e-05 9.99998539e-01 1.48336794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.59, Y:280.13, Z:1.48 [[ 4.24522182e-01 -9.05417219e-01 -7.59649728e-04 2.51587151e+02] [ 9.05415925e-01 4.24522860e-01 -1.53131130e-03 2.80132631e+02] [ 1.70896430e-03 -3.77233452e-05 9.99998539e-01 1.48466052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.60, Y:280.16, Z:1.48 [[ 4.25395274e-01 -9.05007338e-01 -7.61324458e-04 2.51598838e+02] [ 9.05006044e-01 4.25395954e-01 -1.53048096e-03 2.80156164e+02] [ 1.70896084e-03 -3.79438682e-05 9.99998539e-01 1.48470339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.61, Y:280.18, Z:1.49 [[ 4.23991768e-01 -9.05665731e-01 -7.51848869e-04 2.51610531e+02] [ 9.05664430e-01 4.23992434e-01 -1.53517302e-03 2.80181949e+02] [ 1.70913183e-03 -3.00220521e-05 9.99998539e-01 1.48541212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.62, Y:280.21, Z:1.49 [[ 4.23215167e-01 -9.06028889e-01 -7.58401231e-04 2.51623244e+02] [ 9.06027595e-01 4.23215844e-01 -1.53192919e-03 2.80208476e+02] [ 1.70893952e-03 -3.87967750e-05 9.99998539e-01 1.48890617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.63, Y:280.23, Z:1.49 [[ 4.22868832e-01 -9.06190582e-01 -7.61666850e-04 2.51634691e+02] [ 9.06189291e-01 4.22869515e-01 -1.53031283e-03 2.80232163e+02] [ 1.70884076e-03 -4.30927454e-05 9.99998539e-01 1.48589466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.65, Y:280.26, Z:1.49 [[ 4.22493402e-01 -9.06365682e-01 -7.58982571e-04 2.51646981e+02] [ 9.06364389e-01 4.22494082e-01 -1.53164073e-03 2.80257570e+02] [ 1.70889224e-03 -4.08066721e-05 9.99998539e-01 1.48863462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.66, Y:280.28, Z:1.49 [[ 4.23813623e-01 -9.05749102e-01 -7.59562515e-04 2.51662731e+02] [ 9.05747808e-01 4.23814302e-01 -1.53135408e-03 2.80284369e+02] [ 1.70893604e-03 -3.89633619e-05 9.99998539e-01 1.48856943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.67, Y:280.31, Z:1.49 [[ 4.23068316e-01 -9.06097459e-01 -7.71401147e-04 2.51671205e+02] [ 9.06096176e-01 4.23069016e-01 -1.52550326e-03 2.80306719e+02] [ 1.70861055e-03 -5.35715351e-05 9.99998539e-01 1.48719983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.68, Y:280.33, Z:1.49 [[ 4.23441604e-01 -9.05923085e-01 -7.56415281e-04 2.51682851e+02] [ 9.05921789e-01 4.23442278e-01 -1.53289810e-03 2.80331365e+02] [ 1.70898599e-03 -3.61602553e-05 9.99998539e-01 1.48658248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.69, Y:280.36, Z:1.49 [[ 4.23732904e-01 -9.05786870e-01 -7.55902676e-04 2.51694534e+02] [ 9.05785574e-01 4.23733577e-01 -1.53315083e-03 2.80356494e+02] [ 1.70900924e-03 -3.50392830e-05 9.99998539e-01 1.48557527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.71, Y:280.38, Z:1.49 [[ 4.24918844e-01 -9.05231134e-01 -7.55392302e-04 2.51706656e+02] [ 9.05229836e-01 4.24919514e-01 -1.53340226e-03 2.80381600e+02] [ 1.70906439e-03 -3.22321347e-05 9.99998539e-01 1.48544505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.72, Y:280.41, Z:1.48 [[ 4.25156135e-01 -9.05119711e-01 -7.54904402e-04 2.51718719e+02] [ 9.05118412e-01 4.25156804e-01 -1.53364242e-03 2.80406109e+02] [ 1.70908272e-03 -3.12403921e-05 9.99998539e-01 1.48465606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.73, Y:280.43, Z:1.48 [[ 4.25316872e-01 -9.05044192e-01 -7.54390597e-04 2.51730902e+02] [ 9.05042893e-01 4.25317540e-01 -1.53389511e-03 2.80430396e+02] [ 1.70909842e-03 -3.03643762e-05 9.99998539e-01 1.48292085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.74, Y:280.46, Z:1.48 [[ 4.25021379e-01 -9.05182998e-01 -7.53890126e-04 2.51742933e+02] [ 9.05181698e-01 4.25022046e-01 -1.53414105e-03 2.80455395e+02] [ 1.70909832e-03 -3.03648019e-05 9.99998539e-01 1.48296811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.75, Y:280.48, Z:1.48 [[ 4.24700768e-01 -9.05333469e-01 -7.53389193e-04 2.51754466e+02] [ 9.05332169e-01 4.24701435e-01 -1.53438701e-03 2.80479490e+02] [ 1.70909738e-03 -3.04121322e-05 9.99998539e-01 1.48303549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.77, Y:280.50, Z:1.48 [[ 4.24429568e-01 -9.05460643e-01 -7.52864686e-04 2.51766880e+02] [ 9.05459343e-01 4.24430235e-01 -1.53464432e-03 2.80504522e+02] [ 1.70909857e-03 -3.03399382e-05 9.99998539e-01 1.48425367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:251.78, Y:280.53, Z:1.48 [[ 4.23830243e-01 -9.05741331e-01 -7.52389261e-04 2.51779053e+02] [ 9.05740031e-01 4.23830910e-01 -1.53487737e-03 2.80529459e+02] [ 1.70908770e-03 -3.09416232e-05 9.99998539e-01 1.48432718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.79, Y:280.55, Z:1.48 [[ 4.23361216e-01 -9.05960659e-01 -7.51903511e-04 2.51790298e+02] [ 9.05959359e-01 4.23361883e-01 -1.53511529e-03 2.80553594e+02] [ 1.70908135e-03 -3.12857461e-05 9.99998539e-01 1.48492954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.80, Y:280.58, Z:1.49 [[ 4.22943852e-01 -9.06155579e-01 -7.51392146e-04 2.51802555e+02] [ 9.06154279e-01 4.22944518e-01 -1.53536555e-03 2.80578967e+02] [ 1.70907725e-03 -3.15037891e-05 9.99998539e-01 1.48512130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.81, Y:280.60, Z:1.49 [[ 4.21684444e-01 -9.06742337e-01 -7.50915086e-04 2.51814778e+02] [ 9.06741038e-01 4.21685111e-01 -1.53559883e-03 2.80604139e+02] [ 1.70904219e-03 -3.33473841e-05 9.99998539e-01 1.48625477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.83, Y:280.63, Z:1.49 [[ 4.20908506e-01 -9.07102787e-01 -7.50426153e-04 2.51827046e+02] [ 9.07101488e-01 4.20909173e-01 -1.53583773e-03 2.80629730e+02] [ 1.70902394e-03 -3.42655152e-05 9.99998539e-01 1.48677606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.84, Y:280.65, Z:1.49 [[ 4.19878825e-01 -9.07579864e-01 -7.49939965e-04 2.51838811e+02] [ 9.07578565e-01 4.19879493e-01 -1.53607510e-03 2.80653991e+02] [ 1.70899524e-03 -3.56640300e-05 9.99998539e-01 1.48731534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.85, Y:280.68, Z:1.49 [[ 4.16698937e-01 -9.09044242e-01 -7.49427951e-04 2.51851503e+02] [ 9.09042945e-01 4.16699609e-01 -1.53632486e-03 2.80680848e+02] [ 1.70887360e-03 -4.10772557e-05 9.99998539e-01 1.48928311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.86, Y:280.70, Z:1.49 [[ 4.16302838e-01 -9.09225699e-01 -7.59256813e-04 2.51863066e+02] [ 9.09224410e-01 4.16303527e-01 -1.53153168e-03 2.80704024e+02] [ 1.70858925e-03 -5.27538433e-05 9.99998539e-01 1.48964082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.01275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.87, Y:280.73, Z:1.49 [[ 4.14916813e-01 -9.09859040e-01 -7.52091069e-04 2.51874522e+02] [ 9.09857746e-01 4.14917492e-01 -1.53502195e-03 2.80728084e+02] [ 1.70870933e-03 -4.73894707e-05 9.99998539e-01 1.48878601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.89, Y:280.75, Z:1.49 [[ 4.14703351e-01 -9.09956354e-01 -7.51206945e-04 2.51885435e+02] [ 9.09955060e-01 4.14704029e-01 -1.53545219e-03 2.80751488e+02] [ 1.70872303e-03 -4.68073911e-05 9.99998539e-01 1.48771026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.90, Y:280.78, Z:1.49 [[ 4.14257054e-01 -9.10159621e-01 -7.47301174e-04 2.51896662e+02] [ 9.10158323e-01 4.14257726e-01 -1.53735078e-03 2.80775875e+02] [ 1.70880988e-03 -4.33039808e-05 9.99998539e-01 1.48706199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.91, Y:280.80, Z:1.49 [[ 4.13730275e-01 -9.10399199e-01 -7.46780883e-04 2.51908145e+02] [ 9.10397902e-01 4.13730947e-01 -1.53760347e-03 2.80800886e+02] [ 1.70879933e-03 -4.37146415e-05 9.99998539e-01 1.48582826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.92, Y:280.83, Z:1.48 [[ 4.13226180e-01 -9.10628117e-01 -7.46254907e-04 2.51920139e+02] [ 9.10626819e-01 4.13226852e-01 -1.53785870e-03 2.80825816e+02] [ 1.70878994e-03 -4.40762555e-05 9.99998539e-01 1.48493733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.93, Y:280.85, Z:1.48 [[ 4.13040821e-01 -9.10712207e-01 -7.45778874e-04 2.51932368e+02] [ 9.10710909e-01 4.13041492e-01 -1.53808952e-03 2.80851240e+02] [ 1.70879452e-03 -4.38951988e-05 9.99998539e-01 1.48445862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.94, Y:280.88, Z:1.48 [[ 4.12820983e-01 -9.10811880e-01 -7.45297396e-04 2.51943944e+02] [ 9.10810582e-01 4.12821654e-01 -1.53832279e-03 2.80875702e+02] [ 1.70879757e-03 -4.37728288e-05 9.99998539e-01 1.48362622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.96, Y:280.90, Z:1.48 [[ 4.12784146e-01 -9.10828575e-01 -7.44790421e-04 2.51956058e+02] [ 9.10827277e-01 4.12784816e-01 -1.53856821e-03 2.80900863e+02] [ 1.70881006e-03 -4.32788675e-05 9.99998539e-01 1.48370420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.97, Y:280.92, Z:1.48 [[ 4.13542800e-01 -9.10484376e-01 -7.44302965e-04 2.51968014e+02] [ 9.10483076e-01 4.13543468e-01 -1.53880398e-03 2.80924616e+02] [ 1.70885861e-03 -4.13139447e-05 9.99998539e-01 1.48337672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.98, Y:280.95, Z:1.48 [[ 4.13632473e-01 -9.10443641e-01 -7.43788979e-04 2.51979830e+02] [ 9.10442341e-01 4.13633140e-01 -1.53905238e-03 2.80949132e+02] [ 1.70887622e-03 -4.05749380e-05 9.99998539e-01 1.48368445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:251.99, Y:280.97, Z:1.48 [[ 4.14470896e-01 -9.10062264e-01 -7.43263884e-04 2.51992536e+02] [ 9.10060963e-01 4.14471560e-01 -1.53930593e-03 2.80974337e+02] [ 1.70892598e-03 -3.84179398e-05 9.99998539e-01 1.48424341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.00, Y:281.00, Z:1.48 [[ 4.14799846e-01 -9.09912378e-01 -7.42789633e-04 2.52004681e+02] [ 9.09911076e-01 4.14800510e-01 -1.53953474e-03 2.80999133e+02] [ 1.70895124e-03 -3.72737412e-05 9.99998539e-01 1.48466388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.02, Y:281.02, Z:1.48 [[ 4.15344650e-01 -9.09663823e-01 -7.42305338e-04 2.52016470e+02] [ 9.09662520e-01 4.15345312e-01 -1.53976821e-03 2.81023407e+02] [ 1.70898448e-03 -3.57128549e-05 9.99998539e-01 1.48496439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.03, Y:281.05, Z:1.49 [[ 4.16496507e-01 -9.09137013e-01 -7.41795622e-04 2.52028294e+02] [ 9.09135710e-01 4.16497167e-01 -1.54001373e-03 2.81048935e+02] [ 1.70903926e-03 -3.29825474e-05 9.99998539e-01 1.48571793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.04, Y:281.07, Z:1.49 [[ 4.16939053e-01 -9.08934143e-01 -7.41314394e-04 2.52039803e+02] [ 9.08932839e-01 4.16939711e-01 -1.54024535e-03 2.81073533e+02] [ 1.70906499e-03 -3.16165600e-05 9.99998539e-01 1.48628683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.05, Y:281.10, Z:1.49 [[ 4.18253816e-01 -9.08329894e-01 -7.40807071e-04 2.52050786e+02] [ 9.08328588e-01 4.18254471e-01 -1.54048931e-03 2.81096978e+02] [ 1.70911837e-03 -2.85807066e-05 9.99998539e-01 1.48625975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.06, Y:281.12, Z:1.49 [[ 4.18846252e-01 -9.08056865e-01 -7.40251460e-04 2.52062955e+02] [ 9.08055558e-01 4.18846905e-01 -1.54075626e-03 2.81121890e+02] [ 1.70914633e-03 -2.68494699e-05 9.99998539e-01 1.48609878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.07, Y:281.15, Z:1.49 [[ 4.19964508e-01 -9.07540228e-01 -7.39727600e-04 2.52074759e+02] [ 9.07538920e-01 4.19965159e-01 -1.54100772e-03 2.81145920e+02] [ 1.70918632e-03 -2.41630354e-05 9.99998539e-01 1.48591128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.09, Y:281.17, Z:1.49 [[ 4.20224711e-01 -9.07419774e-01 -7.39204865e-04 2.52086386e+02] [ 9.07418465e-01 4.20225360e-01 -1.54125843e-03 2.81171522e+02] [ 1.70920101e-03 -2.30932647e-05 9.99998539e-01 1.48531653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.10, Y:281.20, Z:1.48 [[ 4.20400058e-01 -9.07338551e-01 -7.38713858e-04 2.52098212e+02] [ 9.07337242e-01 4.20400706e-01 -1.54149373e-03 2.81197296e+02] [ 1.70921252e-03 -2.22185404e-05 9.99998539e-01 1.48475091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.11, Y:281.22, Z:1.48 [[ 4.20320467e-01 -9.07375424e-01 -7.38220801e-04 2.52109277e+02] [ 9.07374114e-01 4.20321115e-01 -1.54172982e-03 2.81221757e+02] [ 1.70921754e-03 -2.18218464e-05 9.99998539e-01 1.48394737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.12, Y:281.25, Z:1.48 [[ 4.19613500e-01 -9.07702576e-01 -7.37701309e-04 2.52121050e+02] [ 9.07701267e-01 4.19614148e-01 -1.54197835e-03 2.81246857e+02] [ 1.70920763e-03 -2.25774787e-05 9.99998539e-01 1.48330587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.13, Y:281.27, Z:1.48 [[ 4.17909576e-01 -9.08488329e-01 -7.37225407e-04 2.52133126e+02] [ 9.08487020e-01 4.17910225e-01 -1.54220585e-03 2.81272447e+02] [ 1.70917005e-03 -2.52571212e-05 9.99998539e-01 1.48275875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.14, Y:281.30, Z:1.48 [[ 4.16726424e-01 -9.09031652e-01 -7.36734845e-04 2.52144671e+02] [ 9.09030344e-01 4.16727075e-01 -1.54244016e-03 2.81297279e+02] [ 1.70914429e-03 -2.69387557e-05 9.99998539e-01 1.48287836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.16, Y:281.32, Z:1.48 [[ 4.15393685e-01 -9.09641438e-01 -7.36218243e-04 2.52155894e+02] [ 9.09640130e-01 4.15394336e-01 -1.54268670e-03 2.81322235e+02] [ 1.70911264e-03 -2.88713449e-05 9.99998539e-01 1.48315806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.76275509600003 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:252.17, Y:281.35, Z:1.48 [[ 4.13618069e-01 -9.10450192e-01 -7.35706946e-04 2.52167319e+02] [ 9.10448885e-01 4.13618722e-01 -1.54293050e-03 2.81348226e+02] [ 1.70906354e-03 -3.16396335e-05 9.99998539e-01 1.48213913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.18, Y:281.37, Z:1.48 [[ 4.12800914e-01 -9.10820984e-01 -7.35225070e-04 2.52178846e+02] [ 9.10819677e-01 4.12801568e-01 -1.54316009e-03 2.81373688e+02] [ 1.70904465e-03 -3.26395658e-05 9.99998539e-01 1.48288833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.19, Y:281.40, Z:1.48 [[ 4.12256216e-01 -9.11067655e-01 -7.34745269e-04 2.52190293e+02] [ 9.11066349e-01 4.12256869e-01 -1.54338850e-03 2.81398219e+02] [ 1.70903513e-03 -3.31301859e-05 9.99998539e-01 1.48385453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.20, Y:281.42, Z:1.48 [[ 4.12976587e-01 -9.10741346e-01 -7.34240364e-04 2.52201376e+02] [ 9.10740038e-01 4.12977239e-01 -1.54362866e-03 2.81423485e+02] [ 1.70907100e-03 -3.12195998e-05 9.99998539e-01 1.48409980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.88275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.21, Y:281.45, Z:1.48 [[ 4.13247435e-01 -9.10618482e-01 -7.33710488e-04 2.52211952e+02] [ 9.10617173e-01 4.13248085e-01 -1.54388048e-03 2.81448241e+02] [ 1.70909055e-03 -3.01247218e-05 9.99998539e-01 1.48312248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.22, Y:281.47, Z:1.48 [[ 4.15877662e-01 -9.09420273e-01 -7.33183897e-04 2.52221700e+02] [ 9.09418963e-01 4.15878307e-01 -1.54413052e-03 2.81473884e+02] [ 1.70917887e-03 -2.46019503e-05 9.99998539e-01 1.48329981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.23, Y:281.50, Z:1.48 [[ 4.16903390e-01 -9.08950509e-01 -7.32656155e-04 2.52231990e+02] [ 9.08949197e-01 4.16904033e-01 -1.54438088e-03 2.81498340e+02] [ 1.70921309e-03 -2.20896010e-05 9.99998539e-01 1.48258397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.24, Y:281.52, Z:1.48 [[ 4.18064191e-01 -9.08417193e-01 -7.32103152e-04 2.52243042e+02] [ 9.08415880e-01 4.18064832e-01 -1.54464298e-03 2.81523629e+02] [ 1.70924682e-03 -1.92942106e-05 9.99998539e-01 1.48200744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.25, Y:281.55, Z:1.48 [[ 4.20537442e-01 -9.07274889e-01 -7.31580394e-04 2.52253748e+02] [ 9.07273574e-01 4.20538078e-01 -1.54489053e-03 2.81548138e+02] [ 1.70929780e-03 -1.40592464e-05 9.99998539e-01 1.48214417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.27, Y:281.57, Z:1.48 [[ 4.21354912e-01 -9.06895531e-01 -7.31033351e-04 2.52265469e+02] [ 9.06894215e-01 4.21355546e-01 -1.54514935e-03 2.81573769e+02] [ 1.70931399e-03 -1.19136496e-05 9.99998539e-01 1.48182179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.28, Y:281.60, Z:1.48 [[ 4.22895039e-01 -9.06178378e-01 -7.30554354e-04 2.52276293e+02] [ 9.06177060e-01 4.22895670e-01 -1.54537579e-03 2.81599299e+02] [ 1.70933439e-03 -8.47984321e-06 9.99998539e-01 1.48257308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.29, Y:281.62, Z:1.48 [[ 4.23037037e-01 -9.06112097e-01 -7.30072171e-04 2.52287726e+02] [ 9.06110779e-01 4.23037666e-01 -1.54560355e-03 2.81624977e+02] [ 1.70933810e-03 -7.67871955e-06 9.99998539e-01 1.48300806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.30, Y:281.65, Z:1.48 [[ 4.22808565e-01 -9.06218729e-01 -7.29587619e-04 2.52299562e+02] [ 9.06217411e-01 4.22809194e-01 -1.54583224e-03 2.81650449e+02] [ 1.70933848e-03 -7.57389150e-06 9.99998539e-01 1.48326511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.31, Y:281.68, Z:1.48 [[ 4.21939272e-01 -9.06623803e-01 -7.29101673e-04 2.52311508e+02] [ 9.06622484e-01 4.21939902e-01 -1.54606141e-03 2.81675018e+02] [ 1.70933316e-03 -8.67594698e-06 9.99998539e-01 1.48401018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.32, Y:281.70, Z:1.49 [[ 4.21158677e-01 -9.06986680e-01 -7.28747244e-04 2.52322883e+02] [ 9.06985362e-01 4.21159308e-01 -1.54622845e-03 2.81699200e+02] [ 1.70932729e-03 -9.75555399e-06 9.99998539e-01 1.48500653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.33, Y:281.72, Z:1.48 [[ 4.19685507e-01 -9.07669293e-01 -7.28195961e-04 2.52334417e+02] [ 9.07667975e-01 4.19686138e-01 -1.54648803e-03 2.81724498e+02] [ 1.70931345e-03 -1.19215398e-05 9.99998539e-01 1.48460716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.35, Y:281.75, Z:1.49 [[ 4.17208488e-01 -9.08810513e-01 -7.27711663e-04 2.52345170e+02] [ 9.08809197e-01 4.17209122e-01 -1.54671589e-03 2.81748843e+02] [ 1.70927961e-03 -1.60480548e-05 9.99998539e-01 1.48566242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:252.36, Y:281.78, Z:1.48 [[ 4.15376259e-01 -9.09649402e-01 -7.27201456e-04 2.52356789e+02] [ 9.09648087e-01 4.15376895e-01 -1.54695573e-03 2.81775047e+02] [ 1.70925004e-03 -1.89287279e-05 9.99998539e-01 1.48335602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.37, Y:281.80, Z:1.48 [[ 4.13811381e-01 -9.10362351e-01 -7.28302637e-04 2.52368525e+02] [ 9.10361038e-01 4.13812021e-01 -1.54643831e-03 2.81800297e+02] [ 1.70919960e-03 -2.30845729e-05 9.99998539e-01 1.48358640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.38, Y:281.82, Z:1.49 [[ 4.12290303e-01 -9.11052235e-01 -7.29082968e-04 2.52379299e+02] [ 9.11050923e-01 4.12290947e-01 -1.54607179e-03 2.81824772e+02] [ 1.70914647e-03 -2.68013025e-05 9.99998539e-01 1.48541032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.39, Y:281.85, Z:1.48 [[ 4.09525006e-01 -9.12298604e-01 -7.26373845e-04 2.52389116e+02] [ 9.12297292e-01 4.09525649e-01 -1.54734355e-03 2.81849851e+02] [ 1.70910808e-03 -2.89930172e-05 9.99998539e-01 1.48364106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3927550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:252.40, Y:281.88, Z:1.48 [[ 4.07416345e-01 -9.13242248e-01 -7.20344049e-04 2.52400310e+02] [ 9.13240932e-01 4.07416981e-01 -1.55017246e-03 2.81875983e+02] [ 1.70916338e-03 -2.62820718e-05 9.99998539e-01 1.48304506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.41, Y:281.90, Z:1.49 [[ 4.07626351e-01 -9.13148533e-01 -7.17244410e-04 2.52413676e+02] [ 9.13147215e-01 4.07626982e-01 -1.55162541e-03 2.81901931e+02] [ 1.70923264e-03 -2.24663310e-05 9.99998539e-01 1.48561649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.42, Y:281.93, Z:1.48 [[ 4.05588835e-01 -9.14055344e-01 -7.25303994e-04 2.52424649e+02] [ 9.14054034e-01 4.05589482e-01 -1.54784878e-03 2.81927794e+02] [ 1.70899512e-03 -3.51768568e-05 9.99998539e-01 1.48382959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.44, Y:281.95, Z:1.48 [[ 4.04591860e-01 -9.14497076e-01 -7.24798088e-04 2.52435503e+02] [ 9.14495766e-01 4.04592507e-01 -1.54808564e-03 2.81952587e+02] [ 1.70896767e-03 -3.64819341e-05 9.99998539e-01 1.48442390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.51275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.45, Y:281.98, Z:1.49 [[ 4.02642510e-01 -9.15357026e-01 -7.24265825e-04 2.52445360e+02] [ 9.15355717e-01 4.02643160e-01 -1.54833462e-03 2.81977917e+02] [ 1.70889965e-03 -3.95355257e-05 9.99998539e-01 1.48528631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.46, Y:282.00, Z:1.48 [[ 4.01604220e-01 -9.15813042e-01 -7.23754326e-04 2.52456530e+02] [ 9.15811733e-01 4.01604870e-01 -1.54857368e-03 2.82003569e+02] [ 1.70886723e-03 -4.09089797e-05 9.99998539e-01 1.48376748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.46, Y:282.03, Z:1.48 [[ 4.00923898e-01 -9.16111077e-01 -7.23270099e-04 2.52464897e+02] [ 9.16109769e-01 4.00924548e-01 -1.54879981e-03 2.82026362e+02] [ 1.70884940e-03 -4.16439476e-05 9.99998539e-01 1.48372303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.48, Y:282.05, Z:1.48 [[ 4.00725316e-01 -9.16197970e-01 -7.07782359e-04 2.52476484e+02] [ 9.16196649e-01 4.00725940e-01 -1.55602169e-03 2.82051531e+02] [ 1.70925066e-03 -2.49305430e-05 9.99998539e-01 1.48376571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.49, Y:282.08, Z:1.48 [[ 4.00050479e-01 -9.16492834e-01 -7.07381842e-04 2.52490093e+02] [ 9.16491513e-01 4.00051104e-01 -1.55620835e-03 2.82078753e+02] [ 1.70924269e-03 -2.57475579e-05 9.99998539e-01 1.48251386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.50, Y:282.10, Z:1.48 [[ 4.00056724e-01 -9.16490096e-01 -7.22112971e-04 2.52500966e+02] [ 9.16488787e-01 4.00057374e-01 -1.54934251e-03 2.82103674e+02] [ 1.70884369e-03 -4.19835505e-05 9.99998539e-01 1.48172467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.51, Y:282.13, Z:1.48 [[ 4.00402436e-01 -9.16339112e-01 -7.21585169e-04 2.52512591e+02] [ 9.16337803e-01 4.00403084e-01 -1.54958829e-03 2.82128688e+02] [ 1.70887328e-03 -4.07568434e-05 9.99998539e-01 1.48109363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.52, Y:282.15, Z:1.48 [[ 4.00598050e-01 -9.16253612e-01 -7.21099041e-04 2.52524160e+02] [ 9.16252302e-01 4.00598697e-01 -1.54981448e-03 2.82154652e+02] [ 1.70889445e-03 -3.98559989e-05 9.99998539e-01 1.48063190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.54, Y:282.18, Z:1.48 [[ 4.02052623e-01 -9.15616278e-01 -7.20609037e-04 2.52535169e+02] [ 9.15614967e-01 4.02053267e-01 -1.55004228e-03 2.82179890e+02] [ 1.70896716e-03 -3.66018567e-05 9.99998539e-01 1.47955216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.55, Y:282.20, Z:1.48 [[ 4.02862581e-01 -9.15260194e-01 -7.20093145e-04 2.52546627e+02] [ 9.15258882e-01 4.02863223e-01 -1.55028190e-03 2.82204504e+02] [ 1.70901036e-03 -3.45210773e-05 9.99998539e-01 1.47948971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.56, Y:282.23, Z:1.48 [[ 4.03424972e-01 -9.15012445e-01 -7.19582231e-04 2.52557465e+02] [ 9.15011132e-01 4.03425612e-01 -1.55051901e-03 2.82228237e+02] [ 1.70904210e-03 -3.29076619e-05 9.99998539e-01 1.47989666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.57, Y:282.25, Z:1.48 [[ 4.05100680e-01 -9.14271799e-01 -7.19016935e-04 2.52569734e+02] [ 9.14270484e-01 4.05101317e-01 -1.55078111e-03 2.82254021e+02] [ 1.70911015e-03 -2.91534775e-05 9.99998539e-01 1.48079280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.58, Y:282.28, Z:1.48 [[ 4.05757663e-01 -9.13980417e-01 -7.18537742e-04 2.52581289e+02] [ 9.13979101e-01 4.05758299e-01 -1.55100311e-03 2.82278497e+02] [ 1.70913912e-03 -2.73970824e-05 9.99998539e-01 1.48056439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.59, Y:282.30, Z:1.48 [[ 4.07038297e-01 -9.13410811e-01 -7.18002525e-04 2.52593083e+02] [ 9.13409494e-01 4.07038929e-01 -1.55125084e-03 2.82301424e+02] [ 1.70918426e-03 -2.44118251e-05 9.99998539e-01 1.48070336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.61, Y:282.33, Z:1.48 [[ 4.07494169e-01 -9.13207527e-01 -7.17588298e-04 2.52605098e+02] [ 9.13206210e-01 4.07494800e-01 -1.55144243e-03 2.82325778e+02] [ 1.70920240e-03 -2.31023467e-05 9.99998539e-01 1.48095101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9627550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:252.62, Y:282.35, Z:1.48 [[ 4.07982693e-01 -9.12989380e-01 -7.17055743e-04 2.52617539e+02] [ 9.12988062e-01 4.07983323e-01 -1.55168853e-03 2.82350777e+02] [ 1.70922193e-03 -2.16012669e-05 9.99998539e-01 1.48117263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.63, Y:282.37, Z:1.48 [[ 4.08138610e-01 -9.12919691e-01 -7.16574460e-04 2.52628955e+02] [ 9.12918372e-01 4.08139238e-01 -1.55191076e-03 2.82374077e+02] [ 1.70923204e-03 -2.07792905e-05 9.99998539e-01 1.48133783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.64, Y:282.39, Z:1.48 [[ 4.10644797e-01 -9.11795119e-01 -7.16007995e-04 2.52639417e+02] [ 9.11793797e-01 4.10645421e-01 -1.55217206e-03 2.82394906e+02] [ 1.70928832e-03 -1.54602664e-05 9.99998539e-01 1.48255837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.65, Y:282.42, Z:1.48 [[ 4.10911617e-01 -9.11674921e-01 -6.93987103e-04 2.52651891e+02] [ 9.11673582e-01 4.10912203e-01 -1.56230816e-03 2.82418758e+02] [ 1.70948494e-03 9.28086572e-06 9.99998539e-01 1.48293291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0827550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:252.67, Y:282.45, Z:1.48 [[ 4.08861468e-01 -9.12596196e-01 -6.95209849e-04 2.52668308e+02] [ 9.12594860e-01 4.08862059e-01 -1.56174529e-03 2.82446295e+02] [ 1.70948774e-03 4.09253908e-06 9.99998539e-01 1.48055678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.68, Y:282.47, Z:1.48 [[ 4.09380858e-01 -9.12363306e-01 -7.15130975e-04 2.52681279e+02] [ 9.12361985e-01 4.09381483e-01 -1.55256940e-03 2.82469871e+02] [ 1.70926873e-03 -1.68661226e-05 9.99998539e-01 1.48023564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.69, Y:282.49, Z:1.48 [[ 4.08998813e-01 -9.12534638e-01 -7.11203104e-04 2.52693851e+02] [ 9.12533314e-01 4.08999431e-01 -1.55437737e-03 2.82494258e+02] [ 1.70930485e-03 -1.32580269e-05 9.99998539e-01 1.48024693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.71, Y:282.51, Z:1.48 [[ 4.10645692e-01 -9.11794720e-01 -7.10334854e-04 2.52706573e+02] [ 9.11793394e-01 4.10646307e-01 -1.55477673e-03 2.82514178e+02] [ 1.70933360e-03 -9.21626032e-06 9.99998539e-01 1.48139108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.72, Y:282.54, Z:1.48 [[ 4.10026401e-01 -9.12073390e-01 -6.94707494e-04 2.52719538e+02] [ 9.12072052e-01 4.10026990e-01 -1.56195605e-03 2.82538319e+02] [ 1.70946737e-03 6.81992938e-06 9.99998539e-01 1.48018437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.73, Y:282.56, Z:1.48 [[ 4.07078481e-01 -9.13392924e-01 -6.90313590e-04 2.52734317e+02] [ 9.13391585e-01 4.07079066e-01 -1.56397209e-03 2.82562811e+02] [ 1.70953325e-03 6.13275772e-06 9.99998539e-01 1.47981202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.26275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.75, Y:282.59, Z:1.48 [[ 4.07005931e-01 -9.13425247e-01 -7.00958036e-04 2.52746827e+02] [ 9.13423916e-01 4.07006534e-01 -1.55907537e-03 2.82585648e+02] [ 1.70939330e-03 -5.71891219e-06 9.99998539e-01 1.48043375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.76, Y:282.61, Z:1.48 [[ 4.06215634e-01 -9.13776984e-01 -6.94704755e-04 2.52760030e+02] [ 9.13775649e-01 4.06216228e-01 -1.56194861e-03 2.82609759e+02] [ 1.70947303e-03 -3.16345471e-07 9.99998539e-01 1.48039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.78, Y:282.64, Z:1.48 [[ 4.02086711e-01 -9.15601331e-01 -6.92774984e-04 2.52775698e+02] [ 9.15599997e-01 4.02087308e-01 -1.56283446e-03 2.82636227e+02] [ 1.70948934e-03 -5.90980226e-06 9.99998539e-01 1.48002842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.79, Y:282.66, Z:1.48 [[ 4.02992648e-01 -9.15202937e-01 -7.13350042e-04 2.52787964e+02] [ 9.15201620e-01 4.02993279e-01 -1.55338593e-03 2.82658329e+02] [ 1.70913864e-03 -2.68560040e-05 9.99998539e-01 1.48054122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.80, Y:282.68, Z:1.48 [[ 4.00502919e-01 -9.16295216e-01 -6.99079480e-04 2.52801087e+02] [ 9.16293888e-01 4.00503529e-01 -1.55992932e-03 2.82684081e+02] [ 1.70933957e-03 -1.58060079e-05 9.99998539e-01 1.47975262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.81, Y:282.71, Z:1.48 [[ 4.01828435e-01 -9.15714694e-01 -7.12499744e-04 2.52812602e+02] [ 9.15713377e-01 4.01829065e-01 -1.55377532e-03 2.82708557e+02] [ 1.70911800e-03 -2.80944420e-05 9.99998539e-01 1.47997682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.82, Y:282.73, Z:1.48 [[ 4.03495563e-01 -9.14981324e-01 -7.11985250e-04 2.52823480e+02] [ 9.14980005e-01 4.03496190e-01 -1.55401104e-03 2.82732441e+02] [ 1.70917442e-03 -2.44157079e-05 9.99998539e-01 1.47916946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.83, Y:282.76, Z:1.48 [[ 4.05422566e-01 -9.14129118e-01 -7.05488878e-04 2.52834774e+02] [ 9.14127793e-01 4.05423180e-01 -1.55698426e-03 2.82757090e+02] [ 1.70930619e-03 -1.36704362e-05 9.99998539e-01 1.47757905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.85, Y:282.78, Z:1.48 [[ 4.05867900e-01 -9.13931477e-01 -7.08710678e-04 2.52846359e+02] [ 9.13930154e-01 4.05868519e-01 -1.55551038e-03 2.82782858e+02] [ 1.70927325e-03 -1.63803294e-05 9.99998539e-01 1.47820893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.86, Y:282.81, Z:1.48 [[ 4.06228409e-01 -9.13771292e-01 -7.10700705e-04 2.52858157e+02] [ 9.13769970e-01 4.06229030e-01 -1.55460062e-03 2.82807620e+02] [ 1.70925667e-03 -1.78940274e-05 9.99998539e-01 1.47739205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.87, Y:282.83, Z:1.48 [[ 4.08777830e-01 -9.12633651e-01 -7.10172304e-04 2.52870737e+02] [ 9.12632327e-01 4.08778447e-01 -1.55484196e-03 2.82832069e+02] [ 1.70930423e-03 -1.25412780e-05 9.99998539e-01 1.47702747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.88, Y:282.86, Z:1.48 [[ 4.08600491e-01 -9.12713067e-01 -7.04524907e-04 2.52882328e+02] [ 9.12711738e-01 4.08601098e-01 -1.55741908e-03 2.82858131e+02] [ 1.70934640e-03 -6.66595221e-06 9.99998539e-01 1.47752765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.89, Y:282.88, Z:1.48 [[ 4.08358501e-01 -9.12821360e-01 -7.06903681e-04 2.52894383e+02] [ 9.12820033e-01 4.08359113e-01 -1.55633425e-03 2.82884177e+02] [ 1.70932571e-03 -9.73351889e-06 9.99998539e-01 1.47722832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.90, Y:282.91, Z:1.48 [[ 4.05698879e-01 -9.14006516e-01 -7.12648768e-04 2.52903025e+02] [ 9.14005196e-01 4.05699504e-01 -1.55371524e-03 2.82909899e+02] [ 1.70922711e-03 -2.10241466e-05 9.99998539e-01 1.47848589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.91, Y:282.94, Z:1.48 [[ 4.04196002e-01 -9.14672122e-01 -7.08495742e-04 2.52914390e+02] [ 9.14670799e-01 4.04196622e-01 -1.55560672e-03 2.82935147e+02] [ 1.70924169e-03 -1.92703485e-05 9.99998539e-01 1.47854826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.93, Y:282.96, Z:1.48 [[ 4.01163916e-01 -9.16006011e-01 -7.08009512e-04 2.52925864e+02] [ 9.16004690e-01 4.01164540e-01 -1.55582799e-03 2.82960069e+02] [ 1.70917610e-03 -2.43979849e-05 9.99998539e-01 1.47951657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.94, Y:282.99, Z:1.48 [[ 3.99666019e-01 -9.16660555e-01 -7.07467556e-04 2.52940180e+02] [ 9.16659235e-01 3.99666644e-01 -1.55607439e-03 2.82987565e+02] [ 1.70914320e-03 -2.65966120e-05 9.99998539e-01 1.47780524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.95, Y:283.01, Z:1.48 [[ 3.96654208e-01 -9.17967819e-01 -7.22583243e-04 2.52950530e+02] [ 9.17966513e-01 3.96654863e-01 -1.54920132e-03 2.83013862e+02] [ 1.70873312e-03 -4.88099974e-05 9.99998539e-01 1.47753459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.96, Y:283.04, Z:1.48 [[ 3.95827725e-01 -9.18324504e-01 -7.19375628e-04 2.52958701e+02] [ 9.18323196e-01 3.95828376e-01 -1.55065813e-03 2.83037006e+02] [ 1.70875665e-03 -4.68258448e-05 9.99998539e-01 1.47926345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:252.97, Y:283.06, Z:1.48 [[ 3.95024880e-01 -9.18670151e-01 -7.06051598e-04 2.52969256e+02] [ 9.18668832e-01 3.95025509e-01 -1.55670133e-03 2.83062311e+02] [ 1.70900344e-03 -3.36918415e-05 9.99998539e-01 1.47897463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.86275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:252.98, Y:283.09, Z:1.48 [[ 3.94326480e-01 -9.18970146e-01 -7.05508206e-04 2.52978850e+02] [ 9.18968828e-01 3.94327110e-01 -1.55694756e-03 2.83086833e+02] [ 1.70898934e-03 -3.43943986e-05 9.99998539e-01 1.47802260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:252.99, Y:283.11, Z:1.48 [[ 3.93822831e-01 -9.19186097e-01 -7.04939239e-04 2.52989848e+02] [ 9.19184779e-01 3.93823460e-01 -1.55720513e-03 2.83113052e+02] [ 1.70898291e-03 -3.47064863e-05 9.99998539e-01 1.47670861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.00, Y:283.14, Z:1.48 [[ 3.94505291e-01 -9.18893398e-01 -7.05957285e-04 2.52999085e+02] [ 9.18892080e-01 3.94505921e-01 -1.55674448e-03 2.83136238e+02] [ 1.70898656e-03 -3.45546239e-05 9.99998539e-01 1.47556889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.01, Y:283.17, Z:1.47 [[ 3.92141445e-01 -9.19904669e-01 -6.98283561e-04 2.53010347e+02] [ 9.19903346e-01 3.92142066e-01 -1.56021271e-03 2.83165658e+02] [ 1.70907332e-03 -3.05293162e-05 9.99998539e-01 1.47470355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.02, Y:283.19, Z:1.48 [[ 3.92312284e-01 -9.19831812e-01 -7.13302155e-04 2.53018775e+02] [ 9.19830502e-01 3.92312930e-01 -1.55343399e-03 2.83188232e+02] [ 1.70873566e-03 -4.66858426e-05 9.99998539e-01 1.47567555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.01275509600003 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.03, Y:283.21, Z:1.47 [[ 3.90945306e-01 -9.20413643e-01 -7.02399522e-04 2.53028448e+02] [ 9.20412325e-01 3.90945935e-01 -1.55834817e-03 2.83213715e+02] [ 1.70892515e-03 -3.72682753e-05 9.99998539e-01 1.47318234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.04, Y:283.24, Z:1.47 [[ 3.90096072e-01 -9.20773893e-01 -7.01603419e-04 2.53038317e+02] [ 9.20772575e-01 3.90096701e-01 -1.55870669e-03 2.83239445e+02] [ 1.70890960e-03 -3.79718308e-05 9.99998539e-01 1.47430736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.05, Y:283.27, Z:1.47 [[ 3.89238140e-01 -9.21136894e-01 -7.01293500e-04 2.53048943e+02] [ 9.21135576e-01 3.89238770e-01 -1.55884611e-03 2.83265497e+02] [ 1.70888129e-03 -3.92240290e-05 9.99998539e-01 1.47434394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.06, Y:283.29, Z:1.47 [[ 3.88103814e-01 -9.21615396e-01 -7.00808825e-04 2.53058676e+02] [ 9.21614079e-01 3.88104444e-01 -1.55906398e-03 2.83290911e+02] [ 1.70884439e-03 -4.07966043e-05 9.99998539e-01 1.47222113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.07, Y:283.32, Z:1.47 [[ 3.86769196e-01 -9.22176283e-01 -7.01189176e-04 2.53068095e+02] [ 9.22174967e-01 3.86769829e-01 -1.55889308e-03 2.83316387e+02] [ 1.70877305e-03 -4.36872804e-05 9.99998539e-01 1.47307946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.08, Y:283.34, Z:1.47 [[ 3.86467490e-01 -9.22302764e-01 -7.00292635e-04 2.53078526e+02] [ 9.22301447e-01 3.86468122e-01 -1.55929556e-03 2.83340750e+02] [ 1.70878338e-03 -4.32638698e-05 9.99998539e-01 1.47356268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.09, Y:283.37, Z:1.47 [[ 3.85677279e-01 -9.22633485e-01 -6.99515219e-04 2.53089018e+02] [ 9.22632167e-01 3.85677911e-01 -1.55964424e-03 2.83365863e+02] [ 1.70876757e-03 -4.38758961e-05 9.99998539e-01 1.47262746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.22275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.10, Y:283.39, Z:1.47 [[ 3.84774331e-01 -9.23010415e-01 -6.98875407e-04 2.53099114e+02] [ 9.23009098e-01 3.84774963e-01 -1.55993095e-03 2.83391985e+02] [ 1.70874227e-03 -4.48469734e-05 9.99998539e-01 1.47419792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.11, Y:283.42, Z:1.47 [[ 3.85045544e-01 -9.22897306e-01 -7.01549921e-04 2.53109043e+02] [ 9.22895991e-01 3.85046180e-01 -1.55873427e-03 2.83416963e+02] [ 1.70868077e-03 -4.72739263e-05 9.99998539e-01 1.47396280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.12, Y:283.44, Z:1.47 [[ 3.85059224e-01 -9.22891601e-01 -6.97558411e-04 2.53119642e+02] [ 9.22890283e-01 3.85059854e-01 -1.56051849e-03 2.83442144e+02] [ 1.70879115e-03 -4.28778397e-05 9.99998539e-01 1.47388546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.13, Y:283.47, Z:1.47 [[ 3.84395707e-01 -9.23168162e-01 -6.97033745e-04 2.53130089e+02] [ 9.23166843e-01 3.84396336e-01 -1.56075281e-03 2.83467240e+02] [ 1.70877452e-03 -4.35317637e-05 9.99998539e-01 1.47191789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.14, Y:283.49, Z:1.47 [[ 3.85332782e-01 -9.22777415e-01 -7.00125503e-04 2.53138855e+02] [ 9.22776098e-01 3.85333415e-01 -1.55937388e-03 2.83492329e+02] [ 1.70873675e-03 -4.51812060e-05 9.99998539e-01 1.47434135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.15, Y:283.52, Z:1.47 [[ 3.86899214e-01 -9.22121750e-01 -6.89793867e-04 2.53151046e+02] [ 9.22120425e-01 3.86899828e-01 -1.56397906e-03 2.83518411e+02] [ 1.70906024e-03 -3.09707432e-05 9.99998539e-01 1.47415889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.16, Y:283.54, Z:1.47 [[ 3.87479891e-01 -9.21877893e-01 -6.96259078e-04 2.53161796e+02] [ 9.21876572e-01 3.87480515e-01 -1.56109749e-03 2.83544668e+02] [ 1.70892809e-03 -3.69710468e-05 9.99998539e-01 1.47396138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.17, Y:283.57, Z:1.47 [[ 3.89664807e-01 -9.20956490e-01 -6.93963063e-04 2.53174122e+02] [ 9.20955166e-01 3.89665424e-01 -1.56212029e-03 2.83569326e+02] [ 1.70905823e-03 -3.04055670e-05 9.99998539e-01 1.47356408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.19, Y:283.60, Z:1.47 [[ 3.89146746e-01 -9.21175514e-01 -6.95264395e-04 2.53186244e+02] [ 9.21174191e-01 3.89147365e-01 -1.56154088e-03 2.83595815e+02] [ 1.70901353e-03 -3.27910649e-05 9.99998539e-01 1.47208249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.20, Y:283.62, Z:1.47 [[ 3.88777465e-01 -9.21331423e-01 -7.00795993e-04 2.53197257e+02] [ 9.21330105e-01 3.88778095e-01 -1.55907970e-03 2.83621122e+02] [ 1.70888325e-03 -3.95293908e-05 9.99998539e-01 1.47213143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.21, Y:283.65, Z:1.47 [[ 3.89210411e-01 -9.21148612e-01 -7.00226920e-04 2.53208898e+02] [ 9.21147293e-01 3.89211039e-01 -1.55933264e-03 2.83645894e+02] [ 1.70891315e-03 -3.81036314e-05 9.99998539e-01 1.47454603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.22, Y:283.67, Z:1.47 [[ 3.86902335e-01 -9.22120435e-01 -6.98142831e-04 2.53218074e+02] [ 9.22119116e-01 3.86902963e-01 -1.56025815e-03 2.83671662e+02] [ 1.70885945e-03 -4.01033284e-05 9.99998539e-01 1.46992890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.23, Y:283.70, Z:1.47 [[ 3.88319621e-01 -9.21524494e-01 -6.92679594e-04 2.53232427e+02] [ 9.21523169e-01 3.88320237e-01 -1.56268131e-03 2.83697737e+02] [ 1.70903061e-03 -3.15004807e-05 9.99998539e-01 1.47459180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.25, Y:283.72, Z:1.47 [[ 3.88977846e-01 -9.21246844e-01 -6.98679409e-04 2.53247056e+02] [ 9.21245524e-01 3.88978472e-01 -1.56002159e-03 2.83724807e+02] [ 1.70893622e-03 -3.68414396e-05 9.99998539e-01 1.47402958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.26, Y:283.75, Z:1.47 [[ 3.87365819e-01 -9.21925820e-01 -7.10938839e-04 2.53257121e+02] [ 9.21924511e-01 3.87366468e-01 -1.55459001e-03 2.83745655e+02] [ 1.70861053e-03 -5.32369102e-05 9.99998539e-01 1.47264823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.27, Y:283.77, Z:1.47 [[ 3.85939546e-01 -9.22523815e-01 -6.91297797e-04 2.53268933e+02] [ 9.22522491e-01 3.85940164e-01 -1.56327549e-03 2.83768758e+02] [ 1.70895846e-03 -3.44079317e-05 9.99998539e-01 1.47329317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.28, Y:283.80, Z:1.47 [[ 3.84665066e-01 -9.23055962e-01 -6.90731512e-04 2.53280928e+02] [ 9.23054639e-01 3.84665685e-01 -1.56352567e-03 2.83795928e+02] [ 1.70892240e-03 -3.61492230e-05 9.99998539e-01 1.47311612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.29, Y:283.82, Z:1.47 [[ 3.83735695e-01 -9.23442703e-01 -7.01062238e-04 2.53291652e+02] [ 9.23441388e-01 3.83736332e-01 -1.55896343e-03 2.83819778e+02] [ 1.70863646e-03 -4.91599700e-05 9.99998539e-01 1.47277385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.76275509600003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.30, Y:283.84, Z:1.47 [[ 3.84364922e-01 -9.23180978e-01 -6.98580890e-04 2.53303589e+02] [ 9.23179661e-01 3.84365555e-01 -1.56005832e-03 2.83844418e+02] [ 1.70872660e-03 -4.52839746e-05 9.99998539e-01 1.47228455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.31, Y:283.87, Z:1.47 [[ 3.82965746e-01 -9.23762281e-01 -6.97217581e-04 2.53310346e+02] [ 9.23760964e-01 3.82966377e-01 -1.56066020e-03 2.83867223e+02] [ 1.70868992e-03 -4.63829876e-05 9.99998539e-01 1.47276928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.32, Y:283.89, Z:1.47 [[ 3.83768045e-01 -9.23429271e-01 -6.84539289e-04 2.53322458e+02] [ 9.23427944e-01 3.83768654e-01 -1.56624726e-03 2.83893056e+02] [ 1.70902329e-03 -3.10470587e-05 9.99998539e-01 1.47127229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.33, Y:283.92, Z:1.47 [[ 3.82729107e-01 -9.23860355e-01 -6.89233203e-04 2.53332319e+02] [ 9.23859032e-01 3.82729726e-01 -1.56418003e-03 2.83917761e+02] [ 1.70887395e-03 -3.80970925e-05 9.99998539e-01 1.47498485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.34, Y:283.95, Z:1.47 [[ 3.80256257e-01 -9.24880914e-01 -6.88559009e-04 2.53342828e+02] [ 9.24879592e-01 3.80256878e-01 -1.56447676e-03 2.83946333e+02] [ 1.70878399e-03 -4.19320987e-05 9.99998539e-01 1.47354397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.35, Y:283.97, Z:1.47 [[ 3.82915529e-01 -9.23783093e-01 -7.03391427e-04 2.53352635e+02] [ 9.23781781e-01 3.82916171e-01 -1.55794935e-03 2.83966636e+02] [ 1.70854722e-03 -5.32171852e-05 9.99998539e-01 1.47162106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:283.99, Z:1.48 [[ 3.83583357e-01 -9.23506005e-01 -6.83175820e-04 2.53365500e+02] [ 9.23504676e-01 3.83583965e-01 -1.56684726e-03 2.83994553e+02] [ 1.70904814e-03 -2.98995330e-05 9.99998539e-01 1.47571362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.37, Y:284.02, Z:1.48 [[ 3.82804548e-01 -9.23829094e-01 -6.95635048e-04 2.53374421e+02] [ 9.23827775e-01 3.82805178e-01 -1.56136490e-03 2.84018686e+02] [ 1.70872702e-03 -4.49493944e-05 9.99998539e-01 1.47700988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.38, Y:284.04, Z:1.47 [[ 3.83039495e-01 -9.23731710e-01 -6.87787092e-04 2.53384173e+02] [ 9.23730385e-01 3.83040111e-01 -1.56481433e-03 2.84044371e+02] [ 1.70891866e-03 -3.59441447e-05 9.99998539e-01 1.47384803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.39, Y:284.07, Z:1.48 [[ 3.82833826e-01 -9.23816967e-01 -6.88467764e-04 2.53394648e+02] [ 9.23815643e-01 3.82834443e-01 -1.56451539e-03 2.84068950e+02] [ 1.70889503e-03 -3.70678782e-05 9.99998539e-01 1.47707170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.40, Y:284.09, Z:1.47 [[ 3.84547099e-01 -9.23105118e-01 -6.85261676e-04 2.53404955e+02] [ 9.23103790e-01 3.84547709e-01 -1.56592206e-03 2.84093731e+02] [ 1.70902647e-03 -3.03968664e-05 9.99998539e-01 1.47437070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.42, Y:284.12, Z:1.48 [[ 3.85148586e-01 -9.22854321e-01 -6.84561687e-04 2.53417305e+02] [ 9.22852993e-01 3.85149193e-01 -1.56622907e-03 2.84120955e+02] [ 1.70905965e-03 -2.85188902e-05 9.99998539e-01 1.47600934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.43, Y:284.15, Z:1.47 [[ 3.85171094e-01 -9.22844920e-01 -6.93855605e-04 2.53426261e+02] [ 9.22843599e-01 3.85171717e-01 -1.56215470e-03 2.84145418e+02] [ 1.70888008e-03 -3.86233697e-05 9.99998539e-01 1.47431503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1527550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:253.44, Y:284.17, Z:1.48 [[ 3.86016930e-01 -9.22491442e-01 -6.85178730e-04 2.53436654e+02] [ 9.22490113e-01 3.86017537e-01 -1.56595443e-03 2.84171943e+02] [ 1.70907057e-03 -2.75856819e-05 9.99998539e-01 1.47548868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.45, Y:284.20, Z:1.47 [[ 3.86395093e-01 -9.22333106e-01 -6.87648414e-04 2.53447835e+02] [ 9.22331779e-01 3.86395704e-01 -1.56487441e-03 2.84197769e+02] [ 1.70903987e-03 -2.95801929e-05 9.99998539e-01 1.47456981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.46, Y:284.22, Z:1.47 [[ 3.86557699e-01 -9.22264970e-01 -6.86786847e-04 2.53459060e+02] [ 9.22263642e-01 3.86558308e-01 -1.56525084e-03 2.84223691e+02] [ 1.70905918e-03 -2.83387762e-05 9.99998539e-01 1.47473406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.47, Y:284.25, Z:1.48 [[ 3.87018292e-01 -9.22071781e-01 -6.87403716e-04 2.53471063e+02] [ 9.22070453e-01 3.87018902e-01 -1.56498144e-03 2.84247328e+02] [ 1.70906345e-03 -2.81582122e-05 9.99998539e-01 1.47596479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.48, Y:284.27, Z:1.47 [[ 3.86533560e-01 -9.22275089e-01 -6.83498903e-04 2.53483135e+02] [ 9.22273759e-01 3.86534164e-01 -1.56668499e-03 2.84273683e+02] [ 1.70911022e-03 -2.47967746e-05 9.99998539e-01 1.47440575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.49, Y:284.30, Z:1.48 [[ 3.86969179e-01 -9.22092394e-01 -6.86213391e-04 2.53494745e+02] [ 9.22091066e-01 3.86969787e-01 -1.56550168e-03 2.84297920e+02] [ 1.70908104e-03 -2.69503371e-05 9.99998539e-01 1.47677928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3327550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:253.51, Y:284.32, Z:1.48 [[ 3.86093639e-01 -9.22459341e-01 -6.82035777e-04 2.53505610e+02] [ 9.22458010e-01 3.86094241e-01 -1.56732090e-03 2.84323230e+02] [ 1.70911989e-03 -2.40167354e-05 9.99998539e-01 1.47647894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.52, Y:284.35, Z:1.48 [[ 3.84590584e-01 -9.23087005e-01 -6.81532103e-04 2.53515411e+02] [ 9.23085674e-01 3.84591187e-01 -1.56754004e-03 2.84349287e+02] [ 1.70908708e-03 -2.62513810e-05 9.99998539e-01 1.47802281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.53, Y:284.37, Z:1.48 [[ 3.84017031e-01 -9.23325758e-01 -6.81403131e-04 2.53525980e+02] [ 9.23324428e-01 3.84017634e-01 -1.56759610e-03 2.84374590e+02] [ 1.70907268e-03 -2.71725568e-05 9.99998539e-01 1.47813828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.42275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.54, Y:284.40, Z:1.48 [[ 3.82690462e-01 -9.23876370e-01 -6.80886553e-04 2.53536650e+02] [ 9.23875040e-01 3.82691067e-01 -1.56782044e-03 2.84401792e+02] [ 1.70904146e-03 -2.90641609e-05 9.99998539e-01 1.47648921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.55, Y:284.43, Z:1.48 [[ 3.81614943e-01 -9.24321140e-01 -6.82825368e-04 2.53545659e+02] [ 9.24319812e-01 3.81615552e-01 -1.56697898e-03 2.84425808e+02] [ 1.70896858e-03 -3.31664224e-05 9.99998539e-01 1.47824333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.56, Y:284.45, Z:1.48 [[ 3.79806892e-01 -9.25065552e-01 -6.71015615e-04 2.53556055e+02] [ 9.25064216e-01 3.79807484e-01 -1.57209519e-03 2.84451246e+02] [ 1.70914785e-03 -2.36399471e-05 9.99998539e-01 1.47622473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.51275509600003 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:253.57, Y:284.48, Z:1.47 [[ 3.79761545e-01 -9.25084167e-01 -6.72363512e-04 2.53567920e+02] [ 9.25082833e-01 3.79762140e-01 -1.57151102e-03 2.84476223e+02] [ 1.70911817e-03 -2.51924870e-05 9.99998539e-01 1.47321860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.58, Y:284.50, Z:1.47 [[ 3.78866878e-01 -9.25450939e-01 -6.70224235e-04 2.53578079e+02] [ 9.25449603e-01 3.78867470e-01 -1.57243780e-03 2.84501134e+02] [ 1.70914019e-03 -2.45141546e-05 9.99998539e-01 1.47454713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.59, Y:284.53, Z:1.47 [[ 3.79329647e-01 -9.25261353e-01 -6.69308450e-04 2.53591751e+02] [ 9.25260016e-01 3.79330237e-01 -1.57283433e-03 2.84526806e+02] [ 1.70917175e-03 -2.26616546e-05 9.99998539e-01 1.47332730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.60275509600007 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:253.60, Y:284.55, Z:1.47 [[ 3.78015139e-01 -9.25799165e-01 -6.79148856e-04 2.53602938e+02] [ 9.25797837e-01 3.78015748e-01 -1.56857371e-03 2.84552096e+02] [ 1.70891319e-03 -3.58099327e-05 9.99998539e-01 1.47109276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.61, Y:284.58, Z:1.47 [[ 3.75971733e-01 -9.26630884e-01 -6.78608062e-04 2.53611346e+02] [ 9.26629557e-01 3.75972344e-01 -1.56880764e-03 2.84577771e+02] [ 1.70884347e-03 -3.89909610e-05 9.99998539e-01 1.47361619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.62, Y:284.60, Z:1.47 [[ 3.76596984e-01 -9.26376952e-01 -6.74626450e-04 2.53622779e+02] [ 9.26375621e-01 3.76597587e-01 -1.57052831e-03 2.84602878e+02] [ 1.70896392e-03 -3.35012721e-05 9.99998539e-01 1.47317359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.69275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:253.63, Y:284.63, Z:1.47 [[ 3.74418981e-01 -9.27259385e-01 -6.77855091e-04 2.53630997e+02] [ 9.27258058e-01 3.74419592e-01 -1.56913356e-03 2.84628608e+02] [ 1.70879604e-03 -4.10332085e-05 9.99998539e-01 1.47366574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.64, Y:284.65, Z:1.47 [[ 3.74050665e-01 -9.27408025e-01 -6.74911210e-04 2.53641440e+02] [ 9.27406696e-01 3.74051272e-01 -1.57040337e-03 2.84653254e+02] [ 1.70885608e-03 -3.85067520e-05 9.99998539e-01 1.47238235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.75275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:253.65, Y:284.68, Z:1.47 [[ 3.72353355e-01 -9.28090796e-01 -6.73487216e-04 2.53650630e+02] [ 9.28089467e-01 3.72353962e-01 -1.57101704e-03 2.84678832e+02] [ 1.70882209e-03 -4.00829263e-05 9.99998539e-01 1.46930106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.66, Y:284.70, Z:1.47 [[ 3.71139138e-01 -9.28577024e-01 -6.71813095e-04 2.53659277e+02] [ 9.28575694e-01 3.71139744e-01 -1.57173864e-03 2.84704512e+02] [ 1.70881693e-03 -4.04955854e-05 9.99998539e-01 1.47034516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.67, Y:284.73, Z:1.47 [[ 3.68619075e-01 -9.29580299e-01 -6.67284158e-04 2.53666472e+02] [ 9.29578968e-01 3.68619677e-01 -1.57368931e-03 2.84729640e+02] [ 1.70884465e-03 -4.02014204e-05 9.99998539e-01 1.47288064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.68, Y:284.75, Z:1.47 [[ 3.68596396e-01 -9.29589295e-01 -6.63121263e-04 2.53676218e+02] [ 9.29587960e-01 3.68596991e-01 -1.57548091e-03 2.84754933e+02] [ 1.70897469e-03 -3.57129551e-05 9.99998539e-01 1.47020586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.69, Y:284.78, Z:1.47 [[ 3.67140514e-01 -9.30165258e-01 -6.60591371e-04 2.53686172e+02] [ 9.30163922e-01 3.67141106e-01 -1.57656893e-03 2.84782524e+02] [ 1.70899990e-03 -3.56359321e-05 9.99998539e-01 1.47371259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:284.81, Z:1.47 [[ 3.69334671e-01 -9.29296216e-01 -6.65922580e-04 2.53697536e+02] [ 9.29294883e-01 3.69335270e-01 -1.57427727e-03 2.84807452e+02] [ 1.70891861e-03 -3.74032667e-05 9.99998539e-01 1.47056739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.70, Y:284.83, Z:1.47 [[ 3.70154060e-01 -9.28970144e-01 -6.65325363e-04 2.53704330e+02] [ 9.28968811e-01 3.70154657e-01 -1.57453380e-03 2.84834188e+02] [ 1.70896817e-03 -3.52464317e-05 9.99998539e-01 1.46866774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.71, Y:284.86, Z:1.47 [[ 3.69759852e-01 -9.29127125e-01 -6.61579846e-04 2.53714753e+02] [ 9.29125789e-01 3.69760442e-01 -1.57614157e-03 2.84862631e+02] [ 1.70906194e-03 -3.18970227e-05 9.99998539e-01 1.47017314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:284.89, Z:1.47 [[ 3.72395198e-01 -9.28074008e-01 -6.73116868e-04 2.53725692e+02] [ 9.28072678e-01 3.72395804e-01 -1.57118960e-03 2.84890669e+02] [ 1.70884612e-03 -3.95979139e-05 9.99998539e-01 1.46946971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.73, Y:284.92, Z:1.47 [[ 3.72612204e-01 -9.27986889e-01 -6.92415542e-04 2.53733469e+02] [ 9.27985575e-01 3.72612842e-01 -1.56290256e-03 2.84916574e+02] [ 1.70835600e-03 -6.01950698e-05 9.99998539e-01 1.46778090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.05275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:253.74, Y:284.94, Z:1.47 [[ 3.76609065e-01 -9.26372030e-01 -6.88040390e-04 2.53742696e+02] [ 9.26370710e-01 3.76609691e-01 -1.56477417e-03 2.84937420e+02] [ 1.70868570e-03 -4.80723263e-05 9.99998539e-01 1.46931670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.75, Y:284.96, Z:1.47 [[ 3.80357729e-01 -9.24839201e-01 -6.71277068e-04 2.53751306e+02] [ 9.24837865e-01 3.80358321e-01 -1.57193277e-03 2.84962365e+02] [ 1.70911086e-03 -2.29256726e-05 9.99998539e-01 1.46739843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.76, Y:284.99, Z:1.47 [[ 3.78275741e-01 -9.25692721e-01 -6.70752855e-04 2.53760160e+02] [ 9.25691387e-01 3.78276334e-01 -1.57215642e-03 2.84991356e+02] [ 1.70906369e-03 -2.62015055e-05 9.99998539e-01 1.46785443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1427550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:253.77, Y:285.02, Z:1.47 [[ 3.79287006e-01 -9.25278827e-01 -6.78630092e-04 2.53769569e+02] [ 9.25277497e-01 3.79287612e-01 -1.56881285e-03 2.85016220e+02] [ 1.70898530e-03 -3.28908229e-05 9.99998539e-01 1.47020441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.78, Y:285.04, Z:1.47 [[ 3.79814652e-01 -9.25062369e-01 -6.65601769e-04 2.53780221e+02] [ 9.25061030e-01 3.79815235e-01 -1.57433369e-03 2.85043153e+02] [ 1.70916255e-03 -1.77672550e-05 9.99998539e-01 1.46859621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2027550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:253.79, Y:285.07, Z:1.47 [[ 3.80106441e-01 -9.24942507e-01 -6.72218222e-04 2.53790687e+02] [ 9.24941173e-01 3.80107034e-01 -1.57153101e-03 2.85068092e+02] [ 1.70909071e-03 -2.44132528e-05 9.99998539e-01 1.47115777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.23275509600006 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:253.80, Y:285.09, Z:1.47 [[ 3.80663169e-01 -9.24713530e-01 -6.62446791e-04 2.53803411e+02] [ 9.24712188e-01 3.80663745e-01 -1.57566433e-03 2.85093400e+02] [ 1.70920760e-03 -1.27752458e-05 9.99998539e-01 1.46847852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.2627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.81, Y:285.12, Z:1.47 [[ 3.79536233e-01 -9.25176634e-01 -6.65749464e-04 2.53813074e+02] [ 9.25175295e-01 3.79536816e-01 -1.57426764e-03 2.85120465e+02] [ 1.70915207e-03 -1.84433464e-05 9.99998539e-01 1.47140163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.29275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.82, Y:285.15, Z:1.47 [[ 3.77422110e-01 -9.26041093e-01 -6.66507372e-04 2.53822588e+02] [ 9.26039756e-01 3.77422698e-01 -1.57394726e-03 2.85145435e+02] [ 1.70909485e-03 -2.31698282e-05 9.99998539e-01 1.47030959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.84, Y:285.17, Z:1.47 [[ 3.74960847e-01 -9.27040411e-01 -6.62596745e-04 2.53835078e+02] [ 9.27039073e-01 3.74961432e-01 -1.57559888e-03 2.85171031e+02] [ 1.70909206e-03 -2.34651820e-05 9.99998539e-01 1.47024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.35275509600007 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:253.85, Y:285.20, Z:1.47 [[ 3.72098504e-01 -9.28193009e-01 -6.64199218e-04 2.53846501e+02] [ 9.28191673e-01 3.72099096e-01 -1.57492243e-03 2.85196036e+02] [ 1.70897992e-03 -3.04779021e-05 9.99998539e-01 1.46693275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.86, Y:285.22, Z:1.47 [[ 3.71683813e-01 -9.28359148e-01 -6.60084866e-04 2.53858559e+02] [ 9.28357810e-01 3.71684398e-01 -1.57665773e-03 2.85221480e+02] [ 1.70904787e-03 -2.67767856e-05 9.99998539e-01 1.47201076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.87, Y:285.25, Z:1.47 [[ 3.71369018e-01 -9.28485117e-01 -6.64031727e-04 2.53869138e+02] [ 9.28483781e-01 3.71369610e-01 -1.57499369e-03 2.85247125e+02] [ 1.70895941e-03 -3.16388276e-05 9.99998539e-01 1.47205934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.44275509600004 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:253.88, Y:285.27, Z:1.47 [[ 3.68553875e-01 -9.29606154e-01 -6.63497626e-04 2.53878927e+02] [ 9.29604820e-01 3.68554471e-01 -1.57521866e-03 2.85272669e+02] [ 1.70886798e-03 -3.62376490e-05 9.99998539e-01 1.46819512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.47275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:253.89, Y:285.30, Z:1.47 [[ 3.66545810e-01 -9.30399773e-01 -6.56878955e-04 2.53888476e+02] [ 9.30398435e-01 3.66546397e-01 -1.57800343e-03 2.85297493e+02] [ 1.70895064e-03 -3.27486079e-05 9.99998539e-01 1.46765045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.90, Y:285.32, Z:1.47 [[ 3.64992567e-01 -9.31010202e-01 -6.55031142e-04 2.53897958e+02] [ 9.31008864e-01 3.64993153e-01 -1.57878023e-03 2.85323035e+02] [ 1.70894238e-03 -3.35967514e-05 9.99998539e-01 1.46636909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.91, Y:285.35, Z:1.47 [[ 3.65284849e-01 -9.30895563e-01 -6.56024254e-04 2.53911058e+02] [ 9.30894225e-01 3.65285437e-01 -1.57836354e-03 2.85349280e+02] [ 1.70892773e-03 -3.41369006e-05 9.99998539e-01 1.47022905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.92, Y:285.37, Z:1.47 [[ 3.63725245e-01 -9.31506040e-01 -6.65860362e-04 2.53918729e+02] [ 9.31504711e-01 3.63725851e-01 -1.57423889e-03 2.85373676e+02] [ 1.70860366e-03 -4.76616410e-05 9.99998539e-01 1.46608218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.93, Y:285.40, Z:1.47 [[ 3.64924605e-01 -9.31036843e-01 -6.55091589e-04 2.53930015e+02] [ 9.31035505e-01 3.64925191e-01 -1.57875790e-03 2.85398701e+02] [ 1.70894120e-03 -3.37859262e-05 9.99998539e-01 1.46691704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.62275509600005 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:253.94, Y:285.42, Z:1.47 [[ 3.67229255e-01 -9.30130234e-01 -6.50097683e-04 2.53944763e+02] [ 9.30128890e-01 3.67229830e-01 -1.58085208e-03 2.85423766e+02] [ 1.70913358e-03 -2.41395032e-05 9.99998539e-01 1.46626842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.95, Y:285.45, Z:1.47 [[ 3.65963857e-01 -9.30628830e-01 -6.60873040e-04 2.53951187e+02] [ 9.30627496e-01 3.65964451e-01 -1.57633455e-03 2.85447950e+02] [ 1.70883842e-03 -3.81451507e-05 9.99998539e-01 1.46622045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:285.47, Z:1.47 [[ 3.68149449e-01 -9.29766403e-01 -6.47996922e-04 2.53965346e+02] [ 9.29765057e-01 3.68150019e-01 -1.58172618e-03 2.85473916e+02] [ 1.70919594e-03 -2.01732717e-05 9.99998539e-01 1.46777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:253.97, Y:285.50, Z:1.47 [[ 3.67669591e-01 -9.29956255e-01 -6.60213323e-04 2.53974732e+02] [ 9.29954919e-01 3.67670182e-01 -1.57661051e-03 2.85500290e+02] [ 1.70891956e-03 -3.42968875e-05 9.99998539e-01 1.46827838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.74275509600005 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:253.99, Y:285.52, Z:1.47 [[ 3.67922561e-01 -9.29856201e-01 -6.59683982e-04 2.53987116e+02] [ 9.29854865e-01 3.67923150e-01 -1.57683196e-03 2.85524908e+02] [ 1.70893999e-03 -3.32583058e-05 9.99998539e-01 1.46540525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.00, Y:285.55, Z:1.47 [[ 3.67961531e-01 -9.29840781e-01 -6.59130897e-04 2.53996062e+02] [ 9.29839444e-01 3.67962120e-01 -1.57706312e-03 2.85550929e+02] [ 1.70895281e-03 -3.25873458e-05 9.99998539e-01 1.46835275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.01, Y:285.58, Z:1.47 [[ 3.67722672e-01 -9.29935272e-01 -6.53219790e-04 2.54007182e+02] [ 9.29933931e-01 3.67723252e-01 -1.57952885e-03 2.85575614e+02] [ 1.70906370e-03 -2.66226753e-05 9.99998539e-01 1.47084898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.02, Y:285.60, Z:1.47 [[ 3.67414101e-01 -9.30057227e-01 -6.58039388e-04 2.54016874e+02] [ 9.30055890e-01 3.67414689e-01 -1.57751968e-03 2.85600793e+02] [ 1.70895691e-03 -3.24104346e-05 9.99998539e-01 1.47006768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.03, Y:285.63, Z:1.47 [[ 3.66784826e-01 -9.30305577e-01 -6.52055478e-04 2.54026973e+02] [ 9.30304236e-01 3.66785405e-01 -1.58001458e-03 2.85625979e+02] [ 1.70906081e-03 -2.70845991e-05 9.99998539e-01 1.47084465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.04, Y:285.65, Z:1.47 [[ 3.66871345e-01 -9.30271462e-01 -6.51099644e-04 2.54037446e+02] [ 9.30270120e-01 3.66871922e-01 -1.58041254e-03 2.85651113e+02] [ 1.70908287e-03 -2.58904673e-05 9.99998539e-01 1.47037882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:285.68, Z:1.48 [[ 3.71858181e-01 -9.28289325e-01 -6.50693524e-04 2.54056259e+02] [ 9.28287979e-01 3.71858750e-01 -1.58058158e-03 2.85681276e+02] [ 1.70920309e-03 -1.62787850e-05 9.99998539e-01 1.47539157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.06, Y:285.70, Z:1.47 [[ 3.68073957e-01 -9.29796263e-01 -6.86447625e-04 2.54059153e+02] [ 9.29794947e-01 3.68074592e-01 -1.56567339e-03 2.85702624e+02] [ 1.70842120e-03 -6.19719322e-05 9.99998539e-01 1.47408114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.07, Y:285.73, Z:1.48 [[ 3.70248568e-01 -9.28932488e-01 -6.56326907e-04 2.54071959e+02] [ 9.28931148e-01 3.70249149e-01 -1.57819971e-03 2.85729801e+02] [ 1.70904546e-03 -2.53563231e-05 9.99998539e-01 1.47579258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.0127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:254.09, Y:285.76, Z:1.48 [[ 3.72654392e-01 -9.27969970e-01 -6.62698607e-04 2.54085109e+02] [ 9.27968633e-01 3.72654981e-01 -1.57555239e-03 2.85757687e+02] [ 1.70902324e-03 -2.78270025e-05 9.99998539e-01 1.47666754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.10, Y:285.78, Z:1.48 [[ 3.72846750e-01 -9.27892694e-01 -6.70866568e-04 2.54096110e+02] [ 9.27891363e-01 3.72847352e-01 -1.57216345e-03 2.85784578e+02] [ 1.70892980e-03 -3.63152597e-05 9.99998539e-01 1.47684058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:285.81, Z:1.47 [[ 3.72466197e-01 -9.28045514e-01 -6.74834050e-04 2.54105325e+02] [ 9.28044186e-01 3.72466806e-01 -1.57051812e-03 2.85809985e+02] [ 1.70886558e-03 -4.13109059e-05 9.99998539e-01 1.47367469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.11, Y:285.84, Z:1.47 [[ 3.73157849e-01 -9.27767616e-01 -6.85743550e-04 2.54114831e+02] [ 9.27766296e-01 3.73158476e-01 -1.56596787e-03 2.85835610e+02] [ 1.70874529e-03 -5.18565526e-05 9.99998539e-01 1.47374936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.12, Y:285.86, Z:1.48 [[ 3.76075098e-01 -9.26588937e-01 -6.80466812e-04 2.54123949e+02] [ 9.26587611e-01 3.76075711e-01 -1.56816365e-03 2.85856715e+02] [ 1.70895013e-03 -4.07648205e-05 9.99998539e-01 1.47928941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.16275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.13, Y:285.88, Z:1.48 [[ 3.75344008e-01 -9.26885345e-01 -6.57473878e-04 2.54132807e+02] [ 9.26884003e-01 3.75344583e-01 -1.57770635e-03 2.85883727e+02] [ 1.70913215e-03 -1.72193958e-05 9.99998539e-01 1.47716189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.14, Y:285.91, Z:1.48 [[ 3.75558049e-01 -9.26798643e-01 -6.54665562e-04 2.54142671e+02] [ 9.26797298e-01 3.75558619e-01 -1.57887079e-03 2.85909737e+02] [ 1.70916060e-03 -1.37846402e-05 9.99998539e-01 1.47731529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.22275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.15, Y:285.94, Z:1.48 [[ 3.74783731e-01 -9.27112036e-01 -6.54073604e-04 2.54151544e+02] [ 9.27110691e-01 3.74784302e-01 -1.57911598e-03 2.85936118e+02] [ 1.70915395e-03 -1.45716509e-05 9.99998539e-01 1.47561172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.16, Y:285.96, Z:1.48 [[ 3.71727273e-01 -9.28341752e-01 -6.53516250e-04 2.54156756e+02] [ 9.28340408e-01 3.71727847e-01 -1.57934661e-03 2.85959136e+02] [ 1.70910359e-03 -1.95993350e-05 9.99998539e-01 1.47553190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.18, Y:285.99, Z:1.48 [[ 3.75582502e-01 -9.26788746e-01 -6.35202133e-04 2.54175765e+02] [ 9.26787388e-01 3.75583040e-01 -1.58693227e-03 2.85988480e+02] [ 1.70932212e-03 7.32666928e-06 9.99998539e-01 1.47527535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.31275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:254.18, Y:286.01, Z:1.48 [[ 3.72865856e-01 -9.27885017e-01 -6.69313340e-04 2.54183324e+02] [ 9.27883685e-01 3.72866455e-01 -1.57279739e-03 2.86013109e+02] [ 1.70893962e-03 -3.46024853e-05 9.99998539e-01 1.47539501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.19, Y:286.04, Z:1.47 [[ 3.70796885e-01 -9.28713756e-01 -6.55689904e-04 2.54193357e+02] [ 9.28712415e-01 3.70797464e-01 -1.57843481e-03 2.86038618e+02] [ 1.70904228e-03 -2.36686429e-05 9.99998539e-01 1.47487167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.20, Y:286.06, Z:1.47 [[ 3.70266464e-01 -9.28925357e-01 -6.53121137e-04 2.54203536e+02] [ 9.28924015e-01 3.70267039e-01 -1.57949699e-03 2.86064308e+02] [ 1.70906404e-03 -2.18651410e-05 9.99998539e-01 1.47461091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.21, Y:286.09, Z:1.47 [[ 3.68717526e-01 -9.29541265e-01 -6.49379824e-04 2.54212776e+02] [ 9.29539921e-01 3.68718098e-01 -1.58104217e-03 2.86089794e+02] [ 1.70908203e-03 -2.06665111e-05 9.99998539e-01 1.47452083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.22, Y:286.11, Z:1.47 [[ 3.68098280e-01 -9.29786659e-01 -6.51441936e-04 2.54222150e+02] [ 9.29785317e-01 3.68098856e-01 -1.58019118e-03 2.86113982e+02] [ 1.70903571e-03 -2.40354918e-05 9.99998539e-01 1.47476942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.23, Y:286.14, Z:1.47 [[ 3.63666447e-01 -9.31529009e-01 -6.49014781e-04 2.54229901e+02] [ 9.31527667e-01 3.63667025e-01 -1.58119208e-03 2.86142551e+02] [ 1.70895157e-03 -2.95487178e-05 9.99998539e-01 1.47136641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.24, Y:286.17, Z:1.47 [[ 3.63990503e-01 -9.31402430e-01 -6.52936020e-04 2.54240877e+02] [ 9.31401092e-01 3.63991087e-01 -1.57957590e-03 2.86166439e+02] [ 1.70888372e-03 -3.31946950e-05 9.99998539e-01 1.47385333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.25, Y:286.19, Z:1.47 [[ 3.61434009e-01 -9.32397465e-01 -6.50880213e-04 2.54252074e+02] [ 9.32396127e-01 3.61434594e-01 -1.58042256e-03 2.86192672e+02] [ 1.70883262e-03 -3.56597263e-05 9.99998539e-01 1.47419072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.26, Y:286.22, Z:1.47 [[ 3.60496240e-01 -9.32760440e-01 -6.50384148e-04 2.54262475e+02] [ 9.32759101e-01 3.60496824e-01 -1.58062668e-03 2.86218186e+02] [ 1.70880746e-03 -3.68417595e-05 9.99998539e-01 1.47490919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:286.25, Z:1.47 [[ 3.59631235e-01 -9.33094291e-01 -6.46611316e-04 2.54276079e+02] [ 9.33092951e-01 3.59631815e-01 -1.58217762e-03 2.86247970e+02] [ 1.70886291e-03 -3.43479667e-05 9.99998539e-01 1.47212262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.28, Y:286.27, Z:1.47 [[ 3.55527492e-01 -9.34665581e-01 -6.73625207e-04 2.54280964e+02] [ 9.34664263e-01 3.55528123e-01 -1.57111164e-03 2.86270629e+02] [ 1.70795668e-03 -7.10400256e-05 9.99998539e-01 1.47340382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.30, Y:286.30, Z:1.47 [[ 3.57597174e-01 -9.33875711e-01 -6.46495943e-04 2.54298360e+02] [ 9.33874371e-01 3.57597756e-01 -1.58219684e-03 2.86301375e+02] [ 1.70876070e-03 -3.79568746e-05 9.99998539e-01 1.47144018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:286.33, Z:1.47 [[ 3.57141569e-01 -9.34050020e-01 -6.78155057e-04 2.54308275e+02] [ 9.34048705e-01 3.57142205e-01 -1.56924769e-03 2.86325819e+02] [ 1.70795363e-03 -7.29862720e-05 9.99998539e-01 1.47115205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.31, Y:286.35, Z:1.47 [[ 3.53862461e-01 -9.35297228e-01 -6.73806738e-04 2.54311368e+02] [ 9.35295911e-01 3.53863095e-01 -1.57102583e-03 2.86346728e+02] [ 1.70781144e-03 -7.42816200e-05 9.99998539e-01 1.47258655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.32, Y:286.37, Z:1.47 [[ 3.53694932e-01 -9.35360614e-01 -6.45494522e-04 2.54321743e+02] [ 9.35359276e-01 3.53695518e-01 -1.58257372e-03 2.86372379e+02] [ 1.70858564e-03 -4.40209869e-05 9.99998539e-01 1.47224885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.33, Y:286.40, Z:1.47 [[ 3.54206176e-01 -9.35167134e-01 -6.44949377e-04 2.54332218e+02] [ 9.35165796e-01 3.54206760e-01 -1.58279585e-03 2.86396981e+02] [ 1.70862409e-03 -4.24985327e-05 9.99998539e-01 1.47167733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.34, Y:286.42, Z:1.47 [[ 3.54397150e-01 -9.35094779e-01 -6.44408896e-04 2.54342755e+02] [ 9.35093440e-01 3.54397733e-01 -1.58301587e-03 2.86422604e+02] [ 1.70864692e-03 -4.15662202e-05 9.99998539e-01 1.47098515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.35, Y:286.45, Z:1.47 [[ 3.54908292e-01 -9.34900899e-01 -6.43860391e-04 2.54352888e+02] [ 9.34899559e-01 3.54908873e-01 -1.58323893e-03 2.86446799e+02] [ 1.70868326e-03 -4.00401720e-05 9.99998539e-01 1.47058525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.36, Y:286.47, Z:1.47 [[ 3.54642371e-01 -9.35001805e-01 -6.43286045e-04 2.54363241e+02] [ 9.35000465e-01 3.54642952e-01 -1.58347226e-03 2.86472404e+02] [ 1.70868628e-03 -3.99063955e-05 9.99998539e-01 1.47127938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.88275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.37, Y:286.50, Z:1.47 [[ 3.55752591e-01 -9.34579949e-01 -6.42894231e-04 2.54373812e+02] [ 9.34578608e-01 3.55753169e-01 -1.58363125e-03 2.86495398e+02] [ 1.70874168e-03 -3.74542750e-05 9.99998539e-01 1.47011393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.38, Y:286.52, Z:1.47 [[ 3.54884561e-01 -9.34909913e-01 -6.34913859e-04 2.54384663e+02] [ 9.34908567e-01 3.54885128e-01 -1.58686364e-03 2.86519849e+02] [ 1.70889603e-03 -3.04329997e-05 9.99998539e-01 1.47127472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.40, Y:286.55, Z:1.47 [[ 3.54197577e-01 -9.35170397e-01 -6.36884484e-04 2.54396229e+02] [ 9.35169052e-01 3.54198148e-01 -1.58606560e-03 2.86546585e+02] [ 1.70882490e-03 -3.38140676e-05 9.99998539e-01 1.46961236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.41, Y:286.57, Z:1.47 [[ 3.55161109e-01 -9.34804884e-01 -6.45153243e-04 2.54409985e+02] [ 9.34803545e-01 3.55161693e-01 -1.58272378e-03 2.86574426e+02] [ 1.70867164e-03 -4.09696050e-05 9.99998539e-01 1.46755393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.42, Y:286.60, Z:1.47 [[ 3.54443056e-01 -9.35077372e-01 -6.55529928e-04 2.54418643e+02] [ 9.35076041e-01 3.54443658e-01 -1.57852130e-03 2.86596623e+02] [ 1.70838797e-03 -5.34744167e-05 9.99998539e-01 1.47234061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.43, Y:286.62, Z:1.47 [[ 3.55590781e-01 -9.34641528e-01 -6.41562333e-04 2.54429523e+02] [ 9.34640186e-01 3.55591358e-01 -1.58416751e-03 2.86621614e+02] [ 1.70876276e-03 -3.63145773e-05 9.99998539e-01 1.47010892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.06275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:254.44, Y:286.65, Z:1.47 [[ 3.56662215e-01 -9.34233191e-01 -6.40005959e-04 2.54442006e+02] [ 9.34231847e-01 3.56662788e-01 -1.58479604e-03 2.86649252e+02] [ 1.70883537e-03 -3.26770850e-05 9.99998539e-01 1.46856155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:254.45, Y:286.67, Z:1.47 [[ 3.56233772e-01 -9.34396639e-01 -6.48976557e-04 2.54451175e+02] [ 9.34395302e-01 3.56234361e-01 -1.58117710e-03 2.86674640e+02] [ 1.70863431e-03 -4.31319636e-05 9.99998539e-01 1.46904609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.46, Y:286.70, Z:1.47 [[ 3.57828060e-01 -9.33787272e-01 -6.41074710e-04 2.54462977e+02] [ 9.33785928e-01 3.57828633e-01 -1.58436100e-03 2.86700227e+02] [ 1.70885102e-03 -3.16977198e-05 9.99998539e-01 1.46777761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.47, Y:286.72, Z:1.47 [[ 3.61124231e-01 -9.32517493e-01 -6.44621498e-04 2.54473352e+02] [ 9.32516150e-01 3.61124805e-01 -1.58293258e-03 2.86723665e+02] [ 1.70890114e-03 -2.94846450e-05 9.99998539e-01 1.46834033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.49, Y:286.75, Z:1.47 [[ 3.63753861e-01 -9.31494885e-01 -6.38886327e-04 2.54486731e+02] [ 9.31493536e-01 3.63754421e-01 -1.58524048e-03 2.86749355e+02] [ 1.70904112e-03 -1.84811390e-05 9.99998539e-01 1.46640095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.50, Y:286.77, Z:1.47 [[ 3.65555280e-01 -9.30789406e-01 -6.47392823e-04 2.54495849e+02] [ 9.30788062e-01 3.65555853e-01 -1.58181430e-03 2.86771203e+02] [ 1.70899423e-03 -2.43449415e-05 9.99998539e-01 1.46747928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.51, Y:286.80, Z:1.46 [[ 3.64975242e-01 -9.31017012e-01 -6.29218891e-04 2.54506798e+02] [ 9.31015656e-01 3.64975785e-01 -1.58912488e-03 2.86799082e+02] [ 1.70915195e-03 -5.82140118e-06 9.99998539e-01 1.46489257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.52, Y:286.82, Z:1.47 [[ 3.65460917e-01 -9.30826465e-01 -6.40646331e-04 2.54517521e+02] [ 9.30825116e-01 3.65461479e-01 -1.58453120e-03 2.86823434e+02] [ 1.70905513e-03 -1.72454710e-05 9.99998539e-01 1.46515463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.53, Y:286.85, Z:1.47 [[ 3.65167810e-01 -9.30941494e-01 -6.37045707e-04 2.54528014e+02] [ 9.30940143e-01 3.65168365e-01 -1.58597747e-03 2.86850010e+02] [ 1.70908118e-03 -1.39035019e-05 9.99998539e-01 1.46520237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.54, Y:286.88, Z:1.46 [[ 3.64398369e-01 -9.31242945e-01 -6.36546266e-04 2.54540598e+02] [ 9.31241595e-01 3.64398925e-01 -1.58617790e-03 2.86876090e+02] [ 1.70907376e-03 -1.47777186e-05 9.99998539e-01 1.46386525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.55, Y:286.90, Z:1.46 [[ 3.62865583e-01 -9.31841274e-01 -6.39691388e-04 2.54551466e+02] [ 9.31839926e-01 3.62866146e-01 -1.58491700e-03 2.86901520e+02] [ 1.70901343e-03 -2.09781431e-05 9.99998539e-01 1.46485066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.56, Y:286.92, Z:1.47 [[ 3.63074090e-01 -9.31760056e-01 -6.35227118e-04 2.54563389e+02] [ 9.31758705e-01 3.63074646e-01 -1.58670500e-03 2.86924571e+02] [ 1.70906320e-03 -1.57869239e-05 9.99998539e-01 1.46639346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.58, Y:286.95, Z:1.47 [[ 3.59075022e-01 -9.33308489e-01 -6.27150204e-04 2.54575925e+02] [ 9.33307135e-01 3.59075570e-01 -1.58993285e-03 2.86949617e+02] [ 1.70909214e-03 -1.44185851e-05 9.99998539e-01 1.46720468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.59, Y:286.97, Z:1.47 [[ 3.57522524e-01 -9.33904302e-01 -6.32256508e-04 2.54586788e+02] [ 9.33902952e-01 3.57523082e-01 -1.58789391e-03 2.86973830e+02] [ 1.70898725e-03 -2.27583808e-05 9.99998539e-01 1.46754661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.60, Y:287.00, Z:1.47 [[ 3.54883649e-01 -9.34910264e-01 -6.27608883e-04 2.54598106e+02] [ 9.34908913e-01 3.54884203e-01 -1.58974850e-03 2.86999928e+02] [ 1.70900067e-03 -2.25813895e-05 9.99998539e-01 1.46738064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.61, Y:287.02, Z:1.47 [[ 3.52035966e-01 -9.35986260e-01 -6.33068467e-04 2.54609248e+02] [ 9.35984914e-01 3.52036533e-01 -1.58757141e-03 2.87022192e+02] [ 1.70880825e-03 -3.36603007e-05 9.99998539e-01 1.46940753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.62, Y:287.05, Z:1.47 [[ 3.50662220e-01 -9.36501797e-01 -6.25917543e-04 2.54618211e+02] [ 9.36500447e-01 3.50662778e-01 -1.59041509e-03 2.87047409e+02] [ 1.70891257e-03 -2.84735727e-05 9.99998539e-01 1.47074338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.63, Y:287.08, Z:1.47 [[ 3.49716291e-01 -9.36855444e-01 -6.26677108e-04 2.54627715e+02] [ 9.36854095e-01 3.49716851e-01 -1.59011298e-03 2.87075383e+02] [ 1.70886555e-03 -3.10166005e-05 9.99998539e-01 1.46890851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.64, Y:287.10, Z:1.47 [[ 3.49980168e-01 -9.36756895e-01 -6.33524327e-04 2.54636756e+02] [ 9.36755551e-01 3.49980740e-01 -1.58739333e-03 2.87100425e+02] [ 1.70872296e-03 -3.79012436e-05 9.99998539e-01 1.46810075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.65, Y:287.13, Z:1.47 [[ 3.53701079e-01 -9.35358300e-01 -6.30515680e-04 2.54649124e+02] [ 9.35356951e-01 3.53701640e-01 -1.58858748e-03 2.87125037e+02] [ 1.70891291e-03 -2.78721196e-05 9.99998539e-01 1.46897223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.66, Y:287.15, Z:1.47 [[ 3.53256513e-01 -9.35526290e-01 -6.29965946e-04 2.54655713e+02] [ 9.35524941e-01 3.53257074e-01 -1.58880545e-03 2.87152165e+02] [ 1.70890919e-03 -2.80929826e-05 9.99998539e-01 1.46733096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.66, Y:287.18, Z:1.47 [[ 3.52344338e-01 -9.35870221e-01 -6.29404885e-04 2.54664347e+02] [ 9.35868873e-01 3.52344899e-01 -1.58902768e-03 2.87178499e+02] [ 1.70889129e-03 -2.91555339e-05 9.99998539e-01 1.46536557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.67, Y:287.20, Z:1.46 [[ 3.55154207e-01 -9.34807517e-01 -6.28881669e-04 2.54673052e+02] [ 9.34806166e-01 3.55154763e-01 -1.58923472e-03 2.87201416e+02] [ 1.70897889e-03 -2.34590648e-05 9.99998539e-01 1.46485526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.68, Y:287.23, Z:1.46 [[ 3.54595932e-01 -9.35019438e-01 -6.12982291e-04 2.54681141e+02] [ 9.35018077e-01 3.54596462e-01 -1.59550985e-03 2.87230952e+02] [ 1.70919408e-03 -7.38821877e-06 9.99998539e-01 1.46279576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.69, Y:287.26, Z:1.46 [[ 3.54257904e-01 -9.35147552e-01 -6.27447238e-04 2.54688876e+02] [ 9.35146201e-01 3.54258459e-01 -1.58980097e-03 2.87255928e+02] [ 1.70897698e-03 -2.35553416e-05 9.99998539e-01 1.46234612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:287.28, Z:1.46 [[ 3.53962345e-01 -9.35259464e-01 -6.26861286e-04 2.54697100e+02] [ 9.35258113e-01 3.53962899e-01 -1.59003198e-03 2.87282362e+02] [ 1.70897809e-03 -2.34656567e-05 9.99998539e-01 1.46165685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.70, Y:287.31, Z:1.46 [[ 3.52336475e-01 -9.35873184e-01 -6.26310684e-04 2.54704924e+02] [ 9.35871833e-01 3.52337031e-01 -1.59024883e-03 2.87308320e+02] [ 1.70894368e-03 -2.58438609e-05 9.99998539e-01 1.45982302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:287.33, Z:1.46 [[ 3.52196022e-01 -9.35926054e-01 -6.19765665e-04 2.54716563e+02] [ 9.35924699e-01 3.52196567e-01 -1.59282327e-03 2.87334899e+02] [ 1.70904414e-03 -1.90679747e-05 9.99998539e-01 1.46170170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.72, Y:287.36, Z:1.46 [[ 3.50222388e-01 -9.36666370e-01 -6.25407132e-04 2.54724525e+02] [ 9.36665019e-01 3.50222945e-01 -1.59060511e-03 2.87360541e+02] [ 1.70889824e-03 -2.87314634e-05 9.99998539e-01 1.46035156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:287.39, Z:1.46 [[ 3.48344238e-01 -9.37366476e-01 -6.18394623e-04 2.54736094e+02] [ 9.37365122e-01 3.48344786e-01 -1.59335927e-03 2.87386747e+02] [ 1.70897611e-03 -2.46240301e-05 9.99998539e-01 1.46395828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.74, Y:287.41, Z:1.46 [[ 3.45063386e-01 -9.38579176e-01 -6.24703137e-04 2.54742428e+02] [ 9.38577828e-01 3.45063949e-01 -1.59088206e-03 2.87411529e+02] [ 1.70873131e-03 -3.73773621e-05 9.99998539e-01 1.46274120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.75, Y:287.44, Z:1.46 [[ 3.42113966e-01 -9.39658269e-01 -6.10278166e-04 2.54752348e+02] [ 9.39656913e-01 3.42114509e-01 -1.59653932e-03 2.87438893e+02] [ 1.70898639e-03 -2.72537002e-05 9.99998539e-01 1.46406200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.76, Y:287.46, Z:1.47 [[ 3.41742648e-01 -9.39793372e-01 -6.16980755e-04 2.54762321e+02] [ 9.39792021e-01 3.41743203e-01 -1.59391104e-03 2.87464877e+02] [ 1.70879601e-03 -3.51262117e-05 9.99998539e-01 1.46658372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.77, Y:287.49, Z:1.47 [[ 3.41213743e-01 -9.39985535e-01 -6.12829296e-04 2.54773480e+02] [ 9.39984182e-01 3.41214292e-01 -1.59553759e-03 2.87491799e+02] [ 1.70888837e-03 -3.16304925e-05 9.99998539e-01 1.46813971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.78, Y:287.52, Z:1.47 [[ 3.39088343e-01 -9.40754329e-01 -6.23447605e-04 2.54779438e+02] [ 9.40752984e-01 3.39088913e-01 -1.59137770e-03 2.87516687e+02] [ 1.70849963e-03 -4.68925687e-05 9.99998539e-01 1.46876764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.79, Y:287.54, Z:1.47 [[ 3.40517717e-01 -9.40237902e-01 -6.09718461e-04 2.54792455e+02] [ 9.40236547e-01 3.40518262e-01 -1.59675008e-03 2.87543515e+02] [ 1.70894522e-03 -2.95578874e-05 9.99998539e-01 1.46920207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.80, Y:287.57, Z:1.47 [[ 3.40621449e-01 -9.40200319e-01 -6.23021653e-04 2.54802175e+02] [ 9.40198973e-01 3.40622016e-01 -1.59154245e-03 2.87569453e+02] [ 1.70858361e-03 -4.36508249e-05 9.99998539e-01 1.46909687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.81, Y:287.59, Z:1.47 [[ 3.42222198e-01 -9.39618848e-01 -6.22514641e-04 2.54810824e+02] [ 9.39617501e-01 3.42222762e-01 -1.59174073e-03 2.87594849e+02] [ 1.70866827e-03 -4.01966396e-05 9.99998539e-01 1.46881615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.82, Y:287.62, Z:1.47 [[ 3.43252871e-01 -9.39242823e-01 -6.21980586e-04 2.54819943e+02] [ 9.39241474e-01 3.43253432e-01 -1.59194939e-03 2.87620413e+02] [ 1.70872401e-03 -3.77487638e-05 9.99998539e-01 1.46763958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.83, Y:287.65, Z:1.47 [[ 3.46245096e-01 -9.38143884e-01 -6.21422761e-04 2.54828931e+02] [ 9.38142533e-01 3.46245653e-01 -1.59216711e-03 2.87645956e+02] [ 1.70884677e-03 -3.17030687e-05 9.99998539e-01 1.46617304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.84, Y:287.67, Z:1.47 [[ 3.47485021e-01 -9.37685328e-01 -6.20862854e-04 2.54838530e+02] [ 9.37683976e-01 3.47485575e-01 -1.59238541e-03 2.87672105e+02] [ 1.70889733e-03 -2.88430693e-05 9.99998539e-01 1.46570855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.85, Y:287.70, Z:1.46 [[ 3.50866503e-01 -9.36425284e-01 -6.20357878e-04 2.54852719e+02] [ 9.36423930e-01 3.50867051e-01 -1.59258212e-03 2.87700531e+02] [ 1.70899730e-03 -2.21342434e-05 9.99998539e-01 1.46491659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.86, Y:287.72, Z:1.47 [[ 3.51070348e-01 -9.36348869e-01 -6.37848592e-04 2.54860597e+02] [ 9.36347527e-01 3.51070925e-01 -1.58577981e-03 2.87723731e+02] [ 1.70877322e-03 -4.05276832e-05 9.99998539e-01 1.46639633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.87, Y:287.75, Z:1.46 [[ 3.51710469e-01 -9.36108628e-01 -6.18361798e-04 2.54872245e+02] [ 9.36107272e-01 3.51711013e-01 -1.59334246e-03 2.87750914e+02] [ 1.70902627e-03 -1.84577531e-05 9.99998539e-01 1.46244428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.88, Y:287.77, Z:1.46 [[ 3.50294157e-01 -9.36639528e-01 -6.31730308e-04 2.54881328e+02] [ 9.36638182e-01 3.50294725e-01 -1.58814103e-03 2.87774288e+02] [ 1.70880745e-03 -3.53862052e-05 9.99998539e-01 1.46273659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.89, Y:287.80, Z:1.46 [[ 3.50693099e-01 -9.36490235e-01 -6.24865769e-04 2.54891910e+02] [ 9.36488884e-01 3.50693655e-01 -1.59080816e-03 2.87798612e+02] [ 1.70891277e-03 -2.72944030e-05 9.99998539e-01 1.46313914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.90, Y:287.82, Z:1.46 [[ 3.50119788e-01 -9.36704730e-01 -6.18164782e-04 2.54902484e+02] [ 9.36703375e-01 3.50120334e-01 -1.59340782e-03 2.87823170e+02] [ 1.70898470e-03 -2.11534297e-05 9.99998539e-01 1.46338704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:287.85, Z:1.46 [[ 3.51302209e-01 -9.36261917e-01 -6.17579751e-04 2.54917021e+02] [ 9.36260561e-01 3.51302751e-01 -1.59363453e-03 2.87850096e+02] [ 1.70901679e-03 -1.83682319e-05 9.99998539e-01 1.46323999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.92, Y:287.87, Z:1.46 [[ 3.47718774e-01 -9.37598665e-01 -6.30932226e-04 2.54924464e+02] [ 9.37597320e-01 3.47719344e-01 -1.58845976e-03 2.87873104e+02] [ 1.70872509e-03 -3.92230849e-05 9.99998539e-01 1.46425202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.93, Y:287.90, Z:1.47 [[ 3.47111359e-01 -9.37823717e-01 -6.16592041e-04 2.54934087e+02] [ 9.37822363e-01 3.47111906e-01 -1.59400682e-03 2.87898223e+02] [ 1.70892383e-03 -2.49559324e-05 9.99998540e-01 1.46530374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.94, Y:287.92, Z:1.47 [[ 3.46733971e-01 -9.37963312e-01 -6.16033332e-04 2.54943173e+02] [ 9.37961957e-01 3.46734517e-01 -1.59422271e-03 2.87924214e+02] [ 1.70892243e-03 -2.50446590e-05 9.99998540e-01 1.46604599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.95, Y:287.95, Z:1.47 [[ 3.46350890e-01 -9.38104835e-01 -6.15473715e-04 2.54952482e+02] [ 9.38103481e-01 3.46351436e-01 -1.59443873e-03 2.87949266e+02] [ 1.70892089e-03 -2.51427623e-05 9.99998540e-01 1.46593984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.96, Y:287.97, Z:1.47 [[ 3.45996699e-01 -9.38235528e-01 -6.14888657e-04 2.54962794e+02] [ 9.38234173e-01 3.45997244e-01 -1.59466432e-03 2.87974442e+02] [ 1.70892050e-03 -2.51609593e-05 9.99998540e-01 1.46502226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.97, Y:288.00, Z:1.46 [[ 3.45847847e-01 -9.38290408e-01 -6.14337740e-04 2.54973304e+02] [ 9.38289053e-01 3.45848391e-01 -1.59487653e-03 2.88000071e+02] [ 1.70892507e-03 -2.48417619e-05 9.99998540e-01 1.46442597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.98, Y:288.03, Z:1.46 [[ 3.45597272e-01 -9.38382730e-01 -6.13786921e-04 2.54983485e+02] [ 9.38381375e-01 3.45597816e-01 -1.59508849e-03 2.88025745e+02] [ 1.70892691e-03 -2.47079852e-05 9.99998540e-01 1.46395083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:254.99, Y:288.05, Z:1.46 [[ 3.45636737e-01 -9.38368195e-01 -6.13236506e-04 2.54992567e+02] [ 9.38366840e-01 3.45637280e-01 -1.59530007e-03 2.88050657e+02] [ 1.70893624e-03 -2.40464920e-05 9.99998540e-01 1.46253534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.00, Y:288.08, Z:1.46 [[ 3.45780647e-01 -9.38315176e-01 -6.12659971e-04 2.55001163e+02] [ 9.38313819e-01 3.45781189e-01 -1.59552145e-03 2.88075797e+02] [ 1.70894828e-03 -2.31668783e-05 9.99998540e-01 1.46172621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.01, Y:288.10, Z:1.46 [[ 3.46036833e-01 -9.38220729e-01 -6.12092593e-04 2.55010052e+02] [ 9.38219372e-01 3.46037374e-01 -1.59573908e-03 2.88101687e+02] [ 1.70896240e-03 -2.20926298e-05 9.99998540e-01 1.46108558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.02, Y:288.13, Z:1.46 [[ 3.46436029e-01 -9.38073400e-01 -6.11555645e-04 2.55018379e+02] [ 9.38072043e-01 3.46436568e-01 -1.59594484e-03 2.88127399e+02] [ 1.70897864e-03 -2.07904610e-05 9.99998540e-01 1.46168993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.03, Y:288.15, Z:1.46 [[ 3.46187545e-01 -9.38165130e-01 -6.11006385e-04 2.55027211e+02] [ 9.38163772e-01 3.46188083e-01 -1.59615509e-03 2.88151662e+02] [ 1.70898018e-03 -2.06550419e-05 9.99998540e-01 1.46183497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:288.18, Z:1.46 [[ 3.45501313e-01 -9.38418068e-01 -6.10431213e-04 2.55035545e+02] [ 9.38416710e-01 3.45501852e-01 -1.59637503e-03 2.88176218e+02] [ 1.70897229e-03 -2.12891817e-05 9.99998540e-01 1.46224156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.04, Y:288.20, Z:1.46 [[ 3.44700071e-01 -9.38712677e-01 -6.10017603e-04 2.55044253e+02] [ 9.38711319e-01 3.44700610e-01 -1.59653307e-03 2.88200491e+02] [ 1.70895927e-03 -2.23053670e-05 9.99998540e-01 1.46262539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.05, Y:288.23, Z:1.46 [[ 3.43551292e-01 -9.39133717e-01 -6.09465495e-04 2.55053397e+02] [ 9.39132360e-01 3.43551831e-01 -1.59674380e-03 2.88225130e+02] [ 1.70893893e-03 -2.38053723e-05 9.99998540e-01 1.46293593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.06, Y:288.25, Z:1.46 [[ 3.39880315e-01 -9.40468501e-01 -6.08920138e-04 2.55062481e+02] [ 9.40467145e-01 3.39880859e-01 -1.59695175e-03 2.88250554e+02] [ 1.70884312e-03 -2.98969208e-05 9.99998540e-01 1.46396663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.07, Y:288.28, Z:1.46 [[ 3.38589504e-01 -9.40933992e-01 -6.08382933e-04 2.55074340e+02] [ 9.40932637e-01 3.38590050e-01 -1.59715638e-03 2.88277815e+02] [ 1.70881113e-03 -3.16669711e-05 9.99998540e-01 1.46311533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.08, Y:288.30, Z:1.46 [[ 3.35472526e-01 -9.42049788e-01 -6.17779756e-04 2.55081644e+02] [ 9.42048441e-01 3.35473091e-01 -1.59357771e-03 2.88301744e+02] [ 1.70847803e-03 -4.73769178e-05 9.99998539e-01 1.46458933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.09, Y:288.33, Z:1.47 [[ 3.31719270e-01 -9.43377950e-01 -6.07417924e-04 2.55090643e+02] [ 9.43376599e-01 3.31719824e-01 -1.59751755e-03 2.88326044e+02] [ 1.70855540e-03 -4.30965001e-05 9.99998540e-01 1.46511280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:288.35, Z:1.47 [[ 3.30130267e-01 -9.43935188e-01 -6.06863319e-04 2.55099647e+02] [ 9.43933837e-01 3.30130822e-01 -1.59772820e-03 2.88351359e+02] [ 1.70849616e-03 -4.53803818e-05 9.99998540e-01 1.46521997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.10, Y:288.38, Z:1.46 [[ 3.26236647e-01 -9.45287936e-01 -6.06333113e-04 2.55104707e+02] [ 9.45286587e-01 3.26237206e-01 -1.59792939e-03 2.88376896e+02] [ 1.70831180e-03 -5.18554329e-05 9.99998540e-01 1.46215752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.12, Y:288.40, Z:1.47 [[ 3.27834557e-01 -9.44734965e-01 -5.90666524e-04 2.55117921e+02] [ 9.44733604e-01 3.27835087e-01 -1.60386313e-03 2.88404080e+02] [ 1.70886679e-03 -3.22207551e-05 9.99998539e-01 1.46635500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.13, Y:288.43, Z:1.47 [[ 3.27591161e-01 -9.44819382e-01 -6.05640039e-04 2.55126998e+02] [ 9.44818032e-01 3.27591717e-01 -1.59818886e-03 2.88429645e+02] [ 1.70840247e-03 -4.86670856e-05 9.99998540e-01 1.46652482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.14, Y:288.46, Z:1.47 [[ 3.28367704e-01 -9.44549779e-01 -6.05124072e-04 2.55135037e+02] [ 9.44548428e-01 3.28368259e-01 -1.59838420e-03 2.88455287e+02] [ 1.70845698e-03 -4.67112411e-05 9.99998540e-01 1.46563076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.14, Y:288.48, Z:1.47 [[ 3.28065349e-01 -9.44654837e-01 -6.04612535e-04 2.55144632e+02] [ 9.44653486e-01 3.28065903e-01 -1.59857767e-03 2.88481312e+02] [ 1.70845689e-03 -4.67113963e-05 9.99998540e-01 1.46567801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.15, Y:288.50, Z:1.46 [[ 3.28804206e-01 -9.44397919e-01 -6.04100788e-04 2.55152883e+02] [ 9.44396567e-01 3.28804758e-01 -1.59877104e-03 2.88504998e+02] [ 1.70850725e-03 -4.48280690e-05 9.99998540e-01 1.46480525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.16, Y:288.53, Z:1.46 [[ 3.30393475e-01 -9.43843095e-01 -6.03648897e-04 2.55161887e+02] [ 9.43841741e-01 3.30394024e-01 -1.59894164e-03 2.88530716e+02] [ 1.70859201e-03 -4.14691411e-05 9.99998540e-01 1.46391523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.17, Y:288.56, Z:1.46 [[ 3.31141662e-01 -9.43580858e-01 -6.03115740e-04 2.55171223e+02] [ 9.43579504e-01 3.31142209e-01 -1.59914272e-03 2.88556084e+02] [ 1.70863754e-03 -3.95448733e-05 9.99998540e-01 1.46393374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.18, Y:288.58, Z:1.46 [[ 3.31685963e-01 -9.43389664e-01 -6.02577181e-04 2.55180546e+02] [ 9.43388309e-01 3.31686508e-01 -1.59934563e-03 2.88581317e+02] [ 1.70867286e-03 -3.79837734e-05 9.99998540e-01 1.46384295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.19, Y:288.61, Z:1.46 [[ 3.32056476e-01 -9.43259314e-01 -6.02034677e-04 2.55189720e+02] [ 9.43257959e-01 3.32057020e-01 -1.59954981e-03 2.88606989e+02] [ 1.70870010e-03 -3.67331249e-05 9.99998540e-01 1.46398585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.20, Y:288.63, Z:1.46 [[ 3.33097309e-01 -9.42892264e-01 -6.01484019e-04 2.55199033e+02] [ 9.42890907e-01 3.33097850e-01 -1.59975685e-03 2.88631773e+02] [ 1.70875139e-03 -3.42591098e-05 9.99998540e-01 1.46496876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.21, Y:288.66, Z:1.47 [[ 3.33451392e-01 -9.42767102e-01 -6.01058709e-04 2.55209137e+02] [ 9.42765745e-01 3.33451932e-01 -1.59991663e-03 2.88659149e+02] [ 1.70877296e-03 -3.31631326e-05 9.99998540e-01 1.46655827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.22, Y:288.68, Z:1.47 [[ 3.33326733e-01 -9.42811183e-01 -6.02247818e-04 2.55218689e+02] [ 9.42809827e-01 3.33327275e-01 -1.59947002e-03 2.88684315e+02] [ 1.70874384e-03 -3.46590462e-05 9.99998540e-01 1.46729050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.23, Y:288.71, Z:1.47 [[ 3.33413874e-01 -9.42780369e-01 -6.04148375e-04 2.55228171e+02] [ 9.42779014e-01 3.33414419e-01 -1.59875625e-03 2.88709260e+02] [ 1.70870779e-03 -3.65308951e-05 9.99998540e-01 1.46792894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.24, Y:288.73, Z:1.47 [[ 3.33176208e-01 -9.42864387e-01 -6.01453531e-04 2.55237906e+02] [ 9.42863031e-01 3.33176750e-01 -1.59976675e-03 2.88733172e+02] [ 1.70875343e-03 -3.40840778e-05 9.99998540e-01 1.46816092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.25, Y:288.76, Z:1.47 [[ 3.32518849e-01 -9.43096419e-01 -5.99479076e-04 2.55247768e+02] [ 9.43095062e-01 3.32519388e-01 -1.60050630e-03 2.88758132e+02] [ 1.70877017e-03 -3.31672440e-05 9.99998540e-01 1.46816976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.26, Y:288.78, Z:1.47 [[ 3.33968004e-01 -9.42584222e-01 -5.97319835e-04 2.55257010e+02] [ 9.42582862e-01 3.33968537e-01 -1.60131418e-03 2.88781107e+02] [ 1.70885951e-03 -2.82357398e-05 9.99998540e-01 1.46838203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.27, Y:288.81, Z:1.47 [[ 3.32830567e-01 -9.42986463e-01 -5.86456235e-04 2.55267644e+02] [ 9.42985097e-01 3.32831083e-01 -1.60537689e-03 2.88810038e+02] [ 1.70903954e-03 -1.87009898e-05 9.99998539e-01 1.46799690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.28, Y:288.83, Z:1.47 [[ 3.31825067e-01 -9.43340744e-01 -6.04634474e-04 2.55276649e+02] [ 9.43339390e-01 3.31825616e-01 -1.59858939e-03 2.88834688e+02] [ 1.70864771e-03 -3.99234833e-05 9.99998539e-01 1.46581252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.29, Y:288.86, Z:1.47 [[ 3.32028137e-01 -9.43269296e-01 -5.93761319e-04 2.55288006e+02] [ 9.43267935e-01 3.32028666e-01 -1.60264319e-03 2.88860556e+02] [ 1.70886989e-03 -2.79533797e-05 9.99998540e-01 1.46849627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.30, Y:288.89, Z:1.47 [[ 3.31852621e-01 -9.43331056e-01 -5.96802222e-04 2.55297845e+02] [ 9.43329697e-01 3.31853156e-01 -1.60151000e-03 2.88885121e+02] [ 1.70880482e-03 -3.15159686e-05 9.99998540e-01 1.46734942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.31, Y:288.91, Z:1.47 [[ 3.32315219e-01 -9.43168193e-01 -5.96208080e-04 2.55307339e+02] [ 9.43166833e-01 3.32315752e-01 -1.60173116e-03 2.88909373e+02] [ 1.70883122e-03 -3.00440471e-05 9.99998540e-01 1.46697030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.32, Y:288.94, Z:1.47 [[ 3.32188511e-01 -9.43212830e-01 -5.92626307e-04 2.55317031e+02] [ 9.43211468e-01 3.32189039e-01 -1.60306285e-03 2.88935257e+02] [ 1.70889341e-03 -2.64528684e-05 9.99998540e-01 1.46704473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.33, Y:288.96, Z:1.47 [[ 3.32714491e-01 -9.43027419e-01 -5.95126473e-04 2.55326954e+02] [ 9.43026059e-01 3.32715022e-01 -1.60213414e-03 2.88960026e+02] [ 1.70886394e-03 -2.81665274e-05 9.99998540e-01 1.46666844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.34, Y:288.99, Z:1.47 [[ 3.31423449e-01 -9.43481926e-01 -5.94532279e-04 2.55336424e+02] [ 9.43480566e-01 3.31423981e-01 -1.60235461e-03 2.88987831e+02] [ 1.70883487e-03 -2.98717612e-05 9.99998540e-01 1.46732335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:289.02, Z:1.46 [[ 3.33850261e-01 -9.42625928e-01 -6.02372992e-04 2.55347676e+02] [ 9.42624572e-01 3.33850803e-01 -1.59945250e-03 2.89015254e+02] [ 1.70878810e-03 -3.38339480e-05 9.99998539e-01 1.46479916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.35, Y:289.04, Z:1.47 [[ 3.31622665e-01 -9.43411912e-01 -6.10383377e-04 2.55353989e+02] [ 9.43410562e-01 3.31623224e-01 -1.59649025e-03 2.89038792e+02] [ 1.70856522e-03 -4.64097738e-05 9.99998539e-01 1.46650243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.36, Y:289.06, Z:1.47 [[ 3.32721297e-01 -9.43025013e-01 -6.03264624e-04 2.55363395e+02] [ 9.43023658e-01 3.32721842e-01 -1.59912233e-03 2.89062450e+02] [ 1.70873167e-03 -3.68307578e-05 9.99998539e-01 1.46547168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.37, Y:289.09, Z:1.47 [[ 3.31007601e-01 -9.43627902e-01 -5.91861431e-04 2.55372679e+02] [ 9.43626540e-01 3.31008129e-01 -1.60333175e-03 2.89086487e+02] [ 1.70885953e-03 -2.77811564e-05 9.99998540e-01 1.46542355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.38, Y:289.11, Z:1.47 [[ 3.29374221e-01 -9.44199276e-01 -5.91425041e-04 2.55382617e+02] [ 9.44197915e-01 3.29374750e-01 -1.60349271e-03 2.89113086e+02] [ 1.70881713e-03 -3.02731284e-05 9.99998540e-01 1.46614469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.39, Y:289.14, Z:1.47 [[ 3.25292458e-01 -9.45613273e-01 -5.95424861e-04 2.55391745e+02] [ 9.45611917e-01 3.25293000e-01 -1.60201838e-03 2.89141829e+02] [ 1.70857739e-03 -4.19163469e-05 9.99998540e-01 1.46625522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.40, Y:289.16, Z:1.47 [[ 3.27895209e-01 -9.44713899e-01 -6.16999226e-04 2.55400151e+02] [ 9.44712556e-01 3.27895784e-01 -1.59404278e-03 2.89161204e+02] [ 1.70822581e-03 -6.02079253e-05 9.99998539e-01 1.46514409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.41, Y:289.19, Z:1.47 [[ 3.27295233e-01 -9.44921944e-01 -5.91619757e-04 2.55408618e+02] [ 9.44920584e-01 3.27295766e-01 -1.60339839e-03 2.89186689e+02] [ 1.70872096e-03 -3.42490384e-05 9.99998540e-01 1.46588986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.42, Y:289.21, Z:1.46 [[ 3.26025947e-01 -9.45360637e-01 -5.90525010e-04 2.55415417e+02] [ 9.45359277e-01 3.26026480e-01 -1.60380148e-03 2.89213916e+02] [ 1.70869757e-03 -3.53774018e-05 9.99998540e-01 1.46398530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.42, Y:289.24, Z:1.46 [[ 3.24629913e-01 -9.45840934e-01 -5.89215834e-04 2.55421545e+02] [ 9.45839574e-01 3.24630446e-01 -1.60428310e-03 2.89239088e+02] [ 1.70867402e-03 -3.65053712e-05 9.99998540e-01 1.46166987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.43, Y:289.27, Z:1.46 [[ 3.26886525e-01 -9.45063417e-01 -5.81543840e-04 2.55431893e+02] [ 9.45062051e-01 3.26887041e-01 -1.60709889e-03 2.89266583e+02] [ 1.70890951e-03 -2.42560426e-05 9.99998540e-01 1.46443693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.44, Y:289.29, Z:1.46 [[ 3.24674925e-01 -9.45825484e-01 -5.88695479e-04 2.55436607e+02] [ 9.45824124e-01 3.24675457e-01 -1.60447489e-03 2.89291378e+02] [ 1.70868821e-03 -3.58696210e-05 9.99998540e-01 1.45933557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.45, Y:289.32, Z:1.46 [[ 3.25056538e-01 -9.45694406e-01 -5.81311217e-04 2.55445050e+02] [ 9.45693041e-01 3.25057056e-01 -1.60718573e-03 2.89316474e+02] [ 1.70886586e-03 -2.73157451e-05 9.99998540e-01 1.46118965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.45, Y:289.34, Z:1.46 [[ 3.24754851e-01 -9.45798054e-01 -5.73058277e-04 2.55453373e+02] [ 9.45796683e-01 3.24755356e-01 -1.61021271e-03 2.89342185e+02] [ 1.70903979e-03 -1.90722292e-05 9.99998539e-01 1.45960824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.47, Y:289.37, Z:1.46 [[ 3.25878420e-01 -9.45411514e-01 -5.69672005e-04 2.55466811e+02] [ 9.45410141e-01 3.25878918e-01 -1.61145066e-03 2.89370185e+02] [ 1.70912810e-03 -1.34366961e-05 9.99998539e-01 1.46357993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.48, Y:289.39, Z:1.46 [[ 3.26696783e-01 -9.45129022e-01 -5.86858875e-04 2.55475325e+02] [ 9.45127659e-01 3.26697309e-01 -1.60516704e-03 2.89394198e+02] [ 1.70881516e-03 -3.02536476e-05 9.99998540e-01 1.46292196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.48, Y:289.42, Z:1.46 [[ 3.23370184e-01 -9.46272367e-01 -5.74996075e-04 2.55482516e+02] [ 9.46270999e-01 3.23370695e-01 -1.60949017e-03 2.89422868e+02] [ 1.70895296e-03 -2.36409760e-05 9.99998539e-01 1.46409373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.49, Y:289.45, Z:1.47 [[ 3.22717554e-01 -9.46495131e-01 -5.88890681e-04 2.55490972e+02] [ 9.46493772e-01 3.22718089e-01 -1.60442808e-03 2.89448480e+02] [ 1.70862905e-03 -3.96042550e-05 9.99998540e-01 1.46572939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.50, Y:289.47, Z:1.46 [[ 3.22692920e-01 -9.46503531e-01 -5.87545383e-04 2.55499690e+02] [ 9.46502171e-01 3.22693452e-01 -1.60491738e-03 2.89473151e+02] [ 1.70865702e-03 -3.82175051e-05 9.99998540e-01 1.46445212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.51, Y:289.50, Z:1.46 [[ 3.24188876e-01 -9.45992195e-01 -5.83532581e-04 2.55508565e+02] [ 9.45990831e-01 3.24189400e-01 -1.60637507e-03 2.89495138e+02] [ 1.70879336e-03 -3.12475414e-05 9.99998540e-01 1.46466819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.52, Y:289.52, Z:1.47 [[ 3.21687107e-01 -9.46845861e-01 -5.67109879e-04 2.55517050e+02] [ 9.46844488e-01 3.21687606e-01 -1.61232950e-03 2.89523730e+02] [ 1.70905974e-03 -1.82992504e-05 9.99998539e-01 1.46549674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.53, Y:289.55, Z:1.47 [[ 3.19560081e-01 -9.47565839e-01 -5.78878513e-04 2.55526201e+02] [ 9.47564475e-01 3.19560604e-01 -1.60806367e-03 2.89549803e+02] [ 1.70873297e-03 -3.46517568e-05 9.99998540e-01 1.46598806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.54, Y:289.58, Z:1.47 [[ 3.18826705e-01 -9.47812846e-01 -5.83710726e-04 2.55535745e+02] [ 9.47811486e-01 3.18827237e-01 -1.60631376e-03 2.89575740e+02] [ 1.70858769e-03 -4.11120086e-05 9.99998540e-01 1.46641632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.54, Y:289.60, Z:1.47 [[ 3.18026596e-01 -9.48081614e-01 -5.81473924e-04 2.55544665e+02] [ 9.48080252e-01 3.18027125e-01 -1.60712305e-03 2.89600294e+02] [ 1.70860830e-03 -4.01760703e-05 9.99998540e-01 1.46693261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:289.63, Z:1.47 [[ 3.18472690e-01 -9.47931859e-01 -5.80882116e-04 2.55555410e+02] [ 9.47930497e-01 3.18473217e-01 -1.60733693e-03 2.89627424e+02] [ 1.70864128e-03 -3.87429577e-05 9.99998540e-01 1.46613457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.56, Y:289.65, Z:1.47 [[ 3.17978847e-01 -9.48097625e-01 -5.88604375e-04 2.55563577e+02] [ 9.48096268e-01 3.17979388e-01 -1.60454806e-03 2.89652744e+02] [ 1.70843226e-03 -4.78412711e-05 9.99998540e-01 1.46913485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.57, Y:289.68, Z:1.47 [[ 3.19140526e-01 -9.47707227e-01 -5.79660441e-04 2.55574144e+02] [ 9.47705864e-01 3.19141051e-01 -1.60777267e-03 2.89679347e+02] [ 1.70869122e-03 -3.62421836e-05 9.99998540e-01 1.46820762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.58, Y:289.70, Z:1.47 [[ 3.20089034e-01 -9.47387286e-01 -5.84298709e-04 2.55582310e+02] [ 9.47385925e-01 3.20089565e-01 -1.60610163e-03 2.89703948e+02] [ 1.70862819e-03 -3.94608528e-05 9.99998540e-01 1.46923738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.59, Y:289.73, Z:1.47 [[ 3.22119517e-01 -9.46698834e-01 -5.78462247e-04 2.55593528e+02] [ 9.46697469e-01 3.22120035e-01 -1.60820098e-03 2.89731853e+02] [ 1.70881627e-03 -2.95958229e-05 9.99998540e-01 1.46959993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.60, Y:289.76, Z:1.47 [[ 3.22714474e-01 -9.46496182e-01 -5.88286393e-04 2.55600986e+02] [ 9.46494822e-01 3.22715008e-01 -1.60466731e-03 2.89755674e+02] [ 1.70866033e-03 -3.89606570e-05 9.99998540e-01 1.46885167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.61, Y:289.78, Z:1.47 [[ 3.24761096e-01 -9.45795907e-01 -5.77681007e-04 2.55609770e+02] [ 9.45794539e-01 3.24761608e-01 -1.60847622e-03 2.89780606e+02] [ 1.70889883e-03 -2.39970442e-05 9.99998540e-01 1.46877640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.62, Y:289.81, Z:1.47 [[ 3.25600311e-01 -9.45507326e-01 -5.77097516e-04 2.55619211e+02] [ 9.45505958e-01 3.25600822e-01 -1.60868554e-03 2.89806520e+02] [ 1.70892739e-03 -2.18606285e-05 9.99998540e-01 1.46833432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.63, Y:289.83, Z:1.47 [[ 3.26357469e-01 -9.45246249e-01 -5.76582987e-04 2.55628183e+02] [ 9.45244880e-01 3.26357977e-01 -1.60886993e-03 2.89833282e+02] [ 1.70895073e-03 -1.99453978e-05 9.99998540e-01 1.46615987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.64, Y:289.86, Z:1.47 [[ 3.26712597e-01 -9.45123563e-01 -5.74509891e-04 2.55638078e+02] [ 9.45122192e-01 3.26713101e-01 -1.60961245e-03 2.89859515e+02] [ 1.70898256e-03 -1.71013857e-05 9.99998540e-01 1.46671612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.65, Y:289.88, Z:1.47 [[ 3.26802262e-01 -9.45092563e-01 -5.74124532e-04 2.55647451e+02] [ 9.45091192e-01 3.26802765e-01 -1.60975028e-03 2.89884522e+02] [ 1.70898851e-03 -1.65300051e-05 9.99998540e-01 1.46748588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.66, Y:289.91, Z:1.47 [[ 3.26559906e-01 -9.45176331e-01 -5.75787192e-04 2.55656481e+02] [ 9.45174961e-01 3.26560413e-01 -1.60915601e-03 2.89909982e+02] [ 1.70896548e-03 -1.87338008e-05 9.99998540e-01 1.46656787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.67, Y:289.93, Z:1.47 [[ 3.27788575e-01 -9.44750931e-01 -5.73756672e-04 2.55666014e+02] [ 9.44749559e-01 3.27789077e-01 -1.60988118e-03 2.89932499e+02] [ 1.70900792e-03 -1.43557045e-05 9.99998540e-01 1.46812569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.68, Y:289.96, Z:1.47 [[ 3.25809321e-01 -9.45435333e-01 -5.63640213e-04 2.55676150e+02] [ 9.45433956e-01 3.25809809e-01 -1.61348871e-03 2.89959567e+02] [ 1.70908875e-03 -7.19493363e-06 9.99998540e-01 1.47026569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.69, Y:289.99, Z:1.47 [[ 3.24810885e-01 -9.45778813e-01 -5.70817897e-04 2.55685585e+02] [ 9.45777441e-01 3.24811386e-01 -1.61092986e-03 2.89985460e+02] [ 1.70899149e-03 -1.66191355e-05 9.99998540e-01 1.46991317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.70, Y:290.01, Z:1.47 [[ 3.24147565e-01 -9.46006358e-01 -5.71791773e-04 2.55695021e+02] [ 9.46004987e-01 3.24148069e-01 -1.61058295e-03 2.90010614e+02] [ 1.70896690e-03 -1.88513292e-05 9.99998540e-01 1.47160484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.70, Y:290.03, Z:1.47 [[ 3.22962607e-01 -9.46411555e-01 -5.68419744e-04 2.55704021e+02] [ 9.46410183e-01 3.22963107e-01 -1.61178249e-03 2.90034927e+02] [ 1.70898818e-03 -1.74127572e-05 9.99998540e-01 1.47069316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.71, Y:290.06, Z:1.47 [[ 3.21330990e-01 -9.46966775e-01 -5.67525891e-04 2.55713443e+02] [ 9.46965403e-01 3.21331491e-01 -1.61210016e-03 2.90061631e+02] [ 1.70896923e-03 -1.94096428e-05 9.99998540e-01 1.47263513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.72, Y:290.09, Z:1.47 [[ 3.20968477e-01 -9.47089707e-01 -5.69759881e-04 2.55722140e+02] [ 9.47088336e-01 3.20968982e-01 -1.61130683e-03 2.90086936e+02] [ 1.70892736e-03 -2.24342407e-05 9.99998540e-01 1.47268153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.73, Y:290.11, Z:1.47 [[ 3.19120524e-01 -9.47713969e-01 -5.69379723e-04 2.55733023e+02] [ 9.47712599e-01 3.19121031e-01 -1.61144169e-03 2.90114393e+02] [ 1.70888685e-03 -2.53642184e-05 9.99998540e-01 1.47152861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.74, Y:290.14, Z:1.47 [[ 3.16721930e-01 -9.48518256e-01 -5.80587448e-04 2.55740205e+02] [ 9.48516895e-01 3.16722459e-01 -1.60746842e-03 2.90138352e+02] [ 1.70859823e-03 -4.15765015e-05 9.99998540e-01 1.47330714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.75, Y:290.16, Z:1.48 [[ 3.15655066e-01 -9.48873832e-01 -5.74377303e-04 2.55749854e+02] [ 9.48872468e-01 3.15655586e-01 -1.60966683e-03 2.90163524e+02] [ 1.70867614e-03 -3.69113175e-05 9.99998540e-01 1.47505008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.76, Y:290.19, Z:1.48 [[ 3.14986314e-01 -9.49096041e-01 -5.71245774e-04 2.55758158e+02] [ 9.49094675e-01 3.14986830e-01 -1.61077387e-03 2.90188125e+02] [ 1.70871400e-03 -3.47945997e-05 9.99998540e-01 1.47648877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.77, Y:290.21, Z:1.48 [[ 3.14442703e-01 -9.49276283e-01 -5.70748051e-04 2.55766898e+02] [ 9.49274916e-01 3.14443219e-01 -1.61094959e-03 2.90213281e+02] [ 1.70870409e-03 -3.52454650e-05 9.99998540e-01 1.47555672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:290.24, Z:1.48 [[ 3.13875600e-01 -9.49463946e-01 -5.68498166e-04 2.55775267e+02] [ 9.49462579e-01 3.13876113e-01 -1.61174318e-03 2.90238515e+02] [ 1.70873003e-03 -3.38808784e-05 9.99998540e-01 1.47568792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.78, Y:290.26, Z:1.48 [[ 3.13165543e-01 -9.49698384e-01 -5.67924205e-04 2.55784038e+02] [ 9.49697016e-01 3.13166056e-01 -1.61194539e-03 2.90264804e+02] [ 1.70871652e-03 -3.45501674e-05 9.99998540e-01 1.47629107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.79, Y:290.29, Z:1.47 [[ 3.12177342e-01 -9.50023676e-01 -5.68239500e-04 2.55792380e+02] [ 9.50022309e-01 3.12177857e-01 -1.61183443e-03 2.90290874e+02] [ 1.70867266e-03 -3.66620134e-05 9.99998540e-01 1.47371542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.80, Y:290.32, Z:1.48 [[ 3.12660220e-01 -9.49864866e-01 -5.68811898e-04 2.55802080e+02] [ 9.49863499e-01 3.12660736e-01 -1.61163318e-03 2.90316643e+02] [ 1.70867888e-03 -3.64000763e-05 9.99998540e-01 1.47653341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.81, Y:290.34, Z:1.47 [[ 3.12662467e-01 -9.49864128e-01 -5.66575577e-04 2.55809650e+02] [ 9.49862760e-01 3.12662979e-01 -1.61241863e-03 2.90341434e+02] [ 1.70872583e-03 -3.40262534e-05 9.99998540e-01 1.47247861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.82, Y:290.37, Z:1.47 [[ 3.12802283e-01 -9.49818095e-01 -5.64454905e-04 2.55816951e+02] [ 9.49816725e-01 3.12802791e-01 -1.61316283e-03 2.90365423e+02] [ 1.70877432e-03 -3.15276919e-05 9.99998540e-01 1.46985968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.83, Y:290.40, Z:1.47 [[ 3.15256522e-01 -9.49006329e-01 -5.59738328e-04 2.55830059e+02] [ 9.49004955e-01 3.15257018e-01 -1.61481646e-03 2.90395090e+02] [ 1.70893248e-03 -2.21130269e-05 9.99998540e-01 1.47188125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:290.42, Z:1.47 [[ 3.15486518e-01 -9.48929881e-01 -5.81232586e-04 2.55835689e+02] [ 9.48928521e-01 3.15487050e-01 -1.60725874e-03 2.90419166e+02] [ 1.70854719e-03 -4.44797167e-05 9.99998539e-01 1.47074601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.84, Y:290.45, Z:1.47 [[ 3.14683743e-01 -9.49196406e-01 -5.69907668e-04 2.55842777e+02] [ 9.49195039e-01 3.14684257e-01 -1.61123454e-03 2.90445910e+02] [ 1.70871900e-03 -3.39242159e-05 9.99998540e-01 1.46950282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.85, Y:290.47, Z:1.47 [[ 3.15624331e-01 -9.48884058e-01 -5.71207136e-04 2.55850607e+02] [ 9.48882691e-01 3.15624846e-01 -1.61077978e-03 2.90470842e+02] [ 1.70873042e-03 -3.36072744e-05 9.99998540e-01 1.47024439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.86, Y:290.50, Z:1.47 [[ 3.17288923e-01 -9.48328753e-01 -5.61821539e-04 2.55859049e+02] [ 9.48327380e-01 3.17289420e-01 -1.61405880e-03 2.90496304e+02] [ 1.70891840e-03 -2.06677699e-05 9.99998540e-01 1.47183339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.87, Y:290.52, Z:1.47 [[ 3.17965167e-01 -9.48102228e-01 -5.63384681e-04 2.55869930e+02] [ 9.48100855e-01 3.17965666e-01 -1.61351300e-03 2.90524508e+02] [ 1.70891226e-03 -2.11045664e-05 9.99998540e-01 1.47124603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:290.55, Z:1.47 [[ 3.17557144e-01 -9.48238959e-01 -5.80144422e-04 2.55875564e+02] [ 9.48237597e-01 3.17557672e-01 -1.60764958e-03 2.90546732e+02] [ 1.70866528e-03 -3.95941428e-05 9.99998539e-01 1.47217737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.88, Y:290.57, Z:1.47 [[ 3.15454730e-01 -9.48940461e-01 -5.60150445e-04 2.55881746e+02] [ 9.48939088e-01 3.15455227e-01 -1.61463074e-03 2.90573068e+02] [ 1.70889083e-03 -2.22057472e-05 9.99998540e-01 1.47060409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.89, Y:290.60, Z:1.47 [[ 3.15164982e-01 -9.49036736e-01 -5.54781729e-04 2.55890417e+02] [ 9.49035359e-01 3.15165470e-01 -1.61650681e-03 2.90600062e+02] [ 1.70897239e-03 -1.70411374e-05 9.99998540e-01 1.47034890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.90, Y:290.63, Z:1.47 [[ 3.15338354e-01 -9.48979145e-01 -5.52784615e-04 2.55902198e+02] [ 9.48977767e-01 3.15338838e-01 -1.61720422e-03 2.90626977e+02] [ 1.70900754e-03 -1.46137920e-05 9.99998540e-01 1.47273518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.91, Y:290.65, Z:1.47 [[ 3.12687683e-01 -9.49855829e-01 -5.63433552e-04 2.55908181e+02] [ 9.49854459e-01 3.12688190e-01 -1.61348558e-03 2.90652193e+02] [ 1.70875770e-03 -3.06628017e-05 9.99998540e-01 1.47116324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.92, Y:290.68, Z:1.47 [[ 3.11341826e-01 -9.50297828e-01 -5.53316315e-04 2.55917147e+02] [ 9.50296452e-01 3.11342316e-01 -1.61701426e-03 2.90678753e+02] [ 1.70891592e-03 -2.23703600e-05 9.99998540e-01 1.47089379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:290.70, Z:1.47 [[ 3.10907040e-01 -9.50440165e-01 -5.52938666e-04 2.55928479e+02] [ 9.50438789e-01 3.10907531e-01 -1.61714585e-03 2.90704645e+02] [ 1.70891316e-03 -2.27523270e-05 9.99998540e-01 1.47347693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.93, Y:290.73, Z:1.47 [[ 3.07653085e-01 -9.51498431e-01 -5.62314164e-04 2.55933491e+02] [ 9.51497063e-01 3.07653596e-01 -1.61387920e-03 2.90729882e+02] [ 1.70860150e-03 -3.85253609e-05 9.99998540e-01 1.47154877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:290.76, Z:1.47 [[ 3.08202842e-01 -9.51320506e-01 -5.50081474e-04 2.55946043e+02] [ 9.51319131e-01 3.08203332e-01 -1.61813534e-03 2.90757756e+02] [ 1.70890227e-03 -2.45891212e-05 9.99998540e-01 1.47397649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.95, Y:290.78, Z:1.47 [[ 3.04757470e-01 -9.52429824e-01 -5.61461981e-04 2.55953529e+02] [ 9.52428457e-01 3.04757984e-01 -1.61417684e-03 2.90784121e+02] [ 1.70850018e-03 -4.28199199e-05 9.99998540e-01 1.47290389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.96, Y:290.81, Z:1.47 [[ 3.02223245e-01 -9.53237012e-01 -5.56798927e-04 2.55960183e+02] [ 9.53235643e-01 3.02223755e-01 -1.61579722e-03 2.90809517e+02] [ 1.70851557e-03 -4.24291044e-05 9.99998540e-01 1.47087740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.97, Y:290.83, Z:1.47 [[ 3.00311390e-01 -9.53841062e-01 -5.45959774e-04 2.55968494e+02] [ 9.53839688e-01 3.00311884e-01 -1.61955973e-03 2.90833509e+02] [ 1.70876078e-03 -3.43858684e-05 9.99998540e-01 1.47050560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.98, Y:290.86, Z:1.47 [[ 2.99163056e-01 -9.54201851e-01 -5.42122614e-04 2.55977970e+02] [ 9.54200475e-01 2.99163545e-01 -1.62089584e-03 2.90860169e+02] [ 1.70884514e-03 -3.23815015e-05 9.99998539e-01 1.47080688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.99, Y:290.89, Z:1.47 [[ 2.97841653e-01 -9.54615133e-01 -5.44915829e-04 2.55986718e+02] [ 9.54613760e-01 2.97842149e-01 -1.61992389e-03 2.90885681e+02] [ 1.70870276e-03 -3.77033405e-05 9.99998539e-01 1.47063436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:255.99, Y:290.91, Z:1.47 [[ 2.97656933e-01 -9.54672748e-01 -5.43445962e-04 2.55994745e+02] [ 9.54671373e-01 2.97657426e-01 -1.62043446e-03 2.90909026e+02] [ 1.70874534e-03 -3.64787522e-05 9.99998539e-01 1.47237201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.00, Y:290.94, Z:1.47 [[ 2.96691598e-01 -9.54973200e-01 -5.31448084e-04 2.56003835e+02] [ 9.54971819e-01 2.96692073e-01 -1.62457146e-03 2.90937685e+02] [ 1.70909864e-03 -2.55212421e-05 9.99998539e-01 1.47150564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.01, Y:290.96, Z:1.47 [[ 3.00432435e-01 -9.53802944e-01 -5.44863206e-04 2.56014934e+02] [ 9.53801568e-01 3.00432927e-01 -1.61994540e-03 2.90964008e+02] [ 1.70880354e-03 -3.30072400e-05 9.99998539e-01 1.47116506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.02, Y:290.99, Z:1.47 [[ 3.00511163e-01 -9.53778136e-01 -5.55557762e-04 2.56021501e+02] [ 9.53776767e-01 3.00511673e-01 -1.61625852e-03 2.90989005e+02] [ 1.70850363e-03 -4.41743601e-05 9.99998540e-01 1.47198214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:291.02, Z:1.47 [[ 2.99560389e-01 -9.54077183e-01 -5.50537990e-04 2.56026959e+02] [ 9.54075811e-01 2.99560892e-01 -1.61798643e-03 2.91015736e+02] [ 1.70860359e-03 -4.05703332e-05 9.99998540e-01 1.46789389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.03, Y:291.04, Z:1.47 [[ 3.04179676e-01 -9.52614517e-01 -5.55016056e-04 2.56033609e+02] [ 9.52613146e-01 3.04180180e-01 -1.61644462e-03 2.91041038e+02] [ 1.70867349e-03 -3.70259923e-05 9.99998540e-01 1.46828703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.04, Y:291.07, Z:1.47 [[ 3.08108259e-01 -9.51351147e-01 -5.44334154e-04 2.56044254e+02] [ 9.51349768e-01 3.08108739e-01 -1.62010965e-03 2.91067279e+02] [ 1.70900729e-03 -1.86830058e-05 9.99998540e-01 1.46970949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.05, Y:291.09, Z:1.47 [[ 3.11531074e-01 -9.50235807e-01 -5.49821231e-04 2.56050475e+02] [ 9.50234429e-01 3.11531558e-01 -1.61822986e-03 2.91094248e+02] [ 1.70898662e-03 -1.83301787e-05 9.99998540e-01 1.46536464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.06, Y:291.12, Z:1.47 [[ 3.13860117e-01 -9.49469075e-01 -5.49445269e-04 2.56059365e+02] [ 9.49467696e-01 3.13860598e-01 -1.61835878e-03 2.91120806e+02] [ 1.70903084e-03 -1.37422559e-05 9.99998540e-01 1.46700222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.07, Y:291.15, Z:1.47 [[ 3.16711109e-01 -9.48521890e-01 -5.46249653e-04 2.56070588e+02] [ 9.48520507e-01 3.16711580e-01 -1.61945331e-03 2.91147468e+02] [ 1.70909051e-03 -5.23014326e-06 9.99998540e-01 1.47038463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.08, Y:291.17, Z:1.47 [[ 3.16781285e-01 -9.48498451e-01 -5.53781491e-04 2.56076673e+02] [ 9.48497072e-01 3.16781769e-01 -1.61687365e-03 2.91173309e+02] [ 1.70903003e-03 -1.30648109e-05 9.99998540e-01 1.46850334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.09, Y:291.20, Z:1.47 [[ 3.18658566e-01 -9.47869413e-01 -5.42608079e-04 2.56086261e+02] [ 9.47868028e-01 3.18659028e-01 -1.62069526e-03 2.91200021e+02] [ 1.70911443e-03 2.12757626e-06 9.99998539e-01 1.47118364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.10, Y:291.23, Z:1.47 [[ 3.20203777e-01 -9.47348532e-01 -5.47453725e-04 2.56096935e+02] [ 9.47347149e-01 3.20204245e-01 -1.61903896e-03 2.91225939e+02] [ 1.70909119e-03 -2.06336709e-07 9.99998540e-01 1.47290383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:291.26, Z:1.47 [[ 3.16977757e-01 -9.48432811e-01 -5.52480030e-04 2.56105618e+02] [ 9.48431432e-01 3.16978239e-01 -1.61732196e-03 2.91255466e+02] [ 1.70904536e-03 -1.13343364e-05 9.99998540e-01 1.47290722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.11, Y:291.28, Z:1.47 [[ 3.17413192e-01 -9.48287163e-01 -5.66722140e-04 2.56114296e+02] [ 9.48285793e-01 3.17413697e-01 -1.61245857e-03 2.91278525e+02] [ 1.70895913e-03 -2.55989324e-05 9.99998539e-01 1.47385309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.12, Y:291.30, Z:1.47 [[ 3.15574076e-01 -9.48900785e-01 -5.51083432e-04 2.56123019e+02] [ 9.48899406e-01 3.15574557e-01 -1.61778575e-03 2.91303914e+02] [ 1.70902607e-03 -1.23914996e-05 9.99998540e-01 1.47419545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.13, Y:291.33, Z:1.47 [[ 3.11633223e-01 -9.50202311e-01 -5.50525688e-04 2.56132480e+02] [ 9.50200933e-01 3.11633709e-01 -1.61797552e-03 2.91329417e+02] [ 1.70896644e-03 -1.88950967e-05 9.99998540e-01 1.47496626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.14, Y:291.36, Z:1.47 [[ 3.09778504e-01 -9.50808591e-01 -5.49970636e-04 2.56142351e+02] [ 9.50807214e-01 3.09778992e-01 -1.61816417e-03 2.91356325e+02] [ 1.70893374e-03 -2.16435722e-05 9.99998540e-01 1.47470579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.15, Y:291.38, Z:1.47 [[ 3.06497051e-01 -9.51871447e-01 -5.52754566e-04 2.56151374e+02] [ 9.51870074e-01 3.06497548e-01 -1.61721893e-03 2.91381889e+02] [ 1.70880244e-03 -3.04776981e-05 9.99998540e-01 1.47311479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.16, Y:291.41, Z:1.47 [[ 3.05458131e-01 -9.52205350e-01 -5.49062019e-04 2.56160140e+02] [ 9.52203975e-01 3.05458623e-01 -1.61847108e-03 2.91406543e+02] [ 1.70883255e-03 -2.84438854e-05 9.99998540e-01 1.47206403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.17, Y:291.43, Z:1.47 [[ 3.03100466e-01 -9.52958452e-01 -5.44909242e-04 2.56169525e+02] [ 9.52957075e-01 3.03100955e-01 -1.61987794e-03 2.91433589e+02] [ 1.70883889e-03 -2.82893577e-05 9.99998540e-01 1.47300101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.18, Y:291.46, Z:1.47 [[ 3.00614632e-01 -9.53745534e-01 -5.47879307e-04 2.56179442e+02] [ 9.53744160e-01 3.00615129e-01 -1.61887278e-03 2.91460035e+02] [ 1.70869349e-03 -3.58798462e-05 9.99998540e-01 1.47049410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.19, Y:291.48, Z:1.47 [[ 2.99654589e-01 -9.54047601e-01 -5.49636185e-04 2.56188386e+02] [ 9.54046230e-01 2.99655090e-01 -1.61827868e-03 2.91484431e+02] [ 1.70861617e-03 -3.94536988e-05 9.99998540e-01 1.47215875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.20, Y:291.51, Z:1.47 [[ 2.99383749e-01 -9.54132628e-01 -5.46970176e-04 2.56197167e+02] [ 9.54131255e-01 2.99384246e-01 -1.61917927e-03 2.91508635e+02] [ 1.70866603e-03 -3.71253797e-05 9.99998540e-01 1.47098030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.21, Y:291.53, Z:1.47 [[ 2.97350779e-01 -9.54768150e-01 -5.41905789e-04 2.56207082e+02] [ 9.54766775e-01 2.97351270e-01 -1.62088909e-03 2.91534491e+02] [ 1.70870965e-03 -3.54210112e-05 9.99998540e-01 1.47122994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.22, Y:291.56, Z:1.47 [[ 2.97260471e-01 -9.54796271e-01 -5.41999729e-04 2.56216213e+02] [ 9.54794896e-01 2.97260963e-01 -1.62085741e-03 2.91558406e+02] [ 1.70870397e-03 -3.56817385e-05 9.99998540e-01 1.47044304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.23, Y:291.59, Z:1.47 [[ 2.93963210e-01 -9.55816586e-01 -5.34277920e-04 2.56225386e+02] [ 9.55815208e-01 2.93963694e-01 -1.62345921e-03 2.91586447e+02] [ 1.70878755e-03 -3.34336811e-05 9.99998539e-01 1.47089646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.23, Y:291.61, Z:1.47 [[ 2.93223129e-01 -9.56043879e-01 -5.45591513e-04 2.56234357e+02] [ 9.56042508e-01 2.93223633e-01 -1.61964813e-03 2.91611418e+02] [ 1.70843501e-03 -4.66903844e-05 9.99998540e-01 1.47072082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.24, Y:291.64, Z:1.47 [[ 2.92877605e-01 -9.56149785e-01 -5.44995980e-04 2.56243562e+02] [ 9.56148414e-01 2.92878109e-01 -1.61984850e-03 2.91636686e+02] [ 1.70843519e-03 -4.66796922e-05 9.99998540e-01 1.47053170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.25, Y:291.66, Z:1.47 [[ 2.92679857e-01 -9.56210335e-01 -5.44428390e-04 2.56253464e+02] [ 9.56208964e-01 2.92680360e-01 -1.62003924e-03 2.91663200e+02] [ 1.70844176e-03 -4.64344518e-05 9.99998540e-01 1.46881113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.26, Y:291.69, Z:1.47 [[ 2.93478029e-01 -9.55965664e-01 -5.44356432e-04 2.56262732e+02] [ 9.55964292e-01 2.93478530e-01 -1.62006340e-03 2.91688308e+02] [ 1.70848191e-03 -4.49322982e-05 9.99998540e-01 1.47026412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.27, Y:291.72, Z:1.47 [[ 2.94833682e-01 -9.55548431e-01 -5.43354025e-04 2.56271245e+02] [ 9.55547058e-01 2.94834180e-01 -1.62039953e-03 2.91715137e+02] [ 1.70856956e-03 -4.14519815e-05 9.99998540e-01 1.46769963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.28, Y:291.74, Z:1.47 [[ 2.94559724e-01 -9.55632918e-01 -5.43396808e-04 2.56279555e+02] [ 9.55631545e-01 2.94560222e-01 -1.62038520e-03 2.91740547e+02] [ 1.70855652e-03 -4.19869154e-05 9.99998540e-01 1.46774533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.29, Y:291.77, Z:1.47 [[ 2.98575335e-01 -9.54385915e-01 -5.42881528e-04 2.56293853e+02] [ 9.54384540e-01 2.98575827e-01 -1.62055760e-03 2.91770166e+02] [ 1.70872865e-03 -3.42592082e-05 9.99998540e-01 1.47010835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.30, Y:291.79, Z:1.47 [[ 2.99302989e-01 -9.54157953e-01 -5.66659317e-04 2.56300738e+02] [ 9.54156592e-01 2.99303520e-01 -1.61260570e-03 2.91792212e+02] [ 1.70828368e-03 -5.80240184e-05 9.99998539e-01 1.47128505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.31, Y:291.82, Z:1.47 [[ 2.99299936e-01 -9.54158926e-01 -5.40643880e-04 2.56305884e+02] [ 9.54157549e-01 2.99300423e-01 -1.62128099e-03 2.91816675e+02] [ 1.70877467e-03 -3.06101431e-05 9.99998540e-01 1.47048678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:291.84, Z:1.47 [[ 3.01541937e-01 -9.53452765e-01 -5.33320218e-04 2.56318235e+02] [ 9.53451383e-01 3.01542408e-01 -1.62371716e-03 2.91843591e+02] [ 1.70895627e-03 -1.88760829e-05 9.99998540e-01 1.47055781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.32, Y:291.87, Z:1.47 [[ 3.00595724e-01 -9.53751498e-01 -5.39105663e-04 2.56324778e+02] [ 9.53750120e-01 3.00596206e-01 -1.62179400e-03 2.91868600e+02] [ 1.70884157e-03 -2.66677498e-05 9.99998540e-01 1.47092370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:291.89, Z:1.47 [[ 3.03904886e-01 -9.52702227e-01 -5.35615822e-04 2.56336989e+02] [ 9.52700845e-01 3.03905357e-01 -1.62295250e-03 2.91894959e+02] [ 1.70896698e-03 -1.70584520e-05 9.99998540e-01 1.47111528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.34, Y:291.92, Z:1.47 [[ 3.03894447e-01 -9.52705551e-01 -5.46011623e-04 2.56344104e+02] [ 9.52704175e-01 3.03894936e-01 -1.61950207e-03 2.91919224e+02] [ 1.70883878e-03 -2.80298673e-05 9.99998540e-01 1.47092540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.35, Y:291.95, Z:1.47 [[ 3.04206895e-01 -9.52605837e-01 -5.33027712e-04 2.56353308e+02] [ 9.52604453e-01 3.04207362e-01 -1.62380189e-03 2.91945085e+02] [ 1.70899411e-03 -1.37928408e-05 9.99998540e-01 1.47060088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.36, Y:291.97, Z:1.47 [[ 3.06068085e-01 -9.52009474e-01 -5.37002537e-04 2.56363780e+02] [ 9.52008092e-01 3.06068556e-01 -1.62248632e-03 2.91969472e+02] [ 1.70898194e-03 -1.46394779e-05 9.99998540e-01 1.46992482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.37, Y:292.00, Z:1.47 [[ 3.05238766e-01 -9.52275701e-01 -5.33475555e-04 2.56372282e+02] [ 9.52274317e-01 3.05239232e-01 -1.62365314e-03 2.91996157e+02] [ 1.70900310e-03 -1.24131900e-05 9.99998540e-01 1.46817636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.38, Y:292.02, Z:1.47 [[ 3.06799968e-01 -9.51773868e-01 -5.33476538e-04 2.56383031e+02] [ 9.51772483e-01 3.06800432e-01 -1.62365281e-03 2.92021649e+02] [ 1.70902115e-03 -9.61165897e-06 9.99998540e-01 1.46809864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.39, Y:292.05, Z:1.47 [[ 3.07881194e-01 -9.51424661e-01 -5.33235638e-04 2.56392300e+02] [ 9.51423276e-01 3.07881656e-01 -1.62373235e-03 2.92047120e+02] [ 1.70903248e-03 -7.41614098e-06 9.99998540e-01 1.47094653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.40, Y:292.07, Z:1.47 [[ 3.07330230e-01 -9.51602776e-01 -5.35401680e-04 2.56395754e+02] [ 9.51601392e-01 3.07330696e-01 -1.62301782e-03 2.92069617e+02] [ 1.70901363e-03 -1.06865448e-05 9.99998540e-01 1.47199629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.41, Y:292.10, Z:1.47 [[ 3.11186713e-01 -9.50348656e-01 -5.12077879e-04 2.56408238e+02] [ 9.50347257e-01 3.11187134e-01 -1.63069534e-03 2.92096708e+02] [ 1.70908118e-03 2.07989165e-05 9.99998539e-01 1.47087503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.42, Y:292.13, Z:1.47 [[ 3.09593257e-01 -9.50868940e-01 -5.24532758e-04 2.56415962e+02] [ 9.50867548e-01 3.09593701e-01 -1.62659459e-03 2.92125519e+02] [ 1.70907031e-03 4.82153954e-06 9.99998540e-01 1.46972071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.42, Y:292.15, Z:1.47 [[ 3.09985431e-01 -9.50741153e-01 -5.40450747e-04 2.56424063e+02] [ 9.50739771e-01 3.09985902e-01 -1.62135746e-03 2.92150758e+02] [ 1.70902337e-03 -1.12308298e-05 9.99998540e-01 1.47012789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.43, Y:292.18, Z:1.47 [[ 3.08301837e-01 -9.51288439e-01 -5.32693117e-04 2.56432143e+02] [ 9.51287053e-01 3.08302297e-01 -1.62390651e-03 2.92178189e+02] [ 1.70903400e-03 -6.09070672e-06 9.99998540e-01 1.46945165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.57275509600004 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.43, Y:292.20, Z:1.47 [[ 3.03903030e-01 -9.52702821e-01 -5.32896774e-04 2.56434371e+02] [ 9.52701437e-01 3.03903497e-01 -1.62383967e-03 2.92202176e+02] [ 1.70898583e-03 -1.42017262e-05 9.99998540e-01 1.46681332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.44, Y:292.23, Z:1.47 [[ 3.02189696e-01 -9.53247673e-01 -5.11839579e-04 2.56442186e+02] [ 9.53246278e-01 3.02190129e-01 -1.63072447e-03 2.92228898e+02] [ 1.70915717e-03 4.87895805e-06 9.99998539e-01 1.46578768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.45, Y:292.26, Z:1.47 [[ 3.03100996e-01 -9.52958301e-01 -5.12718952e-04 2.56454500e+02] [ 9.52956906e-01 3.03101430e-01 -1.63043720e-03 2.92257079e+02] [ 1.70914451e-03 5.58807178e-06 9.99998539e-01 1.46722236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.46, Y:292.28, Z:1.47 [[ 3.02182128e-01 -9.53250062e-01 -5.30847621e-04 2.56461801e+02] [ 9.53248677e-01 3.02182594e-01 -1.62451323e-03 2.92282169e+02] [ 1.70898025e-03 -1.51309269e-05 9.99998540e-01 1.46698629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.47, Y:292.31, Z:1.46 [[ 2.98192638e-01 -9.54505563e-01 -5.30399481e-04 2.56465432e+02] [ 9.54504180e-01 2.98193109e-01 -1.62465953e-03 2.92307750e+02] [ 1.70890803e-03 -2.18070088e-05 9.99998540e-01 1.46484061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:292.33, Z:1.47 [[ 2.99175974e-01 -9.54197812e-01 -5.22210642e-04 2.56475879e+02] [ 9.54196424e-01 2.99176429e-01 -1.62733023e-03 2.92334539e+02] [ 1.70902806e-03 -1.14334225e-05 9.99998540e-01 1.46574581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.48, Y:292.36, Z:1.47 [[ 2.97588167e-01 -9.54694193e-01 -5.29731963e-04 2.56483211e+02] [ 9.54692811e-01 2.97588637e-01 -1.62487818e-03 2.92361054e+02] [ 1.70890397e-03 -2.21867796e-05 9.99998540e-01 1.46555124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.49, Y:292.39, Z:1.47 [[ 2.94497956e-01 -9.55651963e-01 -5.29155928e-04 2.56490796e+02] [ 9.55650582e-01 2.94498430e-01 -1.62506574e-03 2.92386335e+02] [ 1.70883286e-03 -2.71096305e-05 9.99998540e-01 1.46559595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.50, Y:292.41, Z:1.46 [[ 2.91803520e-01 -9.56478137e-01 -5.28711649e-04 2.56497449e+02] [ 9.56476757e-01 2.91803997e-01 -1.62521028e-03 2.92412205e+02] [ 1.70875827e-03 -3.14583231e-05 9.99998540e-01 1.46372612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:292.44, Z:1.47 [[ 2.90942398e-01 -9.56740429e-01 -5.21704894e-04 2.56507779e+02] [ 9.56739045e-01 2.90942865e-01 -1.62748647e-03 2.92438724e+02] [ 1.70886842e-03 -2.56306257e-05 9.99998540e-01 1.46640519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.51, Y:292.46, Z:1.46 [[ 2.85818176e-01 -9.58283722e-01 -5.27836274e-04 2.56512895e+02] [ 9.58282344e-01 2.85818660e-01 -1.62549547e-03 2.92463065e+02] [ 1.70855130e-03 -4.12200317e-05 9.99998540e-01 1.46203833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:292.49, Z:1.47 [[ 2.88233317e-01 -9.57560068e-01 -5.21830222e-04 2.56525559e+02] [ 9.57558685e-01 2.88233788e-01 -1.62744455e-03 2.92489223e+02] [ 1.70878502e-03 -3.05993197e-05 9.99998540e-01 1.46613527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.53, Y:292.51, Z:1.46 [[ 2.84743129e-01 -9.58603710e-01 -5.27229210e-04 2.56528930e+02] [ 9.58602332e-01 2.84743614e-01 -1.62569361e-03 2.92514052e+02] [ 1.70852107e-03 -4.24980665e-05 9.99998540e-01 1.46355122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.54, Y:292.54, Z:1.47 [[ 2.85819080e-01 -9.58283459e-01 -5.15074386e-04 2.56540315e+02] [ 9.58282074e-01 2.85819543e-01 -1.62962483e-03 2.92540543e+02] [ 1.70886085e-03 -2.78086795e-05 9.99998540e-01 1.46723553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.55, Y:292.57, Z:1.47 [[ 2.85405519e-01 -9.58406706e-01 -5.25939534e-04 2.56547995e+02] [ 9.58405327e-01 2.85406001e-01 -1.62611068e-03 2.92566526e+02] [ 1.70858167e-03 -3.99622900e-05 9.99998540e-01 1.46788326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.56, Y:292.59, Z:1.47 [[ 2.87260752e-01 -9.57852275e-01 -5.29191214e-04 2.56555579e+02] [ 9.57850897e-01 2.87261237e-01 -1.62505983e-03 2.92592167e+02] [ 1.70858338e-03 -4.00703702e-05 9.99998540e-01 1.46722367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.56, Y:292.62, Z:1.47 [[ 2.89298966e-01 -9.57238650e-01 -5.24835638e-04 2.56562651e+02] [ 9.57237269e-01 2.89299441e-01 -1.62646531e-03 2.92615480e+02] [ 1.70875011e-03 -3.18575011e-05 9.99998540e-01 1.46745010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.57, Y:292.65, Z:1.47 [[ 2.89065575e-01 -9.57309160e-01 -5.15504674e-04 2.56571286e+02] [ 9.57307773e-01 2.89066034e-01 -1.62947252e-03 2.92645200e+02] [ 1.70892386e-03 -2.24722200e-05 9.99998540e-01 1.46597306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.58, Y:292.67, Z:1.47 [[ 2.91615441e-01 -9.56535492e-01 -5.35671569e-04 2.56576209e+02] [ 9.56534116e-01 2.91615930e-01 -1.62297061e-03 2.92667242e+02] [ 1.70863935e-03 -3.91048411e-05 9.99998540e-01 1.46620938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.58, Y:292.69, Z:1.47 [[ 2.90832626e-01 -9.56773807e-01 -5.15564511e-04 2.56583745e+02] [ 9.56772420e-01 2.90833082e-01 -1.62943663e-03 2.92694400e+02] [ 1.70894551e-03 -1.93845703e-05 9.99998540e-01 1.46675373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.59, Y:292.72, Z:1.47 [[ 2.90870128e-01 -9.56762403e-01 -5.22988774e-04 2.56590966e+02] [ 9.56761019e-01 2.90870597e-01 -1.62705023e-03 2.92719852e+02] [ 1.70882254e-03 -2.71149643e-05 9.99998540e-01 1.46660861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.60, Y:292.75, Z:1.47 [[ 2.90594042e-01 -9.56846294e-01 -5.22402654e-04 2.56598791e+02] [ 9.56844910e-01 2.90594511e-01 -1.62723839e-03 2.92745971e+02] [ 1.70882437e-03 -2.69925391e-05 9.99998540e-01 1.46752885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:292.77, Z:1.47 [[ 2.89910389e-01 -9.57053653e-01 -5.21852917e-04 2.56606331e+02] [ 9.57052269e-01 2.89910858e-01 -1.62741467e-03 2.92772468e+02] [ 1.70881398e-03 -2.76360977e-05 9.99998540e-01 1.46795074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.61, Y:292.80, Z:1.47 [[ 2.89012315e-01 -9.57325238e-01 -5.21298350e-04 2.56612772e+02] [ 9.57323854e-01 2.89012783e-01 -1.62759229e-03 2.92797218e+02] [ 1.70879707e-03 -2.86571294e-05 9.99998540e-01 1.46823430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.29275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.62, Y:292.83, Z:1.47 [[ 2.88342222e-01 -9.57527281e-01 -5.18272721e-04 2.56622879e+02] [ 9.57525897e-01 2.88342686e-01 -1.62856081e-03 2.92827421e+02] [ 1.70883155e-03 -2.66767101e-05 9.99998540e-01 1.46783723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:292.85, Z:1.47 [[ 2.85834559e-01 -9.58278829e-01 -5.39414899e-04 2.56626723e+02] [ 9.58277458e-01 2.85835063e-01 -1.62180413e-03 2.92847151e+02] [ 1.70832425e-03 -5.33414711e-05 9.99998539e-01 1.46951079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.63, Y:292.88, Z:1.47 [[ 2.82006750e-01 -9.59412291e-01 -4.99802488e-04 2.56634127e+02] [ 9.59410899e-01 2.82007193e-01 -1.63435290e-03 2.92876625e+02] [ 1.70896616e-03 -1.86174030e-05 9.99998540e-01 1.46950707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.64, Y:292.90, Z:1.47 [[ 2.80905804e-01 -9.59735205e-01 -5.14945491e-04 2.56641858e+02] [ 9.59733823e-01 2.80906273e-01 -1.62955502e-03 2.92901566e+02] [ 1.70859275e-03 -3.64591410e-05 9.99998540e-01 1.46955738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.65, Y:292.93, Z:1.47 [[ 2.80596462e-01 -9.59825692e-01 -5.15739944e-04 2.56653548e+02] [ 9.59824310e-01 2.80596933e-01 -1.62930355e-03 2.92931078e+02] [ 1.70856245e-03 -3.78429257e-05 9.99998540e-01 1.46807334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.66, Y:292.95, Z:1.47 [[ 2.77941365e-01 -9.60597893e-01 -5.35532513e-04 2.56658266e+02] [ 9.60596523e-01 2.77941873e-01 -1.62301851e-03 2.92953773e+02] [ 1.70791507e-03 -6.33266903e-05 9.99998540e-01 1.46910673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.47275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:256.67, Y:292.98, Z:1.47 [[ 2.78505389e-01 -9.60434524e-01 -5.23109723e-04 2.56666448e+02] [ 9.60433147e-01 2.78505876e-01 -1.62694642e-03 2.92978831e+02] [ 1.70826464e-03 -4.92985709e-05 9.99998540e-01 1.46960350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.68, Y:293.01, Z:1.47 [[ 2.79417830e-01 -9.60169470e-01 -5.14479763e-04 2.56675693e+02] [ 9.60168088e-01 2.79418301e-01 -1.62967086e-03 2.93006541e+02] [ 1.70851527e-03 -3.86279549e-05 9.99998540e-01 1.46576900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.68, Y:293.03, Z:1.47 [[ 2.79298930e-01 -9.60204062e-01 -5.16665917e-04 2.56683354e+02] [ 9.60202681e-01 2.79299405e-01 -1.62898155e-03 2.93033289e+02] [ 1.70845919e-03 -4.11311944e-05 9.99998540e-01 1.46588756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.69, Y:293.06, Z:1.47 [[ 2.80939146e-01 -9.59725445e-01 -5.16243116e-04 2.56690632e+02] [ 9.59724063e-01 2.80939617e-01 -1.62911470e-03 2.93058901e+02] [ 1.70853597e-03 -3.77688501e-05 9.99998540e-01 1.46542671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.70, Y:293.08, Z:1.47 [[ 2.80554886e-01 -9.59837847e-01 -5.13535963e-04 2.56698390e+02] [ 9.59836464e-01 2.80555354e-01 -1.62996657e-03 2.93084877e+02] [ 1.70857886e-03 -3.56154581e-05 9.99998540e-01 1.46925902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.71, Y:293.11, Z:1.47 [[ 2.82303176e-01 -9.59325100e-01 -5.19414509e-04 2.56705803e+02] [ 9.59323719e-01 2.82303652e-01 -1.62811999e-03 2.93109644e+02] [ 1.70852898e-03 -3.86632133e-05 9.99998540e-01 1.46593319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:293.14, Z:1.47 [[ 2.83838052e-01 -9.58872099e-01 -5.08606287e-04 2.56715318e+02] [ 9.58870711e-01 2.83838507e-01 -1.63151058e-03 2.93137420e+02] [ 1.70877202e-03 -2.46028880e-05 9.99998540e-01 1.46786084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.72, Y:293.16, Z:1.47 [[ 2.84011038e-01 -9.58820872e-01 -5.15972087e-04 2.56722964e+02] [ 9.58819488e-01 2.84011505e-01 -1.62919915e-03 2.93162013e+02] [ 1.70865216e-03 -3.20135493e-05 9.99998540e-01 1.46987429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.73, Y:293.19, Z:1.47 [[ 2.84367895e-01 -9.58715099e-01 -5.09646146e-04 2.56732875e+02] [ 9.58713711e-01 2.84368351e-01 -1.63118062e-03 2.93188739e+02] [ 1.70876472e-03 -2.47493497e-05 9.99998540e-01 1.46946379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.74, Y:293.21, Z:1.47 [[ 2.85353849e-01 -9.58422099e-01 -5.10496816e-04 2.56743049e+02] [ 9.58420712e-01 2.85354305e-01 -1.63091435e-03 2.93214380e+02] [ 1.70877681e-03 -2.38830360e-05 9.99998540e-01 1.46937712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.75, Y:293.24, Z:1.47 [[ 2.81406802e-01 -9.59588426e-01 -5.15243844e-04 2.56751760e+02] [ 9.59587043e-01 2.81407271e-01 -1.62942909e-03 2.93243962e+02] [ 1.70857466e-03 -3.58888870e-05 9.99998540e-01 1.46930149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.76, Y:293.27, Z:1.47 [[ 2.81418611e-01 -9.59584950e-01 -5.37353002e-04 2.56758950e+02] [ 9.59583580e-01 2.81419118e-01 -1.62251723e-03 2.93265300e+02] [ 1.70816452e-03 -5.90285733e-05 9.99998539e-01 1.46970309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.77, Y:293.29, Z:1.47 [[ 2.80699223e-01 -9.59795649e-01 -5.08307678e-04 2.56768160e+02] [ 9.59794263e-01 2.80699682e-01 -1.63156618e-03 2.93292684e+02] [ 1.70865192e-03 -2.98914352e-05 9.99998540e-01 1.46868243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:293.32, Z:1.47 [[ 2.79039714e-01 -9.60279426e-01 -5.12353107e-04 2.56775409e+02] [ 9.60278043e-01 2.79040182e-01 -1.63030652e-03 2.93318728e+02] [ 1.70851692e-03 -3.70811727e-05 9.99998540e-01 1.46860977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.78, Y:293.34, Z:1.47 [[ 2.76771172e-01 -9.60935721e-01 -5.07792124e-04 2.56782874e+02] [ 9.60934337e-01 2.76771635e-01 -1.63172501e-03 2.93344602e+02] [ 1.70852530e-03 -3.63404458e-05 9.99998540e-01 1.46871398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.79, Y:293.37, Z:1.47 [[ 2.76448496e-01 -9.61028601e-01 -5.06964881e-04 2.56790899e+02] [ 9.61027216e-01 2.76448959e-01 -1.63198198e-03 2.93371159e+02] [ 1.70853128e-03 -3.60480823e-05 9.99998540e-01 1.46876115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.80, Y:293.40, Z:1.47 [[ 2.75662531e-01 -9.61254343e-01 -5.06416841e-04 2.56797842e+02] [ 9.61252959e-01 2.75662993e-01 -1.63215203e-03 2.93396484e+02] [ 1.70851361e-03 -3.68715288e-05 9.99998540e-01 1.47031038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.81, Y:293.42, Z:1.47 [[ 2.77807849e-01 -9.60636535e-01 -4.96047996e-04 2.56808781e+02] [ 9.60635143e-01 2.77808291e-01 -1.63536432e-03 2.93423369e+02] [ 1.70879696e-03 -2.22040947e-05 9.99998540e-01 1.47067302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.82, Y:293.45, Z:1.47 [[ 2.78196004e-01 -9.60524194e-01 -5.05721627e-04 2.56816685e+02] [ 9.60522808e-01 2.78196462e-01 -1.63236734e-03 2.93449516e+02] [ 1.70861829e-03 -3.16390852e-05 9.99998540e-01 1.47065818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.04275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:256.82, Y:293.48, Z:1.47 [[ 2.78423107e-01 -9.60458390e-01 -5.05165044e-04 2.56824016e+02] [ 9.60457003e-01 2.78423563e-01 -1.63253957e-03 2.93475304e+02] [ 1.70863617e-03 -3.06525665e-05 9.99998540e-01 1.47062562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.83, Y:293.50, Z:1.47 [[ 2.78854418e-01 -9.60333254e-01 -5.04612570e-04 2.56830909e+02] [ 9.60331867e-01 2.78854873e-01 -1.63271032e-03 2.93500205e+02] [ 1.70865969e-03 -2.93070458e-05 9.99998540e-01 1.47098444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.84, Y:293.52, Z:1.47 [[ 2.79985743e-01 -9.60004027e-01 -5.01309365e-04 2.56836500e+02] [ 9.60002637e-01 2.79986191e-01 -1.63372981e-03 2.93523090e+02] [ 1.70874690e-03 -2.38372563e-05 9.99998540e-01 1.46851535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.84, Y:293.55, Z:1.47 [[ 2.78361267e-01 -9.60476324e-01 -4.85872931e-04 2.56841851e+02] [ 9.60474926e-01 2.78361691e-01 -1.63850561e-03 2.93547302e+02] [ 1.70899426e-03 -1.05722689e-05 9.99998540e-01 1.46815437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.86, Y:293.58, Z:1.47 [[ 2.82443485e-01 -9.59283823e-01 -4.74157611e-04 2.56857186e+02] [ 9.59282418e-01 2.82443883e-01 -1.64213392e-03 2.93576310e+02] [ 1.70919542e-03 8.95896797e-06 9.99998539e-01 1.47240274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.19275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:256.86, Y:293.60, Z:1.47 [[ 2.80864006e-01 -9.59747445e-01 -5.02470696e-04 2.56862344e+02] [ 9.59746055e-01 2.80864454e-01 -1.63335390e-03 2.93602123e+02] [ 1.70873339e-03 -2.34939496e-05 9.99998540e-01 1.46999414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.87, Y:293.63, Z:1.47 [[ 2.80067944e-01 -9.59980054e-01 -4.92387746e-04 2.56870882e+02] [ 9.59978659e-01 2.80068376e-01 -1.63647307e-03 2.93631170e+02] [ 1.70888374e-03 -1.43580811e-05 9.99998540e-01 1.46823364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.88, Y:293.66, Z:1.47 [[ 2.82026614e-01 -9.59406446e-01 -5.11409116e-04 2.56880608e+02] [ 9.59405060e-01 2.82027076e-01 -1.63057974e-03 2.93655315e+02] [ 1.70861993e-03 -3.07816104e-05 9.99998540e-01 1.47133671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:256.89, Y:293.68, Z:1.47 [[ 2.81621026e-01 -9.59525582e-01 -5.04831505e-04 2.56888949e+02] [ 9.59524194e-01 2.81621477e-01 -1.63261365e-03 2.93681715e+02] [ 1.70870596e-03 -2.46197112e-05 9.99998540e-01 1.47078924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.90, Y:293.71, Z:1.47 [[ 2.81179236e-01 -9.59655138e-01 -5.04244962e-04 2.56896633e+02] [ 9.59653749e-01 2.81179687e-01 -1.63279479e-03 2.93707197e+02] [ 1.70870335e-03 -2.47925766e-05 9.99998540e-01 1.47129460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.90, Y:293.73, Z:1.47 [[ 2.81310761e-01 -9.59616591e-01 -5.03631361e-04 2.56904605e+02] [ 9.59615202e-01 2.81311211e-01 -1.63298403e-03 2.93732079e+02] [ 1.70871572e-03 -2.39163296e-05 9.99998540e-01 1.47128179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.91, Y:293.76, Z:1.47 [[ 2.80255018e-01 -9.59925454e-01 -4.97689194e-04 2.56913153e+02] [ 9.59924062e-01 2.80255459e-01 -1.63481373e-03 2.93758611e+02] [ 1.70877943e-03 -1.95790800e-05 9.99998540e-01 1.47299951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.92, Y:293.78, Z:1.47 [[ 2.79246713e-01 -9.60219259e-01 -4.98992829e-04 2.56920957e+02] [ 9.60217868e-01 2.79247158e-01 -1.63441261e-03 2.93784733e+02] [ 1.70873679e-03 -2.27374821e-05 9.99998540e-01 1.47322720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.93, Y:293.81, Z:1.47 [[ 2.77621278e-01 -9.60690467e-01 -5.02074697e-04 2.56928467e+02] [ 9.60689079e-01 2.77621730e-01 -1.63346534e-03 2.93811830e+02] [ 1.70864143e-03 -2.88529430e-05 9.99998540e-01 1.47433208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:293.84, Z:1.48 [[ 2.78114034e-01 -9.60547930e-01 -5.07787410e-04 2.56935647e+02] [ 9.60546545e-01 2.78114496e-01 -1.63171205e-03 2.93836612e+02] [ 1.70856068e-03 -3.39514195e-05 9.99998540e-01 1.47563491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.94, Y:293.86, Z:1.48 [[ 2.78290636e-01 -9.60496784e-01 -5.00658150e-04 2.56943115e+02] [ 9.60495394e-01 2.78291085e-01 -1.63389660e-03 2.93862675e+02] [ 1.70868113e-03 -2.61817232e-05 9.99998540e-01 1.47699291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.95, Y:293.89, Z:1.48 [[ 2.78332398e-01 -9.60484684e-01 -4.98496437e-04 2.56949862e+02] [ 9.60483293e-01 2.78332843e-01 -1.63455838e-03 2.93889008e+02] [ 1.70871622e-03 -2.38469465e-05 9.99998540e-01 1.47693987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.96, Y:293.92, Z:1.48 [[ 2.78189787e-01 -9.60525998e-01 -4.99853224e-04 2.56957331e+02] [ 9.60524608e-01 2.78190235e-01 -1.63414336e-03 2.93915308e+02] [ 1.70869147e-03 -2.55193282e-05 9.99998540e-01 1.47710593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.96, Y:293.94, Z:1.48 [[ 2.77926096e-01 -9.60602330e-01 -4.99286367e-04 2.56964583e+02] [ 9.60600940e-01 2.77926544e-01 -1.63431654e-03 2.93941007e+02] [ 1.70869321e-03 -2.53957371e-05 9.99998540e-01 1.47710465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:293.97, Z:1.48 [[ 2.83035679e-01 -9.59109251e-01 -4.98693338e-04 2.56981210e+02] [ 9.59107859e-01 2.83036118e-01 -1.63449748e-03 2.93973465e+02] [ 1.70880988e-03 -1.56795965e-05 9.99998540e-01 1.47842847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.98, Y:293.99, Z:1.48 [[ 2.78069181e-01 -9.60560900e-01 -5.37356039e-04 2.56979881e+02] [ 9.60559531e-01 2.78069693e-01 -1.62267760e-03 2.93993986e+02] [ 1.70810308e-03 -6.49458327e-05 9.99998539e-01 1.47748805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:294.02, Z:1.48 [[ 2.78073999e-01 -9.60559526e-01 -4.97763173e-04 2.56987489e+02] [ 9.60558135e-01 2.78074444e-01 -1.63473331e-03 2.94019811e+02] [ 1.70867387e-03 -2.35536357e-05 9.99998540e-01 1.47839580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:256.99, Y:294.04, Z:1.48 [[ 2.78266683e-01 -9.60503724e-01 -4.98538962e-04 2.56994912e+02] [ 9.60502334e-01 2.78267129e-01 -1.63449724e-03 2.94044976e+02] [ 1.70866769e-03 -2.40217117e-05 9.99998540e-01 1.47779325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.00, Y:294.07, Z:1.48 [[ 2.77955431e-01 -9.60593843e-01 -4.97028756e-04 2.57002415e+02] [ 9.60592452e-01 2.77955874e-01 -1.63495634e-03 2.94071522e+02] [ 1.70868106e-03 -2.29970766e-05 9.99998540e-01 1.47874621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.01, Y:294.10, Z:1.48 [[ 2.77993290e-01 -9.60582888e-01 -4.96946293e-04 2.57009899e+02] [ 9.60581496e-01 2.77993733e-01 -1.63498138e-03 2.94096823e+02] [ 1.70868309e-03 -2.28435617e-05 9.99998540e-01 1.47839477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.02, Y:294.12, Z:1.48 [[ 2.78533562e-01 -9.60426369e-01 -4.95862533e-04 2.57017992e+02] [ 9.60424976e-01 2.78534002e-01 -1.63531000e-03 2.94122022e+02] [ 1.70870942e-03 -2.07500432e-05 9.99998540e-01 1.47918707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.03, Y:294.15, Z:1.48 [[ 2.79009417e-01 -9.60288238e-01 -4.95265483e-04 2.57025733e+02] [ 9.60286846e-01 2.79009855e-01 -1.63549080e-03 2.94148544e+02] [ 1.70872653e-03 -1.92795950e-05 9.99998540e-01 1.47915770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:294.18, Z:1.48 [[ 2.79966260e-01 -9.60009713e-01 -4.94688126e-04 2.57036397e+02] [ 9.60008319e-01 2.79966697e-01 -1.63566541e-03 2.94176506e+02] [ 1.70875088e-03 -1.69735868e-05 9.99998540e-01 1.47844028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.04, Y:294.20, Z:1.48 [[ 2.79484312e-01 -9.60150124e-01 -5.08586672e-04 2.57041940e+02] [ 9.60148738e-01 2.79484773e-01 -1.63145293e-03 2.94200301e+02] [ 1.70858196e-03 -3.23533524e-05 9.99998540e-01 1.47872920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.05, Y:294.23, Z:1.48 [[ 2.78670609e-01 -9.60386614e-01 -4.93389858e-04 2.57050121e+02] [ 9.60385221e-01 2.78671045e-01 -1.63605117e-03 2.94227631e+02] [ 1.70873511e-03 -1.79249518e-05 9.99998540e-01 1.47872323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.06, Y:294.25, Z:1.48 [[ 2.75262365e-01 -9.61369015e-01 -4.97790119e-04 2.57056720e+02] [ 9.61367625e-01 2.75262813e-01 -1.63472151e-03 2.94254234e+02] [ 1.70859372e-03 -2.85819949e-05 9.99998540e-01 1.47853755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:294.28, Z:1.48 [[ 2.74914362e-01 -9.61468589e-01 -4.96006065e-04 2.57066337e+02] [ 9.61467199e-01 2.74914808e-01 -1.63526005e-03 2.94280855e+02] [ 1.70861059e-03 -2.73370866e-05 9.99998540e-01 1.47928258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.07, Y:294.31, Z:1.48 [[ 2.70790366e-01 -9.62638213e-01 -4.99448833e-04 2.57072157e+02] [ 9.62636826e-01 2.70790823e-01 -1.63422127e-03 2.94305653e+02] [ 1.70841000e-03 -3.82564649e-05 9.99998540e-01 1.48097242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.08, Y:294.33, Z:1.48 [[ 2.68804266e-01 -9.63194697e-01 -4.92808412e-04 2.57079579e+02] [ 9.63193308e-01 2.68804715e-01 -1.63622128e-03 2.94331942e+02] [ 1.70846888e-03 -3.48465058e-05 9.99998540e-01 1.48174708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:294.36, Z:1.48 [[ 2.65736139e-01 -9.64045674e-01 -4.92219854e-04 2.57085321e+02] [ 9.64044286e-01 2.65736592e-01 -1.63639831e-03 2.94357838e+02] [ 1.70836354e-03 -3.96715688e-05 9.99998540e-01 1.48251288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.09, Y:294.38, Z:1.48 [[ 2.64462225e-01 -9.64395920e-01 -4.91604524e-04 2.57091568e+02] [ 9.64394532e-01 2.64462678e-01 -1.63658315e-03 2.94383076e+02] [ 1.70832516e-03 -4.12862945e-05 9.99998540e-01 1.48280258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:294.41, Z:1.48 [[ 2.63605802e-01 -9.64630365e-01 -4.90997570e-04 2.57098073e+02] [ 9.64628977e-01 2.63606256e-01 -1.63676522e-03 2.94409485e+02] [ 1.70830346e-03 -4.21696737e-05 9.99998540e-01 1.48258564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.10, Y:294.44, Z:1.48 [[ 2.62066523e-01 -9.65049688e-01 -4.87927625e-04 2.57102893e+02] [ 9.65048299e-01 2.62066974e-01 -1.63768463e-03 2.94435882e+02] [ 1.70831676e-03 -4.16914063e-05 9.99998540e-01 1.48251845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:294.46, Z:1.48 [[ 2.60709905e-01 -9.65417063e-01 -4.89804507e-04 2.57107674e+02] [ 9.65415676e-01 2.60710361e-01 -1.63712310e-03 2.94462219e+02] [ 1.70820368e-03 -4.60507429e-05 9.99998540e-01 1.48109545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.11, Y:294.49, Z:1.48 [[ 2.59270521e-01 -9.65804619e-01 -4.84446291e-04 2.57111430e+02] [ 9.65803230e-01 2.59270970e-01 -1.63872473e-03 2.94489287e+02] [ 1.70829078e-03 -4.30067775e-05 9.99998540e-01 1.48007040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.12, Y:294.52, Z:1.48 [[ 2.61240082e-01 -9.65273740e-01 -4.76226317e-04 2.57121374e+02] [ 9.65272345e-01 2.61240514e-01 -1.64117893e-03 2.94517368e+02] [ 1.70859653e-03 -3.09463752e-05 9.99998540e-01 1.48195141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.13, Y:294.54, Z:1.48 [[ 2.60980419e-01 -9.65343971e-01 -4.88983644e-04 2.57126828e+02] [ 9.65342583e-01 2.60980873e-01 -1.63736909e-03 2.94542979e+02] [ 1.70823975e-03 -4.47154634e-05 9.99998540e-01 1.48152753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.13, Y:294.57, Z:1.48 [[ 2.62328505e-01 -9.64978506e-01 -4.88433320e-04 2.57132454e+02] [ 9.64977118e-01 2.62328956e-01 -1.63753320e-03 2.94567492e+02] [ 1.70831455e-03 -4.17553407e-05 9.99998540e-01 1.48081070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.14, Y:294.59, Z:1.48 [[ 2.64528399e-01 -9.64377775e-01 -4.82157528e-04 2.57137591e+02] [ 9.64376382e-01 2.64528837e-01 -1.63940168e-03 2.94591318e+02] [ 1.70854711e-03 -3.13130312e-05 9.99998540e-01 1.48000259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.36275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.14, Y:294.62, Z:1.48 [[ 2.60967772e-01 -9.65347397e-01 -4.75156589e-04 2.57139182e+02] [ 9.65346002e-01 2.60968203e-01 -1.64148495e-03 2.94617008e+02] [ 1.70860399e-03 -3.03158433e-05 9.99998540e-01 1.47780717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:294.65, Z:1.48 [[ 2.66281997e-01 -9.63895056e-01 -4.68461879e-04 2.57151678e+02] [ 9.63893655e-01 2.66282409e-01 -1.64348935e-03 2.94646381e+02] [ 1.70889442e-03 -1.39158050e-05 9.99998540e-01 1.48042589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.15, Y:294.67, Z:1.48 [[ 2.64019409e-01 -9.64517243e-01 -4.90474377e-04 2.57152061e+02] [ 9.64515855e-01 2.64019861e-01 -1.63689359e-03 2.94669432e+02] [ 1.70830707e-03 -4.08986358e-05 9.99998540e-01 1.47937421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.16, Y:294.70, Z:1.48 [[ 2.66745145e-01 -9.63766990e-01 -4.65789449e-04 2.57158742e+02] [ 9.63765587e-01 2.66745551e-01 -1.64427095e-03 2.94697496e+02] [ 1.70894132e-03 -1.03105508e-05 9.99998540e-01 1.47909888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:294.73, Z:1.48 [[ 2.67819208e-01 -9.63469070e-01 -4.72221545e-04 2.57167685e+02] [ 9.63467670e-01 2.67819624e-01 -1.64235063e-03 2.94725599e+02] [ 1.70882423e-03 -1.51171482e-05 9.99998540e-01 1.48063601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.17, Y:294.75, Z:1.48 [[ 2.68020714e-01 -9.63413026e-01 -4.88784224e-04 2.57174004e+02] [ 9.63411635e-01 2.68021158e-01 -1.63740648e-03 2.94750581e+02] [ 1.70850324e-03 -3.20415535e-05 9.99998540e-01 1.48031740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.18, Y:294.78, Z:1.48 [[ 2.67281498e-01 -9.63618370e-01 -4.88168704e-04 2.57179302e+02] [ 9.63616979e-01 2.67281942e-01 -1.63758997e-03 2.94777715e+02] [ 1.70849045e-03 -3.27101523e-05 9.99998540e-01 1.47972950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:294.80, Z:1.48 [[ 2.67794910e-01 -9.63475817e-01 -4.85021727e-04 2.57187404e+02] [ 9.63474425e-01 2.67795348e-01 -1.63852668e-03 2.94804070e+02] [ 1.70856739e-03 -2.85169239e-05 9.99998540e-01 1.47936510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.19, Y:294.83, Z:1.48 [[ 2.67478839e-01 -9.63563612e-01 -4.87103947e-04 2.57193126e+02] [ 9.63562220e-01 2.67479280e-01 -1.63790744e-03 2.94831303e+02] [ 1.70851822e-03 -3.12493807e-05 9.99998540e-01 1.47979139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:294.86, Z:1.48 [[ 2.67833103e-01 -9.63465200e-01 -4.87019161e-04 2.57199851e+02] [ 9.63463808e-01 2.67833544e-01 -1.63793262e-03 2.94857848e+02] [ 1.70853115e-03 -3.05327596e-05 9.99998540e-01 1.47911664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.20, Y:294.88, Z:1.48 [[ 2.67147519e-01 -9.63655523e-01 -4.85997001e-04 2.57204521e+02] [ 9.63654131e-01 2.67147959e-01 -1.63823585e-03 2.94884345e+02] [ 1.70852814e-03 -3.06823741e-05 9.99998540e-01 1.47741968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.21, Y:294.91, Z:1.48 [[ 2.67785089e-01 -9.63478551e-01 -4.78413110e-04 2.57212186e+02] [ 9.63477154e-01 2.67785515e-01 -1.64048265e-03 2.94911031e+02] [ 1.70868194e-03 -2.16433105e-05 9.99998540e-01 1.47742015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.22, Y:294.94, Z:1.48 [[ 2.66850015e-01 -9.63737949e-01 -4.85267899e-04 2.57219084e+02] [ 9.63736557e-01 2.66850454e-01 -1.63845243e-03 2.94936472e+02] [ 1.70853275e-03 -3.04493582e-05 9.99998540e-01 1.47677031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.23, Y:294.96, Z:1.48 [[ 2.64670720e-01 -9.64338724e-01 -4.84670935e-04 2.57225846e+02] [ 9.64337333e-01 2.64671161e-01 -1.63862900e-03 2.94961998e+02] [ 1.70847182e-03 -3.36891599e-05 9.99998540e-01 1.47534681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.23, Y:294.99, Z:1.48 [[ 2.63019912e-01 -9.64790285e-01 -4.82306779e-04 2.57233646e+02] [ 9.64788892e-01 2.63020352e-01 -1.63932709e-03 2.94987918e+02] [ 1.70846335e-03 -3.41485574e-05 9.99998540e-01 1.47511970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.24, Y:295.01, Z:1.47 [[ 2.59970684e-01 -9.65616389e-01 -4.83494096e-04 2.57238050e+02] [ 9.65614998e-01 2.59971131e-01 -1.63897683e-03 2.95012012e+02] [ 1.70831740e-03 -4.07832227e-05 9.99998540e-01 1.47015714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:295.04, Z:1.47 [[ 2.59761479e-01 -9.65672696e-01 -4.67457966e-04 2.57245500e+02] [ 9.65671297e-01 2.59761898e-01 -1.64369876e-03 2.95037653e+02] [ 1.70870278e-03 -2.44411200e-05 9.99998540e-01 1.47019874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.25, Y:295.06, Z:1.47 [[ 2.57156766e-01 -9.66369588e-01 -4.66978584e-04 2.57253076e+02] [ 9.66368190e-01 2.57157189e-01 -1.64383981e-03 2.95064974e+02] [ 1.70864370e-03 -2.85487189e-05 9.99998540e-01 1.47185041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.26, Y:295.09, Z:1.47 [[ 2.55221659e-01 -9.66882458e-01 -4.67005136e-04 2.57263485e+02] [ 9.66881061e-01 2.55222084e-01 -1.64383203e-03 2.95091163e+02] [ 1.70858238e-03 -3.19968841e-05 9.99998540e-01 1.47406381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.27, Y:295.12, Z:1.47 [[ 2.52711006e-01 -9.67541688e-01 -4.78417669e-04 2.57272039e+02] [ 9.67540299e-01 2.52711455e-01 -1.64048686e-03 2.95116658e+02] [ 1.70814105e-03 -4.83192888e-05 9.99998540e-01 1.47416238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.28, Y:295.14, Z:1.47 [[ 2.50940725e-01 -9.68002339e-01 -4.74408519e-04 2.57279939e+02] [ 9.68000948e-01 2.50941169e-01 -1.64166015e-03 2.95143005e+02] [ 1.70817950e-03 -4.72685067e-05 9.99998540e-01 1.47480864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.29, Y:295.17, Z:1.47 [[ 2.50744243e-01 -9.68053250e-01 -4.79692785e-04 2.57287626e+02] [ 9.68051862e-01 2.50744696e-01 -1.64011464e-03 2.95167472e+02] [ 1.70799873e-03 -5.31181907e-05 9.99998540e-01 1.47421131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:295.19, Z:1.47 [[ 2.50652039e-01 -9.68077132e-01 -4.70371121e-04 2.57296109e+02] [ 9.68075739e-01 2.50652477e-01 -1.64283585e-03 2.95192723e+02] [ 1.70829151e-03 -4.35747134e-05 9.99998540e-01 1.47454598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.30, Y:295.22, Z:1.48 [[ 2.51374164e-01 -9.67889875e-01 -4.68238152e-04 2.57304799e+02] [ 9.67888481e-01 2.51374597e-01 -1.64345864e-03 2.95217971e+02] [ 1.70839016e-03 -4.00792724e-05 9.99998540e-01 1.47645347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.31, Y:295.24, Z:1.47 [[ 2.53827780e-01 -9.67249318e-01 -4.64461004e-04 2.57312147e+02] [ 9.67247920e-01 2.53828203e-01 -1.64456043e-03 2.95241348e+02] [ 1.70859326e-03 -3.18138157e-05 9.99998540e-01 1.47469125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.32, Y:295.27, Z:1.48 [[ 2.53326179e-01 -9.67380816e-01 -4.51912102e-04 2.57319987e+02] [ 9.67379412e-01 2.53326582e-01 -1.64821718e-03 2.95271739e+02] [ 1.70893503e-03 -1.96339030e-05 9.99998540e-01 1.47511601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:295.29, Z:1.47 [[ 2.54037620e-01 -9.67194222e-01 -4.74497265e-04 2.57325074e+02] [ 9.67192829e-01 2.54038060e-01 -1.64163309e-03 2.95294087e+02] [ 1.70831841e-03 -4.18937875e-05 9.99998540e-01 1.47218683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.33, Y:295.32, Z:1.47 [[ 2.55364394e-01 -9.66844774e-01 -4.57573765e-04 2.57333485e+02] [ 9.66843372e-01 2.55364803e-01 -1.64657150e-03 2.95321216e+02] [ 1.70882729e-03 -2.19264273e-05 9.99998540e-01 1.47100390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.34, Y:295.35, Z:1.47 [[ 2.61365075e-01 -9.65239908e-01 -4.66557870e-04 2.57344211e+02] [ 9.65238508e-01 2.61365491e-01 -1.64394251e-03 2.95347654e+02] [ 1.70874105e-03 -2.06704631e-05 9.99998540e-01 1.47294700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:295.38, Z:1.47 [[ 2.65279444e-01 -9.64171455e-01 -4.71318455e-04 2.57355489e+02] [ 9.64170056e-01 2.65279862e-01 -1.64254988e-03 2.95375116e+02] [ 1.70873100e-03 -1.86964217e-05 9.99998540e-01 1.47406983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.36, Y:295.40, Z:1.47 [[ 2.69040500e-01 -9.63128745e-01 -4.79772003e-04 2.57364394e+02] [ 9.63127349e-01 2.69040927e-01 -1.64007696e-03 2.95400772e+02] [ 1.70868357e-03 -2.08344121e-05 9.99998540e-01 1.47366632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.37, Y:295.43, Z:1.47 [[ 2.69617671e-01 -9.62967332e-01 -4.79208557e-04 2.57370795e+02] [ 9.62965935e-01 2.69618097e-01 -1.64024158e-03 2.95425683e+02] [ 1.70870235e-03 -1.92234022e-05 9.99998540e-01 1.46963243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.38, Y:295.45, Z:1.47 [[ 2.69620409e-01 -9.62966568e-01 -4.72865382e-04 2.57379017e+02] [ 9.62965168e-01 2.69620824e-01 -1.64209599e-03 2.95452052e+02] [ 1.70877789e-03 -1.26103003e-05 9.99998540e-01 1.47211056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.35275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.39, Y:295.48, Z:1.47 [[ 2.71306008e-01 -9.62493028e-01 -4.70885416e-04 2.57390243e+02] [ 9.62491626e-01 2.71306417e-01 -1.64267437e-03 2.95477585e+02] [ 1.70881686e-03 -7.55584449e-06 9.99998540e-01 1.47123626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.40, Y:295.50, Z:1.47 [[ 2.71471316e-01 -9.62446414e-01 -4.75036399e-04 2.57400772e+02] [ 9.62445014e-01 2.71471731e-01 -1.64146306e-03 2.95504126e+02] [ 1.70877919e-03 -1.15862763e-05 9.99998540e-01 1.47388527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.41, Y:295.53, Z:1.47 [[ 2.71557788e-01 -9.62422015e-01 -4.83242545e-04 2.57411668e+02] [ 9.62420619e-01 2.71558217e-01 -1.63906811e-03 2.95527937e+02] [ 1.70870371e-03 -1.99808803e-05 9.99998540e-01 1.47407180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.42, Y:295.55, Z:1.47 [[ 2.70110404e-01 -9.62829239e-01 -4.74960373e-04 2.57420811e+02] [ 9.62827840e-01 2.70110821e-01 -1.64148188e-03 2.95554317e+02] [ 1.70875868e-03 -1.39237367e-05 9.99998540e-01 1.47391805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.43, Y:295.58, Z:1.47 [[ 2.68767252e-01 -9.63205033e-01 -4.77630938e-04 2.57429984e+02] [ 9.63203636e-01 2.68767676e-01 -1.64070444e-03 2.95580106e+02] [ 1.70870653e-03 -1.90882319e-05 9.99998540e-01 1.47395908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.44, Y:295.61, Z:1.47 [[ 2.66215219e-01 -9.63913495e-01 -4.81564428e-04 2.57439425e+02] [ 9.63912101e-01 2.66215653e-01 -1.63955993e-03 2.95605885e+02] [ 1.70859393e-03 -2.77099734e-05 9.99998540e-01 1.47104758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.45, Y:295.63, Z:1.47 [[ 2.67164752e-01 -9.63650748e-01 -4.80294559e-04 2.57452834e+02] [ 9.63649353e-01 2.67165183e-01 -1.63992872e-03 2.95634375e+02] [ 1.70863652e-03 -2.47043918e-05 9.99998540e-01 1.47404729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.46, Y:295.66, Z:1.47 [[ 2.63131276e-01 -9.64759911e-01 -4.96517384e-04 2.57460658e+02] [ 9.64758526e-01 2.63131739e-01 -1.63520442e-03 2.95658242e+02] [ 1.70822915e-03 -4.87459553e-05 9.99998540e-01 1.47436335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.47, Y:295.68, Z:1.47 [[ 2.62165381e-01 -9.65022835e-01 -4.90166364e-04 2.57469334e+02] [ 9.65021448e-01 2.62165836e-01 -1.63705042e-03 2.95681704e+02] [ 1.70829591e-03 -4.38431074e-05 9.99998540e-01 1.47485349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.48, Y:295.71, Z:1.48 [[ 2.61715426e-01 -9.65144966e-01 -4.79363857e-04 2.57480928e+02] [ 9.65143573e-01 2.61715863e-01 -1.64017925e-03 2.95710305e+02] [ 1.70846787e-03 -3.33947359e-05 9.99998540e-01 1.47527744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.49, Y:295.73, Z:1.48 [[ 2.57112388e-01 -9.66381383e-01 -4.93432608e-04 2.57487914e+02] [ 9.66379999e-01 2.57112855e-01 -1.63611969e-03 2.95731752e+02] [ 1.70798348e-03 -5.61767625e-05 9.99998540e-01 1.47612628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.50, Y:295.76, Z:1.48 [[ 2.57172710e-01 -9.66365342e-01 -4.72560708e-04 2.57499846e+02] [ 9.66363947e-01 2.57173142e-01 -1.64212608e-03 2.95760926e+02] [ 1.70842365e-03 -3.43556173e-05 9.99998540e-01 1.47622812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.51, Y:295.79, Z:1.48 [[ 2.56805247e-01 -9.66463051e-01 -4.86481082e-04 2.57511052e+02] [ 9.66461664e-01 2.56805703e-01 -1.63811995e-03 2.95786397e+02] [ 1.70811352e-03 -4.94875172e-05 9.99998540e-01 1.47668022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:295.81, Z:1.48 [[ 2.56016228e-01 -9.66672361e-01 -4.87995131e-04 2.57518276e+02] [ 9.66670975e-01 2.56016688e-01 -1.63768465e-03 2.95812824e+02] [ 1.70803938e-03 -5.24568842e-05 9.99998540e-01 1.47679893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.52, Y:295.84, Z:1.48 [[ 2.55365887e-01 -9.66844367e-01 -4.83999810e-04 2.57522519e+02] [ 9.66842979e-01 2.55366341e-01 -1.63883140e-03 2.95837204e+02] [ 1.70809217e-03 -4.94501829e-05 9.99998540e-01 1.47641813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.53, Y:295.86, Z:1.48 [[ 2.57651129e-01 -9.66237897e-01 -4.70970616e-04 2.57530384e+02] [ 9.66236502e-01 2.57651557e-01 -1.64256299e-03 2.95862598e+02] [ 1.70845292e-03 -3.18607922e-05 9.99998540e-01 1.47843796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.54, Y:295.89, Z:1.48 [[ 2.63379461e-01 -9.64692199e-01 -4.69917986e-04 2.57540406e+02] [ 9.64690800e-01 2.63379880e-01 -1.64286408e-03 2.95891673e+02] [ 1.70862510e-03 -2.06289021e-05 9.99998540e-01 1.47683737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:295.92, Z:1.48 [[ 2.65184165e-01 -9.64197657e-01 -4.85869135e-04 2.57546174e+02] [ 9.64196266e-01 2.65184608e-01 -1.63830116e-03 2.95917149e+02] [ 1.70849115e-03 -3.40216815e-05 9.99998540e-01 1.47559741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.55, Y:295.94, Z:1.47 [[ 2.68116365e-01 -9.63386415e-01 -4.80814512e-04 2.57549656e+02] [ 9.63385019e-01 2.68116795e-01 -1.63974485e-03 2.95941354e+02] [ 1.70862236e-03 -2.35670700e-05 9.99998540e-01 1.47409227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.56, Y:295.97, Z:1.47 [[ 2.69586559e-01 -9.62976047e-01 -4.68285667e-04 2.57556604e+02] [ 9.62974645e-01 2.69586966e-01 -1.64331512e-03 2.95968138e+02] [ 1.70871681e-03 -7.93155586e-06 9.99998540e-01 1.47362401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.56, Y:296.00, Z:1.47 [[ 2.69902530e-01 -9.62887535e-01 -4.67736955e-04 2.57563279e+02] [ 9.62886133e-01 2.69902936e-01 -1.64347128e-03 2.95996808e+02] [ 1.70872159e-03 -6.80036943e-06 9.99998540e-01 1.47104108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.57, Y:296.02, Z:1.47 [[ 2.70607054e-01 -9.62689774e-01 -4.70414936e-04 2.57568440e+02] [ 9.62688372e-01 2.70607463e-01 -1.64270988e-03 2.96021479e+02] [ 1.70871780e-03 -8.33410688e-06 9.99998540e-01 1.47274884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.57, Y:296.05, Z:1.47 [[ 2.67656544e-01 -9.63514279e-01 -4.56060709e-04 2.57574030e+02] [ 9.63512872e-01 2.67656932e-01 -1.64676659e-03 2.96050495e+02] [ 1.70875094e-03 1.34749024e-06 9.99998540e-01 1.47224032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.58, Y:296.07, Z:1.47 [[ 2.66879797e-01 -9.63729710e-01 -4.68796104e-04 2.57579404e+02] [ 9.63728310e-01 2.66880208e-01 -1.64316670e-03 2.96071681e+02] [ 1.70868097e-03 -1.32640830e-05 9.99998540e-01 1.47264645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:296.10, Z:1.47 [[ 2.61504464e-01 -9.65202160e-01 -4.53337550e-04 2.57585247e+02] [ 9.65200754e-01 2.61504857e-01 -1.64753310e-03 2.96101584e+02] [ 1.70875248e-03 -6.72448533e-06 9.99998540e-01 1.47134470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.59, Y:296.13, Z:1.47 [[ 2.60529998e-01 -9.65465639e-01 -4.69527138e-04 2.57593305e+02] [ 9.65464241e-01 2.60530420e-01 -1.64296386e-03 2.96126737e+02] [ 1.70855125e-03 -2.52702909e-05 9.99998540e-01 1.47131666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.60, Y:296.15, Z:1.47 [[ 2.54322181e-01 -9.67119440e-01 -4.65803913e-04 2.57598966e+02] [ 9.67118043e-01 2.54322606e-01 -1.64401348e-03 2.96150106e+02] [ 1.70842186e-03 -3.23782741e-05 9.99998540e-01 1.47485899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.61, Y:296.18, Z:1.47 [[ 2.50320502e-01 -9.68162920e-01 -4.53989756e-04 2.57605691e+02] [ 9.68161519e-01 2.50320912e-01 -1.64733552e-03 2.96177170e+02] [ 1.70853230e-03 -2.71735588e-05 9.99998540e-01 1.47171796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.61, Y:296.20, Z:1.47 [[ 2.45716114e-01 -9.69341724e-01 -4.61352137e-04 2.57611747e+02] [ 9.69340329e-01 2.45716543e-01 -1.64526551e-03 2.96203777e+02] [ 1.70818636e-03 -4.29389840e-05 9.99998540e-01 1.47202074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:296.23, Z:1.47 [[ 2.42993102e-01 -9.70027908e-01 -4.59478641e-04 2.57617896e+02] [ 9.70026512e-01 2.42993532e-01 -1.64579155e-03 2.96230064e+02] [ 1.70811407e-03 -4.57904693e-05 9.99998540e-01 1.47216695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.62, Y:296.25, Z:1.47 [[ 2.41905292e-01 -9.70299756e-01 -4.61613080e-04 2.57624318e+02] [ 9.70298363e-01 2.41905727e-01 -1.64519290e-03 2.96254369e+02] [ 1.70799712e-03 -4.99215468e-05 9.99998540e-01 1.47463842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.63, Y:296.28, Z:1.47 [[ 2.41227221e-01 -9.70468555e-01 -4.60748023e-04 2.57630960e+02] [ 9.70467161e-01 2.41227656e-01 -1.64543513e-03 2.96280432e+02] [ 1.70798822e-03 -5.02170818e-05 9.99998540e-01 1.47416089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.64, Y:296.31, Z:1.47 [[ 2.41296311e-01 -9.70451379e-01 -4.60162239e-04 2.57638012e+02] [ 9.70449985e-01 2.41296745e-01 -1.64559893e-03 2.96306441e+02] [ 1.70800940e-03 -4.94874851e-05 9.99998540e-01 1.47414041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.64, Y:296.33, Z:1.47 [[ 2.42478233e-01 -9.70156736e-01 -4.62387602e-04 2.57643609e+02] [ 9.70155343e-01 2.42478669e-01 -1.64497739e-03 2.96332919e+02] [ 1.70800502e-03 -4.97165925e-05 9.99998540e-01 1.46977382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.65, Y:296.36, Z:1.47 [[ 2.44447165e-01 -9.69662504e-01 -4.61291142e-04 2.57651412e+02] [ 9.69661109e-01 2.44447596e-01 -1.64528314e-03 2.96358780e+02] [ 1.70813088e-03 -4.51112810e-05 9.99998540e-01 1.47313862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.66, Y:296.38, Z:1.47 [[ 2.46150547e-01 -9.69231495e-01 -4.67031394e-04 2.57658355e+02] [ 9.69230102e-01 2.46150985e-01 -1.64368256e-03 2.96384795e+02] [ 1.70806914e-03 -4.80675262e-05 9.99998540e-01 1.47316358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.67, Y:296.41, Z:1.47 [[ 2.48774690e-01 -9.68561272e-01 -4.64945527e-04 2.57665555e+02] [ 9.68559877e-01 2.48775121e-01 -1.64426330e-03 2.96409542e+02] [ 1.70823664e-03 -4.12764885e-05 9.99998540e-01 1.47336662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.67, Y:296.44, Z:1.47 [[ 2.49153604e-01 -9.68463873e-01 -4.57435291e-04 2.57672403e+02] [ 9.68462474e-01 2.49154022e-01 -1.64635001e-03 2.96438853e+02] [ 1.70840235e-03 -3.28148762e-05 9.99998540e-01 1.47376349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.68, Y:296.46, Z:1.47 [[ 2.51019234e-01 -9.67981983e-01 -4.74490716e-04 2.57679589e+02] [ 9.67980592e-01 2.51019678e-01 -1.64161772e-03 2.96461846e+02] [ 1.70816288e-03 -4.72201814e-05 9.99998540e-01 1.47410604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.69, Y:296.49, Z:1.47 [[ 2.50674703e-01 -9.68071268e-01 -4.61083083e-04 2.57688065e+02] [ 9.68069871e-01 2.50675125e-01 -1.64532611e-03 2.96488122e+02] [ 1.70837500e-03 -3.39190057e-05 9.99998540e-01 1.47351020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.70, Y:296.51, Z:1.47 [[ 2.50002506e-01 -9.68245080e-01 -4.61558302e-04 2.57696117e+02] [ 9.68243683e-01 2.50002929e-01 -1.64519495e-03 2.96513650e+02] [ 1.70834284e-03 -3.55980493e-05 9.99998540e-01 1.47323641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.70, Y:296.54, Z:1.47 [[ 2.49855717e-01 -9.68282969e-01 -4.62105643e-04 2.57704027e+02] [ 9.68281572e-01 2.49856141e-01 -1.64504411e-03 2.96537934e+02] [ 1.70832813e-03 -3.64247032e-05 9.99998540e-01 1.47386651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.71, Y:296.56, Z:1.47 [[ 2.49278142e-01 -9.68431827e-01 -4.52877496e-04 2.57711110e+02] [ 9.68430426e-01 2.49278552e-01 -1.64758069e-03 2.96562834e+02] [ 1.70846222e-03 -2.78744924e-05 9.99998540e-01 1.47477171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:296.59, Z:1.47 [[ 2.48800216e-01 -9.68554721e-01 -4.52277733e-04 2.57718033e+02] [ 9.68553320e-01 2.48800626e-01 -1.64774532e-03 2.96589075e+02] [ 1.70845849e-03 -2.80957086e-05 9.99998540e-01 1.47474354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.72, Y:296.61, Z:1.47 [[ 2.47942700e-01 -9.68774594e-01 -4.51717535e-04 2.57724716e+02] [ 9.68773193e-01 2.47943110e-01 -1.64789888e-03 2.96613847e+02] [ 1.70844281e-03 -2.90273423e-05 9.99998540e-01 1.47469514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.73, Y:296.64, Z:1.48 [[ 2.47291544e-01 -9.68941015e-01 -4.50183187e-04 2.57731688e+02] [ 9.68939613e-01 2.47291952e-01 -1.64831889e-03 2.96640305e+02] [ 1.70845046e-03 -2.85849994e-05 9.99998540e-01 1.47519523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.74, Y:296.67, Z:1.48 [[ 2.46911458e-01 -9.69037940e-01 -4.51394073e-04 2.57738452e+02] [ 9.69036539e-01 2.46911869e-01 -1.64798772e-03 2.96666371e+02] [ 1.70841718e-03 -3.05102985e-05 9.99998540e-01 1.47524159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:296.69, Z:1.48 [[ 2.44906536e-01 -9.69546588e-01 -4.50732001e-04 2.57745016e+02] [ 9.69545187e-01 2.44906948e-01 -1.64816851e-03 2.96694437e+02] [ 1.70836356e-03 -3.33578015e-05 9.99998540e-01 1.47500134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.75, Y:296.72, Z:1.48 [[ 2.46555021e-01 -9.69128686e-01 -4.59314670e-04 2.57750626e+02] [ 9.69127290e-01 2.46555446e-01 -1.64582688e-03 2.96716848e+02] [ 1.70826457e-03 -3.93475013e-05 9.99998540e-01 1.47544181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:296.74, Z:1.48 [[ 2.46461307e-01 -9.69152529e-01 -4.47606517e-04 2.57756368e+02] [ 9.69151126e-01 2.46461712e-01 -1.64901361e-03 2.96743282e+02] [ 1.70846358e-03 -2.73803113e-05 9.99998540e-01 1.47561736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.76, Y:296.77, Z:1.47 [[ 2.47255060e-01 -9.68950326e-01 -4.48051752e-04 2.57763565e+02] [ 9.68948924e-01 2.47255464e-01 -1.64889263e-03 2.96770045e+02] [ 1.70847829e-03 -2.64422182e-05 9.99998540e-01 1.47419352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:296.80, Z:1.47 [[ 2.46770756e-01 -9.69073781e-01 -4.47505179e-04 2.57768907e+02] [ 9.69072379e-01 2.46771161e-01 -1.64904095e-03 2.96798714e+02] [ 1.70847372e-03 -2.67298259e-05 9.99998540e-01 1.47145812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.77, Y:296.82, Z:1.47 [[ 2.45984498e-01 -9.69273653e-01 -4.60623715e-04 2.57773996e+02] [ 9.69272257e-01 2.45984926e-01 -1.64546170e-03 2.96823374e+02] [ 1.70820917e-03 -4.17117179e-05 9.99998540e-01 1.47375379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.78, Y:296.85, Z:1.47 [[ 2.45250818e-01 -9.69459557e-01 -4.52228154e-04 2.57780068e+02] [ 9.69458157e-01 2.45251233e-01 -1.64774770e-03 2.96850355e+02] [ 1.70833426e-03 -3.43048018e-05 9.99998540e-01 1.47140891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.97275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.79, Y:296.88, Z:1.47 [[ 2.43820323e-01 -9.69820315e-01 -4.54869079e-04 2.57785307e+02] [ 9.69818917e-01 2.43820744e-01 -1.64703133e-03 2.96875013e+02] [ 1.70823096e-03 -3.95609267e-05 9.99998540e-01 1.47056375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.79, Y:296.90, Z:1.47 [[ 2.43909548e-01 -9.69797881e-01 -4.50297243e-04 2.57792562e+02] [ 9.69796481e-01 2.43909962e-01 -1.64826951e-03 2.96899984e+02] [ 1.70832026e-03 -3.46680105e-05 9.99998540e-01 1.47469816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.80, Y:296.93, Z:1.48 [[ 2.42283788e-01 -9.70205322e-01 -4.46054384e-04 2.57798886e+02] [ 9.70203921e-01 2.42284196e-01 -1.64941691e-03 2.96925579e+02] [ 1.70834499e-03 -3.31367358e-05 9.99998540e-01 1.47545577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.81, Y:296.95, Z:1.48 [[ 2.41534590e-01 -9.70392108e-01 -4.45624612e-04 2.57805522e+02] [ 9.70390707e-01 2.41534999e-01 -1.64953301e-03 2.96951205e+02] [ 1.70832776e-03 -3.40107019e-05 9.99998540e-01 1.47615010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.81, Y:296.98, Z:1.48 [[ 2.40140650e-01 -9.70738004e-01 -4.43435486e-04 2.57812202e+02] [ 9.70736602e-01 2.40141057e-01 -1.65012400e-03 2.96978339e+02] [ 1.70832515e-03 -3.41972049e-05 9.99998540e-01 1.47520323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.82, Y:297.01, Z:1.48 [[ 2.37423892e-01 -9.71406041e-01 -4.46069038e-04 2.57819347e+02] [ 9.71404642e-01 2.37424308e-01 -1.64941417e-03 2.97005474e+02] [ 1.70815852e-03 -4.17032025e-05 9.99998540e-01 1.47819163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1527550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.83, Y:297.03, Z:1.48 [[ 2.37389332e-01 -9.71414485e-01 -4.51447767e-04 2.57825518e+02] [ 9.71413088e-01 2.37389756e-01 -1.64796204e-03 2.97028522e+02] [ 1.70802327e-03 -4.73336637e-05 9.99998540e-01 1.48006508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.83, Y:297.05, Z:1.48 [[ 2.36513122e-01 -9.71628193e-01 -4.44597742e-04 2.57832455e+02] [ 9.71626793e-01 2.36513537e-01 -1.64980801e-03 2.97054779e+02] [ 1.70815336e-03 -4.17818340e-05 9.99998540e-01 1.48132977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.84, Y:297.08, Z:1.48 [[ 2.39348779e-01 -9.70933553e-01 -4.44016551e-04 2.57842001e+02] [ 9.70932152e-01 2.39349188e-01 -1.64996441e-03 2.97079781e+02] [ 1.70828081e-03 -3.61929766e-05 9.99998540e-01 1.48273469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:297.11, Z:1.48 [[ 2.36456364e-01 -9.71642008e-01 -4.43408269e-04 2.57845543e+02] [ 9.71640607e-01 2.36456776e-01 -1.65012787e-03 2.97107336e+02] [ 1.70818044e-03 -4.06502446e-05 9.99998540e-01 1.48208753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.85, Y:297.13, Z:1.48 [[ 2.37459738e-01 -9.71397281e-01 -4.42831966e-04 2.57850822e+02] [ 9.71395880e-01 2.37460147e-01 -1.65028251e-03 2.97134165e+02] [ 1.70823489e-03 -3.82894957e-05 9.99998540e-01 1.48137419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.30275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:257.86, Y:297.16, Z:1.48 [[ 2.37908589e-01 -9.71287449e-01 -4.42104797e-04 2.57856835e+02] [ 9.71286047e-01 2.37908997e-01 -1.65047737e-03 2.97160535e+02] [ 1.70826866e-03 -3.67474784e-05 9.99998540e-01 1.48116983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.86, Y:297.19, Z:1.48 [[ 2.39342240e-01 -9.70935166e-01 -4.41661280e-04 2.57862035e+02] [ 9.70933764e-01 2.39342645e-01 -1.65059604e-03 2.97186216e+02] [ 1.70833012e-03 -3.37664953e-05 9.99998540e-01 1.48005351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.36275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:257.87, Y:297.21, Z:1.48 [[ 2.39874271e-01 -9.70803863e-01 -4.41044162e-04 2.57868148e+02] [ 9.70802460e-01 2.39874674e-01 -1.65076092e-03 2.97213184e+02] [ 1.70836041e-03 -3.21916849e-05 9.99998540e-01 1.47917643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.87, Y:297.24, Z:1.48 [[ 2.40606469e-01 -9.70622652e-01 -4.40703865e-04 2.57874258e+02] [ 9.70621249e-01 2.40606870e-01 -1.65085171e-03 2.97239249e+02] [ 1.70839044e-03 -3.05509364e-05 9.99998540e-01 1.47764564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.88, Y:297.26, Z:1.48 [[ 2.40326343e-01 -9.70692050e-01 -4.39825959e-04 2.57880257e+02] [ 9.70690646e-01 2.40326743e-01 -1.65108557e-03 2.97264641e+02] [ 1.70839758e-03 -3.01355882e-05 9.99998540e-01 1.47756804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:297.30, Z:1.47 [[ 2.44772396e-01 -9.69580467e-01 -4.39194614e-04 2.57894355e+02] [ 9.69579061e-01 2.44772789e-01 -1.65125349e-03 2.97296932e+02] [ 1.70852602e-03 -2.16526279e-05 9.99998540e-01 1.47410361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.89, Y:297.32, Z:1.48 [[ 2.39831149e-01 -9.70814500e-01 -4.76284250e-04 2.57894731e+02] [ 9.70813115e-01 2.39831612e-01 -1.64130920e-03 2.97319561e+02] [ 1.70763478e-03 -6.87459259e-05 9.99998540e-01 1.47670390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.90, Y:297.34, Z:1.48 [[ 2.40562910e-01 -9.70633444e-01 -4.51079236e-04 2.57901805e+02] [ 9.70632046e-01 2.40563330e-01 -1.64804714e-03 2.97344133e+02] [ 1.70816280e-03 -4.13729448e-05 9.99998540e-01 1.47685599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:297.37, Z:1.48 [[ 2.39307463e-01 -9.70943740e-01 -4.37521989e-04 2.57908122e+02] [ 9.70942336e-01 2.39307861e-01 -1.65166187e-03 2.97366965e+02] [ 1.70837320e-03 -2.95536103e-05 9.99998540e-01 1.47697431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.91, Y:297.40, Z:1.48 [[ 2.37921155e-01 -9.71284379e-01 -4.22956736e-04 2.57914061e+02] [ 9.71282968e-01 2.37921530e-01 -1.65553041e-03 2.97395305e+02] [ 1.70862134e-03 -1.69249682e-05 9.99998540e-01 1.47654124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:297.43, Z:1.48 [[ 2.40849492e-01 -9.70562378e-01 -4.38481951e-04 2.57926686e+02] [ 9.70560974e-01 2.40849890e-01 -1.65140815e-03 2.97427672e+02] [ 1.70840295e-03 -2.78326541e-05 9.99998540e-01 1.47791055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.93, Y:297.45, Z:1.48 [[ 2.37460126e-01 -9.71397173e-01 -4.71321803e-04 2.57928510e+02] [ 9.71395786e-01 2.37460584e-01 -1.64261811e-03 2.97450667e+02] [ 1.70755494e-03 -6.77837105e-05 9.99998540e-01 1.47855704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:297.48, Z:1.48 [[ 2.39630427e-01 -9.70864076e-01 -4.51788647e-04 2.57939148e+02] [ 9.70862679e-01 2.39630849e-01 -1.64782673e-03 2.97480825e+02] [ 1.70807827e-03 -4.37553138e-05 9.99998540e-01 1.47829415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.94, Y:297.50, Z:1.48 [[ 2.35725663e-01 -9.71819527e-01 -4.68991427e-04 2.57939760e+02] [ 9.71818140e-01 2.35726119e-01 -1.64327589e-03 2.97501987e+02] [ 1.70752113e-03 -6.84120771e-05 9.99998540e-01 1.47823553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.95, Y:297.53, Z:1.48 [[ 2.36184344e-01 -9.71708169e-01 -4.35264636e-04 2.57946362e+02] [ 9.71706765e-01 2.36184743e-01 -1.65216127e-03 2.97528545e+02] [ 1.70822147e-03 -3.27349645e-05 9.99998540e-01 1.47881903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.96, Y:297.56, Z:1.48 [[ 2.39722572e-01 -9.70841336e-01 -4.34689329e-04 2.57960038e+02] [ 9.70839930e-01 2.39722965e-01 -1.65231262e-03 2.97561660e+02] [ 1.70833841e-03 -2.59171252e-05 9.99998540e-01 1.47796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.96, Y:297.58, Z:1.48 [[ 2.37148422e-01 -9.71473317e-01 -4.69950441e-04 2.57959713e+02] [ 9.71471930e-01 2.37148878e-01 -1.64302367e-03 2.97582667e+02] [ 1.70760187e-03 -6.69031921e-05 9.99998540e-01 1.47873952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.97, Y:297.62, Z:1.48 [[ 2.43954912e-01 -9.69786478e-01 -4.33307984e-04 2.57973790e+02] [ 9.69785070e-01 2.43955296e-01 -1.65263106e-03 2.97615674e+02] [ 1.70840703e-03 -1.70481508e-05 9.99998541e-01 1.47529096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:257.97, Y:297.64, Z:1.48 [[ 2.40781221e-01 -9.70579303e-01 -4.69651041e-04 2.57972611e+02] [ 9.70577914e-01 2.40781672e-01 -1.64308907e-03 2.97635773e+02] [ 1.70783161e-03 -6.02079343e-05 9.99998540e-01 1.47775102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.87275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:257.98, Y:297.66, Z:1.48 [[ 2.43552848e-01 -9.69887531e-01 -4.32055133e-04 2.57979404e+02] [ 9.69886123e-01 2.43553231e-01 -1.65291625e-03 2.97662444e+02] [ 1.70837129e-03 -1.64718159e-05 9.99998541e-01 1.47718420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:297.69, Z:1.48 [[ 2.44562601e-01 -9.69633409e-01 -4.31486956e-04 2.57985944e+02] [ 9.69632000e-01 2.44562981e-01 -1.65306456e-03 2.97688837e+02] [ 1.70839236e-03 -1.41057922e-05 9.99998541e-01 1.47629724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:257.99, Y:297.71, Z:1.48 [[ 2.44900835e-01 -9.69548037e-01 -4.30919882e-04 2.57991863e+02] [ 9.69546627e-01 2.44901213e-01 -1.65321237e-03 2.97714971e+02] [ 1.70840161e-03 -1.29238279e-05 9.99998541e-01 1.47570435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.00, Y:297.74, Z:1.48 [[ 2.46777985e-01 -9.69071947e-01 -4.33230039e-04 2.57998496e+02] [ 9.69070538e-01 2.46778365e-01 -1.65261131e-03 2.97741404e+02] [ 1.70841106e-03 -1.20023788e-05 9.99998541e-01 1.47578208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:297.77, Z:1.47 [[ 2.48889966e-01 -9.68531672e-01 -4.29456864e-04 2.58005580e+02] [ 9.68530261e-01 2.48890337e-01 -1.65359124e-03 2.97765135e+02] [ 1.70844315e-03 -4.37969986e-06 9.99998541e-01 1.47462229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.01, Y:297.79, Z:1.48 [[ 2.47914546e-01 -9.68781816e-01 -4.13787914e-04 2.58012140e+02] [ 9.68780398e-01 2.47914891e-01 -1.65764779e-03 2.97791147e+02] [ 1.70848322e-03 1.00853791e-05 9.99998541e-01 1.47600567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.02, Y:297.82, Z:1.48 [[ 2.46859053e-01 -9.69051306e-01 -4.17522978e-04 2.58019966e+02] [ 9.69049890e-01 2.46859406e-01 -1.65668179e-03 2.97817435e+02] [ 1.70847913e-03 4.36630214e-06 9.99998541e-01 1.47716130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:297.84, Z:1.48 [[ 2.44281865e-01 -9.69704180e-01 -4.17904165e-04 2.58026213e+02] [ 9.69702765e-01 2.44282222e-01 -1.65658330e-03 2.97843893e+02] [ 1.70848231e-03 -5.69566808e-07 9.99998541e-01 1.47755234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.03, Y:297.87, Z:1.48 [[ 2.41219007e-01 -9.70470612e-01 -4.26984511e-04 2.58032979e+02] [ 9.70469202e-01 2.41219384e-01 -1.65423952e-03 2.97869389e+02] [ 1.70838778e-03 -1.53413032e-05 9.99998541e-01 1.47847675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.04, Y:297.89, Z:1.48 [[ 2.42525290e-01 -9.70144990e-01 -4.26392723e-04 2.58040134e+02] [ 9.70143580e-01 2.42525664e-01 -1.65439205e-03 2.97891075e+02] [ 1.70841133e-03 -1.24302517e-05 9.99998541e-01 1.47725209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:297.92, Z:1.48 [[ 2.37962929e-01 -9.71274154e-01 -4.03250839e-04 2.58046736e+02] [ 9.71272735e-01 2.37963271e-01 -1.66033491e-03 2.97920185e+02] [ 1.70859928e-03 3.43161500e-06 9.99998540e-01 1.47882218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.05, Y:297.95, Z:1.48 [[ 2.36996983e-01 -9.71510293e-01 -4.25183073e-04 2.58054476e+02] [ 9.71508884e-01 2.36997364e-01 -1.65469932e-03 2.97946567e+02] [ 1.70832469e-03 -2.09103855e-05 9.99998541e-01 1.47894699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.06, Y:297.97, Z:1.48 [[ 2.34393206e-01 -9.72141782e-01 -4.24579489e-04 2.58062025e+02] [ 9.72140374e-01 2.34393589e-01 -1.65485418e-03 2.97969941e+02] [ 1.70827160e-03 -2.48642864e-05 9.99998541e-01 1.47917373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.07, Y:297.99, Z:1.48 [[ 2.37379709e-01 -9.71416855e-01 -4.09808546e-04 2.58069923e+02] [ 9.71415439e-01 2.37380063e-01 -1.65862345e-03 2.97990684e+02] [ 1.70849515e-03 -4.37079621e-06 9.99998541e-01 1.47854004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:298.02, Z:1.48 [[ 2.33849576e-01 -9.72272708e-01 -3.95668146e-04 2.58077402e+02] [ 9.72271287e-01 2.33849910e-01 -1.66225682e-03 2.98022209e+02] [ 1.70869390e-03 4.02127336e-06 9.99998540e-01 1.47899220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.08, Y:298.05, Z:1.48 [[ 2.34104677e-01 -9.72211304e-01 -4.25497625e-04 2.58084773e+02] [ 9.72209896e-01 2.34105062e-01 -1.65458579e-03 2.98048092e+02] [ 1.70821816e-03 -2.63267292e-05 9.99998541e-01 1.47810353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.09, Y:298.07, Z:1.48 [[ 2.35496335e-01 -9.71875144e-01 -4.24908763e-04 2.58092390e+02] [ 9.71873736e-01 2.35496717e-01 -1.65473700e-03 2.98074098e+02] [ 1.70826238e-03 -2.32731680e-05 9.99998541e-01 1.47686667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.38275509600004 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:258.10, Y:298.10, Z:1.48 [[ 2.36076308e-01 -9.71734427e-01 -4.24319498e-04 2.58099265e+02] [ 9.71733018e-01 2.36076689e-01 -1.65488809e-03 2.98101172e+02] [ 1.70828367e-03 -2.16453950e-05 9.99998541e-01 1.47723709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.41275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.11, Y:298.13, Z:1.48 [[ 2.37336375e-01 -9.71427436e-01 -4.26914639e-04 2.58105872e+02] [ 9.71426028e-01 2.37336758e-01 -1.65422350e-03 2.98127657e+02] [ 1.70828063e-03 -2.21085824e-05 9.99998541e-01 1.47590259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.44275509600004 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.11, Y:298.15, Z:1.47 [[ 2.39355749e-01 -9.70931844e-01 -4.23191708e-04 2.58113219e+02] [ 9.70930434e-01 2.39356123e-01 -1.65517538e-03 2.98154160e+02] [ 1.70835601e-03 -1.47139667e-05 9.99998541e-01 1.47488919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.47275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.12, Y:298.18, Z:1.47 [[ 2.39219491e-01 -9.70965425e-01 -4.22612956e-04 2.58119631e+02] [ 9.70964014e-01 2.39219864e-01 -1.65532313e-03 2.98181004e+02] [ 1.70835894e-03 -1.43564139e-05 9.99998541e-01 1.47287270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.13, Y:298.21, Z:1.47 [[ 2.38880514e-01 -9.71048878e-01 -4.19548560e-04 2.58128427e+02] [ 9.71047466e-01 2.38880882e-01 -1.65610411e-03 2.98206548e+02] [ 1.70838017e-03 -1.17905644e-05 9.99998541e-01 1.47378764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:298.23, Z:1.48 [[ 2.39066321e-01 -9.71003149e-01 -4.22828243e-04 2.58136949e+02] [ 9.71001738e-01 2.39066695e-01 -1.65526890e-03 2.98232141e+02] [ 1.70835547e-03 -1.48479119e-05 9.99998541e-01 1.47554641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.14, Y:298.26, Z:1.48 [[ 2.37938958e-01 -9.71280019e-01 -4.21148592e-04 2.58144263e+02] [ 9.71278608e-01 2.37939330e-01 -1.65569614e-03 2.98258589e+02] [ 1.70835240e-03 -1.50980035e-05 9.99998541e-01 1.47634407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.15, Y:298.29, Z:1.48 [[ 2.35916407e-01 -9.71773262e-01 -4.20580127e-04 2.58150251e+02] [ 9.71771851e-01 2.35916781e-01 -1.65584053e-03 2.98285491e+02] [ 1.70832347e-03 -1.80679798e-05 9.99998541e-01 1.47603097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.16, Y:298.31, Z:1.48 [[ 2.34189881e-01 -9.72190787e-01 -4.17254951e-04 2.58158471e+02] [ 9.72189375e-01 2.34190252e-01 -1.65668388e-03 2.98312099e+02] [ 1.70832984e-03 -1.76722310e-05 9.99998541e-01 1.47762124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:298.34, Z:1.48 [[ 2.33905328e-01 -9.72259288e-01 -4.18152058e-04 2.58165360e+02] [ 9.72257877e-01 2.33905701e-01 -1.65645651e-03 2.98339823e+02] [ 1.70831338e-03 -1.90976283e-05 9.99998541e-01 1.47767030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.17, Y:298.37, Z:1.48 [[ 2.33203491e-01 -9.72427868e-01 -4.17636880e-04 2.58172459e+02] [ 9.72426457e-01 2.33203864e-01 -1.65658691e-03 2.98365544e+02] [ 1.70830581e-03 -1.97993009e-05 9.99998541e-01 1.47750627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.18, Y:298.39, Z:1.48 [[ 2.32301190e-01 -9.72643811e-01 -4.17908648e-04 2.58180733e+02] [ 9.72642400e-01 2.32301565e-01 -1.65651819e-03 2.98391162e+02] [ 1.70828300e-03 -2.16645244e-05 9.99998541e-01 1.48154133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.19, Y:298.41, Z:1.48 [[ 2.33146016e-01 -9.72441649e-01 -4.17908363e-04 2.58187488e+02] [ 9.72440238e-01 2.33146389e-01 -1.65651826e-03 2.98414820e+02] [ 1.70830118e-03 -2.01802750e-05 9.99998541e-01 1.47944712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.20, Y:298.44, Z:1.48 [[ 2.32584185e-01 -9.72576183e-01 -4.06667469e-04 2.58195585e+02] [ 9.72574767e-01 2.32584540e-01 -1.65935989e-03 2.98443684e+02] [ 1.70843848e-03 -9.57365084e-06 9.99998541e-01 1.48116597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.20, Y:298.47, Z:1.48 [[ 2.32115395e-01 -9.72688165e-01 -4.21496148e-04 2.58201250e+02] [ 9.72686756e-01 2.32115776e-01 -1.65561212e-03 2.98468687e+02] [ 1.70823022e-03 -2.56906596e-05 9.99998541e-01 1.48082296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.21, Y:298.50, Z:1.48 [[ 2.32429338e-01 -9.72613196e-01 -4.16498837e-04 2.58208084e+02] [ 9.72611785e-01 2.32429711e-01 -1.65687348e-03 2.98495835e+02] [ 1.70830371e-03 -1.99856718e-05 9.99998541e-01 1.48096257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:298.52, Z:1.48 [[ 2.34011805e-01 -9.72233667e-01 -4.15466536e-04 2.58215664e+02] [ 9.72232254e-01 2.34012173e-01 -1.65713371e-03 2.98521740e+02] [ 1.70834541e-03 -1.61411167e-05 9.99998541e-01 1.48280918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.22, Y:298.55, Z:1.48 [[ 2.35829828e-01 -9.71794278e-01 -4.17181108e-04 2.58224945e+02] [ 9.71792866e-01 2.35830196e-01 -1.65670195e-03 2.98550435e+02] [ 1.70835738e-03 -1.47138875e-05 9.99998541e-01 1.48258871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.23, Y:298.57, Z:1.48 [[ 2.34957874e-01 -9.72005459e-01 -4.31035246e-04 2.58228742e+02] [ 9.72004053e-01 2.34958267e-01 -1.65321345e-03 2.98574589e+02] [ 1.70820779e-03 -3.05324902e-05 9.99998541e-01 1.48324688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:298.60, Z:1.48 [[ 2.37546969e-01 -9.71375965e-01 -4.16274197e-04 2.58237490e+02] [ 9.71374551e-01 2.37547333e-01 -1.65692192e-03 2.98603113e+02] [ 1.70837895e-03 -1.07613823e-05 9.99998541e-01 1.48292675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.24, Y:298.63, Z:1.48 [[ 2.36884943e-01 -9.71537617e-01 -4.27715484e-04 2.58241525e+02] [ 9.71536209e-01 2.36885328e-01 -1.65404866e-03 2.98628259e+02] [ 1.70829001e-03 -2.37218588e-05 9.99998541e-01 1.48386485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:298.66, Z:1.48 [[ 2.38907697e-01 -9.71042193e-01 -4.15099071e-04 2.58250568e+02] [ 9.71040779e-01 2.38908058e-01 -1.65720883e-03 2.98656125e+02] [ 1.70839020e-03 -7.15818082e-06 9.99998541e-01 1.48332168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.25, Y:298.68, Z:1.48 [[ 2.37573352e-01 -9.71369507e-01 -4.27964704e-04 2.58253771e+02] [ 9.71368099e-01 2.37573736e-01 -1.65398315e-03 2.98679551e+02] [ 1.70830197e-03 -2.27689406e-05 9.99998541e-01 1.48474146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.26, Y:298.70, Z:1.49 [[ 2.38448684e-01 -9.71155010e-01 -4.14515713e-04 2.58259906e+02] [ 9.71153596e-01 2.38449044e-01 -1.65734685e-03 2.98702683e+02] [ 1.70838157e-03 -7.36625051e-06 9.99998541e-01 1.48544297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:298.73, Z:1.49 [[ 2.35800829e-01 -9.71801320e-01 -4.05408295e-04 2.58266363e+02] [ 9.71799902e-01 2.35801177e-01 -1.65961936e-03 2.98730095e+02] [ 1.70841603e-03 -2.63612161e-06 9.99998541e-01 1.48699548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.27, Y:298.76, Z:1.48 [[ 2.34486667e-01 -9.72119248e-01 -4.13296373e-04 2.58273780e+02] [ 9.72117835e-01 2.34487031e-01 -1.65765265e-03 2.98758179e+02] [ 1.70834869e-03 -1.30753292e-05 9.99998541e-01 1.48419244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.28, Y:298.78, Z:1.49 [[ 2.33021333e-01 -9.72471531e-01 -4.24229017e-04 2.58279346e+02] [ 9.72470123e-01 2.33021717e-01 -1.65493572e-03 2.98783294e+02] [ 1.70823245e-03 -2.69147165e-05 9.99998541e-01 1.48817527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:298.81, Z:1.49 [[ 2.31765703e-01 -9.72771551e-01 -4.11064851e-04 2.58285823e+02] [ 9.72770138e-01 2.31766067e-01 -1.65819910e-03 2.98809808e+02] [ 1.70831979e-03 -1.55579314e-05 9.99998541e-01 1.48875141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.29, Y:298.84, Z:1.49 [[ 2.29985645e-01 -9.73193934e-01 -4.12695038e-04 2.58292226e+02] [ 9.73192522e-01 2.29986015e-01 -1.65779540e-03 2.98837369e+02] [ 1.70827052e-03 -2.03625797e-05 9.99998541e-01 1.48938515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:298.86, Z:1.49 [[ 2.30074501e-01 -9.73172931e-01 -4.13674007e-04 2.58298247e+02] [ 9.73171519e-01 2.30074871e-01 -1.65755322e-03 2.98864282e+02] [ 1.70826192e-03 -2.12150328e-05 9.99998541e-01 1.48929844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.30, Y:298.89, Z:1.49 [[ 2.30122776e-01 -9.73161518e-01 -4.09654401e-04 2.58303459e+02] [ 9.73160105e-01 2.30123140e-01 -1.65854605e-03 2.98892279e+02] [ 1.70830415e-03 -1.69900993e-05 9.99998541e-01 1.48784804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.31, Y:298.92, Z:1.49 [[ 2.30367259e-01 -9.73103672e-01 -4.11441029e-04 2.58310627e+02] [ 9.73102260e-01 2.30367626e-01 -1.65810515e-03 2.98920649e+02] [ 1.70829091e-03 -1.84010553e-05 9.99998541e-01 1.48810678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.32, Y:298.94, Z:1.49 [[ 2.31603222e-01 -9.72810242e-01 -4.24214921e-04 2.58315411e+02] [ 9.72808835e-01 2.31603609e-01 -1.65494209e-03 2.98944757e+02] [ 1.70819433e-03 -2.93901013e-05 9.99998541e-01 1.48696723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.32, Y:298.97, Z:1.48 [[ 2.30356318e-01 -9.73106262e-01 -4.10884912e-04 2.58319603e+02] [ 9.73104850e-01 2.30356684e-01 -1.65823425e-03 2.98972796e+02] [ 1.70828822e-03 -1.78493637e-05 9.99998541e-01 1.48284775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:299.00, Z:1.49 [[ 2.31916345e-01 -9.72735647e-01 -4.13139515e-04 2.58326823e+02] [ 9.72734234e-01 2.31916712e-01 -1.65767824e-03 2.98998497e+02] [ 1.70829667e-03 -1.74322716e-05 9.99998541e-01 1.48647488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.33, Y:299.03, Z:1.49 [[ 2.32984122e-01 -9.72480453e-01 -4.08494149e-04 2.58330952e+02] [ 9.72479038e-01 2.32984480e-01 -1.65882219e-03 2.99025159e+02] [ 1.70834495e-03 -1.07727662e-05 9.99998541e-01 1.48641327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:299.05, Z:1.49 [[ 2.33623348e-01 -9.72327087e-01 -4.07889160e-04 2.58336688e+02] [ 9.72325672e-01 2.33623704e-01 -1.65897093e-03 2.99051877e+02] [ 1.70835495e-03 -9.02675751e-06 9.99998541e-01 1.48701082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.34, Y:299.08, Z:1.48 [[ 2.34115437e-01 -9.72208721e-01 -4.07287841e-04 2.58341361e+02] [ 9.72207305e-01 2.34115791e-01 -1.65911855e-03 2.99077732e+02] [ 1.70836204e-03 -7.54295025e-06 9.99998541e-01 1.48473237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.35, Y:299.11, Z:1.49 [[ 2.35988469e-01 -9.71755772e-01 -4.02461762e-04 2.58348598e+02] [ 9.71754354e-01 2.35988812e-01 -1.66030190e-03 2.99105970e+02] [ 1.70838443e-03 7.18134633e-07 9.99998541e-01 1.48675709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.36, Y:299.13, Z:1.49 [[ 2.38408819e-01 -9.71164800e-01 -4.08276983e-04 2.58358051e+02] [ 9.71163383e-01 2.38409169e-01 -1.65887745e-03 2.99134832e+02] [ 1.70838036e-03 -1.01264313e-06 9.99998541e-01 1.48859158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.36, Y:299.16, Z:1.49 [[ 2.40769862e-01 -9.70582143e-01 -4.21470589e-04 2.58364190e+02] [ 9.70580731e-01 2.40770231e-01 -1.65564708e-03 2.99160716e+02] [ 1.70841906e-03 -1.04413126e-05 9.99998541e-01 1.48837721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.37, Y:299.19, Z:1.49 [[ 2.40707810e-01 -9.70597537e-01 -4.13049639e-04 2.58369708e+02] [ 9.70596122e-01 2.40708165e-01 -1.65770482e-03 2.99185930e+02] [ 1.70838863e-03 -1.88188090e-06 9.99998541e-01 1.48821593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:299.22, Z:1.49 [[ 2.39486003e-01 -9.70899731e-01 -4.08131742e-04 2.58376654e+02] [ 9.70898314e-01 2.39486351e-01 -1.65890359e-03 2.99216535e+02] [ 1.70837103e-03 1.02976975e-06 9.99998541e-01 1.48777815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.38, Y:299.24, Z:1.49 [[ 2.37017134e-01 -9.71505378e-01 -4.23024332e-04 2.58380638e+02] [ 9.71503968e-01 2.37017511e-01 -1.65527415e-03 2.99240630e+02] [ 1.70837191e-03 -1.86414818e-05 9.99998541e-01 1.48914370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.39, Y:299.27, Z:1.49 [[ 2.35625465e-01 -9.71843854e-01 -4.03539093e-04 2.58387454e+02] [ 9.71842437e-01 2.35625811e-01 -1.66001090e-03 2.99266429e+02] [ 1.70835562e-03 -1.03557423e-06 9.99998541e-01 1.48935489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.40, Y:299.29, Z:1.49 [[ 2.33059859e-01 -9.72462308e-01 -4.02929641e-04 2.58395311e+02] [ 9.72460891e-01 2.33060208e-01 -1.66015882e-03 2.99292706e+02] [ 1.70834874e-03 -4.91693678e-06 9.99998541e-01 1.48913042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.40, Y:299.32, Z:1.49 [[ 2.31401857e-01 -9.72858170e-01 -4.02359470e-04 2.58402097e+02] [ 9.72856753e-01 2.31402206e-01 -1.66029700e-03 2.99318736e+02] [ 1.70834037e-03 -7.24232034e-06 9.99998541e-01 1.48897184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.41, Y:299.35, Z:1.49 [[ 2.31840133e-01 -9.72753819e-01 -4.01776689e-04 2.58413161e+02] [ 9.72752401e-01 2.31840481e-01 -1.66043801e-03 2.99350306e+02] [ 1.70834552e-03 -5.87307026e-06 9.99998541e-01 1.48761116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:299.38, Z:1.49 [[ 2.28470425e-01 -9.73550762e-01 -4.24072195e-04 2.58419364e+02] [ 9.73549355e-01 2.28470815e-01 -1.65504568e-03 2.99377455e+02] [ 1.70815910e-03 -3.47262235e-05 9.99998541e-01 1.48597296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.42, Y:299.40, Z:1.49 [[ 2.25112233e-01 -9.74332749e-01 -4.21316457e-04 2.58421344e+02] [ 9.74331343e-01 2.25112624e-01 -1.65571105e-03 2.99400196e+02] [ 1.70805715e-03 -3.77810172e-05 9.99998541e-01 1.48668457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.43, Y:299.43, Z:1.49 [[ 2.25834030e-01 -9.74165710e-01 -3.99758129e-04 2.58431485e+02] [ 9.74164295e-01 2.25834383e-01 -1.66089988e-03 2.99431776e+02] [ 1.70827084e-03 -1.43423832e-05 9.99998541e-01 1.48613259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.43, Y:299.45, Z:1.49 [[ 2.22703231e-01 -9.74886194e-01 -4.24344715e-04 2.58432994e+02] [ 9.74884790e-01 2.22703631e-01 -1.65497649e-03 2.99454183e+02] [ 1.70791684e-03 -4.51185971e-05 9.99998541e-01 1.48720353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.94275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:258.44, Y:299.48, Z:1.49 [[ 2.21792672e-01 -9.75093766e-01 -3.98725621e-04 2.58439056e+02] [ 9.75092351e-01 2.21793030e-01 -1.66112593e-03 2.99480814e+02] [ 1.70818810e-03 -2.03687451e-05 9.99998541e-01 1.48707236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:299.51, Z:1.49 [[ 2.22637104e-01 -9.74901309e-01 -3.98147366e-04 2.58449251e+02] [ 9.74899893e-01 2.22637460e-01 -1.66126451e-03 2.99511067e+02] [ 1.70821147e-03 -1.82947036e-05 9.99998541e-01 1.48632867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.45, Y:299.53, Z:1.49 [[ 2.19506881e-01 -9.75610861e-01 -4.21483231e-04 2.58451148e+02] [ 9.75609457e-01 2.19507280e-01 -1.65566683e-03 2.99533660e+02] [ 1.70780518e-03 -4.77727651e-05 9.99998541e-01 1.48635211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.46, Y:299.56, Z:1.49 [[ 2.20051792e-01 -9.75488109e-01 -3.97203866e-04 2.58460738e+02] [ 9.75486694e-01 2.20052150e-01 -1.66147124e-03 2.99563250e+02] [ 1.70815100e-03 -2.18573623e-05 9.99998541e-01 1.48604200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:299.59, Z:1.49 [[ 2.17751056e-01 -9.76004255e-01 -4.13938802e-04 2.58467452e+02] [ 9.76002849e-01 2.17751445e-01 -1.65746888e-03 2.99589963e+02] [ 1.70783245e-03 -4.30898520e-05 9.99998541e-01 1.48547066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.47, Y:299.62, Z:1.49 [[ 2.17576542e-01 -9.76043173e-01 -4.14806641e-04 2.58474605e+02] [ 9.76041767e-01 2.17576933e-01 -1.65726172e-03 2.99616111e+02] [ 1.70781134e-03 -4.42873334e-05 9.99998541e-01 1.48591133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.48, Y:299.64, Z:1.49 [[ 2.15984471e-01 -9.76396712e-01 -4.10464654e-04 2.58482490e+02] [ 9.76395305e-01 2.15984857e-01 -1.65829276e-03 2.99644770e+02] [ 1.70780575e-03 -4.26102772e-05 9.99998541e-01 1.48647037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:299.67, Z:1.49 [[ 2.15400020e-01 -9.76525811e-01 -4.15973340e-04 2.58488211e+02] [ 9.76524406e-01 2.15400416e-01 -1.65698591e-03 2.99669565e+02] [ 1.70769034e-03 -4.92933211e-05 9.99998541e-01 1.48683801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.49, Y:299.69, Z:1.49 [[ 2.12437947e-01 -9.77174472e-01 -4.12003253e-04 2.58490655e+02] [ 9.77173067e-01 2.12438340e-01 -1.65792927e-03 2.99692364e+02] [ 1.70761145e-03 -5.03913920e-05 9.99998541e-01 1.48703421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.50, Y:299.72, Z:1.49 [[ 2.11308797e-01 -9.77419274e-01 -3.93703145e-04 2.58496251e+02] [ 9.77417861e-01 2.11309161e-01 -1.66226361e-03 2.99717769e+02] [ 1.70792157e-03 -3.35615633e-05 9.99998541e-01 1.48666297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:299.75, Z:1.49 [[ 2.09909014e-01 -9.77720845e-01 -3.93042817e-04 2.58505225e+02] [ 9.77719433e-01 2.09909379e-01 -1.66241973e-03 2.99746970e+02] [ 1.70788579e-03 -3.53287147e-05 9.99998541e-01 1.48726481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.51, Y:299.77, Z:1.49 [[ 2.10031765e-01 -9.77694477e-01 -4.08264478e-04 2.58510923e+02] [ 9.77693071e-01 2.10032156e-01 -1.65883718e-03 2.99769135e+02] [ 1.70758462e-03 -5.07488503e-05 9.99998541e-01 1.48886312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:299.80, Z:1.49 [[ 2.06374439e-01 -9.78473014e-01 -3.90291603e-04 2.58518592e+02] [ 9.78471601e-01 2.06374805e-01 -1.66305512e-03 2.99799058e+02] [ 1.70780091e-03 -3.86771826e-05 9.99998541e-01 1.48817066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.52, Y:299.83, Z:1.49 [[ 2.04288235e-01 -9.78910696e-01 -4.07098044e-04 2.58524221e+02] [ 9.78909292e-01 2.04288632e-01 -1.65912073e-03 2.99826480e+02] [ 1.70729653e-03 -5.95732129e-05 9.99998541e-01 1.48718071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.53, Y:299.85, Z:1.49 [[ 2.01766864e-01 -9.79433493e-01 -4.06164722e-04 2.58527919e+02] [ 9.79432090e-01 2.01767263e-01 -1.65933880e-03 2.99850137e+02] [ 1.70716274e-03 -6.30111769e-05 9.99998541e-01 1.48657059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.53, Y:299.88, Z:1.49 [[ 1.99003845e-01 -9.79998633e-01 -3.87325142e-04 2.58530587e+02] [ 9.79997222e-01 1.99004216e-01 -1.66372477e-03 2.99877624e+02] [ 1.70752734e-03 -4.84899373e-05 9.99998541e-01 1.48930271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:299.91, Z:1.49 [[ 1.98022685e-01 -9.80197361e-01 -3.86748543e-04 2.58535542e+02] [ 9.80195950e-01 1.98023057e-01 -1.66385880e-03 2.99905246e+02] [ 1.70749513e-03 -4.96075690e-05 9.99998541e-01 1.48907733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.54, Y:299.93, Z:1.49 [[ 1.97534144e-01 -9.80295931e-01 -3.87657234e-04 2.58539600e+02] [ 9.80294520e-01 1.97534518e-01 -1.66364776e-03 2.99930923e+02] [ 1.70744282e-03 -5.13910263e-05 9.99998541e-01 1.48959675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:299.96, Z:1.49 [[ 2.00371371e-01 -9.79719942e-01 -3.85913559e-04 2.58550848e+02] [ 9.79718530e-01 2.00371738e-01 -1.66405214e-03 2.99962760e+02] [ 1.70763124e-03 -4.46582555e-05 9.99998541e-01 1.49027461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:299.98, Z:1.49 [[ 1.97286793e-01 -9.80345730e-01 -4.14020007e-04 2.58548797e+02] [ 9.80344332e-01 1.97287212e-01 -1.65753151e-03 2.99984306e+02] [ 1.70663479e-03 -7.88730893e-05 9.99998541e-01 1.48956099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.55, Y:300.01, Z:1.49 [[ 1.96941358e-01 -9.80415195e-01 -3.84515081e-04 2.58554827e+02] [ 9.80413783e-01 1.96941727e-01 -1.66434805e-03 3.00011390e+02] [ 1.70747918e-03 -4.92049193e-05 9.99998541e-01 1.48959999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:300.04, Z:1.49 [[ 2.00156000e-01 -9.79763966e-01 -3.83928603e-04 2.58565461e+02] [ 9.79762553e-01 2.00156363e-01 -1.66448333e-03 3.00042642e+02] [ 1.70764654e-03 -4.30025436e-05 9.99998541e-01 1.49006102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:300.07, Z:1.49 [[ 1.99889913e-01 -9.79818276e-01 -4.11036543e-04 2.58569870e+02] [ 9.79816875e-01 1.99890323e-01 -1.65822696e-03 3.00069659e+02] [ 1.70692331e-03 -7.12776984e-05 9.99998541e-01 1.49010096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:300.09, Z:1.49 [[ 1.98056369e-01 -9.80190547e-01 -4.07930165e-04 2.58567481e+02] [ 9.80189146e-01 1.98056776e-01 -1.65894201e-03 3.00092213e+02] [ 1.70687261e-03 -7.12846885e-05 9.99998541e-01 1.48913020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.58, Y:300.12, Z:1.49 [[ 2.01409241e-01 -9.79507107e-01 -3.81739076e-04 2.58577193e+02] [ 9.79505692e-01 2.01409599e-01 -1.66494711e-03 3.00123376e+02] [ 1.70771344e-03 -3.85798643e-05 9.99998541e-01 1.48874596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.57, Y:300.15, Z:1.49 [[ 2.00213738e-01 -9.79752160e-01 -4.04852549e-04 2.58574517e+02] [ 9.79750756e-01 2.00214137e-01 -1.65964574e-03 3.00145701e+02] [ 1.70709870e-03 -6.43707133e-05 9.99998541e-01 1.48863275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:300.18, Z:1.49 [[ 2.01698649e-01 -9.79447554e-01 -3.80451302e-04 2.58586368e+02] [ 9.79446139e-01 2.01699005e-01 -1.66522067e-03 3.00182759e+02] [ 1.70773296e-03 -3.67587997e-05 9.99998541e-01 1.48809662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.58, Y:300.20, Z:1.49 [[ 2.01304037e-01 -9.79528712e-01 -4.33436952e-04 2.58583195e+02] [ 9.79527321e-01 2.01304482e-01 -1.65308335e-03 3.00197746e+02] [ 1.70649541e-03 -9.17909846e-05 9.99998540e-01 1.48880371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:300.22, Z:1.49 [[ 2.01467902e-01 -9.79495044e-01 -3.78737371e-04 2.58587777e+02] [ 9.79493629e-01 2.01468255e-01 -1.66552196e-03 3.00223512e+02] [ 1.70767407e-03 -3.54216261e-05 9.99998541e-01 1.48919549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.59, Y:300.25, Z:1.49 [[ 2.01453410e-01 -9.79498025e-01 -3.78123664e-04 2.58590985e+02] [ 9.79496609e-01 2.01453762e-01 -1.66566128e-03 3.00248487e+02] [ 1.70768637e-03 -3.48177011e-05 9.99998541e-01 1.48932986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.60, Y:300.28, Z:1.49 [[ 2.01731808e-01 -9.79440726e-01 -3.77635767e-04 2.58597648e+02] [ 9.79439310e-01 2.01732159e-01 -1.66577189e-03 3.00276805e+02] [ 1.70770611e-03 -3.38321389e-05 9.99998541e-01 1.48817330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.60, Y:300.30, Z:1.49 [[ 2.02302314e-01 -9.79323041e-01 -3.94203083e-04 2.58603768e+02] [ 9.79321632e-01 2.02302692e-01 -1.66202422e-03 3.00303897e+02] [ 1.70740696e-03 -4.98202602e-05 9.99998541e-01 1.48898105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.60, Y:300.33, Z:1.49 [[ 1.96537183e-01 -9.80496293e-01 -3.93268672e-04 2.58602539e+02] [ 9.80494886e-01 1.96537568e-01 -1.66223427e-03 3.00328768e+02] [ 1.70710661e-03 -5.89070809e-05 9.99998541e-01 1.48802443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:300.36, Z:1.49 [[ 1.99333324e-01 -9.79931674e-01 -3.73538631e-04 2.58612474e+02] [ 9.79930258e-01 1.99333671e-01 -1.66665626e-03 3.00358328e+02] [ 1.70766809e-03 -3.38216738e-05 9.99998541e-01 1.48850946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.61, Y:300.38, Z:1.49 [[ 1.94617377e-01 -9.80879156e-01 -3.96503694e-04 2.58611641e+02] [ 9.80877751e-01 1.94617770e-01 -1.66147905e-03 3.00383195e+02] [ 1.70687683e-03 -6.55689560e-05 9.99998541e-01 1.48764934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:300.41, Z:1.49 [[ 1.95361393e-01 -9.80731250e-01 -3.76331366e-04 2.58618353e+02] [ 9.80729836e-01 1.95361750e-01 -1.66600651e-03 3.00414180e+02] [ 1.70742540e-03 -4.36060463e-05 9.99998541e-01 1.48909401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:300.44, Z:1.49 [[ 1.92351926e-01 -9.81325930e-01 -3.94305710e-04 2.58616422e+02] [ 9.81324525e-01 1.92352318e-01 -1.66199951e-03 3.00437652e+02] [ 1.70680884e-03 -6.72530566e-05 9.99998541e-01 1.48795122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.62, Y:300.46, Z:1.49 [[ 1.91979018e-01 -9.81398961e-01 -3.69807507e-04 2.58620573e+02] [ 9.81397545e-01 1.91979369e-01 -1.66744205e-03 3.00463878e+02] [ 1.70742131e-03 -4.28142921e-05 9.99998541e-01 1.48696431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.62, Y:300.49, Z:1.49 [[ 1.90560185e-01 -9.81675445e-01 -3.69928536e-04 2.58623306e+02] [ 9.81674030e-01 1.90560538e-01 -1.66741520e-03 3.00491211e+02] [ 1.70735434e-03 -4.54062888e-05 9.99998541e-01 1.48643209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.63, Y:300.52, Z:1.49 [[ 1.91562623e-01 -9.81480326e-01 -3.63136020e-04 2.58627190e+02] [ 9.81478907e-01 1.91562963e-01 -1.66891613e-03 3.00517380e+02] [ 1.70757175e-03 -3.67083937e-05 9.99998541e-01 1.48593991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.63, Y:300.54, Z:1.48 [[ 1.86140786e-01 -9.82523017e-01 -3.58940750e-04 2.58625957e+02] [ 9.82521599e-01 1.86141127e-01 -1.66983987e-03 3.00541325e+02] [ 1.70746975e-03 -4.18417331e-05 9.99998541e-01 1.48190337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.17275509600006 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.63, Y:300.57, Z:1.48 [[ 1.88595183e-01 -9.82054855e-01 -3.43645981e-04 2.58634070e+02] [ 9.82053430e-01 1.88595495e-01 -1.67318953e-03 3.00571667e+02] [ 1.70797398e-03 -2.19232283e-05 9.99998541e-01 1.48359703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:300.60, Z:1.48 [[ 1.87086715e-01 -9.82343336e-01 -3.63691295e-04 2.58637937e+02] [ 9.82341919e-01 1.87087063e-01 -1.66879911e-03 3.00599149e+02] [ 1.70737562e-03 -4.50590611e-05 9.99998541e-01 1.48389948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.23275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.64, Y:300.62, Z:1.48 [[ 1.87574411e-01 -9.82250328e-01 -3.64968332e-04 2.58642735e+02] [ 9.82248912e-01 1.87574761e-01 -1.66851978e-03 3.00623673e+02] [ 1.70736295e-03 -4.55181313e-05 9.99998541e-01 1.48448178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.64, Y:300.64, Z:1.48 [[ 1.85256272e-01 -9.82690178e-01 -3.56572040e-04 2.58643728e+02] [ 9.82688760e-01 1.85256611e-01 -1.67035105e-03 3.00644949e+02] [ 1.70749490e-03 -4.09563272e-05 9.99998541e-01 1.48001920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.65, Y:300.68, Z:1.49 [[ 1.85854815e-01 -9.82577163e-01 -3.27515395e-04 2.58652849e+02] [ 9.82575732e-01 1.85855103e-01 -1.67669717e-03 3.00675765e+02] [ 1.70835476e-03 -1.01864359e-05 9.99998541e-01 1.48643117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.32275509600004 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:258.66, Y:300.70, Z:1.49 [[ 1.85811614e-01 -9.82585321e-01 -3.61947779e-04 2.58657944e+02] [ 9.82583904e-01 1.85811961e-01 -1.66916570e-03 3.00697701e+02] [ 1.70735195e-03 -4.54936886e-05 9.99998541e-01 1.48648715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.66, Y:300.73, Z:1.48 [[ 1.81438567e-01 -9.83402222e-01 -3.40217288e-04 2.58659933e+02] [ 9.83400798e-01 1.81438884e-01 -1.67390555e-03 3.00727620e+02] [ 1.70785108e-03 -3.08589273e-05 9.99998541e-01 1.48463149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.38275509600004 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:258.67, Y:300.75, Z:1.49 [[ 1.82659434e-01 -9.83176182e-01 -3.56979159e-04 2.58667880e+02] [ 9.83174764e-01 1.82659777e-01 -1.67024856e-03 3.00754926e+02] [ 1.70735434e-03 -4.58862440e-05 9.99998541e-01 1.48763702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.67, Y:300.78, Z:1.49 [[ 1.80478215e-01 -9.83578915e-01 -3.63422265e-04 2.58669253e+02] [ 9.83577501e-01 1.80478572e-01 -1.66884448e-03 3.00777766e+02] [ 1.70703017e-03 -5.62638912e-05 9.99998541e-01 1.48521417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.68, Y:300.81, Z:1.49 [[ 1.83539965e-01 -9.83012190e-01 -3.40717833e-04 2.58678916e+02] [ 9.83010765e-01 1.83540279e-01 -1.67380337e-03 3.00808109e+02] [ 1.70790457e-03 -2.77194853e-05 9.99998541e-01 1.48795271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.47275509600007 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:258.68, Y:300.83, Z:1.49 [[ 1.82825224e-01 -9.83145363e-01 -3.64818133e-04 2.58680954e+02] [ 9.83143948e-01 1.82825580e-01 -1.66853394e-03 3.00831774e+02] [ 1.70710950e-03 -5.36186475e-05 9.99998541e-01 1.48502455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.50275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.69, Y:300.86, Z:1.49 [[ 1.85040583e-01 -9.82730819e-01 -3.46027818e-04 2.58688425e+02] [ 9.82729396e-01 1.85040904e-01 -1.67263731e-03 3.00859933e+02] [ 1.70778154e-03 -3.05459249e-05 9.99998541e-01 1.48658904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.69, Y:300.89, Z:1.49 [[ 1.84966566e-01 -9.82744750e-01 -3.55586440e-04 2.58693181e+02] [ 9.82743331e-01 1.84966903e-01 -1.67055085e-03 3.00886162e+02] [ 1.70749680e-03 -4.04541497e-05 9.99998541e-01 1.48626883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.70, Y:300.91, Z:1.49 [[ 1.86637434e-01 -9.82428798e-01 -3.53556983e-04 2.58700227e+02] [ 9.82427378e-01 1.86637766e-01 -1.67099360e-03 3.00913544e+02] [ 1.70761932e-03 -3.54741015e-05 9.99998541e-01 1.48603073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:300.94, Z:1.49 [[ 1.90381105e-01 -9.81710196e-01 -3.55896805e-04 2.58709169e+02] [ 9.81708775e-01 1.90381435e-01 -1.67048382e-03 3.00940339e+02] [ 1.70768714e-03 -3.13584616e-05 9.99998541e-01 1.48636833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.71, Y:300.97, Z:1.49 [[ 1.88155824e-01 -9.82139121e-01 -3.63471697e-04 2.58712504e+02] [ 9.82137705e-01 1.88156170e-01 -1.66883401e-03 3.00968120e+02] [ 1.70741661e-03 -4.29784211e-05 9.99998541e-01 1.48663804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.72, Y:300.99, Z:1.49 [[ 1.92253150e-01 -9.81345294e-01 -3.74994586e-04 2.58718392e+02] [ 9.81343880e-01 1.92253510e-01 -1.66632515e-03 3.00992579e+02] [ 1.70733437e-03 -4.76423842e-05 9.99998541e-01 1.48625450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.68275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.72, Y:301.02, Z:1.49 [[ 1.93579468e-01 -9.81084532e-01 -3.62463088e-04 2.58724115e+02] [ 9.81083112e-01 1.93579805e-01 -1.66904659e-03 3.01018357e+02] [ 1.70764132e-03 -3.25132636e-05 9.99998541e-01 1.48588710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.73, Y:301.05, Z:1.49 [[ 1.94272288e-01 -9.80947576e-01 -3.61834550e-04 2.58729719e+02] [ 9.80946156e-01 1.94272623e-01 -1.66918284e-03 3.01045062e+02] [ 1.70767540e-03 -3.06642423e-05 9.99998541e-01 1.48574749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:301.07, Z:1.48 [[ 1.96823614e-01 -9.80438848e-01 -3.61239071e-04 2.58738358e+02] [ 9.80437427e-01 1.96823944e-01 -1.66931170e-03 3.01074055e+02] [ 1.70775854e-03 -2.56123452e-05 9.99998541e-01 1.48366423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.74, Y:301.10, Z:1.48 [[ 1.95656746e-01 -9.80672371e-01 -3.71881539e-04 2.58742602e+02] [ 9.80670955e-01 1.95657096e-01 -1.66700950e-03 3.01098658e+02] [ 1.70755142e-03 -3.85317683e-05 9.99998541e-01 1.48464862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.75, Y:301.12, Z:1.48 [[ 1.96469709e-01 -9.80509829e-01 -3.60008518e-04 2.58749462e+02] [ 9.80508407e-01 1.96470037e-01 -1.66956968e-03 3.01123861e+02] [ 1.70776036e-03 -2.49715099e-05 9.99998541e-01 1.48348927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:301.15, Z:1.48 [[ 1.96333477e-01 -9.80537116e-01 -3.59382436e-04 2.58755425e+02] [ 9.80535695e-01 1.96333805e-01 -1.66970443e-03 3.01149351e+02] [ 1.70776609e-03 -2.45684289e-05 9.99998541e-01 1.48297912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.76, Y:301.18, Z:1.48 [[ 1.96264877e-01 -9.80550850e-01 -3.58775701e-04 2.58761670e+02] [ 9.80549429e-01 1.96265203e-01 -1.66983479e-03 3.01175751e+02] [ 1.70777311e-03 -2.40673882e-05 9.99998541e-01 1.48266921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.77, Y:301.21, Z:1.48 [[ 1.99197634e-01 -9.79959272e-01 -3.58209317e-04 2.58774085e+02] [ 9.79957849e-01 1.99197955e-01 -1.66995628e-03 3.01206200e+02] [ 1.70784371e-03 -1.83786916e-05 9.99998541e-01 1.47919506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.92275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.78, Y:301.22, Z:1.48 [[ 1.98514743e-01 -9.80097829e-01 -3.77948488e-04 2.58777051e+02] [ 9.80096414e-01 1.98515099e-01 -1.66570022e-03 3.01224941e+02] [ 1.70757765e-03 -3.97599072e-05 9.99998541e-01 1.48227083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.78, Y:301.25, Z:1.48 [[ 1.97151254e-01 -9.80373023e-01 -3.44128669e-04 2.58783159e+02] [ 9.80371596e-01 1.97151554e-01 -1.67295160e-03 3.01250578e+02] [ 1.70796212e-03 -7.54946641e-06 9.99998541e-01 1.48325712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.79, Y:301.28, Z:1.48 [[ 1.94934873e-01 -9.80816126e-01 -3.48929726e-04 2.58791270e+02] [ 9.80814701e-01 1.94935185e-01 -1.67192212e-03 3.01277616e+02] [ 1.70786686e-03 -1.63194790e-05 9.99998541e-01 1.48497648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.80, Y:301.30, Z:1.48 [[ 1.94514848e-01 -9.80899509e-01 -3.57763378e-04 2.58798215e+02] [ 9.80898087e-01 1.94515175e-01 -1.67002972e-03 3.01303280e+02] [ 1.70772174e-03 -2.60838357e-05 9.99998542e-01 1.48471565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:301.33, Z:1.49 [[ 1.94027245e-01 -9.80996076e-01 -3.57317464e-04 2.58806164e+02] [ 9.80994654e-01 1.94027572e-01 -1.67012512e-03 3.01327336e+02] [ 1.70771563e-03 -2.64767456e-05 9.99998542e-01 1.48504886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.81, Y:301.35, Z:1.49 [[ 1.93600643e-01 -9.81080356e-01 -3.56681648e-04 2.58812965e+02] [ 9.81078934e-01 1.93600970e-01 -1.67026090e-03 3.01354196e+02] [ 1.70771407e-03 -2.65692671e-05 9.99998542e-01 1.48585844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.82, Y:301.38, Z:1.49 [[ 1.93360162e-01 -9.81127780e-01 -3.56696929e-04 2.58819299e+02] [ 9.81126359e-01 1.93360489e-01 -1.67025764e-03 3.01378379e+02] [ 1.70770727e-03 -2.70034698e-05 9.99998542e-01 1.48528420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.83, Y:301.40, Z:1.49 [[ 1.93256249e-01 -9.81148254e-01 -3.55359345e-04 2.58828318e+02] [ 9.81146832e-01 1.93256574e-01 -1.67054218e-03 3.01404022e+02] [ 1.70772507e-03 -2.58169802e-05 9.99998542e-01 1.48667247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.84, Y:301.43, Z:1.49 [[ 1.93162873e-01 -9.81166642e-01 -3.54784115e-04 2.58835283e+02] [ 9.81165220e-01 1.93163197e-01 -1.67066433e-03 3.01429478e+02] [ 1.70773135e-03 -2.53915124e-05 9.99998542e-01 1.48678362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.19275509600004 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:258.84, Y:301.46, Z:1.49 [[ 1.92874372e-01 -9.81223395e-01 -3.54339973e-04 2.58842361e+02] [ 9.81221973e-01 1.92874696e-01 -1.67075853e-03 3.01456130e+02] [ 1.70773057e-03 -2.54396651e-05 9.99998542e-01 1.48708732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.85, Y:301.48, Z:1.49 [[ 1.92268681e-01 -9.81342259e-01 -3.53754569e-04 2.58850370e+02] [ 9.81340837e-01 1.92269004e-01 -1.67088247e-03 3.01480760e+02] [ 1.70772361e-03 -2.58954376e-05 9.99998542e-01 1.48708489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:301.51, Z:1.49 [[ 1.91921658e-01 -9.81410186e-01 -3.53140949e-04 2.58857076e+02] [ 9.81408763e-01 1.91921981e-01 -1.67101215e-03 3.01506099e+02] [ 1.70772385e-03 -2.58722010e-05 9.99998542e-01 1.48782839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:301.53, Z:1.49 [[ 1.89859563e-01 -9.81811196e-01 -3.49591117e-04 2.58865443e+02] [ 9.81809773e-01 1.89859883e-01 -1.67176067e-03 3.01532444e+02] [ 1.70772667e-03 -2.58322254e-05 9.99998542e-01 1.48757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.87, Y:301.56, Z:1.49 [[ 1.90072358e-01 -9.81770021e-01 -3.51851650e-04 2.58872587e+02] [ 9.81768599e-01 1.90072682e-01 -1.67128476e-03 3.01557166e+02] [ 1.70769467e-03 -2.77718650e-05 9.99998542e-01 1.48712766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:301.58, Z:1.49 [[ 1.87521900e-01 -9.82260362e-01 -3.43678314e-04 2.58879524e+02] [ 9.82258938e-01 1.87522214e-01 -1.67300172e-03 3.01584878e+02] [ 1.70777059e-03 -2.38566337e-05 9.99998542e-01 1.48800624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:301.61, Z:1.49 [[ 1.86485776e-01 -9.82457598e-01 -3.50590494e-04 2.58886602e+02] [ 9.82456177e-01 1.86486102e-01 -1.67155196e-03 3.01610457e+02] [ 1.70760918e-03 -3.27191320e-05 9.99998542e-01 1.48844201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:301.64, Z:1.49 [[ 1.85164712e-01 -9.82707437e-01 -3.49980233e-04 2.58894228e+02] [ 9.82706016e-01 1.85165040e-01 -1.67167973e-03 3.01635918e+02] [ 1.70757620e-03 -3.43915857e-05 9.99998542e-01 1.48830920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.90, Y:301.66, Z:1.49 [[ 1.84662115e-01 -9.82802005e-01 -3.49379284e-04 2.58900743e+02] [ 9.82800584e-01 1.84662443e-01 -1.67180531e-03 3.01662586e+02] [ 1.70757085e-03 -3.46510587e-05 9.99998542e-01 1.48834870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.91, Y:301.69, Z:1.49 [[ 1.84328202e-01 -9.82864687e-01 -3.48811255e-04 2.58906198e+02] [ 9.82863265e-01 1.84328529e-01 -1.67192382e-03 3.01689787e+02] [ 1.70757075e-03 -3.46510567e-05 9.99998542e-01 1.48839592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.91, Y:301.72, Z:1.49 [[ 1.84696020e-01 -9.82795634e-01 -3.48243185e-04 2.58913976e+02] [ 9.82794213e-01 1.84696346e-01 -1.67204214e-03 3.01716454e+02] [ 1.70759495e-03 -3.34318585e-05 9.99998542e-01 1.48746848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.92, Y:301.74, Z:1.49 [[ 1.85023462e-01 -9.82734042e-01 -3.47677842e-04 2.58920789e+02] [ 9.82732620e-01 1.85023786e-01 -1.67215968e-03 3.01743048e+02] [ 1.70761691e-03 -3.22855834e-05 9.99998542e-01 1.48778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.93, Y:301.77, Z:1.49 [[ 1.85779612e-01 -9.82591378e-01 -3.47080755e-04 2.58927542e+02] [ 9.82589955e-01 1.85779934e-01 -1.67228361e-03 3.01768693e+02] [ 1.70765209e-03 -3.03618629e-05 9.99998542e-01 1.48671517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.94, Y:301.80, Z:1.49 [[ 1.87705130e-01 -9.82225363e-01 -3.46455542e-04 2.58935585e+02] [ 9.82223940e-01 1.87705448e-01 -1.67241313e-03 3.01795009e+02] [ 1.70771818e-03 -2.63764039e-05 9.99998542e-01 1.48818504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.94, Y:301.82, Z:1.49 [[ 1.88733837e-01 -9.82028217e-01 -3.45852144e-04 2.58942290e+02] [ 9.82026793e-01 1.88734153e-01 -1.67253790e-03 3.01821000e+02] [ 1.70775352e-03 -2.39715759e-05 9.99998542e-01 1.48824664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:301.85, Z:1.49 [[ 1.94968030e-01 -9.80809537e-01 -3.45247409e-04 2.58956662e+02] [ 9.80808111e-01 1.94968335e-01 -1.67266272e-03 3.01852900e+02] [ 1.70787586e-03 -1.25057042e-05 9.99998542e-01 1.48589694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:301.87, Z:1.49 [[ 1.91966702e-01 -9.81401367e-01 -3.77819788e-04 2.58956362e+02] [ 9.81399954e-01 1.91967067e-01 -1.66593455e-03 3.01873165e+02] [ 1.70747940e-03 -5.09883612e-05 9.99998541e-01 1.48926904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:301.90, Z:1.49 [[ 1.92550273e-01 -9.81287050e-01 -3.43770833e-04 2.58962333e+02] [ 9.81285624e-01 1.92550579e-01 -1.67293127e-03 3.01898901e+02] [ 1.70781906e-03 -1.52140035e-05 9.99998542e-01 1.48869085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.97, Y:301.93, Z:1.49 [[ 1.93872492e-01 -9.81026676e-01 -3.43146697e-04 2.58970484e+02] [ 9.81025250e-01 1.93872795e-01 -1.67305928e-03 3.01925293e+02] [ 1.70784260e-03 -1.22754031e-05 9.99998542e-01 1.48995130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.98, Y:301.95, Z:1.49 [[ 1.94051824e-01 -9.80991219e-01 -3.42555212e-04 2.58977252e+02] [ 9.80989792e-01 1.94052126e-01 -1.67318038e-03 3.01951787e+02] [ 1.70784883e-03 -1.13594614e-05 9.99998542e-01 1.49052636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.99, Y:301.98, Z:1.49 [[ 1.93775476e-01 -9.81045844e-01 -3.41965801e-04 2.58985062e+02] [ 9.81044417e-01 1.93775778e-01 -1.67330083e-03 3.01978451e+02] [ 1.70784952e-03 -1.12389733e-05 9.99998542e-01 1.49136646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.99, Y:302.00, Z:1.49 [[ 1.93108715e-01 -9.81177307e-01 -3.41367772e-04 2.58991134e+02] [ 9.81175880e-01 1.93109017e-01 -1.67342283e-03 3.02004089e+02] [ 1.70784570e-03 -1.17892911e-05 9.99998542e-01 1.49089962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:302.03, Z:1.49 [[ 1.92757390e-01 -9.81246387e-01 -3.40742134e-04 2.58997312e+02] [ 9.81244960e-01 1.92757691e-01 -1.67355021e-03 3.02029737e+02] [ 1.70784576e-03 -1.17623309e-05 9.99998542e-01 1.49033801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:302.06, Z:1.49 [[ 1.93460953e-01 -9.81107917e-01 -3.40126812e-04 2.59002770e+02] [ 9.81106489e-01 1.93461252e-01 -1.67367526e-03 3.02056677e+02] [ 1.70785740e-03 -9.90981111e-06 9.99998542e-01 1.49094108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:302.08, Z:1.49 [[ 1.93679715e-01 -9.81064755e-01 -3.39541957e-04 2.59007437e+02] [ 9.81063327e-01 1.93680012e-01 -1.67379390e-03 3.02083409e+02] [ 1.70786269e-03 -8.93223620e-06 9.99998542e-01 1.49071431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.01, Y:302.11, Z:1.49 [[ 1.93917904e-01 -9.81017702e-01 -3.38946992e-04 2.59012138e+02] [ 9.81016274e-01 1.93918200e-01 -1.67391437e-03 3.02109143e+02] [ 1.70786762e-03 -7.91054931e-06 9.99998542e-01 1.49006714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:302.14, Z:1.49 [[ 1.93947394e-01 -9.81011873e-01 -3.38324170e-04 2.59015937e+02] [ 9.81010444e-01 1.93947689e-01 -1.67404024e-03 3.02135757e+02] [ 1.70787055e-03 -7.22380168e-06 9.99998542e-01 1.48922842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:302.16, Z:1.49 [[ 1.93243578e-01 -9.81150756e-01 -3.37748909e-04 2.59021013e+02] [ 9.81149327e-01 1.93243873e-01 -1.67415630e-03 3.02162927e+02] [ 1.70786763e-03 -7.86216157e-06 9.99998542e-01 1.48885435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.02, Y:302.19, Z:1.49 [[ 1.89855602e-01 -9.81811966e-01 -3.37171759e-04 2.59023454e+02] [ 9.81810539e-01 1.89855901e-01 -1.67427253e-03 3.02190827e+02] [ 1.70783485e-03 -1.31687676e-05 9.99998542e-01 1.48957710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.03, Y:302.22, Z:1.49 [[ 1.88039864e-01 -9.82161339e-01 -3.36629135e-04 2.59029216e+02] [ 9.82159912e-01 1.88040164e-01 -1.67438162e-03 3.02215313e+02] [ 1.70781269e-03 -1.57731499e-05 9.99998542e-01 1.49371873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:302.24, Z:1.49 [[ 1.88540556e-01 -9.82065351e-01 -3.25791343e-04 2.59036251e+02] [ 9.82063919e-01 1.88540838e-01 -1.67655247e-03 3.02244315e+02] [ 1.70790906e-03 -3.84978807e-06 9.99998542e-01 1.49179064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:302.27, Z:1.49 [[ 1.86134575e-01 -9.82524202e-01 -3.35420094e-04 2.59039821e+02] [ 9.82522775e-01 1.86134876e-01 -1.67462387e-03 3.02271904e+02] [ 1.70779186e-03 -1.78524783e-05 9.99998542e-01 1.49159592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.04, Y:302.30, Z:1.49 [[ 1.84654216e-01 -9.82803494e-01 -3.34868424e-04 2.59043515e+02] [ 9.82802068e-01 1.84654519e-01 -1.67473418e-03 3.02298136e+02] [ 1.70776957e-03 -1.98626520e-05 9.99998542e-01 1.49093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.05, Y:302.33, Z:1.49 [[ 1.83792747e-01 -9.82964961e-01 -3.34257185e-04 2.59047720e+02] [ 9.82963534e-01 1.83793049e-01 -1.67485617e-03 3.02325410e+02] [ 1.70775908e-03 -2.07362088e-05 9.99998542e-01 1.49126296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.05, Y:302.35, Z:1.49 [[ 1.83624150e-01 -9.82996470e-01 -3.33666837e-04 2.59050899e+02] [ 9.82995043e-01 1.83624452e-01 -1.67497377e-03 3.02350443e+02] [ 1.70776269e-03 -2.04272118e-05 9.99998542e-01 1.48817403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:302.38, Z:1.49 [[ 1.83136532e-01 -9.83087433e-01 -3.31580864e-04 2.59055572e+02] [ 9.83086006e-01 1.83136831e-01 -1.67538864e-03 3.02377430e+02] [ 1.70777818e-03 -1.91476426e-05 9.99998542e-01 1.49054052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:302.40, Z:1.49 [[ 1.82803070e-01 -9.83149494e-01 -3.32717664e-04 2.59060030e+02] [ 9.83148067e-01 1.82803372e-01 -1.67516285e-03 3.02403734e+02] [ 1.70775741e-03 -2.08858171e-05 9.99998542e-01 1.49038583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:302.43, Z:1.49 [[ 1.82724867e-01 -9.83164031e-01 -3.32096976e-04 2.59064070e+02] [ 9.83162604e-01 1.82725168e-01 -1.67528589e-03 3.02431061e+02] [ 1.70776330e-03 -2.03889365e-05 9.99998542e-01 1.49082599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.07, Y:302.46, Z:1.49 [[ 1.82497025e-01 -9.83206350e-01 -3.31519271e-04 2.59070819e+02] [ 9.83204922e-01 1.82497325e-01 -1.67540020e-03 3.02461406e+02] [ 1.70776550e-03 -2.01958265e-05 9.99998542e-01 1.49421748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:302.49, Z:1.50 [[ 1.84531349e-01 -9.82826567e-01 -3.46779311e-04 2.59075840e+02] [ 9.82825145e-01 1.84531672e-01 -1.67238554e-03 3.02488280e+02] [ 1.70765670e-03 -3.22158683e-05 9.99998541e-01 1.49539426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:302.51, Z:1.49 [[ 1.83915306e-01 -9.82942035e-01 -3.41220326e-04 2.59078406e+02] [ 9.82940611e-01 1.83915621e-01 -1.67348141e-03 3.02512588e+02] [ 1.70769097e-03 -2.76204698e-05 9.99998542e-01 1.49334559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:302.54, Z:1.49 [[ 1.84206831e-01 -9.82887448e-01 -3.29436944e-04 2.59083563e+02] [ 9.82886019e-01 1.84207125e-01 -1.67579785e-03 3.02538991e+02] [ 1.70780530e-03 -1.51055557e-05 9.99998542e-01 1.49364708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.09, Y:302.57, Z:1.50 [[ 1.84226634e-01 -9.82883736e-01 -3.28854112e-04 2.59089605e+02] [ 9.82882308e-01 1.84226927e-01 -1.67591221e-03 3.02565882e+02] [ 1.70781064e-03 -1.44772223e-05 9.99998542e-01 1.49536771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:302.59, Z:1.50 [[ 1.83793548e-01 -9.82964813e-01 -3.28301025e-04 2.59095118e+02] [ 9.82963384e-01 1.83793841e-01 -1.67602055e-03 3.02592525e+02] [ 1.70780894e-03 -1.46661230e-05 9.99998542e-01 1.49651159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.10, Y:302.62, Z:1.50 [[ 1.82763457e-01 -9.83156860e-01 -3.27713080e-04 2.59100927e+02] [ 9.83155431e-01 1.82763750e-01 -1.67613551e-03 3.02619587e+02] [ 1.70779819e-03 -1.58565745e-05 9.99998542e-01 1.49841677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.11, Y:302.65, Z:1.50 [[ 1.81873492e-01 -9.83321883e-01 -3.27193240e-04 2.59106528e+02] [ 9.83320455e-01 1.81873786e-01 -1.67623698e-03 3.02646661e+02] [ 1.70778837e-03 -1.68727327e-05 9.99998542e-01 1.49896027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.11, Y:302.67, Z:1.50 [[ 1.80814641e-01 -9.83517137e-01 -3.26610946e-04 2.59112022e+02] [ 9.83515709e-01 1.80814936e-01 -1.67635043e-03 3.02673681e+02] [ 1.70777551e-03 -1.81182950e-05 9.99998542e-01 1.49981233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:302.70, Z:1.50 [[ 1.78919324e-01 -9.83863695e-01 -3.26024631e-04 2.59117711e+02] [ 9.83862266e-01 1.78919619e-01 -1.67646445e-03 3.02699749e+02] [ 1.70774471e-03 -2.08114472e-05 9.99998542e-01 1.50024725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:302.73, Z:1.50 [[ 1.78140503e-01 -9.84005008e-01 -3.25572388e-04 2.59123268e+02] [ 9.84003580e-01 1.78140799e-01 -1.67655227e-03 3.02726200e+02] [ 1.70773356e-03 -2.17025305e-05 9.99998542e-01 1.50102747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.66275509600007 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.13, Y:302.75, Z:1.50 [[ 1.77111398e-01 -9.84190758e-01 -3.24986530e-04 2.59128972e+02] [ 9.84189330e-01 1.77111695e-01 -1.67666583e-03 3.02751991e+02] [ 1.70771793e-03 -2.28916464e-05 9.99998542e-01 1.49987690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.13, Y:302.78, Z:1.50 [[ 1.76332730e-01 -9.84330566e-01 -3.24373688e-04 2.59134032e+02] [ 9.84329138e-01 1.76333027e-01 -1.67678438e-03 3.02778226e+02] [ 1.70770791e-03 -2.36185049e-05 9.99998542e-01 1.50054891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.14, Y:302.80, Z:1.50 [[ 1.74360120e-01 -9.84681900e-01 -3.23766161e-04 2.59139286e+02] [ 9.84680472e-01 1.74360418e-01 -1.67690168e-03 3.02804089e+02] [ 1.70766673e-03 -2.64214385e-05 9.99998542e-01 1.50133054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.14, Y:302.83, Z:1.50 [[ 1.72898731e-01 -9.84939554e-01 -3.23153621e-04 2.59144386e+02] [ 9.84938126e-01 1.72899030e-01 -1.67701971e-03 3.02830325e+02] [ 1.70763599e-03 -2.83317422e-05 9.99998542e-01 1.50209904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:302.85, Z:1.50 [[ 1.73268094e-01 -9.84874644e-01 -3.22523263e-04 2.59149795e+02] [ 9.84873216e-01 1.73268392e-01 -1.67714093e-03 3.02854230e+02] [ 1.70765667e-03 -2.70495103e-05 9.99998542e-01 1.50090938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.15, Y:302.88, Z:1.50 [[ 1.70842323e-01 -9.85298333e-01 -3.09556565e-04 2.59154754e+02] [ 9.85296902e-01 1.70842602e-01 -1.67962794e-03 3.02883690e+02] [ 1.70782006e-03 -1.80535865e-05 9.99998542e-01 1.50222964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:302.91, Z:1.50 [[ 1.71426279e-01 -9.85196898e-01 -3.21636416e-04 2.59158811e+02] [ 9.85195470e-01 1.71426578e-01 -1.67731154e-03 3.02908968e+02] [ 1.70761916e-03 -2.93394644e-05 9.99998542e-01 1.50189633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.16, Y:302.93, Z:1.50 [[ 1.70776858e-01 -9.85309680e-01 -3.16795128e-04 2.59163208e+02] [ 9.85308251e-01 1.70777150e-01 -1.67823797e-03 3.02934610e+02] [ 1.70768548e-03 -2.55366469e-05 9.99998542e-01 1.50262395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:302.96, Z:1.50 [[ 1.71046374e-01 -9.85262927e-01 -3.20648647e-04 2.59168017e+02] [ 9.85261499e-01 1.71046672e-01 -1.67750138e-03 3.02960221e+02] [ 1.70762580e-03 -2.89922382e-05 9.99998542e-01 1.50267852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.17, Y:302.98, Z:1.50 [[ 1.73002683e-01 -9.84921301e-01 -3.20040134e-04 2.59170912e+02] [ 9.84919873e-01 1.73002977e-01 -1.67761747e-03 3.02984335e+02] [ 1.70768907e-03 -2.49815646e-05 9.99998542e-01 1.50175047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:303.01, Z:1.50 [[ 1.73597278e-01 -9.84816678e-01 -3.08748297e-04 2.59177228e+02] [ 9.84815246e-01 1.73597552e-01 -1.67976653e-03 3.03012880e+02] [ 1.70786004e-03 -1.24571324e-05 9.99998542e-01 1.50329943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:303.04, Z:1.50 [[ 1.73576168e-01 -9.84820396e-01 -3.19182662e-04 2.59180290e+02] [ 9.84818967e-01 1.73576460e-01 -1.67778149e-03 3.03039497e+02] [ 1.70771603e-03 -2.31142577e-05 9.99998542e-01 1.50479119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:303.07, Z:1.50 [[ 1.76569343e-01 -9.84288153e-01 -3.15273097e-04 2.59185380e+02] [ 9.84286722e-01 1.76569624e-01 -1.67852368e-03 3.03065755e+02] [ 1.70781863e-03 -1.39432996e-05 9.99998542e-01 1.50487941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:303.09, Z:1.51 [[ 1.77039709e-01 -9.84203658e-01 -3.18188462e-04 2.59189972e+02] [ 9.84202228e-01 1.77039994e-01 -1.67797085e-03 3.03092601e+02] [ 1.70779713e-03 -1.60943216e-05 9.99998542e-01 1.50566421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:303.12, Z:1.50 [[ 1.78824785e-01 -9.83880885e-01 -3.17598783e-04 2.59194574e+02] [ 9.83879454e-01 1.78825067e-01 -1.67808246e-03 3.03116273e+02] [ 1.70782787e-03 -1.23961817e-05 9.99998542e-01 1.50493222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:303.14, Z:1.51 [[ 1.78305651e-01 -9.83975102e-01 -3.04894915e-04 2.59198997e+02] [ 9.83973667e-01 1.78305912e-01 -1.68047809e-03 3.03143090e+02] [ 1.70791317e-03 -3.69827235e-07 9.99998542e-01 1.50563685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.20, Y:303.17, Z:1.51 [[ 1.77981168e-01 -9.84033843e-01 -3.16275789e-04 2.59203769e+02] [ 9.84032412e-01 1.77981449e-01 -1.67833341e-03 3.03169545e+02] [ 1.70782809e-03 -1.25138870e-05 9.99998542e-01 1.50566833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:303.20, Z:1.51 [[ 1.78135668e-01 -9.84005886e-01 -3.15697535e-04 2.59209360e+02] [ 9.84004455e-01 1.78135947e-01 -1.67844217e-03 3.03196147e+02] [ 1.70783405e-03 -1.16573637e-05 9.99998542e-01 1.50563244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:303.22, Z:1.51 [[ 1.77645339e-01 -9.84094525e-01 -3.15114124e-04 2.59213886e+02] [ 9.84093094e-01 1.77645618e-01 -1.67855169e-03 3.03222066e+02] [ 1.70783218e-03 -1.19147481e-05 9.99998542e-01 1.50582684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.22, Y:303.25, Z:1.51 [[ 1.76994311e-01 -9.84211824e-01 -3.14503469e-04 2.59217330e+02] [ 9.84210393e-01 1.76994590e-01 -1.67866610e-03 3.03247838e+02] [ 1.70782844e-03 -1.24232318e-05 9.99998542e-01 1.50599945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:303.28, Z:1.50 [[ 1.79615088e-01 -9.83736917e-01 -3.13899140e-04 2.59226043e+02] [ 9.83735485e-01 1.79615362e-01 -1.67877910e-03 3.03279439e+02] [ 1.70785808e-03 -7.25966695e-06 9.99998542e-01 1.50404631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:303.30, Z:1.51 [[ 1.76332187e-01 -9.84330659e-01 -3.36813589e-04 2.59226175e+02] [ 9.84329236e-01 1.76332505e-01 -1.67449299e-03 3.03302590e+02] [ 1.70764597e-03 -3.62684516e-05 9.99998541e-01 1.50530399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:303.33, Z:1.50 [[ 1.75709208e-01 -9.84442064e-01 -3.12643894e-04 2.59230102e+02] [ 9.84440632e-01 1.75709486e-01 -1.67899361e-03 3.03328459e+02] [ 1.70780643e-03 -1.27647149e-05 9.99998542e-01 1.50462786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:303.35, Z:1.50 [[ 1.75346781e-01 -9.84506683e-01 -3.12194279e-04 2.59234756e+02] [ 9.84505251e-01 1.75347058e-01 -1.67907720e-03 3.03354976e+02] [ 1.70780508e-03 -1.29361247e-05 9.99998542e-01 1.50467370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.24, Y:303.38, Z:1.50 [[ 1.74444462e-01 -9.84666965e-01 -3.11576095e-04 2.59238750e+02] [ 9.84665534e-01 1.74444740e-01 -1.67919191e-03 3.03381568e+02] [ 1.70779761e-03 -1.38725131e-05 9.99998542e-01 1.50450437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.24, Y:303.41, Z:1.50 [[ 1.72971146e-01 -9.84926843e-01 -3.10953159e-04 2.59241949e+02] [ 9.84925412e-01 1.72971424e-01 -1.67930726e-03 3.03407406e+02] [ 1.70778081e-03 -1.57939680e-05 9.99998542e-01 1.50440202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:303.43, Z:1.50 [[ 1.75152859e-01 -9.84541203e-01 -3.10321378e-04 2.59248066e+02] [ 9.84539770e-01 1.75153133e-01 -1.67942400e-03 3.03434234e+02] [ 1.70781588e-03 -1.13678238e-05 9.99998542e-01 1.50472150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:303.46, Z:1.50 [[ 1.71445669e-01 -9.85193529e-01 -3.05656669e-04 2.59252838e+02] [ 9.85192096e-01 1.71445941e-01 -1.68028423e-03 3.03462698e+02] [ 1.70780874e-03 -1.30530816e-05 9.99998542e-01 1.50459687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:303.49, Z:1.50 [[ 1.69306533e-01 -9.85563389e-01 -3.22602833e-04 2.59255962e+02] [ 9.85561963e-01 1.69306837e-01 -1.67715400e-03 3.03487740e+02] [ 1.70756045e-03 -3.39919515e-05 9.99998542e-01 1.50212234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:303.51, Z:1.50 [[ 1.65267862e-01 -9.86248669e-01 -3.11470301e-04 2.59260165e+02] [ 9.86247240e-01 1.65268153e-01 -1.67920417e-03 3.03514589e+02] [ 1.70758900e-03 -2.96682414e-05 9.99998542e-01 1.50496111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:303.55, Z:1.51 [[ 1.60489518e-01 -9.87037497e-01 -3.08565856e-04 2.59263922e+02] [ 9.87036068e-01 1.60489811e-01 -1.67973772e-03 3.03545821e+02] [ 1.70748579e-03 -3.49853331e-05 9.99998542e-01 1.50541142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.27, Y:303.57, Z:1.50 [[ 1.60317409e-01 -9.87065457e-01 -3.36187135e-04 2.59268694e+02] [ 9.87064038e-01 1.60317749e-01 -1.67466559e-03 3.03567717e+02] [ 1.70690132e-03 -6.33601830e-05 9.99998541e-01 1.50485187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.27, Y:303.59, Z:1.50 [[ 1.54833717e-01 -9.87940497e-01 -3.06852758e-04 2.59272270e+02] [ 9.87939070e-01 1.54834015e-01 -1.68002345e-03 3.03594955e+02] [ 1.70727445e-03 -4.30275521e-05 9.99998542e-01 1.50335432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:303.62, Z:1.50 [[ 1.52676123e-01 -9.88276228e-01 -3.14575795e-04 2.59276088e+02] [ 9.88274804e-01 1.52676438e-01 -1.67861382e-03 3.03622532e+02] [ 1.70696245e-03 -5.46030813e-05 9.99998542e-01 1.50034747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:303.65, Z:1.50 [[ 1.48116777e-01 -9.88969828e-01 -3.15641126e-04 2.59279455e+02] [ 9.88968406e-01 1.48117100e-01 -1.67842161e-03 3.03650056e+02] [ 1.70666018e-03 -6.35567007e-05 9.99998542e-01 1.50050271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.28, Y:303.68, Z:1.50 [[ 1.47958346e-01 -9.88993546e-01 -3.07323734e-04 2.59284097e+02] [ 9.88992121e-01 1.47958654e-01 -1.67991847e-03 3.03676984e+02] [ 1.70689973e-03 -5.53827940e-05 9.99998542e-01 1.49913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:303.70, Z:1.50 [[ 1.47498179e-01 -9.89062279e-01 -3.07985110e-04 2.59287674e+02] [ 9.89060854e-01 1.47498490e-01 -1.67979951e-03 3.03703451e+02] [ 1.70685367e-03 -5.68486469e-05 9.99998542e-01 1.50389504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:303.73, Z:1.50 [[ 1.47916190e-01 -9.88999853e-01 -3.01478065e-04 2.59291748e+02] [ 9.88998426e-01 1.47916489e-01 -1.68096654e-03 3.03732819e+02] [ 1.70706923e-03 -4.95191659e-05 9.99998542e-01 1.50133335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.30, Y:303.76, Z:1.50 [[ 1.49000475e-01 -9.88837076e-01 -3.09233365e-04 2.59295178e+02] [ 9.88835651e-01 1.49000786e-01 -1.67957353e-03 3.03758003e+02] [ 1.70690059e-03 -5.55237212e-05 9.99998542e-01 1.50475414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.30, Y:303.78, Z:1.51 [[ 1.53859321e-01 -9.88092717e-01 -3.04581541e-04 2.59297612e+02] [ 9.88091289e-01 1.53859617e-01 -1.68040735e-03 3.03783142e+02] [ 1.70726106e-03 -4.24080340e-05 9.99998542e-01 1.50631386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.30, Y:303.81, Z:1.50 [[ 1.54683229e-01 -9.87964074e-01 -2.94114181e-04 2.59299626e+02] [ 9.87962643e-01 1.54683506e-01 -1.68227795e-03 3.03809263e+02] [ 1.70752479e-03 -3.03536370e-05 9.99998542e-01 1.50353507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8927550960001 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:259.30, Y:303.84, Z:1.51 [[ 1.57096538e-01 -9.87583207e-01 -2.96987208e-04 2.59303224e+02] [ 9.87581775e-01 1.57096816e-01 -1.68176554e-03 3.03835717e+02] [ 1.70753914e-03 -2.90996113e-05 9.99998542e-01 1.50674613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:303.86, Z:1.51 [[ 1.61067616e-01 -9.86943329e-01 -2.99039093e-04 2.59305520e+02] [ 9.86941897e-01 1.61067891e-01 -1.68140022e-03 3.03863549e+02] [ 1.70761233e-03 -2.43150844e-05 9.99998542e-01 1.50818235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:303.89, Z:1.51 [[ 1.63596171e-01 -9.86527344e-01 -3.04806242e-04 2.59309348e+02] [ 9.86525913e-01 1.63596453e-01 -1.68037670e-03 3.03887984e+02] [ 1.70760278e-03 -2.57960625e-05 9.99998542e-01 1.50838254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:303.91, Z:1.51 [[ 1.65707369e-01 -9.86174923e-01 -2.97502529e-04 2.59313335e+02] [ 9.86173490e-01 1.65707636e-01 -1.68166956e-03 3.03914979e+02] [ 1.70771879e-03 -1.47240695e-05 9.99998542e-01 1.50611432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:303.94, Z:1.51 [[ 1.67567388e-01 -9.85860580e-01 -2.95290201e-04 2.59316481e+02] [ 9.85859145e-01 1.67567647e-01 -1.68206071e-03 3.03941216e+02] [ 1.70775843e-03 -9.25602604e-06 9.99998542e-01 1.50674480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.32, Y:303.97, Z:1.51 [[ 1.68784310e-01 -9.85652966e-01 -2.94677825e-04 2.59321511e+02] [ 9.85651531e-01 1.68784567e-01 -1.68216882e-03 3.03968858e+02] [ 1.70777176e-03 -6.52594489e-06 9.99998542e-01 1.50798953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:303.99, Z:1.51 [[ 1.69567282e-01 -9.85518569e-01 -2.96227188e-04 2.59325236e+02] [ 9.85517133e-01 1.69567541e-01 -1.68189564e-03 3.03993699e+02] [ 1.70776990e-03 -6.74249622e-06 9.99998542e-01 1.50970536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:304.02, Z:1.51 [[ 1.67255573e-01 -9.85913531e-01 -2.87880937e-04 2.59329573e+02] [ 9.85912094e-01 1.67255821e-01 -1.68336385e-03 3.04022333e+02] [ 1.70780096e-03 -2.27331101e-06 9.99998542e-01 1.50836388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.33, Y:304.05, Z:1.51 [[ 1.69127628e-01 -9.85594113e-01 -2.98535128e-04 2.59334364e+02] [ 9.85592679e-01 1.69127891e-01 -1.68149024e-03 3.04046809e+02] [ 1.70775750e-03 -9.84758113e-06 9.99998542e-01 1.51127732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.34, Y:304.07, Z:1.51 [[ 1.68837619e-01 -9.85643839e-01 -2.84246364e-04 2.59339185e+02] [ 9.85642401e-01 1.68837858e-01 -1.68399751e-03 3.04073743e+02] [ 1.70781332e-03 4.15686106e-06 9.99998542e-01 1.51118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:304.10, Z:1.51 [[ 1.67358367e-01 -9.85896088e-01 -2.82739367e-04 2.59346588e+02] [ 9.85894650e-01 1.67358606e-01 -1.68426154e-03 3.04102263e+02] [ 1.70782573e-03 3.12403244e-06 9.99998542e-01 1.51032547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:304.12, Z:1.51 [[ 1.69609866e-01 -9.85511241e-01 -2.94576970e-04 2.59351341e+02] [ 9.85509806e-01 1.69610122e-01 -1.68218859e-03 3.04124075e+02] [ 1.70777900e-03 -4.99271103e-06 9.99998542e-01 1.51199566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.35, Y:304.15, Z:1.51 [[ 1.62677096e-01 -9.86679324e-01 -2.71969358e-04 2.59352978e+02] [ 9.86677883e-01 1.62677324e-01 -1.68612912e-03 3.04154063e+02] [ 1.70791199e-03 5.94843863e-06 9.99998542e-01 1.50719731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:304.18, Z:1.51 [[ 1.62060906e-01 -9.86780715e-01 -2.90562428e-04 2.59359790e+02] [ 9.86779280e-01 1.62061166e-01 -1.68288140e-03 3.04181714e+02] [ 1.70772379e-03 -1.39916994e-05 9.99998542e-01 1.51007662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.36, Y:304.21, Z:1.51 [[ 1.60668319e-01 -9.87008412e-01 -2.93374206e-04 2.59364320e+02] [ 9.87006978e-01 1.60668585e-01 -1.68239108e-03 3.04206667e+02] [ 1.70767017e-03 -1.92554421e-05 9.99998542e-01 1.50955183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:304.23, Z:1.51 [[ 1.56510739e-01 -9.87676214e-01 -2.92706725e-04 2.59367324e+02] [ 9.87674781e-01 1.56511010e-01 -1.68250720e-03 3.04232347e+02] [ 1.70758417e-03 -2.57686048e-05 9.99998542e-01 1.50589706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.37275509600005 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.37, Y:304.26, Z:1.51 [[ 1.55321716e-01 -9.87863900e-01 -2.84134473e-04 2.59372586e+02] [ 9.87862464e-01 1.55321975e-01 -1.68399520e-03 3.04258559e+02] [ 1.70769039e-03 -1.91247566e-05 9.99998542e-01 1.50546593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.38, Y:304.29, Z:1.51 [[ 1.55340065e-01 -9.87861014e-01 -2.83929603e-04 2.59379841e+02] [ 9.87859579e-01 1.55340324e-01 -1.68403068e-03 3.04286288e+02] [ 1.70769397e-03 -1.88851419e-05 9.99998542e-01 1.50849413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.38, Y:304.31, Z:1.50 [[ 1.51950600e-01 -9.88388046e-01 -2.91285982e-04 2.59382274e+02] [ 9.88386614e-01 1.51950876e-01 -1.68275729e-03 3.04312179e+02] [ 1.70747835e-03 -3.22071854e-05 9.99998542e-01 1.50463441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:304.34, Z:1.50 [[ 1.50484105e-01 -9.88612389e-01 -2.81073947e-04 2.59386899e+02] [ 9.88610954e-01 1.50484365e-01 -1.68452007e-03 3.04339749e+02] [ 1.70763465e-03 -2.43792876e-05 9.99998542e-01 1.50454122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.39, Y:304.37, Z:1.50 [[ 1.50518014e-01 -9.88607224e-01 -2.89802979e-04 2.59390947e+02] [ 9.88605792e-01 1.50518289e-01 -1.68301396e-03 3.04365499e+02] [ 1.70746041e-03 -3.31769846e-05 9.99998542e-01 1.50417186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:304.39, Z:1.51 [[ 1.50498275e-01 -9.88610231e-01 -2.82358149e-04 2.59396645e+02] [ 9.88608797e-01 1.50498537e-01 -1.68429300e-03 3.04394406e+02] [ 1.70760378e-03 -2.56585593e-05 9.99998542e-01 1.50693024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.40, Y:304.42, Z:1.51 [[ 1.51038215e-01 -9.88527879e-01 -3.00230709e-04 2.59400977e+02] [ 9.88526450e-01 1.51038507e-01 -1.68122348e-03 3.04419957e+02] [ 1.70728268e-03 -4.28570043e-05 9.99998542e-01 1.50688001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.41, Y:304.44, Z:1.51 [[ 1.52616756e-01 -9.88285403e-01 -2.96762828e-04 2.59405246e+02] [ 9.88283973e-01 1.52617040e-01 -1.68181718e-03 3.04444672e+02] [ 1.70740644e-03 -3.66124633e-05 9.99998542e-01 1.50689384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:304.47, Z:1.51 [[ 1.54665552e-01 -9.87966841e-01 -2.95839310e-04 2.59409744e+02] [ 9.87965410e-01 1.54665832e-01 -1.68197490e-03 3.04469948e+02] [ 1.70749166e-03 -3.21354295e-05 9.99998542e-01 1.50841973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.41, Y:304.50, Z:1.51 [[ 1.53984562e-01 -9.88073212e-01 -2.86377342e-04 2.59413830e+02] [ 9.88071778e-01 1.53984826e-01 -1.68358437e-03 3.04497905e+02] [ 1.70760239e-03 -2.37153671e-05 9.99998542e-01 1.50824140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:304.53, Z:1.51 [[ 1.56099601e-01 -9.87741275e-01 -2.96264262e-04 2.59418822e+02] [ 9.87739844e-01 1.56099880e-01 -1.68190458e-03 3.04526759e+02] [ 1.70753339e-03 -3.00873813e-05 9.99998542e-01 1.50803954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7027550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.42, Y:304.55, Z:1.51 [[ 1.56754467e-01 -9.87637557e-01 -3.04813036e-04 2.59421253e+02] [ 9.87636128e-01 1.56754759e-01 -1.68048061e-03 3.04552556e+02] [ 1.70748665e-03 -3.76215247e-05 9.99998542e-01 1.50848055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:304.58, Z:1.51 [[ 1.58912791e-01 -9.87292582e-01 -2.87041945e-04 2.59425147e+02] [ 9.87291147e-01 1.58913049e-01 -1.68342767e-03 3.04578749e+02] [ 1.70765037e-03 -1.58757809e-05 9.99998542e-01 1.50847751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:304.61, Z:1.51 [[ 1.59483488e-01 -9.87200555e-01 -2.84689240e-04 2.59429432e+02] [ 9.87199119e-01 1.59483742e-01 -1.68381701e-03 3.04606423e+02] [ 1.70766839e-03 -1.25039565e-05 9.99998542e-01 1.50866416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.43, Y:304.63, Z:1.51 [[ 1.59598818e-01 -9.87181917e-01 -2.83508167e-04 2.59433913e+02] [ 9.87180481e-01 1.59599070e-01 -1.68401207e-03 3.04632685e+02] [ 1.70767390e-03 -1.11073926e-05 9.99998542e-01 1.50951854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.82275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:304.66, Z:1.51 [[ 1.60012528e-01 -9.87114943e-01 -2.81715047e-04 2.59439487e+02] [ 9.87113507e-01 1.60012776e-01 -1.68430755e-03 3.04660200e+02] [ 1.70768316e-03 -8.57441831e-06 9.99998542e-01 1.51004112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:304.69, Z:1.51 [[ 1.59773238e-01 -9.87153703e-01 -2.82984516e-04 2.59445158e+02] [ 9.87152266e-01 1.59773488e-01 -1.68409866e-03 3.04686110e+02] [ 1.70767765e-03 -1.02749106e-05 9.99998542e-01 1.51061353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:304.71, Z:1.51 [[ 1.59564707e-01 -9.87187432e-01 -2.79175141e-04 2.59450962e+02] [ 9.87185995e-01 1.59564951e-01 -1.68472376e-03 3.04712907e+02] [ 1.70768469e-03 -6.77533716e-06 9.99998542e-01 1.51026729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:304.74, Z:1.51 [[ 1.59193077e-01 -9.87247429e-01 -2.80048294e-04 2.59459084e+02] [ 9.87245992e-01 1.59193323e-01 -1.68458068e-03 3.04739228e+02] [ 1.70767977e-03 -8.30297424e-06 9.99998542e-01 1.51017566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:304.76, Z:1.51 [[ 1.57565975e-01 -9.87508422e-01 -2.83925922e-04 2.59463135e+02] [ 9.87506986e-01 1.57566230e-01 -1.68394589e-03 3.04764399e+02] [ 1.70764788e-03 -1.50462561e-05 9.99998542e-01 1.51131263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:304.79, Z:1.51 [[ 1.55422809e-01 -9.87848002e-01 -2.75237817e-04 2.59469572e+02] [ 9.87846564e-01 1.55423052e-01 -1.68536475e-03 3.04790920e+02] [ 1.70766250e-03 -9.94860960e-06 9.99998542e-01 1.50778890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.48, Y:304.82, Z:1.51 [[ 1.54435597e-01 -9.88002819e-01 -2.74928023e-04 2.59475962e+02] [ 9.88001382e-01 1.54435842e-01 -1.68541522e-03 3.04817699e+02] [ 1.70765373e-03 -1.13411602e-05 9.99998542e-01 1.50966039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.48, Y:304.84, Z:1.51 [[ 1.52695098e-01 -9.88273308e-01 -2.74055640e-04 2.59481839e+02] [ 9.88271871e-01 1.52695344e-01 -1.68555706e-03 3.04844701e+02] [ 1.70763808e-03 -1.34651787e-05 9.99998542e-01 1.50693189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:304.87, Z:1.51 [[ 1.50755678e-01 -9.88571014e-01 -2.75367196e-04 2.59489934e+02] [ 9.88569578e-01 1.50755928e-01 -1.68534416e-03 3.04869949e+02] [ 1.70759562e-03 -1.81444328e-05 9.99998542e-01 1.50788780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:304.90, Z:1.51 [[ 1.49763927e-01 -9.88721746e-01 -2.73173025e-04 2.59496438e+02] [ 9.88720309e-01 1.49764175e-01 -1.68569973e-03 3.04895632e+02] [ 1.70759951e-03 -1.76347068e-05 9.99998542e-01 1.50664157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:304.92, Z:1.51 [[ 1.47224376e-01 -9.89103083e-01 -2.72533714e-04 2.59502167e+02] [ 9.89101647e-01 1.47224627e-01 -1.68580308e-03 3.04920217e+02] [ 1.70755670e-03 -2.13722377e-05 9.99998542e-01 1.50718872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:304.95, Z:1.51 [[ 1.46349216e-01 -9.89232952e-01 -2.71873459e-04 2.59507337e+02] [ 9.89231516e-01 1.46349467e-01 -1.68590956e-03 3.04946263e+02] [ 1.70754582e-03 -2.22142522e-05 9.99998542e-01 1.50719317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:304.97, Z:1.51 [[ 1.45818968e-01 -9.89311253e-01 -2.71248186e-04 2.59511128e+02] [ 9.89309816e-01 1.45819218e-01 -1.68601015e-03 3.04971680e+02] [ 1.70754201e-03 -2.24962327e-05 9.99998542e-01 1.50789421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:305.00, Z:1.51 [[ 1.46964352e-01 -9.89141752e-01 -2.70596601e-04 2.59514790e+02] [ 9.89140315e-01 1.46964600e-01 -1.68611472e-03 3.04997256e+02] [ 1.70757459e-03 -1.98592497e-05 9.99998542e-01 1.50917063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:305.02, Z:1.51 [[ 1.47478260e-01 -9.89065261e-01 -2.69951842e-04 2.59518613e+02] [ 9.89063824e-01 1.47478506e-01 -1.68621794e-03 3.05022383e+02] [ 1.70759168e-03 -1.83191135e-05 9.99998542e-01 1.50965123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:305.05, Z:1.51 [[ 1.47121367e-01 -9.89118411e-01 -2.69464073e-04 2.59522587e+02] [ 9.89116974e-01 1.47121613e-01 -1.68629589e-03 3.05049012e+02] [ 1.70759030e-03 -1.84413315e-05 9.99998542e-01 1.50969706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:305.07, Z:1.51 [[ 1.47647991e-01 -9.89039938e-01 -2.68855574e-04 2.59526818e+02] [ 9.89038500e-01 1.47648235e-01 -1.68639290e-03 3.05074992e+02] [ 1.70760598e-03 -1.69159893e-05 9.99998542e-01 1.51008457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:305.10, Z:1.51 [[ 1.48765332e-01 -9.88872491e-01 -2.68249546e-04 2.59530661e+02] [ 9.88871053e-01 1.48765574e-01 -1.68648929e-03 3.05099757e+02] [ 1.70762916e-03 -1.43730708e-05 9.99998542e-01 1.51070921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:305.13, Z:1.51 [[ 1.48602289e-01 -9.88897006e-01 -2.67618686e-04 2.59534488e+02] [ 9.88895568e-01 1.48602530e-01 -1.68658939e-03 3.05125912e+02] [ 1.70763201e-03 -1.40158879e-05 9.99998542e-01 1.51078118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:305.15, Z:1.51 [[ 1.47412996e-01 -9.89074991e-01 -2.67023214e-04 2.59538057e+02] [ 9.89073553e-01 1.47413237e-01 -1.68668366e-03 3.05152971e+02] [ 1.70761939e-03 -1.54665075e-05 9.99998542e-01 1.50986477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.42275509600006 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:259.54, Y:305.18, Z:1.51 [[ 1.47020966e-01 -9.89133340e-01 -2.66407333e-04 2.59541800e+02] [ 9.89131902e-01 1.47021206e-01 -1.68678093e-03 3.05179260e+02] [ 1.70761879e-03 -1.55198303e-05 9.99998542e-01 1.51051987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:305.21, Z:1.51 [[ 1.45461364e-01 -9.89363897e-01 -2.65802662e-04 2.59544596e+02] [ 9.89362459e-01 1.45461605e-01 -1.68687621e-03 3.05206836e+02] [ 1.70759851e-03 -1.75998614e-05 9.99998542e-01 1.50908863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:305.23, Z:1.51 [[ 1.45524900e-01 -9.89354555e-01 -2.62761783e-04 2.59549569e+02] [ 9.89353116e-01 1.45525136e-01 -1.68735396e-03 3.05233215e+02] [ 1.70762977e-03 -1.44121724e-05 9.99998542e-01 1.51025855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.55, Y:305.26, Z:1.51 [[ 1.44421449e-01 -9.89516233e-01 -2.64597659e-04 2.59553420e+02] [ 9.89514795e-01 1.44421690e-01 -1.68706603e-03 3.05259639e+02] [ 1.70759286e-03 -1.81747781e-05 9.99998542e-01 1.51135175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:305.29, Z:1.51 [[ 1.43943652e-01 -9.89585851e-01 -2.63970920e-04 2.59556680e+02] [ 9.89584412e-01 1.43943893e-01 -1.68716409e-03 3.05285112e+02] [ 1.70759071e-03 -1.83649474e-05 9.99998542e-01 1.51222872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:305.31, Z:1.51 [[ 1.42297578e-01 -9.89823888e-01 -2.63473254e-04 2.59555799e+02] [ 9.89822451e-01 1.42297820e-01 -1.68724180e-03 3.05306495e+02] [ 1.70756391e-03 -2.07013200e-05 9.99998542e-01 1.51135495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.56, Y:305.34, Z:1.51 [[ 1.41774677e-01 -9.89898925e-01 -2.41697357e-04 2.59562961e+02] [ 9.89897482e-01 1.41774883e-01 -1.69062670e-03 3.05336601e+02] [ 1.70781617e-03 4.32450107e-07 9.99998542e-01 1.51441560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:305.36, Z:1.51 [[ 1.39585854e-01 -9.90209938e-01 -2.62508267e-04 2.59566966e+02] [ 9.90208500e-01 1.39586099e-01 -1.68738914e-03 3.05364004e+02] [ 1.70751200e-03 -2.44022635e-05 9.99998542e-01 1.51464000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:305.39, Z:1.51 [[ 1.39135124e-01 -9.90273371e-01 -2.61915285e-04 2.59570710e+02] [ 9.90271933e-01 1.39135368e-01 -1.68748117e-03 3.05387681e+02] [ 1.70750935e-03 -2.45794538e-05 9.99998542e-01 1.51446198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:305.42, Z:1.51 [[ 1.36548261e-01 -9.90633387e-01 -2.53804330e-04 2.59575161e+02] [ 9.90631948e-01 1.36548496e-01 -1.68873693e-03 3.05415958e+02] [ 1.70757579e-03 -2.08325858e-05 9.99998542e-01 1.51477605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:305.44, Z:1.52 [[ 1.34865731e-01 -9.90863849e-01 -2.61150904e-04 2.59579467e+02] [ 9.90862412e-01 1.34865980e-01 -1.68760007e-03 3.05441497e+02] [ 1.70740228e-03 -3.11651974e-05 9.99998542e-01 1.51508764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:305.47, Z:1.51 [[ 1.33255357e-01 -9.91081703e-01 -2.60513268e-04 2.59582737e+02] [ 9.91080267e-01 1.33255608e-01 -1.68769850e-03 3.05466526e+02] [ 1.70736196e-03 -3.32946930e-05 9.99998542e-01 1.51467739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:305.50, Z:1.51 [[ 1.34386832e-01 -9.90928916e-01 -2.49440787e-04 2.59591139e+02] [ 9.90927476e-01 1.34387062e-01 -1.68940599e-03 3.05498777e+02] [ 1.70760286e-03 -2.01438098e-05 9.99998542e-01 1.51471977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:305.52, Z:1.52 [[ 1.34798526e-01 -9.90872989e-01 -2.78095185e-04 2.59594208e+02] [ 9.90871558e-01 1.34798804e-01 -1.68494181e-03 3.05519955e+02] [ 1.70705022e-03 -4.84289371e-05 9.99998542e-01 1.51504051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:305.55, Z:1.51 [[ 1.33170230e-01 -9.91093150e-01 -2.42829037e-04 2.59597759e+02] [ 9.91091708e-01 1.33170451e-01 -1.69037184e-03 3.05546651e+02] [ 1.70765361e-03 -1.55586375e-05 9.99998542e-01 1.51300284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.60, Y:305.57, Z:1.51 [[ 1.35443591e-01 -9.90785028e-01 -2.49624282e-04 2.59604634e+02] [ 9.90783588e-01 1.35443819e-01 -1.68932484e-03 3.05574512e+02] [ 1.70756782e-03 -1.85154196e-05 9.99998542e-01 1.51224471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:305.61, Z:1.51 [[ 1.34335857e-01 -9.90935826e-01 -2.59618851e-04 2.59607429e+02] [ 9.90934389e-01 1.34336104e-01 -1.68778745e-03 3.05606118e+02] [ 1.70736524e-03 -3.05348738e-05 9.99998542e-01 1.51182945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:305.63, Z:1.51 [[ 1.33872762e-01 -9.90998489e-01 -2.82216114e-04 2.59608251e+02] [ 9.90997059e-01 1.33873048e-01 -1.68427496e-03 3.05628068e+02] [ 1.70689508e-03 -5.41967978e-05 9.99998542e-01 1.51079091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.61, Y:305.66, Z:1.51 [[ 1.33211336e-01 -9.91087623e-01 -2.53603846e-04 2.59611289e+02] [ 9.91086184e-01 1.33211575e-01 -1.68868470e-03 3.05655445e+02] [ 1.70741747e-03 -2.63913233e-05 9.99998542e-01 1.51068313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:305.68, Z:1.51 [[ 1.34107907e-01 -9.90966701e-01 -2.59626030e-04 2.59615904e+02] [ 9.90965264e-01 1.34108155e-01 -1.68775832e-03 3.05682784e+02] [ 1.70733026e-03 -3.09386417e-05 9.99998542e-01 1.50829161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:305.71, Z:1.51 [[ 1.33230904e-01 -9.91084988e-01 -2.68620532e-04 2.59619115e+02] [ 9.91083554e-01 1.33231169e-01 -1.68637829e-03 3.05710206e+02] [ 1.70713284e-03 -4.15476866e-05 9.99998542e-01 1.50745804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:305.74, Z:1.51 [[ 1.31888752e-01 -9.91264489e-01 -2.65447979e-04 2.59620920e+02] [ 9.91263054e-01 1.31889013e-01 -1.68686359e-03 3.05735103e+02] [ 1.70713764e-03 -4.06504414e-05 9.99998542e-01 1.50736054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:305.76, Z:1.51 [[ 1.32118394e-01 -9.91233910e-01 -2.57517336e-04 2.59624059e+02] [ 9.91232473e-01 1.32118641e-01 -1.68807342e-03 3.05761067e+02] [ 1.70729845e-03 -3.22339981e-05 9.99998542e-01 1.50764768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:305.79, Z:1.51 [[ 1.30977310e-01 -9.91385334e-01 -2.53431307e-04 2.59626505e+02] [ 9.91383896e-01 1.30977552e-01 -1.68869490e-03 3.05787846e+02] [ 1.70734117e-03 -3.00670003e-05 9.99998542e-01 1.50618289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:305.81, Z:1.51 [[ 1.30560946e-01 -9.91440252e-01 -2.56155083e-04 2.59628067e+02] [ 9.91438815e-01 1.30561193e-01 -1.68828164e-03 3.05814223e+02] [ 1.70727429e-03 -3.35384448e-05 9.99998542e-01 1.50609354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:305.84, Z:1.51 [[ 1.30409083e-01 -9.91460240e-01 -2.52234604e-04 2.59632027e+02] [ 9.91458802e-01 1.30409323e-01 -1.68887482e-03 3.05843347e+02] [ 1.70734598e-03 -2.98356025e-05 9.99998542e-01 1.50528488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.63, Y:305.87, Z:1.50 [[ 1.28738554e-01 -9.91678534e-01 -2.64098557e-04 2.59633125e+02] [ 9.91677100e-01 1.28738817e-01 -1.68708707e-03 3.05867408e+02] [ 1.70704777e-03 -4.47073417e-05 9.99998542e-01 1.50488130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:305.90, Z:1.50 [[ 1.31472785e-01 -9.91319748e-01 -2.53510331e-04 2.59641083e+02] [ 9.91318310e-01 1.31473026e-01 -1.68867661e-03 3.05899556e+02] [ 1.70734824e-03 -2.92944165e-05 9.99998542e-01 1.50314014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.64, Y:305.92, Z:1.50 [[ 1.29431888e-01 -9.91588275e-01 -2.81382916e-04 2.59641291e+02] [ 9.91586846e-01 1.29432180e-01 -1.68444243e-03 3.05920433e+02] [ 1.70669337e-03 -6.09950339e-05 9.99998542e-01 1.50245375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.29275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.64, Y:305.95, Z:1.50 [[ 1.27874352e-01 -9.91790345e-01 -2.50173619e-04 2.59644522e+02] [ 9.91788907e-01 1.27874593e-01 -1.68914771e-03 3.05947600e+02] [ 1.70727124e-03 -3.21207519e-05 9.99998542e-01 1.50307842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:305.97, Z:1.50 [[ 1.26958680e-01 -9.91907974e-01 -2.53867445e-04 2.59648437e+02] [ 9.91906538e-01 1.26958928e-01 -1.68859237e-03 3.05974647e+02] [ 1.70715898e-03 -3.74313200e-05 9.99998542e-01 1.50299832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.65, Y:306.00, Z:1.50 [[ 1.26192308e-01 -9.92005765e-01 -2.53262670e-04 2.59651650e+02] [ 9.92004328e-01 1.26192556e-01 -1.68868307e-03 3.05999470e+02] [ 1.70714321e-03 -3.81388501e-05 9.99998542e-01 1.50230744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:306.03, Z:1.50 [[ 1.28394961e-01 -9.91723082e-01 -2.51653354e-04 2.59658649e+02] [ 9.91721644e-01 1.28395204e-01 -1.68892383e-03 3.06025740e+02] [ 1.70725583e-03 -3.27207680e-05 9.99998542e-01 1.50353170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:306.05, Z:1.50 [[ 1.26229081e-01 -9.92001087e-01 -2.51869415e-04 2.59661190e+02] [ 9.91999650e-01 1.26229327e-01 -1.68889161e-03 3.06053845e+02] [ 1.70717562e-03 -3.66671352e-05 9.99998542e-01 1.50174419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.66, Y:306.08, Z:1.50 [[ 1.23675098e-01 -9.92322731e-01 -2.59093356e-04 2.59663705e+02] [ 9.92321297e-01 1.23675360e-01 -1.68781453e-03 3.06081474e+02] [ 1.70690019e-03 -4.83632283e-05 9.99998542e-01 1.50248527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:306.10, Z:1.50 [[ 1.22465825e-01 -9.92472697e-01 -2.61678929e-04 2.59665764e+02] [ 9.92471263e-01 1.22466093e-01 -1.68742971e-03 3.06104915e+02] [ 1.70677471e-03 -5.30563457e-05 9.99998542e-01 1.50326047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:306.13, Z:1.50 [[ 1.20657005e-01 -9.92694227e-01 -2.45028807e-04 2.59669221e+02] [ 9.92692789e-01 1.20657247e-01 -1.68989612e-03 3.06131577e+02] [ 1.70711463e-03 -3.93405255e-05 9.99998542e-01 1.50478091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:306.16, Z:1.51 [[ 1.20533827e-01 -9.92709189e-01 -2.49781312e-04 2.59673542e+02] [ 9.92707753e-01 1.20534077e-01 -1.68919337e-03 3.06158074e+02] [ 1.70698494e-03 -4.43549046e-05 9.99998542e-01 1.50567850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.68, Y:306.18, Z:1.51 [[ 1.18942409e-01 -9.92901124e-01 -2.49187680e-04 2.59676196e+02] [ 9.92899688e-01 1.18942661e-01 -1.68928094e-03 3.06183943e+02] [ 1.70692799e-03 -4.64912244e-05 9.99998542e-01 1.50703723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.68, Y:306.22, Z:1.51 [[ 1.21848071e-01 -9.92548732e-01 -2.48449006e-04 2.59684449e+02] [ 9.92547295e-01 1.21848318e-01 -1.68938957e-03 3.06215936e+02] [ 1.70707457e-03 -4.07485284e-05 9.99998542e-01 1.50565162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:306.24, Z:1.51 [[ 1.20814244e-01 -9.92675094e-01 -2.74931484e-04 2.59686043e+02] [ 9.92673666e-01 1.20814537e-01 -1.68549139e-03 3.06240765e+02] [ 1.70636104e-03 -6.92858764e-05 9.99998542e-01 1.50675222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:306.27, Z:1.51 [[ 1.21454549e-01 -9.92596958e-01 -2.66234608e-04 2.59688657e+02] [ 9.92595527e-01 1.21454826e-01 -1.68676718e-03 3.06268246e+02] [ 1.70661545e-03 -5.93977340e-05 9.99998542e-01 1.50784084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:306.29, Z:1.51 [[ 1.20305833e-01 -9.92736842e-01 -2.62361783e-04 2.59689052e+02] [ 9.92735410e-01 1.20306105e-01 -1.68733322e-03 3.06291492e+02] [ 1.70664157e-03 -5.74598047e-05 9.99998542e-01 1.50703060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:306.32, Z:1.51 [[ 1.23199166e-01 -9.92381935e-01 -2.45703744e-04 2.59693001e+02] [ 9.92380497e-01 1.23199406e-01 -1.68975543e-03 3.06318224e+02] [ 1.70715332e-03 -3.56551451e-05 9.99998542e-01 1.50753570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:306.34, Z:1.51 [[ 1.24589554e-01 -9.92208337e-01 -2.45101121e-04 2.59696584e+02] [ 9.92206898e-01 1.24589790e-01 -1.68984283e-03 3.06343834e+02] [ 1.70721324e-03 -3.26542591e-05 9.99998542e-01 1.50703621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:306.37, Z:1.51 [[ 1.26522024e-01 -9.91963768e-01 -2.44470499e-04 2.59700458e+02] [ 9.91962329e-01 1.26522257e-01 -1.68993406e-03 3.06370319e+02] [ 1.70728432e-03 -2.86916479e-05 9.99998542e-01 1.50766999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:306.40, Z:1.51 [[ 1.30522701e-01 -9.91445291e-01 -2.43871985e-04 2.59704109e+02] [ 9.91443851e-01 1.30522927e-01 -1.69002043e-03 3.06397572e+02] [ 1.70739368e-03 -2.11993489e-05 9.99998542e-01 1.50788527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:306.42, Z:1.51 [[ 1.31934397e-01 -9.91258420e-01 -2.43275587e-04 2.59707575e+02] [ 9.91256980e-01 1.31934620e-01 -1.69010627e-03 3.06424685e+02] [ 1.70742855e-03 -1.81654721e-05 9.99998542e-01 1.50830602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.71, Y:306.45, Z:1.51 [[ 1.33014744e-01 -9.91114029e-01 -2.42676822e-04 2.59711342e+02] [ 9.91112588e-01 1.33014965e-01 -1.69019224e-03 3.06450716e+02] [ 1.70745289e-03 -1.56995638e-05 9.99998542e-01 1.50821106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:306.48, Z:1.51 [[ 1.33121879e-01 -9.91099645e-01 -2.42050022e-04 2.59716267e+02] [ 9.91098204e-01 1.33122098e-01 -1.69028200e-03 3.06477835e+02] [ 1.70746010e-03 -1.48818259e-05 9.99998542e-01 1.51104278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:306.50, Z:1.51 [[ 1.32398702e-01 -9.91196512e-01 -2.41462860e-04 2.59720463e+02] [ 9.91195071e-01 1.32398921e-01 -1.69036588e-03 3.06503602e+02] [ 1.70745418e-03 -1.55345484e-05 9.99998542e-01 1.51194507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:306.53, Z:1.52 [[ 1.29647874e-01 -9.91560069e-01 -2.41009543e-04 2.59726008e+02] [ 9.91558628e-01 1.29648096e-01 -1.69043051e-03 3.06531811e+02] [ 1.70740982e-03 -1.98143702e-05 9.99998542e-01 1.51592597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:306.56, Z:1.52 [[ 1.28752506e-01 -9.91676727e-01 -2.46241186e-04 2.59730600e+02] [ 9.91675288e-01 1.28752739e-01 -1.68968662e-03 3.06557202e+02] [ 1.70732712e-03 -2.66399121e-05 9.99998542e-01 1.51607533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:306.58, Z:1.52 [[ 1.26839199e-01 -9.91923263e-01 -2.39436079e-04 2.59734503e+02] [ 9.91921823e-01 1.26839423e-01 -1.69065038e-03 3.06583290e+02] [ 1.70736538e-03 -2.30611314e-05 9.99998542e-01 1.51751743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:306.61, Z:1.52 [[ 1.25266079e-01 -9.92123154e-01 -2.38971712e-04 2.59738196e+02] [ 9.92121714e-01 1.25266305e-01 -1.69071595e-03 3.06608642e+02] [ 1.70733354e-03 -2.52996664e-05 9.99998542e-01 1.51721968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.74, Y:306.64, Z:1.52 [[ 1.22625777e-01 -9.92452952e-01 -2.37994064e-04 2.59743188e+02] [ 9.92451512e-01 1.22626005e-01 -1.69085356e-03 3.06635569e+02] [ 1.70727687e-03 -2.88553370e-05 9.99998542e-01 1.51790713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.75, Y:306.66, Z:1.52 [[ 1.21528559e-01 -9.92587907e-01 -2.37386634e-04 2.59747675e+02] [ 9.92586467e-01 1.21528787e-01 -1.69093883e-03 3.06661885e+02] [ 1.70725475e-03 -3.01294011e-05 9.99998542e-01 1.51792825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.75, Y:306.69, Z:1.52 [[ 1.19699247e-01 -9.92810170e-01 -2.36918078e-04 2.59752111e+02] [ 9.92808731e-01 1.19699477e-01 -1.69100448e-03 3.06688816e+02] [ 1.70720542e-03 -3.28023729e-05 9.99998542e-01 1.51813589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:306.72, Z:1.52 [[ 1.19318759e-01 -9.92855971e-01 -2.35856523e-04 2.59755632e+02] [ 9.92854531e-01 1.19318987e-01 -1.69115284e-03 3.06715344e+02] [ 1.70721336e-03 -3.23849591e-05 9.99998542e-01 1.51818127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:306.74, Z:1.52 [[ 1.19153009e-01 -9.92875876e-01 -2.35198703e-04 2.59759320e+02] [ 9.92874436e-01 1.19153237e-01 -1.69124452e-03 3.06741696e+02] [ 1.70722057e-03 -3.20059055e-05 9.99998542e-01 1.51825412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.76, Y:306.77, Z:1.52 [[ 1.18765205e-01 -9.92922339e-01 -2.35038547e-04 2.59763065e+02] [ 9.92920899e-01 1.18765434e-01 -1.69126678e-03 3.06768821e+02] [ 1.70721102e-03 -3.25110390e-05 9.99998542e-01 1.51852405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.77, Y:306.79, Z:1.52 [[ 1.17878130e-01 -9.93028042e-01 -2.34436849e-04 2.59766656e+02] [ 9.93026602e-01 1.17878358e-01 -1.69135018e-03 3.06794530e+02] [ 1.70719319e-03 -3.34288316e-05 9.99998542e-01 1.51848031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.77, Y:306.82, Z:1.52 [[ 1.17096734e-01 -9.93120486e-01 -2.33807364e-04 2.59770483e+02] [ 9.93119046e-01 1.17096963e-01 -1.69143719e-03 3.06821648e+02] [ 1.70717906e-03 -3.41367749e-05 9.99998542e-01 1.51868792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:306.85, Z:1.52 [[ 1.17609652e-01 -9.93059875e-01 -2.33215251e-04 2.59779361e+02] [ 9.93058435e-01 1.17609879e-01 -1.69151883e-03 3.06852752e+02] [ 1.70720790e-03 -3.26574311e-05 9.99998542e-01 1.51744730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.78, Y:306.88, Z:1.52 [[ 1.16571619e-01 -9.93182256e-01 -2.54176754e-04 2.59784336e+02] [ 9.93180822e-01 1.16571883e-01 -1.68862985e-03 3.06880671e+02] [ 1.70674707e-03 -5.55971612e-05 9.99998542e-01 1.51850287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.37275509600005 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:259.78, Y:306.90, Z:1.52 [[ 1.12050740e-01 -9.93702454e-01 -2.55311177e-04 2.59784873e+02] [ 9.93701021e-01 1.12051012e-01 -1.68847391e-03 3.06903360e+02] [ 1.70644854e-03 -6.45082263e-05 9.99998542e-01 1.51974077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:306.94, Z:1.52 [[ 1.14075651e-01 -9.93472039e-01 -2.31177395e-04 2.59794279e+02] [ 9.93470599e-01 1.14075880e-01 -1.69177175e-03 3.06935241e+02] [ 1.70709969e-03 -3.66779817e-05 9.99998542e-01 1.51972645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:306.96, Z:1.52 [[ 1.10499436e-01 -9.93876153e-01 -2.59558642e-04 2.59792455e+02] [ 9.93874722e-01 1.10499718e-01 -1.68788887e-03 3.06956984e+02] [ 1.70623365e-03 -7.14580057e-05 9.99998542e-01 1.52140003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:306.99, Z:1.52 [[ 1.13463903e-01 -9.93542093e-01 -2.29865551e-04 2.59800823e+02] [ 9.93540653e-01 1.13464130e-01 -1.69192299e-03 3.06988947e+02] [ 1.70707820e-03 -3.64085837e-05 9.99998542e-01 1.52280743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.80, Y:307.01, Z:1.52 [[ 1.11128937e-01 -9.93805964e-01 -2.54450212e-04 2.59799674e+02] [ 9.93804532e-01 1.11129209e-01 -1.68857673e-03 3.07011210e+02] [ 1.70639448e-03 -6.52240360e-05 9.99998542e-01 1.52262314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.80, Y:307.04, Z:1.52 [[ 1.11668009e-01 -9.93745543e-01 -2.28892772e-04 2.59802991e+02] [ 9.93744103e-01 1.11668237e-01 -1.69203406e-03 3.07037941e+02] [ 1.70701136e-03 -3.85147670e-05 9.99998542e-01 1.52343149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.81, Y:307.06, Z:1.52 [[ 1.13734536e-01 -9.93511149e-01 -2.28282692e-04 2.59806055e+02] [ 9.93509709e-01 1.13734759e-01 -1.69211636e-03 3.07064342e+02] [ 1.70710015e-03 -3.43490022e-05 9.99998542e-01 1.52293852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5827550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.81, Y:307.09, Z:1.52 [[ 1.14710670e-01 -9.93398918e-01 -2.27644520e-04 2.59809342e+02] [ 9.93397477e-01 1.14710891e-01 -1.69220222e-03 3.07091321e+02] [ 1.70714516e-03 -3.20278430e-05 9.99998542e-01 1.52305360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:307.12, Z:1.53 [[ 1.18015233e-01 -9.93011759e-01 -2.27050200e-04 2.59816392e+02] [ 9.93010317e-01 1.18015449e-01 -1.69228195e-03 3.07123290e+02] [ 1.70725131e-03 -2.57481416e-05 9.99998542e-01 1.52501421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:307.15, Z:1.53 [[ 1.19713594e-01 -9.92808437e-01 -2.50463991e-04 2.59818340e+02] [ 9.92807001e-01 1.19713847e-01 -1.68913968e-03 3.07149467e+02] [ 1.70697613e-03 -4.64494220e-05 9.99998542e-01 1.52503836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.67275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.82, Y:307.17, Z:1.53 [[ 1.18137381e-01 -9.92997229e-01 -2.48960141e-04 2.59817289e+02] [ 9.92995793e-01 1.18137634e-01 -1.68934131e-03 3.07171429e+02] [ 1.70692280e-03 -4.76420152e-05 9.99998542e-01 1.52514983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:307.20, Z:1.53 [[ 1.18541241e-01 -9.92949104e-01 -2.25683845e-04 2.59824087e+02] [ 9.92947662e-01 1.18541453e-01 -1.69244515e-03 3.07204141e+02] [ 1.70726479e-03 -2.34676980e-05 9.99998542e-01 1.52502926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.73275509600006 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.82, Y:307.23, Z:1.53 [[ 1.16602322e-01 -9.93178652e-01 -2.53671573e-04 2.59823771e+02] [ 9.93177218e-01 1.16602585e-01 -1.68870972e-03 3.07226032e+02] [ 1.70676920e-03 -5.50333526e-05 9.99998542e-01 1.52531478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:307.25, Z:1.53 [[ 1.15535195e-01 -9.93303362e-01 -2.24312854e-04 2.59827436e+02] [ 9.93301920e-01 1.15535409e-01 -1.69260050e-03 3.07253099e+02] [ 1.70718184e-03 -2.72554608e-05 9.99998542e-01 1.52719085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.83, Y:307.28, Z:1.53 [[ 1.14078420e-01 -9.93471723e-01 -2.23697865e-04 2.59831058e+02] [ 9.93470281e-01 1.14078636e-01 -1.69268177e-03 3.07278809e+02] [ 1.70715063e-03 -2.91387182e-05 9.99998542e-01 1.52719676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.82275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.83, Y:307.31, Z:1.53 [[ 1.11297833e-01 -9.93787071e-01 -2.23054604e-04 2.59834568e+02] [ 9.93785630e-01 1.11298052e-01 -1.69276654e-03 3.07305288e+02] [ 1.70707504e-03 -3.32672120e-05 9.99998542e-01 1.52763503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:307.33, Z:1.53 [[ 1.08813565e-01 -9.94062150e-01 -2.22592529e-04 2.59837797e+02] [ 9.94060710e-01 1.08813787e-01 -1.69282730e-03 3.07334261e+02] [ 1.70699668e-03 -3.70679141e-05 9.99998542e-01 1.52857816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:307.36, Z:1.53 [[ 1.06187404e-01 -9.94346108e-01 -2.30871455e-04 2.59838681e+02] [ 9.94344670e-01 1.06187643e-01 -1.69174218e-03 3.07358464e+02] [ 1.70669295e-03 -4.99240903e-05 9.99998542e-01 1.52853606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:307.39, Z:1.53 [[ 1.01710744e-01 -9.94813993e-01 -2.12223708e-04 2.59839644e+02] [ 9.94812551e-01 1.01710958e-01 -1.69417276e-03 3.07387119e+02] [ 1.70697224e-03 -3.88072369e-05 9.99998542e-01 1.52764774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:307.41, Z:1.53 [[ 1.01208170e-01 -9.94865246e-01 -2.21601002e-04 2.59841582e+02] [ 9.94863807e-01 1.01208401e-01 -1.69295159e-03 3.07412616e+02] [ 1.70668658e-03 -4.91222835e-05 9.99998542e-01 1.52653240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.97275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.85, Y:307.44, Z:1.53 [[ 1.04963250e-01 -9.94476079e-01 -2.09347677e-04 2.59849593e+02] [ 9.94474636e-01 1.04963454e-01 -1.69454074e-03 3.07440964e+02] [ 1.70715409e-03 -3.03264507e-05 9.99998542e-01 1.52820095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:307.47, Z:1.53 [[ 1.04573803e-01 -9.94517105e-01 -2.19554278e-04 2.59852678e+02] [ 9.94515664e-01 1.04574025e-01 -1.69321729e-03 3.07467966e+02] [ 1.70689323e-03 -4.12839978e-05 9.99998542e-01 1.52953405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:307.49, Z:1.53 [[ 1.04192873e-01 -9.94557086e-01 -2.18939439e-04 2.59855469e+02] [ 9.94555645e-01 1.04193095e-01 -1.69329678e-03 3.07494164e+02] [ 1.70689229e-03 -4.13179978e-05 9.99998542e-01 1.52925922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.06275509600005 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:259.86, Y:307.52, Z:1.53 [[ 1.02930272e-01 -9.94688550e-01 -2.18296343e-04 2.59857426e+02] [ 9.94687110e-01 1.02930495e-01 -1.69337969e-03 3.07522702e+02] [ 1.70685473e-03 -4.28365263e-05 9.99998542e-01 1.52743802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:307.55, Z:1.53 [[ 1.05016923e-01 -9.94470409e-01 -2.26974014e-04 2.59860382e+02] [ 9.94468970e-01 1.05017157e-01 -1.69226376e-03 3.07547962e+02] [ 1.70674240e-03 -4.80022809e-05 9.99998542e-01 1.52831648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:307.57, Z:1.53 [[ 1.05564166e-01 -9.94412470e-01 -2.16854751e-04 2.59862977e+02] [ 9.94411028e-01 1.05564382e-01 -1.69355950e-03 3.07574802e+02] [ 1.70698882e-03 -3.68635591e-05 9.99998542e-01 1.52821161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.86, Y:307.60, Z:1.53 [[ 1.07352060e-01 -9.94221046e-01 -2.16247096e-04 2.59864966e+02] [ 9.94219604e-01 1.07352273e-01 -1.69363709e-03 3.07600862e+02] [ 1.70706425e-03 -3.31816716e-05 9.99998542e-01 1.52753928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:307.63, Z:1.53 [[ 1.08476413e-01 -9.94099000e-01 -2.15611439e-04 2.59867940e+02] [ 9.94097557e-01 1.08476623e-01 -1.69371801e-03 3.07628250e+02] [ 1.70711218e-03 -3.06103505e-05 9.99998542e-01 1.52714124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:307.66, Z:1.53 [[ 1.09665988e-01 -9.93968473e-01 -2.15014634e-04 2.59870991e+02] [ 9.93967030e-01 1.09666195e-01 -1.69379377e-03 3.07655074e+02] [ 1.70715744e-03 -2.79658905e-05 9.99998542e-01 1.52622194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:307.68, Z:1.52 [[ 1.11522022e-01 -9.93761940e-01 -2.14420293e-04 2.59874326e+02] [ 9.93760496e-01 1.11522226e-01 -1.69386900e-03 3.07682403e+02] [ 1.70721517e-03 -2.41787202e-05 9.99998542e-01 1.52461083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:307.71, Z:1.52 [[ 1.10698106e-01 -9.93854055e-01 -2.16485796e-04 2.59874766e+02] [ 9.93852612e-01 1.10698314e-01 -1.69360843e-03 3.07707107e+02] [ 1.70716422e-03 -2.76757287e-05 9.99998542e-01 1.52077588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.30275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:259.88, Y:307.74, Z:1.52 [[ 1.13411692e-01 -9.93548061e-01 -1.96921010e-04 2.59881625e+02] [ 9.93546613e-01 1.13411863e-01 -1.69606353e-03 3.07736043e+02] [ 1.70745381e-03 -3.29676873e-06 9.99998542e-01 1.52332716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.88, Y:307.76, Z:1.52 [[ 1.13359993e-01 -9.93553958e-01 -2.12596162e-04 2.59884922e+02] [ 9.93552514e-01 1.13360191e-01 -1.69409642e-03 3.07763012e+02] [ 1.70727614e-03 -1.91826930e-05 9.99998542e-01 1.52197446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:307.79, Z:1.52 [[ 1.13024814e-01 -9.93592143e-01 -2.12000654e-04 2.59888624e+02] [ 9.93590699e-01 1.13025011e-01 -1.69417094e-03 3.07790360e+02] [ 1.70727631e-03 -1.91585229e-05 9.99998542e-01 1.52162486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:307.82, Z:1.52 [[ 1.12403806e-01 -9.93662589e-01 -2.11405120e-04 2.59892234e+02] [ 9.93661144e-01 1.12404003e-01 -1.69424525e-03 3.07817024e+02] [ 1.70727090e-03 -1.96254400e-05 9.99998542e-01 1.52117537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.89, Y:307.84, Z:1.52 [[ 1.10485151e-01 -9.93877753e-01 -2.10810259e-04 2.59894735e+02] [ 9.93876309e-01 1.10485350e-01 -1.69431926e-03 3.07841980e+02] [ 1.70723767e-03 -2.23222034e-05 9.99998542e-01 1.51873142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:307.87, Z:1.52 [[ 1.08873247e-01 -9.94055621e-01 -1.98010851e-04 2.59899351e+02] [ 9.94054174e-01 1.08873426e-01 -1.69590301e-03 3.07870060e+02] [ 1.70738004e-03 -1.21950466e-05 9.99998542e-01 1.52126332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:307.90, Z:1.52 [[ 1.05562231e-01 -9.94412677e-01 -2.09544400e-04 2.59902263e+02] [ 9.94411233e-01 1.05562435e-01 -1.69447673e-03 3.07895569e+02] [ 1.70712916e-03 -2.95005605e-05 9.99998542e-01 1.51832326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:307.92, Z:1.52 [[ 1.04234053e-01 -9.94552774e-01 -2.04354291e-04 2.59906821e+02] [ 9.94551330e-01 1.04234249e-01 -1.69511652e-03 3.07921795e+02] [ 1.70718355e-03 -2.65519680e-05 9.99998542e-01 1.52107328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:307.95, Z:1.52 [[ 1.02763783e-01 -9.94705766e-01 -2.08528098e-04 2.59909967e+02] [ 9.94704323e-01 1.02763989e-01 -1.69460291e-03 3.07946541e+02] [ 1.70706047e-03 -3.32799939e-05 9.99998542e-01 1.52124251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.57275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:307.97, Z:1.52 [[ 1.01668399e-01 -9.94818322e-01 -2.07841554e-04 2.59912304e+02] [ 9.94816879e-01 1.01668606e-01 -1.69468711e-03 3.07971278e+02] [ 1.70703675e-03 -3.44681591e-05 9.99998542e-01 1.51633731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:308.00, Z:1.52 [[ 9.99805740e-02 -9.94989369e-01 -2.00677469e-04 2.59915752e+02] [ 9.94987925e-01 9.99807708e-02 -1.69556232e-03 3.07997983e+02] [ 1.70713037e-03 -3.01483645e-05 9.99998542e-01 1.52047529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:308.02, Z:1.52 [[ 9.95551642e-02 -9.95032023e-01 -2.06651240e-04 2.59917507e+02] [ 9.95030580e-01 9.95553719e-02 -1.69483394e-03 3.08023291e+02] [ 1.70698728e-03 -3.68948318e-05 9.99998542e-01 1.51674266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:308.05, Z:1.52 [[ 9.80813243e-02 -9.95178384e-01 -1.93127568e-04 2.59920694e+02] [ 9.95176939e-01 9.80815110e-02 -1.69647418e-03 3.08052070e+02] [ 1.70723668e-03 -2.58036673e-05 9.99998542e-01 1.51809979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.92, Y:308.08, Z:1.52 [[ 9.77580653e-02 -9.95210188e-01 -2.05348769e-04 2.59923092e+02] [ 9.95208745e-01 9.77582733e-02 -1.69499358e-03 3.08077131e+02] [ 1.70694942e-03 -3.86655979e-05 9.99998542e-01 1.51549116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:308.11, Z:1.51 [[ 9.58706769e-02 -9.95393780e-01 -1.90631442e-04 2.59926848e+02] [ 9.95392334e-01 9.58708626e-02 -1.69676574e-03 3.08106593e+02] [ 1.70722607e-03 -2.70829959e-05 9.99998542e-01 1.51378271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:308.13, Z:1.51 [[ 9.37828264e-02 -9.95592658e-01 -2.03974890e-04 2.59927512e+02] [ 9.95591215e-01 9.37830378e-02 -1.69516016e-03 3.08131480e+02] [ 1.70681839e-03 -4.40986986e-05 9.99998542e-01 1.51010028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:308.16, Z:1.51 [[ 9.46131549e-02 -9.95514096e-01 -1.89212176e-04 2.59931180e+02] [ 9.95512650e-01 9.46133400e-02 -1.69692834e-03 3.08158534e+02] [ 1.70721808e-03 -2.78113709e-05 9.99998542e-01 1.50924459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:308.19, Z:1.51 [[ 9.36245198e-02 -9.95607560e-01 -1.88444926e-04 2.59933015e+02] [ 9.95606114e-01 9.36247051e-02 -1.69701976e-03 3.08185097e+02] [ 1.70720881e-03 -2.87342600e-05 9.99998542e-01 1.50855942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:308.21, Z:1.51 [[ 9.20751148e-02 -9.95752047e-01 -1.83870096e-04 2.59933679e+02] [ 9.95750601e-01 9.20752945e-02 -1.69756266e-03 3.08211414e+02] [ 1.70728139e-03 -2.67854815e-05 9.99998542e-01 1.50672802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.24, Z:1.51 [[ 9.13595219e-02 -9.95817957e-01 -1.83983419e-04 2.59935385e+02] [ 9.95816511e-01 9.13597029e-02 -1.69754925e-03 3.08236714e+02] [ 1.70725870e-03 -2.81264379e-05 9.99998542e-01 1.50647255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.27, Z:1.51 [[ 8.91340912e-02 -9.96019619e-01 -1.80095794e-04 2.59938097e+02] [ 9.96018172e-01 8.91342688e-02 -1.69800768e-03 3.08266314e+02] [ 1.70730167e-03 -2.80283123e-05 9.99998542e-01 1.50946443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.29, Z:1.51 [[ 8.67727996e-02 -9.96228107e-01 -1.99926601e-04 2.59938335e+02] [ 9.96226665e-01 8.67730143e-02 -1.69566955e-03 3.08290805e+02] [ 1.70662189e-03 -5.20342175e-05 9.99998542e-01 1.50836274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.32, Z:1.51 [[ 8.54110608e-02 -9.96345782e-01 -1.82967854e-04 2.59940015e+02] [ 9.96344336e-01 8.54112487e-02 -1.69765721e-03 3.08317084e+02] [ 1.70708111e-03 -3.73002822e-05 9.99998542e-01 1.50880434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.34, Z:1.51 [[ 8.41609421e-02 -9.96452157e-01 -1.84350819e-04 2.59940559e+02] [ 9.96450712e-01 8.41611341e-02 -1.69749507e-03 3.08343813e+02] [ 1.70698780e-03 -4.08337199e-05 9.99998542e-01 1.51081295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.37, Z:1.51 [[ 8.32251631e-02 -9.96530752e-01 -1.83398039e-04 2.59941567e+02] [ 9.96529306e-01 8.32253548e-02 -1.69760635e-03 3.08369093e+02] [ 1.70698030e-03 -4.14779557e-05 9.99998542e-01 1.51067076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.94, Y:308.40, Z:1.51 [[ 8.44205180e-02 -9.96430200e-01 -1.81891189e-04 2.59944170e+02] [ 9.96428754e-01 8.44207054e-02 -1.69778172e-03 3.08395233e+02] [ 1.70707636e-03 -3.79139990e-05 9.99998542e-01 1.51059880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.42, Z:1.51 [[ 8.41659248e-02 -9.96451738e-01 -1.78299147e-04 2.59946996e+02] [ 9.96450291e-01 8.41661064e-02 -1.69819955e-03 3.08420965e+02] [ 1.70718064e-03 -3.47357014e-05 9.99998542e-01 1.51064199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.45, Z:1.51 [[ 8.42758144e-02 -9.96442450e-01 -1.77435923e-04 2.59946797e+02] [ 9.96441003e-01 8.42759945e-02 -1.69829963e-03 3.08447090e+02] [ 1.70721144e-03 -3.36788447e-05 9.99998542e-01 1.51006519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.47, Z:1.51 [[ 8.58524599e-02 -9.96307845e-01 -1.80607603e-04 2.59948090e+02] [ 9.96306399e-01 8.58526431e-02 -1.69793287e-03 3.08472386e+02] [ 1.70716948e-03 -3.41687976e-05 9.99998542e-01 1.50898649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.50, Z:1.51 [[ 8.74366595e-02 -9.96170066e-01 -1.75601822e-04 2.59951376e+02] [ 9.96168618e-01 8.74368318e-02 -1.69851222e-03 3.08501533e+02] [ 1.70736110e-03 -2.64167894e-05 9.99998542e-01 1.50934390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.53, Z:1.51 [[ 8.76104708e-02 -9.96154792e-01 -1.91716735e-04 2.59949909e+02] [ 9.96153348e-01 8.76106703e-02 -1.69664284e-03 3.08526015e+02] [ 1.70691533e-03 -4.23355897e-05 9.99998542e-01 1.50962399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:308.56, Z:1.51 [[ 9.05911277e-02 -9.95888154e-01 -1.77435698e-04 2.59955085e+02] [ 9.95886707e-01 9.05912986e-02 -1.69828354e-03 3.08556575e+02] [ 1.70737459e-03 -2.28564321e-05 9.99998542e-01 1.50875631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:308.58, Z:1.51 [[ 9.13344341e-02 -9.95820256e-01 -1.97900048e-04 2.59953808e+02] [ 9.95818813e-01 9.13346388e-02 -1.69592946e-03 3.08579819e+02] [ 1.70691604e-03 -4.21758331e-05 9.99998542e-01 1.50856535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:308.61, Z:1.51 [[ 8.97511388e-02 -9.95964207e-01 -1.75275479e-04 2.59955871e+02] [ 9.95962759e-01 8.97513073e-02 -1.69851068e-03 3.08608885e+02] [ 1.70738705e-03 -2.21245818e-05 9.99998542e-01 1.50980544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.32275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:308.63, Z:1.51 [[ 9.08169618e-02 -9.95867583e-01 -1.93588453e-04 2.59957993e+02] [ 9.95866138e-01 9.08171599e-02 -1.69642088e-03 3.08632573e+02] [ 1.70699171e-03 -3.87243947e-05 9.99998542e-01 1.51072216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:308.66, Z:1.51 [[ 9.23002962e-02 -9.95731200e-01 -1.79308296e-04 2.59961345e+02] [ 9.95729753e-01 9.23004678e-02 -1.69804351e-03 3.08660831e+02] [ 1.70734514e-03 -2.18126861e-05 9.99998542e-01 1.50807433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:308.69, Z:1.51 [[ 9.18800262e-02 -9.95770066e-01 -1.89359011e-04 2.59964443e+02] [ 9.95768621e-01 9.18802155e-02 -1.69690312e-03 3.08688050e+02] [ 1.70712368e-03 -3.26462581e-05 9.99998542e-01 1.50675221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:308.71, Z:1.51 [[ 9.01453180e-02 -9.95928604e-01 -1.94380490e-04 2.59965605e+02] [ 9.95927160e-01 9.01455184e-02 -1.69633426e-03 3.08711824e+02] [ 1.70695034e-03 -4.06722179e-05 9.99998542e-01 1.50998834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.44275509600004 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.97, Y:308.74, Z:1.51 [[ 9.05929808e-02 -9.95887985e-01 -1.80908548e-04 2.59971221e+02] [ 9.95886538e-01 9.05931576e-02 -1.69785445e-03 3.08743590e+02] [ 1.70726192e-03 -2.63506920e-05 9.99998542e-01 1.50592507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:308.77, Z:1.51 [[ 8.55806058e-02 -9.96331228e-01 -2.10688157e-04 2.59968499e+02] [ 9.96329789e-01 8.55808406e-02 -1.69453037e-03 3.08765825e+02] [ 1.70634440e-03 -6.48959511e-05 9.99998542e-01 1.50912500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:308.79, Z:1.51 [[ 8.51795462e-02 -9.96365600e-01 -1.88212267e-04 2.59970696e+02] [ 9.96364156e-01 8.51797433e-02 -1.69702311e-03 3.08789752e+02] [ 1.70688733e-03 -4.29762983e-05 9.99998542e-01 1.50769292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5327550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:259.98, Y:308.82, Z:1.50 [[ 8.62459685e-02 -9.96273859e-01 -1.77288248e-04 2.59975684e+02] [ 9.96272412e-01 8.62461455e-02 -1.69823257e-03 3.08819937e+02] [ 1.70719515e-03 -3.01616770e-05 9.99998542e-01 1.50294783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.56275509600005 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:259.98, Y:308.85, Z:1.50 [[ 8.36289032e-02 -9.96496948e-01 -1.96585638e-04 2.59976256e+02] [ 9.96495506e-01 8.36291168e-02 -1.69611223e-03 3.08846401e+02] [ 1.70661094e-03 -5.40526994e-05 9.99998542e-01 1.50379678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:308.87, Z:1.50 [[ 8.46217953e-02 -9.96413126e-01 -1.85569870e-04 2.59979844e+02] [ 9.96411681e-01 8.46219887e-02 -1.69731659e-03 3.08873251e+02] [ 1.70693183e-03 -4.12740087e-05 9.99998542e-01 1.50454107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:308.90, Z:1.51 [[ 8.49792346e-02 -9.96382705e-01 -1.87045744e-04 2.59981541e+02] [ 9.96381260e-01 8.49794300e-02 -1.69715541e-03 3.08897934e+02] [ 1.70691134e-03 -4.21459065e-05 9.99998542e-01 1.50597917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:308.93, Z:1.51 [[ 8.27651007e-02 -9.96569068e-01 -1.77336533e-04 2.59983482e+02] [ 9.96567621e-01 8.27652828e-02 -1.69820752e-03 3.08926720e+02] [ 1.70705840e-03 -3.61755300e-05 9.99998542e-01 1.50547129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:308.95, Z:1.51 [[ 8.54635424e-02 -9.96341281e-01 -1.89277256e-04 2.59985320e+02] [ 9.96339836e-01 8.54637409e-02 -1.69691468e-03 3.08948278e+02] [ 1.70688249e-03 -4.35601302e-05 9.99998542e-01 1.50503658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7127550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:259.99, Y:308.98, Z:1.50 [[ 8.46418495e-02 -9.96411425e-01 -1.72735892e-04 2.59988200e+02] [ 9.96409977e-01 8.46420210e-02 -1.69871899e-03 3.08977788e+02] [ 1.70724373e-03 -2.83330494e-05 9.99998542e-01 1.50242817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.99, Y:309.00, Z:1.50 [[ 8.44245595e-02 -9.96429857e-01 -1.85407209e-04 2.59990829e+02] [ 9.96428412e-01 8.44247530e-02 -1.69733817e-03 3.09003313e+02] [ 1.70693138e-03 -4.14479840e-05 9.99998542e-01 1.50344520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:309.03, Z:1.50 [[ 8.70123777e-02 -9.96207214e-01 -1.81663118e-04 2.59995833e+02] [ 9.96205768e-01 8.70125610e-02 -1.69774403e-03 3.09030301e+02] [ 1.70711183e-03 -3.32491011e-05 9.99998542e-01 1.50054664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:309.06, Z:1.50 [[ 8.50403979e-02 -9.96377487e-01 -1.83567652e-04 2.59997993e+02] [ 9.96376042e-01 8.50405873e-02 -1.69753816e-03 3.09059281e+02] [ 1.70699951e-03 -3.85430893e-05 9.99998542e-01 1.50123182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:309.08, Z:1.50 [[ 8.60892790e-02 -9.96287408e-01 -1.91779475e-04 2.60002006e+02] [ 9.96285964e-01 8.60894809e-02 -1.69665168e-03 3.09084987e+02] [ 1.70686290e-03 -4.50036790e-05 9.99998542e-01 1.50064397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:309.11, Z:1.50 [[ 8.60215449e-02 -9.96293259e-01 -1.88895098e-04 2.60006536e+02] [ 9.96291815e-01 8.60217420e-02 -1.69696219e-03 3.09113200e+02] [ 1.70692107e-03 -4.22193312e-05 9.99998542e-01 1.50001234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:309.14, Z:1.50 [[ 8.59788354e-02 -9.96296945e-01 -1.95065759e-04 2.60011266e+02] [ 9.96295502e-01 8.59790430e-02 -1.69630113e-03 3.09141031e+02] [ 1.70679120e-03 -4.84971419e-05 9.99998542e-01 1.49956534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:309.17, Z:1.50 [[ 8.62085685e-02 -9.96277092e-01 -1.96861738e-04 2.60015511e+02] [ 9.96275649e-01 8.62087788e-02 -1.69610944e-03 3.09168650e+02] [ 1.70676619e-03 -4.99093891e-05 9.99998542e-01 1.49977588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:309.19, Z:1.50 [[ 8.54245231e-02 -9.96344625e-01 -1.98663700e-04 2.60019036e+02] [ 9.96343183e-01 8.54247377e-02 -1.69591769e-03 3.09193052e+02] [ 1.70668927e-03 -5.30642638e-05 9.99998542e-01 1.49943152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:309.22, Z:1.50 [[ 8.49110446e-02 -9.96388518e-01 -1.91225127e-04 2.60023013e+02] [ 9.96387074e-01 8.49112472e-02 -1.69670695e-03 3.09220560e+02] [ 1.70681649e-03 -4.64650849e-05 9.99998542e-01 1.49963456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:309.25, Z:1.50 [[ 8.39889102e-02 -9.96466671e-01 -1.91294328e-04 2.60028178e+02] [ 9.96465228e-01 8.39891142e-02 -1.69669966e-03 3.09247211e+02] [ 1.70677130e-03 -4.81141910e-05 9.99998542e-01 1.49995008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:309.27, Z:1.50 [[ 8.34140110e-02 -9.96514961e-01 -1.90101217e-04 2.60032030e+02] [ 9.96513517e-01 8.34142138e-02 -1.69682491e-03 3.09273831e+02] [ 1.70676855e-03 -4.78994608e-05 9.99998542e-01 1.50014168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.07275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:309.30, Z:1.50 [[ 8.27842166e-02 -9.96567477e-01 -1.91458348e-04 2.60035379e+02] [ 9.96566034e-01 8.27844227e-02 -1.69668279e-03 3.09299225e+02] [ 1.70670866e-03 -5.03423312e-05 9.99998542e-01 1.50063709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:309.33, Z:1.50 [[ 8.22444616e-02 -9.96612168e-01 -1.87079226e-04 2.60040882e+02] [ 9.96610724e-01 8.22446610e-02 -1.69713913e-03 3.09326474e+02] [ 1.70677577e-03 -4.68648691e-05 9.99998542e-01 1.50275730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.04, Y:309.35, Z:1.50 [[ 8.15104391e-02 -9.96672471e-01 -1.86846020e-04 2.60044360e+02] [ 9.96671027e-01 8.15106392e-02 -1.69716333e-03 3.09352855e+02] [ 1.70674591e-03 -4.78874866e-05 9.99998542e-01 1.50226167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:309.38, Z:1.50 [[ 8.25830717e-02 -9.96584167e-01 -1.85914989e-04 2.60049403e+02] [ 9.96582723e-01 8.25832686e-02 -1.69725953e-03 3.09380701e+02] [ 1.70681544e-03 -4.51147604e-05 9.99998542e-01 1.50267760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.05, Y:309.41, Z:1.50 [[ 8.21886298e-02 -9.96616773e-01 -1.90376028e-04 2.60051938e+02] [ 9.96615330e-01 8.21888349e-02 -1.69680005e-03 3.09407862e+02] [ 1.70670617e-03 -5.02739971e-05 9.99998542e-01 1.50351824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:309.44, Z:1.50 [[ 8.41005035e-02 -9.96457260e-01 -1.85429388e-04 2.60056260e+02] [ 9.96455815e-01 8.41006974e-02 -1.69730659e-03 3.09435522e+02] [ 1.70688822e-03 -4.20278528e-05 9.99998542e-01 1.50269708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:309.46, Z:1.50 [[ 8.53415133e-02 -9.96351741e-01 -1.87795034e-04 2.60057628e+02] [ 9.96350296e-01 8.53417095e-02 -1.69706520e-03 3.09459031e+02] [ 1.70690061e-03 -4.22795257e-05 9.99998542e-01 1.50333622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:309.49, Z:1.50 [[ 8.66667968e-02 -9.96237340e-01 -1.72118713e-04 2.60060832e+02] [ 9.96235892e-01 8.66669644e-02 -1.69865363e-03 3.09485080e+02] [ 1.70717918e-03 -2.42539706e-05 9.99998543e-01 1.50290208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:309.51, Z:1.50 [[ 8.72257238e-02 -9.96188558e-01 -1.71483515e-04 2.60063399e+02] [ 9.96187110e-01 8.72258895e-02 -1.69871775e-03 3.09512161e+02] [ 1.70720099e-03 -2.26577816e-05 9.99998543e-01 1.50239736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:309.54, Z:1.50 [[ 8.90108148e-02 -9.96030645e-01 -1.73285563e-04 2.60067232e+02] [ 9.96029197e-01 8.90109809e-02 -1.69853659e-03 3.09540756e+02] [ 1.70721881e-03 -2.14093540e-05 9.99998543e-01 1.50166671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:309.57, Z:1.50 [[ 9.07692690e-02 -9.95871933e-01 -1.81987890e-04 2.60069767e+02] [ 9.95870486e-01 9.07694474e-02 -1.69767090e-03 3.09566319e+02] [ 1.70718174e-03 -2.71400219e-05 9.99998542e-01 1.50186354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:309.59, Z:1.50 [[ 9.16255680e-02 -9.95793514e-01 -1.81333669e-04 2.60071910e+02] [ 9.95792067e-01 9.16257440e-02 -1.69773580e-03 3.09593964e+02] [ 1.70720913e-03 -2.50146220e-05 9.99998542e-01 1.50198602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.07, Y:309.62, Z:1.50 [[ 9.29238462e-02 -9.95673203e-01 -1.76626130e-04 2.60073633e+02] [ 9.95671755e-01 9.29240123e-02 -1.69820099e-03 3.09620410e+02] [ 1.70726603e-03 -1.80582809e-05 9.99998542e-01 1.50230588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:309.65, Z:1.50 [[ 9.34839135e-02 -9.95620775e-01 -1.76987331e-04 2.60076405e+02] [ 9.95619326e-01 9.34840794e-02 -1.69816531e-03 3.09648192e+02] [ 1.70727416e-03 -1.74608680e-05 9.99998542e-01 1.50221266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:309.67, Z:1.50 [[ 9.33839789e-02 -9.95630152e-01 -1.82501267e-04 2.60077158e+02] [ 9.95628705e-01 9.33841544e-02 -1.69762228e-03 3.09672355e+02] [ 1.70724666e-03 -2.31727767e-05 9.99998542e-01 1.50192091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:309.70, Z:1.50 [[ 9.23871395e-02 -9.95723147e-01 -1.76658977e-04 2.60076919e+02] [ 9.95721699e-01 9.23873065e-02 -1.69819468e-03 3.09700201e+02] [ 1.70725280e-03 -1.90118283e-05 9.99998542e-01 1.50317256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.55275509600006 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.08, Y:309.73, Z:1.50 [[ 9.41121140e-02 -9.95561589e-01 -1.78718391e-04 2.60080319e+02] [ 9.95560141e-01 9.41122820e-02 -1.69799430e-03 3.09726445e+02] [ 1.70727750e-03 -1.81230738e-05 9.99998542e-01 1.50251357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:309.75, Z:1.50 [[ 9.40229721e-02 -9.95570013e-01 -1.75995344e-04 2.60082432e+02] [ 9.95568564e-01 9.40231355e-02 -1.69825742e-03 3.09751015e+02] [ 1.70728179e-03 -1.55402223e-05 9.99998543e-01 1.50296211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.08, Y:309.78, Z:1.50 [[ 9.23772452e-02 -9.95724067e-01 -1.63213926e-04 2.60084187e+02] [ 9.95722617e-01 9.23773892e-02 -1.69948491e-03 3.09781030e+02] [ 1.70729530e-03 -5.52206354e-06 9.99998543e-01 1.50208826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.80, Z:1.50 [[ 9.09195251e-02 -9.95858227e-01 -1.76622642e-04 2.60086270e+02] [ 9.95856780e-01 9.09196941e-02 -1.69819738e-03 3.09804061e+02] [ 1.70722231e-03 -2.14915566e-05 9.99998543e-01 1.50357101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.83, Z:1.50 [[ 8.60727037e-02 -9.96288845e-01 -1.62230167e-04 2.60087351e+02] [ 9.96287396e-01 8.60728553e-02 -1.69957119e-03 3.09831991e+02] [ 1.70722743e-03 -1.53411825e-05 9.99998543e-01 1.50293610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.86, Z:1.50 [[ 8.47955737e-02 -9.96398356e-01 -1.67014358e-04 2.60091456e+02] [ 9.96396907e-01 8.47957353e-02 -1.69911557e-03 3.09861007e+02] [ 1.70715807e-03 -2.23351098e-05 9.99998543e-01 1.50188467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.88, Z:1.50 [[ 8.06693562e-02 -9.96740901e-01 -1.77879948e-04 2.60091518e+02] [ 9.96739455e-01 8.06695422e-02 -1.69808208e-03 3.09884564e+02] [ 1.70689736e-03 -4.03167744e-05 9.99998542e-01 1.50140638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.91, Z:1.50 [[ 7.70420349e-02 -9.97027832e-01 -1.67303515e-04 2.60091224e+02] [ 9.97026384e-01 7.70422082e-02 -1.69908567e-03 3.09910673e+02] [ 1.70692513e-03 -3.59050013e-05 9.99998543e-01 1.50260317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.09, Y:309.94, Z:1.50 [[ 7.51980425e-02 -9.97168606e-01 -1.63526010e-04 2.60092534e+02] [ 9.97167158e-01 7.51982121e-02 -1.69944254e-03 3.09936241e+02] [ 1.70692761e-03 -3.52680141e-05 9.99998543e-01 1.50187062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.82275509600004 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.09, Y:309.96, Z:1.50 [[ 7.27058283e-02 -9.97353416e-01 -1.61203501e-04 2.60094281e+02] [ 9.97351969e-01 7.27059975e-02 -1.69966078e-03 3.09963838e+02] [ 1.70688295e-03 -3.72013841e-05 9.99998543e-01 1.50294578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:309.99, Z:1.50 [[ 7.08427889e-02 -9.97487481e-01 -1.60238738e-04 2.60095190e+02] [ 9.97486033e-01 7.08429591e-02 -1.69975097e-03 3.09990158e+02] [ 1.70683210e-03 -3.94208038e-05 9.99998543e-01 1.50105079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:310.02, Z:1.50 [[ 6.99945553e-02 -9.97547362e-01 -1.52850893e-04 2.60098282e+02] [ 9.97545913e-01 6.99947142e-02 -1.70043827e-03 3.10017037e+02] [ 1.70696646e-03 -3.34543633e-05 9.99998543e-01 1.50234509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.91275509600007 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.10, Y:310.04, Z:1.50 [[ 6.89596477e-02 -9.97619438e-01 -1.54443680e-04 2.60099899e+02] [ 9.97617990e-01 6.89598108e-02 -1.70029096e-03 3.10043917e+02] [ 1.70689372e-03 -3.68243283e-05 9.99998543e-01 1.50465388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:310.07, Z:1.51 [[ 6.87141909e-02 -9.97636374e-01 -1.57163013e-04 2.60101909e+02] [ 9.97634927e-01 6.87143590e-02 -1.70004041e-03 3.10069692e+02] [ 1.70682151e-03 -3.99744092e-05 9.99998543e-01 1.50510114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:310.10, Z:1.51 [[ 6.83380302e-02 -9.97662212e-01 -1.55890143e-04 2.60104109e+02] [ 9.97660764e-01 6.83381967e-02 -1.70015712e-03 3.10096524e+02] [ 1.70683577e-03 -3.93400899e-05 9.99998543e-01 1.50514674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.12, Z:1.50 [[ 6.81372694e-02 -9.97675944e-01 -1.55249080e-04 2.60106179e+02] [ 9.97674496e-01 6.81374351e-02 -1.70021566e-03 3.10123117e+02] [ 1.70684254e-03 -3.90399955e-05 9.99998543e-01 1.50480884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.15, Z:1.51 [[ 6.93739717e-02 -9.97590711e-01 -1.58508304e-04 2.60109278e+02] [ 9.97589264e-01 6.93741411e-02 -1.69991893e-03 3.10149097e+02] [ 1.70681971e-03 -4.01960549e-05 9.99998543e-01 1.50548660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.17, Z:1.50 [[ 6.87282304e-02 -9.97635408e-01 -1.54167607e-04 2.60108903e+02] [ 9.97633959e-01 6.87283934e-02 -1.70031250e-03 3.10174849e+02] [ 1.70688765e-03 -3.69433709e-05 9.99998543e-01 1.50472965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.20, Z:1.50 [[ 6.88550906e-02 -9.97626661e-01 -1.50762319e-04 2.60110585e+02] [ 9.97625212e-01 6.88552476e-02 -1.70061968e-03 3.10201449e+02] [ 1.70696431e-03 -3.33079688e-05 9.99998543e-01 1.50372289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.22, Z:1.50 [[ 6.96952895e-02 -9.97568316e-01 -1.49685039e-04 2.60112520e+02] [ 9.97566866e-01 6.96954434e-02 -1.70071646e-03 3.10224549e+02] [ 1.70701322e-03 -3.07889098e-05 9.99998543e-01 1.50315606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.11, Y:310.25, Z:1.50 [[ 6.75871110e-02 -9.97713367e-01 -1.39668825e-04 2.60113542e+02] [ 9.97711916e-01 6.75872510e-02 -1.70160970e-03 3.10252659e+02] [ 1.70715857e-03 -2.43423672e-05 9.99998543e-01 1.50309190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.28, Z:1.50 [[ 7.08898458e-02 -9.97484139e-01 -1.51391980e-04 2.60117661e+02] [ 9.97482690e-01 7.08900009e-02 -1.70056605e-03 3.10277563e+02] [ 1.70701984e-03 -3.04580140e-05 9.99998543e-01 1.50410701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.31, Z:1.51 [[ 6.83322723e-02 -9.97662608e-01 -1.43834993e-04 2.60118220e+02] [ 9.97661158e-01 6.83324182e-02 -1.70123572e-03 3.10305657e+02] [ 1.70708786e-03 -2.72492833e-05 9.99998543e-01 1.50564653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.33, Z:1.50 [[ 6.63402542e-02 -9.97797048e-01 -1.50525072e-04 2.60118535e+02] [ 9.97795599e-01 6.63404145e-02 -1.70064358e-03 3.10332693e+02] [ 1.70688303e-03 -3.73721274e-05 9.99998543e-01 1.50479559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.36, Z:1.50 [[ 6.75936736e-02 -9.97712922e-01 -1.47369698e-04 2.60121260e+02] [ 9.97711472e-01 6.75938267e-02 -1.70092116e-03 3.10357765e+02] [ 1.70699230e-03 -3.20609286e-05 9.99998543e-01 1.50447461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.38, Z:1.50 [[ 6.72174386e-02 -9.97738340e-01 -1.43013211e-04 2.60120448e+02] [ 9.97736890e-01 6.72175848e-02 -1.70130187e-03 3.10382689e+02] [ 1.70706711e-03 -2.83324024e-05 9.99998543e-01 1.50371346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.41, Z:1.50 [[ 6.85067227e-02 -9.97650646e-01 -1.36050168e-04 2.60124292e+02] [ 9.97649194e-01 6.85068551e-02 -1.70191116e-03 3.10411175e+02] [ 1.70723314e-03 -1.91379839e-05 9.99998543e-01 1.50498074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.43, Z:1.50 [[ 6.78562726e-02 -9.97695096e-01 -1.48761819e-04 2.60122230e+02] [ 9.97693647e-01 6.78564276e-02 -1.70079933e-03 3.10434194e+02] [ 1.70697359e-03 -3.30088190e-05 9.99998543e-01 1.50151500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.12, Y:310.46, Z:1.50 [[ 7.11839423e-02 -9.97463197e-01 -1.29774718e-04 2.60124999e+02] [ 9.97461744e-01 7.11840601e-02 -1.70244861e-03 3.10460237e+02] [ 1.70736772e-03 -8.25831334e-06 9.99998542e-01 1.50246029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:310.49, Z:1.50 [[ 7.22864025e-02 -9.97383907e-01 -1.32621225e-04 2.60129971e+02] [ 9.97382455e-01 7.22865236e-02 -1.70220179e-03 3.10490667e+02] [ 1.70733540e-03 -9.22803971e-06 9.99998542e-01 1.50358067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:310.52, Z:1.50 [[ 7.39701674e-02 -9.97260444e-01 -1.47398166e-04 2.60133161e+02] [ 9.97258993e-01 7.39703112e-02 -1.70092125e-03 3.10516165e+02] [ 1.70716457e-03 -2.11767174e-05 9.99998543e-01 1.50312310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.13, Y:310.54, Z:1.50 [[ 7.36190253e-02 -9.97286428e-01 -1.44046951e-04 2.60134709e+02] [ 9.97284977e-01 7.36191639e-02 -1.70121110e-03 3.10542100e+02] [ 1.70719935e-03 -1.84143578e-05 9.99998543e-01 1.50383834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:310.57, Z:1.50 [[ 7.45325730e-02 -9.97218570e-01 -1.38308912e-04 2.60138029e+02] [ 9.97217118e-01 7.45327005e-02 -1.70170912e-03 3.10567577e+02] [ 1.70728447e-03 -1.10912549e-05 9.99998543e-01 1.50328932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:310.60, Z:1.50 [[ 7.46255450e-02 -9.97211618e-01 -1.31058706e-04 2.60143308e+02] [ 9.97210165e-01 7.46256600e-02 -1.70233753e-03 3.10597512e+02] [ 1.70737110e-03 -3.65520750e-06 9.99998542e-01 1.50395347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.62, Z:1.50 [[ 7.48289241e-02 -9.97196375e-01 -1.47200264e-04 2.60146300e+02] [ 9.97194925e-01 7.48290664e-02 -1.70093900e-03 3.10624342e+02] [ 1.70718506e-03 -1.95079208e-05 9.99998543e-01 1.50409679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.65, Z:1.50 [[ 7.47093634e-02 -9.97205340e-01 -1.46723453e-04 2.60148951e+02] [ 9.97203889e-01 7.47095050e-02 -1.70098013e-03 3.10651927e+02] [ 1.70718810e-03 -1.92340557e-05 9.99998543e-01 1.50394124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.68, Z:1.50 [[ 7.70930190e-02 -9.97023894e-01 -1.45472458e-04 2.60148583e+02] [ 9.97022443e-01 7.70931550e-02 -1.70108762e-03 3.10678866e+02] [ 1.70723993e-03 -1.38973251e-05 9.99998543e-01 1.50482311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.71, Z:1.50 [[ 7.95514381e-02 -9.96830752e-01 -1.45848183e-04 2.60152972e+02] [ 9.96829300e-01 7.95515711e-02 -1.70105540e-03 3.10708381e+02] [ 1.70726679e-03 -1.00643387e-05 9.99998543e-01 1.50349346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.73, Z:1.51 [[ 7.87013034e-02 -9.96898229e-01 -1.58781613e-04 2.60152194e+02] [ 9.96896780e-01 7.87014597e-02 -1.69994850e-03 3.10732521e+02] [ 1.70717200e-03 -2.45007160e-05 9.99998543e-01 1.50651449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.15, Y:310.76, Z:1.51 [[ 7.82309948e-02 -9.96935249e-01 -1.44595755e-04 2.60154252e+02] [ 9.96933798e-01 7.82311277e-02 -1.70115428e-03 3.10759163e+02] [ 1.70725256e-03 -1.10694036e-05 9.99998543e-01 1.50639693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.79, Z:1.51 [[ 7.71743437e-02 -9.97017603e-01 -1.43959972e-04 2.60156702e+02] [ 9.97016151e-01 7.71744770e-02 -1.70120808e-03 3.10786165e+02] [ 1.70724444e-03 -1.22407999e-05 9.99998543e-01 1.50653870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.82, Z:1.50 [[ 7.63930616e-02 -9.97077770e-01 -1.43359284e-04 2.60162034e+02] [ 9.97076319e-01 7.63931950e-02 -1.70125870e-03 3.10816132e+02] [ 1.70723891e-03 -1.29757867e-05 9.99998543e-01 1.50444402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.84, Z:1.51 [[ 7.25224032e-02 -9.97366771e-01 -1.58333687e-04 2.60160700e+02] [ 9.97365323e-01 7.25225678e-02 -1.69999831e-03 3.10839079e+02] [ 1.70700459e-03 -3.46285659e-05 9.99998543e-01 1.50673380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.87, Z:1.51 [[ 7.03540683e-02 -9.97522072e-01 -1.42037359e-04 2.60161499e+02] [ 9.97520622e-01 7.03542083e-02 -1.70135880e-03 3.10866009e+02] [ 1.70713588e-03 -2.19876816e-05 9.99998543e-01 1.50653270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.89, Z:1.51 [[ 6.65762253e-02 -9.97781332e-01 -1.41384563e-04 2.60162018e+02] [ 9.97779882e-01 6.65763697e-02 -1.70141305e-03 3.10891864e+02] [ 1.70705105e-03 -2.77970141e-05 9.99998543e-01 1.50694477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.92, Z:1.51 [[ 6.47396122e-02 -9.97902181e-01 -1.40705640e-04 2.60163200e+02] [ 9.97900731e-01 6.47397580e-02 -1.70146919e-03 3.10917191e+02] [ 1.70700907e-03 -3.02578053e-05 9.99998543e-01 1.50744591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.16, Y:310.94, Z:1.51 [[ 6.28197770e-02 -9.98024878e-01 -1.40034489e-04 2.60164338e+02] [ 9.98023428e-01 6.28199245e-02 -1.70152443e-03 3.10943512e+02] [ 1.70696066e-03 -3.28683156e-05 9.99998543e-01 1.50804467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:310.97, Z:1.51 [[ 6.46410664e-02 -9.97908570e-01 -1.39402023e-04 2.60170185e+02] [ 9.97907119e-01 6.46412101e-02 -1.70157624e-03 3.10974949e+02] [ 1.70702863e-03 -2.91185686e-05 9.99998543e-01 1.50592876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.99275509600005 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.17, Y:311.00, Z:1.51 [[ 6.11254826e-02 -9.98130076e-01 -1.62936220e-04 2.60168321e+02] [ 9.98128631e-01 6.11256715e-02 -1.69964399e-03 3.10997434e+02] [ 1.70642537e-03 -5.87397472e-05 9.99998542e-01 1.50868270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:311.02, Z:1.51 [[ 6.02002673e-02 -9.98186310e-01 -1.38468957e-04 2.60170105e+02] [ 9.98184860e-01 6.02004159e-02 -1.70163499e-03 3.11024268e+02] [ 1.70688464e-03 -3.57787355e-05 9.99998543e-01 1.50865904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.05275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.17, Y:311.05, Z:1.51 [[ 5.93070771e-02 -9.98239777e-01 -1.37850144e-04 2.60170799e+02] [ 9.98238327e-01 5.93072260e-02 -1.70168512e-03 3.11051405e+02] [ 1.70686528e-03 -3.66853262e-05 9.99998543e-01 1.50868445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.17, Y:311.08, Z:1.51 [[ 5.84111450e-02 -9.98292602e-01 -1.36342380e-04 2.60172699e+02] [ 9.98291152e-01 5.84112925e-02 -1.70180676e-03 3.11078849e+02] [ 1.70686504e-03 -3.67049105e-05 9.99998543e-01 1.50924708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.11275509600006 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:260.17, Y:311.11, Z:1.51 [[ 5.73761469e-02 -9.98352623e-01 -1.36900523e-04 2.60173226e+02] [ 9.98351173e-01 5.73762969e-02 -1.70176186e-03 3.11105722e+02] [ 1.70681326e-03 -3.90342596e-05 9.99998543e-01 1.50873774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.13, Z:1.51 [[ 5.66187939e-02 -9.98395860e-01 -1.36157970e-04 2.60175227e+02] [ 9.98394411e-01 5.66189437e-02 -1.70182132e-03 3.11132975e+02] [ 1.70680049e-03 -3.95842858e-05 9.99998543e-01 1.50759808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.16, Z:1.51 [[ 5.56231088e-02 -9.98451827e-01 -1.39238113e-04 2.60177203e+02] [ 9.98450378e-01 5.56232654e-02 -1.70157538e-03 3.11158949e+02] [ 1.70668593e-03 -4.43754336e-05 9.99998543e-01 1.51055359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.19, Z:1.51 [[ 5.48556586e-02 -9.98494286e-01 -1.35186196e-04 2.60179716e+02] [ 9.98492836e-01 5.48558094e-02 -1.70189724e-03 3.11186986e+02] [ 1.70675041e-03 -4.16237544e-05 9.99998543e-01 1.50945912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.21, Z:1.51 [[ 5.40771398e-02 -9.98536752e-01 -1.36717517e-04 2.60181681e+02] [ 9.98535302e-01 5.40772943e-02 -1.70177601e-03 3.11214060e+02] [ 1.70667920e-03 -4.44900883e-05 9.99998543e-01 1.50991896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.24, Z:1.51 [[ 5.32501558e-02 -9.98581195e-01 -1.35461617e-04 2.60183614e+02] [ 9.98579746e-01 5.32503094e-02 -1.70187501e-03 3.11240629e+02] [ 1.70667375e-03 -4.46441176e-05 9.99998543e-01 1.51242856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.18, Y:311.27, Z:1.51 [[ 5.25698465e-02 -9.98617241e-01 -1.33628962e-04 2.60184899e+02] [ 9.98615791e-01 5.25699980e-02 -1.70201889e-03 3.11266804e+02] [ 1.70669029e-03 -4.39691197e-05 9.99998543e-01 1.51377981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.29, Z:1.52 [[ 5.35101874e-02 -9.98567295e-01 -1.32980861e-04 2.60186641e+02] [ 9.98565845e-01 5.35103363e-02 -1.70206953e-03 3.11291426e+02] [ 1.70674682e-03 -4.17120862e-05 9.99998543e-01 1.51511974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.35275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.32, Z:1.52 [[ 5.39277106e-02 -9.98544835e-01 -1.23538946e-04 2.60187134e+02] [ 9.98543383e-01 5.39278429e-02 -1.70280430e-03 3.11318838e+02] [ 1.70698862e-03 -3.15306593e-05 9.99998543e-01 1.51552252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.35, Z:1.51 [[ 5.27786314e-02 -9.98606229e-01 -1.26044551e-04 2.60187359e+02] [ 9.98604778e-01 5.27787696e-02 -1.70260871e-03 3.11347430e+02] [ 1.70688814e-03 -3.60073336e-05 9.99998543e-01 1.51205572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.41275509600007 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.19, Y:311.37, Z:1.51 [[ 5.34797555e-02 -9.98568925e-01 -1.32990701e-04 2.60189813e+02] [ 9.98567475e-01 5.34799046e-02 -1.70206847e-03 3.11374869e+02] [ 1.70674501e-03 -4.17739823e-05 9.99998543e-01 1.51226227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.40, Z:1.51 [[ 5.49827067e-02 -9.98487298e-01 -1.35615031e-04 2.60191269e+02] [ 9.98485848e-01 5.49828580e-02 -1.70186516e-03 3.11401159e+02] [ 1.70674724e-03 -4.18365369e-05 9.99998543e-01 1.51333301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.43, Z:1.52 [[ 5.60238177e-02 -9.98429423e-01 -1.35603190e-04 2.60192671e+02] [ 9.98427974e-01 5.60239675e-02 -1.70186607e-03 3.11426217e+02] [ 1.70679019e-03 -4.00449835e-05 9.99998543e-01 1.51517247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.45, Z:1.52 [[ 5.61009555e-02 -9.98425093e-01 -1.25808308e-04 2.60193695e+02] [ 9.98423642e-01 5.61010885e-02 -1.70261764e-03 3.11452708e+02] [ 1.70699416e-03 -3.00915124e-05 9.99998543e-01 1.51589664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.19, Y:311.48, Z:1.52 [[ 5.79870653e-02 -9.98317326e-01 -1.30220083e-04 2.60194910e+02] [ 9.98315875e-01 5.79872031e-02 -1.70228016e-03 3.11479557e+02] [ 1.70696687e-03 -3.12905453e-05 9.99998543e-01 1.51629155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.50, Z:1.52 [[ 5.88492089e-02 -9.98266875e-01 -1.29565414e-04 2.60196341e+02] [ 9.98265424e-01 5.88493443e-02 -1.70232998e-03 3.11504918e+02] [ 1.70700447e-03 -2.91599006e-05 9.99998543e-01 1.51639953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.53, Z:1.52 [[ 6.06288569e-02 -9.98160371e-01 -1.28883579e-04 2.60196632e+02] [ 9.98158919e-01 6.06289886e-02 -1.70238160e-03 3.11530096e+02] [ 1.70706393e-03 -2.54328430e-05 9.99998543e-01 1.51581905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.56, Z:1.52 [[ 6.14451555e-02 -9.98110453e-01 -1.28208193e-04 2.60197973e+02] [ 9.98109001e-01 6.14452849e-02 -1.70243247e-03 3.11556971e+02] [ 1.70709343e-03 -2.33595239e-05 9.99998543e-01 1.51610108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.58, Z:1.52 [[ 6.17462056e-02 -9.98091875e-01 -1.27553067e-04 2.60199408e+02] [ 9.98090423e-01 6.17463334e-02 -1.70248155e-03 3.11583204e+02] [ 1.70710893e-03 -2.21877183e-05 9.99998543e-01 1.51577245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.61, Z:1.52 [[ 6.16011096e-02 -9.98100840e-01 -1.26903096e-04 2.60201248e+02] [ 9.98099388e-01 6.16012365e-02 -1.70253000e-03 3.11608264e+02] [ 1.70711401e-03 -2.17841652e-05 9.99998543e-01 1.51528805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:311.63, Z:1.51 [[ 6.05898380e-02 -9.98162740e-01 -1.26226883e-04 2.60203433e+02] [ 9.98161288e-01 6.05899652e-02 -1.70258013e-03 3.11634135e+02] [ 1.70710013e-03 -2.28357337e-05 9.99998543e-01 1.51480590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:311.66, Z:1.51 [[ 5.85090427e-02 -9.98286871e-01 -1.25588779e-04 2.60205663e+02] [ 9.98285419e-01 5.85091718e-02 -1.70262720e-03 3.11662602e+02] [ 1.70705847e-03 -2.57543591e-05 9.99998543e-01 1.51322110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:311.69, Z:1.51 [[ 5.60233124e-02 -9.98429453e-01 -1.30257113e-04 2.60209406e+02] [ 9.98428002e-01 5.60234531e-02 -1.70228366e-03 3.11687992e+02] [ 1.70690759e-03 -3.46847801e-05 9.99998543e-01 1.51454257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:311.71, Z:1.51 [[ 5.38794685e-02 -9.98547439e-01 -1.24554411e-04 2.60211619e+02] [ 9.98545988e-01 5.38796026e-02 -1.70270082e-03 3.11714773e+02] [ 1.70693848e-03 -3.26326920e-05 9.99998543e-01 1.51441200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:311.74, Z:1.51 [[ 5.14831548e-02 -9.98673855e-01 -1.23954098e-04 2.60214765e+02] [ 9.98672404e-01 5.14832913e-02 -1.70274452e-03 3.11740929e+02] [ 1.70686800e-03 -3.61268775e-05 9.99998543e-01 1.51375655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.86275509600006 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.22, Y:311.77, Z:1.51 [[ 4.86239291e-02 -9.98817150e-01 -1.18818152e-04 2.60216632e+02] [ 9.98815699e-01 4.86240610e-02 -1.70311635e-03 3.11768341e+02] [ 1.70687924e-03 -3.58652268e-05 9.99998543e-01 1.51334011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8927550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:260.22, Y:311.80, Z:1.51 [[ 4.81791765e-02 -9.98838701e-01 -1.26995155e-04 2.60218202e+02] [ 9.98837251e-01 4.81793231e-02 -1.70252592e-03 3.11795234e+02] [ 1.70666732e-03 -4.48211952e-05 9.99998543e-01 1.51338831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:311.82, Z:1.51 [[ 4.75295557e-02 -9.98869824e-01 -1.26094749e-04 2.60220710e+02] [ 9.98868374e-01 4.75297016e-02 -1.70259050e-03 3.11820118e+02] [ 1.70665952e-03 -4.50286873e-05 9.99998543e-01 1.51375730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.22, Y:311.85, Z:1.51 [[ 4.69159239e-02 -9.98898835e-01 -1.20120271e-04 2.60222908e+02] [ 9.98897384e-01 4.69160605e-02 -1.70301543e-03 3.11846015e+02] [ 1.70677570e-03 -4.00892818e-05 9.99998543e-01 1.51367203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:311.87, Z:1.51 [[ 4.74808100e-02 -9.98872143e-01 -1.20735249e-04 2.60225340e+02] [ 9.98870692e-01 4.74809469e-02 -1.70297183e-03 3.11872919e+02] [ 1.70678375e-03 -3.97404199e-05 9.99998543e-01 1.51331697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:311.90, Z:1.51 [[ 4.73109709e-02 -9.98880202e-01 -1.20125341e-04 2.60226916e+02] [ 9.98878751e-01 4.73111069e-02 -1.70301485e-03 3.11898966e+02] [ 1.70679108e-03 -3.94193645e-05 9.99998543e-01 1.51222307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:311.92, Z:1.51 [[ 5.02512676e-02 -9.98736599e-01 -1.23198742e-04 2.60229733e+02] [ 9.98735149e-01 5.02514046e-02 -1.70279932e-03 3.11924020e+02] [ 1.70683892e-03 -3.74750893e-05 9.99998543e-01 1.51092739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:311.95, Z:1.51 [[ 5.12626335e-02 -9.98685200e-01 -1.17097498e-04 2.60232015e+02] [ 9.98683748e-01 5.12627587e-02 -1.70322337e-03 3.11950803e+02] [ 1.70698671e-03 -2.96316533e-05 9.99998543e-01 1.51019568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:311.98, Z:1.51 [[ 5.10078993e-02 -9.98698243e-01 -1.17585364e-04 2.60233786e+02] [ 9.98696791e-01 5.10080256e-02 -1.70318968e-03 3.11979087e+02] [ 1.70697034e-03 -3.05559980e-05 9.99998543e-01 1.51004332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:312.00, Z:1.51 [[ 5.56921774e-02 -9.98447978e-01 -1.30330210e-04 2.60237787e+02] [ 9.98446527e-01 5.56923187e-02 -1.70230806e-03 3.12001509e+02] [ 1.70692443e-03 -3.53225031e-05 9.99998543e-01 1.50862074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:312.03, Z:1.51 [[ 5.58152591e-02 -9.98441107e-01 -1.11166806e-04 2.60240138e+02] [ 9.98439654e-01 5.58153676e-02 -1.70361939e-03 3.12029020e+02] [ 1.70716844e-03 -1.59053896e-05 9.99998543e-01 1.50834948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:312.06, Z:1.51 [[ 5.46166015e-02 -9.98507393e-01 -1.16138538e-04 2.60242243e+02] [ 9.98505940e-01 5.46167201e-02 -1.70328039e-03 3.12056710e+02] [ 1.70708117e-03 -2.29376335e-05 9.99998543e-01 1.50851215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:312.08, Z:1.51 [[ 5.55715468e-02 -9.98454700e-01 -1.25145521e-04 2.60246807e+02] [ 9.98453249e-01 5.55716794e-02 -1.70266803e-03 3.12082025e+02] [ 1.70699144e-03 -3.03320558e-05 9.99998543e-01 1.50895410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:312.11, Z:1.51 [[ 5.47788765e-02 -9.98498504e-01 -1.14727645e-04 2.60249854e+02] [ 9.98497051e-01 5.47789925e-02 -1.70336971e-03 3.12109496e+02] [ 1.70709677e-03 -2.12465365e-05 9.99998543e-01 1.50934822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:312.14, Z:1.51 [[ 5.34748449e-02 -9.98569190e-01 -1.14128700e-04 2.60252852e+02] [ 9.98567738e-01 5.34749618e-02 -1.70340983e-03 3.12136566e+02] [ 1.70707561e-03 -2.28756609e-05 9.99998543e-01 1.50993786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.26, Y:312.16, Z:1.51 [[ 5.08385432e-02 -9.98706879e-01 -1.13530106e-04 2.60257460e+02] [ 9.98705426e-01 5.08386629e-02 -1.70344973e-03 3.12162178e+02] [ 1.70701868e-03 -2.67822306e-05 9.99998543e-01 1.51166288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.26, Y:312.19, Z:1.51 [[ 4.93069525e-02 -9.98783666e-01 -1.13929713e-04 2.60259950e+02] [ 9.98782214e-01 4.93070752e-02 -1.70342328e-03 3.12189839e+02] [ 1.70696888e-03 -2.98003609e-05 9.99998543e-01 1.51175050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.26, Y:312.22, Z:1.51 [[ 4.93166932e-02 -9.98783185e-01 -1.16388871e-04 2.60263742e+02] [ 9.98781733e-01 4.93168200e-02 -1.70326123e-03 3.12215031e+02] [ 1.70692860e-03 -3.22478666e-05 9.99998543e-01 1.51188794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:312.24, Z:1.51 [[ 4.77019176e-02 -9.98861609e-01 -1.11448304e-04 2.60265212e+02] [ 9.98860157e-01 4.77020383e-02 -1.70358444e-03 3.12242952e+02] [ 1.70696140e-03 -3.00570257e-05 9.99998543e-01 1.51220039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:312.27, Z:1.51 [[ 4.87774858e-02 -9.98809663e-01 -1.20418053e-04 2.60267470e+02] [ 9.98808212e-01 4.87776203e-02 -1.70299888e-03 3.12268464e+02] [ 1.70684544e-03 -3.72065363e-05 9.99998543e-01 1.51187309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:312.29, Z:1.51 [[ 4.97141054e-02 -9.98763483e-01 -1.16858099e-04 2.60269246e+02] [ 9.98762031e-01 4.97142325e-02 -1.70322952e-03 3.12292330e+02] [ 1.70693295e-03 -3.20389005e-05 9.99998543e-01 1.51140905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:312.32, Z:1.51 [[ 5.33032713e-02 -9.98578364e-01 -1.09378936e-04 2.60272722e+02] [ 9.98576911e-01 5.33033804e-02 -1.70370968e-03 3.12318426e+02] [ 1.70711789e-03 -1.84099805e-05 9.99998543e-01 1.51091151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:312.34, Z:1.51 [[ 5.28468810e-02 -9.98602621e-01 -1.08659205e-04 2.60273899e+02] [ 9.98601168e-01 5.28469895e-02 -1.70375558e-03 3.12343369e+02] [ 1.70711710e-03 -1.84690404e-05 9.99998543e-01 1.51163329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.37, Z:1.51 [[ 5.57710295e-02 -9.98443579e-01 -1.07863409e-04 2.60275228e+02] [ 9.98442125e-01 5.57711324e-02 -1.70380596e-03 3.12370277e+02] [ 1.70716979e-03 -1.26723591e-05 9.99998543e-01 1.51254936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.40, Z:1.51 [[ 5.57585839e-02 -9.98444274e-01 -1.07254312e-04 2.60275741e+02] [ 9.98442821e-01 5.57586857e-02 -1.70384430e-03 3.12397550e+02] [ 1.70717395e-03 -1.20833526e-05 9.99998543e-01 1.51180251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.42, Z:1.51 [[ 5.74010857e-02 -9.98351192e-01 -1.15681878e-04 2.60276809e+02] [ 9.98349739e-01 5.74011996e-02 -1.70331493e-03 3.12422718e+02] [ 1.70714677e-03 -1.77188463e-05 9.99998543e-01 1.51219590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.45, Z:1.51 [[ 5.90467465e-02 -9.98255213e-01 -1.05954548e-04 2.60276693e+02] [ 9.98253759e-01 5.90468413e-02 -1.70391980e-03 3.12448841e+02] [ 1.70720311e-03 -5.15860478e-06 9.99998543e-01 1.51094229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.47, Z:1.51 [[ 5.96843634e-02 -9.98217294e-01 -1.05294200e-04 2.60277524e+02] [ 9.98215840e-01 5.96844562e-02 -1.70396061e-03 3.12474528e+02] [ 1.70720737e-03 -3.40653436e-06 9.99998543e-01 1.51028524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.50, Z:1.51 [[ 5.82301725e-02 -9.98303179e-01 -1.01120847e-04 2.60278517e+02] [ 9.98301724e-01 5.82302603e-02 -1.70421714e-03 3.12502409e+02] [ 1.70721368e-03 -1.71225736e-06 9.99998543e-01 1.51092526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.53, Z:1.51 [[ 5.79144561e-02 -9.98321544e-01 -1.07781468e-04 2.60279652e+02] [ 9.98320090e-01 5.79145557e-02 -1.70380948e-03 3.12527998e+02] [ 1.70719183e-03 -8.92520520e-06 9.99998543e-01 1.51002819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.55, Z:1.51 [[ 5.72176574e-02 -9.98361723e-01 -1.03486151e-04 2.60280568e+02] [ 9.98360268e-01 5.72177507e-02 -1.70407033e-03 3.12554907e+02] [ 1.70719983e-03 -5.81354932e-06 9.99998543e-01 1.51070059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.58, Z:1.51 [[ 5.55596585e-02 -9.98455364e-01 -1.02730151e-04 2.60280722e+02] [ 9.98453910e-01 5.55597529e-02 -1.70411590e-03 3.12581370e+02] [ 1.70719133e-03 -7.89122340e-06 9.99998543e-01 1.51124436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.61, Z:1.51 [[ 5.33791981e-02 -9.98574310e-01 -9.76390851e-05 2.60281417e+02] [ 9.98572855e-01 5.33792870e-02 -1.70442070e-03 3.12609170e+02] [ 1.70720262e-03 -6.51912995e-06 9.99998543e-01 1.51166403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.63, Z:1.51 [[ 5.02634800e-02 -9.98735987e-01 -1.00999983e-04 2.60281802e+02] [ 9.98734533e-01 5.02635792e-02 -1.70422076e-03 3.12634166e+02] [ 1.70714323e-03 -1.52121051e-05 9.99998543e-01 1.51230160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.66, Z:1.51 [[ 4.97116486e-02 -9.98763607e-01 -1.00589457e-04 2.60283294e+02] [ 9.98762153e-01 4.97117479e-02 -1.70424499e-03 3.12658462e+02] [ 1.70713835e-03 -1.57441141e-05 9.99998543e-01 1.51254471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.68, Z:1.51 [[ 4.89487535e-02 -9.98801287e-01 -9.53546598e-05 2.60284482e+02] [ 9.98799832e-01 4.89488450e-02 -1.70455135e-03 3.12684968e+02] [ 1.70717558e-03 -1.18045544e-05 9.99998543e-01 1.51233269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.71, Z:1.51 [[ 4.72261075e-02 -9.98884221e-01 -9.28240581e-05 2.60284877e+02] [ 9.98882766e-01 4.72261971e-02 -1.70469887e-03 3.12713539e+02] [ 1.70718053e-03 -1.22140600e-05 9.99998543e-01 1.51207190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.74, Z:1.51 [[ 4.72248763e-02 -9.98884278e-01 -9.89107145e-05 2.60283449e+02] [ 9.98882824e-01 4.72249763e-02 -1.70434563e-03 3.12737835e+02] [ 1.70711511e-03 -1.83127022e-05 9.99998543e-01 1.51083119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.00275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.77, Z:1.51 [[ 4.53618137e-02 -9.98970619e-01 -9.34355199e-05 2.60282728e+02] [ 9.98969164e-01 4.53619071e-02 -1.70466032e-03 3.12766331e+02] [ 1.70714399e-03 -1.60127196e-05 9.99998543e-01 1.51063225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.79, Z:1.51 [[ 4.61173341e-02 -9.98936025e-01 -1.00967278e-04 2.60282089e+02] [ 9.98934571e-01 4.61174393e-02 -1.70422989e-03 3.12792424e+02] [ 1.70707298e-03 -2.22651648e-05 9.99998543e-01 1.50937428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.06275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.82, Z:1.51 [[ 4.64052759e-02 -9.98922690e-01 -9.71038388e-05 2.60282403e+02] [ 9.98921236e-01 4.64053741e-02 -1.70444846e-03 3.12819103e+02] [ 1.70711838e-03 -1.79036856e-05 9.99998543e-01 1.50929184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.85, Z:1.51 [[ 4.67448806e-02 -9.98906856e-01 -9.57440796e-05 2.60283260e+02] [ 9.98905402e-01 4.67449759e-02 -1.70452484e-03 3.12845211e+02] [ 1.70713710e-03 -1.59614684e-05 9.99998543e-01 1.50883137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.12275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.87, Z:1.51 [[ 4.75932915e-02 -9.98866793e-01 -9.51041584e-05 2.60284195e+02] [ 9.98865338e-01 4.75933845e-02 -1.70456054e-03 3.12871884e+02] [ 1.70715525e-03 -1.38706006e-05 9.99998543e-01 1.50855334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.90, Z:1.51 [[ 4.72795915e-02 -9.98881691e-01 -9.34732725e-05 2.60285000e+02] [ 9.98880236e-01 4.72796822e-02 -1.70465090e-03 3.12898486e+02] [ 1.70716396e-03 -1.27734064e-05 9.99998543e-01 1.50822740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.18275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:312.93, Z:1.51 [[ 4.57927717e-02 -9.98950956e-01 -9.39069601e-05 2.60283550e+02] [ 9.98949502e-01 4.57928653e-02 -1.70462701e-03 3.12926040e+02] [ 1.70713905e-03 -1.57487157e-05 9.99998543e-01 1.50679120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:312.95, Z:1.51 [[ 4.59133464e-02 -9.98945422e-01 -8.93255430e-05 2.60285601e+02] [ 9.98943968e-01 4.59134320e-02 -1.70487743e-03 3.12953419e+02] [ 1.70718075e-03 -1.09545843e-05 9.99998543e-01 1.50835769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.24275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:312.98, Z:1.51 [[ 4.47155955e-02 -9.98999753e-01 -9.25994232e-05 2.60286560e+02] [ 9.98998299e-01 4.47156885e-02 -1.70469959e-03 3.12981035e+02] [ 1.70713512e-03 -1.62800087e-05 9.99998543e-01 1.50869849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:260.29, Y:313.01, Z:1.51 [[ 4.26826457e-02 -9.99088676e-01 -9.19927700e-05 2.60288361e+02] [ 9.99087222e-01 4.26827405e-02 -1.70473233e-03 3.13008631e+02] [ 1.70710527e-03 -1.91463151e-05 9.99998543e-01 1.50994239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.30275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:313.04, Z:1.51 [[ 3.94478373e-02 -9.99221627e-01 -9.13837223e-05 2.60290938e+02] [ 9.99220173e-01 3.94479358e-02 -1.70476498e-03 3.13035005e+02] [ 1.70704293e-03 -2.40631673e-05 9.99998543e-01 1.51070179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.06, Z:1.51 [[ 3.93368490e-02 -9.99226003e-01 -9.07467909e-05 2.60295233e+02] [ 9.99224549e-01 3.93369465e-02 -1.70479888e-03 3.13064991e+02] [ 1.70704907e-03 -2.36150050e-05 9.99998543e-01 1.51110745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.36275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.09, Z:1.51 [[ 3.61243744e-02 -9.99347296e-01 -1.04322278e-04 2.60295134e+02] [ 9.99345844e-01 3.61244998e-02 -1.70407630e-03 3.13089127e+02] [ 1.70673264e-03 -4.26953444e-05 9.99998543e-01 1.51194704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.12, Z:1.51 [[ 3.44834599e-02 -9.99405265e-01 -8.98108645e-05 2.60296777e+02] [ 9.99403811e-01 3.44835629e-02 -1.70484076e-03 3.13115648e+02] [ 1.70692383e-03 -3.09685123e-05 9.99998543e-01 1.51249746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.42275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.14, Z:1.51 [[ 3.22211761e-02 -9.99480759e-01 -8.91784629e-05 2.60298743e+02] [ 9.99479306e-01 3.22212813e-02 -1.70487384e-03 3.13142867e+02] [ 1.70686205e-03 -3.41989879e-05 9.99998543e-01 1.51260109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.4527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.17, Z:1.51 [[ 3.09719003e-02 -9.99520252e-01 -8.85804256e-05 2.60299998e+02] [ 9.99518798e-01 3.09720064e-02 -1.70490491e-03 3.13170497e+02] [ 1.70683050e-03 -3.57336554e-05 9.99998543e-01 1.51220484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.48275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.20, Z:1.51 [[ 2.98501730e-02 -9.99554381e-01 -8.79813098e-05 2.60300976e+02] [ 9.99552927e-01 2.98502797e-02 -1.70493583e-03 3.13198181e+02] [ 1.70680234e-03 -3.70493463e-05 9.99998543e-01 1.51183115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.30, Y:313.22, Z:1.51 [[ 2.99946950e-02 -9.99550054e-01 -8.73690243e-05 2.60301842e+02] [ 9.99548601e-01 2.99948004e-02 -1.70496721e-03 3.13224943e+02] [ 1.70682068e-03 -3.61896145e-05 9.99998543e-01 1.51155004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.54275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.25, Z:1.51 [[ 3.08280358e-02 -9.99524699e-01 -8.67602565e-05 2.60301957e+02] [ 9.99523246e-01 3.08281390e-02 -1.70499818e-03 3.13251684e+02] [ 1.70686245e-03 -3.41571482e-05 9.99998543e-01 1.50955398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:313.28, Z:1.51 [[ 3.11400347e-02 -9.99515028e-01 -8.45031566e-05 2.60303870e+02] [ 9.99513574e-01 3.11401336e-02 -1.70511244e-03 3.13278222e+02] [ 1.70691695e-03 -3.13647914e-05 9.99998543e-01 1.51119832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.60275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.31, Z:1.51 [[ 3.16020511e-02 -9.99500527e-01 -8.39220910e-05 2.60305050e+02] [ 9.99499073e-01 3.16021483e-02 -1.70514166e-03 3.13306498e+02] [ 1.70694210e-03 -2.99940784e-05 9.99998543e-01 1.50917942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.63275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.33, Z:1.51 [[ 3.21827746e-02 -9.99481997e-01 -8.59059981e-05 2.60306000e+02] [ 9.99480543e-01 3.21828743e-02 -1.70504242e-03 3.13334542e+02] [ 1.70692391e-03 -3.09883776e-05 9.99998543e-01 1.50961379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.66275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.36, Z:1.51 [[ 3.29240424e-02 -9.99457853e-01 -8.58731085e-05 2.60308570e+02] [ 9.99456399e-01 3.29241410e-02 -1.70504406e-03 3.13364045e+02] [ 1.70694697e-03 -2.96894849e-05 9.99998543e-01 1.51007223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.69275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.39, Z:1.51 [[ 3.12831269e-02 -9.99510559e-01 -9.20350087e-05 2.60307085e+02] [ 9.99509106e-01 3.12832384e-02 -1.70474102e-03 3.13389670e+02] [ 1.70678581e-03 -3.86601995e-05 9.99998543e-01 1.50984803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.72275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.42, Z:1.51 [[ 3.14663358e-02 -9.99504809e-01 -8.09794414e-05 2.60309008e+02] [ 9.99503355e-01 3.14664281e-02 -1.70527839e-03 3.13417227e+02] [ 1.70698208e-03 -2.72803610e-05 9.99998543e-01 1.51105742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.75275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.44, Z:1.51 [[ 3.36916974e-02 -9.99432270e-01 -8.24952139e-05 2.60312642e+02] [ 9.99430816e-01 3.36917892e-02 -1.70520506e-03 3.13443948e+02] [ 1.70701637e-03 -2.49970061e-05 9.99998543e-01 1.50967553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.47, Z:1.51 [[ 3.33617508e-02 -9.99443338e-01 -8.73154040e-05 2.60313700e+02] [ 9.99441884e-01 3.33618512e-02 -1.70497308e-03 3.13470674e+02] [ 1.70693699e-03 -3.03857848e-05 9.99998543e-01 1.50972256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.81275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.50, Z:1.51 [[ 3.02014314e-02 -9.99543829e-01 -8.68276200e-05 2.60312319e+02] [ 9.99542375e-01 3.02015356e-02 -1.70499641e-03 3.13497449e+02] [ 1.70684097e-03 -3.52945535e-05 9.99998543e-01 1.51110249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.52, Z:1.51 [[ 2.86702083e-02 -9.99588922e-01 -8.06754415e-05 2.60313878e+02] [ 9.99587468e-01 2.86703042e-02 -1.70528746e-03 3.13524721e+02] [ 1.70689945e-03 -3.17512135e-05 9.99998543e-01 1.51168954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.87275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.55, Z:1.51 [[ 2.78272524e-02 -9.99612744e-01 -8.00709602e-05 2.60316010e+02] [ 9.99611290e-01 2.78273485e-02 -1.70531585e-03 3.13553875e+02] [ 1.70688361e-03 -3.25855813e-05 9.99998543e-01 1.51182229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.58, Z:1.51 [[ 2.56895195e-02 -9.99669966e-01 -8.95952636e-05 2.60315681e+02] [ 9.99668513e-01 2.56896350e-02 -1.70487057e-03 3.13578495e+02] [ 1.70660958e-03 -4.57682580e-05 9.99998543e-01 1.51257046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.93275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.61, Z:1.51 [[ 2.50999742e-02 -9.99684943e-01 -7.87354859e-05 2.60316700e+02] [ 9.99683489e-01 2.51000720e-02 -1.70537196e-03 3.13606951e+02] [ 1.70681094e-03 -3.59057730e-05 9.99998543e-01 1.51359413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:313.63, Z:1.51 [[ 2.13412541e-02 -9.99772246e-01 -8.02020322e-05 2.60313507e+02] [ 9.99770793e-01 2.13413599e-02 -1.70530466e-03 3.13630098e+02] [ 1.70662790e-03 -4.37903091e-05 9.99998543e-01 1.51047608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.99275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.66, Z:1.51 [[ 2.20712794e-02 -9.99756398e-01 -5.75420867e-05 2.60316194e+02] [ 9.99754942e-01 2.20713455e-02 -1.70633313e-03 3.13659160e+02] [ 1.70718749e-03 -1.98670304e-05 9.99998543e-01 1.51118094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.69, Z:1.51 [[ 2.08095240e-02 -9.99783456e-01 -6.64208740e-05 2.60316226e+02] [ 9.99782001e-01 2.08096071e-02 -1.70592766e-03 3.13686386e+02] [ 1.70694045e-03 -3.09068516e-05 9.99998543e-01 1.51099431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.05275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.72, Z:1.51 [[ 2.34685421e-02 -9.99724574e-01 -5.92510838e-05 2.60321368e+02] [ 9.99723118e-01 2.34686091e-02 -1.70625176e-03 3.13716058e+02] [ 1.70717236e-03 -1.91914368e-05 9.99998543e-01 1.51438123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.74, Z:1.51 [[ 2.28344739e-02 -9.99739257e-01 -7.73279924e-05 2.60320000e+02] [ 9.99737803e-01 2.28345726e-02 -1.70543212e-03 3.13739649e+02] [ 1.70675319e-03 -3.83650720e-05 9.99998543e-01 1.51126610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.11275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.77, Z:1.51 [[ 2.28254540e-02 -9.99739464e-01 -6.22746990e-05 2.60321390e+02] [ 9.99738008e-01 2.28255270e-02 -1.70610698e-03 3.13768805e+02] [ 1.70708393e-03 -2.33157173e-05 9.99998543e-01 1.51215117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.80, Z:1.51 [[ 2.56079649e-02 -9.99672060e-01 -7.17830386e-05 2.60323474e+02] [ 9.99670605e-01 2.56080501e-02 -1.70568040e-03 3.13797183e+02] [ 1.70695926e-03 -2.80803897e-05 9.99998543e-01 1.51325325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.17275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.32, Y:313.82, Z:1.51 [[ 2.65258691e-02 -9.99648124e-01 -7.74989144e-05 2.60324471e+02] [ 9.99646670e-01 2.65259627e-02 -1.70542535e-03 3.13822920e+02] [ 1.70688098e-03 -3.22336422e-05 9.99998543e-01 1.51395136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:313.85, Z:1.51 [[ 2.87733721e-02 -9.99585958e-01 -7.55586907e-05 2.60325571e+02] [ 9.99584503e-01 2.87734591e-02 -1.70551130e-03 3.13849638e+02] [ 1.70697924e-03 -2.64539851e-05 9.99998543e-01 1.51314609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.23275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:313.88, Z:1.51 [[ 2.93376417e-02 -9.99569556e-01 -7.49216626e-05 2.60326798e+02] [ 9.99568101e-01 2.93377269e-02 -1.70553929e-03 3.13877125e+02] [ 1.70700318e-03 -2.48528035e-05 9.99998543e-01 1.51341920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:313.90, Z:1.51 [[ 3.08233826e-02 -9.99524844e-01 -7.43025562e-05 2.60328875e+02] [ 9.99523389e-01 3.08234645e-02 -1.70556626e-03 3.13903169e+02] [ 1.70704611e-03 -2.16958215e-05 9.99998543e-01 1.51175705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.29275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:313.93, Z:1.51 [[ 3.25143160e-02 -9.99471267e-01 -7.36556088e-05 2.60332253e+02] [ 9.99469812e-01 3.25143943e-02 -1.70559420e-03 3.13933402e+02] [ 1.70708726e-03 -1.81603288e-05 9.99998543e-01 1.51203733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:313.96, Z:1.51 [[ 2.93054560e-02 -9.99570499e-01 -8.68099258e-05 2.60330565e+02] [ 9.99569046e-01 2.93055615e-02 -1.70502796e-03 3.13961762e+02] [ 1.70683966e-03 -3.68058927e-05 9.99998543e-01 1.51056939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.35275509600007 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.33, Y:313.99, Z:1.51 [[ 3.08543897e-02 -9.99523886e-01 -9.23218417e-05 2.60330710e+02] [ 9.99522433e-01 3.08545024e-02 -1.70479238e-03 3.13985151e+02] [ 1.70682925e-03 -3.96774234e-05 9.99998543e-01 1.51069438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.38275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:314.01, Z:1.51 [[ 3.10772981e-02 -9.99516982e-01 -6.68141672e-05 2.60331266e+02] [ 9.99515526e-01 3.10773668e-02 -1.70586008e-03 3.14011716e+02] [ 1.70711252e-03 -1.37682754e-05 9.99998543e-01 1.51098159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.41275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.33, Y:314.04, Z:1.51 [[ 3.23789261e-02 -9.99475663e-01 -6.59578204e-05 2.60333944e+02] [ 9.99474207e-01 3.23789915e-02 -1.70589558e-03 3.14038550e+02] [ 1.70713677e-03 -1.06880732e-05 9.99998543e-01 1.51315409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.44275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.06, Z:1.51 [[ 3.20388709e-02 -9.99486621e-01 -7.04003565e-05 2.60335082e+02] [ 9.99485166e-01 3.20389444e-02 -1.70571223e-03 3.14064811e+02] [ 1.70709210e-03 -1.57150183e-05 9.99998543e-01 1.51339593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.47275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.09, Z:1.51 [[ 3.24693252e-02 -9.99472730e-01 -6.97441769e-05 2.60337739e+02] [ 9.99471275e-01 3.24693969e-02 -1.70573906e-03 3.14093631e+02] [ 1.70710422e-03 -1.43231053e-05 9.99998543e-01 1.51287910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.50275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.12, Z:1.51 [[ 3.09949149e-02 -9.99519539e-01 -7.91825039e-05 2.60338026e+02] [ 9.99518085e-01 3.09950049e-02 -1.70535502e-03 3.14117952e+02] [ 1.70698992e-03 -2.62870109e-05 9.99998543e-01 1.51443816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.34, Y:314.14, Z:1.51 [[ 3.02218902e-02 -9.99543212e-01 -6.85019766e-05 2.60338656e+02] [ 9.99541757e-01 3.02219631e-02 -1.70578393e-03 3.14143292e+02] [ 1.70707502e-03 -1.69185713e-05 9.99998543e-01 1.51475494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.56275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.17, Z:1.51 [[ 3.27130424e-02 -9.99464783e-01 -6.78147618e-05 2.60342228e+02] [ 9.99463327e-01 3.27131105e-02 -1.70581125e-03 3.14171751e+02] [ 1.70711671e-03 -1.19760917e-05 9.99998543e-01 1.51428291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.20, Z:1.52 [[ 2.84011433e-02 -9.99596604e-01 -7.16672114e-05 2.60340204e+02] [ 9.99595149e-01 2.84012243e-02 -1.70565872e-03 3.14197553e+02] [ 1.70700610e-03 -2.31955390e-05 9.99998543e-01 1.51624294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.62275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.22, Z:1.52 [[ 2.73984203e-02 -9.99624591e-01 -6.68774492e-05 2.60341065e+02] [ 9.99623135e-01 2.73984945e-02 -1.70584650e-03 3.14224036e+02] [ 1.70703845e-03 -2.01147459e-05 9.99998543e-01 1.51657368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.25, Z:1.52 [[ 2.57915914e-02 -9.99667339e-01 -6.62126289e-05 2.60342500e+02] [ 9.99665884e-01 2.57916668e-02 -1.70587231e-03 3.14251615e+02] [ 1.70701257e-03 -2.21933447e-05 9.99998543e-01 1.51687305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.68275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:314.28, Z:1.52 [[ 2.53028347e-02 -9.99679830e-01 -6.55994578e-05 2.60344139e+02] [ 9.99678375e-01 2.53029098e-02 -1.70589589e-03 3.14280064e+02] [ 1.70700957e-03 -2.24143577e-05 9.99998543e-01 1.51669331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.31, Z:1.52 [[ 2.65689932e-02 -9.99646980e-01 -6.90569657e-05 2.60346714e+02] [ 9.99645525e-01 2.65690724e-02 -1.70576410e-03 3.14306237e+02] [ 1.70699671e-03 -2.37120517e-05 9.99998543e-01 1.51628409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.74275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.33, Z:1.52 [[ 2.43609691e-02 -9.99703226e-01 -6.43439172e-05 2.60345169e+02] [ 9.99701770e-01 2.43610434e-02 -1.70594187e-03 3.14332268e+02] [ 1.70700307e-03 -2.27663308e-05 9.99998543e-01 1.51594018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.36, Z:1.52 [[ 2.44341628e-02 -9.99701439e-01 -6.36804323e-05 2.60346349e+02] [ 9.99699984e-01 2.44342359e-02 -1.70596663e-03 3.14360965e+02] [ 1.70701328e-03 -2.19774606e-05 9.99998543e-01 1.51596779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.80275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.39, Z:1.52 [[ 2.32133932e-02 -9.99730531e-01 -6.85464570e-05 2.60346258e+02] [ 9.99729076e-01 2.32134764e-02 -1.70578593e-03 3.14386176e+02] [ 1.70691747e-03 -2.89308066e-05 9.99998543e-01 1.51554194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.42, Z:1.51 [[ 2.39772440e-02 -9.99712503e-01 -6.27351727e-05 2.60349777e+02] [ 9.99711047e-01 2.39773162e-02 -1.70599963e-03 3.14416703e+02] [ 1.70701338e-03 -2.18118758e-05 9.99998543e-01 1.51476467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.86275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.44, Z:1.51 [[ 2.11052351e-02 -9.99777257e-01 -7.66188082e-05 2.60348684e+02] [ 9.99775803e-01 2.11053352e-02 -1.70548912e-03 3.14440079e+02] [ 1.70672630e-03 -4.06068815e-05 9.99998543e-01 1.51414007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.47, Z:1.51 [[ 2.01722919e-02 -9.99796517e-01 -5.79513253e-05 2.60350396e+02] [ 9.99795061e-01 2.01723614e-02 -1.70616360e-03 3.14468268e+02] [ 1.70698544e-03 -2.35222187e-05 9.99998543e-01 1.51430314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.92275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.50, Z:1.52 [[ 1.79706890e-02 -9.99838512e-01 -6.10898473e-05 2.60351093e+02] [ 9.99837057e-01 1.79707671e-02 -1.70605118e-03 3.14496619e+02] [ 1.70687351e-03 -3.04209779e-05 9.99998543e-01 1.51663002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.9527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.52, Z:1.51 [[ 1.66011756e-02 -9.99862188e-01 -7.36647852e-05 2.60350258e+02] [ 9.99860735e-01 1.66012772e-02 -1.70560079e-03 3.14521702e+02] [ 1.70658867e-03 -4.53395480e-05 9.99998543e-01 1.51321100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.98275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.55, Z:1.52 [[ 1.82103558e-02 -9.99834176e-01 -6.24415783e-05 2.60353104e+02] [ 9.99832721e-01 1.82104358e-02 -1.70599570e-03 3.14547381e+02] [ 1.70684989e-03 -3.13643444e-05 9.99998543e-01 1.51613113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.57, Z:1.52 [[ 1.91640388e-02 -9.99816351e-01 -5.65985250e-05 2.60354440e+02] [ 9.99814896e-01 1.91641075e-02 -1.70619807e-03 3.14572886e+02] [ 1.70696939e-03 -2.38904024e-05 9.99998543e-01 1.51582115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.04275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.60, Z:1.52 [[ 1.65408449e-02 -9.99863190e-01 -4.88064755e-05 2.60353887e+02] [ 9.99861734e-01 1.65409041e-02 -1.70646396e-03 3.14603270e+02] [ 1.70703780e-03 -2.05733716e-05 9.99998543e-01 1.51547232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:314.63, Z:1.52 [[ 1.82980385e-02 -9.99832574e-01 -7.45280083e-05 2.60355345e+02] [ 9.99831120e-01 1.82981390e-02 -1.70557667e-03 3.14628014e+02] [ 1.70665483e-03 -4.33067146e-05 9.99998543e-01 1.51505203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.10275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:314.65, Z:1.52 [[ 1.91942972e-02 -9.99815771e-01 -5.92408734e-05 2.60356075e+02] [ 9.99814315e-01 1.91943703e-02 -1.70609347e-03 3.14653345e+02] [ 1.70691625e-03 -2.64826082e-05 9.99998543e-01 1.51548704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.13275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.69, Z:1.51 [[ 1.48448684e-02 -9.99889808e-01 -5.22149150e-05 2.60353212e+02] [ 9.99888352e-01 1.48449359e-02 -1.70632703e-03 3.14691843e+02] [ 1.70691413e-03 -2.68788852e-05 9.99998543e-01 1.51406073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.16275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.71, Z:1.52 [[ 1.64385560e-02 -9.99864872e-01 -1.08399637e-04 2.60350882e+02] [ 9.99863422e-01 1.64387170e-02 -1.70467107e-03 3.14706960e+02] [ 1.70622267e-03 -8.03625010e-05 9.99998541e-01 1.51569254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.19275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.73, Z:1.52 [[ 1.74192573e-02 -9.99848272e-01 -4.74198471e-05 2.60351591e+02] [ 9.99846816e-01 1.74193129e-02 -1.70636570e-03 3.14734612e+02] [ 1.70693281e-03 -1.76889601e-05 9.99998543e-01 1.51591520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.22275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.76, Z:1.52 [[ 1.82027538e-02 -9.99834315e-01 -4.68149878e-05 2.60352048e+02] [ 9.99832859e-01 1.82028072e-02 -1.70638229e-03 3.14759931e+02] [ 1.70695173e-03 -1.57463065e-05 9.99998543e-01 1.51602097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.25275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.79, Z:1.52 [[ 2.06520819e-02 -9.99786722e-01 -4.61147843e-05 2.60352115e+02] [ 9.99785266e-01 2.06521305e-02 -1.70640121e-03 3.14786310e+02] [ 1.70698964e-03 -1.08641443e-05 9.99998543e-01 1.51615667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.82, Z:1.51 [[ 2.19883127e-02 -9.99758227e-01 -4.26047930e-05 2.60353685e+02] [ 9.99756771e-01 2.19883534e-02 -1.70649489e-03 3.14817184e+02] [ 1.70701912e-03 -5.07148689e-06 9.99998543e-01 1.51395059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.31275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.84, Z:1.52 [[ 2.09507913e-02 -9.99780506e-01 -5.99543501e-05 2.60352292e+02] [ 9.99779051e-01 2.09508631e-02 -1.70603826e-03 3.14840699e+02] [ 1.70691989e-03 -2.41982517e-05 9.99998543e-01 1.51562062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.87, Z:1.51 [[ 2.14599477e-02 -9.99769708e-01 -4.35186146e-05 2.60353954e+02] [ 9.99768252e-01 2.14599907e-02 -1.70645777e-03 3.14867463e+02] [ 1.70699869e-03 -6.88803481e-06 9.99998543e-01 1.51463001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.37275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:314.89, Z:1.51 [[ 1.78128228e-02 -9.99841338e-01 -4.28311104e-05 2.60354315e+02] [ 9.99839882e-01 1.78128699e-02 -1.70647503e-03 3.14892379e+02] [ 1.70696722e-03 -1.24271152e-05 9.99998543e-01 1.51444032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:314.92, Z:1.52 [[ 1.51238036e-02 -9.99885628e-01 -3.81917154e-05 2.60355761e+02] [ 9.99884172e-01 1.51238467e-02 -1.70658956e-03 3.14919521e+02] [ 1.70697198e-03 -1.23771665e-05 9.99998543e-01 1.51585583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.43275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:314.94, Z:1.52 [[ 1.37457875e-02 -9.99905521e-01 -4.05734971e-05 2.60357804e+02] [ 9.99904065e-01 1.37458367e-02 -1.70653146e-03 3.14944227e+02] [ 1.70692794e-03 -1.71119860e-05 9.99998543e-01 1.51560415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:314.97, Z:1.52 [[ 1.08621910e-02 -9.99941004e-01 -3.52823158e-05 2.60358618e+02] [ 9.99939548e-01 1.08622354e-02 -1.70665812e-03 3.14971664e+02] [ 1.70694068e-03 -1.67421364e-05 9.99998543e-01 1.51642854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.49275509600005 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.00, Z:1.52 [[ 7.69795864e-03 -9.99970370e-01 -3.74765761e-05 2.60359656e+02] [ 9.99968914e-01 7.69801139e-03 -1.70660597e-03 3.14998123e+02] [ 1.70684390e-03 -2.43380289e-05 9.99998543e-01 1.51675407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.02, Z:1.52 [[ 4.62696776e-03 -9.99989295e-01 -3.54208234e-05 2.60359204e+02] [ 9.99987839e-01 4.62702147e-03 -1.70665454e-03 3.15024418e+02] [ 1.70680016e-03 -2.75237571e-05 9.99998543e-01 1.51723644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.55275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.05, Z:1.52 [[ 3.76390726e-03 -9.99992916e-01 -3.99126470e-05 2.60358843e+02] [ 9.99991460e-01 3.76396989e-03 -1.70654948e-03 3.15051033e+02] [ 1.70668762e-03 -3.34890122e-05 9.99998543e-01 1.51739865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.08, Z:1.52 [[ 2.99108317e-03 -9.99995526e-01 -3.92561498e-05 2.60358621e+02] [ 9.99994070e-01 2.99114581e-03 -1.70656459e-03 3.15077173e+02] [ 1.70667437e-03 -3.41514405e-05 9.99998543e-01 1.51726648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.61275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.10, Z:1.51 [[ 1.74997081e-05 -9.99999999e-01 -3.85947876e-05 2.60354939e+02] [ 9.99998544e-01 1.75655453e-05 -1.70657954e-03 3.15102661e+02] [ 1.70658022e-03 -3.85648668e-05 9.99998543e-01 1.51428158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.13, Z:1.51 [[-1.24996771e-03 -9.99999219e-01 -2.10639491e-05 2.60355503e+02] [ 9.99997762e-01 -1.24992994e-03 -1.70696688e-03 3.15131702e+02] [ 1.70693922e-03 -2.31975554e-05 9.99998543e-01 1.51344953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.67275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.16, Z:1.52 [[ 3.37093831e-03 -9.99994318e-01 -3.43587303e-05 2.60361330e+02] [ 9.99992862e-01 3.37099204e-03 -1.70667326e-03 3.15163105e+02] [ 1.70677938e-03 -2.86053947e-05 9.99998543e-01 1.51530931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.19, Z:1.52 [[ 2.81120685e-03 -9.99996047e-01 -5.34359729e-05 2.60361619e+02] [ 9.99994593e-01 2.81129393e-03 -1.70625331e-03 3.15189914e+02] [ 1.70639679e-03 -4.86390530e-05 9.99998543e-01 1.51536057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.73275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.22, Z:1.51 [[ 1.94531887e-03 -9.99998107e-01 -5.26021988e-05 2.60360135e+02] [ 9.99996652e-01 1.94540579e-03 -1.70627127e-03 3.15215154e+02] [ 1.70637037e-03 -4.92827810e-05 9.99998543e-01 1.51417717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.24, Z:1.51 [[-5.42455419e-04 -9.99999852e-01 -4.42542237e-05 2.60356759e+02] [ 9.99998397e-01 -5.42379115e-04 -1.70644481e-03 3.15240309e+02] [ 1.70642056e-03 -4.51798230e-05 9.99998543e-01 1.51344368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.79275509600006 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.27, Z:1.51 [[ 2.51863041e-03 -9.99996828e-01 -2.72987713e-05 2.60358437e+02] [ 9.99995372e-01 2.51867334e-03 -1.70678617e-03 3.15270531e+02] [ 1.70684951e-03 -2.29998814e-05 9.99998543e-01 1.51372401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.30, Z:1.52 [[-1.95222212e-04 -9.99999980e-01 -4.55839847e-05 2.60355968e+02] [ 9.99998525e-01 -1.95144146e-04 -1.70640266e-03 3.15298257e+02] [ 1.70639373e-03 -4.59170451e-05 9.99998543e-01 1.51705896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.85275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.32, Z:1.52 [[ 5.52181756e-03 -9.99984753e-01 -5.75535285e-05 2.60358444e+02] [ 9.99983299e-01 5.52190772e-03 -1.70614924e-03 3.15319769e+02] [ 1.70644103e-03 -4.81315224e-05 9.99998543e-01 1.51632526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.88275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.35, Z:1.52 [[ 2.79733436e-03 -9.99996087e-01 -3.45098514e-05 2.60355344e+02] [ 9.99994631e-01 2.79738919e-03 -1.70661521e-03 3.15347120e+02] [ 1.70670507e-03 -2.97356927e-05 9.99998543e-01 1.51693104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.91275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.37, Z:1.52 [[ 6.79931528e-03 -9.99976884e-01 -3.39095986e-05 2.60357505e+02] [ 9.99975428e-01 6.79936325e-03 -1.70662714e-03 3.15372401e+02] [ 1.70681825e-03 -2.23048694e-05 9.99998543e-01 1.51664350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.94275509600004 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.40, Z:1.52 [[ 4.59386610e-03 -9.99989448e-01 -3.32147040e-05 2.60355962e+02] [ 9.99987992e-01 4.59391609e-03 -1.70664066e-03 3.15402224e+02] [ 1.70677524e-03 -2.53742265e-05 9.99998543e-01 1.51574348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.97275509600007 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:315.43, Z:1.52 [[ 7.60315677e-03 -9.99971095e-01 -4.71837399e-05 2.60355190e+02] [ 9.99969639e-01 7.60322622e-03 -1.70636905e-03 3.15426835e+02] [ 1.70667848e-03 -3.42085159e-05 9.99998543e-01 1.51677939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.45, Z:1.52 [[ 9.12368131e-03 -9.99958378e-01 -3.69470727e-05 2.60352571e+02] [ 9.99956922e-01 9.12373108e-03 -1.70656197e-03 3.15451554e+02] [ 1.70682804e-03 -2.13753535e-05 9.99998543e-01 1.51621009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.48, Z:1.52 [[ 7.35331253e-03 -9.99972964e-01 -2.37287158e-05 2.60351676e+02] [ 9.99971507e-01 7.35334231e-03 -1.70680267e-03 3.15479915e+02] [ 1.70693101e-03 -1.11773862e-05 9.99998543e-01 1.51967905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.51, Z:1.52 [[ 9.03459765e-03 -9.99959187e-01 -3.08777442e-05 2.60352023e+02] [ 9.99957730e-01 9.03463719e-03 -1.70667333e-03 3.15508068e+02] [ 1.70688265e-03 -1.54573321e-05 9.99998543e-01 1.51795911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.53, Z:1.52 [[ 8.74128513e-03 -9.99961794e-01 -3.28012634e-05 2.60350587e+02] [ 9.99960338e-01 8.74132838e-03 -1.70663901e-03 3.15534339e+02] [ 1.70686053e-03 -1.78817442e-05 9.99998543e-01 1.52070177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.56, Z:1.52 [[ 1.06894235e-02 -9.99942866e-01 -2.99397844e-05 2.60352553e+02] [ 9.99941410e-01 1.06894590e-02 -1.70668921e-03 3.15561777e+02] [ 1.70691174e-03 -1.16945065e-05 9.99998543e-01 1.52052568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.59, Z:1.52 [[ 7.96664505e-03 -9.99968265e-01 -2.93189335e-05 2.60350608e+02] [ 9.99966809e-01 7.96668349e-03 -1.70669987e-03 3.15587617e+02] [ 1.70687929e-03 -1.57212882e-05 9.99998543e-01 1.52215061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.61, Z:1.52 [[ 7.53454884e-03 -9.99971615e-01 -2.88409671e-05 2.60350788e+02] [ 9.99970158e-01 7.53458709e-03 -1.70670795e-03 3.15613986e+02] [ 1.70687681e-03 -1.59808320e-05 9.99998543e-01 1.52264997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.64, Z:1.52 [[ 7.26013327e-03 -9.99973645e-01 -2.82021644e-05 2.60351379e+02] [ 9.99972188e-01 7.26017083e-03 -1.70671851e-03 3.15640165e+02] [ 1.70687828e-03 -1.58103763e-05 9.99998543e-01 1.52344136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.67, Z:1.52 [[ 5.68704102e-03 -9.99983828e-01 -2.38026714e-05 2.60350706e+02] [ 9.99982372e-01 5.68707336e-03 -1.70678930e-03 3.15667056e+02] [ 1.70689707e-03 -1.40956710e-05 9.99998543e-01 1.52414527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.70, Z:1.52 [[ 6.83820869e-03 -9.99976619e-01 -2.68115842e-05 2.60352588e+02] [ 9.99975162e-01 6.83824449e-03 -1.70674204e-03 3.15697927e+02] [ 1.70688547e-03 -1.51398601e-05 9.99998543e-01 1.52335123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.72, Z:1.52 [[ 3.97281449e-03 -9.99992107e-01 -4.35962937e-05 2.60349600e+02] [ 9.99990652e-01 3.97288310e-03 -1.70648037e-03 3.15721244e+02] [ 1.70664011e-03 -3.68163563e-05 9.99998543e-01 1.52410712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.75, Z:1.52 [[ 4.19974748e-03 -9.99991181e-01 -2.54274002e-05 2.60351076e+02] [ 9.99989724e-01 4.19978476e-03 -1.70675106e-03 3.15750898e+02] [ 1.70684279e-03 -1.82592154e-05 9.99998543e-01 1.52290490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.78, Z:1.52 [[ 2.75750788e-03 -9.99996197e-01 -3.67772429e-05 2.60350779e+02] [ 9.99994742e-01 2.75756663e-03 -1.70658341e-03 3.15777943e+02] [ 1.70667834e-03 -3.20711323e-05 9.99998543e-01 1.52322612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.80, Z:1.52 [[ 1.63878119e-04 -9.99999986e-01 -3.26346940e-05 2.60350854e+02] [ 9.99998530e-01 1.63933573e-04 -1.70664277e-03 3.15803206e+02] [ 1.70664810e-03 -3.23549646e-05 9.99998543e-01 1.52329068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.83, Z:1.52 [[-9.85538028e-04 -9.99999514e-01 -2.37587003e-05 2.60351086e+02] [ 9.99998058e-01 -9.85496045e-04 -1.70676633e-03 3.15828778e+02] [ 1.70674208e-03 -2.54407373e-05 9.99998543e-01 1.52308889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.86, Z:1.52 [[-3.85061095e-03 -9.99992586e-01 -2.30835404e-05 2.60350611e+02] [ 9.99991130e-01 -3.85056595e-03 -1.70677546e-03 3.15857103e+02] [ 1.70667392e-03 -2.96554640e-05 9.99998543e-01 1.52124897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.88, Z:1.52 [[-5.37418920e-03 -9.99985559e-01 -2.30926108e-05 2.60350537e+02] [ 9.99984103e-01 -5.37414196e-03 -1.70677534e-03 3.15883525e+02] [ 1.70662659e-03 -3.22647773e-05 9.99998543e-01 1.52114820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.91, Z:1.52 [[-5.92514237e-03 -9.99982446e-01 -2.19881309e-05 2.60350991e+02] [ 9.99980990e-01 -5.92509622e-03 -1.70678949e-03 3.15908101e+02] [ 1.70662925e-03 -3.21006837e-05 9.99998543e-01 1.52420591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.94, Z:1.52 [[-8.00822628e-03 -9.99967934e-01 -1.57972180e-05 2.60349843e+02] [ 9.99966477e-01 -8.00818765e-03 -1.70686719e-03 3.15935763e+02] [ 1.70668595e-03 -2.94656671e-05 9.99998543e-01 1.52136267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.96, Z:1.52 [[-8.89446295e-03 -9.99960443e-01 -2.03072132e-05 2.60350297e+02] [ 9.99958987e-01 -8.89441534e-03 -1.70681137e-03 3.15961552e+02] [ 1.70656323e-03 -3.54875508e-05 9.99998543e-01 1.52375671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:315.99, Z:1.52 [[-8.36174469e-03 -9.99965040e-01 -1.76883404e-05 2.60350670e+02] [ 9.99963584e-01 -8.36170233e-03 -1.70684220e-03 3.15987478e+02] [ 1.70663462e-03 -3.19598749e-05 9.99998543e-01 1.52378749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.01, Z:1.52 [[-1.22098997e-02 -9.99925456e-01 -1.73637171e-05 2.60347496e+02] [ 9.99924000e-01 -1.22098523e-02 -1.70684599e-03 3.16013795e+02] [ 1.70650675e-03 -3.82028158e-05 9.99998543e-01 1.52167315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.04, Z:1.52 [[-1.13732871e-02 -9.99935322e-01 -1.23038264e-05 2.60348909e+02] [ 9.99933866e-01 -1.13732495e-02 -1.70690353e-03 3.16040950e+02] [ 1.70665320e-03 -3.17161167e-05 9.99998543e-01 1.52414226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.07, Z:1.52 [[-1.16765687e-02 -9.99931826e-01 -1.92145707e-05 2.60348654e+02] [ 9.99930370e-01 -1.16765189e-02 -1.70682574e-03 3.16068225e+02] [ 1.70648502e-03 -3.91431007e-05 9.99998543e-01 1.52423612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.09, Z:1.52 [[-1.11307700e-02 -9.99938051e-01 -1.85851160e-05 2.60347589e+02] [ 9.99936595e-01 -1.11307221e-02 -1.70683259e-03 3.16094595e+02] [ 1.70651999e-03 -3.75822985e-05 9.99998543e-01 1.52388187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.12, Z:1.52 [[-1.12492737e-02 -9.99936725e-01 -1.79337222e-05 2.60346756e+02] [ 9.99935269e-01 -1.12492267e-02 -1.70683943e-03 3.16121172e+02] [ 1.70652969e-03 -3.71332652e-05 9.99998543e-01 1.52372836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.14, Z:1.52 [[-1.39008828e-02 -9.99903378e-01 -1.72884677e-05 2.60342653e+02] [ 9.99901922e-01 -1.39008330e-02 -1.70684597e-03 3.16144565e+02] [ 1.70644073e-03 -4.10134378e-05 9.99998543e-01 1.51739045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.17, Z:1.52 [[-1.29975635e-02 -9.99915528e-01 1.28843334e-07 2.60341940e+02] [ 9.99914071e-01 -1.29975448e-02 -1.70700551e-03 3.16173151e+02] [ 1.70686299e-03 -2.20580803e-05 9.99998543e-01 1.51983141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.20, Z:1.52 [[-1.24919754e-02 -9.99921972e-01 -9.32168953e-06 2.60342998e+02] [ 9.99920516e-01 -1.24919413e-02 -1.70692284e-03 3.16200427e+02] [ 1.70667321e-03 -3.06437867e-05 9.99998543e-01 1.52349510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.23, Z:1.52 [[-1.38714551e-02 -9.99903787e-01 -1.62470062e-05 2.60342275e+02] [ 9.99902331e-01 -1.38714072e-02 -1.70686343e-03 3.16228201e+02] [ 1.70647384e-03 -3.99220989e-05 9.99998543e-01 1.52418061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.26, Z:1.52 [[-1.33410817e-02 -9.99911004e-01 -1.87758255e-05 2.60343998e+02] [ 9.99909548e-01 -1.33410303e-02 -1.70684329e-03 3.16256007e+02] [ 1.70644090e-03 -4.15452630e-05 9.99998543e-01 1.52387673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.932755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.34, Y:316.28, Z:1.52 [[-1.67628766e-02 -9.99859493e-01 -1.94720952e-05 2.60342380e+02] [ 9.99858037e-01 -1.67628190e-02 -1.70683837e-03 3.16284582e+02] [ 1.70627214e-03 -4.80808520e-05 9.99998543e-01 1.52154231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.31, Z:1.53 [[-1.86450988e-02 -9.99826165e-01 -1.94747466e-05 2.60342166e+02] [ 9.99824709e-01 -1.86450384e-02 -1.70683835e-03 3.16309708e+02] [ 1.70617854e-03 -5.12955027e-05 9.99998543e-01 1.52567625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.34, Z:1.52 [[-1.64293520e-02 -9.99865029e-01 -1.07036402e-05 2.60347383e+02] [ 9.99863573e-01 -1.64293098e-02 -1.70689336e-03 3.16344273e+02] [ 1.70648712e-03 -3.87453318e-05 9.99998543e-01 1.52216883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.022755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:260.34, Y:316.36, Z:1.52 [[-1.94535203e-02 -9.99810761e-01 -4.80623145e-05 2.60344321e+02] [ 9.99809308e-01 -1.94534100e-02 -1.70665418e-03 3.16364961e+02] [ 1.70539624e-03 -8.12535811e-05 9.99998543e-01 1.52139310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.40, Z:1.53 [[-1.63608229e-02 -9.99866153e-01 -1.25645260e-05 2.60347922e+02] [ 9.99864697e-01 -1.63607777e-02 -1.70683538e-03 3.16399232e+02] [ 1.70640136e-03 -4.04880574e-05 9.99998543e-01 1.52590727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.42, Z:1.53 [[-1.53068201e-02 -9.99882843e-01 -4.82931956e-05 2.60347921e+02] [ 9.99881389e-01 -1.53067154e-02 -1.70664554e-03 3.16418478e+02] [ 1.70570638e-03 -7.44107837e-05 9.99998543e-01 1.53014101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.45, Z:1.52 [[-1.55674544e-02 -9.99878820e-01 -7.08967709e-06 2.60344117e+02] [ 9.99877364e-01 -1.55674196e-02 -1.70681669e-03 3.16449192e+02] [ 1.70649949e-03 -3.36595986e-05 9.99998543e-01 1.52473301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.47, Z:1.53 [[-1.50121216e-02 -9.99887312e-01 -2.60940380e-05 2.60342170e+02] [ 9.99885856e-01 -1.50120553e-02 -1.70671993e-03 3.16471539e+02] [ 1.70613588e-03 -5.17125467e-05 9.99998543e-01 1.52554275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.50, Z:1.53 [[-9.17445330e-03 -9.99957914e-01 -2.54327438e-06 2.60346297e+02] [ 9.99956457e-01 -9.17443560e-03 -1.70681655e-03 3.16497548e+02] [ 1.70672139e-03 -1.82022724e-05 9.99998543e-01 1.52636669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.53, Z:1.52 [[-1.02955950e-02 -9.99946999e-01 -6.63629707e-06 2.60345768e+02] [ 9.99945543e-01 -1.02955687e-02 -1.70680064e-03 3.16532074e+02] [ 1.70664185e-03 -2.42084638e-05 9.99998543e-01 1.52187611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.56, Z:1.52 [[-8.58788029e-03 -9.99963123e-01 -4.31605011e-05 2.60345411e+02] [ 9.99961668e-01 -8.58779413e-03 -1.70666509e-03 3.16555402e+02] [ 1.70623149e-03 -5.78154821e-05 9.99998543e-01 1.52343772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.34, Y:316.58, Z:1.52 [[-9.08280460e-03 -9.99958750e-01 -2.21239661e-05 2.60344933e+02] [ 9.99957294e-01 -9.08275362e-03 -1.70671662e-03 3.16583268e+02] [ 1.70644527e-03 -3.76247948e-05 9.99998543e-01 1.52488483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.61, Z:1.53 [[-7.13872673e-03 -9.99974519e-01 -2.20365510e-05 2.60347142e+02] [ 9.99973063e-01 -7.13867873e-03 -1.70671680e-03 3.16605862e+02] [ 1.70651600e-03 -3.42197422e-05 9.99998543e-01 1.52550666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.64, Z:1.52 [[-8.21011954e-03 -9.99966296e-01 -2.19475065e-06 2.60347447e+02] [ 9.99964840e-01 -8.21010384e-03 -1.70674232e-03 3.16637261e+02] [ 1.70666678e-03 -1.62072319e-05 9.99998544e-01 1.52339998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.66, Z:1.53 [[-9.91921828e-03 -9.99950803e-01 -2.06975081e-05 2.60345768e+02] [ 9.99949347e-01 -9.91916852e-03 -1.70672427e-03 3.16662092e+02] [ 1.70643501e-03 -3.76258303e-05 9.99998543e-01 1.52628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.68, Z:1.53 [[-9.43743076e-03 -9.99955467e-01 -8.99524120e-06 2.60346291e+02] [ 9.99954010e-01 -9.43740167e-03 -1.70672952e-03 3.16682849e+02] [ 1.70656862e-03 -2.51019692e-05 9.99998544e-01 1.52636455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.69, Z:1.53 [[-8.61542780e-03 -9.99962887e-01 1.75661665e-06 2.60346051e+02] [ 9.99961430e-01 -8.61541825e-03 -1.70677959e-03 3.16693567e+02] [ 1.70673138e-03 -1.29480874e-05 9.99998543e-01 1.52667471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.72, Z:1.53 [[-9.74263073e-03 -9.99952539e-01 -9.27093541e-06 2.60350065e+02] [ 9.99951083e-01 -9.74260072e-03 -1.70672798e-03 3.16721937e+02] [ 1.70655665e-03 -2.58985023e-05 9.99998544e-01 1.52810363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.75, Z:1.53 [[-1.22980226e-02 -9.99924376e-01 -1.73660450e-05 2.60349171e+02] [ 9.99922921e-01 -1.22979751e-02 -1.70668845e-03 3.16747822e+02] [ 1.70634582e-03 -3.83535997e-05 9.99998543e-01 1.52746973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.77, Z:1.53 [[-1.34019832e-02 -9.99910189e-01 -7.06189602e-06 2.60351213e+02] [ 9.99908733e-01 -1.34019516e-02 -1.70673288e-03 3.16773207e+02] [ 1.70648495e-03 -2.99348568e-05 9.99998544e-01 1.52783472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.80, Z:1.53 [[-1.67649951e-02 -9.99859458e-01 -6.42823234e-06 2.60352664e+02] [ 9.99858002e-01 -1.67649598e-02 -1.70673531e-03 3.16801894e+02] [ 1.70638767e-03 -3.50407287e-05 9.99998544e-01 1.52942155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.83, Z:1.53 [[-1.89814373e-02 -9.99819836e-01 -1.46493431e-05 2.60352501e+02] [ 9.99818381e-01 -1.89813846e-02 -1.70670505e-03 3.16829475e+02] [ 1.70611950e-03 -4.70423973e-05 9.99998544e-01 1.53053278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.86, Z:1.53 [[-1.94902546e-02 -9.99810047e-01 -1.82141923e-05 2.60352205e+02] [ 9.99808591e-01 -1.94901952e-02 -1.70669700e-03 3.16856432e+02] [ 1.70601781e-03 -5.14746651e-05 9.99998543e-01 1.53057977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.88, Z:1.53 [[-2.19097725e-02 -9.99759952e-01 -1.64840404e-05 2.60352454e+02] [ 9.99758497e-01 -2.19097125e-02 -1.70669957e-03 3.16881716e+02] [ 1.70592872e-03 -5.38734587e-05 9.99998543e-01 1.52860343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.91, Z:1.53 [[-2.22756296e-02 -9.99751867e-01 -1.11690055e-06 2.60353354e+02] [ 9.99750411e-01 -2.22755952e-02 -1.70671189e-03 3.16907944e+02] [ 1.70626352e-03 -3.91347037e-05 9.99998544e-01 1.52909063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.35, Y:316.94, Z:1.53 [[-2.49171937e-02 -9.99689519e-01 5.17479901e-06 2.60354584e+02] [ 9.99688062e-01 -2.49171662e-02 -1.70671360e-03 3.16937071e+02] [ 1.70631264e-03 -3.73533286e-05 9.99998544e-01 1.52826073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:316.96, Z:1.53 [[-2.19481315e-02 -9.99759111e-01 -6.51906675e-06 2.60357512e+02] [ 9.99757655e-01 -2.19480884e-02 -1.70671211e-03 3.16963062e+02] [ 1.70615790e-03 -4.39766287e-05 9.99998544e-01 1.52994680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:316.99, Z:1.53 [[-2.05108218e-02 -9.99789631e-01 7.12369890e-07 2.60359772e+02] [ 9.99788175e-01 -2.05107931e-02 -1.70671080e-03 3.16987275e+02] [ 1.70636637e-03 -3.42938221e-05 9.99998544e-01 1.52903822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:316.96, Z:1.53 [[-1.71783663e-02 -9.99852441e-01 1.59479004e-06 2.60360615e+02] [ 9.99850985e-01 -1.71783441e-02 -1.70671013e-03 3.16964294e+02] [ 1.70648569e-03 -2.77239395e-05 9.99998544e-01 1.52812147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:316.99, Z:1.53 [[-1.45597708e-02 -9.99894001e-01 -1.57572700e-05 2.60361703e+02] [ 9.99892545e-01 -1.45597227e-02 -1.70667208e-03 3.16989891e+02] [ 1.70626175e-03 -4.06043312e-05 9.99998544e-01 1.52895526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:317.02, Z:1.53 [[-1.15458433e-02 -9.99933345e-01 -3.33227757e-07 2.60362963e+02] [ 9.99931888e-01 -1.15458259e-02 -1.70669745e-03 3.17017945e+02] [ 1.70657984e-03 -2.00384664e-05 9.99998544e-01 1.52735146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.36, Y:317.04, Z:1.53 [[-9.37235246e-03 -9.99956079e-01 -6.66344012e-06 2.60364241e+02] [ 9.99954622e-01 -9.37232745e-03 -1.70668731e-03 3.17043535e+02] [ 1.70654990e-03 -2.26588127e-05 9.99998544e-01 1.52752945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.07, Z:1.53 [[-6.24808821e-03 -9.99980481e-01 -3.25059850e-06 2.60366956e+02] [ 9.99979024e-01 -6.24807356e-03 -1.70669136e-03 3.17071684e+02] [ 1.70663773e-03 -1.39140885e-05 9.99998544e-01 1.52910141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.10, Z:1.53 [[-5.63972289e-03 -9.99984097e-01 -3.37248755e-06 2.60370146e+02] [ 9.99982640e-01 -5.63970892e-03 -1.70669126e-03 3.17099137e+02] [ 1.70664510e-03 -1.29976948e-05 9.99998544e-01 1.53138618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.13, Z:1.53 [[-5.98401455e-03 -9.99982096e-01 -5.81740843e-07 2.60371691e+02] [ 9.99980639e-01 -5.98400484e-03 -1.70669221e-03 3.17125294e+02] [ 1.70665817e-03 -1.07946006e-05 9.99998544e-01 1.53089851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.12, Z:1.53 [[-9.58520616e-03 -9.99954061e-01 6.46371409e-08 2.60374427e+02] [ 9.99952605e-01 -9.58519231e-03 -1.70669219e-03 3.17124283e+02] [ 1.70661440e-03 -1.62943624e-05 9.99998544e-01 1.53288915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.12, Z:1.53 [[-1.16644909e-02 -9.99931968e-01 4.05773962e-06 2.60375424e+02] [ 9.99930511e-01 -1.16644808e-02 -1.70669050e-03 3.17124270e+02] [ 1.70662172e-03 -1.58502182e-05 9.99998544e-01 1.53300244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.34, Z:1.54 [[-1.27864459e-02 -9.99918250e-01 4.05264894e-06 2.60379484e+02] [ 9.99916794e-01 -1.27864342e-02 -1.70669050e-03 3.17341161e+02] [ 1.70660280e-03 -1.77701940e-05 9.99998544e-01 1.53610984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.12, Z:1.54 [[-1.37481078e-02 -9.99905490e-01 3.69403139e-06 2.60380989e+02] [ 9.99904034e-01 -1.37480941e-02 -1.70669082e-03 3.17116019e+02] [ 1.70658031e-03 -1.97700925e-05 9.99998544e-01 1.53555017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.13, Z:1.53 [[-1.52372542e-02 -9.99883906e-01 1.96366112e-06 2.60381833e+02] [ 9.99882450e-01 -1.52372353e-02 -1.70669281e-03 3.17129452e+02] [ 1.70652459e-03 -2.40418818e-05 9.99998544e-01 1.53265114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:317.14, Z:1.53 [[-1.78722177e-02 -9.99840279e-01 3.95328191e-06 2.60385323e+02] [ 9.99838823e-01 -1.78721984e-02 -1.70668954e-03 3.17140627e+02] [ 1.70648760e-03 -2.65496823e-05 9.99998544e-01 1.53441579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:317.11, Z:1.54 [[-1.65690764e-02 -9.99862723e-01 7.38621064e-06 2.60385058e+02] [ 9.99861267e-01 -1.65690648e-02 -1.70668229e-03 3.17107225e+02] [ 1.70657039e-03 -2.08929633e-05 9.99998544e-01 1.53555494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.39, Y:317.13, Z:1.53 [[-9.93405796e-03 -9.99950656e-01 4.18275448e-06 2.60385187e+02] [ 9.99949200e-01 -9.93405063e-03 -1.70669014e-03 3.17129113e+02] [ 1.70664748e-03 -1.27718168e-05 9.99998544e-01 1.53489643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.11, Z:1.53 [[-1.28343816e-02 -9.99917636e-01 -1.03726562e-06 2.60383140e+02] [ 9.99916180e-01 -1.28343612e-02 -1.70670532e-03 3.17108029e+02] [ 1.70655144e-03 -2.29416861e-05 9.99998544e-01 1.53490871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.10, Z:1.53 [[-1.21864241e-02 -9.99925743e-01 6.00268729e-06 2.60381902e+02] [ 9.99924286e-01 -1.21864166e-02 -1.70668056e-03 3.17104789e+02] [ 1.70662698e-03 -1.47961003e-05 9.99998544e-01 1.53387742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.10, Z:1.53 [[-1.20770333e-02 -9.99927070e-01 6.96012073e-06 2.60380956e+02] [ 9.99925614e-01 -1.20770276e-02 -1.70667666e-03 3.17102532e+02] [ 1.70663625e-03 -1.36519878e-05 9.99998544e-01 1.53279581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.12, Z:1.53 [[-1.32132446e-02 -9.99912701e-01 7.91755165e-06 2.60380320e+02] [ 9.99911245e-01 -1.32132389e-02 -1.70667221e-03 3.17117047e+02] [ 1.70662784e-03 -1.46338285e-05 9.99998544e-01 1.53164626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.10, Z:1.53 [[-1.54882816e-02 -9.99880049e-01 8.61212337e-06 2.60380356e+02] [ 9.99878593e-01 -1.54882738e-02 -1.70666859e-03 3.17096917e+02] [ 1.70659726e-03 -1.78222860e-05 9.99998544e-01 1.53146093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.09, Z:1.53 [[-1.72878987e-02 -9.99850553e-01 9.84838885e-06 2.60379658e+02] [ 9.99849097e-01 -1.72878903e-02 -1.70666146e-03 3.17092626e+02] [ 1.70657666e-03 -1.96576876e-05 9.99998544e-01 1.53102351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.11, Z:1.53 [[-1.98621621e-02 -9.99802728e-01 1.08037189e-05 2.60378131e+02] [ 9.99801271e-01 -1.98621516e-02 -1.70665541e-03 3.17105362e+02] [ 1.70653332e-03 -2.30962944e-05 9.99998544e-01 1.53034230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.09, Z:1.53 [[-2.31221007e-02 -9.99732649e-01 1.20576102e-05 2.60377830e+02] [ 9.99731192e-01 -2.31220876e-02 -1.70664678e-03 3.17088041e+02] [ 1.70646931e-03 -2.74068899e-05 9.99998544e-01 1.53041782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.16, Z:1.53 [[-2.57278362e-02 -9.99668984e-01 1.27287560e-05 2.60376373e+02] [ 9.99667528e-01 -2.57278204e-02 -1.70664178e-03 3.17160003e+02] [ 1.70640434e-03 -3.11836759e-05 9.99998544e-01 1.53049020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.42, Z:1.53 [[-3.04523876e-02 -9.99536218e-01 1.44974941e-05 2.60372098e+02] [ 9.99534762e-01 -3.04523680e-02 -1.70662800e-03 3.17419462e+02] [ 1.70627798e-03 -3.74801482e-05 9.99998544e-01 1.53078521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.10, Z:1.53 [[-3.19181373e-02 -9.99490486e-01 1.86885339e-05 2.60374726e+02] [ 9.99489030e-01 -3.19181227e-02 -1.70659254e-03 3.17098137e+02] [ 1.70631951e-03 -3.57922702e-05 9.99998544e-01 1.53059631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.38, Y:317.09, Z:1.53 [[-2.55059005e-02 -9.99674672e-01 1.94064740e-05 2.60376143e+02] [ 9.99673215e-01 -2.55058965e-02 -1.70658598e-03 3.17091246e+02] [ 1.70652576e-03 -2.41278801e-05 9.99998544e-01 1.52788411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.13, Z:1.53 [[-3.69513011e-02 -9.99317068e-01 3.22323951e-06 2.60373040e+02] [ 9.99315612e-01 -3.69512528e-02 -1.70673876e-03 3.17126827e+02] [ 1.70569228e-03 -5.98451844e-05 9.99998544e-01 1.52899563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.07, Z:1.53 [[-3.72152823e-02 -9.99307271e-01 2.43077721e-05 2.60372497e+02] [ 9.99305815e-01 -3.72152696e-02 -1.70652198e-03 3.17065654e+02] [ 1.70624444e-03 -3.92177991e-05 9.99998544e-01 1.52758827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.07, Z:1.53 [[-3.85687919e-02 -9.99255947e-01 1.77958491e-05 2.60372236e+02] [ 9.99254491e-01 -3.85687661e-02 -1.70658988e-03 3.17066743e+02] [ 1.70600645e-03 -4.80385280e-05 9.99998544e-01 1.52774257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.07, Z:1.53 [[-3.53960634e-02 -9.99373363e-01 1.87410315e-05 2.60373761e+02] [ 9.99371907e-01 -3.53960438e-02 -1.70657950e-03 3.17070485e+02] [ 1.70617345e-03 -4.16769358e-05 9.99998544e-01 1.52828217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-3.22084280e-02 -9.99481174e-01 1.96907723e-05 2.60373091e+02] [ 9.99479718e-01 -3.22084147e-02 -1.70656854e-03 3.17056657e+02] [ 1.70631734e-03 -3.52853625e-05 9.99998544e-01 1.52506369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.52 [[-3.32904937e-02 -9.99445718e-01 7.34426790e-06 2.60372150e+02] [ 9.99444262e-01 -3.32904578e-02 -1.70671038e-03 3.17057141e+02] [ 1.70600887e-03 -4.94770446e-05 9.99998544e-01 1.52488888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-4.06479315e-02 -9.99173531e-01 9.52691098e-06 2.60369092e+02] [ 9.99172076e-01 -4.06478886e-02 -1.70668422e-03 3.17056427e+02] [ 1.70566095e-03 -5.98541598e-05 9.99998544e-01 1.52875093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-3.39476922e-02 -9.99423611e-01 2.36010617e-05 2.60371571e+02] [ 9.99422154e-01 -3.39476830e-02 -1.70650664e-03 3.17058877e+02] [ 1.70632423e-03 -3.43445383e-05 9.99998544e-01 1.52817029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-3.91860872e-02 -9.99231930e-01 1.56635704e-05 2.60369846e+02] [ 9.99230474e-01 -3.91860568e-02 -1.70660861e-03 3.17056534e+02] [ 1.70591160e-03 -5.12237967e-05 9.99998544e-01 1.52878220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.12, Z:1.53 [[-2.94546634e-02 -9.99566117e-01 2.94019353e-05 2.60373184e+02] [ 9.99564661e-01 -2.94546706e-02 -1.70642553e-03 3.17123263e+02] [ 1.70655117e-03 -2.08730541e-05 9.99998544e-01 1.52636610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-3.86277281e-02 -9.99253671e-01 1.62153442e-05 2.60371323e+02] [ 9.99252215e-01 -3.86276995e-02 -1.70660157e-03 3.17061916e+02] [ 1.70595424e-03 -4.97189226e-05 9.99998544e-01 1.52803807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.06, Z:1.53 [[-3.38633386e-02 -9.99426472e-01 3.47875357e-05 2.60371389e+02] [ 9.99425016e-01 -3.38633486e-02 -1.70633300e-03 3.17055931e+02] [ 1.70653239e-03 -2.30145986e-05 9.99998544e-01 1.52914302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.05, Z:1.53 [[-3.35524759e-02 -9.99436957e-01 2.51153839e-05 2.60371836e+02] [ 9.99435501e-01 -3.35524698e-02 -1.70647535e-03 3.17051998e+02] [ 1.70635721e-03 -3.21552667e-05 9.99998544e-01 1.52921375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.05, Z:1.53 [[-3.20055990e-02 -9.99487689e-01 2.60680587e-05 2.60373216e+02] [ 9.99486233e-01 -3.20055969e-02 -1.70646080e-03 3.17051337e+02] [ 1.70642088e-03 -2.85616342e-05 9.99998544e-01 1.52936174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.16, Z:1.53 [[-3.17734527e-02 -9.99495096e-01 2.70207251e-05 2.60372540e+02] [ 9.99493640e-01 -3.17734526e-02 -1.70644571e-03 3.17155348e+02] [ 1.70644266e-03 -2.72126293e-05 9.99998544e-01 1.52923064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.05, Z:1.53 [[-3.01252216e-02 -9.99546132e-01 3.03104231e-05 2.60374212e+02] [ 9.99544676e-01 -3.01252294e-02 -1.70639211e-03 3.17049707e+02] [ 1.70653074e-03 -2.11088183e-05 9.99998544e-01 1.52932976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.05, Z:1.53 [[-2.85474838e-02 -9.99592437e-01 2.82821994e-05 2.60374091e+02] [ 9.99590981e-01 -2.85474905e-02 -1.70642572e-03 3.17045475e+02] [ 1.70653763e-03 -2.04435293e-05 9.99998544e-01 1.52864022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.04, Z:1.53 [[-2.83841181e-02 -9.99597089e-01 2.92369255e-05 2.60374365e+02] [ 9.99595633e-01 -2.83841266e-02 -1.70640936e-03 3.17043719e+02] [ 1.70655170e-03 -1.92098219e-05 9.99998544e-01 1.52859424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.05, Z:1.53 [[-2.78136850e-02 -9.99613124e-01 3.01911764e-05 2.60373732e+02] [ 9.99611668e-01 -2.78136960e-02 -1.70639248e-03 3.17049881e+02] [ 1.70657205e-03 -1.72816107e-05 9.99998544e-01 1.52774976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.04, Z:1.53 [[-2.81809553e-02 -9.99602838e-01 3.11498480e-05 2.60373319e+02] [ 9.99601381e-01 -2.81809674e-02 -1.70637498e-03 3.17041474e+02] [ 1.70657511e-03 -1.69498459e-05 9.99998544e-01 1.52738885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.04, Z:1.53 [[-2.87913837e-02 -9.99585442e-01 3.21096732e-05 2.60373142e+02] [ 9.99583985e-01 -2.87913966e-02 -1.70635692e-03 3.17038562e+02] [ 1.70657402e-03 -1.70320617e-05 9.99998544e-01 1.52646652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.03, Z:1.53 [[-3.01667858e-02 -9.99544878e-01 3.30664487e-05 2.60372485e+02] [ 9.99543422e-01 -3.01667983e-02 -1.70633838e-03 3.17033510e+02] [ 1.70655930e-03 -1.84233930e-05 9.99998544e-01 1.52573433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.03, Z:1.53 [[-3.15888060e-02 -9.99500949e-01 3.40211244e-05 2.60372068e+02] [ 9.99499492e-01 -3.15888180e-02 -1.70631934e-03 3.17031002e+02] [ 1.70654249e-03 -1.98964941e-05 9.99998544e-01 1.52531039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.03, Z:1.52 [[-3.31175430e-02 -9.99451463e-01 3.49746381e-05 2.60371829e+02] [ 9.99450007e-01 -3.31175545e-02 -1.70629980e-03 3.17030027e+02] [ 1.70652210e-03 -2.15530546e-05 9.99998544e-01 1.52498715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.02, Z:1.52 [[-3.49856992e-02 -9.99387812e-01 3.59288260e-05 2.60371847e+02] [ 9.99386356e-01 -3.49857095e-02 -1.70627971e-03 3.17023192e+02] [ 1.70649214e-03 -2.37886100e-05 9.99998544e-01 1.52468533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.02, Z:1.52 [[-2.87116981e-02 -9.99587734e-01 3.68813883e-05 2.60374577e+02] [ 9.99586277e-01 -2.87117192e-02 -1.70625912e-03 3.17018214e+02] [ 1.70661461e-03 -1.21234670e-05 9.99998544e-01 1.52241176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.37, Y:317.32, Z:1.52 [[-3.54413081e-02 -9.99371759e-01 2.92609903e-05 2.60365839e+02] [ 9.99370303e-01 -3.54413064e-02 -1.70643204e-03 3.17317740e+02] [ 1.70639703e-03 -3.12356188e-05 9.99998544e-01 1.52378153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.81, Y:316.98, Z:2.69 [[-9.51411911e-02 9.95463788e-01 -3.36389831e-05 2.59814306e+02] [ 9.95462334e-01 9.51411098e-02 1.70633437e-03 3.16977283e+02] [ 1.70179453e-03 1.28856344e-04 -9.99998544e-01 2.69155049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:316.96, Z:2.69 [[-1.64994279e-01 9.86294501e-01 -2.11896520e-04 2.59843763e+02] [ 9.86293060e-01 1.64994400e-01 1.68758865e-03 3.16963964e+02] [ 1.69942114e-03 6.94504049e-05 -9.99998554e-01 2.68998989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.87, Y:316.94, Z:2.69 [[-2.40980501e-01 9.70529909e-01 -3.06253261e-04 2.59873368e+02] [ 9.70528478e-01 2.40980673e-01 1.67028801e-03 3.16942009e+02] [ 1.69486559e-03 1.05279330e-04 -9.99998558e-01 2.68916909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.90, Y:316.93, Z:2.69 [[-3.16219180e-01 9.48686061e-01 -4.34863266e-04 2.59903590e+02] [ 9.48684656e-01 3.16219461e-01 1.63610453e-03 3.16925434e+02] [ 1.68966179e-03 1.04819526e-04 -9.99998567e-01 2.68916796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.93, Y:316.91, Z:2.69 [[-3.89286705e-01 9.21116468e-01 -5.59888237e-04 2.59934574e+02] [ 9.21115098e-01 3.89287094e-01 1.59213852e-03 3.16911413e+02] [ 1.68450227e-03 1.04076851e-04 -9.99998576e-01 2.68924675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:316.90, Z:2.69 [[-4.59912398e-01 8.87964033e-01 -6.80720720e-04 2.59966834e+02] [ 8.87962705e-01 4.59912890e-01 1.53868162e-03 3.16899701e+02] [ 1.67936617e-03 1.03204141e-04 -9.99998585e-01 2.68825736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:260.00, Y:316.89, Z:2.69 [[-5.28151133e-01 8.49150014e-01 -7.96642251e-04 2.59998455e+02] [ 8.49148737e-01 5.28151724e-01 1.47612035e-03 3.16892697e+02] [ 1.67419559e-03 1.03146873e-04 -9.99998593e-01 2.68697247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:316.88, Z:2.69 [[-5.93099241e-01 8.05128852e-01 -9.07081976e-04 2.60034258e+02] [ 8.05127633e-01 5.93099925e-01 1.40480972e-03 3.16883652e+02] [ 1.66904309e-03 1.02874816e-04 -9.99998602e-01 2.68640640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.06, Y:316.89, Z:2.69 [[-6.61516118e-01 7.49930266e-01 -1.01122303e-03 2.60057032e+02] [ 7.49929104e-01 6.61516880e-01 1.32535171e-03 3.16887808e+02] [ 1.66286247e-03 1.18395937e-04 -9.99998610e-01 2.68780627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:316.88, Z:2.69 [[-7.11237511e-01 7.02950856e-01 -1.13920592e-03 2.60102139e+02] [ 7.02949817e-01 7.11238420e-01 1.21028639e-03 3.16881375e+02] [ 1.66101887e-03 5.99964844e-05 -9.99998619e-01 2.68644804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.14, Y:316.88, Z:2.69 [[-7.63928564e-01 6.45299704e-01 -1.20051227e-03 2.60137187e+02] [ 6.45298694e-01 7.63929501e-01 1.14606765e-03 3.16882319e+02] [ 1.65666386e-03 1.00824815e-04 -9.99998623e-01 2.68691835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:316.89, Z:2.69 [[-8.11444259e-01 5.84428412e-01 -1.28262894e-03 2.60171579e+02] [ 5.84427486e-01 8.11445267e-01 1.04530766e-03 3.16886222e+02] [ 1.65169068e-03 9.86052967e-05 -9.99998631e-01 2.68690723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:316.89, Z:2.69 [[-8.56348881e-01 5.16395928e-01 -1.35634912e-03 2.60200744e+02] [ 5.16395085e-01 8.56349949e-01 9.38798933e-04 3.16894020e+02] [ 1.64630145e-03 1.03527394e-04 -9.99998640e-01 2.68728118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:316.90, Z:2.69 [[-8.91980836e-01 4.52070956e-01 -1.42794468e-03 2.60240597e+02] [ 4.52070228e-01 8.91981975e-01 8.15532315e-04 3.16902245e+02] [ 1.64237939e-03 8.19079182e-05 -9.99998648e-01 2.68645601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.01, Y:317.02, Z:2.69 [[-9.23219634e-01 3.84269856e-01 -1.47812459e-03 2.60014550e+02] [ 3.84269208e-01 9.23220813e-01 7.11247805e-04 3.17023380e+02] [ 1.63794647e-03 8.86401753e-05 -9.99998655e-01 2.68846453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:317.05, Z:2.69 [[-9.50854309e-01 3.09634896e-01 -1.52140284e-03 2.59981968e+02] [ 3.09634332e-01 9.50855521e-01 5.99543728e-04 3.17051701e+02] [ 1.63227395e-03 9.90001871e-05 -9.99998663e-01 2.68805544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.27, Y:317.00, Z:2.69 [[-9.69901285e-01 2.43493700e-01 -1.52140284e-03 2.60265323e+02] [ 2.43493053e-01 9.69902456e-01 5.99543728e-04 3.16996362e+02] [ 1.62159747e-03 2.11047211e-04 -9.99998663e-01 2.68555832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.29, Y:317.02, Z:2.69 [[-9.85993041e-01 1.66779008e-01 -1.57632048e-03 2.60294043e+02] [ 1.66778650e-01 9.85994297e-01 3.57177838e-04 3.17015847e+02] [ 1.61381277e-03 8.92782619e-05 -9.99998694e-01 2.68604168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.00, Y:317.07, Z:2.69 [[-9.95954059e-01 8.98497048e-02 -1.59455072e-03 2.59997619e+02] [ 8.98494486e-02 9.95955332e-01 2.31739400e-04 3.17067941e+02] [ 1.60892301e-03 8.75322931e-05 -9.99998702e-01 2.68996743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:317.08, Z:2.69 [[-9.99827038e-01 1.85297634e-02 -1.59455072e-03 2.60241276e+02] [ 1.85294170e-02 9.99828289e-01 2.31739400e-04 3.17079729e+02] [ 1.59857100e-03 2.02153223e-04 -9.99998702e-01 2.68724707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.25, Y:317.66, Z:1.53 [[-9.99665373e-01 2.58186469e-02 1.59387368e-03 2.60252802e+02] [-2.58186652e-02 -9.99666643e-01 9.07569635e-06 3.17663813e+02] [ 1.59357668e-03 -3.20790316e-05 9.99998730e-01 1.52636252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.28, Y:317.11, Z:2.69 [[-9.98268973e-01 -5.87921532e-02 -1.59388770e-03 2.60283162e+02] [-5.87922215e-02 9.98270241e-01 -4.04104352e-06 3.17106448e+02] [ 1.59136824e-03 8.96741503e-05 -9.99998730e-01 2.69004120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.30, Y:317.13, Z:2.69 [[-9.90457278e-01 -1.37811002e-01 -1.58370327e-03 2.60303697e+02] [-1.37810972e-01 9.90458540e-01 -1.29037100e-04 3.17134073e+02] [ 1.58637516e-03 9.04459521e-05 -9.99998738e-01 2.69084316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.21, Y:317.71, Z:1.52 [[-9.83949846e-01 1.78438376e-01 1.56401164e-03 2.60207176e+02] [-1.78438202e-01 -9.83951089e-01 2.51496117e-04 3.17706074e+02] [ 1.58378751e-03 -3.16198586e-05 9.99998745e-01 1.52483637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:317.71, Z:1.53 [[-9.84184729e-01 1.77138288e-01 1.56415003e-03 2.60202782e+02] [-1.77138113e-01 -9.84185971e-01 2.50632436e-04 3.17705327e+02] [ 1.58381112e-03 -3.04019680e-05 9.99998745e-01 1.52579786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.20, Y:317.71, Z:1.53 [[-9.85104049e-01 1.71952222e-01 1.56428811e-03 2.60199457e+02] [-1.71952042e-01 -9.85105290e-01 2.49767648e-04 3.17705538e+02] [ 1.58393659e-03 -2.29354132e-05 9.99998745e-01 1.52775058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.31, Y:317.16, Z:2.69 [[-9.75964117e-01 -2.17925658e-01 -1.56517242e-03 2.60305584e+02] [-2.17925545e-01 9.75965367e-01 -2.44180305e-04 3.17158137e+02] [ 1.58076723e-03 1.02779838e-04 -9.99998745e-01 2.68996847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.202755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:260.33, Y:317.19, Z:2.69 [[-9.54436018e-01 -2.98411677e-01 -1.53582724e-03 2.60325002e+02] [-2.98411472e-01 9.54437247e-01 -3.66324106e-04 3.17187395e+02] [ 1.57516611e-03 1.08675546e-04 -9.99998754e-01 2.68894667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.82, Y:317.64, Z:1.53 [[-9.46703235e-01 3.22103631e-01 1.49551317e-03 2.59823338e+02] [-3.22103257e-01 -9.46704416e-01 4.90869559e-04 3.17636472e+02] [ 1.57391979e-03 -1.70018653e-05 9.99998761e-01 1.52667049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.24, Y:317.19, Z:2.69 [[-9.34095730e-01 -3.57019510e-01 -1.49551317e-03 2.60242469e+02] [-3.57019181e-01 9.34096924e-01 -4.90869558e-04 3.17192819e+02] [ 1.57220426e-03 7.54077294e-05 -9.99998761e-01 2.68986858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.02, Y:317.73, Z:1.53 [[-9.22284866e-01 3.86508085e-01 1.45793657e-03 2.60022856e+02] [-3.86507644e-01 -9.22286018e-01 5.84584514e-04 3.17728394e+02] [ 1.57058116e-03 -2.43501785e-05 9.99998766e-01 1.52838159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.23, Y:317.21, Z:2.69 [[-9.04070459e-01 -4.27380954e-01 -1.45826133e-03 2.60234174e+02] [-4.27380566e-01 9.04071630e-01 -5.83773277e-04 3.17214893e+02] [ 1.56786628e-03 9.54603777e-05 -9.99998766e-01 2.68707680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:317.73, Z:1.53 [[-8.90128670e-01 4.55707118e-01 1.40511430e-03 2.59970264e+02] [-4.55706594e-01 -8.90129778e-01 6.91730956e-04 3.17730588e+02] [ 1.56596080e-03 -2.45902955e-05 9.99998774e-01 1.52888967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:317.73, Z:1.53 [[-8.90955085e-01 4.54089265e-01 1.40549886e-03 2.59966742e+02] [-4.54088740e-01 -8.90956194e-01 6.90948691e-04 3.17728734e+02] [ 1.56599030e-03 -2.26169586e-05 9.99998774e-01 1.52926741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:317.73, Z:1.53 [[-8.91761504e-01 4.52503528e-01 1.40588429e-03 2.59968724e+02] [-4.52503002e-01 -8.91762612e-01 6.90163561e-04 3.17729042e+02] [ 1.56601650e-03 -2.07055676e-05 9.99998774e-01 1.52932287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.73, Z:1.53 [[-8.92573491e-01 4.50899751e-01 1.40626882e-03 2.59962141e+02] [-4.50899224e-01 -8.92574599e-01 6.89379163e-04 3.17725872e+02] [ 1.56604072e-03 -1.87639531e-05 9.99998774e-01 1.52952996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.72, Z:1.53 [[-8.93125555e-01 4.49805251e-01 1.40665291e-03 2.59961292e+02] [-4.49804724e-01 -8.93126663e-01 6.88594551e-04 3.17724762e+02] [ 1.56605266e-03 -1.77177327e-05 9.99998774e-01 1.52987608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:317.72, Z:1.53 [[-8.93612800e-01 4.48836477e-01 1.40703739e-03 2.59952186e+02] [-4.48835950e-01 -8.93613908e-01 6.87808012e-04 3.17720479e+02] [ 1.56606151e-03 -1.68949226e-05 9.99998774e-01 1.53090828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.72, Z:1.53 [[-8.93835484e-01 4.48392849e-01 1.40742285e-03 2.59955879e+02] [-4.48392323e-01 -8.93836592e-01 6.87018381e-04 3.17722153e+02] [ 1.56606017e-03 -1.69961926e-05 9.99998774e-01 1.53063757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.72, Z:1.53 [[-8.93853831e-01 4.48356272e-01 1.40780813e-03 2.59957544e+02] [-4.48355747e-01 -8.93854940e-01 6.86227961e-04 3.17722946e+02] [ 1.56605086e-03 -1.78113740e-05 9.99998774e-01 1.52879028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.72, Z:1.53 [[-8.93947059e-01 4.48170361e-01 1.40819065e-03 2.59956057e+02] [-4.48169837e-01 -8.93948168e-01 6.85442109e-04 3.17722074e+02] [ 1.56604429e-03 -1.83596153e-05 9.99998774e-01 1.52983816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.95, Y:317.72, Z:1.53 [[-8.95150256e-01 4.45762307e-01 1.40857171e-03 2.59949526e+02] [-4.45761782e-01 -8.95151365e-01 6.84658134e-04 3.17720692e+02] [ 1.56607968e-03 -1.50155309e-05 9.99998774e-01 1.52942075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.17, Y:317.21, Z:2.69 [[-8.71460589e-01 -4.90463509e-01 -1.41020900e-03 2.60174868e+02] [-4.90463046e-01 8.71461724e-01 -6.81282971e-04 3.17210253e+02] [ 1.56308761e-03 9.79441434e-05 -9.99998774e-01 2.68625120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.98, Y:317.11, Z:2.69 [[-8.30214979e-01 -5.57441712e-01 -1.35116129e-03 2.59983737e+02] [-5.57441172e-01 8.30216072e-01 -7.83156598e-04 3.17112846e+02] [ 1.55831997e-03 1.03004594e-04 -9.99998781e-01 2.69056037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.85, Y:317.72, Z:1.53 [[-8.16795639e-01 5.76925683e-01 1.28105713e-03 2.59845692e+02] [-5.76925005e-01 -8.16796643e-01 8.84815055e-04 3.17723008e+02] [ 1.55683569e-03 -1.63608131e-05 9.99998788e-01 1.53012634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.84, Y:317.72, Z:1.53 [[-8.17528363e-01 5.75886907e-01 1.28293699e-03 2.59840363e+02] [-5.75886231e-01 -8.17529370e-01 8.82080899e-04 3.17719360e+02] [ 1.55681751e-03 -1.76995977e-05 9.99998788e-01 1.53007991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.97, Y:317.12, Z:2.69 [[-7.83937902e-01 -6.20837916e-01 -1.28342813e-03 2.59973542e+02] [-6.20837299e-01 7.83938946e-01 -8.81365715e-04 3.17119747e+02] [ 1.55331455e-03 1.05864065e-04 -9.99998788e-01 2.68835525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.57, Y:317.54, Z:1.53 [[-7.73591068e-01 6.33683996e-01 1.20552035e-03 2.59572875e+02] [-6.33683241e-01 -7.73592007e-01 9.77798485e-04 3.17542966e+02] [ 1.55219615e-03 -7.50186588e-06 9.99998795e-01 1.52905324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.10, Y:317.25, Z:2.68 [[-7.41223807e-01 -6.71256892e-01 -1.20552035e-03 2.60096639e+02] [-6.71256185e-01 7.41224782e-01 -9.77798485e-04 3.17252370e+02] [ 1.54991553e-03 8.44454727e-05 -9.99998795e-01 2.68475427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:317.68, Z:1.53 [[-7.27886695e-01 6.85696482e-01 1.13746720e-03 2.59698260e+02] [-6.85695676e-01 -7.27887584e-01 1.05142098e-03 3.17678642e+02] [ 1.54890392e-03 -1.46409986e-05 9.99998800e-01 1.53210082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:317.68, Z:1.53 [[-7.28356463e-01 6.85197466e-01 1.13805474e-03 2.59695409e+02] [-6.85196661e-01 -7.28357352e-01 1.05078464e-03 3.17676778e+02] [ 1.54890551e-03 -1.44455227e-05 9.99998800e-01 1.53220901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.69, Y:317.67, Z:1.53 [[-7.28720588e-01 6.84810198e-01 1.13863894e-03 2.59690459e+02] [-6.84809393e-01 -7.28721478e-01 1.05015121e-03 3.17673127e+02] [ 1.54890491e-03 -1.44838366e-05 9.99998800e-01 1.53393937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.03, Y:317.22, Z:2.68 [[-6.95714371e-01 -7.18317630e-01 -1.13863894e-03 2.60033067e+02] [-7.18316867e-01 6.95715298e-01 -1.05015121e-03 3.17218194e+02] [ 1.54651066e-03 8.72982701e-05 -9.99998800e-01 2.68220186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:317.61, Z:1.53 [[-6.78826437e-01 7.34297991e-01 1.06282033e-03 2.59589717e+02] [-7.34297134e-01 -6.78827269e-01 1.12197256e-03 3.17605822e+02] [ 1.54533361e-03 -1.88012848e-05 9.99998806e-01 1.53312706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.96, Y:317.17, Z:2.68 [[-6.46317745e-01 -7.63067653e-01 -1.06282033e-03 2.59958849e+02] [-7.63066833e-01 6.46318613e-01 -1.12197256e-03 3.17165338e+02] [ 1.54306153e-03 8.58521666e-05 -9.99998806e-01 2.68219474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.52, Y:317.56, Z:1.54 [[-6.26542073e-01 7.79386983e-01 9.80796942e-04 2.59515023e+02] [-7.79386075e-01 -6.26542840e-01 1.18980156e-03 3.17558817e+02] [ 1.54182715e-03 -1.89587447e-05 9.99998811e-01 1.53634971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:317.55, Z:1.54 [[-6.26339792e-01 7.79549549e-01 9.83133042e-04 2.59509586e+02] [-7.79548644e-01 -6.26340563e-01 1.18786810e-03 3.17552655e+02] [ 1.54177814e-03 -2.23909732e-05 9.99998811e-01 1.53642999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.91, Y:317.14, Z:2.68 [[-5.97861204e-01 -8.01599036e-01 -9.83133042e-04 2.59913524e+02] [-8.01598160e-01 5.97862007e-01 -1.18786810e-03 3.17140076e+02] [ 1.53997182e-03 7.78973874e-05 -9.99998811e-01 2.68000588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.37, Y:317.41, Z:1.54 [[-5.70160865e-01 8.21532580e-01 8.98831586e-04 2.59372472e+02] [-8.21531632e-01 -5.70161573e-01 1.24855644e-03 3.17408728e+02] [ 1.53820903e-03 -2.65405580e-05 9.99998817e-01 1.53759877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.29, Y:317.30, Z:1.54 [[-5.70954849e-01 8.20980969e-01 8.99537938e-04 2.59292430e+02] [-8.20980020e-01 -5.70955557e-01 1.24804731e-03 3.17298196e+02] [ 1.53821927e-03 -2.59240122e-05 9.99998817e-01 1.53786840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.73, Y:316.90, Z:2.68 [[-5.42716362e-01 -8.39915556e-01 -8.99537938e-04 2.59726146e+02] [-8.39914632e-01 5.42717102e-01 -1.24804731e-03 3.16904604e+02] [ 1.53644897e-03 7.81993821e-05 -9.99998817e-01 2.67913180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.31, Y:317.37, Z:1.54 [[-5.13889806e-01 8.57855826e-01 8.06505251e-04 2.59313904e+02] [-8.57854832e-01 -5.13890438e-01 1.30591828e-03 3.17372475e+02] [ 1.53474494e-03 -2.07663374e-05 9.99998822e-01 1.53918585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.79, Y:317.05, Z:2.68 [[-4.87810381e-01 -8.72949243e-01 -8.06505251e-04 2.59793513e+02] [-8.72948269e-01 4.87811043e-01 -1.30591828e-03 3.17053164e+02] [ 1.53342254e-03 6.69968709e-05 -9.99998822e-01 2.67840214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:317.33, Z:1.54 [[-4.55660101e-01 8.90153555e-01 7.21560366e-04 2.59263108e+02] [-8.90152530e-01 -4.55660672e-01 1.35127748e-03 3.17328809e+02] [ 1.53163114e-03 -2.65755509e-05 9.99998827e-01 1.54052419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.14, Y:317.09, Z:1.54 [[-4.56565386e-01 8.89689568e-01 7.22313326e-04 2.59135105e+02] [-8.89688542e-01 -4.56565957e-01 1.35087487e-03 3.17087967e+02] [ 1.53164296e-03 -2.58711823e-05 9.99998827e-01 1.54026267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:317.31, Z:1.54 [[-4.60349849e-01 8.87737289e-01 7.23188877e-04 2.59255970e+02] [-8.87736262e-01 -4.60350417e-01 1.35040599e-03 3.17311036e+02] [ 1.53172605e-03 -2.03417987e-05 9.99998827e-01 1.54188371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:317.31, Z:1.54 [[-4.60911358e-01 8.87445882e-01 7.25570016e-04 2.59254522e+02] [-8.87444857e-01 -4.60911929e-01 1.34912539e-03 3.17308217e+02] [ 1.53169965e-03 -2.20761621e-05 9.99998827e-01 1.54188937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:317.31, Z:1.54 [[-4.62020337e-01 8.86869032e-01 7.26423212e-04 2.59256132e+02] [-8.86868007e-01 -4.62020908e-01 1.34866584e-03 3.17309599e+02] [ 1.53171268e-03 -2.11304600e-05 9.99998827e-01 1.54185928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:317.25, Z:1.54 [[-4.63208215e-01 8.86249187e-01 7.27180393e-04 2.59225261e+02] [-8.86248161e-01 -4.63208785e-01 1.34825746e-03 3.17251352e+02] [ 1.53172842e-03 -1.99383568e-05 9.99998827e-01 1.54220581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.70, Y:316.92, Z:2.68 [[-4.26869297e-01 -9.04313040e-01 -7.27180393e-04 2.59698723e+02] [-9.04312039e-01 4.26869908e-01 -1.34825746e-03 3.16923539e+02] [ 1.52965823e-03 8.20682716e-05 -9.99998827e-01 2.67653021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.67, Y:316.92, Z:2.68 [[-3.64725852e-01 -9.31114667e-01 -7.27180393e-04 2.59671830e+02] [-9.31113710e-01 3.64726530e-01 -1.34825746e-03 3.16917125e+02] [ 1.52060427e-03 1.85343284e-04 -9.99998827e-01 2.67723586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:317.12, Z:1.54 [[-3.38565192e-01 9.40942786e-01 5.33895685e-04 2.59115561e+02] [-9.40941713e-01 -3.38565612e-01 1.42088402e-03 3.17116048e+02] [ 1.51772928e-03 -2.13028503e-05 9.99998848e-01 1.54063571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.12, Y:317.12, Z:1.54 [[-3.39540273e-01 9.40591366e-01 5.34792885e-04 2.59116407e+02] [-9.40590293e-01 -3.39540693e-01 1.42054625e-03 3.17116993e+02] [ 1.51773748e-03 -2.06883362e-05 9.99998848e-01 1.53648131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.62, Y:316.85, Z:2.68 [[-3.05621029e-01 -9.52153087e-01 -5.34792885e-04 2.59622107e+02] [-9.52152030e-01 3.05621488e-01 -1.42054625e-03 3.16845296e+02] [ 1.51602169e-03 7.50553251e-05 -9.99998848e-01 2.67984596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:317.02, Z:1.54 [[-2.70946287e-01 9.62594369e-01 4.37154237e-04 2.59059081e+02] [-9.62593277e-01 -2.70946638e-01 1.44998325e-03 3.17015822e+02] [ 1.51419118e-03 -2.79341526e-05 9.99998853e-01 1.53872913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:317.01, Z:1.54 [[-2.73237864e-01 9.61946401e-01 4.38068421e-04 2.59057926e+02] [-9.61945309e-01 -2.73238214e-01 1.44970701e-03 3.17012186e+02] [ 1.51423747e-03 -2.52830174e-05 9.99998853e-01 1.53843934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.58, Y:316.78, Z:2.68 [[-2.44783214e-01 -9.69577736e-01 -4.38068421e-04 2.59578461e+02] [-9.69576655e-01 2.44783596e-01 -1.44970701e-03 3.16777263e+02] [ 1.51283560e-03 6.98769745e-05 -9.99998853e-01 2.68020182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.00, Y:316.89, Z:1.54 [[-2.05577101e-01 9.78640864e-01 3.38971381e-04 2.59004995e+02] [-9.78639757e-01 -2.05577378e-01 1.47251898e-03 3.16892787e+02] [ 1.51075210e-03 -2.90146858e-05 9.99998858e-01 1.53893930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.95, Y:316.63, Z:1.54 [[-2.07314146e-01 9.78274362e-01 3.42524376e-04 2.58945638e+02] [-9.78273256e-01 -2.07314427e-01 1.47169205e-03 3.16634504e+02] [ 1.51072885e-03 -2.99798553e-05 9.99998858e-01 1.53886568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.54, Y:316.72, Z:2.68 [[-1.80379494e-01 -9.83597032e-01 -3.42524376e-04 2.59535347e+02] [-9.83595933e-01 1.80379805e-01 -1.47169205e-03 3.16716829e+02] [ 1.50933642e-03 7.14425149e-05 -9.99998858e-01 2.68188410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.96, Y:316.78, Z:1.54 [[-1.41779422e-01 9.89898246e-01 2.41789951e-04 2.58955832e+02] [-9.89897128e-01 -1.41779625e-01 1.48806006e-03 3.16775084e+02] [ 1.50730894e-03 -2.83708817e-05 9.99998864e-01 1.53810396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.91, Y:316.50, Z:1.54 [[-1.43890054e-01 9.89593651e-01 2.42610175e-04 2.58912448e+02] [-9.89592533e-01 -1.43890256e-01 1.48792632e-03 3.16504224e+02] [ 1.50735168e-03 -2.59874190e-05 9.99998864e-01 1.54011162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.49, Y:316.62, Z:2.68 [[-1.06865743e-01 -9.94273430e-01 -2.42610175e-04 2.59489295e+02] [-9.94272320e-01 1.06865987e-01 -1.48792632e-03 3.16620682e+02] [ 1.50533239e-03 8.22122295e-05 -9.99998864e-01 2.68369950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.89, Y:316.37, Z:1.54 [[-8.04233337e-02 9.96760788e-01 1.36872826e-04 2.58886563e+02] [-9.96759663e-01 -8.04234486e-02 1.49794788e-03 3.16367263e+02] [ 1.50410349e-03 -1.59593502e-05 9.99998869e-01 1.53695201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.45, Y:316.53, Z:2.68 [[-4.12210132e-02 -9.99150044e-01 -1.36872826e-04 2.59451099e+02] [-9.99148923e-01 4.12211722e-02 -1.49794788e-03 3.16529145e+02] [ 1.50231674e-03 7.50094077e-05 -9.99998869e-01 2.68395040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:316.54, Z:1.54 [[-1.42347138e-02 9.99898681e-01 4.06700311e-05 2.58878866e+02] [-9.99897555e-01 -1.42347588e-02 1.50055530e-03 3.16540039e+02] [ 1.50098219e-03 -1.93058895e-05 9.99998873e-01 1.53571677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:316.54, Z:1.53 [[-1.52084619e-02 9.99884344e-01 4.16182437e-05 2.58880418e+02] [-9.99883218e-01 -1.52085072e-02 1.50052900e-03 3.16537046e+02] [ 1.50098841e-03 -1.87926454e-05 9.99998873e-01 1.53426562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:316.48, Z:1.53 [[-2.47933442e-02 9.99692597e-01 4.25664391e-05 2.58881515e+02] [-9.99691471e-01 -2.47933802e-02 1.50050210e-03 3.16480012e+02] [ 1.50109621e-03 -5.35084107e-06 9.99998873e-01 1.53347456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:316.48, Z:1.53 [[-2.56689505e-02 9.99670497e-01 5.88326914e-05 2.58880650e+02] [-9.99669372e-01 -2.56690099e-02 1.49986288e-03 3.16477989e+02] [ 1.50087885e-03 -2.03133335e-05 9.99998874e-01 1.53397002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.88, Y:316.38, Z:1.54 [[-2.58764236e-02 9.99665148e-01 5.98855022e-05 2.58875922e+02] [-9.99664023e-01 -2.58764844e-02 1.49982085e-03 3.16378326e+02] [ 1.50086825e-03 -2.10553825e-05 9.99998874e-01 1.53510700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.42, Y:316.37, Z:2.69 [[ 7.13315265e-03 -9.99974557e-01 -5.98855022e-05 2.59423104e+02] [-9.99973435e-01 -7.13305483e-03 -1.49982085e-03 3.16368950e+02] [ 1.49935552e-03 7.05823624e-05 -9.99998874e-01 2.68576508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:316.33, Z:1.53 [[ 4.87403001e-02 9.98811485e-01 -3.82242971e-05 2.58856935e+02] [-9.98810363e-01 4.87403027e-02 1.49731625e-03 3.16325480e+02] [ 1.49739973e-03 -3.48008195e-05 9.99998878e-01 1.53272736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:316.30, Z:1.54 [[ 4.98647567e-02 9.98755979e-01 -4.01069152e-05 2.58855198e+02] [-9.98754857e-01 4.98647609e-02 1.49726774e-03 3.16296348e+02] [ 1.49740503e-03 -3.46039154e-05 9.99998878e-01 1.53538320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.182755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:258.86, Y:316.27, Z:1.53 [[ 5.16631841e-02 9.98664565e-01 -3.88280694e-05 2.58856216e+02] [-9.98663444e-01 5.16631843e-02 1.49730091e-03 3.16268388e+02] [ 1.49730734e-03 -3.85791590e-05 9.99998878e-01 1.53340063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.86, Y:316.24, Z:1.53 [[ 5.35320587e-02 9.98566131e-01 -3.92930944e-05 2.58857327e+02] [-9.98565009e-01 5.35320575e-02 1.49728870e-03 3.16239896e+02] [ 1.49724523e-03 -4.09162376e-05 9.99998878e-01 1.53470539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.44, Y:316.25, Z:2.69 [[ 7.78195111e-02 -9.96967463e-01 3.97666719e-05 2.59441624e+02] [-9.96966342e-01 -7.78194833e-02 -1.49727613e-03 3.16251893e+02] [ 1.49583020e-03 7.68712627e-05 -9.99998878e-01 2.68607985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.46, Y:316.25, Z:2.69 [[ 1.55762724e-01 -9.87794488e-01 1.56478885e-04 2.59455318e+02] [-9.87793374e-01 -1.55762783e-01 -1.48497764e-03 3.16247579e+02] [ 1.49122631e-03 7.67353552e-05 -9.99998885e-01 2.68677491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.302755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:258.90, Y:316.11, Z:1.53 [[ 2.08216271e-01 9.78082773e-01 -2.71381704e-04 2.58902882e+02] [-9.78081679e-01 2.08216444e-01 1.46367336e-03 3.16114542e+02] [ 1.48809983e-03 -3.93271354e-05 9.99998892e-01 1.53344345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.47, Y:316.22, Z:2.69 [[ 2.35777987e-01 -9.71806908e-01 2.71847439e-04 2.59473938e+02] [-9.71805810e-01 -2.35778130e-01 -1.46358685e-03 3.16217197e+02] [ 1.48641949e-03 8.08986407e-05 -9.99998892e-01 2.68813032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:258.94, Y:316.04, Z:1.53 [[ 2.80993859e-01 9.59709489e-01 -3.84445396e-04 2.58938461e+02] [-9.59708419e-01 2.80994120e-01 1.43338723e-03 3.16043076e+02] [ 1.48366222e-03 -3.38175260e-05 9.99998899e-01 1.53247325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.50, Y:316.19, Z:2.69 [[ 3.14162151e-01 -9.49369262e-01 3.84899538e-04 2.59495722e+02] [-9.49368184e-01 -3.14162375e-01 -1.43326527e-03 3.16189359e+02] [ 1.48161894e-03 8.48663243e-05 -9.99998899e-01 2.68871627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.51, Y:316.19, Z:2.69 [[ 3.89877326e-01 -9.20866671e-01 4.94364625e-04 2.59512581e+02] [-9.20865620e-01 -3.89877630e-01 -1.39445760e-03 3.16189530e+02] [ 1.47685124e-03 8.84240135e-05 -9.99998906e-01 2.68953982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.53, Y:316.19, Z:2.69 [[ 4.61700881e-01 -8.87035476e-01 6.00209685e-04 2.59529338e+02] [-8.87034458e-01 -4.61701263e-01 -1.34730478e-03 3.16189365e+02] [ 1.47222471e-03 8.96451330e-05 -9.99998912e-01 2.69031291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.05, Y:315.89, Z:1.53 [[ 4.92524766e-01 8.70298140e-01 -7.08827960e-04 2.59051253e+02] [-8.70297186e-01 4.92525276e-01 1.28837014e-03 3.15893932e+02] [ 1.47038182e-03 -1.76632225e-05 9.99998919e-01 1.53228638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.06, Y:315.87, Z:1.53 [[ 4.92537993e-01 8.70290661e-01 -7.01277050e-04 2.59064153e+02] [-8.70289701e-01 4.92538491e-01 1.29246717e-03 3.15870535e+02] [ 1.47022805e-03 -2.62749913e-05 9.99998919e-01 1.53321373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.08, Y:315.85, Z:1.53 [[ 4.92842684e-01 8.70118151e-01 -7.01449245e-04 2.59077853e+02] [-8.70117192e-01 4.92843182e-01 1.29237371e-03 3.15845819e+02] [ 1.47022230e-03 -2.65938810e-05 9.99998919e-01 1.53338962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.59, Y:316.12, Z:2.69 [[ 5.28951251e-01 -8.48651920e-01 7.01853065e-04 2.59585915e+02] [-8.48650941e-01 -5.28951710e-01 -1.29215437e-03 3.16118077e+02] [ 1.46783567e-03 8.78584074e-05 -9.99998919e-01 2.68779366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.602755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:259.60, Y:316.12, Z:2.69 [[ 5.93689552e-01 -8.04693779e-01 7.98421731e-04 2.59603993e+02] [-8.04692845e-01 -5.93690083e-01 -1.22944090e-03 3.16123977e+02] [ 1.46333851e-03 8.74219622e-05 -9.99998926e-01 2.68988889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.18, Y:315.76, Z:1.53 [[ 6.24190935e-01 7.81271326e-01 -8.89500663e-04 2.59177934e+02] [-7.81270466e-01 6.24191568e-01 1.15957499e-03 3.15759605e+02] [ 1.46116151e-03 -2.88556008e-05 9.99998932e-01 1.53393769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.19, Y:315.74, Z:1.53 [[ 6.24844751e-01 7.80748516e-01 -8.89862226e-04 2.59194557e+02] [-7.80747656e-01 6.24845384e-01 1.15929746e-03 3.15737619e+02] [ 1.46114608e-03 -2.96230864e-05 9.99998932e-01 1.53344655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.21, Y:315.72, Z:1.53 [[ 6.25046968e-01 7.80586635e-01 -8.89973957e-04 2.59211571e+02] [-7.80585775e-01 6.25047601e-01 1.15921168e-03 3.15715411e+02] [ 1.46114123e-03 -2.98607362e-05 9.99998932e-01 1.53253792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.23, Y:315.69, Z:1.53 [[ 6.25382930e-01 7.80317499e-01 -8.90329443e-04 2.59229353e+02] [-7.80316638e-01 6.25383563e-01 1.15893859e-03 3.15693104e+02] [ 1.46113746e-03 -3.00415310e-05 9.99998932e-01 1.53192414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.25, Y:315.67, Z:1.53 [[ 6.25117937e-01 7.80529802e-01 -8.90684559e-04 2.59246799e+02] [-7.80528943e-01 6.25118570e-01 1.15866560e-03 3.15671820e+02] [ 1.46115649e-03 -2.90975737e-05 9.99998932e-01 1.53306316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.26, Y:315.65, Z:1.53 [[ 6.25280764e-01 7.80399367e-01 -8.90925292e-04 2.59264293e+02] [-7.80398508e-01 6.25281398e-01 1.15848047e-03 3.15650009e+02] [ 1.46115644e-03 -2.90987838e-05 9.99998932e-01 1.53254922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:259.72, Y:316.00, Z:2.69 [[ 6.55591262e-01 -7.55115424e-01 8.91258966e-04 2.59723088e+02] [-7.55114540e-01 -6.55591862e-01 -1.15822370e-03 3.15998564e+02] [ 1.45889471e-03 8.63187358e-05 -9.99998932e-01 2.69090710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.842755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:259.74, Y:316.01, Z:2.69 [[ 7.12882107e-01 -7.01283216e-01 9.76204353e-04 2.59740887e+02] [-7.01282387e-01 -7.12882770e-01 -1.08155239e-03 3.16006915e+02] [ 1.45439380e-03 8.64244284e-05 -9.99998939e-01 2.69164099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.872755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:259.76, Y:316.02, Z:2.69 [[ 7.65504775e-01 -6.43429349e-01 1.05464500e-03 2.59758564e+02] [-6.43428579e-01 -7.65505497e-01 -9.98719282e-04 3.16016760e+02] [ 1.44994184e-03 8.59356451e-05 -9.99998945e-01 2.69154776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.902755096 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:259.43, Y:315.56, Z:1.53 [[ 7.88644827e-01 6.14848005e-01 -1.12615110e-03 2.59429349e+02] [-6.14847332e-01 7.88645630e-01 9.10253046e-04 3.15564136e+02] [ 1.44780141e-03 -2.54553555e-05 9.99998952e-01 1.53176839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.932755096 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:259.45, Y:315.55, Z:1.53 [[ 7.88932017e-01 6.14479451e-01 -1.12998621e-03 2.59453085e+02] [-6.14478784e-01 7.88932826e-01 9.05505755e-04 3.15545860e+02] [ 1.44789789e-03 -2.00299317e-05 9.99998952e-01 1.53050226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.962755096 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:259.48, Y:315.53, Z:1.53 [[ 7.88173984e-01 6.15451462e-01 -1.12635353e-03 2.59478824e+02] [-6.15450790e-01 7.88174789e-01 9.10002091e-04 3.15525005e+02] [ 1.44782557e-03 -2.40248034e-05 9.99998952e-01 1.53060011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.992755096 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:259.51, Y:315.50, Z:1.53 [[ 7.87714152e-01 6.16039890e-01 -1.12607002e-03 2.59505009e+02] [-6.16039218e-01 7.87714957e-01 9.10352789e-04 3.15504405e+02] [ 1.44783583e-03 -2.33944845e-05 9.99998952e-01 1.53041431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.022755096 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:259.53, Y:315.48, Z:1.53 [[ 7.87303422e-01 6.16564721e-01 -1.12578578e-03 2.59530082e+02] [-6.16564048e-01 7.87304226e-01 9.10704157e-04 3.15484983e+02] [ 1.44784395e-03 -2.28814635e-05 9.99998952e-01 1.53060660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.052755096 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:259.55, Y:315.47, Z:1.53 [[ 7.87119421e-01 6.16799603e-01 -1.12552131e-03 2.59554181e+02] [-6.16798931e-01 7.87120225e-01 9.11030892e-04 3.15465604e+02] [ 1.44784408e-03 -2.28697687e-05 9.99998952e-01 1.53070333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.082755096 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:259.58, Y:315.44, Z:1.53 [[ 7.86511753e-01 6.17574284e-01 -1.12548662e-03 2.59580173e+02] [-6.17573612e-01 7.86512558e-01 9.11073737e-04 3.15443221e+02] [ 1.44786507e-03 -2.14993625e-05 9.99998952e-01 1.53016364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.112755096 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:259.60, Y:315.43, Z:1.53 [[ 7.87585886e-01 6.16203877e-01 -1.11988673e-03 2.59604055e+02] [-6.16203194e-01 7.87586681e-01 9.17985875e-04 3.15426615e+02] [ 1.44767433e-03 -3.29149353e-05 9.99998952e-01 1.53069026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.142755096 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:259.63, Y:315.41, Z:1.53 [[ 7.87878343e-01 6.15829887e-01 -1.12523190e-03 2.59627203e+02] [-6.15829213e-01 7.87879147e-01 9.11386537e-04 3.15408033e+02] [ 1.44780582e-03 -2.51110405e-05 9.99998952e-01 1.53061213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1727550960001 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:259.65, Y:315.39, Z:1.53 [[ 7.88400498e-01 6.15161271e-01 -1.12526610e-03 2.59650055e+02] [-6.15160596e-01 7.88401300e-01 9.11344302e-04 3.15389917e+02] [ 1.44778498e-03 -2.62849345e-05 9.99998952e-01 1.53024522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.202755096 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:259.67, Y:315.37, Z:1.53 [[ 7.89394885e-01 6.13884720e-01 -1.12533419e-03 2.59673176e+02] [-6.13884044e-01 7.89395686e-01 9.11260223e-04 3.15373103e+02] [ 1.44774268e-03 -2.85194561e-05 9.99998952e-01 1.52972171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.232755096 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:259.70, Y:315.36, Z:1.53 [[ 7.89708957e-01 6.13480641e-01 -1.12540217e-03 2.59695007e+02] [-6.13479965e-01 7.89709758e-01 9.11176259e-04 3.15356151e+02] [ 1.44773007e-03 -2.91523689e-05 9.99998952e-01 1.52952685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.262755096 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:259.72, Y:315.34, Z:1.53 [[ 7.90031343e-01 6.13065421e-01 -1.12548646e-03 2.59716016e+02] [-6.13064745e-01 7.90032144e-01 9.11072131e-04 3.15339562e+02] [ 1.44771730e-03 -2.97794701e-05 9.99998952e-01 1.52938470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2927550960001 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:259.74, Y:315.32, Z:1.53 [[ 7.89376422e-01 6.13908460e-01 -1.12560121e-03 2.59742647e+02] [-6.13907784e-01 7.89377224e-01 9.10930341e-04 3.15316049e+02] [ 1.44775180e-03 -2.80515897e-05 9.99998952e-01 1.52962277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.322755096 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:259.77, Y:315.30, Z:1.53 [[ 7.89273423e-01 6.14040887e-01 -1.11914246e-03 2.59767854e+02] [-6.14040201e-01 7.89274216e-01 9.18905998e-04 3.15295579e+02] [ 1.44755614e-03 -3.80696218e-05 9.99998952e-01 1.52967262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.352755096 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:259.79, Y:315.28, Z:1.53 [[ 7.89506502e-01 6.13741176e-01 -1.11891290e-03 2.59791590e+02] [-6.13740489e-01 7.89507294e-01 9.19189340e-04 3.15277948e+02] [ 1.44753424e-03 -3.89838121e-05 9.99998952e-01 1.52838937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.382755096 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:259.82, Y:315.26, Z:1.53 [[ 7.89089729e-01 6.14276920e-01 -1.12512385e-03 2.59817521e+02] [-6.14276244e-01 7.89090530e-01 9.11522949e-04 3.15256987e+02] [ 1.44775209e-03 -2.81365428e-05 9.99998952e-01 1.52786737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.412755096 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:259.84, Y:315.24, Z:1.53 [[ 7.88472649e-01 6.15068790e-01 -1.12484093e-03 2.59841324e+02] [-6.15068115e-01 7.88473451e-01 9.11871942e-04 3.15237327e+02] [ 1.44777118e-03 -2.71322920e-05 9.99998952e-01 1.52743672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.442755096 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:259.87, Y:315.22, Z:1.53 [[ 7.87353335e-01 6.16500982e-01 -1.12461326e-03 2.59866785e+02] [-6.16500308e-01 7.87354138e-01 9.12152652e-04 3.15215982e+02] [ 1.44781191e-03 -2.48620149e-05 9.99998952e-01 1.52631277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.472755096 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:259.89, Y:315.20, Z:1.53 [[ 7.86475269e-01 6.17620747e-01 -1.12432044e-03 2.59891443e+02] [-6.17620073e-01 7.86476073e-01 9.12513438e-04 3.15195777e+02] [ 1.44783835e-03 -2.32663810e-05 9.99998952e-01 1.52568433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.502755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:259.91, Y:315.18, Z:1.52 [[ 7.86414326e-01 6.17698345e-01 -1.12404764e-03 2.59913567e+02] [-6.17697671e-01 7.86415129e-01 9.12849355e-04 3.15179208e+02] [ 1.44783360e-03 -2.35562035e-05 9.99998952e-01 1.52457844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.532755096 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:259.94, Y:315.16, Z:1.52 [[ 7.85656014e-01 6.18662559e-01 -1.12538814e-03 2.59935663e+02] [-6.18661888e-01 7.85656820e-01 9.11197986e-04 3.15161669e+02] [ 1.44789295e-03 -1.96534242e-05 9.99998952e-01 1.52270078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.562755096 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:259.96, Y:315.14, Z:1.52 [[ 7.84842542e-01 6.19694212e-01 -1.12635925e-03 2.59959510e+02] [-6.19693544e-01 7.84843350e-01 9.10001587e-04 3.15140143e+02] [ 1.44793828e-03 -1.62104043e-05 9.99998952e-01 1.52385945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.592755096 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:259.98, Y:315.11, Z:1.52 [[ 7.82934288e-01 6.22103397e-01 -1.12409556e-03 2.59984798e+02] [-6.22102728e-01 7.82935095e-01 9.12789309e-04 3.15113211e+02] [ 1.44794319e-03 -1.53511340e-05 9.99998952e-01 1.52328318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.622755096 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:260.01, Y:315.10, Z:1.53 [[ 7.83012848e-01 6.22004536e-01 -1.11224312e-03 2.60006903e+02] [-6.22003846e-01 7.83013637e-01 9.27375626e-04 3.15095373e+02] [ 1.44773338e-03 -3.43275329e-05 9.99998951e-01 1.52586764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.652755096 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:260.03, Y:315.08, Z:1.53 [[ 7.84095687e-01 6.20638937e-01 -1.12394734e-03 2.60032182e+02] [-6.20638266e-01 7.84096493e-01 9.12966636e-04 3.15076592e+02] [ 1.44790581e-03 -1.82884746e-05 9.99998952e-01 1.52522502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.682755096 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:260.06, Y:315.05, Z:1.52 [[ 7.82635241e-01 6.22479572e-01 -1.12378138e-03 2.60058419e+02] [-6.22478902e-01 7.82636047e-01 9.13170875e-04 3.15049504e+02] [ 1.44794203e-03 -1.51495092e-05 9.99998952e-01 1.52460785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.712755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:260.08, Y:315.03, Z:1.53 [[ 7.84760308e-01 6.19798374e-01 -1.11142134e-03 2.60079868e+02] [-6.19797680e-01 7.84761094e-01 9.28361565e-04 3.15033212e+02] [ 1.44759721e-03 -3.96849412e-05 9.99998951e-01 1.52657516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.742755096 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:260.11, Y:315.00, Z:1.53 [[ 7.83345781e-01 6.21585171e-01 -1.12349502e-03 2.60106213e+02] [-6.21584500e-01 7.83346587e-01 9.13512597e-04 3.15004551e+02] [ 1.44791187e-03 -1.72491495e-05 9.99998952e-01 1.52666522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.772755096 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:260.13, Y:314.98, Z:1.53 [[ 7.84012123e-01 6.20744524e-01 -1.10777557e-03 2.60127159e+02] [-6.20743825e-01 7.84012904e-01 9.32813209e-04 3.14983418e+02] [ 1.44754903e-03 -4.36920210e-05 9.99998951e-01 1.52703068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.802755096 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:260.15, Y:314.97, Z:1.53 [[ 7.86768843e-01 6.17246749e-01 -1.11290002e-03 2.60150624e+02] [-6.17246055e-01 7.86769629e-01 9.26521440e-04 3.14968628e+02] [ 1.44748828e-03 -4.20250582e-05 9.99998952e-01 1.52907770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.832755096 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:260.18, Y:314.95, Z:1.53 [[ 7.86905672e-01 6.17072283e-01 -1.12298633e-03 2.60175819e+02] [-6.17071607e-01 7.86906473e-01 9.14130658e-04 3.14945712e+02] [ 1.44776990e-03 -2.63716206e-05 9.99998952e-01 1.52743267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.862755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:260.20, Y:314.92, Z:1.53 [[ 7.87481236e-01 6.16337609e-01 -1.12015170e-03 2.60198783e+02] [-6.16336927e-01 7.87482032e-01 9.17610849e-04 3.14924282e+02] [ 1.44765742e-03 -3.22104663e-05 9.99998952e-01 1.52950867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.892755096 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:260.22, Y:314.90, Z:1.53 [[ 7.85659340e-01 6.18658340e-01 -1.12261714e-03 2.60224835e+02] [-6.18657664e-01 7.85660142e-01 9.14584619e-04 3.14896988e+02] [ 1.44781095e-03 -2.40362485e-05 9.99998952e-01 1.52896045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9227550960001 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:260.25, Y:314.88, Z:1.53 [[ 7.86361676e-01 6.17765394e-01 -1.10987910e-03 2.60249563e+02] [-6.17764695e-01 7.86362458e-01 9.30202685e-04 3.14879122e+02] [ 1.44741429e-03 -4.58316185e-05 9.99998951e-01 1.52776645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.952755096 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:260.27, Y:314.86, Z:1.53 [[ 7.85107218e-01 6.19358868e-01 -1.11783751e-03 2.60273530e+02] [-6.19358184e-01 7.85108013e-01 9.20441666e-04 3.14861215e+02] [ 1.44770689e-03 -3.03035853e-05 9.99998952e-01 1.52822903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.982755096 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:260.30, Y:314.84, Z:1.53 [[ 7.83953802e-01 6.20818151e-01 -1.12221515e-03 2.60299204e+02] [-6.20817477e-01 7.83954605e-01 9.15073076e-04 3.14840546e+02] [ 1.44785971e-03 -2.06842399e-05 9.99998952e-01 1.52558854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.012755096 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:260.32, Y:314.82, Z:1.53 [[ 7.82694241e-01 6.22405389e-01 -1.12099460e-03 2.60323034e+02] [-6.22404715e-01 7.82695043e-01 9.16569221e-04 3.14820439e+02] [ 1.44787454e-03 -1.96811248e-05 9.99998952e-01 1.52701511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0427550960001 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:260.35, Y:314.80, Z:1.53 [[ 7.80793804e-01 6.24787786e-01 -1.12185920e-03 2.60348430e+02] [-6.24787115e-01 7.80794610e-01 9.15509748e-04 3.14798868e+02] [ 1.44794092e-03 -1.39011651e-05 9.99998952e-01 1.52588693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.072755096 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:260.37, Y:314.78, Z:1.52 [[ 7.79133055e-01 6.26857580e-01 -1.12157856e-03 2.60374483e+02] [-6.26856911e-01 7.79133862e-01 9.15853426e-04 3.14775222e+02] [ 1.44796950e-03 -1.05024055e-05 9.99998952e-01 1.52469233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.102755096 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:260.40, Y:314.76, Z:1.52 [[ 7.78533971e-01 6.27601477e-01 -1.11432355e-03 2.60398904e+02] [-6.27600796e-01 7.78534768e-01 9.24729262e-04 3.14758630e+02] [ 1.44790107e-03 -2.05828002e-05 9.99998952e-01 1.52499630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.132755096 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:260.43, Y:314.74, Z:1.53 [[ 7.78208932e-01 6.28004460e-01 -1.12110982e-03 2.60425330e+02] [-6.28003792e-01 7.78209739e-01 9.16427285e-04 3.14738357e+02] [ 1.44797900e-03 -9.11068168e-06 9.99998952e-01 1.52505841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.162755096 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:260.45, Y:314.72, Z:1.53 [[ 7.78129516e-01 6.28102858e-01 -1.12082781e-03 2.60451455e+02] [-6.28102189e-01 7.78130323e-01 9.16772062e-04 3.14718436e+02] [ 1.44797726e-03 -9.37299768e-06 9.99998952e-01 1.52515840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.192755096 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:260.48, Y:314.70, Z:1.53 [[ 7.77991872e-01 6.28273344e-01 -1.11901203e-03 2.60475969e+02] [-6.28272672e-01 7.77992677e-01 9.18990321e-04 3.14699294e+02] [ 1.44796029e-03 -1.19223235e-05 9.99998952e-01 1.52575782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.222755096 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:260.50, Y:314.68, Z:1.53 [[ 7.78876236e-01 6.27176654e-01 -1.11945978e-03 2.60500801e+02] [-6.27175982e-01 7.78877041e-01 9.18443410e-04 3.14680046e+02] [ 1.44794779e-03 -1.32554607e-05 9.99998952e-01 1.52847571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.252755096 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:260.52, Y:314.66, Z:1.53 [[ 7.79021469e-01 6.26996244e-01 -1.12264263e-03 2.60524900e+02] [-6.26995577e-01 7.79022278e-01 9.14557281e-04 3.14658235e+02] [ 1.44798760e-03 -8.56779484e-06 9.99998952e-01 1.52965660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.282755096 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:260.55, Y:314.64, Z:1.53 [[ 7.80892207e-01 6.24664795e-01 -1.11998824e-03 2.60549634e+02] [-6.24664121e-01 7.80893010e-01 9.17796435e-04 3.14639141e+02] [ 1.44790611e-03 -1.70836162e-05 9.99998952e-01 1.52846567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.312755096 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:260.58, Y:314.62, Z:1.53 [[ 7.80701167e-01 6.24903536e-01 -1.12214554e-03 2.60575378e+02] [-6.24902866e-01 7.80701973e-01 9.15165045e-04 3.14616604e+02] [ 1.44795111e-03 -1.32384533e-05 9.99998952e-01 1.52964642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.342755096 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:260.60, Y:314.60, Z:1.53 [[ 7.81316721e-01 6.24133743e-01 -1.11889668e-03 2.60599961e+02] [-6.24133067e-01 7.81317522e-01 9.19125690e-04 3.14596275e+02] [ 1.44787094e-03 -1.97878561e-05 9.99998952e-01 1.52659297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.372755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:260.63, Y:314.58, Z:1.53 [[ 7.82127124e-01 6.23117892e-01 -1.11990683e-03 2.60625167e+02] [-6.23117216e-01 7.82127926e-01 9.17894747e-04 3.14576022e+02] [ 1.44786704e-03 -2.00771547e-05 9.99998952e-01 1.53165082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.402755096 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:260.65, Y:314.56, Z:1.53 [[ 7.82829851e-01 6.22234821e-01 -1.11912085e-03 2.60647976e+02] [-6.22234143e-01 7.82830650e-01 9.18852029e-04 3.14557582e+02] [ 1.44782383e-03 -2.29495914e-05 9.99998952e-01 1.53146917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.432755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:260.67, Y:314.54, Z:1.53 [[ 7.83618666e-01 6.21241124e-01 -1.11918869e-03 2.60668756e+02] [-6.21240445e-01 7.83619465e-01 9.18769389e-04 3.14540644e+02] [ 1.44779537e-03 -2.46795604e-05 9.99998952e-01 1.53061806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.462755096 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:260.69, Y:314.52, Z:1.53 [[ 7.84573383e-01 6.20034956e-01 -1.12220415e-03 2.60691506e+02] [-6.20034281e-01 7.84574186e-01 9.15094386e-04 3.14522511e+02] [ 1.44784291e-03 -2.21536570e-05 9.99998952e-01 1.53106990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.492755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:260.72, Y:314.50, Z:1.53 [[ 7.84334794e-01 6.20336746e-01 -1.11937376e-03 2.60717330e+02] [-6.20336066e-01 7.84335592e-01 9.18543612e-04 3.14500246e+02] [ 1.44777103e-03 -2.60578009e-05 9.99998952e-01 1.53049331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.522755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:261.10, Y:314.97, Z:2.70 [[ 8.11166715e-01 -5.84813915e-01 1.11632623e-03 2.61102322e+02] [-5.84813195e-01 -8.11167477e-01 -9.22247122e-04 3.14968753e+02] [ 1.44487048e-03 9.52538578e-05 -9.99998952e-01 2.69764516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.552755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:261.13, Y:314.99, Z:2.70 [[ 8.48734735e-01 -5.28817570e-01 1.15239068e-03 2.61131172e+02] [-5.28816868e-01 -8.48735507e-01 -8.71504140e-04 3.14993915e+02] [ 1.43894159e-03 1.30272207e-04 -9.99998956e-01 2.69983515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.582755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:261.15, Y:315.00, Z:2.70 [[ 8.88466602e-01 -4.58939573e-01 1.25129323e-03 2.61146225e+02] [-4.58939034e-01 -8.88467482e-01 -7.04765118e-04 3.15003051e+02] [ 1.43517795e-03 5.18929615e-05 -9.99998969e-01 2.70005646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.612755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:261.16, Y:315.01, Z:2.70 [[ 9.22818449e-01 -3.85232991e-01 1.28573002e-03 2.61158433e+02] [-3.85232478e-01 -9.22819340e-01 -6.35043237e-04 3.15014556e+02] [ 1.43113614e-03 9.07246526e-05 -9.99998972e-01 2.70115595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.642755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:261.17, Y:315.03, Z:2.70 [[ 9.49939966e-01 -3.12429712e-01 1.31782760e-03 2.61171247e+02] [-3.12429240e-01 -9.49940873e-01 -5.55296958e-04 3.15026319e+02] [ 1.42534957e-03 1.15770897e-04 -9.99998978e-01 2.70229859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6727550960001 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:261.18, Y:315.04, Z:2.70 [[ 9.71539993e-01 -2.36871719e-01 1.35308214e-03 2.61184484e+02] [-2.36871331e-01 -9.71540929e-01 -4.42741171e-04 3.15040273e+02] [ 1.41944754e-03 1.09634387e-04 -9.99998987e-01 2.70225844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.702755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:261.20, Y:315.05, Z:2.70 [[ 9.87022144e-01 -1.60578290e-01 1.37840195e-03 2.61197205e+02] [-1.60577982e-01 -9.87023101e-01 -3.32054539e-04 3.15053265e+02] [ 1.41383531e-03 1.06404180e-04 -9.99998995e-01 2.70209876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.732755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:261.20, Y:315.07, Z:2.70 [[ 9.96575358e-01 -8.26777103e-02 1.39707071e-03 2.61204142e+02] [-8.26775044e-02 -9.96576334e-01 -2.04543302e-04 3.15067516e+02] [ 1.40919878e-03 8.83364943e-05 -9.99999003e-01 2.70279293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.762755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:261.21, Y:315.08, Z:2.70 [[ 9.99994965e-01 -2.84561435e-03 1.40447274e-03 2.61208483e+02] [-2.84548470e-03 -9.99995947e-01 -9.42992207e-05 3.15084913e+02] [ 1.40473539e-03 9.03023402e-05 -9.99999009e-01 2.70387038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7927550960001 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:261.21, Y:315.10, Z:2.70 [[ 9.97314874e-01 7.32193452e-02 1.40343177e-03 2.61214571e+02] [ 7.32194109e-02 -9.97315857e-01 4.57033671e-06 3.15103397e+02] [ 1.39999940e-03 9.82003828e-05 -9.99999015e-01 2.70307492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.822755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:261.22, Y:315.12, Z:2.70 [[ 9.88365032e-01 1.52094135e-01 1.39220066e-03 2.61216164e+02] [ 1.52094103e-01 -9.88366009e-01 1.29073528e-04 3.15124285e+02] [ 1.39563514e-03 8.41737498e-05 -9.99999023e-01 2.70284279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.852755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.22, Y:315.15, Z:2.70 [[ 9.73876305e-01 2.27074984e-01 1.37634774e-03 2.61218890e+02] [ 2.27074895e-01 -9.73877273e-01 2.22937284e-04 3.15145642e+02] [ 1.39101726e-03 9.54206795e-05 -9.99999028e-01 2.70424007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.882755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:261.22, Y:315.16, Z:2.70 [[ 9.53623214e-01 3.00999917e-01 1.34716020e-03 2.61221667e+02] [ 3.00999738e-01 -9.53624162e-01 3.38945143e-04 3.15159641e+02] [ 1.38670698e-03 8.22689099e-05 -9.99999035e-01 2.70470157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.912755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:261.22, Y:315.17, Z:2.71 [[ 9.27495174e-01 3.73832824e-01 1.31244297e-03 2.61222145e+02] [ 3.73832571e-01 -9.27496099e-01 4.42025947e-04 3.15174417e+02] [ 1.38252955e-03 8.06569991e-05 -9.99999041e-01 2.70536039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.942755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.22, Y:315.20, Z:2.71 [[ 8.95814766e-01 4.44425801e-01 1.26990179e-03 2.61218745e+02] [ 4.44425478e-01 -8.95815663e-01 5.41746304e-04 3.15196630e+02] [ 1.37836395e-03 7.90723724e-05 -9.99999047e-01 2.70577603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.972755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.22, Y:315.21, Z:2.71 [[ 8.58868596e-01 5.12194540e-01 1.21984526e-03 2.61217953e+02] [ 5.12194149e-01 -8.58869459e-01 6.37524891e-04 3.15211444e+02] [ 1.37422461e-03 7.72474976e-05 -9.99999053e-01 2.70589165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.22, Y:315.22, Z:2.71 [[ 8.17141127e-01 5.76436490e-01 1.16261957e-03 2.61216856e+02] [ 5.76436034e-01 -8.17141951e-01 7.28810508e-04 3.15224225e+02] [ 1.37013819e-03 7.46347743e-05 -9.99999059e-01 2.70675948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.21, Y:315.24, Z:2.71 [[ 7.69737319e-01 6.38359811e-01 1.10074685e-03 2.61212817e+02] [ 6.38359299e-01 -7.69738102e-01 8.12239494e-04 3.15237469e+02] [ 1.36578784e-03 7.74609397e-05 -9.99999064e-01 2.70603543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.062755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.21, Y:315.25, Z:2.71 [[ 7.18527420e-01 6.95497872e-01 1.02798303e-03 2.61211449e+02] [ 6.95497299e-01 -7.18528152e-01 8.95745358e-04 3.15246343e+02] [ 1.36162374e-03 7.13418182e-05 -9.99999070e-01 2.70769825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.21, Y:315.26, Z:2.71 [[ 6.62283900e-01 7.49252368e-01 9.62037345e-04 2.61206657e+02] [ 7.49251757e-01 -6.62284593e-01 9.60556004e-04 3.15256074e+02] [ 1.35684137e-03 8.46473944e-05 -9.99999076e-01 2.70756614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.122755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:261.20, Y:315.27, Z:2.71 [[ 6.01678074e-01 7.98738206e-01 8.79562773e-04 2.61200551e+02] [ 7.98737547e-01 -6.01678711e-01 1.02975667e-03 3.15266231e+02] [ 1.35172019e-03 8.29578037e-05 -9.99999083e-01 2.70693679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.152755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.19, Y:315.28, Z:2.71 [[ 5.37223011e-01 8.43439872e-01 7.86952484e-04 2.61193105e+02] [ 8.43439163e-01 -5.37223582e-01 1.09574683e-03 3.15276572e+02] [ 1.34696600e-03 7.50861347e-05 -9.99999090e-01 2.70672128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.182755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.69, Y:315.01, Z:1.52 [[ 4.91612205e-01 -8.70813964e-01 -6.93267791e-04 2.61688093e+02] [ 8.70813203e-01 4.91612693e-01 -1.15194680e-03 3.15011399e+02] [ 1.34395061e-03 -3.73956375e-05 9.99999096e-01 1.52483214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.212755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.70, Y:315.04, Z:1.52 [[ 4.91353400e-01 -8.70960024e-01 -6.87827381e-04 2.61702151e+02] [ 8.70959259e-01 4.91353880e-01 -1.15520584e-03 3.15035306e+02] [ 1.34410476e-03 -3.14553085e-05 9.99999096e-01 1.52486765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.72, Y:315.06, Z:1.53 [[ 4.90913210e-01 -8.71208211e-01 -6.87711699e-04 2.61717037e+02] [ 8.71207446e-01 4.90913690e-01 -1.15527511e-03 3.15060467e+02] [ 1.34409225e-03 -3.19997402e-05 9.99999096e-01 1.52602471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.74, Y:315.09, Z:1.52 [[ 4.92752040e-01 -8.70169495e-01 -6.90573619e-04 2.61735507e+02] [ 8.70168731e-01 4.92752523e-01 -1.15356184e-03 3.15086214e+02] [ 1.34407622e-03 -3.24956206e-05 9.99999096e-01 1.52449497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.302755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.75, Y:315.11, Z:1.52 [[ 4.91333603e-01 -8.70971182e-01 -7.00832154e-04 2.61745072e+02] [ 8.70970427e-01 4.91334100e-01 -1.14742106e-03 3.15108373e+02] [ 1.34371341e-03 -4.66375563e-05 9.99999096e-01 1.52406693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.76, Y:315.13, Z:1.53 [[ 4.92107693e-01 -8.70534056e-01 -6.90086311e-04 2.61759217e+02] [ 8.70533292e-01 4.92108176e-01 -1.15384417e-03 3.15132042e+02] [ 1.34405776e-03 -3.29275127e-05 9.99999096e-01 1.52586714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.77, Y:315.16, Z:1.53 [[ 4.94558186e-01 -8.69144249e-01 -6.89458215e-04 2.61772278e+02] [ 8.69143483e-01 4.94558666e-01 -1.15421936e-03 3.15155788e+02] [ 1.34416065e-03 -2.84094813e-05 9.99999096e-01 1.52533021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.79, Y:315.18, Z:1.53 [[ 4.95770682e-01 -8.68453198e-01 -6.89195903e-04 2.61785912e+02] [ 8.68452431e-01 4.95771160e-01 -1.15437597e-03 3.15179803e+02] [ 1.34420495e-03 -2.62280975e-05 9.99999096e-01 1.52565560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4227550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:261.80, Y:315.20, Z:1.53 [[ 4.98397464e-01 -8.66948380e-01 -6.88844091e-04 2.61799171e+02] [ 8.66947611e-01 4.98397940e-01 -1.15458586e-03 3.15204207e+02] [ 1.34428482e-03 -2.17490730e-05 9.99999096e-01 1.52556529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:261.81, Y:315.23, Z:1.53 [[ 4.99350220e-01 -8.66399956e-01 -6.88490578e-04 2.61812802e+02] [ 8.66399187e-01 4.99350694e-01 -1.15479663e-03 3.15228225e+02] [ 1.34431400e-03 -1.98597268e-05 9.99999096e-01 1.52564726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.83, Y:315.25, Z:1.53 [[ 5.00128430e-01 -8.65950969e-01 -6.88127299e-04 2.61826548e+02] [ 8.65950199e-01 5.00128903e-01 -1.15501306e-03 3.15251760e+02] [ 1.34433703e-03 -1.82291028e-05 9.99999096e-01 1.52508161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.84, Y:315.28, Z:1.52 [[ 5.00325283e-01 -8.65837247e-01 -6.87744257e-04 2.61840660e+02] [ 8.65836477e-01 5.00325755e-01 -1.15524110e-03 3.15276091e+02] [ 1.34434693e-03 -1.74777367e-05 9.99999096e-01 1.52493939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.85, Y:315.30, Z:1.52 [[ 5.00245254e-01 -8.65883487e-01 -6.87398496e-04 2.61854649e+02] [ 8.65882716e-01 5.00245726e-01 -1.15544680e-03 3.15299218e+02] [ 1.34435046e-03 -1.71997008e-05 9.99999096e-01 1.52468100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.87, Y:315.32, Z:1.53 [[ 4.99423643e-01 -8.66357635e-01 -6.87146429e-04 2.61869319e+02] [ 8.66356865e-01 4.99424116e-01 -1.15559668e-03 3.15323502e+02] [ 1.34433751e-03 -1.81817208e-05 9.99999096e-01 1.52556026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.88, Y:315.35, Z:1.53 [[ 4.97822026e-01 -8.67278940e-01 -6.86786921e-04 2.61883874e+02] [ 8.67278170e-01 4.97822499e-01 -1.15581030e-03 3.15346501e+02] [ 1.34430791e-03 -2.02474778e-05 9.99999096e-01 1.52584567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.90, Y:315.37, Z:1.53 [[ 4.96711592e-01 -8.67915389e-01 -6.86408131e-04 2.61897899e+02] [ 8.67914620e-01 4.96712066e-01 -1.15603521e-03 3.15369944e+02] [ 1.34428795e-03 -2.15275611e-05 9.99999096e-01 1.52633119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.91, Y:315.39, Z:1.53 [[ 4.95679946e-01 -8.68504992e-01 -6.86035514e-04 2.61912080e+02] [ 8.68504222e-01 4.95680420e-01 -1.15625630e-03 3.15393823e+02] [ 1.34426874e-03 -2.26916829e-05 9.99999096e-01 1.52671015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.93, Y:315.42, Z:1.53 [[ 4.94232972e-01 -8.69329224e-01 -6.85673750e-04 2.61926250e+02] [ 8.69328455e-01 4.94233447e-01 -1.15647079e-03 3.15417054e+02] [ 1.34423675e-03 -2.45097078e-05 9.99999096e-01 1.52648683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.94, Y:315.44, Z:1.53 [[ 4.93372305e-01 -8.69817969e-01 -6.85292820e-04 2.61940667e+02] [ 8.69817200e-01 4.93372780e-01 -1.15669647e-03 3.15441610e+02] [ 1.34422020e-03 -2.53974787e-05 9.99999096e-01 1.52632533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:261.95, Y:315.46, Z:1.53 [[ 4.92804266e-01 -8.70139923e-01 -6.84938143e-04 2.61954592e+02] [ 8.70139155e-01 4.92804741e-01 -1.15690645e-03 3.15464998e+02] [ 1.34421126e-03 -2.58630604e-05 9.99999096e-01 1.52617807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.782755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.97, Y:315.49, Z:1.53 [[ 4.92573430e-01 -8.70270617e-01 -6.84564497e-04 2.61968562e+02] [ 8.70269848e-01 4.92573905e-01 -1.15712751e-03 3.15488301e+02] [ 1.34421268e-03 -2.57855766e-05 9.99999096e-01 1.52633855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.812755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:261.98, Y:315.51, Z:1.53 [[ 4.91629386e-01 -8.70804271e-01 -6.84194210e-04 2.61979787e+02] [ 8.70803503e-01 4.91629861e-01 -1.15734641e-03 3.15511530e+02] [ 1.34419250e-03 -2.68132097e-05 9.99999096e-01 1.52571303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.00, Y:315.54, Z:1.53 [[ 4.93128559e-01 -8.69956186e-01 -6.77663639e-04 2.61996580e+02] [ 8.69955411e-01 4.93129024e-01 -1.16120319e-03 3.15536162e+02] [ 1.34437151e-03 -1.69146934e-05 9.99999096e-01 1.52665833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.01, Y:315.56, Z:1.53 [[ 4.94763598e-01 -8.69027339e-01 -6.83528018e-04 2.62009842e+02] [ 8.69026568e-01 4.94764070e-01 -1.15774087e-03 3.15559662e+02] [ 1.34429357e-03 -2.11959676e-05 9.99999096e-01 1.52726439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.02, Y:315.58, Z:1.53 [[ 4.95371383e-01 -8.68681027e-01 -6.83163721e-04 2.62023005e+02] [ 8.68680255e-01 4.95371854e-01 -1.15795580e-03 3.15583273e+02] [ 1.34431431e-03 -1.98326704e-05 9.99999096e-01 1.52770105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.04, Y:315.61, Z:1.53 [[ 4.97061120e-01 -8.67715263e-01 -6.82802422e-04 2.62036323e+02] [ 8.67714490e-01 4.97061588e-01 -1.15816880e-03 3.15607229e+02] [ 1.34435560e-03 -1.67968738e-05 9.99999096e-01 1.52915547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.05, Y:315.62, Z:1.53 [[ 5.01161502e-01 -8.65353502e-01 -6.82423293e-04 2.62048793e+02] [ 8.65352727e-01 5.01161966e-01 -1.15839215e-03 3.15624777e+02] [ 1.34442331e-03 -9.99530694e-06 9.99999096e-01 1.52960204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.06, Y:315.65, Z:1.53 [[ 4.99757565e-01 -8.66165071e-01 -6.67716895e-04 2.62064036e+02] [ 8.66164285e-01 4.99758012e-01 -1.16708280e-03 3.15652500e+02] [ 1.34458322e-03 4.90592946e-06 9.99999096e-01 1.52945852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.08, Y:315.68, Z:1.53 [[ 4.99263080e-01 -8.66450177e-01 -6.84134828e-04 2.62078857e+02] [ 8.66449404e-01 4.99263548e-01 -1.15737803e-03 3.15678422e+02] [ 1.34437398e-03 -1.49320937e-05 9.99999096e-01 1.52982071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.09, Y:315.70, Z:1.53 [[ 5.01443222e-01 -8.65190277e-01 -6.93281892e-04 2.62093756e+02] [ 8.65189510e-01 5.01443700e-01 -1.15196206e-03 3.15699822e+02] [ 1.34430821e-03 -2.21766517e-05 9.99999096e-01 1.53022954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.11, Y:315.72, Z:1.53 [[ 5.01196431e-01 -8.65333272e-01 -6.82981629e-04 2.62107658e+02] [ 8.65332497e-01 5.01196896e-01 -1.15805327e-03 3.15723674e+02] [ 1.34441030e-03 -1.05940333e-05 9.99999096e-01 1.52970963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.12, Y:315.75, Z:1.53 [[ 5.00404173e-01 -8.65791659e-01 -6.84053072e-04 2.62119962e+02] [ 8.65790885e-01 5.00404640e-01 -1.15742003e-03 3.15746735e+02] [ 1.34438794e-03 -1.30691030e-05 9.99999096e-01 1.53139349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.13, Y:315.77, Z:1.53 [[ 5.00010426e-01 -8.66019115e-01 -6.83635484e-04 2.62133606e+02] [ 8.66018341e-01 5.00010893e-01 -1.15766663e-03 3.15770737e+02] [ 1.34438662e-03 -1.31954854e-05 9.99999096e-01 1.53183771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.15, Y:315.79, Z:1.53 [[ 4.99641447e-01 -8.66232046e-01 -6.83277222e-04 2.62146860e+02] [ 8.66231272e-01 4.99641914e-01 -1.15787804e-03 3.15794205e+02] [ 1.34438500e-03 -1.33522372e-05 9.99999096e-01 1.53354300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.16, Y:315.81, Z:1.53 [[ 5.00834271e-01 -8.65542932e-01 -6.83015969e-04 2.62159512e+02] [ 8.65542157e-01 5.00834737e-01 -1.15803213e-03 3.15814367e+02] [ 1.34440465e-03 -1.11969369e-05 9.99999096e-01 1.53384486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.17, Y:315.84, Z:1.53 [[ 4.99484618e-01 -8.66322491e-01 -6.76380032e-04 2.62172911e+02] [ 8.66321712e-01 4.99485076e-01 -1.16195246e-03 3.15839494e+02] [ 1.34446728e-03 -5.58532661e-06 9.99999096e-01 1.53465740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.19, Y:315.86, Z:1.54 [[ 4.98326375e-01 -8.66989248e-01 -6.83648421e-04 2.62185008e+02] [ 8.66988476e-01 4.98326844e-01 -1.15766016e-03 3.15863361e+02] [ 1.34435927e-03 -1.58227102e-05 9.99999096e-01 1.53516163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.20, Y:315.89, Z:1.54 [[ 4.97825153e-01 -8.67277147e-01 -6.83264611e-04 2.62198949e+02] [ 8.67276374e-01 4.97825622e-01 -1.15788665e-03 3.15888240e+02] [ 1.34435526e-03 -1.61541563e-05 9.99999096e-01 1.53514837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.21, Y:315.91, Z:1.54 [[ 4.96122687e-01 -8.68252160e-01 -6.82909143e-04 2.62212009e+02] [ 8.68251388e-01 4.96123157e-01 -1.15809626e-03 3.15912593e+02] [ 1.34432662e-03 -1.83789828e-05 9.99999096e-01 1.53586550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.23, Y:315.94, Z:1.54 [[ 4.94958477e-01 -8.68916360e-01 -6.81620583e-04 2.62225654e+02] [ 8.68915588e-01 4.94958946e-01 -1.15885571e-03 3.15936455e+02] [ 1.34432289e-03 -1.86852902e-05 9.99999096e-01 1.53643768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.24, Y:315.96, Z:1.54 [[ 4.93675355e-01 -8.69646007e-01 -6.82510183e-04 2.62239359e+02] [ 8.69645236e-01 4.93675826e-01 -1.15833154e-03 3.15961088e+02] [ 1.34427718e-03 -2.17019931e-05 9.99999096e-01 1.53655062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.25, Y:315.99, Z:1.54 [[ 4.91824577e-01 -8.70694045e-01 -6.82155100e-04 2.62251855e+02] [ 8.70693275e-01 4.91825049e-01 -1.15854062e-03 3.15986232e+02] [ 1.34423538e-03 -2.41491080e-05 9.99999096e-01 1.53626834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.27, Y:316.01, Z:1.54 [[ 4.91894910e-01 -8.70654313e-01 -6.81792523e-04 2.62267317e+02] [ 8.70653542e-01 4.91895382e-01 -1.15875395e-03 3.16012016e+02] [ 1.34424472e-03 -2.36199022e-05 9.99999096e-01 1.53703598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.28, Y:316.03, Z:1.54 [[ 4.91895481e-01 -8.70653987e-01 -6.86072863e-04 2.62278578e+02] [ 8.70653220e-01 4.91895959e-01 -1.15623352e-03 3.16033696e+02] [ 1.34415579e-03 -2.85855032e-05 9.99999096e-01 1.53630872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.29, Y:316.06, Z:1.54 [[ 4.89216010e-01 -8.72162396e-01 -6.71454253e-04 2.62291018e+02] [ 8.72161618e-01 4.89216470e-01 -1.16481713e-03 3.16060844e+02] [ 1.34439618e-03 -1.57694380e-05 9.99999096e-01 1.53551119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.30, Y:316.09, Z:1.54 [[ 4.88379019e-01 -8.72631349e-01 -6.80616404e-04 2.62304331e+02] [ 8.72630579e-01 4.88379492e-01 -1.15943875e-03 3.16085848e+02] [ 1.34416169e-03 -2.76811292e-05 9.99999096e-01 1.53525456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.32, Y:316.11, Z:1.53 [[ 4.87960304e-01 -8.72865556e-01 -6.80248246e-04 2.62316137e+02] [ 8.72864786e-01 4.87960778e-01 -1.15965471e-03 3.16110766e+02] [ 1.34415711e-03 -2.78992756e-05 9.99999096e-01 1.53411869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.33, Y:316.14, Z:1.53 [[ 4.87944230e-01 -8.72874542e-01 -6.79860529e-04 2.62328885e+02] [ 8.72873772e-01 4.87944703e-01 -1.15988197e-03 3.16135636e+02] [ 1.34416578e-03 -2.74747113e-05 9.99999096e-01 1.53370103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.34, Y:316.16, Z:1.53 [[ 4.88025849e-01 -8.72828912e-01 -6.79493695e-04 2.62341545e+02] [ 8.72828141e-01 4.88026321e-01 -1.16009683e-03 3.16160410e+02] [ 1.34417686e-03 -2.69239792e-05 9.99999096e-01 1.53308995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.652755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:262.36, Y:316.19, Z:1.53 [[ 4.91371875e-01 -8.70949608e-01 -6.79119656e-04 2.62361471e+02] [ 8.70948835e-01 4.91372344e-01 -1.16031575e-03 3.16188240e+02] [ 1.34427716e-03 -2.13319484e-05 9.99999096e-01 1.53295279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.37, Y:316.21, Z:1.53 [[ 4.88724226e-01 -8.72438045e-01 -6.98324375e-04 2.62365356e+02] [ 8.72437290e-01 4.88724723e-01 -1.14907033e-03 3.16210935e+02] [ 1.34378106e-03 -4.76657161e-05 9.99999096e-01 1.53299859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.38, Y:316.24, Z:1.53 [[ 4.88651444e-01 -8.72478829e-01 -6.78273806e-04 2.62378293e+02] [ 8.72478057e-01 4.88651914e-01 -1.16078633e-03 3.16235186e+02] [ 1.34420130e-03 -2.45590943e-05 9.99999096e-01 1.53334576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.39, Y:316.26, Z:1.53 [[ 4.88259906e-01 -8.72698003e-01 -6.77885127e-04 2.62391601e+02] [ 8.72697231e-01 4.88260376e-01 -1.16101327e-03 3.16260154e+02] [ 1.34419841e-03 -2.47122409e-05 9.99999096e-01 1.53356222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.40, Y:316.29, Z:1.53 [[ 4.87215085e-01 -8.73281743e-01 -6.77521876e-04 2.62403666e+02] [ 8.73280971e-01 4.87215555e-01 -1.16122521e-03 3.16286111e+02] [ 1.34417598e-03 -2.59005202e-05 9.99999096e-01 1.53320007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.42, Y:316.31, Z:1.53 [[ 4.86384586e-01 -8.73744572e-01 -6.77142002e-04 2.62415647e+02] [ 8.73743800e-01 4.86385056e-01 -1.16144669e-03 3.16310004e+02] [ 1.34415949e-03 -2.67388605e-05 9.99999096e-01 1.53286915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.43, Y:316.34, Z:1.53 [[ 4.84628971e-01 -8.74719557e-01 -6.76800509e-04 2.62426509e+02] [ 8.74718786e-01 4.84629442e-01 -1.16164565e-03 3.16336266e+02] [ 1.34411162e-03 -2.90429849e-05 9.99999096e-01 1.53252244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.44, Y:316.36, Z:1.53 [[ 4.83523744e-01 -8.75330984e-01 -6.76425082e-04 2.62438788e+02] [ 8.75330213e-01 4.83524216e-01 -1.16186422e-03 3.16361091e+02] [ 1.34408366e-03 -3.03063746e-05 9.99999096e-01 1.53204099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.45, Y:316.39, Z:1.53 [[ 4.82479367e-01 -8.75907075e-01 -6.76050269e-04 2.62451038e+02] [ 8.75906304e-01 4.82479839e-01 -1.16208227e-03 3.16385540e+02] [ 1.34405671e-03 -3.14759752e-05 9.99999096e-01 1.53163347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.46, Y:316.41, Z:1.53 [[ 4.81439913e-01 -8.76478838e-01 -6.75655814e-04 2.62464642e+02] [ 8.76478068e-01 4.81440386e-01 -1.16231157e-03 3.16411734e+02] [ 1.34402949e-03 -3.26143224e-05 9.99999096e-01 1.53023373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.48, Y:316.44, Z:1.53 [[ 4.79210854e-01 -8.77699546e-01 -6.80941424e-04 2.62475102e+02] [ 8.77698782e-01 4.79211336e-01 -1.15924074e-03 3.16437403e+02] [ 1.34377992e-03 -4.21407123e-05 9.99999096e-01 1.52997981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.49, Y:316.46, Z:1.53 [[ 4.77834313e-01 -8.78449722e-01 -6.74892760e-04 2.62487778e+02] [ 8.78448953e-01 4.77834789e-01 -1.16275155e-03 3.16462992e+02] [ 1.34390602e-03 -3.72562495e-05 9.99999096e-01 1.52953642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.50, Y:316.49, Z:1.53 [[ 4.74922606e-01 -8.80027308e-01 -6.74520987e-04 2.62498569e+02] [ 8.80026541e-01 4.74923083e-01 -1.16296718e-03 3.16489550e+02] [ 1.34378846e-03 -4.12769666e-05 9.99999096e-01 1.52867871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.51, Y:316.51, Z:1.53 [[ 4.74085397e-01 -8.80478608e-01 -6.76852796e-04 2.62510931e+02] [ 8.80477843e-01 4.74085878e-01 -1.16161574e-03 3.16513733e+02] [ 1.34366416e-03 -4.52488322e-05 9.99999096e-01 1.52909045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.52, Y:316.54, Z:1.53 [[ 4.72273230e-01 -8.81451951e-01 -6.73662501e-04 2.62522360e+02] [ 8.81451184e-01 4.72273709e-01 -1.16346297e-03 3.16537957e+02] [ 1.34368979e-03 -4.43281966e-05 9.99999096e-01 1.53016060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.54, Y:316.56, Z:1.53 [[ 4.71945779e-01 -8.81627318e-01 -6.73268695e-04 2.62536004e+02] [ 8.81626551e-01 4.71946257e-01 -1.16369081e-03 3.16562107e+02] [ 1.34368825e-03 -4.43725929e-05 9.99999096e-01 1.53019778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.55, Y:316.59, Z:1.53 [[ 4.71052869e-01 -8.82104723e-01 -6.72836345e-04 2.62549121e+02] [ 8.82103956e-01 4.71053347e-01 -1.16394074e-03 3.16587410e+02] [ 1.34365943e-03 -4.52339784e-05 9.99999096e-01 1.53165255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.56, Y:316.61, Z:1.53 [[ 4.70670289e-01 -8.82308917e-01 -6.73293715e-04 2.62561674e+02] [ 8.82308151e-01 4.70670768e-01 -1.16367651e-03 3.16611650e+02] [ 1.34362183e-03 -4.63445720e-05 9.99999096e-01 1.53226038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.57, Y:316.64, Z:1.53 [[ 4.70007008e-01 -8.82662427e-01 -6.72129471e-04 2.62572735e+02] [ 8.82661661e-01 4.70007486e-01 -1.16434858e-03 3.16637869e+02] [ 1.34363263e-03 -4.60109222e-05 9.99999096e-01 1.53196982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.59, Y:316.66, Z:1.53 [[ 4.71373809e-01 -8.81933260e-01 -6.76182770e-04 2.62585327e+02] [ 8.81932496e-01 4.71374292e-01 -1.16200988e-03 3.16661179e+02] [ 1.34355034e-03 -4.86065339e-05 9.99999096e-01 1.53219576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.60, Y:316.69, Z:1.53 [[ 4.71097742e-01 -8.82080760e-01 -6.71251402e-04 2.62597906e+02] [ 8.82079992e-01 4.71098219e-01 -1.16485161e-03 3.16686524e+02] [ 1.34371853e-03 -4.33384694e-05 9.99999096e-01 1.53175488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.61, Y:316.71, Z:1.53 [[ 4.75883199e-01 -8.79508229e-01 -6.75811906e-04 2.62609927e+02] [ 8.79507462e-01 4.75883677e-01 -1.16222498e-03 3.16709096e+02] [ 1.34379428e-03 -4.12982742e-05 9.99999096e-01 1.53058792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.62, Y:316.73, Z:1.53 [[ 4.77896283e-01 -8.78416014e-01 -6.70473960e-04 2.62622675e+02] [ 8.78415241e-01 4.77896753e-01 -1.16529626e-03 3.16732459e+02] [ 1.34403222e-03 -3.20637944e-05 9.99999096e-01 1.52990313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.64, Y:316.76, Z:1.53 [[ 4.82722509e-01 -8.75773104e-01 -6.70032929e-04 2.62635597e+02] [ 8.75772329e-01 4.82722974e-01 -1.16554979e-03 3.16757419e+02] [ 1.34419745e-03 -2.41591787e-05 9.99999096e-01 1.52874905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.65, Y:316.78, Z:1.53 [[ 4.85043756e-01 -8.74489626e-01 -6.69685887e-04 2.62648850e+02] [ 8.74488849e-01 4.85044218e-01 -1.16574916e-03 3.16781602e+02] [ 1.34426281e-03 -2.01934911e-05 9.99999096e-01 1.52844226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.66, Y:316.80, Z:1.53 [[ 4.87114287e-01 -8.73337978e-01 -6.69304803e-04 2.62661749e+02] [ 8.73337199e-01 4.87114747e-01 -1.16596791e-03 3.16804880e+02] [ 1.34431230e-03 -1.65691538e-05 9.99999096e-01 1.52813922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.68, Y:316.83, Z:1.53 [[ 4.88927474e-01 -8.72324182e-01 -6.68962279e-04 2.62675818e+02] [ 8.72323402e-01 4.88927931e-01 -1.16616440e-03 3.16829716e+02] [ 1.34434775e-03 -1.33816391e-05 9.99999096e-01 1.52818895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.69, Y:316.85, Z:1.53 [[ 4.91268421e-01 -8.71007974e-01 -6.68594219e-04 2.62690385e+02] [ 8.71007193e-01 4.91268876e-01 -1.16637538e-03 3.16854526e+02] [ 1.34438179e-03 -9.34698371e-06 9.99999096e-01 1.52776678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.70, Y:316.88, Z:1.53 [[ 4.91541599e-01 -8.70853838e-01 -6.70301888e-04 2.62704381e+02] [ 8.70853058e-01 4.91542056e-01 -1.16539702e-03 3.16878129e+02] [ 1.34437204e-03 -1.08933323e-05 9.99999096e-01 1.52769996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.72, Y:316.90, Z:1.53 [[ 4.90881748e-01 -8.71225954e-01 -6.67932771e-04 2.62719243e+02] [ 8.71225173e-01 4.90882202e-01 -1.16675328e-03 3.16900419e+02] [ 1.34438205e-03 -9.18195637e-06 9.99999096e-01 1.52834179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.73, Y:316.92, Z:1.53 [[ 4.89901356e-01 -8.71777618e-01 -6.67549268e-04 2.62734306e+02] [ 8.71776837e-01 4.89901811e-01 -1.16697265e-03 3.16924612e+02] [ 1.34437424e-03 -1.02525046e-05 9.99999096e-01 1.52871308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.75, Y:316.95, Z:1.53 [[ 4.88720446e-01 -8.72440187e-01 -6.67190488e-04 2.62748783e+02] [ 8.72439406e-01 4.88720902e-01 -1.16717774e-03 3.16948194e+02] [ 1.34436270e-03 -1.16596461e-05 9.99999096e-01 1.52901741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.76, Y:316.97, Z:1.53 [[ 4.87371695e-01 -8.73194358e-01 -6.66824114e-04 2.62763306e+02] [ 8.73193577e-01 4.87372151e-01 -1.16738702e-03 3.16970412e+02] [ 1.34434726e-03 -1.33151437e-05 9.99999096e-01 1.52949681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.78, Y:316.99, Z:1.53 [[ 4.87801852e-01 -8.72954130e-01 -6.64156832e-04 2.62778637e+02] [ 8.72953347e-01 4.87802304e-01 -1.16890957e-03 3.16993146e+02] [ 1.34438167e-03 -9.58167507e-06 9.99999096e-01 1.53036816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.80, Y:317.02, Z:1.53 [[ 4.89539582e-01 -8.71980827e-01 -6.60347325e-04 2.62800630e+02] [ 8.71980040e-01 4.89540027e-01 -1.17108656e-03 3.17021441e+02] [ 1.34443148e-03 -2.51645980e-06 9.99999096e-01 1.53137127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.81, Y:317.04, Z:1.53 [[ 4.88411091e-01 -8.72613392e-01 -6.88859586e-04 2.62810264e+02] [ 8.72612629e-01 4.88411576e-01 -1.15470441e-03 3.17039960e+02] [ 1.34405753e-03 -3.71371338e-05 9.99999096e-01 1.53242593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.83, Y:317.06, Z:1.53 [[ 4.89074123e-01 -8.72241975e-01 -6.63785606e-04 2.62825188e+02] [ 8.72241191e-01 4.89074573e-01 -1.16906723e-03 3.17062450e+02] [ 1.34435017e-03 -7.22061764e-06 9.99999096e-01 1.52999975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.84, Y:317.09, Z:1.53 [[ 4.88082296e-01 -8.72797363e-01 -6.60408337e-04 2.62840831e+02] [ 8.72796577e-01 4.88082743e-01 -1.17100143e-03 3.17088099e+02] [ 1.34438088e-03 -4.85706646e-06 9.99999096e-01 1.53125149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.86, Y:317.11, Z:1.53 [[ 4.85844357e-01 -8.74045087e-01 -6.67980934e-04 2.62855599e+02] [ 8.74044309e-01 4.85844816e-01 -1.16666570e-03 3.17112329e+02] [ 1.34425350e-03 -1.70269853e-05 9.99999096e-01 1.52959812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.87, Y:317.14, Z:1.53 [[ 4.86105486e-01 -8.73899887e-01 -6.66649895e-04 2.62871504e+02] [ 8.73899107e-01 4.86105943e-01 -1.16742745e-03 3.17135253e+02] [ 1.34427719e-03 -1.50918610e-05 9.99999096e-01 1.52992178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.89, Y:317.16, Z:1.53 [[ 4.85533719e-01 -8.74217686e-01 -6.67531403e-04 2.62886979e+02] [ 8.74216907e-01 4.85534177e-01 -1.16692319e-03 3.17159148e+02] [ 1.34425420e-03 -1.69866840e-05 9.99999096e-01 1.52985138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.90, Y:317.18, Z:1.53 [[ 4.84895243e-01 -8.74571986e-01 -6.67166404e-04 2.62903774e+02] [ 8.74571207e-01 4.84895702e-01 -1.16713183e-03 3.17181180e+02] [ 1.34424692e-03 -1.75478544e-05 9.99999096e-01 1.52936910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.92, Y:317.21, Z:1.53 [[ 4.83413210e-01 -8.75392040e-01 -6.66900775e-04 2.62918297e+02] [ 8.75391262e-01 4.83413670e-01 -1.16728359e-03 3.17205060e+02] [ 1.34421972e-03 -1.95188020e-05 9.99999096e-01 1.52892728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.93, Y:317.23, Z:1.53 [[ 4.82803107e-01 -8.75728677e-01 -6.66175633e-04 2.62934190e+02] [ 8.75727899e-01 4.82803566e-01 -1.16769759e-03 3.17228817e+02] [ 1.34421824e-03 -1.96205647e-05 9.99999096e-01 1.52880065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.95, Y:317.25, Z:1.53 [[ 4.81339686e-01 -8.76533890e-01 -6.67856502e-04 2.62951290e+02] [ 8.76533114e-01 4.81340149e-01 -1.16673890e-03 3.17251905e+02] [ 1.34415234e-03 -2.38006030e-05 9.99999096e-01 1.52767072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.97, Y:317.27, Z:1.53 [[ 4.81346327e-01 -8.76530244e-01 -6.66469151e-04 2.62967147e+02] [ 8.76529467e-01 4.81346788e-01 -1.16752945e-03 3.17274063e+02] [ 1.34417766e-03 -2.21938359e-05 9.99999096e-01 1.52876496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:262.98, Y:317.30, Z:1.53 [[ 4.80529104e-01 -8.76978528e-01 -6.65329546e-04 2.62984299e+02] [ 8.76977750e-01 4.80529564e-01 -1.16817851e-03 3.17296066e+02] [ 1.34417798e-03 -2.21354366e-05 9.99999096e-01 1.52925491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.00, Y:317.32, Z:1.53 [[ 4.81018804e-01 -8.76710025e-01 -6.64973107e-04 2.62998654e+02] [ 8.76709247e-01 4.81019264e-01 -1.16838137e-03 3.17316589e+02] [ 1.34419654e-03 -2.09746612e-05 9.99999096e-01 1.52983612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.092755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:263.01, Y:317.34, Z:1.53 [[ 4.79831389e-01 -8.77360476e-01 -6.58941544e-04 2.63014230e+02] [ 8.77359693e-01 4.79831841e-01 -1.17181046e-03 3.17341144e+02] [ 1.34428132e-03 -1.58573094e-05 9.99999096e-01 1.52881204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.03, Y:317.36, Z:1.53 [[ 4.80283272e-01 -8.77113184e-01 -6.64318812e-04 2.63029152e+02] [ 8.77112406e-01 4.80283730e-01 -1.16875403e-03 3.17364099e+02] [ 1.34419108e-03 -2.13492633e-05 9.99999096e-01 1.52877352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.04, Y:317.39, Z:1.53 [[ 4.80190745e-01 -8.77163845e-01 -6.60958313e-04 2.63044680e+02] [ 8.77163064e-01 4.80191200e-01 -1.17066256e-03 3.17386006e+02] [ 1.34424924e-03 -1.76268912e-05 9.99999096e-01 1.52807830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.06, Y:317.41, Z:1.53 [[ 4.80937206e-01 -8.76754791e-01 -6.63651386e-04 2.63061401e+02] [ 8.76754012e-01 4.80937664e-01 -1.16913386e-03 3.17409069e+02] [ 1.34421866e-03 -1.95790441e-05 9.99999096e-01 1.52745885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.08, Y:317.43, Z:1.53 [[ 4.80988303e-01 -8.76726760e-01 -6.63286042e-04 2.63075954e+02] [ 8.76725981e-01 4.80988760e-01 -1.16934109e-03 3.17431621e+02] [ 1.34422576e-03 -1.90807180e-05 9.99999096e-01 1.52794263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.09, Y:317.46, Z:1.53 [[ 4.81065576e-01 -8.76684363e-01 -6.62900768e-04 2.63090835e+02] [ 8.76683583e-01 4.81066032e-01 -1.16955946e-03 3.17455060e+02] [ 1.34423353e-03 -1.85194240e-05 9.99999096e-01 1.52737846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.11, Y:317.48, Z:1.53 [[ 4.81147009e-01 -8.76639673e-01 -6.62536378e-04 2.63105550e+02] [ 8.76638893e-01 4.81147465e-01 -1.16976585e-03 3.17477639e+02] [ 1.34424085e-03 -1.79758179e-05 9.99999096e-01 1.52788356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.12, Y:317.50, Z:1.53 [[ 4.81073764e-01 -8.76679870e-01 -6.62152102e-04 2.63121310e+02] [ 8.76679090e-01 4.81074220e-01 -1.16998333e-03 3.17498893e+02] [ 1.34424514e-03 -1.76466180e-05 9.99999096e-01 1.52736853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.14, Y:317.52, Z:1.53 [[ 4.81433415e-01 -8.76482418e-01 -6.61753794e-04 2.63136767e+02] [ 8.76481637e-01 4.81433870e-01 -1.17020857e-03 3.17522262e+02] [ 1.34425793e-03 -1.66375392e-05 9.99999096e-01 1.52721473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.16, Y:317.55, Z:1.53 [[ 4.83670573e-01 -8.75249873e-01 -6.61386369e-04 2.63157990e+02] [ 8.75249090e-01 4.83671025e-01 -1.17041620e-03 3.17547614e+02] [ 1.34430005e-03 -1.27819445e-05 9.99999096e-01 1.52682052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.17, Y:317.57, Z:1.53 [[ 4.82413086e-01 -8.75943582e-01 -6.74552315e-04 2.63168941e+02] [ 8.75942811e-01 4.82413557e-01 -1.16297631e-03 3.17568559e+02] [ 1.34411482e-03 -2.98342580e-05 9.99999096e-01 1.52718970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.19, Y:317.59, Z:1.53 [[ 4.83078856e-01 -8.75576600e-01 -6.60541424e-04 2.63185791e+02] [ 8.75575817e-01 4.83079308e-01 -1.17088043e-03 3.17590554e+02] [ 1.34428940e-03 -1.27265192e-05 9.99999096e-01 1.52721784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.20, Y:317.61, Z:1.53 [[ 4.82907050e-01 -8.75671369e-01 -6.60163921e-04 2.63200850e+02] [ 8.75670586e-01 4.82907501e-01 -1.17109323e-03 3.17613767e+02] [ 1.34429092e-03 -1.25569496e-05 9.99999096e-01 1.52734452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.22, Y:317.64, Z:1.53 [[ 4.82569623e-01 -8.75857365e-01 -6.59802717e-04 2.63216093e+02] [ 8.75856582e-01 4.82570074e-01 -1.17129670e-03 3.17637037e+02] [ 1.34428989e-03 -1.26603439e-05 9.99999096e-01 1.52749637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.23, Y:317.66, Z:1.53 [[ 4.81460252e-01 -8.76467678e-01 -6.59441982e-04 2.63230352e+02] [ 8.76466896e-01 4.81460703e-01 -1.17149976e-03 3.17660760e+02] [ 1.34427708e-03 -1.39484960e-05 9.99999096e-01 1.52760729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:263.25, Y:317.68, Z:1.53 [[ 4.80627264e-01 -8.76924741e-01 -6.57624356e-04 2.63246545e+02] [ 8.76923957e-01 4.80627714e-01 -1.17252224e-03 3.17684157e+02] [ 1.34428626e-03 -1.31403936e-05 9.99999096e-01 1.52661570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.26, Y:317.71, Z:1.53 [[ 4.82135969e-01 -8.76096158e-01 -6.54843487e-04 2.63262327e+02] [ 8.76095371e-01 4.82136414e-01 -1.17408404e-03 3.17706818e+02] [ 1.34433441e-03 -7.63719999e-06 9.99999096e-01 1.52827952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.27, Y:317.73, Z:1.53 [[ 4.82175444e-01 -8.76074433e-01 -6.54667665e-04 2.63274678e+02] [ 8.76073646e-01 4.82175889e-01 -1.17418272e-03 3.17732948e+02] [ 1.34433643e-03 -7.37501312e-06 9.99999096e-01 1.52937945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.29, Y:317.76, Z:1.53 [[ 4.82478326e-01 -8.75907663e-01 -6.56121255e-04 2.63287105e+02] [ 8.75906877e-01 4.82478772e-01 -1.17336697e-03 3.17756781e+02] [ 1.34432570e-03 -8.57698772e-06 9.99999096e-01 1.52714366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.30, Y:317.78, Z:1.53 [[ 4.83594230e-01 -8.75292064e-01 -6.51165175e-04 2.63302075e+02] [ 8.75291274e-01 4.83594668e-01 -1.17614282e-03 3.17780186e+02] [ 1.34436848e-03 -1.18331628e-06 9.99999096e-01 1.52877496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.32, Y:317.81, Z:1.53 [[ 4.83598386e-01 -8.75289763e-01 -6.56744928e-04 2.63316441e+02] [ 8.75288977e-01 4.83598832e-01 -1.17301885e-03 3.17806767e+02] [ 1.34433247e-03 -7.57157480e-06 9.99999096e-01 1.52782663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.33, Y:317.83, Z:1.53 [[ 4.82358220e-01 -8.75973807e-01 -6.61800957e-04 2.63328432e+02] [ 8.75973025e-01 4.82358674e-01 -1.17018883e-03 3.17830990e+02] [ 1.34428019e-03 -1.52695878e-05 9.99999096e-01 1.52722580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.34, Y:317.85, Z:1.53 [[ 4.82755022e-01 -8.75755193e-01 -6.56113781e-04 2.63341020e+02] [ 8.75754407e-01 4.82755468e-01 -1.17336932e-03 3.17853478e+02] [ 1.34432679e-03 -8.14460313e-06 9.99999096e-01 1.52748004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.35, Y:317.88, Z:1.53 [[ 4.82292131e-01 -8.76010204e-01 -6.50331681e-04 2.63354714e+02] [ 8.76009414e-01 4.82292570e-01 -1.17660205e-03 3.17879485e+02] [ 1.34436554e-03 -2.23076452e-06 9.99999096e-01 1.52603649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.37, Y:317.90, Z:1.53 [[ 4.81452409e-01 -8.76471989e-01 -6.56020679e-04 2.63368000e+02] [ 8.76471203e-01 4.81452856e-01 -1.17342152e-03 3.17904230e+02] [ 1.34431412e-03 -1.00366161e-05 9.99999096e-01 1.52654949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.38, Y:317.93, Z:1.53 [[ 4.79075770e-01 -8.77773306e-01 -6.55631233e-04 2.63379143e+02] [ 8.77772522e-01 4.79076218e-01 -1.17363908e-03 3.17928524e+02] [ 1.34428638e-03 -1.32330361e-05 9.99999096e-01 1.52553363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.872755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:263.39, Y:317.95, Z:1.52 [[ 4.77262343e-01 -8.78760620e-01 -6.55283517e-04 2.63391741e+02] [ 8.78759836e-01 4.77262792e-01 -1.17383319e-03 3.17952740e+02] [ 1.34426082e-03 -1.56104596e-05 9.99999096e-01 1.52455801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.40, Y:317.98, Z:1.53 [[ 4.75897306e-01 -8.79500611e-01 -6.54878158e-04 2.63404054e+02] [ 8.79499828e-01 4.75897757e-01 -1.17405929e-03 3.17976951e+02] [ 1.34424091e-03 -1.72335720e-05 9.99999096e-01 1.52571622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.42, Y:318.00, Z:1.52 [[ 4.72991903e-01 -8.81066531e-01 -6.54494280e-04 2.63415875e+02] [ 8.81065749e-01 4.72992355e-01 -1.17427325e-03 3.18002326e+02] [ 1.34418365e-03 -2.12307536e-05 9.99999096e-01 1.52416338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.43, Y:318.03, Z:1.52 [[ 4.72935418e-01 -8.81096852e-01 -6.53814470e-04 2.63432475e+02] [ 8.81096069e-01 4.72935870e-01 -1.17465189e-03 3.18028089e+02] [ 1.34419440e-03 -2.05388755e-05 9.99999096e-01 1.52402218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.45, Y:318.05, Z:1.52 [[ 4.72622694e-01 -8.81264631e-01 -6.62154580e-04 2.63445693e+02] [ 8.81263855e-01 4.72623157e-01 -1.17000891e-03 3.18052312e+02] [ 1.34403706e-03 -3.05601364e-05 9.99999096e-01 1.52406211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.46, Y:318.07, Z:1.53 [[ 4.69675255e-01 -8.82839009e-01 -6.61828418e-04 2.63456100e+02] [ 8.82838235e-01 4.69675720e-01 -1.17019036e-03 3.18074695e+02] [ 1.34393443e-03 -3.46779770e-05 9.99999096e-01 1.52679929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.47, Y:318.10, Z:1.53 [[ 4.68677954e-01 -8.83368864e-01 -6.53010501e-04 2.63469338e+02] [ 8.83368082e-01 4.68678408e-01 -1.17509057e-03 3.18099111e+02] [ 1.34409034e-03 -2.61095904e-05 9.99999096e-01 1.52697285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.48, Y:318.12, Z:1.53 [[ 4.67986660e-01 -8.83735289e-01 -6.52645772e-04 2.63482987e+02] [ 8.83734507e-01 4.67987114e-01 -1.17529310e-03 3.18124146e+02] [ 1.34407780e-03 -2.67440952e-05 9.99999096e-01 1.52717853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.50, Y:318.15, Z:1.53 [[ 4.67619639e-01 -8.83929549e-01 -6.52282203e-04 2.63495917e+02] [ 8.83928768e-01 4.67620094e-01 -1.17549485e-03 3.18148191e+02] [ 1.34407490e-03 -2.68865260e-05 9.99999096e-01 1.52838936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.51, Y:318.17, Z:1.53 [[ 4.67731598e-01 -8.83870312e-01 -6.51898876e-04 2.63509411e+02] [ 8.83869530e-01 4.67732051e-01 -1.17570739e-03 3.18172945e+02] [ 1.34408686e-03 -2.62780548e-05 9.99999096e-01 1.52893201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.52, Y:318.20, Z:1.53 [[ 4.68815397e-01 -8.83295930e-01 -6.51542408e-04 2.63524552e+02] [ 8.83295147e-01 4.68815849e-01 -1.17590490e-03 3.18197723e+02] [ 1.34412542e-03 -2.42219233e-05 9.99999096e-01 1.52820568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.54, Y:318.22, Z:1.53 [[ 4.69394338e-01 -8.82988404e-01 -6.58293259e-04 2.63536194e+02] [ 8.82987627e-01 4.69394799e-01 -1.17216464e-03 3.18222034e+02] [ 1.34400722e-03 -3.10573555e-05 9.99999096e-01 1.52926218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.55, Y:318.25, Z:1.53 [[ 4.69347238e-01 -8.83013443e-01 -6.55376609e-04 2.63547746e+02] [ 8.83012663e-01 4.69347695e-01 -1.17377917e-03 3.18245179e+02] [ 1.34406228e-03 -2.77958352e-05 9.99999096e-01 1.53016021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.56, Y:318.27, Z:1.53 [[ 4.70387119e-01 -8.82459934e-01 -6.50579243e-04 2.63560398e+02] [ 8.82459150e-01 4.70387569e-01 -1.17643216e-03 3.18267756e+02] [ 1.34417863e-03 -2.07310719e-05 9.99999096e-01 1.53018470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.57, Y:318.29, Z:1.53 [[ 4.70507469e-01 -8.82395772e-01 -6.50168507e-04 2.63573693e+02] [ 8.82394988e-01 4.70507918e-01 -1.17665911e-03 3.18291775e+02] [ 1.34418846e-03 -2.00785305e-05 9.99999096e-01 1.53055873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.59, Y:318.32, Z:1.53 [[ 4.70794591e-01 -8.82242615e-01 -6.49784292e-04 2.63588788e+02] [ 8.82241830e-01 4.70795039e-01 -1.17687125e-03 3.18317078e+02] [ 1.34420119e-03 -1.92022643e-05 9.99999096e-01 1.52953921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.60, Y:318.34, Z:1.53 [[ 4.68555080e-01 -8.83434042e-01 -6.56463306e-04 2.63598609e+02] [ 8.83433263e-01 4.68555539e-01 -1.17318418e-03 3.18339274e+02] [ 1.34402036e-03 -3.02401128e-05 9.99999096e-01 1.52701112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:263.61, Y:318.36, Z:1.53 [[ 4.68068699e-01 -8.83691842e-01 -6.49499847e-04 2.63613559e+02] [ 8.83691058e-01 4.68069149e-01 -1.17702309e-03 3.18363868e+02] [ 1.34413655e-03 -2.30295391e-05 9.99999096e-01 1.53052541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.63, Y:318.39, Z:1.53 [[ 4.65967718e-01 -8.84801480e-01 -6.52868567e-04 2.63626817e+02] [ 8.84800700e-01 4.65968175e-01 -1.17516670e-03 3.18386008e+02] [ 1.34400521e-03 -3.00688183e-05 9.99999096e-01 1.53167886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.64, Y:318.41, Z:1.53 [[ 4.65400665e-01 -8.85099882e-01 -6.48469097e-04 2.63641337e+02] [ 8.85099099e-01 4.65401116e-01 -1.17758938e-03 3.18409692e+02] [ 1.34408246e-03 -2.59085321e-05 9.99999096e-01 1.53124659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.65, Y:318.43, Z:1.53 [[ 4.64027861e-01 -8.85820368e-01 -6.48096564e-04 2.63653540e+02] [ 8.85819586e-01 4.64028312e-01 -1.17779437e-03 3.18433354e+02] [ 1.34404940e-03 -2.75672271e-05 9.99999096e-01 1.53152874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.66, Y:318.46, Z:1.53 [[ 4.62683656e-01 -8.86523217e-01 -6.47826159e-04 2.63664588e+02] [ 8.86522435e-01 4.62684109e-01 -1.17794308e-03 3.18456734e+02] [ 1.34401276e-03 -2.92974113e-05 9.99999096e-01 1.52779267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.68, Y:318.48, Z:1.53 [[ 4.63045536e-01 -8.86334259e-01 -6.42358084e-04 2.63681908e+02] [ 8.86333473e-01 4.63045981e-01 -1.18094716e-03 3.18482556e+02] [ 1.34415526e-03 -2.25111603e-05 9.99999096e-01 1.52987160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:263.69, Y:318.51, Z:1.53 [[ 4.63238733e-01 -8.86233289e-01 -6.58410095e-04 2.63693402e+02] [ 8.86232515e-01 4.63239199e-01 -1.17211627e-03 3.18505385e+02] [ 1.34376983e-03 -4.05347779e-05 9.99999096e-01 1.52974656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.592755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:263.71, Y:318.53, Z:1.53 [[ 4.65246657e-01 -8.85180846e-01 -6.47170419e-04 2.63705399e+02] [ 8.85180062e-01 4.65247107e-01 -1.17828962e-03 3.18526644e+02] [ 1.34409356e-03 -2.46670459e-05 9.99999096e-01 1.53059469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.622755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:263.72, Y:318.55, Z:1.53 [[ 4.64595383e-01 -8.85522853e-01 -6.37343477e-04 2.63718665e+02] [ 8.85522062e-01 4.64595820e-01 -1.18367709e-03 3.18551757e+02] [ 1.34428023e-03 -1.44507995e-05 9.99999096e-01 1.53104173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.652755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:263.73, Y:318.58, Z:1.53 [[ 4.63629799e-01 -8.86028780e-01 -6.41162737e-04 2.63731750e+02] [ 8.86027992e-01 4.63630242e-01 -1.18158518e-03 3.18577362e+02] [ 1.34418091e-03 -2.02700317e-05 9.99999096e-01 1.52927567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.682755096 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:263.74, Y:318.60, Z:1.53 [[ 4.60535178e-01 -8.87641215e-01 -6.50713469e-04 2.63743245e+02] [ 8.87640436e-01 4.60535636e-01 -1.17635322e-03 3.18604187e+02] [ 1.34385634e-03 -3.58475472e-05 9.99999096e-01 1.53192084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.712755096 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:263.76, Y:318.63, Z:1.53 [[ 4.61770432e-01 -8.86999235e-01 -6.52668082e-04 2.63756254e+02] [ 8.86998457e-01 4.61770892e-01 -1.17529350e-03 3.18628405e+02] [ 1.34386756e-03 -3.61997936e-05 9.99999096e-01 1.52987198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.742755096 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:263.77, Y:318.65, Z:1.53 [[ 4.62554576e-01 -8.86590576e-01 -6.44029270e-04 2.63769823e+02] [ 8.86589791e-01 4.62555023e-01 -1.17997429e-03 3.18653084e+02] [ 1.34405306e-03 -2.51872696e-05 9.99999096e-01 1.53246297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.772755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:263.78, Y:318.68, Z:1.53 [[ 4.63977398e-01 -8.85846802e-01 -6.46121088e-04 2.63782906e+02] [ 8.85846018e-01 4.63977847e-01 -1.17883992e-03 3.18676201e+02] [ 1.34405744e-03 -2.54087152e-05 9.99999096e-01 1.53252222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.802755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:263.80, Y:318.70, Z:1.53 [[ 4.65472591e-01 -8.85062064e-01 -6.40334286e-04 2.63799134e+02] [ 8.85061275e-01 4.65473031e-01 -1.18197491e-03 3.18702639e+02] [ 1.34417950e-03 -1.65581543e-05 9.99999096e-01 1.53295620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.832755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:263.81, Y:318.73, Z:1.53 [[ 4.65778437e-01 -8.84901140e-01 -6.48993540e-04 2.63813356e+02] [ 8.84900357e-01 4.65778888e-01 -1.17728677e-03 3.18728218e+02] [ 1.34406989e-03 -2.59398242e-05 9.99999096e-01 1.53260908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.862755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:263.82, Y:318.75, Z:1.53 [[ 4.64694518e-01 -8.85470825e-01 -6.50992556e-04 2.63823001e+02] [ 8.85470044e-01 4.64694973e-01 -1.17620538e-03 3.18750282e+02] [ 1.34400852e-03 -2.98582143e-05 9.99999096e-01 1.53274809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.892755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.84, Y:318.78, Z:1.53 [[ 4.65515918e-01 -8.85039277e-01 -6.38821185e-04 2.63838976e+02] [ 8.85038487e-01 4.65516356e-01 -1.18277916e-03 3.18776660e+02] [ 1.34418772e-03 -1.47788077e-05 9.99999097e-01 1.53315539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9227550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:263.85, Y:318.80, Z:1.53 [[ 4.65920978e-01 -8.84826098e-01 -6.47557360e-04 2.63854182e+02] [ 8.84825314e-01 4.65921427e-01 -1.17806434e-03 3.18802681e+02] [ 1.34409292e-03 -2.40902568e-05 9.99999096e-01 1.53173282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.952755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:263.86, Y:318.82, Z:1.53 [[ 4.63215628e-01 -8.86245370e-01 -6.52782033e-04 2.63863060e+02] [ 8.86244592e-01 4.63216086e-01 -1.17524568e-03 3.18823930e+02] [ 1.34393518e-03 -3.41323815e-05 9.99999096e-01 1.53376199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.982755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:263.88, Y:318.85, Z:1.53 [[ 4.62538058e-01 -8.86599198e-01 -6.37463287e-04 2.63876834e+02] [ 8.86598409e-01 4.62538497e-01 -1.18349677e-03 3.18848796e+02] [ 1.34413860e-03 -1.77616384e-05 9.99999097e-01 1.53410268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.012755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:263.89, Y:318.87, Z:1.53 [[ 4.61683001e-01 -8.87044757e-01 -6.37098260e-04 2.63890640e+02] [ 8.87043967e-01 4.61683441e-01 -1.18369324e-03 3.18873235e+02] [ 1.34412660e-03 -1.86431213e-05 9.99999097e-01 1.53478346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0427550960001 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:263.91, Y:318.90, Z:1.53 [[ 4.61135700e-01 -8.87329398e-01 -6.36727715e-04 2.63905723e+02] [ 8.87328609e-01 4.61136139e-01 -1.18389253e-03 3.18898876e+02] [ 1.34412080e-03 -1.90516094e-05 9.99999097e-01 1.53340513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.072755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:263.92, Y:318.92, Z:1.54 [[ 4.59793237e-01 -8.88025770e-01 -6.42100565e-04 2.63917033e+02] [ 8.88024985e-01 4.59793684e-01 -1.18100328e-03 3.18922350e+02] [ 1.34399513e-03 -2.71840248e-05 9.99999097e-01 1.53603919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.102755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:263.94, Y:318.95, Z:1.53 [[ 4.62212188e-01 -8.86769129e-01 -6.36171543e-04 2.63937120e+02] [ 8.86768339e-01 4.62212626e-01 -1.18418848e-03 3.18950837e+02] [ 1.34414830e-03 -1.67904344e-05 9.99999097e-01 1.53312580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.132755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:263.95, Y:318.98, Z:1.53 [[ 4.60207938e-01 -8.87810915e-01 -6.58716753e-04 2.63949350e+02] [ 8.87810142e-01 4.60208407e-01 -1.17206561e-03 3.18976280e+02] [ 1.34371963e-03 -4.54215164e-05 9.99999096e-01 1.53358902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.162755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:263.96, Y:319.00, Z:1.54 [[ 4.60049665e-01 -8.87892938e-01 -6.61070221e-04 2.63960627e+02] [ 8.87892167e-01 4.60050137e-01 -1.17080124e-03 3.18999557e+02] [ 1.34367160e-03 -4.83323526e-05 9.99999096e-01 1.53546474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.192755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:263.97, Y:319.03, Z:1.54 [[ 4.59114454e-01 -8.88376889e-01 -6.48909742e-04 2.63973171e+02] [ 8.88376110e-01 4.59114911e-01 -1.17730728e-03 3.19025629e+02] [ 1.34381671e-03 -3.59571257e-05 9.99999096e-01 1.53644526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.222755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:263.98, Y:319.05, Z:1.54 [[ 4.58410501e-01 -8.88740339e-01 -6.49158318e-04 2.63984215e+02] [ 8.88739561e-01 4.58410960e-01 -1.17717442e-03 3.19049496e+02] [ 1.34378368e-03 -3.73035610e-05 9.99999096e-01 1.53677470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.252755096 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:263.99, Y:319.07, Z:1.54 [[ 4.58133633e-01 -8.88883096e-01 -6.44770384e-04 2.63993447e+02] [ 8.88882314e-01 4.58134086e-01 -1.17952152e-03 3.19070534e+02] [ 1.34384803e-03 -3.27465102e-05 9.99999097e-01 1.53763209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.282755096 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:264.00, Y:319.09, Z:1.54 [[ 4.58595112e-01 -8.88645108e-01 -6.28676474e-04 2.64004361e+02] [ 8.88644314e-01 4.58595543e-01 -1.18811021e-03 3.19092979e+02] [ 1.34411656e-03 -1.38082382e-05 9.99999097e-01 1.53643117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.312755096 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:264.02, Y:319.12, Z:1.54 [[ 4.57618569e-01 -8.89148388e-01 -6.23569651e-04 2.64016612e+02] [ 8.89147591e-01 4.57618994e-01 -1.19083190e-03 3.19118296e+02] [ 1.34418358e-03 -9.49866273e-06 9.99999097e-01 1.53608945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.342755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:264.03, Y:319.14, Z:1.54 [[ 4.57122161e-01 -8.89403694e-01 -6.31384761e-04 2.64029304e+02] [ 8.89402903e-01 4.57122597e-01 -1.18666705e-03 3.19143079e+02] [ 1.34404630e-03 -1.91036349e-05 9.99999097e-01 1.53654578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.372755096 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:264.05, Y:319.17, Z:1.54 [[ 4.59385348e-01 -8.88236851e-01 -6.31952202e-04 2.64045788e+02] [ 8.88236058e-01 4.59385782e-01 -1.18636478e-03 3.19168061e+02] [ 1.34408278e-03 -1.63241341e-05 9.99999097e-01 1.53563828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.402755096 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:264.05, Y:319.19, Z:1.53 [[ 4.57691959e-01 -8.89110601e-01 -6.40085790e-04 2.64054149e+02] [ 8.89109816e-01 4.57692406e-01 -1.18203265e-03 3.19190877e+02] [ 1.34392017e-03 -2.80997187e-05 9.99999097e-01 1.53425042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.432755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:264.07, Y:319.22, Z:1.54 [[ 4.56617262e-01 -8.89663016e-01 -6.28087980e-04 2.64065923e+02] [ 8.89662222e-01 4.56617694e-01 -1.18841292e-03 3.19215687e+02] [ 1.34408311e-03 -1.61362936e-05 9.99999097e-01 1.53574117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.462755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:264.08, Y:319.24, Z:1.54 [[ 4.55631870e-01 -8.90168077e-01 -6.27574747e-04 2.64082383e+02] [ 8.90167284e-01 4.55632302e-01 -1.18868576e-03 3.19244831e+02] [ 1.34407344e-03 -1.70433918e-05 9.99999097e-01 1.53697188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.492755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:264.10, Y:319.27, Z:1.54 [[ 4.54554541e-01 -8.90718672e-01 -6.45554439e-04 2.64095370e+02] [ 8.90717893e-01 4.54554997e-01 -1.17915578e-03 3.19270011e+02] [ 1.34373607e-03 -3.90162739e-05 9.99999096e-01 1.53842628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.522755096 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:264.11, Y:319.29, Z:1.54 [[ 4.53152868e-01 -8.91432591e-01 -6.43751249e-04 2.64107247e+02] [ 8.91431811e-01 4.53153323e-01 -1.18011068e-03 3.19293530e+02] [ 1.34370714e-03 -3.90898015e-05 9.99999097e-01 1.53922719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.552755096 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:264.12, Y:319.32, Z:1.54 [[ 4.52480102e-01 -8.91774269e-01 -6.41345908e-04 2.64120145e+02] [ 8.91773487e-01 4.52480555e-01 -1.18138382e-03 3.19318772e+02] [ 1.34372425e-03 -3.73826054e-05 9.99999097e-01 1.53998926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.582755096 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:264.13, Y:319.34, Z:1.54 [[ 4.51260559e-01 -8.92392011e-01 -6.38397954e-04 2.64132718e+02] [ 8.92391227e-01 4.51261009e-01 -1.18294061e-03 3.19344187e+02] [ 1.34373086e-03 -3.58862909e-05 9.99999097e-01 1.54078774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.612755096 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:264.15, Y:319.37, Z:1.54 [[ 4.51053983e-01 -8.92496441e-01 -6.37983984e-04 2.64146086e+02] [ 8.92495658e-01 4.51054432e-01 -1.18315897e-03 3.19369552e+02] [ 1.34373067e-03 -3.57293714e-05 9.99999097e-01 1.54143251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.642755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:264.15, Y:319.39, Z:1.54 [[ 4.49330893e-01 -8.93365178e-01 -6.38489858e-04 2.64154952e+02] [ 8.93364396e-01 4.49331345e-01 -1.18289227e-03 3.19391684e+02] [ 1.34364827e-03 -3.88940650e-05 9.99999097e-01 1.54236170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6727550960001 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:264.17, Y:319.42, Z:1.54 [[ 4.49270709e-01 -8.93395455e-01 -6.26052178e-04 2.64169819e+02] [ 8.93394663e-01 4.49271144e-01 -1.18943875e-03 3.19418300e+02] [ 1.34390636e-03 -2.49316825e-05 9.99999097e-01 1.54167302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.702755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:264.19, Y:319.45, Z:1.54 [[ 4.50230153e-01 -8.92912318e-01 -6.33737113e-04 2.64186673e+02] [ 8.92911532e-01 4.50230598e-01 -1.18539391e-03 3.19445404e+02] [ 1.34378066e-03 -3.21710970e-05 9.99999097e-01 1.53970574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.732755096 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:264.19, Y:319.47, Z:1.54 [[ 4.45966660e-01 -8.95049340e-01 -6.45920294e-04 2.64193640e+02] [ 8.95048565e-01 4.45967125e-01 -1.17898077e-03 3.19466168e+02] [ 1.34330518e-03 -5.23439148e-05 9.99999096e-01 1.54159951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.762755096 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:264.21, Y:319.49, Z:1.54 [[ 4.44921228e-01 -8.95569489e-01 -6.25080221e-04 2.64207679e+02] [ 8.95568699e-01 4.44921666e-01 -1.18992826e-03 3.19491927e+02] [ 1.34377517e-03 -3.03779393e-05 9.99999097e-01 1.54047341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7927550960001 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:264.23, Y:319.52, Z:1.54 [[ 4.47268413e-01 -8.94399559e-01 -6.28394626e-04 2.64226120e+02] [ 8.94398771e-01 4.47268854e-01 -1.18818784e-03 3.19517492e+02] [ 1.34377603e-03 -3.05964893e-05 9.99999097e-01 1.53857021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.822755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:264.23, Y:319.54, Z:1.54 [[ 4.41967256e-01 -8.97030954e-01 -6.41419490e-04 2.64231956e+02] [ 8.97030178e-01 4.41967719e-01 -1.18134377e-03 3.19540970e+02] [ 1.34318864e-03 -5.32573749e-05 9.99999097e-01 1.53994236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.852755096 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:264.25, Y:319.57, Z:1.54 [[ 4.42499888e-01 -8.96768341e-01 -6.26327838e-04 2.64245166e+02] [ 8.96767553e-01 4.42500330e-01 -1.18925874e-03 3.19565608e+02] [ 1.34363987e-03 -3.54236216e-05 9.99999097e-01 1.54148194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.882755096 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:264.26, Y:319.59, Z:1.54 [[ 4.43924176e-01 -8.96064137e-01 -6.23865522e-04 2.64259745e+02] [ 8.96063346e-01 4.43924613e-01 -1.19054890e-03 3.19590323e+02] [ 1.34375743e-03 -3.05095888e-05 9.99999097e-01 1.54272802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.912755096 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:264.27, Y:319.62, Z:1.54 [[ 4.43569315e-01 -8.96239848e-01 -6.31317384e-04 2.64272809e+02] [ 8.96239063e-01 4.43569762e-01 -1.18664265e-03 3.19615769e+02] [ 1.34354973e-03 -3.94530325e-05 9.99999097e-01 1.54276898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.942755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:264.28, Y:319.64, Z:1.54 [[ 4.42988544e-01 -8.96527051e-01 -6.30239739e-04 2.64282045e+02] [ 8.96526265e-01 4.42988991e-01 -1.18720667e-03 3.19640086e+02] [ 1.34355216e-03 -3.91075260e-05 9.99999097e-01 1.54156538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.972755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:264.30, Y:319.67, Z:1.54 [[ 4.44221470e-01 -8.95916794e-01 -6.20296922e-04 2.64296204e+02] [ 8.95916001e-01 4.44221902e-01 -1.19240434e-03 3.19665832e+02] [ 1.34384455e-03 -2.60423308e-05 9.99999097e-01 1.54191684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.002755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:264.31, Y:319.69, Z:1.54 [[ 4.46905625e-01 -8.94580891e-01 -6.25159403e-04 2.64309407e+02] [ 8.94580101e-01 4.46906062e-01 -1.18986275e-03 3.19690558e+02] [ 1.34381601e-03 -2.74988033e-05 9.99999097e-01 1.54307812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.032755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:264.32, Y:319.71, Z:1.54 [[ 4.47602411e-01 -8.94232461e-01 -6.22238470e-04 2.64322034e+02] [ 8.94231668e-01 4.47602842e-01 -1.19138830e-03 3.19714621e+02] [ 1.34389380e-03 -2.31570700e-05 9.99999097e-01 1.54315669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.062755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:264.33, Y:319.74, Z:1.54 [[ 4.48040577e-01 -8.94013006e-01 -6.21841939e-04 2.64334791e+02] [ 8.94012212e-01 4.48041008e-01 -1.19159523e-03 3.19739635e+02] [ 1.34391232e-03 -2.20512725e-05 9.99999097e-01 1.54402474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.092755096 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:264.35, Y:319.77, Z:1.54 [[ 4.49340062e-01 -8.93360577e-01 -6.22785211e-04 2.64346249e+02] [ 8.93359784e-01 4.49340493e-01 -1.19110316e-03 3.19765789e+02] [ 1.34392722e-03 -2.11608929e-05 9.99999097e-01 1.54427731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.122755096 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:264.36, Y:319.79, Z:1.54 [[ 4.50546586e-01 -8.92752699e-01 -6.26045998e-04 2.64357973e+02] [ 8.92751907e-01 4.50547020e-01 -1.18940388e-03 3.19789712e+02] [ 1.34390668e-03 -2.30219024e-05 9.99999097e-01 1.54459331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.152755096 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:264.38, Y:319.82, Z:1.54 [[ 4.55063380e-01 -8.90458834e-01 -6.20491067e-04 2.64375723e+02] [ 8.90458036e-01 4.55063803e-01 -1.19229476e-03 3.19818337e+02] [ 1.34405243e-03 -9.95157303e-06 9.99999097e-01 1.54416443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.182755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:264.38, Y:319.84, Z:1.55 [[ 4.52582940e-01 -8.91722083e-01 -6.39893804e-04 2.64381241e+02] [ 8.91721300e-01 4.52583391e-01 -1.18218703e-03 3.19839593e+02] [ 1.34378759e-03 -3.55692511e-05 9.99999097e-01 1.54504394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.212755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:264.40, Y:319.87, Z:1.54 [[ 4.54345369e-01 -8.90825406e-01 -6.17487813e-04 2.64398272e+02] [ 8.90824606e-01 4.54345789e-01 -1.19383273e-03 3.19867201e+02] [ 1.34404952e-03 -7.66096352e-06 9.99999097e-01 1.54371029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.242755096 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:264.41, Y:319.89, Z:1.54 [[ 4.53626663e-01 -8.91191591e-01 -6.31908390e-04 2.64411235e+02] [ 8.91190801e-01 4.53627103e-01 -1.18634494e-03 3.19892521e+02] [ 1.34391141e-03 -2.49932460e-05 9.99999097e-01 1.54381556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.272755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:264.42, Y:319.91, Z:1.55 [[ 4.51623768e-01 -8.92208257e-01 -6.31357071e-04 2.64419765e+02] [ 8.92207468e-01 4.51624208e-01 -1.18663088e-03 3.19914583e+02] [ 1.34385800e-03 -2.73907865e-05 9.99999097e-01 1.54562990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.302755096 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:264.43, Y:319.94, Z:1.54 [[ 4.51268252e-01 -8.92388135e-01 -6.18116321e-04 2.64434407e+02] [ 8.92387337e-01 4.51268675e-01 -1.19348836e-03 3.19941441e+02] [ 1.34399138e-03 -1.30157728e-05 9.99999097e-01 1.54474270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.332755096 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:264.45, Y:319.97, Z:1.55 [[ 4.49884681e-01 -8.93086436e-01 -6.26773363e-04 2.64445214e+02] [ 8.93085644e-01 4.49885117e-01 -1.18900810e-03 3.19965822e+02] [ 1.34386301e-03 -2.48457636e-05 9.99999097e-01 1.54518287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.362755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:264.46, Y:319.99, Z:1.55 [[ 4.48721835e-01 -8.93671266e-01 -6.18984095e-04 2.64457793e+02] [ 8.93670470e-01 4.48722262e-01 -1.19303443e-03 3.19991351e+02] [ 1.34393253e-03 -1.78272100e-05 9.99999097e-01 1.54506320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.392755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:264.47, Y:320.02, Z:1.54 [[ 4.46759520e-01 -8.94653867e-01 -6.23780786e-04 2.64469811e+02] [ 8.94653075e-01 4.46759955e-01 -1.19055576e-03 3.20015962e+02] [ 1.34381559e-03 -2.61752792e-05 9.99999097e-01 1.54312911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4227550960001 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:264.48, Y:320.04, Z:1.54 [[ 4.44446785e-01 -8.95805042e-01 -6.18058730e-04 2.64483188e+02] [ 8.95804247e-01 4.44447214e-01 -1.19350990e-03 3.20042695e+02] [ 1.34384667e-03 -2.32079964e-05 9.99999097e-01 1.54272825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.452755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:264.49, Y:320.07, Z:1.54 [[ 4.42904797e-01 -8.96568430e-01 -6.25662171e-04 2.64493387e+02] [ 8.96567641e-01 4.42905238e-01 -1.18958718e-03 3.20065348e+02] [ 1.34365536e-03 -3.40745884e-05 9.99999097e-01 1.54038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.482755096 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:264.51, Y:320.09, Z:1.54 [[ 4.42015641e-01 -8.97007134e-01 -6.11728558e-04 2.64506955e+02] [ 8.97006336e-01 4.42016064e-01 -1.19676533e-03 3.20091161e+02] [ 1.34390089e-03 -1.97353991e-05 9.99999097e-01 1.54151282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.512755096 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:264.52, Y:320.12, Z:1.54 [[ 4.41626765e-01 -8.97198653e-01 -6.13903128e-04 2.64524131e+02] [ 8.97197857e-01 4.41627191e-01 -1.19564554e-03 3.20119223e+02] [ 1.34384788e-03 -2.27635013e-05 9.99999097e-01 1.53950723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5427550960001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:264.53, Y:320.14, Z:1.54 [[ 4.39328236e-01 -8.98326389e-01 -6.31893533e-04 2.64533889e+02] [ 8.98325607e-01 4.39328688e-01 -1.18637782e-03 3.20141735e+02] [ 1.34336346e-03 -4.64368682e-05 9.99999097e-01 1.54055300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.572755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:264.54, Y:320.17, Z:1.54 [[ 4.37788919e-01 -8.99077569e-01 -6.22659340e-04 2.64544183e+02] [ 8.99076781e-01 4.37789360e-01 -1.19112982e-03 3.20166222e+02] [ 1.34351174e-03 -3.83551173e-05 9.99999097e-01 1.54162188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.602755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:264.55, Y:320.19, Z:1.54 [[ 4.34679093e-01 -9.00585203e-01 -6.14485192e-04 2.64553425e+02] [ 9.00584411e-01 4.34679526e-01 -1.19533191e-03 3.20192297e+02] [ 1.34360237e-03 -3.38099925e-05 9.99999097e-01 1.54153735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.632755096 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:264.57, Y:320.22, Z:1.54 [[ 4.33794748e-01 -9.01011509e-01 -6.14197636e-04 2.64565437e+02] [ 9.01010717e-01 4.33795182e-01 -1.19547962e-03 3.20217164e+02] [ 1.34357687e-03 -3.48058710e-05 9.99999097e-01 1.54070162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.662755096 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:264.58, Y:320.24, Z:1.54 [[ 4.34074712e-01 -9.00876666e-01 -6.13734376e-04 2.64578331e+02] [ 9.00875873e-01 4.34075144e-01 -1.19571740e-03 3.20242967e+02] [ 1.34360074e-03 -3.38678058e-05 9.99999097e-01 1.54265347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.692755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:264.59, Y:320.27, Z:1.54 [[ 4.34316356e-01 -9.00760192e-01 -6.16733985e-04 2.64588690e+02] [ 9.00759401e-01 4.34316792e-01 -1.19417729e-03 3.20266199e+02] [ 1.34352529e-03 -3.68782059e-05 9.99999097e-01 1.54066542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.722755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:264.60, Y:320.29, Z:1.54 [[ 4.35127790e-01 -9.00368500e-01 -6.07832184e-04 2.64601220e+02] [ 9.00367703e-01 4.35128214e-01 -1.19874123e-03 3.20289900e+02] [ 1.34379377e-03 -2.56668460e-05 9.99999097e-01 1.54225679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.752755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:264.61, Y:320.31, Z:1.54 [[ 4.34717490e-01 -9.00566672e-01 -6.10828878e-04 2.64611854e+02] [ 9.00565877e-01 4.34717918e-01 -1.19720515e-03 3.20314063e+02] [ 1.34370132e-03 -2.96456255e-05 9.99999097e-01 1.53855791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.782755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.62, Y:320.34, Z:1.54 [[ 4.33046150e-01 -9.01371547e-01 -6.05250647e-04 2.64622689e+02] [ 9.01370749e-01 4.33046572e-01 -1.20006304e-03 3.20341676e+02] [ 1.34380440e-03 -2.58725503e-05 9.99999097e-01 1.53968368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.812755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.63, Y:320.37, Z:1.54 [[ 4.33427796e-01 -9.01188088e-01 -6.12575519e-04 2.64634355e+02] [ 9.01187295e-01 4.33428227e-01 -1.19631231e-03 3.20365972e+02] [ 1.34360993e-03 -3.35302648e-05 9.99999097e-01 1.53832266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.842755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.65, Y:320.39, Z:1.54 [[ 4.31179462e-01 -9.02265979e-01 -6.12244757e-04 2.64645198e+02] [ 9.02265186e-01 4.31179895e-01 -1.19648157e-03 3.20389472e+02] [ 1.34353224e-03 -3.65088520e-05 9.99999097e-01 1.53792466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.872755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.66, Y:320.41, Z:1.54 [[ 4.32863693e-01 -9.01459178e-01 -6.10962451e-04 2.64660854e+02] [ 9.01458384e-01 4.32864123e-01 -1.19713728e-03 3.20413250e+02] [ 1.34363412e-03 -3.25599589e-05 9.99999097e-01 1.54217823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.902755096 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:264.67, Y:320.44, Z:1.54 [[ 4.30934542e-01 -9.02382982e-01 -6.11670142e-04 2.64671495e+02] [ 9.02382189e-01 4.30934974e-01 -1.19677558e-03 3.20438970e+02] [ 1.34353998e-03 -3.62283048e-05 9.99999097e-01 1.54174131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.932755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:264.68, Y:320.47, Z:1.54 [[ 4.29391344e-01 -9.03118320e-01 -6.11745123e-04 2.64684950e+02] [ 9.03117528e-01 4.29391778e-01 -1.19673728e-03 3.20466073e+02] [ 1.34347368e-03 -3.86091163e-05 9.99999097e-01 1.54245152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.962755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:264.70, Y:320.49, Z:1.54 [[ 4.29493033e-01 -9.03069960e-01 -6.17690269e-04 2.64697470e+02] [ 9.03069173e-01 4.29493475e-01 -1.19369719e-03 3.20490955e+02] [ 1.34328602e-03 -4.51324123e-05 9.99999097e-01 1.54308809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.992755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:264.71, Y:320.51, Z:1.55 [[ 4.28507606e-01 -9.03537960e-01 -6.21600420e-04 2.64706491e+02] [ 9.03537176e-01 4.28508054e-01 -1.19169595e-03 3.20514405e+02] [ 1.34310331e-03 -5.09883096e-05 9.99999097e-01 1.54520209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.022755096 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:264.72, Y:320.54, Z:1.55 [[ 4.28402045e-01 -9.03588022e-01 -6.11562640e-04 2.64718741e+02] [ 9.03587230e-01 4.28402480e-01 -1.19682513e-03 3.20540686e+02] [ 1.34343180e-03 -3.98778585e-05 9.99999097e-01 1.54510974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.052755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.73, Y:320.57, Z:1.55 [[ 4.28458872e-01 -9.03561075e-01 -6.15481343e-04 2.64730985e+02] [ 9.03560286e-01 4.28459312e-01 -1.19482385e-03 3.20566170e+02] [ 1.34330504e-03 -4.41916181e-05 9.99999097e-01 1.54574755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.082755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.75, Y:320.59, Z:1.55 [[ 4.29970857e-01 -9.02842560e-01 -6.12294490e-04 2.64745260e+02] [ 9.02841768e-01 4.29971291e-01 -1.19644958e-03 3.20592947e+02] [ 1.34347466e-03 -3.83665881e-05 9.99999097e-01 1.54666976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.112755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:264.76, Y:320.62, Z:1.55 [[ 4.31387822e-01 -9.02166371e-01 -6.21413301e-04 2.64759025e+02] [ 9.02165585e-01 4.31388267e-01 -1.19181732e-03 3.20618103e+02] [ 1.34328791e-03 -4.64822185e-05 9.99999097e-01 1.54597419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.142755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:264.77, Y:320.64, Z:1.55 [[ 4.32827036e-01 -9.01476772e-01 -6.22002726e-04 2.64768832e+02] [ 9.01475986e-01 4.32827480e-01 -1.19151807e-03 3.20642702e+02] [ 1.34334574e-03 -4.49992864e-05 9.99999097e-01 1.54638557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1727550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:264.78, Y:320.67, Z:1.55 [[ 4.33982769e-01 -9.00920959e-01 -6.18123470e-04 2.64780382e+02] [ 9.00920169e-01 4.33983207e-01 -1.19348574e-03 3.20667078e+02] [ 1.34349152e-03 -3.89276570e-05 9.99999097e-01 1.54592934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.202755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:264.79, Y:320.69, Z:1.54 [[ 4.33878784e-01 -9.00971043e-01 -6.17077980e-04 2.64790924e+02] [ 9.00970253e-01 4.33879221e-01 -1.19401591e-03 3.20692012e+02] [ 1.34351107e-03 -3.79107344e-05 9.99999097e-01 1.54321030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.232755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.80, Y:320.72, Z:1.55 [[ 4.35492547e-01 -9.00192128e-01 -6.12817694e-04 2.64804425e+02] [ 9.00191333e-01 4.35492977e-01 -1.19617389e-03 3.20718564e+02] [ 1.34366412e-03 -3.07283641e-05 9.99999097e-01 1.54505951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.262755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:264.81, Y:320.74, Z:1.55 [[ 4.34322428e-01 -9.00757263e-01 -6.17505147e-04 2.64813347e+02] [ 9.00756473e-01 4.34322865e-01 -1.19380113e-03 3.20740916e+02] [ 1.34352164e-03 -3.77271544e-05 9.99999097e-01 1.54554290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2927550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:264.83, Y:320.77, Z:1.54 [[ 4.33963553e-01 -9.00930223e-01 -6.06286176e-04 2.64825711e+02] [ 9.00929425e-01 4.33963975e-01 -1.19947188e-03 3.20766610e+02] [ 1.34374683e-03 -2.56939786e-05 9.99999097e-01 1.54457759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.322755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:264.84, Y:320.79, Z:1.54 [[ 4.33263612e-01 -9.01267039e-01 -6.05917411e-04 2.64837865e+02] [ 9.01266241e-01 4.33264035e-01 -1.19965813e-03 3.20791599e+02] [ 1.34373455e-03 -2.63246914e-05 9.99999097e-01 1.54427326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.352755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.85, Y:320.82, Z:1.54 [[ 4.33957567e-01 -9.00933107e-01 -6.05547947e-04 2.64854865e+02] [ 9.00932309e-01 4.33957988e-01 -1.19984460e-03 3.20820313e+02] [ 1.34376209e-03 -2.48760690e-05 9.99999097e-01 1.54387850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.87, Y:320.84, Z:1.54 [[ 4.31162438e-01 -9.02274109e-01 -6.20653743e-04 2.64866420e+02] [ 9.02273322e-01 4.31162882e-01 -1.19219970e-03 3.20843131e+02] [ 1.34329378e-03 -4.59675864e-05 9.99999097e-01 1.54372494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.412755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.88, Y:320.86, Z:1.54 [[ 4.29242975e-01 -9.03188846e-01 -6.13757767e-04 2.64876895e+02] [ 9.03188056e-01 4.29243412e-01 -1.19568500e-03 3.20864773e+02] [ 1.34338084e-03 -4.10992965e-05 9.99999097e-01 1.54469871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.442755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:264.89, Y:320.89, Z:1.55 [[ 4.26645514e-01 -9.04418730e-01 -6.05534869e-04 2.64890098e+02] [ 9.04417935e-01 4.26645942e-01 -1.19983495e-03 3.20889544e+02] [ 1.34350220e-03 -3.57523962e-05 9.99999097e-01 1.54588698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.472755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:264.90, Y:320.91, Z:1.55 [[ 4.25423522e-01 -9.04994177e-01 -6.05166289e-04 2.64902246e+02] [ 9.04993382e-01 4.25423951e-01 -1.20002082e-03 3.20913931e+02] [ 1.34346409e-03 -3.71544022e-05 9.99999097e-01 1.54597625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.502755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.91, Y:320.94, Z:1.55 [[ 4.24527480e-01 -9.05414851e-01 -6.04897792e-04 2.64913993e+02] [ 9.05414057e-01 4.24527909e-01 -1.20015615e-03 3.20937805e+02] [ 1.34343520e-03 -3.81836982e-05 9.99999097e-01 1.54584015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.532755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.93, Y:320.96, Z:1.55 [[ 4.23467171e-01 -9.05911248e-01 -6.04468043e-04 2.64925479e+02] [ 9.05910454e-01 4.23467601e-01 -1.20037256e-03 3.20963064e+02] [ 1.34340363e-03 -3.92755478e-05 9.99999097e-01 1.54596519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.562755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:264.94, Y:320.99, Z:1.55 [[ 4.23135320e-01 -9.06066298e-01 -6.04065378e-04 2.64937211e+02] [ 9.06065503e-01 4.23135749e-01 -1.20057516e-03 3.20987339e+02] [ 1.34340234e-03 -3.93170485e-05 9.99999097e-01 1.54556217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:264.95, Y:321.01, Z:1.55 [[ 4.23708330e-01 -9.05798480e-01 -6.03664471e-04 2.64949085e+02] [ 9.05797685e-01 4.23708758e-01 -1.20077670e-03 3.21011230e+02] [ 1.34343964e-03 -3.80187886e-05 9.99999097e-01 1.54608256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.96, Y:321.04, Z:1.55 [[ 4.25108270e-01 -9.05142306e-01 -6.03244652e-04 2.64963882e+02] [ 9.05141510e-01 4.25108697e-01 -1.20098757e-03 3.21037413e+02] [ 1.34350921e-03 -3.54720251e-05 9.99999097e-01 1.54536176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.98, Y:321.06, Z:1.54 [[ 4.26277563e-01 -9.04592210e-01 -6.11052166e-04 2.64977239e+02] [ 9.04591419e-01 4.26277999e-01 -1.19706719e-03 3.21062957e+02] [ 1.34333575e-03 -4.24696610e-05 9.99999097e-01 1.54454686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:264.99, Y:321.09, Z:1.55 [[ 4.23992444e-01 -9.05665519e-01 -6.13346316e-04 2.64986688e+02] [ 9.05664730e-01 4.23992885e-01 -1.19591474e-03 3.21094134e+02] [ 1.34315322e-03 -4.84273128e-05 9.99999097e-01 1.54885754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.00, Y:321.11, Z:1.55 [[ 4.26574287e-01 -9.04452313e-01 -6.24763470e-04 2.64997521e+02] [ 9.04451532e-01 4.26574741e-01 -1.19020147e-03 3.21113322e+02] [ 1.34298879e-03 -5.73589334e-05 9.99999097e-01 1.54784157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.01, Y:321.14, Z:1.55 [[ 4.28742907e-01 -9.03426344e-01 -6.00227962e-04 2.65009211e+02] [ 9.03425544e-01 4.28743327e-01 -1.20244889e-03 3.21137468e+02] [ 1.34366774e-03 -2.67198385e-05 9.99999097e-01 1.54765146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.02, Y:321.16, Z:1.55 [[ 4.29923255e-01 -9.02865236e-01 -5.99944867e-04 2.65022173e+02] [ 9.02864436e-01 4.29923673e-01 -1.20259012e-03 3.21161547e+02] [ 1.34370732e-03 -2.46474244e-05 9.99999097e-01 1.54658785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.03, Y:321.19, Z:1.55 [[ 4.29820048e-01 -9.02914372e-01 -6.02675123e-04 2.65034140e+02] [ 9.02913573e-01 4.29820470e-01 -1.20122941e-03 3.21186180e+02] [ 1.34364940e-03 -2.78510664e-05 9.99999097e-01 1.54803279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.05, Y:321.21, Z:1.55 [[ 4.29533376e-01 -9.03050785e-01 -5.99084512e-04 2.65046731e+02] [ 9.03049984e-01 4.29533793e-01 -1.20301748e-03 3.21211826e+02] [ 1.34371292e-03 -2.42670994e-05 9.99999097e-01 1.54807009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.06, Y:321.23, Z:1.55 [[ 4.33611494e-01 -9.01099725e-01 -5.98702527e-04 2.65063105e+02] [ 9.01098921e-01 4.33611907e-01 -1.20320755e-03 3.21234206e+02] [ 1.34381454e-03 -1.77655768e-05 9.99999097e-01 1.54905527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.892755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.07, Y:321.26, Z:1.55 [[ 4.29830186e-01 -9.02909549e-01 -5.98305202e-04 2.65073188e+02] [ 9.02908747e-01 4.29830601e-01 -1.20340509e-03 3.21260999e+02] [ 1.34373583e-03 -2.29551665e-05 9.99999097e-01 1.54769984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.09, Y:321.28, Z:1.55 [[ 4.30975333e-01 -9.02363510e-01 -5.98249091e-04 2.65085757e+02] [ 9.02362708e-01 4.30975747e-01 -1.20343296e-03 3.21280405e+02] [ 1.34376484e-03 -2.11877480e-05 9.99999097e-01 1.54668049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.10, Y:321.31, Z:1.54 [[ 4.29254863e-01 -9.03183217e-01 -5.82662879e-04 2.65098359e+02] [ 9.03182405e-01 4.29255258e-01 -1.21115930e-03 3.21307374e+02] [ 1.34400986e-03 -6.35484114e-06 9.99999097e-01 1.54496592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.11, Y:321.33, Z:1.54 [[ 4.28720731e-01 -9.03436870e-01 -5.97038993e-04 2.65110734e+02] [ 9.03436068e-01 4.28721146e-01 -1.20403066e-03 3.21331167e+02] [ 1.34372893e-03 -2.31936557e-05 9.99999097e-01 1.54473528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.12, Y:321.36, Z:1.55 [[ 4.27432849e-01 -9.04046904e-01 -5.96634681e-04 2.65124758e+02] [ 9.04046102e-01 4.27433264e-01 -1.20423098e-03 3.21355872e+02] [ 1.34370280e-03 -2.46573810e-05 9.99999097e-01 1.54665009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.14, Y:321.38, Z:1.55 [[ 4.26464831e-01 -9.04503949e-01 -5.96259498e-04 2.65137244e+02] [ 9.04503147e-01 4.26465247e-01 -1.20441672e-03 3.21379462e+02] [ 1.34368363e-03 -2.56772214e-05 9.99999097e-01 1.54545169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.15, Y:321.40, Z:1.54 [[ 4.25291352e-01 -9.05056303e-01 -5.95864431e-04 2.65149875e+02] [ 9.05055501e-01 4.25291769e-01 -1.20461214e-03 3.21401899e+02] [ 1.34365804e-03 -2.69792573e-05 9.99999097e-01 1.54488389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.16, Y:321.43, Z:1.55 [[ 4.23946296e-01 -9.05687133e-01 -5.95451025e-04 2.65162623e+02] [ 9.05686332e-01 4.23946714e-01 -1.20481645e-03 3.21426722e+02] [ 1.34362626e-03 -2.85143819e-05 9.99999097e-01 1.54669212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.18, Y:321.45, Z:1.55 [[ 4.24079904e-01 -9.05624579e-01 -5.97509044e-04 2.65175801e+02] [ 9.05623779e-01 4.24080324e-01 -1.20379986e-03 3.21450556e+02] [ 1.34358257e-03 -3.06110699e-05 9.99999097e-01 1.54625671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.19, Y:321.48, Z:1.55 [[ 4.23883847e-01 -9.05716363e-01 -5.94701989e-04 2.65190645e+02] [ 9.05715562e-01 4.23884263e-01 -1.20518501e-03 3.21476902e+02] [ 1.34364060e-03 -2.77723888e-05 9.99999097e-01 1.54521050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.192755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:265.20, Y:321.50, Z:1.54 [[ 4.23974823e-01 -9.05673777e-01 -5.99453405e-04 2.65203925e+02] [ 9.05672979e-01 4.23975245e-01 -1.20284128e-03 3.21501469e+02] [ 1.34353521e-03 -3.29343329e-05 9.99999097e-01 1.54388376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.22, Y:321.53, Z:1.54 [[ 4.25700316e-01 -9.04864015e-01 -5.96694496e-04 2.65216796e+02] [ 9.04863214e-01 4.25700734e-01 -1.20420084e-03 3.21526232e+02] [ 1.34365129e-03 -2.72982201e-05 9.99999097e-01 1.54462256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.23, Y:321.55, Z:1.54 [[ 4.24723112e-01 -9.05323105e-01 -5.95542694e-04 2.65228436e+02] [ 9.05322303e-01 4.24723529e-01 -1.20476807e-03 3.21551367e+02] [ 1.34364536e-03 -2.74652402e-05 9.99999097e-01 1.54339050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.24, Y:321.58, Z:1.54 [[ 4.27192617e-01 -9.04160444e-01 -5.99216130e-04 2.65242682e+02] [ 9.04159645e-01 4.27193036e-01 -1.20295782e-03 3.21576212e+02] [ 1.34364784e-03 -2.78923426e-05 9.99999097e-01 1.54309110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.25, Y:321.60, Z:1.54 [[ 4.26693807e-01 -9.04395950e-01 -6.00401797e-04 2.65254642e+02] [ 9.04395151e-01 4.26694228e-01 -1.20237398e-03 3.21602722e+02] [ 1.34361014e-03 -2.99549425e-05 9.99999097e-01 1.54378766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.27, Y:321.63, Z:1.54 [[ 4.29330579e-01 -9.03147211e-01 -6.08270128e-04 2.65266154e+02] [ 9.03146416e-01 4.29331008e-01 -1.19850228e-03 3.21625601e+02] [ 1.34357321e-03 -3.48033109e-05 9.99999097e-01 1.54249197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.28, Y:321.65, Z:1.54 [[ 4.31777432e-01 -9.01979981e-01 -6.02432825e-04 2.65278371e+02] [ 9.01979181e-01 4.31777851e-01 -1.20136598e-03 3.21648006e+02] [ 1.34372522e-03 -2.46591476e-05 9.99999097e-01 1.54383595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.29, Y:321.67, Z:1.54 [[ 4.31122871e-01 -9.02293034e-01 -5.92937388e-04 2.65291234e+02] [ 9.02292228e-01 4.31123279e-01 -1.20601809e-03 3.21674636e+02] [ 1.34381083e-03 -1.50608169e-05 9.99999097e-01 1.54427249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.30, Y:321.70, Z:1.54 [[ 4.31298890e-01 -9.02208903e-01 -6.01567483e-04 2.65303430e+02] [ 9.02208103e-01 4.31299309e-01 -1.20179353e-03 3.21699249e+02] [ 1.34372447e-03 -2.44068407e-05 9.99999097e-01 1.54442795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:265.31, Y:321.72, Z:1.54 [[ 4.30871471e-01 -9.02413110e-01 -5.95444068e-04 2.65314734e+02] [ 9.02412306e-01 4.30871882e-01 -1.20478099e-03 3.21722856e+02] [ 1.34377026e-03 -1.82302981e-05 9.99999097e-01 1.54340954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.33, Y:321.75, Z:1.54 [[ 4.29288483e-01 -9.03167236e-01 -5.84973200e-04 2.65328895e+02] [ 9.03166425e-01 4.29288882e-01 -1.20988269e-03 3.21747586e+02] [ 1.34384890e-03 -8.93944770e-06 9.99999097e-01 1.54403033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.34, Y:321.77, Z:1.55 [[ 4.27896457e-01 -9.03827570e-01 -5.88419616e-04 2.65341033e+02] [ 9.03826762e-01 4.27896861e-01 -1.20820422e-03 3.21772853e+02] [ 1.34379119e-03 -1.48430914e-05 9.99999097e-01 1.54562856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.35, Y:321.80, Z:1.55 [[ 4.26257695e-01 -9.04601587e-01 -5.88801078e-04 2.65354070e+02] [ 9.04600780e-01 4.26258102e-01 -1.20801851e-03 3.21797496e+02] [ 1.34375669e-03 -1.77027276e-05 9.99999097e-01 1.54555025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.37, Y:321.82, Z:1.55 [[ 4.24091996e-01 -9.05618921e-01 -5.90110654e-04 2.65365579e+02] [ 9.05618117e-01 4.24092406e-01 -1.20738122e-03 3.21822704e+02] [ 1.34368872e-03 -2.23741869e-05 9.99999097e-01 1.54654017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.38, Y:321.85, Z:1.55 [[ 4.24000261e-01 -9.05661873e-01 -5.91877214e-04 2.65377300e+02] [ 9.05661070e-01 4.24000673e-01 -1.20652225e-03 3.21847597e+02] [ 1.34365753e-03 -2.44744034e-05 9.99999097e-01 1.54856688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.39, Y:321.87, Z:1.55 [[ 4.23861862e-01 -9.05726657e-01 -5.87097494e-04 2.65388512e+02] [ 9.05725851e-01 4.23862268e-01 -1.20884361e-03 3.21872505e+02] [ 1.34373035e-03 -1.93666756e-05 9.99999097e-01 1.54848838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.40, Y:321.90, Z:1.55 [[ 4.24330759e-01 -9.05507075e-01 -5.86687568e-04 2.65399770e+02] [ 9.05506268e-01 4.24331165e-01 -1.20904252e-03 3.21897162e+02] [ 1.34374638e-03 -1.82153381e-05 9.99999097e-01 1.54781909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.41, Y:321.92, Z:1.55 [[ 4.27118433e-01 -9.04195500e-01 -5.84963778e-04 2.65411094e+02] [ 9.04194690e-01 4.27118834e-01 -1.20987829e-03 3.21919769e+02] [ 1.34381556e-03 -1.21598207e-05 9.99999097e-01 1.54646187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.42, Y:321.95, Z:1.55 [[ 4.25856459e-01 -9.04790552e-01 -5.77873527e-04 2.65422167e+02] [ 9.04789738e-01 4.25856851e-01 -1.21331564e-03 3.21947134e+02] [ 1.34388792e-03 -6.15573650e-06 9.99999097e-01 1.54681359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.43, Y:321.97, Z:1.55 [[ 4.26412204e-01 -9.04528767e-01 -5.84882329e-04 2.65433619e+02] [ 9.04527958e-01 4.26412605e-01 -1.20991927e-03 3.21972006e+02] [ 1.34380798e-03 -1.31180782e-05 9.99999097e-01 1.54658230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.45, Y:322.00, Z:1.55 [[ 4.27019890e-01 -9.04242042e-01 -5.85752673e-04 2.65445235e+02] [ 9.04241233e-01 4.27020291e-01 -1.20949776e-03 3.21996036e+02] [ 1.34380701e-03 -1.31821172e-05 9.99999097e-01 1.54614707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.46, Y:322.02, Z:1.55 [[ 4.27889604e-01 -9.03830818e-01 -5.82514724e-04 2.65456938e+02] [ 9.03830007e-01 4.27890000e-01 -1.21106443e-03 3.22019711e+02] [ 1.34384958e-03 -8.29240987e-06 9.99999097e-01 1.54607071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.47, Y:322.05, Z:1.55 [[ 4.27122524e-01 -9.04193570e-01 -5.80673158e-04 2.65468942e+02] [ 9.04192758e-01 4.27122918e-01 -1.21195526e-03 3.22046186e+02] [ 1.34386097e-03 -7.38707277e-06 9.99999097e-01 1.54721624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.48, Y:322.07, Z:1.55 [[ 4.27184463e-01 -9.04164306e-01 -5.84954887e-04 2.65480302e+02] [ 9.04163497e-01 4.27184863e-01 -1.20988514e-03 3.22070163e+02] [ 1.34381883e-03 -1.20507249e-05 9.99999097e-01 1.54734200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.49, Y:322.10, Z:1.55 [[ 4.25243991e-01 -9.05078566e-01 -5.81046804e-04 2.65493119e+02] [ 9.05077755e-01 4.25244388e-01 -1.21177321e-03 3.22096587e+02] [ 1.34383685e-03 -1.05932617e-05 9.99999097e-01 1.54724710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.50, Y:322.12, Z:1.55 [[ 4.23917421e-01 -9.05700656e-01 -5.84427406e-04 2.65504970e+02] [ 9.05699848e-01 4.23917824e-01 -1.21014057e-03 3.22120951e+02] [ 1.34377431e-03 -1.63161405e-05 9.99999097e-01 1.54718269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.52, Y:322.14, Z:1.55 [[ 4.22721789e-01 -9.06259316e-01 -5.84026921e-04 2.65516280e+02] [ 9.06258508e-01 4.22722192e-01 -1.21033382e-03 3.22144147e+02] [ 1.34375744e-03 -1.76448877e-05 9.99999097e-01 1.54810037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.53, Y:322.17, Z:1.55 [[ 4.19642138e-01 -9.07689450e-01 -5.82271405e-04 2.65529187e+02] [ 9.07688642e-01 4.19642541e-01 -1.21118050e-03 3.22170365e+02] [ 1.34372161e-03 -2.02587668e-05 9.99999097e-01 1.54964311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.54, Y:322.19, Z:1.55 [[ 4.18061798e-01 -9.08418402e-01 -5.83560112e-04 2.65540673e+02] [ 9.08417595e-01 4.18062205e-01 -1.21055927e-03 3.22194322e+02] [ 1.34365874e-03 -2.40276894e-05 9.99999097e-01 1.55004057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.55, Y:322.22, Z:1.55 [[ 4.15730043e-01 -9.09487873e-01 -5.83279317e-04 2.65552674e+02] [ 9.09487068e-01 4.15730451e-01 -1.21069455e-03 3.22219200e+02] [ 1.34359898e-03 -2.71629005e-05 9.99999097e-01 1.55051574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.56, Y:322.24, Z:1.55 [[ 4.14521292e-01 -9.10039427e-01 -5.82900534e-04 2.65564938e+02] [ 9.10038622e-01 4.14521701e-01 -1.21087689e-03 3.22244957e+02] [ 1.34357063e-03 -2.85277468e-05 9.99999097e-01 1.55136438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.58, Y:322.27, Z:1.55 [[ 4.13802734e-01 -9.10366387e-01 -5.82511444e-04 2.65576697e+02] [ 9.10365582e-01 4.13803143e-01 -1.21106404e-03 3.22269512e+02] [ 1.34355706e-03 -2.91567604e-05 9.99999097e-01 1.55139903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.152755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:265.59, Y:322.29, Z:1.55 [[ 4.13434501e-01 -9.10533676e-01 -5.82101895e-04 2.65588387e+02] [ 9.10532871e-01 4.13434909e-01 -1.21126086e-03 3.22294698e+02] [ 1.34355504e-03 -2.92458818e-05 9.99999097e-01 1.55197534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.60, Y:322.32, Z:1.55 [[ 4.13509098e-01 -9.10499801e-01 -5.81722831e-04 2.65598773e+02] [ 9.10498996e-01 4.13509506e-01 -1.21144288e-03 3.22320223e+02] [ 1.34356642e-03 -2.87154009e-05 9.99999097e-01 1.55067290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.61, Y:322.35, Z:1.55 [[ 4.14183231e-01 -9.10193338e-01 -5.81323471e-04 2.65609969e+02] [ 9.10192532e-01 4.14183638e-01 -1.21163449e-03 3.22345979e+02] [ 1.34359631e-03 -2.72775955e-05 9.99999097e-01 1.55014320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.62, Y:322.37, Z:1.55 [[ 4.14212554e-01 -9.10179995e-01 -5.80938645e-04 2.65621919e+02] [ 9.10179188e-01 4.14212960e-01 -1.21181897e-03 3.22371771e+02] [ 1.34360570e-03 -2.68076345e-05 9.99999097e-01 1.54958072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.63, Y:322.40, Z:1.55 [[ 4.13987296e-01 -9.10282474e-01 -5.80555716e-04 2.65633561e+02] [ 9.10281667e-01 4.13987702e-01 -1.21200239e-03 3.22396927e+02] [ 1.34360746e-03 -2.67156306e-05 9.99999097e-01 1.54954706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.65, Y:322.42, Z:1.55 [[ 4.13520789e-01 -9.10494492e-01 -5.80173670e-04 2.65645484e+02] [ 9.10493686e-01 4.13521195e-01 -1.21218525e-03 3.22422735e+02] [ 1.34360210e-03 -2.69806623e-05 9.99999097e-01 1.54936549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.66, Y:322.45, Z:1.55 [[ 4.12511717e-01 -9.10952110e-01 -5.79794780e-04 2.65657123e+02] [ 9.10951304e-01 4.12512124e-01 -1.21236645e-03 3.22448317e+02] [ 1.34358015e-03 -2.80494454e-05 9.99999097e-01 1.54937207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.67, Y:322.47, Z:1.55 [[ 4.09932246e-01 -9.12115792e-01 -5.79419298e-04 2.65666265e+02] [ 9.12114987e-01 4.09932654e-01 -1.21254587e-03 3.22473400e+02] [ 1.34350513e-03 -3.14353725e-05 9.99999097e-01 1.54917206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.68, Y:322.50, Z:1.55 [[ 4.09804136e-01 -9.12173363e-01 -5.72019282e-04 2.65680154e+02] [ 9.12172552e-01 4.09804534e-01 -1.21607768e-03 3.22499494e+02] [ 1.34368976e-03 -2.34266263e-05 9.99999097e-01 1.55040895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.69, Y:322.52, Z:1.55 [[ 4.08494303e-01 -9.12760686e-01 -5.78670457e-04 2.65691448e+02] [ 9.12759880e-01 4.08494712e-01 -1.21290444e-03 3.22523688e+02] [ 1.34347531e-03 -3.27226242e-05 9.99999097e-01 1.55044067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.70, Y:322.55, Z:1.55 [[ 4.05867605e-01 -9.13931700e-01 -5.78355749e-04 2.65700118e+02] [ 9.13930896e-01 4.05868016e-01 -1.21305448e-03 3.22548027e+02] [ 1.34338505e-03 -3.62376695e-05 9.99999097e-01 1.54997913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.71, Y:322.57, Z:1.55 [[ 4.04622673e-01 -9.14483553e-01 -5.69009914e-04 2.65712122e+02] [ 9.14482743e-01 4.04623072e-01 -1.21750453e-03 3.22573871e+02] [ 1.34362241e-03 -2.77198096e-05 9.99999097e-01 1.55141889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.73, Y:322.60, Z:1.55 [[ 4.05287919e-01 -9.14188917e-01 -5.71114005e-04 2.65725903e+02] [ 9.14188108e-01 4.05288320e-01 -1.21650306e-03 3.22599190e+02] [ 1.34357945e-03 -2.90716377e-05 9.99999097e-01 1.55182684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.74, Y:322.62, Z:1.55 [[ 4.04789682e-01 -9.14409635e-01 -5.77399314e-04 2.65736781e+02] [ 9.14408830e-01 4.04790092e-01 -1.21351246e-03 3.22624727e+02] [ 1.34337300e-03 -3.67617098e-05 9.99999097e-01 1.55299655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.75, Y:322.65, Z:1.55 [[ 4.04027417e-01 -9.14746693e-01 -5.77020884e-04 2.65747683e+02] [ 9.14745889e-01 4.04027828e-01 -1.21369237e-03 3.22650580e+02] [ 1.34335358e-03 -3.74624867e-05 9.99999097e-01 1.55419196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.76, Y:322.68, Z:1.55 [[ 4.03933946e-01 -9.14787971e-01 -5.79368921e-04 2.65756689e+02] [ 9.14787168e-01 4.03934359e-01 -1.21257719e-03 3.22675196e+02] [ 1.34327804e-03 -4.01981663e-05 9.99999097e-01 1.55234235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.77, Y:322.70, Z:1.55 [[ 4.04255000e-01 -9.14646144e-01 -5.71110337e-04 2.65768647e+02] [ 9.14645336e-01 4.04255402e-01 -1.21649362e-03 3.22700939e+02] [ 1.34353564e-03 -3.05897780e-05 9.99999097e-01 1.55401761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.78, Y:322.73, Z:1.55 [[ 4.04479666e-01 -9.14546811e-01 -5.75546496e-04 2.65779797e+02] [ 9.14546005e-01 4.04480074e-01 -1.21439115e-03 3.22727149e+02] [ 1.34341465e-03 -3.51672206e-05 9.99999097e-01 1.55397353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.79, Y:322.75, Z:1.55 [[ 4.06456989e-01 -9.13669735e-01 -5.75164484e-04 2.65789355e+02] [ 9.13668929e-01 4.06457395e-01 -1.21457206e-03 3.22752432e+02] [ 1.34349759e-03 -3.18386164e-05 9.99999097e-01 1.55411632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.80, Y:322.78, Z:1.55 [[ 4.06143198e-01 -9.13809265e-01 -5.74762049e-04 2.65801029e+02] [ 9.13808458e-01 4.06143603e-01 -1.21476247e-03 3.22777602e+02] [ 1.34349713e-03 -3.18549091e-05 9.99999097e-01 1.55415349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:265.81, Y:322.81, Z:1.55 [[ 4.08328419e-01 -9.12834910e-01 -5.74344813e-04 2.65814481e+02] [ 9.12834102e-01 4.08328822e-01 -1.21495971e-03 3.22805228e+02] [ 1.34357917e-03 -2.81789561e-05 9.99999097e-01 1.55295765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.82, Y:322.83, Z:1.55 [[ 4.09607966e-01 -9.12261462e-01 -5.82897229e-04 2.65821325e+02] [ 9.12260659e-01 4.09608379e-01 -1.21091680e-03 3.22829096e+02] [ 1.34343232e-03 -3.57530421e-05 9.99999097e-01 1.55277842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.83, Y:322.85, Z:1.55 [[ 4.10372882e-01 -9.11917632e-01 -5.73735815e-04 2.65831770e+02] [ 9.11916823e-01 4.10373283e-01 -1.21524206e-03 3.22853910e+02] [ 1.34364651e-03 -2.44969552e-05 9.99999097e-01 1.55232893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.84, Y:322.88, Z:1.55 [[ 4.10723998e-01 -9.11759546e-01 -5.73321081e-04 2.65842884e+02] [ 9.11758736e-01 4.10724397e-01 -1.21543769e-03 3.22879813e+02] [ 1.34366387e-03 -2.35210775e-05 9.99999097e-01 1.55267721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.85, Y:322.90, Z:1.55 [[ 4.11550485e-01 -9.11386784e-01 -5.72934834e-04 2.65853869e+02] [ 9.11385974e-01 4.11550883e-01 -1.21561973e-03 3.22904879e+02] [ 1.34369159e-03 -2.18758819e-05 9.99999097e-01 1.55229062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.87, Y:322.93, Z:1.55 [[ 4.11654573e-01 -9.11339775e-01 -5.72528305e-04 2.65865859e+02] [ 9.11338964e-01 4.11654971e-01 -1.21581117e-03 3.22930256e+02] [ 1.34370120e-03 -2.12731256e-05 9.99999097e-01 1.55338137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.88, Y:322.96, Z:1.55 [[ 4.14282435e-01 -9.10148195e-01 -5.72149516e-04 2.65882579e+02] [ 9.10147383e-01 4.14282830e-01 -1.21598939e-03 3.22959148e+02] [ 1.34376227e-03 -1.69773368e-05 9.99999097e-01 1.55219664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.89, Y:322.98, Z:1.55 [[ 4.12000285e-01 -9.11183526e-01 -5.89313495e-04 2.65888402e+02] [ 9.11182726e-01 4.12000704e-01 -1.20790870e-03 3.22981253e+02] [ 1.34342409e-03 -3.93135480e-05 9.99999097e-01 1.55478622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.90, Y:323.01, Z:1.55 [[ 4.11953363e-01 -9.11204752e-01 -5.71506293e-04 2.65899426e+02] [ 9.11203941e-01 4.11953759e-01 -1.21627599e-03 3.23007080e+02] [ 1.34371063e-03 -1.97098031e-05 9.99999097e-01 1.55499171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.91, Y:323.03, Z:1.56 [[ 4.11796576e-01 -9.11275619e-01 -5.71127105e-04 2.65909390e+02] [ 9.11274807e-01 4.11796971e-01 -1.21645402e-03 3.23032795e+02] [ 1.34371330e-03 -1.95221437e-05 9.99999097e-01 1.55510569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.92, Y:323.06, Z:1.56 [[ 4.11135969e-01 -9.11573853e-01 -5.70727617e-04 2.65919924e+02] [ 9.11573041e-01 4.11136365e-01 -1.21664142e-03 3.23057396e+02] [ 1.34370538e-03 -2.00548610e-05 9.99999097e-01 1.55520811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.93, Y:323.08, Z:1.56 [[ 4.10127276e-01 -9.12028120e-01 -5.70311199e-04 2.65931191e+02] [ 9.12027309e-01 4.10127672e-01 -1.21683659e-03 3.23083207e+02] [ 1.34368959e-03 -2.10815131e-05 9.99999097e-01 1.55615089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.94, Y:323.11, Z:1.56 [[ 4.09380540e-01 -9.12363551e-01 -5.69935195e-04 2.65942313e+02] [ 9.12362739e-01 4.09380937e-01 -1.21701267e-03 3.23108175e+02] [ 1.34367861e-03 -2.17663306e-05 9.99999097e-01 1.55684076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.95, Y:323.13, Z:1.56 [[ 4.08906157e-01 -9.12576260e-01 -5.69539280e-04 2.65953816e+02] [ 9.12575449e-01 4.08906553e-01 -1.21719792e-03 3.23134312e+02] [ 1.34367427e-03 -2.20278383e-05 9.99999097e-01 1.55735366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.96, Y:323.16, Z:1.56 [[ 4.08212362e-01 -9.12886819e-01 -5.69155492e-04 2.65963787e+02] [ 9.12886007e-01 4.08212758e-01 -1.21737736e-03 3.23160410e+02] [ 1.34366427e-03 -2.26255987e-05 9.99999097e-01 1.55735126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:265.97, Y:323.19, Z:1.56 [[ 4.07658317e-01 -9.13134368e-01 -5.68764914e-04 2.65974246e+02] [ 9.13133556e-01 4.07658713e-01 -1.21755981e-03 3.23185543e+02] [ 1.34365768e-03 -2.30099472e-05 9.99999097e-01 1.55687704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.232755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:265.98, Y:323.21, Z:1.55 [[ 4.07343182e-01 -9.13274991e-01 -5.68377620e-04 2.65984951e+02] [ 9.13274179e-01 4.07343578e-01 -1.21774058e-03 3.23210968e+02] [ 1.34365699e-03 -2.30462837e-05 9.99999097e-01 1.55430132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.00, Y:323.24, Z:1.56 [[ 4.10958666e-01 -9.11653801e-01 -5.67974191e-04 2.66004809e+02] [ 9.11652987e-01 4.10959058e-01 -1.21792871e-03 3.23238917e+02] [ 1.34374348e-03 -1.72770084e-05 9.99999097e-01 1.55672648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.01, Y:323.26, Z:1.56 [[ 4.08356978e-01 -9.12822126e-01 -5.86617441e-04 2.66009714e+02] [ 9.12821326e-01 4.08357397e-01 -1.20920328e-03 3.23261463e+02] [ 1.34333708e-03 -4.16903119e-05 9.99999097e-01 1.55712990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.02, Y:323.29, Z:1.56 [[ 4.09625720e-01 -9.12253499e-01 -5.68652659e-04 2.66024693e+02] [ 9.12252686e-01 4.09626115e-01 -1.21759338e-03 3.23292297e+02] [ 1.34368880e-03 -1.99973516e-05 9.99999097e-01 1.55569500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.03, Y:323.32, Z:1.55 [[ 4.08467602e-01 -9.12772627e-01 -5.91090213e-04 2.66032830e+02] [ 9.12771830e-01 4.08468027e-01 -1.20716277e-03 3.23318563e+02] [ 1.34330659e-03 -4.64436125e-05 9.99999097e-01 1.55475901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.04, Y:323.34, Z:1.55 [[ 4.07408788e-01 -9.13245716e-01 -5.84825223e-04 2.66042033e+02] [ 9.13244915e-01 4.07409206e-01 -1.21007101e-03 3.23343018e+02] [ 1.34335535e-03 -4.10950969e-05 9.99999097e-01 1.55358199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.05, Y:323.37, Z:1.55 [[ 4.06710092e-01 -9.13557094e-01 -5.80176495e-04 2.66053313e+02] [ 9.13556291e-01 4.06710505e-01 -1.21222628e-03 3.23369268e+02] [ 1.34340179e-03 -3.69992258e-05 9.99999097e-01 1.55382547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.06, Y:323.39, Z:1.56 [[ 4.04900515e-01 -9.14360562e-01 -5.79579046e-04 2.66060027e+02] [ 9.14359759e-01 4.04900928e-01 -1.21250294e-03 3.23391218e+02] [ 1.34333696e-03 -3.90006916e-05 9.99999097e-01 1.55515468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.07, Y:323.41, Z:1.56 [[ 4.04221903e-01 -9.14660776e-01 -5.63793635e-04 2.66070014e+02] [ 9.14659963e-01 4.04222295e-01 -1.21979899e-03 3.23414993e+02] [ 1.34360025e-03 -2.26099962e-05 9.99999097e-01 1.55582024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.08, Y:323.44, Z:1.56 [[ 4.02915616e-01 -9.15236958e-01 -5.63356986e-04 2.66079463e+02] [ 9.15236145e-01 4.02916009e-01 -1.22000062e-03 3.23441125e+02] [ 1.34357521e-03 -2.40473749e-05 9.99999097e-01 1.55735622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.09, Y:323.47, Z:1.56 [[ 4.02378323e-01 -9.15473303e-01 -5.62974723e-04 2.66089736e+02] [ 9.15472490e-01 4.02378716e-01 -1.22017699e-03 3.23466704e+02] [ 1.34356851e-03 -2.44150992e-05 9.99999097e-01 1.55814049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.10, Y:323.49, Z:1.56 [[ 4.00380578e-01 -9.16348775e-01 -5.62572117e-04 2.66097103e+02] [ 9.16347962e-01 4.00380972e-01 -1.22036259e-03 3.23491761e+02] [ 1.34352093e-03 -2.69023345e-05 9.99999097e-01 1.55636492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.11, Y:323.52, Z:1.56 [[ 4.00507812e-01 -9.16293177e-01 -5.54196610e-04 2.66109012e+02] [ 9.16292359e-01 4.00508195e-01 -1.22421798e-03 3.23518499e+02] [ 1.34370286e-03 -1.74972562e-05 9.99999097e-01 1.55830341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:323.54, Z:1.56 [[ 4.00603568e-01 -9.16251310e-01 -5.64532013e-04 2.66116853e+02] [ 9.16250499e-01 4.00603965e-01 -1.21945939e-03 3.23544113e+02] [ 1.34348502e-03 -2.87329571e-05 9.99999097e-01 1.56029594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.12, Y:323.57, Z:1.56 [[ 4.00591187e-01 -9.16256725e-01 -5.61492400e-04 2.66124672e+02] [ 9.16255912e-01 4.00591580e-01 -1.22085735e-03 3.23570450e+02] [ 1.34354789e-03 -2.54060334e-05 9.99999097e-01 1.56112373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.13, Y:323.60, Z:1.56 [[ 4.01121174e-01 -9.16024830e-01 -5.61079817e-04 2.66134240e+02] [ 9.16024016e-01 4.01121566e-01 -1.22104694e-03 3.23595939e+02] [ 1.34357053e-03 -2.41748049e-05 9.99999097e-01 1.56162715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.712755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.14, Y:323.62, Z:1.56 [[ 4.01755698e-01 -9.15746716e-01 -5.58394279e-04 2.66143958e+02] [ 9.15745900e-01 4.01756085e-01 -1.22227997e-03 3.23622052e+02] [ 1.34363717e-03 -2.02893296e-05 9.99999097e-01 1.55903373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.15, Y:323.65, Z:1.56 [[ 4.02843603e-01 -9.15268659e-01 -5.60340264e-04 2.66151515e+02] [ 9.15267844e-01 4.02843993e-01 -1.22138720e-03 3.23648745e+02] [ 1.34362714e-03 -2.08334031e-05 9.99999097e-01 1.56044661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.16, Y:323.68, Z:1.56 [[ 4.03457025e-01 -9.14998424e-01 -5.59929522e-04 2.66161551e+02] [ 9.14997609e-01 4.03457413e-01 -1.22157547e-03 3.23675183e+02] [ 1.34364735e-03 -1.94809667e-05 9.99999097e-01 1.55979745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.17, Y:323.70, Z:1.56 [[ 4.05324337e-01 -9.14172778e-01 -5.59542128e-04 2.66170344e+02] [ 9.14171962e-01 4.05324723e-01 -1.22175289e-03 3.23701642e+02] [ 1.34368950e-03 -1.63115434e-05 9.99999097e-01 1.55940382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.18, Y:323.73, Z:1.56 [[ 4.05831302e-01 -9.13947833e-01 -5.59157591e-04 2.66180447e+02] [ 9.13947017e-01 4.05831687e-01 -1.22192886e-03 3.23726795e+02] [ 1.34370310e-03 -1.51434322e-05 9.99999097e-01 1.55986130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.19, Y:323.75, Z:1.56 [[ 4.06154821e-01 -9.13804109e-01 -5.58751886e-04 2.66191555e+02] [ 9.13803292e-01 4.06155205e-01 -1.22211435e-03 3.23752906e+02] [ 1.34371310e-03 -1.42216787e-05 9.99999097e-01 1.55981047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.20, Y:323.78, Z:1.56 [[ 4.05607629e-01 -9.14047121e-01 -5.58373850e-04 2.66202000e+02] [ 9.14046304e-01 4.05608013e-01 -1.22228704e-03 3.23778106e+02] [ 1.34370886e-03 -1.46106034e-05 9.99999097e-01 1.56091263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.21, Y:323.80, Z:1.56 [[ 4.04531387e-01 -9.14523945e-01 -5.57982448e-04 2.66213301e+02] [ 9.14523128e-01 4.04531772e-01 -1.22246570e-03 3.23803804e+02] [ 1.34369578e-03 -1.57621105e-05 9.99999097e-01 1.56080928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.22, Y:323.83, Z:1.56 [[ 4.03305909e-01 -9.15065043e-01 -5.57605966e-04 2.66224737e+02] [ 9.15064226e-01 4.03306294e-01 -1.22263740e-03 3.23829393e+02] [ 1.34367874e-03 -1.71483856e-05 9.99999097e-01 1.56029367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.24, Y:323.85, Z:1.56 [[ 4.00682472e-01 -9.16216812e-01 -5.57227511e-04 2.66237131e+02] [ 9.16215996e-01 4.00682859e-01 -1.22280986e-03 3.23854814e+02] [ 1.34363046e-03 -2.05822823e-05 9.99999097e-01 1.55892945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.25, Y:323.88, Z:1.56 [[ 3.99384423e-01 -9.16783384e-01 -5.56850368e-04 2.66248218e+02] [ 9.16782568e-01 3.99384810e-01 -1.22298158e-03 3.23878296e+02] [ 1.34360677e-03 -2.20709186e-05 9.99999097e-01 1.55872453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.26, Y:323.90, Z:1.56 [[ 3.97271481e-01 -9.17700965e-01 -5.56407088e-04 2.66259800e+02] [ 9.17700150e-01 3.97271870e-01 -1.22318322e-03 3.23902941e+02] [ 1.34356131e-03 -2.46790586e-05 9.99999097e-01 1.55816548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.27, Y:323.93, Z:1.56 [[ 3.96403782e-01 -9.18076104e-01 -5.55993360e-04 2.66271598e+02] [ 9.18075289e-01 3.96404171e-01 -1.22337125e-03 3.23928637e+02] [ 1.34354600e-03 -2.54947752e-05 9.99999097e-01 1.55699417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.28, Y:323.95, Z:1.56 [[ 3.94644025e-01 -9.18833927e-01 -5.55611081e-04 2.66282458e+02] [ 9.18833112e-01 3.94644416e-01 -1.22354484e-03 3.23954705e+02] [ 1.34350332e-03 -2.76491967e-05 9.99999097e-01 1.55546391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.29, Y:323.98, Z:1.56 [[ 3.93894190e-01 -9.19155623e-01 -5.55215160e-04 2.66292932e+02] [ 9.19154809e-01 3.93894580e-01 -1.22372448e-03 3.23979630e+02] [ 1.34348947e-03 -2.83107233e-05 9.99999097e-01 1.55672457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.30, Y:324.00, Z:1.56 [[ 3.93203743e-01 -9.19451200e-01 -5.54927060e-04 2.66303348e+02] [ 9.19450386e-01 3.93204133e-01 -1.22385511e-03 3.24004779e+02] [ 1.34347466e-03 -2.90034906e-05 9.99999097e-01 1.55744188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.32, Y:324.03, Z:1.56 [[ 3.92520824e-01 -9.19742952e-01 -5.52440579e-04 2.66315866e+02] [ 9.19742136e-01 3.92521212e-01 -1.22498135e-03 3.24029608e+02] [ 1.34351261e-03 -2.72721876e-05 9.99999097e-01 1.55587426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.33, Y:324.06, Z:1.56 [[ 3.92045731e-01 -9.19945563e-01 -5.54113170e-04 2.66327857e+02] [ 9.19944748e-01 3.92046121e-01 -1.22422430e-03 3.24055488e+02] [ 1.34345763e-03 -2.98015904e-05 9.99999097e-01 1.55568895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.34, Y:324.08, Z:1.56 [[ 3.91674288e-01 -9.20103769e-01 -5.53724938e-04 2.66339088e+02] [ 9.20102955e-01 3.91674679e-01 -1.22439988e-03 3.24079783e+02] [ 1.34345498e-03 -2.99180016e-05 9.99999097e-01 1.55615391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.35, Y:324.11, Z:1.55 [[ 3.91340733e-01 -9.20245687e-01 -5.53315592e-04 2.66351356e+02] [ 9.20244873e-01 3.91341123e-01 -1.22458483e-03 3.24105274e+02] [ 1.34345406e-03 -2.99559112e-05 9.99999097e-01 1.55468251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.36, Y:324.13, Z:1.55 [[ 3.91229788e-01 -9.20292860e-01 -5.52935768e-04 2.66362804e+02] [ 9.20292045e-01 3.91230177e-01 -1.22475631e-03 3.24129817e+02] [ 1.34345965e-03 -2.97012368e-05 9.99999097e-01 1.55404129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.342755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.38, Y:324.16, Z:1.55 [[ 3.90724912e-01 -9.20507326e-01 -5.52535580e-04 2.66375497e+02] [ 9.20506512e-01 3.90725302e-01 -1.22493682e-03 3.24155027e+02] [ 1.34345295e-03 -2.99992665e-05 9.99999097e-01 1.55447382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.39, Y:324.18, Z:1.55 [[ 3.91637095e-01 -9.20119600e-01 -5.54894836e-04 2.66387694e+02] [ 9.20118787e-01 3.91637487e-01 -1.22387335e-03 3.24178246e+02] [ 1.34342748e-03 -3.12549607e-05 9.99999097e-01 1.55369906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.40, Y:324.20, Z:1.55 [[ 3.94997711e-01 -9.18681939e-01 -5.51770417e-04 2.66402690e+02] [ 9.18681122e-01 3.94998095e-01 -1.22528034e-03 3.24202369e+02] [ 1.34359118e-03 -2.29181356e-05 9.99999097e-01 1.55350328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.42, Y:324.23, Z:1.55 [[ 3.95023943e-01 -9.18670658e-01 -5.53175855e-04 2.66416516e+02] [ 9.18669842e-01 3.95024330e-01 -1.22464832e-03 3.24230157e+02] [ 1.34356640e-03 -2.44205687e-05 9.99999097e-01 1.54992549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.43, Y:324.26, Z:1.55 [[ 3.96091813e-01 -9.18210737e-01 -5.64348923e-04 2.66428393e+02] [ 9.18209928e-01 3.96092213e-01 -1.21962531e-03 3.24255883e+02] [ 1.34340727e-03 -3.51071831e-05 9.99999097e-01 1.54901897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.44, Y:324.28, Z:1.55 [[ 3.97869167e-01 -9.17441992e-01 -5.63849449e-04 2.66437196e+02] [ 9.17441181e-01 3.97869566e-01 -1.21984955e-03 3.24278008e+02] [ 1.34347973e-03 -3.19581814e-05 9.99999097e-01 1.55262308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.45, Y:324.30, Z:1.55 [[ 3.98971103e-01 -9.16963335e-01 -5.49610312e-04 2.66449011e+02] [ 9.16962515e-01 3.98971481e-01 -1.22623168e-03 3.24302864e+02] [ 1.34368833e-03 -1.47410479e-05 9.99999097e-01 1.55243037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.46, Y:324.33, Z:1.55 [[ 4.00026389e-01 -9.16503457e-01 -5.49196625e-04 2.66461071e+02] [ 9.16502636e-01 4.00026766e-01 -1.22641693e-03 3.24327312e+02] [ 1.34370871e-03 -1.27410164e-05 9.99999097e-01 1.55242393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.48, Y:324.35, Z:1.55 [[ 4.03425257e-01 -9.15012438e-01 -5.48776864e-04 2.66478684e+02] [ 9.15011615e-01 4.03425630e-01 -1.22660473e-03 3.24354691e+02] [ 1.34374924e-03 -7.29387551e-06 9.99999097e-01 1.55042373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.49, Y:324.38, Z:1.55 [[ 4.02933969e-01 -9.15228880e-01 -5.61436935e-04 2.66490111e+02] [ 9.15228065e-01 4.02934359e-01 -1.22093921e-03 3.24380928e+02] [ 1.34366106e-03 -2.18849575e-05 9.99999097e-01 1.55046565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.642755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:266.50, Y:324.40, Z:1.55 [[ 4.02373167e-01 -9.15475570e-01 -5.60900033e-04 2.66500387e+02] [ 9.15474756e-01 4.02373558e-01 -1.22117920e-03 3.24404625e+02] [ 1.34365107e-03 -2.21200771e-05 9.99999097e-01 1.55185309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.51, Y:324.43, Z:1.55 [[ 4.02693066e-01 -9.15334904e-01 -5.54987975e-04 2.66512072e+02] [ 9.15334086e-01 4.02693448e-01 -1.22381854e-03 3.24427274e+02] [ 1.34369385e-03 -1.51761706e-05 9.99999097e-01 1.55250183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.702755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:266.52, Y:324.45, Z:1.56 [[ 4.02912257e-01 -9.15238446e-01 -5.47257408e-04 2.66523892e+02] [ 9.15237624e-01 4.02912629e-01 -1.22726572e-03 3.24450615e+02] [ 1.34373770e-03 -6.39016659e-06 9.99999097e-01 1.55607068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.732755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:266.54, Y:324.48, Z:1.55 [[ 4.02393545e-01 -9.15466623e-01 -5.44183808e-04 2.66537477e+02] [ 9.15465799e-01 4.02393913e-01 -1.22863481e-03 3.24477558e+02] [ 1.34375041e-03 -3.78694775e-06 9.99999097e-01 1.55491259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.55, Y:324.50, Z:1.55 [[ 4.02829172e-01 -9.15275015e-01 -5.53105996e-04 2.66551473e+02] [ 9.15274195e-01 4.02829552e-01 -1.22466849e-03 3.24502617e+02] [ 1.34371591e-03 -1.29114524e-05 9.99999097e-01 1.55340272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.56, Y:324.53, Z:1.56 [[ 4.02452676e-01 -9.15440625e-01 -5.53942788e-04 2.66562039e+02] [ 9.15439806e-01 4.02453057e-01 -1.22429618e-03 3.24525174e+02] [ 1.34370643e-03 -1.43800048e-05 9.99999097e-01 1.55528736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.57, Y:324.55, Z:1.55 [[ 4.02725828e-01 -9.15320496e-01 -5.45491821e-04 2.66574189e+02] [ 9.15319672e-01 4.02726197e-01 -1.22805074e-03 3.24549017e+02] [ 1.34374386e-03 -4.73164279e-06 9.99999097e-01 1.55447283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.59, Y:324.57, Z:1.55 [[ 4.02689110e-01 -9.15336651e-01 -5.43339204e-04 2.66588813e+02] [ 9.15335826e-01 4.02689477e-01 -1.22900630e-03 3.24574971e+02] [ 1.34375149e-03 -2.43038602e-06 9.99999097e-01 1.54887312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.60, Y:324.60, Z:1.55 [[ 4.02819896e-01 -9.15279099e-01 -5.49811148e-04 2.66600003e+02] [ 9.15278278e-01 4.02820271e-01 -1.22613670e-03 3.24596951e+02] [ 1.34373237e-03 -9.31794209e-06 9.99999097e-01 1.55069023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.62, Y:324.62, Z:1.55 [[ 3.99623681e-01 -9.16679126e-01 -5.41742769e-04 2.66615165e+02] [ 9.16678301e-01 3.99624048e-01 -1.22970931e-03 3.24624236e+02] [ 1.34374229e-03 -5.18288105e-06 9.99999097e-01 1.54858406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.63, Y:324.64, Z:1.55 [[ 4.01258239e-01 -9.15964803e-01 -5.52790433e-04 2.66627154e+02] [ 9.15963984e-01 4.01258620e-01 -1.22481779e-03 3.24643791e+02] [ 1.34370191e-03 -1.48678985e-05 9.99999097e-01 1.54792534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.64, Y:324.67, Z:1.55 [[ 3.97012380e-01 -9.17813098e-01 -5.35636154e-04 2.66640506e+02] [ 9.17812271e-01 3.97012741e-01 -1.23239154e-03 3.24672040e+02] [ 1.34375947e-03 -2.33873735e-06 9.99999097e-01 1.54920792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.65, Y:324.70, Z:1.55 [[ 3.95494112e-01 -9.18468347e-01 -5.50176160e-04 2.66653796e+02] [ 9.18467529e-01 3.95494494e-01 -1.22598262e-03 3.24697551e+02] [ 1.34361787e-03 -2.04500302e-05 9.99999097e-01 1.54778970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.67, Y:324.72, Z:1.55 [[ 3.94553556e-01 -9.18872782e-01 -5.50603791e-04 2.66669581e+02] [ 9.18871964e-01 3.94553939e-01 -1.22579423e-03 3.24720709e+02] [ 1.34359185e-03 -2.22929133e-05 9.99999097e-01 1.54771723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.68, Y:324.75, Z:1.55 [[ 3.92270205e-01 -9.19849869e-01 -5.51639487e-04 2.66684427e+02] [ 9.19849054e-01 3.92270592e-01 -1.22533853e-03 3.24745309e+02] [ 1.34351943e-03 -2.67612647e-05 9.99999097e-01 1.54816466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.70, Y:324.77, Z:1.55 [[ 3.92244694e-01 -9.19860748e-01 -5.52161476e-04 2.66695922e+02] [ 9.19859932e-01 3.92245082e-01 -1.22510900e-03 3.24767430e+02] [ 1.34351230e-03 -2.73687136e-05 9.99999097e-01 1.54969132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.71, Y:324.79, Z:1.55 [[ 3.91208986e-01 -9.20301708e-01 -5.43927263e-04 2.66708497e+02] [ 9.20300888e-01 3.91209364e-01 -1.22872478e-03 3.24792858e+02] [ 1.34358695e-03 -1.98885695e-05 9.99999097e-01 1.55060780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.72, Y:324.82, Z:1.55 [[ 3.91670345e-01 -9.20105455e-01 -5.40792241e-04 2.66721767e+02] [ 9.20104633e-01 3.91670718e-01 -1.23010011e-03 3.24816558e+02] [ 1.34363430e-03 -1.57917135e-05 9.99999097e-01 1.55094547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.74, Y:324.84, Z:1.55 [[ 3.92417917e-01 -9.19786871e-01 -5.39488462e-04 2.66735866e+02] [ 9.19786047e-01 3.92418288e-01 -1.23067164e-03 3.24840044e+02] [ 1.34366076e-03 -1.32763573e-05 9.99999097e-01 1.55046377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.75, Y:324.87, Z:1.55 [[ 3.95127866e-01 -9.18625973e-01 -5.39078868e-04 2.66753767e+02] [ 9.18625149e-01 3.95128234e-01 -1.23085103e-03 3.24867037e+02] [ 1.34369701e-03 -8.86786272e-06 9.99999097e-01 1.54897176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.76, Y:324.89, Z:1.55 [[ 3.94242175e-01 -9.19006422e-01 -5.51097126e-04 2.66762611e+02] [ 9.19005605e-01 3.94242560e-01 -1.22558777e-03 3.24888962e+02] [ 1.34358898e-03 -2.32829587e-05 9.99999097e-01 1.54930578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.78, Y:324.92, Z:1.55 [[ 3.95166616e-01 -9.18609305e-01 -5.38217054e-04 2.66776161e+02] [ 9.18608480e-01 3.95166983e-01 -1.23121819e-03 3.24915732e+02] [ 1.34369410e-03 -7.87442291e-06 9.99999097e-01 1.54813625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.79, Y:324.94, Z:1.55 [[ 3.97080340e-01 -9.17783693e-01 -5.44829683e-04 2.66788766e+02] [ 9.17782871e-01 3.97080713e-01 -1.22832942e-03 3.24942907e+02] [ 1.34368207e-03 -1.22898869e-05 9.99999097e-01 1.54902542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.80, Y:324.97, Z:1.55 [[ 3.99939668e-01 -9.16541303e-01 -5.49299988e-04 2.66799989e+02] [ 9.16540483e-01 3.99940045e-01 -1.22637827e-03 3.24969035e+02] [ 1.34371340e-03 -1.29783567e-05 9.99999097e-01 1.54839653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.81, Y:325.00, Z:1.55 [[ 4.01006702e-01 -9.16074956e-01 -5.48677973e-04 2.66811045e+02] [ 9.16074134e-01 4.01007077e-01 -1.22664939e-03 3.24995280e+02] [ 1.34372654e-03 -1.07350721e-05 9.99999097e-01 1.54791771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.82, Y:325.02, Z:1.55 [[ 4.00463249e-01 -9.16312658e-01 -5.46369822e-04 2.66822384e+02] [ 9.16311836e-01 4.00463622e-01 -1.22765419e-03 3.25021019e+02] [ 1.34371631e-03 -9.01474833e-06 9.99999097e-01 1.54608246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.83, Y:325.05, Z:1.55 [[ 3.98925166e-01 -9.16983322e-01 -5.48071502e-04 2.66831016e+02] [ 9.16982501e-01 3.98925542e-01 -1.22691513e-03 3.25045969e+02] [ 1.34370043e-03 -1.31246556e-05 9.99999097e-01 1.54728344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.84, Y:325.07, Z:1.55 [[ 3.97098060e-01 -9.17776029e-01 -5.40114513e-04 2.66841543e+02] [ 9.17775204e-01 3.97098427e-01 -1.23036548e-03 3.25070609e+02] [ 1.34367857e-03 -7.12796388e-06 9.99999097e-01 1.54720870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.85, Y:325.10, Z:1.55 [[ 3.94980158e-01 -9.18689492e-01 -5.39883079e-04 2.66850548e+02] [ 9.18688668e-01 3.94980527e-01 -1.23046587e-03 3.25095334e+02] [ 1.34365937e-03 -9.97486430e-06 9.99999097e-01 1.54849975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:325.12, Z:1.55 [[ 3.96171498e-01 -9.18176377e-01 -5.34253296e-04 2.66867207e+02] [ 9.18175549e-01 3.96171858e-01 -1.23290541e-03 3.25124538e+02] [ 1.34368075e-03 -2.09632898e-06 9.99999097e-01 1.54810162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.87, Y:325.15, Z:1.55 [[ 3.90042021e-01 -9.20796891e-01 -5.54288967e-04 2.66871197e+02] [ 9.20796078e-01 3.90042414e-01 -1.22421681e-03 3.25146266e+02] [ 1.34345124e-03 -3.28911078e-05 9.99999097e-01 1.54760017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.88, Y:325.17, Z:1.55 [[ 3.87751084e-01 -9.21763967e-01 -5.34313390e-04 2.66880511e+02] [ 9.21763143e-01 3.87751452e-01 -1.23286136e-03 3.25170409e+02] [ 1.34358797e-03 -1.44670596e-05 9.99999097e-01 1.54828179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.89, Y:325.20, Z:1.55 [[ 3.88126443e-01 -9.21605982e-01 -5.27318361e-04 2.66894791e+02] [ 9.21605153e-01 3.88126801e-01 -1.23588222e-03 3.25198084e+02] [ 1.34366283e-03 -6.30075036e-06 9.99999097e-01 1.54802082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:325.23, Z:1.55 [[ 3.86429601e-01 -9.22318747e-01 -5.40603659e-04 2.66906188e+02] [ 9.22317927e-01 3.86429979e-01 -1.23015337e-03 3.25227894e+02] [ 1.34349897e-03 -2.32407717e-05 9.99999097e-01 1.55053682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.91, Y:325.25, Z:1.55 [[ 3.84027454e-01 -9.23321510e-01 -5.51817245e-04 2.66911704e+02] [ 9.23320697e-01 3.84027849e-01 -1.22532234e-03 3.25249958e+02] [ 1.34327966e-03 -3.89468638e-05 9.99999097e-01 1.54933944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.93, Y:325.28, Z:1.55 [[ 3.85045689e-01 -9.22897359e-01 -5.30546336e-04 2.66925472e+02] [ 9.22896534e-01 3.85046055e-01 -1.23446412e-03 3.25277706e+02] [ 1.34356845e-03 -1.43142848e-05 9.99999097e-01 1.54880183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.94, Y:325.30, Z:1.55 [[ 3.84971620e-01 -9.22928249e-01 -5.46423820e-04 2.66936387e+02] [ 9.22927433e-01 3.84972007e-01 -1.22764559e-03 3.25304102e+02] [ 1.34338667e-03 -3.17008223e-05 9.99999097e-01 1.54567499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.95, Y:325.33, Z:1.55 [[ 3.84326158e-01 -9.23197222e-01 -5.42079967e-04 2.66947710e+02] [ 9.23196403e-01 3.84326540e-01 -1.22950439e-03 3.25331005e+02] [ 1.34341076e-03 -2.79155754e-05 9.99999097e-01 1.54524421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:325.36, Z:1.55 [[ 3.83449227e-01 -9.23561797e-01 -5.45699654e-04 2.66957345e+02] [ 9.23560981e-01 3.83449613e-01 -1.22795638e-03 3.25355763e+02] [ 1.34334192e-03 -3.31279846e-05 9.99999097e-01 1.54517113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.96, Y:325.38, Z:1.55 [[ 3.81069901e-01 -9.24546071e-01 -5.42131701e-04 2.66963359e+02] [ 9.24545254e-01 3.81070285e-01 -1.22948074e-03 3.25378630e+02] [ 1.34330187e-03 -3.27071890e-05 9.99999097e-01 1.54668015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.98, Y:325.41, Z:1.55 [[ 3.83101341e-01 -9.23706168e-01 -5.27118244e-04 2.66978001e+02] [ 9.23705341e-01 3.83101703e-01 -1.23588414e-03 3.25407506e+02] [ 1.34353370e-03 -1.34330651e-05 9.99999097e-01 1.54612921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:266.99, Y:325.43, Z:1.55 [[ 3.82203177e-01 -9.24078156e-01 -5.42200710e-04 2.66987402e+02] [ 9.24077338e-01 3.82203560e-01 -1.22945148e-03 3.25432820e+02] [ 1.34334030e-03 -3.11351260e-05 9.99999097e-01 1.54609356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.00, Y:325.45, Z:1.55 [[ 3.81403854e-01 -9.24408356e-01 -5.39025744e-04 2.66995003e+02] [ 9.24407538e-01 3.81404234e-01 -1.23080383e-03 3.25454971e+02] [ 1.34335204e-03 -2.88461367e-05 9.99999097e-01 1.54802867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.01, Y:325.48, Z:1.55 [[ 3.80528851e-01 -9.24768900e-01 -5.24094891e-04 2.67005049e+02] [ 9.24768073e-01 3.80529212e-01 -1.23715100e-03 3.25479993e+02] [ 1.34351218e-03 -1.38945750e-05 9.99999097e-01 1.54738689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:325.51, Z:1.55 [[ 3.78142668e-01 -9.25747183e-01 -5.25337923e-04 2.67015233e+02] [ 9.25746357e-01 3.78143032e-01 -1.23662294e-03 3.25505198e+02] [ 1.34345308e-03 -1.87097717e-05 9.99999097e-01 1.54682359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.02, Y:325.53, Z:1.55 [[ 3.78398137e-01 -9.25642789e-01 -5.26798976e-04 2.67024923e+02] [ 9.25641964e-01 3.78398503e-01 -1.23600272e-03 3.25527247e+02] [ 1.34343695e-03 -1.99261126e-05 9.99999097e-01 1.54522196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.022755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.04, Y:325.55, Z:1.55 [[ 3.75535084e-01 -9.26808036e-01 -5.14728235e-04 2.67035362e+02] [ 9.26807205e-01 3.75535437e-01 -1.24111746e-03 3.25554422e+02] [ 1.34357633e-03 -1.09706873e-05 9.99999097e-01 1.54519794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.05, Y:325.58, Z:1.54 [[ 3.73752825e-01 -9.27528194e-01 -5.24116860e-04 2.67047023e+02] [ 9.27527369e-01 3.73753192e-01 -1.23713948e-03 3.25582317e+02] [ 1.34337210e-03 -2.37483553e-05 9.99999097e-01 1.54468779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.06, Y:325.60, Z:1.54 [[ 3.75943172e-01 -9.26642567e-01 -5.33460329e-04 2.67055617e+02] [ 9.26641747e-01 3.75943549e-01 -1.23318208e-03 3.25603856e+02] [ 1.34326998e-03 -3.07202299e-05 9.99999097e-01 1.54473800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.07, Y:325.63, Z:1.54 [[ 3.74790985e-01 -9.27109187e-01 -5.21677431e-04 2.67065054e+02] [ 9.27108361e-01 3.74791348e-01 -1.23816446e-03 3.25630596e+02] [ 1.34343384e-03 -1.95986290e-05 9.99999097e-01 1.54432171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.08, Y:325.66, Z:1.54 [[ 3.78837955e-01 -9.25462872e-01 -5.24931146e-04 2.67081774e+02] [ 9.25462046e-01 3.78838318e-01 -1.23678979e-03 3.25658789e+02] [ 1.34346706e-03 -1.72609378e-05 9.99999097e-01 1.54431431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.09, Y:325.69, Z:1.55 [[ 3.78688964e-01 -9.25523839e-01 -5.39952751e-04 2.67091394e+02] [ 9.25523022e-01 3.78689347e-01 -1.23045336e-03 3.25685921e+02] [ 1.34328828e-03 -3.37795920e-05 9.99999097e-01 1.54544100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.10, Y:325.71, Z:1.55 [[ 3.75935804e-01 -9.26645552e-01 -5.40313276e-04 2.67096126e+02] [ 9.26644736e-01 3.75936190e-01 -1.23030141e-03 3.25707766e+02] [ 1.34317664e-03 -3.81641046e-05 9.99999097e-01 1.54712770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.11, Y:325.73, Z:1.55 [[ 3.76318375e-01 -9.26490264e-01 -5.20708504e-04 2.67106570e+02] [ 9.26489436e-01 3.76318735e-01 -1.23854364e-03 3.25733207e+02] [ 1.34345099e-03 -1.63441966e-05 9.99999097e-01 1.54858900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.12, Y:325.76, Z:1.55 [[ 3.76499138e-01 -9.26416822e-01 -5.20285454e-04 2.67116500e+02] [ 9.26415994e-01 3.76499497e-01 -1.23872133e-03 3.25757164e+02] [ 1.34345949e-03 -1.56232521e-05 9.99999097e-01 1.54897087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.13, Y:325.78, Z:1.55 [[ 3.76908422e-01 -9.26250383e-01 -5.19842546e-04 2.67126882e+02] [ 9.26249554e-01 3.76908780e-01 -1.23890718e-03 3.25782398e+02] [ 1.34347147e-03 -1.45493777e-05 9.99999097e-01 1.54929673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.14, Y:325.81, Z:1.55 [[ 3.80350215e-01 -9.24842389e-01 -5.19419251e-04 2.67141216e+02] [ 9.24841559e-01 3.80350570e-01 -1.23908462e-03 3.25810571e+02] [ 1.34351939e-03 -9.09440764e-06 9.99999097e-01 1.54815993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.15, Y:325.84, Z:1.55 [[ 3.80273257e-01 -9.24874029e-01 -5.30813999e-04 2.67151021e+02] [ 9.24873205e-01 3.80273627e-01 -1.23431557e-03 3.25837520e+02] [ 1.34344098e-03 -2.15584414e-05 9.99999097e-01 1.54860317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.16, Y:325.86, Z:1.55 [[ 3.79110278e-01 -9.25351348e-01 -5.29811135e-04 2.67157863e+02] [ 9.25350524e-01 3.79110648e-01 -1.23473482e-03 3.25861007e+02] [ 1.34342057e-03 -2.21603495e-05 9.99999097e-01 1.54912065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.17, Y:325.89, Z:1.55 [[ 3.81464921e-01 -9.24383171e-01 -5.17457255e-04 2.67169390e+02] [ 9.24382339e-01 3.81465272e-01 -1.23989060e-03 3.25885677e+02] [ 1.34352598e-03 -5.35357649e-06 9.99999097e-01 1.54934030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.18, Y:325.91, Z:1.55 [[ 3.80767812e-01 -9.24670540e-01 -5.16246824e-04 2.67179213e+02] [ 9.24669708e-01 3.80768162e-01 -1.24039536e-03 3.25911408e+02] [ 1.34352740e-03 -5.05517426e-06 9.99999097e-01 1.54935040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.19, Y:325.94, Z:1.55 [[ 3.79421264e-01 -9.25223886e-01 -5.15508647e-04 2.67187755e+02] [ 9.25223054e-01 3.79421614e-01 -1.24070290e-03 3.25935524e+02] [ 1.34352308e-03 -6.21142189e-06 9.99999097e-01 1.54587307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.20, Y:325.96, Z:1.55 [[ 3.79878487e-01 -9.25036255e-01 -5.12481113e-04 2.67200768e+02] [ 9.25035421e-01 3.79878833e-01 -1.24196351e-03 3.25961704e+02] [ 1.34354200e-03 -2.26796070e-06 9.99999097e-01 1.54741365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.21, Y:325.99, Z:1.55 [[ 3.79557440e-01 -9.25168029e-01 -5.17258985e-04 2.67211208e+02] [ 9.25167198e-01 3.79557792e-01 -1.23997444e-03 3.25987415e+02] [ 1.34351439e-03 -7.90952237e-06 9.99999097e-01 1.54745244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.22, Y:326.01, Z:1.55 [[ 3.79971274e-01 -9.24998143e-01 -5.16833933e-04 2.67221732e+02] [ 9.24997311e-01 3.79971625e-01 -1.24015122e-03 3.26011167e+02] [ 1.34351981e-03 -6.84815886e-06 9.99999097e-01 1.54729250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.23, Y:326.04, Z:1.55 [[ 3.77192630e-01 -9.26134687e-01 -5.10684507e-04 2.67231718e+02] [ 9.26133854e-01 3.77192976e-01 -1.24270520e-03 3.26036255e+02] [ 1.34353900e-03 -4.22296690e-06 9.99999097e-01 1.54694948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.24, Y:326.06, Z:1.55 [[ 3.76014659e-01 -9.26613571e-01 -5.15124852e-04 2.67242146e+02] [ 9.26612741e-01 3.76015012e-01 -1.24086186e-03 3.26062294e+02] [ 1.34349412e-03 -1.07390012e-05 9.99999097e-01 1.54728362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.25, Y:326.09, Z:1.55 [[ 3.74315773e-01 -9.27301158e-01 -5.14185239e-04 2.67253757e+02] [ 9.27300328e-01 3.74316126e-01 -1.24125163e-03 3.26088363e+02] [ 1.34348190e-03 -1.21840787e-05 9.99999097e-01 1.54742688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.26, Y:326.11, Z:1.55 [[ 3.73203123e-01 -9.27749516e-01 -5.13978475e-04 2.67261559e+02] [ 9.27748686e-01 3.73203476e-01 -1.24133731e-03 3.26110814e+02] [ 1.34346864e-03 -1.35718944e-05 9.99999097e-01 1.54767693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.27, Y:326.14, Z:1.55 [[ 3.71531120e-01 -9.28420367e-01 -4.99534161e-04 2.67273291e+02] [ 9.28419529e-01 3.71531456e-01 -1.24730894e-03 3.26139416e+02] [ 1.34361967e-03 -3.63184456e-07 9.99999097e-01 1.54705598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:326.17, Z:1.55 [[ 3.72434376e-01 -9.28058392e-01 -5.07487727e-04 2.67285523e+02] [ 9.28057558e-01 3.72434722e-01 -1.24402075e-03 3.26165025e+02] [ 1.34352994e-03 -7.66172972e-06 9.99999097e-01 1.54894168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.29, Y:326.19, Z:1.55 [[ 3.69676294e-01 -9.29160469e-01 -5.09646481e-04 2.67293978e+02] [ 9.29159638e-01 3.69676645e-01 -1.24312818e-03 3.26191905e+02] [ 1.34346997e-03 -1.39879196e-05 9.99999097e-01 1.54753494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.30, Y:326.22, Z:1.55 [[ 3.70613022e-01 -9.28787237e-01 -5.06837734e-04 2.67304788e+02] [ 9.28786403e-01 3.70613369e-01 -1.24428726e-03 3.26216040e+02] [ 1.34351897e-03 -9.59493372e-06 9.99999097e-01 1.54886644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.31, Y:326.24, Z:1.55 [[ 3.67145331e-01 -9.30163457e-01 -4.99717328e-04 2.67313874e+02] [ 9.30162621e-01 3.67145671e-01 -1.24721309e-03 3.26244891e+02] [ 1.34358110e-03 -6.90991618e-06 9.99999097e-01 1.54782058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:326.28, Z:1.55 [[ 3.70070557e-01 -9.29003510e-01 -5.10620527e-04 2.67330813e+02] [ 9.29002679e-01 3.70070909e-01 -1.24273313e-03 3.26275598e+02] [ 1.34346924e-03 -1.44688961e-05 9.99999097e-01 1.54728448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.33, Y:326.30, Z:1.55 [[ 3.65736929e-01 -9.30718117e-01 -5.35081566e-04 2.67333811e+02] [ 9.30717302e-01 3.65737317e-01 -1.23267412e-03 3.26297268e+02] [ 1.34297143e-03 -4.71752256e-05 9.99999097e-01 1.54699480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.34, Y:326.32, Z:1.55 [[ 3.64852696e-01 -9.31065116e-01 -5.09735310e-04 2.67341910e+02] [ 9.31064287e-01 3.64853051e-01 -1.24306767e-03 3.26322203e+02] [ 1.34335542e-03 -2.10597535e-05 9.99999098e-01 1.54586366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.35, Y:326.35, Z:1.55 [[ 3.64550448e-01 -9.31183500e-01 -5.09281585e-04 2.67351190e+02] [ 9.31182671e-01 3.64550804e-01 -1.24325353e-03 3.26348639e+02] [ 1.34335618e-03 -2.10055550e-05 9.99999098e-01 1.54519060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.36, Y:326.37, Z:1.54 [[ 3.64017741e-01 -9.31391875e-01 -5.08772333e-04 2.67359043e+02] [ 9.31391045e-01 3.64018096e-01 -1.24346195e-03 3.26374030e+02] [ 1.34335269e-03 -2.12237868e-05 9.99999098e-01 1.54327645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.37, Y:326.40, Z:1.54 [[ 3.62948069e-01 -9.31809232e-01 -5.04750508e-04 2.67368241e+02] [ 9.31808400e-01 3.62948420e-01 -1.24510581e-03 3.26401129e+02] [ 1.34339949e-03 -1.84220136e-05 9.99999098e-01 1.54463120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:326.43, Z:1.54 [[ 3.61997353e-01 -9.32178984e-01 -5.08108219e-04 2.67377032e+02] [ 9.32178155e-01 3.61997709e-01 -1.24373407e-03 3.26426708e+02] [ 1.34331677e-03 -2.34189414e-05 9.99999098e-01 1.54387380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.38, Y:326.45, Z:1.55 [[ 3.62500195e-01 -9.31983555e-01 -5.11888219e-04 2.67384841e+02] [ 9.31982728e-01 3.62500555e-01 -1.24219137e-03 3.26451481e+02] [ 1.34326169e-03 -2.67763640e-05 9.99999098e-01 1.54589030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.39, Y:326.48, Z:1.55 [[ 3.62806215e-01 -9.31864472e-01 -5.06974259e-04 2.67394474e+02] [ 9.31863641e-01 3.62806569e-01 -1.24419367e-03 3.26478202e+02] [ 1.34335347e-03 -2.10296813e-05 9.99999098e-01 1.54650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.40, Y:326.50, Z:1.55 [[ 3.66345938e-01 -9.30478585e-01 -5.06576468e-04 2.67404552e+02] [ 9.30477753e-01 3.66346288e-01 -1.24435561e-03 3.26502374e+02] [ 1.34342866e-03 -1.54935084e-05 9.99999098e-01 1.54632483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.162755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.41, Y:326.52, Z:1.55 [[ 3.66055871e-01 -9.30592738e-01 -5.06082047e-04 2.67409644e+02] [ 9.30591905e-01 3.66056221e-01 -1.24455666e-03 3.26524259e+02] [ 1.34342987e-03 -1.53785824e-05 9.99999098e-01 1.54739348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.42, Y:326.56, Z:1.55 [[ 3.59221897e-01 -9.33252052e-01 -4.86399326e-04 2.67418340e+02] [ 9.33251211e-01 3.59222226e-01 -1.25253897e-03 3.26562966e+02] [ 1.34366001e-03 -3.99333653e-06 9.99999097e-01 1.54803348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.43, Y:326.58, Z:1.55 [[ 3.61180494e-01 -9.32495770e-01 -5.39134974e-04 2.67426382e+02] [ 9.32494959e-01 3.61180891e-01 -1.23118870e-03 3.26583386e+02] [ 1.34280351e-03 -5.80593031e-05 9.99999097e-01 1.54847484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.44, Y:326.61, Z:1.55 [[ 3.63385546e-01 -9.31638710e-01 -5.09448639e-04 2.67435497e+02] [ 9.31637881e-01 3.63385902e-01 -1.24316009e-03 3.26605092e+02] [ 1.34330251e-03 -2.28752429e-05 9.99999098e-01 1.54692570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:326.63, Z:1.55 [[ 3.65021530e-01 -9.30998945e-01 -4.96134721e-04 2.67448328e+02] [ 9.30998108e-01 3.65021867e-01 -1.24851899e-03 3.26630824e+02] [ 1.34346989e-03 -6.16417265e-06 9.99999098e-01 1.55023818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.45, Y:326.66, Z:1.55 [[ 3.61407328e-01 -9.32407900e-01 -5.01312649e-04 2.67453502e+02] [ 9.32407067e-01 3.61407676e-01 -1.24643645e-03 3.26658170e+02] [ 1.34336543e-03 -1.69561900e-05 9.99999098e-01 1.54663445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.46, Y:326.68, Z:1.55 [[ 3.61411195e-01 -9.32406400e-01 -5.03123894e-04 2.67462778e+02] [ 9.32405568e-01 3.61411545e-01 -1.24570859e-03 3.26683222e+02] [ 1.34334145e-03 -1.89024903e-05 9.99999098e-01 1.54670941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.47, Y:326.71, Z:1.55 [[ 3.60774691e-01 -9.32652868e-01 -5.00381948e-04 2.67472014e+02] [ 9.32652035e-01 3.60775038e-01 -1.24680902e-03 3.26708527e+02] [ 1.34336532e-03 -1.68651045e-05 9.99999098e-01 1.54638554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.48, Y:326.73, Z:1.55 [[ 3.60301469e-01 -9.32835785e-01 -4.99944014e-04 2.67481914e+02] [ 9.32834952e-01 3.60301815e-01 -1.24698459e-03 3.26734379e+02] [ 1.34336259e-03 -1.70748699e-05 9.99999098e-01 1.54625832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.49, Y:326.76, Z:1.54 [[ 3.59999177e-01 -9.32952487e-01 -4.99544446e-04 2.67491075e+02] [ 9.32951654e-01 3.59999523e-01 -1.24714464e-03 3.26758761e+02] [ 1.34336246e-03 -1.70797733e-05 9.99999098e-01 1.54382329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.50, Y:326.78, Z:1.55 [[ 3.59058717e-01 -9.33314840e-01 -4.98008488e-04 2.67500646e+02] [ 9.33314006e-01 3.59059062e-01 -1.24775956e-03 3.26784698e+02] [ 1.34336697e-03 -1.67793510e-05 9.99999098e-01 1.54517031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.51, Y:326.81, Z:1.54 [[ 3.58579616e-01 -9.33499015e-01 -4.98683054e-04 2.67511171e+02] [ 9.33498181e-01 3.58579962e-01 -1.24748963e-03 3.26809772e+02] [ 1.34334809e-03 -1.81953712e-05 9.99999098e-01 1.54454931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.52, Y:326.84, Z:1.54 [[ 3.57471720e-01 -9.33923830e-01 -4.98911171e-04 2.67521181e+02] [ 9.33922997e-01 3.57472068e-01 -1.24739839e-03 3.26835073e+02] [ 1.34332189e-03 -2.00349659e-05 9.99999098e-01 1.54339132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.53, Y:326.86, Z:1.54 [[ 3.54164233e-01 -9.35183109e-01 -4.98495660e-04 2.67528602e+02] [ 9.35182277e-01 3.54164583e-01 -1.24756442e-03 3.26860116e+02] [ 1.34325068e-03 -2.43416105e-05 9.99999098e-01 1.54405622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.54, Y:326.89, Z:1.54 [[ 3.53019520e-01 -9.35615828e-01 -4.90070096e-04 2.67539762e+02] [ 9.35614992e-01 3.53019860e-01 -1.25092803e-03 3.26886264e+02] [ 1.34339254e-03 -1.69149153e-05 9.99999098e-01 1.54412032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.55, Y:326.91, Z:1.54 [[ 3.50628233e-01 -9.36514603e-01 -4.90678512e-04 2.67550938e+02] [ 9.36513768e-01 3.50628576e-01 -1.25068516e-03 3.26911512e+02] [ 1.34333082e-03 -2.10016543e-05 9.99999098e-01 1.54487223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:267.56, Y:326.94, Z:1.55 [[ 3.49548102e-01 -9.36918292e-01 -4.88909766e-04 2.67561393e+02] [ 9.36917456e-01 3.49548443e-01 -1.25139087e-03 3.26936337e+02] [ 1.34334864e-03 -2.06467911e-05 9.99999098e-01 1.54532127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.57, Y:326.96, Z:1.54 [[ 3.49787839e-01 -9.36828815e-01 -4.88183065e-04 2.67573948e+02] [ 9.36827979e-01 3.49788179e-01 -1.25168064e-03 3.26962672e+02] [ 1.34337115e-03 -1.95208881e-05 9.99999098e-01 1.54270359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.58, Y:326.99, Z:1.54 [[ 3.48944553e-01 -9.37143242e-01 -4.93631861e-04 2.67584038e+02] [ 9.37142409e-01 3.48944901e-01 -1.24950983e-03 3.26987763e+02] [ 1.34322001e-03 -2.65937026e-05 9.99999098e-01 1.54395745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.59, Y:327.01, Z:1.54 [[ 3.51616297e-01 -9.36144078e-01 -4.95525603e-04 2.67593419e+02] [ 9.36143245e-01 3.51616645e-01 -1.24875597e-03 3.27009191e+02] [ 1.34325055e-03 -2.47999980e-05 9.99999098e-01 1.54349897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.61, Y:327.04, Z:1.54 [[ 3.52854270e-01 -9.35678168e-01 -4.80301821e-04 2.67605807e+02] [ 9.35677326e-01 3.52854597e-01 -1.25480349e-03 3.27038272e+02] [ 1.34356894e-03 -6.64475269e-06 9.99999097e-01 1.54211098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.62, Y:327.07, Z:1.55 [[ 3.55087963e-01 -9.34832762e-01 -4.96257577e-04 2.67616318e+02] [ 9.34831928e-01 3.55088310e-01 -1.24846115e-03 3.27065816e+02] [ 1.34331765e-03 -2.06038995e-05 9.99999098e-01 1.54540773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.63, Y:327.09, Z:1.55 [[ 3.56992185e-01 -9.34107237e-01 -4.99117897e-04 2.67625791e+02] [ 9.34106405e-01 3.56992534e-01 -1.24732463e-03 3.27091742e+02] [ 1.34331633e-03 -2.09440785e-05 9.99999098e-01 1.54559733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.64, Y:327.12, Z:1.54 [[ 3.60561420e-01 -9.32735341e-01 -4.96374884e-04 2.67636174e+02] [ 9.32734506e-01 3.60561761e-01 -1.24841331e-03 3.27116812e+02] [ 1.34341301e-03 -1.28563083e-05 9.99999098e-01 1.54301486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.65, Y:327.14, Z:1.55 [[ 3.61760924e-01 -9.32270770e-01 -4.95226512e-04 2.67646548e+02] [ 9.32269934e-01 3.61761263e-01 -1.24886868e-03 3.27143970e+02] [ 1.34343754e-03 -9.89289940e-06 9.99999098e-01 1.54562779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.66, Y:327.17, Z:1.54 [[ 3.65346605e-01 -9.30871426e-01 -4.96694323e-04 2.67657277e+02] [ 9.30870589e-01 3.65346942e-01 -1.24828699e-03 3.27169605e+02] [ 1.34346044e-03 -6.30072376e-06 9.99999098e-01 1.54267712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.67, Y:327.20, Z:1.54 [[ 3.66491521e-01 -9.30421258e-01 -4.97595885e-04 2.67668595e+02] [ 9.30420421e-01 3.66491858e-01 -1.24792976e-03 3.27195883e+02] [ 1.34346522e-03 -5.61769823e-06 9.99999098e-01 1.54426415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.972755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.68, Y:327.22, Z:1.54 [[ 3.66314590e-01 -9.30490929e-01 -5.01380575e-04 2.67677204e+02] [ 9.30490095e-01 3.66314933e-01 -1.24642793e-03 3.27219505e+02] [ 1.34345307e-03 -9.94492366e-06 9.99999098e-01 1.54364906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.69, Y:327.25, Z:1.54 [[ 3.66600880e-01 -9.30378175e-01 -4.96793841e-04 2.67689448e+02] [ 9.30377337e-01 3.66601217e-01 -1.24824576e-03 3.27247168e+02] [ 1.34346584e-03 -4.59773585e-06 9.99999098e-01 1.54392118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.70, Y:327.27, Z:1.55 [[ 3.64572583e-01 -9.31174837e-01 -5.05309406e-04 2.67697767e+02] [ 9.31174005e-01 3.64572933e-01 -1.24488579e-03 3.27271732e+02] [ 1.34342846e-03 -1.66797533e-05 9.99999098e-01 1.54576419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.71, Y:327.30, Z:1.55 [[ 3.62343945e-01 -9.32044322e-01 -4.97649743e-04 2.67709440e+02] [ 9.32043486e-01 3.62344287e-01 -1.24790345e-03 3.27295688e+02] [ 1.34342187e-03 -1.16609398e-05 9.99999098e-01 1.54682668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.72, Y:327.32, Z:1.55 [[ 3.62043603e-01 -9.32161029e-01 -4.96177534e-04 2.67722762e+02] [ 9.32160193e-01 3.62043943e-01 -1.24848206e-03 3.27323067e+02] [ 1.34342439e-03 -1.05120044e-05 9.99999098e-01 1.54867011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.73, Y:327.35, Z:1.55 [[ 3.59400961e-01 -9.33183100e-01 -5.02120908e-04 2.67732842e+02] [ 9.33182268e-01 3.59401311e-01 -1.24614701e-03 3.27347209e+02] [ 1.34334624e-03 -2.07038947e-05 9.99999098e-01 1.54856628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.75, Y:327.38, Z:1.55 [[ 3.59114642e-01 -9.33293324e-01 -4.96014762e-04 2.67746509e+02] [ 9.33292489e-01 3.59114984e-01 -1.24854380e-03 3.27375730e+02] [ 1.34338393e-03 -1.45564922e-05 9.99999098e-01 1.55074434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.75, Y:327.40, Z:1.55 [[ 3.56605352e-01 -9.34254979e-01 -5.07806455e-04 2.67752696e+02] [ 9.34254151e-01 3.56605713e-01 -1.24391674e-03 3.27397554e+02] [ 1.34322209e-03 -3.08329233e-05 9.99999097e-01 1.55266277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.76, Y:327.42, Z:1.55 [[ 3.55627247e-01 -9.34627745e-01 -4.89853901e-04 2.67763336e+02] [ 9.34626908e-01 3.55627584e-01 -1.25094671e-03 3.27423363e+02] [ 1.34337507e-03 -1.29599013e-05 9.99999098e-01 1.54944472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.77, Y:327.45, Z:1.55 [[ 3.56798641e-01 -9.34181187e-01 -4.90452257e-04 2.67774197e+02] [ 9.34180349e-01 3.56798978e-01 -1.25071250e-03 3.27445592e+02] [ 1.34338495e-03 -1.19183412e-05 9.99999098e-01 1.55293735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.79, Y:327.47, Z:1.55 [[ 3.55069967e-01 -9.34839606e-01 -4.79996057e-04 2.67785384e+02] [ 9.34838764e-01 3.55070291e-01 -1.25479715e-03 3.27471428e+02] [ 1.34346641e-03 -3.17813697e-06 9.99999098e-01 1.55304871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.80, Y:327.50, Z:1.55 [[ 3.55608336e-01 -9.34634942e-01 -4.86990528e-04 2.67796031e+02] [ 9.34634103e-01 3.55608669e-01 -1.25206508e-03 3.27495544e+02] [ 1.34340182e-03 -9.91317686e-06 9.99999098e-01 1.55265481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.81, Y:327.52, Z:1.55 [[ 3.58331035e-01 -9.33594472e-01 -4.81923145e-04 2.67809721e+02] [ 9.33593629e-01 3.58331359e-01 -1.25404138e-03 3.27520021e+02] [ 1.34345427e-03 -5.58434654e-07 9.99999098e-01 1.55293779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.82, Y:327.55, Z:1.55 [[ 3.54238631e-01 -9.35154936e-01 -4.87979855e-04 2.67816251e+02] [ 9.35154098e-01 3.54238967e-01 -1.25168011e-03 3.27547753e+02] [ 1.34337631e-03 -1.29429142e-05 9.99999098e-01 1.55133115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.83, Y:327.58, Z:1.55 [[ 3.54643611e-01 -9.35001428e-01 -4.88935340e-04 2.67827221e+02] [ 9.35000591e-01 3.54643947e-01 -1.25130785e-03 3.27575402e+02] [ 1.34337258e-03 -1.33864991e-05 9.99999098e-01 1.54873287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.84, Y:327.60, Z:1.55 [[ 3.54920144e-01 -9.34896490e-01 -4.94793470e-04 2.67836320e+02] [ 9.34895656e-01 3.54920488e-01 -1.24902727e-03 3.27598497e+02] [ 1.34332355e-03 -1.92753265e-05 9.99999098e-01 1.55227750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.85, Y:327.62, Z:1.55 [[ 3.54554811e-01 -9.35035105e-01 -4.88618435e-04 2.67846093e+02] [ 9.35034267e-01 3.54555148e-01 -1.25142794e-03 3.27624483e+02] [ 1.34337124e-03 -1.31751823e-05 9.99999098e-01 1.55231291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.86, Y:327.65, Z:1.55 [[ 3.56271813e-01 -9.34382233e-01 -4.88095610e-04 2.67857158e+02] [ 9.34381395e-01 3.56272147e-01 -1.25163099e-03 3.27647949e+02] [ 1.34339663e-03 -1.01466143e-05 9.99999098e-01 1.55319115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.87, Y:327.67, Z:1.55 [[ 3.55140813e-01 -9.34812693e-01 -4.81282751e-04 2.67865800e+02] [ 9.34811852e-01 3.55141139e-01 -1.25427373e-03 3.27673400e+02] [ 1.34343431e-03 -4.46502665e-06 9.99999098e-01 1.55167765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.88, Y:327.70, Z:1.55 [[ 3.55472522e-01 -9.34686609e-01 -4.77924117e-04 2.67877535e+02] [ 9.34685766e-01 3.55472843e-01 -1.25557570e-03 3.27700938e+02] [ 1.34345884e-03 -3.86210061e-07 9.99999098e-01 1.55346348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:327.73, Z:1.55 [[ 3.55747021e-01 -9.34582164e-01 -4.86176288e-04 2.67887210e+02] [ 9.34581325e-01 3.55747353e-01 -1.25237860e-03 3.27726645e+02] [ 1.34340663e-03 -8.84132447e-06 9.99999098e-01 1.55341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.89, Y:327.75, Z:1.55 [[ 3.54351757e-01 -9.35112078e-01 -4.84769705e-04 2.67894219e+02] [ 9.35111238e-01 3.54352088e-01 -1.25292299e-03 3.27750281e+02] [ 1.34340258e-03 -9.33813553e-06 9.99999098e-01 1.55154560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.632755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:267.91, Y:327.78, Z:1.55 [[ 3.53603139e-01 -9.35395421e-01 -4.76400661e-04 2.67905721e+02] [ 9.35394577e-01 3.53603460e-01 -1.25615945e-03 3.27777489e+02] [ 1.34346272e-03 -1.44066873e-06 9.99999098e-01 1.55246645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:327.80, Z:1.55 [[ 3.53273302e-01 -9.35520037e-01 -4.83360712e-04 2.67915254e+02] [ 9.35519198e-01 3.53273633e-01 -1.25346919e-03 3.27802327e+02] [ 1.34340414e-03 -9.37602527e-06 9.99999098e-01 1.55483159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.92, Y:327.83, Z:1.56 [[ 3.51331200e-01 -9.36251117e-01 -4.84084298e-04 2.67923613e+02] [ 9.36250278e-01 3.51331534e-01 -1.25318968e-03 3.27826510e+02] [ 1.34337432e-03 -1.29394234e-05 9.99999098e-01 1.55514341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.93, Y:327.85, Z:1.56 [[ 3.48017611e-01 -9.37487872e-01 -4.82861240e-04 2.67932731e+02] [ 9.37487034e-01 3.48017945e-01 -1.25366165e-03 3.27852245e+02] [ 1.34333697e-03 -1.63798199e-05 9.99999098e-01 1.55522982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:267.94, Y:327.87, Z:1.55 [[ 3.47576492e-01 -9.37651507e-01 -4.83136378e-04 2.67941373e+02] [ 9.37650669e-01 3.47576828e-01 -1.25355561e-03 3.27874882e+02] [ 1.34332531e-03 -1.73066868e-05 9.99999098e-01 1.55495575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.95, Y:327.90, Z:1.56 [[ 3.42970608e-01 -9.39346015e-01 -4.76370335e-04 2.67950458e+02] [ 9.39345175e-01 3.42970939e-01 -1.25616382e-03 3.27903969e+02] [ 1.34335366e-03 -1.66489068e-05 9.99999098e-01 1.55540142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.96, Y:327.93, Z:1.56 [[ 3.41058373e-01 -9.40041993e-01 -4.87907273e-04 2.67958805e+02] [ 9.40041160e-01 3.41058721e-01 -1.25171656e-03 3.27927418e+02] [ 1.34307116e-03 -3.17445045e-05 9.99999098e-01 1.55535693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.97, Y:327.95, Z:1.56 [[ 3.39593708e-01 -9.40572106e-01 -4.75770416e-04 2.67967983e+02] [ 9.40571267e-01 3.39594041e-01 -1.25638670e-03 3.27951902e+02] [ 1.34329108e-03 -2.08349651e-05 9.99999098e-01 1.55590922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.98, Y:327.98, Z:1.55 [[ 3.35409327e-01 -9.42072375e-01 -4.74214305e-04 2.67977197e+02] [ 9.42071536e-01 3.35409661e-01 -1.25698552e-03 3.27979292e+02] [ 1.34322739e-03 -2.51391331e-05 9.99999098e-01 1.55394050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:328.00, Z:1.55 [[ 3.34751763e-01 -9.42306227e-01 -4.82195780e-04 2.67986681e+02] [ 9.42305393e-01 3.34752108e-01 -1.25391623e-03 3.28004333e+02] [ 1.34298912e-03 -3.46250176e-05 9.99999098e-01 1.55426882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:267.99, Y:328.03, Z:1.55 [[ 3.34649281e-01 -9.42342627e-01 -4.81774315e-04 2.67993258e+02] [ 9.42341793e-01 3.34649626e-01 -1.25407814e-03 3.28029339e+02] [ 1.34299688e-03 -3.43197247e-05 9.99999098e-01 1.55341712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.00, Y:328.06, Z:1.55 [[ 3.35413616e-01 -9.42070848e-01 -4.73565994e-04 2.68003003e+02] [ 9.42070009e-01 3.35413949e-01 -1.25722776e-03 3.28056856e+02] [ 1.34323826e-03 -2.44410115e-05 9.99999098e-01 1.55297926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.01, Y:328.08, Z:1.55 [[ 3.35404272e-01 -9.42074174e-01 -4.74477480e-04 2.68010523e+02] [ 9.42073336e-01 3.35404607e-01 -1.25687811e-03 3.28083167e+02] [ 1.34321434e-03 -2.54302956e-05 9.99999098e-01 1.55239998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.02, Y:328.11, Z:1.55 [[ 3.38682229e-01 -9.40900701e-01 -4.68213022e-04 2.68022553e+02] [ 9.40899858e-01 3.38682552e-01 -1.25927895e-03 3.28111482e+02] [ 1.34343203e-03 -1.40461655e-05 9.99999098e-01 1.55257167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.03, Y:328.14, Z:1.55 [[ 3.39508820e-01 -9.40602748e-01 -4.81002956e-04 2.68031003e+02] [ 9.40601912e-01 3.39509159e-01 -1.25437451e-03 3.28136037e+02] [ 1.34317303e-03 -2.65610893e-05 9.99999098e-01 1.55233196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.082755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:268.04, Y:328.16, Z:1.55 [[ 3.41185792e-01 -9.39995758e-01 -4.80665056e-04 2.68039610e+02] [ 9.39994921e-01 3.41186130e-01 -1.25450398e-03 3.28161832e+02] [ 1.34322467e-03 -2.38037769e-05 9.99999098e-01 1.55045714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.05, Y:328.19, Z:1.55 [[ 3.42199361e-01 -9.39627249e-01 -4.80232551e-04 2.68048658e+02] [ 9.39626412e-01 3.42199697e-01 -1.25466953e-03 3.28187328e+02] [ 1.34325711e-03 -2.18920791e-05 9.99999098e-01 1.55215020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.06, Y:328.21, Z:1.55 [[ 3.42893579e-01 -9.39374134e-01 -4.79788418e-04 2.68057201e+02] [ 9.39373296e-01 3.42893914e-01 -1.25483934e-03 3.28212184e+02] [ 1.34328015e-03 -2.04240749e-05 9.99999098e-01 1.55193594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.07, Y:328.24, Z:1.55 [[ 3.43816904e-01 -9.39036585e-01 -4.79323438e-04 2.68065011e+02] [ 9.39035746e-01 3.43817237e-01 -1.25501693e-03 3.28238068e+02] [ 1.34330647e-03 -1.86058081e-05 9.99999098e-01 1.55062817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.07, Y:328.26, Z:1.55 [[ 3.44005345e-01 -9.38967568e-01 -4.78887693e-04 2.68072127e+02] [ 9.38966729e-01 3.44005678e-01 -1.25518318e-03 3.28262825e+02] [ 1.34331638e-03 -1.78698889e-05 9.99999098e-01 1.54988053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.08, Y:328.29, Z:1.55 [[ 3.44183726e-01 -9.38902200e-01 -4.71640839e-04 2.68083306e+02] [ 9.38901357e-01 3.44184049e-01 -1.25794405e-03 3.28289062e+02] [ 1.34341769e-03 -9.86035199e-06 9.99999098e-01 1.55104891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.09, Y:328.31, Z:1.55 [[ 3.44471422e-01 -9.38796683e-01 -4.78052012e-04 2.68092777e+02] [ 9.38795843e-01 3.44471753e-01 -1.25550290e-03 3.28313769e+02] [ 1.34333737e-03 -1.63083725e-05 9.99999098e-01 1.55111653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.10, Y:328.34, Z:1.55 [[ 3.43125396e-01 -9.39289485e-01 -4.76398501e-04 2.68102469e+02] [ 9.39288645e-01 3.43125726e-01 -1.25613207e-03 3.28339789e+02] [ 1.34333622e-03 -1.64648898e-05 9.99999098e-01 1.55104341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.11, Y:328.36, Z:1.55 [[ 3.45033634e-01 -9.38590200e-01 -4.77496795e-04 2.68111428e+02] [ 9.38589360e-01 3.45033964e-01 -1.25571443e-03 3.28362255e+02] [ 1.34335387e-03 -1.49096988e-05 9.99999098e-01 1.55085105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.12, Y:328.39, Z:1.55 [[ 3.43022152e-01 -9.39327200e-01 -4.63414765e-04 2.68120363e+02] [ 9.39326354e-01 3.43022465e-01 -1.26106106e-03 3.28389544e+02] [ 1.34351063e-03 -2.72582258e-06 9.99999098e-01 1.55097620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.382755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:268.13, Y:328.42, Z:1.55 [[ 3.41396128e-01 -9.39919391e-01 -4.71847877e-04 2.68130460e+02] [ 9.39918549e-01 3.41396453e-01 -1.25785589e-03 3.28416118e+02] [ 1.34337034e-03 -1.40714421e-05 9.99999098e-01 1.55018002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.14, Y:328.44, Z:1.55 [[ 3.40742264e-01 -9.40156626e-01 -4.77161845e-04 2.68140173e+02] [ 9.40155788e-01 3.40742597e-01 -1.25583682e-03 3.28441987e+02] [ 1.34327268e-03 -2.06897888e-05 9.99999098e-01 1.55194771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.15, Y:328.46, Z:1.55 [[ 3.41541246e-01 -9.39866666e-01 -4.76741671e-04 2.68149304e+02] [ 9.39865827e-01 3.41541578e-01 -1.25599631e-03 3.28463215e+02] [ 1.34329617e-03 -1.90986610e-05 9.99999098e-01 1.55084213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.16, Y:328.49, Z:1.55 [[ 3.40098441e-01 -9.40389723e-01 -4.69703569e-04 2.68159473e+02] [ 9.40388880e-01 3.40098765e-01 -1.25866716e-03 3.28490013e+02] [ 1.34338326e-03 -1.36332759e-05 9.99999098e-01 1.55149489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.17, Y:328.51, Z:1.55 [[ 3.42649804e-01 -9.39463083e-01 -4.76449919e-04 2.68169573e+02] [ 9.39462244e-01 3.42650135e-01 -1.25610822e-03 3.28513294e+02] [ 1.34332293e-03 -1.72014723e-05 9.99999098e-01 1.55128290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.18, Y:328.55, Z:1.55 [[ 3.43001633e-01 -9.39334692e-01 -4.66211399e-04 2.68182854e+02] [ 9.39333846e-01 3.43001950e-01 -1.25998718e-03 3.28545295e+02] [ 1.34346109e-03 -5.75048486e-06 9.99999098e-01 1.55045499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.19, Y:328.57, Z:1.55 [[ 3.43124444e-01 -9.39289825e-01 -4.91292991e-04 2.68187344e+02] [ 9.39288993e-01 3.43124795e-01 -1.25050711e-03 3.28567449e+02] [ 1.34316341e-03 -3.23865402e-05 9.99999097e-01 1.54913733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.20, Y:328.59, Z:1.55 [[ 3.44347212e-01 -9.38842252e-01 -4.73990968e-04 2.68196827e+02] [ 9.38841410e-01 3.44347538e-01 -1.25703122e-03 3.28592641e+02] [ 1.34337164e-03 -1.21471539e-05 9.99999098e-01 1.54937525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.622755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:268.21, Y:328.62, Z:1.55 [[ 3.45512017e-01 -9.38414206e-01 -4.73554134e-04 2.68206607e+02] [ 9.38413364e-01 3.45512341e-01 -1.25719576e-03 3.28618038e+02] [ 1.34338916e-03 -1.00132850e-05 9.99999098e-01 1.54835257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.22, Y:328.64, Z:1.55 [[ 3.51702200e-01 -9.36111819e-01 -4.73114265e-04 2.68220889e+02] [ 9.36110975e-01 3.51702519e-01 -1.25736127e-03 3.28642977e+02] [ 1.34342623e-03 -6.70728995e-07 9.99999098e-01 1.54763603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.23, Y:328.67, Z:1.55 [[ 3.50935798e-01 -9.36399401e-01 -4.77106905e-04 2.68228575e+02] [ 9.36398559e-01 3.50936122e-01 -1.25585923e-03 3.28666396e+02] [ 1.34341988e-03 -6.03625693e-06 9.99999098e-01 1.55101779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.24, Y:328.69, Z:1.55 [[ 3.49761712e-01 -9.36838582e-01 -4.65594694e-04 2.68238676e+02] [ 9.36837734e-01 3.49762022e-01 -1.26017999e-03 3.28694260e+02] [ 1.34343257e-03 4.57603139e-06 9.99999098e-01 1.55129771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.25, Y:328.72, Z:1.55 [[ 3.50127242e-01 -9.36702029e-01 -4.72086542e-04 2.68248204e+02] [ 9.36701185e-01 3.50127561e-01 -1.25774435e-03 3.28718766e+02] [ 1.34342219e-03 -1.83346248e-06 9.99999098e-01 1.55127291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.26, Y:328.74, Z:1.55 [[ 3.50050838e-01 -9.36730585e-01 -4.71422604e-04 2.68257946e+02] [ 9.36729740e-01 3.50051155e-01 -1.25799316e-03 3.28744225e+02] [ 1.34342269e-03 -1.23401513e-06 9.99999098e-01 1.55183151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.27, Y:328.77, Z:1.55 [[ 3.49961252e-01 -9.36764058e-01 -4.70990038e-04 2.68268410e+02] [ 9.36763213e-01 3.49961569e-01 -1.25815509e-03 3.28768740e+02] [ 1.34342288e-03 -9.00611361e-07 9.99999098e-01 1.55227833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.28, Y:328.79, Z:1.55 [[ 3.49339932e-01 -9.36995940e-01 -4.70537321e-04 2.68278470e+02] [ 9.36995095e-01 3.49340249e-01 -1.25832438e-03 3.28794048e+02] [ 1.34342245e-03 -1.30821089e-06 9.99999098e-01 1.55282668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.29, Y:328.82, Z:1.55 [[ 3.49316894e-01 -9.37004529e-01 -4.70110493e-04 2.68289565e+02] [ 9.37003684e-01 3.49317210e-01 -1.25848382e-03 3.28818201e+02] [ 1.34342272e-03 -8.85605519e-07 9.99999098e-01 1.55295623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.30, Y:328.84, Z:1.55 [[ 3.47537602e-01 -9.37665933e-01 -4.62626582e-04 2.68298942e+02] [ 9.37665085e-01 3.47537910e-01 -1.26127458e-03 3.28844471e+02] [ 1.34343448e-03 4.55154902e-06 9.99999098e-01 1.55324848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.31, Y:328.87, Z:1.55 [[ 3.46884526e-01 -9.37907728e-01 -4.69183744e-04 2.68308785e+02] [ 9.37906883e-01 3.46884843e-01 -1.25883063e-03 3.28871150e+02] [ 1.34341971e-03 -3.38179618e-06 9.99999098e-01 1.55248604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.32, Y:328.90, Z:1.55 [[ 3.46264541e-01 -9.38136796e-01 -4.68781891e-04 2.68318331e+02] [ 9.38135951e-01 3.46264858e-01 -1.25898026e-03 3.28896880e+02] [ 1.34341841e-03 -3.84092258e-06 9.99999098e-01 1.55222448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.33, Y:328.92, Z:1.55 [[ 3.45181287e-01 -9.38535913e-01 -4.68334216e-04 2.68327538e+02] [ 9.38535068e-01 3.45181605e-01 -1.25914677e-03 3.28921992e+02] [ 1.34341482e-03 -4.91418109e-06 9.99999098e-01 1.55173626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.34, Y:328.95, Z:1.55 [[ 3.44391476e-01 -9.38826018e-01 -4.67865689e-04 2.68337544e+02] [ 9.38825173e-01 3.44391794e-01 -1.25932084e-03 3.28947621e+02] [ 1.34341228e-03 -5.54472257e-06 9.99999098e-01 1.55118536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.35, Y:328.97, Z:1.55 [[ 3.41788430e-01 -9.39776809e-01 -4.67419108e-04 2.68348010e+02] [ 9.39775965e-01 3.41788750e-01 -1.25948658e-03 3.28971727e+02] [ 1.34339487e-03 -8.79130361e-06 9.99999098e-01 1.55056471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.36, Y:329.00, Z:1.55 [[ 3.40014006e-01 -9.40420256e-01 -4.66951712e-04 2.68358227e+02] [ 9.40419412e-01 3.40014327e-01 -1.25965984e-03 3.28997360e+02] [ 1.34337990e-03 -1.08284662e-05 9.99999098e-01 1.55018424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.37, Y:329.02, Z:1.55 [[ 3.36442243e-01 -9.41703987e-01 -4.66509798e-04 2.68368627e+02] [ 9.41703145e-01 3.36442566e-01 -1.25982348e-03 3.29021739e+02] [ 1.34333455e-03 -1.54559076e-05 9.99999098e-01 1.54980833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.38, Y:329.05, Z:1.55 [[ 3.34093986e-01 -9.42539650e-01 -4.66047525e-04 2.68379387e+02] [ 9.42538808e-01 3.34094311e-01 -1.25999446e-03 3.29049089e+02] [ 1.34329857e-03 -1.83113054e-05 9.99999098e-01 1.54895722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.39, Y:329.07, Z:1.55 [[ 3.32946562e-01 -9.42945580e-01 -4.69212728e-04 2.68389028e+02] [ 9.42944740e-01 3.32946892e-01 -1.25882417e-03 3.29073193e+02] [ 1.34322561e-03 -2.33204936e-05 9.99999098e-01 1.54915037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.40, Y:329.10, Z:1.55 [[ 3.31389036e-01 -9.43494086e-01 -4.65453089e-04 2.68398982e+02] [ 9.43493244e-01 3.31389363e-01 -1.26021278e-03 3.29098195e+02] [ 1.34324950e-03 -2.15311478e-05 9.99999098e-01 1.54865635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.41, Y:329.12, Z:1.55 [[ 3.30073214e-01 -9.43955220e-01 -4.64979246e-04 2.68407976e+02] [ 9.43954379e-01 3.30073541e-01 -1.26038758e-03 3.29123987e+02] [ 1.34322679e-03 -2.28990149e-05 9.99999098e-01 1.54991385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.42, Y:329.15, Z:1.55 [[ 3.29618539e-01 -9.44114084e-01 -4.64725216e-04 2.68416814e+02] [ 9.44113243e-01 3.29618866e-01 -1.26048123e-03 3.29149361e+02] [ 1.34322028e-03 -2.32752507e-05 9.99999098e-01 1.55006396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.42, Y:329.17, Z:1.55 [[ 3.31197608e-01 -9.43561301e-01 -4.64179902e-04 2.68424862e+02] [ 9.43560459e-01 3.31197933e-01 -1.26068201e-03 3.29171687e+02] [ 1.34326618e-03 -2.04469359e-05 9.99999098e-01 1.55076981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.43, Y:329.20, Z:1.55 [[ 3.29583652e-01 -9.44126268e-01 -4.54456909e-04 2.68433364e+02] [ 9.44125422e-01 3.29583965e-01 -1.26425371e-03 3.29198476e+02] [ 1.34339685e-03 -1.23869651e-05 9.99999098e-01 1.55168132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.44, Y:329.22, Z:1.55 [[ 3.29277608e-01 -9.44233045e-01 -4.63084193e-04 2.68442714e+02] [ 9.44232203e-01 3.29277933e-01 -1.26108568e-03 3.29224596e+02] [ 1.34324218e-03 -2.20117307e-05 9.99999098e-01 1.55172126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.45, Y:329.25, Z:1.55 [[ 3.29486428e-01 -9.44160198e-01 -4.62675380e-04 2.68451015e+02] [ 9.44159356e-01 3.29486752e-01 -1.26123565e-03 3.29250971e+02] [ 1.34325391e-03 -2.12792591e-05 9.99999098e-01 1.55206605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.46, Y:329.28, Z:1.55 [[ 3.29952294e-01 -9.43997495e-01 -4.62250990e-04 2.68459952e+02] [ 9.43996652e-01 3.29952617e-01 -1.26139117e-03 3.29277735e+02] [ 1.34327103e-03 -2.01644759e-05 9.99999098e-01 1.55200109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.47, Y:329.30, Z:1.55 [[ 3.30566633e-01 -9.43782543e-01 -4.61844207e-04 2.68468387e+02] [ 9.43781700e-01 3.30566955e-01 -1.26154009e-03 3.29303400e+02] [ 1.34328995e-03 -1.88570485e-05 9.99999098e-01 1.55186369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:329.33, Z:1.55 [[ 3.32701210e-01 -9.43032180e-01 -4.61415775e-04 2.68476102e+02] [ 9.43031336e-01 3.32701529e-01 -1.26169678e-03 3.29329837e+02] [ 1.34333440e-03 -1.53614909e-05 9.99999098e-01 1.55154610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.48, Y:329.36, Z:1.55 [[ 3.33845893e-01 -9.42627555e-01 -4.60074943e-04 2.68484312e+02] [ 9.42626710e-01 3.33846210e-01 -1.26218668e-03 3.29356093e+02] [ 1.34336622e-03 -1.23030910e-05 9.99999098e-01 1.55142263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.49, Y:329.38, Z:1.55 [[ 3.36025812e-01 -9.41852665e-01 -4.60763288e-04 2.68491397e+02] [ 9.41851819e-01 3.36026127e-01 -1.26193535e-03 3.29382266e+02] [ 1.34338567e-03 -9.92789159e-06 9.99999098e-01 1.55058220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.50, Y:329.41, Z:1.55 [[ 3.36725784e-01 -9.41602642e-01 -4.60318328e-04 2.68499510e+02] [ 9.41601796e-01 3.36726098e-01 -1.26209764e-03 3.29406941e+02] [ 1.34339566e-03 -8.45574907e-06 9.99999098e-01 1.54978082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.51, Y:329.44, Z:1.55 [[ 3.40153224e-01 -9.40369913e-01 -4.59852192e-04 2.68514317e+02] [ 9.40369066e-01 3.40153535e-01 -1.26226745e-03 3.29436355e+02] [ 1.34341868e-03 -3.06643241e-06 9.99999098e-01 1.55034914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.52, Y:329.46, Z:1.55 [[ 3.36763412e-01 -9.41589175e-01 -4.80196247e-04 2.68517290e+02] [ 9.41588339e-01 3.36763753e-01 -1.25485304e-03 3.29458197e+02] [ 1.34326873e-03 -2.95585940e-05 9.99999097e-01 1.54910595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.53, Y:329.49, Z:1.55 [[ 3.34957756e-01 -9.42233035e-01 -4.58935974e-04 2.68527283e+02] [ 9.42232189e-01 3.34958070e-01 -1.26258095e-03 3.29485698e+02] [ 1.34336978e-03 -9.51296695e-06 9.99999098e-01 1.54886688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.54, Y:329.51, Z:1.55 [[ 3.33800738e-01 -9.42643545e-01 -4.63510148e-04 2.68537246e+02] [ 9.42642702e-01 3.33801059e-01 -1.26091918e-03 3.29508435e+02] [ 1.34331750e-03 -1.60287066e-05 9.99999098e-01 1.54944561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.55, Y:329.53, Z:1.55 [[ 3.32369329e-01 -9.43149203e-01 -4.57995629e-04 2.68546876e+02] [ 9.43148358e-01 3.32369644e-01 -1.26291901e-03 3.29534437e+02] [ 1.34334490e-03 -1.22022818e-05 9.99999098e-01 1.54969575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.56, Y:329.56, Z:1.55 [[ 3.31068193e-01 -9.43606720e-01 -4.57563891e-04 2.68556088e+02] [ 9.43605875e-01 3.31068509e-01 -1.26307541e-03 3.29559738e+02] [ 1.34333144e-03 -1.35958813e-05 9.99999098e-01 1.54977380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.57, Y:329.58, Z:1.55 [[ 3.29226854e-01 -9.44250745e-01 -4.57131339e-04 2.68565582e+02] [ 9.44249900e-01 3.29227171e-01 -1.26323194e-03 3.29583771e+02] [ 1.34330776e-03 -1.57563432e-05 9.99999098e-01 1.54966494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.58, Y:329.61, Z:1.55 [[ 3.28082741e-01 -9.44648880e-01 -4.56679027e-04 2.68575244e+02] [ 9.44648036e-01 3.28083058e-01 -1.26339544e-03 3.29609737e+02] [ 1.34329374e-03 -1.69027080e-05 9.99999098e-01 1.54938479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:329.63, Z:1.55 [[ 3.26141054e-01 -9.45321006e-01 -4.56252444e-04 2.68585234e+02] [ 9.45320162e-01 3.26141373e-01 -1.26354947e-03 3.29634918e+02] [ 1.34326266e-03 -1.92092777e-05 9.99999098e-01 1.54906984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.59, Y:329.66, Z:1.55 [[ 3.25224239e-01 -9.45636815e-01 -4.55824340e-04 2.68594822e+02] [ 9.45635971e-01 3.25224558e-01 -1.26370389e-03 3.29660428e+02] [ 1.34325019e-03 -2.00567565e-05 9.99999098e-01 1.54893506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.60, Y:329.69, Z:1.55 [[ 3.24495480e-01 -9.45887137e-01 -4.55377420e-04 2.68603587e+02] [ 9.45886293e-01 3.24495799e-01 -1.26386492e-03 3.29685793e+02] [ 1.34324163e-03 -2.06168065e-05 9.99999098e-01 1.54879240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.61, Y:329.71, Z:1.55 [[ 3.23034090e-01 -9.46387220e-01 -4.54932969e-04 2.68608763e+02] [ 9.46386376e-01 3.23034409e-01 -1.26402488e-03 3.29711384e+02] [ 1.34321599e-03 -2.22192381e-05 9.99999098e-01 1.54770092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.62, Y:329.74, Z:1.55 [[ 3.25108308e-01 -9.45676682e-01 -4.47750627e-04 2.68620455e+02] [ 9.45675834e-01 3.25108616e-01 -1.26660585e-03 3.29737237e+02] [ 1.34336721e-03 -1.16428616e-05 9.99999098e-01 1.54701430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.63, Y:329.76, Z:1.55 [[ 3.25970658e-01 -9.45379778e-01 -4.54095281e-04 2.68629283e+02] [ 9.45378932e-01 3.25970974e-01 -1.26432711e-03 3.29763534e+02] [ 1.34329116e-03 -1.71585726e-05 9.99999098e-01 1.54539457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.64, Y:329.79, Z:1.54 [[ 3.26464932e-01 -9.45209206e-01 -4.53642560e-04 2.68637611e+02] [ 9.45208360e-01 3.26465247e-01 -1.26448953e-03 3.29788924e+02] [ 1.34330567e-03 -1.59752526e-05 9.99999098e-01 1.54449627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:329.81, Z:1.54 [[ 3.27069932e-01 -9.45000029e-01 -4.53168356e-04 2.68646098e+02] [ 9.44999183e-01 3.27070246e-01 -1.26465945e-03 3.29814485e+02] [ 1.34332110e-03 -1.46116464e-05 9.99999098e-01 1.54391776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.65, Y:329.84, Z:1.54 [[ 3.28282788e-01 -9.44579381e-01 -4.52720691e-04 2.68653539e+02] [ 9.44578534e-01 3.28283100e-01 -1.26481968e-03 3.29839502e+02] [ 1.34334314e-03 -1.24117149e-05 9.99999098e-01 1.54296509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.66, Y:329.87, Z:1.54 [[ 3.28502326e-01 -9.44503053e-01 -4.52252441e-04 2.68661762e+02] [ 9.44502206e-01 3.28502638e-01 -1.26498709e-03 3.29865818e+02] [ 1.34335029e-03 -1.16022271e-05 9.99999098e-01 1.54262076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.67, Y:329.89, Z:1.54 [[ 3.28635651e-01 -9.44456672e-01 -4.51803986e-04 2.68669885e+02] [ 9.44455824e-01 3.28635962e-01 -1.26514724e-03 3.29890654e+02] [ 1.34335579e-03 -1.09364195e-05 9.99999098e-01 1.54201681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.68, Y:329.92, Z:1.54 [[ 3.28197644e-01 -9.44608968e-01 -4.51457586e-04 2.68678964e+02] [ 9.44608121e-01 3.28197954e-01 -1.26527084e-03 3.29916261e+02] [ 1.34335364e-03 -1.11915941e-05 9.99999098e-01 1.54110582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.69, Y:329.94, Z:1.54 [[ 3.27621993e-01 -9.44808778e-01 -4.51023528e-04 2.68688270e+02] [ 9.44807930e-01 3.27622303e-01 -1.26542554e-03 3.29940503e+02] [ 1.34335053e-03 -1.15493678e-05 9.99999098e-01 1.54097897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.70, Y:329.96, Z:1.54 [[ 3.26751002e-01 -9.45110353e-01 -4.50568599e-04 2.68698419e+02] [ 9.45109506e-01 3.26751313e-01 -1.26558751e-03 3.29964577e+02] [ 1.34334374e-03 -1.23046798e-05 9.99999098e-01 1.54065023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.71, Y:329.99, Z:1.54 [[ 3.26054760e-01 -9.45350777e-01 -4.50127635e-04 2.68707775e+02] [ 9.45349929e-01 3.26055070e-01 -1.26574432e-03 3.29989755e+02] [ 1.34333878e-03 -1.28261671e-05 9.99999098e-01 1.54127775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.72, Y:330.01, Z:1.54 [[ 3.25173234e-01 -9.45654358e-01 -4.49690493e-04 2.68716767e+02] [ 9.45653511e-01 3.25173545e-01 -1.26589961e-03 3.30014419e+02] [ 1.34333094e-03 -1.36147232e-05 9.99999098e-01 1.54110940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.73, Y:330.04, Z:1.54 [[ 3.23945709e-01 -9.46075566e-01 -4.49233277e-04 2.68725878e+02] [ 9.46074719e-01 3.23946020e-01 -1.26606184e-03 3.30040096e+02] [ 1.34331751e-03 -1.48729447e-05 9.99999098e-01 1.54187405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.73, Y:330.07, Z:1.54 [[ 3.23101460e-01 -9.46364225e-01 -4.48802587e-04 2.68734391e+02] [ 9.46363378e-01 3.23101771e-01 -1.26621450e-03 3.30065401e+02] [ 1.34330901e-03 -1.56145792e-05 9.99999098e-01 1.54255850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.74, Y:330.09, Z:1.54 [[ 3.21844232e-01 -9.46792527e-01 -4.48351673e-04 2.68743624e+02] [ 9.46791680e-01 3.21844544e-01 -1.26637414e-03 3.30091940e+02] [ 1.34329311e-03 -1.69204209e-05 9.99999098e-01 1.54487102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.75, Y:330.12, Z:1.55 [[ 3.21371930e-01 -9.46952946e-01 -4.47948254e-04 2.68752238e+02] [ 9.46952099e-01 3.21372242e-01 -1.26651683e-03 3.30116532e+02] [ 1.34328997e-03 -1.71625832e-05 9.99999098e-01 1.54615234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.76, Y:330.14, Z:1.55 [[ 3.20776872e-01 -9.47154685e-01 -4.47473726e-04 2.68761148e+02] [ 9.47153839e-01 3.20777184e-01 -1.26668446e-03 3.30142315e+02] [ 1.34328548e-03 -1.75033782e-05 9.99999098e-01 1.54690835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:268.77, Y:330.17, Z:1.55 [[ 3.21333980e-01 -9.46965825e-01 -4.47021816e-04 2.68772806e+02] [ 9.46964978e-01 3.21334290e-01 -1.26684392e-03 3.30170074e+02] [ 1.34330134e-03 -1.62340054e-05 9.99999098e-01 1.54758341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.78, Y:330.19, Z:1.55 [[ 3.19562960e-01 -9.47564936e-01 -4.54789475e-04 2.68779591e+02] [ 9.47564093e-01 3.19563283e-01 -1.26410329e-03 3.30194150e+02] [ 1.34315397e-03 -2.69815881e-05 9.99999098e-01 1.54778515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.79, Y:330.22, Z:1.55 [[ 3.18043292e-01 -9.48076086e-01 -4.46431382e-04 2.68788439e+02] [ 9.48075240e-01 3.18043605e-01 -1.26704818e-03 3.30219074e+02] [ 1.34324272e-03 -2.02743658e-05 9.99999098e-01 1.54750614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.80, Y:330.25, Z:1.55 [[ 3.17106529e-01 -9.48389820e-01 -4.46082376e-04 2.68797463e+02] [ 9.48388974e-01 3.17106842e-01 -1.26717104e-03 3.30245437e+02] [ 1.34322788e-03 -2.12313978e-05 9.99999098e-01 1.54715441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.81, Y:330.27, Z:1.55 [[ 3.15943301e-01 -9.48777968e-01 -4.45669685e-04 2.68805879e+02] [ 9.48777122e-01 3.15943614e-01 -1.26731616e-03 3.30271093e+02] [ 1.34320815e-03 -2.24411482e-05 9.99999098e-01 1.54606984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.81, Y:330.30, Z:1.54 [[ 3.14300936e-01 -9.49323298e-01 -4.45235188e-04 2.68813859e+02] [ 9.49322452e-01 3.14301250e-01 -1.26746879e-03 3.30297359e+02] [ 1.34317563e-03 -2.43051325e-05 9.99999098e-01 1.54433807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.82, Y:330.32, Z:1.54 [[ 3.13527098e-01 -9.49579150e-01 -4.44781343e-04 2.68822563e+02] [ 9.49578304e-01 3.13527412e-01 -1.26762804e-03 3.30323135e+02] [ 1.34316430e-03 -2.49189736e-05 9.99999098e-01 1.54362700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.83, Y:330.35, Z:1.54 [[ 3.12342226e-01 -9.49969545e-01 -4.44330329e-04 2.68831419e+02] [ 9.49968700e-01 3.12342541e-01 -1.26778611e-03 3.30348705e+02] [ 1.34314146e-03 -2.61167698e-05 9.99999098e-01 1.54273988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.84, Y:330.37, Z:1.54 [[ 3.11550180e-01 -9.50229598e-01 -4.43883034e-04 2.68840221e+02] [ 9.50228752e-01 3.11550495e-01 -1.26794270e-03 3.30374250e+02] [ 1.34312866e-03 -2.67626463e-05 9.99999098e-01 1.54267010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.85, Y:330.40, Z:1.54 [[ 3.11024993e-01 -9.50401629e-01 -4.43437293e-04 2.68849062e+02] [ 9.50400784e-01 3.11025308e-01 -1.26809857e-03 3.30399983e+02] [ 1.34312317e-03 -2.70328025e-05 9.99999098e-01 1.54255704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.86, Y:330.42, Z:1.54 [[ 3.10747168e-01 -9.50492505e-01 -4.42994927e-04 2.68857166e+02] [ 9.50491659e-01 3.10747483e-01 -1.26825308e-03 3.30424413e+02] [ 1.34312461e-03 -2.69569280e-05 9.99999098e-01 1.54275884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:330.45, Z:1.54 [[ 3.10452737e-01 -9.50588714e-01 -4.42653292e-04 2.68865740e+02] [ 9.50587868e-01 3.10453051e-01 -1.26837231e-03 3.30450475e+02] [ 1.34312347e-03 -2.70111930e-05 9.99999098e-01 1.54313637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.87, Y:330.48, Z:1.54 [[ 3.10883225e-01 -9.50448013e-01 -4.42216523e-04 2.68874024e+02] [ 9.50447166e-01 3.10883539e-01 -1.26852457e-03 3.30476219e+02] [ 1.34314450e-03 -2.59404308e-05 9.99999098e-01 1.54396879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.88, Y:330.50, Z:1.54 [[ 3.11095873e-01 -9.50378432e-01 -4.41783366e-04 2.68882562e+02] [ 9.50377585e-01 3.11096185e-01 -1.26867541e-03 3.30502478e+02] [ 1.34315886e-03 -2.51813257e-05 9.99999098e-01 1.54483376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.89, Y:330.53, Z:1.55 [[ 3.11292543e-01 -9.50314031e-01 -4.41351911e-04 2.68890470e+02] [ 9.50313185e-01 3.11292855e-01 -1.26882549e-03 3.30527166e+02] [ 1.34317236e-03 -2.44466275e-05 9.99999098e-01 1.54580037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.90, Y:330.55, Z:1.55 [[ 3.11771775e-01 -9.50156917e-01 -4.40900199e-04 2.68898406e+02] [ 9.50156069e-01 3.11772086e-01 -1.26898243e-03 3.30553097e+02] [ 1.34319281e-03 -2.32910952e-05 9.99999098e-01 1.54743294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:330.58, Z:1.55 [[ 3.11748037e-01 -9.50164706e-01 -4.40450330e-04 2.68906071e+02] [ 9.50163858e-01 3.11748347e-01 -1.26913856e-03 3.30578280e+02] [ 1.34320033e-03 -2.28485306e-05 9.99999098e-01 1.54691708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.91, Y:330.60, Z:1.55 [[ 3.12789946e-01 -9.49822224e-01 -4.39979356e-04 2.68914250e+02] [ 9.49821376e-01 3.12790255e-01 -1.26930181e-03 3.30604199e+02] [ 1.34323232e-03 -2.08769523e-05 9.99999098e-01 1.54661301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.92, Y:330.63, Z:1.55 [[ 3.12881649e-01 -9.49792020e-01 -4.39530856e-04 2.68922379e+02] [ 9.49791171e-01 3.12881957e-01 -1.26945710e-03 3.30628917e+02] [ 1.34324150e-03 -2.02726958e-05 9.99999098e-01 1.54554260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.93, Y:330.65, Z:1.54 [[ 3.13097109e-01 -9.49721016e-01 -4.39184827e-04 2.68930782e+02] [ 9.49720167e-01 3.13097416e-01 -1.26957680e-03 3.30654641e+02] [ 1.34325140e-03 -1.96018622e-05 9.99999098e-01 1.54423299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.94, Y:330.68, Z:1.54 [[ 3.12961863e-01 -9.49765592e-01 -4.38754187e-04 2.68938950e+02] [ 9.49764743e-01 3.12962170e-01 -1.26972561e-03 3.30679299e+02] [ 1.34325516e-03 -1.93375651e-05 9.99999098e-01 1.54331250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.95, Y:330.71, Z:1.54 [[ 3.12352030e-01 -9.49966324e-01 -4.39417091e-04 2.68947658e+02] [ 9.49965476e-01 3.12352338e-01 -1.26949674e-03 3.30705481e+02] [ 1.34323211e-03 -2.09011811e-05 9.99999098e-01 1.54358120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:330.73, Z:1.54 [[ 3.11190917e-01 -9.50347316e-01 -4.38014437e-04 2.68955824e+02] [ 9.50346468e-01 3.11191225e-01 -1.26998052e-03 3.30729060e+02] [ 1.34322882e-03 -2.10590716e-05 9.99999098e-01 1.54110157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.96, Y:330.75, Z:1.54 [[ 3.09186482e-01 -9.51001331e-01 -4.34653726e-04 2.68964432e+02] [ 9.51000481e-01 3.09186787e-01 -1.27113757e-03 3.30754821e+02] [ 1.34324271e-03 -2.03373499e-05 9.99999098e-01 1.54275650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.97, Y:330.78, Z:1.54 [[ 3.08066557e-01 -9.51364707e-01 -4.36880426e-04 2.68973840e+02] [ 9.51363859e-01 3.08066866e-01 -1.27037181e-03 3.30778763e+02] [ 1.34317529e-03 -2.42731784e-05 9.99999098e-01 1.54462446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.98, Y:330.81, Z:1.55 [[ 3.06283927e-01 -9.51940109e-01 -4.30725895e-04 2.68982673e+02] [ 9.51939259e-01 3.06284229e-01 -1.27248665e-03 3.30805678e+02] [ 1.34325563e-03 -2.02826803e-05 9.99999098e-01 1.54577690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:268.99, Y:330.83, Z:1.55 [[ 3.05953437e-01 -9.52046378e-01 -4.34862870e-04 2.68991454e+02] [ 9.52045530e-01 3.05953745e-01 -1.27106596e-03 3.30832001e+02] [ 1.34316167e-03 -2.51222518e-05 9.99999098e-01 1.54581541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.00, Y:330.86, Z:1.55 [[ 3.05482032e-01 -9.52197742e-01 -4.34396174e-04 2.69000042e+02] [ 9.52196894e-01 3.05482340e-01 -1.27122605e-03 3.30856942e+02] [ 1.34315893e-03 -2.52939723e-05 9.99999098e-01 1.54654532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2927550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:269.01, Y:330.88, Z:1.55 [[ 3.04677500e-01 -9.52455476e-01 -4.33464701e-04 2.69008673e+02] [ 9.52454627e-01 3.04677807e-01 -1.27154531e-03 3.30883651e+02] [ 1.34315737e-03 -2.54442137e-05 9.99999098e-01 1.54682972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.02, Y:330.91, Z:1.55 [[ 3.04395726e-01 -9.52545565e-01 -4.35235441e-04 2.69016612e+02] [ 9.52544717e-01 3.04396036e-01 -1.27093892e-03 3.30908583e+02] [ 1.34311117e-03 -2.77128446e-05 9.99999098e-01 1.54636671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:330.93, Z:1.55 [[ 3.04827559e-01 -9.52407460e-01 -4.34757526e-04 2.69025267e+02] [ 9.52406612e-01 3.04827868e-01 -1.27110238e-03 3.30934848e+02] [ 1.34313360e-03 -2.65989067e-05 9.99999098e-01 1.54709630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.03, Y:330.96, Z:1.55 [[ 3.05089993e-01 -9.52323426e-01 -4.34303490e-04 2.69033632e+02] [ 9.52322578e-01 3.05090301e-01 -1.27125749e-03 3.30959593e+02] [ 1.34315008e-03 -2.57490791e-05 9.99999098e-01 1.54628206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.04, Y:330.99, Z:1.55 [[ 3.05619925e-01 -9.52153492e-01 -4.33828185e-04 2.69041894e+02] [ 9.52152644e-01 3.05620232e-01 -1.27141968e-03 3.30985829e+02] [ 1.34317336e-03 -2.44994667e-05 9.99999098e-01 1.54577388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.05, Y:331.01, Z:1.55 [[ 3.05322133e-01 -9.52249026e-01 -4.33385049e-04 2.69050323e+02] [ 9.52248177e-01 3.05322439e-01 -1.27157071e-03 3.31012917e+02] [ 1.34317415e-03 -2.44514425e-05 9.99999098e-01 1.54581230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.06, Y:331.04, Z:1.55 [[ 3.06212769e-01 -9.51962999e-01 -4.35690380e-04 2.69058194e+02] [ 9.51962151e-01 3.06213078e-01 -1.27078598e-03 3.31038394e+02] [ 1.34315532e-03 -2.56298584e-05 9.99999098e-01 1.54529873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:331.06, Z:1.54 [[ 3.07730828e-01 -9.51473358e-01 -4.32419110e-04 2.69065310e+02] [ 9.51472508e-01 3.07731132e-01 -1.27189814e-03 3.31063191e+02] [ 1.34324602e-03 -2.00326255e-05 9.99999098e-01 1.54471060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.07, Y:331.09, Z:1.55 [[ 3.08374104e-01 -9.51265066e-01 -4.31942131e-04 2.69073634e+02] [ 9.51264215e-01 3.08374406e-01 -1.27206011e-03 3.31089646e+02] [ 1.34326624e-03 -1.86206963e-05 9.99999098e-01 1.54509340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.08, Y:331.12, Z:1.54 [[ 3.09913187e-01 -9.50764761e-01 -4.31535552e-04 2.69081277e+02] [ 9.50763910e-01 3.09913487e-01 -1.27219802e-03 3.31115976e+02] [ 1.34329973e-03 -1.60174861e-05 9.99999098e-01 1.54466724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.09, Y:331.14, Z:1.54 [[ 3.09702911e-01 -9.50833278e-01 -4.28945596e-04 2.69089152e+02] [ 9.50832426e-01 3.09703208e-01 -1.27307536e-03 3.31142375e+02] [ 1.34332825e-03 -1.35802356e-05 9.99999098e-01 1.54435054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.10, Y:331.17, Z:1.54 [[ 3.09685850e-01 -9.50838834e-01 -4.30649045e-04 2.69097376e+02] [ 9.50837983e-01 3.09686149e-01 -1.27249887e-03 3.31168852e+02] [ 1.34330739e-03 -1.54025743e-05 9.99999098e-01 1.54416870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:331.20, Z:1.54 [[ 3.09635286e-01 -9.50855302e-01 -4.30196568e-04 2.69105935e+02] [ 9.50854450e-01 3.09635585e-01 -1.27265182e-03 3.31195125e+02] [ 1.34331190e-03 -1.49964099e-05 9.99999098e-01 1.54413634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.11, Y:331.22, Z:1.54 [[ 3.09837598e-01 -9.50789398e-01 -4.29745533e-04 2.69114602e+02] [ 9.50788546e-01 3.09837896e-01 -1.27280411e-03 3.31222191e+02] [ 1.34332010e-03 -1.42345627e-05 9.99999098e-01 1.54433295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.12, Y:331.25, Z:1.54 [[ 3.10439415e-01 -9.50593070e-01 -4.29334957e-04 2.69123049e+02] [ 9.50592218e-01 3.10439712e-01 -1.27294259e-03 3.31247396e+02] [ 1.34333302e-03 -1.29509168e-05 9.99999098e-01 1.54404477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.13, Y:331.27, Z:1.54 [[ 3.10681024e-01 -9.50514133e-01 -4.28902782e-04 2.69131929e+02] [ 9.50513281e-01 3.10681320e-01 -1.27308819e-03 3.31273393e+02] [ 1.34334040e-03 -1.21534497e-05 9.99999098e-01 1.54424788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.14, Y:331.30, Z:1.54 [[ 3.11449684e-01 -9.50262548e-01 -4.28465157e-04 2.69141168e+02] [ 9.50261695e-01 3.11449979e-01 -1.27323545e-03 3.31299359e+02] [ 1.34335343e-03 -1.06052469e-05 9.99999098e-01 1.54475296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.15, Y:331.33, Z:1.55 [[ 3.11311597e-01 -9.50307797e-01 -4.25155129e-04 2.69150076e+02] [ 9.50306943e-01 3.11311887e-01 -1.27434809e-03 3.31326211e+02] [ 1.34337877e-03 -7.30853274e-06 9.99999098e-01 1.54514937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.16, Y:331.35, Z:1.55 [[ 3.11156247e-01 -9.50358674e-01 -4.26483474e-04 2.69159463e+02] [ 9.50357820e-01 3.11156539e-01 -1.27390189e-03 3.31352984e+02] [ 1.34336683e-03 -8.92937537e-06 9.99999098e-01 1.54657740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.17, Y:331.38, Z:1.55 [[ 3.10358775e-01 -9.50619403e-01 -4.27493831e-04 2.69168159e+02] [ 9.50618549e-01 3.10359069e-01 -1.27356274e-03 3.31379445e+02] [ 1.34335004e-03 -1.11221942e-05 9.99999098e-01 1.54769187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.18, Y:331.41, Z:1.55 [[ 3.09833264e-01 -9.50790810e-01 -4.28998624e-04 2.69177347e+02] [ 9.50789958e-01 3.09833561e-01 -1.27305808e-03 3.31405214e+02] [ 1.34333009e-03 -1.34518432e-05 9.99999098e-01 1.54793766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.19, Y:331.43, Z:1.55 [[ 3.08792231e-01 -9.51129422e-01 -4.26548008e-04 2.69186104e+02] [ 9.51128569e-01 3.08792525e-01 -1.27387865e-03 3.31431436e+02] [ 1.34333830e-03 -1.23381674e-05 9.99999098e-01 1.54828567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:331.46, Z:1.55 [[ 3.08062747e-01 -9.51365946e-01 -4.26096539e-04 2.69195160e+02] [ 9.51365093e-01 3.08063041e-01 -1.27402964e-03 3.31457497e+02] [ 1.34333301e-03 -1.28923025e-05 9.99999098e-01 1.54858844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.20, Y:331.48, Z:1.55 [[ 3.06087324e-01 -9.52003345e-01 -4.25647991e-04 2.69204044e+02] [ 9.52002493e-01 3.06087619e-01 -1.27417948e-03 3.31483411e+02] [ 1.34330871e-03 -1.52077606e-05 9.99999098e-01 1.54885449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.21, Y:331.51, Z:1.55 [[ 3.05001918e-01 -9.52351642e-01 -4.25198178e-04 2.69212208e+02] [ 9.52350789e-01 3.05002214e-01 -1.27432957e-03 3.31508116e+02] [ 1.34329624e-03 -1.62648584e-05 9.99999098e-01 1.54907803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.22, Y:331.53, Z:1.55 [[ 3.04062723e-01 -9.52651920e-01 -4.24727671e-04 2.69220638e+02] [ 9.52651067e-01 3.04063019e-01 -1.27448637e-03 3.31533689e+02] [ 1.34328586e-03 -1.70934742e-05 9.99999098e-01 1.54980034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.23, Y:331.56, Z:1.55 [[ 3.03522612e-01 -9.52824141e-01 -4.24285697e-04 2.69228719e+02] [ 9.52823289e-01 3.03522908e-01 -1.27463349e-03 3.31559367e+02] [ 1.34328199e-03 -1.73892086e-05 9.99999098e-01 1.55024698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.24, Y:331.59, Z:1.55 [[ 3.05802086e-01 -9.52095008e-01 -4.23836662e-04 2.69242492e+02] [ 9.52094155e-01 3.05802379e-01 -1.27478278e-03 3.31589133e+02] [ 1.34332458e-03 -1.37011752e-05 9.99999098e-01 1.54980488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.25, Y:331.61, Z:1.55 [[ 3.03352755e-01 -9.52878226e-01 -4.39863802e-04 2.69247457e+02] [ 9.52877381e-01 3.03353072e-01 -1.26943514e-03 3.31612214e+02] [ 1.34305113e-03 -3.40496220e-05 9.99999098e-01 1.55145413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:331.64, Z:1.55 [[ 3.03612815e-01 -9.52795401e-01 -4.26871423e-04 2.69255700e+02] [ 9.52794550e-01 3.03613114e-01 -1.27376099e-03 3.31636640e+02] [ 1.34323738e-03 -1.99906038e-05 9.99999098e-01 1.55135621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.26, Y:331.66, Z:1.55 [[ 3.03464476e-01 -9.52842659e-01 -4.23826823e-04 2.69264972e+02] [ 9.52841806e-01 3.03464772e-01 -1.27477324e-03 3.31663412e+02] [ 1.34327483e-03 -1.69915218e-05 9.99999098e-01 1.55201120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.27, Y:331.69, Z:1.55 [[ 3.03825437e-01 -9.52727623e-01 -4.25502579e-04 2.69273543e+02] [ 9.52726771e-01 3.03825734e-01 -1.27421655e-03 3.31688453e+02] [ 1.34325994e-03 -1.82482980e-05 9.99999098e-01 1.55254064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.28, Y:331.71, Z:1.55 [[ 3.03785225e-01 -9.52740446e-01 -4.23041297e-04 2.69281969e+02] [ 9.52739593e-01 3.03785520e-01 -1.27503318e-03 3.31713020e+02] [ 1.34328950e-03 -1.57119530e-05 9.99999098e-01 1.55301599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.29, Y:331.74, Z:1.55 [[ 3.03700605e-01 -9.52767424e-01 -4.22568425e-04 2.69290512e+02] [ 9.52766571e-01 3.03700898e-01 -1.27518987e-03 3.31739216e+02] [ 1.34329378e-03 -1.53331332e-05 9.99999098e-01 1.55356674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.312755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:269.30, Y:331.77, Z:1.55 [[ 3.02496147e-01 -9.53150515e-01 -4.22114858e-04 2.69299167e+02] [ 9.53149661e-01 3.02496441e-01 -1.27534000e-03 3.31766917e+02] [ 1.34327922e-03 -1.65531990e-05 9.99999098e-01 1.55297012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.31, Y:331.79, Z:1.55 [[ 3.03819021e-01 -9.52729667e-01 -4.28250079e-04 2.69307934e+02] [ 9.52728817e-01 3.03819322e-01 -1.27331039e-03 3.31791516e+02] [ 1.34323123e-03 -2.11502750e-05 9.99999098e-01 1.55415053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.32, Y:331.82, Z:1.56 [[ 3.04166126e-01 -9.52618911e-01 -4.21375953e-04 2.69316038e+02] [ 9.52618057e-01 3.04166418e-01 -1.27558119e-03 3.31815974e+02] [ 1.34331118e-03 -1.34217515e-05 9.99999098e-01 1.55529047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:331.84, Z:1.56 [[ 3.04842881e-01 -9.52402562e-01 -4.21027739e-04 2.69326681e+02] [ 9.52401708e-01 3.04843172e-01 -1.27569611e-03 3.31844194e+02] [ 1.34332368e-03 -1.21006582e-05 9.99999098e-01 1.55709468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.33, Y:331.87, Z:1.56 [[ 3.04958712e-01 -9.52365475e-01 -4.31691191e-04 2.69331062e+02] [ 9.52364625e-01 3.04959017e-01 -1.27217693e-03 3.31867950e+02] [ 1.34322551e-03 -2.31659805e-05 9.99999098e-01 1.55799999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.34, Y:331.89, Z:1.56 [[ 3.04589811e-01 -9.52483528e-01 -4.20351123e-04 2.69337950e+02] [ 9.52482673e-01 3.04590100e-01 -1.27591293e-03 3.31893123e+02] [ 1.34332084e-03 -1.17470834e-05 9.99999098e-01 1.55858471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.35, Y:331.92, Z:1.56 [[ 3.03740558e-01 -9.52754689e-01 -4.19893751e-04 2.69345860e+02] [ 9.52753834e-01 3.03740848e-01 -1.27606343e-03 3.31921044e+02] [ 1.34331430e-03 -1.24631620e-05 9.99999098e-01 1.55641613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.35, Y:331.95, Z:1.56 [[ 3.03720779e-01 -9.52760993e-01 -4.23588749e-04 2.69351931e+02] [ 9.52760140e-01 3.03721074e-01 -1.27484813e-03 3.31946242e+02] [ 1.34327840e-03 -1.63806099e-05 9.99999098e-01 1.56153613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.36, Y:331.97, Z:1.56 [[ 3.03236954e-01 -9.52915093e-01 -4.19298261e-04 2.69359167e+02] [ 9.52914238e-01 3.03237244e-01 -1.27625771e-03 3.31971796e+02] [ 1.34331208e-03 -1.25467823e-05 9.99999098e-01 1.56125578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:332.00, Z:1.56 [[ 3.02765950e-01 -9.53064849e-01 -4.15632622e-04 2.69365811e+02] [ 9.53063993e-01 3.02766235e-01 -1.27745975e-03 3.31997103e+02] [ 1.34334151e-03 -9.35317239e-06 9.99999098e-01 1.56085860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.37, Y:332.02, Z:1.56 [[ 3.02513991e-01 -9.53144853e-01 -4.18162077e-04 2.69371285e+02] [ 9.53143998e-01 3.02514280e-01 -1.27663122e-03 3.32023630e+02] [ 1.34331448e-03 -1.23698685e-05 9.99999098e-01 1.56185347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.38, Y:332.05, Z:1.56 [[ 3.02523896e-01 -9.53141709e-01 -4.17710590e-04 2.69378339e+02] [ 9.53140854e-01 3.02524184e-01 -1.27677893e-03 3.32049489e+02] [ 1.34331881e-03 -1.18808932e-05 9.99999098e-01 1.56194898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.38, Y:332.07, Z:1.56 [[ 3.02353168e-01 -9.53195881e-01 -4.17259861e-04 2.69383914e+02] [ 9.53195026e-01 3.02353456e-01 -1.27692621e-03 3.32074919e+02] [ 1.34332077e-03 -1.16473379e-05 9.99999098e-01 1.56190083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.39, Y:332.10, Z:1.56 [[ 3.02033160e-01 -9.53297329e-01 -4.16788113e-04 2.69391219e+02] [ 9.53296473e-01 3.02033447e-01 -1.27708017e-03 3.32101119e+02] [ 1.34332107e-03 -1.16020773e-05 9.99999098e-01 1.56142127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.40, Y:332.13, Z:1.56 [[ 3.01146305e-01 -9.53577857e-01 -4.16348728e-04 2.69398735e+02] [ 9.53577002e-01 3.01146593e-01 -1.27722340e-03 3.32127945e+02] [ 1.34331396e-03 -1.23894630e-05 9.99999098e-01 1.55747189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.41, Y:332.16, Z:1.56 [[ 2.99741010e-01 -9.54020520e-01 -4.17729769e-04 2.69405380e+02] [ 9.54019666e-01 2.99741301e-01 -1.27677369e-03 3.32155601e+02] [ 1.34327916e-03 -1.58209793e-05 9.99999098e-01 1.55791763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.41, Y:332.18, Z:1.56 [[ 2.99013981e-01 -9.54248639e-01 -4.16847271e-04 2.69412851e+02] [ 9.54247785e-01 2.99014271e-01 -1.27706075e-03 3.32182448e+02] [ 1.34327677e-03 -1.59165652e-05 9.99999098e-01 1.55751083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:332.21, Z:1.56 [[ 2.96231088e-01 -9.55116208e-01 -4.15933009e-04 2.69418736e+02] [ 9.55115354e-01 2.96231379e-01 -1.27735786e-03 3.32209876e+02] [ 1.34323760e-03 -1.88708968e-05 9.99999098e-01 1.55795698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.42, Y:332.24, Z:1.56 [[ 2.94601802e-01 -9.55620010e-01 -4.18189281e-04 2.69424973e+02] [ 9.55619157e-01 2.94602098e-01 -1.27662468e-03 3.32235695e+02] [ 1.34316753e-03 -2.35337570e-05 9.99999098e-01 1.55593437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.43, Y:332.26, Z:1.56 [[ 2.94205013e-01 -9.55742246e-01 -4.12833419e-04 2.69432608e+02] [ 9.55741391e-01 2.94205302e-01 -1.27836314e-03 3.32261144e+02] [ 1.34324344e-03 -1.84611407e-05 9.99999098e-01 1.55725867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.44, Y:332.29, Z:1.56 [[ 2.91552600e-01 -9.56554711e-01 -4.07310094e-04 2.69438748e+02] [ 9.56553855e-01 2.91552884e-01 -1.28015272e-03 3.32287200e+02] [ 1.34328854e-03 -1.63821877e-05 9.99999098e-01 1.55609569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:332.31, Z:1.56 [[ 2.89508400e-01 -9.57175386e-01 -4.09012359e-04 2.69445227e+02] [ 9.57174531e-01 2.89508688e-01 -1.27960175e-03 3.32314148e+02] [ 1.34321593e-03 -2.10407562e-05 9.99999098e-01 1.55628032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.45, Y:332.34, Z:1.56 [[ 2.88443536e-01 -9.57496819e-01 -4.10784279e-04 2.69452172e+02] [ 9.57495965e-01 2.88443827e-01 -1.27902869e-03 3.32340476e+02] [ 1.34315409e-03 -2.43967317e-05 9.99999098e-01 1.55635280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:332.37, Z:1.56 [[ 2.87803863e-01 -9.57689286e-01 -4.09039044e-04 2.69457803e+02] [ 9.57688432e-01 2.87804153e-01 -1.27959301e-03 3.32365515e+02] [ 1.34317565e-03 -2.34601488e-05 9.99999098e-01 1.55809287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.46, Y:332.39, Z:1.56 [[ 2.86400676e-01 -9.58109854e-01 -4.00295826e-04 2.69464494e+02] [ 9.58108996e-01 2.86400956e-01 -1.28241419e-03 3.32391859e+02] [ 1.34333878e-03 -1.62427394e-05 9.99999098e-01 1.55743932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.47, Y:332.42, Z:1.56 [[ 2.85633257e-01 -9.58338917e-01 -4.03725796e-04 2.69473711e+02] [ 9.58338060e-01 2.85633542e-01 -1.28130967e-03 3.32420192e+02] [ 1.34324655e-03 -2.09211411e-05 9.99999098e-01 1.56217849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.092755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:269.48, Y:332.45, Z:1.56 [[ 2.85172198e-01 -9.58476211e-01 -4.13274724e-04 2.69479257e+02] [ 9.58475359e-01 2.85172496e-01 -1.27823579e-03 3.32446366e+02] [ 1.34301318e-03 -3.15963301e-05 9.99999098e-01 1.56106508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:332.47, Z:1.56 [[ 2.84682308e-01 -9.58621831e-01 -4.11255582e-04 2.69486150e+02] [ 9.58620978e-01 2.84682604e-01 -1.27888509e-03 3.32473590e+02] [ 1.34304448e-03 -3.01622690e-05 9.99999098e-01 1.56101366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.49, Y:332.50, Z:1.56 [[ 2.84374521e-01 -9.58713181e-01 -4.10845573e-04 2.69494736e+02] [ 9.58712328e-01 2.84374816e-01 -1.27901679e-03 3.32500832e+02] [ 1.34304439e-03 -3.01629275e-05 9.99999098e-01 1.56105192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.50, Y:332.53, Z:1.56 [[ 2.84389812e-01 -9.58708645e-01 -4.10434892e-04 2.69500309e+02] [ 9.58707792e-01 2.84390107e-01 -1.27914857e-03 3.32526809e+02] [ 1.34305441e-03 -2.97103094e-05 9.99999098e-01 1.56054683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:332.55, Z:1.56 [[ 2.84350013e-01 -9.58720451e-01 -4.09951703e-04 2.69507312e+02] [ 9.58719597e-01 2.84350307e-01 -1.27930340e-03 3.32553223e+02] [ 1.34306423e-03 -2.92587921e-05 9.99999098e-01 1.56046265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.51, Y:332.58, Z:1.56 [[ 2.84646899e-01 -9.58632346e-01 -4.09496393e-04 2.69513517e+02] [ 9.58631493e-01 2.84647192e-01 -1.27944913e-03 3.32580493e+02] [ 1.34308332e-03 -2.83649112e-05 9.99999098e-01 1.56004017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.52, Y:332.61, Z:1.56 [[ 2.84681151e-01 -9.58622175e-01 -4.09088078e-04 2.69520581e+02] [ 9.58621322e-01 2.84681444e-01 -1.27957967e-03 3.32605333e+02] [ 1.34309323e-03 -2.78883408e-05 9.99999098e-01 1.55940544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.53, Y:332.63, Z:1.56 [[ 2.84325692e-01 -9.58727664e-01 -4.08607792e-04 2.69528039e+02] [ 9.58726810e-01 2.84325984e-01 -1.27973302e-03 3.32631450e+02] [ 1.34309326e-03 -2.78822686e-05 9.99999098e-01 1.55979112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:332.66, Z:1.56 [[ 2.84092529e-01 -9.58796782e-01 -4.08144213e-04 2.69535058e+02] [ 9.58795928e-01 2.84092820e-01 -1.27988085e-03 3.32657987e+02] [ 1.34309648e-03 -2.77224216e-05 9.99999098e-01 1.56000452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.54, Y:332.68, Z:1.56 [[ 2.83982951e-01 -9.58829243e-01 -4.07688008e-04 2.69542710e+02] [ 9.58828389e-01 2.83983243e-01 -1.28002615e-03 3.32684481e+02] [ 1.34310307e-03 -2.73972316e-05 9.99999098e-01 1.55964183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.55, Y:332.71, Z:1.56 [[ 2.83285054e-01 -9.59035668e-01 -4.07232306e-04 2.69550109e+02] [ 9.59034814e-01 2.83285346e-01 -1.28017112e-03 3.32711757e+02] [ 1.34309271e-03 -2.78966151e-05 9.99999098e-01 1.55967124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.56, Y:332.74, Z:1.56 [[ 2.82683612e-01 -9.59213120e-01 -4.06823366e-04 2.69557889e+02] [ 9.59212266e-01 2.82683903e-01 -1.28030106e-03 3.32737457e+02] [ 1.34308399e-03 -2.83098351e-05 9.99999098e-01 1.55971475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:332.76, Z:1.56 [[ 2.81657109e-01 -9.59515038e-01 -4.06363821e-04 2.69565534e+02] [ 9.59514184e-01 2.81657400e-01 -1.28044690e-03 3.32762941e+02] [ 1.34306343e-03 -2.92648783e-05 9.99999098e-01 1.56045599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.57, Y:332.79, Z:1.56 [[ 2.79700751e-01 -9.60087145e-01 -4.05879576e-04 2.69573107e+02] [ 9.60086291e-01 2.79701044e-01 -1.28060038e-03 3.32789161e+02] [ 1.34301290e-03 -3.14945289e-05 9.99999098e-01 1.56101062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.58, Y:332.82, Z:1.56 [[ 2.78620340e-01 -9.60401240e-01 -4.05377887e-04 2.69581013e+02] [ 9.60400387e-01 2.78620633e-01 -1.28075917e-03 3.32815380e+02] [ 1.34298934e-03 -3.24795244e-05 9.99999098e-01 1.56102855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.59, Y:332.84, Z:1.56 [[ 2.77671839e-01 -9.60675901e-01 -4.04869709e-04 2.69588150e+02] [ 9.60675047e-01 2.77672132e-01 -1.28091979e-03 3.32840498e+02] [ 1.34296981e-03 -3.32728714e-05 9.99999098e-01 1.56083774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:332.87, Z:1.56 [[ 2.77508779e-01 -9.60723017e-01 -4.04338222e-04 2.69597335e+02] [ 9.60722163e-01 2.77509071e-01 -1.28108754e-03 3.32869745e+02] [ 1.34297781e-03 -3.29436516e-05 9.99999098e-01 1.56240271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.60, Y:332.89, Z:1.56 [[ 2.77665013e-01 -9.60677869e-01 -4.15070295e-04 2.69602767e+02] [ 9.60677021e-01 2.77665319e-01 -1.27770115e-03 3.32892819e+02] [ 1.34270985e-03 -4.39755882e-05 9.99999098e-01 1.56030259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.61, Y:332.92, Z:1.56 [[ 2.78764841e-01 -9.60359309e-01 -4.02306614e-04 2.69610500e+02] [ 9.60358454e-01 2.78765130e-01 -1.28171981e-03 3.32919303e+02] [ 1.34306061e-03 -2.90601388e-05 9.99999098e-01 1.56022490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:269.62, Y:332.94, Z:1.56 [[ 2.79284481e-01 -9.60208319e-01 -4.02988749e-04 2.69618025e+02] [ 9.60207465e-01 2.79284770e-01 -1.28150518e-03 3.32944058e+02] [ 1.34306056e-03 -2.90482948e-05 9.99999098e-01 1.56065522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.692755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:269.63, Y:332.97, Z:1.56 [[ 2.78894472e-01 -9.60321671e-01 -4.02793956e-04 2.69625848e+02] [ 9.60320816e-01 2.78894761e-01 -1.28156641e-03 3.32971840e+02] [ 1.34305312e-03 -2.93896347e-05 9.99999098e-01 1.56099913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.722755096 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:269.63, Y:333.00, Z:1.56 [[ 2.82541514e-01 -9.59254984e-01 -4.10182368e-04 2.69633647e+02] [ 9.59254132e-01 2.82541809e-01 -1.27924451e-03 3.32995061e+02] [ 1.34301534e-03 -3.20294505e-05 9.99999098e-01 1.56169997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.752755096 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:269.64, Y:333.02, Z:1.56 [[ 2.83464631e-01 -9.58982608e-01 -4.02075881e-04 2.69641693e+02] [ 9.58981751e-01 2.83464915e-01 -1.28178739e-03 3.33021479e+02] [ 1.34318622e-03 -2.22420441e-05 9.99999098e-01 1.56177989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.782755096 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:269.65, Y:333.05, Z:1.56 [[ 2.84781166e-01 -9.58592472e-01 -4.01745854e-04 2.69650118e+02] [ 9.58591615e-01 2.84781448e-01 -1.28189082e-03 3.33047303e+02] [ 1.34322065e-03 -2.00518457e-05 9.99999098e-01 1.56192969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.812755096 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:269.66, Y:333.07, Z:1.56 [[ 2.84968288e-01 -9.58536861e-01 -4.01278182e-04 2.69658454e+02] [ 9.58536004e-01 2.84968570e-01 -1.28203720e-03 3.33073249e+02] [ 1.34323158e-03 -1.92996386e-05 9.99999098e-01 1.56200343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.842755096 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:269.67, Y:333.10, Z:1.56 [[ 2.85038366e-01 -9.58516025e-01 -4.00841309e-04 2.69666449e+02] [ 9.58515167e-01 2.85038647e-01 -1.28217378e-03 3.33097824e+02] [ 1.34323938e-03 -1.87437554e-05 9.99999098e-01 1.56148513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.872755096 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:269.68, Y:333.12, Z:1.56 [[ 2.85468753e-01 -9.58387933e-01 -4.00383540e-04 2.69676056e+02] [ 9.58387076e-01 2.85469034e-01 -1.28231671e-03 3.33124387e+02] [ 1.34325396e-03 -1.76610579e-05 9.99999098e-01 1.56136515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.902755096 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:269.68, Y:333.15, Z:1.56 [[ 2.85457080e-01 -9.58391410e-01 -3.99965272e-04 2.69684702e+02] [ 9.58390553e-01 2.85457360e-01 -1.28244716e-03 3.33150363e+02] [ 1.34325937e-03 -1.72393170e-05 9.99999098e-01 1.56099101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.932755096 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:269.69, Y:333.17, Z:1.56 [[ 2.83846964e-01 -9.58869512e-01 -3.99525594e-04 2.69688138e+02] [ 9.58868655e-01 2.83847245e-01 -1.28258412e-03 3.33172488e+02] [ 1.34323504e-03 -1.90349609e-05 9.99999098e-01 1.55871163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.962755096 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:269.70, Y:333.20, Z:1.56 [[ 2.85800873e-01 -9.58288954e-01 -3.77108149e-04 2.69701015e+02] [ 9.58288086e-01 2.85801122e-01 -1.28954268e-03 3.33200917e+02] [ 1.34353244e-03 7.17417736e-06 9.99999097e-01 1.56079606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.992755096 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:269.71, Y:333.23, Z:1.56 [[ 2.85756329e-01 -9.58302229e-01 -3.98697081e-04 2.69709349e+02] [ 9.58301370e-01 2.85756607e-01 -1.28283296e-03 3.33226659e+02] [ 1.34327201e-03 -1.54943203e-05 9.99999098e-01 1.56122246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.022755096 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:269.72, Y:333.25, Z:1.56 [[ 2.85809427e-01 -9.58286394e-01 -3.98244761e-04 2.69717988e+02] [ 9.58285535e-01 2.85809704e-01 -1.28297337e-03 3.33251060e+02] [ 1.34327814e-03 -1.49463104e-05 9.99999098e-01 1.56173179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.052755096 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:269.73, Y:333.28, Z:1.56 [[ 2.85822769e-01 -9.58282415e-01 -3.97771627e-04 2.69726725e+02] [ 9.58281556e-01 2.85823046e-01 -1.28312004e-03 3.33276859e+02] [ 1.34328367e-03 -1.44322900e-05 9.99999098e-01 1.56139382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.082755096 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:269.74, Y:333.30, Z:1.56 [[ 2.85718300e-01 -9.58313568e-01 -3.97319339e-04 2.69735188e+02] [ 9.58312709e-01 2.85718576e-01 -1.28326008e-03 3.33302442e+02] [ 1.34328706e-03 -1.41052852e-05 9.99999098e-01 1.56130941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.112755096 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:269.74, Y:333.33, Z:1.56 [[ 2.86046347e-01 -9.58215701e-01 -3.96869156e-04 2.69743835e+02] [ 9.58214842e-01 2.86046622e-01 -1.28339929e-03 3.33326843e+02] [ 1.34329643e-03 -1.31742375e-05 9.99999098e-01 1.56071740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.142755096 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:269.75, Y:333.35, Z:1.56 [[ 2.86025411e-01 -9.58221951e-01 -3.96519850e-04 2.69751903e+02] [ 9.58221091e-01 2.86025685e-01 -1.28350720e-03 3.33352828e+02] [ 1.34329964e-03 -1.28380095e-05 9.99999098e-01 1.56026679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1727550960001 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:269.76, Y:333.38, Z:1.56 [[ 2.86135157e-01 -9.58189185e-01 -3.96085560e-04 2.69759631e+02] [ 9.58188326e-01 2.86135431e-01 -1.28364121e-03 3.33377491e+02] [ 1.34330524e-03 -1.22296801e-05 9.99999098e-01 1.55976568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.202755096 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:269.77, Y:333.40, Z:1.56 [[ 2.86151122e-01 -9.58184418e-01 -3.95599938e-04 2.69768822e+02] [ 9.58183558e-01 2.86151395e-01 -1.28379085e-03 3.33402801e+02] [ 1.34330986e-03 -1.16991627e-05 9.99999098e-01 1.55931978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.232755096 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:269.78, Y:333.43, Z:1.56 [[ 2.85960388e-01 -9.58241358e-01 -3.95152766e-04 2.69777863e+02] [ 9.58240498e-01 2.85960661e-01 -1.28392848e-03 3.33429013e+02] [ 1.34331151e-03 -1.14986970e-05 9.99999098e-01 1.55937746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.262755096 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:269.79, Y:333.45, Z:1.56 [[ 2.85774900e-01 -9.58296693e-01 -3.94701412e-04 2.69788215e+02] [ 9.58295832e-01 2.85775172e-01 -1.28406722e-03 3.33453301e+02] [ 1.34331323e-03 -1.12865370e-05 9.99999098e-01 1.55950722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2927550960001 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:269.80, Y:333.48, Z:1.56 [[ 2.87345706e-01 -9.57826858e-01 -3.94352443e-04 2.69796590e+02] [ 9.57825997e-01 2.87345976e-01 -1.28417438e-03 3.33475559e+02] [ 1.34333230e-03 -8.71902835e-06 9.99999098e-01 1.56011629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.322755096 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:269.80, Y:333.50, Z:1.56 [[ 2.85397988e-01 -9.58409018e-01 -3.78146520e-04 2.69804197e+02] [ 9.58408151e-01 2.85398238e-01 -1.28914647e-03 3.33501406e+02] [ 1.34345196e-03 5.50110257e-06 9.99999098e-01 1.56219034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.352755096 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:269.82, Y:333.53, Z:1.56 [[ 2.85919500e-01 -9.58253568e-01 -3.73701976e-04 2.69816581e+02] [ 9.58252699e-01 2.85919744e-01 -1.29051145e-03 3.33526993e+02] [ 1.34348597e-03 1.08814621e-05 9.99999098e-01 1.56065215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.382755096 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:269.83, Y:333.55, Z:1.56 [[ 2.84723858e-01 -9.58609506e-01 -3.74216408e-04 2.69825678e+02] [ 9.58608638e-01 2.84724104e-01 -1.29035397e-03 3.33552211e+02] [ 1.34349401e-03 8.66747842e-06 9.99999098e-01 1.56064894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.412755096 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:269.83, Y:333.58, Z:1.56 [[ 2.81421947e-01 -9.59584049e-01 -3.74129703e-04 2.69833325e+02] [ 9.59583182e-01 2.81422196e-01 -1.29038047e-03 3.33578822e+02] [ 1.34351692e-03 4.13281381e-06 9.99999098e-01 1.56092983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.442755096 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:269.85, Y:333.61, Z:1.56 [[ 2.80094781e-01 -9.59972276e-01 -3.78703088e-04 2.69849085e+02] [ 9.59971410e-01 2.80095037e-01 -1.28898042e-03 3.33610133e+02] [ 1.34345833e-03 -2.50744800e-06 9.99999098e-01 1.56066062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.472755096 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:269.86, Y:333.63, Z:1.56 [[ 2.77255747e-01 -9.60796068e-01 -4.07096095e-04 2.69855059e+02] [ 9.60795216e-01 2.77256044e-01 -1.28030540e-03 3.33632750e+02] [ 1.34298225e-03 -3.61639488e-05 9.99999098e-01 1.56062599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.502755096 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:269.86, Y:333.65, Z:1.56 [[ 2.77599648e-01 -9.60696769e-01 -3.91557757e-04 2.69862113e+02] [ 9.60695910e-01 2.77599924e-01 -1.28504001e-03 3.33654043e+02] [ 1.34323019e-03 -1.94412805e-05 9.99999098e-01 1.56381585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.532755096 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:269.87, Y:333.68, Z:1.56 [[ 2.75446711e-01 -9.61316270e-01 -3.72726892e-04 2.69874106e+02] [ 9.61315403e-01 2.75446963e-01 -1.29076582e-03 3.33682855e+02] [ 1.34350067e-03 -2.77090245e-06 9.99999098e-01 1.56006717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.562755096 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:269.88, Y:333.71, Z:1.56 [[ 2.75044322e-01 -9.61431468e-01 -3.91038346e-04 2.69882712e+02] [ 9.61430609e-01 2.75044599e-01 -1.28519431e-03 3.33707388e+02] [ 1.34317923e-03 -2.24708382e-05 9.99999098e-01 1.55986223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.592755096 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:269.89, Y:333.73, Z:1.56 [[ 2.74560788e-01 -9.61569665e-01 -3.90562563e-04 2.69893475e+02] [ 9.61568806e-01 2.74561065e-01 -1.28533888e-03 3.33732849e+02] [ 1.34317615e-03 -2.26491222e-05 9.99999098e-01 1.55925340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.622755096 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:269.90, Y:333.76, Z:1.56 [[ 2.73986992e-01 -9.61733319e-01 -3.90113787e-04 2.69902852e+02] [ 9.61732460e-01 2.73987269e-01 -1.28547507e-03 3.33758845e+02] [ 1.34317042e-03 -2.29816437e-05 9.99999098e-01 1.55899541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.652755096 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:269.91, Y:333.78, Z:1.56 [[ 2.73074491e-01 -9.61992812e-01 -3.89666821e-04 2.69911763e+02] [ 9.61991953e-01 2.73074768e-01 -1.28561055e-03 3.33783732e+02] [ 1.34315628e-03 -2.37889001e-05 9.99999098e-01 1.55906232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.682755096 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:269.92, Y:333.81, Z:1.56 [[ 2.72371724e-01 -9.62192025e-01 -3.89199642e-04 2.69923111e+02] [ 9.62191166e-01 2.72372001e-01 -1.28575196e-03 3.33809099e+02] [ 1.34314737e-03 -2.42819795e-05 9.99999098e-01 1.55807290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.712755096 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:269.93, Y:333.83, Z:1.56 [[ 2.74397377e-01 -9.61616310e-01 -3.88751387e-04 2.69931204e+02] [ 9.61615451e-01 2.74397652e-01 -1.28588748e-03 3.33830186e+02] [ 1.34320284e-03 -2.09851888e-05 9.99999098e-01 1.55736693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.742755096 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:269.94, Y:333.86, Z:1.55 [[ 2.75102603e-01 -9.61414801e-01 -3.71146262e-04 2.69944453e+02] [ 9.61413934e-01 2.75102853e-01 -1.29119339e-03 3.33857737e+02] [ 1.34347583e-03 -1.61452735e-06 9.99999098e-01 1.55466653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.772755096 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:269.95, Y:333.88, Z:1.55 [[ 2.70517175e-01 -9.62715071e-01 -3.87181755e-04 2.69949867e+02] [ 9.62714212e-01 2.70517451e-01 -1.28635834e-03 3.33884403e+02] [ 1.34313598e-03 -2.47633548e-05 9.99999098e-01 1.55437808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.802755096 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:269.96, Y:333.91, Z:1.56 [[ 2.73539875e-01 -9.61860587e-01 -3.85780055e-04 2.69962380e+02] [ 9.61859726e-01 2.73540146e-01 -1.28678052e-03 3.33906368e+02] [ 1.34322980e-03 -1.90805145e-05 9.99999098e-01 1.55572958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.832755096 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:269.97, Y:333.94, Z:1.55 [[ 2.74710161e-01 -9.61527008e-01 -3.73829209e-04 2.69974540e+02] [ 9.61526142e-01 2.74710415e-01 -1.29038191e-03 3.33936490e+02] [ 1.34343184e-03 -4.96553429e-06 9.99999098e-01 1.55424159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.862755096 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:269.98, Y:333.96, Z:1.55 [[ 2.73320734e-01 -9.61922878e-01 -3.92375726e-04 2.69980085e+02] [ 9.61922020e-01 2.73321015e-01 -1.28478647e-03 3.33956732e+02] [ 1.34311003e-03 -2.62760679e-05 9.99999098e-01 1.55430508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.892755096 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:269.99, Y:333.99, Z:1.56 [[ 2.69794199e-01 -9.62917939e-01 -3.66071633e-04 2.69988473e+02] [ 9.62917071e-01 2.69794447e-01 -1.29266197e-03 3.33985988e+02] [ 1.34349149e-03 -3.74392430e-06 9.99999098e-01 1.55554755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9227550960001 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:270.00, Y:334.01, Z:1.56 [[ 2.68809182e-01 -9.63193374e-01 -3.85602443e-04 2.69998649e+02] [ 9.63192514e-01 2.68809458e-01 -1.28680941e-03 3.34011391e+02] [ 1.34309988e-03 -2.55032009e-05 9.99999098e-01 1.55560052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.952755096 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:270.01, Y:334.04, Z:1.56 [[ 2.70403493e-01 -9.62747009e-01 -3.85149124e-04 2.70010353e+02] [ 9.62746149e-01 2.70403767e-01 -1.28694508e-03 3.34038638e+02] [ 1.34314830e-03 -2.28063909e-05 9.99999098e-01 1.55502260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.982755096 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:270.02, Y:334.06, Z:1.56 [[ 2.68349442e-01 -9.63321557e-01 -3.92979081e-04 2.70015522e+02] [ 9.63320701e-01 2.68349727e-01 -1.28460222e-03 3.34061951e+02] [ 1.34294084e-03 -3.38425964e-05 9.99999098e-01 1.55529147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.012755096 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:270.02, Y:334.09, Z:1.55 [[ 2.69138992e-01 -9.63101270e-01 -3.84447026e-04 2.70022503e+02] [ 9.63100410e-01 2.69139265e-01 -1.28715058e-03 3.34087441e+02] [ 1.34312614e-03 -2.38386796e-05 9.99999098e-01 1.55484594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0427550960001 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:270.03, Y:334.12, Z:1.55 [[ 2.70055306e-01 -9.62844736e-01 -3.81891100e-04 2.70030521e+02] [ 9.62843875e-01 2.70055575e-01 -1.28791323e-03 3.34116173e+02] [ 1.34319230e-03 -1.98937051e-05 9.99999098e-01 1.55495235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.072755096 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:270.04, Y:334.14, Z:1.55 [[ 2.69736948e-01 -9.62933968e-01 -3.89442905e-04 2.70038197e+02] [ 9.62933111e-01 2.69737227e-01 -1.28566537e-03 3.34142669e+02] [ 1.34305811e-03 -2.82160152e-05 9.99999098e-01 1.55499174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.102755096 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:270.04, Y:334.17, Z:1.55 [[ 2.72527771e-01 -9.62147838e-01 -3.89098386e-04 2.70044346e+02] [ 9.62146979e-01 2.72528048e-01 -1.28576781e-03 3.34167527e+02] [ 1.34313894e-03 -2.39624015e-05 9.99999098e-01 1.55201904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.132755096 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:270.05, Y:334.19, Z:1.55 [[ 2.73659410e-01 -9.61826586e-01 -3.82843386e-04 2.70051057e+02] [ 9.61825724e-01 2.73659677e-01 -1.28762497e-03 3.34194126e+02] [ 1.34324073e-03 -1.58579276e-05 9.99999098e-01 1.55343138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.162755096 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:270.06, Y:334.22, Z:1.56 [[ 2.75172099e-01 -9.61394909e-01 -3.81661945e-04 2.70055785e+02] [ 9.61394046e-01 2.75172363e-01 -1.28797536e-03 3.34219478e+02] [ 1.34327577e-03 -1.25126395e-05 9.99999098e-01 1.55517487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.192755096 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:270.06, Y:334.24, Z:1.55 [[ 2.75433289e-01 -9.61320113e-01 -3.79105986e-04 2.70062326e+02] [ 9.61319249e-01 2.75433549e-01 -1.28873202e-03 3.34244057e+02] [ 1.34330252e-03 -9.48218321e-06 9.99999098e-01 1.55483142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.222755096 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:270.07, Y:334.27, Z:1.55 [[ 2.74585813e-01 -9.61562524e-01 -3.77925378e-04 2.70070050e+02] [ 9.61561660e-01 2.74586073e-01 -1.28908132e-03 3.34272321e+02] [ 1.34330534e-03 -9.43511084e-06 9.99999098e-01 1.55422422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.252755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:270.08, Y:334.30, Z:1.56 [[ 2.73224233e-01 -9.61950295e-01 -3.85531657e-04 2.70076024e+02] [ 9.61949434e-01 2.73224504e-01 -1.28683526e-03 3.34296746e+02] [ 1.34320825e-03 -1.92673829e-05 9.99999098e-01 1.55516368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.282755096 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:270.08, Y:334.32, Z:1.56 [[ 2.72032078e-01 -9.62288109e-01 -3.79840805e-04 2.70083293e+02] [ 9.62287246e-01 2.72032343e-01 -1.28851287e-03 3.34322182e+02] [ 1.34324959e-03 -1.49991294e-05 9.99999098e-01 1.55532496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.312755096 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:270.09, Y:334.35, Z:1.55 [[ 2.69581299e-01 -9.62977559e-01 -3.79376643e-04 2.70089984e+02] [ 9.62976697e-01 2.69581565e-01 -1.28864951e-03 3.34349324e+02] [ 1.34321351e-03 -1.79350562e-05 9.99999098e-01 1.55342604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.342755096 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:270.10, Y:334.37, Z:1.55 [[ 2.67416935e-01 -9.63580842e-01 -3.79373541e-04 2.70096931e+02] [ 9.63579981e-01 2.67417203e-01 -1.28865043e-03 3.34373521e+02] [ 1.34316987e-03 -2.09498020e-05 9.99999098e-01 1.55270251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.372755096 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:270.10, Y:334.40, Z:1.55 [[ 2.64999530e-01 -9.64248469e-01 -3.73688554e-04 2.70103432e+02] [ 9.64247606e-01 2.64999793e-01 -1.29031834e-03 3.34398675e+02] [ 1.34321488e-03 -1.83945387e-05 9.99999098e-01 1.55082276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.402755096 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:270.11, Y:334.43, Z:1.55 [[ 2.60070219e-01 -9.65589635e-01 -3.72114361e-04 2.70112399e+02] [ 9.65588772e-01 2.60070484e-01 -1.29077964e-03 3.34428107e+02] [ 1.34313940e-03 -2.36161070e-05 9.99999098e-01 1.54870918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.432755096 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:270.12, Y:334.45, Z:1.55 [[ 2.59609528e-01 -9.65713595e-01 -3.82663600e-04 2.70119515e+02] [ 9.65712737e-01 2.59609807e-01 -1.28769054e-03 3.34450026e+02] [ 1.34288349e-03 -3.52463789e-05 9.99999098e-01 1.55022300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.462755096 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:270.13, Y:334.48, Z:1.55 [[ 2.56658706e-01 -9.66502029e-01 -3.69926183e-04 2.70127845e+02] [ 9.66501167e-01 2.56658971e-01 -1.29141062e-03 3.34477846e+02] [ 1.34309586e-03 -2.60823090e-05 9.99999098e-01 1.54933199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.492755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:270.14, Y:334.50, Z:1.55 [[ 2.57440455e-01 -9.66294090e-01 -3.78503926e-04 2.70136307e+02] [ 9.66293231e-01 2.57440731e-01 -1.28890672e-03 3.34499618e+02] [ 1.34290527e-03 -3.39290502e-05 9.99999098e-01 1.55255230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.522755096 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:270.14, Y:334.53, Z:1.55 [[ 2.55370280e-01 -9.66843257e-01 -3.70583029e-04 2.70144186e+02] [ 9.66842395e-01 2.55370547e-01 -1.29122346e-03 3.34528493e+02] [ 1.34304669e-03 -2.85552864e-05 9.99999098e-01 1.55285020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.552755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:270.15, Y:334.56, Z:1.55 [[ 2.55365628e-01 -9.66844483e-01 -3.77072956e-04 2.70151392e+02] [ 9.66843624e-01 2.55365904e-01 -1.28932583e-03 3.34555231e+02] [ 1.34286914e-03 -3.53210839e-05 9.99999098e-01 1.55213199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.582755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:270.16, Y:334.58, Z:1.55 [[ 2.58181004e-01 -9.66096488e-01 -3.80627377e-04 2.70158737e+02] [ 9.66095630e-01 2.58181282e-01 -1.28828584e-03 3.34580314e+02] [ 1.34287929e-03 -3.51115125e-05 9.99999098e-01 1.55443386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.612755096 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:270.16, Y:334.61, Z:1.55 [[ 2.58823783e-01 -9.65924483e-01 -3.76803646e-04 2.70164642e+02] [ 9.65923623e-01 2.58824055e-01 -1.28940326e-03 3.34608001e+02] [ 1.34299202e-03 -3.02353144e-05 9.99999098e-01 1.55252119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.642755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:270.17, Y:334.63, Z:1.55 [[ 2.63289427e-01 -9.64716816e-01 -3.77731224e-04 2.70171003e+02] [ 9.64715955e-01 2.63289697e-01 -1.28913238e-03 3.34633943e+02] [ 1.34310043e-03 -2.49884116e-05 9.99999098e-01 1.55356305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6727550960001 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:270.18, Y:334.66, Z:1.55 [[ 2.65747054e-01 -9.64042718e-01 -3.76113191e-04 2.70178285e+02] [ 9.64041856e-01 2.65747320e-01 -1.28960428e-03 3.34660077e+02] [ 1.34318469e-03 -1.98803193e-05 9.99999098e-01 1.55091506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.702755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:270.18, Y:334.69, Z:1.55 [[ 2.66639599e-01 -9.63796234e-01 -3.78689347e-04 2.70184257e+02] [ 9.63795373e-01 2.66639867e-01 -1.28885351e-03 3.34686318e+02] [ 1.34316584e-03 -2.13196577e-05 9.99999098e-01 1.55233948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.732755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:270.19, Y:334.71, Z:1.55 [[ 2.69557843e-01 -9.62984127e-01 -3.75408450e-04 2.70189854e+02] [ 9.62983263e-01 2.69558104e-01 -1.28980844e-03 3.34713284e+02] [ 1.34325945e-03 -1.38340728e-05 9.99999098e-01 1.55144000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.762755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:270.20, Y:334.74, Z:1.55 [[ 2.70183263e-01 -9.62808841e-01 -3.74966374e-04 2.70196991e+02] [ 9.62807977e-01 2.70183523e-01 -1.28993695e-03 3.34739711e+02] [ 1.34327243e-03 -1.25012423e-05 9.99999098e-01 1.55114882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7927550960001 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:270.20, Y:334.77, Z:1.55 [[ 2.70485446e-01 -9.62723991e-01 -3.74520093e-04 2.70204157e+02] [ 9.62723127e-01 2.70485705e-01 -1.29006651e-03 3.34765782e+02] [ 1.34328031e-03 -1.16149407e-05 9.99999098e-01 1.55146652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.822755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:270.21, Y:334.79, Z:1.55 [[ 2.69511384e-01 -9.62997131e-01 -3.74064130e-04 2.70210368e+02] [ 9.62996267e-01 2.69511643e-01 -1.29019870e-03 3.34791874e+02] [ 1.34327229e-03 -1.24991234e-05 9.99999098e-01 1.54910185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.852755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:270.22, Y:334.82, Z:1.55 [[ 2.70436720e-01 -9.62737681e-01 -3.71578219e-04 2.70220200e+02] [ 9.62736816e-01 2.70436975e-01 -1.29091847e-03 3.34818654e+02] [ 1.34330434e-03 -8.62027596e-06 9.99999098e-01 1.55184602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.882755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:270.23, Y:334.85, Z:1.55 [[ 2.70245915e-01 -9.62791258e-01 -3.73266917e-04 2.70229354e+02] [ 9.62790393e-01 2.70246172e-01 -1.29043000e-03 3.34845865e+02] [ 1.34328867e-03 -1.06443675e-05 9.99999098e-01 1.55183871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.912755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:270.24, Y:334.87, Z:1.55 [[ 2.70193240e-01 -9.62806040e-01 -3.77440758e-04 2.70235742e+02] [ 9.62805177e-01 2.70193503e-01 -1.28922351e-03 3.34869979e+02] [ 1.34325423e-03 -1.50624380e-05 9.99999098e-01 1.55332735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.942755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:270.24, Y:334.90, Z:1.55 [[ 2.69258153e-01 -9.63067967e-01 -3.72367640e-04 2.70241384e+02] [ 9.63067102e-01 2.69258410e-01 -1.29068712e-03 3.34897038e+02] [ 1.34328254e-03 -1.10869933e-05 9.99999098e-01 1.55124611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.972755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:270.25, Y:334.92, Z:1.55 [[ 2.70874046e-01 -9.62614728e-01 -3.68812532e-04 2.70250482e+02] [ 9.62613862e-01 2.70874297e-01 -1.29171152e-03 3.34923823e+02] [ 1.34332237e-03 -5.13293041e-06 9.99999098e-01 1.55464309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.002755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.26, Y:334.95, Z:1.56 [[ 2.70712897e-01 -9.62660059e-01 -3.71801427e-04 2.70257921e+02] [ 9.62659193e-01 2.70713153e-01 -1.29085063e-03 3.34950386e+02] [ 1.34330188e-03 -8.46814690e-06 9.99999098e-01 1.55543689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.032755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:270.27, Y:334.98, Z:1.56 [[ 2.71347298e-01 -9.62481432e-01 -3.71358994e-04 2.70268848e+02] [ 9.62480566e-01 2.71347552e-01 -1.29097790e-03 3.34979595e+02] [ 1.34330961e-03 -7.12244954e-06 9.99999098e-01 1.55574430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.062755096 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:270.27, Y:335.00, Z:1.56 [[ 2.69482528e-01 -9.63005203e-01 -3.83447946e-04 2.70273304e+02] [ 9.63004342e-01 2.69482800e-01 -1.28750009e-03 3.35001896e+02] [ 1.34320191e-03 -2.23032575e-05 9.99999098e-01 1.55719683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.092755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:270.28, Y:335.03, Z:1.56 [[ 2.69561922e-01 -9.62982987e-01 -3.70614124e-04 2.70281712e+02] [ 9.62982121e-01 2.69562177e-01 -1.29118384e-03 3.35028877e+02] [ 1.34329162e-03 -8.84077730e-06 9.99999098e-01 1.55735853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.122755096 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:270.29, Y:335.06, Z:1.56 [[ 2.69895403e-01 -9.62889574e-01 -3.74144709e-04 2.70290813e+02] [ 9.62888710e-01 2.69895662e-01 -1.29017118e-03 3.35056996e+02] [ 1.34327241e-03 -1.20484472e-05 9.99999098e-01 1.55750439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.152755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:270.29, Y:335.08, Z:1.56 [[ 2.68685077e-01 -9.63228002e-01 -3.81762332e-04 2.70294319e+02] [ 9.63227141e-01 2.68685347e-01 -1.28798645e-03 3.35079598e+02] [ 1.34319856e-03 -2.16611006e-05 9.99999098e-01 1.55772529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.182755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:270.30, Y:335.11, Z:1.56 [[ 2.69300839e-01 -9.63056033e-01 -3.69493610e-04 2.70302157e+02] [ 9.63055167e-01 2.69301092e-01 -1.29149650e-03 3.35107902e+02] [ 1.34328853e-03 -8.04163867e-06 9.99999098e-01 1.55668349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.212755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:270.31, Y:335.13, Z:1.56 [[ 2.68493422e-01 -9.63281444e-01 -3.76591195e-04 2.70307566e+02] [ 9.63280581e-01 2.68493686e-01 -1.28946707e-03 3.35132026e+02] [ 1.34323206e-03 -1.65495595e-05 9.99999098e-01 1.55582538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.242755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.32, Y:335.16, Z:1.56 [[ 2.68117657e-01 -9.63386104e-01 -3.68587346e-04 2.70315694e+02] [ 9.63385238e-01 2.68117910e-01 -1.29175088e-03 3.35159778e+02] [ 1.34327972e-03 -8.75038838e-06 9.99999098e-01 1.55564260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.32, Y:335.18, Z:1.56 [[ 2.66982227e-01 -9.63701380e-01 -3.74948345e-04 2.70321038e+02] [ 9.63700517e-01 2.66982490e-01 -1.28993670e-03 3.35184664e+02] [ 1.34321842e-03 -1.69477421e-05 9.99999098e-01 1.55515020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.302755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.33, Y:335.21, Z:1.55 [[ 2.66336130e-01 -9.63880143e-01 -3.67816619e-04 2.70328131e+02] [ 9.63879277e-01 2.66336384e-01 -1.29196707e-03 3.35211489e+02] [ 1.34326435e-03 -1.04333084e-05 9.99999098e-01 1.55479944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.34, Y:335.24, Z:1.55 [[ 2.65362281e-01 -9.64148705e-01 -3.67374447e-04 2.70335074e+02] [ 9.64147839e-01 2.65362535e-01 -1.29209279e-03 3.35238416e+02] [ 1.34325700e-03 -1.13305900e-05 9.99999098e-01 1.55447238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.362755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.34, Y:335.26, Z:1.55 [[ 2.65380333e-01 -9.64143735e-01 -3.69831486e-04 2.70341130e+02] [ 9.64142870e-01 2.65380591e-01 -1.29139502e-03 3.35263503e+02] [ 1.34323652e-03 -1.38595486e-05 9.99999098e-01 1.55494532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.392755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.35, Y:335.29, Z:1.56 [[ 2.65148631e-01 -9.64207483e-01 -3.66600168e-04 2.70347857e+02] [ 9.64206617e-01 2.65148884e-01 -1.29231168e-03 3.35289129e+02] [ 1.34326021e-03 -1.08236361e-05 9.99999098e-01 1.55528474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4227550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.35, Y:335.31, Z:1.55 [[ 2.64773628e-01 -9.64310527e-01 -3.66131789e-04 2.70353796e+02] [ 9.64309661e-01 2.64773881e-01 -1.29244436e-03 3.35314373e+02] [ 1.34325984e-03 -1.08592379e-05 9.99999098e-01 1.55489042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.452755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.36, Y:335.34, Z:1.56 [[ 2.64229740e-01 -9.64459699e-01 -3.65886952e-04 2.70360214e+02] [ 9.64458833e-01 2.64229993e-01 -1.29251362e-03 3.35341228e+02] [ 1.34325560e-03 -1.13623648e-05 9.99999098e-01 1.55520600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.482755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:270.37, Y:335.37, Z:1.56 [[ 2.65067385e-01 -9.64229822e-01 -3.62988811e-04 2.70368005e+02] [ 9.64228955e-01 2.65067634e-01 -1.29333235e-03 3.35367045e+02] [ 1.34328621e-03 -7.18409730e-06 9.99999098e-01 1.55613106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.512755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:270.37, Y:335.39, Z:1.55 [[ 2.64125512e-01 -9.64488248e-01 -3.64949195e-04 2.70371857e+02] [ 9.64487382e-01 2.64125764e-01 -1.29277894e-03 3.35392431e+02] [ 1.34326258e-03 -1.05329936e-05 9.99999098e-01 1.55484954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5427550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:270.38, Y:335.42, Z:1.56 [[ 2.63901738e-01 -9.64549502e-01 -3.61876348e-04 2.70378749e+02] [ 9.64548634e-01 2.63901986e-01 -1.29364514e-03 3.35418995e+02] [ 1.34328466e-03 -7.65213693e-06 9.99999098e-01 1.55532064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.572755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.39, Y:335.44, Z:1.56 [[ 2.63947195e-01 -9.64537064e-01 -3.62790525e-04 2.70385618e+02] [ 9.64536196e-01 2.63947444e-01 -1.29338767e-03 3.35444571e+02] [ 1.34327798e-03 -8.53854580e-06 9.99999098e-01 1.55642325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.602755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.39, Y:335.47, Z:1.56 [[ 2.63127513e-01 -9.64760996e-01 -3.63826705e-04 2.70391944e+02] [ 9.64760130e-01 2.63127764e-01 -1.29309613e-03 3.35470517e+02] [ 1.34326162e-03 -1.07563316e-05 9.99999098e-01 1.55638208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.40, Y:335.50, Z:1.56 [[ 2.62348197e-01 -9.64973208e-01 -3.63356044e-04 2.70398316e+02] [ 9.64972341e-01 2.62348448e-01 -1.29322837e-03 3.35495842e+02] [ 1.34325662e-03 -1.13524022e-05 9.99999098e-01 1.55645922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:335.52, Z:1.56 [[ 2.61215186e-01 -9.65280527e-01 -3.62888961e-04 2.70405028e+02] [ 9.65279660e-01 2.61215438e-01 -1.29335942e-03 3.35521400e+02] [ 1.34324686e-03 -1.24442108e-05 9.99999098e-01 1.55658796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.41, Y:335.55, Z:1.56 [[ 2.59049097e-01 -9.65864087e-01 -3.62423383e-04 2.70411315e+02] [ 9.65863221e-01 2.59049350e-01 -1.29348987e-03 3.35545693e+02] [ 1.34322096e-03 -1.49740332e-05 9.99999098e-01 1.55693416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:335.57, Z:1.56 [[ 2.57876571e-01 -9.66177801e-01 -3.61938612e-04 2.70417898e+02] [ 9.66176935e-01 2.57876825e-01 -1.29362550e-03 3.35571194e+02] [ 1.34320783e-03 -1.61010290e-05 9.99999098e-01 1.55682722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.42, Y:335.60, Z:1.56 [[ 2.56025413e-01 -9.66669984e-01 -3.61483217e-04 2.70423397e+02] [ 9.66669118e-01 2.56025667e-01 -1.29375274e-03 3.35595628e+02] [ 1.34318093e-03 -1.82010825e-05 9.99999098e-01 1.55632187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.43, Y:335.62, Z:1.55 [[ 2.53739000e-01 -9.67272655e-01 -3.61121455e-04 2.70426668e+02] [ 9.67271790e-01 2.53739256e-01 -1.29385371e-03 3.35619314e+02] [ 1.34314001e-03 -2.10014488e-05 9.99999098e-01 1.55287178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:335.65, Z:1.55 [[ 2.54858305e-01 -9.66978345e-01 -3.52484684e-04 2.70439743e+02] [ 9.66977476e-01 2.54858549e-01 -1.29625949e-03 3.35649395e+02] [ 1.34328859e-03 -1.04822532e-05 9.99999098e-01 1.55457816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.44, Y:335.67, Z:1.56 [[ 2.50577234e-01 -9.68096540e-01 -3.72253076e-04 2.70442210e+02] [ 9.68095680e-01 2.50577508e-01 -1.29074649e-03 3.35671855e+02] [ 1.34284546e-03 -3.69449086e-05 9.99999098e-01 1.55528796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.45, Y:335.70, Z:1.55 [[ 2.48934248e-01 -9.68520320e-01 -3.60049122e-04 2.70446482e+02] [ 9.68519456e-01 2.48934507e-01 -1.29414181e-03 3.35695650e+02] [ 1.34303129e-03 -2.65583604e-05 9.99999098e-01 1.55256909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.45, Y:335.72, Z:1.55 [[ 2.47681060e-01 -9.68841560e-01 -3.53157571e-04 2.70452816e+02] [ 9.68840693e-01 2.47681311e-01 -1.29605572e-03 3.35720719e+02] [ 1.34314318e-03 -2.11449694e-05 9.99999098e-01 1.55147257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.46, Y:335.75, Z:1.55 [[ 2.46336254e-01 -9.69184361e-01 -3.51954018e-04 2.70461984e+02] [ 9.69183495e-01 2.46336504e-01 -1.29638959e-03 3.35747176e+02] [ 1.34313964e-03 -2.17602695e-05 9.99999098e-01 1.55411280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.47, Y:335.77, Z:1.55 [[ 2.46011087e-01 -9.69266948e-01 -3.58983062e-04 2.70468894e+02] [ 9.69266084e-01 2.46011347e-01 -1.29444025e-03 3.35773180e+02] [ 1.34297206e-03 -2.95034533e-05 9.99999098e-01 1.55415093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:335.80, Z:1.55 [[ 2.45401836e-01 -9.69421379e-01 -3.58548748e-04 2.70475992e+02] [ 9.69420515e-01 2.45402096e-01 -1.29456054e-03 3.35799207e+02] [ 1.34296328e-03 -2.98969786e-05 9.99999098e-01 1.55429560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.48, Y:335.82, Z:1.55 [[ 2.44283335e-01 -9.69703833e-01 -3.59818581e-04 2.70481257e+02] [ 9.69702970e-01 2.44283597e-01 -1.29420917e-03 3.35823420e+02] [ 1.34289737e-03 -3.27634145e-05 9.99999098e-01 1.55459783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:335.85, Z:1.55 [[ 2.43937149e-01 -9.69790977e-01 -3.57660547e-04 2.70487403e+02] [ 9.69790113e-01 2.43937409e-01 -1.29480528e-03 3.35848902e+02] [ 1.34293726e-03 -3.10045548e-05 9.99999098e-01 1.55479218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.49, Y:335.87, Z:1.55 [[ 2.43959530e-01 -9.69785347e-01 -3.57235153e-04 2.70493689e+02] [ 9.69784483e-01 2.43959790e-01 -1.29492263e-03 3.35874444e+02] [ 1.34294801e-03 -3.05323904e-05 9.99999098e-01 1.55470755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.50, Y:335.91, Z:1.56 [[ 2.43032873e-01 -9.70017987e-01 -3.57169665e-04 2.70503166e+02] [ 9.70017123e-01 2.43033134e-01 -1.29494067e-03 3.35905119e+02] [ 1.34291980e-03 -3.17475394e-05 9.99999098e-01 1.55568620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.51, Y:335.93, Z:1.56 [[ 2.43787949e-01 -9.69828489e-01 -3.71392525e-04 2.70510812e+02] [ 9.69827631e-01 2.43788227e-01 -1.29105176e-03 3.35931488e+02] [ 1.34263990e-03 -4.54438738e-05 9.99999098e-01 1.55707723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:335.96, Z:1.56 [[ 2.41946589e-01 -9.70289501e-01 -3.64609294e-04 2.70516242e+02] [ 9.70288640e-01 2.41946860e-01 -1.29290932e-03 3.35958656e+02] [ 1.34271241e-03 -4.09612578e-05 9.99999098e-01 1.55799710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.52, Y:335.98, Z:1.56 [[ 2.45688042e-01 -9.69348878e-01 -3.72259439e-04 2.70525000e+02] [ 9.69348020e-01 2.45688321e-01 -1.29081680e-03 3.35983950e+02] [ 1.34271162e-03 -4.37106970e-05 9.99999098e-01 1.55740105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.53, Y:336.01, Z:1.56 [[ 2.45168763e-01 -9.69480348e-01 -3.63309004e-04 2.70528768e+02] [ 9.69479486e-01 2.45169030e-01 -1.29324876e-03 3.36008544e+02] [ 1.34285137e-03 -3.51564283e-05 9.99999098e-01 1.55811747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:336.04, Z:1.56 [[ 2.47448720e-01 -9.68900928e-01 -3.51530908e-04 2.70535507e+02] [ 9.68900060e-01 2.47448969e-01 -1.29644239e-03 3.36035091e+02] [ 1.34311020e-03 -1.97953068e-05 9.99999098e-01 1.55806402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.54, Y:336.06, Z:1.56 [[ 2.48225981e-01 -9.68702090e-01 -3.51076372e-04 2.70542495e+02] [ 9.68701222e-01 2.48226229e-01 -1.29656547e-03 3.36061372e+02] [ 1.34313204e-03 -1.82468751e-05 9.99999098e-01 1.55806925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.55, Y:336.09, Z:1.56 [[ 2.48792630e-01 -9.68556712e-01 -3.50612411e-04 2.70549447e+02] [ 9.68555844e-01 2.48792876e-01 -1.29669092e-03 3.36086330e+02] [ 1.34314856e-03 -1.69805555e-05 9.99999098e-01 1.55741240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.56, Y:336.12, Z:1.56 [[ 2.51411441e-01 -9.67880243e-01 -3.50127027e-04 2.70560945e+02] [ 9.67879374e-01 2.51411684e-01 -1.29682197e-03 3.36115215e+02] [ 1.34319439e-03 -1.28448491e-05 9.99999098e-01 1.55742348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.57, Y:336.14, Z:1.56 [[ 2.50951998e-01 -9.67999465e-01 -3.62410729e-04 2.70569051e+02] [ 9.67998601e-01 2.50952258e-01 -1.29351171e-03 3.36143114e+02] [ 1.34306643e-03 -2.62037317e-05 9.99999098e-01 1.55833071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.412755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.57, Y:336.17, Z:1.56 [[ 2.47927190e-01 -9.68778600e-01 -3.64145367e-04 2.70571852e+02] [ 9.68777738e-01 2.47927455e-01 -1.29304481e-03 3.36166322e+02] [ 1.34295577e-03 -3.21949591e-05 9.99999098e-01 1.55902669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.442755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:270.58, Y:336.19, Z:1.56 [[ 2.45234084e-01 -9.69463833e-01 -3.48174589e-04 2.70578731e+02] [ 9.69462965e-01 2.45234330e-01 -1.29733101e-03 3.36193026e+02] [ 1.34309985e-03 -1.93925893e-05 9.99999098e-01 1.55757271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:336.22, Z:1.56 [[ 2.44523268e-01 -9.69643363e-01 -3.47711760e-04 2.70587608e+02] [ 9.69642495e-01 2.44523515e-01 -1.29745504e-03 3.36220981e+02] [ 1.34309237e-03 -1.98981507e-05 9.99999098e-01 1.56026511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.59, Y:336.25, Z:1.56 [[ 2.40725970e-01 -9.70593057e-01 -3.54632713e-04 2.70593761e+02] [ 9.70592192e-01 2.40726229e-01 -1.29560222e-03 3.36248404e+02] [ 1.34287191e-03 -3.23186411e-05 9.99999098e-01 1.56239957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.60, Y:336.27, Z:1.56 [[ 2.41124424e-01 -9.70494145e-01 -3.55447075e-04 2.70600033e+02] [ 9.70493281e-01 2.41124684e-01 -1.29538522e-03 3.36273067e+02] [ 1.34287083e-03 -3.26099832e-05 9.99999098e-01 1.56181232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.61, Y:336.30, Z:1.56 [[ 2.40991995e-01 -9.70527042e-01 -3.45073194e-04 2.70606508e+02] [ 9.70526174e-01 2.40992241e-01 -1.29814281e-03 3.36298554e+02] [ 1.34304266e-03 -2.20605410e-05 9.99999098e-01 1.56222893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.592755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.61, Y:336.33, Z:1.56 [[ 2.41015183e-01 -9.70521284e-01 -3.44577117e-04 2.70612316e+02] [ 9.70520416e-01 2.41015428e-01 -1.29827447e-03 3.36326637e+02] [ 1.34305141e-03 -2.15152672e-05 9.99999098e-01 1.56206832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.62, Y:336.35, Z:1.56 [[ 2.42650604e-01 -9.70113685e-01 -3.49565093e-04 2.70618036e+02] [ 9.70112819e-01 2.42650854e-01 -1.29695190e-03 3.36350003e+02] [ 1.34301306e-03 -2.44114152e-05 9.99999098e-01 1.56264009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.652755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.62, Y:336.38, Z:1.56 [[ 2.44239840e-01 -9.69714795e-01 -3.43521821e-04 2.70623662e+02] [ 9.69713925e-01 2.44240081e-01 -1.29855061e-03 3.36377109e+02] [ 1.34312553e-03 -1.59601017e-05 9.99999098e-01 1.56277605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.682755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.63, Y:336.40, Z:1.56 [[ 2.43949284e-01 -9.69787930e-01 -3.43046014e-04 2.70629547e+02] [ 9.69787061e-01 2.43949525e-01 -1.29867629e-03 3.36403417e+02] [ 1.34312650e-03 -1.58704346e-05 9.99999098e-01 1.56049355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.64, Y:336.43, Z:1.56 [[ 2.44331029e-01 -9.69691822e-01 -3.44161743e-04 2.70636051e+02] [ 9.69690953e-01 2.44331271e-01 -1.29838187e-03 3.36430263e+02] [ 1.34311976e-03 -1.64955498e-05 9.99999098e-01 1.56183372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.64, Y:336.45, Z:1.56 [[ 2.42738933e-01 -9.70091590e-01 -3.42301650e-04 2.70638116e+02] [ 9.70090721e-01 2.42739174e-01 -1.29887208e-03 3.36453458e+02] [ 1.34311490e-03 -1.67768325e-05 9.99999098e-01 1.55872567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.65, Y:336.48, Z:1.56 [[ 2.42114159e-01 -9.70247715e-01 -3.23679606e-04 2.70646854e+02] [ 9.70246839e-01 2.42114376e-01 -1.30375984e-03 3.36482387e+02] [ 1.34333749e-03 1.60960326e-06 9.99999098e-01 1.56069810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.802755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.65, Y:336.51, Z:1.56 [[ 2.39772961e-01 -9.70828930e-01 -3.41209886e-04 2.70649663e+02] [ 9.70828061e-01 2.39773203e-01 -1.29915569e-03 3.36506244e+02] [ 1.34307092e-03 -1.97537234e-05 9.99999098e-01 1.55957181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.66, Y:336.54, Z:1.56 [[ 2.39077321e-01 -9.71000478e-01 -3.26330036e-04 2.70657127e+02] [ 9.70999604e-01 2.39077543e-01 -1.30305142e-03 3.36535160e+02] [ 1.34328173e-03 -5.33629403e-06 9.99999098e-01 1.56019548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.862755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.66, Y:336.56, Z:1.56 [[ 2.38901233e-01 -9.71043811e-01 -3.44600748e-04 2.70662736e+02] [ 9.71042943e-01 2.38901480e-01 -1.29826490e-03 3.36559863e+02] [ 1.34299772e-03 -2.44650409e-05 9.99999098e-01 1.56075546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:336.59, Z:1.56 [[ 2.37008253e-01 -9.71507577e-01 -3.39895790e-04 2.70668186e+02] [ 9.71506708e-01 2.37008496e-01 -1.29949552e-03 3.36586318e+02] [ 1.34302794e-03 -2.22198765e-05 9.99999098e-01 1.56107998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.67, Y:336.61, Z:1.56 [[ 2.34687244e-01 -9.72070873e-01 -3.39441538e-04 2.70671694e+02] [ 9.72070005e-01 2.34687488e-01 -1.29961417e-03 3.36611151e+02] [ 1.34297976e-03 -2.49580701e-05 9.99999098e-01 1.56123476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.68, Y:336.64, Z:1.56 [[ 2.34112414e-01 -9.72209480e-01 -3.23341478e-04 2.70681420e+02] [ 9.72208606e-01 2.34112637e-01 -1.30380861e-03 3.36641076e+02] [ 1.34327342e-03 -9.11758742e-06 9.99999098e-01 1.56148769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:336.67, Z:1.56 [[ 2.32821259e-01 -9.72519484e-01 -3.38913585e-04 2.70687740e+02] [ 9.72518616e-01 2.32821505e-01 -1.29974813e-03 3.36667795e+02] [ 1.34293675e-03 -2.69907731e-05 9.99999098e-01 1.56153417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.69, Y:336.69, Z:1.56 [[ 2.32892281e-01 -9.72502479e-01 -3.38448903e-04 2.70693156e+02] [ 9.72501610e-01 2.32892525e-01 -1.29986912e-03 3.36691333e+02] [ 1.34294816e-03 -2.64126179e-05 9.99999098e-01 1.56119914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:270.70, Y:336.72, Z:1.56 [[ 2.31566577e-01 -9.72819002e-01 -3.30818343e-04 2.70699520e+02] [ 9.72818131e-01 2.31566812e-01 -1.30185142e-03 3.36719642e+02] [ 1.34307235e-03 -2.03608061e-05 9.99999098e-01 1.56053982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:336.75, Z:1.56 [[ 2.32902967e-01 -9.72499920e-01 -3.37566372e-04 2.70705916e+02] [ 9.72499051e-01 2.32903210e-01 -1.30009932e-03 3.36746157e+02] [ 1.34296677e-03 -2.54859885e-05 9.99999098e-01 1.56013398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.71, Y:336.77, Z:1.56 [[ 2.33572282e-01 -9.72339383e-01 -3.37103957e-04 2.70711994e+02] [ 9.72338514e-01 2.33572524e-01 -1.30021921e-03 3.36771569e+02] [ 1.34299256e-03 -2.40839931e-05 9.99999098e-01 1.55971110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.132755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.72, Y:336.80, Z:1.56 [[ 2.35780617e-01 -9.71806250e-01 -3.36619590e-04 2.70718720e+02] [ 9.71805380e-01 2.35780856e-01 -1.30034459e-03 3.36797655e+02] [ 1.34305146e-03 -2.05326779e-05 9.99999098e-01 1.55862814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.162755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:336.82, Z:1.56 [[ 2.37133581e-01 -9.71476995e-01 -3.36165041e-04 2.70725638e+02] [ 9.71476125e-01 2.37133818e-01 -1.30046209e-03 3.36823239e+02] [ 1.34308511e-03 -1.81930786e-05 9.99999098e-01 1.55740530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.73, Y:336.85, Z:1.56 [[ 2.37302095e-01 -9.71435848e-01 -3.30469068e-04 2.70732829e+02] [ 9.71434975e-01 2.37302325e-01 -1.30193120e-03 3.36850807e+02] [ 1.34316372e-03 -1.20782087e-05 9.99999098e-01 1.55810256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.74, Y:336.88, Z:1.56 [[ 2.37563219e-01 -9.71372019e-01 -3.42338010e-04 2.70739713e+02] [ 9.71371151e-01 2.37563465e-01 -1.29887484e-03 3.36875210e+02] [ 1.34301768e-03 -2.39723779e-05 9.99999098e-01 1.55834214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.75, Y:336.90, Z:1.56 [[ 2.36517433e-01 -9.71627189e-01 -3.32134402e-04 2.70746383e+02] [ 9.71626317e-01 2.36517666e-01 -1.30149530e-03 3.36900186e+02] [ 1.34312388e-03 -1.48841973e-05 9.99999098e-01 1.55774737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.76, Y:336.93, Z:1.56 [[ 2.37160026e-01 -9.71470540e-01 -3.33855337e-04 2.70757043e+02] [ 9.71469669e-01 2.37160261e-01 -1.30105397e-03 3.36926835e+02] [ 1.34311282e-03 -1.57723403e-05 9.99999098e-01 1.55638149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.312755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:270.76, Y:336.95, Z:1.56 [[ 2.35012059e-01 -9.71992396e-01 -3.36809709e-04 2.70762518e+02] [ 9.71991527e-01 2.35012300e-01 -1.30029755e-03 3.36949477e+02] [ 1.34303376e-03 -2.17905785e-05 9.99999098e-01 1.55744049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.77, Y:336.97, Z:1.56 [[ 2.34273866e-01 -9.72170587e-01 -3.26344582e-04 2.70769793e+02] [ 9.72169713e-01 2.34274093e-01 -1.30297549e-03 3.36973160e+02] [ 1.34316853e-03 -1.20092121e-05 9.99999098e-01 1.55781081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.78, Y:337.01, Z:1.56 [[ 2.31963960e-01 -9.72724329e-01 -3.17521069e-04 2.70782371e+02] [ 9.72723453e-01 2.31964177e-01 -1.30523503e-03 3.37006051e+02] [ 1.34328739e-03 -6.09270376e-06 9.99999098e-01 1.55776889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:337.03, Z:1.56 [[ 2.28096230e-01 -9.73638530e-01 -3.50365276e-04 2.70786090e+02] [ 9.73637667e-01 2.28096495e-01 -1.29685161e-03 3.37028744e+02] [ 1.34258178e-03 -4.53218675e-05 9.99999098e-01 1.55832292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.79, Y:337.05, Z:1.56 [[ 2.26551793e-01 -9.73999063e-01 -3.31146759e-04 2.70793418e+02] [ 9.73998194e-01 2.26552033e-01 -1.30174056e-03 3.37053788e+02] [ 1.34291606e-03 -2.76246869e-05 9.99999098e-01 1.55821386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.80, Y:337.08, Z:1.56 [[ 2.24618340e-01 -9.74446762e-01 -3.30666290e-04 2.70802389e+02] [ 9.74445893e-01 2.24618581e-01 -1.30186260e-03 3.37079201e+02] [ 1.34286959e-03 -2.97941932e-05 9.99999098e-01 1.55845122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.81, Y:337.11, Z:1.56 [[ 2.25783349e-01 -9.74177484e-01 -3.30206582e-04 2.70814207e+02] [ 9.74176614e-01 2.25783589e-01 -1.30197919e-03 3.37109464e+02] [ 1.34291404e-03 -2.77143082e-05 9.99999098e-01 1.55702335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.82, Y:337.13, Z:1.56 [[ 2.22830119e-01 -9.74857229e-01 -3.47587714e-04 2.70817608e+02] [ 9.74856367e-01 2.22830385e-01 -1.29757033e-03 3.37131837e+02] [ 1.34239892e-03 -4.97103439e-05 9.99999098e-01 1.55846284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.83, Y:337.16, Z:1.56 [[ 2.22569798e-01 -9.74916702e-01 -3.29221755e-04 2.70826445e+02] [ 9.74915833e-01 2.22570039e-01 -1.30221356e-03 3.37156426e+02] [ 1.34282465e-03 -3.11300926e-05 9.99999098e-01 1.55898441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:270.83, Y:337.18, Z:1.56 [[ 2.22384792e-01 -9.74958920e-01 -3.28731505e-04 2.70833933e+02] [ 9.74958051e-01 2.22385033e-01 -1.30233731e-03 3.37181451e+02] [ 1.34283034e-03 -3.08794169e-05 9.99999098e-01 1.55900349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.84, Y:337.21, Z:1.56 [[ 2.22443818e-01 -9.74945455e-01 -3.28376524e-04 2.70841558e+02] [ 9.74944585e-01 2.22444058e-01 -1.30242681e-03 3.37207994e+02] [ 1.34284050e-03 -3.04321225e-05 9.99999098e-01 1.55874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.85, Y:337.23, Z:1.56 [[ 2.23377731e-01 -9.74731903e-01 -3.27918126e-04 2.70850216e+02] [ 9.74731033e-01 2.23377970e-01 -1.30254221e-03 3.37234205e+02] [ 1.34287913e-03 -2.86730499e-05 9.99999098e-01 1.55790815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.86, Y:337.26, Z:1.56 [[ 2.23818623e-01 -9.74630759e-01 -3.27453717e-04 2.70857877e+02] [ 9.74629889e-01 2.23818861e-01 -1.30265895e-03 3.37259992e+02] [ 1.34290180e-03 -2.75868478e-05 9.99999098e-01 1.55781671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.87, Y:337.29, Z:1.56 [[ 2.25410458e-01 -9.74263834e-01 -3.26991924e-04 2.70869141e+02] [ 9.74262964e-01 2.25410693e-01 -1.30277486e-03 3.37288064e+02] [ 1.34295390e-03 -2.49170444e-05 9.99999098e-01 1.55567170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:337.31, Z:1.55 [[ 2.25188767e-01 -9.74315096e-01 -3.36241131e-04 2.70876080e+02] [ 9.74314229e-01 2.25189015e-01 -1.30045446e-03 3.37313730e+02] [ 1.34277022e-03 -3.47567834e-05 9.99999098e-01 1.55357945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.88, Y:337.34, Z:1.56 [[ 2.27235652e-01 -9.73839745e-01 -3.32858994e-04 2.70884747e+02] [ 9.73838875e-01 2.27235894e-01 -1.30130114e-03 3.37339054e+02] [ 1.34289628e-03 -2.84490165e-05 9.99999098e-01 1.55529402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.89, Y:337.36, Z:1.56 [[ 2.29548756e-01 -9.73297108e-01 -3.29312968e-04 2.70892148e+02] [ 9.73296237e-01 2.29548991e-01 -1.30218728e-03 3.37363831e+02] [ 1.34300857e-03 -2.16036033e-05 9.99999098e-01 1.55502525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.90, Y:337.39, Z:1.56 [[ 2.28718285e-01 -9.73492599e-01 -3.24377927e-04 2.70896611e+02] [ 9.73491727e-01 2.28718515e-01 -1.30341778e-03 3.37389445e+02] [ 1.34305880e-03 -1.76637493e-05 9.99999098e-01 1.55859471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.90, Y:337.42, Z:1.56 [[ 2.28491448e-01 -9.73545867e-01 -3.21541020e-04 2.70903107e+02] [ 9.73544993e-01 2.28491674e-01 -1.30412407e-03 3.37416398e+02] [ 1.34309405e-03 -1.50534523e-05 9.99999098e-01 1.55863108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.91, Y:337.45, Z:1.56 [[ 2.30224830e-01 -9.73137413e-01 -3.21247534e-04 2.70911415e+02] [ 9.73136539e-01 2.30225054e-01 -1.30419707e-03 3.37445153e+02] [ 1.34312219e-03 -1.23591643e-05 9.99999098e-01 1.55657820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.912755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.92, Y:337.47, Z:1.56 [[ 2.29196534e-01 -9.73380110e-01 -3.32731516e-04 2.70915364e+02] [ 9.73379240e-01 2.29196774e-01 -1.30134382e-03 3.37469869e+02] [ 1.34296318e-03 -2.56104567e-05 9.99999098e-01 1.56009656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:270.92, Y:337.50, Z:1.56 [[ 2.29485501e-01 -9.73312026e-01 -3.24084333e-04 2.70923320e+02] [ 9.73311153e-01 2.29485730e-01 -1.30348703e-03 3.37497418e+02] [ 1.34307233e-03 -1.63035215e-05 9.99999098e-01 1.55768242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.93, Y:337.52, Z:1.56 [[ 2.27104786e-01 -9.73870270e-01 -3.36000692e-04 2.70926583e+02] [ 9.73869402e-01 2.27105033e-01 -1.30054750e-03 3.37521046e+02] [ 1.34287199e-03 -3.18602314e-05 9.99999098e-01 1.56038866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:337.55, Z:1.56 [[ 2.27016528e-01 -9.73890853e-01 -3.20802760e-04 2.70935789e+02] [ 9.73889980e-01 2.27016754e-01 -1.30428559e-03 3.37549667e+02] [ 1.34305941e-03 -1.63322066e-05 9.99999098e-01 1.55831063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.94, Y:337.57, Z:1.56 [[ 2.26535700e-01 -9.74002806e-01 -3.31405312e-04 2.70940751e+02] [ 9.74001937e-01 2.26535941e-01 -1.30166978e-03 3.37571001e+02] [ 1.34290523e-03 -2.79147413e-05 9.99999098e-01 1.56124086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.95, Y:337.60, Z:1.56 [[ 2.25977291e-01 -9.74132520e-01 -3.12859457e-04 2.70949686e+02] [ 9.74131644e-01 2.25977508e-01 -1.30622295e-03 3.37596776e+02] [ 1.34313346e-03 -9.58957263e-06 9.99999098e-01 1.56180688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.95, Y:337.62, Z:1.56 [[ 2.22437801e-01 -9.74946831e-01 -3.19935594e-04 2.70951464e+02] [ 9.74945958e-01 2.22438030e-01 -1.30448748e-03 3.37622408e+02] [ 1.34297177e-03 -2.17525881e-05 9.99999098e-01 1.56089231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:337.65, Z:1.56 [[ 2.20052998e-01 -9.75487867e-01 -3.14927841e-04 2.70956222e+02] [ 9.75486994e-01 2.20053222e-01 -1.30571264e-03 3.37648114e+02] [ 1.34300773e-03 -1.98820304e-05 9.99999098e-01 1.56088749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.96, Y:337.68, Z:1.56 [[ 2.17665001e-01 -9.76023487e-01 -3.16189624e-04 2.70961468e+02] [ 9.76022615e-01 2.17665229e-01 -1.30540423e-03 3.37676032e+02] [ 1.34292867e-03 -2.44674122e-05 9.99999098e-01 1.56100087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:337.70, Z:1.56 [[ 2.19461656e-01 -9.75621073e-01 -3.21716282e-04 2.70969409e+02] [ 9.75620202e-01 2.19461890e-01 -1.30405531e-03 3.37699827e+02] [ 1.34286830e-03 -2.76827660e-05 9.99999098e-01 1.55773368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.97, Y:337.73, Z:1.56 [[ 2.16199128e-01 -9.76349239e-01 -3.17667908e-04 2.70972360e+02] [ 9.76348367e-01 2.16199360e-01 -1.30504163e-03 3.37726796e+02] [ 1.34285600e-03 -2.80056810e-05 9.99999098e-01 1.56104533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.98, Y:337.76, Z:1.56 [[ 2.15460744e-01 -9.76512451e-01 -3.18078340e-04 2.70979001e+02] [ 9.76511579e-01 2.15460977e-01 -1.30494177e-03 3.37755802e+02] [ 1.34282536e-03 -2.94434576e-05 9.99999098e-01 1.55842368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:337.78, Z:1.56 [[ 2.18033226e-01 -9.75941293e-01 -3.25774948e-04 2.70986076e+02] [ 9.75940423e-01 2.18033467e-01 -1.30307664e-03 3.37779804e+02] [ 1.34275614e-03 -3.38229369e-05 9.99999098e-01 1.56058283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:270.99, Y:337.81, Z:1.56 [[ 2.16894300e-01 -9.76195044e-01 -3.15577368e-04 2.70991195e+02] [ 9.76194171e-01 2.16894528e-01 -1.30554161e-03 3.37810052e+02] [ 1.34291026e-03 -2.49002526e-05 9.99999098e-01 1.55944115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.332755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:271.00, Y:337.83, Z:1.56 [[ 2.15781053e-01 -9.76441719e-01 -3.25540864e-04 2.70995068e+02] [ 9.76440851e-01 2.15781295e-01 -1.30312859e-03 3.37834727e+02] [ 1.34267475e-03 -3.66809402e-05 9.99999098e-01 1.55836415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:337.86, Z:1.56 [[ 2.17152442e-01 -9.76137654e-01 -3.13248749e-04 2.71000686e+02] [ 9.76136780e-01 2.17152667e-01 -1.30609707e-03 3.37862705e+02] [ 1.34295333e-03 -2.21514552e-05 9.99999098e-01 1.55949384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.00, Y:337.89, Z:1.56 [[ 2.17128071e-01 -9.76143072e-01 -3.22403896e-04 2.71004439e+02] [ 9.76142202e-01 2.17128308e-01 -1.30389269e-03 3.37887820e+02] [ 1.34278883e-03 -3.16003457e-05 9.99999098e-01 1.55866850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.01, Y:337.91, Z:1.56 [[ 2.15838617e-01 -9.76429001e-01 -3.13786261e-04 2.71009908e+02] [ 9.76428127e-01 2.15838844e-01 -1.30596326e-03 3.37914813e+02] [ 1.34290767e-03 -2.45124265e-05 9.99999098e-01 1.55999922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:337.94, Z:1.56 [[ 2.16147031e-01 -9.76360776e-01 -3.11249882e-04 2.71015421e+02] [ 9.76359902e-01 2.16147254e-01 -1.30657144e-03 3.37940486e+02] [ 1.34296091e-03 -2.14803667e-05 9.99999098e-01 1.55926550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.02, Y:337.97, Z:1.56 [[ 2.17456598e-01 -9.76069942e-01 -3.11703394e-04 2.71023680e+02] [ 9.76069068e-01 2.17456820e-01 -1.30646282e-03 3.37970150e+02] [ 1.34298112e-03 -2.01450812e-05 9.99999098e-01 1.55812256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:338.00, Z:1.56 [[ 2.13539627e-01 -9.76934349e-01 -3.24662000e-04 2.71025180e+02] [ 9.76933480e-01 2.13539870e-01 -1.30337570e-03 3.37995796e+02] [ 1.34264077e-03 -3.88508176e-05 9.99999098e-01 1.55675454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.03, Y:338.02, Z:1.56 [[ 2.14343629e-01 -9.76758267e-01 -3.12482410e-04 2.71031995e+02] [ 9.76757393e-01 2.14343855e-01 -1.30626863e-03 3.38021684e+02] [ 1.34288737e-03 -2.52291454e-05 9.99999098e-01 1.55868023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.04, Y:338.05, Z:1.56 [[ 2.11193392e-01 -9.77444247e-01 -3.08931189e-04 2.71036573e+02] [ 9.77443373e-01 2.11193616e-01 -1.30711104e-03 3.38049026e+02] [ 1.34287246e-03 -2.59095296e-05 9.99999098e-01 1.55649810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.04, Y:338.08, Z:1.56 [[ 2.08549474e-01 -9.78011770e-01 -3.07557556e-04 2.71044026e+02] [ 9.78010897e-01 2.08549699e-01 -1.30743648e-03 3.38077444e+02] [ 1.34282931e-03 -2.81294496e-05 9.99999098e-01 1.55790964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:338.10, Z:1.56 [[ 2.08746726e-01 -9.77969685e-01 -3.15096536e-04 2.71050014e+02] [ 9.77968814e-01 2.08746961e-01 -1.30565547e-03 3.38103401e+02] [ 1.34266691e-03 -3.56032813e-05 9.99999098e-01 1.55921167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.662755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.05, Y:338.13, Z:1.56 [[ 2.06530015e-01 -9.78440217e-01 -3.07977983e-04 2.71054614e+02] [ 9.78439344e-01 2.06530243e-01 -1.30733447e-03 3.38130829e+02] [ 1.34275539e-03 -3.13339678e-05 9.99999098e-01 1.55766180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.06, Y:338.16, Z:1.56 [[ 2.07977808e-01 -9.78133496e-01 -3.10349504e-04 2.71061862e+02] [ 9.78132623e-01 2.07978037e-01 -1.30677519e-03 3.38157586e+02] [ 1.34274647e-03 -3.17827340e-05 9.99999098e-01 1.55856701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:338.18, Z:1.56 [[ 2.08832334e-01 -9.77951410e-01 -3.10868754e-04 2.71066974e+02] [ 9.77950537e-01 2.08832563e-01 -1.30665292e-03 3.38183176e+02] [ 1.34276258e-03 -3.11428856e-05 9.99999098e-01 1.55853827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.07, Y:338.21, Z:1.56 [[ 2.11301650e-01 -9.77420851e-01 -3.04247778e-04 2.71074892e+02] [ 9.77419976e-01 2.11301868e-01 -1.30820945e-03 3.38209649e+02] [ 1.34295932e-03 -2.09510402e-05 9.99999098e-01 1.56125595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.08, Y:338.24, Z:1.56 [[ 2.10628558e-01 -9.77566119e-01 -3.07129551e-04 2.71079396e+02] [ 9.77565244e-01 2.10628781e-01 -1.30753254e-03 3.38236038e+02] [ 1.34288984e-03 -2.48354801e-05 9.99999098e-01 1.55854342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:338.26, Z:1.56 [[ 2.13924132e-01 -9.76850232e-01 -3.01827704e-04 2.71088175e+02] [ 9.76849355e-01 2.13924344e-01 -1.30877535e-03 3.38262564e+02] [ 1.34304580e-03 -1.48615670e-05 9.99999098e-01 1.56010592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.09, Y:338.29, Z:1.56 [[ 2.13893278e-01 -9.76856986e-01 -3.09374422e-04 2.71093543e+02] [ 9.76856111e-01 2.13893500e-01 -1.30700752e-03 3.38289356e+02] [ 1.34293260e-03 -2.26541726e-05 9.99999098e-01 1.55977742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.10, Y:338.32, Z:1.56 [[ 2.15137450e-01 -9.76583730e-01 -3.08970179e-04 2.71100272e+02] [ 9.76582856e-01 2.15137671e-01 -1.30710210e-03 3.38316967e+02] [ 1.34296577e-03 -2.05283668e-05 9.99999098e-01 1.56031901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:338.34, Z:1.56 [[ 2.16668276e-01 -9.76245237e-01 -3.10123836e-04 2.71105958e+02] [ 9.76244362e-01 2.16668497e-01 -1.30683247e-03 3.38341499e+02] [ 1.34298304e-03 -1.96075068e-05 9.99999098e-01 1.56204851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.11, Y:338.37, Z:1.56 [[ 2.16323407e-01 -9.76321715e-01 -3.04989379e-04 2.71111924e+02] [ 9.76320839e-01 2.16323622e-01 -1.30802966e-03 3.38367718e+02] [ 1.34303417e-03 -1.48100539e-05 9.99999098e-01 1.56194829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.12, Y:338.40, Z:1.56 [[ 2.18661833e-01 -9.75800651e-01 -3.04525262e-04 2.71123783e+02] [ 9.75799774e-01 2.18662045e-01 -1.30813770e-03 3.38398659e+02] [ 1.34306974e-03 -1.11158940e-05 9.99999098e-01 1.55995788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.13, Y:338.43, Z:1.56 [[ 2.15570894e-01 -9.76488138e-01 -3.26272386e-04 2.71131667e+02] [ 9.76487269e-01 2.15571138e-01 -1.30306826e-03 3.38426459e+02] [ 1.34276561e-03 -3.76972415e-05 9.99999098e-01 1.55847649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:338.45, Z:1.56 [[ 2.14594570e-01 -9.76703157e-01 -3.38464422e-04 2.71135897e+02] [ 9.76702292e-01 2.14594831e-01 -1.30021171e-03 3.38447823e+02] [ 1.34255360e-03 -5.15606037e-05 9.99999097e-01 1.56110937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.14, Y:338.48, Z:1.56 [[ 2.09644605e-01 -9.77777603e-01 -3.14255132e-04 2.71142281e+02] [ 9.77776732e-01 2.09644838e-01 -1.30585032e-03 3.38477810e+02] [ 1.34271316e-03 -3.35068812e-05 9.99999098e-01 1.56157203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:338.50, Z:1.56 [[ 2.09951567e-01 -9.77711734e-01 -3.23208873e-04 2.71147444e+02] [ 9.77710866e-01 2.09951812e-01 -1.30376627e-03 3.38498676e+02] [ 1.34256587e-03 -4.22770560e-05 9.99999098e-01 1.56382257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.15, Y:338.53, Z:1.56 [[ 2.08479413e-01 -9.78026708e-01 -3.03419557e-04 2.71153588e+02] [ 9.78025834e-01 2.08479633e-01 -1.30835559e-03 3.38525366e+02] [ 1.34286351e-03 -2.39869592e-05 9.99999098e-01 1.56399555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.16, Y:338.55, Z:1.56 [[ 2.06977331e-01 -9.78345692e-01 -3.02961945e-04 2.71159362e+02] [ 9.78344817e-01 2.06977551e-01 -1.30846155e-03 3.38551033e+02] [ 1.34283404e-03 -2.55793699e-05 9.99999098e-01 1.56430704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:338.58, Z:1.56 [[ 2.05618470e-01 -9.78632185e-01 -3.02483119e-04 2.71167881e+02] [ 9.78631310e-01 2.05618691e-01 -1.30857223e-03 3.38580518e+02] [ 1.34280708e-03 -2.69528311e-05 9.99999098e-01 1.56305073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.17, Y:338.60, Z:1.56 [[ 2.03664229e-01 -9.79040747e-01 -3.11957239e-04 2.71171469e+02] [ 9.79039876e-01 2.03664464e-01 -1.30638371e-03 3.38604237e+02] [ 1.34253749e-03 -3.93549457e-05 9.99999098e-01 1.56455538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:338.64, Z:1.56 [[ 2.06695639e-01 -9.78405244e-01 -3.01542085e-04 2.71182770e+02] [ 9.78404369e-01 2.06695858e-01 -1.30878335e-03 3.38635735e+02] [ 1.34284799e-03 -2.45102824e-05 9.99999098e-01 1.56342324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.18, Y:338.66, Z:1.56 [[ 2.04433826e-01 -9.78880334e-01 -3.21465963e-04 2.71182727e+02] [ 9.78879466e-01 2.04434073e-01 -1.30418707e-03 3.38657219e+02] [ 1.34236167e-03 -4.80564781e-05 9.99999098e-01 1.56417359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:338.68, Z:1.56 [[ 2.05343042e-01 -9.78690015e-01 -3.00876812e-04 2.71188020e+02] [ 9.78689140e-01 2.05343261e-01 -1.30891983e-03 3.38683079e+02] [ 1.34280979e-03 -2.56872893e-05 9.99999098e-01 1.56347825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.19, Y:338.71, Z:1.56 [[ 2.07282026e-01 -9.78281182e-01 -3.00409644e-04 2.71191879e+02] [ 9.78280307e-01 2.07282243e-01 -1.30902704e-03 3.38709855e+02] [ 1.34286610e-03 -2.25470624e-05 9.99999098e-01 1.56272976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.20, Y:338.74, Z:1.56 [[ 2.07745734e-01 -9.78182815e-01 -2.99966528e-04 2.71196179e+02] [ 9.78181939e-01 2.07745950e-01 -1.30912857e-03 3.38735800e+02] [ 1.34288390e-03 -2.14559648e-05 9.99999098e-01 1.55979598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.20, Y:338.76, Z:1.56 [[ 2.10504894e-01 -9.77592757e-01 -3.01364334e-04 2.71200255e+02] [ 9.77591881e-01 2.10505109e-01 -1.30880871e-03 3.38760396e+02] [ 1.34292065e-03 -1.91006872e-05 9.99999098e-01 1.56244874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.21, Y:338.79, Z:1.56 [[ 2.11286822e-01 -9.77424058e-01 -2.99121197e-04 2.71205271e+02] [ 9.77423181e-01 2.11287034e-01 -1.30932117e-03 3.38786126e+02] [ 1.34296244e-03 -1.57256829e-05 9.99999098e-01 1.56261871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.442755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:271.21, Y:338.81, Z:1.56 [[ 2.11725691e-01 -9.77329086e-01 -2.98637637e-04 2.71210336e+02] [ 9.77328209e-01 2.11725902e-01 -1.30943145e-03 3.38810650e+02] [ 1.34297477e-03 -1.46267073e-05 9.99999098e-01 1.56168724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.22, Y:338.84, Z:1.56 [[ 2.11683961e-01 -9.77338126e-01 -2.98132843e-04 2.71215189e+02] [ 9.77337248e-01 2.11684171e-01 -1.30954637e-03 3.38835848e+02] [ 1.34297960e-03 -1.41663681e-05 9.99999098e-01 1.56300300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.23, Y:338.87, Z:1.56 [[ 2.13911802e-01 -9.76852933e-01 -2.97752449e-04 2.71226979e+02] [ 9.76852055e-01 2.13912009e-01 -1.30963286e-03 3.38866033e+02] [ 1.34301152e-03 -1.07141672e-05 9.99999098e-01 1.56279793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.23, Y:338.89, Z:1.56 [[ 2.10003531e-01 -9.77700576e-01 -3.18275744e-04 2.71226275e+02] [ 9.77699706e-01 2.10003768e-01 -1.30496150e-03 3.38885970e+02] [ 1.34270072e-03 -3.71315784e-05 9.99999098e-01 1.56445025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.23, Y:338.91, Z:1.56 [[ 2.08491627e-01 -9.78024107e-01 -2.96911981e-04 2.71229794e+02] [ 9.78023230e-01 2.08491838e-01 -1.30980433e-03 3.38911228e+02] [ 1.34292394e-03 -1.73035778e-05 9.99999098e-01 1.56234219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:338.94, Z:1.56 [[ 2.07650717e-01 -9.78202993e-01 -2.92200345e-04 2.71236332e+02] [ 9.78202114e-01 2.07650922e-01 -1.31087017e-03 3.38937449e+02] [ 1.34297280e-03 -1.36278642e-05 9.99999098e-01 1.56495497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.24, Y:338.96, Z:1.56 [[ 2.06657315e-01 -9.78413341e-01 -2.96141448e-04 2.71241746e+02] [ 9.78412464e-01 2.06657527e-01 -1.30997922e-03 3.38963277e+02] [ 1.34290101e-03 -1.90316939e-05 9.99999098e-01 1.56497499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:338.99, Z:1.57 [[ 2.07360120e-01 -9.78264634e-01 -2.95685213e-04 2.71251281e+02] [ 9.78263756e-01 2.07360330e-01 -1.31008220e-03 3.38992156e+02] [ 1.34292046e-03 -1.75993261e-05 9.99999098e-01 1.56606653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.25, Y:339.02, Z:1.57 [[ 2.04766688e-01 -9.78810762e-01 -3.08033075e-04 2.71253249e+02] [ 9.78809890e-01 2.04766917e-01 -1.30729641e-03 3.39015474e+02] [ 1.34267078e-03 -3.38150623e-05 9.99999098e-01 1.56581492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.26, Y:339.04, Z:1.57 [[ 2.05591497e-01 -9.78637854e-01 -2.94703457e-04 2.71259026e+02] [ 9.78636977e-01 2.05591707e-01 -1.31029443e-03 3.39040499e+02] [ 1.34289232e-03 -1.90223065e-05 9.99999098e-01 1.56620317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.26, Y:339.07, Z:1.57 [[ 2.03968568e-01 -9.78977395e-01 -2.87540393e-04 2.71263464e+02] [ 9.78976516e-01 2.03968771e-01 -1.31190080e-03 3.39067357e+02] [ 1.34297049e-03 -1.39087644e-05 9.99999098e-01 1.56571399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:339.09, Z:1.57 [[ 2.03635602e-01 -9.79046708e-01 -2.93679620e-04 2.71269066e+02] [ 9.79045831e-01 2.03635813e-01 -1.31052504e-03 3.39093680e+02] [ 1.34286891e-03 -2.06562518e-05 9.99999098e-01 1.56575193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.27, Y:339.12, Z:1.56 [[ 2.03472096e-01 -9.79080702e-01 -2.93233870e-04 2.71273893e+02] [ 9.79079825e-01 2.03472306e-01 -1.31062477e-03 3.39118218e+02] [ 1.34287239e-03 -2.04237970e-05 9.99999098e-01 1.56472309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:339.14, Z:1.56 [[ 2.03407512e-01 -9.79094121e-01 -2.92879691e-04 2.71278868e+02] [ 9.79093244e-01 2.03407722e-01 -1.31070391e-03 3.39143556e+02] [ 1.34287649e-03 -2.01495047e-05 9.99999098e-01 1.56370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.28, Y:339.17, Z:1.56 [[ 2.04979612e-01 -9.78766200e-01 -2.92422040e-04 2.71283872e+02] [ 9.78765322e-01 2.04979820e-01 -1.31080601e-03 3.39168731e+02] [ 1.34291323e-03 -1.75240454e-05 9.99999098e-01 1.56298316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.29, Y:339.20, Z:1.56 [[ 2.04348992e-01 -9.78898058e-01 -2.84751700e-04 2.71288979e+02] [ 9.78897178e-01 2.04349190e-01 -1.31251227e-03 3.39196969e+02] [ 1.34300449e-03 -1.05320771e-05 9.99999098e-01 1.56215434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.29, Y:339.22, Z:1.56 [[ 2.04392738e-01 -9.78888923e-01 -2.91393705e-04 2.71294208e+02] [ 9.78888045e-01 2.04392945e-01 -1.31103600e-03 3.39223377e+02] [ 1.34291744e-03 -1.72755768e-05 9.99999098e-01 1.56165270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.30, Y:339.25, Z:1.56 [[ 2.04387581e-01 -9.78890000e-01 -2.90941864e-04 2.71299481e+02] [ 9.78889122e-01 2.04387787e-01 -1.31113626e-03 3.39250186e+02] [ 1.34292314e-03 -1.68198570e-05 9.99999098e-01 1.56148564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:339.28, Z:1.56 [[ 2.07966661e-01 -9.78135872e-01 -2.90493014e-04 2.71310494e+02] [ 9.78134993e-01 2.07966863e-01 -1.31123570e-03 3.39282562e+02] [ 1.34297960e-03 -1.14480715e-05 9.99999098e-01 1.56085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:339.30, Z:1.56 [[ 2.05031508e-01 -9.78755323e-01 -3.13621863e-04 2.71309694e+02] [ 9.78754452e-01 2.05031744e-01 -1.30610669e-03 3.39304739e+02] [ 1.34266132e-03 -3.91657701e-05 9.99999098e-01 1.56122128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.31, Y:339.33, Z:1.56 [[ 2.02311693e-01 -9.79321140e-01 -2.89500886e-04 2.71314137e+02] [ 9.79320262e-01 2.02311899e-01 -1.31143144e-03 3.39334310e+02] [ 1.34288201e-03 -1.81961682e-05 9.99999098e-01 1.56120629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.32, Y:339.36, Z:1.56 [[ 2.04212320e-01 -9.78926573e-01 -3.05067125e-04 2.71320081e+02] [ 9.78925700e-01 2.04212545e-01 -1.30799915e-03 3.39356973e+02] [ 1.34273366e-03 -3.15285069e-05 9.99999098e-01 1.56184613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:339.38, Z:1.56 [[ 2.03034487e-01 -9.79171544e-01 -2.90612760e-04 2.71325795e+02] [ 9.79170666e-01 2.03034694e-01 -1.31117301e-03 3.39384215e+02] [ 1.34286777e-03 -1.83461508e-05 9.99999098e-01 1.56136997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.33, Y:339.41, Z:1.56 [[ 2.02049924e-01 -9.79375180e-01 -2.92175131e-04 2.71330992e+02] [ 9.79374303e-01 2.02050134e-01 -1.31083053e-03 3.39409819e+02] [ 1.34282891e-03 -2.12956064e-05 9.99999098e-01 1.56150689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:339.44, Z:1.56 [[ 2.01766861e-01 -9.79433535e-01 -2.91834792e-04 2.71336751e+02] [ 9.79432657e-01 2.01767071e-01 -1.31090489e-03 3.39435427e+02] [ 1.34282686e-03 -2.13353597e-05 9.99999098e-01 1.56160422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.34, Y:339.46, Z:1.56 [[ 2.02381824e-01 -9.79306651e-01 -2.86097344e-04 2.71341863e+02] [ 9.79305772e-01 2.02382025e-01 -1.31215586e-03 3.39458645e+02] [ 1.34290392e-03 -1.46202834e-05 9.99999098e-01 1.56141216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:339.49, Z:1.56 [[ 2.00866323e-01 -9.79618622e-01 -2.74888869e-04 2.71346882e+02] [ 9.79617740e-01 2.00866511e-01 -1.31459734e-03 3.39487957e+02] [ 1.34302000e-03 -5.22767923e-06 9.99999098e-01 1.56250537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.35, Y:339.51, Z:1.56 [[ 2.01623889e-01 -9.79462978e-01 -2.85681985e-04 2.71351816e+02] [ 9.79462099e-01 2.01624091e-01 -1.31224763e-03 3.39510683e+02] [ 1.34289834e-03 -1.52342058e-05 9.99999098e-01 1.56269854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.36, Y:339.54, Z:1.56 [[ 2.02059719e-01 -9.79373165e-01 -2.71326036e-04 2.71359109e+02] [ 9.79372282e-01 2.02059901e-01 -1.31536008e-03 3.39541905e+02] [ 1.34305248e-03 5.20893555e-08 9.99999098e-01 1.56184594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.36, Y:339.57, Z:1.56 [[ 1.99608593e-01 -9.79875668e-01 -2.93299651e-04 2.71361354e+02] [ 9.79874791e-01 1.99608807e-01 -1.31060704e-03 3.39567334e+02] [ 1.34277714e-03 -2.57885067e-05 9.99999098e-01 1.56275289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:339.59, Z:1.56 [[ 2.01541072e-01 -9.79480024e-01 -2.83119302e-04 2.71366180e+02] [ 9.79479144e-01 2.01541270e-01 -1.31280254e-03 3.39590668e+02] [ 1.34292408e-03 -1.27258215e-05 9.99999098e-01 1.56324523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.37, Y:339.62, Z:1.56 [[ 1.99450215e-01 -9.79907923e-01 -2.73873948e-04 2.71370925e+02] [ 9.79907041e-01 1.99450403e-01 -1.31478712e-03 3.39619943e+02] [ 1.34299459e-03 -6.13643461e-06 9.99999098e-01 1.56410580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:339.65, Z:1.56 [[ 2.02744640e-01 -9.79231602e-01 -2.85615506e-04 2.71378295e+02] [ 9.79230722e-01 2.02744841e-01 -1.31226700e-03 3.39645659e+02] [ 1.34292039e-03 -1.36283770e-05 9.99999098e-01 1.56276436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.38, Y:339.67, Z:1.56 [[ 2.00689573e-01 -9.79654845e-01 -2.81333127e-04 2.71381624e+02] [ 9.79653965e-01 2.00689770e-01 -1.31318445e-03 3.39672600e+02] [ 1.34292819e-03 -1.20666873e-05 9.99999098e-01 1.56262244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:339.70, Z:1.56 [[ 2.04088528e-01 -9.78952396e-01 -2.80858035e-04 2.71391439e+02] [ 9.78951515e-01 2.04088722e-01 -1.31328605e-03 3.39704178e+02] [ 1.34296448e-03 -6.91978182e-06 9.99999098e-01 1.56101849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.39, Y:339.73, Z:1.56 [[ 2.00975187e-01 -9.79596286e-01 -3.01207960e-04 2.71392464e+02] [ 9.79595412e-01 2.00975410e-01 -1.30893105e-03 3.39726900e+02] [ 1.34275939e-03 -3.19992722e-05 9.99999098e-01 1.56186684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:339.75, Z:1.56 [[ 1.99702439e-01 -9.79856549e-01 -2.82245317e-04 2.71397621e+02] [ 9.79855669e-01 1.99702638e-01 -1.31297713e-03 3.39753297e+02] [ 1.34289437e-03 -1.43549389e-05 9.99999098e-01 1.56288717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.40, Y:339.78, Z:1.56 [[ 1.98400638e-01 -9.80120966e-01 -2.80821117e-04 2.71403389e+02] [ 9.80120086e-01 1.98400836e-01 -1.31328055e-03 3.39778137e+02] [ 1.34288894e-03 -1.46827193e-05 9.99999098e-01 1.56330643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:339.80, Z:1.56 [[ 1.98004276e-01 -9.80201117e-01 -2.78689379e-04 2.71409173e+02] [ 9.80200236e-01 1.98004472e-01 -1.31373393e-03 3.39803403e+02] [ 1.34290521e-03 -1.30464588e-05 9.99999098e-01 1.56320818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.41, Y:339.83, Z:1.56 [[ 1.96184800e-01 -9.80566901e-01 -2.77420784e-04 2.71414575e+02] [ 9.80566021e-01 1.96184996e-01 -1.31400322e-03 3.39826743e+02] [ 1.34289386e-03 -1.42419347e-05 9.99999098e-01 1.56487442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:339.85, Z:1.56 [[ 1.94087975e-01 -9.80984090e-01 -2.70922911e-04 2.71419710e+02] [ 9.80983208e-01 1.94088164e-01 -1.31537864e-03 3.39853757e+02] [ 1.34294845e-03 -1.04716496e-05 9.99999098e-01 1.56490575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.42, Y:339.88, Z:1.57 [[ 1.92086720e-01 -9.81377917e-01 -2.77830577e-04 2.71424732e+02] [ 9.81377037e-01 1.92086920e-01 -1.31391800e-03 3.39881452e+02] [ 1.34281773e-03 -2.02703492e-05 9.99999098e-01 1.56536040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:339.91, Z:1.56 [[ 1.90873946e-01 -9.81614516e-01 -2.80123117e-04 2.71427486e+02] [ 9.81613638e-01 1.90874150e-01 -1.31343399e-03 3.39905311e+02] [ 1.34275413e-03 -2.42723432e-05 9.99999098e-01 1.56321566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:339.93, Z:1.57 [[ 1.90702704e-01 -9.81647801e-01 -2.71768886e-04 2.71433837e+02] [ 9.81646920e-01 1.90702897e-01 -1.31519264e-03 3.39932731e+02] [ 1.34288308e-03 -1.59702959e-05 9.99999098e-01 1.56533228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.43, Y:339.95, Z:1.56 [[ 1.88778663e-01 -9.82019623e-01 -2.78141674e-04 2.71434244e+02] [ 9.82018744e-01 1.88778867e-01 -1.31385254e-03 3.39954936e+02] [ 1.34273624e-03 -2.51130108e-05 9.99999098e-01 1.56410935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.44, Y:339.99, Z:1.57 [[ 1.90453507e-01 -9.81696182e-01 -2.59456858e-04 2.71444903e+02] [ 9.81695298e-01 1.90453684e-01 -1.31777452e-03 3.39985922e+02] [ 1.34306873e-03 -3.73279827e-06 9.99999098e-01 1.56633199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:340.01, Z:1.57 [[ 1.90295121e-01 -9.81726892e-01 -2.76217168e-04 2.71449727e+02] [ 9.81726013e-01 1.90295320e-01 -1.31425200e-03 3.40012389e+02] [ 1.34279936e-03 -2.10738363e-05 9.99999098e-01 1.56660603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.45, Y:340.04, Z:1.57 [[ 1.91950751e-01 -9.81404521e-01 -2.75762356e-04 2.71453996e+02] [ 9.81403641e-01 1.91950948e-01 -1.31434742e-03 3.40035354e+02] [ 1.34283935e-03 -1.83442060e-05 9.99999098e-01 1.56554657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.46, Y:340.06, Z:1.57 [[ 1.92144516e-01 -9.81366606e-01 -2.64340462e-04 2.71457893e+02] [ 9.81365723e-01 1.92144698e-01 -1.31673038e-03 3.40061070e+02] [ 1.34298685e-03 -6.41214638e-06 9.99999098e-01 1.56565194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.46, Y:340.09, Z:1.57 [[ 1.91044504e-01 -9.81581341e-01 -2.61348855e-04 2.71462169e+02] [ 9.81580457e-01 1.91044683e-01 -1.31735387e-03 3.40088655e+02] [ 1.34301929e-03 -4.86171116e-06 9.99999098e-01 1.56531962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:340.12, Z:1.56 [[ 1.89117080e-01 -9.81954509e-01 -2.68981544e-04 2.71466422e+02] [ 9.81953628e-01 1.89117271e-01 -1.31576209e-03 3.40118202e+02] [ 1.34288757e-03 -1.52943188e-05 9.99999098e-01 1.56364998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:340.14, Z:1.56 [[ 1.88315910e-01 -9.82108465e-01 -2.83660087e-04 2.71470159e+02] [ 9.82107589e-01 1.88316121e-01 -1.31269885e-03 3.40141436e+02] [ 1.34263042e-03 -3.13826469e-05 9.99999098e-01 1.56470113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.47, Y:340.17, Z:1.57 [[ 1.88710016e-01 -9.82032818e-01 -2.73558754e-04 2.71474890e+02] [ 9.82031938e-01 1.88710213e-01 -1.31480054e-03 3.40165130e+02] [ 1.34280061e-03 -2.05274014e-05 9.99999098e-01 1.56513966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.48, Y:340.19, Z:1.57 [[ 1.87146895e-01 -9.82331904e-01 -2.64096414e-04 2.71479535e+02] [ 9.82331022e-01 1.87147081e-01 -1.31676582e-03 3.40192293e+02] [ 1.34292595e-03 -1.30014658e-05 9.99999098e-01 1.56541297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.48, Y:340.22, Z:1.57 [[ 1.84974803e-01 -9.82743228e-01 -2.65728365e-04 2.71484062e+02] [ 9.82742346e-01 1.84974993e-01 -1.31642738e-03 3.40218727e+02] [ 1.34286320e-03 -1.76366204e-05 9.99999098e-01 1.56586710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.49, Y:340.24, Z:1.57 [[ 1.83156293e-01 -9.83083771e-01 -2.68561244e-04 2.71488210e+02] [ 9.83082890e-01 1.83156489e-01 -1.31584072e-03 3.40243860e+02] [ 1.34277040e-03 -2.30134546e-05 9.99999098e-01 1.56715862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.49, Y:340.27, Z:1.57 [[ 1.79900026e-01 -9.83684864e-01 -2.62578991e-04 2.71492392e+02] [ 9.83683983e-01 1.79900216e-01 -1.31707579e-03 3.40270856e+02] [ 1.34282554e-03 -2.13527782e-05 9.99999098e-01 1.56929720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.50, Y:340.30, Z:1.57 [[ 1.78943427e-01 -9.83859328e-01 -2.71423825e-04 2.71497137e+02] [ 9.83858449e-01 1.78943630e-01 -1.31525051e-03 3.40297352e+02] [ 1.34259105e-03 -3.16871899e-05 9.99999098e-01 1.57002233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.182755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:271.50, Y:340.32, Z:1.57 [[ 1.78419969e-01 -9.83954390e-01 -2.70958552e-04 2.71501518e+02] [ 9.83953511e-01 1.78420172e-01 -1.31534636e-03 3.40322946e+02] [ 1.34258530e-03 -3.19265624e-05 9.99999098e-01 1.57107378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.50, Y:340.35, Z:1.57 [[ 1.79949586e-01 -9.83675797e-01 -2.70472202e-04 2.71504362e+02] [ 9.83674918e-01 1.79949787e-01 -1.31544636e-03 3.40346713e+02] [ 1.34264416e-03 -2.93426926e-05 9.99999098e-01 1.57253050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.51, Y:340.37, Z:1.57 [[ 1.78713569e-01 -9.83901110e-01 -2.59199111e-04 2.71507998e+02] [ 9.83900227e-01 1.78713756e-01 -1.31775134e-03 3.40373490e+02] [ 1.34285945e-03 -1.95260189e-05 9.99999098e-01 1.57344754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.272755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:271.51, Y:340.40, Z:1.57 [[ 1.79467856e-01 -9.83763804e-01 -2.59954669e-04 2.71512655e+02] [ 9.83762921e-01 1.79468044e-01 -1.31759709e-03 3.40400032e+02] [ 1.34285788e-03 -1.92674388e-05 9.99999098e-01 1.57431134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.52, Y:340.43, Z:1.57 [[ 1.79081415e-01 -9.83834223e-01 -2.63260175e-04 2.71518060e+02] [ 9.83833342e-01 1.79081607e-01 -1.31692129e-03 3.40429092e+02] [ 1.34277729e-03 -2.31680097e-05 9.99999098e-01 1.57344599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:340.46, Z:1.57 [[ 1.82477551e-01 -9.83209983e-01 -2.68919213e-04 2.71526173e+02] [ 9.83209103e-01 1.82477747e-01 -1.31576468e-03 3.40458664e+02] [ 1.34274475e-03 -2.43063009e-05 9.99999098e-01 1.57241575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:340.48, Z:1.57 [[ 1.80938938e-01 -9.83494293e-01 -2.77806079e-04 2.71528474e+02] [ 9.83493415e-01 1.80939148e-01 -1.31394161e-03 3.40481307e+02] [ 1.34252007e-03 -3.54772483e-05 9.99999098e-01 1.57460442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.53, Y:340.51, Z:1.57 [[ 1.81702808e-01 -9.83353457e-01 -2.62415752e-04 2.71532344e+02] [ 9.83352575e-01 1.81702996e-01 -1.31708063e-03 3.40508444e+02] [ 1.34283752e-03 -1.87299572e-05 9.99999098e-01 1.57335859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:340.54, Z:1.57 [[ 1.82136124e-01 -9.83273290e-01 -2.63323857e-04 2.71535667e+02] [ 9.83272408e-01 1.82136313e-01 -1.31689555e-03 3.40535698e+02] [ 1.34282906e-03 -1.90648318e-05 9.99999098e-01 1.57083302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:340.56, Z:1.57 [[ 1.82436388e-01 -9.83217622e-01 -2.67848389e-04 2.71540030e+02] [ 9.83216742e-01 1.82436583e-01 -1.31597464e-03 3.40561789e+02] [ 1.34275481e-03 -2.32713605e-05 9.99999098e-01 1.57045159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.54, Y:340.59, Z:1.57 [[ 1.82727383e-01 -9.83163584e-01 -2.67352968e-04 2.71544717e+02] [ 9.83162703e-01 1.82727578e-01 -1.31607529e-03 3.40588544e+02] [ 1.34277005e-03 -2.23684735e-05 9.99999098e-01 1.56964857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.55, Y:340.62, Z:1.57 [[ 1.82563531e-01 -9.83194023e-01 -2.66882177e-04 2.71549753e+02] [ 9.83193142e-01 1.82563725e-01 -1.31617075e-03 3.40615286e+02] [ 1.34277422e-03 -2.21119466e-05 9.99999098e-01 1.56807551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:340.64, Z:1.57 [[ 1.82143621e-01 -9.83271901e-01 -2.66410201e-04 2.71555424e+02] [ 9.83271020e-01 1.82143814e-01 -1.31626628e-03 3.40641357e+02] [ 1.34277261e-03 -2.22039247e-05 9.99999098e-01 1.56788586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.56, Y:340.67, Z:1.57 [[ 1.82865896e-01 -9.83137830e-01 -2.66046011e-04 2.71561222e+02] [ 9.83136949e-01 1.82866088e-01 -1.31633988e-03 3.40667649e+02] [ 1.34279433e-03 -2.08459916e-05 9.99999098e-01 1.56832000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:340.69, Z:1.57 [[ 1.80774273e-01 -9.83524577e-01 -2.62061253e-04 2.71567043e+02] [ 9.83523695e-01 1.80774462e-01 -1.31714391e-03 3.40693933e+02] [ 1.34281739e-03 -1.96377195e-05 9.99999098e-01 1.56690305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.57, Y:340.72, Z:1.57 [[ 1.80241849e-01 -9.83622288e-01 -2.65385092e-04 2.71572941e+02] [ 9.83621407e-01 1.80242043e-01 -1.31647386e-03 3.40720926e+02] [ 1.34274658e-03 -2.37547748e-05 9.99999098e-01 1.56704984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.58, Y:340.74, Z:1.57 [[ 1.81156072e-01 -9.83454324e-01 -2.64926553e-04 2.71579661e+02] [ 9.83453443e-01 1.81156264e-01 -1.31656613e-03 3.40744776e+02] [ 1.34277576e-03 -2.20389825e-05 9.99999098e-01 1.56886204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.58, Y:340.77, Z:1.57 [[ 1.80999519e-01 -9.83483152e-01 -2.53599158e-04 2.71584786e+02] [ 9.83482268e-01 1.80999697e-01 -1.31883873e-03 3.40770975e+02] [ 1.34295704e-03 -1.07010985e-05 9.99999098e-01 1.56889484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.59, Y:340.80, Z:1.57 [[ 1.79048614e-01 -9.83840195e-01 -2.53064007e-04 2.71590299e+02] [ 9.83839311e-01 1.79048792e-01 -1.31894595e-03 3.40798952e+02] [ 1.34294285e-03 -1.28188744e-05 9.99999098e-01 1.56753273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.60, Y:340.82, Z:1.57 [[ 1.80161235e-01 -9.83637057e-01 -2.63746199e-04 2.71596025e+02] [ 9.83636176e-01 1.80161427e-01 -1.31680639e-03 3.40823078e+02] [ 1.34277645e-03 -2.21928371e-05 9.99999098e-01 1.56798664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.60, Y:340.85, Z:1.57 [[ 1.78100342e-01 -9.84012299e-01 -2.53312613e-04 2.71601285e+02] [ 9.84011415e-01 1.78100521e-01 -1.31888861e-03 3.40848855e+02] [ 1.34291772e-03 -1.43679916e-05 9.99999098e-01 1.56567711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.61, Y:340.88, Z:1.57 [[ 1.80391497e-01 -9.83594857e-01 -2.54256022e-04 2.71612846e+02] [ 9.83593973e-01 1.80391676e-01 -1.31870007e-03 3.40879457e+02] [ 1.34293227e-03 -1.22024120e-05 9.99999098e-01 1.56797824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:340.90, Z:1.57 [[ 1.80650399e-01 -9.83547335e-01 -2.71349857e-04 2.71617133e+02] [ 9.83546456e-01 1.80650601e-01 -1.31528074e-03 3.40902152e+02] [ 1.34266038e-03 -2.92792004e-05 9.99999098e-01 1.56580293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.62, Y:340.93, Z:1.57 [[ 1.80830467e-01 -9.83514248e-01 -2.58093206e-04 2.71624235e+02] [ 9.83513365e-01 1.80830650e-01 -1.31792039e-03 3.40927404e+02] [ 1.34286464e-03 -1.55179587e-05 9.99999098e-01 1.56899398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.63, Y:340.96, Z:1.57 [[ 1.79864081e-01 -9.83691439e-01 -2.56680292e-04 2.71630778e+02] [ 9.83690556e-01 1.79864264e-01 -1.31820136e-03 3.40955399e+02] [ 1.34287100e-03 -1.53969029e-05 9.99999098e-01 1.56824747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.64, Y:340.98, Z:1.57 [[ 1.80723230e-01 -9.83533958e-01 -2.61573606e-04 2.71638461e+02] [ 9.83533076e-01 1.80723418e-01 -1.31722965e-03 3.40978951e+02] [ 1.34281257e-03 -1.92122964e-05 9.99999098e-01 1.57061250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.65, Y:341.00, Z:1.57 [[ 1.81720342e-01 -9.83350218e-01 -2.55589253e-04 2.71645308e+02] [ 9.83349335e-01 1.81720521e-01 -1.31841553e-03 3.41002956e+02] [ 1.34291001e-03 -1.17506017e-05 9.99999098e-01 1.57019388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.66, Y:341.03, Z:1.57 [[ 1.82614264e-01 -9.83184605e-01 -2.51382721e-04 2.71657476e+02] [ 9.83183720e-01 1.82614437e-01 -1.31924797e-03 3.41034856e+02] [ 1.34297041e-03 -6.24190075e-06 9.99999098e-01 1.57005065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.66, Y:341.06, Z:1.57 [[ 1.79909930e-01 -9.83683048e-01 -2.80195520e-04 2.71659107e+02] [ 9.83682172e-01 1.79910144e-01 -1.31358820e-03 3.41055718e+02] [ 1.34256446e-03 -3.92957759e-05 9.99999098e-01 1.56966716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.67, Y:341.09, Z:1.57 [[ 1.84674411e-01 -9.82799723e-01 -2.57596163e-04 2.71671726e+02] [ 9.82798839e-01 1.84674590e-01 -1.31800511e-03 3.41085272e+02] [ 1.34290653e-03 -9.76339198e-06 9.99999098e-01 1.57015714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.68, Y:341.11, Z:1.57 [[ 1.81551247e-01 -9.83381448e-01 -2.70749461e-04 2.71675073e+02] [ 9.83380568e-01 1.81551447e-01 -1.31543339e-03 3.41108417e+02] [ 1.34272775e-03 -2.74311871e-05 9.99999098e-01 1.57098424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.68, Y:341.13, Z:1.57 [[ 1.82839405e-01 -9.83142760e-01 -2.56879666e-04 2.71681712e+02] [ 9.83141876e-01 1.82839585e-01 -1.31813635e-03 3.41132629e+02] [ 1.34288398e-03 -1.15418919e-05 9.99999098e-01 1.57272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.69, Y:341.16, Z:1.57 [[ 1.82618369e-01 -9.83183843e-01 -2.50184592e-04 2.71690275e+02] [ 9.83182957e-01 1.82618540e-01 -1.31943797e-03 3.41159447e+02] [ 1.34293843e-03 -5.02361774e-06 9.99999098e-01 1.57140113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:271.70, Y:341.19, Z:1.57 [[ 1.83698265e-01 -9.82982646e-01 -2.56093946e-04 2.71696230e+02] [ 9.82981762e-01 1.83698443e-01 -1.31829000e-03 3.41189209e+02] [ 1.34290025e-03 -9.56809279e-06 9.99999098e-01 1.57249260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.70, Y:341.22, Z:1.57 [[ 1.84883681e-01 -9.82760375e-01 -2.63845858e-04 2.71702177e+02] [ 9.82759493e-01 1.84883869e-01 -1.31678477e-03 3.41217193e+02] [ 1.34286473e-03 -1.58450069e-05 9.99999098e-01 1.57305107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:341.24, Z:1.57 [[ 1.85596100e-01 -9.82626083e-01 -2.63527015e-04 2.71707200e+02] [ 9.82625200e-01 1.85596286e-01 -1.31684654e-03 3.41243342e+02] [ 1.34287739e-03 -1.45467039e-05 9.99999098e-01 1.57448881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.71, Y:341.27, Z:1.58 [[ 1.85592439e-01 -9.82626774e-01 -2.62314193e-04 2.71710173e+02] [ 9.82625892e-01 1.85592624e-01 -1.31708126e-03 3.41268678e+02] [ 1.34288289e-03 -1.33163933e-05 9.99999098e-01 1.57620523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.72, Y:341.30, Z:1.58 [[ 1.83494693e-01 -9.83020668e-01 -2.54427339e-04 2.71715091e+02] [ 9.83019783e-01 1.83494869e-01 -1.31860305e-03 3.41295842e+02] [ 1.34290016e-03 -8.15044558e-06 9.99999098e-01 1.57676549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.72, Y:341.32, Z:1.58 [[ 1.81349229e-01 -9.83418727e-01 -2.53971561e-04 2.71720467e+02] [ 9.83417843e-01 1.81349407e-01 -1.31869083e-03 3.41322144e+02] [ 1.34288285e-03 -1.06165996e-05 9.99999098e-01 1.57752983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:341.35, Z:1.58 [[ 1.79360779e-01 -9.83783333e-01 -2.53517751e-04 2.71725056e+02] [ 9.83782449e-01 1.79360958e-01 -1.31877807e-03 3.41347777e+02] [ 1.34286307e-03 -1.28692517e-05 9.99999098e-01 1.57997847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.73, Y:341.37, Z:1.58 [[ 1.74940676e-01 -9.84578944e-01 -2.50068114e-04 2.71728452e+02] [ 9.84578060e-01 1.74940854e-01 -1.31943974e-03 3.41372401e+02] [ 1.34283972e-03 -1.53878980e-05 9.99999098e-01 1.57936226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.74, Y:341.40, Z:1.58 [[ 1.76192543e-01 -9.84355691e-01 -2.47333095e-04 2.71737874e+02] [ 9.84354806e-01 1.76192716e-01 -1.31996461e-03 3.41400631e+02] [ 1.34289297e-03 -1.08955995e-05 9.99999098e-01 1.57738864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.74, Y:341.43, Z:1.58 [[ 1.68667057e-01 -9.85673049e-01 -2.52996233e-04 2.71739069e+02] [ 9.85672167e-01 1.68667245e-01 -1.31887827e-03 3.41429560e+02] [ 1.34265494e-03 -2.69200284e-05 9.99999098e-01 1.57808658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.74, Y:341.45, Z:1.58 [[ 1.67031825e-01 -9.85951472e-01 -2.54741010e-04 2.71743370e+02] [ 9.85950591e-01 1.67032017e-01 -1.31854407e-03 3.41454110e+02] [ 1.34257037e-03 -3.09232272e-05 9.99999098e-01 1.57852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:341.48, Z:1.58 [[ 1.65209020e-01 -9.86258546e-01 -2.46725253e-04 2.71746788e+02] [ 9.86257663e-01 1.65209202e-01 -1.32007499e-03 3.41478700e+02] [ 1.34269652e-03 -2.52463771e-05 9.99999098e-01 1.57802053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:341.51, Z:1.57 [[ 1.62304061e-01 -9.86740764e-01 -2.38458181e-04 2.71753997e+02] [ 9.86739879e-01 1.62304235e-01 -1.32165042e-03 3.41509210e+02] [ 1.34282912e-03 -2.07869667e-05 9.99999098e-01 1.57444895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.75, Y:341.53, Z:1.57 [[ 1.57892314e-01 -9.87456305e-01 -2.52173339e-04 2.71754019e+02] [ 9.87455425e-01 1.57892510e-01 -1.31903649e-03 3.41532795e+02] [ 1.34230718e-03 -4.07442072e-05 9.99999098e-01 1.57418871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.76, Y:341.56, Z:1.57 [[ 1.55056543e-01 -9.87905569e-01 -2.34264656e-04 2.71760340e+02] [ 9.87904684e-01 1.55056718e-01 -1.32243757e-03 3.41562917e+02] [ 1.34276775e-03 -2.63785527e-05 9.99999098e-01 1.57267185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.622755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:271.76, Y:341.59, Z:1.57 [[ 1.53702610e-01 -9.88117121e-01 -2.50797350e-04 2.71762613e+02] [ 9.88116241e-01 1.53702808e-01 -1.31929471e-03 3.41588074e+02] [ 1.34216595e-03 -4.50378945e-05 9.99999098e-01 1.57144555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:341.62, Z:1.57 [[ 1.55651542e-01 -9.87811997e-01 -2.37908987e-04 2.71773180e+02] [ 9.87811113e-01 1.55651721e-01 -1.32173748e-03 3.41619477e+02] [ 1.34265909e-03 -2.92786643e-05 9.99999098e-01 1.56812026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.77, Y:341.64, Z:1.57 [[ 1.54103704e-01 -9.88054643e-01 -2.65474057e-04 2.71774691e+02] [ 9.88053768e-01 1.54103921e-01 -1.31645980e-03 3.41641999e+02] [ 1.34164482e-03 -5.94313102e-05 9.99999098e-01 1.57024113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:341.67, Z:1.56 [[ 1.55386551e-01 -9.87853712e-01 -2.52234093e-04 2.71780600e+02] [ 9.87852832e-01 1.55386750e-01 -1.31898601e-03 3.41670160e+02] [ 1.34215906e-03 -4.42174766e-05 9.99999098e-01 1.55974927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.78, Y:341.69, Z:1.56 [[ 1.56875345e-01 -9.87618377e-01 -2.59484400e-04 2.71783540e+02] [ 9.87617499e-01 1.56875552e-01 -1.31761138e-03 3.41694433e+02] [ 1.34200397e-03 -4.95705938e-05 9.99999098e-01 1.56435401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.79, Y:341.72, Z:1.56 [[ 1.56460528e-01 -9.87684181e-01 -2.49353221e-04 2.71786930e+02] [ 9.87683300e-01 1.56460721e-01 -1.31952589e-03 3.41724369e+02] [ 1.34228883e-03 -3.98282962e-05 9.99999098e-01 1.56157600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.79, Y:341.75, Z:1.56 [[ 1.54137897e-01 -9.88049311e-01 -2.60652854e-04 2.71786077e+02] [ 9.88048434e-01 1.54138108e-01 -1.31739635e-03 3.41748547e+02] [ 1.34182910e-03 -5.44769407e-05 9.99999098e-01 1.55911389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.79, Y:341.78, Z:1.56 [[ 1.57830441e-01 -9.87466199e-01 -2.42164143e-04 2.71793372e+02] [ 9.87465316e-01 1.57830624e-01 -1.32086825e-03 3.41776738e+02] [ 1.34253366e-03 -3.06554747e-05 9.99999098e-01 1.55671828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.79, Y:341.80, Z:1.56 [[ 1.55096946e-01 -9.87899224e-01 -2.47744713e-04 2.71793954e+02] [ 9.87898343e-01 1.55097138e-01 -1.31982071e-03 3.41804661e+02] [ 1.34227435e-03 -4.00464301e-05 9.99999098e-01 1.55557853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:341.83, Z:1.55 [[ 1.57938401e-01 -9.87448937e-01 -2.44011218e-04 2.71797213e+02] [ 9.87448054e-01 1.57938586e-01 -1.32052062e-03 3.41832895e+02] [ 1.34248547e-03 -3.23874888e-05 9.99999098e-01 1.55317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:341.86, Z:1.55 [[ 1.59425429e-01 -9.87209944e-01 -2.42826336e-04 2.71800876e+02] [ 9.87209061e-01 1.59425611e-01 -1.32074245e-03 3.41860359e+02] [ 1.34256282e-03 -2.91604268e-05 9.99999098e-01 1.55237255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.80, Y:341.89, Z:1.55 [[ 1.60373789e-01 -9.87056325e-01 -2.42288597e-04 2.71803673e+02] [ 9.87055442e-01 1.60373969e-01 -1.32084297e-03 3.41887893e+02] [ 1.34260319e-03 -2.73236878e-05 9.99999098e-01 1.55077635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:341.92, Z:1.55 [[ 1.64737499e-01 -9.86337417e-01 -2.38633227e-04 2.71808029e+02] [ 9.86336531e-01 1.64737671e-01 -1.32152512e-03 3.41916762e+02] [ 1.34278156e-03 -1.76679260e-05 9.99999098e-01 1.55067393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:341.94, Z:1.55 [[ 1.64428426e-01 -9.86388986e-01 -2.46323999e-04 2.71808754e+02] [ 9.86388103e-01 1.64428609e-01 -1.32009005e-03 3.41943489e+02] [ 1.34262500e-03 -2.59107331e-05 9.99999098e-01 1.54755647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:341.97, Z:1.55 [[ 1.70310431e-01 -9.85390431e-01 -2.36026469e-04 2.71815165e+02] [ 9.85389544e-01 1.70310594e-01 -1.32200547e-03 3.41971483e+02] [ 1.34288935e-03 -7.42669318e-06 9.99999098e-01 1.54846793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.81, Y:342.00, Z:1.55 [[ 1.68152602e-01 -9.85760946e-01 -2.45590896e-04 2.71814356e+02] [ 9.85760062e-01 1.68152780e-01 -1.32022628e-03 3.41997607e+02] [ 1.34272430e-03 -2.00942124e-05 9.99999098e-01 1.54509228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:342.03, Z:1.54 [[ 1.73688114e-01 -9.84800683e-01 -2.34426276e-04 2.71821313e+02] [ 9.84799795e-01 1.73688272e-01 -1.32229755e-03 3.42028366e+02] [ 1.34291662e-03 -1.19558199e-06 9.99999098e-01 1.54488508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:342.05, Z:1.54 [[ 1.73298774e-01 -9.84869267e-01 -2.49755845e-04 2.71824393e+02] [ 9.84868383e-01 1.73298954e-01 -1.31945222e-03 3.42054930e+02] [ 1.34277037e-03 -1.73171820e-05 9.99999098e-01 1.54345130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.82, Y:342.08, Z:1.54 [[ 1.70723463e-01 -9.85318952e-01 -2.50544276e-04 2.71824482e+02] [ 9.85318069e-01 1.70723645e-01 -1.31930617e-03 3.42080536e+02] [ 1.34271121e-03 -2.16292845e-05 9.99999098e-01 1.54314865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:342.11, Z:1.54 [[ 1.72598581e-01 -9.84992220e-01 -2.35963728e-04 2.71830416e+02] [ 9.84991333e-01 1.72598742e-01 -1.32199933e-03 3.42108510e+02] [ 1.34288609e-03 -4.24701973e-06 9.99999098e-01 1.54319004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.83, Y:342.14, Z:1.54 [[ 1.71516685e-01 -9.85181185e-01 -2.43939919e-04 2.71834912e+02] [ 9.85180300e-01 1.71516858e-01 -1.32052589e-03 3.42137552e+02] [ 1.34279707e-03 -1.38325797e-05 9.99999098e-01 1.54331562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:342.16, Z:1.54 [[ 1.70973428e-01 -9.85275610e-01 -2.45258269e-04 2.71838127e+02] [ 9.85274725e-01 1.70973603e-01 -1.32028250e-03 3.42162268e+02] [ 1.34277484e-03 -1.59135478e-05 9.99999098e-01 1.54235015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:342.19, Z:1.54 [[ 1.71195111e-01 -9.85237118e-01 -2.36939047e-04 2.71842048e+02] [ 9.85236231e-01 1.71195275e-01 -1.32181116e-03 3.42188248e+02] [ 1.34286026e-03 -7.15332627e-06 9.99999098e-01 1.54167125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.84, Y:342.22, Z:1.54 [[ 1.69669615e-01 -9.85500973e-01 -2.33628686e-04 2.71844693e+02] [ 9.85500085e-01 1.69669776e-01 -1.32241834e-03 3.42215221e+02] [ 1.34288429e-03 -5.86687946e-06 9.99999098e-01 1.54247463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:342.24, Z:1.54 [[ 1.70198609e-01 -9.85409751e-01 -2.36773541e-04 2.71848367e+02] [ 9.85408865e-01 1.70198774e-01 -1.32184239e-03 3.42240105e+02] [ 1.34285495e-03 -8.34300933e-06 9.99999098e-01 1.54013077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:342.26, Z:1.54 [[ 1.67731866e-01 -9.85832627e-01 -2.29786814e-04 2.71849315e+02] [ 9.85831739e-01 1.67732023e-01 -1.32311802e-03 3.42263218e+02] [ 1.34291552e-03 -4.60207990e-06 9.99999098e-01 1.53898463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:342.29, Z:1.54 [[ 1.68160392e-01 -9.85759622e-01 -2.24654420e-04 2.71856260e+02] [ 9.85758733e-01 1.68160542e-01 -1.32407001e-03 3.42291648e+02] [ 1.34299276e-03 1.20107531e-06 9.99999098e-01 1.53990558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.86, Y:342.32, Z:1.54 [[ 1.67326766e-01 -9.85901466e-01 -2.30152454e-04 2.71861236e+02] [ 9.85900578e-01 1.67326925e-01 -1.32304975e-03 3.42318049e+02] [ 1.34290739e-03 -5.52580013e-06 9.99999098e-01 1.53860633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:342.34, Z:1.54 [[ 1.67454567e-01 -9.85879768e-01 -2.24458464e-04 2.71866768e+02] [ 9.85878879e-01 1.67454717e-01 -1.32409653e-03 3.42343696e+02] [ 1.34298661e-03 4.37151301e-07 9.99999098e-01 1.53828531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.87, Y:342.37, Z:1.54 [[ 1.65560314e-01 -9.86199641e-01 -2.23939604e-04 2.71872123e+02] [ 9.86198752e-01 1.65560466e-01 -1.32419174e-03 3.42373264e+02] [ 1.34299296e-03 -1.61535845e-06 9.99999098e-01 1.53896691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.88, Y:342.39, Z:1.54 [[ 1.68927656e-01 -9.85628424e-01 -2.38541992e-04 2.71877071e+02] [ 9.85627538e-01 1.68927824e-01 -1.32150997e-03 3.42394618e+02] [ 1.34281417e-03 -1.18739746e-05 9.99999098e-01 1.53974281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:342.42, Z:1.54 [[ 1.71876474e-01 -9.85118483e-01 -2.27040681e-04 2.71887232e+02] [ 9.85117594e-01 1.71876624e-01 -1.32364000e-03 3.42423626e+02] [ 1.34296522e-03 3.84080762e-06 9.99999098e-01 1.54368636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.89, Y:342.45, Z:1.54 [[ 1.71748492e-01 -9.85140801e-01 -2.39064957e-04 2.71892367e+02] [ 9.85139915e-01 1.71748658e-01 -1.32141113e-03 3.42451684e+02] [ 1.34283510e-03 -8.56206271e-06 9.99999098e-01 1.54372786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:342.48, Z:1.54 [[ 1.72010812e-01 -9.85095033e-01 -2.38896883e-04 2.71899351e+02] [ 9.85094146e-01 1.72010978e-01 -1.32144226e-03 3.42480056e+02] [ 1.34283909e-03 -8.03356452e-06 9.99999098e-01 1.54441907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:342.50, Z:1.54 [[ 1.73102662e-01 -9.84903756e-01 -2.44206523e-04 2.71906911e+02] [ 9.84902871e-01 1.73102833e-01 -1.32046029e-03 3.42504385e+02] [ 1.34279914e-03 -1.19445150e-05 9.99999098e-01 1.54424550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.91, Y:342.53, Z:1.55 [[ 1.71460446e-01 -9.85190976e-01 -2.37892782e-04 2.71913019e+02] [ 9.85190089e-01 1.71460611e-01 -1.32162397e-03 3.42533837e+02] [ 1.34284125e-03 -7.76337617e-06 9.99999098e-01 1.54642492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.92, Y:342.56, Z:1.55 [[ 1.72175956e-01 -9.85066179e-01 -2.51778007e-04 2.71918784e+02] [ 9.85065296e-01 1.72176139e-01 -1.31907404e-03 3.42557849e+02] [ 1.34272539e-03 -2.09049431e-05 9.99999098e-01 1.54705061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.92, Y:342.58, Z:1.55 [[ 1.68955566e-01 -9.85623639e-01 -2.43097583e-04 2.71923444e+02] [ 9.85622754e-01 1.68955740e-01 -1.32066224e-03 3.42584094e+02] [ 1.34274865e-03 -1.64692728e-05 9.99999098e-01 1.54644877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.93, Y:342.61, Z:1.55 [[ 1.68164785e-01 -9.85758870e-01 -2.37359595e-04 2.71930415e+02] [ 9.85757984e-01 1.68164952e-01 -1.32170961e-03 3.42611025e+02] [ 1.34280254e-03 -1.17141031e-05 9.99999098e-01 1.54627810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:271.94, Y:342.64, Z:1.55 [[ 1.66249823e-01 -9.86083637e-01 -2.40128122e-04 2.71939160e+02] [ 9.86082752e-01 1.66249996e-01 -1.32120444e-03 3.42637852e+02] [ 1.34273938e-03 -1.71361937e-05 9.99999098e-01 1.54865688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.95, Y:342.66, Z:1.55 [[ 1.66011532e-01 -9.86123783e-01 -2.37521691e-04 2.71947004e+02] [ 9.86122897e-01 1.66011702e-01 -1.32167897e-03 3.42664657e+02] [ 1.34277044e-03 -1.48116273e-05 9.99999098e-01 1.54911168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.95, Y:342.69, Z:1.55 [[ 1.63692420e-01 -9.86511396e-01 -2.40392648e-04 2.71952753e+02] [ 9.86510511e-01 1.63692595e-01 -1.32115658e-03 3.42689785e+02] [ 1.34268651e-03 -2.08865572e-05 9.99999098e-01 1.54871546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.96, Y:342.72, Z:1.55 [[ 1.64219078e-01 -9.86423864e-01 -2.33456182e-04 2.71960428e+02] [ 9.86422978e-01 1.64219243e-01 -1.32241496e-03 3.42717093e+02] [ 1.34279967e-03 -1.31207769e-05 9.99999098e-01 1.54952091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:342.75, Z:1.55 [[ 1.64261739e-01 -9.86416760e-01 -2.38347841e-04 2.71967309e+02] [ 9.86415875e-01 1.64261911e-01 -1.32152781e-03 3.42745516e+02] [ 1.34272866e-03 -1.80336380e-05 9.99999098e-01 1.55022846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.97, Y:342.77, Z:1.55 [[ 1.62048965e-01 -9.86782688e-01 -2.43119301e-04 2.71970106e+02] [ 9.86781805e-01 1.62049146e-01 -1.32066376e-03 3.42770287e+02] [ 1.34260541e-03 -2.58935065e-05 9.99999098e-01 1.54929671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.98, Y:342.80, Z:1.55 [[ 1.62147853e-01 -9.86766447e-01 -2.30302566e-04 2.71976238e+02] [ 9.86765560e-01 1.62148016e-01 -1.32297652e-03 3.42797503e+02] [ 1.34281195e-03 -1.27368381e-05 9.99999098e-01 1.55047259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.98, Y:342.82, Z:1.55 [[ 1.61828835e-01 -9.86818815e-01 -2.32655712e-04 2.71981071e+02] [ 9.86817929e-01 1.61829001e-01 -1.32255242e-03 3.42824318e+02] [ 1.34277006e-03 -1.55617099e-05 9.99999098e-01 1.55181775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.98, Y:342.85, Z:1.55 [[ 1.60869776e-01 -9.86975614e-01 -2.31766501e-04 2.71984977e+02] [ 9.86974727e-01 1.60869942e-01 -1.32271240e-03 3.42850444e+02] [ 1.34276914e-03 -1.59632322e-05 9.99999098e-01 1.55217414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.99, Y:342.88, Z:1.55 [[ 1.60787548e-01 -9.86989013e-01 -2.30050655e-04 2.71990897e+02] [ 9.86988126e-01 1.60787712e-01 -1.32301980e-03 3.42878338e+02] [ 1.34279533e-03 -1.43321550e-05 9.99999098e-01 1.55412973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:342.90, Z:1.56 [[ 1.60641495e-01 -9.87012793e-01 -2.36660563e-04 2.71996305e+02] [ 9.87011909e-01 1.60641667e-01 -1.32183637e-03 3.42904249e+02] [ 1.34268695e-03 -2.12450242e-05 9.99999098e-01 1.55606705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:342.93, Z:1.56 [[ 1.59683082e-01 -9.87168303e-01 -2.34811546e-04 2.72000422e+02] [ 9.87167418e-01 1.59683254e-01 -1.32216656e-03 3.42931516e+02] [ 1.34269639e-03 -2.06706757e-05 9.99999098e-01 1.55509303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.00, Y:342.96, Z:1.56 [[ 1.58929171e-01 -9.87289960e-01 -2.33422104e-04 2.72003623e+02] [ 9.87289074e-01 1.58929341e-01 -1.32241444e-03 3.42957240e+02] [ 1.34270412e-03 -2.02848627e-05 9.99999098e-01 1.55538243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.01, Y:342.98, Z:1.56 [[ 1.59655909e-01 -9.87172699e-01 -2.30133099e-04 2.72009321e+02] [ 9.87171813e-01 1.59656074e-01 -1.32299989e-03 3.42984537e+02] [ 1.34277152e-03 -1.59561580e-05 9.99999098e-01 1.55657417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.01, Y:343.01, Z:1.56 [[ 1.58396571e-01 -9.87375547e-01 -2.35097580e-04 2.72011862e+02] [ 9.87374662e-01 1.58396744e-01 -1.32211652e-03 3.43011094e+02] [ 1.34266421e-03 -2.27106713e-05 9.99999098e-01 1.55543695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:343.04, Z:1.56 [[ 1.59121057e-01 -9.87259051e-01 -2.33952754e-04 2.72015416e+02] [ 9.87258166e-01 1.59121228e-01 -1.32231991e-03 3.43036212e+02] [ 1.34269915e-03 -2.05628245e-05 9.99999098e-01 1.55876150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:343.06, Z:1.56 [[ 1.57902118e-01 -9.87454743e-01 -2.27903604e-04 2.72019683e+02] [ 9.87453856e-01 1.57902282e-01 -1.32339541e-03 3.43064325e+02] [ 1.34277957e-03 -1.60773546e-05 9.99999098e-01 1.55780900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:343.09, Z:1.56 [[ 1.57175591e-01 -9.87570646e-01 -2.32060678e-04 2.72024125e+02] [ 9.87569760e-01 1.57175761e-01 -1.32265762e-03 3.43091741e+02] [ 1.34269216e-03 -2.12866142e-05 9.99999098e-01 1.55952110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:343.12, Z:1.56 [[ 1.56351906e-01 -9.87701386e-01 -2.33080394e-04 2.72029041e+02] [ 9.87700501e-01 1.56352078e-01 -1.32247686e-03 3.43118091e+02] [ 1.34265483e-03 -2.34418442e-05 9.99999098e-01 1.56099378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:343.15, Z:1.56 [[ 1.55310883e-01 -9.87865616e-01 -2.34068065e-04 2.72033573e+02] [ 9.87864731e-01 1.55311057e-01 -1.32230203e-03 3.43145357e+02] [ 1.34261006e-03 -2.58596910e-05 9.99999098e-01 1.56108261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:343.17, Z:1.56 [[ 1.53067012e-01 -9.88215784e-01 -2.33612611e-04 2.72036483e+02] [ 9.88214899e-01 1.53067188e-01 -1.32238249e-03 3.43169613e+02] [ 1.34255767e-03 -2.84463265e-05 9.99999098e-01 1.56112494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:343.20, Z:1.56 [[ 1.51167145e-01 -9.88508190e-01 -2.27949541e-04 2.72039875e+02] [ 9.88507305e-01 1.51167315e-01 -1.32337890e-03 3.43195248e+02] [ 1.34262940e-03 -2.52783766e-05 9.99999098e-01 1.56213498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:343.22, Z:1.56 [[ 1.48291970e-01 -9.88943598e-01 -2.26889459e-04 2.72042781e+02] [ 9.88942713e-01 1.48292141e-01 -1.32356497e-03 3.43220793e+02] [ 1.34257703e-03 -2.81066194e-05 9.99999098e-01 1.56261059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.04, Y:343.25, Z:1.56 [[ 1.45602966e-01 -9.89343078e-01 -2.23550800e-04 2.72043975e+02] [ 9.89342192e-01 1.45603135e-01 -1.32415158e-03 3.43245514e+02] [ 1.34258989e-03 -2.83678408e-05 9.99999098e-01 1.56291255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:343.27, Z:1.56 [[ 1.45321916e-01 -9.89384402e-01 -2.14444117e-04 2.72049766e+02] [ 9.89383514e-01 1.45322073e-01 -1.32573983e-03 3.43269899e+02] [ 1.34282977e-03 -1.95084219e-05 9.99999098e-01 1.56343269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:343.30, Z:1.57 [[ 1.40760503e-01 -9.90043653e-01 -2.13330966e-04 2.72050433e+02] [ 9.90042766e-01 1.40760662e-01 -1.32593545e-03 3.43299502e+02] [ 1.34276259e-03 -2.45674390e-05 9.99999098e-01 1.56578807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.572755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.05, Y:343.33, Z:1.56 [[ 1.40064876e-01 -9.90142303e-01 -2.25202542e-04 2.72053494e+02] [ 9.90141419e-01 1.40065052e-01 -1.32384133e-03 3.43326596e+02] [ 1.34233431e-03 -3.75586931e-05 9.99999098e-01 1.56454477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.05, Y:343.35, Z:1.56 [[ 1.41804809e-01 -9.89894614e-01 -2.23915355e-04 2.72053323e+02] [ 9.89893729e-01 1.41804982e-01 -1.32406872e-03 3.43354241e+02] [ 1.34244080e-03 -3.38930946e-05 9.99999098e-01 1.56253868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.06, Y:343.38, Z:1.56 [[ 1.44160261e-01 -9.89554329e-01 -2.19894032e-04 2.72057021e+02] [ 9.89553443e-01 1.44160427e-01 -1.32477465e-03 3.43383900e+02] [ 1.34263651e-03 -2.66170365e-05 9.99999098e-01 1.56306935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:343.41, Z:1.56 [[ 1.47135565e-01 -9.89116310e-01 -2.24771971e-04 2.72061122e+02] [ 9.89115425e-01 1.47135734e-01 -1.32391890e-03 3.43410892e+02] [ 1.34258177e-03 -2.75298687e-05 9.99999098e-01 1.56265279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:343.44, Z:1.56 [[ 1.50153561e-01 -9.88662661e-01 -2.24409148e-04 2.72060921e+02] [ 9.88661775e-01 1.50153727e-01 -1.32398225e-03 3.43439952e+02] [ 1.34266768e-03 -2.30640971e-05 9.99999098e-01 1.56008563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:343.47, Z:1.56 [[ 1.51794449e-01 -9.88412056e-01 -2.30757606e-04 2.72063226e+02] [ 9.88411171e-01 1.51794622e-01 -1.32287484e-03 3.43466135e+02] [ 1.34257321e-03 -2.72783368e-05 9.99999098e-01 1.55948722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.06, Y:343.49, Z:1.56 [[ 1.54315853e-01 -9.88021541e-01 -2.30260636e-04 2.72063134e+02] [ 9.88020655e-01 1.54316023e-01 -1.32296134e-03 3.43491621e+02] [ 1.34264721e-03 -2.33483575e-05 9.99999098e-01 1.55862428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:343.52, Z:1.56 [[ 1.55994839e-01 -9.87757844e-01 -2.29742802e-04 2.72066913e+02] [ 9.87756958e-01 1.55995007e-01 -1.32305126e-03 3.43519114e+02] [ 1.34269299e-03 -2.05408826e-05 9.99999098e-01 1.55820531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:343.55, Z:1.56 [[ 1.54892965e-01 -9.87931231e-01 -2.29292592e-04 2.72067820e+02] [ 9.87930345e-01 1.54893133e-01 -1.32312928e-03 3.43546301e+02] [ 1.34267659e-03 -2.15816923e-05 9.99999098e-01 1.55863926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:343.57, Z:1.56 [[ 1.53379316e-01 -9.88167361e-01 -2.28821104e-04 2.72069002e+02] [ 9.88166475e-01 1.53379485e-01 -1.32321082e-03 3.43572897e+02] [ 1.34265020e-03 -2.31601746e-05 9.99999098e-01 1.55875188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:343.60, Z:1.56 [[ 1.50221302e-01 -9.88652370e-01 -2.28334744e-04 2.72070803e+02] [ 9.88651485e-01 1.50221473e-01 -1.32329474e-03 3.43599233e+02] [ 1.34257926e-03 -2.69564252e-05 9.99999098e-01 1.55950113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.07, Y:343.63, Z:1.56 [[ 1.46231298e-01 -9.89250401e-01 -2.27853191e-04 2.72070468e+02] [ 9.89249516e-01 1.46231472e-01 -1.32337765e-03 3.43625215e+02] [ 1.34247118e-03 -3.18844287e-05 9.99999098e-01 1.55721557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:343.65, Z:1.56 [[ 1.45677108e-01 -9.89332165e-01 -2.17310979e-04 2.72076236e+02] [ 9.89331278e-01 1.45677268e-01 -1.32518700e-03 3.43654191e+02] [ 1.34270739e-03 -2.19431388e-05 9.99999098e-01 1.55969769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:343.68, Z:1.56 [[ 1.41177667e-01 -9.89984250e-01 -2.27188821e-04 2.72076519e+02] [ 9.89983366e-01 1.41177845e-01 -1.32349138e-03 3.43679543e+02] [ 1.34230965e-03 -3.80657275e-05 9.99999098e-01 1.55947342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:343.71, Z:1.56 [[ 1.39854766e-01 -9.90172002e-01 -2.24298958e-04 2.72079423e+02] [ 9.90171118e-01 1.39854941e-01 -1.32398596e-03 3.43705907e+02] [ 1.34234314e-03 -3.69286039e-05 9.99999098e-01 1.56053761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:343.73, Z:1.56 [[ 1.35952458e-01 -9.90715338e-01 -2.20185356e-04 2.72079804e+02] [ 9.90714453e-01 1.35952631e-01 -1.32468852e-03 3.43730828e+02] [ 1.34232401e-03 -3.80461543e-05 9.99999098e-01 1.56233560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.08, Y:343.76, Z:1.56 [[ 1.33807303e-01 -9.91007346e-01 -2.16690829e-04 2.72081720e+02] [ 9.91006460e-01 1.33807473e-01 -1.32528617e-03 3.43758223e+02] [ 1.34236318e-03 -3.74090438e-05 9.99999098e-01 1.55985183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.082755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:272.09, Y:343.79, Z:1.56 [[ 1.34379296e-01 -9.90929946e-01 -2.15896549e-04 2.72086992e+02] [ 9.90929060e-01 1.34379465e-01 -1.32542170e-03 3.43786351e+02] [ 1.34241212e-03 -3.58289286e-05 9.99999098e-01 1.56084970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.09, Y:343.81, Z:1.56 [[ 1.35054887e-01 -9.90838093e-01 -2.25703661e-04 2.72088062e+02] [ 9.90837210e-01 1.35055068e-01 -1.32374956e-03 3.43813483e+02] [ 1.34210391e-03 -4.48567395e-05 9.99999098e-01 1.56193633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.142755096 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:272.09, Y:343.84, Z:1.56 [[ 1.37745917e-01 -9.90467572e-01 -2.25232709e-04 2.72088629e+02] [ 9.90466688e-01 1.37746095e-01 -1.32382968e-03 3.43841055e+02] [ 1.34223530e-03 -4.07333614e-05 9.99999098e-01 1.55864052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1727550960001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.09, Y:343.87, Z:1.56 [[ 1.41604711e-01 -9.89923257e-01 -2.24764556e-04 2.72091027e+02] [ 9.89922373e-01 1.41604885e-01 -1.32390916e-03 3.43865511e+02] [ 1.34239623e-03 -3.50276882e-05 9.99999098e-01 1.56087003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.09, Y:343.90, Z:1.56 [[ 1.41167150e-01 -9.89985753e-01 -2.13779894e-04 2.72091615e+02] [ 9.89984865e-01 1.41167310e-01 -1.32577400e-03 3.43895212e+02] [ 1.34267610e-03 -2.44831220e-05 9.99999098e-01 1.55936997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:343.92, Z:1.56 [[ 1.45794399e-01 -9.89314887e-01 -2.18731095e-04 2.72095529e+02] [ 9.89314000e-01 1.45794561e-01 -1.32493438e-03 3.43922999e+02] [ 1.34266711e-03 -2.32257231e-05 9.99999098e-01 1.56042639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:343.95, Z:1.56 [[ 1.46825059e-01 -9.89162450e-01 -2.24166263e-04 2.72098692e+02] [ 9.89161564e-01 1.46825227e-01 -1.32401416e-03 3.43949943e+02] [ 1.34257835e-03 -2.73381945e-05 9.99999098e-01 1.55916804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:343.98, Z:1.56 [[ 1.49931532e-01 -9.88696358e-01 -2.18768646e-04 2.72103611e+02] [ 9.88695470e-01 1.49931691e-01 -1.32492510e-03 3.43977241e+02] [ 1.34274898e-03 -1.76475182e-05 9.99999098e-01 1.56088085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:344.00, Z:1.56 [[ 1.50466171e-01 -9.88615133e-01 -2.23144530e-04 2.72107681e+02] [ 9.88614247e-01 1.50466335e-01 -1.32418770e-03 3.44003031e+02] [ 1.34268774e-03 -2.13584082e-05 9.99999098e-01 1.56051196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:344.03, Z:1.56 [[ 1.50543599e-01 -9.88603346e-01 -2.22617964e-04 2.72112425e+02] [ 9.88602459e-01 1.50543763e-01 -1.32427622e-03 3.44030239e+02] [ 1.34269765e-03 -2.07193573e-05 9.99999098e-01 1.56034204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.12, Y:344.06, Z:1.56 [[ 1.50447448e-01 -9.88617983e-01 -2.22142802e-04 2.72117515e+02] [ 9.88617096e-01 1.50447610e-01 -1.32435592e-03 3.44056280e+02] [ 1.34270294e-03 -2.03682035e-05 9.99999098e-01 1.56043650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:344.09, Z:1.56 [[ 1.54845755e-01 -9.87938633e-01 -2.21644834e-04 2.72129230e+02] [ 9.87937746e-01 1.54845913e-01 -1.32443926e-03 3.44088908e+02] [ 1.34278551e-03 -1.38875005e-05 9.99999098e-01 1.56088242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:344.11, Z:1.56 [[ 1.49862768e-01 -9.88706777e-01 -2.45647846e-04 2.72128357e+02] [ 9.88705896e-01 1.49862962e-01 -1.32042034e-03 3.44110707e+02] [ 1.34232205e-03 -4.49916275e-05 9.99999098e-01 1.56230637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:344.14, Z:1.56 [[ 1.49515531e-01 -9.88759353e-01 -2.20480699e-04 2.72132686e+02] [ 9.88758466e-01 1.49515692e-01 -1.32460940e-03 3.44138094e+02] [ 1.34268526e-03 -1.99524807e-05 9.99999098e-01 1.56233800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:344.16, Z:1.56 [[ 1.49987140e-01 -9.88687923e-01 -2.20015477e-04 2.72137821e+02] [ 9.88687036e-01 1.49987300e-01 -1.32468667e-03 3.44161527e+02] [ 1.34270124e-03 -1.88404850e-05 9.99999098e-01 1.56276299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.15, Y:344.20, Z:1.56 [[ 1.50800666e-01 -9.88564168e-01 -2.14269008e-04 2.72146883e+02] [ 9.88563279e-01 1.50800818e-01 -1.32564081e-03 3.44195574e+02] [ 1.34279294e-03 -1.19109569e-05 9.99999098e-01 1.56344932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.15, Y:344.22, Z:1.56 [[ 1.44421506e-01 -9.89516229e-01 -2.48391461e-04 2.72146079e+02] [ 9.89515350e-01 1.44421709e-01 -1.32003644e-03 3.44215587e+02] [ 1.34207060e-03 -5.51455127e-05 9.99999098e-01 1.56305569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.16, Y:344.25, Z:1.56 [[ 1.47981839e-01 -9.88990055e-01 -2.16030158e-04 2.72158577e+02] [ 9.88989167e-01 1.47981995e-01 -1.32531144e-03 3.44249067e+02] [ 1.34268840e-03 -1.75294629e-05 9.99999098e-01 1.56393296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.16, Y:344.28, Z:1.56 [[ 1.45829368e-01 -9.89309726e-01 -2.48230968e-04 2.72164421e+02] [ 9.89308847e-01 1.45829570e-01 -1.32005573e-03 3.44275596e+02] [ 1.34214339e-03 -5.30741996e-05 9.99999098e-01 1.56405727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:344.30, Z:1.56 [[ 1.44804986e-01 -9.89460185e-01 -2.42206331e-04 2.72167958e+02] [ 9.89459304e-01 1.44805181e-01 -1.32103442e-03 3.44299544e+02] [ 1.34218370e-03 -4.83609358e-05 9.99999098e-01 1.56294847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.17, Y:344.33, Z:1.56 [[ 1.43737116e-01 -9.89615879e-01 -2.31009810e-04 2.72172715e+02] [ 9.89614996e-01 1.43737296e-01 -1.32284186e-03 3.44327640e+02] [ 1.34231003e-03 -3.84692989e-05 9.99999098e-01 1.56307093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.712755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:272.18, Y:344.35, Z:1.56 [[ 1.43401261e-01 -9.89664602e-01 -2.30634957e-04 2.72178303e+02] [ 9.89663719e-01 1.43401441e-01 -1.32290269e-03 3.44353337e+02] [ 1.34230335e-03 -3.85451360e-05 9.99999098e-01 1.56026154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.742755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.18, Y:344.38, Z:1.56 [[ 1.42357743e-01 -9.89815247e-01 -2.21664573e-04 2.72183550e+02] [ 9.89814362e-01 1.42357913e-01 -1.32435297e-03 3.44376920e+02] [ 1.34242047e-03 -3.08748768e-05 9.99999099e-01 1.56156263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.772755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.19, Y:344.40, Z:1.56 [[ 1.40743156e-01 -9.90046120e-01 -2.10016312e-04 2.72187963e+02] [ 9.90045232e-01 1.40743311e-01 -1.32623032e-03 3.44401638e+02] [ 1.34258757e-03 -2.12678079e-05 9.99999099e-01 1.56138384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.19, Y:344.43, Z:1.56 [[ 1.38227883e-01 -9.90400429e-01 -2.06162620e-04 2.72190862e+02] [ 9.90399541e-01 1.38228035e-01 -1.32685177e-03 3.44425796e+02] [ 1.34261202e-03 -2.07754527e-05 9.99999099e-01 1.56388294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:344.45, Z:1.56 [[ 1.40092631e-01 -9.90138384e-01 -1.89318643e-04 2.72200947e+02] [ 9.90137491e-01 1.40092759e-01 -1.32952761e-03 3.44453906e+02] [ 1.34293849e-03 -1.19446437e-06 9.99999098e-01 1.56158755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.20, Y:344.47, Z:1.57 [[ 1.34119111e-01 -9.90965198e-01 -2.02214715e-04 2.72202589e+02] [ 9.90964309e-01 1.34119262e-01 -1.32748202e-03 3.44474215e+02] [ 1.34260937e-03 -2.23468563e-05 9.99999098e-01 1.56540927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:344.50, Z:1.56 [[ 1.39764599e-01 -9.90184743e-01 -1.80284860e-04 2.72215974e+02] [ 9.90183848e-01 1.39764715e-01 -1.33098180e-03 3.44502960e+02] [ 1.34311533e-03 7.50898055e-06 9.99999098e-01 1.56412465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.22, Y:344.53, Z:1.57 [[ 1.40023524e-01 -9.90148158e-01 -1.93510881e-04 2.72222218e+02] [ 9.90147267e-01 1.40023658e-01 -1.32886978e-03 3.44529766e+02] [ 1.34287407e-03 -5.53123928e-06 9.99999098e-01 1.56531624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.23, Y:344.56, Z:1.57 [[ 1.40547037e-01 -9.90073984e-01 -1.90467268e-04 2.72228210e+02] [ 9.90073092e-01 1.40547166e-01 -1.32935468e-03 3.44555059e+02] [ 1.34292912e-03 -1.73965550e-06 9.99999098e-01 1.56630933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.982755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.24, Y:344.59, Z:1.57 [[ 1.42200431e-01 -9.89837866e-01 -1.89899630e-04 2.72236743e+02] [ 9.89836973e-01 1.42200558e-01 -1.32944482e-03 3.44585480e+02] [ 1.34293866e-03 1.07795185e-06 9.99999098e-01 1.56574582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:344.61, Z:1.57 [[ 1.43053034e-01 -9.89715002e-01 -2.10924650e-04 2.72241026e+02] [ 9.89714114e-01 1.43053188e-01 -1.32610066e-03 3.44607857e+02] [ 1.34263516e-03 -1.90523803e-05 9.99999099e-01 1.56659844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:344.63, Z:1.57 [[ 1.42815003e-01 -9.89749382e-01 -1.90727767e-04 2.72245347e+02] [ 9.89748489e-01 1.42815131e-01 -1.32930453e-03 3.44629506e+02] [ 1.34291715e-03 1.07211168e-06 9.99999098e-01 1.56579260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.072755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.25, Y:344.66, Z:1.57 [[ 1.44211051e-01 -9.89546939e-01 -1.69999814e-04 2.72252652e+02] [ 9.89546042e-01 1.44211149e-01 -1.33260001e-03 3.44658750e+02] [ 1.34318613e-03 2.39530047e-05 9.99999098e-01 1.56623955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.26, Y:344.68, Z:1.56 [[ 1.45690008e-01 -9.89330273e-01 -1.83527835e-04 2.72257715e+02] [ 9.89329378e-01 1.45690123e-01 -1.33044333e-03 3.44683183e+02] [ 1.34298605e-03 1.22628194e-05 9.99999098e-01 1.56456688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.132755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.27, Y:344.72, Z:1.57 [[ 1.52141168e-01 -9.88358758e-01 -1.73209728e-04 2.72273237e+02] [ 9.88357861e-01 1.52141264e-01 -1.33211427e-03 3.44717322e+02] [ 1.34295916e-03 3.14762251e-05 9.99999098e-01 1.56657398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:344.74, Z:1.57 [[ 1.52771922e-01 -9.88261450e-01 -2.15754341e-04 2.72278460e+02] [ 9.88260562e-01 1.52772074e-01 -1.32518757e-03 3.44743759e+02] [ 1.34259303e-03 -1.07700549e-05 9.99999099e-01 1.56628827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.28, Y:344.77, Z:1.57 [[ 1.53432220e-01 -9.88159151e-01 -2.15276959e-04 2.72283860e+02] [ 9.88158262e-01 1.53432371e-01 -1.32526511e-03 3.44770540e+02] [ 1.34260330e-03 -9.38933683e-06 9.99999099e-01 1.56512626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.29, Y:344.80, Z:1.56 [[ 1.53086870e-01 -9.88212712e-01 -2.14799261e-04 2.72288533e+02] [ 9.88211823e-01 1.53087020e-01 -1.32534254e-03 3.44796347e+02] [ 1.34260332e-03 -9.37462924e-06 9.99999099e-01 1.56341776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.29, Y:344.82, Z:1.56 [[ 1.50765250e-01 -9.88569569e-01 -2.14300015e-04 2.72292729e+02] [ 9.88568681e-01 1.50765402e-01 -1.32542326e-03 3.44821754e+02] [ 1.34258212e-03 -1.20225136e-05 9.99999099e-01 1.56153763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.282755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.30, Y:344.85, Z:1.56 [[ 1.49402381e-01 -9.88776459e-01 -2.07262765e-04 2.72297949e+02] [ 9.88775569e-01 1.49402525e-01 -1.32655763e-03 3.44848204e+02] [ 1.34263454e-03 -6.74548958e-06 9.99999099e-01 1.56139254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.31, Y:344.88, Z:1.56 [[ 1.49436386e-01 -9.88771321e-01 -2.04918419e-04 2.72306185e+02] [ 9.88770430e-01 1.49436527e-01 -1.32693460e-03 3.44876474e+02] [ 1.34265718e-03 -4.32496117e-06 9.99999099e-01 1.56197307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.32, Y:344.91, Z:1.56 [[ 1.52825161e-01 -9.88253219e-01 -2.13124431e-04 2.72321945e+02] [ 9.88252330e-01 1.52825309e-01 -1.32561529e-03 3.44913249e+02] [ 1.34261438e-03 -8.03334546e-06 9.99999099e-01 1.55770454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.32, Y:344.93, Z:1.56 [[ 1.45172620e-01 -9.89406309e-01 -2.58271054e-04 2.72318422e+02] [ 9.89405433e-01 1.45172836e-01 -1.31831823e-03 3.44929130e+02] [ 1.34184632e-03 -6.41510725e-05 9.99999098e-01 1.56373522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.32, Y:344.96, Z:1.56 [[ 1.43525827e-01 -9.89646549e-01 -2.12137752e-04 2.72324820e+02] [ 9.89645661e-01 1.43525983e-01 -1.32570045e-03 3.44955792e+02] [ 1.34242216e-03 -1.96689513e-05 9.99999099e-01 1.56448421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.33, Y:344.98, Z:1.57 [[ 1.41961750e-01 -9.89872121e-01 -2.11669354e-04 2.72329379e+02] [ 9.89871234e-01 1.41961906e-01 -1.32577524e-03 3.44981686e+02] [ 1.34239693e-03 -2.13160319e-05 9.99999099e-01 1.56533802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.33, Y:345.01, Z:1.57 [[ 1.41160363e-01 -9.89986721e-01 -2.11177109e-04 2.72334294e+02] [ 9.89985833e-01 1.41160520e-01 -1.32585364e-03 3.45008017e+02] [ 1.34238737e-03 -2.19043648e-05 9.99999099e-01 1.56610570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.34, Y:345.03, Z:1.57 [[ 1.40923368e-01 -9.90020485e-01 -2.10707248e-04 2.72340047e+02] [ 9.90019597e-01 1.40923524e-01 -1.32592831e-03 3.45033342e+02] [ 1.34238979e-03 -2.17500228e-05 9.99999099e-01 1.56652747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:345.06, Z:1.57 [[ 1.41725630e-01 -9.89905956e-01 -2.10214947e-04 2.72343732e+02] [ 9.89905068e-01 1.41725784e-01 -1.32600635e-03 3.45058238e+02] [ 1.34241446e-03 -2.01637554e-05 9.99999099e-01 1.56516335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.34, Y:345.08, Z:1.57 [[ 1.44412535e-01 -9.89517548e-01 -2.07450421e-04 2.72342480e+02] [ 9.89516659e-01 1.44412683e-01 -1.32644342e-03 3.45080287e+02] [ 1.34249751e-03 -1.37205920e-05 9.99999099e-01 1.56611525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.35, Y:345.11, Z:1.57 [[ 1.47920246e-01 -9.88999275e-01 -1.88126458e-04 2.72351157e+02] [ 9.88998381e-01 1.47920366e-01 -1.32951477e-03 3.45111990e+02] [ 1.34271688e-03 1.06053908e-05 9.99999099e-01 1.56707172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.35, Y:345.14, Z:1.57 [[ 1.50510287e-01 -9.88608420e-01 -2.11187168e-04 2.72353742e+02] [ 9.88607531e-01 1.50510435e-01 -1.32584154e-03 3.45140422e+02] [ 1.34252398e-03 -9.22843352e-06 9.99999099e-01 1.56831734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:345.17, Z:1.57 [[ 1.51626197e-01 -9.88437884e-01 -2.12649172e-04 2.72356398e+02] [ 9.88436995e-01 1.51626346e-01 -1.32560915e-03 3.45168621e+02] [ 1.34252552e-03 -9.19323335e-06 9.99999099e-01 1.56901482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:345.19, Z:1.57 [[ 1.51087015e-01 -9.88520444e-01 -2.12571746e-04 2.72358394e+02] [ 9.88519556e-01 1.51087164e-01 -1.32562143e-03 3.45194387e+02] [ 1.34252075e-03 -9.84714291e-06 9.99999099e-01 1.56626074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:345.22, Z:1.56 [[ 1.49525183e-01 -9.88757897e-01 -2.04482969e-04 2.72360850e+02] [ 9.88757006e-01 1.49525323e-01 -1.32689888e-03 3.45220494e+02] [ 1.34255713e-03 -3.77917097e-06 9.99999099e-01 1.56441940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.36, Y:345.25, Z:1.56 [[ 1.49649991e-01 -9.88739015e-01 -2.01175858e-04 2.72364898e+02] [ 9.88738124e-01 1.49650127e-01 -1.32742014e-03 3.45246832e+02] [ 1.34257807e-03 -2.61827907e-07 9.99999099e-01 1.56405394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:345.28, Z:1.56 [[ 1.49365319e-01 -9.88782061e-01 -1.96092388e-04 2.72370572e+02] [ 9.88781168e-01 1.49365448e-01 -1.32821601e-03 3.45275180e+02] [ 1.34260559e-03 4.49694699e-06 9.99999099e-01 1.56306919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.37, Y:345.30, Z:1.56 [[ 1.46779831e-01 -9.89169166e-01 -2.06240614e-04 2.72374384e+02] [ 9.89168276e-01 1.46779976e-01 -1.32662716e-03 3.45300394e+02] [ 1.34253068e-03 -9.28456110e-06 9.99999099e-01 1.56139535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.822755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.37, Y:345.33, Z:1.56 [[ 1.37709979e-01 -9.90472575e-01 -2.00784705e-04 2.72373716e+02] [ 9.90471685e-01 1.37710124e-01 -1.32747826e-03 3.45328217e+02] [ 1.34248090e-03 -1.60645629e-05 9.99999099e-01 1.55763714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.38, Y:345.35, Z:1.56 [[ 1.38236062e-01 -9.90399287e-01 -2.07981092e-04 2.72378574e+02] [ 9.90398399e-01 1.38236217e-01 -1.32635807e-03 3.45351800e+02] [ 1.34237461e-03 -2.26336232e-05 9.99999099e-01 1.55775628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.38, Y:345.38, Z:1.56 [[ 1.36125535e-01 -9.90691577e-01 -1.95501239e-04 2.72384472e+02] [ 9.90690687e-01 1.36125675e-01 -1.32828383e-03 3.45379157e+02] [ 1.34253234e-03 -1.28679102e-05 9.99999099e-01 1.55705157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9127550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:272.39, Y:345.41, Z:1.56 [[ 1.30647063e-01 -9.91428921e-01 -2.00823894e-04 2.72390199e+02] [ 9.91428032e-01 1.30647215e-01 -1.32746138e-03 3.45406385e+02] [ 1.34232069e-03 -2.56735079e-05 9.99999099e-01 1.56125346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.40, Y:345.43, Z:1.56 [[ 1.29845722e-01 -9.91534188e-01 -2.05559283e-04 2.72395193e+02] [ 9.91533301e-01 1.29845881e-01 -1.32673130e-03 3.45431724e+02] [ 1.34219046e-03 -3.15484910e-05 9.99999099e-01 1.56002062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.972755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.40, Y:345.46, Z:1.56 [[ 1.28499326e-01 -9.91709576e-01 -2.01460328e-04 2.72399625e+02] [ 9.91708688e-01 1.28499481e-01 -1.32736121e-03 3.45456019e+02] [ 1.34224437e-03 -2.92249357e-05 9.99999099e-01 1.55853270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.40, Y:345.48, Z:1.56 [[ 1.27315009e-01 -9.91862314e-01 -1.97572295e-04 2.72403342e+02] [ 9.91861425e-01 1.27315160e-01 -1.32795847e-03 3.45484342e+02] [ 1.34230591e-03 -2.68952924e-05 9.99999099e-01 1.55887334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.032755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.41, Y:345.51, Z:1.56 [[ 1.27577829e-01 -9.91828543e-01 -2.00018214e-04 2.72407362e+02] [ 9.91827654e-01 1.27577983e-01 -1.32758348e-03 3.45511183e+02] [ 1.34225311e-03 -2.90133782e-05 9.99999099e-01 1.56000636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.062755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.41, Y:345.54, Z:1.56 [[ 1.28380182e-01 -9.91725006e-01 -2.03314308e-04 2.72410729e+02] [ 9.91724119e-01 1.28380339e-01 -1.32707877e-03 3.45538704e+02] [ 1.34219876e-03 -3.12610892e-05 9.99999099e-01 1.56192835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.41, Y:345.56, Z:1.56 [[ 1.29349920e-01 -9.91598990e-01 -2.02872442e-04 2.72414885e+02] [ 9.91598102e-01 1.29350075e-01 -1.32714631e-03 3.45564710e+02] [ 1.34223851e-03 -2.95016600e-05 9.99999099e-01 1.56202352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.122755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.42, Y:345.59, Z:1.56 [[ 1.30632238e-01 -9.91430874e-01 -1.99910155e-04 2.72419915e+02] [ 9.91429986e-01 1.30632388e-01 -1.32759766e-03 3.45590964e+02] [ 1.34233605e-03 -2.47698692e-05 9.99999099e-01 1.56166431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.42, Y:345.62, Z:1.56 [[ 1.31822560e-01 -9.91273309e-01 -2.01841656e-04 2.72423909e+02] [ 9.91272420e-01 1.31822712e-01 -1.32730394e-03 3.45616886e+02] [ 1.34232828e-03 -2.51114639e-05 9.99999099e-01 1.56398624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.182755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.42, Y:345.63, Z:1.56 [[ 1.26475009e-01 -9.91969774e-01 -1.97994724e-04 2.72419633e+02] [ 9.91968886e-01 1.26475161e-01 -1.32788823e-03 3.45630367e+02] [ 1.34226640e-03 -2.84599294e-05 9.99999099e-01 1.56271381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:345.67, Z:1.57 [[ 1.38718773e-01 -9.90331805e-01 -1.38638096e-04 2.72437065e+02] [ 9.90330903e-01 1.38718833e-01 -1.33707511e-03 3.45668643e+02] [ 1.34337972e-03 4.81798270e-05 9.99999097e-01 1.56609757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.242755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:272.44, Y:345.70, Z:1.57 [[ 1.37113766e-01 -9.90555287e-01 -1.97626497e-04 2.72441086e+02] [ 9.90554397e-01 1.37113908e-01 -1.32788249e-03 3.45697956e+02] [ 1.34243836e-03 -1.36888267e-05 9.99999099e-01 1.56574614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.272755096 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:272.44, Y:345.73, Z:1.57 [[ 1.36227408e-01 -9.90677572e-01 -2.06645226e-04 2.72444576e+02] [ 9.90676684e-01 1.36227562e-01 -1.32647751e-03 3.45725370e+02] [ 1.34226229e-03 -2.40160145e-05 9.99999099e-01 1.56539568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.302755096 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:272.45, Y:345.75, Z:1.56 [[ 1.35438797e-01 -9.90785693e-01 -2.06253785e-04 2.72448737e+02] [ 9.90784805e-01 1.35438952e-01 -1.32653837e-03 3.45750970e+02] [ 1.34225004e-03 -2.46883552e-05 9.99999099e-01 1.56388200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.332755096 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:272.45, Y:345.78, Z:1.57 [[ 1.34625473e-01 -9.90896533e-01 -2.05820717e-04 2.72454139e+02] [ 9.90895646e-01 1.34625628e-01 -1.32660556e-03 3.45778930e+02] [ 1.34223759e-03 -2.53519516e-05 9.99999099e-01 1.56571893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.362755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:272.46, Y:345.80, Z:1.57 [[ 1.30987044e-01 -9.91384058e-01 -2.11909819e-04 2.72456463e+02] [ 9.91383172e-01 1.30987210e-01 -1.32566325e-03 3.45804040e+02] [ 1.34199888e-03 -3.64391192e-05 9.99999099e-01 1.56668863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.392755096 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:272.46, Y:345.83, Z:1.57 [[ 1.30535913e-01 -9.91443561e-01 -2.04620631e-04 2.72460193e+02] [ 9.91442673e-01 1.30536070e-01 -1.32678740e-03 3.45830723e+02] [ 1.34214520e-03 -2.96762209e-05 9.99999099e-01 1.56672273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4227550960001 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:272.46, Y:345.86, Z:1.57 [[ 1.28765075e-01 -9.91675105e-01 -2.04016850e-04 2.72464542e+02] [ 9.91674218e-01 1.28765232e-01 -1.32688024e-03 3.45857436e+02] [ 1.34210438e-03 -3.14624171e-05 9.99999099e-01 1.56815382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.452755096 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:272.47, Y:345.88, Z:1.56 [[ 1.28853128e-01 -9.91663668e-01 -2.03439026e-04 2.72472056e+02] [ 9.91662781e-01 1.28853285e-01 -1.32696883e-03 3.45883201e+02] [ 1.34212056e-03 -3.07588265e-05 9.99999099e-01 1.56355500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.482755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.47, Y:345.91, Z:1.57 [[ 1.23614726e-01 -9.92330266e-01 -2.06499954e-04 2.72472724e+02] [ 9.92329380e-01 1.23614892e-01 -1.32650109e-03 3.45910050e+02] [ 1.34185364e-03 -4.09409023e-05 9.99999099e-01 1.56910831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.512755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:272.48, Y:345.94, Z:1.57 [[ 1.22781892e-01 -9.92433658e-01 -2.02197315e-04 2.72476703e+02] [ 9.92432772e-01 1.22782053e-01 -1.32715661e-03 3.45937038e+02] [ 1.34194109e-03 -3.77164423e-05 9.99999099e-01 1.57015587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5427550960001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:272.48, Y:345.96, Z:1.57 [[ 1.22867117e-01 -9.92423111e-01 -2.01720540e-04 2.72480139e+02] [ 9.92422224e-01 1.22867277e-01 -1.32722907e-03 3.45962777e+02] [ 1.34195766e-03 -3.71191373e-05 9.99999099e-01 1.57082546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.572755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.48, Y:345.99, Z:1.57 [[ 1.23683694e-01 -9.92321673e-01 -2.01221799e-04 2.72482298e+02] [ 9.92320786e-01 1.23683852e-01 -1.32730468e-03 3.45989837e+02] [ 1.34200109e-03 -3.55106286e-05 9.99999099e-01 1.57071877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.602755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.49, Y:346.02, Z:1.57 [[ 1.24395384e-01 -9.92232709e-01 -2.00762613e-04 2.72485640e+02] [ 9.92231821e-01 1.24395542e-01 -1.32737413e-03 3.46016952e+02] [ 1.34203800e-03 -3.40838375e-05 9.99999099e-01 1.56989160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.49, Y:346.04, Z:1.57 [[ 1.25209492e-01 -9.92130306e-01 -2.00301370e-04 2.72489524e+02] [ 9.92129418e-01 1.25209648e-01 -1.32744373e-03 3.46044413e+02] [ 1.34207682e-03 -3.25163265e-05 9.99999099e-01 1.56930232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6627550960001 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:272.49, Y:346.07, Z:1.57 [[ 1.26176111e-01 -9.92007837e-01 -1.99840927e-04 2.72493556e+02] [ 9.92006949e-01 1.26176266e-01 -1.32751304e-03 3.46071799e+02] [ 1.34211853e-03 -3.07431543e-05 9.99999099e-01 1.56859029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.692755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.50, Y:346.10, Z:1.57 [[ 1.28945062e-01 -9.91651719e-01 -1.99382341e-04 2.72496931e+02] [ 9.91650830e-01 1.28945213e-01 -1.32758192e-03 3.46098664e+02] [ 1.34220829e-03 -2.65325319e-05 9.99999099e-01 1.56785454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.722755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.50, Y:346.13, Z:1.57 [[ 1.31035475e-01 -9.91377660e-01 -1.98917882e-04 2.72500004e+02] [ 9.91376771e-01 1.31035623e-01 -1.32765151e-03 3.46125073e+02] [ 1.34226937e-03 -2.32331225e-05 9.99999099e-01 1.56717792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.752755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:272.50, Y:346.15, Z:1.57 [[ 1.31871212e-01 -9.91266838e-01 -1.98431477e-04 2.72503394e+02] [ 9.91265949e-01 1.31871360e-01 -1.32772420e-03 3.46151862e+02] [ 1.34229640e-03 -2.16097671e-05 9.99999099e-01 1.56744648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.782755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.51, Y:346.18, Z:1.57 [[ 1.32261228e-01 -9.91214875e-01 -1.97945162e-04 2.72506159e+02] [ 9.91213986e-01 1.32261374e-01 -1.32779670e-03 3.46176708e+02] [ 1.34231234e-03 -2.05899917e-05 9.99999099e-01 1.56571206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.812755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.51, Y:346.21, Z:1.57 [[ 1.32021032e-01 -9.91246897e-01 -1.93617170e-04 2.72512054e+02] [ 9.91246006e-01 1.32021173e-01 -1.32844049e-03 3.46208691e+02] [ 1.34237408e-03 -1.65401625e-05 9.99999099e-01 1.56665818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.842755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.52, Y:346.24, Z:1.57 [[ 1.30435565e-01 -9.91456765e-01 -2.17707646e-04 2.72515582e+02] [ 9.91455880e-01 1.30435740e-01 -1.32490554e-03 3.46235796e+02] [ 1.34198342e-03 -4.30327235e-05 9.99999099e-01 1.56866777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.872755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.52, Y:346.27, Z:1.57 [[ 1.29173295e-01 -9.91622012e-01 -2.11022227e-04 2.72522687e+02] [ 9.91621127e-01 1.29173462e-01 -1.32587464e-03 3.46265319e+02] [ 1.34202495e-03 -3.79865018e-05 9.99999099e-01 1.57051616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.902755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.52, Y:346.29, Z:1.57 [[ 1.26040714e-01 -9.92025045e-01 -2.19941484e-04 2.72524973e+02] [ 9.92024162e-01 1.26040896e-01 -1.32458292e-03 3.46290327e+02] [ 1.34174105e-03 -5.12358892e-05 9.99999099e-01 1.57151649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.932755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:272.53, Y:346.31, Z:1.57 [[ 1.25304557e-01 -9.92118301e-01 -2.13992544e-04 2.72527934e+02] [ 9.92117416e-01 1.25304731e-01 -1.32545454e-03 3.46314105e+02] [ 1.34182199e-03 -4.62202352e-05 9.99999099e-01 1.57201316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.962755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.53, Y:346.34, Z:1.57 [[ 1.24563943e-01 -9.92211562e-01 -2.00475261e-04 2.72532188e+02] [ 9.92210675e-01 1.24564100e-01 -1.32742441e-03 3.46339584e+02] [ 1.34205787e-03 -3.35644753e-05 9.99999099e-01 1.57107797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.992755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:272.54, Y:346.37, Z:1.57 [[ 1.24280592e-01 -9.92247094e-01 -1.99881066e-04 2.72535456e+02] [ 9.92246206e-01 1.24280748e-01 -1.32751073e-03 3.46365501e+02] [ 1.34206003e-03 -3.33474099e-05 9.99999099e-01 1.57154094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.022755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.54, Y:346.39, Z:1.57 [[ 1.25090738e-01 -9.92145286e-01 -1.98670112e-04 2.72540010e+02] [ 9.92144398e-01 1.25090892e-01 -1.32768619e-03 3.46391446e+02] [ 1.34210941e-03 -3.10281935e-05 9.99999099e-01 1.56946921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.052755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.54, Y:346.42, Z:1.57 [[ 1.25112863e-01 -9.92142495e-01 -2.02491032e-04 2.72543260e+02] [ 9.92141608e-01 1.25113022e-01 -1.32713819e-03 3.46417140e+02] [ 1.34204446e-03 -3.48577202e-05 9.99999099e-01 1.56919717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.082755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.55, Y:346.44, Z:1.57 [[ 1.23594816e-01 -9.92332748e-01 -1.98521373e-04 2.72545321e+02] [ 9.92331860e-01 1.23594971e-01 -1.32770766e-03 3.46442500e+02] [ 1.34206403e-03 -3.29012992e-05 9.99999099e-01 1.57065197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.112755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.55, Y:346.47, Z:1.57 [[ 1.22524523e-01 -9.92465467e-01 -1.97302437e-04 2.72549347e+02] [ 9.92464579e-01 1.22524677e-01 -1.32788217e-03 3.46469950e+02] [ 1.34205161e-03 -3.31175509e-05 9.99999099e-01 1.56688146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.142755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.55, Y:346.50, Z:1.57 [[ 1.21934486e-01 -9.92538131e-01 -1.98381316e-04 2.72553523e+02] [ 9.92537244e-01 1.21934642e-01 -1.32772866e-03 3.46497673e+02] [ 1.34201088e-03 -3.50049332e-05 9.99999099e-01 1.56717860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:346.52, Z:1.57 [[ 1.20090137e-01 -9.92762972e-01 -2.00066146e-04 2.72555984e+02] [ 9.92762085e-01 1.20090298e-01 -1.32748946e-03 3.46522452e+02] [ 1.34190839e-03 -3.91996920e-05 9.99999099e-01 1.56587240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.202755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:272.56, Y:346.55, Z:1.56 [[ 1.18395114e-01 -9.92966544e-01 -1.97614701e-04 2.72558740e+02] [ 9.92965657e-01 1.18395273e-01 -1.32783614e-03 3.46550709e+02] [ 1.34189351e-03 -3.90152995e-05 9.99999099e-01 1.56443097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.232755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.56, Y:346.58, Z:1.56 [[ 1.17586973e-01 -9.93062568e-01 -1.99239756e-04 2.72560900e+02] [ 9.93061682e-01 1.17587134e-01 -1.32760682e-03 3.46575000e+02] [ 1.34182467e-03 -4.17480999e-05 9.99999099e-01 1.56353174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.262755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.56, Y:346.60, Z:1.56 [[ 1.17378924e-01 -9.93087182e-01 -1.94082080e-04 2.72564091e+02] [ 9.93086294e-01 1.17379079e-01 -1.32833407e-03 3.46601007e+02] [ 1.34193271e-03 -3.68218294e-05 9.99999099e-01 1.56416905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2927550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.57, Y:346.63, Z:1.57 [[ 1.14824644e-01 -9.93385758e-01 -1.92766611e-04 2.72566507e+02] [ 9.93384870e-01 1.14824799e-01 -1.32851911e-03 3.46629429e+02] [ 1.34186635e-03 -3.89447013e-05 9.99999099e-01 1.56510721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.57, Y:346.65, Z:1.57 [[ 1.16065728e-01 -9.93241514e-01 -2.02339098e-04 2.72569916e+02] [ 9.93240629e-01 1.16065895e-01 -1.32718316e-03 3.46651739e+02] [ 1.34169808e-03 -4.69309328e-05 9.99999099e-01 1.56663101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.352755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.57, Y:346.68, Z:1.57 [[ 1.15910618e-01 -9.93259631e-01 -1.84234086e-04 2.72574538e+02] [ 9.93258741e-01 1.15910761e-01 -1.32969169e-03 3.46682688e+02] [ 1.34208379e-03 -2.88667316e-05 9.99999099e-01 1.56724633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.57, Y:346.71, Z:1.57 [[ 1.15510873e-01 -9.93306196e-01 -1.97052775e-04 2.72573594e+02] [ 9.93305310e-01 1.15511033e-01 -1.32791660e-03 3.46706062e+02] [ 1.34178956e-03 -4.23447620e-05 9.99999099e-01 1.56523234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4127550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.58, Y:346.73, Z:1.57 [[ 1.15627885e-01 -9.93292585e-01 -1.83206304e-04 2.72575431e+02] [ 9.93291695e-01 1.15628027e-01 -1.32982419e-03 3.46733002e+02] [ 1.34208829e-03 -2.82125412e-05 9.99999099e-01 1.56563175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.442755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.58, Y:346.76, Z:1.57 [[ 1.16253730e-01 -9.93219531e-01 -1.82744212e-04 2.72576136e+02] [ 9.93218641e-01 1.16253871e-01 -1.32988769e-03 3.46759706e+02] [ 1.34211515e-03 -2.69005535e-05 9.99999099e-01 1.56558084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.472755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.58, Y:346.79, Z:1.57 [[ 1.16504664e-01 -9.93190128e-01 -1.82388089e-04 2.72579010e+02] [ 9.93189238e-01 1.16504804e-01 -1.32993653e-03 3.46786500e+02] [ 1.34212892e-03 -2.62020785e-05 9.99999099e-01 1.56612821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.502755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.58, Y:346.81, Z:1.57 [[ 1.16857926e-01 -9.93148625e-01 -1.81924456e-04 2.72583013e+02] [ 9.93147735e-01 1.16858065e-01 -1.32999995e-03 3.46814384e+02] [ 1.34214696e-03 -2.52568265e-05 9.99999099e-01 1.56694247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.532755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.59, Y:346.84, Z:1.57 [[ 1.17047858e-01 -9.93126258e-01 -1.85218445e-04 2.72585381e+02] [ 9.93125369e-01 1.17048001e-01 -1.32954997e-03 3.46839351e+02] [ 1.34209043e-03 -2.83241606e-05 9.99999099e-01 1.56897799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.59, Y:346.87, Z:1.57 [[ 1.16729379e-01 -9.93163742e-01 -1.81177346e-04 2.72587833e+02] [ 9.93162852e-01 1.16729517e-01 -1.33010042e-03 3.46866687e+02] [ 1.34215625e-03 -2.46768133e-05 9.99999099e-01 1.56975132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.592755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.59, Y:346.89, Z:1.57 [[ 1.16378843e-01 -9.93204879e-01 -1.80734934e-04 2.72589264e+02] [ 9.93203989e-01 1.16378980e-01 -1.33016052e-03 3.46892528e+02] [ 1.34215567e-03 -2.47041153e-05 9.99999099e-01 1.57068448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.622755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.59, Y:346.92, Z:1.57 [[ 1.14518423e-01 -9.93421108e-01 -1.80352370e-04 2.72589813e+02] [ 9.93420218e-01 1.14518561e-01 -1.33021239e-03 3.46918036e+02] [ 1.34211476e-03 -2.68318659e-05 9.99999099e-01 1.56959054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.652755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.59, Y:346.94, Z:1.57 [[ 1.12995221e-01 -9.93595516e-01 -1.73616387e-04 2.72592031e+02] [ 9.93594625e-01 1.12995352e-01 -1.33112197e-03 3.46944679e+02] [ 1.34221466e-03 -2.20938878e-05 9.99999099e-01 1.56967279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.59, Y:346.97, Z:1.57 [[ 1.11825404e-01 -9.93727855e-01 -1.73329936e-04 2.72594196e+02] [ 9.93726963e-01 1.11825536e-01 -1.33116065e-03 3.46970946e+02] [ 1.34219413e-03 -2.33850533e-05 9.99999099e-01 1.57031807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.712755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.60, Y:347.00, Z:1.57 [[ 1.13237171e-01 -9.93567973e-01 -1.65100854e-04 2.72601243e+02] [ 9.93567079e-01 1.13237290e-01 -1.33226847e-03 3.47000008e+02] [ 1.34239485e-03 -1.31764620e-05 9.99999099e-01 1.57315617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.742755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.60, Y:347.03, Z:1.57 [[ 1.12493035e-01 -9.93652497e-01 -1.79137142e-04 2.72604226e+02] [ 9.93651607e-01 1.12493174e-01 -1.33037846e-03 3.47025608e+02] [ 1.34208559e-03 -2.83415979e-05 9.99999099e-01 1.57420183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.772755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.61, Y:347.05, Z:1.58 [[ 1.12966524e-01 -9.93598779e-01 -1.78628871e-04 2.72607376e+02] [ 9.93597888e-01 1.12966662e-01 -1.33044670e-03 3.47050750e+02] [ 1.34210933e-03 -2.71893294e-05 9.99999099e-01 1.57502330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.802755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.61, Y:347.08, Z:1.57 [[ 1.11861341e-01 -9.93723810e-01 -1.73644805e-04 2.72609325e+02] [ 9.93722919e-01 1.11861474e-01 -1.33111314e-03 3.47077977e+02] [ 1.34218298e-03 -2.36547212e-05 9.99999099e-01 1.57493320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.61, Y:347.10, Z:1.57 [[ 1.11374727e-01 -9.93778466e-01 -1.77606911e-04 2.72609971e+02] [ 9.93777575e-01 1.11374865e-01 -1.33058427e-03 3.47103473e+02] [ 1.34208694e-03 -2.83083055e-05 9.99999099e-01 1.57444643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.862755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.61, Y:347.13, Z:1.57 [[ 1.06657911e-01 -9.94295762e-01 -1.67440337e-04 2.72608648e+02] [ 9.94294870e-01 1.06658040e-01 -1.33193451e-03 3.47129362e+02] [ 1.34219570e-03 -2.44237147e-05 9.99999099e-01 1.57483697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.892755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.62, Y:347.16, Z:1.57 [[ 1.09021264e-01 -9.94039405e-01 -1.58698669e-04 2.72617985e+02] [ 9.94038511e-01 1.09021379e-01 -1.33308785e-03 3.47159442e+02] [ 1.34244340e-03 -1.24176663e-05 9.99999099e-01 1.57467601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.62, Y:347.19, Z:1.57 [[ 1.07980937e-01 -9.94152949e-01 -1.75738728e-04 2.72620436e+02] [ 9.94152059e-01 1.07981076e-01 -1.33083769e-03 3.47185251e+02] [ 1.34203267e-03 -3.10059175e-05 9.99999099e-01 1.57444283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:347.21, Z:1.57 [[ 1.06995318e-01 -9.94259509e-01 -1.75245085e-04 2.72623131e+02] [ 9.94258619e-01 1.06995457e-01 -1.33090269e-03 3.47211867e+02] [ 1.34201308e-03 -3.18385792e-05 9.99999099e-01 1.57395645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.63, Y:347.24, Z:1.57 [[ 1.04980709e-01 -9.94474243e-01 -1.74777719e-04 2.72625542e+02] [ 9.94473353e-01 1.04980849e-01 -1.33096406e-03 3.47237999e+02] [ 1.34195779e-03 -3.40862329e-05 9.99999099e-01 1.57339769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.63, Y:347.26, Z:1.57 [[ 1.04545600e-01 -9.94520079e-01 -1.74311946e-04 2.72628349e+02] [ 9.94519189e-01 1.04545740e-01 -1.33102506e-03 3.47261903e+02] [ 1.34195472e-03 -3.42037609e-05 9.99999099e-01 1.57496950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.63, Y:347.29, Z:1.58 [[ 1.03151084e-01 -9.94665685e-01 -1.70183146e-04 2.72630474e+02] [ 9.94664794e-01 1.03151219e-01 -1.33156317e-03 3.47287483e+02] [ 1.34201479e-03 -3.19229999e-05 9.99999099e-01 1.57507672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.63, Y:347.31, Z:1.57 [[ 1.03099188e-01 -9.94671065e-01 -1.73167075e-04 2.72632983e+02] [ 9.94670175e-01 1.03099327e-01 -1.33117500e-03 3.47313219e+02] [ 1.34193466e-03 -3.50010629e-05 9.99999099e-01 1.57447879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.63, Y:347.34, Z:1.57 [[ 1.03237798e-01 -9.94656688e-01 -1.72665304e-04 2.72634705e+02] [ 9.94655798e-01 1.03237937e-01 -1.33124008e-03 3.47337451e+02] [ 1.34195246e-03 -3.43082514e-05 9.99999099e-01 1.57464029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.132755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:272.63, Y:347.36, Z:1.57 [[ 1.03309462e-01 -9.94649248e-01 -1.72146809e-04 2.72633901e+02] [ 9.94648357e-01 1.03309600e-01 -1.33130713e-03 3.47361874e+02] [ 1.34196805e-03 -3.36889178e-05 9.99999099e-01 1.57149643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1627550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.64, Y:347.39, Z:1.57 [[ 1.05174776e-01 -9.94453740e-01 -1.58272018e-04 2.72637813e+02] [ 9.94452847e-01 1.05174893e-01 -1.33308665e-03 3.47386281e+02] [ 1.34233924e-03 -1.71869699e-05 9.99999099e-01 1.57327686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.192755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.64, Y:347.42, Z:1.57 [[ 1.02576345e-01 -9.94725124e-01 -1.47652909e-04 2.72638167e+02] [ 9.94724229e-01 1.02576451e-01 -1.33443223e-03 3.47417033e+02] [ 1.34253898e-03 -9.99274539e-06 9.99999099e-01 1.57302133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:347.44, Z:1.57 [[ 1.04254734e-01 -9.94550613e-01 -1.68902780e-04 2.72639876e+02] [ 9.94549722e-01 1.04254866e-01 -1.33173713e-03 3.47438754e+02] [ 1.34208892e-03 -2.91423130e-05 9.99999099e-01 1.57015750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:347.47, Z:1.57 [[ 1.01729036e-01 -9.94812134e-01 -1.47610055e-04 2.72643141e+02] [ 9.94811239e-01 1.01729142e-01 -1.33440548e-03 3.47470149e+02] [ 1.34249901e-03 -1.10963595e-05 9.99999099e-01 1.57349242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:347.50, Z:1.57 [[ 1.01359896e-01 -9.94849810e-01 -1.67087840e-04 2.72646237e+02] [ 9.94848918e-01 1.01360029e-01 -1.33196209e-03 3.47496880e+02] [ 1.34203826e-03 -3.12196171e-05 9.99999099e-01 1.57353353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:347.52, Z:1.57 [[ 1.02042202e-01 -9.94780057e-01 -1.66593582e-04 2.72648507e+02] [ 9.94779165e-01 1.02042333e-01 -1.33202391e-03 3.47524080e+02] [ 1.34207042e-03 -2.98011725e-05 9.99999099e-01 1.57408003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:347.55, Z:1.57 [[ 1.03300357e-01 -9.94650194e-01 -1.66115207e-04 2.72650672e+02] [ 9.94649303e-01 1.03300487e-01 -1.33208356e-03 3.47549733e+02] [ 1.34211696e-03 -2.76216665e-05 9.99999099e-01 1.57376595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:347.58, Z:1.57 [[ 1.03547618e-01 -9.94624484e-01 -1.65746648e-04 2.72653340e+02] [ 9.94623592e-01 1.03547747e-01 -1.33212942e-03 3.47576115e+02] [ 1.34213123e-03 -2.69166981e-05 9.99999099e-01 1.57386817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.66, Y:347.60, Z:1.57 [[ 1.06154556e-01 -9.94349628e-01 -1.65237162e-04 2.72657831e+02] [ 9.94348736e-01 1.06154682e-01 -1.33219261e-03 3.47602798e+02] [ 1.34220593e-03 -2.28850480e-05 9.99999099e-01 1.57279165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.66, Y:347.63, Z:1.57 [[ 1.05102429e-01 -9.94461388e-01 -1.63862022e-04 2.72659806e+02] [ 9.94460496e-01 1.05102554e-01 -1.33236279e-03 3.47628721e+02] [ 1.34220567e-03 -2.29197422e-05 9.99999099e-01 1.57387450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.66, Y:347.66, Z:1.57 [[ 1.05243291e-01 -9.94446491e-01 -1.64547181e-04 2.72663211e+02] [ 9.94445598e-01 1.05243417e-01 -1.33227817e-03 3.47655485e+02] [ 1.34219686e-03 -2.34198801e-05 9.99999099e-01 1.57418703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:347.68, Z:1.57 [[ 1.05570108e-01 -9.94411849e-01 -1.64085065e-04 2.72667184e+02] [ 9.94410957e-01 1.05570233e-01 -1.33233508e-03 3.47681467e+02] [ 1.34221229e-03 -2.25132278e-05 9.99999099e-01 1.57267929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:347.71, Z:1.57 [[ 1.03754853e-01 -9.94602887e-01 -1.66046544e-04 2.72669794e+02] [ 9.94601995e-01 1.03754982e-01 -1.33209413e-03 3.47706304e+02] [ 1.34213282e-03 -2.69389939e-05 9.99999099e-01 1.57349116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:347.73, Z:1.57 [[ 1.02692165e-01 -9.94713171e-01 -1.63029087e-04 2.72674011e+02] [ 9.94712279e-01 1.02692291e-01 -1.33246332e-03 3.47732887e+02] [ 1.34216065e-03 -2.53334909e-05 9.99999099e-01 1.57315579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:347.76, Z:1.57 [[ 1.01848202e-01 -9.94799938e-01 -1.62529958e-04 2.72680197e+02] [ 9.94799046e-01 1.01848329e-01 -1.33252420e-03 3.47755670e+02] [ 1.34214840e-03 -2.59694526e-05 9.99999099e-01 1.57318215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.68, Y:347.78, Z:1.57 [[ 9.74963947e-02 -9.95235867e-01 -1.49878992e-04 2.72684424e+02] [ 9.95234973e-01 9.74965080e-02 -1.33405748e-03 3.47784166e+02] [ 1.34231453e-03 -1.90990201e-05 9.99999099e-01 1.57282079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.69, Y:347.81, Z:1.57 [[ 9.38199033e-02 -9.95589172e-01 -1.61409226e-04 2.72690156e+02] [ 9.95588281e-01 9.38200353e-02 -1.33266096e-03 3.47809172e+02] [ 1.34192624e-03 -3.56670113e-05 9.99999099e-01 1.57373933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:347.83, Z:1.58 [[ 9.47779433e-02 -9.95498426e-01 -1.60897087e-04 2.72695029e+02] [ 9.95497534e-01 9.47780738e-02 -1.33272279e-03 3.47831570e+02] [ 1.34197296e-03 -3.38599280e-05 9.99999099e-01 1.57501701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:347.86, Z:1.57 [[ 9.11558274e-02 -9.95836631e-01 -1.41665942e-04 2.72699132e+02] [ 9.95835736e-01 9.11559354e-02 -1.33502801e-03 3.47861238e+02] [ 1.34238349e-03 -1.93804244e-05 9.99999099e-01 1.57491688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:347.89, Z:1.57 [[ 9.05503312e-02 -9.95891868e-01 -1.59983658e-04 2.72703148e+02] [ 9.95890977e-01 9.05504643e-02 -1.33282928e-03 3.47886117e+02] [ 1.34184044e-03 -3.86381489e-05 9.99999099e-01 1.57461771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.71, Y:347.91, Z:1.57 [[ 9.03308321e-02 -9.95911801e-01 -1.59481288e-04 2.72706448e+02] [ 9.95910910e-01 9.03309647e-02 -1.33288939e-03 3.47912049e+02] [ 1.34184637e-03 -3.84281465e-05 9.99999099e-01 1.57456174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.71, Y:347.94, Z:1.57 [[ 8.99537053e-02 -9.95945935e-01 -1.59003750e-04 2.72710179e+02] [ 9.95945044e-01 8.99538376e-02 -1.33294635e-03 3.47939456e+02] [ 1.34184550e-03 -3.84555336e-05 9.99999099e-01 1.57485693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:347.97, Z:1.57 [[ 9.04132237e-02 -9.95904325e-01 -1.58536441e-04 2.72715079e+02] [ 9.95903433e-01 9.04133550e-02 -1.33300193e-03 3.47965491e+02] [ 1.34187620e-03 -3.73659843e-05 9.99999099e-01 1.57433504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:347.99, Z:1.57 [[ 8.91811943e-02 -9.96015406e-01 -1.58047362e-04 2.72717115e+02] [ 9.96014515e-01 8.91813260e-02 -1.33305992e-03 3.47991310e+02] [ 1.34184309e-03 -3.85335909e-05 9.99999099e-01 1.57293482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:348.02, Z:1.57 [[ 9.13308888e-02 -9.95820589e-01 -1.51412034e-04 2.72724473e+02] [ 9.95819696e-01 9.13310097e-02 -1.33384443e-03 3.48019025e+02] [ 1.34209836e-03 -2.89578892e-05 9.99999099e-01 1.57475889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:348.05, Z:1.57 [[ 9.19326578e-02 -9.95765214e-01 -1.57444746e-04 2.72727953e+02] [ 9.95764322e-01 9.19327863e-02 -1.33313195e-03 3.48045012e+02] [ 1.34196076e-03 -3.42194972e-05 9.99999099e-01 1.57442147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:348.07, Z:1.57 [[ 9.31039662e-02 -9.95656380e-01 -1.56948796e-04 2.72731547e+02] [ 9.95655488e-01 9.31040930e-02 -1.33319034e-03 3.48071208e+02] [ 1.34201204e-03 -3.21416218e-05 9.99999099e-01 1.57387098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:348.10, Z:1.57 [[ 9.68729471e-02 -9.95296744e-01 -1.56453793e-04 2.72735899e+02] [ 9.95295851e-01 9.68730698e-02 -1.33324843e-03 3.48096185e+02] [ 1.34213398e-03 -2.65621062e-05 9.99999099e-01 1.57347924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:348.12, Z:1.57 [[ 9.88291875e-02 -9.95104400e-01 -1.56060527e-04 2.72739050e+02] [ 9.95103507e-01 9.88293079e-02 -1.33329446e-03 3.48122082e+02] [ 1.34219054e-03 -2.35279694e-05 9.99999099e-01 1.57354245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:348.15, Z:1.57 [[ 1.01840426e-01 -9.94800736e-01 -1.55574728e-04 2.72741418e+02] [ 9.94799842e-01 1.01840543e-01 -1.33335114e-03 3.48147372e+02] [ 1.34226251e-03 -1.89766672e-05 9.99999099e-01 1.57329924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:348.17, Z:1.57 [[ 1.02611688e-01 -9.94721477e-01 -1.55068543e-04 2.72744684e+02] [ 9.94720584e-01 1.02611803e-01 -1.33341001e-03 3.48173481e+02] [ 1.34228344e-03 -1.74264207e-05 9.99999099e-01 1.57306146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:348.20, Z:1.57 [[ 1.05141489e-01 -9.94457261e-01 -1.54589235e-04 2.72752300e+02] [ 9.94456367e-01 1.05141602e-01 -1.33346557e-03 3.48204198e+02] [ 1.34232828e-03 -1.35296935e-05 9.99999099e-01 1.57263560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:348.23, Z:1.57 [[ 1.00615990e-01 -9.94925321e-01 -1.70402051e-04 2.72753213e+02] [ 9.94924430e-01 1.00616128e-01 -1.33163250e-03 3.48226794e+02] [ 1.34202009e-03 -3.55536414e-05 9.99999099e-01 1.57464744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:348.25, Z:1.58 [[ 9.87580118e-02 -9.95111467e-01 -1.53628780e-04 2.72756898e+02] [ 9.95110574e-01 9.87581290e-02 -1.33356481e-03 3.48251755e+02] [ 1.34221773e-03 -2.11774143e-05 9.99999099e-01 1.57500007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:348.28, Z:1.58 [[ 9.52850958e-02 -9.95450012e-01 -1.53102471e-04 2.72762188e+02] [ 9.95449119e-01 9.52852155e-02 -1.33362523e-03 3.48277567e+02] [ 1.34214566e-03 -2.53311115e-05 9.99999099e-01 1.57718553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:348.31, Z:1.58 [[ 9.68392439e-02 -9.95300024e-01 -1.52595378e-04 2.72769957e+02] [ 9.95299131e-01 9.68393615e-02 -1.33368325e-03 3.48306411e+02] [ 1.34219221e-03 -2.27251698e-05 9.99999099e-01 1.57726592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:348.33, Z:1.58 [[ 9.49793177e-02 -9.95479232e-01 -1.66029925e-04 2.72772327e+02] [ 9.95478342e-01 9.49794549e-02 -1.33214773e-03 3.48332537e+02] [ 1.34189483e-03 -3.87527119e-05 9.99999099e-01 1.57824670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:348.36, Z:1.58 [[ 9.25396619e-02 -9.95708986e-01 -1.62217098e-04 2.72773774e+02] [ 9.95708095e-01 9.25397962e-02 -1.33258497e-03 3.48356205e+02] [ 1.34187836e-03 -3.82039153e-05 9.99999099e-01 1.58000272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:348.38, Z:1.58 [[ 9.04483028e-02 -9.95901140e-01 -1.52014916e-04 2.72776292e+02] [ 9.95900248e-01 9.04484253e-02 -1.33374777e-03 3.48381283e+02] [ 1.34203043e-03 -3.07564701e-05 9.99999099e-01 1.58045040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:348.41, Z:1.58 [[ 9.08690859e-02 -9.95862835e-01 -1.51442320e-04 2.72780410e+02] [ 9.95861942e-01 9.08692072e-02 -1.33381278e-03 3.48408616e+02] [ 1.34205602e-03 -2.96132946e-05 9.99999099e-01 1.58192532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:348.43, Z:1.58 [[ 8.96165689e-02 -9.95976329e-01 -1.52570029e-04 2.72782731e+02] [ 9.95975436e-01 8.96166929e-02 -1.33368502e-03 3.48433620e+02] [ 1.34199153e-03 -3.24357254e-05 9.99999099e-01 1.58141687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:348.46, Z:1.58 [[ 8.90630005e-02 -9.96025983e-01 -1.50665361e-04 2.72784467e+02] [ 9.96025091e-01 8.90631225e-02 -1.33390016e-03 3.48459510e+02] [ 1.34201794e-03 -3.12653297e-05 9.99999099e-01 1.58219089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:348.48, Z:1.58 [[ 9.05103541e-02 -9.95895503e-01 -1.50192457e-04 2.72789621e+02] [ 9.95894610e-01 9.05104741e-02 -1.33395340e-03 3.48484170e+02] [ 1.34207219e-03 -2.88392637e-05 9.99999099e-01 1.58208630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:348.51, Z:1.58 [[ 9.33712616e-02 -9.95631350e-01 -1.49669589e-04 2.72793664e+02] [ 9.95630457e-01 9.33713784e-02 -1.33401207e-03 3.48511463e+02] [ 1.34215909e-03 -2.44572113e-05 9.99999099e-01 1.58303347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:348.54, Z:1.58 [[ 9.41751822e-02 -9.95555630e-01 -1.50698694e-04 2.72795971e+02] [ 9.95554737e-01 9.41752997e-02 -1.33389686e-03 3.48537842e+02] [ 1.34216062e-03 -2.44088184e-05 9.99999099e-01 1.58432715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.512755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:272.80, Y:348.56, Z:1.58 [[ 9.39852528e-02 -9.95573579e-01 -1.48572540e-04 2.72798247e+02] [ 9.95572685e-01 9.39853675e-02 -1.33413392e-03 3.48564161e+02] [ 1.34219213e-03 -2.25258487e-05 9.99999099e-01 1.58198681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:348.59, Z:1.58 [[ 9.73408721e-02 -9.95251090e-01 -1.48250537e-04 2.72801081e+02] [ 9.95250196e-01 9.73409834e-02 -1.33416970e-03 3.48589013e+02] [ 1.34226470e-03 -1.76771338e-05 9.99999099e-01 1.58413445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:348.62, Z:1.58 [[ 9.83971271e-02 -9.95147217e-01 -1.47747810e-04 2.72803741e+02] [ 9.95146323e-01 9.83972368e-02 -1.33422537e-03 3.48615525e+02] [ 1.34228864e-03 -1.57467458e-05 9.99999099e-01 1.58448312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:348.64, Z:1.58 [[ 1.01366970e-01 -9.94849092e-01 -1.47270448e-04 2.72805433e+02] [ 9.94848197e-01 1.01367077e-01 -1.33427806e-03 3.48639893e+02] [ 1.34233369e-03 -1.12600152e-05 9.99999099e-01 1.58352309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:348.67, Z:1.58 [[ 1.00980341e-01 -9.94888412e-01 -1.39692814e-04 2.72807547e+02] [ 9.94887516e-01 1.00980437e-01 -1.33511076e-03 3.48668148e+02] [ 1.34239246e-03 -4.15869737e-06 9.99999099e-01 1.58114540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:348.69, Z:1.58 [[ 1.01798568e-01 -9.94805021e-01 -1.45805993e-04 2.72809752e+02] [ 9.94804126e-01 1.01798672e-01 -1.33444007e-03 3.48694097e+02] [ 1.34235054e-03 -9.20431625e-06 9.99999099e-01 1.58052262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:348.72, Z:1.58 [[ 1.02846464e-01 -9.94697232e-01 -1.45149905e-04 2.72811683e+02] [ 9.94696337e-01 1.02846567e-01 -1.33451183e-03 3.48719203e+02] [ 1.34236339e-03 -7.13025577e-06 9.99999099e-01 1.57965123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.81, Y:348.75, Z:1.58 [[ 1.02689849e-01 -9.94713413e-01 -1.46343159e-04 2.72813704e+02] [ 9.94712518e-01 1.02689953e-01 -1.33438166e-03 3.48745755e+02] [ 1.34235530e-03 -8.54192186e-06 9.99999099e-01 1.57857420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:348.77, Z:1.58 [[ 1.01897551e-01 -9.94794887e-01 -1.46431041e-04 2.72815139e+02] [ 9.94793992e-01 1.01897656e-01 -1.33437210e-03 3.48770970e+02] [ 1.34234753e-03 -9.69947025e-06 9.99999099e-01 1.57750676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:348.80, Z:1.58 [[ 1.00105822e-01 -9.94976785e-01 -1.45160802e-04 2.72817949e+02] [ 9.94975891e-01 1.00105926e-01 -1.33450972e-03 3.48796265e+02] [ 1.34233765e-03 -1.08393056e-05 9.99999099e-01 1.57571843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.82, Y:348.83, Z:1.58 [[ 9.81503699e-02 -9.95171585e-01 -1.45441134e-04 2.72821683e+02] [ 9.95170690e-01 9.81504767e-02 -1.33447952e-03 3.48825400e+02] [ 1.34231122e-03 -1.37590945e-05 9.99999099e-01 1.57742153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.842755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.83, Y:348.85, Z:1.58 [[ 9.67493368e-02 -9.95308768e-01 -1.48587647e-04 2.72826008e+02] [ 9.95307874e-01 9.67494491e-02 -1.33414064e-03 3.48853697e+02] [ 1.34225765e-03 -1.88132331e-05 9.99999099e-01 1.57765514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:348.88, Z:1.58 [[ 9.35080811e-02 -9.95618509e-01 -1.50315752e-04 2.72829812e+02] [ 9.95617616e-01 9.35081986e-02 -1.33395478e-03 3.48878439e+02] [ 1.34216582e-03 -2.49214594e-05 9.99999099e-01 1.58352444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:348.91, Z:1.58 [[ 9.21947708e-02 -9.95740982e-01 -1.45776486e-04 2.72832715e+02] [ 9.95740088e-01 9.21948834e-02 -1.33444138e-03 3.48906574e+02] [ 1.34219781e-03 -2.21269737e-05 9.99999099e-01 1.57840640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:348.93, Z:1.58 [[ 9.25092048e-02 -9.95711818e-01 -1.49666604e-04 2.72834967e+02] [ 9.95710925e-01 9.25093224e-02 -1.33402557e-03 3.48930774e+02] [ 1.34215058e-03 -2.56150283e-05 9.99999099e-01 1.58310002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:348.96, Z:1.58 [[ 9.30313238e-02 -9.95663172e-01 -1.41846867e-04 2.72837123e+02] [ 9.95662278e-01 9.30314304e-02 -1.33485652e-03 3.48958189e+02] [ 1.34226370e-03 -1.70481050e-05 9.99999099e-01 1.58296676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:348.99, Z:1.58 [[ 9.39104043e-02 -9.95580643e-01 -1.41378055e-04 2.72839499e+02] [ 9.95579748e-01 9.39105095e-02 -1.33490617e-03 3.48985469e+02] [ 1.34228363e-03 -1.53915502e-05 9.99999099e-01 1.58293919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:349.01, Z:1.58 [[ 9.66601515e-02 -9.95317435e-01 -1.40911314e-04 2.72842038e+02] [ 9.95316539e-01 9.66602535e-02 -1.33495544e-03 3.49012357e+02] [ 1.34232495e-03 -1.12143661e-05 9.99999099e-01 1.58318484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.84, Y:349.04, Z:1.58 [[ 1.00479539e-01 -9.94939115e-01 -1.40448127e-04 2.72844355e+02] [ 9.94938219e-01 1.00479637e-01 -1.33500417e-03 3.49038337e+02] [ 1.34236004e-03 -5.59660619e-06 9.99999099e-01 1.58383073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:349.06, Z:1.58 [[ 1.00146275e-01 -9.94972715e-01 -1.39983871e-04 2.72846189e+02] [ 9.94971820e-01 1.00146373e-01 -1.33505285e-03 3.49063206e+02] [ 1.34236003e-03 -5.57943750e-06 9.99999099e-01 1.58458696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:349.09, Z:1.59 [[ 1.01291424e-01 -9.94856788e-01 -1.39524767e-04 2.72849191e+02] [ 9.94855892e-01 1.01291520e-01 -1.33510083e-03 3.49089385e+02] [ 1.34236679e-03 -3.57277277e-06 9.99999099e-01 1.58553324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:349.12, Z:1.59 [[ 1.01642971e-01 -9.94820933e-01 -1.34894247e-04 2.72850947e+02] [ 9.94820036e-01 1.01643061e-01 -1.33558233e-03 3.49115634e+02] [ 1.34237633e-03 1.55705722e-06 9.99999099e-01 1.58741235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:349.14, Z:1.59 [[ 1.01448250e-01 -9.94840808e-01 -1.38512340e-04 2.72853156e+02] [ 9.94839912e-01 1.01448345e-01 -1.33520700e-03 3.49142022e+02] [ 1.34237025e-03 -2.34319060e-06 9.99999099e-01 1.58769392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:349.17, Z:1.59 [[ 1.01066100e-01 -9.94879704e-01 -1.37999121e-04 2.72855666e+02] [ 9.94878807e-01 1.01066194e-01 -1.33526004e-03 3.49168831e+02] [ 1.34237016e-03 -2.34287572e-06 9.99999099e-01 1.58772992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.86, Y:349.20, Z:1.59 [[ 1.00006914e-01 -9.94986733e-01 -1.37486194e-04 2.72858272e+02] [ 9.94985837e-01 1.00007008e-01 -1.33531285e-03 3.49195608e+02] [ 1.34236815e-03 -3.25629844e-06 9.99999099e-01 1.58778025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.86, Y:349.22, Z:1.59 [[ 9.88541692e-02 -9.95101922e-01 -1.37013131e-04 2.72861047e+02] [ 9.95101026e-01 9.88542641e-02 -1.33536139e-03 3.49222118e+02] [ 1.34236502e-03 -4.33586622e-06 9.99999099e-01 1.58829377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2927550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.86, Y:349.25, Z:1.59 [[ 9.73988301e-02 -9.95245422e-01 -1.36517776e-04 2.72863373e+02] [ 9.95244526e-01 9.73989256e-02 -1.33541203e-03 3.49249002e+02] [ 1.34235939e-03 -5.80100050e-06 9.99999099e-01 1.58561512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:349.28, Z:1.59 [[ 9.48998646e-02 -9.95486814e-01 -1.36044398e-04 2.72865124e+02] [ 9.95485918e-01 9.48999618e-02 -1.33546025e-03 3.49276694e+02] [ 1.34234368e-03 -8.69528523e-06 9.99999099e-01 1.58700842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:349.30, Z:1.59 [[ 9.39321180e-02 -9.95578595e-01 -1.35570721e-04 2.72867069e+02] [ 9.95577699e-01 9.39322154e-02 -1.33550833e-03 3.49303918e+02] [ 1.34233797e-03 -9.52406042e-06 9.99999099e-01 1.58625214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:349.33, Z:1.58 [[ 9.14979918e-02 -9.95805252e-01 -1.35095739e-04 2.72868264e+02] [ 9.95804356e-01 9.14980907e-02 -1.33555638e-03 3.49330747e+02] [ 1.34231506e-03 -1.23281984e-05 9.99999099e-01 1.58491143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:349.36, Z:1.58 [[ 9.00124403e-02 -9.95940632e-01 -1.34620598e-04 2.72870500e+02] [ 9.95939737e-01 9.00125399e-02 -1.33560427e-03 3.49356626e+02] [ 1.34230010e-03 -1.38530030e-05 9.99999099e-01 1.58438250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:349.38, Z:1.58 [[ 8.85389597e-02 -9.96072706e-01 -1.34123672e-04 2.72873118e+02] [ 9.96071810e-01 8.85390600e-02 -1.33565417e-03 3.49383171e+02] [ 1.34228385e-03 -1.53393773e-05 9.99999099e-01 1.58432143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:349.41, Z:1.58 [[ 8.60533887e-02 -9.96290518e-01 -1.33761777e-04 2.72875490e+02] [ 9.96289623e-01 8.60534907e-02 -1.33569041e-03 3.49408816e+02] [ 1.34224636e-03 -1.83247839e-05 9.99999099e-01 1.58383671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:349.43, Z:1.58 [[ 8.53454782e-02 -9.96351410e-01 -1.33226787e-04 2.72877915e+02] [ 9.96350515e-01 8.53455802e-02 -1.33574377e-03 3.49434419e+02] [ 1.34224051e-03 -1.87408864e-05 9.99999099e-01 1.58242604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:349.46, Z:1.58 [[ 8.38542316e-02 -9.96478024e-01 -1.28540805e-04 2.72880281e+02] [ 9.96477128e-01 8.38543286e-02 -1.33620936e-03 3.49461516e+02] [ 1.34228196e-03 -1.60411632e-05 9.99999099e-01 1.58249040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:349.48, Z:1.58 [[ 8.51166630e-02 -9.96370983e-01 -1.32399802e-04 2.72883051e+02] [ 9.96370088e-01 8.51167641e-02 -1.33582687e-03 3.49484407e+02] [ 1.34224858e-03 -1.82180765e-05 9.99999099e-01 1.58407124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:349.51, Z:1.58 [[ 8.32205844e-02 -9.96531144e-01 -1.19875184e-04 2.72885034e+02] [ 9.96530247e-01 8.32206704e-02 -1.33705648e-03 3.49512902e+02] [ 1.34239452e-03 -8.18862435e-06 9.99999099e-01 1.58235734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:349.54, Z:1.58 [[ 8.41121723e-02 -9.96456284e-01 -1.31071247e-04 2.72888144e+02] [ 9.96455388e-01 8.41122725e-02 -1.33595803e-03 3.49538027e+02] [ 1.34224848e-03 -1.82363176e-05 9.99999099e-01 1.58111137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:349.57, Z:1.58 [[ 8.44449823e-02 -9.96428135e-01 -1.30560398e-04 2.72891518e+02] [ 9.96427239e-01 8.44450814e-02 -1.33600796e-03 3.49565131e+02] [ 1.34226110e-03 -1.72747688e-05 9.99999099e-01 1.58008341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.90, Y:349.59, Z:1.58 [[ 8.49729195e-02 -9.96383253e-01 -1.30090908e-04 2.72895773e+02] [ 9.96382357e-01 8.49730176e-02 -1.33605367e-03 3.49591029e+02] [ 1.34227572e-03 -1.60919046e-05 9.99999099e-01 1.58061294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:349.62, Z:1.58 [[ 8.47837132e-02 -9.96399370e-01 -1.29599547e-04 2.72898840e+02] [ 9.96398475e-01 8.47838108e-02 -1.33610133e-03 3.49617826e+02] [ 1.34227847e-03 -1.58531587e-05 9.99999099e-01 1.58009545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.90, Y:349.65, Z:1.58 [[ 8.58536400e-02 -9.96307752e-01 -1.29131979e-04 2.72904590e+02] [ 9.96306856e-01 8.58537360e-02 -1.33614652e-03 3.49648988e+02] [ 1.34229960e-03 -1.39420338e-05 9.99999099e-01 1.57908686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:349.67, Z:1.58 [[ 8.37677106e-02 -9.96485299e-01 -1.42084008e-04 2.72906069e+02] [ 9.96484405e-01 8.37678258e-02 -1.33489588e-03 3.49671786e+02] [ 1.34210618e-03 -2.97633267e-05 9.99999099e-01 1.58040835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:349.70, Z:1.58 [[ 8.28169902e-02 -9.96564765e-01 -1.28109395e-04 2.72910611e+02] [ 9.96563869e-01 8.28170876e-02 -1.33623567e-03 3.49698780e+02] [ 1.34225503e-03 -1.70061776e-05 9.99999099e-01 1.58060299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:349.73, Z:1.58 [[ 8.24155144e-02 -9.96598047e-01 -1.27628200e-04 2.72914890e+02] [ 9.96597151e-01 8.24156115e-02 -1.33628163e-03 3.49728001e+02] [ 1.34225422e-03 -1.70635629e-05 9.99999099e-01 1.58081288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:349.75, Z:1.58 [[ 8.14908774e-02 -9.96674079e-01 -1.34491999e-04 2.72917051e+02] [ 9.96673184e-01 8.14909845e-02 -1.33562710e-03 3.49753248e+02] [ 1.34214479e-03 -2.52031450e-05 9.99999099e-01 1.58052824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:349.78, Z:1.58 [[ 8.01807662e-02 -9.96780331e-01 -1.26771853e-04 2.72920886e+02] [ 9.96779436e-01 8.01808641e-02 -1.33635946e-03 3.49779860e+02] [ 1.34222150e-03 -1.92132509e-05 9.99999099e-01 1.58017776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:349.81, Z:1.58 [[ 7.93765279e-02 -9.96844698e-01 -1.26304605e-04 2.72923981e+02] [ 9.96843802e-01 7.93766259e-02 -1.33640362e-03 3.49807007e+02] [ 1.34221249e-03 -1.98268838e-05 9.99999099e-01 1.58103965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:349.84, Z:1.58 [[ 7.90049017e-02 -9.96874220e-01 -1.26081037e-04 2.72927792e+02] [ 9.96873324e-01 7.90049998e-02 -1.33642465e-03 3.49836552e+02] [ 1.34220831e-03 -2.01027247e-05 9.99999099e-01 1.57790819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:349.86, Z:1.58 [[ 7.73567217e-02 -9.97003470e-01 -1.33403071e-04 2.72929896e+02] [ 9.97002576e-01 7.73568311e-02 -1.33574211e-03 3.49862045e+02] [ 1.34205916e-03 -2.96745750e-05 9.99999099e-01 1.57772475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:349.89, Z:1.58 [[ 7.75268959e-02 -9.96990252e-01 -1.31543322e-04 2.72930961e+02] [ 9.96989358e-01 7.75270026e-02 -1.33591546e-03 3.49886670e+02] [ 1.34209285e-03 -2.75779128e-05 9.99999099e-01 1.57970734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:349.92, Z:1.58 [[ 7.79224048e-02 -9.96959419e-01 -1.23803770e-04 2.72933338e+02] [ 9.96958523e-01 7.79225007e-02 -1.33663233e-03 3.49915183e+02] [ 1.34221529e-03 -1.92736185e-05 9.99999099e-01 1.57868581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:349.94, Z:1.58 [[ 7.76773603e-02 -9.96978541e-01 -1.27010574e-04 2.72934798e+02] [ 9.96977646e-01 7.76774608e-02 -1.33633588e-03 3.49942344e+02] [ 1.34216406e-03 -2.28236590e-05 9.99999099e-01 1.57751114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:349.97, Z:1.58 [[ 7.75577978e-02 -9.96987850e-01 -1.24313687e-04 2.72936289e+02] [ 9.96986954e-01 7.75578948e-02 -1.33658395e-03 3.49969897e+02] [ 1.34219946e-03 -2.02766167e-05 9.99999099e-01 1.57685014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.00, Z:1.58 [[ 7.81835125e-02 -9.96938977e-01 -1.22597507e-04 2.72938816e+02] [ 9.96938081e-01 7.81836066e-02 -1.33674131e-03 3.49996305e+02] [ 1.34223463e-03 -1.77109927e-05 9.99999099e-01 1.57759171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.02, Z:1.58 [[ 7.59501582e-02 -9.97111608e-01 -1.22191813e-04 2.72939221e+02] [ 9.97110712e-01 7.59502537e-02 -1.33677839e-03 3.50024355e+02] [ 1.34219775e-03 -2.03102349e-05 9.99999099e-01 1.57550050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.05, Z:1.57 [[ 7.38789727e-02 -9.97267207e-01 -1.21750599e-04 2.72939462e+02] [ 9.97266312e-01 7.38790696e-02 -1.33681858e-03 3.50050719e+02] [ 1.34216015e-03 -2.26549876e-05 9.99999099e-01 1.57468407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.08, Z:1.57 [[ 7.26830949e-02 -9.97355079e-01 -1.21197958e-04 2.72940696e+02] [ 9.97354183e-01 7.26831921e-02 -1.33686870e-03 3.50077847e+02] [ 1.34214184e-03 -2.37095362e-05 9.99999099e-01 1.57437835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.11, Z:1.57 [[ 7.17787432e-02 -9.97420572e-01 -1.20173391e-04 2.72942350e+02] [ 9.97419676e-01 7.17788398e-02 -1.33696129e-03 3.50105575e+02] [ 1.34213860e-03 -2.38979033e-05 9.99999099e-01 1.57459346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:350.13, Z:1.58 [[ 7.05269265e-02 -9.97509869e-01 -1.20066983e-04 2.72943838e+02] [ 9.97508973e-01 7.05270241e-02 -1.33697086e-03 3.50132202e+02] [ 1.34210960e-03 -2.54754474e-05 9.99999099e-01 1.57614829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.16, Z:1.58 [[ 7.00362463e-02 -9.97544440e-01 -1.20934985e-04 2.72945342e+02] [ 9.97543544e-01 7.00363455e-02 -1.33689298e-03 3.50157293e+02] [ 1.34208000e-03 -2.70069479e-05 9.99999099e-01 1.57823526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.19, Z:1.58 [[ 6.88006122e-02 -9.97630423e-01 -1.19508471e-04 2.72945545e+02] [ 9.97629528e-01 6.88007106e-02 -1.33702049e-03 3.50185426e+02] [ 1.34207458e-03 -2.72373518e-05 9.99999099e-01 1.57735783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.21, Z:1.58 [[ 6.88627204e-02 -9.97626138e-01 -1.18337589e-04 2.72947647e+02] [ 9.97625243e-01 6.88628172e-02 -1.33712481e-03 3.50213341e+02] [ 1.34209972e-03 -2.59785147e-05 9.99999099e-01 1.57501773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.24, Z:1.58 [[ 6.95342483e-02 -9.97579557e-01 -1.23238354e-04 2.72948953e+02] [ 9.97578662e-01 6.95343510e-02 -1.33668817e-03 3.50240872e+02] [ 1.34202210e-03 -2.99943447e-05 9.99999099e-01 1.57521958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.95, Y:350.27, Z:1.58 [[ 7.06691974e-02 -9.97499799e-01 -1.22640975e-04 2.72950288e+02] [ 9.97498904e-01 7.06692984e-02 -1.33674090e-03 3.50267175e+02] [ 1.34206573e-03 -2.78678324e-05 9.99999099e-01 1.57757230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.29, Z:1.58 [[ 7.27731429e-02 -9.97348513e-01 -1.16648016e-04 2.72951080e+02] [ 9.97347617e-01 7.27732339e-02 -1.33726685e-03 3.50294859e+02] [ 1.34220996e-03 -1.90215086e-05 9.99999099e-01 1.57541148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:350.32, Z:1.58 [[ 7.45263779e-02 -9.97219035e-01 -1.21088682e-04 2.72952901e+02] [ 9.97218139e-01 7.45264732e-02 -1.33687733e-03 3.50321190e+02] [ 1.34218383e-03 -2.11192047e-05 9.99999099e-01 1.57844126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:350.35, Z:1.58 [[ 7.57426058e-02 -9.97127397e-01 -1.13761451e-04 2.72955404e+02] [ 9.97126500e-01 7.57426903e-02 -1.33751498e-03 3.50348317e+02] [ 1.34228943e-03 -1.21276873e-05 9.99999099e-01 1.57921450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:350.37, Z:1.58 [[ 7.82105201e-02 -9.96936859e-01 -1.21625828e-04 2.72956893e+02] [ 9.96935962e-01 7.82106129e-02 -1.33683110e-03 3.50372987e+02] [ 1.34224863e-03 -1.66989062e-05 9.99999099e-01 1.57918135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:350.40, Z:1.58 [[ 7.73122970e-02 -9.97006919e-01 -1.15584161e-04 2.72957572e+02] [ 9.97006022e-01 7.73123825e-02 -1.33735327e-03 3.50398872e+02] [ 1.34228655e-03 -1.18442514e-05 9.99999099e-01 1.57741073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:350.43, Z:1.58 [[ 7.65659220e-02 -9.97064515e-01 -1.13019654e-04 2.72960662e+02] [ 9.97063618e-01 7.65660048e-02 -1.33757457e-03 3.50425639e+02] [ 1.34230160e-03 -1.02751549e-05 9.99999099e-01 1.57683402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:350.45, Z:1.58 [[ 7.49139087e-02 -9.97189999e-01 -1.12078398e-04 2.72963238e+02] [ 9.97189102e-01 7.49139916e-02 -1.33765548e-03 3.50452274e+02] [ 1.34229291e-03 -1.15543569e-05 9.99999099e-01 1.57574468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:350.48, Z:1.58 [[ 7.36499102e-02 -9.97284151e-01 -1.10783351e-04 2.72966711e+02] [ 9.97283254e-01 7.36499926e-02 -1.33776640e-03 3.50480424e+02] [ 1.34229243e-03 -1.19560055e-05 9.99999099e-01 1.57649486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:350.51, Z:1.58 [[ 6.92006060e-02 -9.97602759e-01 -1.11307414e-04 2.72969499e+02] [ 9.97601862e-01 6.92006931e-02 -1.33772160e-03 3.50506515e+02] [ 1.34221731e-03 -1.84693387e-05 9.99999099e-01 1.57586077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.97, Y:350.53, Z:1.58 [[ 6.70406279e-02 -9.97750240e-01 -1.09888590e-04 2.72972154e+02] [ 9.97749344e-01 6.70407150e-02 -1.33784269e-03 3.50533034e+02] [ 1.34219987e-03 -1.99514544e-05 9.99999099e-01 1.57572121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.762755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.98, Y:350.56, Z:1.58 [[ 6.36573735e-02 -9.97971807e-01 -1.08098605e-04 2.72976355e+02] [ 9.97970910e-01 6.36574612e-02 -1.33799500e-03 3.50559573e+02] [ 1.34216257e-03 -2.27060162e-05 9.99999099e-01 1.57627197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:350.59, Z:1.58 [[ 6.10428606e-02 -9.98135140e-01 -1.10204646e-04 2.72978386e+02] [ 9.98134244e-01 6.10429535e-02 -1.33781643e-03 3.50586061e+02] [ 1.34204880e-03 -2.83348895e-05 9.99999099e-01 1.57596033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.98, Y:350.61, Z:1.58 [[ 5.96745327e-02 -9.98217881e-01 -1.08602076e-04 2.72982086e+02] [ 9.98216985e-01 5.96746247e-02 -1.33795189e-03 3.50614281e+02] [ 1.34204829e-03 -2.85667835e-05 9.99999099e-01 1.57623969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:350.64, Z:1.58 [[ 5.68064276e-02 -9.98385205e-01 -1.09739883e-04 2.72985910e+02] [ 9.98384309e-01 5.68065236e-02 -1.33785595e-03 3.50639892e+02] [ 1.34192953e-03 -3.35637601e-05 9.99999099e-01 1.57530478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.99, Y:350.67, Z:1.58 [[ 5.58989805e-02 -9.98436424e-01 -1.08648193e-04 2.72988906e+02] [ 9.98435528e-01 5.58990759e-02 -1.33794767e-03 3.50667220e+02] [ 1.34192902e-03 -3.36883052e-05 9.99999099e-01 1.57560831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:350.69, Z:1.58 [[ 5.68636769e-02 -9.98381946e-01 -1.08091749e-04 2.72992949e+02] [ 9.98381050e-01 5.68637707e-02 -1.33799423e-03 3.50694559e+02] [ 1.34197578e-03 -3.18334825e-05 9.99999099e-01 1.57733599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:350.72, Z:1.57 [[ 5.58087779e-02 -9.98441470e-01 -1.11724039e-04 2.72993199e+02] [ 9.98440574e-01 5.58088775e-02 -1.33769086e-03 3.50720267e+02] [ 1.34184122e-03 -3.68949216e-05 9.99999099e-01 1.57377340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:350.75, Z:1.58 [[ 5.85343595e-02 -9.98285389e-01 -1.05805407e-04 2.72998028e+02] [ 9.98284492e-01 5.85344487e-02 -1.33818273e-03 3.50747544e+02] [ 1.34208153e-03 -2.72942276e-05 9.99999099e-01 1.57653923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:350.77, Z:1.57 [[ 5.82626155e-02 -9.98301285e-01 -1.11031889e-04 2.72998662e+02] [ 9.98300389e-01 5.82627120e-02 -1.33774894e-03 3.50772874e+02] [ 1.34194550e-03 -3.29024264e-05 9.99999099e-01 1.57251732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:350.80, Z:1.57 [[ 6.08495534e-02 -9.98146943e-01 -1.06188473e-04 2.73001141e+02] [ 9.98146047e-01 6.08496411e-02 -1.33814962e-03 3.50799456e+02] [ 1.34213148e-03 -2.45657983e-05 9.99999099e-01 1.57128871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:350.83, Z:1.57 [[ 6.21651184e-02 -9.98065873e-01 -1.04837775e-04 2.73004401e+02] [ 9.98064976e-01 6.21652031e-02 -1.33826106e-03 3.50827038e+02] [ 1.34218995e-03 -2.14417545e-05 9.99999099e-01 1.57088501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:350.85, Z:1.57 [[ 6.18174403e-02 -9.98087467e-01 -1.07268259e-04 2.73006418e+02] [ 9.98086571e-01 6.18175286e-02 -1.33806121e-03 3.50853715e+02] [ 1.34213318e-03 -2.43474898e-05 9.99999099e-01 1.57092164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:350.88, Z:1.57 [[ 6.21890726e-02 -9.98064381e-01 -1.06792866e-04 2.73008560e+02] [ 9.98063484e-01 6.21891599e-02 -1.33810013e-03 3.50881270e+02] [ 1.34215143e-03 -2.33708543e-05 9.99999099e-01 1.57013872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:350.91, Z:1.57 [[ 6.28276982e-02 -9.98024383e-01 -1.04333728e-04 2.73010499e+02] [ 9.98023486e-01 6.28277817e-02 -1.33830051e-03 3.50908253e+02] [ 1.34221159e-03 -2.00451704e-05 9.99999099e-01 1.56909099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:350.94, Z:1.57 [[ 6.33532208e-02 -9.97991162e-01 -1.01517776e-04 2.73012194e+02] [ 9.97990264e-01 6.33533000e-02 -1.33852906e-03 3.50935005e+02] [ 1.34227166e-03 -1.65136245e-05 9.99999099e-01 1.56928478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:350.96, Z:1.57 [[ 6.38288103e-02 -9.97960857e-01 -1.01019095e-04 2.73014266e+02] [ 9.97959960e-01 6.38288884e-02 -1.33856941e-03 3.50962646e+02] [ 1.34228781e-03 -1.53737196e-05 9.99999099e-01 1.57010641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.242755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:273.02, Y:350.99, Z:1.57 [[ 6.41388960e-02 -9.97940976e-01 -1.02456606e-04 2.73017518e+02] [ 9.97940079e-01 6.41389757e-02 -1.33845340e-03 3.50990622e+02] [ 1.34226896e-03 -1.63986301e-05 9.99999099e-01 1.57120000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.01, Z:1.57 [[ 6.31222920e-02 -9.98005794e-01 -1.07877185e-04 2.73016655e+02] [ 9.98004897e-01 6.31223799e-02 -1.33801637e-03 3.51011951e+02] [ 1.34215756e-03 -2.32032986e-05 9.99999099e-01 1.57202886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.04, Z:1.58 [[ 6.25476378e-02 -9.98041976e-01 -8.63356172e-05 2.73019423e+02] [ 9.98041077e-01 6.25476974e-02 -1.33971194e-03 3.51039549e+02] [ 1.34248885e-03 -2.37067507e-06 9.99999099e-01 1.57644893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.07, Z:1.58 [[ 6.14742795e-02 -9.98108663e-01 -9.53243276e-05 2.73020776e+02] [ 9.98107765e-01 6.14743521e-02 -1.33900116e-03 3.51066464e+02] [ 1.34232866e-03 -1.28298202e-05 9.99999099e-01 1.57925011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.09, Z:1.58 [[ 5.69316200e-02 -9.98378075e-01 -9.67304601e-05 2.73018366e+02] [ 9.98377178e-01 5.69316986e-02 -1.33888996e-03 3.51093828e+02] [ 1.34222541e-03 -2.03483093e-05 9.99999099e-01 1.57602104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.12, Z:1.58 [[ 5.74558630e-02 -9.98348043e-01 -9.87382871e-05 2.73021223e+02] [ 9.98347145e-01 5.74559438e-02 -1.33873154e-03 3.51119783e+02] [ 1.34219311e-03 -2.16571112e-05 9.99999099e-01 1.58003243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.15, Z:1.58 [[ 5.23088378e-02 -9.98630951e-01 -9.84059189e-05 2.73019615e+02] [ 9.98630054e-01 5.23089227e-02 -1.33875775e-03 3.51146306e+02] [ 1.34207243e-03 -2.82422462e-05 9.99999099e-01 1.57607584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.17, Z:1.58 [[ 5.08468925e-02 -9.98706456e-01 -9.58664991e-05 2.73021525e+02] [ 9.98705558e-01 5.08469754e-02 -1.33895820e-03 3.51174771e+02] [ 1.34210072e-03 -2.76605417e-05 9.99999099e-01 1.57578478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.02, Y:351.20, Z:1.58 [[ 4.96723282e-02 -9.98765563e-01 -9.67100914e-05 2.73023606e+02] [ 9.98764666e-01 4.96724132e-02 -1.33889168e-03 3.51201377e+02] [ 1.34204273e-03 -3.00847552e-05 9.99999099e-01 1.57545314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:351.23, Z:1.58 [[ 4.97708876e-02 -9.98760657e-01 -9.54831333e-05 2.73027793e+02] [ 9.98759760e-01 4.97709709e-02 -1.33898765e-03 3.51229871e+02] [ 1.34208047e-03 -2.87221076e-05 9.99999099e-01 1.57970292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:351.26, Z:1.58 [[ 5.00769836e-02 -9.98745355e-01 -1.05038270e-04 2.73029247e+02] [ 9.98744459e-01 5.00770795e-02 -1.33824077e-03 3.51255860e+02] [ 1.34182176e-03 -3.78913286e-05 9.99999099e-01 1.57907089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:351.28, Z:1.58 [[ 5.13731161e-02 -9.98679524e-01 -1.04112957e-04 2.73030104e+02] [ 9.98678628e-01 5.13732095e-02 -1.33831275e-03 3.51281433e+02] [ 1.34189416e-03 -3.52220883e-05 9.99999099e-01 1.57766495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:351.31, Z:1.58 [[ 5.19043026e-02 -9.98652058e-01 -1.03593571e-04 2.73031259e+02] [ 9.98651162e-01 5.19043948e-02 -1.33835296e-03 3.51308789e+02] [ 1.34192589e-03 -3.39875633e-05 9.99999099e-01 1.57760461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:351.33, Z:1.57 [[ 5.12924500e-02 -9.98683671e-01 -1.04393671e-04 2.73030725e+02] [ 9.98682774e-01 5.12925438e-02 -1.33829126e-03 3.51334169e+02] [ 1.34188424e-03 -3.56119234e-05 9.99999099e-01 1.57293605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.36, Z:1.58 [[ 5.33185312e-02 -9.98577551e-01 -9.48385699e-05 2.73035017e+02] [ 9.98576653e-01 5.33186105e-02 -1.33902323e-03 3.51361386e+02] [ 1.34217520e-03 -2.33088299e-05 9.99999099e-01 1.57689852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.39, Z:1.58 [[ 5.33088093e-02 -9.98578069e-01 -1.02012428e-04 2.73037334e+02] [ 9.98577173e-01 5.33088982e-02 -1.33847520e-03 3.51386994e+02] [ 1.34201015e-03 -3.05147625e-05 9.99999099e-01 1.57762408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.41, Z:1.58 [[ 5.34054359e-02 -9.98572907e-01 -9.96991076e-05 2.73040895e+02] [ 9.98572010e-01 5.34055216e-02 -1.33865121e-03 3.51414131e+02] [ 1.34206531e-03 -2.80654868e-05 9.99999099e-01 1.57978089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.44, Z:1.58 [[ 5.00212117e-02 -9.98748151e-01 -1.01419879e-04 2.73039359e+02] [ 9.98747254e-01 5.00213027e-02 -1.33852083e-03 3.51438482e+02] [ 1.34191836e-03 -3.43383918e-05 9.99999099e-01 1.57709351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.46, Z:1.58 [[ 5.05497545e-02 -9.98721540e-01 -8.71458685e-05 2.73043069e+02] [ 9.98720642e-01 5.05498259e-02 -1.33959306e-03 3.51464507e+02] [ 1.34228565e-03 -1.93182776e-05 9.99999099e-01 1.57715233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:351.49, Z:1.58 [[ 4.82527322e-02 -9.98835155e-01 -8.30448576e-05 2.73043771e+02] [ 9.98834257e-01 4.82528002e-02 -1.33989326e-03 3.51491898e+02] [ 1.34233964e-03 -1.82945378e-05 9.99999099e-01 1.57999205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:351.52, Z:1.58 [[ 4.66577713e-02 -9.98910930e-01 -8.65735728e-05 2.73046541e+02] [ 9.98910031e-01 4.66578455e-02 -1.33963577e-03 3.51521210e+02] [ 1.34221615e-03 -2.39747908e-05 9.99999099e-01 1.58035013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:351.55, Z:1.58 [[ 4.55356721e-02 -9.98962708e-01 -1.01481191e-04 2.73048438e+02] [ 9.98961812e-01 4.55357673e-02 -1.33855007e-03 3.51546555e+02] [ 1.34178262e-03 -4.04240576e-05 9.99999099e-01 1.58034793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:351.57, Z:1.58 [[ 4.42288729e-02 -9.99021420e-01 -9.46546261e-05 2.73049747e+02] [ 9.99020523e-01 4.42289600e-02 -1.33904388e-03 3.51573378e+02] [ 1.34191999e-03 -3.53375128e-05 9.99999099e-01 1.57923695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:351.60, Z:1.58 [[ 4.45522915e-02 -9.99007049e-01 -9.65958393e-05 2.73051868e+02] [ 9.99006153e-01 4.45523810e-02 -1.33890410e-03 3.51598049e+02] [ 1.34187821e-03 -3.68485919e-05 9.99999099e-01 1.57794028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:351.63, Z:1.58 [[ 4.25015049e-02 -9.99096399e-01 -8.81746907e-05 2.73053461e+02] [ 9.99095501e-01 4.25015849e-02 -1.33950711e-03 3.51626858e+02] [ 1.34204429e-03 -3.11638690e-05 9.99999099e-01 1.57740090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:351.66, Z:1.58 [[ 4.57734850e-02 -9.98951840e-01 -9.55875332e-05 2.73060928e+02] [ 9.98950943e-01 4.57735720e-02 -1.33897792e-03 3.51660196e+02] [ 1.34194984e-03 -3.41975709e-05 9.99999099e-01 1.57520242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:351.68, Z:1.58 [[ 4.50086787e-02 -9.98986589e-01 -1.21526473e-04 2.73058686e+02] [ 9.98985696e-01 4.50088011e-02 -1.33707706e-03 3.51680188e+02] [ 1.34119181e-03 -6.12231367e-05 9.99999099e-01 1.57539190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.06, Y:351.71, Z:1.57 [[ 4.53748258e-02 -9.98970028e-01 -9.35435333e-05 2.73059120e+02] [ 9.98969131e-01 4.53749105e-02 -1.33909043e-03 3.51705193e+02] [ 1.34195574e-03 -3.26861070e-05 9.99999099e-01 1.57478835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.082755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.06, Y:351.73, Z:1.57 [[ 4.84711209e-02 -9.98824580e-01 -9.07575329e-05 2.73059883e+02] [ 9.98823683e-01 4.84711991e-02 -1.33928942e-03 3.51729972e+02] [ 1.34211432e-03 -2.57339138e-05 9.99999099e-01 1.57408507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:351.76, Z:1.57 [[ 5.02038986e-02 -9.98738985e-01 -8.89783541e-05 2.73060713e+02] [ 9.98738087e-01 5.02039728e-02 -1.33941628e-03 3.51755903e+02] [ 1.34219432e-03 -2.16221522e-05 9.99999099e-01 1.57489332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:351.79, Z:1.57 [[ 5.41948153e-02 -9.98530377e-01 -8.92437142e-05 2.73063017e+02] [ 9.98529479e-01 5.41948863e-02 -1.33939722e-03 3.51788430e+02] [ 1.34226536e-03 -1.65240945e-05 9.99999099e-01 1.57459572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.06, Y:351.81, Z:1.58 [[ 5.39523599e-02 -9.98543505e-01 -1.11262922e-04 2.73061438e+02] [ 9.98542609e-01 5.39524606e-02 -1.33780817e-03 3.51810318e+02] [ 1.34186257e-03 -3.89228603e-05 9.99999099e-01 1.57577028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:351.84, Z:1.58 [[ 5.34904930e-02 -9.98568355e-01 -8.95308276e-05 2.73062161e+02] [ 9.98567457e-01 5.34905650e-02 -1.33934932e-03 3.51838162e+02] [ 1.34222090e-03 -1.77601153e-05 9.99999099e-01 1.57534279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:351.87, Z:1.57 [[ 5.47655920e-02 -9.98499234e-01 -9.45769076e-05 2.73066217e+02] [ 9.98498337e-01 5.47656696e-02 -1.33899290e-03 3.51868637e+02] [ 1.34216295e-03 -2.11041461e-05 9.99999099e-01 1.57439626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:351.89, Z:1.58 [[ 5.36295891e-02 -9.98560892e-01 -1.08472168e-04 2.73065912e+02] [ 9.98559996e-01 5.36296863e-02 -1.33799526e-03 3.51892128e+02] [ 1.34188707e-03 -3.65598312e-05 9.99999099e-01 1.57659943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:351.92, Z:1.58 [[ 5.17529949e-02 -9.98659911e-01 -9.44630182e-05 2.73067141e+02] [ 9.98659014e-01 5.17530751e-02 -1.33898855e-03 3.51919154e+02] [ 1.34208294e-03 -2.50396769e-05 9.99999099e-01 1.57658197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:351.95, Z:1.58 [[ 5.06648154e-02 -9.98715709e-01 -9.43675987e-05 2.73069033e+02] [ 9.98714812e-01 5.06648964e-02 -1.33899528e-03 3.51945060e+02] [ 1.34205674e-03 -2.64063700e-05 9.99999099e-01 1.57668309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:351.97, Z:1.58 [[ 4.80819931e-02 -9.98843388e-01 -9.38538410e-05 2.73070278e+02] [ 9.98842491e-01 4.80820758e-02 -1.33903129e-03 3.51970069e+02] [ 1.34199523e-03 -2.93619111e-05 9.99999099e-01 1.57687937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:352.00, Z:1.58 [[ 4.62894689e-02 -9.98928064e-01 -9.33181339e-05 2.73071206e+02] [ 9.98927167e-01 4.62895524e-02 -1.33906862e-03 3.51995806e+02] [ 1.34195288e-03 -3.12332439e-05 9.99999099e-01 1.57700934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:352.03, Z:1.58 [[ 4.28946577e-02 -9.99079596e-01 -9.27906931e-05 2.73071786e+02] [ 9.99078700e-01 4.28947436e-02 -1.33910517e-03 3.52025420e+02] [ 1.34185288e-03 -3.52647472e-05 9.99999099e-01 1.57750835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:352.05, Z:1.58 [[ 4.15671755e-02 -9.99135706e-01 -1.02531499e-04 2.73073568e+02] [ 9.99134811e-01 4.15672756e-02 -1.33843065e-03 3.52050089e+02] [ 1.34153581e-03 -4.68080077e-05 9.99999099e-01 1.57727909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:352.07, Z:1.58 [[ 3.81487743e-02 -9.99272066e-01 -9.17017255e-05 2.73072159e+02] [ 9.99271170e-01 3.81488630e-02 -1.33917223e-03 3.52074032e+02] [ 1.34169572e-03 -4.05471112e-05 9.99999099e-01 1.57546859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.10, Z:1.57 [[ 3.79806512e-02 -9.99278472e-01 -7.89542529e-05 2.73076250e+02] [ 9.99277574e-01 3.79807229e-02 -1.34003124e-03 3.52102120e+02] [ 1.34206311e-03 -2.80019552e-05 9.99999099e-01 1.57490256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.13, Z:1.57 [[ 3.72310172e-02 -9.99306681e-01 -9.01733472e-05 2.73078031e+02] [ 9.99305785e-01 3.72311046e-02 -1.33927586e-03 3.52128518e+02] [ 1.34170457e-03 -4.02481450e-05 9.99999099e-01 1.57404263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:352.15, Z:1.57 [[ 3.17273624e-02 -9.99496557e-01 -8.96884718e-05 2.73074071e+02] [ 9.99495660e-01 3.17274542e-02 -1.33930833e-03 3.52151911e+02] [ 1.34147965e-03 -4.71505176e-05 9.99999099e-01 1.56891942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.18, Z:1.57 [[ 3.49749505e-02 -9.99388187e-01 -7.30002557e-05 2.73079827e+02] [ 9.99387288e-01 3.49750170e-02 -1.34040219e-03 3.52180548e+02] [ 1.34213530e-03 -2.60750271e-05 9.99999099e-01 1.57054394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.21, Z:1.57 [[ 3.41975048e-02 -9.99415091e-01 -8.28067493e-05 2.73081339e+02] [ 9.99414194e-01 3.41975851e-02 -1.33976037e-03 3.52205974e+02] [ 1.34180853e-03 -3.69417788e-05 9.99999099e-01 1.57103319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.23, Z:1.57 [[ 3.11849876e-02 -9.99513627e-01 -7.79111745e-05 2.73081599e+02] [ 9.99512729e-01 3.11850640e-02 -1.34007740e-03 3.52232993e+02] [ 1.34185528e-03 -3.60829137e-05 9.99999099e-01 1.57148273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.26, Z:1.57 [[ 2.99815587e-02 -9.99550449e-01 -8.20386418e-05 2.73083433e+02] [ 9.99549552e-01 2.99816417e-02 -1.33981063e-03 3.52260581e+02] [ 1.34166797e-03 -4.18320767e-05 9.99999099e-01 1.57059487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.29, Z:1.57 [[ 2.85502991e-02 -9.99592354e-01 -8.62342081e-05 2.73085526e+02] [ 9.99591457e-01 2.85503890e-02 -1.33954053e-03 3.52287468e+02] [ 1.34145649e-03 -4.79546949e-05 9.99999099e-01 1.57004231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.31, Z:1.57 [[ 2.88580462e-02 -9.99583516e-01 -8.57507877e-05 2.73086863e+02] [ 9.99582620e-01 2.88581352e-02 -1.33957148e-03 3.52312063e+02] [ 1.34148818e-03 -4.70575814e-05 9.99999099e-01 1.56901403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.34, Z:1.57 [[ 3.13349812e-02 -9.99508936e-01 -7.93298820e-05 2.73084521e+02] [ 9.99508038e-01 3.13350594e-02 -1.33997964e-03 3.52339813e+02] [ 1.34180744e-03 -3.73026178e-05 9.99999099e-01 1.57000091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.37, Z:1.57 [[ 3.45198287e-02 -9.99404010e-01 -8.17437398e-05 2.73085957e+02] [ 9.99403112e-01 3.45199073e-02 -1.33982697e-03 3.52369748e+02] [ 1.34185023e-03 -3.54443506e-05 9.99999099e-01 1.56788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.39, Z:1.57 [[ 3.32127357e-02 -9.99448300e-01 -9.64169733e-05 2.73082558e+02] [ 9.99447405e-01 3.32128351e-02 -1.33891541e-03 3.52393811e+02] [ 1.34137901e-03 -5.18946502e-05 9.99999099e-01 1.56915136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.42, Z:1.57 [[ 3.64905799e-02 -9.99333994e-01 -8.23742932e-05 2.73081030e+02] [ 9.99333096e-01 3.64906576e-02 -1.33977880e-03 3.52420639e+02] [ 1.34189239e-03 -3.34300520e-05 9.99999099e-01 1.56956072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.45, Z:1.57 [[ 4.04493467e-02 -9.99181587e-01 -8.19990798e-05 2.73085181e+02] [ 9.99180689e-01 4.04494203e-02 -1.33980177e-03 3.52453036e+02] [ 1.34202207e-03 -2.77377909e-05 9.99999099e-01 1.56864695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.47, Z:1.57 [[ 3.82756684e-02 -9.99267213e-01 -1.00568293e-04 2.73081805e+02] [ 9.99266318e-01 3.82757688e-02 -1.33864692e-03 3.52474727e+02] [ 1.34151530e-03 -4.92569027e-05 9.99999099e-01 1.57089723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.51, Z:1.57 [[ 3.97695009e-02 -9.99208877e-01 -7.98674940e-05 2.73083653e+02] [ 9.99207979e-01 3.97695723e-02 -1.33991741e-03 3.52508335e+02] [ 1.34203366e-03 -2.65163906e-05 9.99999099e-01 1.57044161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.53, Z:1.57 [[ 3.79108677e-02 -9.99281119e-01 -1.06922387e-04 2.73080754e+02] [ 9.99280224e-01 3.79109769e-02 -1.33825626e-03 3.52529021e+02] [ 1.34134774e-03 -5.61109710e-05 9.99999099e-01 1.57130513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.56, Z:1.57 [[ 3.74939844e-02 -9.99296850e-01 -8.08480103e-05 2.73082036e+02] [ 9.99295952e-01 3.74940591e-02 -1.33982964e-03 3.52555918e+02] [ 1.34191886e-03 -3.05555379e-05 9.99999099e-01 1.57133429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.58, Z:1.57 [[ 3.48207852e-02 -9.99393569e-01 -8.02890460e-05 2.73081230e+02] [ 9.99392672e-01 3.48208615e-02 -1.33986313e-03 3.52583292e+02] [ 1.34184633e-03 -3.35851979e-05 9.99999099e-01 1.56942317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.61, Z:1.57 [[ 3.20740411e-02 -9.99485492e-01 -8.23152259e-05 2.73080362e+02] [ 9.99484595e-01 3.20741226e-02 -1.33974241e-03 3.52606353e+02] [ 1.34169329e-03 -3.93018472e-05 9.99999099e-01 1.57358795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.63, Z:1.57 [[ 2.95298242e-02 -9.99563897e-01 -7.30442388e-05 2.73081072e+02] [ 9.99562999e-01 2.95298956e-02 -1.34028925e-03 3.52631404e+02] [ 1.34186173e-03 -3.34338127e-05 9.99999099e-01 1.57398037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.66, Z:1.57 [[ 2.66511364e-02 -9.99644793e-01 -6.86653446e-05 2.73081389e+02] [ 9.99643895e-01 2.66512045e-02 -1.34054670e-03 3.52659761e+02] [ 1.34190054e-03 -3.29137997e-05 9.99999099e-01 1.57394762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.69, Z:1.58 [[ 2.42390862e-02 -9.99706187e-01 -7.52355432e-05 2.73081205e+02] [ 9.99705290e-01 2.42391653e-02 -1.34016040e-03 3.52686511e+02] [ 1.34159029e-03 -4.27291071e-05 9.99999099e-01 1.57502915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.71, Z:1.58 [[ 2.38661556e-02 -9.99715160e-01 -7.40354439e-05 2.73082218e+02] [ 9.99714263e-01 2.38662334e-02 -1.34023053e-03 3.52712265e+02] [ 1.34161573e-03 -4.20281389e-05 9.99999099e-01 1.57533657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.74, Z:1.57 [[ 2.31145033e-02 -9.99732822e-01 -6.96121182e-05 2.73083605e+02] [ 9.99731924e-01 2.31145759e-02 -1.34048644e-03 3.52741976e+02] [ 1.34173734e-03 -3.86087787e-05 9.99999099e-01 1.57410640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.77, Z:1.58 [[ 2.68264849e-02 -9.99640102e-01 -8.22579647e-05 2.73085667e+02] [ 9.99639205e-01 2.68265711e-02 -1.33975934e-03 3.52767546e+02] [ 1.34148386e-03 -4.62872526e-05 9.99999099e-01 1.57620471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.80, Z:1.58 [[ 2.59047136e-02 -9.99664413e-01 -8.07189922e-05 2.73084935e+02] [ 9.99663517e-01 2.59047985e-02 -1.33984731e-03 3.52795079e+02] [ 1.34148868e-03 -4.59834709e-05 9.99999099e-01 1.57833630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.82, Z:1.58 [[ 3.29145530e-02 -9.99458166e-01 -8.59338186e-05 2.73085783e+02] [ 9.99457269e-01 3.29146387e-02 -1.33954969e-03 3.52822099e+02] [ 1.34165236e-03 -4.17965002e-05 9.99999099e-01 1.57873885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.85, Z:1.58 [[ 3.33963278e-02 -9.99442184e-01 -8.37018420e-05 2.73082937e+02] [ 9.99441287e-01 3.33964100e-02 -1.33967451e-03 3.52847826e+02] [ 1.34172256e-03 -3.89148675e-05 9.99999099e-01 1.58082591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.88, Z:1.58 [[ 3.83008498e-02 -9.99266251e-01 -7.40617503e-05 2.73086665e+02] [ 9.99265352e-01 3.83009147e-02 -1.34020724e-03 3.52877697e+02] [ 1.34206049e-03 -2.26762649e-05 9.99999099e-01 1.57508519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.90, Z:1.58 [[ 4.07498316e-02 -9.99169377e-01 -8.92016771e-05 2.73082391e+02] [ 9.99168480e-01 4.07499146e-02 -1.33935784e-03 3.52902445e+02] [ 1.34188030e-03 -3.45488976e-05 9.99999099e-01 1.57893949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.93, Z:1.58 [[ 4.31871195e-02 -9.99066998e-01 -7.88453611e-05 2.73084528e+02] [ 9.99066100e-01 4.31871864e-02 -1.33993205e-03 3.52932356e+02] [ 1.34208700e-03 -2.09039218e-05 9.99999099e-01 1.57578465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:352.96, Z:1.58 [[ 4.57621496e-02 -9.98952360e-01 -8.73209035e-05 2.73087576e+02] [ 9.98951463e-01 4.57622256e-02 -1.33948285e-03 3.52964464e+02] [ 1.34207555e-03 -2.59317297e-05 9.99999099e-01 1.57862844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:352.98, Z:1.58 [[ 4.07687711e-02 -9.99168603e-01 -1.05702043e-04 2.73082008e+02] [ 9.99167707e-01 4.07688762e-02 -1.33851323e-03 3.52982755e+02] [ 1.34170974e-03 -5.10445281e-05 9.99999099e-01 1.57988981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.01, Z:1.58 [[ 4.07517277e-02 -9.99169301e-01 -6.90044449e-05 2.73085294e+02] [ 9.99168402e-01 4.07517836e-02 -1.34040243e-03 3.53013127e+02] [ 1.34210102e-03 -1.43233460e-05 9.99999099e-01 1.57673870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.04, Z:1.58 [[ 3.87984299e-02 -9.99247054e-01 -8.37301923e-05 2.73085175e+02] [ 9.99246156e-01 3.87985073e-02 -1.33964344e-03 3.53038502e+02] [ 1.34188337e-03 -3.16910107e-05 9.99999099e-01 1.57605908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.07, Z:1.58 [[ 3.61402287e-02 -9.99346725e-01 -8.07665426e-05 2.73086933e+02] [ 9.99345828e-01 3.61403045e-02 -1.33979467e-03 3.53068356e+02] [ 1.34183834e-03 -3.22932217e-05 9.99999099e-01 1.57690000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.09, Z:1.58 [[ 3.12434366e-02 -9.99511800e-01 -9.61476968e-05 2.73081817e+02] [ 9.99510905e-01 3.12435374e-02 -1.33901154e-03 3.53087113e+02] [ 1.34136182e-03 -5.42653494e-05 9.99999099e-01 1.57835129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.11, Z:1.58 [[ 2.93782239e-02 -9.99568365e-01 -6.67383184e-05 2.73081754e+02] [ 9.99567466e-01 2.93782870e-02 -1.34047349e-03 3.53112844e+02] [ 1.34185555e-03 -2.73287216e-05 9.99999099e-01 1.57705479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.14, Z:1.58 [[ 2.73949604e-02 -9.99624686e-01 -6.60935263e-05 2.73082024e+02] [ 9.99623787e-01 2.73950244e-02 -1.34050528e-03 3.53139079e+02] [ 1.34181280e-03 -2.93455721e-05 9.99999099e-01 1.57692008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.16, Z:1.58 [[ 2.41500508e-02 -9.99708343e-01 -6.56060464e-05 2.73081832e+02] [ 9.99707445e-01 2.41501171e-02 -1.34052913e-03 3.53164300e+02] [ 1.34172255e-03 -3.32130063e-05 9.99999099e-01 1.57697512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.19, Z:1.58 [[ 2.30063360e-02 -9.99735317e-01 -6.50995457e-05 2.73082085e+02] [ 9.99734419e-01 2.30064026e-02 -1.34055373e-03 3.53191158e+02] [ 1.34169662e-03 -3.42410269e-05 9.99999099e-01 1.57662814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.22, Z:1.58 [[ 2.12345883e-02 -9.99774519e-01 -6.46200414e-05 2.73081358e+02] [ 9.99773621e-01 2.12346559e-02 -1.34057684e-03 3.53217943e+02] [ 1.34164675e-03 -3.61388153e-05 9.99999099e-01 1.57693882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.25, Z:1.57 [[ 1.93203702e-02 -9.99813342e-01 -6.41038537e-05 2.73081872e+02] [ 9.99812444e-01 1.93204388e-02 -1.34060153e-03 3.53248207e+02] [ 1.34158981e-03 -3.81909128e-05 9.99999099e-01 1.57337380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.27, Z:1.58 [[ 1.93761792e-02 -9.99812261e-01 -7.79911563e-05 2.73081924e+02] [ 9.99811365e-01 1.93762664e-02 -1.33993714e-03 3.53272005e+02] [ 1.34119676e-03 -5.20135822e-05 9.99999099e-01 1.57652913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.30, Z:1.58 [[ 1.98840579e-02 -9.99802290e-01 -6.80475347e-05 2.73082037e+02] [ 9.99801393e-01 1.98841312e-02 -1.34041064e-03 3.53297329e+02] [ 1.34149869e-03 -4.13812172e-05 9.99999099e-01 1.57569178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.32, Z:1.58 [[ 1.91477588e-02 -9.99816663e-01 -6.32614764e-05 2.73082686e+02] [ 9.99815765e-01 1.91478264e-02 -1.34063648e-03 3.53324728e+02] [ 1.34160201e-03 -3.75796375e-05 9.99999099e-01 1.57666924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.35, Z:1.58 [[ 1.73032262e-02 -9.99850286e-01 -6.27921816e-05 2.73083399e+02] [ 9.99849388e-01 1.73032949e-02 -1.34065846e-03 3.53353079e+02] [ 1.34154426e-03 -3.95850077e-05 9.99999099e-01 1.57937990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.38, Z:1.58 [[ 1.66769924e-02 -9.99860927e-01 -6.96656188e-05 2.73084084e+02] [ 9.99860030e-01 1.66770709e-02 -1.34033731e-03 3.53377927e+02] [ 1.34131272e-03 -4.73030725e-05 9.99999099e-01 1.57999067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.08, Y:353.40, Z:1.58 [[ 1.70375718e-02 -9.99854848e-01 -6.84732027e-05 2.73084848e+02] [ 9.99853950e-01 1.70376483e-02 -1.34039252e-03 3.53403031e+02] [ 1.34136458e-03 -4.56261686e-05 9.99999099e-01 1.58015981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.43, Z:1.58 [[ 1.81920773e-02 -9.99834509e-01 -6.34214764e-05 2.73086040e+02] [ 9.99833610e-01 1.81921460e-02 -1.34062314e-03 3.53428053e+02] [ 1.34155505e-03 -3.90222040e-05 9.99999099e-01 1.58007328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.45, Z:1.58 [[ 1.84750385e-02 -9.99829320e-01 -6.06498253e-05 2.73087391e+02] [ 9.99828422e-01 1.84751033e-02 -1.34074852e-03 3.53454373e+02] [ 1.34164019e-03 -3.58690386e-05 9.99999099e-01 1.58023314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.48, Z:1.58 [[ 1.96109444e-02 -9.99807685e-01 -6.01370591e-05 2.73088786e+02] [ 9.99806787e-01 1.96110074e-02 -1.34077152e-03 3.53480307e+02] [ 1.34169302e-03 -3.38316442e-05 9.99999099e-01 1.58052549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.51, Z:1.58 [[ 2.03939471e-02 -9.99792020e-01 -5.96226250e-05 2.73089484e+02] [ 9.99791122e-01 2.03940087e-02 -1.34079439e-03 3.53506038e+02] [ 1.34173148e-03 -3.22660811e-05 9.99999099e-01 1.57983987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.53, Z:1.58 [[ 2.19799782e-02 -9.99758409e-01 -5.90862179e-05 2.73090657e+02] [ 9.99757511e-01 2.19800377e-02 -1.34081803e-03 3.53533248e+02] [ 1.34179282e-03 -2.96007390e-05 9.99999099e-01 1.57956389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.56, Z:1.58 [[ 2.57363902e-02 -9.99668763e-01 -5.85964866e-05 2.73091453e+02] [ 9.99667864e-01 2.57364456e-02 -1.34083943e-03 3.53559787e+02] [ 1.34190336e-03 -2.40686578e-05 9.99999099e-01 1.57949611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.59, Z:1.58 [[ 2.77049390e-02 -9.99616143e-01 -5.80838178e-05 2.73092413e+02] [ 9.99615244e-01 2.77049920e-02 -1.34086164e-03 3.53586510e+02] [ 1.34195615e-03 -2.09129797e-05 9.99999099e-01 1.58020674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:353.61, Z:1.58 [[ 3.18769193e-02 -9.99491800e-01 -5.76069411e-05 2.73093906e+02] [ 9.99490901e-01 3.18769679e-02 -1.34088213e-03 3.53613865e+02] [ 1.34203703e-03 -1.48344220e-05 9.99999099e-01 1.58156803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.64, Z:1.58 [[ 3.39230183e-02 -9.99424447e-01 -5.71278877e-05 2.73095659e+02] [ 9.99423548e-01 3.39230644e-02 -1.34090254e-03 3.53640932e+02] [ 1.34206873e-03 -1.16074948e-05 9.99999099e-01 1.58208547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.67, Z:1.58 [[ 3.56216226e-02 -9.99365347e-01 -5.66518566e-05 2.73097259e+02] [ 9.99364447e-01 3.56216666e-02 -1.34092265e-03 3.53668209e+02] [ 1.34208966e-03 -8.85001072e-06 9.99999099e-01 1.58214798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.69, Z:1.58 [[ 3.82068302e-02 -9.99269851e-01 -5.61771082e-05 2.73098949e+02] [ 9.99268951e-01 3.82068712e-02 -1.34094254e-03 3.53693081e+02] [ 1.34210980e-03 -4.90287615e-06 9.99999099e-01 1.58172283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.72, Z:1.58 [[ 3.60413144e-02 -9.99350299e-01 -5.56263851e-05 2.73099018e+02] [ 9.99349400e-01 3.60413566e-02 -1.34096538e-03 3.53722492e+02] [ 1.34209901e-03 -7.26003951e-06 9.99999099e-01 1.58018865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.75, Z:1.58 [[ 4.03118268e-02 -9.99187146e-01 -6.60209134e-05 2.73102509e+02] [ 9.99186247e-01 4.03118791e-02 -1.34053517e-03 3.53746080e+02] [ 1.34210694e-03 -1.19277672e-05 9.99999099e-01 1.58150017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:353.77, Z:1.58 [[ 4.01648335e-02 -9.99193066e-01 -5.45577265e-05 2.73104512e+02] [ 9.99192166e-01 4.01648706e-02 -1.34100154e-03 3.53772160e+02] [ 1.34211074e-03 -6.52549304e-07 9.99999099e-01 1.58167790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:353.80, Z:1.58 [[ 3.96950534e-02 -9.99211839e-01 -5.40475361e-05 2.73108686e+02] [ 9.99210939e-01 3.96950902e-02 -1.34102210e-03 3.53798892e+02] [ 1.34211058e-03 -7.72945350e-07 9.99999099e-01 1.58289984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:353.83, Z:1.58 [[ 3.85834055e-02 -9.99255382e-01 -5.35603118e-05 2.73110809e+02] [ 9.99254482e-01 3.85834427e-02 -1.34104156e-03 3.53825655e+02] [ 1.34210954e-03 -1.77843121e-06 9.99999099e-01 1.58292950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:353.85, Z:1.58 [[ 3.78464317e-02 -9.99283566e-01 -5.30361064e-05 2.73112771e+02] [ 9.99282666e-01 3.78464688e-02 -1.34106229e-03 3.53852596e+02] [ 1.34210874e-03 -2.24363933e-06 9.99999099e-01 1.58325809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.512755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.12, Y:353.88, Z:1.58 [[ 3.66815415e-02 -9.99327005e-01 -5.25640071e-05 2.73115754e+02] [ 9.99326105e-01 3.66815790e-02 -1.34108080e-03 3.53878089e+02] [ 1.34210639e-03 -3.33567358e-06 9.99999099e-01 1.58300921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:353.91, Z:1.58 [[ 3.62639653e-02 -9.99342245e-01 -5.20174842e-05 2.73118417e+02] [ 9.99341345e-01 3.62640025e-02 -1.34110200e-03 3.53905458e+02] [ 1.34210624e-03 -3.34954640e-06 9.99999099e-01 1.58058079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.12, Y:353.93, Z:1.58 [[ 3.70486173e-02 -9.99313463e-01 -5.15335047e-05 2.73122706e+02] [ 9.99312563e-01 3.70486531e-02 -1.34112059e-03 3.53931860e+02] [ 1.34210911e-03 -1.81141505e-06 9.99999099e-01 1.57969723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.602755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:273.12, Y:353.96, Z:1.58 [[ 3.72784653e-02 -9.99304915e-01 -5.10271155e-05 2.73124920e+02] [ 9.99304015e-01 3.72785002e-02 -1.34113986e-03 3.53958567e+02] [ 1.34210987e-03 -9.95965695e-07 9.99999099e-01 1.57860709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.13, Y:353.99, Z:1.58 [[ 3.96691661e-02 -9.99212868e-01 -5.05478278e-05 2.73129255e+02] [ 9.99211968e-01 3.96691982e-02 -1.34115792e-03 3.53987785e+02] [ 1.34210745e-03 2.69462195e-06 9.99999099e-01 1.57666304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.13, Y:354.01, Z:1.58 [[ 3.96128071e-02 -9.99215103e-01 -5.59167523e-05 2.73132007e+02] [ 9.99214203e-01 3.96128465e-02 -1.34095723e-03 3.54012897e+02] [ 1.34211974e-03 -2.75373295e-06 9.99999099e-01 1.57804273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.14, Y:354.04, Z:1.58 [[ 4.15417606e-02 -9.99136767e-01 -4.95259566e-05 2.73136905e+02] [ 9.99135867e-01 4.15417896e-02 -1.34119322e-03 3.54042927e+02] [ 1.34209286e-03 6.23236822e-06 9.99999099e-01 1.57589884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.14, Y:354.07, Z:1.58 [[ 4.18813089e-02 -9.99122591e-01 -6.04037206e-05 2.73139655e+02] [ 9.99121692e-01 4.18813522e-02 -1.34079204e-03 3.54067287e+02] [ 1.34214540e-03 -4.19654211e-06 9.99999099e-01 1.57730388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:354.09, Z:1.58 [[ 4.42464261e-02 -9.99020646e-01 -4.87308449e-05 2.73145271e+02] [ 9.99019746e-01 4.42464517e-02 -1.34121615e-03 3.54094767e+02] [ 1.34205879e-03 1.06609450e-05 9.99999099e-01 1.57603938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:354.12, Z:1.58 [[ 4.29264949e-02 -9.99078232e-01 -4.82321613e-05 2.73145853e+02] [ 9.99077332e-01 4.29265210e-02 -1.34123408e-03 3.54120741e+02] [ 1.34206821e-03 9.38681899e-06 9.99999099e-01 1.57616607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:354.15, Z:1.57 [[ 4.42281675e-02 -9.99021455e-01 -4.77145686e-05 2.73153480e+02] [ 9.99020554e-01 4.42281917e-02 -1.34125250e-03 3.54149729e+02] [ 1.34205035e-03 1.16533053e-05 9.99999099e-01 1.57330914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:354.18, Z:1.57 [[ 4.42142921e-02 -9.99022068e-01 -5.82373390e-05 2.73156907e+02] [ 9.99021169e-01 4.42143304e-02 -1.34088025e-03 3.54177817e+02] [ 1.34214389e-03 1.10573665e-06 9.99999099e-01 1.57342693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:354.20, Z:1.57 [[ 4.36005783e-02 -9.99049041e-01 -5.99311549e-05 2.73160566e+02] [ 9.99048141e-01 4.36006195e-02 -1.34082081e-03 3.54200344e+02] [ 1.34215877e-03 -1.41354634e-06 9.99999099e-01 1.57284956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:354.23, Z:1.57 [[ 4.32118980e-02 -9.99065929e-01 -4.61926467e-05 2.73161227e+02] [ 9.99065028e-01 4.32119211e-02 -1.34129394e-03 3.54227263e+02] [ 1.34203715e-03 1.18103992e-05 9.99999099e-01 1.57288176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:354.25, Z:1.57 [[ 4.20371315e-02 -9.99116048e-01 -4.56708128e-05 2.73163832e+02] [ 9.99115148e-01 4.20371550e-02 -1.34131171e-03 3.54253469e+02] [ 1.34204593e-03 1.07544959e-05 9.99999099e-01 1.57070687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.28, Z:1.57 [[ 4.29303731e-02 -9.99078065e-01 -4.90445208e-05 2.73167838e+02] [ 9.99077165e-01 4.29304003e-02 -1.34119775e-03 3.54280664e+02] [ 1.34206675e-03 8.57885899e-06 9.99999099e-01 1.57095281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.31, Z:1.57 [[ 4.30407586e-02 -9.99073316e-01 -5.07047734e-05 2.73170860e+02] [ 9.99072416e-01 4.30407879e-02 -1.34114325e-03 3.54310031e+02] [ 1.34208281e-03 7.06608264e-06 9.99999099e-01 1.57219998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.33, Z:1.57 [[ 4.12186511e-02 -9.99150149e-01 -5.67250324e-05 2.73170440e+02] [ 9.99149249e-01 4.12186901e-02 -1.34094646e-03 3.54334700e+02] [ 1.34214499e-03 -1.40476897e-06 9.99999099e-01 1.57048372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.36, Z:1.57 [[ 4.00629790e-02 -9.99197156e-01 -4.84044470e-05 2.73169447e+02] [ 9.99196255e-01 4.00630079e-02 -1.34121151e-03 3.54364249e+02] [ 1.34207395e-03 5.36738637e-06 9.99999099e-01 1.57037177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.39, Z:1.57 [[ 3.91066303e-02 -9.99235042e-01 -5.45370313e-05 2.73167898e+02] [ 9.99234142e-01 3.91066682e-02 -1.34101676e-03 3.54390187e+02] [ 1.34212370e-03 -2.05261699e-06 9.99999099e-01 1.57155571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.42, Z:1.57 [[ 3.78768188e-02 -9.99282415e-01 -5.14925966e-05 2.73167561e+02] [ 9.99281515e-01 3.78768537e-02 -1.34111151e-03 3.54419492e+02] [ 1.34209953e-03 -6.58562201e-07 9.99999099e-01 1.57185861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.44, Z:1.57 [[ 3.64558950e-02 -9.99335261e-01 -5.91808884e-05 2.73165722e+02] [ 9.99334362e-01 3.64559416e-02 -1.34087452e-03 3.54441840e+02] [ 1.34214069e-03 -1.02587144e-05 9.99999099e-01 1.57148805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.47, Z:1.57 [[ 3.06485413e-02 -9.99530222e-01 -3.98539649e-05 2.73165695e+02] [ 9.99529322e-01 3.06485671e-02 -1.34145413e-03 3.54471659e+02] [ 1.34204542e-03 1.27840583e-06 9.99999100e-01 1.57126460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.49, Z:1.57 [[ 2.61030607e-02 -9.99659256e-01 -5.06453816e-05 2.73169065e+02] [ 9.99658356e-01 2.61031051e-02 -1.34112197e-03 3.54492578e+02] [ 1.34198699e-03 -1.56206908e-05 9.99999099e-01 1.56985595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.52, Z:1.57 [[ 2.02091076e-02 -9.99795775e-01 -1.90535217e-05 2.73168083e+02] [ 9.99794874e-01 2.02091149e-02 -1.34200522e-03 3.54522940e+02] [ 1.34211621e-03 8.07111452e-06 9.99999099e-01 1.56982279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.55, Z:1.57 [[ 1.83727228e-02 -9.99831207e-01 -3.74927193e-05 2.73166335e+02] [ 9.99830307e-01 1.83727566e-02 -1.34148987e-03 3.54548047e+02] [ 1.34195228e-03 -1.28395354e-05 9.99999100e-01 1.56943296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.57, Z:1.57 [[ 1.98749090e-02 -9.99802474e-01 -3.69610099e-05 2.73168906e+02] [ 9.99801574e-01 1.98749407e-02 -1.34150452e-03 3.54573518e+02] [ 1.34197414e-03 -1.02913955e-05 9.99999100e-01 1.56855141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:354.60, Z:1.57 [[ 1.25367680e-02 -9.99921411e-01 -3.65619470e-05 2.73163606e+02] [ 9.99920511e-01 1.25368057e-02 -1.34151540e-03 3.54599275e+02] [ 1.34186834e-03 -1.97407734e-05 9.99999100e-01 1.56587256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.17, Y:354.62, Z:1.56 [[ 8.74289935e-03 -9.99961780e-01 -2.82581236e-05 2.73165478e+02] [ 9.99960880e-01 8.74292939e-03 -1.34173393e-03 3.54624321e+02] [ 1.34192971e-03 -1.65263734e-05 9.99999100e-01 1.56399600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.17, Y:354.65, Z:1.57 [[ 9.58040315e-03 -9.99954107e-01 -2.10120454e-05 2.73170467e+02] [ 9.99953206e-01 9.58042271e-03 -1.34192438e-03 3.54653490e+02] [ 1.34206410e-03 -8.15488565e-06 9.99999099e-01 1.56669002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.68, Z:1.57 [[ 4.03371662e-03 -9.99991864e-01 -3.51742047e-05 2.73167071e+02] [ 9.99990965e-01 4.03376017e-03 -1.34155306e-03 3.54679130e+02] [ 1.34168403e-03 -2.97624420e-05 9.99999100e-01 1.56685143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.70, Z:1.57 [[ 3.38098119e-03 -9.99994284e-01 -3.12169316e-05 2.73167121e+02] [ 9.99993384e-01 3.38102003e-03 -1.34165418e-03 3.54704540e+02] [ 1.34175206e-03 -2.66806176e-05 9.99999100e-01 1.56930520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.74, Z:1.57 [[ 4.15902437e-03 -9.99991351e-01 -2.96590287e-05 2.73167787e+02] [ 9.99990451e-01 4.15906042e-03 -1.34169346e-03 3.54735467e+02] [ 1.34180520e-03 -2.40786098e-05 9.99999100e-01 1.56726165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.76, Z:1.57 [[ 4.85503564e-03 -9.99988213e-01 -5.40422396e-05 2.73165564e+02] [ 9.99987315e-01 4.85510375e-03 -1.34106937e-03 3.54757085e+02] [ 1.34131594e-03 -4.75306144e-05 9.99999099e-01 1.56749052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.79, Z:1.57 [[ 8.09137029e-03 -9.99967264e-01 -3.04600999e-05 2.73169535e+02] [ 9.99966364e-01 8.09140388e-03 -1.34165375e-03 3.54787227e+02] [ 1.34185630e-03 -1.96032580e-05 9.99999100e-01 1.56765856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.81, Z:1.57 [[ 8.51665072e-03 -9.99963732e-01 -4.56561755e-05 2.73169373e+02] [ 9.99962833e-01 8.51670430e-03 -1.34129794e-03 3.54814244e+02] [ 1.34163813e-03 -3.42311125e-05 9.99999099e-01 1.56816787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.84, Z:1.57 [[ 7.75130077e-03 -9.99969957e-01 -4.45076773e-05 2.73167501e+02] [ 9.99969058e-01 7.75135350e-03 -1.34132561e-03 3.54835682e+02] [ 1.34163031e-03 -3.41092819e-05 9.99999099e-01 1.56841816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.86, Z:1.57 [[ 1.13956886e-02 -9.99935067e-01 -2.59758674e-05 2.73169226e+02] [ 9.99934167e-01 1.13957131e-02 -1.34175198e-03 3.54863905e+02] [ 1.34196087e-03 -1.06839697e-05 9.99999100e-01 1.56610924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.89, Z:1.56 [[ 1.26602069e-02 -9.99919856e-01 -3.87163025e-05 2.73170427e+02] [ 9.99918956e-01 1.26602474e-02 -1.34147030e-03 3.54888102e+02] [ 1.34185295e-03 -2.17298732e-05 9.99999100e-01 1.56299833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.91, Z:1.57 [[ 1.23985080e-02 -9.99923135e-01 -2.88335936e-05 2.73170773e+02] [ 9.99922235e-01 1.23985355e-02 -1.34168269e-03 3.54914655e+02] [ 1.34193706e-03 -1.21964879e-05 9.99999100e-01 1.56576641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.94, Z:1.57 [[ 1.09149410e-02 -9.99940430e-01 -2.83123858e-05 2.73171883e+02] [ 9.99939530e-01 1.09149691e-02 -1.34169369e-03 3.54943771e+02] [ 1.34192279e-03 -1.36661664e-05 9.99999100e-01 1.56682620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:354.97, Z:1.57 [[ 1.04338152e-02 -9.99945566e-01 -3.49631707e-05 2.73173491e+02] [ 9.99944666e-01 1.04338528e-02 -1.34155806e-03 3.54973073e+02] [ 1.34184984e-03 -2.09636671e-05 9.99999100e-01 1.56893330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:355.00, Z:1.57 [[ 8.17947402e-03 -9.99966547e-01 -4.18226233e-05 2.73175791e+02] [ 9.99965647e-01 8.17952276e-03 -1.34142098e-03 3.55000056e+02] [ 1.34171819e-03 -3.08490685e-05 9.99999099e-01 1.56812018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:355.02, Z:1.57 [[ 8.98863593e-03 -9.99959601e-01 -3.83329126e-05 2.73178928e+02] [ 9.99958701e-01 8.98867926e-03 -1.34148901e-03 3.55022752e+02] [ 1.34177938e-03 -2.62731732e-05 9.99999100e-01 1.56796632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.18, Y:355.05, Z:1.57 [[ 6.62385011e-03 -9.99978062e-01 -2.32747163e-05 2.73180622e+02] [ 9.99977162e-01 6.62387537e-03 -1.34177243e-03 3.55053679e+02] [ 1.34189716e-03 -1.43864853e-05 9.99999100e-01 1.56851153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.862755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:273.18, Y:355.08, Z:1.57 [[ 3.90317437e-03 -9.99992382e-01 -3.91996561e-05 2.73179538e+02] [ 9.99991483e-01 3.90322344e-03 -1.34147430e-03 3.55078082e+02] [ 1.34161709e-03 -3.39633141e-05 9.99999100e-01 1.56647577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:355.11, Z:1.57 [[ 4.15936552e-03 -9.99991350e-01 -2.69992501e-05 2.73181323e+02] [ 9.99990450e-01 4.15939800e-03 -1.34169566e-03 3.55107552e+02] [ 1.34179636e-03 -2.14183895e-05 9.99999100e-01 1.56837826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:355.13, Z:1.57 [[ 5.49113394e-03 -9.99984923e-01 -3.32572890e-05 2.73183173e+02] [ 9.99984024e-01 5.49117361e-03 -1.34158299e-03 3.55133531e+02] [ 1.34174538e-03 -2.58899458e-05 9.99999100e-01 1.57043111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:355.16, Z:1.57 [[ 5.28989574e-03 -9.99986008e-01 -3.21659459e-05 2.73184683e+02] [ 9.99985108e-01 5.28993413e-03 -1.34160246e-03 3.55159749e+02] [ 1.34175384e-03 -2.50685298e-05 9.99999100e-01 1.57133925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.19, Z:1.57 [[ 4.58885696e-03 -9.99989471e-01 -3.06802102e-05 2.73185428e+02] [ 9.99988571e-01 4.58889399e-03 -1.34162812e-03 3.55187806e+02] [ 1.34175479e-03 -2.45233200e-05 9.99999100e-01 1.57145899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.21, Z:1.57 [[ 7.73401904e-03 -9.99970092e-01 -3.27488116e-05 2.73187940e+02] [ 9.99969192e-01 7.73405602e-03 -1.34159309e-03 3.55212313e+02] [ 1.34180625e-03 -2.23718962e-05 9.99999100e-01 1.57150801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.24, Z:1.57 [[ 6.09494435e-03 -9.99981426e-01 -2.19298899e-05 2.73189480e+02] [ 9.99980525e-01 6.09496829e-03 -1.34176992e-03 3.55244929e+02] [ 1.34187865e-03 -1.37514499e-05 9.99999100e-01 1.57413797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.27, Z:1.57 [[ 6.47741542e-03 -9.99979020e-01 -4.31312136e-05 2.73189381e+02] [ 9.99978121e-01 6.47746745e-03 -1.34142239e-03 3.55271461e+02] [ 1.34167363e-03 -3.44413199e-05 9.99999099e-01 1.57365415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.19, Y:355.30, Z:1.57 [[ 6.03910905e-03 -9.99981764e-01 -3.87037828e-05 2.73188102e+02] [ 9.99980864e-01 6.03915554e-03 -1.34148813e-03 3.55295210e+02] [ 1.34169740e-03 -3.06016490e-05 9.99999100e-01 1.57167275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.32, Z:1.57 [[ 4.11084436e-03 -9.99991550e-01 -1.88024130e-05 2.73185639e+02] [ 9.99990650e-01 4.11086589e-03 -1.34176701e-03 3.55321544e+02] [ 1.34183297e-03 -1.32864419e-05 9.99999100e-01 1.57055256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.35, Z:1.57 [[ 3.56449330e-03 -9.99993647e-01 -1.82782774e-05 2.73185572e+02] [ 9.99992747e-01 3.56451462e-03 -1.34177415e-03 3.55347580e+02] [ 1.34183078e-03 -1.34953999e-05 9.99999100e-01 1.57084384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.38, Z:1.57 [[ 3.44978190e-03 -9.99994049e-01 -1.77761291e-05 2.73187971e+02] [ 9.99993149e-01 3.44980265e-03 -1.34178080e-03 3.55377437e+02] [ 1.34183414e-03 -1.31471561e-05 9.99999100e-01 1.56956515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.41, Z:1.57 [[ 1.89042738e-03 -9.99998213e-01 -2.74954685e-05 2.73188789e+02] [ 9.99997313e-01 1.89046256e-03 -1.34165963e-03 3.55405636e+02] [ 1.34170921e-03 -2.49590845e-05 9.99999100e-01 1.57199712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.43, Z:1.57 [[-1.71880071e-03 -9.99998523e-01 -2.72390004e-05 2.73190938e+02] [ 9.99997623e-01 -1.71876262e-03 -1.34166264e-03 3.55433469e+02] [ 1.34161384e-03 -2.95449864e-05 9.99999100e-01 1.57445526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.46, Z:1.57 [[-4.56492061e-03 -9.99989580e-01 -3.01414536e-05 2.73191379e+02] [ 9.99988681e-01 -4.56487607e-03 -1.34162934e-03 3.55458299e+02] [ 1.34147777e-03 -3.62655438e-05 9.99999100e-01 1.57492852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.49, Z:1.58 [[-8.13622132e-03 -9.99966900e-01 -2.47155623e-05 2.73193655e+02] [ 9.99966001e-01 -8.13618085e-03 -1.34168903e-03 3.55487037e+02] [ 1.34144353e-03 -3.56310009e-05 9.99999100e-01 1.58028114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.51, Z:1.58 [[-1.14411187e-02 -9.99934548e-01 -3.06806753e-05 2.73192613e+02] [ 9.99933649e-01 -1.14410672e-02 -1.34162454e-03 3.55513546e+02] [ 1.34118571e-03 -4.60283252e-05 9.99999100e-01 1.58186972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.372755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:273.19, Y:355.54, Z:1.58 [[-1.32652322e-02 -9.99912013e-01 -2.55496240e-05 2.73193185e+02] [ 9.99911113e-01 -1.32651860e-02 -1.34167593e-03 3.55540349e+02] [ 1.34121896e-03 -4.33449957e-05 9.99999100e-01 1.58017383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.57, Z:1.58 [[-1.51306738e-02 -9.99885525e-01 -2.21275410e-05 2.73193881e+02] [ 9.99884625e-01 -1.51306305e-02 -1.34170866e-03 3.55566564e+02] [ 1.34122026e-03 -4.24259440e-05 9.99999100e-01 1.58199056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.59, Z:1.59 [[-1.86015743e-02 -9.99826976e-01 -2.16632634e-05 2.73194875e+02] [ 9.99826076e-01 -1.86015286e-02 -1.34171299e-03 3.55593692e+02] [ 1.34107787e-03 -4.66174695e-05 9.99999100e-01 1.58776509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.62, Z:1.59 [[-1.95459443e-02 -9.99808960e-01 -1.86921561e-05 2.73195754e+02] [ 9.99808060e-01 -1.95459017e-02 -1.34173905e-03 3.55620463e+02] [ 1.34111737e-03 -4.49141251e-05 9.99999100e-01 1.58857463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.65, Z:1.59 [[-1.86801217e-02 -9.99825511e-01 -1.47123318e-05 2.73197401e+02] [ 9.99824612e-01 -1.86800852e-02 -1.34177258e-03 3.55645654e+02] [ 1.34126363e-03 -3.97742265e-05 9.99999100e-01 1.59277762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.67, Z:1.59 [[-2.08894255e-02 -9.99781792e-01 -1.07829853e-05 2.73197379e+02] [ 9.99780892e-01 -2.08893923e-02 -1.34180416e-03 3.55673590e+02] [ 1.34128612e-03 -3.88101407e-05 9.99999100e-01 1.59272140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.20, Y:355.70, Z:1.59 [[-2.05750029e-02 -9.99788312e-01 -1.17970978e-05 2.73198107e+02] [ 9.99787413e-01 -2.05749686e-02 -1.34179623e-03 3.55701528e+02] [ 1.34126947e-03 -3.94020513e-05 9.99999100e-01 1.59434772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.73, Z:1.59 [[-2.02041922e-02 -9.99795874e-01 -1.26542757e-05 2.73198841e+02] [ 9.99794975e-01 -2.02041571e-02 -1.34178973e-03 3.55728386e+02] [ 1.34126017e-03 -3.97614589e-05 9.99999100e-01 1.59320442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.20, Y:355.75, Z:1.59 [[-2.01498631e-02 -9.99796971e-01 -9.63228347e-06 2.73199205e+02] [ 9.99796071e-01 -2.01498320e-02 -1.34181143e-03 3.55754105e+02] [ 1.34134491e-03 -3.66676357e-05 9.99999100e-01 1.59346892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.20, Y:355.78, Z:1.60 [[-2.04244061e-02 -9.99791400e-01 -1.51912380e-06 2.73201061e+02] [ 9.99790500e-01 -2.04243857e-02 -1.34186622e-03 3.55783367e+02] [ 1.34155528e-03 -2.89256262e-05 9.99999100e-01 1.59677083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.81, Z:1.59 [[-2.01561050e-02 -9.99796845e-01 -6.00492107e-06 2.73202213e+02] [ 9.99795945e-01 -2.01560788e-02 -1.34183662e-03 3.55811706e+02] [ 1.34144298e-03 -3.30498955e-05 9.99999100e-01 1.59223060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.84, Z:1.59 [[-1.91947656e-02 -9.99815764e-01 -8.44400499e-06 2.73201266e+02] [ 9.99814864e-01 -1.91947370e-02 -1.34182127e-03 3.55837327e+02] [ 1.34141197e-03 -3.41983863e-05 9.99999100e-01 1.59494032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.87, Z:1.59 [[-1.76368952e-02 -9.99844458e-01 -2.11523676e-06 2.73199758e+02] [ 9.99843558e-01 -1.76368765e-02 -1.34185872e-03 3.55865040e+02] [ 1.34161270e-03 -2.57811276e-05 9.99999100e-01 1.59456568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.89, Z:1.59 [[-1.61398812e-02 -9.99869744e-01 -2.05418247e-06 2.73199375e+02] [ 9.99868844e-01 -1.61398639e-02 -1.34185906e-03 3.55892417e+02] [ 1.34165112e-03 -2.37113590e-05 9.99999100e-01 1.58797349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.92, Z:1.59 [[-1.38863571e-02 -9.99903580e-01 -2.36887301e-06 2.73197558e+02] [ 9.99902680e-01 -1.38863414e-02 -1.34185742e-03 3.55919872e+02] [ 1.34169514e-03 -2.10021537e-05 9.99999100e-01 1.58637828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.95, Z:1.59 [[-1.41504108e-02 -9.99899878e-01 -7.46336692e-07 2.73197562e+02] [ 9.99898978e-01 -1.41503971e-02 -1.34186561e-03 3.55947604e+02] [ 1.34172069e-03 -1.97342109e-05 9.99999100e-01 1.58641499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:355.98, Z:1.59 [[-1.41228000e-02 -9.99900268e-01 -2.65590040e-07 2.73197928e+02] [ 9.99899368e-01 -1.41227869e-02 -1.34186788e-03 3.55976976e+02] [ 1.34173030e-03 -1.92164950e-05 9.99999100e-01 1.59039564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.20, Y:356.01, Z:1.59 [[-1.46279855e-02 -9.99893005e-01 -1.06921353e-05 2.73199779e+02] [ 9.99892105e-01 -1.46279580e-02 -1.34181886e-03 3.56006696e+02] [ 1.34151889e-03 -3.03190885e-05 9.99999100e-01 1.58936378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:356.03, Z:1.59 [[-1.85486494e-02 -9.99827959e-01 -1.62401199e-05 2.73197647e+02] [ 9.99827059e-01 -1.85486109e-02 -1.34179460e-03 3.56032480e+02] [ 1.34126253e-03 -4.11257889e-05 9.99999100e-01 1.58770015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.20, Y:356.06, Z:1.59 [[-2.09779188e-02 -9.99779939e-01 -7.57128324e-06 2.73197765e+02] [ 9.99779039e-01 -2.09778898e-02 -1.34182771e-03 3.56059781e+02] [ 1.34137359e-03 -3.57183630e-05 9.99999100e-01 1.58852979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:356.08, Z:1.59 [[-2.23080082e-02 -9.99751145e-01 -1.16700221e-05 2.73198059e+02] [ 9.99750246e-01 -2.23079724e-02 -1.34181303e-03 3.56084167e+02] [ 1.34121878e-03 -4.16002834e-05 9.99999100e-01 1.58736919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.11, Z:1.59 [[-2.95950589e-02 -9.99561970e-01 -3.99260028e-06 2.73193841e+02] [ 9.99561071e-01 -2.95950269e-02 -1.34183587e-03 3.56112443e+02] [ 1.34112995e-03 -4.37025595e-05 9.99999100e-01 1.58537219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.032755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.19, Y:356.14, Z:1.59 [[-3.44993472e-02 -9.99404720e-01 -8.81295329e-06 2.73189999e+02] [ 9.99403821e-01 -3.44993044e-02 -1.34182288e-03 3.56136396e+02] [ 1.34072008e-03 -5.50997128e-05 9.99999100e-01 1.58800543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.16, Z:1.59 [[-3.61096829e-02 -9.99347833e-01 -2.94372227e-06 2.73188808e+02] [ 9.99346933e-01 -3.61096465e-02 -1.34183576e-03 3.56163838e+02] [ 1.34085436e-03 -5.13950636e-05 9.99999100e-01 1.58606877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.19, Z:1.59 [[-3.72561314e-02 -9.99305749e-01 -3.16032663e-06 2.73188002e+02] [ 9.99304850e-01 -3.72560936e-02 -1.34183535e-03 3.56189136e+02] [ 1.34078604e-03 -5.31497237e-05 9.99999100e-01 1.58663542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.22, Z:1.59 [[-3.86996861e-02 -9.99250887e-01 -2.09525639e-06 2.73185571e+02] [ 9.99249987e-01 -3.86996484e-02 -1.34183701e-03 3.56216260e+02] [ 1.34075074e-03 -5.40223560e-05 9.99999100e-01 1.58640172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.58 [[-3.92596759e-02 -9.99229042e-01 -1.61947623e-06 2.73183546e+02] [ 9.99228142e-01 -3.92596384e-02 -1.34183759e-03 3.56241741e+02] [ 1.34073950e-03 -5.42983349e-05 9.99999100e-01 1.57969206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.27, Z:1.58 [[-3.91334520e-02 -9.99233993e-01 1.57820445e-06 2.73181905e+02] [ 9.99233093e-01 -3.91334189e-02 -1.34183995e-03 3.56268650e+02] [ 1.34087385e-03 -5.09338351e-05 9.99999100e-01 1.58396777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.30, Z:1.58 [[-3.43795917e-02 -9.99408847e-01 -5.13107216e-07 2.73183124e+02] [ 9.99407947e-01 -3.43795601e-02 -1.34183915e-03 3.56302589e+02] [ 1.34102828e-03 -4.66446856e-05 9.99999100e-01 1.58137861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.28, Z:1.58 [[-4.53565971e-02 -9.98970860e-01 -5.67564617e-06 2.73178033e+02] [ 9.98969961e-01 -4.53565487e-02 -1.34187907e-03 3.56276742e+02] [ 1.34024066e-03 -6.65328685e-05 9.99999100e-01 1.58156727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.28, Z:1.58 [[-4.25566168e-02 -9.99094057e-01 1.13144246e-05 2.73175573e+02] [ 9.99093157e-01 -4.25565936e-02 -1.34173580e-03 3.56276807e+02] [ 1.34100177e-03 -4.57955721e-05 9.99999100e-01 1.57953992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.62, Z:1.58 [[-4.16477839e-02 -9.99132355e-01 1.19524182e-05 2.73170428e+02] [ 9.99131455e-01 -4.16477624e-02 -1.34173012e-03 3.56617538e+02] [ 1.34106376e-03 -4.39380490e-05 9.99999100e-01 1.57927865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.28, Z:1.58 [[-3.93482141e-02 -9.99225559e-01 1.30174135e-05 2.73172329e+02] [ 9.99224659e-01 -3.93481961e-02 -1.34172004e-03 3.56276402e+02] [ 1.34119317e-03 -3.97869667e-05 9.99999100e-01 1.57710517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.27, Z:1.58 [[-3.80592837e-02 -9.99275483e-01 1.29505936e-05 2.73170214e+02] [ 9.99274583e-01 -3.80592668e-02 -1.34172068e-03 3.56272208e+02] [ 1.34124147e-03 -3.81237290e-05 9.99999100e-01 1.57740276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.28, Z:1.58 [[-3.33188008e-02 -9.99444775e-01 1.36832995e-05 2.73166126e+02] [ 9.99443874e-01 -3.33187891e-02 -1.34171321e-03 3.56276872e+02] [ 1.34142417e-03 -3.10285852e-05 9.99999100e-01 1.57596683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.28, Z:1.58 [[-3.15025669e-02 -9.99503671e-01 1.43246099e-05 2.73164130e+02] [ 9.99502771e-01 -3.15025577e-02 -1.34170636e-03 3.56277154e+02] [ 1.34149170e-03 -2.79497071e-05 9.99999100e-01 1.57526526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.27, Z:1.58 [[-1.88495482e-02 -9.99822331e-01 1.50622085e-05 2.73163287e+02] [ 9.99821431e-01 -1.88495514e-02 -1.34169808e-03 3.56273761e+02] [ 1.34174362e-03 -1.02308838e-05 9.99999100e-01 1.57548077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.69, Z:1.57 [[-2.66961799e-02 -9.99643594e-01 9.57654613e-06 2.73153230e+02] [ 9.99642693e-01 -2.66961687e-02 -1.34176832e-03 3.56692147e+02] [ 1.34154576e-03 -2.62469641e-05 9.99999100e-01 1.57107180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.29, Z:1.58 [[-2.17304258e-02 -9.99763866e-01 1.83791408e-05 2.73160375e+02] [ 9.99762966e-01 -2.17304309e-02 -1.34165064e-03 3.56289330e+02] [ 1.34173322e-03 -1.07798555e-05 9.99999100e-01 1.57652468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.28, Z:1.58 [[-1.87574740e-02 -9.99824063e-01 1.88009754e-05 2.73154474e+02] [ 9.99823163e-01 -1.87574823e-02 -1.34164473e-03 3.56279837e+02] [ 1.34176134e-03 -6.36821543e-06 9.99999100e-01 1.57713971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.28, Z:1.57 [[-1.59822128e-02 -9.99872276e-01 1.55657589e-05 2.73154321e+02] [ 9.99871376e-01 -1.59822193e-02 -1.34169030e-03 3.56283912e+02] [ 1.34176771e-03 -5.87942319e-06 9.99999100e-01 1.57428312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.27, Z:1.58 [[-1.63144634e-02 -9.99866910e-01 1.38819404e-05 2.73152365e+02] [ 9.99866010e-01 -1.63144674e-02 -1.34171445e-03 3.56273205e+02] [ 1.34176236e-03 -8.00927100e-06 9.99999100e-01 1.57535597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.30, Z:1.58 [[-2.06139116e-02 -9.99787511e-01 1.55989900e-05 2.73150825e+02] [ 9.99786610e-01 -2.06139140e-02 -1.34168892e-03 3.56298787e+02] [ 1.34172538e-03 -1.20617955e-05 9.99999100e-01 1.57505317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.30, Z:1.57 [[-1.22425428e-02 -9.99925057e-01 2.15919908e-05 2.73152965e+02] [ 9.99924157e-01 -1.22425608e-02 -1.34159700e-03 3.56297147e+02] [ 1.34176079e-03 5.16579454e-06 9.99999100e-01 1.57465511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.30, Z:1.57 [[-2.00907735e-02 -9.99798160e-01 1.07721265e-05 2.73148889e+02] [ 9.99797260e-01 -2.00907699e-02 -1.34176293e-03 3.56304013e+02] [ 1.34170853e-03 -1.61871126e-05 9.99999100e-01 1.57220911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.27, Z:1.57 [[-2.44841588e-02 -9.99700218e-01 1.48133786e-05 2.73148692e+02] [ 9.99699318e-01 -2.44841566e-02 -1.34170019e-03 3.56272601e+02] [ 1.34166066e-03 -1.80414758e-05 9.99999100e-01 1.57445061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.31, Z:1.58 [[-2.58100534e-02 -9.99666865e-01 2.11989900e-05 2.73151190e+02] [ 9.99665965e-01 -2.58100586e-02 -1.34159756e-03 3.56306778e+02] [ 1.34169778e-03 -1.34347960e-05 9.99999100e-01 1.57698784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.782755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.15, Y:356.30, Z:1.58 [[-2.96436767e-02 -9.99560530e-01 1.91994672e-05 2.73151970e+02] [ 9.99559629e-01 -2.96436758e-02 -1.34163045e-03 3.56297084e+02] [ 1.34160998e-03 -2.05798469e-05 9.99999100e-01 1.57905056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.27, Z:1.58 [[-3.57590855e-02 -9.99360439e-01 2.06071197e-05 2.73151340e+02] [ 9.99359539e-01 -3.57590809e-02 -1.34160661e-03 3.56266457e+02] [ 1.34148546e-03 -2.73807038e-05 9.99999100e-01 1.58382419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.25, Z:1.58 [[-3.87241635e-02 -9.99249938e-01 2.30127394e-05 2.73155401e+02] [ 9.99249038e-01 -3.87241596e-02 -1.34156501e-03 3.56251134e+02] [ 1.34144990e-03 -2.89555250e-05 9.99999100e-01 1.58438358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.26, Z:1.58 [[-4.49638358e-02 -9.98988615e-01 2.25896296e-05 2.73154535e+02] [ 9.98987715e-01 -4.49638257e-02 -1.34157240e-03 3.56257847e+02] [ 1.34123127e-03 -3.77554787e-05 9.99999100e-01 1.58481598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.25, Z:1.59 [[-4.95555403e-02 -9.98771369e-01 2.90624052e-05 2.73154680e+02] [ 9.98770469e-01 -4.95555347e-02 -1.34145601e-03 3.56250199e+02] [ 1.34124806e-03 -3.74499054e-05 9.99999100e-01 1.58654532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.28, Z:1.58 [[-4.57078474e-02 -9.98954850e-01 2.78544675e-05 2.73159106e+02] [ 9.98953950e-01 -4.57078437e-02 -1.34147797e-03 3.56280912e+02] [ 1.34134910e-03 -3.34907402e-05 9.99999100e-01 1.58472598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.15, Y:356.61, Z:1.58 [[-5.14292088e-02 -9.98676642e-01 2.56321288e-05 2.73152323e+02] [ 9.98675742e-01 -5.14291969e-02 -1.34151795e-03 3.56614371e+02] [ 1.34106088e-03 -4.33950216e-05 9.99999100e-01 1.58335431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.28, Z:1.59 [[-4.50008990e-02 -9.98986946e-01 2.94077637e-05 2.73165164e+02] [ 9.98986046e-01 -4.50008979e-02 -1.34144819e-03 3.56278387e+02] [ 1.34141261e-03 -3.09884289e-05 9.99999100e-01 1.58582795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.26, Z:1.58 [[-4.69394373e-02 -9.98897737e-01 2.03960698e-05 2.73168824e+02] [ 9.98896837e-01 -4.69394224e-02 -1.34161061e-03 3.56261626e+02] [ 1.34108918e-03 -4.26008774e-05 9.99999100e-01 1.58387710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.60, Z:1.58 [[-5.14967200e-02 -9.98673163e-01 2.45330845e-05 2.73160778e+02] [ 9.98672263e-01 -5.14967065e-02 -1.34153495e-03 3.56598457e+02] [ 1.34101833e-03 -4.45841388e-05 9.99999100e-01 1.58429261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.26, Z:1.58 [[-4.19821724e-02 -9.99118360e-01 2.83639242e-05 2.73170684e+02] [ 9.99117459e-01 -4.19821727e-02 -1.34146332e-03 3.56263548e+02] [ 1.34147141e-03 -2.79786526e-05 9.99999100e-01 1.58370154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.112755096 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:273.16, Y:356.72, Z:1.58 [[-4.86814617e-02 -9.98814355e-01 2.15795788e-05 2.73159160e+02] [ 9.98813455e-01 -4.86814468e-02 -1.34159329e-03 3.56717703e+02] [ 1.34105316e-03 -4.37567484e-05 9.99999100e-01 1.58179581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.16, Y:356.58, Z:1.58 [[-4.64574505e-02 -9.98920269e-01 2.62755844e-05 2.73163707e+02] [ 9.98919369e-01 -4.64574439e-02 -1.34150148e-03 3.56577329e+02] [ 1.34127372e-03 -3.60755484e-05 9.99999100e-01 1.58276115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.25, Z:1.59 [[-3.96344533e-02 -9.99214246e-01 2.72749711e-05 2.73174252e+02] [ 9.99213346e-01 -3.96344542e-02 -1.34148116e-03 3.56246260e+02] [ 1.34150811e-03 -2.59153572e-05 9.99999100e-01 1.58666093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.202755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:273.17, Y:356.57, Z:1.59 [[-4.44758197e-02 -9.99010461e-01 2.47359555e-05 2.73166925e+02] [ 9.99009561e-01 -4.44758128e-02 -1.34153355e-03 3.56565482e+02] [ 1.34130621e-03 -3.49543484e-05 9.99999100e-01 1.58748571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.232755096 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:273.16, Y:356.70, Z:1.59 [[-4.22578587e-02 -9.99106737e-01 2.94739230e-05 2.73164346e+02] [ 9.99105837e-01 -4.22578602e-02 -1.34143541e-03 3.56703364e+02] [ 1.34148266e-03 -2.72386194e-05 9.99999100e-01 1.59061226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.59 [[-3.91677753e-02 -9.99232648e-01 2.94602235e-05 2.73175218e+02] [ 9.99231748e-01 -3.91677796e-02 -1.34143570e-03 3.56243298e+02] [ 1.34156023e-03 -2.31034613e-05 9.99999100e-01 1.59209518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.25, Z:1.60 [[-3.27948318e-02 -9.99462105e-01 2.70682460e-05 2.73175342e+02] [ 9.99461204e-01 -3.27948386e-02 -1.34148641e-03 3.56245666e+02] [ 1.34165253e-03 -1.69401594e-05 9.99999100e-01 1.59716047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.18, Y:356.25, Z:1.60 [[-3.51982052e-02 -9.99380351e-01 1.91980051e-05 2.73176870e+02] [ 9.99379451e-01 -3.51981993e-02 -1.34165475e-03 3.56245201e+02] [ 1.34149913e-03 -2.80377474e-05 9.99999100e-01 1.59636094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.26, Z:1.60 [[-3.25429662e-02 -9.99470337e-01 2.65822645e-05 2.73176764e+02] [ 9.99469437e-01 -3.25429725e-02 -1.34149326e-03 3.56258091e+02] [ 1.34164778e-03 -1.70880086e-05 9.99999100e-01 1.59844899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.60 [[-3.04698827e-02 -9.99535685e-01 2.69776977e-05 2.73178903e+02] [ 9.99534785e-01 -3.04698915e-02 -1.34148441e-03 3.56243297e+02] [ 1.34168354e-03 -1.39097253e-05 9.99999100e-01 1.59992532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.60 [[-2.78315694e-02 -9.99612627e-01 2.97294546e-05 2.73179673e+02] [ 9.99611726e-01 -2.78315843e-02 -1.34142171e-03 3.56242402e+02] [ 1.34172949e-03 -7.61595989e-06 9.99999100e-01 1.59873360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.26, Z:1.60 [[-2.39741884e-02 -9.99712578e-01 2.86346354e-05 2.73180383e+02] [ 9.99711677e-01 -2.39742052e-02 -1.34144693e-03 3.56257781e+02] [ 1.34174786e-03 -3.53372194e-06 9.99999100e-01 1.59967783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.25, Z:1.60 [[-2.73352777e-02 -9.99626321e-01 2.73836681e-05 2.73180096e+02] [ 9.99625421e-01 -2.73352898e-02 -1.34147607e-03 3.56246321e+02] [ 1.34172332e-03 -9.29620996e-06 9.99999100e-01 1.59842203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.60 [[-2.80433775e-02 -9.99606707e-01 3.21330131e-05 2.73182609e+02] [ 9.99605807e-01 -2.80433953e-02 -1.34136229e-03 3.56239816e+02] [ 1.34173586e-03 -5.49598257e-06 9.99999100e-01 1.60085795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.28, Z:1.60 [[-2.85646117e-02 -9.99591948e-01 3.28858655e-05 2.73182312e+02] [ 9.99591048e-01 -2.85646301e-02 -1.34134383e-03 3.56284910e+02] [ 1.34173587e-03 -5.44254902e-06 9.99999100e-01 1.60120570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.18, Y:356.24, Z:1.60 [[-3.06143097e-02 -9.99531272e-01 3.16608674e-05 2.73184460e+02] [ 9.99530372e-01 -3.06143246e-02 -1.34137417e-03 3.56236496e+02] [ 1.34171470e-03 -9.41924558e-06 9.99999100e-01 1.60234181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.24, Z:1.60 [[-3.42520564e-02 -9.99413226e-01 3.38454517e-05 2.73185354e+02] [ 9.99412326e-01 -3.42520710e-02 -1.34131904e-03 3.56237324e+02] [ 1.34169127e-03 -1.21173739e-05 9.99999100e-01 1.60213365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.23, Z:1.60 [[-3.66811294e-02 -9.99327020e-01 3.45982792e-05 2.73186101e+02] [ 9.99326120e-01 -3.66811428e-02 -1.34129962e-03 3.56227647e+02] [ 1.34166606e-03 -1.46254210e-05 9.99999100e-01 1.60245006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.22, Z:1.60 [[-3.94653572e-02 -9.99220939e-01 3.53494502e-05 2.73186929e+02] [ 9.99220039e-01 -3.94653691e-02 -1.34127983e-03 3.56224729e+02] [ 1.34162997e-03 -1.76122084e-05 9.99999100e-01 1.60227847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.22, Z:1.60 [[-4.20854183e-02 -9.99114016e-01 3.60975134e-05 2.73188186e+02] [ 9.99113116e-01 -4.20854288e-02 -1.34125969e-03 3.56219620e+02] [ 1.34159054e-03 -2.03819762e-05 9.99999100e-01 1.60195257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.22, Z:1.60 [[-4.26407717e-02 -9.99090468e-01 3.68443028e-05 2.73188322e+02] [ 9.99089568e-01 -4.26407827e-02 -1.34123918e-03 3.56217273e+02] [ 1.34159035e-03 -2.03807150e-05 9.99999100e-01 1.60194920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:356.48, Z:1.60 [[-4.22687192e-02 -9.99106278e-01 3.75898230e-05 2.73185755e+02] [ 9.99105378e-01 -4.22687316e-02 -1.34121828e-03 3.56481337e+02] [ 1.34160848e-03 -1.91353848e-05 9.99999100e-01 1.60198134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:356.17, Z:2.74 [[-8.76150616e-02 9.96154406e-01 -3.30697632e-05 2.72624495e+02] [ 9.96153506e-01 8.76150270e-02 1.34134284e-03 3.56171542e+02] [ 1.33908199e-03 8.45792753e-05 -9.99999100e-01 2.74419479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:356.15, Z:2.74 [[-1.64943738e-01 9.86302967e-01 -1.42662851e-04 2.72651536e+02] [ 9.86302074e-01 1.64943781e-01 1.32958363e-03 3.56153096e+02] [ 1.33490363e-03 7.85978289e-05 -9.99999106e-01 2.74237440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.61, Y:356.42, Z:2.74 [[-2.43837435e-01 9.69816088e-01 -2.45643453e-04 2.72611105e+02] [ 9.69815207e-01 2.43837545e-01 1.31027742e-03 3.56423845e+02] [ 1.33062522e-03 8.12659281e-05 -9.99999111e-01 2.74454987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:356.12, Z:2.74 [[-3.18811770e-01 9.47817983e-01 -3.55848580e-04 2.72727782e+02] [ 9.47817121e-01 3.18811961e-01 1.28042184e-03 3.56120432e+02] [ 1.32705563e-03 7.09341779e-05 -9.99999117e-01 2.74407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.11, Z:2.74 [[-3.94762644e-01 9.18783030e-01 -4.44913234e-04 2.72759743e+02] [ 9.18782186e-01 3.94762886e-01 1.24868770e-03 3.56110375e+02] [ 1.32290830e-03 8.41569048e-05 -9.99999121e-01 2.74483171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:356.39, Z:2.75 [[-4.68446457e-01 8.83491724e-01 -5.39806665e-04 2.72645979e+02] [ 8.83490904e-01 4.68446760e-01 1.20622111e-03 3.56385771e+02] [ 1.31855705e-03 8.81357267e-05 -9.99999127e-01 2.74623380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:356.38, Z:2.75 [[-5.38751397e-01 8.42464556e-01 -6.36123534e-04 2.72667611e+02] [ 8.42463770e-01 5.38751766e-01 1.15372463e-03 3.56381627e+02] [ 1.31468479e-03 8.56597252e-05 -9.99999132e-01 2.74771018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:356.32, Z:2.75 [[-6.04685881e-01 7.96463721e-01 -7.25024229e-04 2.72733101e+02] [ 7.96462972e-01 6.04686310e-01 1.09573822e-03 3.56318116e+02] [ 1.31112796e-03 8.51224772e-05 -9.99999137e-01 2.74575696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:356.11, Z:2.75 [[-6.62940772e-01 7.48671403e-01 -8.14598845e-04 2.72935378e+02] [ 7.48670702e-01 6.62941269e-01 1.02643754e-03 3.56108565e+02] [ 1.30849562e-03 7.06010062e-05 -9.99999141e-01 2.74504564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:356.11, Z:2.74 [[-7.17905418e-01 6.96140102e-01 -8.77502532e-04 2.72972311e+02] [ 6.96139432e-01 7.17905949e-01 9.69503076e-04 3.56107350e+02] [ 1.30487426e-03 8.51473961e-05 -9.99999145e-01 2.74095214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:356.11, Z:2.74 [[-7.71032301e-01 6.36795334e-01 -9.45083596e-04 2.73003902e+02] [ 6.36794708e-01 7.71032875e-01 8.97981817e-04 3.56110485e+02] [ 1.30052115e-03 9.05487545e-05 -9.99999150e-01 2.74221904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:356.11, Z:2.74 [[-8.17868869e-01 5.75403762e-01 -1.01171208e-03 2.73039215e+02] [ 5.75403190e-01 8.17869491e-01 8.15302255e-04 3.56114638e+02] [ 1.29657643e-03 8.46679739e-05 -9.99999156e-01 2.74241851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.07, Y:356.12, Z:2.74 [[-8.60096043e-01 5.10131017e-01 -1.06919559e-03 2.73072578e+02] [ 5.10130500e-01 8.60096703e-01 7.31253250e-04 3.56122004e+02] [ 1.29264657e-03 8.35187453e-05 -9.99999161e-01 2.74183390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.11, Y:356.13, Z:2.74 [[-8.96862805e-01 4.42307422e-01 -1.11974396e-03 2.73108144e+02] [ 4.42306962e-01 8.96863500e-01 6.43262369e-04 3.56131504e+02] [ 1.28877721e-03 8.16475424e-05 -9.99999166e-01 2.74242681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.14, Y:356.14, Z:2.74 [[-9.28562840e-01 3.71173409e-01 -1.16308467e-03 2.73139801e+02] [ 3.71173007e-01 9.28563565e-01 5.51930379e-04 3.56144521e+02] [ 1.28485992e-03 8.07964077e-05 -9.99999171e-01 2.74249056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.16, Z:2.74 [[-9.54759187e-01 2.97377634e-01 -1.19908072e-03 2.73170939e+02] [ 2.97377292e-01 9.54759937e-01 4.57609392e-04 3.56159273e+02] [ 1.28091703e-03 8.03273929e-05 -9.99999176e-01 2.74250977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:356.18, Z:2.74 [[-9.75056955e-01 2.21951408e-01 -1.22748376e-03 2.73199372e+02] [ 2.21951128e-01 9.75057725e-01 3.61044340e-04 3.56177035e+02] [ 1.27700183e-03 7.95973887e-05 -9.99999182e-01 2.74202557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:356.20, Z:2.74 [[-9.89383091e-01 1.45325638e-01 -1.24816599e-03 2.73228123e+02] [ 1.45325422e-01 9.89383875e-01 2.62822877e-04 3.56196638e+02] [ 1.27311021e-03 7.86422609e-05 -9.99999187e-01 2.74209781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:356.22, Z:2.74 [[-9.97743647e-01 6.71269232e-02 -1.26102875e-03 2.73254522e+02] [ 6.71267696e-02 9.97744441e-01 1.63794573e-04 3.56218435e+02] [ 1.26917945e-03 7.87762083e-05 -9.99999192e-01 2.74264187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.28, Y:356.24, Z:2.74 [[-9.99931197e-01 -1.16618162e-02 -1.26607802e-03 2.73277010e+02] [-1.16619067e-02 9.99931996e-01 6.41658344e-05 3.56242187e+02] [ 1.26524363e-03 7.89263034e-05 -9.99999197e-01 2.74240011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:356.27, Z:2.74 [[-9.95886233e-01 -9.06036163e-02 -1.26332225e-03 2.73300913e+02] [-9.06036444e-02 9.95887031e-01 -3.50792073e-05 3.56268154e+02] [ 1.26130455e-03 7.95267001e-05 -9.99999201e-01 2.74149128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:356.85, Z:1.60 [[-9.92783564e-01 1.19913410e-01 1.25282165e-03 2.73234709e+02] [-1.19913337e-01 -9.92784354e-01 1.33569844e-04 3.56847708e+02] [ 1.25979855e-03 -1.76240792e-05 9.99999206e-01 1.60369015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.23, Y:356.85, Z:1.60 [[-9.93106676e-01 1.17207339e-01 1.25289554e-03 2.73231631e+02] [-1.17207264e-01 -9.93107466e-01 1.32873190e-04 3.56847501e+02] [ 1.25983362e-03 -1.48912058e-05 9.99999206e-01 1.60230360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.31, Y:356.29, Z:2.74 [[-9.85153849e-01 -1.71669227e-01 -1.25296907e-03 2.73310236e+02] [-1.71669197e-01 9.85154642e-01 -1.32176158e-04 3.56293403e+02] [ 1.25705887e-03 8.48823429e-05 -9.99999206e-01 2.74401710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:356.32, Z:2.75 [[-9.67882059e-01 -2.51401659e-01 -1.23500769e-03 2.73325161e+02] [-2.51401571e-01 9.67882843e-01 -2.29030030e-04 3.56321038e+02] [ 1.25292128e-03 8.88088161e-05 -9.99999211e-01 2.74570746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.88, Z:1.60 [[-9.64701231e-01 2.63344016e-01 1.20964059e-03 2.73169094e+02] [-2.63343817e-01 -9.64701990e-01 3.23796577e-04 3.56884310e+02] [ 1.25221257e-03 -6.18441432e-06 9.99999216e-01 1.59902304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:356.35, Z:2.75 [[-9.44233665e-01 -3.29273932e-01 -1.20982121e-03 2.73334286e+02] [-3.29273787e-01 9.44234436e-01 -3.23120282e-04 3.56349307e+02] [ 1.24874994e-03 9.32613640e-05 -9.99999216e-01 2.74694298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.34, Y:356.38, Z:2.75 [[-9.14410821e-01 -4.04785702e-01 -1.17720592e-03 2.73341862e+02] [-4.04785500e-01 9.14411574e-01 -4.15521953e-04 3.56377649e+02] [ 1.24464807e-03 9.65581183e-05 -9.99999221e-01 2.74611394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.33, Y:356.40, Z:2.75 [[-8.80298970e-01 -4.74417991e-01 -1.13769280e-03 2.73327528e+02] [-4.74417732e-01 8.80299700e-01 -5.04608452e-04 3.56396156e+02] [ 1.24090596e-03 9.55353382e-05 -9.99999226e-01 2.74639358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:356.91, Z:1.60 [[-8.81696222e-01 4.71816254e-01 1.09304785e-03 2.73044407e+02] [-4.71815888e-01 -8.81696900e-01 5.87649564e-04 3.56909361e+02] [ 1.24099952e-03 2.41105870e-06 9.99999230e-01 1.59926673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:356.91, Z:1.60 [[-8.81940884e-01 4.71358761e-01 1.09337793e-03 2.73041817e+02] [-4.71358395e-01 -8.81941562e-01 5.87034781e-04 3.56909187e+02] [ 1.24099943e-03 2.35710832e-06 9.99999230e-01 1.59937482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.04, Y:356.91, Z:1.60 [[-8.82025696e-01 4.71200038e-01 1.09370822e-03 2.73039185e+02] [-4.71199674e-01 -8.82026374e-01 5.86418762e-04 3.56908958e+02] [ 1.24100004e-03 1.88145879e-06 9.99999230e-01 1.59994227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.04, Y:356.91, Z:1.60 [[-8.81717659e-01 4.71776190e-01 1.09403817e-03 2.73038112e+02] [-4.71775826e-01 -8.81718338e-01 5.85802557e-04 3.56909842e+02] [ 1.24100121e-03 3.71698033e-07 9.99999230e-01 1.60014821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:356.92, Z:1.60 [[-8.81757336e-01 4.71702028e-01 1.09436737e-03 2.73058390e+02] [-4.71701665e-01 -8.81758015e-01 5.85186915e-04 3.56920884e+02] [ 1.24100105e-03 -2.22054580e-07 9.99999230e-01 1.59937506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.30, Y:356.40, Z:2.74 [[-8.45520121e-01 -5.33942436e-01 -1.09536748e-03 2.73303182e+02] [-5.33942125e-01 8.45520826e-01 -5.83313309e-04 3.56400994e+02] [ 1.23761175e-03 9.16597026e-05 -9.99999230e-01 2.74454322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.01, Y:356.92, Z:1.60 [[-8.41962514e-01 5.39535017e-01 1.04399707e-03 2.73005797e+02] [-5.39534609e-01 -8.41963161e-01 6.64073320e-04 3.56923238e+02] [ 1.23729788e-03 -4.14770893e-06 9.99999235e-01 1.60094505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:356.91, Z:1.60 [[-8.41563921e-01 5.40156529e-01 1.04436387e-03 2.72977324e+02] [-5.40156121e-01 -8.41564569e-01 6.63495962e-04 3.56905699e+02] [ 1.23729131e-03 -5.74527469e-06 9.99999235e-01 1.60152261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:356.90, Z:1.60 [[-8.40929511e-01 5.41143665e-01 1.04472992e-03 2.72971578e+02] [-5.41143259e-01 -8.40930160e-01 6.62919091e-04 3.56903966e+02] [ 1.23727936e-03 -7.88032514e-06 9.99999235e-01 1.60208741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:356.90, Z:1.60 [[-8.40915810e-01 5.41164955e-01 1.04510252e-03 2.72968687e+02] [-5.41164550e-01 -8.40916459e-01 6.62331164e-04 3.56902811e+02] [ 1.23727432e-03 -8.60768455e-06 9.99999235e-01 1.60218012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:356.91, Z:1.60 [[-8.42758672e-01 5.38290561e-01 1.04547560e-03 2.72980490e+02] [-5.38290155e-01 -8.42759320e-01 6.61741733e-04 3.56911963e+02] [ 1.23729364e-03 -5.08063868e-06 9.99999235e-01 1.60049795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:356.38, Z:2.74 [[-8.10712245e-01 -5.85443898e-01 -1.04786822e-03 2.73249195e+02] [-5.85443534e-01 8.10712918e-01 -6.57951600e-04 3.56383503e+02] [ 1.23471405e-03 8.00582550e-05 -9.99999235e-01 2.74483874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:356.88, Z:1.60 [[-8.02691985e-01 5.96392982e-01 9.93907021e-04 2.72885164e+02] [-5.96392534e-01 -8.02692600e-01 7.31290972e-04 3.56880458e+02] [ 1.23393861e-03 -5.75732530e-06 9.99999239e-01 1.59966269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.20, Y:356.36, Z:2.74 [[-7.70669953e-01 -6.37233735e-01 -9.95682671e-04 2.73196425e+02] [-6.37233322e-01 7.70670592e-01 -7.28871016e-04 3.56364885e+02] [ 1.23180455e-03 7.27631850e-05 -9.99999239e-01 2.74494853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.79, Y:356.84, Z:1.60 [[-7.59605678e-01 6.50383219e-01 9.39685728e-04 2.72788652e+02] [-6.50382733e-01 -7.59606259e-01 7.95054567e-04 3.56835461e+02] [ 1.23088131e-03 -7.22740819e-06 9.99999242e-01 1.60110744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.10, Y:356.30, Z:2.75 [[-7.24198169e-01 -6.89591272e-01 -9.43723282e-04 2.73096342e+02] [-6.89590823e-01 7.24198779e-01 -7.90267002e-04 3.56301193e+02] [ 1.22840448e-03 7.84729992e-05 -9.99999242e-01 2.74633658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:356.32, Z:2.75 [[-6.75217792e-01 -7.37617816e-01 -9.43723282e-04 2.73086611e+02] [-7.37617411e-01 6.75218432e-01 -7.90267002e-04 3.56320818e+02] [ 1.22013438e-03 1.62504384e-04 -9.99999242e-01 2.74565234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:356.74, Z:1.60 [[-6.58196985e-01 7.52845316e-01 8.11675424e-04 2.72620387e+02] [-7.52844768e-01 -6.58197486e-01 9.08271405e-04 3.56739834e+02] [ 1.21803060e-03 -1.32440954e-05 9.99999258e-01 1.60133272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:356.74, Z:1.60 [[-6.59644880e-01 7.51576990e-01 8.12184503e-04 2.72617302e+02] [-7.51576442e-01 -6.59645380e-01 9.07815954e-04 3.56739168e+02] [ 1.21804734e-03 -1.15825927e-05 9.99999258e-01 1.60260292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.61, Y:356.74, Z:1.60 [[-6.60834444e-01 7.50531264e-01 8.12691968e-04 2.72612557e+02] [-7.50530715e-01 -6.60834943e-01 9.07361435e-04 3.56735903e+02] [ 1.21805837e-03 -1.03345950e-05 9.99999258e-01 1.60300616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.61, Y:356.74, Z:1.60 [[-6.65167451e-01 7.46693780e-01 8.13200040e-04 2.72614080e+02] [-7.46693229e-01 -6.65167949e-01 9.06905859e-04 3.56741080e+02] [ 1.21809557e-03 -3.96670444e-06 9.99999258e-01 1.60127583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.272755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:273.03, Y:356.28, Z:2.75 [[-6.15822420e-01 -7.87884564e-01 -8.13200040e-04 2.73030860e+02] [-7.87884046e-01 6.15822952e-01 -9.06905859e-04 3.56275203e+02] [ 1.21532438e-03 8.22143764e-05 -9.99999258e-01 2.74629203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:356.67, Z:1.60 [[-6.18504369e-01 7.85781008e-01 7.43984384e-04 2.72523323e+02] [-7.85780420e-01 -6.18504816e-01 9.61071051e-04 3.56672926e+02] [ 1.21534930e-03 9.81828194e-06 9.99999261e-01 1.60273646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.332755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:272.97, Y:356.22, Z:2.74 [[-5.61750809e-01 -8.27306156e-01 -7.43984384e-04 2.72966573e+02] [-8.27305601e-01 5.61751297e-01 -9.61071051e-04 3.56223493e+02] [ 1.21303419e-03 7.56200073e-05 -9.99999261e-01 2.74240586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.362755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:272.43, Y:356.58, Z:1.60 [[-5.63306167e-01 8.26247964e-01 6.81790059e-04 2.72429883e+02] [-8.26247355e-01 -5.63306579e-01 1.00333364e-03 3.56584349e+02] [ 1.21305920e-03 1.85679370e-06 9.99999264e-01 1.60326155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.392755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:272.82, Y:356.02, Z:2.74 [[-4.95502193e-01 -8.68606419e-01 -6.82358438e-04 2.72817694e+02] [-8.68605845e-01 4.95502654e-01 -1.00294694e-03 3.56019888e+02] [ 1.20927657e-03 9.57381189e-05 -9.99999264e-01 2.74397165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4227550960001 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:272.90, Y:356.22, Z:2.74 [[-4.31409053e-01 -9.02156175e-01 -6.82358438e-04 2.72902765e+02] [-9.02155636e-01 4.31409554e-01 -1.00294694e-03 3.56221386e+02] [ 1.19919072e-03 1.82913120e-04 -9.99999264e-01 2.74352568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.452755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:272.31, Y:356.48, Z:1.60 [[-4.38756405e-01 8.98605891e-01 5.20220380e-04 2.72305132e+02] [-8.98605240e-01 -4.38756713e-01 1.08139989e-03 3.56482632e+02] [ 1.20000249e-03 6.99836657e-06 9.99999280e-01 1.60185482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.482755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:272.31, Y:356.50, Z:1.60 [[-4.41801486e-01 8.97112687e-01 5.23467031e-04 2.72313180e+02] [-8.97112037e-01 -4.41801796e-01 1.07982601e-03 3.56500622e+02] [ 1.19999429e-03 7.46016110e-06 9.99999280e-01 1.60458958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:355.98, Z:2.74 [[-3.65062417e-01 -9.30982897e-01 -5.26686854e-04 2.72774458e+02] [-9.30982277e-01 3.65062785e-01 -1.07826095e-03 3.55981122e+02] [ 1.19611627e-03 9.67035780e-05 -9.99999280e-01 2.74212922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.25, Y:356.43, Z:1.61 [[-3.73209870e-01 9.27746841e-01 4.38569558e-04 2.72251979e+02] [-9.27746173e-01 -3.73210128e-01 1.11322109e-03 3.56433588e+02] [ 1.19646595e-03 8.58387026e-06 9.99999284e-01 1.60684813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:355.93, Z:2.74 [[-3.06987713e-01 -9.51713374e-01 -4.44039099e-04 2.72744026e+02] [-9.51712729e-01 3.06988024e-01 -1.11103809e-03 3.55932414e+02] [ 1.19370450e-03 8.15226190e-05 -9.99999284e-01 2.74047005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:356.11, Z:2.74 [[-2.42661202e-01 -9.70110996e-01 -4.44039099e-04 2.72772803e+02] [-9.70110373e-01 2.42661555e-01 -1.11103809e-03 3.56111146e+02] [ 1.18558149e-03 1.61161096e-04 -9.99999284e-01 2.74134678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.73, Y:356.04, Z:2.74 [[-1.76354376e-01 -9.84326642e-01 -4.44039097e-04 2.72734496e+02] [-9.84326044e-01 1.76354770e-01 -1.11103809e-03 3.56041284e+02] [ 1.17193281e-03 2.41142818e-04 -9.99999284e-01 2.74144141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:355.97, Z:2.74 [[-1.15464465e-01 -9.93311512e-01 -4.44039101e-04 2.72698486e+02] [-9.93310940e-01 1.15464895e-01 -1.11103809e-03 3.55970054e+02] [ 1.15487786e-03 3.12783477e-04 -9.99999284e-01 2.74489710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:355.89, Z:2.74 [[-4.68560304e-02 -9.98901554e-01 -4.44039101e-04 2.72670336e+02] [-9.98901013e-01 4.68564989e-02 -1.11103809e-03 3.55887089e+02] [ 1.13062380e-03 3.91492273e-04 -9.99999284e-01 2.74260896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:355.90, Z:1.60 [[-2.70012164e-02 9.99635400e-01 4.25489180e-05 2.72025727e+02] [-9.99634766e-01 -2.70012472e-02 1.12620678e-03 3.55899793e+02] [ 1.12694504e-03 -1.21244247e-05 9.99999365e-01 1.60495864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.02, Y:355.60, Z:1.61 [[-2.13240299e-02 9.99772616e-01 4.28699404e-05 2.72015474e+02] [-9.99771982e-01 -2.13240647e-02 1.12619432e-03 3.55595845e+02] [ 1.12685240e-03 -1.88451640e-05 9.99999365e-01 1.60604112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:355.91, Z:1.60 [[-2.19973462e-02 9.99758028e-01 4.09908916e-05 2.72028670e+02] [-9.99757394e-01 -2.19973784e-02 1.12626790e-03 3.55906639e+02] [ 1.12689707e-03 -1.62060420e-05 9.99999365e-01 1.60483675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:355.90, Z:1.61 [[-1.68791349e-02 9.99857536e-01 4.65383425e-05 2.72030145e+02] [-9.99856903e-01 -1.68791766e-02 1.12603863e-03 3.55902945e+02] [ 1.12666374e-03 -2.75251250e-05 9.99999365e-01 1.60543238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.03, Y:355.89, Z:1.61 [[-1.79911503e-02 9.99838145e-01 4.75749031e-05 2.72029168e+02] [-9.99837511e-01 -1.79911924e-02 1.12599484e-03 3.55888823e+02] [ 1.12666852e-03 -2.73092304e-05 9.99999365e-01 1.60536382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.64, Y:355.49, Z:2.74 [[-7.09488378e-03 -9.99974830e-01 -4.81676988e-05 2.72642367e+02] [-9.99974197e-01 7.09493353e-03 -1.12596951e-03 3.55494183e+02] [ 1.12628292e-03 4.01778331e-05 -9.99999365e-01 2.74031101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:355.49, Z:2.74 [[ 6.76178693e-02 -9.97711293e-01 1.09720232e-05 2.72670278e+02] [-9.97710661e-01 -6.76178389e-02 -1.12475436e-03 3.55493177e+02] [ 1.12292203e-03 6.51065889e-05 -9.99999367e-01 2.73949737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.70, Y:355.49, Z:2.74 [[ 1.42225896e-01 -9.89834221e-01 9.34470291e-05 2.72697496e+02] [-9.89833594e-01 -1.42225911e-01 -1.11658114e-03 3.55493016e+02] [ 1.11852081e-03 6.63097436e-05 -9.99999372e-01 2.74011850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.71, Y:355.49, Z:2.74 [[ 2.18551350e-01 -9.75825429e-01 1.98508541e-04 2.72709089e+02] [-9.75824813e-01 -2.18551435e-01 -1.09757969e-03 3.55492188e+02] [ 1.11443050e-03 4.61679632e-05 -9.99999378e-01 2.73992468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:355.49, Z:2.74 [[ 2.94829447e-01 -9.55549851e-01 2.82955777e-04 2.72722029e+02] [-9.55549247e-01 -2.94829579e-01 -1.07535937e-03 3.55493061e+02] [ 1.11098322e-03 4.66694284e-05 -9.99999382e-01 2.74014587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:355.49, Z:2.74 [[ 3.72082322e-01 -9.28199662e-01 3.65134213e-04 2.72737863e+02] [-9.28199073e-01 -3.72082498e-01 -1.04669176e-03 3.55489242e+02] [ 1.10739899e-03 5.05382611e-05 -9.99999386e-01 2.74225164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.18, Y:355.20, Z:1.61 [[ 4.30621888e-01 9.02532312e-01 -4.64886385e-04 2.72177945e+02] [-9.02531754e-01 4.30622139e-01 1.00298189e-03 3.55204022e+02] [ 1.10541393e-03 -1.23312297e-05 9.99999389e-01 1.60992925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.19, Y:355.17, Z:1.61 [[ 4.25239210e-01 9.05080891e-01 -4.42820269e-04 2.72187226e+02] [-9.05080325e-01 4.25239439e-01 1.01263132e-03 3.55167667e+02] [ 1.10481790e-03 -2.98226313e-05 9.99999389e-01 1.60837192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:355.42, Z:2.74 [[ 4.44720786e-01 -8.95669160e-01 4.22450301e-04 2.72772304e+02] [-8.95668581e-01 -4.44720980e-01 -1.02137058e-03 3.55419686e+02] [ 1.10268264e-03 7.58492674e-05 -9.99999389e-01 2.73675296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.24, Y:355.10, Z:1.61 [[ 4.90500406e-01 8.71440810e-01 -5.16757255e-04 2.72241346e+02] [-8.71440269e-01 4.90500677e-01 9.71191177e-04 3.55101374e+02] [ 1.09980541e-03 -2.60465852e-05 9.99999395e-01 1.60999636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:355.40, Z:2.74 [[ 5.18043021e-01 -8.55354410e-01 5.12372370e-04 2.72802515e+02] [-8.55353858e-01 -5.18043270e-01 -9.73517678e-04 3.55399594e+02] [ 1.09813370e-03 6.60643549e-05 -9.99999395e-01 2.73594547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.202755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.83, Y:355.41, Z:2.74 [[ 5.84050356e-01 -8.11717224e-01 5.75193305e-04 2.72827647e+02] [-8.11716691e-01 -5.84050634e-01 -9.33668692e-04 3.55412846e+02] [ 1.09381697e-03 7.84155259e-05 -9.99999399e-01 2.73734226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:355.43, Z:2.74 [[ 6.44477237e-01 -7.64623224e-01 6.45382420e-04 2.72852921e+02] [-7.64622720e-01 -6.44477556e-01 -8.80952467e-04 3.55426689e+02] [ 1.08953120e-03 7.42797497e-05 -9.99999404e-01 2.73512496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.87, Y:355.43, Z:2.74 [[ 7.03012419e-01 -7.11177207e-01 7.20259740e-04 2.72867544e+02] [-7.11176743e-01 -7.03012785e-01 -8.14759814e-04 3.55426183e+02] [ 1.08579042e-03 6.05542920e-05 -9.99999409e-01 2.73833659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:355.43, Z:2.74 [[ 7.55564998e-01 -6.55073203e-01 7.95375015e-04 2.72880847e+02] [-6.55072789e-01 -7.55565416e-01 -7.36828227e-04 3.55425857e+02] [ 1.08363428e-03 3.56930887e-05 -9.99999412e-01 2.73653495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.89, Y:355.43, Z:2.74 [[ 8.03577707e-01 -5.95199245e-01 8.52530639e-04 2.72890853e+02] [-5.95198872e-01 -8.03578159e-01 -6.67321253e-04 3.55427671e+02] [ 1.08226411e-03 2.88192076e-05 -9.99999414e-01 2.73918354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:355.44, Z:2.74 [[ 8.48592610e-01 -5.29046111e-01 8.91434518e-04 2.72907288e+02] [-5.29045760e-01 -8.48593077e-01 -6.11786606e-04 3.55435523e+02] [ 1.08012849e-03 4.75479413e-05 -9.99999416e-01 2.73676934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:355.44, Z:2.74 [[ 8.87769108e-01 -4.60288078e-01 9.46199074e-04 2.72919513e+02] [-4.60287787e-01 -8.87769612e-01 -5.18515942e-04 3.55443996e+02] [ 1.07867349e-03 2.47985577e-05 -9.99999418e-01 2.73772520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:355.45, Z:2.74 [[ 9.20113790e-01 -3.91649937e-01 9.69679956e-04 2.72931542e+02] [-3.91649657e-01 -9.20114300e-01 -4.70516030e-04 3.55453214e+02] [ 1.07649397e-03 5.31534649e-05 -9.99999419e-01 2.73783110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.94, Y:355.47, Z:2.74 [[ 9.48122075e-01 -3.17904912e-01 9.99307751e-04 2.72942284e+02] [-3.17904671e-01 -9.48122600e-01 -3.95718422e-04 3.55466173e+02] [ 1.07326709e-03 5.75047699e-05 -9.99999422e-01 2.73953502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.472755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.95, Y:355.48, Z:2.74 [[ 9.69985084e-01 -2.43162282e-01 1.02056158e-03 2.72953896e+02] [-2.43162072e-01 -9.69985619e-01 -3.26984429e-04 3.55478421e+02] [ 1.06944033e-03 6.90081514e-05 -9.99999426e-01 2.73890428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:355.49, Z:2.73 [[ 9.86437546e-01 -1.64133749e-01 1.03963674e-03 2.72965858e+02] [-1.64133584e-01 -9.86438091e-01 -2.42108386e-04 3.55491399e+02] [ 1.06527543e-03 6.81854983e-05 -9.99999430e-01 2.73478432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.97, Y:355.50, Z:2.74 [[ 9.96363738e-01 -8.51950193e-02 1.05336374e-03 2.72971936e+02] [-8.51949126e-02 -9.96364294e-01 -1.45799980e-04 3.55504701e+02] [ 1.06195545e-03 5.55285816e-05 -9.99999435e-01 2.73831856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.562755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.98, Y:355.51, Z:2.74 [[ 9.99970246e-01 -7.64114236e-03 1.05859558e-03 2.72978767e+02] [-7.64107941e-03 -9.99970805e-01 -6.34893729e-05 3.55509962e+02] [ 1.05904980e-03 5.53986710e-05 -9.99999438e-01 2.73792959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:355.51, Z:2.74 [[ 9.97322353e-01 7.31232283e-02 1.05717405e-03 2.72983081e+02] [ 7.31232397e-02 -9.97322912e-01 2.78674985e-05 3.55514274e+02] [ 1.05638166e-03 4.95111122e-05 -9.99999441e-01 2.73598859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:355.52, Z:2.74 [[ 9.88244514e-01 1.52877981e-01 1.05066069e-03 2.72985779e+02] [ 1.52877963e-01 -9.88245070e-01 9.78222760e-05 3.55523005e+02] [ 1.05326512e-03 6.39505384e-05 -9.99999443e-01 2.73712890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.652755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.99, Y:355.54, Z:2.74 [[ 9.72372475e-01 2.33432417e-01 1.03782810e-03 2.72987896e+02] [ 2.33432365e-01 -9.72373026e-01 1.72411203e-04 3.55539247e+02] [ 1.04940242e-03 7.46147612e-05 -9.99999447e-01 2.73728850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.682755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.99, Y:355.56, Z:2.73 [[ 9.51088193e-01 3.08917818e-01 1.01569300e-03 2.72988818e+02] [ 3.08917716e-01 -9.51088733e-01 2.59304879e-04 3.55556059e+02] [ 1.04611806e-03 6.71437527e-05 -9.99999451e-01 2.73415408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.712755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.99, Y:355.57, Z:2.73 [[ 9.24126024e-01 3.82086536e-01 9.85651314e-04 2.72989689e+02] [ 3.82086382e-01 -9.24126548e-01 3.47381098e-04 3.55574242e+02] [ 1.04359619e-03 5.55800312e-05 -9.99999454e-01 2.73345505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:355.59, Z:2.73 [[ 8.90062625e-01 4.55837280e-01 9.47365387e-04 2.72986837e+02] [ 4.55837073e-01 -8.90063128e-01 4.35934939e-04 3.55590935e+02] [ 1.04193040e-03 4.38348690e-05 -9.99999456e-01 2.73290267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.99, Y:355.60, Z:2.73 [[ 8.52128556e-01 5.23331709e-01 9.19942734e-04 2.72988615e+02] [ 5.23331485e-01 -8.52129050e-01 4.88051894e-04 3.55602671e+02] [ 1.03932296e-03 6.55520413e-05 -9.99999458e-01 2.73144731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.99, Y:355.61, Z:2.73 [[ 8.08952416e-01 5.87873483e-01 8.69269018e-04 2.72990779e+02] [ 5.87873211e-01 -8.08952882e-01 5.68256105e-04 3.55610892e+02] [ 1.03726037e-03 5.13278196e-05 -9.99999461e-01 2.73084976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.832755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.99, Y:355.62, Z:2.73 [[ 7.60526357e-01 6.49306540e-01 8.23161775e-04 2.72989190e+02] [ 6.49306237e-01 -7.60526800e-01 6.29978228e-04 3.55620499e+02] [ 1.03508557e-03 5.53690277e-05 -9.99999463e-01 2.73271615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.862755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.99, Y:355.63, Z:2.73 [[ 7.07423146e-01 7.06789857e-01 7.68389641e-04 2.72987436e+02] [ 7.06789520e-01 -7.07423561e-01 6.92423507e-04 3.55631558e+02] [ 1.03297485e-03 5.32533299e-05 -9.99999465e-01 2.73247320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.98, Y:355.64, Z:2.73 [[ 6.50643745e-01 7.59382782e-01 7.13048992e-04 2.72982303e+02] [ 7.59382417e-01 -6.50644133e-01 7.46379322e-04 3.55642757e+02] [ 1.03072875e-03 5.58498292e-05 -9.99999467e-01 2.72985242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.98, Y:355.65, Z:2.73 [[ 5.90667574e-01 8.06914737e-01 6.50938530e-04 2.72976204e+02] [ 8.06914344e-01 -5.90667930e-01 7.98088770e-04 3.55654206e+02] [ 1.02847810e-03 5.38464796e-05 -9.99999470e-01 2.73068494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.952755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.97, Y:355.66, Z:2.73 [[ 5.27961264e-01 8.49268247e-01 5.90334119e-04 2.72967194e+02] [ 8.49267832e-01 -5.27961591e-01 8.41029341e-04 3.55664771e+02] [ 1.02593325e-03 5.73208635e-05 -9.99999472e-01 2.73048087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.982755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.96, Y:355.68, Z:2.73 [[ 4.60498849e-01 8.87660150e-01 5.17994391e-04 2.72958179e+02] [ 8.87659711e-01 -4.60499138e-01 8.84176620e-04 3.55675022e+02] [ 1.02338432e-03 5.26404358e-05 -9.99999475e-01 2.73037330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.95, Y:355.68, Z:2.73 [[ 3.91122669e-01 9.20338447e-01 4.48625357e-04 2.72948104e+02] [ 9.20337990e-01 -3.91122923e-01 9.18516865e-04 3.55684155e+02] [ 1.02081405e-03 5.36341913e-05 -9.99999478e-01 2.73071722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.94, Y:355.69, Z:2.73 [[ 3.20916062e-01 9.47107566e-01 3.74553333e-04 2.72937093e+02] [ 9.47107092e-01 -3.20916277e-01 9.48214291e-04 3.55693074e+02] [ 1.01826119e-03 5.04449224e-05 -9.99999480e-01 2.72963310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.92, Y:355.70, Z:2.73 [[ 2.46299426e-01 9.69193739e-01 2.97242938e-04 2.72923518e+02] [ 9.69193253e-01 -2.46299601e-01 9.72368926e-04 3.55701262e+02] [ 1.01562469e-03 4.85919415e-05 -9.99999483e-01 2.73062833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:355.71, Z:2.73 [[ 1.72414665e-01 9.85024433e-01 2.23971901e-04 2.72908152e+02] [ 9.85023937e-01 -1.72414804e-01 9.89126181e-04 3.55707951e+02] [ 1.01292953e-03 5.00778241e-05 -9.99999486e-01 2.72923742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.132755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.90, Y:355.71, Z:2.73 [[ 9.53382090e-02 9.95444929e-01 1.37672571e-04 2.72895301e+02] [ 9.95444426e-01 -9.53382993e-02 1.00181132e-03 3.55713401e+02] [ 1.01037347e-03 4.15344969e-05 -9.99999489e-01 2.73219803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:355.72, Z:2.73 [[ 1.79996534e-02 9.99837991e-01 6.34708169e-05 2.72881494e+02] [ 9.99837485e-01 -1.79997082e-02 1.00686252e-03 3.55716130e+02] [ 1.00784185e-03 4.53373256e-05 -9.99999491e-01 2.73079641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:355.68, Z:2.73 [[-6.00627078e-02 9.98194606e-01 -1.08615382e-05 2.72907538e+02] [ 9.98194100e-01 6.00626883e-02 1.00616837e-03 3.55681350e+02] [ 1.00500422e-03 4.95912737e-05 -9.99999494e-01 2.73065020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.222755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:272.94, Y:355.66, Z:2.73 [[-1.35347667e-01 9.90798163e-01 -9.46880022e-05 2.72935323e+02] [ 9.90797661e-01 1.35347694e-01 9.98749067e-04 3.55662001e+02] [ 1.00237454e-03 4.13617050e-05 -9.99999497e-01 2.73250390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:355.65, Z:2.73 [[-2.11148091e-01 9.77454069e-01 -1.64193917e-04 2.72962863e+02] [ 9.77453572e-01 2.11148149e-01 9.87113367e-04 3.55652876e+02] [ 9.99527219e-04 4.79351723e-05 -9.99999499e-01 2.73112808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.282755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.99, Y:355.63, Z:2.73 [[-2.86003431e-01 9.58228563e-01 -2.41062298e-04 2.72994053e+02] [ 9.58228075e-01 2.86003529e-01 9.67941539e-04 3.55629725e+02] [ 9.96453898e-04 4.58419392e-05 -9.99999503e-01 2.73391542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:355.61, Z:2.73 [[-3.62304757e-01 9.32059637e-01 -3.09302035e-04 2.73028159e+02] [ 9.32059160e-01 3.62304885e-01 9.45161957e-04 3.55605682e+02] [ 9.93008949e-04 5.41488784e-05 -9.99999506e-01 2.73181894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.06, Y:355.59, Z:2.73 [[-4.34286627e-01 9.00774654e-01 -3.86344865e-04 2.73060895e+02] [ 9.00774193e-01 4.34286796e-01 9.12476666e-04 3.55592295e+02] [ 9.89720326e-04 4.82669299e-05 -9.99999509e-01 2.73123534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.09, Y:355.59, Z:2.73 [[-5.02514672e-01 8.64568563e-01 -4.51481453e-04 2.73089357e+02] [ 8.64568118e-01 5.02514872e-01 8.78627908e-04 3.55593339e+02] [ 9.86510212e-04 5.11869451e-05 -9.99999512e-01 2.73217763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.13, Y:355.58, Z:2.73 [[-5.68082379e-01 8.22971535e-01 -5.14053350e-04 2.73127596e+02] [ 8.22971108e-01 5.68082609e-01 8.39631380e-04 3.55580060e+02] [ 9.83017493e-04 5.39287370e-05 -9.99999515e-01 2.73139916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.432755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.16, Y:355.58, Z:2.74 [[-6.24471092e-01 7.81047713e-01 -5.70251734e-04 2.73163358e+02] [ 7.81047307e-01 6.24471350e-01 7.98239291e-04 3.55577354e+02] [ 9.79568843e-04 5.30837799e-05 -9.99999519e-01 2.73747421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.462755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.19, Y:355.58, Z:2.73 [[-6.99637210e-01 7.14498000e-01 -6.18328406e-04 2.73186537e+02] [ 7.14497604e-01 6.99637478e-01 7.56768330e-04 3.55576982e+02] [ 9.73315185e-04 8.76691186e-05 -9.99999523e-01 2.73292897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.23, Y:355.57, Z:2.73 [[-7.52332744e-01 6.58782935e-01 -6.97613806e-04 2.73231277e+02] [ 6.58782590e-01 7.52333066e-01 6.76076123e-04 3.55569349e+02] [ 9.70225346e-04 4.90583743e-05 -9.99999528e-01 2.72706118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.27, Y:355.57, Z:2.73 [[-8.01661998e-01 5.97777127e-01 -7.40582326e-04 2.73265899e+02] [ 5.97776803e-01 8.01662338e-01 6.24956677e-04 3.55573378e+02] [ 9.67281765e-04 5.83010832e-05 -9.99999531e-01 2.72705768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.29, Y:355.59, Z:2.73 [[-8.48334465e-01 5.29460121e-01 -7.84711730e-04 2.73286736e+02] [ 5.29459825e-01 8.48334826e-01 5.63206975e-04 3.55587212e+02] [ 9.63893922e-04 6.23145519e-05 -9.99999534e-01 2.72950758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.32, Y:355.60, Z:2.73 [[-8.84745215e-01 4.66074263e-01 -8.28506946e-04 2.73324773e+02] [ 4.66074007e-01 8.84745602e-01 4.90324140e-04 3.55596745e+02] [ 9.61545338e-04 4.76663848e-05 -9.99999537e-01 2.72846939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:355.77, Z:2.73 [[-9.20305484e-01 3.91199539e-01 -8.58079697e-04 2.72974677e+02] [ 3.91199307e-01 9.20305882e-01 4.31094858e-04 3.55773551e+02] [ 9.58339902e-04 6.10587800e-05 -9.99999539e-01 2.73189952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.54, Y:356.18, Z:1.62 [[-9.33000416e-01 -3.59874193e-01 8.87844552e-04 2.73540841e+02] [ 3.59874016e-01 -9.33000839e-01 -3.57522125e-04 3.56179436e+02] [ 9.57022698e-04 -1.40561069e-05 9.99999542e-01 1.62211570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.39, Y:355.63, Z:2.73 [[-9.48619407e-01 3.16418134e-01 -8.86244160e-04 2.73385352e+02] [ 3.16417934e-01 9.48619819e-01 3.61458275e-04 3.55631559e+02] [ 9.55080728e-04 6.24627881e-05 -9.99999542e-01 2.72811285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.702755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:273.41, Y:355.65, Z:2.73 [[-9.69339967e-01 2.45721785e-01 -9.12201072e-04 2.73413409e+02] [ 2.45721630e-01 9.69340396e-01 2.79411431e-04 3.55650283e+02] [ 9.52890823e-04 4.66971332e-05 -9.99999545e-01 2.72755241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.44, Y:355.67, Z:2.73 [[-9.86439491e-01 1.64122729e-01 -9.27192222e-04 2.73440356e+02] [ 1.64122599e-01 9.86439925e-01 2.15030639e-04 3.55665675e+02] [ 9.49910842e-04 5.99415163e-05 -9.99999547e-01 2.72792279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.53, Y:356.26, Z:1.62 [[-9.90917382e-01 -1.34468806e-01 9.38820531e-04 2.73530356e+02] [ 1.34468735e-01 -9.90917827e-01 -1.38382661e-04 3.56258808e+02] [ 9.48902151e-04 -1.08837746e-05 9.99999550e-01 1.62459818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:355.69, Z:2.73 [[-9.96150506e-01 8.76543747e-02 -9.37889774e-04 2.73463019e+02] [ 8.76542774e-02 9.96150946e-01 1.44493617e-04 3.55686006e+02] [ 9.46945283e-04 6.17273396e-05 -9.99999550e-01 2.72782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.44, Y:355.71, Z:2.73 [[-9.99950685e-01 9.88621627e-03 -9.43577857e-04 2.73440236e+02] [ 9.88615876e-03 9.99951129e-01 6.55865351e-05 3.55711432e+02] [ 9.44180145e-04 5.62549402e-05 -9.99999553e-01 2.73084851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.48, Y:356.31, Z:1.62 [[-9.99737024e-01 2.29127564e-02 9.43138758e-04 2.73483940e+02] [-2.29127602e-02 -9.99737468e-01 6.79027100e-06 3.56310061e+02] [ 9.43046738e-04 -1.48214268e-05 9.99999555e-01 1.62248618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.882755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:273.18, Y:356.31, Z:1.62 [[-9.99787576e-01 2.05891579e-02 9.43146705e-04 2.73178530e+02] [-2.05891619e-02 -9.99788021e-01 5.38682715e-06 3.56309700e+02] [ 9.43057688e-04 -1.40329174e-05 9.99999555e-01 1.61501481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.42, Y:355.74, Z:2.73 [[-9.98154193e-01 -6.07232941e-02 -9.43146705e-04 2.73416932e+02] [-6.07233161e-02 9.98154637e-01 -5.38682712e-06 3.55736080e+02] [ 9.41733363e-04 5.18941114e-05 -9.99999555e-01 2.73092719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.38, Y:356.34, Z:1.62 [[-9.96241327e-01 8.66160407e-02 9.38098171e-04 2.73375799e+02] [-8.66160103e-02 -9.96241769e-01 7.29665017e-05 3.56339915e+02] [ 9.40892651e-04 -8.56207639e-06 9.99999557e-01 1.62170255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:355.71, Z:2.73 [[-9.90242539e-01 -1.39351471e-01 -9.38531962e-04 2.73048479e+02] [-1.39351470e-01 9.90242982e-01 -6.71295654e-05 3.55710606e+02] [ 9.38729292e-04 6.43112572e-05 -9.99999557e-01 2.73290899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.32, Y:356.36, Z:1.62 [[-9.89819918e-01 1.42322421e-01 9.26517602e-04 2.73317995e+02] [-1.42322348e-01 -9.89820352e-01 1.44844694e-04 3.56361995e+02] [ 9.37700626e-04 1.15060025e-05 9.99999560e-01 1.61759005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.032755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:273.45, Y:355.79, Z:2.74 [[-9.78220744e-01 -2.07565196e-01 -9.29932249e-04 2.73447882e+02] [-2.07565174e-01 9.78221184e-01 -1.20424331e-04 3.55794723e+02] [ 9.34675325e-04 7.52199706e-05 -9.99999560e-01 2.73745525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:355.81, Z:2.74 [[-9.58006029e-01 -2.86746612e-01 -9.10637306e-04 2.73411301e+02] [-2.86746546e-01 9.58006459e-01 -2.05801323e-04 3.55808470e+02] [ 9.31409254e-04 6.39631935e-05 -9.99999564e-01 2.73526311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.092755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:273.28, Y:356.41, Z:1.62 [[-9.51706994e-01 3.07006530e-01 8.87911416e-04 2.73280358e+02] [-3.07006403e-01 -9.51707408e-01 2.79101124e-04 3.56406448e+02] [ 9.30717740e-04 -6.97199873e-06 9.99999567e-01 1.61526569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.122755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:273.47, Y:355.85, Z:2.74 [[-9.33365695e-01 -3.58925742e-01 -8.89136129e-04 2.73471493e+02] [-3.58925642e-01 9.33366117e-01 -2.75143417e-04 3.55850929e+02] [ 9.28645591e-04 6.23243294e-05 -9.99999567e-01 2.73712828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.152755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:273.22, Y:356.41, Z:1.62 [[-9.25420793e-01 3.78940118e-01 8.62276861e-04 2.73221755e+02] [-3.78939963e-01 -9.25421194e-01 3.42720685e-04 3.56413459e+02] [ 9.27839899e-04 -9.59031349e-06 9.99999570e-01 1.61671155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.21, Y:356.41, Z:1.62 [[-9.26730865e-01 3.75724847e-01 8.62324957e-04 2.73211541e+02] [-3.75724691e-01 -9.26731266e-01 3.42599460e-04 3.56413211e+02] [ 9.27866629e-04 -6.49928327e-06 9.99999570e-01 1.62272927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.25, Y:356.43, Z:1.62 [[-9.25552917e-01 3.78617292e-01 8.62668130e-04 2.73249568e+02] [-3.78617138e-01 -9.25553319e-01 3.41733156e-04 3.56426161e+02] [ 9.27831433e-04 -1.03288193e-05 9.99999570e-01 1.62186317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.24, Y:356.42, Z:1.62 [[-9.25827155e-01 3.77946208e-01 8.62390343e-04 2.73237584e+02] [-3.77946053e-01 -9.25827556e-01 3.42434845e-04 3.56423173e+02] [ 9.27846694e-04 -8.90154747e-06 9.99999570e-01 1.62011547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.272755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:273.24, Y:356.43, Z:1.62 [[-9.25961300e-01 3.77617435e-01 8.62874034e-04 2.73237480e+02] [-3.77617281e-01 -9.25961702e-01 3.41211661e-04 3.56427820e+02] [ 9.27835781e-04 -9.88735359e-06 9.99999570e-01 1.62256150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:273.46, Y:355.86, Z:2.73 [[-9.05199606e-01 -4.24985798e-01 -8.63217278e-04 2.73457627e+02] [-4.24985665e-01 9.05200016e-01 -3.40342067e-04 3.55856677e+02] [ 9.26024839e-04 5.87774640e-05 -9.99999570e-01 2.73124377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.17, Y:356.43, Z:1.62 [[-8.94160259e-01 4.47746289e-01 8.31815102e-04 2.73172170e+02] [-4.47746105e-01 -8.94160646e-01 4.05049370e-04 3.56429726e+02] [ 9.25135681e-04 -1.02629222e-05 9.99999572e-01 1.62268639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:355.86, Z:2.73 [[-8.75219681e-01 -4.83724937e-01 -8.33320244e-04 2.73412936e+02] [-4.83724773e-01 8.75220077e-01 -4.01940345e-04 3.55857943e+02] [ 9.23767176e-04 5.13115449e-05 -9.99999572e-01 2.73112097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.08, Y:356.41, Z:1.62 [[-8.61146294e-01 5.08356588e-01 7.99784146e-04 2.73080302e+02] [-5.08356380e-01 -8.61146665e-01 4.60220344e-04 3.56410956e+02] [ 9.22687495e-04 -1.02583300e-05 9.99999574e-01 1.62125703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.36, Y:355.85, Z:2.73 [[-8.41647985e-01 -5.40025951e-01 -8.01340898e-04 2.73356576e+02] [-5.40025759e-01 8.41648365e-01 -4.57504601e-04 3.55845398e+02] [ 9.21511614e-04 4.76869006e-05 -9.99999574e-01 2.73069171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.452755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:272.99, Y:356.38, Z:1.62 [[-8.20308828e-01 5.71920310e-01 7.64768441e-04 2.72992749e+02] [-5.71920081e-01 -8.20309185e-01 5.12119691e-04 3.56382474e+02] [ 9.20238229e-04 -1.72901254e-05 9.99999576e-01 1.62164716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:272.99, Y:356.38, Z:1.62 [[-8.21168758e-01 5.70684926e-01 7.65051459e-04 2.72990489e+02] [-5.70684697e-01 -8.21169115e-01 5.11696542e-04 3.56380934e+02] [ 9.20254133e-04 -1.64139457e-05 9.99999576e-01 1.62083093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.512755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:272.99, Y:356.38, Z:1.62 [[-8.22038371e-01 5.69431586e-01 7.65334243e-04 2.72987783e+02] [-5.69431356e-01 -8.22038727e-01 5.11273237e-04 3.56378963e+02] [ 9.20269518e-04 -1.55190969e-05 9.99999576e-01 1.62025436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5427550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:272.98, Y:356.38, Z:1.62 [[-8.23812631e-01 5.66861679e-01 7.65617066e-04 2.72984038e+02] [-5.66861449e-01 -8.23812987e-01 5.10849367e-04 3.56377771e+02] [ 9.20306212e-04 -1.31546379e-05 9.99999576e-01 1.62078953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.572755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:272.98, Y:356.38, Z:1.62 [[-8.24058940e-01 5.66503554e-01 7.65864030e-04 2.72983339e+02] [-5.66503324e-01 -8.24059296e-01 5.10478851e-04 3.56375707e+02] [ 9.20305457e-04 -1.31998575e-05 9.99999576e-01 1.62048669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.602755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:273.29, Y:355.82, Z:2.73 [[-8.00240835e-01 -5.99678263e-01 -7.66111030e-04 2.73286715e+02] [-5.99678048e-01 8.00241200e-01 -5.10107891e-04 3.55824501e+02] [ 9.18974224e-04 5.12108029e-05 -9.99999576e-01 2.73186479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.632755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:272.89, Y:356.33, Z:1.62 [[-7.85238309e-01 6.19193240e-01 7.27687893e-04 2.72888234e+02] [-6.19192987e-01 -7.85238646e-01 5.60033565e-04 3.56333145e+02] [ 9.18177654e-04 -1.08194308e-05 9.99999578e-01 1.61860925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:356.33, Z:1.62 [[-7.86283805e-01 6.17865073e-01 7.27998765e-04 2.72886889e+02] [-6.17864820e-01 -7.86284142e-01 5.59629164e-04 3.56330586e+02] [ 9.18189199e-04 -9.77747793e-06 9.99999578e-01 1.62157305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.89, Y:356.33, Z:1.62 [[-7.87914785e-01 6.15783859e-01 7.28309864e-04 2.72886690e+02] [-6.15783605e-01 -7.87915121e-01 5.59224002e-04 3.56326341e+02] [ 9.18207469e-04 -7.86041499e-06 9.99999578e-01 1.62177285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.88607018e-01 6.14897097e-01 7.28620738e-04 2.72882073e+02] [-6.14896843e-01 -7.88607355e-01 5.58818667e-04 3.56321098e+02] [ 9.18211649e-04 -7.33826852e-06 9.99999578e-01 1.62217260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.89600060e-01 6.13621393e-01 7.28932212e-04 2.72882382e+02] [-6.13621139e-01 -7.89600397e-01 5.58412079e-04 3.56320069e+02] [ 9.18218761e-04 -6.36600295e-06 9.99999578e-01 1.62398231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.782755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.89836502e-01 6.13317021e-01 7.29243987e-04 2.72881095e+02] [-6.13316768e-01 -7.89836838e-01 5.58004627e-04 3.56318994e+02] [ 9.18217501e-04 -6.52514173e-06 9.99999578e-01 1.62201096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.90124183e-01 6.12946362e-01 7.29555007e-04 2.72880063e+02] [-6.12946109e-01 -7.90124520e-01 5.57597692e-04 3.56318079e+02] [ 9.18216776e-04 -6.60648176e-06 9.99999578e-01 1.62277906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.89523792e-01 6.13719520e-01 7.29826026e-04 2.72878601e+02] [-6.13719267e-01 -7.89524129e-01 5.57242736e-04 3.56317953e+02] [ 9.18206002e-04 -7.95189554e-06 9.99999578e-01 1.62445540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:356.32, Z:1.62 [[-7.89501031e-01 6.13748800e-01 7.30136319e-04 2.72875623e+02] [-6.13748548e-01 -7.89501368e-01 5.56835872e-04 3.56316902e+02] [ 9.18200971e-04 -8.49761109e-06 9.99999578e-01 1.62403898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.902755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.87, Y:356.32, Z:1.62 [[-7.88279579e-01 6.15316806e-01 7.30446386e-04 2.72874903e+02] [-6.15316555e-01 -7.88279917e-01 5.56428834e-04 3.56317915e+02] [ 9.18176230e-04 -1.08342662e-05 9.99999578e-01 1.62358185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.932755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.87, Y:356.32, Z:1.62 [[-7.87725515e-01 6.16025956e-01 7.30755854e-04 2.72872165e+02] [-6.16025705e-01 -7.87725854e-01 5.56022114e-04 3.56316459e+02] [ 9.18159334e-04 -1.21715837e-05 9.99999578e-01 1.62251539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:272.82, Y:356.28, Z:1.62 [[-7.88461151e-01 6.15084124e-01 7.31144854e-04 2.72822130e+02] [-6.15083873e-01 -7.88461490e-01 5.55510125e-04 3.56280587e+02] [ 9.18165019e-04 -1.17172556e-05 9.99999578e-01 1.62099006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.19, Y:355.78, Z:2.73 [[-7.64689362e-01 -6.44398670e-01 -7.31144854e-04 2.73194563e+02] [-6.44398432e-01 7.64689710e-01 -5.55510125e-04 3.55782882e+02] [ 9.17068932e-04 4.63559143e-05 -9.99999578e-01 2.72725584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:356.27, Z:1.63 [[-7.42403422e-01 6.69952747e-01 6.90396864e-04 2.72768192e+02] [-6.69952476e-01 -7.42403742e-01 6.02224107e-04 3.56265781e+02] [ 9.16014910e-04 -1.54398513e-05 9.99999580e-01 1.62637062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.052755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:272.77, Y:356.26, Z:1.63 [[-7.42387798e-01 6.69970059e-01 6.90730622e-04 2.72766722e+02] [-6.69969789e-01 -7.42388119e-01 6.01841054e-04 3.56262582e+02] [ 9.16005694e-04 -1.59691947e-05 9.99999580e-01 1.62545541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.77, Y:356.26, Z:1.63 [[-7.42543588e-01 6.69797389e-01 6.91064330e-04 2.72766933e+02] [-6.69797119e-01 -7.42543910e-01 6.01457630e-04 3.56261468e+02] [ 9.16000359e-04 -1.62643902e-05 9.99999580e-01 1.62658497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.26, Z:1.63 [[-7.42596732e-01 6.69738469e-01 6.91397663e-04 2.72762800e+02] [-6.69738199e-01 -7.42597053e-01 6.01074206e-04 3.56257451e+02] [ 9.15992386e-04 -1.66996843e-05 9.99999580e-01 1.62627542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.26, Z:1.63 [[-7.42309810e-01 6.70056465e-01 6.91731106e-04 2.72764002e+02] [-6.70056196e-01 -7.42310133e-01 6.00690227e-04 3.56258047e+02] [ 9.15975379e-04 -1.76004649e-05 9.99999580e-01 1.62704540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.26, Z:1.63 [[-7.42396146e-01 6.69960807e-01 6.92064174e-04 2.72762607e+02] [-6.69960539e-01 -7.42396468e-01 6.00306249e-04 3.56256677e+02] [ 9.15967658e-04 -1.79906414e-05 9.99999580e-01 1.62671974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.63 [[-7.42649825e-01 6.69679594e-01 6.92396310e-04 2.72761617e+02] [-6.69679325e-01 -7.42650147e-01 5.99922916e-04 3.56254015e+02] [ 9.15964357e-04 -1.81508456e-05 9.99999580e-01 1.62571588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.232755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.62 [[-7.42212824e-01 6.70163893e-01 6.92728234e-04 2.72761741e+02] [-6.70163625e-01 -7.42213147e-01 5.99539400e-04 3.56252057e+02] [ 9.15941661e-04 -1.92554339e-05 9.99999580e-01 1.62292357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.62 [[-7.41167013e-01 6.71320325e-01 6.93059786e-04 2.72763371e+02] [-6.71320058e-01 -7.41167336e-01 5.99155885e-04 3.56250440e+02] [ 9.15898799e-04 -2.11903588e-05 9.99999580e-01 1.62272695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2927550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.62 [[-7.40947428e-01 6.71562676e-01 6.93390412e-04 2.72761806e+02] [-6.71562409e-01 -7.40947752e-01 5.98773014e-04 3.56248547e+02] [ 9.15879675e-04 -2.19956110e-05 9.99999580e-01 1.62148371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.62 [[-7.40757410e-01 6.71772267e-01 6.93720509e-04 2.72760333e+02] [-6.71772001e-01 -7.40757735e-01 5.98390329e-04 3.56246729e+02] [ 9.15860860e-04 -2.27599436e-05 9.99999580e-01 1.62095405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.352755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:272.76, Y:356.25, Z:1.62 [[-7.40478360e-01 6.72079844e-01 6.94050394e-04 2.72760255e+02] [-6.72079578e-01 -7.40478685e-01 5.98007462e-04 3.56246599e+02] [ 9.15838285e-04 -2.36455116e-05 9.99999580e-01 1.62031485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.74, Y:356.24, Z:1.62 [[-7.47127605e-01 6.64680269e-01 6.94381420e-04 2.72744357e+02] [-6.64680000e-01 -7.47127928e-01 5.97622841e-04 3.56237019e+02] [ 9.16019862e-04 -1.50409201e-05 9.99999580e-01 1.61964126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4127550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:273.10, Y:355.74, Z:2.73 [[-7.30429460e-01 -6.82987790e-01 -6.94381420e-04 2.73100874e+02] [-6.82987530e-01 7.30429789e-01 -5.97622841e-04 3.55741938e+02] [ 9.15365978e-04 3.77325215e-05 -9.99999580e-01 2.73178566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:356.18, Z:1.62 [[-7.00832204e-01 7.13325871e-01 6.51261337e-04 2.72652448e+02] [-7.13325583e-01 -7.00832506e-01 6.41405510e-04 3.56178778e+02] [ 9.13956259e-04 -1.50437357e-05 9.99999582e-01 1.62198080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.03, Y:355.70, Z:2.73 [[-6.76599892e-01 -7.36350570e-01 -6.51261337e-04 2.73033701e+02] [-7.36350292e-01 6.76600204e-01 -6.41405510e-04 3.55700206e+02] [ 9.12942866e-04 4.55815772e-05 -9.99999582e-01 2.73101023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.57, Y:356.12, Z:1.62 [[-6.46943745e-01 7.62537494e-01 6.00764133e-04 2.72567884e+02] [-7.62537185e-01 -6.46944024e-01 6.86241283e-04 3.56117145e+02] [ 9.11945474e-04 -1.41454849e-05 9.99999584e-01 1.62264267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:356.11, Z:1.62 [[-6.54554493e-01 7.56014582e-01 6.05969329e-04 2.72558199e+02] [-7.56014275e-01 -6.54554773e-01 6.81613752e-04 3.56110740e+02] [ 9.11950053e-04 -1.19681194e-05 9.99999584e-01 1.62314969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.97, Y:355.66, Z:2.73 [[-6.19218241e-01 -7.85218698e-01 -6.05969329e-04 2.72967975e+02] [-7.85218404e-01 6.19218535e-01 -6.81613752e-04 3.55656715e+02] [ 9.10443303e-04 5.37506010e-05 -9.99999584e-01 2.73003187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.47, Y:356.03, Z:1.62 [[-6.09690153e-01 7.92639649e-01 5.52273675e-04 2.72465318e+02] [-7.92639319e-01 -6.09690403e-01 7.23276725e-04 3.56032318e+02] [ 9.10013768e-04 3.22086734e-06 9.99999586e-01 1.62422480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.622755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:272.90, Y:355.60, Z:2.73 [[-5.59099018e-01 -8.29100708e-01 -5.52273675e-04 2.72901918e+02] [-8.29100394e-01 5.59099288e-01 -7.23276725e-04 3.55603825e+02] [ 9.08445063e-04 5.35070151e-05 -9.99999586e-01 2.72777140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.652755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:272.38, Y:355.95, Z:1.62 [[-5.61414790e-01 8.27534399e-01 5.01214846e-04 2.72376515e+02] [-8.27534052e-01 -5.61415014e-01 7.57721268e-04 3.55947879e+02] [ 9.08429954e-04 1.06235736e-05 9.99999587e-01 1.62413815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.682755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:272.84, Y:355.56, Z:2.73 [[-5.07512759e-01 -8.61644096e-01 -5.01214846e-04 2.72842044e+02] [-8.61643764e-01 5.07513004e-01 -7.57721268e-04 3.55556388e+02] [ 9.07259109e-04 4.73154362e-05 -9.99999587e-01 2.72528444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.30, Y:355.87, Z:1.63 [[-5.00631115e-01 8.65660603e-01 4.55828217e-04 2.72301667e+02] [-8.65660247e-01 -5.00631323e-01 7.84106099e-04 3.55865063e+02] [ 9.06971641e-04 -2.04445581e-06 9.99999589e-01 1.62871323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.30, Y:355.86, Z:1.63 [[-5.03507484e-01 8.63990744e-01 4.56271015e-04 2.72298785e+02] [-8.63990388e-01 -5.03507691e-01 7.83848350e-04 3.55861544e+02] [ 9.06973685e-04 4.59739535e-07 9.99999589e-01 1.62708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.29, Y:355.86, Z:1.63 [[-5.10210593e-01 8.60049384e-01 4.56769125e-04 2.72294367e+02] [-8.60049027e-01 -5.10210797e-01 7.83557981e-04 3.55858453e+02] [ 9.06947098e-04 6.93574074e-06 9.99999589e-01 1.62684941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:355.49, Z:2.73 [[-4.38648013e-01 -8.98658841e-01 -4.56769125e-04 2.72783644e+02] [-8.98658502e-01 4.38648246e-01 -7.83557981e-04 3.55487956e+02] [ 9.04512282e-04 6.67733057e-05 -9.99999589e-01 2.72701080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.832755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:272.22, Y:355.76, Z:1.63 [[-4.45914772e-01 8.95075337e-01 3.97218495e-04 2.72219960e+02] [-8.95074967e-01 -4.45914949e-01 8.13141682e-04 3.55763518e+02] [ 9.04948729e-04 7.05155684e-06 9.99999591e-01 1.62577300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:355.53, Z:1.63 [[-4.44301671e-01 8.95877147e-01 4.03240990e-04 2.72102509e+02] [-8.95876781e-01 -4.44301854e-01 8.10144046e-04 3.55533759e+02] [ 9.04950256e-04 -1.30588678e-06 9.99999591e-01 1.62798162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.892755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:272.21, Y:355.76, Z:1.63 [[-4.43088598e-01 8.96477737e-01 4.02875811e-04 2.72212980e+02] [-8.96477370e-01 -4.43088781e-01 8.10325916e-04 3.55760041e+02] [ 9.04948895e-04 -2.12287413e-06 9.99999591e-01 1.62755908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9227550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:272.21, Y:355.76, Z:1.62 [[-4.49796146e-01 8.93131157e-01 4.04887371e-04 2.72208552e+02] [-8.93130790e-01 -4.49796328e-01 8.09319570e-04 3.55761161e+02] [ 9.04945377e-04 2.41144537e-06 9.99999591e-01 1.62287780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.73, Y:355.42, Z:2.73 [[-3.93761359e-01 -9.19212613e-01 -4.04887372e-04 2.72731534e+02] [-9.19212258e-01 3.93761564e-01 -8.09319570e-04 3.55415436e+02] [ 9.03365841e-04 5.34986613e-05 -9.99999591e-01 2.72903007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.982755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:272.14, Y:355.66, Z:1.62 [[-3.76699835e-01 9.26335313e-01 3.48944292e-04 2.72139438e+02] [-9.26334939e-01 -3.76699997e-01 8.32760896e-04 3.55660146e+02] [ 9.02863139e-04 -9.53839762e-06 9.99999592e-01 1.62050056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.14, Y:355.66, Z:1.62 [[-3.76508589e-01 9.26413061e-01 3.49531981e-04 2.72138978e+02] [-9.26412687e-01 -3.76508751e-01 8.32514154e-04 3.55658623e+02] [ 9.02853836e-04 -1.03621325e-05 9.99999592e-01 1.62279268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0427550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.14, Y:355.65, Z:1.62 [[-3.73975942e-01 9.27438339e-01 3.50118239e-04 2.72136641e+02] [-9.27437965e-01 -3.73976106e-01 8.32267527e-04 3.55654113e+02] [ 9.02812668e-04 -1.34649149e-05 9.99999592e-01 1.62077004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.11, Y:355.59, Z:1.62 [[-3.73778279e-01 9.27518019e-01 3.50703679e-04 2.72111101e+02] [-9.27517646e-01 -3.73778443e-01 8.32020760e-04 3.55592797e+02] [ 9.02799721e-04 -1.42925630e-05 9.99999592e-01 1.62242555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.102755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:272.68, Y:355.34, Z:2.73 [[-3.42830738e-01 -9.39397127e-01 -3.50703678e-04 2.72678923e+02] [-9.39396759e-01 3.42830915e-01 -8.32020760e-04 3.55343637e+02] [ 9.01829974e-04 4.42076077e-05 -9.99999592e-01 2.73434766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.132755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:272.03, Y:355.43, Z:1.62 [[-3.11309973e-01 9.50308379e-01 2.93161568e-04 2.72031169e+02] [-9.50307997e-01 -3.11310111e-01 8.51824300e-04 3.55432380e+02] [ 9.00759930e-04 -1.34123827e-05 9.99999594e-01 1.62148012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:272.62, Y:355.25, Z:2.73 [[-2.87330665e-01 -9.57831407e-01 -2.93161568e-04 2.72622135e+02] [-9.57831028e-01 2.87330812e-01 -8.51824300e-04 3.55249953e+02] [ 9.00138419e-04 3.60440038e-05 -9.99999594e-01 2.73373523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.192755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:271.98, Y:355.32, Z:1.62 [[-2.43563882e-01 9.69884828e-01 2.38729051e-04 2.71978220e+02] [-9.69884440e-01 -2.43563998e-01 8.66815522e-04 3.55324750e+02] [ 8.98857025e-04 -2.04146392e-05 9.99999596e-01 1.61925800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:272.58, Y:355.19, Z:2.73 [[-2.20073568e-01 -9.75483248e-01 -2.38729051e-04 2.72582005e+02] [-9.75482864e-01 2.20073693e-01 -8.66815522e-04 3.55193697e+02] [ 8.98102005e-04 4.21129142e-05 -9.99999596e-01 2.73476671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.95, Y:355.29, Z:1.62 [[-1.77830166e-01 9.84061177e-01 1.76758919e-04 2.71951338e+02] [-9.84060785e-01 -1.77830253e-01 8.79475286e-04 3.55293838e+02] [ 8.96890569e-04 -1.75442841e-05 9.99999598e-01 1.62211445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.282755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:271.95, Y:355.30, Z:1.62 [[-1.78993466e-01 9.83850246e-01 1.80254461e-04 2.71954287e+02] [-9.83849854e-01 -1.78993555e-01 8.78758267e-04 3.55295154e+02] [ 8.96830924e-04 -2.00513372e-05 9.99999598e-01 1.62029776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.90, Y:354.99, Z:1.62 [[-1.81722515e-01 9.83349834e-01 1.80935528e-04 2.71896079e+02] [-9.83349441e-01 -1.81722604e-01 8.78618013e-04 3.54994610e+02] [ 8.96868952e-04 -1.82581755e-05 9.99999598e-01 1.62194614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.342755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:272.53, Y:355.12, Z:2.73 [[-1.63857875e-01 -9.86483940e-01 -1.80935528e-04 2.72526150e+02] [-9.86483550e-01 1.63857971e-01 -8.78618013e-04 3.55120921e+02] [ 8.96390288e-04 3.45214416e-05 -9.99999598e-01 2.73283602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.372755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:272.49, Y:355.02, Z:2.73 [[-9.22309438e-02 -9.95737626e-01 -1.80935528e-04 2.72493954e+02] [-9.95737244e-01 9.22310680e-02 -8.78618013e-04 3.55021973e+02] [ 8.91560892e-04 9.91284753e-05 -9.99999598e-01 2.73367913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:271.88, Y:355.06, Z:1.62 [[-4.45968508e-02 9.99005064e-01 6.06358565e-05 2.71876556e+02] [-9.99004670e-01 -4.45968871e-02 8.86843232e-04 3.55057348e+02] [ 8.88665050e-04 -2.10250886e-05 9.99999605e-01 1.62367972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.432755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:271.86, Y:354.78, Z:1.62 [[-4.36721569e-02 9.99045914e-01 6.14536819e-05 2.71858251e+02] [-9.99045521e-01 -4.36721942e-02 8.86786557e-04 3.54779406e+02] [ 8.88624304e-04 -2.26671440e-05 9.99999605e-01 1.62258100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.46, Y:354.94, Z:2.73 [[-2.81128275e-02 -9.99604755e-01 -6.14536823e-05 2.72457978e+02] [-9.99604362e-01 2.81128710e-02 -8.86786557e-04 3.54938981e+02] [ 8.88163698e-04 3.64992914e-05 -9.99999605e-01 2.72909841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.85, Y:354.84, Z:1.63 [[ 2.39491001e-02 9.99713179e-01 1.55738929e-06 2.71848086e+02] [-9.99712786e-01 2.39490893e-02 8.86891737e-04 3.54839832e+02] [ 8.86600060e-04 -2.27972009e-05 9.99999607e-01 1.62707812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.43, Y:354.86, Z:2.73 [[ 3.87293819e-02 -9.99249736e-01 -1.55738937e-06 2.72430117e+02] [-9.99249343e-01 -3.87293653e-02 -8.86891737e-04 3.54857082e+02] [ 8.86166017e-04 3.59049891e-05 -9.99999607e-01 2.72854114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.44, Y:354.86, Z:2.73 [[ 1.17216265e-01 -9.93106411e-01 5.80415054e-05 2.72442546e+02] [-9.93106020e-01 -1.17216270e-01 -8.82974059e-04 3.54855125e+02] [ 8.83690607e-04 4.58575525e-05 -9.99999609e-01 2.72872136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.582755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:272.46, Y:354.85, Z:2.73 [[ 1.95384269e-01 -9.80726757e-01 1.26612165e-04 2.72455862e+02] [-9.80726369e-01 -1.95384304e-01 -8.73029518e-04 3.54853032e+02] [ 8.80941437e-04 4.64043449e-05 -9.99999611e-01 2.73113339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:271.88, Y:354.69, Z:1.63 [[ 2.44187121e-01 9.69728113e-01 -1.93981495e-04 2.71883461e+02] [-9.69727733e-01 2.44187197e-01 8.57794634e-04 3.54694691e+02] [ 8.79195369e-04 -2.13531669e-05 9.99999613e-01 1.62565473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.642755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:271.89, Y:354.67, Z:1.62 [[ 2.43167372e-01 9.69984325e-01 -1.96607481e-04 2.71891573e+02] [-9.69983946e-01 2.43167451e-01 8.57199945e-04 3.54666588e+02] [ 8.79279050e-04 -1.77369568e-05 9.99999613e-01 1.62322527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.49, Y:354.80, Z:2.73 [[ 2.77559647e-01 -9.60708387e-01 1.94348371e-04 2.72492185e+02] [-9.60708005e-01 -2.77559710e-01 -8.57711835e-04 3.54799827e+02] [ 8.77954231e-04 5.13541578e-05 -9.99999613e-01 2.72973276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:354.80, Z:2.73 [[ 3.53378740e-01 -9.35480305e-01 2.55030326e-04 2.72520227e+02] [-9.35479931e-01 -3.53378827e-01 -8.38902284e-04 3.54803909e+02] [ 8.74898882e-04 5.78744809e-05 -9.99999616e-01 2.72958906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.732755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:272.54, Y:354.81, Z:2.73 [[ 4.28390349e-01 -9.03593717e-01 3.21432947e-04 2.72538761e+02] [-9.03593354e-01 -4.28390466e-01 -8.12427109e-04 3.54806578e+02] [ 8.71802841e-04 5.75912585e-05 -9.99999618e-01 2.73180557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.56, Y:354.81, Z:2.73 [[ 4.99650922e-01 -8.66226765e-01 3.85104092e-04 2.72556737e+02] [-8.66226415e-01 -4.99651067e-01 -7.81032758e-04 3.54809652e+02] [ 8.68969150e-04 5.66564005e-05 -9.99999621e-01 2.73065853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7927550960001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:272.08, Y:354.49, Z:1.62 [[ 5.21205641e-01 8.53431007e-01 -4.43715534e-04 2.72081024e+02] [-8.53430681e-01 5.21205830e-01 7.46179473e-04 3.54493265e+02] [ 8.68079822e-04 -1.02324998e-05 9.99999623e-01 1.62244716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.10, Y:354.47, Z:1.62 [[ 5.19273215e-01 8.54608173e-01 -4.45061959e-04 2.72096963e+02] [-8.54607848e-01 5.19273406e-01 7.45378374e-04 3.54470646e+02] [ 8.68115290e-04 -6.70158160e-06 9.99999623e-01 1.62406411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.11, Y:354.45, Z:1.62 [[ 5.18197729e-01 8.55260729e-01 -4.45207534e-04 2.72113924e+02] [-8.55260405e-01 5.18197921e-01 7.45291701e-04 3.54447756e+02] [ 8.68124343e-04 -5.44009165e-06 9.99999623e-01 1.62281668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.13, Y:354.42, Z:1.62 [[ 5.18584937e-01 8.55026002e-01 -4.45813944e-04 2.72130303e+02] [-8.55025678e-01 5.18585129e-01 7.44930444e-04 3.54423656e+02] [ 8.68127381e-04 -5.12733802e-06 9.99999623e-01 1.62151698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9127550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.15, Y:354.40, Z:1.62 [[ 5.19492931e-01 8.54474633e-01 -4.44505633e-04 2.72145895e+02] [-8.54474307e-01 5.19493121e-01 7.45710307e-04 3.54399768e+02] [ 8.68108158e-04 -7.57259019e-06 9.99999623e-01 1.61899044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:354.69, Z:2.74 [[ 5.71049863e-01 -8.20915255e-01 4.44747595e-04 2.72646334e+02] [-8.20914919e-01 -5.71050033e-01 -7.45565970e-04 3.54694001e+02] [ 8.66019608e-04 6.06554099e-05 -9.99999623e-01 2.73581501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:354.71, Z:2.74 [[ 6.29906009e-01 -7.76671213e-01 4.97000976e-04 2.72673770e+02] [-7.76670892e-01 -6.29906202e-01 -7.08600389e-04 3.54706357e+02] [ 8.63413520e-04 6.03454515e-05 -9.99999625e-01 2.73901868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.27, Y:354.33, Z:1.62 [[ 6.51221693e-01 7.58887344e-01 -5.53798960e-04 2.72270776e+02] [-7.58887056e-01 6.51221928e-01 6.61303138e-04 3.54332470e+02] [ 8.62500608e-04 -1.03840872e-05 9.99999628e-01 1.61550693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.032755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.72, Y:354.70, Z:2.74 [[ 6.83751380e-01 -7.29714839e-01 5.51161865e-04 2.72721436e+02] [-7.29714539e-01 -6.83751601e-01 -6.63497936e-04 3.54702265e+02] [ 8.61022096e-04 5.14768033e-05 -9.99999628e-01 2.73915912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.35, Y:354.30, Z:1.62 [[ 7.14618121e-01 6.99514532e-01 -6.00232879e-04 2.72348008e+02] [-6.99514262e-01 7.14618373e-01 6.15656247e-04 3.54297708e+02] [ 8.59597935e-04 -2.00876515e-05 9.99999630e-01 1.61863262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.092755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:272.77, Y:354.71, Z:2.74 [[ 7.35793439e-01 -6.77205771e-01 5.99211950e-04 2.72771776e+02] [-6.77205492e-01 -7.35793682e-01 -6.16651112e-04 3.54706856e+02] [ 8.58496058e-04 4.79382188e-05 -9.99999630e-01 2.73869800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.122755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.80, Y:354.73, Z:2.74 [[ 7.82042674e-01 -6.23224555e-01 6.40186490e-04 2.72800083e+02] [-6.23224296e-01 -7.82042935e-01 -5.69949609e-04 3.54730479e+02] [ 8.55859913e-04 4.67451413e-05 -9.99999633e-01 2.73590839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.50, Y:354.27, Z:1.62 [[ 8.21556147e-01 5.70127204e-01 -6.84472112e-04 2.72495337e+02] [-5.70126976e-01 8.21556432e-01 5.10581472e-04 3.54270965e+02] [ 8.53428853e-04 -2.92353313e-05 9.99999635e-01 1.62153350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.52, Y:354.25, Z:1.62 [[ 8.23681991e-01 5.67051594e-01 -6.83986036e-04 2.72519849e+02] [-5.67051365e-01 8.23682274e-01 5.11232924e-04 3.54252446e+02] [ 8.53282618e-04 -3.32381373e-05 9.99999635e-01 1.62248241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.212755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:272.54, Y:354.23, Z:1.62 [[ 8.24669760e-01 5.65614108e-01 -6.84370936e-04 2.72543803e+02] [-5.65613879e-01 8.24670043e-01 5.10717150e-04 3.54234761e+02] [ 8.53249034e-04 -3.40832899e-05 9.99999635e-01 1.62096421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.242755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.57, Y:354.22, Z:1.62 [[ 8.25051925e-01 5.65056505e-01 -6.84392860e-04 2.72567479e+02] [-5.65056275e-01 8.25052208e-01 5.10687769e-04 3.54218035e+02] [ 8.53227286e-04 -3.46234464e-05 9.99999635e-01 1.62279169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.272755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:272.59, Y:354.20, Z:1.62 [[ 8.25182027e-01 5.64866493e-01 -6.84436612e-04 2.72593449e+02] [-5.64866263e-01 8.25182310e-01 5.10629125e-04 3.54200002e+02] [ 8.53222267e-04 -3.47468250e-05 9.99999635e-01 1.62168462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.62, Y:354.18, Z:1.62 [[ 8.24844877e-01 5.65358700e-01 -6.84289447e-04 2.72619712e+02] [-5.65358471e-01 8.24845161e-01 5.10826263e-04 3.54180784e+02] [ 8.53232911e-04 -3.44835913e-05 9.99999635e-01 1.62209325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.65, Y:354.16, Z:1.62 [[ 8.24674099e-01 5.65607781e-01 -6.84135235e-04 2.72646398e+02] [-5.65607551e-01 8.24674382e-01 5.11032711e-04 3.54160638e+02] [ 8.53232880e-04 -3.44833857e-05 9.99999635e-01 1.62212187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.67, Y:354.14, Z:1.62 [[ 8.23995004e-01 5.66596651e-01 -6.83980839e-04 2.72672561e+02] [-5.66596422e-01 8.23995288e-01 5.11239276e-04 3.54140598e+02] [ 8.53263450e-04 -3.37175141e-05 9.99999635e-01 1.62062778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.392755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:272.70, Y:354.12, Z:1.62 [[ 8.23541326e-01 5.67255865e-01 -6.83825750e-04 2.72697928e+02] [-5.67255635e-01 8.23541610e-01 5.11446637e-04 3.54121430e+02] [ 8.53280063e-04 -3.32934314e-05 9.99999635e-01 1.61910311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.72, Y:354.10, Z:1.62 [[ 8.22948309e-01 5.68115845e-01 -6.83681732e-04 2.72724211e+02] [-5.68115615e-01 8.22948593e-01 5.11639082e-04 3.54102226e+02] [ 8.53305188e-04 -3.26422495e-05 9.99999635e-01 1.61882510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.75, Y:354.08, Z:1.62 [[ 8.21927293e-01 5.69592010e-01 -6.83529134e-04 2.72749476e+02] [-5.69591781e-01 8.21927577e-01 5.11842866e-04 3.54083373e+02] [ 8.53353051e-04 -3.13650444e-05 9.99999635e-01 1.61787271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.78, Y:354.06, Z:1.62 [[ 8.20362620e-01 5.71843252e-01 -6.83434250e-04 2.72775993e+02] [-5.71843024e-01 8.20362904e-01 5.11969527e-04 3.54063587e+02] [ 8.53430425e-04 -2.91835542e-05 9.99999635e-01 1.61828769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.80, Y:354.04, Z:1.62 [[ 8.19321031e-01 5.73334615e-01 -6.83280278e-04 2.72801948e+02] [-5.73334387e-01 8.19321316e-01 5.12174937e-04 3.54043937e+02] [ 8.53473717e-04 -2.78876186e-05 9.99999635e-01 1.61883585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.83, Y:354.02, Z:1.62 [[ 8.18216788e-01 5.74909402e-01 -6.83119156e-04 2.72827334e+02] [-5.74909175e-01 8.18217073e-01 5.12389745e-04 3.54024459e+02] [ 8.53517439e-04 -2.65144217e-05 9.99999635e-01 1.61796570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.85, Y:354.00, Z:1.62 [[ 8.17346059e-01 5.76146642e-01 -6.82969245e-04 2.72853506e+02] [-5.76146415e-01 8.17346344e-01 5.12589485e-04 3.54004657e+02] [ 8.53549126e-04 -2.54727138e-05 9.99999635e-01 1.61826931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.88, Y:353.98, Z:1.62 [[ 8.15408005e-01 5.78886275e-01 -6.82813110e-04 2.72879901e+02] [-5.78886048e-01 8.15408290e-01 5.12797387e-04 3.53984716e+02] [ 8.53622839e-04 -2.28681109e-05 9.99999635e-01 1.61821496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.91, Y:353.97, Z:1.62 [[ 8.14457006e-01 5.80223508e-01 -6.82654007e-04 2.72905567e+02] [-5.80223282e-01 8.14457292e-01 5.13009102e-04 3.53965465e+02] [ 8.53652475e-04 -2.17321095e-05 9.99999635e-01 1.61835687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.93, Y:353.94, Z:1.62 [[ 8.12659175e-01 5.82738878e-01 -6.82506298e-04 2.72931512e+02] [-5.82738652e-01 8.12659461e-01 5.13205539e-04 3.53944307e+02] [ 8.53710020e-04 -1.93383900e-05 9.99999635e-01 1.61968002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:272.96, Y:353.92, Z:1.62 [[ 8.11594792e-01 5.84220359e-01 -6.82397514e-04 2.72956466e+02] [-5.84220134e-01 8.11595079e-01 5.13350145e-04 3.53924282e+02] [ 8.53740071e-04 -1.79619369e-05 9.99999635e-01 1.62040548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.722755096 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:272.98, Y:353.90, Z:1.62 [[ 8.09985392e-01 5.86449656e-01 -6.82251880e-04 2.72979846e+02] [-5.86449432e-01 8.09985679e-01 5.13543623e-04 3.53904079e+02] [ 8.53781734e-04 -1.58566057e-05 9.99999635e-01 1.61656851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.00, Y:353.88, Z:1.62 [[ 8.08477377e-01 5.88526861e-01 -6.82127432e-04 2.73004960e+02] [-5.88526637e-01 8.08477665e-01 5.13708871e-04 3.53884545e+02] [ 8.53816262e-04 -1.38718368e-05 9.99999635e-01 1.62039678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.782755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.03, Y:353.87, Z:1.62 [[ 8.06639581e-01 5.91043248e-01 -6.81994039e-04 2.73028091e+02] [-5.91043025e-01 8.06639870e-01 5.13885902e-04 3.53865469e+02] [ 8.53852375e-04 -1.14328893e-05 9.99999635e-01 1.61787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.05, Y:353.85, Z:1.62 [[ 8.05868533e-01 5.92094116e-01 -6.81984581e-04 2.73051419e+02] [-5.92093893e-01 8.05868822e-01 5.13898453e-04 3.53848153e+02] [ 8.53866361e-04 -1.03356870e-05 9.99999635e-01 1.61897677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.41, Y:354.32, Z:2.74 [[ 8.37826976e-01 -5.45935429e-01 6.81933564e-04 2.73410845e+02] [-5.45935191e-01 -8.37827252e-01 -5.13966162e-04 3.54318310e+02] [ 8.51934861e-04 5.83231855e-05 -9.99999635e-01 2.73669422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.872755096 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:273.43, Y:354.33, Z:2.74 [[ 8.78132256e-01 -4.78417417e-01 7.17934909e-04 2.73429686e+02] [-4.78417202e-01 -8.78132548e-01 -4.57466703e-04 3.54333503e+02] [ 8.49302050e-04 5.82438580e-05 -9.99999638e-01 2.74043050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.45, Y:354.35, Z:2.74 [[ 9.13364268e-01 -4.07142670e-01 7.49190663e-04 2.73447104e+02] [-4.07142479e-01 -9.13364573e-01 -3.98740494e-04 3.54350149e+02] [ 8.46628480e-04 5.91679757e-05 -9.99999640e-01 2.73712284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.46, Y:354.37, Z:2.74 [[ 9.42448391e-01 -3.34350758e-01 7.75696307e-04 2.73464073e+02] [-3.34350593e-01 -9.42448708e-01 -3.37891608e-04 3.54366512e+02] [ 8.44028297e-04 5.90908824e-05 -9.99999642e-01 2.73646460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.962755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:273.48, Y:354.39, Z:2.74 [[ 9.65385185e-01 -2.60827163e-01 7.97280344e-04 2.73478956e+02] [-2.60827024e-01 -9.65385513e-01 -2.75407806e-04 3.54386189e+02] [ 8.41516730e-04 5.79223563e-05 -9.99999644e-01 2.73771193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.992755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:273.49, Y:354.41, Z:2.74 [[ 9.82759364e-01 -1.84887453e-01 8.13870943e-04 2.73492619e+02] [-1.84887341e-01 -9.82759699e-01 -2.11594090e-04 3.54406717e+02] [ 8.38960655e-04 5.74716396e-05 -9.99999646e-01 2.73685974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.50, Y:354.43, Z:2.74 [[ 9.94089241e-01 -1.08562880e-01 8.25387841e-04 2.73504131e+02] [-1.08562795e-01 -9.94089583e-01 -1.46871475e-04 3.54430778e+02] [ 8.36454244e-04 5.63969421e-05 -9.99999649e-01 2.73663982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:354.46, Z:2.74 [[ 9.99507173e-01 -3.13802298e-02 8.31790034e-04 2.73510025e+02] [-3.13801727e-02 -9.99507518e-01 -8.16533259e-05 3.54455515e+02] [ 8.33942692e-04 5.55113701e-05 -9.99999651e-01 2.73752726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:354.48, Z:2.74 [[ 9.98926947e-01 4.63061555e-02 8.33063581e-04 2.73514717e+02] [ 4.63061850e-02 -9.98927293e-01 -1.62121942e-05 3.54480816e+02] [ 8.31419223e-04 5.47707939e-05 -9.99999653e-01 2.73738654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.52, Y:354.51, Z:2.74 [[ 9.92389083e-01 1.23139029e-01 8.29225889e-04 2.73515891e+02] [ 1.23139031e-01 -9.92389428e-01 4.88853412e-05 3.54508237e+02] [ 8.28934699e-04 5.35967933e-05 -9.99999655e-01 2.73748971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:354.54, Z:2.74 [[ 9.79968181e-01 1.99152433e-01 8.20320877e-04 2.73514622e+02] [ 1.99152407e-01 -9.79968523e-01 1.13338185e-04 3.54536611e+02] [ 8.26460213e-04 5.23010621e-05 -9.99999657e-01 2.73889593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.51, Y:354.56, Z:2.74 [[ 9.61506479e-01 2.74781078e-01 8.06446815e-04 2.73511120e+02] [ 2.74781026e-01 -9.61506816e-01 1.76669430e-04 3.54564024e+02] [ 8.23949525e-04 5.17274815e-05 -9.99999659e-01 2.73984796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.51, Y:354.59, Z:2.74 [[ 9.37183042e-01 3.48837105e-01 7.87713406e-04 2.73505550e+02] [ 3.48837027e-01 -9.37183371e-01 2.38533185e-04 3.54592379e+02] [ 8.21441131e-04 5.12343473e-05 -9.99999661e-01 2.74141361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.232755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:273.50, Y:354.62, Z:2.74 [[ 9.07330082e-01 4.20418289e-01 7.64265149e-04 2.73498575e+02] [ 4.20418186e-01 -9.07330403e-01 2.98557438e-04 3.54620736e+02] [ 8.18960012e-04 5.04208223e-05 -9.99999663e-01 2.74336220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.262755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:273.49, Y:354.65, Z:2.74 [[ 8.71613257e-01 4.90193623e-01 7.36293430e-04 2.73488110e+02] [ 4.90193496e-01 -8.71613567e-01 3.56352450e-04 3.54649975e+02] [ 8.16445041e-04 5.03247307e-05 -9.99999665e-01 2.74278021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.82, Y:354.14, Z:1.62 [[ 8.55191858e-01 -5.18311094e-01 -7.03984048e-04 2.73822186e+02] [ 5.18310931e-01 8.55192148e-01 -4.11611565e-04 3.54136451e+02] [ 8.15384471e-04 -1.28757674e-05 9.99999668e-01 1.62007384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.322755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:273.85, Y:354.15, Z:1.62 [[ 8.54787374e-01 -5.18977890e-01 -7.03442836e-04 2.73846614e+02] [ 5.18977726e-01 8.54787664e-01 -4.12536742e-04 3.54149355e+02] [ 8.15391706e-04 -1.24399645e-05 9.99999668e-01 1.61633344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.87, Y:354.16, Z:1.62 [[ 8.56115498e-01 -5.16784054e-01 -7.03809769e-04 2.73870553e+02] [ 5.16783890e-01 8.56115787e-01 -4.11909782e-04 3.54161221e+02] [ 8.15411061e-04 -1.10752019e-05 9.99999668e-01 1.62119487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.90, Y:354.18, Z:1.62 [[ 8.55561276e-01 -5.17701082e-01 -7.02023612e-04 2.73897494e+02] [ 5.17700916e-01 8.55561564e-01 -4.14963156e-04 3.54176363e+02] [ 8.15451294e-04 -8.41185978e-06 9.99999668e-01 1.62173791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:273.92, Y:354.19, Z:1.62 [[ 8.55727642e-01 -5.17426039e-01 -7.04527989e-04 2.73921736e+02] [ 5.17425877e-01 8.55727932e-01 -4.10681415e-04 3.54189569e+02] [ 8.15381537e-04 -1.31095732e-05 9.99999668e-01 1.62339940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.95, Y:354.20, Z:1.62 [[ 8.56239163e-01 -5.16579133e-01 -7.03829023e-04 2.73947558e+02] [ 5.16578969e-01 8.56239452e-01 -4.11875835e-04 3.54202228e+02] [ 8.15412639e-04 -1.09190513e-05 9.99999668e-01 1.62489755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:273.97, Y:354.22, Z:1.62 [[ 8.56388354e-01 -5.16331766e-01 -7.03714446e-04 2.73971475e+02] [ 5.16331601e-01 8.56388643e-01 -4.12071505e-04 3.54215002e+02] [ 8.15418667e-04 -1.04567691e-05 9.99999668e-01 1.62469418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:273.99, Y:354.23, Z:1.62 [[ 8.56580395e-01 -5.16013113e-01 -7.03657687e-04 2.73994846e+02] [ 5.16012948e-01 8.56580684e-01 -4.12168403e-04 3.54227674e+02] [ 8.15423883e-04 -1.00411046e-05 9.99999668e-01 1.62441335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.02, Y:354.24, Z:1.62 [[ 8.56627687e-01 -5.15934599e-01 -7.03602623e-04 2.74018932e+02] [ 5.15934434e-01 8.56627976e-01 -4.12262381e-04 3.54239492e+02] [ 8.15426117e-04 -9.85745065e-06 9.99999668e-01 1.62434169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:274.04, Y:354.25, Z:1.62 [[ 8.56082037e-01 -5.16839483e-01 -7.03552263e-04 2.74043593e+02] [ 5.16839318e-01 8.56082326e-01 -4.12348305e-04 3.54252622e+02] [ 8.15416543e-04 -1.06194949e-05 9.99999668e-01 1.62430187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.07, Y:354.26, Z:1.63 [[ 8.56003051e-01 -5.16970291e-01 -7.03420539e-04 2.74068609e+02] [ 5.16970127e-01 8.56003340e-01 -4.12572889e-04 3.54264212e+02] [ 8.15418258e-04 -1.04837537e-05 9.99999668e-01 1.62504249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.622755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:274.09, Y:354.28, Z:1.63 [[ 8.55795272e-01 -5.17314178e-01 -7.03363594e-04 2.74093519e+02] [ 5.17314013e-01 8.55795561e-01 -4.12669948e-04 3.54277721e+02] [ 8.15415456e-04 -1.06988526e-05 9.99999668e-01 1.62644373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.12, Y:354.29, Z:1.63 [[ 8.55638971e-01 -5.17572659e-01 -7.03229725e-04 2.74117567e+02] [ 5.17572494e-01 8.55639260e-01 -4.12897947e-04 3.54290817e+02] [ 8.15415650e-04 -1.06807884e-05 9.99999668e-01 1.62609871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.14, Y:354.30, Z:1.63 [[ 8.55422223e-01 -5.17930812e-01 -7.03171836e-04 2.74142710e+02] [ 5.17930648e-01 8.55422512e-01 -4.12996510e-04 3.54304264e+02] [ 8.15412636e-04 -1.09078514e-05 9.99999668e-01 1.62750758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.17, Y:354.32, Z:1.63 [[ 8.55582791e-01 -5.17665522e-01 -7.03274215e-04 2.74167927e+02] [ 5.17665358e-01 8.55583080e-01 -4.12822243e-04 3.54316317e+02] [ 8.15413361e-04 -1.08570911e-05 9.99999668e-01 1.62603800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.742755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:274.19, Y:354.33, Z:1.62 [[ 8.55155594e-01 -5.18370926e-01 -7.03058239e-04 2.74192790e+02] [ 5.18370761e-01 8.55155883e-01 -4.13189734e-04 3.54329632e+02] [ 8.15409934e-04 -1.11033224e-05 9.99999668e-01 1.62452760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.22, Y:354.34, Z:1.63 [[ 8.55309225e-01 -5.18117396e-01 -7.02929356e-04 2.74217682e+02] [ 5.18117231e-01 8.55309514e-01 -4.13408877e-04 3.54343197e+02] [ 8.15416497e-04 -1.06073859e-05 9.99999668e-01 1.62540055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.24, Y:354.36, Z:1.63 [[ 8.55447951e-01 -5.17888318e-01 -7.02800979e-04 2.74241292e+02] [ 5.17888153e-01 8.55448240e-01 -4.13627006e-04 3.54355767e+02] [ 8.15422454e-04 -1.01359261e-05 9.99999668e-01 1.62521984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.27, Y:354.37, Z:1.63 [[ 8.55404688e-01 -5.17959773e-01 -7.02745395e-04 2.74266093e+02] [ 5.17959608e-01 8.55404976e-01 -4.13721420e-04 3.54369589e+02] [ 8.15422961e-04 -1.00944871e-05 9.99999668e-01 1.62541857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.862755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:274.29, Y:354.38, Z:1.62 [[ 8.55755318e-01 -5.17380269e-01 -7.02615874e-04 2.74290985e+02] [ 5.17380103e-01 8.55755606e-01 -4.13941267e-04 3.54383407e+02] [ 8.15432517e-04 -9.28703242e-06 9.99999668e-01 1.62422679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:274.32, Y:354.40, Z:1.63 [[ 8.56597722e-01 -5.15984350e-01 -7.02486634e-04 2.74315048e+02] [ 5.15984184e-01 8.56598010e-01 -4.14160479e-04 3.54396739e+02] [ 8.15448978e-04 -7.70307046e-06 9.99999668e-01 1.62644386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.34, Y:354.41, Z:1.63 [[ 8.57421876e-01 -5.14613674e-01 -7.02430657e-04 2.74339527e+02] [ 5.14613508e-01 8.57422163e-01 -4.14255398e-04 3.54411169e+02] [ 8.15461105e-04 -6.28866413e-06 9.99999668e-01 1.62594728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.952755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.36, Y:354.43, Z:1.63 [[ 8.57989157e-01 -5.13667317e-01 -7.02300188e-04 2.74363054e+02] [ 5.13667150e-01 8.57989445e-01 -4.14476467e-04 3.54425244e+02] [ 8.15469163e-04 -5.13222156e-06 9.99999668e-01 1.62540003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.39, Y:354.44, Z:1.63 [[ 8.58544313e-01 -5.12738890e-01 -7.02243745e-04 2.74387441e+02] [ 5.12738723e-01 8.58544600e-01 -4.14572076e-04 3.54439692e+02] [ 8.15474801e-04 -4.13906287e-06 9.99999668e-01 1.62509115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.41, Y:354.45, Z:1.63 [[ 8.59750047e-01 -5.10714561e-01 -7.02116887e-04 2.74411890e+02] [ 5.10714393e-01 8.59750334e-01 -4.14786810e-04 3.54453984e+02] [ 8.15482892e-04 -1.96822028e-06 9.99999668e-01 1.62611678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.43, Y:354.47, Z:1.63 [[ 8.60364681e-01 -5.09678451e-01 -7.01466686e-04 2.74434586e+02] [ 5.09678281e-01 8.60364967e-01 -4.15887058e-04 3.54467963e+02] [ 8.15486034e-04 2.92200974e-07 9.99999668e-01 1.62634438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.46, Y:354.48, Z:1.62 [[ 8.60164708e-01 -5.10015868e-01 -7.00070391e-04 2.74460463e+02] [ 5.10015696e-01 8.60164993e-01 -4.18248556e-04 3.54483111e+02] [ 8.15489443e-04 2.71575923e-06 9.99999668e-01 1.62416395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.102755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:274.48, Y:354.50, Z:1.62 [[ 8.59588680e-01 -5.10986111e-01 -7.03888914e-04 2.74482022e+02] [ 5.10985945e-01 8.59588968e-01 -4.11786099e-04 3.54496988e+02] [ 8.15472123e-04 -5.71067319e-06 9.99999668e-01 1.62281154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.132755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:274.51, Y:354.51, Z:1.62 [[ 8.58779866e-01 -5.12344268e-01 -7.01945804e-04 2.74506363e+02] [ 5.12344100e-01 8.58780153e-01 -4.15072173e-04 3.54511479e+02] [ 8.15476974e-04 -3.18216610e-06 9.99999668e-01 1.62357838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.53, Y:354.53, Z:1.63 [[ 8.58326924e-01 -5.13102718e-01 -7.01815399e-04 2.74530744e+02] [ 5.13102550e-01 8.58327211e-01 -4.15292548e-04 3.54525844e+02] [ 8.15474989e-04 -3.64649549e-06 9.99999668e-01 1.62651892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.55, Y:354.54, Z:1.63 [[ 8.57534335e-01 -5.14426256e-01 -7.01685156e-04 2.74554439e+02] [ 5.14426088e-01 8.57534622e-01 -4.15512493e-04 3.54539847e+02] [ 8.15469851e-04 -4.64892052e-06 9.99999668e-01 1.62657291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.58, Y:354.55, Z:1.63 [[ 8.55826473e-01 -5.17262561e-01 -7.01628797e-04 2.74577643e+02] [ 5.17262394e-01 8.55826760e-01 -4.15607638e-04 3.54553238e+02] [ 8.15450971e-04 -7.23817252e-06 9.99999668e-01 1.62753321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:274.60, Y:354.57, Z:1.63 [[ 8.55667580e-01 -5.17525362e-01 -7.01573105e-04 2.74602149e+02] [ 5.17525195e-01 8.55667868e-01 -4.15701628e-04 3.54567958e+02] [ 8.15449698e-04 -7.37935174e-06 9.99999668e-01 1.62755649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.282755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:274.63, Y:354.58, Z:1.63 [[ 8.54650436e-01 -5.19203371e-01 -7.01445377e-04 2.74626050e+02] [ 5.19203204e-01 8.54650724e-01 -4.15917043e-04 3.54582129e+02] [ 8.15436329e-04 -8.72900497e-06 9.99999668e-01 1.62618499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.312755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:274.65, Y:354.60, Z:1.63 [[ 8.52571349e-01 -5.22610374e-01 -7.01318663e-04 2.74649241e+02] [ 5.22610209e-01 8.52571637e-01 -4.16130597e-04 3.54596203e+02] [ 8.15398568e-04 -1.17352682e-05 9.99999668e-01 1.62660512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.342755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:274.67, Y:354.61, Z:1.63 [[ 8.51435220e-01 -5.24459316e-01 -7.01265388e-04 2.74672963e+02] [ 5.24459151e-01 8.51435509e-01 -4.16220357e-04 3.54610329e+02] [ 8.15372896e-04 -1.34003793e-05 9.99999668e-01 1.62716839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.70, Y:354.62, Z:1.63 [[ 8.50537163e-01 -5.25914482e-01 -7.01140645e-04 2.74697194e+02] [ 5.25914317e-01 8.50537452e-01 -4.16430386e-04 3.54624454e+02] [ 8.15353149e-04 -1.45503846e-05 9.99999668e-01 1.62998158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.72, Y:354.64, Z:1.63 [[ 8.48805265e-01 -5.28705146e-01 -7.01016308e-04 2.74720677e+02] [ 5.28704982e-01 8.48805554e-01 -4.16639590e-04 3.54638160e+02] [ 8.15306030e-04 -1.69849375e-05 9.99999668e-01 1.62996825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.74, Y:354.65, Z:1.63 [[ 8.48047223e-01 -5.29920198e-01 -7.00962458e-04 2.74744188e+02] [ 5.29920034e-01 8.48047513e-01 -4.16730169e-04 3.54651895e+02] [ 8.15283202e-04 -1.80471873e-05 9.99999668e-01 1.63018229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.77, Y:354.67, Z:1.63 [[ 8.47517725e-01 -5.30766629e-01 -7.00878901e-04 2.74768468e+02] [ 5.30766466e-01 8.47518015e-01 -4.16870651e-04 3.54666097e+02] [ 8.15268525e-04 -1.86977514e-05 9.99999668e-01 1.63074879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.79, Y:354.68, Z:1.63 [[ 8.47603850e-01 -5.30629083e-01 -7.00757471e-04 2.74791461e+02] [ 5.30628919e-01 8.47604139e-01 -4.17074675e-04 3.54680431e+02] [ 8.15276885e-04 -1.83280787e-05 9.99999668e-01 1.63070607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.522755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:274.82, Y:354.70, Z:1.63 [[ 8.47850425e-01 -5.30235010e-01 -7.00704894e-04 2.74815661e+02] [ 5.30234847e-01 8.47850714e-01 -4.17162988e-04 3.54695651e+02] [ 8.15287566e-04 -1.78463350e-05 9.99999668e-01 1.62822525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.84, Y:354.71, Z:1.63 [[ 8.49339581e-01 -5.27846365e-01 -7.00585699e-04 2.74838476e+02] [ 5.27846200e-01 8.49339870e-01 -4.17363068e-04 3.54711264e+02] [ 8.15338945e-04 -1.53185256e-05 9.99999668e-01 1.62912981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.86, Y:354.73, Z:1.63 [[ 8.50124127e-01 -5.26581881e-01 -7.00467327e-04 2.74862565e+02] [ 5.26581716e-01 8.50124416e-01 -4.17561639e-04 3.54726322e+02] [ 8.15364771e-04 -1.38740633e-05 9.99999668e-01 1.62940958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.612755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:274.89, Y:354.74, Z:1.63 [[ 8.50950394e-01 -5.25245597e-01 -7.00334912e-04 2.74886831e+02] [ 5.25245431e-01 8.50950682e-01 -4.17783607e-04 3.54741384e+02] [ 8.15389471e-04 -1.23345875e-05 9.99999668e-01 1.62821963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.642755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:274.91, Y:354.76, Z:1.63 [[ 8.51316550e-01 -5.24651923e-01 -7.00201045e-04 2.74910382e+02] [ 5.24651757e-01 8.51316838e-01 -4.18007847e-04 3.54755226e+02] [ 8.15401561e-04 -1.15047102e-05 9.99999668e-01 1.63013614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:274.93, Y:354.77, Z:1.63 [[ 8.51484776e-01 -5.24378857e-01 -7.00143094e-04 2.74934322e+02] [ 5.24378691e-01 8.51485064e-01 -4.18104890e-04 3.54769345e+02] [ 8.15406752e-04 -1.11301706e-05 9.99999668e-01 1.63131247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.702755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:274.96, Y:354.78, Z:1.63 [[ 8.51805953e-01 -5.23856973e-01 -7.00008826e-04 2.74957822e+02] [ 5.23856806e-01 8.51806241e-01 -4.18329566e-04 3.54783115e+02] [ 8.15416747e-04 -1.03687728e-05 9.99999668e-01 1.63041997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:274.98, Y:354.80, Z:1.63 [[ 8.52137093e-01 -5.23318149e-01 -6.99950736e-04 2.74980758e+02] [ 5.23317982e-01 8.52137380e-01 -4.18426740e-04 3.54797174e+02] [ 8.15424494e-04 -9.73986104e-06 9.99999668e-01 1.63149196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.762755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:275.00, Y:354.81, Z:1.63 [[ 8.52262252e-01 -5.23114293e-01 -6.99860561e-04 2.75004674e+02] [ 5.23114125e-01 8.52262540e-01 -4.18577513e-04 3.54811581e+02] [ 8.15428819e-04 -9.36913110e-06 9.99999668e-01 1.62975454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7927550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:275.03, Y:354.83, Z:1.63 [[ 8.52366299e-01 -5.22944741e-01 -6.99727218e-04 2.75027605e+02] [ 5.22944573e-01 8.52366587e-01 -4.18800301e-04 3.54825794e+02] [ 8.15433515e-04 -8.94728918e-06 9.99999668e-01 1.63135342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:275.05, Y:354.84, Z:1.63 [[ 8.51914982e-01 -5.23679649e-01 -6.99669507e-04 2.75051531e+02] [ 5.23679482e-01 8.51915269e-01 -4.18896694e-04 3.54840481e+02] [ 8.15426810e-04 -9.53819485e-06 9.99999668e-01 1.63144078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.08, Y:354.85, Z:1.63 [[ 8.51094151e-01 -5.25012625e-01 -6.99538402e-04 2.75075618e+02] [ 5.25012458e-01 8.51094439e-01 -4.19115519e-04 3.54854325e+02] [ 8.15414182e-04 -1.05596092e-05 9.99999668e-01 1.63415695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.10, Y:354.87, Z:1.63 [[ 8.51266131e-01 -5.24733727e-01 -6.99407033e-04 2.75102588e+02] [ 5.24733560e-01 8.51266419e-01 -4.19334629e-04 3.54868171e+02] [ 8.15420743e-04 -1.00369747e-05 9.99999668e-01 1.63262545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.12, Y:354.88, Z:1.63 [[ 8.50264459e-01 -5.26355258e-01 -7.01658168e-04 2.75124441e+02] [ 5.26355094e-01 8.50264749e-01 -4.15580939e-04 3.54883142e+02] [ 8.15338418e-04 -1.59676480e-05 9.99999668e-01 1.63430444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.942755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:275.15, Y:354.90, Z:1.63 [[ 8.49384743e-01 -5.27773692e-01 -6.99217842e-04 2.75147615e+02] [ 5.27773525e-01 8.49385031e-01 -4.19647022e-04 3.54896626e+02] [ 8.15383826e-04 -1.25868874e-05 9.99999668e-01 1.63207663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.972755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:275.17, Y:354.91, Z:1.63 [[ 8.48810006e-01 -5.28697537e-01 -6.99160273e-04 2.75171830e+02] [ 5.28697370e-01 8.48810294e-01 -4.19742913e-04 3.54910933e+02] [ 8.15371481e-04 -1.33622139e-05 9.99999668e-01 1.63252126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.20, Y:354.92, Z:1.64 [[ 8.48223250e-01 -5.29638395e-01 -6.99025273e-04 2.75195173e+02] [ 5.29638229e-01 8.48223538e-01 -4.19967618e-04 3.54924495e+02] [ 8.15360665e-04 -1.40042100e-05 9.99999668e-01 1.63562109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.032755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:275.22, Y:354.94, Z:1.63 [[ 8.47687299e-01 -5.30495763e-01 -6.98966812e-04 2.75218978e+02] [ 5.30495596e-01 8.47687587e-01 -4.20064893e-04 3.54938465e+02] [ 8.15348137e-04 -1.47151408e-05 9.99999668e-01 1.63379641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.062755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:275.24, Y:354.95, Z:1.63 [[ 8.47451468e-01 -5.30872415e-01 -6.98835591e-04 2.75242554e+02] [ 5.30872249e-01 8.47451756e-01 -4.20283085e-04 3.54952006e+02] [ 8.15346145e-04 -1.48229041e-05 9.99999668e-01 1.63263825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.27, Y:354.97, Z:1.63 [[ 8.47353704e-01 -5.31028448e-01 -6.98778837e-04 2.75267739e+02] [ 5.31028282e-01 8.47353992e-01 -4.20377424e-04 3.54965118e+02] [ 8.15345408e-04 -1.48629579e-05 9.99999668e-01 1.63466922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.122755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:275.29, Y:354.98, Z:1.63 [[ 8.47111627e-01 -5.31414531e-01 -6.98647909e-04 2.75291917e+02] [ 5.31414365e-01 8.47111915e-01 -4.20594909e-04 3.54979000e+02] [ 8.15343214e-04 -1.49806977e-05 9.99999668e-01 1.63320342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.32, Y:355.00, Z:1.63 [[ 8.46800211e-01 -5.31910627e-01 -6.98516754e-04 2.75317103e+02] [ 5.31910461e-01 8.46800499e-01 -4.20812616e-04 3.54995055e+02] [ 8.15339038e-04 -1.52041562e-05 9.99999668e-01 1.63263795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.34, Y:355.01, Z:1.63 [[ 8.47493015e-01 -5.30806085e-01 -6.99870688e-04 2.75339001e+02] [ 5.30805920e-01 8.47493304e-01 -4.18564459e-04 3.55008118e+02] [ 8.15312283e-04 -1.67650487e-05 9.99999668e-01 1.63229877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.37, Y:355.02, Z:1.63 [[ 8.46817377e-01 -5.31883300e-01 -6.97035612e-04 2.75365605e+02] [ 5.31883132e-01 8.46817663e-01 -4.23269895e-04 3.55024383e+02] [ 8.15392257e-04 -1.23091825e-05 9.99999668e-01 1.63121150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.39, Y:355.04, Z:1.63 [[ 8.46672388e-01 -5.32114065e-01 -7.00125930e-04 2.75388159e+02] [ 5.32113901e-01 8.46672677e-01 -4.18145660e-04 3.55037743e+02] [ 8.15278682e-04 -1.85143553e-05 9.99999668e-01 1.63195170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.41, Y:355.05, Z:1.63 [[ 8.45851545e-01 -5.33417919e-01 -6.98127318e-04 2.75411379e+02] [ 5.33417753e-01 8.45851833e-01 -4.21456290e-04 3.55053474e+02] [ 8.15324609e-04 -1.59040509e-05 9.99999668e-01 1.63144002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.302755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:275.44, Y:355.07, Z:1.63 [[ 8.45428320e-01 -5.34088447e-01 -6.97071905e-04 2.75436682e+02] [ 5.34088280e-01 8.45428608e-01 -4.23203254e-04 3.55066484e+02] [ 8.15352499e-04 -1.45099182e-05 9.99999668e-01 1.62973966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.46, Y:355.08, Z:1.63 [[ 8.45140402e-01 -5.34543931e-01 -6.97940111e-04 2.75459266e+02] [ 5.34543765e-01 8.45140690e-01 -4.21766544e-04 3.55081116e+02] [ 8.15310334e-04 -1.66275885e-05 9.99999668e-01 1.63225672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.362755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.48, Y:355.09, Z:1.63 [[ 8.44789933e-01 -5.35097637e-01 -6.97880797e-04 2.75480376e+02] [ 5.35097471e-01 8.44790222e-01 -4.21864666e-04 3.55093975e+02] [ 8.15301659e-04 -1.70472268e-05 9.99999668e-01 1.63206302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.392755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:275.51, Y:355.11, Z:1.63 [[ 8.43604781e-01 -5.36964142e-01 -6.95469693e-04 2.75505181e+02] [ 5.36963973e-01 8.43605068e-01 -4.25855183e-04 3.55109681e+02] [ 8.15370721e-04 -1.41887017e-05 9.99999668e-01 1.63122685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.53, Y:355.12, Z:1.63 [[ 8.43174076e-01 -5.37640206e-01 -6.97909376e-04 2.75527877e+02] [ 5.37640041e-01 8.43174364e-01 -4.21818668e-04 3.55124306e+02] [ 8.15245970e-04 -1.95574598e-05 9.99999668e-01 1.63298517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.55, Y:355.14, Z:1.63 [[ 8.42622334e-01 -5.38504518e-01 -6.97818593e-04 2.75550770e+02] [ 5.38504353e-01 8.42622623e-01 -4.21968797e-04 3.55141014e+02] [ 8.15229837e-04 -2.02180172e-05 9.99999668e-01 1.63251822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.482755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:275.57, Y:355.16, Z:1.63 [[ 8.42220553e-01 -5.39132686e-01 -6.97688018e-04 2.75574114e+02] [ 5.39132521e-01 8.42220842e-01 -4.22184582e-04 3.55156290e+02] [ 8.15220897e-04 -2.05737675e-05 9.99999668e-01 1.63055477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.512755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:275.60, Y:355.17, Z:1.63 [[ 8.41508126e-01 -5.40244008e-01 -6.97555416e-04 2.75597101e+02] [ 5.40243843e-01 8.41508415e-01 -4.22403560e-04 3.55171628e+02] [ 8.15199744e-04 -2.13939904e-05 9.99999668e-01 1.63210798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.62, Y:355.19, Z:1.63 [[ 8.40981150e-01 -5.41063970e-01 -6.97419654e-04 2.75619727e+02] [ 5.41063805e-01 8.40981439e-01 -4.22627594e-04 3.55186149e+02] [ 8.15185548e-04 -2.19266917e-05 9.99999668e-01 1.63233618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.64, Y:355.20, Z:1.63 [[ 8.40190714e-01 -5.42290584e-01 -6.97360913e-04 2.75642841e+02] [ 5.42290420e-01 8.40191003e-01 -4.22724499e-04 3.55201390e+02] [ 8.15155880e-04 -2.30029434e-05 9.99999668e-01 1.63345248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.67, Y:355.22, Z:1.63 [[ 8.39372454e-01 -5.43556250e-01 -6.97226362e-04 2.75666154e+02] [ 5.43556086e-01 8.39372744e-01 -4.22946305e-04 3.55216427e+02] [ 8.15127912e-04 -2.39721539e-05 9.99999668e-01 1.63355275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.632755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.69, Y:355.23, Z:1.63 [[ 8.38233472e-01 -5.45311067e-01 -6.97090918e-04 2.75689394e+02] [ 5.45310903e-01 8.38233762e-01 -4.23169424e-04 3.55232017e+02] [ 8.15084113e-04 -2.54165026e-05 9.99999668e-01 1.63353484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.71, Y:355.25, Z:1.63 [[ 8.37884769e-01 -5.45846707e-01 -6.96954186e-04 2.75712576e+02] [ 5.45846544e-01 8.37885059e-01 -4.23394500e-04 3.55247705e+02] [ 8.15075993e-04 -2.56742309e-05 9.99999668e-01 1.63347464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.74, Y:355.26, Z:1.63 [[ 8.37649519e-01 -5.46207653e-01 -6.96019014e-04 2.75737568e+02] [ 5.46207488e-01 8.37649807e-01 -4.24933104e-04 3.55264230e+02] [ 8.15121906e-04 -2.42257875e-05 9.99999668e-01 1.63175889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.76, Y:355.28, Z:1.63 [[ 8.37440104e-01 -5.46528667e-01 -6.98749137e-04 2.75758612e+02] [ 5.46528506e-01 8.37440395e-01 -4.20448595e-04 3.55279952e+02] [ 8.14947964e-04 -2.97858073e-05 9.99999668e-01 1.63300300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.78, Y:355.30, Z:1.63 [[ 8.37793130e-01 -5.45987351e-01 -6.96399271e-04 2.75782030e+02] [ 5.45987187e-01 8.37793419e-01 -4.24305358e-04 3.55295729e+02] [ 8.15104084e-04 -2.47449648e-05 9.99999668e-01 1.63235318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.80, Y:355.31, Z:1.63 [[ 8.39219580e-01 -5.43792250e-01 -6.96266798e-04 2.75804992e+02] [ 5.43792085e-01 8.39219869e-01 -4.24522629e-04 3.55310946e+02] [ 8.15173047e-04 -2.23566717e-05 9.99999668e-01 1.63294019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.83, Y:355.33, Z:1.63 [[ 8.41266817e-01 -5.40619699e-01 -6.96209473e-04 2.75828266e+02] [ 5.40619532e-01 8.41267104e-01 -4.24616621e-04 3.55326713e+02] [ 8.15254237e-04 -1.91685663e-05 9.99999668e-01 1.63278643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.842755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:275.85, Y:355.34, Z:1.63 [[ 8.42519576e-01 -5.38665276e-01 -6.96078920e-04 2.75851282e+02] [ 5.38665109e-01 8.42519864e-01 -4.24830529e-04 3.55342175e+02] [ 8.15301771e-04 -1.70253898e-05 9.99999668e-01 1.63221200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.872755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:275.87, Y:355.36, Z:1.63 [[ 8.43865945e-01 -5.36553616e-01 -6.95948197e-04 2.75874362e+02] [ 5.36553448e-01 8.43866232e-01 -4.25044570e-04 3.55357601e+02] [ 8.15346383e-04 -1.47327676e-05 9.99999668e-01 1.63119470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.902755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:275.90, Y:355.37, Z:1.63 [[ 8.44971195e-01 -5.34811364e-01 -6.95818241e-04 2.75898331e+02] [ 5.34811195e-01 8.44971482e-01 -4.25257207e-04 3.55373142e+02] [ 8.15378957e-04 -1.28012947e-05 9.99999668e-01 1.63021501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.932755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:275.92, Y:355.39, Z:1.63 [[ 8.49353867e-01 -5.27823385e-01 -6.95688753e-04 2.75919176e+02] [ 5.27823213e-01 8.49354152e-01 -4.25468934e-04 3.55385335e+02] [ 8.15458584e-04 -5.82698913e-06 9.99999668e-01 1.62925943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.95, Y:355.40, Z:1.63 [[ 8.48538745e-01 -5.29132803e-01 -6.89096726e-04 2.75945760e+02] [ 5.29132623e-01 8.48539025e-01 -4.36229367e-04 3.55404471e+02] [ 8.15548732e-04 5.53396126e-06 9.99999667e-01 1.63176022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:275.97, Y:355.42, Z:1.63 [[ 8.50725975e-01 -5.25609010e-01 -6.95522956e-04 2.75966971e+02] [ 5.25608838e-01 8.50726260e-01 -4.25730735e-04 3.55416307e+02] [ 8.15467553e-04 -3.39281797e-06 9.99999668e-01 1.63066216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:275.99, Y:355.43, Z:1.63 [[ 8.50056374e-01 -5.26691260e-01 -6.91157755e-04 2.75992836e+02] [ 5.26691082e-01 8.50056655e-01 -4.32861547e-04 3.55432196e+02] [ 8.15507643e-04 3.93009104e-06 9.99999668e-01 1.63093928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.02, Y:355.45, Z:1.63 [[ 8.49624476e-01 -5.27387682e-01 -6.94964673e-04 2.76017008e+02] [ 5.27387509e-01 8.49624760e-01 -4.26640083e-04 3.55446095e+02] [ 8.15463918e-04 -4.03183140e-06 9.99999668e-01 1.63195207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.082755096 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:276.04, Y:355.46, Z:1.63 [[ 8.48793734e-01 -5.28723665e-01 -6.95530443e-04 2.76041828e+02] [ 5.28723494e-01 8.48794019e-01 -4.25715733e-04 3.55460220e+02] [ 8.15448062e-04 -6.39843947e-06 9.99999668e-01 1.62978051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.07, Y:355.47, Z:1.63 [[ 8.48323791e-01 -5.29477347e-01 -6.95402490e-04 2.76066146e+02] [ 5.29477176e-01 8.48324077e-01 -4.25924640e-04 3.55474990e+02] [ 8.15444124e-04 -6.87774072e-06 9.99999668e-01 1.63132353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.09, Y:355.49, Z:1.63 [[ 8.48156486e-01 -5.29745309e-01 -6.95267870e-04 2.76090433e+02] [ 5.29745137e-01 8.48156771e-01 -4.26144278e-04 3.55490068e+02] [ 8.15444083e-04 -6.87774040e-06 9.99999668e-01 1.63134676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1727550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:276.12, Y:355.50, Z:1.63 [[ 8.47325065e-01 -5.31074148e-01 -6.95133180e-04 2.76115009e+02] [ 5.31073977e-01 8.47325350e-01 -4.26363872e-04 3.55503981e+02] [ 8.15434796e-04 -7.89834689e-06 9.99999668e-01 1.63124608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.202755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:276.14, Y:355.52, Z:1.63 [[ 8.46984890e-01 -5.31616510e-01 -6.94996185e-04 2.76137933e+02] [ 5.31616339e-01 8.46985175e-01 -4.26587065e-04 3.55518025e+02] [ 8.15432192e-04 -8.15852896e-06 9.99999668e-01 1.63089842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.16, Y:355.53, Z:1.63 [[ 8.45809924e-01 -5.33483918e-01 -6.94903112e-04 2.76161824e+02] [ 5.33483747e-01 8.45810209e-01 -4.26738626e-04 3.55532654e+02] [ 8.15414340e-04 -9.77975189e-06 9.99999668e-01 1.62999883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.262755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:276.19, Y:355.55, Z:1.63 [[ 8.45245126e-01 -5.34378325e-01 -6.94764116e-04 2.76185511e+02] [ 5.34378155e-01 8.45245411e-01 -4.26964802e-04 3.55546350e+02] [ 8.15406917e-04 -1.03768489e-05 9.99999668e-01 1.62945735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2927550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:276.21, Y:355.56, Z:1.63 [[ 8.45435954e-01 -5.34076366e-01 -6.94704014e-04 2.76211462e+02] [ 5.34076196e-01 8.45436239e-01 -4.27062570e-04 3.55558099e+02] [ 8.15411975e-04 -9.97082631e-06 9.99999668e-01 1.62788861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.322755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:276.23, Y:355.57, Z:1.62 [[ 8.42328634e-01 -5.38963811e-01 -6.94563702e-04 2.76233730e+02] [ 5.38963642e-01 8.42328921e-01 -4.27290648e-04 3.55572658e+02] [ 8.15345289e-04 -1.44254342e-05 9.99999668e-01 1.62497370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.26, Y:355.59, Z:1.63 [[ 8.41604689e-01 -5.40093571e-01 -6.94503053e-04 2.76257876e+02] [ 5.40093402e-01 8.41604976e-01 -4.27389202e-04 3.55586361e+02] [ 8.15327385e-04 -1.54037596e-05 9.99999668e-01 1.62753887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.28, Y:355.60, Z:1.63 [[ 8.40247618e-01 -5.42202415e-01 -6.94366812e-04 2.76283824e+02] [ 5.42202246e-01 8.40247905e-01 -4.27610435e-04 3.55600000e+02] [ 8.15291669e-04 -1.71885960e-05 9.99999668e-01 1.62732406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.31, Y:355.61, Z:1.63 [[ 8.39561042e-01 -5.43264920e-01 -6.95563928e-04 2.76305948e+02] [ 5.43264754e-01 8.39561330e-01 -4.25667270e-04 3.55613802e+02] [ 8.15218672e-04 -2.05017096e-05 9.99999668e-01 1.62681383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.33, Y:355.63, Z:1.63 [[ 8.38629948e-01 -5.44701137e-01 -6.94163871e-04 2.76330072e+02] [ 5.44700969e-01 8.38630235e-01 -4.27938321e-04 3.55627303e+02] [ 8.15245300e-04 -1.92298414e-05 9.99999668e-01 1.62700652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.36, Y:355.64, Z:1.63 [[ 8.38733042e-01 -5.44542379e-01 -6.94031181e-04 2.76356188e+02] [ 5.44542211e-01 8.38733329e-01 -4.28153409e-04 3.55642328e+02] [ 8.15254759e-04 -1.88228629e-05 9.99999668e-01 1.62590665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.38, Y:355.66, Z:1.63 [[ 8.39643837e-01 -5.43136946e-01 -6.95802706e-04 2.76381761e+02] [ 5.43136780e-01 8.39644126e-01 -4.25282178e-04 3.55657375e+02] [ 8.15213119e-04 -2.08304811e-05 9.99999668e-01 1.62556370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.532755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:276.40, Y:355.67, Z:1.62 [[ 8.40387956e-01 -5.41984868e-01 -6.97756302e-04 2.76400437e+02] [ 5.41984704e-01 8.40388245e-01 -4.22116656e-04 3.55672914e+02] [ 8.15167035e-04 -2.34314888e-05 9.99999668e-01 1.62401162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.42, Y:355.69, Z:1.63 [[ 8.41176735e-01 -5.40759853e-01 -6.93697034e-04 2.76423803e+02] [ 5.40759683e-01 8.41177021e-01 -4.28685349e-04 3.55688087e+02] [ 8.15337831e-04 -1.45232463e-05 9.99999668e-01 1.62644250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.592755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:276.45, Y:355.70, Z:1.62 [[ 8.43588436e-01 -5.36989823e-01 -6.93567411e-04 2.76453299e+02] [ 5.36989652e-01 8.43588721e-01 -4.28894963e-04 3.55703805e+02] [ 8.15397875e-04 -1.06276913e-05 9.99999668e-01 1.62264372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.622755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.47, Y:355.72, Z:1.63 [[ 8.43092921e-01 -5.37767457e-01 -6.98964251e-04 2.76471366e+02] [ 5.37767294e-01 8.43093211e-01 -4.20165968e-04 3.55719606e+02] [ 8.15243599e-04 -2.16411607e-05 9.99999668e-01 1.62599625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.50, Y:355.73, Z:1.62 [[ 8.44755912e-01 -5.35151351e-01 -6.93356968e-04 2.76499253e+02] [ 5.35151179e-01 8.44756196e-01 -4.29223826e-04 3.55733866e+02] [ 8.15417306e-04 -8.46143468e-06 9.99999668e-01 1.62404079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.52, Y:355.75, Z:1.63 [[ 8.43588637e-01 -5.36989504e-01 -6.96674767e-04 2.76518310e+02] [ 5.36989337e-01 8.43588924e-01 -4.23861642e-04 3.55751385e+02] [ 8.15316370e-04 -1.65420561e-05 9.99999668e-01 1.62562979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.712755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:276.54, Y:355.77, Z:1.62 [[ 8.44063969e-01 -5.36242049e-01 -6.93542476e-04 2.76540635e+02] [ 5.36241878e-01 8.44064254e-01 -4.28918063e-04 3.55765369e+02] [ 8.15398313e-04 -9.87223733e-06 9.99999668e-01 1.62390243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.56, Y:355.78, Z:1.62 [[ 8.43554676e-01 -5.37042857e-01 -6.90919939e-04 2.76564949e+02] [ 5.37042683e-01 8.43554959e-01 -4.33152155e-04 3.55781257e+02] [ 8.15450212e-04 -5.66597146e-06 9.99999668e-01 1.62494234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.59, Y:355.80, Z:1.63 [[ 8.41559350e-01 -5.40164219e-01 -6.91542917e-04 2.76589606e+02] [ 5.40164046e-01 8.41559634e-01 -4.32146583e-04 3.55798235e+02] [ 8.15404725e-04 -9.86962229e-06 9.99999668e-01 1.62649866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.61, Y:355.81, Z:1.63 [[ 8.40710080e-01 -5.41485069e-01 -6.93132577e-04 2.76612564e+02] [ 5.41484899e-01 8.40710366e-01 -4.29581658e-04 3.55812570e+02] [ 8.15335796e-04 -1.41671930e-05 9.99999668e-01 1.62659891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:276.63, Y:355.83, Z:1.63 [[ 8.40294483e-01 -5.42129783e-01 -6.93073167e-04 2.76634649e+02] [ 5.42129613e-01 8.40294769e-01 -4.29677486e-04 3.55825581e+02] [ 8.15326719e-04 -1.46798666e-05 9.99999668e-01 1.62775210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.862755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:276.66, Y:355.84, Z:1.62 [[ 8.38791828e-01 -5.44451829e-01 -6.89187092e-04 2.76660947e+02] [ 5.44451655e-01 8.38792111e-01 -4.35938505e-04 3.55842087e+02] [ 8.15432212e-04 -9.56739685e-06 9.99999668e-01 1.62406113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.69, Y:355.86, Z:1.62 [[ 8.40377746e-01 -5.42000705e-01 -6.92892864e-04 2.76691508e+02] [ 5.42000534e-01 8.40378032e-01 -4.29966638e-04 3.55855979e+02] [ 8.15334162e-04 -1.42139081e-05 9.99999668e-01 1.62486493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9227550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:276.72, Y:355.87, Z:1.62 [[ 8.38753311e-01 -5.44511153e-01 -6.98457112e-04 2.76718234e+02] [ 5.44510991e-01 8.38753601e-01 -4.21024990e-04 3.55873165e+02] [ 8.15086221e-04 -2.71814701e-05 9.99999667e-01 1.62187288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:276.74, Y:355.89, Z:1.62 [[ 8.37946126e-01 -5.45752506e-01 -7.01243722e-04 2.76742241e+02] [ 5.45752348e-01 8.37946419e-01 -4.16551911e-04 3.55887468e+02] [ 8.14938915e-04 -3.36573476e-05 9.99999667e-01 1.62216087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.77, Y:355.90, Z:1.62 [[ 8.37517244e-01 -5.46410446e-01 -7.00318611e-04 2.76766892e+02] [ 5.46410287e-01 8.37517536e-01 -4.18034784e-04 3.55902970e+02] [ 8.14947690e-04 -3.25499534e-05 9.99999667e-01 1.62472881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.79, Y:355.92, Z:1.62 [[ 8.37062706e-01 -5.47106512e-01 -7.00689152e-04 2.76790562e+02] [ 5.47106354e-01 8.37062999e-01 -4.17441565e-04 3.55917992e+02] [ 8.14905961e-04 -3.39267213e-05 9.99999667e-01 1.62367571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.81, Y:355.93, Z:1.62 [[ 8.37102270e-01 -5.47045976e-01 -6.99976247e-04 2.76814593e+02] [ 5.47045817e-01 8.37102562e-01 -4.18581366e-04 3.55933428e+02] [ 8.14935161e-04 -3.25236667e-05 9.99999667e-01 1.62302021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.072755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:276.83, Y:355.95, Z:1.62 [[ 8.36542694e-01 -5.47901297e-01 -6.99366301e-04 2.76830851e+02] [ 5.47901138e-01 8.36542986e-01 -4.19555545e-04 3.55949494e+02] [ 8.14925001e-04 -3.22074656e-05 9.99999667e-01 1.62056710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.102755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:276.85, Y:355.97, Z:1.62 [[ 8.37935900e-01 -5.45768221e-01 -6.90707344e-04 2.76853711e+02] [ 5.45768049e-01 8.37936184e-01 -4.33356660e-04 3.55965206e+02] [ 8.15280970e-04 -1.38408965e-05 9.99999668e-01 1.62138436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.132755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:276.88, Y:355.98, Z:1.62 [[ 8.38251071e-01 -5.45284023e-01 -6.90572323e-04 2.76878311e+02] [ 5.45283850e-01 8.38251355e-01 -4.33571716e-04 3.55981636e+02] [ 8.15292915e-04 -1.31159796e-05 9.99999668e-01 1.62422645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:276.90, Y:356.00, Z:1.62 [[ 8.38880605e-01 -5.44315030e-01 -6.91541551e-04 2.76902242e+02] [ 5.44314859e-01 8.38880890e-01 -4.32028112e-04 3.55996234e+02] [ 8.15280386e-04 -1.39963381e-05 9.99999668e-01 1.62121343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.192755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:276.92, Y:356.01, Z:1.62 [[ 8.39301600e-01 -5.43665659e-01 -6.90406301e-04 2.76924896e+02] [ 5.43665486e-01 8.39301884e-01 -4.33834753e-04 3.56011222e+02] [ 8.15320365e-04 -1.12318747e-05 9.99999668e-01 1.61878590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:276.95, Y:356.03, Z:1.62 [[ 8.39406715e-01 -5.43503349e-01 -6.90351749e-04 2.76948363e+02] [ 5.43503176e-01 8.39406999e-01 -4.33921543e-04 3.56027282e+02] [ 8.15323901e-04 -1.09717113e-05 9.99999668e-01 1.62216922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.252755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:276.97, Y:356.04, Z:1.62 [[ 8.38351442e-01 -5.45129695e-01 -6.90220836e-04 2.76974984e+02] [ 5.45129522e-01 8.38351726e-01 -4.34129680e-04 3.56042946e+02] [ 8.15304809e-04 -1.23065114e-05 9.99999668e-01 1.61905628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.282755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:276.99, Y:356.06, Z:1.62 [[ 8.37353170e-01 -5.46661860e-01 -6.92917548e-04 2.76994769e+02] [ 5.46661692e-01 8.37353456e-01 -4.29841828e-04 3.56057633e+02] [ 8.15195037e-04 -1.88620617e-05 9.99999668e-01 1.61976657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.312755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:277.02, Y:356.07, Z:1.62 [[ 8.35634367e-01 -5.49285652e-01 -6.90027527e-04 2.77020186e+02] [ 5.49285481e-01 8.35634652e-01 -4.34432174e-04 3.56073971e+02] [ 8.15238273e-04 -1.59956470e-05 9.99999668e-01 1.61987154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.05, Y:356.09, Z:1.62 [[ 8.34138457e-01 -5.51554672e-01 -6.91740841e-04 2.77045794e+02] [ 5.51554504e-01 8.34138743e-01 -4.31711159e-04 3.56090308e+02] [ 8.15120143e-04 -2.14258967e-05 9.99999668e-01 1.62142479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.07, Y:356.10, Z:1.62 [[ 8.31347051e-01 -5.55753184e-01 -6.93162950e-04 2.77066283e+02] [ 5.55753018e-01 8.31347339e-01 -4.29453613e-04 3.56104613e+02] [ 8.14929387e-04 -2.82024077e-05 9.99999668e-01 1.61914741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.09, Y:356.12, Z:1.62 [[ 8.28479864e-01 -5.60018428e-01 -6.89931416e-04 2.77091605e+02] [ 5.60018260e-01 8.28480151e-01 -4.34579123e-04 3.56121159e+02] [ 8.14966801e-04 -2.63341382e-05 9.99999668e-01 1.62073668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.11, Y:356.14, Z:1.62 [[ 8.28137417e-01 -5.60524699e-01 -6.92189945e-04 2.77113995e+02] [ 5.60524535e-01 8.28137706e-01 -4.30998215e-04 3.56135339e+02] [ 8.14813738e-04 -3.10636977e-05 9.99999668e-01 1.62065130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.14, Y:356.15, Z:1.62 [[ 8.26802563e-01 -5.62491817e-01 -6.90763165e-04 2.77136721e+02] [ 5.62491651e-01 8.26802851e-01 -4.33258119e-04 3.56152274e+02] [ 8.14829101e-04 -3.03295907e-05 9.99999668e-01 1.61888540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.16, Y:356.17, Z:1.62 [[ 8.26406873e-01 -5.63073001e-01 -6.89880918e-04 2.77159202e+02] [ 5.63072834e-01 8.26407160e-01 -4.34654723e-04 3.56166889e+02] [ 8.14864870e-04 -2.92515538e-05 9.99999668e-01 1.62243081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.18, Y:356.18, Z:1.62 [[ 8.26165394e-01 -5.63427251e-01 -6.89367929e-04 2.77181554e+02] [ 5.63427083e-01 8.26165681e-01 -4.35466344e-04 3.56184355e+02] [ 8.14885730e-04 -2.86413378e-05 9.99999668e-01 1.62063849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:277.21, Y:356.20, Z:1.62 [[ 8.27558258e-01 -5.61379421e-01 -6.89635879e-04 2.77209524e+02] [ 5.61379253e-01 8.27558545e-01 -4.35042764e-04 3.56201641e+02] [ 8.14938120e-04 -2.71240424e-05 9.99999668e-01 1.61940130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:277.23, Y:356.22, Z:1.62 [[ 8.27824313e-01 -5.60987008e-01 -6.95405452e-04 2.77228125e+02] [ 5.60986847e-01 8.27824605e-01 -4.25897315e-04 3.56217078e+02] [ 8.14596603e-04 -3.75451595e-05 9.99999668e-01 1.62296863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.25, Y:356.23, Z:1.62 [[ 8.29163040e-01 -5.59006419e-01 -6.90260118e-04 2.77250441e+02] [ 5.59006251e-01 8.29163327e-01 -4.34041804e-04 3.56232333e+02] [ 8.14970531e-04 -2.59682992e-05 9.99999668e-01 1.62280909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.27, Y:356.25, Z:1.62 [[ 8.30110460e-01 -5.57598557e-01 -6.88005657e-04 2.77273668e+02] [ 5.57598385e-01 8.30110745e-01 -4.37607527e-04 3.56248090e+02] [ 8.15130214e-04 -2.03682579e-05 9.99999668e-01 1.62462883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.30, Y:356.27, Z:1.62 [[ 8.32129006e-01 -5.54581683e-01 -6.88165250e-04 2.77296444e+02] [ 5.54581511e-01 8.32129291e-01 -4.37355071e-04 3.56265981e+02] [ 8.15191573e-04 -1.77078837e-05 9.99999668e-01 1.62171577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.32, Y:356.28, Z:1.62 [[ 8.34371506e-01 -5.51202064e-01 -6.89211835e-04 2.77318819e+02] [ 5.51201892e-01 8.34371790e-01 -4.35699529e-04 3.56282506e+02] [ 8.15217392e-04 -1.63595956e-05 9.99999668e-01 1.62109479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.34, Y:356.30, Z:1.62 [[ 8.35556592e-01 -5.49403956e-01 -6.89086429e-04 2.77341403e+02] [ 5.49403783e-01 8.35556876e-01 -4.35897776e-04 3.56297822e+02] [ 8.15254866e-04 -1.43694310e-05 9.99999668e-01 1.62105237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.36, Y:356.31, Z:1.62 [[ 8.36594735e-01 -5.47821846e-01 -6.89032033e-04 2.77364763e+02] [ 5.47821673e-01 8.36595019e-01 -4.35983744e-04 3.56314273e+02] [ 8.15282186e-04 -1.27249756e-05 9.99999668e-01 1.62119110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7927550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:277.39, Y:356.33, Z:1.62 [[ 8.37796368e-01 -5.45982392e-01 -6.88908277e-04 2.77389393e+02] [ 5.45982217e-01 8.37796651e-01 -4.36179206e-04 3.56332405e+02] [ 8.15311213e-04 -1.07023146e-05 9.99999668e-01 1.62102600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.41, Y:356.35, Z:1.62 [[ 8.39207496e-01 -5.43810906e-01 -6.91437343e-04 2.77411071e+02] [ 5.43810734e-01 8.39207780e-01 -4.32184051e-04 3.56346759e+02] [ 8.15285998e-04 -1.33189543e-05 9.99999668e-01 1.62126987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.43, Y:356.36, Z:1.62 [[ 8.39852298e-01 -5.42814556e-01 -6.88796335e-04 2.77433907e+02] [ 5.42814381e-01 8.39852581e-01 -4.36352963e-04 3.56361541e+02] [ 8.15346119e-04 -7.41651705e-06 9.99999668e-01 1.62179152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.46, Y:356.38, Z:1.62 [[ 8.39813602e-01 -5.42874424e-01 -6.88740356e-04 2.77457778e+02] [ 5.42874248e-01 8.39813884e-01 -4.36441301e-04 3.56376563e+02] [ 8.15346534e-04 -7.37006170e-06 9.99999668e-01 1.62232508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.48, Y:356.39, Z:1.62 [[ 8.39754073e-01 -5.42966502e-01 -6.88605179e-04 2.77481260e+02] [ 5.42966326e-01 8.39754356e-01 -4.36654477e-04 3.56390850e+02] [ 8.15347952e-04 -7.20704883e-06 9.99999668e-01 1.62271431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.51, Y:356.41, Z:1.62 [[ 8.39396242e-01 -5.43519526e-01 -6.88546673e-04 2.77505019e+02] [ 5.43519351e-01 8.39396524e-01 -4.36746713e-04 3.56405334e+02] [ 8.15344051e-04 -7.63489126e-06 9.99999668e-01 1.62338761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.53, Y:356.42, Z:1.62 [[ 8.38215686e-01 -5.45338417e-01 -6.88404681e-04 2.77528964e+02] [ 5.45338242e-01 8.38215969e-01 -4.36970408e-04 3.56422407e+02] [ 8.15328547e-04 -9.13794840e-06 9.99999668e-01 1.62254950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.55, Y:356.44, Z:1.62 [[ 8.37168674e-01 -5.46944361e-01 -6.90466586e-04 2.77553752e+02] [ 5.46944189e-01 8.37168959e-01 -4.33722944e-04 3.56437633e+02] [ 8.15259511e-04 -1.45474246e-05 9.99999668e-01 1.62367326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.58, Y:356.45, Z:1.62 [[ 8.35936764e-01 -5.48825336e-01 -6.90882374e-04 2.77575227e+02] [ 5.48825166e-01 8.35937049e-01 -4.33069478e-04 3.56452739e+02] [ 8.15213675e-04 -1.71549356e-05 9.99999668e-01 1.62278813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.60, Y:356.47, Z:1.62 [[ 8.35276101e-01 -5.49830303e-01 -6.87744333e-04 2.77600129e+02] [ 5.49830129e-01 8.35276384e-01 -4.37996841e-04 3.56466936e+02] [ 8.15280536e-04 -1.22942613e-05 9.99999668e-01 1.62099552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.62, Y:356.48, Z:1.62 [[ 8.35091680e-01 -5.50110363e-01 -6.88334052e-04 2.77624145e+02] [ 5.50110190e-01 8.35091964e-01 -4.37071376e-04 3.56482444e+02] [ 8.15259728e-04 -1.36649059e-05 9.99999668e-01 1.62101917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.65, Y:356.49, Z:1.62 [[ 8.32468538e-01 -5.54071890e-01 -6.88199870e-04 2.77647766e+02] [ 5.54071718e-01 8.32468823e-01 -4.37281804e-04 3.56494980e+02] [ 8.15190491e-04 -1.72887399e-05 9.99999668e-01 1.62223266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.67, Y:356.51, Z:1.62 [[ 8.31124388e-01 -5.56086126e-01 -6.87406771e-04 2.77672131e+02] [ 5.56085954e-01 8.31124672e-01 -4.38525020e-04 3.56509380e+02] [ 8.15178407e-04 -1.77884111e-05 9.99999668e-01 1.62248148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.70, Y:356.52, Z:1.62 [[ 8.30241078e-01 -5.57404055e-01 -6.87263899e-04 2.77695789e+02] [ 5.57403882e-01 8.30241362e-01 -4.38748819e-04 3.56523182e+02] [ 8.15155286e-04 -1.88162733e-05 9.99999668e-01 1.62245573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:277.72, Y:356.54, Z:1.62 [[ 8.28348839e-01 -5.60212218e-01 -6.87202102e-04 2.77721613e+02] [ 5.60212046e-01 8.28349124e-01 -4.38845587e-04 3.56538131e+02] [ 8.15089919e-04 -2.14616629e-05 9.99999668e-01 1.62172521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.74, Y:356.55, Z:1.62 [[ 8.26487013e-01 -5.62955365e-01 -6.89557112e-04 2.77742869e+02] [ 5.62955197e-01 8.26487300e-01 -4.35159012e-04 3.56553015e+02] [ 8.14885296e-04 -2.85364878e-05 9.99999668e-01 1.62143934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.77, Y:356.57, Z:1.62 [[ 8.24175961e-01 -5.66333394e-01 -6.86992895e-04 2.77767460e+02] [ 5.66333225e-01 8.24176247e-01 -4.39170211e-04 3.56566616e+02] [ 8.14919982e-04 -2.71133707e-05 9.99999668e-01 1.62044840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.79, Y:356.58, Z:1.62 [[ 8.23407327e-01 -5.67450352e-01 -6.86851788e-04 2.77792125e+02] [ 5.67450183e-01 8.23407613e-01 -4.39390789e-04 3.56579907e+02] [ 8.14891449e-04 -2.79565779e-05 9.99999668e-01 1.61989177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.82, Y:356.59, Z:1.62 [[ 8.21674599e-01 -5.69956474e-01 -6.86702332e-04 2.77815277e+02] [ 5.69956305e-01 8.21674885e-01 -4.39624241e-04 3.56594552e+02] [ 8.14812743e-04 -3.01622517e-05 9.99999668e-01 1.61958200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.84, Y:356.61, Z:1.62 [[ 8.19330470e-01 -5.73321122e-01 -6.86632744e-04 2.77839590e+02] [ 5.73320954e-01 8.19330757e-01 -4.39732903e-04 3.56608894e+02] [ 8.14687487e-04 -3.33743740e-05 9.99999668e-01 1.61740909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.87, Y:356.62, Z:1.62 [[ 8.19275812e-01 -5.73399226e-01 -6.86493419e-04 2.77868506e+02] [ 5.73399059e-01 8.19276099e-01 -4.39950304e-04 3.56623298e+02] [ 8.14694814e-04 -3.31940378e-05 9.99999668e-01 1.61579268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.89, Y:356.64, Z:1.62 [[ 8.17298479e-01 -5.76214125e-01 -6.91436450e-04 2.77886546e+02] [ 5.76213964e-01 8.17298771e-01 -4.32237558e-04 3.56639056e+02] [ 8.14171547e-04 -4.51482384e-05 9.99999668e-01 1.61569267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.91, Y:356.65, Z:1.62 [[ 8.17306589e-01 -5.76202628e-01 -6.86180534e-04 2.77910221e+02] [ 5.76202461e-01 8.17306876e-01 -4.40426233e-04 3.56653866e+02] [ 8.14594822e-04 -3.54156504e-05 9.99999668e-01 1.61565964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.93, Y:356.67, Z:1.62 [[ 8.17682194e-01 -5.75669488e-01 -6.86039417e-04 2.77932893e+02] [ 5.75669320e-01 8.17682481e-01 -4.40645937e-04 3.56668235e+02] [ 8.14628833e-04 -3.46235083e-05 9.99999668e-01 1.61583629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.96, Y:356.68, Z:1.62 [[ 8.19368490e-01 -5.73266785e-01 -6.85943805e-04 2.77956221e+02] [ 5.73266617e-01 8.19368777e-01 -4.40794724e-04 3.56683824e+02] [ 8.14733911e-04 -3.20553771e-05 9.99999668e-01 1.61609570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:277.98, Y:356.70, Z:1.62 [[ 8.20494832e-01 -5.71653533e-01 -6.85805532e-04 2.77979558e+02] [ 5.71653363e-01 8.20495118e-01 -4.41009750e-04 3.56699661e+02] [ 8.14804872e-04 -3.01968184e-05 9.99999668e-01 1.61579471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.00, Y:356.72, Z:1.62 [[ 8.22956048e-01 -5.68104632e-01 -6.85667810e-04 2.78002554e+02] [ 5.68104461e-01 8.22956334e-01 -4.41223771e-04 3.56716049e+02] [ 8.14935935e-04 -2.64231703e-05 9.99999668e-01 1.61596541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.03, Y:356.73, Z:1.62 [[ 8.24063137e-01 -5.66497551e-01 -6.85529929e-04 2.78025258e+02] [ 5.66497380e-01 8.24063422e-01 -4.41437894e-04 3.56731455e+02] [ 8.14993625e-04 -2.45782125e-05 9.99999668e-01 1.61650639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.05, Y:356.75, Z:1.62 [[ 8.25021896e-01 -5.65100346e-01 -6.85470204e-04 2.78048786e+02] [ 5.65100174e-01 8.25022181e-01 -4.41530615e-04 3.56747495e+02] [ 8.15037226e-04 -2.30869060e-05 9.99999668e-01 1.61684227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.07, Y:356.76, Z:1.62 [[ 8.26279115e-01 -5.63260468e-01 -6.85335888e-04 2.78071323e+02] [ 5.63260295e-01 8.26279399e-01 -4.41739000e-04 3.56762794e+02] [ 8.15093041e-04 -2.10227848e-05 9.99999668e-01 1.61748472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.10, Y:356.78, Z:1.62 [[ 8.26615064e-01 -5.62767329e-01 -6.85277754e-04 2.78095409e+02] [ 5.62767156e-01 8.26615348e-01 -4.41829166e-04 3.56777660e+02] [ 8.15108129e-04 -2.04291689e-05 9.99999668e-01 1.61754348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.13, Y:356.79, Z:1.62 [[ 8.28777338e-01 -5.59578104e-01 -6.85137900e-04 2.78125911e+02] [ 5.59577930e-01 8.28777621e-01 -4.42045930e-04 3.56791050e+02] [ 8.15186182e-04 -1.70303985e-05 9.99999668e-01 1.61994778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.14, Y:356.81, Z:1.62 [[ 8.27336331e-01 -5.61706435e-01 -6.90578630e-04 2.78143558e+02] [ 5.61706268e-01 8.27336618e-01 -4.33610262e-04 3.56807173e+02] [ 8.14902663e-04 -2.91608221e-05 9.99999668e-01 1.61869111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.17, Y:356.82, Z:1.62 [[ 8.27516053e-01 -5.61441638e-01 -6.84943966e-04 2.78166626e+02] [ 5.61441464e-01 8.27516336e-01 -4.42335383e-04 3.56822627e+02] [ 8.15147823e-04 -1.85163127e-05 9.99999668e-01 1.61817346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.19, Y:356.84, Z:1.62 [[ 8.27836785e-01 -5.60968617e-01 -6.84805039e-04 2.78189171e+02] [ 5.60968442e-01 8.27837068e-01 -4.42550358e-04 3.56837949e+02] [ 8.15163858e-04 -1.77945506e-05 9.99999668e-01 1.61740572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.21, Y:356.85, Z:1.62 [[ 8.28011263e-01 -5.60711048e-01 -6.84710821e-04 2.78212864e+02] [ 5.60710874e-01 8.28011546e-01 -4.42696083e-04 3.56853385e+02] [ 8.15173051e-04 -1.73674601e-05 9.99999668e-01 1.61769468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.24, Y:356.87, Z:1.62 [[ 8.28147252e-01 -5.60510178e-01 -6.84574075e-04 2.78235272e+02] [ 5.60510004e-01 8.28147535e-01 -4.42907443e-04 3.56867692e+02] [ 8.15182463e-04 -1.69180354e-05 9.99999668e-01 1.61836517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.26, Y:356.88, Z:1.62 [[ 8.28056361e-01 -5.60644446e-01 -6.84514825e-04 2.78258795e+02] [ 5.60644271e-01 8.28056644e-01 -4.42998996e-04 3.56882600e+02] [ 8.15181975e-04 -1.69411791e-05 9.99999668e-01 1.61805107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.28, Y:356.90, Z:1.62 [[ 8.27992202e-01 -5.60739195e-01 -6.84376276e-04 2.78281388e+02] [ 5.60739021e-01 8.27992485e-01 -4.43212933e-04 3.56897057e+02] [ 8.15185276e-04 -1.67796303e-05 9.99999668e-01 1.61818098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.30, Y:356.91, Z:1.62 [[ 8.28201462e-01 -5.60430076e-01 -6.84316339e-04 2.78303671e+02] [ 5.60429900e-01 8.28201745e-01 -4.43305456e-04 3.56911888e+02] [ 8.15193696e-04 -1.63651104e-05 9.99999668e-01 1.61765739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.33, Y:356.93, Z:1.62 [[ 8.28450234e-01 -5.60062266e-01 -6.84258743e-04 2.78327076e+02] [ 5.60062091e-01 8.28450516e-01 -4.43394339e-04 3.56927555e+02] [ 8.15202947e-04 -1.58972382e-05 9.99999668e-01 1.61667639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.35, Y:356.94, Z:1.62 [[ 8.29278588e-01 -5.58834999e-01 -6.84120146e-04 2.78350585e+02] [ 5.58834823e-01 8.29278870e-01 -4.43608080e-04 3.56942247e+02] [ 8.15230102e-04 -1.44354785e-05 9.99999668e-01 1.61510661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:278.37, Y:356.96, Z:1.61 [[ 8.29803146e-01 -5.58055796e-01 -6.83982063e-04 2.78374565e+02] [ 5.58055620e-01 8.29803428e-01 -4.43820883e-04 3.56957117e+02] [ 8.15247476e-04 -1.34160690e-05 9.99999668e-01 1.61451577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.40, Y:356.97, Z:1.61 [[ 8.30245507e-01 -5.57397461e-01 -6.83844118e-04 2.78397490e+02] [ 5.57397285e-01 8.30245789e-01 -4.44033327e-04 3.56971974e+02] [ 8.15261749e-04 -1.25161795e-05 9.99999668e-01 1.61428478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.42, Y:356.99, Z:1.61 [[ 8.30985244e-01 -5.56294038e-01 -6.83784450e-04 2.78420856e+02] [ 5.56293861e-01 8.30985525e-01 -4.44125195e-04 3.56988030e+02] [ 8.15279178e-04 -1.13236086e-05 9.99999668e-01 1.61341388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.44, Y:357.00, Z:1.61 [[ 8.31655652e-01 -5.55291283e-01 -6.83645094e-04 2.78443391e+02] [ 5.55291105e-01 8.31655933e-01 -4.44339602e-04 3.57002435e+02] [ 8.15295406e-04 -1.00844981e-05 9.99999668e-01 1.61247521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.47, Y:357.02, Z:1.61 [[ 8.31891136e-01 -5.54938439e-01 -6.83550496e-04 2.78467646e+02] [ 5.54938261e-01 8.31891417e-01 -4.44485080e-04 3.57017423e+02] [ 8.15301647e-04 -9.56512504e-06 9.99999668e-01 1.61256824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.49, Y:357.03, Z:1.61 [[ 8.32622819e-01 -5.53840026e-01 -6.83411104e-04 2.78494171e+02] [ 5.53839847e-01 8.32623100e-01 -4.44699297e-04 3.57032042e+02] [ 8.15316141e-04 -8.23351865e-06 9.99999668e-01 1.61358213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.232755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:278.51, Y:357.05, Z:1.61 [[ 8.32211864e-01 -5.54457340e-01 -6.86105336e-04 2.78514813e+02] [ 5.54457165e-01 8.32212147e-01 -4.40558911e-04 3.57045732e+02] [ 8.15256317e-04 -1.37776671e-05 9.99999668e-01 1.61309641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.54, Y:357.06, Z:1.61 [[ 8.32034931e-01 -5.54722821e-01 -6.83184492e-04 2.78538133e+02] [ 5.54722642e-01 8.32035211e-01 -4.45042695e-04 3.57060027e+02] [ 8.15308892e-04 -8.68683881e-06 9.99999668e-01 1.61287618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2927550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:278.56, Y:357.07, Z:1.61 [[ 8.31338249e-01 -5.55766362e-01 -6.83124607e-04 2.78562543e+02] [ 5.55766184e-01 8.31338530e-01 -4.45134598e-04 3.57074035e+02] [ 8.15298642e-04 -9.60013854e-06 9.99999668e-01 1.61199502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.322755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:278.59, Y:357.09, Z:1.61 [[ 8.30772944e-01 -5.56611039e-01 -6.82987512e-04 2.78586165e+02] [ 5.56610861e-01 8.30773225e-01 -4.45344848e-04 3.57088814e+02] [ 8.15291597e-04 -1.01778165e-05 9.99999668e-01 1.61197360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.61, Y:357.10, Z:1.61 [[ 8.29998399e-01 -5.57765356e-01 -6.82850040e-04 2.78609836e+02] [ 5.57765178e-01 8.29998680e-01 -4.45555536e-04 3.57103290e+02] [ 8.15280073e-04 -1.10595926e-05 9.99999668e-01 1.61184347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.63, Y:357.12, Z:1.61 [[ 8.28496028e-01 -5.59994522e-01 -6.82709124e-04 2.78634802e+02] [ 5.59994345e-01 8.28496310e-01 -4.45771352e-04 3.57116360e+02] [ 8.15251505e-04 -1.29934539e-05 9.99999668e-01 1.61201967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.66, Y:357.13, Z:1.61 [[ 8.27484046e-01 -5.61488813e-01 -6.82568659e-04 2.78659053e+02] [ 5.61488636e-01 8.27484328e-01 -4.45986329e-04 3.57131045e+02] [ 8.15231202e-04 -1.42079733e-05 9.99999668e-01 1.61203871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.68, Y:357.14, Z:1.61 [[ 8.25404415e-01 -5.64541483e-01 -6.82429044e-04 2.78683641e+02] [ 5.64541307e-01 8.25404697e-01 -4.46199859e-04 3.57144910e+02] [ 8.15178469e-04 -1.69640508e-05 9.99999668e-01 1.61193850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.71, Y:357.16, Z:1.61 [[ 8.24633497e-01 -5.65666978e-01 -6.82287981e-04 2.78707071e+02] [ 5.65666802e-01 8.24633780e-01 -4.46415456e-04 3.57158642e+02] [ 8.15160198e-04 -1.78185215e-05 9.99999668e-01 1.61174699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.73, Y:357.17, Z:1.61 [[ 8.23626667e-01 -5.67131949e-01 -6.82226925e-04 2.78731207e+02] [ 5.67131773e-01 8.23626950e-01 -4.46508745e-04 3.57173390e+02] [ 8.15129856e-04 -1.91560560e-05 9.99999668e-01 1.61156299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.75, Y:357.19, Z:1.61 [[ 8.22119289e-01 -5.69314860e-01 -6.82089205e-04 2.78754999e+02] [ 5.69314685e-01 8.22119571e-01 -4.46719028e-04 3.57187995e+02] [ 8.15082665e-04 -2.10670717e-05 9.99999668e-01 1.61144794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.78, Y:357.20, Z:1.61 [[ 8.21611156e-01 -5.70047931e-01 -6.81949663e-04 2.78777054e+02] [ 5.70047756e-01 8.21611439e-01 -4.46931947e-04 3.57203258e+02] [ 8.15070275e-04 -2.15396016e-05 9.99999668e-01 1.61202789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.80, Y:357.22, Z:1.61 [[ 8.21364510e-01 -5.70403259e-01 -6.81889312e-04 2.78799123e+02] [ 5.70403084e-01 8.21364792e-01 -4.47024006e-04 3.57218994e+02] [ 8.15063823e-04 -2.17821131e-05 9.99999668e-01 1.61230031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.82, Y:357.24, Z:1.61 [[ 8.21036834e-01 -5.70874813e-01 -6.81829478e-04 2.78822249e+02] [ 5.70874638e-01 8.21037117e-01 -4.47115250e-04 3.57235045e+02] [ 8.15054144e-04 -2.21410668e-05 9.99999668e-01 1.61199095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.85, Y:357.25, Z:1.61 [[ 8.20686500e-01 -5.71378337e-01 -6.81691051e-04 2.78845196e+02] [ 5.71378162e-01 8.20686783e-01 -4.47326202e-04 3.57251172e+02] [ 8.15047337e-04 -2.23888049e-05 9.99999668e-01 1.61132460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.87, Y:357.27, Z:1.61 [[ 8.20424188e-01 -5.71754918e-01 -6.81550940e-04 2.78866972e+02] [ 5.71754744e-01 8.20424471e-01 -4.47539575e-04 3.57267016e+02] [ 8.15044023e-04 -2.25076908e-05 9.99999668e-01 1.61013139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.712755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:278.89, Y:357.28, Z:1.61 [[ 8.20168822e-01 -5.72121176e-01 -6.81490329e-04 2.78889873e+02] [ 5.72121001e-01 8.20169104e-01 -4.47631852e-04 3.57282637e+02] [ 8.15036974e-04 -2.27612406e-05 9.99999668e-01 1.60976455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.91, Y:357.30, Z:1.61 [[ 8.19996453e-01 -5.72368197e-01 -6.81352503e-04 2.78911405e+02] [ 5.72368022e-01 8.19996736e-01 -4.47841542e-04 3.57299106e+02] [ 8.15037084e-04 -2.27559083e-05 9.99999668e-01 1.60932155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.772755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:278.93, Y:357.32, Z:1.61 [[ 8.19882634e-01 -5.72531223e-01 -6.81292821e-04 2.78933648e+02] [ 5.72531049e-01 8.19882917e-01 -4.47932317e-04 3.57315831e+02] [ 8.15035583e-04 -2.28093651e-05 9.99999668e-01 1.60901579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:278.96, Y:357.33, Z:1.61 [[ 8.19984083e-01 -5.72385918e-01 -6.81153053e-04 2.78955487e+02] [ 5.72385743e-01 8.19984366e-01 -4.48144755e-04 3.57332139e+02] [ 8.15046602e-04 -2.24107301e-05 9.99999668e-01 1.60866257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.832755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:278.98, Y:357.35, Z:1.61 [[ 8.20413693e-01 -5.71769979e-01 -6.81092573e-04 2.78977362e+02] [ 5.71769804e-01 8.20413975e-01 -4.48236655e-04 3.57350209e+02] [ 8.15066128e-04 -2.16886772e-05 9.99999668e-01 1.60950620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.00, Y:357.37, Z:1.61 [[ 8.21164317e-01 -5.70691423e-01 -6.80954486e-04 2.78998489e+02] [ 5.70691247e-01 8.21164599e-01 -4.48446336e-04 3.57367520e+02] [ 8.15100195e-04 -2.03666361e-05 9.99999668e-01 1.61128519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.02, Y:357.38, Z:1.61 [[ 8.21384114e-01 -5.70375028e-01 -6.80894697e-04 2.79021299e+02] [ 5.70374852e-01 8.21384396e-01 -4.48537098e-04 3.57384044e+02] [ 8.15110640e-04 -1.99439651e-05 9.99999668e-01 1.61230816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.04, Y:357.40, Z:1.61 [[ 8.21573693e-01 -5.70101924e-01 -6.80764197e-04 2.79043589e+02] [ 5.70101748e-01 8.21573975e-01 -4.48735077e-04 3.57400350e+02] [ 8.15122877e-04 -1.94359241e-05 9.99999668e-01 1.61266251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.07, Y:357.42, Z:1.61 [[ 8.21402234e-01 -5.70348934e-01 -6.80629258e-04 2.79067350e+02] [ 5.70348757e-01 8.21402516e-01 -4.48939654e-04 3.57416232e+02] [ 8.15122838e-04 -1.94360171e-05 9.99999668e-01 1.61268574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.09, Y:357.43, Z:1.61 [[ 8.22401356e-01 -5.68907327e-01 -6.80494207e-04 2.79089345e+02] [ 5.68907150e-01 8.22401638e-01 -4.49144269e-04 3.57432406e+02] [ 8.15161016e-04 -1.77611639e-05 9.99999668e-01 1.61230800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.11, Y:357.45, Z:1.61 [[ 8.22056765e-01 -5.69405141e-01 -6.78798753e-04 2.79112516e+02] [ 5.69404962e-01 8.22057045e-01 -4.51710709e-04 3.57449436e+02] [ 8.15217697e-04 -1.51795339e-05 9.99999668e-01 1.61201111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.13, Y:357.47, Z:1.61 [[ 8.22246454e-01 -5.69131186e-01 -6.80318289e-04 2.79133788e+02] [ 5.69131009e-01 8.22246735e-01 -4.49410433e-04 3.57467184e+02] [ 8.15162984e-04 -1.76640997e-05 9.99999668e-01 1.61153218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.16, Y:357.48, Z:1.61 [[ 8.22311271e-01 -5.69037530e-01 -6.80260957e-04 2.79156395e+02] [ 5.69037353e-01 8.22311552e-01 -4.49497197e-04 3.57484133e+02] [ 8.15167219e-04 -1.74672829e-05 9.99999668e-01 1.61168454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.18, Y:357.50, Z:1.61 [[ 8.22284749e-01 -5.69075855e-01 -6.80130607e-04 2.79179042e+02] [ 5.69075678e-01 8.22285030e-01 -4.49694344e-04 3.57501017e+02] [ 8.15171410e-04 -1.72689855e-05 9.99999668e-01 1.61179008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.20, Y:357.52, Z:1.61 [[ 8.22739133e-01 -5.68418734e-01 -6.79999472e-04 2.79200729e+02] [ 5.68418556e-01 8.22739414e-01 -4.49892549e-04 3.57517048e+02] [ 8.15189720e-04 -1.63801122e-05 9.99999668e-01 1.61218186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.22, Y:357.53, Z:1.61 [[ 8.22688323e-01 -5.68492270e-01 -6.79942711e-04 2.79223792e+02] [ 5.68492093e-01 8.22688604e-01 -4.49978318e-04 3.57533405e+02] [ 8.15190316e-04 -1.63501468e-05 9.99999668e-01 1.61260352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.25, Y:357.55, Z:1.61 [[ 8.22679038e-01 -5.68505706e-01 -6.79813231e-04 2.79245366e+02] [ 5.68505528e-01 8.22679319e-01 -4.50173848e-04 3.57550059e+02] [ 8.15194687e-04 -1.61289915e-05 9.99999668e-01 1.61391442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.27, Y:357.57, Z:1.61 [[ 8.22590683e-01 -5.68633543e-01 -6.79725201e-04 2.79267920e+02] [ 5.68633365e-01 8.22590964e-01 -4.50306727e-04 3.57566447e+02] [ 8.15195318e-04 -1.60963103e-05 9.99999668e-01 1.61399877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.29, Y:357.58, Z:1.61 [[ 8.22455281e-01 -5.68829368e-01 -6.79598135e-04 2.79290849e+02] [ 5.68829190e-01 8.22455561e-01 -4.50498413e-04 3.57583286e+02] [ 8.15195993e-04 -1.60604575e-05 9.99999668e-01 1.61349693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.31, Y:357.60, Z:1.61 [[ 8.22146200e-01 -5.69276001e-01 -6.79458040e-04 2.79312865e+02] [ 5.69275823e-01 8.22146480e-01 -4.50709610e-04 3.57600720e+02] [ 8.15192200e-04 -1.62498420e-05 9.99999668e-01 1.61318281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.34, Y:357.62, Z:1.61 [[ 8.21790583e-01 -5.69789239e-01 -6.79316947e-04 2.79335316e+02] [ 5.69789061e-01 8.21790863e-01 -4.50922166e-04 3.57617385e+02] [ 8.15187059e-04 -1.65037754e-05 9.99999668e-01 1.61213203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.36, Y:357.63, Z:1.61 [[ 8.21487820e-01 -5.70225657e-01 -6.79175152e-04 2.79357865e+02] [ 5.70225479e-01 8.21488101e-01 -4.51135636e-04 3.57633076e+02] [ 8.15183420e-04 -1.66805463e-05 9.99999668e-01 1.61198060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.38, Y:357.65, Z:1.61 [[ 8.21222966e-01 -5.70607027e-01 -6.79113754e-04 2.79380980e+02] [ 5.70606849e-01 8.21223247e-01 -4.51228043e-04 3.57649306e+02] [ 8.15177894e-04 -1.69481271e-05 9.99999668e-01 1.61145827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.40, Y:357.67, Z:1.61 [[ 8.21148509e-01 -5.70714171e-01 -6.78970017e-04 2.79402347e+02] [ 5.70713993e-01 8.21148790e-01 -4.51444222e-04 3.57666329e+02] [ 8.15181023e-04 -1.67949397e-05 9.99999668e-01 1.61033669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.42, Y:357.68, Z:1.61 [[ 8.21268958e-01 -5.70540830e-01 -6.78907838e-04 2.79424890e+02] [ 5.70540651e-01 8.21269238e-01 -4.51537712e-04 3.57682544e+02] [ 8.15186823e-04 -1.65106139e-05 9.99999668e-01 1.60936384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.45, Y:357.70, Z:1.61 [[ 8.21851359e-01 -5.69701574e-01 -6.78767628e-04 2.79447600e+02] [ 5.69701395e-01 8.21851639e-01 -4.51748381e-04 3.57699163e+02] [ 8.15208052e-04 -1.54248433e-05 9.99999668e-01 1.60825716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.47, Y:357.71, Z:1.61 [[ 8.22078894e-01 -5.69373192e-01 -6.78628461e-04 2.79470371e+02] [ 5.69373013e-01 8.22079174e-01 -4.51957346e-04 3.57714946e+02] [ 8.15218721e-04 -1.48481364e-05 9.99999668e-01 1.60781025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.49, Y:357.73, Z:1.61 [[ 8.22296258e-01 -5.69059227e-01 -6.78488274e-04 2.79493182e+02] [ 5.69059048e-01 8.22296538e-01 -4.52167700e-04 3.57730590e+02] [ 8.15228760e-04 -1.42840832e-05 9.99999668e-01 1.60807189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.52, Y:357.75, Z:1.61 [[ 8.22658125e-01 -5.68535970e-01 -6.78349182e-04 2.79516394e+02] [ 5.68535790e-01 8.22658405e-01 -4.52376272e-04 3.57746646e+02] [ 8.15241838e-04 -1.35147721e-05 9.99999668e-01 1.60878446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.54, Y:357.76, Z:1.61 [[ 8.22805694e-01 -5.68322383e-01 -6.78210636e-04 2.79539437e+02] [ 5.68322203e-01 8.22805973e-01 -4.52583886e-04 3.57762803e+02] [ 8.15249315e-04 -1.30535641e-05 9.99999668e-01 1.60874639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.56, Y:357.78, Z:1.61 [[ 8.23355097e-01 -5.67526144e-01 -6.78072833e-04 2.79561225e+02] [ 5.67525964e-01 8.23355376e-01 -4.52790252e-04 3.57779061e+02] [ 8.15265219e-04 -1.20167760e-05 9.99999668e-01 1.60845412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.59, Y:357.80, Z:1.61 [[ 8.23642775e-01 -5.67108561e-01 -6.77979327e-04 2.79585360e+02] [ 5.67108380e-01 8.23643054e-01 -4.52930219e-04 3.57795799e+02] [ 8.15273568e-04 -1.14350560e-05 9.99999668e-01 1.60811159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.61, Y:357.81, Z:1.61 [[ 8.23882180e-01 -5.66760702e-01 -6.78553537e-04 2.79607254e+02] [ 5.66760522e-01 8.23882459e-01 -4.52071096e-04 3.57811225e+02] [ 8.15264489e-04 -1.21240363e-05 9.99999668e-01 1.60917758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.63, Y:357.83, Z:1.61 [[ 8.23915340e-01 -5.66712497e-01 -6.77799441e-04 2.79630471e+02] [ 5.66712316e-01 8.23915618e-01 -4.53198915e-04 3.57826784e+02] [ 8.15283034e-04 -1.07197531e-05 9.99999668e-01 1.61013245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.65, Y:357.84, Z:1.61 [[ 8.23770432e-01 -5.66923113e-01 -6.77667000e-04 2.79652770e+02] [ 5.66922932e-01 8.23770711e-01 -4.53396868e-04 3.57841392e+02] [ 8.15283390e-04 -1.06900286e-05 9.99999668e-01 1.61022844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.68, Y:357.86, Z:1.61 [[ 8.23392218e-01 -5.67472287e-01 -6.77609639e-04 2.79676320e+02] [ 5.67472106e-01 8.23392497e-01 -4.53482578e-04 3.57856883e+02] [ 8.15277488e-04 -1.11305424e-05 9.99999668e-01 1.60971582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.70, Y:357.87, Z:1.61 [[ 8.23253363e-01 -5.67673710e-01 -6.77470514e-04 2.79698457e+02] [ 5.67673529e-01 8.23253642e-01 -4.53690326e-04 3.57872182e+02] [ 8.15278138e-04 -1.10799911e-05 9.99999668e-01 1.60947526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.72, Y:357.89, Z:1.61 [[ 8.23179829e-01 -5.67780336e-01 -6.77410315e-04 2.79720927e+02] [ 5.67780155e-01 8.23180108e-01 -4.53780191e-04 3.57888083e+02] [ 8.15278166e-04 -1.10774337e-05 9.99999668e-01 1.60898166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.74, Y:357.90, Z:1.61 [[ 8.22968176e-01 -5.68087073e-01 -6.77353479e-04 2.79743969e+02] [ 5.68086892e-01 8.22968455e-01 -4.53865014e-04 3.57903643e+02] [ 8.15275393e-04 -1.12791704e-05 9.99999668e-01 1.60871721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.77, Y:357.92, Z:1.61 [[ 8.22640794e-01 -5.68561048e-01 -6.77214441e-04 2.79767474e+02] [ 5.68560867e-01 8.22641073e-01 -4.54072379e-04 3.57918694e+02] [ 8.15272282e-04 -1.14991669e-05 9.99999668e-01 1.60888732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.79, Y:357.93, Z:1.61 [[ 8.22275378e-01 -5.69089399e-01 -6.77069177e-04 2.79789741e+02] [ 5.69089218e-01 8.22275657e-01 -4.54288880e-04 3.57932828e+02] [ 8.15268488e-04 -1.17622084e-05 9.99999668e-01 1.60868897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.81, Y:357.95, Z:1.61 [[ 8.20934758e-01 -5.71021600e-01 -6.74364558e-04 2.79814648e+02] [ 5.71021416e-01 8.20935035e-01 -4.58315909e-04 3.57949759e+02] [ 8.15317776e-04 -8.82914511e-06 9.99999668e-01 1.60872340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.84, Y:357.96, Z:1.61 [[ 8.20054858e-01 -5.72284520e-01 -6.76814161e-04 2.79837723e+02] [ 5.72284339e-01 8.20055138e-01 -4.54669468e-04 3.57964231e+02] [ 8.15225227e-04 -1.44762386e-05 9.99999668e-01 1.60839073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.86, Y:357.98, Z:1.61 [[ 8.18472040e-01 -5.74545962e-01 -6.76751818e-04 2.79861389e+02] [ 5.74545782e-01 8.18472319e-01 -4.54762242e-04 3.57976635e+02] [ 8.15184440e-04 -1.66147224e-05 9.99999668e-01 1.60859143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.032755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:279.89, Y:357.99, Z:1.61 [[ 8.16843616e-01 -5.76858778e-01 -6.76690200e-04 2.79885761e+02] [ 5.76858599e-01 8.16843896e-01 -4.54853912e-04 3.57990805e+02] [ 8.15136731e-04 -1.88100472e-05 9.99999668e-01 1.60863126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.91, Y:358.01, Z:1.61 [[ 8.16324872e-01 -5.77592630e-01 -6.76549115e-04 2.79909392e+02] [ 5.77592451e-01 8.16325152e-01 -4.55063665e-04 3.58005647e+02] [ 8.15125478e-04 -1.92898739e-05 9.99999668e-01 1.60853133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.93, Y:358.02, Z:1.61 [[ 8.15897832e-01 -5.78195703e-01 -6.76408551e-04 2.79932759e+02] [ 5.78195524e-01 8.15898112e-01 -4.55272503e-04 3.58020701e+02] [ 8.15117065e-04 -1.96405485e-05 9.99999668e-01 1.60858349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.96, Y:358.04, Z:1.61 [[ 8.16296626e-01 -5.77632548e-01 -6.76268093e-04 2.79955540e+02] [ 5.77632369e-01 8.16296906e-01 -4.55481048e-04 3.58035368e+02] [ 8.15136230e-04 -1.88266980e-05 9.99999668e-01 1.60787834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:279.98, Y:358.05, Z:1.61 [[ 8.16495393e-01 -5.77351553e-01 -6.76207277e-04 2.79979267e+02] [ 5.77351373e-01 8.16495673e-01 -4.55571317e-04 3.58050916e+02] [ 8.15145123e-04 -1.84373187e-05 9.99999668e-01 1.60694597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.00, Y:358.06, Z:1.61 [[ 8.16878369e-01 -5.76809564e-01 -6.76065127e-04 2.80003637e+02] [ 5.76809385e-01 8.16878648e-01 -4.55782168e-04 3.58064341e+02] [ 8.15162681e-04 -1.76421159e-05 9.99999668e-01 1.60614087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.212755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:280.03, Y:358.08, Z:1.61 [[ 8.16971771e-01 -5.76677266e-01 -6.75920939e-04 2.80027409e+02] [ 5.76677086e-01 8.16972050e-01 -4.55995898e-04 3.58078805e+02] [ 8.15170983e-04 -1.72523410e-05 9.99999668e-01 1.60507172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.05, Y:358.09, Z:1.61 [[ 8.17947760e-01 -5.75292104e-01 -6.75775766e-04 2.80052289e+02] [ 5.75291923e-01 8.17948039e-01 -4.56210940e-04 3.58092149e+02] [ 8.15204014e-04 -1.56116237e-05 9.99999668e-01 1.60652392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.08, Y:358.11, Z:1.61 [[ 8.18787836e-01 -5.74095831e-01 -6.75630082e-04 2.80075869e+02] [ 5.74095650e-01 8.18788115e-01 -4.56426591e-04 3.58106344e+02] [ 8.15230483e-04 -1.41597505e-05 9.99999668e-01 1.60635234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.11, Y:358.12, Z:1.60 [[ 8.20865291e-01 -5.71121456e-01 -6.75531318e-04 2.80105782e+02] [ 5.71121274e-01 8.20865569e-01 -4.56572718e-04 3.58121172e+02] [ 8.15278875e-04 -1.10256096e-05 9.99999668e-01 1.60475300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.12, Y:358.14, Z:1.61 [[ 8.21997206e-01 -5.69491114e-01 -6.81979205e-04 2.80123726e+02] [ 5.69490939e-01 8.21997489e-01 -4.47027070e-04 3.58136260e+02] [ 8.15163138e-04 -2.09259755e-05 9.99999668e-01 1.60625690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.15, Y:358.15, Z:1.61 [[ 8.23176025e-01 -5.67785854e-01 -6.75308288e-04 2.80147032e+02] [ 5.67785670e-01 8.23176302e-01 -4.56887111e-04 3.58151992e+02] [ 8.15311818e-04 -7.33185352e-06 9.99999668e-01 1.60672591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.17, Y:358.17, Z:1.61 [[ 8.24232017e-01 -5.66251823e-01 -6.75163012e-04 2.80170439e+02] [ 5.66251638e-01 8.24232293e-01 -4.57101691e-04 3.58167915e+02] [ 8.15325824e-04 -5.55431257e-06 9.99999668e-01 1.60697895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.19, Y:358.18, Z:1.61 [[ 8.26243409e-01 -5.63312855e-01 -6.75017184e-04 2.80192971e+02] [ 5.63312670e-01 8.26243685e-01 -4.57316939e-04 3.58182997e+02] [ 8.15341196e-04 -2.39062534e-06 9.99999668e-01 1.60713552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.22, Y:358.20, Z:1.61 [[ 8.27049589e-01 -5.62128564e-01 -6.74954035e-04 2.80215909e+02] [ 5.62128377e-01 8.27049864e-01 -4.57410121e-04 3.58199196e+02] [ 8.15343938e-04 -1.10996395e-06 9.99999668e-01 1.60781588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.24, Y:358.21, Z:1.61 [[ 8.27737640e-01 -5.61114912e-01 -6.74813163e-04 2.80237991e+02] [ 5.61114725e-01 8.27737915e-01 -4.57617855e-04 3.58214427e+02] [ 8.15344643e-04 1.39920931e-07 9.99999668e-01 1.60842358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.26, Y:358.23, Z:1.61 [[ 8.27811158e-01 -5.61006445e-01 -6.74717412e-04 2.80260333e+02] [ 5.61006259e-01 8.27811433e-01 -4.57758988e-04 3.58229461e+02] [ 8.15344530e-04 4.17306816e-07 9.99999668e-01 1.60746312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.29, Y:358.25, Z:1.61 [[ 8.27631299e-01 -5.61271751e-01 -6.74657137e-04 2.80285249e+02] [ 5.61271564e-01 8.27631574e-01 -4.57847805e-04 3.58246288e+02] [ 8.15344587e-04 2.63307421e-07 9.99999668e-01 1.60596734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.31, Y:358.26, Z:1.61 [[ 8.27070361e-01 -5.62098000e-01 -6.75730213e-04 2.80307457e+02] [ 5.62097815e-01 8.27070637e-01 -4.56266874e-04 3.58262346e+02] [ 8.15343315e-04 -2.46166776e-06 9.99999668e-01 1.60700943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.33, Y:358.28, Z:1.60 [[ 8.26582059e-01 -5.62815819e-01 -6.74476288e-04 2.80330519e+02] [ 5.62815632e-01 8.26582334e-01 -4.58113018e-04 3.58279494e+02] [ 8.15343438e-04 -9.37797023e-07 9.99999668e-01 1.60360269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.35, Y:358.30, Z:1.61 [[ 8.25434150e-01 -5.64498015e-01 -6.74703579e-04 2.80352731e+02] [ 5.64497830e-01 8.25434426e-01 -4.57778467e-04 3.58297038e+02] [ 8.15338597e-04 -3.00272620e-06 9.99999668e-01 1.60639409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.37, Y:358.31, Z:1.61 [[ 8.25671542e-01 -5.64150733e-01 -6.74302840e-04 2.80374466e+02] [ 5.64150547e-01 8.25671818e-01 -4.58367993e-04 3.58312043e+02] [ 8.15341491e-04 -1.94690798e-06 9.99999668e-01 1.60567423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.40, Y:358.33, Z:1.61 [[ 8.23162202e-01 -5.67805900e-01 -6.70518565e-04 2.80398533e+02] [ 5.67805711e-01 8.23162475e-01 -4.63928551e-04 3.58330759e+02] [ 8.15367089e-04 1.16417718e-06 9.99999668e-01 1.60631860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.42, Y:358.35, Z:1.61 [[ 8.19976214e-01 -5.72397200e-01 -6.74105719e-04 2.80421415e+02] [ 5.72397016e-01 8.19976491e-01 -4.58656366e-04 3.58347068e+02] [ 8.15284461e-04 -9.76879120e-06 9.99999668e-01 1.60736155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.44, Y:358.36, Z:1.61 [[ 8.18252292e-01 -5.74858880e-01 -6.73964008e-04 2.80444565e+02] [ 5.74858697e-01 8.18252570e-01 -4.58864506e-04 3.58363263e+02] [ 8.15255117e-04 -1.19671371e-05 9.99999668e-01 1.60708108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.47, Y:358.38, Z:1.61 [[ 8.14805705e-01 -5.79733740e-01 -6.73820500e-04 2.80466700e+02] [ 5.79733558e-01 8.14805984e-01 -4.59075144e-04 3.58379438e+02] [ 8.15174325e-04 -1.65793094e-05 9.99999668e-01 1.60568128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.49, Y:358.40, Z:1.61 [[ 8.13289467e-01 -5.81858908e-01 -6.73776180e-04 2.80489922e+02] [ 5.81858727e-01 8.13289746e-01 -4.59140182e-04 3.58395668e+02] [ 8.15130063e-04 -1.86286774e-05 9.99999668e-01 1.60628512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.52, Y:358.41, Z:1.60 [[ 8.14273641e-01 -5.80480821e-01 -6.73630369e-04 2.80521890e+02] [ 5.80480639e-01 8.14273920e-01 -4.59354010e-04 3.58410980e+02] [ 8.15165834e-04 -1.69895249e-05 9.99999668e-01 1.59964699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.55, Y:358.43, Z:1.60 [[ 8.13993073e-01 -5.80874179e-01 -6.82310440e-04 2.80545223e+02] [ 5.80874009e-01 8.13993358e-01 -4.46618861e-04 3.58427304e+02] [ 8.14825531e-04 -3.27917420e-05 9.99999668e-01 1.59967502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.56, Y:358.45, Z:1.60 [[ 8.09384371e-01 -5.87278873e-01 -6.82082781e-04 2.80558740e+02] [ 5.87278704e-01 8.09384657e-01 -4.46952629e-04 3.58445701e+02] [ 8.14553175e-04 -3.88162194e-05 9.99999668e-01 1.60390529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.60, Y:358.46, Z:1.60 [[ 8.12459520e-01 -5.83017217e-01 -6.73182263e-04 2.80595651e+02] [ 5.83017036e-01 8.12459798e-01 -4.59978608e-04 3.58460935e+02] [ 8.15108973e-04 -1.87627288e-05 9.99999668e-01 1.59898219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.62, Y:358.48, Z:1.60 [[ 8.10667986e-01 -5.85505717e-01 -6.86896725e-04 2.80617939e+02] [ 5.85505554e-01 8.10668276e-01 -4.39901012e-04 3.58477992e+02] [ 8.14409941e-04 -4.55681797e-05 9.99999667e-01 1.59995729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.992755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.64, Y:358.49, Z:1.60 [[ 8.10709042e-01 -5.85448870e-01 -6.85259835e-04 2.80640308e+02] [ 5.85448704e-01 8.10709331e-01 -4.42293955e-04 3.58493373e+02] [ 8.14487038e-04 -4.26127733e-05 9.99999667e-01 1.59942951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.67, Y:358.51, Z:1.60 [[ 8.11764568e-01 -5.83984434e-01 -6.83631460e-04 2.80669324e+02] [ 5.83984266e-01 8.11764855e-01 -4.44672782e-04 3.58510781e+02] [ 8.14629976e-04 -3.82604073e-05 9.99999668e-01 1.59907400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.052755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:280.69, Y:358.53, Z:1.60 [[ 8.10489859e-01 -5.85752261e-01 -6.89902581e-04 2.80688252e+02] [ 5.85752102e-01 8.10490152e-01 -4.35512806e-04 3.58528064e+02] [ 8.14261859e-04 -5.11331743e-05 9.99999667e-01 1.60217509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.082755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:280.72, Y:358.54, Z:1.60 [[ 8.11801176e-01 -5.83933543e-01 -6.83636320e-04 2.80716197e+02] [ 5.83933375e-01 8.11801463e-01 -4.44642406e-04 3.58544714e+02] [ 8.14618581e-04 -3.82368352e-05 9.99999668e-01 1.60006181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.74, Y:358.56, Z:1.60 [[ 8.11577875e-01 -5.84243853e-01 -6.88425093e-04 2.80735861e+02] [ 5.84243691e-01 8.11578165e-01 -4.37668870e-04 3.58561930e+02] [ 8.14416120e-04 -4.70056459e-05 9.99999667e-01 1.60410015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.142755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.76, Y:358.58, Z:1.60 [[ 8.12192125e-01 -5.83389652e-01 -6.82768657e-04 2.80762860e+02] [ 5.83389483e-01 8.12192411e-01 -4.45872298e-04 3.58579669e+02] [ 8.14656807e-04 -3.61860843e-05 9.99999668e-01 1.60429914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.77, Y:358.60, Z:1.61 [[ 8.08676398e-01 -5.88253357e-01 -6.87170749e-04 2.80770993e+02] [ 5.88253194e-01 8.08676688e-01 -4.39491446e-04 3.58596719e+02] [ 8.14231283e-04 -4.88240288e-05 9.99999667e-01 1.60911041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.81, Y:358.61, Z:1.61 [[ 8.11598161e-01 -5.84215693e-01 -6.70278042e-04 2.80806977e+02] [ 5.84215509e-01 8.11598438e-01 -4.63899349e-04 3.58612142e+02] [ 8.15013891e-04 -1.50869689e-05 9.99999668e-01 1.60960755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.232755096 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:280.83, Y:358.63, Z:1.61 [[ 8.11255049e-01 -5.84692037e-01 -6.84431333e-04 2.80826571e+02] [ 5.84691870e-01 8.11255336e-01 -4.43403778e-04 3.58626707e+02] [ 8.14503229e-04 -4.04678821e-05 9.99999668e-01 1.60944605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.262755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:280.85, Y:358.64, Z:1.61 [[ 8.08995009e-01 -5.87815119e-01 -6.79180983e-04 2.80852193e+02] [ 5.87814947e-01 8.08995293e-01 -4.50998780e-04 3.58644026e+02] [ 8.14558120e-04 -3.43769715e-05 9.99999668e-01 1.61362533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2927550960001 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:280.88, Y:358.66, Z:1.61 [[ 8.08320465e-01 -5.88742357e-01 -6.80655492e-04 2.80876164e+02] [ 5.88742187e-01 8.08320750e-01 -4.48868396e-04 3.58660462e+02] [ 8.14455795e-04 -3.79010928e-05 9.99999668e-01 1.61456218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.322755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:280.89, Y:358.68, Z:1.62 [[ 8.05791752e-01 -5.92198606e-01 -6.81332122e-04 2.80888235e+02] [ 5.92198438e-01 8.05792038e-01 -4.47891898e-04 3.58677646e+02] [ 8.14252957e-04 -4.25762220e-05 9.99999668e-01 1.61783196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:280.91, Y:358.69, Z:1.62 [[ 8.03462780e-01 -5.95354612e-01 -6.69444542e-04 2.80905636e+02] [ 5.95354431e-01 8.03463058e-01 -4.65005825e-04 3.58693227e+02] [ 8.14717321e-04 -2.49419015e-05 9.99999668e-01 1.61637524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.382755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:280.93, Y:358.71, Z:1.62 [[ 8.05306769e-01 -5.92857966e-01 -6.63393944e-04 2.80934994e+02] [ 5.92857777e-01 8.05307042e-01 -4.73707253e-04 3.58709432e+02] [ 8.15076933e-04 -1.18186015e-05 9.99999668e-01 1.61897255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:280.96, Y:358.73, Z:1.62 [[ 8.05178222e-01 -5.93032532e-01 -6.69363057e-04 2.80958423e+02] [ 5.93032350e-01 8.05178500e-01 -4.65116932e-04 3.58725671e+02] [ 8.14786214e-04 -2.24519228e-05 9.99999668e-01 1.61962932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.442755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:280.98, Y:358.74, Z:1.62 [[ 8.04761508e-01 -5.93597900e-01 -6.69235422e-04 2.80981838e+02] [ 5.93597718e-01 8.04761786e-01 -4.65300507e-04 3.58741988e+02] [ 8.14776498e-04 -2.28006819e-05 9.99999668e-01 1.61957210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.01, Y:358.76, Z:1.63 [[ 8.04993215e-01 -5.93283639e-01 -6.69088407e-04 2.81007601e+02] [ 5.93283457e-01 8.04993492e-01 -4.65511816e-04 3.58758914e+02] [ 8.14792357e-04 -2.22252300e-05 9.99999668e-01 1.62512816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.03, Y:358.78, Z:1.62 [[ 8.04211216e-01 -5.94343225e-01 -6.72141084e-04 2.81027462e+02] [ 5.94343047e-01 8.04211496e-01 -4.61123623e-04 3.58775244e+02] [ 8.14609287e-04 -2.86415904e-05 9.99999668e-01 1.62063142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.532755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:281.05, Y:358.79, Z:1.62 [[ 8.04352525e-01 -5.94151974e-01 -6.68904324e-04 2.81051135e+02] [ 5.94151792e-01 8.04352803e-01 -4.65771997e-04 3.58791112e+02] [ 8.14774419e-04 -2.27858207e-05 9.99999668e-01 1.62173078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.07, Y:358.81, Z:1.62 [[ 8.04794863e-01 -5.93552677e-01 -6.68776765e-04 2.81074291e+02] [ 5.93552495e-01 8.04795141e-01 -4.65955080e-04 3.58807204e+02] [ 8.14797176e-04 -2.19558619e-05 9.99999668e-01 1.62354508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.10, Y:358.82, Z:1.62 [[ 8.06027688e-01 -5.91877453e-01 -6.68630783e-04 2.81097286e+02] [ 5.91877269e-01 8.06027965e-01 -4.66164465e-04 3.58824558e+02] [ 8.14847346e-04 -2.00058957e-05 9.99999668e-01 1.62305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.622755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:281.12, Y:358.84, Z:1.62 [[ 8.07411992e-01 -5.89987651e-01 -6.68503937e-04 2.81123528e+02] [ 5.89987467e-01 8.07412269e-01 -4.66346297e-04 3.58841784e+02] [ 8.14896837e-04 -1.78753517e-05 9.99999668e-01 1.62497342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.14, Y:358.86, Z:1.62 [[ 8.07524349e-01 -5.89833853e-01 -6.71524457e-04 2.81142525e+02] [ 5.89833673e-01 8.07524628e-01 -4.62016200e-04 3.58858227e+02] [ 8.14785332e-04 -2.29984059e-05 9.99999668e-01 1.62208128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.682755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:281.17, Y:358.87, Z:1.62 [[ 8.10683110e-01 -5.85484798e-01 -6.68294389e-04 2.81174737e+02] [ 5.85484612e-01 8.10683386e-01 -4.66642093e-04 3.58874125e+02] [ 8.14987009e-04 -1.29772176e-05 9.99999668e-01 1.62156572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.19, Y:358.89, Z:1.63 [[ 8.10342830e-01 -5.85955662e-01 -6.78089661e-04 2.81189041e+02] [ 5.85955488e-01 8.10343114e-01 -4.52601610e-04 3.58890033e+02] [ 8.14689763e-04 -3.05678886e-05 9.99999668e-01 1.62608954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.21, Y:358.91, Z:1.63 [[ 8.12030373e-01 -5.83614794e-01 -6.68048786e-04 2.81213356e+02] [ 5.83614607e-01 8.12030648e-01 -4.66966235e-04 3.58906318e+02] [ 8.15004491e-04 -1.06922635e-05 9.99999668e-01 1.62829548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.24, Y:358.92, Z:1.62 [[ 8.13111590e-01 -5.82107459e-01 -6.68990103e-04 2.81235254e+02] [ 5.82107273e-01 8.13111866e-01 -4.65619714e-04 3.58921401e+02] [ 8.15004500e-04 -1.08232185e-05 9.99999668e-01 1.62468248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.26, Y:358.94, Z:1.63 [[ 8.14260127e-01 -5.80499784e-01 -6.68314738e-04 2.81257771e+02] [ 5.80499596e-01 8.14260401e-01 -4.66585363e-04 3.58937701e+02] [ 8.15034929e-04 -8.03457850e-06 9.99999668e-01 1.62864908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.28, Y:358.95, Z:1.63 [[ 8.15376263e-01 -5.78931002e-01 -6.67811918e-04 2.81281370e+02] [ 5.78930813e-01 8.15376536e-01 -4.67303930e-04 3.58953947e+02] [ 8.15054901e-04 -5.58836508e-06 9.99999668e-01 1.62942186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.862755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.30, Y:358.97, Z:1.63 [[ 8.17441409e-01 -5.76011369e-01 -6.67682652e-04 2.81304434e+02] [ 5.76011180e-01 8.17441681e-01 -4.67488553e-04 3.58969484e+02] [ 8.15070351e-04 -2.44817049e-06 9.99999668e-01 1.62805544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.892755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.33, Y:358.98, Z:1.63 [[ 8.18626292e-01 -5.74326169e-01 -6.67534763e-04 2.81327024e+02] [ 5.74325979e-01 8.18626564e-01 -4.67699631e-04 3.58983827e+02] [ 8.15073827e-04 -5.11341241e-07 9.99999668e-01 1.62755593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.36, Y:359.00, Z:1.63 [[ 8.20713437e-01 -5.71339662e-01 -6.67471699e-04 2.81359181e+02] [ 5.71339470e-01 8.20713708e-01 -4.67789614e-04 3.58999625e+02] [ 8.15069933e-04 2.56829441e-06 9.99999668e-01 1.62875508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.37, Y:359.01, Z:1.63 [[ 8.18122551e-01 -5.75043505e-01 -6.77707936e-04 2.81373626e+02] [ 5.75043327e-01 8.18122831e-01 -4.53172179e-04 3.59014961e+02] [ 8.15042053e-04 -1.89610471e-05 9.99999668e-01 1.62956339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.40, Y:359.03, Z:1.63 [[ 8.17308759e-01 -5.76199573e-01 -6.67165962e-04 2.81397095e+02] [ 5.76199382e-01 8.17309031e-01 -4.68194247e-04 3.59030742e+02] [ 8.15054091e-04 -1.76135603e-06 9.99999668e-01 1.62916047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.012755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:281.42, Y:359.05, Z:1.63 [[ 8.15382340e-01 -5.78922443e-01 -6.67021171e-04 2.81424074e+02] [ 5.78922254e-01 8.15382613e-01 -4.68400436e-04 3.59046339e+02] [ 8.15044990e-04 -4.22795611e-06 9.99999668e-01 1.62692595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.45, Y:359.06, Z:1.63 [[ 8.12556306e-01 -5.82882321e-01 -6.70767350e-04 2.81446312e+02] [ 5.82882138e-01 8.12556582e-01 -4.63064594e-04 3.59060513e+02] [ 8.14948591e-04 -1.47122509e-05 9.99999668e-01 1.62868186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.072755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:281.47, Y:359.07, Z:1.63 [[ 8.11300408e-01 -5.84629113e-01 -6.69072190e-04 2.81468806e+02] [ 5.84628928e-01 8.11300684e-01 -4.65478802e-04 3.59074644e+02] [ 8.14951185e-04 -1.35158145e-05 9.99999668e-01 1.62539555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.49, Y:359.09, Z:1.63 [[ 8.09795717e-01 -5.86711557e-01 -6.66862368e-04 2.81490610e+02] [ 5.86711370e-01 8.09795992e-01 -4.68623432e-04 3.59089957e+02] [ 8.14969256e-04 -1.17664848e-05 9.99999668e-01 1.62939982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.51, Y:359.11, Z:1.62 [[ 8.06180723e-01 -5.91668993e-01 -6.66772228e-04 2.81514652e+02] [ 5.91668808e-01 8.06180999e-01 -4.68751651e-04 3.59106485e+02] [ 8.14884918e-04 -1.66097838e-05 9.99999668e-01 1.62405547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.54, Y:359.12, Z:1.63 [[ 8.06299121e-01 -5.91507634e-01 -6.68301603e-04 2.81538884e+02] [ 5.91507451e-01 8.06299397e-01 -4.66576867e-04 3.59121178e+02] [ 8.14834958e-04 -1.91048597e-05 9.99999668e-01 1.62976096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:281.56, Y:359.14, Z:1.62 [[ 8.05379615e-01 -5.92758999e-01 -6.67399983e-04 2.81559559e+02] [ 5.92758814e-01 8.05379891e-01 -4.67857819e-04 3.59135861e+02] [ 8.14837458e-04 -1.88040723e-05 9.99999668e-01 1.62325633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.58, Y:359.15, Z:1.63 [[ 8.03007644e-01 -5.95968359e-01 -6.62881954e-04 2.81583102e+02] [ 5.95968170e-01 8.03007918e-01 -4.74269189e-04 3.59153284e+02] [ 8.14948887e-04 -1.42147609e-05 9.99999668e-01 1.62948013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.252755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:281.61, Y:359.17, Z:1.63 [[ 8.00785106e-01 -5.98951395e-01 -6.64219995e-04 2.81608540e+02] [ 5.98951209e-01 8.00785381e-01 -4.72369590e-04 3.59170784e+02] [ 8.14824087e-04 -1.95688371e-05 9.99999668e-01 1.63060571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.282755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:281.63, Y:359.19, Z:1.63 [[ 8.01212390e-01 -5.98379695e-01 -6.68398713e-04 2.81628935e+02] [ 5.98379514e-01 8.01212669e-01 -4.66440220e-04 3.59185028e+02] [ 8.14637874e-04 -2.62384131e-05 9.99999668e-01 1.62765045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.65, Y:359.21, Z:1.63 [[ 7.99551907e-01 -6.00596627e-01 -6.62723228e-04 2.81652797e+02] [ 6.00596440e-01 7.99552182e-01 -4.74489939e-04 3.59205858e+02] [ 8.14858860e-04 -1.86498760e-05 9.99999668e-01 1.62960302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.68, Y:359.22, Z:1.63 [[ 8.00335993e-01 -5.99551377e-01 -6.66666844e-04 2.81676843e+02] [ 5.99551194e-01 8.00336271e-01 -4.68894962e-04 3.59222402e+02] [ 8.14684276e-04 -2.44273872e-05 9.99999668e-01 1.63071769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.372755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:281.70, Y:359.24, Z:1.63 [[ 8.01810100e-01 -5.97578545e-01 -6.67402675e-04 2.81700231e+02] [ 5.97578363e-01 8.01810378e-01 -4.67851628e-04 3.59239623e+02] [ 8.14708486e-04 -2.36972369e-05 9.99999668e-01 1.63144679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.72, Y:359.26, Z:1.63 [[ 8.01323837e-01 -5.98230442e-01 -6.67894206e-04 2.81720892e+02] [ 5.98230260e-01 8.01324115e-01 -4.67155020e-04 3.59258915e+02] [ 8.14666088e-04 -2.52120708e-05 9.99999668e-01 1.63112658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.432755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.74, Y:359.28, Z:1.63 [[ 8.02133177e-01 -5.97144809e-01 -6.65794162e-04 2.81743503e+02] [ 5.97144624e-01 8.02133453e-01 -4.70129090e-04 3.59276664e+02] [ 8.14790916e-04 -2.04692642e-05 9.99999668e-01 1.63018859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:281.77, Y:359.29, Z:1.63 [[ 8.02314949e-01 -5.96900561e-01 -6.65662121e-04 2.81766044e+02] [ 5.96900376e-01 8.02315225e-01 -4.70315974e-04 3.59293928e+02] [ 8.14802723e-04 -1.99924331e-05 9.99999668e-01 1.63278448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.492755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:281.79, Y:359.31, Z:1.63 [[ 8.03016885e-01 -5.95955905e-01 -6.65591795e-04 2.81789286e+02] [ 5.95955719e-01 8.03017160e-01 -4.70415479e-04 3.59310036e+02] [ 8.14828515e-04 -1.89116642e-05 9.99999668e-01 1.63212368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.522755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:281.81, Y:359.33, Z:1.63 [[ 8.02957081e-01 -5.96036479e-01 -6.65545423e-04 2.81811718e+02] [ 5.96036293e-01 8.02957356e-01 -4.70481077e-04 3.59327715e+02] [ 8.14828478e-04 -1.89131150e-05 9.99999668e-01 1.63290227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.83, Y:359.35, Z:1.63 [[ 8.03076682e-01 -5.95875323e-01 -6.65397965e-04 2.81834541e+02] [ 5.95875137e-01 8.03076957e-01 -4.70689533e-04 3.59345772e+02] [ 8.14838051e-04 -1.84943158e-05 9.99999668e-01 1.63494579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.86, Y:359.36, Z:1.64 [[ 8.03709284e-01 -5.95021801e-01 -6.65269571e-04 2.81857440e+02] [ 5.95021615e-01 8.03709560e-01 -4.70870935e-04 3.59362980e+02] [ 8.14861986e-04 -1.74064327e-05 9.99999668e-01 1.63781291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.88, Y:359.38, Z:1.64 [[ 8.03819911e-01 -5.94872347e-01 -6.64893262e-04 2.81879515e+02] [ 5.94872161e-01 8.03820185e-01 -4.71402381e-04 3.59379151e+02] [ 8.14878866e-04 -1.66038715e-05 9.99999668e-01 1.63682864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.90, Y:359.40, Z:1.64 [[ 8.04503462e-01 -5.93947588e-01 -6.65095469e-04 2.81902689e+02] [ 5.93947401e-01 8.04503737e-01 -4.71116918e-04 3.59396237e+02] [ 8.14890547e-04 -1.60165336e-05 9.99999668e-01 1.63975978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.92, Y:359.41, Z:1.64 [[ 8.04622831e-01 -5.93785869e-01 -6.64560926e-04 2.81924984e+02] [ 5.93785682e-01 8.04623105e-01 -4.71871219e-04 3.59412841e+02] [ 8.14911538e-04 -1.49284061e-05 9.99999668e-01 1.63897686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.702755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:281.95, Y:359.43, Z:1.64 [[ 8.04714636e-01 -5.93661446e-01 -6.64906406e-04 2.81947682e+02] [ 5.93661259e-01 8.04714910e-01 -4.71383906e-04 3.59428736e+02] [ 8.14902550e-04 -1.53996462e-05 9.99999668e-01 1.63665356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.97, Y:359.45, Z:1.64 [[ 8.05622801e-01 -5.92428444e-01 -6.64764773e-04 2.81970126e+02] [ 5.92428257e-01 8.05623075e-01 -4.71583557e-04 3.59446569e+02] [ 8.14929353e-04 -1.39069698e-05 9.99999668e-01 1.64036374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:281.99, Y:359.46, Z:1.64 [[ 8.05455548e-01 -5.92655819e-01 -6.64040769e-04 2.81993301e+02] [ 5.92655630e-01 8.05455822e-01 -4.72603848e-04 3.59463274e+02] [ 8.14946923e-04 -1.28861088e-05 9.99999668e-01 1.64038664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.02, Y:359.48, Z:1.64 [[ 8.05711041e-01 -5.92308431e-01 -6.63893291e-04 2.82015940e+02] [ 5.92308242e-01 8.05711315e-01 -4.72811547e-04 3.59480076e+02] [ 8.14956602e-04 -1.22799841e-05 9.99999668e-01 1.63878862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.822755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:282.04, Y:359.50, Z:1.64 [[ 8.05821723e-01 -5.92157842e-01 -6.64450162e-04 2.82039044e+02] [ 5.92157654e-01 8.05821997e-01 -4.72027667e-04 3.59496789e+02] [ 8.14943441e-04 -1.30891012e-05 9.99999668e-01 1.63559920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.852755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.06, Y:359.52, Z:1.64 [[ 8.06282382e-01 -5.91530456e-01 -6.64311289e-04 2.82060932e+02] [ 5.91530267e-01 8.06282655e-01 -4.72223031e-04 3.59515050e+02] [ 8.14956974e-04 -1.22151241e-05 9.99999668e-01 1.63631082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.882755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:282.08, Y:359.53, Z:1.63 [[ 8.06228374e-01 -5.91604063e-01 -6.64172481e-04 2.82082501e+02] [ 5.91603875e-01 8.06228648e-01 -4.72418180e-04 3.59530750e+02] [ 8.14959396e-04 -1.20500716e-05 9.99999668e-01 1.63428359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9127550960001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:282.11, Y:359.55, Z:1.63 [[ 8.06700186e-01 -5.90960548e-01 -6.64095123e-04 2.82108465e+02] [ 5.90960359e-01 8.06700459e-01 -4.72526900e-04 3.59548345e+02] [ 8.14970596e-04 -1.12663549e-05 9.99999668e-01 1.63325374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.942755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.13, Y:359.57, Z:1.63 [[ 8.06345383e-01 -5.91444569e-01 -6.67189167e-04 2.82130457e+02] [ 5.91444384e-01 8.06345659e-01 -4.68178929e-04 3.59565558e+02] [ 8.14886973e-04 -1.70913688e-05 9.99999668e-01 1.63403602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.972755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:282.15, Y:359.58, Z:1.63 [[ 8.05379075e-01 -5.92759733e-01 -6.66773588e-04 2.82150256e+02] [ 5.92759547e-01 8.05379351e-01 -4.68762521e-04 3.59581507e+02] [ 8.14869226e-04 -1.77048843e-05 9.99999668e-01 1.63415154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.002755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.18, Y:359.60, Z:1.63 [[ 8.04903009e-01 -5.93406021e-01 -6.63743891e-04 2.82176114e+02] [ 5.93405833e-01 8.04903283e-01 -4.73013862e-04 3.59598038e+02] [ 8.14938910e-04 -1.31392154e-05 9.99999668e-01 1.63144030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.032755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:282.20, Y:359.61, Z:1.63 [[ 8.04387917e-01 -5.94104060e-01 -6.67106848e-04 2.82198248e+02] [ 5.94103875e-01 8.04388194e-01 -4.68294186e-04 3.59613999e+02] [ 8.14828349e-04 -1.96405790e-05 9.99999668e-01 1.63210121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.062755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:282.22, Y:359.63, Z:1.63 [[ 8.03726079e-01 -5.94999114e-01 -6.66840435e-04 2.82221382e+02] [ 5.94998930e-01 8.03726355e-01 -4.68667845e-04 3.59631567e+02] [ 8.14814185e-04 -2.00887766e-05 9.99999668e-01 1.63385873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.092755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:282.25, Y:359.65, Z:1.63 [[ 8.03005924e-01 -5.95970672e-01 -6.66487718e-04 2.82245445e+02] [ 5.95970488e-01 8.03006200e-01 -4.69161849e-04 3.59648687e+02] [ 8.14800473e-04 -2.04672666e-05 9.99999668e-01 1.63251106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.27, Y:359.67, Z:1.63 [[ 8.03329781e-01 -5.95534061e-01 -6.66742490e-04 2.82267417e+02] [ 5.95533877e-01 8.03330058e-01 -4.68805218e-04 3.59665206e+02] [ 8.14803758e-04 -2.04625468e-05 9.99999668e-01 1.63330901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.29, Y:359.68, Z:1.63 [[ 8.02755590e-01 -5.96307821e-01 -6.67397476e-04 2.82286033e+02] [ 5.96307638e-01 8.02755867e-01 -4.67887484e-04 3.59681274e+02] [ 8.14762205e-04 -2.23749195e-05 9.99999668e-01 1.63429383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.31, Y:359.70, Z:1.63 [[ 8.03183647e-01 -5.95731139e-01 -6.63142831e-04 2.82308534e+02] [ 5.95730951e-01 8.03183920e-01 -4.73841870e-04 3.59698669e+02] [ 8.14908015e-04 -1.44726684e-05 9.99999668e-01 1.63429135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.212755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:282.33, Y:359.71, Z:1.63 [[ 8.03081231e-01 -5.95869194e-01 -6.62995383e-04 2.82331290e+02] [ 5.95869006e-01 8.03081505e-01 -4.74048087e-04 3.59714895e+02] [ 8.14909982e-04 -1.43592787e-05 9.99999668e-01 1.63226599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.35, Y:359.73, Z:1.64 [[ 8.04826103e-01 -5.93510324e-01 -6.62845194e-04 2.82352694e+02] [ 5.93510135e-01 8.04826376e-01 -4.74257999e-04 3.59731229e+02] [ 8.14952314e-04 -1.17101232e-05 9.99999668e-01 1.63519191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.38, Y:359.75, Z:1.64 [[ 8.05541209e-01 -5.92539384e-01 -6.62780226e-04 2.82375315e+02] [ 5.92539194e-01 8.05541481e-01 -4.74348775e-04 3.59747945e+02] [ 8.14967296e-04 -1.06157762e-05 9.99999668e-01 1.63508984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.40, Y:359.77, Z:1.64 [[ 8.07772199e-01 -5.89494390e-01 -6.62632181e-04 2.82395959e+02] [ 5.89494199e-01 8.07772471e-01 -4.74555493e-04 3.59765265e+02] [ 8.15003835e-04 -7.28509290e-06 9.99999668e-01 1.63687774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.42, Y:359.78, Z:1.64 [[ 8.08810911e-01 -5.88068424e-01 -6.62568101e-04 2.82418024e+02] [ 5.88068232e-01 8.08811182e-01 -4.74644944e-04 3.59782673e+02] [ 8.15016193e-04 -5.73724278e-06 9.99999668e-01 1.63592633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.44, Y:359.80, Z:1.64 [[ 8.09691450e-01 -5.86855448e-01 -6.62420503e-04 2.82439876e+02] [ 5.86855255e-01 8.09691721e-01 -4.74850845e-04 3.59800013e+02] [ 8.15025202e-04 -4.26228421e-06 9.99999668e-01 1.63583170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.46, Y:359.82, Z:1.64 [[ 8.11336060e-01 -5.84579644e-01 -6.62271858e-04 2.82460938e+02] [ 5.84579451e-01 8.11336330e-01 -4.75058068e-04 3.59816751e+02] [ 8.15034495e-04 -1.71877799e-06 9.99999668e-01 1.63535625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.48, Y:359.83, Z:1.64 [[ 8.11453796e-01 -5.84416203e-01 -6.62207455e-04 2.82483771e+02] [ 5.84416010e-01 8.11454066e-01 -4.75147826e-04 3.59832949e+02] [ 8.15035021e-04 -1.44413160e-06 9.99999668e-01 1.63559729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.51, Y:359.85, Z:1.64 [[ 8.11225274e-01 -5.84733372e-01 -6.62062287e-04 2.82506020e+02] [ 5.84733179e-01 8.11225545e-01 -4.75350015e-04 3.59849382e+02] [ 8.15034856e-04 -1.51383930e-06 9.99999668e-01 1.63616916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.53, Y:359.86, Z:1.64 [[ 8.11470321e-01 -5.84393258e-01 -6.61913239e-04 2.82527090e+02] [ 5.84393064e-01 8.11470591e-01 -4.75557470e-04 3.59864509e+02] [ 8.15035706e-04 -9.16732928e-07 9.99999668e-01 1.63568511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.55, Y:359.88, Z:1.64 [[ 8.10839534e-01 -5.85268158e-01 -6.58974372e-04 2.82549326e+02] [ 5.85267961e-01 8.10839802e-01 -4.79643443e-04 3.59879888e+02] [ 8.15042683e-04 3.23727824e-06 9.99999668e-01 1.63689887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.57, Y:359.90, Z:1.63 [[ 8.08107312e-01 -5.89034922e-01 -6.58646985e-04 2.82573870e+02] [ 5.89034726e-01 8.08107580e-01 -4.80098185e-04 3.59896217e+02] [ 8.15052218e-04 4.90739851e-09 9.99999668e-01 1.63479811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.60, Y:359.91, Z:1.63 [[ 8.07075993e-01 -5.90447207e-01 -6.61470770e-04 2.82596460e+02] [ 5.90447015e-01 8.07076264e-01 -4.76175575e-04 3.59912277e+02] [ 8.15013896e-04 -6.25356728e-06 9.99999668e-01 1.63446876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.62, Y:359.93, Z:1.63 [[ 8.04937695e-01 -5.93358972e-01 -6.61325193e-04 2.82619005e+02] [ 5.93358781e-01 8.04937967e-01 -4.76377671e-04 3.59927534e+02] [ 8.14988721e-04 -8.94876597e-06 9.99999668e-01 1.63299538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.64, Y:359.94, Z:1.63 [[ 8.03731480e-01 -5.94991824e-01 -6.61262167e-04 2.82642390e+02] [ 5.94991633e-01 8.03731752e-01 -4.76465141e-04 3.59943102e+02] [ 8.14970263e-04 -1.04954243e-05 9.99999668e-01 1.63223873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.66, Y:359.96, Z:1.63 [[ 8.02716229e-01 -5.96360812e-01 -6.61117270e-04 2.82664794e+02] [ 5.96360622e-01 8.02716501e-01 -4.76666108e-04 3.59957459e+02] [ 8.14954729e-04 -1.16366855e-05 9.99999668e-01 1.63179511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.69, Y:359.97, Z:1.63 [[ 8.00417319e-01 -5.99442807e-01 -6.61054603e-04 2.82687920e+02] [ 5.99442618e-01 8.00417592e-01 -4.76753000e-04 3.59972205e+02] [ 8.14905890e-04 -1.46629433e-05 9.99999668e-01 1.63097919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.722755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:282.71, Y:359.99, Z:1.63 [[ 7.98959583e-01 -6.01384360e-01 -6.60992602e-04 2.82710591e+02] [ 6.01384171e-01 7.98959856e-01 -4.76838946e-04 3.59987033e+02] [ 8.14870038e-04 -1.65354430e-05 9.99999668e-01 1.62897682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.73, Y:360.00, Z:1.63 [[ 7.98325989e-01 -6.02225189e-01 -6.60911191e-04 2.82733531e+02] [ 6.02225001e-01 7.98326262e-01 -4.76951757e-04 3.60001336e+02] [ 8.14855123e-04 -1.72542592e-05 9.99999668e-01 1.62786074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.76, Y:360.02, Z:1.63 [[ 7.96920199e-01 -6.04084235e-01 -6.58796092e-04 2.82757127e+02] [ 6.04084044e-01 7.96920471e-01 -4.79880424e-04 3.60018308e+02] [ 8.14896291e-04 -1.55418049e-05 9.99999668e-01 1.62863968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.78, Y:360.03, Z:1.63 [[ 7.96335961e-01 -6.04854198e-01 -6.60723423e-04 2.82780347e+02] [ 6.04854010e-01 7.96336235e-01 -4.77211940e-04 3.60034870e+02] [ 8.14801648e-04 -1.96201829e-05 9.99999668e-01 1.62769130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.80, Y:360.05, Z:1.63 [[ 7.96566021e-01 -6.04551187e-01 -6.60586265e-04 2.82804294e+02] [ 6.04550999e-01 7.96566295e-01 -4.77401727e-04 3.60049013e+02] [ 8.14814534e-04 -1.90760918e-05 9.99999668e-01 1.62659554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.83, Y:360.06, Z:1.63 [[ 7.96872810e-01 -6.04146744e-01 -6.60443199e-04 2.82827032e+02] [ 6.04146555e-01 7.96873084e-01 -4.77599565e-04 3.60063837e+02] [ 8.14829630e-04 -1.84183758e-05 9.99999668e-01 1.62682334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.85, Y:360.08, Z:1.63 [[ 7.97214563e-01 -6.03695705e-01 -6.60363400e-04 2.82850554e+02] [ 6.03695516e-01 7.97214837e-01 -4.77709874e-04 3.60079708e+02] [ 8.14842900e-04 -1.78211549e-05 9.99999668e-01 1.62616805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.932755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:282.87, Y:360.09, Z:1.62 [[ 7.98992921e-01 -6.01340067e-01 -6.60216593e-04 2.82873979e+02] [ 6.01339877e-01 7.98993194e-01 -4.77912682e-04 3.60093567e+02] [ 8.14896609e-04 -1.51657149e-05 9.99999668e-01 1.62426432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.90, Y:360.11, Z:1.62 [[ 7.99756072e-01 -6.00324736e-01 -6.60117124e-04 2.82897521e+02] [ 6.00324546e-01 7.99756345e-01 -4.78050035e-04 3.60109065e+02] [ 8.14918119e-04 -1.39610940e-05 9.99999668e-01 1.62328440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:282.92, Y:360.12, Z:1.62 [[ 8.02162233e-01 -5.97105784e-01 -6.59967030e-04 2.82921540e+02] [ 5.97105592e-01 8.02162504e-01 -4.78257156e-04 3.60122383e+02] [ 8.14970919e-04 -1.04301755e-05 9.99999668e-01 1.62284253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.95, Y:360.14, Z:1.62 [[ 8.03322958e-01 -5.95543273e-01 -6.59902037e-04 2.82945340e+02] [ 5.95543081e-01 8.03323229e-01 -4.78346816e-04 3.60137622e+02] [ 8.14990864e-04 -8.73311304e-06 9.99999668e-01 1.62313364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:282.97, Y:360.15, Z:1.62 [[ 8.04445771e-01 -5.94025729e-01 -6.59750944e-04 2.82968347e+02] [ 5.94025536e-01 8.04446041e-01 -4.78555118e-04 3.60152117e+02] [ 8.15008088e-04 -6.93726713e-06 9.99999668e-01 1.62333556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:282.99, Y:360.17, Z:1.63 [[ 8.07098225e-01 -5.90416819e-01 -6.59648236e-04 2.82992177e+02] [ 5.90416625e-01 8.07098495e-01 -4.78696651e-04 3.60165004e+02] [ 8.15031652e-04 -3.11206761e-06 9.99999668e-01 1.62517092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.02, Y:360.18, Z:1.63 [[ 8.08217709e-01 -5.88883435e-01 -6.59584293e-04 2.83015979e+02] [ 5.88883241e-01 8.08217978e-01 -4.78784741e-04 3.60180618e+02] [ 8.15036286e-04 -1.45582979e-06 9.99999668e-01 1.62622939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.142755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.04, Y:360.20, Z:1.63 [[ 8.10389728e-01 -5.85890820e-01 -6.59440193e-04 2.83040128e+02] [ 5.85890624e-01 8.10389997e-01 -4.78983129e-04 3.60195525e+02] [ 8.15035555e-04 1.80318142e-06 9.99999668e-01 1.62807665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.06, Y:360.21, Z:1.63 [[ 8.11333511e-01 -5.84583185e-01 -6.59292384e-04 2.83062678e+02] [ 5.84582989e-01 8.11333778e-01 -4.79186494e-04 3.60211487e+02] [ 8.15030548e-04 3.36894766e-06 9.99999668e-01 1.62884368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.202755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:283.08, Y:360.23, Z:1.63 [[ 8.12386217e-01 -5.83119370e-01 -6.59140380e-04 2.83084345e+02] [ 5.83119173e-01 8.12386485e-01 -4.79395490e-04 3.60227103e+02] [ 8.15021533e-04 5.09689572e-06 9.99999668e-01 1.62937193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.232755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.11, Y:360.24, Z:1.63 [[ 8.13681587e-01 -5.81310451e-01 -6.59074550e-04 2.83106424e+02] [ 5.81310253e-01 8.13681854e-01 -4.79485977e-04 3.60243689e+02] [ 8.15007211e-04 7.02211727e-06 9.99999668e-01 1.62988835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.262755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.13, Y:360.26, Z:1.63 [[ 8.13956130e-01 -5.80925971e-01 -6.59012378e-04 2.83127540e+02] [ 5.80925774e-01 8.13956397e-01 -4.79571379e-04 3.60259954e+02] [ 8.15002810e-04 7.51278797e-06 9.99999668e-01 1.62974833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.15, Y:360.28, Z:1.63 [[ 8.13822992e-01 -5.81112470e-01 -6.58771649e-04 2.83149655e+02] [ 5.81112272e-01 8.13823259e-01 -4.79901833e-04 3.60276990e+02] [ 8.15000630e-04 7.73485604e-06 9.99999668e-01 1.62874417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.17, Y:360.29, Z:1.63 [[ 8.13179560e-01 -5.82012517e-01 -6.58622317e-04 2.83171017e+02] [ 5.82012319e-01 8.13179826e-01 -4.80106690e-04 3.60293160e+02] [ 8.15006485e-04 7.08664482e-06 9.99999668e-01 1.62797467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.19, Y:360.31, Z:1.63 [[ 8.12386551e-01 -5.83118906e-01 -6.58520925e-04 2.83193233e+02] [ 5.83118708e-01 8.12386818e-01 -4.80245721e-04 3.60309861e+02] [ 8.15014078e-04 6.14929337e-06 9.99999668e-01 1.62735026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.22, Y:360.33, Z:1.63 [[ 8.10999414e-01 -5.85046594e-01 -6.58373241e-04 2.83215707e+02] [ 5.85046396e-01 8.10999682e-01 -4.80448096e-04 3.60327018e+02] [ 8.15025011e-04 4.46423210e-06 9.99999668e-01 1.62670364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.24, Y:360.35, Z:1.63 [[ 8.09501440e-01 -5.87117524e-01 -6.57077135e-04 2.83238587e+02] [ 5.87117326e-01 8.09501707e-01 -4.82223205e-04 3.60345242e+02] [ 8.15026756e-04 4.57900847e-06 9.99999668e-01 1.62683771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.26, Y:360.36, Z:1.63 [[ 8.08006433e-01 -5.89173295e-01 -6.58198577e-04 2.83258905e+02] [ 5.89173099e-01 8.08006701e-01 -4.80687630e-04 3.60361414e+02] [ 8.15037176e-04 6.05801912e-07 9.99999668e-01 1.62561251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.28, Y:360.38, Z:1.63 [[ 8.06051977e-01 -5.91844389e-01 -6.55474938e-04 2.83282706e+02] [ 5.91844191e-01 8.06052244e-01 -4.84414138e-04 3.60379671e+02] [ 8.15044834e-04 2.52393952e-06 9.99999668e-01 1.62521759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.30, Y:360.40, Z:1.63 [[ 8.03021104e-01 -5.95950227e-01 -6.57968926e-04 2.83304479e+02] [ 5.95950033e-01 8.03021374e-01 -4.81002585e-04 3.60395224e+02] [ 8.15016710e-04 -5.86137639e-06 9.99999668e-01 1.62514770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.33, Y:360.41, Z:1.63 [[ 8.01273368e-01 -5.98298050e-01 -6.57882501e-04 2.83326708e+02] [ 5.98297857e-01 8.01273638e-01 -4.81120761e-04 3.60412248e+02] [ 8.14997519e-04 -8.10043751e-06 9.99999668e-01 1.62548953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.35, Y:360.43, Z:1.63 [[ 7.99651625e-01 -6.00463859e-01 -6.57739585e-04 2.83349170e+02] [ 6.00463666e-01 7.99651896e-01 -4.81316062e-04 3.60430125e+02] [ 8.14975606e-04 -1.00635511e-05 9.99999668e-01 1.62637143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.37, Y:360.45, Z:1.62 [[ 7.96563512e-01 -6.04554496e-01 -6.58408600e-04 2.83369429e+02] [ 6.04554305e-01 7.96563784e-01 -4.80402269e-04 3.60447405e+02] [ 8.14893797e-04 -1.53728360e-05 9.99999668e-01 1.62452659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.39, Y:360.46, Z:1.62 [[ 7.94578834e-01 -6.07160642e-01 -6.57531334e-04 2.83391290e+02] [ 6.07160451e-01 7.94579106e-01 -4.81600006e-04 3.60464850e+02] [ 8.14869227e-04 -1.65578503e-05 9.99999668e-01 1.62405667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.41, Y:360.48, Z:1.62 [[ 7.91045993e-01 -6.11756328e-01 -6.57392308e-04 2.83412670e+02] [ 6.11756139e-01 7.91046266e-01 -4.81789703e-04 3.60481520e+02] [ 8.14765630e-04 -2.10459661e-05 9.99999668e-01 1.62340229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.44, Y:360.50, Z:1.62 [[ 7.90077099e-01 -6.13007133e-01 -6.57316176e-04 2.83439243e+02] [ 6.13006944e-01 7.90077373e-01 -4.81893550e-04 3.60498414e+02] [ 8.14734820e-04 -2.22063218e-05 9.99999668e-01 1.62325895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.46, Y:360.52, Z:1.62 [[ 7.89792356e-01 -6.13373946e-01 -6.61057687e-04 2.83462180e+02] [ 6.13373762e-01 7.89792632e-01 -4.76790162e-04 3.60515551e+02] [ 8.14549153e-04 -2.89102146e-05 9.99999668e-01 1.62328431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.48, Y:360.53, Z:1.62 [[ 7.87442248e-01 -6.16388084e-01 -6.60876021e-04 2.83481674e+02] [ 6.16387900e-01 7.87442524e-01 -4.77037748e-04 3.60531560e+02] [ 8.14442266e-04 -3.17163067e-05 9.99999668e-01 1.62421139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.772755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:283.50, Y:360.55, Z:1.62 [[ 7.86173949e-01 -6.18004927e-01 -6.56863479e-04 2.83503412e+02] [ 6.18004740e-01 7.86174223e-01 -4.82500320e-04 3.60547543e+02] [ 8.14596710e-04 -2.66155612e-05 9.99999668e-01 1.62383278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.52, Y:360.57, Z:1.62 [[ 7.85933043e-01 -6.18311266e-01 -6.56763318e-04 2.83524853e+02] [ 6.18311078e-01 7.85933317e-01 -4.82636617e-04 3.60565244e+02] [ 8.14591830e-04 -2.67639701e-05 9.99999668e-01 1.62421716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.55, Y:360.58, Z:1.62 [[ 7.87772653e-01 -6.15965758e-01 -6.56605362e-04 2.83547563e+02] [ 6.15965570e-01 7.87772927e-01 -4.82851414e-04 3.60584956e+02] [ 8.14675865e-04 -2.40691563e-05 9.99999668e-01 1.62417009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.56, Y:360.60, Z:1.63 [[ 7.88657804e-01 -6.14832035e-01 -6.61336988e-04 2.83564843e+02] [ 6.14831851e-01 7.88658081e-01 -4.76428710e-04 3.60602355e+02] [ 8.14492393e-04 -3.08718238e-05 9.99999668e-01 1.62544866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.59, Y:360.62, Z:1.62 [[ 7.89596871e-01 -6.13625579e-01 -6.55922581e-04 2.83588935e+02] [ 6.13625389e-01 7.89597143e-01 -4.83769870e-04 3.60621644e+02] [ 8.14768162e-04 -2.05075730e-05 9.99999668e-01 1.62414956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.61, Y:360.64, Z:1.63 [[ 7.93265817e-01 -6.08875118e-01 -6.59543515e-04 2.83607643e+02] [ 6.08874930e-01 7.93266091e-01 -4.78861236e-04 3.60638305e+02] [ 8.14760198e-04 -2.17152615e-05 9.99999668e-01 1.62710257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.63, Y:360.66, Z:1.63 [[ 7.95651716e-01 -6.05754007e-01 -6.55683626e-04 2.83633184e+02] [ 6.05753814e-01 7.95651986e-01 -4.84089334e-04 3.60655427e+02] [ 8.14935033e-04 -1.20163482e-05 9.99999668e-01 1.62655348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.65, Y:360.67, Z:1.63 [[ 7.98373460e-01 -6.02162256e-01 -6.59775031e-04 2.83654944e+02] [ 6.02162066e-01 7.98373733e-01 -4.78549219e-04 3.60673059e+02] [ 8.14911331e-04 -1.52304996e-05 9.99999668e-01 1.62841210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.67, Y:360.69, Z:1.63 [[ 7.99218966e-01 -6.01039608e-01 -6.58370115e-04 2.83673966e+02] [ 6.01039416e-01 7.99219237e-01 -4.80450385e-04 3.60689078e+02] [ 8.14951772e-04 -1.17213294e-05 9.99999668e-01 1.62846661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.70, Y:360.71, Z:1.63 [[ 8.00305557e-01 -5.99592016e-01 -6.55223603e-04 2.83695424e+02] [ 5.99591820e-01 8.00305826e-01 -4.84703846e-04 3.60705466e+02] [ 8.15003822e-04 -4.95553105e-06 9.99999668e-01 1.62876562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.072755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:283.72, Y:360.72, Z:1.63 [[ 8.01925086e-01 -5.97424244e-01 -6.55118436e-04 2.83718385e+02] [ 5.97424047e-01 8.01925354e-01 -4.84845946e-04 3.60721957e+02] [ 8.15014806e-04 -2.57337989e-06 9.99999668e-01 1.62632737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.74, Y:360.74, Z:1.63 [[ 8.03305151e-01 -5.95567298e-01 -6.54964742e-04 2.83742360e+02] [ 5.95567100e-01 8.03305418e-01 -4.85053477e-04 3.60739854e+02] [ 8.15018715e-04 -4.29495838e-07 9.99999668e-01 1.62795144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.77, Y:360.75, Z:1.63 [[ 8.04386867e-01 -5.94105493e-01 -6.56325581e-04 2.83765065e+02] [ 5.94105297e-01 8.04387135e-01 -4.83216337e-04 3.60754550e+02] [ 8.15021334e-04 -1.23362890e-06 9.99999668e-01 1.63072914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:283.79, Y:360.77, Z:1.63 [[ 8.04246515e-01 -5.94295477e-01 -6.54808524e-04 2.83788264e+02] [ 5.94295279e-01 8.04246782e-01 -4.85263435e-04 3.60770355e+02] [ 8.15017513e-04 1.12181205e-06 9.99999668e-01 1.63039580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.81, Y:360.79, Z:1.63 [[ 8.04034310e-01 -5.94582542e-01 -6.54652813e-04 2.83810462e+02] [ 5.94582344e-01 8.04034577e-01 -4.85473409e-04 3.60785530e+02] [ 8.15017511e-04 1.09227379e-06 9.99999668e-01 1.63080348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.83, Y:360.80, Z:1.63 [[ 8.02590027e-01 -5.96530653e-01 -6.54585307e-04 2.83834256e+02] [ 5.96530455e-01 8.02590294e-01 -4.85564412e-04 3.60799140e+02] [ 8.15017870e-04 -7.70916223e-07 9.99999668e-01 1.63077732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.86, Y:360.81, Z:1.63 [[ 8.01859295e-01 -5.97512546e-01 -6.54519645e-04 2.83856942e+02] [ 5.97512349e-01 8.01859562e-01 -4.85652907e-04 3.60814316e+02] [ 8.15016540e-04 -1.65827253e-06 9.99999668e-01 1.63096101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.88, Y:360.83, Z:1.63 [[ 8.00453293e-01 -5.99394777e-01 -6.54418432e-04 2.83880558e+02] [ 5.99394580e-01 8.00453560e-01 -4.85789253e-04 3.60829103e+02] [ 8.15011104e-04 -3.40325383e-06 9.99999668e-01 1.63033325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.312755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.90, Y:360.85, Z:1.63 [[ 7.99976121e-01 -6.00031481e-01 -6.54269917e-04 2.83903164e+02] [ 6.00031284e-01 7.99976388e-01 -4.85989193e-04 3.60845928e+02] [ 8.15009301e-04 -3.80266889e-06 9.99999668e-01 1.62936285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.342755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:283.92, Y:360.86, Z:1.63 [[ 8.00121618e-01 -5.99837452e-01 -6.54120469e-04 2.83924383e+02] [ 5.99837255e-01 8.00121885e-01 -4.86190261e-04 3.60863158e+02] [ 8.15011230e-04 -3.35448791e-06 9.99999668e-01 1.62818266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.95, Y:360.88, Z:1.63 [[ 8.02148563e-01 -5.97124154e-01 -6.54019144e-04 2.83948833e+02] [ 5.97123956e-01 8.02148830e-01 -4.86326524e-04 3.60882793e+02] [ 8.15018005e-04 -4.24375802e-07 9.99999668e-01 1.63177397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.402755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:283.97, Y:360.90, Z:1.63 [[ 8.02348814e-01 -5.96855048e-01 -6.57646381e-04 2.83968304e+02] [ 5.96854854e-01 8.02349084e-01 -4.81448968e-04 3.60898876e+02] [ 8.15017217e-04 -6.22942615e-06 9.99999668e-01 1.62787578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.99, Y:360.92, Z:1.63 [[ 8.02637879e-01 -5.96466267e-01 -6.53758999e-04 2.83990060e+02] [ 5.96466069e-01 8.02638145e-01 -4.86670998e-04 3.60916127e+02] [ 8.15014744e-04 6.75518023e-07 9.99999668e-01 1.62984937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.01, Y:360.93, Z:1.63 [[ 8.02514612e-01 -5.96632106e-01 -6.53605782e-04 2.84011442e+02] [ 5.96631908e-01 8.02514878e-01 -4.86876683e-04 3.60933161e+02] [ 8.15014626e-04 7.63588078e-07 9.99999668e-01 1.62807541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.03, Y:360.95, Z:1.62 [[ 8.03473752e-01 -5.95339821e-01 -6.53539789e-04 2.84030300e+02] [ 5.95339622e-01 8.03474018e-01 -4.86965250e-04 3.60945353e+02] [ 8.15012045e-04 2.18566558e-06 9.99999668e-01 1.62264003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.06, Y:360.97, Z:1.62 [[ 7.99049917e-01 -6.01264348e-01 -6.43992009e-04 2.84056597e+02] [ 6.01264141e-01 7.99050176e-01 -4.99751874e-04 3.60966897e+02] [ 8.15064913e-04 1.21173916e-05 9.99999668e-01 1.62445360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:284.08, Y:360.98, Z:1.62 [[ 7.95153703e-01 -6.06407588e-01 -6.53266654e-04 2.84078167e+02] [ 6.06407392e-01 7.95153971e-01 -4.87318916e-04 3.60982527e+02] [ 8.14961462e-04 -8.65228760e-06 9.99999668e-01 1.62434736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.10, Y:361.00, Z:1.63 [[ 7.93397139e-01 -6.08703994e-01 -6.53171715e-04 2.84100265e+02] [ 6.08703799e-01 7.93397408e-01 -4.87446133e-04 3.61000111e+02] [ 8.14935154e-04 -1.08497373e-05 9.99999668e-01 1.62929303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.612755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:284.12, Y:361.02, Z:1.63 [[ 7.92427070e-01 -6.09966321e-01 -6.53018818e-04 2.84121318e+02] [ 6.09966126e-01 7.92427339e-01 -4.87650879e-04 3.61015973e+02] [ 8.14920577e-04 -1.18916015e-05 9.99999668e-01 1.62996595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.642755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.15, Y:361.03, Z:1.63 [[ 7.88062355e-01 -6.15595081e-01 -6.49570612e-04 2.84146404e+02] [ 6.15594884e-01 7.88062622e-01 -4.92265084e-04 3.61033775e+02] [ 8.14938284e-04 -1.19367638e-05 9.99999668e-01 1.62982268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.17, Y:361.05, Z:1.63 [[ 7.88085952e-01 -6.15564867e-01 -6.52846638e-04 2.84166438e+02] [ 6.15564674e-01 7.88086223e-01 -4.87881349e-04 3.61047207e+02] [ 8.14822059e-04 -1.73768899e-05 9.99999668e-01 1.63397211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.19, Y:361.07, Z:1.64 [[ 7.85173940e-01 -6.19274951e-01 -6.47317000e-04 2.84193126e+02] [ 6.19274753e-01 7.85174207e-01 -4.95273259e-04 3.61066022e+02] [ 8.14966935e-04 -1.19914194e-05 9.99999668e-01 1.63607038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.22, Y:361.08, Z:1.64 [[ 7.84450843e-01 -6.20190655e-01 -6.52734411e-04 2.84215395e+02] [ 6.20190464e-01 7.84451114e-01 -4.88027499e-04 3.61082225e+02] [ 8.14708330e-04 -2.19860739e-05 9.99999668e-01 1.63746098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.25, Y:361.10, Z:1.64 [[ 7.85330356e-01 -6.19076576e-01 -6.52254782e-04 2.84245052e+02] [ 6.19076383e-01 7.85330626e-01 -4.88668673e-04 3.61099163e+02] [ 8.14758985e-04 -2.00291887e-05 9.99999668e-01 1.63663044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7927550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:284.26, Y:361.12, Z:1.64 [[ 7.85008772e-01 -6.19484294e-01 -6.60885175e-04 2.84259921e+02] [ 6.19484111e-01 7.85009050e-01 -4.77117466e-04 3.61115333e+02] [ 8.14367620e-04 -3.48664694e-05 9.99999668e-01 1.64018850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.28, Y:361.13, Z:1.64 [[ 7.85979164e-01 -6.18252641e-01 -6.52704030e-04 2.84281936e+02] [ 6.18252448e-01 7.85979435e-01 -4.88050717e-04 3.61133062e+02] [ 8.14750589e-04 -1.99381696e-05 9.99999668e-01 1.64084018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.30, Y:361.15, Z:1.64 [[ 7.88154122e-01 -6.15477582e-01 -6.52391628e-04 2.84303659e+02] [ 6.15477388e-01 7.88154392e-01 -4.88467957e-04 3.61150122e+02] [ 8.14826404e-04 -1.65442615e-05 9.99999668e-01 1.64211165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.33, Y:361.17, Z:1.64 [[ 7.90447251e-01 -6.12529769e-01 -6.52061759e-04 2.84328624e+02] [ 6.12529574e-01 7.90447520e-01 -4.88908272e-04 3.61166168e+02] [ 8.14891471e-04 -1.29509123e-05 9.99999668e-01 1.64002373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.35, Y:361.18, Z:1.64 [[ 7.89922623e-01 -6.13206182e-01 -6.54274604e-04 2.84350128e+02] [ 6.13205990e-01 7.89922894e-01 -4.85955437e-04 3.61184666e+02] [ 8.14817367e-04 -1.73379128e-05 9.99999668e-01 1.64312941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.942755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:284.37, Y:361.20, Z:1.64 [[ 7.91941385e-01 -6.10596771e-01 -6.53056458e-04 2.84374598e+02] [ 6.10596576e-01 7.91941654e-01 -4.87580122e-04 3.61199964e+02] [ 8.14897459e-04 -1.26191604e-05 9.99999668e-01 1.63869069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.972755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.40, Y:361.22, Z:1.64 [[ 7.92014645e-01 -6.10501741e-01 -6.53426917e-04 2.84397453e+02] [ 6.10501547e-01 7.92014914e-01 -4.87086497e-04 3.61218248e+02] [ 8.14891017e-04 -1.31385048e-05 9.99999668e-01 1.63943150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.002755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:284.42, Y:361.23, Z:1.64 [[ 7.92950929e-01 -6.09285153e-01 -6.53521839e-04 2.84421339e+02] [ 6.09284958e-01 7.92951198e-01 -4.86960049e-04 3.61233550e+02] [ 8.14908453e-04 -1.20456035e-05 9.99999668e-01 1.63656613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.032755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:284.44, Y:361.25, Z:1.64 [[ 7.92158209e-01 -6.10315446e-01 -6.54043481e-04 2.84442091e+02] [ 6.10315253e-01 7.92158479e-01 -4.86265757e-04 3.61252305e+02] [ 8.14881592e-04 -1.39733012e-05 9.99999668e-01 1.64047880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.062755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:284.47, Y:361.27, Z:1.64 [[ 7.91700790e-01 -6.10908694e-01 -6.53465587e-04 2.84465143e+02] [ 6.10908500e-01 7.91701060e-01 -4.87035225e-04 3.61269534e+02] [ 8.14883451e-04 -1.36215091e-05 9.99999668e-01 1.64126025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.092755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.49, Y:361.28, Z:1.64 [[ 7.90409070e-01 -6.12579034e-01 -6.54980213e-04 2.84486168e+02] [ 6.12578843e-01 7.90409341e-01 -4.85020628e-04 3.61284272e+02] [ 8.14815947e-04 -1.78623177e-05 9.99999668e-01 1.63852570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.122755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.51, Y:361.30, Z:1.64 [[ 7.90780767e-01 -6.12099140e-01 -6.49662821e-04 2.84511243e+02] [ 6.12098942e-01 7.90781033e-01 -4.92090284e-04 3.61298745e+02] [ 8.14949076e-04 -8.52239387e-06 9.99999668e-01 1.63957692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.53, Y:361.31, Z:1.64 [[ 7.87975635e-01 -6.15706077e-01 -6.52283537e-04 2.84534489e+02] [ 6.15705884e-01 7.87975905e-01 -4.88604211e-04 3.61314618e+02] [ 8.14820292e-04 -1.66065978e-05 9.99999668e-01 1.64174041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.56, Y:361.33, Z:1.64 [[ 7.87122392e-01 -6.16796495e-01 -6.51068193e-04 2.84560380e+02] [ 6.16796300e-01 7.87122661e-01 -4.90219908e-04 3.61331635e+02] [ 8.14836450e-04 -1.57133863e-05 9.99999668e-01 1.64123825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.58, Y:361.35, Z:1.64 [[ 7.84668126e-01 -6.19915722e-01 -6.55567847e-04 2.84578895e+02] [ 6.19915534e-01 7.84668399e-01 -4.84249054e-04 3.61348510e+02] [ 8.14596975e-04 -2.64218943e-05 9.99999668e-01 1.64225303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.242755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.60, Y:361.37, Z:1.64 [[ 7.82136500e-01 -6.23106791e-01 -6.50611161e-04 2.84602582e+02] [ 6.23106598e-01 7.82136770e-01 -4.90819444e-04 3.61366743e+02] [ 8.14699840e-04 -2.15123055e-05 9.99999668e-01 1.64098849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.62, Y:361.38, Z:1.64 [[ 7.81363194e-01 -6.24076224e-01 -6.52609237e-04 2.84623557e+02] [ 6.24076034e-01 7.81363466e-01 -4.88171324e-04 3.61383150e+02] [ 8.14581132e-04 -2.58386791e-05 9.99999668e-01 1.63989623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.64, Y:361.40, Z:1.64 [[ 7.81893470e-01 -6.23411722e-01 -6.52500435e-04 2.84644620e+02] [ 6.23411531e-01 7.81893742e-01 -4.88315412e-04 3.61398142e+02] [ 8.14607559e-04 -2.49656627e-05 9.99999668e-01 1.63924883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.332755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.67, Y:361.42, Z:1.64 [[ 7.81609118e-01 -6.23768199e-01 -6.49171153e-04 2.84669944e+02] [ 6.23768005e-01 7.81609387e-01 -4.92721785e-04 3.61416104e+02] [ 8.14742447e-04 -1.98163556e-05 9.99999668e-01 1.63820247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.69, Y:361.43, Z:1.64 [[ 7.81033905e-01 -6.24488280e-01 -6.53859245e-04 2.84688371e+02] [ 6.24488091e-01 7.81034178e-01 -4.86517525e-04 3.61430808e+02] [ 8.14510911e-04 -2.83406291e-05 9.99999668e-01 1.63691188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.71, Y:361.45, Z:1.64 [[ 7.82214617e-01 -6.23008727e-01 -6.47508099e-04 2.84713372e+02] [ 6.23008530e-01 7.82214885e-01 -4.94906388e-04 3.61449832e+02] [ 8.14821472e-04 -1.62800587e-05 9.99999668e-01 1.63520076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.73, Y:361.47, Z:1.64 [[ 7.82402644e-01 -6.22772573e-01 -6.52819983e-04 2.84730899e+02] [ 6.22772382e-01 7.82402916e-01 -4.87888797e-04 3.61465899e+02] [ 8.14612019e-04 -2.48327718e-05 9.99999668e-01 1.63514784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.75, Y:361.48, Z:1.63 [[ 7.85483343e-01 -6.18882461e-01 -6.45858043e-04 2.84752409e+02] [ 6.18882262e-01 7.85483609e-01 -4.97070676e-04 3.61482414e+02] [ 8.14939230e-04 -9.26934956e-06 9.99999668e-01 1.63164459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:284.78, Y:361.50, Z:1.63 [[ 7.85455816e-01 -6.18917398e-01 -6.45183656e-04 2.84776095e+02] [ 6.18917198e-01 7.85456081e-01 -4.97962767e-04 3.61501970e+02] [ 8.14961246e-04 -8.18750920e-06 9.99999668e-01 1.63242371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.80, Y:361.52, Z:1.63 [[ 7.88235026e-01 -6.15373969e-01 -6.50180288e-04 2.84803811e+02] [ 6.15373773e-01 7.88235294e-01 -4.91350972e-04 3.61518803e+02] [ 8.14859648e-04 -1.28038508e-05 9.99999668e-01 1.62970305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5427550960001 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:284.82, Y:361.54, Z:1.63 [[ 7.88081406e-01 -6.15570682e-01 -6.57211876e-04 2.84818733e+02] [ 6.15570494e-01 7.88081680e-01 -4.82044383e-04 3.61538382e+02] [ 8.14669029e-04 -2.46700241e-05 9.99999668e-01 1.63108304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.572755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:284.84, Y:361.56, Z:1.63 [[ 7.87885185e-01 -6.15821820e-01 -6.49911432e-04 2.84841430e+02] [ 6.15821624e-01 7.87885453e-01 -4.91693966e-04 3.61555761e+02] [ 8.14851635e-04 -1.28311225e-05 9.99999668e-01 1.63110244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.602755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.87, Y:361.57, Z:1.63 [[ 7.89561120e-01 -6.13671586e-01 -6.49754664e-04 2.84867434e+02] [ 6.13671389e-01 7.89561387e-01 -4.91901042e-04 3.61573958e+02] [ 8.14886886e-04 -1.03499097e-05 9.99999668e-01 1.62871698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.88, Y:361.59, Z:1.63 [[ 7.91542862e-01 -6.11113302e-01 -6.55498827e-04 2.84884273e+02] [ 6.11113111e-01 7.91543133e-01 -4.84311972e-04 3.61591245e+02] [ 8.14825084e-04 -1.72302432e-05 9.99999668e-01 1.62923429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.91, Y:361.61, Z:1.63 [[ 7.92816162e-01 -6.09460508e-01 -6.50287043e-04 2.84914358e+02] [ 6.09460310e-01 7.92816428e-01 -4.91188661e-04 3.61610484e+02] [ 8.14918342e-04 -6.90183408e-06 9.99999668e-01 1.62727188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.93, Y:361.63, Z:1.63 [[ 7.91485969e-01 -6.11186981e-01 -6.59917226e-04 2.84930768e+02] [ 6.11186794e-01 7.91486244e-01 -4.78515272e-04 3.61629995e+02] [ 8.14777711e-04 -2.45945697e-05 9.99999668e-01 1.63182748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.722755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:284.96, Y:361.65, Z:1.63 [[ 7.91476122e-01 -6.11199741e-01 -6.52230223e-04 2.84955523e+02] [ 6.11199545e-01 7.91476391e-01 -4.88611063e-04 3.61648493e+02] [ 8.14863778e-04 -1.19188263e-05 9.99999668e-01 1.62965309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:284.98, Y:361.67, Z:1.63 [[ 7.91785885e-01 -6.10798398e-01 -6.55902597e-04 2.84976273e+02] [ 6.10798206e-01 7.91786156e-01 -4.83788871e-04 3.61665524e+02] [ 8.14832063e-04 -1.75669309e-05 9.99999668e-01 1.63043538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.782755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:284.99, Y:361.68, Z:1.63 [[ 7.90844735e-01 -6.12016482e-01 -6.56131086e-04 2.84991332e+02] [ 6.12016291e-01 7.90845007e-01 -4.83488271e-04 3.61681746e+02] [ 8.14800784e-04 -1.91987604e-05 9.99999668e-01 1.62938204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.812755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.02, Y:361.70, Z:1.62 [[ 7.92954162e-01 -6.09280950e-01 -6.48401953e-04 2.85022989e+02] [ 6.09280750e-01 7.92954427e-01 -4.93640566e-04 3.61699359e+02] [ 8.14918992e-04 -3.62448724e-06 9.99999668e-01 1.62376730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.842755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.04, Y:361.72, Z:1.63 [[ 7.93053682e-01 -6.09151397e-01 -6.58934588e-04 2.85043127e+02] [ 6.09151208e-01 7.93053955e-01 -4.79789725e-04 3.61717337e+02] [ 8.14835262e-04 -2.08917927e-05 9.99999668e-01 1.62583980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.872755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.06, Y:361.73, Z:1.63 [[ 7.92576541e-01 -6.09772083e-01 -6.58193684e-04 2.85060997e+02] [ 6.09771894e-01 7.92576814e-01 -4.80764256e-04 3.61733433e+02] [ 8.14825675e-04 -2.03055381e-05 9.99999668e-01 1.62610712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.08, Y:361.75, Z:1.63 [[ 7.90519467e-01 -6.12436566e-01 -6.52290335e-04 2.85077925e+02] [ 6.12436371e-01 7.90519736e-01 -4.88513284e-04 3.61751686e+02] [ 8.14831781e-04 -1.33070649e-05 9.99999668e-01 1.62956401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.10, Y:361.77, Z:1.63 [[ 7.89524437e-01 -6.13718784e-01 -6.46792650e-04 2.85100426e+02] [ 6.13718584e-01 7.89524702e-01 -4.95720288e-04 3.61767692e+02] [ 8.14891626e-04 -5.56538820e-06 9.99999668e-01 1.63024312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.12, Y:361.78, Z:1.63 [[ 7.89600497e-01 -6.13620921e-01 -6.47862833e-04 2.85121931e+02] [ 6.13620722e-01 7.89600763e-01 -4.94317684e-04 3.61783253e+02] [ 8.14876660e-04 -7.22857079e-06 9.99999668e-01 1.62987938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.992755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:285.15, Y:361.80, Z:1.63 [[ 7.88699470e-01 -6.14778602e-01 -6.45893972e-04 2.85146804e+02] [ 6.14778401e-01 7.88699734e-01 -4.96896660e-04 3.61800578e+02] [ 8.14897839e-04 -5.17953113e-06 9.99999668e-01 1.62700009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.022755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:285.17, Y:361.82, Z:1.63 [[ 7.87964210e-01 -6.15720703e-01 -6.47731288e-04 2.85170535e+02] [ 6.15720505e-01 7.87964476e-01 -4.94489965e-04 3.61818814e+02] [ 8.14856954e-04 -9.18104053e-06 9.99999668e-01 1.62800799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.19, Y:361.83, Z:1.63 [[ 7.89516907e-01 -6.13728467e-01 -6.50040023e-04 2.85188987e+02] [ 6.13728270e-01 7.89517175e-01 -4.91466407e-04 3.61832071e+02] [ 8.14844687e-04 -1.09269018e-05 9.99999668e-01 1.62682131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.21, Y:361.85, Z:1.63 [[ 7.88720314e-01 -6.14751863e-01 -6.43752909e-04 2.85213588e+02] [ 6.14751660e-01 7.88720576e-01 -4.99692063e-04 3.61851173e+02] [ 8.14927792e-04 -1.63088820e-06 9.99999668e-01 1.63081719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.112755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.24, Y:361.87, Z:1.63 [[ 7.87743300e-01 -6.16003307e-01 -6.47495420e-04 2.85238576e+02] [ 6.16003108e-01 7.87743566e-01 -4.94794558e-04 3.61868098e+02] [ 8.14855435e-04 -9.08809335e-06 9.99999668e-01 1.63005410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.142755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.26, Y:361.88, Z:1.63 [[ 7.87719838e-01 -6.16033307e-01 -6.48973578e-04 2.85259724e+02] [ 6.16033110e-01 7.87720105e-01 -4.92860571e-04 3.61882559e+02] [ 8.14828062e-04 -1.15531628e-05 9.99999668e-01 1.62885235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.28, Y:361.90, Z:1.63 [[ 7.86552900e-01 -6.17522564e-01 -6.47298782e-04 2.85284432e+02] [ 6.17522365e-01 7.86553166e-01 -4.95050435e-04 3.61898786e+02] [ 8.14839720e-04 -1.03381196e-05 9.99999668e-01 1.63192030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.31, Y:361.92, Z:1.63 [[ 7.84939690e-01 -6.19571838e-01 -6.48405139e-04 2.85308738e+02] [ 6.19571642e-01 7.84939958e-01 -4.93603710e-04 3.61916560e+02] [ 8.14782060e-04 -1.42842929e-05 9.99999668e-01 1.63172943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.33, Y:361.93, Z:1.63 [[ 7.84435900e-01 -6.20209556e-01 -6.52463391e-04 2.85330842e+02] [ 6.20209364e-01 7.84436171e-01 -4.88298703e-04 3.61931297e+02] [ 8.14663406e-04 -2.16248720e-05 9.99999668e-01 1.63407709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.262755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:285.35, Y:361.94, Z:1.63 [[ 7.83108296e-01 -6.21885018e-01 -6.48383519e-04 2.85353282e+02] [ 6.21884823e-01 7.83108565e-01 -4.93626538e-04 3.61944431e+02] [ 8.14733636e-04 -1.66568324e-05 9.99999668e-01 1.63290867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2927550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:285.38, Y:361.96, Z:1.63 [[ 7.82442103e-01 -6.22723002e-01 -6.46431774e-04 2.85376282e+02] [ 6.22722804e-01 7.82442370e-01 -4.96173601e-04 3.61960462e+02] [ 8.14774324e-04 -1.43206912e-05 9.99999668e-01 1.63424191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.40, Y:361.98, Z:1.64 [[ 7.81214017e-01 -6.24262958e-01 -6.46739998e-04 2.85400463e+02] [ 6.24262762e-01 7.81214285e-01 -4.95771518e-04 3.61976523e+02] [ 8.14734320e-04 -1.64320379e-05 9.99999668e-01 1.63713642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.42, Y:361.99, Z:1.64 [[ 7.80792739e-01 -6.24789789e-01 -6.46603274e-04 2.85424464e+02] [ 6.24789592e-01 7.80793007e-01 -4.95949775e-04 3.61993037e+02] [ 8.14727670e-04 -1.67570130e-05 9.99999668e-01 1.63841761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.45, Y:362.01, Z:1.64 [[ 7.80417774e-01 -6.25258090e-01 -6.47946369e-04 2.85446532e+02] [ 6.25257895e-01 7.80418043e-01 -4.94199303e-04 3.62009842e+02] [ 8.14671149e-04 -1.94516629e-05 9.99999668e-01 1.63854369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.47, Y:362.03, Z:1.64 [[ 7.80059095e-01 -6.25705514e-01 -6.46394388e-04 2.85469030e+02] [ 6.25705317e-01 7.80059363e-01 -4.96220966e-04 3.62026268e+02] [ 8.14714189e-04 -1.73707273e-05 9.99999668e-01 1.63889335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.49, Y:362.04, Z:1.64 [[ 7.79904164e-01 -6.25898616e-01 -6.45511952e-04 2.85492432e+02] [ 6.25898419e-01 7.79904431e-01 -4.97370030e-04 3.62043850e+02] [ 8.14740845e-04 -1.61239524e-05 9.99999668e-01 1.64033173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.51, Y:362.06, Z:1.64 [[ 7.79928845e-01 -6.25867862e-01 -6.45750142e-04 2.85514955e+02] [ 6.25867665e-01 7.79929112e-01 -4.97059905e-04 3.62060151e+02] [ 8.14733154e-04 -1.64827763e-05 9.99999668e-01 1.64104739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.54, Y:362.08, Z:1.64 [[ 7.79623639e-01 -6.26248005e-01 -6.46032492e-04 2.85538031e+02] [ 6.26247809e-01 7.79623907e-01 -4.96692359e-04 3.62077259e+02] [ 8.14714974e-04 -1.73433280e-05 9.99999668e-01 1.64207556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.532755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.56, Y:362.09, Z:1.64 [[ 7.80579193e-01 -6.25056562e-01 -6.46662109e-04 2.85559109e+02] [ 6.25056365e-01 7.80579461e-01 -4.95873091e-04 3.62092800e+02] [ 8.14719890e-04 -1.71320496e-05 9.99999668e-01 1.63934070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.58, Y:362.11, Z:1.64 [[ 7.80533373e-01 -6.25113780e-01 -6.45006675e-04 2.85580836e+02] [ 6.25113582e-01 7.80533639e-01 -4.98025928e-04 3.62110332e+02] [ 8.14772277e-04 -1.44765757e-05 9.99999668e-01 1.63855909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.60, Y:362.13, Z:1.64 [[ 7.80557778e-01 -6.25083305e-01 -6.45953276e-04 2.85603354e+02] [ 6.25083108e-01 7.80558045e-01 -4.96795118e-04 3.62128238e+02] [ 8.14742361e-04 -1.59971881e-05 9.99999668e-01 1.63822707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.62, Y:362.15, Z:1.64 [[ 7.81286934e-01 -6.24171698e-01 -6.46338364e-04 2.85624160e+02] [ 6.24171501e-01 7.81287201e-01 -4.96294527e-04 3.62145658e+02] [ 8.14748889e-04 -1.56775577e-05 9.99999668e-01 1.63692126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.65, Y:362.16, Z:1.64 [[ 7.81600912e-01 -6.23778484e-01 -6.45795861e-04 2.85646137e+02] [ 6.23778286e-01 7.81601179e-01 -4.96999450e-04 3.62163235e+02] [ 8.14772370e-04 -1.43782120e-05 9.99999668e-01 1.63692432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.682755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:285.67, Y:362.18, Z:1.64 [[ 7.82682663e-01 -6.22420624e-01 -6.45652465e-04 2.85668553e+02] [ 6.22420425e-01 7.82682929e-01 -4.97185666e-04 3.62179882e+02] [ 8.14799775e-04 -1.27286811e-05 9.99999668e-01 1.63895924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.712755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:285.70, Y:362.20, Z:1.64 [[ 7.84351602e-01 -6.20316169e-01 -6.44899271e-04 2.85697908e+02] [ 6.20315969e-01 7.84351867e-01 -4.98163610e-04 3.62197506e+02] [ 8.14846889e-04 -9.30589014e-06 9.99999668e-01 1.63728594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.742755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:285.71, Y:362.22, Z:1.64 [[ 7.83011569e-01 -6.22006799e-01 -6.52046400e-04 2.85714062e+02] [ 6.22006607e-01 7.83011840e-01 -4.88879793e-04 3.62215083e+02] [ 8.14646607e-04 -2.27786355e-05 9.99999668e-01 1.63816031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.772755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:285.74, Y:362.23, Z:1.64 [[ 7.84699294e-01 -6.19876279e-01 -6.45433502e-04 2.85735492e+02] [ 6.19876079e-01 7.84699560e-01 -4.97459755e-04 3.62232489e+02] [ 8.14834887e-04 -9.73246996e-06 9.99999668e-01 1.63828954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.802755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:285.76, Y:362.25, Z:1.64 [[ 7.84907039e-01 -6.19613205e-01 -6.45277004e-04 2.85756317e+02] [ 6.19613005e-01 7.84907304e-01 -4.97662672e-04 3.62249821e+02] [ 8.14840998e-04 -9.20308932e-06 9.99999668e-01 1.63729504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.78, Y:362.27, Z:1.64 [[ 7.88191662e-01 -6.15429515e-01 -6.45182491e-04 2.85783962e+02] [ 6.15429314e-01 7.88191926e-01 -4.97785172e-04 3.62268080e+02] [ 8.14879317e-04 -4.71409622e-06 9.99999668e-01 1.63858726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.862755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.80, Y:362.29, Z:1.64 [[ 7.87014120e-01 -6.16934641e-01 -6.51534001e-04 2.85800417e+02] [ 6.16934447e-01 7.87014389e-01 -4.89550965e-04 3.62286457e+02] [ 8.14787583e-04 -1.66702464e-05 9.99999668e-01 1.63768324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.892755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:285.82, Y:362.30, Z:1.64 [[ 7.87189783e-01 -6.16710492e-01 -6.44949285e-04 2.85822173e+02] [ 6.16710290e-01 7.87190047e-01 -4.98077368e-04 3.62304179e+02] [ 8.14867196e-04 -5.66544604e-06 9.99999668e-01 1.63830370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.84, Y:362.32, Z:1.64 [[ 7.87602349e-01 -6.16183515e-01 -6.44794216e-04 2.85843496e+02] [ 6.16183314e-01 7.87602613e-01 -4.98278033e-04 3.62321492e+02] [ 8.14872319e-04 -4.86648779e-06 9.99999668e-01 1.63711702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.952755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:285.87, Y:362.34, Z:1.63 [[ 7.87102832e-01 -6.16821463e-01 -6.44708807e-04 2.85865071e+02] [ 6.16821261e-01 7.87103096e-01 -4.98388517e-04 3.62338982e+02] [ 8.14869032e-04 -5.38708695e-06 9.99999668e-01 1.63150235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:285.89, Y:362.36, Z:1.63 [[ 7.87950947e-01 -6.15737679e-01 -6.44659268e-04 2.85890578e+02] [ 6.15737477e-01 7.87951211e-01 -4.98452587e-04 3.62357428e+02] [ 8.14876090e-04 -4.18468353e-06 9.99999668e-01 1.63290975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.012755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:285.91, Y:362.38, Z:1.63 [[ 7.86827342e-01 -6.17172839e-01 -6.48709203e-04 2.85912022e+02] [ 6.17172642e-01 7.86827609e-01 -4.93211150e-04 3.62375194e+02] [ 8.14818837e-04 -1.22935547e-05 9.99999668e-01 1.63279577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:285.93, Y:362.39, Z:1.63 [[ 7.85467503e-01 -6.18902562e-01 -6.48064369e-04 2.85930565e+02] [ 6.18902365e-01 7.85467770e-01 -4.94045300e-04 3.62392460e+02] [ 8.14799577e-04 -1.30320426e-05 9.99999668e-01 1.63390007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.072755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:285.95, Y:362.41, Z:1.63 [[ 7.83401940e-01 -6.21515073e-01 -6.44449333e-04 2.85951478e+02] [ 6.21514873e-01 7.83402205e-01 -4.98716705e-04 3.62410382e+02] [ 8.14822977e-04 -9.83921106e-06 9.99999668e-01 1.63319154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.102755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:285.97, Y:362.43, Z:1.63 [[ 7.82066603e-01 -6.23194523e-01 -6.44362579e-04 2.85973098e+02] [ 6.23194323e-01 7.82066868e-01 -4.98828769e-04 3.62427635e+02] [ 8.14801981e-04 -1.14457807e-05 9.99999668e-01 1.63319716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.132755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:286.00, Y:362.44, Z:1.63 [[ 7.82064021e-01 -6.23197763e-01 -6.44206305e-04 2.86003036e+02] [ 6.23197563e-01 7.82064286e-01 -4.99030506e-04 3.62444317e+02] [ 8.14805439e-04 -1.11939960e-05 9.99999668e-01 1.63108746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1627550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:286.02, Y:362.46, Z:1.64 [[ 7.79125653e-01 -6.26867443e-01 -6.52700489e-04 2.86017708e+02] [ 6.26867254e-01 7.79125926e-01 -4.88060090e-04 3.62462594e+02] [ 8.14484853e-04 -2.88964267e-05 9.99999668e-01 1.63528647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.04, Y:362.48, Z:1.63 [[ 7.77910539e-01 -6.28374712e-01 -6.43912864e-04 2.86039440e+02] [ 6.28374514e-01 7.77910805e-01 -4.99390825e-04 3.62480289e+02] [ 8.14711340e-04 -1.61370472e-05 9.99999668e-01 1.63449881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.222755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:286.06, Y:362.50, Z:1.63 [[ 7.77186932e-01 -6.29269464e-01 -6.43753599e-04 2.86060263e+02] [ 6.29269266e-01 7.77187198e-01 -4.99596046e-04 3.62497833e+02] [ 8.14697592e-04 -1.68148369e-05 9.99999668e-01 1.63385454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.252755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:286.08, Y:362.52, Z:1.63 [[ 7.75642115e-01 -6.31172635e-01 -6.43684653e-04 2.86081374e+02] [ 6.31172437e-01 7.75642382e-01 -4.99684860e-04 3.62515885e+02] [ 8.14656507e-04 -1.86993897e-05 9.99999668e-01 1.63054761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.282755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:286.10, Y:362.53, Z:1.63 [[ 7.75504037e-01 -6.31342280e-01 -6.43637485e-04 2.86102854e+02] [ 6.31342082e-01 7.75504304e-01 -4.99745610e-04 3.62533164e+02] [ 8.14654172e-04 -1.88006914e-05 9.99999668e-01 1.62811176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.12, Y:362.55, Z:1.63 [[ 7.75866873e-01 -6.30896331e-01 -6.43590802e-04 2.86124636e+02] [ 6.30896133e-01 7.75867140e-01 -4.99805722e-04 3.62550653e+02] [ 8.14666551e-04 -1.82562456e-05 9.99999668e-01 1.63030924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.342755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:286.15, Y:362.57, Z:1.63 [[ 7.76075431e-01 -6.30639763e-01 -6.43430873e-04 2.86145823e+02] [ 6.30639565e-01 7.76075698e-01 -5.00011524e-04 3.62567766e+02] [ 8.14678213e-04 -1.77263067e-05 9.99999668e-01 1.62861295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.372755096 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:286.17, Y:362.59, Z:1.63 [[ 7.77677490e-01 -6.28663112e-01 -6.43322088e-04 2.86167491e+02] [ 6.28662913e-01 7.77677756e-01 -5.00151449e-04 3.62585558e+02] [ 8.14724044e-04 -1.54762142e-05 9.99999668e-01 1.62957273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.402755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:286.19, Y:362.60, Z:1.63 [[ 7.79101735e-01 -6.26897180e-01 -6.43163829e-04 2.86188025e+02] [ 6.26896980e-01 7.79102000e-01 -5.00354877e-04 3.62602052e+02] [ 8.14761287e-04 -1.33701096e-05 9.99999668e-01 1.63101528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.432755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:286.21, Y:362.62, Z:1.63 [[ 7.79608244e-01 -6.26267176e-01 -6.40799458e-04 2.86210838e+02] [ 6.26266974e-01 7.79608507e-01 -5.03392100e-04 3.62621170e+02] [ 8.14830658e-04 -8.86290636e-06 9.99999668e-01 1.63192566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.23, Y:362.64, Z:1.63 [[ 7.81183065e-01 -6.24301695e-01 -6.42986903e-04 2.86232649e+02] [ 6.24301494e-01 7.81183329e-01 -5.00582377e-04 3.62639385e+02] [ 8.14805075e-04 -1.03712088e-05 9.99999668e-01 1.63150289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.26, Y:362.66, Z:1.63 [[ 7.80988609e-01 -6.24544938e-01 -6.42831012e-04 2.86255095e+02] [ 6.24544738e-01 7.80988873e-01 -5.00782486e-04 3.62657080e+02] [ 8.14805035e-04 -1.03713090e-05 9.99999668e-01 1.63152609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.28, Y:362.67, Z:1.63 [[ 7.81836673e-01 -6.23482962e-01 -6.42674998e-04 2.86276794e+02] [ 6.23482761e-01 7.81836937e-01 -5.00982626e-04 3.62674504e+02] [ 8.14821183e-04 -9.01019299e-06 9.99999668e-01 1.63224019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.552755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:286.30, Y:362.69, Z:1.63 [[ 7.83513060e-01 -6.21374985e-01 -6.42520073e-04 2.86298243e+02] [ 6.21374782e-01 7.83513324e-01 -5.01181241e-04 3.62692199e+02] [ 8.14844524e-04 -6.56372325e-06 9.99999668e-01 1.63304109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.582755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:286.32, Y:362.71, Z:1.63 [[ 7.84038031e-01 -6.20712456e-01 -6.42449390e-04 2.86320100e+02] [ 6.20712254e-01 7.84038294e-01 -5.01271832e-04 3.62709930e+02] [ 8.14850593e-04 -5.76002860e-06 9.99999668e-01 1.63265047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.612755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:286.34, Y:362.73, Z:1.63 [[ 7.84455100e-01 -6.20185281e-01 -6.42296913e-04 2.86341894e+02] [ 6.20185078e-01 7.84455363e-01 -5.01467130e-04 3.62727976e+02] [ 8.14855791e-04 -4.96451357e-06 9.99999668e-01 1.63227249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.36, Y:362.75, Z:1.64 [[ 7.85678213e-01 -6.18635057e-01 -6.42141755e-04 2.86364015e+02] [ 6.18634853e-01 7.85678475e-01 -5.01665735e-04 3.62745863e+02] [ 8.14864965e-04 -3.10343187e-06 9.99999668e-01 1.63646350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.39, Y:362.76, Z:1.64 [[ 7.85743894e-01 -6.18551631e-01 -6.42005424e-04 2.86385836e+02] [ 6.18551428e-01 7.85744157e-01 -5.01840143e-04 3.62762825e+02] [ 8.14866049e-04 -2.79554277e-06 9.99999668e-01 1.63804551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.702755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:286.41, Y:362.78, Z:1.64 [[ 7.85604124e-01 -6.18729140e-01 -6.41842238e-04 2.86407607e+02] [ 6.18728936e-01 7.85604386e-01 -5.02048767e-04 3.62778905e+02] [ 8.14866279e-04 -2.71478364e-06 9.99999668e-01 1.63739373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.43, Y:362.80, Z:1.64 [[ 7.85328399e-01 -6.19079069e-01 -6.41771604e-04 2.86429909e+02] [ 6.19078866e-01 7.85328661e-01 -5.02139043e-04 3.62796406e+02] [ 8.14865406e-04 -2.96318650e-06 9.99999668e-01 1.63916279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.762755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:286.45, Y:362.81, Z:1.64 [[ 7.84662979e-01 -6.19922251e-01 -6.41610482e-04 2.86451111e+02] [ 6.19922047e-01 7.84663242e-01 -5.02344833e-04 3.62812906e+02] [ 8.14862900e-04 -3.57708967e-06 9.99999668e-01 1.63755811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7927550960001 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:286.47, Y:362.83, Z:1.64 [[ 7.83682238e-01 -6.21161604e-01 -6.41540729e-04 2.86473527e+02] [ 6.21161400e-01 7.83682501e-01 -5.02433898e-04 3.62829573e+02] [ 8.14856889e-04 -4.75181573e-06 9.99999668e-01 1.63595678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.50, Y:362.85, Z:1.64 [[ 7.81651690e-01 -6.23714859e-01 -6.41383220e-04 2.86495732e+02] [ 6.23714656e-01 7.81651953e-01 -5.02634886e-04 3.62847101e+02] [ 8.14839293e-04 -7.15470677e-06 9.99999668e-01 1.63841450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.52, Y:362.86, Z:1.64 [[ 7.78474774e-01 -6.27675565e-01 -6.41226033e-04 2.86518246e+02] [ 6.27675364e-01 7.78475038e-01 -5.02835335e-04 3.62864499e+02] [ 8.14795913e-04 -1.10371601e-05 9.99999668e-01 1.63765683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.54, Y:362.88, Z:1.64 [[ 7.77688742e-01 -6.28649195e-01 -6.40829473e-04 2.86540794e+02] [ 6.28648994e-01 7.77689006e-01 -5.03340781e-04 3.62880170e+02] [ 8.14790812e-04 -1.14143445e-05 9.99999668e-01 1.63859939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9127550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:286.56, Y:362.90, Z:1.64 [[ 7.76198911e-01 -6.30487779e-01 -6.41025029e-04 2.86562452e+02] [ 6.30487578e-01 7.76199176e-01 -5.03091609e-04 3.62896119e+02] [ 8.14756210e-04 -1.36591589e-05 9.99999668e-01 1.63581276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.942755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:286.58, Y:362.91, Z:1.64 [[ 7.74158873e-01 -6.32991018e-01 -6.40916764e-04 2.86584223e+02] [ 6.32990818e-01 7.74159138e-01 -5.03229496e-04 3.62912038e+02] [ 8.14711321e-04 -1.61148471e-05 9.99999668e-01 1.63645760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.972755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:286.61, Y:362.93, Z:1.64 [[ 7.73123612e-01 -6.34255052e-01 -6.40826846e-04 2.86606116e+02] [ 6.34254852e-01 7.73123877e-01 -5.03343975e-04 3.62928855e+02] [ 8.14686994e-04 -1.73004244e-05 9.99999668e-01 1.63640424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.63, Y:362.95, Z:1.64 [[ 7.72480186e-01 -6.35038543e-01 -6.40671836e-04 2.86628487e+02] [ 6.35038344e-01 7.72480452e-01 -5.03541198e-04 3.62946426e+02] [ 8.14674538e-04 -1.78755828e-05 9.99999668e-01 1.63813786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.032755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:286.65, Y:362.96, Z:1.64 [[ 7.71492283e-01 -6.36238358e-01 -6.40187781e-04 2.86651051e+02] [ 6.36238159e-01 7.71492548e-01 -5.04156749e-04 3.62963674e+02] [ 8.14663965e-04 -1.83588541e-05 9.99999668e-01 1.63533718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.67, Y:362.98, Z:1.64 [[ 7.71792446e-01 -6.35874210e-01 -6.40455901e-04 2.86672464e+02] [ 6.35874010e-01 7.71792711e-01 -5.03815912e-04 3.62981229e+02] [ 8.14662741e-04 -1.84079471e-05 9.99999668e-01 1.63707570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.092755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:286.69, Y:363.00, Z:1.63 [[ 7.72642954e-01 -6.34840496e-01 -6.40304530e-04 2.86694379e+02] [ 6.34840296e-01 7.72643219e-01 -5.04008217e-04 3.62998982e+02] [ 8.14691780e-04 -1.70727199e-05 9.99999668e-01 1.63312253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.122755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:286.72, Y:363.02, Z:1.63 [[ 7.73329393e-01 -6.34004133e-01 -6.40147192e-04 2.86716413e+02] [ 6.34003932e-01 7.73329658e-01 -5.04207976e-04 3.63016895e+02] [ 8.14714749e-04 -1.59369891e-05 9.99999668e-01 1.63218319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.152755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:286.74, Y:363.03, Z:1.63 [[ 7.74293232e-01 -6.32826660e-01 -6.39991229e-04 2.86737190e+02] [ 6.32826460e-01 7.74293496e-01 -5.04405863e-04 3.63034084e+02] [ 8.14742523e-04 -1.44453380e-05 9.99999668e-01 1.63199126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.76, Y:363.05, Z:1.63 [[ 7.75376465e-01 -6.31498954e-01 -6.39903834e-04 2.86758919e+02] [ 6.31498752e-01 7.75376729e-01 -5.04516710e-04 3.63052113e+02] [ 8.14768316e-04 -1.29080896e-05 9.99999668e-01 1.63335827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:286.78, Y:363.07, Z:1.63 [[ 7.77729708e-01 -6.28598514e-01 -6.39756723e-04 2.86780814e+02] [ 6.28598311e-01 7.77729972e-01 -5.04703186e-04 3.63070007e+02] [ 8.14813650e-04 -9.62733449e-06 9.99999668e-01 1.63496261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.80, Y:363.09, Z:1.64 [[ 7.78709833e-01 -6.27383923e-01 -6.39599211e-04 2.86802584e+02] [ 6.27383719e-01 7.78710096e-01 -5.04902719e-04 3.63087586e+02] [ 8.14830211e-04 -8.10141992e-06 9.99999668e-01 1.63555220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.82, Y:363.10, Z:1.64 [[ 7.80763017e-01 -6.24826938e-01 -6.39442612e-04 2.86823849e+02] [ 6.24826734e-01 7.80763279e-01 -5.05100967e-04 3.63104328e+02] [ 8.14854002e-04 -5.17668358e-06 9.99999668e-01 1.63626526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:286.85, Y:363.12, Z:1.63 [[ 7.81961026e-01 -6.23326998e-01 -6.39352689e-04 2.86849265e+02] [ 6.23326793e-01 7.81961287e-01 -5.05214766e-04 3.63120708e+02] [ 8.14863055e-04 -3.46740449e-06 9.99999668e-01 1.63432335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.87, Y:363.14, Z:1.64 [[ 7.82272729e-01 -6.22935763e-01 -6.42524085e-04 2.86872558e+02] [ 6.22935561e-01 7.82272993e-01 -5.01205505e-04 3.63139136e+02] [ 8.14848072e-04 -8.17170279e-06 9.99999668e-01 1.63808262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:286.89, Y:363.15, Z:1.64 [[ 7.81706984e-01 -6.23645554e-01 -6.44124625e-04 2.86890670e+02] [ 6.23645354e-01 7.81707249e-01 -4.99183063e-04 3.63154458e+02] [ 8.14830187e-04 -1.14904433e-05 9.99999668e-01 1.63967442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:286.91, Y:363.17, Z:1.64 [[ 7.81985168e-01 -6.23296711e-01 -6.38695774e-04 2.86912032e+02] [ 6.23296506e-01 7.81985428e-01 -5.06035126e-04 3.63170895e+02] [ 8.14860818e-04 -2.38488129e-06 9.99999668e-01 1.64169175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:286.94, Y:363.19, Z:1.64 [[ 7.82025224e-01 -6.23246455e-01 -6.36358658e-04 2.86940754e+02] [ 6.23246247e-01 7.82025483e-01 -5.08985234e-04 3.63188674e+02] [ 8.14871930e-04 1.43114597e-06 9.99999668e-01 1.64252199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.452755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:286.96, Y:363.20, Z:1.64 [[ 7.79066460e-01 -6.26941014e-01 -6.45423721e-04 2.86958986e+02] [ 6.26940817e-01 7.79066727e-01 -4.97532432e-04 3.63203365e+02] [ 8.14751633e-04 -1.70316442e-05 9.99999668e-01 1.64413013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.482755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:286.98, Y:363.22, Z:1.65 [[ 7.77981168e-01 -6.28287271e-01 -6.38612961e-04 2.86980720e+02] [ 6.28287067e-01 7.77981430e-01 -5.06126021e-04 3.63219174e+02] [ 8.14821562e-04 -7.47575094e-06 9.99999668e-01 1.64562976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.512755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:287.01, Y:363.24, Z:1.64 [[ 7.77897378e-01 -6.28391010e-01 -6.38524127e-04 2.87009561e+02] [ 6.28390806e-01 7.77897640e-01 -5.06238069e-04 3.63235521e+02] [ 8.14821863e-04 -7.44142480e-06 9.99999668e-01 1.64323026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5427550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:287.03, Y:363.25, Z:1.64 [[ 7.76198823e-01 -6.30487883e-01 -6.45725494e-04 2.87025291e+02] [ 6.30487687e-01 7.76199092e-01 -4.97151321e-04 3.63253290e+02] [ 8.14659426e-04 -2.12337033e-05 9.99999668e-01 1.64223222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.05, Y:363.27, Z:1.65 [[ 7.76097223e-01 -6.30612951e-01 -6.38207053e-04 2.87045981e+02] [ 6.30612748e-01 7.76097485e-01 -5.06622519e-04 3.63271502e+02] [ 8.14793611e-04 -9.27317293e-06 9.99999668e-01 1.64525801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.602755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:287.07, Y:363.29, Z:1.64 [[ 7.76283415e-01 -6.30383734e-01 -6.38119967e-04 2.87073540e+02] [ 6.30383531e-01 7.76283677e-01 -5.06732185e-04 3.63289674e+02] [ 8.14797842e-04 -8.89252723e-06 9.99999668e-01 1.64094710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.632755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:287.10, Y:363.31, Z:1.64 [[ 7.75415683e-01 -6.31450791e-01 -6.45489261e-04 2.87095267e+02] [ 6.31450596e-01 7.75415951e-01 -4.97452909e-04 3.63307283e+02] [ 8.14639702e-04 -2.18617918e-05 9.99999668e-01 1.64032562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6627550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:287.11, Y:363.32, Z:1.64 [[ 7.73217012e-01 -6.34141180e-01 -6.44976462e-04 2.87111755e+02] [ 6.34140985e-01 7.73217281e-01 -4.98098054e-04 3.63323953e+02] [ 8.14571434e-04 -2.38681203e-05 9.99999668e-01 1.64014478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.692755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:287.13, Y:363.34, Z:1.64 [[ 7.72679467e-01 -6.34796058e-01 -6.37537330e-04 2.87132794e+02] [ 6.34795856e-01 7.72679730e-01 -5.07444349e-04 3.63341098e+02] [ 8.14735844e-04 -1.26142261e-05 9.99999668e-01 1.63972825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.722755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:287.15, Y:363.36, Z:1.64 [[ 7.71587858e-01 -6.36122450e-01 -6.37450151e-04 2.87152841e+02] [ 6.36122247e-01 7.71588121e-01 -5.07553840e-04 3.63360480e+02] [ 8.14715356e-04 -1.38738425e-05 9.99999668e-01 1.63957120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.752755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:287.18, Y:363.38, Z:1.64 [[ 7.71616607e-01 -6.36087577e-01 -6.37298744e-04 2.87179254e+02] [ 6.36087374e-01 7.71616871e-01 -5.07743879e-04 3.63379448e+02] [ 8.14720036e-04 -1.35940750e-05 9.99999668e-01 1.63735290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.20, Y:363.40, Z:1.64 [[ 7.70040918e-01 -6.37994178e-01 -6.43594579e-04 2.87195086e+02] [ 6.37993983e-01 7.70041186e-01 -4.99839794e-04 3.63397235e+02] [ 8.14489211e-04 -2.57123756e-05 9.99999668e-01 1.64046455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.812755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:287.22, Y:363.42, Z:1.64 [[ 7.69378919e-01 -6.38792356e-01 -6.37043506e-04 2.87221861e+02] [ 6.38792154e-01 7.69379182e-01 -5.08054113e-04 3.63415525e+02] [ 8.14669095e-04 -1.60522695e-05 9.99999668e-01 1.63588830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.842755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:287.24, Y:363.43, Z:1.64 [[ 7.66711729e-01 -6.41991208e-01 -6.43003982e-04 2.87238625e+02] [ 6.41991014e-01 7.66711998e-01 -5.00577927e-04 3.63433534e+02] [ 8.14365496e-04 -2.90038103e-05 9.99999668e-01 1.63691858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.872755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:287.27, Y:363.45, Z:1.64 [[ 7.66642107e-01 -6.42074353e-01 -6.36794937e-04 2.87265929e+02] [ 6.42074152e-01 7.66642371e-01 -5.08355726e-04 3.63452370e+02] [ 8.14596154e-04 -1.91426641e-05 9.99999668e-01 1.63561051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.902755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:287.28, Y:363.47, Z:1.64 [[ 7.64320759e-01 -6.44835920e-01 -6.43380160e-04 2.87281320e+02] [ 6.44835727e-01 7.64321029e-01 -5.00104965e-04 3.63470125e+02] [ 8.14234631e-04 -3.26339067e-05 9.99999668e-01 1.63803107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.932755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:287.30, Y:363.49, Z:1.64 [[ 7.63802549e-01 -6.45449658e-01 -6.36543332e-04 2.87302062e+02] [ 6.45449458e-01 7.63802814e-01 -5.08660644e-04 3.63487633e+02] [ 8.14508427e-04 -2.23402515e-05 9.99999668e-01 1.63703922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:287.33, Y:363.51, Z:1.64 [[ 7.63993753e-01 -6.45223326e-01 -6.36454309e-04 2.87326798e+02] [ 6.45223126e-01 7.63994018e-01 -5.08772010e-04 3.63506448e+02] [ 8.14518853e-04 -2.19564013e-05 9.99999668e-01 1.63631526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.992755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.35, Y:363.52, Z:1.64 [[ 7.65240888e-01 -6.43743716e-01 -6.40819769e-04 2.87346101e+02] [ 6.43743520e-01 7.65241156e-01 -5.03310369e-04 3.63523404e+02] [ 8.14384548e-04 -2.73699002e-05 9.99999668e-01 1.63814784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.37, Y:363.54, Z:1.64 [[ 7.64387262e-01 -6.44757091e-01 -6.38017852e-04 2.87366384e+02] [ 6.44756892e-01 7.64387528e-01 -5.06815622e-04 3.63542387e+02] [ 8.14465855e-04 -2.39630021e-05 9.99999668e-01 1.63774881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:287.39, Y:363.56, Z:1.64 [[ 7.66778340e-01 -6.41911652e-01 -6.38839695e-04 2.87387114e+02] [ 6.41911453e-01 7.66778606e-01 -5.05788493e-04 3.63558426e+02] [ 8.14520138e-04 -2.22508564e-05 9.99999668e-01 1.63726986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.082755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:287.41, Y:363.58, Z:1.64 [[ 7.67897532e-01 -6.40572383e-01 -6.35010460e-04 2.87410217e+02] [ 6.40572179e-01 7.67897794e-01 -5.10568779e-04 3.63575243e+02] [ 8.14679391e-04 -1.47055294e-05 9.99999668e-01 1.63610086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.112755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:287.43, Y:363.59, Z:1.64 [[ 7.68560290e-01 -6.39777051e-01 -6.37173691e-04 2.87430013e+02] [ 6.39776850e-01 7.68560554e-01 -5.07867819e-04 3.63592578e+02] [ 8.14628741e-04 -1.73219385e-05 9.99999668e-01 1.63816134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.46, Y:363.61, Z:1.64 [[ 7.71381505e-01 -6.36372667e-01 -6.33601021e-04 2.87455249e+02] [ 6.36372461e-01 7.71381766e-01 -5.12324564e-04 3.63611963e+02] [ 8.14777623e-04 -8.00854769e-06 9.99999668e-01 1.63860018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:287.48, Y:363.63, Z:1.64 [[ 7.71592500e-01 -6.36116818e-01 -6.38735844e-04 2.87478020e+02] [ 6.36116617e-01 7.71592764e-01 -5.05927141e-04 3.63630396e+02] [ 8.14672719e-04 -1.59408966e-05 9.99999668e-01 1.63817005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.202755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:287.50, Y:363.65, Z:1.64 [[ 7.71587650e-01 -6.36122700e-01 -6.39104373e-04 2.87498155e+02] [ 6.36122500e-01 7.71587915e-01 -5.05467753e-04 3.63648376e+02] [ 8.14664722e-04 -1.65359954e-05 9.99999668e-01 1.63831333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.232755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:287.52, Y:363.67, Z:1.64 [[ 7.70823170e-01 -6.37048849e-01 -6.36103194e-04 2.87518537e+02] [ 6.37048645e-01 7.70823433e-01 -5.09206461e-04 3.63665475e+02] [ 8.14712637e-04 -1.27205399e-05 9.99999668e-01 1.63904734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.54, Y:363.68, Z:1.64 [[ 7.71177845e-01 -6.36619452e-01 -6.35285242e-04 2.87539678e+02] [ 6.36619248e-01 7.71178107e-01 -5.10224900e-04 3.63682511e+02] [ 8.14737167e-04 -1.09606733e-05 9.99999668e-01 1.64057999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.56, Y:363.70, Z:1.64 [[ 7.70141992e-01 -6.37872174e-01 -6.33793415e-04 2.87561477e+02] [ 6.37871969e-01 7.70142253e-01 -5.12081080e-04 3.63699984e+02] [ 8.14753360e-04 -9.90391066e-06 9.99999668e-01 1.64011439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:287.58, Y:363.72, Z:1.64 [[ 7.70092514e-01 -6.37931907e-01 -6.33612367e-04 2.87584137e+02] [ 6.37931701e-01 7.70092775e-01 -5.12306195e-04 3.63716561e+02] [ 8.14756774e-04 -9.67824951e-06 9.99999668e-01 1.63852870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.352755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:287.61, Y:363.73, Z:1.64 [[ 7.69379178e-01 -6.38792048e-01 -6.32448900e-04 2.87606144e+02] [ 6.38791841e-01 7.69379438e-01 -5.13752818e-04 3.63733807e+02] [ 8.14774394e-04 -8.73247638e-06 9.99999668e-01 1.63816096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.382755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:287.63, Y:363.75, Z:1.64 [[ 7.69252866e-01 -6.38944151e-01 -6.31882255e-04 2.87628315e+02] [ 6.38943944e-01 7.69253126e-01 -5.14457140e-04 3.63751793e+02] [ 8.14786780e-04 -7.98971124e-06 9.99999668e-01 1.63818393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4127550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:287.65, Y:363.77, Z:1.64 [[ 7.66595734e-01 -6.42129723e-01 -6.32079967e-04 2.87651752e+02] [ 6.42129517e-01 7.66595995e-01 -5.14211336e-04 3.63770090e+02] [ 8.14740354e-04 -1.16849869e-05 9.99999668e-01 1.63581894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.442755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:287.67, Y:363.79, Z:1.64 [[ 7.65766975e-01 -6.43117826e-01 -6.34855758e-04 2.87673092e+02] [ 6.43117623e-01 7.65767238e-01 -5.10761139e-04 3.63787744e+02] [ 8.14631333e-04 -1.71629141e-05 9.99999668e-01 1.63553767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:287.69, Y:363.81, Z:1.63 [[ 7.65388582e-01 -6.43568113e-01 -6.34950751e-04 2.87693667e+02] [ 6.43567910e-01 7.65388845e-01 -5.10643097e-04 3.63808321e+02] [ 8.14617836e-04 -1.77935315e-05 9.99999668e-01 1.63367074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.71, Y:363.83, Z:1.63 [[ 7.65800653e-01 -6.43077722e-01 -6.35317378e-04 2.87714855e+02] [ 6.43077520e-01 7.65800916e-01 -5.10187625e-04 3.63825773e+02] [ 8.14616926e-04 -1.78563076e-05 9.99999668e-01 1.63323268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:287.74, Y:363.85, Z:1.63 [[ 7.67064111e-01 -6.41570142e-01 -6.34591140e-04 2.87742996e+02] [ 6.41569938e-01 7.67064373e-01 -5.11089484e-04 3.63845296e+02] [ 8.14672008e-04 -1.50961982e-05 9.99999668e-01 1.62968809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:287.76, Y:363.86, Z:1.63 [[ 7.66571189e-01 -6.42159013e-01 -6.43888588e-04 2.87764472e+02] [ 6.42158820e-01 7.66571459e-01 -4.99575791e-04 3.63864115e+02] [ 8.14393711e-04 -3.05183277e-05 9.99999668e-01 1.62803366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.592755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:287.78, Y:363.88, Z:1.63 [[ 7.64121978e-01 -6.45071461e-01 -6.43019678e-04 2.87778243e+02] [ 6.45071268e-01 7.64122247e-01 -5.00650861e-04 3.63881401e+02] [ 8.14301224e-04 -3.22351930e-05 9.99999668e-01 1.62591905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.81, Y:363.90, Z:1.63 [[ 7.65841346e-01 -6.43029263e-01 -6.33258198e-04 2.87809342e+02] [ 6.43029058e-01 7.65841607e-01 -5.12707516e-04 3.63900180e+02] [ 8.14661412e-04 -1.45508092e-05 9.99999668e-01 1.62816494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.652755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:287.83, Y:363.92, Z:1.63 [[ 7.64904558e-01 -6.44143309e-01 -6.44018410e-04 2.87831488e+02] [ 6.44143117e-01 7.64904828e-01 -4.99412141e-04 3.63918857e+02] [ 8.14305780e-04 -3.28374024e-05 9.99999668e-01 1.62746241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.682755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:287.84, Y:363.94, Z:1.63 [[ 7.61673795e-01 -6.47960350e-01 -6.44212591e-04 2.87843946e+02] [ 6.47960159e-01 7.61674066e-01 -4.99172385e-04 3.63936996e+02] [ 8.14123937e-04 -3.72175682e-05 9.99999668e-01 1.63027518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.87, Y:363.96, Z:1.63 [[ 7.63174570e-01 -6.46192057e-01 -6.32688475e-04 2.87874914e+02] [ 6.46191854e-01 7.63174832e-01 -5.13374825e-04 3.63955349e+02] [ 8.14590655e-04 -1.70435267e-05 9.99999668e-01 1.62922101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.90, Y:363.97, Z:1.63 [[ 7.63202026e-01 -6.46159619e-01 -6.42951908e-04 2.87899345e+02] [ 6.46159426e-01 7.63202296e-01 -5.00737280e-04 3.63973963e+02] [ 8.14258583e-04 -3.32857286e-05 9.99999668e-01 1.62982361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.92, Y:363.99, Z:1.63 [[ 7.62524491e-01 -6.46959028e-01 -6.45325039e-04 2.87921670e+02] [ 6.46958838e-01 7.62524763e-01 -4.97816340e-04 3.63991747e+02] [ 8.14143098e-04 -3.79015856e-05 9.99999668e-01 1.62990273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:364.01, Z:1.63 [[ 7.62738753e-01 -6.46706407e-01 -6.46521087e-04 2.87942270e+02] [ 6.46706218e-01 7.62739026e-01 -4.96345599e-04 3.64009452e+02] [ 8.14116743e-04 -3.95271838e-05 9.99999668e-01 1.63375136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.832755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:287.95, Y:364.03, Z:1.64 [[ 7.60937162e-01 -6.48825262e-01 -6.43282564e-04 2.87953839e+02] [ 6.48825071e-01 7.60937434e-01 -5.00321309e-04 3.64026309e+02] [ 8.14118888e-04 -3.66647774e-05 9.99999668e-01 1.63665494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.98, Y:364.05, Z:1.64 [[ 7.63584956e-01 -6.45707067e-01 -6.31147515e-04 2.87979554e+02] [ 6.45706862e-01 7.63585217e-01 -5.15187745e-04 3.64046527e+02] [ 8.14595280e-04 -1.41466696e-05 9.99999668e-01 1.63684375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.892755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:288.00, Y:364.06, Z:1.64 [[ 7.63975935e-01 -6.45244423e-01 -6.37267114e-04 2.87996995e+02] [ 6.45244224e-01 7.63976200e-01 -5.07688519e-04 3.64064599e+02] [ 8.14440094e-04 -2.33311131e-05 9.99999668e-01 1.63617403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.02, Y:364.08, Z:1.64 [[ 7.65540466e-01 -6.43387439e-01 -6.30917209e-04 2.88022814e+02] [ 6.43387232e-01 7.65540726e-01 -5.15460720e-04 3.64084064e+02] [ 8.14633771e-04 -1.13180376e-05 9.99999668e-01 1.63622282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.04, Y:364.10, Z:1.64 [[ 7.67047263e-01 -6.41590284e-01 -6.35690786e-04 2.88043426e+02] [ 6.41590082e-01 7.67047526e-01 -5.09625373e-04 3.64102418e+02] [ 8.14575732e-04 -1.69461561e-05 9.99999668e-01 1.63782287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.07, Y:364.12, Z:1.64 [[ 7.68252532e-01 -6.40146581e-01 -6.34114129e-04 2.88065731e+02] [ 6.40146377e-01 7.68252794e-01 -5.11551661e-04 3.64120043e+02] [ 8.14627998e-04 -1.29250029e-05 9.99999668e-01 1.63714737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.09, Y:364.14, Z:1.64 [[ 7.70436181e-01 -6.37516813e-01 -6.35737081e-04 2.88085023e+02] [ 6.37516609e-01 7.70436443e-01 -5.09566515e-04 3.64136801e+02] [ 8.14652236e-04 -1.27044681e-05 9.99999668e-01 1.63639131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:364.16, Z:1.64 [[ 7.71279466e-01 -6.36496338e-01 -6.30480139e-04 2.88108955e+02] [ 6.36496128e-01 7.71279724e-01 -5.15989891e-04 3.64155106e+02] [ 8.14702224e-04 -3.32575984e-06 9.99999668e-01 1.63915231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.13, Y:364.17, Z:1.64 [[ 7.71280936e-01 -6.36494554e-01 -6.32739953e-04 2.88128798e+02] [ 6.36494347e-01 7.71281196e-01 -5.13228851e-04 3.64172557e+02] [ 8.14687796e-04 -6.89177519e-06 9.99999668e-01 1.63669559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.102755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:288.15, Y:364.19, Z:1.63 [[ 7.71076459e-01 -6.36742254e-01 -6.30256823e-04 2.88151122e+02] [ 6.36742044e-01 7.71076716e-01 -5.16260286e-04 3.64190102e+02] [ 8.14701099e-04 -3.23486463e-06 9.99999668e-01 1.63410386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.17, Y:364.21, Z:1.64 [[ 7.70144588e-01 -6.37869044e-01 -6.30120588e-04 2.88172960e+02] [ 6.37868835e-01 7.70144846e-01 -5.16426513e-04 3.64208770e+02] [ 8.14696609e-04 -4.21120115e-06 9.99999668e-01 1.63893662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1627550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:288.19, Y:364.23, Z:1.64 [[ 7.69454616e-01 -6.38701179e-01 -6.30482958e-04 2.88194146e+02] [ 6.38700971e-01 7.69454874e-01 -5.15984507e-04 3.64225058e+02] [ 8.14688098e-04 -5.66341685e-06 9.99999668e-01 1.63704336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.22, Y:364.24, Z:1.64 [[ 7.69160637e-01 -6.39055176e-01 -6.29802680e-04 2.88217483e+02] [ 6.39054967e-01 7.69160895e-01 -5.16813869e-04 3.64242073e+02] [ 8.14692171e-04 -4.96564701e-06 9.99999668e-01 1.63884096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.222755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:288.24, Y:364.26, Z:1.64 [[ 7.68416979e-01 -6.39949177e-01 -6.30676601e-04 2.88239989e+02] [ 6.39948969e-01 7.68417238e-01 -5.15748991e-04 3.64259317e+02] [ 8.14675914e-04 -7.29055915e-06 9.99999668e-01 1.63651564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.26, Y:364.28, Z:1.64 [[ 7.68111111e-01 -6.40316267e-01 -6.31937826e-04 2.88261080e+02] [ 6.40316061e-01 7.68111371e-01 -5.14212402e-04 3.64276811e+02] [ 8.14657195e-04 -9.66768000e-06 9.99999668e-01 1.63757172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.282755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.28, Y:364.29, Z:1.64 [[ 7.67702776e-01 -6.40805781e-01 -6.32070080e-04 2.88281397e+02] [ 6.40805574e-01 7.67703036e-01 -5.14051325e-04 3.64294085e+02] [ 8.14649180e-04 -1.03954019e-05 9.99999668e-01 1.63652173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.31, Y:364.31, Z:1.64 [[ 7.67616449e-01 -6.40909191e-01 -6.29480919e-04 2.88306302e+02] [ 6.40908982e-01 7.67616707e-01 -5.17202562e-04 3.64312053e+02] [ 8.14679946e-04 -6.42678151e-06 9.99999668e-01 1.63779301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:364.33, Z:1.64 [[ 7.67077945e-01 -6.41553604e-01 -6.32377809e-04 2.88330149e+02] [ 6.41553399e-01 7.67078205e-01 -5.13680025e-04 3.64329286e+02] [ 8.14636506e-04 -1.16715148e-05 9.99999668e-01 1.64018386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.35, Y:364.35, Z:1.64 [[ 7.67127874e-01 -6.41493900e-01 -6.33047149e-04 2.88350888e+02] [ 6.41493695e-01 7.67128136e-01 -5.12866586e-04 3.64345812e+02] [ 8.14629065e-04 -1.26615005e-05 9.99999668e-01 1.63968809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.37, Y:364.36, Z:1.64 [[ 7.67372600e-01 -6.41201133e-01 -6.32961595e-04 2.88370409e+02] [ 6.41200927e-01 7.67372861e-01 -5.12970593e-04 3.64363684e+02] [ 8.14634875e-04 -1.22159843e-05 9.99999668e-01 1.64006701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.39, Y:364.38, Z:1.64 [[ 7.67917241e-01 -6.40548760e-01 -6.30849909e-04 2.88389810e+02] [ 6.40548552e-01 7.67917500e-01 -5.15535939e-04 3.64381195e+02] [ 8.14666591e-04 -8.20106010e-06 9.99999668e-01 1.63968159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:288.41, Y:364.40, Z:1.64 [[ 7.68091120e-01 -6.40340251e-01 -6.28796148e-04 2.88411260e+02] [ 6.40340041e-01 7.68091377e-01 -5.18028845e-04 3.64399990e+02] [ 8.14687619e-04 -4.74999596e-06 9.99999668e-01 1.63953905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.43, Y:364.42, Z:1.64 [[ 7.65741153e-01 -6.43148576e-01 -6.28642017e-04 2.88429417e+02] [ 6.43148367e-01 7.65741412e-01 -5.18215819e-04 3.64420824e+02] [ 8.14666992e-04 -7.49090777e-06 9.99999668e-01 1.63590168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.522755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.45, Y:364.44, Z:1.64 [[ 7.68429379e-01 -6.39934290e-01 -6.27929422e-04 2.88454472e+02] [ 6.39934080e-01 7.68429635e-01 -5.19079930e-04 3.64435873e+02] [ 8.14696623e-04 -2.95716876e-06 9.99999668e-01 1.63940434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.48, Y:364.45, Z:1.64 [[ 7.68329285e-01 -6.40054462e-01 -6.28454498e-04 2.88475674e+02] [ 6.40054252e-01 7.68329542e-01 -5.18443436e-04 3.64452633e+02] [ 8.14692191e-04 -3.90969902e-06 9.99999668e-01 1.64085046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.582755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:288.50, Y:364.47, Z:1.64 [[ 7.67844247e-01 -6.40636260e-01 -6.28368002e-04 2.88497458e+02] [ 6.40636050e-01 7.67844504e-01 -5.18548250e-04 3.64470852e+02] [ 8.14689728e-04 -4.39090405e-06 9.99999668e-01 1.64148435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:288.52, Y:364.49, Z:1.64 [[ 7.67107017e-01 -6.41518847e-01 -6.28218017e-04 2.88519338e+02] [ 6.41518637e-01 7.67107274e-01 -5.18729892e-04 3.64489113e+02] [ 8.14685613e-04 -5.09222640e-06 9.99999668e-01 1.64176546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.54, Y:364.51, Z:1.64 [[ 7.65788875e-01 -6.43091755e-01 -6.28068393e-04 2.88541096e+02] [ 6.43091545e-01 7.65789132e-01 -5.18910990e-04 3.64507577e+02] [ 8.14675329e-04 -6.52921037e-06 9.99999668e-01 1.64334942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.56, Y:364.53, Z:1.64 [[ 7.65911470e-01 -6.42945741e-01 -6.27938043e-04 2.88563290e+02] [ 6.42945531e-01 7.65911728e-01 -5.19068681e-04 3.64525536e+02] [ 8.14678109e-04 -6.16930199e-06 9.99999668e-01 1.64393404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.59, Y:364.54, Z:1.65 [[ 7.63292788e-01 -6.46052417e-01 -6.27785299e-04 2.88585415e+02] [ 6.46052209e-01 7.63293046e-01 -5.19253351e-04 3.64544277e+02] [ 8.14649035e-04 -9.23974122e-06 9.99999668e-01 1.64558319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.61, Y:364.56, Z:1.65 [[ 7.62531374e-01 -6.46950933e-01 -6.27645707e-04 2.88607145e+02] [ 6.46950724e-01 7.62531633e-01 -5.19422027e-04 3.64562039e+02] [ 8.14640270e-04 -9.98025226e-06 9.99999668e-01 1.64544109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.63, Y:364.58, Z:1.64 [[ 7.62741091e-01 -6.46703669e-01 -6.27490238e-04 2.88627826e+02] [ 6.46703460e-01 7.62741349e-01 -5.19609775e-04 3.64578599e+02] [ 8.14646298e-04 -9.47238163e-06 9.99999668e-01 1.64387207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7927550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:288.65, Y:364.60, Z:1.64 [[ 7.60104550e-01 -6.49800495e-01 -6.23547103e-04 2.88649808e+02] [ 6.49800284e-01 7.60104806e-01 -5.24366875e-04 3.64598621e+02] [ 8.14695005e-04 -6.60743733e-06 9.99999668e-01 1.64368601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.67, Y:364.62, Z:1.65 [[ 7.59405137e-01 -6.50617741e-01 -6.27280687e-04 2.88671361e+02] [ 6.50617533e-01 7.59405396e-01 -5.19861823e-04 3.64617310e+02] [ 8.14591663e-04 -1.33340743e-05 9.99999668e-01 1.64650728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.69, Y:364.64, Z:1.65 [[ 7.58307375e-01 -6.51896872e-01 -6.27128681e-04 2.88692983e+02] [ 6.51896664e-01 7.58307634e-01 -5.20045128e-04 3.64635715e+02] [ 8.14572259e-04 -1.44690395e-05 9.99999668e-01 1.64707762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.71, Y:364.65, Z:1.65 [[ 7.57602799e-01 -6.52715563e-01 -6.26974309e-04 2.88714255e+02] [ 6.52715356e-01 7.57603058e-01 -5.20231175e-04 3.64653918e+02] [ 8.14560638e-04 -1.51071650e-05 9.99999668e-01 1.64747426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.74, Y:364.67, Z:1.65 [[ 7.57526504e-01 -6.52804107e-01 -6.26817927e-04 2.88735240e+02] [ 6.52803900e-01 7.57526763e-01 -5.20419528e-04 3.64671227e+02] [ 8.14563361e-04 -1.49576013e-05 9.99999668e-01 1.64779662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.942755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:288.76, Y:364.69, Z:1.65 [[ 7.57098306e-01 -6.53300667e-01 -6.26730318e-04 2.88756530e+02] [ 6.53300460e-01 7.57098566e-01 -5.20525013e-04 3.64689982e+02] [ 8.14555963e-04 -1.53545994e-05 9.99999668e-01 1.64523183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.78, Y:364.71, Z:1.65 [[ 7.57665304e-01 -6.52643008e-01 -6.26114118e-04 2.88779102e+02] [ 6.52642800e-01 7.57665562e-01 -5.21266661e-04 3.64708500e+02] [ 8.14586147e-04 -1.36832082e-05 9.99999668e-01 1.64886617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.80, Y:364.73, Z:1.65 [[ 7.58102319e-01 -6.52135325e-01 -6.26546960e-04 2.88800725e+02] [ 6.52135117e-01 7.58102578e-01 -5.20745878e-04 3.64728287e+02] [ 8.14583647e-04 -1.38146177e-05 9.99999668e-01 1.64759400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.82, Y:364.75, Z:1.65 [[ 7.58241827e-01 -6.51973112e-01 -6.27147003e-04 2.88821048e+02] [ 6.51972905e-01 7.58242086e-01 -5.20024233e-04 3.64745618e+02] [ 8.14571069e-04 -1.45787282e-05 9.99999668e-01 1.64784310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.84, Y:364.76, Z:1.65 [[ 7.58377160e-01 -6.51815688e-01 -6.26326120e-04 2.88842697e+02] [ 6.51815480e-01 7.58377418e-01 -5.21011046e-04 3.64763917e+02] [ 8.14594759e-04 -1.31261829e-05 9.99999668e-01 1.64863079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.86, Y:364.78, Z:1.65 [[ 7.58835064e-01 -6.51282545e-01 -6.26166292e-04 2.88863271e+02] [ 6.51282337e-01 7.58835322e-01 -5.21203061e-04 3.64781165e+02] [ 8.14607556e-04 -1.23038876e-05 9.99999668e-01 1.64847775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.89, Y:364.80, Z:1.65 [[ 7.59067389e-01 -6.51011757e-01 -6.26078842e-04 2.88885058e+02] [ 6.51011548e-01 7.59067647e-01 -5.21308087e-04 3.64799649e+02] [ 8.14613887e-04 -1.18765877e-05 9.99999668e-01 1.64888336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.152755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:288.91, Y:364.82, Z:1.65 [[ 7.60277421e-01 -6.49598223e-01 -6.25915619e-04 2.88905774e+02] [ 6.49598014e-01 7.60277678e-01 -5.21503988e-04 3.64817580e+02] [ 8.14637738e-04 -1.01058362e-05 9.99999668e-01 1.64749276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.93, Y:364.84, Z:1.65 [[ 7.60996410e-01 -6.48755788e-01 -6.25823782e-04 2.88926320e+02] [ 6.48755578e-01 7.60996668e-01 -5.21614173e-04 3.64835491e+02] [ 8.14650026e-04 -9.06015617e-06 9.99999668e-01 1.64882479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.212755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:288.95, Y:364.85, Z:1.65 [[ 7.61299955e-01 -6.48399558e-01 -6.25733096e-04 2.88947624e+02] [ 6.48399349e-01 7.61300212e-01 -5.21722938e-04 3.64853317e+02] [ 8.14655661e-04 -8.53728293e-06 9.99999668e-01 1.64874436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.97, Y:364.87, Z:1.65 [[ 7.63123966e-01 -6.46251825e-01 -6.25571719e-04 2.88967244e+02] [ 6.46251614e-01 7.63124223e-01 -5.21916366e-04 3.64868437e+02] [ 8.14678335e-04 -5.98984530e-06 9.99999668e-01 1.65129065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.272755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:288.99, Y:364.89, Z:1.65 [[ 7.61819124e-01 -6.47789499e-01 -6.21944153e-04 2.88990680e+02] [ 6.47789286e-01 7.61819378e-01 -5.26263167e-04 3.64888510e+02] [ 8.14716861e-04 -1.97141372e-06 9.99999668e-01 1.65040991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.01, Y:364.91, Z:1.65 [[ 7.61067752e-01 -6.48672094e-01 -6.25496269e-04 2.89011366e+02] [ 6.48671884e-01 7.61068009e-01 -5.22006834e-04 3.64906919e+02] [ 8.14656466e-04 -8.45927571e-06 9.99999668e-01 1.65023308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.03, Y:364.93, Z:1.65 [[ 7.60882463e-01 -6.48889426e-01 -6.25777066e-04 2.89033180e+02] [ 6.48889216e-01 7.60882720e-01 -5.21670440e-04 3.64925378e+02] [ 8.14649388e-04 -9.13010065e-06 9.99999668e-01 1.65025650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.362755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:289.06, Y:364.94, Z:1.65 [[ 7.60420544e-01 -6.49430677e-01 -6.25591945e-04 2.89055459e+02] [ 6.49430467e-01 7.60420802e-01 -5.21892069e-04 3.64943056e+02] [ 8.14645848e-04 -9.42101836e-06 9.99999668e-01 1.64964859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.08, Y:364.96, Z:1.65 [[ 7.59731516e-01 -6.50236598e-01 -6.25140472e-04 2.89077073e+02] [ 6.50236388e-01 7.59731773e-01 -5.22432300e-04 3.64961378e+02] [ 8.14643680e-04 -9.58079839e-06 9.99999668e-01 1.65098782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4227550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:289.10, Y:364.98, Z:1.65 [[ 7.58661886e-01 -6.51484268e-01 -6.24975666e-04 2.89097497e+02] [ 6.51484059e-01 7.58662144e-01 -5.22629380e-04 3.64979091e+02] [ 8.14630198e-04 -1.06626919e-05 9.99999668e-01 1.64876984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:289.12, Y:365.00, Z:1.65 [[ 7.56833208e-01 -6.53607760e-01 -6.24883849e-04 2.89118628e+02] [ 6.53607551e-01 7.56833466e-01 -5.22739138e-04 3.64997298e+02] [ 8.14599367e-04 -1.28024640e-05 9.99999668e-01 1.65165342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.14, Y:365.02, Z:1.65 [[ 7.55825472e-01 -6.54772835e-01 -6.24716005e-04 2.89139785e+02] [ 6.54772626e-01 7.55825730e-01 -5.22939648e-04 3.65015220e+02] [ 8.14583107e-04 -1.37958333e-05 9.99999668e-01 1.65135753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.512755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.16, Y:365.03, Z:1.65 [[ 7.54078170e-01 -6.56784381e-01 -6.24548679e-04 2.89160550e+02] [ 6.56784173e-01 7.54078428e-01 -5.23139410e-04 3.65032985e+02] [ 8.14548480e-04 -1.57056784e-05 9.99999668e-01 1.65023427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.18, Y:365.05, Z:1.65 [[ 7.53273144e-01 -6.57707519e-01 -6.24456879e-04 2.89181717e+02] [ 6.57707311e-01 7.53273403e-01 -5.23248967e-04 3.65051426e+02] [ 8.14531538e-04 -1.65604600e-05 9.99999668e-01 1.65092481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.20, Y:365.07, Z:1.65 [[ 7.52669696e-01 -6.58398009e-01 -6.24290861e-04 2.89202400e+02] [ 6.58397801e-01 7.52669955e-01 -5.23446968e-04 3.65069903e+02] [ 8.14521416e-04 -1.70490594e-05 9.99999668e-01 1.65137919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.22, Y:365.09, Z:1.65 [[ 7.51883288e-01 -6.59295937e-01 -6.24122906e-04 2.89221626e+02] [ 6.59295729e-01 7.51883546e-01 -5.23647150e-04 3.65088692e+02] [ 8.14506182e-04 -1.77600255e-05 9.99999668e-01 1.65135985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:289.24, Y:365.11, Z:1.65 [[ 7.51427512e-01 -6.59815357e-01 -6.24028382e-04 2.89242664e+02] [ 6.59815149e-01 7.51427771e-01 -5.23759770e-04 3.65107218e+02] [ 8.14496995e-04 -1.81758784e-05 9.99999668e-01 1.65099941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.26, Y:365.13, Z:1.65 [[ 7.50775316e-01 -6.60557368e-01 -6.23858073e-04 2.89262403e+02] [ 6.60557160e-01 7.50775575e-01 -5.23962548e-04 3.65125223e+02] [ 8.14484725e-04 -1.87157700e-05 9.99999668e-01 1.65171766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.692755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:289.28, Y:365.14, Z:1.65 [[ 7.50384753e-01 -6.61001009e-01 -6.23763832e-04 2.89283521e+02] [ 6.61000802e-01 7.50385012e-01 -5.24074716e-04 3.65143671e+02] [ 8.14476947e-04 -1.90507166e-05 9.99999668e-01 1.65067240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.30, Y:365.16, Z:1.65 [[ 7.50147737e-01 -6.61269978e-01 -6.23596907e-04 2.89304024e+02] [ 6.61269770e-01 7.50147996e-01 -5.24273265e-04 3.65162306e+02] [ 8.14476141e-04 -1.90833807e-05 9.99999668e-01 1.65252759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.752755096 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:289.32, Y:365.18, Z:1.65 [[ 7.50511647e-01 -6.60856927e-01 -6.23429966e-04 2.89323648e+02] [ 6.60856720e-01 7.50511906e-01 -5.24471705e-04 3.65181091e+02] [ 8.14492371e-04 -1.83757594e-05 9.99999668e-01 1.65128499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.782755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.34, Y:365.20, Z:1.65 [[ 7.50676833e-01 -6.60669285e-01 -6.23336861e-04 2.89344502e+02] [ 6.60669077e-01 7.50677091e-01 -5.24582337e-04 3.65200604e+02] [ 8.14500139e-04 -1.80275819e-05 9.99999668e-01 1.65479116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.812755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:289.37, Y:365.22, Z:1.65 [[ 7.50639321e-01 -6.60711905e-01 -6.23169266e-04 2.89365554e+02] [ 6.60711697e-01 7.50639579e-01 -5.24781354e-04 3.65219553e+02] [ 8.14504804e-04 -1.78137039e-05 9.99999668e-01 1.65223820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.842755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:289.39, Y:365.24, Z:1.65 [[ 7.51621657e-01 -6.59594191e-01 -6.23002048e-04 2.89385216e+02] [ 6.59593982e-01 7.51621915e-01 -5.24979794e-04 3.65239223e+02] [ 8.14535615e-04 -1.63422193e-05 9.99999668e-01 1.65294087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.41, Y:365.26, Z:1.66 [[ 7.52381314e-01 -6.58727538e-01 -6.22834210e-04 2.89405657e+02] [ 6.58727329e-01 7.52381572e-01 -5.25178841e-04 3.65258219e+02] [ 8.14558747e-04 -1.51431693e-05 9.99999668e-01 1.65533114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.43, Y:365.28, Z:1.66 [[ 7.54076695e-01 -6.56786077e-01 -6.22666726e-04 2.89425076e+02] [ 6.56785867e-01 7.54076952e-01 -5.25377339e-04 3.65277521e+02] [ 8.14599148e-04 -1.27838982e-05 9.99999668e-01 1.65603499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.932755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:289.45, Y:365.30, Z:1.65 [[ 7.54490993e-01 -6.56310105e-01 -6.22573681e-04 2.89445415e+02] [ 6.56309895e-01 7.54491249e-01 -5.25487575e-04 3.65296889e+02] [ 8.14609200e-04 -1.21256258e-05 9.99999668e-01 1.65377208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.47, Y:365.32, Z:1.66 [[ 7.55349610e-01 -6.55321738e-01 -6.22408995e-04 2.89465665e+02] [ 6.55321527e-01 7.55349866e-01 -5.25682563e-04 3.65316573e+02] [ 8.14627762e-04 -1.08038945e-05 9.99999668e-01 1.65664732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.48, Y:365.34, Z:1.66 [[ 7.56671807e-01 -6.53794608e-01 -6.22244359e-04 2.89484805e+02] [ 6.53794396e-01 7.56672063e-01 -5.25877369e-04 3.65336163e+02] [ 8.14650711e-04 -8.90329612e-06 9.99999668e-01 1.65706003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:289.51, Y:365.36, Z:1.66 [[ 7.56893572e-01 -6.53537859e-01 -6.22153573e-04 2.89505542e+02] [ 6.53537647e-01 7.56893828e-01 -5.25984753e-04 3.65355014e+02] [ 8.14655149e-04 -8.48630378e-06 9.99999668e-01 1.65680585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.052755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.53, Y:365.38, Z:1.65 [[ 7.57049303e-01 -6.53357456e-01 -6.21985973e-04 2.89528117e+02] [ 6.53357244e-01 7.57049559e-01 -5.26182869e-04 3.65375670e+02] [ 8.14659707e-04 -8.03266645e-06 9.99999668e-01 1.65420342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.082755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:289.55, Y:365.39, Z:1.66 [[ 7.57094463e-01 -6.53305121e-01 -6.26492588e-04 2.89545733e+02] [ 6.53304914e-01 7.57094722e-01 -5.20853762e-04 3.65393709e+02] [ 8.14590662e-04 -1.49551865e-05 9.99999668e-01 1.65546182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.57, Y:365.41, Z:1.66 [[ 7.56927248e-01 -6.53498856e-01 -6.21754996e-04 2.89566647e+02] [ 6.53498644e-01 7.56927503e-01 -5.26449027e-04 3.65413032e+02] [ 8.14657294e-04 -7.83243377e-06 9.99999668e-01 1.65625175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.59, Y:365.43, Z:1.66 [[ 7.56705013e-01 -6.53756176e-01 -6.21591145e-04 2.89586329e+02] [ 6.53755964e-01 7.56705268e-01 -5.26642419e-04 3.65432499e+02] [ 8.14657028e-04 -7.85595965e-06 9.99999668e-01 1.65648175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1727550960001 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.61, Y:365.45, Z:1.65 [[ 7.56745561e-01 -6.53709240e-01 -6.21421219e-04 2.89606729e+02] [ 6.53709027e-01 7.56745816e-01 -5.26842849e-04 3.65450688e+02] [ 8.14659946e-04 -7.54267319e-06 9.99999668e-01 1.65463886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.202755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:289.63, Y:365.47, Z:1.65 [[ 7.56883888e-01 -6.53549075e-01 -6.21326381e-04 2.89627160e+02] [ 6.53548863e-01 7.56884143e-01 -5.26954672e-04 3.65468918e+02] [ 8.14662824e-04 -7.22364827e-06 9.99999668e-01 1.65348024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.232755096 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:289.65, Y:365.49, Z:1.65 [[ 7.57832812e-01 -6.52448498e-01 -6.21235108e-04 2.89647474e+02] [ 6.52448285e-01 7.57833067e-01 -5.27062254e-04 3.65487829e+02] [ 8.14673483e-04 -5.89871100e-06 9.99999668e-01 1.65373406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.262755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:289.67, Y:365.51, Z:1.65 [[ 7.58487204e-01 -6.51687637e-01 -6.21070286e-04 2.89668084e+02] [ 6.51687424e-01 7.58487458e-01 -5.27256401e-04 3.65506223e+02] [ 8.14680501e-04 -4.82646112e-06 9.99999668e-01 1.65472644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.69, Y:365.53, Z:1.66 [[ 7.58985086e-01 -6.51107713e-01 -6.20905494e-04 2.89690310e+02] [ 6.51107499e-01 7.58985340e-01 -5.27450392e-04 3.65525693e+02] [ 8.14685186e-04 -3.94924287e-06 9.99999668e-01 1.65561780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.71, Y:365.54, Z:1.65 [[ 7.60024813e-01 -6.49893758e-01 -6.22336307e-04 2.89711044e+02] [ 6.49893545e-01 7.60025068e-01 -5.25766309e-04 3.65542506e+02] [ 8.14683436e-04 -4.85690818e-06 9.99999668e-01 1.65474643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.352755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.73, Y:365.56, Z:1.65 [[ 7.60053910e-01 -6.49859730e-01 -6.20692301e-04 2.89732539e+02] [ 6.49859516e-01 7.60054163e-01 -5.27700025e-04 3.65560095e+02] [ 8.14690763e-04 -2.28233143e-06 9.99999668e-01 1.65314109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.382755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:289.75, Y:365.58, Z:1.65 [[ 7.60811848e-01 -6.48972224e-01 -6.20529557e-04 2.89753352e+02] [ 6.48972009e-01 7.60812101e-01 -5.27891329e-04 3.65577029e+02] [ 8.14693205e-04 -1.08033595e-06 9.99999668e-01 1.65226980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.78, Y:365.60, Z:1.65 [[ 7.61227112e-01 -6.48485081e-01 -6.20440360e-04 2.89775084e+02] [ 6.48484866e-01 7.61227365e-01 -5.27996142e-04 3.65595555e+02] [ 8.14693801e-04 -4.21205126e-07 9.99999668e-01 1.65358824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.80, Y:365.61, Z:1.65 [[ 7.61704621e-01 -6.47924136e-01 -6.20278864e-04 2.89795808e+02] [ 6.47923921e-01 7.61704873e-01 -5.28185797e-04 3.65612309e+02] [ 8.14693759e-04 4.28048056e-07 9.99999668e-01 1.65281961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.82, Y:365.63, Z:1.65 [[ 7.61755722e-01 -6.47864056e-01 -6.20169224e-04 2.89816736e+02] [ 6.47863841e-01 7.61755975e-01 -5.28314499e-04 3.65629423e+02] [ 8.14693586e-04 6.61377483e-07 9.99999668e-01 1.65246155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.84, Y:365.65, Z:1.65 [[ 7.61554628e-01 -6.48100427e-01 -6.20079823e-04 2.89838043e+02] [ 6.48100212e-01 7.61554881e-01 -5.28419407e-04 3.65646105e+02] [ 8.14693660e-04 5.46380341e-07 9.99999668e-01 1.65229827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.532755096 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:289.86, Y:365.66, Z:1.65 [[ 7.60082271e-01 -6.49826559e-01 -6.19971972e-04 2.89861190e+02] [ 6.49826344e-01 7.60082524e-01 -5.28545914e-04 3.65661560e+02] [ 8.14693034e-04 -1.13574129e-06 9.99999668e-01 1.64905519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.88, Y:365.68, Z:1.65 [[ 7.59836337e-01 -6.50114111e-01 -6.19812532e-04 2.89883333e+02] [ 6.50113896e-01 7.59836590e-01 -5.28732820e-04 3.65677842e+02] [ 8.14692907e-04 -1.19833058e-06 9.99999668e-01 1.65184310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.592755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:289.91, Y:365.69, Z:1.65 [[ 7.58167085e-01 -6.52060034e-01 -6.19724467e-04 2.89905778e+02] [ 6.52059819e-01 7.58167338e-01 -5.28836020e-04 3.65694751e+02] [ 8.14687682e-04 -3.15135982e-06 9.99999668e-01 1.64851238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.622755096 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:289.93, Y:365.71, Z:1.65 [[ 7.56070694e-01 -6.54489665e-01 -6.19568192e-04 2.89928799e+02] [ 6.54489451e-01 7.56070948e-01 -5.29019044e-04 3.65709558e+02] [ 8.14675007e-04 -5.52504960e-06 9.99999668e-01 1.64690735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:289.95, Y:365.73, Z:1.65 [[ 7.54390365e-01 -6.56425772e-01 -6.19483743e-04 2.89952148e+02] [ 6.56425559e-01 7.54390619e-01 -5.29117916e-04 3.65728648e+02] [ 8.14659360e-04 -7.48350439e-06 9.99999668e-01 1.65125895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.682755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:289.98, Y:365.74, Z:1.65 [[ 7.53459515e-01 -6.57494010e-01 -6.20803994e-04 2.89975165e+02] [ 6.57493799e-01 7.53459771e-01 -5.27572518e-04 3.65743300e+02] [ 8.14626606e-04 -1.06702430e-05 9.99999668e-01 1.64860252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:290.00, Y:365.76, Z:1.65 [[ 7.52494239e-01 -6.58598540e-01 -6.19293154e-04 2.89996739e+02] [ 6.58598327e-01 7.52494494e-01 -5.29340101e-04 3.65760709e+02] [ 8.14637306e-04 -9.54005888e-06 9.99999668e-01 1.65058260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.02, Y:365.78, Z:1.65 [[ 7.51763463e-01 -6.59432568e-01 -6.19134450e-04 2.90018410e+02] [ 6.59432356e-01 7.51763718e-01 -5.29525662e-04 3.65777987e+02] [ 8.14629284e-04 -1.01992432e-05 9.99999668e-01 1.65258774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.04, Y:365.80, Z:1.65 [[ 7.51221072e-01 -6.60050391e-01 -6.18965112e-04 2.90042445e+02] [ 6.60050178e-01 7.51221327e-01 -5.29723528e-04 3.65795967e+02] [ 8.14624014e-04 -1.06085559e-05 9.99999668e-01 1.65236632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.802755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:290.06, Y:365.81, Z:1.65 [[ 7.49477506e-01 -6.62029517e-01 -6.22216840e-04 2.90061861e+02] [ 6.62029308e-01 7.49477764e-01 -5.25924407e-04 3.65811771e+02] [ 8.14515167e-04 -1.77572711e-05 9.99999668e-01 1.65117443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:365.83, Z:1.65 [[ 7.48786340e-01 -6.62811160e-01 -6.18683529e-04 2.90082035e+02] [ 6.62810948e-01 7.48786596e-01 -5.30048560e-04 3.65829508e+02] [ 8.14584034e-04 -1.31770947e-05 9.99999668e-01 1.65420873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.862755096 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:290.10, Y:365.85, Z:1.65 [[ 7.47521729e-01 -6.64237068e-01 -6.18589408e-04 2.90103695e+02] [ 6.64236857e-01 7.47521985e-01 -5.30158380e-04 3.65847510e+02] [ 8.14560030e-04 -1.45849750e-05 9.99999668e-01 1.65406986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.892755096 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:290.12, Y:365.87, Z:1.65 [[ 7.46743018e-01 -6.65112384e-01 -6.18418874e-04 2.90124593e+02] [ 6.65112173e-01 7.46743274e-01 -5.30357230e-04 3.65865386e+02] [ 8.14547296e-04 -1.52773627e-05 9.99999668e-01 1.65219250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9227550960001 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:290.15, Y:365.89, Z:1.65 [[ 7.45550116e-01 -6.66449280e-01 -6.18303172e-04 2.90146708e+02] [ 6.66449069e-01 7.45550372e-01 -5.30492084e-04 3.65885526e+02] [ 8.14522227e-04 -1.65591388e-05 9.99999668e-01 1.65229560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.952755096 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:290.17, Y:365.90, Z:1.65 [[ 7.45063441e-01 -6.66993316e-01 -6.20557716e-04 2.90166498e+02] [ 6.66993108e-01 7.45063699e-01 -5.27864185e-04 3.65903442e+02] [ 8.14436910e-04 -2.06154137e-05 9.99999668e-01 1.65293190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.982755096 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:290.19, Y:365.92, Z:1.65 [[ 7.45002590e-01 -6.67061285e-01 -6.19443164e-04 2.90187445e+02] [ 6.67061075e-01 7.45002847e-01 -5.29162647e-04 3.65921742e+02] [ 8.14470836e-04 -1.89788811e-05 9.99999668e-01 1.65336046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.012755096 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:290.21, Y:365.94, Z:1.65 [[ 7.44391723e-01 -6.67742900e-01 -6.18001689e-04 2.90208277e+02] [ 6.67742689e-01 7.44391980e-01 -5.30840803e-04 3.65940363e+02] [ 8.14500678e-04 -1.75126100e-05 9.99999668e-01 1.65130436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0427550960001 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:290.23, Y:365.96, Z:1.65 [[ 7.44588510e-01 -6.67523459e-01 -6.17836872e-04 2.90228213e+02] [ 6.67523248e-01 7.44588767e-01 -5.31032561e-04 3.65959793e+02] [ 8.14511087e-04 -1.70197324e-05 9.99999668e-01 1.65230738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.072755096 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:290.25, Y:365.98, Z:1.65 [[ 7.44301385e-01 -6.67843594e-01 -6.17670810e-04 2.90248702e+02] [ 6.67843383e-01 7.44301641e-01 -5.31225646e-04 3.65978765e+02] [ 8.14509043e-04 -1.71153793e-05 9.99999668e-01 1.65082055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.102755096 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:290.27, Y:366.00, Z:1.65 [[ 7.45180326e-01 -6.66862730e-01 -6.17501283e-04 2.90267436e+02] [ 6.66862519e-01 7.45180581e-01 -5.31422633e-04 3.65998397e+02] [ 8.14535913e-04 -1.57827699e-05 9.99999668e-01 1.65238176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.132755096 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:290.29, Y:366.02, Z:1.65 [[ 7.45643922e-01 -6.66344326e-01 -6.17386299e-04 2.90287676e+02] [ 6.66344114e-01 7.45644177e-01 -5.31556183e-04 3.66017261e+02] [ 8.14549946e-04 -1.50400896e-05 9.99999668e-01 1.65293815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1627550960001 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:290.31, Y:366.04, Z:1.65 [[ 7.46086660e-01 -6.65848568e-01 -6.17218915e-04 2.90307337e+02] [ 6.65848356e-01 7.46086915e-01 -5.31750471e-04 3.66035376e+02] [ 8.14564246e-04 -1.42422669e-05 9.99999668e-01 1.65343465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.192755096 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:290.33, Y:366.06, Z:1.65 [[ 7.47077066e-01 -6.64737148e-01 -6.17105411e-04 2.90326679e+02] [ 6.64736935e-01 7.47077321e-01 -5.31882162e-04 3.66055420e+02] [ 8.14587289e-04 -1.28557947e-05 9.99999668e-01 1.65256837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.222755096 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:290.35, Y:366.07, Z:1.65 [[ 7.46871493e-01 -6.64968114e-01 -6.16941002e-04 2.90348211e+02] [ 6.64967902e-01 7.46871747e-01 -5.32072795e-04 3.66074212e+02] [ 8.14587247e-04 -1.28559615e-05 9.99999668e-01 1.65259157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.252755096 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:290.37, Y:366.09, Z:1.65 [[ 7.47365014e-01 -6.64413392e-01 -6.16776425e-04 2.90367361e+02] [ 6.64413179e-01 7.47365268e-01 -5.32263503e-04 3.66092850e+02] [ 8.14600278e-04 -1.19992651e-05 9.99999668e-01 1.65194556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.282755096 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:290.39, Y:366.11, Z:1.65 [[ 7.47945572e-01 -6.63759776e-01 -6.16685465e-04 2.90387604e+02] [ 6.63759563e-01 7.47945827e-01 -5.32368870e-04 3.66112586e+02] [ 8.14612362e-04 -1.11479349e-05 9.99999668e-01 1.65237333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.312755096 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:290.41, Y:366.13, Z:1.65 [[ 7.50445879e-01 -6.60931617e-01 -6.16525563e-04 2.90411228e+02] [ 6.60931403e-01 7.50446132e-01 -5.32553985e-04 3.66133597e+02] [ 8.14650990e-04 -7.82816130e-06 9.99999668e-01 1.65026698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.342755096 meters Centerline goodness : 0.997926 Centerline is valid? [True, True] Translation: X:290.43, Y:366.15, Z:1.65 [[ 7.50096440e-01 -6.61328165e-01 -6.23004038e-04 2.90426832e+02] [ 6.61327957e-01 7.50096699e-01 -5.25049928e-04 3.66152184e+02] [ 8.14543578e-04 -1.81719056e-05 9.99999668e-01 1.65304465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.372755096 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:290.45, Y:366.17, Z:1.65 [[ 7.50761752e-01 -6.60572791e-01 -6.16309154e-04 2.90445898e+02] [ 6.60572576e-01 7.50762005e-01 -5.32794227e-04 3.66171629e+02] [ 8.14650866e-04 -7.11539836e-06 9.99999668e-01 1.65362728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.402755096 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:290.47, Y:366.19, Z:1.65 [[ 7.52158032e-01 -6.58982485e-01 -6.16221533e-04 2.90471937e+02] [ 6.58982270e-01 7.52158284e-01 -5.32895550e-04 3.66191432e+02] [ 8.14664964e-04 -5.25739706e-06 9.99999668e-01 1.65359039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.432755096 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:290.49, Y:366.21, Z:1.65 [[ 7.50813157e-01 -6.60514356e-01 -6.24010733e-04 2.90486087e+02] [ 6.60514148e-01 7.50813416e-01 -5.23884937e-04 3.66209268e+02] [ 8.14549151e-04 -1.88282141e-05 9.99999668e-01 1.65415873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.462755096 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:290.51, Y:366.23, Z:1.65 [[ 7.50451529e-01 -6.60925203e-01 -6.15907157e-04 2.90505406e+02] [ 6.60924988e-01 7.50451782e-01 -5.33244712e-04 3.66227855e+02] [ 8.14643492e-04 -6.89412099e-06 9.99999668e-01 1.65287421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.492755096 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:290.53, Y:366.25, Z:1.65 [[ 7.49955458e-01 -6.61488044e-01 -6.15819839e-04 2.90525157e+02] [ 6.61487829e-01 7.49955711e-01 -5.33345532e-04 3.66246878e+02] [ 8.14639298e-04 -7.37193580e-06 9.99999668e-01 1.65367845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.522755096 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:290.55, Y:366.27, Z:1.65 [[ 7.48611750e-01 -6.63008347e-01 -6.15734479e-04 2.90545226e+02] [ 6.63008132e-01 7.48612004e-01 -5.33444060e-04 3.66266641e+02] [ 8.14624086e-04 -8.89447535e-06 9.99999668e-01 1.65234687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.552755096 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:290.57, Y:366.29, Z:1.65 [[ 7.47707214e-01 -6.64028270e-01 -6.15582497e-04 2.90565825e+02] [ 6.64028056e-01 7.47707467e-01 -5.33619386e-04 3.66285241e+02] [ 8.14613987e-04 -9.77298462e-06 9.99999668e-01 1.65060974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.582755096 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:290.59, Y:366.30, Z:1.65 [[ 7.46939822e-01 -6.64891362e-01 -6.15431418e-04 2.90586111e+02] [ 6.64891148e-01 7.46940076e-01 -5.33793571e-04 3.66304529e+02] [ 8.14605124e-04 -1.04832266e-05 9.99999668e-01 1.65300817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.612755096 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:290.61, Y:366.32, Z:1.65 [[ 7.44792822e-01 -6.67295492e-01 -6.15280771e-04 2.90606831e+02] [ 6.67295279e-01 7.44793076e-01 -5.33967158e-04 3.66322638e+02] [ 8.14570736e-04 -1.28790471e-05 9.99999668e-01 1.65005330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.642755096 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:290.63, Y:366.34, Z:1.65 [[ 7.43934552e-01 -6.68252201e-01 -6.15145227e-04 2.90628077e+02] [ 6.68251988e-01 7.43934806e-01 -5.34123264e-04 3.66341549e+02] [ 8.14556992e-04 -1.37192698e-05 9.99999668e-01 1.65040029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6727550960001 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:290.65, Y:366.36, Z:1.65 [[ 7.43127839e-01 -6.69149189e-01 -6.14998774e-04 2.90654108e+02] [ 6.69148976e-01 7.43128093e-01 -5.34291843e-04 3.66361876e+02] [ 8.14543820e-04 -1.44786573e-05 9.99999668e-01 1.65140810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.702755096 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:290.67, Y:366.38, Z:1.65 [[ 7.43417368e-01 -6.68827504e-01 -6.22162765e-04 2.90672369e+02] [ 6.68827297e-01 7.43417628e-01 -5.26062918e-04 3.66376853e+02] [ 8.14372115e-04 -2.50351306e-05 9.99999668e-01 1.65263458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.732755096 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:290.69, Y:366.40, Z:1.65 [[ 7.39617674e-01 -6.73026981e-01 -6.16157253e-04 2.90689132e+02] [ 6.73026770e-01 7.39617931e-01 -5.32957671e-04 3.66396716e+02] [ 8.14415844e-04 -2.05054128e-05 9.99999668e-01 1.65167155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.762755096 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:290.71, Y:366.42, Z:1.65 [[ 7.38913153e-01 -6.73800397e-01 -6.14164437e-04 2.90713486e+02] [ 6.73800184e-01 7.38913408e-01 -5.35244322e-04 3.66416318e+02] [ 8.14462174e-04 -1.83250407e-05 9.99999668e-01 1.64718072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7927550960001 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:290.74, Y:366.44, Z:1.65 [[ 7.39776031e-01 -6.72852914e-01 -6.16652992e-04 2.90739680e+02] [ 6.72852703e-01 7.39776288e-01 -5.32393276e-04 3.66436372e+02] [ 8.14407628e-04 -2.10648485e-05 9.99999668e-01 1.65261993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.822755096 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:290.76, Y:366.45, Z:1.65 [[ 7.37354028e-01 -6.75506217e-01 -6.23096093e-04 2.90756161e+02] [ 6.75506013e-01 7.37354291e-01 -5.25011155e-04 3.66454982e+02] [ 8.14090876e-04 -3.37860679e-05 9.99999668e-01 1.64772661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.852755096 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:290.77, Y:366.47, Z:1.65 [[ 7.37437275e-01 -6.75415343e-01 -6.16651117e-04 2.90774244e+02] [ 6.75415134e-01 7.37437532e-01 -5.32392108e-04 3.66471448e+02] [ 8.14327476e-04 -2.38897120e-05 9.99999668e-01 1.65206307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.882755096 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:290.80, Y:366.49, Z:1.64 [[ 7.35354463e-01 -6.77682406e-01 -6.08119908e-04 2.90798237e+02] [ 6.77682189e-01 7.35354715e-01 -5.42111914e-04 3.66493123e+02] [ 8.14563548e-04 -1.34676149e-05 9.99999668e-01 1.64251496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9127550960001 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:290.82, Y:366.51, Z:1.64 [[ 7.35599617e-01 -6.77416287e-01 -6.14063157e-04 2.90817183e+02] [ 6.77416076e-01 7.35599873e-01 -5.35343107e-04 3.66509775e+02] [ 8.14354920e-04 -2.21780692e-05 9.99999668e-01 1.64275643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.942755096 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:290.84, Y:366.53, Z:1.65 [[ 7.35749707e-01 -6.77253272e-01 -6.11596963e-04 2.90840776e+02] [ 6.77253058e-01 7.35749961e-01 -5.38150817e-04 3.66529638e+02] [ 8.14446844e-04 -1.82616074e-05 9.99999668e-01 1.64734228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.972755096 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:290.86, Y:366.55, Z:1.65 [[ 7.34104799e-01 -6.79035909e-01 -6.15300234e-04 2.90858549e+02] [ 6.79035700e-01 7.34105056e-01 -5.33935593e-04 3.66548807e+02] [ 8.14256453e-04 -2.58461436e-05 9.99999668e-01 1.64576465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.002755096 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:290.88, Y:366.57, Z:1.65 [[ 7.32594844e-01 -6.80664691e-01 -6.11446849e-04 2.90880291e+02] [ 6.80664478e-01 7.32595099e-01 -5.38318208e-04 3.66566852e+02] [ 8.14357161e-04 -2.18210067e-05 9.99999668e-01 1.64885391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.032755096 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:290.90, Y:366.59, Z:1.65 [[ 7.32738838e-01 -6.80509678e-01 -6.11745253e-04 2.90900830e+02] [ 6.80509466e-01 7.32739093e-01 -5.37978888e-04 3.66585263e+02] [ 8.14349501e-04 -2.21004095e-05 9.99999668e-01 1.65232773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.062755096 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:290.93, Y:366.60, Z:1.65 [[ 7.33518488e-01 -6.79669224e-01 -6.11577861e-04 2.90926932e+02] [ 6.79669011e-01 7.33518743e-01 -5.38169113e-04 3.66604622e+02] [ 8.14380807e-04 -2.09135255e-05 9.99999668e-01 1.64961969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.092755096 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:290.94, Y:366.62, Z:1.65 [[ 7.32630938e-01 -6.80625835e-01 -6.18148741e-04 2.90944021e+02] [ 6.80625628e-01 7.32631198e-01 -5.30699176e-04 3.66621203e+02] [ 8.14082622e-04 -3.19212397e-05 9.99999668e-01 1.65357375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.122755096 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:290.96, Y:366.64, Z:1.65 [[ 7.32377041e-01 -6.80899035e-01 -6.11358634e-04 2.90964776e+02] [ 6.80898823e-01 7.32377296e-01 -5.38409278e-04 3.66639567e+02] [ 8.14347541e-04 -2.19547805e-05 9.99999668e-01 1.65337989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.152755096 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:290.98, Y:366.66, Z:1.65 [[ 7.33111758e-01 -6.80107916e-01 -6.11195279e-04 2.90984387e+02] [ 6.80107703e-01 7.33112013e-01 -5.38594653e-04 3.66655652e+02] [ 8.14377088e-04 -2.08285442e-05 9.99999668e-01 1.65133900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.182755096 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:291.01, Y:366.68, Z:1.65 [[ 7.31806810e-01 -6.81511867e-01 -6.07628959e-04 2.91007099e+02] [ 6.81511651e-01 7.31807062e-01 -5.42637958e-04 3.66675115e+02] [ 8.14481370e-04 -1.70000622e-05 9.99999668e-01 1.65022654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.212755096 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:291.03, Y:366.69, Z:1.65 [[ 7.34171970e-01 -6.78963287e-01 -6.10973500e-04 2.91030448e+02] [ 6.78963074e-01 7.34172224e-01 -5.38845729e-04 3.66692047e+02] [ 8.14416241e-04 -1.92230157e-05 9.99999668e-01 1.64653805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.242755096 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:291.05, Y:366.71, Z:1.65 [[ 7.33391217e-01 -6.79806553e-01 -6.11303722e-04 2.91048599e+02] [ 6.79806340e-01 7.33391472e-01 -5.38471350e-04 3.66709388e+02] [ 8.14381289e-04 -2.06579871e-05 9.99999668e-01 1.65261235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.272755096 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:291.07, Y:366.73, Z:1.65 [[ 7.32060872e-01 -6.81238954e-01 -6.06348327e-04 2.91070619e+02] [ 6.81238737e-01 7.32061123e-01 -5.44083231e-04 3.66729662e+02] [ 8.14534728e-04 -1.47659237e-05 9.99999668e-01 1.65192529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.302755096 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:291.09, Y:366.75, Z:1.65 [[ 7.33834456e-01 -6.79328063e-01 -6.10824580e-04 2.91094203e+02] [ 6.79327850e-01 7.33834710e-01 -5.39012859e-04 3.66746628e+02] [ 8.14410841e-04 -1.94039403e-05 9.99999668e-01 1.64757015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.332755096 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:291.12, Y:366.77, Z:1.65 [[ 7.34366733e-01 -6.78752626e-01 -6.11128842e-04 2.91117024e+02] [ 6.78752413e-01 7.34366987e-01 -5.38668442e-04 3.66765110e+02] [ 8.14415466e-04 -1.92249916e-05 9.99999668e-01 1.65008703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.362755096 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:291.14, Y:366.79, Z:1.65 [[ 7.33005151e-01 -6.80222813e-01 -6.11482397e-04 2.91137101e+02] [ 6.80222600e-01 7.33005405e-01 -5.38268364e-04 3.66785210e+02] [ 8.14362323e-04 -2.13906630e-05 9.99999668e-01 1.65095085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.392755096 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:291.16, Y:366.80, Z:1.65 [[ 7.35474244e-01 -6.77552407e-01 -6.10268870e-04 2.91158010e+02] [ 6.77552192e-01 7.35474497e-01 -5.39640717e-04 3.66802872e+02] [ 8.14472057e-04 -1.65971616e-05 9.99999668e-01 1.65191631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4227550960001 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:291.19, Y:366.82, Z:1.65 [[ 7.38167280e-01 -6.74617445e-01 -6.07967303e-04 2.91186686e+02] [ 6.74617228e-01 7.38167530e-01 -5.42242268e-04 3.66821780e+02] [ 8.14587815e-04 -9.87971639e-06 9.99999668e-01 1.65089685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.452755096 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:291.21, Y:366.84, Z:1.65 [[ 7.39933829e-01 -6.72679381e-01 -6.15343439e-04 2.91212465e+02] [ 6.72679170e-01 7.39934085e-01 -5.33911173e-04 3.66842345e+02] [ 8.14464622e-04 -1.88697748e-05 9.99999668e-01 1.64958070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.482755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:291.23, Y:366.86, Z:1.65 [[ 7.41196724e-01 -6.71287591e-01 -6.22197444e-04 2.91231952e+02] [ 6.71287385e-01 7.41196985e-01 -5.26168057e-04 3.66859221e+02] [ 8.14380957e-04 -2.76792549e-05 9.99999668e-01 1.65026531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.512755096 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:291.25, Y:366.88, Z:1.65 [[ 7.42429948e-01 -6.69923420e-01 -6.19619522e-04 2.91252398e+02] [ 6.69923212e-01 7.42430206e-01 -5.29082310e-04 3.66876070e+02] [ 8.14468880e-04 -2.22909485e-05 9.99999668e-01 1.65003967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5427550960001 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:291.28, Y:366.90, Z:1.65 [[ 7.41284757e-01 -6.71190379e-01 -6.19481668e-04 2.91275060e+02] [ 6.71190171e-01 7.41285016e-01 -5.29238144e-04 3.66896579e+02] [ 8.14432029e-04 -2.34738371e-05 9.99999668e-01 1.65186343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.572755096 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:291.30, Y:366.91, Z:1.65 [[ 7.42010198e-01 -6.70388304e-01 -6.23416327e-04 2.91296078e+02] [ 6.70388099e-01 7.42010459e-01 -5.24793435e-04 3.66912658e+02] [ 8.14396816e-04 -2.85288049e-05 9.99999668e-01 1.65102545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.602755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:291.32, Y:366.93, Z:1.65 [[ 7.41466059e-01 -6.70990090e-01 -6.18366048e-04 2.91318022e+02] [ 6.70989881e-01 7.41466316e-01 -5.30479065e-04 3.66931687e+02] [ 8.14443792e-04 -2.15851395e-05 9.99999668e-01 1.64904538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.632755096 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:291.34, Y:366.95, Z:1.65 [[ 7.40660463e-01 -6.71879227e-01 -6.18048415e-04 2.91338142e+02] [ 6.71879018e-01 7.40660721e-01 -5.30836380e-04 3.66947736e+02] [ 8.14422121e-04 -2.20842427e-05 9.99999668e-01 1.64864578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6627550960001 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:291.35, Y:366.96, Z:1.65 [[ 7.41061110e-01 -6.71437304e-01 -6.14962781e-04 2.91353793e+02] [ 6.71437092e-01 7.41061365e-01 -5.34304365e-04 3.66964216e+02] [ 8.14477040e-04 -1.69566357e-05 9.99999668e-01 1.65019094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.692755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:291.38, Y:366.98, Z:1.65 [[ 7.40502323e-01 -6.72053524e-01 -6.08226604e-04 2.91376566e+02] [ 6.72053306e-01 7.40502573e-01 -5.41865507e-04 3.66983006e+02] [ 8.14555989e-04 -7.50803296e-06 9.99999668e-01 1.64856198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.722755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:291.40, Y:367.00, Z:1.65 [[ 7.38107232e-01 -6.74683142e-01 -6.10430933e-04 2.91399183e+02] [ 6.74682926e-01 7.38107484e-01 -5.39392255e-04 3.67001974e+02] [ 8.14482501e-04 -1.37180047e-05 9.99999668e-01 1.64796866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.752755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:291.42, Y:367.02, Z:1.65 [[ 7.36118366e-01 -6.76852552e-01 -6.11100656e-04 2.91419031e+02] [ 6.76852338e-01 7.36118620e-01 -5.38641213e-04 3.67019552e+02] [ 8.14423251e-04 -1.71212188e-05 9.99999668e-01 1.64545511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.782755096 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:291.44, Y:367.03, Z:1.64 [[ 7.34704332e-01 -6.78387186e-01 -6.09282807e-04 2.91438007e+02] [ 6.78386970e-01 7.34704584e-01 -5.40678568e-04 3.67034719e+02] [ 8.14432284e-04 -1.60906313e-05 9.99999668e-01 1.64464740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.812755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:291.46, Y:367.06, Z:1.65 [[ 7.33019748e-01 -6.80207092e-01 -6.00857128e-04 2.91461830e+02] [ 6.80206869e-01 7.33019995e-01 -5.50088371e-04 3.67055942e+02] [ 8.14614300e-04 -5.48150671e-06 9.99999668e-01 1.64620335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.842755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:291.49, Y:367.07, Z:1.65 [[ 7.34274293e-01 -6.78852630e-01 -6.07154155e-04 2.91485920e+02] [ 6.78852413e-01 7.34274544e-01 -5.43053944e-04 3.67070133e+02] [ 8.14471439e-04 -1.34175127e-05 9.99999668e-01 1.64621981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.872755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.50, Y:367.09, Z:1.65 [[ 7.30336476e-01 -6.83087303e-01 -6.06698293e-04 2.91504345e+02] [ 6.83087087e-01 7.30336728e-01 -5.43563026e-04 3.67089356e+02] [ 8.14395048e-04 -1.74438641e-05 9.99999668e-01 1.64773773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.902755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:291.53, Y:367.10, Z:1.65 [[ 7.31388690e-01 -6.81960571e-01 -6.03704736e-04 2.91529820e+02] [ 6.81960352e-01 7.31388939e-01 -5.46903303e-04 3.67104556e+02] [ 8.14509455e-04 -1.17038038e-05 9.99999668e-01 1.64810992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.54, Y:367.12, Z:1.65 [[ 7.26534252e-01 -6.87129982e-01 -6.06571658e-04 2.91541275e+02] [ 6.87129768e-01 7.26534505e-01 -5.43704888e-04 3.67122684e+02] [ 8.14291170e-04 -2.17732178e-05 9.99999668e-01 1.64847246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.962755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:291.57, Y:367.14, Z:1.65 [[ 7.30689783e-01 -6.82709374e-01 -5.92784053e-04 2.91573318e+02] [ 6.82709146e-01 7.30690023e-01 -5.59052546e-04 3.67139920e+02] [ 8.14811808e-04 3.79488955e-06 9.99999668e-01 1.64987795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.992755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:291.60, Y:367.16, Z:1.65 [[ 7.30654061e-01 -6.82747593e-01 -6.06318987e-04 2.91595213e+02] [ 6.82747377e-01 7.30654312e-01 -5.43966153e-04 3.67158219e+02] [ 8.14401164e-04 -1.65116186e-05 9.99999668e-01 1.64797459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.022755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:291.62, Y:367.18, Z:1.65 [[ 7.31462953e-01 -6.81880914e-01 -6.06144403e-04 2.91616387e+02] [ 6.81880697e-01 7.31463204e-01 -5.44160623e-04 3.67175670e+02] [ 8.14425070e-04 -1.52848311e-05 9.99999668e-01 1.64747768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.64, Y:367.19, Z:1.65 [[ 7.31748732e-01 -6.81574226e-01 -6.06025854e-04 2.91636683e+02] [ 6.81574009e-01 7.31748983e-01 -5.44292618e-04 3.67193174e+02] [ 8.14434622e-04 -1.47660383e-05 9.99999668e-01 1.64856852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.082755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:291.66, Y:367.21, Z:1.65 [[ 7.32107267e-01 -6.81189095e-01 -6.05932262e-04 2.91659233e+02] [ 6.81188877e-01 7.32107518e-01 -5.44396789e-04 3.67210382e+02] [ 8.14444720e-04 -1.41974720e-05 9.99999668e-01 1.64852959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.112755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:291.68, Y:367.23, Z:1.65 [[ 7.31902302e-01 -6.81409314e-01 -6.05768429e-04 2.91680373e+02] [ 6.81409097e-01 7.31902553e-01 -5.44579031e-04 3.67229622e+02] [ 8.14444683e-04 -1.41974713e-05 9.99999668e-01 1.64855279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.142755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:291.70, Y:367.25, Z:1.65 [[ 7.31612086e-01 -6.81720903e-01 -6.05604540e-04 2.91702785e+02] [ 6.81720686e-01 7.31612336e-01 -5.44761224e-04 3.67247399e+02] [ 8.14442866e-04 -1.42992474e-05 9.99999668e-01 1.64698316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.73, Y:367.28, Z:1.65 [[ 7.27319460e-01 -6.86298796e-01 -6.05441809e-04 2.91729484e+02] [ 6.86298580e-01 7.27319712e-01 -5.44942021e-04 3.67275046e+02] [ 8.14342815e-04 -1.91669173e-05 9.99999668e-01 1.64814268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:291.75, Y:367.29, Z:1.65 [[ 7.29767695e-01 -6.83694906e-01 -6.21952317e-04 2.91746460e+02] [ 6.83694704e-01 7.29767959e-01 -5.26640478e-04 3.67285549e+02] [ 8.13942285e-04 -4.09002977e-05 9.99999668e-01 1.64875992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.78, Y:367.31, Z:1.65 [[ 7.32146694e-01 -6.81146719e-01 -6.04022830e-04 2.91781292e+02] [ 6.81146500e-01 7.32146944e-01 -5.46458664e-04 3.67309209e+02] [ 8.14451995e-04 -1.13401319e-05 9.99999668e-01 1.64783799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.79, Y:367.32, Z:1.65 [[ 7.31122567e-01 -6.82245851e-01 -6.25676998e-04 2.91786430e+02] [ 6.82245653e-01 7.31122833e-01 -5.22460807e-04 3.67322794e+02] [ 8.13893457e-04 -4.48825261e-05 9.99999668e-01 1.65037067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:291.81, Y:367.34, Z:1.65 [[ 7.32132069e-01 -6.81162441e-01 -6.02321830e-04 2.91809074e+02] [ 6.81162220e-01 7.32132317e-01 -5.48255723e-04 3.67342231e+02] [ 8.14430483e-04 -8.88327842e-06 9.99999668e-01 1.64943279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.322755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.83, Y:367.36, Z:1.65 [[ 7.32380241e-01 -6.80895600e-01 -6.03716309e-04 2.91829256e+02] [ 6.80895380e-01 7.32380490e-01 -5.46715855e-04 3.67361373e+02] [ 8.14406467e-04 -1.06637557e-05 9.99999668e-01 1.65092195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.352755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:291.85, Y:367.38, Z:1.65 [[ 7.32642106e-01 -6.80613826e-01 -6.04020552e-04 2.91850537e+02] [ 6.80613607e-01 7.32642355e-01 -5.46379988e-04 3.67380168e+02] [ 8.14404814e-04 -1.08036216e-05 9.99999668e-01 1.65105474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.87, Y:367.40, Z:1.65 [[ 7.32176273e-01 -6.81114925e-01 -6.03496044e-04 2.91870945e+02] [ 6.81114705e-01 7.32176522e-01 -5.46958712e-04 3.67398496e+02] [ 8.14407377e-04 -1.05798391e-05 9.99999668e-01 1.65172021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4127550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:291.89, Y:367.42, Z:1.65 [[ 7.31247565e-01 -6.82111893e-01 -6.03401559e-04 2.91891849e+02] [ 6.82111674e-01 7.31247814e-01 -5.47062929e-04 3.67417691e+02] [ 8.14394200e-04 -1.15488126e-05 9.99999668e-01 1.65056049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.91, Y:367.44, Z:1.65 [[ 7.30143029e-01 -6.83294076e-01 -6.03234079e-04 2.91910919e+02] [ 6.83293857e-01 7.30143278e-01 -5.47247542e-04 3.67437488e+02] [ 8.14378311e-04 -1.26171630e-05 9.99999668e-01 1.65056523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.93, Y:367.46, Z:1.65 [[ 7.29784901e-01 -6.83676557e-01 -6.03141260e-04 2.91930482e+02] [ 6.83676338e-01 7.29785150e-01 -5.47349823e-04 3.67456454e+02] [ 8.14373777e-04 -1.29057712e-05 9.99999668e-01 1.64738959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.502755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:291.95, Y:367.47, Z:1.65 [[ 7.27740169e-01 -6.85852672e-01 -5.99544248e-04 2.91952360e+02] [ 6.85852450e-01 7.27740416e-01 -5.51309785e-04 3.67474873e+02] [ 8.14429870e-04 -9.98861505e-06 9.99999668e-01 1.64759211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.532755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:291.97, Y:367.49, Z:1.65 [[ 7.27429344e-01 -6.86182327e-01 -6.02900759e-04 2.91972682e+02] [ 6.86182109e-01 7.27429594e-01 -5.47614406e-04 3.67493125e+02] [ 8.14331182e-04 -1.53489256e-05 9.99999668e-01 1.64892003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:291.99, Y:367.51, Z:1.65 [[ 7.26592157e-01 -6.87068755e-01 -6.02755072e-04 2.91993957e+02] [ 6.87068537e-01 7.26592407e-01 -5.47774716e-04 3.67513528e+02] [ 8.14316151e-04 -1.61252330e-05 9.99999668e-01 1.64623784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.592755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:292.02, Y:367.53, Z:1.65 [[ 7.26596043e-01 -6.87064645e-01 -6.03584921e-04 2.92015424e+02] [ 6.87064428e-01 7.26596293e-01 -5.46861993e-04 3.67530596e+02] [ 8.14292108e-04 -1.73539679e-05 9.99999668e-01 1.64916603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.622755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:292.04, Y:367.55, Z:1.65 [[ 7.26618067e-01 -6.87041354e-01 -6.02503345e-04 2.92036177e+02] [ 6.87041135e-01 7.26618317e-01 -5.48051030e-04 3.67549580e+02] [ 8.14323688e-04 -1.57208024e-05 9.99999668e-01 1.64982850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.06, Y:367.57, Z:1.65 [[ 7.26664895e-01 -6.86991825e-01 -6.02346096e-04 2.92057420e+02] [ 6.86991606e-01 7.26665145e-01 -5.48223804e-04 3.67571517e+02] [ 8.14329184e-04 -1.54317187e-05 9.99999668e-01 1.64918139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.682755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:292.08, Y:367.59, Z:1.65 [[ 7.26761167e-01 -6.86889976e-01 -6.04993999e-04 2.92077913e+02] [ 6.86889760e-01 7.26761419e-01 -5.45315800e-04 3.67589462e+02] [ 8.14258254e-04 -1.92498350e-05 9.99999668e-01 1.64870481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.11, Y:367.61, Z:1.65 [[ 7.29223829e-01 -6.84274978e-01 -6.01970516e-04 2.92108299e+02] [ 6.84274758e-01 7.29224077e-01 -5.48633222e-04 3.67610297e+02] [ 8.14387380e-04 -1.18368106e-05 9.99999668e-01 1.64968663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.742755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:292.13, Y:367.63, Z:1.65 [[ 7.27285765e-01 -6.86334495e-01 -6.14202920e-04 2.92126480e+02] [ 6.86334287e-01 7.27286023e-01 -5.35196304e-04 3.67628680e+02] [ 8.14024884e-04 -3.23078698e-05 9.99999668e-01 1.64672445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.772755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:292.15, Y:367.65, Z:1.65 [[ 7.25736592e-01 -6.87972403e-01 -6.09171863e-04 2.92147192e+02] [ 6.87972191e-01 7.25736847e-01 -5.40714956e-04 3.67646175e+02] [ 8.14095435e-04 -2.66766715e-05 9.99999668e-01 1.64637381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.802755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:292.17, Y:367.67, Z:1.65 [[ 7.26743079e-01 -6.86909112e-01 -6.06894664e-04 2.92172740e+02] [ 6.86908898e-01 7.26743332e-01 -5.43210338e-04 3.67665194e+02] [ 8.14192781e-04 -2.21069908e-05 9.99999668e-01 1.64650624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.19, Y:367.68, Z:1.65 [[ 7.26441361e-01 -6.87228183e-01 -6.11757698e-04 2.92188617e+02] [ 6.87227973e-01 7.26441618e-01 -5.37882293e-04 3.67681411e+02] [ 8.14054122e-04 -2.96770586e-05 9.99999668e-01 1.64680900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.21, Y:367.70, Z:1.65 [[ 7.26050605e-01 -6.87641008e-01 -6.02209665e-04 2.92208520e+02] [ 6.87640790e-01 7.26050855e-01 -5.48325687e-04 3.67700612e+02] [ 8.14286070e-04 -1.59917331e-05 9.99999668e-01 1.64680035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.892755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:292.23, Y:367.72, Z:1.65 [[ 7.28246309e-01 -6.85315220e-01 -6.02692838e-04 2.92231812e+02] [ 6.85315001e-01 7.28246558e-01 -5.47797475e-04 3.67715158e+02] [ 8.14322932e-04 -1.41029543e-05 9.99999668e-01 1.64974551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9227550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.25, Y:367.74, Z:1.65 [[ 7.25247475e-01 -6.88488010e-01 -6.00705186e-04 2.92247836e+02] [ 6.88487791e-01 7.25247723e-01 -5.49968496e-04 3.67737747e+02] [ 8.14306784e-04 -1.47149231e-05 9.99999668e-01 1.64741403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.952755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:292.27, Y:367.76, Z:1.65 [[ 7.26181894e-01 -6.87502362e-01 -5.99476597e-04 2.92273183e+02] [ 6.87502141e-01 7.26182141e-01 -5.51310482e-04 3.67758160e+02] [ 8.14356458e-04 -1.17897541e-05 9.99999668e-01 1.64712877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.982755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:292.30, Y:367.78, Z:1.65 [[ 7.27628238e-01 -6.85971414e-01 -6.05582516e-04 2.92296830e+02] [ 6.85971198e-01 7.27628489e-01 -5.44650505e-04 3.67777489e+02] [ 8.14253768e-04 -1.91090773e-05 9.99999668e-01 1.64774589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.012755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:292.31, Y:367.79, Z:1.65 [[ 7.25326789e-01 -6.88404441e-01 -6.12622791e-04 2.92307840e+02] [ 6.88404232e-01 7.25327047e-01 -5.36952499e-04 3.67794709e+02] [ 8.13992365e-04 -3.22660900e-05 9.99999668e-01 1.64888222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.34, Y:367.81, Z:1.65 [[ 7.28199412e-01 -6.85365053e-01 -6.00486345e-04 2.92336654e+02] [ 6.85364832e-01 7.28199660e-01 -5.50198217e-04 3.67814205e+02] [ 8.14360582e-04 -1.08982054e-05 9.99999668e-01 1.64589015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.36, Y:367.84, Z:1.65 [[ 7.26265466e-01 -6.87414070e-01 -6.07845842e-04 2.92355694e+02] [ 6.87413857e-01 7.26265720e-01 -5.42185421e-04 3.67836738e+02] [ 8.14163485e-04 -2.40711079e-05 9.99999668e-01 1.64970654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.102755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:292.37, Y:367.86, Z:1.65 [[ 7.24025726e-01 -6.89772702e-01 -6.07053005e-04 2.92370026e+02] [ 6.89772488e-01 7.24025980e-01 -5.43047978e-04 3.67855145e+02] [ 8.14101817e-04 -2.55477548e-05 9.99999668e-01 1.64931571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.40, Y:367.88, Z:1.65 [[ 7.26668512e-01 -6.86988002e-01 -5.99218519e-04 2.92399304e+02] [ 6.86987781e-01 7.26668759e-01 -5.51559426e-04 3.67876589e+02] [ 8.14348085e-04 -1.08549329e-05 9.99999668e-01 1.64701844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.41, Y:367.90, Z:1.65 [[ 7.25428609e-01 -6.88297145e-01 -6.11331109e-04 2.92412659e+02] [ 6.88296935e-01 7.25428866e-01 -5.38395130e-04 3.67895709e+02] [ 8.14053063e-04 -3.02100980e-05 9.99999668e-01 1.64833721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.43, Y:367.91, Z:1.65 [[ 7.23553529e-01 -6.90268012e-01 -6.02049992e-04 2.92429609e+02] [ 6.90267794e-01 7.23553779e-01 -5.48463320e-04 3.67914513e+02] [ 8.14202233e-04 -1.87331493e-05 9.99999668e-01 1.64565609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:292.46, Y:367.94, Z:1.65 [[ 7.24636460e-01 -6.89131078e-01 -5.98656885e-04 2.92457809e+02] [ 6.89130856e-01 7.24636708e-01 -5.52140699e-04 3.67937589e+02] [ 8.14306069e-04 -1.24516498e-05 9.99999668e-01 1.64806092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.47, Y:367.96, Z:1.65 [[ 7.21668218e-01 -6.92238839e-01 -6.11057162e-04 2.92472156e+02] [ 6.92238630e-01 7.21668476e-01 -5.38688012e-04 3.67955690e+02] [ 8.13881455e-04 -3.42433549e-05 9.99999668e-01 1.64706399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.282755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:292.49, Y:367.98, Z:1.65 [[ 7.21377224e-01 -6.92542086e-01 -6.00230580e-04 2.92494508e+02] [ 6.92541867e-01 7.21377473e-01 -5.50411707e-04 3.67976190e+02] [ 8.14176090e-04 -1.86303377e-05 9.99999668e-01 1.64892421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.51, Y:367.99, Z:1.65 [[ 7.21162785e-01 -6.92765380e-01 -6.04363395e-04 2.92512092e+02] [ 6.92765166e-01 7.21163038e-01 -5.45936161e-04 3.67993346e+02] [ 8.14050214e-04 -2.49730647e-05 9.99999668e-01 1.64815248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.53, Y:368.01, Z:1.64 [[ 7.20924300e-01 -6.93013560e-01 -5.99335865e-04 2.92533902e+02] [ 6.93013341e-01 7.20924549e-01 -5.51375250e-04 3.68014382e+02] [ 8.14186463e-04 -1.78479340e-05 9.99999668e-01 1.63520688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.55, Y:368.04, Z:1.65 [[ 7.16750993e-01 -6.97328941e-01 -6.01823052e-04 2.92551226e+02] [ 6.97328725e-01 7.16751245e-01 -5.48686937e-04 3.68036372e+02] [ 8.13972703e-04 -2.63965944e-05 9.99999668e-01 1.64547470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.57, Y:368.06, Z:1.65 [[ 7.17819325e-01 -6.96229169e-01 -6.00400739e-04 2.92573202e+02] [ 6.96228952e-01 7.17819576e-01 -5.50222934e-04 3.68056402e+02] [ 8.14060660e-04 -2.30557216e-05 9.99999668e-01 1.64723994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.59, Y:368.08, Z:1.65 [[ 7.17433514e-01 -6.96626722e-01 -6.03246094e-04 2.92594048e+02] [ 6.96626507e-01 7.17433767e-01 -5.47151078e-04 3.68076234e+02] [ 8.13949179e-04 -2.76926990e-05 9.99999668e-01 1.64788203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.61, Y:368.10, Z:1.65 [[ 7.16043256e-01 -6.98055648e-01 -6.06231104e-04 2.92611814e+02] [ 6.98055437e-01 7.16043512e-01 -5.43928360e-04 3.68095622e+02] [ 8.13780113e-04 -3.37066839e-05 9.99999668e-01 1.64757925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.63, Y:368.11, Z:1.65 [[ 7.16546663e-01 -6.97538901e-01 -6.01292081e-04 2.92632193e+02] [ 6.97538686e-01 7.16546915e-01 -5.49252761e-04 3.68114456e+02] [ 8.13979153e-04 -2.58592553e-05 9.99999668e-01 1.64847864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.65, Y:368.13, Z:1.65 [[ 7.16655231e-01 -6.97427358e-01 -6.00506654e-04 2.92654587e+02] [ 6.97427141e-01 7.16655482e-01 -5.50098759e-04 3.68134720e+02] [ 8.14010310e-04 -2.45784855e-05 9.99999668e-01 1.64731955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.67, Y:368.15, Z:1.65 [[ 7.15143924e-01 -6.98976970e-01 -6.02199328e-04 2.92672341e+02] [ 6.98976756e-01 7.15144177e-01 -5.48276300e-04 3.68154666e+02] [ 8.13891850e-04 -2.88268676e-05 9.99999668e-01 1.64658723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.69, Y:368.17, Z:1.65 [[ 7.14748722e-01 -6.99381085e-01 -6.01787317e-04 2.92690312e+02] [ 6.99380871e-01 7.14748975e-01 -5.48719496e-04 3.68174408e+02] [ 8.13890904e-04 -2.86819790e-05 9.99999668e-01 1.64702302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.71, Y:368.20, Z:1.65 [[ 7.14125882e-01 -7.00017047e-01 -5.98755686e-04 2.92710913e+02] [ 7.00016830e-01 7.14126132e-01 -5.51977785e-04 3.68195119e+02] [ 8.13980942e-04 -2.49574352e-05 9.99999668e-01 1.64760491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.642755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:292.73, Y:368.21, Z:1.65 [[ 7.13364316e-01 -7.00793117e-01 -5.99365932e-04 2.92730898e+02] [ 7.00792901e-01 7.13364568e-01 -5.51322313e-04 3.68213952e+02] [ 8.13929301e-04 -2.67377253e-05 9.99999668e-01 1.64634389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:292.75, Y:368.23, Z:1.65 [[ 7.13219313e-01 -7.00940693e-01 -5.97199618e-04 2.92752074e+02] [ 7.00940475e-01 7.13219562e-01 -5.53646853e-04 3.68234294e+02] [ 8.14008059e-04 -2.37297559e-05 9.99999668e-01 1.64932438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.77, Y:368.25, Z:1.65 [[ 7.14394401e-01 -6.99743011e-01 -5.98945971e-04 2.92770280e+02] [ 6.99742794e-01 7.14394652e-01 -5.51773302e-04 3.68252627e+02] [ 8.13983310e-04 -2.49243691e-05 9.99999668e-01 1.64877742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.79, Y:368.27, Z:1.65 [[ 7.13766304e-01 -7.00383688e-01 -5.94459986e-04 2.92792268e+02] [ 7.00383467e-01 7.13766551e-01 -5.56581644e-04 3.68274606e+02] [ 8.14126358e-04 -1.90807235e-05 9.99999668e-01 1.65038431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.81, Y:368.29, Z:1.65 [[ 7.13512104e-01 -7.00642648e-01 -5.97919512e-04 2.92811279e+02] [ 7.00642430e-01 7.13512354e-01 -5.52873266e-04 3.68294572e+02] [ 8.13989547e-04 -2.44460122e-05 9.99999668e-01 1.64996833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.84, Y:368.31, Z:1.65 [[ 7.15747741e-01 -6.98358657e-01 -5.98201148e-04 2.92837069e+02] [ 6.98358439e-01 7.15747990e-01 -5.52571378e-04 3.68314908e+02] [ 8.14054275e-04 -2.22571043e-05 9.99999668e-01 1.64938417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.85, Y:368.33, Z:1.65 [[ 7.16279351e-01 -6.97813389e-01 -6.04482727e-04 2.92853547e+02] [ 6.97813176e-01 7.16279605e-01 -5.45848282e-04 3.68334251e+02] [ 8.13878888e-04 -3.08361585e-05 9.99999668e-01 1.64821415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.87, Y:368.35, Z:1.65 [[ 7.17110714e-01 -6.96959013e-01 -5.98629448e-04 2.92873307e+02] [ 6.96958795e-01 7.17110964e-01 -5.52103848e-04 3.68353161e+02] [ 8.14077493e-04 -2.13004732e-05 9.99999668e-01 1.64809724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:292.89, Y:368.37, Z:1.65 [[ 7.17633471e-01 -6.96420736e-01 -5.98950699e-04 2.92890418e+02] [ 6.96420518e-01 7.17633721e-01 -5.51760481e-04 3.68372799e+02] [ 8.14084659e-04 -2.11597665e-05 9.99999668e-01 1.64826043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.91, Y:368.39, Z:1.65 [[ 7.18096272e-01 -6.95943526e-01 -5.94380286e-04 2.92909813e+02] [ 6.95943304e-01 7.18096517e-01 -5.56640762e-04 3.68392511e+02] [ 8.14212948e-04 -1.39333241e-05 9.99999668e-01 1.64577447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.93, Y:368.41, Z:1.64 [[ 7.17277105e-01 -6.96787774e-01 -5.93965596e-04 2.92930036e+02] [ 6.96787552e-01 7.17277350e-01 -5.57083329e-04 3.68413240e+02] [ 8.14206922e-04 -1.42847166e-05 9.99999668e-01 1.64340199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.95, Y:368.43, Z:1.65 [[ 7.18085964e-01 -6.95954160e-01 -5.95582477e-04 2.92950650e+02] [ 6.95953939e-01 7.18086211e-01 -5.55357577e-04 3.68431894e+02] [ 8.14182981e-04 -1.57034893e-05 9.99999668e-01 1.64783534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.97, Y:368.45, Z:1.65 [[ 7.17834689e-01 -6.96213333e-01 -5.95216656e-04 2.92970592e+02] [ 6.96213112e-01 7.17834935e-01 -5.55747782e-04 3.68450980e+02] [ 8.14186325e-04 -1.54626040e-05 9.99999668e-01 1.64785764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.032755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:292.99, Y:368.47, Z:1.65 [[ 7.17660943e-01 -6.96392430e-01 -5.95007078e-04 2.92989404e+02] [ 6.96392208e-01 7.17661190e-01 -5.55971161e-04 3.68469705e+02] [ 8.14187596e-04 -1.53595052e-05 9.99999668e-01 1.64551448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.01, Y:368.49, Z:1.65 [[ 7.17039287e-01 -6.97032504e-01 -5.91121768e-04 2.93008558e+02] [ 6.97032279e-01 7.17039531e-01 -5.60112984e-04 3.68488233e+02] [ 8.14274631e-04 -1.04079379e-05 9.99999668e-01 1.64563537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.03, Y:368.51, Z:1.65 [[ 7.16218132e-01 -6.97876234e-01 -5.90779414e-04 2.93027934e+02] [ 6.97876009e-01 7.16218376e-01 -5.60477704e-04 3.68507000e+02] [ 8.14271142e-04 -1.08664852e-05 9.99999668e-01 1.64605428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.122755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.05, Y:368.53, Z:1.65 [[ 7.16918835e-01 -6.97156392e-01 -5.90175591e-04 2.93052247e+02] [ 6.97156166e-01 7.16919078e-01 -5.61120908e-04 3.68526162e+02] [ 8.14297168e-04 -9.16640497e-06 9.99999668e-01 1.64625593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.07, Y:368.54, Z:1.65 [[ 7.16132442e-01 -6.97964164e-01 -5.93028776e-04 2.93073088e+02] [ 6.97963941e-01 7.16132687e-01 -5.58082234e-04 3.68544894e+02] [ 8.14208691e-04 -1.42519085e-05 9.99999668e-01 1.64877491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.09, Y:368.56, Z:1.65 [[ 7.14434773e-01 -6.99701796e-01 -5.93545080e-04 2.93089403e+02] [ 6.99701574e-01 7.14435019e-01 -5.57532580e-04 3.68564871e+02] [ 8.14155939e-04 -1.69837642e-05 9.99999668e-01 1.64548842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.11, Y:368.59, Z:1.64 [[ 7.13478657e-01 -7.00676715e-01 -5.89359216e-04 2.93110256e+02] [ 7.00676490e-01 7.13478900e-01 -5.61984742e-04 3.68585258e+02] [ 8.14264988e-04 -1.19860275e-05 9.99999668e-01 1.64400391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.13, Y:368.60, Z:1.65 [[ 7.12815652e-01 -7.01351193e-01 -5.91821745e-04 2.93130340e+02] [ 7.01350970e-01 7.12815898e-01 -5.59364170e-04 3.68603047e+02] [ 8.14170677e-04 -1.63512189e-05 9.99999668e-01 1.64627936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.15, Y:368.62, Z:1.65 [[ 7.11450466e-01 -7.02736002e-01 -5.88290595e-04 2.93151433e+02] [ 7.02735776e-01 7.11450709e-01 -5.63119147e-04 3.68623586e+02] [ 8.14263858e-04 -1.27814683e-05 9.99999668e-01 1.64767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.18, Y:368.64, Z:1.65 [[ 7.11559205e-01 -7.02625896e-01 -5.90368797e-04 2.93175134e+02] [ 7.02625672e-01 7.11559450e-01 -5.60910902e-04 3.68640533e+02] [ 8.14193021e-04 -1.56869567e-05 9.99999668e-01 1.64842552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.20, Y:368.66, Z:1.65 [[ 7.12150437e-01 -7.02026641e-01 -5.92436427e-04 2.93197665e+02] [ 7.02026419e-01 7.12150683e-01 -5.58714043e-04 3.68658967e+02] [ 8.14136149e-04 -1.80175729e-05 9.99999668e-01 1.64645108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.21, Y:368.68, Z:1.65 [[ 7.07847301e-01 -7.06365234e-01 -5.94926523e-04 2.93213832e+02] [ 7.06365016e-01 7.07847551e-01 -5.56068956e-04 3.68681024e+02] [ 8.13905061e-04 -2.66233731e-05 9.99999668e-01 1.64757302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.24, Y:368.70, Z:1.65 [[ 7.08620046e-01 -7.05590021e-01 -5.94164798e-04 2.93236436e+02] [ 7.05589801e-01 7.08620295e-01 -5.56877601e-04 3.68697839e+02] [ 8.13964513e-04 -2.46219906e-05 9.99999668e-01 1.64771865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.26, Y:368.72, Z:1.65 [[ 7.07969714e-01 -7.06242546e-01 -5.92622713e-04 2.93256128e+02] [ 7.06242325e-01 7.07969961e-01 -5.58513863e-04 3.68717198e+02] [ 8.14005331e-04 -2.31243431e-05 9.99999668e-01 1.64660537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:368.74, Z:1.65 [[ 7.08547134e-01 -7.05663240e-01 -5.92458787e-04 2.93275909e+02] [ 7.05663019e-01 7.08547381e-01 -5.58687697e-04 3.68735849e+02] [ 8.14030493e-04 -2.22196901e-05 9.99999668e-01 1.64722129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.30, Y:368.76, Z:1.65 [[ 7.08054415e-01 -7.06157627e-01 -5.92295311e-04 2.93296688e+02] [ 7.06157406e-01 7.08054663e-01 -5.58860954e-04 3.68755084e+02] [ 8.14021382e-04 -2.25497546e-05 9.99999668e-01 1.64535629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.32, Y:368.77, Z:1.64 [[ 7.07825503e-01 -7.06387080e-01 -5.92128240e-04 2.93316840e+02] [ 7.06386859e-01 7.07825751e-01 -5.59037914e-04 3.68774254e+02] [ 8.14020775e-04 -2.25703141e-05 9.99999668e-01 1.64493108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.34, Y:368.80, Z:1.64 [[ 7.08288343e-01 -7.05922993e-01 -5.91959274e-04 2.93340058e+02] [ 7.05922772e-01 7.08288590e-01 -5.59216773e-04 3.68795121e+02] [ 8.14041978e-04 -2.17908102e-05 9.99999668e-01 1.64320803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:368.81, Z:1.64 [[ 7.09974698e-01 -7.04226933e-01 -5.95573032e-04 2.93355581e+02] [ 7.04226714e-01 7.09974948e-01 -5.55387038e-04 3.68809675e+02] [ 8.13960442e-04 -2.51076947e-05 9.99999668e-01 1.64309388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.38, Y:368.83, Z:1.64 [[ 7.07351656e-01 -7.06861581e-01 -5.83207033e-04 2.93377789e+02] [ 7.06861352e-01 7.07351897e-01 -5.68444252e-04 3.68833520e+02] [ 8.14344003e-04 -1.01565291e-05 9.99999668e-01 1.64299334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.40, Y:368.85, Z:1.64 [[ 7.06828842e-01 -7.07384364e-01 -5.91374670e-04 2.93397727e+02] [ 7.07384143e-01 7.06829089e-01 -5.59816181e-04 3.68853216e+02] [ 8.14006033e-04 -2.26348404e-05 9.99999668e-01 1.64298103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:368.87, Z:1.64 [[ 7.07722909e-01 -7.06489869e-01 -5.91207683e-04 2.93417973e+02] [ 7.06489647e-01 7.07723155e-01 -5.59992477e-04 3.68871986e+02] [ 8.14040378e-04 -2.13626026e-05 9.99999668e-01 1.64313325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:368.89, Z:1.64 [[ 7.06406735e-01 -7.07805888e-01 -5.90898930e-04 2.93437842e+02] [ 7.07805667e-01 7.06406982e-01 -5.60318250e-04 3.68891050e+02] [ 8.14011686e-04 -2.24290256e-05 9.99999668e-01 1.64413573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.46, Y:368.91, Z:1.64 [[ 7.06251372e-01 -7.07960911e-01 -5.90977501e-04 2.93458105e+02] [ 7.07960689e-01 7.06251618e-01 -5.60235367e-04 3.68910740e+02] [ 8.14003557e-04 -2.27218427e-05 9.99999668e-01 1.64428346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.48, Y:368.93, Z:1.64 [[ 7.06340962e-01 -7.07871526e-01 -5.90809824e-04 2.93477297e+02] [ 7.07871304e-01 7.06341208e-01 -5.60412140e-04 3.68931772e+02] [ 8.14013121e-04 -2.23752709e-05 9.99999668e-01 1.64361583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.782755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:368.95, Z:1.64 [[ 7.06369763e-01 -7.07842786e-01 -5.90638918e-04 2.93496347e+02] [ 7.07842564e-01 7.06370009e-01 -5.60592205e-04 3.68951176e+02] [ 8.14020767e-04 -2.20939835e-05 9.99999668e-01 1.64317981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.52, Y:368.97, Z:1.64 [[ 7.06519406e-01 -7.07693422e-01 -5.90485541e-04 2.93515944e+02] [ 7.07693200e-01 7.06519653e-01 -5.60753715e-04 3.68970839e+02] [ 8.14031355e-04 -2.16992200e-05 9.99999668e-01 1.64270386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:368.99, Z:1.64 [[ 7.07301180e-01 -7.06912083e-01 -5.90317316e-04 2.93534718e+02] [ 7.06911860e-01 7.07301426e-01 -5.60930754e-04 3.68989793e+02] [ 8.14061006e-04 -2.05553280e-05 9.99999668e-01 1.64281738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:369.01, Z:1.64 [[ 7.07144008e-01 -7.07069306e-01 -5.90166999e-04 2.93554845e+02] [ 7.07069084e-01 7.07144254e-01 -5.61088860e-04 3.69009922e+02] [ 8.14061913e-04 -2.05182143e-05 9.99999668e-01 1.64267329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.57, Y:369.03, Z:1.64 [[ 7.07591439e-01 -7.06621545e-01 -5.90000451e-04 2.93574218e+02] [ 7.06621322e-01 7.07591685e-01 -5.61263935e-04 3.69028766e+02] [ 8.14080602e-04 -1.97613429e-05 9.99999668e-01 1.64230767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.932755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:293.59, Y:369.05, Z:1.64 [[ 7.07543586e-01 -7.06669460e-01 -5.89851164e-04 2.93594474e+02] [ 7.06669237e-01 7.07543832e-01 -5.61420782e-04 3.69047978e+02] [ 8.14084474e-04 -1.95999987e-05 9.99999668e-01 1.64109015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:369.07, Z:1.64 [[ 7.07567664e-01 -7.06645352e-01 -5.89689275e-04 2.93614106e+02] [ 7.06645129e-01 7.07567910e-01 -5.61590772e-04 3.69068374e+02] [ 8.14090716e-04 -1.93375830e-05 9.99999668e-01 1.64223101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:369.09, Z:1.64 [[ 7.08036958e-01 -7.06175134e-01 -5.88851246e-04 2.93634327e+02] [ 7.06174910e-01 7.08037203e-01 -5.62470360e-04 3.69087326e+02] [ 8.14131171e-04 -1.75821726e-05 9.99999668e-01 1.64283865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.022755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.66, Y:369.11, Z:1.64 [[ 7.11169359e-01 -7.03020480e-01 -5.89449411e-04 2.93660079e+02] [ 7.03020256e-01 7.11169603e-01 -5.61842804e-04 3.69107937e+02] [ 8.14185502e-04 -1.48294887e-05 9.99999668e-01 1.64047928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.67, Y:369.13, Z:1.64 [[ 7.10287850e-01 -7.03911083e-01 -5.97968791e-04 2.93673898e+02] [ 7.03910867e-01 7.10288101e-01 -5.52901738e-04 3.69126911e+02] [ 8.13923778e-04 -2.81973435e-05 9.99999668e-01 1.64133422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:369.15, Z:1.64 [[ 7.12413814e-01 -7.01759368e-01 -5.89119371e-04 2.93692873e+02] [ 7.01759143e-01 7.12414057e-01 -5.62175296e-04 3.69146152e+02] [ 8.14208702e-04 -1.29184583e-05 9.99999668e-01 1.63999475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:369.17, Z:1.64 [[ 7.13090173e-01 -7.01072078e-01 -5.89004781e-04 2.93713033e+02] [ 7.01071853e-01 7.13090416e-01 -5.62295329e-04 3.69165488e+02] [ 8.14223219e-04 -1.19673997e-05 9.99999668e-01 1.64002943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.73, Y:369.18, Z:1.64 [[ 7.13686071e-01 -7.00465449e-01 -5.88838518e-04 2.93733300e+02] [ 7.00465224e-01 7.13686314e-01 -5.62469386e-04 3.69184466e+02] [ 8.14236363e-04 -1.10343386e-05 9.99999668e-01 1.64032051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.75, Y:369.20, Z:1.64 [[ 7.14327729e-01 -6.99811081e-01 -5.88673328e-04 2.93753168e+02] [ 6.99810855e-01 7.14327971e-01 -5.62642219e-04 3.69203197e+02] [ 8.14249084e-04 -1.00490470e-05 9.99999668e-01 1.64044253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.78, Y:369.22, Z:1.64 [[ 7.15350016e-01 -6.98766061e-01 -5.88560957e-04 2.93777733e+02] [ 6.98765834e-01 7.15350259e-01 -5.62759742e-04 3.69223573e+02] [ 8.14264641e-04 -8.69609721e-06 9.99999668e-01 1.63879649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:369.24, Z:1.64 [[ 7.14488273e-01 -6.99647165e-01 -5.93823418e-04 2.93793830e+02] [ 6.99646944e-01 7.14488519e-01 -5.57254136e-04 3.69241844e+02] [ 8.14161291e-04 -1.73151944e-05 9.99999668e-01 1.64021894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:369.26, Z:1.64 [[ 7.15876909e-01 -6.98226256e-01 -5.88310474e-04 2.93817982e+02] [ 6.98226029e-01 7.15877151e-01 -5.63014771e-04 3.69261069e+02] [ 8.14269721e-04 -7.72441198e-06 9.99999669e-01 1.63916153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.84, Y:369.28, Z:1.64 [[ 7.16200631e-01 -6.97894193e-01 -5.92812466e-04 2.93840021e+02] [ 6.97893970e-01 7.16200876e-01 -5.58312699e-04 3.69281179e+02] [ 8.14215998e-04 -1.38563382e-05 9.99999668e-01 1.63810135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.86, Y:369.30, Z:1.64 [[ 7.15713494e-01 -6.98393758e-01 -5.94463079e-04 2.93855491e+02] [ 6.98393536e-01 7.15713741e-01 -5.56589536e-04 3.69299400e+02] [ 8.14184052e-04 -1.68105300e-05 9.99999668e-01 1.63972700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.88, Y:369.32, Z:1.64 [[ 7.16753402e-01 -6.97326477e-01 -5.87700451e-04 2.93881071e+02] [ 6.97326249e-01 7.16753643e-01 -5.63640834e-04 3.69319717e+02] [ 8.14278116e-04 -5.82746576e-06 9.99999669e-01 1.63764612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.90, Y:369.34, Z:1.64 [[ 7.15918647e-01 -6.98183457e-01 -5.93500291e-04 2.93896815e+02] [ 6.98183234e-01 7.15918893e-01 -5.57593061e-04 3.69338421e+02] [ 8.14200322e-04 -1.51806827e-05 9.99999668e-01 1.63932289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.92, Y:369.36, Z:1.64 [[ 7.16815645e-01 -6.97262495e-01 -5.87403022e-04 2.93921581e+02] [ 6.97262266e-01 7.16815886e-01 -5.63943966e-04 3.69359046e+02] [ 8.14276794e-04 -5.33010413e-06 9.99999669e-01 1.63717110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.442755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:293.94, Y:369.38, Z:1.64 [[ 7.16219602e-01 -6.97874724e-01 -5.92717522e-04 2.93941755e+02] [ 6.97874501e-01 7.16219847e-01 -5.58408786e-04 3.69378384e+02] [ 8.14215431e-04 -1.36991262e-05 9.99999668e-01 1.63701930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.96, Y:369.40, Z:1.64 [[ 7.15466317e-01 -6.98646977e-01 -5.92120574e-04 2.93960059e+02] [ 6.98646754e-01 7.15466562e-01 -5.59030122e-04 3.69396880e+02] [ 8.14207176e-04 -1.37158943e-05 9.99999668e-01 1.63730391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.98, Y:369.42, Z:1.64 [[ 7.13734434e-01 -7.00416169e-01 -5.90032481e-04 2.93979652e+02] [ 7.00415944e-01 7.13734678e-01 -5.61201950e-04 3.69415702e+02] [ 8.14201563e-04 -1.27190008e-05 9.99999669e-01 1.63863431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.532755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.00, Y:369.44, Z:1.64 [[ 7.12619577e-01 -7.01550422e-01 -5.86733538e-04 2.94001003e+02] [ 7.01550195e-01 7.12619818e-01 -5.64630037e-04 3.69435432e+02] [ 8.14234388e-04 -9.25660907e-06 9.99999669e-01 1.63780416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.02, Y:369.45, Z:1.64 [[ 7.10619270e-01 -7.03576511e-01 -5.88441815e-04 2.94020713e+02] [ 7.03576286e-01 7.10619513e-01 -5.62855548e-04 3.69453156e+02] [ 8.14170178e-04 -1.40377083e-05 9.99999669e-01 1.63802603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.04, Y:369.47, Z:1.64 [[ 7.09453573e-01 -7.04751931e-01 -5.86458682e-04 2.94041267e+02] [ 7.04751704e-01 7.09453815e-01 -5.64914312e-04 3.69472382e+02] [ 8.14189801e-04 -1.25272786e-05 9.99999669e-01 1.63746734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.06, Y:369.49, Z:1.64 [[ 7.08726085e-01 -7.05483517e-01 -5.86280116e-04 2.94062541e+02] [ 7.05483291e-01 7.08726327e-01 -5.65099571e-04 3.69491513e+02] [ 8.14180586e-04 -1.31100196e-05 9.99999669e-01 1.63624412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.08, Y:369.51, Z:1.64 [[ 7.06797358e-01 -7.07415824e-01 -5.87962097e-04 2.94082543e+02] [ 7.07415600e-01 7.06797603e-01 -5.63354807e-04 3.69510282e+02] [ 8.14096306e-04 -1.77558706e-05 9.99999669e-01 1.63730219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.10, Y:369.53, Z:1.64 [[ 7.05978794e-01 -7.08232730e-01 -5.86068757e-04 2.94102047e+02] [ 7.08232504e-01 7.05979037e-01 -5.65317646e-04 3.69529115e+02] [ 8.14128716e-04 -1.59706735e-05 9.99999669e-01 1.63735879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.12, Y:369.55, Z:1.64 [[ 7.04489505e-01 -7.09714164e-01 -5.85971403e-04 2.94121799e+02] [ 7.09713939e-01 7.04489748e-01 -5.65418539e-04 3.69548316e+02] [ 8.14096392e-04 -1.75406460e-05 9.99999669e-01 1.63710709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.14, Y:369.57, Z:1.64 [[ 7.03722497e-01 -7.10474703e-01 -5.85813699e-04 2.94142016e+02] [ 7.10474478e-01 7.03722741e-01 -5.65581885e-04 3.69567330e+02] [ 8.14082043e-04 -1.81929855e-05 9.99999669e-01 1.63694871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.16, Y:369.59, Z:1.64 [[ 7.03100399e-01 -7.11090350e-01 -5.85641422e-04 2.94162823e+02] [ 7.11090125e-01 7.03100643e-01 -5.65760215e-04 3.69586514e+02] [ 8.14071490e-04 -1.86575994e-05 9.99999669e-01 1.63693661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.18, Y:369.61, Z:1.64 [[ 7.02850572e-01 -7.11337284e-01 -5.85467507e-04 2.94183527e+02] [ 7.11337059e-01 7.02850815e-01 -5.65940132e-04 3.69606157e+02] [ 8.14070630e-04 -1.86933889e-05 9.99999669e-01 1.63668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.20, Y:369.63, Z:1.64 [[ 7.02875210e-01 -7.11312939e-01 -5.85291110e-04 2.94202891e+02] [ 7.11312714e-01 7.02875453e-01 -5.66122501e-04 3.69625302e+02] [ 8.14077014e-04 -1.84115368e-05 9.99999669e-01 1.63641088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.22, Y:369.64, Z:1.64 [[ 7.03324020e-01 -7.10869173e-01 -5.85132805e-04 2.94222490e+02] [ 7.10868948e-01 7.03324263e-01 -5.66286075e-04 3.69644750e+02] [ 8.14093412e-04 -1.76701433e-05 9.99999669e-01 1.63620015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.24, Y:369.66, Z:1.64 [[ 7.04139518e-01 -7.10061404e-01 -5.84955558e-04 2.94240961e+02] [ 7.10061178e-01 7.04139761e-01 -5.66469106e-04 3.69664447e+02] [ 8.14118315e-04 -1.64809493e-05 9.99999669e-01 1.63597387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.26, Y:369.69, Z:1.64 [[ 7.06444365e-01 -7.07768336e-01 -5.84796347e-04 2.94259943e+02] [ 7.07768109e-01 7.06444607e-01 -5.66633421e-04 3.69685650e+02] [ 8.14171418e-04 -1.36052177e-05 9.99999669e-01 1.63580787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.28, Y:369.71, Z:1.64 [[ 7.06235790e-01 -7.07976459e-01 -5.84629467e-04 2.94280336e+02] [ 7.07976232e-01 7.06236032e-01 -5.66805549e-04 3.69705674e+02] [ 8.14171380e-04 -1.36054025e-05 9.99999669e-01 1.63583106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.30, Y:369.73, Z:1.64 [[ 7.08960398e-01 -7.05248051e-01 -5.84462406e-04 2.94300229e+02] [ 7.05247823e-01 7.08960638e-01 -5.66977761e-04 3.69725907e+02] [ 8.14220801e-04 -1.02260610e-05 9.99999669e-01 1.63702176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.32, Y:369.75, Z:1.64 [[ 7.10122471e-01 -7.04077933e-01 -5.84281652e-04 2.94319176e+02] [ 7.04077704e-01 7.10122711e-01 -5.67163971e-04 3.69745157e+02] [ 8.14239306e-04 -8.62380355e-06 9.99999669e-01 1.63686866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.34, Y:369.77, Z:1.64 [[ 7.11355579e-01 -7.02832056e-01 -5.84180705e-04 2.94339282e+02] [ 7.02831827e-01 7.11355819e-01 -5.67267927e-04 3.69765399e+02] [ 8.14254427e-04 -7.05158790e-06 9.99999669e-01 1.63660403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.36, Y:369.79, Z:1.64 [[ 7.13184281e-01 -7.00976348e-01 -5.84016183e-04 2.94358010e+02] [ 7.00976118e-01 7.13184520e-01 -5.67437256e-04 3.69785743e+02] [ 8.14271397e-04 -4.69406586e-06 9.99999669e-01 1.63706611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.38, Y:369.81, Z:1.64 [[ 7.13821849e-01 -7.00327085e-01 -5.83835881e-04 2.94377146e+02] [ 7.00326855e-01 7.13822088e-01 -5.67622708e-04 3.69805959e+02] [ 8.14276504e-04 -3.69445582e-06 9.99999669e-01 1.63680803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.40, Y:369.83, Z:1.64 [[ 7.15073929e-01 -6.99048593e-01 -5.83655521e-04 2.94395600e+02] [ 6.99048362e-01 7.15074168e-01 -5.67808102e-04 3.69826009e+02] [ 8.14282440e-04 -1.97866499e-06 9.99999669e-01 1.63617909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.42, Y:369.85, Z:1.64 [[ 7.15318224e-01 -6.98798610e-01 -5.83559423e-04 2.94415159e+02] [ 6.98798380e-01 7.15318462e-01 -5.67906848e-04 3.69845141e+02] [ 8.14283345e-04 -1.55626096e-06 9.99999669e-01 1.63550062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.44, Y:369.87, Z:1.64 [[ 7.18151907e-01 -6.95886125e-01 -5.83438855e-04 2.94444377e+02] [ 6.95885893e-01 7.18152144e-01 -5.68030687e-04 3.69865428e+02] [ 8.14282538e-04 1.92545297e-06 9.99999669e-01 1.63536046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.46, Y:369.88, Z:1.64 [[ 7.14245585e-01 -6.99894915e-01 -5.94004823e-04 2.94456999e+02] [ 6.99894693e-01 7.14245832e-01 -5.57172729e-04 3.69883330e+02] [ 8.14227828e-04 -1.77826612e-05 9.99999668e-01 1.63673477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.48, Y:369.90, Z:1.64 [[ 7.13186486e-01 -7.00974105e-01 -5.83077943e-04 2.94477202e+02] [ 7.00973874e-01 7.13186725e-01 -5.68382128e-04 3.69902497e+02] [ 8.14264602e-04 -3.35995208e-06 9.99999669e-01 1.63711298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.50, Y:369.92, Z:1.64 [[ 7.14500066e-01 -6.99635131e-01 -5.82897615e-04 2.94503935e+02] [ 6.99634900e-01 7.14500304e-01 -5.68567002e-04 3.69922113e+02] [ 8.14269972e-04 -1.57435434e-06 9.99999669e-01 1.63587145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.312755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:294.52, Y:369.94, Z:1.64 [[ 7.10804386e-01 -7.03389491e-01 -5.90214881e-04 2.94518713e+02] [ 7.03389268e-01 7.10804631e-01 -5.61061528e-04 3.69940960e+02] [ 8.14172253e-04 -1.63458182e-05 9.99999668e-01 1.63750400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.342755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:294.55, Y:369.96, Z:1.64 [[ 7.12607451e-01 -7.01562743e-01 -5.82675524e-04 2.94546064e+02] [ 7.01562512e-01 7.12607689e-01 -5.68785006e-04 3.69960350e+02] [ 8.14257428e-04 -3.46287111e-06 9.99999669e-01 1.63546913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.372755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:294.57, Y:369.98, Z:1.64 [[ 7.10907867e-01 -7.03284904e-01 -5.90415027e-04 2.94567222e+02] [ 7.03284680e-01 7.10908112e-01 -5.60853841e-04 3.69980024e+02] [ 8.14170872e-04 -1.65144352e-05 9.99999668e-01 1.63582330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.402755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:294.58, Y:370.00, Z:1.64 [[ 7.08202566e-01 -7.06009049e-01 -5.89681640e-04 2.94580793e+02] [ 7.06008826e-01 7.08202811e-01 -5.61604918e-04 3.69998893e+02] [ 8.14112350e-04 -1.85903984e-05 9.99999668e-01 1.63802280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.61, Y:370.02, Z:1.64 [[ 7.09415599e-01 -7.04790159e-01 -5.82242867e-04 2.94606600e+02] [ 7.04789929e-01 7.09415838e-01 -5.69213961e-04 3.70018788e+02] [ 8.14228709e-04 -6.54964565e-06 9.99999669e-01 1.63830021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.63, Y:370.04, Z:1.64 [[ 7.09334642e-01 -7.04871633e-01 -5.88357458e-04 2.94626394e+02] [ 7.04871409e-01 7.09334886e-01 -5.62959494e-04 3.70038713e+02] [ 8.14156648e-04 -1.53896788e-05 9.99999669e-01 1.63700915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.64, Y:370.06, Z:1.64 [[ 7.08424481e-01 -7.05786378e-01 -5.86516415e-04 2.94642132e+02] [ 7.05786152e-01 7.08424724e-01 -5.64841264e-04 3.70058198e+02] [ 8.14159999e-04 -1.38077841e-05 9.99999669e-01 1.63950785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.67, Y:370.08, Z:1.64 [[ 7.10566266e-01 -7.03630047e-01 -5.81736963e-04 2.94668088e+02] [ 7.03629816e-01 7.10566504e-01 -5.69721515e-04 3.70078495e+02] [ 8.14235977e-04 -4.50258231e-06 9.99999669e-01 1.64055017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.68, Y:370.10, Z:1.64 [[ 7.10721236e-01 -7.03473509e-01 -5.88858303e-04 2.94681333e+02] [ 7.03473284e-01 7.10721480e-01 -5.62446459e-04 3.70098129e+02] [ 8.14180429e-04 -1.45034417e-05 9.99999669e-01 1.63913917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.70, Y:370.12, Z:1.64 [[ 7.11031419e-01 -7.03159998e-01 -5.81529934e-04 2.94701802e+02] [ 7.03159767e-01 7.11031657e-01 -5.69924062e-04 3.70119206e+02] [ 8.14233995e-04 -3.67453862e-06 9.99999669e-01 1.63884299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.73, Y:370.14, Z:1.64 [[ 7.12828981e-01 -7.01337655e-01 -5.81373697e-04 2.94727580e+02] [ 7.01337423e-01 7.12829218e-01 -5.70083393e-04 3.70140316e+02] [ 8.14241108e-04 -1.36716666e-06 9.99999669e-01 1.64116780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.74, Y:370.16, Z:1.64 [[ 7.11150897e-01 -7.03039157e-01 -5.88784398e-04 2.94744740e+02] [ 7.03038932e-01 7.11151140e-01 -5.62522282e-04 3.70161066e+02] [ 8.14189887e-04 -1.39001293e-05 9.99999669e-01 1.64184517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.76, Y:370.18, Z:1.64 [[ 7.09679711e-01 -7.04524212e-01 -5.85333188e-04 2.94763502e+02] [ 7.04523985e-01 7.09679952e-01 -5.66040193e-04 3.70181665e+02] [ 8.14188250e-04 -1.06740297e-05 9.99999669e-01 1.64250247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:370.20, Z:1.64 [[ 7.08750036e-01 -7.05459458e-01 -5.82861748e-04 2.94782229e+02] [ 7.05459229e-01 7.08750276e-01 -5.68557110e-04 3.70200952e+02] [ 8.14197415e-04 -8.22032653e-06 9.99999669e-01 1.64226683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:294.80, Y:370.22, Z:1.64 [[ 7.06082685e-01 -7.08129157e-01 -5.81913731e-04 2.94800419e+02] [ 7.08128928e-01 7.06082925e-01 -5.69522128e-04 3.70221677e+02] [ 8.14174573e-04 -9.94023306e-06 9.99999669e-01 1.63696413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.82, Y:370.24, Z:1.64 [[ 7.04647722e-01 -7.09557081e-01 -5.80648989e-04 2.94819347e+02] [ 7.09556851e-01 7.04647961e-01 -5.70808673e-04 3.70242030e+02] [ 8.14174462e-04 -9.78443705e-06 9.99999669e-01 1.64258120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.84, Y:370.26, Z:1.64 [[ 7.00983230e-01 -7.13177520e-01 -5.79827036e-04 2.94837247e+02] [ 7.13177291e-01 7.00983470e-01 -5.71644585e-04 3.70262745e+02] [ 8.14133236e-04 -1.28062070e-05 9.99999669e-01 1.64187820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.86, Y:370.28, Z:1.64 [[ 6.99446157e-01 -7.14685063e-01 -5.78290964e-04 2.94858228e+02] [ 7.14684833e-01 6.99446396e-01 -5.73205833e-04 3.70283090e+02] [ 8.14145177e-04 -1.23691647e-05 9.99999669e-01 1.64128531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.88, Y:370.30, Z:1.64 [[ 6.96968578e-01 -7.17101434e-01 -5.78068922e-04 2.94877103e+02] [ 7.17101205e-01 6.96968818e-01 -5.73431404e-04 3.70302865e+02] [ 8.14104495e-04 -1.48702501e-05 9.99999669e-01 1.63950853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.90, Y:370.32, Z:1.64 [[ 6.96006609e-01 -7.18035144e-01 -5.77210943e-04 2.94898274e+02] [ 7.18034914e-01 6.96006848e-01 -5.74302947e-04 3.70322251e+02] [ 8.14112468e-04 -1.47389629e-05 9.99999669e-01 1.64238547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.92, Y:370.34, Z:1.65 [[ 6.93206818e-01 -7.20738492e-01 -5.78600610e-04 2.94919904e+02] [ 7.20738264e-01 6.93207059e-01 -5.72891594e-04 3.70341498e+02] [ 8.13995050e-04 -1.98872409e-05 9.99999669e-01 1.64555798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.94, Y:370.36, Z:1.65 [[ 6.92261651e-01 -7.21646360e-01 -5.80958368e-04 2.94939758e+02] [ 7.21646135e-01 6.92261894e-01 -5.70496974e-04 3.70361606e+02] [ 8.13872405e-04 -2.43131837e-05 9.99999669e-01 1.64703819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.96, Y:370.38, Z:1.65 [[ 6.90231741e-01 -7.23588148e-01 -5.80085913e-04 2.94958643e+02] [ 7.23587923e-01 6.90231984e-01 -5.71382718e-04 3.70382392e+02] [ 8.13839613e-04 -2.53566727e-05 9.99999669e-01 1.64794827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.98, Y:370.40, Z:1.65 [[ 6.89235964e-01 -7.24536713e-01 -5.80000306e-04 2.94978319e+02] [ 7.24536489e-01 6.89236208e-01 -5.71469603e-04 3.70402610e+02] [ 8.13807920e-04 -2.63539817e-05 9.99999669e-01 1.64853191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.00, Y:370.42, Z:1.65 [[ 6.88634664e-01 -7.25108243e-01 -5.79824428e-04 2.94998053e+02] [ 7.25108018e-01 6.88634907e-01 -5.71647996e-04 3.70422327e+02] [ 8.13794016e-04 -2.67787166e-05 9.99999669e-01 1.64945940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.02, Y:370.44, Z:1.65 [[ 6.88236141e-01 -7.25486511e-01 -5.79643563e-04 2.95017864e+02] [ 7.25486286e-01 6.88236385e-01 -5.71831333e-04 3.70441889e+02] [ 8.13787709e-04 -2.69684653e-05 9.99999669e-01 1.64953504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.04, Y:370.46, Z:1.65 [[ 6.87949198e-01 -7.25758614e-01 -5.79385095e-04 2.95038048e+02] [ 7.25758389e-01 6.87949442e-01 -5.72093176e-04 3.70462240e+02] [ 8.13789202e-04 -2.69225512e-05 9.99999669e-01 1.64914963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.06, Y:370.48, Z:1.65 [[ 6.89520889e-01 -7.24265564e-01 -5.80250465e-04 2.95057327e+02] [ 7.24265339e-01 6.89521133e-01 -5.71216928e-04 3.70481590e+02] [ 8.13807708e-04 -2.63892961e-05 9.99999669e-01 1.64598776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.08, Y:370.50, Z:1.65 [[ 6.90136551e-01 -7.23678938e-01 -5.79226262e-04 2.95077329e+02] [ 7.23678712e-01 6.90136794e-01 -5.72253610e-04 3.70501847e+02] [ 8.13873240e-04 -2.42405825e-05 9.99999669e-01 1.64767269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.182755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:295.10, Y:370.52, Z:1.65 [[ 6.91091566e-01 -7.22766984e-01 -5.79044053e-04 2.95096558e+02] [ 7.22766757e-01 6.91091808e-01 -5.72437922e-04 3.70520991e+02] [ 8.13911832e-04 -2.29067730e-05 9.99999669e-01 1.64669862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.11, Y:370.54, Z:1.65 [[ 6.92809493e-01 -7.21120428e-01 -5.78948183e-04 2.95114959e+02] [ 7.21120200e-01 6.92809735e-01 -5.72534866e-04 3.70541445e+02] [ 8.13967525e-04 -2.08336390e-05 9.99999669e-01 1.64829994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.14, Y:370.56, Z:1.65 [[ 6.93158880e-01 -7.20784598e-01 -5.75467489e-04 2.95136707e+02] [ 7.20784368e-01 6.93159119e-01 -5.76051818e-04 3.70562953e+02] [ 8.14099815e-04 -1.54925369e-05 9.99999669e-01 1.64889971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.16, Y:370.58, Z:1.65 [[ 6.94386546e-01 -7.19601966e-01 -5.78680180e-04 2.95157108e+02] [ 7.19601738e-01 6.94386787e-01 -5.72806181e-04 3.70583513e+02] [ 8.14020325e-04 -1.86703582e-05 9.99999669e-01 1.64990050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.18, Y:370.60, Z:1.65 [[ 6.94772191e-01 -7.19229635e-01 -5.78520543e-04 2.95177064e+02] [ 7.19229407e-01 6.94772432e-01 -5.72967366e-04 3.70603637e+02] [ 8.14035234e-04 -1.80071950e-05 9.99999669e-01 1.65000176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.332755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.20, Y:370.63, Z:1.65 [[ 6.96611535e-01 -7.17448281e-01 -5.78437322e-04 2.95203847e+02] [ 7.17448052e-01 6.96611775e-01 -5.73051369e-04 3.70625065e+02] [ 8.14080968e-04 -1.58045363e-05 9.99999669e-01 1.64939553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.22, Y:370.64, Z:1.65 [[ 6.97095422e-01 -7.16978121e-01 -5.88338971e-04 2.95222219e+02] [ 7.16977901e-01 6.97095670e-01 -5.63050318e-04 3.70643498e+02] [ 8.13823308e-04 -2.93262409e-05 9.99999668e-01 1.65198480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.24, Y:370.66, Z:1.65 [[ 6.96539911e-01 -7.17517812e-01 -5.84784376e-04 2.95235443e+02] [ 7.17517589e-01 6.96540156e-01 -5.66639455e-04 3.70660978e+02] [ 8.13899702e-04 -2.49060806e-05 9.99999669e-01 1.65420520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.26, Y:370.68, Z:1.65 [[ 6.97369341e-01 -7.16711709e-01 -5.73004054e-04 2.95261878e+02] [ 7.16711476e-01 6.97369576e-01 -5.78514148e-04 3.70682772e+02] [ 8.14223458e-04 -7.24055131e-06 9.99999669e-01 1.65428404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.452755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:295.27, Y:370.70, Z:1.65 [[ 6.95695030e-01 -7.18337026e-01 -5.84693723e-04 2.95274893e+02] [ 7.18336803e-01 6.95695275e-01 -5.66723287e-04 3.70702533e+02] [ 8.13866981e-04 -2.57404452e-05 9.99999669e-01 1.65309851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.30, Y:370.72, Z:1.65 [[ 6.97877774e-01 -7.16216645e-01 -5.74461624e-04 2.95300706e+02] [ 7.16216412e-01 6.97878011e-01 -5.77031026e-04 3.70722538e+02] [ 8.14183361e-04 -8.74171477e-06 9.99999669e-01 1.65365456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.32, Y:370.74, Z:1.65 [[ 6.97614658e-01 -7.16472923e-01 -5.82017092e-04 2.95321137e+02] [ 7.16472697e-01 6.97614901e-01 -5.69416414e-04 3.70743704e+02] [ 8.13995238e-04 -1.97661185e-05 9.99999669e-01 1.65260457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.34, Y:370.77, Z:1.65 [[ 6.96133873e-01 -7.17911758e-01 -5.81313296e-04 2.95339110e+02] [ 7.17911532e-01 6.96134116e-01 -5.70124516e-04 3.70766157e+02] [ 8.13971111e-04 -2.04485319e-05 9.99999669e-01 1.65083313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.572755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.36, Y:370.79, Z:1.65 [[ 6.96216530e-01 -7.17831600e-01 -5.81787603e-04 2.95355403e+02] [ 7.17831374e-01 6.96216772e-01 -5.69647476e-04 3.70785394e+02] [ 8.13961247e-04 -2.10274056e-05 9.99999669e-01 1.65177435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.37, Y:370.81, Z:1.65 [[ 6.97860664e-01 -7.16233314e-01 -5.77048787e-04 2.95373593e+02] [ 7.16233084e-01 6.97860903e-01 -5.74408079e-04 3.70806380e+02] [ 8.14109989e-04 -1.24446286e-05 9.99999669e-01 1.65123539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.40, Y:370.83, Z:1.65 [[ 6.99016226e-01 -7.15105574e-01 -5.76870452e-04 2.95396820e+02] [ 7.15105344e-01 6.99016464e-01 -5.74587122e-04 3.70827715e+02] [ 8.14132398e-04 -1.08774206e-05 9.99999669e-01 1.64791789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.42, Y:370.85, Z:1.65 [[ 6.99965917e-01 -7.14176013e-01 -5.81824928e-04 2.95416954e+02] [ 7.14175786e-01 6.99966158e-01 -5.69613291e-04 3.70848105e+02] [ 8.14061909e-04 -1.68153857e-05 9.99999669e-01 1.64864805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.44, Y:370.87, Z:1.65 [[ 7.00674114e-01 -7.13481217e-01 -5.82110695e-04 2.95435508e+02] [ 7.13480990e-01 7.00674356e-01 -5.69326530e-04 3.70866826e+02] [ 8.14073822e-04 -1.64125530e-05 9.99999669e-01 1.64755265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.46, Y:370.89, Z:1.65 [[ 6.98890808e-01 -7.15228148e-01 -5.78412241e-04 2.95455733e+02] [ 7.15227919e-01 6.98891047e-01 -5.73033733e-04 3.70888598e+02] [ 8.14096993e-04 -1.32085745e-05 9.99999669e-01 1.64739562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.48, Y:370.91, Z:1.65 [[ 6.98764761e-01 -7.15351292e-01 -5.80578673e-04 2.95476862e+02] [ 7.15351065e-01 6.98765002e-01 -5.70863411e-04 3.70908162e+02] [ 8.14055936e-04 -1.64183369e-05 9.99999669e-01 1.64849423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7827550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.49, Y:370.93, Z:1.65 [[ 6.96314132e-01 -7.17736922e-01 -5.83093792e-04 2.95492989e+02] [ 7.17736697e-01 6.96314376e-01 -5.68343727e-04 3.70925673e+02] [ 8.13937867e-04 -2.27620431e-05 9.99999669e-01 1.64706486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.812755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:295.51, Y:370.95, Z:1.65 [[ 6.95154339e-01 -7.18860288e-01 -5.76638135e-04 2.95513902e+02] [ 7.18860058e-01 6.95154578e-01 -5.74802831e-04 3.70946099e+02] [ 8.14055568e-04 -1.49454418e-05 9.99999669e-01 1.64791410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.842755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:295.53, Y:370.97, Z:1.65 [[ 6.94910600e-01 -7.19095908e-01 -5.76594310e-04 2.95533997e+02] [ 7.19095679e-01 6.94910839e-01 -5.74846649e-04 3.70966439e+02] [ 8.14051509e-04 -1.51594466e-05 9.99999669e-01 1.64793736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.872755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.55, Y:370.99, Z:1.65 [[ 6.92077460e-01 -7.21823010e-01 -5.76417505e-04 2.95553889e+02] [ 7.21822781e-01 6.92077699e-01 -5.75023314e-04 3.70986737e+02] [ 8.13990760e-04 -1.81106127e-05 9.99999669e-01 1.65059004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.902755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:295.57, Y:371.01, Z:1.65 [[ 6.91001096e-01 -7.22853478e-01 -5.77943708e-04 2.95573116e+02] [ 7.22853251e-01 6.91001338e-01 -5.73499731e-04 3.71006226e+02] [ 8.13916150e-04 -2.14795456e-05 9.99999669e-01 1.65039469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.59, Y:371.03, Z:1.65 [[ 6.90419103e-01 -7.23409380e-01 -5.75819153e-04 2.95591198e+02] [ 7.23409151e-01 6.90419343e-01 -5.75619295e-04 3.71025471e+02] [ 8.13965078e-04 -1.91342870e-05 9.99999669e-01 1.64945040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.61, Y:371.05, Z:1.65 [[ 6.88845728e-01 -7.24907742e-01 -5.72867902e-04 2.95610799e+02] [ 7.24907511e-01 6.88845966e-01 -5.78560601e-04 3.71046396e+02] [ 8.14020802e-04 -1.67372468e-05 9.99999669e-01 1.65393233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.992755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:295.63, Y:371.07, Z:1.65 [[ 6.88545670e-01 -7.25192754e-01 -5.74649233e-04 2.95629636e+02] [ 7.25192524e-01 6.88545910e-01 -5.76785868e-04 3.71067511e+02] [ 8.13953311e-04 -1.95879153e-05 9.99999669e-01 1.65381890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.022755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:295.65, Y:371.09, Z:1.65 [[ 6.88724491e-01 -7.25022928e-01 -5.74256361e-04 2.95649571e+02] [ 7.25022698e-01 6.88724730e-01 -5.77177071e-04 3.71088787e+02] [ 8.13971167e-04 -1.88329110e-05 9.99999669e-01 1.65126127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.67, Y:371.11, Z:1.65 [[ 6.91062726e-01 -7.22794562e-01 -5.74660966e-04 2.95666837e+02] [ 7.22794332e-01 6.91062965e-01 -5.76774315e-04 3.71107821e+02] [ 8.14016249e-04 -1.67744580e-05 9.99999669e-01 1.64902890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.69, Y:371.13, Z:1.65 [[ 6.93433251e-01 -7.20520646e-01 -5.70740113e-04 2.95685484e+02] [ 7.20520412e-01 6.93433485e-01 -5.80675224e-04 3.71129392e+02] [ 8.14158793e-04 -8.57039279e-06 9.99999669e-01 1.64778859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.112755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:295.71, Y:371.15, Z:1.65 [[ 6.93840561e-01 -7.20128426e-01 -5.71025240e-04 2.95707343e+02] [ 7.20128192e-01 6.93840796e-01 -5.80391608e-04 3.71150742e+02] [ 8.14157102e-04 -8.51213514e-06 9.99999669e-01 1.65245521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.142755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:295.72, Y:371.17, Z:1.65 [[ 6.97257808e-01 -7.16820213e-01 -5.76010092e-04 2.95723023e+02] [ 7.16819982e-01 6.97258045e-01 -5.75432691e-04 3.71167788e+02] [ 8.14109456e-04 -1.16706074e-05 9.99999669e-01 1.64936224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:295.74, Y:371.19, Z:1.65 [[ 6.96910405e-01 -7.17157978e-01 -5.68209450e-04 2.95744853e+02] [ 7.17157740e-01 6.96910637e-01 -5.83184083e-04 3.71190630e+02] [ 8.14226327e-04 -1.06874972e-06 9.99999669e-01 1.65461989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.76, Y:371.21, Z:1.65 [[ 6.97618350e-01 -7.16469335e-01 -5.73923280e-04 2.95764476e+02] [ 7.16469103e-01 6.97618586e-01 -5.77505362e-04 3.71211851e+02] [ 8.14144430e-04 -8.31995927e-06 9.99999669e-01 1.65442054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.232755096 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:295.78, Y:371.23, Z:1.65 [[ 6.99802818e-01 -7.14335836e-01 -5.73585181e-04 2.95781688e+02] [ 7.14335602e-01 6.99803054e-01 -5.77841197e-04 3.71230861e+02] [ 8.14169336e-04 -5.35741747e-06 9.99999669e-01 1.64939767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.80, Y:371.25, Z:1.65 [[ 7.00866827e-01 -7.13291921e-01 -5.71125692e-04 2.95802550e+02] [ 7.13291685e-01 7.00867060e-01 -5.80283318e-04 3.71253116e+02] [ 8.14194587e-04 -6.77879305e-07 9.99999669e-01 1.65412607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.82, Y:371.27, Z:1.65 [[ 7.03653089e-01 -7.10543454e-01 -5.74819291e-04 2.95822382e+02] [ 7.10543220e-01 7.03653324e-01 -5.76615650e-04 3.71274405e+02] [ 8.14183980e-04 -2.69656630e-06 9.99999669e-01 1.65447026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.84, Y:371.29, Z:1.66 [[ 7.04621004e-01 -7.09583617e-01 -5.75306898e-04 2.95840505e+02] [ 7.09583383e-01 7.04621239e-01 -5.76131663e-04 3.71293946e+02] [ 8.14187048e-04 -2.27374392e-06 9.99999669e-01 1.65530564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.352755096 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:295.86, Y:371.31, Z:1.65 [[ 7.04826241e-01 -7.09379758e-01 -5.73396951e-04 2.95859159e+02] [ 7.09379523e-01 7.04826474e-01 -5.78026312e-04 3.71313848e+02] [ 8.14185517e-04 6.52057196e-07 9.99999669e-01 1.65331370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.88, Y:371.33, Z:1.66 [[ 7.06871515e-01 -7.07341737e-01 -5.73237124e-04 2.95878652e+02] [ 7.07341500e-01 7.06871748e-01 -5.78184773e-04 3.71334255e+02] [ 8.14179349e-04 3.22793937e-06 9.99999669e-01 1.65547530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:295.90, Y:371.36, Z:1.65 [[ 7.07250781e-01 -7.06962520e-01 -5.73051437e-04 2.95899973e+02] [ 7.06962284e-01 7.07251013e-01 -5.78368752e-04 3.71355589e+02] [ 8.14176240e-04 3.92599908e-06 9.99999669e-01 1.65361163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.92, Y:371.38, Z:1.65 [[ 7.07296678e-01 -7.06916598e-01 -5.76380225e-04 2.95917542e+02] [ 7.06916364e-01 7.07296913e-01 -5.75072356e-04 3.71376648e+02] [ 8.14200147e-04 -7.05845732e-07 9.99999669e-01 1.65497195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.94, Y:371.39, Z:1.65 [[ 7.08840767e-01 -7.05368300e-01 -5.74292343e-04 2.95937195e+02] [ 7.05368063e-01 7.08840999e-01 -5.77138607e-04 3.71394382e+02] [ 8.14177236e-04 4.01189487e-06 9.99999669e-01 1.65341284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.96, Y:371.42, Z:1.65 [[ 7.06502533e-01 -7.07710282e-01 -5.72312579e-04 2.95955329e+02] [ 7.07710045e-01 7.06502765e-01 -5.79096514e-04 3.71416259e+02] [ 8.14172977e-04 4.10179300e-06 9.99999669e-01 1.65457253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:295.98, Y:371.44, Z:1.65 [[ 7.04040880e-01 -7.10159216e-01 -5.72435777e-04 2.95975414e+02] [ 7.10158980e-01 7.04041113e-01 -5.78974707e-04 3.71437673e+02] [ 8.14182545e-04 1.10145460e-06 9.99999669e-01 1.65421070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.00, Y:371.46, Z:1.65 [[ 7.03175693e-01 -7.11015904e-01 -5.73453595e-04 2.95995662e+02] [ 7.11015669e-01 7.03175927e-01 -5.77969074e-04 3.71458153e+02] [ 8.14183967e-04 -1.32068767e-06 9.99999669e-01 1.65401300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:296.01, Y:371.48, Z:1.65 [[ 7.00192667e-01 -7.13953710e-01 -5.73824815e-04 2.96013427e+02] [ 7.13953476e-01 7.00192902e-01 -5.77602626e-04 3.71477413e+02] [ 8.14169600e-04 -5.25109810e-06 9.99999669e-01 1.65443192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.03, Y:371.50, Z:1.66 [[ 6.99135704e-01 -7.14988769e-01 -5.71794883e-04 2.96033374e+02] [ 7.14988535e-01 6.99135938e-01 -5.79605203e-04 3.71497672e+02] [ 8.14173563e-04 -3.60409375e-06 9.99999669e-01 1.65574398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.652755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.05, Y:371.52, Z:1.65 [[ 6.96640909e-01 -7.17419764e-01 -5.71616045e-04 2.96051883e+02] [ 7.17419530e-01 6.96641143e-01 -5.79781523e-04 3.71518731e+02] [ 8.14157978e-04 -6.18898711e-06 9.99999669e-01 1.65385837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.07, Y:371.54, Z:1.66 [[ 6.96463756e-01 -7.17591745e-01 -5.69830091e-04 2.96072681e+02] [ 7.17591509e-01 6.96463989e-01 -5.81541410e-04 3.71538350e+02] [ 8.14175453e-04 -3.88272069e-06 9.99999669e-01 1.65556923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.09, Y:371.56, Z:1.65 [[ 6.91557684e-01 -7.22321011e-01 -5.71403611e-04 2.96093028e+02] [ 7.22320779e-01 6.91557920e-01 -5.79991187e-04 3.71563409e+02] [ 8.14098514e-04 -1.16393393e-05 9.99999669e-01 1.65375015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.11, Y:371.58, Z:1.65 [[ 6.91227217e-01 -7.22637253e-01 -5.78544236e-04 2.96111811e+02] [ 7.22637026e-01 6.91227459e-01 -5.72954448e-04 3.71582833e+02] [ 8.13943890e-04 -2.20357778e-05 9.99999669e-01 1.65326492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.13, Y:371.60, Z:1.65 [[ 6.91464446e-01 -7.22410263e-01 -5.75516016e-04 2.96132125e+02] [ 7.22410034e-01 6.91464685e-01 -5.75935149e-04 3.71603482e+02] [ 8.14010463e-04 -1.75198657e-05 9.99999669e-01 1.65384950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.15, Y:371.62, Z:1.65 [[ 6.90704791e-01 -7.23136612e-01 -5.75891332e-04 2.96149382e+02] [ 7.23136383e-01 6.90705031e-01 -5.75566261e-04 3.71623342e+02] [ 8.13984076e-04 -1.89016010e-05 9.99999669e-01 1.65398305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.17, Y:371.64, Z:1.65 [[ 6.91314693e-01 -7.22553575e-01 -5.72077017e-04 2.96169988e+02] [ 7.22553343e-01 6.91314929e-01 -5.79308887e-04 3.71644103e+02] [ 8.14067089e-04 -1.28714158e-05 9.99999669e-01 1.65384220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.19, Y:371.67, Z:1.65 [[ 6.89261308e-01 -7.24512610e-01 -5.72759056e-04 2.96185377e+02] [ 7.24512379e-01 6.89261546e-01 -5.78640661e-04 3.71665311e+02] [ 8.14013248e-04 -1.61364075e-05 9.99999669e-01 1.65453457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.892755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:296.20, Y:371.69, Z:1.65 [[ 6.89528051e-01 -7.24258753e-01 -5.70960124e-04 2.96204651e+02] [ 7.24258520e-01 6.89528288e-01 -5.80403275e-04 3.71685483e+02] [ 8.14055308e-04 -1.33183951e-05 9.99999669e-01 1.65343319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.22, Y:371.71, Z:1.65 [[ 6.88046656e-01 -7.25666228e-01 -5.69416219e-04 2.96222723e+02] [ 7.25665995e-01 6.88046892e-01 -5.81915282e-04 3.71707275e+02] [ 8.14061328e-04 -1.28211232e-05 9.99999669e-01 1.65397750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.24, Y:371.73, Z:1.65 [[ 6.87104215e-01 -7.26558652e-01 -5.68633107e-04 2.96241908e+02] [ 7.26558418e-01 6.87104450e-01 -5.82682066e-04 3.71728423e+02] [ 8.14063034e-04 -1.27818670e-05 9.99999669e-01 1.65335684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.982755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.26, Y:371.75, Z:1.65 [[ 6.85562454e-01 -7.28013598e-01 -5.68437939e-04 2.96260265e+02] [ 7.28013365e-01 6.85562689e-01 -5.82873044e-04 3.71749142e+02] [ 8.14039344e-04 -1.42345423e-05 9.99999669e-01 1.65212333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.012755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:296.28, Y:371.77, Z:1.65 [[ 6.84557552e-01 -7.28958595e-01 -5.70089480e-04 2.96277703e+02] [ 7.28958363e-01 6.84557789e-01 -5.81257044e-04 3.71769598e+02] [ 8.13971512e-04 -1.76675953e-05 9.99999669e-01 1.65103605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.30, Y:371.79, Z:1.65 [[ 6.83342168e-01 -7.30098046e-01 -5.69285412e-04 2.96295676e+02] [ 7.30097814e-01 6.83342405e-01 -5.82043487e-04 3.71790513e+02] [ 8.13965675e-04 -1.78991766e-05 9.99999669e-01 1.65153569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.072755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:296.31, Y:371.81, Z:1.65 [[ 6.81520309e-01 -7.31798979e-01 -5.68726144e-04 2.96313151e+02] [ 7.31798747e-01 6.81520546e-01 -5.82590201e-04 3.71811702e+02] [ 8.13937466e-04 -1.91460258e-05 9.99999669e-01 1.65148345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.33, Y:371.84, Z:1.65 [[ 6.78593397e-01 -7.34513908e-01 -5.66751309e-04 2.96332464e+02] [ 7.34513676e-01 6.78593633e-01 -5.84517684e-04 3.71836314e+02] [ 8.13930198e-04 -1.96367462e-05 9.99999669e-01 1.65021130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.132755096 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.35, Y:371.86, Z:1.65 [[ 6.77981307e-01 -7.35078923e-01 -5.70105333e-04 2.96351796e+02] [ 7.35078693e-01 6.77981546e-01 -5.81245666e-04 3.71857280e+02] [ 8.13782333e-04 -2.49985870e-05 9.99999669e-01 1.64727724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1627550960001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.37, Y:371.88, Z:1.65 [[ 6.77132175e-01 -7.35861191e-01 -5.69802370e-04 2.96369824e+02] [ 7.35860962e-01 6.77132414e-01 -5.81540968e-04 3.71880331e+02] [ 8.13765084e-04 -2.55152197e-05 9.99999669e-01 1.64533447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.39, Y:371.90, Z:1.65 [[ 6.77582222e-01 -7.35446809e-01 -5.69506250e-04 2.96388024e+02] [ 7.35446579e-01 6.77582461e-01 -5.81829308e-04 3.71901215e+02] [ 8.13791954e-04 -2.46042280e-05 9.99999669e-01 1.64707582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.41, Y:371.92, Z:1.65 [[ 6.77290427e-01 -7.35715539e-01 -5.68092181e-04 2.96405554e+02] [ 7.35715308e-01 6.77290665e-01 -5.83205236e-04 3.71921982e+02] [ 8.13836686e-04 -2.29547905e-05 9.99999669e-01 1.64839748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.42, Y:371.94, Z:1.65 [[ 6.77722334e-01 -7.35317697e-01 -5.67600176e-04 2.96422025e+02] [ 7.35317466e-01 6.77722571e-01 -5.83683684e-04 3.71943536e+02] [ 8.13868393e-04 -2.17908543e-05 9.99999669e-01 1.64718519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2827550960001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:296.44, Y:371.97, Z:1.64 [[ 6.77576903e-01 -7.35451711e-01 -5.67435945e-04 2.96440783e+02] [ 7.35451480e-01 6.77577140e-01 -5.83843299e-04 3.71965063e+02] [ 8.13870178e-04 -2.17228709e-05 9.99999669e-01 1.64449009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.312755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:296.46, Y:371.99, Z:1.64 [[ 6.77941565e-01 -7.35115578e-01 -5.67255800e-04 2.96460611e+02] [ 7.35115346e-01 6.77941802e-01 -5.84018274e-04 3.71986517e+02] [ 8.13887350e-04 -2.10681808e-05 9.99999669e-01 1.64299796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.48, Y:372.01, Z:1.65 [[ 6.79492982e-01 -7.33681785e-01 -5.70666997e-04 2.96476391e+02] [ 7.33681556e-01 6.79493221e-01 -5.80704593e-04 3.72007115e+02] [ 8.13816738e-04 -2.41031549e-05 9.99999669e-01 1.64665490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.49, Y:372.03, Z:1.65 [[ 6.80305748e-01 -7.32928215e-01 -5.67031224e-04 2.96494885e+02] [ 7.32927982e-01 6.80305984e-01 -5.84233315e-04 3.72027881e+02] [ 8.13955815e-04 -1.81357690e-05 9.99999669e-01 1.64674283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.51, Y:372.05, Z:1.65 [[ 6.82182869e-01 -7.31181381e-01 -5.66856164e-04 2.96511937e+02] [ 7.31181148e-01 6.82183104e-01 -5.84403118e-04 3.72049389e+02] [ 8.14004377e-04 -1.58047451e-05 9.99999669e-01 1.64542889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.53, Y:372.07, Z:1.65 [[ 6.83229401e-01 -7.30203579e-01 -5.65320208e-04 2.96531866e+02] [ 7.30203344e-01 6.83229635e-01 -5.85891761e-04 3.72071125e+02] [ 8.14063780e-04 -1.25002290e-05 9.99999669e-01 1.64729893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.462755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.55, Y:372.09, Z:1.65 [[ 6.81932890e-01 -7.31414529e-01 -5.66585699e-04 2.96550965e+02] [ 7.31414295e-01 6.81933125e-01 -5.84665403e-04 3.72093906e+02] [ 8.14006326e-04 -1.57063127e-05 9.99999669e-01 1.64536854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.57, Y:372.11, Z:1.65 [[ 6.84114968e-01 -7.29373967e-01 -5.71869810e-04 2.96569016e+02] [ 7.29373737e-01 6.84115207e-01 -5.79544771e-04 3.72111517e+02] [ 8.13929702e-04 -2.06315677e-05 9.99999669e-01 1.64682777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.59, Y:372.13, Z:1.65 [[ 6.84277023e-01 -7.29221939e-01 -5.66204167e-04 2.96588064e+02] [ 7.29221704e-01 6.84277257e-01 -5.85028116e-04 3.72131711e+02] [ 8.14055970e-04 -1.25670701e-05 9.99999669e-01 1.64624814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.552755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:296.60, Y:372.15, Z:1.64 [[ 6.83433606e-01 -7.30012455e-01 -5.66603127e-04 2.96604904e+02] [ 7.30012221e-01 6.83433841e-01 -5.84642338e-04 3.72151928e+02] [ 8.14031940e-04 -1.40629860e-05 9.99999669e-01 1.64346387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.63, Y:372.17, Z:1.65 [[ 6.84916992e-01 -7.28620888e-01 -5.61933911e-04 2.96627292e+02] [ 7.28620650e-01 6.84917223e-01 -5.89159439e-04 3.72171483e+02] [ 8.14152087e-04 -5.91133984e-06 9.99999669e-01 1.64580568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.64, Y:372.19, Z:1.64 [[ 6.83412350e-01 -7.30032355e-01 -5.66124069e-04 2.96644348e+02] [ 7.30032120e-01 6.83412585e-01 -5.85105212e-04 3.72192739e+02] [ 8.14042049e-04 -1.34206263e-05 9.99999669e-01 1.64330048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.67, Y:372.21, Z:1.64 [[ 6.84109841e-01 -7.29378783e-01 -5.62053851e-04 2.96666257e+02] [ 7.29378546e-01 6.84110072e-01 -5.89039477e-04 3.72212056e+02] [ 8.14139598e-04 -6.98231681e-06 9.99999669e-01 1.64495533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6727550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:296.68, Y:372.23, Z:1.64 [[ 6.82280829e-01 -7.31089974e-01 -5.65860153e-04 2.96684680e+02] [ 7.31089740e-01 6.82281064e-01 -5.85359972e-04 3.72231903e+02] [ 8.14026474e-04 -1.43146649e-05 9.99999669e-01 1.64239772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.71, Y:372.25, Z:1.64 [[ 6.82267593e-01 -7.31102329e-01 -5.62593386e-04 2.96706856e+02] [ 7.31102092e-01 6.82267825e-01 -5.88515560e-04 3.72251027e+02] [ 8.14104462e-04 -9.78810741e-06 9.99999669e-01 1.64439379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.73, Y:372.27, Z:1.64 [[ 6.82048928e-01 -7.31306324e-01 -5.65592586e-04 2.96726572e+02] [ 7.31306090e-01 6.82049163e-01 -5.85618923e-04 3.72271694e+02] [ 8.14028771e-04 -1.42005440e-05 9.99999669e-01 1.64441814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.75, Y:372.29, Z:1.64 [[ 6.81288530e-01 -7.32014767e-01 -5.65417408e-04 2.96746337e+02] [ 7.32014532e-01 6.81288765e-01 -5.85788009e-04 3.72290466e+02] [ 8.14018000e-04 -1.48031074e-05 9.99999669e-01 1.64427558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.77, Y:372.31, Z:1.64 [[ 6.80394392e-01 -7.32845927e-01 -5.65260187e-04 2.96767684e+02] [ 7.32845693e-01 6.80394626e-01 -5.85939681e-04 3.72309663e+02] [ 8.14003502e-04 -1.55784209e-05 9.99999669e-01 1.64267237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.79, Y:372.33, Z:1.64 [[ 6.79710367e-01 -7.33480399e-01 -5.66388449e-04 2.96786464e+02] [ 7.33480166e-01 6.79710603e-01 -5.84851510e-04 3.72329051e+02] [ 8.13957353e-04 -1.79050592e-05 9.99999669e-01 1.64446839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.81, Y:372.35, Z:1.64 [[ 6.79683095e-01 -7.33505673e-01 -5.65040895e-04 2.96806400e+02] [ 7.33505438e-01 6.79683329e-01 -5.86150533e-04 3.72347528e+02] [ 8.13993618e-04 -1.60639607e-05 9.99999669e-01 1.64400992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.83, Y:372.37, Z:1.64 [[ 6.80035895e-01 -7.33178602e-01 -5.64919387e-04 2.96827088e+02] [ 7.33178368e-01 6.80036130e-01 -5.86267617e-04 3.72367237e+02] [ 8.14004465e-04 -1.55036502e-05 9.99999669e-01 1.64388820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.85, Y:372.39, Z:1.64 [[ 6.80308824e-01 -7.32925362e-01 -5.64743558e-04 2.96847217e+02] [ 7.32925127e-01 6.80309058e-01 -5.86436941e-04 3.72387002e+02] [ 8.14014665e-04 -1.49565186e-05 9.99999669e-01 1.64356566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.87, Y:372.41, Z:1.64 [[ 6.82038601e-01 -7.31315956e-01 -5.64567998e-04 2.96867909e+02] [ 7.31315721e-01 6.82038835e-01 -5.86605906e-04 3.72405948e+02] [ 8.14051558e-04 -1.27895805e-05 9.99999669e-01 1.64328836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.89, Y:372.43, Z:1.64 [[ 6.83078536e-01 -7.30344710e-01 -5.64384518e-04 2.96887622e+02] [ 7.30344474e-01 6.83078769e-01 -5.86782382e-04 3.72425204e+02] [ 8.14072490e-04 -1.13766630e-05 9.99999669e-01 1.64344296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.91, Y:372.45, Z:1.64 [[ 6.83925333e-01 -7.29551794e-01 -5.64220639e-04 2.96907694e+02] [ 7.29551558e-01 6.83925566e-01 -5.86939918e-04 3.72445099e+02] [ 8.14087990e-04 -1.02049671e-05 9.99999669e-01 1.64353536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.93, Y:372.46, Z:1.64 [[ 6.85653044e-01 -7.27928283e-01 -5.64035548e-04 2.96928916e+02] [ 7.27928046e-01 6.85653276e-01 -5.87117732e-04 3.72463927e+02] [ 8.14112424e-04 -8.01823450e-06 9.99999669e-01 1.64462965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.95, Y:372.48, Z:1.65 [[ 6.86328375e-01 -7.27291582e-01 -5.63846468e-04 2.96948679e+02] [ 7.27291344e-01 6.86328606e-01 -5.87299262e-04 3.72482497e+02] [ 8.14121769e-04 -7.00050781e-06 9.99999669e-01 1.64561301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.97, Y:372.50, Z:1.65 [[ 6.87269769e-01 -7.26402056e-01 -5.63743186e-04 2.96972224e+02] [ 7.26401818e-01 6.87270000e-01 -5.87398384e-04 3.72501851e+02] [ 8.14131173e-04 -5.80292384e-06 9.99999669e-01 1.64549585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:296.99, Y:372.52, Z:1.65 [[ 6.86677690e-01 -7.26961780e-01 -5.65623378e-04 2.96990891e+02] [ 7.26961544e-01 6.86677923e-01 -5.85594458e-04 3.72520565e+02] [ 8.14105876e-04 -9.07179445e-06 9.99999669e-01 1.64578436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.01, Y:372.54, Z:1.64 [[ 6.86176896e-01 -7.27434499e-01 -5.63482126e-04 2.97012272e+02] [ 7.27434261e-01 6.86177127e-01 -5.87647656e-04 3.72540860e+02] [ 8.14123724e-04 -6.66595960e-06 9.99999669e-01 1.64496878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.03, Y:372.56, Z:1.64 [[ 6.84875474e-01 -7.28659911e-01 -5.64287853e-04 2.97032671e+02] [ 7.28659675e-01 6.84875707e-01 -5.86875416e-04 3.72558547e+02] [ 8.14099631e-04 -9.23722473e-06 9.99999669e-01 1.64399927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.05, Y:372.58, Z:1.64 [[ 6.84098906e-01 -7.29389039e-01 -5.63233877e-04 2.97052280e+02] [ 7.29388802e-01 6.84099138e-01 -5.87885197e-04 3.72577157e+02] [ 8.14104828e-04 -8.64486265e-06 9.99999669e-01 1.64352878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.07, Y:372.60, Z:1.64 [[ 6.83160869e-01 -7.30267698e-01 -5.63109069e-04 2.97072145e+02] [ 7.30267461e-01 6.83161101e-01 -5.88004720e-04 3.72596368e+02] [ 8.14095065e-04 -9.51841416e-06 9.99999669e-01 1.64277453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.09, Y:372.62, Z:1.64 [[ 6.81800697e-01 -7.31537759e-01 -5.62926443e-04 2.97093376e+02] [ 7.31537523e-01 6.81800929e-01 -5.88179505e-04 3.72615261e+02] [ 8.14079289e-04 -1.07806190e-05 9.99999669e-01 1.64221005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.11, Y:372.63, Z:1.64 [[ 6.81375438e-01 -7.31933874e-01 -5.62739889e-04 2.97112959e+02] [ 7.31933638e-01 6.81375670e-01 -5.88357936e-04 3.72633410e+02] [ 8.14076373e-04 -1.09956082e-05 9.99999669e-01 1.64212438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.13, Y:372.65, Z:1.64 [[ 6.80875751e-01 -7.32398727e-01 -5.62572272e-04 2.97134507e+02] [ 7.32398491e-01 6.80875983e-01 -5.88518163e-04 3.72651727e+02] [ 8.14071903e-04 -1.13193365e-05 9.99999669e-01 1.64124320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.15, Y:372.67, Z:1.64 [[ 6.80717705e-01 -7.32545623e-01 -5.62388843e-04 2.97153792e+02] [ 7.32545387e-01 6.80717937e-01 -5.88693396e-04 3.72670683e+02] [ 8.14072944e-04 -1.12413351e-05 9.99999669e-01 1.63946278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.18, Y:372.69, Z:1.64 [[ 6.80379686e-01 -7.32859583e-01 -5.61357254e-04 2.97175464e+02] [ 7.32859346e-01 6.80379917e-01 -5.89678596e-04 3.72690431e+02] [ 8.14087812e-04 -1.01905723e-05 9.99999669e-01 1.64014430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.20, Y:372.71, Z:1.64 [[ 6.80267263e-01 -7.32963939e-01 -5.62170888e-04 2.97195419e+02] [ 7.32963702e-01 6.80267495e-01 -5.88901894e-04 3.72708336e+02] [ 8.14070433e-04 -1.14401761e-05 9.99999669e-01 1.63983870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.22, Y:372.73, Z:1.64 [[ 6.79709951e-01 -7.33480788e-01 -5.62006301e-04 2.97217694e+02] [ 7.33480552e-01 6.79710183e-01 -5.89058923e-04 3.72725957e+02] [ 8.14064808e-04 -1.18314798e-05 9.99999669e-01 1.63983397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.24, Y:372.74, Z:1.64 [[ 6.79410263e-01 -7.33758393e-01 -5.61825130e-04 2.97238431e+02] [ 7.33758157e-01 6.79410495e-01 -5.89231667e-04 3.72744975e+02] [ 8.14063570e-04 -1.19137300e-05 9.99999669e-01 1.63977363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.26, Y:372.76, Z:1.64 [[ 6.79704843e-01 -7.33485522e-01 -5.61644485e-04 2.97259840e+02] [ 7.33485285e-01 6.79705075e-01 -5.89403804e-04 3.72762693e+02] [ 8.14071763e-04 -1.13373454e-05 9.99999669e-01 1.63911467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.28, Y:372.78, Z:1.64 [[ 6.79992096e-01 -7.33219227e-01 -5.61453735e-04 2.97279817e+02] [ 7.33218990e-01 6.79992327e-01 -5.89585452e-04 3.72781263e+02] [ 8.14079621e-04 -1.07550935e-05 9.99999669e-01 1.63875946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.30, Y:372.80, Z:1.64 [[ 6.80812789e-01 -7.32457255e-01 -5.61348218e-04 2.97302056e+02] [ 7.32457018e-01 6.80813021e-01 -5.89685898e-04 3.72799451e+02] [ 8.14092891e-04 -9.69774049e-06 9.99999669e-01 1.63880992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.32, Y:372.82, Z:1.64 [[ 6.81211391e-01 -7.32086557e-01 -5.61165463e-04 2.97322785e+02] [ 7.32086319e-01 6.81211622e-01 -5.89859763e-04 3.72818281e+02] [ 8.14100838e-04 -9.00236901e-06 9.99999669e-01 1.63884977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.34, Y:372.84, Z:1.64 [[ 6.82017358e-01 -7.31335770e-01 -5.60977989e-04 2.97342893e+02] [ 7.31335532e-01 6.82017589e-01 -5.90038004e-04 3.72838456e+02] [ 8.14112753e-04 -7.84697595e-06 9.99999669e-01 1.63963956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.36, Y:372.86, Z:1.64 [[ 6.84879615e-01 -7.28656023e-01 -5.60790563e-04 2.97360685e+02] [ 7.28655784e-01 6.84879844e-01 -5.90216086e-04 3.72858772e+02] [ 8.14138659e-04 -4.39632190e-06 9.99999669e-01 1.64043817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.38, Y:372.88, Z:1.64 [[ 6.86435136e-01 -7.27190821e-01 -5.60622119e-04 2.97379286e+02] [ 7.27190581e-01 6.86435365e-01 -5.90376040e-04 3.72879323e+02] [ 8.14146886e-04 -2.42426775e-06 9.99999669e-01 1.64017158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.40, Y:372.90, Z:1.64 [[ 6.88732566e-01 -7.25015268e-01 -5.60436834e-04 2.97396812e+02] [ 7.25015027e-01 6.88732794e-01 -5.90551877e-04 3.72899350e+02] [ 8.14150354e-04 4.07183188e-07 9.99999669e-01 1.63948402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.42, Y:372.92, Z:1.64 [[ 6.89009121e-01 -7.24752453e-01 -5.60311123e-04 2.97416138e+02] [ 7.24752212e-01 6.89009349e-01 -5.90671126e-04 3.72920319e+02] [ 8.14149949e-04 8.91067794e-07 9.99999669e-01 1.63920348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.43, Y:372.94, Z:1.64 [[ 6.89269670e-01 -7.24504664e-01 -5.60120204e-04 2.97434879e+02] [ 7.24504423e-01 6.89269898e-01 -5.90852115e-04 3.72941535e+02] [ 8.14149109e-04 1.44687685e-06 9.99999669e-01 1.63919214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.45, Y:372.96, Z:1.64 [[ 6.89150472e-01 -7.24618047e-01 -5.59927497e-04 2.97453773e+02] [ 7.24617806e-01 6.89150700e-01 -5.91034680e-04 3.72962511e+02] [ 8.14148821e-04 1.57839468e-06 9.99999669e-01 1.63944603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.47, Y:372.98, Z:1.64 [[ 6.87662855e-01 -7.26029948e-01 -5.59731624e-04 2.97470457e+02] [ 7.26029707e-01 6.87663082e-01 -5.91220121e-04 3.72983865e+02] [ 8.14150287e-04 1.78329138e-07 9.99999669e-01 1.63921706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.49, Y:373.01, Z:1.64 [[ 6.86065309e-01 -7.27539743e-01 -5.59622501e-04 2.97488579e+02] [ 7.27539503e-01 6.86065538e-01 -5.91323394e-04 3.73005080e+02] [ 8.14148982e-04 -1.46100898e-06 9.99999669e-01 1.63869459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.51, Y:373.03, Z:1.64 [[ 6.81919368e-01 -7.31427141e-01 -5.59435131e-04 2.97507197e+02] [ 7.31426902e-01 6.81919598e-01 -5.91500606e-04 3.73026110e+02] [ 8.14129376e-04 -5.83018466e-06 9.99999669e-01 1.63842093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.53, Y:373.05, Z:1.64 [[ 6.79568951e-01 -7.33611429e-01 -5.59249009e-04 2.97525853e+02] [ 7.33611190e-01 6.79569181e-01 -5.91676527e-04 3.73045608e+02] [ 8.14109054e-04 -8.18633407e-06 9.99999669e-01 1.63862753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.55, Y:373.07, Z:1.64 [[ 6.77318710e-01 -7.35689508e-01 -5.59082103e-04 2.97545383e+02] [ 7.35689270e-01 6.77318941e-01 -5.91834197e-04 3.73066442e+02] [ 8.14083107e-04 -1.04503297e-05 9.99999669e-01 1.63844154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.56, Y:373.09, Z:1.64 [[ 6.73122239e-01 -7.39531027e-01 -5.58894183e-04 2.97563986e+02] [ 7.39530790e-01 6.73122471e-01 -5.92011605e-04 3.73087213e+02] [ 8.14015183e-04 -1.48232796e-05 9.99999669e-01 1.63852004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.58, Y:373.11, Z:1.64 [[ 6.71429977e-01 -7.41067793e-01 -5.58703713e-04 2.97581879e+02] [ 7.41067557e-01 6.71430209e-01 -5.92191304e-04 3.73107103e+02] [ 8.13984453e-04 -1.64222016e-05 9.99999669e-01 1.63885936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.60, Y:373.13, Z:1.64 [[ 6.69119229e-01 -7.43154860e-01 -5.58598070e-04 2.97599230e+02] [ 7.43154624e-01 6.69119462e-01 -5.92290937e-04 3.73128839e+02] [ 8.13932728e-04 -1.88114845e-05 9.99999669e-01 1.63808629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.62, Y:373.15, Z:1.64 [[ 6.68211440e-01 -7.43971209e-01 -5.58413914e-04 2.97618202e+02] [ 7.43970973e-01 6.68211673e-01 -5.92464509e-04 3.73150119e+02] [ 8.13915233e-04 -1.95521801e-05 9.99999669e-01 1.63779144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.64, Y:373.17, Z:1.64 [[ 6.67404013e-01 -7.44695624e-01 -5.58224357e-04 2.97637570e+02] [ 7.44695388e-01 6.67404246e-01 -5.92643058e-04 3.73170905e+02] [ 8.13899997e-04 -2.01747489e-05 9.99999669e-01 1.63767284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.66, Y:373.19, Z:1.64 [[ 6.67211635e-01 -7.44867990e-01 -5.58036232e-04 2.97656647e+02] [ 7.44867755e-01 6.67211868e-01 -5.92820144e-04 3.73190125e+02] [ 8.13901146e-04 -2.01266972e-05 9.99999669e-01 1.63830779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.68, Y:373.21, Z:1.64 [[ 6.67285356e-01 -7.44801949e-01 -5.57867360e-04 2.97675741e+02] [ 7.44801713e-01 6.67285589e-01 -5.92979017e-04 3.73210717e+02] [ 8.13908777e-04 -1.98143506e-05 9.99999669e-01 1.63830206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.69, Y:373.23, Z:1.64 [[ 6.67831224e-01 -7.44312532e-01 -5.57682989e-04 2.97694920e+02] [ 7.44312296e-01 6.67831456e-01 -5.93152362e-04 3.73231521e+02] [ 8.13928980e-04 -1.89646382e-05 9.99999669e-01 1.63813523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.71, Y:373.25, Z:1.64 [[ 6.69839936e-01 -7.42505319e-01 -5.57499974e-04 2.97712822e+02] [ 7.42505082e-01 6.69840168e-01 -5.93324328e-04 3.73251320e+02] [ 8.13982345e-04 -1.65142339e-05 9.99999669e-01 1.63885148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.73, Y:373.27, Z:1.64 [[ 6.71299322e-01 -7.41186151e-01 -5.57335437e-04 2.97732211e+02] [ 7.41185913e-01 6.71299553e-01 -5.93478844e-04 3.73272063e+02] [ 8.14017330e-04 -1.46872302e-05 9.99999669e-01 1.63925121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.75, Y:373.29, Z:1.64 [[ 6.74033549e-01 -7.38700524e-01 -5.57154765e-04 2.97750261e+02] [ 7.38700286e-01 6.74033779e-01 -5.93648409e-04 3.73292102e+02] [ 8.14069523e-04 -1.14314404e-05 9.99999669e-01 1.63964637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.77, Y:373.31, Z:1.64 [[ 6.74927279e-01 -7.37884041e-01 -5.56992638e-04 2.97769053e+02] [ 7.37883802e-01 6.74927509e-01 -5.93800486e-04 3.73312711e+02] [ 8.14085556e-04 -1.02236991e-05 9.99999669e-01 1.63959189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.79, Y:373.33, Z:1.64 [[ 6.75546062e-01 -7.37317576e-01 -5.56814620e-04 2.97787619e+02] [ 7.37317337e-01 6.75546292e-01 -5.93967370e-04 3.73332640e+02] [ 8.14096633e-04 -9.29675495e-06 9.99999669e-01 1.63969348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.81, Y:373.35, Z:1.64 [[ 6.76402932e-01 -7.36531577e-01 -5.56654675e-04 2.97807068e+02] [ 7.36531337e-01 6.76403161e-01 -5.94117229e-04 3.73351337e+02] [ 8.14109081e-04 -8.13097668e-06 9.99999669e-01 1.63989939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.83, Y:373.37, Z:1.64 [[ 6.76204648e-01 -7.36713625e-01 -5.56496533e-04 2.97826363e+02] [ 7.36713385e-01 6.76204877e-01 -5.94265320e-04 3.73370726e+02] [ 8.14109028e-04 -8.13347354e-06 9.99999669e-01 1.64032996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.85, Y:373.39, Z:1.64 [[ 6.75603693e-01 -7.37264770e-01 -5.56339791e-04 2.97845744e+02] [ 7.37264530e-01 6.75603922e-01 -5.94412023e-04 3.73390690e+02] [ 8.14104388e-04 -8.58263773e-06 9.99999669e-01 1.64064069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.86, Y:373.41, Z:1.64 [[ 6.74975990e-01 -7.37839483e-01 -5.56167596e-04 2.97864896e+02] [ 7.37839244e-01 6.74976219e-01 -5.94573095e-04 3.73409324e+02] [ 8.14099407e-04 -9.03971501e-06 9.99999669e-01 1.64006263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.89, Y:373.43, Z:1.64 [[ 6.72438716e-01 -7.40152597e-01 -5.53996858e-04 2.97885949e+02] [ 7.40152356e-01 6.72438944e-01 -5.96604278e-04 3.73429923e+02] [ 8.14107268e-04 -8.86226481e-06 9.99999669e-01 1.63961031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.90, Y:373.45, Z:1.64 [[ 6.70961808e-01 -7.41491702e-01 -5.56272234e-04 2.97904762e+02] [ 7.41491463e-01 6.70962038e-01 -5.94475125e-04 3.73449193e+02] [ 8.14035924e-04 -1.36010083e-05 9.99999669e-01 1.63932570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.92, Y:373.47, Z:1.64 [[ 6.69752717e-01 -7.42583994e-01 -5.56144312e-04 2.97924644e+02] [ 7.42583756e-01 6.69752948e-01 -5.94594774e-04 3.73469439e+02] [ 8.14015855e-04 -1.47522671e-05 9.99999669e-01 1.63947001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.94, Y:373.49, Z:1.64 [[ 6.68680036e-01 -7.43550066e-01 -5.55956087e-04 2.97943817e+02] [ 7.43549828e-01 6.68680267e-01 -5.94770716e-04 3.73489144e+02] [ 8.13998670e-04 -1.56697486e-05 9.99999669e-01 1.63910338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.96, Y:373.51, Z:1.64 [[ 6.68448886e-01 -7.43757876e-01 -5.55828276e-04 2.97963209e+02] [ 7.43757638e-01 6.68449117e-01 -5.94890135e-04 3.73510141e+02] [ 8.13997143e-04 -1.57478779e-05 9.99999669e-01 1.63912660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:297.98, Y:373.53, Z:1.64 [[ 6.66774016e-01 -7.45259756e-01 -5.55643311e-04 2.97983014e+02] [ 7.45259518e-01 6.66774247e-01 -5.95062846e-04 3.73529704e+02] [ 8.13965042e-04 -1.73260229e-05 9.99999669e-01 1.63912036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.00, Y:373.55, Z:1.64 [[ 6.66052950e-01 -7.45904256e-01 -5.55454576e-04 2.98002197e+02] [ 7.45904019e-01 6.66053181e-01 -5.95238967e-04 3.73549537e+02] [ 8.13953566e-04 -1.78551310e-05 9.99999669e-01 1.63968947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.02, Y:373.57, Z:1.64 [[ 6.65063130e-01 -7.46786934e-01 -5.55264345e-04 2.98020781e+02] [ 7.46786697e-01 6.65063362e-01 -5.95416370e-04 3.73568857e+02] [ 8.13935137e-04 -1.86745506e-05 9.99999669e-01 1.63996128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.04, Y:373.59, Z:1.64 [[ 6.64707605e-01 -7.47103401e-01 -5.55093442e-04 2.98039254e+02] [ 7.47103164e-01 6.64707837e-01 -5.95575656e-04 3.73588430e+02] [ 8.13931559e-04 -1.88283992e-05 9.99999669e-01 1.63999350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.07, Y:373.61, Z:1.64 [[ 6.67194329e-01 -7.44883494e-01 -5.54965804e-04 2.98067132e+02] [ 7.44883256e-01 6.67194559e-01 -5.95694567e-04 3.73610537e+02] [ 8.13993216e-04 -1.59406988e-05 9.99999669e-01 1.63959894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.08, Y:373.63, Z:1.64 [[ 6.64041552e-01 -7.47695457e-01 -5.66498578e-04 2.98078104e+02] [ 7.47695229e-01 6.64041793e-01 -5.84943956e-04 3.73628424e+02] [ 8.13538669e-04 -3.51411917e-05 9.99999669e-01 1.64068471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.10, Y:373.65, Z:1.64 [[ 6.64112999e-01 -7.47632007e-01 -5.54574922e-04 2.98096191e+02] [ 7.47631769e-01 6.64113230e-01 -5.96038146e-04 3.73648237e+02] [ 8.13917738e-04 -1.87811496e-05 9.99999669e-01 1.64004412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.11, Y:373.67, Z:1.64 [[ 6.64551308e-01 -7.47242432e-01 -5.54446664e-04 2.98114935e+02] [ 7.47242194e-01 6.64551539e-01 -5.96157430e-04 3.73669025e+02] [ 8.13932511e-04 -1.81287427e-05 9.99999669e-01 1.63967495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.13, Y:373.69, Z:1.64 [[ 6.66117835e-01 -7.45846314e-01 -5.54256849e-04 2.98132804e+02] [ 7.45846075e-01 6.66118065e-01 -5.96333851e-04 3.73689330e+02] [ 8.13973905e-04 -1.61616819e-05 9.99999669e-01 1.63878910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.15, Y:373.71, Z:1.64 [[ 6.66904116e-01 -7.45143337e-01 -5.54090199e-04 2.98151656e+02] [ 7.45143099e-01 6.66904346e-01 -5.96488656e-04 3.73710346e+02] [ 8.13994710e-04 -1.50757478e-05 9.99999669e-01 1.63879509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.17, Y:373.73, Z:1.64 [[ 6.68810095e-01 -7.43433084e-01 -5.53904061e-04 2.98169574e+02] [ 7.43432845e-01 6.68810324e-01 -5.96661455e-04 3.73731888e+02] [ 8.14034620e-04 -1.27372673e-05 9.99999669e-01 1.63889227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.19, Y:373.75, Z:1.64 [[ 6.69441028e-01 -7.42864997e-01 -5.53716317e-04 2.98187193e+02] [ 7.42864757e-01 6.69441257e-01 -5.96835636e-04 3.73752260e+02] [ 8.14048850e-04 -1.17900758e-05 9.99999669e-01 1.63924704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.21, Y:373.77, Z:1.64 [[ 6.70036131e-01 -7.42328281e-01 -5.53547473e-04 2.98205219e+02] [ 7.42328041e-01 6.70036360e-01 -5.96992192e-04 3.73772492e+02] [ 8.14061121e-04 -1.09074721e-05 9.99999669e-01 1.63922520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.22, Y:373.79, Z:1.64 [[ 6.70366567e-01 -7.42029891e-01 -5.53421409e-04 2.98223498e+02] [ 7.42029651e-01 6.70366795e-01 -5.97109033e-04 3.73793236e+02] [ 8.14068087e-04 -1.03731622e-05 9.99999669e-01 1.64089335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.24, Y:373.81, Z:1.64 [[ 6.70010249e-01 -7.42351642e-01 -5.53229354e-04 2.98241832e+02] [ 7.42351402e-01 6.70010477e-01 -5.97286921e-04 3.73813256e+02] [ 8.14066390e-04 -1.05022275e-05 9.99999669e-01 1.64086567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.26, Y:373.83, Z:1.64 [[ 6.69048037e-01 -7.43218957e-01 -5.53057105e-04 2.98262033e+02] [ 7.43218717e-01 6.69048266e-01 -5.97446372e-04 3.73834791e+02] [ 8.14055367e-04 -1.13220701e-05 9.99999669e-01 1.64150310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.28, Y:373.86, Z:1.64 [[ 6.67266060e-01 -7.44819239e-01 -5.54081166e-04 2.98281869e+02] [ 7.44819000e-01 6.67266290e-01 -5.96498931e-04 3.73855360e+02] [ 8.14003564e-04 -1.46666889e-05 9.99999669e-01 1.64281892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.30, Y:373.88, Z:1.64 [[ 6.66916292e-01 -7.45132440e-01 -5.54323965e-04 2.98301168e+02] [ 7.45132201e-01 6.66916522e-01 -5.96274392e-04 3.73875974e+02] [ 8.13991204e-04 -1.53795298e-05 9.99999669e-01 1.64214042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.32, Y:373.90, Z:1.64 [[ 6.65010471e-01 -7.46833829e-01 -5.52594907e-04 2.98320541e+02] [ 7.46833590e-01 6.65010700e-01 -5.97872507e-04 3.73897740e+02] [ 8.13992940e-04 -1.51049611e-05 9.99999669e-01 1.64256277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.34, Y:373.92, Z:1.64 [[ 6.64298077e-01 -7.47467564e-01 -5.52991773e-04 2.98338466e+02] [ 7.47467325e-01 6.64298307e-01 -5.97505809e-04 3.73917963e+02] [ 8.13967710e-04 -1.64213211e-05 9.99999669e-01 1.64141372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.36, Y:373.94, Z:1.64 [[ 6.63031178e-01 -7.48591579e-01 -5.52346110e-04 2.98358446e+02] [ 7.48591340e-01 6.63031408e-01 -5.98102078e-04 3.73940336e+02] [ 8.13956997e-04 -1.69211890e-05 9.99999669e-01 1.64164122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.38, Y:373.96, Z:1.64 [[ 6.62224436e-01 -7.49305338e-01 -5.54341747e-04 2.98376509e+02] [ 7.49305101e-01 6.62224668e-01 -5.96259642e-04 3.73959835e+02] [ 8.13879312e-04 -2.05133938e-05 9.99999669e-01 1.64084305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.40, Y:373.98, Z:1.64 [[ 6.61326474e-01 -7.50097987e-01 -5.51997224e-04 2.98395810e+02] [ 7.50097749e-01 6.61326704e-01 -5.98422279e-04 3.73981034e+02] [ 8.13925852e-04 -1.82993789e-05 9.99999669e-01 1.64085962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.41, Y:374.00, Z:1.64 [[ 6.60380239e-01 -7.50931179e-01 -5.52483149e-04 2.98414261e+02] [ 7.50930941e-01 6.60380470e-01 -5.97974208e-04 3.74000996e+02] [ 8.13886558e-04 -1.99863410e-05 9.99999669e-01 1.64114128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.43, Y:374.02, Z:1.64 [[ 6.59709196e-01 -7.51520774e-01 -5.51734919e-04 2.98433074e+02] [ 7.51520535e-01 6.59709426e-01 -5.98663785e-04 3.74022098e+02] [ 8.13892997e-04 -1.96961172e-05 9.99999669e-01 1.64140089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.45, Y:374.04, Z:1.64 [[ 6.59717293e-01 -7.51513665e-01 -5.51545171e-04 2.98450973e+02] [ 7.51513427e-01 6.59717523e-01 -5.98838547e-04 3.74042190e+02] [ 8.13899366e-04 -1.94294564e-05 9.99999669e-01 1.63980510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.47, Y:374.06, Z:1.64 [[ 6.59148949e-01 -7.52012207e-01 -5.50228282e-04 2.98469899e+02] [ 7.52011968e-01 6.59149179e-01 -6.00050702e-04 3.74063763e+02] [ 8.13927973e-04 -1.82554637e-05 9.99999669e-01 1.64070999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.49, Y:374.09, Z:1.64 [[ 6.59484282e-01 -7.51718151e-01 -5.51216559e-04 2.98488756e+02] [ 7.51717912e-01 6.59484512e-01 -5.99141477e-04 3.74086086e+02] [ 8.13904306e-04 -1.92349735e-05 9.99999669e-01 1.63936236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.51, Y:374.11, Z:1.64 [[ 6.59917240e-01 -7.51338094e-01 -5.52470314e-04 2.98506690e+02] [ 7.51337856e-01 6.59917471e-01 -5.97988189e-04 3.74106830e+02] [ 8.13876118e-04 -2.04691451e-05 9.99999669e-01 1.63971847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:298.52, Y:374.13, Z:1.64 [[ 6.61664354e-01 -7.49799959e-01 -5.50973079e-04 2.98524098e+02] [ 7.49799720e-01 6.61664583e-01 -5.99364541e-04 3.74127194e+02] [ 8.13962881e-04 -1.65413085e-05 9.99999669e-01 1.63945049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.54, Y:374.15, Z:1.64 [[ 6.61362967e-01 -7.50065814e-01 -5.49101823e-04 2.98543482e+02] [ 7.50065573e-01 6.61363195e-01 -6.01083693e-04 3.74149416e+02] [ 8.14008065e-04 -1.43278793e-05 9.99999669e-01 1.63647234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.56, Y:374.17, Z:1.64 [[ 6.62064926e-01 -7.49446282e-01 -5.52047765e-04 2.98561742e+02] [ 7.49446043e-01 6.62065156e-01 -5.98378076e-04 3.74170117e+02] [ 8.13943814e-04 -1.75648762e-05 9.99999669e-01 1.63905514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.58, Y:374.19, Z:1.64 [[ 6.64157434e-01 -7.47592536e-01 -5.50513796e-04 2.98579616e+02] [ 7.47592296e-01 6.64157662e-01 -5.99786030e-04 3.74189998e+02] [ 8.14023515e-04 -1.32075216e-05 9.99999669e-01 1.63972745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.60, Y:374.21, Z:1.64 [[ 6.64554382e-01 -7.47239702e-01 -5.48628634e-04 2.98598249e+02] [ 7.47239460e-01 6.64554608e-01 -6.01515368e-04 3.74211852e+02] [ 8.14069851e-04 -1.02172909e-05 9.99999669e-01 1.64067380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.62, Y:374.23, Z:1.64 [[ 6.65523655e-01 -7.46376555e-01 -5.50264924e-04 2.98615248e+02] [ 7.46376314e-01 6.65523883e-01 -6.00014750e-04 3.74232384e+02] [ 8.14051390e-04 -1.13806956e-05 9.99999669e-01 1.64065119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.63, Y:374.25, Z:1.64 [[ 6.68129070e-01 -7.44045189e-01 -5.50096811e-04 2.98631164e+02] [ 7.44044947e-01 6.68129297e-01 -6.00168837e-04 3.74253887e+02] [ 8.14088531e-04 -8.30650549e-06 9.99999669e-01 1.63971748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.65, Y:374.28, Z:1.64 [[ 6.68271696e-01 -7.43917093e-01 -5.47565833e-04 2.98650677e+02] [ 7.43916849e-01 6.68271920e-01 -6.02486990e-04 3.74276346e+02] [ 8.14123241e-04 -4.71844679e-06 9.99999669e-01 1.64063947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.762755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:298.67, Y:374.30, Z:1.64 [[ 6.70314946e-01 -7.42076526e-01 -5.50336587e-04 2.98668695e+02] [ 7.42076283e-01 6.70315172e-01 -5.99949557e-04 3.74296536e+02] [ 8.14107447e-04 -6.23657415e-06 9.99999669e-01 1.64215014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.69, Y:374.32, Z:1.64 [[ 6.70411593e-01 -7.41989215e-01 -5.47935429e-04 2.98687148e+02] [ 7.41988971e-01 6.70411817e-01 -6.02147131e-04 3.74317507e+02] [ 8.14129063e-04 -2.87562753e-06 9.99999669e-01 1.64298172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.71, Y:374.34, Z:1.64 [[ 6.70323878e-01 -7.42068458e-01 -5.49615183e-04 2.98705155e+02] [ 7.42068215e-01 6.70324104e-01 -6.00609996e-04 3.74337997e+02] [ 8.14114038e-04 -5.24873631e-06 9.99999669e-01 1.64335345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.72, Y:374.36, Z:1.64 [[ 6.70944379e-01 -7.41507477e-01 -5.49447361e-04 2.98723283e+02] [ 7.41507234e-01 6.70944604e-01 -6.00763483e-04 3.74358294e+02] [ 8.14119357e-04 -4.34031057e-06 9.99999669e-01 1.64307349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.74, Y:374.38, Z:1.64 [[ 6.68979249e-01 -7.43280879e-01 -5.47752773e-04 2.98743336e+02] [ 7.43280635e-01 6.68979473e-01 -6.02312499e-04 3.74381750e+02] [ 8.14122725e-04 -4.19946560e-06 9.99999669e-01 1.64267937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.76, Y:374.40, Z:1.64 [[ 6.69282201e-01 -7.43008096e-01 -5.51731354e-04 2.98761114e+02] [ 7.43007855e-01 6.69282429e-01 -5.98676351e-04 3.74400944e+02] [ 8.14085476e-04 -9.25730314e-06 9.99999669e-01 1.64212175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.78, Y:374.42, Z:1.64 [[ 6.65958412e-01 -7.45988668e-01 -5.48180111e-04 2.98782552e+02] [ 7.45988425e-01 6.65958638e-01 -6.01919970e-04 3.74423626e+02] [ 8.14090757e-04 -8.08234985e-06 9.99999669e-01 1.64359680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.80, Y:374.44, Z:1.64 [[ 6.63106459e-01 -7.48524895e-01 -5.53600279e-04 2.98797584e+02] [ 7.48524657e-01 6.63106690e-01 -5.96970017e-04 3.74441865e+02] [ 8.13942967e-04 -1.85287848e-05 9.99999669e-01 1.64369351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.82, Y:374.46, Z:1.64 [[ 6.60751739e-01 -7.50604318e-01 -5.45486040e-04 2.98817030e+02] [ 7.50604075e-01 6.60751964e-01 -6.04365020e-04 3.74463794e+02] [ 8.14069966e-04 -1.01088058e-05 9.99999669e-01 1.64377771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.83, Y:374.48, Z:1.64 [[ 6.62008164e-01 -7.49496424e-01 -5.48365930e-04 2.98833440e+02] [ 7.49496183e-01 6.62008391e-01 -6.01740577e-04 3.74480554e+02] [ 8.14025258e-04 -1.26409968e-05 9.99999669e-01 1.64259338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.85, Y:374.50, Z:1.64 [[ 6.61274824e-01 -7.50143529e-01 -5.40589433e-04 2.98854942e+02] [ 7.50143282e-01 6.61275045e-01 -6.08819915e-04 3.74501163e+02] [ 8.14180621e-04 -2.92224957e-06 9.99999669e-01 1.64170243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.87, Y:374.52, Z:1.64 [[ 6.58698849e-01 -7.52406492e-01 -5.44315034e-04 2.98873609e+02] [ 7.52406249e-01 6.58699074e-01 -6.05428428e-04 3.74521347e+02] [ 8.14068089e-04 -1.07510237e-05 9.99999669e-01 1.63896217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.90, Y:374.54, Z:1.64 [[ 6.57139236e-01 -7.53769015e-01 -5.43758455e-04 2.98896937e+02] [ 7.53768772e-01 6.57139461e-01 -6.05935691e-04 3.74544795e+02] [ 8.14060687e-04 -1.16840254e-05 9.99999669e-01 1.63994684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.91, Y:374.57, Z:1.64 [[ 6.53936250e-01 -7.56549453e-01 -5.52388352e-04 2.98911168e+02] [ 7.56549217e-01 6.53936483e-01 -5.98070162e-04 3.74566576e+02] [ 8.13696550e-04 -2.68092157e-05 9.99999669e-01 1.63977859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.93, Y:374.58, Z:1.64 [[ 6.58408471e-01 -7.52660604e-01 -5.48155910e-04 2.98932291e+02] [ 7.52660363e-01 6.58408699e-01 -6.01924529e-04 3.74582891e+02] [ 8.13955499e-04 -1.62630170e-05 9.99999669e-01 1.63779942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.95, Y:374.61, Z:1.64 [[ 6.56965118e-01 -7.53920775e-01 -5.46331734e-04 2.98953904e+02] [ 7.53920534e-01 6.56965345e-01 -6.03584925e-04 3.74607728e+02] [ 8.13976231e-04 -1.53564713e-05 9.99999669e-01 1.63863126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.97, Y:374.63, Z:1.64 [[ 6.54604586e-01 -7.55971250e-01 -5.53670118e-04 2.98966894e+02] [ 7.55971014e-01 6.54604819e-01 -5.96904250e-04 3.74629347e+02] [ 8.13677579e-04 -2.78223010e-05 9.99999669e-01 1.63984959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:298.98, Y:374.65, Z:1.64 [[ 6.56139220e-01 -7.54639665e-01 -5.47695085e-04 2.98984383e+02] [ 7.54639425e-01 6.56139448e-01 -6.02337247e-04 3.74647785e+02] [ 8.13911929e-04 -1.80952125e-05 9.99999669e-01 1.63935629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.00, Y:374.67, Z:1.64 [[ 6.55696329e-01 -7.55024524e-01 -5.41536070e-04 2.99004499e+02] [ 7.55024279e-01 6.55696552e-01 -6.07931229e-04 3.74670421e+02] [ 8.14086321e-04 -1.02546056e-05 9.99999669e-01 1.64065281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.02, Y:374.69, Z:1.64 [[ 6.55443020e-01 -7.55244431e-01 -5.45007202e-04 2.99022797e+02] [ 7.55244189e-01 6.55443246e-01 -6.04775841e-04 3.74692270e+02] [ 8.13974876e-04 -1.52174191e-05 9.99999669e-01 1.64032027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.04, Y:374.71, Z:1.64 [[ 6.55730990e-01 -7.54994417e-01 -5.46610989e-04 2.99041162e+02] [ 7.54994176e-01 6.55731218e-01 -6.03318738e-04 3.74713126e+02] [ 8.13932168e-04 -1.70733203e-05 9.99999669e-01 1.64018785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.06, Y:374.73, Z:1.64 [[ 6.56705362e-01 -7.54147048e-01 -5.45160494e-04 2.99059499e+02] [ 7.54146806e-01 6.56705589e-01 -6.04635769e-04 3.74734080e+02] [ 8.13994224e-04 -1.40634936e-05 9.99999669e-01 1.64062993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.08, Y:374.75, Z:1.64 [[ 6.57045120e-01 -7.53851056e-01 -5.43387188e-04 2.99077214e+02] [ 7.53850812e-01 6.57045345e-01 -6.06245286e-04 3.74753774e+02] [ 8.14048671e-04 -1.13023664e-05 9.99999669e-01 1.64058763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.10, Y:374.78, Z:1.64 [[ 6.56216637e-01 -7.54572349e-01 -5.43435706e-04 2.99096951e+02] [ 7.54572105e-01 6.56216862e-01 -6.06201215e-04 3.74776594e+02] [ 8.14034348e-04 -1.22621017e-05 9.99999669e-01 1.64128769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.12, Y:374.80, Z:1.64 [[ 6.55334335e-01 -7.55338740e-01 -5.45561839e-04 2.99116127e+02] [ 7.55338499e-01 6.55334561e-01 -6.04270295e-04 3.74798156e+02] [ 8.13954292e-04 -1.60847888e-05 9.99999669e-01 1.64165103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.14, Y:374.82, Z:1.64 [[ 6.56602430e-01 -7.54236667e-01 -5.47123785e-04 2.99140042e+02] [ 7.54236426e-01 6.56602658e-01 -6.02852009e-04 3.74820190e+02] [ 8.13936021e-04 -1.68265936e-05 9.99999669e-01 1.63964374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.15, Y:374.84, Z:1.64 [[ 6.53684674e-01 -7.56766833e-01 -5.54283811e-04 2.99153009e+02] [ 7.56766599e-01 6.53684908e-01 -5.96369127e-04 3.74841071e+02] [ 8.13639337e-04 -2.96261159e-05 9.99999669e-01 1.64160176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.17, Y:374.86, Z:1.64 [[ 6.53466478e-01 -7.56955259e-01 -5.45644499e-04 2.99172059e+02] [ 7.56955018e-01 6.53466706e-01 -6.04180927e-04 3.74862366e+02] [ 8.13898443e-04 -1.82163590e-05 9.99999669e-01 1.64162151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.19, Y:374.88, Z:1.64 [[ 6.54585221e-01 -7.55988023e-01 -5.45457402e-04 2.99191304e+02] [ 7.55987781e-01 6.54585448e-01 -6.04350003e-04 3.74882215e+02] [ 8.13929841e-04 -1.67605507e-05 9.99999669e-01 1.64242295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:299.21, Y:374.90, Z:1.64 [[ 6.52253643e-01 -7.58000585e-01 -5.45739327e-04 2.99209638e+02] [ 7.58000345e-01 6.52253871e-01 -6.04095311e-04 3.74903627e+02] [ 8.13865188e-04 -1.96472309e-05 9.99999669e-01 1.64055949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.23, Y:374.92, Z:1.64 [[ 6.52254756e-01 -7.57999628e-01 -5.45552160e-04 2.99228515e+02] [ 7.57999387e-01 6.52254984e-01 -6.04264292e-04 3.74924596e+02] [ 8.13871224e-04 -1.93939451e-05 9.99999669e-01 1.64183652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.25, Y:374.95, Z:1.64 [[ 6.51846186e-01 -7.58351009e-01 -5.45090976e-04 2.99248118e+02] [ 7.58350768e-01 6.51846413e-01 -6.04680462e-04 3.74946404e+02] [ 8.13875636e-04 -1.92115077e-05 9.99999669e-01 1.64133273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.27, Y:374.97, Z:1.64 [[ 6.51614225e-01 -7.58550331e-01 -5.45327708e-04 2.99266401e+02] [ 7.58550090e-01 6.51614453e-01 -6.04466890e-04 3.74966986e+02] [ 8.13861976e-04 -1.97791580e-05 9.99999669e-01 1.64094574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.28, Y:374.99, Z:1.64 [[ 6.51418543e-01 -7.58718383e-01 -5.45160690e-04 2.99284883e+02] [ 7.58718142e-01 6.51418771e-01 -6.04617484e-04 3.74987970e+02] [ 8.13862307e-04 -1.97642655e-05 9.99999669e-01 1.64061057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.30, Y:375.01, Z:1.64 [[ 6.51171119e-01 -7.58930746e-01 -5.44972908e-04 2.99302828e+02] [ 7.58930505e-01 6.51171347e-01 -6.04786694e-04 3.75007887e+02] [ 8.13861960e-04 -1.97769359e-05 9.99999669e-01 1.64023058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.32, Y:375.03, Z:1.64 [[ 6.51124255e-01 -7.58970953e-01 -5.44804260e-04 2.99321189e+02] [ 7.58970713e-01 6.51124483e-01 -6.04938578e-04 3.75028746e+02] [ 8.13866201e-04 -1.96002964e-05 9.99999669e-01 1.64041298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.34, Y:375.05, Z:1.64 [[ 6.50685368e-01 -7.59347256e-01 -5.44616048e-04 2.99339775e+02] [ 7.59347015e-01 6.50685596e-01 -6.05107975e-04 3.75050043e+02] [ 8.13860898e-04 -1.98176645e-05 9.99999669e-01 1.64020953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.36, Y:375.07, Z:1.64 [[ 6.50404902e-01 -7.59587498e-01 -5.44423145e-04 2.99357720e+02] [ 7.59587257e-01 6.50405130e-01 -6.05281482e-04 3.75070064e+02] [ 8.13859853e-04 -1.98588403e-05 9.99999669e-01 1.64018167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.38, Y:375.09, Z:1.64 [[ 6.52223776e-01 -7.58026286e-01 -5.44250097e-04 2.99375016e+02] [ 7.58026044e-01 6.52224003e-01 -6.05437042e-04 3.75086743e+02] [ 8.13910169e-04 -1.76753149e-05 9.99999669e-01 1.63918095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.40, Y:375.11, Z:1.64 [[ 6.52178836e-01 -7.58064955e-01 -5.38373547e-04 2.99397121e+02] [ 7.58064709e-01 6.52179059e-01 -6.10725474e-04 3.75111313e+02] [ 8.14085532e-04 -9.81975658e-06 9.99999669e-01 1.64086898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.41, Y:375.13, Z:1.64 [[ 6.53049955e-01 -7.57314634e-01 -5.49130722e-04 2.99414526e+02] [ 7.57314396e-01 6.53050185e-01 -6.01062465e-04 3.75131916e+02] [ 8.13803321e-04 -2.33407852e-05 9.99999669e-01 1.64065352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.992755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:299.43, Y:375.15, Z:1.64 [[ 6.54300447e-01 -7.56234505e-01 -5.47114012e-04 2.99433803e+02] [ 7.56234265e-01 6.54300675e-01 -6.02873228e-04 3.75154113e+02] [ 8.13890604e-04 -1.92861399e-05 9.99999669e-01 1.63820961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.45, Y:375.17, Z:1.64 [[ 6.54882876e-01 -7.55730189e-01 -5.47745811e-04 2.99449137e+02] [ 7.55729950e-01 6.54883105e-01 -6.02306191e-04 3.75174312e+02] [ 8.13890448e-04 -1.95079038e-05 9.99999669e-01 1.64030101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.47, Y:375.20, Z:1.64 [[ 6.58275534e-01 -7.52776877e-01 -5.43507288e-04 2.99470283e+02] [ 7.52776633e-01 6.58275758e-01 -6.06106953e-04 3.75195224e+02] [ 8.14040971e-04 -1.01542085e-05 9.99999669e-01 1.63968470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.082755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:299.49, Y:375.22, Z:1.64 [[ 6.59854414e-01 -7.51393275e-01 -5.47014053e-04 2.99489943e+02] [ 7.51393033e-01 6.59854640e-01 -6.02962712e-04 3.75215158e+02] [ 8.14011888e-04 -1.31549421e-05 9.99999669e-01 1.63787587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.51, Y:375.24, Z:1.64 [[ 6.62245501e-01 -7.49286725e-01 -5.47424118e-04 2.99512353e+02] [ 7.49286483e-01 6.62245727e-01 -6.02595293e-04 3.75237378e+02] [ 8.14045937e-04 -1.11114702e-05 9.99999669e-01 1.63760483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.52, Y:375.26, Z:1.64 [[ 6.61194925e-01 -7.50213947e-01 -5.52448413e-04 2.99524644e+02] [ 7.50213709e-01 6.61195155e-01 -5.98094557e-04 3.75256156e+02] [ 8.13975093e-04 -1.89972874e-05 9.99999669e-01 1.63967763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.54, Y:375.28, Z:1.64 [[ 6.63250197e-01 -7.48397542e-01 -5.42694345e-04 2.99544654e+02] [ 7.48397296e-01 6.63250419e-01 -6.06817895e-04 3.75277220e+02] [ 8.14083273e-04 -3.67889245e-06 9.99999669e-01 1.64080262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.56, Y:375.30, Z:1.64 [[ 6.63834511e-01 -7.47879300e-01 -5.42944721e-04 2.99563940e+02] [ 7.47879054e-01 6.63834733e-01 -6.06594040e-04 3.75298107e+02] [ 8.14084690e-04 -3.37892573e-06 9.99999669e-01 1.64190257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:299.59, Y:375.32, Z:1.64 [[ 6.67910085e-01 -7.44241778e-01 -5.42791973e-04 2.99591378e+02] [ 7.44241531e-01 6.67910305e-01 -6.06730494e-04 3.75320206e+02] [ 8.14090534e-04 1.27308704e-06 9.99999669e-01 1.63972523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.60, Y:375.34, Z:1.64 [[ 6.65373004e-01 -7.46510855e-01 -5.55687467e-04 2.99602307e+02] [ 7.46510618e-01 6.65373236e-01 -5.95196774e-04 3.75337878e+02] [ 8.14060421e-04 -1.87987281e-05 9.99999669e-01 1.64284041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.63, Y:375.36, Z:1.64 [[ 6.68326604e-01 -7.43867769e-01 -5.42136155e-04 2.99627650e+02] [ 7.43867521e-01 6.68326824e-01 -6.07294134e-04 3.75357995e+02] [ 8.14070667e-04 2.59334845e-06 9.99999669e-01 1.64091825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.64, Y:375.38, Z:1.64 [[ 6.64241257e-01 -7.47518060e-01 -5.49855304e-04 2.99641799e+02] [ 7.47517819e-01 6.64241485e-01 -6.00401325e-04 3.75378138e+02] [ 8.14047537e-04 -1.22153065e-05 9.99999669e-01 1.64293688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.66, Y:375.40, Z:1.64 [[ 6.63189549e-01 -7.48451287e-01 -5.41760993e-04 2.99660937e+02] [ 7.48451041e-01 6.63189770e-01 -6.07618325e-04 3.75398359e+02] [ 8.14063066e-04 -2.51545636e-06 9.99999669e-01 1.64299609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.68, Y:375.42, Z:1.64 [[ 6.60822758e-01 -7.50541797e-01 -5.41572126e-04 2.99681330e+02] [ 7.50541551e-01 6.60822980e-01 -6.07786617e-04 3.75418147e+02] [ 8.14052566e-04 -4.83315494e-06 9.99999669e-01 1.64311263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.70, Y:375.44, Z:1.64 [[ 6.59223831e-01 -7.51946573e-01 -5.41380595e-04 2.99699780e+02] [ 7.51946327e-01 6.59224053e-01 -6.07957173e-04 3.75437940e+02] [ 8.14042423e-04 -6.30929330e-06 9.99999669e-01 1.64280549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.72, Y:375.46, Z:1.64 [[ 6.57600548e-01 -7.53366595e-01 -5.41208080e-04 2.99719039e+02] [ 7.53366350e-01 6.57600770e-01 -6.08110709e-04 3.75458526e+02] [ 8.14029145e-04 -7.83402030e-06 9.99999669e-01 1.64332178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.74, Y:375.48, Z:1.64 [[ 6.54995485e-01 -7.55632598e-01 -5.41016264e-04 2.99739334e+02] [ 7.55632353e-01 6.54995708e-01 -6.08281313e-04 3.75478469e+02] [ 8.14000520e-04 -1.03878793e-05 9.99999669e-01 1.64331925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.77, Y:375.50, Z:1.64 [[ 6.55760647e-01 -7.54968662e-01 -5.40824684e-04 2.99769923e+02] [ 7.54968417e-01 6.55760870e-01 -6.08451600e-04 3.75503560e+02] [ 8.14013556e-04 -9.30694016e-06 9.99999669e-01 1.63898489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.78, Y:375.52, Z:1.64 [[ 6.52613948e-01 -7.57690387e-01 -5.59147374e-04 2.99777832e+02] [ 7.57690156e-01 6.52614187e-01 -5.92112024e-04 3.75518391e+02] [ 8.13545097e-04 -3.72398953e-05 9.99999668e-01 1.64440939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:375.54, Z:1.64 [[ 6.51128966e-01 -7.58966916e-01 -5.38479964e-04 2.99806425e+02] [ 7.58966671e-01 6.51129189e-01 -6.10477268e-04 3.75544866e+02] [ 8.13952072e-04 -1.11889134e-05 9.99999669e-01 1.64094366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.81, Y:375.57, Z:1.64 [[ 6.47525174e-01 -7.62043859e-01 -5.53122973e-04 2.99814537e+02] [ 7.62043625e-01 6.47525410e-01 -5.97545162e-04 3.75566020e+02] [ 8.13516800e-04 -3.45783003e-05 9.99999669e-01 1.64357786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.84, Y:375.59, Z:1.64 [[ 6.50191423e-01 -7.59770244e-01 -5.38219633e-04 2.99840814e+02] [ 7.59769999e-01 6.50191646e-01 -6.10680140e-04 3.75589715e+02] [ 8.13922508e-04 -1.18641405e-05 9.99999669e-01 1.64068144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.86, Y:375.61, Z:1.64 [[ 6.49631100e-01 -7.60249388e-01 -5.50199020e-04 2.99858349e+02] [ 7.60249151e-01 6.49631332e-01 -6.00113913e-04 3.75609940e+02] [ 8.13662757e-04 -2.84356765e-05 9.99999669e-01 1.64169781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.88, Y:375.63, Z:1.64 [[ 6.49367506e-01 -7.60474550e-01 -5.48933726e-04 2.99875929e+02] [ 7.60474313e-01 6.49367737e-01 -6.01229958e-04 3.75630075e+02] [ 8.13679933e-04 -2.70308002e-05 9.99999669e-01 1.64126253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.89, Y:375.65, Z:1.64 [[ 6.47180742e-01 -7.62336399e-01 -5.48777624e-04 2.99886917e+02] [ 7.62336163e-01 6.47180974e-01 -6.01367563e-04 3.75648899e+02] [ 8.13602820e-04 -2.91595226e-05 9.99999669e-01 1.64141567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:299.91, Y:375.67, Z:1.64 [[ 6.49744072e-01 -7.60152848e-01 -5.37770948e-04 2.99913290e+02] [ 7.60152602e-01 6.49744294e-01 -6.11054217e-04 3.75671906e+02] [ 8.13908208e-04 -1.17591310e-05 9.99999669e-01 1.63846612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.93, Y:375.69, Z:1.64 [[ 6.50874466e-01 -7.59185174e-01 -5.48922408e-04 2.99932708e+02] [ 7.59184936e-01 6.50874697e-01 -6.01236600e-04 3.75694657e+02] [ 8.13729618e-04 -2.54040720e-05 9.99999669e-01 1.63933454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.94, Y:375.71, Z:1.64 [[ 6.48289017e-01 -7.61394147e-01 -5.50922260e-04 2.99941230e+02] [ 7.61393912e-01 6.48289250e-01 -5.99477209e-04 3.75713625e+02] [ 8.13595417e-04 -3.08343643e-05 9.99999669e-01 1.64171299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.96, Y:375.73, Z:1.64 [[ 6.49042916e-01 -7.60751605e-01 -5.36994612e-04 2.99958738e+02] [ 7.60751359e-01 6.49043138e-01 -6.11703832e-04 3.75733817e+02] [ 8.13887340e-04 -1.14973422e-05 9.99999669e-01 1.64057006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:299.98, Y:375.76, Z:1.64 [[ 6.52023818e-01 -7.58198294e-01 -5.36865269e-04 2.99983108e+02] [ 7.58198047e-01 6.52024039e-01 -6.11817329e-04 3.75756003e+02] [ 8.13927916e-04 -8.13072797e-06 9.99999669e-01 1.64144490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.01, Y:375.78, Z:1.64 [[ 6.53805415e-01 -7.56662528e-01 -5.45809596e-04 3.00006034e+02] [ 7.56662287e-01 6.53805643e-01 -6.03968223e-04 3.75778466e+02] [ 8.13853516e-04 -1.81158416e-05 9.99999669e-01 1.63850591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.01, Y:375.80, Z:1.64 [[ 6.52752911e-01 -7.57570678e-01 -5.51324923e-04 3.00014690e+02] [ 7.57570442e-01 6.52753144e-01 -5.99129055e-04 3.75796109e+02] [ 8.13761682e-04 -2.65842307e-05 9.99999669e-01 1.64166789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.04, Y:375.82, Z:1.64 [[ 6.56520064e-01 -7.54308371e-01 -5.36095310e-04 3.00036034e+02] [ 7.54308122e-01 6.56520283e-01 -6.12459767e-04 3.75815633e+02] [ 8.13940973e-04 -2.28892115e-06 9.99999669e-01 1.64241653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.06, Y:375.84, Z:1.64 [[ 6.54096543e-01 -7.56410884e-01 -5.35928019e-04 3.00056521e+02] [ 7.56410636e-01 6.54096763e-01 -6.12606118e-04 3.75840968e+02] [ 8.13930718e-04 -4.67810901e-06 9.99999669e-01 1.64369429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.07, Y:375.86, Z:1.64 [[ 6.54384846e-01 -7.56161477e-01 -5.42644664e-04 3.00071517e+02] [ 7.56161234e-01 6.54385071e-01 -6.06729700e-04 3.75859679e+02] [ 8.13884193e-04 -1.32921378e-05 9.99999669e-01 1.64248829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:300.09, Y:375.88, Z:1.64 [[ 6.54621219e-01 -7.55956859e-01 -5.35618958e-04 3.00094057e+02] [ 7.55956611e-01 6.54621438e-01 -6.12869831e-04 3.75882406e+02] [ 8.13930805e-04 -3.70709632e-06 9.99999669e-01 1.64354128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.11, Y:375.90, Z:1.64 [[ 6.54420622e-01 -7.56130516e-01 -5.41449645e-04 3.00109680e+02] [ 7.56130272e-01 6.54420846e-01 -6.07773914e-04 3.75901127e+02] [ 8.13892338e-04 -1.16666848e-05 9.99999669e-01 1.64314077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.13, Y:375.92, Z:1.65 [[ 6.53352584e-01 -7.57053575e-01 -5.34978402e-04 3.00130379e+02] [ 7.57053327e-01 6.53352803e-01 -6.13422332e-04 3.75924783e+02] [ 8.13923208e-04 -4.22611373e-06 9.99999669e-01 1.64541651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.132755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:300.15, Y:375.94, Z:1.64 [[ 6.52112503e-01 -7.58122017e-01 -5.39167668e-04 3.00146773e+02] [ 7.58121772e-01 6.52112726e-01 -6.09766371e-04 3.75944520e+02] [ 8.13875409e-04 -1.11184727e-05 9.99999669e-01 1.64092869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.16, Y:375.96, Z:1.64 [[ 6.52242616e-01 -7.58010081e-01 -5.34901019e-04 3.00164310e+02] [ 7.58009833e-01 6.52242836e-01 -6.13486225e-04 3.75964335e+02] [ 8.13914101e-04 -5.31837161e-06 9.99999669e-01 1.64319853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.18, Y:375.99, Z:1.65 [[ 6.53048985e-01 -7.57315481e-01 -5.33740282e-04 3.00184028e+02] [ 7.57315232e-01 6.53049203e-01 -6.14497639e-04 3.75985023e+02] [ 8.13927242e-04 -2.91258600e-06 9.99999669e-01 1.64570511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.20, Y:376.01, Z:1.65 [[ 6.53395854e-01 -7.57016230e-01 -5.34573959e-04 3.00201138e+02] [ 7.57015981e-01 6.53396073e-01 -6.13771536e-04 3.76006863e+02] [ 8.13923539e-04 -3.64525314e-06 9.99999669e-01 1.64545864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.22, Y:376.03, Z:1.64 [[ 6.51832492e-01 -7.58362787e-01 -5.34375828e-04 3.00217150e+02] [ 7.58362538e-01 6.51832711e-01 -6.13943988e-04 3.76029421e+02] [ 8.13915919e-04 -5.06196951e-06 9.99999669e-01 1.64221416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.24, Y:376.05, Z:1.64 [[ 6.54169008e-01 -7.56348215e-01 -5.35287729e-04 3.00236189e+02] [ 7.56347967e-01 6.54169227e-01 -6.13150486e-04 3.76048416e+02] [ 8.13924035e-04 -3.75974050e-06 9.99999669e-01 1.64471650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.312755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:300.26, Y:376.07, Z:1.64 [[ 6.52513268e-01 -7.57777111e-01 -5.34178426e-04 3.00255184e+02] [ 7.57776862e-01 6.52513487e-01 -6.14115395e-04 3.76068960e+02] [ 8.13921217e-04 -4.06960764e-06 9.99999669e-01 1.64305459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.342755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:300.27, Y:376.09, Z:1.64 [[ 6.51606465e-01 -7.58557005e-01 -5.33986060e-04 3.00274076e+02] [ 7.58556756e-01 6.51606684e-01 -6.14282615e-04 3.76090183e+02] [ 8.13917267e-04 -4.78820999e-06 9.99999669e-01 1.64340223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.372755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.30, Y:376.11, Z:1.65 [[ 6.49719265e-01 -7.60174053e-01 -5.33790883e-04 3.00295916e+02] [ 7.60173805e-01 6.49719485e-01 -6.14452171e-04 3.76112314e+02] [ 8.13904935e-04 -6.55243363e-06 9.99999669e-01 1.64607991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.32, Y:376.14, Z:1.64 [[ 6.49766382e-01 -7.60133776e-01 -5.39116685e-04 3.00320499e+02] [ 7.60133532e-01 6.49766606e-01 -6.09824331e-04 3.76137338e+02] [ 8.13848090e-04 -1.35573210e-05 9.99999669e-01 1.64236302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.33, Y:376.15, Z:1.65 [[ 6.46453264e-01 -7.62953387e-01 -5.53077086e-04 3.00328831e+02] [ 7.62953154e-01 6.46453500e-01 -5.97678221e-04 3.76153733e+02] [ 8.13539241e-04 -3.56008702e-05 9.99999668e-01 1.64893194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.35, Y:376.18, Z:1.65 [[ 6.46205595e-01 -7.63163183e-01 -5.34298796e-04 3.00347417e+02] [ 7.63162936e-01 6.46205816e-01 -6.13968217e-04 3.76175456e+02] [ 8.13824928e-04 -1.10073409e-05 9.99999669e-01 1.64894718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.492755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:300.37, Y:376.20, Z:1.65 [[ 6.44507738e-01 -7.64597600e-01 -5.34150983e-04 3.00365197e+02] [ 7.64597354e-01 6.44507959e-01 -6.14096364e-04 3.76196308e+02] [ 8.13801166e-04 -1.26205696e-05 9.99999669e-01 1.64720279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.522755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:300.38, Y:376.22, Z:1.65 [[ 6.43760555e-01 -7.65226804e-01 -5.34342695e-04 3.00383162e+02] [ 7.65226558e-01 6.43760777e-01 -6.13930233e-04 3.76217669e+02] [ 8.13784739e-04 -1.36691534e-05 9.99999669e-01 1.64850168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.40, Y:376.24, Z:1.65 [[ 6.43159636e-01 -7.65731937e-01 -5.32813393e-04 3.00399734e+02] [ 7.65731690e-01 6.43159856e-01 -6.15254617e-04 3.76237834e+02] [ 8.13804294e-04 -1.22851644e-05 9.99999669e-01 1.65057836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.582755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:300.43, Y:376.26, Z:1.65 [[ 6.44211335e-01 -7.64847354e-01 -5.30312198e-04 3.00427265e+02] [ 7.64847105e-01 6.44211553e-01 -6.17419875e-04 3.76262052e+02] [ 8.13865202e-04 -7.85886737e-06 9.99999669e-01 1.64597185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.612755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:300.44, Y:376.28, Z:1.65 [[ 6.42330480e-01 -7.66427594e-01 -5.45279961e-04 3.00436613e+02] [ 7.66427356e-01 6.42330711e-01 -6.04447819e-04 3.76279451e+02] [ 8.13515553e-04 -2.96622214e-05 9.99999669e-01 1.64813008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:300.46, Y:376.30, Z:1.65 [[ 6.41464734e-01 -7.67152342e-01 -5.28544714e-04 3.00457950e+02] [ 7.67152092e-01 6.41464952e-01 -6.18909341e-04 3.76303385e+02] [ 8.13840659e-04 -8.46566712e-06 9.99999669e-01 1.64726966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.48, Y:376.33, Z:1.65 [[ 6.41541198e-01 -7.67088393e-01 -5.37382236e-04 3.00479307e+02] [ 7.67088149e-01 6.41541423e-01 -6.11270678e-04 3.76325482e+02] [ 8.13651606e-04 -2.00642219e-05 9.99999669e-01 1.64700208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.49, Y:376.35, Z:1.65 [[ 6.39031565e-01 -7.69180320e-01 -5.41929611e-04 3.00494665e+02] [ 7.69180081e-01 6.39031794e-01 -6.07339830e-04 3.76347584e+02] [ 8.13464097e-04 -2.87321403e-05 9.99999669e-01 1.64631839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.732755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:300.51, Y:376.36, Z:1.65 [[ 6.40242104e-01 -7.68172999e-01 -5.40090032e-04 3.00508364e+02] [ 7.68172758e-01 6.40242332e-01 -6.08930953e-04 3.76363626e+02] [ 8.13552817e-04 -2.50192144e-05 9.99999669e-01 1.64838145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.53, Y:376.39, Z:1.65 [[ 6.38031810e-01 -7.70009826e-01 -5.25789908e-04 3.00528162e+02] [ 7.70009576e-01 6.38032027e-01 -6.21273044e-04 3.76387963e+02] [ 8.13857150e-04 -8.47129923e-06 9.99999669e-01 1.64912116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7927550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:300.55, Y:376.41, Z:1.65 [[ 6.38158291e-01 -7.69905002e-01 -5.31852910e-04 3.00546344e+02] [ 7.69904756e-01 6.38158513e-01 -6.16038591e-04 3.76408269e+02] [ 8.13697655e-04 -1.63459501e-05 9.99999669e-01 1.64900941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:300.57, Y:376.43, Z:1.65 [[ 6.40867815e-01 -7.67651069e-01 -5.29409460e-04 3.00567735e+02] [ 7.67650820e-01 6.40868033e-01 -6.18146385e-04 3.76427590e+02] [ 8.13802333e-04 -1.02514840e-05 9.99999669e-01 1.64567629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.852755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:300.59, Y:376.45, Z:1.65 [[ 6.39980461e-01 -7.68390999e-01 -5.31169092e-04 3.00591426e+02] [ 7.68390752e-01 6.39980681e-01 -6.16628554e-04 3.76454099e+02] [ 8.13749788e-04 -1.35151917e-05 9.99999669e-01 1.64528728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.882755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:300.60, Y:376.47, Z:1.65 [[ 6.38701070e-01 -7.69454771e-01 -5.45949630e-04 3.00598837e+02] [ 7.69454535e-01 6.38701303e-01 -6.03868669e-04 3.76470172e+02] [ 8.13348368e-04 -3.43918535e-05 9.99999669e-01 1.64896683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9127550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:300.62, Y:376.50, Z:1.65 [[ 6.36427350e-01 -7.71336473e-01 -5.22730013e-04 3.00619036e+02] [ 7.71336221e-01 6.36427565e-01 -6.23807945e-04 3.76495316e+02] [ 8.13845609e-04 -6.19215545e-06 9.99999669e-01 1.64847697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.64, Y:376.52, Z:1.65 [[ 6.38481549e-01 -7.69636947e-01 -5.30341116e-04 3.00643891e+02] [ 7.69636700e-01 6.38481769e-01 -6.17268683e-04 3.76519701e+02] [ 8.13685919e-04 -1.40553214e-05 9.99999669e-01 1.64774981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.972755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:300.65, Y:376.54, Z:1.65 [[ 6.36277035e-01 -7.71460459e-01 -5.42946616e-04 3.00653963e+02] [ 7.71460222e-01 6.36277266e-01 -6.06428376e-04 3.76538216e+02] [ 8.13300101e-04 -3.30052680e-05 9.99999669e-01 1.64939372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.002755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:300.67, Y:376.56, Z:1.65 [[ 6.36217504e-01 -7.71509564e-01 -5.30039896e-04 3.00670911e+02] [ 7.71509317e-01 6.36217725e-01 -6.17506918e-04 3.76559432e+02] [ 8.13633270e-04 -1.60620079e-05 9.99999669e-01 1.64949975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:300.69, Y:376.58, Z:1.65 [[ 6.35518535e-01 -7.72085431e-01 -5.29069696e-04 3.00688277e+02] [ 7.72085183e-01 6.35518755e-01 -6.18339321e-04 3.76581390e+02] [ 8.13644496e-04 -1.55207738e-05 9.99999669e-01 1.64785800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:300.71, Y:376.60, Z:1.65 [[ 6.35350034e-01 -7.72224096e-01 -5.29763247e-04 3.00706166e+02] [ 7.72223849e-01 6.35350255e-01 -6.17744548e-04 3.76603657e+02] [ 8.13622439e-04 -1.66117943e-05 9.99999669e-01 1.64683096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.092755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:300.72, Y:376.63, Z:1.64 [[ 6.35869576e-01 -7.71796348e-01 -5.29570768e-04 3.00723697e+02] [ 7.71796101e-01 6.35869796e-01 -6.17909510e-04 3.76625860e+02] [ 8.13638359e-04 -1.58107952e-05 9.99999669e-01 1.64404210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.75, Y:376.65, Z:1.64 [[ 6.38304148e-01 -7.69784083e-01 -5.29381514e-04 3.00749379e+02] [ 7.69783835e-01 6.38304367e-01 -6.18071607e-04 3.76651229e+02] [ 8.13688218e-04 -1.29916608e-05 9.99999669e-01 1.64288085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.76, Y:376.67, Z:1.64 [[ 6.36902386e-01 -7.70944262e-01 -5.43972707e-04 3.00756806e+02] [ 7.70944025e-01 6.36902617e-01 -6.05559480e-04 3.76671373e+02] [ 8.13310247e-04 -3.36902305e-05 9.99999669e-01 1.64199381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.182755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:300.78, Y:376.69, Z:1.64 [[ 6.37978005e-01 -7.70054404e-01 -5.29040559e-04 3.00778385e+02] [ 7.70054156e-01 6.37978224e-01 -6.18335255e-04 3.76694783e+02] [ 8.13668143e-04 -1.29055887e-05 9.99999669e-01 1.64279882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.212755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:300.80, Y:376.72, Z:1.64 [[ 6.38800699e-01 -7.69372070e-01 -5.34233240e-04 3.00797330e+02] [ 7.69371825e-01 6.38800922e-01 -6.13896120e-04 3.76716235e+02] [ 8.13583215e-04 -1.88667329e-05 9.99999669e-01 1.64203880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.242755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:300.81, Y:376.74, Z:1.64 [[ 6.40246556e-01 -7.68169292e-01 -5.34484111e-04 3.00814577e+02] [ 7.68169047e-01 6.40246779e-01 -6.13681736e-04 3.76738893e+02] [ 8.13613195e-04 -1.76665323e-05 9.99999669e-01 1.64055874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.272755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:300.83, Y:376.76, Z:1.64 [[ 6.40713159e-01 -7.67780153e-01 -5.33911964e-04 3.00829307e+02] [ 7.67779907e-01 6.40713381e-01 -6.14170341e-04 3.76759374e+02] [ 8.13632338e-04 -1.64198586e-05 9.99999669e-01 1.63857094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.302755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:300.85, Y:376.78, Z:1.64 [[ 6.44997922e-01 -7.64184142e-01 -5.28163163e-04 3.00854801e+02] [ 7.64183891e-01 6.44998138e-01 -6.19074926e-04 3.76784050e+02] [ 8.13751497e-04 -4.31174013e-06 9.99999669e-01 1.63569014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.86, Y:376.80, Z:1.64 [[ 6.43421133e-01 -7.65512217e-01 -5.39613236e-04 3.00863883e+02] [ 7.65511975e-01 6.43421359e-01 -6.09297382e-04 3.76803833e+02] [ 8.13623272e-04 -2.10455822e-05 9.99999669e-01 1.63978266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.362755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:300.88, Y:376.83, Z:1.64 [[ 6.44883229e-01 -7.64280932e-01 -5.27882450e-04 3.00884697e+02] [ 7.64280681e-01 6.44883445e-01 -6.19296591e-04 3.76826363e+02] [ 8.13739229e-04 -4.07637297e-06 9.99999669e-01 1.64014453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.392755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:300.90, Y:376.85, Z:1.64 [[ 6.46785074e-01 -7.62672135e-01 -5.32182668e-04 3.00900965e+02] [ 7.62671886e-01 6.46785293e-01 -6.15630931e-04 3.76845625e+02] [ 8.13732479e-04 -7.69986132e-06 9.99999669e-01 1.63923077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.92, Y:376.87, Z:1.64 [[ 6.48319524e-01 -7.61368187e-01 -5.27637545e-04 3.00923290e+02] [ 7.61367935e-01 6.48319739e-01 -6.19502068e-04 3.76868966e+02] [ 8.13747002e-04 -9.10216501e-08 9.99999669e-01 1.64111562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.452755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:300.94, Y:376.89, Z:1.64 [[ 6.49266371e-01 -7.60560907e-01 -5.34698908e-04 3.00942988e+02] [ 7.60560659e-01 6.49266592e-01 -6.13484678e-04 3.76888714e+02] [ 8.13754600e-04 -8.35598345e-06 9.99999669e-01 1.64229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:300.96, Y:376.91, Z:1.64 [[ 6.49111753e-01 -7.60692874e-01 -5.32081025e-04 3.00963358e+02] [ 7.60692625e-01 6.49111971e-01 -6.15710395e-04 3.76911594e+02] [ 8.13746673e-04 -5.08525781e-06 9.99999669e-01 1.64298165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.512755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:300.98, Y:376.93, Z:1.64 [[ 6.49371152e-01 -7.60471446e-01 -5.35573616e-04 3.00981829e+02] [ 7.60471199e-01 6.49371373e-01 -6.12742037e-04 3.76931369e+02] [ 8.13758998e-04 -9.39130745e-06 9.99999669e-01 1.64220353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.00, Y:376.95, Z:1.65 [[ 6.48446134e-01 -7.61260354e-01 -5.34320302e-04 3.00995731e+02] [ 7.61260106e-01 6.48446354e-01 -6.13807059e-04 3.76950164e+02] [ 8.13745031e-04 -8.73591496e-06 9.99999669e-01 1.64521479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.572755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:301.02, Y:376.97, Z:1.64 [[ 6.49358720e-01 -7.60482068e-01 -5.26520743e-04 3.01019306e+02] [ 7.60481815e-01 6.49358934e-01 -6.20426106e-04 3.76972626e+02] [ 8.13723876e-04 2.46965233e-06 9.99999669e-01 1.64435831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.602755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:301.04, Y:376.99, Z:1.64 [[ 6.48978983e-01 -7.60806148e-01 -5.32914122e-04 3.01040236e+02] [ 7.60805900e-01 6.48979202e-01 -6.14999852e-04 3.76993261e+02] [ 8.13745850e-04 -6.32222956e-06 9.99999669e-01 1.64490893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:301.06, Y:377.01, Z:1.65 [[ 6.49792729e-01 -7.60111259e-01 -5.33528507e-04 3.01057192e+02] [ 7.60111010e-01 6.49792948e-01 -6.14478732e-04 3.77011804e+02] [ 8.13755263e-04 -6.25708106e-06 9.99999669e-01 1.64634296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6627550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:301.08, Y:377.03, Z:1.65 [[ 6.48600656e-01 -7.61128707e-01 -5.29957479e-04 3.01078162e+02] [ 7.61128457e-01 6.48600872e-01 -6.17505485e-04 3.77032816e+02] [ 8.13732035e-04 -2.85125556e-06 9.99999669e-01 1.64556789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.10, Y:377.05, Z:1.65 [[ 6.47297238e-01 -7.62237497e-01 -5.32394465e-04 3.01095456e+02] [ 7.62237249e-01 6.47297457e-01 -6.15440204e-04 3.77052986e+02] [ 8.13729184e-04 -7.43814779e-06 9.99999669e-01 1.64837662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.722755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:301.11, Y:377.07, Z:1.65 [[ 6.43258996e-01 -7.65648472e-01 -5.30773427e-04 3.01112663e+02] [ 7.65648224e-01 6.43259215e-01 -6.16813053e-04 3.77072365e+02] [ 8.13686870e-04 -9.61518640e-06 9.99999669e-01 1.64849100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.14, Y:377.10, Z:1.65 [[ 6.43713847e-01 -7.65266103e-01 -5.25602636e-04 3.01137019e+02] [ 7.65265850e-01 6.43714061e-01 -6.21188187e-04 3.77096426e+02] [ 8.13712070e-04 -2.35831080e-06 9.99999669e-01 1.64810749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7827550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:301.15, Y:377.12, Z:1.65 [[ 6.43408295e-01 -7.65523009e-01 -5.37493628e-04 3.01153147e+02] [ 7.65522765e-01 6.43408519e-01 -6.11118095e-04 3.77116852e+02] [ 8.13652942e-04 -1.82651568e-05 9.99999669e-01 1.64995781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.17, Y:377.14, Z:1.65 [[ 6.43788255e-01 -7.65203500e-01 -5.34546029e-04 3.01167622e+02] [ 7.65203254e-01 6.43788477e-01 -6.13612749e-04 3.77136154e+02] [ 8.13673197e-04 -1.39996798e-05 9.99999669e-01 1.65057602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.18, Y:377.16, Z:1.65 [[ 6.44021929e-01 -7.65006847e-01 -5.28818262e-04 3.01184173e+02] [ 7.65006597e-01 6.44022146e-01 -6.18459748e-04 3.77155897e+02] [ 8.13696613e-04 -6.24781945e-06 9.99999669e-01 1.64949608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:301.20, Y:377.18, Z:1.65 [[ 6.40330859e-01 -7.68099027e-01 -5.25353208e-04 3.01204376e+02] [ 7.68098776e-01 6.40331074e-01 -6.21389276e-04 3.77181325e+02] [ 8.13688482e-04 -5.62842754e-06 9.99999669e-01 1.65137662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.902755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:301.22, Y:377.20, Z:1.65 [[ 6.40172964e-01 -7.68230625e-01 -5.32261418e-04 3.01220520e+02] [ 7.68230379e-01 6.40173185e-01 -6.15548545e-04 3.77198182e+02] [ 8.13622731e-04 -1.48418547e-05 9.99999669e-01 1.64972693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.24, Y:377.22, Z:1.65 [[ 6.37688109e-01 -7.70294490e-01 -5.24623865e-04 3.01237395e+02] [ 7.70294239e-01 6.37688325e-01 -6.21996969e-04 3.77218475e+02] [ 8.13667351e-04 -7.47466974e-06 9.99999669e-01 1.65315909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.962755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:301.26, Y:377.24, Z:1.65 [[ 6.36395052e-01 -7.71363122e-01 -5.21407773e-04 3.01256500e+02] [ 7.71362869e-01 6.36395265e-01 -6.24711048e-04 3.77239894e+02] [ 8.13700503e-04 -4.63157624e-06 9.99999669e-01 1.65314545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.27, Y:377.26, Z:1.65 [[ 6.36266473e-01 -7.71469184e-01 -5.22706362e-04 3.01270568e+02] [ 7.71468932e-01 6.36266687e-01 -6.23615293e-04 3.77258832e+02] [ 8.13680627e-04 -6.46621592e-06 9.99999669e-01 1.65384873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.022755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:301.29, Y:377.28, Z:1.66 [[ 6.33665538e-01 -7.73606955e-01 -5.15381378e-04 3.01294230e+02] [ 7.73606698e-01 6.33665748e-01 -6.29790332e-04 3.77282787e+02] [ 8.13789707e-04 3.73943655e-07 9.99999669e-01 1.65507993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.31, Y:377.31, Z:1.66 [[ 6.29942037e-01 -7.76641973e-01 -5.24668693e-04 3.01307315e+02] [ 7.76641725e-01 6.29942255e-01 -6.21955750e-04 3.77305685e+02] [ 8.13547921e-04 -1.56835267e-05 9.99999669e-01 1.65706850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.32, Y:377.33, Z:1.66 [[ 6.27168038e-01 -7.78883805e-01 -5.20383519e-04 3.01324847e+02] [ 7.78883553e-01 6.27168254e-01 -6.25568272e-04 3.77326898e+02] [ 8.13613019e-04 -1.29817379e-05 9.99999669e-01 1.65639238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.34, Y:377.35, Z:1.66 [[ 6.27151948e-01 -7.78896760e-01 -5.21323453e-04 3.01343191e+02] [ 7.78896509e-01 6.27152164e-01 -6.24776069e-04 3.77347660e+02] [ 8.13585188e-04 -1.42274895e-05 9.99999669e-01 1.65756368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.36, Y:377.37, Z:1.66 [[ 6.26375085e-01 -7.79521637e-01 -5.19749057e-04 3.01360857e+02] [ 7.79521386e-01 6.26375300e-01 -6.26102330e-04 3.77368458e+02] [ 8.13618285e-04 -1.29806057e-05 9.99999669e-01 1.65754780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.38, Y:377.39, Z:1.66 [[ 6.27704796e-01 -7.78451296e-01 -5.18931165e-04 3.01379931e+02] [ 7.78451044e-01 6.27705010e-01 -6.26791090e-04 3.77388223e+02] [ 8.13662029e-04 -1.05227342e-05 9.99999669e-01 1.65887809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.40, Y:377.41, Z:1.66 [[ 6.26513459e-01 -7.79410430e-01 -5.16417995e-04 3.01398648e+02] [ 7.79410177e-01 6.26513672e-01 -6.28906439e-04 3.77411662e+02] [ 8.13719173e-04 -8.48309231e-06 9.99999669e-01 1.65893329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.42, Y:377.44, Z:1.66 [[ 6.25885365e-01 -7.79914893e-01 -5.18917571e-04 3.01420067e+02] [ 7.79914642e-01 6.25885580e-01 -6.26802446e-04 3.77435667e+02] [ 8.13635588e-04 -1.24049340e-05 9.99999669e-01 1.65875129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.44, Y:377.46, Z:1.66 [[ 6.26336593e-01 -7.79552561e-01 -5.25309646e-04 3.01437867e+02] [ 7.79552314e-01 6.26336813e-01 -6.21421968e-04 3.77457085e+02] [ 8.13451857e-04 -2.02870316e-05 9.99999669e-01 1.65999634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.45, Y:377.48, Z:1.66 [[ 6.26714002e-01 -7.79249180e-01 -5.25139599e-04 3.01454737e+02] [ 7.79248932e-01 6.26714222e-01 -6.21565009e-04 3.77478476e+02] [ 8.13466479e-04 -1.96709774e-05 9.99999669e-01 1.65980159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.47, Y:377.50, Z:1.66 [[ 6.27396901e-01 -7.78699463e-01 -5.24267424e-04 3.01473918e+02] [ 7.78699215e-01 6.27397120e-01 -6.22298272e-04 3.77500194e+02] [ 8.13507202e-04 -1.78186248e-05 9.99999669e-01 1.66045007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.49, Y:377.52, Z:1.66 [[ 6.27184141e-01 -7.78870835e-01 -5.25607179e-04 3.01491514e+02] [ 7.78870587e-01 6.27184361e-01 -6.21172216e-04 3.77521430e+02] [ 8.13465525e-04 -1.97906087e-05 9.99999669e-01 1.66047309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.51, Y:377.54, Z:1.66 [[ 6.29137147e-01 -7.77294136e-01 -5.25466477e-04 3.01508727e+02] [ 7.77293888e-01 6.29137366e-01 -6.21290415e-04 3.77541965e+02] [ 8.13515992e-04 -1.75650018e-05 9.99999669e-01 1.66164086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.53, Y:377.56, Z:1.66 [[ 6.28420302e-01 -7.77873802e-01 -5.22417768e-04 3.01525666e+02] [ 7.77873552e-01 6.28420519e-01 -6.23849510e-04 3.77564787e+02] [ 8.13574234e-04 -1.43352676e-05 9.99999669e-01 1.66161020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.55, Y:377.59, Z:1.66 [[ 6.31896070e-01 -7.75052955e-01 -5.23054783e-04 3.01546867e+02] [ 7.75052704e-01 6.31896287e-01 -6.23315001e-04 3.77587290e+02] [ 8.13618509e-04 -1.15247241e-05 9.99999669e-01 1.65955711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.56, Y:377.61, Z:1.66 [[ 6.31859541e-01 -7.75082733e-01 -5.27849959e-04 3.01560466e+02] [ 7.75082485e-01 6.31859761e-01 -6.19296654e-04 3.77606229e+02] [ 8.13533292e-04 -1.78187590e-05 9.99999669e-01 1.65971894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.57, Y:377.63, Z:1.66 [[ 6.32035461e-01 -7.74939293e-01 -5.18908806e-04 3.01574899e+02] [ 7.74939039e-01 6.32035674e-01 -6.26773684e-04 3.77625193e+02] [ 8.13680432e-04 -5.97949743e-06 9.99999669e-01 1.65927024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.60, Y:377.65, Z:1.66 [[ 6.31697685e-01 -7.75214662e-01 -5.12984352e-04 3.01595432e+02] [ 7.75214405e-01 6.31697893e-01 -6.31730333e-04 3.77648676e+02] [ 8.13777751e-04 1.38972965e-06 9.99999669e-01 1.65702402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.61, Y:377.67, Z:1.66 [[ 6.31821826e-01 -7.75113483e-01 -5.19644712e-04 3.01612620e+02] [ 7.75113230e-01 6.31822039e-01 -6.26152618e-04 3.77668553e+02] [ 8.13662318e-04 -7.16660010e-06 9.99999669e-01 1.65653060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.592755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:301.63, Y:377.69, Z:1.66 [[ 6.31472963e-01 -7.75397724e-01 -5.16756455e-04 3.01630314e+02] [ 7.75397469e-01 6.31473175e-01 -6.28568066e-04 3.77688679e+02] [ 8.13708087e-04 -3.76790743e-06 9.99999669e-01 1.65528778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.65, Y:377.71, Z:1.65 [[ 6.29341667e-01 -7.77128560e-01 -5.16525650e-04 3.01650303e+02] [ 7.77128306e-01 6.29341879e-01 -6.28761278e-04 3.77713010e+02] [ 8.13699570e-04 -5.70103247e-06 9.99999669e-01 1.65386891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.67, Y:377.73, Z:1.65 [[ 6.28654178e-01 -7.77684803e-01 -5.22463597e-04 3.01668624e+02] [ 7.77684552e-01 6.28654395e-01 -6.23788649e-04 3.77734333e+02] [ 8.13559989e-04 -1.41645289e-05 9.99999669e-01 1.65490317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.682755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:301.68, Y:377.76, Z:1.65 [[ 6.24282768e-01 -7.81198280e-01 -5.22222344e-04 3.01684231e+02] [ 7.81198031e-01 6.24282986e-01 -6.23990555e-04 3.77756741e+02] [ 8.13474873e-04 -1.84125155e-05 9.99999669e-01 1.65477458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.70, Y:377.78, Z:1.65 [[ 6.24162521e-01 -7.81294361e-01 -5.18908006e-04 3.01702581e+02] [ 7.81294110e-01 6.24162736e-01 -6.26762797e-04 3.77777530e+02] [ 8.13569279e-04 -1.42179217e-05 9.99999669e-01 1.65420488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.742755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:301.73, Y:377.80, Z:1.65 [[ 6.22718892e-01 -7.82445470e-01 -5.18012572e-04 3.01725331e+02] [ 7.82445218e-01 6.22719107e-01 -6.27513237e-04 3.77803073e+02] [ 8.13571216e-04 -1.45521121e-05 9.99999669e-01 1.65075682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.772755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:301.74, Y:377.82, Z:1.65 [[ 6.20809285e-01 -7.83961447e-01 -5.29991664e-04 3.01738263e+02] [ 7.83961204e-01 6.20809511e-01 -6.17467848e-04 3.77823219e+02] [ 8.13094853e-04 -3.21631297e-05 9.99999669e-01 1.65040250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.802755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:301.76, Y:377.84, Z:1.65 [[ 6.21762076e-01 -7.83206006e-01 -5.22405604e-04 3.01755175e+02] [ 7.83205758e-01 6.21762295e-01 -6.23820636e-04 3.77843121e+02] [ 8.13392176e-04 -2.12830636e-05 9.99999669e-01 1.65003155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.78, Y:377.87, Z:1.65 [[ 6.21512552e-01 -7.83404033e-01 -5.18544541e-04 3.01776128e+02] [ 7.83403782e-01 6.21512768e-01 -6.27055948e-04 3.77868017e+02] [ 8.13520211e-04 -1.65066127e-05 9.99999669e-01 1.65143033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.862755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:301.79, Y:377.89, Z:1.65 [[ 6.21242696e-01 -7.83618041e-01 -5.26779953e-04 3.01793079e+02] [ 7.83617796e-01 6.21242919e-01 -6.20154676e-04 3.77888817e+02] [ 8.13222709e-04 -2.75275827e-05 9.99999669e-01 1.64882671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.81, Y:377.91, Z:1.65 [[ 6.22765008e-01 -7.82408760e-01 -5.26341526e-04 3.01809535e+02] [ 7.82408515e-01 6.22765230e-01 -6.20521968e-04 3.77908637e+02] [ 8.13289025e-04 -2.53747237e-05 9.99999669e-01 1.65119179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:301.83, Y:377.93, Z:1.65 [[ 6.22360287e-01 -7.82730733e-01 -5.22230450e-04 3.01826699e+02] [ 7.82730484e-01 6.22360506e-01 -6.23962765e-04 3.77932121e+02] [ 8.13410439e-04 -2.04360469e-05 9.99999669e-01 1.65075997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.952755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:301.84, Y:377.96, Z:1.65 [[ 6.23182261e-01 -7.82076464e-01 -5.23802039e-04 3.01844770e+02] [ 7.82076216e-01 6.23182481e-01 -6.22648199e-04 3.77955297e+02] [ 8.13382756e-04 -2.16298045e-05 9.99999669e-01 1.65120588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.982755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:301.86, Y:377.98, Z:1.65 [[ 6.25641792e-01 -7.80110296e-01 -5.24028932e-04 3.01860228e+02] [ 7.80110047e-01 6.25642011e-01 -6.22458474e-04 3.77976525e+02] [ 8.13440779e-04 -1.93641996e-05 9.99999669e-01 1.65225508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.88, Y:378.00, Z:1.65 [[ 6.27054058e-01 -7.78975569e-01 -5.21751550e-04 3.01878337e+02] [ 7.78975318e-01 6.27054275e-01 -6.24361582e-04 3.77999587e+02] [ 8.13528958e-04 -1.49231165e-05 9.99999669e-01 1.65297560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.90, Y:378.02, Z:1.65 [[ 6.34126462e-01 -7.73229175e-01 -5.22764604e-04 3.01904663e+02] [ 7.73228924e-01 6.34126677e-01 -6.23515433e-04 3.78023271e+02] [ 8.13619305e-04 -8.82907724e-06 9.99999669e-01 1.64989949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.91, Y:378.04, Z:1.65 [[ 6.31719411e-01 -7.75196940e-01 -5.38959194e-04 3.01909516e+02] [ 7.75196701e-01 6.31719640e-01 -6.09964789e-04 3.78041114e+02] [ 8.13313945e-04 -3.24727920e-05 9.99999669e-01 1.65300889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.94, Y:378.07, Z:1.65 [[ 6.38341626e-01 -7.69753013e-01 -5.17456240e-04 3.01940403e+02] [ 7.69752757e-01 6.38341836e-01 -6.27914979e-04 3.78068340e+02] [ 8.13653413e-04 2.51090163e-06 9.99999669e-01 1.64876287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.132755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:301.94, Y:378.09, Z:1.65 [[ 6.33978545e-01 -7.73350445e-01 -5.41846332e-04 3.01944343e+02] [ 7.73350207e-01 6.33978775e-01 -6.07505045e-04 3.78086266e+02] [ 8.13333371e-04 -3.38918088e-05 9.99999669e-01 1.64849506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.97, Y:378.11, Z:1.65 [[ 6.40255873e-01 -7.68161536e-01 -5.21252794e-04 3.01973940e+02] [ 7.68161282e-01 6.40256085e-01 -6.24688708e-04 3.78112008e+02] [ 8.13597110e-04 -4.45600504e-07 9.99999669e-01 1.64978744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.98, Y:378.13, Z:1.65 [[ 6.36955805e-01 -7.70900128e-01 -5.42711354e-04 3.01977074e+02] [ 7.70899890e-01 6.36956036e-01 -6.06745297e-04 3.78130486e+02] [ 8.13423300e-04 -3.19061842e-05 9.99999669e-01 1.65204551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.00, Y:378.16, Z:1.65 [[ 6.42405177e-01 -7.66365003e-01 -5.20948309e-04 3.02003774e+02] [ 7.66364748e-01 6.42405388e-01 -6.24888411e-04 3.78155495e+02] [ 8.13552609e-04 2.19513016e-06 9.99999669e-01 1.65096786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.01, Y:378.17, Z:1.66 [[ 6.40402973e-01 -7.68038895e-01 -5.36672894e-04 3.02012499e+02] [ 7.68038652e-01 6.40403197e-01 -6.11764147e-04 3.78174689e+02] [ 8.13545697e-04 -2.04099480e-05 9.99999669e-01 1.65571268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.03, Y:378.20, Z:1.65 [[ 6.39942200e-01 -7.68422871e-01 -5.20625960e-04 3.02028230e+02] [ 7.68422617e-01 6.39942412e-01 -6.25128520e-04 3.78197222e+02] [ 8.13533685e-04 -1.46421430e-08 9.99999669e-01 1.65338054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.05, Y:378.22, Z:1.65 [[ 6.42828246e-01 -7.66010167e-01 -5.20548521e-04 3.02049446e+02] [ 7.66009912e-01 6.42828456e-01 -6.25192997e-04 3.78221610e+02] [ 8.13527595e-04 3.14639066e-06 9.99999669e-01 1.65147892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.342755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:302.06, Y:378.24, Z:1.65 [[ 6.43602731e-01 -7.65359555e-01 -5.26778076e-04 3.02060088e+02] [ 7.65359303e-01 6.43602946e-01 -6.19997459e-04 3.78237079e+02] [ 8.13556900e-04 -4.14244391e-06 9.99999669e-01 1.65005985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.08, Y:378.26, Z:1.65 [[ 6.40265505e-01 -7.68153516e-01 -5.09047445e-04 3.02079442e+02] [ 7.68153254e-01 6.40265707e-01 -6.34714972e-04 3.78263709e+02] [ 8.13484160e-04 1.53596507e-05 9.99999669e-01 1.65323554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.402755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.10, Y:378.28, Z:1.65 [[ 6.39437785e-01 -7.68842668e-01 -5.19865475e-04 3.02097322e+02] [ 7.68842414e-01 6.39437997e-01 -6.25727157e-04 3.78284779e+02] [ 8.13507474e-04 4.18960838e-07 9.99999669e-01 1.65365425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.11, Y:378.31, Z:1.65 [[ 6.38011218e-01 -7.70026893e-01 -5.19669981e-04 3.02114960e+02] [ 7.70026639e-01 6.38011429e-01 -6.25889473e-04 3.78305847e+02] [ 8.13507114e-04 -8.35223658e-07 9.99999669e-01 1.65421862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.13, Y:378.33, Z:1.65 [[ 6.37088299e-01 -7.70790652e-01 -5.19495115e-04 3.02133011e+02] [ 7.70790398e-01 6.37088511e-01 -6.26034581e-04 3.78327948e+02] [ 8.13505972e-04 -1.58253963e-06 9.99999669e-01 1.65408378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.492755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.15, Y:378.35, Z:1.65 [[ 6.34998489e-01 -7.72513204e-01 -5.19303703e-04 3.02151300e+02] [ 7.72512950e-01 6.34998701e-01 -6.26193318e-04 3.78351729e+02] [ 8.13499784e-04 -3.53702478e-06 9.99999669e-01 1.65199047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.17, Y:378.37, Z:1.65 [[ 6.34680032e-01 -7.72774860e-01 -5.22943242e-04 3.02169197e+02] [ 7.72774609e-01 6.34680247e-01 -6.23177201e-04 3.78372281e+02] [ 8.13477420e-04 -8.59913333e-06 9.99999669e-01 1.65452270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.552755096 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:302.19, Y:378.39, Z:1.65 [[ 6.33707229e-01 -7.73572801e-01 -5.18735781e-04 3.02186644e+02] [ 7.73572547e-01 6.33707441e-01 -6.26660047e-04 3.78392520e+02] [ 8.13493892e-04 -4.16075757e-06 9.99999669e-01 1.65253621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.20, Y:378.41, Z:1.65 [[ 6.33152207e-01 -7.74027140e-01 -5.18603820e-04 3.02204857e+02] [ 7.74026886e-01 6.33152420e-01 -6.26769234e-04 3.78413754e+02] [ 8.13491661e-04 -4.57297611e-06 9.99999669e-01 1.65421016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.22, Y:378.43, Z:1.66 [[ 6.32258691e-01 -7.74757174e-01 -5.18407191e-04 3.02222905e+02] [ 7.74756921e-01 6.32258903e-01 -6.26931826e-04 3.78434950e+02] [ 8.13487492e-04 -5.25646385e-06 9.99999669e-01 1.65577340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.24, Y:378.46, Z:1.66 [[ 6.31582010e-01 -7.75308904e-01 -5.18188050e-04 3.02240279e+02] [ 7.75308650e-01 6.31582223e-01 -6.27112904e-04 3.78455614e+02] [ 8.13484578e-04 -5.68244938e-06 9.99999669e-01 1.65691305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6727550960001 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:302.26, Y:378.48, Z:1.66 [[ 6.30013727e-01 -7.76583824e-01 -5.18054673e-04 3.02259807e+02] [ 7.76583571e-01 6.30013940e-01 -6.27223066e-04 3.78475662e+02] [ 8.13472953e-04 -7.15360696e-06 9.99999669e-01 1.65847909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.28, Y:378.50, Z:1.66 [[ 6.30057971e-01 -7.76547929e-01 -5.17380533e-04 3.02280835e+02] [ 7.76547675e-01 6.30058184e-01 -6.27779531e-04 3.78498395e+02] [ 8.13480733e-04 -6.23315289e-06 9.99999669e-01 1.65859989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.732755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.30, Y:378.52, Z:1.66 [[ 6.28588049e-01 -7.77738254e-01 -5.23386818e-04 3.02296753e+02] [ 7.77738004e-01 6.28588267e-01 -6.22820425e-04 3.78517205e+02] [ 8.13386082e-04 -1.55603433e-05 9.99999669e-01 1.65947717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.31, Y:378.54, Z:1.66 [[ 6.27922996e-01 -7.78275301e-01 -5.17544424e-04 3.02314928e+02] [ 7.78275047e-01 6.27923209e-01 -6.27638008e-04 3.78538292e+02] [ 8.13453315e-04 -8.68357316e-06 9.99999669e-01 1.65982922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7927550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:302.33, Y:378.56, Z:1.66 [[ 6.27204766e-01 -7.78854232e-01 -5.17345665e-04 3.02334986e+02] [ 7.78853979e-01 6.27204979e-01 -6.27801797e-04 3.78558755e+02] [ 8.13447864e-04 -9.17645034e-06 9.99999669e-01 1.65964901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.822755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.35, Y:378.58, Z:1.66 [[ 6.26717584e-01 -7.79246304e-01 -5.17147534e-04 3.02353060e+02] [ 7.79246051e-01 6.26717798e-01 -6.27964965e-04 3.78579645e+02] [ 8.13444941e-04 -9.42848762e-06 9.99999669e-01 1.66052167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.852755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:302.37, Y:378.60, Z:1.66 [[ 6.26481300e-01 -7.79436279e-01 -5.16947598e-04 3.02371431e+02] [ 7.79436026e-01 6.26481513e-01 -6.28129511e-04 3.78599673e+02] [ 8.13445042e-04 -9.41618875e-06 9.99999669e-01 1.65865458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.39, Y:378.62, Z:1.66 [[ 6.26626161e-01 -7.79319824e-01 -5.16768748e-04 3.02388844e+02] [ 7.79319571e-01 6.26626374e-01 -6.28276618e-04 3.78621199e+02] [ 8.13449350e-04 -9.03343359e-06 9.99999669e-01 1.66027189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.41, Y:378.64, Z:1.66 [[ 6.26660666e-01 -7.79292078e-01 -5.16576319e-04 3.02407345e+02] [ 7.79291825e-01 6.26660879e-01 -6.28434796e-04 3.78642037e+02] [ 8.13452428e-04 -8.74833453e-06 9.99999669e-01 1.66042191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.43, Y:378.66, Z:1.66 [[ 6.26319003e-01 -7.79566700e-01 -5.16378988e-04 3.02427376e+02] [ 7.79566447e-01 6.26319216e-01 -6.28596898e-04 3.78662055e+02] [ 8.13451293e-04 -8.84955059e-06 9.99999669e-01 1.66052290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.972755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.45, Y:378.68, Z:1.66 [[ 6.25183607e-01 -7.80477540e-01 -5.16179403e-04 3.02448464e+02] [ 7.80477287e-01 6.25183820e-01 -6.28760748e-04 3.78684717e+02] [ 8.13440653e-04 -9.77538771e-06 9.99999669e-01 1.66243343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.002755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:302.46, Y:378.70, Z:1.66 [[ 6.23798147e-01 -7.81585312e-01 -5.21346955e-04 3.02463814e+02] [ 7.81585063e-01 6.23798364e-01 -6.24518484e-04 3.78701489e+02] [ 8.13329852e-04 -1.79035199e-05 9.99999669e-01 1.65823835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.49, Y:378.72, Z:1.66 [[ 6.23383885e-01 -7.81915769e-01 -5.11839680e-04 3.02485713e+02] [ 7.81915514e-01 6.23384095e-01 -6.32308409e-04 3.78724157e+02] [ 8.13484632e-04 -6.04451405e-06 9.99999669e-01 1.66015769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.062755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:302.50, Y:378.74, Z:1.66 [[ 6.24042747e-01 -7.81390031e-01 -5.19957168e-04 3.02503341e+02] [ 7.81389780e-01 6.24042963e-01 -6.25652019e-04 3.78742576e+02] [ 8.13353862e-04 -1.58556128e-05 9.99999669e-01 1.65968156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.52, Y:378.76, Z:1.66 [[ 6.22778852e-01 -7.82397748e-01 -5.15500669e-04 3.02521993e+02] [ 7.82397495e-01 6.22779065e-01 -6.29302613e-04 3.78763607e+02] [ 8.13407972e-04 -1.14100733e-05 9.99999669e-01 1.66035784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.54, Y:378.78, Z:1.66 [[ 6.21284192e-01 -7.83585150e-01 -5.15307747e-04 3.02542096e+02] [ 7.83584898e-01 6.21284405e-01 -6.29460548e-04 3.78784001e+02] [ 8.13388605e-04 -1.27134804e-05 9.99999669e-01 1.66030102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.56, Y:378.81, Z:1.66 [[ 6.20222976e-01 -7.84425391e-01 -5.16262746e-04 3.02560642e+02] [ 7.84425139e-01 6.20223191e-01 -6.28679133e-04 3.78805608e+02] [ 8.13350002e-04 -1.50482333e-05 9.99999669e-01 1.66070380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.58, Y:378.83, Z:1.66 [[ 6.20233409e-01 -7.84417142e-01 -5.15291907e-04 3.02580387e+02] [ 7.84416890e-01 6.20233623e-01 -6.29473159e-04 3.78827376e+02] [ 8.13370903e-04 -1.37833911e-05 9.99999669e-01 1.66136529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.60, Y:378.85, Z:1.66 [[ 6.19667036e-01 -7.84864636e-01 -5.16590970e-04 3.02598655e+02] [ 7.84864385e-01 6.19667251e-01 -6.28410877e-04 3.78847528e+02] [ 8.13331981e-04 -1.60483478e-05 9.99999669e-01 1.66218730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.62, Y:378.87, Z:1.66 [[ 6.19418245e-01 -7.85061000e-01 -5.14760790e-04 3.02616622e+02] [ 7.85060747e-01 6.19418459e-01 -6.29906504e-04 3.78869769e+02] [ 8.13367364e-04 -1.39429087e-05 9.99999669e-01 1.66220975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.272755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:302.64, Y:378.89, Z:1.66 [[ 6.18857190e-01 -7.85503351e-01 -5.14561091e-04 3.02635613e+02] [ 7.85503098e-01 6.18857404e-01 -6.30069592e-04 3.78892163e+02] [ 8.13361717e-04 -1.42662339e-05 9.99999669e-01 1.66036315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.65, Y:378.91, Z:1.66 [[ 6.18817028e-01 -7.85534990e-01 -5.16039846e-04 3.02652364e+02] [ 7.85534738e-01 6.18817243e-01 -6.28862217e-04 3.78912929e+02] [ 8.13327630e-04 -1.62165771e-05 9.99999669e-01 1.66187688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.67, Y:378.93, Z:1.66 [[ 6.18708334e-01 -7.85620604e-01 -5.14277239e-04 3.02670485e+02] [ 7.85620351e-01 6.18708547e-01 -6.30300370e-04 3.78934864e+02] [ 8.13364681e-04 -1.40545736e-05 9.99999669e-01 1.66178257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.362755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:302.69, Y:378.96, Z:1.66 [[ 6.18785983e-01 -7.85559446e-01 -5.14080689e-04 3.02688840e+02] [ 7.85559193e-01 6.18786196e-01 -6.30460638e-04 3.78955884e+02] [ 8.13370344e-04 -1.37206056e-05 9.99999669e-01 1.66106844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.71, Y:378.98, Z:1.66 [[ 6.20192443e-01 -7.84449533e-01 -5.13881037e-04 3.02706556e+02] [ 7.84449279e-01 6.20192656e-01 -6.30623331e-04 3.78976602e+02] [ 8.13397422e-04 -1.20057846e-05 9.99999669e-01 1.66132270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:302.72, Y:379.00, Z:1.66 [[ 6.19296041e-01 -7.85157407e-01 -5.10801055e-04 3.02724646e+02] [ 7.85157151e-01 6.19296251e-01 -6.33131178e-04 3.78999996e+02] [ 8.13444813e-04 -8.96346926e-06 9.99999669e-01 1.66249755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.452755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:302.74, Y:379.02, Z:1.66 [[ 6.20639466e-01 -7.84095906e-01 -5.13949146e-04 3.02742550e+02] [ 7.84095652e-01 6.20639679e-01 -6.30568334e-04 3.79021590e+02] [ 8.13403282e-04 -1.16296969e-05 9.99999669e-01 1.65927876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:302.76, Y:379.04, Z:1.66 [[ 6.20395166e-01 -7.84289216e-01 -5.13407694e-04 3.02758950e+02] [ 7.84288962e-01 6.20395379e-01 -6.31008875e-04 3.79041862e+02] [ 8.13409217e-04 -1.11851314e-05 9.99999669e-01 1.65872840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.512755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:302.78, Y:379.06, Z:1.66 [[ 6.19621236e-01 -7.84900799e-01 -5.10103825e-04 3.02776690e+02] [ 7.84900543e-01 6.19621446e-01 -6.33695472e-04 3.79064648e+02] [ 8.13459351e-04 -7.72959782e-06 9.99999669e-01 1.66089430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:302.79, Y:379.09, Z:1.66 [[ 6.19880489e-01 -7.84696066e-01 -5.13173740e-04 3.02794757e+02] [ 7.84695813e-01 6.19880701e-01 -6.31199589e-04 3.79086789e+02] [ 8.13406332e-04 -1.14169752e-05 9.99999669e-01 1.66247605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.572755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:302.81, Y:379.11, Z:1.66 [[ 6.20002056e-01 -7.84600018e-01 -5.12976430e-04 3.02813013e+02] [ 7.84599764e-01 6.20002268e-01 -6.31359903e-04 3.79108775e+02] [ 8.13411541e-04 -1.10367476e-05 9.99999669e-01 1.66302674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.602755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:302.83, Y:379.13, Z:1.67 [[ 6.20425035e-01 -7.84265589e-01 -5.12780584e-04 3.02829828e+02] [ 7.84265334e-01 6.20425247e-01 -6.31518925e-04 3.79130659e+02] [ 8.13420582e-04 -1.03458854e-05 9.99999669e-01 1.66569738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.632755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:302.85, Y:379.15, Z:1.67 [[ 6.20774749e-01 -7.83988806e-01 -5.12601624e-04 3.02847805e+02] [ 7.83988552e-01 6.20774960e-01 -6.31664153e-04 3.79152593e+02] [ 8.13427878e-04 -9.75264888e-06 9.99999669e-01 1.66507437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.87, Y:379.18, Z:1.67 [[ 6.21114547e-01 -7.83719629e-01 -5.12405631e-04 3.02865336e+02] [ 7.83719374e-01 6.21114759e-01 -6.31823103e-04 3.79175161e+02] [ 8.13434867e-04 -9.14770004e-06 9.99999669e-01 1.66766378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.88, Y:379.20, Z:1.67 [[ 6.21123513e-01 -7.83712522e-01 -5.14099666e-04 3.02881598e+02] [ 7.83712269e-01 6.21123725e-01 -6.30449670e-04 3.79196536e+02] [ 8.13410801e-04 -1.13191025e-05 9.99999669e-01 1.66757683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.722755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:302.90, Y:379.22, Z:1.67 [[ 6.20943949e-01 -7.83854802e-01 -5.12107301e-04 3.02897837e+02] [ 7.83854547e-01 6.20944160e-01 -6.32063913e-04 3.79218908e+02] [ 8.13436371e-04 -8.94137467e-06 9.99999669e-01 1.66525808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.752755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.92, Y:379.24, Z:1.66 [[ 6.20784807e-01 -7.83980843e-01 -5.11656978e-04 3.02915834e+02] [ 7.83980588e-01 6.20785017e-01 -6.32428542e-04 3.79240100e+02] [ 8.13440848e-04 -8.52710887e-06 9.99999669e-01 1.66496656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7827550960001 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:302.93, Y:379.26, Z:1.67 [[ 6.20352328e-01 -7.84323101e-01 -5.11822012e-04 3.02932761e+02] [ 7.84322846e-01 6.20352540e-01 -6.32294953e-04 3.79262041e+02] [ 8.13433623e-04 -9.18805082e-06 9.99999669e-01 1.66531323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.812755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:302.95, Y:379.28, Z:1.66 [[ 6.19106848e-01 -7.85306596e-01 -5.11626509e-04 3.02950014e+02] [ 7.85306341e-01 6.19107059e-01 -6.32453106e-04 3.79283844e+02] [ 8.13421179e-04 -1.02274930e-05 9.99999669e-01 1.66422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.97, Y:379.31, Z:1.66 [[ 6.18345697e-01 -7.85906062e-01 -5.11428215e-04 3.02967714e+02] [ 7.85905807e-01 6.18345908e-01 -6.32613414e-04 3.79306282e+02] [ 8.13414261e-04 -1.07606216e-05 9.99999669e-01 1.66468312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:302.98, Y:379.33, Z:1.66 [[ 6.15911483e-01 -7.87815197e-01 -5.11231105e-04 3.02984279e+02] [ 7.87814942e-01 6.15911695e-01 -6.32772664e-04 3.79327430e+02] [ 8.13381137e-04 -1.30235538e-05 9.99999669e-01 1.66389963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.00, Y:379.35, Z:1.66 [[ 6.14605886e-01 -7.88834168e-01 -5.11054459e-04 3.03001993e+02] [ 7.88833914e-01 6.14606098e-01 -6.32915298e-04 3.79349310e+02] [ 8.13362399e-04 -1.41436220e-05 9.99999669e-01 1.66353373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.932755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:303.02, Y:379.37, Z:1.66 [[ 6.12955015e-01 -7.90117642e-01 -5.10858475e-04 3.03019635e+02] [ 7.90117389e-01 6.12955228e-01 -6.33073447e-04 3.79370374e+02] [ 8.13335873e-04 -1.55926204e-05 9.99999669e-01 1.66218693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.962755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:303.04, Y:379.39, Z:1.66 [[ 6.10706788e-01 -7.91856653e-01 -5.10682957e-04 3.03037547e+02] [ 7.91856400e-01 6.10707001e-01 -6.33215002e-04 3.79392436e+02] [ 8.13293169e-04 -1.76788681e-05 9.99999669e-01 1.66268082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.05, Y:379.41, Z:1.66 [[ 6.10125006e-01 -7.92305002e-01 -5.10485258e-04 3.03054446e+02] [ 7.92304749e-01 6.10125220e-01 -6.33374342e-04 3.79414185e+02] [ 8.13285590e-04 -1.80223694e-05 9.99999669e-01 1.66402340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.022755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:303.07, Y:379.44, Z:1.66 [[ 6.08398114e-01 -7.93631826e-01 -5.10350977e-04 3.03072403e+02] [ 7.93631573e-01 6.08398328e-01 -6.33482523e-04 3.79435726e+02] [ 8.13248572e-04 -1.96210760e-05 9.99999669e-01 1.66381109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.052755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:303.09, Y:379.46, Z:1.66 [[ 6.07563262e-01 -7.94271127e-01 -5.10155631e-04 3.03090640e+02] [ 7.94270874e-01 6.07563476e-01 -6.33639800e-04 3.79457502e+02] [ 8.13233726e-04 -2.02254949e-05 9.99999669e-01 1.66262039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.082755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.11, Y:379.48, Z:1.66 [[ 6.07729681e-01 -7.94143800e-01 -5.09954749e-04 3.03108295e+02] [ 7.94143547e-01 6.07729895e-01 -6.33801428e-04 3.79479736e+02] [ 8.13244221e-04 -1.97973336e-05 9.99999669e-01 1.66352711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.112755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.13, Y:379.50, Z:1.66 [[ 6.08006913e-01 -7.93931568e-01 -5.09753207e-04 3.03126103e+02] [ 7.93931315e-01 6.08007126e-01 -6.33963483e-04 3.79501592e+02] [ 8.13257205e-04 -1.92548532e-05 9.99999669e-01 1.66327174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.142755096 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:303.14, Y:379.52, Z:1.66 [[ 6.08078125e-01 -7.93877027e-01 -5.09552446e-04 3.03143846e+02] [ 7.93876774e-01 6.08078338e-01 -6.34124805e-04 3.79522902e+02] [ 8.13264920e-04 -1.89244291e-05 9.99999669e-01 1.66166166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1727550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:303.16, Y:379.54, Z:1.66 [[ 6.09030117e-01 -7.93146933e-01 -5.09352430e-04 3.03161066e+02] [ 7.93146680e-01 6.09030330e-01 -6.34285425e-04 3.79544405e+02] [ 8.13292618e-04 -1.76922628e-05 9.99999669e-01 1.66190304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.202755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.18, Y:379.57, Z:1.66 [[ 6.10068168e-01 -7.92348769e-01 -5.09172593e-04 3.03178659e+02] [ 7.92348515e-01 6.10068381e-01 -6.34429756e-04 3.79566762e+02] [ 8.13319735e-04 -1.63967484e-05 9.99999669e-01 1.66336346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.232755096 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:303.20, Y:379.59, Z:1.66 [[ 6.12393271e-01 -7.90553112e-01 -5.08974971e-04 3.03201039e+02] [ 7.90552857e-01 6.12393482e-01 -6.34588260e-04 3.79590371e+02] [ 8.13368678e-04 -1.37540380e-05 9.99999669e-01 1.66083348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.262755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:303.22, Y:379.61, Z:1.66 [[ 6.13525397e-01 -7.89674820e-01 -5.15515136e-04 3.03215408e+02] [ 7.89674569e-01 6.13525614e-01 -6.29339449e-04 3.79609298e+02] [ 8.13255256e-04 -2.09734577e-05 9.99999669e-01 1.66318454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2927550960001 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:303.23, Y:379.63, Z:1.66 [[ 6.16763743e-01 -7.87148161e-01 -5.08792676e-04 3.03233998e+02] [ 7.87147905e-01 6.16763952e-01 -6.34728116e-04 3.79626705e+02] [ 8.13430051e-04 -9.01780100e-06 9.99999669e-01 1.66104121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.322755096 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:303.25, Y:379.65, Z:1.66 [[ 6.15979982e-01 -7.87761645e-01 -5.03346510e-04 3.03252518e+02] [ 7.87761385e-01 6.15980188e-01 -6.39093720e-04 3.79651720e+02] [ 8.13504998e-04 -2.84800590e-06 9.99999669e-01 1.66388294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.352755096 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:303.27, Y:379.67, Z:1.66 [[ 6.16458142e-01 -7.87387516e-01 -5.08803206e-04 3.03269900e+02] [ 7.87387260e-01 6.16458352e-01 -6.34719529e-04 3.79673407e+02] [ 8.13426219e-04 -9.34714068e-06 9.99999669e-01 1.66410812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.382755096 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:303.29, Y:379.69, Z:1.66 [[ 6.17439116e-01 -7.86618509e-01 -5.09327225e-04 3.03288697e+02] [ 7.86618253e-01 6.17439326e-01 -6.34299576e-04 3.79694704e+02] [ 8.13430445e-04 -9.00472170e-06 9.99999669e-01 1.66404328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4127550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:303.31, Y:379.72, Z:1.67 [[ 6.17076879e-01 -7.86902705e-01 -5.08578750e-04 3.03306494e+02] [ 7.86902449e-01 6.17077088e-01 -6.34899134e-04 3.79717060e+02] [ 8.13436140e-04 -8.42028765e-06 9.99999669e-01 1.66626974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.442755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:303.32, Y:379.74, Z:1.67 [[ 6.17725571e-01 -7.86393577e-01 -5.10406724e-04 3.03324184e+02] [ 7.86393322e-01 6.17725782e-01 -6.33435876e-04 3.79737632e+02] [ 8.13421297e-04 -1.00909009e-05 9.99999669e-01 1.66597481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.472755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.34, Y:379.76, Z:1.67 [[ 6.17426672e-01 -7.86628278e-01 -5.07208148e-04 3.03341570e+02] [ 7.86628021e-01 6.17426880e-01 -6.35994204e-04 3.79760656e+02] [ 8.13454970e-04 -6.30435766e-06 9.99999669e-01 1.66687265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.502755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:303.36, Y:379.78, Z:1.67 [[ 6.17409581e-01 -7.86641692e-01 -5.07872458e-04 3.03358317e+02] [ 7.86641435e-01 6.17409790e-01 -6.35463055e-04 3.79782976e+02] [ 8.13447161e-04 -7.17254027e-06 9.99999669e-01 1.66667288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5327550960001 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:303.37, Y:379.81, Z:1.67 [[ 6.17081445e-01 -7.86899124e-01 -5.07911439e-04 3.03375000e+02] [ 7.86898868e-01 6.17081654e-01 -6.35431898e-04 3.79805881e+02] [ 8.13443635e-04 -7.56170228e-06 9.99999669e-01 1.66539287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.562755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.39, Y:379.83, Z:1.66 [[ 6.16997375e-01 -7.86965045e-01 -5.07710517e-04 3.03391998e+02] [ 7.86964788e-01 6.16997584e-01 -6.35592394e-04 3.79828449e+02] [ 8.13445159e-04 -7.39146035e-06 9.99999669e-01 1.66466477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.592755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.41, Y:379.85, Z:1.66 [[ 6.16567276e-01 -7.87302062e-01 -5.07509625e-04 3.03409053e+02] [ 7.87301806e-01 6.16567485e-01 -6.35752762e-04 3.79850143e+02] [ 8.13443393e-04 -7.57889581e-06 9.99999669e-01 1.66318535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.622755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:303.43, Y:379.87, Z:1.66 [[ 6.15984138e-01 -7.87758392e-01 -5.07310541e-04 3.03425810e+02] [ 7.87758136e-01 6.15984347e-01 -6.35911585e-04 3.79872599e+02] [ 8.13440040e-04 -7.92655618e-06 9.99999669e-01 1.66301629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.652755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:303.44, Y:379.89, Z:1.66 [[ 6.15085415e-01 -7.88460320e-01 -5.07116392e-04 3.03442809e+02] [ 7.88460063e-01 6.15085624e-01 -6.36066374e-04 3.79894533e+02] [ 8.13433099e-04 -8.60587281e-06 9.99999669e-01 1.66161397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.682755096 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:303.46, Y:379.92, Z:1.66 [[ 6.13934794e-01 -7.89356581e-01 -5.06911443e-04 3.03458495e+02] [ 7.89356324e-01 6.13935003e-01 -6.36229666e-04 3.79916102e+02] [ 8.13422752e-04 -9.53022463e-06 9.99999669e-01 1.65979877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.712755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:303.47, Y:379.94, Z:1.66 [[ 6.13191520e-01 -7.89934113e-01 -5.06727857e-04 3.03474493e+02] [ 7.89933856e-01 6.13191730e-01 -6.36375850e-04 3.79938747e+02] [ 8.13416324e-04 -1.00612146e-05 9.99999669e-01 1.66077358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.742755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:303.49, Y:379.96, Z:1.66 [[ 6.12625876e-01 -7.90372874e-01 -5.06523807e-04 3.03490676e+02] [ 7.90372617e-01 6.12626085e-01 -6.36538222e-04 3.79960163e+02] [ 8.13412241e-04 -1.03827611e-05 9.99999669e-01 1.66047576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.772755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.51, Y:379.98, Z:1.66 [[ 6.11603899e-01 -7.91163962e-01 -5.06340573e-04 3.03507052e+02] [ 7.91163706e-01 6.11604108e-01 -6.36683944e-04 3.79983032e+02] [ 8.13401367e-04 -1.11999016e-05 9.99999669e-01 1.66059713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.802755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:303.52, Y:380.01, Z:1.66 [[ 6.10899200e-01 -7.91708224e-01 -5.06137863e-04 3.03523412e+02] [ 7.91707968e-01 6.10899409e-01 -6.36845050e-04 3.80005850e+02] [ 8.13394785e-04 -1.16652477e-05 9.99999669e-01 1.66078132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.832755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:303.54, Y:380.03, Z:1.66 [[ 6.10260009e-01 -7.92201026e-01 -5.05936935e-04 3.03540321e+02] [ 7.92200770e-01 6.10260218e-01 -6.37004636e-04 3.80028849e+02] [ 8.13388910e-04 -1.20651746e-05 9.99999669e-01 1.66052421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.862755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:303.56, Y:380.05, Z:1.66 [[ 6.09549695e-01 -7.92747699e-01 -5.05734374e-04 3.03557021e+02] [ 7.92747443e-01 6.09549904e-01 -6.37165413e-04 3.80050511e+02] [ 8.13381755e-04 -1.25356486e-05 9.99999669e-01 1.65947695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.892755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:303.57, Y:380.07, Z:1.66 [[ 6.08295215e-01 -7.93710701e-01 -5.05552596e-04 3.03572376e+02] [ 7.93710445e-01 6.08295424e-01 -6.37309611e-04 3.80073253e+02] [ 8.13364789e-04 -1.35899890e-05 9.99999669e-01 1.66028677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9227550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:303.59, Y:380.10, Z:1.66 [[ 6.07547119e-01 -7.94283478e-01 -5.05373029e-04 3.03588774e+02] [ 7.94283222e-01 6.07547329e-01 -6.37451972e-04 3.80095185e+02] [ 8.13355603e-04 -1.41272089e-05 9.99999669e-01 1.66041333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.952755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:303.61, Y:380.12, Z:1.66 [[ 6.06448022e-01 -7.95122973e-01 -5.05195207e-04 3.03605276e+02] [ 7.95122717e-01 6.06448232e-01 -6.37592868e-04 3.80117014e+02] [ 8.13339477e-04 -1.50252526e-05 9.99999669e-01 1.66081546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.982755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:303.62, Y:380.14, Z:1.66 [[ 6.05847776e-01 -7.95580428e-01 -5.05052541e-04 3.03622169e+02] [ 7.95580173e-01 6.05847986e-01 -6.37705858e-04 3.80139362e+02] [ 8.13331364e-04 -1.54571123e-05 9.99999669e-01 1.66196671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.012755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:303.64, Y:380.16, Z:1.66 [[ 6.05605480e-01 -7.95764883e-01 -5.04860292e-04 3.03639645e+02] [ 7.95764627e-01 6.05605690e-01 -6.37858021e-04 3.80161577e+02] [ 8.13331279e-04 -1.54596491e-05 9.99999669e-01 1.66278520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0427550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:303.66, Y:380.18, Z:1.66 [[ 6.06539172e-01 -7.95053444e-01 -5.04667163e-04 3.03656692e+02] [ 7.95053188e-01 6.06539381e-01 -6.38010786e-04 3.80183735e+02] [ 8.13353182e-04 -1.42587034e-05 9.99999669e-01 1.66346785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.67, Y:380.21, Z:1.66 [[ 6.06672724e-01 -7.94951541e-01 -5.04471571e-04 3.03673395e+02] [ 7.94951285e-01 6.06672933e-01 -6.38165403e-04 3.80206356e+02] [ 8.13359818e-04 -1.38727807e-05 9.99999669e-01 1.66381458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.102755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:303.69, Y:380.23, Z:1.66 [[ 6.07683519e-01 -7.94179128e-01 -5.04276607e-04 3.03689964e+02] [ 7.94178871e-01 6.07683728e-01 -6.38319426e-04 3.80229157e+02] [ 8.13380653e-04 -1.25896313e-05 9.99999669e-01 1.66366993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.132755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:303.71, Y:380.25, Z:1.66 [[ 6.08036699e-01 -7.93908760e-01 -5.04081543e-04 3.03706989e+02] [ 7.93908503e-01 6.08036908e-01 -6.38473431e-04 3.80250702e+02] [ 8.13389832e-04 -1.19793461e-05 9.99999669e-01 1.66367770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1627550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.73, Y:380.27, Z:1.66 [[ 6.08734404e-01 -7.93373916e-01 -5.03875792e-04 3.03725304e+02] [ 7.93373659e-01 6.08734613e-01 -6.38635766e-04 3.80271381e+02] [ 8.13403594e-04 -1.10022182e-05 9.99999669e-01 1.66362130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.192755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:303.74, Y:380.29, Z:1.66 [[ 6.08505097e-01 -7.93549805e-01 -5.03679492e-04 3.03742853e+02] [ 7.93549548e-01 6.08505305e-01 -6.38790546e-04 3.80293940e+02] [ 8.13403757e-04 -1.09873297e-05 9.99999669e-01 1.66364447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.76, Y:380.32, Z:1.66 [[ 6.08910359e-01 -7.93238880e-01 -5.03494841e-04 3.03760184e+02] [ 7.93238623e-01 6.08910567e-01 -6.38936055e-04 3.80315560e+02] [ 8.13412250e-04 -1.03367723e-05 9.99999669e-01 1.66378146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.77, Y:380.34, Z:1.67 [[ 6.07737798e-01 -7.94137593e-01 -5.03303224e-04 3.03769430e+02] [ 7.94137336e-01 6.07738006e-01 -6.39086960e-04 3.80338115e+02] [ 8.13399478e-04 -1.12945801e-05 9.99999669e-01 1.66582352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.78, Y:380.36, Z:1.66 [[ 6.08319065e-01 -7.93692426e-01 -4.97278000e-04 3.03783922e+02] [ 7.93692165e-01 6.08319269e-01 -6.43837983e-04 3.80358222e+02] [ 8.13513120e-04 -3.02673218e-06 9.99999669e-01 1.66363277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.80, Y:380.38, Z:1.66 [[ 6.09424205e-01 -7.92844181e-01 -4.92489444e-04 3.03803322e+02] [ 7.92843917e-01 6.09424404e-01 -6.47616314e-04 3.80380945e+02] [ 8.13593912e-04 4.20579798e-06 9.99999669e-01 1.66158432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.83, Y:380.40, Z:1.66 [[ 6.11586426e-01 -7.91177476e-01 -4.94954325e-04 3.03827788e+02] [ 7.91177213e-01 6.11586626e-01 -6.45671241e-04 3.80402820e+02] [ 8.13547989e-04 3.28718366e-06 9.99999669e-01 1.66115266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.372755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.84, Y:380.42, Z:1.66 [[ 6.09692144e-01 -7.92638150e-01 -5.04092255e-04 3.03844360e+02] [ 7.92637892e-01 6.09692352e-01 -6.38456403e-04 3.80424529e+02] [ 8.13406094e-04 -1.03007697e-05 9.99999669e-01 1.66192842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:303.86, Y:380.45, Z:1.66 [[ 6.07018077e-01 -7.94687864e-01 -5.03419075e-04 3.03863144e+02] [ 7.94687607e-01 6.07018286e-01 -6.38987694e-04 3.80446232e+02] [ 8.13380349e-04 -1.21838181e-05 9.99999669e-01 1.66208827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.432755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:303.88, Y:380.47, Z:1.66 [[ 6.05153113e-01 -7.96108948e-01 -5.03868174e-04 3.03879108e+02] [ 7.96108691e-01 6.05153322e-01 -6.38633364e-04 3.80467842e+02] [ 8.13339235e-04 -1.46628642e-05 9.99999669e-01 1.66238005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.462755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:303.89, Y:380.49, Z:1.66 [[ 6.00222246e-01 -7.99833109e-01 -5.03662796e-04 3.03894383e+02] [ 7.99832854e-01 6.00222457e-01 -6.38795296e-04 3.80490407e+02] [ 8.13239348e-04 -1.94269045e-05 9.99999669e-01 1.66146898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.492755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.91, Y:380.51, Z:1.66 [[ 5.98324249e-01 -8.01253917e-01 -5.03459424e-04 3.03912361e+02] [ 8.01253663e-01 5.98324461e-01 -6.38955542e-04 3.80513766e+02] [ 8.13197719e-04 -2.10961128e-05 9.99999669e-01 1.66192048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.93, Y:380.54, Z:1.66 [[ 5.94429014e-01 -8.04147929e-01 -5.05891012e-04 3.03929502e+02] [ 8.04147677e-01 5.94429229e-01 -6.37039848e-04 3.80535741e+02] [ 8.12990678e-04 -2.81361125e-05 9.99999669e-01 1.66155445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:303.94, Y:380.56, Z:1.66 [[ 5.89853847e-01 -8.07509866e-01 -5.05814375e-04 3.03939222e+02] [ 8.07509615e-01 5.89854063e-01 -6.37100179e-04 3.80556071e+02] [ 8.12821344e-04 -3.26539801e-05 9.99999669e-01 1.66287455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.582755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:303.97, Y:380.58, Z:1.66 [[ 5.92898778e-01 -8.05276843e-01 -4.95079932e-04 3.03968519e+02] [ 8.05276585e-01 5.92898984e-01 -6.45536509e-04 3.80580999e+02] [ 8.13367991e-04 -1.59384690e-05 9.99999669e-01 1.66020473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.612755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:303.98, Y:380.60, Z:1.66 [[ 5.90701800e-01 -8.06889783e-01 -5.11921655e-04 3.03981913e+02] [ 8.06889536e-01 5.90702021e-01 -6.32295458e-04 3.80603139e+02] [ 8.12585901e-04 -3.95661612e-05 9.99999669e-01 1.65847542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.00, Y:380.63, Z:1.66 [[ 5.90204692e-01 -8.07253471e-01 -5.05832406e-04 3.03997735e+02] [ 8.07253220e-01 5.90204907e-01 -6.37076718e-04 3.80625671e+02] [ 8.12827160e-04 -3.23291713e-05 9.99999669e-01 1.65996277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6727550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:304.01, Y:380.65, Z:1.66 [[ 5.90902842e-01 -8.06742571e-01 -5.05728687e-04 3.04011083e+02] [ 8.06742320e-01 5.90903058e-01 -6.37158090e-04 3.80648908e+02] [ 8.12859183e-04 -3.14942075e-05 9.99999669e-01 1.65768910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.702755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.03, Y:380.67, Z:1.66 [[ 5.94158951e-01 -8.04347493e-01 -5.01810653e-04 3.04032829e+02] [ 8.04347238e-01 5.94159163e-01 -6.40229040e-04 3.80672224e+02] [ 8.13122020e-04 -2.32321983e-05 9.99999669e-01 1.65787294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.05, Y:380.70, Z:1.66 [[ 5.94298452e-01 -8.04244421e-01 -5.11240591e-04 3.04047618e+02] [ 8.04244173e-01 5.94298671e-01 -6.32831359e-04 3.80695358e+02] [ 8.12780693e-04 -3.50715690e-05 9.99999669e-01 1.65717706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.07, Y:380.72, Z:1.66 [[ 5.94943086e-01 -8.03767668e-01 -5.10455303e-04 3.04066579e+02] [ 8.03767419e-01 5.94943304e-01 -6.33446917e-04 3.80717256e+02] [ 8.12836116e-04 -3.34224782e-05 9.99999669e-01 1.66002781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.08, Y:380.74, Z:1.66 [[ 5.94552064e-01 -8.04056952e-01 -5.11765925e-04 3.04084084e+02] [ 8.04056704e-01 5.94552283e-01 -6.32420536e-04 3.80739907e+02] [ 8.12773728e-04 -3.54818876e-05 9.99999669e-01 1.66057370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.10, Y:380.76, Z:1.66 [[ 5.95197603e-01 -8.03579213e-01 -5.11526170e-04 3.04103594e+02] [ 8.03578965e-01 5.95197822e-01 -6.32608139e-04 3.80761770e+02] [ 8.12810012e-04 -3.45248220e-05 9.99999669e-01 1.65958218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.12, Y:380.78, Z:1.66 [[ 5.94838503e-01 -8.03845066e-01 -5.15284874e-04 3.04119883e+02] [ 8.03844820e-01 5.94838725e-01 -6.29666752e-04 3.80783660e+02] [ 8.12665909e-04 -3.96590490e-05 9.99999669e-01 1.65873683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.14, Y:380.81, Z:1.66 [[ 5.93633736e-01 -8.04735188e-01 -5.14608423e-04 3.04136364e+02] [ 8.04734942e-01 5.93633958e-01 -6.30195875e-04 3.80806953e+02] [ 8.12629831e-04 -4.00178479e-05 9.99999669e-01 1.65752873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.15, Y:380.83, Z:1.66 [[ 5.93095603e-01 -8.05131879e-01 -5.13836543e-04 3.04154993e+02] [ 8.05131632e-01 5.93095824e-01 -6.30798975e-04 3.80830729e+02] [ 8.12630672e-04 -3.95819562e-05 9.99999669e-01 1.65786012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.16, Y:380.85, Z:1.66 [[ 5.89339969e-01 -8.07884976e-01 -5.16188479e-04 3.04160535e+02] [ 8.07884732e-01 5.89340193e-01 -6.28962733e-04 3.80849350e+02] [ 8.12340160e-04 -4.63479136e-05 9.99999669e-01 1.65908243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.19, Y:380.87, Z:1.66 [[ 5.90634360e-01 -8.06939157e-01 -4.99793245e-04 3.04191685e+02] [ 8.06938902e-01 5.90634571e-01 -6.41731663e-04 3.80873823e+02] [ 8.13033577e-04 -2.42738426e-05 9.99999669e-01 1.65912107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.21, Y:380.90, Z:1.66 [[ 5.89052908e-01 -8.08094303e-01 -5.19453057e-04 3.04208757e+02] [ 8.08094061e-01 5.89053135e-01 -6.26386053e-04 3.80895678e+02] [ 8.12164452e-04 -5.07924041e-05 9.99999669e-01 1.65895458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.22, Y:380.92, Z:1.66 [[ 5.86673983e-01 -8.09823048e-01 -5.18093192e-04 3.04223779e+02] [ 8.09822807e-01 5.86674210e-01 -6.27446794e-04 3.80915516e+02] [ 8.12072789e-04 -5.14569730e-05 9.99999669e-01 1.65725229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:304.24, Y:380.94, Z:1.66 [[ 5.86567226e-01 -8.09900379e-01 -5.15251226e-04 3.04241648e+02] [ 8.09900136e-01 5.86567450e-01 -6.29660765e-04 3.80937312e+02] [ 8.12192090e-04 -4.79636701e-05 9.99999669e-01 1.65524545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.26, Y:380.96, Z:1.66 [[ 5.86811194e-01 -8.09723629e-01 -5.16095453e-04 3.04259416e+02] [ 8.09723386e-01 5.86811419e-01 -6.29003666e-04 3.80960991e+02] [ 8.12169836e-04 -4.87881656e-05 9.99999669e-01 1.65615897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.122755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:304.28, Y:380.99, Z:1.65 [[ 5.85804496e-01 -8.10452237e-01 -5.13458960e-04 3.04277334e+02] [ 8.10451993e-01 5.85804720e-01 -6.31039101e-04 3.80987270e+02] [ 8.12213734e-04 -4.64682947e-05 9.99999669e-01 1.65483490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.29, Y:381.01, Z:1.65 [[ 5.84341493e-01 -8.11507705e-01 -5.14566733e-04 3.04293670e+02] [ 8.11507462e-01 5.84341717e-01 -6.30187966e-04 3.81011722e+02] [ 8.12085199e-04 -4.93297665e-05 9.99999669e-01 1.65485948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.31, Y:381.04, Z:1.65 [[ 5.83516610e-01 -8.12101042e-01 -5.13606021e-04 3.04310681e+02] [ 8.12100798e-01 5.83516834e-01 -6.30922947e-04 3.81036145e+02] [ 8.12070941e-04 -4.89458401e-05 9.99999669e-01 1.65299666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.33, Y:381.06, Z:1.65 [[ 5.81837463e-01 -8.13304926e-01 -5.14230902e-04 3.04325614e+02] [ 8.13304683e-01 5.81837688e-01 -6.30445623e-04 3.81059136e+02] [ 8.11943449e-04 -5.14095195e-05 9.99999669e-01 1.65198046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.34, Y:381.08, Z:1.65 [[ 5.80219702e-01 -8.14459845e-01 -5.09228639e-04 3.04341665e+02] [ 8.14459599e-01 5.80219923e-01 -6.34254770e-04 3.81081883e+02] [ 8.12039643e-04 -4.67390398e-05 9.99999669e-01 1.65410983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.272755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:304.36, Y:381.10, Z:1.65 [[ 5.79331809e-01 -8.15091649e-01 -5.08300091e-04 3.04356887e+02] [ 8.15091403e-01 5.79332030e-01 -6.34961122e-04 3.81102315e+02] [ 8.12026032e-04 -4.64578586e-05 9.99999669e-01 1.65358331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.37, Y:381.13, Z:1.66 [[ 5.79400067e-01 -8.15043133e-01 -5.04291581e-04 3.04374970e+02] [ 8.15042884e-01 5.79400285e-01 -6.38005897e-04 3.81127124e+02] [ 8.12189011e-04 -4.13586052e-05 9.99999669e-01 1.65530839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.39, Y:381.15, Z:1.66 [[ 5.78432636e-01 -8.15729997e-01 -5.07370371e-04 3.04388475e+02] [ 8.15729751e-01 5.78432857e-01 -6.35668418e-04 3.81148494e+02] [ 8.12013490e-04 -4.61857479e-05 9.99999669e-01 1.65557815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:304.41, Y:381.17, Z:1.65 [[ 5.77351001e-01 -8.16495909e-01 -5.02283646e-04 3.04406056e+02] [ 8.16495660e-01 5.77351218e-01 -6.39519766e-04 3.81172467e+02] [ 8.12159348e-04 -4.08850400e-05 9.99999669e-01 1.65498078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.42, Y:381.19, Z:1.65 [[ 5.78668240e-01 -8.15562882e-01 -5.03536008e-04 3.04419277e+02] [ 8.15562633e-01 5.78668458e-01 -6.38572442e-04 3.81190931e+02] [ 8.12176386e-04 -4.11435607e-05 9.99999669e-01 1.65483993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.44, Y:381.22, Z:1.66 [[ 5.76666907e-01 -8.16979213e-01 -4.94044136e-04 3.04436763e+02] [ 8.16978958e-01 5.76667118e-01 -6.45738670e-04 3.81218452e+02] [ 8.12454078e-04 -3.12475416e-05 9.99999670e-01 1.65593142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.45, Y:381.24, Z:1.66 [[ 5.76920396e-01 -8.16800224e-01 -5.01441355e-04 3.04452489e+02] [ 8.16799974e-01 5.76920613e-01 -6.40156504e-04 3.81241168e+02] [ 8.12171829e-04 -4.02579413e-05 9.99999669e-01 1.65657913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.482755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:304.47, Y:381.26, Z:1.66 [[ 5.78151600e-01 -8.15929212e-01 -4.99138863e-04 3.04466705e+02] [ 8.15928960e-01 5.78151815e-01 -6.41892504e-04 3.81262540e+02] [ 8.12316884e-04 -3.61506755e-05 9.99999669e-01 1.65593129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.48, Y:381.29, Z:1.66 [[ 5.79099589e-01 -8.15256659e-01 -4.96614024e-04 3.04481755e+02] [ 8.15256405e-01 5.79099801e-01 -6.43794689e-04 3.81288214e+02] [ 8.12446990e-04 -3.20465238e-05 9.99999670e-01 1.65580238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:381.31, Z:1.66 [[ 5.82184802e-01 -8.13056339e-01 -4.96450067e-04 3.04505091e+02] [ 8.13056084e-01 5.82185013e-01 -6.43918041e-04 3.81313421e+02] [ 8.12567434e-04 -2.87624506e-05 9.99999670e-01 1.65727830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.51, Y:381.33, Z:1.66 [[ 5.78571936e-01 -8.15631202e-01 -5.06840917e-04 3.04509896e+02] [ 8.15630956e-01 5.78572156e-01 -6.36097303e-04 3.81331881e+02] [ 8.12064850e-04 -4.53670931e-05 9.99999669e-01 1.65730670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.53, Y:381.35, Z:1.66 [[ 5.80652489e-01 -8.14151368e-01 -4.88086374e-04 3.04526722e+02] [ 8.14151108e-01 5.80652693e-01 -6.50176310e-04 3.81354825e+02] [ 8.12750600e-04 -1.98495698e-05 9.99999670e-01 1.65650719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.54, Y:381.38, Z:1.66 [[ 5.81573586e-01 -8.13493654e-01 -4.87885639e-04 3.04542334e+02] [ 8.13493395e-01 5.81573791e-01 -6.50326905e-04 3.81376506e+02] [ 8.12778311e-04 -1.86787946e-05 9.99999670e-01 1.65608030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.56, Y:381.40, Z:1.65 [[ 5.84880164e-01 -8.11119569e-01 -4.87674116e-04 3.04562948e+02] [ 8.11119309e-01 5.84880368e-01 -6.50485485e-04 3.81401433e+02] [ 8.12852523e-04 -1.51058344e-05 9.99999670e-01 1.65421201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.58, Y:381.42, Z:1.65 [[ 5.84781077e-01 -8.11191005e-01 -4.95176159e-04 3.04578914e+02] [ 8.11190749e-01 5.84781286e-01 -6.44859154e-04 3.81424442e+02] [ 8.12673696e-04 -2.45808894e-05 9.99999670e-01 1.65451635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.60, Y:381.45, Z:1.65 [[ 5.84469908e-01 -8.11415235e-01 -4.93006081e-04 3.04595525e+02] [ 8.11414978e-01 5.84470116e-01 -6.46483991e-04 3.81447265e+02] [ 8.12714281e-04 -2.21820788e-05 9.99999670e-01 1.65388422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.61, Y:381.47, Z:1.66 [[ 5.84738727e-01 -8.11221535e-01 -4.92085832e-04 3.04613250e+02] [ 8.11221277e-01 5.84738934e-01 -6.47172638e-04 3.81469141e+02] [ 8.12742125e-04 -2.07635924e-05 9.99999670e-01 1.65523698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.63, Y:381.49, Z:1.66 [[ 5.83438721e-01 -8.12157015e-01 -4.92689127e-04 3.04627439e+02] [ 8.12156758e-01 5.83438928e-01 -6.46721094e-04 3.81489067e+02] [ 8.12693090e-04 -2.28186761e-05 9.99999670e-01 1.65758404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.65, Y:381.51, Z:1.66 [[ 5.85246739e-01 -8.10855115e-01 -4.86837971e-04 3.04649596e+02] [ 8.10854853e-01 5.85246942e-01 -6.51096124e-04 3.81512642e+02] [ 8.12865056e-04 -1.37030481e-05 9.99999670e-01 1.65657420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.66, Y:381.53, Z:1.66 [[ 5.84113563e-01 -8.11671794e-01 -4.94947244e-04 3.04664251e+02] [ 8.11671538e-01 5.84113772e-01 -6.45031177e-04 3.81534058e+02] [ 8.12659114e-04 -2.49631318e-05 9.99999670e-01 1.65595302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.68, Y:381.56, Z:1.66 [[ 5.83638705e-01 -8.12013313e-01 -4.91913638e-04 3.04681857e+02] [ 8.12013055e-01 5.83638912e-01 -6.47299189e-04 3.81557355e+02] [ 8.12715500e-04 -2.16514356e-05 9.99999670e-01 1.65562881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.70, Y:381.58, Z:1.66 [[ 5.83345219e-01 -8.12224177e-01 -4.92211168e-04 3.04699739e+02] [ 8.12223919e-01 5.83345426e-01 -6.47076942e-04 3.81580141e+02] [ 8.12700670e-04 -2.23164431e-05 9.99999670e-01 1.65508765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.71, Y:381.60, Z:1.66 [[ 5.79681123e-01 -8.14843268e-01 -4.93900065e-04 3.04710710e+02] [ 8.14843013e-01 5.79681333e-01 -6.45815959e-04 3.81600281e+02] [ 8.12543434e-04 -2.80836959e-05 9.99999670e-01 1.65531397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.73, Y:381.62, Z:1.66 [[ 5.78498679e-01 -8.15683175e-01 -4.85965174e-04 3.04727381e+02] [ 8.15682915e-01 5.78498883e-01 -6.51732620e-04 3.81622400e+02] [ 8.12737643e-04 -1.93670298e-05 9.99999670e-01 1.65525472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.75, Y:381.65, Z:1.65 [[ 5.77919962e-01 -8.16093305e-01 -4.85766410e-04 3.04749580e+02] [ 8.16093045e-01 5.77920166e-01 -6.51880734e-04 3.81645657e+02] [ 8.12729706e-04 -1.96956999e-05 9.99999670e-01 1.65461142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.77, Y:381.67, Z:1.66 [[ 5.76920738e-01 -8.16799988e-01 -4.91996447e-04 3.04768239e+02] [ 8.16799732e-01 5.76920947e-01 -6.47246537e-04 3.81669930e+02] [ 8.12514020e-04 -2.84526159e-05 9.99999670e-01 1.65606523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.78, Y:381.69, Z:1.65 [[ 5.75436468e-01 -8.17846334e-01 -4.94217659e-04 3.04784724e+02] [ 8.17846080e-01 5.75436680e-01 -6.45595752e-04 3.81692062e+02] [ 8.12389088e-04 -3.26946354e-05 9.99999670e-01 1.65480884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.082755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:304.80, Y:381.71, Z:1.65 [[ 5.75016213e-01 -8.18141866e-01 -4.92273049e-04 3.04800959e+02] [ 8.18141610e-01 5.75016423e-01 -6.47039430e-04 3.81714450e+02] [ 8.12435134e-04 -3.06909021e-05 9.99999670e-01 1.65483052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.81, Y:381.74, Z:1.66 [[ 5.71381712e-01 -8.20684286e-01 -4.92109561e-04 3.04812589e+02] [ 8.20684031e-01 5.71381923e-01 -6.47160953e-04 3.81736638e+02] [ 8.12297332e-04 -3.40905246e-05 9.99999670e-01 1.65631588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.142755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:304.83, Y:381.76, Z:1.66 [[ 5.70515042e-01 -8.21287008e-01 -4.87326821e-04 3.04832132e+02] [ 8.21286750e-01 5.70515250e-01 -6.50713988e-04 3.81762170e+02] [ 8.12450327e-04 -2.89929430e-05 9.99999670e-01 1.65610989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.85, Y:381.78, Z:1.66 [[ 5.72617282e-01 -8.19822666e-01 -4.94384424e-04 3.04845309e+02] [ 8.19822413e-01 5.72617495e-01 -6.45486406e-04 3.81779361e+02] [ 8.12277556e-04 -3.56907597e-05 9.99999670e-01 1.65755359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.86, Y:381.81, Z:1.65 [[ 5.72295670e-01 -8.20047213e-01 -4.84190449e-04 3.04862959e+02] [ 8.20046953e-01 5.72295875e-01 -6.53021114e-04 3.81805184e+02] [ 8.12608341e-04 -2.33377469e-05 9.99999670e-01 1.65470695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.87, Y:381.83, Z:1.65 [[ 5.71039379e-01 -8.20922523e-01 -4.90054320e-04 3.04874332e+02] [ 8.20922267e-01 5.71039588e-01 -6.48687049e-04 3.81827073e+02] [ 8.12362225e-04 -3.18706540e-05 9.99999670e-01 1.65480129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.89, Y:381.85, Z:1.66 [[ 5.72330810e-01 -8.20022689e-01 -4.82810694e-04 3.04890699e+02] [ 8.20022429e-01 5.72331013e-01 -6.54034322e-04 3.81848327e+02] [ 8.12650517e-04 -2.15916044e-05 9.99999670e-01 1.65764067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.91, Y:381.87, Z:1.65 [[ 5.73560702e-01 -8.19162919e-01 -4.82608477e-04 3.04907153e+02] [ 8.19162658e-01 5.73560905e-01 -6.54183503e-04 3.81874315e+02] [ 8.12688222e-04 -2.01208938e-05 9.99999670e-01 1.65293269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.92, Y:381.90, Z:1.65 [[ 5.75211272e-01 -8.18004742e-01 -4.85496009e-04 3.04924504e+02] [ 8.18004482e-01 5.75211476e-01 -6.52057022e-04 3.81898482e+02] [ 8.12648612e-04 -2.20673625e-05 9.99999670e-01 1.65325083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.94, Y:381.92, Z:1.65 [[ 5.75576212e-01 -8.17747998e-01 -4.86474425e-04 3.04938989e+02] [ 8.17747739e-01 5.75576417e-01 -6.51336927e-04 3.81920638e+02] [ 8.12632674e-04 -2.29193205e-05 9.99999670e-01 1.65296823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.96, Y:381.94, Z:1.65 [[ 5.78838927e-01 -8.15441759e-01 -4.84423608e-04 3.04956929e+02] [ 8.15441498e-01 5.78839130e-01 -6.52845164e-04 3.81943252e+02] [ 8.12760548e-04 -1.71269183e-05 9.99999670e-01 1.65380243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.97, Y:381.97, Z:1.65 [[ 5.79742854e-01 -8.14799352e-01 -4.87954722e-04 3.04974629e+02] [ 8.14799093e-01 5.79743059e-01 -6.50244605e-04 3.81966980e+02] [ 8.12707247e-04 -2.06104015e-05 9.99999670e-01 1.65455071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.99, Y:381.99, Z:1.66 [[ 5.80327319e-01 -8.14383178e-01 -4.91020683e-04 3.04989733e+02] [ 8.14382921e-01 5.80327527e-01 -6.47987410e-04 3.81991910e+02] [ 8.12662865e-04 -2.38340615e-05 9.99999670e-01 1.65657331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.00, Y:382.01, Z:1.65 [[ 5.82792324e-01 -8.12620984e-01 -4.93514423e-04 3.05004633e+02] [ 8.12620728e-01 5.82792532e-01 -6.46151550e-04 3.82012180e+02] [ 8.12692829e-04 -2.44678862e-05 9.99999670e-01 1.65431416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.01, Y:382.03, Z:1.66 [[ 5.82845489e-01 -8.12582856e-01 -4.88818640e-04 3.05014725e+02] [ 8.12582596e-01 5.82845694e-01 -6.49605565e-04 3.82033650e+02] [ 8.12764184e-04 -1.85858458e-05 9.99999670e-01 1.65524752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.04, Y:382.06, Z:1.65 [[ 5.84473718e-01 -8.11412498e-01 -4.81257948e-04 3.05035577e+02] [ 8.11412233e-01 5.84473916e-01 -6.55159393e-04 3.82057708e+02] [ 8.12887237e-04 -7.57513982e-06 9.99999670e-01 1.65480132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.05, Y:382.08, Z:1.66 [[ 5.82152595e-01 -8.13079404e-01 -4.88711644e-04 3.05046822e+02] [ 8.13079145e-01 5.82152800e-01 -6.49684067e-04 3.82079170e+02] [ 8.12749586e-04 -1.91459800e-05 9.99999670e-01 1.65519472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.592755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:305.06, Y:382.10, Z:1.66 [[ 5.81095489e-01 -8.13835242e-01 -4.80808168e-04 3.05062547e+02] [ 8.13834978e-01 5.81095688e-01 -6.55481418e-04 3.82101805e+02] [ 8.12849432e-04 -1.04012099e-05 9.99999670e-01 1.65550003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.08, Y:382.13, Z:1.66 [[ 5.81031607e-01 -8.13880852e-01 -4.80609541e-04 3.05084367e+02] [ 8.13880588e-01 5.81031806e-01 -6.55627022e-04 3.82127433e+02] [ 8.12851708e-04 -1.02187538e-05 9.99999670e-01 1.65597926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.09, Y:382.15, Z:1.66 [[ 5.78186180e-01 -8.15904714e-01 -4.89882926e-04 3.05094044e+02] [ 8.15904456e-01 5.78186387e-01 -6.48827557e-04 3.82147637e+02] [ 8.12625100e-04 -2.45545358e-05 9.99999670e-01 1.65581969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.11, Y:382.17, Z:1.66 [[ 5.78793877e-01 -8.15473738e-01 -4.80207009e-04 3.05114933e+02] [ 8.15473475e-01 5.78794076e-01 -6.55911505e-04 3.82172184e+02] [ 8.12819579e-04 -1.19585150e-05 9.99999670e-01 1.65553856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.13, Y:382.19, Z:1.66 [[ 5.78111877e-01 -8.15957364e-01 -4.87253152e-04 3.05131244e+02] [ 8.15957105e-01 5.78112082e-01 -6.50751849e-04 3.82194976e+02] [ 8.12672698e-04 -2.13702978e-05 9.99999670e-01 1.65563499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.14, Y:382.22, Z:1.66 [[ 5.74689539e-01 -8.18371368e-01 -4.87685621e-04 3.05140886e+02] [ 8.18371110e-01 5.74689746e-01 -6.50435182e-04 3.82216163e+02] [ 8.12565455e-04 -2.53095283e-05 9.99999670e-01 1.65602266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.16, Y:382.24, Z:1.65 [[ 5.73498593e-01 -8.19206405e-01 -4.79803237e-04 3.05155404e+02] [ 8.19206142e-01 5.73498793e-01 -6.56198671e-04 3.82238008e+02] [ 8.12728731e-04 -1.67287447e-05 9.99999670e-01 1.65445631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.17, Y:382.26, Z:1.65 [[ 5.73055094e-01 -8.19516704e-01 -4.79647719e-04 3.05171369e+02] [ 8.19516442e-01 5.73055295e-01 -6.56312327e-04 3.82261455e+02] [ 8.12723580e-04 -1.69760691e-05 9.99999670e-01 1.65383950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.19, Y:382.28, Z:1.65 [[ 5.72511184e-01 -8.19896771e-01 -4.79448666e-04 3.05186998e+02] [ 8.19896508e-01 5.72511384e-01 -6.56457707e-04 3.82284624e+02] [ 8.12717373e-04 -1.72689079e-05 9.99999670e-01 1.65327052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.20, Y:382.31, Z:1.65 [[ 5.72274021e-01 -8.20062324e-01 -4.79250611e-04 3.05201517e+02] [ 8.20062061e-01 5.72274221e-01 -6.56602266e-04 3.82308567e+02] [ 8.12717550e-04 -1.72588248e-05 9.99999670e-01 1.65209612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.21, Y:382.33, Z:1.65 [[ 5.74779817e-01 -8.18307969e-01 -4.79038604e-04 3.05214703e+02] [ 8.18307706e-01 5.74780017e-01 -6.56756904e-04 3.82326213e+02] [ 8.12771225e-04 -1.45103677e-05 9.99999670e-01 1.65167932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.23, Y:382.35, Z:1.65 [[ 5.72152430e-01 -8.20147170e-01 -4.66365384e-04 3.05232259e+02] [ 8.20146899e-01 5.72152620e-01 -6.65979572e-04 3.82354933e+02] [ 8.13033437e-04 -1.44629265e-06 9.99999670e-01 1.65111407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.952755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.25, Y:382.38, Z:1.65 [[ 5.71705178e-01 -8.20458994e-01 -4.78583867e-04 3.05247978e+02] [ 8.20458731e-01 5.71705378e-01 -6.57080250e-04 3.82378219e+02] [ 8.12716371e-04 -1.70021309e-05 9.99999670e-01 1.65105032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.26, Y:382.40, Z:1.65 [[ 5.71295517e-01 -8.20744299e-01 -4.78378666e-04 3.05263499e+02] [ 8.20744036e-01 5.71295717e-01 -6.57229610e-04 3.82402106e+02] [ 8.12713138e-04 -1.71541069e-05 9.99999670e-01 1.65050111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.28, Y:382.42, Z:1.65 [[ 5.70805965e-01 -8.21084845e-01 -4.78174359e-04 3.05279064e+02] [ 8.21084582e-01 5.70806165e-01 -6.57378222e-04 3.82424782e+02] [ 8.12708167e-04 -1.73861831e-05 9.99999670e-01 1.65056628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.29, Y:382.45, Z:1.65 [[ 5.69142367e-01 -8.22238857e-01 -4.77959090e-04 3.05294565e+02] [ 8.22238594e-01 5.69142567e-01 -6.57534700e-04 3.82448705e+02] [ 8.12677444e-04 -1.87655553e-05 9.99999670e-01 1.65025670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.072755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:305.31, Y:382.47, Z:1.65 [[ 5.68296757e-01 -8.22823534e-01 -4.77748143e-04 3.05309708e+02] [ 8.22823271e-01 5.68296957e-01 -6.57687933e-04 3.82470768e+02] [ 8.12663926e-04 -1.93403703e-05 9.99999670e-01 1.65104821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.33, Y:382.49, Z:1.65 [[ 5.66841764e-01 -8.23826552e-01 -4.77558648e-04 3.05325262e+02] [ 8.23826289e-01 5.66841964e-01 -6.57825500e-04 3.82493734e+02] [ 8.12634395e-04 -2.05424022e-05 9.99999670e-01 1.65099193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.34, Y:382.52, Z:1.65 [[ 5.66274029e-01 -8.24216899e-01 -4.77350593e-04 3.05341220e+02] [ 8.24216636e-01 5.66274230e-01 -6.57976441e-04 3.82516885e+02] [ 8.12626641e-04 -2.08453293e-05 9.99999670e-01 1.65092984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.36, Y:382.54, Z:1.65 [[ 5.66643846e-01 -8.23962696e-01 -4.77142944e-04 3.05357547e+02] [ 8.23962433e-01 5.66644047e-01 -6.58126986e-04 3.82539810e+02] [ 8.12642294e-04 -2.02242547e-05 9.99999670e-01 1.65114967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.37, Y:382.56, Z:1.65 [[ 5.66856949e-01 -8.23816103e-01 -4.76943857e-04 3.05372081e+02] [ 8.23815841e-01 5.66857149e-01 -6.58271233e-04 3.82562664e+02] [ 8.12653477e-04 -1.97682815e-05 9.99999670e-01 1.65077489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.39, Y:382.59, Z:1.65 [[ 5.69114642e-01 -8.22258048e-01 -4.76751636e-04 3.05387514e+02] [ 8.22257785e-01 5.69114841e-01 -6.58410419e-04 3.82586673e+02] [ 8.12709697e-04 -1.73017344e-05 9.99999670e-01 1.65029479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.40, Y:382.61, Z:1.65 [[ 5.69817987e-01 -8.21770792e-01 -4.76548904e-04 3.05401664e+02] [ 8.21770528e-01 5.69818186e-01 -6.58557121e-04 3.82609745e+02] [ 8.12729239e-04 -1.63561510e-05 9.99999670e-01 1.65024097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.42, Y:382.63, Z:1.65 [[ 5.71379814e-01 -8.20685619e-01 -4.72445388e-04 3.05419211e+02] [ 8.20685353e-01 5.71380009e-01 -6.61522785e-04 3.82633195e+02] [ 8.12848086e-04 -9.74824418e-06 9.99999670e-01 1.65024588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.43, Y:382.66, Z:1.65 [[ 5.73690408e-01 -8.19072090e-01 -4.75674190e-04 3.05434364e+02] [ 8.19071825e-01 5.73690605e-01 -6.59189662e-04 3.82656198e+02] [ 8.12813668e-04 -1.14405407e-05 9.99999670e-01 1.64859559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.45, Y:382.68, Z:1.65 [[ 5.74355129e-01 -8.18606107e-01 -4.75964814e-04 3.05450629e+02] [ 8.18605842e-01 5.74355327e-01 -6.58979751e-04 3.82679316e+02] [ 8.12817775e-04 -1.11391769e-05 9.99999670e-01 1.64860943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.47, Y:382.70, Z:1.65 [[ 5.75006147e-01 -8.18148950e-01 -4.75762852e-04 3.05466484e+02] [ 8.18148685e-01 5.75006343e-01 -6.59125530e-04 3.82700957e+02] [ 8.12829518e-04 -1.02435203e-05 9.99999670e-01 1.64858640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.48, Y:382.72, Z:1.65 [[ 5.74953279e-01 -8.18186104e-01 -4.75550024e-04 3.05483568e+02] [ 8.18185839e-01 5.74953476e-01 -6.59279046e-04 3.82723429e+02] [ 8.12832093e-04 -1.00336460e-05 9.99999670e-01 1.64853467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.50, Y:382.74, Z:1.65 [[ 5.76387850e-01 -8.17176126e-01 -4.75351742e-04 3.05499788e+02] [ 8.17175860e-01 5.76388046e-01 -6.59421980e-04 3.82741779e+02] [ 8.12850960e-04 -8.36315130e-06 9.99999670e-01 1.64777143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.52, Y:382.77, Z:1.65 [[ 5.73519727e-01 -8.19191616e-01 -4.67995552e-04 3.05517626e+02] [ 8.19191346e-01 5.73519918e-01 -6.64717656e-04 3.82766630e+02] [ 8.12935902e-04 -2.14921661e-06 9.99999670e-01 1.64869624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.53, Y:382.78, Z:1.65 [[ 5.77149913e-01 -8.16638079e-01 -4.75076168e-04 3.05532733e+02] [ 8.16637813e-01 5.77150108e-01 -6.59617990e-04 3.82781379e+02] [ 8.12859430e-04 -7.26669744e-06 9.99999670e-01 1.64764558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.55, Y:382.81, Z:1.65 [[ 5.73314625e-01 -8.19335174e-01 -4.61144493e-04 3.05551583e+02] [ 8.19334901e-01 5.73314811e-01 -6.69630525e-04 3.82806619e+02] [ 8.13032810e-04 6.07719609e-06 9.99999670e-01 1.65053853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.57, Y:382.83, Z:1.65 [[ 5.74837951e-01 -8.18267137e-01 -4.71220492e-04 3.05567273e+02] [ 8.18266869e-01 5.74838144e-01 -6.62385641e-04 3.82825727e+02] [ 8.12883916e-04 -4.81971164e-06 9.99999670e-01 1.64992600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.58, Y:382.84, Z:1.65 [[ 5.77137524e-01 -8.16646840e-01 -4.65171759e-04 3.05583979e+02] [ 8.16646568e-01 5.77137712e-01 -6.66731008e-04 3.82844476e+02] [ 8.12951935e-04 4.91456307e-06 9.99999670e-01 1.64833131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.60, Y:382.87, Z:1.65 [[ 5.73463084e-01 -8.19231273e-01 -4.60758969e-04 3.05602547e+02] [ 8.19230999e-01 5.73463269e-01 -6.69902800e-04 3.82870901e+02] [ 8.13033668e-04 6.69649509e-06 9.99999670e-01 1.64586166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.62, Y:382.89, Z:1.65 [[ 5.72783052e-01 -8.19706870e-01 -4.71728366e-04 3.05619636e+02] [ 8.19706603e-01 5.72783246e-01 -6.62013198e-04 3.82893544e+02] [ 8.12854871e-04 -7.48891657e-06 9.99999670e-01 1.64707692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.64, Y:382.91, Z:1.65 [[ 5.73288146e-01 -8.19353694e-01 -4.74574537e-04 3.05637342e+02] [ 8.19353428e-01 5.73288343e-01 -6.59966548e-04 3.82913859e+02] [ 8.12814079e-04 -1.04932751e-05 9.99999670e-01 1.64663974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.65, Y:382.93, Z:1.65 [[ 5.76267685e-01 -8.17260870e-01 -4.74377239e-04 3.05652745e+02] [ 8.17260604e-01 5.76267881e-01 -6.60108333e-04 3.82930725e+02] [ 8.12849077e-04 -7.29072769e-06 9.99999670e-01 1.64719729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.67, Y:382.96, Z:1.64 [[ 5.74807130e-01 -8.18288791e-01 -4.66776201e-04 3.05671977e+02] [ 8.18288521e-01 5.74807319e-01 -6.65574855e-04 3.82955686e+02] [ 8.12938820e-04 6.19565024e-07 9.99999670e-01 1.64498079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.69, Y:382.98, Z:1.64 [[ 5.74930573e-01 -8.18202060e-01 -4.74735110e-04 3.05689650e+02] [ 8.18201794e-01 5.74930769e-01 -6.59848734e-04 3.82978089e+02] [ 8.12829415e-04 -9.06190810e-06 9.99999670e-01 1.64424153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.71, Y:383.00, Z:1.64 [[ 5.75725558e-01 -8.17642866e-01 -4.74531746e-04 3.05708470e+02] [ 8.17642600e-01 5.75725754e-01 -6.59994951e-04 3.82997981e+02] [ 8.12840311e-04 -8.02140845e-06 9.99999670e-01 1.64457580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.73, Y:383.02, Z:1.64 [[ 5.75870739e-01 -8.17540621e-01 -4.74383648e-04 3.05726072e+02] [ 8.17540355e-01 5.75870934e-01 -6.60101383e-04 3.83020407e+02] [ 8.12843449e-04 -7.69470422e-06 9.99999670e-01 1.64411805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.74, Y:383.04, Z:1.64 [[ 5.76028946e-01 -8.17429158e-01 -4.74181637e-04 3.05744507e+02] [ 8.17428891e-01 5.76029141e-01 -6.60246464e-04 3.83040998e+02] [ 8.12847153e-04 -7.28869482e-06 9.99999670e-01 1.64435391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.77, Y:383.06, Z:1.64 [[ 5.78303864e-01 -8.15821314e-01 -4.73968874e-04 3.05767011e+02] [ 8.15821047e-01 5.78304058e-01 -6.60399164e-04 3.83063711e+02] [ 8.12865837e-04 -4.76239496e-06 9.99999670e-01 1.64497393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.78, Y:383.08, Z:1.64 [[ 5.75510352e-01 -8.17794353e-01 -4.81313146e-04 3.05781196e+02] [ 8.17794091e-01 5.75510553e-01 -6.55118896e-04 3.83084818e+02] [ 8.12753328e-04 -1.65873398e-05 9.99999670e-01 1.64425153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.80, Y:383.10, Z:1.64 [[ 5.76703462e-01 -8.16953419e-01 -4.77978735e-04 3.05799970e+02] [ 8.16953154e-01 5.76703660e-01 -6.57516625e-04 3.83103873e+02] [ 8.12812541e-04 -1.12941215e-05 9.99999670e-01 1.64465194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.82, Y:383.13, Z:1.64 [[ 5.76466748e-01 -8.17120471e-01 -4.74230766e-04 3.05816488e+02] [ 8.17120204e-01 5.76466943e-01 -6.60208807e-04 3.83127195e+02] [ 8.12848491e-04 -6.91511616e-06 9.99999670e-01 1.64467365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.83, Y:383.15, Z:1.65 [[ 5.76903716e-01 -8.16812021e-01 -4.74039448e-04 3.05832829e+02] [ 8.16811754e-01 5.76903911e-01 -6.60346147e-04 3.83149519e+02] [ 8.12853883e-04 -6.24484732e-06 9.99999670e-01 1.64530674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.85, Y:383.17, Z:1.65 [[ 5.78746369e-01 -8.15507459e-01 -4.73845628e-04 3.05848578e+02] [ 8.15507192e-01 5.78746563e-01 -6.60485198e-04 3.83173240e+02] [ 8.12867134e-04 -4.17110806e-06 9.99999670e-01 1.64557585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.86, Y:383.20, Z:1.65 [[ 5.79448609e-01 -8.15008641e-01 -4.73637159e-04 3.05863780e+02] [ 8.15008373e-01 5.79448803e-01 -6.60634658e-04 3.83195308e+02] [ 8.12871440e-04 -3.21441712e-06 9.99999670e-01 1.64552543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.88, Y:383.22, Z:1.64 [[ 5.80924483e-01 -8.13957321e-01 -4.73417532e-04 3.05880526e+02] [ 8.13957053e-01 5.80924676e-01 -6.60792008e-04 3.83220669e+02] [ 8.12876419e-04 -1.47128337e-06 9.99999670e-01 1.64452970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.90, Y:383.24, Z:1.64 [[ 5.83151253e-01 -8.12363459e-01 -4.75915744e-04 3.05895788e+02] [ 8.12363192e-01 5.83151447e-01 -6.59002798e-04 3.83242518e+02] [ 8.12880747e-04 -2.31812567e-06 9.99999670e-01 1.64419060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.91, Y:383.27, Z:1.64 [[ 5.81661119e-01 -8.13431078e-01 -4.72542404e-04 3.05911356e+02] [ 8.13430809e-01 5.81661311e-01 -6.61417044e-04 3.83267737e+02] [ 8.12876814e-04 3.40027891e-07 9.99999670e-01 1.64209519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.92, Y:383.29, Z:1.64 [[ 5.80524890e-01 -8.14242362e-01 -4.77734581e-04 3.05924346e+02] [ 8.14242096e-01 5.80525087e-01 -6.57700181e-04 3.83289270e+02] [ 8.12864258e-04 -7.18028125e-06 9.99999670e-01 1.64275289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:305.94, Y:383.31, Z:1.64 [[ 5.78826038e-01 -8.15450915e-01 -4.72902200e-04 3.05940444e+02] [ 8.15450647e-01 5.78826231e-01 -6.61156614e-04 3.83311966e+02] [ 8.12868964e-04 -2.93374147e-06 9.99999670e-01 1.64308234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.96, Y:383.34, Z:1.64 [[ 5.78040961e-01 -8.16007613e-01 -4.72695837e-04 3.05957162e+02] [ 8.16007345e-01 5.78041154e-01 -6.61304122e-04 3.83335101e+02] [ 8.12866845e-04 -3.46240487e-06 9.99999670e-01 1.64352513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.97, Y:383.36, Z:1.64 [[ 5.77514462e-01 -8.16380318e-01 -4.72485613e-04 3.05971988e+02] [ 8.16380050e-01 5.77514655e-01 -6.61454287e-04 3.83357371e+02] [ 8.12865627e-04 -3.72841185e-06 9.99999670e-01 1.64343258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.99, Y:383.38, Z:1.64 [[ 5.76831642e-01 -8.16862922e-01 -4.72297357e-04 3.05987196e+02] [ 8.16862654e-01 5.76831836e-01 -6.61588680e-04 3.83381198e+02] [ 8.12863414e-04 -4.17678744e-06 9.99999670e-01 1.64277252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.332755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:306.00, Y:383.40, Z:1.64 [[ 5.75096844e-01 -8.18085202e-01 -4.72084784e-04 3.06001669e+02] [ 8.18084934e-01 5.75097038e-01 -6.61740330e-04 3.83403944e+02] [ 8.12854532e-04 -5.64067458e-06 9.99999670e-01 1.64189924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.02, Y:383.43, Z:1.64 [[ 5.73484359e-01 -8.19216374e-01 -4.71894458e-04 3.06017746e+02] [ 8.19216107e-01 5.73484553e-01 -6.61876025e-04 3.83427204e+02] [ 8.12843860e-04 -7.00799277e-06 9.99999670e-01 1.64229026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.03, Y:383.45, Z:1.64 [[ 5.71789841e-01 -8.20399997e-01 -4.71680149e-04 3.06033406e+02] [ 8.20399730e-01 5.71790036e-01 -6.62028716e-04 3.83449208e+02] [ 8.12830366e-04 -8.42497244e-06 9.99999670e-01 1.64238808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.05, Y:383.47, Z:1.64 [[ 5.67749208e-01 -8.23201442e-01 -4.71488135e-04 3.06049876e+02] [ 8.23201176e-01 5.67749404e-01 -6.62165437e-04 3.83471580e+02] [ 8.12782650e-04 -1.21856843e-05 9.99999670e-01 1.64351833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.06, Y:383.49, Z:1.64 [[ 5.63471772e-01 -8.26135183e-01 -4.71276087e-04 3.06060835e+02] [ 8.26134917e-01 5.63471969e-01 -6.62316322e-04 3.83493071e+02] [ 8.12713680e-04 -1.61410799e-05 9.99999670e-01 1.64226416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.08, Y:383.52, Z:1.65 [[ 5.63529991e-01 -8.26095475e-01 -4.63977879e-04 3.06082003e+02] [ 8.26095205e-01 5.63530182e-01 -6.67503949e-04 3.83516231e+02] [ 8.12887531e-04 -7.13140695e-06 9.99999670e-01 1.64535788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.10, Y:383.54, Z:1.65 [[ 5.62324611e-01 -8.26916447e-01 -4.71052803e-04 3.06097299e+02] [ 8.26916181e-01 5.62324808e-01 -6.62473312e-04 3.83538199e+02] [ 8.12694754e-04 -1.69961376e-05 9.99999670e-01 1.64552042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.11, Y:383.56, Z:1.65 [[ 5.61322986e-01 -8.27596692e-01 -4.70833935e-04 3.06113284e+02] [ 8.27596427e-01 5.61323183e-01 -6.62628830e-04 3.83561047e+02] [ 8.12679430e-04 -1.77116887e-05 9.99999670e-01 1.64576448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.13, Y:383.58, Z:1.65 [[ 5.61348753e-01 -8.27579214e-01 -4.70627727e-04 3.06129561e+02] [ 8.27578949e-01 5.61348950e-01 -6.62775255e-04 3.83584018e+02] [ 8.12685406e-04 -1.74335360e-05 9.99999670e-01 1.64561181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.15, Y:383.61, Z:1.64 [[ 5.62373213e-01 -8.26883395e-01 -4.70422555e-04 3.06145754e+02] [ 8.26883129e-01 5.62373410e-01 -6.62920850e-04 3.83606108e+02] [ 8.12711379e-04 -1.61755462e-05 9.99999670e-01 1.64475864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.16, Y:383.63, Z:1.65 [[ 5.62844793e-01 -8.26562471e-01 -4.70206306e-04 3.06162260e+02] [ 8.26562205e-01 5.62844989e-01 -6.63074198e-04 3.83629092e+02] [ 8.12725511e-04 -1.54469018e-05 9.99999670e-01 1.64502348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.18, Y:383.65, Z:1.65 [[ 5.63662784e-01 -8.26004870e-01 -4.70003683e-04 3.06178675e+02] [ 8.26004604e-01 5.63662980e-01 -6.63217792e-04 3.83652127e+02] [ 8.12744802e-04 -1.43940194e-05 9.99999670e-01 1.64511048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.19, Y:383.67, Z:1.65 [[ 5.65211949e-01 -8.24945594e-01 -4.69802245e-04 3.06193816e+02] [ 8.24945327e-01 5.65212144e-01 -6.63360453e-04 3.83674818e+02] [ 8.12774217e-04 -1.26219125e-05 9.99999670e-01 1.64515979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.21, Y:383.70, Z:1.64 [[ 5.66970061e-01 -8.23738265e-01 -4.69589711e-04 3.06207350e+02] [ 8.23737998e-01 5.66970256e-01 -6.63510871e-04 3.83695591e+02] [ 8.12802692e-04 -1.06280892e-05 9.99999670e-01 1.64136816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.22, Y:383.72, Z:1.64 [[ 5.66412755e-01 -8.24121577e-01 -4.65881314e-04 3.06223700e+02] [ 8.24121308e-01 5.66412946e-01 -6.66132079e-04 3.83719770e+02] [ 8.12855027e-04 -6.63701190e-06 9.99999670e-01 1.64456497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.24, Y:383.74, Z:1.64 [[ 5.65487667e-01 -8.24756618e-01 -4.69113643e-04 3.06235382e+02] [ 8.24756351e-01 5.65487861e-01 -6.63847927e-04 3.83741744e+02] [ 8.12791041e-04 -1.15066406e-05 9.99999670e-01 1.64222575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.25, Y:383.77, Z:1.65 [[ 5.67640378e-01 -8.23276496e-01 -4.61372639e-04 3.06253855e+02] [ 8.23276224e-01 5.67640566e-01 -6.69310945e-04 3.83765078e+02] [ 8.12921794e-04 9.07940705e-08 9.99999670e-01 1.64588344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.27, Y:383.79, Z:1.65 [[ 5.66518930e-01 -8.24048593e-01 -4.66469440e-04 3.06270533e+02] [ 8.24048324e-01 5.66519123e-01 -6.65712264e-04 3.83790074e+02] [ 8.12843112e-04 -7.25476113e-06 9.99999670e-01 1.64591286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.29, Y:383.81, Z:1.65 [[ 5.65079644e-01 -8.25036227e-01 -4.68741193e-04 3.06285921e+02] [ 8.25035960e-01 5.65079839e-01 -6.64108816e-04 3.83813363e+02] [ 8.12790029e-04 -1.14539663e-05 9.99999670e-01 1.64691636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.30, Y:383.84, Z:1.65 [[ 5.63936337e-01 -8.25818133e-01 -4.68534749e-04 3.06301562e+02] [ 8.25817866e-01 5.63936531e-01 -6.64254432e-04 3.83837178e+02] [ 8.12777216e-04 -1.23271552e-05 9.99999670e-01 1.64711582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.32, Y:383.86, Z:1.65 [[ 5.61928035e-01 -8.27185991e-01 -4.68324720e-04 3.06315557e+02] [ 8.27185725e-01 5.61928230e-01 -6.64402478e-04 3.83861189e+02] [ 8.12749303e-04 -1.40451439e-05 9.99999670e-01 1.64570226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.33, Y:383.88, Z:1.64 [[ 5.60997288e-01 -8.27817506e-01 -4.68113629e-04 3.06330078e+02] [ 8.27817239e-01 5.60997484e-01 -6.64551171e-04 3.83883976e+02] [ 8.12737661e-04 -1.47011272e-05 9.99999670e-01 1.64481112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.34, Y:383.91, Z:1.64 [[ 5.59956506e-01 -8.28521872e-01 -4.67891245e-04 3.06344033e+02] [ 8.28521606e-01 5.59956701e-01 -6.64707708e-04 3.83907164e+02] [ 8.12723713e-04 -1.54505993e-05 9.99999670e-01 1.64470230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.36, Y:383.93, Z:1.65 [[ 5.59155448e-01 -8.29062704e-01 -4.67672104e-04 3.06359740e+02] [ 8.29062437e-01 5.59155643e-01 -6.64861855e-04 3.83930372e+02] [ 8.12713663e-04 -1.59682459e-05 9.99999670e-01 1.64515422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.38, Y:383.95, Z:1.65 [[ 5.58299260e-01 -8.29639511e-01 -4.67465620e-04 3.06375361e+02] [ 8.29639244e-01 5.58299456e-01 -6.65007002e-04 3.83953454e+02] [ 8.12701885e-04 -1.65549065e-05 9.99999670e-01 1.64574281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.39, Y:383.98, Z:1.64 [[ 5.59731364e-01 -8.28673990e-01 -4.67260254e-04 3.06390491e+02] [ 8.28673723e-01 5.59731559e-01 -6.65151269e-04 3.83975004e+02] [ 8.12733867e-04 -1.49002672e-05 9.99999670e-01 1.64340488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.40, Y:384.00, Z:1.65 [[ 5.58737864e-01 -8.29344190e-01 -4.63561796e-04 3.06403230e+02] [ 8.29343921e-01 5.58738056e-01 -6.67744656e-04 3.83996812e+02] [ 8.12799767e-04 -1.13579346e-05 9.99999670e-01 1.64528458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.42, Y:384.03, Z:1.64 [[ 5.57354431e-01 -8.30274550e-01 -4.58792961e-04 3.06422709e+02] [ 8.30274279e-01 5.57354620e-01 -6.71084790e-04 3.84025061e+02] [ 8.12894998e-04 -6.89191358e-06 9.99999670e-01 1.64384859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.43, Y:384.04, Z:1.65 [[ 5.58240014e-01 -8.29679374e-01 -4.73137840e-04 3.06432984e+02] [ 8.29679111e-01 5.58240214e-01 -6.61033448e-04 3.84043349e+02] [ 8.12570386e-04 -2.35372615e-05 9.99999670e-01 1.64531751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.45, Y:384.07, Z:1.64 [[ 5.56487307e-01 -8.30855985e-01 -4.57937520e-04 3.06453359e+02] [ 8.30855713e-01 5.56487496e-01 -6.71664901e-04 3.84073031e+02] [ 8.12893306e-04 -6.70701332e-06 9.99999670e-01 1.64447349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.46, Y:384.09, Z:1.65 [[ 5.54570854e-01 -8.32136373e-01 -4.74534539e-04 3.06463710e+02] [ 8.32136111e-01 5.54571057e-01 -6.60070660e-04 3.84093057e+02] [ 8.12431925e-04 -2.88213758e-05 9.99999670e-01 1.64741591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.48, Y:384.11, Z:1.64 [[ 5.55736655e-01 -8.31358259e-01 -4.65045391e-04 3.06480692e+02] [ 8.31357992e-01 5.55736849e-01 -6.66689757e-04 3.84114404e+02] [ 8.12700896e-04 -1.61152675e-05 9.99999670e-01 1.64275441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.50, Y:384.14, Z:1.64 [[ 5.55699864e-01 -8.31382853e-01 -4.62029757e-04 3.06500298e+02] [ 8.31382584e-01 5.55700056e-01 -6.68791605e-04 3.84135867e+02] [ 8.12771835e-04 -1.24760893e-05 9.99999670e-01 1.64236359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.52, Y:384.16, Z:1.64 [[ 5.54138965e-01 -8.32424045e-01 -4.64801289e-04 3.06517358e+02] [ 8.32423778e-01 5.54139160e-01 -6.66860056e-04 3.84161873e+02] [ 8.12674941e-04 -1.73785036e-05 9.99999670e-01 1.64310195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.352755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:306.53, Y:384.18, Z:1.64 [[ 5.51804353e-01 -8.33973462e-01 -4.68883328e-04 3.06530816e+02] [ 8.33973198e-01 5.51804552e-01 -6.64015217e-04 3.84181145e+02] [ 8.12503025e-04 -2.46296411e-05 9.99999670e-01 1.64346696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.55, Y:384.20, Z:1.64 [[ 5.51987552e-01 -8.33852223e-01 -4.61669030e-04 3.06548615e+02] [ 8.33851955e-01 5.51987744e-01 -6.69037386e-04 3.84203732e+02] [ 8.12713958e-04 -1.56633152e-05 9.99999670e-01 1.64458523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:306.56, Y:384.23, Z:1.64 [[ 5.50027436e-01 -8.35146457e-01 -4.63502345e-04 3.06564264e+02] [ 8.35146190e-01 5.50027631e-01 -6.67761422e-04 3.84227246e+02] [ 8.12617682e-04 -1.98051147e-05 9.99999670e-01 1.64327093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.58, Y:384.25, Z:1.64 [[ 5.49804418e-01 -8.35293294e-01 -4.63681431e-04 3.06582685e+02] [ 8.35293027e-01 5.49804613e-01 -6.67636808e-04 3.84250466e+02] [ 8.12606738e-04 -2.02401994e-05 9.99999670e-01 1.64405595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.472755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:306.60, Y:384.27, Z:1.64 [[ 5.49246796e-01 -8.35660062e-01 -4.66672788e-04 3.06600289e+02] [ 8.35659797e-01 5.49246994e-01 -6.65557493e-04 3.84274288e+02] [ 8.12498442e-04 -2.44243669e-05 9.99999670e-01 1.64493263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.62, Y:384.29, Z:1.65 [[ 5.50554101e-01 -8.34799355e-01 -4.68931590e-04 3.06616718e+02] [ 8.34799091e-01 5.50554300e-01 -6.63988114e-04 3.84294595e+02] [ 8.12469152e-04 -2.59022859e-05 9.99999670e-01 1.64519931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5327550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:306.63, Y:384.32, Z:1.64 [[ 5.50558049e-01 -8.34796752e-01 -4.66418845e-04 3.06633836e+02] [ 8.34796487e-01 5.50558246e-01 -6.65733312e-04 3.84318700e+02] [ 8.12542748e-04 -2.28399799e-05 9.99999670e-01 1.64416273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:306.64, Y:384.34, Z:1.65 [[ 5.47066993e-01 -8.37088696e-01 -4.69430315e-04 3.06643546e+02] [ 8.37088433e-01 5.47067194e-01 -6.63643298e-04 3.84342205e+02] [ 8.12338228e-04 -2.98973435e-05 9.99999670e-01 1.65084857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.67, Y:384.37, Z:1.65 [[ 5.51518800e-01 -8.34162334e-01 -4.63041059e-04 3.06668542e+02] [ 8.34162066e-01 5.51518994e-01 -6.68071697e-04 3.84366660e+02] [ 8.12656185e-04 -1.77971860e-05 9.99999670e-01 1.64558236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.622755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.68, Y:384.39, Z:1.65 [[ 5.54194985e-01 -8.32386746e-01 -4.73898385e-04 3.06684813e+02] [ 8.32386484e-01 5.54195187e-01 -6.60539335e-04 3.84388902e+02] [ 8.12456391e-04 -2.83990236e-05 9.99999670e-01 1.64534892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.70, Y:384.41, Z:1.65 [[ 5.56313867e-01 -8.30972115e-01 -4.75338173e-04 3.06699561e+02] [ 8.30971854e-01 5.56314069e-01 -6.59540351e-04 3.84410014e+02] [ 8.12496953e-04 -2.80811998e-05 9.99999670e-01 1.64579563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.72, Y:384.44, Z:1.65 [[ 5.57097606e-01 -8.30446889e-01 -4.71710219e-04 3.06716055e+02] [ 8.30446625e-01 5.57097805e-01 -6.62052700e-04 3.84436154e+02] [ 8.12588332e-04 -2.29021853e-05 9.99999670e-01 1.64532399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.73, Y:384.46, Z:1.64 [[ 5.57967407e-01 -8.29862727e-01 -4.76533077e-04 3.06730391e+02] [ 8.29862466e-01 5.57967610e-01 -6.58713927e-04 3.84459155e+02] [ 8.12532158e-04 -2.79160118e-05 9.99999670e-01 1.64462027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.75, Y:384.48, Z:1.64 [[ 5.57737984e-01 -8.30016937e-01 -4.75696617e-04 3.06745008e+02] [ 8.30016675e-01 5.57738186e-01 -6.59293241e-04 3.84483756e+02] [ 8.12538725e-04 -2.71232417e-05 9.99999670e-01 1.64399714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.772755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.76, Y:384.51, Z:1.64 [[ 5.56233076e-01 -8.31026197e-01 -4.75114580e-04 3.06762020e+02] [ 8.31025936e-01 5.56233278e-01 -6.59695471e-04 3.84510078e+02] [ 8.12498759e-04 -2.78880969e-05 9.99999670e-01 1.64484902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.802755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:306.78, Y:384.53, Z:1.65 [[ 5.54594527e-01 -8.32120595e-01 -4.75625834e-04 3.06779315e+02] [ 8.32120334e-01 5.54594731e-01 -6.59344392e-04 3.84534831e+02] [ 8.12433629e-04 -3.01091362e-05 9.99999670e-01 1.64635215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.79, Y:384.56, Z:1.65 [[ 5.53544898e-01 -8.32819199e-01 -4.77316642e-04 3.06792517e+02] [ 8.32818939e-01 5.53545103e-01 -6.58184011e-04 3.84555358e+02] [ 8.12364571e-04 -3.31839379e-05 9.99999670e-01 1.64503108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.81, Y:384.58, Z:1.65 [[ 5.52985880e-01 -8.33190490e-01 -4.74362470e-04 3.06807811e+02] [ 8.33190229e-01 5.52986082e-01 -6.60217333e-04 3.84578453e+02] [ 8.12402647e-04 -3.01433122e-05 9.99999670e-01 1.64505243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.82, Y:384.60, Z:1.64 [[ 5.52224520e-01 -8.33695301e-01 -4.73632423e-04 3.06824127e+02] [ 8.33695040e-01 5.52224723e-01 -6.60718806e-04 3.84602265e+02] [ 8.12389697e-04 -2.99998762e-05 9.99999670e-01 1.64462455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9227550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.84, Y:384.63, Z:1.65 [[ 5.50560284e-01 -8.34795275e-01 -4.72390536e-04 3.06839635e+02] [ 8.34795013e-01 5.50560486e-01 -6.61569312e-04 3.84626748e+02] [ 8.12354499e-04 -3.01154752e-05 9.99999670e-01 1.64602731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.952755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.86, Y:384.65, Z:1.65 [[ 5.48860118e-01 -8.35914080e-01 -4.70584707e-04 3.06855481e+02] [ 8.35913818e-01 5.48860319e-01 -6.62800763e-04 3.84652931e+02] [ 8.12329762e-04 -2.95833540e-05 9.99999670e-01 1.64805766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.982755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:306.86, Y:384.67, Z:1.65 [[ 5.46747264e-01 -8.37297561e-01 -4.73106718e-04 3.06863111e+02] [ 8.37297301e-01 5.46747468e-01 -6.61082328e-04 3.84671923e+02] [ 8.12192521e-04 -3.46860240e-05 9.99999670e-01 1.64988664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.88, Y:384.70, Z:1.65 [[ 5.46910402e-01 -8.37191020e-01 -4.56907649e-04 3.06883033e+02] [ 8.37190750e-01 5.46910592e-01 -6.72094879e-04 3.84697168e+02] [ 8.12559430e-04 -1.49431769e-05 9.99999670e-01 1.65147893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0427550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:306.90, Y:384.72, Z:1.65 [[ 5.45184850e-01 -8.38315731e-01 -4.63474037e-04 3.06899656e+02] [ 8.38315465e-01 5.45185046e-01 -6.67631455e-04 3.84720164e+02] [ 8.12365065e-04 -2.45548983e-05 9.99999670e-01 1.64900876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.92, Y:384.74, Z:1.65 [[ 5.42280120e-01 -8.40197628e-01 -4.67689606e-04 3.06915822e+02] [ 8.40197365e-01 5.42280320e-01 -6.64760659e-04 3.84743830e+02] [ 8.12149198e-04 -3.24650852e-05 9.99999670e-01 1.64936874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.93, Y:384.77, Z:1.65 [[ 5.41194680e-01 -8.40897200e-01 -4.67423529e-04 3.06931890e+02] [ 8.40896937e-01 5.41194880e-01 -6.64941707e-04 3.84767493e+02] [ 8.12114840e-04 -3.31920995e-05 9.99999670e-01 1.64945820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:306.95, Y:384.79, Z:1.65 [[ 5.40273760e-01 -8.41489184e-01 -4.66235801e-04 3.06946863e+02] [ 8.41488922e-01 5.40273960e-01 -6.65747388e-04 3.84789322e+02] [ 8.12114289e-04 -3.26464172e-05 9.99999670e-01 1.64968694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1627550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:306.96, Y:384.81, Z:1.65 [[ 5.40910008e-01 -8.41080347e-01 -4.61967872e-04 3.06962844e+02] [ 8.41080081e-01 5.40910205e-01 -6.68643472e-04 3.84811068e+02] [ 8.12266020e-04 -2.68760293e-05 9.99999670e-01 1.65083078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.98, Y:384.83, Z:1.65 [[ 5.41298503e-01 -8.40830373e-01 -4.62749330e-04 3.06977196e+02] [ 8.40830108e-01 5.41298700e-01 -6.68113010e-04 3.84834098e+02] [ 8.12255323e-04 -2.74449972e-05 9.99999670e-01 1.65149683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:306.99, Y:384.86, Z:1.65 [[ 5.41611483e-01 -8.40628805e-01 -4.62861773e-04 3.06992048e+02] [ 8.40628540e-01 5.41611680e-01 -6.68036739e-04 3.84856399e+02] [ 8.12262268e-04 -2.72784474e-05 9.99999670e-01 1.65070243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.00, Y:384.88, Z:1.64 [[ 5.40409708e-01 -8.41401886e-01 -4.62069461e-04 3.07003103e+02] [ 8.41401621e-01 5.40409905e-01 -6.68573724e-04 3.84879951e+02] [ 8.12246106e-04 -2.74822617e-05 9.99999670e-01 1.64430402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.02, Y:384.90, Z:1.65 [[ 5.43866121e-01 -8.39171874e-01 -4.56476569e-04 3.07023208e+02] [ 8.39171605e-01 5.43866313e-01 -6.72358689e-04 3.84904196e+02] [ 8.12486729e-04 -1.73890623e-05 9.99999670e-01 1.64915507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.04, Y:384.93, Z:1.65 [[ 5.46897027e-01 -8.37199754e-01 -4.62479619e-04 3.07037195e+02] [ 8.37199488e-01 5.46897222e-01 -6.68294256e-04 3.84925991e+02] [ 8.12424606e-04 -2.16995581e-05 9.99999670e-01 1.64965266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.05, Y:384.95, Z:1.65 [[ 5.49860325e-01 -8.35256494e-01 -4.60364126e-04 3.07051814e+02] [ 8.35256226e-01 5.49860517e-01 -6.69725359e-04 3.84946868e+02] [ 8.12528512e-04 -1.62665990e-05 9.99999670e-01 1.65045433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.07, Y:384.97, Z:1.65 [[ 5.52388769e-01 -8.33586493e-01 -4.54898290e-04 3.07065620e+02] [ 8.33586221e-01 5.52388956e-01 -6.73417569e-04 3.84970478e+02] [ 8.12632581e-04 -7.20864515e-06 9.99999670e-01 1.64975841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.08, Y:385.00, Z:1.65 [[ 5.52142502e-01 -8.33749633e-01 -4.54746531e-04 3.07083083e+02] [ 8.33749361e-01 5.52142689e-01 -6.73520033e-04 3.84997016e+02] [ 8.12632053e-04 -7.26559376e-06 9.99999670e-01 1.64673685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.10, Y:385.02, Z:1.65 [[ 5.54646189e-01 -8.32086169e-01 -4.61715842e-04 3.07095893e+02] [ 8.32085900e-01 5.54646381e-01 -6.68805781e-04 3.85017521e+02] [ 8.12593060e-04 -1.32366643e-05 9.99999670e-01 1.64744320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.11, Y:385.04, Z:1.65 [[ 5.53457655e-01 -8.32877192e-01 -4.54745279e-04 3.07111628e+02] [ 8.32876920e-01 5.53457842e-01 -6.73514075e-04 3.85044755e+02] [ 8.12636852e-04 -5.98532642e-06 9.99999670e-01 1.64803686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.13, Y:385.07, Z:1.65 [[ 5.53989959e-01 -8.32523222e-01 -4.59847264e-04 3.07125351e+02] [ 8.32522952e-01 5.53990149e-01 -6.70069034e-04 3.85066802e+02] [ 8.12598885e-04 -1.16218849e-05 9.99999670e-01 1.64764346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.14, Y:385.09, Z:1.65 [[ 5.52408462e-01 -8.33573441e-01 -4.57416484e-04 3.07141952e+02] [ 8.33573171e-01 5.52408651e-01 -6.71708820e-04 3.85094046e+02] [ 8.12599455e-04 -1.02324726e-05 9.99999670e-01 1.64685956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.16, Y:385.11, Z:1.65 [[ 5.52082762e-01 -8.33789188e-01 -4.61703911e-04 3.07155658e+02] [ 8.33788920e-01 5.52082955e-01 -6.68831935e-04 3.85114560e+02] [ 8.12563696e-04 -1.57130233e-05 9.99999670e-01 1.64820319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.17, Y:385.14, Z:1.65 [[ 5.48669405e-01 -8.36039281e-01 -4.52253890e-04 3.07173710e+02] [ 8.36039009e-01 5.48669591e-01 -6.75161985e-04 3.85139400e+02] [ 8.12599897e-04 -7.66116877e-06 9.99999670e-01 1.64750754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.612755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:307.19, Y:385.16, Z:1.65 [[ 5.47491101e-01 -8.36811377e-01 -4.61643813e-04 3.07186637e+02] [ 8.36811110e-01 5.47491295e-01 -6.68856729e-04 3.85158418e+02] [ 8.12452890e-04 -2.01155649e-05 9.99999670e-01 1.64875765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.21, Y:385.18, Z:1.65 [[ 5.46682729e-01 -8.37339710e-01 -4.52579322e-04 3.07205604e+02] [ 8.37339438e-01 5.46682916e-01 -6.74934946e-04 3.85180208e+02] [ 8.12567216e-04 -9.98723715e-06 9.99999670e-01 1.65056776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.22, Y:385.21, Z:1.65 [[ 5.42410049e-01 -8.40113761e-01 -4.54487927e-04 3.07222764e+02] [ 8.40113491e-01 5.42410239e-01 -6.73655631e-04 3.85208282e+02] [ 8.12466271e-04 -1.64238548e-05 9.99999670e-01 1.64966112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.24, Y:385.22, Z:1.65 [[ 5.44883436e-01 -8.38511673e-01 -4.63192412e-04 3.07237180e+02] [ 8.38511408e-01 5.44883633e-01 -6.67818651e-04 3.85224901e+02] [ 8.12359699e-04 -2.45088004e-05 9.99999670e-01 1.65104812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.732755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:307.25, Y:385.25, Z:1.65 [[ 5.43054832e-01 -8.39697115e-01 -4.52088276e-04 3.07252253e+02] [ 8.39696844e-01 5.43055020e-01 -6.75252976e-04 3.85248465e+02] [ 8.12516783e-04 -1.29177065e-05 9.99999670e-01 1.64587178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.27, Y:385.27, Z:1.65 [[ 5.41370529e-01 -8.40784007e-01 -4.51857646e-04 3.07266144e+02] [ 8.40783736e-01 5.41370717e-01 -6.75407271e-04 3.85273950e+02] [ 8.12494129e-04 -1.42689680e-05 9.99999670e-01 1.64678308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.28, Y:385.30, Z:1.64 [[ 5.40570861e-01 -8.41298365e-01 -4.53075935e-04 3.07281537e+02] [ 8.41298095e-01 5.40571051e-01 -6.74592718e-04 3.85296923e+02] [ 8.12453485e-04 -1.65067548e-05 9.99999670e-01 1.64379273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.30, Y:385.32, Z:1.65 [[ 5.40975111e-01 -8.41038479e-01 -4.53482200e-04 3.07303596e+02] [ 8.41038209e-01 5.40975301e-01 -6.74321154e-04 3.85322100e+02] [ 8.12452708e-04 -1.66048958e-05 9.99999670e-01 1.64540242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.32, Y:385.34, Z:1.65 [[ 5.42391489e-01 -8.40125740e-01 -4.61512042e-04 3.07317627e+02] [ 8.40125474e-01 5.42391685e-01 -6.68960096e-04 3.85341162e+02] [ 8.12330890e-04 -2.48897606e-05 9.99999670e-01 1.64640170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.33, Y:385.37, Z:1.65 [[ 5.39260418e-01 -8.42138942e-01 -4.50614384e-04 3.07329706e+02] [ 8.42138671e-01 5.39260606e-01 -6.76221974e-04 3.85365103e+02] [ 8.12471444e-04 -1.48200541e-05 9.99999670e-01 1.64667922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.35, Y:385.39, Z:1.65 [[ 5.39641064e-01 -8.41895077e-01 -4.50375559e-04 3.07347234e+02] [ 8.41894805e-01 5.39641251e-01 -6.76380998e-04 3.85392135e+02] [ 8.12483063e-04 -1.41658821e-05 9.99999670e-01 1.64582203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.36, Y:385.42, Z:1.64 [[ 5.38343989e-01 -8.42725068e-01 -4.58818880e-04 3.07363851e+02] [ 8.42724801e-01 5.38344184e-01 -6.70766059e-04 3.85419850e+02] [ 8.12273848e-04 -2.55551743e-05 9.99999670e-01 1.64283787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.38, Y:385.44, Z:1.64 [[ 5.40303923e-01 -8.41469816e-01 -4.69387248e-04 3.07376931e+02] [ 8.41469555e-01 5.40304125e-01 -6.63779421e-04 3.85442352e+02] [ 8.12162213e-04 -3.63324534e-05 9.99999670e-01 1.64424747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.39, Y:385.47, Z:1.65 [[ 5.39410765e-01 -8.42042646e-01 -4.57389274e-04 3.07390950e+02] [ 8.42042378e-01 5.39410958e-01 -6.71689741e-04 3.85466114e+02] [ 8.12312193e-04 -2.28244750e-05 9.99999670e-01 1.64571979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.41, Y:385.49, Z:1.65 [[ 5.39518298e-01 -8.41973753e-01 -4.54715967e-04 3.07406421e+02] [ 8.41973483e-01 5.39518489e-01 -6.73450569e-04 3.85488725e+02] [ 8.12355374e-04 -1.95198827e-05 9.99999670e-01 1.64619581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.42, Y:385.51, Z:1.64 [[ 5.37640410e-01 -8.43174111e-01 -4.55798295e-04 3.07421240e+02] [ 8.43173843e-01 5.37640603e-01 -6.72737286e-04 3.85512341e+02] [ 8.12290334e-04 -2.26264498e-05 9.99999670e-01 1.64475162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.44, Y:385.54, Z:1.65 [[ 5.36194284e-01 -8.44094474e-01 -4.57057961e-04 3.07435750e+02] [ 8.44094207e-01 5.36194478e-01 -6.71907342e-04 3.85535419e+02] [ 8.12225229e-04 -2.55271014e-05 9.99999670e-01 1.64513299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.45, Y:385.56, Z:1.64 [[ 5.34410604e-01 -8.45224881e-01 -4.54685737e-04 3.07451496e+02] [ 8.45224613e-01 5.34410797e-01 -6.73468530e-04 3.85561828e+02] [ 8.12221325e-04 -2.44028526e-05 9.99999670e-01 1.64441411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.47, Y:385.59, Z:1.64 [[ 5.33639799e-01 -8.45711742e-01 -4.63396481e-04 3.07466657e+02] [ 8.45711479e-01 5.33639999e-01 -6.67727120e-04 3.85585602e+02] [ 8.11991564e-04 -3.55739571e-05 9.99999670e-01 1.64274101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.48, Y:385.61, Z:1.64 [[ 5.33385048e-01 -8.45872435e-01 -4.62780449e-04 3.07482081e+02] [ 8.45872172e-01 5.33385247e-01 -6.68132757e-04 3.85613097e+02] [ 8.11995347e-04 -3.50810813e-05 9.99999670e-01 1.64058051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.50, Y:385.63, Z:1.64 [[ 5.33834523e-01 -8.45588840e-01 -4.65004306e-04 3.07495090e+02] [ 8.45588578e-01 5.33834724e-01 -6.66680520e-04 3.85631154e+02] [ 8.11973053e-04 -3.73052524e-05 9.99999670e-01 1.64189818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.242755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:307.51, Y:385.65, Z:1.64 [[ 5.33690286e-01 -8.45679891e-01 -4.48891225e-04 3.07507371e+02] [ 8.45679620e-01 5.33690474e-01 -6.77172943e-04 3.85652693e+02] [ 8.12240511e-04 -1.82175395e-05 9.99999670e-01 1.64098112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.272755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:307.52, Y:385.67, Z:1.64 [[ 5.36979142e-01 -8.43595404e-01 -4.42963940e-04 3.07523405e+02] [ 8.43595129e-01 5.36979324e-01 -6.81028251e-04 3.85674287e+02] [ 8.12374779e-04 -7.98425614e-06 9.99999670e-01 1.63873831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.54, Y:385.70, Z:1.64 [[ 5.33893326e-01 -8.45551726e-01 -4.42734827e-04 3.07537544e+02] [ 8.45551451e-01 5.33893509e-01 -6.81177164e-04 3.85697801e+02] [ 8.12343777e-04 -1.06791338e-05 9.99999670e-01 1.64375185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.55, Y:385.72, Z:1.64 [[ 5.32833896e-01 -8.46219737e-01 -4.42506327e-04 3.07554163e+02] [ 8.46219463e-01 5.32834080e-01 -6.81325570e-04 3.85722306e+02] [ 8.12333596e-04 -1.14241080e-05 9.99999670e-01 1.64167475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.57, Y:385.75, Z:1.64 [[ 5.31408628e-01 -8.47115501e-01 -4.44832802e-04 3.07569955e+02] [ 8.47115229e-01 5.31408814e-01 -6.79815958e-04 3.85745438e+02] [ 8.12270708e-04 -1.55645754e-05 9.99999670e-01 1.64251310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.58, Y:385.76, Z:1.64 [[ 5.34597508e-01 -8.45106684e-01 -4.44032918e-04 3.07582159e+02] [ 8.45106410e-01 5.34597692e-01 -6.80334660e-04 3.85761020e+02] [ 8.12334341e-04 -1.15498515e-05 9.99999670e-01 1.64287287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.60, Y:385.79, Z:1.64 [[ 5.32289134e-01 -8.46562517e-01 -4.26540821e-04 3.07604017e+02] [ 8.46562235e-01 5.32289305e-01 -6.91671567e-04 3.85791877e+02] [ 8.12586340e-04 7.07590847e-06 9.99999670e-01 1.64405398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.61, Y:385.82, Z:1.64 [[ 5.31243908e-01 -8.47218809e-01 -4.48749817e-04 3.07614348e+02] [ 8.47218538e-01 5.31244097e-01 -6.77249577e-04 3.85815307e+02] [ 8.12174271e-04 -2.04044520e-05 9.99999670e-01 1.64445003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.63, Y:385.84, Z:1.64 [[ 5.31924690e-01 -8.46791549e-01 -4.43669757e-04 3.07629457e+02] [ 8.46791275e-01 5.31924875e-01 -6.80545305e-04 3.85840122e+02] [ 8.12278993e-04 -1.36968291e-05 9.99999670e-01 1.64413289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.64, Y:385.86, Z:1.64 [[ 5.32225686e-01 -8.46602399e-01 -4.45352823e-04 3.07643563e+02] [ 8.46602126e-01 5.32225872e-01 -6.79453796e-04 3.85864034e+02] [ 8.12255508e-04 -1.54138842e-05 9.99999670e-01 1.64331092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.66, Y:385.89, Z:1.64 [[ 5.32228083e-01 -8.46600892e-01 -4.45069539e-04 3.07657997e+02] [ 8.46600619e-01 5.32228269e-01 -6.79637368e-04 3.85886713e+02] [ 8.12260192e-04 -1.50740543e-05 9.99999670e-01 1.64362792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.67, Y:385.91, Z:1.64 [[ 5.32174763e-01 -8.46634410e-01 -4.44767938e-04 3.07673367e+02] [ 8.46634137e-01 5.32174948e-01 -6.79832623e-04 3.85911060e+02] [ 8.12264046e-04 -1.47659542e-05 9.99999670e-01 1.64311564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.69, Y:385.93, Z:1.64 [[ 5.34858550e-01 -8.44941496e-01 -4.45984354e-04 3.07686931e+02] [ 8.44941224e-01 5.34858736e-01 -6.79045648e-04 3.85929476e+02] [ 8.12292474e-04 -1.36371952e-05 9.99999670e-01 1.64349939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:307.70, Y:385.95, Z:1.64 [[ 5.33982862e-01 -8.45495188e-01 -4.36254032e-04 3.07699941e+02] [ 8.45494910e-01 5.33983040e-01 -6.85324277e-04 3.85952663e+02] [ 8.12390633e-04 -2.89914548e-06 9.99999670e-01 1.64388603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.71, Y:385.98, Z:1.64 [[ 5.31687200e-01 -8.46940690e-01 -4.35464161e-04 3.07713670e+02] [ 8.46940412e-01 5.31687379e-01 -6.85834865e-04 3.85979959e+02] [ 8.12392251e-04 -4.16257642e-06 9.99999670e-01 1.64356646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.73, Y:386.01, Z:1.64 [[ 5.31219342e-01 -8.47234216e-01 -4.41076248e-04 3.07730217e+02] [ 8.47233941e-01 5.31219525e-01 -6.82206406e-04 3.86006105e+02] [ 8.12296924e-04 -1.12935297e-05 9.99999670e-01 1.64079901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.74, Y:386.03, Z:1.64 [[ 5.30699510e-01 -8.47559928e-01 -4.45937025e-04 3.07743580e+02] [ 8.47559656e-01 5.30699697e-01 -6.79063857e-04 3.86029855e+02] [ 8.12205957e-04 -1.75793751e-05 9.99999670e-01 1.63907026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.76, Y:386.05, Z:1.64 [[ 5.29966777e-01 -8.48018288e-01 -4.45453183e-04 3.07758430e+02] [ 8.48018016e-01 5.29966964e-01 -6.79376529e-04 3.86053994e+02] [ 8.12199192e-04 -1.77053355e-05 9.99999670e-01 1.63821376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.77, Y:386.08, Z:1.64 [[ 5.29362451e-01 -8.48395661e-01 -4.44471578e-04 3.07773946e+02] [ 8.48395389e-01 5.29362637e-01 -6.80010374e-04 3.86077846e+02] [ 8.12204498e-04 -1.71156792e-05 9.99999670e-01 1.63724700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.79, Y:386.10, Z:1.64 [[ 5.29032911e-01 -8.48601192e-01 -4.43760673e-04 3.07788727e+02] [ 8.48600919e-01 5.29033097e-01 -6.80469054e-04 3.86101163e+02] [ 8.12210933e-04 -1.65851900e-05 9.99999670e-01 1.63726916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.842755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:307.80, Y:386.12, Z:1.63 [[ 5.27234453e-01 -8.49719739e-01 -4.43563308e-04 3.07803798e+02] [ 8.49719467e-01 5.27234639e-01 -6.80596301e-04 3.86123369e+02] [ 8.12178052e-04 -1.80705589e-05 9.99999670e-01 1.63440612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.82, Y:386.15, Z:1.64 [[ 5.26866363e-01 -8.49948021e-01 -4.43359911e-04 3.07819271e+02] [ 8.49947749e-01 5.26866549e-01 -6.80727339e-04 3.86146991e+02] [ 8.12174362e-04 -1.81804206e-05 9.99999670e-01 1.63719044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.84, Y:386.17, Z:1.64 [[ 5.26497474e-01 -8.50176578e-01 -4.42345564e-04 3.07836221e+02] [ 8.50176306e-01 5.26497659e-01 -6.81380328e-04 3.86170416e+02] [ 8.12187500e-04 -1.73266958e-05 9.99999670e-01 1.63717281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.85, Y:386.19, Z:1.64 [[ 5.25823707e-01 -8.50593459e-01 -4.43903949e-04 3.07851758e+02] [ 8.50593187e-01 5.25823894e-01 -6.80377552e-04 3.86194182e+02] [ 8.12139999e-04 -1.98230283e-05 9.99999670e-01 1.63686460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.87, Y:386.22, Z:1.64 [[ 5.25448311e-01 -8.50825409e-01 -4.43316981e-04 3.07868018e+02] [ 8.50825137e-01 5.25448498e-01 -6.80754811e-04 3.86217696e+02] [ 8.12143732e-04 -1.94837654e-05 9.99999670e-01 1.63670060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.89, Y:386.24, Z:1.64 [[ 5.26043855e-01 -8.50457328e-01 -4.43090764e-04 3.07885340e+02] [ 8.50457056e-01 5.26044041e-01 -6.80900055e-04 3.86240863e+02] [ 8.12161698e-04 -1.86463768e-05 9.99999670e-01 1.63736128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:307.90, Y:386.26, Z:1.64 [[ 5.26102172e-01 -8.50421253e-01 -4.44699696e-04 3.07901700e+02] [ 8.50420981e-01 5.26102360e-01 -6.79868132e-04 3.86264874e+02] [ 8.12131868e-04 -2.05018507e-05 9.99999670e-01 1.63766449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.91, Y:386.29, Z:1.64 [[ 5.25551804e-01 -8.50761485e-01 -4.44975055e-04 3.07913222e+02] [ 8.50761213e-01 5.25551992e-01 -6.79691608e-04 3.86285676e+02] [ 8.12112968e-04 -2.13543672e-05 9.99999670e-01 1.63991779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.93, Y:386.31, Z:1.64 [[ 5.25602721e-01 -8.50730032e-01 -4.37961674e-04 3.07927249e+02] [ 8.50729757e-01 5.25602904e-01 -6.84181051e-04 3.86308569e+02] [ 8.12247295e-04 -1.29796067e-05 9.99999670e-01 1.64046019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.94, Y:386.33, Z:1.64 [[ 5.26323790e-01 -8.50284115e-01 -4.37732381e-04 3.07944750e+02] [ 8.50283840e-01 5.26323972e-01 -6.84327719e-04 3.86333876e+02] [ 8.12262035e-04 -1.20188109e-05 9.99999670e-01 1.64047937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.96, Y:386.36, Z:1.64 [[ 5.26258204e-01 -8.50324707e-01 -4.43597504e-04 3.07956486e+02] [ 8.50324434e-01 5.26258390e-01 -6.80575183e-04 3.86356966e+02] [ 8.12156801e-04 -1.90435237e-05 9.99999670e-01 1.64184477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.97, Y:386.38, Z:1.64 [[ 5.27187568e-01 -8.49748831e-01 -4.37466100e-04 3.07972833e+02] [ 8.49748556e-01 5.27187750e-01 -6.84493988e-04 3.86382933e+02] [ 8.12274736e-04 -1.08794654e-05 9.99999670e-01 1.63966101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:307.98, Y:386.41, Z:1.64 [[ 5.27712682e-01 -8.49422822e-01 -4.42077521e-04 3.07984074e+02] [ 8.49422548e-01 5.27712867e-01 -6.81548269e-04 3.86405773e+02] [ 8.12212650e-04 -1.58489501e-05 9.99999670e-01 1.64038374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.00, Y:386.43, Z:1.64 [[ 5.28151240e-01 -8.49150209e-01 -4.36996271e-04 3.07998612e+02] [ 8.49149933e-01 5.28151420e-01 -6.84790846e-04 3.86430341e+02] [ 8.12290491e-04 -9.40221932e-06 9.99999670e-01 1.63956775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.01, Y:386.45, Z:1.64 [[ 5.28303084e-01 -8.49055747e-01 -4.36779214e-04 3.08012529e+02] [ 8.49055471e-01 5.28303264e-01 -6.84929264e-04 3.86453863e+02] [ 8.12295012e-04 -8.99953888e-06 9.99999670e-01 1.63956614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.03, Y:386.48, Z:1.64 [[ 5.28916084e-01 -8.48674016e-01 -4.36550703e-04 3.08027507e+02] [ 8.48673740e-01 5.28916264e-01 -6.85074878e-04 3.86478015e+02] [ 8.12304015e-04 -8.14199577e-06 9.99999670e-01 1.63773069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.04, Y:386.50, Z:1.64 [[ 5.28717931e-01 -8.48797478e-01 -4.36331900e-04 3.08041876e+02] [ 8.48797201e-01 5.28718111e-01 -6.85214207e-04 3.86500956e+02] [ 8.12304669e-04 -8.07225735e-06 9.99999670e-01 1.63755008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.06, Y:386.52, Z:1.64 [[ 5.28289077e-01 -8.49064462e-01 -4.36101069e-04 3.08057374e+02] [ 8.49064186e-01 5.28289257e-01 -6.85361087e-04 3.86524628e+02] [ 8.12303252e-04 -8.20902291e-06 9.99999670e-01 1.63735668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.07, Y:386.55, Z:1.64 [[ 5.27978800e-01 -8.49257439e-01 -4.35882264e-04 3.08072351e+02] [ 8.49257162e-01 5.27978979e-01 -6.85500216e-04 3.86547428e+02] [ 8.12302831e-04 -8.24655361e-06 9.99999670e-01 1.63730083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.09, Y:386.57, Z:1.64 [[ 5.27764929e-01 -8.49390364e-01 -4.35651835e-04 3.08087978e+02] [ 8.49390087e-01 5.27765108e-01 -6.85646628e-04 3.86570886e+02] [ 8.12303477e-04 -8.17810665e-06 9.99999670e-01 1.63673224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.10, Y:386.59, Z:1.64 [[ 5.27384311e-01 -8.49626741e-01 -4.35429958e-04 3.08102139e+02] [ 8.49626464e-01 5.27384491e-01 -6.85787506e-04 3.86593659e+02] [ 8.12302410e-04 -8.27924403e-06 9.99999670e-01 1.63633575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.12, Y:386.62, Z:1.64 [[ 5.24962430e-01 -8.51125289e-01 -4.35196459e-04 3.08118513e+02] [ 8.51125013e-01 5.24962610e-01 -6.85935651e-04 3.86618911e+02] [ 8.12279048e-04 -1.03161462e-05 9.99999670e-01 1.63716229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.13, Y:386.64, Z:1.64 [[ 5.26291799e-01 -8.50303915e-01 -4.41188154e-04 3.08132393e+02] [ 8.50303642e-01 5.26291984e-01 -6.82132911e-04 3.86638477e+02] [ 8.12214073e-04 -1.61429369e-05 9.99999670e-01 1.63641643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:386.67, Z:1.64 [[ 5.29076754e-01 -8.48573862e-01 -4.34944299e-04 3.08156271e+02] [ 8.48573585e-01 5.29076933e-01 -6.86091173e-04 3.86665305e+02] [ 8.12318032e-04 -6.08735269e-06 9.99999670e-01 1.63706079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.16, Y:386.69, Z:1.64 [[ 5.24252309e-01 -8.51562866e-01 -4.48883700e-04 3.08163740e+02] [ 8.51562597e-01 5.24252500e-01 -6.77247413e-04 3.86685611e+02] [ 8.12047150e-04 -2.72040496e-05 9.99999670e-01 1.63556057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.18, Y:386.71, Z:1.64 [[ 5.23197869e-01 -8.52211125e-01 -4.34527270e-04 3.08179201e+02] [ 8.52210848e-01 5.23198049e-01 -6.86336627e-04 3.86707770e+02] [ 8.12247529e-04 -1.12189928e-05 9.99999670e-01 1.63570614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.20, Y:386.73, Z:1.64 [[ 5.23483572e-01 -8.52035657e-01 -4.34298451e-04 3.08199102e+02] [ 8.52035381e-01 5.23483752e-01 -6.86481387e-04 3.86734980e+02] [ 8.12254803e-04 -1.06759173e-05 9.99999670e-01 1.63575547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.652755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:308.21, Y:386.76, Z:1.63 [[ 5.20587239e-01 -8.53808368e-01 -4.45041817e-04 3.08205738e+02] [ 8.53808097e-01 5.20587429e-01 -6.79704214e-04 3.86756693e+02] [ 8.12020321e-04 -2.61349667e-05 9.99999670e-01 1.63406400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:386.78, Z:1.63 [[ 5.24215858e-01 -8.51585314e-01 -4.32791689e-04 3.08226032e+02] [ 8.51585036e-01 5.24216037e-01 -6.87416790e-04 3.86783645e+02] [ 8.12270387e-04 -8.20414391e-06 9.99999670e-01 1.63383902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.23, Y:386.81, Z:1.63 [[ 5.21931475e-01 -8.52987302e-01 -4.44383788e-04 3.08232130e+02] [ 8.52987031e-01 5.21931664e-01 -6.80115814e-04 3.86805576e+02] [ 8.12068124e-04 -2.40797579e-05 9.99999670e-01 1.63190146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.25, Y:386.83, Z:1.63 [[ 5.22102820e-01 -8.52882441e-01 -4.32374650e-04 3.08246344e+02] [ 8.52882164e-01 5.22102999e-01 -6.87666634e-04 3.86828967e+02] [ 8.12242899e-04 -9.73193889e-06 9.99999670e-01 1.62978502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.26, Y:386.85, Z:1.63 [[ 5.21938273e-01 -8.52983149e-01 -4.32153576e-04 3.08261185e+02] [ 8.52982872e-01 5.21938452e-01 -6.87805537e-04 3.86852264e+02] [ 8.12244101e-04 -9.62756447e-06 9.99999670e-01 1.62880386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.28, Y:386.88, Z:1.63 [[ 5.21763246e-01 -8.53090223e-01 -4.31951471e-04 3.08276145e+02] [ 8.53089945e-01 5.21763425e-01 -6.87932439e-04 3.86876163e+02] [ 8.12244916e-04 -9.55559404e-06 9.99999670e-01 1.62755733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.29, Y:386.90, Z:1.63 [[ 5.21381011e-01 -8.53323887e-01 -4.31739711e-04 3.08290645e+02] [ 8.53323609e-01 5.21381189e-01 -6.88065311e-04 3.86900534e+02] [ 8.12243530e-04 -9.66950167e-06 9.99999670e-01 1.62765626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.862755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:308.30, Y:386.92, Z:1.63 [[ 5.22167480e-01 -8.52842856e-01 -4.31524810e-04 3.08303517e+02] [ 8.52842578e-01 5.22167659e-01 -6.88200061e-04 3.86924541e+02] [ 8.12254805e-04 -8.66703977e-06 9.99999670e-01 1.62761939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.32, Y:386.95, Z:1.63 [[ 5.22218091e-01 -8.52811866e-01 -4.31298457e-04 3.08317165e+02] [ 8.52811589e-01 5.22218269e-01 -6.88341889e-04 3.86949648e+02] [ 8.12258065e-04 -8.35173520e-06 9.99999670e-01 1.62678431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.33, Y:386.97, Z:1.63 [[ 5.21829131e-01 -8.53049924e-01 -4.31086769e-04 3.08330967e+02] [ 8.53049646e-01 5.21829309e-01 -6.88474437e-04 3.86974296e+02] [ 8.12256777e-04 -8.47239831e-06 9.99999670e-01 1.62595366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.34, Y:387.00, Z:1.63 [[ 5.20630024e-01 -8.53782287e-01 -4.30873274e-04 3.08344825e+02] [ 8.53782009e-01 5.20630202e-01 -6.88608024e-04 3.86997637e+02] [ 8.12246973e-04 -9.36183770e-06 9.99999670e-01 1.62617671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.36, Y:387.02, Z:1.63 [[ 5.19305896e-01 -8.54588322e-01 -4.30648448e-04 3.08359728e+02] [ 8.54588045e-01 5.19306075e-01 -6.88748599e-04 3.87021543e+02] [ 8.12234865e-04 -1.03558067e-05 9.99999670e-01 1.62675235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.37, Y:387.05, Z:1.63 [[ 5.15986261e-01 -8.56596751e-01 -4.30442090e-04 3.08374422e+02] [ 8.56596474e-01 5.15986440e-01 -6.88877541e-04 3.87045515e+02] [ 8.12192545e-04 -1.32638295e-05 9.99999670e-01 1.62783234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.39, Y:387.07, Z:1.63 [[ 5.14476074e-01 -8.57504626e-01 -4.30234070e-04 3.08388164e+02] [ 8.57504350e-01 5.14476254e-01 -6.89007434e-04 3.87070036e+02] [ 8.12172275e-04 -1.44497470e-05 9.99999670e-01 1.62875447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.40, Y:387.09, Z:1.63 [[ 5.13505094e-01 -8.58086437e-01 -4.30027205e-04 3.08401600e+02] [ 8.58086161e-01 5.13505274e-01 -6.89136520e-04 3.87094237e+02] [ 8.12159939e-04 -1.51252797e-05 9.99999670e-01 1.62942075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.41, Y:387.12, Z:1.63 [[ 5.12312703e-01 -8.58798876e-01 -4.29821827e-04 3.08414880e+02] [ 8.58798600e-01 5.12312883e-01 -6.89264593e-04 3.87118935e+02] [ 8.12142917e-04 -1.60113763e-05 9.99999670e-01 1.63012650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.43, Y:387.14, Z:1.63 [[ 5.13043630e-01 -8.58362423e-01 -4.29615717e-04 3.08427400e+02] [ 8.58362146e-01 5.13043809e-01 -6.89393036e-04 3.87143118e+02] [ 8.12160761e-04 -1.50771630e-05 9.99999670e-01 1.63024988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.44, Y:387.17, Z:1.63 [[ 5.13482897e-01 -8.58099720e-01 -4.29465529e-04 3.08441753e+02] [ 8.58099443e-01 5.13483077e-01 -6.89486585e-04 3.87167511e+02] [ 8.12171527e-04 -1.44845624e-05 9.99999670e-01 1.62953605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.46, Y:387.19, Z:1.63 [[ 5.13606656e-01 -8.58025652e-01 -4.29247315e-04 3.08455161e+02] [ 8.58025375e-01 5.13606835e-01 -6.89622409e-04 3.87190897e+02] [ 8.12178072e-04 -1.41104292e-05 9.99999670e-01 1.63027466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.47, Y:387.21, Z:1.63 [[ 5.13919359e-01 -8.57838393e-01 -4.29017305e-04 3.08468324e+02] [ 8.57838116e-01 5.13919538e-01 -6.89765470e-04 3.87214879e+02] [ 8.12187678e-04 -1.35435689e-05 9.99999670e-01 1.62874477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.48, Y:387.24, Z:1.63 [[ 5.13096143e-01 -8.58331035e-01 -4.28793313e-04 3.08481249e+02] [ 8.58330757e-01 5.13096322e-01 -6.89904687e-04 3.87237590e+02] [ 8.12178875e-04 -1.40590551e-05 9.99999670e-01 1.62743589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.50, Y:387.26, Z:1.63 [[ 5.11906344e-01 -8.59041158e-01 -4.28558629e-04 3.08495016e+02] [ 8.59040881e-01 5.11906523e-01 -6.90050438e-04 3.87260789e+02] [ 8.12163685e-04 -1.49081854e-05 9.99999670e-01 1.62705106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.51, Y:387.28, Z:1.63 [[ 5.10937204e-01 -8.59617933e-01 -4.28339083e-04 3.08508419e+02] [ 8.59617656e-01 5.10937383e-01 -6.90186692e-04 3.87283146e+02] [ 8.12151307e-04 -1.55657802e-05 9.99999670e-01 1.62686045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.52, Y:387.31, Z:1.63 [[ 5.08257149e-01 -8.61205253e-01 -4.28109023e-04 3.08522082e+02] [ 8.61204976e-01 5.08257329e-01 -6.90329363e-04 3.87305385e+02] [ 8.12104823e-04 -1.78247873e-05 9.99999670e-01 1.62599965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.54, Y:387.33, Z:1.63 [[ 5.05078006e-01 -8.63073592e-01 -4.27881178e-04 3.08538645e+02] [ 8.63073316e-01 5.05078186e-01 -6.90470558e-04 3.87328688e+02] [ 8.12040354e-04 -2.05513344e-05 9.99999670e-01 1.62592567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.55, Y:387.35, Z:1.63 [[ 5.03277588e-01 -8.64124694e-01 -4.27662201e-04 3.08554027e+02] [ 8.64124418e-01 5.03277769e-01 -6.90606161e-04 3.87351953e+02] [ 8.12002716e-04 -2.19867476e-05 9.99999670e-01 1.62611811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.57, Y:387.38, Z:1.63 [[ 5.01590197e-01 -8.65105249e-01 -4.27442727e-04 3.08569609e+02] [ 8.65104974e-01 5.01590378e-01 -6.90741975e-04 3.87375578e+02] [ 8.11965668e-04 -2.33134253e-05 9.99999670e-01 1.62643810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.58, Y:387.40, Z:1.63 [[ 4.98377315e-01 -8.66960131e-01 -4.27223392e-04 3.08584445e+02] [ 8.66959856e-01 4.98377498e-01 -6.90877607e-04 3.87398453e+02] [ 8.11881866e-04 -2.60678035e-05 9.99999670e-01 1.62641823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.59, Y:387.42, Z:1.62 [[ 4.95871395e-01 -8.68395865e-01 -4.26992552e-04 3.08591194e+02] [ 8.68395590e-01 4.95871578e-01 -6.91020247e-04 3.87418850e+02] [ 8.11812595e-04 -2.81412751e-05 9.99999670e-01 1.62139559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.61, Y:387.44, Z:1.62 [[ 4.93795547e-01 -8.69577937e-01 -4.11406077e-04 3.08606123e+02] [ 8.69577655e-01 4.93795718e-01 -7.00632123e-04 3.87443173e+02] [ 8.12404795e-04 -1.17805088e-05 9.99999670e-01 1.62259196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.62, Y:387.47, Z:1.62 [[ 4.93226976e-01 -8.69900557e-01 -4.14083101e-04 3.08620025e+02] [ 8.69900276e-01 4.93227150e-01 -6.98981408e-04 3.87466783e+02] [ 8.12281344e-04 -1.54545170e-05 9.99999670e-01 1.62228379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.64, Y:387.49, Z:1.63 [[ 4.96330886e-01 -8.68133331e-01 -4.13241542e-04 3.08643771e+02] [ 8.68133049e-01 4.96331058e-01 -6.99500334e-04 3.87492782e+02] [ 8.12364167e-04 -1.15650187e-05 9.99999670e-01 1.62673264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.65, Y:387.51, Z:1.62 [[ 4.96179238e-01 -8.68220008e-01 -4.26626246e-04 3.08651398e+02] [ 8.68219733e-01 4.96179421e-01 -6.91239425e-04 3.87513566e+02] [ 8.11831063e-04 -2.74266745e-05 9.99999670e-01 1.62361917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.67, Y:387.54, Z:1.63 [[ 4.98648832e-01 -8.66803997e-01 -4.14832827e-04 3.08666899e+02] [ 8.66803716e-01 4.98649005e-01 -6.98479307e-04 3.87537363e+02] [ 8.12300632e-04 -1.12827448e-05 9.99999670e-01 1.62505582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.68, Y:387.56, Z:1.62 [[ 5.02242677e-01 -8.64726616e-01 -4.16524731e-04 3.08681474e+02] [ 8.64726334e-01 5.02242850e-01 -6.97439267e-04 3.87557322e+02] [ 8.12290865e-04 -9.89613925e-06 9.99999670e-01 1.62256875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.70, Y:387.58, Z:1.62 [[ 5.02298973e-01 -8.64693918e-01 -4.11430341e-04 3.08696029e+02] [ 8.64693634e-01 5.02299142e-01 -7.00586248e-04 3.87580615e+02] [ 8.12453775e-04 -3.85744373e-06 9.99999670e-01 1.62258925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.72, Y:387.61, Z:1.63 [[ 5.06107273e-01 -8.62470440e-01 -4.11062558e-04 3.08721237e+02] [ 8.62470155e-01 5.06107440e-01 -7.00813307e-04 3.87605607e+02] [ 8.12472580e-04 1.57523339e-07 9.99999670e-01 1.62836720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.73, Y:387.63, Z:1.63 [[ 5.06836417e-01 -8.62042147e-01 -4.27067796e-04 3.08730488e+02] [ 8.62041871e-01 5.06836597e-01 -6.90920238e-04 3.87630185e+02] [ 8.12055954e-04 -1.79667839e-05 9.99999670e-01 1.62638047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.74, Y:387.65, Z:1.62 [[ 5.11228979e-01 -8.59444442e-01 -4.26876486e-04 3.08741253e+02] [ 8.59444165e-01 5.11229157e-01 -6.91038417e-04 3.87648711e+02] [ 8.12140833e-04 -1.35976413e-05 9.99999670e-01 1.62365589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.76, Y:387.68, Z:1.63 [[ 5.09318859e-01 -8.60577788e-01 -4.13617987e-04 3.08757396e+02] [ 8.60577504e-01 5.09319027e-01 -6.99208739e-04 3.87677854e+02] [ 8.12387021e-04 1.69862240e-07 9.99999670e-01 1.62570698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.78, Y:387.70, Z:1.62 [[ 5.16983204e-01 -8.55995435e-01 -4.26411943e-04 3.08777596e+02] [ 8.55995156e-01 5.16983380e-01 -6.91317290e-04 3.87697850e+02] [ 8.12212332e-04 -7.60713003e-06 9.99999670e-01 1.61811252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.79, Y:387.72, Z:1.63 [[ 5.14014573e-01 -8.57781345e-01 -4.27208495e-04 3.08786990e+02] [ 8.57781067e-01 5.14014751e-01 -6.90826342e-04 3.87723959e+02] [ 8.12169417e-04 -1.13565515e-05 9.99999670e-01 1.62531161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.80, Y:387.75, Z:1.63 [[ 5.07818427e-01 -8.61464023e-01 -4.25915476e-04 3.08798163e+02] [ 8.61463746e-01 5.07818606e-01 -6.91622610e-04 3.87749880e+02] [ 8.12095799e-04 -1.56920353e-05 9.99999670e-01 1.62659340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.942755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:308.82, Y:387.78, Z:1.62 [[ 5.08688140e-01 -8.60950751e-01 -4.25782979e-04 3.08818228e+02] [ 8.60950473e-01 5.08688318e-01 -6.91704169e-04 3.87777272e+02] [ 8.12114051e-04 -1.47163498e-05 9.99999670e-01 1.62276840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.83, Y:387.81, Z:1.62 [[ 5.06036561e-01 -8.62511916e-01 -4.38897559e-04 3.08832601e+02] [ 8.62511646e-01 5.06036751e-01 -6.83628749e-04 3.87805265e+02] [ 8.11736237e-04 -3.26131147e-05 9.99999670e-01 1.62405160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.85, Y:387.83, Z:1.62 [[ 5.04138282e-01 -8.63622833e-01 -4.42814672e-04 3.08846607e+02] [ 8.63622565e-01 5.04138474e-01 -6.81218826e-04 3.87831201e+02] [ 8.11556045e-04 -3.89962545e-05 9.99999670e-01 1.62412210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.86, Y:387.86, Z:1.62 [[ 5.02500570e-01 -8.64576764e-01 -4.42616243e-04 3.08861384e+02] [ 8.64576497e-01 5.02500764e-01 -6.81340738e-04 3.87856306e+02] [ 8.11486371e-04 -4.03014910e-05 9.99999670e-01 1.62410764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.87, Y:387.88, Z:1.62 [[ 4.99328642e-01 -8.66412552e-01 -4.43836474e-04 3.08872908e+02] [ 8.66412286e-01 4.99328837e-01 -6.80591851e-04 3.87879009e+02] [ 8.11293673e-04 -4.47063697e-05 9.99999670e-01 1.62232662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:308.89, Y:387.90, Z:1.62 [[ 4.97833658e-01 -8.67272423e-01 -4.39597694e-04 3.08887152e+02] [ 8.67272155e-01 4.97833850e-01 -6.83188029e-04 3.87903456e+02] [ 8.11356750e-04 -4.11368439e-05 9.99999670e-01 1.62210705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.90, Y:387.92, Z:1.62 [[ 5.01223452e-01 -8.65317779e-01 -4.39336415e-04 3.08897472e+02] [ 8.65317510e-01 5.01223643e-01 -6.83347875e-04 3.87919044e+02] [ 8.11518864e-04 -3.76555112e-05 9.99999670e-01 1.62472067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.91, Y:387.95, Z:1.62 [[ 4.96348473e-01 -8.68123271e-01 -4.23117878e-04 3.08914036e+02] [ 8.68122995e-01 4.96348653e-01 -6.93246736e-04 3.87951998e+02] [ 8.11837613e-04 -2.32264002e-05 9.99999670e-01 1.62280191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.92, Y:387.97, Z:1.63 [[ 4.99572072e-01 -8.66272216e-01 -4.39836912e-04 3.08924500e+02] [ 8.66271948e-01 4.99572264e-01 -6.83033273e-04 3.87969031e+02] [ 8.11423068e-04 -3.97940310e-05 9.99999670e-01 1.62583374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.93, Y:387.99, Z:1.62 [[ 4.94447119e-01 -8.69207609e-01 -4.22547032e-04 3.08927529e+02] [ 8.69207333e-01 4.94447299e-01 -6.93566917e-04 3.87993083e+02] [ 8.11780881e-04 -2.43488145e-05 9.99999670e-01 1.62383982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.95, Y:388.03, Z:1.62 [[ 4.94758398e-01 -8.69030472e-01 -4.08821770e-04 3.08954348e+02] [ 8.69030188e-01 4.94758567e-01 -7.01886142e-04 3.88026301e+02] [ 8.12228518e-04 -8.01439676e-06 9.99999670e-01 1.62011922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.97, Y:388.05, Z:1.62 [[ 4.93191142e-01 -8.69920864e-01 -4.32822184e-04 3.08969746e+02] [ 8.69920594e-01 4.93191331e-01 -6.87403535e-04 3.88052930e+02] [ 8.11450826e-04 -3.74995963e-05 9.99999670e-01 1.62484572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:308.98, Y:388.07, Z:1.63 [[ 4.95787368e-01 -8.68443836e-01 -4.36145496e-04 3.08980695e+02] [ 8.68443566e-01 4.95787559e-01 -6.85399509e-04 3.88068049e+02] [ 8.11466489e-04 -3.89553307e-05 9.99999670e-01 1.62706755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.00, Y:388.09, Z:1.63 [[ 4.95904995e-01 -8.68376682e-01 -4.18523637e-04 3.08995660e+02] [ 8.68376403e-01 4.95905171e-01 -6.95996070e-04 3.88090974e+02] [ 8.11934793e-04 -1.82881230e-05 9.99999670e-01 1.62930423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.01, Y:388.12, Z:1.63 [[ 4.95770937e-01 -8.68453224e-01 -4.18291088e-04 3.09009111e+02] [ 8.68452946e-01 4.95771113e-01 -6.96135803e-04 3.88115333e+02] [ 8.11938021e-04 -1.81422280e-05 9.99999670e-01 1.62791347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.02, Y:388.14, Z:1.63 [[ 4.88634140e-01 -8.72488683e-01 -4.18098747e-04 3.09016183e+02] [ 8.72488406e-01 4.88634319e-01 -6.96251303e-04 3.88143543e+02] [ 8.11768779e-04 -2.45741525e-05 9.99999670e-01 1.62841102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.04, Y:388.16, Z:1.63 [[ 4.94433398e-01 -8.69215417e-01 -4.17889052e-04 3.09036896e+02] [ 8.69215138e-01 4.94433574e-01 -6.96377139e-04 3.88164832e+02] [ 8.11920123e-04 -1.89233753e-05 9.99999670e-01 1.62915407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.05, Y:388.19, Z:1.63 [[ 4.94295808e-01 -8.69293667e-01 -4.17778216e-04 3.09052169e+02] [ 8.69293388e-01 4.94295984e-01 -6.96443627e-04 3.88188778e+02] [ 8.11920129e-04 -1.89226755e-05 9.99999670e-01 1.63175350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.07, Y:388.22, Z:1.63 [[ 4.92421687e-01 -8.70356656e-01 -4.17566265e-04 3.09068311e+02] [ 8.70356377e-01 4.92421864e-01 -6.96570683e-04 3.88218131e+02] [ 8.11883688e-04 -2.04249511e-05 9.99999670e-01 1.62816757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.08, Y:388.24, Z:1.63 [[ 4.90952697e-01 -8.71186126e-01 -4.29669016e-04 3.09077796e+02] [ 8.71185854e-01 4.90952883e-01 -6.89308772e-04 3.88237662e+02] [ 8.11463481e-04 -3.59035684e-05 9.99999670e-01 1.62794781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.10, Y:388.27, Z:1.63 [[ 4.92554246e-01 -8.70281644e-01 -4.17174886e-04 3.09097585e+02] [ 8.70281366e-01 4.92554423e-01 -6.96789138e-04 3.88266987e+02] [ 8.11884131e-04 -1.98530807e-05 9.99999670e-01 1.62831112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:388.29, Z:1.63 [[ 4.93254812e-01 -8.69884765e-01 -4.32337114e-04 3.09111057e+02] [ 8.69884493e-01 4.93255000e-01 -6.87702951e-04 3.88289035e+02] [ 8.11474762e-04 -3.68705615e-05 9.99999670e-01 1.62782029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.11, Y:388.31, Z:1.63 [[ 4.88337866e-01 -8.72654539e-01 -4.29028775e-04 3.09113531e+02] [ 8.72654267e-01 4.88338053e-01 -6.89681255e-04 3.88308499e+02] [ 8.11364555e-04 -3.75963187e-05 9.99999670e-01 1.63406117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.632755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:309.14, Y:388.34, Z:1.63 [[ 4.93231200e-01 -8.69898165e-01 -4.08584393e-04 3.09138976e+02] [ 8.69897882e-01 4.93231369e-01 -7.01868248e-04 3.88336447e+02] [ 8.12080541e-04 -9.24338028e-06 9.99999670e-01 1.62935093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6627550960001 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:309.16, Y:388.37, Z:1.63 [[ 4.91933994e-01 -8.70632392e-01 -4.28254866e-04 3.09155968e+02] [ 8.70632119e-01 4.91934179e-01 -6.90165520e-04 3.88366381e+02] [ 8.11553664e-04 -3.33365613e-05 9.99999670e-01 1.63376559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.692755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:309.17, Y:388.38, Z:1.63 [[ 4.94147367e-01 -8.69378045e-01 -4.40233925e-04 3.09166600e+02] [ 8.69377778e-01 4.94147561e-01 -6.83034440e-04 3.88384950e+02] [ 8.11355667e-04 -4.52099210e-05 9.99999670e-01 1.63247217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.722755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:309.18, Y:388.41, Z:1.63 [[ 4.94345159e-01 -8.69265598e-01 -4.29515356e-04 3.09180572e+02] [ 8.69265325e-01 4.94345345e-01 -6.89412082e-04 3.88410483e+02] [ 8.11611122e-04 -3.25552795e-05 9.99999670e-01 1.63353978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.752755096 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:309.20, Y:388.44, Z:1.63 [[ 4.95772878e-01 -8.68452111e-01 -4.30566004e-04 3.09195047e+02] [ 8.68451838e-01 4.95773064e-01 -6.88788214e-04 3.88437333e+02] [ 8.11642605e-04 -3.24433222e-05 9.99999670e-01 1.63467038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.21, Y:388.46, Z:1.63 [[ 4.98794501e-01 -8.66720173e-01 -4.32630565e-04 3.09208697e+02] [ 8.66719901e-01 4.98794688e-01 -6.87563834e-04 3.88461640e+02] [ 8.11719272e-04 -3.20164608e-05 9.99999670e-01 1.63448880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.812755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:309.22, Y:388.48, Z:1.64 [[ 5.01253774e-01 -8.65300218e-01 -4.32320754e-04 3.09221019e+02] [ 8.65299945e-01 5.01253960e-01 -6.87747308e-04 3.88482373e+02] [ 8.11810385e-04 -2.93511908e-05 9.99999670e-01 1.63564365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.842755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:309.24, Y:388.51, Z:1.64 [[ 5.00099760e-01 -8.65967697e-01 -4.23230253e-04 3.09235703e+02] [ 8.65967419e-01 5.00099938e-01 -6.93105325e-04 3.88510385e+02] [ 8.11864245e-04 -1.98818040e-05 9.99999670e-01 1.63873949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.25, Y:388.53, Z:1.64 [[ 5.03168709e-01 -8.64188097e-01 -4.29393115e-04 3.09247868e+02] [ 8.64187822e-01 5.03168891e-01 -6.89473229e-04 3.88531197e+02] [ 8.11891815e-04 -2.41549468e-05 9.99999670e-01 1.63890942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.902755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:309.26, Y:388.56, Z:1.64 [[ 5.03467455e-01 -8.64014086e-01 -4.26012147e-04 3.09261483e+02] [ 8.64013809e-01 5.03467635e-01 -6.91470933e-04 3.88555397e+02] [ 8.11923954e-04 -1.99472666e-05 9.99999670e-01 1.63967729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.27, Y:388.58, Z:1.64 [[ 5.03052306e-01 -8.64255863e-01 -4.25392399e-04 3.09274835e+02] [ 8.64255586e-01 5.03052485e-01 -6.91836817e-04 3.88579741e+02] [ 8.11918729e-04 -1.96176507e-05 9.99999670e-01 1.64153172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.29, Y:388.61, Z:1.64 [[ 5.02271115e-01 -8.64710093e-01 -4.26352634e-04 3.09290469e+02] [ 8.64709817e-01 5.02271296e-01 -6.91270287e-04 3.88605920e+02] [ 8.11893084e-04 -2.14662103e-05 9.99999670e-01 1.64172178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.30, Y:388.63, Z:1.64 [[ 4.99312665e-01 -8.66421767e-01 -4.29316460e-04 3.09302419e+02] [ 8.66421493e-01 4.99312849e-01 -6.89521986e-04 3.88629702e+02] [ 8.11780083e-04 -2.76819478e-05 9.99999670e-01 1.64347262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.32, Y:388.65, Z:1.64 [[ 5.00099262e-01 -8.65967982e-01 -4.27929774e-04 3.09318590e+02] [ 8.65967707e-01 5.00099444e-01 -6.90338642e-04 3.88649771e+02] [ 8.11818603e-04 -2.53355203e-05 9.99999670e-01 1.64248636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.33, Y:388.67, Z:1.64 [[ 4.96221687e-01 -8.68195749e-01 -4.23501415e-04 3.09325660e+02] [ 8.68195472e-01 4.96221867e-01 -6.92942831e-04 3.88670665e+02] [ 8.11760683e-04 -2.38287499e-05 9.99999670e-01 1.64186100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.35, Y:388.70, Z:1.64 [[ 4.96141461e-01 -8.68241603e-01 -4.12454806e-04 3.09347904e+02] [ 8.68241321e-01 4.96141632e-01 -6.99421642e-04 3.88700440e+02] [ 8.11902968e-04 -1.10982309e-05 9.99999670e-01 1.64213157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.36, Y:388.72, Z:1.64 [[ 4.95000455e-01 -8.68892608e-01 -4.30399419e-04 3.09363501e+02] [ 8.68892336e-01 4.95000641e-01 -6.88881150e-04 3.88724190e+02] [ 8.11611728e-04 -3.29742739e-05 9.99999670e-01 1.64028478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.38, Y:388.75, Z:1.64 [[ 4.93410930e-01 -8.69796222e-01 -4.32829788e-04 3.09377033e+02] [ 8.69795951e-01 4.93411118e-01 -6.87455961e-04 3.88748731e+02] [ 8.11509627e-04 -3.72753117e-05 9.99999670e-01 1.63749641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.39, Y:388.76, Z:1.64 [[ 4.92295929e-01 -8.70427788e-01 -4.29956992e-04 3.09385718e+02] [ 8.70427515e-01 4.92296116e-01 -6.89137056e-04 3.88762459e+02] [ 8.11510200e-04 -3.49870295e-05 9.99999670e-01 1.64066479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.40, Y:388.79, Z:1.64 [[ 4.87414731e-01 -8.73170495e-01 -4.09091620e-04 3.09402151e+02] [ 8.73170213e-01 4.87414903e-01 -7.01308376e-04 3.88794891e+02] [ 8.11759134e-04 -1.53785836e-05 9.99999670e-01 1.63833319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.42, Y:388.82, Z:1.64 [[ 4.84545109e-01 -8.74766172e-01 -4.26303039e-04 3.09416867e+02] [ 8.74765900e-01 4.84545295e-01 -6.91257400e-04 3.88817976e+02] [ 8.11251722e-04 -3.79699688e-05 9.99999670e-01 1.63884456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.43, Y:388.84, Z:1.64 [[ 4.81298850e-01 -8.76556465e-01 -4.25396590e-04 3.09427535e+02] [ 8.76556193e-01 4.81299037e-01 -6.91786069e-04 3.88841281e+02] [ 8.11132520e-04 -3.99281753e-05 9.99999670e-01 1.64123262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:388.86, Z:1.64 [[ 4.78617098e-01 -8.78023632e-01 -4.18693268e-04 3.09439442e+02] [ 8.78023357e-01 4.78617280e-01 -6.95688555e-04 3.88863678e+02] [ 8.11224825e-04 -3.46540317e-05 9.99999670e-01 1.64144423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.44, Y:388.88, Z:1.64 [[ 4.71312251e-01 -8.81966320e-01 -4.14688276e-04 3.09441509e+02] [ 8.81966045e-01 4.71312432e-01 -6.98016280e-04 3.88883268e+02] [ 8.11074590e-04 -3.67573542e-05 9.99999670e-01 1.63641722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:388.91, Z:1.64 [[ 4.77328467e-01 -8.78724860e-01 -3.94209335e-04 3.09465866e+02] [ 8.78724573e-01 4.77328630e-01 -7.09883348e-04 3.88910008e+02] [ 8.11959547e-04 -7.55389924e-06 9.99999670e-01 1.64032209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.47, Y:388.93, Z:1.64 [[ 4.68705879e-01 -8.83354193e-01 -4.10890894e-04 3.09467683e+02] [ 8.83353916e-01 4.68706058e-01 -7.00204414e-04 3.88932533e+02] [ 8.11115556e-04 -3.47721551e-05 9.99999670e-01 1.63717163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.49, Y:388.96, Z:1.64 [[ 4.74418722e-01 -8.80299222e-01 -3.94912456e-04 3.09493704e+02] [ 8.80298936e-01 4.74418886e-01 -7.09458071e-04 3.88960759e+02] [ 8.11889316e-04 -1.10608236e-05 9.99999670e-01 1.64279278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.51, Y:388.99, Z:1.64 [[ 4.75776628e-01 -8.79566045e-01 -4.15663992e-04 3.09507105e+02] [ 8.79565769e-01 4.75776809e-01 -6.97419245e-04 3.88985487e+02] [ 8.11189575e-04 -3.37880419e-05 9.99999670e-01 1.64185818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.472755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.53, Y:389.02, Z:1.63 [[ 4.81979673e-01 -8.76182300e-01 -4.15066110e-04 3.09532091e+02] [ 8.76182023e-01 4.81979851e-01 -6.97765790e-04 3.89015403e+02] [ 8.11423536e-04 -2.73645366e-05 9.99999670e-01 1.63287555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.502755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:309.54, Y:389.04, Z:1.63 [[ 4.83357641e-01 -8.75422869e-01 -4.36458997e-04 3.09543865e+02] [ 8.75422603e-01 4.83357836e-01 -6.85349902e-04 3.89041080e+02] [ 8.10936853e-04 -5.08169588e-05 9.99999670e-01 1.62689553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.55, Y:389.05, Z:1.63 [[ 4.82960822e-01 -8.75641854e-01 -4.34665304e-04 3.09545159e+02] [ 8.75641586e-01 4.82961015e-01 -6.86389941e-04 3.89053457e+02] [ 8.10958157e-04 -4.91115664e-05 9.99999670e-01 1.62778951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.57, Y:389.09, Z:1.63 [[ 4.83697951e-01 -8.75234898e-01 -4.05876069e-04 3.09567305e+02] [ 8.75234616e-01 4.83698121e-01 -7.03011104e-04 3.89087745e+02] [ 8.11621344e-04 -1.51917552e-05 9.99999671e-01 1.62883115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.58, Y:389.11, Z:1.63 [[ 4.82876727e-01 -8.75688232e-01 -4.32707906e-04 3.09580766e+02] [ 8.75687963e-01 4.82876919e-01 -6.87509426e-04 3.89112463e+02] [ 8.10988574e-04 -4.69348026e-05 9.99999670e-01 1.62886321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.622755096 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:309.59, Y:389.13, Z:1.62 [[ 4.87722386e-01 -8.72998676e-01 -4.31570693e-04 3.09594348e+02] [ 8.72998406e-01 4.87722575e-01 -6.88165478e-04 3.89130835e+02] [ 8.11254321e-04 -4.11268183e-05 9.99999670e-01 1.61901834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.59, Y:389.15, Z:1.64 [[ 4.80297544e-01 -8.77105518e-01 -4.23215766e-04 3.09592129e+02] [ 8.77105245e-01 4.80297729e-01 -6.92977283e-04 3.89154333e+02] [ 8.11083770e-04 -3.83694812e-05 9.99999670e-01 1.63602688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.682755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.62, Y:389.18, Z:1.63 [[ 4.85413160e-01 -8.74284792e-01 -4.08878178e-04 3.09618127e+02] [ 8.74284510e-01 4.85413332e-01 -7.01205659e-04 3.89184976e+02] [ 8.11528362e-04 -1.71014024e-05 9.99999671e-01 1.62719440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.712755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:309.62, Y:389.20, Z:1.64 [[ 4.80041033e-01 -8.77245929e-01 -4.33192724e-04 3.09618521e+02] [ 8.77245661e-01 4.80041226e-01 -6.87217513e-04 3.89204408e+02] [ 8.10809132e-04 -5.01238320e-05 9.99999670e-01 1.63684849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.742755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:309.63, Y:389.23, Z:1.64 [[ 4.79677253e-01 -8.77444906e-01 -4.11815816e-04 3.09629318e+02] [ 8.77444628e-01 4.79677429e-01 -6.99465974e-04 3.89229097e+02] [ 8.11281608e-04 -2.58276582e-05 9.99999671e-01 1.63990645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.772755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:309.64, Y:389.25, Z:1.64 [[ 4.78414699e-01 -8.78133936e-01 -4.09276797e-04 3.09643748e+02] [ 8.78133656e-01 4.78414873e-01 -7.00919288e-04 3.89254777e+02] [ 8.11305119e-04 -2.40696399e-05 9.99999671e-01 1.63865569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.65, Y:389.28, Z:1.64 [[ 4.78751382e-01 -8.77950421e-01 -4.14270493e-04 3.09654781e+02] [ 8.77950144e-01 4.78751561e-01 -6.98061344e-04 3.89277726e+02] [ 8.11195896e-04 -2.95110056e-05 9.99999671e-01 1.64212164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.68, Y:389.31, Z:1.63 [[ 4.83381619e-01 -8.75409643e-01 -4.08595180e-04 3.09680856e+02] [ 8.75409362e-01 4.83381792e-01 -7.01304194e-04 3.89307770e+02] [ 8.11435924e-04 -1.86904889e-05 9.99999671e-01 1.63327858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.862755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:309.69, Y:389.32, Z:1.64 [[ 4.81912294e-01 -8.76219353e-01 -4.31136927e-04 3.09686087e+02] [ 8.76219084e-01 4.81912485e-01 -6.88392247e-04 3.89324339e+02] [ 8.10952877e-04 -4.60257160e-05 9.99999670e-01 1.63958744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.70, Y:389.35, Z:1.64 [[ 4.81629195e-01 -8.76375005e-01 -4.11695756e-04 3.09698637e+02] [ 8.76374726e-01 4.81629371e-01 -6.99499602e-04 3.89347496e+02] [ 8.11308735e-04 -2.39003243e-05 9.99999671e-01 1.64072930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.71, Y:389.37, Z:1.64 [[ 4.80297226e-01 -8.77105699e-01 -4.09765698e-04 3.09707731e+02] [ 8.77105420e-01 4.80297400e-01 -7.00601027e-04 3.89369036e+02] [ 8.11310553e-04 -2.29109851e-05 9.99999671e-01 1.64119605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.72, Y:389.39, Z:1.64 [[ 4.78637180e-01 -8.78012693e-01 -4.01783233e-04 3.09715243e+02] [ 8.78012410e-01 4.78637348e-01 -7.05149313e-04 3.89392124e+02] [ 8.11438508e-04 -1.52599860e-05 9.99999671e-01 1.64248259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.982755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:309.73, Y:389.42, Z:1.64 [[ 4.79102356e-01 -8.77758952e-01 -3.94423359e-04 3.09734729e+02] [ 8.77758665e-01 4.79102518e-01 -7.09339753e-04 3.89419688e+02] [ 8.11598542e-04 -6.36217412e-06 9.99999671e-01 1.64114477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.75, Y:389.44, Z:1.64 [[ 4.81537113e-01 -8.76425607e-01 -4.05620524e-04 3.09746540e+02] [ 8.76425325e-01 4.81537284e-01 -7.02963113e-04 3.89440881e+02] [ 8.11416278e-04 -1.69932713e-05 9.99999671e-01 1.64310439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0427550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:309.76, Y:389.46, Z:1.64 [[ 4.82526882e-01 -8.75881070e-01 -4.00028551e-04 3.09760526e+02] [ 8.75880785e-01 4.82527048e-01 -7.06142900e-04 3.89463503e+02] [ 8.11521794e-04 -9.64438953e-06 9.99999671e-01 1.64238920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.072755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:309.77, Y:389.49, Z:1.64 [[ 4.80801186e-01 -8.76829551e-01 -3.98586112e-04 3.09774154e+02] [ 8.76829266e-01 4.80801351e-01 -7.06962798e-04 3.89489068e+02] [ 8.11526614e-04 -9.58341567e-06 9.99999671e-01 1.64030954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.79, Y:389.51, Z:1.64 [[ 4.85884010e-01 -8.74023208e-01 -4.00920094e-04 3.09787820e+02] [ 8.74022923e-01 4.85884175e-01 -7.05636705e-04 3.89509079e+02] [ 8.11543586e-04 -7.55576143e-06 9.99999671e-01 1.64461663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.132755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:309.81, Y:389.54, Z:1.64 [[ 4.90643790e-01 -8.71360153e-01 -3.95326350e-04 3.09808891e+02] [ 8.71359864e-01 4.90643949e-01 -7.08815811e-04 3.89536239e+02] [ 8.11598334e-04 3.30456108e-06 9.99999671e-01 1.64031116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:309.82, Y:389.56, Z:1.64 [[ 4.92318478e-01 -8.70415044e-01 -4.08961128e-04 3.09821756e+02] [ 8.70414762e-01 4.92318648e-01 -7.01060338e-04 3.89559932e+02] [ 8.11552654e-04 -1.08208449e-05 9.99999671e-01 1.64285909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.83, Y:389.58, Z:1.64 [[ 4.91088560e-01 -8.71109557e-01 -4.07288728e-04 3.09831300e+02] [ 8.71109274e-01 4.91088729e-01 -7.02010462e-04 3.89583019e+02] [ 8.11542926e-04 -1.00436809e-05 9.99999671e-01 1.64278309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.85, Y:389.61, Z:1.64 [[ 4.90555970e-01 -8.71409594e-01 -4.00475017e-04 3.09846760e+02] [ 8.71409308e-01 4.90556133e-01 -7.05875880e-04 3.89609337e+02] [ 8.11562489e-04 -2.70603030e-06 9.99999671e-01 1.64205395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.86, Y:389.63, Z:1.64 [[ 4.91223033e-01 -8.71033734e-01 -4.07191980e-04 3.09861923e+02] [ 8.71033451e-01 4.91223202e-01 -7.02064485e-04 3.89631613e+02] [ 8.11543998e-04 -9.80758970e-06 9.99999671e-01 1.64233437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.88, Y:389.66, Z:1.64 [[ 4.91937246e-01 -8.70630566e-01 -4.03750237e-04 3.09879722e+02] [ 8.70630281e-01 4.91937412e-01 -7.04015267e-04 3.89657638e+02] [ 8.11557058e-04 -5.18585083e-06 9.99999671e-01 1.64001536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.312755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:309.90, Y:389.68, Z:1.64 [[ 4.92515794e-01 -8.70303410e-01 -4.08800460e-04 3.09895150e+02] [ 8.70303128e-01 4.92515964e-01 -7.01154067e-04 3.89680399e+02] [ 8.11557528e-04 -1.04508668e-05 9.99999671e-01 1.63628226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.91, Y:389.71, Z:1.64 [[ 4.90485912e-01 -8.71449025e-01 -4.09325406e-04 3.09906896e+02] [ 8.71448743e-01 4.90486082e-01 -7.00857024e-04 3.89705364e+02] [ 8.11529585e-04 -1.29456145e-05 9.99999671e-01 1.64076285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.92, Y:389.73, Z:1.64 [[ 4.87734866e-01 -8.72991715e-01 -4.06614983e-04 3.09915903e+02] [ 8.72991433e-01 4.87735036e-01 -7.02390759e-04 3.89727145e+02] [ 8.11501687e-04 -1.23909337e-05 9.99999671e-01 1.64068288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.93, Y:389.75, Z:1.64 [[ 4.84446174e-01 -8.74820981e-01 -3.96057926e-04 3.09932158e+02] [ 8.74820694e-01 4.84446336e-01 -7.08354039e-04 3.89751536e+02] [ 8.11551786e-04 -3.32026545e-06 9.99999671e-01 1.64128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.432755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:309.95, Y:389.77, Z:1.64 [[ 4.81716519e-01 -8.76327015e-01 -3.99096842e-04 3.09946131e+02] [ 8.76326730e-01 4.81716684e-01 -7.06637711e-04 3.89774437e+02] [ 8.11497323e-04 -9.34017203e-06 9.99999671e-01 1.64113309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.96, Y:389.80, Z:1.64 [[ 4.79938464e-01 -8.77302064e-01 -3.98893714e-04 3.09959397e+02] [ 8.77301780e-01 4.79938630e-01 -7.06752358e-04 3.89798127e+02] [ 8.11479805e-04 -1.07525239e-05 9.99999671e-01 1.64368230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.492755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:309.98, Y:389.82, Z:1.64 [[ 4.82454183e-01 -8.75921115e-01 -4.01078295e-04 3.09978184e+02] [ 8.75920831e-01 4.82454350e-01 -7.05521324e-04 3.89822159e+02] [ 8.11482993e-04 -1.09311200e-05 9.99999671e-01 1.64039807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:309.99, Y:389.85, Z:1.64 [[ 4.79102947e-01 -8.77758624e-01 -4.05346369e-04 3.09986705e+02] [ 8.77758343e-01 4.79103118e-01 -7.03119631e-04 3.89845857e+02] [ 8.11372029e-04 -1.89294701e-05 9.99999671e-01 1.64386728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.00, Y:389.87, Z:1.64 [[ 4.79312422e-01 -8.77644259e-01 -3.96760276e-04 3.10004681e+02] [ 8.77643973e-01 4.79312586e-01 -7.07944369e-04 3.89872148e+02] [ 8.11495505e-04 -8.88773456e-06 9.99999671e-01 1.64224496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.01, Y:389.90, Z:1.64 [[ 4.76887319e-01 -8.78964345e-01 -4.06564983e-04 3.10013641e+02] [ 8.78964065e-01 4.76887492e-01 -7.02434143e-04 3.89895272e+02] [ 8.11300322e-04 -2.23740742e-05 9.99999671e-01 1.64218185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.03, Y:389.92, Z:1.64 [[ 4.78858496e-01 -8.77892010e-01 -3.99072876e-04 3.10032274e+02] [ 8.77891726e-01 4.78858662e-01 -7.06638744e-04 3.89921220e+02] [ 8.11452011e-04 -1.19628100e-05 9.99999671e-01 1.63994261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.642755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:310.04, Y:389.94, Z:1.64 [[ 4.76071872e-01 -8.79406281e-01 -4.06249182e-04 3.10041134e+02] [ 8.79406001e-01 4.76072045e-01 -7.02611363e-04 3.89943080e+02] [ 8.11284724e-04 -2.27644616e-05 9.99999671e-01 1.63859628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.05, Y:389.97, Z:1.64 [[ 4.75804395e-01 -8.79551033e-01 -3.98219375e-04 3.10053480e+02] [ 8.79550749e-01 4.75804561e-01 -7.07111958e-04 3.89967734e+02] [ 8.11415648e-04 -1.38071722e-05 9.99999671e-01 1.64062172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.07, Y:389.99, Z:1.64 [[ 4.75430203e-01 -8.79753354e-01 -3.97799102e-04 3.10065794e+02] [ 8.79753070e-01 4.75430369e-01 -7.07347300e-04 3.89992319e+02] [ 8.11416934e-04 -1.36707107e-05 9.99999671e-01 1.64308876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.08, Y:390.02, Z:1.64 [[ 4.74477097e-01 -8.80267759e-01 -3.96196732e-04 3.10079560e+02] [ 8.80267474e-01 4.74477262e-01 -7.08243678e-04 3.90016767e+02] [ 8.11430416e-04 -1.27136925e-05 9.99999671e-01 1.64277486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.09, Y:390.04, Z:1.64 [[ 4.72983867e-01 -8.81070999e-01 -3.96142479e-04 3.10092599e+02] [ 8.81070714e-01 4.72984033e-01 -7.08274003e-04 3.90039578e+02] [ 8.11408750e-04 -1.40273596e-05 9.99999671e-01 1.64459446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7927550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:310.11, Y:390.06, Z:1.65 [[ 4.72896593e-01 -8.81117845e-01 -3.95683876e-04 3.10109348e+02] [ 8.81117560e-01 4.72896758e-01 -7.08530113e-04 3.90064627e+02] [ 8.11416148e-04 -1.35825353e-05 9.99999671e-01 1.64635536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.12, Y:390.09, Z:1.65 [[ 4.73590084e-01 -8.80745294e-01 -3.99424519e-04 3.10124980e+02] [ 8.80745011e-01 4.73590252e-01 -7.06442056e-04 3.90089148e+02] [ 8.11359075e-04 -1.72271994e-05 9.99999671e-01 1.64565226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.14, Y:390.11, Z:1.65 [[ 4.73537261e-01 -8.80773694e-01 -4.03558745e-04 3.10137144e+02] [ 8.80773413e-01 4.73537432e-01 -7.04133949e-04 3.90110176e+02] [ 8.11282832e-04 -2.20101519e-05 9.99999671e-01 1.64576670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.15, Y:390.14, Z:1.64 [[ 4.74370843e-01 -8.80325024e-01 -3.94473226e-04 3.10154359e+02] [ 8.80324738e-01 4.74371007e-01 -7.09199817e-04 3.90137715e+02] [ 8.11453007e-04 -1.08408241e-05 9.99999671e-01 1.64299682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.16, Y:390.16, Z:1.65 [[ 4.69316526e-01 -8.83029918e-01 -4.02790249e-04 3.10163234e+02] [ 8.83029637e-01 4.69316698e-01 -7.04562411e-04 3.90160647e+02] [ 8.11185878e-04 -2.50129448e-05 9.99999671e-01 1.64501116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.18, Y:390.19, Z:1.65 [[ 4.68303008e-01 -8.83567845e-01 -3.94774103e-04 3.10177366e+02] [ 8.83567561e-01 4.68303174e-01 -7.09025673e-04 3.90185831e+02] [ 8.11346251e-04 -1.67707364e-05 9.99999671e-01 1.64687849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.19, Y:390.21, Z:1.65 [[ 4.68802010e-01 -8.83303185e-01 -3.98550185e-04 3.10191461e+02] [ 8.83302902e-01 4.68802179e-01 -7.06924077e-04 3.90208940e+02] [ 8.11269484e-04 -2.06331070e-05 9.99999671e-01 1.64792343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.20, Y:390.23, Z:1.64 [[ 4.66089573e-01 -8.84737450e-01 -3.94303683e-04 3.10203297e+02] [ 8.84737166e-01 4.66089739e-01 -7.09284781e-04 3.90234144e+02] [ 8.11311709e-04 -1.82648827e-05 9.99999671e-01 1.64493163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.22, Y:390.26, Z:1.64 [[ 4.73274521e-01 -8.80914907e-01 -3.94061906e-04 3.10220877e+02] [ 8.80914621e-01 4.73274685e-01 -7.09419081e-04 3.90255277e+02] [ 8.11437368e-04 -1.13849186e-05 9.99999671e-01 1.64338577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.062755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.24, Y:390.28, Z:1.64 [[ 4.71866882e-01 -8.81669718e-01 -3.93846178e-04 3.10240352e+02] [ 8.81669432e-01 4.71867046e-01 -7.09538826e-04 3.90284952e+02] [ 8.11421929e-04 -1.24342631e-05 9.99999671e-01 1.64470749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.092755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:310.25, Y:390.31, Z:1.65 [[ 4.70902618e-01 -8.82185102e-01 -4.12930337e-04 3.10253417e+02] [ 8.82184826e-01 4.70902797e-01 -6.98920212e-04 3.90309752e+02] [ 8.11027049e-04 -3.51575201e-05 9.99999671e-01 1.64541138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.27, Y:390.33, Z:1.65 [[ 4.71675554e-01 -8.81772082e-01 -4.10328550e-04 3.10266484e+02] [ 8.81771804e-01 4.71675731e-01 -7.00365871e-04 3.90332478e+02] [ 8.11105091e-04 -3.14706858e-05 9.99999671e-01 1.64537826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.28, Y:390.36, Z:1.65 [[ 4.69631725e-01 -8.82862321e-01 -4.05746431e-04 3.10277389e+02] [ 8.82862042e-01 4.69631899e-01 -7.02914065e-04 3.90355279e+02] [ 8.11127810e-04 -2.81073776e-05 9.99999671e-01 1.64687417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.29, Y:390.38, Z:1.65 [[ 4.70198305e-01 -8.82560703e-01 -3.99003656e-04 3.10290534e+02] [ 8.82560420e-01 4.70198474e-01 -7.06659231e-04 3.90376576e+02] [ 8.11280578e-04 -1.98748613e-05 9.99999671e-01 1.64534219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.30, Y:390.40, Z:1.65 [[ 4.68280676e-01 -8.83579682e-01 -3.93683314e-04 3.10304710e+02] [ 8.83579397e-01 4.68280841e-01 -7.09610891e-04 3.90403185e+02] [ 8.11352118e-04 -1.55533969e-05 9.99999671e-01 1.64826168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.32, Y:390.42, Z:1.65 [[ 4.67726721e-01 -8.83873043e-01 -3.98024694e-04 3.10317702e+02] [ 8.83872760e-01 4.67726890e-01 -7.07202295e-04 3.90424971e+02] [ 8.11243897e-04 -2.10257740e-05 9.99999671e-01 1.64891148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.33, Y:390.45, Z:1.65 [[ 4.66676523e-01 -8.84427990e-01 -3.93347162e-04 3.10330047e+02] [ 8.84427705e-01 4.66676688e-01 -7.09794445e-04 3.90448221e+02] [ 8.11328025e-04 -1.66427244e-05 9.99999671e-01 1.64984916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.302755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:310.34, Y:390.47, Z:1.65 [[ 4.65689069e-01 -8.84948324e-01 -3.93100110e-04 3.10342491e+02] [ 8.84948040e-01 4.65689235e-01 -7.09931242e-04 3.90471165e+02] [ 8.11314952e-04 -1.72659531e-05 9.99999671e-01 1.64873106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.332755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:310.36, Y:390.50, Z:1.65 [[ 4.64313247e-01 -8.85670963e-01 -3.92856285e-04 3.10355710e+02] [ 8.85670678e-01 4.64313413e-01 -7.10066142e-04 3.90495647e+02] [ 8.11293406e-04 -1.82481763e-05 9.99999671e-01 1.64935475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.37, Y:390.52, Z:1.65 [[ 4.63540694e-01 -8.86075545e-01 -3.92640970e-04 3.10368381e+02] [ 8.86075260e-01 4.63540860e-01 -7.10185184e-04 3.90520480e+02] [ 8.11282856e-04 -1.87097171e-05 9.99999671e-01 1.65030537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.392755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:310.38, Y:390.55, Z:1.65 [[ 4.62724151e-01 -8.86502231e-01 -3.92422425e-04 3.10380889e+02] [ 8.86501947e-01 4.62724317e-01 -7.10305923e-04 3.90545477e+02] [ 8.11271184e-04 -1.92075381e-05 9.99999671e-01 1.64884286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4227550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:310.40, Y:390.57, Z:1.65 [[ 4.62643132e-01 -8.86544516e-01 -3.92203784e-04 3.10395043e+02] [ 8.86544232e-01 4.62643297e-01 -7.10426628e-04 3.90571350e+02] [ 8.11275283e-04 -1.90320022e-05 9.99999671e-01 1.64946293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.41, Y:390.60, Z:1.65 [[ 4.60432695e-01 -8.87694530e-01 -3.94139984e-04 3.10406076e+02] [ 8.87694246e-01 4.60432863e-01 -7.09358371e-04 3.90596469e+02] [ 8.11168547e-04 -2.32640094e-05 9.99999671e-01 1.64859708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.42, Y:390.62, Z:1.65 [[ 4.60145025e-01 -8.87843682e-01 -3.91821629e-04 3.10419738e+02] [ 8.87843397e-01 4.60145191e-01 -7.10636635e-04 3.90621574e+02] [ 8.11229085e-04 -2.08803343e-05 9.99999671e-01 1.64861948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.43, Y:390.64, Z:1.65 [[ 4.62211328e-01 -8.86769719e-01 -3.91591315e-04 3.10431659e+02] [ 8.86769434e-01 4.62211494e-01 -7.10763526e-04 3.90644054e+02] [ 8.11281579e-04 -1.87282555e-05 9.99999671e-01 1.65156967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.44, Y:390.67, Z:1.65 [[ 4.62675992e-01 -8.86527370e-01 -3.86472430e-04 3.10442757e+02] [ 8.86527083e-01 4.62676153e-01 -7.13574159e-04 3.90666386e+02] [ 8.11414600e-04 -1.24646442e-05 9.99999671e-01 1.65036840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.46, Y:390.69, Z:1.65 [[ 4.61090633e-01 -8.87352963e-01 -3.84400427e-04 3.10455498e+02] [ 8.87352675e-01 4.61090793e-01 -7.14713547e-04 3.90694110e+02] [ 8.11446681e-04 -1.15510256e-05 9.99999671e-01 1.65115278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.47, Y:390.72, Z:1.65 [[ 4.61031463e-01 -8.87383703e-01 -3.91028836e-04 3.10468050e+02] [ 8.87383419e-01 4.61031629e-01 -7.11068470e-04 3.90718764e+02] [ 8.11267233e-04 -1.91675677e-05 9.99999671e-01 1.65109782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.48, Y:390.74, Z:1.65 [[ 4.60490208e-01 -8.87664698e-01 -3.90803394e-04 3.10480997e+02] [ 8.87664413e-01 4.60490373e-01 -7.11192352e-04 3.90743796e+02] [ 8.11261545e-04 -1.94051512e-05 9.99999671e-01 1.65182548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.49, Y:390.77, Z:1.65 [[ 4.60266920e-01 -8.87780497e-01 -3.90579758e-04 3.10494444e+02] [ 8.87780212e-01 4.60267085e-01 -7.11315149e-04 3.90768260e+02] [ 8.11262723e-04 -1.93541475e-05 9.99999671e-01 1.65204164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.51, Y:390.79, Z:1.65 [[ 4.59650389e-01 -8.88099864e-01 -3.90355932e-04 3.10505759e+02] [ 8.88099579e-01 4.59650554e-01 -7.11437959e-04 3.90792614e+02] [ 8.11255275e-04 -1.96622039e-05 9.99999671e-01 1.65325822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.722755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:310.52, Y:390.82, Z:1.65 [[ 4.59748738e-01 -8.88048955e-01 -3.90119998e-04 3.10518968e+02] [ 8.88048670e-01 4.59748903e-01 -7.11567311e-04 3.90817869e+02] [ 8.11263848e-04 -1.93033730e-05 9.99999671e-01 1.65236866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.752755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.53, Y:390.84, Z:1.65 [[ 4.60164462e-01 -8.87833608e-01 -3.89895294e-04 3.10531146e+02] [ 8.87833323e-01 4.60164627e-01 -7.11690413e-04 3.90843655e+02] [ 8.11278690e-04 -1.86673986e-05 9.99999671e-01 1.65396566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.54, Y:390.87, Z:1.65 [[ 4.60498462e-01 -8.87660416e-01 -3.89666603e-04 3.10544445e+02] [ 8.87660131e-01 4.60498627e-01 -7.11815605e-04 3.90868707e+02] [ 8.11291472e-04 -1.81015160e-05 9.99999671e-01 1.65457513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.56, Y:390.89, Z:1.65 [[ 4.61933015e-01 -8.86914730e-01 -3.89438221e-04 3.10557133e+02] [ 8.86914445e-01 4.61933178e-01 -7.11940532e-04 3.90893228e+02] [ 8.11324980e-04 -1.65295474e-05 9.99999671e-01 1.65495619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.842755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.57, Y:390.92, Z:1.65 [[ 4.62631029e-01 -8.86550833e-01 -3.89210781e-04 3.10569611e+02] [ 8.86550547e-01 4.62631193e-01 -7.12064850e-04 3.90917539e+02] [ 8.11342733e-04 -1.56317367e-05 9.99999671e-01 1.65385894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.58, Y:390.94, Z:1.65 [[ 4.63177687e-01 -8.86265355e-01 -3.88971068e-04 3.10581926e+02] [ 8.86265069e-01 4.63177850e-01 -7.12195771e-04 3.90942579e+02] [ 8.11357220e-04 -1.48582801e-05 9.99999671e-01 1.65433525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.902755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.60, Y:390.97, Z:1.65 [[ 4.63944845e-01 -8.85864002e-01 -3.88745423e-04 3.10595569e+02] [ 8.85863715e-01 4.63945008e-01 -7.12318916e-04 3.90967463e+02] [ 8.11374184e-04 -1.38987752e-05 9.99999671e-01 1.65325384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.932755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.61, Y:390.99, Z:1.65 [[ 4.63316397e-01 -8.86192849e-01 -3.88520882e-04 3.10609332e+02] [ 8.86192563e-01 4.63316560e-01 -7.12441366e-04 3.90991607e+02] [ 8.11368602e-04 -1.42185490e-05 9.99999671e-01 1.65311534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.962755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.62, Y:391.02, Z:1.65 [[ 4.61044158e-01 -8.87377109e-01 -3.88292458e-04 3.10622619e+02] [ 8.87376823e-01 4.61044321e-01 -7.12565840e-04 3.91015534e+02] [ 8.11334647e-04 -1.60374097e-05 9.99999671e-01 1.65422623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.64, Y:391.04, Z:1.66 [[ 4.59419638e-01 -8.88219256e-01 -3.88051917e-04 3.10635514e+02] [ 8.88218970e-01 4.59419802e-01 -7.12696810e-04 3.91040759e+02] [ 8.11309765e-04 -1.72481634e-05 9.99999671e-01 1.65563140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.65, Y:391.07, Z:1.66 [[ 4.57968083e-01 -8.88968551e-01 -3.87820643e-04 3.10647996e+02] [ 8.88968265e-01 4.57968247e-01 -7.12822638e-04 3.91065008e+02] [ 8.11286447e-04 -1.83102271e-05 9.99999671e-01 1.65580523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.66, Y:391.09, Z:1.66 [[ 4.55158664e-01 -8.90410265e-01 -3.87577362e-04 3.10661306e+02] [ 8.90409980e-01 4.55158829e-01 -7.12954890e-04 3.91089712e+02] [ 8.11231611e-04 -2.05951559e-05 9.99999671e-01 1.65636948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.67, Y:391.11, Z:1.66 [[ 4.53285672e-01 -8.91365217e-01 -3.87349123e-04 3.10674827e+02] [ 8.91364932e-01 4.53285837e-01 -7.13078872e-04 3.91114364e+02] [ 8.11193574e-04 -2.20409891e-05 9.99999671e-01 1.65688674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.69, Y:391.14, Z:1.66 [[ 4.50241579e-01 -8.92906698e-01 -3.87119375e-04 3.10688263e+02] [ 8.92906413e-01 4.50241745e-01 -7.13203576e-04 3.91138421e+02] [ 8.11121553e-04 -2.45474678e-05 9.99999671e-01 1.65775604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.142755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.70, Y:391.16, Z:1.66 [[ 4.48901302e-01 -8.93581262e-01 -3.86951714e-04 3.10702364e+02] [ 8.93580977e-01 4.48901468e-01 -7.13294530e-04 3.91162837e+02] [ 8.11089818e-04 -2.55738474e-05 9.99999671e-01 1.65680051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.72, Y:391.19, Z:1.66 [[ 4.47156920e-01 -8.94455443e-01 -3.86722155e-04 3.10715130e+02] [ 8.94455159e-01 4.47157086e-01 -7.13418967e-04 3.91187607e+02] [ 8.11047030e-04 -2.68953987e-05 9.99999671e-01 1.65789945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.73, Y:391.21, Z:1.66 [[ 4.45066896e-01 -8.95497241e-01 -3.86492715e-04 3.10726897e+02] [ 8.95496957e-01 4.45067063e-01 -7.13543243e-04 3.91212966e+02] [ 8.10991183e-04 -2.85285735e-05 9.99999671e-01 1.65625209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.232755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.74, Y:391.24, Z:1.65 [[ 4.44742380e-01 -8.95658454e-01 -3.86265742e-04 3.10740254e+02] [ 8.95658170e-01 4.44742547e-01 -7.13666091e-04 3.91237884e+02] [ 8.10989877e-04 -2.85645124e-05 9.99999671e-01 1.65410985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.75, Y:391.26, Z:1.65 [[ 4.43988538e-01 -8.96032382e-01 -3.86040039e-04 3.10753093e+02] [ 8.96032098e-01 4.43988705e-01 -7.13788158e-04 3.91262783e+02] [ 8.10974720e-04 -2.89905054e-05 9.99999671e-01 1.65476091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2927550960001 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:310.77, Y:391.29, Z:1.65 [[ 4.43627165e-01 -8.96211353e-01 -3.85811536e-04 3.10766530e+02] [ 8.96211069e-01 4.43627332e-01 -7.13911645e-04 3.91286804e+02] [ 8.10972264e-04 -2.90579699e-05 9.99999671e-01 1.65258973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.78, Y:391.31, Z:1.65 [[ 4.43616351e-01 -8.96216706e-01 -3.85574595e-04 3.10778064e+02] [ 8.96216422e-01 4.43616518e-01 -7.14039592e-04 3.91311310e+02] [ 8.10981470e-04 -2.87986457e-05 9.99999671e-01 1.65375142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.352755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.79, Y:391.34, Z:1.65 [[ 4.43517103e-01 -8.96265826e-01 -3.85337299e-04 3.10791120e+02] [ 8.96265542e-01 4.43517269e-01 -7.14167627e-04 3.91336349e+02] [ 8.10987785e-04 -2.86189859e-05 9.99999671e-01 1.65168065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:310.80, Y:391.36, Z:1.65 [[ 4.43775108e-01 -8.96138106e-01 -3.85117031e-04 3.10803911e+02] [ 8.96137822e-01 4.43775275e-01 -7.14286388e-04 3.91361865e+02] [ 8.11004667e-04 -2.81354178e-05 9.99999671e-01 1.65194100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.82, Y:391.39, Z:1.65 [[ 4.45223115e-01 -8.95419583e-01 -3.84895031e-04 3.10816159e+02] [ 8.95419298e-01 4.45223281e-01 -7.14405993e-04 3.91386845e+02] [ 8.11057345e-04 -2.65723775e-05 9.99999671e-01 1.65206754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.442755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:310.82, Y:391.41, Z:1.65 [[ 4.44426987e-01 -8.95814995e-01 -3.84671184e-04 3.10822466e+02] [ 8.95814710e-01 4.44427153e-01 -7.14526503e-04 3.91409016e+02] [ 8.11041875e-04 -2.70392447e-05 9.99999671e-01 1.65480425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.83, Y:391.43, Z:1.65 [[ 4.45558655e-01 -8.95252671e-01 -3.73047985e-04 3.10834299e+02] [ 8.95252381e-01 4.45558811e-01 -7.20772437e-04 3.91433229e+02] [ 8.11488267e-04 -1.28256989e-05 9.99999671e-01 1.65284502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.85, Y:391.46, Z:1.65 [[ 4.46867940e-01 -8.94599858e-01 -3.72422330e-04 3.10847074e+02] [ 8.94599567e-01 4.46868096e-01 -7.21108850e-04 3.91457972e+02] [ 8.11527532e-04 -1.09284287e-05 9.99999671e-01 1.65185586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.87, Y:391.48, Z:1.65 [[ 4.51715860e-01 -8.92161781e-01 -3.71692780e-04 3.10867747e+02] [ 8.92161489e-01 4.51716013e-01 -7.21500952e-04 3.91484552e+02] [ 8.11595155e-04 -5.69656079e-06 9.99999671e-01 1.65342524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:310.88, Y:391.51, Z:1.65 [[ 4.51739007e-01 -8.92150056e-01 -3.84407423e-04 3.10876414e+02] [ 8.92149769e-01 4.51739171e-01 -7.14661909e-04 3.91507687e+02] [ 8.11237553e-04 -2.01083327e-05 9.99999671e-01 1.65371951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.89, Y:391.53, Z:1.65 [[ 4.53683406e-01 -8.91162850e-01 -3.77128468e-04 3.10890299e+02] [ 8.91162560e-01 4.53683563e-01 -7.18572238e-04 3.91531688e+02] [ 8.11461870e-04 -1.00784703e-05 9.99999671e-01 1.65300837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.90, Y:391.56, Z:1.65 [[ 4.54282014e-01 -8.90857850e-01 -3.78855712e-04 3.10904067e+02] [ 8.90857561e-01 4.54282172e-01 -7.17644685e-04 3.91556662e+02] [ 8.11426797e-04 -1.14934019e-05 9.99999671e-01 1.65249742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.92, Y:391.58, Z:1.65 [[ 4.54406689e-01 -8.90794262e-01 -3.79186452e-04 3.10917020e+02] [ 8.90793973e-01 4.54406847e-01 -7.17467111e-04 3.91580623e+02] [ 8.11420505e-04 -1.17551519e-05 9.99999671e-01 1.65172250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.682755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.93, Y:391.60, Z:1.65 [[ 4.55473711e-01 -8.90249153e-01 -3.78948144e-04 3.10931775e+02] [ 8.90248864e-01 4.55473869e-01 -7.17594965e-04 3.91604150e+02] [ 8.11439287e-04 -1.05125129e-05 9.99999671e-01 1.65141991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.712755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:310.95, Y:391.63, Z:1.65 [[ 4.56096474e-01 -8.89930256e-01 -3.81245196e-04 3.10946394e+02] [ 8.89929968e-01 4.56096634e-01 -7.16363103e-04 3.91629593e+02] [ 8.11397850e-04 -1.25508398e-05 9.99999671e-01 1.65347208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.96, Y:391.65, Z:1.65 [[ 4.56418973e-01 -8.89764898e-01 -3.83592542e-04 3.10959520e+02] [ 8.89764611e-01 4.56419134e-01 -7.15104882e-04 3.91654132e+02] [ 8.11354199e-04 -1.49196334e-05 9.99999671e-01 1.65315999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:310.98, Y:391.68, Z:1.65 [[ 4.57563765e-01 -8.89176729e-01 -3.83165133e-04 3.10975230e+02] [ 8.89176441e-01 4.57563925e-01 -7.15333822e-04 3.91680115e+02] [ 8.11380730e-04 -1.33905731e-05 9.99999671e-01 1.65322308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:310.99, Y:391.71, Z:1.65 [[ 4.57541376e-01 -8.89188247e-01 -3.88612811e-04 3.10990408e+02] [ 8.89187962e-01 4.57541541e-01 -7.12415113e-04 3.91705075e+02] [ 8.11277649e-04 -1.95904414e-05 9.99999671e-01 1.64923817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.00, Y:391.73, Z:1.65 [[ 4.57253884e-01 -8.89336118e-01 -3.93253689e-04 3.11002331e+02] [ 8.89335835e-01 4.57254052e-01 -7.09926136e-04 3.91726874e+02] [ 8.11179797e-04 -2.51181148e-05 9.99999671e-01 1.65079111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.862755096 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:311.01, Y:391.75, Z:1.65 [[ 4.55456385e-01 -8.90258014e-01 -3.87568061e-04 3.11011166e+02] [ 8.90257729e-01 4.55456550e-01 -7.12969424e-04 3.91747903e+02] [ 8.11247155e-04 -2.03089849e-05 9.99999671e-01 1.64963274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.02, Y:391.77, Z:1.65 [[ 4.55827852e-01 -8.90067878e-01 -3.76534993e-04 3.11023788e+02] [ 8.90067588e-01 4.55828008e-01 -7.18864281e-04 3.91771038e+02] [ 8.11473201e-04 -7.46323158e-06 9.99999671e-01 1.65111520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.04, Y:391.80, Z:1.66 [[ 4.53628922e-01 -8.91190586e-01 -3.74852728e-04 3.11037591e+02] [ 8.91190296e-01 4.53629077e-01 -7.19761799e-04 3.91798683e+02] [ 8.11489036e-04 -7.56034504e-06 9.99999671e-01 1.65516457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.952755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.05, Y:391.82, Z:1.65 [[ 4.55469441e-01 -8.90251337e-01 -3.82024641e-04 3.11049920e+02] [ 8.90251049e-01 4.55469601e-01 -7.15934848e-04 3.91820835e+02] [ 8.11362566e-04 -1.40113920e-05 9.99999671e-01 1.65343643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.06, Y:391.85, Z:1.66 [[ 4.56076676e-01 -8.89940405e-01 -3.76714054e-04 3.11061351e+02] [ 8.89940114e-01 4.56076832e-01 -7.18764402e-04 3.91848150e+02] [ 8.11468035e-04 -7.44126903e-06 9.99999671e-01 1.65652037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.08, Y:391.88, Z:1.66 [[ 4.61144222e-01 -8.87325116e-01 -3.81529974e-04 3.11079081e+02] [ 8.87324827e-01 4.61144380e-01 -7.16198889e-04 3.91877521e+02] [ 8.11441666e-04 -8.27003799e-06 9.99999671e-01 1.65961738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0427550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.09, Y:391.90, Z:1.66 [[ 4.62816187e-01 -8.86454185e-01 -3.93718071e-04 3.11092545e+02] [ 8.86453901e-01 4.62816354e-01 -7.09702108e-04 3.91903203e+02] [ 8.11337566e-04 -2.05512973e-05 9.99999671e-01 1.65973360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.10, Y:391.93, Z:1.66 [[ 4.64432430e-01 -8.85608470e-01 -3.94637108e-04 3.11104139e+02] [ 8.85608187e-01 4.64432597e-01 -7.09212709e-04 3.91927071e+02] [ 8.11367119e-04 -2.01124721e-05 9.99999671e-01 1.66095565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.102755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:311.12, Y:391.95, Z:1.66 [[ 4.65339350e-01 -8.85132270e-01 -3.92291333e-04 3.11116331e+02] [ 8.85131985e-01 4.65339515e-01 -7.10459853e-04 3.91952811e+02] [ 8.11399601e-04 -1.66246806e-05 9.99999671e-01 1.66169209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.12, Y:391.97, Z:1.66 [[ 4.68933883e-01 -8.83233186e-01 -3.90583242e-04 3.11124156e+02] [ 8.83232900e-01 4.68934045e-01 -7.11366920e-04 3.91974721e+02] [ 8.11460651e-04 -1.13919179e-05 9.99999671e-01 1.66435045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.14, Y:392.00, Z:1.66 [[ 4.73153020e-01 -8.80980179e-01 -3.80065894e-04 3.11135863e+02] [ 8.80979887e-01 4.73153173e-01 -7.16942383e-04 3.91998828e+02] [ 8.11441412e-04 4.39304614e-06 9.99999671e-01 1.66314125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.15, Y:392.02, Z:1.67 [[ 4.74901693e-01 -8.80038771e-01 -3.79829328e-04 3.11148811e+02] [ 8.80038479e-01 4.74901845e-01 -7.17067691e-04 3.92023806e+02] [ 8.11429018e-04 6.27223630e-06 9.99999671e-01 1.66651288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.16, Y:392.05, Z:1.67 [[ 4.76771436e-01 -8.79027220e-01 -3.79606764e-04 3.11161773e+02] [ 8.79026928e-01 4.76771587e-01 -7.17185494e-04 3.92048381e+02] [ 8.11411291e-04 8.24899027e-06 9.99999671e-01 1.66740777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.17, Y:392.07, Z:1.67 [[ 4.79455636e-01 -8.77566037e-01 -3.79386066e-04 3.11173997e+02] [ 8.77565744e-01 4.79455786e-01 -7.17302223e-04 3.92073153e+02] [ 8.11378914e-04 1.09783784e-05 9.99999671e-01 1.66981935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.19, Y:392.10, Z:1.67 [[ 4.79065828e-01 -8.77778895e-01 -3.79162917e-04 3.11187123e+02] [ 8.77778602e-01 4.79065978e-01 -7.17420159e-04 3.92099986e+02] [ 8.11380328e-04 1.08703871e-05 9.99999671e-01 1.66892236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.312755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.20, Y:392.12, Z:1.67 [[ 4.79458376e-01 -8.77564539e-01 -3.81763886e-04 3.11199938e+02] [ 8.77564247e-01 4.79458527e-01 -7.16046192e-04 3.92123000e+02] [ 8.11416697e-04 8.29200713e-06 9.99999671e-01 1.67047622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.21, Y:392.15, Z:1.67 [[ 4.78383758e-01 -8.78150806e-01 -3.78680200e-04 3.11213761e+02] [ 8.78150512e-01 4.78383907e-01 -7.17673298e-04 3.92149182e+02] [ 8.11379898e-04 1.07850375e-05 9.99999671e-01 1.67095266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.22, Y:392.17, Z:1.67 [[ 4.76780939e-01 -8.79022065e-01 -3.81962152e-04 3.11224894e+02] [ 8.79021773e-01 4.76781092e-01 -7.15941900e-04 3.92172935e+02] [ 8.11441059e-04 5.59440290e-06 9.99999671e-01 1.67078475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.24, Y:392.20, Z:1.67 [[ 4.76509337e-01 -8.79169329e-01 -3.78350095e-04 3.11238059e+02] [ 8.79169036e-01 4.76509487e-01 -7.17845682e-04 3.92198292e+02] [ 8.11395316e-04 9.42648171e-06 9.99999671e-01 1.67080677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.25, Y:392.23, Z:1.67 [[ 4.71896825e-01 -8.81653698e-01 -3.78128276e-04 3.11250952e+02] [ 8.81653406e-01 4.71896977e-01 -7.17962507e-04 3.92225133e+02] [ 8.11431890e-04 5.42614533e-06 9.99999671e-01 1.66887142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.26, Y:392.25, Z:1.67 [[ 4.69896554e-01 -8.82721408e-01 -3.81193648e-04 3.11263902e+02] [ 8.82721117e-01 4.69896709e-01 -7.16348304e-04 3.92248632e+02] [ 8.11457624e-04 1.21916341e-07 9.99999671e-01 1.67057401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.492755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:311.28, Y:392.27, Z:1.67 [[ 4.64373994e-01 -8.85639120e-01 -3.79200179e-04 3.11277462e+02] [ 8.85638829e-01 4.64374149e-01 -7.17397504e-04 3.92271891e+02] [ 8.11446054e-04 -2.69365845e-06 9.99999671e-01 1.66836618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.29, Y:392.30, Z:1.67 [[ 4.61039931e-01 -8.87379310e-01 -3.77679747e-04 3.11288883e+02] [ 8.87379019e-01 4.61040085e-01 -7.18197057e-04 3.92295112e+02] [ 8.11438711e-04 -4.02756208e-06 9.99999671e-01 1.66945047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.30, Y:392.32, Z:1.67 [[ 4.54321359e-01 -8.90837785e-01 -3.77493132e-04 3.11300708e+02] [ 8.90837496e-01 4.54321516e-01 -7.18295130e-04 3.92320388e+02] [ 8.11387695e-04 -9.94821649e-06 9.99999671e-01 1.66903475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.31, Y:392.34, Z:1.67 [[ 4.50530298e-01 -8.92761059e-01 -3.77274804e-04 3.11312978e+02] [ 8.92760770e-01 4.50530456e-01 -7.18409786e-04 3.92344691e+02] [ 8.11342070e-04 -1.31507694e-05 9.99999671e-01 1.66837923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.612755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.32, Y:392.37, Z:1.67 [[ 4.43791836e-01 -8.96129825e-01 -3.77045181e-04 3.11324982e+02] [ 8.96129538e-01 4.43791996e-01 -7.18530279e-04 3.92369049e+02] [ 8.11226047e-04 -1.90034518e-05 9.99999671e-01 1.66790084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.33, Y:392.39, Z:1.66 [[ 4.37289245e-01 -8.99320841e-01 -3.76804693e-04 3.11330466e+02] [ 8.99320554e-01 4.37289407e-01 -7.18656371e-04 3.92392024e+02] [ 8.11075353e-04 -2.46075034e-05 9.99999671e-01 1.66420584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6727550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.35, Y:392.42, Z:1.66 [[ 4.37903381e-01 -8.99021966e-01 -3.65225169e-04 3.11349376e+02] [ 8.99021674e-01 4.37903533e-01 -7.24717500e-04 3.92417855e+02] [ 8.11470343e-04 -1.09890996e-05 9.99999671e-01 1.66493563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.36, Y:392.44, Z:1.66 [[ 4.32242484e-01 -9.01757336e-01 -3.76539451e-04 3.11355391e+02] [ 9.01757050e-01 4.32242647e-01 -7.18790497e-04 3.92441106e+02] [ 8.10931013e-04 -2.88553144e-05 9.99999671e-01 1.66254884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.37, Y:392.47, Z:1.66 [[ 4.29229223e-01 -9.03195516e-01 -3.65728649e-04 3.11368070e+02] [ 9.03195226e-01 4.29229379e-01 -7.24454892e-04 3.92466744e+02] [ 8.11305890e-04 -1.93671591e-05 9.99999671e-01 1.66285290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.38, Y:392.49, Z:1.66 [[ 4.28384270e-01 -9.03596582e-01 -3.66428725e-04 3.11384841e+02] [ 9.03596292e-01 4.28384426e-01 -7.24088233e-04 3.92493698e+02] [ 8.11256011e-04 -2.09156282e-05 9.99999671e-01 1.66422132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.39, Y:392.52, Z:1.66 [[ 4.24491139e-01 -9.05432014e-01 -3.76691285e-04 3.11393066e+02] [ 9.05431729e-01 4.24491304e-01 -7.18709401e-04 3.92517824e+02] [ 8.10644675e-04 -3.59824693e-05 9.99999671e-01 1.66287696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.41, Y:392.54, Z:1.66 [[ 4.24775810e-01 -9.05298501e-01 -3.69182877e-04 3.11406951e+02] [ 9.05298212e-01 4.24775970e-01 -7.22639342e-04 3.92541862e+02] [ 8.11024327e-04 -2.72608866e-05 9.99999671e-01 1.66483964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.42, Y:392.57, Z:1.67 [[ 4.24774382e-01 -9.05299170e-01 -3.70123239e-04 3.11422151e+02] [ 9.05298882e-01 4.24774543e-01 -7.22147750e-04 3.92567295e+02] [ 8.10978689e-04 -2.83222902e-05 9.99999671e-01 1.66632195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.43, Y:392.59, Z:1.67 [[ 4.25121900e-01 -9.05136028e-01 -3.75964769e-04 3.11434427e+02] [ 9.05135743e-01 4.25122065e-01 -7.19093615e-04 3.92592868e+02] [ 8.10708457e-04 -3.45967061e-05 9.99999671e-01 1.66624857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.45, Y:392.62, Z:1.67 [[ 4.27887811e-01 -9.03831777e-01 -3.75749900e-04 3.11445674e+02] [ 9.03831491e-01 4.27887975e-01 -7.19205873e-04 3.92618522e+02] [ 8.10819986e-04 -3.18751657e-05 9.99999671e-01 1.66853486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.46, Y:392.64, Z:1.66 [[ 4.28977250e-01 -9.03315215e-01 -3.74691648e-04 3.11457533e+02] [ 9.03314929e-01 4.28977413e-01 -7.19758476e-04 3.92643679e+02] [ 8.10903037e-04 -2.97045471e-05 9.99999671e-01 1.66495833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.47, Y:392.67, Z:1.67 [[ 4.30731214e-01 -9.02480183e-01 -3.75437247e-04 3.11469110e+02] [ 9.02479897e-01 4.30731376e-01 -7.19369350e-04 3.92668921e+02] [ 8.10929185e-04 -2.89697344e-05 9.99999671e-01 1.66749632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.48, Y:392.69, Z:1.67 [[ 4.34246636e-01 -9.00793938e-01 -3.74622840e-04 3.11481235e+02] [ 9.00793651e-01 4.34246797e-01 -7.19794139e-04 3.92694174e+02] [ 8.11064965e-04 -2.48896927e-05 9.99999671e-01 1.66870414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0327550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:311.49, Y:392.72, Z:1.67 [[ 4.35606398e-01 -9.00137170e-01 -3.75129344e-04 3.11493620e+02] [ 9.00136883e-01 4.35606559e-01 -7.19530072e-04 3.92718537e+02] [ 8.11084565e-04 -2.42358559e-05 9.99999671e-01 1.66949212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.51, Y:392.74, Z:1.67 [[ 4.38134840e-01 -8.98909184e-01 -3.74889863e-04 3.11506167e+02] [ 8.98908897e-01 4.38135000e-01 -7.19654825e-04 3.92743276e+02] [ 8.11156701e-04 -2.16859813e-05 9.99999671e-01 1.67026905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.52, Y:392.77, Z:1.67 [[ 4.38949301e-01 -8.98511753e-01 -3.74668079e-04 3.11518816e+02] [ 8.98511465e-01 4.38949461e-01 -7.19770271e-04 3.92768062e+02] [ 8.11182400e-04 -2.07009074e-05 9.99999671e-01 1.67080085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.53, Y:392.79, Z:1.67 [[ 4.40773641e-01 -8.97618214e-01 -3.74446141e-04 3.11531130e+02] [ 8.97617925e-01 4.40773800e-01 -7.19885712e-04 3.92793213e+02] [ 8.11228575e-04 -1.88029221e-05 9.99999671e-01 1.67170497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.54, Y:392.82, Z:1.67 [[ 4.41619805e-01 -8.97202212e-01 -3.74221309e-04 3.11543863e+02] [ 8.97201923e-01 4.41619963e-01 -7.20002568e-04 3.92818570e+02] [ 8.11251497e-04 -1.77846850e-05 9.99999671e-01 1.67202865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.56, Y:392.84, Z:1.67 [[ 4.43423452e-01 -8.96312168e-01 -3.73993445e-04 3.11555771e+02] [ 8.96311879e-01 4.43423610e-01 -7.20120909e-04 3.92843332e+02] [ 8.11290656e-04 -1.58962679e-05 9.99999671e-01 1.67153729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.212755096 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:311.57, Y:392.87, Z:1.67 [[ 4.44428657e-01 -8.95814171e-01 -3.73752979e-04 3.11568274e+02] [ 8.95813882e-01 4.44428814e-01 -7.20245693e-04 3.92868206e+02] [ 8.11312891e-04 -1.47152816e-05 9.99999671e-01 1.67025306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.58, Y:392.89, Z:1.67 [[ 4.44938645e-01 -8.95560977e-01 -3.71954354e-04 3.11581524e+02] [ 8.95560687e-01 4.44938800e-01 -7.21178359e-04 3.92893638e+02] [ 8.11356120e-04 -1.22275748e-05 9.99999671e-01 1.67054681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.60, Y:392.92, Z:1.67 [[ 4.46898002e-01 -8.94584841e-01 -3.71888246e-04 3.11595441e+02] [ 8.94584550e-01 4.46898157e-01 -7.21212613e-04 3.92918071e+02] [ 8.11382043e-04 -1.03770039e-05 9.99999671e-01 1.67175534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.61, Y:392.94, Z:1.67 [[ 4.47513120e-01 -8.94277288e-01 -3.72818846e-04 3.11608390e+02] [ 8.94276998e-01 4.47513275e-01 -7.20730692e-04 3.92942756e+02] [ 8.11374472e-04 -1.08668775e-05 9.99999671e-01 1.66951153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.62, Y:392.97, Z:1.67 [[ 4.48932633e-01 -8.93565527e-01 -3.73039078e-04 3.11621250e+02] [ 8.93565237e-01 4.48932788e-01 -7.20616685e-04 3.92967915e+02] [ 8.11387702e-04 -9.82640619e-06 9.99999671e-01 1.66849698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.362755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:311.63, Y:392.99, Z:1.67 [[ 4.49548282e-01 -8.93255956e-01 -3.72822986e-04 3.11634122e+02] [ 8.93255665e-01 4.49548437e-01 -7.20728467e-04 3.92992647e+02] [ 8.11396986e-04 -9.02400017e-06 9.99999671e-01 1.66816275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.65, Y:393.02, Z:1.67 [[ 4.51441670e-01 -8.92300555e-01 -3.72602054e-04 3.11649499e+02] [ 8.92300264e-01 4.51441823e-01 -7.20842666e-04 3.93018840e+02] [ 8.11416462e-04 -7.05449387e-06 9.99999671e-01 1.66818775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.66, Y:393.04, Z:1.67 [[ 4.52023860e-01 -8.92005767e-01 -3.76464236e-04 3.11660459e+02] [ 8.92005478e-01 4.52024016e-01 -7.18847145e-04 3.93041261e+02] [ 8.11386675e-04 -1.08720994e-05 9.99999671e-01 1.66825360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.67, Y:393.07, Z:1.67 [[ 4.52758326e-01 -8.91633198e-01 -3.72131363e-04 3.11674107e+02] [ 8.91632906e-01 4.52758479e-01 -7.21083223e-04 3.93065924e+02] [ 8.11427370e-04 -5.32813615e-06 9.99999671e-01 1.67038648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.482755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:311.69, Y:393.09, Z:1.67 [[ 4.54112788e-01 -8.90944127e-01 -3.71905883e-04 3.11689137e+02] [ 8.90943835e-01 4.54112940e-01 -7.21199498e-04 3.93089853e+02] [ 8.11435731e-04 -3.84133954e-06 9.99999671e-01 1.66881146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.70, Y:393.11, Z:1.67 [[ 4.55281581e-01 -8.90347429e-01 -3.71682461e-04 3.11703423e+02] [ 8.90347137e-01 4.55281733e-01 -7.21314624e-04 3.93114459e+02] [ 8.11440855e-04 -2.52515266e-06 9.99999671e-01 1.67166388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.72, Y:393.14, Z:1.67 [[ 4.56230353e-01 -8.89861634e-01 -3.71456385e-04 3.11717589e+02] [ 8.89861341e-01 4.56230504e-01 -7.21431027e-04 3.93138864e+02] [ 8.11443527e-04 -1.40594508e-06 9.99999671e-01 1.67208438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.572755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:311.73, Y:393.16, Z:1.67 [[ 4.57999239e-01 -8.88952507e-01 -3.71229997e-04 3.11732694e+02] [ 8.88952214e-01 4.57999390e-01 -7.21547502e-04 3.93161785e+02] [ 8.11444573e-04 4.62479791e-07 9.99999671e-01 1.67078600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.75, Y:393.19, Z:1.67 [[ 4.59386050e-01 -8.88236635e-01 -3.70991425e-04 3.11747416e+02] [ 8.88236342e-01 4.59386200e-01 -7.21670146e-04 3.93185597e+02] [ 8.11442203e-04 1.99713183e-06 9.99999671e-01 1.67264587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.76, Y:393.21, Z:1.67 [[ 4.61441738e-01 -8.87170437e-01 -3.70767704e-04 3.11763711e+02] [ 8.87170144e-01 4.61441887e-01 -7.21785067e-04 3.93207540e+02] [ 8.11434123e-04 4.12771862e-06 9.99999671e-01 1.67341373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6627550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:311.78, Y:393.23, Z:1.67 [[ 4.61962703e-01 -8.86899275e-01 -3.70531923e-04 3.11777887e+02] [ 8.86898981e-01 4.61962852e-01 -7.21906086e-04 3.93231272e+02] [ 8.11429968e-04 4.86930200e-06 9.99999671e-01 1.67262556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.79, Y:393.26, Z:1.68 [[ 4.63128222e-01 -8.86291212e-01 -3.70313565e-04 3.11793199e+02] [ 8.86290918e-01 4.63128370e-01 -7.22018079e-04 3.93256334e+02] [ 8.11420996e-04 6.18139979e-06 9.99999671e-01 1.67661124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.722755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:311.81, Y:393.28, Z:1.67 [[ 4.63930981e-01 -8.85871270e-01 -3.71438300e-04 3.11809673e+02] [ 8.85870976e-01 4.63931130e-01 -7.21441567e-04 3.93277995e+02] [ 8.11426147e-04 5.65268484e-06 9.99999671e-01 1.67361758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.82, Y:393.30, Z:1.68 [[ 4.62224964e-01 -8.86762621e-01 -3.69877276e-04 3.11824965e+02] [ 8.86762327e-01 4.62225112e-01 -7.22241005e-04 3.93303315e+02] [ 8.11422892e-04 5.84458897e-06 9.99999671e-01 1.67566861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.84, Y:393.32, Z:1.68 [[ 4.64417321e-01 -8.85616402e-01 -3.74941398e-04 3.11842663e+02] [ 8.85616110e-01 4.64417472e-01 -7.19648648e-04 3.93322621e+02] [ 8.11461983e-04 2.16315436e-06 9.99999671e-01 1.67735706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.86, Y:393.35, Z:1.68 [[ 4.61552346e-01 -8.87112899e-01 -3.69288307e-04 3.11855379e+02] [ 8.87112605e-01 4.61552494e-01 -7.22537936e-04 3.93346844e+02] [ 8.11418662e-04 5.88876818e-06 9.99999671e-01 1.67920970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.87, Y:393.37, Z:1.68 [[ 4.62337298e-01 -8.86704060e-01 -3.65983884e-04 3.11872720e+02] [ 8.86703764e-01 4.62337443e-01 -7.24227583e-04 3.93371326e+02] [ 8.11383591e-04 1.03181361e-05 9.99999671e-01 1.67858121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.89, Y:393.39, Z:1.68 [[ 4.62186053e-01 -8.86782903e-01 -3.69361054e-04 3.11889952e+02] [ 8.86782608e-01 4.62186200e-01 -7.22500937e-04 3.93393111e+02] [ 8.11415060e-04 6.38689748e-06 9.99999671e-01 1.67622196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:311.90, Y:393.42, Z:1.68 [[ 4.61501807e-01 -8.87139192e-01 -3.69224778e-04 3.11904640e+02] [ 8.87138898e-01 4.61501955e-01 -7.22570572e-04 3.93416787e+02] [ 8.11418630e-04 5.91396258e-06 9.99999671e-01 1.67775279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.932755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:311.92, Y:393.44, Z:1.67 [[ 4.60039365e-01 -8.87898444e-01 -3.68988773e-04 3.11921654e+02] [ 8.87898150e-01 4.60039513e-01 -7.22691071e-04 3.93438306e+02] [ 8.11425692e-04 4.84189283e-06 9.99999671e-01 1.67479670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.962755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:311.94, Y:393.46, Z:1.67 [[ 4.59253058e-01 -8.88305405e-01 -3.68740294e-04 3.11937188e+02] [ 8.88305111e-01 4.59253206e-01 -7.22817831e-04 3.93461997e+02] [ 8.11428148e-04 4.40241199e-06 9.99999671e-01 1.67422799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.992755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:311.95, Y:393.49, Z:1.68 [[ 4.57694560e-01 -8.89109416e-01 -3.68507476e-04 3.11951928e+02] [ 8.89109122e-01 4.57694709e-01 -7.22936506e-04 3.93486150e+02] [ 8.11433577e-04 3.24074811e-06 9.99999671e-01 1.67625159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:311.97, Y:393.51, Z:1.67 [[ 4.56331451e-01 -8.89809795e-01 -3.67798341e-04 3.11970356e+02] [ 8.89809501e-01 4.56331599e-01 -7.23297706e-04 3.93508504e+02] [ 8.11435389e-04 2.79303351e-06 9.99999671e-01 1.67493950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.052755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:311.98, Y:393.53, Z:1.68 [[ 4.56179449e-01 -8.89887731e-01 -3.71456992e-04 3.11984843e+02] [ 8.89887438e-01 4.56179600e-01 -7.21434202e-04 3.93530797e+02] [ 8.11446546e-04 -1.45145408e-06 9.99999671e-01 1.67607660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.082755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.00, Y:393.55, Z:1.67 [[ 4.54283711e-01 -8.90856989e-01 -3.67941043e-04 3.12003208e+02] [ 8.90856695e-01 4.54283860e-01 -7.23222947e-04 3.93553595e+02] [ 8.11437895e-04 7.65662701e-07 9.99999671e-01 1.67339272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.02, Y:393.57, Z:1.67 [[ 4.54129629e-01 -8.90935543e-01 -3.71113873e-04 3.12018100e+02] [ 8.90935251e-01 4.54129781e-01 -7.21609354e-04 3.93574967e+02] [ 8.11441284e-04 -2.93424271e-06 9.99999671e-01 1.67491184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.142755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:312.03, Y:393.60, Z:1.67 [[ 4.52800446e-01 -8.91611811e-01 -3.67512620e-04 3.12033049e+02] [ 8.91611517e-01 4.52800595e-01 -7.23438819e-04 3.93598415e+02] [ 8.11436528e-04 -1.05064687e-07 9.99999671e-01 1.67335986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1727550960001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:312.05, Y:393.62, Z:1.67 [[ 4.51169462e-01 -8.92438223e-01 -3.67288172e-04 3.12050615e+02] [ 8.92437929e-01 4.51169612e-01 -7.23552753e-04 3.93619894e+02] [ 8.11435395e-04 -1.33698971e-06 9.99999671e-01 1.67358361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.202755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:312.06, Y:393.64, Z:1.67 [[ 4.51153011e-01 -8.92446540e-01 -3.67051599e-04 3.12063189e+02] [ 8.92446246e-01 4.51153161e-01 -7.23672744e-04 3.93644388e+02] [ 8.11435725e-04 -1.08668416e-06 9.99999671e-01 1.67401324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.08, Y:393.67, Z:1.68 [[ 4.53453910e-01 -8.91279652e-01 -3.66817607e-04 3.12076556e+02] [ 8.91279358e-01 4.53454058e-01 -7.23791331e-04 3.93666818e+02] [ 8.11435418e-04 1.26904839e-06 9.99999671e-01 1.67686814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.09, Y:393.69, Z:1.68 [[ 4.54040363e-01 -8.90981041e-01 -3.66627925e-04 3.12089906e+02] [ 8.90980747e-01 4.54040511e-01 -7.23887399e-04 3.93691172e+02] [ 8.11433879e-04 2.01567465e-06 9.99999671e-01 1.67835975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.10, Y:393.72, Z:1.68 [[ 4.54543915e-01 -8.90724253e-01 -3.66379508e-04 3.12103332e+02] [ 8.90723959e-01 4.54544062e-01 -7.24013109e-04 3.93716086e+02] [ 8.11431665e-04 2.75274669e-06 9.99999671e-01 1.67933932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.12, Y:393.74, Z:1.68 [[ 4.54268217e-01 -8.90864891e-01 -3.66155393e-04 3.12116083e+02] [ 8.90864596e-01 4.54268365e-01 -7.24126432e-04 3.93741681e+02] [ 8.11431627e-04 2.75274660e-06 9.99999671e-01 1.67936243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.13, Y:393.76, Z:1.68 [[ 4.55517353e-01 -8.90226829e-01 -3.65931244e-04 3.12127691e+02] [ 8.90226534e-01 4.55517500e-01 -7.24239687e-04 3.93764898e+02] [ 8.11425685e-04 4.14204231e-06 9.99999671e-01 1.67962377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.14, Y:393.79, Z:1.68 [[ 4.56167503e-01 -8.89893856e-01 -3.65667429e-04 3.12140041e+02] [ 8.89893561e-01 4.56167650e-01 -7.24372862e-04 3.93789528e+02] [ 8.11420611e-04 5.03026972e-06 9.99999671e-01 1.68027863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.15, Y:393.81, Z:1.68 [[ 4.58368565e-01 -8.88762131e-01 -3.65421992e-04 3.12151434e+02] [ 8.88761835e-01 4.58368711e-01 -7.24496656e-04 3.93812656e+02] [ 8.11403199e-04 7.31337262e-06 9.99999671e-01 1.68085996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.16, Y:393.84, Z:1.68 [[ 4.57356879e-01 -8.89283169e-01 -3.61229232e-04 3.12163356e+02] [ 8.89282872e-01 4.57357022e-01 -7.26610230e-04 3.93839382e+02] [ 8.11372974e-04 1.10852186e-05 9.99999671e-01 1.68080070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.17, Y:393.86, Z:1.68 [[ 4.56920966e-01 -8.89507222e-01 -3.65126361e-04 3.12174430e+02] [ 8.89506927e-01 4.56921112e-01 -7.24646591e-04 3.93863504e+02] [ 8.11412318e-04 6.32379319e-06 9.99999671e-01 1.67961562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.19, Y:393.89, Z:1.68 [[ 4.55640245e-01 -8.90163937e-01 -3.64862319e-04 3.12185890e+02] [ 8.90163641e-01 4.55640391e-01 -7.24779512e-04 3.93887606e+02] [ 8.11418594e-04 5.45154464e-06 9.99999671e-01 1.67935098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.20, Y:393.91, Z:1.68 [[ 4.54845609e-01 -8.90570233e-01 -3.64612503e-04 3.12198050e+02] [ 8.90569938e-01 4.54845755e-01 -7.24905165e-04 3.93911585e+02] [ 8.11421410e-04 5.00699698e-06 9.99999671e-01 1.68001989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.21, Y:393.94, Z:1.68 [[ 4.52198142e-01 -8.91917433e-01 -3.64365465e-04 3.12210131e+02] [ 8.91917139e-01 4.52198289e-01 -7.25029314e-04 3.93936025e+02] [ 8.11431725e-04 2.87310554e-06 9.99999671e-01 1.67838326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.592755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.22, Y:393.96, Z:1.68 [[ 4.51029554e-01 -8.92508940e-01 -3.65051668e-04 3.12222595e+02] [ 8.92508646e-01 4.51029701e-01 -7.24684647e-04 3.93960291e+02] [ 8.11436671e-04 1.04242259e-06 9.99999671e-01 1.67949858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.622755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.23, Y:393.98, Z:1.68 [[ 4.49656078e-01 -8.93201701e-01 -3.63900500e-04 3.12234370e+02] [ 8.93201407e-01 4.49656226e-01 -7.25262246e-04 3.93983390e+02] [ 8.11435597e-04 1.08213890e-06 9.99999671e-01 1.67946833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.652755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.25, Y:394.01, Z:1.68 [[ 4.47412949e-01 -8.94327413e-01 -3.63646218e-04 3.12246388e+02] [ 8.94327118e-01 4.47413097e-01 -7.25389721e-04 3.94007866e+02] [ 8.11435993e-04 -6.69919792e-07 9.99999671e-01 1.67889997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.682755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:312.26, Y:394.03, Z:1.68 [[ 4.46046716e-01 -8.95009606e-01 -3.63406770e-04 3.12258394e+02] [ 8.95009312e-01 4.46046864e-01 -7.25509660e-04 3.94031090e+02] [ 8.11434565e-04 -1.64124274e-06 9.99999671e-01 1.67844944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.27, Y:394.05, Z:1.68 [[ 4.43189627e-01 -8.96427813e-01 -3.63156215e-04 3.12272541e+02] [ 8.96427519e-01 4.43189775e-01 -7.25635054e-04 3.94054844e+02] [ 8.11426566e-04 -3.94929629e-06 9.99999671e-01 1.67857288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.28, Y:394.08, Z:1.68 [[ 4.41366923e-01 -8.97326645e-01 -3.62920259e-04 3.12284695e+02] [ 8.97326352e-01 4.41367072e-01 -7.25753047e-04 3.94078048e+02] [ 8.11418598e-04 -5.33452273e-06 9.99999671e-01 1.67847606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.772755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:312.30, Y:394.10, Z:1.68 [[ 4.37652676e-01 -8.99144040e-01 -3.62673258e-04 3.12296518e+02] [ 8.99143747e-01 4.37652826e-01 -7.25876457e-04 3.94101385e+02] [ 8.11392466e-04 -8.41361835e-06 9.99999671e-01 1.67761528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.31, Y:394.13, Z:1.68 [[ 4.35776091e-01 -9.00055036e-01 -3.62428690e-04 3.12308838e+02] [ 9.00054743e-01 4.35776242e-01 -7.25998549e-04 3.94125038e+02] [ 8.11376462e-04 -9.83285127e-06 9.99999671e-01 1.67767979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.32, Y:394.15, Z:1.68 [[ 4.33990592e-01 -9.00917330e-01 -3.62187737e-04 3.12321984e+02] [ 9.00917037e-01 4.33990743e-01 -7.26118736e-04 3.94149230e+02] [ 8.11359078e-04 -1.11724025e-05 9.99999671e-01 1.68027987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.33, Y:394.17, Z:1.68 [[ 4.32241725e-01 -9.01757706e-01 -3.61946017e-04 3.12334701e+02] [ 9.01757413e-01 4.32241877e-01 -7.26239205e-04 3.94172932e+02] [ 8.11340025e-04 -1.24766173e-05 9.99999671e-01 1.68223671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.35, Y:394.20, Z:1.68 [[ 4.30008501e-01 -9.02824766e-01 -3.61697589e-04 3.12347480e+02] [ 9.02824474e-01 4.30008653e-01 -7.26362912e-04 3.94196410e+02] [ 8.11311519e-04 -1.42072078e-05 9.99999671e-01 1.68379600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.36, Y:394.22, Z:1.69 [[ 4.29197219e-01 -9.03210726e-01 -3.61465092e-04 3.12360126e+02] [ 9.03210434e-01 4.29197371e-01 -7.26478593e-04 3.94221100e+02] [ 8.11303125e-04 -1.46764505e-05 9.99999671e-01 1.68560591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.37, Y:394.25, Z:1.69 [[ 4.28547242e-01 -9.03519303e-01 -3.61215279e-04 3.12373351e+02] [ 9.03519011e-01 4.28547394e-01 -7.26602782e-04 3.94246771e+02] [ 8.11297505e-04 -1.49812529e-05 9.99999671e-01 1.68791329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.39, Y:394.27, Z:1.69 [[ 4.29553025e-01 -9.03041564e-01 -3.63103138e-04 3.12385272e+02] [ 9.03041273e-01 4.29553178e-01 -7.25664469e-04 3.94270991e+02] [ 8.11277285e-04 -1.61857518e-05 9.99999671e-01 1.68520479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.012755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:312.40, Y:394.30, Z:1.68 [[ 4.30231675e-01 -9.02718437e-01 -3.60893727e-04 3.12397033e+02] [ 9.02718144e-01 4.30231826e-01 -7.26761614e-04 3.94296008e+02] [ 8.11329075e-04 -1.31094487e-05 9.99999671e-01 1.68428599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0427550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.41, Y:394.32, Z:1.68 [[ 4.32517784e-01 -9.01625331e-01 -3.60650214e-04 3.12408729e+02] [ 9.01625038e-01 4.32517934e-01 -7.26882436e-04 3.94319692e+02] [ 8.11363302e-04 -1.07816825e-05 9.99999671e-01 1.68408986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.072755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:312.42, Y:394.34, Z:1.68 [[ 4.33666402e-01 -9.01073428e-01 -3.60395437e-04 3.12419746e+02] [ 9.01073135e-01 4.33666551e-01 -7.27008735e-04 3.94343249e+02] [ 8.11379699e-04 -9.46338385e-06 9.99999671e-01 1.68408086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.102755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.43, Y:394.37, Z:1.68 [[ 4.36842883e-01 -8.99537751e-01 -3.60144086e-04 3.12429830e+02] [ 8.99537457e-01 4.36843031e-01 -7.27133227e-04 3.94367670e+02] [ 8.11410222e-04 -6.32012039e-06 9.99999671e-01 1.68342747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.44, Y:394.39, Z:1.69 [[ 4.37931863e-01 -8.99008094e-01 -3.59895115e-04 3.12441810e+02] [ 8.99007800e-01 4.37932011e-01 -7.27256434e-04 3.94393922e+02] [ 8.11419013e-04 -5.05975048e-06 9.99999671e-01 1.68527693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.45, Y:394.42, Z:1.68 [[ 4.40010016e-01 -8.97992793e-01 -3.60454079e-04 3.12454066e+02] [ 8.97992498e-01 4.40010164e-01 -7.26979955e-04 3.94418607e+02] [ 8.11426219e-04 -3.80659734e-06 9.99999671e-01 1.68478295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:312.47, Y:394.44, Z:1.69 [[ 4.43312575e-01 -8.96367018e-01 -3.59583096e-04 3.12466985e+02] [ 8.96366723e-01 4.43312721e-01 -7.27410511e-04 3.94443894e+02] [ 8.11434552e-04 1.51906012e-07 9.99999671e-01 1.68585129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.48, Y:394.47, Z:1.69 [[ 4.44519886e-01 -8.95768911e-01 -3.59350297e-04 3.12478872e+02] [ 8.95768615e-01 4.44520032e-01 -7.27525498e-04 3.94468630e+02] [ 8.11433129e-04 1.50483352e-06 9.99999671e-01 1.68619151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.252755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.49, Y:394.49, Z:1.69 [[ 4.45780904e-01 -8.95142032e-01 -3.59105224e-04 3.12491096e+02] [ 8.95141736e-01 4.45781049e-01 -7.27646446e-04 3.94493557e+02] [ 8.11429221e-04 2.92081661e-06 9.99999671e-01 1.68890709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.50, Y:394.52, Z:1.69 [[ 4.47055198e-01 -8.94506300e-01 -3.58858725e-04 3.12501891e+02] [ 8.94506004e-01 4.47055342e-01 -7.27767994e-04 3.94519409e+02] [ 8.11422765e-04 4.35118064e-06 9.99999671e-01 1.68914501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.312755096 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:312.51, Y:394.54, Z:1.69 [[ 4.47999647e-01 -8.94033661e-01 -3.60619874e-04 3.12513223e+02] [ 8.94033365e-01 4.47999792e-01 -7.26899810e-04 3.94542901e+02] [ 8.11430527e-04 3.24465883e-06 9.99999671e-01 1.68523552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.53, Y:394.57, Z:1.69 [[ 4.48552204e-01 -8.93756562e-01 -3.58556601e-04 3.12526318e+02] [ 8.93756266e-01 4.48552347e-01 -7.27916136e-04 3.94567827e+02] [ 8.11411228e-04 6.04617857e-06 9.99999671e-01 1.69053262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.54, Y:394.59, Z:1.69 [[ 4.48173100e-01 -8.93946723e-01 -3.58324927e-04 3.12538504e+02] [ 8.93946427e-01 4.48173244e-01 -7.28030162e-04 3.94592009e+02] [ 8.11411823e-04 5.96024662e-06 9.99999671e-01 1.68994459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.55, Y:394.62, Z:1.69 [[ 4.47761230e-01 -8.94153093e-01 -3.58156057e-04 3.12550604e+02] [ 8.94152796e-01 4.47761373e-01 -7.28113229e-04 3.94616893e+02] [ 8.11413143e-04 5.77463507e-06 9.99999671e-01 1.69102567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.56, Y:394.64, Z:1.69 [[ 4.47004740e-01 -8.94531517e-01 -3.57924865e-04 3.12562027e+02] [ 8.94531220e-01 4.47004883e-01 -7.28226860e-04 3.94641306e+02] [ 8.11416040e-04 5.34589175e-06 9.99999671e-01 1.68997063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.462755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.57, Y:394.67, Z:1.69 [[ 4.46177182e-01 -8.94944576e-01 -3.57681329e-04 3.12574112e+02] [ 8.94944280e-01 4.46177325e-01 -7.28346457e-04 3.94666398e+02] [ 8.11419010e-04 4.86670993e-06 9.99999671e-01 1.68789244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.59, Y:394.69, Z:1.69 [[ 4.44271533e-01 -8.95892113e-01 -3.57450983e-04 3.12586598e+02] [ 8.95891816e-01 4.44271677e-01 -7.28459487e-04 3.94689986e+02] [ 8.11426456e-04 3.39640195e-06 9.99999671e-01 1.69055690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.60, Y:394.71, Z:1.69 [[ 4.42263409e-01 -8.96885138e-01 -3.57208325e-04 3.12599245e+02] [ 8.96884842e-01 4.42263553e-01 -7.28578458e-04 3.94714622e+02] [ 8.11431413e-04 1.84886000e-06 9.99999671e-01 1.69120699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.552755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:312.61, Y:394.74, Z:1.69 [[ 4.39645357e-01 -8.98171383e-01 -3.56973490e-04 3.12612397e+02] [ 8.98171087e-01 4.39645502e-01 -7.28693499e-04 3.94740111e+02] [ 8.11433437e-04 -2.56554186e-07 9.99999671e-01 1.68899832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.582755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:312.63, Y:394.76, Z:1.69 [[ 4.35062964e-01 -9.00399961e-01 -3.57434592e-04 3.12626857e+02] [ 9.00399666e-01 4.35063111e-01 -7.28467686e-04 3.94763230e+02] [ 8.11418882e-04 -4.90467629e-06 9.99999671e-01 1.69083853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.64, Y:394.79, Z:1.69 [[ 4.32036168e-01 -9.01856209e-01 -3.56678198e-04 3.12639865e+02] [ 9.01855915e-01 4.32036316e-01 -7.28837850e-04 3.94787635e+02] [ 8.11404875e-04 -6.78803017e-06 9.99999671e-01 1.69133293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.65, Y:394.81, Z:1.69 [[ 4.27169873e-01 -9.04171318e-01 -3.56448044e-04 3.12654294e+02] [ 9.04171024e-01 4.27170022e-01 -7.28950392e-04 3.94812325e+02] [ 8.11359956e-04 -1.09043465e-05 9.99999671e-01 1.69219256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.67, Y:394.84, Z:1.69 [[ 4.24425693e-01 -9.05462702e-01 -3.56216458e-04 3.12667115e+02] [ 9.05462408e-01 4.24425843e-01 -7.29063544e-04 3.94837438e+02] [ 8.11327316e-04 -1.31073121e-05 9.99999671e-01 1.69304645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.68, Y:394.86, Z:1.69 [[ 4.22993898e-01 -9.06132460e-01 -3.57825758e-04 3.12679849e+02] [ 9.06132167e-01 4.22994049e-01 -7.28277645e-04 3.94861993e+02] [ 8.11274180e-04 -1.61804296e-05 9.99999671e-01 1.69293326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:312.69, Y:394.89, Z:1.69 [[ 4.19449430e-01 -9.07778635e-01 -3.55843430e-04 3.12690687e+02] [ 9.07778342e-01 4.19449580e-01 -7.29244945e-04 3.94887638e+02] [ 8.11251357e-04 -1.71455826e-05 9.99999671e-01 1.69134009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.70, Y:394.91, Z:1.69 [[ 4.19857411e-01 -9.07590011e-01 -3.54295373e-04 3.12704369e+02] [ 9.07589718e-01 4.19857561e-01 -7.29999648e-04 3.94912093e+02] [ 8.11293980e-04 -1.50590756e-05 9.99999671e-01 1.69489418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.72, Y:394.94, Z:1.69 [[ 4.18910388e-01 -9.08027511e-01 -3.55403777e-04 3.12718015e+02] [ 9.08027218e-01 4.18910538e-01 -7.29459617e-04 3.94935392e+02] [ 8.11251788e-04 -1.71380917e-05 9.99999671e-01 1.69490665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.73, Y:394.96, Z:1.69 [[ 4.18613952e-01 -9.08164211e-01 -3.55147933e-04 3.12730089e+02] [ 9.08163918e-01 4.18614102e-01 -7.29584157e-04 3.94959352e+02] [ 8.11252153e-04 -1.71184309e-05 9.99999671e-01 1.69441593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.74, Y:394.98, Z:1.69 [[ 4.19255885e-01 -9.07868040e-01 -3.54894009e-04 3.12741008e+02] [ 9.07867746e-01 4.19256035e-01 -7.29707653e-04 3.94984295e+02] [ 8.11269711e-04 -1.62625966e-05 9.99999671e-01 1.69337084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.882755096 meters Centerline goodness : 0.999821 Centerline is valid? [True, True] Translation: X:312.75, Y:395.01, Z:1.69 [[ 4.19696793e-01 -9.07664297e-01 -3.54638912e-04 3.12751593e+02] [ 9.07664004e-01 4.19696943e-01 -7.29831609e-04 3.95009067e+02] [ 8.11282962e-04 -1.55849886e-05 9.99999671e-01 1.68976878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.76, Y:395.04, Z:1.69 [[ 4.20872341e-01 -9.07119809e-01 -3.54385430e-04 3.12763245e+02] [ 9.07119515e-01 4.20872490e-01 -7.29954672e-04 3.95035709e+02] [ 8.11307421e-04 -1.42522083e-05 9.99999671e-01 1.69122938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.77, Y:395.06, Z:1.69 [[ 4.22820608e-01 -9.06213334e-01 -3.54795493e-04 3.12774632e+02] [ 9.06213041e-01 4.22820757e-01 -7.29755666e-04 3.95060186e+02] [ 8.11329214e-04 -1.29645683e-05 9.99999671e-01 1.69210743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.79, Y:395.09, Z:1.69 [[ 4.26019728e-01 -9.04713803e-01 -3.54124047e-04 3.12785708e+02] [ 9.04713509e-01 4.26019875e-01 -7.30081349e-04 3.95085867e+02] [ 8.11378556e-04 -9.35175099e-06 9.99999671e-01 1.69223667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.002755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:312.80, Y:395.11, Z:1.69 [[ 4.28887594e-01 -9.03357796e-01 -3.53895414e-04 3.12797253e+02] [ 9.03357500e-01 4.28887740e-01 -7.30192159e-04 3.95111975e+02] [ 8.11406183e-04 -6.52371830e-06 9.99999671e-01 1.69042254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.81, Y:395.14, Z:1.69 [[ 4.30764549e-01 -9.02464281e-01 -3.53663146e-04 3.12809333e+02] [ 9.02463986e-01 4.30764694e-01 -7.30304639e-04 3.95137226e+02] [ 8.11419447e-04 -4.57890395e-06 9.99999671e-01 1.69334457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.82, Y:395.16, Z:1.69 [[ 4.31811790e-01 -9.01963665e-01 -3.53429422e-04 3.12820729e+02] [ 9.01963369e-01 4.31811935e-01 -7.30417731e-04 3.95163453e+02] [ 8.11425296e-04 -3.37740379e-06 9.99999671e-01 1.69333230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.83, Y:395.19, Z:1.69 [[ 4.32948252e-01 -9.01418708e-01 -3.53196439e-04 3.12831873e+02] [ 9.01418412e-01 4.32948396e-01 -7.30530374e-04 3.95189311e+02] [ 8.11429577e-04 -2.09592534e-06 9.99999671e-01 1.69346665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.84, Y:395.21, Z:1.69 [[ 4.34123168e-01 -9.00853457e-01 -3.52965182e-04 3.12843050e+02] [ 9.00853161e-01 4.34123311e-01 -7.30642092e-04 3.95214875e+02] [ 8.11431867e-04 -7.81140284e-07 9.99999671e-01 1.69476423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.85, Y:395.24, Z:1.70 [[ 4.34087965e-01 -9.00870420e-01 -3.52730927e-04 3.12854685e+02] [ 9.00870124e-01 4.34088108e-01 -7.30755165e-04 3.95239317e+02] [ 8.11432013e-04 -5.52731200e-07 9.99999671e-01 1.69523737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.182755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.87, Y:395.26, Z:1.70 [[ 4.33794248e-01 -9.01011890e-01 -3.52483948e-04 3.12866934e+02] [ 9.01011594e-01 4.33794391e-01 -7.30874277e-04 3.95264281e+02] [ 8.11431974e-04 -5.43065906e-07 9.99999671e-01 1.69646681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.212755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:312.88, Y:395.29, Z:1.70 [[ 4.33508021e-01 -9.01149639e-01 -3.52252038e-04 3.12879202e+02] [ 9.01149342e-01 4.33508164e-01 -7.30986031e-04 3.95290119e+02] [ 8.11431933e-04 -5.43384877e-07 9.99999671e-01 1.69648992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:312.89, Y:395.32, Z:1.70 [[ 4.32679192e-01 -9.01547887e-01 -3.52019806e-04 3.12891769e+02] [ 9.01547591e-01 4.32679335e-01 -7.31097850e-04 3.95315744e+02] [ 8.11431418e-04 -1.03178133e-06 9.99999671e-01 1.69700846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.272755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:312.90, Y:395.34, Z:1.70 [[ 4.31453649e-01 -9.02135037e-01 -3.51788655e-04 3.12903720e+02] [ 9.02134741e-01 4.31453792e-01 -7.31209058e-04 3.95341105e+02] [ 8.11429860e-04 -1.87795095e-06 9.99999671e-01 1.69739071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.302755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:312.92, Y:395.37, Z:1.70 [[ 4.29713541e-01 -9.02965198e-01 -3.51558384e-04 3.12915221e+02] [ 9.02964902e-01 4.29713685e-01 -7.31319753e-04 3.95365317e+02] [ 8.11425735e-04 -3.18688062e-06 9.99999671e-01 1.69765277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.332755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.93, Y:395.39, Z:1.70 [[ 4.27907668e-01 -9.03822385e-01 -3.51315863e-04 3.12926162e+02] [ 9.03822089e-01 4.27907812e-01 -7.31436239e-04 3.95390097e+02] [ 8.11419248e-04 -4.53986188e-06 9.99999671e-01 1.69545566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.362755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:312.93, Y:395.41, Z:1.70 [[ 4.22479008e-01 -9.06372641e-01 -3.51059251e-04 3.12932250e+02] [ 9.06372346e-01 4.22479154e-01 -7.31559381e-04 3.95412898e+02] [ 8.11380624e-04 -9.12191487e-06 9.99999671e-01 1.69571050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.95, Y:395.44, Z:1.70 [[ 4.23533785e-01 -9.05880244e-01 -3.39864927e-04 3.12951282e+02] [ 9.05879945e-01 4.23533922e-01 -7.36923858e-04 3.95439942e+02] [ 8.11509090e-04 4.23532973e-06 9.99999671e-01 1.69829254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.96, Y:395.46, Z:1.70 [[ 4.21113210e-01 -9.07008016e-01 -3.50859493e-04 3.12963002e+02] [ 9.07007721e-01 4.21113356e-01 -7.31651474e-04 3.95463866e+02] [ 8.11365371e-04 -1.01241691e-05 9.99999671e-01 1.69773597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.98, Y:395.49, Z:1.70 [[ 4.17865950e-01 -9.08508627e-01 -3.50590934e-04 3.12975388e+02] [ 9.08508332e-01 4.17866097e-01 -7.31780139e-04 3.95489641e+02] [ 8.11328634e-04 -1.27287816e-05 9.99999671e-01 1.69876476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:312.99, Y:395.51, Z:1.70 [[ 4.13392336e-01 -9.10552938e-01 -3.52047429e-04 3.12987144e+02] [ 9.10552644e-01 4.13392486e-01 -7.31082903e-04 3.95513643e+02] [ 8.11223447e-04 -1.83336482e-05 9.99999671e-01 1.69782390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.00, Y:395.54, Z:1.70 [[ 4.10517314e-01 -9.11852736e-01 -3.50071879e-04 3.12998396e+02] [ 9.11852443e-01 4.10517463e-01 -7.32027655e-04 3.95538217e+02] [ 8.11212040e-04 -1.87038710e-05 9.99999671e-01 1.69804107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.01, Y:395.56, Z:1.70 [[ 4.05320307e-01 -9.14174670e-01 -3.49818382e-04 3.13005284e+02] [ 9.14174377e-01 4.05320457e-01 -7.32148775e-04 3.95559553e+02] [ 8.11100411e-04 -2.30402354e-05 9.99999671e-01 1.69591651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.02, Y:395.58, Z:1.70 [[ 4.04216047e-01 -9.14663474e-01 -3.42524288e-04 3.13016433e+02] [ 9.14663178e-01 4.04216192e-01 -7.35640481e-04 3.95582437e+02] [ 8.11317341e-04 -1.59366666e-05 9.99999671e-01 1.69673442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.03, Y:395.61, Z:1.69 [[ 4.01463402e-01 -9.15875005e-01 -3.36366140e-04 3.13027208e+02] [ 9.15874707e-01 4.01463542e-01 -7.38583908e-04 3.95609165e+02] [ 8.11489282e-04 -1.15548320e-05 9.99999671e-01 1.69416573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.04, Y:395.63, Z:1.70 [[ 4.01596330e-01 -9.15816726e-01 -3.36616604e-04 3.13037841e+02] [ 9.15816428e-01 4.01596471e-01 -7.38464988e-04 3.95633378e+02] [ 8.11482627e-04 -1.17141871e-05 9.99999671e-01 1.69655636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.05, Y:395.66, Z:1.70 [[ 4.00788491e-01 -9.16170547e-01 -3.37920483e-04 3.13052562e+02] [ 9.16170250e-01 4.00788633e-01 -7.37844415e-04 3.95661025e+02] [ 8.11426009e-04 -1.38731441e-05 9.99999671e-01 1.70093715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.06, Y:395.68, Z:1.70 [[ 4.02799450e-01 -9.15288196e-01 -3.48876491e-04 3.13060339e+02] [ 9.15287903e-01 4.02799600e-01 -7.32627172e-04 3.95682965e+02] [ 8.11092314e-04 -2.42206096e-05 9.99999671e-01 1.69692876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.07, Y:395.71, Z:1.70 [[ 4.04359986e-01 -9.14599851e-01 -3.38599188e-04 3.13074417e+02] [ 9.14599553e-01 4.04360128e-01 -7.37514873e-04 3.95711134e+02] [ 8.11447004e-04 -1.14611621e-05 9.99999671e-01 1.69907407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.08, Y:395.74, Z:1.70 [[ 4.04709734e-01 -9.14445138e-01 -3.47016177e-04 3.13084949e+02] [ 9.14444844e-01 4.04709883e-01 -7.33509997e-04 3.95738882e+02] [ 8.11195527e-04 -2.04685182e-05 9.99999671e-01 1.70031207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:395.77, Z:1.70 [[ 4.05055069e-01 -9.14292222e-01 -3.53124999e-04 3.13095954e+02] [ 9.14291930e-01 4.05055222e-01 -7.30605347e-04 3.95765725e+02] [ 8.11021910e-04 -2.69239372e-05 9.99999671e-01 1.70036267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.10, Y:395.79, Z:1.70 [[ 4.05768422e-01 -9.13975854e-01 -3.55773165e-04 3.13104842e+02] [ 9.13975563e-01 4.05768577e-01 -7.29347058e-04 3.95789241e+02] [ 8.10967170e-04 -2.92219737e-05 9.99999671e-01 1.70047661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.11, Y:395.81, Z:1.70 [[ 4.04215563e-01 -9.14663684e-01 -3.52876887e-04 3.13111347e+02] [ 9.14663392e-01 4.04215716e-01 -7.30721045e-04 3.95814494e+02] [ 8.11002387e-04 -2.73947521e-05 9.99999671e-01 1.70317246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.12, Y:395.84, Z:1.70 [[ 4.03420406e-01 -9.15014675e-01 -3.47350681e-04 3.13122485e+02] [ 9.15014381e-01 4.03420555e-01 -7.33338569e-04 3.95840034e+02] [ 8.11143957e-04 -2.19871252e-05 9.99999671e-01 1.70387842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.13, Y:395.87, Z:1.71 [[ 4.01475661e-01 -9.15869627e-01 -3.47116994e-04 3.13133228e+02] [ 9.15869333e-01 4.01475810e-01 -7.33449166e-04 3.95865073e+02] [ 8.11102890e-04 -2.34518209e-05 9.99999671e-01 1.70579981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.14, Y:395.89, Z:1.71 [[ 3.99752424e-01 -9.16623085e-01 -3.46871190e-04 3.13143761e+02] [ 9.16622792e-01 3.99752573e-01 -7.33565396e-04 3.95890419e+02] [ 8.11065627e-04 -2.47054932e-05 9.99999671e-01 1.70601253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:313.15, Y:395.92, Z:1.70 [[ 3.96201477e-01 -9.18163531e-01 -3.46615280e-04 3.13153112e+02] [ 9.18163238e-01 3.96201628e-01 -7.33686295e-04 3.95915984e+02] [ 8.10973538e-04 -2.75618142e-05 9.99999671e-01 1.70267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.16, Y:395.94, Z:1.70 [[ 3.94701634e-01 -9.18809284e-01 -3.46359633e-04 3.13163931e+02] [ 9.18808991e-01 3.94701785e-01 -7.33806962e-04 3.95941778e+02] [ 8.10937414e-04 -2.86035385e-05 9.99999671e-01 1.70442216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.022755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.18, Y:395.97, Z:1.70 [[ 3.93016430e-01 -9.19531384e-01 -3.46127403e-04 3.13175360e+02] [ 9.19531091e-01 3.93016582e-01 -7.33916485e-04 3.95967859e+02] [ 8.10893050e-04 -2.98336718e-05 9.99999671e-01 1.70408189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.20, Y:396.00, Z:1.70 [[ 3.95301209e-01 -9.18551487e-01 -3.45896281e-04 3.13196132e+02] [ 9.18551195e-01 3.95301359e-01 -7.34025398e-04 3.95996491e+02] [ 8.10973390e-04 -2.75623149e-05 9.99999671e-01 1.69990029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.21, Y:396.02, Z:1.70 [[ 3.95680799e-01 -9.18388030e-01 -3.64098855e-04 3.13205883e+02] [ 9.18387744e-01 3.95680963e-01 -7.25456015e-04 3.96016294e+02] [ 8.10317105e-04 -4.73349104e-05 9.99999671e-01 1.69989720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.112755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:313.21, Y:396.04, Z:1.70 [[ 3.88750038e-01 -9.21343197e-01 -3.48456913e-04 3.13206314e+02] [ 9.21342906e-01 3.88750193e-01 -7.32797195e-04 3.96037500e+02] [ 8.10620402e-04 -3.61733674e-05 9.99999671e-01 1.70100431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.142755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.22, Y:396.06, Z:1.70 [[ 3.87133432e-01 -9.22023643e-01 -3.29321114e-04 3.13217827e+02] [ 9.22023345e-01 3.87133571e-01 -7.41759459e-04 3.96063205e+02] [ 8.11411017e-04 -1.64818700e-05 9.99999671e-01 1.69905760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.24, Y:396.09, Z:1.70 [[ 3.92829166e-01 -9.19611406e-01 -3.30013884e-04 3.13242264e+02] [ 9.19611107e-01 3.92829305e-01 -7.41435126e-04 3.96093173e+02] [ 8.11471323e-04 -1.22270905e-05 9.99999671e-01 1.69803773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.25, Y:396.12, Z:1.70 [[ 3.90796321e-01 -9.20477111e-01 -3.51766185e-04 3.13253144e+02] [ 9.20476821e-01 3.90796478e-01 -7.31233334e-04 3.96119244e+02] [ 8.10552533e-04 -3.80293230e-05 9.99999671e-01 1.69762907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.232755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.27, Y:396.15, Z:1.70 [[ 3.85579384e-01 -9.22674599e-01 -3.51373585e-04 3.13266038e+02] [ 9.22674310e-01 3.85579542e-01 -7.31417261e-04 3.96151980e+02] [ 8.10342593e-04 -4.21839625e-05 9.99999671e-01 1.69757916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.27, Y:396.17, Z:1.70 [[ 3.82492922e-01 -9.23958349e-01 -3.66467329e-04 3.13265738e+02] [ 9.23958067e-01 3.82493093e-01 -7.24340730e-04 3.96169959e+02] [ 8.09431887e-04 -6.15452431e-05 9.99999671e-01 1.69942172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.28, Y:396.19, Z:1.69 [[ 3.89529804e-01 -9.21013797e-01 -3.43375128e-04 3.13284011e+02] [ 9.21013504e-01 3.89529954e-01 -7.35127012e-04 3.96194404e+02] [ 8.10817019e-04 -2.98992489e-05 9.99999671e-01 1.69420238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.30, Y:396.22, Z:1.69 [[ 3.90335533e-01 -9.20672608e-01 -3.48671319e-04 3.13295716e+02] [ 9.20672317e-01 3.90335687e-01 -7.32653969e-04 3.96218709e+02] [ 8.10633299e-04 -3.50311534e-05 9.99999671e-01 1.69410085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.31, Y:396.25, Z:1.70 [[ 3.85616174e-01 -9.22659225e-01 -3.47322894e-04 3.13307184e+02] [ 9.22658934e-01 3.85616329e-01 -7.33282765e-04 3.96251675e+02] [ 8.10503487e-04 -3.76948765e-05 9.99999671e-01 1.69654177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.382755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.32, Y:396.27, Z:1.69 [[ 3.91742236e-01 -9.20074937e-01 -3.61641753e-04 3.13317975e+02] [ 9.20074651e-01 3.91742400e-01 -7.26600803e-04 3.96271651e+02] [ 8.10197596e-04 -4.80971862e-05 9.99999671e-01 1.69447887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.33, Y:396.30, Z:1.69 [[ 3.91886993e-01 -9.20013295e-01 -3.49097631e-04 3.13327729e+02] [ 9.20013004e-01 3.91887147e-01 -7.32434856e-04 3.96297097e+02] [ 8.10656680e-04 -3.41426668e-05 9.99999671e-01 1.69497272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.442755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.34, Y:396.33, Z:1.69 [[ 3.92713516e-01 -9.19660793e-01 -3.46513754e-04 3.13344546e+02] [ 9.19660501e-01 3.92713667e-01 -7.33634926e-04 3.96334225e+02] [ 8.10775965e-04 -3.05666615e-05 9.99999671e-01 1.69049055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:313.35, Y:396.35, Z:1.69 [[ 3.95110310e-01 -9.18633606e-01 -3.74963549e-04 3.13349403e+02] [ 9.18633326e-01 3.95110483e-01 -7.20398695e-04 3.96348952e+02] [ 8.09934480e-04 -5.98170605e-05 9.99999670e-01 1.69367819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.502755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:313.36, Y:396.38, Z:1.69 [[ 3.94031850e-01 -9.19096719e-01 -3.48337341e-04 3.13362514e+02] [ 9.19096428e-01 3.94032003e-01 -7.32724106e-04 3.96380575e+02] [ 8.10700382e-04 -3.14389707e-05 9.99999671e-01 1.69490271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.37, Y:396.40, Z:1.69 [[ 3.98206283e-01 -9.17295822e-01 -3.61573415e-04 3.13372094e+02] [ 9.17295536e-01 3.98206445e-01 -7.26597269e-04 3.96404607e+02] [ 8.10485504e-04 -4.23340814e-05 9.99999671e-01 1.69496461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.38, Y:396.43, Z:1.69 [[ 3.99998763e-01 -9.16515611e-01 -3.54794052e-04 3.13383464e+02] [ 9.16515321e-01 3.99998919e-01 -7.29729647e-04 3.96430303e+02] [ 8.10725850e-04 -3.32832284e-05 9.99999671e-01 1.69371468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.40, Y:396.46, Z:1.69 [[ 4.01765179e-01 -9.15742657e-01 -3.55874166e-04 3.13395442e+02] [ 9.15742367e-01 4.01765336e-01 -7.29230765e-04 3.96455139e+02] [ 8.10765622e-04 -3.29095228e-05 9.99999671e-01 1.69454957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.41, Y:396.48, Z:1.69 [[ 3.97749899e-01 -9.17493811e-01 -3.54047807e-04 3.13406242e+02] [ 9.17493521e-01 3.97750055e-01 -7.30073011e-04 3.96484720e+02] [ 8.10660004e-04 -3.44501028e-05 9.99999671e-01 1.69330505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.652755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:313.42, Y:396.51, Z:1.69 [[ 3.98667692e-01 -9.17095383e-01 -3.61880521e-04 3.13416294e+02] [ 9.17095096e-01 3.98667854e-01 -7.26465783e-04 3.96508220e+02] [ 8.10508546e-04 -4.22604138e-05 9.99999671e-01 1.69367337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.43, Y:396.53, Z:1.69 [[ 3.99424172e-01 -9.16766166e-01 -3.56702512e-04 3.13427483e+02] [ 9.16765877e-01 3.99424330e-01 -7.28844685e-04 3.96531121e+02] [ 8.10655810e-04 -3.58945061e-05 9.99999671e-01 1.69399881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.44, Y:396.56, Z:1.69 [[ 3.97365256e-01 -9.17660466e-01 -3.51124778e-04 3.13437823e+02] [ 9.17660175e-01 3.97365410e-01 -7.31402245e-04 3.96557064e+02] [ 8.10703766e-04 -3.15793850e-05 9.99999671e-01 1.69483451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.45, Y:396.58, Z:1.69 [[ 3.95744353e-01 -9.18360649e-01 -3.54343056e-04 3.13449401e+02] [ 9.18360360e-01 3.95744510e-01 -7.29927690e-04 3.96582249e+02] [ 8.10566186e-04 -3.65498552e-05 9.99999671e-01 1.69428920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.46, Y:396.61, Z:1.69 [[ 3.90933640e-01 -9.20418798e-01 -3.53639282e-04 3.13461238e+02] [ 9.20418509e-01 3.90933798e-01 -7.30249697e-04 3.96607976e+02] [ 8.10385096e-04 -4.00169681e-05 9.99999671e-01 1.69365244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.47, Y:396.63, Z:1.70 [[ 3.90359965e-01 -9.20662247e-01 -3.54125084e-04 3.13470178e+02] [ 9.20661958e-01 3.90360123e-01 -7.30027653e-04 3.96628986e+02] [ 8.10345211e-04 -4.10559244e-05 9.99999671e-01 1.69664570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.48, Y:396.65, Z:1.70 [[ 3.87603155e-01 -9.21826271e-01 -3.47925210e-04 3.13480154e+02] [ 9.21825980e-01 3.87603310e-01 -7.32858267e-04 3.96651800e+02] [ 8.10424966e-04 -3.66683205e-05 9.99999671e-01 1.69619992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.862755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:313.49, Y:396.68, Z:1.69 [[ 3.83456878e-01 -9.23558717e-01 -3.44574909e-04 3.13487170e+02] [ 9.23558426e-01 3.83457031e-01 -7.34382207e-04 3.96675914e+02] [ 8.10374761e-04 -3.66311525e-05 9.99999671e-01 1.69226210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.50, Y:396.70, Z:1.70 [[ 3.81305500e-01 -9.24449026e-01 -3.37964448e-04 3.13501634e+02] [ 9.24448732e-01 3.81305649e-01 -7.37384406e-04 3.96704395e+02] [ 8.10542049e-04 -3.12620755e-05 9.99999671e-01 1.69639808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.51, Y:396.72, Z:1.69 [[ 3.84369804e-01 -9.23179143e-01 -3.52176170e-04 3.13511215e+02] [ 9.23178855e-01 3.84369963e-01 -7.30910109e-04 3.96721986e+02] [ 8.10126910e-04 -4.41818180e-05 9.99999671e-01 1.69348321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.52, Y:396.75, Z:1.69 [[ 3.81424269e-01 -9.24400029e-01 -3.36917367e-04 3.13523891e+02] [ 9.24399735e-01 3.81424416e-01 -7.37839193e-04 3.96752376e+02] [ 8.10567081e-04 -3.00165504e-05 9.99999671e-01 1.69087520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.982755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.54, Y:396.78, Z:1.69 [[ 3.82792900e-01 -9.23834118e-01 -3.44183235e-04 3.13536463e+02] [ 9.23833827e-01 3.82793053e-01 -7.34560000e-04 3.96778432e+02] [ 8.10362541e-04 -3.67837625e-05 9.99999671e-01 1.69068265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.012755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.55, Y:396.80, Z:1.69 [[ 3.83420863e-01 -9.23573670e-01 -3.43489675e-04 3.13545720e+02] [ 9.23573378e-01 3.83421015e-01 -7.34872623e-04 3.96799462e+02] [ 8.10410165e-04 -3.54724245e-05 9.99999671e-01 1.68831383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0427550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:313.56, Y:396.83, Z:1.69 [[ 3.80325460e-01 -9.24852655e-01 -3.32529916e-04 3.13558467e+02] [ 9.24852360e-01 3.80325604e-01 -7.39802962e-04 3.96831403e+02] [ 8.10678375e-04 -2.61751755e-05 9.99999671e-01 1.68890436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.072755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.57, Y:396.86, Z:1.69 [[ 3.81545042e-01 -9.24350183e-01 -3.47471675e-04 3.13568838e+02] [ 9.24349893e-01 3.81545198e-01 -7.33079532e-04 3.96856443e+02] [ 8.10198348e-04 -4.14825449e-05 9.99999671e-01 1.68801071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.102755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.58, Y:396.88, Z:1.69 [[ 3.80946617e-01 -9.24596970e-01 -3.45333893e-04 3.13579804e+02] [ 9.24596679e-01 3.80946771e-01 -7.34039737e-04 3.96881895e+02] [ 8.10244748e-04 -3.96646162e-05 9.99999671e-01 1.68803236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.59, Y:396.91, Z:1.69 [[ 3.79183253e-01 -9.25321535e-01 -3.43781117e-04 3.13592482e+02] [ 9.25321244e-01 3.79183407e-01 -7.34734560e-04 3.96911285e+02] [ 8.10221806e-04 -3.95089307e-05 9.99999671e-01 1.69005555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.60, Y:396.93, Z:1.69 [[ 3.83909669e-01 -9.23370588e-01 -3.50630906e-04 3.13604632e+02] [ 9.23370299e-01 3.83909826e-01 -7.31674064e-04 3.96933258e+02] [ 8.10216961e-04 -4.28654174e-05 9.99999671e-01 1.68983564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.61, Y:396.96, Z:1.69 [[ 3.82141087e-01 -9.24103930e-01 -3.42305299e-04 3.13612810e+02] [ 9.24103638e-01 3.82141238e-01 -7.35386574e-04 3.96958515e+02] [ 8.10382594e-04 -3.53041472e-05 9.99999671e-01 1.68600461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:313.63, Y:396.99, Z:1.68 [[ 3.83340418e-01 -9.23607063e-01 -3.42031584e-04 3.13629525e+02] [ 9.23606771e-01 3.83340569e-01 -7.35508486e-04 3.96988302e+02] [ 8.10435414e-04 -3.39525560e-05 9.99999671e-01 1.68452688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.252755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.63, Y:397.00, Z:1.69 [[ 3.83988469e-01 -9.23337820e-01 -3.54213845e-04 3.13631357e+02] [ 9.23337533e-01 3.83988629e-01 -7.30079809e-04 3.97004640e+02] [ 8.10124389e-04 -4.67167102e-05 9.99999671e-01 1.69123998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.64, Y:397.03, Z:1.69 [[ 3.83977826e-01 -9.23342256e-01 -3.28956439e-04 3.13641738e+02] [ 9.23341958e-01 3.83977967e-01 -7.41288119e-04 3.97028809e+02] [ 8.10774668e-04 -1.91010819e-05 9.99999671e-01 1.69140072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.66, Y:397.06, Z:1.69 [[ 3.88062405e-01 -9.21633041e-01 -3.28680928e-04 3.13661994e+02] [ 9.21632743e-01 3.88062544e-01 -7.41410258e-04 3.97059736e+02] [ 8.10856947e-04 -1.52096574e-05 9.99999671e-01 1.68922012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.67, Y:397.08, Z:1.69 [[ 3.85684116e-01 -9.22630827e-01 -3.45713276e-04 3.13665634e+02] [ 9.22630536e-01 3.85684269e-01 -7.33849245e-04 3.97079985e+02] [ 8.10408108e-04 -3.59316281e-05 9.99999671e-01 1.69125098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.68, Y:397.11, Z:1.69 [[ 3.83632643e-01 -9.23485727e-01 -3.28190741e-04 3.13677656e+02] [ 9.23485429e-01 3.83632783e-01 -7.41603702e-04 3.97108226e+02] [ 8.10765161e-04 -1.85759786e-05 9.99999671e-01 1.68955649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.402755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.69, Y:397.13, Z:1.69 [[ 3.87910610e-01 -9.21696940e-01 -3.33105734e-04 3.13692711e+02] [ 9.21696643e-01 3.87910752e-01 -7.39432012e-04 3.97134689e+02] [ 8.10747518e-04 -2.01889146e-05 9.99999671e-01 1.68862109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.432755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:313.70, Y:397.16, Z:1.69 [[ 3.85572124e-01 -9.22677638e-01 -3.37665316e-04 3.13698704e+02] [ 9.22677343e-01 3.85572271e-01 -7.37419678e-04 3.97157145e+02] [ 8.10595029e-04 -2.72276650e-05 9.99999671e-01 1.69040306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.462755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:313.71, Y:397.19, Z:1.69 [[ 3.87731339e-01 -9.21772370e-01 -3.26831315e-04 3.13712442e+02] [ 9.21772071e-01 3.87731476e-01 -7.42190543e-04 3.97185017e+02] [ 8.10853524e-04 -1.34934456e-05 9.99999671e-01 1.68774476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.72, Y:397.21, Z:1.68 [[ 3.89913652e-01 -9.20851363e-01 -3.32732116e-04 3.13723030e+02] [ 9.20851067e-01 3.89913793e-01 -7.39595572e-04 3.97208528e+02] [ 8.10794432e-04 -1.80183131e-05 9.99999671e-01 1.68289218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.74, Y:397.24, Z:1.69 [[ 3.89323689e-01 -9.21100949e-01 -3.26048469e-04 3.13736005e+02] [ 9.21100650e-01 3.89323825e-01 -7.42530392e-04 3.97237977e+02] [ 8.10883886e-04 -1.12387857e-05 9.99999671e-01 1.68532628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.74, Y:397.26, Z:1.69 [[ 3.88345689e-01 -9.21513707e-01 -3.36426624e-04 3.13744745e+02] [ 9.21513412e-01 3.88345834e-01 -7.37968681e-04 3.97261186e+02] [ 8.10698133e-04 -2.34346902e-05 9.99999671e-01 1.68720372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.582755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:313.75, Y:397.28, Z:1.69 [[ 3.87043667e-01 -9.22061327e-01 -3.31565887e-04 3.13752486e+02] [ 9.22061030e-01 3.87043809e-01 -7.40104554e-04 3.97283928e+02] [ 8.10752310e-04 -1.92712024e-05 9.99999671e-01 1.68685508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.76, Y:397.32, Z:1.69 [[ 3.80199078e-01 -9.24904619e-01 -3.25800874e-04 3.13764686e+02] [ 9.24904321e-01 3.80199218e-01 -7.42633723e-04 3.97317106e+02] [ 8.10734598e-04 -1.89859792e-05 9.99999671e-01 1.68868325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.78, Y:397.33, Z:1.69 [[ 3.85283161e-01 -9.22798335e-01 -3.45485235e-04 3.13775203e+02] [ 9.22798044e-01 3.85283314e-01 -7.33981658e-04 3.97333636e+02] [ 8.10426748e-04 -3.60223257e-05 9.99999671e-01 1.68657629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.79, Y:397.36, Z:1.69 [[ 3.84565831e-01 -9.23097512e-01 -3.25340769e-04 3.13785858e+02] [ 9.23097213e-01 3.84565968e-01 -7.42804726e-04 3.97357497e+02] [ 8.10796182e-04 -1.46638409e-05 9.99999671e-01 1.68652696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.80, Y:397.38, Z:1.69 [[ 3.82643753e-01 -9.23895910e-01 -3.25071382e-04 3.13797166e+02] [ 9.23895611e-01 3.82643891e-01 -7.42922598e-04 3.97382211e+02] [ 8.10769728e-04 -1.60573313e-05 9.99999671e-01 1.68568178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.81, Y:397.41, Z:1.69 [[ 3.81300733e-01 -9.24450997e-01 -3.24818647e-04 3.13808594e+02] [ 9.24450698e-01 3.81300871e-01 -7.43033082e-04 3.97407350e+02] [ 8.10751306e-04 -1.69597656e-05 9.99999671e-01 1.68550157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.82, Y:397.43, Z:1.69 [[ 3.78976489e-01 -9.25406244e-01 -3.24566602e-04 3.13819986e+02] [ 9.25405945e-01 3.78976628e-01 -7.43143162e-04 3.97431350e+02] [ 8.10712478e-04 -1.87220766e-05 9.99999671e-01 1.68542922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.83, Y:397.46, Z:1.68 [[ 3.74592108e-01 -9.27189650e-01 -3.24302784e-04 3.13830351e+02] [ 9.27189353e-01 3.74592248e-01 -7.43258273e-04 3.97459742e+02] [ 8.10622687e-04 -2.22714055e-05 9.99999671e-01 1.68478380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.84, Y:397.48, Z:1.69 [[ 3.75630018e-01 -9.26769649e-01 -3.28345660e-04 3.13840767e+02] [ 9.26769352e-01 3.75630161e-01 -7.41499176e-04 3.97483415e+02] [ 8.10535464e-04 -2.57713454e-05 9.99999671e-01 1.68537718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.85, Y:397.51, Z:1.69 [[ 3.75225852e-01 -9.26933362e-01 -3.21647019e-04 3.13850942e+02] [ 9.26933063e-01 3.75225989e-01 -7.44410332e-04 3.97509383e+02] [ 8.10709093e-04 -1.88232553e-05 9.99999671e-01 1.68543487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.86, Y:397.53, Z:1.69 [[ 3.76560509e-01 -9.26391969e-01 -3.20583813e-04 3.13863363e+02] [ 9.26391670e-01 3.76560645e-01 -7.44872142e-04 3.97534653e+02] [ 8.10762818e-04 -1.64967406e-05 9.99999671e-01 1.68636848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.87, Y:397.56, Z:1.69 [[ 3.76316095e-01 -9.26491281e-01 -3.22937350e-04 3.13873420e+02] [ 9.26490982e-01 3.76316233e-01 -7.43850370e-04 3.97560276e+02] [ 8.10697449e-04 -1.92756764e-05 9.99999671e-01 1.68560415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.89, Y:397.59, Z:1.69 [[ 3.76669111e-01 -9.26347817e-01 -3.21995512e-04 3.13885251e+02] [ 9.26347518e-01 3.76669248e-01 -7.44259025e-04 3.97587030e+02] [ 8.10728530e-04 -1.79403585e-05 9.99999671e-01 1.68544641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:313.90, Y:397.61, Z:1.69 [[ 3.77113735e-01 -9.26166900e-01 -3.22680851e-04 3.13896279e+02] [ 9.26166602e-01 3.77113872e-01 -7.43961809e-04 3.97611908e+02] [ 8.10720228e-04 -1.82980112e-05 9.99999671e-01 1.68610754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.91, Y:397.64, Z:1.69 [[ 3.77265693e-01 -9.26105012e-01 -3.22397720e-04 3.13906664e+02] [ 9.26104713e-01 3.77265830e-01 -7.44084484e-04 3.97638015e+02] [ 8.10730013e-04 -1.78564997e-05 9.99999671e-01 1.68559597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.92, Y:397.66, Z:1.69 [[ 3.78626754e-01 -9.25549393e-01 -3.21241037e-04 3.13917595e+02] [ 9.25549093e-01 3.78626890e-01 -7.44585380e-04 3.97663462e+02] [ 8.10781041e-04 -1.54044045e-05 9.99999671e-01 1.68509166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.93, Y:397.69, Z:1.68 [[ 3.78829730e-01 -9.25466332e-01 -3.22057080e-04 3.13927601e+02] [ 9.25466033e-01 3.78829866e-01 -7.44232248e-04 3.97688574e+02] [ 8.10766730e-04 -1.61155866e-05 9.99999671e-01 1.68467300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.94, Y:397.72, Z:1.68 [[ 3.79391452e-01 -9.25236198e-01 -3.21793869e-04 3.13938022e+02] [ 9.25235899e-01 3.79391589e-01 -7.44346039e-04 3.97715952e+02] [ 8.10781786e-04 -1.53367143e-05 9.99999671e-01 1.68316359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.95, Y:397.74, Z:1.68 [[ 3.79894114e-01 -9.25029923e-01 -3.22673458e-04 3.13948878e+02] [ 9.25029624e-01 3.79894251e-01 -7.43966002e-04 3.97740433e+02] [ 8.10772605e-04 -1.58542016e-05 9.99999671e-01 1.68402232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.96, Y:397.77, Z:1.68 [[ 3.80046097e-01 -9.24967492e-01 -3.21440449e-04 3.13959415e+02] [ 9.24967192e-01 3.80046232e-01 -7.44498359e-04 3.97765083e+02] [ 8.10799012e-04 -1.43781739e-05 9.99999671e-01 1.68402124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.97, Y:397.79, Z:1.68 [[ 3.80539358e-01 -9.24764670e-01 -3.21179182e-04 3.13969169e+02] [ 9.24764370e-01 3.80539493e-01 -7.44611054e-04 3.97789544e+02] [ 8.10811358e-04 -1.36612512e-05 9.99999671e-01 1.68366740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.98, Y:397.81, Z:1.68 [[ 3.80369532e-01 -9.24834534e-01 -3.20905707e-04 3.13978934e+02] [ 9.24834235e-01 3.80369667e-01 -7.44728895e-04 3.97813675e+02] [ 8.10813798e-04 -1.35124022e-05 9.99999671e-01 1.68354066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:313.99, Y:397.84, Z:1.68 [[ 3.78993752e-01 -9.25399175e-01 -3.20641327e-04 3.13987104e+02] [ 9.25398875e-01 3.78993888e-01 -7.44842706e-04 3.97839525e+02] [ 8.10797928e-04 -1.44303913e-05 9.99999671e-01 1.68278966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.00, Y:397.87, Z:1.68 [[ 3.80333875e-01 -9.24849200e-01 -3.17474681e-04 3.13999869e+02] [ 9.24848899e-01 3.80334007e-01 -7.46204338e-04 3.97865509e+02] [ 8.10872903e-04 -9.80932243e-06 9.99999671e-01 1.68368606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.01, Y:397.89, Z:1.68 [[ 3.80654344e-01 -9.24717345e-01 -3.20324814e-04 3.14012096e+02] [ 9.24717045e-01 3.80654479e-01 -7.44978842e-04 3.97893457e+02] [ 8.10827932e-04 -1.26303830e-05 9.99999671e-01 1.68202617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.02, Y:397.92, Z:1.68 [[ 3.79984317e-01 -9.24992872e-01 -3.23961686e-04 3.14022090e+02] [ 9.24992574e-01 3.79984455e-01 -7.43415331e-04 3.97917712e+02] [ 8.10754287e-04 -1.71759869e-05 9.99999671e-01 1.68380182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.03, Y:397.94, Z:1.68 [[ 3.79902319e-01 -9.25026554e-01 -3.20008898e-04 3.14033255e+02] [ 9.25026254e-01 3.79902453e-01 -7.45112962e-04 3.97942905e+02] [ 8.10821441e-04 -1.29464901e-05 9.99999671e-01 1.68412570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.04, Y:397.97, Z:1.68 [[ 3.80100493e-01 -9.24945141e-01 -3.19757955e-04 3.14043369e+02] [ 9.24944841e-01 3.80100627e-01 -7.45220636e-04 3.97968625e+02] [ 8.10828405e-04 -1.24997393e-05 9.99999671e-01 1.68359241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4227550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:314.05, Y:397.99, Z:1.68 [[ 3.80381728e-01 -9.24829519e-01 -3.19508117e-04 3.14052961e+02] [ 9.24829218e-01 3.80381862e-01 -7.45327737e-04 3.97993008e+02] [ 8.10836185e-04 -1.19813894e-05 9.99999671e-01 1.68321327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.06, Y:398.02, Z:1.68 [[ 3.81060676e-01 -9.24549977e-01 -3.19246881e-04 3.14062831e+02] [ 9.24549676e-01 3.81060809e-01 -7.45439616e-04 3.98018314e+02] [ 8.10848654e-04 -1.11018766e-05 9.99999671e-01 1.68196173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.07, Y:398.04, Z:1.68 [[ 3.82214386e-01 -9.24073623e-01 -3.18993068e-04 3.14072433e+02] [ 9.24073323e-01 3.82214519e-01 -7.45548213e-04 3.98040718e+02] [ 8.10865221e-04 -9.81373205e-06 9.99999671e-01 1.68176859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.08, Y:398.07, Z:1.68 [[ 3.80676965e-01 -9.24708035e-01 -3.14225178e-04 3.14083621e+02] [ 9.24707733e-01 3.80677095e-01 -7.47587354e-04 3.98067784e+02] [ 8.10918361e-04 -5.97716686e-06 9.99999671e-01 1.68024689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:314.10, Y:398.09, Z:1.68 [[ 3.79184311e-01 -9.25321110e-01 -3.18862384e-04 3.14095231e+02] [ 9.25320810e-01 3.79184445e-01 -7.45604223e-04 3.98092311e+02] [ 8.10830984e-04 -1.23285759e-05 9.99999671e-01 1.67986975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.11, Y:398.12, Z:1.68 [[ 3.77904437e-01 -9.25844553e-01 -3.17752767e-04 3.14105715e+02] [ 9.25844252e-01 3.77904570e-01 -7.46078280e-04 3.98115785e+02] [ 8.10832734e-04 -1.22432806e-05 9.99999671e-01 1.68093904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.12, Y:398.14, Z:1.68 [[ 3.74691060e-01 -9.27149669e-01 -3.17038747e-04 3.14116410e+02] [ 9.27149369e-01 3.74691194e-01 -7.46383140e-04 3.98140716e+02] [ 8.10800508e-04 -1.42791843e-05 9.99999671e-01 1.68184019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.13, Y:398.16, Z:1.68 [[ 3.74210957e-01 -9.27343549e-01 -3.17571944e-04 3.14126562e+02] [ 9.27343249e-01 3.74211092e-01 -7.46155613e-04 3.98164851e+02] [ 8.10781538e-04 -1.52785917e-05 9.99999671e-01 1.68186616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.14, Y:398.19, Z:1.68 [[ 3.73435815e-01 -9.27655967e-01 -3.14548350e-04 3.14136964e+02] [ 9.27655666e-01 3.73435948e-01 -7.47444921e-04 3.98189429e+02] [ 8.10835402e-04 -1.26698551e-05 9.99999671e-01 1.68095001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.15, Y:398.22, Z:1.68 [[ 3.71569224e-01 -9.28405199e-01 -3.12708679e-04 3.14150285e+02] [ 9.28404898e-01 3.71569356e-01 -7.48228695e-04 3.98218500e+02] [ 8.10852374e-04 -1.23015135e-05 9.99999671e-01 1.68068509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.16, Y:398.24, Z:1.68 [[ 3.70628878e-01 -9.28780992e-01 -3.22278009e-04 3.14158583e+02] [ 9.28780694e-01 3.70629017e-01 -7.44150651e-04 3.98242765e+02] [ 8.10598562e-04 -2.35218719e-05 9.99999671e-01 1.68299980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.17, Y:398.27, Z:1.68 [[ 3.70834826e-01 -9.28698784e-01 -3.16701752e-04 3.14168331e+02] [ 9.28698484e-01 3.70834961e-01 -7.46523256e-04 3.98269423e+02] [ 8.10739322e-04 -1.72836151e-05 9.99999671e-01 1.68105716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.19, Y:398.30, Z:1.68 [[ 3.75761527e-01 -9.26716340e-01 -3.17332943e-04 3.14187189e+02] [ 9.26716039e-01 3.75761661e-01 -7.46254852e-04 3.98301958e+02] [ 8.10808119e-04 -1.36636650e-05 9.99999671e-01 1.67844343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.19, Y:398.32, Z:1.68 [[ 3.71575143e-01 -9.28402821e-01 -3.39417916e-04 3.14187126e+02] [ 9.28402529e-01 3.71575296e-01 -7.36839959e-04 3.98321307e+02] [ 8.10203610e-04 -4.13250382e-05 9.99999671e-01 1.68020034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.19, Y:398.35, Z:1.68 [[ 3.73078707e-01 -9.27799643e-01 -3.16976048e-04 3.14194797e+02] [ 9.27799343e-01 3.73078841e-01 -7.46370792e-04 3.98346110e+02] [ 8.10739611e-04 -1.56351195e-05 9.99999671e-01 1.67868550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.20, Y:398.37, Z:1.68 [[ 3.73709122e-01 -9.27545897e-01 -3.16705683e-04 3.14204879e+02] [ 9.27545597e-01 3.73709256e-01 -7.46485498e-04 3.98372440e+02] [ 8.10755406e-04 -1.47905213e-05 9.99999671e-01 1.67748573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.22, Y:398.40, Z:1.68 [[ 3.79604162e-01 -9.25148951e-01 -3.16464574e-04 3.14222973e+02] [ 9.25148649e-01 3.79604293e-01 -7.46587699e-04 3.98404535e+02] [ 8.10836137e-04 -9.36897611e-06 9.99999671e-01 1.67642332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.23, Y:398.42, Z:1.68 [[ 3.82298291e-01 -9.24038908e-01 -3.35627227e-04 3.14229784e+02] [ 9.24038614e-01 3.82298437e-01 -7.38451615e-04 3.98422399e+02] [ 8.10667788e-04 -2.78237271e-05 9.99999671e-01 1.67732487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.24, Y:398.46, Z:1.68 [[ 3.81439945e-01 -9.24393568e-01 -3.15956860e-04 3.14243234e+02] [ 9.24393266e-01 3.81440076e-01 -7.46774062e-04 3.98456565e+02] [ 8.10831748e-04 -7.21893688e-06 9.99999671e-01 1.67685210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.25, Y:398.48, Z:1.68 [[ 3.80835936e-01 -9.24642568e-01 -3.35312226e-04 3.14246469e+02] [ 9.24642273e-01 3.80836083e-01 -7.38574394e-04 3.98479253e+02] [ 8.10616319e-04 -2.87681882e-05 9.99999671e-01 1.67556366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:398.51, Z:1.68 [[ 3.80337222e-01 -9.24847821e-01 -3.23723228e-04 3.14257334e+02] [ 9.24847523e-01 3.80337359e-01 -7.43471447e-04 3.98505782e+02] [ 8.10721985e-04 -1.66247603e-05 9.99999671e-01 1.67558261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.26, Y:398.53, Z:1.68 [[ 3.80108832e-01 -9.24941712e-01 -3.23620451e-04 3.14263037e+02] [ 9.24941414e-01 3.80108970e-01 -7.43514858e-04 3.98527050e+02] [ 8.10718942e-04 -1.67133929e-05 9.99999671e-01 1.67758527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.28, Y:398.55, Z:1.68 [[ 3.83090796e-01 -9.23710639e-01 -3.11711810e-04 3.14278326e+02] [ 9.23710336e-01 3.83090923e-01 -7.48530391e-04 3.98554976e+02] [ 8.10839450e-04 -1.17631677e-06 9.99999671e-01 1.67747181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.29, Y:398.59, Z:1.67 [[ 3.77346391e-01 -9.26072134e-01 -3.22059503e-04 3.14288027e+02] [ 9.26071835e-01 3.77346528e-01 -7.44179391e-04 3.98589788e+02] [ 8.10691832e-04 -1.74368274e-05 9.99999671e-01 1.67342725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.29, Y:398.60, Z:1.68 [[ 3.77561444e-01 -9.25984472e-01 -3.38403879e-04 3.14294349e+02] [ 9.25984179e-01 3.77561594e-01 -7.37276557e-04 3.98603756e+02] [ 8.10474951e-04 -3.49894367e-05 9.99999671e-01 1.67889139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1727550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:314.31, Y:398.63, Z:1.68 [[ 3.75064476e-01 -9.26998673e-01 -3.14040098e-04 3.14305303e+02] [ 9.26998372e-01 3.75064607e-01 -7.47523385e-04 3.98629389e+02] [ 8.10738512e-04 -1.07451931e-05 9.99999671e-01 1.67999135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.32, Y:398.66, Z:1.68 [[ 3.76894775e-01 -9.26256028e-01 -3.14316403e-04 3.14320279e+02] [ 9.26255727e-01 3.76894906e-01 -7.47407270e-04 3.98656677e+02] [ 8.10754740e-04 -9.44347273e-06 9.99999671e-01 1.67894519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.32, Y:398.68, Z:1.68 [[ 3.71856695e-01 -9.28290092e-01 -3.23123947e-04 3.14323707e+02] [ 9.28289794e-01 3.71856834e-01 -7.43717067e-04 3.98678988e+02] [ 8.10541032e-04 -2.33964920e-05 9.99999671e-01 1.67954125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.34, Y:398.71, Z:1.68 [[ 3.72492084e-01 -9.28035317e-01 -3.12748833e-04 3.14336988e+02] [ 9.28035015e-01 3.72492216e-01 -7.48054724e-04 3.98705555e+02] [ 8.10717708e-04 -1.15974046e-05 9.99999671e-01 1.67848336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.35, Y:398.73, Z:1.68 [[ 3.74134428e-01 -9.27374428e-01 -3.16175053e-04 3.14349315e+02] [ 9.27374128e-01 3.74134562e-01 -7.46622814e-04 3.98729244e+02] [ 8.10690920e-04 -1.38752642e-05 9.99999671e-01 1.67960997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.36, Y:398.76, Z:1.68 [[ 3.67322376e-01 -9.30093638e-01 -3.12233121e-04 3.14357310e+02] [ 9.30093337e-01 3.67322508e-01 -7.48267682e-04 3.98759913e+02] [ 8.10649264e-04 -1.55504829e-05 9.99999671e-01 1.67574841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.37, Y:398.78, Z:1.67 [[ 3.68180169e-01 -9.29754408e-01 -3.22295483e-04 3.14367180e+02] [ 9.29754111e-01 3.68180309e-01 -7.44065633e-04 3.98783071e+02] [ 8.10461153e-04 -2.57053398e-05 9.99999671e-01 1.67398123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.38, Y:398.80, Z:1.68 [[ 3.69642421e-01 -9.29174031e-01 -3.17822829e-04 3.14375223e+02] [ 9.29173732e-01 3.69642558e-01 -7.45932786e-04 3.98802955e+02] [ 8.10582216e-04 -1.95842225e-05 9.99999671e-01 1.67554884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.39, Y:398.83, Z:1.67 [[ 3.67039319e-01 -9.30205378e-01 -3.03498809e-04 3.14386557e+02] [ 9.30205075e-01 3.67039445e-01 -7.51895782e-04 3.98830978e+02] [ 8.10813535e-04 -6.34081628e-06 9.99999671e-01 1.67337458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.40, Y:398.85, Z:1.67 [[ 3.67484747e-01 -9.30029496e-01 -3.12901908e-04 3.14395555e+02] [ 9.30029195e-01 3.67484880e-01 -7.47980515e-04 3.98854046e+02] [ 8.10630661e-04 -1.61364794e-05 9.99999671e-01 1.67268205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.40, Y:398.88, Z:1.67 [[ 3.69745840e-01 -9.29132885e-01 -3.09212483e-04 3.14403376e+02] [ 9.29132583e-01 3.69745969e-01 -7.49514607e-04 3.98877387e+02] [ 8.10728739e-04 -1.01694855e-05 9.99999671e-01 1.67340758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.41, Y:398.90, Z:1.67 [[ 3.70831594e-01 -9.28700078e-01 -3.05678197e-04 3.14413541e+02] [ 9.28699775e-01 3.70831720e-01 -7.50985601e-04 3.98904001e+02] [ 8.10795558e-04 -5.39408546e-06 9.99999671e-01 1.67283330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.42, Y:398.93, Z:1.67 [[ 3.70658370e-01 -9.28769228e-01 -3.07979856e-04 3.14423356e+02] [ 9.28768925e-01 3.70658498e-01 -7.50026147e-04 3.98932746e+02] [ 8.10756556e-04 -8.03865114e-06 9.99999671e-01 1.67171320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.43, Y:398.95, Z:1.67 [[ 3.76312734e-01 -9.26492649e-01 -3.12220675e-04 3.14432933e+02] [ 9.26492347e-01 3.76312864e-01 -7.48258931e-04 3.98954261e+02] [ 8.10749056e-04 -7.69070092e-06 9.99999671e-01 1.67241506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.44, Y:398.98, Z:1.67 [[ 3.75366370e-01 -9.26876474e-01 -3.02260711e-04 3.14443147e+02] [ 9.26876168e-01 3.75366492e-01 -7.52396353e-04 3.98983678e+02] [ 8.10837021e-04 2.26603845e-06 9.99999671e-01 1.67127666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.45, Y:399.01, Z:1.67 [[ 3.76279182e-01 -9.26506277e-01 -3.11038206e-04 3.14452665e+02] [ 9.26505974e-01 3.76279310e-01 -7.48750095e-04 3.99009820e+02] [ 8.10758904e-04 -6.43968289e-06 9.99999671e-01 1.67079530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.46, Y:399.03, Z:1.67 [[ 3.76508397e-01 -9.26413154e-01 -3.08809109e-04 3.14462411e+02] [ 9.26412851e-01 3.76508523e-01 -7.49675323e-04 3.99034742e+02] [ 8.10778342e-04 -3.82567284e-06 9.99999671e-01 1.67072804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.47, Y:399.07, Z:1.67 [[ 3.74814071e-01 -9.27099950e-01 -3.08155586e-04 3.14474157e+02] [ 9.27099647e-01 3.74814197e-01 -7.49946152e-04 3.99065403e+02] [ 8.10776128e-04 -4.60056529e-06 9.99999671e-01 1.67004649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.48, Y:399.09, Z:1.67 [[ 3.79548579e-01 -9.25171752e-01 -3.24590751e-04 3.14482274e+02] [ 9.25171454e-01 3.79548717e-01 -7.43137065e-04 3.99087177e+02] [ 8.10727423e-04 -1.82454808e-05 9.99999671e-01 1.66560713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.49, Y:399.11, Z:1.67 [[ 3.78082117e-01 -9.25772011e-01 -3.09559165e-04 3.14491227e+02] [ 9.25771708e-01 3.78082244e-01 -7.49346694e-04 3.99114107e+02] [ 8.10763020e-04 -3.26653244e-06 9.99999671e-01 1.66977298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.50, Y:399.14, Z:1.67 [[ 3.79245373e-01 -9.25296088e-01 -3.10619648e-04 3.14501679e+02] [ 9.25295785e-01 3.79245500e-01 -7.48908920e-04 3.99141540e+02] [ 8.10763598e-04 -3.39480808e-06 9.99999671e-01 1.67028455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.51, Y:399.16, Z:1.67 [[ 3.80170399e-01 -9.24916412e-01 -3.14682883e-04 3.14510443e+02] [ 9.24916110e-01 3.80170530e-01 -7.47230214e-04 3.99163828e+02] [ 8.10758646e-04 -6.98045890e-06 9.99999671e-01 1.67083622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.52, Y:399.19, Z:1.67 [[ 3.80058468e-01 -9.24962413e-01 -3.08808259e-04 3.14522120e+02] [ 9.24962109e-01 3.80058594e-01 -7.49652917e-04 3.99191338e+02] [ 8.10766004e-04 -7.23999228e-07 9.99999671e-01 1.67155721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.53, Y:399.21, Z:1.67 [[ 3.79192863e-01 -9.25317607e-01 -3.14001207e-04 3.14530644e+02] [ 9.25317305e-01 3.79192993e-01 -7.47514330e-04 3.99214790e+02] [ 8.10755228e-04 -7.09865167e-06 9.99999671e-01 1.67119072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.54, Y:399.24, Z:1.67 [[ 3.80395962e-01 -9.24823668e-01 -3.08380571e-04 3.14542208e+02] [ 9.24823364e-01 3.80396087e-01 -7.49825926e-04 3.99240308e+02] [ 8.10763526e-04 3.31968921e-08 9.99999671e-01 1.66522655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.55, Y:399.27, Z:1.67 [[ 3.76392787e-01 -9.26460131e-01 -3.08115526e-04 3.14550071e+02] [ 9.26459828e-01 3.76392913e-01 -7.49934822e-04 3.99265847e+02] [ 8.10757214e-04 -3.18659872e-06 9.99999671e-01 1.66812776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.56, Y:399.29, Z:1.67 [[ 3.74760069e-01 -9.27121780e-01 -3.07814628e-04 3.14560736e+02] [ 9.27121477e-01 3.74760196e-01 -7.50058307e-04 3.99291824e+02] [ 8.10752063e-04 -4.28964914e-06 9.99999671e-01 1.66705035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.57, Y:399.32, Z:1.67 [[ 3.72845659e-01 -9.27893324e-01 -3.08096954e-04 3.14571676e+02] [ 9.27893021e-01 3.72845786e-01 -7.49942535e-04 3.99317659e+02] [ 8.10739323e-04 -6.26819428e-06 9.99999671e-01 1.66699781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.58, Y:399.34, Z:1.67 [[ 3.70768606e-01 -9.28725227e-01 -3.07377134e-04 3.14582496e+02] [ 9.28724924e-01 3.70768733e-01 -7.50237450e-04 3.99342070e+02] [ 8.10730276e-04 -7.30431225e-06 9.99999671e-01 1.66518341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:399.37, Z:1.67 [[ 3.70873159e-01 -9.28683480e-01 -3.07393708e-04 3.14595741e+02] [ 9.28683177e-01 3.70873286e-01 -7.50230667e-04 3.99371567e+02] [ 8.10730941e-04 -7.23094819e-06 9.99999671e-01 1.66631009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.60, Y:399.40, Z:1.67 [[ 3.68114889e-01 -9.29780258e-01 -3.16095309e-04 3.14602686e+02] [ 9.29779959e-01 3.68115024e-01 -7.46682898e-04 3.99396852e+02] [ 8.10610450e-04 -1.90339913e-05 9.99999671e-01 1.66585771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.61, Y:399.42, Z:1.66 [[ 3.66333393e-01 -9.30483610e-01 -3.10680290e-04 3.14609871e+02] [ 9.30483309e-01 3.66333524e-01 -7.48892319e-04 3.99420681e+02] [ 8.10644634e-04 -1.47385604e-05 9.99999671e-01 1.66381428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.132755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:314.62, Y:399.45, Z:1.66 [[ 3.65006052e-01 -9.31005096e-01 -3.06383013e-04 3.14618248e+02] [ 9.31004793e-01 3.65006180e-01 -7.50643570e-04 3.99445253e+02] [ 8.10684682e-04 -1.12546075e-05 9.99999671e-01 1.66370127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.62, Y:399.47, Z:1.67 [[ 3.62011085e-01 -9.32173740e-01 -3.05689813e-04 3.14624862e+02] [ 9.32173437e-01 3.62011214e-01 -7.50925760e-04 3.99470391e+02] [ 8.10656415e-04 -1.31124746e-05 9.99999671e-01 1.66688079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.63, Y:399.50, Z:1.67 [[ 3.60463776e-01 -9.32773165e-01 -2.99683525e-04 3.14633448e+02] [ 9.32772860e-01 3.60463900e-01 -7.53368549e-04 3.99496119e+02] [ 8.10747058e-04 -7.97458694e-06 9.99999671e-01 1.66627238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:399.52, Z:1.66 [[ 3.60789674e-01 -9.32647159e-01 -2.97393810e-04 3.14646541e+02] [ 9.32646854e-01 3.60789796e-01 -7.54297167e-04 3.99523394e+02] [ 8.10789762e-04 -5.22077280e-06 9.99999671e-01 1.66292255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.65, Y:399.55, Z:1.66 [[ 3.59760613e-01 -9.33044592e-01 -3.03178999e-04 3.14654353e+02] [ 9.33044289e-01 3.59760740e-01 -7.51950996e-04 3.99547284e+02] [ 8.10675710e-04 -1.23570823e-05 9.99999671e-01 1.66237230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.67, Y:399.57, Z:1.66 [[ 3.60336469e-01 -9.32822353e-01 -2.96492126e-04 3.14665091e+02] [ 9.32822047e-01 3.60336591e-01 -7.54667522e-04 3.99574343e+02] [ 8.10807696e-04 -4.64016247e-06 9.99999671e-01 1.66197456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.67, Y:399.60, Z:1.66 [[ 3.62480332e-01 -9.31991374e-01 -2.97744302e-04 3.14674287e+02] [ 9.31991068e-01 3.62480454e-01 -7.54158630e-04 3.99601367e+02] [ 8.10795827e-04 -4.12735998e-06 9.99999671e-01 1.66162742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.68, Y:399.63, Z:1.66 [[ 3.62349222e-01 -9.32042356e-01 -2.97791658e-04 3.14682652e+02] [ 9.32042051e-01 3.62349344e-01 -7.54139403e-04 3.99627005e+02] [ 8.10794478e-04 -4.29252123e-06 9.99999671e-01 1.66110223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.69, Y:399.65, Z:1.66 [[ 3.64694998e-01 -9.31126990e-01 -2.96848159e-04 3.14693621e+02] [ 9.31126684e-01 3.64695119e-01 -7.54521476e-04 3.99653510e+02] [ 8.10814385e-04 -1.23303369e-06 9.99999671e-01 1.65843438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.70, Y:399.68, Z:1.66 [[ 3.65083097e-01 -9.30974888e-01 -2.99394352e-04 3.14702800e+02] [ 9.30974583e-01 3.65083220e-01 -7.53490085e-04 3.99678915e+02] [ 8.10784202e-04 -3.64203801e-06 9.99999671e-01 1.65866213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.71, Y:399.70, Z:1.66 [[ 3.65682400e-01 -9.30739649e-01 -2.97064445e-04 3.14712464e+02] [ 9.30739343e-01 3.65682520e-01 -7.54432567e-04 3.99704371e+02] [ 8.10811578e-04 -6.06854984e-07 9.99999671e-01 1.65816776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.72, Y:399.73, Z:1.66 [[ 3.65101763e-01 -9.30967569e-01 -2.95782323e-04 3.14721099e+02] [ 9.30967263e-01 3.65101883e-01 -7.54950773e-04 3.99730341e+02] [ 8.10825369e-04 2.70198212e-07 9.99999671e-01 1.65840703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.73, Y:399.76, Z:1.66 [[ 3.64940943e-01 -9.31030623e-01 -2.94237136e-04 3.14730770e+02] [ 9.31030317e-01 3.64941062e-01 -7.55575015e-04 3.99755779e+02] [ 8.10842690e-04 1.79656428e-06 9.99999671e-01 1.65880124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.522755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:314.74, Y:399.78, Z:1.66 [[ 3.64289177e-01 -9.31285836e-01 -2.96393054e-04 3.14740251e+02] [ 9.31285530e-01 3.64289297e-01 -7.54703281e-04 3.99781561e+02] [ 8.10817293e-04 -1.09632508e-06 9.99999671e-01 1.65691050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.75, Y:399.81, Z:1.66 [[ 3.61396756e-01 -9.32412086e-01 -2.93641976e-04 3.14748723e+02] [ 9.32411780e-01 3.61396875e-01 -7.55813081e-04 3.99807207e+02] [ 8.10850544e-04 -6.46841898e-07 9.99999671e-01 1.65623237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.76, Y:399.83, Z:1.66 [[ 3.59907739e-01 -9.32987853e-01 -2.92810836e-04 3.14757755e+02] [ 9.32987546e-01 3.59907858e-01 -7.56147950e-04 3.99832733e+02] [ 8.10861773e-04 -1.04536447e-06 9.99999671e-01 1.65716883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.77, Y:399.86, Z:1.66 [[ 3.57352896e-01 -9.33969391e-01 -2.90376361e-04 3.14769646e+02] [ 9.33969084e-01 3.57353014e-01 -7.57127720e-04 3.99858180e+02] [ 8.10900983e-04 -6.40760891e-07 9.99999671e-01 1.65959761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.78, Y:399.88, Z:1.66 [[ 3.55129277e-01 -9.34817153e-01 -2.95146838e-04 3.14779732e+02] [ 9.34816848e-01 3.55129399e-01 -7.55201049e-04 3.99883769e+02] [ 8.10790213e-04 -7.71423444e-06 9.99999671e-01 1.65962468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.79, Y:399.91, Z:1.66 [[ 3.51190884e-01 -9.36303838e-01 -2.94385106e-04 3.14787767e+02] [ 9.36303533e-01 3.51191007e-01 -7.55507454e-04 3.99908863e+02] [ 8.10769930e-04 -1.03064846e-05 9.99999671e-01 1.65763041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.80, Y:399.94, Z:1.66 [[ 3.51893063e-01 -9.36040163e-01 -2.92460704e-04 3.14802771e+02] [ 9.36039857e-01 3.51893185e-01 -7.56280182e-04 3.99936213e+02] [ 8.10823553e-04 -7.62512597e-06 9.99999671e-01 1.65713544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.81, Y:399.96, Z:1.66 [[ 3.48768610e-01 -9.37208817e-01 -3.01177166e-04 3.14807795e+02] [ 9.37208515e-01 3.48768739e-01 -7.52778962e-04 3.99957669e+02] [ 8.10552261e-04 -1.97201318e-05 9.99999671e-01 1.65875242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.82, Y:399.99, Z:1.66 [[ 3.42739497e-01 -9.39430442e-01 -2.87417735e-04 3.14819040e+02] [ 9.39430136e-01 3.42739618e-01 -7.58291197e-04 3.99988953e+02] [ 8.10871279e-04 -1.01125375e-05 9.99999671e-01 1.66097479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.83, Y:400.01, Z:1.66 [[ 3.45191405e-01 -9.38532260e-01 -3.01730914e-04 3.14826057e+02] [ 9.38531958e-01 3.45191537e-01 -7.52552423e-04 4.00008759e+02] [ 8.10449684e-04 -2.34094773e-05 9.99999671e-01 1.66102857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.84, Y:400.04, Z:1.66 [[ 3.47850456e-01 -9.37549987e-01 -2.87182652e-04 3.14842103e+02] [ 9.37549680e-01 3.47850575e-01 -7.58369212e-04 4.00037666e+02] [ 8.10905695e-04 -5.44892757e-06 9.99999671e-01 1.66008415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.85, Y:400.06, Z:1.66 [[ 3.46197532e-01 -9.38161595e-01 -3.01343101e-04 3.14846030e+02] [ 9.38161293e-01 3.46197663e-01 -7.52700084e-04 4.00059084e+02] [ 8.10478588e-04 -2.21255214e-05 9.99999671e-01 1.66225956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.86, Y:400.09, Z:1.66 [[ 3.49215970e-01 -9.37042221e-01 -2.88190159e-04 3.14860386e+02] [ 9.37041914e-01 3.49216089e-01 -7.57956459e-04 4.00087188e+02] [ 8.10877843e-04 -5.35575806e-06 9.99999671e-01 1.66208392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.87, Y:400.12, Z:1.66 [[ 3.47887825e-01 -9.37536118e-01 -2.97636248e-04 3.14871912e+02] [ 9.37535815e-01 3.47887952e-01 -7.54172520e-04 4.00118060e+02] [ 8.10608041e-04 -1.66772050e-05 9.99999671e-01 1.66333116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.88, Y:400.14, Z:1.66 [[ 3.47417651e-01 -9.37710446e-01 -3.08959519e-04 3.14882316e+02] [ 9.37710147e-01 3.47417787e-01 -7.49635453e-04 4.00144743e+02] [ 8.10279027e-04 -2.92778885e-05 9.99999671e-01 1.66335815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.972755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.90, Y:400.17, Z:1.66 [[ 3.53043690e-01 -9.35606786e-01 -3.08615861e-04 3.14896968e+02] [ 9.35606486e-01 3.53043824e-01 -7.49773003e-04 4.00172665e+02] [ 8.10447634e-04 -2.40403736e-05 9.99999671e-01 1.65813239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.90, Y:400.19, Z:1.66 [[ 3.52434671e-01 -9.35836364e-01 -3.20653809e-04 3.14895394e+02] [ 9.35836068e-01 3.52434815e-01 -7.44932121e-04 4.00186940e+02] [ 8.10144134e-04 -3.75394927e-05 9.99999671e-01 1.66120809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.91, Y:400.22, Z:1.66 [[ 3.52741315e-01 -9.35720836e-01 -2.85498810e-04 3.14914642e+02] [ 9.35720528e-01 3.52741430e-01 -7.58913276e-04 4.00222580e+02] [ 8.10838224e-04 5.52969883e-07 9.99999671e-01 1.65672519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.92, Y:400.25, Z:1.66 [[ 3.48592550e-01 -9.37274313e-01 -3.11393724e-04 3.14916999e+02] [ 9.37274014e-01 3.48592688e-01 -7.48660953e-04 4.00246028e+02] [ 8.10250255e-04 -3.08836149e-05 9.99999671e-01 1.66181231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.93, Y:400.27, Z:1.66 [[ 3.51201693e-01 -9.36299782e-01 -2.97775437e-04 3.14925686e+02] [ 9.36299479e-01 3.51201819e-01 -7.54038914e-04 4.00268214e+02] [ 8.10585746e-04 -1.39872437e-05 9.99999671e-01 1.66246546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.122755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:314.95, Y:400.30, Z:1.66 [[ 3.52058849e-01 -9.35977823e-01 -2.87871737e-04 3.14945324e+02] [ 9.35977516e-01 3.52058966e-01 -7.57941810e-04 4.00301113e+02] [ 8.10764552e-04 -2.60135257e-06 9.99999671e-01 1.65725660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.152755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:314.95, Y:400.32, Z:1.66 [[ 3.54157124e-01 -9.35185882e-01 -3.13232651e-04 3.14954489e+02] [ 9.35185583e-01 3.54157261e-01 -7.47922505e-04 4.00322618e+02] [ 8.10380185e-04 -2.80485758e-05 9.99999671e-01 1.66052120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.182755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:314.96, Y:400.35, Z:1.66 [[ 3.48432271e-01 -9.37333912e-01 -3.01741399e-04 3.14964203e+02] [ 9.37333610e-01 3.48432401e-01 -7.52450451e-04 4.00350804e+02] [ 8.10433805e-04 -2.06543351e-05 9.99999671e-01 1.65838849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.97, Y:400.37, Z:1.66 [[ 3.51663506e-01 -9.36126425e-01 -3.09353679e-04 3.14971899e+02] [ 9.36126125e-01 3.51663641e-01 -7.49448555e-04 4.00368363e+02] [ 8.10367038e-04 -2.60403549e-05 9.99999671e-01 1.65978952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.98, Y:400.39, Z:1.66 [[ 3.47103670e-01 -9.37826720e-01 -2.93225385e-04 3.14982123e+02] [ 9.37826415e-01 3.47103793e-01 -7.55789512e-04 4.00394499e+02] [ 8.10579243e-04 -1.26571987e-05 9.99999671e-01 1.66185075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:314.99, Y:400.42, Z:1.66 [[ 3.45112189e-01 -9.38561394e-01 -2.94026054e-04 3.14988926e+02] [ 9.38561090e-01 3.45112314e-01 -7.55475093e-04 4.00416462e+02] [ 8.10531769e-04 -1.52377507e-05 9.99999671e-01 1.66152507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.00, Y:400.45, Z:1.66 [[ 3.44279705e-01 -9.38867085e-01 -2.84493886e-04 3.15001350e+02] [ 9.38866778e-01 3.44279822e-01 -7.59210870e-04 4.00446088e+02] [ 8.10743601e-04 -5.72096390e-06 9.99999671e-01 1.66312994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.01, Y:400.47, Z:1.66 [[ 3.43152586e-01 -9.39279626e-01 -2.95507396e-04 3.15009827e+02] [ 9.39279322e-01 3.43152713e-01 -7.54891518e-04 4.00472290e+02] [ 8.10458387e-04 -1.85210104e-05 9.99999671e-01 1.66088490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.362755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.02, Y:400.50, Z:1.66 [[ 3.42710238e-01 -9.39441114e-01 -2.93368873e-04 3.15024101e+02] [ 9.39440810e-01 3.42710364e-01 -7.55729482e-04 4.00502013e+02] [ 8.10503900e-04 -1.66064610e-05 9.99999671e-01 1.66157648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.03, Y:400.52, Z:1.66 [[ 3.42967191e-01 -9.39347333e-01 -3.07858026e-04 3.15028259e+02] [ 9.39347034e-01 3.42967327e-01 -7.50041809e-04 4.00523536e+02] [ 8.10135017e-04 -3.19457912e-05 9.99999671e-01 1.66083579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.04, Y:400.55, Z:1.66 [[ 3.44785619e-01 -9.38681411e-01 -2.94277261e-04 3.15036883e+02] [ 9.38681107e-01 3.44785744e-01 -7.55358357e-04 4.00546371e+02] [ 8.10503452e-04 -1.57958058e-05 9.99999671e-01 1.66022673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.05, Y:400.57, Z:1.66 [[ 3.44069396e-01 -9.38944177e-01 -2.89857337e-04 3.15046364e+02] [ 9.38943872e-01 3.44069518e-01 -7.57086540e-04 4.00573955e+02] [ 8.10593073e-04 -1.16694618e-05 9.99999671e-01 1.66131969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.482755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:315.06, Y:400.60, Z:1.66 [[ 3.44582946e-01 -9.38755830e-01 -2.92246699e-04 3.15055885e+02] [ 9.38755525e-01 3.44583070e-01 -7.56152786e-04 4.00598707e+02] [ 8.10546101e-04 -1.37908488e-05 9.99999671e-01 1.66108369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.06, Y:400.62, Z:1.66 [[ 3.45421972e-01 -9.38447428e-01 -2.92959456e-04 3.15064018e+02] [ 9.38447124e-01 3.45422096e-01 -7.55874444e-04 4.00624874e+02] [ 8.10543097e-04 -1.38313181e-05 9.99999671e-01 1.66293644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5427550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:315.07, Y:400.65, Z:1.66 [[ 3.41928888e-01 -9.39725784e-01 -2.93341730e-04 3.15069929e+02] [ 9.39725480e-01 3.41929014e-01 -7.55725232e-04 4.00652176e+02] [ 8.10476535e-04 -1.72564098e-05 9.99999671e-01 1.66485610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.572755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:315.08, Y:400.68, Z:1.66 [[ 3.41784432e-01 -9.39778334e-01 -2.91904939e-04 3.15079177e+02] [ 9.39778030e-01 3.41784556e-01 -7.56285633e-04 4.00678682e+02] [ 8.10509452e-04 -1.58391933e-05 9.99999671e-01 1.66449868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.09, Y:400.70, Z:1.67 [[ 3.42075508e-01 -9.39672422e-01 -2.92874260e-04 3.15088805e+02] [ 9.39672118e-01 3.42075633e-01 -7.55907801e-04 4.00704441e+02] [ 8.10490862e-04 -1.66282311e-05 9.99999671e-01 1.66710960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.10, Y:400.73, Z:1.67 [[ 3.43328568e-01 -9.39215316e-01 -2.91851007e-04 3.15102044e+02] [ 9.39215011e-01 3.43328692e-01 -7.56306354e-04 4.00731524e+02] [ 8.10535336e-04 -1.44492694e-05 9.99999671e-01 1.66508628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.11, Y:400.76, Z:1.67 [[ 3.38750431e-01 -9.40876217e-01 -3.00572004e-04 3.15108395e+02] [ 9.40875916e-01 3.38750563e-01 -7.52901379e-04 4.00756843e+02] [ 8.10205937e-04 -2.77552928e-05 9.99999671e-01 1.66641513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.12, Y:400.78, Z:1.67 [[ 3.39245878e-01 -9.40697691e-01 -2.97766749e-04 3.15117629e+02] [ 9.40697389e-01 3.39246008e-01 -7.53994952e-04 4.00778813e+02] [ 8.10297491e-04 -2.43187237e-05 9.99999671e-01 1.66852095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.13, Y:400.80, Z:1.67 [[ 3.36786292e-01 -9.41581068e-01 -2.92501039e-04 3.15127547e+02] [ 9.41580765e-01 3.36786418e-01 -7.56045546e-04 4.00804797e+02] [ 8.10388550e-04 -2.07875760e-05 9.99999671e-01 1.66974384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.14, Y:400.83, Z:1.67 [[ 3.35814102e-01 -9.41928236e-01 -2.93670666e-04 3.15137343e+02] [ 9.41927934e-01 3.35814230e-01 -7.55590424e-04 4.00830914e+02] [ 8.10330744e-04 -2.28786836e-05 9.99999671e-01 1.66966644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.15, Y:400.86, Z:1.67 [[ 3.35418438e-01 -9.42069204e-01 -2.93704347e-04 3.15146862e+02] [ 9.42068901e-01 3.35418566e-01 -7.55577332e-04 4.00855040e+02] [ 8.10320026e-04 -2.32551627e-05 9.99999671e-01 1.67002848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.16, Y:400.88, Z:1.67 [[ 3.33421250e-01 -9.42777909e-01 -2.92062775e-04 3.15156131e+02] [ 9.42777605e-01 3.33421377e-01 -7.56214740e-04 4.00882464e+02] [ 8.10322524e-04 -2.32121801e-05 9.99999671e-01 1.67109428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.17, Y:400.91, Z:1.67 [[ 3.34420214e-01 -9.42424020e-01 -2.94700163e-04 3.15167821e+02] [ 9.42423718e-01 3.34420343e-01 -7.55191303e-04 4.00909714e+02] [ 8.10264153e-04 -2.51811864e-05 9.99999671e-01 1.66769132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.17, Y:400.93, Z:1.67 [[ 3.34507671e-01 -9.42392980e-01 -2.99538365e-04 3.15174668e+02] [ 9.42392679e-01 3.34507803e-01 -7.53314426e-04 4.00932781e+02] [ 8.10116147e-04 -3.02933083e-05 9.99999671e-01 1.67126931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.18, Y:400.96, Z:1.67 [[ 3.35272889e-01 -9.42121014e-01 -2.90684190e-04 3.15183442e+02] [ 9.42120711e-01 3.35273014e-01 -7.56742159e-04 4.00958393e+02] [ 8.10401255e-04 -2.01444663e-05 9.99999671e-01 1.67080575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.19, Y:400.99, Z:1.67 [[ 3.33490452e-01 -9.42753433e-01 -2.89264940e-04 3.15192923e+02] [ 9.42753129e-01 3.33490577e-01 -7.57291137e-04 4.00987742e+02] [ 8.10405950e-04 -2.01560638e-05 9.99999671e-01 1.67071476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.20, Y:401.01, Z:1.67 [[ 3.33676062e-01 -9.42687751e-01 -2.98994233e-04 3.15202305e+02] [ 9.42687451e-01 3.33676194e-01 -7.53526432e-04 4.01012485e+02] [ 8.10107396e-04 -3.04243794e-05 9.99999671e-01 1.67096073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.21, Y:401.04, Z:1.67 [[ 3.33651532e-01 -9.42696435e-01 -2.95290720e-04 3.15213214e+02] [ 9.42696133e-01 3.33651661e-01 -7.54955030e-04 4.01038494e+02] [ 8.10217655e-04 -2.64775181e-05 9.99999671e-01 1.66678013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.22, Y:401.07, Z:1.67 [[ 3.33275281e-01 -9.42829517e-01 -2.99489664e-04 3.15224017e+02] [ 9.42829216e-01 3.33275414e-01 -7.53336736e-04 4.01065236e+02] [ 8.10080653e-04 -3.12990924e-05 9.99999671e-01 1.66658249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.23, Y:401.09, Z:1.67 [[ 3.32174642e-01 -9.43217852e-01 -3.02288422e-04 3.15233943e+02] [ 9.43217553e-01 3.32174777e-01 -7.52259177e-04 4.01091876e+02] [ 8.09956874e-04 -3.52423226e-05 9.99999671e-01 1.66861929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.082755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:315.24, Y:401.11, Z:1.67 [[ 3.31890641e-01 -9.43317820e-01 -3.05508977e-04 3.15241765e+02] [ 9.43317522e-01 3.31890780e-01 -7.51011155e-04 4.01114502e+02] [ 8.09837818e-04 -3.89383973e-05 9.99999671e-01 1.66854014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.25, Y:401.14, Z:1.67 [[ 3.29140316e-01 -9.44280978e-01 -2.96903696e-04 3.15249502e+02] [ 9.44280677e-01 3.29140448e-01 -7.54338339e-04 4.01142271e+02] [ 8.10030359e-04 -3.20772643e-05 9.99999671e-01 1.66910545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.142755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:315.26, Y:401.16, Z:1.67 [[ 3.31779349e-01 -9.43356970e-01 -3.02719847e-04 3.15258968e+02] [ 9.43356671e-01 3.31779485e-01 -7.52093451e-04 4.01164267e+02] [ 8.09928833e-04 -3.60437119e-05 9.99999671e-01 1.66873862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.27, Y:401.19, Z:1.67 [[ 3.30307985e-01 -9.43873164e-01 -2.91199514e-04 3.15266442e+02] [ 9.43872861e-01 3.30308113e-01 -7.56527809e-04 4.01190426e+02] [ 8.10251859e-04 -2.49681423e-05 9.99999671e-01 1.67113531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:401.22, Z:1.67 [[ 3.30234168e-01 -9.43898993e-01 -2.94056055e-04 3.15275636e+02] [ 9.43898691e-01 3.30234297e-01 -7.55429089e-04 4.01216411e+02] [ 8.10156150e-04 -2.80906290e-05 9.99999671e-01 1.67075022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.28, Y:401.24, Z:1.67 [[ 3.30345281e-01 -9.43860111e-01 -2.95595712e-04 3.15284775e+02] [ 9.43859809e-01 3.30345412e-01 -7.54838873e-04 4.01243239e+02] [ 8.10110989e-04 -2.96434527e-05 9.99999671e-01 1.67174397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.29, Y:401.27, Z:1.67 [[ 3.31985108e-01 -9.43284581e-01 -2.97083057e-04 3.15291744e+02] [ 9.43284279e-01 3.31985240e-01 -7.54267973e-04 4.01266606e+02] [ 8.10116539e-04 -2.98280424e-05 9.99999671e-01 1.67176662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.30, Y:401.29, Z:1.67 [[ 3.33655582e-01 -9.42695003e-01 -2.91244824e-04 3.15300231e+02] [ 9.42694699e-01 3.33655708e-01 -7.56503590e-04 4.01292143e+02] [ 8.10327652e-04 -2.21433064e-05 9.99999671e-01 1.67247365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.31, Y:401.32, Z:1.67 [[ 3.37723991e-01 -9.41245145e-01 -2.90339101e-04 3.15311853e+02] [ 9.41244840e-01 3.37724115e-01 -7.56849895e-04 4.01321378e+02] [ 8.10435805e-04 -1.76738134e-05 9.99999671e-01 1.67358091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.32, Y:401.35, Z:1.67 [[ 3.36522568e-01 -9.41675355e-01 -2.96858177e-04 3.15317009e+02] [ 9.41675053e-01 3.36522698e-01 -7.54357104e-04 4.01345421e+02] [ 8.10259008e-04 -2.56857502e-05 9.99999671e-01 1.67289968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.33, Y:401.37, Z:1.67 [[ 3.37647957e-01 -9.41272423e-01 -2.88996538e-04 3.15325281e+02] [ 9.41272118e-01 3.37648081e-01 -7.57356993e-04 4.01371660e+02] [ 8.10458378e-04 -1.63043422e-05 9.99999672e-01 1.67284112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4127550960001 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:315.34, Y:401.40, Z:1.67 [[ 3.42007459e-01 -9.39697193e-01 -2.88731946e-04 3.15336792e+02] [ 9.39696888e-01 3.42007580e-01 -7.57457852e-04 4.01401417e+02] [ 8.10529531e-04 -1.22642762e-05 9.99999672e-01 1.67247809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.34, Y:401.43, Z:1.67 [[ 3.41024408e-01 -9.40054394e-01 -2.98105164e-04 3.15340338e+02] [ 9.40054092e-01 3.41024538e-01 -7.53882329e-04 4.01425190e+02] [ 8.10351572e-04 -2.31427043e-05 9.99999671e-01 1.67299052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.35, Y:401.45, Z:1.67 [[ 3.42548298e-01 -9.39500176e-01 -2.88402693e-04 3.15347057e+02] [ 9.39499870e-01 3.42548419e-01 -7.57575977e-04 4.01451596e+02] [ 8.10534650e-04 -1.14479314e-05 9.99999672e-01 1.67185632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.36, Y:401.48, Z:1.67 [[ 3.43643985e-01 -9.39099957e-01 -2.88132655e-04 3.15357729e+02] [ 9.39099651e-01 3.43644106e-01 -7.57678668e-04 4.01479425e+02] [ 8.10551093e-04 -1.02135587e-05 9.99999672e-01 1.67127491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.37, Y:401.51, Z:1.67 [[ 3.43294434e-01 -9.39227793e-01 -2.92232622e-04 3.15366293e+02] [ 9.39227488e-01 3.43294558e-01 -7.56120478e-04 4.01505757e+02] [ 8.10491236e-04 -1.49009603e-05 9.99999671e-01 1.67174660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.562755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:315.37, Y:401.53, Z:1.67 [[ 3.41767736e-01 -9.39784406e-01 -2.91553875e-04 3.15372409e+02] [ 9.39784102e-01 3.41767860e-01 -7.56378183e-04 4.01531629e+02] [ 8.10476166e-04 -1.54920375e-05 9.99999671e-01 1.67192754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.38, Y:401.56, Z:1.67 [[ 3.41409591e-01 -9.39914575e-01 -2.87466345e-04 3.15380753e+02] [ 9.39914270e-01 3.41409712e-01 -7.57928498e-04 4.01557039e+02] [ 8.10531844e-04 -1.14296612e-05 9.99999672e-01 1.67232690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.39, Y:401.59, Z:1.67 [[ 3.35225357e-01 -9.42137929e-01 -2.87210820e-04 3.15386433e+02] [ 9.42137624e-01 3.35225480e-01 -7.58025315e-04 4.01588779e+02] [ 8.10444785e-04 -1.64828125e-05 9.99999672e-01 1.67156793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.40, Y:401.61, Z:1.67 [[ 3.38257742e-01 -9.41053458e-01 -2.99136426e-04 3.15395901e+02] [ 9.41053157e-01 3.38257873e-01 -7.53512369e-04 4.01612363e+02] [ 8.10280672e-04 -2.66218848e-05 9.99999671e-01 1.67226869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.40, Y:401.64, Z:1.67 [[ 3.36160648e-01 -9.41804615e-01 -2.91565069e-04 3.15400883e+02] [ 9.41804312e-01 3.36160774e-01 -7.56366125e-04 4.01636654e+02] [ 8.10361847e-04 -2.03367126e-05 9.99999672e-01 1.67160413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.41, Y:401.66, Z:1.67 [[ 3.35019088e-01 -9.42211298e-01 -2.85469285e-04 3.15406621e+02] [ 9.42210992e-01 3.35019210e-01 -7.58659853e-04 4.01663293e+02] [ 8.10455578e-04 -1.48067656e-05 9.99999672e-01 1.67099927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.41, Y:401.69, Z:1.67 [[ 3.34306731e-01 -9.42464285e-01 -2.85217169e-04 3.15414227e+02] [ 9.42463980e-01 3.34306852e-01 -7.58754624e-04 4.01688510e+02] [ 8.10449188e-04 -1.51501306e-05 9.99999672e-01 1.67057862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.42, Y:401.72, Z:1.67 [[ 3.33039528e-01 -9.42912823e-01 -2.84953018e-04 3.15421219e+02] [ 9.42912518e-01 3.33039649e-01 -7.58853814e-04 4.01715099e+02] [ 8.10433645e-04 -1.59574518e-05 9.99999672e-01 1.67048226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.43, Y:401.74, Z:1.67 [[ 3.33341709e-01 -9.42806037e-01 -2.84690551e-04 3.15432432e+02] [ 9.42805732e-01 3.33341830e-01 -7.58952268e-04 4.01744065e+02] [ 8.10444049e-04 -1.54174368e-05 9.99999672e-01 1.67020974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.44, Y:401.77, Z:1.67 [[ 3.33023661e-01 -9.42918426e-01 -2.89989928e-04 3.15442246e+02] [ 9.42918122e-01 3.33023786e-01 -7.56964193e-04 4.01770906e+02] [ 8.10329028e-04 -2.13497714e-05 9.99999672e-01 1.67023436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.45, Y:401.79, Z:1.67 [[ 3.31000211e-01 -9.43630636e-01 -2.89801188e-04 3.15448493e+02] [ 9.43630332e-01 3.31000337e-01 -7.57034941e-04 4.01794709e+02] [ 8.10285654e-04 -2.28864662e-05 9.99999672e-01 1.67036956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.46, Y:401.82, Z:1.67 [[ 3.29451480e-01 -9.44172464e-01 -2.84142338e-04 3.15456088e+02] [ 9.44172159e-01 3.29451602e-01 -7.59152984e-04 4.01821253e+02] [ 8.10382492e-04 -1.81752114e-05 9.99999672e-01 1.67134496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.46, Y:401.85, Z:1.67 [[ 3.28453311e-01 -9.44520165e-01 -2.83201165e-04 3.15463771e+02] [ 9.44519860e-01 3.28453433e-01 -7.59505008e-04 4.01847024e+02] [ 8.10386191e-04 -1.80271897e-05 9.99999672e-01 1.67128961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.47, Y:401.87, Z:1.67 [[ 3.27379707e-01 -9.44892823e-01 -2.83794300e-04 3.15471545e+02] [ 9.44892518e-01 3.27379830e-01 -7.59283315e-04 4.01873469e+02] [ 8.10349884e-04 -1.95811616e-05 9.99999672e-01 1.67143966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.48, Y:401.90, Z:1.67 [[ 3.25976404e-01 -9.45377863e-01 -2.83084952e-04 3.15479223e+02] [ 9.45377558e-01 3.25976526e-01 -7.59548214e-04 4.01899187e+02] [ 8.10339116e-04 -2.00273651e-05 9.99999672e-01 1.67131792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.012755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.49, Y:401.92, Z:1.67 [[ 3.25298461e-01 -9.45611354e-01 -2.81653684e-04 3.15487206e+02] [ 9.45611048e-01 3.25298582e-01 -7.60081948e-04 4.01924344e+02] [ 8.10363664e-04 -1.90813477e-05 9.99999672e-01 1.66730499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.50, Y:401.95, Z:1.67 [[ 3.25558597e-01 -9.45521825e-01 -2.80896171e-04 3.15495057e+02] [ 9.45521519e-01 3.25558718e-01 -7.60364362e-04 4.01951068e+02] [ 8.10389296e-04 -1.80502192e-05 9.99999672e-01 1.66672264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.50, Y:401.98, Z:1.67 [[ 3.25668616e-01 -9.45483936e-01 -2.80278481e-04 3.15504454e+02] [ 9.45483631e-01 3.25668736e-01 -7.60594617e-04 4.01977742e+02] [ 8.10407932e-04 -1.72969198e-05 9.99999672e-01 1.66676142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.51, Y:402.00, Z:1.67 [[ 3.25719940e-01 -9.45466257e-01 -2.80486274e-04 3.15513584e+02] [ 9.45465951e-01 3.25720060e-01 -7.60517190e-04 4.02003610e+02] [ 8.10403347e-04 -1.74746086e-05 9.99999672e-01 1.66896530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.52, Y:402.03, Z:1.67 [[ 3.26184645e-01 -9.45306035e-01 -2.80277769e-04 3.15523168e+02] [ 9.45305729e-01 3.26184765e-01 -7.60594753e-04 4.02029274e+02] [ 8.10417148e-04 -1.68538512e-05 9.99999672e-01 1.66650132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.53, Y:402.06, Z:1.67 [[ 3.26518338e-01 -9.45190825e-01 -2.81743830e-04 3.15533400e+02] [ 9.45190519e-01 3.26518460e-01 -7.60049930e-04 4.02055197e+02] [ 8.10386781e-04 -1.81313569e-05 9.99999672e-01 1.66676575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.192755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:315.54, Y:402.08, Z:1.66 [[ 3.27761704e-01 -9.44760385e-01 -2.82353746e-04 3.15544190e+02] [ 9.44760080e-01 3.27761825e-01 -7.59823432e-04 4.02079256e+02] [ 8.10395858e-04 -1.77155248e-05 9.99999672e-01 1.66468702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.55, Y:402.10, Z:1.67 [[ 3.28947581e-01 -9.44348140e-01 -2.82248604e-04 3.15554494e+02] [ 9.44347834e-01 3.28947701e-01 -7.59862437e-04 4.02104111e+02] [ 8.10419708e-04 -1.65859474e-05 9.99999672e-01 1.66825793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.57, Y:402.13, Z:1.67 [[ 3.29815853e-01 -9.44045245e-01 -2.81654479e-04 3.15565055e+02] [ 9.44044939e-01 3.29815973e-01 -7.60082594e-04 4.02130403e+02] [ 8.10446505e-04 -1.52071961e-05 9.99999672e-01 1.66775955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.58, Y:402.15, Z:1.67 [[ 3.32252428e-01 -9.43190461e-01 -2.81411302e-04 3.15576140e+02] [ 9.43190154e-01 3.32252547e-01 -7.60172617e-04 4.02154653e+02] [ 8.10487182e-04 -1.28551721e-05 9.99999672e-01 1.66813519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.59, Y:402.18, Z:1.67 [[ 3.33354612e-01 -9.42801476e-01 -2.81155169e-04 3.15586463e+02] [ 9.42801170e-01 3.33354731e-01 -7.60267338e-04 4.02180330e+02] [ 8.10505574e-04 -1.16347983e-05 9.99999672e-01 1.66802640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.342755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:315.60, Y:402.21, Z:1.66 [[ 3.35551954e-01 -9.42021660e-01 -2.80913276e-04 3.15597962e+02] [ 9.42021353e-01 3.35552071e-01 -7.60356705e-04 4.02206632e+02] [ 8.10533517e-04 -9.48712598e-06 9.99999672e-01 1.66400552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.61, Y:402.23, Z:1.67 [[ 3.36105653e-01 -9.41824247e-01 -2.80818055e-04 3.15609064e+02] [ 9.41823940e-01 3.36105770e-01 -7.60391848e-04 4.02231759e+02] [ 8.10540048e-04 -8.90916860e-06 9.99999672e-01 1.66635430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.62, Y:402.26, Z:1.67 [[ 3.36484622e-01 -9.41688919e-01 -2.80403065e-04 3.15620287e+02] [ 9.41688612e-01 3.36484739e-01 -7.60544849e-04 4.02258193e+02] [ 8.10548009e-04 -8.14072719e-06 9.99999672e-01 1.66623658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.63, Y:402.28, Z:1.67 [[ 3.36386925e-01 -9.41723823e-01 -2.80559533e-04 3.15632807e+02] [ 9.41723516e-01 3.36387042e-01 -7.60487198e-04 4.02283063e+02] [ 8.10545502e-04 -8.39155983e-06 9.99999672e-01 1.66509407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.64, Y:402.31, Z:1.66 [[ 3.35311271e-01 -9.42107357e-01 -2.80955839e-04 3.15643495e+02] [ 9.42107051e-01 3.35311389e-01 -7.60341233e-04 4.02308165e+02] [ 8.10530762e-04 -9.73949130e-06 9.99999672e-01 1.66428236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.65, Y:402.33, Z:1.67 [[ 3.34290088e-01 -9.42470190e-01 -2.81120685e-04 3.15654332e+02] [ 9.42469883e-01 3.34290206e-01 -7.60280559e-04 4.02332321e+02] [ 8.10517654e-04 -1.07935239e-05 9.99999672e-01 1.66749223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.522755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:315.67, Y:402.36, Z:1.67 [[ 3.33142331e-01 -9.42876508e-01 -2.79689650e-04 3.15667531e+02] [ 9.42876201e-01 3.33142448e-01 -7.60806640e-04 4.02357754e+02] [ 8.10523202e-04 -1.02558170e-05 9.99999672e-01 1.66544122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.68, Y:402.38, Z:1.67 [[ 3.32575708e-01 -9.43076519e-01 -2.80030738e-04 3.15678180e+02] [ 9.43076212e-01 3.32575825e-01 -7.60681291e-04 4.02381330e+02] [ 8.10512117e-04 -1.11062089e-05 9.99999672e-01 1.66851418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.69, Y:402.40, Z:1.67 [[ 3.32859431e-01 -9.42976416e-01 -2.78898563e-04 3.15688824e+02] [ 9.42976109e-01 3.32859548e-01 -7.61096942e-04 4.02403928e+02] [ 8.10530517e-04 -9.65638611e-06 9.99999672e-01 1.66686004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.70, Y:402.43, Z:1.67 [[ 3.32477949e-01 -9.43110989e-01 -2.77475555e-04 3.15703864e+02] [ 9.43110681e-01 3.32478065e-01 -7.61619696e-04 4.02430605e+02] [ 8.10546440e-04 -8.46840492e-06 9.99999672e-01 1.66765139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.72, Y:402.46, Z:1.67 [[ 3.32169452e-01 -9.43219686e-01 -2.80569707e-04 3.15715656e+02] [ 9.43219380e-01 3.32169571e-01 -7.60483555e-04 4.02456565e+02] [ 8.10499779e-04 -1.20293794e-05 9.99999672e-01 1.66716277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.73, Y:402.48, Z:1.67 [[ 3.32068739e-01 -9.43255148e-01 -2.79811462e-04 3.15727011e+02] [ 9.43254841e-01 3.32068857e-01 -7.60761733e-04 4.02480709e+02] [ 8.10509093e-04 -1.13083272e-05 9.99999672e-01 1.66760780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.74, Y:402.51, Z:1.67 [[ 3.32858721e-01 -9.42976667e-01 -2.79013275e-04 3.15740974e+02] [ 9.42976360e-01 3.32858838e-01 -7.61054359e-04 4.02505128e+02] [ 8.10528538e-04 -9.77934226e-06 9.99999672e-01 1.66763967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.75, Y:402.53, Z:1.67 [[ 3.33087663e-01 -9.42895822e-01 -2.78766951e-04 3.15751560e+02] [ 9.42895515e-01 3.33087779e-01 -7.61144575e-04 4.02529776e+02] [ 8.10533904e-04 -9.32024007e-06 9.99999672e-01 1.66660432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.76, Y:402.55, Z:1.67 [[ 3.34568664e-01 -9.42371334e-01 -2.78507591e-04 3.15764218e+02] [ 9.42371027e-01 3.34568780e-01 -7.61239464e-04 4.02552872e+02] [ 8.10550195e-04 -7.77061421e-06 9.99999672e-01 1.66641766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.78, Y:402.58, Z:1.67 [[ 3.35454633e-01 -9.42056321e-01 -2.78222972e-04 3.15775678e+02] [ 9.42056013e-01 3.35454749e-01 -7.61343475e-04 4.02577151e+02] [ 8.10559650e-04 -6.70542786e-06 9.99999672e-01 1.66678401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.79, Y:402.60, Z:1.67 [[ 3.36069154e-01 -9.41837272e-01 -2.77942783e-04 3.15786962e+02] [ 9.41836964e-01 3.36069269e-01 -7.61445749e-04 4.02601556e+02] [ 8.10566015e-04 -5.87835796e-06 9.99999672e-01 1.66761216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.80, Y:402.63, Z:1.67 [[ 3.37422157e-01 -9.41353393e-01 -2.77680575e-04 3.15800580e+02] [ 9.41353085e-01 3.37422271e-01 -7.61541358e-04 4.02625941e+02] [ 8.10575152e-04 -4.43453843e-06 9.99999672e-01 1.66826512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.81, Y:402.65, Z:1.67 [[ 3.37719343e-01 -9.41246816e-01 -2.77417869e-04 3.15811555e+02] [ 9.41246508e-01 3.37719457e-01 -7.61637046e-04 4.02650287e+02] [ 8.10577856e-04 -3.89903762e-06 9.99999672e-01 1.66796039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.83, Y:402.67, Z:1.67 [[ 3.38352851e-01 -9.41019273e-01 -2.77142781e-04 3.15825358e+02] [ 9.41018964e-01 3.38352965e-01 -7.61737131e-04 4.02674427e+02] [ 8.10581403e-04 -3.06068207e-06 9.99999672e-01 1.66793649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.84, Y:402.70, Z:1.67 [[ 3.38527708e-01 -9.40956383e-01 -2.76876342e-04 3.15836593e+02] [ 9.40956075e-01 3.38527821e-01 -7.61833964e-04 4.02698014e+02] [ 8.10582876e-04 -2.62657084e-06 9.99999672e-01 1.66726846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.85, Y:402.72, Z:1.67 [[ 3.38831276e-01 -9.40847113e-01 -2.76597373e-04 3.15848592e+02] [ 9.40846804e-01 3.38831389e-01 -7.61935235e-04 4.02722523e+02] [ 8.10584438e-04 -2.06826639e-06 9.99999672e-01 1.66688770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.86, Y:402.75, Z:1.67 [[ 3.39772162e-01 -9.40507736e-01 -2.76333917e-04 3.15862989e+02] [ 9.40507427e-01 3.39772274e-01 -7.62030772e-04 4.02745716e+02] [ 8.10586440e-04 -9.77258656e-07 9.99999672e-01 1.66639972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.87, Y:402.77, Z:1.67 [[ 3.40273032e-01 -9.40326639e-01 -2.76058206e-04 3.15874093e+02] [ 9.40326330e-01 3.40273144e-01 -7.62130640e-04 4.02769461e+02] [ 8.10586936e-04 -2.52295594e-07 9.99999672e-01 1.66592385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.89, Y:402.79, Z:1.67 [[ 3.40409795e-01 -9.40277138e-01 -2.75784844e-04 3.15885316e+02] [ 9.40276829e-01 3.40409907e-01 -7.62229546e-04 4.02794416e+02] [ 8.10586908e-04 1.56304467e-07 9.99999672e-01 1.66536884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.90, Y:402.82, Z:1.67 [[ 3.41188012e-01 -9.39995034e-01 -2.75527406e-04 3.15898796e+02] [ 9.39994725e-01 3.41188124e-01 -7.62322592e-04 4.02817378e+02] [ 8.10586130e-04 1.10102133e-06 9.99999672e-01 1.66518051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.91, Y:402.84, Z:1.67 [[ 3.41753150e-01 -9.39789715e-01 -2.75328488e-04 3.15909658e+02] [ 9.39789406e-01 3.41753261e-01 -7.62394428e-04 4.02840243e+02] [ 8.10584851e-04 1.79990097e-06 9.99999672e-01 1.66755745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.92, Y:402.87, Z:1.67 [[ 3.43487157e-01 -9.39157335e-01 -2.72163951e-04 3.15920224e+02] [ 9.39157024e-01 3.43487265e-01 -7.63535924e-04 4.02866661e+02] [ 8.10565214e-04 6.66009804e-06 9.99999672e-01 1.66627711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.93, Y:402.89, Z:1.67 [[ 3.44343768e-01 -9.38843594e-01 -2.74842859e-04 3.15929875e+02] [ 9.38843284e-01 3.44343878e-01 -7.62570402e-04 4.02891871e+02] [ 8.10574792e-04 4.55199309e-06 9.99999672e-01 1.66632486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.212755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:315.94, Y:402.92, Z:1.67 [[ 3.45010323e-01 -9.38598851e-01 -2.74572517e-04 3.15939513e+02] [ 9.38598541e-01 3.45010432e-01 -7.62667729e-04 4.02916931e+02] [ 8.10569436e-04 5.41487522e-06 9.99999672e-01 1.66654884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:315.95, Y:402.94, Z:1.67 [[ 3.46313921e-01 -9.38118646e-01 -2.74302221e-04 3.15947746e+02] [ 9.38118336e-01 3.46314029e-01 -7.62764931e-04 4.02941568e+02] [ 8.10558712e-04 6.82817080e-06 9.99999672e-01 1.66628201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.96, Y:402.97, Z:1.67 [[ 3.46443706e-01 -9.38070724e-01 -2.74019331e-04 3.15955923e+02] [ 9.38070414e-01 3.46443814e-01 -7.62866545e-04 4.02967690e+02] [ 8.10555074e-04 7.24088503e-06 9.99999672e-01 1.66673998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.96, Y:402.99, Z:1.67 [[ 3.45337485e-01 -9.38478527e-01 -2.73744416e-04 3.15964532e+02] [ 9.38478217e-01 3.45337594e-01 -7.62965182e-04 4.02992492e+02] [ 8.10560678e-04 6.57730582e-06 9.99999672e-01 1.66534128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.97, Y:403.02, Z:1.67 [[ 3.44682219e-01 -9.38719390e-01 -2.73456821e-04 3.15974792e+02] [ 9.38719080e-01 3.44682327e-01 -7.63068245e-04 4.03020269e+02] [ 8.10562691e-04 6.31692066e-06 9.99999672e-01 1.66679399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.362755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:315.98, Y:403.04, Z:1.67 [[ 3.43100328e-01 -9.39298722e-01 -2.76755944e-04 3.15982536e+02] [ 9.39298413e-01 3.43100440e-01 -7.61886099e-04 4.03044894e+02] [ 8.10593725e-04 1.44695142e-06 9.99999672e-01 1.66621952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:315.99, Y:403.07, Z:1.67 [[ 3.39309116e-01 -9.40674890e-01 -2.73169031e-04 3.15991058e+02] [ 9.40674581e-01 3.39309226e-01 -7.63169998e-04 4.03070693e+02] [ 8.10583627e-04 1.98737336e-06 9.99999672e-01 1.66599946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.00, Y:403.10, Z:1.67 [[ 3.37067688e-01 -9.41480376e-01 -2.72895434e-04 3.15999640e+02] [ 9.41480067e-01 3.37067799e-01 -7.63267819e-04 4.03096523e+02] [ 8.10585937e-04 3.47308258e-07 9.99999672e-01 1.66600549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.01, Y:403.12, Z:1.66 [[ 3.31960599e-01 -9.43293213e-01 -2.72623537e-04 3.16006970e+02] [ 9.43292904e-01 3.31960711e-01 -7.63364923e-04 4.03121812e+02] [ 8.10577254e-04 -3.75677088e-06 9.99999672e-01 1.66499339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.02, Y:403.15, Z:1.66 [[ 3.29359331e-01 -9.44204616e-01 -2.72338980e-04 3.16015871e+02] [ 9.44204308e-01 3.29359443e-01 -7.63466428e-04 4.03147573e+02] [ 8.10565941e-04 -5.68884592e-06 9.99999672e-01 1.66490069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.02, Y:403.17, Z:1.67 [[ 3.28759135e-01 -9.44413764e-01 -2.72069213e-04 3.16024880e+02] [ 9.44413455e-01 3.28759248e-01 -7.63562551e-04 4.03170636e+02] [ 8.10564252e-04 -5.91766140e-06 9.99999672e-01 1.66508537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.03, Y:403.20, Z:1.66 [[ 3.21844419e-01 -9.46792533e-01 -2.64905713e-04 3.16033309e+02] [ 9.46792223e-01 3.21844528e-01 -7.66109202e-04 4.03199203e+02] [ 8.10604926e-04 -4.24269741e-06 9.99999672e-01 1.66442411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.04, Y:403.22, Z:1.67 [[ 3.20935206e-01 -9.47101114e-01 -2.71952319e-04 3.16042683e+02] [ 9.47100806e-01 3.20935321e-01 -7.63603865e-04 4.03224896e+02] [ 8.10489175e-04 -1.24988966e-05 9.99999672e-01 1.66673906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.05, Y:403.25, Z:1.67 [[ 3.19149940e-01 -9.47704196e-01 -2.71304038e-04 3.16050078e+02] [ 9.47703888e-01 3.19150055e-01 -7.63834126e-04 4.03251367e+02] [ 8.10475504e-04 -1.33382762e-05 9.99999672e-01 1.66672171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.06, Y:403.28, Z:1.67 [[ 3.17754325e-01 -9.48173041e-01 -2.71033409e-04 3.16058571e+02] [ 9.48172733e-01 3.17754440e-01 -7.63930142e-04 4.03279538e+02] [ 8.10460035e-04 -1.42443818e-05 9.99999672e-01 1.66546987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.07, Y:403.30, Z:1.67 [[ 3.17904407e-01 -9.48122732e-01 -2.72230189e-04 3.16067268e+02] [ 9.48122424e-01 3.17904523e-01 -7.63505875e-04 4.03304522e+02] [ 8.10440484e-04 -1.53856641e-05 9.99999672e-01 1.66690125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.08, Y:403.33, Z:1.67 [[ 3.17429607e-01 -9.48281800e-01 -2.70593601e-04 3.16075639e+02] [ 9.48281492e-01 3.17429722e-01 -7.64085457e-04 4.03329984e+02] [ 8.10462784e-04 -1.40555569e-05 9.99999672e-01 1.66743797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.08, Y:403.36, Z:1.67 [[ 3.17096060e-01 -9.48393387e-01 -2.70324824e-04 3.16084705e+02] [ 9.48393079e-01 3.17096174e-01 -7.64180535e-04 4.03356227e+02] [ 8.10462733e-04 -1.40555561e-05 9.99999672e-01 1.66746038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.09, Y:403.38, Z:1.67 [[ 3.16347456e-01 -9.48643355e-01 -2.70056015e-04 3.16094190e+02] [ 9.48643047e-01 3.16347571e-01 -7.64275519e-04 4.03382999e+02] [ 8.10456456e-04 -1.44101447e-05 9.99999672e-01 1.67012947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.10, Y:403.41, Z:1.67 [[ 3.16921044e-01 -9.48451885e-01 -2.70936033e-04 3.16103250e+02] [ 9.48451578e-01 3.16921160e-01 -7.63964791e-04 4.03408468e+02] [ 8.10449208e-04 -1.48531889e-05 9.99999672e-01 1.67041154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.11, Y:403.43, Z:1.67 [[ 3.16460307e-01 -9.48605714e-01 -2.69541308e-04 3.16108800e+02] [ 9.48605406e-01 3.16460422e-01 -7.64456560e-04 4.03431895e+02] [ 8.10467017e-04 -1.37681842e-05 9.99999672e-01 1.66609713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.12, Y:403.46, Z:1.67 [[ 3.17438978e-01 -9.48278665e-01 -2.63821350e-04 3.16119343e+02] [ 9.48278355e-01 3.17439088e-01 -7.66469139e-04 4.03459147e+02] [ 8.10573540e-04 -6.86889586e-06 9.99999672e-01 1.67050317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.13, Y:403.49, Z:1.67 [[ 3.18486753e-01 -9.47927274e-01 -2.68964517e-04 3.16127120e+02] [ 9.47926965e-01 3.18486866e-01 -7.64660061e-04 4.03485927e+02] [ 8.10503793e-04 -1.14246193e-05 9.99999672e-01 1.67134398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.14, Y:403.51, Z:1.67 [[ 3.18927816e-01 -9.47778970e-01 -2.68719059e-04 3.16135592e+02] [ 9.47778661e-01 3.18927929e-01 -7.64746311e-04 4.03510764e+02] [ 8.10512484e-04 -1.07873190e-05 9.99999672e-01 1.67085814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.15, Y:403.54, Z:1.67 [[ 3.19045175e-01 -9.47739471e-01 -2.68430089e-04 3.16145030e+02] [ 9.47739162e-01 3.19045288e-01 -7.64847727e-04 4.03536403e+02] [ 8.10517735e-04 -1.03807309e-05 9.99999672e-01 1.67178116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.15, Y:403.56, Z:1.67 [[ 3.18244621e-01 -9.48008591e-01 -2.68161124e-04 3.16153973e+02] [ 9.48008283e-01 3.18244734e-01 -7.64942017e-04 4.03561449e+02] [ 8.10512469e-04 -1.07802844e-05 9.99999672e-01 1.67206266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.992755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:316.15, Y:403.58, Z:1.67 [[ 3.11644585e-01 -9.50198706e-01 -2.67879859e-04 3.16151403e+02] [ 9.50198398e-01 3.11644700e-01 -7.65040502e-04 4.03582052e+02] [ 8.10423833e-04 -1.61182835e-05 9.99999672e-01 1.66720332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.16, Y:403.61, Z:1.67 [[ 3.14474525e-01 -9.49265879e-01 -2.53906069e-04 3.16164607e+02] [ 9.49265567e-01 3.14474627e-01 -7.69935699e-04 4.03605552e+02] [ 8.10720705e-04 1.10087425e-06 9.99999671e-01 1.67171400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.052755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:316.18, Y:403.63, Z:1.67 [[ 3.15296826e-01 -9.48993071e-01 -2.52248801e-04 3.16179351e+02] [ 9.48992758e-01 3.15296927e-01 -7.70515306e-04 4.03634319e+02] [ 8.10746958e-04 3.55874512e-06 9.99999671e-01 1.67217432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.19, Y:403.66, Z:1.68 [[ 3.12261208e-01 -9.49996245e-01 -2.67903008e-04 3.16188966e+02] [ 9.49995937e-01 3.12261323e-01 -7.65033443e-04 4.03659914e+02] [ 8.10434646e-04 -1.56165024e-05 9.99999672e-01 1.67669141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.20, Y:403.69, Z:1.68 [[ 3.10462588e-01 -9.50585562e-01 -2.67639023e-04 3.16198035e+02] [ 9.50585254e-01 3.10462703e-01 -7.65125784e-04 4.03685141e+02] [ 8.10409457e-04 -1.68707773e-05 9.99999672e-01 1.67775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.21, Y:403.71, Z:1.68 [[ 3.08813403e-01 -9.51122606e-01 -2.67367615e-04 3.16206969e+02] [ 9.51122298e-01 3.08813518e-01 -7.65220614e-04 4.03710721e+02] [ 8.10385358e-04 -1.79889192e-05 9.99999672e-01 1.67860768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.22, Y:403.74, Z:1.68 [[ 3.07051335e-01 -9.51692916e-01 -2.67096335e-04 3.16215302e+02] [ 9.51692608e-01 3.07051451e-01 -7.65315291e-04 4.03736123e+02] [ 8.10357458e-04 -1.92025259e-05 9.99999672e-01 1.67878276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.22, Y:403.76, Z:1.68 [[ 3.04295170e-01 -9.52577755e-01 -2.66812923e-04 3.16223442e+02] [ 9.52577447e-01 3.04295286e-01 -7.65414084e-04 4.03761797e+02] [ 8.10306345e-04 -2.12481642e-05 9.99999672e-01 1.67886821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.23, Y:403.79, Z:1.68 [[ 3.02592114e-01 -9.53120109e-01 -2.66539931e-04 3.16231632e+02] [ 9.53119801e-01 3.02592231e-01 -7.65509136e-04 4.03787468e+02] [ 8.10275064e-04 -2.24074583e-05 9.99999672e-01 1.67857631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.24, Y:403.81, Z:1.68 [[ 3.00731575e-01 -9.53708786e-01 -2.66264321e-04 3.16239224e+02] [ 9.53708479e-01 3.00731692e-01 -7.65604989e-04 4.03812191e+02] [ 8.10238325e-04 -2.36969463e-05 9.99999672e-01 1.67728411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.24, Y:403.83, Z:1.68 [[ 3.01985421e-01 -9.53312506e-01 -2.65976516e-04 3.16243593e+02] [ 9.53312199e-01 3.01985538e-01 -7.65704961e-04 4.03831514e+02] [ 8.10277177e-04 -2.23269216e-05 9.99999672e-01 1.68038013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.322755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:316.26, Y:403.86, Z:1.68 [[ 2.99512328e-01 -9.54092398e-01 -2.47488524e-04 3.16255257e+02] [ 9.54092086e-01 2.99512430e-01 -7.72103558e-04 4.03863159e+02] [ 8.10784025e-04 -4.87230799e-06 9.99999671e-01 1.67627128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.26, Y:403.89, Z:1.68 [[ 2.98483672e-01 -9.54414704e-01 -2.65598938e-04 3.16259994e+02] [ 9.54414397e-01 2.98483790e-01 -7.65822591e-04 4.03889611e+02] [ 8.10189319e-04 -2.49059114e-05 9.99999672e-01 1.67994114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.27, Y:403.92, Z:1.68 [[ 2.96914810e-01 -9.54903936e-01 -2.61138868e-04 3.16266339e+02] [ 9.54903628e-01 2.96914925e-01 -7.67367547e-04 4.03915088e+02] [ 8.10298318e-04 -2.15196623e-05 9.99999672e-01 1.67762743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:403.94, Z:1.68 [[ 2.98163280e-01 -9.54514847e-01 -2.56887946e-04 3.16277115e+02] [ 9.54514537e-01 2.98163391e-01 -7.68837555e-04 4.03942232e+02] [ 8.10461442e-04 -1.59641511e-05 9.99999672e-01 1.67931128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.28, Y:403.96, Z:1.68 [[ 3.03841923e-01 -9.52722424e-01 -2.62152870e-04 3.16282203e+02] [ 9.52722115e-01 3.03842035e-01 -7.67016829e-04 4.03959550e+02] [ 8.10407194e-04 -1.67069692e-05 9.99999672e-01 1.67834372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.29, Y:403.99, Z:1.68 [[ 3.00042350e-01 -9.53925851e-01 -2.42934654e-04 3.16292126e+02] [ 9.53925537e-01 3.00042449e-01 -7.73689579e-04 4.03993303e+02] [ 8.10933199e-04 3.98069419e-07 9.99999671e-01 1.67940939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.30, Y:404.01, Z:1.68 [[ 3.05584839e-01 -9.52164816e-01 -2.62506590e-04 3.16299084e+02] [ 9.52164508e-01 3.05584951e-01 -7.66879434e-04 4.04014310e+02] [ 8.10413679e-04 -1.56027298e-05 9.99999672e-01 1.67826247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.31, Y:404.05, Z:1.68 [[ 3.01916993e-01 -9.53334185e-01 -2.46874674e-04 3.16307844e+02] [ 9.53333872e-01 3.01917094e-01 -7.72297445e-04 4.04046241e+02] [ 8.10793240e-04 -2.18426717e-06 9.99999671e-01 1.67977676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.32, Y:404.07, Z:1.68 [[ 3.07778781e-01 -9.51457910e-01 -2.62357964e-04 3.16318393e+02] [ 9.51457601e-01 3.07778892e-01 -7.66923293e-04 4.04068133e+02] [ 8.10443476e-04 -1.35797633e-05 9.99999672e-01 1.67992645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.33, Y:404.10, Z:1.68 [[ 3.02824267e-01 -9.53046378e-01 -2.54882251e-04 3.16325589e+02] [ 9.53046067e-01 3.02824375e-01 -7.69518512e-04 4.04099742e+02] [ 8.10571388e-04 -9.88564705e-06 9.99999671e-01 1.68145907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.33, Y:404.12, Z:1.68 [[ 3.06211441e-01 -9.51963488e-01 -2.65580449e-04 3.16333151e+02] [ 9.51963180e-01 3.06211556e-01 -7.65800749e-04 4.04120009e+02] [ 8.10338155e-04 -1.83258574e-05 9.99999672e-01 1.68052495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.34, Y:404.16, Z:1.68 [[ 3.01512763e-01 -9.53462108e-01 -2.48803207e-04 3.16344231e+02] [ 9.53461796e-01 3.01512865e-01 -7.71602141e-04 4.04155321e+02] [ 8.10710772e-04 -4.57645967e-06 9.99999671e-01 1.68229407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.35, Y:404.18, Z:1.68 [[ 3.00033852e-01 -9.53928517e-01 -2.70847583e-04 3.16351607e+02] [ 9.53928211e-01 3.00033973e-01 -7.63966976e-04 4.04181140e+02] [ 8.10033361e-04 -2.91531960e-05 9.99999672e-01 1.68220416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.36, Y:404.21, Z:1.68 [[ 2.99196748e-01 -9.54191403e-01 -2.68756327e-04 3.16360454e+02] [ 9.54191097e-01 2.99196867e-01 -7.64690329e-04 4.04206792e+02] [ 8.10071989e-04 -2.76520351e-05 9.99999672e-01 1.68260014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.37, Y:404.22, Z:1.68 [[ 3.02562370e-01 -9.53129550e-01 -2.70588662e-04 3.16366505e+02] [ 9.53129244e-01 3.02562489e-01 -7.64056899e-04 4.04223142e+02] [ 8.10115188e-04 -2.67311009e-05 9.99999672e-01 1.68280595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.38, Y:404.26, Z:1.68 [[ 2.96342720e-01 -9.55081635e-01 -2.51544803e-04 3.16376834e+02] [ 9.55081324e-01 2.96342827e-01 -7.70638041e-04 4.04258317e+02] [ 8.10565738e-04 -1.18727704e-05 9.99999671e-01 1.68274244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.802755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.38, Y:404.28, Z:1.68 [[ 2.98203675e-01 -9.54502223e-01 -2.73744758e-04 3.16382522e+02] [ 9.54501918e-01 2.98203799e-01 -7.62947276e-04 4.04276134e+02] [ 8.09866597e-04 -3.37762149e-05 9.99999672e-01 1.68212187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.39, Y:404.31, Z:1.68 [[ 2.91773305e-01 -9.56487467e-01 -2.53833561e-04 3.16392185e+02] [ 9.56487157e-01 2.91773415e-01 -7.69822540e-04 4.04309979e+02] [ 8.10387496e-04 -1.81748744e-05 9.99999672e-01 1.68212012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.40, Y:404.33, Z:1.68 [[ 2.87893118e-01 -9.57662507e-01 -2.74323901e-04 3.16398427e+02] [ 9.57662204e-01 2.87893245e-01 -7.62725164e-04 4.04334169e+02] [ 8.09409290e-04 -4.31263062e-05 9.99999672e-01 1.68074790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.892755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:316.40, Y:404.36, Z:1.68 [[ 2.85467822e-01 -9.58388256e-01 -2.71472607e-04 3.16404006e+02] [ 9.58387952e-01 2.85467948e-01 -7.63710622e-04 4.04358326e+02] [ 8.09428019e-04 -4.21612672e-05 9.99999672e-01 1.68263708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.41, Y:404.38, Z:1.68 [[ 2.84355482e-01 -9.58718880e-01 -2.64226978e-04 3.16411957e+02] [ 9.58718574e-01 2.84355602e-01 -7.66209275e-04 4.04383091e+02] [ 8.09713719e-04 -3.54435040e-05 9.99999672e-01 1.68341260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.43, Y:404.42, Z:1.68 [[ 2.87755003e-01 -9.57704019e-01 -2.64017502e-04 3.16430157e+02] [ 9.57703713e-01 2.87755122e-01 -7.66281448e-04 4.04415213e+02] [ 8.09843212e-04 -3.23492215e-05 9.99999672e-01 1.68026765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.43, Y:404.44, Z:1.68 [[ 2.82093644e-01 -9.59386833e-01 -2.84655768e-04 3.16427991e+02] [ 9.59386534e-01 2.82093782e-01 -7.59155863e-04 4.04435244e+02] [ 8.08623761e-04 -5.89418663e-05 9.99999671e-01 1.68256607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.44, Y:404.46, Z:1.68 [[ 2.90216469e-01 -9.56960988e-01 -2.63524717e-04 3.16442319e+02] [ 9.56960681e-01 2.90216587e-01 -7.66421518e-04 4.04460327e+02] [ 8.09914737e-04 -2.97546469e-05 9.99999672e-01 1.68231237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.44, Y:404.49, Z:1.68 [[ 2.81492535e-01 -9.59563382e-01 -2.63932667e-04 3.16442527e+02] [ 9.59563076e-01 2.81492656e-01 -7.66281319e-04 4.04487427e+02] [ 8.09590602e-04 -3.75575712e-05 9.99999672e-01 1.68182480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.46, Y:404.52, Z:1.68 [[ 2.84720540e-01 -9.58610528e-01 -2.63166162e-04 3.16458300e+02] [ 9.58610222e-01 2.84720660e-01 -7.66544472e-04 4.04518321e+02] [ 8.09746445e-04 -3.40228166e-05 9.99999672e-01 1.68175526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.47, Y:404.54, Z:1.68 [[ 2.84793682e-01 -9.58588797e-01 -2.79107474e-04 3.16465633e+02] [ 9.58588496e-01 2.84793815e-01 -7.61062634e-04 4.04542155e+02] [ 8.09034197e-04 -5.08033830e-05 9.99999671e-01 1.68187892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.47, Y:404.57, Z:1.68 [[ 2.83040407e-01 -9.59107946e-01 -2.76654171e-04 3.16472265e+02] [ 9.59107644e-01 2.83040538e-01 -7.61906282e-04 4.04567112e+02] [ 8.09054714e-04 -4.96908663e-05 9.99999672e-01 1.68284464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:404.59, Z:1.68 [[ 2.82479285e-01 -9.59273360e-01 -2.73941385e-04 3.16480593e+02] [ 9.59273057e-01 2.82479414e-01 -7.62837202e-04 4.04592509e+02] [ 8.09152207e-04 -4.72988820e-05 9.99999672e-01 1.68183445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.48, Y:404.62, Z:1.68 [[ 2.78452039e-01 -9.60450096e-01 -2.73921835e-04 3.16482141e+02] [ 9.60449794e-01 2.78452169e-01 -7.62843901e-04 4.04615945e+02] [ 8.08947627e-04 -5.06727299e-05 9.99999672e-01 1.68241398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.50, Y:404.65, Z:1.68 [[ 2.83705599e-01 -9.58911395e-01 -2.62100640e-04 3.16499567e+02] [ 9.58911089e-01 2.83705718e-01 -7.66884072e-04 4.04649102e+02] [ 8.09733326e-04 -3.37619046e-05 9.99999672e-01 1.68217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.252755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:316.50, Y:404.67, Z:1.68 [[ 2.78233757e-01 -9.60513350e-01 -2.83661644e-04 3.16497682e+02] [ 9.60513052e-01 2.78233895e-01 -7.59494756e-04 4.04668622e+02] [ 8.08429137e-04 -6.11436317e-05 9.99999671e-01 1.68161979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.52, Y:404.70, Z:1.68 [[ 2.83690839e-01 -9.58915763e-01 -2.61780492e-04 3.16516278e+02] [ 9.58915456e-01 2.83690958e-01 -7.66963248e-04 4.04701010e+02] [ 8.09717906e-04 -3.34449131e-05 9.99999672e-01 1.68104572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.52, Y:404.73, Z:1.68 [[ 2.83115711e-01 -9.59085720e-01 -2.77229047e-04 3.16524114e+02] [ 9.59085418e-01 2.83115842e-01 -7.61729015e-04 4.04730996e+02] [ 8.09051356e-04 -5.02288852e-05 9.99999672e-01 1.68281183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.52, Y:404.75, Z:1.68 [[ 2.77108466e-01 -9.60838602e-01 -2.79626726e-04 3.16521928e+02] [ 9.60838303e-01 2.77108602e-01 -7.60917886e-04 4.04751770e+02] [ 8.08606249e-04 -5.78192805e-05 9.99999671e-01 1.68427014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.54, Y:404.78, Z:1.69 [[ 2.82905811e-01 -9.59147661e-01 -2.58749042e-04 3.16536997e+02] [ 9.59147354e-01 2.82905927e-01 -7.67952283e-04 4.04780676e+02] [ 8.09781274e-04 -3.09202958e-05 9.99999672e-01 1.68545638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:404.81, Z:1.68 [[ 2.82207874e-01 -9.59353243e-01 -2.68454204e-04 3.16545845e+02] [ 9.59352939e-01 2.82207998e-01 -7.64679466e-04 4.04807023e+02] [ 8.09357649e-04 -4.17437630e-05 9.99999672e-01 1.68233900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:404.83, Z:1.68 [[ 2.77160662e-01 -9.60823550e-01 -2.69611106e-04 3.16545311e+02] [ 9.60823248e-01 2.77160789e-01 -7.64290057e-04 4.04829155e+02] [ 8.09073513e-04 -4.72174798e-05 9.99999672e-01 1.68326736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.55, Y:404.86, Z:1.68 [[ 2.78898759e-01 -9.60320476e-01 -2.57919693e-04 3.16554422e+02] [ 9.60320169e-01 2.78898877e-01 -7.68215318e-04 4.04855035e+02] [ 8.09666412e-04 -3.34311838e-05 9.99999672e-01 1.68355891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.56, Y:404.88, Z:1.68 [[ 2.76783711e-01 -9.60932209e-01 -2.57662010e-04 3.16561359e+02] [ 9.60931903e-01 2.76783829e-01 -7.68301736e-04 4.04880618e+02] [ 8.09602563e-04 -3.49422393e-05 9.99999672e-01 1.68202864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.57, Y:404.91, Z:1.68 [[ 2.78002554e-01 -9.60580300e-01 -2.57392046e-04 3.16569296e+02] [ 9.60579994e-01 2.78002672e-01 -7.68392167e-04 4.04905278e+02] [ 8.09658056e-04 -3.36306649e-05 9.99999672e-01 1.68140494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.58, Y:404.92, Z:1.68 [[ 2.81004629e-01 -9.59706378e-01 -2.57114499e-04 3.16577261e+02] [ 9.59706071e-01 2.81004745e-01 -7.68485027e-04 4.04924457e+02] [ 8.09770376e-04 -3.08064961e-05 9.99999672e-01 1.68223046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.59, Y:404.96, Z:1.68 [[ 2.83839306e-01 -9.58871830e-01 -2.48154204e-04 3.16592836e+02] [ 9.58871520e-01 2.83839414e-01 -7.71496157e-04 4.04959651e+02] [ 8.10201876e-04 -1.89670655e-05 9.99999672e-01 1.68102096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.60, Y:404.98, Z:1.68 [[ 2.86380722e-01 -9.58115863e-01 -2.75967743e-04 3.16602163e+02] [ 9.58115560e-01 2.86380851e-01 -7.62123199e-04 4.04984798e+02] [ 8.09234203e-04 -4.61515962e-05 9.99999672e-01 1.67993764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.61, Y:405.01, Z:1.68 [[ 2.85792503e-01 -9.58291485e-01 -2.73277936e-04 3.16610282e+02] [ 9.58291182e-01 2.85792630e-01 -7.63027373e-04 4.05010381e+02] [ 8.09303455e-04 -4.38123337e-05 9.99999672e-01 1.67995853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.62, Y:405.04, Z:1.68 [[ 2.86334601e-01 -9.58129648e-01 -2.72244086e-04 3.16618763e+02] [ 9.58129345e-01 2.86334728e-01 -7.63373715e-04 4.05037227e+02] [ 8.09363925e-04 -4.22647387e-05 9.99999672e-01 1.67968448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.63, Y:405.06, Z:1.68 [[ 2.87632016e-01 -9.57740961e-01 -2.73008302e-04 3.16625654e+02] [ 9.57740658e-01 2.87632142e-01 -7.63118034e-04 4.05062847e+02] [ 8.09395362e-04 -4.19739727e-05 9.99999672e-01 1.67953883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:405.09, Z:1.68 [[ 2.90609558e-01 -9.56841686e-01 -2.70248147e-04 3.16637160e+02] [ 9.56841382e-01 2.90609681e-01 -7.64038653e-04 4.05090584e+02] [ 8.09600761e-04 -3.65476754e-05 9.99999672e-01 1.67865109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.64, Y:405.11, Z:1.68 [[ 2.89846142e-01 -9.57073215e-01 -2.76063878e-04 3.16637604e+02] [ 9.57072912e-01 2.89846270e-01 -7.62099333e-04 4.05109507e+02] [ 8.09400943e-04 -4.33217082e-05 9.99999672e-01 1.67962771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.65, Y:405.13, Z:1.68 [[ 2.89663605e-01 -9.57128482e-01 -2.55297564e-04 3.16646824e+02] [ 9.57128173e-01 2.89663717e-01 -7.68993525e-04 4.05134493e+02] [ 8.09976047e-04 -2.16030544e-05 9.99999672e-01 1.67798903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.66, Y:405.16, Z:1.68 [[ 2.90411984e-01 -9.56901674e-01 -2.55009792e-04 3.16655387e+02] [ 9.56901366e-01 2.90412095e-01 -7.69088943e-04 4.05160441e+02] [ 8.10000425e-04 -2.06665726e-05 9.99999672e-01 1.68001269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.67, Y:405.19, Z:1.68 [[ 2.94626467e-01 -9.55612464e-01 -2.54500913e-04 3.16672645e+02] [ 9.55612154e-01 2.94626576e-01 -7.69257492e-04 4.05189745e+02] [ 8.10094779e-04 -1.65605489e-05 9.99999672e-01 1.67660245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.67, Y:405.21, Z:1.68 [[ 2.90937334e-01 -9.56742074e-01 -2.68302924e-04 3.16674630e+02] [ 9.56741769e-01 2.90937455e-01 -7.64683051e-04 4.05211424e+02] [ 8.09663818e-04 -3.42217661e-05 9.99999672e-01 1.67933275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.69, Y:405.24, Z:1.68 [[ 2.90037527e-01 -9.57015239e-01 -2.54038769e-04 3.16685457e+02] [ 9.57014930e-01 2.90037638e-01 -7.69394855e-04 4.05240550e+02] [ 8.10003406e-04 -1.99655136e-05 9.99999672e-01 1.68059085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.70, Y:405.27, Z:1.68 [[ 2.94628040e-01 -9.55611976e-01 -2.62696022e-04 3.16701056e+02] [ 9.55611669e-01 2.94628156e-01 -7.66536992e-04 4.05267811e+02] [ 8.09909574e-04 -2.51920920e-05 9.99999672e-01 1.67862071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.71, Y:405.29, Z:1.68 [[ 2.93344722e-01 -9.56006695e-01 -2.69068828e-04 3.16710702e+02] [ 9.56006390e-01 2.93344844e-01 -7.64435373e-04 4.05293093e+02] [ 8.09735288e-04 -3.29884364e-05 9.99999672e-01 1.67710672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.72, Y:405.32, Z:1.68 [[ 2.90449016e-01 -9.56890431e-01 -2.70625365e-04 3.16719439e+02] [ 9.56890126e-01 2.90449140e-01 -7.63922387e-04 4.05320482e+02] [ 8.09592926e-04 -3.70782342e-05 9.99999672e-01 1.68087473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.73, Y:405.35, Z:1.68 [[ 2.91913280e-01 -9.56444753e-01 -2.69421347e-04 3.16728913e+02] [ 9.56444448e-01 2.91913402e-01 -7.64315828e-04 4.05346379e+02] [ 8.09673565e-04 -3.45726111e-05 9.99999672e-01 1.68029586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.062755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.74, Y:405.37, Z:1.68 [[ 2.91562553e-01 -9.56551728e-01 -2.63787840e-04 3.16738567e+02] [ 9.56551422e-01 2.91562671e-01 -7.66150343e-04 4.05372239e+02] [ 8.09773121e-04 -2.89458832e-05 9.99999672e-01 1.68009373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.75, Y:405.40, Z:1.68 [[ 2.90516376e-01 -9.56869984e-01 -2.61179542e-04 3.16749146e+02] [ 9.56869677e-01 2.90516492e-01 -7.66998382e-04 4.05399538e+02] [ 8.09794694e-04 -2.70891940e-05 9.99999672e-01 1.68014645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.76, Y:405.42, Z:1.68 [[ 2.92348156e-01 -9.56311918e-01 -2.68283461e-04 3.16758575e+02] [ 9.56311612e-01 2.92348277e-01 -7.64687241e-04 4.05424257e+02] [ 8.09711730e-04 -3.30076838e-05 9.99999672e-01 1.67812404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.77, Y:405.45, Z:1.68 [[ 2.92259399e-01 -9.56339048e-01 -2.62273160e-04 3.16768712e+02] [ 9.56338741e-01 2.92259516e-01 -7.66637374e-04 4.05450099e+02] [ 8.09817083e-04 -2.67650052e-05 9.99999672e-01 1.67821302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:405.48, Z:1.68 [[ 2.93255920e-01 -9.56033942e-01 -2.60505607e-04 3.16778556e+02] [ 9.56033634e-01 2.93256035e-01 -7.67210011e-04 4.05475339e+02] [ 8.09873652e-04 -2.40632442e-05 9.99999672e-01 1.67687767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.78, Y:405.50, Z:1.68 [[ 2.92200373e-01 -9.56357085e-01 -2.61065047e-04 3.16783829e+02] [ 9.56356778e-01 2.92200489e-01 -7.67028653e-04 4.05496180e+02] [ 8.09836620e-04 -2.55452682e-05 9.99999672e-01 1.67866860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.80, Y:405.52, Z:1.68 [[ 2.94418553e-01 -9.55676542e-01 -2.49191195e-04 3.16797783e+02] [ 9.55676232e-01 2.94418658e-01 -7.70867005e-04 4.05524422e+02] [ 8.10066051e-04 -1.11885542e-05 9.99999672e-01 1.67766130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.81, Y:405.55, Z:1.68 [[ 2.95138542e-01 -9.55454434e-01 -2.57311094e-04 3.16807840e+02] [ 9.55454125e-01 2.95138654e-01 -7.68244762e-04 4.05551098e+02] [ 8.09965314e-04 -1.91103068e-05 9.99999672e-01 1.67770095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.302755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:316.81, Y:405.57, Z:1.68 [[ 2.94143349e-01 -9.55761280e-01 -2.57951315e-04 3.16813025e+02] [ 9.55760971e-01 2.94143461e-01 -7.68038238e-04 4.05572557e+02] [ 8.09935902e-04 -2.06264597e-05 9.99999672e-01 1.67625852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.332755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.83, Y:405.60, Z:1.68 [[ 2.97432543e-01 -9.54742804e-01 -2.48167622e-04 3.16828144e+02] [ 9.54742492e-01 2.97432646e-01 -7.71186628e-04 4.05601610e+02] [ 8.10098035e-04 -7.56017433e-06 9.99999672e-01 1.67561193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.84, Y:405.63, Z:1.68 [[ 2.98905760e-01 -9.54282599e-01 -2.59344505e-04 3.16840110e+02] [ 9.54282291e-01 2.98905872e-01 -7.67586029e-04 4.05628014e+02] [ 8.10013586e-04 -1.80519823e-05 9.99999672e-01 1.67589441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.85, Y:405.65, Z:1.68 [[ 2.97094647e-01 -9.54847999e-01 -2.63406371e-04 3.16848495e+02] [ 9.54847692e-01 2.97094763e-01 -7.66280246e-04 4.05652700e+02] [ 8.09937813e-04 -2.38552067e-05 9.99999672e-01 1.67638672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.85, Y:405.67, Z:1.68 [[ 2.93750130e-01 -9.55882208e-01 -2.58580668e-04 3.16851711e+02] [ 9.55881899e-01 2.93750243e-01 -7.67826584e-04 4.05673888e+02] [ 8.09909905e-04 -2.16234218e-05 9.99999672e-01 1.67598566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.86, Y:405.70, Z:1.68 [[ 2.94945765e-01 -9.55513964e-01 -2.46523417e-04 3.16859538e+02] [ 9.55513652e-01 2.94945868e-01 -7.71678441e-04 4.05699273e+02] [ 8.10060589e-04 -7.95320228e-06 9.99999672e-01 1.67748485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:316.87, Y:405.73, Z:1.68 [[ 2.95990310e-01 -9.55190911e-01 -2.46249318e-04 3.16867448e+02] [ 9.55190599e-01 2.95990412e-01 -7.71765899e-04 4.05725621e+02] [ 8.10071209e-04 -6.77980620e-06 9.99999672e-01 1.67770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.512755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:316.88, Y:405.75, Z:1.68 [[ 2.97910468e-01 -9.54593784e-01 -2.45977277e-04 3.16878240e+02] [ 9.54593472e-01 2.97910570e-01 -7.71852594e-04 4.05752023e+02] [ 8.10084919e-04 -4.86533585e-06 9.99999672e-01 1.67740139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.89, Y:405.78, Z:1.68 [[ 2.99157749e-01 -9.54203636e-01 -2.49631021e-04 3.16888421e+02] [ 9.54203325e-01 2.99157853e-01 -7.70690040e-04 4.05779103e+02] [ 8.10074318e-04 -7.64085297e-06 9.99999672e-01 1.67863253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.572755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.89, Y:405.80, Z:1.68 [[ 2.97458518e-01 -9.54734710e-01 -2.53714345e-04 3.16892982e+02] [ 9.54734400e-01 2.97458626e-01 -7.69392142e-04 4.05802492e+02] [ 8.10034904e-04 -1.33675661e-05 9.99999672e-01 1.67737032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.90, Y:405.83, Z:1.68 [[ 2.96696359e-01 -9.54971838e-01 -2.44799541e-04 3.16900647e+02] [ 9.54971526e-01 2.96696460e-01 -7.72218209e-04 4.05828771e+02] [ 8.10077799e-04 -4.66226002e-06 9.99999672e-01 1.67717110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:405.85, Z:1.68 [[ 2.95854183e-01 -9.55233083e-01 -2.44530162e-04 3.16907695e+02] [ 9.55232771e-01 2.95854284e-01 -7.72303501e-04 4.05854107e+02] [ 8.10075150e-04 -5.09400288e-06 9.99999672e-01 1.67718486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.91, Y:405.88, Z:1.68 [[ 2.93683197e-01 -9.55902778e-01 -2.44248277e-04 3.16913382e+02] [ 9.55902466e-01 2.93683298e-01 -7.72392639e-04 4.05879688e+02] [ 8.10063909e-04 -6.63879124e-06 9.99999672e-01 1.67550904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.92, Y:405.91, Z:1.68 [[ 2.93780001e-01 -9.55873031e-01 -2.44042635e-04 3.16924871e+02] [ 9.55872719e-01 2.93780102e-01 -7.72457608e-04 4.05908690e+02] [ 8.10066265e-04 -6.34110038e-06 9.99999672e-01 1.67761024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.93, Y:405.93, Z:1.67 [[ 2.90875944e-01 -9.56760744e-01 -2.52079964e-04 3.16928713e+02] [ 9.56760435e-01 2.90876053e-01 -7.69918422e-04 4.05931587e+02] [ 8.09951747e-04 -1.72293883e-05 9.99999672e-01 1.67490708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:316.94, Y:405.96, Z:1.68 [[ 2.90055035e-01 -9.57009936e-01 -2.43547063e-04 3.16939227e+02] [ 9.57009624e-01 2.90055137e-01 -7.72608224e-04 4.05961054e+02] [ 8.10035823e-04 -8.97797778e-06 9.99999672e-01 1.67780346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.94, Y:405.99, Z:1.68 [[ 2.87702804e-01 -9.57719705e-01 -2.50508377e-04 3.16944286e+02] [ 9.57719395e-01 2.87702913e-01 -7.70413125e-04 4.05986204e+02] [ 8.09911821e-04 -1.82667146e-05 9.99999672e-01 1.67650800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.812755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:316.95, Y:406.01, Z:1.68 [[ 2.88281495e-01 -9.57545675e-01 -2.44809438e-04 3.16953852e+02] [ 9.57545364e-01 2.88281599e-01 -7.72207205e-04 4.06014064e+02] [ 8.09997725e-04 -1.18030946e-05 9.99999672e-01 1.67655368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.96, Y:406.04, Z:1.68 [[ 2.87074274e-01 -9.57908293e-01 -2.51499190e-04 3.16959915e+02] [ 9.57907984e-01 2.87074384e-01 -7.70102675e-04 4.06039352e+02] [ 8.09886714e-04 -1.98364161e-05 9.99999672e-01 1.67523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.97, Y:406.07, Z:1.67 [[ 2.85827825e-01 -9.58280957e-01 -2.48779152e-04 3.16966993e+02] [ 9.58280647e-01 2.85827933e-01 -7.70956287e-04 4.06066360e+02] [ 8.09900759e-04 -1.80394882e-05 9.99999672e-01 1.67390873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.97, Y:406.09, Z:1.67 [[ 2.85602003e-01 -9.58348285e-01 -2.48570719e-04 3.16974865e+02] [ 9.58347975e-01 2.85602110e-01 -7.71021608e-04 4.06091285e+02] [ 8.09899557e-04 -1.80119294e-05 9.99999672e-01 1.67279709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:316.98, Y:406.12, Z:1.67 [[ 2.84084523e-01 -9.58799209e-01 -2.46191570e-04 3.16983307e+02] [ 9.58798899e-01 2.84084629e-01 -7.71765830e-04 4.06118086e+02] [ 8.09907708e-04 -1.68014784e-05 9.99999672e-01 1.67317456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:316.99, Y:406.14, Z:1.67 [[ 2.83631053e-01 -9.58933452e-01 -2.45463001e-04 3.16991460e+02] [ 9.58933141e-01 2.83631159e-01 -7.71993488e-04 4.06143710e+02] [ 8.09911336e-04 -1.64212801e-05 9.99999672e-01 1.67350257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.00, Y:406.17, Z:1.67 [[ 2.84936285e-01 -9.58546428e-01 -2.44736719e-04 3.16999564e+02] [ 9.58546117e-01 2.84936389e-01 -7.72220195e-04 4.06167361e+02] [ 8.09943306e-04 -1.45578787e-05 9.99999672e-01 1.67433809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.01, Y:406.20, Z:1.67 [[ 2.83589671e-01 -9.58945692e-01 -2.39955686e-04 3.17007769e+02] [ 9.58945380e-01 2.83589773e-01 -7.73710032e-04 4.06195206e+02] [ 8.09994881e-04 -1.06882230e-05 9.99999672e-01 1.67373827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:406.22, Z:1.67 [[ 2.83577222e-01 -9.58949373e-01 -2.43803478e-04 3.17016287e+02] [ 9.58949062e-01 2.83577326e-01 -7.72511947e-04 4.06221647e+02] [ 8.09936986e-04 -1.47283252e-05 9.99999672e-01 1.67413025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.02, Y:406.25, Z:1.67 [[ 2.85531042e-01 -9.58369430e-01 -2.43330412e-04 3.17024688e+02] [ 9.58369119e-01 2.85531146e-01 -7.72659077e-04 4.06246920e+02] [ 8.09971251e-04 -1.25822010e-05 9.99999672e-01 1.67295907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.03, Y:406.27, Z:1.67 [[ 2.85810878e-01 -9.58286013e-01 -2.42908008e-04 3.17031485e+02] [ 9.58285702e-01 2.85810981e-01 -7.72790213e-04 4.06272700e+02] [ 8.09979829e-04 -1.19034215e-05 9.99999672e-01 1.67383771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.04, Y:406.30, Z:1.67 [[ 2.87818222e-01 -9.57685029e-01 -2.39472315e-04 3.17040871e+02] [ 9.57684716e-01 2.87818321e-01 -7.73855271e-04 4.06299441e+02] [ 8.10034127e-04 -6.60932815e-06 9.99999672e-01 1.67396216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.05, Y:406.33, Z:1.67 [[ 2.88572334e-01 -9.57458068e-01 -2.39017030e-04 3.17049366e+02] [ 9.57457755e-01 2.88572433e-01 -7.73996258e-04 4.06326778e+02] [ 8.10042687e-04 -5.49480180e-06 9.99999672e-01 1.67356006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.06, Y:406.36, Z:1.67 [[ 2.90475623e-01 -9.56882362e-01 -2.39714240e-04 3.17060600e+02] [ 9.56882049e-01 2.90475721e-01 -7.73780494e-04 4.06355384e+02] [ 8.10048074e-04 -4.61388270e-06 9.99999672e-01 1.67049685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.06, Y:406.38, Z:1.67 [[ 2.88012230e-01 -9.57626699e-01 -2.48631805e-04 3.17064166e+02] [ 9.57626388e-01 2.88012337e-01 -7.71016787e-04 4.06378532e+02] [ 8.09955288e-04 -1.60341136e-05 9.99999672e-01 1.67101189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.07, Y:406.40, Z:1.67 [[ 2.87228900e-01 -9.57861943e-01 -2.39236564e-04 3.17071793e+02] [ 9.57861630e-01 2.87228999e-01 -7.73921070e-04 4.06403479e+02] [ 8.10025219e-04 -6.86302749e-06 9.99999672e-01 1.67151101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.08, Y:406.43, Z:1.67 [[ 2.87438721e-01 -9.57799000e-01 -2.38948596e-04 3.17080471e+02] [ 9.57798687e-01 2.87438820e-01 -7.74009970e-04 4.06430356e+02] [ 8.10029078e-04 -6.38421539e-06 9.99999672e-01 1.67410165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.09, Y:406.46, Z:1.67 [[ 2.82974288e-01 -9.59127466e-01 -2.37966583e-04 3.17088381e+02] [ 9.59127153e-01 2.82974388e-01 -7.74312888e-04 4.06456489e+02] [ 8.10003206e-04 -9.12957338e-06 9.99999672e-01 1.67140673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:406.48, Z:1.67 [[ 2.81156835e-01 -9.59661804e-01 -2.38591366e-04 3.17096147e+02] [ 9.59661491e-01 2.81156936e-01 -7.74120323e-04 4.06482411e+02] [ 8.09975323e-04 -1.13177264e-05 9.99999672e-01 1.67087032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.10, Y:406.51, Z:1.67 [[ 2.77565092e-01 -9.60706804e-01 -2.38323934e-04 3.17103367e+02] [ 9.60706492e-01 2.77565194e-01 -7.74202647e-04 4.06508872e+02] [ 8.09932180e-04 -1.40677221e-05 9.99999672e-01 1.66937975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.11, Y:406.54, Z:1.67 [[ 2.75999032e-01 -9.61157884e-01 -2.38049061e-04 3.17112852e+02] [ 9.61157572e-01 2.75999135e-01 -7.74287155e-04 4.06536751e+02] [ 8.09913538e-04 -1.51001515e-05 9.99999672e-01 1.66683788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.12, Y:406.56, Z:1.67 [[ 2.72641760e-01 -9.62115592e-01 -2.40731802e-04 3.17119153e+02] [ 9.62115282e-01 2.72641865e-01 -7.73463076e-04 4.06560712e+02] [ 8.09794453e-04 -2.07334109e-05 9.99999672e-01 1.66829587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.13, Y:406.59, Z:1.67 [[ 2.69495275e-01 -9.63001683e-01 -2.37551392e-04 3.17129344e+02] [ 9.63001371e-01 2.69495378e-01 -7.74438636e-04 4.06588473e+02] [ 8.09804711e-04 -2.00547632e-05 9.99999672e-01 1.66860021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.14, Y:406.62, Z:1.67 [[ 2.68038300e-01 -9.63408227e-01 -2.39648342e-04 3.17137562e+02] [ 9.63407917e-01 2.68038406e-01 -7.73795764e-04 4.06615784e+02] [ 8.09716165e-04 -2.34722091e-05 9.99999672e-01 1.66951866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:406.64, Z:1.67 [[ 2.66673136e-01 -9.63787000e-01 -2.39818428e-04 3.17145129e+02] [ 9.63786690e-01 2.66673243e-01 -7.73743688e-04 4.06642931e+02] [ 8.09677265e-04 -2.47971526e-05 9.99999672e-01 1.66995492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.15, Y:406.67, Z:1.67 [[ 2.66368097e-01 -9.63871350e-01 -2.39568776e-04 3.17153018e+02] [ 9.63871040e-01 2.66368204e-01 -7.73819980e-04 4.06669372e+02] [ 8.09676414e-04 -2.47924499e-05 9.99999672e-01 1.66997718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:317.16, Y:406.70, Z:1.67 [[ 2.66010615e-01 -9.63970070e-01 -2.39220701e-04 3.17160644e+02] [ 9.63969760e-01 2.66010721e-01 -7.73926204e-04 4.06696470e+02] [ 8.09676969e-04 -2.47289365e-05 9.99999672e-01 1.66976238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:406.72, Z:1.67 [[ 2.67115645e-01 -9.63664452e-01 -2.38919717e-04 3.17168977e+02] [ 9.63664141e-01 2.67115751e-01 -7.74017933e-04 4.06722943e+02] [ 8.09712786e-04 -2.34860640e-05 9.99999672e-01 1.66843944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.17, Y:406.75, Z:1.67 [[ 2.68347135e-01 -9.63322250e-01 -2.39780135e-04 3.17174687e+02] [ 9.63321940e-01 2.68347241e-01 -7.73755626e-04 4.06747566e+02] [ 8.09720349e-04 -2.33503599e-05 9.99999672e-01 1.67044305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.18, Y:406.77, Z:1.67 [[ 2.69831396e-01 -9.62907557e-01 -2.35893752e-04 3.17182137e+02] [ 9.62907245e-01 2.69831498e-01 -7.74938654e-04 4.06773025e+02] [ 8.09845850e-04 -1.80410246e-05 9.99999672e-01 1.67049394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:406.80, Z:1.67 [[ 2.72945702e-01 -9.62029411e-01 -2.35611902e-04 3.17188363e+02] [ 9.62029099e-01 2.72945804e-01 -7.75024338e-04 4.06800113e+02] [ 8.09905487e-04 -1.51259441e-05 9.99999672e-01 1.67084960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.19, Y:406.83, Z:1.67 [[ 2.74121862e-01 -9.61694936e-01 -2.35333463e-04 3.17194996e+02] [ 9.61694623e-01 2.74121963e-01 -7.75108876e-04 4.06825766e+02] [ 8.09928351e-04 -1.38446378e-05 9.99999672e-01 1.67015160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.20, Y:406.85, Z:1.67 [[ 2.75380155e-01 -9.61335381e-01 -2.35042001e-04 3.17202159e+02] [ 9.61335069e-01 2.75380256e-01 -7.75197248e-04 4.06852217e+02] [ 8.09950468e-04 -1.24801797e-05 9.99999672e-01 1.66980535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.21, Y:406.88, Z:1.67 [[ 2.76894256e-01 -9.60900367e-01 -2.34780416e-04 3.17209440e+02] [ 9.60900055e-01 2.76894355e-01 -7.75276465e-04 4.06878741e+02] [ 8.09972812e-04 -1.09309149e-05 9.99999672e-01 1.67056257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.22, Y:406.90, Z:1.67 [[ 2.76994381e-01 -9.60871510e-01 -2.34517371e-04 3.17217071e+02] [ 9.60871197e-01 2.76994480e-01 -7.75356026e-04 4.06904034e+02] [ 8.09977533e-04 -1.05717248e-05 9.99999672e-01 1.67138869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.22, Y:406.93, Z:1.67 [[ 2.77253201e-01 -9.60796861e-01 -2.34241972e-04 3.17224818e+02] [ 9.60796548e-01 2.77253300e-01 -7.75439218e-04 4.06927835e+02] [ 8.09983926e-04 -1.00658724e-05 9.99999672e-01 1.67298676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.23, Y:406.96, Z:1.67 [[ 2.74371787e-01 -9.61623664e-01 -2.28492031e-04 3.17233304e+02] [ 9.61623349e-01 2.74371883e-01 -7.77172411e-04 4.06955755e+02] [ 8.10039170e-04 -6.48908853e-06 9.99999672e-01 1.67214287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.24, Y:406.98, Z:1.67 [[ 2.72477984e-01 -9.62161989e-01 -2.33713864e-04 3.17240763e+02] [ 9.62161677e-01 2.72478084e-01 -7.75598898e-04 4.06980682e+02] [ 8.09933685e-04 -1.35368986e-05 9.99999672e-01 1.67188993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.25, Y:407.01, Z:1.67 [[ 2.68902869e-01 -9.63167272e-01 -2.33434825e-04 3.17249872e+02] [ 9.63166959e-01 2.68902970e-01 -7.75682873e-04 4.07006758e+02] [ 8.09883674e-04 -1.62533606e-05 9.99999672e-01 1.67213624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.26, Y:407.03, Z:1.67 [[ 2.66656296e-01 -9.63791661e-01 -2.33162866e-04 3.17258421e+02] [ 9.63791349e-01 2.66656397e-01 -7.75764612e-04 4.07032290e+02] [ 8.09849834e-04 -1.78578352e-05 9.99999672e-01 1.67225001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.27, Y:407.06, Z:1.67 [[ 2.63707459e-01 -9.64602676e-01 -2.32890879e-04 3.17267466e+02] [ 9.64602364e-01 2.63707561e-01 -7.75846257e-04 4.07056671e+02] [ 8.09798461e-04 -2.00506471e-05 9.99999672e-01 1.67262763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:407.08, Z:1.67 [[ 2.60963661e-01 -9.65348598e-01 -2.28660737e-04 3.17275702e+02] [ 9.65348285e-01 2.60963761e-01 -7.77113566e-04 4.07083562e+02] [ 8.09857657e-04 -1.79388492e-05 9.99999672e-01 1.67232339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.28, Y:407.11, Z:1.67 [[ 2.58212937e-01 -9.66088001e-01 -2.32358407e-04 3.17281864e+02] [ 9.66087689e-01 2.58213041e-01 -7.76006378e-04 4.07109375e+02] [ 8.09688421e-04 -2.41037105e-05 9.99999672e-01 1.67052870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.29, Y:407.14, Z:1.67 [[ 2.59516199e-01 -9.65738728e-01 -2.27634406e-04 3.17294636e+02] [ 9.65738415e-01 2.59516298e-01 -7.77418520e-04 4.07135585e+02] [ 8.09858011e-04 -1.80825911e-05 9.99999672e-01 1.67269589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.30, Y:407.16, Z:1.67 [[ 2.58490054e-01 -9.66013891e-01 -2.31918616e-04 3.17300989e+02] [ 9.66013580e-01 2.58490157e-01 -7.76138351e-04 4.07161518e+02] [ 8.09709108e-04 -2.34124880e-05 9.99999672e-01 1.66977197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.31, Y:407.19, Z:1.67 [[ 2.61967944e-01 -9.65076549e-01 -2.27822393e-04 3.17312006e+02] [ 9.65076236e-01 2.61968042e-01 -7.77360871e-04 4.07188163e+02] [ 8.09894933e-04 -1.62223480e-05 9.99999672e-01 1.67153360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.32, Y:407.21, Z:1.67 [[ 2.64634486e-01 -9.64348762e-01 -2.31591472e-04 3.17319026e+02] [ 9.64348450e-01 2.64634587e-01 -7.76236360e-04 4.07211956e+02] [ 8.09849687e-04 -1.79159667e-05 9.99999672e-01 1.66937636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.33, Y:407.24, Z:1.67 [[ 2.67105810e-01 -9.63667181e-01 -2.26383204e-04 3.17328463e+02] [ 9.63666867e-01 2.67105905e-01 -7.77787660e-04 4.07239991e+02] [ 8.09996732e-04 -1.04063899e-05 9.99999672e-01 1.67021643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:407.26, Z:1.67 [[ 2.68872044e-01 -9.63175877e-01 -2.31195486e-04 3.17336157e+02] [ 9.63175564e-01 2.68872143e-01 -7.76354580e-04 4.07264954e+02] [ 8.09928029e-04 -1.39417998e-05 9.99999672e-01 1.66952152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.34, Y:407.29, Z:1.67 [[ 2.70999492e-01 -9.62579463e-01 -2.30908845e-04 3.17344430e+02] [ 9.62579150e-01 2.70999590e-01 -7.76439825e-04 4.07290792e+02] [ 8.09961232e-04 -1.18532414e-05 9.99999672e-01 1.66948220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.35, Y:407.32, Z:1.67 [[ 2.72675761e-01 -9.62105959e-01 -2.30637515e-04 3.17352147e+02] [ 9.62105646e-01 2.72675859e-01 -7.76520414e-04 4.07315633e+02] [ 8.09984200e-04 -1.01593596e-05 9.99999672e-01 1.66890483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.36, Y:407.34, Z:1.67 [[ 2.76008369e-01 -9.61155205e-01 -2.30428035e-04 3.17359994e+02] [ 9.61154891e-01 2.76008465e-01 -7.76582571e-04 4.07342147e+02] [ 8.10016468e-04 -7.13374399e-06 9.99999672e-01 1.66834968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.37, Y:407.37, Z:1.67 [[ 2.78009228e-01 -9.60578376e-01 -2.29213441e-04 3.17367434e+02] [ 9.60578062e-01 2.78009323e-01 -7.76942438e-04 4.07367688e+02] [ 8.10037579e-04 -4.18023571e-06 9.99999672e-01 1.67011573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:407.39, Z:1.67 [[ 2.78979306e-01 -9.60297087e-01 -2.29893337e-04 3.17375003e+02] [ 9.60296772e-01 2.78979400e-01 -7.76741208e-04 4.07394184e+02] [ 8.10037824e-04 -4.07110670e-06 9.99999672e-01 1.67054855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.38, Y:407.42, Z:1.67 [[ 2.79417283e-01 -9.60169740e-01 -2.29618059e-04 3.17381694e+02] [ 9.60169425e-01 2.79417378e-01 -7.76822576e-04 4.07419271e+02] [ 8.10040807e-04 -3.41458628e-06 9.99999672e-01 1.67058210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.39, Y:407.44, Z:1.67 [[ 2.81326848e-01 -9.59611980e-01 -2.29330218e-04 3.17389184e+02] [ 9.59611665e-01 2.81326942e-01 -7.76907542e-04 4.07444706e+02] [ 8.10046554e-04 -1.50300194e-06 9.99999672e-01 1.66999192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:407.47, Z:1.67 [[ 2.79241772e-01 -9.60220799e-01 -2.25481015e-04 3.17396791e+02] [ 9.60220483e-01 2.79241863e-01 -7.78042137e-04 4.07472982e+02] [ 8.10055981e-04 7.50376248e-07 9.99999672e-01 1.67133345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.40, Y:407.50, Z:1.67 [[ 2.78115388e-01 -9.60547645e-01 -2.28962346e-04 3.17404080e+02] [ 9.60547331e-01 2.78115482e-01 -7.77016298e-04 4.07498933e+02] [ 8.10039148e-04 -3.82898165e-06 9.99999672e-01 1.67157758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.41, Y:407.52, Z:1.67 [[ 2.74702838e-01 -9.61529146e-01 -2.28683109e-04 3.17410733e+02] [ 9.61528832e-01 2.74702933e-01 -7.77098471e-04 4.07524013e+02] [ 8.10022750e-04 -6.41424689e-06 9.99999672e-01 1.67123756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.42, Y:407.55, Z:1.67 [[ 2.71275548e-01 -9.62501701e-01 -2.28391251e-04 3.17416979e+02] [ 9.62501387e-01 2.71275644e-01 -7.77184239e-04 4.07550913e+02] [ 8.09998136e-04 -8.99581558e-06 9.99999672e-01 1.66926206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.43, Y:407.58, Z:1.67 [[ 2.69594503e-01 -9.62973911e-01 -2.27127414e-04 3.17426285e+02] [ 9.62973597e-01 2.69594598e-01 -7.77555083e-04 4.07577892e+02] [ 8.09997583e-04 -9.09312690e-06 9.99999672e-01 1.67100705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.43, Y:407.60, Z:1.67 [[ 2.63871946e-01 -9.64557694e-01 -2.27893193e-04 3.17433436e+02] [ 9.64557381e-01 2.63872044e-01 -7.77330576e-04 4.07603490e+02] [ 8.09914830e-04 -1.47003294e-05 9.99999672e-01 1.67087433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.44, Y:407.63, Z:1.67 [[ 2.62859523e-01 -9.64834089e-01 -2.27600634e-04 3.17440639e+02] [ 9.64833776e-01 2.62859621e-01 -7.77416227e-04 4.07627470e+02] [ 8.09904694e-04 -1.52455202e-05 9.99999672e-01 1.67054394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.45, Y:407.66, Z:1.67 [[ 2.56311870e-01 -9.66594111e-01 -2.22451826e-04 3.17446852e+02] [ 9.66593797e-01 2.56311966e-01 -7.78922129e-04 4.07656350e+02] [ 8.09918607e-04 -1.53735675e-05 9.99999672e-01 1.67155064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.45, Y:407.68, Z:1.67 [[ 2.54032243e-01 -9.67195724e-01 -2.27228936e-04 3.17453061e+02] [ 9.67195411e-01 2.54032344e-01 -7.77526037e-04 4.07682213e+02] [ 8.09743357e-04 -2.22581004e-05 9.99999672e-01 1.67054676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.46, Y:407.71, Z:1.67 [[ 2.52205858e-01 -9.67673578e-01 -2.27010503e-04 3.17459741e+02] [ 9.67673266e-01 2.52205959e-01 -7.77589806e-04 4.07708533e+02] [ 8.09706512e-04 -2.35592903e-05 9.99999672e-01 1.67016207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:407.74, Z:1.67 [[ 2.49859766e-01 -9.68282008e-01 -2.26738930e-04 3.17465744e+02] [ 9.68281696e-01 2.49859867e-01 -7.77668987e-04 4.07735693e+02] [ 8.09655847e-04 -2.52389643e-05 9.99999672e-01 1.66976568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.47, Y:407.76, Z:1.67 [[ 2.48880853e-01 -9.68534083e-01 -2.26463575e-04 3.17472537e+02] [ 9.68533771e-01 2.48880954e-01 -7.77749164e-04 4.07761740e+02] [ 8.09639044e-04 -2.57707451e-05 9.99999672e-01 1.66959069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.48, Y:407.79, Z:1.67 [[ 2.48667359e-01 -9.68588919e-01 -2.26188273e-04 3.17477961e+02] [ 9.68588607e-01 2.48667460e-01 -7.77829220e-04 4.07788642e+02] [ 8.09642427e-04 -2.56626465e-05 9.99999672e-01 1.66909237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.48, Y:407.82, Z:1.67 [[ 2.49172822e-01 -9.68459010e-01 -2.25908057e-04 3.17483971e+02] [ 9.68458698e-01 2.49172923e-01 -7.77910596e-04 4.07815011e+02] [ 8.09664697e-04 -2.49484442e-05 9.99999672e-01 1.66868426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.49, Y:407.84, Z:1.67 [[ 2.51243624e-01 -9.67923856e-01 -2.25630277e-04 3.17489084e+02] [ 9.67923543e-01 2.51243724e-01 -7.77991157e-04 4.07841987e+02] [ 8.09724392e-04 -2.29275390e-05 9.99999672e-01 1.66901812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.50, Y:407.87, Z:1.67 [[ 2.52042606e-01 -9.67716112e-01 -2.25354059e-04 3.17495215e+02] [ 9.67715800e-01 2.52042706e-01 -7.78071158e-04 4.07868896e+02] [ 8.09750843e-04 -2.19716015e-05 9.99999672e-01 1.66914568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.50, Y:407.90, Z:1.67 [[ 2.53089133e-01 -9.67442939e-01 -2.25078895e-04 3.17501273e+02] [ 9.67442626e-01 2.53089232e-01 -7.78150749e-04 4.07895146e+02] [ 8.09781493e-04 -2.08094185e-05 9.99999672e-01 1.66928177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.51, Y:407.92, Z:1.67 [[ 2.55181850e-01 -9.66893052e-01 -2.24805665e-04 3.17507797e+02] [ 9.66892739e-01 2.55181948e-01 -7.78229677e-04 4.07921504e+02] [ 8.09831214e-04 -1.87728766e-05 9.99999672e-01 1.66978876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:407.95, Z:1.67 [[ 2.56159037e-01 -9.66634625e-01 -2.24531181e-04 3.17515149e+02] [ 9.66634311e-01 2.56159135e-01 -7.78308862e-04 4.07947714e+02] [ 8.09856007e-04 -1.76686947e-05 9.99999672e-01 1.67066840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.52, Y:407.97, Z:1.67 [[ 2.58270065e-01 -9.66072732e-01 -2.24254015e-04 3.17521476e+02] [ 9.66072419e-01 2.58270161e-01 -7.78388713e-04 4.07973498e+02] [ 8.09898231e-04 -1.56111160e-05 9.99999672e-01 1.67227066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.53, Y:408.00, Z:1.67 [[ 2.59612442e-01 -9.65712861e-01 -2.23963953e-04 3.17528619e+02] [ 9.65712547e-01 2.59612538e-01 -7.78472163e-04 4.07999756e+02] [ 8.09924430e-04 -1.41837407e-05 9.99999672e-01 1.67345095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.54, Y:408.03, Z:1.67 [[ 2.60522994e-01 -9.65467617e-01 -2.23686813e-04 3.17535920e+02] [ 9.65467303e-01 2.60523089e-01 -7.78551789e-04 4.08026039e+02] [ 8.09942120e-04 -1.31316610e-05 9.99999672e-01 1.67480496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.54, Y:408.05, Z:1.68 [[ 2.62428178e-01 -9.64951502e-01 -2.23406083e-04 3.17543566e+02] [ 9.64951188e-01 2.62428273e-01 -7.78632336e-04 4.08051136e+02] [ 8.09970515e-04 -1.12408998e-05 9.99999672e-01 1.67622923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.55, Y:408.08, Z:1.68 [[ 2.62942880e-01 -9.64811377e-01 -2.23112320e-04 3.17550899e+02] [ 9.64811062e-01 2.62942975e-01 -7.78716503e-04 4.08075821e+02] [ 8.09980358e-04 -1.05032741e-05 9.99999672e-01 1.67646271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.56, Y:408.10, Z:1.68 [[ 2.63780530e-01 -9.64582699e-01 -2.22901316e-04 3.17558731e+02] [ 9.64582384e-01 2.63780624e-01 -7.78776896e-04 4.08101475e+02] [ 8.09991768e-04 -9.58050110e-06 9.99999672e-01 1.67651097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.57, Y:408.13, Z:1.68 [[ 2.63669201e-01 -9.64613137e-01 -2.22639723e-04 3.17566100e+02] [ 9.64612822e-01 2.63669295e-01 -7.78851674e-04 4.08127348e+02] [ 8.09993815e-04 -9.40193260e-06 9.99999672e-01 1.67730461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.57, Y:408.15, Z:1.68 [[ 2.63368633e-01 -9.64695244e-01 -2.22367060e-04 3.17573575e+02] [ 9.64694930e-01 2.63368727e-01 -7.78929514e-04 4.08153749e+02] [ 8.09994127e-04 -9.37077399e-06 9.99999672e-01 1.67754542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.58, Y:408.18, Z:1.68 [[ 2.62802470e-01 -9.64849632e-01 -2.22093884e-04 3.17581315e+02] [ 9.64849318e-01 2.62802564e-01 -7.79007395e-04 4.08179452e+02] [ 8.09991841e-04 -9.56206480e-06 9.99999672e-01 1.67939414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.59, Y:408.21, Z:1.68 [[ 2.60982606e-01 -9.65343478e-01 -2.21821658e-04 3.17588764e+02] [ 9.65343164e-01 2.60982700e-01 -7.79084904e-04 4.08205122e+02] [ 8.09976146e-04 -1.08064124e-05 9.99999672e-01 1.67998142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.60, Y:408.23, Z:1.68 [[ 2.59400565e-01 -9.65769796e-01 -2.21536465e-04 3.17595907e+02] [ 9.65769481e-01 2.59400659e-01 -7.79165992e-04 4.08231268e+02] [ 8.09961685e-04 -1.18370584e-05 9.99999672e-01 1.67991704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.60, Y:408.26, Z:1.68 [[ 2.57478640e-01 -9.66283965e-01 -2.21268554e-04 3.17603780e+02] [ 9.66283651e-01 2.57478735e-01 -7.79242066e-04 4.08258924e+02] [ 8.09941060e-04 -1.31699987e-05 9.99999672e-01 1.67667997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.61, Y:408.28, Z:1.68 [[ 2.55868529e-01 -9.66711563e-01 -2.24327844e-04 3.17610075e+02] [ 9.66711250e-01 2.55868627e-01 -7.78374213e-04 4.08283002e+02] [ 8.09861809e-04 -1.76987852e-05 9.99999672e-01 1.68013935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:408.31, Z:1.68 [[ 2.55536340e-01 -9.66799426e-01 -2.20702986e-04 3.17617431e+02] [ 9.66799112e-01 2.55536435e-01 -7.79400665e-04 4.08309771e+02] [ 8.09921770e-04 -1.42102569e-05 9.99999672e-01 1.68016062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.62, Y:408.34, Z:1.68 [[ 2.52138716e-01 -9.67691077e-01 -2.20435148e-04 3.17624541e+02] [ 9.67690763e-01 2.52138812e-01 -7.79476409e-04 4.08335736e+02] [ 8.09872622e-04 -1.67768757e-05 9.99999672e-01 1.68007736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.63, Y:408.36, Z:1.68 [[ 2.50493840e-01 -9.68118168e-01 -2.20164678e-04 3.17631390e+02] [ 9.68117855e-01 2.50493936e-01 -7.79552796e-04 4.08361645e+02] [ 8.09849142e-04 -1.78721827e-05 9.99999672e-01 1.67998006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:408.39, Z:1.68 [[ 2.48080478e-01 -9.68739402e-01 -2.19886905e-04 3.17637690e+02] [ 9.68739088e-01 2.48080575e-01 -7.79631139e-04 4.08388090e+02] [ 8.09809073e-04 -1.96017747e-05 9.99999672e-01 1.68014309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.64, Y:408.41, Z:1.68 [[ 2.46482127e-01 -9.69147312e-01 -2.19608767e-04 3.17643960e+02] [ 9.69146999e-01 2.46482224e-01 -7.79709478e-04 4.08414047e+02] [ 8.09783002e-04 -2.06487265e-05 9.99999672e-01 1.67612256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.65, Y:408.44, Z:1.68 [[ 2.45451791e-01 -9.69408773e-01 -2.20932826e-04 3.17650649e+02] [ 9.69408460e-01 2.45451890e-01 -7.79336976e-04 4.08440463e+02] [ 8.09724482e-04 -2.28844942e-05 9.99999672e-01 1.67589847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.66, Y:408.47, Z:1.68 [[ 2.45511414e-01 -9.69393675e-01 -2.20211580e-04 3.17657059e+02] [ 9.69393362e-01 2.45511512e-01 -7.79539644e-04 4.08465937e+02] [ 8.09745278e-04 -2.20857641e-05 9.99999672e-01 1.67871760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.66, Y:408.49, Z:1.68 [[ 2.44595524e-01 -9.69625176e-01 -2.18891121e-04 3.17663748e+02] [ 9.69624863e-01 2.44595621e-01 -7.79910247e-04 4.08492574e+02] [ 8.09760420e-04 -2.14797175e-05 9.99999672e-01 1.67912192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.67, Y:408.52, Z:1.68 [[ 2.44296722e-01 -9.69700502e-01 -2.18617682e-04 3.17670278e+02] [ 9.69700189e-01 2.44296819e-01 -7.79986887e-04 4.08518821e+02] [ 8.09761281e-04 -2.14453678e-05 9.99999672e-01 1.67954781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.68, Y:408.55, Z:1.68 [[ 2.44136656e-01 -9.69740814e-01 -2.18345517e-04 3.17676801e+02] [ 9.69740500e-01 2.44136752e-01 -7.80063068e-04 4.08545202e+02] [ 8.09765160e-04 -2.12965022e-05 9.99999672e-01 1.68012191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.68, Y:408.57, Z:1.68 [[ 2.43948694e-01 -9.69788115e-01 -2.18074366e-04 3.17684232e+02] [ 9.69787801e-01 2.43948790e-01 -7.80138864e-04 4.08573775e+02] [ 8.09768376e-04 -2.11720031e-05 9.99999672e-01 1.67663980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.69, Y:408.60, Z:1.68 [[ 2.44897800e-01 -9.69548874e-01 -2.20591169e-04 3.17691397e+02] [ 9.69548561e-01 2.44897898e-01 -7.79435848e-04 4.08600242e+02] [ 8.09723462e-04 -2.29917261e-05 9.99999672e-01 1.67877632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:408.62, Z:1.68 [[ 2.44715319e-01 -9.69594948e-01 -2.22316877e-04 3.17696509e+02] [ 9.69594635e-01 2.44715419e-01 -7.78954192e-04 4.08624560e+02] [ 8.09674417e-04 -2.49352277e-05 9.99999672e-01 1.68353021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.70, Y:408.65, Z:1.69 [[ 2.44972687e-01 -9.69529956e-01 -2.17396278e-04 3.17703429e+02] [ 9.69529642e-01 2.44972783e-01 -7.80325056e-04 4.08650939e+02] [ 8.09804689e-04 -1.96138095e-05 9.99999672e-01 1.68503914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.71, Y:408.68, Z:1.69 [[ 2.45913665e-01 -9.69291712e-01 -2.17118733e-04 3.17709552e+02] [ 9.69291398e-01 2.45913760e-01 -7.80402273e-04 4.08676929e+02] [ 8.09829939e-04 -1.85397368e-05 9.99999672e-01 1.68622922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.72, Y:408.70, Z:1.69 [[ 2.46575708e-01 -9.69123508e-01 -2.16828268e-04 3.17716203e+02] [ 9.69123194e-01 2.46575803e-01 -7.80482968e-04 4.08703647e+02] [ 8.09848996e-04 -1.76851634e-05 9.99999672e-01 1.68668217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.72, Y:408.73, Z:1.69 [[ 2.47807687e-01 -9.68809219e-01 -2.16549653e-04 3.17721663e+02] [ 9.68808905e-01 2.47807782e-01 -7.80560264e-04 4.08728894e+02] [ 8.09876669e-04 -1.63663986e-05 9.99999672e-01 1.68774302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.73, Y:408.76, Z:1.69 [[ 2.48354893e-01 -9.68669087e-01 -2.16334654e-04 3.17730378e+02] [ 9.68668773e-01 2.48354986e-01 -7.80619847e-04 4.08758193e+02] [ 8.09890105e-04 -1.56858656e-05 9.99999672e-01 1.68711726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.74, Y:408.78, Z:1.69 [[ 2.48082499e-01 -9.68738884e-01 -2.21807415e-04 3.17735595e+02] [ 9.68738571e-01 2.48082597e-01 -7.79103096e-04 4.08782941e+02] [ 8.09774023e-04 -2.15915552e-05 9.99999672e-01 1.68901146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.75, Y:408.81, Z:1.69 [[ 2.50221241e-01 -9.68188662e-01 -2.15870906e-04 3.17746835e+02] [ 9.68188347e-01 2.50221333e-01 -7.80744503e-04 4.08813481e+02] [ 8.09923481e-04 -1.36448377e-05 9.99999672e-01 1.68914464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.75, Y:408.84, Z:1.69 [[ 2.47769886e-01 -9.68818885e-01 -2.27031825e-04 3.17748509e+02] [ 9.68818573e-01 2.47769989e-01 -7.77660477e-04 4.08836358e+02] [ 8.09663830e-04 -2.72718009e-05 9.99999672e-01 1.69048120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.76, Y:408.87, Z:1.69 [[ 2.48693639e-01 -9.68582174e-01 -2.15057891e-04 3.17756529e+02] [ 9.68581859e-01 2.48693732e-01 -7.80957825e-04 4.08865908e+02] [ 8.09905377e-04 -1.40819281e-05 9.99999672e-01 1.68925791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.76, Y:408.89, Z:1.69 [[ 2.50778685e-01 -9.68044422e-01 -2.21509116e-04 3.17764399e+02] [ 9.68044108e-01 2.50778782e-01 -7.79181812e-04 4.08892835e+02] [ 8.09832393e-04 -1.90284047e-05 9.99999672e-01 1.68773210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.77, Y:408.92, Z:1.69 [[ 2.49424267e-01 -9.68394282e-01 -2.22753650e-04 3.17768494e+02] [ 9.68393969e-01 2.49424366e-01 -7.78839580e-04 4.08916336e+02] [ 8.09783984e-04 -2.14517995e-05 9.99999672e-01 1.68511761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:408.95, Z:1.69 [[ 2.48949591e-01 -9.68516419e-01 -2.18078067e-04 3.17775142e+02] [ 9.68516105e-01 2.48949686e-01 -7.80122422e-04 4.08946110e+02] [ 8.09851840e-04 -1.70009621e-05 9.99999672e-01 1.68644881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.78, Y:408.97, Z:1.69 [[ 2.48229577e-01 -9.68701206e-01 -2.24124575e-04 3.17781385e+02] [ 9.68700894e-01 2.48229677e-01 -7.78463889e-04 4.08972418e+02] [ 8.09733279e-04 -2.38719143e-05 9.99999672e-01 1.68653329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.79, Y:409.00, Z:1.69 [[ 2.47402236e-01 -9.68912836e-01 -2.23620665e-04 3.17787434e+02] [ 9.68912523e-01 2.47402336e-01 -7.78601902e-04 4.08997931e+02] [ 8.09721652e-04 -2.40410117e-05 9.99999672e-01 1.68595663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.79, Y:409.02, Z:1.69 [[ 2.45095299e-01 -9.69498966e-01 -2.23051825e-04 3.17788941e+02] [ 9.69498653e-01 2.45095399e-01 -7.78757441e-04 4.09019218e+02] [ 8.09673510e-04 -2.53786560e-05 9.99999672e-01 1.68661236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:409.05, Z:1.68 [[ 2.46426590e-01 -9.69161437e-01 -2.13025057e-04 3.17799445e+02] [ 9.69161122e-01 2.46426681e-01 -7.81490619e-04 4.09049224e+02] [ 8.09885629e-04 -1.38755349e-05 9.99999672e-01 1.68398556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.80, Y:409.07, Z:1.68 [[ 2.44149136e-01 -9.69737671e-01 -2.22972477e-04 3.17802211e+02] [ 9.69737358e-01 2.44149237e-01 -7.78777334e-04 4.09072706e+02] [ 8.09648278e-04 -2.60869274e-05 9.99999672e-01 1.68415659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.81, Y:409.10, Z:1.68 [[ 2.44820761e-01 -9.69568332e-01 -2.12581646e-04 3.17811047e+02] [ 9.69568017e-01 2.44820853e-01 -7.81603447e-04 4.09100368e+02] [ 8.09862371e-04 -1.47596141e-05 9.99999672e-01 1.67852974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.82, Y:409.12, Z:1.68 [[ 2.45181760e-01 -9.69477105e-01 -2.16728091e-04 3.17815831e+02] [ 9.69476791e-01 2.45181855e-01 -7.80476789e-04 4.09123489e+02] [ 8.09792174e-04 -1.87541809e-05 9.99999672e-01 1.67652321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.82, Y:409.15, Z:1.68 [[ 2.44053772e-01 -9.69761678e-01 -2.11939005e-04 3.17823628e+02] [ 9.69761363e-01 2.44053864e-01 -7.81775559e-04 4.09152492e+02] [ 8.09860511e-04 -1.47349843e-05 9.99999672e-01 1.67782184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.83, Y:409.18, Z:1.68 [[ 2.44448694e-01 -9.69662203e-01 -2.17181241e-04 3.17829629e+02] [ 9.69661890e-01 2.44448790e-01 -7.80354411e-04 4.09175781e+02] [ 8.09769870e-04 -1.98357553e-05 9.99999672e-01 1.67584274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:409.20, Z:1.68 [[ 2.43907852e-01 -9.69798389e-01 -2.12442206e-04 3.17836412e+02] [ 9.69798074e-01 2.43907944e-01 -7.81636420e-04 4.09202030e+02] [ 8.09846082e-04 -1.53787819e-05 9.99999672e-01 1.67621879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.84, Y:409.23, Z:1.68 [[ 2.42413098e-01 -9.70173101e-01 -2.11402906e-04 3.17843900e+02] [ 9.70172786e-01 2.42413190e-01 -7.81917296e-04 4.09226847e+02] [ 8.09841980e-04 -1.55503520e-05 9.99999672e-01 1.67562543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:409.26, Z:1.68 [[ 2.43626776e-01 -9.69869037e-01 -2.11441236e-04 3.17855124e+02] [ 9.69868722e-01 2.43626867e-01 -7.81906950e-04 4.09255804e+02] [ 8.09860106e-04 -1.45767717e-05 9.99999672e-01 1.67796820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.86, Y:409.28, Z:1.68 [[ 2.39991117e-01 -9.70775059e-01 -2.19201642e-04 3.17859322e+02] [ 9.70774747e-01 2.39991216e-01 -7.79811172e-04 4.09279615e+02] [ 8.09627705e-04 -2.56476644e-05 9.99999672e-01 1.67624594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.87, Y:409.31, Z:1.68 [[ 2.37896269e-01 -9.71290544e-01 -2.13055549e-04 3.17868091e+02] [ 9.71290229e-01 2.37896363e-01 -7.81465017e-04 4.09308563e+02] [ 8.09714722e-04 -2.10311609e-05 9.99999672e-01 1.67951734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.88, Y:409.33, Z:1.68 [[ 2.40110573e-01 -9.70745521e-01 -2.16520001e-04 3.17878340e+02] [ 9.70745207e-01 2.40110669e-01 -7.80532993e-04 4.09333295e+02] [ 8.09687669e-04 -2.27715295e-05 9.99999672e-01 1.68163669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.89, Y:409.36, Z:1.68 [[ 2.35998732e-01 -9.71753339e-01 -2.17147801e-04 3.17886955e+02] [ 9.71753026e-01 2.35998830e-01 -7.80364240e-04 4.09361785e+02] [ 8.09568183e-04 -2.68490612e-05 9.99999672e-01 1.68298629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.89, Y:409.39, Z:1.69 [[ 2.35145161e-01 -9.71960238e-01 -2.21202548e-04 3.17894148e+02] [ 9.71959926e-01 2.35145263e-01 -7.79275497e-04 4.09386677e+02] [ 8.09439529e-04 -3.17571503e-05 9.99999672e-01 1.68502505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.90, Y:409.41, Z:1.68 [[ 2.31680252e-01 -9.72791968e-01 -2.19596584e-04 3.17898118e+02] [ 9.72791656e-01 2.31680354e-01 -7.79706728e-04 4.09411194e+02] [ 8.09368657e-04 -3.29790735e-05 9.99999672e-01 1.68216843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.91, Y:409.44, Z:1.68 [[ 2.32036200e-01 -9.72707127e-01 -2.15743089e-04 3.17908138e+02] [ 9.72706814e-01 2.32036299e-01 -7.80738704e-04 4.09438808e+02] [ 8.09490330e-04 -2.86951303e-05 9.99999672e-01 1.68394884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:317.91, Y:409.47, Z:1.69 [[ 2.31223643e-01 -9.72900601e-01 -2.16778671e-04 3.17914854e+02] [ 9.72900289e-01 2.31223743e-01 -7.80462934e-04 4.09465630e+02] [ 8.09437234e-04 -3.04425486e-05 9.99999672e-01 1.68530407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.92, Y:409.49, Z:1.68 [[ 2.31191604e-01 -9.72908216e-01 -2.13186557e-04 3.17922089e+02] [ 9.72907903e-01 2.31191701e-01 -7.81417503e-04 4.09491163e+02] [ 8.09534472e-04 -2.67537193e-05 9.99999672e-01 1.68449645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.93, Y:409.52, Z:1.68 [[ 2.33990224e-01 -9.72238926e-01 -2.13017139e-04 3.17929338e+02] [ 9.72238612e-01 2.33990320e-01 -7.81462536e-04 4.09515676e+02] [ 8.09612245e-04 -2.42488934e-05 9.99999672e-01 1.68465570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.94, Y:409.54, Z:1.69 [[ 2.33559508e-01 -9.72342487e-01 -2.09072111e-04 3.17936824e+02] [ 9.72342173e-01 2.33559601e-01 -7.82509236e-04 4.09544015e+02] [ 8.09697775e-04 -2.05271581e-05 9.99999672e-01 1.68669272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.94, Y:409.57, Z:1.69 [[ 2.34629592e-01 -9.72084826e-01 -2.12380774e-04 3.17944211e+02] [ 9.72084512e-01 2.34629687e-01 -7.81631727e-04 4.09568279e+02] [ 8.09643176e-04 -2.30581280e-05 9.99999672e-01 1.68699190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.95, Y:409.59, Z:1.68 [[ 2.35432555e-01 -9.71890667e-01 -2.09563722e-04 3.17951748e+02] [ 9.71890352e-01 2.35432647e-01 -7.82377439e-04 4.09592374e+02] [ 8.09723473e-04 -1.94758400e-05 9.99999672e-01 1.68498265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.96, Y:409.62, Z:1.69 [[ 2.34149380e-01 -9.72200610e-01 -2.06025667e-04 3.17960772e+02] [ 9.72200294e-01 2.34149470e-01 -7.83312590e-04 4.09622514e+02] [ 8.09777779e-04 -1.68860576e-05 9.99999672e-01 1.68664961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.97, Y:409.65, Z:1.69 [[ 2.35165276e-01 -9.71955373e-01 -2.13252644e-04 3.17969205e+02] [ 9.71955059e-01 2.35165371e-01 -7.81402805e-04 4.09647453e+02] [ 8.09638292e-04 -2.35131799e-05 9.99999672e-01 1.68642168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.98, Y:409.67, Z:1.69 [[ 2.34512187e-01 -9.72113157e-01 -2.09719519e-04 3.17976331e+02] [ 9.72112843e-01 2.34512280e-01 -7.82334080e-04 4.09673223e+02] [ 8.09699055e-04 -2.04041618e-05 9.99999672e-01 1.68679512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:317.98, Y:409.70, Z:1.69 [[ 2.34553260e-01 -9.72103248e-01 -2.08663197e-04 3.17983911e+02] [ 9.72102933e-01 2.34553352e-01 -7.82612195e-04 4.09700251e+02] [ 8.09722509e-04 -1.92778640e-05 9.99999672e-01 1.68979542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:317.99, Y:409.73, Z:1.68 [[ 2.35934711e-01 -9.71768886e-01 -2.12265364e-04 3.17992343e+02] [ 9.71768572e-01 2.35934805e-01 -7.81664275e-04 4.09726944e+02] [ 8.09677809e-04 -2.18510746e-05 9.99999672e-01 1.68480282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.00, Y:409.75, Z:1.69 [[ 2.34685825e-01 -9.72071252e-01 -2.13110379e-04 3.17998214e+02] [ 9.72070938e-01 2.34685920e-01 -7.81442194e-04 4.09751308e+02] [ 8.09631497e-04 -2.37650005e-05 9.99999672e-01 1.69039087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.01, Y:409.77, Z:1.69 [[ 2.36924781e-01 -9.71527974e-01 -2.08914302e-04 3.18006273e+02] [ 9.71527659e-01 2.36924873e-01 -7.82543238e-04 4.09773492e+02] [ 8.09759641e-04 -1.75621375e-05 9.99999672e-01 1.68817477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.01, Y:409.80, Z:1.69 [[ 2.33655243e-01 -9.72319488e-01 -2.03426285e-04 3.18014766e+02] [ 9.72319172e-01 2.33655331e-01 -7.83980633e-04 4.09802402e+02] [ 8.09811284e-04 -1.46140916e-05 9.99999672e-01 1.68775961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.02, Y:409.83, Z:1.69 [[ 2.32572364e-01 -9.72579072e-01 -2.08635439e-04 3.18022435e+02] [ 9.72578758e-01 2.32572457e-01 -7.82618948e-04 4.09830070e+02] [ 8.09681667e-04 -2.08988568e-05 9.99999672e-01 1.68548541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.03, Y:409.86, Z:1.69 [[ 2.30349110e-01 -9.73108033e-01 -2.09275959e-04 3.18030092e+02] [ 9.73107719e-01 2.30349204e-01 -7.82451695e-04 4.09855041e+02] [ 8.09616581e-04 -2.34109987e-05 9.99999672e-01 1.68724530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.04, Y:409.89, Z:1.69 [[ 2.32335801e-01 -9.72635612e-01 -2.07620496e-04 3.18043778e+02] [ 9.72635297e-01 2.32335892e-01 -7.82883341e-04 4.09887494e+02] [ 8.09697910e-04 -2.00471954e-05 9.99999672e-01 1.68801830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.05, Y:409.91, Z:1.69 [[ 2.27983525e-01 -9.73664964e-01 -2.22894780e-04 3.18045777e+02] [ 9.73664654e-01 2.27983631e-01 -7.78902831e-04 4.09909544e+02] [ 8.09206758e-04 -3.94477554e-05 9.99999672e-01 1.68737410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.06, Y:409.93, Z:1.69 [[ 2.28204169e-01 -9.73613277e-01 -2.09535926e-04 3.18055928e+02] [ 9.73612963e-01 2.28204264e-01 -7.82369545e-04 4.09934950e+02] [ 8.09542369e-04 -2.54669019e-05 9.99999672e-01 1.68815753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.06, Y:409.96, Z:1.69 [[ 2.27683633e-01 -9.73735138e-01 -2.10792546e-04 3.18062319e+02] [ 9.73734824e-01 2.27683729e-01 -7.82043942e-04 4.09961007e+02] [ 8.09497699e-04 -2.71974371e-05 9.99999672e-01 1.68817969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.07, Y:409.99, Z:1.69 [[ 2.26291639e-01 -9.74059572e-01 -2.10500398e-04 3.18069212e+02] [ 9.74059259e-01 2.26291735e-01 -7.82119502e-04 4.09986584e+02] [ 8.09465488e-04 -2.80527582e-05 9.99999672e-01 1.68678746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.08, Y:410.02, Z:1.69 [[ 2.26099429e-01 -9.74104206e-01 -2.08684966e-04 3.18078823e+02] [ 9.74103892e-01 2.26099524e-01 -7.82587670e-04 4.10015045e+02] [ 8.09505512e-04 -2.63382129e-05 9.99999672e-01 1.68847956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:410.04, Z:1.69 [[ 2.26354830e-01 -9.74044889e-01 -2.12391532e-04 3.18085680e+02] [ 9.74044576e-01 2.26354928e-01 -7.81632552e-04 4.10038992e+02] [ 8.09421062e-04 -2.99525161e-05 9.99999672e-01 1.68742792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.09, Y:410.06, Z:1.69 [[ 2.25077791e-01 -9.74340774e-01 -2.09657991e-04 3.18092411e+02] [ 9.74340461e-01 2.25077887e-01 -7.82335236e-04 4.10064004e+02] [ 8.09450497e-04 -2.81919774e-05 9.99999672e-01 1.68753574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.10, Y:410.09, Z:1.69 [[ 2.25086931e-01 -9.74338664e-01 -2.05050849e-04 3.18102858e+02] [ 9.74338349e-01 2.25087024e-01 -7.83515309e-04 4.10090743e+02] [ 8.09563544e-04 -2.34298486e-05 9.99999672e-01 1.68623536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.11, Y:410.11, Z:1.68 [[ 2.25732272e-01 -9.74189355e-01 -2.05634563e-04 3.18110181e+02] [ 9.74189040e-01 2.25732364e-01 -7.83365949e-04 4.10114465e+02] [ 8.09565145e-04 -2.34959624e-05 9.99999672e-01 1.68471463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.552755096 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:318.12, Y:410.14, Z:1.68 [[ 2.27897174e-01 -9.73685184e-01 -2.03283861e-04 3.18119253e+02] [ 9.73684868e-01 2.27897264e-01 -7.83966668e-04 4.10139948e+02] [ 8.09664565e-04 -1.92706309e-05 9.99999672e-01 1.68030870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.13, Y:410.16, Z:1.69 [[ 2.33118773e-01 -9.72448248e-01 -2.04938280e-04 3.18128688e+02] [ 9.72447933e-01 2.33118862e-01 -7.83544668e-04 4.10163176e+02] [ 8.09731619e-04 -1.66328346e-05 9.99999672e-01 1.68775013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.13, Y:410.19, Z:1.69 [[ 2.31378880e-01 -9.72863698e-01 -1.99779385e-04 3.18129661e+02] [ 9.72863381e-01 2.31378966e-01 -7.84857824e-04 4.10190495e+02] [ 8.09784433e-04 -1.27585233e-05 9.99999672e-01 1.68721958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.642755096 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:318.14, Y:410.22, Z:1.68 [[ 2.36102221e-01 -9.71728204e-01 -1.98374973e-04 3.18135167e+02] [ 9.71727886e-01 2.36102305e-01 -7.85214670e-04 4.10217360e+02] [ 8.09852029e-04 -7.37556520e-06 9.99999672e-01 1.68306623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.15, Y:410.25, Z:1.68 [[ 2.42196554e-01 -9.70227185e-01 -1.99239867e-04 3.18149126e+02] [ 9.70226867e-01 2.42196636e-01 -7.84995152e-04 4.10248702e+02] [ 8.09878861e-04 -3.18475129e-06 9.99999672e-01 1.68246453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.702755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:318.16, Y:410.28, Z:1.68 [[ 2.43345839e-01 -9.69939564e-01 -2.12397539e-04 3.18156254e+02] [ 9.69939249e-01 2.43345932e-01 -7.81657403e-04 4.10277836e+02] [ 8.09846517e-04 -1.57996330e-05 9.99999672e-01 1.68055800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:318.16, Y:410.30, Z:1.69 [[ 2.43677218e-01 -9.69856364e-01 -2.16314683e-04 3.18159606e+02] [ 9.69856050e-01 2.43677313e-01 -7.80665485e-04 4.10295295e+02] [ 8.09844370e-04 -1.95637106e-05 9.99999672e-01 1.68575908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.762755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:318.17, Y:410.33, Z:1.68 [[ 2.44321087e-01 -9.69694368e-01 -1.97881376e-04 3.18168746e+02] [ 9.69694050e-01 2.44321167e-01 -7.85310284e-04 4.10329219e+02] [ 8.09857568e-04 -1.65308928e-08 9.99999672e-01 1.68079729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:318.17, Y:410.36, Z:1.68 [[ 2.40833242e-01 -9.70566486e-01 -2.14010766e-04 3.18173162e+02] [ 9.70566172e-01 2.40833337e-01 -7.81263646e-04 4.10357725e+02] [ 8.09809238e-04 -1.95573529e-05 9.99999672e-01 1.68086774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.822755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:318.18, Y:410.38, Z:1.68 [[ 2.41923069e-01 -9.70295411e-01 -2.12127373e-04 3.18181617e+02] [ 9.70295096e-01 2.41923162e-01 -7.81734608e-04 4.10384220e+02] [ 8.09832027e-04 -1.67065142e-05 9.99999672e-01 1.68050850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.852755096 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:318.19, Y:410.41, Z:1.68 [[ 2.38595627e-01 -9.71118983e-01 -2.17732382e-04 3.18188709e+02] [ 9.71118670e-01 2.38595725e-01 -7.80320268e-04 4.10410975e+02] [ 8.09733841e-04 -2.52629782e-05 9.99999672e-01 1.68080743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.882755096 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:318.19, Y:410.43, Z:1.68 [[ 2.33852860e-01 -9.72271975e-01 -2.16885186e-04 3.18187432e+02] [ 9.72271662e-01 2.33852959e-01 -7.80533695e-04 4.10431159e+02] [ 8.09610280e-04 -2.83412835e-05 9.99999672e-01 1.68240286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9127550960001 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:318.20, Y:410.46, Z:1.68 [[ 2.35106572e-01 -9.71969579e-01 -1.95781181e-04 3.18200463e+02] [ 9.71969261e-01 2.35106653e-01 -7.85821788e-04 4.10464168e+02] [ 8.09824330e-04 -5.54142339e-06 9.99999672e-01 1.68285858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.942755096 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:318.20, Y:410.49, Z:1.67 [[ 2.28998838e-01 -9.73426672e-01 -2.15113793e-04 3.18203212e+02] [ 9.73426359e-01 2.28998937e-01 -7.81017233e-04 4.10491680e+02] [ 8.09523836e-04 -3.05453973e-05 9.99999672e-01 1.67347635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.972755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:318.21, Y:410.52, Z:1.68 [[ 2.30288902e-01 -9.73122282e-01 -2.13868137e-04 3.18210720e+02] [ 9.73121969e-01 2.30289000e-01 -7.81326211e-04 4.10517098e+02] [ 8.09577425e-04 -2.81890269e-05 9.99999672e-01 1.68400806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.002755096 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:318.21, Y:410.54, Z:1.68 [[ 2.27355634e-01 -9.73811774e-01 -2.11268065e-04 3.18212125e+02] [ 9.73811460e-01 2.27355731e-01 -7.81974176e-04 4.10540487e+02] [ 8.09528665e-04 -2.79490283e-05 9.99999672e-01 1.68068043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0327550960001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:318.22, Y:410.56, Z:1.68 [[ 2.30867136e-01 -9.72985265e-01 -2.01394181e-04 3.18222628e+02] [ 9.72984949e-01 2.30867223e-01 -7.84425769e-04 4.10564986e+02] [ 8.09730030e-04 -1.48553764e-05 9.99999672e-01 1.67853654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.062755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:318.23, Y:410.60, Z:1.68 [[ 2.28755202e-01 -9.73483959e-01 -2.00022756e-04 3.18228846e+02] [ 9.73483642e-01 2.28755289e-01 -7.84764041e-04 4.10596075e+02] [ 8.09711469e-04 -1.52000243e-05 9.99999672e-01 1.68425581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.23, Y:410.62, Z:1.68 [[ 2.29428395e-01 -9.73325521e-01 -2.06296366e-04 3.18233809e+02] [ 9.73325206e-01 2.29428486e-01 -7.83228156e-04 4.10621174e+02] [ 8.09666216e-04 -2.10986742e-05 9.99999672e-01 1.68346426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.122755096 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:318.24, Y:410.65, Z:1.68 [[ 2.30309004e-01 -9.73117527e-01 -2.03012691e-04 3.18240043e+02] [ 9.73117211e-01 2.30309093e-01 -7.84030739e-04 4.10648956e+02] [ 8.09709723e-04 -1.69858051e-05 9.99999672e-01 1.68259268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.152755096 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:318.25, Y:410.67, Z:1.69 [[ 2.32596746e-01 -9.72573243e-01 -2.02690445e-04 3.18245583e+02] [ 9.72572927e-01 2.32596833e-01 -7.84109215e-04 4.10674929e+02] [ 8.09748797e-04 -1.47499875e-05 9.99999672e-01 1.68527788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.182755096 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:318.25, Y:410.70, Z:1.69 [[ 2.34309016e-01 -9.72162150e-01 -1.96397433e-04 3.18251625e+02] [ 9.72161833e-01 2.34309099e-01 -7.85635598e-04 4.10701901e+02] [ 8.09782898e-04 -6.84858424e-06 9.99999672e-01 1.68648013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.212755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:318.26, Y:410.73, Z:1.68 [[ 2.33769299e-01 -9.72292074e-01 -1.94091845e-04 3.18257559e+02] [ 9.72291756e-01 2.33769379e-01 -7.86195302e-04 4.10729071e+02] [ 8.09784191e-04 -4.92557607e-06 9.99999672e-01 1.68368201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.242755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:318.26, Y:410.75, Z:1.69 [[ 2.34148180e-01 -9.72200900e-01 -1.98684624e-04 3.18264994e+02] [ 9.72200583e-01 2.34148264e-01 -7.85077499e-04 4.10754846e+02] [ 8.09774711e-04 -9.33683957e-06 9.99999672e-01 1.68538914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.272755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:318.27, Y:410.78, Z:1.69 [[ 2.34159197e-01 -9.72198247e-01 -1.96724026e-04 3.18271834e+02] [ 9.72197930e-01 2.34159280e-01 -7.85550931e-04 4.10780852e+02] [ 8.09775994e-04 -7.31071543e-06 9.99999672e-01 1.68589921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.302755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.28, Y:410.81, Z:1.69 [[ 2.34303573e-01 -9.72163462e-01 -1.95696272e-04 3.18280109e+02] [ 9.72163145e-01 2.34303655e-01 -7.85798757e-04 4.10807618e+02] [ 8.09777192e-04 -6.13324722e-06 9.99999672e-01 1.68572736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.332755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:318.29, Y:410.83, Z:1.68 [[ 2.33116991e-01 -9.72448678e-01 -1.95705512e-04 3.18287702e+02] [ 9.72448360e-01 2.33117073e-01 -7.85796540e-04 4.10834988e+02] [ 8.09769103e-04 -7.13097874e-06 9.99999672e-01 1.68479618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.362755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:318.29, Y:410.86, Z:1.68 [[ 2.33869122e-01 -9.72268068e-01 -1.94617588e-04 3.18294673e+02] [ 9.72267750e-01 2.33869203e-01 -7.86057777e-04 4.10858565e+02] [ 8.09773937e-04 -5.38576248e-06 9.99999672e-01 1.68362722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.392755096 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:318.30, Y:410.88, Z:1.68 [[ 2.27816035e-01 -9.73704174e-01 -1.88607511e-04 3.18301710e+02] [ 9.73703856e-01 2.27816114e-01 -7.87497205e-04 4.10884167e+02] [ 8.09757146e-04 -4.24336974e-06 9.99999672e-01 1.68416249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4227550960001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:318.31, Y:410.91, Z:1.68 [[ 2.24314099e-01 -9.74516880e-01 -1.89176881e-04 3.18308723e+02] [ 9.74516562e-01 2.24314178e-01 -7.87361057e-04 4.10912769e+02] [ 8.09731697e-04 -7.73981771e-06 9.99999672e-01 1.68430752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.452755096 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:318.31, Y:410.93, Z:1.68 [[ 2.25250549e-01 -9.74300853e-01 -1.95948378e-04 3.18314779e+02] [ 9.74300536e-01 2.25250633e-01 -7.85743475e-04 4.10931877e+02] [ 8.09688034e-04 -1.39234605e-05 9.99999672e-01 1.68332335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.482755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:318.32, Y:410.96, Z:1.68 [[ 2.20986811e-01 -9.75276780e-01 -1.78701979e-04 3.18322382e+02] [ 9.75276460e-01 2.20986884e-01 -7.89847574e-04 4.10962412e+02] [ 8.09810792e-04 2.62063659e-07 9.99999672e-01 1.68405180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.512755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:318.33, Y:410.99, Z:1.69 [[ 2.19875688e-01 -9.75527881e-01 -1.87692194e-04 3.18327998e+02] [ 9.75527563e-01 2.19875768e-01 -7.87707037e-04 4.10988693e+02] [ 8.09699142e-04 -9.90128157e-06 9.99999672e-01 1.68744019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5427550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:318.34, Y:411.02, Z:1.69 [[ 2.21750929e-01 -9.75103323e-01 -1.85659412e-04 3.18336708e+02] [ 9.75103005e-01 2.21751006e-01 -7.88190301e-04 4.11015167e+02] [ 8.09737144e-04 -6.25511973e-06 9.99999672e-01 1.69004027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.572755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.34, Y:411.04, Z:1.69 [[ 2.20858023e-01 -9.75305952e-01 -1.87051391e-04 3.18342491e+02] [ 9.75305633e-01 2.20858102e-01 -7.87859822e-04 4.11042304e+02] [ 8.09716188e-04 -8.42711255e-06 9.99999672e-01 1.69081721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.35, Y:411.07, Z:1.69 [[ 2.19666312e-01 -9.75575049e-01 -1.86775747e-04 3.18347368e+02] [ 9.75574731e-01 2.19666391e-01 -7.87925162e-04 4.11070418e+02] [ 8.09708483e-04 -9.13308445e-06 9.99999672e-01 1.69093782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.35, Y:411.10, Z:1.69 [[ 2.18886945e-01 -9.75750209e-01 -1.86513740e-04 3.18353790e+02] [ 9.75749891e-01 2.18887025e-01 -7.87987178e-04 4.11095703e+02] [ 8.09704092e-04 -9.51065495e-06 9.99999672e-01 1.69143371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:411.12, Z:1.69 [[ 2.17411179e-01 -9.76080091e-01 -1.86286090e-04 3.18359008e+02] [ 9.76079773e-01 2.17411259e-01 -7.88040993e-04 4.11121119e+02] [ 8.09691818e-04 -1.05011630e-05 9.99999672e-01 1.69025831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.36, Y:411.15, Z:1.69 [[ 2.14340607e-01 -9.76758962e-01 -1.84903898e-04 3.18360858e+02] [ 9.76758644e-01 2.14340687e-01 -7.88367006e-04 4.11145259e+02] [ 8.09676967e-04 -1.16274183e-05 9.99999672e-01 1.68992599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:411.17, Z:1.69 [[ 2.14153739e-01 -9.76799951e-01 -1.79107518e-04 3.18365223e+02] [ 9.76799632e-01 2.14153814e-01 -7.89732225e-04 4.11172124e+02] [ 8.09766957e-04 -5.82804824e-06 9.99999672e-01 1.68665854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.37, Y:411.20, Z:1.69 [[ 2.16395126e-01 -9.76305853e-01 -1.79117210e-04 3.18373590e+02] [ 9.76305533e-01 2.16395200e-01 -7.89729939e-04 4.11198765e+02] [ 8.09778066e-04 -3.97941422e-06 9.99999672e-01 1.68848750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.38, Y:411.22, Z:1.69 [[ 2.14769060e-01 -9.76664844e-01 -1.81494824e-04 3.18375371e+02] [ 9.76664525e-01 2.14769136e-01 -7.89169591e-04 4.11221502e+02] [ 8.09733682e-04 -7.77034482e-06 9.99999672e-01 1.68700571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.812755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:318.39, Y:411.26, Z:1.69 [[ 2.15639456e-01 -9.76473039e-01 -1.69137869e-04 3.18386480e+02] [ 9.76472718e-01 2.15639522e-01 -7.92075239e-04 4.11256059e+02] [ 8.09912925e-04 5.64415877e-06 9.99999672e-01 1.69116111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.39, Y:411.28, Z:1.69 [[ 2.16628128e-01 -9.76254177e-01 -1.90584616e-04 3.18390949e+02] [ 9.76253860e-01 2.16628212e-01 -7.87009139e-04 4.11276831e+02] [ 8.09606964e-04 -1.55706504e-05 9.99999672e-01 1.69186551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.40, Y:411.31, Z:1.69 [[ 2.14880265e-01 -9.76640384e-01 -1.79989092e-04 3.18395090e+02] [ 9.76640065e-01 2.14880340e-01 -7.89505341e-04 4.11307523e+02] [ 8.09738917e-04 -6.13544200e-06 9.99999672e-01 1.69420207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.40, Y:411.33, Z:1.69 [[ 2.15691014e-01 -9.76461648e-01 -1.88943812e-04 3.18400485e+02] [ 9.76461331e-01 2.15691097e-01 -7.87398373e-04 4.11331976e+02] [ 8.09617811e-04 -1.46615723e-05 9.99999672e-01 1.69364529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.40, Y:411.36, Z:1.69 [[ 2.15216761e-01 -9.76566286e-01 -1.85110798e-04 3.18404741e+02] [ 9.76565968e-01 2.15216840e-01 -7.88298454e-04 4.11358935e+02] [ 8.09664654e-04 -1.11178659e-05 9.99999672e-01 1.69482124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.41, Y:411.39, Z:1.69 [[ 2.16082125e-01 -9.76375174e-01 -1.84832186e-04 3.18411608e+02] [ 9.76374856e-01 2.16082204e-01 -7.88363774e-04 4.11386680e+02] [ 8.09677764e-04 -1.01141797e-05 9.99999672e-01 1.69328653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.992755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:318.42, Y:411.41, Z:1.69 [[ 2.17057191e-01 -9.76158871e-01 -1.86282729e-04 3.18418667e+02] [ 9.76158553e-01 2.17057271e-01 -7.88024239e-04 4.11413458e+02] [ 8.09670873e-04 -1.07951508e-05 9.99999672e-01 1.69217820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.43, Y:411.44, Z:1.69 [[ 2.16651019e-01 -9.76249098e-01 -1.85403949e-04 3.18425398e+02] [ 9.76248780e-01 2.16651098e-01 -7.88229597e-04 4.11442523e+02] [ 8.09676402e-04 -1.02296338e-05 9.99999672e-01 1.69466714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.052755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:318.43, Y:411.47, Z:1.69 [[ 2.16019886e-01 -9.76388946e-01 -1.89797070e-04 3.18431861e+02] [ 9.76388628e-01 2.16019968e-01 -7.87204937e-04 4.11471248e+02] [ 8.09618156e-04 -1.52637807e-05 9.99999672e-01 1.69310298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.44, Y:411.49, Z:1.69 [[ 2.17726343e-01 -9.76009838e-01 -1.90323388e-04 3.18437666e+02] [ 9.76009521e-01 2.17726425e-01 -7.87082323e-04 4.11492454e+02] [ 8.09638521e-04 -1.43888828e-05 9.99999672e-01 1.69207356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.44, Y:411.52, Z:1.69 [[ 2.15516155e-01 -9.76500259e-01 -1.76923733e-04 3.18444107e+02] [ 9.76499939e-01 2.15516228e-01 -7.90186717e-04 4.11523327e+02] [ 8.09747469e-04 -2.46801182e-06 9.99999672e-01 1.69337204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:411.55, Z:1.69 [[ 2.16927062e-01 -9.76187797e-01 -1.88359834e-04 3.18448748e+02] [ 9.76187479e-01 2.16927143e-01 -7.87533559e-04 4.11547075e+02] [ 8.09641010e-04 -1.30371704e-05 9.99999672e-01 1.69048214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.45, Y:411.58, Z:1.69 [[ 2.15029310e-01 -9.76607579e-01 -1.82524550e-04 3.18454809e+02] [ 9.76607260e-01 2.15029387e-01 -7.88883673e-04 4.11576553e+02] [ 8.09677915e-04 -8.62168896e-06 9.99999672e-01 1.69263451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.46, Y:411.59, Z:1.69 [[ 2.17237954e-01 -9.76118659e-01 -1.88893879e-04 3.18458428e+02] [ 9.76118341e-01 2.17238036e-01 -7.87410272e-04 4.11593885e+02] [ 8.09640794e-04 -1.33273827e-05 9.99999672e-01 1.68911232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.46, Y:411.62, Z:1.69 [[ 2.12850391e-01 -9.77084788e-01 -1.69241941e-04 3.18463744e+02] [ 9.77084467e-01 2.12850458e-01 -7.91946028e-04 4.11624922e+02] [ 8.09821641e-04 3.20234924e-06 9.99999672e-01 1.69322669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.47, Y:411.65, Z:1.69 [[ 2.12602086e-01 -9.77138845e-01 -1.78510645e-04 3.18469863e+02] [ 9.77138525e-01 2.12602161e-01 -7.89804519e-04 4.11651976e+02] [ 8.09700424e-04 -6.51554063e-06 9.99999672e-01 1.69325245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.48, Y:411.68, Z:1.69 [[ 2.09687365e-01 -9.77768468e-01 -1.78347256e-04 3.18475285e+02] [ 9.77768149e-01 2.09687440e-01 -7.89842225e-04 4.11679929e+02] [ 8.09680002e-04 -8.76233223e-06 9.99999672e-01 1.69486116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.48, Y:411.70, Z:1.69 [[ 2.09206921e-01 -9.77871378e-01 -1.79091932e-04 3.18480902e+02] [ 9.77871059e-01 2.09206997e-01 -7.89670361e-04 4.11704409e+02] [ 8.09663330e-04 -9.92431208e-06 9.99999672e-01 1.69348370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.49, Y:411.73, Z:1.69 [[ 2.04560534e-01 -9.78853900e-01 -1.72492794e-04 3.18486269e+02] [ 9.78853581e-01 2.04560606e-01 -7.91190095e-04 4.11731688e+02] [ 8.09744741e-04 -6.99892134e-06 9.99999672e-01 1.69407149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.49, Y:411.76, Z:1.69 [[ 2.02306234e-01 -9.79322295e-01 -1.74400547e-04 3.18490994e+02] [ 9.79321976e-01 2.02306309e-01 -7.90749617e-04 4.11758894e+02] [ 8.09681060e-04 -1.08207107e-05 9.99999672e-01 1.69421586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.50, Y:411.79, Z:1.69 [[ 1.98833281e-01 -9.80033314e-01 -1.73807485e-04 3.18496566e+02] [ 9.80032995e-01 1.98833357e-01 -7.90886418e-04 4.11789342e+02] [ 8.09653763e-04 -1.30825285e-05 9.99999672e-01 1.69366788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.50, Y:411.81, Z:1.69 [[ 1.98232359e-01 -9.80155039e-01 -1.79816270e-04 3.18501808e+02] [ 9.80154721e-01 1.98232440e-01 -7.89500568e-04 4.11814339e+02] [ 8.09478377e-04 -1.97432059e-05 9.99999672e-01 1.69121456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.51, Y:411.84, Z:1.69 [[ 1.97678780e-01 -9.80266836e-01 -1.74521344e-04 3.18508631e+02] [ 9.80266517e-01 1.97678856e-01 -7.90720134e-04 4.11842072e+02] [ 8.09615904e-04 -1.47688395e-05 9.99999672e-01 1.69243042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:411.87, Z:1.69 [[ 1.97414997e-01 -9.80319993e-01 -1.76647754e-04 3.18515102e+02] [ 9.80319674e-01 1.97415075e-01 -7.90230209e-04 4.11870026e+02] [ 8.09551403e-04 -1.71679743e-05 9.99999672e-01 1.69415919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.52, Y:411.90, Z:1.69 [[ 1.95943108e-01 -9.80615249e-01 -1.78139538e-04 3.18522303e+02] [ 9.80614931e-01 1.95943188e-01 -7.89886800e-04 4.11902792e+02] [ 8.09480271e-04 -1.99134166e-05 9.99999672e-01 1.69311476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.562755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:318.53, Y:411.93, Z:1.69 [[ 1.97002368e-01 -9.80402994e-01 -1.90199471e-04 3.18530443e+02] [ 9.80402679e-01 1.97002457e-01 -7.87106588e-04 4.11932061e+02] [ 8.09151419e-04 -3.14102089e-05 9.99999672e-01 1.69031514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.53, Y:411.95, Z:1.69 [[ 1.97990231e-01 -9.80203974e-01 -1.96623686e-04 3.18534237e+02] [ 9.80203660e-01 1.97990325e-01 -7.85626513e-04 4.11953522e+02] [ 8.09003817e-04 -3.71848816e-05 9.99999672e-01 1.69111268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.622755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:318.54, Y:411.99, Z:1.69 [[ 1.95441403e-01 -9.80715364e-01 -1.80979588e-04 3.18540225e+02] [ 9.80715047e-01 1.95441486e-01 -7.89213958e-04 4.11985875e+02] [ 8.09365174e-04 -2.32443219e-05 9.99999672e-01 1.69094676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.54, Y:412.01, Z:1.69 [[ 1.97351902e-01 -9.80332693e-01 -1.94866511e-04 3.18543432e+02] [ 9.80332379e-01 1.97351995e-01 -7.86027841e-04 4.12008421e+02] [ 8.09026085e-04 -3.59098612e-05 9.99999672e-01 1.69256244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.55, Y:412.04, Z:1.69 [[ 1.95185522e-01 -9.80766322e-01 -1.86371805e-04 3.18548158e+02] [ 9.80766005e-01 1.95185609e-01 -7.87969631e-04 4.12038624e+02] [ 8.09191171e-04 -2.89868675e-05 9.99999672e-01 1.69293019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.712755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:318.55, Y:412.07, Z:1.69 [[ 1.96260998e-01 -9.80551673e-01 -1.92683844e-04 3.18552558e+02] [ 9.80551358e-01 1.96261089e-01 -7.86531115e-04 4.12067786e+02] [ 8.09050742e-04 -3.45710237e-05 9.99999672e-01 1.69327926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.742755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:318.56, Y:412.09, Z:1.70 [[ 1.96023983e-01 -9.80599082e-01 -1.94674460e-04 3.18556656e+02] [ 9.80598768e-01 1.96024076e-01 -7.86078221e-04 4.12093590e+02] [ 8.08988463e-04 -3.68073515e-05 9.99999672e-01 1.69557080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.772755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:318.56, Y:412.12, Z:1.70 [[ 1.96693710e-01 -9.80464965e-01 -1.91033307e-04 3.18562044e+02] [ 9.80464650e-01 1.96693800e-01 -7.86904244e-04 4.12120576e+02] [ 8.09107109e-04 -3.25222888e-05 9.99999672e-01 1.69760198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.57, Y:412.15, Z:1.70 [[ 1.97645922e-01 -9.80273459e-01 -1.88345827e-04 3.18567009e+02] [ 9.80273143e-01 1.97646009e-01 -7.87512633e-04 4.12146326e+02] [ 8.09203534e-04 -2.89816959e-05 9.99999672e-01 1.69943308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.57, Y:412.17, Z:1.70 [[ 1.96546854e-01 -9.80494416e-01 -1.85602552e-04 3.18571399e+02] [ 9.80494100e-01 1.96546940e-01 -7.88131524e-04 4.12174220e+02] [ 8.09238172e-04 -2.70774360e-05 9.99999672e-01 1.69771137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.58, Y:412.20, Z:1.70 [[ 1.98141390e-01 -9.80173431e-01 -1.85324397e-04 3.18575467e+02] [ 9.80173115e-01 1.98141475e-01 -7.88194129e-04 4.12200827e+02] [ 8.09287393e-04 -2.54761112e-05 9.99999672e-01 1.69714626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.892755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:318.58, Y:412.22, Z:1.70 [[ 2.01287954e-01 -9.79532095e-01 -1.84373328e-04 3.18580609e+02] [ 9.79531778e-01 2.01288038e-01 -7.88407812e-04 4.12220525e+02] [ 8.09382901e-04 -2.19025377e-05 9.99999672e-01 1.69625216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9227550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:318.58, Y:412.25, Z:1.70 [[ 1.98477195e-01 -9.80105492e-01 -1.66285349e-04 3.18584979e+02] [ 9.80105172e-01 1.98477264e-01 -7.92439911e-04 4.12253224e+02] [ 8.09678570e-04 -5.69587985e-06 9.99999672e-01 1.69506040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:318.59, Y:412.28, Z:1.69 [[ 1.99319912e-01 -9.79934457e-01 -1.79360087e-04 3.18590617e+02] [ 9.79934139e-01 1.99319992e-01 -7.89523350e-04 4.12280126e+02] [ 8.09431186e-04 -1.83933477e-05 9.99999672e-01 1.69455226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.60, Y:412.31, Z:1.70 [[ 1.99199280e-01 -9.79958987e-01 -1.77237575e-04 3.18597025e+02] [ 9.79958668e-01 1.99199358e-01 -7.89995620e-04 4.12307434e+02] [ 8.09468919e-04 -1.63189393e-05 9.99999672e-01 1.69573608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.60, Y:412.33, Z:1.69 [[ 1.99081045e-01 -9.79983013e-01 -1.76254175e-04 3.18603716e+02] [ 9.79982695e-01 1.99081123e-01 -7.90214161e-04 4.12333331e+02] [ 8.09485334e-04 -1.54093804e-05 9.99999672e-01 1.69339700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.61, Y:412.36, Z:1.69 [[ 1.99376124e-01 -9.79923023e-01 -1.76570757e-04 3.18610186e+02] [ 9.79922704e-01 1.99376202e-01 -7.90143850e-04 4.12356148e+02] [ 8.09484157e-04 -1.54898755e-05 9.99999672e-01 1.69262656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.62, Y:412.38, Z:1.69 [[ 1.98414200e-01 -9.80118246e-01 -1.70978721e-04 3.18616774e+02] [ 9.80117927e-01 1.98414273e-01 -7.91382924e-04 4.12383237e+02] [ 8.09573462e-04 -1.05576996e-05 9.99999672e-01 1.69197582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.63, Y:412.41, Z:1.69 [[ 1.95076426e-01 -9.80788030e-01 -1.71523814e-04 3.18626029e+02] [ 9.80787710e-01 1.95076501e-01 -7.91262119e-04 4.12413469e+02] [ 8.09520680e-04 -1.38718624e-05 9.99999672e-01 1.69377701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.63, Y:412.44, Z:1.69 [[ 1.92742219e-01 -9.81249410e-01 -1.80222493e-04 3.18632410e+02] [ 9.81249093e-01 1.92742302e-01 -7.89334787e-04 4.12440595e+02] [ 8.09270792e-04 -2.47050188e-05 9.99999672e-01 1.69466079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.64, Y:412.46, Z:1.69 [[ 1.92814385e-01 -9.81235232e-01 -1.80264738e-04 3.18638907e+02] [ 9.81234915e-01 1.92814467e-01 -7.89325446e-04 4.12464088e+02] [ 8.09271586e-04 -2.46887547e-05 9.99999672e-01 1.69305948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.65, Y:412.49, Z:1.69 [[ 1.89524205e-01 -9.81876034e-01 -1.74689071e-04 3.18646526e+02] [ 9.81875716e-01 1.89524284e-01 -7.90555302e-04 4.12492742e+02] [ 8.09335126e-04 -2.16935918e-05 9.99999672e-01 1.69285604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.65, Y:412.52, Z:1.69 [[ 1.88109671e-01 -9.82148013e-01 -1.79436346e-04 3.18651081e+02] [ 9.82147696e-01 1.88109754e-01 -7.89508580e-04 4.12517591e+02] [ 8.09168011e-04 -2.77187945e-05 9.99999672e-01 1.69201742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.66, Y:412.54, Z:1.70 [[ 1.87021798e-01 -9.82355748e-01 -1.75874277e-04 3.18656701e+02] [ 9.82355431e-01 1.87021880e-01 -7.90292603e-04 4.12542033e+02] [ 8.09240820e-04 -2.49691073e-05 9.99999672e-01 1.69551965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2827550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:318.66, Y:412.57, Z:1.69 [[ 1.82125106e-01 -9.83275351e-01 -1.73738953e-04 3.18661948e+02] [ 9.83275033e-01 1.82125187e-01 -7.90761757e-04 4.12574380e+02] [ 8.09178784e-04 -2.68156062e-05 9.99999672e-01 1.68920942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.67, Y:412.59, Z:1.70 [[ 1.86954381e-01 -9.82368579e-01 -1.85203615e-04 3.18668558e+02] [ 9.82368264e-01 1.86954469e-01 -7.88240682e-04 4.12594798e+02] [ 8.08967522e-04 -3.45731054e-05 9.99999672e-01 1.69669143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.67, Y:412.62, Z:1.70 [[ 1.88252012e-01 -9.82120741e-01 -1.73148824e-04 3.18674415e+02] [ 9.82120423e-01 1.88252091e-01 -7.90879860e-04 4.12620721e+02] [ 8.09335143e-04 -2.11682712e-05 9.99999672e-01 1.69825877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.68, Y:412.65, Z:1.70 [[ 1.89080163e-01 -9.81961640e-01 -1.72858053e-04 3.18680136e+02] [ 9.81961322e-01 1.89080241e-01 -7.90943407e-04 4.12647461e+02] [ 8.09360128e-04 -2.01882136e-05 9.99999672e-01 1.69979690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:412.67, Z:1.70 [[ 1.92208402e-01 -9.81354116e-01 -1.72586098e-04 3.18685710e+02] [ 9.81353797e-01 1.92208479e-01 -7.91002744e-04 4.12673059e+02] [ 8.09426310e-04 -1.73306494e-05 9.99999672e-01 1.70029418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:412.70, Z:1.70 [[ 1.93564614e-01 -9.81087514e-01 -1.72376116e-04 3.18690645e+02] [ 9.81087195e-01 1.93564690e-01 -7.91048501e-04 4.12698025e+02] [ 8.09453737e-04 -1.59970029e-05 9.99999672e-01 1.70054229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.70, Y:412.73, Z:1.70 [[ 1.92548716e-01 -9.81287401e-01 -1.72066573e-04 3.18695490e+02] [ 9.81287082e-01 1.92548792e-01 -7.91115826e-04 4.12727419e+02] [ 8.09443204e-04 -1.65183682e-05 9.99999672e-01 1.70108598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.70, Y:412.75, Z:1.70 [[ 1.98360197e-01 -9.80129175e-01 -1.78993813e-04 3.18700307e+02] [ 9.80128857e-01 1.98360277e-01 -7.89609178e-04 4.12749791e+02] [ 8.09424254e-04 -1.88099693e-05 9.99999672e-01 1.70073930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:412.78, Z:1.70 [[ 1.99471179e-01 -9.79903679e-01 -1.71472694e-04 3.18705891e+02] [ 9.79903359e-01 1.99471252e-01 -7.91239111e-04 4.12776412e+02] [ 8.09541988e-04 -1.01972703e-05 9.99999672e-01 1.70190676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.71, Y:412.80, Z:1.70 [[ 2.00594148e-01 -9.79674415e-01 -1.71198955e-04 3.18711639e+02] [ 9.79674095e-01 2.00594221e-01 -7.91298334e-04 4.12803369e+02] [ 8.09556254e-04 -8.98936642e-06 9.99999672e-01 1.70461453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.582755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:318.72, Y:412.83, Z:1.70 [[ 2.02525612e-01 -9.79276951e-01 -1.74541550e-04 3.18717374e+02] [ 9.79276632e-01 2.02525687e-01 -7.90575811e-04 4.12827071e+02] [ 8.09541817e-04 -1.08126117e-05 9.99999672e-01 1.70025387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.72, Y:412.85, Z:1.71 [[ 2.02275698e-01 -9.79328603e-01 -1.70041262e-04 3.18722830e+02] [ 9.79328283e-01 2.02275769e-01 -7.91545752e-04 4.12854413e+02] [ 8.09578622e-04 -6.41574770e-06 9.99999672e-01 1.70502158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.73, Y:412.88, Z:1.71 [[ 2.02674480e-01 -9.79246151e-01 -1.73689253e-04 3.18728550e+02] [ 9.79245832e-01 2.02674555e-01 -7.90759869e-04 4.12879842e+02] [ 8.09550950e-04 -9.81763102e-06 9.99999672e-01 1.70540164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:318.74, Y:412.90, Z:1.70 [[ 2.05639124e-01 -9.78627876e-01 -1.75658168e-04 3.18735239e+02] [ 9.78627557e-01 2.05639199e-01 -7.90337025e-04 4.12902805e+02] [ 8.09568049e-04 -9.37971059e-06 9.99999672e-01 1.70392375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.74, Y:412.93, Z:1.70 [[ 2.06210887e-01 -9.78507558e-01 -1.69509182e-04 3.18743875e+02] [ 9.78507238e-01 2.06210957e-01 -7.91653649e-04 4.12933129e+02] [ 8.09593729e-04 -2.61836018e-06 9.99999672e-01 1.70342027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:412.96, Z:1.70 [[ 2.04494898e-01 -9.78867614e-01 -1.77303447e-04 3.18747635e+02] [ 9.78867295e-01 2.04494975e-01 -7.89983932e-04 4.12956653e+02] [ 8.09547350e-04 -1.20088613e-05 9.99999672e-01 1.70151393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:412.98, Z:1.70 [[ 2.02913508e-01 -9.79196650e-01 -1.71101904e-04 3.18754899e+02] [ 9.79196330e-01 2.02913580e-01 -7.91308196e-04 4.12984453e+02] [ 8.09565235e-04 -6.97523470e-06 9.99999672e-01 1.70208096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.76, Y:413.01, Z:1.70 [[ 2.03642531e-01 -9.79045295e-01 -1.72479300e-04 3.18764985e+02] [ 9.79044976e-01 2.03642604e-01 -7.91014584e-04 4.13014783e+02] [ 8.09563241e-04 -7.78077977e-06 9.99999672e-01 1.70169071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:413.04, Z:1.70 [[ 1.99573401e-01 -9.79882863e-01 -1.81320411e-04 3.18767767e+02] [ 9.79882545e-01 1.99573482e-01 -7.89130032e-04 4.13035534e+02] [ 8.09441741e-04 -2.01833414e-05 9.99999672e-01 1.70447185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.77, Y:413.06, Z:1.70 [[ 1.95439066e-01 -9.80715832e-01 -1.68034727e-04 3.18773209e+02] [ 9.80715512e-01 1.95439138e-01 -7.91948972e-04 4.13064075e+02] [ 8.09517457e-04 -1.00164957e-05 9.99999672e-01 1.69983249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.78, Y:413.09, Z:1.70 [[ 1.95371620e-01 -9.80729269e-01 -1.75639821e-04 3.18779529e+02] [ 9.80728951e-01 1.95371699e-01 -7.90337697e-04 4.13088862e+02] [ 8.09422362e-04 -1.78455010e-05 9.99999672e-01 1.70233507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:413.12, Z:1.71 [[ 1.95359407e-01 -9.80731703e-01 -1.68344161e-04 3.18791123e+02] [ 9.80731384e-01 1.95359480e-01 -7.91878345e-04 4.13117045e+02] [ 8.09507826e-04 -1.03995173e-05 9.99999672e-01 1.70517900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.79, Y:413.14, Z:1.70 [[ 1.89186930e-01 -9.81941075e-01 -1.77257612e-04 3.18793232e+02] [ 9.81940757e-01 1.89187011e-01 -7.89993552e-04 4.13144512e+02] [ 8.09261955e-04 -2.46000194e-05 9.99999672e-01 1.70353747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.80, Y:413.16, Z:1.70 [[ 1.89360534e-01 -9.81907611e-01 -1.77249011e-04 3.18799557e+02] [ 9.81907294e-01 1.89360615e-01 -7.89995364e-04 4.13164690e+02] [ 8.09266443e-04 -2.44481527e-05 9.99999672e-01 1.70364074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.002755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:318.81, Y:413.19, Z:1.70 [[ 1.86962992e-01 -9.82366944e-01 -1.62642722e-04 3.18805122e+02] [ 9.82366624e-01 1.86963062e-01 -7.93058530e-04 4.13194144e+02] [ 8.09482666e-04 -1.15021863e-05 9.99999672e-01 1.69788678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.81, Y:413.22, Z:1.70 [[ 1.85437625e-01 -9.82656022e-01 -1.70066447e-04 3.18810820e+02] [ 9.82655704e-01 1.85437702e-01 -7.91505221e-04 4.13221299e+02] [ 8.09314104e-04 -2.03419155e-05 9.99999672e-01 1.69940518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.062755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:318.81, Y:413.25, Z:1.70 [[ 1.84002149e-01 -9.82925827e-01 -1.68056245e-04 3.18814483e+02] [ 9.82925508e-01 1.84002224e-01 -7.91924947e-04 4.13246359e+02] [ 8.09326206e-04 -1.94708780e-05 9.99999672e-01 1.69973160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:413.28, Z:1.70 [[ 1.85263973e-01 -9.82688777e-01 -1.65069693e-04 3.18822943e+02] [ 9.82688458e-01 1.85264046e-01 -7.92546978e-04 4.13278128e+02] [ 8.09408500e-04 -1.53816805e-05 9.99999672e-01 1.69902510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.82, Y:413.30, Z:1.70 [[ 1.80918337e-01 -9.83498106e-01 -1.76948751e-04 3.18822956e+02] [ 9.83497789e-01 1.80918421e-01 -7.90074664e-04 4.13301862e+02] [ 8.09050224e-04 -3.10897116e-05 9.99999672e-01 1.69670616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.152755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.83, Y:413.33, Z:1.70 [[ 1.80570226e-01 -9.83562081e-01 -1.64165707e-04 3.18828404e+02] [ 9.83561761e-01 1.80570300e-01 -7.92723201e-04 4.13328926e+02] [ 8.09335932e-04 -1.83249045e-05 9.99999672e-01 1.69672394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.83, Y:413.36, Z:1.70 [[ 1.79775018e-01 -9.83707739e-01 -1.63883944e-04 3.18833734e+02] [ 9.83707420e-01 1.79775092e-01 -7.92781476e-04 4.13356423e+02] [ 8.09327525e-04 -1.86915480e-05 9.99999672e-01 1.69723675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.212755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:318.84, Y:413.38, Z:1.69 [[ 1.79056945e-01 -9.83838698e-01 -1.64524388e-04 3.18839119e+02] [ 9.83838379e-01 1.79057020e-01 -7.92649168e-04 4.13382676e+02] [ 8.09298172e-04 -1.99360687e-05 9.99999672e-01 1.69468007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.84, Y:413.42, Z:1.70 [[ 1.75475187e-01 -9.84483840e-01 -1.65131586e-04 3.18843448e+02] [ 9.84483521e-01 1.75475263e-01 -7.92523836e-04 4.13416062e+02] [ 8.09203418e-04 -2.35010574e-05 9.99999672e-01 1.69525157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:413.44, Z:1.70 [[ 1.72984509e-01 -9.84924528e-01 -1.83186317e-04 3.18845420e+02] [ 9.84924213e-01 1.72984601e-01 -7.88793707e-04 4.13435759e+02] [ 8.08590681e-04 -4.39755471e-05 9.99999672e-01 1.69868120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:413.46, Z:1.70 [[ 1.70610841e-01 -9.85338477e-01 -1.61914534e-04 3.18849204e+02] [ 9.85338158e-01 1.70610916e-01 -7.93162666e-04 4.13463614e+02] [ 8.09158081e-04 -2.42184192e-05 9.99999672e-01 1.70072101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.85, Y:413.49, Z:1.70 [[ 1.69520371e-01 -9.85526670e-01 -1.62177293e-04 3.18853289e+02] [ 9.85526351e-01 1.69520447e-01 -7.93108772e-04 4.13488608e+02] [ 8.09122215e-04 -2.53819023e-05 9.99999672e-01 1.70042515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.86, Y:413.52, Z:1.70 [[ 1.65084154e-01 -9.86279473e-01 -1.55796053e-04 3.18857763e+02] [ 9.86279153e-01 1.65084226e-01 -7.94408254e-04 4.13518003e+02] [ 8.09228025e-04 -2.25141839e-05 9.99999672e-01 1.70230186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.86, Y:413.54, Z:1.70 [[ 1.63373562e-01 -9.86564267e-01 -1.61453868e-04 3.18862558e+02] [ 9.86563949e-01 1.63373639e-01 -7.93256702e-04 4.13544579e+02] [ 8.08976023e-04 -2.96873929e-05 9.99999672e-01 1.70201072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:413.57, Z:1.70 [[ 1.59851980e-01 -9.87140982e-01 -1.61182464e-04 3.18865537e+02] [ 9.87140664e-01 1.59852058e-01 -7.93311845e-04 4.13571549e+02] [ 8.08875983e-04 -3.22972950e-05 9.99999672e-01 1.70193368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:413.60, Z:1.70 [[ 1.59807666e-01 -9.87148157e-01 -1.59319927e-04 3.18870346e+02] [ 9.87147839e-01 1.59807743e-01 -7.93689277e-04 4.13596881e+02] [ 8.08949465e-04 -3.04346908e-05 9.99999672e-01 1.70041263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.87, Y:413.62, Z:1.70 [[ 1.58628267e-01 -9.87338366e-01 -1.57804279e-04 3.18874014e+02] [ 9.87338047e-01 1.58628343e-01 -7.93995843e-04 4.13623726e+02] [ 8.08974789e-04 -2.98559837e-05 9.99999672e-01 1.70256062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.512755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.88, Y:413.65, Z:1.70 [[ 1.57578199e-01 -9.87506499e-01 -1.58936077e-04 3.18875428e+02] [ 9.87506181e-01 1.57578276e-01 -7.93766989e-04 4.13651974e+02] [ 8.08894934e-04 -3.18699865e-05 9.99999672e-01 1.70001760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:413.68, Z:1.69 [[ 1.58107094e-01 -9.87421957e-01 -1.59790640e-04 3.18879666e+02] [ 9.87421639e-01 1.58107171e-01 -7.93594374e-04 4.13679783e+02] [ 8.08876556e-04 -3.23078358e-05 9.99999672e-01 1.69488001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.88, Y:413.70, Z:1.70 [[ 1.59934221e-01 -9.87127661e-01 -1.63936817e-04 3.18882439e+02] [ 9.87127343e-01 1.59934301e-01 -7.92754435e-04 4.13704268e+02] [ 8.08768951e-04 -3.50379517e-05 9.99999672e-01 1.69930433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:413.73, Z:1.70 [[ 1.59597294e-01 -9.87182192e-01 -1.56161674e-04 3.18886671e+02] [ 9.87181872e-01 1.59597368e-01 -7.94323431e-04 4.13731422e+02] [ 8.09064938e-04 -2.73881030e-05 9.99999672e-01 1.69647241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:413.76, Z:1.70 [[ 1.59949411e-01 -9.87125200e-01 -1.60625213e-04 3.18889428e+02] [ 9.87124881e-01 1.59949489e-01 -7.93424404e-04 4.13757908e+02] [ 8.08901144e-04 -3.16493780e-05 9.99999672e-01 1.69767017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:413.79, Z:1.70 [[ 1.61472558e-01 -9.86877190e-01 -1.57280929e-04 3.18890889e+02] [ 9.86876871e-01 1.61472632e-01 -7.94096990e-04 4.13786040e+02] [ 8.09072772e-04 -2.69920391e-05 9.99999672e-01 1.69911766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.89, Y:413.81, Z:1.70 [[ 1.62798497e-01 -9.86659326e-01 -1.57111829e-04 3.18894951e+02] [ 9.86659006e-01 1.62798571e-01 -7.94130943e-04 4.13813119e+02] [ 8.09114282e-04 -2.57324772e-05 9.99999672e-01 1.69790124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.90, Y:413.84, Z:1.70 [[ 1.67515711e-01 -9.85869394e-01 -1.57897691e-04 3.18899212e+02] [ 9.85869074e-01 1.67515784e-01 -7.93973319e-04 4.13841141e+02] [ 8.09204350e-04 -2.26634454e-05 9.99999672e-01 1.69877492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.90, Y:413.87, Z:1.70 [[ 1.66581614e-01 -9.86027657e-01 -1.58685688e-04 3.18900961e+02] [ 9.86027338e-01 1.66581688e-01 -7.93815449e-04 4.13869156e+02] [ 8.09158117e-04 -2.42333676e-05 9.99999672e-01 1.70154479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.90, Y:413.89, Z:1.70 [[ 1.69675805e-01 -9.85499922e-01 -1.58746287e-04 3.18904320e+02] [ 9.85499602e-01 1.69675878e-01 -7.93803330e-04 4.13894293e+02] [ 8.09228536e-04 -2.17551830e-05 9.99999672e-01 1.70277414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:413.92, Z:1.70 [[ 1.76297529e-01 -9.84336913e-01 -1.53279071e-04 3.18908714e+02] [ 9.84336592e-01 1.76297595e-01 -7.94893381e-04 4.13922196e+02] [ 8.09465628e-04 -1.07404600e-05 9.99999672e-01 1.69825493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.91, Y:413.95, Z:1.70 [[ 1.78674209e-01 -9.83908279e-01 -1.60635493e-04 3.18913037e+02] [ 9.83907959e-01 1.78674280e-01 -7.93429172e-04 4.13950557e+02] [ 8.09362963e-04 -1.62852108e-05 9.99999672e-01 1.69951884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.872755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:318.92, Y:413.98, Z:1.69 [[ 1.79497389e-01 -9.83758437e-01 -1.60268491e-04 3.18915445e+02] [ 9.83758117e-01 1.79497460e-01 -7.93501967e-04 4.13982042e+02] [ 8.09382041e-04 -1.52338980e-05 9.99999672e-01 1.69473561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.902755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.92, Y:414.01, Z:1.70 [[ 1.80027318e-01 -9.83661597e-01 -1.67996344e-04 3.18919164e+02] [ 9.83661278e-01 1.80027395e-01 -7.91970644e-04 4.14010083e+02] [ 8.09275052e-04 -2.26751473e-05 9.99999672e-01 1.69702037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.932755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:318.92, Y:414.03, Z:1.69 [[ 1.80058768e-01 -9.83655840e-01 -1.66967346e-04 3.18922685e+02] [ 9.83655522e-01 1.80058844e-01 -7.92173598e-04 4.14033506e+02] [ 8.09290133e-04 -2.16005505e-05 9.99999672e-01 1.69454992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.93, Y:414.06, Z:1.70 [[ 1.80061807e-01 -9.83655286e-01 -1.55946566e-04 3.18925762e+02] [ 9.83654965e-01 1.80061874e-01 -7.94337229e-04 4.14060303e+02] [ 8.09434045e-04 -1.03678171e-05 9.99999672e-01 1.69740175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.93, Y:414.09, Z:1.70 [[ 1.77778879e-01 -9.84070448e-01 -1.55655495e-04 3.18929867e+02] [ 9.84070127e-01 1.77778946e-01 -7.94394262e-04 4.14090827e+02] [ 8.09412187e-04 -1.19494012e-05 9.99999672e-01 1.69770054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.93, Y:414.11, Z:1.70 [[ 1.75020143e-01 -9.84564840e-01 -1.63063078e-04 3.18929831e+02] [ 9.84564520e-01 1.75020218e-01 -7.92943378e-04 4.14114008e+02] [ 8.09243505e-04 -2.17650573e-05 9.99999672e-01 1.69767347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.052755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:318.94, Y:414.15, Z:1.69 [[ 1.75973751e-01 -9.84394847e-01 -1.55032317e-04 3.18938047e+02] [ 9.84394527e-01 1.75973819e-01 -7.94510416e-04 4.14145340e+02] [ 8.09393588e-04 -1.27999858e-05 9.99999672e-01 1.69296274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:414.17, Z:1.70 [[ 1.73788341e-01 -9.84783015e-01 -1.65131501e-04 3.18940523e+02] [ 9.84782696e-01 1.73788417e-01 -7.92539872e-04 4.14168732e+02] [ 8.09177747e-04 -2.48844557e-05 9.99999672e-01 1.69767255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.94, Y:414.20, Z:1.69 [[ 1.65492965e-01 -9.86210959e-01 -1.54319016e-04 3.18940682e+02] [ 9.86210639e-01 1.65493036e-01 -7.94639657e-04 4.14196952e+02] [ 8.09221060e-04 -2.06837822e-05 9.99999672e-01 1.69303866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:414.22, Z:1.70 [[ 1.64701137e-01 -9.86343506e-01 -1.54036764e-04 3.18945544e+02] [ 9.86343186e-01 1.64701208e-01 -7.94694366e-04 4.14223633e+02] [ 8.09211668e-04 -2.10460472e-05 9.99999672e-01 1.70150461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.95, Y:414.25, Z:1.70 [[ 1.61692413e-01 -9.86841193e-01 -1.52216275e-04 3.18951556e+02] [ 9.86840873e-01 1.61692483e-01 -7.95046359e-04 4.14251321e+02] [ 8.09196725e-04 -2.16602781e-05 9.99999672e-01 1.69598008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:414.28, Z:1.70 [[ 1.59876621e-01 -9.87136993e-01 -1.53425426e-04 3.18955133e+02] [ 9.87136673e-01 1.59876693e-01 -7.94812953e-04 4.14277515e+02] [ 8.09118418e-04 -2.43798557e-05 9.99999672e-01 1.69554751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.95, Y:414.30, Z:1.70 [[ 1.54414630e-01 -9.88006123e-01 -1.53195081e-04 3.18954437e+02] [ 9.88005804e-01 1.54414703e-01 -7.94857348e-04 4.14303289e+02] [ 8.08979499e-04 -2.86200258e-05 9.99999672e-01 1.70104998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:414.33, Z:1.70 [[ 1.50682975e-01 -9.88582126e-01 -1.48564468e-04 3.18958183e+02] [ 9.88581806e-01 1.50683046e-01 -7.95746921e-04 4.14331520e+02] [ 8.09047329e-04 -2.69626170e-05 9.99999672e-01 1.69755815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2927550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:318.96, Y:414.35, Z:1.69 [[ 1.45441953e-01 -9.89366775e-01 -1.51755552e-04 3.18957471e+02] [ 9.89366456e-01 1.45442028e-01 -7.95134752e-04 4.14354702e+02] [ 8.08751541e-04 -3.44959011e-05 9.99999672e-01 1.69021867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.96, Y:414.38, Z:1.69 [[ 1.43387912e-01 -9.89666553e-01 -1.44809846e-04 3.18962698e+02] [ 9.89666233e-01 1.43387982e-01 -7.96470357e-04 4.14383546e+02] [ 8.09004064e-04 -2.91091935e-05 9.99999672e-01 1.69104418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:414.41, Z:1.69 [[ 1.44713190e-01 -9.89473633e-01 -1.47728631e-04 3.18971373e+02] [ 9.89473314e-01 1.44713263e-01 -7.95909480e-04 4.14412816e+02] [ 8.08909737e-04 -3.09949375e-05 9.99999672e-01 1.68808544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.97, Y:414.44, Z:1.69 [[ 1.41134202e-01 -9.89990462e-01 -1.52765138e-04 3.18970372e+02] [ 9.89990143e-01 1.41134279e-01 -7.94941607e-04 4.14439458e+02] [ 8.08545006e-04 -3.90425313e-05 9.99999672e-01 1.68952527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.98, Y:414.46, Z:1.69 [[ 1.44392556e-01 -9.89520474e-01 -1.50439072e-04 3.18975637e+02] [ 9.89520154e-01 1.44392630e-01 -7.95387711e-04 4.14463136e+02] [ 8.08774717e-04 -3.40144290e-05 9.99999672e-01 1.69101742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.98, Y:414.49, Z:1.69 [[ 1.42390399e-01 -9.89810565e-01 -1.43267566e-04 3.18979804e+02] [ 9.89810244e-01 1.42390468e-01 -7.96758854e-04 4.14494264e+02] [ 8.09040267e-04 -2.83568933e-05 9.99999672e-01 1.68795118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.472755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.98, Y:414.52, Z:1.69 [[ 1.43257695e-01 -9.89685409e-01 -1.53262433e-04 3.18981538e+02] [ 9.89685091e-01 1.43257772e-01 -7.94845672e-04 4.14519482e+02] [ 8.08603199e-04 -3.78137856e-05 9.99999672e-01 1.69169852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:414.55, Z:1.69 [[ 1.44169627e-01 -9.89552978e-01 -1.47621950e-04 3.18986257e+02] [ 9.89552659e-01 1.44169699e-01 -7.95924802e-04 4.14546578e+02] [ 8.08892371e-04 -3.13315116e-05 9.99999672e-01 1.69219484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:414.57, Z:1.69 [[ 1.44853157e-01 -9.89453153e-01 -1.47683173e-04 3.18988299e+02] [ 9.89452833e-01 1.44853229e-01 -7.95913111e-04 4.14572892e+02] [ 8.08911122e-04 -3.08350073e-05 9.99999672e-01 1.69317639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.562755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:318.99, Y:414.60, Z:1.69 [[ 1.46522001e-01 -9.89207401e-01 -1.46741479e-04 3.18992009e+02] [ 9.89207081e-01 1.46522072e-01 -7.96092364e-04 4.14598984e+02] [ 8.09001324e-04 -2.85126639e-05 9.99999672e-01 1.69310727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:414.62, Z:1.69 [[ 1.47043240e-01 -9.89130055e-01 -1.44114118e-04 3.18994858e+02] [ 9.89129734e-01 1.47043308e-01 -7.96591217e-04 4.14624553e+02] [ 8.09123331e-04 -2.54142061e-05 9.99999672e-01 1.69393278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:414.65, Z:1.69 [[ 1.50265752e-01 -9.88645631e-01 -1.44155466e-04 3.18997864e+02] [ 9.88645310e-01 1.50265820e-01 -7.96583347e-04 4.14653006e+02] [ 8.09200284e-04 -2.28194292e-05 9.99999672e-01 1.69076414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.652755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.00, Y:414.67, Z:1.69 [[ 1.54644925e-01 -9.87970104e-01 -1.47611153e-04 3.19002518e+02] [ 9.87969783e-01 1.54644994e-01 -7.95925677e-04 4.14674659e+02] [ 8.09178099e-04 -2.27494918e-05 9.99999672e-01 1.68943720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.682755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.01, Y:414.71, Z:1.69 [[ 1.57552378e-01 -9.87510622e-01 -1.39211111e-04 3.19007083e+02] [ 9.87510300e-01 1.57552439e-01 -7.97531304e-04 4.14707020e+02] [ 8.09503684e-04 -1.18194526e-05 9.99999672e-01 1.69081512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.01, Y:414.73, Z:1.70 [[ 1.60126666e-01 -9.87096463e-01 -1.53513586e-04 3.19010725e+02] [ 9.87096143e-01 1.60126738e-01 -7.94791584e-04 4.14731808e+02] [ 8.09117591e-04 -2.42653425e-05 9.99999672e-01 1.69586593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.01, Y:414.76, Z:1.70 [[ 1.61160977e-01 -9.86928122e-01 -1.45604024e-04 3.19014852e+02] [ 9.86927801e-01 1.61161042e-01 -7.96295552e-04 4.14759307e+02] [ 8.09352170e-04 -1.53688902e-05 9.99999672e-01 1.69541296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.02, Y:414.79, Z:1.69 [[ 1.63179964e-01 -9.86596310e-01 -1.47314261e-04 3.19019238e+02] [ 9.86595988e-01 1.63180030e-01 -7.95970177e-04 4.14787283e+02] [ 8.09339984e-04 -1.54532749e-05 9.99999672e-01 1.69481315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:414.82, Z:1.69 [[ 1.64117341e-01 -9.86440813e-01 -1.48487146e-04 3.19027283e+02] [ 9.86440492e-01 1.64117407e-01 -7.95747332e-04 4.14815745e+02] [ 8.09326970e-04 -1.58777976e-05 9.99999672e-01 1.69118873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:414.84, Z:1.69 [[ 1.64291289e-01 -9.86411856e-01 -1.50957004e-04 3.19029377e+02] [ 9.86411536e-01 1.64291358e-01 -7.95278512e-04 4.14842832e+02] [ 8.09273084e-04 -1.82483986e-05 9.99999672e-01 1.69390453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.03, Y:414.87, Z:1.70 [[ 1.63224473e-01 -9.86588947e-01 -1.48707203e-04 3.19033693e+02] [ 9.86588626e-01 1.63224540e-01 -7.95704842e-04 4.14867532e+02] [ 8.09306267e-04 -1.68343315e-05 9.99999672e-01 1.69533693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.05, Y:414.90, Z:1.69 [[ 1.66673108e-01 -9.86012198e-01 -1.44256022e-04 3.19046299e+02] [ 9.86011876e-01 1.66673170e-01 -7.96546480e-04 4.14902228e+02] [ 8.09448154e-04 -9.47527374e-06 9.99999672e-01 1.69335239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.05, Y:414.93, Z:1.69 [[ 1.64560877e-01 -9.86366915e-01 -1.64440227e-04 3.19049656e+02] [ 9.86366597e-01 1.64560956e-01 -7.92718561e-04 4.14927454e+02] [ 8.08971802e-04 -3.17478861e-05 9.99999672e-01 1.69410489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.05, Y:414.95, Z:1.69 [[ 1.63067282e-01 -9.86614938e-01 -1.59675337e-04 3.19053931e+02] [ 9.86614619e-01 1.63067358e-01 -7.93619422e-04 4.14953869e+02] [ 8.09034613e-04 -2.81246599e-05 9.99999672e-01 1.69337524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.982755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.06, Y:414.98, Z:1.69 [[ 1.62015174e-01 -9.86788254e-01 -1.60095340e-04 3.19058456e+02] [ 9.86787935e-01 1.62015250e-01 -7.93540126e-04 4.14980197e+02] [ 8.08993962e-04 -2.94146082e-05 9.99999672e-01 1.69312194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:415.00, Z:1.69 [[ 1.59809075e-01 -9.87147929e-01 -1.59034969e-04 3.19062249e+02] [ 9.87147611e-01 1.59809151e-01 -7.93739884e-04 4.15003416e+02] [ 8.08953926e-04 -3.01441528e-05 9.99999672e-01 1.69289192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.06, Y:415.03, Z:1.69 [[ 1.56519720e-01 -9.87674823e-01 -1.49206557e-04 3.19064867e+02] [ 9.87674502e-01 1.56519789e-01 -7.95583140e-04 4.15031890e+02] [ 8.09131215e-04 -2.28430611e-05 9.99999672e-01 1.69111840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:415.06, Z:1.69 [[ 1.56115430e-01 -9.87738806e-01 -1.51570919e-04 3.19069732e+02] [ 9.87738487e-01 1.56115501e-01 -7.95140379e-04 4.15059219e+02] [ 8.09053579e-04 -2.55787485e-05 9.99999672e-01 1.69114151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:415.08, Z:1.69 [[ 1.55461539e-01 -9.87841934e-01 -1.51285894e-04 3.19076455e+02] [ 9.87841615e-01 1.55461610e-01 -7.95193644e-04 4.15084905e+02] [ 8.09044776e-04 -2.58244745e-05 9.99999672e-01 1.69081041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:415.11, Z:1.69 [[ 1.54021260e-01 -9.88067522e-01 -1.50802103e-04 3.19079675e+02] [ 9.88067203e-01 1.54021332e-01 -7.95283917e-04 4.15109089e+02] [ 8.09020950e-04 -2.65119808e-05 9.99999672e-01 1.69268662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.08, Y:415.13, Z:1.69 [[ 1.53791254e-01 -9.88103349e-01 -1.45990183e-04 3.19084315e+02] [ 9.88103029e-01 1.53791322e-01 -7.96179397e-04 4.15134797e+02] [ 8.09159552e-04 -2.18079144e-05 9.99999672e-01 1.69114388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.09, Y:415.16, Z:1.69 [[ 1.58146590e-01 -9.87415635e-01 -1.44716831e-04 3.19094993e+02] [ 9.87415314e-01 1.58146655e-01 -7.96415786e-04 4.15164865e+02] [ 8.09279881e-04 -1.69451749e-05 9.99999672e-01 1.68974037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.222755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.09, Y:415.19, Z:1.69 [[ 1.55197322e-01 -9.87883479e-01 -1.56394758e-04 3.19093519e+02] [ 9.87883160e-01 1.55197397e-01 -7.94250110e-04 4.15186478e+02] [ 8.08898621e-04 -3.12342578e-05 9.99999672e-01 1.68973985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:415.22, Z:1.69 [[ 1.61710340e-01 -9.86838257e-01 -1.42597121e-04 3.19107943e+02] [ 9.86837936e-01 1.61710402e-01 -7.96794916e-04 4.15218923e+02] [ 8.09367144e-04 -1.18702714e-05 9.99999672e-01 1.68995370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:415.24, Z:1.69 [[ 1.61490661e-01 -9.86874227e-01 -1.60437766e-04 3.19112813e+02] [ 9.86873909e-01 1.61490738e-01 -7.93494430e-04 4.15244587e+02] [ 8.08988416e-04 -3.01899053e-05 9.99999672e-01 1.69009002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.11, Y:415.27, Z:1.69 [[ 1.60238153e-01 -9.87078370e-01 -1.59734024e-04 3.19113851e+02] [ 9.87078052e-01 1.60238229e-01 -7.93624170e-04 4.15265296e+02] [ 8.08964749e-04 -3.05010785e-05 9.99999672e-01 1.68900139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.12, Y:415.29, Z:1.69 [[ 1.64708578e-01 -9.86342265e-01 -1.45937745e-04 3.19122237e+02] [ 9.86341943e-01 1.64708643e-01 -7.96153078e-04 4.15291923e+02] [ 8.09316638e-04 -1.28112769e-05 9.99999672e-01 1.69276986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:415.32, Z:1.69 [[ 1.65617321e-01 -9.86190084e-01 -1.49775429e-04 3.19129848e+02] [ 9.86189763e-01 1.65617388e-01 -7.95450559e-04 4.15322436e+02] [ 8.09270869e-04 -1.59666042e-05 9.99999672e-01 1.69308179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.402755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.13, Y:415.35, Z:1.69 [[ 1.62657426e-01 -9.86682592e-01 -1.57142050e-04 3.19131193e+02] [ 9.86682273e-01 1.62657500e-01 -7.94108488e-04 4.15346057e+02] [ 8.09093354e-04 -2.58816318e-05 9.99999672e-01 1.69228161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.14, Y:415.37, Z:1.69 [[ 1.63348854e-01 -9.86568361e-01 -1.47395950e-04 3.19137473e+02] [ 9.86568040e-01 1.63348920e-01 -7.95879866e-04 4.15367703e+02] [ 8.09266864e-04 -1.54100690e-05 9.99999672e-01 1.69092509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.14, Y:415.40, Z:1.69 [[ 1.62715574e-01 -9.86673007e-01 -1.39785430e-04 3.19144530e+02] [ 9.86672685e-01 1.62715634e-01 -7.97260775e-04 4.15396087e+02] [ 8.09380961e-04 -8.19572074e-06 9.99999672e-01 1.69172048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.15, Y:415.42, Z:1.69 [[ 1.60699815e-01 -9.87003317e-01 -1.47019999e-04 3.19152101e+02] [ 9.87002996e-01 1.60699881e-01 -7.95949046e-04 4.15420451e+02] [ 8.09230445e-04 -1.72003149e-05 9.99999672e-01 1.69396706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.16, Y:415.45, Z:1.69 [[ 1.61794637e-01 -9.86824440e-01 -1.44616599e-04 3.19161662e+02] [ 9.86824118e-01 1.61794701e-01 -7.96383397e-04 4.15451262e+02] [ 8.09288799e-04 -1.38605853e-05 9.99999672e-01 1.69091438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:415.48, Z:1.69 [[ 1.60236855e-01 -9.87078582e-01 -1.53998332e-04 3.19168896e+02] [ 9.87078262e-01 1.60236927e-01 -7.94690491e-04 4.15477443e+02] [ 8.09098182e-04 -2.46697006e-05 9.99999672e-01 1.69159564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.17, Y:415.50, Z:1.69 [[ 1.56104552e-01 -9.87740525e-01 -1.55882886e-04 3.19169270e+02] [ 9.87740206e-01 1.56104627e-01 -7.94350799e-04 4.15499545e+02] [ 8.08946515e-04 -2.99700179e-05 9.99999672e-01 1.69350739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.18, Y:415.53, Z:1.69 [[ 1.55184039e-01 -9.87885567e-01 -1.42884594e-04 3.19175459e+02] [ 9.87885246e-01 1.55184104e-01 -7.96682037e-04 4.15525373e+02] [ 8.09204104e-04 -1.75212464e-05 9.99999672e-01 1.69321082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.18, Y:415.55, Z:1.70 [[ 1.51959454e-01 -9.88386718e-01 -1.43613796e-04 3.19182008e+02] [ 9.88386397e-01 1.51959521e-01 -7.96551445e-04 4.15554509e+02] [ 8.09124351e-04 -2.09023996e-05 9.99999672e-01 1.69524957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.19, Y:415.58, Z:1.69 [[ 1.55917806e-01 -9.87770022e-01 -1.48009281e-04 3.19192567e+02] [ 9.87769701e-01 1.55917875e-01 -7.95774320e-04 4.15583911e+02] [ 8.09119310e-04 -2.21236972e-05 9.99999672e-01 1.69195831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.19, Y:415.61, Z:1.69 [[ 1.52502975e-01 -9.88303000e-01 -1.54006655e-04 3.19193782e+02] [ 9.88302681e-01 1.52503049e-01 -7.94715735e-04 4.15606863e+02] [ 8.08906429e-04 -3.10086759e-05 9.99999672e-01 1.69378964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.732755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.20, Y:415.64, Z:1.69 [[ 1.51189557e-01 -9.88504779e-01 -1.43328368e-04 3.19200134e+02] [ 9.88504458e-01 1.51189623e-01 -7.96595176e-04 4.15638539e+02] [ 8.09107900e-04 -2.12438592e-05 9.99999673e-01 1.69349245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.20, Y:415.66, Z:1.69 [[ 1.53464397e-01 -9.88154165e-01 -1.56985613e-04 3.19204514e+02] [ 9.88153847e-01 1.53464474e-01 -7.94196136e-04 4.15658549e+02] [ 8.08879935e-04 -3.32451056e-05 9.99999672e-01 1.69313847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.21, Y:415.69, Z:1.69 [[ 1.54904801e-01 -9.87929392e-01 -1.39117177e-04 3.19211640e+02] [ 9.87929070e-01 1.54904863e-01 -7.97313863e-04 4.15685873e+02] [ 8.09239727e-04 -1.39301578e-05 9.99999673e-01 1.69361972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:415.71, Z:1.69 [[ 1.57323456e-01 -9.87547118e-01 -1.42621530e-04 3.19217426e+02] [ 9.87546797e-01 1.57323520e-01 -7.96702612e-04 4.15709728e+02] [ 8.09219089e-04 -1.55054273e-05 9.99999673e-01 1.69370851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.22, Y:415.74, Z:1.69 [[ 1.57720754e-01 -9.87483744e-01 -1.37192141e-04 3.19224791e+02] [ 9.87483422e-01 1.57720813e-01 -7.97646933e-04 4.15737265e+02] [ 8.09301436e-04 -9.66948924e-06 9.99999673e-01 1.69490846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.23, Y:415.76, Z:1.69 [[ 1.57461938e-01 -9.87525047e-01 -1.39253602e-04 3.19229637e+02] [ 9.87524725e-01 1.57461999e-01 -7.97288754e-04 4.15763409e+02] [ 8.09269765e-04 -1.19737435e-05 9.99999673e-01 1.69380350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.24, Y:415.79, Z:1.69 [[ 1.60122660e-01 -9.87097115e-01 -1.38305769e-04 3.19237363e+02] [ 9.87096793e-01 1.60122719e-01 -7.97453140e-04 4.15791687e+02] [ 8.09309590e-04 -8.83086335e-06 9.99999673e-01 1.69435920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.24, Y:415.82, Z:1.69 [[ 1.60374750e-01 -9.87056189e-01 -1.41057618e-04 3.19242625e+02] [ 9.87055867e-01 1.60374812e-01 -7.96976430e-04 4.15817208e+02] [ 8.09282606e-04 -1.14168533e-05 9.99999673e-01 1.69372516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.25, Y:415.85, Z:1.69 [[ 1.62137723e-01 -9.86768129e-01 -1.37784294e-04 3.19250593e+02] [ 9.86767806e-01 1.62137782e-01 -7.97541933e-04 4.15845668e+02] [ 8.09329001e-04 -6.64947267e-06 9.99999673e-01 1.69430666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.26, Y:415.87, Z:1.70 [[ 1.64731601e-01 -9.86338421e-01 -1.40590330e-04 3.19258174e+02] [ 9.86338099e-01 1.64731661e-01 -7.97058423e-04 4.15873537e+02] [ 8.09329024e-04 -7.36888884e-06 9.99999673e-01 1.69651724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.26, Y:415.90, Z:1.70 [[ 1.65738177e-01 -9.86169781e-01 -1.41473922e-04 3.19264323e+02] [ 9.86169459e-01 1.65738237e-01 -7.96906428e-04 4.15902317e+02] [ 8.09332676e-04 -7.43944254e-06 9.99999673e-01 1.69562711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.27, Y:415.93, Z:1.69 [[ 1.65502560e-01 -9.86209350e-01 -1.42199909e-04 3.19270428e+02] [ 9.86209028e-01 1.65502621e-01 -7.96781728e-04 4.15926502e+02] [ 8.09328048e-04 -8.36941887e-06 9.99999673e-01 1.69443486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.28, Y:415.95, Z:1.69 [[ 1.65310305e-01 -9.86241595e-01 -1.36608009e-04 3.19276951e+02] [ 9.86241273e-01 1.65310362e-01 -7.97739307e-04 4.15953291e+02] [ 8.09346406e-04 -2.85392771e-06 9.99999673e-01 1.69497193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.28, Y:415.98, Z:1.69 [[ 1.64333951e-01 -9.86404752e-01 -1.36316622e-04 3.19282665e+02] [ 9.86404429e-01 1.64334008e-01 -7.97789096e-04 4.15979217e+02] [ 8.09344412e-04 -3.35948589e-06 9.99999673e-01 1.69442705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.29, Y:416.01, Z:1.70 [[ 1.62707524e-01 -9.86674335e-01 -1.36011574e-04 3.19291183e+02] [ 9.86674012e-01 1.62707580e-01 -7.97841099e-04 4.16006960e+02] [ 8.09339450e-04 -4.38433569e-06 9.99999673e-01 1.69651020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.30, Y:416.03, Z:1.70 [[ 1.60690031e-01 -9.87004911e-01 -1.38431357e-04 3.19296658e+02] [ 9.87004589e-01 1.60690090e-01 -7.97429017e-04 4.16031582e+02] [ 8.09310904e-04 -8.49349133e-06 9.99999673e-01 1.69578582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.212755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.30, Y:416.06, Z:1.69 [[ 1.56958659e-01 -9.87605165e-01 -1.35540677e-04 3.19304884e+02] [ 9.87604842e-01 1.56958717e-01 -7.97920050e-04 4.16056361e+02] [ 8.09304253e-04 -8.62016829e-06 9.99999673e-01 1.69488278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.31, Y:416.08, Z:1.70 [[ 1.55062307e-01 -9.87904683e-01 -1.35243440e-04 3.19311073e+02] [ 9.87904361e-01 1.55062366e-01 -7.97970427e-04 4.16082945e+02] [ 8.09289889e-04 -9.87244869e-06 9.99999673e-01 1.69685693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:416.11, Z:1.70 [[ 1.53430571e-01 -9.88159421e-01 -1.34965173e-04 3.19319092e+02] [ 9.88159099e-01 1.53430630e-01 -7.98017489e-04 4.16112258e+02] [ 8.09276291e-04 -1.09267847e-05 9.99999673e-01 1.69752319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.32, Y:416.14, Z:1.70 [[ 1.49403538e-01 -9.88776296e-01 -1.40271785e-04 3.19324917e+02] [ 9.88775975e-01 1.49403603e-01 -7.97120308e-04 4.16135556e+02] [ 8.09130776e-04 -1.96047765e-05 9.99999673e-01 1.69737513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.33, Y:416.16, Z:1.70 [[ 1.49748831e-01 -9.88724061e-01 -1.34482755e-04 3.19331025e+02] [ 9.88723739e-01 1.49748891e-01 -7.98095786e-04 4.16160937e+02] [ 8.09235150e-04 -1.34523815e-05 9.99999673e-01 1.69562804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.362755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.34, Y:416.19, Z:1.70 [[ 1.48465179e-01 -9.88917627e-01 -1.34168934e-04 3.19339043e+02] [ 9.88917305e-01 1.48465239e-01 -7.98148540e-04 4.16190707e+02] [ 8.09222582e-04 -1.41847150e-05 9.99999673e-01 1.69838780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.34, Y:416.22, Z:1.70 [[ 1.49178544e-01 -9.88810266e-01 -1.41437528e-04 3.19343761e+02] [ 9.88809945e-01 1.49178610e-01 -7.96932792e-04 4.16218363e+02] [ 8.09114780e-04 -2.09695604e-05 9.99999673e-01 1.69836533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.35, Y:416.24, Z:1.70 [[ 1.50464377e-01 -9.88615421e-01 -1.40743476e-04 3.19347907e+02] [ 9.88615100e-01 1.50464442e-01 -7.97048610e-04 4.16244011e+02] [ 8.09151436e-04 -1.92137030e-05 9.99999673e-01 1.69756488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.452755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:319.35, Y:416.27, Z:1.70 [[ 1.54288084e-01 -9.88025894e-01 -1.40222028e-04 3.19352298e+02] [ 9.88025573e-01 1.54288147e-01 -7.97135520e-04 4.16272087e+02] [ 8.09225132e-04 -1.55544374e-05 9.99999673e-01 1.69761441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.35, Y:416.29, Z:1.70 [[ 1.53798295e-01 -9.88102254e-01 -1.41448999e-04 3.19352975e+02] [ 9.88101933e-01 1.53798359e-01 -7.96931491e-04 4.16294999e+02] [ 8.09204427e-04 -1.71993243e-05 9.99999673e-01 1.69685607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.36, Y:416.32, Z:1.70 [[ 1.55464622e-01 -9.87841452e-01 -1.32138790e-04 3.19356898e+02] [ 9.87841129e-01 1.55464678e-01 -7.98472233e-04 4.16322484e+02] [ 8.09306884e-04 -6.39794724e-06 9.99999673e-01 1.69655515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5427550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:319.36, Y:416.35, Z:1.69 [[ 1.55224766e-01 -9.87879170e-01 -1.31862835e-04 3.19360874e+02] [ 9.87878847e-01 1.55224821e-01 -7.98517803e-04 4.16348035e+02] [ 8.09307489e-04 -6.31476702e-06 9.99999673e-01 1.69321808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.37, Y:416.38, Z:1.70 [[ 1.56433598e-01 -9.87688469e-01 -1.31557134e-04 3.19367857e+02] [ 9.87688146e-01 1.56433653e-01 -7.98568164e-04 4.16377854e+02] [ 8.09316531e-04 -5.01453077e-06 9.99999673e-01 1.69771652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.602755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:319.37, Y:416.40, Z:1.69 [[ 1.54009931e-01 -9.88069290e-01 -1.38704774e-04 3.19369546e+02] [ 9.88068968e-01 1.54009993e-01 -7.97390891e-04 4.16401451e+02] [ 8.09239373e-04 -1.42437671e-05 9.99999673e-01 1.69287866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.632755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:319.38, Y:416.43, Z:1.70 [[ 1.53626076e-01 -9.88129046e-01 -1.30992889e-04 3.19375862e+02] [ 9.88128723e-01 1.53626132e-01 -7.98655769e-04 4.16431077e+02] [ 8.09298894e-04 -6.74348427e-06 9.99999673e-01 1.69681149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.38, Y:416.46, Z:1.70 [[ 1.50494772e-01 -9.88610796e-01 -1.37005601e-04 3.19378152e+02] [ 9.88610474e-01 1.50494834e-01 -7.97672983e-04 4.16457972e+02] [ 8.09206757e-04 -1.53995586e-05 9.99999673e-01 1.70269624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.692755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:319.38, Y:416.49, Z:1.70 [[ 1.48780731e-01 -9.88870202e-01 -1.35724643e-04 3.19382399e+02] [ 9.88869880e-01 1.48780792e-01 -7.97881790e-04 4.16485763e+02] [ 8.09194746e-04 -1.55045757e-05 9.99999673e-01 1.70215310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.39, Y:416.51, Z:1.70 [[ 1.47412925e-01 -9.89075028e-01 -1.35372615e-04 3.19385775e+02] [ 9.89074706e-01 1.47412986e-01 -7.97939038e-04 4.16511367e+02] [ 8.09177258e-04 -1.62671015e-05 9.99999673e-01 1.70382201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.39, Y:416.54, Z:1.70 [[ 1.45067641e-01 -9.89421731e-01 -1.34516036e-04 3.19390099e+02] [ 9.89421409e-01 1.45067702e-01 -7.98078009e-04 4.16538435e+02] [ 8.09149658e-04 -1.73177520e-05 9.99999673e-01 1.70431212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7827550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:319.39, Y:416.56, Z:1.70 [[ 1.43228153e-01 -9.89689688e-01 -1.34118078e-04 3.19393529e+02] [ 9.89689366e-01 1.43228215e-01 -7.98142406e-04 4.16563454e+02] [ 8.09122801e-04 -1.84187731e-05 9.99999673e-01 1.70088221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.40, Y:416.59, Z:1.70 [[ 1.42859999e-01 -9.89742898e-01 -1.28872092e-04 3.19398168e+02] [ 9.89742576e-01 1.42860056e-01 -7.98988552e-04 4.16592778e+02] [ 8.09203920e-04 -1.34066922e-05 9.99999673e-01 1.70460478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.40, Y:416.62, Z:1.70 [[ 1.42327855e-01 -9.89819561e-01 -1.33373534e-04 3.19400193e+02] [ 9.89819240e-01 1.42327916e-01 -7.98263406e-04 4.16617332e+02] [ 8.09119512e-04 -1.84005718e-05 9.99999673e-01 1.70242318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.40, Y:416.64, Z:1.70 [[ 1.42377649e-01 -9.89812401e-01 -1.28299616e-04 3.19403703e+02] [ 9.89812078e-01 1.42377707e-01 -7.99078072e-04 4.16644607e+02] [ 8.09204390e-04 -1.32216518e-05 9.99999673e-01 1.70168756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.41, Y:416.68, Z:1.70 [[ 1.43892287e-01 -9.89593348e-01 -1.28024304e-04 3.19409231e+02] [ 9.89593025e-01 1.43892344e-01 -7.99122179e-04 4.16675722e+02] [ 8.09227709e-04 -1.17044400e-05 9.99999673e-01 1.70336364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.41, Y:416.70, Z:1.70 [[ 1.43210237e-01 -9.89692280e-01 -1.34986975e-04 3.19413169e+02] [ 9.89691959e-01 1.43210300e-01 -7.98008691e-04 4.16704000e+02] [ 8.09114566e-04 -1.93125099e-05 9.99999673e-01 1.70350786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.962755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.42, Y:416.73, Z:1.70 [[ 1.42684562e-01 -9.89768204e-01 -1.34859382e-04 3.19417243e+02] [ 9.89767882e-01 1.42684624e-01 -7.98029025e-04 4.16731529e+02] [ 8.09106115e-04 -1.96130634e-05 9.99999673e-01 1.70353033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:416.75, Z:1.71 [[ 1.40569047e-01 -9.90070869e-01 -1.34588701e-04 3.19419014e+02] [ 9.90070547e-01 1.40569110e-01 -7.98072042e-04 4.16754455e+02] [ 8.09066893e-04 -2.10680829e-05 9.99999673e-01 1.70512636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.42, Y:416.78, Z:1.71 [[ 1.39661693e-01 -9.90199271e-01 -1.26442478e-04 3.19422943e+02] [ 9.90198948e-01 1.39661750e-01 -7.99360607e-04 4.16781879e+02] [ 8.09185468e-04 -1.35631530e-05 9.99999673e-01 1.70614160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:416.82, Z:1.70 [[ 1.41946810e-01 -9.89874279e-01 -1.26156270e-04 3.19432037e+02] [ 9.89873956e-01 1.41946866e-01 -7.99405775e-04 4.16817226e+02] [ 8.09218701e-04 -1.14057059e-05 9.99999673e-01 1.70493763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:416.84, Z:1.71 [[ 1.37854389e-01 -9.90452496e-01 -1.45884283e-04 3.19428397e+02] [ 9.90452176e-01 1.37854462e-01 -7.96280789e-04 4.16837295e+02] [ 8.08789094e-04 -3.47206037e-05 9.99999672e-01 1.70720775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.112755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:319.43, Y:416.86, Z:1.70 [[ 1.37934205e-01 -9.90441386e-01 -1.25637553e-04 3.19431546e+02] [ 9.90441064e-01 1.37934261e-01 -7.99462613e-04 4.16863611e+02] [ 8.09150582e-04 -1.41633520e-05 9.99999673e-01 1.70415966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.142755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.43, Y:416.89, Z:1.71 [[ 1.37625552e-01 -9.90484322e-01 -1.25342656e-04 3.19434828e+02] [ 9.90483999e-01 1.37625608e-01 -7.99508846e-04 4.16891116e+02] [ 8.09151336e-04 -1.41170489e-05 9.99999673e-01 1.70584578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1727550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:319.45, Y:416.93, Z:1.70 [[ 1.41874807e-01 -9.89884601e-01 -1.25066308e-04 3.19446189e+02] [ 9.89884278e-01 1.41874862e-01 -7.99552072e-04 4.16926559e+02] [ 8.09208049e-04 -1.03648761e-05 9.99999673e-01 1.70206937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.202755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:319.44, Y:416.94, Z:1.70 [[ 1.36883810e-01 -9.90587099e-01 -1.47545175e-04 3.19442265e+02] [ 9.90586780e-01 1.36883884e-01 -7.96019620e-04 4.16944751e+02] [ 8.08723323e-04 -3.71941020e-05 9.99999672e-01 1.70449417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.45, Y:416.97, Z:1.71 [[ 1.36262256e-01 -9.90672793e-01 -1.24524926e-04 3.19445581e+02] [ 9.90672470e-01 1.36262312e-01 -7.99604635e-04 4.16969933e+02] [ 8.09114612e-04 -1.44074841e-05 9.99999673e-01 1.70605382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.262755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:319.45, Y:417.00, Z:1.70 [[ 1.35687429e-01 -9.90751688e-01 -1.24207883e-04 3.19449334e+02] [ 9.90751365e-01 1.35687485e-01 -7.99653881e-04 4.16995804e+02] [ 8.09111887e-04 -1.45561511e-05 9.99999673e-01 1.70462976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.45, Y:417.02, Z:1.71 [[ 1.34968283e-01 -9.90849912e-01 -1.23908425e-04 3.19452184e+02] [ 9.90849589e-01 1.34968339e-01 -7.99700280e-04 4.17022005e+02] [ 8.09106666e-04 -1.48404385e-05 9.99999673e-01 1.70682063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.322755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:319.46, Y:417.05, Z:1.70 [[ 1.34904241e-01 -9.90858633e-01 -1.23610070e-04 3.19456377e+02] [ 9.90858310e-01 1.34904297e-01 -7.99746394e-04 4.17047420e+02] [ 8.09111148e-04 -1.45908848e-05 9.99999673e-01 1.70437950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.46, Y:417.07, Z:1.71 [[ 1.33851313e-01 -9.91001418e-01 -1.23299342e-04 3.19459689e+02] [ 9.91001096e-01 1.33851369e-01 -7.99794297e-04 4.17072702e+02] [ 8.09101068e-04 -1.51362660e-05 9.99999673e-01 1.70713725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.382755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:319.47, Y:417.11, Z:1.71 [[ 1.36958960e-01 -9.90576715e-01 -1.22993263e-04 3.19470701e+02] [ 9.90576392e-01 1.36959014e-01 -7.99841364e-04 4.17107245e+02] [ 8.09149266e-04 -1.22887815e-05 9.99999673e-01 1.70886431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.47, Y:417.13, Z:1.71 [[ 1.35426196e-01 -9.90787427e-01 -1.45189278e-04 3.19473891e+02] [ 9.90787107e-01 1.35426269e-01 -7.96409134e-04 4.17133084e+02] [ 8.08734599e-04 -3.59970060e-05 9.99999672e-01 1.70933803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.47, Y:417.15, Z:1.71 [[ 1.29833391e-01 -9.91535814e-01 -1.42814512e-04 3.19471367e+02] [ 9.91535494e-01 1.29833464e-01 -7.96774733e-04 4.17152154e+02] [ 8.08572786e-04 -3.81576920e-05 9.99999672e-01 1.70743872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.472755096 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:319.48, Y:417.18, Z:1.71 [[ 1.30089382e-01 -9.91502263e-01 -1.22116358e-04 3.19476094e+02] [ 9.91501941e-01 1.30089438e-01 -7.99934471e-04 4.17177650e+02] [ 8.09022887e-04 -1.70156252e-05 9.99999673e-01 1.70756430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.49, Y:417.21, Z:1.71 [[ 1.30038222e-01 -9.91508975e-01 -1.19293728e-04 3.19487493e+02] [ 9.91508652e-01 1.30038276e-01 -8.00365539e-04 4.17212045e+02] [ 8.09082365e-04 -1.42026517e-05 9.99999673e-01 1.70948667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5327550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:319.49, Y:417.24, Z:1.71 [[ 1.29373138e-01 -9.91595972e-01 -1.41115289e-04 3.19492360e+02] [ 9.91595652e-01 1.29373210e-01 -7.97015756e-04 4.17237745e+02] [ 8.08574151e-04 -3.68168771e-05 9.99999672e-01 1.70766644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.49, Y:417.27, Z:1.71 [[ 1.26922650e-01 -9.91912608e-01 -1.39003491e-04 3.19494409e+02] [ 9.91912288e-01 1.26922721e-01 -7.97338489e-04 4.17265372e+02] [ 8.08532801e-04 -3.66789563e-05 9.99999673e-01 1.71054838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.592755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:319.50, Y:417.29, Z:1.71 [[ 1.25934176e-01 -9.92038590e-01 -1.36836964e-04 3.19498143e+02] [ 9.92038270e-01 1.25934245e-01 -7.97667756e-04 4.17291099e+02] [ 8.08549656e-04 -3.52938741e-05 9.99999673e-01 1.71052034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.50, Y:417.32, Z:1.71 [[ 1.26721195e-01 -9.91938366e-01 -1.32851824e-04 3.19501797e+02] [ 9.91938045e-01 1.26721261e-01 -7.98271290e-04 4.17316203e+02] [ 8.08671070e-04 -3.06228869e-05 9.99999673e-01 1.71127548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.51, Y:417.35, Z:1.71 [[ 1.24752568e-01 -9.92187876e-01 -1.28244230e-04 3.19506280e+02] [ 9.92187554e-01 1.24752630e-01 -7.98961689e-04 4.17348838e+02] [ 8.08718906e-04 -2.75698068e-05 9.99999673e-01 1.71164947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.51, Y:417.37, Z:1.71 [[ 1.26074760e-01 -9.92020734e-01 -1.38096052e-04 3.19508441e+02] [ 9.92020414e-01 1.26074830e-01 -7.97486168e-04 4.17370238e+02] [ 8.08533250e-04 -3.64512255e-05 9.99999673e-01 1.70973619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.712755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:319.51, Y:417.40, Z:1.71 [[ 1.25915584e-01 -9.92040952e-01 -1.27913682e-04 3.19513000e+02] [ 9.92040630e-01 1.25915646e-01 -7.99008010e-04 4.17399220e+02] [ 8.08755001e-04 -2.62880099e-05 9.99999673e-01 1.70970596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.52, Y:417.43, Z:1.71 [[ 1.28352574e-01 -9.91728592e-01 -1.31124736e-04 3.19516524e+02] [ 9.91728271e-01 1.28352638e-01 -7.98529166e-04 4.17425324e+02] [ 8.08754411e-04 -2.75468338e-05 9.99999673e-01 1.71153482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.52, Y:417.45, Z:1.71 [[ 1.26470787e-01 -9.91970324e-01 -1.30426218e-04 3.19520010e+02] [ 9.91970003e-01 1.26470851e-01 -7.98633075e-04 4.17454463e+02] [ 8.08715425e-04 -2.83751424e-05 9.99999673e-01 1.71093758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.802755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.52, Y:417.48, Z:1.71 [[ 1.28033399e-01 -9.91769847e-01 -1.37231231e-04 3.19522985e+02] [ 9.91769527e-01 1.28033468e-01 -7.97621994e-04 4.17475122e+02] [ 8.08627633e-04 -3.39794977e-05 9.99999673e-01 1.70922708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.832755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:319.53, Y:417.50, Z:1.71 [[ 1.26423905e-01 -9.91976300e-01 -1.26358568e-04 3.19526618e+02] [ 9.91975979e-01 1.26423966e-01 -7.99221891e-04 4.17504710e+02] [ 8.08783925e-04 -2.43039120e-05 9.99999673e-01 1.70938037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.862755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:319.53, Y:417.53, Z:1.71 [[ 1.27811335e-01 -9.91798491e-01 -1.29414024e-04 3.19530087e+02] [ 9.91798169e-01 1.27811397e-01 -7.98773822e-04 4.17531157e+02] [ 8.08763259e-04 -2.62602438e-05 9.99999673e-01 1.71065408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:417.56, Z:1.71 [[ 1.27988515e-01 -9.91775642e-01 -1.24861056e-04 3.19534057e+02] [ 9.91775320e-01 1.27988574e-01 -7.99438626e-04 4.17556029e+02] [ 8.08844546e-04 -2.15151508e-05 9.99999673e-01 1.71005585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.54, Y:417.58, Z:1.71 [[ 1.25713218e-01 -9.92066617e-01 -1.21835468e-04 3.19537701e+02] [ 9.92066294e-01 1.25713276e-01 -7.99877051e-04 4.17584997e+02] [ 8.08847656e-04 -2.03137432e-05 9.99999673e-01 1.71010779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.952755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.54, Y:417.61, Z:1.71 [[ 1.26146535e-01 -9.92011611e-01 -1.24479338e-04 3.19541084e+02] [ 9.92011289e-01 1.26146595e-01 -7.99494720e-04 4.17609981e+02] [ 8.08810690e-04 -2.26314191e-05 9.99999673e-01 1.70976213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.54, Y:417.63, Z:1.71 [[ 1.27956363e-01 -9.91779792e-01 -1.20680472e-04 3.19544678e+02] [ 9.91779469e-01 1.27956419e-01 -8.00043257e-04 4.17633798e+02] [ 8.08908575e-04 -1.73177893e-05 9.99999673e-01 1.70900852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.012755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.55, Y:417.66, Z:1.71 [[ 1.25950380e-01 -9.92036536e-01 -1.13732491e-04 3.19547299e+02] [ 9.92036213e-01 1.25950431e-01 -8.01043108e-04 4.17663269e+02] [ 8.08988686e-04 -1.19350659e-05 9.99999673e-01 1.70837492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0427550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.55, Y:417.69, Z:1.71 [[ 1.25700914e-01 -9.92068176e-01 -1.17419064e-04 3.19550452e+02] [ 9.92067854e-01 1.25700967e-01 -8.00513041e-04 4.17690175e+02] [ 8.08923203e-04 -1.58624582e-05 9.99999673e-01 1.70862691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.072755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.55, Y:417.72, Z:1.71 [[ 1.25341920e-01 -9.92113597e-01 -1.18538723e-04 3.19553792e+02] [ 9.92113274e-01 1.25341975e-01 -8.00352388e-04 4.17717140e+02] [ 8.08898364e-04 -1.72861356e-05 9.99999673e-01 1.70903215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.102755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:319.56, Y:417.74, Z:1.71 [[ 1.23786724e-01 -9.92308840e-01 -1.19254642e-04 3.19556492e+02] [ 9.92308517e-01 1.23786780e-01 -8.00249890e-04 4.17743586e+02] [ 8.08857188e-04 -1.92770846e-05 9.99999673e-01 1.70858867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:417.77, Z:1.71 [[ 1.23546660e-01 -9.92338757e-01 -1.18308332e-04 3.19560320e+02] [ 9.92338435e-01 1.23546715e-01 -8.00384999e-04 4.17770487e+02] [ 8.08869661e-04 -1.85170113e-05 9.99999673e-01 1.70936852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1627550960001 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:319.57, Y:417.80, Z:1.71 [[ 1.24292256e-01 -9.92245646e-01 -1.18210015e-04 3.19565664e+02] [ 9.92245323e-01 1.24292311e-01 -8.00398912e-04 4.17800106e+02] [ 8.08884931e-04 -1.78099481e-05 9.99999673e-01 1.71203382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:319.57, Y:417.83, Z:1.71 [[ 1.25710986e-01 -9.92066900e-01 -1.21727551e-04 3.19570836e+02] [ 9.92066577e-01 1.25711043e-01 -7.99901403e-04 4.17825100e+02] [ 8.08858202e-04 -2.02054404e-05 9.99999673e-01 1.71249825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:319.58, Y:417.85, Z:1.71 [[ 1.25194006e-01 -9.92132272e-01 -1.22833073e-04 3.19576986e+02] [ 9.92131950e-01 1.25194065e-01 -7.99743928e-04 4.17854049e+02] [ 8.08829732e-04 -2.17434698e-05 9.99999673e-01 1.71295213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.58, Y:417.87, Z:1.71 [[ 1.22957640e-01 -9.92411912e-01 -1.27669801e-04 3.19575453e+02] [ 9.92411590e-01 1.22957703e-01 -7.99055746e-04 4.17873247e+02] [ 8.08690426e-04 -2.84509811e-05 9.99999673e-01 1.71466471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2827550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.59, Y:417.91, Z:1.71 [[ 1.25724438e-01 -9.92065196e-01 -1.13159696e-04 3.19585153e+02] [ 9.92064873e-01 1.25724488e-01 -8.01105363e-04 4.17907184e+02] [ 8.08975693e-04 -1.15432380e-05 9.99999673e-01 1.71387556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:417.94, Z:1.71 [[ 1.24486067e-01 -9.92221348e-01 -1.28137641e-04 3.19589374e+02] [ 9.92221026e-01 1.24486130e-01 -7.99023060e-04 4.17938564e+02] [ 8.08759096e-04 -2.76736236e-05 9.99999673e-01 1.71289730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.59, Y:417.96, Z:1.71 [[ 1.22669003e-01 -9.92447630e-01 -1.32552722e-04 3.19590468e+02] [ 9.92447309e-01 1.22669070e-01 -7.98410726e-04 4.17962884e+02] [ 8.08640952e-04 -3.36113447e-05 9.99999673e-01 1.71159408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:417.99, Z:1.71 [[ 1.22272364e-01 -9.92496576e-01 -1.29219568e-04 3.19596068e+02] [ 9.92496254e-01 1.22272428e-01 -7.98879257e-04 4.17990937e+02] [ 8.08684917e-04 -3.05690820e-05 9.99999673e-01 1.71195649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4027550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:319.60, Y:418.02, Z:1.71 [[ 1.21126578e-01 -9.92637061e-01 -1.32730006e-04 3.19598783e+02] [ 9.92636740e-01 1.21126645e-01 -7.98389121e-04 4.18016057e+02] [ 8.08587771e-04 -3.50465382e-05 9.99999673e-01 1.70989603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:418.04, Z:1.71 [[ 1.17110442e-01 -9.93118890e-01 -1.25844097e-04 3.19603409e+02] [ 9.93118568e-01 1.17110506e-01 -7.99338379e-04 4.18044184e+02] [ 8.08575709e-04 -3.13672387e-05 9.99999673e-01 1.71117265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.462755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:319.61, Y:418.07, Z:1.71 [[ 1.14136213e-01 -9.93465102e-01 -1.26100152e-04 3.19606684e+02] [ 9.93464781e-01 1.14136277e-01 -7.99303196e-04 4.18070296e+02] [ 8.08472433e-04 -3.40466199e-05 9.99999673e-01 1.71059498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.61, Y:418.10, Z:1.71 [[ 1.12683320e-01 -9.93630945e-01 -1.22551241e-04 3.19610951e+02] [ 9.93630623e-01 1.12683382e-01 -7.99782959e-04 4.18100688e+02] [ 8.08498585e-04 -3.16484668e-05 9.99999673e-01 1.71010143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.61, Y:418.12, Z:1.71 [[ 1.09823092e-01 -9.93951142e-01 -1.27077648e-04 3.19613307e+02] [ 9.93950821e-01 1.09823159e-01 -7.99172355e-04 4.18124721e+02] [ 8.08294343e-04 -3.85413533e-05 9.99999673e-01 1.71186401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.552755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:319.61, Y:418.15, Z:1.71 [[ 1.05413686e-01 -9.94428449e-01 -1.24509326e-04 3.19611163e+02] [ 9.94428128e-01 1.05413752e-01 -7.99520929e-04 4.18145876e+02] [ 8.08191352e-04 -3.95351275e-05 9.99999673e-01 1.71178667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:418.18, Z:1.71 [[ 1.06420804e-01 -9.94321176e-01 -1.07958652e-04 3.19618761e+02] [ 9.94320853e-01 1.06420857e-01 -8.01749540e-04 4.18178840e+02] [ 8.08685598e-04 -2.20227083e-05 9.99999673e-01 1.71232569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.62, Y:418.20, Z:1.71 [[ 1.05987401e-01 -9.94367465e-01 -1.21910904e-04 3.19622177e+02] [ 9.94367144e-01 1.05987465e-01 -7.99865597e-04 4.18204450e+02] [ 8.08281354e-04 -3.64485216e-05 9.99999673e-01 1.71188960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.642755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:319.63, Y:418.23, Z:1.71 [[ 1.05372124e-01 -9.94432854e-01 -1.21328529e-04 3.19625751e+02] [ 9.94432533e-01 1.05372188e-01 -7.99943914e-04 4.18232068e+02] [ 8.08275162e-04 -3.63612467e-05 9.99999673e-01 1.71123367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.63, Y:418.26, Z:1.71 [[ 1.06372824e-01 -9.94326309e-01 -1.20481606e-04 3.19628166e+02] [ 9.94325987e-01 1.06372887e-01 -8.00057486e-04 4.18260570e+02] [ 8.08334183e-04 -3.46936177e-05 9.99999673e-01 1.71292377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.702755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:319.63, Y:418.28, Z:1.71 [[ 1.08581173e-01 -9.94087578e-01 -1.25045529e-04 3.19630582e+02] [ 9.94087258e-01 1.08581238e-01 -7.99444975e-04 4.18283926e+02] [ 8.08295918e-04 -3.75014936e-05 9.99999673e-01 1.71259635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.63, Y:418.31, Z:1.71 [[ 1.09461603e-01 -9.93991018e-01 -1.19472105e-04 3.19632341e+02] [ 9.93990696e-01 1.09461664e-01 -8.00187556e-04 4.18309145e+02] [ 8.08456858e-04 -3.11643487e-05 9.99999673e-01 1.71212417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.63, Y:418.34, Z:1.71 [[ 1.09246685e-01 -9.94014662e-01 -1.16003894e-04 3.19631639e+02] [ 9.94014340e-01 1.09246743e-01 -8.00645721e-04 4.18336095e+02] [ 8.08526634e-04 -2.78416432e-05 9.99999673e-01 1.71269090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.63, Y:418.36, Z:1.71 [[ 1.11497015e-01 -9.93764762e-01 -1.13104087e-04 3.19634494e+02] [ 9.93764440e-01 1.11497070e-01 -8.01026592e-04 4.18361682e+02] [ 8.08642775e-04 -2.30867462e-05 9.99999673e-01 1.71321159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.64, Y:418.39, Z:1.71 [[ 1.12070084e-01 -9.93700299e-01 -1.08411783e-04 3.19637084e+02] [ 9.93699976e-01 1.12070135e-01 -8.01638465e-04 4.18388978e+02] [ 8.08738106e-04 -1.78890953e-05 9.99999673e-01 1.71367471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:418.42, Z:1.71 [[ 1.14244740e-01 -9.93452630e-01 -1.06957437e-04 3.19640260e+02] [ 9.93452307e-01 1.14244789e-01 -8.01827370e-04 4.18415611e+02] [ 8.08796839e-04 -1.46525537e-05 9.99999673e-01 1.71409211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:418.44, Z:1.71 [[ 1.13909059e-01 -9.93491175e-01 -1.06889771e-04 3.19643610e+02] [ 9.93490852e-01 1.13909108e-01 -8.01836135e-04 4.18443179e+02] [ 8.08792842e-04 -1.48576101e-05 9.99999673e-01 1.71411455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.65, Y:418.47, Z:1.71 [[ 1.14197783e-01 -9.93458029e-01 -1.06680026e-04 3.19646555e+02] [ 9.93457705e-01 1.14197832e-01 -8.01863242e-04 4.18469096e+02] [ 8.08800103e-04 -1.44110891e-05 9.99999673e-01 1.71410434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.65, Y:418.50, Z:1.71 [[ 1.14412609e-01 -9.93433311e-01 -1.06185898e-04 3.19649985e+02] [ 9.93432988e-01 1.14412657e-01 -8.01926947e-04 4.18497009e+02] [ 8.08809953e-04 -1.37380202e-05 9.99999673e-01 1.71454363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.66, Y:418.53, Z:1.72 [[ 1.16283850e-01 -9.93216016e-01 -1.06739921e-04 3.19655048e+02] [ 9.93215693e-01 1.16283898e-01 -8.01855683e-04 4.18526466e+02] [ 8.08828042e-04 -1.27728988e-05 9.99999673e-01 1.71629387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.66, Y:418.55, Z:1.72 [[ 1.16294647e-01 -9.93214752e-01 -1.11681362e-04 3.19658360e+02] [ 9.93214429e-01 1.16294700e-01 -8.01222239e-04 4.18554208e+02] [ 8.08773698e-04 -1.77456825e-05 9.99999673e-01 1.71663337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.66, Y:418.58, Z:1.72 [[ 1.17064702e-01 -9.93124284e-01 -1.12315700e-04 3.19662076e+02] [ 9.93123961e-01 1.17064754e-01 -8.01141122e-04 4.18580902e+02] [ 8.08780913e-04 -1.77580666e-05 9.99999673e-01 1.71677307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.062755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:319.66, Y:418.60, Z:1.72 [[ 1.15109477e-01 -9.93352805e-01 -1.14779205e-04 3.19659878e+02] [ 9.93352482e-01 1.15109532e-01 -8.00826479e-04 4.18602400e+02] [ 8.08715410e-04 -2.18334905e-05 9.99999673e-01 1.71656468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:418.64, Z:1.72 [[ 1.20070743e-01 -9.92765333e-01 -1.01748389e-04 3.19668640e+02] [ 9.92765009e-01 1.20070786e-01 -8.02478690e-04 4.18635895e+02] [ 8.08890033e-04 -4.65802774e-06 9.99999673e-01 1.71714738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.66, Y:418.66, Z:1.72 [[ 1.17114078e-01 -9.93118461e-01 -1.20031688e-04 3.19664943e+02] [ 9.93118139e-01 1.17114137e-01 -8.00149945e-04 4.18655505e+02] [ 8.08701090e-04 -2.54968233e-05 9.99999673e-01 1.71762262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:418.69, Z:1.72 [[ 1.21954116e-01 -9.92535734e-01 -1.01261331e-04 3.19671777e+02] [ 9.92535410e-01 1.21954158e-01 -8.02518378e-04 4.18688916e+02] [ 8.08877408e-04 -2.63503662e-06 9.99999673e-01 1.71769497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.182755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:319.67, Y:418.71, Z:1.72 [[ 1.19516137e-01 -9.92832251e-01 -1.17368441e-04 3.19669403e+02] [ 9.92831929e-01 1.19516193e-01 -8.00478777e-04 4.18709869e+02] [ 8.08768576e-04 -2.08570048e-05 9.99999673e-01 1.71620293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.67, Y:418.74, Z:1.72 [[ 1.21013389e-01 -9.92650870e-01 -1.00791903e-04 3.19672754e+02] [ 9.92650546e-01 1.21013431e-01 -8.02560590e-04 4.18736397e+02] [ 8.08859642e-04 -2.93056116e-06 9.99999673e-01 1.71863746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:418.76, Z:1.72 [[ 1.22620797e-01 -9.92453591e-01 -1.00487716e-04 3.19676990e+02] [ 9.92453266e-01 1.22620838e-01 -8.02598675e-04 4.18763807e+02] [ 8.08863825e-04 -1.31407205e-06 9.99999673e-01 1.71566411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:418.79, Z:1.72 [[ 1.22329371e-01 -9.92489554e-01 -1.03661483e-04 3.19679777e+02] [ 9.92489230e-01 1.22329414e-01 -8.02202647e-04 4.18791271e+02] [ 8.08858596e-04 -4.74996001e-06 9.99999673e-01 1.71632444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:418.81, Z:1.72 [[ 1.24543502e-01 -9.92214143e-01 -1.03605341e-04 3.19681753e+02] [ 9.92213819e-01 1.24543545e-01 -8.02209642e-04 4.18810299e+02] [ 8.08867129e-04 -2.88865329e-06 9.99999673e-01 1.71828787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:418.84, Z:1.72 [[ 1.20251039e-01 -9.92743512e-01 -8.66052058e-05 3.19683106e+02] [ 9.92743186e-01 1.20251069e-01 -8.04297389e-04 4.18841114e+02] [ 8.08875383e-04 1.07408685e-05 9.99999673e-01 1.71704694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.69, Y:418.87, Z:1.72 [[ 1.18056388e-01 -9.93006888e-01 -9.87670704e-05 3.19685930e+02] [ 9.93006563e-01 1.18056429e-01 -8.02801138e-04 4.18870652e+02] [ 8.08847148e-04 -3.30054646e-06 9.99999673e-01 1.71580490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.392755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:319.69, Y:418.89, Z:1.72 [[ 1.17178063e-01 -9.93110916e-01 -1.04403573e-04 3.19689453e+02] [ 9.93110592e-01 1.17178109e-01 -8.02107687e-04 4.18894327e+02] [ 8.08815713e-04 -9.69486914e-06 9.99999673e-01 1.71629517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.69, Y:418.92, Z:1.72 [[ 1.13220468e-01 -9.93569885e-01 -9.83105303e-05 3.19694412e+02] [ 9.93569561e-01 1.13220510e-01 -8.02853789e-04 4.18920127e+02] [ 8.08822115e-04 -6.77886895e-06 9.99999673e-01 1.71730247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:418.95, Z:1.72 [[ 1.10871449e-01 -9.93834751e-01 -9.79664638e-05 3.19698751e+02] [ 9.93834427e-01 1.10871492e-01 -8.02895771e-04 4.18947565e+02] [ 8.08807406e-04 -8.34422654e-06 9.99999673e-01 1.71755285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.70, Y:418.97, Z:1.72 [[ 1.07579806e-01 -9.94196447e-01 -9.76818504e-05 3.19704567e+02] [ 9.94196123e-01 1.07579850e-01 -8.02930396e-04 4.18974170e+02] [ 8.08779146e-04 -1.07358207e-05 9.99999673e-01 1.71773083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:419.00, Z:1.72 [[ 1.04134906e-01 -9.94563176e-01 -9.85852665e-05 3.19706571e+02] [ 9.94562852e-01 1.04134951e-01 -8.02820721e-04 4.19000415e+02] [ 8.08722098e-04 -1.44475837e-05 9.99999673e-01 1.71678623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:419.02, Z:1.72 [[ 1.03476875e-01 -9.94631855e-01 -9.71200700e-05 3.19709889e+02] [ 9.94631531e-01 1.03476920e-01 -8.02997932e-04 4.19024846e+02] [ 8.08737008e-04 -1.35069669e-05 9.99999673e-01 1.71609911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:419.05, Z:1.72 [[ 9.87656744e-02 -9.95110714e-01 -9.18627466e-05 3.19713126e+02] [ 9.95110390e-01 9.87657164e-02 -8.03630388e-04 4.19051718e+02] [ 8.08774099e-04 -1.20424763e-05 9.99999673e-01 1.71627683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:419.08, Z:1.72 [[ 9.78774661e-02 -9.95198469e-01 -9.64079495e-05 3.19716997e+02] [ 9.95198145e-01 9.78775121e-02 -8.03084750e-04 4.19079200e+02] [ 8.08664884e-04 -1.73411121e-05 9.99999673e-01 1.71584803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:419.10, Z:1.72 [[ 9.72216166e-02 -9.95262753e-01 -9.61276526e-05 3.19720474e+02] [ 9.95262429e-01 9.72216626e-02 -8.03118300e-04 4.19103923e+02] [ 8.08659420e-04 -1.75917816e-05 9.99999673e-01 1.71543666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:419.13, Z:1.72 [[ 9.62855735e-02 -9.95353746e-01 -9.58036128e-05 3.19724030e+02] [ 9.95353422e-01 9.62856195e-02 -8.03156952e-04 4.19130975e+02] [ 8.08649791e-04 -1.80260261e-05 9.99999673e-01 1.71559672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:419.16, Z:1.72 [[ 9.69743274e-02 -9.95286879e-01 -9.34899652e-05 3.19727884e+02] [ 9.95286555e-01 9.69743713e-02 -8.03432211e-04 4.19157900e+02] [ 8.08711668e-04 -1.51370072e-05 9.99999673e-01 1.71503304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:419.19, Z:1.71 [[ 9.78952531e-02 -9.95196720e-01 -9.33275729e-05 3.19731343e+02] [ 9.95196395e-01 9.78952965e-02 -8.03451473e-04 4.19185173e+02] [ 8.08728601e-04 -1.42251788e-05 9.99999673e-01 1.71499943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.73, Y:419.21, Z:1.71 [[ 9.99679574e-02 -9.94990653e-01 -9.28541374e-05 3.19732939e+02] [ 9.94990328e-01 9.99679998e-02 -8.03507479e-04 4.19211005e+02] [ 8.08764873e-04 -1.20639673e-05 9.99999673e-01 1.71278033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7827550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:319.74, Y:419.24, Z:1.71 [[ 1.01847311e-01 -9.94800039e-01 -8.96836196e-05 3.19735920e+02] [ 9.94799714e-01 1.01847350e-01 -8.03881269e-04 4.19238374e+02] [ 8.08835157e-04 -7.34409388e-06 9.99999673e-01 1.71244092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.74, Y:419.27, Z:1.71 [[ 1.05295410e-01 -9.94440983e-01 -8.85420207e-05 3.19742231e+02] [ 9.94440658e-01 1.05295447e-01 -8.04015603e-04 4.19267541e+02] [ 8.08869138e-04 -3.39063257e-06 9.99999673e-01 1.71409703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.842755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:319.74, Y:419.29, Z:1.71 [[ 1.06792163e-01 -9.94281361e-01 -9.44474931e-05 3.19743333e+02] [ 9.94281037e-01 1.06792205e-01 -8.03321289e-04 4.19292534e+02] [ 8.08813640e-04 -8.11893309e-06 9.99999673e-01 1.71283886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:419.32, Z:1.71 [[ 1.08301224e-01 -9.94118120e-01 -8.83087718e-05 3.19746781e+02] [ 9.94117795e-01 1.08301260e-01 -8.04041343e-04 4.19319494e+02] [ 8.08876019e-04 -7.10659722e-07 9.99999673e-01 1.71306943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:419.35, Z:1.71 [[ 1.08862019e-01 -9.94056866e-01 -8.77819378e-05 3.19749362e+02] [ 9.94056541e-01 1.08862054e-01 -8.04103033e-04 4.19346517e+02] [ 8.08880263e-04 2.76070215e-07 9.99999673e-01 1.71288574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:419.37, Z:1.71 [[ 1.11463333e-01 -9.93768544e-01 -8.58695531e-05 3.19754675e+02] [ 9.93768218e-01 1.11463366e-01 -8.04327083e-04 4.19374356e+02] [ 8.08886263e-04 4.31854484e-06 9.99999673e-01 1.71372610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:419.40, Z:1.71 [[ 1.11771310e-01 -9.93733952e-01 -8.71528775e-05 3.19758055e+02] [ 9.93733626e-01 1.11771344e-01 -8.04176951e-04 4.19401060e+02] [ 8.08879133e-04 3.27716653e-06 9.99999673e-01 1.71351579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.76, Y:419.43, Z:1.71 [[ 1.12064070e-01 -9.93700980e-01 -8.70312339e-05 3.19761428e+02] [ 9.93700654e-01 1.12064104e-01 -8.04191158e-04 4.19428415e+02] [ 8.08878619e-04 3.63794044e-06 9.99999673e-01 1.71293138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.77, Y:419.46, Z:1.71 [[ 1.12352955e-01 -9.93668358e-01 -8.66795438e-05 3.19765138e+02] [ 9.93668033e-01 1.12352988e-01 -8.04232123e-04 4.19455793e+02] [ 8.08878719e-04 4.22716346e-06 9.99999673e-01 1.71182358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.052755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:319.77, Y:419.48, Z:1.71 [[ 1.12126662e-01 -9.93693919e-01 -8.88051569e-05 3.19768361e+02] [ 9.93693593e-01 1.12126697e-01 -8.03984635e-04 4.19483774e+02] [ 8.08872071e-04 1.90299789e-06 9.99999673e-01 1.71040530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.77, Y:419.51, Z:1.71 [[ 1.12524095e-01 -9.93648992e-01 -8.92315062e-05 3.19772970e+02] [ 9.93648667e-01 1.12524131e-01 -8.03935062e-04 4.19511960e+02] [ 8.08869962e-04 1.79729844e-06 9.99999673e-01 1.71344876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:419.54, Z:1.71 [[ 1.11187334e-01 -9.93799461e-01 -9.32918188e-05 3.19775406e+02] [ 9.93799136e-01 1.11187373e-01 -8.03463611e-04 4.19538753e+02] [ 8.08854575e-04 -3.37835223e-06 9.99999673e-01 1.71369771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:419.57, Z:1.71 [[ 1.09945559e-01 -9.93937606e-01 -9.30030083e-05 3.19777804e+02] [ 9.93937282e-01 1.09945599e-01 -8.03497040e-04 4.19565622e+02] [ 8.08851196e-04 -4.09822575e-06 9.99999673e-01 1.71377883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.78, Y:419.59, Z:1.71 [[ 1.07297040e-01 -9.94227005e-01 -9.27151507e-05 3.19780417e+02] [ 9.94226680e-01 1.07297080e-01 -8.03530254e-04 4.19592075e+02] [ 8.08839543e-04 -5.96345845e-06 9.99999673e-01 1.71486794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.78, Y:419.62, Z:1.71 [[ 1.05614633e-01 -9.94407130e-01 -9.24931671e-05 3.19783015e+02] [ 9.94406806e-01 1.05614674e-01 -8.03555806e-04 4.19619516e+02] [ 8.08830258e-04 -7.10858301e-06 9.99999673e-01 1.71484675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:419.65, Z:1.71 [[ 1.04311105e-01 -9.94544712e-01 -9.22074607e-05 3.19785256e+02] [ 9.94544388e-01 1.04311145e-01 -8.03588589e-04 4.19647230e+02] [ 8.08823048e-04 -7.88119897e-06 9.99999673e-01 1.71339217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:419.67, Z:1.71 [[ 1.01309000e-01 -9.94855004e-01 -9.22033397e-05 3.19787117e+02] [ 9.94854679e-01 1.01309042e-01 -8.03589060e-04 4.19673803e+02] [ 8.08795629e-04 -1.03181196e-05 9.99999673e-01 1.71310922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:419.70, Z:1.71 [[ 1.01332973e-01 -9.94852562e-01 -9.16405318e-05 3.19790048e+02] [ 9.94852238e-01 1.01333014e-01 -8.03653237e-04 4.19699035e+02] [ 8.08802693e-04 -9.73221660e-06 9.99999673e-01 1.71259400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.79, Y:419.73, Z:1.71 [[ 9.77120208e-02 -9.95214727e-01 -8.66819700e-05 3.19791453e+02] [ 9.95214402e-01 9.77120589e-02 -8.04216032e-04 4.19727535e+02] [ 8.08837513e-04 -7.68557133e-06 9.99999673e-01 1.71167063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.80, Y:419.75, Z:1.71 [[ 9.93628653e-02 -9.95051262e-01 -9.01949394e-05 3.19795091e+02] [ 9.95050937e-01 9.93629058e-02 -8.03818429e-04 4.19751020e+02] [ 8.08802573e-04 -9.87885668e-06 9.99999673e-01 1.71224214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.78, Z:1.71 [[ 9.59252473e-02 -9.95388537e-01 -8.25077564e-05 3.19796098e+02] [ 9.95388212e-01 9.59252827e-02 -8.04681853e-04 4.19779243e+02] [ 8.08885672e-04 -4.93794239e-06 9.99999673e-01 1.71171016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.81, Z:1.71 [[ 9.54507360e-02 -9.95434151e-01 -9.01917084e-05 3.19797752e+02] [ 9.95433827e-01 9.54507777e-02 -8.03819683e-04 4.19805118e+02] [ 8.08758433e-04 -1.30546970e-05 9.99999673e-01 1.71094814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.83, Z:1.71 [[ 9.59316430e-02 -9.95387920e-01 -8.98940634e-05 3.19798598e+02] [ 9.95387596e-01 9.59316843e-02 -8.03852969e-04 4.19831623e+02] [ 8.08769223e-04 -1.23644997e-05 9.99999673e-01 1.71025642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.86, Z:1.71 [[ 9.65713925e-02 -9.95326056e-01 -8.95837152e-05 3.19801451e+02] [ 9.95325732e-01 9.65714334e-02 -8.03887553e-04 4.19860272e+02] [ 8.08781456e-04 -1.15324364e-05 9.99999673e-01 1.70948526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.89, Z:1.71 [[ 9.69316585e-02 -9.95291035e-01 -9.32522691e-05 3.19802416e+02] [ 9.95290711e-01 9.69317023e-02 -8.03479129e-04 4.19885451e+02] [ 8.08734675e-04 -1.49305527e-05 9.99999673e-01 1.71104819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.91, Z:1.71 [[ 9.83400642e-02 -9.95152865e-01 -8.91440663e-05 3.19802402e+02] [ 9.95152540e-01 9.83401041e-02 -8.03934666e-04 4.19910615e+02] [ 8.08804322e-04 -9.65295741e-06 9.99999673e-01 1.71194159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.80, Y:419.94, Z:1.71 [[ 9.88447961e-02 -9.95102858e-01 -8.89004115e-05 3.19804030e+02] [ 9.95102534e-01 9.88448357e-02 -8.03961609e-04 4.19937443e+02] [ 8.08811841e-04 -8.99760339e-06 9.99999673e-01 1.71241598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:419.96, Z:1.71 [[ 9.92937726e-02 -9.95058159e-01 -8.85966481e-05 3.19805230e+02] [ 9.95057834e-01 9.92938118e-02 -8.03995082e-04 4.19962481e+02] [ 8.08818965e-04 -8.32708386e-06 9.99999673e-01 1.71278741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:419.99, Z:1.71 [[ 1.00925110e-01 -9.94894022e-01 -8.82802497e-05 3.19805207e+02] [ 9.94893697e-01 1.00925148e-01 -8.04029822e-04 4.19989733e+02] [ 8.08834160e-04 -6.68266620e-06 9.99999673e-01 1.71240106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.81, Y:420.02, Z:1.71 [[ 1.00709227e-01 -9.94915898e-01 -8.79928110e-05 3.19806510e+02] [ 9.94915573e-01 1.00709265e-01 -8.04061278e-04 4.20017558e+02] [ 8.08835039e-04 -6.56902848e-06 9.99999673e-01 1.71271265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:420.04, Z:1.71 [[ 1.02224163e-01 -9.94761385e-01 -8.88163356e-05 3.19809105e+02] [ 9.94761060e-01 1.02224201e-01 -8.03971358e-04 4.20043430e+02] [ 8.08838840e-04 -6.16573321e-06 9.99999673e-01 1.71282854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.81, Y:420.07, Z:1.71 [[ 1.03549295e-01 -9.94624319e-01 -8.75426055e-05 3.19811008e+02] [ 9.94623994e-01 1.03549332e-01 -8.04110028e-04 4.20070916e+02] [ 8.08852367e-04 -3.80694940e-06 9.99999673e-01 1.71270603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.742755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.81, Y:420.10, Z:1.71 [[ 1.03822003e-01 -9.94595890e-01 -8.72545291e-05 3.19813156e+02] [ 9.94595565e-01 1.03822039e-01 -8.04141286e-04 4.20097260e+02] [ 8.08854561e-04 -3.29540873e-06 9.99999673e-01 1.71211569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.772755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.82, Y:420.12, Z:1.71 [[ 1.03467133e-01 -9.94632870e-01 -8.69537211e-05 3.19815770e+02] [ 9.94632544e-01 1.03467169e-01 -8.04173812e-04 4.20124063e+02] [ 8.08854561e-04 -3.28144240e-06 9.99999673e-01 1.71213738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.802755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.82, Y:420.15, Z:1.71 [[ 1.04456174e-01 -9.94529487e-01 -8.66667873e-05 3.19817546e+02] [ 9.94529162e-01 1.04456210e-01 -8.04204734e-04 4.20151687e+02] [ 8.08858205e-04 -2.18849777e-06 9.99999673e-01 1.71086719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:420.18, Z:1.71 [[ 1.04643335e-01 -9.94509811e-01 -8.63857728e-05 3.19820109e+02] [ 9.94509486e-01 1.04643371e-01 -8.04234918e-04 4.20177312e+02] [ 8.08859215e-04 -1.75364626e-06 9.99999673e-01 1.71130233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:420.21, Z:1.71 [[ 1.04312775e-01 -9.94544538e-01 -8.60606039e-05 3.19823298e+02] [ 9.94544213e-01 1.04312811e-01 -8.04269713e-04 4.20205076e+02] [ 8.08859273e-04 -1.69546977e-06 9.99999673e-01 1.71075574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:420.23, Z:1.71 [[ 1.03459410e-01 -9.94633673e-01 -8.83333017e-05 3.19825846e+02] [ 9.94633348e-01 1.03459448e-01 -8.04027252e-04 4.20230751e+02] [ 8.08851494e-04 -4.67506246e-06 9.99999673e-01 1.70972157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:420.26, Z:1.71 [[ 1.01824809e-01 -9.94802343e-01 -8.53907175e-05 3.19829165e+02] [ 9.94802018e-01 1.01824844e-01 -8.04339645e-04 4.20256846e+02] [ 8.08853859e-04 -3.04512771e-06 9.99999673e-01 1.70876929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:420.28, Z:1.71 [[ 1.00304803e-01 -9.94956753e-01 -8.50913629e-05 3.19832419e+02] [ 9.94956427e-01 1.00304839e-01 -8.04371312e-04 4.20284148e+02] [ 8.08849744e-04 -3.97989255e-06 9.99999673e-01 1.70845707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:420.31, Z:1.71 [[ 9.82922332e-02 -9.95157591e-01 -8.48075092e-05 3.19835694e+02] [ 9.95157265e-01 9.82922696e-02 -8.04401239e-04 4.20311061e+02] [ 8.08841921e-04 -5.33041484e-06 9.99999673e-01 1.70803539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.84, Y:420.34, Z:1.71 [[ 9.57980482e-02 -9.95400787e-01 -8.45260911e-05 3.19838798e+02] [ 9.95400462e-01 9.57980852e-02 -8.04430809e-04 4.20336585e+02] [ 8.08828498e-04 -7.07440879e-06 9.99999673e-01 1.70744002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.85, Y:420.37, Z:1.71 [[ 9.34057814e-02 -9.95628120e-01 -8.42004662e-05 3.19847368e+02] [ 9.95627795e-01 9.34058189e-02 -8.04464891e-04 4.20369472e+02] [ 8.08812680e-04 -8.69065275e-06 9.99999673e-01 1.70616424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.85, Y:420.39, Z:1.71 [[ 9.21107480e-02 -9.95748764e-01 -9.81442927e-05 3.19850267e+02] [ 9.95748440e-01 9.21107972e-02 -8.03003747e-04 4.20392047e+02] [ 8.08630137e-04 -2.37617507e-05 9.99999673e-01 1.70603124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:319.85, Y:420.42, Z:1.71 [[ 8.52976328e-02 -9.96355512e-01 -8.94081333e-05 3.19849274e+02] [ 9.96355188e-01 8.52976771e-02 -8.03913892e-04 4.20415995e+02] [ 8.08610343e-04 -2.05103055e-05 9.99999673e-01 1.70779851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.44, Z:1.71 [[ 8.93216389e-02 -9.96002830e-01 -8.33052496e-05 3.19855301e+02] [ 9.96002505e-01 8.93216771e-02 -8.04545804e-04 4.20441995e+02] [ 8.08770863e-04 -1.11088875e-05 9.99999673e-01 1.70876914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.85, Y:420.47, Z:1.71 [[ 8.41641834e-02 -9.96451897e-01 -8.30077797e-05 3.19853399e+02] [ 9.96451572e-01 8.41642230e-02 -8.04576494e-04 4.20469152e+02] [ 8.08708059e-04 -1.49967090e-05 9.99999673e-01 1.70968172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.50, Z:1.71 [[ 8.78983984e-02 -9.96129442e-01 -8.27277933e-05 3.19862698e+02] [ 9.96129117e-01 8.78984366e-02 -8.04605282e-04 4.20502318e+02] [ 8.08762654e-04 -1.16840481e-05 9.99999673e-01 1.70976313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.52, Z:1.71 [[ 8.56156568e-02 -9.96328234e-01 -9.85384270e-05 3.19859139e+02] [ 9.96327911e-01 8.56157084e-02 -8.02976564e-04 4.20522546e+02] [ 8.08464659e-04 -2.94292192e-05 9.99999673e-01 1.70941018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.252755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.86, Y:420.54, Z:1.71 [[ 8.98897422e-02 -9.95951720e-01 -8.20944457e-05 3.19860162e+02] [ 9.95951395e-01 8.98897792e-02 -8.04654253e-04 4.20544096e+02] [ 8.08776238e-04 -9.43191436e-06 9.99999673e-01 1.70768400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.57, Z:1.71 [[ 8.74953972e-02 -9.96164921e-01 -7.22942342e-05 3.19861562e+02] [ 9.96164595e-01 8.74954270e-02 -8.05648989e-04 4.20574326e+02] [ 8.08884677e-04 -1.52637829e-06 9.99999673e-01 1.70735051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.60, Z:1.71 [[ 8.75345894e-02 -9.96161477e-01 -8.17772907e-05 3.19863084e+02] [ 9.96161152e-01 8.75346269e-02 -8.04685260e-04 4.20600333e+02] [ 8.08754802e-04 -1.10255663e-05 9.99999673e-01 1.70677614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.86, Y:420.63, Z:1.71 [[ 8.73169623e-02 -9.96180577e-01 -8.14773590e-05 3.19864977e+02] [ 9.96180252e-01 8.73169997e-02 -8.04715628e-04 4.20627200e+02] [ 8.08756437e-04 -1.09008119e-05 9.99999673e-01 1.70596950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.87, Y:420.65, Z:1.71 [[ 8.67222375e-02 -9.96232527e-01 -8.11935518e-05 3.19867038e+02] [ 9.96232202e-01 8.67222748e-02 -8.04744262e-04 4.20652981e+02] [ 8.08753699e-04 -1.10984078e-05 9.99999673e-01 1.70552653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4027550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.87, Y:420.68, Z:1.71 [[ 8.50745863e-02 -9.96374583e-01 -7.79534586e-05 3.19869717e+02] [ 9.96374257e-01 8.50746215e-02 -8.05069373e-04 4.20680334e+02] [ 8.08782522e-04 -9.17987554e-06 9.99999673e-01 1.70528036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.432755096 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:319.87, Y:420.71, Z:1.71 [[ 8.30224219e-02 -9.96547676e-01 -8.05515898e-05 3.19872742e+02] [ 9.96547351e-01 8.30224599e-02 -8.04809332e-04 4.20707314e+02] [ 8.08718461e-04 -1.34562535e-05 9.99999673e-01 1.70595490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:420.73, Z:1.71 [[ 8.24112009e-02 -9.96598408e-01 -8.02610548e-05 3.19874900e+02] [ 9.96598084e-01 8.24112389e-02 -8.04838305e-04 4.20733815e+02] [ 8.08714987e-04 -1.36603221e-05 9.99999673e-01 1.70605517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:420.76, Z:1.71 [[ 8.03249587e-02 -9.96768727e-01 -7.99294949e-05 3.19876224e+02] [ 9.96768402e-01 8.03249971e-02 -8.04871232e-04 4.20759508e+02] [ 8.08690809e-04 -1.50199464e-05 9.99999673e-01 1.70558532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:420.79, Z:1.71 [[ 7.83568074e-02 -9.96925376e-01 -7.95628917e-05 3.19877671e+02] [ 9.96925051e-01 7.83568461e-02 -8.04907469e-04 4.20786777e+02] [ 8.08666978e-04 -1.62482603e-05 9.99999673e-01 1.70584863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:420.81, Z:1.71 [[ 7.71761267e-02 -9.97017472e-01 -7.92762738e-05 3.19879770e+02] [ 9.97017147e-01 7.71761656e-02 -8.04935698e-04 4.20814231e+02] [ 8.08653193e-04 -1.69179849e-05 9.99999673e-01 1.70649365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:420.84, Z:1.71 [[ 7.61493798e-02 -9.97096418e-01 -7.89926466e-05 3.19881825e+02] [ 9.97096093e-01 7.61494187e-02 -8.04963531e-04 4.20840855e+02] [ 8.08641497e-04 -1.74657857e-05 9.99999673e-01 1.70751074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.88, Y:420.87, Z:1.71 [[ 7.45624515e-02 -9.97216343e-01 -7.82515104e-05 3.19884337e+02] [ 9.97216018e-01 7.45624904e-02 -8.05035995e-04 4.20866747e+02] [ 8.08629679e-04 -1.80082023e-05 9.99999673e-01 1.70920504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:420.89, Z:1.71 [[ 7.42993804e-02 -9.97235978e-01 -7.84944513e-05 3.19887111e+02] [ 9.97235653e-01 7.42994196e-02 -8.05012307e-04 4.20893802e+02] [ 8.08619327e-04 -1.84655498e-05 9.99999673e-01 1.70954317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:420.92, Z:1.71 [[ 7.48968536e-02 -9.97191283e-01 -7.82140692e-05 3.19893306e+02] [ 9.97190958e-01 7.48968923e-02 -8.05039547e-04 4.20921330e+02] [ 8.08636410e-04 -1.76994336e-05 9.99999673e-01 1.71362806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:420.94, Z:1.71 [[ 6.74321765e-02 -9.97723857e-01 -7.79531278e-05 3.19885786e+02] [ 9.97723533e-01 6.74322174e-02 -8.05064814e-04 4.20944958e+02] [ 8.08488924e-04 -2.34883975e-05 9.99999673e-01 1.70873236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.732755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:319.89, Y:420.97, Z:1.71 [[ 6.69965141e-02 -9.97753207e-01 -6.74665818e-05 3.19888050e+02] [ 9.97752882e-01 6.69965467e-02 -8.06072347e-04 4.20971125e+02] [ 8.08781298e-04 -1.33109391e-05 9.99999673e-01 1.70663306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:421.00, Z:1.71 [[ 6.99659872e-02 -9.97549376e-01 -6.52597119e-05 3.19894078e+02] [ 9.97549050e-01 6.99660171e-02 -8.06283359e-04 4.21002598e+02] [ 8.08873424e-04 -8.68735239e-06 9.99999673e-01 1.70987483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.03, Z:1.71 [[ 6.97294519e-02 -9.97565937e-01 -7.72097163e-05 3.19895990e+02] [ 9.97565612e-01 6.97294915e-02 -8.05137398e-04 4.21029895e+02] [ 8.08561437e-04 -2.08799684e-05 9.99999673e-01 1.70953111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.822755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:319.90, Y:421.06, Z:1.71 [[ 6.89807185e-02 -9.97617990e-01 -7.69267812e-05 3.19897698e+02] [ 9.97617666e-01 6.89807581e-02 -8.05164430e-04 4.21056828e+02] [ 8.08552988e-04 -2.12026950e-05 9.99999673e-01 1.70749877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.09, Z:1.71 [[ 7.41009961e-02 -9.97250739e-01 -7.66450971e-05 3.19904842e+02] [ 9.97250414e-01 7.41010339e-02 -8.05191243e-04 4.21090870e+02] [ 8.08657043e-04 -1.67688816e-05 9.99999673e-01 1.70917728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.11, Z:1.71 [[ 6.87214364e-02 -9.97635883e-01 -9.46946865e-05 3.19898332e+02] [ 9.97635560e-01 6.87214905e-02 -8.03461480e-04 4.21110437e+02] [ 8.08069563e-04 -3.92557596e-05 9.99999673e-01 1.70721129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.90, Y:421.14, Z:1.71 [[ 6.84896199e-02 -9.97651826e-01 -7.62459495e-05 3.19899970e+02] [ 9.97651501e-01 6.84896592e-02 -8.05208409e-04 4.21136552e+02] [ 8.08539698e-04 -2.09184681e-05 9.99999673e-01 1.70550342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.90, Y:421.16, Z:1.71 [[ 6.66719550e-02 -9.97774947e-01 -7.42583027e-05 3.19900409e+02] [ 9.97774622e-01 6.66719933e-02 -8.05395649e-04 4.21162926e+02] [ 8.08554550e-04 -2.03957475e-05 9.99999673e-01 1.70680749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.972755096 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:319.90, Y:421.19, Z:1.70 [[ 6.54037225e-02 -9.97858882e-01 -7.55489160e-05 3.19902160e+02] [ 9.97858557e-01 6.54037622e-02 -8.05274567e-04 4.21189246e+02] [ 8.08491562e-04 -2.27191780e-05 9.99999673e-01 1.70454394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.22, Z:1.71 [[ 6.51853641e-02 -9.97873170e-01 -7.52495018e-05 3.19902775e+02] [ 9.97872845e-01 6.51854036e-02 -8.05302545e-04 4.21215629e+02] [ 8.08494972e-04 -2.25954949e-05 9.99999673e-01 1.70731223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.24, Z:1.71 [[ 6.45485106e-02 -9.97914568e-01 -7.49494907e-05 3.19901633e+02] [ 9.97914243e-01 6.45485501e-02 -8.05330466e-04 4.21241197e+02] [ 8.08488884e-04 -2.28102822e-05 9.99999673e-01 1.70629608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.28, Z:1.71 [[ 6.91806878e-02 -9.97604143e-01 -7.46368546e-05 3.19909151e+02] [ 9.97603819e-01 6.91807256e-02 -8.05359439e-04 4.21276703e+02] [ 8.08593345e-04 -1.87426912e-05 9.99999673e-01 1.70503276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.29, Z:1.70 [[ 6.41169004e-02 -9.97942390e-01 -9.52731461e-05 3.19902732e+02] [ 9.97942068e-01 6.41169564e-02 -8.03435987e-04 4.21294454e+02] [ 8.07891453e-04 -4.35632553e-05 9.99999673e-01 1.70464053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.122755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.90, Y:421.32, Z:1.71 [[ 6.22696987e-02 -9.98059357e-01 -7.22435134e-05 3.19903683e+02] [ 9.98059032e-01 6.22697368e-02 -8.05548240e-04 4.21322540e+02] [ 8.08483543e-04 -2.19420448e-05 9.99999673e-01 1.70659027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.35, Z:1.71 [[ 6.16988345e-02 -9.98094809e-01 -7.36265331e-05 3.19905228e+02] [ 9.98094485e-01 6.16988738e-02 -8.05421813e-04 4.21348414e+02] [ 8.08430005e-04 -2.37926494e-05 9.99999673e-01 1.70798879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.182755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:319.91, Y:421.38, Z:1.71 [[ 6.03905702e-02 -9.98174821e-01 -7.34083051e-05 3.19906162e+02] [ 9.98174497e-01 6.03906098e-02 -8.05441703e-04 4.21375227e+02] [ 8.08404800e-04 -2.46332143e-05 9.99999673e-01 1.70673207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.40, Z:1.71 [[ 5.95863095e-02 -9.98223155e-01 -7.31077259e-05 3.19903774e+02] [ 9.98222830e-01 5.95863491e-02 -8.05468984e-04 4.21401629e+02] [ 8.08394013e-04 -2.49828768e-05 9.99999673e-01 1.70778807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.43, Z:1.71 [[ 5.91604899e-02 -9.98248482e-01 -7.28007368e-05 3.19903992e+02] [ 9.98248157e-01 5.91605294e-02 -8.05496730e-04 4.21428638e+02] [ 8.08392818e-04 -2.50196201e-05 9.99999673e-01 1.70733448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.272755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:319.90, Y:421.45, Z:1.70 [[ 5.86321874e-02 -9.98279651e-01 -7.25083389e-05 3.19904621e+02] [ 9.98279326e-01 5.86322269e-02 -8.05523050e-04 4.21454753e+02] [ 8.08388595e-04 -2.51539973e-05 9.99999673e-01 1.70491975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.48, Z:1.71 [[ 5.84107491e-02 -9.98292632e-01 -7.22021303e-05 3.19902376e+02] [ 9.98292307e-01 5.84107883e-02 -8.05550496e-04 4.21483088e+02] [ 8.08392508e-04 -2.50260234e-05 9.99999673e-01 1.70626602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.332755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:319.90, Y:421.51, Z:1.70 [[ 5.90140273e-02 -9.98257151e-01 -7.66424536e-05 3.19903928e+02] [ 9.98256826e-01 5.90140700e-02 -8.05153468e-04 4.21508676e+02] [ 8.08273189e-04 -2.89935038e-05 9.99999673e-01 1.70373052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.53, Z:1.71 [[ 5.93063167e-02 -9.98239829e-01 -7.15936984e-05 3.19903896e+02] [ 9.98239504e-01 5.93063552e-02 -8.05602149e-04 4.21534694e+02] [ 8.08430113e-04 -2.36903618e-05 9.99999673e-01 1.70632302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.392755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:319.90, Y:421.56, Z:1.70 [[ 5.87965089e-02 -9.98269986e-01 -7.12890456e-05 3.19903673e+02] [ 9.98269662e-01 5.87965473e-02 -8.05629108e-04 4.21562256e+02] [ 8.08426908e-04 -2.37975124e-05 9.99999673e-01 1.70285663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.90, Y:421.59, Z:1.70 [[ 5.86512377e-02 -9.98278532e-01 -7.10014737e-05 3.19903509e+02] [ 9.98278207e-01 5.86512759e-02 -8.05654451e-04 4.21589566e+02] [ 8.08431870e-04 -2.36265931e-05 9.99999673e-01 1.70424359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.452755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.90, Y:421.62, Z:1.70 [[ 5.68057395e-02 -9.98385248e-01 -7.07098291e-05 3.19904201e+02] [ 9.98384923e-01 5.68057780e-02 -8.05680047e-04 4.21616116e+02] [ 8.08395800e-04 -2.48283764e-05 9.99999673e-01 1.70196132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.64, Z:1.70 [[ 5.68750755e-02 -9.98381300e-01 -7.04046830e-05 3.19905038e+02] [ 9.98380976e-01 5.68751138e-02 -8.05706712e-04 4.21643269e+02] [ 8.08406789e-04 -2.44660660e-05 9.99999673e-01 1.70330094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.512755096 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:319.91, Y:421.67, Z:1.70 [[ 5.51760618e-02 -9.98476638e-01 -7.02355546e-05 3.19906362e+02] [ 9.98476314e-01 5.51761005e-02 -8.05721430e-04 4.21670133e+02] [ 8.08369349e-04 -2.56720022e-05 9.99999673e-01 1.69950217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5427550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.91, Y:421.70, Z:1.70 [[ 5.48049646e-02 -9.98497076e-01 -6.98324628e-05 3.19907091e+02] [ 9.98496751e-01 5.48050032e-02 -8.05756365e-04 4.21697031e+02] [ 8.08372542e-04 -2.55680381e-05 9.99999673e-01 1.70155966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.572755096 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:319.91, Y:421.73, Z:1.70 [[ 5.45504396e-02 -9.98511014e-01 -6.95473523e-05 3.19910174e+02] [ 9.98510689e-01 5.45504780e-02 -8.05780973e-04 4.21727041e+02] [ 8.08375017e-04 -2.54880684e-05 9.99999673e-01 1.69935928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.75, Z:1.70 [[ 5.16762726e-02 -9.98663886e-01 -7.54079700e-05 3.19908193e+02] [ 9.98663562e-01 5.16763166e-02 -8.05275338e-04 4.21754236e+02] [ 8.08096204e-04 -3.36935641e-05 9.99999673e-01 1.70162599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.632755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.91, Y:421.78, Z:1.70 [[ 5.18753660e-02 -9.98653564e-01 -7.64270158e-05 3.19908265e+02] [ 9.98653240e-01 5.18754107e-02 -8.05187646e-04 4.21778504e+02] [ 8.08068195e-04 -3.45546831e-05 9.99999673e-01 1.70214840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6627550960001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:319.91, Y:421.81, Z:1.70 [[ 5.13919124e-02 -9.98678560e-01 -6.87731483e-05 3.19909768e+02] [ 9.98678236e-01 5.13919512e-02 -8.05840852e-04 4.21805869e+02] [ 8.08310369e-04 -2.72685439e-05 9.99999673e-01 1.70029481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.83, Z:1.70 [[ 5.27119282e-02 -9.98609758e-01 -6.73176709e-05 3.19910772e+02] [ 9.98609433e-01 5.27119654e-02 -8.05964495e-04 4.21833350e+02] [ 8.08392456e-04 -2.47401186e-05 9.99999673e-01 1.70257501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.86, Z:1.70 [[ 5.24967152e-02 -9.98621095e-01 -6.50878920e-05 3.19912897e+02] [ 9.98620770e-01 5.24967506e-02 -8.06153362e-04 4.21859977e+02] [ 8.08458656e-04 -2.26777174e-05 9.99999673e-01 1.70259601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.752755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:319.91, Y:421.89, Z:1.70 [[ 5.26094481e-02 -9.98615162e-01 -6.48440111e-05 3.19912994e+02] [ 9.98614837e-01 5.26094833e-02 -8.06173864e-04 4.21885806e+02] [ 8.08468853e-04 -2.23418296e-05 9.99999673e-01 1.70106275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.91, Z:1.70 [[ 5.31481815e-02 -9.98586635e-01 -6.39096205e-05 3.19913877e+02] [ 9.98586309e-01 5.31482158e-02 -8.06252145e-04 4.21912588e+02] [ 8.08509298e-04 -2.09684367e-05 9.99999673e-01 1.70157696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:421.94, Z:1.70 [[ 5.26021263e-02 -9.98615548e-01 -6.47308394e-05 3.19914511e+02] [ 9.98615223e-01 5.26021614e-02 -8.06183508e-04 4.21939891e+02] [ 8.08472367e-04 -2.22342349e-05 9.99999673e-01 1.70082640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.842755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.92, Y:421.97, Z:1.70 [[ 5.36689544e-02 -9.98558781e-01 -6.50174463e-05 3.19916201e+02] [ 9.98558456e-01 5.36689894e-02 -8.06159647e-04 4.21965377e+02] [ 8.08487215e-04 -2.16579755e-05 9.99999673e-01 1.69983390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.872755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:319.92, Y:421.99, Z:1.70 [[ 5.30005715e-02 -9.98594480e-01 -6.30955185e-05 3.19916527e+02] [ 9.98594155e-01 5.30006051e-02 -8.06319565e-04 4.21993843e+02] [ 8.08530368e-04 -2.02714182e-05 9.99999673e-01 1.69965342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9027550960001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:319.92, Y:422.02, Z:1.70 [[ 5.40296631e-02 -9.98539329e-01 -6.69314798e-05 3.19918045e+02] [ 9.98539004e-01 5.40296995e-02 -8.06001022e-04 4.22019435e+02] [ 8.08440007e-04 -2.32857296e-05 9.99999673e-01 1.69777421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.05, Z:1.70 [[ 5.53529111e-02 -9.98466850e-01 -6.35423330e-05 3.19918594e+02] [ 9.98466525e-01 5.53529444e-02 -8.06281436e-04 4.22047010e+02] [ 8.08562541e-04 -1.88148677e-05 9.99999673e-01 1.69924405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.07, Z:1.70 [[ 5.61701526e-02 -9.98421209e-01 -6.58138162e-05 3.19919784e+02] [ 9.98420883e-01 5.61701875e-02 -8.06094028e-04 4.22073298e+02] [ 8.08518148e-04 -2.04314639e-05 9.99999673e-01 1.69975248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.10, Z:1.70 [[ 5.66347066e-02 -9.98394965e-01 -6.42980015e-05 3.19920652e+02] [ 9.98394640e-01 5.66347400e-02 -8.06218247e-04 4.22101070e+02] [ 8.08565739e-04 -1.85348462e-05 9.99999673e-01 1.69984011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.13, Z:1.70 [[ 5.87695884e-02 -9.98271572e-01 -6.44877497e-05 3.19920210e+02] [ 9.98271247e-01 5.87696213e-02 -8.06202790e-04 4.22127158e+02] [ 8.08599247e-04 -1.69960602e-05 9.99999673e-01 1.69916741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.15, Z:1.70 [[ 6.14565518e-02 -9.98109758e-01 -6.53946445e-05 3.19922126e+02] [ 9.98109432e-01 6.14565846e-02 -8.06129221e-04 4.22150366e+02] [ 8.08624373e-04 -1.57290893e-05 9.99999673e-01 1.69850987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.92, Y:422.18, Z:1.70 [[ 6.02386294e-02 -9.98184003e-01 -5.82551264e-05 3.19923312e+02] [ 9.98183677e-01 6.02386568e-02 -8.06704228e-04 4.22179370e+02] [ 8.08748467e-04 -9.55455928e-06 9.99999673e-01 1.69879318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.112755096 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:319.93, Y:422.21, Z:1.70 [[ 6.08895532e-02 -9.98144508e-01 -6.47761535e-05 3.19926274e+02] [ 9.98144182e-01 6.08895856e-02 -8.06180267e-04 4.22205619e+02] [ 8.08628599e-04 -1.55679845e-05 9.99999673e-01 1.69700515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:422.23, Z:1.70 [[ 6.10768637e-02 -9.98133064e-01 -6.29237997e-05 3.19928102e+02] [ 9.98132738e-01 6.10768946e-02 -8.06328177e-04 4.22231928e+02] [ 8.08666004e-04 -1.35583083e-05 9.99999673e-01 1.69910295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:422.26, Z:1.70 [[ 6.09037348e-02 -9.98143643e-01 -6.40834416e-05 3.19930208e+02] [ 9.98143317e-01 6.09037667e-02 -8.06236004e-04 4.22258240e+02] [ 8.08642264e-04 -1.48616753e-05 9.99999673e-01 1.69932931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:422.28, Z:1.70 [[ 6.04887567e-02 -9.98168877e-01 -6.38633668e-05 3.19932358e+02] [ 9.98168551e-01 6.04887885e-02 -8.06253436e-04 4.22284914e+02] [ 8.08640104e-04 -1.49771364e-05 9.99999673e-01 1.70009431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:422.31, Z:1.70 [[ 6.01186886e-02 -9.98191234e-01 -6.35512709e-05 3.19934372e+02] [ 9.98190908e-01 6.01187203e-02 -8.06278035e-04 4.22309875e+02] [ 8.08640288e-04 -1.49639227e-05 9.99999673e-01 1.70046748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.94, Y:422.34, Z:1.70 [[ 6.14878637e-02 -9.98107829e-01 -6.33040460e-05 3.19939733e+02] [ 9.98107504e-01 6.14878948e-02 -8.06297445e-04 4.22339854e+02] [ 8.08664225e-04 -1.36067359e-05 9.99999673e-01 1.69912626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.94, Y:422.36, Z:1.70 [[ 6.09433053e-02 -9.98141227e-01 -6.96981482e-05 3.19940950e+02] [ 9.98140902e-01 6.09433418e-02 -8.05791148e-04 4.22362799e+02] [ 8.08541003e-04 -2.04609966e-05 9.99999673e-01 1.70022807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.94, Y:422.39, Z:1.70 [[ 5.85834395e-02 -9.98282514e-01 -5.97869316e-05 3.19943134e+02] [ 9.98282188e-01 5.85834687e-02 -8.06568662e-04 4.22390644e+02] [ 8.08685917e-04 -1.24326625e-05 9.99999673e-01 1.70198317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:422.41, Z:1.70 [[ 5.79749530e-02 -9.98318036e-01 -6.33158349e-05 3.19945865e+02] [ 9.98317710e-01 5.79749852e-02 -8.06293029e-04 4.22414831e+02] [ 8.08607608e-04 -1.64645189e-05 9.99999673e-01 1.70136066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:422.44, Z:1.70 [[ 5.57101118e-02 -9.98446984e-01 -6.02646591e-05 3.19949743e+02] [ 9.98446658e-01 5.57101423e-02 -8.06529501e-04 4.22441642e+02] [ 8.08634300e-04 -1.52391988e-05 9.99999673e-01 1.69739306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:422.47, Z:1.70 [[ 6.06473681e-02 -9.98159252e-01 -6.21440818e-05 3.19959687e+02] [ 9.98158927e-01 6.06473985e-02 -8.06384663e-04 4.22473148e+02] [ 8.08669189e-04 -1.31245626e-05 9.99999673e-01 1.69639902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:422.50, Z:1.70 [[ 5.24583535e-02 -9.98623110e-01 -7.64347382e-05 3.19960489e+02] [ 9.98622786e-01 5.24583981e-02 -8.05245772e-04 4.22495616e+02] [ 8.08146681e-04 -3.40876038e-05 9.99999673e-01 1.69857957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.96, Y:422.52, Z:1.70 [[ 5.12472139e-02 -9.98685996e-01 -6.75190446e-05 3.19963801e+02] [ 9.98685671e-01 5.12472517e-02 -8.05947499e-04 4.22522285e+02] [ 8.08348646e-04 -2.61277385e-05 9.99999673e-01 1.69872700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:422.55, Z:1.70 [[ 5.02245589e-02 -9.98737948e-01 -6.68423577e-05 3.19966738e+02] [ 9.98737623e-01 5.02245965e-02 -8.06000340e-04 4.22548023e+02] [ 8.08340257e-04 -2.62769659e-05 9.99999673e-01 1.69860761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:422.57, Z:1.70 [[ 5.06520763e-02 -9.98716358e-01 -6.51357867e-05 3.19971052e+02] [ 9.98716033e-01 5.06521123e-02 -8.06132646e-04 4.22573203e+02] [ 8.08397125e-04 -2.42198622e-05 9.99999673e-01 1.69866850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.97, Y:422.60, Z:1.70 [[ 5.20401893e-02 -9.98644989e-01 -6.40068544e-05 3.19974502e+02] [ 9.98644664e-01 5.20402241e-02 -8.06219730e-04 4.22597852e+02] [ 8.08458225e-04 -2.19642763e-05 9.99999673e-01 1.69641761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:422.63, Z:1.70 [[ 5.42268119e-02 -9.98528642e-01 -6.18097548e-05 3.19981393e+02] [ 9.98528317e-01 5.42268442e-02 -8.06388138e-04 4.22629977e+02] [ 8.08553400e-04 -1.79909325e-05 9.99999673e-01 1.69506139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:422.65, Z:1.70 [[ 5.52666469e-02 -9.98471628e-01 -7.33465046e-05 3.19982902e+02] [ 9.98471304e-01 5.52666881e-02 -8.05503421e-04 4.22653289e+02] [ 8.08325931e-04 -2.87169069e-05 9.99999673e-01 1.69530913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:422.68, Z:1.69 [[ 5.74485314e-02 -9.98348467e-01 -6.49770544e-05 3.19986407e+02] [ 9.98348142e-01 5.74485651e-02 -8.06144688e-04 4.22678577e+02] [ 8.08546152e-04 -1.85578932e-05 9.99999673e-01 1.69480808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:422.71, Z:1.70 [[ 5.74796085e-02 -9.98346679e-01 -6.44054358e-05 3.19988545e+02] [ 9.98346353e-01 5.74796418e-02 -8.06188263e-04 4.22706244e+02] [ 8.08557376e-04 -1.79595462e-05 9.99999673e-01 1.69504422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:422.73, Z:1.69 [[ 6.33756053e-02 -9.97989744e-01 -6.68662646e-05 3.19992801e+02] [ 9.97989418e-01 6.33756386e-02 -8.06004154e-04 4.22730747e+02] [ 8.08621571e-04 -1.56508233e-05 9.99999673e-01 1.69470276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:422.76, Z:1.69 [[ 6.47561056e-02 -9.97901119e-01 -5.97590208e-05 3.19995885e+02] [ 9.97900793e-01 6.47561328e-02 -8.06530758e-04 4.22758983e+02] [ 8.08707709e-04 -7.40578332e-06 9.99999673e-01 1.69499915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:422.78, Z:1.70 [[ 7.10618356e-02 -9.97471910e-01 -6.45454991e-05 3.20001002e+02] [ 9.97471584e-01 7.10618646e-02 -8.06173941e-04 4.22782005e+02] [ 8.08722584e-04 -7.09410122e-06 9.99999673e-01 1.69641132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.00, Y:422.81, Z:1.70 [[ 7.24814163e-02 -9.97369761e-01 -5.97033960e-05 3.20004569e+02] [ 9.97369435e-01 7.24814408e-02 -8.06532376e-04 4.22808643e+02] [ 8.08738392e-04 -1.08773346e-06 9.99999673e-01 1.69593823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:422.84, Z:1.70 [[ 7.36182133e-02 -9.97286496e-01 -5.94148939e-05 3.20008387e+02] [ 9.97286170e-01 7.36182372e-02 -8.06553629e-04 4.22835643e+02] [ 8.08739062e-04 1.23385049e-07 9.99999673e-01 1.69609634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.01, Y:422.86, Z:1.70 [[ 7.38999890e-02 -9.97265656e-01 -5.91260321e-05 3.20014258e+02] [ 9.97265330e-01 7.39000126e-02 -8.06574804e-04 4.22861744e+02] [ 8.08738765e-04 6.41527219e-07 9.99999673e-01 1.69563088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:422.89, Z:1.70 [[ 7.22084999e-02 -9.97389557e-01 -5.88237710e-05 3.20018308e+02] [ 9.97389231e-01 7.22085239e-02 -8.06596847e-04 4.22891066e+02] [ 8.08738850e-04 -4.27047318e-07 9.99999673e-01 1.69522250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:422.92, Z:1.70 [[ 7.18385595e-02 -9.97416271e-01 -6.25166604e-05 3.20022140e+02] [ 9.97415945e-01 7.18385866e-02 -8.06326947e-04 4.22916856e+02] [ 8.08734725e-04 -4.42974760e-06 9.99999673e-01 1.69535054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:422.94, Z:1.70 [[ 7.20394100e-02 -9.97401785e-01 -6.09839417e-05 3.20026753e+02] [ 9.97401459e-01 7.20394357e-02 -8.06438232e-04 4.22943775e+02] [ 8.08736180e-04 -2.73013797e-06 9.99999673e-01 1.69564011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.03, Y:422.97, Z:1.69 [[ 6.82761908e-02 -9.97666456e-01 -6.11343951e-05 3.20031391e+02] [ 9.97666130e-01 6.82762179e-02 -8.06427393e-04 4.22968915e+02] [ 8.08719585e-04 -5.93192485e-06 9.99999673e-01 1.69355855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.04, Y:423.00, Z:1.69 [[ 6.80378814e-02 -9.97682737e-01 -5.98747298e-05 3.20036588e+02] [ 9.97682411e-01 6.80379075e-02 -8.06517567e-04 4.22995257e+02] [ 8.08722404e-04 -4.86221823e-06 9.99999673e-01 1.69390490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0427550960001 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:320.04, Y:423.02, Z:1.69 [[ 6.46339350e-02 -9.97909040e-01 -5.93984937e-05 3.20042284e+02] [ 9.97908714e-01 6.46339619e-02 -8.06551349e-04 4.23019137e+02] [ 8.08704042e-04 -7.14368695e-06 9.99999673e-01 1.69213285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:423.05, Z:1.69 [[ 6.43426311e-02 -9.97927865e-01 -5.69084667e-05 3.20048712e+02] [ 9.97927538e-01 6.43426560e-02 -8.06727002e-04 4.23048109e+02] [ 8.08716996e-04 -4.88358823e-06 9.99999673e-01 1.69292793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:423.07, Z:1.69 [[ 6.21012245e-02 -9.98069854e-01 -6.13783467e-05 3.20051429e+02] [ 9.98069529e-01 6.21012538e-02 -8.06411561e-04 4.23071239e+02] [ 8.08666741e-04 -1.11807122e-05 9.99999673e-01 1.69057119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:423.10, Z:1.69 [[ 6.05428183e-02 -9.98165600e-01 -5.34229231e-05 3.20060262e+02] [ 9.98165274e-01 6.05428417e-02 -8.06967422e-04 4.23101214e+02] [ 8.08721496e-04 -4.46882462e-06 9.99999673e-01 1.69220584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.06, Y:423.13, Z:1.69 [[ 5.81123961e-02 -9.98310045e-01 -6.06939538e-05 3.20062440e+02] [ 9.98309719e-01 5.81124262e-02 -8.06461631e-04 4.23125498e+02] [ 8.08625820e-04 -1.37259462e-05 9.99999673e-01 1.69040018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.192755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.07, Y:423.16, Z:1.69 [[ 5.98584079e-02 -9.98206876e-01 -5.45955401e-05 3.20069873e+02] [ 9.98206550e-01 5.98584325e-02 -8.06882072e-04 4.23156551e+02] [ 8.08703236e-04 -6.19894957e-06 9.99999673e-01 1.69249032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:423.18, Z:1.69 [[ 5.92447020e-02 -9.98243488e-01 -6.32454595e-05 3.20068435e+02] [ 9.98243163e-01 5.92447338e-02 -8.06286572e-04 4.23179452e+02] [ 8.08617280e-04 -1.53661398e-05 9.99999673e-01 1.69166773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.252755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:320.07, Y:423.20, Z:1.69 [[ 6.12091044e-02 -9.98124963e-01 -5.49914395e-05 3.20069366e+02] [ 9.98124637e-01 6.12091289e-02 -8.06849131e-04 4.23204538e+02] [ 8.08702238e-04 -5.50179786e-06 9.99999673e-01 1.69156517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:423.23, Z:1.69 [[ 6.58413870e-02 -9.97830100e-01 -5.46853181e-05 3.20070567e+02] [ 9.97829774e-01 6.58414097e-02 -8.06869878e-04 4.23230293e+02] [ 8.08719610e-04 -1.44120664e-06 9.99999673e-01 1.69013353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.07, Y:423.26, Z:1.69 [[ 6.78443980e-02 -9.97695913e-01 -5.43818537e-05 3.20071749e+02] [ 9.97695587e-01 6.78444198e-02 -8.06890331e-04 4.23256496e+02] [ 8.08720691e-04 4.86453319e-07 9.99999673e-01 1.68939094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.29, Z:1.69 [[ 7.26889871e-02 -9.97354655e-01 -5.40944939e-05 3.20076204e+02] [ 9.97354329e-01 7.26890071e-02 -8.06909595e-04 4.23286404e+02] [ 8.08707116e-04 4.70206351e-06 9.99999673e-01 1.68973556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.31, Z:1.69 [[ 7.33390409e-02 -9.97307065e-01 -6.02011035e-05 3.20075939e+02] [ 9.97306739e-01 7.33390656e-02 -8.06501333e-04 4.23310697e+02] [ 8.08744570e-04 -8.90931958e-07 9.99999673e-01 1.68830171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.34, Z:1.69 [[ 7.43277859e-02 -9.97233863e-01 -5.34668667e-05 3.20077853e+02] [ 9.97233537e-01 7.43278049e-02 -8.06947531e-04 4.23338003e+02] [ 8.08689478e-04 6.65967078e-06 9.99999673e-01 1.68814694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.36, Z:1.69 [[ 7.45278255e-02 -9.97218933e-01 -5.31737670e-05 3.20078723e+02] [ 9.97218607e-01 7.45278442e-02 -8.06966844e-04 4.23364136e+02] [ 8.08685542e-04 7.11561434e-06 9.99999673e-01 1.68733540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.462755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.08, Y:423.39, Z:1.69 [[ 7.43534895e-02 -9.97231947e-01 -5.28671074e-05 3.20079329e+02] [ 9.97231620e-01 7.43535080e-02 -8.06986934e-04 4.23391186e+02] [ 8.08684006e-04 7.28154343e-06 9.99999673e-01 1.68688296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.42, Z:1.69 [[ 7.28047978e-02 -9.97346208e-01 -5.25739045e-05 3.20079408e+02] [ 9.97345882e-01 7.28048165e-02 -8.07006035e-04 4.23417656e+02] [ 8.08692043e-04 6.31954413e-06 9.99999673e-01 1.68653913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.45, Z:1.69 [[ 7.27610356e-02 -9.97349402e-01 -5.22671350e-05 3.20081927e+02] [ 9.97349075e-01 7.27610540e-02 -8.07025903e-04 4.23446407e+02] [ 8.08689814e-04 6.59146173e-06 9.99999673e-01 1.68718222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.47, Z:1.69 [[ 6.86752812e-02 -9.97639064e-01 -5.66443989e-05 3.20080609e+02] [ 9.97638738e-01 6.86753046e-02 -8.06743380e-04 4.23471697e+02] [ 8.08728782e-04 -1.10731807e-06 9.99999673e-01 1.68689523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.50, Z:1.69 [[ 6.83182107e-02 -9.97663580e-01 -5.16549781e-05 3.20082174e+02] [ 9.97663254e-01 6.83182302e-02 -8.07062722e-04 4.23499420e+02] [ 8.08706061e-04 3.60280754e-06 9.99999673e-01 1.68691605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.08, Y:423.53, Z:1.69 [[ 6.65525162e-02 -9.97782922e-01 -5.13661147e-05 3.20084072e+02] [ 9.97782596e-01 6.65525360e-02 -8.07081106e-04 4.23526095e+02] [ 8.08710290e-04 2.46106313e-06 9.99999673e-01 1.68679635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:423.55, Z:1.69 [[ 6.45345273e-02 -9.97915474e-01 -5.10639357e-05 3.20086259e+02] [ 9.97915147e-01 6.45345475e-02 -8.07100224e-04 4.23553635e+02] [ 8.08713191e-04 1.12835660e-06 9.99999673e-01 1.68686380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.09, Y:423.58, Z:1.69 [[ 6.17536327e-02 -9.98091422e-01 -5.07716820e-05 3.20091891e+02] [ 9.98091096e-01 6.17536535e-02 -8.07118609e-04 4.23582928e+02] [ 8.08713497e-04 -8.32257589e-07 9.99999673e-01 1.68746359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:423.61, Z:1.69 [[ 5.79956164e-02 -9.98316836e-01 -5.56581379e-05 3.20092398e+02] [ 9.98316510e-01 5.79956425e-02 -8.06811392e-04 4.23607089e+02] [ 8.08681326e-04 -8.77291394e-06 9.99999673e-01 1.68726115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:423.63, Z:1.69 [[ 5.32442046e-02 -9.98581520e-01 -5.03393575e-05 3.20094850e+02] [ 9.98581194e-01 5.32442279e-02 -8.07143110e-04 4.23633919e+02] [ 8.08678474e-04 -7.29224278e-06 9.99999673e-01 1.68703322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.66, Z:1.69 [[ 5.14561745e-02 -9.98675252e-01 -5.00525513e-05 3.20095839e+02] [ 9.98674926e-01 5.14561981e-02 -8.07160895e-04 4.23659880e+02] [ 8.08667125e-04 -8.45281617e-06 9.99999673e-01 1.68713554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.69, Z:1.69 [[ 4.97063728e-02 -9.98763873e-01 -4.97526914e-05 3.20096024e+02] [ 9.98763547e-01 4.97063968e-02 -8.07179378e-04 4.23685851e+02] [ 8.08654629e-04 -9.56921539e-06 9.99999673e-01 1.68735069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.71, Z:1.69 [[ 4.70972330e-02 -9.98890309e-01 -4.94283477e-05 3.20097043e+02] [ 9.98889982e-01 4.70972576e-02 -8.07199239e-04 4.23712717e+02] [ 8.08631437e-04 -1.13566307e-05 9.99999673e-01 1.68724960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.74, Z:1.69 [[ 4.56761006e-02 -9.98956301e-01 -4.91148643e-05 3.20098506e+02] [ 9.98955975e-01 4.56761254e-02 -8.07218313e-04 4.23739616e+02] [ 8.08619197e-04 -1.21930023e-05 9.99999673e-01 1.68726577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.77, Z:1.69 [[ 4.44249791e-02 -9.99012722e-01 -4.88043292e-05 3.20099046e+02] [ 9.99012396e-01 4.44250040e-02 -8.07237087e-04 4.23765602e+02] [ 8.08608253e-04 -1.28946391e-05 9.99999673e-01 1.68733872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.79, Z:1.69 [[ 4.42520521e-02 -9.99020397e-01 -4.84921245e-05 3.20099476e+02] [ 9.99020071e-01 4.42520768e-02 -8.07255842e-04 4.23791678e+02] [ 8.08610929e-04 -1.27218781e-05 9.99999673e-01 1.68734834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.82, Z:1.69 [[ 4.39351325e-02 -9.99034385e-01 -4.81775892e-05 3.20100355e+02] [ 9.99034059e-01 4.39351571e-02 -8.07274613e-04 4.23817037e+02] [ 8.08611786e-04 -1.26633354e-05 9.99999673e-01 1.68722299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.84, Z:1.69 [[ 4.32076562e-02 -9.99066112e-01 -4.78500594e-05 3.20101397e+02] [ 9.99065786e-01 4.32076808e-02 -8.07294026e-04 4.23843352e+02] [ 8.08607594e-04 -1.29240745e-05 9.99999673e-01 1.68609533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.87, Z:1.68 [[ 4.16012141e-02 -9.99134294e-01 -4.75389432e-05 3.20100788e+02] [ 9.99133968e-01 4.16012390e-02 -8.07312346e-04 4.23869702e+02] [ 8.08591130e-04 -1.39125991e-05 9.99999673e-01 1.68268333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.90, Z:1.68 [[ 4.17716432e-02 -9.99127183e-01 -4.72257842e-05 3.20103773e+02] [ 9.99126857e-01 4.17716677e-02 -8.07330665e-04 4.23897433e+02] [ 8.08598713e-04 -1.34610209e-05 9.99999673e-01 1.68016800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:423.93, Z:1.68 [[ 4.00917254e-02 -9.99196002e-01 -5.17032287e-05 3.20105822e+02] [ 9.99195677e-01 4.00917541e-02 -8.07071376e-04 4.23926564e+02] [ 8.08495366e-04 -1.93047586e-05 9.99999673e-01 1.68095780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:423.95, Z:1.68 [[ 3.86903577e-02 -9.99251246e-01 -5.54582593e-05 3.20106025e+02] [ 9.99250921e-01 3.86903899e-02 -8.06855024e-04 4.23953929e+02] [ 8.08396590e-04 -2.41992071e-05 9.99999673e-01 1.68111459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:423.98, Z:1.68 [[ 3.48428129e-02 -9.99392803e-01 -5.52922616e-05 3.20102595e+02] [ 9.99392478e-01 3.48428462e-02 -8.06864511e-04 4.23976766e+02] [ 8.08301125e-04 -2.71452412e-05 9.99999673e-01 1.68237271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.00, Z:1.68 [[ 3.74031771e-02 -9.99300255e-01 -4.55561552e-05 3.20106347e+02] [ 9.99299929e-01 3.74032017e-02 -8.07413845e-04 4.24000336e+02] [ 8.08552807e-04 -1.53244196e-05 9.99999673e-01 1.68318894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.03, Z:1.68 [[ 3.41563173e-02 -9.99416502e-01 -4.18176647e-05 3.20108259e+02] [ 9.99416176e-01 3.41563400e-02 -8.07625265e-04 4.24032361e+02] [ 8.08582355e-04 -1.42077457e-05 9.99999673e-01 1.68117914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.06, Z:1.68 [[ 3.40849492e-02 -9.99418938e-01 -5.37904498e-05 3.20110828e+02] [ 9.99418612e-01 3.40849816e-02 -8.06946653e-04 4.24057585e+02] [ 8.08311213e-04 -2.62544410e-05 9.99999673e-01 1.68055052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.09, Z:1.68 [[ 2.99978748e-02 -9.99549961e-01 -4.97005069e-05 3.20112035e+02] [ 9.99549636e-01 2.99979052e-02 -8.07175676e-04 4.24086454e+02] [ 8.08303327e-04 -2.54645686e-05 9.99999673e-01 1.68115095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.11, Z:1.68 [[ 2.71507056e-02 -9.99631350e-01 -5.21289407e-05 3.20111094e+02] [ 9.99631025e-01 2.71507388e-02 -8.07040114e-04 4.24110989e+02] [ 8.08157938e-04 -3.01979979e-05 9.99999673e-01 1.68213629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:424.14, Z:1.68 [[ 2.77230367e-02 -9.99615642e-01 -4.46442915e-05 3.20114806e+02] [ 9.99615316e-01 2.77230638e-02 -8.07453942e-04 4.24141339e+02] [ 8.08381267e-04 -2.22420423e-05 9.99999673e-01 1.68043723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:424.17, Z:1.68 [[ 2.74705917e-02 -9.99622611e-01 -5.16051178e-05 3.20116758e+02] [ 9.99622285e-01 2.74706244e-02 -8.07070533e-04 4.24169307e+02] [ 8.08183578e-04 -2.94149208e-05 9.99999673e-01 1.68094723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:424.19, Z:1.68 [[ 2.56442592e-02 -9.99671131e-01 -5.23350667e-05 3.20115761e+02] [ 9.99670805e-01 2.56442931e-02 -8.07030563e-04 4.24192682e+02] [ 8.08107251e-04 -3.16221373e-05 9.99999673e-01 1.68321913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:424.22, Z:1.68 [[ 2.78531064e-02 -9.99612026e-01 -4.37233904e-05 3.20121438e+02] [ 9.99611700e-01 2.78531327e-02 -8.07496858e-04 4.24224143e+02] [ 8.08401403e-04 -2.12151167e-05 9.99999673e-01 1.68315743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:424.25, Z:1.68 [[ 2.60202264e-02 -9.99661415e-01 -5.37981911e-05 3.20121111e+02] [ 9.99661090e-01 2.60202614e-02 -8.06950558e-04 4.24245965e+02] [ 8.08077179e-04 -3.27829222e-05 9.99999673e-01 1.68484720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:424.27, Z:1.69 [[ 2.61980770e-02 -9.99656771e-01 -4.31716139e-05 3.20123486e+02] [ 9.99656445e-01 2.61981033e-02 -8.07518676e-04 4.24271139e+02] [ 8.08372527e-04 -2.20013456e-05 9.99999673e-01 1.68541173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.30, Z:1.68 [[ 2.75394834e-02 -9.99620716e-01 -4.29225519e-05 3.20125706e+02] [ 9.99620390e-01 2.75395091e-02 -8.07531915e-04 4.24296469e+02] [ 8.08407696e-04 -2.06672463e-05 9.99999673e-01 1.68493913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.32, Z:1.68 [[ 2.82030231e-02 -9.99602215e-01 -4.26007899e-05 3.20126011e+02] [ 9.99601889e-01 2.82030483e-02 -8.07548889e-04 4.24323276e+02] [ 8.08429130e-04 -1.98085101e-05 9.99999673e-01 1.68423334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.35, Z:1.68 [[ 2.90438831e-02 -9.99578137e-01 -4.22947198e-05 3.20126468e+02] [ 9.99577811e-01 2.90439078e-02 -8.07564918e-04 4.24349401e+02] [ 8.08452640e-04 -1.88220423e-05 9.99999673e-01 1.68408889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.38, Z:1.68 [[ 3.06228714e-02 -9.99531009e-01 -4.17699787e-05 3.20127366e+02] [ 9.99530683e-01 3.06228951e-02 -8.07592207e-04 4.24375917e+02] [ 8.08492571e-04 -1.70195831e-05 9.99999673e-01 1.68297433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.13, Y:424.40, Z:1.68 [[ 3.12442901e-02 -9.99511777e-01 -4.16730292e-05 3.20128298e+02] [ 9.99511451e-01 3.12443136e-02 -8.07597209e-04 4.24402706e+02] [ 8.08504967e-04 -1.64198683e-05 9.99999673e-01 1.68317548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.43, Z:1.68 [[ 3.17271633e-02 -9.99496566e-01 -4.13662197e-05 3.20128899e+02] [ 9.99496240e-01 3.17271864e-02 -8.07612924e-04 4.24427710e+02] [ 8.08518778e-04 -1.57221139e-05 9.99999673e-01 1.68331596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.45, Z:1.68 [[ 3.21420787e-02 -9.99483309e-01 -4.10467412e-05 3.20129167e+02] [ 9.99482983e-01 3.21421013e-02 -8.07629161e-04 4.24453693e+02] [ 8.08531195e-04 -1.50666393e-05 9.99999673e-01 1.68328099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.13, Y:424.48, Z:1.68 [[ 3.16684843e-02 -9.99498427e-01 -4.07434409e-05 3.20129815e+02] [ 9.99498101e-01 3.16685069e-02 -8.07644462e-04 4.24479916e+02] [ 8.08529653e-04 -1.51461158e-05 9.99999673e-01 1.68292353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.51, Z:1.68 [[ 3.08134894e-02 -9.99525151e-01 -4.04405694e-05 3.20130098e+02] [ 9.99524825e-01 3.08135121e-02 -8.07659627e-04 4.24506079e+02] [ 8.08522227e-04 -1.55345416e-05 9.99999673e-01 1.68250523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.53, Z:1.68 [[ 2.90678007e-02 -9.99577442e-01 -4.01378724e-05 3.20130652e+02] [ 9.99577115e-01 2.90678236e-02 -8.07674670e-04 4.24531685e+02] [ 8.08500101e-04 -1.66435724e-05 9.99999673e-01 1.68155518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.56, Z:1.68 [[ 3.10630182e-02 -9.99517427e-01 -3.98976086e-05 3.20134725e+02] [ 9.99517101e-01 3.10630403e-02 -8.07686538e-04 4.24558064e+02] [ 8.08536112e-04 -1.47891604e-05 9.99999673e-01 1.68015718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.58, Z:1.68 [[ 2.39711667e-02 -9.99712650e-01 -3.80611832e-05 3.20133303e+02] [ 9.99712323e-01 2.39711897e-02 -8.07776565e-04 4.24584334e+02] [ 8.08456822e-04 -1.86868872e-05 9.99999673e-01 1.68125627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:424.61, Z:1.68 [[ 2.18878330e-02 -9.99760432e-01 -3.93319933e-05 3.20134689e+02] [ 9.99760106e-01 2.18878577e-02 -8.07714682e-04 4.24610332e+02] [ 8.08382072e-04 -2.16434337e-05 9.99999673e-01 1.68117260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.64, Z:1.68 [[ 1.98137088e-02 -9.99803689e-01 -3.90382650e-05 3.20135994e+02] [ 9.99803362e-01 1.98137338e-02 -8.07728878e-04 4.24635471e+02] [ 8.08343805e-04 -2.30264838e-05 9.99999673e-01 1.68120547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.66, Z:1.68 [[ 1.68945696e-02 -9.99857276e-01 -3.87320550e-05 3.20137540e+02] [ 9.99856950e-01 1.68945954e-02 -8.07743561e-04 4.24661529e+02] [ 8.08282639e-04 -2.50800345e-05 9.99999673e-01 1.68232838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.69, Z:1.68 [[ 1.51847075e-02 -9.99884705e-01 -3.84237552e-05 3.20138710e+02] [ 9.99884379e-01 1.51847336e-02 -8.07758227e-04 4.24689004e+02] [ 8.08248551e-04 -2.61537402e-05 9.99999673e-01 1.68287008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.72, Z:1.68 [[ 1.38218511e-02 -9.99904473e-01 -3.81412510e-05 3.20140554e+02] [ 9.99904147e-01 1.38218774e-02 -8.07771566e-04 4.24716431e+02] [ 8.08221585e-04 -2.69726968e-05 9.99999673e-01 1.68352656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.74, Z:1.69 [[ 1.26560302e-02 -9.99919909e-01 -3.78584049e-05 3.20143475e+02] [ 9.99919583e-01 1.26560567e-02 -8.07784822e-04 4.24741455e+02] [ 8.08199263e-04 -2.76320113e-05 9.99999673e-01 1.68521228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:424.77, Z:1.69 [[ 1.20723886e-02 -9.99927125e-01 -3.76088940e-05 3.20144405e+02] [ 9.99926800e-01 1.20724150e-02 -8.07796439e-04 4.24767745e+02] [ 8.08191601e-04 -2.78541085e-05 9.99999673e-01 1.68582424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.79, Z:1.69 [[ 1.28808938e-02 -9.99917037e-01 -3.73005741e-05 3.20145141e+02] [ 9.99916711e-01 1.28809197e-02 -8.07810675e-04 4.24794676e+02] [ 8.08224123e-04 -2.68921439e-05 9.99999673e-01 1.68637356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.82, Z:1.69 [[ 1.40800163e-02 -9.99900871e-01 -3.69899078e-05 3.20145886e+02] [ 9.99900545e-01 1.40800416e-02 -8.07824900e-04 4.24821408e+02] [ 8.08265641e-04 -2.56120412e-05 9.99999673e-01 1.68608089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.85, Z:1.69 [[ 1.50401217e-02 -9.99886890e-01 -3.66901872e-05 3.20146309e+02] [ 9.99886564e-01 1.50401464e-02 -8.07838513e-04 4.24846748e+02] [ 8.08298964e-04 -2.45360357e-05 9.99999673e-01 1.68645330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.87, Z:1.69 [[ 1.64822553e-02 -9.99864158e-01 -3.63587987e-05 3.20146628e+02] [ 9.99863832e-01 1.64822793e-02 -8.07853428e-04 4.24872844e+02] [ 8.08342963e-04 -2.30386013e-05 9.99999673e-01 1.68667972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.90, Z:1.69 [[ 2.03424384e-02 -9.99793071e-01 -3.60494792e-05 3.20146393e+02] [ 9.99792744e-01 2.03424609e-02 -8.07867230e-04 4.24899781e+02] [ 8.08433394e-04 -1.96080183e-05 9.99999673e-01 1.68628233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.93, Z:1.69 [[ 2.21772461e-02 -9.99754054e-01 -3.57409632e-05 3.20146916e+02] [ 9.99753728e-01 2.21772678e-02 -8.07880879e-04 4.24926299e+02] [ 8.08474821e-04 -1.78155881e-05 9.99999673e-01 1.68634218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.95, Z:1.69 [[ 2.35739241e-02 -9.99722096e-01 -3.54283375e-05 3.20147298e+02] [ 9.99721770e-01 2.35739451e-02 -8.07894589e-04 4.24953092e+02] [ 8.08505257e-04 -1.63732345e-05 9.99999673e-01 1.68605932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:424.98, Z:1.68 [[ 2.65707511e-02 -9.99646935e-01 -3.51421296e-05 3.20146682e+02] [ 9.99646608e-01 2.65707708e-02 -8.07907038e-04 4.24979747e+02] [ 8.08555548e-04 -1.36630138e-05 9.99999673e-01 1.68466856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.01, Z:1.68 [[ 2.75627018e-02 -9.99620076e-01 -3.48425327e-05 3.20146532e+02] [ 9.99619750e-01 2.75627209e-02 -8.07919959e-04 4.25006685e+02] [ 8.08573366e-04 -1.25608269e-05 9.99999673e-01 1.68408615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.03, Z:1.68 [[ 2.92321567e-02 -9.99572649e-01 -3.45284025e-05 3.20146283e+02] [ 9.99572322e-01 2.92321751e-02 -8.07933384e-04 4.25032310e+02] [ 8.08597452e-04 -1.08960002e-05 9.99999673e-01 1.68163425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.06, Z:1.68 [[ 2.93973095e-02 -9.99567805e-01 -3.42788459e-05 3.20147294e+02] [ 9.99567479e-01 2.93973276e-02 -8.07943972e-04 4.25058392e+02] [ 8.08602489e-04 -1.05126406e-05 9.99999673e-01 1.68259693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.08, Z:1.68 [[ 2.91788095e-02 -9.99574207e-01 -3.39646095e-05 3.20148596e+02] [ 9.99573881e-01 2.91788274e-02 -8.07957181e-04 4.25084065e+02] [ 8.08604207e-04 -1.03749079e-05 9.99999673e-01 1.68202396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.11, Z:1.68 [[ 2.86507770e-02 -9.99589482e-01 -3.37146771e-05 3.20150056e+02] [ 9.99589155e-01 2.86507949e-02 -8.07967610e-04 4.25112410e+02] [ 8.08601877e-04 -1.05519257e-05 9.99999673e-01 1.68481853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.14, Z:1.68 [[ 2.89978495e-02 -9.99579473e-01 -3.59799747e-05 3.20151194e+02] [ 9.99579147e-01 2.89978691e-02 -8.07873533e-04 4.25138181e+02] [ 8.08577143e-04 -1.25382373e-05 9.99999673e-01 1.68391455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.16, Z:1.68 [[ 3.00789525e-02 -9.99547526e-01 -3.32934345e-05 3.20152118e+02] [ 9.99547199e-01 3.00789696e-02 -8.07984233e-04 4.25164546e+02] [ 8.08620073e-04 -8.97503985e-06 9.99999673e-01 1.68351777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.19, Z:1.68 [[ 2.96924959e-02 -9.99559080e-01 -3.30698880e-05 3.20152967e+02] [ 9.99558754e-01 2.96925129e-02 -8.07993382e-04 4.25191473e+02] [ 8.08619050e-04 -9.06395577e-06 9.99999673e-01 1.68353949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:425.22, Z:1.69 [[ 2.89627659e-02 -9.99580491e-01 -3.27574891e-05 3.20153364e+02] [ 9.99580164e-01 2.89627829e-02 -8.08006047e-04 4.25220070e+02] [ 8.08615829e-04 -9.34164632e-06 9.99999673e-01 1.68527965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.562755096 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:320.15, Y:425.25, Z:1.68 [[ 2.96265452e-02 -9.99561037e-01 -3.45106893e-05 3.20154823e+02] [ 9.99560711e-01 2.96265634e-02 -8.07935600e-04 4.25245916e+02] [ 8.08603379e-04 -1.05591886e-05 9.99999673e-01 1.68416680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:425.28, Z:1.69 [[ 3.01264879e-02 -9.99546094e-01 -3.21536093e-05 3.20157787e+02] [ 9.99545767e-01 3.01265041e-02 -8.08029394e-04 4.25275127e+02] [ 8.08631300e-04 -7.79591634e-06 9.99999673e-01 1.68502945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:425.30, Z:1.68 [[ 3.03302213e-02 -9.99539933e-01 -3.48778279e-05 3.20159529e+02] [ 9.99539606e-01 3.03302396e-02 -8.07921515e-04 4.25300284e+02] [ 8.08607670e-04 -1.03573320e-05 9.99999673e-01 1.68431691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:425.33, Z:1.68 [[ 3.07568945e-02 -9.99526894e-01 -3.15885814e-05 3.20162303e+02] [ 9.99526568e-01 3.07569100e-02 -8.08050100e-04 4.25329656e+02] [ 8.08639374e-04 -6.72051466e-06 9.99999673e-01 1.68479798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:425.36, Z:1.69 [[ 2.99739779e-02 -9.99550679e-01 -3.69927839e-05 3.20163973e+02] [ 9.99550352e-01 2.99739980e-02 -8.07839853e-04 4.25356927e+02] [ 8.08585695e-04 -1.27619763e-05 9.99999673e-01 1.68585504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:425.38, Z:1.69 [[ 2.93044942e-02 -9.99570531e-01 -3.56062435e-05 3.20164793e+02] [ 9.99570204e-01 2.93045134e-02 -8.07893104e-04 4.25383152e+02] [ 8.08589562e-04 -1.19160412e-05 9.99999673e-01 1.68657422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.41, Z:1.69 [[ 2.88484175e-02 -9.99583797e-01 -3.07246947e-05 3.20166618e+02] [ 9.99583471e-01 2.88484330e-02 -8.08078008e-04 4.25409517e+02] [ 8.08628043e-04 -7.40012513e-06 9.99999673e-01 1.68726748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.772755096 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:320.17, Y:425.44, Z:1.69 [[ 2.85170420e-02 -9.99593306e-01 -3.03116211e-05 3.20167753e+02] [ 9.99592979e-01 2.85170572e-02 -8.08093503e-04 4.25436815e+02] [ 8.08629254e-04 -7.25484725e-06 9.99999673e-01 1.68860787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.17, Y:425.46, Z:1.69 [[ 2.81477706e-02 -9.99603773e-01 -3.00275695e-05 3.20168706e+02] [ 9.99603446e-01 2.81477857e-02 -8.08104058e-04 4.25463705e+02] [ 8.08629074e-04 -7.26933434e-06 9.99999673e-01 1.68940625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.49, Z:1.69 [[ 2.76769611e-02 -9.99616919e-01 -2.97456177e-05 3.20169759e+02] [ 9.99616593e-01 2.76769761e-02 -8.08114436e-04 4.25491199e+02] [ 8.08628131e-04 -7.36806120e-06 9.99999673e-01 1.69079874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.862755096 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:320.17, Y:425.52, Z:1.69 [[ 2.75720122e-02 -9.99619819e-01 -2.94558469e-05 3.20170952e+02] [ 9.99619493e-01 2.75720270e-02 -8.08124998e-04 4.25518119e+02] [ 8.08629922e-04 -7.16300646e-06 9.99999673e-01 1.69123609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.55, Z:1.69 [[ 2.71978519e-02 -9.99630070e-01 -2.91686093e-05 3.20171854e+02] [ 9.99629743e-01 2.71978665e-02 -8.08135365e-04 4.25545790e+02] [ 8.08629735e-04 -7.17826346e-06 9.99999673e-01 1.69222402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.57, Z:1.69 [[ 2.77456780e-02 -9.99615014e-01 -2.88755332e-05 3.20171877e+02] [ 9.99614688e-01 2.77456923e-02 -8.08145837e-04 4.25572305e+02] [ 8.08635884e-04 -6.44185289e-06 9.99999673e-01 1.69222449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.17, Y:425.60, Z:1.69 [[ 2.93298977e-02 -9.99569786e-01 -2.86495540e-05 3.20172673e+02] [ 9.99569459e-01 2.93299112e-02 -8.08153848e-04 4.25598053e+02] [ 8.08646458e-04 -4.93414952e-06 9.99999673e-01 1.69168971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.63, Z:1.69 [[ 2.89219975e-02 -9.99581671e-01 -2.41547805e-05 3.20172733e+02] [ 9.99581344e-01 2.89220076e-02 -8.08310540e-04 4.25626515e+02] [ 8.08671005e-04 -7.66712499e-07 9.99999673e-01 1.69246746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.65, Z:1.69 [[ 2.93687366e-02 -9.99568645e-01 -2.80520462e-05 3.20173828e+02] [ 9.99568319e-01 2.93687497e-02 -8.08175265e-04 4.25653383e+02] [ 8.08650508e-04 -4.30485012e-06 9.99999673e-01 1.69295377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:425.68, Z:1.69 [[ 2.95428320e-02 -9.99563515e-01 -2.77648761e-05 3.20174444e+02] [ 9.99563188e-01 2.95428448e-02 -8.08185130e-04 4.25679624e+02] [ 8.08652623e-04 -3.87667052e-06 9.99999673e-01 1.69281774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:320.18, Y:425.71, Z:1.69 [[ 2.94710646e-02 -9.99565634e-01 -2.74646387e-05 3.20175262e+02] [ 9.99565307e-01 2.94710772e-02 -8.08195333e-04 4.25706497e+02] [ 8.08653693e-04 -3.63432309e-06 9.99999673e-01 1.69418425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.73, Z:1.69 [[ 2.88428748e-02 -9.99583957e-01 -2.71797015e-05 3.20175677e+02] [ 9.99583631e-01 2.88428873e-02 -8.08204915e-04 4.25731844e+02] [ 8.08652609e-04 -3.85743156e-06 9.99999673e-01 1.69416411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.132755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:320.18, Y:425.76, Z:1.70 [[ 2.82422048e-02 -9.99601109e-01 -2.69282072e-05 3.20176131e+02] [ 9.99600782e-01 2.82422174e-02 -8.08213295e-04 4.25759014e+02] [ 8.08651418e-04 -4.09173162e-06 9.99999673e-01 1.69509527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.79, Z:1.69 [[ 2.89672075e-02 -9.99580362e-01 -2.66446205e-05 3.20179206e+02] [ 9.99580035e-01 2.89672196e-02 -8.08222644e-04 4.25790477e+02] [ 8.08655304e-04 -3.22147762e-06 9.99999673e-01 1.69498677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.81, Z:1.70 [[ 2.56119888e-02 -9.99671959e-01 -3.63961058e-05 3.20176365e+02] [ 9.99671632e-01 2.56120099e-02 -8.07899708e-04 4.25812551e+02] [ 8.08566861e-04 -1.56922362e-05 9.99999673e-01 1.69767276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.18, Y:425.84, Z:1.70 [[ 2.45047003e-02 -9.99699715e-01 -2.61792030e-05 3.20176731e+02] [ 9.99699388e-01 2.45047135e-02 -8.08230641e-04 4.25839390e+02] [ 8.08629455e-04 -6.36588358e-06 9.99999673e-01 1.69868964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.87, Z:1.70 [[ 2.21927605e-02 -9.99753710e-01 -2.58688327e-05 3.20176681e+02] [ 9.99753383e-01 2.21927742e-02 -8.08240575e-04 4.25866020e+02] [ 8.08615615e-04 -7.92536354e-06 9.99999673e-01 1.70047135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.89, Z:1.70 [[ 2.08259240e-02 -9.99783117e-01 -2.55605319e-05 3.20177007e+02] [ 9.99782790e-01 2.08259379e-02 -8.08250325e-04 4.25891097e+02] [ 8.08607351e-04 -8.72242004e-06 9.99999673e-01 1.70099900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.92, Z:1.70 [[ 2.00873165e-02 -9.99798229e-01 -2.52394173e-05 3.20177596e+02] [ 9.99797903e-01 2.00873303e-02 -8.08260352e-04 4.25917927e+02] [ 8.08604262e-04 -8.99853498e-06 9.99999673e-01 1.70088087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.95, Z:1.70 [[ 1.91568266e-02 -9.99816491e-01 -2.49375246e-05 3.20176648e+02] [ 9.99816164e-01 1.91568405e-02 -8.08269667e-04 4.25945422e+02] [ 8.08599066e-04 -9.44905830e-06 9.99999673e-01 1.69976095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:425.97, Z:1.70 [[ 1.90487834e-02 -9.99818555e-01 -2.46491089e-05 3.20175899e+02] [ 9.99818229e-01 1.90487971e-02 -8.08278462e-04 4.25971757e+02] [ 8.08601340e-04 -9.24790699e-06 9.99999673e-01 1.69777422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4027550960001 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:320.17, Y:426.00, Z:1.70 [[ 2.01001975e-02 -9.99797970e-01 -2.44264899e-05 3.20174711e+02] [ 9.99797644e-01 2.01002107e-02 -8.08285190e-04 4.25998209e+02] [ 8.08612870e-04 -8.17485508e-06 9.99999673e-01 1.69705726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.432755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:320.17, Y:426.02, Z:1.70 [[ 2.04985428e-02 -9.99789883e-01 -2.41294265e-05 3.20174354e+02] [ 9.99789556e-01 2.04985556e-02 -8.08294058e-04 4.26023443e+02] [ 8.08618839e-04 -7.55549823e-06 9.99999673e-01 1.69751854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.17, Y:426.05, Z:1.70 [[ 2.12211763e-02 -9.99774805e-01 -2.38202004e-05 3.20173923e+02] [ 9.99774479e-01 2.12211886e-02 -8.08303170e-04 4.26050345e+02] [ 8.08626638e-04 -6.66168432e-06 9.99999673e-01 1.69831291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.08, Z:1.70 [[ 2.24781519e-02 -9.99747334e-01 -2.35291740e-05 3.20171440e+02] [ 9.99747007e-01 2.24781636e-02 -8.08311642e-04 4.26077443e+02] [ 8.08636302e-04 -5.35386948e-06 9.99999673e-01 1.69992486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.10, Z:1.70 [[ 2.30096232e-02 -9.99735243e-01 -2.32420482e-05 3.20170367e+02] [ 9.99734917e-01 2.30096345e-02 -8.08319898e-04 4.26103213e+02] [ 8.08640681e-04 -4.63675078e-06 9.99999673e-01 1.70006920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.13, Z:1.70 [[ 2.34390577e-02 -9.99725267e-01 -2.29099689e-05 3.20169232e+02] [ 9.99724941e-01 2.34390686e-02 -8.08329310e-04 4.26128696e+02] [ 8.08644224e-04 -3.95718995e-06 9.99999673e-01 1.70052262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.15, Z:1.70 [[ 2.48571815e-02 -9.99691012e-01 -2.25874247e-05 3.20167209e+02] [ 9.99690686e-01 2.48571917e-02 -8.08338323e-04 4.26154757e+02] [ 8.08650016e-04 -2.48742566e-06 9.99999673e-01 1.70189907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.18, Z:1.70 [[ 2.50308938e-02 -9.99686678e-01 -2.22726662e-05 3.20166555e+02] [ 9.99686351e-01 2.50309036e-02 -8.08346995e-04 4.26181554e+02] [ 8.08651227e-04 -2.03203265e-06 9.99999673e-01 1.70274461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:426.21, Z:1.70 [[ 2.74092203e-02 -9.99624297e-01 -2.19868209e-05 3.20165176e+02] [ 9.99623970e-01 2.74092291e-02 -8.08354770e-04 4.26205000e+02] [ 8.08653710e-04 1.77820826e-07 9.99999673e-01 1.70309683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6727550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:320.16, Y:426.23, Z:1.70 [[ 2.71333523e-02 -9.99631823e-01 -1.57004304e-05 3.20164131e+02] [ 9.99631496e-01 2.71333562e-02 -8.08524655e-04 4.26233585e+02] [ 8.08652980e-04 6.24333956e-06 9.99999673e-01 1.70337625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.26, Z:1.70 [[ 2.63391896e-02 -9.99653063e-01 -1.91325813e-05 3.20163017e+02] [ 9.99652736e-01 2.63391965e-02 -8.08432059e-04 4.26260684e+02] [ 8.08655521e-04 2.16750809e-06 9.99999673e-01 1.70313743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.29, Z:1.70 [[ 2.76759545e-02 -9.99616947e-01 -2.16190988e-05 3.20162339e+02] [ 9.99616620e-01 2.76759629e-02 -8.08365559e-04 4.26286474e+02] [ 8.08654242e-04 7.61477944e-07 9.99999673e-01 1.70299409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.31, Z:1.70 [[ 2.77889378e-02 -9.99613813e-01 -1.67999996e-05 3.20160382e+02] [ 9.99613486e-01 2.77889423e-02 -8.08492039e-04 4.26312808e+02] [ 8.08646664e-04 5.67362882e-06 9.99999673e-01 1.70217580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.34, Z:1.70 [[ 2.60367632e-02 -9.99660986e-01 -1.74993238e-05 3.20159241e+02] [ 9.99660659e-01 2.60367689e-02 -8.08473683e-04 4.26341121e+02] [ 8.08655225e-04 3.55665227e-06 9.99999673e-01 1.70233895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.37, Z:1.70 [[ 2.71112385e-02 -9.99632423e-01 -2.11225245e-05 3.20161700e+02] [ 9.99632096e-01 2.71112467e-02 -8.08379011e-04 4.26371308e+02] [ 8.08654527e-04 8.01402756e-07 9.99999673e-01 1.70079044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.40, Z:1.70 [[ 2.74739674e-02 -9.99622519e-01 -2.98182074e-05 3.20160670e+02] [ 9.99622192e-01 2.74739826e-02 -8.08152411e-04 4.26396003e+02] [ 8.08666574e-04 -7.60378885e-06 9.99999673e-01 1.70127107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.42, Z:1.70 [[ 2.61999827e-02 -9.99656721e-01 -2.41003114e-05 3.20159519e+02] [ 9.99656395e-01 2.61999936e-02 -8.08298035e-04 4.26422751e+02] [ 8.08651991e-04 -2.91463587e-06 9.99999673e-01 1.70061118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.45, Z:1.70 [[ 2.21250056e-02 -9.99755212e-01 -2.31756415e-05 3.20156140e+02] [ 9.99754885e-01 2.21250171e-02 -8.08321261e-04 4.26446766e+02] [ 8.08636155e-04 -5.28584844e-06 9.99999673e-01 1.70072973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.48, Z:1.70 [[ 2.23345382e-02 -9.99750553e-01 -1.98413869e-05 3.20158729e+02] [ 9.99750226e-01 2.23345470e-02 -8.08403097e-04 4.26477892e+02] [ 8.08644591e-04 -1.78112114e-06 9.99999673e-01 1.70014225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.50, Z:1.70 [[ 1.99851585e-02 -9.99800276e-01 -2.91624349e-05 3.20157502e+02] [ 9.99799950e-01 1.99851755e-02 -8.08174366e-04 4.26501437e+02] [ 8.08595771e-04 -1.30051082e-05 9.99999673e-01 1.70052305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:426.53, Z:1.70 [[ 1.88956271e-02 -9.99821462e-01 -2.07849537e-05 3.20157653e+02] [ 9.99821135e-01 1.88956377e-02 -8.08374993e-04 4.26527393e+02] [ 8.08623412e-04 -5.50648365e-06 9.99999673e-01 1.70143048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:426.55, Z:1.70 [[ 1.38845374e-02 -9.99903605e-01 -1.90141030e-05 3.20154835e+02] [ 9.99903278e-01 1.38845482e-02 -8.08416644e-04 4.26551686e+02] [ 8.08602719e-04 -7.78777278e-06 9.99999673e-01 1.70309913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:426.58, Z:1.70 [[ 8.00823634e-03 -9.99967934e-01 -1.46658649e-05 3.20153683e+02] [ 9.99967607e-01 8.00824557e-03 -8.08517413e-04 4.26580342e+02] [ 8.08608934e-04 -8.19059127e-06 9.99999673e-01 1.70308987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:426.61, Z:1.70 [[ 5.35530193e-03 -9.99985660e-01 -1.86156294e-05 3.20153018e+02] [ 9.99985333e-01 5.35531523e-03 -8.08426462e-04 4.26607997e+02] [ 8.08514562e-04 -1.42859886e-05 9.99999673e-01 1.70312285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:426.64, Z:1.70 [[-1.52451472e-03 -9.99998838e-01 -1.83198971e-05 3.20149098e+02] [ 9.99998511e-01 -1.52449941e-03 -8.08433163e-04 4.26636690e+02] [ 8.08404295e-04 -1.95523381e-05 9.99999673e-01 1.69796643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:426.66, Z:1.70 [[-2.81487876e-03 -9.99996038e-01 -2.21170772e-05 3.20147983e+02] [ 9.99995712e-01 -2.81485997e-03 -8.08348934e-04 4.26663335e+02] [ 8.08283475e-04 -2.43923866e-05 9.99999673e-01 1.69816412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.182755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:320.14, Y:426.69, Z:1.70 [[-7.05873596e-03 -9.99975087e-01 -1.68564259e-05 3.20142969e+02] [ 9.99974760e-01 -7.05872003e-03 -8.08462909e-04 4.26689979e+02] [ 8.08323782e-04 -2.25627266e-05 9.99999673e-01 1.69609822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:426.72, Z:1.70 [[-8.08555018e-03 -9.99967311e-01 -1.31095701e-05 3.20141470e+02] [ 9.99966985e-01 -8.08553695e-03 -8.08543285e-04 4.26717254e+02] [ 8.08410856e-04 -1.96466546e-05 9.99999673e-01 1.69602889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:426.75, Z:1.70 [[-7.19416359e-03 -9.99974122e-01 -1.26483121e-05 3.20141982e+02] [ 9.99973795e-01 -7.19415101e-03 -8.08553030e-04 4.26745301e+02] [ 8.08441112e-04 -1.84648434e-05 9.99999673e-01 1.70021677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:426.77, Z:1.70 [[-8.73529490e-03 -9.99961847e-01 -1.69476303e-05 3.20137623e+02] [ 9.99961520e-01 -8.73527835e-03 -8.08462905e-04 4.26772697e+02] [ 8.08284017e-04 -2.40091401e-05 9.99999673e-01 1.70094256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:426.80, Z:1.70 [[-9.12658820e-03 -9.99958352e-01 -1.66577363e-05 3.20135555e+02] [ 9.99958025e-01 -9.12657176e-03 -8.08468878e-04 4.26796806e+02] [ 8.08283178e-04 -2.40355996e-05 9.99999673e-01 1.70233195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.332755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:320.13, Y:426.82, Z:1.70 [[-1.07222060e-02 -9.99942516e-01 -1.35690788e-05 3.20133361e+02] [ 9.99942189e-01 -1.07221916e-02 -8.08530635e-04 4.26823838e+02] [ 8.08338667e-04 -2.22375264e-05 9.99999673e-01 1.70189666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:426.85, Z:1.70 [[-1.10627313e-02 -9.99938806e-01 -1.59665907e-05 3.20130107e+02] [ 9.99938480e-01 -1.10627147e-02 -8.08483287e-04 4.26847529e+02] [ 8.08257179e-04 -2.49096417e-05 9.99999673e-01 1.70293825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:426.87, Z:1.70 [[-1.13461979e-02 -9.99935630e-01 -1.00412701e-05 3.20130397e+02] [ 9.99935303e-01 -1.13461860e-02 -8.08596127e-04 4.26874419e+02] [ 8.08430148e-04 -1.92151121e-05 9.99999673e-01 1.70295841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:426.90, Z:1.70 [[-1.31473602e-02 -9.99913570e-01 -9.97092404e-06 3.20128262e+02] [ 9.99913243e-01 -1.31473479e-02 -8.08597456e-04 4.26903618e+02] [ 8.08396477e-04 -2.06009810e-05 9.99999673e-01 1.70297155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:426.93, Z:1.70 [[-1.30516380e-02 -9.99914824e-01 -1.50766959e-05 3.20124401e+02] [ 9.99914497e-01 -1.30516216e-02 -8.08502245e-04 4.26931294e+02] [ 8.08236604e-04 -2.56276854e-05 9.99999673e-01 1.70389450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:426.96, Z:1.70 [[-1.26191346e-02 -9.99920376e-01 -1.47895886e-05 3.20121699e+02] [ 9.99920049e-01 -1.26191185e-02 -8.08507497e-04 4.26958429e+02] [ 8.08256488e-04 -2.49910711e-05 9.99999673e-01 1.70398241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:426.98, Z:1.70 [[-1.12529161e-02 -9.99936684e-01 -1.45046270e-05 3.20119195e+02] [ 9.99936357e-01 -1.12529007e-02 -8.08512609e-04 4.26984927e+02] [ 8.08298198e-04 -2.36018284e-05 9.99999673e-01 1.70301432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:427.01, Z:1.70 [[-9.50380360e-03 -9.99954838e-01 -1.21575663e-05 3.20117178e+02] [ 9.99954511e-01 -9.50379067e-03 -8.08553741e-04 4.27011718e+02] [ 8.08401682e-04 -1.98413492e-05 9.99999673e-01 1.70326254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.04, Z:1.70 [[-6.10974425e-03 -9.99981335e-01 -1.14372732e-05 3.20113315e+02] [ 9.99981009e-01 -6.10973301e-03 -8.08566193e-04 4.27038548e+02] [ 8.08481223e-04 -1.63771887e-05 9.99999673e-01 1.70322103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.06, Z:1.70 [[-4.42668953e-03 -9.99990202e-01 -1.12685737e-05 3.20111718e+02] [ 9.99989875e-01 -4.42667897e-03 -8.08569033e-04 4.27063985e+02] [ 8.08511229e-04 -1.48477437e-05 9.99999673e-01 1.70306336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.09, Z:1.70 [[-1.04150274e-03 -9.99999458e-01 -1.03967139e-05 3.20108452e+02] [ 9.99999131e-01 -1.04149400e-03 -8.08583430e-04 4.27089138e+02] [ 8.08572164e-04 -1.12388467e-05 9.99999673e-01 1.70284160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.12, Z:1.70 [[-1.36473900e-03 -9.99999069e-01 -8.39196000e-06 3.20106287e+02] [ 9.99998742e-01 -1.36473178e-03 -8.08615831e-04 4.27117140e+02] [ 8.08603625e-04 -9.49549900e-06 9.99999673e-01 1.70146269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.15, Z:1.70 [[ 1.19632013e-03 -9.99999284e-01 -1.28886371e-05 3.20105302e+02] [ 9.99998958e-01 1.19633015e-03 -8.08544151e-04 4.27145411e+02] [ 8.08558992e-04 -1.19213461e-05 9.99999673e-01 1.70134199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:427.17, Z:1.70 [[-7.28911378e-04 -9.99999734e-01 -1.78686235e-05 3.20101557e+02] [ 9.99999408e-01 -7.28896698e-04 -8.08468322e-04 4.27169522e+02] [ 8.08455082e-04 -1.84579147e-05 9.99999673e-01 1.69790112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:427.20, Z:1.70 [[ 2.27530666e-03 -9.99997412e-01 -1.08232012e-05 3.20104858e+02] [ 9.99997085e-01 2.27531466e-03 -8.08571428e-04 4.27197836e+02] [ 8.08593961e-04 -8.98342165e-06 9.99999673e-01 1.70130991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:427.22, Z:1.70 [[ 2.29805132e-03 -9.99997359e-01 -1.82016568e-05 3.20104020e+02] [ 9.99997033e-01 2.29806528e-03 -8.08458587e-04 4.27222392e+02] [ 8.08498280e-04 -1.63437234e-05 9.99999673e-01 1.70311726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:427.25, Z:1.70 [[ 3.28526918e-03 -9.99994604e-01 -1.27031939e-05 3.20103599e+02] [ 9.99994277e-01 3.28527837e-03 -8.08539578e-04 4.27248457e+02] [ 8.08576948e-04 -1.00468511e-05 9.99999673e-01 1.70263887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.10, Y:427.27, Z:1.70 [[ 2.69028957e-03 -9.99996381e-01 -1.35124969e-05 3.20102177e+02] [ 9.99996054e-01 2.69029962e-03 -8.08527955e-04 4.27273438e+02] [ 8.08561382e-04 -1.13372693e-05 9.99999673e-01 1.69938004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.30, Z:1.70 [[ 4.58207491e-03 -9.99989502e-01 -9.02701625e-06 3.20105775e+02] [ 9.99989175e-01 4.58208071e-03 -8.08592140e-04 4.27301552e+02] [ 8.08625014e-04 -5.32188877e-06 9.99999673e-01 1.70454832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.33, Z:1.70 [[ 3.16636818e-03 -9.99994987e-01 -1.14060680e-05 3.20105250e+02] [ 9.99994660e-01 3.16637636e-03 -8.08558580e-04 4.27325824e+02] [ 8.08590642e-04 -8.84581291e-06 9.99999673e-01 1.70175836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.35, Z:1.70 [[ 3.58175525e-03 -9.99993586e-01 -8.46824167e-06 3.20107286e+02] [ 9.99993259e-01 3.58176092e-03 -8.08598224e-04 4.27353165e+02] [ 8.08623369e-04 -5.57198365e-06 9.99999673e-01 1.70156547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.38, Z:1.71 [[ 3.05512635e-03 -9.99995333e-01 -9.19788781e-06 3.20110981e+02] [ 9.99995006e-01 3.05513278e-03 -8.08588592e-04 4.27379762e+02] [ 8.08612919e-04 -6.72750156e-06 9.99999673e-01 1.70518954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.41, Z:1.71 [[ 3.41112137e-03 -9.99994182e-01 -1.05841785e-05 3.20113873e+02] [ 9.99993855e-01 3.41112881e-03 -8.08570843e-04 4.27410942e+02] [ 8.08602243e-04 -7.82598021e-06 9.99999673e-01 1.70502230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.022755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:320.11, Y:427.44, Z:1.70 [[ 2.25569977e-03 -9.99997456e-01 -1.91476325e-05 3.20114546e+02] [ 9.99997129e-01 2.25571451e-03 -8.08471247e-04 4.27436275e+02] [ 8.08512382e-04 -1.73239092e-05 9.99999673e-01 1.70495964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:427.46, Z:1.71 [[ 1.34722225e-03 -9.99999092e-01 -1.59935046e-05 3.20115905e+02] [ 9.99998766e-01 1.34723474e-03 -8.08508810e-04 4.27459864e+02] [ 8.08529623e-04 -1.49042438e-05 9.99999673e-01 1.70696674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:427.48, Z:1.71 [[ 1.35420930e-03 -9.99999083e-01 -7.23668786e-06 3.20117575e+02] [ 9.99998756e-01 1.35421470e-03 -8.08605377e-04 4.27484714e+02] [ 8.08614436e-04 -6.14165794e-06 9.99999673e-01 1.70676861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:427.51, Z:1.70 [[-2.53193419e-04 -9.99999968e-01 -6.34065520e-06 3.20120871e+02] [ 9.99999641e-01 -2.53188213e-04 -8.08615084e-04 4.27511636e+02] [ 8.08613453e-04 -6.54538893e-06 9.99999673e-01 1.70270006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:427.54, Z:1.70 [[-6.25834961e-04 -9.99999804e-01 -7.45838093e-06 3.20122678e+02] [ 9.99999477e-01 -6.25828730e-04 -8.08603340e-04 4.27537262e+02] [ 8.08598514e-04 -7.96442927e-06 9.99999673e-01 1.70300526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:427.56, Z:1.71 [[ 3.40634777e-04 -9.99999942e-01 -4.62893299e-06 3.20126080e+02] [ 9.99999615e-01 3.40638404e-04 -8.08631614e-04 4.27562554e+02] [ 8.08633144e-04 -4.35348316e-06 9.99999673e-01 1.70632730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:427.59, Z:1.70 [[-1.72779488e-03 -9.99998507e-01 -2.90596529e-06 3.20126421e+02] [ 9.99998180e-01 -1.72779197e-03 -8.08648231e-04 4.27590753e+02] [ 8.08642003e-04 -4.30313827e-06 9.99999673e-01 1.70263932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:427.62, Z:1.71 [[-7.53140237e-04 -9.99999716e-01 -6.03712301e-06 3.20130747e+02] [ 9.99999390e-01 -7.53135113e-04 -8.08618876e-04 4.27616310e+02] [ 8.08614100e-04 -6.64612274e-06 9.99999673e-01 1.70588601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:427.64, Z:1.70 [[-2.50539102e-04 -9.99999969e-01 -4.27279586e-06 3.20132969e+02] [ 9.99999642e-01 -2.50535569e-04 -8.08634747e-04 4.27644158e+02] [ 8.08633651e-04 -4.47538895e-06 9.99999673e-01 1.70462220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:427.67, Z:1.70 [[ 5.92045766e-04 -9.99999825e-01 -7.07560992e-06 3.20140171e+02] [ 9.99999498e-01 5.92051290e-04 -8.08610221e-04 4.27672802e+02] [ 8.08614268e-04 -6.59687210e-06 9.99999673e-01 1.70453710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:427.70, Z:1.71 [[-2.47439157e-03 -9.99996939e-01 -1.05142869e-05 3.20140737e+02] [ 9.99996612e-01 -2.47438227e-03 -8.08581941e-04 4.27695900e+02] [ 8.08553449e-04 -1.25149996e-05 9.99999673e-01 1.70713226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.14, Y:427.72, Z:1.71 [[-4.08358475e-03 -9.99991662e-01 -3.66492453e-06 3.20143476e+02] [ 9.99991335e-01 -4.08358045e-03 -8.08633614e-04 4.27723418e+02] [ 8.08611906e-04 -6.96701666e-06 9.99999673e-01 1.70728812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:427.75, Z:1.71 [[-5.81471425e-03 -9.99983095e-01 -5.91405289e-06 3.20148253e+02] [ 9.99982768e-01 -5.81470757e-03 -8.08617165e-04 4.27748976e+02] [ 8.08569106e-04 -1.06158287e-05 9.99999673e-01 1.70784886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4127550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:320.15, Y:427.78, Z:1.71 [[-4.64501678e-03 -9.99989212e-01 -5.58818578e-06 3.20153001e+02] [ 9.99988885e-01 -4.64501075e-03 -8.08619417e-04 4.27780359e+02] [ 8.08584736e-04 -9.34417443e-06 9.99999673e-01 1.70720745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:427.80, Z:1.71 [[-7.25092115e-03 -9.99973712e-01 -1.60289047e-05 3.20154592e+02] [ 9.99973385e-01 -7.25090582e-03 -8.08546063e-04 4.27802708e+02] [ 8.08408584e-04 -2.18911818e-05 9.99999673e-01 1.70882679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:427.83, Z:1.71 [[-7.93895199e-03 -9.99968486e-01 -5.00087997e-06 3.20157125e+02] [ 9.99968159e-01 -7.93894535e-03 -8.08614266e-04 4.27830662e+02] [ 8.08549082e-04 -1.14202706e-05 9.99999673e-01 1.70540693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:427.86, Z:1.71 [[-8.28433940e-03 -9.99965684e-01 -7.12960518e-06 3.20159872e+02] [ 9.99965357e-01 -8.28433094e-03 -8.08601472e-04 4.27856639e+02] [ 8.08514660e-04 -1.38280872e-05 9.99999673e-01 1.70611554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.16, Y:427.88, Z:1.71 [[-8.12547253e-03 -9.99966988e-01 -6.02959444e-06 3.20163268e+02] [ 9.99966661e-01 -8.12546500e-03 -8.08607806e-04 4.27883836e+02] [ 8.08532119e-04 -1.25997139e-05 9.99999673e-01 1.71157509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.17, Y:427.91, Z:1.71 [[-8.24145148e-03 -9.99966039e-01 -4.32249917e-06 3.20167761e+02] [ 9.99965712e-01 -8.24144529e-03 -8.08616931e-04 4.27910405e+02] [ 8.08553846e-04 -1.09865282e-05 9.99999673e-01 1.71074475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:427.94, Z:1.71 [[-6.26401241e-03 -9.99980381e-01 -4.01634480e-06 3.20172919e+02] [ 9.99980054e-01 -6.26400712e-03 -8.08618452e-04 4.27942221e+02] [ 8.08577429e-04 -9.08146070e-06 9.99999673e-01 1.71027251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:427.96, Z:1.71 [[-8.76292146e-03 -9.99961605e-01 -1.58535465e-05 3.20172266e+02] [ 9.99961278e-01 -8.76290578e-03 -8.08556205e-04 4.27963925e+02] [ 8.08386237e-04 -2.29382472e-05 9.99999673e-01 1.70570244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:427.99, Z:1.71 [[-7.97750777e-03 -9.99968179e-01 -5.22450700e-06 3.20180060e+02] [ 9.99967852e-01 -7.97750095e-03 -8.08605103e-04 4.27993204e+02] [ 8.08537694e-04 -1.16749925e-05 9.99999673e-01 1.71069714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:428.02, Z:1.71 [[-1.01460459e-02 -9.99948528e-01 -1.21359150e-05 3.20179878e+02] [ 9.99948201e-01 -1.01460328e-02 -8.08575822e-04 4.28016502e+02] [ 8.08411071e-04 -2.03391338e-05 9.99999673e-01 1.70784805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:428.04, Z:1.71 [[-9.93224425e-03 -9.99950674e-01 -4.19762138e-06 3.20184409e+02] [ 9.99950347e-01 -9.93223761e-03 -8.08604587e-04 4.28038910e+02] [ 8.08523010e-04 -1.22286712e-05 9.99999673e-01 1.70969747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:428.07, Z:1.71 [[-1.28550515e-02 -9.99917371e-01 5.81194924e-06 3.20185622e+02] [ 9.99917043e-01 -1.28550520e-02 -8.08639427e-04 4.28068869e+02] [ 8.08647323e-04 -4.58363436e-06 9.99999673e-01 1.70903419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:428.10, Z:1.71 [[-1.03365177e-02 -9.99946577e-01 -4.73928805e-06 3.20190103e+02] [ 9.99946250e-01 -1.03365105e-02 -8.08603539e-04 4.28095058e+02] [ 8.08511353e-04 -1.30971781e-05 9.99999673e-01 1.70976677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.19, Y:428.12, Z:1.71 [[-1.55125747e-02 -9.99879673e-01 -2.44929578e-06 3.20188673e+02] [ 9.99879346e-01 -1.55125677e-02 -8.08610475e-04 4.28122695e+02] [ 8.08475183e-04 -1.49926307e-05 9.99999673e-01 1.70699357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:428.15, Z:1.71 [[-1.74057064e-02 -9.99848509e-01 -2.96225572e-06 3.20192648e+02] [ 9.99848182e-01 -1.74056983e-02 -8.08609078e-04 4.28149927e+02] [ 8.08435021e-04 -1.70362182e-05 9.99999673e-01 1.70912773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.18, Z:1.71 [[-1.48088687e-02 -9.99890343e-01 -2.14231124e-06 3.20197935e+02] [ 9.99890016e-01 -1.48088621e-02 -8.08611058e-04 4.28179102e+02] [ 8.08490663e-04 -1.41166906e-05 9.99999673e-01 1.71184794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.20, Z:1.71 [[-1.76613363e-02 -9.99844027e-01 -9.31430610e-06 3.20195987e+02] [ 9.99843700e-01 -1.76613230e-02 -8.08590653e-04 4.28200531e+02] [ 8.08300031e-04 -2.35936418e-05 9.99999673e-01 1.70662763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.23, Z:1.71 [[-1.76566971e-02 -9.99844108e-01 9.82707553e-07 3.20200044e+02] [ 9.99843782e-01 -1.76566921e-02 -8.08610630e-04 4.28227164e+02] [ 8.08501925e-04 -1.32948389e-05 9.99999673e-01 1.71290111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.26, Z:1.71 [[-1.88910395e-02 -9.99821549e-01 1.40969070e-06 3.20201099e+02] [ 9.99821222e-01 -1.88910345e-02 -8.08611286e-04 4.28255587e+02] [ 8.08493619e-04 -1.38660691e-05 9.99999673e-01 1.70884383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.21, Y:428.28, Z:1.71 [[-1.53968260e-02 -9.99881462e-01 -3.59968653e-06 3.20205049e+02] [ 9.99881135e-01 -1.53968181e-02 -8.08603719e-04 4.28277583e+02] [ 8.08452445e-04 -1.60491894e-05 9.99999673e-01 1.71150777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.31, Z:1.71 [[-1.71719303e-02 -9.99852552e-01 7.02797881e-06 3.20204444e+02] [ 9.99852225e-01 -1.71719303e-02 -8.08616044e-04 4.28306768e+02] [ 8.08617499e-04 -6.85855807e-06 9.99999673e-01 1.70818237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.21, Y:428.33, Z:1.71 [[-1.67768499e-02 -9.99859259e-01 -2.21112434e-07 3.20206076e+02] [ 9.99858932e-01 -1.67768442e-02 -8.08605967e-04 4.28334784e+02] [ 8.08488454e-04 -1.37869422e-05 9.99999673e-01 1.70964780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.21, Y:428.36, Z:1.71 [[-1.41160752e-02 -9.99900363e-01 -1.54545423e-06 3.20210112e+02] [ 9.99900036e-01 -1.41160693e-02 -8.08604533e-04 4.28360593e+02] [ 8.08502151e-04 -1.29596221e-05 9.99999673e-01 1.71280692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.102755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:320.21, Y:428.39, Z:1.71 [[-1.39804313e-02 -9.99902269e-01 -6.09476135e-07 3.20210962e+02] [ 9.99901942e-01 -1.39804262e-02 -8.08605239e-04 4.28388472e+02] [ 8.08517692e-04 -1.19140663e-05 9.99999673e-01 1.71097181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:428.42, Z:1.71 [[-9.84652528e-03 -9.99951522e-01 -1.40279406e-06 3.20216669e+02] [ 9.99951195e-01 -9.84652093e-03 -8.08604836e-04 4.28415670e+02] [ 8.08551824e-04 -9.36467355e-06 9.99999673e-01 1.71332894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:428.44, Z:1.71 [[-1.04557182e-02 -9.99945338e-01 -9.23768219e-08 3.20216709e+02] [ 9.99945011e-01 -1.04557147e-02 -8.08604986e-04 4.28442582e+02] [ 8.08559820e-04 -8.54691763e-06 9.99999673e-01 1.71164772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:428.44, Z:1.71 [[-6.68929366e-03 -9.99977627e-01 4.12349929e-07 3.20219144e+02] [ 9.99977300e-01 -6.68929182e-03 -8.08605264e-04 4.28436432e+02] [ 8.08589931e-04 -4.99665750e-06 9.99999673e-01 1.71359792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.22, Y:428.46, Z:1.71 [[-3.54775371e-03 -9.99993707e-01 -6.89393999e-06 3.20223508e+02] [ 9.99993380e-01 -3.54774698e-03 -8.08583836e-04 4.28461172e+02] [ 8.08554289e-04 -9.76255065e-06 9.99999673e-01 1.71252294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.22, Y:428.49, Z:1.72 [[-3.82053055e-03 -9.99992702e-01 -1.93484089e-06 3.20224161e+02] [ 9.99992375e-01 -3.82052774e-03 -8.08595702e-04 4.28489919e+02] [ 8.08582409e-04 -5.02409072e-06 9.99999673e-01 1.71555837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2827550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:320.23, Y:428.52, Z:1.72 [[-2.90125214e-03 -9.99995791e-01 -4.62224637e-06 3.20226538e+02] [ 9.99995465e-01 -2.90124745e-03 -8.08590040e-04 4.28516556e+02] [ 8.08573226e-04 -6.96814898e-06 9.99999673e-01 1.71637550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.23, Y:428.55, Z:1.72 [[-5.08464499e-03 -9.99987073e-01 -1.32404222e-06 3.20226624e+02] [ 9.99986746e-01 -5.08464226e-03 -8.08595440e-04 4.28545273e+02] [ 8.08578255e-04 -5.43544542e-06 9.99999673e-01 1.71639584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.23, Y:428.57, Z:1.72 [[-5.40420323e-03 -9.99985397e-01 -4.18276040e-06 3.20226420e+02] [ 9.99985070e-01 -5.40419809e-03 -8.08591669e-04 4.28573045e+02] [ 8.08557257e-04 -8.55249166e-06 9.99999673e-01 1.71641933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.372755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.23, Y:428.60, Z:1.72 [[-5.97429186e-03 -9.99982154e-01 -3.97215574e-06 3.20226786e+02] [ 9.99981827e-01 -5.97428670e-03 -8.08591889e-04 4.28598682e+02] [ 8.08553728e-04 -8.80284749e-06 9.99999673e-01 1.71538183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4027550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:320.23, Y:428.62, Z:1.72 [[-6.58165758e-03 -9.99978341e-01 -3.52545066e-06 3.20228189e+02] [ 9.99978014e-01 -6.58165259e-03 -8.08592189e-04 4.28624796e+02] [ 8.08551472e-04 -8.84725006e-06 9.99999673e-01 1.71575660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.432755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.23, Y:428.65, Z:1.72 [[-6.20675818e-03 -9.99980738e-01 -2.95346356e-06 3.20232574e+02] [ 9.99980411e-01 -6.20675377e-03 -8.08592183e-04 4.28651928e+02] [ 8.08558276e-04 -7.97214185e-06 9.99999673e-01 1.71639813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.462755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:320.23, Y:428.65, Z:1.72 [[-8.76040705e-03 -9.99961627e-01 2.94875751e-08 3.20232263e+02] [ 9.99961300e-01 -8.76040421e-03 -8.08587073e-04 4.28653793e+02] [ 8.08556304e-04 -7.05406546e-06 9.99999673e-01 1.71525563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:428.66, Z:1.71 [[-1.39560828e-02 -9.99902609e-01 -3.35243557e-07 3.20233945e+02] [ 9.99902282e-01 -1.39560780e-02 -8.08587775e-04 4.28657324e+02] [ 8.08504347e-04 -1.16199288e-05 9.99999673e-01 1.71425888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.522755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.23, Y:428.66, Z:1.71 [[-1.60943275e-02 -9.99870478e-01 6.76850290e-06 3.20234846e+02] [ 9.99870151e-01 -1.60943277e-02 -8.08569928e-04 4.28662629e+02] [ 8.08574135e-04 -6.24576518e-06 9.99999673e-01 1.71191834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.552755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:320.23, Y:428.76, Z:1.72 [[-1.48232365e-02 -9.99890130e-01 5.78908766e-06 3.20233158e+02] [ 9.99889803e-01 -1.48232364e-02 -8.08572303e-04 4.28760385e+02] [ 8.08569278e-04 -6.19720877e-06 9.99999673e-01 1.71868604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:428.81, Z:1.72 [[-2.15180187e-02 -9.99768461e-01 3.30375247e-06 3.20233186e+02] [ 9.99768134e-01 -2.15180144e-02 -8.08579103e-04 4.28806286e+02] [ 8.08462975e-04 -1.40960338e-05 9.99999673e-01 1.71777304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.612755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:320.23, Y:428.64, Z:1.71 [[-1.09347029e-02 -9.99940214e-01 1.24590582e-05 3.20233063e+02] [ 9.99939887e-01 -1.09347094e-02 -8.08538784e-04 4.28638377e+02] [ 8.08626681e-04 3.61717792e-06 9.99999673e-01 1.71263600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.52, Y:428.60, Z:2.79 [[-6.61617384e-02 9.97808912e-01 -3.06197100e-07 3.19515586e+02] [ 9.97808586e-01 6.61617170e-02 8.08570749e-04 4.28595583e+02] [ 8.06819358e-04 5.31909203e-05 -9.99999673e-01 2.79151254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6727550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:319.54, Y:428.58, Z:2.80 [[-1.50446749e-01 9.88618113e-01 -4.74590114e-05 3.19542915e+02] [ 9.88617788e-01 1.50446739e-01 8.04821486e-04 4.28578947e+02] [ 8.02801152e-04 7.41639535e-05 -9.99999675e-01 2.79592889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.57, Y:428.55, Z:2.79 [[-2.27481781e-01 9.73782328e-01 -1.28145017e-04 3.19573333e+02] [ 9.73782008e-01 2.27481810e-01 7.91754946e-04 4.28549550e+02] [ 8.00147635e-04 5.53245128e-05 -9.99999678e-01 2.79480703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.61, Y:428.52, Z:2.79 [[-3.03288852e-01 9.52898650e-01 -1.88374080e-04 3.19607935e+02] [ 9.52898335e-01 3.03288906e-01 7.77085615e-04 4.28517187e+02] [ 7.97615602e-04 5.61800576e-05 -9.99999680e-01 2.79479154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:428.50, Z:2.80 [[-3.77855078e-01 9.25864719e-01 -2.50806059e-04 3.19639202e+02] [ 9.25864411e-01 3.77855157e-01 7.56557231e-04 4.28501230e+02] [ 7.95238011e-04 5.36565873e-05 -9.99999682e-01 2.79503113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.68, Y:428.48, Z:2.80 [[-4.44965174e-01 8.95547819e-01 -3.12320920e-04 3.19678471e+02] [ 8.95547522e-01 4.44965281e-01 7.30794775e-04 4.28476604e+02] [ 7.93433633e-04 4.54799979e-05 -9.99999684e-01 2.79521562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:428.47, Z:2.80 [[-5.10443368e-01 8.59911295e-01 -3.64655648e-04 3.19708985e+02] [ 8.59911008e-01 5.10443497e-01 7.03905061e-04 4.28470460e+02] [ 7.91432017e-04 4.57322645e-05 -9.99999686e-01 2.79599004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.75, Y:428.45, Z:2.79 [[-5.75584120e-01 8.17742472e-01 -4.13089645e-04 3.19749724e+02] [ 8.17742196e-01 5.75584266e-01 6.74050506e-04 4.28453405e+02] [ 7.88967627e-04 5.01719333e-05 -9.99999688e-01 2.79322020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.882755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:319.79, Y:428.44, Z:2.79 [[-6.34251139e-01 7.73126946e-01 -4.66858033e-04 3.19789108e+02] [ 7.73126686e-01 6.34251310e-01 6.34727963e-04 4.28443775e+02] [ 7.86830611e-04 4.16365295e-05 -9.99999690e-01 2.79377424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:428.43, Z:2.79 [[-6.91952563e-01 7.21942788e-01 -5.10614437e-04 3.19834802e+02] [ 7.21942543e-01 6.91952750e-01 5.97170917e-04 4.28430683e+02] [ 7.84444301e-04 4.45796617e-05 -9.99999691e-01 2.79264647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.87, Y:428.43, Z:2.79 [[-7.44640674e-01 6.67465325e-01 -5.53817955e-04 3.19869777e+02] [ 6.67465097e-01 7.44640879e-01 5.53760485e-04 4.28433613e+02] [ 7.82011411e-04 4.26984260e-05 -9.99999693e-01 2.79224011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:428.44, Z:2.79 [[-7.94464395e-01 6.07310443e-01 -5.92773847e-04 3.19907219e+02] [ 6.07310232e-01 7.94464615e-01 5.07959227e-04 4.28435091e+02] [ 7.79426789e-04 4.35578977e-05 -9.99999695e-01 2.79196256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.94, Y:428.44, Z:2.79 [[-8.39455156e-01 5.43428602e-01 -6.28467050e-04 3.19943982e+02] [ 5.43428410e-01 8.39455390e-01 4.58632496e-04 4.28440255e+02] [ 7.76804069e-04 4.34745631e-05 -9.99999697e-01 2.79276195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.98, Y:428.45, Z:2.79 [[-8.79545724e-01 4.75813916e-01 -6.60386128e-04 3.19984160e+02] [ 4.75813744e-01 8.79545971e-01 4.06324928e-04 4.28446062e+02] [ 7.74175013e-04 4.31605569e-05 -9.99999699e-01 2.79202413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:428.45, Z:2.79 [[-9.13996792e-01 4.05720831e-01 -6.87407738e-04 3.20023313e+02] [ 4.05720679e-01 9.13997049e-01 3.53073999e-04 4.28454765e+02] [ 7.71538121e-04 4.38129682e-05 -9.99999701e-01 2.79280772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.05, Y:428.47, Z:2.79 [[-9.43035474e-01 3.32691436e-01 -7.10022685e-04 3.20053293e+02] [ 3.32691305e-01 9.43035740e-01 2.98257107e-04 4.28469948e+02] [ 7.68804353e-04 4.50486585e-05 -9.99999704e-01 2.79471244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.09, Y:428.49, Z:2.79 [[-9.66240211e-01 2.57641853e-01 -7.28734926e-04 3.20085349e+02] [ 2.57641745e-01 9.66240484e-01 2.40379401e-04 4.28485273e+02] [ 7.66064982e-04 4.45117055e-05 -9.99999706e-01 2.79460867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.12, Y:428.50, Z:2.80 [[-9.82447383e-01 1.86538438e-01 -7.42469704e-04 3.20118524e+02] [ 1.86538353e-01 9.82447663e-01 1.82877134e-04 4.28503233e+02] [ 7.63551240e-04 4.11680859e-05 -9.99999708e-01 2.79679763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.15, Y:428.52, Z:2.79 [[-9.94847133e-01 1.01383527e-01 -7.50608777e-04 3.20154779e+02] [ 1.01383456e-01 9.94847414e-01 1.31529894e-04 4.28521537e+02] [ 7.60076165e-04 5.47528257e-05 -9.99999710e-01 2.79473081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.18, Y:428.54, Z:2.79 [[-9.99774691e-01 2.12131335e-02 -7.55851081e-04 3.20181627e+02] [ 2.12130911e-02 9.99774975e-01 6.40210409e-05 4.28544798e+02] [ 7.57039083e-04 4.79726784e-05 -9.99999712e-01 2.79320808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.20, Y:428.57, Z:2.80 [[-9.98426648e-01 -5.60683282e-02 -7.55770127e-04 3.20202991e+02] [-5.60683458e-02 9.98426933e-01 2.12549942e-06 4.28569788e+02] [ 7.54462077e-04 4.44969361e-05 -9.99999714e-01 2.79517657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:428.60, Z:2.79 [[-9.90629450e-01 -1.36574992e-01 -7.51255513e-04 3.20230792e+02] [-1.36574990e-01 9.90629734e-01 -5.46321006e-05 4.28596342e+02] [ 7.51677428e-04 4.84825463e-05 -9.99999716e-01 2.79445697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.25, Y:428.62, Z:2.79 [[-9.76892227e-01 -2.13731200e-01 -7.41699470e-04 3.20254677e+02] [-2.13731174e-01 9.76892508e-01 -1.14619935e-04 4.28624678e+02] [ 7.49058512e-04 4.65529749e-05 -9.99999718e-01 2.79467531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.27, Y:428.65, Z:2.79 [[-9.58327097e-01 -2.85672267e-01 -7.28347068e-04 3.20269949e+02] [-2.85672220e-01 9.58327373e-01 -1.70134508e-04 4.28651756e+02] [ 7.46597643e-04 4.50240145e-05 -9.99999720e-01 2.79324081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.27, Y:428.67, Z:2.79 [[-9.28683590e-01 -3.70872323e-01 -7.13836467e-04 3.20268897e+02] [-3.70872266e-01 9.28683862e-01 -2.15019925e-04 4.28672749e+02] [ 7.42673346e-04 6.50566724e-05 -9.99999722e-01 2.78992625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.99, Y:429.35, Z:1.72 [[-9.19182407e-01 3.93831479e-01 6.84698889e-04 3.19991762e+02] [-3.93831375e-01 -9.19182662e-01 2.85239243e-04 4.29347682e+02] [ 7.41699540e-04 -7.46901111e-06 9.99999725e-01 1.71667467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:428.68, Z:2.79 [[-8.98397164e-01 -4.39183408e-01 -6.85721461e-04 3.20234957e+02] [-4.39183320e-01 8.98397424e-01 -2.82768277e-04 4.28681719e+02] [ 7.40237529e-04 4.71192097e-05 -9.99999725e-01 2.79002749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.93, Y:429.34, Z:1.72 [[-8.86824558e-01 4.62105797e-01 6.59996267e-04 3.19927694e+02] [-4.62105676e-01 -8.86824804e-01 3.34124453e-04 4.29342744e+02] [ 7.39701907e-04 -8.67825065e-06 9.99999726e-01 1.71915442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.91, Y:429.34, Z:1.72 [[-8.91277633e-01 4.53457547e-01 6.59296149e-04 3.19912337e+02] [-4.53457423e-01 -8.91277877e-01 3.35523122e-04 4.29335533e+02] [ 7.39761564e-04 8.15211875e-08 9.99999726e-01 1.71654492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.19, Y:428.68, Z:2.79 [[-8.64767164e-01 -5.02172594e-01 -6.62198596e-04 3.20190920e+02] [-5.02172488e-01 8.64767416e-01 -3.29703047e-04 4.28681855e+02] [ 7.38215603e-04 4.74215476e-05 -9.99999726e-01 2.79279052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.82, Y:429.31, Z:1.71 [[-8.58746753e-01 5.12399855e-01 6.35157179e-04 3.19821472e+02] [-5.12399717e-01 -8.58746988e-01 3.75548863e-04 4.29313638e+02] [ 7.37870497e-04 -2.95299177e-06 9.99999728e-01 1.71364450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.572755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.13, Y:428.67, Z:2.79 [[-8.26415198e-01 -5.63060846e-01 -6.36006027e-04 3.20133190e+02] [-5.63060724e-01 8.26415441e-01 -3.74107976e-04 4.28669029e+02] [ 7.36250755e-04 4.89414971e-05 -9.99999728e-01 2.79289485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:429.27, Z:1.71 [[-8.21792654e-01 5.69786334e-01 6.05442579e-04 3.19717722e+02] [-5.69786181e-01 -8.21792877e-01 4.18695318e-04 4.29274318e+02] [ 7.36115269e-04 -8.92078046e-07 9.99999729e-01 1.71447539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.72, Y:429.28, Z:1.72 [[-8.22884873e-01 5.68207811e-01 6.07151735e-04 3.19720990e+02] [-5.68207659e-01 -8.22885098e-01 4.16198819e-04 4.29275320e+02] [ 7.36103534e-04 -2.50455368e-06 9.99999729e-01 1.71500841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6627550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.08, Y:428.66, Z:2.79 [[-7.89191134e-01 -6.14147365e-01 -6.07151735e-04 3.20077731e+02] [-6.14147226e-01 7.89191366e-01 -4.16198819e-04 4.28656385e+02] [ 7.34766315e-04 4.44201363e-05 -9.99999729e-01 2.79296684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.692755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.63, Y:429.23, Z:1.72 [[-7.79951953e-01 6.25839132e-01 5.76421600e-04 3.19627354e+02] [-6.25838967e-01 -7.79952166e-01 4.55187697e-04 4.29231242e+02] [ 7.34455548e-04 -5.72256552e-06 9.99999730e-01 1.71594776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.02, Y:428.63, Z:2.79 [[-7.48334502e-01 -6.63321296e-01 -5.76421600e-04 3.20016087e+02] [-6.63321141e-01 7.48334723e-01 -4.55187697e-04 4.28634917e+02] [ 7.33291991e-04 4.17199743e-05 -9.99999730e-01 2.79069308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.52, Y:429.18, Z:1.72 [[-7.33123641e-01 6.80095164e-01 5.42944706e-04 3.19522963e+02] [-6.80094986e-01 -7.33123842e-01 4.92247151e-04 4.29176457e+02] [ 7.32820616e-04 -8.37594869e-06 9.99999732e-01 1.71860859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.95, Y:428.59, Z:2.79 [[-7.03124143e-01 -7.11066906e-01 -5.42944707e-04 3.19951032e+02] [-7.11066737e-01 7.03124351e-01 -4.92247151e-04 4.28593877e+02] [ 7.31778303e-04 3.99590647e-05 -9.99999732e-01 2.78782223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.44, Y:429.13, Z:1.72 [[-6.81848476e-01 7.31493267e-01 5.06051863e-04 3.19438974e+02] [-7.31493077e-01 -6.81848664e-01 5.27973998e-04 4.29126819e+02] [ 7.31260211e-04 -1.01751681e-05 9.99999733e-01 1.72145757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:429.11, Z:1.72 [[-6.82289352e-01 7.31082061e-01 5.09268857e-04 3.19425002e+02] [-7.31081873e-01 -6.82289542e-01 5.24852522e-04 4.29111809e+02] [ 7.31179079e-04 -1.42159421e-05 9.99999733e-01 1.71788724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.89, Y:428.57, Z:2.79 [[-6.62537467e-01 -7.49028602e-01 -5.09268857e-04 3.19890709e+02] [-7.49028418e-01 6.62537662e-01 -5.24852522e-04 4.28566803e+02] [ 7.30539348e-04 3.37223857e-05 -9.99999733e-01 2.78944238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.33, Y:429.04, Z:1.72 [[-6.29838453e-01 7.76726015e-01 4.69765434e-04 3.19330188e+02] [-7.76725814e-01 -6.29838628e-01 5.58353657e-04 4.29039999e+02] [ 7.29564228e-04 -1.32063355e-05 9.99999734e-01 1.71799309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.83, Y:428.53, Z:2.79 [[-6.15797058e-01 -7.87904666e-01 -4.69765434e-04 3.19829306e+02] [-7.87904469e-01 6.15797237e-01 -5.58353658e-04 4.28526273e+02] [ 7.29209708e-04 2.62977454e-05 -9.99999734e-01 2.79102842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.77, Y:428.48, Z:2.79 [[-5.59829060e-01 -8.28607991e-01 -4.69765435e-04 3.19767339e+02] [-8.28607807e-01 5.59829252e-01 -5.58353657e-04 4.28479803e+02] [ 7.25644734e-04 7.66687032e-05 -9.99999734e-01 2.79019451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.992755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:319.15, Y:428.87, Z:1.72 [[-5.17299121e-01 8.55804574e-01 3.87561022e-04 3.19153256e+02] [-8.55804356e-01 -5.17299266e-01 6.10869842e-04 4.28869196e+02] [ 7.23270237e-04 -1.56739789e-05 9.99999738e-01 1.71541963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.71, Y:428.43, Z:2.79 [[-5.02609331e-01 -8.64513569e-01 -3.87561022e-04 3.19710451e+02] [-8.64513353e-01 5.02609480e-01 -6.10869842e-04 4.28432700e+02] [ 7.22897110e-04 2.80227961e-05 -9.99999738e-01 2.79170660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.07, Y:428.77, Z:1.72 [[-4.57533692e-01 8.89192219e-01 3.45318911e-04 3.19068660e+02] [-8.89191993e-01 -4.57533822e-01 6.34047506e-04 4.28765889e+02] [ 7.21785189e-04 -1.69567144e-05 9.99999739e-01 1.71524572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.65, Y:428.37, Z:2.79 [[-4.40867123e-01 -8.97572315e-01 -3.45318911e-04 3.19651228e+02] [-8.97572091e-01 4.40867258e-01 -6.34047506e-04 4.28370903e+02] [ 7.21343289e-04 3.04179168e-05 -9.99999739e-01 2.79193648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.99, Y:428.66, Z:1.72 [[-4.04433077e-01 9.14567546e-01 2.99617930e-04 3.18991574e+02] [-9.14567311e-01 -4.04433188e-01 6.55294628e-04 4.28661160e+02] [ 7.20486635e-04 -8.99794236e-06 9.99999740e-01 1.71713036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:428.29, Z:2.80 [[-3.80013298e-01 -9.24980975e-01 -2.99617930e-04 3.19592476e+02] [-9.24980743e-01 3.80013415e-01 -6.55294628e-04 4.28292349e+02] [ 7.19993897e-04 2.81201434e-05 -9.99999740e-01 2.79526620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.54, Y:428.23, Z:2.79 [[-3.14839077e-01 -9.49145018e-01 -2.99617930e-04 3.19542874e+02] [-9.49144795e-01 3.14839210e-01 -6.55294628e-04 4.28229081e+02] [ 7.16301104e-04 7.80684433e-05 -9.99999740e-01 2.78877214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.86, Y:428.43, Z:1.72 [[-2.77595175e-01 9.60698118e-01 2.10540863e-04 3.18858436e+02] [-9.60697876e-01 -2.77595254e-01 6.82879488e-04 4.28434346e+02] [ 7.14486184e-04 -1.27021093e-05 9.99999745e-01 1.72014672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.232755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.50, Y:428.16, Z:2.79 [[-2.50374568e-01 -9.68149024e-01 -2.10540863e-04 3.19500130e+02] [-9.68148783e-01 2.50374654e-01 -6.82879489e-04 4.28156159e+02] [ 7.13843206e-04 3.28592241e-05 -9.99999745e-01 2.79489104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.46, Y:428.08, Z:2.79 [[-1.79335470e-01 -9.83787957e-01 -2.10540864e-04 3.19463171e+02] [-9.83787724e-01 1.79335574e-01 -6.82879489e-04 4.28081740e+02] [ 7.09566084e-04 8.46630029e-05 -9.99999745e-01 2.79423716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.76, Y:428.20, Z:1.72 [[-1.52088032e-01 9.88366945e-01 1.16538140e-04 3.18757159e+02] [-9.88366698e-01 -1.52088076e-01 6.98561577e-04 4.28199857e+02] [ 7.08159233e-04 -8.93956154e-06 9.99999749e-01 1.72268179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:428.01, Z:2.79 [[-1.12575452e-01 -9.93643172e-01 -1.16538140e-04 3.19427071e+02] [-9.93642928e-01 1.12575507e-01 -6.98561578e-04 4.28005724e+02] [ 7.07240282e-04 3.71564133e-05 -9.99999749e-01 2.78733520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.352755096 meters Centerline goodness : 0.999799 Centerline is valid? [True, True] Translation: X:319.40, Y:427.94, Z:2.79 [[-4.20613122e-02 -9.99115025e-01 -1.16538140e-04 3.19398732e+02] [-9.99114784e-01 4.20613835e-02 -6.98561578e-04 4.27935283e+02] [ 7.02845123e-04 8.70525622e-05 -9.99999749e-01 2.78981883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.382755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:318.69, Y:427.95, Z:1.72 [[-2.11636063e-02 9.99776026e-01 1.96641884e-05 3.18688189e+02] [-9.99775780e-01 -2.11636149e-02 7.01522669e-04 4.27948673e+02] [ 7.01781711e-04 -4.81302970e-06 9.99999754e-01 1.72190275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4127550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:319.38, Y:427.86, Z:2.78 [[ 2.27905969e-02 -9.99740261e-01 -1.96641885e-05 3.19375681e+02] [-9.99740015e-01 -2.27905775e-02 -7.01522669e-04 4.27859060e+02] [ 7.00892297e-04 3.56471964e-05 -9.99999754e-01 2.78329867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.39, Y:427.86, Z:2.79 [[ 1.01635290e-01 -9.94821727e-01 1.74874673e-05 3.19393969e+02] [-9.94821482e-01 -1.01635277e-01 -7.00314182e-04 4.27858110e+02] [ 6.98465107e-04 5.37797268e-05 -9.99999755e-01 2.78866177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.472755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:318.69, Y:427.75, Z:1.72 [[ 1.18794418e-01 9.92918869e-01 -8.09961150e-05 3.18688116e+02] [-9.92918627e-01 1.18794446e-01 6.93191353e-04 4.27751660e+02] [ 6.97904662e-04 -1.92471231e-06 9.99999757e-01 1.72135680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.502755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:318.69, Y:427.72, Z:1.72 [[ 1.19005050e-01 9.92893646e-01 -8.37746434e-05 3.18691325e+02] [-9.92893404e-01 1.19005079e-01 6.92879187e-04 4.27723013e+02] [ 6.97924950e-04 7.23168834e-07 9.99999757e-01 1.72143315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.69, Y:427.69, Z:1.72 [[ 1.16646567e-01 9.93173485e-01 -8.02754039e-05 3.18689478e+02] [-9.93173243e-01 1.16646595e-01 6.93272109e-04 4.27692297e+02] [ 6.97903329e-04 -1.14042859e-06 9.99999757e-01 1.72326105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.43, Y:427.78, Z:2.79 [[ 1.79602826e-01 -9.83739203e-01 7.79843472e-05 3.19428046e+02] [-9.83738959e-01 -1.79602836e-01 -6.93529728e-04 4.27777059e+02] [ 6.96258592e-04 4.78436583e-05 -9.99999757e-01 2.78842060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.592755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:319.44, Y:427.77, Z:2.79 [[ 2.52625629e-01 -9.67564093e-01 1.31640270e-04 3.19440054e+02] [-9.67563853e-01 -2.52625660e-01 -6.83191069e-04 4.27774806e+02] [ 6.94286857e-04 4.52212071e-05 -9.99999758e-01 2.78724210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.75, Y:427.55, Z:1.72 [[ 2.79421257e-01 9.60168591e-01 -1.95232736e-04 3.18749397e+02] [-9.60168360e-01 2.79421325e-01 6.65751364e-04 4.27552156e+02] [ 6.93785739e-04 1.43121295e-06 9.99999759e-01 1.72056653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:318.76, Y:427.52, Z:1.72 [[ 2.82877122e-01 9.59156139e-01 -1.86785344e-04 3.18759300e+02] [-9.59155906e-01 2.82877184e-01 6.68063297e-04 4.27519872e+02] [ 6.93614325e-04 -9.82355687e-06 9.99999759e-01 1.72126472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.682755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:319.47, Y:427.71, Z:2.79 [[ 3.17365587e-01 -9.48303250e-01 1.75972413e-04 3.19468767e+02] [-9.48303013e-01 -3.17365632e-01 -6.70984283e-04 4.27713580e+02] [ 6.92144172e-04 4.60721516e-05 -9.99999759e-01 2.78938355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.712755096 meters Centerline goodness : 0.999843 Centerline is valid? [True, True] Translation: X:318.80, Y:427.43, Z:1.72 [[ 3.58861408e-01 9.33390826e-01 -2.38319179e-04 3.18795883e+02] [-9.33390600e-01 3.58861487e-01 6.48603813e-04 4.27434057e+02] [ 6.90924423e-04 -1.03139953e-05 9.99999761e-01 1.71851487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.50, Y:427.69, Z:2.79 [[ 3.88006991e-01 -9.21656402e-01 2.26888642e-04 3.19497780e+02] [-9.21656172e-01 -3.88007055e-01 -6.52654333e-04 4.27689276e+02] [ 6.89557439e-04 4.41211267e-05 -9.99999761e-01 2.79205453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.772755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:319.52, Y:427.70, Z:2.79 [[ 4.56842594e-01 -8.89547510e-01 2.67572827e-04 3.19515103e+02] [-8.89547285e-01 -4.56842670e-01 -6.34527542e-04 4.27699913e+02] [ 6.86681080e-04 5.18605265e-05 -9.99999763e-01 2.79349738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.53, Y:427.71, Z:2.79 [[ 5.25447951e-01 -8.50825687e-01 3.20000199e-04 3.19530458e+02] [-8.50825472e-01 -5.25448046e-01 -6.05970491e-04 4.27712032e+02] [ 6.83718739e-04 4.61416320e-05 -9.99999765e-01 2.79046358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.55, Y:427.72, Z:2.79 [[ 5.87904841e-01 -8.08930014e-01 3.62672758e-04 3.19545803e+02] [-8.08929808e-01 -5.87904951e-01 -5.78208551e-04 4.27721752e+02] [ 6.80947361e-04 4.65548011e-05 -9.99999767e-01 2.79107817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.56, Y:427.73, Z:2.79 [[ 6.49394847e-01 -7.60451287e-01 4.14915515e-04 3.19556752e+02] [-7.60451098e-01 -6.49394979e-01 -5.37911300e-04 4.27729219e+02] [ 6.78499393e-04 3.37938674e-05 -9.99999769e-01 2.79179179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.57, Y:427.74, Z:2.79 [[ 7.09926498e-01 -7.04275633e-01 4.48447173e-04 3.19572362e+02] [-7.04275451e-01 -7.09926638e-01 -5.07656421e-04 4.27739812e+02] [ 6.75894641e-04 4.45684093e-05 -9.99999771e-01 2.78967613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.58, Y:427.75, Z:2.79 [[ 7.60358070e-01 -6.49503938e-01 4.90281656e-04 3.19581040e+02] [-6.49503773e-01 -7.60358227e-01 -4.63394623e-04 4.27748341e+02] [ 6.73766324e-04 3.39060556e-05 -9.99999773e-01 2.78970968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.952755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:319.59, Y:427.76, Z:2.79 [[ 8.09692669e-01 -5.86853910e-01 5.19987997e-04 3.19591755e+02] [-5.86853757e-01 -8.09692835e-01 -4.26641074e-04 4.27759361e+02] [ 6.71406538e-04 4.02912401e-05 -9.99999774e-01 2.79203203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:427.77, Z:2.79 [[ 8.52744315e-01 -5.22328280e-01 5.48407666e-04 3.19602370e+02] [-5.22328139e-01 -8.52744491e-01 -3.85240347e-04 4.27767446e+02] [ 6.68873544e-04 4.20627598e-05 -9.99999775e-01 2.79406389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.61, Y:427.78, Z:2.79 [[ 8.91209453e-01 -4.53591641e-01 5.78529715e-04 3.19611615e+02] [-4.53591520e-01 -8.91209640e-01 -3.32891452e-04 4.27779271e+02] [ 6.66588039e-04 3.42598359e-05 -9.99999777e-01 2.79477884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:427.79, Z:2.79 [[ 9.25011390e-01 -3.79938900e-01 6.00934182e-04 3.19621241e+02] [-3.79938794e-01 -9.25011584e-01 -2.85779588e-04 4.27793543e+02] [ 6.64449862e-04 3.60311656e-05 -9.99999779e-01 2.78930824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.63, Y:427.81, Z:2.79 [[ 9.52957344e-01 -3.03103804e-01 6.19735844e-04 3.19628295e+02] [-3.03103714e-01 -9.52957545e-01 -2.36659382e-04 4.27811230e+02] [ 6.62314308e-04 3.76820607e-05 -9.99999780e-01 2.78907621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:427.82, Z:2.79 [[ 9.73431717e-01 -2.28976619e-01 6.32403181e-04 3.19637653e+02] [-2.28976541e-01 -9.73431922e-01 -1.93921796e-04 4.27822005e+02] [ 6.60005001e-04 4.39641338e-05 -9.99999781e-01 2.78995433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:427.84, Z:2.79 [[ 9.88530269e-01 -1.51021482e-01 6.47228298e-04 3.19639284e+02] [-1.51021434e-01 -9.88530481e-01 -1.23399905e-04 4.27836239e+02] [ 6.58440937e-04 2.42391958e-05 -9.99999783e-01 2.79063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:319.64, Y:427.85, Z:2.79 [[ 9.97462469e-01 -7.11912753e-02 6.52416506e-04 3.19640733e+02] [-7.11912357e-02 -9.97462682e-01 -8.37714305e-05 4.27849860e+02] [ 6.56724912e-04 3.71125207e-05 -9.99999784e-01 2.79150204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:427.87, Z:2.79 [[ 9.99973578e-01 7.23977740e-03 6.54938659e-04 3.19641397e+02] [ 7.23980226e-03 -9.99973792e-01 -3.55974315e-05 4.27865515e+02] [ 6.54663777e-04 4.03381173e-05 -9.99999785e-01 2.79233962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:427.88, Z:2.79 [[ 9.96351775e-01 8.53388197e-02 6.53484121e-04 3.19642058e+02] [ 8.53388255e-02 -9.96351988e-01 1.91132123e-05 4.27883142e+02] [ 6.52731302e-04 3.67240843e-05 -9.99999786e-01 2.79161266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.64, Y:427.90, Z:2.79 [[ 9.86487125e-01 1.63837516e-01 6.47948072e-04 3.19639611e+02] [ 1.63837505e-01 -9.86487338e-01 7.15634653e-05 4.27900570e+02] [ 6.50917348e-04 3.55617580e-05 -9.99999788e-01 2.79165130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.63, Y:427.92, Z:2.79 [[ 9.70472787e-01 2.41209787e-01 6.39530527e-04 3.19634363e+02] [ 2.41209762e-01 -9.70472997e-01 1.17092564e-04 4.27916615e+02] [ 6.48890979e-04 4.06258601e-05 -9.99999789e-01 2.79204610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.312755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.63, Y:427.93, Z:2.79 [[ 9.48286886e-01 3.17413903e-01 6.29250022e-04 3.19628825e+02] [ 3.17413869e-01 -9.48287093e-01 1.55842725e-04 4.27934582e+02] [ 6.46176322e-04 5.19490719e-05 -9.99999790e-01 2.79155718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.342755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.62, Y:427.95, Z:2.79 [[ 9.20963367e-01 3.89648694e-01 6.09348976e-04 3.19624439e+02] [ 3.89648638e-01 -9.20963568e-01 2.12183633e-04 4.27947055e+02] [ 6.43865282e-04 4.20186459e-05 -9.99999792e-01 2.79271221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.62, Y:427.96, Z:2.79 [[ 8.87247565e-01 4.61293195e-01 5.89172701e-04 3.19618168e+02] [ 4.61293125e-01 -8.87247759e-01 2.57632264e-04 4.27961490e+02] [ 6.41586169e-04 4.31977176e-05 -9.99999793e-01 2.79060893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4027550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:319.62, Y:427.97, Z:2.79 [[ 8.48987466e-01 5.28412683e-01 5.65390371e-04 3.19615171e+02] [ 5.28412599e-01 -8.48987653e-01 3.01545647e-04 4.27974280e+02] [ 6.39349988e-04 4.27509206e-05 -9.99999795e-01 2.79020137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.432755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:319.61, Y:427.98, Z:2.79 [[ 8.04936902e-01 5.93360183e-01 5.26807206e-04 3.19606467e+02] [ 5.93360074e-01 -8.04937074e-01 3.60770407e-04 4.27982337e+02] [ 6.38113446e-04 2.21889496e-05 -9.99999796e-01 2.79147854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.60, Y:428.00, Z:2.79 [[ 7.57078098e-01 6.53324188e-01 5.08255924e-04 3.19596703e+02] [ 6.53324076e-01 -7.57078268e-01 3.85024065e-04 4.27996465e+02] [ 6.36335049e-04 4.05625450e-05 -9.99999797e-01 2.79122017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:319.59, Y:428.01, Z:2.79 [[ 7.05656909e-01 7.08553530e-01 4.71254188e-04 3.19588786e+02] [ 7.08553403e-01 -7.05657065e-01 4.26189044e-04 4.28005246e+02] [ 6.34521599e-04 3.31655152e-05 -9.99999798e-01 2.78987887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.11, Y:427.54, Z:1.72 [[ 6.72883475e-01 -7.39748362e-01 -4.35935735e-04 3.20112377e+02] [ 7.39748220e-01 6.72883616e-01 -4.59797540e-04 4.27542146e+02] [ 6.33468491e-04 -1.30925173e-05 9.99999799e-01 1.72172332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.13, Y:427.57, Z:1.72 [[ 6.69617112e-01 -7.42706360e-01 -4.32619848e-04 3.20132914e+02] [ 7.42706216e-01 6.69617251e-01 -4.62952009e-04 4.27566039e+02] [ 6.33527115e-04 -1.13088629e-05 9.99999799e-01 1.72132719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:320.15, Y:427.58, Z:1.72 [[ 6.70092599e-01 -7.42277386e-01 -4.37292956e-04 3.20150841e+02] [ 7.42277245e-01 6.70092741e-01 -4.58504905e-04 4.27583350e+02] [ 6.33364658e-04 -1.73518669e-05 9.99999799e-01 1.71905556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.17, Y:427.60, Z:1.72 [[ 6.71332324e-01 -7.41156342e-01 -4.33894871e-04 3.20173116e+02] [ 7.41156198e-01 6.71332464e-01 -4.61733211e-04 4.27603881e+02] [ 6.33504211e-04 -1.16074431e-05 9.99999799e-01 1.71839804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.642755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:320.19, Y:427.62, Z:1.72 [[ 6.67558703e-01 -7.44557041e-01 -4.36422459e-04 3.20189209e+02] [ 7.44556900e-01 6.67558846e-01 -4.59331687e-04 4.27623461e+02] [ 6.33336315e-04 -1.83104881e-05 9.99999799e-01 1.71515792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6727550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:320.21, Y:427.65, Z:1.71 [[ 6.65312270e-01 -7.46565066e-01 -4.32005789e-04 3.20211054e+02] [ 7.46564922e-01 6.65312410e-01 -4.63524026e-04 4.27646280e+02] [ 6.33469658e-04 -1.41321460e-05 9.99999799e-01 1.71315994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.23, Y:427.67, Z:1.72 [[ 6.65330346e-01 -7.46548953e-01 -4.37076257e-04 3.20230512e+02] [ 7.46548812e-01 6.65330490e-01 -4.58709246e-04 4.27666859e+02] [ 6.33249067e-04 -2.11055787e-05 9.99999799e-01 1.71667039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.732755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:320.25, Y:427.69, Z:1.72 [[ 6.64575441e-01 -7.47221047e-01 -4.36631548e-04 3.20250607e+02] [ 7.47220906e-01 6.64575584e-01 -4.59131263e-04 4.27688492e+02] [ 6.33247209e-04 -2.11328591e-05 9.99999799e-01 1.71542636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.762755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.27, Y:427.71, Z:1.72 [[ 6.66632556e-01 -7.45386373e-01 -4.37840628e-04 3.20273075e+02] [ 7.45386232e-01 6.66632699e-01 -4.57984888e-04 4.27708280e+02] [ 6.33254574e-04 -2.10527396e-05 9.99999799e-01 1.71685930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.29, Y:427.73, Z:1.72 [[ 6.67798717e-01 -7.44341776e-01 -4.40258592e-04 3.20292237e+02] [ 7.44341637e-01 6.67798862e-01 -4.55693597e-04 4.27727426e+02] [ 6.33195968e-04 -2.33912011e-05 9.99999799e-01 1.71716580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.31, Y:427.75, Z:1.72 [[ 6.69041379e-01 -7.43225027e-01 -4.38547417e-04 3.20312333e+02] [ 7.43224887e-01 6.69041523e-01 -4.57313911e-04 4.27746437e+02] [ 6.33293576e-04 -1.99774247e-05 9.99999799e-01 1.71619418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.33, Y:427.77, Z:1.72 [[ 6.69505512e-01 -7.42806958e-01 -4.39265115e-04 3.20331132e+02] [ 7.42806818e-01 6.69505656e-01 -4.56635075e-04 4.27767724e+02] [ 6.33282190e-04 -2.05694220e-05 9.99999799e-01 1.71682264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.35, Y:427.79, Z:1.72 [[ 6.69896534e-01 -7.42454336e-01 -4.38136558e-04 3.20350621e+02] [ 7.42454195e-01 6.69896678e-01 -4.57701640e-04 4.27787987e+02] [ 6.33328791e-04 -1.86835830e-05 9.99999799e-01 1.71634972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.37, Y:427.81, Z:1.72 [[ 6.71201093e-01 -7.41275185e-01 -4.38602363e-04 3.20370314e+02] [ 7.41275044e-01 6.71201237e-01 -4.57261891e-04 4.27807807e+02] [ 6.33347341e-04 -1.82103047e-05 9.99999799e-01 1.71590276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.39, Y:427.83, Z:1.71 [[ 6.71872127e-01 -7.40667033e-01 -4.37771483e-04 3.20389406e+02] [ 7.40666891e-01 6.71872270e-01 -4.58045898e-04 4.27827358e+02] [ 6.33386015e-04 -1.64945714e-05 9.99999799e-01 1.71476300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.41, Y:427.85, Z:1.71 [[ 6.73689503e-01 -7.39014385e-01 -4.38208315e-04 3.20407660e+02] [ 7.39014243e-01 6.73689646e-01 -4.57633567e-04 4.27845264e+02] [ 6.33414193e-04 -1.55392557e-05 9.99999799e-01 1.71479366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.43, Y:427.87, Z:1.72 [[ 6.72252745e-01 -7.40321591e-01 -4.34650398e-04 3.20426806e+02] [ 7.40321447e-01 6.72252886e-01 -4.60988208e-04 4.27867850e+02] [ 6.33474508e-04 -1.18804234e-05 9.99999799e-01 1.71508031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0327550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:320.45, Y:427.89, Z:1.72 [[ 6.71337460e-01 -7.41151687e-01 -4.37232171e-04 3.20445140e+02] [ 7.41151546e-01 6.71337602e-01 -4.58557505e-04 4.27889490e+02] [ 6.33391065e-04 -1.62084687e-05 9.99999799e-01 1.71542373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.062755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:320.46, Y:427.91, Z:1.72 [[ 6.70532631e-01 -7.41879910e-01 -4.35457906e-04 3.20464081e+02] [ 7.41879768e-01 6.70532772e-01 -4.60227042e-04 4.27910596e+02] [ 6.33421993e-04 -1.44601608e-05 9.99999799e-01 1.71670398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.48, Y:427.93, Z:1.72 [[ 6.70117875e-01 -7.42254568e-01 -4.36079980e-04 3.20483106e+02] [ 7.42254426e-01 6.70118016e-01 -4.59641902e-04 4.27931318e+02] [ 6.33396353e-04 -1.56680407e-05 9.99999799e-01 1.71602513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.50, Y:427.95, Z:1.72 [[ 6.69933548e-01 -7.42420941e-01 -4.34493843e-04 3.20501884e+02] [ 7.42420797e-01 6.69933689e-01 -4.61133022e-04 4.27951513e+02] [ 6.33436875e-04 -1.36487843e-05 9.99999799e-01 1.71604183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.52, Y:427.97, Z:1.72 [[ 6.69591776e-01 -7.42729200e-01 -4.34383429e-04 3.20521334e+02] [ 7.42729057e-01 6.69591917e-01 -4.61236770e-04 4.27972251e+02] [ 6.33433650e-04 -1.37888463e-05 9.99999799e-01 1.71540777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.54, Y:427.99, Z:1.72 [[ 6.69069076e-01 -7.43200096e-01 -4.34462777e-04 3.20539099e+02] [ 7.43199953e-01 6.69069217e-01 -4.61162230e-04 4.27991954e+02] [ 6.33421484e-04 -1.43433278e-05 9.99999799e-01 1.71526056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.56, Y:428.01, Z:1.71 [[ 6.68623510e-01 -7.43600978e-01 -4.33579957e-04 3.20559852e+02] [ 7.43600834e-01 6.68623650e-01 -4.61991238e-04 4.28013424e+02] [ 6.33438950e-04 -1.35122149e-05 9.99999799e-01 1.71397052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.58, Y:428.03, Z:1.71 [[ 6.68014748e-01 -7.44147907e-01 -4.34976720e-04 3.20576968e+02] [ 7.44147764e-01 6.68014889e-01 -4.60680054e-04 4.28033385e+02] [ 6.33385023e-04 -1.59458836e-05 9.99999799e-01 1.71369783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.60, Y:428.06, Z:1.71 [[ 6.67597191e-01 -7.44522533e-01 -4.33488599e-04 3.20597516e+02] [ 7.44522390e-01 6.67597332e-01 -4.62076108e-04 4.28055340e+02] [ 6.33421907e-04 -1.42612564e-05 9.99999799e-01 1.71206336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.61, Y:428.08, Z:1.71 [[ 6.65965451e-01 -7.45982459e-01 -4.35507744e-04 3.20614120e+02] [ 7.45982317e-01 6.65965593e-01 -4.60182044e-04 4.28075848e+02] [ 6.33320905e-04 -1.84157336e-05 9.99999799e-01 1.71225543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.64, Y:428.10, Z:1.71 [[ 6.66291401e-01 -7.45691345e-01 -4.33278881e-04 3.20635522e+02] [ 7.45691202e-01 6.66291541e-01 -4.62271119e-04 4.28097147e+02] [ 6.33401626e-04 -1.50849781e-05 9.99999799e-01 1.71050644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.65, Y:428.12, Z:1.71 [[ 6.65048883e-01 -7.46799701e-01 -4.35749423e-04 3.20652215e+02] [ 7.46799559e-01 6.65049026e-01 -4.59956189e-04 4.28117375e+02] [ 6.33289874e-04 -1.95241267e-05 9.99999799e-01 1.71119593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.67, Y:428.14, Z:1.71 [[ 6.65753808e-01 -7.46171348e-01 -4.33053557e-04 3.20673216e+02] [ 7.46171204e-01 6.65753949e-01 -4.62480521e-04 4.28138693e+02] [ 6.33396829e-04 -1.52339266e-05 9.99999799e-01 1.71035761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.69, Y:428.16, Z:1.71 [[ 6.66517117e-01 -7.45489600e-01 -4.35028801e-04 3.20694318e+02] [ 7.45489458e-01 6.66517258e-01 -4.60631326e-04 4.28160412e+02] [ 6.33350067e-04 -1.72907220e-05 9.99999799e-01 1.70941641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.71, Y:428.18, Z:1.71 [[ 6.66093368e-01 -7.45868242e-01 -4.36852452e-04 3.20712000e+02] [ 7.45868101e-01 6.66093511e-01 -4.58925200e-04 4.28182281e+02] [ 6.33282316e-04 -2.01472770e-05 9.99999799e-01 1.71005001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.73, Y:428.20, Z:1.71 [[ 6.67464267e-01 -7.44641701e-01 -4.35356174e-04 3.20730497e+02] [ 7.44641559e-01 6.67464409e-01 -4.60323921e-04 4.28204585e+02] [ 6.33361139e-04 -1.69345317e-05 9.99999799e-01 1.70981960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.75, Y:428.23, Z:1.71 [[ 6.68295507e-01 -7.43895777e-01 -4.35169181e-04 3.20750341e+02] [ 7.43895634e-01 6.68295648e-01 -4.60498578e-04 4.28225758e+02] [ 6.33384617e-04 -1.59713234e-05 9.99999799e-01 1.70955832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.77, Y:428.25, Z:1.71 [[ 6.69881824e-01 -7.42467610e-01 -4.35804131e-04 3.20770328e+02] [ 7.42467467e-01 6.69881966e-01 -4.59905960e-04 4.28247291e+02] [ 6.33402607e-04 -1.54877459e-05 9.99999799e-01 1.70877649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.78, Y:428.26, Z:1.71 [[ 6.70822658e-01 -7.41617672e-01 -4.36149317e-04 3.20782651e+02] [ 7.41617530e-01 6.70822799e-01 -4.59583949e-04 4.28262972e+02] [ 6.33414484e-04 -1.51566529e-05 9.99999799e-01 1.70870622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:320.80, Y:428.29, Z:1.71 [[ 6.69773775e-01 -7.42565088e-01 -4.25261092e-04 3.20804121e+02] [ 7.42564939e-01 6.69773910e-01 -4.69714311e-04 4.28287455e+02] [ 6.33622233e-04 -1.18165017e-06 9.99999799e-01 1.71102542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.82, Y:428.31, Z:1.71 [[ 6.71247264e-01 -7.41233381e-01 -4.31573389e-04 3.20821713e+02] [ 7.41233236e-01 6.71247403e-01 -4.63838693e-04 4.28309218e+02] [ 6.33505239e-04 -8.54608648e-06 9.99999799e-01 1.70963881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.84, Y:428.33, Z:1.71 [[ 6.71913650e-01 -7.40629368e-01 -4.31514536e-04 3.20839602e+02] [ 7.40629223e-01 6.71913788e-01 -4.63893438e-04 4.28329754e+02] [ 6.33513671e-04 -7.89594209e-06 9.99999799e-01 1.70906810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.86, Y:428.35, Z:1.71 [[ 6.72945858e-01 -7.39691616e-01 -4.31381220e-04 3.20857305e+02] [ 7.39691470e-01 6.72945996e-01 -4.64017377e-04 4.28350809e+02] [ 6.33526028e-04 -6.83043682e-06 9.99999799e-01 1.70848578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.88, Y:428.37, Z:1.71 [[ 6.73034899e-01 -7.39610599e-01 -4.31282179e-04 3.20876073e+02] [ 7.39610454e-01 6.73035037e-01 -4.64109413e-04 4.28371358e+02] [ 6.33528259e-04 -6.61897599e-06 9.99999799e-01 1.70873268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.89, Y:428.39, Z:1.71 [[ 6.72876241e-01 -7.39754945e-01 -4.31137487e-04 3.20894876e+02] [ 7.39754799e-01 6.72876379e-01 -4.64243786e-04 4.28392313e+02] [ 6.33528868e-04 -6.55741114e-06 9.99999799e-01 1.70850750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.91, Y:428.41, Z:1.71 [[ 6.72597449e-01 -7.40008436e-01 -4.30990829e-04 3.20913275e+02] [ 7.40008290e-01 6.72597588e-01 -4.64379900e-04 4.28412597e+02] [ 6.33528435e-04 -6.59605014e-06 9.99999799e-01 1.70859332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.93, Y:428.43, Z:1.71 [[ 6.71934718e-01 -7.40610255e-01 -4.30859077e-04 3.20931555e+02] [ 7.40610109e-01 6.71934856e-01 -4.64502109e-04 4.28433139e+02] [ 6.33524257e-04 -6.98349435e-06 9.99999799e-01 1.70792872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.95, Y:428.45, Z:1.71 [[ 6.71396659e-01 -7.41098064e-01 -4.30728744e-04 3.20950470e+02] [ 7.41097918e-01 6.71396797e-01 -4.64622934e-04 4.28453669e+02] [ 6.33521057e-04 -7.26588986e-06 9.99999799e-01 1.70791393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.97, Y:428.47, Z:1.71 [[ 6.70498801e-01 -7.41910488e-01 -4.30586188e-04 3.20969642e+02] [ 7.41910343e-01 6.70498939e-01 -4.64755010e-04 4.28474273e+02] [ 6.33514199e-04 -7.83866961e-06 9.99999799e-01 1.70732602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:320.99, Y:428.49, Z:1.71 [[ 6.68293426e-01 -7.43897648e-01 -4.30440863e-04 3.20989015e+02] [ 7.43897503e-01 6.68293565e-01 -4.64889566e-04 4.28494235e+02] [ 6.33491114e-04 -9.52124181e-06 9.99999799e-01 1.70746332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.01, Y:428.52, Z:1.71 [[ 6.67017318e-01 -7.45042088e-01 -4.30296222e-04 3.21008491e+02] [ 7.45041943e-01 6.67017456e-01 -4.65023405e-04 4.28515096e+02] [ 6.33477101e-04 -1.04100691e-05 9.99999799e-01 1.70754235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.03, Y:428.53, Z:1.71 [[ 6.65852594e-01 -7.46083197e-01 -4.30152780e-04 3.21027289e+02] [ 7.46083053e-01 6.65852733e-01 -4.65156054e-04 4.28534738e+02] [ 6.33463520e-04 -1.12043337e-05 9.99999799e-01 1.70779611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.992755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.05, Y:428.55, Z:1.71 [[ 6.64259932e-01 -7.47501543e-01 -4.30055463e-04 3.21046168e+02] [ 7.47501399e-01 6.64260071e-01 -4.65246010e-04 4.28554514e+02] [ 6.33440783e-04 -1.24227769e-05 9.99999799e-01 1.70812468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.06, Y:428.58, Z:1.71 [[ 6.63661512e-01 -7.48032896e-01 -4.29931898e-04 3.21064906e+02] [ 7.48032751e-01 6.63661651e-01 -4.65360167e-04 4.28575071e+02] [ 6.33434027e-04 -1.27615082e-05 9.99999799e-01 1.70749151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.08, Y:428.59, Z:1.71 [[ 6.63235299e-01 -7.48410819e-01 -4.29783729e-04 3.21082761e+02] [ 7.48410674e-01 6.63235438e-01 -4.65496969e-04 4.28594956e+02] [ 6.33430767e-04 -1.29207086e-05 9.99999799e-01 1.70738264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.10, Y:428.62, Z:1.71 [[ 6.63593561e-01 -7.48093177e-01 -4.29650343e-04 3.21100993e+02] [ 7.48093032e-01 6.63593700e-01 -4.65620051e-04 4.28615508e+02] [ 6.33440444e-04 -1.24359603e-05 9.99999799e-01 1.70588689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.12, Y:428.64, Z:1.70 [[ 6.64051787e-01 -7.47686458e-01 -4.29517637e-04 3.21119783e+02] [ 7.47686313e-01 6.64051926e-01 -4.65742435e-04 4.28636426e+02] [ 6.33451326e-04 -1.18673624e-05 9.99999799e-01 1.70473908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.14, Y:428.66, Z:1.70 [[ 6.64569330e-01 -7.47226486e-01 -4.29380789e-04 3.21138617e+02] [ 7.47226341e-01 6.64569469e-01 -4.65868564e-04 4.28657465e+02] [ 6.33462693e-04 -1.12426763e-05 9.99999799e-01 1.70405139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.16, Y:428.68, Z:1.70 [[ 6.66352335e-01 -7.45636897e-01 -4.29235510e-04 3.21156993e+02] [ 7.45636751e-01 6.66352473e-01 -4.66002381e-04 4.28678722e+02] [ 6.33490713e-04 -9.53199615e-06 9.99999799e-01 1.70298087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.202755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:321.17, Y:428.70, Z:1.70 [[ 6.67116476e-01 -7.44953303e-01 -4.29090405e-04 3.21174428e+02] [ 7.44953157e-01 6.67116614e-01 -4.66135954e-04 4.28699469e+02] [ 6.33502857e-04 -8.68527673e-06 9.99999799e-01 1.70243573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.232755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:321.19, Y:428.72, Z:1.70 [[ 6.68198487e-01 -7.43982928e-01 -4.28991842e-04 3.21191106e+02] [ 7.43982782e-01 6.68198625e-01 -4.66226646e-04 4.28722053e+02] [ 6.33516424e-04 -7.63060406e-06 9.99999799e-01 1.70182275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.21, Y:428.74, Z:1.70 [[ 6.68462085e-01 -7.43746098e-01 -4.28847429e-04 3.21209077e+02] [ 7.43745951e-01 6.68462222e-01 -4.66359443e-04 4.28743767e+02] [ 6.33521321e-04 -7.20993378e-06 9.99999799e-01 1.70176484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.23, Y:428.77, Z:1.70 [[ 6.70571670e-01 -7.41844627e-01 -4.28704207e-04 3.21233980e+02] [ 7.41844481e-01 6.70571808e-01 -4.66491063e-04 4.28767500e+02] [ 6.33540844e-04 -5.21615869e-06 9.99999799e-01 1.70010821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.24, Y:428.79, Z:1.70 [[ 6.68468581e-01 -7.43740255e-01 -4.36617494e-04 3.21244444e+02] [ 7.43740113e-01 6.68468723e-01 -4.59213449e-04 4.28787999e+02] [ 6.33400666e-04 -1.77601823e-05 9.99999799e-01 1.70298682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.26, Y:428.81, Z:1.70 [[ 6.68142605e-01 -7.44033115e-01 -4.28500345e-04 3.21262327e+02] [ 7.44032969e-01 6.68142742e-01 -4.66666735e-04 4.28809196e+02] [ 6.33514901e-04 -7.01845596e-06 9.99999799e-01 1.70357505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.28, Y:428.83, Z:1.70 [[ 6.67758121e-01 -7.44378202e-01 -4.28360188e-04 3.21280609e+02] [ 7.44378056e-01 6.67758259e-01 -4.66795353e-04 4.28830709e+02] [ 6.33513339e-04 -7.15553631e-06 9.99999799e-01 1.70353569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.30, Y:428.85, Z:1.70 [[ 6.66907405e-01 -7.45140476e-01 -4.28221188e-04 3.21297117e+02] [ 7.45140330e-01 6.66907543e-01 -4.66922831e-04 4.28852018e+02] [ 6.33507041e-04 -7.69058310e-06 9.99999799e-01 1.70284312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.32, Y:428.87, Z:1.70 [[ 6.66159293e-01 -7.45809368e-01 -4.28126866e-04 3.21315316e+02] [ 7.45809221e-01 6.66159431e-01 -4.67009300e-04 4.28873696e+02] [ 6.33500660e-04 -8.19837883e-06 9.99999799e-01 1.70252468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.33, Y:428.90, Z:1.70 [[ 6.64126503e-01 -7.47620094e-01 -4.27990326e-04 3.21333085e+02] [ 7.47619948e-01 6.64126641e-01 -4.67134399e-04 4.28895765e+02] [ 6.33478841e-04 -9.73777039e-06 9.99999799e-01 1.70152796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.35, Y:428.92, Z:1.70 [[ 6.62665802e-01 -7.48915117e-01 -4.27854215e-04 3.21351751e+02] [ 7.48914971e-01 6.62665940e-01 -4.67259031e-04 4.28917249e+02] [ 6.33461767e-04 -1.07898462e-05 9.99999799e-01 1.70174483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5327550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:321.37, Y:428.94, Z:1.70 [[ 6.61216837e-01 -7.50194716e-01 -4.27709014e-04 3.21370369e+02] [ 7.50194570e-01 6.61216975e-01 -4.67391904e-04 4.28938063e+02] [ 6.33443397e-04 -1.18175832e-05 9.99999799e-01 1.70163668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.562755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:321.39, Y:428.96, Z:1.70 [[ 6.58142245e-01 -7.52893487e-01 -4.27562467e-04 3.21388508e+02] [ 7.52893342e-01 6.58142384e-01 -4.67525925e-04 4.28957919e+02] [ 6.33394205e-04 -1.42103724e-05 9.99999799e-01 1.70120379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.592755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:321.41, Y:428.98, Z:1.70 [[ 6.56823466e-01 -7.54044264e-01 -4.27431845e-04 3.21407524e+02] [ 7.54044119e-01 6.56823605e-01 -4.67645314e-04 4.28978314e+02] [ 6.33372592e-04 -1.51420535e-05 9.99999799e-01 1.70139153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.43, Y:429.00, Z:1.70 [[ 6.55897340e-01 -7.54849983e-01 -4.27288649e-04 3.21425471e+02] [ 7.54849838e-01 6.55897479e-01 -4.67776116e-04 4.28998300e+02] [ 6.33358341e-04 -1.57256574e-05 9.99999799e-01 1.70062828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.44, Y:429.02, Z:1.70 [[ 6.55195486e-01 -7.55459260e-01 -4.27160709e-04 3.21443729e+02] [ 7.55459115e-01 6.55195625e-01 -4.67892918e-04 4.29019034e+02] [ 6.33347865e-04 -1.61411231e-05 9.99999799e-01 1.70257756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.46, Y:429.04, Z:1.70 [[ 6.55001925e-01 -7.55627088e-01 -4.27015566e-04 3.21461225e+02] [ 7.55626943e-01 6.55002064e-01 -4.68025343e-04 4.29040515e+02] [ 6.33348704e-04 -1.61069656e-05 9.99999799e-01 1.70272388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.48, Y:429.06, Z:1.70 [[ 6.55132597e-01 -7.55513798e-01 -4.26870985e-04 3.21478800e+02] [ 7.55513653e-01 6.55132736e-01 -4.68157174e-04 4.29061194e+02] [ 6.33356361e-04 -1.58018321e-05 9.99999799e-01 1.70199928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.50, Y:429.08, Z:1.70 [[ 6.56181148e-01 -7.54603286e-01 -4.26740509e-04 3.21496746e+02] [ 7.54603140e-01 6.56181287e-01 -4.68276077e-04 4.29082153e+02] [ 6.33381803e-04 -1.47457942e-05 9.99999799e-01 1.70043778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.772755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.52, Y:429.10, Z:1.70 [[ 6.56639573e-01 -7.54204408e-01 -4.26598740e-04 3.21515723e+02] [ 7.54204263e-01 6.56639712e-01 -4.68405193e-04 4.29103217e+02] [ 6.33394935e-04 -1.41692022e-05 9.99999799e-01 1.69982292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.53, Y:429.12, Z:1.70 [[ 6.57286019e-01 -7.53641100e-01 -4.26458151e-04 3.21534669e+02] [ 7.53640955e-01 6.57286157e-01 -4.68533156e-04 4.29123933e+02] [ 6.33410883e-04 -1.34360352e-05 9.99999799e-01 1.69942285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.55, Y:429.14, Z:1.70 [[ 6.58718824e-01 -7.52389081e-01 -4.26318126e-04 3.21552201e+02] [ 7.52388935e-01 6.58718962e-01 -4.68660530e-04 4.29144184e+02] [ 6.33438899e-04 -1.20415277e-05 9.99999799e-01 1.69870237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.57, Y:429.17, Z:1.70 [[ 6.59487006e-01 -7.51715842e-01 -4.26191881e-04 3.21570934e+02] [ 7.51715696e-01 6.59487144e-01 -4.68775308e-04 4.29165526e+02] [ 6.33453891e-04 -1.12239018e-05 9.99999799e-01 1.69901804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.59, Y:429.19, Z:1.70 [[ 6.60162991e-01 -7.51122256e-01 -4.26047879e-04 3.21589698e+02] [ 7.51122110e-01 6.60163128e-01 -4.68906148e-04 4.29187018e+02] [ 6.33466944e-04 -1.04594968e-05 9.99999799e-01 1.69878756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.61, Y:429.21, Z:1.70 [[ 6.61600573e-01 -7.49856320e-01 -4.25901337e-04 3.21607938e+02] [ 7.49856174e-01 6.61600710e-01 -4.69039213e-04 4.29208018e+02] [ 6.33488645e-04 -9.04813488e-06 9.99999799e-01 1.69807968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.63, Y:429.23, Z:1.70 [[ 6.61843045e-01 -7.49642317e-01 -4.25749968e-04 3.21625664e+02] [ 7.49642170e-01 6.61843182e-01 -4.69176571e-04 4.29227910e+02] [ 6.33494325e-04 -8.63887918e-06 9.99999799e-01 1.69669538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.64, Y:429.25, Z:1.69 [[ 6.62188041e-01 -7.49337586e-01 -4.25647194e-04 3.21644129e+02] [ 7.49337439e-01 6.62188177e-01 -4.69269791e-04 4.29248029e+02] [ 6.33500032e-04 -8.20853484e-06 9.99999799e-01 1.69432579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.66, Y:429.27, Z:1.69 [[ 6.61971296e-01 -7.49529067e-01 -4.25551959e-04 3.21663186e+02] [ 7.49528920e-01 6.61971433e-01 -4.69356138e-04 4.29269323e+02] [ 6.33499308e-04 -8.26320894e-06 9.99999799e-01 1.69434385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0427550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:321.68, Y:429.29, Z:1.70 [[ 6.61756533e-01 -7.49718688e-01 -4.25416180e-04 3.21682212e+02] [ 7.49718541e-01 6.61756669e-01 -4.69479173e-04 4.29290461e+02] [ 6.33499304e-04 -8.26148769e-06 9.99999799e-01 1.69511533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:321.71, Y:429.31, Z:1.69 [[ 6.64056624e-01 -7.47682165e-01 -4.25272209e-04 3.21710235e+02] [ 7.47682017e-01 6.64056760e-01 -4.69609552e-04 4.29313330e+02] [ 6.33523571e-04 -6.12104923e-06 9.99999799e-01 1.69303344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.102755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:321.73, Y:429.33, Z:1.69 [[ 6.64605473e-01 -7.47194337e-01 -4.34855925e-04 3.21727932e+02] [ 7.47194195e-01 6.64605615e-01 -4.60922301e-04 4.29331931e+02] [ 6.33406222e-04 -1.85903388e-05 9.99999799e-01 1.68882555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.132755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:321.75, Y:429.35, Z:1.69 [[ 6.62800159e-01 -7.48796208e-01 -4.32515175e-04 3.21745631e+02] [ 7.48796065e-01 6.62800300e-01 -4.63044926e-04 4.29354562e+02] [ 6.33397473e-04 -1.69594108e-05 9.99999799e-01 1.69266601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.76, Y:429.38, Z:1.69 [[ 6.60954125e-01 -7.50426185e-01 -4.30615655e-04 3.21763659e+02] [ 7.50426041e-01 6.60954265e-01 -4.64763472e-04 4.29377599e+02] [ 6.33387933e-04 -1.59578668e-05 9.99999799e-01 1.69481101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.192755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:321.78, Y:429.40, Z:1.70 [[ 6.58838358e-01 -7.52284410e-01 -4.30837237e-04 3.21778001e+02] [ 7.52284266e-01 6.58838498e-01 -4.64563101e-04 4.29398814e+02] [ 6.33335737e-04 -1.80400848e-05 9.99999799e-01 1.69795538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.79, Y:429.42, Z:1.70 [[ 6.57450601e-01 -7.53497528e-01 -4.27349508e-04 3.21794607e+02] [ 7.53497383e-01 6.57450740e-01 -4.67714600e-04 4.29420531e+02] [ 6.33383045e-04 -1.45074910e-05 9.99999799e-01 1.69934159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.81, Y:429.44, Z:1.70 [[ 6.58768549e-01 -7.52345545e-01 -4.24708890e-04 3.21812888e+02] [ 7.52345398e-01 6.58768686e-01 -4.70098347e-04 4.29440017e+02] [ 6.33461314e-04 -9.84177235e-06 9.99999799e-01 1.69501752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:321.83, Y:429.46, Z:1.69 [[ 6.56418483e-01 -7.54396843e-01 -4.23695871e-04 3.21826871e+02] [ 7.54396696e-01 6.56418619e-01 -4.71012155e-04 4.29461539e+02] [ 6.33451941e-04 -1.04536811e-05 9.99999799e-01 1.69472223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.312755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:321.84, Y:429.48, Z:1.70 [[ 6.56433080e-01 -7.54384143e-01 -4.20087213e-04 3.21844233e+02] [ 7.54383994e-01 6.56433214e-01 -4.74275314e-04 4.29481639e+02] [ 6.33544976e-04 -5.57706403e-06 9.99999799e-01 1.69507703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.342755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:321.86, Y:429.50, Z:1.69 [[ 6.56153227e-01 -7.54627569e-01 -4.17737747e-04 3.21861851e+02] [ 7.54627419e-01 6.56153360e-01 -4.76398758e-04 4.29503705e+02] [ 6.33603663e-04 -2.64577551e-06 9.99999799e-01 1.69230240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.372755096 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:321.88, Y:429.52, Z:1.69 [[ 6.57320222e-01 -7.53611273e-01 -4.18934225e-04 3.21878683e+02] [ 7.53611123e-01 6.57320356e-01 -4.75316836e-04 4.29523994e+02] [ 6.33578119e-04 -3.27812391e-06 9.99999799e-01 1.69258296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4027550960001 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:321.90, Y:429.54, Z:1.70 [[ 6.61966806e-01 -7.49533038e-01 -4.15931766e-04 3.21904286e+02] [ 7.49532886e-01 6.61966936e-01 -4.78029594e-04 4.29544705e+02] [ 6.33632051e-04 4.68518625e-06 9.99999799e-01 1.69588567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.432755096 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:321.91, Y:429.57, Z:1.69 [[ 6.59494472e-01 -7.51709293e-01 -4.23563513e-04 3.21914603e+02] [ 7.51709146e-01 6.59494608e-01 -4.71131902e-04 4.29567269e+02] [ 6.33492082e-04 -7.68768173e-06 9.99999799e-01 1.69007987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.462755096 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:321.93, Y:429.59, Z:1.69 [[ 6.62111571e-01 -7.49405159e-01 -4.18277824e-04 3.21933017e+02] [ 7.49405008e-01 6.62111703e-01 -4.75906564e-04 4.29589559e+02] [ 6.33593477e-04 1.64374637e-06 9.99999799e-01 1.69245136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.492755096 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:321.96, Y:429.61, Z:1.70 [[ 6.64162612e-01 -7.47588021e-01 -4.18460607e-04 3.21956153e+02] [ 7.47587870e-01 6.64162744e-01 -4.75741510e-04 4.29610736e+02] [ 6.33584599e-04 3.13365078e-06 9.99999799e-01 1.69577751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.522755096 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:321.97, Y:429.63, Z:1.69 [[ 6.63506388e-01 -7.48170497e-01 -4.24699261e-04 3.21970003e+02] [ 7.48170350e-01 6.63506524e-01 -4.70105430e-04 4.29631718e+02] [ 6.33509744e-04 -5.82943841e-06 9.99999799e-01 1.69291735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:321.99, Y:429.66, Z:1.69 [[ 6.63836322e-01 -7.47877772e-01 -4.19381645e-04 3.21992158e+02] [ 7.47877621e-01 6.63836454e-01 -4.74903055e-04 4.29655054e+02] [ 6.33570263e-04 1.61175050e-06 9.99999799e-01 1.69481847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.01, Y:429.68, Z:1.70 [[ 6.64324743e-01 -7.47443947e-01 -4.27496023e-04 3.22009940e+02] [ 7.47443800e-01 6.64324880e-01 -4.67577082e-04 4.29675653e+02] [ 6.33483903e-04 -8.90622733e-06 9.99999799e-01 1.69649120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.03, Y:429.70, Z:1.70 [[ 6.63762774e-01 -7.47943046e-01 -4.24312265e-04 3.22028753e+02] [ 7.47942898e-01 6.63762910e-01 -4.70448612e-04 4.29700216e+02] [ 6.33511511e-04 -5.09506945e-06 9.99999799e-01 1.69705262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.642755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:322.05, Y:429.72, Z:1.70 [[ 6.63524771e-01 -7.48154193e-01 -4.26980159e-04 3.22046276e+02] [ 7.48154047e-01 6.63524908e-01 -4.68044351e-04 4.29720617e+02] [ 6.33481315e-04 -8.88791333e-06 9.99999799e-01 1.69593587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6727550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:322.06, Y:429.74, Z:1.70 [[ 6.62616191e-01 -7.48959012e-01 -4.26253673e-04 3.22062930e+02] [ 7.48958865e-01 6.62616328e-01 -4.68698726e-04 4.29741439e+02] [ 6.33478778e-04 -8.67910311e-06 9.99999799e-01 1.69686499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.702755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.08, Y:429.76, Z:1.69 [[ 6.61657164e-01 -7.49806387e-01 -4.23847395e-04 3.22080556e+02] [ 7.49806239e-01 6.61657300e-01 -4.70864730e-04 4.29761888e+02] [ 6.33499104e-04 -6.25239958e-06 9.99999799e-01 1.69449255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.10, Y:429.78, Z:1.70 [[ 6.59903727e-01 -7.51350046e-01 -4.23688258e-04 3.22102235e+02] [ 7.51349898e-01 6.59903863e-01 -4.71007879e-04 4.29784744e+02] [ 6.33485310e-04 -7.51827424e-06 9.99999799e-01 1.69650887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:322.12, Y:429.80, Z:1.70 [[ 6.58298957e-01 -7.52756469e-01 -4.27357371e-04 3.22117994e+02] [ 7.52756323e-01 6.58299095e-01 -4.67712949e-04 4.29804477e+02] [ 6.33402918e-04 -1.38010168e-05 9.99999799e-01 1.69796473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.14, Y:429.82, Z:1.70 [[ 6.56764581e-01 -7.54095556e-01 -4.23038234e-04 3.22137560e+02] [ 7.54095408e-01 6.56764717e-01 -4.71587437e-04 4.29824737e+02] [ 6.33458576e-04 -9.28926500e-06 9.99999799e-01 1.69823387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.16, Y:429.85, Z:1.70 [[ 6.57304283e-01 -7.53625173e-01 -4.22898467e-04 3.22159219e+02] [ 7.53625025e-01 6.57304419e-01 -4.71712741e-04 4.29845144e+02] [ 6.33467627e-04 -8.64806283e-06 9.99999799e-01 1.69700883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.852755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:322.18, Y:429.87, Z:1.70 [[ 6.55167684e-01 -7.55483372e-01 -4.24727700e-04 3.22176060e+02] [ 7.55483226e-01 6.55167822e-01 -4.70073394e-04 4.29866175e+02] [ 6.33400555e-04 -1.28977553e-05 9.99999799e-01 1.69928402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.882755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:322.19, Y:429.89, Z:1.70 [[ 6.54025486e-01 -7.56472395e-01 -4.22632447e-04 3.22194609e+02] [ 7.56472248e-01 6.54025623e-01 -4.71949699e-04 4.29885309e+02] [ 6.33429369e-04 -1.10425861e-05 9.99999799e-01 1.69970050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.21, Y:429.91, Z:1.70 [[ 6.53497956e-01 -7.56928162e-01 -4.22499187e-04 3.22213304e+02] [ 7.56928015e-01 6.53498093e-01 -4.72068967e-04 4.29905877e+02] [ 6.33424708e-04 -1.13053655e-05 9.99999799e-01 1.70017126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:322.23, Y:429.93, Z:1.70 [[ 6.52651575e-01 -7.57658065e-01 -4.22347816e-04 3.22231769e+02] [ 7.57657918e-01 6.52651711e-01 -4.72204355e-04 4.29925403e+02] [ 6.33415463e-04 -1.18102514e-05 9.99999799e-01 1.70079589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.25, Y:429.95, Z:1.70 [[ 6.52012357e-01 -7.58208222e-01 -4.22211176e-04 3.22250387e+02] [ 7.58208075e-01 6.52012494e-01 -4.72326498e-04 4.29945880e+02] [ 6.33408796e-04 -1.21612100e-05 9.99999799e-01 1.70150988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.27, Y:429.97, Z:1.70 [[ 6.51541811e-01 -7.58612609e-01 -4.22060374e-04 3.22268832e+02] [ 7.58612462e-01 6.51541947e-01 -4.72461213e-04 4.29965922e+02] [ 6.33405071e-04 -1.23520253e-05 9.99999799e-01 1.70207110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0327550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:322.29, Y:429.99, Z:1.70 [[ 6.51283892e-01 -7.58834050e-01 -4.21924794e-04 3.22287258e+02] [ 7.58833902e-01 6.51284028e-01 -4.72582259e-04 4.29985363e+02] [ 6.33404389e-04 -1.23856252e-05 9.99999799e-01 1.70288944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.062755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:322.31, Y:430.01, Z:1.70 [[ 6.50889611e-01 -7.59172271e-01 -4.21828469e-04 3.22305588e+02] [ 7.59172123e-01 6.50889748e-01 -4.72668224e-04 4.30006026e+02] [ 6.33400434e-04 -1.25855782e-05 9.99999799e-01 1.70405803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.33, Y:430.03, Z:1.70 [[ 6.52476341e-01 -7.57808978e-01 -4.21678741e-04 3.22330516e+02] [ 7.57808831e-01 6.52476477e-01 -4.72801762e-04 4.30029203e+02] [ 6.33428879e-04 -1.10599095e-05 9.99999799e-01 1.70380884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.122755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:322.35, Y:430.05, Z:1.70 [[ 6.52332068e-01 -7.57933169e-01 -4.29864055e-04 3.22347526e+02] [ 7.57933026e-01 6.52332210e-01 -4.65494692e-04 4.30049662e+02] [ 6.33228036e-04 -2.21510483e-05 9.99999799e-01 1.70491936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.36, Y:430.07, Z:1.71 [[ 6.50127283e-01 -7.59825199e-01 -4.29223716e-04 3.22359487e+02] [ 7.59825056e-01 6.50127424e-01 -4.66065904e-04 4.30069785e+02] [ 6.33178727e-04 -2.31327742e-05 9.99999799e-01 1.70516862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.38, Y:430.09, Z:1.70 [[ 6.49876744e-01 -7.60039499e-01 -4.21315381e-04 3.22377257e+02] [ 7.60039352e-01 6.49876880e-01 -4.73108482e-04 4.30090943e+02] [ 6.33384259e-04 -1.27540698e-05 9.99999799e-01 1.70457958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.40, Y:430.12, Z:1.70 [[ 6.51514085e-01 -7.58636421e-01 -4.21170049e-04 3.22402440e+02] [ 7.58636274e-01 6.51514221e-01 -4.73237824e-04 4.30115087e+02] [ 6.33413725e-04 -1.11937691e-05 9.99999799e-01 1.70354196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.42, Y:430.14, Z:1.70 [[ 6.50936110e-01 -7.59132397e-01 -4.30344979e-04 3.22419852e+02] [ 7.59132255e-01 6.50936252e-01 -4.65063771e-04 4.30135894e+02] [ 6.33172123e-04 -2.39619517e-05 9.99999799e-01 1.70324508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.44, Y:430.16, Z:1.70 [[ 6.50166360e-01 -7.59791761e-01 -4.29287862e-04 3.22439042e+02] [ 7.59791619e-01 6.50166501e-01 -4.66004192e-04 4.30158369e+02] [ 6.33174733e-04 -2.31890705e-05 9.99999799e-01 1.70442096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.45, Y:430.18, Z:1.70 [[ 6.47510047e-01 -7.62056793e-01 -4.29606558e-04 3.22447744e+02] [ 7.62056651e-01 6.47510189e-01 -4.65721141e-04 4.30179577e+02] [ 6.33080583e-04 -2.58254174e-05 9.99999799e-01 1.70467483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.47, Y:430.20, Z:1.70 [[ 6.51216765e-01 -7.58891658e-01 -4.20256704e-04 3.22472603e+02] [ 7.58891510e-01 6.51216901e-01 -4.74010699e-04 4.30201466e+02] [ 6.33401033e-04 -1.02455305e-05 9.99999799e-01 1.70316027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.48, Y:430.22, Z:1.71 [[ 6.47850431e-01 -7.61767443e-01 -4.27405792e-04 3.22482821e+02] [ 7.61767299e-01 6.47850571e-01 -4.67668784e-04 4.30222783e+02] [ 6.33149940e-04 -2.26043330e-05 9.99999799e-01 1.70625606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.51, Y:430.25, Z:1.70 [[ 6.50233959e-01 -7.59733916e-01 -4.20063430e-04 3.22505120e+02] [ 7.59733768e-01 6.50234094e-01 -4.74173279e-04 4.30246608e+02] [ 6.33385086e-04 -1.08128047e-05 9.99999799e-01 1.70373439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.52, Y:430.27, Z:1.70 [[ 6.51008014e-01 -7.59070737e-01 -4.26900725e-04 3.22524903e+02] [ 7.59070593e-01 6.51008154e-01 -4.68113730e-04 4.30269628e+02] [ 6.33247287e-04 -1.93019966e-05 9.99999799e-01 1.70317109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.54, Y:430.29, Z:1.70 [[ 6.52102620e-01 -7.58130588e-01 -4.28745994e-04 3.22541564e+02] [ 7.58130445e-01 6.52102761e-01 -4.66479132e-04 4.30292929e+02] [ 6.33238545e-04 -2.08531268e-05 9.99999799e-01 1.70197863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.56, Y:430.32, Z:1.70 [[ 6.51917913e-01 -7.58289425e-01 -4.28028486e-04 3.22558602e+02] [ 7.58289281e-01 6.51918053e-01 -4.67113887e-04 4.30315051e+02] [ 6.33247018e-04 -2.00495034e-05 9.99999799e-01 1.70245828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.58, Y:430.34, Z:1.70 [[ 6.52773394e-01 -7.57553109e-01 -4.27765927e-04 3.22575829e+02] [ 7.57552966e-01 6.52773534e-01 -4.67345962e-04 4.30336568e+02] [ 6.33273662e-04 -1.89843368e-05 9.99999799e-01 1.70215456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5427550960001 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:322.58, Y:430.36, Z:1.71 [[ 6.51402549e-01 -7.58732189e-01 -4.28733023e-04 3.22584794e+02] [ 7.58732046e-01 6.51402690e-01 -4.66491107e-04 4.30356107e+02] [ 6.33219663e-04 -2.14199874e-05 9.99999799e-01 1.70543018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.61, Y:430.38, Z:1.70 [[ 6.54981771e-01 -7.55644562e-01 -4.19055140e-04 3.22611267e+02] [ 7.55644413e-01 6.54981905e-01 -4.75028627e-04 4.30382380e+02] [ 6.33426332e-04 -5.52158416e-06 9.99999799e-01 1.70463731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.63, Y:430.41, Z:1.70 [[ 6.54655482e-01 -7.55927255e-01 -4.30073165e-04 3.22628091e+02] [ 7.55927112e-01 6.54655623e-01 -4.65301944e-04 4.30405704e+02] [ 6.33284237e-04 -2.04914964e-05 9.99999799e-01 1.70437059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.64, Y:430.43, Z:1.71 [[ 6.53790129e-01 -7.56675813e-01 -4.26510731e-04 3.22643862e+02] [ 7.56675668e-01 6.53790268e-01 -4.68427624e-04 4.30432025e+02] [ 6.33296418e-04 -1.64769364e-05 9.99999799e-01 1.70526014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.66, Y:430.45, Z:1.71 [[ 6.53893646e-01 -7.56586358e-01 -4.27199949e-04 3.22660104e+02] [ 7.56586213e-01 6.53893786e-01 -4.67823365e-04 4.30453846e+02] [ 6.33292168e-04 -1.73068656e-05 9.99999799e-01 1.70592050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.68, Y:430.48, Z:1.71 [[ 6.54269403e-01 -7.56261441e-01 -4.25907903e-04 3.22678619e+02] [ 7.56261296e-01 6.54269541e-01 -4.68955477e-04 4.30476900e+02] [ 6.33311513e-04 -1.52744425e-05 9.99999799e-01 1.70576860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.69, Y:430.50, Z:1.71 [[ 6.54702470e-01 -7.55886562e-01 -4.26437972e-04 3.22692551e+02] [ 7.55886417e-01 6.54702609e-01 -4.68491458e-04 4.30500105e+02] [ 6.33316450e-04 -1.56161561e-05 9.99999799e-01 1.70580808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.71, Y:430.52, Z:1.71 [[ 6.54984913e-01 -7.55641835e-01 -4.24261459e-04 3.22708991e+02] [ 7.55641689e-01 6.54985051e-01 -4.70393743e-04 4.30523006e+02] [ 6.33334105e-04 -1.24888403e-05 9.99999799e-01 1.70622140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7827550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:322.73, Y:430.55, Z:1.71 [[ 6.55187662e-01 -7.55466048e-01 -4.22983529e-04 3.22726096e+02] [ 7.55465900e-01 6.55187798e-01 -4.71508416e-04 4.30547021e+02] [ 6.33342247e-04 -1.06231357e-05 9.99999799e-01 1.70530972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.812755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:322.74, Y:430.57, Z:1.70 [[ 6.56481752e-01 -7.54341787e-01 -4.23185328e-04 3.22740818e+02] [ 7.54341639e-01 6.56481888e-01 -4.71332497e-04 4.30571120e+02] [ 6.33359301e-04 -9.80513130e-06 9.99999799e-01 1.70403177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.76, Y:430.59, Z:1.70 [[ 6.56376728e-01 -7.54433173e-01 -4.22934156e-04 3.22756742e+02] [ 7.54433026e-01 6.56376864e-01 -4.71551236e-04 4.30594138e+02] [ 6.33358090e-04 -9.56023772e-06 9.99999799e-01 1.70355904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.77, Y:430.62, Z:1.70 [[ 6.55470747e-01 -7.55220446e-01 -4.21484710e-04 3.22769040e+02] [ 7.55220298e-01 6.55470883e-01 -4.72811740e-04 4.30618295e+02] [ 6.33348048e-04 -8.39954340e-06 9.99999799e-01 1.70395166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.78, Y:430.64, Z:1.70 [[ 6.55377110e-01 -7.55301708e-01 -4.17618383e-04 3.22784706e+02] [ 7.55301558e-01 6.55377243e-01 -4.76169332e-04 4.30640548e+02] [ 6.33349095e-04 -3.35733450e-06 9.99999799e-01 1.70382457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.80, Y:430.66, Z:1.70 [[ 6.55263326e-01 -7.55400423e-01 -4.17336631e-04 3.22800223e+02] [ 7.55400273e-01 6.55263459e-01 -4.76413842e-04 4.30663257e+02] [ 6.33348663e-04 -3.07968615e-06 9.99999799e-01 1.70412214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.82, Y:430.68, Z:1.70 [[ 6.55064845e-01 -7.55572548e-01 -4.16669374e-04 3.22818143e+02] [ 7.55572397e-01 6.55064978e-01 -4.76992595e-04 4.30684195e+02] [ 6.33348025e-04 -2.36279754e-06 9.99999799e-01 1.70413936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.992755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:322.84, Y:430.71, Z:1.70 [[ 6.56314679e-01 -7.54487156e-01 -4.16566954e-04 3.22837766e+02] [ 7.54487005e-01 6.56314811e-01 -4.77081388e-04 4.30709014e+02] [ 6.33350841e-04 -1.17883597e-06 9.99999799e-01 1.70216132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.022755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:322.85, Y:430.73, Z:1.70 [[ 6.54876884e-01 -7.55735463e-01 -4.21040175e-04 3.22850726e+02] [ 7.55735315e-01 6.54877019e-01 -4.73203127e-04 4.30731107e+02] [ 6.33345919e-04 -8.30513979e-06 9.99999799e-01 1.70339007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.87, Y:430.76, Z:1.70 [[ 6.53813734e-01 -7.56655422e-01 -4.16707222e-04 3.22869213e+02] [ 7.56655272e-01 6.53813867e-01 -4.76955578e-04 4.30755888e+02] [ 6.33339984e-04 -3.46360875e-06 9.99999799e-01 1.69980885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.88, Y:430.77, Z:1.70 [[ 6.55895178e-01 -7.54851865e-01 -4.21934984e-04 3.22882794e+02] [ 7.54851717e-01 6.55895313e-01 -4.72422213e-04 4.30773609e+02] [ 6.33353967e-04 -8.63889586e-06 9.99999799e-01 1.70150404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.90, Y:430.80, Z:1.70 [[ 6.53621251e-01 -7.56821703e-01 -4.13303632e-04 3.22899259e+02] [ 7.56821551e-01 6.53621381e-01 -4.79894350e-04 4.30798120e+02] [ 6.33338550e-04 8.72049804e-07 9.99999799e-01 1.70020233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.92, Y:430.82, Z:1.70 [[ 6.49292837e-01 -7.60538389e-01 -4.14475290e-04 3.22917244e+02] [ 7.60538238e-01 6.49292969e-01 -4.78880270e-04 4.30823419e+02] [ 6.33322720e-04 -4.29077759e-06 9.99999800e-01 1.70168689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.93, Y:430.85, Z:1.70 [[ 6.46533468e-01 -7.62885510e-01 -4.16831074e-04 3.22934103e+02] [ 7.62885361e-01 6.46533602e-01 -4.76843413e-04 4.30846089e+02] [ 6.33272226e-04 -9.69909937e-06 9.99999799e-01 1.70177628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.202755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:322.95, Y:430.87, Z:1.70 [[ 6.44199099e-01 -7.64857730e-01 -4.15951550e-04 3.22952475e+02] [ 7.64857581e-01 6.44199234e-01 -4.77603487e-04 4.30868452e+02] [ 6.33254389e-04 -1.04719604e-05 9.99999799e-01 1.70149551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.97, Y:430.89, Z:1.70 [[ 6.39706997e-01 -7.68618751e-01 -4.16520441e-04 3.22968793e+02] [ 7.68618603e-01 6.39707132e-01 -4.77112101e-04 4.30889606e+02] [ 6.33168405e-04 -1.49334100e-05 9.99999799e-01 1.70147506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:322.99, Y:430.91, Z:1.70 [[ 6.35721285e-01 -7.71918567e-01 -4.16257088e-04 3.22985664e+02] [ 7.71918420e-01 6.35721421e-01 -4.77339535e-04 4.30911724e+02] [ 6.33090798e-04 -1.78616110e-05 9.99999799e-01 1.70252330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.00, Y:430.93, Z:1.70 [[ 6.33843196e-01 -7.73461460e-01 -4.16846253e-04 3.23003615e+02] [ 7.73461313e-01 6.33843333e-01 -4.76830805e-04 4.30933366e+02] [ 6.33025469e-04 -2.01784883e-05 9.99999799e-01 1.70355960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.02, Y:430.96, Z:1.70 [[ 6.28547637e-01 -7.77770979e-01 -4.15467466e-04 3.23019653e+02] [ 7.77770832e-01 6.28547774e-01 -4.78019251e-04 4.30955517e+02] [ 6.32930652e-04 -2.26806064e-05 9.99999800e-01 1.70168897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.04, Y:430.98, Z:1.70 [[ 6.27713743e-01 -7.78444144e-01 -4.13252927e-04 3.23037161e+02] [ 7.78443997e-01 6.27713879e-01 -4.79926138e-04 4.30977102e+02] [ 6.33000290e-04 -2.04380279e-05 9.99999800e-01 1.70216369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.05, Y:431.00, Z:1.71 [[ 6.26665168e-01 -7.79288520e-01 -4.13170263e-04 3.23054897e+02] [ 7.79288372e-01 6.26665304e-01 -4.79997294e-04 4.30997447e+02] [ 6.32975849e-04 -2.11811967e-05 9.99999800e-01 1.70675497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.07, Y:431.02, Z:1.71 [[ 6.25557202e-01 -7.80178196e-01 -4.13008220e-04 3.23072187e+02] [ 7.80178048e-01 6.25557338e-01 -4.80136681e-04 4.31019266e+02] [ 6.32952492e-04 -2.18669888e-05 9.99999800e-01 1.70623869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.09, Y:431.04, Z:1.71 [[ 6.24941121e-01 -7.80671778e-01 -4.12833633e-04 3.23089483e+02] [ 7.80671630e-01 6.24941257e-01 -4.80286748e-04 4.31040223e+02] [ 6.32943079e-04 -2.21365666e-05 9.99999800e-01 1.70683241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.11, Y:431.06, Z:1.71 [[ 6.24909143e-01 -7.80697376e-01 -4.12677748e-04 3.23106381e+02] [ 7.80697228e-01 6.24909279e-01 -4.80420652e-04 4.31061982e+02] [ 6.32949297e-04 -2.19571163e-05 9.99999800e-01 1.70589146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.12, Y:431.08, Z:1.71 [[ 6.23451785e-01 -7.81861690e-01 -4.11886800e-04 3.23120971e+02] [ 7.81861542e-01 6.23451921e-01 -4.81099749e-04 4.31084966e+02] [ 6.32945079e-04 -2.20959518e-05 9.99999800e-01 1.70610757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.14, Y:431.11, Z:1.71 [[ 6.23934789e-01 -7.81476301e-01 -4.11550995e-04 3.23138461e+02] [ 7.81476153e-01 6.23934925e-01 -4.81387871e-04 4.31107348e+02] [ 6.32974252e-04 -2.12626487e-05 9.99999800e-01 1.70540362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.562755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:323.16, Y:431.13, Z:1.70 [[ 6.25848958e-01 -7.79944173e-01 -4.10770391e-04 3.23155945e+02] [ 7.79944024e-01 6.25849092e-01 -4.82057370e-04 4.31129373e+02] [ 6.33058113e-04 -1.86828096e-05 9.99999800e-01 1.70445395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.592755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.17, Y:431.15, Z:1.70 [[ 6.27699971e-01 -7.78455251e-01 -4.10494194e-04 3.23172616e+02] [ 7.78455102e-01 6.27700105e-01 -4.82294113e-04 4.31148623e+02] [ 6.33111633e-04 -1.68152989e-05 9.99999800e-01 1.70289147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.622755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.19, Y:431.17, Z:1.71 [[ 6.26556283e-01 -7.79376070e-01 -4.08376085e-04 3.23192175e+02] [ 7.79375920e-01 6.26556415e-01 -4.84105623e-04 4.31173776e+02] [ 6.33170994e-04 -1.49590676e-05 9.99999799e-01 1.70593140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6527550960001 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:323.21, Y:431.19, Z:1.70 [[ 6.31049100e-01 -7.75742779e-01 -4.17534997e-04 3.23206274e+02] [ 7.75742633e-01 6.31049238e-01 -4.76266117e-04 4.31192638e+02] [ 6.32945143e-04 -2.33523930e-05 9.99999799e-01 1.70339446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.682755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:323.23, Y:431.22, Z:1.70 [[ 6.32488309e-01 -7.74569798e-01 -4.08430580e-04 3.23226529e+02] [ 7.74569647e-01 6.32488441e-01 -4.84057398e-04 4.31215734e+02] [ 6.33263862e-04 -1.01972851e-05 9.99999799e-01 1.70251963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.712755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:323.24, Y:431.24, Z:1.70 [[ 6.30262031e-01 -7.76382382e-01 -4.11794052e-04 3.23241141e+02] [ 7.76382233e-01 6.30262166e-01 -4.81178931e-04 4.31240804e+02] [ 6.33117055e-04 -1.64407746e-05 9.99999800e-01 1.69851807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.26, Y:431.26, Z:1.71 [[ 6.37280501e-01 -7.70631815e-01 -4.11633708e-04 3.23263298e+02] [ 7.70631664e-01 6.37280634e-01 -4.81316061e-04 4.31261664e+02] [ 6.33243660e-04 -1.04846284e-05 9.99999800e-01 1.70573452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.28, Y:431.28, Z:1.70 [[ 6.38871146e-01 -7.69313646e-01 -4.16099423e-04 3.23278778e+02] [ 7.69313498e-01 6.38871281e-01 -4.77497911e-04 4.31281167e+02] [ 6.33179630e-04 -1.50512653e-05 9.99999799e-01 1.70204281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.30, Y:431.30, Z:1.71 [[ 6.43584398e-01 -7.65375042e-01 -4.11244742e-04 3.23297044e+02] [ 7.65374890e-01 6.43584529e-01 -4.81643019e-04 4.31302838e+02] [ 6.33308299e-04 -4.77846701e-06 9.99999800e-01 1.70532855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.832755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:323.31, Y:431.33, Z:1.71 [[ 6.44336204e-01 -7.64742237e-01 -4.09821665e-04 3.23313346e+02] [ 7.64742084e-01 6.44336334e-01 -4.82856853e-04 4.31325328e+02] [ 6.33324019e-04 -2.28572222e-06 9.99999800e-01 1.70505947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.862755096 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:323.33, Y:431.35, Z:1.70 [[ 6.40606886e-01 -7.67868901e-01 -4.10937251e-04 3.23328193e+02] [ 7.67868750e-01 6.40607017e-01 -4.81905555e-04 4.31349883e+02] [ 6.33289576e-04 -6.83385653e-06 9.99999800e-01 1.69604371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.892755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.35, Y:431.37, Z:1.70 [[ 6.49396913e-01 -7.60449526e-01 -4.10764315e-04 3.23351052e+02] [ 7.60449373e-01 6.49397043e-01 -4.82052916e-04 4.31366462e+02] [ 6.33326043e-04 6.78209524e-07 9.99999800e-01 1.70367727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.37, Y:431.39, Z:1.70 [[ 6.48929581e-01 -7.60848362e-01 -4.10633974e-04 3.23367981e+02] [ 7.60848209e-01 6.48929711e-01 -4.82163921e-04 4.31388724e+02] [ 6.33326216e-04 4.60308064e-07 9.99999800e-01 1.70430928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.952755096 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:323.39, Y:431.41, Z:1.70 [[ 6.50470514e-01 -7.59531397e-01 -4.10129952e-04 3.23385689e+02] [ 7.59531243e-01 6.50470643e-01 -4.82593010e-04 4.31411159e+02] [ 6.33322036e-04 2.40601088e-06 9.99999800e-01 1.70431295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.982755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:323.40, Y:431.43, Z:1.70 [[ 6.53103154e-01 -7.57268844e-01 -4.10386111e-04 3.23403827e+02] [ 7.57268690e-01 6.53103283e-01 -4.82374975e-04 4.31431115e+02] [ 6.33312056e-04 4.26806510e-06 9.99999800e-01 1.70472405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.42, Y:431.45, Z:1.70 [[ 6.53411072e-01 -7.57003174e-01 -4.08197156e-04 3.23423943e+02] [ 7.57003019e-01 6.53411199e-01 -4.84236752e-04 4.31452973e+02] [ 6.33289351e-04 7.39917552e-06 9.99999800e-01 1.70474737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.44, Y:431.47, Z:1.71 [[ 6.54783829e-01 -7.55816094e-01 -4.11573049e-04 3.23444176e+02] [ 7.55815940e-01 6.54783959e-01 -4.81363580e-04 4.31470810e+02] [ 6.33313771e-04 4.11561707e-06 9.99999800e-01 1.70651906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.47, Y:431.49, Z:1.70 [[ 6.57135424e-01 -7.53772423e-01 -4.11242981e-04 3.23466713e+02] [ 7.53772269e-01 6.57135553e-01 -4.81644375e-04 4.31488424e+02] [ 6.33292632e-04 6.52202562e-06 9.99999800e-01 1.70275788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.48, Y:431.51, Z:1.71 [[ 6.55735861e-01 -7.54990273e-01 -4.10221252e-04 3.23484912e+02] [ 7.54990119e-01 6.55735989e-01 -4.82513025e-04 4.31511939e+02] [ 6.33289479e-04 6.68810223e-06 9.99999800e-01 1.70838809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.51, Y:431.53, Z:1.71 [[ 6.55057348e-01 -7.55579050e-01 -4.12090470e-04 3.23505232e+02] [ 7.55578897e-01 6.55057477e-01 -4.80923965e-04 4.31533909e+02] [ 6.33319017e-04 3.66591351e-06 9.99999800e-01 1.70702966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.52, Y:431.55, Z:1.71 [[ 6.55138997e-01 -7.55508255e-01 -4.13555411e-04 3.23524376e+02] [ 7.55508103e-01 6.55139128e-01 -4.79679115e-04 4.31551078e+02] [ 6.33337863e-04 1.81203059e-06 9.99999799e-01 1.70855470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.55, Y:431.57, Z:1.71 [[ 6.53569143e-01 -7.56866703e-01 -4.10894236e-04 3.23546206e+02] [ 7.56866550e-01 6.53569272e-01 -4.81938232e-04 4.31573679e+02] [ 6.33310848e-04 3.98785436e-06 9.99999800e-01 1.70698664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.222755096 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:323.57, Y:431.59, Z:1.71 [[ 6.51804940e-01 -7.58386543e-01 -4.13010953e-04 3.23568352e+02] [ 7.58386391e-01 6.51805071e-01 -4.80148162e-04 4.31594958e+02] [ 6.33340539e-04 -2.58942089e-07 9.99999799e-01 1.70789567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.252755096 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:323.59, Y:431.61, Z:1.71 [[ 6.52892536e-01 -7.57450436e-01 -4.15787313e-04 3.23586852e+02] [ 7.57450285e-01 6.52892669e-01 -4.77801671e-04 4.31613016e+02] [ 6.33375573e-04 -2.98507409e-06 9.99999799e-01 1.70623786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.61, Y:431.63, Z:1.71 [[ 6.51977518e-01 -7.58238185e-01 -4.13903804e-04 3.23606403e+02] [ 7.58238033e-01 6.51977649e-01 -4.79395708e-04 4.31633689e+02] [ 6.33352161e-04 -1.28238257e-06 9.99999799e-01 1.70696304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.312755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.63, Y:431.65, Z:1.71 [[ 6.52038844e-01 -7.58185449e-01 -4.13241311e-04 3.23626363e+02] [ 7.58185297e-01 6.52038975e-01 -4.79954784e-04 4.31654913e+02] [ 6.33344174e-04 -3.64323610e-07 9.99999799e-01 1.70711847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.64, Y:431.67, Z:1.71 [[ 6.51213221e-01 -7.58894703e-01 -4.13664232e-04 3.23642183e+02] [ 7.58894551e-01 6.51213353e-01 -4.79598077e-04 4.31672949e+02] [ 6.33348111e-04 -1.60692278e-06 9.99999799e-01 1.70706984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.372755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.66, Y:431.69, Z:1.71 [[ 6.50342439e-01 -7.59641063e-01 -4.08023964e-04 3.23663907e+02] [ 7.59640909e-01 6.50342568e-01 -4.84349531e-04 4.31694209e+02] [ 6.33287145e-04 5.04136067e-06 9.99999800e-01 1.70711244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.68, Y:431.72, Z:1.71 [[ 6.49572770e-01 -7.60299315e-01 -4.10040099e-04 3.23683580e+02] [ 7.60299162e-01 6.49572900e-01 -4.82652134e-04 4.31715825e+02] [ 6.33311024e-04 1.76454027e-06 9.99999800e-01 1.70916577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.70, Y:431.74, Z:1.71 [[ 6.49504606e-01 -7.60357546e-01 -4.10767592e-04 3.23703666e+02] [ 7.60357393e-01 6.49504736e-01 -4.82040011e-04 4.31735411e+02] [ 6.33318256e-04 7.57032587e-07 9.99999800e-01 1.70812655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.72, Y:431.75, Z:1.71 [[ 6.51401696e-01 -7.58732931e-01 -4.11419879e-04 3.23722042e+02] [ 7.58732779e-01 6.51401826e-01 -4.81491400e-04 4.31750048e+02] [ 6.33323042e-04 1.48656661e-06 9.99999800e-01 1.70971076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.492755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.74, Y:431.77, Z:1.70 [[ 6.47850745e-01 -7.61767188e-01 -4.03666580e-04 3.23739884e+02] [ 7.61767032e-01 6.47850871e-01 -4.87990725e-04 4.31774333e+02] [ 6.33251068e-04 8.64526277e-06 9.99999800e-01 1.70225978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.76, Y:431.79, Z:1.71 [[ 6.45261024e-01 -7.63962072e-01 -4.05870697e-04 3.23758165e+02] [ 7.63961917e-01 6.45261151e-01 -4.86141042e-04 4.31794458e+02] [ 6.33285911e-04 3.61811095e-06 9.99999800e-01 1.71221242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.78, Y:431.81, Z:1.71 [[ 6.45174252e-01 -7.64035354e-01 -4.03709057e-04 3.23778824e+02] [ 7.64035198e-01 6.45174379e-01 -4.87954185e-04 4.31814978e+02] [ 6.33276988e-04 6.36754719e-06 9.99999800e-01 1.71012043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.582755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.80, Y:431.83, Z:1.71 [[ 6.44161495e-01 -7.64889407e-01 -4.04756242e-04 3.23797769e+02] [ 7.64889252e-01 6.44161622e-01 -4.87075911e-04 4.31834459e+02] [ 6.33287642e-04 4.16184839e-06 9.99999800e-01 1.71086961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.82, Y:431.85, Z:1.71 [[ 6.43824505e-01 -7.65173081e-01 -4.03200398e-04 3.23818376e+02] [ 7.65172925e-01 6.43824632e-01 -4.88380184e-04 4.31854210e+02] [ 6.33285718e-04 5.91310229e-06 9.99999800e-01 1.71080399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.642755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:323.84, Y:431.87, Z:1.71 [[ 6.40010791e-01 -7.68365814e-01 -4.03304334e-04 3.23836836e+02] [ 7.68365659e-01 6.40010918e-01 -4.88292964e-04 4.31873020e+02] [ 6.33306798e-04 2.62756529e-06 9.99999800e-01 1.71441690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.86, Y:431.90, Z:1.71 [[ 6.38886425e-01 -7.69300966e-01 -3.99853696e-04 3.23858705e+02] [ 7.69300809e-01 6.38886550e-01 -4.91187121e-04 4.31895174e+02] [ 6.33331876e-04 6.20501217e-06 9.99999799e-01 1.71334009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.702755096 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:323.89, Y:431.91, Z:1.71 [[ 6.43027458e-01 -7.65843016e-01 -4.05004655e-04 3.23887198e+02] [ 7.65842861e-01 6.43027585e-01 -4.86865252e-04 4.31913013e+02] [ 6.33291518e-04 2.89780219e-06 9.99999800e-01 1.70621665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.90, Y:431.93, Z:1.71 [[ 6.39112887e-01 -7.69112832e-01 -4.10283374e-04 3.23898907e+02] [ 7.69112681e-01 6.39113019e-01 -4.82433899e-04 4.31932417e+02] [ 6.33263548e-04 -7.22442385e-06 9.99999800e-01 1.71065680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.92, Y:431.95, Z:1.71 [[ 6.41079244e-01 -7.67474588e-01 -4.01099941e-04 3.23924137e+02] [ 7.67474431e-01 6.41079369e-01 -4.90118824e-04 4.31952101e+02] [ 6.33290640e-04 6.37105590e-06 9.99999800e-01 1.70924143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.94, Y:431.97, Z:1.71 [[ 6.37688937e-01 -7.70293875e-01 -4.06250532e-04 3.23944253e+02] [ 7.70293722e-01 6.37689067e-01 -4.85806726e-04 4.31973379e+02] [ 6.33275468e-04 -3.13865963e-06 9.99999800e-01 1.71398683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.96, Y:432.00, Z:1.71 [[ 6.37447949e-01 -7.70493314e-01 -4.06468434e-04 3.23962468e+02] [ 7.70493161e-01 6.37448078e-01 -4.85624341e-04 4.31995394e+02] [ 6.33272831e-04 -3.62090888e-06 9.99999800e-01 1.71400501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:323.98, Y:432.01, Z:1.71 [[ 6.41845727e-01 -7.66833683e-01 -4.06316485e-04 3.23980850e+02] [ 7.66833529e-01 6.41845856e-01 -4.85751442e-04 4.32007900e+02] [ 6.33283120e-04 2.00382981e-07 9.99999800e-01 1.71101446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.00, Y:432.03, Z:1.71 [[ 6.39625196e-01 -7.68686836e-01 -3.95420363e-04 3.24003295e+02] [ 7.68686677e-01 6.39625318e-01 -4.94826094e-04 4.32033321e+02] [ 6.33287180e-04 1.25488721e-05 9.99999799e-01 1.71136693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.02, Y:432.05, Z:1.71 [[ 6.40030953e-01 -7.68349020e-01 -4.03997417e-04 3.24023588e+02] [ 7.68348865e-01 6.40031081e-01 -4.87674260e-04 4.32049833e+02] [ 6.33274942e-04 1.71566494e-06 9.99999800e-01 1.71027651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.04, Y:432.07, Z:1.71 [[ 6.38547392e-01 -7.69582398e-01 -4.00715279e-04 3.24037464e+02] [ 7.69582242e-01 6.38547518e-01 -4.90402448e-04 4.32069357e+02] [ 6.33280839e-04 4.76184120e-06 9.99999800e-01 1.70845108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.06, Y:432.10, Z:1.71 [[ 6.38014228e-01 -7.70024474e-01 -3.93455854e-04 3.24063331e+02] [ 7.70024314e-01 6.38014349e-01 -4.96424765e-04 4.32096093e+02] [ 6.33289699e-04 1.37554890e-05 9.99999799e-01 1.71030500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.08, Y:432.11, Z:1.71 [[ 6.38172097e-01 -7.69893634e-01 -4.08308601e-04 3.24076016e+02] [ 7.69893482e-01 6.38172228e-01 -4.84109287e-04 4.32112474e+02] [ 6.33283868e-04 -5.40909164e-06 9.99999800e-01 1.71382064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.10, Y:432.14, Z:1.71 [[ 6.37670512e-01 -7.70309132e-01 -3.99720770e-04 3.24096272e+02] [ 7.70308975e-01 6.37670637e-01 -4.91223391e-04 4.32135891e+02] [ 6.33284062e-04 5.33017442e-06 9.99999800e-01 1.71445099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.12, Y:432.15, Z:1.71 [[ 6.39995791e-01 -7.68378309e-01 -4.03290805e-04 3.24115286e+02] [ 7.68378153e-01 6.39995918e-01 -4.88265280e-04 4.32153124e+02] [ 6.33276919e-04 2.60787978e-06 9.99999800e-01 1.71192924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.13, Y:432.17, Z:1.72 [[ 6.40295330e-01 -7.68128720e-01 -4.00012746e-04 3.24128569e+02] [ 7.68128563e-01 6.40295455e-01 -4.90976445e-04 4.32170596e+02] [ 6.33259452e-04 7.10870896e-06 9.99999800e-01 1.71597746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.15, Y:432.20, Z:1.72 [[ 6.38315088e-01 -7.69775092e-01 -3.96145355e-04 3.24149420e+02] [ 7.69774933e-01 6.38315211e-01 -4.94191834e-04 4.32195740e+02] [ 6.33282170e-04 1.05073403e-05 9.99999799e-01 1.71709068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.17, Y:432.22, Z:1.72 [[ 6.40375651e-01 -7.68061757e-01 -4.03693440e-04 3.24174496e+02] [ 7.68061602e-01 6.40375778e-01 -4.87910715e-04 4.32216668e+02] [ 6.33261062e-04 2.38471117e-06 9.99999800e-01 1.71907463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.19, Y:432.23, Z:1.72 [[ 6.41929071e-01 -7.66763915e-01 -4.09040908e-04 3.24190989e+02] [ 7.66763762e-01 6.41929201e-01 -4.83460392e-04 4.32234033e+02] [ 6.33275287e-04 -3.29046553e-06 9.99999800e-01 1.71858643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.21, Y:432.25, Z:1.72 [[ 6.42071866e-01 -7.66644348e-01 -4.03395799e-04 3.24210541e+02] [ 7.66644192e-01 6.42071993e-01 -4.88151541e-04 4.32252400e+02] [ 6.33247764e-04 4.16732412e-06 9.99999800e-01 1.71659100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.23, Y:432.27, Z:1.72 [[ 6.41549320e-01 -7.67081683e-01 -4.02161384e-04 3.24232009e+02] [ 7.67081527e-01 6.41549446e-01 -4.89176763e-04 4.32274353e+02] [ 6.33244948e-04 5.34045073e-06 9.99999800e-01 1.71748104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.25, Y:432.30, Z:1.72 [[ 6.39304529e-01 -7.68953546e-01 -4.04597241e-04 3.24250765e+02] [ 7.68953392e-01 6.39304657e-01 -4.87153592e-04 4.32296462e+02] [ 6.33259383e-04 3.23077006e-07 9.99999800e-01 1.71872705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.27, Y:432.31, Z:1.72 [[ 6.40832249e-01 -7.67680835e-01 -4.05984725e-04 3.24267581e+02] [ 7.67680681e-01 6.40832378e-01 -4.86001664e-04 4.32312020e+02] [ 6.33262320e-04 -2.21090100e-07 9.99999800e-01 1.71651586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.29, Y:432.33, Z:1.72 [[ 6.37958392e-01 -7.70070732e-01 -3.97552789e-04 3.24291423e+02] [ 7.70070574e-01 6.37958516e-01 -4.92980097e-04 4.32334405e+02] [ 6.33251732e-04 8.35708537e-06 9.99999800e-01 1.71636778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.31, Y:432.36, Z:1.72 [[ 6.35033283e-01 -7.72484670e-01 -4.04450943e-04 3.24312021e+02] [ 7.72484517e-01 6.35033412e-01 -4.87270240e-04 4.32358819e+02] [ 6.33248653e-04 -2.99927091e-06 9.99999800e-01 1.72018901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.33, Y:432.38, Z:1.72 [[ 6.34800461e-01 -7.72676004e-01 -4.08938426e-04 3.24333159e+02] [ 7.72675853e-01 6.34800593e-01 -4.83556838e-04 4.32379917e+02] [ 6.33227120e-04 -9.01474288e-06 9.99999800e-01 1.71904806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.35, Y:432.39, Z:1.72 [[ 6.35171640e-01 -7.72370908e-01 -4.11186284e-04 3.24350644e+02] [ 7.72370757e-01 6.35171773e-01 -4.81697446e-04 4.32393279e+02] [ 6.33223015e-04 -1.16277049e-05 9.99999800e-01 1.71629481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.37, Y:432.41, Z:1.72 [[ 6.34056666e-01 -7.73286481e-01 -4.03225203e-04 3.24369942e+02] [ 7.73286327e-01 6.34056794e-01 -4.88271875e-04 4.32413192e+02] [ 6.33241719e-04 -2.21649935e-06 9.99999800e-01 1.71626991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.482755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:324.39, Y:432.44, Z:1.72 [[ 6.30911170e-01 -7.75854969e-01 -4.03126515e-04 3.24394093e+02] [ 7.75854816e-01 6.30911299e-01 -4.88353340e-04 4.32437356e+02] [ 6.33228439e-04 -4.66007121e-06 9.99999800e-01 1.71699736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.41, Y:432.46, Z:1.72 [[ 6.30037037e-01 -7.76564977e-01 -4.11802230e-04 3.24414186e+02] [ 7.76564828e-01 6.30037171e-01 -4.81189904e-04 4.32457991e+02] [ 6.33125938e-04 -1.66236665e-05 9.99999799e-01 1.71833674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.43, Y:432.48, Z:1.72 [[ 6.28963264e-01 -7.77434912e-01 -4.11998407e-04 3.24434368e+02] [ 7.77434763e-01 6.28963399e-01 -4.81028018e-04 4.32476262e+02] [ 6.33099893e-04 -1.77529318e-05 9.99999799e-01 1.71756185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.45, Y:432.49, Z:1.72 [[ 6.29750797e-01 -7.76797120e-01 -4.10612467e-04 3.24452206e+02] [ 7.76796970e-01 6.29750931e-01 -4.82171296e-04 4.32493685e+02] [ 6.33132857e-04 -1.53147628e-05 9.99999800e-01 1.71707518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.47, Y:432.52, Z:1.72 [[ 6.28847037e-01 -7.77528931e-01 -4.07519888e-04 3.24471134e+02] [ 7.77528780e-01 6.28847169e-01 -4.84722433e-04 4.32516774e+02] [ 6.33153443e-04 -1.20421755e-05 9.99999800e-01 1.72251294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.49, Y:432.53, Z:1.72 [[ 6.33550561e-01 -7.73701182e-01 -4.09115916e-04 3.24485300e+02] [ 7.73701031e-01 6.33550693e-01 -4.83406835e-04 4.32531350e+02] [ 6.33208112e-04 -1.02707344e-05 9.99999800e-01 1.72141513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.51, Y:432.56, Z:1.72 [[ 6.32254065e-01 -7.74761020e-01 -3.99167208e-04 3.24506071e+02] [ 7.74760864e-01 6.32254191e-01 -4.91603419e-04 4.32557449e+02] [ 6.33250307e-04 1.55912928e-06 9.99999800e-01 1.72499840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.52, Y:432.58, Z:1.72 [[ 6.33459005e-01 -7.73776145e-01 -4.06903661e-04 3.24520846e+02] [ 7.73775993e-01 6.33459136e-01 -4.85225617e-04 4.32577546e+02] [ 6.33212849e-04 -7.48174799e-06 9.99999800e-01 1.72330526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.54, Y:432.60, Z:1.72 [[ 6.31829674e-01 -7.75107155e-01 -4.02962669e-04 3.24537648e+02] [ 7.75107001e-01 6.31829802e-01 -4.88471511e-04 4.32600581e+02] [ 6.33221587e-04 -3.70839028e-06 9.99999800e-01 1.71771387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.752755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:324.56, Y:432.63, Z:1.72 [[ 6.35271837e-01 -7.72288502e-01 -4.02458443e-04 3.24563266e+02] [ 7.72288348e-01 6.35271965e-01 -4.88886598e-04 4.32626365e+02] [ 6.33232064e-04 -2.38078132e-07 9.99999800e-01 1.72322983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.58, Y:432.64, Z:1.72 [[ 6.37064545e-01 -7.70810349e-01 -4.14893103e-04 3.24577171e+02] [ 7.70810200e-01 6.37064680e-01 -4.78639848e-04 4.32643008e+02] [ 6.33254290e-04 -1.48793587e-05 9.99999799e-01 1.72106393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.59, Y:432.67, Z:1.72 [[ 6.37766655e-01 -7.70229529e-01 -4.07579023e-04 3.24594715e+02] [ 7.70229377e-01 6.37766785e-01 -4.84663479e-04 4.32666999e+02] [ 6.33242486e-04 -4.82713137e-06 9.99999800e-01 1.72026541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.61, Y:432.69, Z:1.72 [[ 6.37648592e-01 -7.70327272e-01 -4.08969465e-04 3.24609854e+02] [ 7.70327120e-01 6.37648723e-01 -4.83518832e-04 4.32687305e+02] [ 6.33246600e-04 -6.72516804e-06 9.99999800e-01 1.71987974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.63, Y:432.71, Z:1.72 [[ 6.35878385e-01 -7.71789165e-01 -4.05541051e-04 3.24629668e+02] [ 7.71789011e-01 6.35878515e-01 -4.86336626e-04 4.32711402e+02] [ 6.33224180e-04 -3.74117812e-06 9.99999800e-01 1.72158041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.65, Y:432.73, Z:1.72 [[ 6.35086552e-01 -7.72440875e-01 -4.08408025e-04 3.24646330e+02] [ 7.72440723e-01 6.35086683e-01 -4.83985286e-04 4.32729741e+02] [ 6.33224516e-04 -8.09844353e-06 9.99999800e-01 1.71852889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.67, Y:432.75, Z:1.72 [[ 6.34093314e-01 -7.73256430e-01 -4.02322483e-04 3.24665169e+02] [ 7.73256276e-01 6.34093442e-01 -4.88969144e-04 4.32753958e+02] [ 6.33208583e-04 -1.04631996e-06 9.99999800e-01 1.72229983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.68, Y:432.78, Z:1.73 [[ 6.31705772e-01 -7.75208134e-01 -4.08351105e-04 3.24683841e+02] [ 7.75207983e-01 6.31705904e-01 -4.84031057e-04 4.32777366e+02] [ 6.33182616e-04 -1.07918244e-05 9.99999800e-01 1.72641946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.70, Y:432.80, Z:1.73 [[ 6.29270718e-01 -7.77186076e-01 -4.08923092e-04 3.24703618e+02] [ 7.77185926e-01 6.29270850e-01 -4.83563898e-04 4.32801845e+02] [ 6.33142511e-04 -1.35166709e-05 9.99999800e-01 1.72775574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.022755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:324.71, Y:432.82, Z:1.72 [[ 6.27231213e-01 -7.78832996e-01 -4.12653516e-04 3.24714961e+02] [ 7.78832848e-01 6.27231348e-01 -4.80519039e-04 4.32817088e+02] [ 6.33073304e-04 -1.99915732e-05 9.99999799e-01 1.72236008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.052755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:324.74, Y:432.84, Z:1.73 [[ 6.26923964e-01 -7.79080345e-01 -3.99806014e-04 3.24738952e+02] [ 7.79080190e-01 6.26924092e-01 -4.90980770e-04 4.32842443e+02] [ 6.33161490e-04 -3.67333474e-06 9.99999800e-01 1.72742882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.75, Y:432.86, Z:1.73 [[ 6.29309936e-01 -7.77154320e-01 -4.09406771e-04 3.24752620e+02] [ 7.77154170e-01 6.29310069e-01 -4.83156862e-04 4.32857617e+02] [ 6.33131246e-04 -1.41167658e-05 9.99999800e-01 1.72566493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.112755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:324.77, Y:432.89, Z:1.73 [[ 6.24233699e-01 -7.81237563e-01 -3.99487660e-04 3.24774665e+02] [ 7.81237408e-01 6.24233827e-01 -4.91225757e-04 4.32885176e+02] [ 6.33137724e-04 -5.45503246e-06 9.99999800e-01 1.72696070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.142755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:324.79, Y:432.91, Z:1.73 [[ 6.22481026e-01 -7.82634785e-01 -4.07861952e-04 3.24794550e+02] [ 7.82634635e-01 6.22481159e-01 -4.84428376e-04 4.32910701e+02] [ 6.33016878e-04 -1.76594176e-05 9.99999800e-01 1.72820756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.81, Y:432.93, Z:1.73 [[ 6.24468077e-01 -7.81050223e-01 -4.12882543e-04 3.24806592e+02] [ 7.81050075e-01 6.24468213e-01 -4.80354060e-04 4.32925642e+02] [ 6.33012670e-04 -2.25161644e-05 9.99999799e-01 1.72680244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.202755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:324.83, Y:432.95, Z:1.73 [[ 6.21456832e-01 -7.83448305e-01 -4.00478101e-04 3.24825307e+02] [ 7.83448151e-01 6.21456961e-01 -4.90399417e-04 4.32949282e+02] [ 6.33082495e-04 -8.99176031e-06 9.99999800e-01 1.72777552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.84, Y:432.98, Z:1.73 [[ 6.18104033e-01 -7.86096204e-01 -4.02910394e-04 3.24843471e+02] [ 7.86096053e-01 6.18104164e-01 -4.88432460e-04 4.32976346e+02] [ 6.32995496e-04 -1.48241970e-05 9.99999800e-01 1.72865298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.86, Y:432.99, Z:1.73 [[ 6.20477331e-01 -7.84224276e-01 -4.07990822e-04 3.24856159e+02] [ 7.84224127e-01 6.20477465e-01 -4.84324154e-04 4.32992116e+02] [ 6.32967870e-04 -1.94440882e-05 9.99999800e-01 1.72734414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:324.87, Y:433.02, Z:1.73 [[ 6.13978606e-01 -7.89322566e-01 -3.97638980e-04 3.24871857e+02] [ 7.89322412e-01 6.13978735e-01 -4.92679077e-04 4.33020298e+02] [ 6.33024591e-04 -1.13709463e-05 9.99999800e-01 1.72957699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:324.89, Y:433.04, Z:1.73 [[ 6.14215395e-01 -7.89138319e-01 -4.02138115e-04 3.24886912e+02] [ 7.89138168e-01 6.14215527e-01 -4.89041863e-04 4.33039913e+02] [ 6.32921148e-04 -1.69654938e-05 9.99999800e-01 1.72735352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.352755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:324.91, Y:433.07, Z:1.73 [[ 6.11587152e-01 -7.91176970e-01 -3.97720317e-04 3.24905778e+02] [ 7.91176816e-01 6.11587281e-01 -4.92608686e-04 4.33065079e+02] [ 6.32981335e-04 -1.33939510e-05 9.99999800e-01 1.72907283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.93, Y:433.09, Z:1.73 [[ 6.13055034e-01 -7.90040103e-01 -4.00977937e-04 3.24931037e+02] [ 7.90039951e-01 6.13055165e-01 -4.89985422e-04 4.33089205e+02] [ 6.32929728e-04 -1.64005603e-05 9.99999800e-01 1.72773071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.95, Y:433.11, Z:1.73 [[ 6.10922277e-01 -7.91690472e-01 -4.09533713e-04 3.24947162e+02] [ 7.91690325e-01 6.10922413e-01 -4.83090538e-04 4.33111130e+02] [ 6.32651501e-04 -2.90931072e-05 9.99999800e-01 1.72774422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.96, Y:433.13, Z:1.73 [[ 6.12827568e-01 -7.90216555e-01 -4.09960731e-04 3.24963556e+02] [ 7.90216408e-01 6.12827705e-01 -4.82746263e-04 4.33130214e+02] [ 6.32709383e-04 -2.81174780e-05 9.99999800e-01 1.72913152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:324.97, Y:433.15, Z:1.73 [[ 6.07533581e-01 -7.94293890e-01 -4.04953316e-04 3.24973587e+02] [ 7.94293741e-01 6.07533716e-01 -4.86777536e-04 4.33154490e+02] [ 6.32667216e-04 -2.59181846e-05 9.99999800e-01 1.73187621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:324.99, Y:433.18, Z:1.73 [[ 6.07020593e-01 -7.94686000e-01 -4.01119723e-04 3.24991031e+02] [ 7.94685849e-01 6.07020725e-01 -4.89854413e-04 4.33178062e+02] [ 6.32768430e-04 -2.14124514e-05 9.99999800e-01 1.73296400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.00, Y:433.20, Z:1.73 [[ 6.06187821e-01 -7.95321422e-01 -4.01931156e-04 3.25004940e+02] [ 7.95321272e-01 6.06187953e-01 -4.89203582e-04 4.33200007e+02] [ 6.32719913e-04 -2.31151453e-05 9.99999800e-01 1.73197229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.02, Y:433.22, Z:1.73 [[ 6.09711063e-01 -7.92623656e-01 -3.99546794e-04 3.25020565e+02] [ 7.92623504e-01 6.09711194e-01 -4.91114393e-04 4.33219738e+02] [ 6.32877038e-04 -1.72523016e-05 9.99999800e-01 1.73291530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.04, Y:433.24, Z:1.73 [[ 6.10027726e-01 -7.92379970e-01 -3.95770251e-04 3.25035366e+02] [ 7.92379816e-01 6.10027854e-01 -4.94137927e-04 4.33241157e+02] [ 6.32975873e-04 -1.21625230e-05 9.99999800e-01 1.73245370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.05, Y:433.26, Z:1.73 [[ 6.11661384e-01 -7.91119585e-01 -3.92633284e-04 3.25053963e+02] [ 7.91119429e-01 6.11661510e-01 -4.96647490e-04 4.33263712e+02] [ 6.33066223e-04 -6.83972807e-06 9.99999800e-01 1.73336455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.07, Y:433.29, Z:1.73 [[ 6.14058744e-01 -7.89260226e-01 -3.93638762e-04 3.25072252e+02] [ 7.89260070e-01 6.14058870e-01 -4.95843180e-04 4.33286817e+02] [ 6.33066673e-04 -6.20651665e-06 9.99999800e-01 1.73481280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.09, Y:433.31, Z:1.73 [[ 6.14240622e-01 -7.89118686e-01 -3.95976707e-04 3.25089296e+02] [ 7.89118532e-01 6.14240750e-01 -4.93973230e-04 4.33309802e+02] [ 6.33028536e-04 -9.05413358e-06 9.99999800e-01 1.73475091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.12, Y:433.34, Z:1.73 [[ 6.18689655e-01 -7.85635382e-01 -3.96830370e-04 3.25116670e+02] [ 7.85635227e-01 6.18689782e-01 -4.93290821e-04 4.33335554e+02] [ 6.33061618e-04 -6.56998982e-06 9.99999800e-01 1.73340661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.13, Y:433.36, Z:1.73 [[ 6.18091141e-01 -7.86106337e-01 -4.11204144e-04 3.25133793e+02] [ 7.86106190e-01 6.18091277e-01 -4.81783484e-04 4.33357877e+02] [ 6.32894744e-04 -2.54640197e-05 9.99999799e-01 1.73343087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.15, Y:433.38, Z:1.73 [[ 6.19206329e-01 -7.85228217e-01 -4.10600930e-04 3.25151961e+02] [ 7.85228070e-01 6.19206465e-01 -4.82265871e-04 4.33379492e+02] [ 6.32935520e-04 -2.37932960e-05 9.99999799e-01 1.73097504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.17, Y:433.40, Z:1.73 [[ 6.18641028e-01 -7.85673668e-01 -4.08410641e-04 3.25169330e+02] [ 7.85673519e-01 6.18641162e-01 -4.84009322e-04 4.33402917e+02] [ 6.32933013e-04 -2.14494017e-05 9.99999800e-01 1.73301457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.19, Y:433.42, Z:1.73 [[ 6.18582306e-01 -7.85719902e-01 -4.09157013e-04 3.25185655e+02] [ 7.85719753e-01 6.18582441e-01 -4.83415837e-04 4.33423650e+02] [ 6.32926788e-04 -2.24502637e-05 9.99999800e-01 1.73277242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.20, Y:433.45, Z:1.73 [[ 6.17550582e-01 -7.86531062e-01 -4.08439273e-04 3.25203941e+02] [ 7.86530914e-01 6.17550717e-01 -4.83985917e-04 4.33447486e+02] [ 6.32901924e-04 -2.23643301e-05 9.99999800e-01 1.73334444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.22, Y:433.47, Z:1.73 [[ 6.16726659e-01 -7.87177275e-01 -4.08780412e-04 3.25220879e+02] [ 7.87177126e-01 6.16726794e-01 -4.83715137e-04 4.33468692e+02] [ 6.32875396e-04 -2.34625699e-05 9.99999800e-01 1.73461964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9227550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.24, Y:433.49, Z:1.73 [[ 6.15083013e-01 -7.88462250e-01 -4.08984880e-04 3.25238027e+02] [ 7.88462102e-01 6.15083148e-01 -4.83552696e-04 4.33488993e+02] [ 6.32822754e-04 -2.50440289e-05 9.99999800e-01 1.73372975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.26, Y:433.51, Z:1.73 [[ 6.14124603e-01 -7.89208975e-01 -4.08057408e-04 3.25255876e+02] [ 7.89208826e-01 6.14124738e-01 -4.84288714e-04 4.33510865e+02] [ 6.32803148e-04 -2.46288934e-05 9.99999800e-01 1.73487049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.27, Y:433.53, Z:1.73 [[ 6.12920040e-01 -7.90144834e-01 -4.07880282e-04 3.25272463e+02] [ 7.90144686e-01 6.12920175e-01 -4.84429122e-04 4.33530883e+02] [ 6.32767222e-04 -2.53681209e-05 9.99999800e-01 1.73269951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.28, Y:433.55, Z:1.73 [[ 6.04582716e-01 -7.96542262e-01 -4.06283480e-04 3.25277427e+02] [ 7.96542114e-01 6.04582852e-01 -4.85693783e-04 4.33549948e+02] [ 6.32507649e-04 -2.99798362e-05 9.99999800e-01 1.73484714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0427550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:325.31, Y:433.58, Z:1.73 [[ 6.08537016e-01 -7.93525391e-01 -3.92335311e-04 3.25309035e+02] [ 7.93525236e-01 6.08537142e-01 -4.96710973e-04 4.33575682e+02] [ 6.32903378e-04 -9.06095706e-06 9.99999800e-01 1.73186761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.072755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:325.32, Y:433.59, Z:1.73 [[ 6.09098821e-01 -7.93094231e-01 -4.09861667e-04 3.25323365e+02] [ 7.93094084e-01 6.09098958e-01 -4.82839463e-04 4.33593376e+02] [ 6.32583507e-04 -3.09619156e-05 9.99999799e-01 1.73343859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.34, Y:433.62, Z:1.73 [[ 6.06519465e-01 -7.95068535e-01 -4.03503294e-04 3.25341648e+02] [ 7.95068386e-01 6.06519599e-01 -4.87875216e-04 4.33615491e+02] [ 6.32626889e-04 -2.49068982e-05 9.99999800e-01 1.73144880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.36, Y:433.64, Z:1.73 [[ 6.02868204e-01 -7.97840690e-01 -4.03672684e-04 3.25360336e+02] [ 7.97840541e-01 6.02868338e-01 -4.87741557e-04 4.33640981e+02] [ 6.32501541e-04 -2.80225563e-05 9.99999800e-01 1.72923888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.37, Y:433.66, Z:1.73 [[ 6.02780777e-01 -7.97906742e-01 -4.07081468e-04 3.25373739e+02] [ 7.97906595e-01 6.02780914e-01 -4.85053520e-04 4.33658001e+02] [ 6.32408413e-04 -3.24320502e-05 9.99999800e-01 1.73402276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.39, Y:433.68, Z:1.73 [[ 6.01386263e-01 -7.98958324e-01 -3.99243514e-04 3.25389029e+02] [ 7.98958173e-01 6.01386395e-01 -4.91229003e-04 4.33678489e+02] [ 6.32571118e-04 -2.35604946e-05 9.99999800e-01 1.73432395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.222755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:325.41, Y:433.70, Z:1.74 [[ 6.01867855e-01 -7.98595597e-01 -3.97472846e-04 3.25408175e+02] [ 7.98595445e-01 6.01867986e-01 -4.92623123e-04 4.33701093e+02] [ 6.32632838e-04 -2.09259818e-05 9.99999800e-01 1.73575822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.42, Y:433.72, Z:1.74 [[ 6.00904613e-01 -7.99320641e-01 -3.99370015e-04 3.25422167e+02] [ 7.99320490e-01 6.00904745e-01 -4.91131243e-04 4.33721147e+02] [ 6.32554677e-04 -2.41016064e-05 9.99999800e-01 1.73657377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.44, Y:433.74, Z:1.73 [[ 5.98699032e-01 -8.00973979e-01 -3.92917432e-04 3.25437485e+02] [ 8.00973826e-01 5.98699160e-01 -4.96197340e-04 4.33744175e+02] [ 6.32680495e-04 -1.76437116e-05 9.99999800e-01 1.73485040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.46, Y:433.77, Z:1.74 [[ 5.96284395e-01 -8.02773172e-01 -3.92228056e-04 3.25456486e+02] [ 8.02773019e-01 5.96284524e-01 -4.96737619e-04 4.33770412e+02] [ 6.32647153e-04 -1.86732100e-05 9.99999800e-01 1.73879830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.47, Y:433.79, Z:1.74 [[ 5.93141288e-01 -8.05098289e-01 -3.98273157e-04 3.25465386e+02] [ 8.05098139e-01 5.93141421e-01 -4.91999833e-04 4.33790963e+02] [ 6.32340530e-04 -2.88235625e-05 9.99999800e-01 1.73576930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.48, Y:433.81, Z:1.74 [[ 5.97538156e-01 -8.01840384e-01 -3.89010914e-04 3.25484266e+02] [ 8.01840228e-01 5.97538282e-01 -4.99244463e-04 4.33809474e+02] [ 6.32763285e-04 -1.36069843e-05 9.99999800e-01 1.73645908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.50, Y:433.83, Z:1.73 [[ 5.97744916e-01 -8.01686264e-01 -3.86753905e-04 3.25500150e+02] [ 8.01686108e-01 5.97745041e-01 -5.01007172e-04 4.33831254e+02] [ 6.32830797e-04 -1.05807431e-05 9.99999800e-01 1.73443574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.432755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.52, Y:433.85, Z:1.74 [[ 6.01768791e-01 -7.98670253e-01 -3.85914026e-04 3.25518612e+02] [ 7.98670096e-01 6.01768915e-01 -5.01662925e-04 4.33851793e+02] [ 6.32894320e-04 -6.33290006e-06 9.99999800e-01 1.73532308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.54, Y:433.88, Z:1.73 [[ 5.99492543e-01 -8.00380248e-01 -3.85470929e-04 3.25537938e+02] [ 8.00380091e-01 5.99492667e-01 -5.02009460e-04 4.33879195e+02] [ 6.32885452e-04 -7.57232908e-06 9.99999800e-01 1.73430916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.492755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:325.55, Y:433.90, Z:1.74 [[ 6.03560553e-01 -7.97317066e-01 -3.93408244e-04 3.25553778e+02] [ 7.97316912e-01 6.03560682e-01 -4.95797460e-04 4.33898709e+02] [ 6.32753524e-04 -1.44272571e-05 9.99999800e-01 1.73531681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.522755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:325.57, Y:433.92, Z:1.73 [[ 6.04350110e-01 -7.96718767e-01 -3.88705095e-04 3.25572300e+02] [ 7.96718610e-01 6.04350235e-01 -4.99474395e-04 4.33921788e+02] [ 6.32854640e-04 -7.83117677e-06 9.99999800e-01 1.73480276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.552755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:325.59, Y:433.94, Z:1.74 [[ 6.04625865e-01 -7.96509517e-01 -3.90704100e-04 3.25589133e+02] [ 7.96509362e-01 6.04625991e-01 -4.97911743e-04 4.33943969e+02] [ 6.32821296e-04 -1.01491554e-05 9.99999800e-01 1.73553068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.582755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:325.61, Y:433.97, Z:1.74 [[ 6.06508266e-01 -7.95077085e-01 -3.89942766e-04 3.25608061e+02] [ 7.95076929e-01 6.06508391e-01 -4.98506636e-04 4.33965545e+02] [ 6.32854763e-04 -7.68610151e-06 9.99999800e-01 1.73659181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.612755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:325.63, Y:433.98, Z:1.74 [[ 6.11000354e-01 -7.91630226e-01 -3.91508627e-04 3.25626996e+02] [ 7.91630070e-01 6.11000479e-01 -4.97283616e-04 4.33983232e+02] [ 6.32876700e-04 -6.08953687e-06 9.99999800e-01 1.73638421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.642755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:325.64, Y:434.01, Z:1.74 [[ 6.07102142e-01 -7.94623708e-01 -3.89419824e-04 3.25635573e+02] [ 7.94623552e-01 6.07102267e-01 -4.98914000e-04 4.34007051e+02] [ 6.32866551e-04 -6.55040540e-06 9.99999800e-01 1.73842202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6727550960001 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:325.65, Y:434.03, Z:1.74 [[ 6.06280295e-01 -7.95250940e-01 -3.83937756e-04 3.25653721e+02] [ 7.95250780e-01 6.06280416e-01 -5.03193085e-04 4.34031420e+02] [ 6.32938716e-04 -2.50748047e-07 9.99999800e-01 1.73785305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.68, Y:434.06, Z:1.74 [[ 6.11279973e-01 -7.91414332e-01 -3.87256774e-04 3.25681984e+02] [ 7.91414174e-01 6.11280095e-01 -5.00601967e-04 4.34056557e+02] [ 6.32905930e-04 -4.72543183e-07 9.99999800e-01 1.73670364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.732755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:325.69, Y:434.07, Z:1.74 [[ 6.12303325e-01 -7.90622842e-01 -4.00083320e-04 3.25694940e+02] [ 7.90622690e-01 6.12303456e-01 -4.90574678e-04 4.34074518e+02] [ 6.32831945e-04 -1.59344438e-05 9.99999800e-01 1.73767256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.762755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:325.71, Y:434.10, Z:1.74 [[ 6.09114380e-01 -7.93082290e-01 -3.92224754e-04 3.25713121e+02] [ 7.93082135e-01 6.09114506e-01 -4.96707046e-04 4.34100579e+02] [ 6.32839348e-04 -8.51504127e-06 9.99999800e-01 1.73621526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.73, Y:434.12, Z:1.74 [[ 6.07482622e-01 -7.94332869e-01 -3.97015348e-04 3.25726714e+02] [ 7.94332716e-01 6.07482751e-01 -4.92968749e-04 4.34118629e+02] [ 6.32761257e-04 -1.58923316e-05 9.99999800e-01 1.73711989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.822755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:325.74, Y:434.14, Z:1.74 [[ 6.07342127e-01 -7.94440300e-01 -3.88903675e-04 3.25743085e+02] [ 7.94440143e-01 6.07342251e-01 -4.99287077e-04 4.34140198e+02] [ 6.32851409e-04 -5.72261609e-06 9.99999800e-01 1.73805742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.76, Y:434.16, Z:1.74 [[ 6.05929115e-01 -7.95518546e-01 -3.88739448e-04 3.25759253e+02] [ 7.95518389e-01 6.05929240e-01 -4.99414910e-04 4.34162560e+02] [ 6.32842421e-04 -6.63934548e-06 9.99999800e-01 1.73755167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.77, Y:434.18, Z:1.74 [[ 6.03142596e-01 -7.97633286e-01 -3.88578188e-04 3.25767951e+02] [ 7.97633129e-01 6.03142721e-01 -4.99540350e-04 4.34182574e+02] [ 6.32818116e-04 -8.64877259e-06 9.99999800e-01 1.73545874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.80, Y:434.21, Z:1.73 [[ 6.03273529e-01 -7.97534265e-01 -3.80614297e-04 3.25797176e+02] [ 7.97534105e-01 6.03273650e-01 -5.05751232e-04 4.34212681e+02] [ 6.32968513e-04 1.55344824e-06 9.99999800e-01 1.73482171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:325.81, Y:434.23, Z:1.73 [[ 6.03428815e-01 -7.97416769e-01 -4.02275271e-04 3.25810658e+02] [ 7.97416619e-01 6.03428949e-01 -4.88809664e-04 4.34231919e+02] [ 6.32529567e-04 -2.58191506e-05 9.99999800e-01 1.73202213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.83, Y:434.26, Z:1.73 [[ 6.00399149e-01 -7.99700385e-01 -3.95466838e-04 3.25828894e+02] [ 7.99700232e-01 6.00399279e-01 -4.94115894e-04 4.34257899e+02] [ 6.32582675e-04 -1.95881600e-05 9.99999800e-01 1.73338594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.002755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:325.84, Y:434.28, Z:1.73 [[ 5.97078983e-01 -8.02182353e-01 -4.00327516e-04 3.25835867e+02] [ 8.02182204e-01 5.97079117e-01 -4.90329957e-04 4.34275782e+02] [ 6.32361238e-04 -2.83698972e-05 9.99999800e-01 1.73331566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.85, Y:434.30, Z:1.73 [[ 5.94330606e-01 -8.04220731e-01 -3.83826774e-04 3.25854564e+02] [ 8.04220573e-01 5.94330730e-01 -5.03128121e-04 4.34300733e+02] [ 6.32746111e-04 -9.65694748e-06 9.99999800e-01 1.73440483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.88, Y:434.33, Z:1.73 [[ 5.96698367e-01 -8.02465519e-01 -3.87840890e-04 3.25881435e+02] [ 8.02465363e-01 5.96698492e-01 -5.00014534e-04 4.34325937e+02] [ 6.32668497e-04 -1.28710253e-05 9.99999800e-01 1.73397076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.89, Y:434.34, Z:1.73 [[ 5.92514542e-01 -8.05559655e-01 -3.99482650e-04 3.25888166e+02] [ 8.05559506e-01 5.92514676e-01 -4.90973423e-04 4.34344682e+02] [ 6.32207714e-04 -3.08981532e-05 9.99999800e-01 1.73410046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.91, Y:434.37, Z:1.73 [[ 5.94531840e-01 -8.04071975e-01 -3.87595533e-04 3.25913176e+02] [ 8.04071820e-01 5.94531966e-01 -5.00184805e-04 4.34369121e+02] [ 6.32622519e-04 -1.42788538e-05 9.99999800e-01 1.73326542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1527550960001 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:325.93, Y:434.39, Z:1.73 [[ 5.94100956e-01 -8.04390388e-01 -3.97169458e-04 3.25929907e+02] [ 8.04390237e-01 5.94101089e-01 -4.92759298e-04 4.34392151e+02] [ 6.32329650e-04 -2.67304647e-05 9.99999800e-01 1.73260641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.94, Y:434.41, Z:1.73 [[ 5.93007944e-01 -8.05196511e-01 -3.96430441e-04 3.25944085e+02] [ 8.05196360e-01 5.93008076e-01 -4.93332026e-04 4.34414367e+02] [ 6.32315679e-04 -2.66545371e-05 9.99999800e-01 1.73096967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.96, Y:434.43, Z:1.73 [[ 5.97140987e-01 -8.02136203e-01 -3.93261586e-04 3.25961191e+02] [ 8.02136050e-01 5.97141116e-01 -4.95783978e-04 4.34431435e+02] [ 6.32518940e-04 -1.93963609e-05 9.99999800e-01 1.73337111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:325.98, Y:434.46, Z:1.73 [[ 5.95762899e-01 -8.03160270e-01 -3.86858865e-04 3.25977149e+02] [ 8.03160114e-01 5.95763025e-01 -5.00730648e-04 4.34456521e+02] [ 6.32643170e-04 -1.23928670e-05 9.99999800e-01 1.73176220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:434.47, Z:1.73 [[ 5.98163699e-01 -8.01373844e-01 -3.89280853e-04 3.25995763e+02] [ 8.01373689e-01 5.98163826e-01 -4.98859974e-04 4.34474843e+02] [ 6.32627059e-04 -1.35595058e-05 9.99999800e-01 1.73400398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.00, Y:434.50, Z:1.73 [[ 5.94994599e-01 -8.03729605e-01 -3.86619441e-04 3.26004761e+02] [ 8.03729449e-01 5.94994724e-01 -5.00914125e-04 4.34501302e+02] [ 6.32636040e-04 -1.26962317e-05 9.99999800e-01 1.73236884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.03, Y:434.52, Z:1.73 [[ 5.97355457e-01 -8.01976503e-01 -3.83550153e-04 3.26026720e+02] [ 8.01976345e-01 5.97355580e-01 -5.03280575e-04 4.34524787e+02] [ 6.32735019e-04 -6.96075152e-06 9.99999800e-01 1.73108616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.05, Y:434.55, Z:1.73 [[ 5.98103537e-01 -8.01418746e-01 -3.90997548e-04 3.26046808e+02] [ 8.01418592e-01 5.98103665e-01 -4.97546723e-04 4.34548834e+02] [ 6.32600337e-04 -1.57682489e-05 9.99999800e-01 1.72992178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.06, Y:434.57, Z:1.73 [[ 5.98440152e-01 -8.01167417e-01 -3.93359245e-04 3.26062766e+02] [ 8.01167264e-01 5.98440281e-01 -4.95731376e-04 4.34571400e+02] [ 6.32565843e-04 -1.84809907e-05 9.99999800e-01 1.73148240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.08, Y:434.59, Z:1.73 [[ 5.98950465e-01 -8.00785981e-01 -3.91606320e-04 3.26079648e+02] [ 8.00785827e-01 5.98950592e-01 -4.97077768e-04 4.34592875e+02] [ 6.32605746e-04 -1.58678310e-05 9.99999800e-01 1.73095252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.09, Y:434.62, Z:1.73 [[ 5.98947510e-01 -8.00788191e-01 -3.92894655e-04 3.26094892e+02] [ 8.00788037e-01 5.98947638e-01 -4.96088426e-04 4.34615973e+02] [ 6.32585079e-04 -1.74944122e-05 9.99999800e-01 1.73072140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.11, Y:434.64, Z:1.73 [[ 5.99660510e-01 -8.00254410e-01 -3.91054737e-04 3.26111350e+02] [ 8.00254255e-01 5.99660637e-01 -4.97499700e-04 4.34637025e+02] [ 6.32626461e-04 -1.46122941e-05 9.99999800e-01 1.73204137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.13, Y:434.66, Z:1.73 [[ 6.00281203e-01 -7.99788925e-01 -3.90279024e-04 3.26127578e+02] [ 7.99788770e-01 6.00281330e-01 -4.98093662e-04 4.34658438e+02] [ 6.32647006e-04 -1.31445176e-05 9.99999800e-01 1.73286243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.14, Y:434.68, Z:1.73 [[ 5.97861957e-01 -8.01598983e-01 -3.87931188e-04 3.26139094e+02] [ 8.01598827e-01 5.97862083e-01 -4.99889654e-04 4.34679291e+02] [ 6.32640386e-04 -1.21001787e-05 9.99999800e-01 1.73458077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.16, Y:434.70, Z:1.73 [[ 5.98404771e-01 -8.01193850e-01 -3.81941907e-04 3.26161413e+02] [ 8.01193691e-01 5.98404893e-01 -5.04465411e-04 4.34702371e+02] [ 6.32730490e-04 -4.13493776e-06 9.99999800e-01 1.73290728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.602755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.18, Y:434.73, Z:1.73 [[ 5.97057114e-01 -8.02198637e-01 -3.87659956e-04 3.26178544e+02] [ 8.02198481e-01 5.97057239e-01 -5.00101606e-04 4.34725722e+02] [ 6.32636010e-04 -1.23910069e-05 9.99999800e-01 1.73128015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.632755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.20, Y:434.75, Z:1.73 [[ 5.96645152e-01 -8.02505085e-01 -3.88982494e-04 3.26195696e+02] [ 8.02504930e-01 5.96645278e-01 -4.99093016e-04 4.34748689e+02] [ 6.32609252e-04 -1.43789412e-05 9.99999800e-01 1.73129887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6627550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:326.21, Y:434.77, Z:1.73 [[ 5.94793557e-01 -8.03878395e-01 -3.88816784e-04 3.26208372e+02] [ 8.03878240e-01 5.94793684e-01 -4.99219280e-04 4.34768191e+02] [ 6.32577361e-04 -1.56289404e-05 9.99999800e-01 1.73234757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.692755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.23, Y:434.79, Z:1.73 [[ 5.95060893e-01 -8.03680526e-01 -3.81196160e-04 3.26230274e+02] [ 8.03680368e-01 5.95061015e-01 -5.05012894e-04 4.34791205e+02] [ 6.32704003e-04 -5.84644632e-06 9.99999800e-01 1.73062192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.25, Y:434.81, Z:1.73 [[ 5.93397661e-01 -8.04909353e-01 -3.87125761e-04 3.26247865e+02] [ 8.04909197e-01 5.93397787e-01 -5.00506723e-04 4.34814414e+02] [ 6.32582112e-04 -1.46015669e-05 9.99999800e-01 1.73069188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.752755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.26, Y:434.84, Z:1.73 [[ 5.92534983e-01 -8.05544625e-01 -3.87934049e-04 3.26264439e+02] [ 8.05544470e-01 5.92535110e-01 -4.99892873e-04 4.34835515e+02] [ 6.32550562e-04 -1.62941124e-05 9.99999800e-01 1.72980336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.28, Y:434.86, Z:1.73 [[ 5.91614732e-01 -8.06220726e-01 -3.87233774e-04 3.26284813e+02] [ 8.06220571e-01 5.91614858e-01 -5.00424728e-04 4.34857566e+02] [ 6.32546042e-04 -1.61371933e-05 9.99999800e-01 1.73033419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.31, Y:434.88, Z:1.73 [[ 5.92630725e-01 -8.05474192e-01 -3.87883093e-04 3.26309003e+02] [ 8.05474037e-01 5.92630852e-01 -4.99934411e-04 4.34882897e+02] [ 6.32555753e-04 -1.61532680e-05 9.99999800e-01 1.73219596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.31, Y:434.90, Z:1.73 [[ 5.87574267e-01 -8.09170145e-01 -3.95933743e-04 3.26314569e+02] [ 8.09169995e-01 5.87574400e-01 -4.93853756e-04 4.34900973e+02] [ 6.32252247e-04 -3.02019463e-05 9.99999800e-01 1.72846575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.33, Y:434.92, Z:1.73 [[ 5.88449591e-01 -8.08533817e-01 -3.81524571e-04 3.26330529e+02] [ 8.08533659e-01 5.88449715e-01 -5.04710466e-04 4.34922849e+02] [ 6.32583505e-04 -1.14787899e-05 9.99999800e-01 1.72893006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.36, Y:434.95, Z:1.73 [[ 5.93500149e-01 -8.04833789e-01 -3.80599431e-04 3.26358871e+02] [ 8.04833631e-01 5.93500271e-01 -5.05407148e-04 4.34949416e+02] [ 6.32654615e-04 -6.36000430e-06 9.99999800e-01 1.72998263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.932755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.36, Y:434.97, Z:1.73 [[ 5.91482738e-01 -8.06317564e-01 -3.95042938e-04 3.26363822e+02] [ 8.06317413e-01 5.91482870e-01 -4.94511339e-04 4.34968365e+02] [ 6.32394309e-04 -2.60350792e-05 9.99999800e-01 1.72711748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.39, Y:434.99, Z:1.73 [[ 5.95895185e-01 -8.03062130e-01 -3.80015596e-04 3.26389172e+02] [ 8.03061971e-01 5.95895306e-01 -5.05816175e-04 4.34991618e+02] [ 6.32651325e-04 -3.76265047e-06 9.99999800e-01 1.72907498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.41, Y:435.02, Z:1.73 [[ 5.95785566e-01 -8.03143454e-01 -3.89216566e-04 3.26407594e+02] [ 8.03143299e-01 5.95785693e-01 -4.98885128e-04 4.35016219e+02] [ 6.32565986e-04 -1.53681179e-05 9.99999800e-01 1.72844488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.43, Y:435.04, Z:1.73 [[ 5.95175787e-01 -8.03595440e-01 -3.87972348e-04 3.26426843e+02] [ 8.03595285e-01 5.95175914e-01 -4.99816859e-04 4.35042561e+02] [ 6.32562346e-04 -1.42938572e-05 9.99999800e-01 1.72763768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.44, Y:435.07, Z:1.73 [[ 5.94948798e-01 -8.03763506e-01 -3.92722434e-04 3.26442356e+02] [ 8.03763353e-01 5.94948927e-01 -4.96260423e-04 4.35065167e+02] [ 6.32525808e-04 -2.04063590e-05 9.99999800e-01 1.72732262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.46, Y:435.09, Z:1.73 [[ 5.95017997e-01 -8.03712281e-01 -3.91408437e-04 3.26459015e+02] [ 8.03712127e-01 5.95018126e-01 -4.97242947e-04 4.35089152e+02] [ 6.32535377e-04 -1.87112055e-05 9.99999800e-01 1.72690293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.112755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:326.47, Y:435.11, Z:1.73 [[ 5.94932056e-01 -8.03775899e-01 -3.91567337e-04 3.26473798e+02] [ 8.03775745e-01 5.94932185e-01 -4.97124207e-04 4.35111574e+02] [ 6.32532468e-04 -1.89772015e-05 9.99999800e-01 1.72612806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.48, Y:435.13, Z:1.73 [[ 5.91644075e-01 -8.06199191e-01 -3.90995586e-04 3.26479343e+02] [ 8.06199038e-01 5.91644203e-01 -4.97551232e-04 4.35131203e+02] [ 6.32455673e-04 -2.08470271e-05 9.99999800e-01 1.72560912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.51, Y:435.16, Z:1.73 [[ 5.95776113e-01 -8.03150472e-01 -3.77962562e-04 3.26505212e+02] [ 8.03150311e-01 5.95776233e-01 -5.07262176e-04 4.35155924e+02] [ 6.32588968e-04 -1.34606181e-06 9.99999800e-01 1.72598368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.52, Y:435.18, Z:1.73 [[ 5.93452809e-01 -8.04868694e-01 -3.85488904e-04 3.26523237e+02] [ 8.04868538e-01 5.93452934e-01 -5.01672552e-04 4.35181584e+02] [ 6.32550053e-04 -1.25489055e-05 9.99999800e-01 1.72591727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.232755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.54, Y:435.20, Z:1.73 [[ 5.94875975e-01 -8.03817406e-01 -3.89106586e-04 3.26537965e+02] [ 8.03817252e-01 5.94876102e-01 -4.98987810e-04 4.35200099e+02] [ 6.32565296e-04 -1.59347258e-05 9.99999800e-01 1.72570515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.56, Y:435.23, Z:1.73 [[ 5.92276290e-01 -8.05734851e-01 -3.83396918e-04 3.26557023e+02] [ 8.05734694e-01 5.92276414e-01 -5.03215639e-04 4.35227223e+02] [ 6.32535330e-04 -1.08735064e-05 9.99999800e-01 1.72616731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.57, Y:435.25, Z:1.73 [[ 5.90326832e-01 -8.07164221e-01 -3.89171835e-04 3.26572430e+02] [ 8.07164067e-01 5.90326960e-01 -4.98945284e-04 4.35250544e+02] [ 6.32469408e-04 -1.95847319e-05 9.99999800e-01 1.72591250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.59, Y:435.27, Z:1.73 [[ 5.89095632e-01 -8.08063232e-01 -3.87765080e-04 3.26588009e+02] [ 8.08063077e-01 5.89095759e-01 -4.99984207e-04 4.35272209e+02] [ 6.32449618e-04 -1.88001322e-05 9.99999800e-01 1.72587463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.60, Y:435.30, Z:1.73 [[ 5.87339596e-01 -8.09340503e-01 -3.86028861e-04 3.26604581e+02] [ 8.09340348e-01 5.87339722e-01 -5.01263648e-04 4.35295715e+02] [ 6.32423058e-04 -1.80167445e-05 9.99999800e-01 1.72572789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.62, Y:435.32, Z:1.73 [[ 5.85179753e-01 -8.10903514e-01 -3.85432063e-04 3.26619866e+02] [ 8.10903359e-01 5.85179879e-01 -5.01703059e-04 4.35316783e+02] [ 6.32379862e-04 -1.89616821e-05 9.99999800e-01 1.72527071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.63, Y:435.34, Z:1.73 [[ 5.83082683e-01 -8.12412726e-01 -3.83510985e-04 3.26634828e+02] [ 8.12412570e-01 5.83082809e-01 -5.03116081e-04 4.35339029e+02] [ 6.32356569e-04 -1.82108707e-05 9.99999800e-01 1.72530594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.65, Y:435.36, Z:1.73 [[ 5.81191527e-01 -8.13766714e-01 -3.80975159e-04 3.26652237e+02] [ 8.13766557e-01 5.81191651e-01 -5.04977612e-04 4.35361636e+02] [ 6.32353554e-04 -1.65361345e-05 9.99999800e-01 1.72552197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.67, Y:435.38, Z:1.73 [[ 5.80592064e-01 -8.14194516e-01 -3.80643153e-04 3.26668340e+02] [ 8.14194360e-01 5.80592189e-01 -5.05221127e-04 4.35382932e+02] [ 6.32346712e-04 -1.65901319e-05 9.99999800e-01 1.72533865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.69, Y:435.41, Z:1.73 [[ 5.80411680e-01 -8.14323116e-01 -3.80390441e-04 3.26686553e+02] [ 8.14322959e-01 5.80411804e-01 -5.05406277e-04 4.35406664e+02] [ 6.32347117e-04 -1.64169634e-05 9.99999800e-01 1.72534568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.70, Y:435.43, Z:1.72 [[ 5.79956450e-01 -8.14647390e-01 -3.81851592e-04 3.26703141e+02] [ 8.14647234e-01 5.79956576e-01 -5.04336704e-04 4.35429857e+02] [ 6.32313921e-04 -1.85810192e-05 9.99999800e-01 1.72487819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.72, Y:435.45, Z:1.73 [[ 5.79725818e-01 -8.14811531e-01 -3.81770664e-04 3.26719667e+02] [ 8.14811375e-01 5.79725943e-01 -5.04395891e-04 4.35452958e+02] [ 6.32309946e-04 -1.86597592e-05 9.99999800e-01 1.72531286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.74, Y:435.48, Z:1.73 [[ 5.79939533e-01 -8.14659434e-01 -3.81419464e-04 3.26736649e+02] [ 8.14659278e-01 5.79939658e-01 -5.04652506e-04 4.35475609e+02] [ 6.32320198e-04 -1.80589661e-05 9.99999800e-01 1.72578012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.75, Y:435.50, Z:1.73 [[ 5.80328121e-01 -8.14382666e-01 -3.81770730e-04 3.26751509e+02] [ 8.14382510e-01 5.80328246e-01 -5.04396087e-04 4.35497417e+02] [ 6.32323768e-04 -1.81921723e-05 9.99999800e-01 1.72638126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.77, Y:435.52, Z:1.72 [[ 5.79468473e-01 -8.14994568e-01 -3.77292389e-04 3.26769227e+02] [ 8.14994410e-01 5.79468596e-01 -5.07660741e-04 4.35522253e+02] [ 6.32369837e-04 -1.33177942e-05 9.99999800e-01 1.72479754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.78, Y:435.54, Z:1.73 [[ 5.77550730e-01 -8.16354708e-01 -3.80798837e-04 3.26778621e+02] [ 8.16354552e-01 5.77550855e-01 -5.05105213e-04 4.35542522e+02] [ 6.32275713e-04 -1.91429795e-05 9.99999800e-01 1.72519390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.712755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:326.79, Y:435.57, Z:1.72 [[ 5.77830999e-01 -8.16156356e-01 -3.72117415e-04 3.26794608e+02] [ 8.16156196e-01 5.77831119e-01 -5.11421932e-04 4.35565977e+02] [ 6.32421283e-04 -8.19048747e-06 9.99999800e-01 1.72423405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.82, Y:435.59, Z:1.72 [[ 5.80354822e-01 -8.14363643e-01 -3.71956104e-04 3.26817680e+02] [ 8.14363482e-01 5.80354941e-01 -5.11539227e-04 4.35591384e+02] [ 6.32445510e-04 -6.03321102e-06 9.99999800e-01 1.72275959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.83, Y:435.61, Z:1.72 [[ 5.81341882e-01 -8.13659309e-01 -3.81555630e-04 3.26834961e+02] [ 8.13659152e-01 5.81342007e-01 -5.04553079e-04 4.35613940e+02] [ 6.32348625e-04 -1.71383936e-05 9.99999800e-01 1.72241227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.802755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.85, Y:435.64, Z:1.72 [[ 5.81113411e-01 -8.13822497e-01 -3.83085497e-04 3.26851357e+02] [ 8.13822342e-01 5.81113537e-01 -5.03440336e-04 4.35637014e+02] [ 6.32327240e-04 -1.92076055e-05 9.99999800e-01 1.72292267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.87, Y:435.66, Z:1.72 [[ 5.80048233e-01 -8.14582041e-01 -3.82435980e-04 3.26865837e+02] [ 8.14581885e-01 5.80048358e-01 -5.03911650e-04 4.35660181e+02] [ 6.32308743e-04 -1.92323594e-05 9.99999800e-01 1.72229561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.87, Y:435.68, Z:1.72 [[ 5.77974910e-01 -8.16054446e-01 -3.80168846e-04 3.26873893e+02] [ 8.16054290e-01 5.77975035e-01 -5.05554563e-04 4.35680847e+02] [ 6.32288151e-04 -1.80405642e-05 9.99999800e-01 1.72352081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.89, Y:435.70, Z:1.72 [[ 5.80315256e-01 -8.14391838e-01 -3.70671598e-04 3.26892969e+02] [ 8.14391677e-01 5.80315374e-01 -5.12424570e-04 4.35703696e+02] [ 6.32420814e-04 -4.50406862e-06 9.99999800e-01 1.72383978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:326.90, Y:435.73, Z:1.72 [[ 5.78709150e-01 -8.15533924e-01 -3.72668570e-04 3.26904462e+02] [ 8.15533764e-01 5.78709270e-01 -5.10980727e-04 4.35726038e+02] [ 6.32388873e-04 -8.21457959e-06 9.99999800e-01 1.72391900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.92, Y:435.75, Z:1.72 [[ 5.76812672e-01 -8.16876371e-01 -3.68170414e-04 3.26921075e+02] [ 8.16876209e-01 5.76812790e-01 -5.14231972e-04 4.35751908e+02] [ 6.32429351e-04 -4.13413403e-06 9.99999800e-01 1.72332510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:326.94, Y:435.77, Z:1.72 [[ 5.77726916e-01 -8.16230036e-01 -3.72455800e-04 3.26936899e+02] [ 8.16229876e-01 5.77727036e-01 -5.11134177e-04 4.35772128e+02] [ 6.32380853e-04 -8.71358027e-06 9.99999800e-01 1.72396959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.95, Y:435.80, Z:1.73 [[ 5.75832630e-01 -8.17567517e-01 -3.70280009e-04 3.26952994e+02] [ 8.17567356e-01 5.75832749e-01 -5.12705551e-04 4.35795424e+02] [ 6.32390760e-04 -7.49626241e-06 9.99999800e-01 1.72522640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.97, Y:435.82, Z:1.72 [[ 5.75252671e-01 -8.17975689e-01 -3.70124161e-04 3.26971505e+02] [ 8.17975528e-01 5.75252790e-01 -5.12818033e-04 4.35819688e+02] [ 6.32387640e-04 -7.75256316e-06 9.99999800e-01 1.72437603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:326.99, Y:435.84, Z:1.72 [[ 5.74702014e-01 -8.18362668e-01 -3.73440685e-04 3.26988156e+02] [ 8.18362509e-01 5.74702135e-01 -5.10424641e-04 4.35843454e+02] [ 6.32329630e-04 -1.22677868e-05 9.99999800e-01 1.72422943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.00, Y:435.86, Z:1.72 [[ 5.75710330e-01 -8.17653641e-01 -3.73746478e-04 3.27002351e+02] [ 8.17653482e-01 5.75710451e-01 -5.10204060e-04 4.35863296e+02] [ 6.32339960e-04 -1.18653618e-05 9.99999800e-01 1.72355878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.03, Y:435.89, Z:1.72 [[ 5.75419126e-01 -8.17858602e-01 -3.69043081e-04 3.27025443e+02] [ 8.17858441e-01 5.75419245e-01 -5.13593290e-04 4.35891625e+02] [ 6.32401181e-04 -6.29359704e-06 9.99999800e-01 1.72442872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.04, Y:435.91, Z:1.72 [[ 5.73552293e-01 -8.19168861e-01 -3.80264471e-04 3.27039817e+02] [ 8.19168705e-01 5.73552419e-01 -5.05508864e-04 4.35914444e+02] [ 6.32198727e-04 -2.15649863e-05 9.99999800e-01 1.72460448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.06, Y:435.93, Z:1.72 [[ 5.75667009e-01 -8.17684140e-01 -3.76849954e-04 3.27055022e+02] [ 8.17683983e-01 5.75667132e-01 -5.07964500e-04 4.35930873e+02] [ 6.32294647e-04 -1.57257671e-05 9.99999800e-01 1.72454905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.07, Y:435.96, Z:1.72 [[ 5.72097663e-01 -8.20185423e-01 -3.68848793e-04 3.27073149e+02] [ 8.20185262e-01 5.72097782e-01 -5.13709418e-04 4.35960094e+02] [ 6.32354553e-04 -8.63238637e-06 9.99999800e-01 1.72441953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.09, Y:435.98, Z:1.72 [[ 5.71878429e-01 -8.20338296e-01 -3.77683203e-04 3.27090729e+02] [ 8.20338140e-01 5.71878553e-01 -5.07365824e-04 4.35983659e+02] [ 6.32200540e-04 -1.96763658e-05 9.99999800e-01 1.72382759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.11, Y:436.01, Z:1.72 [[ 5.71490679e-01 -8.20608470e-01 -3.78307059e-04 3.27109050e+02] [ 8.20608314e-01 5.71490804e-01 -5.06918458e-04 4.36008097e+02] [ 6.32180585e-04 -2.07427440e-05 9.99999800e-01 1.72304225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.12, Y:436.03, Z:1.72 [[ 5.70735606e-01 -8.21133804e-01 -3.80020122e-04 3.27124868e+02] [ 8.21133648e-01 5.70735732e-01 -5.05691768e-04 4.36031540e+02] [ 6.32131667e-04 -2.34310120e-05 9.99999800e-01 1.72319652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.14, Y:436.05, Z:1.72 [[ 5.72202952e-01 -8.20111967e-01 -3.78897064e-04 3.27138208e+02] [ 8.20111810e-01 5.72203078e-01 -5.06494973e-04 4.36050140e+02] [ 6.32188655e-04 -2.09200386e-05 9.99999800e-01 1.72395399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.16, Y:436.08, Z:1.72 [[ 5.70575437e-01 -8.21245111e-01 -3.71960425e-04 3.27156884e+02] [ 8.21244952e-01 5.70575558e-01 -5.11446573e-04 4.36077114e+02] [ 6.32254525e-04 -1.36517691e-05 9.99999800e-01 1.72361102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.17, Y:436.10, Z:1.72 [[ 5.71707444e-01 -8.20457468e-01 -3.78027815e-04 3.27172188e+02] [ 8.20457311e-01 5.71707568e-01 -5.07115848e-04 4.36097401e+02] [ 6.32188347e-04 -2.02337800e-05 9.99999800e-01 1.72431649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.19, Y:436.12, Z:1.72 [[ 5.71086614e-01 -8.20889724e-01 -3.74165600e-04 3.27190361e+02] [ 8.20889566e-01 5.71086736e-01 -5.09866951e-04 4.36122575e+02] [ 6.32225552e-04 -1.59704464e-05 9.99999800e-01 1.72406685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:327.21, Y:436.15, Z:1.72 [[ 5.71255256e-01 -8.20772375e-01 -3.76429672e-04 3.27209027e+02] [ 8.20772217e-01 5.71255380e-01 -5.08258051e-04 4.36145560e+02] [ 6.32201643e-04 -1.86179337e-05 9.99999800e-01 1.72424617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.492755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:327.22, Y:436.16, Z:1.73 [[ 5.70229411e-01 -8.21485409e-01 -3.76972169e-04 3.27216868e+02] [ 8.21485252e-01 5.70229535e-01 -5.07872881e-04 4.36164022e+02] [ 6.32170826e-04 -2.00730235e-05 9.99999800e-01 1.72662043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.522755096 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:327.23, Y:436.19, Z:1.73 [[ 5.71336233e-01 -8.20716014e-01 -3.65513223e-04 3.27232443e+02] [ 8.20715852e-01 5.71336350e-01 -5.15990084e-04 4.36187175e+02] [ 6.32312315e-04 -5.17866572e-06 9.99999800e-01 1.72647968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.26, Y:436.21, Z:1.72 [[ 5.75633660e-01 -8.17707622e-01 -3.65356419e-04 3.27258096e+02] [ 8.17707460e-01 5.75633776e-01 -5.16101087e-04 4.36214316e+02] [ 6.32331288e-04 -1.66951132e-06 9.99999800e-01 1.72241437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.27, Y:436.24, Z:1.72 [[ 5.74993865e-01 -8.18157632e-01 -3.78993905e-04 3.27273742e+02] [ 8.18157476e-01 5.74993990e-01 -5.06437613e-04 4.36237258e+02] [ 6.32265016e-04 -1.88781759e-05 9.99999800e-01 1.72243793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.612755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:327.29, Y:436.25, Z:1.72 [[ 5.77932475e-01 -8.16084500e-01 -3.78498462e-04 3.27286428e+02] [ 8.16084343e-01 5.77932599e-01 -5.06788253e-04 4.36254473e+02] [ 6.32328638e-04 -1.59972788e-05 9.99999800e-01 1.72185240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.642755096 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:327.30, Y:436.28, Z:1.72 [[ 5.75141691e-01 -8.18053726e-01 -3.70918117e-04 3.27296045e+02] [ 8.18053565e-01 5.75141811e-01 -5.12152046e-04 4.36276334e+02] [ 6.32298406e-04 -8.87089386e-06 9.99999800e-01 1.72385283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6727550960001 meters Centerline goodness : 0.999777 Centerline is valid? [True, True] Translation: X:327.31, Y:436.30, Z:1.72 [[ 5.74972516e-01 -8.18172642e-01 -3.64920492e-04 3.27312780e+02] [ 8.18172479e-01 5.74972632e-01 -5.16390421e-04 4.36298707e+02] [ 6.32315811e-04 -1.65760445e-06 9.99999800e-01 1.72359083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.702755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:327.34, Y:436.33, Z:1.72 [[ 5.77063585e-01 -8.16699140e-01 -3.64768207e-04 3.27338718e+02] [ 8.16698977e-01 5.77063701e-01 -5.16497969e-04 4.36325254e+02] [ 6.32317939e-04 1.46348348e-07 9.99999800e-01 1.72215960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.732755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:327.35, Y:436.34, Z:1.72 [[ 5.78358740e-01 -8.15782462e-01 -3.77866366e-04 3.27351666e+02] [ 8.15782305e-01 5.78358863e-01 -5.07234766e-04 4.36343926e+02] [ 6.32335588e-04 -1.48930352e-05 9.99999800e-01 1.72104010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.762755096 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:327.37, Y:436.37, Z:1.72 [[ 5.75159386e-01 -8.18041285e-01 -3.70562460e-04 3.27369687e+02] [ 8.18041125e-01 5.75159505e-01 -5.12383643e-04 4.36371524e+02] [ 6.32283495e-04 -8.43306996e-06 9.99999800e-01 1.72382383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7927550960001 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:327.38, Y:436.39, Z:1.72 [[ 5.73155273e-01 -8.19446699e-01 -3.75454560e-04 3.27384231e+02] [ 8.19446541e-01 5.73155396e-01 -5.08937025e-04 4.36394244e+02] [ 6.32240572e-04 -1.59650014e-05 9.99999800e-01 1.72473940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.822755096 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:327.40, Y:436.42, Z:1.73 [[ 5.72060942e-01 -8.20211034e-01 -3.73049787e-04 3.27400999e+02] [ 8.20210875e-01 5.72061064e-01 -5.10629036e-04 4.36415156e+02] [ 6.32230827e-04 -1.38685647e-05 9.99999800e-01 1.72571470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.852755096 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:327.42, Y:436.44, Z:1.73 [[ 5.69950969e-01 -8.21678620e-01 -3.72357026e-04 3.27416834e+02] [ 8.21678461e-01 5.69951091e-01 -5.11115825e-04 4.36438219e+02] [ 6.32198238e-04 -1.46467884e-05 9.99999800e-01 1.72651949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.882755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:327.43, Y:436.46, Z:1.73 [[ 5.69653627e-01 -8.21884789e-01 -3.71686758e-04 3.27431477e+02] [ 8.21884630e-01 5.69653749e-01 -5.11586419e-04 4.36458573e+02] [ 6.32197851e-04 -1.40565739e-05 9.99999800e-01 1.72658823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9127550960001 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:327.44, Y:436.48, Z:1.73 [[ 5.68132511e-01 -8.22937005e-01 -3.68555591e-04 3.27442144e+02] [ 8.22936845e-01 5.68132630e-01 -5.13782720e-04 4.36479741e+02] [ 6.32199270e-04 -1.14013087e-05 9.99999800e-01 1.72625137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.942755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:327.46, Y:436.50, Z:1.73 [[ 5.67267482e-01 -8.23533529e-01 -3.62768757e-04 3.27457123e+02] [ 8.23533366e-01 5.67267598e-01 -5.17836668e-04 4.36502216e+02] [ 6.32242819e-04 -5.00027255e-06 9.99999800e-01 1.72605875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.972755096 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:327.47, Y:436.53, Z:1.73 [[ 5.66559578e-01 -8.24020699e-01 -3.62606038e-04 3.27473444e+02] [ 8.24020537e-01 5.66559694e-01 -5.17950584e-04 4.36525483e+02] [ 6.32239968e-04 -5.34495768e-06 9.99999800e-01 1.72625729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.002755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:327.49, Y:436.55, Z:1.73 [[ 5.64850601e-01 -8.25193109e-01 -3.62445528e-04 3.27489672e+02] [ 8.25192946e-01 5.64850718e-01 -5.18062879e-04 4.36548726e+02] [ 6.32229534e-04 -6.45936420e-06 9.99999800e-01 1.72586127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0327550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:327.50, Y:436.57, Z:1.73 [[ 5.64087251e-01 -8.25715109e-01 -3.62283303e-04 3.27504931e+02] [ 8.25714947e-01 5.64087368e-01 -5.18176299e-04 4.36571365e+02] [ 6.32225434e-04 -6.84609394e-06 9.99999800e-01 1.72569632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.062755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:327.51, Y:436.59, Z:1.72 [[ 5.59561631e-01 -8.28788664e-01 -3.62112314e-04 3.27512993e+02] [ 8.28788502e-01 5.59561749e-01 -5.18295762e-04 4.36594148e+02] [ 6.32181852e-04 -1.00960998e-05 9.99999800e-01 1.71979088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.092755096 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:327.53, Y:436.62, Z:1.72 [[ 5.57238180e-01 -8.30352627e-01 -3.54669279e-04 3.27527448e+02] [ 8.30352462e-01 5.57238293e-01 -5.23488267e-04 4.36618316e+02] [ 6.32315162e-04 -2.79285995e-06 9.99999800e-01 1.71882401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.122755096 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:327.54, Y:436.64, Z:1.72 [[ 5.58027495e-01 -8.29822384e-01 -3.54533386e-04 3.27541550e+02] [ 8.29822219e-01 5.58027608e-01 -5.23583034e-04 4.36640236e+02] [ 6.32320339e-04 -2.02595204e-06 9.99999800e-01 1.71779351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1527550960001 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:327.56, Y:436.67, Z:1.72 [[ 5.58349580e-01 -8.29605703e-01 -3.52783497e-04 3.27560947e+02] [ 8.29605537e-01 5.58349691e-01 -5.24805799e-04 4.36665322e+02] [ 6.32358440e-04 3.53954543e-07 9.99999800e-01 1.72035684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.182755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:327.58, Y:436.69, Z:1.72 [[ 5.58753186e-01 -8.29333919e-01 -3.58274290e-04 3.27580148e+02] [ 8.29333755e-01 5.58753301e-01 -5.20967704e-04 4.36688290e+02] [ 6.32243129e-04 -6.03659732e-06 9.99999800e-01 1.72420910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.212755096 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:327.60, Y:436.71, Z:1.72 [[ 5.59114206e-01 -8.29090570e-01 -3.62281067e-04 3.27596771e+02] [ 8.29090408e-01 5.59114323e-01 -5.18166326e-04 4.36712535e+02] [ 6.32163348e-04 -1.06496039e-05 9.99999800e-01 1.72425076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.242755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:327.61, Y:436.73, Z:1.73 [[ 5.58858359e-01 -8.29263048e-01 -3.63937020e-04 3.27608803e+02] [ 8.29262887e-01 5.58858477e-01 -5.17008677e-04 4.36733835e+02] [ 6.32125480e-04 -1.28648434e-05 9.99999800e-01 1.72666702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.272755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:327.62, Y:436.76, Z:1.73 [[ 5.59975548e-01 -8.28509057e-01 -3.57804463e-04 3.27623646e+02] [ 8.28508893e-01 5.59975663e-01 -5.21293078e-04 4.36755328e+02] [ 6.32257828e-04 -4.53280161e-06 9.99999800e-01 1.72569888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.64, Y:436.78, Z:1.73 [[ 5.58184476e-01 -8.29716798e-01 -3.55731391e-04 3.27642248e+02] [ 8.29716633e-01 5.58184589e-01 -5.22744630e-04 4.36784662e+02] [ 6.32293781e-04 -3.36831477e-06 9.99999800e-01 1.72823340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.66, Y:436.81, Z:1.73 [[ 5.57302699e-01 -8.30309320e-01 -3.66636110e-04 3.27656652e+02] [ 8.30309161e-01 5.57302819e-01 -5.15109082e-04 4.36809042e+02] [ 6.32027210e-04 -1.73496392e-05 9.99999800e-01 1.72781166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.362755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:327.67, Y:436.83, Z:1.73 [[ 5.57978857e-01 -8.29855085e-01 -3.66173869e-04 3.27670803e+02] [ 8.29854925e-01 5.57978977e-01 -5.15432498e-04 4.36831914e+02] [ 6.32051601e-04 -1.62707527e-05 9.99999800e-01 1.72754701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.69, Y:436.86, Z:1.73 [[ 5.59538783e-01 -8.28804088e-01 -3.66032211e-04 3.27685561e+02] [ 8.28803928e-01 5.59538902e-01 -5.15531590e-04 4.36855185e+02] [ 6.32083951e-04 -1.49090160e-05 9.99999800e-01 1.72817576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.70, Y:436.88, Z:1.73 [[ 5.61744635e-01 -8.27310601e-01 -3.66953332e-04 3.27699043e+02] [ 8.27310441e-01 5.61744755e-01 -5.14887532e-04 4.36875492e+02] [ 6.32106023e-04 -1.43490134e-05 9.99999800e-01 1.72649149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.71, Y:436.90, Z:1.73 [[ 5.60838873e-01 -8.27924893e-01 -3.62347060e-04 3.27711932e+02] [ 8.27924731e-01 5.60838990e-01 -5.18104862e-04 4.36898759e+02] [ 6.32170271e-04 -9.42274529e-06 9.99999800e-01 1.72770809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.73, Y:436.92, Z:1.73 [[ 5.62952271e-01 -8.26489330e-01 -3.58840051e-04 3.27727655e+02] [ 8.26489166e-01 5.62952386e-01 -5.20552525e-04 4.36921501e+02] [ 6.32240971e-04 -3.53118807e-06 9.99999800e-01 1.72586787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.75, Y:436.95, Z:1.73 [[ 5.62253937e-01 -8.26964558e-01 -3.60238720e-04 3.27745146e+02] [ 8.26964395e-01 5.62254052e-01 -5.19576562e-04 4.36948784e+02] [ 6.32217082e-04 -5.77062784e-06 9.99999800e-01 1.72787727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.76, Y:436.97, Z:1.73 [[ 5.64264716e-01 -8.25593845e-01 -3.66685516e-04 3.27759051e+02] [ 8.25593684e-01 5.64264835e-01 -5.15077388e-04 4.36969629e+02] [ 6.32152463e-04 -1.20932502e-05 9.99999800e-01 1.72734437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.77, Y:437.00, Z:1.73 [[ 5.62266202e-01 -8.26956218e-01 -3.61680922e-04 3.27774135e+02] [ 8.26956056e-01 5.62266318e-01 -5.18565255e-04 4.36996051e+02] [ 6.32191763e-04 -7.52251170e-06 9.99999800e-01 1.72658600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.79, Y:437.02, Z:1.73 [[ 5.63476331e-01 -8.26132128e-01 -3.63525048e-04 3.27789604e+02] [ 8.26131966e-01 5.63476448e-01 -5.17280590e-04 4.37020128e+02] [ 6.32179917e-04 -8.84429396e-06 9.99999800e-01 1.72722796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.80, Y:437.05, Z:1.73 [[ 5.62097896e-01 -8.27070627e-01 -3.64763602e-04 3.27804708e+02] [ 8.27070466e-01 5.62098014e-01 -5.16419452e-04 4.37045076e+02] [ 6.32148257e-04 -1.14069145e-05 9.99999800e-01 1.72762733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.82, Y:437.07, Z:1.73 [[ 5.61124300e-01 -8.27731470e-01 -3.64428256e-04 3.27820301e+02] [ 8.27731309e-01 5.61124418e-01 -5.16652402e-04 4.37068988e+02] [ 6.32139045e-04 -1.17424595e-05 9.99999800e-01 1.72659481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.83, Y:437.09, Z:1.72 [[ 5.62380375e-01 -8.26878577e-01 -3.64008593e-04 3.27834560e+02] [ 8.26878415e-01 5.62380493e-01 -5.16943681e-04 4.37088462e+02] [ 6.32160988e-04 -1.02718674e-05 9.99999800e-01 1.72477089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.84, Y:437.11, Z:1.72 [[ 5.57491149e-01 -8.30182805e-01 -3.58375990e-04 3.27843730e+02] [ 8.30182642e-01 5.57491264e-01 -5.20848712e-04 4.37108614e+02] [ 6.32191128e-04 -7.14897905e-06 9.99999800e-01 1.72388449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.87, Y:437.13, Z:1.73 [[ 5.60060278e-01 -8.28451788e-01 -3.47904643e-04 3.27866116e+02] [ 8.28451619e-01 5.60060386e-01 -5.28096016e-04 4.37133705e+02] [ 6.32349697e-04 7.54343705e-06 9.99999800e-01 1.72619566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.88, Y:437.16, Z:1.73 [[ 5.58387363e-01 -8.29580271e-01 -3.57764699e-04 3.27882201e+02] [ 8.29580107e-01 5.58387477e-01 -5.21265264e-04 4.37157519e+02] [ 6.32202706e-04 -5.72654148e-06 9.99999800e-01 1.72712456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.90, Y:437.18, Z:1.72 [[ 5.56021934e-01 -8.31167541e-01 -3.57737392e-04 3.27897556e+02] [ 8.31167377e-01 5.56022049e-01 -5.21284170e-04 4.37180700e+02] [ 6.32184359e-04 -7.49421767e-06 9.99999800e-01 1.72488690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.92, Y:437.21, Z:1.73 [[ 5.52339977e-01 -8.33618871e-01 -3.57992656e-04 3.27915195e+02] [ 8.33618708e-01 5.52340093e-01 -5.21107633e-04 4.37206578e+02] [ 6.32138854e-04 -1.06007977e-05 9.99999800e-01 1.72706298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.93, Y:437.23, Z:1.73 [[ 5.49769149e-01 -8.35316558e-01 -3.62133730e-04 3.27932115e+02] [ 8.35316397e-01 5.49769268e-01 -5.18251505e-04 4.37229493e+02] [ 6.31994059e-04 -1.75775535e-05 9.99999800e-01 1.72828050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.95, Y:437.25, Z:1.73 [[ 5.48282897e-01 -8.36292852e-01 -3.61802876e-04 3.27947487e+02] [ 8.36292692e-01 5.48283016e-01 -5.18479523e-04 4.37252007e+02] [ 6.31971091e-04 -1.82996469e-05 9.99999800e-01 1.72894248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.96, Y:437.27, Z:1.73 [[ 5.47836708e-01 -8.36585209e-01 -3.59511778e-04 3.27964252e+02] [ 8.36585048e-01 5.47836826e-01 -5.20056911e-04 4.37272508e+02] [ 6.32025712e-04 -1.58559120e-05 9.99999800e-01 1.72954742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:327.98, Y:437.30, Z:1.73 [[ 5.46292275e-01 -8.37594546e-01 -3.57058177e-04 3.27979823e+02] [ 8.37594383e-01 5.46292392e-01 -5.21744289e-04 4.37296207e+02] [ 6.32068337e-04 -1.40450490e-05 9.99999800e-01 1.72861408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.00, Y:437.32, Z:1.73 [[ 5.46114997e-01 -8.37710143e-01 -3.56424115e-04 3.27995786e+02] [ 8.37709980e-01 5.46115113e-01 -5.22180157e-04 4.37318851e+02] [ 6.32084210e-04 -1.34096235e-05 9.99999800e-01 1.72808945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.01, Y:437.34, Z:1.73 [[ 5.44936537e-01 -8.38477217e-01 -3.56195439e-04 3.28013097e+02] [ 8.38477054e-01 5.44936654e-01 -5.22337259e-04 4.37342258e+02] [ 6.32071842e-04 -1.40210453e-05 9.99999800e-01 1.72877887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.03, Y:437.37, Z:1.73 [[ 5.42901333e-01 -8.39796412e-01 -3.59437767e-04 3.28027241e+02] [ 8.39796251e-01 5.42901452e-01 -5.20110373e-04 4.37366032e+02] [ 6.31926111e-04 -1.94858743e-05 9.99999800e-01 1.72822314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.04, Y:437.39, Z:1.73 [[ 5.42175031e-01 -8.40265498e-01 -3.58973746e-04 3.28042853e+02] [ 8.40265337e-01 5.42175150e-01 -5.20428845e-04 4.37389526e+02] [ 6.31925047e-04 -1.94696704e-05 9.99999800e-01 1.72674470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.06, Y:437.41, Z:1.73 [[ 5.42626637e-01 -8.39973931e-01 -3.58021596e-04 3.28057176e+02] [ 8.39973769e-01 5.42626755e-01 -5.21081783e-04 4.37408992e+02] [ 6.31967211e-04 -1.79758940e-05 9.99999800e-01 1.72919701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.07, Y:437.43, Z:1.73 [[ 5.43328966e-01 -8.39519810e-01 -3.51912024e-04 3.28072937e+02] [ 8.39519646e-01 5.43329079e-01 -5.25264197e-04 4.37430266e+02] [ 6.32173735e-04 -1.00458049e-05 9.99999800e-01 1.73023368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.09, Y:437.46, Z:1.73 [[ 5.40641420e-01 -8.41253073e-01 -3.49876582e-04 3.28090136e+02] [ 8.41252908e-01 5.40641533e-01 -5.26657798e-04 4.37457429e+02] [ 6.32210303e-04 -9.60167212e-06 9.99999800e-01 1.72835133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.11, Y:437.48, Z:1.73 [[ 5.42043154e-01 -8.40350578e-01 -3.55341379e-04 3.28105068e+02] [ 8.40350415e-01 5.42043270e-01 -5.22914777e-04 4.37478476e+02] [ 6.32042138e-04 -1.51689002e-05 9.99999800e-01 1.73223315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.12, Y:437.51, Z:1.73 [[ 5.40121681e-01 -8.41586861e-01 -3.52325510e-04 3.28122785e+02] [ 8.41586698e-01 5.40121796e-01 -5.24980380e-04 4.37505844e+02] [ 6.32115278e-04 -1.29591772e-05 9.99999800e-01 1.72801165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.14, Y:437.53, Z:1.73 [[ 5.42544377e-01 -8.40027065e-01 -3.58719729e-04 3.28137940e+02] [ 8.40026904e-01 5.42544495e-01 -5.20599388e-04 4.37526033e+02] [ 6.31938991e-04 -1.88859525e-05 9.99999800e-01 1.72691902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.15, Y:437.55, Z:1.73 [[ 5.42123838e-01 -8.40298530e-01 -3.54820058e-04 3.28154324e+02] [ 8.40298367e-01 5.42123954e-01 -5.23268243e-04 4.37549888e+02] [ 6.32057988e-04 -1.44785270e-05 9.99999800e-01 1.72577234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.17, Y:437.57, Z:1.73 [[ 5.43320414e-01 -8.39525342e-01 -3.57330413e-04 3.28169544e+02] [ 8.39525180e-01 5.43320531e-01 -5.21550648e-04 4.37572699e+02] [ 6.31999936e-04 -1.66187656e-05 9.99999800e-01 1.72559354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.19, Y:437.60, Z:1.73 [[ 5.42936339e-01 -8.39773782e-01 -3.55367105e-04 3.28186756e+02] [ 8.39773620e-01 5.42936455e-01 -5.22894187e-04 4.37598615e+02] [ 6.32054585e-04 -1.45296648e-05 9.99999800e-01 1.72854611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.20, Y:437.62, Z:1.73 [[ 5.47823886e-01 -8.36593605e-01 -3.59616750e-04 3.28202063e+02] [ 8.36593444e-01 5.47824004e-01 -5.19985458e-04 4.37618000e+02] [ 6.32023197e-04 -1.59925609e-05 9.99999800e-01 1.72858937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4127550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.22, Y:437.64, Z:1.73 [[ 5.46600029e-01 -8.37393744e-01 -3.55567857e-04 3.28218482e+02] [ 8.37393580e-01 5.46600145e-01 -5.22754495e-04 4.37643650e+02] [ 6.32104785e-04 -1.20126186e-05 9.99999800e-01 1.72853360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.23, Y:437.66, Z:1.73 [[ 5.48837793e-01 -8.35928794e-01 -3.59005064e-04 3.28234798e+02] [ 8.35928632e-01 5.48837910e-01 -5.20405348e-04 4.37664418e+02] [ 6.32057404e-04 -1.44844887e-05 9.99999800e-01 1.72996091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.25, Y:437.69, Z:1.73 [[ 5.48709435e-01 -8.36013056e-01 -3.54208492e-04 3.28250267e+02] [ 8.36012892e-01 5.48709550e-01 -5.23680431e-04 4.37687205e+02] [ 6.32161260e-04 -8.77447236e-06 9.99999800e-01 1.72997633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.26, Y:437.71, Z:1.72 [[ 5.48172202e-01 -8.36365418e-01 -3.54057276e-04 3.28264471e+02] [ 8.36365254e-01 5.48172316e-01 -5.23783637e-04 4.37709391e+02] [ 6.32158918e-04 -8.99757349e-06 9.99999800e-01 1.72229790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.29, Y:437.73, Z:1.72 [[ 5.53963244e-01 -8.32541051e-01 -3.49637738e-04 3.28286319e+02] [ 8.32540885e-01 5.53963354e-01 -5.26790571e-04 4.37733383e+02] [ 6.32261270e-04 7.34902085e-07 9.99999800e-01 1.72410805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.30, Y:437.75, Z:1.73 [[ 5.53409495e-01 -8.32909242e-01 -3.55733070e-04 3.28299543e+02] [ 8.32909078e-01 5.53409609e-01 -5.22641819e-04 4.37754415e+02] [ 6.32179300e-04 -7.05835850e-06 9.99999800e-01 1.73029546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.32, Y:437.78, Z:1.73 [[ 5.53854843e-01 -8.32613169e-01 -3.52165853e-04 3.28321748e+02] [ 8.32613003e-01 5.53854955e-01 -5.25071956e-04 4.37781890e+02] [ 6.32230628e-04 -2.40422217e-06 9.99999800e-01 1.73155155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.33, Y:437.80, Z:1.73 [[ 5.54739430e-01 -8.32024057e-01 -3.64098313e-04 3.28333612e+02] [ 8.32023897e-01 5.54739550e-01 -5.16933857e-04 4.37799548e+02] [ 6.32081139e-04 -1.61749037e-05 9.99999800e-01 1.73062044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.35, Y:437.82, Z:1.73 [[ 5.54540654e-01 -8.32156559e-01 -3.52868156e-04 3.28350108e+02] [ 8.32156394e-01 5.54540766e-01 -5.24572444e-04 4.37821304e+02] [ 6.32206178e-04 -2.74474639e-06 9.99999800e-01 1.72824390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.37, Y:437.85, Z:1.73 [[ 5.52797998e-01 -8.33315216e-01 -3.52757274e-04 3.28369908e+02] [ 8.33315051e-01 5.52798110e-01 -5.24647835e-04 4.37847476e+02] [ 6.32200578e-04 -3.93367304e-06 9.99999800e-01 1.73059735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.39, Y:437.87, Z:1.73 [[ 5.52011713e-01 -8.33836279e-01 -3.60058588e-04 3.28387929e+02] [ 8.33836117e-01 5.52011830e-01 -5.19681176e-04 4.37867992e+02] [ 6.32085617e-04 -1.33597587e-05 9.99999800e-01 1.73156995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.40, Y:437.89, Z:1.73 [[ 5.53373847e-01 -8.32932924e-01 -3.59763989e-04 3.28403313e+02] [ 8.32932762e-01 5.53373963e-01 -5.19881412e-04 4.37887078e+02] [ 6.32110369e-04 -1.19704367e-05 9.99999800e-01 1.73208548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.42, Y:437.91, Z:1.73 [[ 5.50499588e-01 -8.34835361e-01 -3.52749465e-04 3.28422490e+02] [ 8.34835196e-01 5.50499701e-01 -5.24642252e-04 4.37912560e+02] [ 6.32178379e-04 -5.67232546e-06 9.99999800e-01 1.72962187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.44, Y:437.93, Z:1.73 [[ 5.51932749e-01 -8.33888548e-01 -3.60327566e-04 3.28436348e+02] [ 8.33888386e-01 5.51932867e-01 -5.19496520e-04 4.37930838e+02] [ 6.32078825e-04 -1.37458301e-05 9.99999800e-01 1.73200763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.45, Y:437.95, Z:1.73 [[ 5.51455618e-01 -8.34204158e-01 -3.52231838e-04 3.28453962e+02] [ 8.34203993e-01 5.51455730e-01 -5.24986313e-04 4.37953947e+02] [ 6.32186031e-04 -4.32655402e-06 9.99999800e-01 1.72970037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.47, Y:437.98, Z:1.73 [[ 5.50971069e-01 -8.34524270e-01 -3.53406564e-04 3.28471102e+02] [ 8.34524105e-01 5.50971182e-01 -5.24189859e-04 4.37975777e+02] [ 6.32165991e-04 -6.11284951e-06 9.99999800e-01 1.73221267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.49, Y:438.00, Z:1.73 [[ 5.49643838e-01 -8.35399023e-01 -3.53352226e-04 3.28488661e+02] [ 8.35398858e-01 5.49643951e-01 -5.24226675e-04 4.37997842e+02] [ 6.32156366e-04 -7.05208462e-06 9.99999800e-01 1.72961939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.51, Y:438.02, Z:1.73 [[ 5.48917431e-01 -8.35876504e-01 -3.53744123e-04 3.28505441e+02] [ 8.35876339e-01 5.48917545e-01 -5.23961245e-04 4.38020002e+02] [ 6.32143248e-04 -8.07488209e-06 9.99999800e-01 1.73101043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.52, Y:438.04, Z:1.73 [[ 5.46985154e-01 -8.37142231e-01 -3.54131990e-04 3.28523583e+02] [ 8.37142068e-01 5.46985269e-01 -5.23698644e-04 4.38043622e+02] [ 6.32115233e-04 -1.00034024e-05 9.99999800e-01 1.72943112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.982755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.54, Y:438.06, Z:1.73 [[ 5.46746354e-01 -8.37298213e-01 -3.56585448e-04 3.28539572e+02] [ 8.37298051e-01 5.46746470e-01 -5.22037932e-04 4.38064480e+02] [ 6.32063263e-04 -1.31459644e-05 9.99999800e-01 1.73322643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.56, Y:438.09, Z:1.73 [[ 5.44855303e-01 -8.38530007e-01 -3.55181482e-04 3.28557001e+02] [ 8.38529844e-01 5.44855419e-01 -5.22986722e-04 4.38090097e+02] [ 6.32062615e-04 -1.28781837e-05 9.99999800e-01 1.73153645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.57, Y:438.11, Z:1.73 [[ 5.45024269e-01 -8.38420191e-01 -3.58672332e-04 3.28573756e+02] [ 8.38420030e-01 5.45024387e-01 -5.20627773e-04 4.38111367e+02] [ 6.31990005e-04 -1.69632961e-05 9.99999800e-01 1.73028172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.072755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.59, Y:438.14, Z:1.73 [[ 5.45411910e-01 -8.38168073e-01 -3.59565340e-04 3.28589819e+02] [ 8.38167912e-01 5.45412028e-01 -5.20024898e-04 4.38135721e+02] [ 6.31979528e-04 -1.77483571e-05 9.99999800e-01 1.73210489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.102755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.61, Y:438.16, Z:1.73 [[ 5.45778315e-01 -8.37929533e-01 -3.58838286e-04 3.28606785e+02] [ 8.37929372e-01 5.45778432e-01 -5.20515310e-04 4.38159225e+02] [ 6.32001348e-04 -1.65951709e-05 9.99999800e-01 1.73210735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.62, Y:438.18, Z:1.73 [[ 5.45936241e-01 -8.37826648e-01 -3.59503457e-04 3.28622177e+02] [ 8.37826487e-01 5.45936359e-01 -5.20067041e-04 4.38182303e+02] [ 6.31992034e-04 -1.72780736e-05 9.99999800e-01 1.73174614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.64, Y:438.21, Z:1.73 [[ 5.46176256e-01 -8.37670202e-01 -3.59303073e-04 3.28638858e+02] [ 8.37670041e-01 5.46176374e-01 -5.20201969e-04 4.38205496e+02] [ 6.32000538e-04 -1.68554559e-05 9.99999800e-01 1.73072000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.65, Y:438.22, Z:1.73 [[ 5.47438779e-01 -8.36845656e-01 -3.63309405e-04 3.28647919e+02] [ 8.36845496e-01 5.47438899e-01 -5.17500422e-04 4.38224214e+02] [ 6.31957680e-04 -2.07340401e-05 9.99999800e-01 1.73381316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.67, Y:438.25, Z:1.73 [[ 5.49105865e-01 -8.35752729e-01 -3.52980289e-04 3.28667907e+02] [ 8.35752565e-01 5.49105979e-01 -5.24452386e-04 4.38250598e+02] [ 6.32136100e-04 -7.02430097e-06 9.99999800e-01 1.73184939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.68, Y:438.27, Z:1.73 [[ 5.49873007e-01 -8.35248195e-01 -3.59791155e-04 3.28679854e+02] [ 8.35248033e-01 5.49873124e-01 -5.19866702e-04 4.38272663e+02] [ 6.32057211e-04 -1.46541881e-05 9.99999800e-01 1.73421988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2827550960001 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:328.69, Y:438.30, Z:1.73 [[ 5.48907435e-01 -8.35883067e-01 -3.56387983e-04 3.28694577e+02] [ 8.35882904e-01 5.48907550e-01 -5.22156353e-04 4.38296877e+02] [ 6.32085708e-04 -1.12831177e-05 9.99999800e-01 1.73214326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.71, Y:438.32, Z:1.73 [[ 5.49397788e-01 -8.35560855e-01 -3.57478868e-04 3.28709906e+02] [ 8.35560693e-01 5.49397904e-01 -5.21422957e-04 4.38319986e+02] [ 6.32078752e-04 -1.22266715e-05 9.99999800e-01 1.73240158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.72, Y:438.34, Z:1.73 [[ 5.47601303e-01 -8.36739318e-01 -3.56223359e-04 3.28723456e+02] [ 8.36739155e-01 5.47601418e-01 -5.22266318e-04 4.38343747e+02] [ 6.32069180e-04 -1.20723165e-05 9.99999800e-01 1.73378839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.74, Y:438.37, Z:1.73 [[ 5.46802519e-01 -8.37261535e-01 -3.55571695e-04 3.28738116e+02] [ 8.37261372e-01 5.46802635e-01 -5.22703833e-04 4.38367008e+02] [ 6.32067354e-04 -1.18906724e-05 9.99999800e-01 1.73320306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.75, Y:438.39, Z:1.73 [[ 5.43457220e-01 -8.39436790e-01 -3.54878988e-04 3.28751585e+02] [ 8.39436627e-01 5.43457336e-01 -5.23167944e-04 4.38392460e+02] [ 6.32028009e-04 -1.35790236e-05 9.99999800e-01 1.73133068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.432755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:328.77, Y:438.42, Z:1.73 [[ 5.41846243e-01 -8.40477557e-01 -3.54379142e-04 3.28765875e+02] [ 8.40477394e-01 5.41846358e-01 -5.23502612e-04 4.38416006e+02] [ 6.32011244e-04 -1.41897343e-05 9.99999800e-01 1.73129272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.462755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:328.78, Y:438.44, Z:1.73 [[ 5.41521396e-01 -8.40686892e-01 -3.56041006e-04 3.28779948e+02] [ 8.40686730e-01 5.41521513e-01 -5.22388900e-04 4.38437217e+02] [ 6.31969366e-04 -1.64341825e-05 9.99999800e-01 1.73209256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.80, Y:438.46, Z:1.73 [[ 5.36928952e-01 -8.43627392e-01 -3.51893647e-04 3.28795289e+02] [ 8.43627229e-01 5.36929067e-01 -5.25165432e-04 4.38463127e+02] [ 6.31985871e-04 -1.48905371e-05 9.99999800e-01 1.73078703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.81, Y:438.49, Z:1.73 [[ 5.35782973e-01 -8.44355659e-01 -3.55515788e-04 3.28809623e+02] [ 8.44355498e-01 5.35783091e-01 -5.22742576e-04 4.38485894e+02] [ 6.31860000e-04 -2.01051386e-05 9.99999800e-01 1.73127852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.82, Y:438.51, Z:1.73 [[ 5.34522209e-01 -8.45154355e-01 -3.53490958e-04 3.28824692e+02] [ 8.45154192e-01 5.34522326e-01 -5.24094904e-04 4.38509500e+02] [ 6.31889899e-04 -1.86139997e-05 9.99999800e-01 1.73240345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.84, Y:438.53, Z:1.73 [[ 5.31293856e-01 -8.47187532e-01 -3.51968100e-04 3.28838645e+02] [ 8.47187370e-01 5.31293972e-01 -5.25111115e-04 4.38534624e+02] [ 6.31866119e-04 -1.91946195e-05 9.99999800e-01 1.73143053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:328.86, Y:438.56, Z:1.73 [[ 5.30669591e-01 -8.47578705e-01 -3.51892373e-04 3.28855256e+02] [ 8.47578543e-01 5.30669707e-01 -5.25161608e-04 4.38558904e+02] [ 6.31854419e-04 -1.95691292e-05 9.99999800e-01 1.72907597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.87, Y:438.59, Z:1.73 [[ 5.27391084e-01 -8.49622575e-01 -3.54166013e-04 3.28868211e+02] [ 8.49622414e-01 5.27391202e-01 -5.23645835e-04 4.38585179e+02] [ 6.31685361e-04 -2.47412382e-05 9.99999800e-01 1.72555475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.88, Y:438.61, Z:1.73 [[ 5.28883975e-01 -8.48694065e-01 -3.54289761e-04 3.28884938e+02] [ 8.48693903e-01 5.28884093e-01 -5.23563385e-04 4.38607446e+02] [ 6.31723356e-04 -2.37792757e-05 9.99999800e-01 1.73060701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.90, Y:438.63, Z:1.73 [[ 5.28442254e-01 -8.48969174e-01 -3.53644700e-04 3.28899063e+02] [ 8.48969013e-01 5.28442372e-01 -5.23992893e-04 4.38629974e+02] [ 6.31734657e-04 -2.33334062e-05 9.99999800e-01 1.73032357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.91, Y:438.65, Z:1.73 [[ 5.27202262e-01 -8.49739755e-01 -3.52352478e-04 3.28912573e+02] [ 8.49739593e-01 5.27202379e-01 -5.24852240e-04 4.38653525e+02] [ 6.31748878e-04 -2.27045632e-05 9.99999800e-01 1.72986266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.93, Y:438.68, Z:1.73 [[ 5.27322504e-01 -8.49665142e-01 -3.50455354e-04 3.28926980e+02] [ 8.49664980e-01 5.27322620e-01 -5.26113040e-04 4.38676588e+02] [ 6.31822946e-04 -2.03383954e-05 9.99999800e-01 1.73079549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.94, Y:438.70, Z:1.73 [[ 5.28151495e-01 -8.49150091e-01 -3.50039221e-04 3.28941190e+02] [ 8.49149928e-01 5.28151610e-01 -5.26389440e-04 4.38699010e+02] [ 6.31857419e-04 -1.92224096e-05 9.99999800e-01 1.73043913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.95, Y:438.72, Z:1.73 [[ 5.29452264e-01 -8.48339661e-01 -3.46993679e-04 3.28953962e+02] [ 8.48339496e-01 5.29452378e-01 -5.28410530e-04 4.38719810e+02] [ 6.31988238e-04 -1.46002913e-05 9.99999800e-01 1.73047437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.97, Y:438.75, Z:1.73 [[ 5.28685266e-01 -8.48817868e-01 -3.42210814e-04 3.28970657e+02] [ 8.48817701e-01 5.28685377e-01 -5.31580664e-04 4.38746531e+02] [ 6.32137019e-04 -9.43573172e-06 9.99999800e-01 1.73077839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:328.98, Y:438.76, Z:1.73 [[ 5.31491935e-01 -8.47063281e-01 -3.47909188e-04 3.28981723e+02] [ 8.47063117e-01 5.31492049e-01 -5.27802228e-04 4.38763867e+02] [ 6.31992854e-04 -1.41784130e-05 9.99999800e-01 1.72966625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.00, Y:438.78, Z:1.73 [[ 5.35413651e-01 -8.44589905e-01 -3.37318539e-04 3.28995679e+02] [ 8.44589736e-01 5.35413758e-01 -5.34811611e-04 4.38781923e+02] [ 6.32301474e-04 1.44966139e-06 9.99999800e-01 1.72908836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.01, Y:438.82, Z:1.73 [[ 5.28854437e-01 -8.48712480e-01 -3.33037236e-04 3.29013377e+02] [ 8.48712310e-01 5.28854541e-01 -5.37644284e-04 4.38816407e+02] [ 6.32433669e-04 1.68276339e-06 9.99999800e-01 1.73477658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.03, Y:438.84, Z:1.73 [[ 5.32722073e-01 -8.46290181e-01 -3.49244738e-04 3.29031098e+02] [ 8.46290017e-01 5.32722188e-01 -5.26901508e-04 4.38838090e+02] [ 6.31961994e-04 -1.48702713e-05 9.99999800e-01 1.73415284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.04, Y:438.86, Z:1.73 [[ 5.31896722e-01 -8.46809161e-01 -3.49136736e-04 3.29044063e+02] [ 8.46808997e-01 5.31896836e-01 -5.26973063e-04 4.38863923e+02] [ 6.31950343e-04 -1.53568841e-05 9.99999800e-01 1.73447810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.06, Y:438.89, Z:1.73 [[ 5.34927281e-01 -8.44898030e-01 -3.50338357e-04 3.29059176e+02] [ 8.44897866e-01 5.34927396e-01 -5.26177145e-04 4.38887936e+02] [ 6.31971618e-04 -1.45336207e-05 9.99999800e-01 1.73432006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.07, Y:438.91, Z:1.74 [[ 5.37110608e-01 -8.43511750e-01 -3.50831214e-04 3.29072924e+02] [ 8.43511586e-01 5.37110723e-01 -5.25850830e-04 4.38909618e+02] [ 6.31996560e-04 -1.34901348e-05 9.99999800e-01 1.73511871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.09, Y:438.93, Z:1.73 [[ 5.42227611e-01 -8.40231573e-01 -3.47507475e-04 3.29090619e+02] [ 8.40231407e-01 5.42227723e-01 -5.28048839e-04 4.38932989e+02] [ 6.32111494e-04 -5.66403395e-06 9.99999800e-01 1.73245945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.10, Y:438.96, Z:1.73 [[ 5.40070729e-01 -8.41619562e-01 -3.48639996e-04 3.29102308e+02] [ 8.41619396e-01 5.40070841e-01 -5.27300040e-04 4.38956262e+02] [ 6.32076324e-04 -8.64286578e-06 9.99999800e-01 1.72978660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.12, Y:438.98, Z:1.73 [[ 5.40114687e-01 -8.41591353e-01 -3.46747746e-04 3.29117650e+02] [ 8.41591187e-01 5.40114798e-01 -5.28549581e-04 4.38980366e+02] [ 6.32106346e-04 -6.34245491e-06 9.99999800e-01 1.73223076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.13, Y:439.00, Z:1.73 [[ 5.39117637e-01 -8.42230404e-01 -3.47422402e-04 3.29133745e+02] [ 8.42230238e-01 5.39117749e-01 -5.28103870e-04 4.39004837e+02] [ 6.32086719e-04 -7.89954100e-06 9.99999800e-01 1.72997638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.15, Y:439.03, Z:1.73 [[ 5.38233785e-01 -8.42795510e-01 -3.48344925e-04 3.29150000e+02] [ 8.42795345e-01 5.38233898e-01 -5.27494757e-04 4.39029907e+02] [ 6.32061260e-04 -9.66798119e-06 9.99999800e-01 1.73048133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.17, Y:439.05, Z:1.73 [[ 5.39114101e-01 -8.42232666e-01 -3.50295927e-04 3.29165796e+02] [ 8.42232501e-01 5.39114215e-01 -5.26207155e-04 4.39051977e+02] [ 6.32038369e-04 -1.13449175e-05 9.99999800e-01 1.73227736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.18, Y:439.08, Z:1.73 [[ 5.40080937e-01 -8.41613010e-01 -3.49250142e-04 3.29184631e+02] [ 8.41612845e-01 5.40081050e-01 -5.26896885e-04 4.39076526e+02] [ 6.32066657e-04 -9.36644154e-06 9.99999800e-01 1.73201600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.19, Y:439.10, Z:1.73 [[ 5.39479868e-01 -8.41998425e-01 -3.52561096e-04 3.29194854e+02] [ 8.41998261e-01 5.39479983e-01 -5.24713389e-04 4.39096057e+02] [ 6.32007502e-04 -1.37835197e-05 9.99999800e-01 1.73118030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.22, Y:439.12, Z:1.73 [[ 5.39157353e-01 -8.42204981e-01 -3.44217069e-04 3.29215476e+02] [ 8.42204814e-01 5.39157463e-01 -5.30212790e-04 4.39124026e+02] [ 6.32135054e-04 -4.03314834e-06 9.99999800e-01 1.73185127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.23, Y:439.15, Z:1.73 [[ 5.38747714e-01 -8.42467077e-01 -3.55275096e-04 3.29230449e+02] [ 8.42466914e-01 5.38747831e-01 -5.22920521e-04 4.39147288e+02] [ 6.31947010e-04 -1.75852790e-05 9.99999800e-01 1.73187346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.24, Y:439.17, Z:1.73 [[ 5.36823579e-01 -8.43694447e-01 -3.55004972e-04 3.29242144e+02] [ 8.43694285e-01 5.36823696e-01 -5.23098515e-04 4.39167994e+02] [ 6.31910393e-04 -1.87040486e-05 9.99999800e-01 1.72978030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.26, Y:439.19, Z:1.73 [[ 5.36705366e-01 -8.43769653e-01 -3.49911240e-04 3.29257276e+02] [ 8.43769489e-01 5.36705480e-01 -5.26450763e-04 4.39190444e+02] [ 6.32002457e-04 -1.26954784e-05 9.99999800e-01 1.72999207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.452755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.27, Y:439.21, Z:1.73 [[ 5.36681685e-01 -8.43784716e-01 -3.49861165e-04 3.29273790e+02] [ 8.43784552e-01 5.36681799e-01 -5.26483696e-04 4.39214126e+02] [ 6.32003016e-04 -1.26532888e-05 9.99999800e-01 1.73232764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.29, Y:439.24, Z:1.73 [[ 5.35422835e-01 -8.44584078e-01 -3.50482247e-04 3.29287629e+02] [ 8.44583915e-01 5.35422949e-01 -5.26075450e-04 4.39236666e+02] [ 6.31971188e-04 -1.43388598e-05 9.99999800e-01 1.73044383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.30, Y:439.26, Z:1.73 [[ 5.35504767e-01 -8.44532133e-01 -3.48365028e-04 3.29299474e+02] [ 8.44531968e-01 5.35504880e-01 -5.27465718e-04 4.39256067e+02] [ 6.32012920e-04 -1.17449962e-05 9.99999800e-01 1.73226159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.31, Y:439.27, Z:1.73 [[ 5.38453240e-01 -8.42655322e-01 -3.41585033e-04 3.29314547e+02] [ 8.42655154e-01 5.38453348e-01 -5.31908764e-04 4.39273130e+02] [ 6.32143356e-04 -1.43039192e-06 9.99999800e-01 1.73141158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.33, Y:439.30, Z:1.73 [[ 5.35252318e-01 -8.44692160e-01 -3.34906009e-04 3.29332142e+02] [ 8.44691989e-01 5.35252422e-01 -5.36299159e-04 4.39302126e+02] [ 6.32266947e-04 4.16294490e-06 9.99999800e-01 1.72916278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.35, Y:439.32, Z:1.73 [[ 5.35436499e-01 -8.44575418e-01 -3.46070426e-04 3.29347754e+02] [ 8.44575252e-01 5.35436611e-01 -5.28951538e-04 4.39324907e+02] [ 6.32038242e-04 -9.06255827e-06 9.99999800e-01 1.72945248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.36, Y:439.34, Z:1.73 [[ 5.35492578e-01 -8.44539862e-01 -3.46229318e-04 3.29360366e+02] [ 8.44539697e-01 5.35492690e-01 -5.28847003e-04 4.39344740e+02] [ 6.32035644e-04 -9.21075775e-06 9.99999800e-01 1.72907169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.38, Y:439.37, Z:1.73 [[ 5.35917205e-01 -8.44270474e-01 -3.40621481e-04 3.29375468e+02] [ 8.44270306e-01 5.35917314e-01 -5.32532737e-04 4.39367139e+02] [ 6.32146615e-04 -2.18314541e-06 9.99999800e-01 1.73159163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.692755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.39, Y:439.39, Z:1.73 [[ 5.35106610e-01 -8.44784470e-01 -3.39767149e-04 3.29391715e+02] [ 8.44784302e-01 5.35106718e-01 -5.33093991e-04 4.39391230e+02] [ 6.32161209e-04 -1.76783573e-06 9.99999800e-01 1.73081415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.41, Y:439.41, Z:1.73 [[ 5.34798320e-01 -8.44979669e-01 -3.41873196e-04 3.29407218e+02] [ 8.44979501e-01 5.34798429e-01 -5.31709625e-04 4.39412237e+02] [ 6.32117071e-04 -4.51842861e-06 9.99999800e-01 1.73199070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.42, Y:439.43, Z:1.73 [[ 5.33811149e-01 -8.45603655e-01 -3.38905097e-04 3.29421429e+02] [ 8.45603487e-01 5.33811257e-01 -5.33660090e-04 4.39434215e+02] [ 6.32176278e-04 -1.70562544e-06 9.99999800e-01 1.73247222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.44, Y:439.46, Z:1.73 [[ 5.32927359e-01 -8.46160929e-01 -3.36103617e-04 3.29439267e+02] [ 8.46160759e-01 5.32927465e-01 -5.35503686e-04 4.39459174e+02] [ 6.32241144e-04 9.86873401e-07 9.99999800e-01 1.73247553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.812755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.45, Y:439.48, Z:1.73 [[ 5.32172631e-01 -8.46635799e-01 -3.40402244e-04 3.29454628e+02] [ 8.46635631e-01 5.32172740e-01 -5.32673751e-04 4.39478105e+02] [ 6.32133461e-04 -4.72227705e-06 9.99999800e-01 1.73073332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.47, Y:439.50, Z:1.73 [[ 5.30040405e-01 -8.47972320e-01 -3.35770919e-04 3.29472422e+02] [ 8.47972151e-01 5.30040512e-01 -5.35721847e-04 4.39503409e+02] [ 6.32249487e-04 -7.70162943e-07 9.99999800e-01 1.73014301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.49, Y:439.52, Z:1.73 [[ 5.29583312e-01 -8.48257861e-01 -3.41977661e-04 3.29488312e+02] [ 8.48257694e-01 5.29583423e-01 -5.31634695e-04 4.39522358e+02] [ 6.32069009e-04 -8.54031925e-06 9.99999800e-01 1.72922565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.51, Y:439.55, Z:1.73 [[ 5.27817003e-01 -8.49358050e-01 -3.37968971e-04 3.29505661e+02] [ 8.49357882e-01 5.27817111e-01 -5.34278655e-04 4.39547999e+02] [ 6.32179682e-04 -5.05525144e-06 9.99999800e-01 1.73023646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.52, Y:439.57, Z:1.73 [[ 5.27705665e-01 -8.49427227e-01 -3.43400874e-04 3.29521854e+02] [ 8.49427061e-01 5.27705776e-01 -5.30694271e-04 4.39570067e+02] [ 6.32000788e-04 -1.16436221e-05 9.99999800e-01 1.72892350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.54, Y:439.59, Z:1.73 [[ 5.29767808e-01 -8.48142650e-01 -3.40786945e-04 3.29540007e+02] [ 8.48142483e-01 5.29767917e-01 -5.32413720e-04 4.39590263e+02] [ 6.32100773e-04 -6.98023613e-06 9.99999800e-01 1.73289005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.56, Y:439.62, Z:1.73 [[ 5.26381277e-01 -8.50248572e-01 -3.40760495e-04 3.29556832e+02] [ 8.50248406e-01 5.26381388e-01 -5.32431154e-04 4.39616042e+02] [ 6.32068811e-04 -9.46927682e-06 9.99999800e-01 1.73108674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.58, Y:439.64, Z:1.73 [[ 5.26267922e-01 -8.50318737e-01 -3.45791741e-04 3.29576126e+02] [ 8.50318573e-01 5.26268035e-01 -5.29113648e-04 4.39640661e+02] [ 6.31894389e-04 -1.55776001e-05 9.99999800e-01 1.73119566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.59, Y:439.66, Z:1.73 [[ 5.25722402e-01 -8.50656119e-01 -3.50822507e-04 3.29590110e+02] [ 8.50655957e-01 5.25722519e-01 -5.25796655e-04 4.39662094e+02] [ 6.31707434e-04 -2.20061744e-05 9.99999800e-01 1.73367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.60, Y:439.69, Z:1.73 [[ 5.27259230e-01 -8.49704410e-01 -3.47702410e-04 3.29604170e+02] [ 8.49704246e-01 5.27259344e-01 -5.27851900e-04 4.39687618e+02] [ 6.31847432e-04 -1.71294280e-05 9.99999800e-01 1.73063622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.62, Y:439.70, Z:1.73 [[ 5.30419464e-01 -8.47735260e-01 -3.48687616e-04 3.29616439e+02] [ 8.47735096e-01 5.30419578e-01 -5.27203330e-04 4.39704938e+02] [ 6.31879590e-04 -1.59558220e-05 9.99999800e-01 1.72950134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.64, Y:439.73, Z:1.73 [[ 5.34421080e-01 -8.45218312e-01 -3.36704733e-04 3.29637010e+02] [ 8.45218143e-01 5.34421187e-01 -5.35055459e-04 4.39732603e+02] [ 6.32180815e-04 1.35596749e-06 9.99999800e-01 1.73050346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.65, Y:439.76, Z:1.73 [[ 5.30269613e-01 -8.47829002e-01 -3.46669867e-04 3.29649469e+02] [ 8.47828838e-01 5.30269727e-01 -5.28519059e-04 4.39760116e+02] [ 6.31922322e-04 -1.36591127e-05 9.99999800e-01 1.72925093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.66, Y:439.78, Z:1.73 [[ 5.30880918e-01 -8.47446358e-01 -3.48971055e-04 3.29664698e+02] [ 8.47446194e-01 5.30881033e-01 -5.27009917e-04 4.39783916e+02] [ 6.31874749e-04 -1.59546834e-05 9.99999800e-01 1.72921562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.68, Y:439.81, Z:1.73 [[ 5.31884957e-01 -8.46816551e-01 -3.48811005e-04 3.29681158e+02] [ 8.46816387e-01 5.31885071e-01 -5.27114780e-04 4.39808347e+02] [ 6.31896886e-04 -1.50144532e-05 9.99999800e-01 1.73011080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.262755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.70, Y:439.83, Z:1.73 [[ 5.33258250e-01 -8.45952432e-01 -3.49789748e-04 3.29695011e+02] [ 8.45952268e-01 5.33258364e-01 -5.26473996e-04 4.39832618e+02] [ 6.31900267e-04 -1.51588294e-05 9.99999800e-01 1.73114981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.71, Y:439.86, Z:1.73 [[ 5.33478492e-01 -8.45813559e-01 -3.50302370e-04 3.29708595e+02] [ 8.45813395e-01 5.33478606e-01 -5.26138401e-04 4.39856719e+02] [ 6.31893814e-04 -1.56069168e-05 9.99999800e-01 1.73075014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.72, Y:439.88, Z:1.73 [[ 5.33698584e-01 -8.45674700e-01 -3.49903935e-04 3.29720657e+02] [ 8.45674537e-01 5.33698699e-01 -5.26399051e-04 4.39878829e+02] [ 6.31905634e-04 -1.49664205e-05 9.99999800e-01 1.73191652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.74, Y:439.90, Z:1.73 [[ 5.33647914e-01 -8.45706677e-01 -3.45741066e-04 3.29735728e+02] [ 8.45706512e-01 5.33648026e-01 -5.29119184e-04 4.39903402e+02] [ 6.31983665e-04 -1.00321221e-05 9.99999800e-01 1.72886527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.75, Y:439.93, Z:1.73 [[ 5.36086652e-01 -8.44162887e-01 -3.48320315e-04 3.29751658e+02] [ 8.44162722e-01 5.36086765e-01 -5.27433303e-04 4.39925510e+02] [ 6.31969531e-04 -1.12890715e-05 9.99999800e-01 1.73039387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.77, Y:439.95, Z:1.73 [[ 5.37792620e-01 -8.43077090e-01 -3.45605669e-04 3.29766602e+02] [ 8.43076923e-01 5.37792731e-01 -5.29206142e-04 4.39947979e+02] [ 6.32025790e-04 -6.76900629e-06 9.99999800e-01 1.72803662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.78, Y:439.97, Z:1.73 [[ 5.37094015e-01 -8.43522317e-01 -3.45406868e-04 3.29781216e+02] [ 8.43522151e-01 5.37094126e-01 -5.29335865e-04 4.39970374e+02] [ 6.32022616e-04 -7.05521957e-06 9.99999800e-01 1.73051676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.472755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.79, Y:439.99, Z:1.73 [[ 5.35562482e-01 -8.44495535e-01 -3.45234730e-04 3.29794248e+02] [ 8.44495369e-01 5.35562593e-01 -5.29448111e-04 4.39993935e+02] [ 6.32011373e-04 -7.99658620e-06 9.99999800e-01 1.72978274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.502755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:329.81, Y:440.02, Z:1.73 [[ 5.34488757e-01 -8.45175515e-01 -3.43478976e-04 3.29809155e+02] [ 8.45175348e-01 5.34488867e-01 -5.30592268e-04 4.40018375e+02] [ 6.32029282e-04 -6.70436146e-06 9.99999800e-01 1.72885190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.82, Y:440.04, Z:1.73 [[ 5.33420866e-01 -8.45849904e-01 -3.45057143e-04 3.29824105e+02] [ 8.45849739e-01 5.33420978e-01 -5.29563954e-04 4.40042380e+02] [ 6.31992339e-04 -9.38603147e-06 9.99999800e-01 1.72953946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.562755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:329.84, Y:440.07, Z:1.73 [[ 5.31870635e-01 -8.46825548e-01 -3.44886971e-04 3.29837270e+02] [ 8.46825382e-01 5.31870747e-01 -5.29674759e-04 4.40065563e+02] [ 6.31977409e-04 -1.03405909e-05 9.99999800e-01 1.72833336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.85, Y:440.08, Z:1.73 [[ 5.33832538e-01 -8.45590151e-01 -3.42220535e-04 3.29852683e+02] [ 8.45589984e-01 5.33832648e-01 -5.31409913e-04 4.40084039e+02] [ 6.32043483e-04 -5.69435387e-06 9.99999800e-01 1.72591256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.622755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:329.87, Y:440.11, Z:1.73 [[ 5.31302146e-01 -8.47182340e-01 -3.36318162e-04 3.29865130e+02] [ 8.47182171e-01 5.31302252e-01 -5.35239699e-04 4.40107507e+02] [ 6.32132218e-04 -5.48749750e-07 9.99999800e-01 1.72950386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.88, Y:440.13, Z:1.73 [[ 5.30716688e-01 -8.47549223e-01 -3.35565120e-04 3.29882936e+02] [ 8.47549053e-01 5.30716794e-01 -5.35729097e-04 4.40133389e+02] [ 6.32146825e-04 -8.75279299e-08 9.99999800e-01 1.72764772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:329.89, Y:440.15, Z:1.72 [[ 5.32381317e-01 -8.46504588e-01 -3.41784073e-04 3.29890786e+02] [ 8.46504421e-01 5.32381426e-01 -5.31685266e-04 4.40149659e+02] [ 6.32033509e-04 -6.26242676e-06 9.99999800e-01 1.72492402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.712755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:329.91, Y:440.18, Z:1.73 [[ 5.30400412e-01 -8.47747190e-01 -3.25507254e-04 3.29908324e+02] [ 8.47747016e-01 5.30400511e-01 -5.42236035e-04 4.40178864e+02] [ 6.32328289e-04 1.16544133e-05 9.99999800e-01 1.72621859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.92, Y:440.20, Z:1.73 [[ 5.29681790e-01 -8.48196374e-01 -3.36755659e-04 3.29922838e+02] [ 8.48196205e-01 5.29681897e-01 -5.34907846e-04 4.40203539e+02] [ 6.32080271e-04 -2.30392645e-06 9.99999800e-01 1.72928455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.94, Y:440.23, Z:1.73 [[ 5.32366013e-01 -8.46514214e-01 -3.37412194e-04 3.29943964e+02] [ 8.46514046e-01 5.32366120e-01 -5.34480280e-04 4.40227575e+02] [ 6.32071974e-04 -1.08502554e-06 9.99999800e-01 1.72837651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:440.25, Z:1.72 [[ 5.34788891e-01 -8.44985636e-01 -3.43428306e-04 3.29966233e+02] [ 8.44985469e-01 5.34789001e-01 -5.30562335e-04 4.40254940e+02] [ 6.31979233e-04 -6.45308531e-06 9.99999800e-01 1.72337105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:329.97, Y:440.27, Z:1.73 [[ 5.30828929e-01 -8.47478922e-01 -3.54938638e-04 3.29966715e+02] [ 8.47478760e-01 5.30829047e-01 -5.23061341e-04 4.40271082e+02] [ 6.31695200e-04 -2.31468653e-05 9.99999800e-01 1.72768354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.862755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:329.98, Y:440.30, Z:1.73 [[ 5.29658652e-01 -8.48210824e-01 -3.33185904e-04 3.29983498e+02] [ 8.48210654e-01 5.29658757e-01 -5.37175869e-04 4.40297454e+02] [ 6.32113218e-04 1.90801362e-06 9.99999800e-01 1.72824478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.892755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:330.00, Y:440.32, Z:1.73 [[ 5.30350535e-01 -8.47778388e-01 -3.39155782e-04 3.30000204e+02] [ 8.47778220e-01 5.30350643e-01 -5.33295777e-04 4.40322166e+02] [ 6.31988121e-04 -4.69518431e-06 9.99999800e-01 1.72691227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.01, Y:440.35, Z:1.73 [[ 5.29769085e-01 -8.48141851e-01 -3.42035842e-04 3.30014854e+02] [ 8.48141684e-01 5.29769196e-01 -5.31423300e-04 4.40347373e+02] [ 6.31922394e-04 -8.56321914e-06 9.99999800e-01 1.72636846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.03, Y:440.37, Z:1.72 [[ 5.29210803e-01 -8.48490311e-01 -3.42145321e-04 3.30030165e+02] [ 8.48490145e-01 5.29210914e-01 -5.31352134e-04 4.40370714e+02] [ 6.31914175e-04 -9.10964294e-06 9.99999800e-01 1.72461201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.04, Y:440.39, Z:1.73 [[ 5.27639331e-01 -8.49468433e-01 -3.42853590e-04 3.30041853e+02] [ 8.49468268e-01 5.27639442e-01 -5.30891893e-04 4.40394218e+02] [ 6.31878982e-04 -1.11238019e-05 9.99999800e-01 1.72675318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.06, Y:440.42, Z:1.73 [[ 5.26682963e-01 -8.50061728e-01 -3.39121197e-04 3.30058403e+02] [ 8.50061561e-01 5.26683072e-01 -5.33316143e-04 4.40419220e+02] [ 6.31961037e-04 -7.38536785e-06 9.99999800e-01 1.72743490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.07, Y:440.44, Z:1.73 [[ 5.25482992e-01 -8.50804037e-01 -3.41635750e-04 3.30071245e+02] [ 8.50803871e-01 5.25483103e-01 -5.31683077e-04 4.40440737e+02] [ 6.31881922e-04 -1.12746043e-05 9.99999800e-01 1.72570436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.09, Y:440.47, Z:1.73 [[ 5.23930417e-01 -8.51761002e-01 -3.37139572e-04 3.30087718e+02] [ 8.51760834e-01 5.23930525e-01 -5.34598687e-04 4.40466441e+02] [ 6.31988026e-04 -7.06977014e-06 9.99999800e-01 1.72761335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.10, Y:440.49, Z:1.73 [[ 5.20741284e-01 -8.53714472e-01 -3.40954175e-04 3.30101314e+02] [ 8.53714306e-01 5.20741395e-01 -5.32124783e-04 4.40490732e+02] [ 6.31831581e-04 -1.39781145e-05 9.99999800e-01 1.72903420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.11, Y:440.51, Z:1.73 [[ 5.20412257e-01 -8.53915082e-01 -3.40278607e-04 3.30114870e+02] [ 8.53914916e-01 5.20412368e-01 -5.32562741e-04 4.40513368e+02] [ 6.31848552e-04 -1.34167997e-05 9.99999800e-01 1.72948665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.13, Y:440.54, Z:1.73 [[ 5.18588899e-01 -8.55023648e-01 -3.38835279e-04 3.30130873e+02] [ 8.55023482e-01 5.18589010e-01 -5.33499409e-04 4.40539319e+02] [ 6.31870863e-04 -1.30452489e-05 9.99999800e-01 1.73144220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.15, Y:440.56, Z:1.73 [[ 5.18662204e-01 -8.54979181e-01 -3.42775387e-04 3.30145671e+02] [ 8.54979017e-01 5.18662317e-01 -5.30942509e-04 4.40560897e+02] [ 6.31729468e-04 -1.76859516e-05 9.99999800e-01 1.72860201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.222755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:330.16, Y:440.59, Z:1.73 [[ 5.17251812e-01 -8.55833189e-01 -3.39631231e-04 3.30163117e+02] [ 8.55833023e-01 5.17251924e-01 -5.32982034e-04 4.40587575e+02] [ 6.31818621e-04 -1.49817003e-05 9.99999800e-01 1.73215431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.252755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:330.18, Y:440.61, Z:1.73 [[ 5.16944035e-01 -8.56019127e-01 -3.45080594e-04 3.30178556e+02] [ 8.56018963e-01 5.16944150e-01 -5.29445910e-04 4.40611658e+02] [ 6.31603220e-04 -2.17016267e-05 9.99999800e-01 1.73217465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2827550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:330.19, Y:440.63, Z:1.73 [[ 5.17026506e-01 -8.55969318e-01 -3.44900201e-04 3.30193431e+02] [ 8.55969155e-01 5.17026620e-01 -5.29562882e-04 4.40633395e+02] [ 6.31612164e-04 -2.14258866e-05 9.99999800e-01 1.72903186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.21, Y:440.66, Z:1.73 [[ 5.16180765e-01 -8.56479597e-01 -3.42473624e-04 3.30210653e+02] [ 8.56479433e-01 5.16180878e-01 -5.31135170e-04 4.40660635e+02] [ 6.31684773e-04 -1.91598565e-05 9.99999800e-01 1.73278072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.342755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.22, Y:440.68, Z:1.73 [[ 5.17040038e-01 -8.55961143e-01 -3.47994229e-04 3.30223844e+02] [ 8.55960980e-01 5.17040155e-01 -5.27556756e-04 4.40684456e+02] [ 6.31495074e-04 -2.51015159e-05 9.99999800e-01 1.73187777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.24, Y:440.71, Z:1.73 [[ 5.17759481e-01 -8.55526153e-01 -3.47936774e-04 3.30238762e+02] [ 8.55525991e-01 5.17759598e-01 -5.27593974e-04 4.40709067e+02] [ 6.31518047e-04 -2.45021715e-05 9.99999800e-01 1.73224713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.25, Y:440.73, Z:1.73 [[ 5.17795121e-01 -8.55504582e-01 -3.49437505e-04 3.30252843e+02] [ 8.55504421e-01 5.17795239e-01 -5.26622642e-04 4.40733696e+02] [ 6.31465159e-04 -2.62626953e-05 9.99999800e-01 1.73227026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.432755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:330.27, Y:440.76, Z:1.73 [[ 5.19184803e-01 -8.54661933e-01 -3.48617140e-04 3.30268741e+02] [ 8.54661770e-01 5.19184919e-01 -5.27153268e-04 4.40757302e+02] [ 6.31534593e-04 -2.42597761e-05 9.99999800e-01 1.73086366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.28, Y:440.78, Z:1.73 [[ 5.20898307e-01 -8.53618669e-01 -3.50367351e-04 3.30284976e+02] [ 8.53618507e-01 5.20898424e-01 -5.26022063e-04 4.40782206e+02] [ 6.31528054e-04 -2.50760534e-05 9.99999800e-01 1.73036400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.30, Y:440.81, Z:1.73 [[ 5.20837496e-01 -8.53655773e-01 -3.51473334e-04 3.30298960e+02] [ 8.53655612e-01 5.20837614e-01 -5.25308051e-04 4.40806188e+02] [ 6.31492783e-04 -2.64370547e-05 9.99999800e-01 1.73131602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.522755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:330.31, Y:440.83, Z:1.73 [[ 5.21583717e-01 -8.53200038e-01 -3.49961835e-04 3.30307401e+02] [ 8.53199876e-01 5.21583833e-01 -5.26282900e-04 4.40826767e+02] [ 6.31559026e-04 -2.40868031e-05 9.99999800e-01 1.73071241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.552755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:330.33, Y:440.85, Z:1.73 [[ 5.24142542e-01 -8.51630484e-01 -3.40166776e-04 3.30329442e+02] [ 8.51630317e-01 5.24142652e-01 -5.32588420e-04 4.40853752e+02] [ 6.31864450e-04 -1.05440911e-05 9.99999800e-01 1.73146448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.582755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:330.35, Y:440.88, Z:1.73 [[ 5.24854058e-01 -8.51192161e-01 -3.49741875e-04 3.30345541e+02] [ 8.51191999e-01 5.24854174e-01 -5.26424652e-04 4.40878583e+02] [ 6.31652020e-04 -2.14013703e-05 9.99999800e-01 1.73085771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.36, Y:440.90, Z:1.73 [[ 5.27116922e-01 -8.49792697e-01 -3.51144181e-04 3.30359090e+02] [ 8.49792534e-01 5.27117039e-01 -5.25522523e-04 4.40900605e+02] [ 6.31679283e-04 -2.13878885e-05 9.99999800e-01 1.73120599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.37, Y:440.92, Z:1.73 [[ 5.28460217e-01 -8.48957995e-01 -3.49176381e-04 3.30373376e+02] [ 8.48957831e-01 5.28460332e-01 -5.26787889e-04 4.40921283e+02] [ 6.31746656e-04 -1.80495809e-05 9.99999800e-01 1.73109155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.39, Y:440.95, Z:1.73 [[ 5.30602189e-01 -8.47620905e-01 -3.43537078e-04 3.30394524e+02] [ 8.47620739e-01 5.30602300e-01 -5.30407365e-04 4.40947946e+02] [ 6.31865934e-04 -9.75384292e-06 9.99999800e-01 1.73250002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.41, Y:440.97, Z:1.73 [[ 5.32132053e-01 -8.46661298e-01 -3.53252708e-04 3.30409367e+02] [ 8.46661136e-01 5.32132169e-01 -5.24166384e-04 4.40969435e+02] [ 6.31768521e-04 -2.01596053e-05 9.99999800e-01 1.73264477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.732755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:330.42, Y:440.99, Z:1.73 [[ 5.30179504e-01 -8.47885352e-01 -3.51708103e-04 3.30422369e+02] [ 8.47885189e-01 5.30179621e-01 -5.25157739e-04 4.40994332e+02] [ 6.31742023e-04 -1.97802222e-05 9.99999800e-01 1.73298016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.44, Y:441.01, Z:1.74 [[ 5.32870999e-01 -8.46196416e-01 -3.51164755e-04 3.30435514e+02] [ 8.46196253e-01 5.32871115e-01 -5.25506120e-04 4.41013823e+02] [ 6.31806950e-04 -1.71273285e-05 9.99999800e-01 1.73553543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.45, Y:441.04, Z:1.73 [[ 5.32003701e-01 -8.46741958e-01 -3.45344329e-04 3.30450065e+02] [ 8.46741792e-01 5.32003813e-01 -5.29233797e-04 4.41037237e+02] [ 6.31848961e-04 -1.08631366e-05 9.99999800e-01 1.73337673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.822755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:330.46, Y:441.06, Z:1.73 [[ 5.30890448e-01 -8.47440389e-01 -3.46378447e-04 3.30464210e+02] [ 8.47440224e-01 5.30890561e-01 -5.28571798e-04 4.41062665e+02] [ 6.31822138e-04 -1.29213096e-05 9.99999800e-01 1.73147049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.852755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.48, Y:441.08, Z:1.73 [[ 5.27266936e-01 -8.49699629e-01 -3.46464487e-04 3.30475020e+02] [ 8.49699464e-01 5.27267049e-01 -5.28516762e-04 4.41084294e+02] [ 6.31759804e-04 -1.57212759e-05 9.99999800e-01 1.73334296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.49, Y:441.11, Z:1.73 [[ 5.25388653e-01 -8.50862296e-01 -3.41855660e-04 3.30492447e+02] [ 8.50862130e-01 5.25388764e-01 -5.31461878e-04 4.41109727e+02] [ 6.31807997e-04 -1.16479942e-05 9.99999800e-01 1.73039037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.51, Y:441.13, Z:1.73 [[ 5.26941369e-01 -8.49901567e-01 -3.46562292e-04 3.30510220e+02] [ 8.49901403e-01 5.26941483e-01 -5.28455668e-04 4.41131676e+02] [ 6.31753348e-04 -1.60786248e-05 9.99999800e-01 1.73390103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.942755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:330.53, Y:441.15, Z:1.73 [[ 5.27960337e-01 -8.49268958e-01 -3.45242226e-04 3.30525896e+02] [ 8.49268794e-01 5.27960449e-01 -5.29297814e-04 4.41151387e+02] [ 6.31790444e-04 -1.37551966e-05 9.99999800e-01 1.73134536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.54, Y:441.17, Z:1.73 [[ 5.25445555e-01 -8.50827159e-01 -3.39483174e-04 3.30537251e+02] [ 8.50826992e-01 5.25445665e-01 -5.32966155e-04 4.41174663e+02] [ 6.31842041e-04 -8.79675097e-06 9.99999800e-01 1.73059866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.56, Y:441.20, Z:1.73 [[ 5.22690908e-01 -8.52522200e-01 -3.35942885e-04 3.30557782e+02] [ 8.52522032e-01 5.22691016e-01 -5.35220380e-04 4.41202363e+02] [ 6.31881584e-04 -6.64388421e-06 9.99999800e-01 1.73264578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.57, Y:441.22, Z:1.73 [[ 5.25120544e-01 -8.51027787e-01 -3.46136339e-04 3.30566737e+02] [ 8.51027623e-01 5.25120658e-01 -5.28723853e-04 4.41216290e+02] [ 6.31722033e-04 -1.69278284e-05 9.99999800e-01 1.73192681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.062755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:330.59, Y:441.25, Z:1.73 [[ 5.23699739e-01 -8.51902856e-01 -3.28771582e-04 3.30587085e+02] [ 8.51902684e-01 5.23699843e-01 -5.39761544e-04 4.41245258e+02] [ 6.32002027e-04 2.59158657e-06 9.99999800e-01 1.73239993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.092755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.60, Y:441.27, Z:1.73 [[ 5.20361791e-01 -8.53945836e-01 -3.40646719e-04 3.30598250e+02] [ 8.53945670e-01 5.20361902e-01 -5.32204507e-04 4.41269731e+02] [ 6.31733397e-04 -1.39549004e-05 9.99999800e-01 1.73247125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.122755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:330.61, Y:441.29, Z:1.73 [[ 5.21173912e-01 -8.53450431e-01 -3.39081158e-04 3.30613598e+02] [ 8.53450264e-01 5.21174023e-01 -5.33200103e-04 4.41293751e+02] [ 6.31780149e-04 -1.14989197e-05 9.99999800e-01 1.73309876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.63, Y:441.32, Z:1.73 [[ 5.19480996e-01 -8.54481937e-01 -3.38912406e-04 3.30633731e+02] [ 8.54481770e-01 5.19481106e-01 -5.33307344e-04 4.41322473e+02] [ 6.31760084e-04 -1.25514424e-05 9.99999800e-01 1.73040357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.65, Y:441.35, Z:1.73 [[ 5.21168277e-01 -8.53453868e-01 -3.50008592e-04 3.30649469e+02] [ 8.53453706e-01 5.21168394e-01 -5.26259466e-04 4.41345690e+02] [ 6.31551593e-04 -2.44463906e-05 9.99999800e-01 1.73133329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.66, Y:441.37, Z:1.73 [[ 5.20813479e-01 -8.53670428e-01 -3.48084796e-04 3.30663513e+02] [ 8.53670265e-01 5.20813595e-01 -5.27480042e-04 4.41368364e+02] [ 6.31581407e-04 -2.24309245e-05 9.99999800e-01 1.73232906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.242755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:330.67, Y:441.39, Z:1.74 [[ 5.21213663e-01 -8.53426152e-01 -3.47381999e-04 3.30674100e+02] [ 8.53425989e-01 5.21213778e-01 -5.27925684e-04 4.41387946e+02] [ 6.31605869e-04 -2.13027466e-05 9.99999800e-01 1.73564922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.272755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:330.69, Y:441.41, Z:1.73 [[ 5.23812027e-01 -8.51833814e-01 -3.37917280e-04 3.30694872e+02] [ 8.51833646e-01 5.23812136e-01 -5.33915938e-04 4.41414370e+02] [ 6.31812822e-04 -8.17771890e-06 9.99999800e-01 1.73282837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.302755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:330.71, Y:441.44, Z:1.74 [[ 5.24234984e-01 -8.51573580e-01 -3.45704085e-04 3.30709675e+02] [ 8.51573416e-01 5.24235098e-01 -5.28995093e-04 4.41443249e+02] [ 6.31708460e-04 -1.70746744e-05 9.99999800e-01 1.73627303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.72, Y:441.46, Z:1.73 [[ 5.28407002e-01 -8.48991117e-01 -3.51826200e-04 3.30722090e+02] [ 8.48990955e-01 5.28407119e-01 -5.25127810e-04 4.41462649e+02] [ 6.31736315e-04 -2.12160497e-05 9.99999800e-01 1.73057668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:330.74, Y:441.49, Z:1.73 [[ 5.27080791e-01 -8.49815110e-01 -3.45198356e-04 3.30738988e+02] [ 8.49814945e-01 5.27080903e-01 -5.29305826e-04 4.41490751e+02] [ 6.31759550e-04 -1.43677887e-05 9.99999800e-01 1.73455365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.392755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:330.75, Y:441.52, Z:1.74 [[ 5.27761485e-01 -8.49392543e-01 -3.50903239e-04 3.30753476e+02] [ 8.49392381e-01 5.27761601e-01 -5.25717795e-04 4.41515334e+02] [ 6.31734029e-04 -2.06009334e-05 9.99999800e-01 1.73515631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4227550960001 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:330.77, Y:441.54, Z:1.74 [[ 5.29055007e-01 -8.48587460e-01 -3.50644254e-04 3.30767686e+02] [ 8.48587297e-01 5.29055123e-01 -5.25880514e-04 4.41538220e+02] [ 6.31765748e-04 -1.93325409e-05 9.99999800e-01 1.73714037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.452755096 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:330.78, Y:441.56, Z:1.73 [[ 5.31852842e-01 -8.46836722e-01 -3.48499307e-04 3.30784064e+02] [ 8.46836557e-01 5.31852956e-01 -5.27223273e-04 4.41563870e+02] [ 6.31822415e-04 -1.47167573e-05 9.99999800e-01 1.73378394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.482755096 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:330.80, Y:441.58, Z:1.73 [[ 5.33193246e-01 -8.45993404e-01 -3.50071777e-04 3.30796367e+02] [ 8.45993241e-01 5.33193361e-01 -5.26239959e-04 4.41581490e+02] [ 6.31851482e-04 -1.55707654e-05 9.99999800e-01 1.73417401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.512755096 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:330.81, Y:441.60, Z:1.74 [[ 5.34376919e-01 -8.45246232e-01 -3.41384027e-04 3.30807199e+02] [ 8.45246065e-01 5.34377028e-01 -5.31673329e-04 4.41603379e+02] [ 6.31822659e-04 -4.43955026e-06 9.99999800e-01 1.73653069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5427550960001 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:330.82, Y:441.63, Z:1.74 [[ 5.34547722e-01 -8.45138226e-01 -3.34586773e-04 3.30821007e+02] [ 8.45138056e-01 5.34547826e-01 -5.35917029e-04 4.41626542e+02] [ 6.31776600e-04 3.70121204e-06 9.99999800e-01 1.73610170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.572755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:330.84, Y:441.66, Z:1.74 [[ 5.32645819e-01 -8.46338183e-01 -3.34409408e-04 3.30841458e+02] [ 8.46338013e-01 5.32645924e-01 -5.36027681e-04 4.41658225e+02] [ 6.31782502e-04 2.48950953e-06 9.99999800e-01 1.73645502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.602755096 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:330.85, Y:441.67, Z:1.74 [[ 5.34594086e-01 -8.45108893e-01 -3.50009010e-04 3.30849679e+02] [ 8.45108729e-01 5.34594200e-01 -5.26279782e-04 4.41674543e+02] [ 6.31876511e-04 -1.44496109e-05 9.99999800e-01 1.73563688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.632755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:330.86, Y:441.70, Z:1.74 [[ 5.33822476e-01 -8.45596507e-01 -3.34109294e-04 3.30863580e+02] [ 8.45596337e-01 5.33822581e-01 -5.36187223e-04 4.41697381e+02] [ 6.31753128e-04 3.70719546e-06 9.99999800e-01 1.73563669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6627550960001 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:330.88, Y:441.72, Z:1.74 [[ 5.31945427e-01 -8.46778573e-01 -3.33927131e-04 3.30878156e+02] [ 8.46778403e-01 5.31945532e-01 -5.36300647e-04 4.41721171e+02] [ 6.31758941e-04 2.52039403e-06 9.99999800e-01 1.73592888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.692755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:330.89, Y:441.75, Z:1.74 [[ 5.30589627e-01 -8.47628773e-01 -3.33757352e-04 3.30893109e+02] [ 8.47628603e-01 5.30589732e-01 -5.36406285e-04 4.41745337e+02] [ 6.31761625e-04 1.70933319e-06 9.99999800e-01 1.73626363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.722755096 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:330.91, Y:441.77, Z:1.74 [[ 5.29089508e-01 -8.48565956e-01 -3.33587445e-04 3.30907863e+02] [ 8.48565786e-01 5.29089613e-01 -5.36511928e-04 4.41768863e+02] [ 6.31763409e-04 7.91939520e-07 9.99999800e-01 1.73577350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.752755096 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:330.92, Y:441.79, Z:1.74 [[ 5.26885010e-01 -8.49936513e-01 -3.33415734e-04 3.30922647e+02] [ 8.49936343e-01 5.26885115e-01 -5.36618617e-04 4.41792743e+02] [ 6.31763543e-04 -6.45844965e-07 9.99999800e-01 1.73553305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7827550960001 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:330.94, Y:441.82, Z:1.74 [[ 5.22250302e-01 -8.52792185e-01 -3.33243102e-04 3.30941150e+02] [ 8.52792016e-01 5.22250408e-01 -5.36725801e-04 4.41824490e+02] [ 6.31751915e-04 -3.88184474e-06 9.99999800e-01 1.73611464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.812755096 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:330.95, Y:441.85, Z:1.73 [[ 5.19349029e-01 -8.54562148e-01 -3.47550624e-04 3.30954399e+02] [ 8.54561985e-01 5.19349145e-01 -5.27832878e-04 4.41849058e+02] [ 6.31566118e-04 -2.28740578e-05 9.99999800e-01 1.73417202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.842755096 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:330.96, Y:441.86, Z:1.73 [[ 5.22603353e-01 -8.52575871e-01 -3.46804779e-04 3.30963540e+02] [ 8.52575707e-01 5.22603468e-01 -5.28295709e-04 4.41864444e+02] [ 6.31653554e-04 -1.95882209e-05 9.99999800e-01 1.73366239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.872755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:330.98, Y:441.90, Z:1.74 [[ 5.18889106e-01 -8.54841497e-01 -3.32407265e-04 3.30980949e+02] [ 8.54841329e-01 5.18889212e-01 -5.37204492e-04 4.41895434e+02] [ 6.31707236e-04 -5.40591007e-06 9.99999801e-01 1.73746185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9027550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:330.99, Y:441.92, Z:1.74 [[ 5.18511803e-01 -8.55070401e-01 -3.44278495e-04 3.30994434e+02] [ 8.55070237e-01 5.18511917e-01 -5.29849246e-04 4.41919199e+02] [ 6.31570910e-04 -1.96492060e-05 9.99999800e-01 1.73744099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.932755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:331.00, Y:441.94, Z:1.74 [[ 5.21586774e-01 -8.53198171e-01 -3.43579454e-04 3.31004376e+02] [ 8.53198006e-01 5.21586887e-01 -5.30281905e-04 4.41936354e+02] [ 6.31642090e-04 -1.65532770e-05 9.99999800e-01 1.73536627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.962755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.02, Y:441.96, Z:1.73 [[ 5.22422446e-01 -8.52686741e-01 -3.31903098e-04 3.31016686e+02] [ 8.52686571e-01 5.22422552e-01 -5.37492093e-04 4.41960119e+02] [ 6.31706044e-04 -2.21138095e-06 9.99999801e-01 1.73480931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.992755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.03, Y:441.99, Z:1.73 [[ 5.21254443e-01 -8.53401251e-01 -3.31726996e-04 3.31034699e+02] [ 8.53401082e-01 5.21254548e-01 -5.37600757e-04 4.41989996e+02] [ 6.31703364e-04 -2.86939454e-06 9.99999801e-01 1.73487000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.022755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:331.05, Y:442.01, Z:1.74 [[ 5.20847833e-01 -8.53649470e-01 -3.43109808e-04 3.31047272e+02] [ 8.53649305e-01 5.20847945e-01 -5.30549995e-04 4.42013295e+02] [ 6.31611761e-04 -1.65596345e-05 9.99999800e-01 1.73758549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.052755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:331.06, Y:442.04, Z:1.74 [[ 5.23348832e-01 -8.52118468e-01 -3.41570483e-04 3.31062956e+02] [ 8.52118302e-01 5.23348943e-01 -5.31501731e-04 4.42038066e+02] [ 6.31662992e-04 -1.28976498e-05 9.99999800e-01 1.73673210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.082755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:331.07, Y:442.06, Z:1.74 [[ 5.23189058e-01 -8.52216577e-01 -3.41074903e-04 3.31072212e+02] [ 8.52216411e-01 5.23189169e-01 -5.31807001e-04 4.42057443e+02] [ 6.31661437e-04 -1.24340255e-05 9.99999800e-01 1.73569747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.112755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.09, Y:442.08, Z:1.74 [[ 5.23430302e-01 -8.52068430e-01 -3.30770620e-04 3.31085436e+02] [ 8.52068260e-01 5.23430407e-01 -5.38140577e-04 4.42082189e+02] [ 6.31667997e-04 -1.60062019e-07 9.99999801e-01 1.73628090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.142755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.10, Y:442.11, Z:1.73 [[ 5.22687484e-01 -8.52524302e-01 -3.30610014e-04 3.31101099e+02] [ 8.52524132e-01 5.22687588e-01 -5.38239228e-04 4.42109106e+02] [ 6.31667773e-04 -5.22107761e-07 9.99999801e-01 1.73478230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1727550960001 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:331.12, Y:442.13, Z:1.74 [[ 5.24837565e-01 -8.51202337e-01 -3.34229268e-04 3.31117649e+02] [ 8.51202168e-01 5.24837672e-01 -5.36016429e-04 4.42133206e+02] [ 6.31674548e-04 -3.17512037e-06 9.99999801e-01 1.73861808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.202755096 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:331.13, Y:442.16, Z:1.74 [[ 5.24421069e-01 -8.51459001e-01 -3.36541212e-04 3.31132350e+02] [ 8.51458833e-01 5.24421177e-01 -5.34596901e-04 4.42157803e+02] [ 6.31676681e-04 -6.19710882e-06 9.99999801e-01 1.73863712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.232755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:331.14, Y:442.18, Z:1.74 [[ 5.19401512e-01 -8.54530255e-01 -3.35652797e-04 3.31141663e+02] [ 8.54530088e-01 5.19401620e-01 -5.35141081e-04 4.42182796e+02] [ 6.31632851e-04 -8.87232706e-06 9.99999801e-01 1.73763813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.262755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:331.16, Y:442.21, Z:1.74 [[ 5.19427040e-01 -8.54514740e-01 -3.31884290e-04 3.31155069e+02] [ 8.54514571e-01 5.19427146e-01 -5.37446800e-04 4.42205224e+02] [ 6.31645922e-04 -4.43556103e-06 9.99999801e-01 1.73613054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2927550960001 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:331.17, Y:442.23, Z:1.74 [[ 5.19906902e-01 -8.54222866e-01 -3.29439797e-04 3.31172213e+02] [ 8.54222696e-01 5.19907007e-01 -5.38941051e-04 4.42230556e+02] [ 6.31653828e-04 -1.21577963e-06 9.99999801e-01 1.73809953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.322755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:331.18, Y:442.25, Z:1.74 [[ 5.17071700e-01 -8.55942022e-01 -3.34757814e-04 3.31181714e+02] [ 8.55941855e-01 5.17071808e-01 -5.35688200e-04 4.42253623e+02] [ 6.31611870e-04 -9.54401579e-06 9.99999801e-01 1.73612505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.352755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.20, Y:442.28, Z:1.74 [[ 5.16165477e-01 -8.56488816e-01 -3.29306579e-04 3.31195464e+02] [ 8.56488646e-01 5.16165582e-01 -5.39018564e-04 4.42278418e+02] [ 6.31640093e-04 -3.82457149e-06 9.99999801e-01 1.73560497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.382755096 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:331.21, Y:442.30, Z:1.74 [[ 5.17538687e-01 -8.55659745e-01 -3.29140370e-04 3.31213519e+02] [ 8.55659575e-01 5.17538792e-01 -5.39120036e-04 4.42304120e+02] [ 6.31646222e-04 -2.61663334e-06 9.99999801e-01 1.73697994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4127550960001 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:331.23, Y:442.33, Z:1.74 [[ 5.14766821e-01 -8.57330164e-01 -3.33369760e-04 3.31226757e+02] [ 8.57329996e-01 5.14766929e-01 -5.36542993e-04 4.42330562e+02] [ 6.31602220e-04 -9.61336408e-06 9.99999801e-01 1.73534073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.442755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.24, Y:442.36, Z:1.73 [[ 5.13296358e-01 -8.58211359e-01 -3.33444832e-04 3.31240997e+02] [ 8.58211192e-01 5.13296467e-01 -5.36497280e-04 4.42355863e+02] [ 6.31584114e-04 -1.07839863e-05 9.99999801e-01 1.73494175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.472755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:331.25, Y:442.38, Z:1.73 [[ 5.10117710e-01 -8.60104535e-01 -3.34250124e-04 3.31251361e+02] [ 8.60104368e-01 5.10117819e-01 -5.36007273e-04 4.42379823e+02] [ 6.31529231e-04 -1.40631891e-05 9.99999801e-01 1.73321325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.502755096 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:331.27, Y:442.41, Z:1.73 [[ 5.08129536e-01 -8.61280596e-01 -3.31104794e-04 3.31265571e+02] [ 8.61280428e-01 5.08129644e-01 -5.37919007e-04 4.42405312e+02] [ 6.31543364e-04 -1.18415432e-05 9.99999801e-01 1.73213317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5327550960001 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:331.28, Y:442.43, Z:1.73 [[ 5.06323016e-01 -8.62343837e-01 -3.31502426e-04 3.31280039e+02] [ 8.62343670e-01 5.06323124e-01 -5.37677488e-04 4.42430154e+02] [ 6.31510212e-04 -1.36305316e-05 9.99999801e-01 1.73143659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.562755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:331.29, Y:442.45, Z:1.73 [[ 5.03786367e-01 -8.63828216e-01 -3.32409213e-04 3.31291663e+02] [ 8.63828049e-01 5.03786476e-01 -5.37127111e-04 4.42452762e+02] [ 6.31448820e-04 -1.65470865e-05 9.99999801e-01 1.73249999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.592755096 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:331.31, Y:442.48, Z:1.73 [[ 4.99727621e-01 -8.66182543e-01 -3.27916478e-04 3.31305664e+02] [ 8.66182375e-01 4.99727728e-01 -5.39850613e-04 4.42479918e+02] [ 6.31478133e-04 -1.42572115e-05 9.99999801e-01 1.73037873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.622755096 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:331.32, Y:442.51, Z:1.73 [[ 4.95214189e-01 -8.68770855e-01 -3.30429395e-04 3.31318624e+02] [ 8.68770688e-01 4.95214299e-01 -5.38328503e-04 4.42505690e+02] [ 6.31317475e-04 -2.04794598e-05 9.99999801e-01 1.73104328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6527550960001 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:331.33, Y:442.53, Z:1.73 [[ 4.92918268e-01 -8.70075556e-01 -3.30611553e-04 3.31333184e+02] [ 8.70075389e-01 4.92918378e-01 -5.38218227e-04 4.42531133e+02] [ 6.31255033e-04 -2.23593800e-05 9.99999801e-01 1.73187939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.682755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:331.34, Y:442.55, Z:1.73 [[ 4.91686777e-01 -8.70772073e-01 -3.31595432e-04 3.31342426e+02] [ 8.70771908e-01 4.91686888e-01 -5.37622306e-04 4.42550757e+02] [ 6.31187615e-04 -2.44022079e-05 9.99999801e-01 1.73252462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.712755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:331.36, Y:442.58, Z:1.73 [[ 4.88739996e-01 -8.72429431e-01 -3.22559941e-04 3.31358883e+02] [ 8.72429262e-01 4.88740102e-01 -5.43084361e-04 4.42580516e+02] [ 6.31450758e-04 -1.59836837e-05 9.99999801e-01 1.73190728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.742755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:331.37, Y:442.61, Z:1.73 [[ 4.87844603e-01 -8.72930429e-01 -3.31895914e-04 3.31371387e+02] [ 8.72930264e-01 4.87844715e-01 -5.37450940e-04 4.42605545e+02] [ 6.31070947e-04 -2.75294474e-05 9.99999801e-01 1.73168971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.772755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:331.38, Y:442.63, Z:1.73 [[ 4.88605081e-01 -8.72504995e-01 -3.31414379e-04 3.31380598e+02] [ 8.72504829e-01 4.88605192e-01 -5.37741198e-04 4.42630788e+02] [ 6.31112668e-04 -2.64175644e-05 9.99999801e-01 1.73172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.802755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:331.39, Y:442.66, Z:1.73 [[ 4.88569316e-01 -8.72525024e-01 -3.26768734e-04 3.31394794e+02] [ 8.72524856e-01 4.88569425e-01 -5.40537856e-04 4.42657608e+02] [ 6.31282018e-04 -2.10236319e-05 9.99999801e-01 1.73058049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.832755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:331.41, Y:442.68, Z:1.73 [[ 4.89018069e-01 -8.72273592e-01 -3.29818933e-04 3.31407010e+02] [ 8.72273426e-01 4.89018179e-01 -5.38702921e-04 4.42683017e+02] [ 6.31183786e-04 -2.42568287e-05 9.99999801e-01 1.73113925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.862755096 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:331.42, Y:442.71, Z:1.73 [[ 4.89914824e-01 -8.71770243e-01 -3.28700576e-04 3.31420034e+02] [ 8.71770077e-01 4.89914934e-01 -5.39374971e-04 4.42708343e+02] [ 6.31246370e-04 -2.23035324e-05 9.99999801e-01 1.73060673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.892755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:331.43, Y:442.73, Z:1.73 [[ 4.91763128e-01 -8.70728958e-01 -3.28709662e-04 3.31428614e+02] [ 8.70728791e-01 4.91763238e-01 -5.39369515e-04 4.42732238e+02] [ 6.31291984e-04 -2.09749264e-05 9.99999801e-01 1.72899570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9227550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:331.44, Y:442.75, Z:1.73 [[ 4.94082018e-01 -8.69415237e-01 -3.24585879e-04 3.31439369e+02] [ 8.69415068e-01 4.94082125e-01 -5.41842151e-04 4.42752863e+02] [ 6.31457903e-04 -1.44853904e-05 9.99999801e-01 1.72988301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.952755096 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:331.45, Y:442.78, Z:1.73 [[ 4.94217860e-01 -8.69338027e-01 -3.18637235e-04 3.31452817e+02] [ 8.69337856e-01 4.94217963e-01 -5.45405589e-04 4.42780828e+02] [ 6.31618064e-04 -7.45422758e-06 9.99999801e-01 1.72947512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.982755096 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:331.46, Y:442.81, Z:1.73 [[ 4.93226186e-01 -8.69901043e-01 -3.24466971e-04 3.31464919e+02] [ 8.69900874e-01 4.93226293e-01 -5.41912368e-04 4.42805812e+02] [ 6.31445775e-04 -1.49687316e-05 9.99999801e-01 1.72969590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.012755096 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:331.48, Y:442.83, Z:1.73 [[ 4.92985071e-01 -8.70037709e-01 -3.22858555e-04 3.31477676e+02] [ 8.70037540e-01 4.92985177e-01 -5.42875414e-04 4.42830353e+02] [ 6.31486563e-04 -1.32695880e-05 9.99999801e-01 1.72996459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.49, Y:442.85, Z:1.73 [[ 4.93017015e-01 -8.70019608e-01 -3.23643427e-04 3.31488273e+02] [ 8.70019439e-01 4.93017121e-01 -5.42405786e-04 4.42854522e+02] [ 6.31465420e-04 -1.41607910e-05 9.99999801e-01 1.73184966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.50, Y:442.88, Z:1.73 [[ 4.93283791e-01 -8.69868380e-01 -3.22475560e-04 3.31502868e+02] [ 8.69868210e-01 4.93283896e-01 -5.43104039e-04 4.42881091e+02] [ 6.31501031e-04 -1.26068193e-05 9.99999801e-01 1.73039891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.51, Y:442.90, Z:1.73 [[ 4.92506471e-01 -8.70308721e-01 -3.26126587e-04 3.31511255e+02] [ 8.70308553e-01 4.92506579e-01 -5.40921665e-04 4.42902848e+02] [ 6.31388332e-04 -1.74233375e-05 9.99999801e-01 1.72999010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.132755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:331.52, Y:442.93, Z:1.73 [[ 4.90746553e-01 -8.71302313e-01 -3.18127619e-04 3.31524867e+02] [ 8.71302142e-01 4.90746656e-01 -5.45695381e-04 4.42928330e+02] [ 6.31585712e-04 -9.38714897e-06 9.99999801e-01 1.73082340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.54, Y:442.96, Z:1.73 [[ 4.90228340e-01 -8.71593984e-01 -3.20544895e-04 3.31541696e+02] [ 8.71593814e-01 4.90228444e-01 -5.44252499e-04 4.42955177e+02] [ 6.31507429e-04 -1.25769486e-05 9.99999801e-01 1.73041690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.55, Y:442.98, Z:1.73 [[ 4.85804867e-01 -8.74067231e-01 -3.26854003e-04 3.31550059e+02] [ 8.74067064e-01 4.85804977e-01 -5.40490049e-04 4.42979425e+02] [ 6.31211942e-04 -2.31196224e-05 9.99999801e-01 1.73197310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.222755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:331.56, Y:443.00, Z:1.73 [[ 4.85922620e-01 -8.74001775e-01 -3.23266216e-04 3.31562319e+02] [ 8.74001607e-01 4.85922727e-01 -5.42627446e-04 4.43002567e+02] [ 6.31339753e-04 -1.88602421e-05 9.99999801e-01 1.73049852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.57, Y:443.03, Z:1.73 [[ 4.84676011e-01 -8.74693696e-01 -3.20967889e-04 3.31573779e+02] [ 8.74693527e-01 4.84676117e-01 -5.43995582e-04 4.43029656e+02] [ 6.31394976e-04 -1.70869262e-05 9.99999801e-01 1.73068663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.59, Y:443.06, Z:1.73 [[ 4.87055556e-01 -8.73370929e-01 -3.24064496e-04 3.31591294e+02] [ 8.73370761e-01 4.87055664e-01 -5.42154147e-04 4.43056979e+02] [ 6.31339119e-04 -1.89692660e-05 9.99999801e-01 1.72907707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.60, Y:443.08, Z:1.73 [[ 4.86220810e-01 -8.73835920e-01 -3.30569648e-04 3.31599068e+02] [ 8.73835754e-01 4.86220922e-01 -5.38287543e-04 4.43077182e+02] [ 6.31104869e-04 -2.71369725e-05 9.99999801e-01 1.72977280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.61, Y:443.10, Z:1.73 [[ 4.87813415e-01 -8.72947861e-01 -3.21284780e-04 3.31611880e+02] [ 8.72947692e-01 4.87813521e-01 -5.43792516e-04 4.43101873e+02] [ 6.31429574e-04 -1.51955222e-05 9.99999801e-01 1.73066938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.63, Y:443.13, Z:1.73 [[ 4.88966336e-01 -8.72302596e-01 -3.21975233e-04 3.31625274e+02] [ 8.72302427e-01 4.88966442e-01 -5.43383397e-04 4.43125598e+02] [ 6.31429832e-04 -1.51635887e-05 9.99999801e-01 1.73060938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.64, Y:443.15, Z:1.73 [[ 4.91260016e-01 -8.71012912e-01 -3.21800245e-04 3.31637567e+02] [ 8.71012743e-01 4.91260121e-01 -5.43487008e-04 4.43149276e+02] [ 6.31471829e-04 -1.32986780e-05 9.99999801e-01 1.73054540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.65, Y:443.17, Z:1.73 [[ 4.91733358e-01 -8.70745773e-01 -3.21682172e-04 3.31650713e+02] [ 8.70745603e-01 4.91733463e-01 -5.43556884e-04 4.43173625e+02] [ 6.31481748e-04 -1.28182851e-05 9.99999801e-01 1.73038579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.66, Y:443.20, Z:1.73 [[ 4.94202026e-01 -8.69347027e-01 -3.22915814e-04 3.31664638e+02] [ 8.69346858e-01 4.94202131e-01 -5.42827593e-04 4.43197479e+02] [ 6.31491238e-04 -1.24593521e-05 9.99999801e-01 1.73191258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.68, Y:443.22, Z:1.73 [[ 4.94836419e-01 -8.68986085e-01 -3.21266398e-04 3.31678488e+02] [ 8.68985915e-01 4.94836523e-01 -5.43802032e-04 4.43220521e+02] [ 6.31530746e-04 -1.00829247e-05 9.99999801e-01 1.73056321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.69, Y:443.24, Z:1.73 [[ 4.95663926e-01 -8.68514346e-01 -3.21084701e-04 3.31692871e+02] [ 8.68514176e-01 4.95664030e-01 -5.43909293e-04 4.43244447e+02] [ 6.31543161e-04 -9.27039970e-06 9.99999801e-01 1.73294346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.71, Y:443.27, Z:1.73 [[ 4.96866158e-01 -8.67827124e-01 -3.20913597e-04 3.31709007e+02] [ 8.67826954e-01 4.96866262e-01 -5.44010228e-04 4.43270040e+02] [ 6.31557971e-04 -8.19719738e-06 9.99999801e-01 1.73425901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.72, Y:443.30, Z:1.73 [[ 4.99933046e-01 -8.66063996e-01 -3.23218614e-04 3.31724642e+02] [ 8.66063826e-01 4.99933151e-01 -5.42650759e-04 4.43295781e+02] [ 6.31557985e-04 -8.63890270e-06 9.99999801e-01 1.73374377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.73, Y:443.32, Z:1.74 [[ 4.99511878e-01 -8.66306977e-01 -3.25400635e-04 3.31734418e+02] [ 8.66306808e-01 4.99511984e-01 -5.41364010e-04 4.43318589e+02] [ 6.31528936e-04 -1.14790317e-05 9.99999801e-01 1.73547964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.75, Y:443.34, Z:1.74 [[ 5.01615111e-01 -8.65090849e-01 -3.20551342e-04 3.31749050e+02] [ 8.65090678e-01 5.01615214e-01 -5.44220293e-04 4.43344012e+02] [ 6.31593426e-04 -4.31685488e-06 9.99999801e-01 1.73610998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.76, Y:443.37, Z:1.74 [[ 5.02238382e-01 -8.64729151e-01 -3.21270273e-04 3.31762353e+02] [ 8.64728980e-01 5.02238484e-01 -5.43797058e-04 4.43367301e+02] [ 6.31591463e-04 -4.69596106e-06 9.99999801e-01 1.73606543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.78, Y:443.39, Z:1.74 [[ 5.02934586e-01 -8.64324418e-01 -3.20308094e-04 3.31777108e+02] [ 8.64324247e-01 5.02934688e-01 -5.44363212e-04 4.43392142e+02] [ 6.31600468e-04 -3.07096539e-06 9.99999801e-01 1.73573807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.79, Y:443.41, Z:1.74 [[ 5.03950114e-01 -8.63732702e-01 -3.20504783e-04 3.31791678e+02] [ 8.63732530e-01 5.03950216e-01 -5.44247528e-04 4.43414750e+02] [ 6.31602842e-04 -2.55680367e-06 9.99999801e-01 1.73528941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.81, Y:443.44, Z:1.73 [[ 5.03596926e-01 -8.63938675e-01 -3.20026727e-04 3.31805233e+02] [ 8.63938503e-01 5.03597028e-01 -5.44528488e-04 4.43437732e+02] [ 6.31603729e-04 -2.26053825e-06 9.99999801e-01 1.73375907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.82, Y:443.46, Z:1.73 [[ 5.03288433e-01 -8.64118424e-01 -3.19842575e-04 3.31819579e+02] [ 8.64118252e-01 5.03288535e-01 -5.44636633e-04 4.43461298e+02] [ 6.31603650e-04 -2.27248938e-06 9.99999801e-01 1.73342222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.84, Y:443.48, Z:1.73 [[ 5.02313873e-01 -8.64685301e-01 -3.19672426e-04 3.31835814e+02] [ 8.64685130e-01 5.02313975e-01 -5.44736483e-04 4.43484854e+02] [ 6.31601557e-04 -2.78730108e-06 9.99999801e-01 1.73367597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.85, Y:443.51, Z:1.73 [[ 5.01185778e-01 -8.65339653e-01 -3.19501225e-04 3.31850639e+02] [ 8.65339481e-01 5.01185880e-01 -5.44836878e-04 4.43507622e+02] [ 6.31598457e-04 -3.41252996e-06 9.99999801e-01 1.73415681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.87, Y:443.53, Z:1.73 [[ 4.98818122e-01 -8.66706628e-01 -3.19320910e-04 3.31867587e+02] [ 8.66706457e-01 4.98818224e-01 -5.44942537e-04 4.43530057e+02] [ 6.31588398e-04 -4.93028213e-06 9.99999801e-01 1.73495838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.88, Y:443.55, Z:1.73 [[ 4.96663435e-01 -8.67943161e-01 -3.19153123e-04 3.31881059e+02] [ 8.67942990e-01 4.96663537e-01 -5.45040786e-04 4.43553192e+02] [ 6.31576142e-04 -6.30488698e-06 9.99999801e-01 1.73405366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.90, Y:443.58, Z:1.73 [[ 4.95594055e-01 -8.68554220e-01 -3.17129225e-04 3.31898250e+02] [ 8.68554048e-01 4.95594156e-01 -5.46224551e-04 4.43576921e+02] [ 6.31593029e-04 -4.73823146e-06 9.99999801e-01 1.73494937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.91, Y:443.60, Z:1.73 [[ 4.92420985e-01 -8.70357095e-01 -3.18793359e-04 3.31914924e+02] [ 8.70356924e-01 4.92421088e-01 -5.45251578e-04 4.43598638e+02] [ 6.31544152e-04 -8.97068818e-06 9.99999801e-01 1.73481456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.93, Y:443.62, Z:1.74 [[ 4.90785277e-01 -8.71280500e-01 -3.18671534e-04 3.31930567e+02] [ 8.71280330e-01 4.90785380e-01 -5.45322769e-04 4.43622518e+02] [ 6.31528426e-04 -1.00158529e-05 9.99999801e-01 1.73504512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.95, Y:443.64, Z:1.74 [[ 4.88436747e-01 -8.72599245e-01 -3.18508278e-04 3.31946677e+02] [ 8.72599075e-01 4.88436850e-01 -5.45418106e-04 4.43644270e+02] [ 6.31502608e-04 -1.15277836e-05 9.99999801e-01 1.73511577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.96, Y:443.67, Z:1.74 [[ 4.87552796e-01 -8.73093449e-01 -3.18336263e-04 3.31960975e+02] [ 8.73093278e-01 4.87552899e-01 -5.45518486e-04 4.43666041e+02] [ 6.31494384e-04 -1.19681886e-05 9.99999801e-01 1.73532170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.97, Y:443.69, Z:1.74 [[ 4.87264289e-01 -8.73254494e-01 -3.18145854e-04 3.31974757e+02] [ 8.73254324e-01 4.87264393e-01 -5.45629509e-04 4.43690123e+02] [ 6.31494567e-04 -1.19564680e-05 9.99999801e-01 1.73533916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:331.99, Y:443.71, Z:1.74 [[ 4.86549818e-01 -8.73652776e-01 -3.17965537e-04 3.31989893e+02] [ 8.73652606e-01 4.86549922e-01 -5.45734569e-04 4.43712971e+02] [ 6.31488628e-04 -1.22643649e-05 9.99999801e-01 1.73599839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.01, Y:443.74, Z:1.74 [[ 4.86745074e-01 -8.73544007e-01 -3.17786442e-04 3.32005849e+02] [ 8.73543836e-01 4.86745178e-01 -5.45838838e-04 4.43735105e+02] [ 6.31495263e-04 -1.19160217e-05 9.99999801e-01 1.73611474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.02, Y:443.76, Z:1.74 [[ 4.86833346e-01 -8.73494815e-01 -3.17607712e-04 3.32019666e+02] [ 8.73494645e-01 4.86833450e-01 -5.45942816e-04 4.43756922e+02] [ 6.31500277e-04 -1.16454674e-05 9.99999801e-01 1.73582181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.04, Y:443.78, Z:1.74 [[ 4.87586280e-01 -8.73074750e-01 -3.17420465e-04 3.32035367e+02] [ 8.73074579e-01 4.87586383e-01 -5.46051662e-04 4.43778730e+02] [ 6.31513815e-04 -1.08844398e-05 9.99999801e-01 1.73569692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.05, Y:443.80, Z:1.74 [[ 4.87820143e-01 -8.72944104e-01 -3.17245078e-04 3.32050588e+02] [ 8.72943933e-01 4.87820246e-01 -5.46153540e-04 4.43802417e+02] [ 6.31520084e-04 -1.05124681e-05 9.99999801e-01 1.73730920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.07, Y:443.83, Z:1.74 [[ 4.87743354e-01 -8.72987011e-01 -3.17072607e-04 3.32065632e+02] [ 8.72986840e-01 4.87743457e-01 -5.46253650e-04 4.43825320e+02] [ 6.31522430e-04 -1.03686264e-05 9.99999801e-01 1.73574986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.08, Y:443.85, Z:1.74 [[ 4.87272378e-01 -8.73249981e-01 -3.16890962e-04 3.32081842e+02] [ 8.73249810e-01 4.87272481e-01 -5.46359005e-04 4.43845709e+02] [ 6.31520236e-04 -1.04993206e-05 9.99999801e-01 1.73602220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.10, Y:443.87, Z:1.74 [[ 4.86512226e-01 -8.73673711e-01 -3.16709916e-04 3.32097340e+02] [ 8.73673540e-01 4.86512329e-01 -5.46463933e-04 4.43868799e+02] [ 6.31514451e-04 -1.08396895e-05 9.99999801e-01 1.73851056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.11, Y:443.89, Z:1.74 [[ 4.85175166e-01 -8.74416925e-01 -3.16538219e-04 3.32113896e+02] [ 8.74416754e-01 4.85175269e-01 -5.46563370e-04 4.43890208e+02] [ 6.31500777e-04 -1.16073487e-05 9.99999801e-01 1.73756299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.392755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.13, Y:443.91, Z:1.74 [[ 4.85028930e-01 -8.74498048e-01 -3.16357500e-04 3.32129377e+02] [ 8.74497878e-01 4.85029034e-01 -5.46667952e-04 4.43912930e+02] [ 6.31502630e-04 -1.15041905e-05 9.99999801e-01 1.74020275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.14, Y:443.94, Z:1.74 [[ 4.84249196e-01 -8.74930064e-01 -3.14763843e-04 3.32144414e+02] [ 8.74929893e-01 4.84249298e-01 -5.47589448e-04 4.43935512e+02] [ 6.31526641e-04 -1.02265458e-05 9.99999801e-01 1.74060843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.16, Y:443.96, Z:1.74 [[ 4.83816608e-01 -8.75169349e-01 -3.16072475e-04 3.32161319e+02] [ 8.75169179e-01 4.83816711e-01 -5.46833052e-04 4.43957439e+02] [ 6.31492671e-04 -1.20499761e-05 9.99999801e-01 1.74203435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.18, Y:443.98, Z:1.74 [[ 4.83550550e-01 -8.75316381e-01 -3.15896267e-04 3.32175577e+02] [ 8.75316210e-01 4.83550653e-01 -5.46934825e-04 4.43979150e+02] [ 6.31492858e-04 -1.20384882e-05 9.99999801e-01 1.74193454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.19, Y:444.00, Z:1.74 [[ 4.84038192e-01 -8.75046816e-01 -3.15703253e-04 3.32192782e+02] [ 8.75046645e-01 4.84038294e-01 -5.47046215e-04 4.44001649e+02] [ 6.31503512e-04 -1.14638113e-05 9.99999801e-01 1.74417616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.21, Y:444.03, Z:1.74 [[ 4.84323867e-01 -8.74888731e-01 -3.15531373e-04 3.32208102e+02] [ 8.74888560e-01 4.84323970e-01 -5.47145335e-04 4.44025184e+02] [ 6.31510695e-04 -1.10592439e-05 9.99999801e-01 1.74410321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.22, Y:444.05, Z:1.74 [[ 4.84622096e-01 -8.74723571e-01 -3.15360696e-04 3.32222230e+02] [ 8.74723400e-01 4.84622198e-01 -5.47243692e-04 4.44047873e+02] [ 6.31517750e-04 -1.06469951e-05 9.99999801e-01 1.74373261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.24, Y:444.07, Z:1.74 [[ 4.85721921e-01 -8.74113331e-01 -3.15180922e-04 3.32238500e+02] [ 8.74113160e-01 4.85722024e-01 -5.47347211e-04 4.44071209e+02] [ 6.31533810e-04 -9.64525235e-06 9.99999801e-01 1.74391604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.25, Y:444.09, Z:1.74 [[ 4.86278006e-01 -8.73804098e-01 -3.15008642e-04 3.32252946e+02] [ 8.73803927e-01 4.86278108e-01 -5.47446344e-04 4.44093622e+02] [ 6.31542665e-04 -9.04467208e-06 9.99999801e-01 1.74354158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.27, Y:444.12, Z:1.74 [[ 4.87389190e-01 -8.73184791e-01 -3.14827092e-04 3.32268779e+02] [ 8.73184619e-01 4.87389292e-01 -5.47550731e-04 4.44115702e+02] [ 6.31556323e-04 -8.03186687e-06 9.99999801e-01 1.74316692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.28, Y:444.14, Z:1.74 [[ 4.87760886e-01 -8.72977216e-01 -3.14649883e-04 3.32283291e+02] [ 8.72977044e-01 4.87760987e-01 -5.47652544e-04 4.44137470e+02] [ 6.31562131e-04 -7.55863454e-06 9.99999801e-01 1.74282737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.30, Y:444.16, Z:1.74 [[ 4.87656703e-01 -8.73035418e-01 -3.14462466e-04 3.32297979e+02] [ 8.73035246e-01 4.87656804e-01 -5.47760138e-04 4.44160645e+02] [ 6.31563763e-04 -7.41791338e-06 9.99999801e-01 1.74273226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.31, Y:444.18, Z:1.74 [[ 4.87301492e-01 -8.73233736e-01 -3.14284787e-04 3.32313930e+02] [ 8.73233564e-01 4.87301593e-01 -5.47862065e-04 4.44183540e+02] [ 6.31563115e-04 -7.47002358e-06 9.99999801e-01 1.74363431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.33, Y:444.21, Z:1.74 [[ 4.86514272e-01 -8.73672573e-01 -3.14113072e-04 3.32328538e+02] [ 8.73672401e-01 4.86514373e-01 -5.47960499e-04 4.44206930e+02] [ 6.31558583e-04 -7.84131935e-06 9.99999801e-01 1.74190191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.35, Y:444.23, Z:1.74 [[ 4.84564821e-01 -8.74755300e-01 -3.13932263e-04 3.32345486e+02] [ 8.74755129e-01 4.84564923e-01 -5.48064067e-04 4.44230084e+02] [ 6.31542510e-04 -9.04129001e-06 9.99999801e-01 1.74356827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.36, Y:444.25, Z:1.74 [[ 4.83227699e-01 -8.75494656e-01 -3.13758355e-04 3.32360266e+02] [ 8.75494485e-01 4.83227800e-01 -5.48163609e-04 4.44252627e+02] [ 6.31531070e-04 -9.80587012e-06 9.99999801e-01 1.74311478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.872755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.38, Y:444.28, Z:1.74 [[ 4.80960753e-01 -8.76742069e-01 -3.13575306e-04 3.32376866e+02] [ 8.76741898e-01 4.80960855e-01 -5.48268301e-04 4.44275589e+02] [ 6.31507332e-04 -1.12290746e-05 9.99999801e-01 1.74401398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9027550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.39, Y:444.30, Z:1.74 [[ 4.79865255e-01 -8.77342145e-01 -3.13401430e-04 3.32391451e+02] [ 8.77341973e-01 4.79865357e-01 -5.48367674e-04 4.44298956e+02] [ 6.31496560e-04 -1.18176355e-05 9.99999801e-01 1.74351524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.41, Y:444.32, Z:1.74 [[ 4.79101155e-01 -8.77759640e-01 -3.13274792e-04 3.32406044e+02] [ 8.77759468e-01 4.79101258e-01 -5.48440011e-04 4.44322207e+02] [ 6.31488853e-04 -1.22216722e-05 9.99999801e-01 1.74459277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.962755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.42, Y:444.35, Z:1.74 [[ 4.78005820e-01 -8.78356613e-01 -3.11735566e-04 3.32421027e+02] [ 8.78356441e-01 4.78005921e-01 -5.49318592e-04 4.44346329e+02] [ 6.31509065e-04 -1.12374586e-05 9.99999801e-01 1.74388622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.43, Y:444.37, Z:1.74 [[ 4.78946753e-01 -8.77843898e-01 -3.13037122e-04 3.32433854e+02] [ 8.77843727e-01 4.78946856e-01 -5.48575878e-04 4.44370326e+02] [ 6.31492132e-04 -1.20590386e-05 9.99999801e-01 1.74465365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.45, Y:444.39, Z:1.74 [[ 4.79395936e-01 -8.77598678e-01 -3.12855520e-04 3.32447039e+02] [ 8.77598506e-01 4.79396038e-01 -5.48679427e-04 4.44393702e+02] [ 6.31502036e-04 -1.15268495e-05 9.99999801e-01 1.74463106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.052755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.46, Y:444.42, Z:1.75 [[ 4.80329795e-01 -8.77087904e-01 -3.12731518e-04 3.32460858e+02] [ 8.77087732e-01 4.80329897e-01 -5.48750095e-04 4.44417806e+02] [ 6.31516368e-04 -1.07119577e-05 9.99999801e-01 1.74596430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.48, Y:444.44, Z:1.75 [[ 4.79951740e-01 -8.77294837e-01 -3.12562853e-04 3.32475098e+02] [ 8.77294665e-01 4.79951841e-01 -5.48846148e-04 4.44442484e+02] [ 6.31515009e-04 -1.07900599e-05 9.99999801e-01 1.74603605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.112755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:332.49, Y:444.47, Z:1.75 [[ 4.79304544e-01 -8.77648595e-01 -3.12394898e-04 3.32488626e+02] [ 8.77648424e-01 4.79304645e-01 -5.48941729e-04 4.44465804e+02] [ 6.31510263e-04 -1.10626247e-05 9.99999801e-01 1.74516059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.142755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:332.50, Y:444.49, Z:1.74 [[ 4.77782453e-01 -8.78478133e-01 -3.12217914e-04 3.32501609e+02] [ 8.78477961e-01 4.77782555e-01 -5.49042373e-04 4.44488809e+02] [ 6.31493991e-04 -1.19537446e-05 9.99999801e-01 1.74471946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.52, Y:444.51, Z:1.74 [[ 4.76155049e-01 -8.79361287e-01 -3.12026436e-04 3.32515103e+02] [ 8.79361115e-01 4.76155151e-01 -5.49151170e-04 4.44514229e+02] [ 6.31475274e-04 -1.29028125e-05 9.99999801e-01 1.74083049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.53, Y:444.54, Z:1.74 [[ 4.75423326e-01 -8.79757104e-01 -3.14478807e-04 3.32526789e+02] [ 8.79756934e-01 4.75423430e-01 -5.47758267e-04 4.44537907e+02] [ 6.31404820e-04 -1.62478541e-05 9.99999801e-01 1.74430114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.54, Y:444.57, Z:1.75 [[ 4.73209123e-01 -8.80950072e-01 -3.11664914e-04 3.32540661e+02] [ 8.80949900e-01 4.73209226e-01 -5.49354671e-04 4.44565139e+02] [ 6.31436749e-04 -1.46015327e-05 9.99999801e-01 1.74734624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.55, Y:444.59, Z:1.74 [[ 4.71851998e-01 -8.81677715e-01 -3.15221512e-04 3.32554307e+02] [ 8.81677545e-01 4.71852103e-01 -5.47336866e-04 4.44590855e+02] [ 6.31312651e-04 -1.96617344e-05 9.99999801e-01 1.74097768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2927550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.57, Y:444.61, Z:1.74 [[ 4.72085695e-01 -8.81552606e-01 -3.16134831e-04 3.32568100e+02] [ 8.81552437e-01 4.72085800e-01 -5.46821175e-04 4.44614732e+02] [ 6.31294396e-04 -2.05429761e-05 9.99999801e-01 1.74457437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.58, Y:444.64, Z:1.75 [[ 4.71909896e-01 -8.81646727e-01 -3.14379747e-04 3.32581883e+02] [ 8.81646557e-01 4.71910001e-01 -5.47811090e-04 4.44640262e+02] [ 6.31334801e-04 -1.86543464e-05 9.99999801e-01 1.74508933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.60, Y:444.67, Z:1.75 [[ 4.73346483e-01 -8.80876273e-01 -3.14310073e-04 3.32595223e+02] [ 8.80876103e-01 4.73346588e-01 -5.47850344e-04 4.44666593e+02] [ 6.31365970e-04 -1.75451984e-05 9.99999801e-01 1.74513299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.61, Y:444.69, Z:1.74 [[ 4.74229631e-01 -8.80401135e-01 -3.14883242e-04 3.32607431e+02] [ 8.80400965e-01 4.74229735e-01 -5.47527603e-04 4.44690464e+02] [ 6.31370920e-04 -1.75696974e-05 9.99999801e-01 1.74461897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:332.62, Y:444.72, Z:1.74 [[ 4.74999474e-01 -8.79986023e-01 -3.13569726e-04 3.32620991e+02] [ 8.79985853e-01 4.74999578e-01 -5.48265925e-04 4.44715985e+02] [ 6.31411838e-04 -1.55108966e-05 9.99999801e-01 1.74498609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.63, Y:444.74, Z:1.74 [[ 4.78864868e-01 -8.77888569e-01 -3.14304128e-04 3.32634730e+02] [ 8.77888398e-01 4.78864971e-01 -5.47853401e-04 4.44739396e+02] [ 6.31463475e-04 -1.35762009e-05 9.99999801e-01 1.74360736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.64, Y:444.76, Z:1.75 [[ 4.78610432e-01 -8.78027309e-01 -3.15207937e-04 3.32644417e+02] [ 8.78027139e-01 4.78610535e-01 -5.47345222e-04 4.44762262e+02] [ 6.31445892e-04 -1.47959899e-05 9.99999801e-01 1.74814779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.66, Y:444.79, Z:1.75 [[ 4.80527555e-01 -8.76979574e-01 -3.09447244e-04 3.32657804e+02] [ 8.76979401e-01 4.80527654e-01 -5.50580178e-04 4.44785445e+02] [ 6.31545528e-04 -6.80991230e-06 9.99999801e-01 1.74699949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.67, Y:444.81, Z:1.75 [[ 4.80743828e-01 -8.76861036e-01 -3.09134441e-04 3.32671472e+02] [ 8.76860863e-01 4.80743927e-01 -5.50755752e-04 4.44809806e+02] [ 6.31550764e-04 -6.29546434e-06 9.99999801e-01 1.74713428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.562755096 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:332.69, Y:444.84, Z:1.75 [[ 4.83172797e-01 -8.75524958e-01 -3.08961184e-04 3.32690860e+02] [ 8.75524785e-01 4.83172896e-01 -5.50852928e-04 4.44836694e+02] [ 6.31567157e-04 -4.34602471e-06 9.99999801e-01 1.74583276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.592755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.70, Y:444.86, Z:1.75 [[ 4.80158021e-01 -8.77181950e-01 -3.17633451e-04 3.32699014e+02] [ 8.77181780e-01 4.80158126e-01 -5.45986757e-04 4.44859054e+02] [ 6.31444011e-04 -1.64623553e-05 9.99999801e-01 1.74751838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.72, Y:444.89, Z:1.74 [[ 4.81279501e-01 -8.76567137e-01 -3.10495950e-04 3.32717205e+02] [ 8.76566965e-01 4.81279601e-01 -5.49985241e-04 4.44885378e+02] [ 6.31534355e-04 -7.47387027e-06 9.99999801e-01 1.74476334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.73, Y:444.91, Z:1.74 [[ 4.78724451e-01 -8.77965148e-01 -3.15996770e-04 3.32730104e+02] [ 8.77964978e-01 4.78724555e-01 -5.46909455e-04 4.44910181e+02] [ 6.31442853e-04 -1.56151685e-05 9.99999801e-01 1.74497426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.682755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.74, Y:444.93, Z:1.75 [[ 4.77673488e-01 -8.78537387e-01 -3.14123785e-04 3.32741123e+02] [ 8.78537216e-01 4.77673591e-01 -5.47955672e-04 4.44931665e+02] [ 6.31448181e-04 -1.42255381e-05 9.99999801e-01 1.74776382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.76, Y:444.96, Z:1.75 [[ 4.77006250e-01 -8.78899848e-01 -3.07632499e-04 3.32761850e+02] [ 8.78899675e-01 4.77006349e-01 -5.51576080e-04 4.44958479e+02] [ 6.31522789e-04 -7.27286602e-06 9.99999801e-01 1.74641822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.742755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:332.77, Y:444.98, Z:1.75 [[ 4.73287112e-01 -8.80908174e-01 -3.15564363e-04 3.32771024e+02] [ 8.80908004e-01 4.73287217e-01 -5.47146677e-04 4.44981199e+02] [ 6.31338559e-04 -1.90257022e-05 9.99999801e-01 1.74728400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.78, Y:445.01, Z:1.74 [[ 4.71077157e-01 -8.82091955e-01 -3.09611080e-04 3.32783569e+02] [ 8.82091783e-01 4.71077259e-01 -5.50466462e-04 4.45005365e+02] [ 6.31412776e-04 -1.37932133e-05 9.99999801e-01 1.74194637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.80, Y:445.03, Z:1.74 [[ 4.70543070e-01 -8.82376974e-01 -3.09497333e-04 3.32801506e+02] [ 8.82376802e-01 4.70543171e-01 -5.50529798e-04 4.45030803e+02] [ 6.31406674e-04 -1.40452854e-05 9.99999801e-01 1.74343800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.832755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:332.82, Y:445.06, Z:1.75 [[ 4.69890261e-01 -8.82724784e-01 -3.13030249e-04 3.32817254e+02] [ 8.82724614e-01 4.69890365e-01 -5.48566365e-04 4.45056191e+02] [ 6.31323024e-04 -1.85535136e-05 9.99999801e-01 1.74594851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.862755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:332.83, Y:445.08, Z:1.75 [[ 4.65776650e-01 -8.84902263e-01 -3.14096658e-04 3.32827250e+02] [ 8.84902093e-01 4.65776755e-01 -5.47974189e-04 4.45076516e+02] [ 6.31202521e-04 -2.27112087e-05 9.99999801e-01 1.74626294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.84, Y:445.10, Z:1.75 [[ 4.64203225e-01 -8.85728668e-01 -3.06178411e-04 3.32841698e+02] [ 8.85728495e-01 4.64203326e-01 -5.52363322e-04 4.45101013e+02] [ 6.31373066e-04 -1.47821085e-05 9.99999801e-01 1.74570099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.86, Y:445.13, Z:1.75 [[ 4.62472506e-01 -8.86633570e-01 -3.06006014e-04 3.32855968e+02] [ 8.86633398e-01 4.62472607e-01 -5.52458813e-04 4.45125432e+02] [ 6.31347928e-04 -1.58181400e-05 9.99999801e-01 1.74538288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.87, Y:445.15, Z:1.74 [[ 4.61569759e-01 -8.87103863e-01 -3.05832030e-04 3.32873538e+02] [ 8.87103691e-01 4.61569860e-01 -5.52555110e-04 4.45151835e+02] [ 6.31336620e-04 -1.62619944e-05 9.99999801e-01 1.74306197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.89, Y:445.18, Z:1.74 [[ 4.61098791e-01 -8.87348752e-01 -3.12086081e-04 3.32887170e+02] [ 8.87348582e-01 4.61098896e-01 -5.49093941e-04 4.45177071e+02] [ 6.31140370e-04 -2.37425890e-05 9.99999801e-01 1.74308273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.012755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:332.90, Y:445.20, Z:1.74 [[ 4.60572369e-01 -8.87622102e-01 -3.11846025e-04 3.32899219e+02] [ 8.87621932e-01 4.60572474e-01 -5.49226670e-04 4.45202155e+02] [ 6.31133427e-04 -2.38427427e-05 9.99999801e-01 1.74332054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.91, Y:445.23, Z:1.74 [[ 4.58325418e-01 -8.88784402e-01 -3.13303984e-04 3.32910996e+02] [ 8.88784233e-01 4.58325525e-01 -5.48421538e-04 4.45226054e+02] [ 6.31023721e-04 -2.71041103e-05 9.99999801e-01 1.74303067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.92, Y:445.25, Z:1.75 [[ 4.57208778e-01 -8.89359341e-01 -3.09440230e-04 3.32922040e+02] [ 8.89359171e-01 4.57208882e-01 -5.50553106e-04 4.45248293e+02] [ 6.31118370e-04 -2.34857939e-05 9.99999801e-01 1.74758201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.93, Y:445.27, Z:1.75 [[ 4.57283957e-01 -8.89320690e-01 -3.04481405e-04 3.32934829e+02] [ 8.89320518e-01 4.57284058e-01 -5.53285390e-04 4.45272265e+02] [ 6.31282638e-04 -1.77730284e-05 9.99999801e-01 1.74773730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:332.95, Y:445.30, Z:1.75 [[ 4.57867385e-01 -8.89020453e-01 -3.03733078e-04 3.32948373e+02] [ 8.89020280e-01 4.57867486e-01 -5.53697484e-04 4.45296414e+02] [ 6.31317888e-04 -1.65048468e-05 9.99999801e-01 1.74870855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:332.96, Y:445.32, Z:1.75 [[ 4.57893387e-01 -8.89007061e-01 -3.02485776e-04 3.32959860e+02] [ 8.89006888e-01 4.57893487e-01 -5.54383527e-04 4.45319804e+02] [ 6.31357136e-04 -1.50633873e-05 9.99999801e-01 1.74832343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.97, Y:445.35, Z:1.75 [[ 4.57118853e-01 -8.89405568e-01 -3.01018753e-04 3.32972473e+02] [ 8.89405394e-01 4.57118952e-01 -5.55189623e-04 4.45347216e+02] [ 6.31390118e-04 -1.39400595e-05 9.99999801e-01 1.74886098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.98, Y:445.38, Z:1.75 [[ 4.59763682e-01 -8.88041251e-01 -3.05168277e-04 3.32984922e+02] [ 8.88041079e-01 4.59763783e-01 -5.52912135e-04 4.45375206e+02] [ 6.31314105e-04 -1.67930467e-05 9.99999801e-01 1.74563345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:332.99, Y:445.40, Z:1.75 [[ 4.60581785e-01 -8.87617218e-01 -3.07995385e-04 3.32994626e+02] [ 8.87617047e-01 4.60581887e-01 -5.51361938e-04 4.45398016e+02] [ 6.31255445e-04 -1.94346887e-05 9.99999801e-01 1.74890235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.01, Y:445.43, Z:1.74 [[ 4.63692338e-01 -8.85996233e-01 -3.03317401e-04 3.33008913e+02] [ 8.85996060e-01 4.63692437e-01 -5.53923508e-04 4.45425149e+02] [ 6.31420126e-04 -1.18879353e-05 9.99999801e-01 1.74440447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.02, Y:445.45, Z:1.75 [[ 4.63949560e-01 -8.85861564e-01 -3.07501776e-04 3.33018609e+02] [ 8.85861393e-01 4.63949662e-01 -5.51631332e-04 4.45447227e+02] [ 6.31334340e-04 -1.64748373e-05 9.99999801e-01 1.74900513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.03, Y:445.47, Z:1.74 [[ 4.65108707e-01 -8.85253523e-01 -3.01292608e-04 3.33033667e+02] [ 8.85253349e-01 4.65108804e-01 -5.55027189e-04 4.45474069e+02] [ 6.31473620e-04 -8.57231212e-06 9.99999801e-01 1.74497627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.372755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:333.05, Y:445.50, Z:1.75 [[ 4.67243450e-01 -8.84128647e-01 -3.06387429e-04 3.33047457e+02] [ 8.84128475e-01 4.67243550e-01 -5.52244632e-04 4.45499775e+02] [ 6.31412849e-04 -1.28531636e-05 9.99999801e-01 1.74575316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.06, Y:445.52, Z:1.74 [[ 4.68408052e-01 -8.83512197e-01 -3.07660978e-04 3.33059446e+02] [ 8.83512025e-01 4.68408153e-01 -5.51549343e-04 4.45522504e+02] [ 6.31411482e-04 -1.34720205e-05 9.99999801e-01 1.74469900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.07, Y:445.55, Z:1.75 [[ 4.68821712e-01 -8.83292765e-01 -3.05296095e-04 3.33073068e+02] [ 8.83292592e-01 4.68821811e-01 -5.52838728e-04 4.45549062e+02] [ 6.31447917e-04 -1.04829803e-05 9.99999801e-01 1.74840391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.09, Y:445.57, Z:1.75 [[ 4.69305189e-01 -8.83035982e-01 -3.07208084e-04 3.33087201e+02] [ 8.83035809e-01 4.69305290e-01 -5.51797067e-04 4.45574505e+02] [ 6.31431043e-04 -1.23145119e-05 9.99999801e-01 1.74745557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.10, Y:445.60, Z:1.75 [[ 4.69815516e-01 -8.82764570e-01 -3.08823063e-04 3.33100289e+02] [ 8.82764398e-01 4.69815617e-01 -5.50917669e-04 4.45597862e+02] [ 6.31420497e-04 -1.37883361e-05 9.99999801e-01 1.74828633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.11, Y:445.62, Z:1.75 [[ 4.68421236e-01 -8.83505207e-01 -3.09077226e-04 3.33114083e+02] [ 8.83505035e-01 4.68421338e-01 -5.50779396e-04 4.45624453e+02] [ 6.31394832e-04 -1.50745195e-05 9.99999801e-01 1.74838500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.552755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:333.12, Y:445.64, Z:1.75 [[ 4.65670804e-01 -8.84957968e-01 -3.11602470e-04 3.33119264e+02] [ 8.84957798e-01 4.65670908e-01 -5.49406320e-04 4.45644962e+02] [ 6.31305706e-04 -1.99125533e-05 9.99999801e-01 1.75023023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:333.14, Y:445.67, Z:1.75 [[ 4.66861556e-01 -8.84330367e-01 -3.00605919e-04 3.33139441e+02] [ 8.84330192e-01 4.66861652e-01 -5.55370799e-04 4.45671460e+02] [ 6.31472638e-04 -6.55361521e-06 9.99999801e-01 1.74727540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.16, Y:445.70, Z:1.75 [[ 4.65348542e-01 -8.85127471e-01 -3.09030678e-04 3.33156421e+02] [ 8.85127299e-01 4.65348644e-01 -5.50803343e-04 4.45696599e+02] [ 6.31338177e-04 -1.72159571e-05 9.99999801e-01 1.74842322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.642755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:333.17, Y:445.72, Z:1.75 [[ 4.62583760e-01 -8.86575529e-01 -3.11572898e-04 3.33167713e+02] [ 8.86575358e-01 4.62583865e-01 -5.49427936e-04 4.45720388e+02] [ 6.31237958e-04 -2.20764132e-05 9.99999801e-01 1.74830329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.18, Y:445.75, Z:1.75 [[ 4.58418430e-01 -8.88736434e-01 -3.07159471e-04 3.33180266e+02] [ 8.88736263e-01 4.58418532e-01 -5.51811113e-04 4.45745367e+02] [ 6.31222234e-04 -2.00233767e-05 9.99999801e-01 1.74693257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.702755096 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:333.19, Y:445.77, Z:1.75 [[ 4.57256624e-01 -8.89334744e-01 -3.06986792e-04 3.33193381e+02] [ 8.89334573e-01 4.57256726e-01 -5.51904260e-04 4.45769037e+02] [ 6.31199409e-04 -2.06520892e-05 9.99999801e-01 1.74791138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.732755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:333.21, Y:445.79, Z:1.75 [[ 4.55249197e-01 -8.90364013e-01 -3.05995090e-04 3.33207577e+02] [ 8.90363842e-01 4.55249299e-01 -5.52438415e-04 4.45794881e+02] [ 6.31175334e-04 -2.09498186e-05 9.99999801e-01 1.74797519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.762755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:333.22, Y:445.82, Z:1.75 [[ 4.53292531e-01 -8.91361760e-01 -3.06844277e-04 3.33220536e+02] [ 8.91361589e-01 4.53292635e-01 -5.51981389e-04 4.45819081e+02] [ 6.31105353e-04 -2.33001613e-05 9.99999801e-01 1.74817485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:333.23, Y:445.84, Z:1.75 [[ 4.51536052e-01 -8.92252823e-01 -3.04719771e-04 3.33233472e+02] [ 8.92252652e-01 4.51536155e-01 -5.53121139e-04 4.45841732e+02] [ 6.31115892e-04 -2.21328883e-05 9.99999801e-01 1.74884895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.25, Y:445.87, Z:1.75 [[ 4.49000094e-01 -8.93531659e-01 -3.01133620e-04 3.33246411e+02] [ 8.93531486e-01 4.49000195e-01 -5.55042445e-04 4.45866961e+02] [ 6.31157050e-04 -1.98582605e-05 9.99999801e-01 1.74782652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.852755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:333.26, Y:445.89, Z:1.75 [[ 4.47294462e-01 -8.94386702e-01 -3.02095267e-04 3.33259191e+02] [ 8.94386531e-01 4.47294563e-01 -5.54527438e-04 4.45891222e+02] [ 6.31087537e-04 -2.21528859e-05 9.99999801e-01 1.74805235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.882755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.27, Y:445.91, Z:1.75 [[ 4.48806085e-01 -8.93629122e-01 -3.01212657e-04 3.33270987e+02] [ 8.93628950e-01 4.48806186e-01 -5.54999812e-04 4.45913172e+02] [ 6.31150098e-04 -2.00850579e-05 9.99999801e-01 1.74784081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.28, Y:445.94, Z:1.75 [[ 4.45771478e-01 -8.95146748e-01 -2.97701095e-04 3.33282534e+02] [ 8.95146575e-01 4.45771577e-01 -5.56877059e-04 4.45938280e+02] [ 6.31193375e-04 -1.82462064e-05 9.99999801e-01 1.74732130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.942755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.30, Y:445.96, Z:1.75 [[ 4.45096889e-01 -8.95482368e-01 -2.98142044e-04 3.33295407e+02] [ 8.95482195e-01 4.45096988e-01 -5.56641454e-04 4.45963445e+02] [ 6.31164733e-04 -1.92215123e-05 9.99999801e-01 1.74764757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.31, Y:445.99, Z:1.75 [[ 4.47659922e-01 -8.94203839e-01 -2.98558092e-04 3.33310114e+02] [ 8.94203666e-01 4.47660022e-01 -5.56419315e-04 4.45985845e+02] [ 6.31204809e-04 -1.78851128e-05 9.99999801e-01 1.74978733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.002755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.32, Y:446.01, Z:1.75 [[ 4.45968429e-01 -8.95048642e-01 -2.97221493e-04 3.33319325e+02] [ 8.95048469e-01 4.45968528e-01 -5.57132370e-04 4.46009675e+02] [ 6.31212003e-04 -1.75641941e-05 9.99999801e-01 1.74935047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.33, Y:446.03, Z:1.75 [[ 4.45838237e-01 -8.95113502e-01 -2.92184264e-04 3.33331350e+02] [ 8.95113327e-01 4.45838332e-01 -5.59817114e-04 4.46034293e+02] [ 6.31366803e-04 -1.19501535e-05 9.99999801e-01 1.74862531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.34, Y:446.06, Z:1.75 [[ 4.48069757e-01 -8.93998551e-01 -2.90776199e-04 3.33344995e+02] [ 8.93998375e-01 4.48069851e-01 -5.60566900e-04 4.46060312e+02] [ 6.31434045e-04 -8.78037480e-06 9.99999801e-01 1.75004681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:446.09, Z:1.75 [[ 4.53639967e-01 -8.91184995e-01 -2.93221977e-04 3.33365334e+02] [ 8.91184819e-01 4.53640061e-01 -5.59265357e-04 4.46088124e+02] [ 6.31426130e-04 -7.60985622e-06 9.99999801e-01 1.75166231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.37, Y:446.11, Z:1.75 [[ 4.51342806e-01 -8.92350592e-01 -3.03720099e-04 3.33369417e+02] [ 8.92350421e-01 4.51342908e-01 -5.53678980e-04 4.46111936e+02] [ 6.31157678e-04 -2.11257330e-05 9.99999801e-01 1.75233808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.38, Y:446.14, Z:1.76 [[ 4.53003099e-01 -8.91508893e-01 -2.93900838e-04 3.33382935e+02] [ 8.91508718e-01 4.53003194e-01 -5.58892883e-04 4.46137553e+02] [ 6.31395994e-04 -8.83495098e-06 9.99999801e-01 1.75516908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.40, Y:446.17, Z:1.76 [[ 4.54715534e-01 -8.90636680e-01 -2.96124020e-04 3.33398740e+02] [ 8.90636506e-01 4.54715630e-01 -5.57712458e-04 4.46165712e+02] [ 6.31371393e-04 -1.01383445e-05 9.99999801e-01 1.75527464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.41, Y:446.19, Z:1.76 [[ 4.56252906e-01 -8.89850096e-01 -3.03571035e-04 3.33406054e+02] [ 8.89849924e-01 4.56253007e-01 -5.53760533e-04 4.46189244e+02] [ 6.31269061e-04 -1.74778099e-05 9.99999801e-01 1.75557690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.42, Y:446.21, Z:1.76 [[ 4.57137943e-01 -8.89395758e-01 -2.95614733e-04 3.33417880e+02] [ 8.89395582e-01 4.57138039e-01 -5.57975770e-04 4.46213608e+02] [ 6.31398022e-04 -7.84654211e-06 9.99999801e-01 1.75524447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.43, Y:446.24, Z:1.76 [[ 4.57581689e-01 -8.89167538e-01 -2.95429694e-04 3.33430293e+02] [ 8.89167363e-01 4.57581784e-01 -5.58073725e-04 4.46238787e+02] [ 6.31404286e-04 -7.32212433e-06 9.99999801e-01 1.75571442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.44, Y:446.26, Z:1.76 [[ 4.58890036e-01 -8.88493021e-01 -2.95251088e-04 3.33441478e+02] [ 8.88492845e-01 4.58890131e-01 -5.58168201e-04 4.46263125e+02] [ 6.31416361e-04 -6.19065306e-06 9.99999801e-01 1.75560661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.46, Y:446.29, Z:1.75 [[ 4.61544807e-01 -8.87116850e-01 -2.94639621e-04 3.33457070e+02] [ 8.87116674e-01 4.61544901e-01 -5.58491472e-04 4.46287768e+02] [ 6.31436609e-04 -3.61088203e-06 9.99999801e-01 1.75353133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.46, Y:446.31, Z:1.75 [[ 4.59588384e-01 -8.88131989e-01 -2.95042345e-04 3.33464341e+02] [ 8.88131814e-01 4.59588479e-01 -5.58278638e-04 4.46312366e+02] [ 6.31423179e-04 -5.45811613e-06 9.99999801e-01 1.75300886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.48, Y:446.34, Z:1.75 [[ 4.60012105e-01 -8.87912597e-01 -2.90112259e-04 3.33476123e+02] [ 8.87912419e-01 4.60012197e-01 -5.60881410e-04 4.46335981e+02] [ 6.31468847e-04 4.17960108e-07 9.99999801e-01 1.75280716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.49, Y:446.37, Z:1.75 [[ 4.58263656e-01 -8.88816257e-01 -2.88469685e-04 3.33492207e+02] [ 8.88816079e-01 4.58263747e-01 -5.61749436e-04 4.46366139e+02] [ 6.31487230e-04 1.03285540e-06 9.99999801e-01 1.75331093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.50, Y:446.39, Z:1.75 [[ 4.57277672e-01 -8.89323924e-01 -2.98074482e-04 3.33504526e+02] [ 8.89323750e-01 4.57277769e-01 -5.56670415e-04 4.46390225e+02] [ 6.31363152e-04 -1.05317656e-05 9.99999801e-01 1.75262850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.52, Y:446.42, Z:1.75 [[ 4.54497293e-01 -8.90748069e-01 -2.97036676e-04 3.33516986e+02] [ 8.90747895e-01 4.54497390e-01 -5.57218931e-04 4.46416385e+02] [ 6.31344080e-04 -1.13302981e-05 9.99999801e-01 1.75257657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.53, Y:446.44, Z:1.75 [[ 4.50957066e-01 -8.92545593e-01 -2.98536845e-04 3.33528822e+02] [ 8.92545420e-01 4.50957164e-01 -5.56426402e-04 4.46441357e+02] [ 6.31263262e-04 -1.55332767e-05 9.99999801e-01 1.75213510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:446.47, Z:1.75 [[ 4.48412373e-01 -8.93826748e-01 -2.98488584e-04 3.33540492e+02] [ 8.93826575e-01 4.48412472e-01 -5.56451879e-04 4.46466235e+02] [ 6.31217577e-04 -1.72771214e-05 9.99999801e-01 1.75189885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:446.49, Z:1.75 [[ 4.48252583e-01 -8.93906893e-01 -2.98225459e-04 3.33555207e+02] [ 8.93906720e-01 4.48252682e-01 -5.56590604e-04 4.46491483e+02] [ 6.31220539e-04 -1.70925652e-05 9.99999801e-01 1.75473888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.56, Y:446.51, Z:1.75 [[ 4.45956552e-01 -8.95054560e-01 -2.98725484e-04 3.33563732e+02] [ 8.95054387e-01 4.45956651e-01 -5.56326992e-04 4.46512810e+02] [ 6.31161627e-04 -1.92778878e-05 9.99999801e-01 1.75238953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.632755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:333.58, Y:446.54, Z:1.75 [[ 4.40110165e-01 -8.97943739e-01 -2.91321925e-04 3.33575885e+02] [ 8.97943564e-01 4.40110261e-01 -5.60221649e-04 4.46540595e+02] [ 6.31261290e-04 -1.50314053e-05 9.99999801e-01 1.75188342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.59, Y:446.57, Z:1.75 [[ 4.38579648e-01 -8.98692274e-01 -2.97848298e-04 3.33588508e+02] [ 8.98692102e-01 4.38579749e-01 -5.56787954e-04 4.46567869e+02] [ 6.31011264e-04 -2.34780480e-05 9.99999801e-01 1.74939266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.60, Y:446.59, Z:1.75 [[ 4.33813574e-01 -9.01002605e-01 -2.98608843e-04 3.33599191e+02] [ 9.01002433e-01 4.33813676e-01 -5.56390346e-04 4.46592921e+02] [ 6.30849751e-04 -2.76776098e-05 9.99999801e-01 1.75133190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.61, Y:446.62, Z:1.75 [[ 4.32239703e-01 -9.01758699e-01 -2.95537507e-04 3.33610029e+02] [ 9.01758527e-01 4.32239804e-01 -5.57994237e-04 4.46617128e+02] [ 6.30919231e-04 -2.53162037e-05 9.99999801e-01 1.75009963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.752755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:333.62, Y:446.64, Z:1.75 [[ 4.30849892e-01 -9.02423561e-01 -2.94562560e-04 3.33621120e+02] [ 9.02423389e-01 4.30849992e-01 -5.58503375e-04 4.46641750e+02] [ 6.30918881e-04 -2.51890243e-05 9.99999801e-01 1.74873893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.63, Y:446.67, Z:1.75 [[ 4.31755052e-01 -9.01990848e-01 -2.91420821e-04 3.33632016e+02] [ 9.01990674e-01 4.31755150e-01 -5.60142245e-04 4.46665196e+02] [ 6.31065619e-04 -2.10146183e-05 9.99999801e-01 1.74718937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.64, Y:446.70, Z:1.74 [[ 4.29487483e-01 -9.03072765e-01 -2.87004031e-04 3.33643423e+02] [ 9.03072590e-01 4.29487579e-01 -5.62443374e-04 4.46695054e+02] [ 6.31191959e-04 -1.76230848e-05 9.99999801e-01 1.74424784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.65, Y:446.72, Z:1.74 [[ 4.30628764e-01 -9.02529102e-01 -2.95944848e-04 3.33654210e+02] [ 9.02528930e-01 4.30628865e-01 -5.57779748e-04 4.46717293e+02] [ 6.30854849e-04 -2.69027832e-05 9.99999801e-01 1.74479619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.67, Y:446.74, Z:1.74 [[ 4.30413643e-01 -9.02631714e-01 -2.91670607e-04 3.33666849e+02] [ 9.02631541e-01 4.30413741e-01 -5.60006190e-04 4.46741979e+02] [ 6.31018385e-04 -2.22367853e-05 9.99999801e-01 1.74481210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.68, Y:446.77, Z:1.74 [[ 4.31701154e-01 -9.02016645e-01 -2.91539580e-04 3.33678836e+02] [ 9.02016472e-01 4.31701252e-01 -5.60074403e-04 4.46766184e+02] [ 6.31054436e-04 -2.11887373e-05 9.99999801e-01 1.74473804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.69, Y:446.79, Z:1.75 [[ 4.34722434e-01 -9.00564447e-01 -2.88849557e-04 3.33694365e+02] [ 9.00564272e-01 4.34722530e-01 -5.61474347e-04 4.46792047e+02] [ 6.31213244e-04 -1.60420964e-05 9.99999801e-01 1.75116771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.71, Y:446.82, Z:1.75 [[ 4.38517722e-01 -8.98722495e-01 -2.91452793e-04 3.33709469e+02] [ 8.98722320e-01 4.38517819e-01 -5.60119779e-04 4.46816899e+02] [ 6.31199488e-04 -1.63126810e-05 9.99999801e-01 1.74889530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.72, Y:446.84, Z:1.75 [[ 4.36294775e-01 -8.99803747e-01 -2.94202191e-04 3.33719120e+02] [ 8.99803574e-01 4.36294874e-01 -5.58691115e-04 4.46843049e+02] [ 6.31071266e-04 -2.09701684e-05 9.99999801e-01 1.74969259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.73, Y:446.87, Z:1.74 [[ 4.39755380e-01 -8.98117543e-01 -2.92570028e-04 3.33731110e+02] [ 8.98117368e-01 4.39755477e-01 -5.59538500e-04 4.46867933e+02] [ 6.31190615e-04 -1.67021583e-05 9.99999801e-01 1.74394930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.74, Y:446.89, Z:1.75 [[ 4.38849138e-01 -8.98560709e-01 -2.94373660e-04 3.33741430e+02] [ 8.98560536e-01 4.38849236e-01 -5.58601707e-04 4.46890758e+02] [ 6.31123202e-04 -1.93706758e-05 9.99999801e-01 1.75405178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.75, Y:446.91, Z:1.75 [[ 4.39693985e-01 -8.98147602e-01 -2.90404012e-04 3.33752233e+02] [ 8.98147427e-01 4.39694080e-01 -5.60661073e-04 4.46914748e+02] [ 6.31245323e-04 -1.43063148e-05 9.99999801e-01 1.74876674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.76, Y:446.94, Z:1.75 [[ 4.40656598e-01 -8.97675710e-01 -2.87801368e-04 3.33764432e+02] [ 8.97675534e-01 4.40656691e-01 -5.62009784e-04 4.46936147e+02] [ 6.31324130e-04 -1.06989281e-05 9.99999801e-01 1.74936646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.78, Y:446.96, Z:1.75 [[ 4.40551937e-01 -8.97727080e-01 -2.84400022e-04 3.33778829e+02] [ 8.97726903e-01 4.40552029e-01 -5.63769881e-04 4.46963004e+02] [ 6.31404496e-04 -6.94363732e-06 9.99999801e-01 1.75358967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.79, Y:446.99, Z:1.75 [[ 4.41364699e-01 -8.97327765e-01 -2.91479041e-04 3.33790494e+02] [ 8.97327590e-01 4.41364795e-01 -5.60105404e-04 4.46986404e+02] [ 6.31246718e-04 -1.43414326e-05 9.99999801e-01 1.75306716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.80, Y:447.01, Z:1.75 [[ 4.41331738e-01 -8.97343977e-01 -2.90034788e-04 3.33803000e+02] [ 8.97343802e-01 4.41331833e-01 -5.60852274e-04 4.47013256e+02] [ 6.31278995e-04 -1.27390101e-05 9.99999801e-01 1.75194947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.81, Y:447.04, Z:1.75 [[ 4.41756084e-01 -8.97135150e-01 -2.91841092e-04 3.33814861e+02] [ 8.97134975e-01 4.41756181e-01 -5.59918619e-04 4.47037741e+02] [ 6.31245280e-04 -1.44733938e-05 9.99999801e-01 1.74754813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.83, Y:447.06, Z:1.75 [[ 4.42188837e-01 -8.96921930e-01 -2.89475456e-04 3.33829343e+02] [ 8.96921754e-01 4.42188932e-01 -5.61140113e-04 4.47062528e+02] [ 6.31301716e-04 -1.15069397e-05 9.99999801e-01 1.75181948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.84, Y:447.09, Z:1.75 [[ 4.41875743e-01 -8.97076220e-01 -2.89485743e-04 3.33842488e+02] [ 8.97076044e-01 4.41875838e-01 -5.61134806e-04 4.47087619e+02] [ 6.31297445e-04 -1.17388663e-05 9.99999801e-01 1.75123738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.85, Y:447.11, Z:1.75 [[ 4.40386720e-01 -8.97808138e-01 -2.89309753e-04 3.33854522e+02] [ 8.97807963e-01 4.40386815e-01 -5.61225528e-04 4.47113492e+02] [ 6.31281047e-04 -1.25883305e-05 9.99999801e-01 1.74693134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.87, Y:447.14, Z:1.75 [[ 4.40627726e-01 -8.97689881e-01 -2.89943281e-04 3.33867725e+02] [ 8.97689706e-01 4.40627821e-01 -5.60899100e-04 4.47137107e+02] [ 6.31270523e-04 -1.31314037e-05 9.99999801e-01 1.74940637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.88, Y:447.16, Z:1.75 [[ 4.39588862e-01 -8.98199059e-01 -2.89062337e-04 3.33880770e+02] [ 8.98198883e-01 4.39588957e-01 -5.61352733e-04 4.47162425e+02] [ 6.31275107e-04 -1.28710591e-05 9.99999801e-01 1.74904377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.89, Y:447.19, Z:1.74 [[ 4.36607568e-01 -8.99652015e-01 -2.88885337e-04 3.33894506e+02] [ 8.99651840e-01 4.36607664e-01 -5.61443806e-04 4.47188826e+02] [ 6.31233604e-04 -1.47656104e-05 9.99999801e-01 1.74467336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.91, Y:447.21, Z:1.74 [[ 4.38137524e-01 -8.98907907e-01 -2.91555571e-04 3.33908983e+02] [ 8.98907733e-01 4.38137621e-01 -5.60071853e-04 4.47212487e+02] [ 6.31194481e-04 -1.66930621e-05 9.99999801e-01 1.74243338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.92, Y:447.24, Z:1.75 [[ 4.34666000e-01 -9.00591686e-01 -2.89072789e-04 3.33921315e+02] [ 9.00591511e-01 4.34666096e-01 -5.61346129e-04 4.47238534e+02] [ 6.31193797e-04 -1.63384238e-05 9.99999801e-01 1.74705186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.502755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:333.93, Y:447.26, Z:1.75 [[ 4.34192629e-01 -9.00820002e-01 -2.91770951e-04 3.33934012e+02] [ 9.00819828e-01 4.34192726e-01 -5.59960974e-04 4.47260825e+02] [ 6.31108870e-04 -1.97021306e-05 9.99999801e-01 1.74986686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.95, Y:447.29, Z:1.75 [[ 4.32500320e-01 -9.01633734e-01 -2.88045653e-04 3.33947555e+02] [ 9.01633559e-01 4.32500415e-01 -5.61870765e-04 4.47287998e+02] [ 6.31181500e-04 -1.67023423e-05 9.99999801e-01 1.74814994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.96, Y:447.31, Z:1.75 [[ 4.31208239e-01 -9.02252387e-01 -2.91206649e-04 3.33961028e+02] [ 9.02252214e-01 4.31208336e-01 -5.60250736e-04 4.47313351e+02] [ 6.31058299e-04 -2.11571103e-05 9.99999801e-01 1.74707710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.97, Y:447.34, Z:1.75 [[ 4.31143396e-01 -9.02283374e-01 -2.92141736e-04 3.33973522e+02] [ 9.02283200e-01 4.31143495e-01 -5.59772602e-04 4.47337158e+02] [ 6.31028521e-04 -2.22523199e-05 9.99999801e-01 1.74666050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.98, Y:447.36, Z:1.75 [[ 4.32310516e-01 -9.01724755e-01 -2.91945956e-04 3.33984585e+02] [ 9.01724581e-01 4.32310614e-01 -5.59872671e-04 4.47358950e+02] [ 6.31062382e-04 -2.12160014e-05 9.99999801e-01 1.74952294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.00, Y:447.38, Z:1.75 [[ 4.34481280e-01 -9.00680818e-01 -2.87089581e-04 3.33996874e+02] [ 9.00680642e-01 4.34481374e-01 -5.62351927e-04 4.47382698e+02] [ 6.31234669e-04 -1.42446436e-05 9.99999801e-01 1.74917164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.01, Y:447.41, Z:1.75 [[ 4.34686019e-01 -9.00582024e-01 -2.86891915e-04 3.34009815e+02] [ 9.00581849e-01 4.34686114e-01 -5.62452751e-04 4.47409229e+02] [ 6.31242769e-04 -1.38793037e-05 9.99999801e-01 1.74832966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.02, Y:447.43, Z:1.75 [[ 4.38988161e-01 -8.98492800e-01 -2.89441520e-04 3.34021613e+02] [ 8.98492624e-01 4.38988256e-01 -5.61152654e-04 4.47431578e+02] [ 6.31253047e-04 -1.37216994e-05 9.99999801e-01 1.74810222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.742755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.03, Y:447.46, Z:1.75 [[ 4.39491428e-01 -8.98246738e-01 -2.86615502e-04 3.34034676e+02] [ 8.98246562e-01 4.39491521e-01 -5.62592383e-04 4.47457272e+02] [ 6.31311856e-04 -1.01968597e-05 9.99999801e-01 1.74707462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.05, Y:447.48, Z:1.75 [[ 4.41645152e-01 -8.97189766e-01 -2.88873649e-04 3.34047313e+02] [ 8.97189591e-01 4.41645246e-01 -5.61442348e-04 4.47480561e+02] [ 6.31300003e-04 -1.12161397e-05 9.99999801e-01 1.74702830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.06, Y:447.50, Z:1.75 [[ 4.42741486e-01 -8.96649260e-01 -2.86322246e-04 3.34060132e+02] [ 8.96649083e-01 4.42741579e-01 -5.62740501e-04 4.47504722e+02] [ 6.31347617e-04 -7.58201383e-06 9.99999801e-01 1.74671986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.08, Y:447.53, Z:1.74 [[ 4.44915987e-01 -8.95572266e-01 -2.86132394e-04 3.34075535e+02] [ 8.95572089e-01 4.44916079e-01 -5.62837017e-04 4.47531550e+02] [ 6.31366125e-04 -5.83699848e-06 9.99999801e-01 1.74438817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.09, Y:447.56, Z:1.74 [[ 4.45306995e-01 -8.95377907e-01 -2.89760829e-04 3.34090542e+02] [ 8.95377731e-01 4.45307089e-01 -5.60992371e-04 4.47556799e+02] [ 6.31332726e-04 -9.63156657e-06 9.99999801e-01 1.74219415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.10, Y:447.58, Z:1.74 [[ 4.46054216e-01 -8.95005894e-01 -2.93048322e-04 3.34104536e+02] [ 8.95005720e-01 4.46054312e-01 -5.59324240e-04 4.47581104e+02] [ 6.31313959e-04 -1.27909893e-05 9.99999801e-01 1.74301958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9227550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.12, Y:447.60, Z:1.74 [[ 4.45822437e-01 -8.95121372e-01 -2.90308105e-04 3.34118057e+02] [ 8.95121197e-01 4.45822531e-01 -5.60712887e-04 4.47604722e+02] [ 6.31331983e-04 -9.88255247e-06 9.99999801e-01 1.74345366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.952755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:334.13, Y:447.63, Z:1.74 [[ 4.44901193e-01 -8.95579614e-01 -2.90583860e-04 3.34128725e+02] [ 8.95579438e-01 4.44901288e-01 -5.60573186e-04 4.47626615e+02] [ 6.31319051e-04 -1.08412502e-05 9.99999801e-01 1.74477032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.14, Y:447.65, Z:1.75 [[ 4.43429075e-01 -8.96309419e-01 -2.84973502e-04 3.34143394e+02] [ 8.96309242e-01 4.43429167e-01 -5.63410908e-04 4.47649929e+02] [ 6.31356066e-04 -5.59160538e-06 9.99999801e-01 1.74546659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.16, Y:447.67, Z:1.75 [[ 4.42640190e-01 -8.96699270e-01 -2.84782970e-04 3.34156523e+02] [ 8.96699093e-01 4.42640282e-01 -5.63507198e-04 4.47673174e+02] [ 6.31352907e-04 -5.93369719e-06 9.99999801e-01 1.74655849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:334.17, Y:447.70, Z:1.74 [[ 4.40638592e-01 -8.97684550e-01 -2.84653409e-04 3.34171040e+02] [ 8.97684373e-01 4.40638684e-01 -5.63572638e-04 4.47697012e+02] [ 6.31339753e-04 -7.19706286e-06 9.99999801e-01 1.74497808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.072755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.18, Y:447.72, Z:1.74 [[ 4.39902644e-01 -8.98045424e-01 -2.84477349e-04 3.34184753e+02] [ 8.98045247e-01 4.39902736e-01 -5.63661495e-04 4.47722049e+02] [ 6.31335990e-04 -7.51734891e-06 9.99999801e-01 1.74415890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:334.20, Y:447.75, Z:1.74 [[ 4.39118924e-01 -8.98428901e-01 -2.84296176e-04 3.34197573e+02] [ 8.98428724e-01 4.39119016e-01 -5.63752859e-04 4.47746363e+02] [ 6.31331718e-04 -7.86530155e-06 9.99999801e-01 1.74399679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.132755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:334.21, Y:447.77, Z:1.74 [[ 4.37714319e-01 -8.99114061e-01 -2.84105404e-04 3.34212086e+02] [ 8.99113884e-01 4.37714412e-01 -5.63848983e-04 4.47770523e+02] [ 6.31321578e-04 -8.63833933e-06 9.99999801e-01 1.74287040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1627550960001 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:334.23, Y:447.79, Z:1.74 [[ 4.36476769e-01 -8.99715483e-01 -2.83929161e-04 3.34225156e+02] [ 8.99715306e-01 4.36476862e-01 -5.63937716e-04 4.47793998e+02] [ 6.31312004e-04 -9.30969977e-06 9.99999801e-01 1.74287517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.192755096 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:334.24, Y:447.82, Z:1.74 [[ 4.34955327e-01 -9.00451989e-01 -2.83743530e-04 3.34239591e+02] [ 9.00451812e-01 4.34955419e-01 -5.64031101e-04 4.47817971e+02] [ 6.31298712e-04 -1.01690436e-05 9.99999801e-01 1.74227580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.222755096 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:334.25, Y:447.84, Z:1.74 [[ 4.34249955e-01 -9.00792372e-01 -2.83568372e-04 3.34254053e+02] [ 9.00792195e-01 4.34250047e-01 -5.64119149e-04 4.47843286e+02] [ 6.31293804e-04 -1.04674613e-05 9.99999801e-01 1.74318500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.252755096 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:334.27, Y:447.87, Z:1.74 [[ 4.32306453e-01 -9.01726705e-01 -2.84841290e-04 3.34267371e+02] [ 9.01726529e-01 4.32306546e-01 -5.63479920e-04 4.47867534e+02] [ 6.31243646e-04 -1.32529422e-05 9.99999801e-01 1.74259880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2827550960001 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:334.28, Y:447.89, Z:1.74 [[ 4.30912420e-01 -9.02393709e-01 -2.84110129e-04 3.34279769e+02] [ 9.02393533e-01 4.30912514e-01 -5.63846868e-04 4.47891410e+02] [ 6.31238476e-04 -1.34105238e-05 9.99999801e-01 1.74067535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.312755096 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:334.29, Y:447.91, Z:1.74 [[ 4.32775863e-01 -9.01501510e-01 -2.82990859e-04 3.34291155e+02] [ 9.01501333e-01 4.32775955e-01 -5.64408064e-04 4.47909061e+02] [ 6.31286361e-04 -1.08544499e-05 9.99999801e-01 1.73998902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.342755096 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:334.31, Y:447.94, Z:1.74 [[ 4.29059136e-01 -9.03276361e-01 -2.71428773e-04 3.34305357e+02] [ 9.03276181e-01 4.29059222e-01 -5.70188786e-04 4.47940092e+02] [ 6.31497070e-04 -5.30437941e-07 9.99999801e-01 1.74104516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.372755096 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:334.32, Y:447.96, Z:1.74 [[ 4.28947760e-01 -9.03329253e-01 -2.82598559e-04 3.34318235e+02] [ 9.03329077e-01 4.28947853e-01 -5.64597967e-04 4.47964826e+02] [ 6.31237905e-04 -1.30964624e-05 9.99999801e-01 1.74008923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4027550960001 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:334.33, Y:447.99, Z:1.74 [[ 4.29365057e-01 -9.03130981e-01 -2.82420903e-04 3.34330185e+02] [ 9.03130804e-01 4.29365149e-01 -5.64686819e-04 4.47988980e+02] [ 6.31247854e-04 -1.26062290e-05 9.99999801e-01 1.73986258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.432755096 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:334.34, Y:448.01, Z:1.74 [[ 4.31406318e-01 -9.02157696e-01 -2.82291450e-04 3.34343146e+02] [ 9.02157520e-01 4.31406411e-01 -5.64751526e-04 4.48014267e+02] [ 6.31277277e-04 -1.10339770e-05 9.99999801e-01 1.73976706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.462755096 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:334.36, Y:448.04, Z:1.74 [[ 4.32173440e-01 -9.01790463e-01 -2.82112571e-04 3.34355332e+02] [ 9.01790286e-01 4.32173532e-01 -5.64840868e-04 4.48038655e+02] [ 6.31289694e-04 -1.02971555e-05 9.99999801e-01 1.73921384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.492755096 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:334.37, Y:448.06, Z:1.74 [[ 4.33288866e-01 -9.01255058e-01 -2.81924134e-04 3.34367556e+02] [ 9.01254881e-01 4.33288958e-01 -5.64934906e-04 4.48063885e+02] [ 6.31305055e-04 -9.30549682e-06 9.99999801e-01 1.74023972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.522755096 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:334.38, Y:448.09, Z:1.74 [[ 4.35865934e-01 -9.00011560e-01 -2.81746420e-04 3.34379414e+02] [ 9.00011383e-01 4.35866025e-01 -5.65023522e-04 4.48087778e+02] [ 6.31331393e-04 -7.30047991e-06 9.99999801e-01 1.74176512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.552755096 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:334.39, Y:448.11, Z:1.74 [[ 4.37267894e-01 -8.99331257e-01 -2.81559204e-04 3.34391826e+02] [ 8.99331079e-01 4.37267985e-01 -5.65116799e-04 4.48112674e+02] [ 6.31344027e-04 -6.10751077e-06 9.99999801e-01 1.74233838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.582755096 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:334.40, Y:448.13, Z:1.74 [[ 4.37215146e-01 -8.99356902e-01 -2.81382925e-04 3.34397323e+02] [ 8.99356724e-01 4.37215237e-01 -5.65204558e-04 4.48134225e+02] [ 6.31345522e-04 -5.94763291e-06 9.99999801e-01 1.74384915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.612755096 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:334.41, Y:448.16, Z:1.74 [[ 4.40178580e-01 -8.97910210e-01 -2.70526870e-04 3.34410053e+02] [ 8.97910029e-01 4.40178663e-01 -5.70601093e-04 4.48159830e+02] [ 6.31428703e-04 8.25758951e-06 9.99999801e-01 1.74308782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.642755096 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:334.42, Y:448.18, Z:1.74 [[ 4.41738071e-01 -8.97144026e-01 -2.70787257e-04 3.34421897e+02] [ 8.97143845e-01 4.41738154e-01 -5.70472097e-04 4.48184586e+02] [ 6.31412697e-04 9.06412270e-06 9.99999801e-01 1.74288308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6727550960001 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:334.44, Y:448.21, Z:1.74 [[ 4.45327280e-01 -8.95367824e-01 -2.71896870e-04 3.34440597e+02] [ 8.95367643e-01 4.45327363e-01 -5.69920179e-04 4.48212674e+02] [ 6.31371307e-04 1.03533441e-05 9.99999801e-01 1.74151817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.702755096 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:334.46, Y:448.24, Z:1.74 [[ 4.48611859e-01 -8.93726648e-01 -2.81413991e-04 3.34455484e+02] [ 8.93726469e-01 4.48611947e-01 -5.65181433e-04 4.48238701e+02] [ 6.31363386e-04 2.03996082e-06 9.99999801e-01 1.74175028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.732755096 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:334.47, Y:448.26, Z:1.74 [[ 4.51860159e-01 -8.92088737e-01 -2.86394631e-04 3.34468284e+02] [ 8.92088560e-01 4.51860249e-01 -5.62703554e-04 4.48261854e+02] [ 6.31391852e-04 -1.22605621e-06 9.99999801e-01 1.74333258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.762755096 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:334.48, Y:448.29, Z:1.74 [[ 4.52197383e-01 -8.91917848e-01 -2.81973248e-04 3.34478326e+02] [ 8.91917669e-01 4.52197471e-01 -5.64899777e-04 4.48286477e+02] [ 6.31351783e-04 3.94927893e-06 9.99999801e-01 1.74283401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7927550960001 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:334.48, Y:448.31, Z:1.74 [[ 4.49500601e-01 -8.93279985e-01 -2.80012685e-04 3.34484642e+02] [ 8.93279805e-01 4.49500689e-01 -5.65872922e-04 4.48308607e+02] [ 6.31348850e-04 4.23054256e-06 9.99999801e-01 1.74296392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.822755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:334.50, Y:448.33, Z:1.74 [[ 4.49580992e-01 -8.93239530e-01 -2.70378827e-04 3.34496935e+02] [ 8.93239348e-01 4.49581073e-01 -5.70652217e-04 4.48333158e+02] [ 6.31286321e-04 1.50413832e-05 9.99999801e-01 1.74297736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.852755096 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:334.51, Y:448.36, Z:1.74 [[ 4.52208702e-01 -8.91912113e-01 -2.70036676e-04 3.34514035e+02] [ 8.91911930e-01 4.52208783e-01 -5.70821859e-04 4.48360322e+02] [ 6.31235887e-04 1.72816791e-05 9.99999801e-01 1.74297832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.882755096 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:334.53, Y:448.39, Z:1.74 [[ 4.48045749e-01 -8.94010587e-01 -2.79688783e-04 3.34528505e+02] [ 8.94010407e-01 4.48045836e-01 -5.66031828e-04 4.48390804e+02] [ 6.31351841e-04 3.56347162e-06 9.99999801e-01 1.73905882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9127550960001 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:334.54, Y:448.41, Z:1.74 [[ 4.49725038e-01 -8.93167009e-01 -2.90111271e-04 3.34539197e+02] [ 8.93166833e-01 4.49725131e-01 -5.60860111e-04 4.48412311e+02] [ 6.31412077e-04 -6.88493049e-06 9.99999801e-01 1.74146363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.942755096 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:334.55, Y:448.44, Z:1.74 [[ 4.43891344e-01 -8.96080574e-01 -2.81840297e-04 3.34551487e+02] [ 8.96080396e-01 4.43891434e-01 -5.64956427e-04 4.48436747e+02] [ 6.31352973e-04 -1.77229760e-06 9.99999801e-01 1.74385009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.972755096 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:334.56, Y:448.46, Z:1.74 [[ 4.42161565e-01 -8.96935378e-01 -2.80036607e-04 3.34564404e+02] [ 8.96935200e-01 4.42161653e-01 -5.65849067e-04 4.48462201e+02] [ 6.31351496e-04 -9.77981600e-07 9.99999801e-01 1.74465721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.002755096 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:334.58, Y:448.49, Z:1.74 [[ 4.40171444e-01 -8.97913705e-01 -2.79844551e-04 3.34576835e+02] [ 8.97913526e-01 4.40171533e-01 -5.65944034e-04 4.48486667e+02] [ 6.31348509e-04 -2.16380478e-06 9.99999801e-01 1.74400163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0327550960001 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:334.58, Y:448.51, Z:1.74 [[ 4.31030515e-01 -9.02337308e-01 -2.79642796e-04 3.34582537e+02] [ 9.02337130e-01 4.31030606e-01 -5.66043706e-04 4.48514923e+02] [ 6.31296958e-04 -8.34996772e-06 9.99999801e-01 1.74232917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.062755096 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:334.60, Y:448.54, Z:1.74 [[ 4.34683468e-01 -9.00583258e-01 -2.79471906e-04 3.34602198e+02] [ 9.00583080e-01 4.34683557e-01 -5.66128067e-04 4.48537262e+02] [ 6.31327302e-04 -5.60115908e-06 9.99999801e-01 1.74453535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.092755096 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:334.60, Y:448.56, Z:1.74 [[ 4.26077336e-01 -9.04686701e-01 -2.79366737e-04 3.34604551e+02] [ 9.04686523e-01 4.26077427e-01 -5.66179960e-04 4.48562656e+02] [ 6.31247341e-04 -1.15028728e-05 9.99999801e-01 1.74158658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.122755096 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:334.62, Y:448.59, Z:1.74 [[ 4.22173204e-01 -9.06515147e-01 -2.73449286e-04 3.34617534e+02] [ 9.06514968e-01 4.22173292e-01 -5.69096175e-04 4.48591363e+02] [ 6.31337288e-04 -7.62871548e-06 9.99999801e-01 1.74222138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1527550960001 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:334.63, Y:448.62, Z:1.74 [[ 4.19866661e-01 -9.07585759e-01 -2.79135312e-04 3.34628747e+02] [ 9.07585582e-01 4.19866753e-01 -5.66293439e-04 4.48617399e+02] [ 6.31159498e-04 -1.55714488e-05 9.99999801e-01 1.74229671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.182755096 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:334.65, Y:448.65, Z:1.74 [[ 4.23776449e-01 -9.05766771e-01 -2.78959238e-04 3.34652934e+02] [ 9.05766594e-01 4.23776541e-01 -5.66380161e-04 4.48646910e+02] [ 6.31224710e-04 -1.26533858e-05 9.99999801e-01 1.73552085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.212755096 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:334.67, Y:448.68, Z:1.74 [[ 4.19474865e-01 -9.07766904e-01 -2.91844500e-04 3.34667743e+02] [ 9.07766732e-01 4.19474966e-01 -5.60053714e-04 4.48678905e+02] [ 6.30819688e-04 -2.99982717e-05 9.99999801e-01 1.73651517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.242755096 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:334.68, Y:448.70, Z:1.74 [[ 4.22916454e-01 -9.06168628e-01 -3.02018670e-04 3.34675890e+02] [ 9.06168458e-01 4.22916561e-01 -5.55056065e-04 4.48695292e+02] [ 6.30703090e-04 -3.89374499e-05 9.99999800e-01 1.73859366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.272755096 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:334.68, Y:448.73, Z:1.74 [[ 4.12424008e-01 -9.10991962e-01 -2.86796449e-04 3.34684706e+02] [ 9.10991789e-01 4.12424107e-01 -5.62499503e-04 4.48727485e+02] [ 6.30714296e-04 -2.92809105e-05 9.99999801e-01 1.73775395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.302755096 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:334.70, Y:448.75, Z:1.73 [[ 4.16258393e-01 -9.09246316e-01 -2.94222369e-04 3.34696189e+02] [ 9.09246145e-01 4.16258496e-01 -5.58869753e-04 4.48748139e+02] [ 6.30622825e-04 -3.48863296e-05 9.99999801e-01 1.73463999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.332755096 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:334.71, Y:448.78, Z:1.74 [[ 4.11442218e-01 -9.11435800e-01 -2.88835829e-04 3.34708211e+02] [ 9.11435628e-01 4.11442318e-01 -5.61493047e-04 4.48780678e+02] [ 6.30604147e-04 -3.22333208e-05 9.99999801e-01 1.73784469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.362755096 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:334.72, Y:448.80, Z:1.74 [[ 4.10349841e-01 -9.11928133e-01 -2.97042945e-04 3.34716577e+02] [ 9.11927963e-01 4.10349947e-01 -5.57499238e-04 4.48803647e+02] [ 6.30290796e-04 -4.21120437e-05 9.99999801e-01 1.73965129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.392755096 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:334.72, Y:448.82, Z:1.74 [[ 4.05566722e-01 -9.14065396e-01 -2.93581866e-04 3.34715380e+02] [ 9.14065226e-01 4.05566826e-01 -5.59183168e-04 4.48822193e+02] [ 6.30197049e-04 -4.15668903e-05 9.99999801e-01 1.74295597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4227550960001 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:334.73, Y:448.85, Z:1.74 [[ 4.06417552e-01 -9.13687418e-01 -2.75285999e-04 3.34725792e+02] [ 9.13687242e-01 4.06417644e-01 -5.68049640e-04 4.48845790e+02] [ 6.30900896e-04 -2.06599611e-05 9.99999801e-01 1.74403639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.452755096 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:334.75, Y:448.88, Z:1.74 [[ 4.14161430e-01 -9.10203403e-01 -2.75142667e-04 3.34752476e+02] [ 9.10203226e-01 4.14161521e-01 -5.68119056e-04 4.48878997e+02] [ 6.31057403e-04 -1.51427429e-05 9.99999801e-01 1.74101705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.482755096 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:334.76, Y:448.91, Z:1.74 [[ 4.14859904e-01 -9.09885252e-01 -2.98600747e-04 3.34760770e+02] [ 9.09885082e-01 4.14860010e-01 -5.56723645e-04 4.48905326e+02] [ 6.30432142e-04 -4.07300473e-05 9.99999801e-01 1.73854169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.512755096 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:334.76, Y:448.92, Z:1.74 [[ 4.09831864e-01 -9.12161037e-01 -2.95125249e-04 3.34757936e+02] [ 9.12160866e-01 4.09831968e-01 -5.58408541e-04 4.48922981e+02] [ 6.30310275e-04 -4.03480900e-05 9.99999801e-01 1.74481289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5427550960001 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:334.77, Y:448.95, Z:1.74 [[ 4.11494028e-01 -9.11412415e-01 -2.74342966e-04 3.34768818e+02] [ 9.11412237e-01 4.11494119e-01 -5.68438601e-04 4.48947371e+02] [ 6.30972515e-04 -1.61304464e-05 9.99999801e-01 1.74269582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.572755096 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:334.78, Y:448.97, Z:1.74 [[ 4.12311294e-01 -9.11042986e-01 -2.74212626e-04 3.34779608e+02] [ 9.11042808e-01 4.12311385e-01 -5.68501469e-04 4.48972676e+02] [ 6.30990263e-04 -1.54198649e-05 9.99999801e-01 1.74276667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.602755096 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:334.80, Y:449.00, Z:1.75 [[ 4.16001081e-01 -9.09364077e-01 -2.74034788e-04 3.34796934e+02] [ 9.09363900e-01 4.16001172e-01 -5.68587180e-04 4.49002125e+02] [ 6.31051549e-04 -1.26644614e-05 9.99999801e-01 1.74544188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.632755096 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:334.81, Y:449.03, Z:1.75 [[ 4.16144838e-01 -9.09298297e-01 -2.83694873e-04 3.34809439e+02] [ 9.09298123e-01 4.16144934e-01 -5.63932281e-04 4.49029143e+02] [ 6.30840847e-04 -2.32857078e-05 9.99999801e-01 1.74577117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6627550960001 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:334.82, Y:449.05, Z:1.74 [[ 4.16433528e-01 -9.09166121e-01 -2.84644696e-04 3.34820457e+02] [ 9.09165947e-01 4.16433624e-01 -5.63475069e-04 4.49053201e+02] [ 6.30828065e-04 -2.41393539e-05 9.99999801e-01 1.74494586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.692755096 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:334.82, Y:449.07, Z:1.75 [[ 4.14894932e-01 -9.09869284e-01 -2.84681676e-04 3.34823166e+02] [ 9.09869110e-01 4.14895029e-01 -5.63457266e-04 4.49073755e+02] [ 6.30785472e-04 -2.52474989e-05 9.99999801e-01 1.74573171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.722755096 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:334.84, Y:449.10, Z:1.74 [[ 4.17990860e-01 -9.08451191e-01 -2.73201584e-04 3.34843748e+02] [ 9.08451013e-01 4.17990949e-01 -5.68969651e-04 4.49103606e+02] [ 6.31076946e-04 -1.03661421e-05 9.99999801e-01 1.74272261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.752755096 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:334.85, Y:449.13, Z:1.74 [[ 4.16071396e-01 -9.09331904e-01 -2.86535134e-04 3.34853858e+02] [ 9.09331730e-01 4.16071494e-01 -5.62578290e-04 4.49130943e+02] [ 6.30789489e-04 -2.64827548e-05 9.99999801e-01 1.74432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7827550960001 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:334.86, Y:449.15, Z:1.74 [[ 4.14067130e-01 -9.10246302e-01 -2.85992394e-04 3.34861011e+02] [ 9.10246128e-01 4.14067228e-01 -5.62838074e-04 4.49153881e+02] [ 6.30741353e-04 -2.72707226e-05 9.99999801e-01 1.74284513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.812755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:334.87, Y:449.17, Z:1.74 [[ 4.17267132e-01 -9.08783837e-01 -2.80894662e-04 3.34872244e+02] [ 9.08783661e-01 4.17267227e-01 -5.65277650e-04 4.49173169e+02] [ 6.30923328e-04 -1.94006951e-05 9.99999801e-01 1.74109309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.842755096 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:334.88, Y:449.20, Z:1.74 [[ 4.15300025e-01 -9.09684459e-01 -2.71902222e-04 3.34882200e+02] [ 9.09684281e-01 4.15300114e-01 -5.69570472e-04 4.49199724e+02] [ 6.31050430e-04 -1.08025460e-05 9.99999801e-01 1.74152347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.872755096 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:334.90, Y:449.23, Z:1.74 [[ 4.11053592e-01 -9.11611140e-01 -2.72394041e-04 3.34895067e+02] [ 9.11610962e-01 4.11053682e-01 -5.69335882e-04 4.49230297e+02] [ 6.30981506e-04 -1.42898342e-05 9.99999801e-01 1.74082978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9027550960001 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:334.91, Y:449.25, Z:1.74 [[ 4.15227054e-01 -9.09717766e-01 -2.81396746e-04 3.34906003e+02] [ 9.09717591e-01 4.15227149e-01 -5.65039678e-04 4.49248826e+02] [ 6.30870202e-04 -2.13718087e-05 9.99999801e-01 1.74057498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.932755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:334.92, Y:449.28, Z:1.74 [[ 4.09975809e-01 -9.12096356e-01 -2.71293858e-04 3.34917768e+02] [ 9.12096178e-01 4.09975899e-01 -5.69849460e-04 4.49275983e+02] [ 6.30981559e-04 -1.38215975e-05 9.99999801e-01 1.74074151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.962755096 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:334.93, Y:449.30, Z:1.74 [[ 4.08931966e-01 -9.12564832e-01 -2.73828719e-04 3.34931607e+02] [ 9.12564655e-01 4.08932058e-01 -5.68643270e-04 4.49303783e+02] [ 6.30901192e-04 -1.73500000e-05 9.99999801e-01 1.74214859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.992755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:334.94, Y:449.33, Z:1.74 [[ 4.08225972e-01 -9.12880867e-01 -2.79732183e-04 3.34941669e+02] [ 9.12880692e-01 4.08226067e-01 -5.65834294e-04 4.49326912e+02] [ 6.30733269e-04 -2.43738538e-05 9.99999801e-01 1.74189258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.022755096 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:334.95, Y:449.35, Z:1.74 [[ 4.06055720e-01 -9.13848278e-01 -2.78433244e-04 3.34946014e+02] [ 9.13848103e-01 4.06055815e-01 -5.66452180e-04 4.49348477e+02] [ 6.30710787e-04 -2.44345440e-05 9.99999801e-01 1.74378620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.052755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:334.96, Y:449.37, Z:1.74 [[ 4.07262191e-01 -9.13311248e-01 -2.67648013e-04 3.34957193e+02] [ 9.13311070e-01 4.07262279e-01 -5.71570693e-04 4.49372441e+02] [ 6.31024883e-04 -1.16667599e-05 9.99999801e-01 1.74341706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.082755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:334.97, Y:449.40, Z:1.74 [[ 4.08497174e-01 -9.12759546e-01 -2.65552791e-04 3.34974437e+02] [ 9.12759366e-01 4.08497260e-01 -5.72565903e-04 4.49402077e+02] [ 6.31092581e-04 -8.49424412e-06 9.99999801e-01 1.73992605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.112755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:334.99, Y:449.42, Z:1.74 [[ 4.10784435e-01 -9.11732456e-01 -2.76836873e-04 3.34987612e+02] [ 9.11732280e-01 4.10784528e-01 -5.67201322e-04 4.49424616e+02] [ 6.30856159e-04 -1.94036381e-05 9.99999801e-01 1.74124035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.142755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:335.00, Y:449.45, Z:1.74 [[ 4.08536321e-01 -9.12742022e-01 -2.76512670e-04 3.34995868e+02] [ 9.12741846e-01 4.08536414e-01 -5.67355337e-04 4.49451214e+02] [ 6.30814552e-04 -2.05994230e-05 9.99999801e-01 1.74161685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1727550960001 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:335.01, Y:449.48, Z:1.74 [[ 4.07579838e-01 -9.13169535e-01 -2.75798218e-04 3.35008109e+02] [ 9.13169359e-01 4.07579931e-01 -5.67694337e-04 4.49478312e+02] [ 6.30810993e-04 -2.04697161e-05 9.99999801e-01 1.74090279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.202755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:335.02, Y:449.51, Z:1.74 [[ 4.07995491e-01 -9.12983901e-01 -2.76472788e-04 3.35023163e+02] [ 9.12983725e-01 4.07995584e-01 -5.67375543e-04 4.49506944e+02] [ 6.30804414e-04 -2.09284928e-05 9.99999801e-01 1.74219674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.232755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:335.03, Y:449.53, Z:1.74 [[ 4.09214656e-01 -9.12438100e-01 -2.82374654e-04 3.35031773e+02] [ 9.12437925e-01 4.09214753e-01 -5.64586238e-04 4.49527641e+02] [ 6.30701868e-04 -2.66123802e-05 9.99999801e-01 1.74314513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.05, Y:449.56, Z:1.74 [[ 4.09264077e-01 -9.12415936e-01 -2.74893558e-04 3.35048811e+02] [ 9.12415759e-01 4.09264169e-01 -5.68112051e-04 4.49559583e+02] [ 6.30858572e-04 -1.83093599e-05 9.99999801e-01 1.74424027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.06, Y:449.58, Z:1.74 [[ 4.05854677e-01 -9.13937579e-01 -2.87269699e-04 3.35056018e+02] [ 9.13937407e-01 4.05854777e-01 -5.62288912e-04 4.49583305e+02] [ 6.30486746e-04 -3.43389394e-05 9.99999801e-01 1.74174810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.322755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.07, Y:449.61, Z:1.74 [[ 4.06470435e-01 -9.13663892e-01 -2.79563289e-04 3.35066863e+02] [ 9.13663717e-01 4.06470531e-01 -5.65904513e-04 4.49606521e+02] [ 6.30680758e-04 -2.54033796e-05 9.99999801e-01 1.74174745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.08, Y:449.63, Z:1.74 [[ 4.07669100e-01 -9.13129688e-01 -2.78015496e-04 3.35078599e+02] [ 9.13129513e-01 4.07669194e-01 -5.66631563e-04 4.49629543e+02] [ 6.30746456e-04 -2.28659749e-05 9.99999801e-01 1.74348208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.09, Y:449.66, Z:1.74 [[ 4.06082447e-01 -9.13836402e-01 -2.76581198e-04 3.35090251e+02] [ 9.13836226e-01 4.06082541e-01 -5.67304075e-04 4.49657872e+02] [ 6.30737910e-04 -2.23776907e-05 9.99999801e-01 1.74249734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.10, Y:449.68, Z:1.74 [[ 4.05440616e-01 -9.14121343e-01 -2.79127078e-04 3.35099787e+02] [ 9.14121168e-01 4.05440712e-01 -5.66110862e-04 4.49682224e+02] [ 6.30663502e-04 -2.56316337e-05 9.99999801e-01 1.74209639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.11, Y:449.71, Z:1.74 [[ 4.04966313e-01 -9.14331564e-01 -2.78007853e-04 3.35111559e+02] [ 9.14331388e-01 4.04966408e-01 -5.66634674e-04 4.49708793e+02] [ 6.30675809e-04 -2.47233514e-05 9.99999801e-01 1.74219812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.12, Y:449.73, Z:1.74 [[ 4.05320209e-01 -9.14174737e-01 -2.79100891e-04 3.35120895e+02] [ 9.14174562e-01 4.05320304e-01 -5.66125140e-04 4.49734284e+02] [ 6.30662559e-04 -2.56849749e-05 9.99999801e-01 1.74177276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.13, Y:449.76, Z:1.74 [[ 4.04426989e-01 -9.14570246e-01 -2.76446177e-04 3.35132958e+02] [ 9.14570070e-01 4.04427083e-01 -5.67360956e-04 4.49762064e+02] [ 6.30693770e-04 -2.33733155e-05 9.99999801e-01 1.74049897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.14, Y:449.79, Z:1.74 [[ 4.04290707e-01 -9.14630497e-01 -2.78808721e-04 3.35143650e+02] [ 9.14630322e-01 4.04290803e-01 -5.66266787e-04 4.49788212e+02] [ 6.30644675e-04 -2.60705107e-05 9.99999801e-01 1.74091504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.15, Y:449.81, Z:1.74 [[ 4.05299221e-01 -9.14184043e-01 -2.77165477e-04 3.35154932e+02] [ 9.14183868e-01 4.05299315e-01 -5.67026765e-04 4.49813407e+02] [ 6.30701799e-04 -2.35647019e-05 9.99999801e-01 1.74018339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.592755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.16, Y:449.84, Z:1.74 [[ 4.03713283e-01 -9.14885516e-01 -2.78862794e-04 3.35163886e+02] [ 9.14885341e-01 4.03713378e-01 -5.66239891e-04 4.49838467e+02] [ 6.30625316e-04 -2.65289167e-05 9.99999801e-01 1.73857399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.17, Y:449.87, Z:1.74 [[ 4.05298275e-01 -9.14184463e-01 -2.74712453e-04 3.35173951e+02] [ 9.14184287e-01 4.05298368e-01 -5.68153225e-04 4.49865891e+02] [ 6.30737360e-04 -2.08662860e-05 9.99999801e-01 1.74026140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.18, Y:449.89, Z:1.74 [[ 4.04776627e-01 -9.14415555e-01 -2.75246247e-04 3.35184994e+02] [ 9.14415379e-01 4.04776720e-01 -5.67907358e-04 4.49891584e+02] [ 6.30716595e-04 -2.18137767e-05 9.99999801e-01 1.73989497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.20, Y:449.92, Z:1.74 [[ 4.03416902e-01 -9.15016243e-01 -2.79343654e-04 3.35195607e+02] [ 9.15016069e-01 4.03416998e-01 -5.66015197e-04 4.49917848e+02] [ 6.30605077e-04 -2.72638344e-05 9.99999801e-01 1.73983762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.21, Y:449.94, Z:1.74 [[ 4.02716590e-01 -9.15324680e-01 -2.78735575e-04 3.35207134e+02] [ 9.15324506e-01 4.02716686e-01 -5.66295421e-04 4.49944172e+02] [ 6.30595643e-04 -2.70769412e-05 9.99999801e-01 1.73985552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.22, Y:449.97, Z:1.74 [[ 4.02609076e-01 -9.15371977e-01 -2.76069098e-04 3.35218060e+02] [ 9.15371801e-01 4.02609170e-01 -5.67515250e-04 4.49969322e+02] [ 6.30635506e-04 -2.42190770e-05 9.99999801e-01 1.74034973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.23, Y:449.99, Z:1.74 [[ 4.00880791e-01 -9.16130185e-01 -2.73223582e-04 3.35227448e+02] [ 9.16130009e-01 4.00880884e-01 -5.68814818e-04 4.49993195e+02] [ 6.30638535e-04 -2.22813882e-05 9.99999801e-01 1.74066361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.24, Y:450.02, Z:1.74 [[ 3.98897992e-01 -9.16995267e-01 -2.70094353e-04 3.35237473e+02] [ 9.16995089e-01 3.98898083e-01 -5.70240574e-04 4.50020024e+02] [ 6.30648027e-04 -2.02073749e-05 9.99999801e-01 1.74131905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.25, Y:450.04, Z:1.74 [[ 3.98329486e-01 -9.17242361e-01 -2.68665630e-04 3.35247469e+02] [ 9.17242183e-01 3.98329576e-01 -5.70890703e-04 4.50044892e+02] [ 6.30662603e-04 -1.90288495e-05 9.99999801e-01 1.74041125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.26, Y:450.07, Z:1.74 [[ 3.96290422e-01 -9.18125171e-01 -2.67766271e-04 3.35258392e+02] [ 9.18124993e-01 3.96290512e-01 -5.71299660e-04 4.50072935e+02] [ 6.30637831e-04 -1.94423221e-05 9.99999801e-01 1.73957299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.892755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.27, Y:450.10, Z:1.74 [[ 3.97330165e-01 -9.17675687e-01 -2.71360494e-04 3.35269242e+02] [ 9.17675510e-01 3.97330257e-01 -5.69668065e-04 4.50097565e+02] [ 6.30590268e-04 -2.26745740e-05 9.99999801e-01 1.74104018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9227550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.28, Y:450.12, Z:1.74 [[ 3.97392138e-01 -9.17648853e-01 -2.67568686e-04 3.35280762e+02] [ 9.17648675e-01 3.97392227e-01 -5.71386281e-04 4.50122341e+02] [ 6.30661682e-04 -1.84696345e-05 9.99999801e-01 1.74193332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.29, Y:450.15, Z:1.74 [[ 3.95754149e-01 -9.18356457e-01 -2.68096219e-04 3.35292593e+02] [ 9.18356280e-01 3.95754239e-01 -5.71147026e-04 4.50150635e+02] [ 6.30616774e-04 -2.01740415e-05 9.99999801e-01 1.74384071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.30, Y:450.18, Z:1.74 [[ 3.95965524e-01 -9.18265336e-01 -2.75631255e-04 3.35302901e+02] [ 9.18265161e-01 3.95965619e-01 -5.67725456e-04 4.50176516e+02] [ 6.30463107e-04 -2.83028710e-05 9.99999801e-01 1.74295917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.31, Y:450.20, Z:1.74 [[ 3.95771234e-01 -9.18349093e-01 -2.72979587e-04 3.35312692e+02] [ 9.18348917e-01 3.95771327e-01 -5.68920740e-04 4.50200261e+02] [ 6.30505339e-04 -2.55280451e-05 9.99999801e-01 1.74165052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.32, Y:450.22, Z:1.74 [[ 3.97912702e-01 -9.17423245e-01 -2.67525519e-04 3.35322603e+02] [ 9.17423067e-01 3.97912791e-01 -5.71374190e-04 4.50224693e+02] [ 6.30643790e-04 -1.80770345e-05 9.99999801e-01 1.74290089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.33, Y:450.25, Z:1.74 [[ 3.98214158e-01 -9.17292436e-01 -2.67314904e-04 3.35334304e+02] [ 9.17292258e-01 3.98214247e-01 -5.71469024e-04 4.50251877e+02] [ 6.30652817e-04 -1.76388359e-05 9.99999801e-01 1.74257560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.34, Y:450.28, Z:1.74 [[ 3.97868803e-01 -9.17442284e-01 -2.67360301e-04 3.35344399e+02] [ 9.17442106e-01 3.97868893e-01 -5.71448680e-04 4.50278180e+02] [ 6.30645529e-04 -1.79259954e-05 9.99999801e-01 1.74079441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.35, Y:450.30, Z:1.74 [[ 3.97697226e-01 -9.17516673e-01 -2.67209185e-04 3.35354276e+02] [ 9.17516495e-01 3.97697315e-01 -5.71516317e-04 4.50302823e+02] [ 6.30644126e-04 -1.78783811e-05 9.99999801e-01 1.74033269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.36, Y:450.33, Z:1.74 [[ 3.98350485e-01 -9.17233242e-01 -2.65923425e-04 3.35363701e+02] [ 9.17233064e-01 3.98350573e-01 -5.72091240e-04 4.50325995e+02] [ 6.30671852e-04 -1.60209349e-05 9.99999801e-01 1.74138388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.37, Y:450.35, Z:1.74 [[ 3.97780103e-01 -9.17480747e-01 -2.63020153e-04 3.35374664e+02] [ 9.17480567e-01 3.97780190e-01 -5.73388938e-04 4.50351570e+02] [ 6.30697517e-04 -1.32331681e-05 9.99999801e-01 1.73992201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.39, Y:450.38, Z:1.74 [[ 3.95316435e-01 -9.18544962e-01 -2.62424285e-04 3.35385688e+02] [ 9.18544783e-01 3.95316522e-01 -5.73653878e-04 4.50378398e+02] [ 6.30667535e-04 -1.42736519e-05 9.99999801e-01 1.73870091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.40, Y:450.40, Z:1.74 [[ 3.94460871e-01 -9.18912702e-01 -2.62008578e-04 3.35396408e+02] [ 9.18912522e-01 3.94460958e-01 -5.73838504e-04 4.50402795e+02] [ 6.30659644e-04 -1.44061274e-05 9.99999801e-01 1.73958786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.41, Y:450.43, Z:1.74 [[ 3.93499045e-01 -9.19324988e-01 -2.63636434e-04 3.35407049e+02] [ 9.19324809e-01 3.93499133e-01 -5.73113226e-04 4.50425524e+02] [ 6.30618017e-04 -1.68480074e-05 9.99999801e-01 1.73956128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.42, Y:450.45, Z:1.74 [[ 3.92607432e-01 -9.19706114e-01 -2.60632051e-04 3.35418577e+02] [ 9.19705935e-01 3.92607518e-01 -5.74450007e-04 4.50450033e+02] [ 6.30651287e-04 -1.41715026e-05 9.99999801e-01 1.73896201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.43, Y:450.48, Z:1.74 [[ 3.91199873e-01 -9.20305706e-01 -2.59333295e-04 3.35431316e+02] [ 9.20305526e-01 3.91199959e-01 -5.75026253e-04 4.50476096e+02] [ 6.30651116e-04 -1.37156677e-05 9.99999801e-01 1.73871507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.44, Y:450.50, Z:1.74 [[ 3.90874671e-01 -9.20443873e-01 -2.60802307e-04 3.35444131e+02] [ 9.20443694e-01 3.90874758e-01 -5.74374953e-04 4.50502684e+02] [ 6.30620945e-04 -1.55452177e-05 9.99999801e-01 1.73765436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.46, Y:450.53, Z:1.74 [[ 3.90212399e-01 -9.20724832e-01 -2.61345467e-04 3.35455431e+02] [ 9.20724653e-01 3.90212486e-01 -5.74134537e-04 4.50527935e+02] [ 6.30600189e-04 -1.65927990e-05 9.99999801e-01 1.73797880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.47, Y:450.55, Z:1.74 [[ 3.89644008e-01 -9.20965515e-01 -2.60727863e-04 3.35469374e+02] [ 9.20965336e-01 3.89644095e-01 -5.74407552e-04 4.50553191e+02] [ 6.30600619e-04 -1.63068630e-05 9.99999801e-01 1.73766991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.48, Y:450.57, Z:1.74 [[ 3.90584701e-01 -9.20566958e-01 -2.60713688e-04 3.35480807e+02] [ 9.20566779e-01 3.90584787e-01 -5.74413811e-04 4.50574791e+02] [ 6.30617175e-04 -1.56471132e-05 9.99999801e-01 1.73919117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.50, Y:450.60, Z:1.74 [[ 3.90217841e-01 -9.20722527e-01 -2.55576834e-04 3.35495278e+02] [ 9.20722346e-01 3.90217924e-01 -5.76678901e-04 4.50599826e+02] [ 6.30691917e-04 -1.02849068e-05 9.99999801e-01 1.73848246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.522755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.51, Y:450.62, Z:1.74 [[ 3.89797392e-01 -9.20900606e-01 -2.57335212e-04 3.35508092e+02] [ 9.20900426e-01 3.89797477e-01 -5.75903961e-04 4.50624916e+02] [ 6.30658924e-04 -1.24942441e-05 9.99999801e-01 1.73684919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.52, Y:450.65, Z:1.74 [[ 3.89161351e-01 -9.21169570e-01 -2.58254952e-04 3.35522005e+02] [ 9.21169390e-01 3.89161437e-01 -5.75498839e-04 4.50648335e+02] [ 6.30634886e-04 -1.39346514e-05 9.99999801e-01 1.73814830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.54, Y:450.68, Z:1.74 [[ 3.88147629e-01 -9.21597175e-01 -2.57500211e-04 3.35536095e+02] [ 9.21596995e-01 3.88147714e-01 -5.75830449e-04 4.50676401e+02] [ 6.30631833e-04 -1.38041977e-05 9.99999801e-01 1.73631449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.55, Y:450.70, Z:1.74 [[ 3.87801229e-01 -9.21742990e-01 -2.61829171e-04 3.35548785e+02] [ 9.21742811e-01 3.87801317e-01 -5.73929804e-04 4.50701815e+02] [ 6.30553470e-04 -1.87684733e-05 9.99999801e-01 1.73654645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.56, Y:450.72, Z:1.74 [[ 3.89219886e-01 -9.21144838e-01 -2.61709641e-04 3.35563587e+02] [ 9.21144659e-01 3.89219973e-01 -5.73982212e-04 4.50723861e+02] [ 6.30583370e-04 -1.76671468e-05 9.99999801e-01 1.73616443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.58, Y:450.75, Z:1.74 [[ 3.86625667e-01 -9.22236698e-01 -2.58810328e-04 3.35575401e+02] [ 9.22236519e-01 3.86625753e-01 -5.75250056e-04 4.50750830e+02] [ 6.30579450e-04 -1.62778996e-05 9.99999801e-01 1.73727389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.59, Y:450.78, Z:1.74 [[ 3.86079042e-01 -9.22465666e-01 -2.60409024e-04 3.35590639e+02] [ 9.22465487e-01 3.86079130e-01 -5.74551698e-04 4.50776194e+02] [ 6.30542704e-04 -1.83959678e-05 9.99999801e-01 1.73761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.732755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.60, Y:450.80, Z:1.74 [[ 3.86358584e-01 -9.22348620e-01 -2.61190688e-04 3.35602651e+02] [ 9.22348441e-01 3.86358672e-01 -5.74210560e-04 4.50798441e+02] [ 6.30535605e-04 -1.90576450e-05 9.99999801e-01 1.73822253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.762755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:335.62, Y:450.83, Z:1.74 [[ 3.84973778e-01 -9.22927475e-01 -2.58328994e-04 3.35617061e+02] [ 9.22927296e-01 3.84973864e-01 -5.75457777e-04 4.50826480e+02] [ 6.30555704e-04 -1.68827255e-05 9.99999801e-01 1.73656285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.63, Y:450.85, Z:1.74 [[ 3.84593661e-01 -9.23085937e-01 -2.62154044e-04 3.35630790e+02] [ 9.23085759e-01 3.84593749e-01 -5.73791199e-04 4.50848355e+02] [ 6.30481394e-04 -2.13142071e-05 9.99999801e-01 1.73580599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.822755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.64, Y:450.87, Z:1.74 [[ 3.83613533e-01 -9.23493687e-01 -2.58645294e-04 3.35643771e+02] [ 9.23493508e-01 3.83613620e-01 -5.75317305e-04 4.50874284e+02] [ 6.30521756e-04 -1.81577457e-05 9.99999801e-01 1.73601229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.65, Y:450.89, Z:1.74 [[ 3.81362820e-01 -9.24425407e-01 -2.60048280e-04 3.35652343e+02] [ 9.24425228e-01 3.81362908e-01 -5.74707416e-04 4.50894117e+02] [ 6.30446904e-04 -2.12231497e-05 9.99999801e-01 1.73711201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.67, Y:450.92, Z:1.74 [[ 3.84619806e-01 -9.23075047e-01 -2.50949243e-04 3.35668916e+02] [ 9.23074866e-01 3.84619888e-01 -5.78653467e-04 4.50918379e+02] [ 6.30660646e-04 -9.08335444e-06 9.99999801e-01 1.73517822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.68, Y:450.95, Z:1.74 [[ 3.84459873e-01 -9.23141669e-01 -2.55184411e-04 3.35682602e+02] [ 9.23141489e-01 3.84459957e-01 -5.76819548e-04 4.50946270e+02] [ 6.30594348e-04 -1.38073472e-05 9.99999801e-01 1.73579497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.69, Y:450.97, Z:1.73 [[ 3.86992846e-01 -9.22082680e-01 -2.60436051e-04 3.35692831e+02] [ 9.22082502e-01 3.86992933e-01 -5.74545837e-04 4.50969577e+02] [ 6.30565676e-04 -1.77983964e-05 9.99999801e-01 1.73479333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.70, Y:451.00, Z:1.74 [[ 3.88434657e-01 -9.21476235e-01 -2.57264600e-04 3.35703062e+02] [ 9.21476055e-01 3.88434742e-01 -5.75915471e-04 4.50997493e+02] [ 6.30622928e-04 -1.33576403e-05 9.99999801e-01 1.73625976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.002755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:335.71, Y:451.02, Z:1.74 [[ 3.88199455e-01 -9.21575345e-01 -2.58936718e-04 3.35707401e+02] [ 9.21575166e-01 3.88199541e-01 -5.75193908e-04 4.51017307e+02] [ 6.30603640e-04 -1.53396874e-05 9.99999801e-01 1.73678333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.72, Y:451.05, Z:1.74 [[ 3.89428156e-01 -9.21056812e-01 -2.45588462e-04 3.35721918e+02] [ 9.21056629e-01 3.89428233e-01 -5.80938079e-04 4.51046698e+02] [ 6.30716056e-04 3.27639768e-08 9.99999801e-01 1.73754527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.73, Y:451.07, Z:1.74 [[ 3.89915307e-01 -9.20850688e-01 -2.54048637e-04 3.35734178e+02] [ 9.20850507e-01 3.89915389e-01 -5.77295809e-04 4.51072804e+02] [ 6.30660716e-04 -8.84434354e-06 9.99999801e-01 1.73720813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.74, Y:451.10, Z:1.74 [[ 3.89034151e-01 -9.21223298e-01 -2.54410022e-04 3.35744708e+02] [ 9.21223117e-01 3.89034234e-01 -5.77140462e-04 4.51099127e+02] [ 6.30649447e-04 -9.84104377e-06 9.99999801e-01 1.73809879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.76, Y:451.12, Z:1.74 [[ 3.88541420e-01 -9.21431224e-01 -2.52904573e-04 3.35755298e+02] [ 9.21431043e-01 3.88541503e-01 -5.77786889e-04 4.51124433e+02] [ 6.30654803e-04 -8.53998641e-06 9.99999801e-01 1.73863665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.77, Y:451.15, Z:1.74 [[ 3.87661104e-01 -9.21801934e-01 -2.52305744e-04 3.35765653e+02] [ 9.21801753e-01 3.87661186e-01 -5.78043773e-04 4.51150254e+02] [ 6.30651012e-04 -8.49079004e-06 9.99999801e-01 1.73815852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.77, Y:451.18, Z:1.74 [[ 3.86004278e-01 -9.22496956e-01 -2.52108586e-04 3.35774796e+02] [ 9.22496775e-01 3.86004361e-01 -5.78128237e-04 4.51176326e+02] [ 6.30636553e-04 -9.40938460e-06 9.99999801e-01 1.73660019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.78, Y:451.20, Z:1.74 [[ 3.87248593e-01 -9.21975306e-01 -2.50261651e-04 3.35784159e+02] [ 9.21975124e-01 3.87248674e-01 -5.78918687e-04 4.51196827e+02] [ 6.30662225e-04 -6.54956944e-06 9.99999801e-01 1.73682010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.242755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:335.80, Y:451.23, Z:1.74 [[ 3.83461787e-01 -9.23556712e-01 -2.40995654e-04 3.35797325e+02] [ 9.23556528e-01 3.83461863e-01 -5.82878952e-04 4.51228122e+02] [ 6.30734411e-04 9.38695114e-07 9.99999801e-01 1.73698203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.81, Y:451.25, Z:1.74 [[ 3.79333777e-01 -9.25259868e-01 -2.51252936e-04 3.35807323e+02] [ 9.25259687e-01 3.79333860e-01 -5.78491156e-04 4.51253316e+02] [ 6.30563397e-04 -1.30329775e-05 9.99999801e-01 1.73614594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.82, Y:451.27, Z:1.74 [[ 3.79309828e-01 -9.25269687e-01 -2.49424315e-04 3.35817250e+02] [ 9.25269505e-01 3.79309909e-01 -5.79272590e-04 4.51274534e+02] [ 6.30592482e-04 -1.10609260e-05 9.99999801e-01 1.73580214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.83, Y:451.30, Z:1.74 [[ 3.75046697e-01 -9.27005888e-01 -2.42260414e-04 3.35829492e+02] [ 9.27005705e-01 3.75046775e-01 -5.82330710e-04 4.51303621e+02] [ 6.30682984e-04 -6.17557668e-06 9.99999801e-01 1.73591129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.84, Y:451.32, Z:1.74 [[ 3.72919529e-01 -9.27863656e-01 -2.48673667e-04 3.35839726e+02] [ 9.27863475e-01 3.72919612e-01 -5.79592524e-04 4.51323609e+02] [ 6.30518125e-04 -1.45938420e-05 9.99999801e-01 1.73510935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.85, Y:451.35, Z:1.73 [[ 3.68210391e-01 -9.29742465e-01 -2.36909872e-04 3.35850562e+02] [ 9.29742281e-01 3.68210468e-01 -5.84577063e-04 4.51352066e+02] [ 6.30738814e-04 -5.01777525e-06 9.99999801e-01 1.73476691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4227550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:335.86, Y:451.38, Z:1.74 [[ 3.64629853e-01 -9.31152517e-01 -2.44420954e-04 3.35862196e+02] [ 9.31152336e-01 3.64629935e-01 -5.81386135e-04 4.51379814e+02] [ 6.30482359e-04 -1.56024011e-05 9.99999801e-01 1.73542078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.452755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:335.87, Y:451.41, Z:1.74 [[ 3.64076321e-01 -9.31369085e-01 -2.46639512e-04 3.35873768e+02] [ 9.31368904e-01 3.64076404e-01 -5.80444152e-04 4.51405966e+02] [ 6.30403366e-04 -1.83864007e-05 9.99999801e-01 1.73672560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.482755096 meters Centerline goodness : 0.999820 Centerline is valid? [True, True] Translation: X:335.88, Y:451.43, Z:1.74 [[ 3.63700154e-01 -9.31516042e-01 -2.47404484e-04 3.35884868e+02] [ 9.31515862e-01 3.63700238e-01 -5.80119566e-04 4.51431417e+02] [ 6.30371752e-04 -1.94716257e-05 9.99999801e-01 1.73826209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.512755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:335.89, Y:451.46, Z:1.74 [[ 3.62658513e-01 -9.31922069e-01 -2.47806820e-04 3.35894153e+02] [ 9.31921888e-01 3.62658597e-01 -5.79948975e-04 4.51456762e+02] [ 6.30336522e-04 -2.06131676e-05 9.99999801e-01 1.73571882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5427550960001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:335.91, Y:451.48, Z:1.74 [[ 3.64167351e-01 -9.31333496e-01 -2.45213092e-04 3.35905560e+02] [ 9.31333315e-01 3.64167433e-01 -5.81047373e-04 4.51482793e+02] [ 6.30447503e-04 -1.67766389e-05 9.99999801e-01 1.73728266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.572755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:335.92, Y:451.51, Z:1.74 [[ 3.65064844e-01 -9.30982061e-01 -2.47100852e-04 3.35916936e+02] [ 9.30981881e-01 3.65064927e-01 -5.80248371e-04 4.51509425e+02] [ 6.30408679e-04 -1.82181346e-05 9.99999801e-01 1.73766890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.602755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:335.93, Y:451.54, Z:1.74 [[ 3.64710501e-01 -9.31120932e-01 -2.47862211e-04 3.35927899e+02] [ 9.31120751e-01 3.64710584e-01 -5.79926380e-04 4.51535865e+02] [ 6.30379563e-04 -1.92844073e-05 9.99999801e-01 1.73768725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.94, Y:451.57, Z:1.74 [[ 3.68069404e-01 -9.29798286e-01 -2.47634236e-04 3.35943850e+02] [ 9.29798105e-01 3.68069487e-01 -5.80022694e-04 4.51565086e+02] [ 6.30450712e-04 -1.67612358e-05 9.99999801e-01 1.73744962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6627550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:335.95, Y:451.59, Z:1.74 [[ 3.66103688e-01 -9.30574030e-01 -2.56088310e-04 3.35948891e+02] [ 9.30573851e-01 3.66103776e-01 -5.76448690e-04 4.51587837e+02] [ 6.30183078e-04 -2.72690937e-05 9.99999801e-01 1.73736012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.96, Y:451.61, Z:1.74 [[ 3.68931062e-01 -9.29456728e-01 -2.47628883e-04 3.35959218e+02] [ 9.29456548e-01 3.68931145e-01 -5.80016617e-04 4.51613594e+02] [ 6.30458354e-04 -1.61741404e-05 9.99999801e-01 1.73888484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.97, Y:451.64, Z:1.74 [[ 3.70076511e-01 -9.29001246e-01 -2.47121511e-04 3.35968564e+02] [ 9.29001065e-01 3.70076593e-01 -5.80230435e-04 4.51637391e+02] [ 6.30488684e-04 -1.48464925e-05 9.99999801e-01 1.74186623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.98, Y:451.66, Z:1.74 [[ 3.73371773e-01 -9.27681766e-01 -2.44712102e-04 3.35979687e+02] [ 9.27681584e-01 3.73371853e-01 -5.81244829e-04 4.51663312e+02] [ 6.30578841e-04 -9.99449848e-06 9.99999801e-01 1.74147386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:335.99, Y:451.69, Z:1.74 [[ 3.74712629e-01 -9.27140974e-01 -2.44526191e-04 3.35990026e+02] [ 9.27140792e-01 3.74712709e-01 -5.81323030e-04 4.51688264e+02] [ 6.30595472e-04 -8.88112510e-06 9.99999801e-01 1.74141924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.812755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:336.00, Y:451.72, Z:1.74 [[ 3.76318102e-01 -9.26490489e-01 -2.44330260e-04 3.36001535e+02] [ 9.26490307e-01 3.76318181e-01 -5.81405369e-04 4.51715627e+02] [ 6.30612463e-04 -7.57625224e-06 9.99999801e-01 1.73878648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.01, Y:451.74, Z:1.74 [[ 3.79318175e-01 -9.25266265e-01 -2.46968405e-04 3.36010586e+02] [ 9.25266083e-01 3.79318256e-01 -5.80296798e-04 4.51739690e+02] [ 6.30608675e-04 -8.39436665e-06 9.99999801e-01 1.74033782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.02, Y:451.76, Z:1.74 [[ 3.80117105e-01 -9.24938337e-01 -2.44068371e-04 3.36020397e+02] [ 9.24938154e-01 3.80117184e-01 -5.81513977e-04 4.51764153e+02] [ 6.30639152e-04 -4.70473869e-06 9.99999801e-01 1.73942576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9027550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:336.03, Y:451.79, Z:1.74 [[ 3.81498303e-01 -9.24369507e-01 -2.43855304e-04 3.36031771e+02] [ 9.24369324e-01 3.81498381e-01 -5.81603312e-04 4.51790369e+02] [ 6.30646770e-04 -3.53168566e-06 9.99999801e-01 1.74060918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.04, Y:451.81, Z:1.74 [[ 3.81415688e-01 -9.24403599e-01 -2.43669920e-04 3.36042249e+02] [ 9.24403416e-01 3.81415766e-01 -5.81680970e-04 4.51814617e+02] [ 6.30647531e-04 -3.38705903e-06 9.99999801e-01 1.74092696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.05, Y:451.84, Z:1.74 [[ 3.81042514e-01 -9.24557485e-01 -2.43451647e-04 3.36053167e+02] [ 9.24557302e-01 3.81042592e-01 -5.81772310e-04 4.51839665e+02] [ 6.30647390e-04 -3.40501385e-06 9.99999801e-01 1.74141889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.06, Y:451.86, Z:1.74 [[ 3.79917453e-01 -9.25020362e-01 -2.43245457e-04 3.36064263e+02] [ 9.25020179e-01 3.79917530e-01 -5.81858507e-04 4.51864132e+02] [ 6.30644181e-04 -3.94875450e-06 9.99999801e-01 1.74201894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.08, Y:451.89, Z:1.74 [[ 3.79082485e-01 -9.25362853e-01 -2.43040596e-04 3.36075442e+02] [ 9.25362670e-01 3.79082563e-01 -5.81944065e-04 4.51889822e+02] [ 6.30641872e-04 -4.29589273e-06 9.99999801e-01 1.74261268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.09, Y:451.91, Z:1.74 [[ 3.77572223e-01 -9.25980106e-01 -2.42853605e-04 3.36086389e+02] [ 9.25979923e-01 3.77572301e-01 -5.82022089e-04 4.51914102e+02] [ 6.30635670e-04 -5.12218820e-06 9.99999801e-01 1.74232958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.10, Y:451.94, Z:1.74 [[ 3.76551357e-01 -9.26395713e-01 -2.42633742e-04 3.36099102e+02] [ 9.26395530e-01 3.76551435e-01 -5.82113731e-04 4.51942754e+02] [ 6.30631748e-04 -5.57909837e-06 9.99999801e-01 1.74156178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.11, Y:451.97, Z:1.74 [[ 3.75952512e-01 -9.26638898e-01 -2.46614890e-04 3.36108471e+02] [ 9.26638717e-01 3.75952593e-01 -5.80454382e-04 4.51966028e+02] [ 6.30587117e-04 -1.02996220e-05 9.99999801e-01 1.74257962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.12, Y:451.99, Z:1.74 [[ 3.73575318e-01 -9.27599818e-01 -2.42355123e-04 3.36118669e+02] [ 9.27599636e-01 3.73575397e-01 -5.82227531e-04 4.51989726e+02] [ 6.30612064e-04 -7.30268881e-06 9.99999801e-01 1.74260576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.13, Y:452.02, Z:1.74 [[ 3.72145286e-01 -9.28174460e-01 -2.42194988e-04 3.36129478e+02] [ 9.28174277e-01 3.72145364e-01 -5.82294137e-04 4.52015063e+02] [ 6.30602288e-04 -8.10113995e-06 9.99999801e-01 1.74327848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.202755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:336.14, Y:452.04, Z:1.74 [[ 3.70685433e-01 -9.28758446e-01 -2.41991311e-04 3.36141757e+02] [ 9.28758264e-01 3.70685512e-01 -5.82378769e-04 4.52043194e+02] [ 6.30591874e-04 -8.87210353e-06 9.99999801e-01 1.74253986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.15, Y:452.07, Z:1.74 [[ 3.70062547e-01 -9.29006809e-01 -2.46285394e-04 3.36150237e+02] [ 9.29006628e-01 3.70062628e-01 -5.80594965e-04 4.52066865e+02] [ 6.30517696e-04 -1.39443117e-05 9.99999801e-01 1.74219872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.17, Y:452.10, Z:1.74 [[ 3.71653993e-01 -9.28371290e-01 -2.41595590e-04 3.36165677e+02] [ 9.28371107e-01 3.71654072e-01 -5.82539958e-04 4.52096606e+02] [ 6.30603357e-04 -7.78706345e-06 9.99999801e-01 1.73991962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.17, Y:452.12, Z:1.74 [[ 3.69371169e-01 -9.29281915e-01 -2.49588376e-04 3.36169637e+02] [ 9.29281735e-01 3.69371253e-01 -5.79222877e-04 4.52117621e+02] [ 6.30452115e-04 -1.79896883e-05 9.99999801e-01 1.73968389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.322755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:336.18, Y:452.14, Z:1.74 [[ 3.69539989e-01 -9.29214798e-01 -2.37760372e-04 3.36181723e+02] [ 9.29214614e-01 3.69540065e-01 -5.84117791e-04 4.52143778e+02] [ 6.30632878e-04 -5.07553082e-06 9.99999801e-01 1.74114474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.19, Y:452.17, Z:1.74 [[ 3.69993696e-01 -9.29034233e-01 -2.41148244e-04 3.36191509e+02] [ 9.29034051e-01 3.69993775e-01 -5.82715771e-04 4.52169613e+02] [ 6.30586248e-04 -8.43376806e-06 9.99999801e-01 1.74162422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.20, Y:452.19, Z:1.74 [[ 3.68634604e-01 -9.29574349e-01 -2.40944662e-04 3.36195128e+02] [ 9.29574166e-01 3.68634683e-01 -5.82799937e-04 4.52191070e+02] [ 6.30576431e-04 -9.13570966e-06 9.99999801e-01 1.73810356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.21, Y:452.22, Z:1.74 [[ 3.68571836e-01 -9.29599241e-01 -2.30781506e-04 3.36206384e+02] [ 9.29599055e-01 3.68571908e-01 -5.87002971e-04 4.52219629e+02] [ 6.30737096e-04 1.81849315e-06 9.99999801e-01 1.73998940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.442755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:336.22, Y:452.25, Z:1.74 [[ 3.68130227e-01 -9.29774210e-01 -2.35477068e-04 3.36215872e+02] [ 9.29774026e-01 3.68130302e-01 -5.85060507e-04 4.52245339e+02] [ 6.30660414e-04 -3.56200463e-06 9.99999801e-01 1.73885626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.23, Y:452.27, Z:1.74 [[ 3.70176573e-01 -9.28961382e-01 -2.34985460e-04 3.36226091e+02] [ 9.28961198e-01 3.70176648e-01 -5.85263631e-04 4.52268659e+02] [ 6.30673442e-04 -1.64148908e-06 9.99999801e-01 1.74061221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.24, Y:452.30, Z:1.74 [[ 3.69516408e-01 -9.29224177e-01 -2.31186708e-04 3.36237214e+02] [ 9.29223991e-01 3.69516481e-01 -5.86831613e-04 4.52295872e+02] [ 6.30725421e-04 2.01967467e-06 9.99999801e-01 1.74090029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5327550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.25, Y:452.32, Z:1.74 [[ 3.69966928e-01 -9.29044895e-01 -2.35314966e-04 3.36245495e+02] [ 9.29044711e-01 3.69967002e-01 -5.85129438e-04 4.52320594e+02] [ 6.30670290e-04 -2.13958416e-06 9.99999801e-01 1.73994485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.26, Y:452.34, Z:1.75 [[ 3.75512439e-01 -9.26817325e-01 -2.34714207e-04 3.36259152e+02] [ 9.26817140e-01 3.75512513e-01 -5.85376991e-04 4.52344046e+02] [ 6.30675658e-04 2.27919166e-06 9.99999801e-01 1.74523310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.27, Y:452.37, Z:1.74 [[ 3.72377724e-01 -9.28081233e-01 -2.34917626e-04 3.36266832e+02] [ 9.28081049e-01 3.72377798e-01 -5.85292905e-04 4.52372446e+02] [ 6.30677469e-04 -7.25572426e-08 9.99999801e-01 1.74345930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.28, Y:452.40, Z:1.74 [[ 3.73984555e-01 -9.27434902e-01 -2.36936279e-04 3.36276233e+02] [ 9.27434718e-01 3.73984630e-01 -5.84458804e-04 4.52396234e+02] [ 6.30658020e-04 -1.16436568e-06 9.99999801e-01 1.74325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.29, Y:452.42, Z:1.75 [[ 3.77770310e-01 -9.25899314e-01 -2.32317224e-04 3.36288182e+02] [ 9.25899128e-01 3.77770382e-01 -5.86363729e-04 4.52419533e+02] [ 6.30676341e-04 6.40849309e-06 9.99999801e-01 1.74584762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.30, Y:452.45, Z:1.75 [[ 3.74227404e-01 -9.27336938e-01 -2.29856816e-04 3.36299836e+02] [ 9.27336752e-01 3.74227475e-01 -5.87378299e-04 4.52451309e+02] [ 6.30716329e-04 6.65838318e-06 9.99999801e-01 1.74701755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.31, Y:452.47, Z:1.75 [[ 3.75824818e-01 -9.26690697e-01 -2.40684205e-04 3.36308340e+02] [ 9.26690514e-01 3.75824895e-01 -5.82907639e-04 4.52473886e+02] [ 6.30630203e-04 -3.96861245e-06 9.99999801e-01 1.74691102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.32, Y:452.50, Z:1.75 [[ 3.75738330e-01 -9.26725770e-01 -2.34979119e-04 3.36317849e+02] [ 9.26725585e-01 3.75738403e-01 -5.85259693e-04 4.52499294e+02] [ 6.30665919e-04 2.14333816e-06 9.99999801e-01 1.74703531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.33, Y:452.53, Z:1.74 [[ 3.73262329e-01 -9.27725810e-01 -2.34208083e-04 3.36328503e+02] [ 9.27725625e-01 3.73262403e-01 -5.85577368e-04 4.52527858e+02] [ 6.30676310e-04 1.29313212e-06 9.99999801e-01 1.74394607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.35, Y:452.56, Z:1.74 [[ 3.75168926e-01 -9.26956428e-01 -2.40311289e-04 3.36346467e+02] [ 9.26956245e-01 3.75169003e-01 -5.83061907e-04 4.52559641e+02] [ 6.30630329e-04 -4.01134094e-06 9.99999801e-01 1.74033108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.35, Y:452.58, Z:1.74 [[ 3.72558787e-01 -9.28008559e-01 -2.54251633e-04 3.36354069e+02] [ 9.28008380e-01 3.72558874e-01 -5.77306165e-04 4.52583281e+02] [ 6.30468765e-04 -2.08671613e-05 9.99999801e-01 1.74269724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.36, Y:452.60, Z:1.75 [[ 3.66676836e-01 -9.30348341e-01 -2.49827338e-04 3.36357508e+02] [ 9.30348161e-01 3.66676920e-01 -5.79124983e-04 4.52604663e+02] [ 6.30393886e-04 -2.00746883e-05 9.99999801e-01 1.74748882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.892755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:336.37, Y:452.63, Z:1.75 [[ 3.65235508e-01 -9.30915123e-01 -2.39157220e-04 3.36367720e+02] [ 9.30914941e-01 3.65235586e-01 -5.83498322e-04 4.52629574e+02] [ 6.30536139e-04 -9.52072386e-06 9.99999801e-01 1.74817777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.38, Y:452.65, Z:1.75 [[ 3.71671217e-01 -9.28364395e-01 -2.38949482e-04 3.36384452e+02] [ 9.28364212e-01 3.71671293e-01 -5.83583380e-04 4.52651250e+02] [ 6.30588695e-04 -4.93100281e-06 9.99999801e-01 1.74874988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.39, Y:452.68, Z:1.75 [[ 3.62408473e-01 -9.32019336e-01 -2.38742529e-04 3.36386902e+02] [ 9.32019153e-01 3.62408551e-01 -5.83668032e-04 4.52679795e+02] [ 6.30512226e-04 -1.09863699e-05 9.99999801e-01 1.74914687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.40, Y:452.70, Z:1.75 [[ 3.61940886e-01 -9.32201018e-01 -2.38534354e-04 3.36396434e+02] [ 9.32200836e-01 3.61940964e-01 -5.83753097e-04 4.52704832e+02] [ 6.30510586e-04 -1.10778115e-05 9.99999801e-01 1.74897799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.012755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.41, Y:452.73, Z:1.75 [[ 3.62094971e-01 -9.32141178e-01 -2.38327525e-04 3.36405517e+02] [ 9.32140995e-01 3.62095049e-01 -5.83837526e-04 4.52729670e+02] [ 6.30516216e-04 -1.07502245e-05 9.99999801e-01 1.74835822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0427550960001 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:336.43, Y:452.76, Z:1.75 [[ 3.66582303e-01 -9.30385597e-01 -2.38110925e-04 3.36426045e+02] [ 9.30385414e-01 3.66582380e-01 -5.83925851e-04 4.52762357e+02] [ 6.30563471e-04 -7.47804899e-06 9.99999801e-01 1.74621191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.43, Y:452.78, Z:1.75 [[ 3.69248018e-01 -9.29330854e-01 -2.55585287e-04 3.36434774e+02] [ 9.29330675e-01 3.69248106e-01 -5.76782804e-04 4.52783340e+02] [ 6.30396439e-04 -2.45473403e-05 9.99999801e-01 1.74593537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.44, Y:452.81, Z:1.75 [[ 3.69780403e-01 -9.29119148e-01 -2.47938401e-04 3.36443722e+02] [ 9.29118968e-01 3.69780486e-01 -5.79908066e-04 4.52808615e+02] [ 6.30486470e-04 -1.59256325e-05 9.99999801e-01 1.74595763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.132755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.45, Y:452.84, Z:1.75 [[ 3.66809901e-01 -9.30295886e-01 -2.47782179e-04 3.36454580e+02] [ 9.30295705e-01 3.66809984e-01 -5.79971790e-04 4.52839774e+02] [ 6.30434348e-04 -1.77713019e-05 9.99999801e-01 1.74760641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.46, Y:452.86, Z:1.75 [[ 3.69115754e-01 -9.29383396e-01 -2.53681665e-04 3.36462103e+02] [ 9.29383216e-01 3.69115840e-01 -5.77572595e-04 4.52861280e+02] [ 6.30424301e-04 -2.25763380e-05 9.99999801e-01 1.75110496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.47, Y:452.89, Z:1.75 [[ 3.66187596e-01 -9.30541017e-01 -2.43913117e-04 3.36473081e+02] [ 9.30540836e-01 3.66187677e-01 -5.81534201e-04 4.52891507e+02] [ 6.30459405e-04 -1.40205043e-05 9.99999801e-01 1.75066635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.222755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.47, Y:452.91, Z:1.75 [[ 3.63582780e-01 -9.31561860e-01 -2.53050600e-04 3.36473553e+02] [ 9.31561681e-01 3.63582867e-01 -5.77827564e-04 4.52910321e+02] [ 6.30286983e-04 -2.56440901e-05 9.99999801e-01 1.75184008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.252755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.49, Y:452.94, Z:1.75 [[ 3.66785535e-01 -9.30305496e-01 -2.36230477e-04 3.36491618e+02] [ 9.30305312e-01 3.66785611e-01 -5.84624112e-04 4.52941909e+02] [ 6.30524964e-04 -5.33480011e-06 9.99999801e-01 1.75245583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.50, Y:452.97, Z:1.75 [[ 3.68459722e-01 -9.29643679e-01 -2.51087308e-04 3.36499548e+02] [ 9.29643499e-01 3.68459807e-01 -5.78609296e-04 4.52967477e+02] [ 6.30416056e-04 -2.02274632e-05 9.99999801e-01 1.75167898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.51, Y:452.99, Z:1.75 [[ 3.70029902e-01 -9.29019811e-01 -2.50089475e-04 3.36508119e+02] [ 9.29019631e-01 3.70029986e-01 -5.79012797e-04 4.52991761e+02] [ 6.30454964e-04 -1.80859838e-05 9.99999801e-01 1.75016543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.342755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:336.52, Y:453.02, Z:1.75 [[ 3.69998405e-01 -9.29032356e-01 -2.48858446e-04 3.36517313e+02] [ 9.29032176e-01 3.69998488e-01 -5.79511484e-04 4.53017235e+02] [ 6.30462169e-04 -1.67791791e-05 9.99999801e-01 1.75010746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.372755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:336.53, Y:453.05, Z:1.75 [[ 3.73914305e-01 -9.27463224e-01 -2.47827073e-04 3.36529199e+02] [ 9.27463042e-01 3.73914387e-01 -5.79928493e-04 4.53045146e+02] [ 6.30528458e-04 -1.30068919e-05 9.99999801e-01 1.74615894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4027550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:336.54, Y:453.06, Z:1.75 [[ 3.74114322e-01 -9.27382559e-01 -2.51781735e-04 3.36537407e+02] [ 9.27382379e-01 3.74114406e-01 -5.78330635e-04 4.53063399e+02] [ 6.30528919e-04 -1.71361714e-05 9.99999801e-01 1.74970731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.432755096 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:336.54, Y:453.09, Z:1.75 [[ 3.70282211e-01 -9.28919279e-01 -2.39946351e-04 3.36540198e+02] [ 9.28919096e-01 3.70282289e-01 -5.83096598e-04 4.53086711e+02] [ 6.30497555e-04 -6.98045015e-06 9.99999801e-01 1.75134596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.462755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:336.55, Y:453.11, Z:1.75 [[ 3.69584604e-01 -9.29197055e-01 -2.30778970e-04 3.36549050e+02] [ 9.29196870e-01 3.69584676e-01 -5.86779118e-04 4.53112384e+02] [ 6.30525800e-04 2.42543144e-06 9.99999801e-01 1.75186927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.492755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:336.56, Y:453.14, Z:1.75 [[ 3.69368218e-01 -9.29283093e-01 -2.31835150e-04 3.36559256e+02] [ 9.29282907e-01 3.69368291e-01 -5.86355027e-04 4.53138168e+02] [ 6.30522366e-04 1.14046860e-06 9.99999801e-01 1.75188714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.522755096 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:336.58, Y:453.17, Z:1.75 [[ 3.71632893e-01 -9.28379739e-01 -2.31694625e-04 3.36577325e+02] [ 9.28379553e-01 3.71632965e-01 -5.86411409e-04 4.53168920e+02] [ 6.30517831e-04 2.82921557e-06 9.99999801e-01 1.74948578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.552755096 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:336.59, Y:453.20, Z:1.75 [[ 3.67865533e-01 -9.29878966e-01 -2.42336410e-04 3.36587933e+02] [ 9.29878784e-01 3.67865613e-01 -5.82152909e-04 4.53200307e+02] [ 6.30478977e-04 -1.11894956e-05 9.99999801e-01 1.74755271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.59, Y:453.22, Z:1.75 [[ 3.68404543e-01 -9.29665547e-01 -2.50796740e-04 3.36594433e+02] [ 9.29665367e-01 3.68404628e-01 -5.78766454e-04 4.53216153e+02] [ 6.30453912e-04 -1.99368522e-05 9.99999801e-01 1.75176495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.612755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:336.61, Y:453.25, Z:1.75 [[ 3.64163730e-01 -9.31334915e-01 -2.33479482e-04 3.36606324e+02] [ 9.31334731e-01 3.64163805e-01 -5.85670041e-04 4.53248749e+02] [ 6.30479735e-04 -4.16776418e-06 9.99999801e-01 1.75089585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.642755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.61, Y:453.27, Z:1.75 [[ 3.61584613e-01 -9.32339266e-01 -2.45867254e-04 3.36610692e+02] [ 9.32339085e-01 3.61584696e-01 -5.80724383e-04 4.53268149e+02] [ 6.30333982e-04 -1.92506494e-05 9.99999801e-01 1.75126157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6727550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:336.62, Y:453.29, Z:1.75 [[ 3.59854529e-01 -9.33008395e-01 -2.30534959e-04 3.36620074e+02] [ 9.33008210e-01 3.59854603e-01 -5.86817962e-04 4.53294276e+02] [ 6.30465151e-04 -3.92190860e-06 9.99999801e-01 1.74982847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.63, Y:453.32, Z:1.75 [[ 3.56661682e-01 -9.34233585e-01 -2.31530462e-04 3.36628626e+02] [ 9.34233401e-01 3.56661757e-01 -5.86422506e-04 4.53322326e+02] [ 6.30433662e-04 -7.14905365e-06 9.99999801e-01 1.75031438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.64, Y:453.35, Z:1.75 [[ 3.54663156e-01 -9.34994113e-01 -2.33998842e-04 3.36637465e+02] [ 9.34993930e-01 3.54663233e-01 -5.85442224e-04 4.53347940e+02] [ 6.30375819e-04 -1.11527097e-05 9.99999801e-01 1.75003452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.65, Y:453.38, Z:1.75 [[ 3.52384423e-01 -9.35855311e-01 -2.33694376e-04 3.36647148e+02] [ 9.35855128e-01 3.52384501e-01 -5.85562989e-04 4.53375137e+02] [ 6.30352509e-04 -1.23608043e-05 9.99999801e-01 1.75047413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.66, Y:453.40, Z:1.75 [[ 3.52510632e-01 -9.35807779e-01 -2.35082232e-04 3.36656901e+02] [ 9.35807596e-01 3.52510710e-01 -5.85012907e-04 4.53400178e+02] [ 6.30328633e-04 -1.37684689e-05 9.99999801e-01 1.75136955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.67, Y:453.43, Z:1.75 [[ 3.51128179e-01 -9.36327372e-01 -2.33431026e-04 3.36665807e+02] [ 9.36327189e-01 3.51128256e-01 -5.85666686e-04 4.53426277e+02] [ 6.30339978e-04 -1.29237398e-05 9.99999801e-01 1.75047676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.852755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:336.68, Y:453.45, Z:1.75 [[ 3.50100477e-01 -9.36712123e-01 -2.33486876e-04 3.36675522e+02] [ 9.36711940e-01 3.50100555e-01 -5.85644597e-04 4.53454302e+02] [ 6.30324279e-04 -1.36754915e-05 9.99999801e-01 1.75155384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.882755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.68, Y:453.48, Z:1.75 [[ 3.51165987e-01 -9.36313193e-01 -2.35273337e-04 3.36683533e+02] [ 9.36313010e-01 3.51166065e-01 -5.84938469e-04 4.53479367e+02] [ 6.30305617e-04 -1.48789918e-05 9.99999801e-01 1.75028784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.69, Y:453.51, Z:1.75 [[ 3.50725027e-01 -9.36478458e-01 -2.33021772e-04 3.36692588e+02] [ 9.36478274e-01 3.50725104e-01 -5.85827336e-04 4.53506482e+02] [ 6.30341265e-04 -1.27555187e-05 9.99999801e-01 1.75054935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.70, Y:453.53, Z:1.75 [[ 3.52579571e-01 -9.35781808e-01 -2.33640182e-04 3.36702997e+02] [ 9.35781624e-01 3.52579649e-01 -5.85583361e-04 4.53531564e+02] [ 6.30355029e-04 -1.21714581e-05 9.99999801e-01 1.75241697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.71, Y:453.56, Z:1.75 [[ 3.52134826e-01 -9.35949256e-01 -2.33125967e-04 3.36710444e+02] [ 9.35949073e-01 3.52134903e-01 -5.85786140e-04 4.53556328e+02] [ 6.30357892e-04 -1.19183322e-05 9.99999801e-01 1.75002685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.72, Y:453.58, Z:1.75 [[ 3.53697874e-01 -9.35359695e-01 -2.32560226e-04 3.36718771e+02] [ 9.35359512e-01 3.53697951e-01 -5.86008983e-04 4.53581188e+02] [ 6.30385259e-04 -1.02572880e-05 9.99999801e-01 1.75086155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.73, Y:453.61, Z:1.75 [[ 3.55571586e-01 -9.34649022e-01 -2.30297502e-04 3.36731593e+02] [ 9.34648838e-01 3.55571660e-01 -5.86898957e-04 4.53608653e+02] [ 6.30431802e-04 -6.56270022e-06 9.99999801e-01 1.75474854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.74, Y:453.64, Z:1.75 [[ 3.52571396e-01 -9.35784887e-01 -2.35764777e-04 3.36737003e+02] [ 9.35784705e-01 3.52571474e-01 -5.84754018e-04 4.53635332e+02] [ 6.30327908e-04 -1.44575324e-05 9.99999801e-01 1.75153932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.75, Y:453.66, Z:1.76 [[ 3.52762532e-01 -9.35712852e-01 -2.32056467e-04 3.36745954e+02] [ 9.35712669e-01 3.52762608e-01 -5.86206360e-04 4.53659386e+02] [ 6.30381670e-04 -1.03465357e-05 9.99999801e-01 1.75627031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.76, Y:453.68, Z:1.76 [[ 3.51409646e-01 -9.36221773e-01 -2.29176281e-04 3.36755329e+02] [ 9.36221589e-01 3.51409721e-01 -5.87332690e-04 4.53684774e+02] [ 6.30408425e-04 -8.16540906e-06 9.99999801e-01 1.75688715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.77, Y:453.71, Z:1.75 [[ 3.50264163e-01 -9.36650929e-01 -2.30296065e-04 3.36766760e+02] [ 9.36650745e-01 3.50264238e-01 -5.86895110e-04 4.53712703e+02] [ 6.30380326e-04 -1.01386570e-05 9.99999801e-01 1.75310263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.78, Y:453.74, Z:1.75 [[ 3.49252219e-01 -9.37028726e-01 -2.33435904e-04 3.36777404e+02] [ 9.37028543e-01 3.49252297e-01 -5.85668850e-04 4.53739947e+02] [ 6.30316562e-04 -1.41899593e-05 9.99999801e-01 1.75357885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.79, Y:453.77, Z:1.75 [[ 3.46454835e-01 -9.38066625e-01 -2.33269245e-04 3.36787031e+02] [ 9.38066442e-01 3.46454913e-01 -5.85733833e-04 4.53766043e+02] [ 6.30274636e-04 -1.58917322e-05 9.99999801e-01 1.75416680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.80, Y:453.79, Z:1.75 [[ 3.45035149e-01 -9.38589736e-01 -2.32963432e-04 3.36796193e+02] [ 9.38589553e-01 3.45035227e-01 -5.85852935e-04 4.53791558e+02] [ 6.30256142e-04 -1.65171886e-05 9.99999801e-01 1.75374382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.81, Y:453.82, Z:1.75 [[ 3.43240089e-01 -9.39247671e-01 -2.32118493e-04 3.36806244e+02] [ 9.39247488e-01 3.43240167e-01 -5.86181828e-04 4.53819252e+02] [ 6.30242307e-04 -1.68156085e-05 9.99999801e-01 1.75384089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.302755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:336.82, Y:453.85, Z:1.75 [[ 3.41752820e-01 -9.39789847e-01 -2.32325686e-04 3.36816217e+02] [ 9.39789664e-01 3.41752898e-01 -5.86101222e-04 4.53845794e+02] [ 6.30209954e-04 -1.80355332e-05 9.99999801e-01 1.75291288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.83, Y:453.87, Z:1.75 [[ 3.41476579e-01 -9.39890255e-01 -2.33708150e-04 3.36825562e+02] [ 9.39890073e-01 3.41476658e-01 -5.85563692e-04 4.53871527e+02] [ 6.30171486e-04 -1.97036837e-05 9.99999801e-01 1.75351603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.84, Y:453.90, Z:1.75 [[ 3.40275931e-01 -9.40325602e-01 -2.31765733e-04 3.36835232e+02] [ 9.40325419e-01 3.40276009e-01 -5.86318132e-04 4.53897021e+02] [ 6.30194269e-04 -1.84252620e-05 9.99999801e-01 1.75281275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.84, Y:453.92, Z:1.75 [[ 3.40378527e-01 -9.40288469e-01 -2.32485664e-04 3.36844888e+02] [ 9.40288286e-01 3.40378606e-01 -5.86039034e-04 4.53923639e+02] [ 6.30178892e-04 -1.91284437e-05 9.99999801e-01 1.75396413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.85, Y:453.95, Z:1.75 [[ 3.40059406e-01 -9.40403928e-01 -2.31946775e-04 3.36854878e+02] [ 9.40403745e-01 3.40059484e-01 -5.86247675e-04 4.53950820e+02] [ 6.30185316e-04 -1.87645797e-05 9.99999801e-01 1.75437975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.86, Y:453.98, Z:1.75 [[ 3.39573172e-01 -9.40579612e-01 -2.32568932e-04 3.36864572e+02] [ 9.40579430e-01 3.39573251e-01 -5.86007379e-04 4.53977738e+02] [ 6.30160782e-04 -1.97571683e-05 9.99999801e-01 1.75487034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.87, Y:454.00, Z:1.76 [[ 3.37585501e-01 -9.41294840e-01 -2.32430373e-04 3.36871767e+02] [ 9.41294658e-01 3.37585581e-01 -5.86060824e-04 4.54002044e+02] [ 6.30121171e-04 -2.09398309e-05 9.99999801e-01 1.76066348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.89, Y:454.03, Z:1.76 [[ 3.39323064e-01 -9.40669871e-01 -2.29518947e-04 3.36889608e+02] [ 9.40669688e-01 3.39323141e-01 -5.87183496e-04 4.54034763e+02] [ 6.30226913e-04 -1.66566138e-05 9.99999801e-01 1.75922363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:336.89, Y:454.06, Z:1.76 [[ 3.36752999e-01 -9.41592990e-01 -2.45340796e-04 3.36892805e+02] [ 9.41592811e-01 3.36753086e-01 -5.81109408e-04 4.54055812e+02] [ 6.29787815e-04 -3.53207937e-05 9.99999801e-01 1.75603334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.90, Y:454.08, Z:1.76 [[ 3.36396110e-01 -9.41720556e-01 -2.29555666e-04 3.36902076e+02] [ 9.41720373e-01 3.36396188e-01 -5.87140572e-04 4.54082438e+02] [ 6.30143997e-04 -1.86654426e-05 9.99999801e-01 1.75675124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:454.11, Z:1.76 [[ 3.38294609e-01 -9.41040225e-01 -2.28391002e-04 3.36916423e+02] [ 9.41040042e-01 3.38294686e-01 -5.87585002e-04 4.54111387e+02] [ 6.30204585e-04 -1.61482397e-05 9.99999801e-01 1.75925686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.92, Y:454.13, Z:1.76 [[ 3.36197929e-01 -9.41791323e-01 -2.37270136e-04 3.36921253e+02] [ 9.41791142e-01 3.36198012e-01 -5.84195367e-04 4.54134287e+02] [ 6.29959876e-04 -2.70536395e-05 9.99999801e-01 1.75829405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.93, Y:454.16, Z:1.76 [[ 3.38338131e-01 -9.41024579e-01 -2.26620823e-04 3.36934428e+02] [ 9.41024395e-01 3.38338207e-01 -5.88246733e-04 4.54162193e+02] [ 6.30229117e-04 -1.42294226e-05 9.99999801e-01 1.76238687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.94, Y:454.19, Z:1.76 [[ 3.38041698e-01 -9.41131105e-01 -2.31297882e-04 3.36940224e+02] [ 9.41130922e-01 3.38041777e-01 -5.86467973e-04 4.54185283e+02] [ 6.30131599e-04 -1.94309598e-05 9.99999801e-01 1.75834161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.722755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:336.95, Y:454.21, Z:1.76 [[ 3.37573469e-01 -9.41299157e-01 -2.24699203e-04 3.36949803e+02] [ 9.41298973e-01 3.37573543e-01 -5.88972972e-04 4.54213023e+02] [ 6.30252269e-04 -1.26874797e-05 9.99999801e-01 1.75749624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.752755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:336.96, Y:454.24, Z:1.76 [[ 3.39488745e-01 -9.40610089e-01 -2.28544173e-04 3.36958773e+02] [ 9.40609906e-01 3.39488821e-01 -5.87513200e-04 4.54237561e+02] [ 6.30209035e-04 -1.55167946e-05 9.99999801e-01 1.75682050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7827550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:336.97, Y:454.26, Z:1.76 [[ 3.43841091e-01 -9.39027824e-01 -2.25201161e-04 3.36967948e+02] [ 9.39027639e-01 3.43841165e-01 -5.88779770e-04 4.54264211e+02] [ 6.30314016e-04 -9.02343546e-06 9.99999801e-01 1.75785292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.812755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:336.98, Y:454.29, Z:1.76 [[ 3.47844272e-01 -9.37552298e-01 -2.23941415e-04 3.36978422e+02] [ 9.37552113e-01 3.47844344e-01 -5.89256463e-04 4.54290489e+02] [ 6.30355506e-04 -4.98726097e-06 9.99999801e-01 1.75774651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:336.99, Y:454.32, Z:1.76 [[ 3.48972820e-01 -9.37132819e-01 -2.25326566e-04 3.36988359e+02] [ 9.37132634e-01 3.48972893e-01 -5.88732563e-04 4.54317013e+02] [ 6.30353470e-04 -5.70921611e-06 9.99999801e-01 1.75885974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.00, Y:454.34, Z:1.76 [[ 3.49452084e-01 -9.36954210e-01 -2.24603203e-04 3.36998681e+02] [ 9.36954024e-01 3.49452156e-01 -5.89005906e-04 4.54343445e+02] [ 6.30359636e-04 -4.61353403e-06 9.99999801e-01 1.75843537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.01, Y:454.37, Z:1.76 [[ 3.49332391e-01 -9.36998842e-01 -2.23864760e-04 3.37008917e+02] [ 9.36998657e-01 3.49332463e-01 -5.89284680e-04 4.54369842e+02] [ 6.30362291e-04 -3.90475321e-06 9.99999801e-01 1.75877402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.02, Y:454.39, Z:1.76 [[ 3.49936202e-01 -9.36773508e-01 -2.23138190e-04 3.37021097e+02] [ 9.36773322e-01 3.49936273e-01 -5.89558755e-04 4.54394753e+02] [ 6.30367169e-04 -2.72195150e-06 9.99999801e-01 1.75996580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.962755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:337.03, Y:454.42, Z:1.76 [[ 3.52126497e-01 -9.35952392e-01 -2.25224019e-04 3.37029995e+02] [ 9.35952206e-01 3.52126569e-01 -5.88772191e-04 4.54415630e+02] [ 6.30370101e-04 -3.47662863e-06 9.99999801e-01 1.76094249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.04, Y:454.44, Z:1.76 [[ 3.51839048e-01 -9.36060488e-01 -2.17803042e-04 3.37041123e+02] [ 9.36060301e-01 3.51839115e-01 -5.91563624e-04 4.54440200e+02] [ 6.30370964e-04 4.25840152e-06 9.99999801e-01 1.76101157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.022755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.05, Y:454.47, Z:1.76 [[ 3.47789288e-01 -9.37572698e-01 -2.17894688e-04 3.37050492e+02] [ 9.37572511e-01 3.47789356e-01 -5.91529175e-04 4.54467603e+02] [ 6.30383057e-04 1.43544066e-06 9.99999801e-01 1.76413289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.07, Y:454.49, Z:1.76 [[ 3.53104495e-01 -9.35583864e-01 -2.21758133e-04 3.37065201e+02] [ 9.35583678e-01 3.53104565e-01 -5.90077245e-04 4.54491624e+02] [ 6.30370558e-04 8.85638152e-07 9.99999801e-01 1.76371103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.08, Y:454.52, Z:1.76 [[ 3.47157883e-01 -9.37806673e-01 -2.21578455e-04 3.37076115e+02] [ 9.37806487e-01 3.47157954e-01 -5.90144708e-04 4.54519722e+02] [ 6.30364368e-04 -2.92432447e-06 9.99999801e-01 1.76203949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.09, Y:454.55, Z:1.76 [[ 3.46587928e-01 -9.38017461e-01 -2.25134411e-04 3.37088929e+02] [ 9.38017276e-01 3.46588001e-01 -5.88810653e-04 4.54547607e+02] [ 6.30343559e-04 -7.10530284e-06 9.99999801e-01 1.76272518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.142755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.10, Y:454.57, Z:1.76 [[ 3.44224297e-01 -9.38887417e-01 -2.28360925e-04 3.37097258e+02] [ 9.38887233e-01 3.44224373e-01 -5.87601023e-04 4.54569915e+02] [ 6.30298603e-04 -1.21386082e-05 9.99999801e-01 1.76327499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.11, Y:454.60, Z:1.76 [[ 3.43921409e-01 -9.38998411e-01 -2.20865045e-04 3.37112162e+02] [ 9.38998225e-01 3.43921480e-01 -5.90405162e-04 4.54599748e+02] [ 6.30349742e-04 -4.33890970e-06 9.99999801e-01 1.76083267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.12, Y:454.62, Z:1.76 [[ 3.43211615e-01 -9.39258076e-01 -2.31355241e-04 3.37123307e+02] [ 9.39257893e-01 3.43211693e-01 -5.86490975e-04 4.54623997e+02] [ 6.30270209e-04 -1.60117219e-05 9.99999801e-01 1.76272301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.14, Y:454.65, Z:1.76 [[ 3.43093950e-01 -9.39301065e-01 -2.26851675e-04 3.37135754e+02] [ 9.39300880e-01 3.43094025e-01 -5.88168445e-04 4.54646125e+02] [ 6.30298701e-04 -1.12849425e-05 9.99999801e-01 1.76226111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.15, Y:454.67, Z:1.76 [[ 3.41310607e-01 -9.39950542e-01 -2.22274543e-04 3.37148193e+02] [ 9.39950356e-01 3.41310679e-01 -5.89869792e-04 4.54674335e+02] [ 6.30313105e-04 -7.59821904e-06 9.99999801e-01 1.76310658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.16, Y:454.70, Z:1.76 [[ 3.39029991e-01 -9.40775539e-01 -2.26154032e-04 3.37160602e+02] [ 9.40775355e-01 3.39030066e-01 -5.88428001e-04 4.54697912e+02] [ 6.30251686e-04 -1.32653994e-05 9.99999801e-01 1.76391723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.322755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:337.17, Y:454.72, Z:1.76 [[ 3.37980055e-01 -9.41153246e-01 -2.24200779e-04 3.37170969e+02] [ 9.41153062e-01 3.37980129e-01 -5.89153128e-04 4.54721935e+02] [ 6.30258787e-04 -1.18852428e-05 9.99999801e-01 1.76297291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.352755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:337.18, Y:454.74, Z:1.77 [[ 3.41128463e-01 -9.40016661e-01 -2.21624220e-04 3.37183846e+02] [ 9.40016476e-01 3.41128535e-01 -5.90108695e-04 4.54743545e+02] [ 6.30314350e-04 -7.02754542e-06 9.99999801e-01 1.76545120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.382755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:337.19, Y:454.77, Z:1.76 [[ 3.36573740e-01 -9.41657087e-01 -2.18952928e-04 3.37193872e+02] [ 9.41656902e-01 3.36573811e-01 -5.91098187e-04 4.54768117e+02] [ 6.30305619e-04 -7.23040871e-06 9.99999801e-01 1.76453107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4127550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.20, Y:454.79, Z:1.76 [[ 3.36513554e-01 -9.41678598e-01 -2.16395922e-04 3.37204261e+02] [ 9.41678411e-01 3.36513624e-01 -5.92044121e-04 4.54791577e+02] [ 6.30335453e-04 -4.54449626e-06 9.99999801e-01 1.76400542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.442755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.21, Y:454.82, Z:1.76 [[ 3.36339419e-01 -9.41740808e-01 -2.13519116e-04 3.37213781e+02] [ 9.41740621e-01 3.36339487e-01 -5.93106882e-04 4.54817608e+02] [ 6.30367864e-04 -1.59440100e-06 9.99999801e-01 1.76402176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.472755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:337.23, Y:454.85, Z:1.77 [[ 3.35355490e-01 -9.42091635e-01 -2.14435328e-04 3.37227926e+02] [ 9.42091449e-01 3.35355559e-01 -5.92767641e-04 4.54845114e+02] [ 6.30353515e-04 -3.22980581e-06 9.99999801e-01 1.76592460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.502755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:337.24, Y:454.87, Z:1.77 [[ 3.35446545e-01 -9.42059216e-01 -2.19495579e-04 3.37238633e+02] [ 9.42059031e-01 3.35446617e-01 -5.90893452e-04 4.54869227e+02] [ 6.30285672e-04 -8.56462525e-06 9.99999801e-01 1.76516888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5327550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.25, Y:454.90, Z:1.76 [[ 3.34798942e-01 -9.42289564e-01 -2.15735645e-04 3.37252038e+02] [ 9.42289378e-01 3.34799012e-01 -5.92283389e-04 4.54896024e+02] [ 6.30330537e-04 -4.98955475e-06 9.99999801e-01 1.76477796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.562755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.26, Y:454.92, Z:1.77 [[ 3.37709159e-01 -9.41250485e-01 -2.21635237e-04 3.37264247e+02] [ 9.41250300e-01 3.37709232e-01 -5.90102447e-04 4.54919870e+02] [ 6.30282480e-04 -9.33123201e-06 9.99999801e-01 1.76591418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.28, Y:454.94, Z:1.77 [[ 3.39923474e-01 -9.40453074e-01 -2.17961436e-04 3.37276998e+02] [ 9.40452888e-01 3.39923544e-01 -5.91458516e-04 4.54943612e+02] [ 6.30329203e-04 -3.93182863e-06 9.99999801e-01 1.76756624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.29, Y:454.97, Z:1.77 [[ 3.40703975e-01 -9.40170598e-01 -2.18165818e-04 3.37288313e+02] [ 9.40170412e-01 3.40704045e-01 -5.91383118e-04 4.54969883e+02] [ 6.30330996e-04 -3.62646810e-06 9.99999801e-01 1.76804798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.30, Y:454.99, Z:1.77 [[ 3.43923482e-01 -9.38997652e-01 -2.18776795e-04 3.37299412e+02] [ 9.38997466e-01 3.43923551e-01 -5.91157888e-04 4.54992327e+02] [ 6.30338361e-04 -2.11777760e-06 9.99999801e-01 1.76655406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.682755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.31, Y:455.02, Z:1.76 [[ 3.44330455e-01 -9.38848492e-01 -2.16239049e-04 3.37308205e+02] [ 9.38848305e-01 3.44330523e-01 -5.92092355e-04 4.55019011e+02] [ 6.30342719e-04 8.59765639e-07 9.99999801e-01 1.76228904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.32, Y:455.04, Z:1.76 [[ 3.46013866e-01 -9.38229374e-01 -2.16306629e-04 3.37318920e+02] [ 9.38229187e-01 3.46013933e-01 -5.92067497e-04 4.55044669e+02] [ 6.30340225e-04 1.91837038e-06 9.99999801e-01 1.76355949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.742755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.33, Y:455.07, Z:1.76 [[ 3.48425497e-01 -9.37336452e-01 -2.19547649e-04 3.37329985e+02] [ 9.37336266e-01 3.48425567e-01 -5.90876382e-04 4.55070124e+02] [ 6.30345985e-04 8.64233314e-08 9.99999801e-01 1.76441116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.34, Y:455.09, Z:1.77 [[ 3.48538054e-01 -9.37294605e-01 -2.19304047e-04 3.37338858e+02] [ 9.37294419e-01 3.48538123e-01 -5.90965810e-04 4.55094438e+02] [ 6.30344887e-04 4.21613443e-07 9.99999801e-01 1.76655571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.802755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.35, Y:455.12, Z:1.77 [[ 3.48278286e-01 -9.37391161e-01 -2.16984858e-04 3.37349110e+02] [ 9.37390974e-01 3.48278353e-01 -5.91816123e-04 4.55118864e+02] [ 6.30334332e-04 2.71705734e-06 9.99999801e-01 1.76679103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.832755096 meters Centerline goodness : 0.999977 Centerline is valid? [True, True] Translation: X:337.36, Y:455.14, Z:1.77 [[ 3.48961439e-01 -9.37137059e-01 -2.16767184e-04 3.37359411e+02] [ 9.37136872e-01 3.48961506e-01 -5.91895841e-04 4.55144538e+02] [ 6.30330931e-04 3.40830314e-06 9.99999801e-01 1.76802789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.862755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:337.37, Y:455.17, Z:1.77 [[ 3.46065268e-01 -9.38210416e-01 -2.16560645e-04 3.37368019e+02] [ 9.38210229e-01 3.46065335e-01 -5.91971399e-04 4.55170811e+02] [ 6.30337865e-04 1.68132840e-06 9.99999801e-01 1.76723585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.892755096 meters Centerline goodness : 0.999865 Centerline is valid? [True, True] Translation: X:337.38, Y:455.20, Z:1.77 [[ 3.45167192e-01 -9.38541189e-01 -2.16353466e-04 3.37376348e+02] [ 9.38541002e-01 3.45167259e-01 -5.92047109e-04 4.55195510e+02] [ 6.30338731e-04 1.29863969e-06 9.99999801e-01 1.76745800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9227550960001 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:337.38, Y:455.22, Z:1.77 [[ 3.44178968e-01 -9.38904037e-01 -2.16134934e-04 3.37384974e+02] [ 9.38903851e-01 3.44179036e-01 -5.92126877e-04 4.55220520e+02] [ 6.30339428e-04 8.67696051e-07 9.99999801e-01 1.76720603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.952755096 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:337.39, Y:455.25, Z:1.77 [[ 3.43407914e-01 -9.39186328e-01 -2.15922060e-04 3.37393431e+02] [ 9.39186141e-01 3.43407982e-01 -5.92204492e-04 4.55245160e+02] [ 6.30339721e-04 5.76703612e-07 9.99999801e-01 1.76778362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.982755096 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:337.40, Y:455.27, Z:1.77 [[ 3.43758028e-01 -9.39058237e-01 -2.13994842e-04 3.37402008e+02] [ 9.39058050e-01 3.43758095e-01 -5.92906462e-04 4.55269773e+02] [ 6.30336156e-04 2.86277684e-06 9.99999801e-01 1.76548881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.41, Y:455.30, Z:1.77 [[ 3.41005258e-01 -9.40061365e-01 -2.10591869e-04 3.37409528e+02] [ 9.40061177e-01 3.41005323e-01 -5.94145307e-04 4.55299344e+02] [ 6.30345996e-04 4.63743344e-06 9.99999801e-01 1.76528878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:455.33, Z:1.76 [[ 3.40665986e-01 -9.40184365e-01 -2.15623345e-04 3.37417183e+02] [ 9.40184178e-01 3.40666054e-01 -5.92313670e-04 4.55325197e+02] [ 6.30339605e-04 -9.44537264e-07 9.99999801e-01 1.76477513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.42, Y:455.35, Z:1.76 [[ 3.38512871e-01 -9.40961737e-01 -2.15417146e-04 3.37423642e+02] [ 9.40961550e-01 3.38512940e-01 -5.92388652e-04 4.55350468e+02] [ 6.30336546e-04 -2.16806828e-06 9.99999801e-01 1.76311290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.102755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.43, Y:455.37, Z:1.76 [[ 3.40373197e-01 -9.40290402e-01 -2.15201371e-04 3.37431509e+02] [ 9.40290216e-01 3.40373265e-01 -5.92467028e-04 4.55371521e+02] [ 6.30339853e-04 -6.91846563e-07 9.99999801e-01 1.76322913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.44, Y:455.40, Z:1.76 [[ 3.35831607e-01 -9.41922019e-01 -2.06758060e-04 3.37440244e+02] [ 9.41921830e-01 3.35831670e-01 -5.95528099e-04 4.55401666e+02] [ 6.30376934e-04 5.24722803e-06 9.99999801e-01 1.76349774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1627550960001 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.45, Y:455.43, Z:1.76 [[ 3.33666698e-01 -9.42691089e-01 -2.14974952e-04 3.37447576e+02] [ 9.42690903e-01 3.33666767e-01 -5.92547026e-04 4.55427375e+02] [ 6.30318799e-04 -4.94172176e-06 9.99999801e-01 1.76041281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.192755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:337.46, Y:455.45, Z:1.76 [[ 3.31403934e-01 -9.43488944e-01 -2.12772648e-04 3.37457208e+02] [ 9.43488757e-01 3.31404002e-01 -5.93344652e-04 4.55452830e+02] [ 6.30327826e-04 -4.11184963e-06 9.99999801e-01 1.76331571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.47, Y:455.47, Z:1.76 [[ 3.31991887e-01 -9.43282217e-01 -2.14519649e-04 3.37465189e+02] [ 9.43282031e-01 3.31991956e-01 -5.92712362e-04 4.55474423e+02] [ 6.30313829e-04 -5.57683473e-06 9.99999801e-01 1.76436578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.252755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.47, Y:455.50, Z:1.77 [[ 3.27063234e-01 -9.45002433e-01 -2.06778303e-04 3.37473568e+02] [ 9.45002245e-01 3.27063300e-01 -5.95503777e-04 4.55502376e+02] [ 6.30382112e-04 -6.38569649e-07 9.99999801e-01 1.76631859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.48, Y:455.53, Z:1.77 [[ 3.24897731e-01 -9.45749132e-01 -2.10400805e-04 3.37482505e+02] [ 9.45748945e-01 3.24897799e-01 -5.94197897e-04 4.55528164e+02] [ 6.30320904e-04 -5.93279031e-06 9.99999801e-01 1.76678383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.312755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:337.49, Y:455.55, Z:1.77 [[ 3.24780352e-01 -9.45789447e-01 -2.12009176e-04 3.37491936e+02] [ 9.45789261e-01 3.24780421e-01 -5.93618231e-04 4.55552922e+02] [ 6.30294288e-04 -7.72046357e-06 9.99999801e-01 1.76658422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:455.58, Z:1.77 [[ 3.27886725e-01 -9.44717022e-01 -2.09634270e-04 3.37505738e+02] [ 9.44716835e-01 3.27886792e-01 -5.94473587e-04 4.55579143e+02] [ 6.30345625e-04 -3.12502609e-06 9.99999801e-01 1.76751039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.51, Y:455.61, Z:1.77 [[ 3.20856044e-01 -9.47127950e-01 -2.13544836e-04 3.37510366e+02] [ 9.47127764e-01 3.20856115e-01 -5.93065512e-04 4.55605811e+02] [ 6.30226089e-04 -1.19655893e-05 9.99999801e-01 1.76535335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.52, Y:455.63, Z:1.76 [[ 3.21299767e-01 -9.46977515e-01 -2.13333093e-04 3.37519057e+02] [ 9.46977330e-01 3.21299837e-01 -5.93141668e-04 4.55630568e+02] [ 6.30235711e-04 -1.14453234e-05 9.99999801e-01 1.76430115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.432755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:337.53, Y:455.65, Z:1.76 [[ 3.26472237e-01 -9.45206767e-01 -2.13126020e-04 3.37527157e+02] [ 9.45206581e-01 3.26472307e-01 -5.93216064e-04 4.55648513e+02] [ 6.30291582e-04 -7.77954054e-06 9.99999801e-01 1.76339747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.462755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.54, Y:455.68, Z:1.76 [[ 3.24041654e-01 -9.46042793e-01 -2.02700695e-04 3.37536733e+02] [ 9.46042604e-01 3.24041718e-01 -5.96971855e-04 4.55679369e+02] [ 6.30444402e-04 1.68025391e-06 9.99999801e-01 1.76420290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.55, Y:455.70, Z:1.76 [[ 3.25286697e-01 -9.45615418e-01 -2.13828116e-04 3.37545909e+02] [ 9.45615232e-01 3.25286767e-01 -5.92959175e-04 4.55704478e+02] [ 6.30266795e-04 -9.31739158e-06 9.99999801e-01 1.76393031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.56, Y:455.73, Z:1.76 [[ 3.26608676e-01 -9.45159631e-01 -2.13664786e-04 3.37558716e+02] [ 9.45159444e-01 3.26608746e-01 -5.93018023e-04 4.55733689e+02] [ 6.30281483e-04 -8.26245880e-06 9.99999801e-01 1.76110828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.552755096 meters Centerline goodness : 0.999910 Centerline is valid? [True, True] Translation: X:337.57, Y:455.76, Z:1.76 [[ 3.27114689e-01 -9.44984620e-01 -2.20074827e-04 3.37565626e+02] [ 9.44984435e-01 3.27114763e-01 -5.90707721e-04 4.55756588e+02] [ 6.30199436e-04 -1.47381139e-05 9.99999801e-01 1.76299154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.57, Y:455.78, Z:1.76 [[ 3.27125533e-01 -9.44980868e-01 -2.13388757e-04 3.37574755e+02] [ 9.44980682e-01 3.27125602e-01 -5.93113218e-04 4.55782315e+02] [ 6.30285569e-04 -7.62577597e-06 9.99999801e-01 1.76335063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.612755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.58, Y:455.81, Z:1.76 [[ 3.27095304e-01 -9.44991332e-01 -2.13178869e-04 3.37583869e+02] [ 9.44991145e-01 3.27095374e-01 -5.93188648e-04 4.55807744e+02] [ 6.30287952e-04 -7.42292230e-06 9.99999801e-01 1.76329962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.642755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.60, Y:455.84, Z:1.76 [[ 3.29157695e-01 -9.44274942e-01 -2.12969268e-04 3.37597390e+02] [ 9.44274756e-01 3.29157763e-01 -5.93263890e-04 4.55837658e+02] [ 6.30304713e-04 -5.82412961e-06 9.99999801e-01 1.76248417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.60, Y:455.86, Z:1.76 [[ 3.28451569e-01 -9.44520788e-01 -2.21101363e-04 3.37601872e+02] [ 9.44520603e-01 3.28451643e-01 -5.90344236e-04 4.55859849e+02] [ 6.30213509e-04 -1.49353022e-05 9.99999801e-01 1.76450735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.61, Y:455.89, Z:1.76 [[ 3.29865893e-01 -9.44027779e-01 -2.12525943e-04 3.37614214e+02] [ 9.44027592e-01 3.29865962e-01 -5.93415439e-04 4.55889372e+02] [ 6.30305734e-04 -4.88284054e-06 9.99999801e-01 1.76265616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.62, Y:455.91, Z:1.77 [[ 3.29095081e-01 -9.44296765e-01 -2.19215841e-04 3.37619977e+02] [ 9.44296580e-01 3.29095154e-01 -5.91019520e-04 4.55912948e+02] [ 6.30240691e-04 -1.25031516e-05 9.99999801e-01 1.76602325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.63, Y:455.94, Z:1.76 [[ 3.30027323e-01 -9.43971356e-01 -2.12155264e-04 3.37630527e+02] [ 9.43971170e-01 3.30027391e-01 -5.93543242e-04 4.55942297e+02] [ 6.30304868e-04 -4.38296602e-06 9.99999801e-01 1.76445044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7927550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:337.64, Y:455.97, Z:1.76 [[ 3.30104091e-01 -9.43944512e-01 -2.17771163e-04 3.37638299e+02] [ 9.43944327e-01 3.30104162e-01 -5.91536970e-04 4.55968282e+02] [ 6.30265244e-04 -1.02950805e-05 9.99999801e-01 1.76386148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:455.99, Z:1.77 [[ 3.32468891e-01 -9.43114198e-01 -2.15820495e-04 3.37645768e+02] [ 9.43114012e-01 3.32468961e-01 -5.92232991e-04 4.55992124e+02] [ 6.30296958e-04 -6.64428726e-06 9.99999801e-01 1.76594204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.65, Y:456.02, Z:1.77 [[ 3.33066034e-01 -9.42903480e-01 -2.11556551e-04 3.37654638e+02] [ 9.42903293e-01 3.33066101e-01 -5.93752253e-04 4.56018210e+02] [ 6.30313381e-04 -1.71866084e-06 9.99999801e-01 1.76538844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.882755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.66, Y:456.04, Z:1.76 [[ 3.33760552e-01 -9.42657865e-01 -2.11347256e-04 3.37663308e+02] [ 9.42657677e-01 3.33760619e-01 -5.93826743e-04 4.56043969e+02] [ 6.30314840e-04 -1.03217199e-06 9.99999801e-01 1.76453818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9127550960001 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:337.67, Y:456.07, Z:1.76 [[ 3.34298145e-01 -9.42467350e-01 -2.11133718e-04 3.37671325e+02] [ 9.42467163e-01 3.34298212e-01 -5.93902656e-04 4.56068659e+02] [ 6.30315486e-04 -4.46040369e-07 9.99999801e-01 1.76361576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.68, Y:456.10, Z:1.76 [[ 3.35477668e-01 -9.42048136e-01 -2.10968890e-04 3.37679249e+02] [ 9.42047948e-01 3.35477734e-01 -5.93961201e-04 4.56095268e+02] [ 6.30315407e-04 5.17908453e-07 9.99999801e-01 1.76263795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.69, Y:456.13, Z:1.76 [[ 3.36334141e-01 -9.41742694e-01 -2.10754908e-04 3.37691184e+02] [ 9.41742506e-01 3.36334207e-01 -5.94037118e-04 4.56125343e+02] [ 6.30314201e-04 1.31810837e-06 9.99999801e-01 1.76019959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.70, Y:456.15, Z:1.76 [[ 3.36100383e-01 -9.41826144e-01 -2.17761645e-04 3.37699988e+02] [ 9.41825958e-01 3.36100453e-01 -5.91551104e-04 4.56151980e+02] [ 6.30328082e-04 -6.27301744e-06 9.99999801e-01 1.76121754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:337.71, Y:456.18, Z:1.76 [[ 3.35262131e-01 -9.42124863e-01 -2.16528546e-04 3.37706385e+02] [ 9.42124677e-01 3.35262201e-01 -5.91987937e-04 4.56175320e+02] [ 6.30320391e-04 -5.52574865e-06 9.99999801e-01 1.76126314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.72, Y:456.20, Z:1.76 [[ 3.37191032e-01 -9.41436224e-01 -2.10118908e-04 3.37718593e+02] [ 9.41436036e-01 3.37191098e-01 -5.94254284e-04 4.56200927e+02] [ 6.30302734e-04 2.56370383e-06 9.99999801e-01 1.76191408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.72, Y:456.23, Z:1.76 [[ 3.33402997e-01 -9.42784385e-01 -2.10995580e-04 3.37724795e+02] [ 9.42784198e-01 3.33403064e-01 -5.93944591e-04 4.56226439e+02] [ 6.30308259e-04 -9.00392153e-07 9.99999801e-01 1.76311296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.74, Y:456.25, Z:1.76 [[ 3.34954670e-01 -9.42234220e-01 -2.09755817e-04 3.37735021e+02] [ 9.42234033e-01 3.34954735e-01 -5.94382100e-04 4.56251158e+02] [ 6.30305859e-04 1.45199065e-06 9.99999801e-01 1.76214142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1527550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.74, Y:456.28, Z:1.76 [[ 3.30459950e-01 -9.43819992e-01 -2.09138222e-04 3.37742113e+02] [ 9.43819805e-01 3.30460016e-01 -5.94599830e-04 4.56278312e+02] [ 6.30307027e-04 -8.97365769e-07 9.99999801e-01 1.76366391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.75, Y:456.31, Z:1.76 [[ 3.27055919e-01 -9.45004964e-01 -2.10328359e-04 3.37750389e+02] [ 9.45004777e-01 3.27055987e-01 -5.94180665e-04 4.56305001e+02] [ 6.30292827e-04 -4.43100073e-06 9.99999801e-01 1.75838467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.76, Y:456.33, Z:1.76 [[ 3.24699578e-01 -9.45817181e-01 -2.10220953e-04 3.37758983e+02] [ 9.45816995e-01 3.24699646e-01 -5.94218430e-04 4.56331150e+02] [ 6.30280669e-04 -5.88807676e-06 9.99999801e-01 1.75882256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.242755096 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:337.77, Y:456.36, Z:1.76 [[ 3.20436163e-01 -9.47270089e-01 -2.08790277e-04 3.37765875e+02] [ 9.47269903e-01 3.20436231e-01 -5.94720869e-04 4.56356213e+02] [ 6.30265260e-04 -7.21067189e-06 9.99999801e-01 1.75676793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.77, Y:456.38, Z:1.76 [[ 3.18616434e-01 -9.47883709e-01 -2.07934599e-04 3.37774260e+02] [ 9.47883522e-01 3.18616501e-01 -5.95021121e-04 4.56380620e+02] [ 6.30262221e-04 -7.51427235e-06 9.99999801e-01 1.75718145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.78, Y:456.41, Z:1.76 [[ 3.14907958e-01 -9.49122192e-01 -2.05061562e-04 3.37782167e+02] [ 9.49122005e-01 3.14908025e-01 -5.96028324e-04 4.56407076e+02] [ 6.30279242e-04 -6.93437856e-06 9.99999801e-01 1.75755410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.79, Y:456.43, Z:1.76 [[ 3.14645521e-01 -9.49209226e-01 -2.04844668e-04 3.37790890e+02] [ 9.49209039e-01 3.14645588e-01 -5.96104303e-04 4.56432366e+02] [ 6.30281175e-04 -6.87886060e-06 9.99999801e-01 1.75757088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.80, Y:456.45, Z:1.75 [[ 3.10753986e-01 -9.50490357e-01 -2.04613224e-04 3.37797726e+02] [ 9.50490170e-01 3.10754054e-01 -5.96185294e-04 4.56454819e+02] [ 6.30252762e-04 -9.21590094e-06 9.99999801e-01 1.75465219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.81, Y:456.48, Z:1.76 [[ 3.10227699e-01 -9.50662262e-01 -1.99072018e-04 3.37809535e+02] [ 9.50662073e-01 3.10227762e-01 -5.98123050e-04 4.56481272e+02] [ 6.30370678e-04 -3.69588016e-06 9.99999801e-01 1.75632712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.81, Y:456.51, Z:1.76 [[ 3.03548061e-01 -9.52816107e-01 -2.03314343e-04 3.37814658e+02] [ 9.52815920e-01 3.03548129e-01 -5.96635618e-04 4.56507750e+02] [ 6.30199715e-04 -1.26135583e-05 9.99999801e-01 1.75688250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.82, Y:456.53, Z:1.76 [[ 3.02473075e-01 -9.53157909e-01 -1.99922358e-04 3.37821552e+02] [ 9.53157721e-01 3.02473141e-01 -5.97817897e-04 4.56534642e+02] [ 6.30286000e-04 -9.73372116e-06 9.99999801e-01 1.75838272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.482755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:337.83, Y:456.56, Z:1.76 [[ 2.99912845e-01 -9.53966586e-01 -1.98599228e-04 3.37826676e+02] [ 9.53966398e-01 2.99912910e-01 -5.98278300e-04 4.56559437e+02] [ 6.30299980e-04 -1.00256434e-05 9.99999801e-01 1.75732337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.84, Y:456.59, Z:1.76 [[ 3.02437446e-01 -9.53169215e-01 -1.96720714e-04 3.37842488e+02] [ 9.53169027e-01 3.02437510e-01 -5.98934483e-04 4.56588408e+02] [ 6.30381634e-04 -6.36787617e-06 9.99999801e-01 1.76392459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.85, Y:456.61, Z:1.76 [[ 3.00900249e-01 -9.53655597e-01 -2.08129621e-04 3.37849599e+02] [ 9.53655411e-01 3.00900320e-01 -5.94943294e-04 4.56613373e+02] [ 6.29997271e-04 -1.94653547e-05 9.99999801e-01 1.76453853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:456.64, Z:1.77 [[ 2.99038538e-01 -9.54241013e-01 -2.07907981e-04 3.37856840e+02] [ 9.54240827e-01 2.99038609e-01 -5.95020737e-04 4.56639623e+02] [ 6.29965705e-04 -2.04601530e-05 9.99999801e-01 1.76510820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.86, Y:456.67, Z:1.77 [[ 2.98482694e-01 -9.54415024e-01 -2.07700595e-04 3.37864296e+02] [ 9.54414839e-01 2.98482766e-01 -5.95093120e-04 4.56665968e+02] [ 6.29960862e-04 -2.06075320e-05 9.99999801e-01 1.76534941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.87, Y:456.69, Z:1.76 [[ 2.98610089e-01 -9.54375174e-01 -2.07492633e-04 3.37869241e+02] [ 9.54374988e-01 2.98610160e-01 -5.95165622e-04 4.56691867e+02] [ 6.29970702e-04 -2.03033202e-05 9.99999801e-01 1.76415202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.88, Y:456.72, Z:1.76 [[ 2.98155235e-01 -9.54517372e-01 -2.07275146e-04 3.37875536e+02] [ 9.54517186e-01 2.98155307e-01 -5.95241355e-04 4.56718372e+02] [ 6.29968399e-04 -2.03733623e-05 9.99999801e-01 1.76243114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:456.74, Z:1.76 [[ 3.00443720e-01 -9.53799522e-01 -2.07062076e-04 3.37885818e+02] [ 9.53799336e-01 3.00443791e-01 -5.95315465e-04 4.56743519e+02] [ 6.30022121e-04 -1.86368772e-05 9.99999801e-01 1.76109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.89, Y:456.77, Z:1.76 [[ 2.98190938e-01 -9.54506219e-01 -2.06858726e-04 3.37889879e+02] [ 9.54506033e-01 2.98191009e-01 -5.95386116e-04 4.56770135e+02] [ 6.29983163e-04 -1.99091578e-05 9.99999801e-01 1.76180633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.90, Y:456.80, Z:1.76 [[ 2.98889961e-01 -9.54287561e-01 -2.06631334e-04 3.37896757e+02] [ 9.54287375e-01 2.98890031e-01 -5.95465023e-04 4.56795660e+02] [ 6.30004910e-04 -1.92071556e-05 9.99999801e-01 1.76193187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.90, Y:456.82, Z:1.76 [[ 2.99050975e-01 -9.54237115e-01 -2.06411215e-04 3.37904732e+02] [ 9.54236929e-01 2.99051046e-01 -5.95541315e-04 4.56822119e+02] [ 6.30015116e-04 -1.88679930e-05 9.99999801e-01 1.76170327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.91, Y:456.85, Z:1.76 [[ 2.99921631e-01 -9.53963822e-01 -2.06203526e-04 3.37911953e+02] [ 9.53963636e-01 2.99921702e-01 -5.95613218e-04 4.56848481e+02] [ 6.30038374e-04 -1.80733775e-05 9.99999801e-01 1.76103954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.92, Y:456.87, Z:1.76 [[ 2.99874001e-01 -9.53978795e-01 -2.05997641e-04 3.37919132e+02] [ 9.53978609e-01 2.99874071e-01 -5.95684416e-04 4.56873500e+02] [ 6.30043653e-04 -1.78870734e-05 9.99999801e-01 1.76109062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.93, Y:456.90, Z:1.76 [[ 2.99892741e-01 -9.53972904e-01 -2.05782053e-04 3.37926171e+02] [ 9.53972718e-01 2.99892811e-01 -5.95758883e-04 4.56898546e+02] [ 6.30050390e-04 -1.76467001e-05 9.99999801e-01 1.76088418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.93, Y:456.93, Z:1.76 [[ 3.00561119e-01 -9.53762534e-01 -2.05568304e-04 3.37933162e+02] [ 9.53762348e-01 3.00561189e-01 -5.95832628e-04 4.56925463e+02] [ 6.30068691e-04 -1.69791872e-05 9.99999801e-01 1.76102332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.95, Y:456.96, Z:1.76 [[ 3.03598657e-01 -9.52799986e-01 -2.05367124e-04 3.37948549e+02] [ 9.52799800e-01 3.03598726e-01 -5.95901962e-04 4.56955303e+02] [ 6.30124578e-04 -1.47587196e-05 9.99999801e-01 1.75768307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.962755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:337.95, Y:456.97, Z:1.76 [[ 3.00552165e-01 -9.53765353e-01 -2.17937888e-04 3.37948833e+02] [ 9.53765170e-01 3.00552243e-01 -5.91563119e-04 4.56974531e+02] [ 6.29714128e-04 -3.00659904e-05 9.99999801e-01 1.76137165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.96, Y:457.00, Z:1.76 [[ 3.00298745e-01 -9.53845177e-01 -2.04971759e-04 3.37956356e+02] [ 9.53844991e-01 3.00298814e-01 -5.96022165e-04 4.56998527e+02] [ 6.30065643e-04 -1.65265782e-05 9.99999801e-01 1.76286133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.022755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.97, Y:457.03, Z:1.76 [[ 3.02675690e-01 -9.53093587e-01 -2.04743261e-04 3.37972017e+02] [ 9.53093400e-01 3.02675759e-01 -5.96100647e-04 4.57029843e+02] [ 6.30110526e-04 -1.47142761e-05 9.99999801e-01 1.75894826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.97, Y:457.05, Z:1.76 [[ 2.98636001e-01 -9.54367064e-01 -2.16121203e-04 3.37973828e+02] [ 9.54366881e-01 2.98636077e-01 -5.92191386e-04 4.57052065e+02] [ 6.29709543e-04 -2.94092514e-05 9.99999801e-01 1.76209787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.98, Y:457.08, Z:1.76 [[ 2.97961869e-01 -9.54577751e-01 -2.04138757e-04 3.37981844e+02] [ 9.54577565e-01 2.97961939e-01 -5.96293530e-04 4.57076702e+02] [ 6.30034116e-04 -1.71935425e-05 9.99999801e-01 1.76499160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:337.99, Y:457.10, Z:1.76 [[ 2.97039624e-01 -9.54865132e-01 -2.03918593e-04 3.37989925e+02] [ 9.54864946e-01 2.97039693e-01 -5.96368811e-04 4.57101456e+02] [ 6.30023700e-04 -1.75695489e-05 9.99999801e-01 1.76461388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.00, Y:457.13, Z:1.76 [[ 2.95099302e-01 -9.55466567e-01 -2.03706366e-04 3.37998949e+02] [ 9.55466381e-01 2.95099372e-01 -5.96441294e-04 4.57126709e+02] [ 6.29993337e-04 -1.86251744e-05 9.99999801e-01 1.76014651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.01, Y:457.15, Z:1.76 [[ 2.93725743e-01 -9.55889715e-01 -2.03494157e-04 3.38007474e+02] [ 9.55889529e-01 2.93725813e-01 -5.96513687e-04 4.57151118e+02] [ 6.29972785e-04 -1.93065072e-05 9.99999801e-01 1.76022661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:457.18, Z:1.76 [[ 2.91382374e-01 -9.56606644e-01 -2.03272000e-04 3.38016542e+02] [ 9.56606458e-01 2.91382444e-01 -5.96589381e-04 4.57177336e+02] [ 6.29931258e-04 -2.06156775e-05 9.99999801e-01 1.75954580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.02, Y:457.20, Z:1.76 [[ 2.89754176e-01 -9.57101080e-01 -2.03064193e-04 3.38024849e+02] [ 9.57100894e-01 2.89754246e-01 -5.96660105e-04 4.57203410e+02] [ 6.29902743e-04 -2.14681633e-05 9.99999801e-01 1.75858390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.04, Y:457.24, Z:1.76 [[ 2.92729386e-01 -9.56195307e-01 -2.02853621e-04 3.38043074e+02] [ 9.56195121e-01 2.92729456e-01 -5.96731687e-04 4.57235745e+02] [ 6.29973269e-04 -1.92867418e-05 9.99999801e-01 1.75553354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2927550960001 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:338.05, Y:457.26, Z:1.76 [[ 2.88613243e-01 -9.57445742e-01 -2.18866668e-04 3.38049307e+02] [ 9.57445560e-01 2.88613323e-01 -5.91274035e-04 4.57259443e+02] [ 6.29280643e-04 -3.89034031e-05 9.99999801e-01 1.75568816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.06, Y:457.28, Z:1.76 [[ 2.87778723e-01 -9.57696905e-01 -2.13174428e-04 3.38058390e+02] [ 9.57696722e-01 2.87778800e-01 -5.93209336e-04 4.57284209e+02] [ 6.29461826e-04 -3.34434258e-05 9.99999801e-01 1.75549236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.352755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:457.31, Z:1.76 [[ 2.86161911e-01 -9.58181254e-01 -2.12443895e-04 3.38067098e+02] [ 9.58181071e-01 2.86161988e-01 -5.93457367e-04 4.57310758e+02] [ 6.29433091e-04 -3.37348248e-05 9.99999801e-01 1.75588453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.07, Y:457.33, Z:1.76 [[ 2.88607635e-01 -9.57447433e-01 -2.12904046e-04 3.38072930e+02] [ 9.57447250e-01 2.88607712e-01 -5.93301495e-04 4.57330907e+02] [ 6.29500743e-04 -3.26130522e-05 9.99999801e-01 1.75697530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.08, Y:457.36, Z:1.76 [[ 2.88734636e-01 -9.57409144e-01 -2.01821842e-04 3.38081244e+02] [ 9.57408958e-01 2.88734706e-01 -5.97043257e-04 4.57357627e+02] [ 6.29887644e-04 -2.08389715e-05 9.99999801e-01 1.75633913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.09, Y:457.38, Z:1.76 [[ 2.89889193e-01 -9.57060194e-01 -2.03591381e-04 3.38086981e+02] [ 9.57060008e-01 2.89889263e-01 -5.96446247e-04 4.57382429e+02] [ 6.29853916e-04 -2.19458484e-05 9.99999801e-01 1.75742957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.10, Y:457.41, Z:1.76 [[ 2.91831377e-01 -9.56469763e-01 -2.00604999e-04 3.38098688e+02] [ 9.56469577e-01 2.91831445e-01 -5.97452679e-04 4.57408707e+02] [ 6.29988269e-04 -1.75171405e-05 9.99999801e-01 1.75655457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.502755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.10, Y:457.44, Z:1.76 [[ 2.90151418e-01 -9.56980728e-01 -2.01141967e-04 3.38104705e+02] [ 9.56980542e-01 2.90151487e-01 -5.97271845e-04 4.57436328e+02] [ 6.29939286e-04 -1.91896756e-05 9.99999801e-01 1.75788531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.11, Y:457.46, Z:1.76 [[ 2.91702038e-01 -9.56509216e-01 -2.01538393e-04 3.38112919e+02] [ 9.56509030e-01 2.91702107e-01 -5.97138437e-04 4.57460176e+02] [ 6.29957592e-04 -1.85867934e-05 9.99999801e-01 1.75732398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.12, Y:457.49, Z:1.75 [[ 2.88064727e-01 -9.57610920e-01 -1.99274513e-04 3.38118643e+02] [ 9.57610733e-01 2.88064795e-01 -5.97899245e-04 4.57486729e+02] [ 6.29958817e-04 -1.85937298e-05 9.99999801e-01 1.75148480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.13, Y:457.52, Z:1.76 [[ 2.90560869e-01 -9.56856489e-01 -2.00668376e-04 3.38127986e+02] [ 9.56856303e-01 2.90560938e-01 -5.97431067e-04 4.57516288e+02] [ 6.29962184e-04 -1.84207100e-05 9.99999801e-01 1.75862594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.14, Y:457.54, Z:1.76 [[ 2.90492042e-01 -9.56877385e-01 -2.06772437e-04 3.38135559e+02] [ 9.56877200e-01 2.90492115e-01 -5.95382220e-04 4.57542670e+02] [ 6.29773545e-04 -2.49020330e-05 9.99999801e-01 1.75835274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.14, Y:457.57, Z:1.76 [[ 2.89961603e-01 -9.57038257e-01 -2.06313912e-04 3.38140318e+02] [ 9.57038072e-01 2.89961676e-01 -5.95535902e-04 4.57565233e+02] [ 6.29773769e-04 -2.47677237e-05 9.99999801e-01 1.75869516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.15, Y:457.59, Z:1.76 [[ 2.91357072e-01 -9.56614351e-01 -1.99905371e-04 3.38152287e+02] [ 9.56614165e-01 2.91357140e-01 -5.97679362e-04 4.57594294e+02] [ 6.29992512e-04 -1.70942010e-05 9.99999801e-01 1.75811894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.16, Y:457.62, Z:1.76 [[ 2.90696138e-01 -9.56815402e-01 -2.06356082e-04 3.38160187e+02] [ 9.56815217e-01 2.90696210e-01 -5.95522473e-04 4.57620649e+02] [ 6.29792005e-04 -2.43285559e-05 9.99999801e-01 1.75836182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.742755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.17, Y:457.65, Z:1.76 [[ 2.90601878e-01 -9.56844035e-01 -2.04837850e-04 3.38168313e+02] [ 9.56843849e-01 2.90601949e-01 -5.96028883e-04 4.57648039e+02] [ 6.29832960e-04 -2.27907239e-05 9.99999801e-01 1.75654367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.772755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.17, Y:457.67, Z:1.76 [[ 2.89325757e-01 -9.57230674e-01 -2.05966314e-04 3.38171522e+02] [ 9.57230489e-01 2.89325830e-01 -5.95652990e-04 4.57669902e+02] [ 6.29768688e-04 -2.48194826e-05 9.99999801e-01 1.75639986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.18, Y:457.70, Z:1.75 [[ 2.89253589e-01 -9.57252486e-01 -1.98746895e-04 3.38182880e+02] [ 9.57252299e-01 2.89253657e-01 -5.98052174e-04 4.57700996e+02] [ 6.29975196e-04 -1.72621845e-05 9.99999801e-01 1.75179005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.19, Y:457.72, Z:1.75 [[ 2.88276673e-01 -9.57547135e-01 -2.08882853e-04 3.38188291e+02] [ 9.57546951e-01 2.88276748e-01 -5.94680945e-04 4.57724518e+02] [ 6.29651105e-04 -2.85824947e-05 9.99999801e-01 1.75395273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.862755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.20, Y:457.75, Z:1.75 [[ 2.87710101e-01 -9.57717524e-01 -2.04114911e-04 3.38196065e+02] [ 9.57717339e-01 2.87710172e-01 -5.96264944e-04 4.57752010e+02] [ 6.29779322e-04 -2.39329424e-05 9.99999801e-01 1.75483083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.20, Y:457.78, Z:1.75 [[ 2.84805572e-01 -9.58585283e-01 -2.03147276e-04 3.38204237e+02] [ 9.58585098e-01 2.84805644e-01 -5.96585148e-04 4.57781394e+02] [ 6.29735233e-04 -2.48231770e-05 9.99999801e-01 1.75158342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.21, Y:457.81, Z:1.75 [[ 2.82049701e-01 -9.59399773e-01 -2.06948410e-04 3.38209935e+02] [ 9.59399588e-01 2.82049775e-01 -5.95328354e-04 4.57808977e+02] [ 6.29527640e-04 -3.06340352e-05 9.99999801e-01 1.75144870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.22, Y:457.83, Z:1.75 [[ 2.81491233e-01 -9.59563778e-01 -2.05852388e-04 3.38217256e+02] [ 9.59563593e-01 2.81491307e-01 -5.95690194e-04 4.57834943e+02] [ 6.29548390e-04 -2.98468900e-05 9.99999801e-01 1.75193072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.22, Y:457.86, Z:1.75 [[ 2.80762488e-01 -9.59777257e-01 -2.05354841e-04 3.38222030e+02] [ 9.59777073e-01 2.80762562e-01 -5.95854265e-04 4.57860903e+02] [ 6.29543323e-04 -2.98013418e-05 9.99999801e-01 1.75252796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.23, Y:457.89, Z:1.75 [[ 2.77989505e-01 -9.60584090e-01 -2.01696282e-04 3.38229008e+02] [ 9.60583905e-01 2.77989577e-01 -5.97057318e-04 4.57891040e+02] [ 6.29593225e-04 -2.77705337e-05 9.99999801e-01 1.74920769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.24, Y:457.92, Z:1.75 [[ 2.78606853e-01 -9.60405216e-01 -2.06347611e-04 3.38235985e+02] [ 9.60405032e-01 2.78606928e-01 -5.95529043e-04 4.57916259e+02] [ 6.29439073e-04 -3.22588112e-05 9.99999801e-01 1.75219005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.072755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.24, Y:457.95, Z:1.75 [[ 2.75482330e-01 -9.61306114e-01 -2.01160420e-04 3.38241540e+02] [ 9.61305929e-01 2.75482402e-01 -5.97229886e-04 4.57945082e+02] [ 6.29536897e-04 -2.88504233e-05 9.99999801e-01 1.74995354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.25, Y:457.97, Z:1.75 [[ 2.76444146e-01 -9.61029964e-01 -2.06095299e-04 3.38248181e+02] [ 9.61029780e-01 2.76444221e-01 -5.95608287e-04 4.57969534e+02] [ 6.29371265e-04 -3.34112957e-05 9.99999801e-01 1.75119018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.26, Y:458.00, Z:1.75 [[ 2.73928494e-01 -9.61750040e-01 -2.00320997e-04 3.38255541e+02] [ 9.61749855e-01 2.73928566e-01 -5.97501434e-04 4.57999046e+02] [ 6.29520672e-04 -2.89860220e-05 9.99999801e-01 1.75020393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.26, Y:458.03, Z:1.75 [[ 2.72982336e-01 -9.62019024e-01 -2.06285652e-04 3.38260146e+02] [ 9.62018840e-01 2.72982412e-01 -5.95545083e-04 4.58026901e+02] [ 6.29238054e-04 -3.58773954e-05 9.99999801e-01 1.75018165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.26, Y:458.05, Z:1.75 [[ 2.73532017e-01 -9.61862877e-01 -2.05952391e-04 3.38263342e+02] [ 9.61862693e-01 2.73532092e-01 -5.95654108e-04 4.58049477e+02] [ 6.29272163e-04 -3.51674519e-05 9.99999801e-01 1.75173892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.27, Y:458.08, Z:1.75 [[ 2.73200137e-01 -9.61957196e-01 -1.95339069e-04 3.38271743e+02] [ 9.61957010e-01 2.73200205e-01 -5.99114543e-04 4.58075934e+02] [ 6.29689219e-04 -2.42296120e-05 9.99999802e-01 1.75175288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.28, Y:458.11, Z:1.75 [[ 2.78432747e-01 -9.60455708e-01 -1.95132338e-04 3.38284795e+02] [ 9.60455522e-01 2.78432814e-01 -5.99181868e-04 4.58109768e+02] [ 6.29818891e-04 -2.05840782e-05 9.99999802e-01 1.75173725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.28, Y:458.13, Z:1.75 [[ 2.74102900e-01 -9.61700346e-01 -2.09644601e-04 3.38282651e+02] [ 9.61700163e-01 2.74102978e-01 -5.94444934e-04 4.58130398e+02] [ 6.29142109e-04 -3.86761663e-05 9.99999801e-01 1.75091489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.29, Y:458.16, Z:1.75 [[ 2.74304149e-01 -9.61642967e-01 -1.94850517e-04 3.38289050e+02] [ 9.61642781e-01 2.74304217e-01 -5.99255296e-04 4.58155740e+02] [ 6.29717960e-04 -2.29983787e-05 9.99999802e-01 1.75060289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:458.18, Z:1.75 [[ 2.74445521e-01 -9.61602630e-01 -1.94636134e-04 3.38295676e+02] [ 9.61602444e-01 2.74445589e-01 -5.99324919e-04 4.58182272e+02] [ 6.29729447e-04 -2.26805427e-05 9.99999802e-01 1.75046160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.30, Y:458.21, Z:1.75 [[ 2.74987921e-01 -9.61447662e-01 -1.94428172e-04 3.38300422e+02] [ 9.61447475e-01 2.74987989e-01 -5.99392377e-04 4.58208908e+02] [ 6.29749811e-04 -2.21068116e-05 9.99999802e-01 1.75085037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4027550960001 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.31, Y:458.23, Z:1.75 [[ 2.75078922e-01 -9.61421629e-01 -1.94221707e-04 3.38306545e+02] [ 9.61421442e-01 2.75078990e-01 -5.99459271e-04 4.58234683e+02] [ 6.29759419e-04 -2.18303035e-05 9.99999802e-01 1.75031517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.32, Y:458.26, Z:1.75 [[ 2.77602286e-01 -9.60696067e-01 -1.94062338e-04 3.38315119e+02] [ 9.60695880e-01 2.77602353e-01 -5.99510859e-04 4.58264840e+02] [ 6.29819886e-04 -2.00093034e-05 9.99999802e-01 1.75047715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.32, Y:458.29, Z:1.75 [[ 2.77863650e-01 -9.60620504e-01 -2.00237611e-04 3.38322052e+02] [ 9.60620318e-01 2.77863721e-01 -5.97511724e-04 4.58292469e+02] [ 6.29620781e-04 -2.63255286e-05 9.99999802e-01 1.75069359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.33, Y:458.32, Z:1.75 [[ 2.75992882e-01 -9.61159659e-01 -1.99851061e-04 3.38326614e+02] [ 9.61159473e-01 2.75992953e-01 -5.97636706e-04 4.58319545e+02] [ 6.29581777e-04 -2.71452638e-05 9.99999802e-01 1.74938864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.522755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.33, Y:458.35, Z:1.75 [[ 2.77411554e-01 -9.60751159e-01 -2.00919922e-04 3.38329174e+02] [ 9.60750974e-01 2.77411625e-01 -5.97291495e-04 4.58345053e+02] [ 6.29586018e-04 -2.73384495e-05 9.99999801e-01 1.75131344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.552755096 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.34, Y:458.37, Z:1.75 [[ 2.81737322e-01 -9.59491554e-01 -1.98882644e-04 3.38335902e+02] [ 9.59491368e-01 2.81737391e-01 -5.97949623e-04 4.58368340e+02] [ 6.29760290e-04 -2.23614550e-05 9.99999802e-01 1.74950651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.34, Y:458.40, Z:1.75 [[ 2.82861788e-01 -9.59160660e-01 -1.93340639e-04 3.38342208e+02] [ 9.59160472e-01 2.82861854e-01 -5.99736233e-04 4.58395373e+02] [ 6.29932093e-04 -1.58022347e-05 9.99999802e-01 1.74864078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.35, Y:458.42, Z:1.75 [[ 2.84978764e-01 -9.58533811e-01 -1.93133514e-04 3.38346174e+02] [ 9.58533623e-01 2.84978829e-01 -5.99802927e-04 4.58421154e+02] [ 6.29970348e-04 -1.41938701e-05 9.99999802e-01 1.74760873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.642755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.36, Y:458.45, Z:1.75 [[ 2.86075803e-01 -9.58206970e-01 -1.92916565e-04 3.38355779e+02] [ 9.58206783e-01 2.86075867e-01 -5.99872696e-04 4.58452064e+02] [ 6.29990973e-04 -1.32448985e-05 9.99999802e-01 1.74670537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.36, Y:458.48, Z:1.74 [[ 2.85385623e-01 -9.58412754e-01 -1.99988667e-04 3.38357654e+02] [ 9.58412567e-01 2.85385693e-01 -5.97597756e-04 4.58475908e+02] [ 6.29819216e-04 -2.11258440e-05 9.99999802e-01 1.74498241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.36, Y:458.50, Z:1.75 [[ 2.85036150e-01 -9.58516748e-01 -1.91993759e-04 3.38364818e+02] [ 9.58516560e-01 2.85036215e-01 -6.00163667e-04 4.58501697e+02] [ 6.29992100e-04 -1.29608569e-05 9.99999802e-01 1.74576565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.37, Y:458.53, Z:1.74 [[ 2.84397722e-01 -9.58706367e-01 -1.92422701e-04 3.38372405e+02] [ 9.58706180e-01 2.84397787e-01 -6.00026109e-04 4.58529832e+02] [ 6.29973442e-04 -1.38307739e-05 9.99999802e-01 1.74476792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.38, Y:458.56, Z:1.75 [[ 2.82327753e-01 -9.59317988e-01 -1.93128029e-04 3.38378644e+02] [ 9.59317801e-01 2.82327819e-01 -5.99800084e-04 4.58557724e+02] [ 6.29924425e-04 -1.59309456e-05 9.99999802e-01 1.74589438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:458.59, Z:1.75 [[ 2.81424149e-01 -9.59583457e-01 -1.93164003e-04 3.38387699e+02] [ 9.59583270e-01 2.81424214e-01 -5.99788573e-04 4.58586709e+02] [ 6.29908220e-04 -1.65619576e-05 9.99999802e-01 1.74763930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.822755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.39, Y:458.61, Z:1.75 [[ 2.75880641e-01 -9.61191882e-01 -1.96442617e-04 3.38388083e+02] [ 9.61191696e-01 2.75880710e-01 -5.98739891e-04 4.58610382e+02] [ 6.29698651e-04 -2.36382672e-05 9.99999802e-01 1.74835465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.39, Y:458.64, Z:1.75 [[ 2.73591017e-01 -9.61846100e-01 -1.87744103e-04 3.38394806e+02] [ 9.61845912e-01 2.73591080e-01 -6.01512676e-04 4.58637612e+02] [ 6.29927734e-04 -1.60124331e-05 9.99999802e-01 1.74870760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.40, Y:458.66, Z:1.74 [[ 2.74171035e-01 -9.61680928e-01 -1.91317518e-04 3.38401617e+02] [ 9.61680741e-01 2.74171102e-01 -6.00373811e-04 4.58661419e+02] [ 6.29821778e-04 -1.93812627e-05 9.99999802e-01 1.74300985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.41, Y:458.69, Z:1.74 [[ 2.73385062e-01 -9.61904659e-01 -1.84398585e-04 3.38408072e+02] [ 9.61904471e-01 2.73385124e-01 -6.02574057e-04 4.58687179e+02] [ 6.30030623e-04 -1.26390771e-05 9.99999802e-01 1.74171651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.42, Y:458.71, Z:1.75 [[ 2.72421700e-01 -9.62177938e-01 -1.83443693e-04 3.38415501e+02] [ 9.62177749e-01 2.72421762e-01 -6.02877472e-04 4.58713852e+02] [ 6.30049457e-04 -1.22685331e-05 9.99999802e-01 1.74590209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.42, Y:458.74, Z:1.74 [[ 2.72867987e-01 -9.62051468e-01 -1.84076863e-04 3.38423668e+02] [ 9.62051280e-01 2.72868049e-01 -6.02676522e-04 4.58739832e+02] [ 6.30034527e-04 -1.26402525e-05 9.99999802e-01 1.74373574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.43, Y:458.77, Z:1.74 [[ 2.74773162e-01 -9.61509062e-01 -1.84394803e-04 3.38431872e+02] [ 9.61508873e-01 2.74773224e-01 -6.02575997e-04 4.58765920e+02] [ 6.30049036e-04 -1.17255267e-05 9.99999802e-01 1.74122498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.44, Y:458.79, Z:1.74 [[ 2.73443962e-01 -9.61887917e-01 -1.86015702e-04 3.38438954e+02] [ 9.61887729e-01 2.73444025e-01 -6.02064733e-04 4.58793983e+02] [ 6.29983674e-04 -1.42952551e-05 9.99999802e-01 1.74413299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.45, Y:458.81, Z:1.74 [[ 2.79984888e-01 -9.60004389e-01 -1.89421871e-04 3.38447306e+02] [ 9.60004201e-01 2.79984952e-01 -6.00991168e-04 4.58814093e+02] [ 6.29989433e-04 -1.35773468e-05 9.99999802e-01 1.74358967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.45, Y:458.84, Z:1.74 [[ 2.79404302e-01 -9.60173528e-01 -1.80026156e-04 3.38454947e+02] [ 9.60173338e-01 2.79404360e-01 -6.03946927e-04 4.58843828e+02] [ 6.30193945e-04 -4.11094543e-06 9.99999801e-01 1.74393018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.46, Y:458.87, Z:1.74 [[ 2.80837010e-01 -9.59755458e-01 -1.87062313e-04 3.38462394e+02] [ 9.59755269e-01 2.80837072e-01 -6.01733567e-04 4.58867614e+02] [ 6.30051107e-04 -1.05449855e-05 9.99999802e-01 1.74304168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.47, Y:458.90, Z:1.74 [[ 2.82479477e-01 -9.59273324e-01 -1.86731627e-04 3.38472349e+02] [ 9.59273135e-01 2.82479539e-01 -6.01837883e-04 4.58895661e+02] [ 6.30074890e-04 -9.11978328e-06 9.99999802e-01 1.74329562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.48, Y:458.92, Z:1.75 [[ 2.83132401e-01 -9.59080814e-01 -1.90710169e-04 3.38480560e+02] [ 9.59080626e-01 2.83132465e-01 -6.00582225e-04 4.58920777e+02] [ 6.30003129e-04 -1.28621405e-05 9.99999802e-01 1.74531314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.49, Y:458.95, Z:1.74 [[ 2.81676430e-01 -9.59509434e-01 -1.89052743e-04 3.38488351e+02] [ 9.59509245e-01 2.81676493e-01 -6.01104436e-04 4.58950174e+02] [ 6.30017090e-04 -1.20809029e-05 9.99999802e-01 1.74428683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.50, Y:458.97, Z:1.74 [[ 2.82226864e-01 -9.59347674e-01 -1.95817086e-04 3.38495166e+02] [ 9.59347487e-01 2.82226932e-01 -5.98981037e-04 4.58973670e+02] [ 6.29895920e-04 -1.88080894e-05 9.99999802e-01 1.74423404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.272755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.50, Y:459.00, Z:1.74 [[ 2.83769411e-01 -9.58892531e-01 -1.90719534e-04 3.38503721e+02] [ 9.58892342e-01 2.83769475e-01 -6.00579141e-04 4.58996622e+02] [ 6.30011234e-04 -1.24535119e-05 9.99999802e-01 1.74410286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.51, Y:459.02, Z:1.75 [[ 2.83220119e-01 -9.59054915e-01 -1.86579873e-04 3.38511967e+02] [ 9.59054726e-01 2.83220180e-01 -6.01874727e-04 4.59023499e+02] [ 6.30074100e-04 -8.47727745e-06 9.99999802e-01 1.74589198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.332755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.52, Y:459.05, Z:1.74 [[ 2.81921757e-01 -9.59437381e-01 -1.87176656e-04 3.38519914e+02] [ 9.59437193e-01 2.81921818e-01 -6.01688101e-04 4.59050899e+02] [ 6.30051239e-04 -9.95527858e-06 9.99999802e-01 1.74133889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.53, Y:459.08, Z:1.74 [[ 2.82756102e-01 -9.59191821e-01 -1.90927019e-04 3.38529619e+02] [ 9.59191634e-01 2.82756166e-01 -6.00517593e-04 4.59077590e+02] [ 6.29997356e-04 -1.33355852e-05 9.99999802e-01 1.74277942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.54, Y:459.10, Z:1.74 [[ 2.81501859e-01 -9.59560664e-01 -1.90418245e-04 3.38538890e+02] [ 9.59560476e-01 2.81501923e-01 -6.00675924e-04 4.59102973e+02] [ 6.29988090e-04 -1.36264325e-05 9.99999802e-01 1.74321990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.55, Y:459.13, Z:1.74 [[ 2.79572685e-01 -9.60124512e-01 -1.87349255e-04 3.38546308e+02] [ 9.60124324e-01 2.79572748e-01 -6.01629911e-04 4.59126966e+02] [ 6.30017371e-04 -1.16792864e-05 9.99999802e-01 1.74377890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.55, Y:459.15, Z:1.74 [[ 2.74923139e-01 -9.61466190e-01 -1.84538812e-04 3.38552653e+02] [ 9.61466001e-01 2.74923200e-01 -6.02501562e-04 4.59151655e+02] [ 6.30018882e-04 -1.17861734e-05 9.99999802e-01 1.73943105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.482755096 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:338.56, Y:459.18, Z:1.74 [[ 2.74106294e-01 -9.61699385e-01 -1.82102885e-04 3.38563363e+02] [ 9.61699195e-01 2.74106355e-01 -6.03255507e-04 4.59179420e+02] [ 6.30066008e-04 -9.77206582e-06 9.99999802e-01 1.74312974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.57, Y:459.21, Z:1.74 [[ 2.72657723e-01 -9.62111081e-01 -1.85806890e-04 3.38571078e+02] [ 9.62110893e-01 2.72657785e-01 -6.02109734e-04 4.59205550e+02] [ 6.29958143e-04 -1.45969642e-05 9.99999802e-01 1.73929366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5427550960001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:338.58, Y:459.23, Z:1.74 [[ 2.69108655e-01 -9.63109806e-01 -1.84650308e-04 3.38579794e+02] [ 9.63109618e-01 2.69108717e-01 -6.02467359e-04 4.59231284e+02] [ 6.29933229e-04 -1.57093073e-05 9.99999802e-01 1.73802857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.59, Y:459.26, Z:1.74 [[ 2.68213969e-01 -9.63359348e-01 -1.84571007e-04 3.38588239e+02] [ 9.63359159e-01 2.68214032e-01 -6.02491851e-04 4.59256464e+02] [ 6.29920691e-04 -1.62114392e-05 9.99999802e-01 1.73916723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.60, Y:459.28, Z:1.74 [[ 2.65948038e-01 -9.63987348e-01 -1.82646444e-04 3.38597633e+02] [ 9.63987160e-01 2.65948100e-01 -6.03085683e-04 4.59284449e+02] [ 6.29941443e-04 -1.56793724e-05 9.99999802e-01 1.73882289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.632755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.61, Y:459.31, Z:1.74 [[ 2.67191452e-01 -9.63643447e-01 -1.87201205e-04 3.38607873e+02] [ 9.63643259e-01 2.67191517e-01 -6.01679245e-04 4.59308209e+02] [ 6.29822836e-04 -1.96316287e-05 9.99999802e-01 1.74420393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.62, Y:459.33, Z:1.74 [[ 2.67306400e-01 -9.63611568e-01 -1.84461683e-04 3.38615801e+02] [ 9.63611380e-01 2.67306463e-01 -6.02523632e-04 4.59333438e+02] [ 6.29906542e-04 -1.66909541e-05 9.99999802e-01 1.73991189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:459.36, Z:1.74 [[ 2.67999250e-01 -9.63419103e-01 -1.84329200e-04 3.38626273e+02] [ 9.63418915e-01 2.67999313e-01 -6.02564442e-04 4.59361427e+02] [ 6.29922193e-04 -1.60994195e-05 9.99999802e-01 1.74130249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.63, Y:459.39, Z:1.74 [[ 2.70023505e-01 -9.62853712e-01 -1.88844780e-04 3.38634005e+02] [ 9.62853525e-01 2.70023570e-01 -6.01174237e-04 4.59385088e+02] [ 6.29835388e-04 -1.94986873e-05 9.99999802e-01 1.74205631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.64, Y:459.41, Z:1.74 [[ 2.70738329e-01 -9.62652961e-01 -1.85114793e-04 3.38642460e+02] [ 9.62652773e-01 2.70738392e-01 -6.02320295e-04 4.59412675e+02] [ 6.29943097e-04 -1.51300783e-05 9.99999802e-01 1.74331396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7827550960001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:338.65, Y:459.44, Z:1.74 [[ 2.67214047e-01 -9.63637182e-01 -1.85463242e-04 3.38647518e+02] [ 9.63636994e-01 2.67214111e-01 -6.02213266e-04 4.59438702e+02] [ 6.29873490e-04 -1.77993970e-05 9.99999802e-01 1.74175401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.66, Y:459.47, Z:1.74 [[ 2.73243462e-01 -9.61944893e-01 -1.84804819e-04 3.38660270e+02] [ 9.61944704e-01 2.73243524e-01 -6.02415252e-04 4.59468038e+02] [ 6.29986995e-04 -1.31659874e-05 9.99999802e-01 1.74327529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.67, Y:459.49, Z:1.74 [[ 2.73817348e-01 -9.61781692e-01 -1.92810089e-04 3.38668485e+02] [ 9.61781505e-01 2.73817415e-01 -5.99984457e-04 4.59494425e+02] [ 6.29848827e-04 -2.11550248e-05 9.99999801e-01 1.74370852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.872755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.67, Y:459.51, Z:1.75 [[ 2.76077885e-01 -9.61135248e-01 -1.90448490e-04 3.38674010e+02] [ 9.61135061e-01 2.76077950e-01 -6.00702560e-04 4.59514545e+02] [ 6.29935033e-04 -1.72060287e-05 9.99999802e-01 1.74630529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:459.54, Z:1.74 [[ 2.78070081e-01 -9.60560773e-01 -1.79334767e-04 3.38685243e+02] [ 9.60560583e-01 2.78070139e-01 -6.04068416e-04 4.59543706e+02] [ 6.30112068e-04 -4.28855485e-06 9.99999802e-01 1.74477098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.69, Y:459.57, Z:1.74 [[ 2.79066254e-01 -9.60271832e-01 -1.86565268e-04 3.38692724e+02] [ 9.60271643e-01 2.79066316e-01 -6.01883461e-04 4.59567609e+02] [ 6.30035816e-04 -1.11879739e-05 9.99999802e-01 1.74435226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.71, Y:459.59, Z:1.75 [[ 2.81628173e-01 -9.59523600e-01 -1.83350422e-04 3.38705570e+02] [ 9.59523410e-01 2.81628233e-01 -6.02853520e-04 4.59594983e+02] [ 6.30088835e-04 -6.14848646e-06 9.99999802e-01 1.74773069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.71, Y:459.62, Z:1.75 [[ 2.81112996e-01 -9.59674657e-01 -1.88349114e-04 3.38713821e+02] [ 9.59674469e-01 2.81113059e-01 -6.01346258e-04 4.59621837e+02] [ 6.30044160e-04 -1.17075879e-05 9.99999802e-01 1.74752878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.72, Y:459.65, Z:1.75 [[ 2.76826911e-01 -9.60919781e-01 -1.90059954e-04 3.38716968e+02] [ 9.60919593e-01 2.76826976e-01 -6.00831285e-04 4.59645304e+02] [ 6.29964389e-04 -1.63060647e-05 9.99999802e-01 1.74867026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.73, Y:459.68, Z:1.75 [[ 2.80897313e-01 -9.59737812e-01 -1.81083727e-04 3.38733980e+02] [ 9.59737622e-01 2.80897371e-01 -6.03524545e-04 4.59678005e+02] [ 6.30091269e-04 -4.26444263e-06 9.99999802e-01 1.74562685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.74, Y:459.70, Z:1.75 [[ 2.82015480e-01 -9.59409835e-01 -1.95699913e-04 3.38743399e+02] [ 9.59409648e-01 2.82015547e-01 -5.99135704e-04 4.59703758e+02] [ 6.30007105e-04 -1.87908412e-05 9.99999801e-01 1.74618495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.75, Y:459.73, Z:1.75 [[ 2.81280001e-01 -9.59625721e-01 -1.93822457e-04 3.38750619e+02] [ 9.59625533e-01 2.81280067e-01 -5.99697856e-04 4.59729648e+02] [ 6.30003881e-04 -1.73139654e-05 9.99999801e-01 1.74620130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.76, Y:459.76, Z:1.75 [[ 2.78314309e-01 -9.60490036e-01 -1.91742899e-04 3.38760571e+02] [ 9.60489848e-01 2.78314374e-01 -6.00315565e-04 4.59758198e+02] [ 6.29961923e-04 -1.70906963e-05 9.99999801e-01 1.74799293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.76, Y:459.78, Z:1.75 [[ 2.72278997e-01 -9.62218328e-01 -1.94212639e-04 3.38760645e+02] [ 9.62218141e-01 2.72279065e-01 -5.99583154e-04 4.59777973e+02] [ 6.29809935e-04 -2.36210244e-05 9.99999801e-01 1.74928609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.78, Y:459.81, Z:1.75 [[ 2.75358928e-01 -9.61341474e-01 -1.78347624e-04 3.38781000e+02] [ 9.61341284e-01 2.75358986e-01 -6.04265676e-04 4.59811000e+02] [ 6.30015277e-04 -5.06298502e-06 9.99999802e-01 1.74685794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.232755096 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:338.79, Y:459.84, Z:1.75 [[ 2.74480999e-01 -9.61592504e-01 -1.94875149e-04 3.38789533e+02] [ 9.61592317e-01 2.74481067e-01 -5.99373347e-04 4.59836120e+02] [ 6.29842456e-04 -2.28738510e-05 9.99999801e-01 1.74589525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.80, Y:459.86, Z:1.75 [[ 2.73783039e-01 -9.61791459e-01 -1.93480680e-04 3.38796388e+02] [ 9.61791272e-01 2.73783106e-01 -5.99785669e-04 4.59858455e+02] [ 6.29840475e-04 -2.18768866e-05 9.99999801e-01 1.74680195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:338.80, Y:459.88, Z:1.75 [[ 2.71365214e-01 -9.62476434e-01 -1.87871562e-04 3.38803864e+02] [ 9.62476246e-01 2.71365278e-01 -6.01439785e-04 4.59884631e+02] [ 6.29853438e-04 -1.76120801e-05 9.99999802e-01 1.74728137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.81, Y:459.91, Z:1.75 [[ 2.71449782e-01 -9.62452586e-01 -1.87570376e-04 3.38811535e+02] [ 9.62452398e-01 2.71449847e-01 -6.01528436e-04 4.59907098e+02] [ 6.29858548e-04 -1.72427953e-05 9.99999802e-01 1.74788072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.352755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:338.82, Y:459.93, Z:1.75 [[ 2.70634661e-01 -9.62682111e-01 -1.82297103e-04 3.38817871e+02] [ 9.62681922e-01 2.70634722e-01 -6.03077038e-04 4.59930784e+02] [ 6.29907402e-04 -1.22805758e-05 9.99999802e-01 1.74722458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.83, Y:459.96, Z:1.75 [[ 2.69835491e-01 -9.62906422e-01 -1.75694884e-04 3.38828082e+02] [ 9.62906232e-01 2.69835548e-01 -6.05012053e-04 4.59958772e+02] [ 6.29978717e-04 -5.92397393e-06 9.99999802e-01 1.74847847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.84, Y:459.98, Z:1.75 [[ 2.72851393e-01 -9.62056176e-01 -1.79906836e-04 3.38840833e+02] [ 9.62055986e-01 2.72851452e-01 -6.03777959e-04 4.59984957e+02] [ 6.29956155e-04 -8.33879108e-06 9.99999802e-01 1.74574439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.85, Y:460.01, Z:1.75 [[ 2.70269688e-01 -9.62784640e-01 -1.84139621e-04 3.38845693e+02] [ 9.62784451e-01 2.70269750e-01 -6.02537463e-04 4.60007873e+02] [ 6.29881183e-04 -1.44391525e-05 9.99999802e-01 1.74886504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.86, Y:460.03, Z:1.75 [[ 2.70001289e-01 -9.62859945e-01 -1.76760222e-04 3.38856869e+02] [ 9.62859755e-01 2.70001347e-01 -6.04694559e-04 4.60034081e+02] [ 6.29961667e-04 -6.92699368e-06 9.99999802e-01 1.75116097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.502755096 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:338.87, Y:460.06, Z:1.75 [[ 2.69860020e-01 -9.62899547e-01 -1.77518954e-04 3.38866664e+02] [ 9.62899358e-01 2.69860078e-01 -6.04473049e-04 4.60060331e+02] [ 6.29952104e-04 -7.80977747e-06 9.99999802e-01 1.74723668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.88, Y:460.09, Z:1.75 [[ 2.72526469e-01 -9.62148269e-01 -1.77887258e-04 3.38883918e+02] [ 9.62148080e-01 2.72526527e-01 -6.04365685e-04 4.60090613e+02] [ 6.29968394e-04 -6.44823797e-06 9.99999802e-01 1.74809999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.562755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:338.89, Y:460.12, Z:1.75 [[ 2.70953176e-01 -9.62592510e-01 -1.87863620e-04 3.38892551e+02] [ 9.62592323e-01 2.70953241e-01 -6.01454794e-04 4.60116179e+02] [ 6.29858137e-04 -1.78699911e-05 9.99999802e-01 1.74832828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.90, Y:460.14, Z:1.74 [[ 2.67589710e-01 -9.63532933e-01 -1.85349315e-04 3.38900134e+02] [ 9.63532745e-01 2.67589774e-01 -6.02186590e-04 4.60143384e+02] [ 6.29824192e-04 -1.74511996e-05 9.99999802e-01 1.74438679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.91, Y:460.17, Z:1.75 [[ 2.71656925e-01 -9.62394139e-01 -1.88935047e-04 3.38914194e+02] [ 9.62393952e-01 2.71656990e-01 -6.01141299e-04 4.60165239e+02] [ 6.29860389e-04 -1.85257493e-05 9.99999802e-01 1.74861930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.92, Y:460.19, Z:1.75 [[ 2.67145267e-01 -9.63656252e-01 -1.87742640e-04 3.38916245e+02] [ 9.63656064e-01 2.67145332e-01 -6.01489253e-04 4.60186340e+02] [ 6.29783449e-04 -2.02343269e-05 9.99999802e-01 1.75302753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.93, Y:460.21, Z:1.75 [[ 2.66404744e-01 -9.63861236e-01 -1.75824558e-04 3.38925428e+02] [ 9.63861046e-01 2.66404802e-01 -6.04953144e-04 4.60212461e+02] [ 6.29931391e-04 -8.30805540e-06 9.99999802e-01 1.75405021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.94, Y:460.24, Z:1.76 [[ 2.65509500e-01 -9.64108228e-01 -1.75413787e-04 3.38936493e+02] [ 9.64108038e-01 2.65509558e-01 -6.05072398e-04 4.60237484e+02] [ 6.29929315e-04 -8.46537162e-06 9.99999802e-01 1.75545991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.742755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:338.95, Y:460.26, Z:1.75 [[ 2.65312512e-01 -9.64162456e-01 -1.75294664e-04 3.38946225e+02] [ 9.64162266e-01 2.65312569e-01 -6.05106943e-04 4.60263923e+02] [ 6.29929273e-04 -8.47005771e-06 9.99999802e-01 1.75190879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.96, Y:460.29, Z:1.75 [[ 2.68170020e-01 -9.63371585e-01 -1.75250954e-04 3.38959902e+02] [ 9.63371394e-01 2.68170077e-01 -6.05119602e-04 4.60290543e+02] [ 6.29952091e-04 -6.55682075e-06 9.99999802e-01 1.74895906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.97, Y:460.32, Z:1.75 [[ 2.67910656e-01 -9.63443744e-01 -1.79842961e-04 3.38974559e+02] [ 9.63443555e-01 2.67910716e-01 -6.03790684e-04 4.60322418e+02] [ 6.29900214e-04 -1.15065836e-05 9.99999802e-01 1.74650357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.97, Y:460.34, Z:1.75 [[ 2.62884317e-01 -9.64827342e-01 -1.91726644e-04 3.38974914e+02] [ 9.64827155e-01 2.62884385e-01 -6.00346233e-04 4.60338128e+02] [ 6.29632401e-04 -2.71614630e-05 9.99999801e-01 1.75391225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:338.99, Y:460.37, Z:1.75 [[ 2.62581512e-01 -9.64909799e-01 -1.71661148e-04 3.38986103e+02] [ 9.64909609e-01 2.62581568e-01 -6.06131742e-04 4.60365142e+02] [ 6.29937510e-04 -6.47850148e-06 9.99999802e-01 1.75417146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.00, Y:460.40, Z:1.75 [[ 2.66326507e-01 -9.63882857e-01 -1.74452721e-04 3.39003790e+02] [ 9.63882667e-01 2.66326564e-01 -6.05327222e-04 4.60397224e+02] [ 6.29925926e-04 -6.93726943e-06 9.99999802e-01 1.74810944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9227550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.01, Y:460.42, Z:1.75 [[ 2.64826549e-01 -9.64296045e-01 -1.89588231e-04 3.39011710e+02] [ 9.64295858e-01 2.64826616e-01 -6.00954088e-04 4.60422388e+02] [ 6.29705660e-04 -2.36705483e-05 9.99999802e-01 1.75151248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.01, Y:460.44, Z:1.75 [[ 2.59600522e-01 -9.65716073e-01 -1.86236623e-04 3.39012395e+02] [ 9.65715886e-01 2.59600588e-01 -6.01919661e-04 4.60443223e+02] [ 6.29630628e-04 -2.35930067e-05 9.99999802e-01 1.75457229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.03, Y:460.47, Z:1.75 [[ 2.65181879e-01 -9.64198393e-01 -1.73754256e-04 3.39031015e+02] [ 9.64198203e-01 2.65181935e-01 -6.05501591e-04 4.60473983e+02] [ 6.29900151e-04 -6.96549174e-06 9.99999802e-01 1.75246354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.04, Y:460.50, Z:1.75 [[ 2.67101738e-01 -9.63668318e-01 -1.87536058e-04 3.39039344e+02] [ 9.63668130e-01 2.67101803e-01 -6.01537751e-04 4.60497981e+02] [ 6.29774092e-04 -2.00507431e-05 9.99999802e-01 1.75145006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0427550960001 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:339.05, Y:460.53, Z:1.75 [[ 2.69176667e-01 -9.63090799e-01 -1.85145114e-04 3.39048935e+02] [ 9.63090611e-01 2.69176730e-01 -6.02222901e-04 4.60526447e+02] [ 6.29832091e-04 -1.62071680e-05 9.99999802e-01 1.75137139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.06, Y:460.55, Z:1.75 [[ 2.69978207e-01 -9.62866415e-01 -1.87657615e-04 3.39055876e+02] [ 9.62866227e-01 2.69978272e-01 -6.01503781e-04 4.60552284e+02] [ 6.29831268e-04 -1.82962669e-05 9.99999802e-01 1.75345279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.06, Y:460.58, Z:1.75 [[ 2.68998468e-01 -9.63140586e-01 -1.89173884e-04 3.39061891e+02] [ 9.63140399e-01 2.68998534e-01 -6.01070224e-04 4.60580093e+02] [ 6.29802625e-04 -2.05140408e-05 9.99999802e-01 1.75488440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.132755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.07, Y:460.61, Z:1.76 [[ 2.68820542e-01 -9.63190262e-01 -1.87910299e-04 3.39065669e+02] [ 9.63190074e-01 2.68820607e-01 -6.01429510e-04 4.60606699e+02] [ 6.29805208e-04 -1.93167278e-05 9.99999802e-01 1.75715506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1627550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.07, Y:460.63, Z:1.76 [[ 2.68124413e-01 -9.63384277e-01 -1.84138510e-04 3.39071335e+02] [ 9.63384089e-01 2.68124476e-01 -6.02497964e-04 4.60632665e+02] [ 6.29809107e-04 -1.58516981e-05 9.99999802e-01 1.75844785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.08, Y:460.66, Z:1.76 [[ 2.68128105e-01 -9.63383250e-01 -1.81665505e-04 3.39077760e+02] [ 9.63383061e-01 2.68128166e-01 -6.03196482e-04 4.60659434e+02] [ 6.29819026e-04 -1.32795408e-05 9.99999802e-01 1.75827646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.222755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.08, Y:460.68, Z:1.75 [[ 2.66677743e-01 -9.63785738e-01 -1.81001313e-04 3.39078852e+02] [ 9.63785549e-01 2.66677804e-01 -6.03383763e-04 4.60681318e+02] [ 6.29801698e-04 -1.35374293e-05 9.99999802e-01 1.75475348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.252755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:339.09, Y:460.71, Z:1.75 [[ 2.70109251e-01 -9.62829665e-01 -1.70345375e-04 3.39088650e+02] [ 9.62829474e-01 2.70109305e-01 -6.06377262e-04 4.60707080e+02] [ 6.29849887e-04 -2.25439405e-07 9.99999802e-01 1.75446005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.09, Y:460.74, Z:1.76 [[ 2.69260437e-01 -9.63067385e-01 -1.71101179e-04 3.39094368e+02] [ 9.63067194e-01 2.69260492e-01 -6.06165333e-04 4.60735483e+02] [ 6.29848849e-04 -1.56558983e-06 9.99999802e-01 1.75638085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.10, Y:460.77, Z:1.76 [[ 2.67370634e-01 -9.63593750e-01 -1.74025651e-04 3.39102177e+02] [ 9.63593559e-01 2.67370690e-01 -6.05346645e-04 4.60765932e+02] [ 6.29837601e-04 -5.83808014e-06 9.99999802e-01 1.75884596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.342755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:339.11, Y:460.79, Z:1.76 [[ 2.68180217e-01 -9.63368745e-01 -1.79810360e-04 3.39107917e+02] [ 9.63368556e-01 2.68180277e-01 -6.03728005e-04 4.60788335e+02] [ 6.29834283e-04 -1.13157400e-05 9.99999802e-01 1.75657292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.11, Y:460.81, Z:1.76 [[ 2.62252431e-01 -9.64999292e-01 -1.72422892e-04 3.39110828e+02] [ 9.64999101e-01 2.62252488e-01 -6.05789996e-04 4.60814415e+02] [ 6.29805249e-04 -7.51803627e-06 9.99999802e-01 1.75891283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.12, Y:460.84, Z:1.76 [[ 2.60571104e-01 -9.65454645e-01 -1.69467407e-04 3.39117412e+02] [ 9.65454454e-01 2.60571159e-01 -6.06613479e-04 4.60840615e+02] [ 6.29816119e-04 -5.54711862e-06 9.99999802e-01 1.76107517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.12, Y:460.87, Z:1.76 [[ 2.58977706e-01 -9.65883285e-01 -1.68335483e-04 3.39124316e+02] [ 9.65883094e-01 2.58977761e-01 -6.06928329e-04 4.60867324e+02] [ 6.29817074e-04 -5.41149045e-06 9.99999802e-01 1.75981177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.13, Y:460.89, Z:1.76 [[ 2.55247175e-01 -9.66875820e-01 -1.68659064e-04 3.39131357e+02] [ 9.66875630e-01 2.55247230e-01 -6.06838395e-04 4.60893181e+02] [ 6.29787130e-04 -8.17855313e-06 9.99999802e-01 1.76260182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.492755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.14, Y:460.92, Z:1.76 [[ 2.56586273e-01 -9.66521317e-01 -1.67164774e-04 3.39144163e+02] [ 9.66521127e-01 2.56586327e-01 -6.07253124e-04 4.60924795e+02] [ 6.29815285e-04 -5.75546980e-06 9.99999802e-01 1.76244553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.14, Y:460.95, Z:1.76 [[ 2.50116300e-01 -9.68215784e-01 -1.79156551e-04 3.39144121e+02] [ 9.68215596e-01 2.50116363e-01 -6.03924611e-04 4.60947231e+02] [ 6.29539326e-04 -2.24107777e-05 9.99999802e-01 1.76400290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.15, Y:460.97, Z:1.76 [[ 2.48998174e-01 -9.68503940e-01 -1.66978262e-04 3.39150726e+02] [ 9.68503750e-01 2.48998230e-01 -6.07292787e-04 4.60973107e+02] [ 6.29742749e-04 -1.05042781e-05 9.99999802e-01 1.76149926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.582755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.17, Y:461.01, Z:1.76 [[ 2.51882383e-01 -9.67757840e-01 -1.67506770e-04 3.39166302e+02] [ 9.67757650e-01 2.51882439e-01 -6.07146750e-04 4.61006708e+02] [ 6.29763041e-04 -9.17638750e-06 9.99999802e-01 1.76167510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.612755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.16, Y:461.03, Z:1.76 [[ 2.46429395e-01 -9.69160730e-01 -1.83419238e-04 3.39164071e+02] [ 9.69160543e-01 2.46429461e-01 -6.02742940e-04 4.61026677e+02] [ 6.29354692e-04 -2.92291100e-05 9.99999802e-01 1.76271758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.642755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.18, Y:461.06, Z:1.76 [[ 2.49936422e-01 -9.68262236e-01 -1.67199788e-04 3.39178958e+02] [ 9.68262045e-01 2.49936477e-01 -6.07209093e-04 4.61058104e+02] [ 6.29726960e-04 -1.01295409e-05 9.99999802e-01 1.76163169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.19, Y:461.09, Z:1.76 [[ 2.47788302e-01 -9.68814185e-01 -1.79263110e-04 3.39185024e+02] [ 9.68813997e-01 2.47788366e-01 -6.03883170e-04 4.61085749e+02] [ 6.29469895e-04 -2.40374243e-05 9.99999802e-01 1.76079154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.19, Y:461.11, Z:1.76 [[ 2.48190260e-01 -9.68711290e-01 -1.78958273e-04 3.39193563e+02] [ 9.68711102e-01 2.48190324e-01 -6.03967063e-04 4.61111318e+02] [ 6.29485425e-04 -2.34601229e-05 9.99999802e-01 1.76019712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.20, Y:461.13, Z:1.75 [[ 2.50240613e-01 -9.68183662e-01 -1.79116521e-04 3.39201204e+02] [ 9.68183474e-01 2.50240676e-01 -6.03923598e-04 4.61128824e+02] [ 6.29531200e-04 -2.22914446e-05 9.99999802e-01 1.75335331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.20, Y:461.16, Z:1.76 [[ 2.46396393e-01 -9.69169124e-01 -1.64784299e-04 3.39204825e+02] [ 9.69168933e-01 2.46396448e-01 -6.07842168e-04 4.61161010e+02] [ 6.29704127e-04 -9.93370541e-06 9.99999802e-01 1.76059657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.21, Y:461.19, Z:1.76 [[ 2.44910707e-01 -9.69545624e-01 -1.72624855e-04 3.39212158e+02] [ 9.69545434e-01 2.44910767e-01 -6.05698101e-04 4.61187744e+02] [ 6.29529628e-04 -1.90256901e-05 9.99999802e-01 1.75952971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.22, Y:461.22, Z:1.75 [[ 2.45375912e-01 -9.69427992e-01 -1.73413285e-04 3.39221956e+02] [ 9.69427803e-01 2.45375972e-01 -6.05482901e-04 4.61224107e+02] [ 6.29523526e-04 -1.95407413e-05 9.99999802e-01 1.75473263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.22, Y:461.24, Z:1.76 [[ 2.42650513e-01 -9.70113752e-01 -1.90405049e-04 3.39224933e+02] [ 9.70113567e-01 2.42650585e-01 -6.00840524e-04 4.61240638e+02] [ 6.29085551e-04 -3.89202593e-05 9.99999801e-01 1.75834650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.882755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.23, Y:461.27, Z:1.75 [[ 2.37013885e-01 -9.71506248e-01 -1.71631214e-04 3.39228719e+02] [ 9.71506059e-01 2.37013946e-01 -6.05934994e-04 4.61265766e+02] [ 6.29348624e-04 -2.31257577e-05 9.99999802e-01 1.75477547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9127550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.24, Y:461.30, Z:1.76 [[ 2.40283063e-01 -9.70702850e-01 -1.66838564e-04 3.39238259e+02] [ 9.70702660e-01 2.40283120e-01 -6.07232157e-04 4.61295172e+02] [ 6.29530476e-04 -1.60430361e-05 9.99999802e-01 1.75881062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.942755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.25, Y:461.32, Z:1.76 [[ 2.40722470e-01 -9.70593974e-01 -1.72315972e-04 3.39245551e+02] [ 9.70593786e-01 2.40722530e-01 -6.05750248e-04 4.61322379e+02] [ 6.29417878e-04 -2.14311162e-05 9.99999802e-01 1.75715431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.972755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.26, Y:461.34, Z:1.76 [[ 2.44441562e-01 -9.69664010e-01 -1.75849931e-04 3.39255269e+02] [ 9.69663821e-01 2.44441625e-01 -6.04794305e-04 4.61339436e+02] [ 6.29432313e-04 -2.26784511e-05 9.99999802e-01 1.75541369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.26, Y:461.38, Z:1.75 [[ 2.40664372e-01 -9.70608383e-01 -1.63828658e-04 3.39261378e+02] [ 9.70608193e-01 2.40664427e-01 -6.08033320e-04 4.61380397e+02] [ 6.29589967e-04 -1.26814802e-05 9.99999802e-01 1.75332974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0327550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.26, Y:461.40, Z:1.75 [[ 2.34463149e-01 -9.72124990e-01 -1.88666738e-04 3.39261458e+02] [ 9.72124805e-01 2.34463221e-01 -6.01321326e-04 4.61397810e+02] [ 6.28794899e-04 -4.24199240e-05 9.99999801e-01 1.75245371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.062755096 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.27, Y:461.42, Z:1.75 [[ 2.33915201e-01 -9.72256988e-01 -1.71322638e-04 3.39268272e+02] [ 9.72256799e-01 2.33915262e-01 -6.05979083e-04 4.61424812e+02] [ 6.29242377e-04 -2.48218811e-05 9.99999802e-01 1.75246498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.28, Y:461.45, Z:1.76 [[ 2.36231642e-01 -9.71696754e-01 -1.70852397e-04 3.39277204e+02] [ 9.71696565e-01 2.36231703e-01 -6.06104928e-04 4.61453224e+02] [ 6.29310944e-04 -2.28355245e-05 9.99999802e-01 1.75934606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.122755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:461.49, Z:1.76 [[ 2.38896847e-01 -9.71044935e-01 -1.72869020e-04 3.39288840e+02] [ 9.71044747e-01 2.38896909e-01 -6.05566625e-04 4.61485723e+02] [ 6.29330279e-04 -2.31955960e-05 9.99999802e-01 1.75866551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:461.51, Z:1.76 [[ 2.35480792e-01 -9.71878986e-01 -1.83278003e-04 3.39288861e+02] [ 9.71878800e-01 2.35480860e-01 -6.02792856e-04 4.61507969e+02] [ 6.29000171e-04 -3.61778664e-05 9.99999802e-01 1.76031425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.29, Y:461.53, Z:1.76 [[ 2.34593447e-01 -9.72093558e-01 -1.69859901e-04 3.39292314e+02] [ 9.72093369e-01 2.34593507e-01 -6.06349264e-04 4.61532118e+02] [ 6.29276244e-04 -2.28741197e-05 9.99999802e-01 1.75921071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.212755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:461.56, Z:1.76 [[ 2.36814763e-01 -9.71554806e-01 -1.65969028e-04 3.39301761e+02] [ 9.71554616e-01 2.36814820e-01 -6.07378015e-04 4.61561214e+02] [ 6.29404955e-04 -1.74118949e-05 9.99999802e-01 1.75983459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.30, Y:461.58, Z:1.76 [[ 2.36046550e-01 -9.71741734e-01 -1.71192785e-04 3.39304304e+02] [ 9.71741545e-01 2.36046611e-01 -6.05997543e-04 4.61580977e+02] [ 6.29282580e-04 -2.33115122e-05 9.99999802e-01 1.75667844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.32, Y:461.61, Z:1.76 [[ 2.38988133e-01 -9.71022475e-01 -1.59431437e-04 3.39315473e+02] [ 9.71022284e-01 2.38988186e-01 -6.09093578e-04 4.61614549e+02] [ 6.29545784e-04 -9.24534087e-06 9.99999802e-01 1.75975502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.32, Y:461.64, Z:1.76 [[ 2.37903177e-01 -9.71288860e-01 -1.72661086e-04 3.39322103e+02] [ 9.71288671e-01 2.37903238e-01 -6.05611009e-04 4.61640930e+02] [ 6.29299858e-04 -2.36269738e-05 9.99999802e-01 1.75954656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.332755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.33, Y:461.67, Z:1.76 [[ 2.36804166e-01 -9.71557388e-01 -1.72016986e-04 3.39328875e+02] [ 9.71557199e-01 2.36804227e-01 -6.05780102e-04 4.61667407e+02] [ 6.29284483e-04 -2.36730889e-05 9.99999802e-01 1.75983846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.34, Y:461.69, Z:1.76 [[ 2.36295099e-01 -9.71681325e-01 -1.71642633e-04 3.39335844e+02] [ 9.71681136e-01 2.36295160e-01 -6.05878192e-04 4.61693023e+02] [ 6.29278848e-04 -2.36158615e-05 9.99999802e-01 1.75961593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.392755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:339.34, Y:461.72, Z:1.76 [[ 2.34006186e-01 -9.72235093e-01 -1.69643430e-04 3.39342324e+02] [ 9.72234904e-01 2.34006246e-01 -6.06400383e-04 4.61721542e+02] [ 6.29261355e-04 -2.30318230e-05 9.99999802e-01 1.76053701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4227550960001 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:339.35, Y:461.75, Z:1.76 [[ 2.32441362e-01 -9.72610397e-01 -1.71778130e-04 3.39349726e+02] [ 9.72610208e-01 2.32441424e-01 -6.05843565e-04 4.61748182e+02] [ 6.29178103e-04 -2.62500593e-05 9.99999802e-01 1.76062216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.452755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.36, Y:461.77, Z:1.76 [[ 2.30611822e-01 -9.73045815e-01 -1.72700138e-04 3.39356077e+02] [ 9.73045627e-01 2.30611885e-01 -6.05603429e-04 4.61774251e+02] [ 6.29106586e-04 -2.83858039e-05 9.99999802e-01 1.76135750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.482755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:339.36, Y:461.80, Z:1.76 [[ 2.28132064e-01 -9.73630182e-01 -1.72638074e-04 3.39362565e+02] [ 9.73629994e-01 2.28132128e-01 -6.05619559e-04 4.61800076e+02] [ 6.29033773e-04 -2.99243667e-05 9.99999802e-01 1.76172506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.512755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:339.37, Y:461.83, Z:1.76 [[ 2.25770958e-01 -9.74180397e-01 -1.71749272e-04 3.39368363e+02] [ 9.74180209e-01 2.25771021e-01 -6.05849340e-04 4.61829326e+02] [ 6.28982559e-04 -3.05315563e-05 9.99999802e-01 1.76099279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5427550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:339.37, Y:461.86, Z:1.76 [[ 2.25822823e-01 -9.74168375e-01 -1.74182363e-04 3.39374333e+02] [ 9.74168187e-01 2.25822888e-01 -6.05221503e-04 4.61857081e+02] [ 6.28922013e-04 -3.30100885e-05 9.99999802e-01 1.75775712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.572755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:339.38, Y:461.88, Z:1.76 [[ 2.23604896e-01 -9.74679855e-01 -1.74768205e-04 3.39378478e+02] [ 9.74679668e-01 2.23604962e-01 -6.05071044e-04 4.61879427e+02] [ 6.28829595e-04 -3.50461685e-05 9.99999802e-01 1.75775210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.602755096 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:339.39, Y:461.91, Z:1.76 [[ 2.24278430e-01 -9.74525094e-01 -1.64405099e-04 3.39386900e+02] [ 9.74524905e-01 2.24278489e-01 -6.07717151e-04 4.61908880e+02] [ 6.29108141e-04 -2.39190150e-05 9.99999802e-01 1.76094599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.632755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.39, Y:461.93, Z:1.76 [[ 2.24439051e-01 -9.74488114e-01 -1.69870635e-04 3.39392189e+02] [ 9.74487926e-01 2.24439113e-01 -6.06322706e-04 4.61932315e+02] [ 6.28979885e-04 -2.94543903e-05 9.99999802e-01 1.75939026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6627550960001 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:339.40, Y:461.95, Z:1.76 [[ 2.21656016e-01 -9.75124907e-01 -1.65485618e-04 3.39395161e+02] [ 9.75124718e-01 2.21656076e-01 -6.07437005e-04 4.61953415e+02] [ 6.29007845e-04 -2.67270499e-05 9.99999802e-01 1.75639985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.692755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.41, Y:461.98, Z:1.76 [[ 2.26131872e-01 -9.74096685e-01 -1.54406904e-04 3.39405567e+02] [ 9.74096494e-01 2.26131925e-01 -6.10240212e-04 4.61984804e+02] [ 6.29349298e-04 -1.24124621e-05 9.99999802e-01 1.76070577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.722755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.41, Y:462.01, Z:1.76 [[ 2.25680241e-01 -9.74201417e-01 -1.66151529e-04 3.39410004e+02] [ 9.74201228e-01 2.25680301e-01 -6.07267273e-04 4.62009385e+02] [ 6.29097765e-04 -2.48167985e-05 9.99999802e-01 1.75646806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.42, Y:462.04, Z:1.76 [[ 2.27066969e-01 -9.73879133e-01 -1.59997552e-04 3.39416951e+02] [ 9.73878943e-01 2.27067025e-01 -6.08819802e-04 4.62037139e+02] [ 6.29247069e-04 -1.75753790e-05 9.99999802e-01 1.75926645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.42, Y:462.06, Z:1.76 [[ 2.26347526e-01 -9.74046596e-01 -1.60770581e-04 3.39422426e+02] [ 9.74046406e-01 2.26347582e-01 -6.08625075e-04 4.62064268e+02] [ 6.29219215e-04 -1.88372266e-05 9.99999802e-01 1.75789681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.812755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:339.43, Y:462.09, Z:1.76 [[ 2.27987206e-01 -9.73664115e-01 -1.60437838e-04 3.39427251e+02] [ 9.73663925e-01 2.27987261e-01 -6.08708596e-04 4.62088343e+02] [ 6.29255499e-04 -1.74347635e-05 9.99999802e-01 1.75810653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.842755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.43, Y:462.11, Z:1.76 [[ 2.26639494e-01 -9.73978704e-01 -1.54233925e-04 3.39432130e+02] [ 9.73978513e-01 2.26639546e-01 -6.10261387e-04 4.62114546e+02] [ 6.29337101e-04 -1.19111971e-05 9.99999802e-01 1.75742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.44, Y:462.14, Z:1.75 [[ 2.27084138e-01 -9.73875131e-01 -1.51665550e-04 3.39438268e+02] [ 9.73874940e-01 2.27084189e-01 -6.10903037e-04 4.62141177e+02] [ 6.29384124e-04 -8.97688907e-06 9.99999802e-01 1.75395118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9027550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.45, Y:462.17, Z:1.75 [[ 2.28162336e-01 -9.73623092e-01 -1.51354519e-04 3.39445048e+02] [ 9.73622901e-01 2.28162386e-01 -6.10980640e-04 4.62167430e+02] [ 6.29398268e-04 -7.95945600e-06 9.99999802e-01 1.75440181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.932755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.45, Y:462.19, Z:1.75 [[ 2.27469770e-01 -9.73785131e-01 -1.50609640e-04 3.39450443e+02] [ 9.73784939e-01 2.27469820e-01 -6.11166302e-04 4.62193684e+02] [ 6.29403805e-04 -7.63954080e-06 9.99999802e-01 1.75391318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.962755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.46, Y:462.22, Z:1.76 [[ 2.30525101e-01 -9.73066368e-01 -1.49352918e-04 3.39461828e+02] [ 9.73066175e-01 2.30525149e-01 -6.11478813e-04 4.62221092e+02] [ 6.29439071e-04 -4.36905799e-06 9.99999802e-01 1.75648421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.992755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:339.47, Y:462.25, Z:1.75 [[ 2.29469980e-01 -9.73315727e-01 -1.53448327e-04 3.39466603e+02] [ 9.73315536e-01 2.29470031e-01 -6.10460557e-04 4.62245817e+02] [ 6.29382654e-04 -9.27126878e-06 9.99999802e-01 1.75425626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0227550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.48, Y:462.27, Z:1.76 [[ 2.33264144e-01 -9.72413398e-01 -1.49783156e-04 3.39479849e+02] [ 9.72413206e-01 2.33264192e-01 -6.11370356e-04 4.62274793e+02] [ 6.29443772e-04 -3.04033612e-06 9.99999802e-01 1.75761359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.052755096 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:339.48, Y:462.30, Z:1.76 [[ 2.30424379e-01 -9.73090222e-01 -1.57493614e-04 3.39480380e+02] [ 9.73090032e-01 2.30424433e-01 -6.09455798e-04 4.62295827e+02] [ 6.29345855e-04 -1.28219916e-05 9.99999802e-01 1.75678168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.082755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:339.49, Y:462.32, Z:1.76 [[ 2.29961744e-01 -9.73199659e-01 -1.45420737e-04 3.39488576e+02] [ 9.73199466e-01 2.29961790e-01 -6.12442387e-04 4.62323383e+02] [ 6.29469935e-04 -6.85064727e-07 9.99999802e-01 1.75697324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.112755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.50, Y:462.35, Z:1.76 [[ 2.32597318e-01 -9.72573116e-01 -1.48110093e-04 3.39497000e+02] [ 9.72572923e-01 2.32597366e-01 -6.11778092e-04 4.62347168e+02] [ 6.29448943e-04 -1.74992274e-06 9.99999802e-01 1.75671499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.51, Y:462.37, Z:1.76 [[ 2.34967413e-01 -9.72003238e-01 -1.45326220e-04 3.39505853e+02] [ 9.72003045e-01 2.34967458e-01 -6.12464250e-04 4.62372112e+02] [ 6.29464167e-04 2.65161194e-06 9.99999802e-01 1.76110336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.51, Y:462.40, Z:1.75 [[ 2.31193537e-01 -9.72907769e-01 -1.47153130e-04 3.39508822e+02] [ 9.72907577e-01 2.31193583e-01 -6.12011330e-04 4.62399101e+02] [ 6.29451437e-04 -1.67333113e-06 9.99999802e-01 1.75495109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.52, Y:462.43, Z:1.76 [[ 2.35032012e-01 -9.71987619e-01 -1.46162596e-04 3.39523389e+02] [ 9.71987426e-01 2.35032057e-01 -6.12256774e-04 4.62431810e+02] [ 6.29458900e-04 1.83173571e-06 9.99999802e-01 1.75996447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.232755096 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:339.52, Y:462.45, Z:1.76 [[ 2.31132561e-01 -9.72922254e-01 -1.61655290e-04 3.39524857e+02] [ 9.72922064e-01 2.31132617e-01 -6.08401674e-04 4.62453675e+02] [ 6.29291339e-04 -1.66565611e-05 9.99999802e-01 1.75818377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.53, Y:462.48, Z:1.76 [[ 2.30100800e-01 -9.73166789e-01 -1.50738076e-04 3.39530964e+02] [ 9.73166597e-01 2.30100849e-01 -6.11105682e-04 4.62479186e+02] [ 6.29392714e-04 -6.07735432e-06 9.99999802e-01 1.75932749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.54, Y:462.51, Z:1.76 [[ 2.29196296e-01 -9.73380211e-01 -1.51344289e-04 3.39538203e+02] [ 9.73380019e-01 2.29196346e-01 -6.10955719e-04 4.62505803e+02] [ 6.29379764e-04 -7.28671914e-06 9.99999802e-01 1.75722210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.55, Y:462.54, Z:1.76 [[ 2.32658881e-01 -9.72558390e-01 -1.50931601e-04 3.39550752e+02] [ 9.72558198e-01 2.32658930e-01 -6.11057653e-04 4.62537232e+02] [ 6.29404832e-04 -4.62177601e-06 9.99999802e-01 1.75820214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.352755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.56, Y:462.56, Z:1.76 [[ 2.30367152e-01 -9.73103771e-01 -1.60176186e-04 3.39555359e+02] [ 9.73103581e-01 2.30367207e-01 -6.08776619e-04 4.62564125e+02] [ 6.29302164e-04 -1.56258843e-05 9.99999802e-01 1.75696742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.57, Y:462.59, Z:1.76 [[ 2.31906350e-01 -9.72738105e-01 -1.56817992e-04 3.39566181e+02] [ 9.72737914e-01 2.31906403e-01 -6.09603611e-04 4.62594679e+02] [ 6.29351757e-04 -1.11718583e-05 9.99999802e-01 1.75592233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.56, Y:462.61, Z:1.75 [[ 2.25499521e-01 -9.74243265e-01 -1.66912866e-04 3.39563553e+02] [ 9.74243076e-01 2.25499581e-01 -6.07113259e-04 4.62613955e+02] [ 6.29114785e-04 -2.57099554e-05 9.99999802e-01 1.75445184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.58, Y:462.65, Z:1.75 [[ 2.29061280e-01 -9.73411993e-01 -1.49924176e-04 3.39576082e+02] [ 9.73411801e-01 2.29061329e-01 -6.11279951e-04 4.62648048e+02] [ 6.29369066e-04 -5.91739344e-06 9.99999802e-01 1.75398202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.58, Y:462.67, Z:1.75 [[ 2.28777045e-01 -9.73478832e-01 -1.65373805e-04 3.39582515e+02] [ 9.73478643e-01 2.28777103e-01 -6.07477796e-04 4.62672579e+02] [ 6.29200515e-04 -2.20108928e-05 9.99999802e-01 1.75393348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:462.70, Z:1.75 [[ 2.27683921e-01 -9.73735080e-01 -1.61085799e-04 3.39588336e+02] [ 9.73734890e-01 2.27683977e-01 -6.08529744e-04 4.62699506e+02] [ 6.29223414e-04 -1.83024247e-05 9.99999802e-01 1.75367861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.59, Y:462.72, Z:1.75 [[ 2.23717223e-01 -9.74654082e-01 -1.59604631e-04 3.39588147e+02] [ 9.74653892e-01 2.23717279e-01 -6.08892218e-04 4.62721772e+02] [ 6.29165599e-04 -1.93395989e-05 9.99999802e-01 1.75433549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.562755096 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:339.59, Y:462.75, Z:1.75 [[ 2.23438412e-01 -9.74718038e-01 -1.48991962e-04 3.39593939e+02] [ 9.74717846e-01 2.23438462e-01 -6.11478087e-04 4.62748555e+02] [ 6.29309256e-04 -8.59743158e-06 9.99999802e-01 1.75238810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.60, Y:462.77, Z:1.75 [[ 2.23708830e-01 -9.74656010e-01 -1.48777390e-04 3.39599492e+02] [ 9.74655818e-01 2.23708880e-01 -6.11530290e-04 4.62774225e+02] [ 6.29314495e-04 -8.20202333e-06 9.99999802e-01 1.75382851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.61, Y:462.81, Z:1.75 [[ 2.26703930e-01 -9.73963709e-01 -1.48553009e-04 3.39610380e+02] [ 9.73963517e-01 2.26703978e-01 -6.11584792e-04 4.62805318e+02] [ 6.29338950e-04 -6.03653588e-06 9.99999802e-01 1.75314191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6527550960001 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:339.62, Y:462.83, Z:1.75 [[ 2.26566229e-01 -9.73995749e-01 -1.57141303e-04 3.39616829e+02] [ 9.73995559e-01 2.26566283e-01 -6.09499182e-04 4.62833309e+02] [ 6.29252533e-04 -1.49630000e-05 9.99999802e-01 1.75349310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.62, Y:462.86, Z:1.75 [[ 2.25505875e-01 -9.74241795e-01 -1.57472575e-04 3.39621865e+02] [ 9.74241605e-01 2.25505930e-01 -6.09419069e-04 4.62859930e+02] [ 6.29232528e-04 -1.59887535e-05 9.99999802e-01 1.75464986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.712755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.62, Y:462.88, Z:1.76 [[ 2.23554990e-01 -9.74691306e-01 -1.56233577e-04 3.39622691e+02] [ 9.74691116e-01 2.23555044e-01 -6.09717945e-04 4.62882323e+02] [ 6.29213585e-04 -1.59739901e-05 9.99999802e-01 1.75519382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.63, Y:462.91, Z:1.75 [[ 2.25291798e-01 -9.74291324e-01 -1.47113093e-04 3.39633558e+02] [ 9.74291132e-01 2.25291846e-01 -6.11910655e-04 4.62914005e+02] [ 6.29322623e-04 -5.47252967e-06 9.99999802e-01 1.75491350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.64, Y:462.94, Z:1.75 [[ 2.23958784e-01 -9.74598604e-01 -1.56922961e-04 3.39639382e+02] [ 9.74598413e-01 2.23958838e-01 -6.09553422e-04 4.62942066e+02] [ 6.29214198e-04 -1.64220260e-05 9.99999802e-01 1.75484931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.802755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.64, Y:462.96, Z:1.76 [[ 2.21283426e-01 -9.75209527e-01 -1.57472529e-04 3.39640414e+02] [ 9.75209336e-01 2.21283481e-01 -6.09421619e-04 4.62963548e+02] [ 6.29159838e-04 -1.87137773e-05 9.99999802e-01 1.75579546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.832755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.65, Y:462.99, Z:1.76 [[ 2.20649769e-01 -9.75353094e-01 -1.46201196e-04 3.39646301e+02] [ 9.75352902e-01 2.20649818e-01 -6.12113737e-04 4.62989392e+02] [ 6.29286294e-04 -7.53500564e-06 9.99999802e-01 1.75600601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.862755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.65, Y:463.01, Z:1.76 [[ 2.18820276e-01 -9.75765169e-01 -1.45971893e-04 3.39651955e+02] [ 9.75764977e-01 2.18820324e-01 -6.12168414e-04 4.63014269e+02] [ 6.29274233e-04 -8.47940007e-06 9.99999802e-01 1.75630933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.66, Y:463.04, Z:1.76 [[ 2.17430172e-01 -9.76075868e-01 -1.45733025e-04 3.39657465e+02] [ 9.76075675e-01 2.17430221e-01 -6.12225274e-04 4.63038678e+02] [ 6.29265079e-04 -9.13021391e-06 9.99999802e-01 1.75612118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9227550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.67, Y:463.07, Z:1.75 [[ 2.16635590e-01 -9.76252529e-01 -1.45497478e-04 3.39668168e+02] [ 9.76252337e-01 2.16635639e-01 -6.12281247e-04 4.63070942e+02] [ 6.29261055e-04 -9.40034357e-06 9.99999802e-01 1.75404924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.952755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.67, Y:463.10, Z:1.75 [[ 2.15979689e-01 -9.76397844e-01 -1.56703902e-04 3.39674195e+02] [ 9.76397654e-01 2.15979745e-01 -6.09616928e-04 4.63098174e+02] [ 6.29073523e-04 -2.13404476e-05 9.99999802e-01 1.75407087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.68, Y:463.12, Z:1.75 [[ 2.13999542e-01 -9.76833748e-01 -1.56028195e-04 3.39679801e+02] [ 9.76833558e-01 2.13999597e-01 -6.09777071e-04 4.63124621e+02] [ 6.29040793e-04 -2.19215633e-05 9.99999802e-01 1.75344347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.012755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.69, Y:463.15, Z:1.75 [[ 2.13463031e-01 -9.76951130e-01 -1.55660278e-04 3.39687855e+02] [ 9.76950940e-01 2.13463087e-01 -6.09864027e-04 4.63153204e+02] [ 6.29035074e-04 -2.18890313e-05 9.99999802e-01 1.75492849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0427550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.69, Y:463.18, Z:1.75 [[ 2.11661761e-01 -9.77342967e-01 -1.57292156e-04 3.39693742e+02] [ 9.77342777e-01 2.11661818e-01 -6.09479868e-04 4.63179678e+02] [ 6.28963606e-04 -2.47247709e-05 9.99999802e-01 1.75438485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.072755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.70, Y:463.21, Z:1.76 [[ 2.11052064e-01 -9.77474809e-01 -1.56601976e-04 3.39700982e+02] [ 9.77474619e-01 2.11052120e-01 -6.09641788e-04 4.63206774e+02] [ 6.28960669e-04 -2.44082997e-05 9.99999802e-01 1.75513686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.71, Y:463.23, Z:1.75 [[ 2.10453765e-01 -9.77603799e-01 -1.57935485e-04 3.39706340e+02] [ 9.77603610e-01 2.10453822e-01 -6.09329862e-04 4.63233773e+02] [ 6.28921314e-04 -2.61625368e-05 9.99999802e-01 1.75451132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.71, Y:463.26, Z:1.75 [[ 2.11710499e-01 -9.77332410e-01 -1.56148404e-04 3.39711987e+02] [ 9.77332220e-01 2.11710555e-01 -6.09746438e-04 4.63261929e+02] [ 6.28983221e-04 -2.35191441e-05 9.99999802e-01 1.75380964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1627550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.72, Y:463.29, Z:1.75 [[ 2.12215201e-01 -9.77222945e-01 -1.56855597e-04 3.39717205e+02] [ 9.77222755e-01 2.12215257e-01 -6.09582084e-04 4.63288971e+02] [ 6.28984751e-04 -2.39202747e-05 9.99999802e-01 1.75342608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.192755096 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:339.72, Y:463.31, Z:1.75 [[ 2.14435970e-01 -9.76738036e-01 -1.56321931e-04 3.39722275e+02] [ 9.76737846e-01 2.14436026e-01 -6.09705806e-04 4.63313197e+02] [ 6.29043905e-04 -2.19426902e-05 9.99999802e-01 1.75355791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.222755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.73, Y:463.34, Z:1.75 [[ 2.16107451e-01 -9.76369575e-01 -1.52592496e-04 3.39727281e+02] [ 9.76369384e-01 2.16107504e-01 -6.10566526e-04 4.63342480e+02] [ 6.29114963e-04 -1.70386661e-05 9.99999802e-01 1.75297364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.252755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.73, Y:463.37, Z:1.75 [[ 2.17988798e-01 -9.75951259e-01 -1.55227611e-04 3.39732439e+02] [ 9.75951069e-01 2.17988852e-01 -6.09959292e-04 4.63367624e+02] [ 6.29128428e-04 -1.85302598e-05 9.99999802e-01 1.75299620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2827550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.73, Y:463.39, Z:1.75 [[ 2.18170680e-01 -9.75910617e-01 -1.52956380e-04 3.39732100e+02] [ 9.75910426e-01 2.18170733e-01 -6.10481181e-04 4.63387971e+02] [ 6.29145672e-04 -1.60826317e-05 9.99999802e-01 1.75424188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.312755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.74, Y:463.41, Z:1.75 [[ 2.21347570e-01 -9.75194972e-01 -1.40237599e-04 3.39737583e+02] [ 9.75194779e-01 2.21347615e-01 -6.13389045e-04 4.63414090e+02] [ 6.29215170e-04 -9.86799679e-07 9.99999802e-01 1.75329063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.342755096 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:339.75, Y:463.45, Z:1.75 [[ 2.22174121e-01 -9.75006995e-01 -1.40072373e-04 3.39746446e+02] [ 9.75006802e-01 2.22174166e-01 -6.13426773e-04 4.63445072e+02] [ 6.29215857e-04 -2.83962394e-07 9.99999802e-01 1.75207453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.75, Y:463.47, Z:1.75 [[ 2.23661186e-01 -9.74666944e-01 -1.48084846e-04 3.39754133e+02] [ 9.74666752e-01 2.23661235e-01 -6.11598110e-04 4.63473769e+02] [ 6.29225300e-04 -7.54261710e-06 9.99999802e-01 1.75191355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4027550960001 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.76, Y:463.50, Z:1.75 [[ 2.23214718e-01 -9.74769289e-01 -1.51271893e-04 3.39758317e+02] [ 9.74769098e-01 2.23214769e-01 -6.10872399e-04 4.63496459e+02] [ 6.29225775e-04 -1.10994564e-05 9.99999802e-01 1.75307946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.432755096 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:339.76, Y:463.52, Z:1.75 [[ 2.21713157e-01 -9.75111920e-01 -1.44403548e-04 3.39762542e+02] [ 9.75111727e-01 2.21713204e-01 -6.12432064e-04 4.63521775e+02] [ 6.29205979e-04 -5.02534682e-06 9.99999802e-01 1.75473248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.462755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.77, Y:463.55, Z:1.75 [[ 2.20877635e-01 -9.75301518e-01 -1.38923318e-04 3.39768853e+02] [ 9.75301325e-01 2.20877678e-01 -6.13672679e-04 4.63547213e+02] [ 6.29200956e-04 5.44734805e-08 9.99999802e-01 1.75454031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.492755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.78, Y:463.57, Z:1.75 [[ 2.18331441e-01 -9.75874666e-01 -1.38754796e-04 3.39775743e+02] [ 9.75874472e-01 2.18331485e-01 -6.13710781e-04 4.63572655e+02] [ 6.29199343e-04 -1.41490396e-06 9.99999802e-01 1.75402433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.79, Y:463.61, Z:1.75 [[ 2.16608564e-01 -9.76258527e-01 -1.38588259e-04 3.39788206e+02] [ 9.76258334e-01 2.16608608e-01 -6.13748386e-04 4.63608409e+02] [ 6.29196505e-04 -2.35478670e-06 9.99999802e-01 1.75057535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.552755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.79, Y:463.63, Z:1.75 [[ 2.15670008e-01 -9.76466294e-01 -1.53383012e-04 3.39794413e+02] [ 9.76466104e-01 2.15670062e-01 -6.10447388e-04 4.63633641e+02] [ 6.29161423e-04 -1.81181186e-05 9.99999802e-01 1.75202910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.582755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.80, Y:463.66, Z:1.75 [[ 2.11523919e-01 -9.77372810e-01 -1.47656156e-04 3.39800753e+02] [ 9.77372619e-01 2.11523970e-01 -6.11720361e-04 4.63660903e+02] [ 6.29111665e-04 -1.49215952e-05 9.99999802e-01 1.75194449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.612755096 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:339.80, Y:463.69, Z:1.76 [[ 2.04348496e-01 -9.78898192e-01 -1.52322566e-04 3.39801012e+02] [ 9.78898001e-01 2.04348551e-01 -6.10671746e-04 4.63685726e+02] [ 6.28912364e-04 -2.43184027e-05 9.99999802e-01 1.75557765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.642755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.80, Y:463.71, Z:1.76 [[ 2.02885710e-01 -9.79202414e-01 -1.49397888e-04 3.39804418e+02] [ 9.79202223e-01 2.02885764e-01 -6.11326504e-04 4.63707843e+02] [ 6.28923093e-04 -2.22613325e-05 9.99999802e-01 1.75514930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6727550960001 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:339.81, Y:463.73, Z:1.76 [[ 2.04543599e-01 -9.78857445e-01 -1.40083651e-04 3.39811015e+02] [ 9.78857252e-01 2.04543646e-01 -6.13401940e-04 4.63731390e+02] [ 6.29086276e-04 -1.16544580e-05 9.99999802e-01 1.75515493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.702755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.82, Y:463.76, Z:1.75 [[ 2.04228935e-01 -9.78923145e-01 -1.36459480e-04 3.39817772e+02] [ 9.78922952e-01 2.04228981e-01 -6.14207129e-04 4.63762328e+02] [ 6.29130554e-04 -8.14444880e-06 9.99999802e-01 1.75493006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.732755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.82, Y:463.79, Z:1.76 [[ 2.03355527e-01 -9.79104953e-01 -1.43753915e-04 3.39820725e+02] [ 9.79104762e-01 2.03355577e-01 -6.12589326e-04 4.63787560e+02] [ 6.29022404e-04 -1.61767180e-05 9.99999802e-01 1.75599965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.762755096 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:339.83, Y:463.81, Z:1.75 [[ 2.05049113e-01 -9.78751675e-01 -1.39706967e-04 3.39826377e+02] [ 9.78751483e-01 2.05049161e-01 -6.13484648e-04 4.63813604e+02] [ 6.29095923e-04 -1.09439176e-05 9.99999802e-01 1.75416739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7927550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.83, Y:463.84, Z:1.76 [[ 2.07385925e-01 -9.78259198e-01 -1.38209118e-04 3.39828871e+02] [ 9.78259006e-01 2.07385971e-01 -6.13815327e-04 4.63840250e+02] [ 6.29133122e-04 -7.90765524e-06 9.99999802e-01 1.75575556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.822755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.83, Y:463.86, Z:1.76 [[ 2.09531124e-01 -9.77801968e-01 -1.37180491e-04 3.39833341e+02] [ 9.77801776e-01 2.09531169e-01 -6.14041765e-04 4.63864243e+02] [ 6.29154836e-04 -5.47446642e-06 9.99999802e-01 1.75612395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.84, Y:463.89, Z:1.76 [[ 2.11286622e-01 -9.77424138e-01 -1.34976714e-04 3.39838410e+02] [ 9.77423945e-01 2.11286665e-01 -6.14525427e-04 4.63890164e+02] [ 6.29170765e-04 -2.08847033e-06 9.99999802e-01 1.75584201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.882755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.84, Y:463.92, Z:1.76 [[ 2.13462876e-01 -9.76951167e-01 -1.34437165e-04 3.39843291e+02] [ 9.76950974e-01 2.13462919e-01 -6.14643624e-04 4.63916897e+02] [ 6.29174155e-04 -1.34923875e-07 9.99999802e-01 1.75754529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.85, Y:463.94, Z:1.76 [[ 2.14390173e-01 -9.76748092e-01 -1.36349723e-04 3.39849113e+02] [ 9.76747899e-01 2.14390216e-01 -6.14225959e-04 4.63943604e+02] [ 6.29176081e-04 -1.49529569e-06 9.99999802e-01 1.75799918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.85, Y:463.97, Z:1.76 [[ 2.15410212e-01 -9.76523641e-01 -1.36211641e-04 3.39854863e+02] [ 9.76523448e-01 2.15410255e-01 -6.14256056e-04 4.63969024e+02] [ 6.29176944e-04 -6.96834071e-07 9.99999802e-01 1.75772193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.972755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.87, Y:464.00, Z:1.76 [[ 2.21376708e-01 -9.75188359e-01 -1.35609858e-04 3.39865485e+02] [ 9.75188165e-01 2.21376749e-01 -6.14387010e-04 4.63998743e+02] [ 6.29163930e-04 3.76584489e-06 9.99999802e-01 1.75696777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.002755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.87, Y:464.02, Z:1.76 [[ 2.18978235e-01 -9.75729733e-01 -1.41719815e-04 3.39866823e+02] [ 9.75729541e-01 2.18978281e-01 -6.13057930e-04 4.64022529e+02] [ 6.29212412e-04 -4.03386649e-06 9.99999802e-01 1.75864868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0327550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.88, Y:464.05, Z:1.76 [[ 2.20785678e-01 -9.75322340e-01 -1.33256002e-04 3.39875670e+02] [ 9.75322146e-01 2.20785718e-01 -6.14892161e-04 4.64052301e+02] [ 6.29139083e-04 5.79185253e-06 9.99999802e-01 1.75716830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.062755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.88, Y:464.07, Z:1.76 [[ 2.20755759e-01 -9.75329111e-01 -1.39665264e-04 3.39879820e+02] [ 9.75328918e-01 2.20755803e-01 -6.13502134e-04 4.64074467e+02] [ 6.29198408e-04 -7.85442036e-07 9.99999802e-01 1.75893890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.092755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.89, Y:464.10, Z:1.76 [[ 2.19784176e-01 -9.75548512e-01 -1.32196257e-04 3.39886030e+02] [ 9.75548318e-01 2.19784215e-01 -6.15116498e-04 4.64101310e+02] [ 6.29130635e-04 6.22903631e-06 9.99999802e-01 1.75874729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.122755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:339.89, Y:464.13, Z:1.76 [[ 2.19145075e-01 -9.75692276e-01 -1.34360147e-04 3.39893286e+02] [ 9.75692083e-01 2.19145117e-01 -6.14649405e-04 4.64126819e+02] [ 6.29153047e-04 3.60325819e-06 9.99999802e-01 1.75830632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.90, Y:464.15, Z:1.76 [[ 2.18962296e-01 -9.75733312e-01 -1.33294191e-04 3.39899578e+02] [ 9.75733118e-01 2.18962337e-01 -6.14879090e-04 4.64151467e+02] [ 6.29144418e-04 4.57578132e-06 9.99999802e-01 1.75743744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.182755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.91, Y:464.18, Z:1.76 [[ 2.16478839e-01 -9.76287302e-01 -1.30185041e-04 3.39905961e+02] [ 9.76287108e-01 2.16478878e-01 -6.15547531e-04 4.64179250e+02] [ 6.29133549e-04 6.15503732e-06 9.99999802e-01 1.75848854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.212755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.91, Y:464.20, Z:1.76 [[ 2.15236780e-01 -9.76561883e-01 -1.33456315e-04 3.39911988e+02] [ 9.76561689e-01 2.15236822e-01 -6.14844934e-04 4.64203543e+02] [ 6.29158839e-04 2.00891914e-06 9.99999802e-01 1.75799070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.242755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.92, Y:464.23, Z:1.76 [[ 2.12283062e-01 -9.77208209e-01 -1.32794330e-04 3.39918403e+02] [ 9.77208016e-01 2.12283104e-01 -6.14986807e-04 4.64229970e+02] [ 6.29160149e-04 7.83599194e-07 9.99999802e-01 1.75985127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.92, Y:464.26, Z:1.76 [[ 2.12475802e-01 -9.77166320e-01 -1.33200127e-04 3.39924622e+02] [ 9.77166126e-01 2.12475844e-01 -6.14899957e-04 4.64256584e+02] [ 6.29161337e-04 4.92709940e-07 9.99999802e-01 1.75776656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:464.28, Z:1.76 [[ 2.09562758e-01 -9.77795190e-01 -1.33371515e-04 3.39929774e+02] [ 9.77794996e-01 2.09562801e-01 -6.14863345e-04 4.64284157e+02] [ 6.29160129e-04 -1.55754138e-06 9.99999802e-01 1.76021443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.93, Y:464.31, Z:1.76 [[ 2.07333319e-01 -9.78270349e-01 -1.38641887e-04 3.39933826e+02] [ 9.78270156e-01 2.07333365e-01 -6.13737657e-04 4.64309481e+02] [ 6.29146441e-04 -8.38095521e-06 9.99999802e-01 1.76015416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:464.33, Z:1.76 [[ 2.08162914e-01 -9.78094158e-01 -1.37841713e-04 3.39939176e+02] [ 9.78093966e-01 2.08162959e-01 -6.13908139e-04 4.64330898e+02] [ 6.29153503e-04 -7.02924075e-06 9.99999802e-01 1.75989360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.392755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:339.94, Y:464.36, Z:1.76 [[ 2.02367545e-01 -9.79309634e-01 -1.30600326e-04 3.39940615e+02] [ 9.79309441e-01 2.02367587e-01 -6.15444796e-04 4.64356968e+02] [ 6.29140291e-04 -3.35207982e-06 9.99999802e-01 1.76053257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.94, Y:464.38, Z:1.76 [[ 1.99620699e-01 -9.79873237e-01 -1.27366556e-04 3.39944841e+02] [ 9.79873043e-01 1.99620740e-01 -6.16129857e-04 4.64383095e+02] [ 6.29154164e-04 -1.81078192e-06 9.99999802e-01 1.75977033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.95, Y:464.41, Z:1.76 [[ 1.98742879e-01 -9.80051658e-01 -1.25188980e-04 3.39950093e+02] [ 9.80051464e-01 1.98742919e-01 -6.16589073e-04 4.64407238e+02] [ 6.29169566e-04 -1.48956007e-07 9.99999802e-01 1.76197493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.95, Y:464.44, Z:1.76 [[ 1.95657392e-01 -9.80672305e-01 -1.23041957e-04 3.39954740e+02] [ 9.80672111e-01 1.95657431e-01 -6.17044672e-04 4.64437789e+02] [ 6.29192694e-04 6.55354171e-08 9.99999802e-01 1.76288734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.96, Y:464.46, Z:1.76 [[ 1.93683645e-01 -9.81064029e-01 -1.30801453e-04 3.39958788e+02] [ 9.81063836e-01 1.93683689e-01 -6.15396542e-04 4.64464882e+02] [ 6.29077519e-04 -9.13232962e-06 9.99999802e-01 1.76406692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:464.49, Z:1.76 [[ 1.97091429e-01 -9.80385104e-01 -1.30503930e-04 3.39967833e+02] [ 9.80384911e-01 1.97091472e-01 -6.15459630e-04 4.64492869e+02] [ 6.29108665e-04 -6.64226579e-06 9.99999802e-01 1.76333114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.97, Y:464.52, Z:1.76 [[ 1.90979279e-01 -9.81594059e-01 -1.34321945e-04 3.39966374e+02] [ 9.81593867e-01 1.90979326e-01 -6.14650465e-04 4.64518682e+02] [ 6.28989959e-04 -1.44640947e-05 9.99999802e-01 1.76100241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.602755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:339.97, Y:464.55, Z:1.76 [[ 1.89894064e-01 -9.81804577e-01 -1.30953190e-04 3.39970679e+02] [ 9.81804384e-01 1.89894108e-01 -6.15361890e-04 4.64545983e+02] [ 6.29032359e-04 -1.17168465e-05 9.99999802e-01 1.76152184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.98, Y:464.58, Z:1.76 [[ 1.90472620e-01 -9.81692500e-01 -1.29355400e-04 3.39978064e+02] [ 9.81692307e-01 1.90472664e-01 -6.15698708e-04 4.64575647e+02] [ 6.29065472e-04 -9.71345521e-06 9.99999802e-01 1.76407195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.98, Y:464.59, Z:1.76 [[ 1.90775069e-01 -9.81633768e-01 -1.35411530e-04 3.39978441e+02] [ 9.81633576e-01 1.90775116e-01 -6.14421906e-04 4.64594795e+02] [ 6.28970441e-04 -1.57081236e-05 9.99999802e-01 1.76249086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.692755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:464.63, Z:1.77 [[ 1.89868062e-01 -9.81809607e-01 -1.20393512e-04 3.39988104e+02] [ 9.81809413e-01 1.89868100e-01 -6.17571902e-04 4.64629165e+02] [ 6.29196914e-04 -9.46303422e-07 9.99999802e-01 1.76601239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.722755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:339.99, Y:464.65, Z:1.76 [[ 1.86670463e-01 -9.82422577e-01 -1.36154537e-04 3.39986743e+02] [ 9.82422385e-01 1.86670512e-01 -6.14267010e-04 4.64654084e+02] [ 6.28885816e-04 -1.90957577e-05 9.99999802e-01 1.76491106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.752755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:464.68, Z:1.77 [[ 1.86931401e-01 -9.82372961e-01 -1.28640443e-04 3.39990921e+02] [ 9.82372768e-01 1.86931445e-01 -6.15836609e-04 4.64680154e+02] [ 6.29028177e-04 -1.12536682e-05 9.99999802e-01 1.76506863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:339.99, Y:464.71, Z:1.77 [[ 1.85883323e-01 -9.82571816e-01 -1.28399937e-04 3.39993804e+02] [ 9.82571623e-01 1.85883367e-01 -6.15886750e-04 4.64707354e+02] [ 6.29020375e-04 -1.16790587e-05 9.99999802e-01 1.76555087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.812755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.00, Y:464.73, Z:1.77 [[ 1.89692338e-01 -9.81843572e-01 -1.28182461e-04 3.40002296e+02] [ 9.81843379e-01 1.89692381e-01 -6.15932009e-04 4.64734138e+02] [ 6.29064120e-04 -9.01751798e-06 9.99999802e-01 1.76784364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.842755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:464.76, Z:1.77 [[ 1.89319383e-01 -9.81915554e-01 -1.27989578e-04 3.40007756e+02] [ 9.81915361e-01 1.89319426e-01 -6.15972087e-04 4.64761375e+02] [ 6.29063487e-04 -9.05947695e-06 9.99999802e-01 1.76786105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.872755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:464.79, Z:1.77 [[ 1.89551711e-01 -9.81870731e-01 -1.27755590e-04 3.40012989e+02] [ 9.81870538e-01 1.89551754e-01 -6.16020613e-04 4.64788432e+02] [ 6.29068906e-04 -8.67168865e-06 9.99999802e-01 1.76717851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:464.81, Z:1.77 [[ 1.84312362e-01 -9.82867711e-01 -1.30093405e-04 3.40008973e+02] [ 9.82867518e-01 1.84312407e-01 -6.15535788e-04 4.64807392e+02] [ 6.28968079e-04 -1.44137269e-05 9.99999802e-01 1.76857596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.932755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.01, Y:464.84, Z:1.77 [[ 1.81438389e-01 -9.83402307e-01 -1.14686646e-04 3.40013023e+02] [ 9.83402113e-01 1.81438425e-01 -6.18727203e-04 4.64836175e+02] [ 6.29266324e-04 -5.22222737e-07 9.99999802e-01 1.76708781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.962755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.02, Y:464.86, Z:1.77 [[ 1.80814224e-01 -9.83517261e-01 -1.16805252e-04 3.40016821e+02] [ 9.83517067e-01 1.80814262e-01 -6.18287746e-04 4.64862216e+02] [ 6.29216726e-04 -3.08473963e-06 9.99999802e-01 1.76789536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.992755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.02, Y:464.89, Z:1.76 [[ 1.74341196e-01 -9.84685297e-01 -1.15531488e-04 3.40020806e+02] [ 9.84685103e-01 1.74341234e-01 -6.18553792e-04 4.64894060e+02] [ 6.29222727e-04 -5.92272754e-06 9.99999802e-01 1.76453648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.03, Y:464.92, Z:1.76 [[ 1.72426117e-01 -9.85022446e-01 -1.25419443e-04 3.40025037e+02] [ 9.85022253e-01 1.72426162e-01 -6.16484765e-04 4.64921092e+02] [ 6.28876924e-04 -1.72428684e-05 9.99999802e-01 1.76416611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.052755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.03, Y:464.95, Z:1.76 [[ 1.70811712e-01 -9.85303681e-01 -1.25397021e-04 3.40029695e+02] [ 9.85303488e-01 1.70811757e-01 -6.16489450e-04 4.64949636e+02] [ 6.28848610e-04 -1.82505038e-05 9.99999802e-01 1.76298469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.082755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:464.98, Z:1.76 [[ 1.71294482e-01 -9.85219866e-01 -1.27368498e-04 3.40035879e+02] [ 9.85219673e-01 1.71294529e-01 -6.16077799e-04 4.64977438e+02] [ 6.28789613e-04 -1.99552228e-05 9.99999802e-01 1.76256189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.112755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:465.01, Z:1.76 [[ 1.70669295e-01 -9.85328359e-01 -1.29996251e-04 3.40041523e+02] [ 9.85328167e-01 1.70669343e-01 -6.15529820e-04 4.65007384e+02] [ 6.28685362e-04 -2.30369267e-05 9.99999802e-01 1.76200730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.142755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:465.03, Z:1.76 [[ 1.67198459e-01 -9.85923252e-01 -1.33020907e-04 3.40040938e+02] [ 9.85923060e-01 1.67198509e-01 -6.14899445e-04 4.65033054e+02] [ 6.28484558e-04 -2.83381403e-05 9.99999802e-01 1.76006755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.04, Y:465.06, Z:1.76 [[ 1.66834735e-01 -9.85984866e-01 -1.28039278e-04 3.40044931e+02] [ 9.85984673e-01 1.66834783e-01 -6.15935016e-04 4.65060390e+02] [ 6.28664009e-04 -2.34854102e-05 9.99999802e-01 1.75851528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.202755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:465.09, Z:1.76 [[ 1.68374250e-01 -9.85723133e-01 -1.27828968e-04 3.40052793e+02] [ 9.85722941e-01 1.68374297e-01 -6.15978660e-04 4.65090177e+02] [ 6.28707527e-04 -2.22890011e-05 9.99999802e-01 1.75719422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.232755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.05, Y:465.11, Z:1.75 [[ 1.67281709e-01 -9.85909130e-01 -1.34608876e-04 3.40053026e+02] [ 9.85908938e-01 1.67281761e-01 -6.14570951e-04 4.65114065e+02] [ 6.28428721e-04 -2.99056144e-05 9.99999802e-01 1.75439946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.262755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.06, Y:465.14, Z:1.75 [[ 1.67978396e-01 -9.85790669e-01 -1.27436113e-04 3.40057288e+02] [ 9.85790476e-01 1.67978442e-01 -6.16054698e-04 4.65140587e+02] [ 6.28707492e-04 -2.21414264e-05 9.99999802e-01 1.75326920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.06, Y:465.17, Z:1.75 [[ 1.71199302e-01 -9.85236410e-01 -1.27215603e-04 3.40060876e+02] [ 9.85236217e-01 1.71199349e-01 -6.16100230e-04 4.65166235e+02] [ 6.28783607e-04 -1.98614902e-05 9.99999802e-01 1.75108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.322755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.07, Y:465.19, Z:1.75 [[ 1.73137395e-01 -9.84897673e-01 -1.26984781e-04 3.40065170e+02] [ 9.84897481e-01 1.73137440e-01 -6.16147801e-04 4.65192471e+02] [ 6.28828355e-04 -1.83887659e-05 9.99999802e-01 1.74919703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.352755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.07, Y:465.22, Z:1.75 [[ 1.74772957e-01 -9.84608754e-01 -1.26818078e-04 3.40069754e+02] [ 9.84608561e-01 1.74773002e-01 -6.16182110e-04 4.65219241e+02] [ 6.28862676e-04 -1.71741957e-05 9.99999802e-01 1.74748813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.07, Y:465.25, Z:1.75 [[ 1.77325396e-01 -9.84152269e-01 -1.26603711e-04 3.40074419e+02] [ 9.84152076e-01 1.77325441e-01 -6.16226152e-04 4.65246383e+02] [ 6.28910424e-04 -1.53247584e-05 9.99999802e-01 1.74763504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.08, Y:465.28, Z:1.75 [[ 1.84277975e-01 -9.82874159e-01 -1.26382667e-04 3.40082486e+02] [ 9.82873966e-01 1.84278018e-01 -6.16271483e-04 4.65276321e+02] [ 6.29006863e-04 -1.06529721e-05 9.99999802e-01 1.74618944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.442755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.09, Y:465.30, Z:1.75 [[ 1.85422539e-01 -9.82658875e-01 -1.32165515e-04 3.40086293e+02] [ 9.82658683e-01 1.85422585e-01 -6.15086182e-04 4.65302908e+02] [ 6.28926367e-04 -1.58227497e-05 9.99999802e-01 1.74589969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.09, Y:465.33, Z:1.75 [[ 1.90115436e-01 -9.81761735e-01 -1.29020424e-04 3.40091397e+02] [ 9.81761542e-01 1.90115479e-01 -6.15729401e-04 4.65329398e+02] [ 6.29028345e-04 -9.60762707e-06 9.99999802e-01 1.74524421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.10, Y:465.36, Z:1.74 [[ 1.91701768e-01 -9.81453216e-01 -1.27689549e-04 3.40096893e+02] [ 9.81453023e-01 1.91701811e-01 -6.16001096e-04 4.65355800e+02] [ 6.29054574e-04 -7.23279423e-06 9.99999802e-01 1.74495554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.10, Y:465.38, Z:1.74 [[ 1.93223701e-01 -9.81154720e-01 -1.27203170e-04 3.40102607e+02] [ 9.81154527e-01 1.93223743e-01 -6.16100192e-04 4.65382001e+02] [ 6.29068285e-04 -5.76080710e-06 9.99999802e-01 1.74493673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.11, Y:465.41, Z:1.75 [[ 1.96089404e-01 -9.80586014e-01 -1.26406519e-04 3.40109670e+02] [ 9.80585820e-01 1.96089445e-01 -6.16262261e-04 4.65407641e+02] [ 6.29085138e-04 -3.10994035e-06 9.99999802e-01 1.74722481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.592755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.12, Y:465.43, Z:1.75 [[ 1.96962897e-01 -9.80410935e-01 -1.25155337e-04 3.40115960e+02] [ 9.80410741e-01 1.96962936e-01 -6.16516256e-04 4.65433388e+02] [ 6.29090242e-04 -1.27280906e-06 9.99999802e-01 1.74801476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.13, Y:465.46, Z:1.75 [[ 2.00681220e-01 -9.79656589e-01 -1.24923393e-04 3.40126489e+02] [ 9.79656395e-01 2.00681259e-01 -6.16563251e-04 4.65459980e+02] [ 6.29090035e-04 1.35066456e-06 9.99999802e-01 1.74972589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.14, Y:465.49, Z:1.75 [[ 2.01701733e-01 -9.79446985e-01 -1.24731590e-04 3.40135204e+02] [ 9.79446790e-01 2.01701772e-01 -6.16602051e-04 4.65489834e+02] [ 6.29087602e-04 2.20174710e-06 9.99999802e-01 1.75077593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.14, Y:465.51, Z:1.75 [[ 2.00056315e-01 -9.79784391e-01 -1.31501412e-04 3.40138353e+02] [ 9.79784198e-01 2.00056358e-01 -6.15232871e-04 4.65511499e+02] [ 6.29103258e-04 -5.76178433e-06 9.99999802e-01 1.75151030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.712755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.15, Y:465.54, Z:1.75 [[ 2.00888539e-01 -9.79614097e-01 -1.23665723e-04 3.40148620e+02] [ 9.79613903e-01 2.00888577e-01 -6.16811307e-04 4.65537161e+02] [ 6.29080082e-04 2.76566101e-06 9.99999802e-01 1.75477143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.16, Y:465.56, Z:1.76 [[ 2.01056774e-01 -9.79579583e-01 -1.24092048e-04 3.40157158e+02] [ 9.79579388e-01 2.01056812e-01 -6.16725525e-04 4.65564491e+02] [ 6.29081284e-04 2.43883194e-06 9.99999802e-01 1.75816514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7727550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.16, Y:465.59, Z:1.76 [[ 1.99636568e-01 -9.79870004e-01 -1.24146344e-04 3.40164121e+02] [ 9.79869810e-01 1.99636607e-01 -6.16714619e-04 4.65590139e+02] [ 6.29084311e-04 1.47153592e-06 9.99999802e-01 1.75743337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.18, Y:465.62, Z:1.76 [[ 1.99800163e-01 -9.79836660e-01 -1.23670886e-04 3.40180573e+02] [ 9.79836466e-01 1.99800201e-01 -6.16809949e-04 4.65620566e+02] [ 6.29082468e-04 2.06148451e-06 9.99999802e-01 1.75686103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.19, Y:465.65, Z:1.76 [[ 1.97768831e-01 -9.80248679e-01 -1.33545876e-04 3.40185655e+02] [ 9.80248486e-01 1.97768876e-01 -6.14827019e-04 4.65646148e+02] [ 6.29094591e-04 -9.31452162e-06 9.99999802e-01 1.75792185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.862755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.18, Y:465.67, Z:1.76 [[ 1.88989234e-01 -9.81979151e-01 -1.32790027e-04 3.40183340e+02] [ 9.81978958e-01 1.88989280e-01 -6.14978470e-04 4.65668627e+02] [ 6.28991927e-04 -1.41727021e-05 9.99999802e-01 1.76087287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.892755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.19, Y:465.70, Z:1.76 [[ 1.86479568e-01 -9.82458832e-01 -1.23068898e-04 3.40187829e+02] [ 9.82458638e-01 1.86479608e-01 -6.16917738e-04 4.65695656e+02] [ 6.29046120e-04 -5.86754879e-06 9.99999802e-01 1.76071676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.20, Y:465.73, Z:1.76 [[ 1.88389960e-01 -9.82094297e-01 -1.22853127e-04 3.40200203e+02] [ 9.82094103e-01 1.88390000e-01 -6.16960704e-04 4.65729124e+02] [ 6.29057889e-04 -4.42412887e-06 9.99999802e-01 1.76173434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.20, Y:465.75, Z:1.76 [[ 1.81273191e-01 -9.83432769e-01 -1.37999030e-04 3.40196874e+02] [ 9.83432578e-01 1.81273242e-01 -6.13934241e-04 4.65748022e+02] [ 6.28778582e-04 -2.44229226e-05 9.99999802e-01 1.76192733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.982755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.20, Y:465.77, Z:1.76 [[ 1.76642241e-01 -9.84275116e-01 -1.22496642e-04 3.40203010e+02] [ 9.84274923e-01 1.76642283e-01 -6.17011962e-04 4.65774840e+02] [ 6.28947607e-04 -1.15799966e-05 9.99999802e-01 1.76366150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.21, Y:465.80, Z:1.77 [[ 1.74470995e-01 -9.84662306e-01 -1.22283309e-04 3.40209533e+02] [ 9.84662113e-01 1.74471038e-01 -6.17054239e-04 4.65800991e+02] [ 6.28924945e-04 -1.27496739e-05 9.99999802e-01 1.76527576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0427550960001 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.22, Y:465.83, Z:1.77 [[ 1.73292362e-01 -9.84870419e-01 -1.22067935e-04 3.40219855e+02] [ 9.84870226e-01 1.73292405e-01 -6.17096842e-04 4.65831187e+02] [ 6.28913871e-04 -1.32829053e-05 9.99999802e-01 1.76738015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.072755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:340.22, Y:465.86, Z:1.77 [[ 1.71760655e-01 -9.85138701e-01 -1.28763374e-04 3.40223677e+02] [ 9.85138509e-01 1.71760702e-01 -6.15773046e-04 4.65857497e+02] [ 6.28738346e-04 -2.10841761e-05 9.99999802e-01 1.76953760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.102755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.23, Y:465.88, Z:1.77 [[ 1.70905282e-01 -9.85287455e-01 -1.26186335e-04 3.40229124e+02] [ 9.85287262e-01 1.70905327e-01 -6.16281035e-04 4.65884155e+02] [ 6.28779889e-04 -1.90041042e-05 9.99999802e-01 1.76979705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.23, Y:465.91, Z:1.77 [[ 1.69058625e-01 -9.85605989e-01 -1.25864883e-04 3.40234556e+02] [ 9.85605797e-01 1.69058670e-01 -6.16344272e-04 4.65910131e+02] [ 6.28751156e-04 -1.98548431e-05 9.99999802e-01 1.76966919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1627550960001 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:340.24, Y:465.93, Z:1.77 [[ 1.67551147e-01 -9.85863377e-01 -1.26045029e-04 3.40237090e+02] [ 9.85863184e-01 1.67551193e-01 -6.16308866e-04 4.65933499e+02] [ 6.28715334e-04 -2.09998966e-05 9.99999802e-01 1.76924896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.24, Y:465.96, Z:1.77 [[ 1.66479267e-01 -9.86044948e-01 -1.20948906e-04 3.40242861e+02] [ 9.86044755e-01 1.66479310e-01 -6.17307348e-04 4.65962609e+02] [ 6.28828282e-04 -1.64921596e-05 9.99999802e-01 1.76553360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:465.99, Z:1.77 [[ 1.67616662e-01 -9.85852240e-01 -1.25998084e-04 3.40249707e+02] [ 9.85852047e-01 1.67616708e-01 -6.16318022e-04 4.65989468e+02] [ 6.28717886e-04 -2.09102991e-05 9.99999802e-01 1.76592743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.252755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:466.01, Z:1.77 [[ 1.64108803e-01 -9.86442236e-01 -1.29564459e-04 3.40249473e+02] [ 9.86442044e-01 1.64108852e-01 -6.15616178e-04 4.66011810e+02] [ 6.28532474e-04 -2.67797952e-05 9.99999802e-01 1.76561565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2827550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.25, Y:466.04, Z:1.76 [[ 1.62858139e-01 -9.86649488e-01 -1.20890537e-04 3.40253452e+02] [ 9.86649295e-01 1.62858183e-01 -6.17314817e-04 4.66038965e+02] [ 6.28761362e-04 -1.87418203e-05 9.99999802e-01 1.76349758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.312755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.26, Y:466.07, Z:1.76 [[ 1.61031681e-01 -9.86949230e-01 -1.20676471e-04 3.40259483e+02] [ 9.86949037e-01 1.61031725e-01 -6.17356662e-04 4.66070276e+02] [ 6.28732422e-04 -1.96875459e-05 9.99999802e-01 1.76010945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.342755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.26, Y:466.09, Z:1.76 [[ 1.60529735e-01 -9.87030996e-01 -1.28094822e-04 3.40262692e+02] [ 9.87030805e-01 1.60529784e-01 -6.15905408e-04 4.66094217e+02] [ 6.28480762e-04 -2.75624034e-05 9.99999802e-01 1.76311777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.372755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.27, Y:466.13, Z:1.76 [[ 1.60407989e-01 -9.87050790e-01 -1.22173169e-04 3.40270021e+02] [ 9.87050598e-01 1.60408034e-01 -6.17060650e-04 4.66126439e+02] [ 6.28667760e-04 -2.16096422e-05 9.99999802e-01 1.75914698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4027550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.27, Y:466.15, Z:1.75 [[ 1.60036401e-01 -9.87111105e-01 -1.32535524e-04 3.40272492e+02] [ 9.87110914e-01 1.60036453e-01 -6.15041428e-04 4.66151571e+02] [ 6.28324739e-04 -3.23982450e-05 9.99999802e-01 1.75487793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.432755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:466.18, Z:1.75 [[ 1.56667738e-01 -9.87651357e-01 -1.28249686e-04 3.40275390e+02] [ 9.87651166e-01 1.56667787e-01 -6.15866058e-04 4.66181631e+02] [ 6.28353542e-04 -3.01796100e-05 9.99999802e-01 1.74960934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.462755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.27, Y:466.20, Z:1.75 [[ 1.52849705e-01 -9.88249437e-01 -1.31836655e-04 3.40273841e+02] [ 9.88249247e-01 1.52849757e-01 -6.15177260e-04 4.66201679e+02] [ 6.28099782e-04 -3.62578122e-05 9.99999802e-01 1.74636563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.492755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.28, Y:466.23, Z:1.74 [[ 1.52382583e-01 -9.88321575e-01 -1.17921728e-04 3.40277200e+02] [ 9.88321382e-01 1.52382627e-01 -6.17833110e-04 4.66227049e+02] [ 6.28587015e-04 -2.23975599e-05 9.99999802e-01 1.74408132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.28, Y:466.25, Z:1.74 [[ 1.51689390e-01 -9.88428205e-01 -1.17680850e-04 3.40280513e+02] [ 9.88428012e-01 1.51689434e-01 -6.17878988e-04 4.66253826e+02] [ 6.28579960e-04 -2.25933621e-05 9.99999802e-01 1.74157639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.552755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.29, Y:466.29, Z:1.74 [[ 1.57791177e-01 -9.87472496e-01 -1.17466398e-04 3.40293762e+02] [ 9.87472303e-01 1.57791219e-01 -6.17919755e-04 4.66286308e+02] [ 6.28713929e-04 -1.84925290e-05 9.99999802e-01 1.74112756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.582755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.29, Y:466.31, Z:1.73 [[ 1.52083000e-01 -9.88367717e-01 -1.33025765e-04 3.40285169e+02] [ 9.88367526e-01 1.52083054e-01 -6.14955060e-04 4.66306561e+02] [ 6.28032693e-04 -3.79541355e-05 9.99999802e-01 1.73471013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.612755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:466.34, Z:1.73 [[ 1.58136296e-01 -9.87417287e-01 -1.16953396e-04 3.40297409e+02] [ 9.87417094e-01 1.58136338e-01 -6.17996691e-04 4.66342388e+02] [ 6.28715198e-04 -1.77540749e-05 9.99999802e-01 1.72876270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.642755096 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.29, Y:466.37, Z:1.73 [[ 1.53471834e-01 -9.88153013e-01 -1.35836566e-04 3.40289593e+02] [ 9.88152823e-01 1.53471889e-01 -6.14407061e-04 4.66365426e+02] [ 6.27975284e-04 -3.99331074e-05 9.99999802e-01 1.72645247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6727550960001 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:340.29, Y:466.39, Z:1.72 [[ 1.56182809e-01 -9.87728158e-01 -1.25704425e-04 3.40291510e+02] [ 9.87727966e-01 1.56182857e-01 -6.16326184e-04 4.66387272e+02] [ 6.28395603e-04 -2.79022221e-05 9.99999802e-01 1.72238000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.702755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:466.42, Z:1.72 [[ 1.59695626e-01 -9.87166295e-01 -1.16480665e-04 3.40302387e+02] [ 9.87166101e-01 1.59695668e-01 -6.18064497e-04 4.66424581e+02] [ 6.28733897e-04 -1.62835673e-05 9.99999802e-01 1.71566542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.732755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:466.45, Z:1.72 [[ 1.58767847e-01 -9.87315933e-01 -1.38066838e-04 3.40306954e+02] [ 9.87315743e-01 1.58767902e-01 -6.13980132e-04 4.66451984e+02] [ 6.28112949e-04 -3.88352589e-05 9.99999802e-01 1.71568977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.762755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:466.47, Z:1.71 [[ 1.62461121e-01 -9.86714936e-01 -1.37177897e-04 3.40304916e+02] [ 9.86714746e-01 1.62461175e-01 -6.14147735e-04 4.66474113e+02] [ 6.28274826e-04 -3.55803240e-05 9.99999802e-01 1.70991281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7927550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:466.51, Z:1.71 [[ 1.61644264e-01 -9.86849085e-01 -1.27409284e-04 3.40307017e+02] [ 9.86848893e-01 1.61644312e-01 -6.15968223e-04 4.66507011e+02] [ 6.28462663e-04 -2.61659805e-05 9.99999802e-01 1.70883548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.822755096 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:340.31, Y:466.53, Z:1.71 [[ 1.64287122e-01 -9.86412553e-01 -1.34552866e-04 3.40308007e+02] [ 9.86412361e-01 1.64287174e-01 -6.14637715e-04 4.66530197e+02] [ 6.28391668e-04 -3.17475495e-05 9.99999802e-01 1.70618653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.852755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.30, Y:466.56, Z:1.70 [[ 1.65312754e-01 -9.86241186e-01 -1.26651924e-04 3.40304910e+02] [ 9.86240994e-01 1.65312801e-01 -6.16100261e-04 4.66561050e+02] [ 6.28560637e-04 -2.30600888e-05 9.99999802e-01 1.70147275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.882755096 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:340.31, Y:466.59, Z:1.70 [[ 1.68482489e-01 -9.85704638e-01 -1.30717802e-04 3.40307492e+02] [ 9.85704447e-01 1.68482538e-01 -6.15349134e-04 4.66585660e+02] [ 6.28576163e-04 -2.51735653e-05 9.99999802e-01 1.69902997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9127550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:466.61, Z:1.70 [[ 1.70505993e-01 -9.85356632e-01 -1.23647351e-04 3.40306051e+02] [ 9.85356439e-01 1.70506037e-01 -6.16648120e-04 4.66612761e+02] [ 6.28700934e-04 -1.66945135e-05 9.99999802e-01 1.70093734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.942755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.31, Y:466.64, Z:1.70 [[ 1.71170539e-01 -9.85241408e-01 -1.20812100e-04 3.40307830e+02] [ 9.85241215e-01 1.71170581e-01 -6.17166888e-04 4.66639598e+02] [ 6.28737851e-04 -1.33882715e-05 9.99999802e-01 1.70145385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.972755096 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:340.31, Y:466.67, Z:1.70 [[ 1.70686997e-01 -9.85325294e-01 -1.19099989e-04 3.40308540e+02] [ 9.85325101e-01 1.70687039e-01 -6.17479334e-04 4.66665237e+02] [ 6.28746831e-04 -1.19565154e-05 9.99999802e-01 1.70191173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.002755096 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:340.31, Y:466.69, Z:1.70 [[ 1.71814883e-01 -9.85129247e-01 -1.15580402e-04 3.40307898e+02] [ 9.85129053e-01 1.71814922e-01 -6.18119779e-04 4.66691051e+02] [ 6.28786310e-04 -7.65943394e-06 9.99999802e-01 1.70232539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0327550960001 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:340.31, Y:466.72, Z:1.70 [[ 1.71742537e-01 -9.85141862e-01 -1.13078892e-04 3.40309883e+02] [ 9.85141668e-01 1.71742574e-01 -6.18573541e-04 4.66717534e+02] [ 6.28803150e-04 -5.16333933e-06 9.99999802e-01 1.70225867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.062755096 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:340.31, Y:466.75, Z:1.70 [[ 1.71299493e-01 -9.85218997e-01 -1.10625746e-04 3.40313552e+02] [ 9.85218802e-01 1.71299529e-01 -6.19017616e-04 4.66748646e+02] [ 6.28818053e-04 -2.95316120e-06 9.99999802e-01 1.70314432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.092755096 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:340.31, Y:466.77, Z:1.70 [[ 1.73915889e-01 -9.84760504e-01 -1.17228890e-04 3.40314076e+02] [ 9.84760310e-01 1.73915928e-01 -6.17821782e-04 4.66771967e+02] [ 6.28794460e-04 -7.99333351e-06 9.99999802e-01 1.70352192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.122755096 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:340.32, Y:466.80, Z:1.70 [[ 1.76914484e-01 -9.84226221e-01 -1.10698935e-04 3.40318881e+02] [ 9.84226026e-01 1.76914519e-01 -6.18998807e-04 4.66798968e+02] [ 6.28819105e-04 5.57081624e-07 9.99999802e-01 1.69945628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1527550960001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:340.32, Y:466.83, Z:1.70 [[ 1.79103058e-01 -9.83830312e-01 -1.11382179e-04 3.40321090e+02] [ 9.83830117e-01 1.79103092e-01 -6.18875840e-04 4.66825910e+02] [ 6.28817703e-04 1.26141328e-06 9.99999802e-01 1.70139512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.182755096 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:340.33, Y:466.85, Z:1.70 [[ 1.83530982e-01 -9.83013920e-01 -1.11172208e-04 3.40330556e+02] [ 9.83013725e-01 1.83531016e-01 -6.18913556e-04 4.66851558e+02] [ 6.28804189e-04 4.30600611e-06 9.99999802e-01 1.70112554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.212755096 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:340.33, Y:466.88, Z:1.70 [[ 1.80498649e-01 -9.83575226e-01 -1.10970286e-04 3.40327935e+02] [ 9.83575031e-01 1.80498683e-01 -6.18949758e-04 4.66878570e+02] [ 6.28813639e-04 2.57199238e-06 9.99999802e-01 1.70201857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.242755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.33, Y:466.91, Z:1.71 [[ 1.80522563e-01 -9.83570837e-01 -1.10744341e-04 3.40330697e+02] [ 9.83570643e-01 1.80522597e-01 -6.18990182e-04 4.66908051e+02] [ 6.28812548e-04 2.81681153e-06 9.99999802e-01 1.70573740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.34, Y:466.93, Z:1.71 [[ 1.82618682e-01 -9.83183810e-01 -1.15178913e-04 3.40335342e+02] [ 9.83183615e-01 1.82618718e-01 -6.18197360e-04 4.66932861e+02] [ 6.28835461e-04 -3.47632782e-07 9.99999802e-01 1.71082926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.302755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:466.96, Z:1.71 [[ 1.86088131e-01 -9.82533051e-01 -1.10230213e-04 3.40345230e+02] [ 9.82532855e-01 1.86088164e-01 -6.19078503e-04 4.66964933e+02] [ 6.28777628e-04 6.89835560e-06 9.99999802e-01 1.71052286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.332755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.34, Y:466.99, Z:1.72 [[ 1.84552785e-01 -9.82822596e-01 -1.19828521e-04 3.40344984e+02] [ 9.82822402e-01 1.84552824e-01 -6.17366004e-04 4.66986775e+02] [ 6.28875951e-04 -3.83353992e-06 9.99999802e-01 1.71670349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.362755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:467.01, Z:1.72 [[ 1.85592908e-01 -9.82626715e-01 -1.09953102e-04 3.40349937e+02] [ 9.82626520e-01 1.85592941e-01 -6.19119837e-04 4.67013545e+02] [ 6.28770211e-04 6.86141695e-06 9.99999802e-01 1.71807263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.392755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.35, Y:467.04, Z:1.72 [[ 1.88569384e-01 -9.82059864e-01 -1.09734159e-04 3.40354257e+02] [ 9.82059668e-01 1.88569415e-01 -6.19158641e-04 4.67040534e+02] [ 6.28743357e-04 8.98887129e-06 9.99999802e-01 1.72022970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4227550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:467.07, Z:1.72 [[ 1.91969525e-01 -9.81400881e-01 -1.09514142e-04 3.40362416e+02] [ 9.81400686e-01 1.91969556e-01 -6.19197554e-04 4.67070611e+02] [ 6.28704406e-04 1.13898066e-05 9.99999802e-01 1.71772061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.452755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.36, Y:467.09, Z:1.72 [[ 1.90791433e-01 -9.81630590e-01 -1.16972803e-04 3.40362620e+02] [ 9.81630396e-01 1.90791469e-01 -6.17877604e-04 4.67094153e+02] [ 6.28844970e-04 3.06169481e-06 9.99999802e-01 1.72128773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.482755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.37, Y:467.12, Z:1.72 [[ 1.92595940e-01 -9.81278142e-01 -1.09070416e-04 3.40367046e+02] [ 9.81277947e-01 1.92595971e-01 -6.19269432e-04 4.67121616e+02] [ 6.28682080e-04 1.22403848e-05 9.99999802e-01 1.72366943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.512755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.37, Y:467.15, Z:1.72 [[ 1.94502264e-01 -9.80902063e-01 -1.08877786e-04 3.40374412e+02] [ 9.80901868e-01 1.94502294e-01 -6.19303298e-04 4.67150953e+02] [ 6.28652862e-04 1.36574704e-05 9.99999802e-01 1.72292663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.38, Y:467.18, Z:1.72 [[ 1.94668796e-01 -9.80869027e-01 -1.13583352e-04 3.40379061e+02] [ 9.80868832e-01 1.94668829e-01 -6.18476189e-04 4.67176622e+02] [ 6.28755276e-04 8.98764524e-06 9.99999802e-01 1.72382535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.572755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.38, Y:467.20, Z:1.73 [[ 1.94176413e-01 -9.80966619e-01 -1.13405744e-04 3.40381219e+02] [ 9.80966424e-01 1.94176446e-01 -6.18507332e-04 4.67200682e+02] [ 6.28755771e-04 8.85230844e-06 9.99999802e-01 1.72785502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.602755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.39, Y:467.23, Z:1.73 [[ 1.96767669e-01 -9.80450138e-01 -1.08263574e-04 3.40387473e+02] [ 9.80449942e-01 1.96767698e-01 -6.19406112e-04 4.67229860e+02] [ 6.28599582e-04 1.57320824e-05 9.99999802e-01 1.72868956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.632755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.39, Y:467.26, Z:1.73 [[ 1.96576290e-01 -9.80488526e-01 -1.12529223e-04 3.40390711e+02] [ 9.80488331e-01 1.96576322e-01 -6.18661271e-04 4.67255774e+02] [ 6.28710858e-04 1.12805472e-05 9.99999802e-01 1.73034033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.40, Y:467.28, Z:1.73 [[ 1.97007565e-01 -9.80401962e-01 -1.09953946e-04 3.40395018e+02] [ 9.80401767e-01 1.97007595e-01 -6.19109795e-04 4.67279946e+02] [ 6.28638220e-04 1.41702707e-05 9.99999802e-01 1.73253573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.692755096 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:340.40, Y:467.31, Z:1.73 [[ 1.96878956e-01 -9.80427797e-01 -1.07572792e-04 3.40399624e+02] [ 9.80427602e-01 1.96878984e-01 -6.19523254e-04 4.67306181e+02] [ 6.28576641e-04 1.65037573e-05 9.99999802e-01 1.73141130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.722755096 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:340.40, Y:467.33, Z:1.73 [[ 1.96355077e-01 -9.80532851e-01 -1.07342313e-04 3.40404436e+02] [ 9.80532656e-01 1.96355105e-01 -6.19563185e-04 4.67332138e+02] [ 6.28579268e-04 1.64017339e-05 9.99999802e-01 1.73029094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.752755096 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:340.41, Y:467.36, Z:1.73 [[ 1.94382758e-01 -9.80925753e-01 -1.07113122e-04 3.40410541e+02] [ 9.80925557e-01 1.94382787e-01 -6.19602806e-04 4.67357906e+02] [ 6.28605296e-04 1.53701039e-05 9.99999802e-01 1.72900840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7827550960001 meters Centerline goodness : 0.993349 Centerline is valid? [True, True] Translation: X:340.42, Y:467.39, Z:1.73 [[ 1.93676678e-01 -9.81065407e-01 -1.06897368e-04 3.40417785e+02] [ 9.81065212e-01 1.93676707e-01 -6.19640027e-04 4.67385833e+02] [ 6.28610926e-04 1.51365324e-05 9.99999802e-01 1.72669893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.812755096 meters Centerline goodness : 0.991119 Centerline is valid? [True, True] Translation: X:340.42, Y:467.41, Z:1.73 [[ 1.90951772e-01 -9.81599414e-01 -1.08884614e-04 3.40423094e+02] [ 9.81599219e-01 1.90951802e-01 -6.19298974e-04 4.67413514e+02] [ 6.28695223e-04 1.13751842e-05 9.99999802e-01 1.73282770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.842755096 meters Centerline goodness : 0.987561 Centerline is valid? [True, True] Translation: X:340.43, Y:467.44, Z:1.74 [[ 1.84790256e-01 -9.82777976e-01 -1.09177714e-04 3.40428670e+02] [ 9.82777781e-01 1.84790288e-01 -6.19248739e-04 4.67437671e+02] [ 6.28759004e-04 7.13370124e-06 9.99999802e-01 1.73556383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.872755096 meters Centerline goodness : 0.987898 Centerline is valid? [True, True] Translation: X:340.44, Y:467.47, Z:1.74 [[ 1.82092997e-01 -9.83281307e-01 -1.05945004e-04 3.40435066e+02] [ 9.83281112e-01 1.82093027e-01 -6.19801319e-04 4.67466034e+02] [ 6.28730898e-04 8.68775829e-06 9.99999802e-01 1.73666190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9027550960001 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:340.44, Y:467.49, Z:1.74 [[ 1.74305618e-01 -9.84691597e-01 -1.07484336e-04 3.40441892e+02] [ 9.84691402e-01 1.74305651e-01 -6.19538398e-04 4.67491517e+02] [ 6.28789381e-04 2.15012150e-06 9.99999802e-01 1.73932306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.932755096 meters Centerline goodness : 0.988194 Centerline is valid? [True, True] Translation: X:340.45, Y:467.52, Z:1.74 [[ 1.70618834e-01 -9.85337101e-01 -1.05650831e-04 3.40447035e+02] [ 9.85336906e-01 1.70618866e-01 -6.19850911e-04 4.67516922e+02] [ 6.28788124e-04 1.65657671e-06 9.99999802e-01 1.74032504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.962755096 meters Centerline goodness : 0.988164 Centerline is valid? [True, True] Translation: X:340.45, Y:467.54, Z:1.74 [[ 1.67575074e-01 -9.85859312e-01 -1.05405766e-04 3.40452424e+02] [ 9.85859117e-01 1.67575107e-01 -6.19892581e-04 4.67544901e+02] [ 6.28790256e-04 -3.66904048e-08 9.99999802e-01 1.74232262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.992755096 meters Centerline goodness : 0.988550 Centerline is valid? [True, True] Translation: X:340.46, Y:467.57, Z:1.74 [[ 1.62654468e-01 -9.86683086e-01 -1.06850191e-04 3.40457712e+02] [ 9.86682892e-01 1.62654503e-01 -6.19647300e-04 4.67571170e+02] [ 6.28775175e-04 -4.63885336e-06 9.99999802e-01 1.74379719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0227550960001 meters Centerline goodness : 0.989129 Centerline is valid? [True, True] Translation: X:340.46, Y:467.60, Z:1.75 [[ 1.60622292e-01 -9.87015941e-01 -1.05059480e-04 3.40462677e+02] [ 9.87015747e-01 1.60622327e-01 -6.19950762e-04 4.67597833e+02] [ 6.28776183e-04 -4.11744829e-06 9.99999802e-01 1.74516217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.052755096 meters Centerline goodness : 0.989019 Centerline is valid? [True, True] Translation: X:340.47, Y:467.62, Z:1.75 [[ 1.57971258e-01 -9.87443705e-01 -1.04833034e-04 3.40469092e+02] [ 9.87443510e-01 1.57971293e-01 -6.19989051e-04 4.67624152e+02] [ 6.28764896e-04 -5.57624803e-06 9.99999802e-01 1.74664886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.082755096 meters Centerline goodness : 0.989023 Centerline is valid? [True, True] Translation: X:340.48, Y:467.65, Z:1.75 [[ 1.56849400e-01 -9.87622527e-01 -1.04622753e-04 3.40475142e+02] [ 9.87622332e-01 1.56849435e-01 -6.20024534e-04 4.67652036e+02] [ 6.28760216e-04 -6.07729110e-06 9.99999802e-01 1.74820593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.112755096 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:340.48, Y:467.68, Z:1.75 [[ 1.55938347e-01 -9.87766785e-01 -1.05312691e-04 3.40480889e+02] [ 9.87766590e-01 1.55938383e-01 -6.19908258e-04 4.67678733e+02] [ 6.28747077e-04 -7.35688870e-06 9.99999802e-01 1.74851047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.142755096 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:340.49, Y:467.70, Z:1.75 [[ 1.55754787e-01 -9.87795746e-01 -1.04126654e-04 3.40487757e+02] [ 9.87795551e-01 1.55754822e-01 -6.20107577e-04 4.67704563e+02] [ 6.28757855e-04 -6.27112214e-06 9.99999802e-01 1.74570470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1727550960001 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:340.49, Y:467.73, Z:1.75 [[ 1.55665837e-01 -9.87809768e-01 -1.04003635e-04 3.40492174e+02] [ 9.87809573e-01 1.55665871e-01 -6.20128209e-04 4.67730963e+02] [ 6.28758519e-04 -6.20300976e-06 9.99999802e-01 1.74634511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.202755096 meters Centerline goodness : 0.989306 Centerline is valid? [True, True] Translation: X:340.49, Y:467.76, Z:1.75 [[ 1.54440656e-01 -9.88002061e-01 -1.03784858e-04 3.40494889e+02] [ 9.88001867e-01 1.54440690e-01 -6.20164822e-04 4.67756813e+02] [ 6.28752727e-04 -6.76097216e-06 9.99999802e-01 1.74711277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.232755096 meters Centerline goodness : 0.988818 Centerline is valid? [True, True] Translation: X:340.50, Y:467.78, Z:1.75 [[ 1.57139128e-01 -9.87576470e-01 -1.01338865e-04 3.40502850e+02] [ 9.87576275e-01 1.57139161e-01 -6.20572855e-04 4.67783705e+02] [ 6.28787454e-04 -2.56358135e-06 9.99999802e-01 1.74739691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.262755096 meters Centerline goodness : 0.988924 Centerline is valid? [True, True] Translation: X:340.51, Y:467.81, Z:1.75 [[ 1.57625982e-01 -9.87498881e-01 -1.03336755e-04 3.40507953e+02] [ 9.87498686e-01 1.57626016e-01 -6.20239991e-04 4.67810179e+02] [ 6.28774858e-04 -4.27897181e-06 9.99999802e-01 1.74836456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2927550960001 meters Centerline goodness : 0.988941 Centerline is valid? [True, True] Translation: X:340.51, Y:467.84, Z:1.75 [[ 1.57751816e-01 -9.87478787e-01 -1.03120403e-04 3.40512064e+02] [ 9.87478592e-01 1.57751850e-01 -6.20275960e-04 4.67836425e+02] [ 6.28776786e-04 -3.97953100e-06 9.99999802e-01 1.75014943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.322755096 meters Centerline goodness : 0.989094 Centerline is valid? [True, True] Translation: X:340.52, Y:467.86, Z:1.75 [[ 1.59715556e-01 -9.87163072e-01 -1.00283956e-04 3.40519055e+02] [ 9.87162877e-01 1.59715588e-01 -6.20746238e-04 4.67863618e+02] [ 6.28794674e-04 1.46232447e-07 9.99999802e-01 1.75032597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.352755096 meters Centerline goodness : 0.989257 Centerline is valid? [True, True] Translation: X:340.52, Y:467.89, Z:1.75 [[ 1.59767552e-01 -9.87154658e-01 -1.02806989e-04 3.40522240e+02] [ 9.87154463e-01 1.59767585e-01 -6.20328096e-04 4.67890149e+02] [ 6.28784994e-04 -2.37807720e-06 9.99999802e-01 1.75044876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.382755096 meters Centerline goodness : 0.989292 Centerline is valid? [True, True] Translation: X:340.53, Y:467.92, Z:1.75 [[ 1.61595871e-01 -9.86857013e-01 -1.02050354e-04 3.40527176e+02] [ 9.86856818e-01 1.61595903e-01 -6.20453275e-04 4.67917110e+02] [ 6.28789584e-04 -4.46400458e-07 9.99999802e-01 1.75045284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4127550960001 meters Centerline goodness : 0.989337 Centerline is valid? [True, True] Translation: X:340.53, Y:467.94, Z:1.75 [[ 1.62007253e-01 -9.86789562e-01 -1.02494169e-04 3.40530774e+02] [ 9.86789367e-01 1.62007286e-01 -6.20379951e-04 4.67942419e+02] [ 6.28789262e-04 -6.34104542e-07 9.99999802e-01 1.74873478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.442755096 meters Centerline goodness : 0.989040 Centerline is valid? [True, True] Translation: X:340.54, Y:467.97, Z:1.75 [[ 1.62429679e-01 -9.86720117e-01 -9.94237945e-05 3.40537011e+02] [ 9.86719922e-01 1.62429709e-01 -6.20886448e-04 4.67971105e+02] [ 6.28790527e-04 2.74694756e-06 9.99999802e-01 1.75040890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.472755096 meters Centerline goodness : 0.989443 Centerline is valid? [True, True] Translation: X:340.54, Y:467.99, Z:1.75 [[ 1.64579632e-01 -9.86363794e-01 -1.03211982e-04 3.40542086e+02] [ 9.86363599e-01 1.64579664e-01 -6.20262887e-04 4.67994666e+02] [ 6.28791448e-04 2.78095554e-07 9.99999802e-01 1.75115941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.502755096 meters Centerline goodness : 0.989232 Centerline is valid? [True, True] Translation: X:340.55, Y:468.03, Z:1.75 [[ 1.64026626e-01 -9.86455907e-01 -9.77913359e-05 3.40547575e+02] [ 9.86455711e-01 1.64026655e-01 -6.21151859e-04 4.68025238e+02] [ 6.28779306e-04 5.41862200e-06 9.99999802e-01 1.74990683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5327550960001 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:340.55, Y:468.05, Z:1.75 [[ 1.66964067e-01 -9.85962976e-01 -1.03738098e-04 3.40554512e+02] [ 9.85962781e-01 1.66964100e-01 -6.20177157e-04 4.68051064e+02] [ 6.28792253e-04 1.26539713e-06 9.99999802e-01 1.74918222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.562755096 meters Centerline goodness : 0.989788 Centerline is valid? [True, True] Translation: X:340.56, Y:468.08, Z:1.75 [[ 1.64950591e-01 -9.86301826e-01 -1.02181021e-04 3.40557216e+02] [ 9.86301631e-01 1.64950623e-01 -6.20431860e-04 4.68076243e+02] [ 6.28787900e-04 1.55929417e-06 9.99999802e-01 1.75076619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.592755096 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:340.56, Y:468.10, Z:1.75 [[ 1.67723389e-01 -9.85834091e-01 -9.80471831e-05 3.40564824e+02] [ 9.85833896e-01 1.67723417e-01 -6.21105510e-04 4.68102549e+02] [ 6.28751795e-04 7.51568435e-06 9.99999802e-01 1.75001077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.622755096 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:340.57, Y:468.13, Z:1.75 [[ 1.66546304e-01 -9.86033630e-01 -1.01340537e-04 3.40569753e+02] [ 9.86033434e-01 1.66546335e-01 -6.20569692e-04 4.68130766e+02] [ 6.28780481e-04 3.42843112e-06 9.99999802e-01 1.74952918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6527550960001 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:340.58, Y:468.16, Z:1.75 [[ 1.65079987e-01 -9.86280177e-01 -1.02322608e-04 3.40575626e+02] [ 9.86279982e-01 1.65080018e-01 -6.20410419e-04 4.68161424e+02] [ 6.28789916e-04 1.49860424e-06 9.99999802e-01 1.74805378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.682755096 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:340.58, Y:468.19, Z:1.75 [[ 1.64551481e-01 -9.86368490e-01 -1.09193434e-04 3.40579559e+02] [ 9.86368296e-01 1.64551517e-01 -6.19297128e-04 4.68187951e+02] [ 6.28823118e-04 -5.79868116e-06 9.99999802e-01 1.74807273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.712755096 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:340.58, Y:468.21, Z:1.75 [[ 1.63582402e-01 -9.86529668e-01 -1.08929681e-04 3.40581075e+02] [ 9.86529474e-01 1.63582438e-01 -6.19339979e-04 4.68208081e+02] [ 6.28816247e-04 -6.14921905e-06 9.99999802e-01 1.74964330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.742755096 meters Centerline goodness : 0.990913 Centerline is valid? [True, True] Translation: X:340.59, Y:468.23, Z:1.75 [[ 1.62883655e-01 -9.86645279e-01 -9.60874999e-05 3.40585793e+02] [ 9.86645083e-01 1.62883683e-01 -6.21409694e-04 4.68234820e+02] [ 6.28762026e-04 6.41322254e-06 9.99999802e-01 1.75022001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7727550960001 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:340.59, Y:468.26, Z:1.75 [[ 1.60895601e-01 -9.86971426e-01 -9.67790505e-05 3.40590733e+02] [ 9.86971231e-01 1.60895630e-01 -6.21298431e-04 4.68261627e+02] [ 6.28775124e-04 4.44604588e-06 9.99999802e-01 1.74993710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.802755096 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:340.60, Y:468.29, Z:1.75 [[ 1.63111474e-01 -9.86607641e-01 -9.97738749e-05 3.40600828e+02] [ 9.86607446e-01 1.63111505e-01 -6.20817121e-04 4.68293028e+02] [ 6.28777182e-04 2.82474814e-06 9.99999802e-01 1.74863856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.832755096 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:340.60, Y:468.31, Z:1.75 [[ 1.62455776e-01 -9.86715820e-01 -1.09686531e-04 3.40601922e+02] [ 9.86715625e-01 1.62455813e-01 -6.19212051e-04 4.68310945e+02] [ 6.28805542e-04 -7.63483992e-06 9.99999802e-01 1.75197636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.862755096 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:340.61, Y:468.35, Z:1.75 [[ 1.60403007e-01 -9.87051603e-01 -9.15074140e-05 3.40610558e+02] [ 9.87051407e-01 1.60403032e-01 -6.22124775e-04 4.68345363e+02] [ 6.28747323e-04 9.46816262e-06 9.99999802e-01 1.74919912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.892755096 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:340.61, Y:468.37, Z:1.75 [[ 1.56991226e-01 -9.87599992e-01 -1.08843460e-04 3.40610193e+02] [ 9.87599797e-01 1.56991263e-01 -6.19357796e-04 4.68367307e+02] [ 6.28765226e-04 -1.02600392e-05 9.99999802e-01 1.75102723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9227550960001 meters Centerline goodness : 0.992505 Centerline is valid? [True, True] Translation: X:340.62, Y:468.39, Z:1.75 [[ 1.56801695e-01 -9.87630102e-01 -9.85550209e-05 3.40615009e+02] [ 9.87629907e-01 1.56801726e-01 -6.20990634e-04 4.68394367e+02] [ 6.28762641e-04 3.64981806e-08 9.99999802e-01 1.75118081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.952755096 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:340.63, Y:468.43, Z:1.75 [[ 1.61220086e-01 -9.86918474e-01 -9.83365307e-05 3.40625092e+02] [ 9.86918279e-01 1.61220116e-01 -6.21025231e-04 4.68426512e+02] [ 6.28755100e-04 3.07162183e-06 9.99999802e-01 1.74795583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.982755096 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:340.63, Y:468.45, Z:1.75 [[ 1.61094519e-01 -9.86938977e-01 -1.08515987e-04 3.40629184e+02] [ 9.86938783e-01 1.61094555e-01 -6.19416391e-04 4.68454299e+02] [ 6.28807514e-04 -7.31405076e-06 9.99999802e-01 1.74716109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.012755096 meters Centerline goodness : 0.993162 Centerline is valid? [True, True] Translation: X:340.63, Y:468.48, Z:1.75 [[ 1.63004770e-01 -9.86625275e-01 -1.08417148e-04 3.40634562e+02] [ 9.86625081e-01 1.63004806e-01 -6.19431964e-04 4.68478790e+02] [ 6.28819749e-04 -5.99671277e-06 9.99999802e-01 1.74583593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0427550960001 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:340.64, Y:468.50, Z:1.75 [[ 1.62783623e-01 -9.86661787e-01 -1.06293919e-04 3.40635077e+02] [ 9.86661592e-01 1.62783658e-01 -6.19769853e-04 4.68497475e+02] [ 6.28806144e-04 -3.98774537e-06 9.99999802e-01 1.74758356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.072755096 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:340.64, Y:468.53, Z:1.75 [[ 1.60587092e-01 -9.87021670e-01 -9.10515143e-05 3.40639473e+02] [ 9.87021474e-01 1.60587117e-01 -6.22176565e-04 4.68525085e+02] [ 6.28723453e-04 1.00437252e-05 9.99999802e-01 1.74864630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.102755096 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:340.64, Y:468.55, Z:1.75 [[ 1.57828006e-01 -9.87466613e-01 -9.52543911e-05 3.40644692e+02] [ 9.87466417e-01 1.57828035e-01 -6.21512471e-04 4.68551445e+02] [ 6.28756628e-04 4.03156170e-06 9.99999802e-01 1.74943454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.132755096 meters Centerline goodness : 0.994136 Centerline is valid? [True, True] Translation: X:340.65, Y:468.58, Z:1.75 [[ 1.56928611e-01 -9.87609944e-01 -9.80162009e-05 3.40649401e+02] [ 9.87609749e-01 1.56928641e-01 -6.21076612e-04 4.68578537e+02] [ 6.28762987e-04 6.62934269e-07 9.99999802e-01 1.75079762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1627550960001 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:340.65, Y:468.60, Z:1.75 [[ 1.55709281e-01 -9.87802921e-01 -9.78022788e-05 3.40653403e+02] [ 9.87802726e-01 1.55709312e-01 -6.21110297e-04 4.68603101e+02] [ 6.28763291e-04 1.03280167e-07 9.99999802e-01 1.75090316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.192755096 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:340.66, Y:468.63, Z:1.75 [[ 1.54201261e-01 -9.88039454e-01 -9.61583791e-05 3.40657685e+02] [ 9.88039258e-01 1.54201291e-01 -6.21368382e-04 4.68630661e+02] [ 6.28764222e-04 8.07534197e-07 9.99999802e-01 1.75078191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.222755096 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:340.66, Y:468.66, Z:1.75 [[ 1.53403123e-01 -9.88163687e-01 -9.73053672e-05 3.40661809e+02] [ 9.88163492e-01 1.53403153e-01 -6.21188713e-04 4.68656022e+02] [ 6.28763079e-04 -8.61323219e-07 9.99999802e-01 1.75088600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.252755096 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:340.67, Y:468.68, Z:1.75 [[ 1.52045103e-01 -9.88373552e-01 -9.70678998e-05 3.40666787e+02] [ 9.88373356e-01 1.52045134e-01 -6.21225818e-04 4.68682966e+02] [ 6.28761870e-04 -1.48498237e-06 9.99999802e-01 1.75250396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2827550960001 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:340.67, Y:468.71, Z:1.75 [[ 1.52817165e-01 -9.88254474e-01 -9.68486077e-05 3.40670904e+02] [ 9.88254278e-01 1.52817195e-01 -6.21260003e-04 4.68707164e+02] [ 6.28763110e-04 -7.71858642e-07 9.99999802e-01 1.75142870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.312755096 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:340.68, Y:468.73, Z:1.75 [[ 1.51497952e-01 -9.88457567e-01 -9.26139111e-05 3.40675427e+02] [ 9.88457371e-01 1.51497981e-01 -6.21917585e-04 4.68734910e+02] [ 6.28769964e-04 2.67433764e-06 9.99999802e-01 1.75272578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.342755096 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:340.68, Y:468.76, Z:1.75 [[ 1.49565053e-01 -9.88751883e-01 -9.37378775e-05 3.40679983e+02] [ 9.88751688e-01 1.49565083e-01 -6.21743125e-04 4.68763595e+02] [ 6.28769599e-04 3.07558999e-07 9.99999802e-01 1.75379906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.372755096 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:340.68, Y:468.79, Z:1.75 [[ 1.49390160e-01 -9.88778323e-01 -9.63971405e-05 3.40684494e+02] [ 9.88778127e-01 1.49390191e-01 -6.21330550e-04 4.68788272e+02] [ 6.28758966e-04 -2.49471385e-06 9.99999802e-01 1.75301308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4027550960001 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:340.69, Y:468.81, Z:1.75 [[ 1.49099401e-01 -9.88822208e-01 -9.39632893e-05 3.40689141e+02] [ 9.88822013e-01 1.49099431e-01 -6.21706921e-04 4.68813706e+02] [ 6.28767484e-04 -2.16839062e-07 9.99999802e-01 1.75182289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.432755096 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:340.69, Y:468.84, Z:1.76 [[ 1.46589260e-01 -9.89197443e-01 -9.25142911e-05 3.40694515e+02] [ 9.89197247e-01 1.46589289e-01 -6.21930799e-04 4.68841606e+02] [ 6.28773960e-04 -3.46506522e-07 9.99999802e-01 1.75575257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.462755096 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:340.70, Y:468.87, Z:1.75 [[ 1.45186977e-01 -9.89404231e-01 -9.33164465e-05 3.40698287e+02] [ 9.89404036e-01 1.45187007e-01 -6.21806989e-04 4.68868821e+02] [ 6.28766802e-04 -2.04939164e-06 9.99999802e-01 1.75381124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.492755096 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:340.70, Y:468.89, Z:1.76 [[ 1.44638693e-01 -9.89484532e-01 -9.47759308e-05 3.40701467e+02] [ 9.89484337e-01 1.44638724e-01 -6.21581997e-04 4.68894928e+02] [ 6.28754041e-04 -3.87449152e-06 9.99999802e-01 1.75505487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5227550960001 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:340.71, Y:468.92, Z:1.75 [[ 1.44570134e-01 -9.89494552e-01 -9.29137190e-05 3.40705116e+02] [ 9.89494356e-01 1.44570164e-01 -6.21868333e-04 4.68921307e+02] [ 6.28767879e-04 -2.03401211e-06 9.99999802e-01 1.75402846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.552755096 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:340.71, Y:468.95, Z:1.75 [[ 1.44524657e-01 -9.89501195e-01 -9.29509620e-05 3.40708893e+02] [ 9.89501000e-01 1.44524686e-01 -6.21862606e-04 4.68948517e+02] [ 6.28767500e-04 -2.10059030e-06 9.99999802e-01 1.75457495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.582755096 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:340.71, Y:468.98, Z:1.75 [[ 1.43562201e-01 -9.89641292e-01 -9.26157932e-05 3.40712059e+02] [ 9.89641096e-01 1.43562231e-01 -6.21914096e-04 4.68977063e+02] [ 6.28767999e-04 -2.37303857e-06 9.99999802e-01 1.75450840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.612755096 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:340.72, Y:469.00, Z:1.75 [[ 1.43969934e-01 -9.89582058e-01 -9.54207557e-05 3.40715301e+02] [ 9.89581863e-01 1.43969966e-01 -6.21483430e-04 4.69001708e+02] [ 6.28746574e-04 -4.95172068e-06 9.99999802e-01 1.75407630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.642755096 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:340.72, Y:469.03, Z:1.75 [[ 1.44838801e-01 -9.89455261e-01 -9.27000221e-05 3.40718031e+02] [ 9.89455065e-01 1.44838831e-01 -6.21899633e-04 4.69026662e+02] [ 6.28768427e-04 -1.64730921e-06 9.99999802e-01 1.75475678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6727550960001 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:340.72, Y:469.05, Z:1.75 [[ 1.44438163e-01 -9.89513824e-01 -9.14855908e-05 3.40721225e+02] [ 9.89513629e-01 1.44438192e-01 -6.22085249e-04 4.69053876e+02] [ 6.28775968e-04 -6.73387974e-07 9.99999802e-01 1.75396411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.702755096 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:340.72, Y:469.08, Z:1.75 [[ 1.43849290e-01 -9.89599603e-01 -9.07127200e-05 3.40724922e+02] [ 9.89599407e-01 1.43849319e-01 -6.22202990e-04 4.69080804e+02] [ 6.28780795e-04 -2.65795323e-07 9.99999802e-01 1.75278202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.732755096 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:340.73, Y:469.11, Z:1.76 [[ 1.41958162e-01 -9.89872654e-01 -9.45237257e-05 3.40727941e+02] [ 9.89872459e-01 1.41958193e-01 -6.21623491e-04 4.69105451e+02] [ 6.28746512e-04 -5.32190492e-06 9.99999802e-01 1.75670060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.762755096 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:340.73, Y:469.13, Z:1.76 [[ 1.40572459e-01 -9.90070389e-01 -9.16538200e-05 3.40732139e+02] [ 9.90070194e-01 1.40572488e-01 -6.22059471e-04 4.69133725e+02] [ 6.28766668e-04 -3.29928609e-06 9.99999802e-01 1.75526542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7927550960001 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:340.74, Y:469.16, Z:1.76 [[ 1.41075649e-01 -9.89998815e-01 -9.43659390e-05 3.40737581e+02] [ 9.89998619e-01 1.41075680e-01 -6.21647772e-04 4.69162719e+02] [ 6.28743296e-04 -5.72278666e-06 9.99999802e-01 1.75534913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.822755096 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:340.74, Y:469.19, Z:1.76 [[ 1.41777173e-01 -9.89898593e-01 -9.80124628e-05 3.40740913e+02] [ 9.89898398e-01 1.41777206e-01 -6.21095208e-04 4.69189382e+02] [ 6.28717205e-04 -8.96525745e-06 9.99999802e-01 1.75628283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.852755096 meters Centerline goodness : 0.997284 Centerline is valid? [True, True] Translation: X:340.74, Y:469.21, Z:1.76 [[ 1.42270263e-01 -9.89827845e-01 -9.68528488e-05 3.40743136e+02] [ 9.89827650e-01 1.42270296e-01 -6.21270383e-04 4.69214650e+02] [ 6.28730008e-04 -7.47932679e-06 9.99999802e-01 1.75584663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.882755096 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:340.75, Y:469.24, Z:1.76 [[ 1.43717041e-01 -9.89618817e-01 -9.36453288e-05 3.40747442e+02] [ 9.89618622e-01 1.43717071e-01 -6.21753483e-04 4.69243091e+02] [ 6.28757379e-04 -3.31659065e-06 9.99999802e-01 1.75613665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9127550960001 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:340.75, Y:469.27, Z:1.76 [[ 1.44735631e-01 -9.89470357e-01 -9.63918295e-05 3.40750071e+02] [ 9.89470162e-01 1.44735663e-01 -6.21339947e-04 4.69267710e+02] [ 6.28748794e-04 -5.44680961e-06 9.99999802e-01 1.75735655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.942755096 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:340.75, Y:469.29, Z:1.76 [[ 1.47943859e-01 -9.88995756e-01 -9.33492123e-05 3.40754652e+02] [ 9.88995561e-01 1.47943889e-01 -6.21796729e-04 4.69293410e+02] [ 6.28764772e-04 -3.30948850e-07 9.99999802e-01 1.75831127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.972755096 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:340.76, Y:469.32, Z:1.76 [[ 1.49381657e-01 -9.88779607e-01 -9.31216075e-05 3.40758819e+02] [ 9.88779412e-01 1.49381686e-01 -6.21830814e-04 4.69319220e+02] [ 6.28764291e-04 8.13389117e-07 9.99999802e-01 1.75904260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.002755096 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:340.76, Y:469.34, Z:1.76 [[ 1.52031895e-01 -9.88375584e-01 -9.28846750e-05 3.40762894e+02] [ 9.88375388e-01 1.52031924e-01 -6.21866203e-04 4.69343980e+02] [ 6.28758807e-04 2.73857089e-06 9.99999802e-01 1.75853747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0327550960001 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:340.77, Y:469.37, Z:1.76 [[ 1.52996802e-01 -9.88226680e-01 -9.26378261e-05 3.40766722e+02] [ 9.88226484e-01 1.52996830e-01 -6.21902974e-04 4.69370888e+02] [ 6.28754404e-04 3.60201276e-06 9.99999802e-01 1.75800225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.062755096 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:340.77, Y:469.40, Z:1.76 [[ 1.53699606e-01 -9.88117616e-01 -9.24225520e-05 3.40770519e+02] [ 9.88117420e-01 1.53699634e-01 -6.21934964e-04 4.69397928e+02] [ 6.28750207e-04 4.26682546e-06 9.99999802e-01 1.75769825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.092755096 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:340.77, Y:469.42, Z:1.76 [[ 1.54534574e-01 -9.87987377e-01 -9.22078356e-05 3.40774831e+02] [ 9.87987181e-01 1.54534602e-01 -6.21966797e-04 4.69423095e+02] [ 6.28744645e-04 5.01521448e-06 9.99999802e-01 1.75726018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.122755096 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:340.78, Y:469.45, Z:1.76 [[ 1.54380027e-01 -9.88011538e-01 -9.19592822e-05 3.40779344e+02] [ 9.88011342e-01 1.54380054e-01 -6.22003544e-04 4.69449453e+02] [ 6.28743357e-04 5.16810984e-06 9.99999802e-01 1.75680541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1527550960001 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:340.78, Y:469.47, Z:1.76 [[ 1.54324767e-01 -9.88020171e-01 -9.17201961e-05 3.40783845e+02] [ 9.88019975e-01 1.54324794e-01 -6.22038797e-04 4.69474254e+02] [ 6.28741579e-04 5.37460656e-06 9.99999802e-01 1.75661502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.182755096 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:340.79, Y:469.50, Z:1.75 [[ 1.54025936e-01 -9.88066801e-01 -9.14713291e-05 3.40789622e+02] [ 9.88066605e-01 1.54025963e-01 -6.22075391e-04 4.69502312e+02] [ 6.28741001e-04 5.43597848e-06 9.99999802e-01 1.75457072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.212755096 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:340.79, Y:469.53, Z:1.76 [[ 1.53981268e-01 -9.88073763e-01 -9.30602912e-05 3.40793605e+02] [ 9.88073567e-01 1.53981296e-01 -6.21842026e-04 4.69527147e+02] [ 6.28755334e-04 3.80160962e-06 9.99999802e-01 1.75507306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.242755096 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:340.80, Y:469.55, Z:1.75 [[ 1.53152004e-01 -9.88202639e-01 -9.11215912e-05 3.40799680e+02] [ 9.88202443e-01 1.53152031e-01 -6.22125983e-04 4.69553529e+02] [ 6.28741995e-04 5.23326185e-06 9.99999802e-01 1.75398302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2727550960001 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:340.80, Y:469.58, Z:1.75 [[ 1.51474255e-01 -9.88461199e-01 -9.09029646e-05 3.40804541e+02] [ 9.88461003e-01 1.51474282e-01 -6.22157926e-04 4.69580227e+02] [ 6.28748431e-04 4.38687294e-06 9.99999802e-01 1.75247577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.302755096 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:340.81, Y:469.61, Z:1.75 [[ 1.51262929e-01 -9.88493560e-01 -9.17765040e-05 3.40810150e+02] [ 9.88493364e-01 1.51262957e-01 -6.22030562e-04 4.69605505e+02] [ 6.28755590e-04 3.36969982e-06 9.99999802e-01 1.75317059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.332755096 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:340.82, Y:469.63, Z:1.75 [[ 1.47766930e-01 -9.89022207e-01 -9.04968682e-05 3.40817798e+02] [ 9.89022012e-01 1.47766958e-01 -6.22216676e-04 4.69631364e+02] [ 6.28758557e-04 2.43965324e-06 9.99999802e-01 1.75110717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.362755096 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:340.82, Y:469.66, Z:1.75 [[ 1.45867411e-01 -9.89304144e-01 -9.22649242e-05 3.40823701e+02] [ 9.89303949e-01 1.45867440e-01 -6.21959972e-04 4.69655880e+02] [ 6.28766026e-04 -5.54363248e-07 9.99999802e-01 1.75236516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.392755096 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:340.83, Y:469.68, Z:1.75 [[ 1.41830700e-01 -9.89890926e-01 -9.00193643e-05 3.40832941e+02] [ 9.89890730e-01 1.41830729e-01 -6.22284813e-04 4.69681219e+02] [ 6.28761601e-04 -8.50243488e-07 9.99999802e-01 1.75290751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4227550960001 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:340.84, Y:469.71, Z:1.75 [[ 1.39235612e-01 -9.90259277e-01 -8.97854647e-05 3.40839043e+02] [ 9.90259082e-01 1.39235641e-01 -6.22318559e-04 4.69706870e+02] [ 6.28758063e-04 -2.26196651e-06 9.99999802e-01 1.75301779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.452755096 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:340.85, Y:469.73, Z:1.75 [[ 1.35576223e-01 -9.90766915e-01 -8.95476546e-05 3.40847825e+02] [ 9.90766720e-01 1.35576253e-01 -6.22352776e-04 4.69730976e+02] [ 6.28747076e-04 -4.34459702e-06 9.99999802e-01 1.75232776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.482755096 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:340.85, Y:469.76, Z:1.75 [[ 1.32975963e-01 -9.91119259e-01 -8.93001797e-05 3.40853804e+02] [ 9.91119063e-01 1.32975993e-01 -6.22388284e-04 4.69755787e+02] [ 6.28735795e-04 -5.74442887e-06 9.99999802e-01 1.75162145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.512755096 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:340.86, Y:469.78, Z:1.75 [[ 1.30651652e-01 -9.91428332e-01 -8.90550972e-05 3.40859914e+02] [ 9.91428137e-01 1.30651682e-01 -6.22423350e-04 4.69780423e+02] [ 6.28723342e-04 -6.97109043e-06 9.99999802e-01 1.75036068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5427550960001 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:340.86, Y:469.81, Z:1.75 [[ 1.29798312e-01 -9.91540413e-01 -8.88122364e-05 3.40864942e+02] [ 9.91540218e-01 1.29798342e-01 -6.22458001e-04 4.69808005e+02] [ 6.28719945e-04 -7.26690663e-06 9.99999802e-01 1.74928477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.572755096 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:340.87, Y:469.83, Z:1.75 [[ 1.29399393e-01 -9.91592552e-01 -9.06800079e-05 3.40868432e+02] [ 9.91592357e-01 1.29399424e-01 -6.22191997e-04 4.69834736e+02] [ 6.28694891e-04 -9.40633617e-06 9.99999802e-01 1.74930238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.602755096 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:340.87, Y:469.86, Z:1.75 [[ 1.29954341e-01 -9.91519975e-01 -9.04579719e-05 3.40873322e+02] [ 9.91519780e-01 1.29954373e-01 -6.22223535e-04 4.69862205e+02] [ 6.28702473e-04 -8.83021875e-06 9.99999802e-01 1.75023787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.632755096 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:340.88, Y:469.89, Z:1.75 [[ 1.30584490e-01 -9.91437181e-01 -9.14322937e-05 3.40876249e+02] [ 9.91436985e-01 1.30584521e-01 -6.22085499e-04 4.69886454e+02] [ 6.28698336e-04 -9.41464005e-06 9.99999802e-01 1.75155781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6627550960001 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:340.88, Y:469.91, Z:1.75 [[ 1.30967398e-01 -9.91386672e-01 -8.78725875e-05 3.40881300e+02] [ 9.91386476e-01 1.30967427e-01 -6.22587919e-04 4.69911231e+02] [ 6.28733812e-04 -5.57697508e-06 9.99999802e-01 1.75069027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.692755096 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:340.89, Y:469.94, Z:1.75 [[ 1.30716514e-01 -9.91419783e-01 -8.76374601e-05 3.40889137e+02] [ 9.91419587e-01 1.30716543e-01 -6.22621015e-04 4.69940954e+02] [ 6.28734457e-04 -5.49864620e-06 9.99999802e-01 1.74970026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.722755096 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:340.89, Y:469.96, Z:1.75 [[ 1.29713061e-01 -9.91551569e-01 -9.34372480e-05 3.40890957e+02] [ 9.91551374e-01 1.29713094e-01 -6.21804676e-04 4.69964437e+02] [ 6.28671437e-04 -1.19916439e-05 9.99999802e-01 1.75085916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.752755096 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:340.89, Y:469.99, Z:1.75 [[ 1.29694340e-01 -9.91554018e-01 -8.71930468e-05 3.40894387e+02] [ 9.91553823e-01 1.29694369e-01 -6.22679045e-04 4.69989739e+02] [ 6.28728356e-04 -5.69865108e-06 9.99999802e-01 1.75096554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7827550960001 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:340.90, Y:470.02, Z:1.75 [[ 1.29680231e-01 -9.91555863e-01 -8.69636259e-05 3.40897224e+02] [ 9.91555668e-01 1.29680260e-01 -6.22711084e-04 4.70015973e+02] [ 6.28730292e-04 -5.47595895e-06 9.99999802e-01 1.75111175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.812755096 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:340.90, Y:470.04, Z:1.75 [[ 1.30117218e-01 -9.91498614e-01 -8.67470938e-05 3.40899480e+02] [ 9.91498419e-01 1.30117247e-01 -6.22741247e-04 4.70041045e+02] [ 6.28734376e-04 -4.98024775e-06 9.99999802e-01 1.75221445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.842755096 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:340.90, Y:470.07, Z:1.75 [[ 1.30373567e-01 -9.91464939e-01 -8.65215165e-05 3.40903084e+02] [ 9.91464744e-01 1.30373596e-01 -6.22772586e-04 4.70066292e+02] [ 6.28737306e-04 -4.58994965e-06 9.99999802e-01 1.75332929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.872755096 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:340.91, Y:470.09, Z:1.75 [[ 1.30307689e-01 -9.91473600e-01 -8.62876215e-05 3.40906903e+02] [ 9.91473404e-01 1.30307717e-01 -6.22804992e-04 4.70091694e+02] [ 6.28738650e-04 -4.39560290e-06 9.99999802e-01 1.75436607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9027550960001 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:340.91, Y:470.12, Z:1.76 [[ 1.30717793e-01 -9.91419614e-01 -8.60530360e-05 3.40911978e+02] [ 9.91419419e-01 1.30717821e-01 -6.22837403e-04 4.70115398e+02] [ 6.28741883e-04 -3.89872042e-06 9.99999802e-01 1.75648876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.932755096 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:340.92, Y:470.14, Z:1.76 [[ 1.33088411e-01 -9.91104166e-01 -8.58095057e-05 3.40920155e+02] [ 9.91103970e-01 1.33088439e-01 -6.22870953e-04 4.70143829e+02] [ 6.28750249e-04 -2.14923638e-06 9.99999802e-01 1.75613339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.962755096 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:340.92, Y:470.17, Z:1.76 [[ 1.31555738e-01 -9.91308771e-01 -9.27233768e-05 3.40919063e+02] [ 9.91308576e-01 1.31555771e-01 -6.21918493e-04 4.70165900e+02] [ 6.28711552e-04 -1.01005321e-05 9.99999802e-01 1.75749279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.992755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:340.93, Y:470.19, Z:1.75 [[ 1.34798841e-01 -9.90872982e-01 -8.53631190e-05 3.40926725e+02] [ 9.90872786e-01 1.34798868e-01 -6.22927109e-04 4.70194956e+02] [ 6.28748494e-04 -6.14139299e-07 9.99999802e-01 1.75340546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0227550960001 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:340.93, Y:470.22, Z:1.76 [[ 1.32704074e-01 -9.91155699e-01 -9.23807304e-05 3.40925482e+02] [ 9.91155504e-01 1.32704106e-01 -6.21964902e-04 4.70216778e+02] [ 6.28723360e-04 -9.02639295e-06 9.99999802e-01 1.75550190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.052755096 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:340.93, Y:470.25, Z:1.75 [[ 1.33916778e-01 -9.90992578e-01 -8.48829259e-05 3.40932915e+02] [ 9.90992382e-01 1.33916805e-01 -6.22986491e-04 4.70246704e+02] [ 6.28742239e-04 -6.89989584e-07 9.99999802e-01 1.75013813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.082755096 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:340.93, Y:470.27, Z:1.75 [[ 1.30925152e-01 -9.91392252e-01 -9.08057698e-05 3.40932183e+02] [ 9.91392056e-01 1.30925183e-01 -6.22179933e-04 4.70268605e+02] [ 6.28713126e-04 -8.56511660e-06 9.99999802e-01 1.75156279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.112755096 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:340.94, Y:470.29, Z:1.75 [[ 1.26475207e-01 -9.91969765e-01 -8.44327958e-05 3.40937266e+02] [ 9.91969570e-01 1.26475235e-01 -6.23043577e-04 4.70294532e+02] [ 6.28719048e-04 -4.95519885e-06 9.99999802e-01 1.75089200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.142755096 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:340.94, Y:470.32, Z:1.75 [[ 1.23861713e-01 -9.92299485e-01 -8.66382886e-05 3.40941486e+02] [ 9.92299290e-01 1.23861743e-01 -6.22745073e-04 4.70320579e+02] [ 6.28680784e-04 -8.83684102e-06 9.99999802e-01 1.75107530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1727550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:340.94, Y:470.36, Z:1.75 [[ 1.10944629e-01 -9.93826585e-01 -8.67291063e-05 3.40943435e+02] [ 9.93826390e-01 1.10944662e-01 -6.22732818e-04 4.70358546e+02] [ 6.28510561e-04 -1.71048130e-05 9.99999802e-01 1.75089930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.202755096 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:340.95, Y:470.37, Z:1.75 [[ 1.16472154e-01 -9.93193952e-01 -1.03636644e-04 3.40948035e+02] [ 9.93193759e-01 1.16472196e-01 -6.20441638e-04 4.70371917e+02] [ 6.28289670e-04 -3.06670937e-05 9.99999802e-01 1.75175222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.232755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.95, Y:470.40, Z:1.75 [[ 1.07894825e-01 -9.94162310e-01 -8.63577995e-05 3.40949836e+02] [ 9.94162115e-01 1.07894858e-01 -6.22759032e-04 4.70400350e+02] [ 6.28441120e-04 -1.86611758e-05 9.99999802e-01 1.75364936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.262755096 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:340.95, Y:470.42, Z:1.75 [[ 1.06858192e-01 -9.94274267e-01 -9.12522770e-05 3.40952341e+02] [ 9.94274073e-01 1.06858228e-01 -6.22103080e-04 4.70421669e+02] [ 6.28292141e-04 -2.42529627e-05 9.99999802e-01 1.75182315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2927550960001 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:340.95, Y:470.44, Z:1.75 [[ 1.00073675e-01 -9.94980026e-01 -8.70393883e-05 3.40949593e+02] [ 9.94979831e-01 1.00073710e-01 -6.22665155e-04 4.70444290e+02] [ 6.28249747e-04 -2.42900454e-05 9.99999802e-01 1.75423537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.322755096 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:340.95, Y:470.48, Z:1.76 [[ 9.68955083e-02 -9.95294556e-01 -8.27852566e-05 3.40953798e+02] [ 9.95294361e-01 9.68955412e-02 -6.23230242e-04 4.70475352e+02] [ 6.28319190e-04 -2.20074880e-05 9.99999802e-01 1.75722075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.352755096 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:340.95, Y:470.50, Z:1.76 [[ 9.36949882e-02 -9.95600945e-01 -8.87361843e-05 3.40953562e+02] [ 9.95600751e-01 9.36950255e-02 -6.22446235e-04 4.70499562e+02] [ 6.28022199e-04 -3.00257190e-05 9.99999802e-01 1.75904539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.382755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:470.53, Z:1.76 [[ 9.00757380e-02 -9.95934915e-01 -8.06800215e-05 3.40955311e+02] [ 9.95934720e-01 9.00757709e-02 -6.23501503e-04 4.70529611e+02] [ 6.28234231e-04 -2.41896766e-05 9.99999802e-01 1.76121346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4127550960001 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:340.96, Y:470.56, Z:1.76 [[ 8.86963575e-02 -9.96058708e-01 -8.42831774e-05 3.40958360e+02] [ 9.96058513e-01 8.86963929e-02 -6.23034392e-04 4.70556254e+02] [ 6.28054445e-04 -2.86900952e-05 9.99999802e-01 1.76480790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.442755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:470.59, Z:1.76 [[ 8.60912990e-02 -9.96287249e-01 -8.05502249e-05 3.40959134e+02] [ 9.96287054e-01 8.60913326e-02 -6.23516641e-04 4.70589001e+02] [ 6.28136355e-04 -2.65717887e-05 9.99999802e-01 1.76011439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.472755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.61, Z:1.76 [[ 8.09707353e-02 -9.96716475e-01 -9.34096782e-05 3.40953702e+02] [ 9.96716282e-01 8.09707779e-02 -6.21847302e-04 4.70609606e+02] [ 6.27368905e-04 -4.27515138e-05 9.99999802e-01 1.76209816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.502755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.64, Z:1.76 [[ 8.03215720e-02 -9.96769000e-01 -8.02581059e-05 3.40954483e+02] [ 9.96768805e-01 8.03216065e-02 -6.23540088e-04 4.70637315e+02] [ 6.27971890e-04 -2.99150562e-05 9.99999802e-01 1.76331436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5327550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.66, Z:1.76 [[ 8.03440169e-02 -9.96767191e-01 -8.00395024e-05 3.40952631e+02] [ 9.96766996e-01 8.03440513e-02 -6.23568148e-04 4.70664879e+02] [ 6.27982969e-04 -2.96807646e-05 9.99999802e-01 1.76497015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.562755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:470.70, Z:1.76 [[ 8.46352739e-02 -9.96411995e-01 -7.98144608e-05 3.40959116e+02] [ 9.96411800e-01 8.46353073e-02 -6.23596951e-04 4.70698178e+02] [ 6.28114603e-04 -2.67497719e-05 9.99999802e-01 1.76323069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.592755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.72, Z:1.77 [[ 8.19782614e-02 -9.96634114e-01 -9.19137869e-05 3.40953664e+02] [ 9.96633920e-01 8.19783029e-02 -6.22043242e-04 4.70719174e+02] [ 6.27484452e-04 -4.06103742e-05 9.99999802e-01 1.76681144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.622755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.75, Z:1.77 [[ 8.28919462e-02 -9.96558538e-01 -7.94502572e-05 3.40953524e+02] [ 9.96558343e-01 8.28919797e-02 -6.23631089e-04 4.70745502e+02] [ 6.28070676e-04 -2.74828219e-05 9.99999802e-01 1.76591361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6527550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.96, Y:470.78, Z:1.77 [[ 8.92451520e-02 -9.96009687e-01 -7.92143438e-05 3.40955484e+02] [ 9.96009492e-01 8.92451841e-02 -6.23661054e-04 4.70779388e+02] [ 6.28241950e-04 -2.32395128e-05 9.99999802e-01 1.76585784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.682755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.81, Z:1.77 [[ 8.86120535e-02 -9.96066211e-01 -9.16750747e-05 3.40952869e+02] [ 9.96066017e-01 8.86120935e-02 -6.22073816e-04 4.70806592e+02] [ 6.27750229e-04 -3.61911883e-05 9.99999802e-01 1.76772367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.712755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.83, Z:1.77 [[ 9.04844441e-02 -9.95897865e-01 -8.75945896e-05 3.40949027e+02] [ 9.95897671e-01 9.04844812e-02 -6.22590567e-04 4.70834526e+02] [ 6.27962568e-04 -3.09004864e-05 9.99999802e-01 1.77014259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.742755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.86, Z:1.77 [[ 9.05487428e-02 -9.95892021e-01 -8.76552087e-05 3.40949014e+02] [ 9.95891827e-01 9.05487800e-02 -6.22582939e-04 4.70863288e+02] [ 6.27962454e-04 -3.09210035e-05 9.99999802e-01 1.77148809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7727550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.95, Y:470.89, Z:1.77 [[ 9.06299641e-02 -9.95884633e-01 -8.86582075e-05 3.40945888e+02] [ 9.95884439e-01 9.06300018e-02 -6.22457109e-04 4.70885417e+02] [ 6.27930562e-04 -3.18800639e-05 9.99999802e-01 1.77196541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.802755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.94, Y:470.92, Z:1.77 [[ 8.93130297e-02 -9.96003603e-01 -7.89659776e-05 3.40943185e+02] [ 9.96003408e-01 8.93130617e-02 -6.23664513e-04 4.70919484e+02] [ 6.28224795e-04 -2.29490156e-05 9.99999802e-01 1.77094737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.832755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.94, Y:470.94, Z:1.77 [[ 9.02617744e-02 -9.95918071e-01 -8.92713480e-05 3.40942225e+02] [ 9.95917877e-01 9.02618126e-02 -6.22377886e-04 4.70943254e+02] [ 6.27895177e-04 -3.27299990e-05 9.99999802e-01 1.77189915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.862755096 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:340.94, Y:470.96, Z:1.77 [[ 8.87923764e-02 -9.96050153e-01 -8.37008495e-05 3.40938695e+02] [ 9.96049958e-01 8.87924115e-02 -6.23080253e-04 4.70963309e+02] [ 6.28051182e-04 -2.80454513e-05 9.99999802e-01 1.77173591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.892755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:470.99, Z:1.77 [[ 8.49727528e-02 -9.96383273e-01 -6.79129391e-05 3.40932502e+02] [ 9.96383077e-01 8.49727787e-02 -6.25048760e-04 4.70990119e+02] [ 6.28558881e-04 -1.45551894e-05 9.99999802e-01 1.77272791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9227550960001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:340.93, Y:471.02, Z:1.78 [[ 8.50467052e-02 -9.96376964e-01 -6.90590566e-05 3.40933666e+02] [ 9.96376768e-01 8.50467318e-02 -6.24905441e-04 4.71018618e+02] [ 6.28514633e-04 -1.56626907e-05 9.99999802e-01 1.77631035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.952755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:471.05, Z:1.77 [[ 8.02505643e-02 -9.96774720e-01 -7.18719694e-05 3.40926981e+02] [ 9.96774524e-01 8.02505936e-02 -6.24552803e-04 4.71048990e+02] [ 6.28306213e-04 -2.15194332e-05 9.99999802e-01 1.77404018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.982755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.93, Y:471.07, Z:1.77 [[ 8.17111839e-02 -9.96656047e-01 -7.64435934e-05 3.40926281e+02] [ 9.96655852e-01 8.17112157e-02 -6.23979231e-04 4.71072711e+02] [ 6.28138973e-04 -2.52018731e-05 9.99999802e-01 1.77459779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.012755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.92, Y:471.10, Z:1.77 [[ 7.96392263e-02 -9.96823750e-01 -6.92730403e-05 3.40923455e+02] [ 9.96823555e-01 7.96392541e-02 -6.24873563e-04 4.71098189e+02] [ 6.28405662e-04 -1.92885511e-05 9.99999802e-01 1.77364375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0427550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:471.13, Z:1.77 [[ 7.79570061e-02 -9.96956720e-01 -6.59749895e-05 3.40914687e+02] [ 9.96956524e-01 7.79570321e-02 -6.25280803e-04 4.71130490e+02] [ 6.28521113e-04 -1.70291768e-05 9.99999802e-01 1.77308391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.072755096 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:340.91, Y:471.15, Z:1.77 [[ 8.13031188e-02 -9.96689419e-01 -7.66195936e-05 3.40914317e+02] [ 9.96689224e-01 8.13031509e-02 -6.23963138e-04 4.71153571e+02] [ 6.28126872e-04 -2.56357741e-05 9.99999802e-01 1.77212378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.102755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:471.18, Z:1.78 [[ 7.97855574e-02 -9.96812048e-01 -7.16293142e-05 3.40911393e+02] [ 9.96811853e-01 7.97855867e-02 -6.24587076e-04 4.71176567e+02] [ 6.28310909e-04 -2.15679214e-05 9.99999802e-01 1.77546951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.132755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.91, Y:471.21, Z:1.78 [[ 8.32293228e-02 -9.96530419e-01 -6.27682867e-05 3.40906668e+02] [ 9.96530223e-01 8.32293459e-02 -6.25687551e-04 4.71207113e+02] [ 6.28740841e-04 -1.04749436e-05 9.99999802e-01 1.77642767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1627550960001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:471.24, Z:1.78 [[ 8.21728756e-02 -9.96618088e-01 -6.88550367e-05 3.40903671e+02] [ 9.96617893e-01 8.21729026e-02 -6.24937618e-04 4.71239732e+02] [ 6.28482152e-04 -1.72692405e-05 9.99999802e-01 1.77945695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.192755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.90, Y:471.27, Z:1.78 [[ 8.56093092e-02 -9.96328781e-01 -8.23958298e-05 3.40895550e+02] [ 9.96328586e-01 8.56093440e-02 -6.23257921e-04 4.71265689e+02] [ 6.28023657e-04 -2.87366406e-05 9.99999802e-01 1.77966093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.222755096 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:340.89, Y:471.29, Z:1.78 [[ 8.48661294e-02 -9.96392360e-01 -7.68609727e-05 3.40892163e+02] [ 9.96392165e-01 8.48661609e-02 -6.23940150e-04 4.71293528e+02] [ 6.28212094e-04 -2.36322855e-05 9.99999802e-01 1.78281703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.252755096 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:340.89, Y:471.32, Z:1.78 [[ 8.46026496e-02 -9.96414766e-01 -7.77875702e-05 3.40889997e+02] [ 9.96414571e-01 8.46026818e-02 -6.23826487e-04 4.71320143e+02] [ 6.28170960e-04 -2.47312947e-05 9.99999802e-01 1.78454574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2827550960001 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:340.88, Y:471.35, Z:1.79 [[ 8.39132863e-02 -9.96473058e-01 -7.61207958e-05 3.40883959e+02] [ 9.96472863e-01 8.39133176e-02 -6.24030184e-04 4.71347798e+02] [ 6.28216814e-04 -2.34878838e-05 9.99999802e-01 1.78589163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.312755096 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:340.88, Y:471.38, Z:1.78 [[ 8.15867371e-02 -9.96666242e-01 -7.60831845e-05 3.40880569e+02] [ 9.96666047e-01 8.15867687e-02 -6.24034770e-04 4.71375089e+02] [ 6.28161770e-04 -2.49165661e-05 9.99999802e-01 1.78060572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.342755096 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:340.88, Y:471.40, Z:1.79 [[ 8.36301913e-02 -9.96496857e-01 -7.26149316e-05 3.40876499e+02] [ 9.96496662e-01 8.36302204e-02 -6.24455852e-04 4.71404563e+02] [ 6.28341097e-04 -2.01371745e-05 9.99999802e-01 1.78753719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.372755096 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:340.87, Y:471.43, Z:1.79 [[ 8.33472563e-02 -9.96520561e-01 -7.56940703e-05 3.40873554e+02] [ 9.96520366e-01 8.33472873e-02 -6.24082388e-04 4.71431137e+02] [ 6.28219827e-04 -2.34151280e-05 9.99999802e-01 1.78839633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4027550960001 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:340.87, Y:471.46, Z:1.79 [[ 8.48384223e-02 -9.96394719e-01 -7.54591598e-05 3.40870913e+02] [ 9.96394524e-01 8.48384529e-02 -6.24110790e-04 4.71456497e+02] [ 6.28262534e-04 -2.22385189e-05 9.99999802e-01 1.79169543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.432755096 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:340.86, Y:471.48, Z:1.79 [[ 8.32545510e-02 -9.96528311e-01 -7.25507043e-05 3.40861930e+02] [ 9.96528116e-01 8.32545801e-02 -6.24462315e-04 4.71484178e+02] [ 6.28334555e-04 -2.03094869e-05 9.99999802e-01 1.78897707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.462755096 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:340.87, Y:471.51, Z:1.79 [[ 8.30206646e-02 -9.96547824e-01 -7.06859403e-05 3.40865147e+02] [ 9.96547628e-01 8.30206926e-02 -6.24687149e-04 4.71511511e+02] [ 6.28399014e-04 -1.85799639e-05 9.99999802e-01 1.78899411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.492755096 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:340.87, Y:471.54, Z:1.79 [[ 8.44893247e-02 -9.96424382e-01 -7.04294014e-05 3.40865135e+02] [ 9.96424186e-01 8.44893523e-02 -6.24717993e-04 4.71540061e+02] [ 6.28434775e-04 -1.73955576e-05 9.99999802e-01 1.79149255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5227550960001 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:340.86, Y:471.57, Z:1.79 [[ 8.50532354e-02 -9.96376406e-01 -7.49830239e-05 3.40863699e+02] [ 9.96376210e-01 8.50532657e-02 -6.24170957e-04 4.71566278e+02] [ 6.28286765e-04 -2.16235419e-05 9.99999802e-01 1.79144365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15427.53 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%| | 0/24545 [00:00